Bullet Collision Detection & Physics Library
btGImpactQuantizedBvh.h
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1 #ifndef GIM_QUANTIZED_SET_H_INCLUDED
2 #define GIM_QUANTIZED_SET_H_INCLUDED
3 
7 /*
8 This source file is part of GIMPACT Library.
9 
10 For the latest info, see http://gimpact.sourceforge.net/
11 
12 Copyright (c) 2007 Francisco Leon Najera. C.C. 80087371.
13 email: projectileman@yahoo.com
14 
15 
16 This software is provided 'as-is', without any express or implied warranty.
17 In no event will the authors be held liable for any damages arising from the use of this software.
18 Permission is granted to anyone to use this software for any purpose,
19 including commercial applications, and to alter it and redistribute it freely,
20 subject to the following restrictions:
21 
22 1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
23 2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
24 3. This notice may not be removed or altered from any source distribution.
25 */
26 
27 #include "btGImpactBvh.h"
28 #include "btQuantization.h"
30 
31 class GIM_QUANTIZED_BVH_NODE_ARRAY : public btAlignedObjectArray<BT_QUANTIZED_BVH_NODE>
32 {
33 };
34 
37 {
38 protected:
43 
44 protected:
45  void calc_quantization(GIM_BVH_DATA_ARRAY& primitive_boxes, btScalar boundMargin = btScalar(1.0));
46 
48  GIM_BVH_DATA_ARRAY& primitive_boxes,
49  int startIndex, int endIndex, int splitAxis);
50 
51  int _calc_splitting_axis(GIM_BVH_DATA_ARRAY& primitive_boxes, int startIndex, int endIndex);
52 
53  void _build_sub_tree(GIM_BVH_DATA_ARRAY& primitive_boxes, int startIndex, int endIndex);
54 
55 public:
57  {
58  m_num_nodes = 0;
59  }
60 
63  void build_tree(GIM_BVH_DATA_ARRAY& primitive_boxes);
64 
66  unsigned short* quantizedpoint, const btVector3& point) const
67  {
69  }
70 
72  int node_index,
73  unsigned short* quantizedMin, unsigned short* quantizedMax) const
74  {
75  return m_node_array[node_index].testQuantizedBoxOverlapp(quantizedMin, quantizedMax);
76  }
77 
79  {
81  m_num_nodes = 0;
82  }
83 
86  {
87  return m_num_nodes;
88  }
89 
91  SIMD_FORCE_INLINE bool isLeafNode(int nodeindex) const
92  {
93  return m_node_array[nodeindex].isLeafNode();
94  }
95 
96  SIMD_FORCE_INLINE int getNodeData(int nodeindex) const
97  {
98  return m_node_array[nodeindex].getDataIndex();
99  }
100 
101  SIMD_FORCE_INLINE void getNodeBound(int nodeindex, btAABB& bound) const
102  {
103  bound.m_min = bt_unquantize(
104  m_node_array[nodeindex].m_quantizedAabbMin,
106 
107  bound.m_max = bt_unquantize(
108  m_node_array[nodeindex].m_quantizedAabbMax,
110  }
111 
112  SIMD_FORCE_INLINE void setNodeBound(int nodeindex, const btAABB& bound)
113  {
114  bt_quantize_clamp(m_node_array[nodeindex].m_quantizedAabbMin,
115  bound.m_min,
119 
120  bt_quantize_clamp(m_node_array[nodeindex].m_quantizedAabbMax,
121  bound.m_max,
125  }
126 
127  SIMD_FORCE_INLINE int getLeftNode(int nodeindex) const
128  {
129  return nodeindex + 1;
130  }
131 
132  SIMD_FORCE_INLINE int getRightNode(int nodeindex) const
133  {
134  if (m_node_array[nodeindex + 1].isLeafNode()) return nodeindex + 2;
135  return nodeindex + 1 + m_node_array[nodeindex + 1].getEscapeIndex();
136  }
137 
138  SIMD_FORCE_INLINE int getEscapeNodeIndex(int nodeindex) const
139  {
140  return m_node_array[nodeindex].getEscapeIndex();
141  }
142 
144  {
145  return &m_node_array[index];
146  }
147 
149 };
150 
152 
157 {
158 protected:
161 
162 protected:
163  //stackless refit
164  void refit();
165 
166 public:
169  {
170  m_primitive_manager = NULL;
171  }
172 
175  {
176  m_primitive_manager = primitive_manager;
177  }
178 
180  {
181  btAABB totalbox;
182  getNodeBound(0, totalbox);
183  return totalbox;
184  }
185 
187  {
188  m_primitive_manager = primitive_manager;
189  }
190 
192  {
193  return m_primitive_manager;
194  }
195 
198 
201  {
202  refit();
203  }
204 
206  void buildSet();
207 
209  bool boxQuery(const btAABB& box, btAlignedObjectArray<int>& collided_results) const;
210 
213  const btTransform& transform, btAlignedObjectArray<int>& collided_results) const
214  {
215  btAABB transbox = box;
216  transbox.appy_transform(transform);
217  return boxQuery(transbox, collided_results);
218  }
219 
221  bool rayQuery(
222  const btVector3& ray_dir, const btVector3& ray_origin,
223  btAlignedObjectArray<int>& collided_results) const;
224 
227  {
228  return true;
229  }
230 
233  {
235  }
236 
239  {
240  return m_box_tree.getNodeCount();
241  }
242 
244  SIMD_FORCE_INLINE bool isLeafNode(int nodeindex) const
245  {
246  return m_box_tree.isLeafNode(nodeindex);
247  }
248 
249  SIMD_FORCE_INLINE int getNodeData(int nodeindex) const
250  {
251  return m_box_tree.getNodeData(nodeindex);
252  }
253 
254  SIMD_FORCE_INLINE void getNodeBound(int nodeindex, btAABB& bound) const
255  {
256  m_box_tree.getNodeBound(nodeindex, bound);
257  }
258 
259  SIMD_FORCE_INLINE void setNodeBound(int nodeindex, const btAABB& bound)
260  {
261  m_box_tree.setNodeBound(nodeindex, bound);
262  }
263 
264  SIMD_FORCE_INLINE int getLeftNode(int nodeindex) const
265  {
266  return m_box_tree.getLeftNode(nodeindex);
267  }
268 
269  SIMD_FORCE_INLINE int getRightNode(int nodeindex) const
270  {
271  return m_box_tree.getRightNode(nodeindex);
272  }
273 
274  SIMD_FORCE_INLINE int getEscapeNodeIndex(int nodeindex) const
275  {
276  return m_box_tree.getEscapeNodeIndex(nodeindex);
277  }
278 
279  SIMD_FORCE_INLINE void getNodeTriangle(int nodeindex, btPrimitiveTriangle& triangle) const
280  {
282  }
283 
285  {
286  return m_box_tree.get_node_pointer(index);
287  }
288 
289 #ifdef TRI_COLLISION_PROFILING
290  static float getAverageTreeCollisionTime();
291 #endif //TRI_COLLISION_PROFILING
292 
293  static void find_collision(const btGImpactQuantizedBvh* boxset1, const btTransform& trans1,
294  const btGImpactQuantizedBvh* boxset2, const btTransform& trans2,
295  btPairSet& collision_pairs);
296 };
297 
298 #endif // GIM_BOXPRUNING_H_INCLUDED
btGImpactQuantizedBvhStructs.h
btGImpactQuantizedBvh::isLeafNode
bool isLeafNode(int nodeindex) const
tells if the node is a leaf
Definition: btGImpactQuantizedBvh.h:244
btGImpactQuantizedBvh::getNodeBound
void getNodeBound(int nodeindex, btAABB &bound) const
Definition: btGImpactQuantizedBvh.h:254
btQuantizedBvhTree::get_node_pointer
const BT_QUANTIZED_BVH_NODE * get_node_pointer(int index=0) const
Definition: btGImpactQuantizedBvh.h:143
btScalar
float btScalar
The btScalar type abstracts floating point numbers, to easily switch between double and single floati...
Definition: btScalar.h:314
btQuantizedBvhTree::isLeafNode
bool isLeafNode(int nodeindex) const
tells if the node is a leaf
Definition: btGImpactQuantizedBvh.h:91
btQuantizedBvhTree::m_global_bound
btAABB m_global_bound
Definition: btGImpactQuantizedBvh.h:41
btGImpactQuantizedBvh::getGlobalBox
btAABB getGlobalBox() const
Definition: btGImpactQuantizedBvh.h:179
btQuantizedBvhTree::getNodeBound
void getNodeBound(int nodeindex, btAABB &bound) const
Definition: btGImpactQuantizedBvh.h:101
btAlignedObjectArray::clear
void clear()
clear the array, deallocated memory. Generally it is better to use array.resize(0),...
Definition: btAlignedObjectArray.h:176
btQuantizedBvhTree::getNodeData
int getNodeData(int nodeindex) const
Definition: btGImpactQuantizedBvh.h:96
BT_QUANTIZED_BVH_NODE
btQuantizedBvhNode is a compressed aabb node, 16 bytes.
Definition: btGImpactQuantizedBvhStructs.h:32
btQuantization.h
btGImpactQuantizedBvh::getLeftNode
int getLeftNode(int nodeindex) const
Definition: btGImpactQuantizedBvh.h:264
btPrimitiveManagerBase::get_primitive_triangle
virtual void get_primitive_triangle(int prim_index, btPrimitiveTriangle &triangle) const =0
retrieves only the points of the triangle, and the collision margin
btGImpactQuantizedBvh::getPrimitiveManager
btPrimitiveManagerBase * getPrimitiveManager() const
Definition: btGImpactQuantizedBvh.h:191
btPairSet
A pairset array.
Definition: btGImpactBvh.h:34
btGImpactQuantizedBvh::getNodeData
int getNodeData(int nodeindex) const
Definition: btGImpactQuantizedBvh.h:249
btPrimitiveManagerBase::is_trimesh
virtual bool is_trimesh() const =0
determines if this manager consist on only triangles, which special case will be optimized
btQuantizedBvhTree::btQuantizedBvhTree
btQuantizedBvhTree()
Definition: btGImpactQuantizedBvh.h:56
btQuantizedBvhTree
Basic Box tree structure.
Definition: btGImpactQuantizedBvh.h:36
btQuantizedBvhTree::_calc_splitting_axis
int _calc_splitting_axis(GIM_BVH_DATA_ARRAY &primitive_boxes, int startIndex, int endIndex)
Definition: btGImpactQuantizedBvh.cpp:81
btAABB
Axis aligned box.
Definition: btBoxCollision.h:214
btPrimitiveTriangle
Definition: btTriangleShapeEx.h:69
btQuantizedBvhTree::_sort_and_calc_splitting_index
int _sort_and_calc_splitting_index(GIM_BVH_DATA_ARRAY &primitive_boxes, int startIndex, int endIndex, int splitAxis)
Definition: btGImpactQuantizedBvh.cpp:111
btGImpactQuantizedBvh::btGImpactQuantizedBvh
btGImpactQuantizedBvh()
this constructor doesn't build the tree. you must call buildSet
Definition: btGImpactQuantizedBvh.h:168
btQuantizedBvhTree::getRightNode
int getRightNode(int nodeindex) const
Definition: btGImpactQuantizedBvh.h:132
btQuantizedBvhTree::m_bvhQuantization
btVector3 m_bvhQuantization
Definition: btGImpactQuantizedBvh.h:42
btGImpactQuantizedBvh::boxQuery
bool boxQuery(const btAABB &box, btAlignedObjectArray< int > &collided_results) const
returns the indices of the primitives in the m_primitive_manager
Definition: btGImpactQuantizedBvh.cpp:286
btGImpactQuantizedBvh::getEscapeNodeIndex
int getEscapeNodeIndex(int nodeindex) const
Definition: btGImpactQuantizedBvh.h:274
btQuantizedBvhTree::getNodeCount
int getNodeCount() const
node count
Definition: btGImpactQuantizedBvh.h:85
btTransform
The btTransform class supports rigid transforms with only translation and rotation and no scaling/she...
Definition: btTransform.h:28
btGImpactQuantizedBvh::update
void update()
node manager prototype functions
Definition: btGImpactQuantizedBvh.h:200
btQuantizedBvhTree::quantizePoint
void quantizePoint(unsigned short *quantizedpoint, const btVector3 &point) const
Definition: btGImpactQuantizedBvh.h:65
btGImpactQuantizedBvh::m_primitive_manager
btPrimitiveManagerBase * m_primitive_manager
Definition: btGImpactQuantizedBvh.h:160
btGImpactQuantizedBvh::setPrimitiveManager
void setPrimitiveManager(btPrimitiveManagerBase *primitive_manager)
Definition: btGImpactQuantizedBvh.h:186
btVector3
btVector3 can be used to represent 3D points and vectors.
Definition: btVector3.h:80
btQuantizedBvhTree::testQuantizedBoxOverlapp
bool testQuantizedBoxOverlapp(int node_index, unsigned short *quantizedMin, unsigned short *quantizedMax) const
Definition: btGImpactQuantizedBvh.h:71
btGImpactQuantizedBvh::isTrimesh
bool isTrimesh() const
tells if this set is a trimesh
Definition: btGImpactQuantizedBvh.h:232
bt_unquantize
btVector3 bt_unquantize(const unsigned short *vecIn, const btVector3 &offset, const btVector3 &bvhQuantization)
Definition: btQuantization.h:65
btQuantizedBvhTree::build_tree
void build_tree(GIM_BVH_DATA_ARRAY &primitive_boxes)
prototype functions for box tree management
Definition: btGImpactQuantizedBvh.cpp:216
btGImpactQuantizedBvh::hasHierarchy
bool hasHierarchy() const
tells if this set has hierarcht
Definition: btGImpactQuantizedBvh.h:226
btQuantizedBvhTree::m_node_array
GIM_QUANTIZED_BVH_NODE_ARRAY m_node_array
Definition: btGImpactQuantizedBvh.h:40
btGImpactQuantizedBvh::m_box_tree
btQuantizedBvhTree m_box_tree
Definition: btGImpactQuantizedBvh.h:159
btGImpactBvh.h
btAlignedObjectArray
The btAlignedObjectArray template class uses a subset of the stl::vector interface for its methods It...
Definition: btAlignedObjectArray.h:45
SIMD_FORCE_INLINE
#define SIMD_FORCE_INLINE
Definition: btScalar.h:98
bt_quantize_clamp
void bt_quantize_clamp(unsigned short *out, const btVector3 &point, const btVector3 &min_bound, const btVector3 &max_bound, const btVector3 &bvhQuantization)
Definition: btQuantization.h:48
btPrimitiveManagerBase
Prototype Base class for primitive classification.
Definition: btGImpactBvh.h:149
btAABB::m_max
btVector3 m_max
Definition: btBoxCollision.h:219
btGImpactQuantizedBvh::refit
void refit()
Definition: btGImpactQuantizedBvh.cpp:230
btAABB::appy_transform
void appy_transform(const btTransform &trans)
Apply a transform to an AABB.
Definition: btBoxCollision.h:342
btQuantizedBvhTree::calc_quantization
void calc_quantization(GIM_BVH_DATA_ARRAY &primitive_boxes, btScalar boundMargin=btScalar(1.0))
Definition: btGImpactQuantizedBvh.cpp:65
btGImpactQuantizedBvh::setNodeBound
void setNodeBound(int nodeindex, const btAABB &bound)
Definition: btGImpactQuantizedBvh.h:259
btGImpactQuantizedBvh::getNodeTriangle
void getNodeTriangle(int nodeindex, btPrimitiveTriangle &triangle) const
Definition: btGImpactQuantizedBvh.h:279
btGImpactQuantizedBvh::boxQueryTrans
bool boxQueryTrans(const btAABB &box, const btTransform &transform, btAlignedObjectArray< int > &collided_results) const
returns the indices of the primitives in the m_primitive_manager
Definition: btGImpactQuantizedBvh.h:212
btQuantizedBvhTree::_build_sub_tree
void _build_sub_tree(GIM_BVH_DATA_ARRAY &primitive_boxes, int startIndex, int endIndex)
Definition: btGImpactQuantizedBvh.cpp:169
btGImpactQuantizedBvh::rayQuery
bool rayQuery(const btVector3 &ray_dir, const btVector3 &ray_origin, btAlignedObjectArray< int > &collided_results) const
returns the indices of the primitives in the m_primitive_manager
Definition: btGImpactQuantizedBvh.cpp:327
btGImpactQuantizedBvh::get_node_pointer
const BT_QUANTIZED_BVH_NODE * get_node_pointer(int index=0) const
Definition: btGImpactQuantizedBvh.h:284
btQuantizedBvhTree::getLeftNode
int getLeftNode(int nodeindex) const
Definition: btGImpactQuantizedBvh.h:127
btAABB::m_min
btVector3 m_min
Definition: btBoxCollision.h:218
btQuantizedBvhTree::m_num_nodes
int m_num_nodes
Definition: btGImpactQuantizedBvh.h:39
GIM_BVH_DATA_ARRAY
Definition: btGImpactBvh.h:52
btGImpactQuantizedBvh::getRightNode
int getRightNode(int nodeindex) const
Definition: btGImpactQuantizedBvh.h:269
btGImpactQuantizedBvh::getNodeCount
int getNodeCount() const
node count
Definition: btGImpactQuantizedBvh.h:238
btQuantizedBvhTree::clearNodes
void clearNodes()
Definition: btGImpactQuantizedBvh.h:78
btQuantizedBvhTree::getEscapeNodeIndex
int getEscapeNodeIndex(int nodeindex) const
Definition: btGImpactQuantizedBvh.h:138
btGImpactQuantizedBvh::btGImpactQuantizedBvh
btGImpactQuantizedBvh(btPrimitiveManagerBase *primitive_manager)
this constructor doesn't build the tree. you must call buildSet
Definition: btGImpactQuantizedBvh.h:174
btGImpactQuantizedBvh
Structure for containing Boxes.
Definition: btGImpactQuantizedBvh.h:156
btQuantizedBvhTree::setNodeBound
void setNodeBound(int nodeindex, const btAABB &bound)
Definition: btGImpactQuantizedBvh.h:112
btGImpactQuantizedBvh::find_collision
static void find_collision(const btGImpactQuantizedBvh *boxset1, const btTransform &trans1, const btGImpactQuantizedBvh *boxset2, const btTransform &trans2, btPairSet &collision_pairs)
Definition: btGImpactQuantizedBvh.cpp:466
GIM_QUANTIZED_BVH_NODE_ARRAY
Definition: btGImpactQuantizedBvh.h:31
btGImpactQuantizedBvh::buildSet
void buildSet()
this rebuild the entire set
Definition: btGImpactQuantizedBvh.cpp:270