mirror of
https://github.com/bulletphysics/bullet3
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101 lines
3.3 KiB
C++
101 lines
3.3 KiB
C++
/*
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Bullet Continuous Collision Detection and Physics Library
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Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
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This software is provided 'as-is', without any express or implied warranty.
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In no event will the authors be held liable for any damages arising from the use of this software.
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Permission is granted to anyone to use this software for any purpose,
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including commercial applications, and to alter it and redistribute it freely,
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subject to the following restrictions:
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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.
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2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
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3. This notice may not be removed or altered from any source distribution.
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*/
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#ifndef OPTIMIZED_BVH_H
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#define OPTIMIZED_BVH_H
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#include "SimdVector3.h"
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#include <vector>
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class StridingMeshInterface;
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/// OptimizedBvhNode contains both internal and leaf node information.
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/// It hasn't been optimized yet for storage. Some obvious optimizations are:
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/// Removal of the pointers (can already be done, they are not used for traversal)
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/// and storing aabbmin/max as quantized integers.
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/// 'subpart' doesn't need an integer either. It allows to re-use graphics triangle
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/// meshes stored in a non-uniform way (like batches/subparts of triangle-fans
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struct OptimizedBvhNode
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{
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SimdVector3 m_aabbMin;
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SimdVector3 m_aabbMax;
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//these 2 pointers are obsolete, the stackless traversal just uses the escape index
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OptimizedBvhNode* m_leftChild;
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OptimizedBvhNode* m_rightChild;
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int m_escapeIndex;
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//for child nodes
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int m_subPart;
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int m_triangleIndex;
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};
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class NodeOverlapCallback
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{
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public:
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virtual ~NodeOverlapCallback() {};
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virtual void ProcessNode(const OptimizedBvhNode* node) = 0;
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};
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typedef std::vector<OptimizedBvhNode> NodeArray;
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///OptimizedBvh store an AABB tree that can be quickly traversed on CPU (and SPU,GPU in future)
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class OptimizedBvh
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{
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OptimizedBvhNode* m_rootNode1;
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OptimizedBvhNode* m_contiguousNodes;
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int m_curNodeIndex;
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int m_numNodes;
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NodeArray m_leafNodes;
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public:
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OptimizedBvh() :m_rootNode1(0), m_numNodes(0) { }
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virtual ~OptimizedBvh();
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void Build(StridingMeshInterface* triangles);
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OptimizedBvhNode* BuildTree (NodeArray& leafNodes,int startIndex,int endIndex);
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int CalcSplittingAxis(NodeArray& leafNodes,int startIndex,int endIndex);
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int SortAndCalcSplittingIndex(NodeArray& leafNodes,int startIndex,int endIndex,int splitAxis);
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void WalkTree(OptimizedBvhNode* rootNode,NodeOverlapCallback* nodeCallback,const SimdVector3& aabbMin,const SimdVector3& aabbMax) const;
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void WalkStacklessTree(OptimizedBvhNode* rootNode,NodeOverlapCallback* nodeCallback,const SimdVector3& aabbMin,const SimdVector3& aabbMax) const;
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//OptimizedBvhNode* GetRootNode() { return m_rootNode1;}
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int GetNumNodes() { return m_numNodes;}
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void ReportAabbOverlappingNodex(NodeOverlapCallback* nodeCallback,const SimdVector3& aabbMin,const SimdVector3& aabbMax) const;
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void ReportSphereOverlappingNodex(NodeOverlapCallback* nodeCallback,const SimdVector3& aabbMin,const SimdVector3& aabbMax) const;
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};
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#endif //OPTIMIZED_BVH_H
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