source:
code/branches/questsystem5/src/bullet/BulletCollision/BroadphaseCollision/btDbvt.h
@
2961
| Last change on this file since 2961 was 2908, checked in by dafrick, 16 years ago | |
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Reverted to revision 2906 (because I'm too stupid to merge correctly, 2nd try will follow shortly. |
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| 1 | /* |
| 2 | Bullet Continuous Collision Detection and Physics Library |
| 3 | Copyright (c) 2003-2007 Erwin Coumans http://continuousphysics.com/Bullet/ |
| 4 | |
| 5 | This software is provided 'as-is', without any express or implied warranty. |
| 6 | In no event will the authors be held liable for any damages arising from the use of this software. |
| 7 | Permission is granted to anyone to use this software for any purpose, |
| 8 | including commercial applications, and to alter it and redistribute it freely, |
| 9 | subject to the following restrictions: |
| 10 | |
| 11 | 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. |
| 12 | 2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software. |
| 13 | 3. This notice may not be removed or altered from any source distribution. |
| 14 | */ |
| 15 | ///btDbvt implementation by Nathanael Presson |
| 16 | |
| 17 | #ifndef BT_DYNAMIC_BOUNDING_VOLUME_TREE_H |
| 18 | #define BT_DYNAMIC_BOUNDING_VOLUME_TREE_H |
| 19 | |
| 20 | #include "LinearMath/btAlignedObjectArray.h" |
| 21 | #include "LinearMath/btVector3.h" |
| 22 | #include "LinearMath/btTransform.h" |
| 23 | #include "LinearMath/btAabbUtil2.h" |
| 24 | |
| 25 | // |
| 26 | // Compile time configuration |
| 27 | // |
| 28 | |
| 29 | |
| 30 | // Implementation profiles |
| 31 | #define DBVT_IMPL_GENERIC 0 // Generic implementation |
| 32 | #define DBVT_IMPL_SSE 1 // SSE |
| 33 | |
| 34 | // Template implementation of ICollide |
| 35 | #ifdef WIN32 |
| 36 | #if (defined (_MSC_VER) && _MSC_VER >= 1400) |
| 37 | #define DBVT_USE_TEMPLATE 1 |
| 38 | #else |
| 39 | #define DBVT_USE_TEMPLATE 0 |
| 40 | #endif |
| 41 | #else |
| 42 | #define DBVT_USE_TEMPLATE 0 |
| 43 | #endif |
| 44 | |
| 45 | // Use only intrinsics instead of inline asm |
| 46 | #define DBVT_USE_INTRINSIC_SSE 1 |
| 47 | |
| 48 | // Using memmov for collideOCL |
| 49 | #define DBVT_USE_MEMMOVE 1 |
| 50 | |
| 51 | // Enable benchmarking code |
| 52 | #define DBVT_ENABLE_BENCHMARK 0 |
| 53 | |
| 54 | // Inlining |
| 55 | #define DBVT_INLINE SIMD_FORCE_INLINE |
| 56 | |
| 57 | // Specific methods implementation |
| 58 | |
| 59 | //SSE gives errors on a MSVC 7.1 |
| 60 | #if (defined (WIN32) && (_MSC_VER) && _MSC_VER >= 1400) && (!defined (BT_USE_DOUBLE_PRECISION)) |
| 61 | #define DBVT_SELECT_IMPL DBVT_IMPL_SSE |
| 62 | #define DBVT_MERGE_IMPL DBVT_IMPL_SSE |
| 63 | #define DBVT_INT0_IMPL DBVT_IMPL_SSE |
| 64 | #else |
| 65 | #define DBVT_SELECT_IMPL DBVT_IMPL_GENERIC |
| 66 | #define DBVT_MERGE_IMPL DBVT_IMPL_GENERIC |
| 67 | #define DBVT_INT0_IMPL DBVT_IMPL_GENERIC |
| 68 | #endif |
| 69 | |
| 70 | #if (DBVT_SELECT_IMPL==DBVT_IMPL_SSE)|| \ |
| 71 | (DBVT_MERGE_IMPL==DBVT_IMPL_SSE)|| \ |
| 72 | (DBVT_INT0_IMPL==DBVT_IMPL_SSE) |
| 73 | #include <emmintrin.h> |
| 74 | #endif |
| 75 | |
| 76 | // |
| 77 | // Auto config and checks |
| 78 | // |
| 79 | |
| 80 | #if DBVT_USE_TEMPLATE |
| 81 | #define DBVT_VIRTUAL |
| 82 | #define DBVT_VIRTUAL_DTOR(a) |
| 83 | #define DBVT_PREFIX template <typename T> |
| 84 | #define DBVT_IPOLICY T& policy |
| 85 | #define DBVT_CHECKTYPE static const ICollide& typechecker=*(T*)0; |
| 86 | #else |
| 87 | #define DBVT_VIRTUAL_DTOR(a) virtual ~a() {} |
| 88 | #define DBVT_VIRTUAL virtual |
| 89 | #define DBVT_PREFIX |
| 90 | #define DBVT_IPOLICY ICollide& policy |
| 91 | #define DBVT_CHECKTYPE |
| 92 | #endif |
| 93 | |
| 94 | #if DBVT_USE_MEMMOVE |
| 95 | #ifndef __CELLOS_LV2__ |
| 96 | #include <memory.h> |
| 97 | #endif |
| 98 | #include <string.h> |
| 99 | #endif |
| 100 | |
| 101 | #ifndef DBVT_USE_TEMPLATE |
| 102 | #error "DBVT_USE_TEMPLATE undefined" |
| 103 | #endif |
| 104 | |
| 105 | #ifndef DBVT_USE_MEMMOVE |
| 106 | #error "DBVT_USE_MEMMOVE undefined" |
| 107 | #endif |
| 108 | |
| 109 | #ifndef DBVT_ENABLE_BENCHMARK |
| 110 | #error "DBVT_ENABLE_BENCHMARK undefined" |
| 111 | #endif |
| 112 | |
| 113 | #ifndef DBVT_SELECT_IMPL |
| 114 | #error "DBVT_SELECT_IMPL undefined" |
| 115 | #endif |
| 116 | |
| 117 | #ifndef DBVT_MERGE_IMPL |
| 118 | #error "DBVT_MERGE_IMPL undefined" |
| 119 | #endif |
| 120 | |
| 121 | #ifndef DBVT_INT0_IMPL |
| 122 | #error "DBVT_INT0_IMPL undefined" |
| 123 | #endif |
| 124 | |
| 125 | // |
| 126 | // Defaults volumes |
| 127 | // |
| 128 | |
| 129 | /* btDbvtAabbMm */ |
| 130 | struct btDbvtAabbMm |
| 131 | { |
| 132 | DBVT_INLINE btVector3 Center() const { return((mi+mx)/2); } |
| 133 | DBVT_INLINE btVector3 Lengths() const { return(mx-mi); } |
| 134 | DBVT_INLINE btVector3 Extents() const { return((mx-mi)/2); } |
| 135 | DBVT_INLINE const btVector3& Mins() const { return(mi); } |
| 136 | DBVT_INLINE const btVector3& Maxs() const { return(mx); } |
| 137 | static inline btDbvtAabbMm FromCE(const btVector3& c,const btVector3& e); |
| 138 | static inline btDbvtAabbMm FromCR(const btVector3& c,btScalar r); |
| 139 | static inline btDbvtAabbMm FromMM(const btVector3& mi,const btVector3& mx); |
| 140 | static inline btDbvtAabbMm FromPoints(const btVector3* pts,int n); |
| 141 | static inline btDbvtAabbMm FromPoints(const btVector3** ppts,int n); |
| 142 | DBVT_INLINE void Expand(const btVector3& e); |
| 143 | DBVT_INLINE void SignedExpand(const btVector3& e); |
| 144 | DBVT_INLINE bool Contain(const btDbvtAabbMm& a) const; |
| 145 | DBVT_INLINE int Classify(const btVector3& n,btScalar o,int s) const; |
| 146 | DBVT_INLINE btScalar ProjectMinimum(const btVector3& v,unsigned signs) const; |
| 147 | DBVT_INLINE friend bool Intersect( const btDbvtAabbMm& a, |
| 148 | const btDbvtAabbMm& b); |
| 149 | DBVT_INLINE friend bool Intersect( const btDbvtAabbMm& a, |
| 150 | const btDbvtAabbMm& b, |
| 151 | const btTransform& xform); |
| 152 | DBVT_INLINE friend bool Intersect( const btDbvtAabbMm& a, |
| 153 | const btVector3& b); |
| 154 | |
| 155 | DBVT_INLINE friend btScalar Proximity( const btDbvtAabbMm& a, |
| 156 | const btDbvtAabbMm& b); |
| 157 | DBVT_INLINE friend int Select( const btDbvtAabbMm& o, |
| 158 | const btDbvtAabbMm& a, |
| 159 | const btDbvtAabbMm& b); |
| 160 | DBVT_INLINE friend void Merge( const btDbvtAabbMm& a, |
| 161 | const btDbvtAabbMm& b, |
| 162 | btDbvtAabbMm& r); |
| 163 | DBVT_INLINE friend bool NotEqual( const btDbvtAabbMm& a, |
| 164 | const btDbvtAabbMm& b); |
| 165 | private: |
| 166 | DBVT_INLINE void AddSpan(const btVector3& d,btScalar& smi,btScalar& smx) const; |
| 167 | private: |
| 168 | btVector3 mi,mx; |
| 169 | }; |
| 170 | |
| 171 | // Types |
| 172 | typedef btDbvtAabbMm btDbvtVolume; |
| 173 | |
| 174 | /* btDbvtNode */ |
| 175 | struct btDbvtNode |
| 176 | { |
| 177 | btDbvtVolume volume; |
| 178 | btDbvtNode* parent; |
| 179 | DBVT_INLINE bool isleaf() const { return(childs[1]==0); } |
| 180 | DBVT_INLINE bool isinternal() const { return(!isleaf()); } |
| 181 | union |
| 182 | { |
| 183 | btDbvtNode* childs[2]; |
| 184 | void* data; |
| 185 | int dataAsInt; |
| 186 | }; |
| 187 | }; |
| 188 | |
| 189 | ///The btDbvt class implements a fast dynamic bounding volume tree based on axis aligned bounding boxes (aabb tree). |
| 190 | ///This btDbvt is used for soft body collision detection and for the btDbvtBroadphase. It has a fast insert, remove and update of nodes. |
| 191 | ///Unlike the btQuantizedBvh, nodes can be dynamically moved around, which allows for change in topology of the underlying data structure. |
| 192 | struct btDbvt |
| 193 | { |
| 194 | /* Stack element */ |
| 195 | struct sStkNN |
| 196 | { |
| 197 | const btDbvtNode* a; |
| 198 | const btDbvtNode* b; |
| 199 | sStkNN() {} |
| 200 | sStkNN(const btDbvtNode* na,const btDbvtNode* nb) : a(na),b(nb) {} |
| 201 | }; |
| 202 | struct sStkNP |
| 203 | { |
| 204 | const btDbvtNode* node; |
| 205 | int mask; |
| 206 | sStkNP(const btDbvtNode* n,unsigned m) : node(n),mask(m) {} |
| 207 | }; |
| 208 | struct sStkNPS |
| 209 | { |
| 210 | const btDbvtNode* node; |
| 211 | int mask; |
| 212 | btScalar value; |
| 213 | sStkNPS() {} |
| 214 | sStkNPS(const btDbvtNode* n,unsigned m,btScalar v) : node(n),mask(m),value(v) {} |
| 215 | }; |
| 216 | struct sStkCLN |
| 217 | { |
| 218 | const btDbvtNode* node; |
| 219 | btDbvtNode* parent; |
| 220 | sStkCLN(const btDbvtNode* n,btDbvtNode* p) : node(n),parent(p) {} |
| 221 | }; |
| 222 | // Policies/Interfaces |
| 223 | |
| 224 | /* ICollide */ |
| 225 | struct ICollide |
| 226 | { |
| 227 | DBVT_VIRTUAL_DTOR(ICollide) |
| 228 | DBVT_VIRTUAL void Process(const btDbvtNode*,const btDbvtNode*) {} |
| 229 | DBVT_VIRTUAL void Process(const btDbvtNode*) {} |
| 230 | DBVT_VIRTUAL void Process(const btDbvtNode* n,btScalar) { Process(n); } |
| 231 | DBVT_VIRTUAL bool Descent(const btDbvtNode*) { return(true); } |
| 232 | DBVT_VIRTUAL bool AllLeaves(const btDbvtNode*) { return(true); } |
| 233 | }; |
| 234 | /* IWriter */ |
| 235 | struct IWriter |
| 236 | { |
| 237 | virtual ~IWriter() {} |
| 238 | virtual void Prepare(const btDbvtNode* root,int numnodes)=0; |
| 239 | virtual void WriteNode(const btDbvtNode*,int index,int parent,int child0,int child1)=0; |
| 240 | virtual void WriteLeaf(const btDbvtNode*,int index,int parent)=0; |
| 241 | }; |
| 242 | /* IClone */ |
| 243 | struct IClone |
| 244 | { |
| 245 | virtual ~IClone() {} |
| 246 | virtual void CloneLeaf(btDbvtNode*) {} |
| 247 | }; |
| 248 | |
| 249 | // Constants |
| 250 | enum { |
| 251 | SIMPLE_STACKSIZE = 64, |
| 252 | DOUBLE_STACKSIZE = SIMPLE_STACKSIZE*2 |
| 253 | }; |
| 254 | |
| 255 | // Fields |
| 256 | btDbvtNode* m_root; |
| 257 | btDbvtNode* m_free; |
| 258 | int m_lkhd; |
| 259 | int m_leaves; |
| 260 | unsigned m_opath; |
| 261 | |
| 262 | |
| 263 | btAlignedObjectArray<sStkNN> m_stkStack; |
| 264 | |
| 265 | |
| 266 | // Methods |
| 267 | btDbvt(); |
| 268 | ~btDbvt(); |
| 269 | void clear(); |
| 270 | bool empty() const { return(0==m_root); } |
| 271 | void optimizeBottomUp(); |
| 272 | void optimizeTopDown(int bu_treshold=128); |
| 273 | void optimizeIncremental(int passes); |
| 274 | btDbvtNode* insert(const btDbvtVolume& box,void* data); |
| 275 | void update(btDbvtNode* leaf,int lookahead=-1); |
| 276 | void update(btDbvtNode* leaf,btDbvtVolume& volume); |
| 277 | bool update(btDbvtNode* leaf,btDbvtVolume& volume,const btVector3& velocity,btScalar margin); |
| 278 | bool update(btDbvtNode* leaf,btDbvtVolume& volume,const btVector3& velocity); |
| 279 | bool update(btDbvtNode* leaf,btDbvtVolume& volume,btScalar margin); |
| 280 | void remove(btDbvtNode* leaf); |
| 281 | void write(IWriter* iwriter) const; |
| 282 | void clone(btDbvt& dest,IClone* iclone=0) const; |
| 283 | static int maxdepth(const btDbvtNode* node); |
| 284 | static int countLeaves(const btDbvtNode* node); |
| 285 | static void extractLeaves(const btDbvtNode* node,btAlignedObjectArray<const btDbvtNode*>& leaves); |
| 286 | #if DBVT_ENABLE_BENCHMARK |
| 287 | static void benchmark(); |
| 288 | #else |
| 289 | static void benchmark(){} |
| 290 | #endif |
| 291 | // DBVT_IPOLICY must support ICollide policy/interface |
| 292 | DBVT_PREFIX |
| 293 | static void enumNodes( const btDbvtNode* root, |
| 294 | DBVT_IPOLICY); |
| 295 | DBVT_PREFIX |
| 296 | static void enumLeaves( const btDbvtNode* root, |
| 297 | DBVT_IPOLICY); |
| 298 | DBVT_PREFIX |
| 299 | void collideTT( const btDbvtNode* root0, |
| 300 | const btDbvtNode* root1, |
| 301 | DBVT_IPOLICY); |
| 302 | |
| 303 | DBVT_PREFIX |
| 304 | void collideTTpersistentStack( const btDbvtNode* root0, |
| 305 | const btDbvtNode* root1, |
| 306 | DBVT_IPOLICY); |
| 307 | |
| 308 | DBVT_PREFIX |
| 309 | void collideTT( const btDbvtNode* root0, |
| 310 | const btDbvtNode* root1, |
| 311 | const btTransform& xform, |
| 312 | DBVT_IPOLICY); |
| 313 | DBVT_PREFIX |
| 314 | void collideTT( const btDbvtNode* root0, |
| 315 | const btTransform& xform0, |
| 316 | const btDbvtNode* root1, |
| 317 | const btTransform& xform1, |
| 318 | DBVT_IPOLICY); |
| 319 | DBVT_PREFIX |
| 320 | void collideTV( const btDbvtNode* root, |
| 321 | const btDbvtVolume& volume, |
| 322 | DBVT_IPOLICY); |
| 323 | ///rayTest is a re-entrant ray test, and can be called in parallel as long as the btAlignedAlloc is thread-safe (uses locking etc) |
| 324 | ///rayTest is slower than rayTestInternal, because it builds a local stack, using memory allocations, and it recomputes signs/rayDirectionInverses each time |
| 325 | DBVT_PREFIX |
| 326 | static void rayTest( const btDbvtNode* root, |
| 327 | const btVector3& rayFrom, |
| 328 | const btVector3& rayTo, |
| 329 | DBVT_IPOLICY); |
| 330 | ///rayTestInternal is faster than rayTest, because it uses a persistent stack (to reduce dynamic memory allocations to a minimum) and it uses precomputed signs/rayInverseDirections |
| 331 | ///rayTestInternal is used by btDbvtBroadphase to accelerate world ray casts |
| 332 | DBVT_PREFIX |
| 333 | void rayTestInternal( const btDbvtNode* root, |
| 334 | const btVector3& rayFrom, |
| 335 | const btVector3& rayTo, |
| 336 | const btVector3& rayDirectionInverse, |
| 337 | unsigned int signs[3], |
| 338 | btScalar lambda_max, |
| 339 | const btVector3& aabbMin, |
| 340 | const btVector3& aabbMax, |
| 341 | DBVT_IPOLICY) const; |
| 342 | |
| 343 | DBVT_PREFIX |
| 344 | static void collideKDOP(const btDbvtNode* root, |
| 345 | const btVector3* normals, |
| 346 | const btScalar* offsets, |
| 347 | int count, |
| 348 | DBVT_IPOLICY); |
| 349 | DBVT_PREFIX |
| 350 | static void collideOCL( const btDbvtNode* root, |
| 351 | const btVector3* normals, |
| 352 | const btScalar* offsets, |
| 353 | const btVector3& sortaxis, |
| 354 | int count, |
| 355 | DBVT_IPOLICY, |
| 356 | bool fullsort=true); |
| 357 | DBVT_PREFIX |
| 358 | static void collideTU( const btDbvtNode* root, |
| 359 | DBVT_IPOLICY); |
| 360 | // Helpers |
| 361 | static DBVT_INLINE int nearest(const int* i,const btDbvt::sStkNPS* a,btScalar v,int l,int h) |
| 362 | { |
| 363 | int m=0; |
| 364 | while(l<h) |
| 365 | { |
| 366 | m=(l+h)>>1; |
| 367 | if(a[i[m]].value>=v) l=m+1; else h=m; |
| 368 | } |
| 369 | return(h); |
| 370 | } |
| 371 | static DBVT_INLINE int allocate( btAlignedObjectArray<int>& ifree, |
| 372 | btAlignedObjectArray<sStkNPS>& stock, |
| 373 | const sStkNPS& value) |
| 374 | { |
| 375 | int i; |
| 376 | if(ifree.size()>0) |
| 377 | { i=ifree[ifree.size()-1];ifree.pop_back();stock[i]=value; } |
| 378 | else |
| 379 | { i=stock.size();stock.push_back(value); } |
| 380 | return(i); |
| 381 | } |
| 382 | // |
| 383 | private: |
| 384 | btDbvt(const btDbvt&) {} |
| 385 | }; |
| 386 | |
| 387 | // |
| 388 | // Inline's |
| 389 | // |
| 390 | |
| 391 | // |
| 392 | inline btDbvtAabbMm btDbvtAabbMm::FromCE(const btVector3& c,const btVector3& e) |
| 393 | { |
| 394 | btDbvtAabbMm box; |
| 395 | box.mi=c-e;box.mx=c+e; |
| 396 | return(box); |
| 397 | } |
| 398 | |
| 399 | // |
| 400 | inline btDbvtAabbMm btDbvtAabbMm::FromCR(const btVector3& c,btScalar r) |
| 401 | { |
| 402 | return(FromCE(c,btVector3(r,r,r))); |
| 403 | } |
| 404 | |
| 405 | // |
| 406 | inline btDbvtAabbMm btDbvtAabbMm::FromMM(const btVector3& mi,const btVector3& mx) |
| 407 | { |
| 408 | btDbvtAabbMm box; |
| 409 | box.mi=mi;box.mx=mx; |
| 410 | return(box); |
| 411 | } |
| 412 | |
| 413 | // |
| 414 | inline btDbvtAabbMm btDbvtAabbMm::FromPoints(const btVector3* pts,int n) |
| 415 | { |
| 416 | btDbvtAabbMm box; |
| 417 | box.mi=box.mx=pts[0]; |
| 418 | for(int i=1;i<n;++i) |
| 419 | { |
| 420 | box.mi.setMin(pts[i]); |
| 421 | box.mx.setMax(pts[i]); |
| 422 | } |
| 423 | return(box); |
| 424 | } |
| 425 | |
| 426 | // |
| 427 | inline btDbvtAabbMm btDbvtAabbMm::FromPoints(const btVector3** ppts,int n) |
| 428 | { |
| 429 | btDbvtAabbMm box; |
| 430 | box.mi=box.mx=*ppts[0]; |
| 431 | for(int i=1;i<n;++i) |
| 432 | { |
| 433 | box.mi.setMin(*ppts[i]); |
| 434 | box.mx.setMax(*ppts[i]); |
| 435 | } |
| 436 | return(box); |
| 437 | } |
| 438 | |
| 439 | // |
| 440 | DBVT_INLINE void btDbvtAabbMm::Expand(const btVector3& e) |
| 441 | { |
| 442 | mi-=e;mx+=e; |
| 443 | } |
| 444 | |
| 445 | // |
| 446 | DBVT_INLINE void btDbvtAabbMm::SignedExpand(const btVector3& e) |
| 447 | { |
| 448 | if(e.x()>0) mx.setX(mx.x()+e[0]); else mi.setX(mi.x()+e[0]); |
| 449 | if(e.y()>0) mx.setY(mx.y()+e[1]); else mi.setY(mi.y()+e[1]); |
| 450 | if(e.z()>0) mx.setZ(mx.z()+e[2]); else mi.setZ(mi.z()+e[2]); |
| 451 | } |
| 452 | |
| 453 | // |
| 454 | DBVT_INLINE bool btDbvtAabbMm::Contain(const btDbvtAabbMm& a) const |
| 455 | { |
| 456 | return( (mi.x()<=a.mi.x())&& |
| 457 | (mi.y()<=a.mi.y())&& |
| 458 | (mi.z()<=a.mi.z())&& |
| 459 | (mx.x()>=a.mx.x())&& |
| 460 | (mx.y()>=a.mx.y())&& |
| 461 | (mx.z()>=a.mx.z())); |
| 462 | } |
| 463 | |
| 464 | // |
| 465 | DBVT_INLINE int btDbvtAabbMm::Classify(const btVector3& n,btScalar o,int s) const |
| 466 | { |
| 467 | btVector3 pi,px; |
| 468 | switch(s) |
| 469 | { |
| 470 | case (0+0+0): px=btVector3(mi.x(),mi.y(),mi.z()); |
| 471 | pi=btVector3(mx.x(),mx.y(),mx.z());break; |
| 472 | case (1+0+0): px=btVector3(mx.x(),mi.y(),mi.z()); |
| 473 | pi=btVector3(mi.x(),mx.y(),mx.z());break; |
| 474 | case (0+2+0): px=btVector3(mi.x(),mx.y(),mi.z()); |
| 475 | pi=btVector3(mx.x(),mi.y(),mx.z());break; |
| 476 | case (1+2+0): px=btVector3(mx.x(),mx.y(),mi.z()); |
| 477 | pi=btVector3(mi.x(),mi.y(),mx.z());break; |
| 478 | case (0+0+4): px=btVector3(mi.x(),mi.y(),mx.z()); |
| 479 | pi=btVector3(mx.x(),mx.y(),mi.z());break; |
| 480 | case (1+0+4): px=btVector3(mx.x(),mi.y(),mx.z()); |
| 481 | pi=btVector3(mi.x(),mx.y(),mi.z());break; |
| 482 | case (0+2+4): px=btVector3(mi.x(),mx.y(),mx.z()); |
| 483 | pi=btVector3(mx.x(),mi.y(),mi.z());break; |
| 484 | case (1+2+4): px=btVector3(mx.x(),mx.y(),mx.z()); |
| 485 | pi=btVector3(mi.x(),mi.y(),mi.z());break; |
| 486 | } |
| 487 | if((dot(n,px)+o)<0) return(-1); |
| 488 | if((dot(n,pi)+o)>=0) return(+1); |
| 489 | return(0); |
| 490 | } |
| 491 | |
| 492 | // |
| 493 | DBVT_INLINE btScalar btDbvtAabbMm::ProjectMinimum(const btVector3& v,unsigned signs) const |
| 494 | { |
| 495 | const btVector3* b[]={&mx,&mi}; |
| 496 | const btVector3 p( b[(signs>>0)&1]->x(), |
| 497 | b[(signs>>1)&1]->y(), |
| 498 | b[(signs>>2)&1]->z()); |
| 499 | return(dot(p,v)); |
| 500 | } |
| 501 | |
| 502 | // |
| 503 | DBVT_INLINE void btDbvtAabbMm::AddSpan(const btVector3& d,btScalar& smi,btScalar& smx) const |
| 504 | { |
| 505 | for(int i=0;i<3;++i) |
| 506 | { |
| 507 | if(d[i]<0) |
| 508 | { smi+=mx[i]*d[i];smx+=mi[i]*d[i]; } |
| 509 | else |
| 510 | { smi+=mi[i]*d[i];smx+=mx[i]*d[i]; } |
| 511 | } |
| 512 | } |
| 513 | |
| 514 | // |
| 515 | DBVT_INLINE bool Intersect( const btDbvtAabbMm& a, |
| 516 | const btDbvtAabbMm& b) |
| 517 | { |
| 518 | #if DBVT_INT0_IMPL == DBVT_IMPL_SSE |
| 519 | const __m128 rt(_mm_or_ps( _mm_cmplt_ps(_mm_load_ps(b.mx),_mm_load_ps(a.mi)), |
| 520 | _mm_cmplt_ps(_mm_load_ps(a.mx),_mm_load_ps(b.mi)))); |
| 521 | const __int32* pu((const __int32*)&rt); |
| 522 | return((pu[0]|pu[1]|pu[2])==0); |
| 523 | #else |
| 524 | return( (a.mi.x()<=b.mx.x())&& |
| 525 | (a.mx.x()>=b.mi.x())&& |
| 526 | (a.mi.y()<=b.mx.y())&& |
| 527 | (a.mx.y()>=b.mi.y())&& |
| 528 | (a.mi.z()<=b.mx.z())&& |
| 529 | (a.mx.z()>=b.mi.z())); |
| 530 | #endif |
| 531 | } |
| 532 | |
| 533 | // |
| 534 | DBVT_INLINE bool Intersect( const btDbvtAabbMm& a, |
| 535 | const btDbvtAabbMm& b, |
| 536 | const btTransform& xform) |
| 537 | { |
| 538 | const btVector3 d0=xform*b.Center()-a.Center(); |
| 539 | const btVector3 d1=d0*xform.getBasis(); |
| 540 | btScalar s0[2]={0,0}; |
| 541 | btScalar s1[2]={dot(xform.getOrigin(),d0),s1[0]}; |
| 542 | a.AddSpan(d0,s0[0],s0[1]); |
| 543 | b.AddSpan(d1,s1[0],s1[1]); |
| 544 | if(s0[0]>(s1[1])) return(false); |
| 545 | if(s0[1]<(s1[0])) return(false); |
| 546 | return(true); |
| 547 | } |
| 548 | |
| 549 | // |
| 550 | DBVT_INLINE bool Intersect( const btDbvtAabbMm& a, |
| 551 | const btVector3& b) |
| 552 | { |
| 553 | return( (b.x()>=a.mi.x())&& |
| 554 | (b.y()>=a.mi.y())&& |
| 555 | (b.z()>=a.mi.z())&& |
| 556 | (b.x()<=a.mx.x())&& |
| 557 | (b.y()<=a.mx.y())&& |
| 558 | (b.z()<=a.mx.z())); |
| 559 | } |
| 560 | |
| 561 | |
| 562 | |
| 563 | |
| 564 | |
| 565 | ////////////////////////////////////// |
| 566 | |
| 567 | |
| 568 | // |
| 569 | DBVT_INLINE btScalar Proximity( const btDbvtAabbMm& a, |
| 570 | const btDbvtAabbMm& b) |
| 571 | { |
| 572 | const btVector3 d=(a.mi+a.mx)-(b.mi+b.mx); |
| 573 | return(btFabs(d.x())+btFabs(d.y())+btFabs(d.z())); |
| 574 | } |
| 575 | |
| 576 | |
| 577 | |
| 578 | // |
| 579 | DBVT_INLINE int Select( const btDbvtAabbMm& o, |
| 580 | const btDbvtAabbMm& a, |
| 581 | const btDbvtAabbMm& b) |
| 582 | { |
| 583 | #if DBVT_SELECT_IMPL == DBVT_IMPL_SSE |
| 584 | static ATTRIBUTE_ALIGNED16(const unsigned __int32) mask[]={0x7fffffff,0x7fffffff,0x7fffffff,0x7fffffff}; |
| 585 | ///@todo: the intrinsic version is 11% slower |
| 586 | #if DBVT_USE_INTRINSIC_SSE |
| 587 | |
| 588 | union btSSEUnion ///NOTE: if we use more intrinsics, move btSSEUnion into the LinearMath directory |
| 589 | { |
| 590 | __m128 ssereg; |
| 591 | float floats[4]; |
| 592 | int ints[4]; |
| 593 | }; |
| 594 | |
| 595 | __m128 omi(_mm_load_ps(o.mi)); |
| 596 | omi=_mm_add_ps(omi,_mm_load_ps(o.mx)); |
| 597 | __m128 ami(_mm_load_ps(a.mi)); |
| 598 | ami=_mm_add_ps(ami,_mm_load_ps(a.mx)); |
| 599 | ami=_mm_sub_ps(ami,omi); |
| 600 | ami=_mm_and_ps(ami,_mm_load_ps((const float*)mask)); |
| 601 | __m128 bmi(_mm_load_ps(b.mi)); |
| 602 | bmi=_mm_add_ps(bmi,_mm_load_ps(b.mx)); |
| 603 | bmi=_mm_sub_ps(bmi,omi); |
| 604 | bmi=_mm_and_ps(bmi,_mm_load_ps((const float*)mask)); |
| 605 | __m128 t0(_mm_movehl_ps(ami,ami)); |
| 606 | ami=_mm_add_ps(ami,t0); |
| 607 | ami=_mm_add_ss(ami,_mm_shuffle_ps(ami,ami,1)); |
| 608 | __m128 t1(_mm_movehl_ps(bmi,bmi)); |
| 609 | bmi=_mm_add_ps(bmi,t1); |
| 610 | bmi=_mm_add_ss(bmi,_mm_shuffle_ps(bmi,bmi,1)); |
| 611 | |
| 612 | btSSEUnion tmp; |
| 613 | tmp.ssereg = _mm_cmple_ss(bmi,ami); |
| 614 | return tmp.ints[0]&1; |
| 615 | |
| 616 | #else |
| 617 | ATTRIBUTE_ALIGNED16(__int32 r[1]); |
| 618 | __asm |
| 619 | { |
| 620 | mov eax,o |
| 621 | mov ecx,a |
| 622 | mov edx,b |
| 623 | movaps xmm0,[eax] |
| 624 | movaps xmm5,mask |
| 625 | addps xmm0,[eax+16] |
| 626 | movaps xmm1,[ecx] |
| 627 | movaps xmm2,[edx] |
| 628 | addps xmm1,[ecx+16] |
| 629 | addps xmm2,[edx+16] |
| 630 | subps xmm1,xmm0 |
| 631 | subps xmm2,xmm0 |
| 632 | andps xmm1,xmm5 |
| 633 | andps xmm2,xmm5 |
| 634 | movhlps xmm3,xmm1 |
| 635 | movhlps xmm4,xmm2 |
| 636 | addps xmm1,xmm3 |
| 637 | addps xmm2,xmm4 |
| 638 | pshufd xmm3,xmm1,1 |
| 639 | pshufd xmm4,xmm2,1 |
| 640 | addss xmm1,xmm3 |
| 641 | addss xmm2,xmm4 |
| 642 | cmpless xmm2,xmm1 |
| 643 | movss r,xmm2 |
| 644 | } |
| 645 | return(r[0]&1); |
| 646 | #endif |
| 647 | #else |
| 648 | return(Proximity(o,a)<Proximity(o,b)?0:1); |
| 649 | #endif |
| 650 | } |
| 651 | |
| 652 | // |
| 653 | DBVT_INLINE void Merge( const btDbvtAabbMm& a, |
| 654 | const btDbvtAabbMm& b, |
| 655 | btDbvtAabbMm& r) |
| 656 | { |
| 657 | #if DBVT_MERGE_IMPL==DBVT_IMPL_SSE |
| 658 | __m128 ami(_mm_load_ps(a.mi)); |
| 659 | __m128 amx(_mm_load_ps(a.mx)); |
| 660 | __m128 bmi(_mm_load_ps(b.mi)); |
| 661 | __m128 bmx(_mm_load_ps(b.mx)); |
| 662 | ami=_mm_min_ps(ami,bmi); |
| 663 | amx=_mm_max_ps(amx,bmx); |
| 664 | _mm_store_ps(r.mi,ami); |
| 665 | _mm_store_ps(r.mx,amx); |
| 666 | #else |
| 667 | for(int i=0;i<3;++i) |
| 668 | { |
| 669 | if(a.mi[i]<b.mi[i]) r.mi[i]=a.mi[i]; else r.mi[i]=b.mi[i]; |
| 670 | if(a.mx[i]>b.mx[i]) r.mx[i]=a.mx[i]; else r.mx[i]=b.mx[i]; |
| 671 | } |
| 672 | #endif |
| 673 | } |
| 674 | |
| 675 | // |
| 676 | DBVT_INLINE bool NotEqual( const btDbvtAabbMm& a, |
| 677 | const btDbvtAabbMm& b) |
| 678 | { |
| 679 | return( (a.mi.x()!=b.mi.x())|| |
| 680 | (a.mi.y()!=b.mi.y())|| |
| 681 | (a.mi.z()!=b.mi.z())|| |
| 682 | (a.mx.x()!=b.mx.x())|| |
| 683 | (a.mx.y()!=b.mx.y())|| |
| 684 | (a.mx.z()!=b.mx.z())); |
| 685 | } |
| 686 | |
| 687 | // |
| 688 | // Inline's |
| 689 | // |
| 690 | |
| 691 | // |
| 692 | DBVT_PREFIX |
| 693 | inline void btDbvt::enumNodes( const btDbvtNode* root, |
| 694 | DBVT_IPOLICY) |
| 695 | { |
| 696 | DBVT_CHECKTYPE |
| 697 | policy.Process(root); |
| 698 | if(root->isinternal()) |
| 699 | { |
| 700 | enumNodes(root->childs[0],policy); |
| 701 | enumNodes(root->childs[1],policy); |
| 702 | } |
| 703 | } |
| 704 | |
| 705 | // |
| 706 | DBVT_PREFIX |
| 707 | inline void btDbvt::enumLeaves( const btDbvtNode* root, |
| 708 | DBVT_IPOLICY) |
| 709 | { |
| 710 | DBVT_CHECKTYPE |
| 711 | if(root->isinternal()) |
| 712 | { |
| 713 | enumLeaves(root->childs[0],policy); |
| 714 | enumLeaves(root->childs[1],policy); |
| 715 | } |
| 716 | else |
| 717 | { |
| 718 | policy.Process(root); |
| 719 | } |
| 720 | } |
| 721 | |
| 722 | // |
| 723 | DBVT_PREFIX |
| 724 | inline void btDbvt::collideTT( const btDbvtNode* root0, |
| 725 | const btDbvtNode* root1, |
| 726 | DBVT_IPOLICY) |
| 727 | { |
| 728 | DBVT_CHECKTYPE |
| 729 | if(root0&&root1) |
| 730 | { |
| 731 | int depth=1; |
| 732 | int treshold=DOUBLE_STACKSIZE-4; |
| 733 | btAlignedObjectArray<sStkNN> stkStack; |
| 734 | stkStack.resize(DOUBLE_STACKSIZE); |
| 735 | stkStack[0]=sStkNN(root0,root1); |
| 736 | do { |
| 737 | sStkNN p=stkStack[--depth]; |
| 738 | if(depth>treshold) |
| 739 | { |
| 740 | stkStack.resize(stkStack.size()*2); |
| 741 | treshold=stkStack.size()-4; |
| 742 | } |
| 743 | if(p.a==p.b) |
| 744 | { |
| 745 | if(p.a->isinternal()) |
| 746 | { |
| 747 | stkStack[depth++]=sStkNN(p.a->childs[0],p.a->childs[0]); |
| 748 | stkStack[depth++]=sStkNN(p.a->childs[1],p.a->childs[1]); |
| 749 | stkStack[depth++]=sStkNN(p.a->childs[0],p.a->childs[1]); |
| 750 | } |
| 751 | } |
| 752 | else if(Intersect(p.a->volume,p.b->volume)) |
| 753 | { |
| 754 | if(p.a->isinternal()) |
| 755 | { |
| 756 | if(p.b->isinternal()) |
| 757 | { |
| 758 | stkStack[depth++]=sStkNN(p.a->childs[0],p.b->childs[0]); |
| 759 | stkStack[depth++]=sStkNN(p.a->childs[1],p.b->childs[0]); |
| 760 | stkStack[depth++]=sStkNN(p.a->childs[0],p.b->childs[1]); |
| 761 | stkStack[depth++]=sStkNN(p.a->childs[1],p.b->childs[1]); |
| 762 | } |
| 763 | else |
| 764 | { |
| 765 | stkStack[depth++]=sStkNN(p.a->childs[0],p.b); |
| 766 | stkStack[depth++]=sStkNN(p.a->childs[1],p.b); |
| 767 | } |
| 768 | } |
| 769 | else |
| 770 | { |
| 771 | if(p.b->isinternal()) |
| 772 | { |
| 773 | stkStack[depth++]=sStkNN(p.a,p.b->childs[0]); |
| 774 | stkStack[depth++]=sStkNN(p.a,p.b->childs[1]); |
| 775 | } |
| 776 | else |
| 777 | { |
| 778 | policy.Process(p.a,p.b); |
| 779 | } |
| 780 | } |
| 781 | } |
| 782 | } while(depth); |
| 783 | } |
| 784 | } |
| 785 | |
| 786 | |
| 787 | |
| 788 | DBVT_PREFIX |
| 789 | inline void btDbvt::collideTTpersistentStack( const btDbvtNode* root0, |
| 790 | const btDbvtNode* root1, |
| 791 | DBVT_IPOLICY) |
| 792 | { |
| 793 | DBVT_CHECKTYPE |
| 794 | if(root0&&root1) |
| 795 | { |
| 796 | int depth=1; |
| 797 | int treshold=DOUBLE_STACKSIZE-4; |
| 798 | |
| 799 | m_stkStack.resize(DOUBLE_STACKSIZE); |
| 800 | m_stkStack[0]=sStkNN(root0,root1); |
| 801 | do { |
| 802 | sStkNN p=m_stkStack[--depth]; |
| 803 | if(depth>treshold) |
| 804 | { |
| 805 | m_stkStack.resize(m_stkStack.size()*2); |
| 806 | treshold=m_stkStack.size()-4; |
| 807 | } |
| 808 | if(p.a==p.b) |
| 809 | { |
| 810 | if(p.a->isinternal()) |
| 811 | { |
| 812 | m_stkStack[depth++]=sStkNN(p.a->childs[0],p.a->childs[0]); |
| 813 | m_stkStack[depth++]=sStkNN(p.a->childs[1],p.a->childs[1]); |
| 814 | m_stkStack[depth++]=sStkNN(p.a->childs[0],p.a->childs[1]); |
| 815 | } |
| 816 | } |
| 817 | else if(Intersect(p.a->volume,p.b->volume)) |
| 818 | { |
| 819 | if(p.a->isinternal()) |
| 820 | { |
| 821 | if(p.b->isinternal()) |
| 822 | { |
| 823 | m_stkStack[depth++]=sStkNN(p.a->childs[0],p.b->childs[0]); |
| 824 | m_stkStack[depth++]=sStkNN(p.a->childs[1],p.b->childs[0]); |
| 825 | m_stkStack[depth++]=sStkNN(p.a->childs[0],p.b->childs[1]); |
| 826 | m_stkStack[depth++]=sStkNN(p.a->childs[1],p.b->childs[1]); |
| 827 | } |
| 828 | else |
| 829 | { |
| 830 | m_stkStack[depth++]=sStkNN(p.a->childs[0],p.b); |
| 831 | m_stkStack[depth++]=sStkNN(p.a->childs[1],p.b); |
| 832 | } |
| 833 | } |
| 834 | else |
| 835 | { |
| 836 | if(p.b->isinternal()) |
| 837 | { |
| 838 | m_stkStack[depth++]=sStkNN(p.a,p.b->childs[0]); |
| 839 | m_stkStack[depth++]=sStkNN(p.a,p.b->childs[1]); |
| 840 | } |
| 841 | else |
| 842 | { |
| 843 | policy.Process(p.a,p.b); |
| 844 | } |
| 845 | } |
| 846 | } |
| 847 | } while(depth); |
| 848 | } |
| 849 | } |
| 850 | |
| 851 | |
| 852 | // |
| 853 | DBVT_PREFIX |
| 854 | inline void btDbvt::collideTT( const btDbvtNode* root0, |
| 855 | const btDbvtNode* root1, |
| 856 | const btTransform& xform, |
| 857 | DBVT_IPOLICY) |
| 858 | { |
| 859 | DBVT_CHECKTYPE |
| 860 | if(root0&&root1) |
| 861 | { |
| 862 | int depth=1; |
| 863 | int treshold=DOUBLE_STACKSIZE-4; |
| 864 | btAlignedObjectArray<sStkNN> stkStack; |
| 865 | stkStack.resize(DOUBLE_STACKSIZE); |
| 866 | stkStack[0]=sStkNN(root0,root1); |
| 867 | do { |
| 868 | sStkNN p=stkStack[--depth]; |
| 869 | if(Intersect(p.a->volume,p.b->volume,xform)) |
| 870 | { |
| 871 | if(depth>treshold) |
| 872 | { |
| 873 | stkStack.resize(stkStack.size()*2); |
| 874 | treshold=stkStack.size()-4; |
| 875 | } |
| 876 | if(p.a->isinternal()) |
| 877 | { |
| 878 | if(p.b->isinternal()) |
| 879 | { |
| 880 | stkStack[depth++]=sStkNN(p.a->childs[0],p.b->childs[0]); |
| 881 | stkStack[depth++]=sStkNN(p.a->childs[1],p.b->childs[0]); |
| 882 | stkStack[depth++]=sStkNN(p.a->childs[0],p.b->childs[1]); |
| 883 | stkStack[depth++]=sStkNN(p.a->childs[1],p.b->childs[1]); |
| 884 | } |
| 885 | else |
| 886 | { |
| 887 | stkStack[depth++]=sStkNN(p.a->childs[0],p.b); |
| 888 | stkStack[depth++]=sStkNN(p.a->childs[1],p.b); |
| 889 | } |
| 890 | } |
| 891 | else |
| 892 | { |
| 893 | if(p.b->isinternal()) |
| 894 | { |
| 895 | stkStack[depth++]=sStkNN(p.a,p.b->childs[0]); |
| 896 | stkStack[depth++]=sStkNN(p.a,p.b->childs[1]); |
| 897 | } |
| 898 | else |
| 899 | { |
| 900 | policy.Process(p.a,p.b); |
| 901 | } |
| 902 | } |
| 903 | } |
| 904 | } while(depth); |
| 905 | } |
| 906 | } |
| 907 | |
| 908 | // |
| 909 | DBVT_PREFIX |
| 910 | inline void btDbvt::collideTT( const btDbvtNode* root0, |
| 911 | const btTransform& xform0, |
| 912 | const btDbvtNode* root1, |
| 913 | const btTransform& xform1, |
| 914 | DBVT_IPOLICY) |
| 915 | { |
| 916 | const btTransform xform=xform0.inverse()*xform1; |
| 917 | collideTT(root0,root1,xform,policy); |
| 918 | } |
| 919 | |
| 920 | // |
| 921 | DBVT_PREFIX |
| 922 | inline void btDbvt::collideTV( const btDbvtNode* root, |
| 923 | const btDbvtVolume& vol, |
| 924 | DBVT_IPOLICY) |
| 925 | { |
| 926 | DBVT_CHECKTYPE |
| 927 | if(root) |
| 928 | { |
| 929 | ATTRIBUTE_ALIGNED16(btDbvtVolume) volume(vol); |
| 930 | btAlignedObjectArray<const btDbvtNode*> stack; |
| 931 | stack.resize(0); |
| 932 | stack.reserve(SIMPLE_STACKSIZE); |
| 933 | stack.push_back(root); |
| 934 | do { |
| 935 | const btDbvtNode* n=stack[stack.size()-1]; |
| 936 | stack.pop_back(); |
| 937 | if(Intersect(n->volume,volume)) |
| 938 | { |
| 939 | if(n->isinternal()) |
| 940 | { |
| 941 | stack.push_back(n->childs[0]); |
| 942 | stack.push_back(n->childs[1]); |
| 943 | } |
| 944 | else |
| 945 | { |
| 946 | policy.Process(n); |
| 947 | } |
| 948 | } |
| 949 | } while(stack.size()>0); |
| 950 | } |
| 951 | } |
| 952 | |
| 953 | DBVT_PREFIX |
| 954 | inline void btDbvt::rayTestInternal( const btDbvtNode* root, |
| 955 | const btVector3& rayFrom, |
| 956 | const btVector3& rayTo, |
| 957 | const btVector3& rayDirectionInverse, |
| 958 | unsigned int signs[3], |
| 959 | btScalar lambda_max, |
| 960 | const btVector3& aabbMin, |
| 961 | const btVector3& aabbMax, |
| 962 | DBVT_IPOLICY) const |
| 963 | { |
| 964 | DBVT_CHECKTYPE |
| 965 | if(root) |
| 966 | { |
| 967 | btVector3 resultNormal; |
| 968 | |
| 969 | int depth=1; |
| 970 | int treshold=DOUBLE_STACKSIZE-2; |
| 971 | btAlignedObjectArray<const btDbvtNode*> stack; |
| 972 | stack.resize(DOUBLE_STACKSIZE); |
| 973 | stack[0]=root; |
| 974 | btVector3 bounds[2]; |
| 975 | do |
| 976 | { |
| 977 | const btDbvtNode* node=stack[--depth]; |
| 978 | bounds[0] = node->volume.Mins()+aabbMin; |
| 979 | bounds[1] = node->volume.Maxs()+aabbMax; |
| 980 | btScalar tmin=1.f,lambda_min=0.f; |
| 981 | unsigned int result1=false; |
| 982 | result1 = btRayAabb2(rayFrom,rayDirectionInverse,signs,bounds,tmin,lambda_min,lambda_max); |
| 983 | if(result1) |
| 984 | { |
| 985 | if(node->isinternal()) |
| 986 | { |
| 987 | if(depth>treshold) |
| 988 | { |
| 989 | stack.resize(stack.size()*2); |
| 990 | treshold=stack.size()-2; |
| 991 | } |
| 992 | stack[depth++]=node->childs[0]; |
| 993 | stack[depth++]=node->childs[1]; |
| 994 | } |
| 995 | else |
| 996 | { |
| 997 | policy.Process(node); |
| 998 | } |
| 999 | } |
| 1000 | } while(depth); |
| 1001 | } |
| 1002 | } |
| 1003 | |
| 1004 | // |
| 1005 | DBVT_PREFIX |
| 1006 | inline void btDbvt::rayTest( const btDbvtNode* root, |
| 1007 | const btVector3& rayFrom, |
| 1008 | const btVector3& rayTo, |
| 1009 | DBVT_IPOLICY) |
| 1010 | { |
| 1011 | DBVT_CHECKTYPE |
| 1012 | if(root) |
| 1013 | { |
| 1014 | btVector3 rayDir = (rayTo-rayFrom); |
| 1015 | rayDir.normalize (); |
| 1016 | |
| 1017 | ///what about division by zero? --> just set rayDirection[i] to INF/1e30 |
| 1018 | btVector3 rayDirectionInverse; |
| 1019 | rayDirectionInverse[0] = rayDir[0] == btScalar(0.0) ? btScalar(1e30) : btScalar(1.0) / rayDir[0]; |
| 1020 | rayDirectionInverse[1] = rayDir[1] == btScalar(0.0) ? btScalar(1e30) : btScalar(1.0) / rayDir[1]; |
| 1021 | rayDirectionInverse[2] = rayDir[2] == btScalar(0.0) ? btScalar(1e30) : btScalar(1.0) / rayDir[2]; |
| 1022 | unsigned int signs[3] = { rayDirectionInverse[0] < 0.0, rayDirectionInverse[1] < 0.0, rayDirectionInverse[2] < 0.0}; |
| 1023 | |
| 1024 | btScalar lambda_max = rayDir.dot(rayTo-rayFrom); |
| 1025 | |
| 1026 | btVector3 resultNormal; |
| 1027 | |
| 1028 | btAlignedObjectArray<const btDbvtNode*> stack; |
| 1029 | |
| 1030 | int depth=1; |
| 1031 | int treshold=DOUBLE_STACKSIZE-2; |
| 1032 | |
| 1033 | stack.resize(DOUBLE_STACKSIZE); |
| 1034 | stack[0]=root; |
| 1035 | btVector3 bounds[2]; |
| 1036 | do { |
| 1037 | const btDbvtNode* node=stack[--depth]; |
| 1038 | |
| 1039 | bounds[0] = node->volume.Mins(); |
| 1040 | bounds[1] = node->volume.Maxs(); |
| 1041 | |
| 1042 | btScalar tmin=1.f,lambda_min=0.f; |
| 1043 | unsigned int result1 = btRayAabb2(rayFrom,rayDirectionInverse,signs,bounds,tmin,lambda_min,lambda_max); |
| 1044 | |
| 1045 | #ifdef COMPARE_BTRAY_AABB2 |
| 1046 | btScalar param=1.f; |
| 1047 | bool result2 = btRayAabb(rayFrom,rayTo,node->volume.Mins(),node->volume.Maxs(),param,resultNormal); |
| 1048 | btAssert(result1 == result2); |
| 1049 | #endif //TEST_BTRAY_AABB2 |
| 1050 | |
| 1051 | if(result1) |
| 1052 | { |
| 1053 | if(node->isinternal()) |
| 1054 | { |
| 1055 | if(depth>treshold) |
| 1056 | { |
| 1057 | stack.resize(stack.size()*2); |
| 1058 | treshold=stack.size()-2; |
| 1059 | } |
| 1060 | stack[depth++]=node->childs[0]; |
| 1061 | stack[depth++]=node->childs[1]; |
| 1062 | } |
| 1063 | else |
| 1064 | { |
| 1065 | policy.Process(node); |
| 1066 | } |
| 1067 | } |
| 1068 | } while(depth); |
| 1069 | |
| 1070 | } |
| 1071 | } |
| 1072 | |
| 1073 | // |
| 1074 | DBVT_PREFIX |
| 1075 | inline void btDbvt::collideKDOP(const btDbvtNode* root, |
| 1076 | const btVector3* normals, |
| 1077 | const btScalar* offsets, |
| 1078 | int count, |
| 1079 | DBVT_IPOLICY) |
| 1080 | { |
| 1081 | DBVT_CHECKTYPE |
| 1082 | if(root) |
| 1083 | { |
| 1084 | const int inside=(1<<count)-1; |
| 1085 | btAlignedObjectArray<sStkNP> stack; |
| 1086 | int signs[sizeof(unsigned)*8]; |
| 1087 | btAssert(count<int (sizeof(signs)/sizeof(signs[0]))); |
| 1088 | for(int i=0;i<count;++i) |
| 1089 | { |
| 1090 | signs[i]= ((normals[i].x()>=0)?1:0)+ |
| 1091 | ((normals[i].y()>=0)?2:0)+ |
| 1092 | ((normals[i].z()>=0)?4:0); |
| 1093 | } |
| 1094 | stack.reserve(SIMPLE_STACKSIZE); |
| 1095 | stack.push_back(sStkNP(root,0)); |
| 1096 | do { |
| 1097 | sStkNP se=stack[stack.size()-1]; |
| 1098 | bool out=false; |
| 1099 | stack.pop_back(); |
| 1100 | for(int i=0,j=1;(!out)&&(i<count);++i,j<<=1) |
| 1101 | { |
| 1102 | if(0==(se.mask&j)) |
| 1103 | { |
| 1104 | const int side=se.node->volume.Classify(normals[i],offsets[i],signs[i]); |
| 1105 | switch(side) |
| 1106 | { |
| 1107 | case -1: out=true;break; |
| 1108 | case +1: se.mask|=j;break; |
| 1109 | } |
| 1110 | } |
| 1111 | } |
| 1112 | if(!out) |
| 1113 | { |
| 1114 | if((se.mask!=inside)&&(se.node->isinternal())) |
| 1115 | { |
| 1116 | stack.push_back(sStkNP(se.node->childs[0],se.mask)); |
| 1117 | stack.push_back(sStkNP(se.node->childs[1],se.mask)); |
| 1118 | } |
| 1119 | else |
| 1120 | { |
| 1121 | if(policy.AllLeaves(se.node)) enumLeaves(se.node,policy); |
| 1122 | } |
| 1123 | } |
| 1124 | } while(stack.size()); |
| 1125 | } |
| 1126 | } |
| 1127 | |
| 1128 | // |
| 1129 | DBVT_PREFIX |
| 1130 | inline void btDbvt::collideOCL( const btDbvtNode* root, |
| 1131 | const btVector3* normals, |
| 1132 | const btScalar* offsets, |
| 1133 | const btVector3& sortaxis, |
| 1134 | int count, |
| 1135 | DBVT_IPOLICY, |
| 1136 | bool fsort) |
| 1137 | { |
| 1138 | DBVT_CHECKTYPE |
| 1139 | if(root) |
| 1140 | { |
| 1141 | const unsigned srtsgns=(sortaxis[0]>=0?1:0)+ |
| 1142 | (sortaxis[1]>=0?2:0)+ |
| 1143 | (sortaxis[2]>=0?4:0); |
| 1144 | const int inside=(1<<count)-1; |
| 1145 | btAlignedObjectArray<sStkNPS> stock; |
| 1146 | btAlignedObjectArray<int> ifree; |
| 1147 | btAlignedObjectArray<int> stack; |
| 1148 | int signs[sizeof(unsigned)*8]; |
| 1149 | btAssert(count<int (sizeof(signs)/sizeof(signs[0]))); |
| 1150 | for(int i=0;i<count;++i) |
| 1151 | { |
| 1152 | signs[i]= ((normals[i].x()>=0)?1:0)+ |
| 1153 | ((normals[i].y()>=0)?2:0)+ |
| 1154 | ((normals[i].z()>=0)?4:0); |
| 1155 | } |
| 1156 | stock.reserve(SIMPLE_STACKSIZE); |
| 1157 | stack.reserve(SIMPLE_STACKSIZE); |
| 1158 | ifree.reserve(SIMPLE_STACKSIZE); |
| 1159 | stack.push_back(allocate(ifree,stock,sStkNPS(root,0,root->volume.ProjectMinimum(sortaxis,srtsgns)))); |
| 1160 | do { |
| 1161 | const int id=stack[stack.size()-1]; |
| 1162 | sStkNPS se=stock[id]; |
| 1163 | stack.pop_back();ifree.push_back(id); |
| 1164 | if(se.mask!=inside) |
| 1165 | { |
| 1166 | bool out=false; |
| 1167 | for(int i=0,j=1;(!out)&&(i<count);++i,j<<=1) |
| 1168 | { |
| 1169 | if(0==(se.mask&j)) |
| 1170 | { |
| 1171 | const int side=se.node->volume.Classify(normals[i],offsets[i],signs[i]); |
| 1172 | switch(side) |
| 1173 | { |
| 1174 | case -1: out=true;break; |
| 1175 | case +1: se.mask|=j;break; |
| 1176 | } |
| 1177 | } |
| 1178 | } |
| 1179 | if(out) continue; |
| 1180 | } |
| 1181 | if(policy.Descent(se.node)) |
| 1182 | { |
| 1183 | if(se.node->isinternal()) |
| 1184 | { |
| 1185 | const btDbvtNode* pns[]={ se.node->childs[0],se.node->childs[1]}; |
| 1186 | sStkNPS nes[]={ sStkNPS(pns[0],se.mask,pns[0]->volume.ProjectMinimum(sortaxis,srtsgns)), |
| 1187 | sStkNPS(pns[1],se.mask,pns[1]->volume.ProjectMinimum(sortaxis,srtsgns))}; |
| 1188 | const int q=nes[0].value<nes[1].value?1:0; |
| 1189 | int j=stack.size(); |
| 1190 | if(fsort&&(j>0)) |
| 1191 | { |
| 1192 | /* Insert 0 */ |
| 1193 | j=nearest(&stack[0],&stock[0],nes[q].value,0,stack.size()); |
| 1194 | stack.push_back(0); |
| 1195 | #if DBVT_USE_MEMMOVE |
| 1196 | memmove(&stack[j+1],&stack[j],sizeof(int)*(stack.size()-j-1)); |
| 1197 | #else |
| 1198 | for(int k=stack.size()-1;k>j;--k) stack[k]=stack[k-1]; |
| 1199 | #endif |
| 1200 | stack[j]=allocate(ifree,stock,nes[q]); |
| 1201 | /* Insert 1 */ |
| 1202 | j=nearest(&stack[0],&stock[0],nes[1-q].value,j,stack.size()); |
| 1203 | stack.push_back(0); |
| 1204 | #if DBVT_USE_MEMMOVE |
| 1205 | memmove(&stack[j+1],&stack[j],sizeof(int)*(stack.size()-j-1)); |
| 1206 | #else |
| 1207 | for(int k=stack.size()-1;k>j;--k) stack[k]=stack[k-1]; |
| 1208 | #endif |
| 1209 | stack[j]=allocate(ifree,stock,nes[1-q]); |
| 1210 | } |
| 1211 | else |
| 1212 | { |
| 1213 | stack.push_back(allocate(ifree,stock,nes[q])); |
| 1214 | stack.push_back(allocate(ifree,stock,nes[1-q])); |
| 1215 | } |
| 1216 | } |
| 1217 | else |
| 1218 | { |
| 1219 | policy.Process(se.node,se.value); |
| 1220 | } |
| 1221 | } |
| 1222 | } while(stack.size()); |
| 1223 | } |
| 1224 | } |
| 1225 | |
| 1226 | // |
| 1227 | DBVT_PREFIX |
| 1228 | inline void btDbvt::collideTU( const btDbvtNode* root, |
| 1229 | DBVT_IPOLICY) |
| 1230 | { |
| 1231 | DBVT_CHECKTYPE |
| 1232 | if(root) |
| 1233 | { |
| 1234 | btAlignedObjectArray<const btDbvtNode*> stack; |
| 1235 | stack.reserve(SIMPLE_STACKSIZE); |
| 1236 | stack.push_back(root); |
| 1237 | do { |
| 1238 | const btDbvtNode* n=stack[stack.size()-1]; |
| 1239 | stack.pop_back(); |
| 1240 | if(policy.Descent(n)) |
| 1241 | { |
| 1242 | if(n->isinternal()) |
| 1243 | { stack.push_back(n->childs[0]);stack.push_back(n->childs[1]); } |
| 1244 | else |
| 1245 | { policy.Process(n); } |
| 1246 | } |
| 1247 | } while(stack.size()>0); |
| 1248 | } |
| 1249 | } |
| 1250 | |
| 1251 | // |
| 1252 | // PP Cleanup |
| 1253 | // |
| 1254 | |
| 1255 | #undef DBVT_USE_MEMMOVE |
| 1256 | #undef DBVT_USE_TEMPLATE |
| 1257 | #undef DBVT_VIRTUAL_DTOR |
| 1258 | #undef DBVT_VIRTUAL |
| 1259 | #undef DBVT_PREFIX |
| 1260 | #undef DBVT_IPOLICY |
| 1261 | #undef DBVT_CHECKTYPE |
| 1262 | #undef DBVT_IMPL_GENERIC |
| 1263 | #undef DBVT_IMPL_SSE |
| 1264 | #undef DBVT_USE_INTRINSIC_SSE |
| 1265 | #undef DBVT_SELECT_IMPL |
| 1266 | #undef DBVT_MERGE_IMPL |
| 1267 | #undef DBVT_INT0_IMPL |
| 1268 | |
| 1269 | #endif |
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