Changeset 2430 for code/branches/physics/src/bullet/BulletCollision/BroadphaseCollision/btQuantizedBvh.h

Timestamp:

Dec 13, 2008, 11:45:51 PM (16 years ago)

Author:

rgrieder

Message:

Updated to Bullet 2.73 (first part).

File:

• code/branches/physics/src/bullet/BulletCollision/BroadphaseCollision/btQuantizedBvh.h (modified) (5 diffs)

code/branches/physics/src/bullet/BulletCollision/BroadphaseCollision/btQuantizedBvh.h

@@ -159 +159 @@
 ATTRIBUTE_ALIGNED16(class) btQuantizedBvh
 {
-protected:
-
-        NodeArray                       m_leafNodes;
-        NodeArray                       m_contiguousNodes;
-
-        QuantizedNodeArray      m_quantizedLeafNodes;
-        
-        QuantizedNodeArray      m_quantizedContiguousNodes;
-        
-        int                                     m_curNodeIndex;
-
-
-        //quantization data
-        bool                            m_useQuantization;
-        btVector3                       m_bvhAabbMin;
-        btVector3                       m_bvhAabbMax;
-        btVector3                       m_bvhQuantization;
 public:
-        BT_DECLARE_ALIGNED_ALLOCATOR();
-
         enum btTraversalMode
         {
@@ -185 +166 @@
                 TRAVERSAL_RECURSIVE
         };
+
 protected:
 
+
+        btVector3                       m_bvhAabbMin;
+        btVector3                       m_bvhAabbMax;
+        btVector3                       m_bvhQuantization;
+
+        int                                     m_bulletVersion;        //for serialization versioning. It could also be used to detect endianess.
+
+        int                                     m_curNodeIndex;
+        //quantization data
+        bool                            m_useQuantization;
+
+
+
+        NodeArray                       m_leafNodes;
+        NodeArray                       m_contiguousNodes;
+        QuantizedNodeArray      m_quantizedLeafNodes;
+        QuantizedNodeArray      m_quantizedContiguousNodes;
+        
         btTraversalMode m_traversalMode;
-        
         BvhSubtreeInfoArray             m_SubtreeHeaders;
 
         //This is only used for serialization so we don't have to add serialization directly to btAlignedObjectArray
         int m_subtreeHeaderCount;
+
+        
+
 
 
@@ -297 +299 @@
         void    walkStacklessQuantizedTreeAgainstRay(btNodeOverlapCallback* nodeCallback, const btVector3& raySource, const btVector3& rayTarget, const btVector3& aabbMin, const btVector3& aabbMax, int startNodeIndex,int endNodeIndex) const;
         void    walkStacklessQuantizedTree(btNodeOverlapCallback* nodeCallback,unsigned short int* quantizedQueryAabbMin,unsigned short int* quantizedQueryAabbMax,int startNodeIndex,int endNodeIndex) const;
+        void    walkStacklessTreeAgainstRay(btNodeOverlapCallback* nodeCallback, const btVector3& raySource, const btVector3& rayTarget, const btVector3& aabbMin, const btVector3& aabbMax, int startNodeIndex,int endNodeIndex) const;
 
         ///tree traversal designed for small-memory processors like PS3 SPU
@@ -308 +311 @@
         
 
-#define USE_BANCHLESS 1
-#ifdef USE_BANCHLESS
-        //This block replaces the block below and uses no branches, and replaces the 8 bit return with a 32 bit return for improved performance (~3x on XBox 360)
-        SIMD_FORCE_INLINE unsigned testQuantizedAabbAgainstQuantizedAabb(unsigned short int* aabbMin1,unsigned short int* aabbMax1,const unsigned short int* aabbMin2,const unsigned short int* aabbMax2) const
-        {               
-                return static_cast<unsigned int>(btSelect((unsigned)((aabbMin1[0] <= aabbMax2[0]) & (aabbMax1[0] >= aabbMin2[0])
-                        & (aabbMin1[2] <= aabbMax2[2]) & (aabbMax1[2] >= aabbMin2[2])
-                        & (aabbMin1[1] <= aabbMax2[1]) & (aabbMax1[1] >= aabbMin2[1])),
-                        1, 0));
-        }
-#else
-        SIMD_FORCE_INLINE bool testQuantizedAabbAgainstQuantizedAabb(unsigned short int* aabbMin1,unsigned short int* aabbMax1,const unsigned short int* aabbMin2,const unsigned short int* aabbMax2) const
-        {
-                bool overlap = true;
-                overlap = (aabbMin1[0] > aabbMax2[0] || aabbMax1[0] < aabbMin2[0]) ? false : overlap;
-                overlap = (aabbMin1[2] > aabbMax2[2] || aabbMax1[2] < aabbMin2[2]) ? false : overlap;
-                overlap = (aabbMin1[1] > aabbMax2[1] || aabbMax1[1] < aabbMin2[1]) ? false : overlap;
-                return overlap;
-        }
-#endif //USE_BANCHLESS
+
 
         void    updateSubtreeHeaders(int leftChildNodexIndex,int rightChildNodexIndex);
 
 public:
+        
+        BT_DECLARE_ALIGNED_ALLOCATOR();
+
         btQuantizedBvh();
 
@@ -364 +351 @@
                 ///Make sure rounding is done in a way that unQuantize(quantizeWithClamp(...)) is conservative
                 ///end-points always set the first bit, so that they are sorted properly (so that neighbouring AABBs overlap properly)
-                ///todo: double-check this
+                ///@todo: double-check this
                 if (isMax)
                 {