diff options
Diffstat (limited to 'extern/bullet2/src/BulletCollision/Gimpact/btGImpactBvh.h')
| -rw-r--r-- | extern/bullet2/src/BulletCollision/Gimpact/btGImpactBvh.h | 189 |
1 files changed, 51 insertions, 138 deletions
diff --git a/extern/bullet2/src/BulletCollision/Gimpact/btGImpactBvh.h b/extern/bullet2/src/BulletCollision/Gimpact/btGImpactBvh.h index 6174ae97a97..3cd8fa24e77 100644 --- a/extern/bullet2/src/BulletCollision/Gimpact/btGImpactBvh.h +++ b/extern/bullet2/src/BulletCollision/Gimpact/btGImpactBvh.h @@ -1,5 +1,5 @@ -#ifndef GIM_BOX_SET_H_INCLUDED -#define GIM_BOX_SET_H_INCLUDED +#ifndef BT_GIMPACT_BVH_H_INCLUDED +#define BT_GIMPACT_BVH_H_INCLUDED /*! \file gim_box_set.h \author Francisco Leon Najera @@ -24,135 +24,55 @@ subject to the following restrictions: 3. This notice may not be removed or altered from any source distribution. */ - #include "LinearMath/btAlignedObjectArray.h" #include "btBoxCollision.h" #include "btTriangleShapeEx.h" - - - - - -//! Overlapping pair -struct GIM_PAIR -{ - int m_index1; - int m_index2; - GIM_PAIR() - {} - - GIM_PAIR(const GIM_PAIR & p) - { - m_index1 = p.m_index1; - m_index2 = p.m_index2; - } - - GIM_PAIR(int index1, int index2) - { - m_index1 = index1; - m_index2 = index2; - } -}; +#include "btGImpactBvhStructs.h" //! A pairset array -class btPairSet: public btAlignedObjectArray<GIM_PAIR> +class btPairSet : public btAlignedObjectArray<GIM_PAIR> { public: btPairSet() { reserve(32); } - inline void push_pair(int index1,int index2) + inline void push_pair(int index1, int index2) { - push_back(GIM_PAIR(index1,index2)); + push_back(GIM_PAIR(index1, index2)); } - inline void push_pair_inv(int index1,int index2) + inline void push_pair_inv(int index1, int index2) { - push_back(GIM_PAIR(index2,index1)); + push_back(GIM_PAIR(index2, index1)); } }; - -///GIM_BVH_DATA is an internal GIMPACT collision structure to contain axis aligned bounding box -struct GIM_BVH_DATA +class GIM_BVH_DATA_ARRAY : public btAlignedObjectArray<GIM_BVH_DATA> { - btAABB m_bound; - int m_data; }; -//! Node Structure for trees -class GIM_BVH_TREE_NODE -{ -public: - btAABB m_bound; -protected: - int m_escapeIndexOrDataIndex; -public: - GIM_BVH_TREE_NODE() - { - m_escapeIndexOrDataIndex = 0; - } - - SIMD_FORCE_INLINE bool isLeafNode() const - { - //skipindex is negative (internal node), triangleindex >=0 (leafnode) - return (m_escapeIndexOrDataIndex>=0); - } - - SIMD_FORCE_INLINE int getEscapeIndex() const - { - //btAssert(m_escapeIndexOrDataIndex < 0); - return -m_escapeIndexOrDataIndex; - } - - SIMD_FORCE_INLINE void setEscapeIndex(int index) - { - m_escapeIndexOrDataIndex = -index; - } - - SIMD_FORCE_INLINE int getDataIndex() const - { - //btAssert(m_escapeIndexOrDataIndex >= 0); - - return m_escapeIndexOrDataIndex; - } - - SIMD_FORCE_INLINE void setDataIndex(int index) - { - m_escapeIndexOrDataIndex = index; - } - -}; - - -class GIM_BVH_DATA_ARRAY:public btAlignedObjectArray<GIM_BVH_DATA> -{ -}; - - -class GIM_BVH_TREE_NODE_ARRAY:public btAlignedObjectArray<GIM_BVH_TREE_NODE> +class GIM_BVH_TREE_NODE_ARRAY : public btAlignedObjectArray<GIM_BVH_TREE_NODE> { }; - - - //! Basic Box tree structure class btBvhTree { protected: int m_num_nodes; GIM_BVH_TREE_NODE_ARRAY m_node_array; + protected: int _sort_and_calc_splitting_index( - GIM_BVH_DATA_ARRAY & primitive_boxes, - int startIndex, int endIndex, int splitAxis); + GIM_BVH_DATA_ARRAY& primitive_boxes, + int startIndex, int endIndex, int splitAxis); - int _calc_splitting_axis(GIM_BVH_DATA_ARRAY & primitive_boxes, int startIndex, int endIndex); + int _calc_splitting_axis(GIM_BVH_DATA_ARRAY& primitive_boxes, int startIndex, int endIndex); + + void _build_sub_tree(GIM_BVH_DATA_ARRAY& primitive_boxes, int startIndex, int endIndex); - void _build_sub_tree(GIM_BVH_DATA_ARRAY & primitive_boxes, int startIndex, int endIndex); public: btBvhTree() { @@ -161,7 +81,7 @@ public: //! prototype functions for box tree management //!@{ - void build_tree(GIM_BVH_DATA_ARRAY & primitive_boxes); + void build_tree(GIM_BVH_DATA_ARRAY& primitive_boxes); SIMD_FORCE_INLINE void clearNodes() { @@ -186,25 +106,25 @@ public: return m_node_array[nodeindex].getDataIndex(); } - SIMD_FORCE_INLINE void getNodeBound(int nodeindex, btAABB & bound) const + SIMD_FORCE_INLINE void getNodeBound(int nodeindex, btAABB& bound) const { bound = m_node_array[nodeindex].m_bound; } - SIMD_FORCE_INLINE void setNodeBound(int nodeindex, const btAABB & bound) + SIMD_FORCE_INLINE void setNodeBound(int nodeindex, const btAABB& bound) { m_node_array[nodeindex].m_bound = bound; } SIMD_FORCE_INLINE int getLeftNode(int nodeindex) const { - return nodeindex+1; + return nodeindex + 1; } SIMD_FORCE_INLINE int getRightNode(int nodeindex) const { - if(m_node_array[nodeindex+1].isLeafNode()) return nodeindex+2; - return nodeindex+1 + m_node_array[nodeindex+1].getEscapeIndex(); + if (m_node_array[nodeindex + 1].isLeafNode()) return nodeindex + 2; + return nodeindex + 1 + m_node_array[nodeindex + 1].getEscapeIndex(); } SIMD_FORCE_INLINE int getEscapeNodeIndex(int nodeindex) const @@ -212,7 +132,7 @@ public: return m_node_array[nodeindex].getEscapeIndex(); } - SIMD_FORCE_INLINE const GIM_BVH_TREE_NODE * get_node_pointer(int index = 0) const + SIMD_FORCE_INLINE const GIM_BVH_TREE_NODE* get_node_pointer(int index = 0) const { return &m_node_array[index]; } @@ -220,7 +140,6 @@ public: //!@} }; - //! Prototype Base class for primitive classification /*! This class is a wrapper for primitive collections. @@ -230,18 +149,16 @@ This class can manage Compound shapes and trimeshes, and if it is managing trime class btPrimitiveManagerBase { public: - virtual ~btPrimitiveManagerBase() {} //! determines if this manager consist on only triangles, which special case will be optimized virtual bool is_trimesh() const = 0; virtual int get_primitive_count() const = 0; - virtual void get_primitive_box(int prim_index ,btAABB & primbox) const = 0; + virtual void get_primitive_box(int prim_index, btAABB& primbox) const = 0; //! retrieves only the points of the triangle, and the collision margin - virtual void get_primitive_triangle(int prim_index,btPrimitiveTriangle & triangle) const= 0; + virtual void get_primitive_triangle(int prim_index, btPrimitiveTriangle& triangle) const = 0; }; - //! Structure for containing Boxes /*! This class offers an structure for managing a box tree of primitives. @@ -251,13 +168,13 @@ class btGImpactBvh { protected: btBvhTree m_box_tree; - btPrimitiveManagerBase * m_primitive_manager; + btPrimitiveManagerBase* m_primitive_manager; protected: //stackless refit void refit(); -public: +public: //! this constructor doesn't build the tree. you must call buildSet btGImpactBvh() { @@ -265,31 +182,30 @@ public: } //! this constructor doesn't build the tree. you must call buildSet - btGImpactBvh(btPrimitiveManagerBase * primitive_manager) + btGImpactBvh(btPrimitiveManagerBase* primitive_manager) { m_primitive_manager = primitive_manager; } - SIMD_FORCE_INLINE btAABB getGlobalBox() const + SIMD_FORCE_INLINE btAABB getGlobalBox() const { btAABB totalbox; getNodeBound(0, totalbox); return totalbox; } - SIMD_FORCE_INLINE void setPrimitiveManager(btPrimitiveManagerBase * primitive_manager) + SIMD_FORCE_INLINE void setPrimitiveManager(btPrimitiveManagerBase* primitive_manager) { m_primitive_manager = primitive_manager; } - SIMD_FORCE_INLINE btPrimitiveManagerBase * getPrimitiveManager() const + SIMD_FORCE_INLINE btPrimitiveManagerBase* getPrimitiveManager() const { return m_primitive_manager; } - -//! node manager prototype functions -///@{ + //! node manager prototype functions + ///@{ //! this attemps to refit the box set. SIMD_FORCE_INLINE void update() @@ -301,21 +217,21 @@ public: void buildSet(); //! returns the indices of the primitives in the m_primitive_manager - bool boxQuery(const btAABB & box, btAlignedObjectArray<int> & collided_results) const; + bool boxQuery(const btAABB& box, btAlignedObjectArray<int>& collided_results) const; //! returns the indices of the primitives in the m_primitive_manager - SIMD_FORCE_INLINE bool boxQueryTrans(const btAABB & box, - const btTransform & transform, btAlignedObjectArray<int> & collided_results) const + SIMD_FORCE_INLINE bool boxQueryTrans(const btAABB& box, + const btTransform& transform, btAlignedObjectArray<int>& collided_results) const { - btAABB transbox=box; + btAABB transbox = box; transbox.appy_transform(transform); - return boxQuery(transbox,collided_results); + return boxQuery(transbox, collided_results); } //! returns the indices of the primitives in the m_primitive_manager bool rayQuery( - const btVector3 & ray_dir,const btVector3 & ray_origin , - btAlignedObjectArray<int> & collided_results) const; + const btVector3& ray_dir, const btVector3& ray_origin, + btAlignedObjectArray<int>& collided_results) const; //! tells if this set has hierarcht SIMD_FORCE_INLINE bool hasHierarchy() const @@ -324,7 +240,7 @@ public: } //! tells if this set is a trimesh - SIMD_FORCE_INLINE bool isTrimesh() const + SIMD_FORCE_INLINE bool isTrimesh() const { return m_primitive_manager->is_trimesh(); } @@ -346,17 +262,16 @@ public: return m_box_tree.getNodeData(nodeindex); } - SIMD_FORCE_INLINE void getNodeBound(int nodeindex, btAABB & bound) const + SIMD_FORCE_INLINE void getNodeBound(int nodeindex, btAABB& bound) const { m_box_tree.getNodeBound(nodeindex, bound); } - SIMD_FORCE_INLINE void setNodeBound(int nodeindex, const btAABB & bound) + SIMD_FORCE_INLINE void setNodeBound(int nodeindex, const btAABB& bound) { m_box_tree.setNodeBound(nodeindex, bound); } - SIMD_FORCE_INLINE int getLeftNode(int nodeindex) const { return m_box_tree.getLeftNode(nodeindex); @@ -372,25 +287,23 @@ public: return m_box_tree.getEscapeNodeIndex(nodeindex); } - SIMD_FORCE_INLINE void getNodeTriangle(int nodeindex,btPrimitiveTriangle & triangle) const + SIMD_FORCE_INLINE void getNodeTriangle(int nodeindex, btPrimitiveTriangle& triangle) const { - m_primitive_manager->get_primitive_triangle(getNodeData(nodeindex),triangle); + m_primitive_manager->get_primitive_triangle(getNodeData(nodeindex), triangle); } - - SIMD_FORCE_INLINE const GIM_BVH_TREE_NODE * get_node_pointer(int index = 0) const + SIMD_FORCE_INLINE const GIM_BVH_TREE_NODE* get_node_pointer(int index = 0) const { return m_box_tree.get_node_pointer(index); } #ifdef TRI_COLLISION_PROFILING static float getAverageTreeCollisionTime(); -#endif //TRI_COLLISION_PROFILING +#endif //TRI_COLLISION_PROFILING - static void find_collision(btGImpactBvh * boxset1, const btTransform & trans1, - btGImpactBvh * boxset2, const btTransform & trans2, - btPairSet & collision_pairs); + static void find_collision(btGImpactBvh* boxset1, const btTransform& trans1, + btGImpactBvh* boxset2, const btTransform& trans2, + btPairSet& collision_pairs); }; - -#endif // GIM_BOXPRUNING_H_INCLUDED +#endif // BT_GIMPACT_BVH_H_INCLUDED |