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/*
* Copyright (c) 2006 Erwin Coumans http://continuousphysics.com/Bullet/
*
* Permission to use, copy, modify, distribute and sell this software
* and its documentation for any purpose is hereby granted without fee,
* provided that the above copyright notice appear in all copies.
* Erwin Coumans makes no representations about the suitability
* of this software for any purpose.
* It is provided "as is" without express or implied warranty.
*/
#ifndef OPTIMIZED_BVH_H
#define OPTIMIZED_BVH_H
#include "SimdVector3.h"
#include <vector>
class StridingMeshInterface;
/// OptimizedBvhNode contains both internal and leaf node information.
/// It hasn't been optimized yet for storage. Some obvious optimizations are:
/// Removal of the pointers (can already be done, they are not used for traversal)
/// and storing aabbmin/max as quantized integers.
/// 'subpart' doesn't need an integer either. It allows to re-use graphics triangle
/// meshes stored in a non-uniform way (like batches/subparts of triangle-fans
struct OptimizedBvhNode
{
SimdVector3 m_aabbMin;
SimdVector3 m_aabbMax;
//these 2 pointers are obsolete, the stackless traversal just uses the escape index
OptimizedBvhNode* m_leftChild;
OptimizedBvhNode* m_rightChild;
int m_escapeIndex;
//for child nodes
int m_subPart;
int m_triangleIndex;
};
class NodeOverlapCallback
{
public:
virtual void ProcessNode(const OptimizedBvhNode* node) = 0;
};
typedef std::vector<OptimizedBvhNode> NodeArray;
///OptimizedBvh store an AABB tree that can be quickly traversed on CPU (and SPU,GPU in future)
class OptimizedBvh
{
OptimizedBvhNode* m_rootNode1;
OptimizedBvhNode* m_contiguousNodes;
int m_curNodeIndex;
int m_numNodes;
NodeArray m_leafNodes;
public:
OptimizedBvh() :m_rootNode1(0), m_numNodes(0) { }
void Build(StridingMeshInterface* triangles);
OptimizedBvhNode* BuildTree (NodeArray& leafNodes,int startIndex,int endIndex);
int CalcSplittingAxis(NodeArray& leafNodes,int startIndex,int endIndex);
int SortAndCalcSplittingIndex(NodeArray& leafNodes,int startIndex,int endIndex,int splitAxis);
void WalkTree(OptimizedBvhNode* rootNode,NodeOverlapCallback* nodeCallback,const SimdVector3& aabbMin,const SimdVector3& aabbMax) const;
void WalkStacklessTree(OptimizedBvhNode* rootNode,NodeOverlapCallback* nodeCallback,const SimdVector3& aabbMin,const SimdVector3& aabbMax) const;
//OptimizedBvhNode* GetRootNode() { return m_rootNode1;}
int GetNumNodes() { return m_numNodes;}
void ReportAabbOverlappingNodex(NodeOverlapCallback* nodeCallback,const SimdVector3& aabbMin,const SimdVector3& aabbMax) const;
void ReportSphereOverlappingNodex(NodeOverlapCallback* nodeCallback,const SimdVector3& aabbMin,const SimdVector3& aabbMax) const;
};
#endif //OPTIMIZED_BVH_H
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