569 lines
12 KiB
C++
569 lines
12 KiB
C++
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/*************************************************************************/
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/* triangle_mesh.cpp */
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/*************************************************************************/
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/* This file is part of: */
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/* GODOT ENGINE */
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/* http://www.godotengine.org */
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/*************************************************************************/
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/* Copyright (c) 2007-2014 Juan Linietsky, Ariel Manzur. */
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/* */
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/* Permission is hereby granted, free of charge, to any person obtaining */
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/* a copy of this software and associated documentation files (the */
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/* "Software"), to deal in the Software without restriction, including */
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/* without limitation the rights to use, copy, modify, merge, publish, */
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/* distribute, sublicense, and/or sell copies of the Software, and to */
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/* permit persons to whom the Software is furnished to do so, subject to */
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/* the following conditions: */
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/* */
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/* The above copyright notice and this permission notice shall be */
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/* included in all copies or substantial portions of the Software. */
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/* */
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/* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, */
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/* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF */
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/* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.*/
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/* IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY */
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/* CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, */
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/* TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE */
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/* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. */
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/*************************************************************************/
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#include "triangle_mesh.h"
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#include "sort.h"
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int TriangleMesh::_create_bvh(BVH*p_bvh,BVH** p_bb,int p_from,int p_size,int p_depth,int&max_depth,int&max_alloc) {
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if (p_depth>max_depth) {
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max_depth=p_depth;
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}
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if (p_size==1) {
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return p_bb[p_from]-p_bvh;
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} else if (p_size==0) {
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return -1;
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}
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AABB aabb;
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aabb=p_bb[p_from]->aabb;
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for(int i=1;i<p_size;i++) {
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aabb.merge_with(p_bb[p_from+i]->aabb);
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}
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int li=aabb.get_longest_axis_index();
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switch(li) {
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case Vector3::AXIS_X: {
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SortArray<BVH*,BVHCmpX> sort_x;
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sort_x.nth_element(0,p_size,p_size/2,&p_bb[p_from]);
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//sort_x.sort(&p_bb[p_from],p_size);
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} break;
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case Vector3::AXIS_Y: {
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SortArray<BVH*,BVHCmpY> sort_y;
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sort_y.nth_element(0,p_size,p_size/2,&p_bb[p_from]);
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//sort_y.sort(&p_bb[p_from],p_size);
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} break;
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case Vector3::AXIS_Z: {
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SortArray<BVH*,BVHCmpZ> sort_z;
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sort_z.nth_element(0,p_size,p_size/2,&p_bb[p_from]);
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//sort_z.sort(&p_bb[p_from],p_size);
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} break;
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}
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int left = _create_bvh(p_bvh,p_bb,p_from,p_size/2,p_depth+1,max_depth,max_alloc);
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int right = _create_bvh(p_bvh,p_bb,p_from+p_size/2,p_size-p_size/2,p_depth+1,max_depth,max_alloc);
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int index=max_alloc++;
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BVH *_new = &p_bvh[index];
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_new->aabb=aabb;
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_new->center=aabb.pos+aabb.size*0.5;
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_new->face_index=-1;
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_new->left=left;
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_new->right=right;
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return index;
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}
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void TriangleMesh::create(const DVector<Vector3>& p_faces) {
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valid=false;
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int fc=p_faces.size();
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ERR_FAIL_COND(!fc || ((fc%3) != 0));
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fc/=3;
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triangles.resize(fc);
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bvh.resize(fc*3); //will never be larger than this (todo make better)
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DVector<BVH>::Write bw = bvh.write();
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{
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//create faces and indices and base bvh
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//except for the Set for repeated triangles, everything
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//goes in-place.
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DVector<Vector3>::Read r = p_faces.read();
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DVector<Triangle>::Write w = triangles.write();
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Map<Vector3,int> db;
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for(int i=0;i<fc;i++) {
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Triangle&f=w[i];
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const Vector3 *v=&r[i*3];
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for(int j=0;j<3;j++) {
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int vidx=-1;
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Vector3 vs=v[j].snapped(0.0001);
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Map<Vector3,int>::Element *E=db.find(vs);
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if (E) {
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vidx=E->get();
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} else {
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vidx=db.size();
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db[vs]=vidx;
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}
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f.indices[j]=vidx;
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if (j==0)
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bw[i].aabb.pos=vs;
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else
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bw[i].aabb.expand_to(vs);
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}
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f.normal=Face3(r[i*3+0],r[i*3+1],r[i*3+2]).get_plane().get_normal();
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bw[i].left=-1;
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bw[i].right=-1;
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bw[i].face_index=i;
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bw[i].center=bw[i].aabb.pos+bw[i].aabb.size*0.5;
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}
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vertices.resize(db.size());
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DVector<Vector3>::Write vw = vertices.write();
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for (Map<Vector3,int>::Element *E=db.front();E;E=E->next()) {
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vw[E->get()]=E->key();
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}
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}
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DVector<BVH*> bwptrs;
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bwptrs.resize(fc);
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DVector<BVH*>::Write bwp = bwptrs.write();
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for(int i=0;i<fc;i++) {
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bwp[i]=&bw[i];
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}
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max_depth=0;
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int max_alloc=fc;
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int max=_create_bvh(bw.ptr(),bwp.ptr(),0,fc,1,max_depth,max_alloc);
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bw=DVector<BVH>::Write(); //clearup
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bvh.resize(max_alloc); //resize back
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valid=true;
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}
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Vector3 TriangleMesh::get_area_normal(const AABB& p_aabb) const {
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uint32_t* stack = (uint32_t*)alloca(sizeof(int)*max_depth);
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enum {
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TEST_AABB_BIT=0,
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VISIT_LEFT_BIT=1,
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VISIT_RIGHT_BIT=2,
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VISIT_DONE_BIT=3,
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VISITED_BIT_SHIFT=29,
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NODE_IDX_MASK=(1<<VISITED_BIT_SHIFT)-1,
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VISITED_BIT_MASK=~NODE_IDX_MASK,
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};
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int n_count=0;
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Vector3 n;
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//for(int i=0;i<max_depth;i++)
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// stack[i]=0;
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int level=0;
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DVector<Triangle>::Read trianglesr = triangles.read();
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DVector<Vector3>::Read verticesr=vertices.read();
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DVector<BVH>::Read bvhr=bvh.read();
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const Triangle *triangleptr=trianglesr.ptr();
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const Vector3 *vertexptr=verticesr.ptr();
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int pos=bvh.size()-1;
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const BVH *bvhptr = bvhr.ptr();
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stack[0]=pos;
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while(true) {
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uint32_t node = stack[level]&NODE_IDX_MASK;
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const BVH &b = bvhptr[ node ];
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bool done=false;
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switch(stack[level]>>VISITED_BIT_SHIFT) {
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case TEST_AABB_BIT: {
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bool valid = b.aabb.intersects(p_aabb);
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if (!valid) {
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stack[level]=(VISIT_DONE_BIT<<VISITED_BIT_SHIFT)|node;
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} else {
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if (b.face_index>=0) {
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const Triangle &s=triangleptr[ b.face_index ];
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n+=s.normal;
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n_count++;
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stack[level]=(VISIT_DONE_BIT<<VISITED_BIT_SHIFT)|node;
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} else {
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stack[level]=(VISIT_LEFT_BIT<<VISITED_BIT_SHIFT)|node;
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}
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}
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} continue;
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case VISIT_LEFT_BIT: {
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stack[level]=(VISIT_RIGHT_BIT<<VISITED_BIT_SHIFT)|node;
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stack[level+1]=b.left|TEST_AABB_BIT;
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level++;
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} continue;
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case VISIT_RIGHT_BIT: {
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stack[level]=(VISIT_DONE_BIT<<VISITED_BIT_SHIFT)|node;
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stack[level+1]=b.right|TEST_AABB_BIT;
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level++;
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} continue;
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case VISIT_DONE_BIT: {
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if (level==0) {
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done=true;
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break;
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} else
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level--;
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} continue;
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}
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if (done)
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break;
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}
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if (n_count>0)
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n/=n_count;
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return n;
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}
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bool TriangleMesh::intersect_segment(const Vector3& p_begin,const Vector3& p_end,Vector3 &r_point, Vector3 &r_normal) const {
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uint32_t* stack = (uint32_t*)alloca(sizeof(int)*max_depth);
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enum {
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TEST_AABB_BIT=0,
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VISIT_LEFT_BIT=1,
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VISIT_RIGHT_BIT=2,
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VISIT_DONE_BIT=3,
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VISITED_BIT_SHIFT=29,
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NODE_IDX_MASK=(1<<VISITED_BIT_SHIFT)-1,
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VISITED_BIT_MASK=~NODE_IDX_MASK,
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};
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Vector3 n = (p_end-p_begin).normalized();
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real_t d=1e10;
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bool inters=false;
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//for(int i=0;i<max_depth;i++)
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// stack[i]=0;
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int level=0;
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//AABB ray_aabb;
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//ray_aabb.pos=p_begin;
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//ray_aabb.expand_to(p_end);
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DVector<Triangle>::Read trianglesr = triangles.read();
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DVector<Vector3>::Read verticesr=vertices.read();
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DVector<BVH>::Read bvhr=bvh.read();
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const Triangle *triangleptr=trianglesr.ptr();
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const Vector3 *vertexptr=verticesr.ptr();
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int pos=bvh.size()-1;
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const BVH *bvhptr = bvhr.ptr();
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stack[0]=pos;
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while(true) {
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uint32_t node = stack[level]&NODE_IDX_MASK;
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const BVH &b = bvhptr[ node ];
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bool done=false;
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switch(stack[level]>>VISITED_BIT_SHIFT) {
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case TEST_AABB_BIT: {
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bool valid = b.aabb.intersects_segment(p_begin,p_end);
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// bool valid = b.aabb.intersects(ray_aabb);
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if (!valid) {
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stack[level]=(VISIT_DONE_BIT<<VISITED_BIT_SHIFT)|node;
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} else {
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if (b.face_index>=0) {
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const Triangle &s=triangleptr[ b.face_index ];
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Face3 f3(vertexptr[ s.indices[0] ],vertexptr[ s.indices[1] ],vertexptr[ s.indices[2] ]);
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Vector3 res;
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if (f3.intersects_segment(p_begin,p_end,&res)) {
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float nd = n.dot(res);
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if (nd<d) {
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d=nd;
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r_point=res;
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r_normal=f3.get_plane().get_normal();
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inters=true;
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}
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}
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stack[level]=(VISIT_DONE_BIT<<VISITED_BIT_SHIFT)|node;
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} else {
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stack[level]=(VISIT_LEFT_BIT<<VISITED_BIT_SHIFT)|node;
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}
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}
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} continue;
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||
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case VISIT_LEFT_BIT: {
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stack[level]=(VISIT_RIGHT_BIT<<VISITED_BIT_SHIFT)|node;
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||
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stack[level+1]=b.left|TEST_AABB_BIT;
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level++;
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} continue;
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||
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case VISIT_RIGHT_BIT: {
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||
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stack[level]=(VISIT_DONE_BIT<<VISITED_BIT_SHIFT)|node;
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||
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stack[level+1]=b.right|TEST_AABB_BIT;
|
||
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level++;
|
||
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} continue;
|
||
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case VISIT_DONE_BIT: {
|
||
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||
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if (level==0) {
|
||
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done=true;
|
||
|
|
break;
|
||
|
|
} else
|
||
|
|
level--;
|
||
|
|
|
||
|
|
} continue;
|
||
|
|
}
|
||
|
|
|
||
|
|
|
||
|
|
if (done)
|
||
|
|
break;
|
||
|
|
}
|
||
|
|
|
||
|
|
|
||
|
|
if (inters) {
|
||
|
|
|
||
|
|
if (n.dot(r_normal)>0)
|
||
|
|
r_normal=-r_normal;
|
||
|
|
}
|
||
|
|
|
||
|
|
return inters;
|
||
|
|
}
|
||
|
|
|
||
|
|
|
||
|
|
bool TriangleMesh::intersect_ray(const Vector3& p_begin,const Vector3& p_dir,Vector3 &r_point, Vector3 &r_normal) const {
|
||
|
|
|
||
|
|
|
||
|
|
uint32_t* stack = (uint32_t*)alloca(sizeof(int)*max_depth);
|
||
|
|
|
||
|
|
enum {
|
||
|
|
TEST_AABB_BIT=0,
|
||
|
|
VISIT_LEFT_BIT=1,
|
||
|
|
VISIT_RIGHT_BIT=2,
|
||
|
|
VISIT_DONE_BIT=3,
|
||
|
|
VISITED_BIT_SHIFT=29,
|
||
|
|
NODE_IDX_MASK=(1<<VISITED_BIT_SHIFT)-1,
|
||
|
|
VISITED_BIT_MASK=~NODE_IDX_MASK,
|
||
|
|
|
||
|
|
|
||
|
|
};
|
||
|
|
|
||
|
|
Vector3 n = p_dir;
|
||
|
|
real_t d=1e20;
|
||
|
|
bool inters=false;
|
||
|
|
|
||
|
|
//for(int i=0;i<max_depth;i++)
|
||
|
|
// stack[i]=0;
|
||
|
|
|
||
|
|
int level=0;
|
||
|
|
|
||
|
|
DVector<Triangle>::Read trianglesr = triangles.read();
|
||
|
|
DVector<Vector3>::Read verticesr=vertices.read();
|
||
|
|
DVector<BVH>::Read bvhr=bvh.read();
|
||
|
|
|
||
|
|
const Triangle *triangleptr=trianglesr.ptr();
|
||
|
|
const Vector3 *vertexptr=verticesr.ptr();
|
||
|
|
int pos=bvh.size()-1;
|
||
|
|
const BVH *bvhptr = bvhr.ptr();
|
||
|
|
|
||
|
|
stack[0]=pos;
|
||
|
|
while(true) {
|
||
|
|
|
||
|
|
uint32_t node = stack[level]&NODE_IDX_MASK;
|
||
|
|
const BVH &b = bvhptr[ node ];
|
||
|
|
bool done=false;
|
||
|
|
|
||
|
|
switch(stack[level]>>VISITED_BIT_SHIFT) {
|
||
|
|
case TEST_AABB_BIT: {
|
||
|
|
|
||
|
|
|
||
|
|
bool valid = b.aabb.intersects_ray(p_begin,p_dir);
|
||
|
|
if (!valid) {
|
||
|
|
|
||
|
|
stack[level]=(VISIT_DONE_BIT<<VISITED_BIT_SHIFT)|node;
|
||
|
|
|
||
|
|
} else {
|
||
|
|
|
||
|
|
if (b.face_index>=0) {
|
||
|
|
|
||
|
|
const Triangle &s=triangleptr[ b.face_index ];
|
||
|
|
Face3 f3(vertexptr[ s.indices[0] ],vertexptr[ s.indices[1] ],vertexptr[ s.indices[2] ]);
|
||
|
|
|
||
|
|
|
||
|
|
Vector3 res;
|
||
|
|
|
||
|
|
if (f3.intersects_ray(p_begin,p_dir,&res)) {
|
||
|
|
|
||
|
|
|
||
|
|
float nd = n.dot(res);
|
||
|
|
if (nd<d) {
|
||
|
|
|
||
|
|
d=nd;
|
||
|
|
r_point=res;
|
||
|
|
r_normal=f3.get_plane().get_normal();
|
||
|
|
inters=true;
|
||
|
|
}
|
||
|
|
|
||
|
|
}
|
||
|
|
|
||
|
|
stack[level]=(VISIT_DONE_BIT<<VISITED_BIT_SHIFT)|node;
|
||
|
|
|
||
|
|
} else {
|
||
|
|
|
||
|
|
stack[level]=(VISIT_LEFT_BIT<<VISITED_BIT_SHIFT)|node;
|
||
|
|
}
|
||
|
|
}
|
||
|
|
|
||
|
|
} continue;
|
||
|
|
case VISIT_LEFT_BIT: {
|
||
|
|
|
||
|
|
stack[level]=(VISIT_RIGHT_BIT<<VISITED_BIT_SHIFT)|node;
|
||
|
|
stack[level+1]=b.left|TEST_AABB_BIT;
|
||
|
|
level++;
|
||
|
|
|
||
|
|
} continue;
|
||
|
|
case VISIT_RIGHT_BIT: {
|
||
|
|
|
||
|
|
stack[level]=(VISIT_DONE_BIT<<VISITED_BIT_SHIFT)|node;
|
||
|
|
stack[level+1]=b.right|TEST_AABB_BIT;
|
||
|
|
level++;
|
||
|
|
} continue;
|
||
|
|
case VISIT_DONE_BIT: {
|
||
|
|
|
||
|
|
if (level==0) {
|
||
|
|
done=true;
|
||
|
|
break;
|
||
|
|
} else
|
||
|
|
level--;
|
||
|
|
|
||
|
|
} continue;
|
||
|
|
}
|
||
|
|
|
||
|
|
|
||
|
|
if (done)
|
||
|
|
break;
|
||
|
|
}
|
||
|
|
|
||
|
|
|
||
|
|
if (inters) {
|
||
|
|
|
||
|
|
if (n.dot(r_normal)>0)
|
||
|
|
r_normal=-r_normal;
|
||
|
|
}
|
||
|
|
|
||
|
|
return inters;
|
||
|
|
}
|
||
|
|
|
||
|
|
bool TriangleMesh::is_valid() const {
|
||
|
|
|
||
|
|
return valid;
|
||
|
|
}
|
||
|
|
|
||
|
|
DVector<Face3> TriangleMesh::get_faces() const {
|
||
|
|
|
||
|
|
if (!valid)
|
||
|
|
return DVector<Face3>();
|
||
|
|
|
||
|
|
DVector<Face3> faces;
|
||
|
|
int ts = triangles.size();
|
||
|
|
faces.resize(triangles.size());
|
||
|
|
|
||
|
|
DVector<Face3>::Write w=faces.write();
|
||
|
|
DVector<Triangle>::Read r = triangles.read();
|
||
|
|
DVector<Vector3>::Read rv = vertices.read();
|
||
|
|
|
||
|
|
for(int i=0;i<ts;i++) {
|
||
|
|
for(int j=0;j<3;j++) {
|
||
|
|
w[i].vertex[j]=rv[r[i].indices[j]];
|
||
|
|
}
|
||
|
|
}
|
||
|
|
|
||
|
|
w = DVector<Face3>::Write();
|
||
|
|
return faces;
|
||
|
|
}
|
||
|
|
|
||
|
|
TriangleMesh::TriangleMesh() {
|
||
|
|
|
||
|
|
valid=false;
|
||
|
|
max_depth=0;
|
||
|
|
}
|