544 lines
18 KiB
C++
544 lines
18 KiB
C++
/*
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Bullet Continuous Collision Detection and Physics Library
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Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
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This software is provided 'as-is', without any express or implied warranty.
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In no event will the authors be held liable for any damages arising from the use of this software.
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Permission is granted to anyone to use this software for any purpose,
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including commercial applications, and to alter it and redistribute it freely,
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subject to the following restrictions:
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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.
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2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
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3. This notice may not be removed or altered from any source distribution.
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*/
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#ifndef BT_QUANTIZED_BVH_H
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#define BT_QUANTIZED_BVH_H
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class btSerializer;
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//#define DEBUG_CHECK_DEQUANTIZATION 1
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#ifdef DEBUG_CHECK_DEQUANTIZATION
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#ifdef __SPU__
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#define printf spu_printf
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#endif //__SPU__
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#include <stdio.h>
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#include <stdlib.h>
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#endif //DEBUG_CHECK_DEQUANTIZATION
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#include "LinearMath/btVector3.h"
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#include "LinearMath/btAlignedAllocator.h"
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#ifdef BT_USE_DOUBLE_PRECISION
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#define btQuantizedBvhData btQuantizedBvhDoubleData
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#define btOptimizedBvhNodeData btOptimizedBvhNodeDoubleData
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#define btQuantizedBvhDataName "btQuantizedBvhDoubleData"
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#else
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#define btQuantizedBvhData btQuantizedBvhFloatData
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#define btOptimizedBvhNodeData btOptimizedBvhNodeFloatData
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#define btQuantizedBvhDataName "btQuantizedBvhFloatData"
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#endif
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//http://msdn.microsoft.com/library/default.asp?url=/library/en-us/vclang/html/vclrf__m128.asp
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//Note: currently we have 16 bytes per quantized node
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#define MAX_SUBTREE_SIZE_IN_BYTES 2048
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// 10 gives the potential for 1024 parts, with at most 2^21 (2097152) (minus one
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// actually) triangles each (since the sign bit is reserved
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#define MAX_NUM_PARTS_IN_BITS 10
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///btQuantizedBvhNode is a compressed aabb node, 16 bytes.
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///Node can be used for leafnode or internal node. Leafnodes can point to 32-bit triangle index (non-negative range).
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ATTRIBUTE_ALIGNED16(struct)
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btQuantizedBvhNode
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{
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BT_DECLARE_ALIGNED_ALLOCATOR();
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//12 bytes
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unsigned short int m_quantizedAabbMin[3];
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unsigned short int m_quantizedAabbMax[3];
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//4 bytes
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int m_escapeIndexOrTriangleIndex;
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bool isLeafNode() const
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{
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//skipindex is negative (internal node), triangleindex >=0 (leafnode)
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return (m_escapeIndexOrTriangleIndex >= 0);
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}
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int getEscapeIndex() const
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{
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btAssert(!isLeafNode());
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return -m_escapeIndexOrTriangleIndex;
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}
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int getTriangleIndex() const
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{
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btAssert(isLeafNode());
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unsigned int x = 0;
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unsigned int y = (~(x & 0)) << (31 - MAX_NUM_PARTS_IN_BITS);
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// Get only the lower bits where the triangle index is stored
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return (m_escapeIndexOrTriangleIndex & ~(y));
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}
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int getPartId() const
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{
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btAssert(isLeafNode());
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// Get only the highest bits where the part index is stored
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return (m_escapeIndexOrTriangleIndex >> (31 - MAX_NUM_PARTS_IN_BITS));
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}
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};
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/// btOptimizedBvhNode contains both internal and leaf node information.
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/// Total node size is 44 bytes / node. You can use the compressed version of 16 bytes.
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ATTRIBUTE_ALIGNED16(struct)
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btOptimizedBvhNode
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{
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BT_DECLARE_ALIGNED_ALLOCATOR();
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//32 bytes
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btVector3 m_aabbMinOrg;
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btVector3 m_aabbMaxOrg;
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//4
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int m_escapeIndex;
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//8
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//for child nodes
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int m_subPart;
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int m_triangleIndex;
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//pad the size to 64 bytes
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char m_padding[20];
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};
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///btBvhSubtreeInfo provides info to gather a subtree of limited size
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ATTRIBUTE_ALIGNED16(class)
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btBvhSubtreeInfo
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{
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public:
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BT_DECLARE_ALIGNED_ALLOCATOR();
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//12 bytes
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unsigned short int m_quantizedAabbMin[3];
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unsigned short int m_quantizedAabbMax[3];
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//4 bytes, points to the root of the subtree
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int m_rootNodeIndex;
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//4 bytes
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int m_subtreeSize;
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int m_padding[3];
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btBvhSubtreeInfo()
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{
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//memset(&m_padding[0], 0, sizeof(m_padding));
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}
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void setAabbFromQuantizeNode(const btQuantizedBvhNode& quantizedNode)
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{
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m_quantizedAabbMin[0] = quantizedNode.m_quantizedAabbMin[0];
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m_quantizedAabbMin[1] = quantizedNode.m_quantizedAabbMin[1];
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m_quantizedAabbMin[2] = quantizedNode.m_quantizedAabbMin[2];
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m_quantizedAabbMax[0] = quantizedNode.m_quantizedAabbMax[0];
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m_quantizedAabbMax[1] = quantizedNode.m_quantizedAabbMax[1];
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m_quantizedAabbMax[2] = quantizedNode.m_quantizedAabbMax[2];
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}
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};
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class btNodeOverlapCallback
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{
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public:
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virtual ~btNodeOverlapCallback(){};
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virtual void processNode(int subPart, int triangleIndex) = 0;
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};
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#include "LinearMath/btAlignedAllocator.h"
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#include "LinearMath/btAlignedObjectArray.h"
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///for code readability:
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typedef btAlignedObjectArray<btOptimizedBvhNode> NodeArray;
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typedef btAlignedObjectArray<btQuantizedBvhNode> QuantizedNodeArray;
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typedef btAlignedObjectArray<btBvhSubtreeInfo> BvhSubtreeInfoArray;
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///The btQuantizedBvh class stores an AABB tree that can be quickly traversed on CPU and Cell SPU.
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///It is used by the btBvhTriangleMeshShape as midphase.
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///It is recommended to use quantization for better performance and lower memory requirements.
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ATTRIBUTE_ALIGNED16(class)
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btQuantizedBvh
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{
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public:
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enum btTraversalMode
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{
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TRAVERSAL_STACKLESS = 0,
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TRAVERSAL_STACKLESS_CACHE_FRIENDLY,
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TRAVERSAL_RECURSIVE
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};
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protected:
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btVector3 m_bvhAabbMin;
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btVector3 m_bvhAabbMax;
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btVector3 m_bvhQuantization;
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int m_bulletVersion; //for serialization versioning. It could also be used to detect endianess.
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int m_curNodeIndex;
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//quantization data
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bool m_useQuantization;
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NodeArray m_leafNodes;
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NodeArray m_contiguousNodes;
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QuantizedNodeArray m_quantizedLeafNodes;
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QuantizedNodeArray m_quantizedContiguousNodes;
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btTraversalMode m_traversalMode;
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BvhSubtreeInfoArray m_SubtreeHeaders;
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//This is only used for serialization so we don't have to add serialization directly to btAlignedObjectArray
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mutable int m_subtreeHeaderCount;
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///two versions, one for quantized and normal nodes. This allows code-reuse while maintaining readability (no template/macro!)
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///this might be refactored into a virtual, it is usually not calculated at run-time
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void setInternalNodeAabbMin(int nodeIndex, const btVector3& aabbMin)
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{
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if (m_useQuantization)
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{
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quantize(&m_quantizedContiguousNodes[nodeIndex].m_quantizedAabbMin[0], aabbMin, 0);
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}
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else
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{
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m_contiguousNodes[nodeIndex].m_aabbMinOrg = aabbMin;
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}
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}
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void setInternalNodeAabbMax(int nodeIndex, const btVector3& aabbMax)
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{
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if (m_useQuantization)
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{
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quantize(&m_quantizedContiguousNodes[nodeIndex].m_quantizedAabbMax[0], aabbMax, 1);
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}
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else
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{
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m_contiguousNodes[nodeIndex].m_aabbMaxOrg = aabbMax;
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}
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}
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btVector3 getAabbMin(int nodeIndex) const
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{
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if (m_useQuantization)
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{
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return unQuantize(&m_quantizedLeafNodes[nodeIndex].m_quantizedAabbMin[0]);
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}
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//non-quantized
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return m_leafNodes[nodeIndex].m_aabbMinOrg;
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}
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btVector3 getAabbMax(int nodeIndex) const
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{
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if (m_useQuantization)
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{
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return unQuantize(&m_quantizedLeafNodes[nodeIndex].m_quantizedAabbMax[0]);
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}
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//non-quantized
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return m_leafNodes[nodeIndex].m_aabbMaxOrg;
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}
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void setInternalNodeEscapeIndex(int nodeIndex, int escapeIndex)
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{
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if (m_useQuantization)
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{
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m_quantizedContiguousNodes[nodeIndex].m_escapeIndexOrTriangleIndex = -escapeIndex;
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}
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else
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{
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m_contiguousNodes[nodeIndex].m_escapeIndex = escapeIndex;
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}
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}
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void mergeInternalNodeAabb(int nodeIndex, const btVector3& newAabbMin, const btVector3& newAabbMax)
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{
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if (m_useQuantization)
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{
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unsigned short int quantizedAabbMin[3];
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unsigned short int quantizedAabbMax[3];
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quantize(quantizedAabbMin, newAabbMin, 0);
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quantize(quantizedAabbMax, newAabbMax, 1);
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for (int i = 0; i < 3; i++)
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{
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if (m_quantizedContiguousNodes[nodeIndex].m_quantizedAabbMin[i] > quantizedAabbMin[i])
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m_quantizedContiguousNodes[nodeIndex].m_quantizedAabbMin[i] = quantizedAabbMin[i];
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if (m_quantizedContiguousNodes[nodeIndex].m_quantizedAabbMax[i] < quantizedAabbMax[i])
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m_quantizedContiguousNodes[nodeIndex].m_quantizedAabbMax[i] = quantizedAabbMax[i];
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}
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}
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else
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{
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//non-quantized
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m_contiguousNodes[nodeIndex].m_aabbMinOrg.setMin(newAabbMin);
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m_contiguousNodes[nodeIndex].m_aabbMaxOrg.setMax(newAabbMax);
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}
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}
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void swapLeafNodes(int firstIndex, int secondIndex);
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void assignInternalNodeFromLeafNode(int internalNode, int leafNodeIndex);
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protected:
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void buildTree(int startIndex, int endIndex);
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int calcSplittingAxis(int startIndex, int endIndex);
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int sortAndCalcSplittingIndex(int startIndex, int endIndex, int splitAxis);
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void walkStacklessTree(btNodeOverlapCallback * nodeCallback, const btVector3& aabbMin, const btVector3& aabbMax) const;
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void walkStacklessQuantizedTreeAgainstRay(btNodeOverlapCallback * nodeCallback, const btVector3& raySource, const btVector3& rayTarget, const btVector3& aabbMin, const btVector3& aabbMax, int startNodeIndex, int endNodeIndex) const;
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void walkStacklessQuantizedTree(btNodeOverlapCallback * nodeCallback, unsigned short int* quantizedQueryAabbMin, unsigned short int* quantizedQueryAabbMax, int startNodeIndex, int endNodeIndex) const;
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void walkStacklessTreeAgainstRay(btNodeOverlapCallback * nodeCallback, const btVector3& raySource, const btVector3& rayTarget, const btVector3& aabbMin, const btVector3& aabbMax, int startNodeIndex, int endNodeIndex) const;
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///tree traversal designed for small-memory processors like PS3 SPU
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void walkStacklessQuantizedTreeCacheFriendly(btNodeOverlapCallback * nodeCallback, unsigned short int* quantizedQueryAabbMin, unsigned short int* quantizedQueryAabbMax) const;
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///use the 16-byte stackless 'skipindex' node tree to do a recursive traversal
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void walkRecursiveQuantizedTreeAgainstQueryAabb(const btQuantizedBvhNode* currentNode, btNodeOverlapCallback* nodeCallback, unsigned short int* quantizedQueryAabbMin, unsigned short int* quantizedQueryAabbMax) const;
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///use the 16-byte stackless 'skipindex' node tree to do a recursive traversal
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void walkRecursiveQuantizedTreeAgainstQuantizedTree(const btQuantizedBvhNode* treeNodeA, const btQuantizedBvhNode* treeNodeB, btNodeOverlapCallback* nodeCallback) const;
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void updateSubtreeHeaders(int leftChildNodexIndex, int rightChildNodexIndex);
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public:
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BT_DECLARE_ALIGNED_ALLOCATOR();
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btQuantizedBvh();
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virtual ~btQuantizedBvh();
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///***************************************** expert/internal use only *************************
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void setQuantizationValues(const btVector3& bvhAabbMin, const btVector3& bvhAabbMax, btScalar quantizationMargin = btScalar(1.0));
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QuantizedNodeArray& getLeafNodeArray() { return m_quantizedLeafNodes; }
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///buildInternal is expert use only: assumes that setQuantizationValues and LeafNodeArray are initialized
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void buildInternal();
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///***************************************** expert/internal use only *************************
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void reportAabbOverlappingNodex(btNodeOverlapCallback * nodeCallback, const btVector3& aabbMin, const btVector3& aabbMax) const;
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void reportRayOverlappingNodex(btNodeOverlapCallback * nodeCallback, const btVector3& raySource, const btVector3& rayTarget) const;
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void reportBoxCastOverlappingNodex(btNodeOverlapCallback * nodeCallback, const btVector3& raySource, const btVector3& rayTarget, const btVector3& aabbMin, const btVector3& aabbMax) const;
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SIMD_FORCE_INLINE void quantize(unsigned short* out, const btVector3& point, int isMax) const
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{
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btAssert(m_useQuantization);
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btAssert(point.getX() <= m_bvhAabbMax.getX());
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btAssert(point.getY() <= m_bvhAabbMax.getY());
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btAssert(point.getZ() <= m_bvhAabbMax.getZ());
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btAssert(point.getX() >= m_bvhAabbMin.getX());
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btAssert(point.getY() >= m_bvhAabbMin.getY());
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btAssert(point.getZ() >= m_bvhAabbMin.getZ());
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btVector3 v = (point - m_bvhAabbMin) * m_bvhQuantization;
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///Make sure rounding is done in a way that unQuantize(quantizeWithClamp(...)) is conservative
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///end-points always set the first bit, so that they are sorted properly (so that neighbouring AABBs overlap properly)
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///@todo: double-check this
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if (isMax)
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{
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out[0] = (unsigned short)(((unsigned short)(v.getX() + btScalar(1.)) | 1));
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out[1] = (unsigned short)(((unsigned short)(v.getY() + btScalar(1.)) | 1));
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out[2] = (unsigned short)(((unsigned short)(v.getZ() + btScalar(1.)) | 1));
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}
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else
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{
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out[0] = (unsigned short)(((unsigned short)(v.getX()) & 0xfffe));
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out[1] = (unsigned short)(((unsigned short)(v.getY()) & 0xfffe));
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out[2] = (unsigned short)(((unsigned short)(v.getZ()) & 0xfffe));
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}
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#ifdef DEBUG_CHECK_DEQUANTIZATION
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btVector3 newPoint = unQuantize(out);
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if (isMax)
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{
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if (newPoint.getX() < point.getX())
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{
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printf("unconservative X, diffX = %f, oldX=%f,newX=%f\n", newPoint.getX() - point.getX(), newPoint.getX(), point.getX());
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}
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if (newPoint.getY() < point.getY())
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{
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printf("unconservative Y, diffY = %f, oldY=%f,newY=%f\n", newPoint.getY() - point.getY(), newPoint.getY(), point.getY());
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}
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if (newPoint.getZ() < point.getZ())
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{
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printf("unconservative Z, diffZ = %f, oldZ=%f,newZ=%f\n", newPoint.getZ() - point.getZ(), newPoint.getZ(), point.getZ());
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}
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}
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else
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{
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if (newPoint.getX() > point.getX())
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{
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printf("unconservative X, diffX = %f, oldX=%f,newX=%f\n", newPoint.getX() - point.getX(), newPoint.getX(), point.getX());
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}
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if (newPoint.getY() > point.getY())
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{
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printf("unconservative Y, diffY = %f, oldY=%f,newY=%f\n", newPoint.getY() - point.getY(), newPoint.getY(), point.getY());
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}
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if (newPoint.getZ() > point.getZ())
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{
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printf("unconservative Z, diffZ = %f, oldZ=%f,newZ=%f\n", newPoint.getZ() - point.getZ(), newPoint.getZ(), point.getZ());
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}
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}
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#endif //DEBUG_CHECK_DEQUANTIZATION
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}
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SIMD_FORCE_INLINE void quantizeWithClamp(unsigned short* out, const btVector3& point2, int isMax) const
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{
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btAssert(m_useQuantization);
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btVector3 clampedPoint(point2);
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clampedPoint.setMax(m_bvhAabbMin);
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clampedPoint.setMin(m_bvhAabbMax);
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quantize(out, clampedPoint, isMax);
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}
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SIMD_FORCE_INLINE btVector3 unQuantize(const unsigned short* vecIn) const
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{
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btVector3 vecOut;
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vecOut.setValue(
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(btScalar)(vecIn[0]) / (m_bvhQuantization.getX()),
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(btScalar)(vecIn[1]) / (m_bvhQuantization.getY()),
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(btScalar)(vecIn[2]) / (m_bvhQuantization.getZ()));
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vecOut += m_bvhAabbMin;
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return vecOut;
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}
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///setTraversalMode let's you choose between stackless, recursive or stackless cache friendly tree traversal. Note this is only implemented for quantized trees.
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void setTraversalMode(btTraversalMode traversalMode)
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{
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m_traversalMode = traversalMode;
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}
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SIMD_FORCE_INLINE QuantizedNodeArray& getQuantizedNodeArray()
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{
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return m_quantizedContiguousNodes;
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}
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SIMD_FORCE_INLINE BvhSubtreeInfoArray& getSubtreeInfoArray()
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{
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return m_SubtreeHeaders;
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}
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////////////////////////////////////////////////////////////////////
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/////Calculate space needed to store BVH for serialization
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unsigned calculateSerializeBufferSize() const;
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/// Data buffer MUST be 16 byte aligned
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virtual bool serialize(void* o_alignedDataBuffer, unsigned i_dataBufferSize, bool i_swapEndian) const;
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///deSerializeInPlace loads and initializes a BVH from a buffer in memory 'in place'
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static btQuantizedBvh* deSerializeInPlace(void* i_alignedDataBuffer, unsigned int i_dataBufferSize, bool i_swapEndian);
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static unsigned int getAlignmentSerializationPadding();
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//////////////////////////////////////////////////////////////////////
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virtual int calculateSerializeBufferSizeNew() const;
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///fills the dataBuffer and returns the struct name (and 0 on failure)
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virtual const char* serialize(void* dataBuffer, btSerializer* serializer) const;
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virtual void deSerializeFloat(struct btQuantizedBvhFloatData & quantizedBvhFloatData);
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virtual void deSerializeDouble(struct btQuantizedBvhDoubleData & quantizedBvhDoubleData);
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////////////////////////////////////////////////////////////////////
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SIMD_FORCE_INLINE bool isQuantized()
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{
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return m_useQuantization;
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}
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private:
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// Special "copy" constructor that allows for in-place deserialization
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// Prevents btVector3's default constructor from being called, but doesn't inialize much else
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// ownsMemory should most likely be false if deserializing, and if you are not, don't call this (it also changes the function signature, which we need)
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btQuantizedBvh(btQuantizedBvh & other, bool ownsMemory);
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};
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// clang-format off
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|
// parser needs * with the name
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struct btBvhSubtreeInfoData
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{
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int m_rootNodeIndex;
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int m_subtreeSize;
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unsigned short m_quantizedAabbMin[3];
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unsigned short m_quantizedAabbMax[3];
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};
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|
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struct btOptimizedBvhNodeFloatData
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{
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btVector3FloatData m_aabbMinOrg;
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|
btVector3FloatData m_aabbMaxOrg;
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int m_escapeIndex;
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|
int m_subPart;
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|
int m_triangleIndex;
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|
char m_pad[4];
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|
};
|
|
|
|
struct btOptimizedBvhNodeDoubleData
|
|
{
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|
btVector3DoubleData m_aabbMinOrg;
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|
btVector3DoubleData m_aabbMaxOrg;
|
|
int m_escapeIndex;
|
|
int m_subPart;
|
|
int m_triangleIndex;
|
|
char m_pad[4];
|
|
};
|
|
|
|
|
|
struct btQuantizedBvhNodeData
|
|
{
|
|
unsigned short m_quantizedAabbMin[3];
|
|
unsigned short m_quantizedAabbMax[3];
|
|
int m_escapeIndexOrTriangleIndex;
|
|
};
|
|
|
|
struct btQuantizedBvhFloatData
|
|
{
|
|
btVector3FloatData m_bvhAabbMin;
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|
btVector3FloatData m_bvhAabbMax;
|
|
btVector3FloatData m_bvhQuantization;
|
|
int m_curNodeIndex;
|
|
int m_useQuantization;
|
|
int m_numContiguousLeafNodes;
|
|
int m_numQuantizedContiguousNodes;
|
|
btOptimizedBvhNodeFloatData *m_contiguousNodesPtr;
|
|
btQuantizedBvhNodeData *m_quantizedContiguousNodesPtr;
|
|
btBvhSubtreeInfoData *m_subTreeInfoPtr;
|
|
int m_traversalMode;
|
|
int m_numSubtreeHeaders;
|
|
|
|
};
|
|
|
|
struct btQuantizedBvhDoubleData
|
|
{
|
|
btVector3DoubleData m_bvhAabbMin;
|
|
btVector3DoubleData m_bvhAabbMax;
|
|
btVector3DoubleData m_bvhQuantization;
|
|
int m_curNodeIndex;
|
|
int m_useQuantization;
|
|
int m_numContiguousLeafNodes;
|
|
int m_numQuantizedContiguousNodes;
|
|
btOptimizedBvhNodeDoubleData *m_contiguousNodesPtr;
|
|
btQuantizedBvhNodeData *m_quantizedContiguousNodesPtr;
|
|
|
|
int m_traversalMode;
|
|
int m_numSubtreeHeaders;
|
|
btBvhSubtreeInfoData *m_subTreeInfoPtr;
|
|
};
|
|
// clang-format on
|
|
|
|
SIMD_FORCE_INLINE int btQuantizedBvh::calculateSerializeBufferSizeNew() const
|
|
{
|
|
return sizeof(btQuantizedBvhData);
|
|
}
|
|
|
|
#endif //BT_QUANTIZED_BVH_H
|