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358 lines
12 KiB
C++
358 lines
12 KiB
C++
/*
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Bullet Continuous Collision Detection and Physics Library
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Copyright (c) 2003-2009 Erwin Coumans http://bulletphysics.org
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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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#include "b3OptimizedBvh.h"
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#include "b3StridingMeshInterface.h"
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#include "Bullet3Geometry/b3AabbUtil.h"
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b3OptimizedBvh::b3OptimizedBvh()
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{
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}
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b3OptimizedBvh::~b3OptimizedBvh()
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{
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}
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void b3OptimizedBvh::build(b3StridingMeshInterface* triangles, bool useQuantizedAabbCompression, const b3Vector3& bvhAabbMin, const b3Vector3& bvhAabbMax)
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{
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m_useQuantization = useQuantizedAabbCompression;
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// NodeArray triangleNodes;
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struct NodeTriangleCallback : public b3InternalTriangleIndexCallback
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{
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NodeArray& m_triangleNodes;
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NodeTriangleCallback& operator=(NodeTriangleCallback& other)
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{
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m_triangleNodes.copyFromArray(other.m_triangleNodes);
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return *this;
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}
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NodeTriangleCallback(NodeArray& triangleNodes)
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: m_triangleNodes(triangleNodes)
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{
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}
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virtual void internalProcessTriangleIndex(b3Vector3* triangle, int partId, int triangleIndex)
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{
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b3OptimizedBvhNode node;
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b3Vector3 aabbMin, aabbMax;
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aabbMin.setValue(b3Scalar(B3_LARGE_FLOAT), b3Scalar(B3_LARGE_FLOAT), b3Scalar(B3_LARGE_FLOAT));
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aabbMax.setValue(b3Scalar(-B3_LARGE_FLOAT), b3Scalar(-B3_LARGE_FLOAT), b3Scalar(-B3_LARGE_FLOAT));
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aabbMin.setMin(triangle[0]);
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aabbMax.setMax(triangle[0]);
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aabbMin.setMin(triangle[1]);
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aabbMax.setMax(triangle[1]);
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aabbMin.setMin(triangle[2]);
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aabbMax.setMax(triangle[2]);
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//with quantization?
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node.m_aabbMinOrg = aabbMin;
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node.m_aabbMaxOrg = aabbMax;
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node.m_escapeIndex = -1;
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//for child nodes
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node.m_subPart = partId;
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node.m_triangleIndex = triangleIndex;
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m_triangleNodes.push_back(node);
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}
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};
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struct QuantizedNodeTriangleCallback : public b3InternalTriangleIndexCallback
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{
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QuantizedNodeArray& m_triangleNodes;
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const b3QuantizedBvh* m_optimizedTree; // for quantization
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QuantizedNodeTriangleCallback& operator=(QuantizedNodeTriangleCallback& other)
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{
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m_triangleNodes.copyFromArray(other.m_triangleNodes);
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m_optimizedTree = other.m_optimizedTree;
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return *this;
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}
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QuantizedNodeTriangleCallback(QuantizedNodeArray& triangleNodes, const b3QuantizedBvh* tree)
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: m_triangleNodes(triangleNodes), m_optimizedTree(tree)
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{
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}
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virtual void internalProcessTriangleIndex(b3Vector3* triangle, int partId, int triangleIndex)
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{
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// The partId and triangle index must fit in the same (positive) integer
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b3Assert(partId < (1 << MAX_NUM_PARTS_IN_BITS));
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b3Assert(triangleIndex < (1 << (31 - MAX_NUM_PARTS_IN_BITS)));
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//negative indices are reserved for escapeIndex
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b3Assert(triangleIndex >= 0);
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b3QuantizedBvhNode node;
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b3Vector3 aabbMin, aabbMax;
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aabbMin.setValue(b3Scalar(B3_LARGE_FLOAT), b3Scalar(B3_LARGE_FLOAT), b3Scalar(B3_LARGE_FLOAT));
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aabbMax.setValue(b3Scalar(-B3_LARGE_FLOAT), b3Scalar(-B3_LARGE_FLOAT), b3Scalar(-B3_LARGE_FLOAT));
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aabbMin.setMin(triangle[0]);
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aabbMax.setMax(triangle[0]);
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aabbMin.setMin(triangle[1]);
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aabbMax.setMax(triangle[1]);
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aabbMin.setMin(triangle[2]);
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aabbMax.setMax(triangle[2]);
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//PCK: add these checks for zero dimensions of aabb
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const b3Scalar MIN_AABB_DIMENSION = b3Scalar(0.002);
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const b3Scalar MIN_AABB_HALF_DIMENSION = b3Scalar(0.001);
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if (aabbMax.getX() - aabbMin.getX() < MIN_AABB_DIMENSION)
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{
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aabbMax.setX(aabbMax.getX() + MIN_AABB_HALF_DIMENSION);
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aabbMin.setX(aabbMin.getX() - MIN_AABB_HALF_DIMENSION);
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}
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if (aabbMax.getY() - aabbMin.getY() < MIN_AABB_DIMENSION)
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{
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aabbMax.setY(aabbMax.getY() + MIN_AABB_HALF_DIMENSION);
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aabbMin.setY(aabbMin.getY() - MIN_AABB_HALF_DIMENSION);
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}
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if (aabbMax.getZ() - aabbMin.getZ() < MIN_AABB_DIMENSION)
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{
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aabbMax.setZ(aabbMax.getZ() + MIN_AABB_HALF_DIMENSION);
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aabbMin.setZ(aabbMin.getZ() - MIN_AABB_HALF_DIMENSION);
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}
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m_optimizedTree->quantize(&node.m_quantizedAabbMin[0], aabbMin, 0);
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m_optimizedTree->quantize(&node.m_quantizedAabbMax[0], aabbMax, 1);
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node.m_escapeIndexOrTriangleIndex = (partId << (31 - MAX_NUM_PARTS_IN_BITS)) | triangleIndex;
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m_triangleNodes.push_back(node);
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}
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};
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int numLeafNodes = 0;
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if (m_useQuantization)
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{
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//initialize quantization values
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setQuantizationValues(bvhAabbMin, bvhAabbMax);
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QuantizedNodeTriangleCallback callback(m_quantizedLeafNodes, this);
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triangles->InternalProcessAllTriangles(&callback, m_bvhAabbMin, m_bvhAabbMax);
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//now we have an array of leafnodes in m_leafNodes
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numLeafNodes = m_quantizedLeafNodes.size();
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m_quantizedContiguousNodes.resize(2 * numLeafNodes);
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}
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else
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{
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NodeTriangleCallback callback(m_leafNodes);
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b3Vector3 aabbMin = b3MakeVector3(b3Scalar(-B3_LARGE_FLOAT), b3Scalar(-B3_LARGE_FLOAT), b3Scalar(-B3_LARGE_FLOAT));
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b3Vector3 aabbMax = b3MakeVector3(b3Scalar(B3_LARGE_FLOAT), b3Scalar(B3_LARGE_FLOAT), b3Scalar(B3_LARGE_FLOAT));
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triangles->InternalProcessAllTriangles(&callback, aabbMin, aabbMax);
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//now we have an array of leafnodes in m_leafNodes
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numLeafNodes = m_leafNodes.size();
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m_contiguousNodes.resize(2 * numLeafNodes);
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}
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m_curNodeIndex = 0;
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buildTree(0, numLeafNodes);
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///if the entire tree is small then subtree size, we need to create a header info for the tree
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if (m_useQuantization && !m_SubtreeHeaders.size())
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{
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b3BvhSubtreeInfo& subtree = m_SubtreeHeaders.expand();
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subtree.setAabbFromQuantizeNode(m_quantizedContiguousNodes[0]);
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subtree.m_rootNodeIndex = 0;
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subtree.m_subtreeSize = m_quantizedContiguousNodes[0].isLeafNode() ? 1 : m_quantizedContiguousNodes[0].getEscapeIndex();
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}
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//PCK: update the copy of the size
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m_subtreeHeaderCount = m_SubtreeHeaders.size();
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//PCK: clear m_quantizedLeafNodes and m_leafNodes, they are temporary
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m_quantizedLeafNodes.clear();
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m_leafNodes.clear();
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}
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void b3OptimizedBvh::refit(b3StridingMeshInterface* meshInterface, const b3Vector3& aabbMin, const b3Vector3& aabbMax)
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{
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if (m_useQuantization)
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{
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setQuantizationValues(aabbMin, aabbMax);
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updateBvhNodes(meshInterface, 0, m_curNodeIndex, 0);
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///now update all subtree headers
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int i;
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for (i = 0; i < m_SubtreeHeaders.size(); i++)
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{
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b3BvhSubtreeInfo& subtree = m_SubtreeHeaders[i];
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subtree.setAabbFromQuantizeNode(m_quantizedContiguousNodes[subtree.m_rootNodeIndex]);
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}
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}
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else
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{
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}
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}
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void b3OptimizedBvh::refitPartial(b3StridingMeshInterface* meshInterface, const b3Vector3& aabbMin, const b3Vector3& aabbMax)
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{
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//incrementally initialize quantization values
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b3Assert(m_useQuantization);
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b3Assert(aabbMin.getX() > m_bvhAabbMin.getX());
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b3Assert(aabbMin.getY() > m_bvhAabbMin.getY());
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b3Assert(aabbMin.getZ() > m_bvhAabbMin.getZ());
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b3Assert(aabbMax.getX() < m_bvhAabbMax.getX());
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b3Assert(aabbMax.getY() < m_bvhAabbMax.getY());
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b3Assert(aabbMax.getZ() < m_bvhAabbMax.getZ());
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///we should update all quantization values, using updateBvhNodes(meshInterface);
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///but we only update chunks that overlap the given aabb
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unsigned short quantizedQueryAabbMin[3];
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unsigned short quantizedQueryAabbMax[3];
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quantize(&quantizedQueryAabbMin[0], aabbMin, 0);
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quantize(&quantizedQueryAabbMax[0], aabbMax, 1);
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int i;
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for (i = 0; i < this->m_SubtreeHeaders.size(); i++)
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{
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b3BvhSubtreeInfo& subtree = m_SubtreeHeaders[i];
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//PCK: unsigned instead of bool
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unsigned overlap = b3TestQuantizedAabbAgainstQuantizedAabb(quantizedQueryAabbMin, quantizedQueryAabbMax, subtree.m_quantizedAabbMin, subtree.m_quantizedAabbMax);
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if (overlap != 0)
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{
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updateBvhNodes(meshInterface, subtree.m_rootNodeIndex, subtree.m_rootNodeIndex + subtree.m_subtreeSize, i);
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subtree.setAabbFromQuantizeNode(m_quantizedContiguousNodes[subtree.m_rootNodeIndex]);
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}
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}
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}
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void b3OptimizedBvh::updateBvhNodes(b3StridingMeshInterface* meshInterface, int firstNode, int endNode, int index)
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{
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(void)index;
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b3Assert(m_useQuantization);
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int curNodeSubPart = -1;
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//get access info to trianglemesh data
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const unsigned char* vertexbase = 0;
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int numverts = 0;
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PHY_ScalarType type = PHY_INTEGER;
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int stride = 0;
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const unsigned char* indexbase = 0;
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int indexstride = 0;
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int numfaces = 0;
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PHY_ScalarType indicestype = PHY_INTEGER;
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b3Vector3 triangleVerts[3];
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b3Vector3 aabbMin, aabbMax;
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const b3Vector3& meshScaling = meshInterface->getScaling();
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int i;
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for (i = endNode - 1; i >= firstNode; i--)
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{
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b3QuantizedBvhNode& curNode = m_quantizedContiguousNodes[i];
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if (curNode.isLeafNode())
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{
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//recalc aabb from triangle data
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int nodeSubPart = curNode.getPartId();
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int nodeTriangleIndex = curNode.getTriangleIndex();
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if (nodeSubPart != curNodeSubPart)
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{
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if (curNodeSubPart >= 0)
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meshInterface->unLockReadOnlyVertexBase(curNodeSubPart);
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meshInterface->getLockedReadOnlyVertexIndexBase(&vertexbase, numverts, type, stride, &indexbase, indexstride, numfaces, indicestype, nodeSubPart);
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curNodeSubPart = nodeSubPart;
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b3Assert(indicestype == PHY_INTEGER || indicestype == PHY_SHORT);
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}
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//triangles->getLockedReadOnlyVertexIndexBase(vertexBase,numVerts,
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unsigned int* gfxbase = (unsigned int*)(indexbase + nodeTriangleIndex * indexstride);
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for (int j = 2; j >= 0; j--)
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{
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int graphicsindex = indicestype == PHY_SHORT ? ((unsigned short*)gfxbase)[j] : gfxbase[j];
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if (type == PHY_FLOAT)
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{
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float* graphicsbase = (float*)(vertexbase + graphicsindex * stride);
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triangleVerts[j] = b3MakeVector3(
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graphicsbase[0] * meshScaling.getX(),
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graphicsbase[1] * meshScaling.getY(),
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graphicsbase[2] * meshScaling.getZ());
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}
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else
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{
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double* graphicsbase = (double*)(vertexbase + graphicsindex * stride);
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triangleVerts[j] = b3MakeVector3(b3Scalar(graphicsbase[0] * meshScaling.getX()), b3Scalar(graphicsbase[1] * meshScaling.getY()), b3Scalar(graphicsbase[2] * meshScaling.getZ()));
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}
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}
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aabbMin.setValue(b3Scalar(B3_LARGE_FLOAT), b3Scalar(B3_LARGE_FLOAT), b3Scalar(B3_LARGE_FLOAT));
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aabbMax.setValue(b3Scalar(-B3_LARGE_FLOAT), b3Scalar(-B3_LARGE_FLOAT), b3Scalar(-B3_LARGE_FLOAT));
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aabbMin.setMin(triangleVerts[0]);
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aabbMax.setMax(triangleVerts[0]);
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aabbMin.setMin(triangleVerts[1]);
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aabbMax.setMax(triangleVerts[1]);
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aabbMin.setMin(triangleVerts[2]);
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aabbMax.setMax(triangleVerts[2]);
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quantize(&curNode.m_quantizedAabbMin[0], aabbMin, 0);
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quantize(&curNode.m_quantizedAabbMax[0], aabbMax, 1);
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}
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else
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{
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//combine aabb from both children
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b3QuantizedBvhNode* leftChildNode = &m_quantizedContiguousNodes[i + 1];
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b3QuantizedBvhNode* rightChildNode = leftChildNode->isLeafNode() ? &m_quantizedContiguousNodes[i + 2] : &m_quantizedContiguousNodes[i + 1 + leftChildNode->getEscapeIndex()];
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{
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for (int i = 0; i < 3; i++)
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{
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curNode.m_quantizedAabbMin[i] = leftChildNode->m_quantizedAabbMin[i];
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if (curNode.m_quantizedAabbMin[i] > rightChildNode->m_quantizedAabbMin[i])
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curNode.m_quantizedAabbMin[i] = rightChildNode->m_quantizedAabbMin[i];
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curNode.m_quantizedAabbMax[i] = leftChildNode->m_quantizedAabbMax[i];
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if (curNode.m_quantizedAabbMax[i] < rightChildNode->m_quantizedAabbMax[i])
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curNode.m_quantizedAabbMax[i] = rightChildNode->m_quantizedAabbMax[i];
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}
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}
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}
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}
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if (curNodeSubPart >= 0)
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meshInterface->unLockReadOnlyVertexBase(curNodeSubPart);
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}
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///deSerializeInPlace loads and initializes a BVH from a buffer in memory 'in place'
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b3OptimizedBvh* b3OptimizedBvh::deSerializeInPlace(void* i_alignedDataBuffer, unsigned int i_dataBufferSize, bool i_swapEndian)
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{
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b3QuantizedBvh* bvh = b3QuantizedBvh::deSerializeInPlace(i_alignedDataBuffer, i_dataBufferSize, i_swapEndian);
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//we don't add additional data so just do a static upcast
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return static_cast<b3OptimizedBvh*>(bvh);
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}
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