Merge remote-tracking branch 'origin/master'

Conflicts:
	drivers/windows/dir_access_windows.cpp

1 files changed, 541 insertions, 541 deletions

diff --git a/core/math/triangle_mesh.cpp b/core/math/triangle_mesh.cpp
index 111ceca185..70cb639fc2 100644
--- a/core/math/triangle_mesh.cpp
+++ b/core/math/triangle_mesh.cpp
@@ -5,7 +5,7 @@
 /*                           GODOT ENGINE                                */
 /*                    http://www.godotengine.org                         */
 /*************************************************************************/
-/* Copyright (c) 2007-2014 Juan Linietsky, Ariel Manzur.                 */
+/* Copyright (c) 2007-2015 Juan Linietsky, Ariel Manzur.                 */
 /*                                                                       */
 /* Permission is hereby granted, free of charge, to any person obtaining */
 /* a copy of this software and associated documentation files (the       */
@@ -26,543 +26,543 @@
 /* TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE     */
 /* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.                */
 /*************************************************************************/
-#include "triangle_mesh.h"

-#include "sort.h"

-

-

-

-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) {

-

-

-	if (p_depth>max_depth) {

-		max_depth=p_depth;

-	}

-

-	if (p_size==1) {

-

-

-		return p_bb[p_from]-p_bvh;

-	} else if (p_size==0) {

-

-		return -1;

-	}

-

-

-	AABB aabb;

-	aabb=p_bb[p_from]->aabb;

-	for(int i=1;i<p_size;i++) {

-

-		aabb.merge_with(p_bb[p_from+i]->aabb);

-	}

-

-	int li=aabb.get_longest_axis_index();

-

-	switch(li) {

-

-		case Vector3::AXIS_X: {

-			SortArray<BVH*,BVHCmpX> sort_x;

-			sort_x.nth_element(0,p_size,p_size/2,&p_bb[p_from]);

-			//sort_x.sort(&p_bb[p_from],p_size);

-		} break;

-		case Vector3::AXIS_Y: {

-			SortArray<BVH*,BVHCmpY> sort_y;

-			sort_y.nth_element(0,p_size,p_size/2,&p_bb[p_from]);

-			//sort_y.sort(&p_bb[p_from],p_size);

-		} break;

-		case Vector3::AXIS_Z: {

-			SortArray<BVH*,BVHCmpZ> sort_z;

-			sort_z.nth_element(0,p_size,p_size/2,&p_bb[p_from]);

-			//sort_z.sort(&p_bb[p_from],p_size);

-

-		} break;

-	}

-

-

-	int left = _create_bvh(p_bvh,p_bb,p_from,p_size/2,p_depth+1,max_depth,max_alloc);

-	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);

-

-	int index=max_alloc++;

-	BVH *_new = &p_bvh[index];

-	_new->aabb=aabb;

-	_new->center=aabb.pos+aabb.size*0.5;

-	_new->face_index=-1;

-	_new->left=left;

-	_new->right=right;

-

-	return index;

-

-}

-

-

-void TriangleMesh::create(const DVector<Vector3>& p_faces) {

-

-	valid=false;

-

-	int fc=p_faces.size();

-	ERR_FAIL_COND(!fc || ((fc%3) != 0));

-	fc/=3;

-	triangles.resize(fc);

-

-	bvh.resize(fc*3); //will never be larger than this (todo make better)

-	DVector<BVH>::Write bw = bvh.write();

-

-	{

-

-		//create faces and indices and base bvh

-		//except for the Set for repeated triangles, everything

-		//goes in-place.

-

-		DVector<Vector3>::Read r = p_faces.read();

-		DVector<Triangle>::Write w = triangles.write();

-		Map<Vector3,int> db;

-

-		for(int i=0;i<fc;i++) {

-

-			Triangle&f=w[i];

-			const Vector3 *v=&r[i*3];

-

-			for(int j=0;j<3;j++) {

-

-				int vidx=-1;

-				Vector3 vs=v[j].snapped(0.0001);

-				Map<Vector3,int>::Element *E=db.find(vs);

-				if (E) {

-					vidx=E->get();

-				} else {

-					vidx=db.size();

-					db[vs]=vidx;

-				}

-

-				f.indices[j]=vidx;

-				if (j==0)

-					bw[i].aabb.pos=vs;

-				else

-					bw[i].aabb.expand_to(vs);

-			}

-

-			f.normal=Face3(r[i*3+0],r[i*3+1],r[i*3+2]).get_plane().get_normal();

-

-			bw[i].left=-1;

-			bw[i].right=-1;

-			bw[i].face_index=i;

-			bw[i].center=bw[i].aabb.pos+bw[i].aabb.size*0.5;

-		}

-

-		vertices.resize(db.size());

-		DVector<Vector3>::Write vw = vertices.write();

-		for (Map<Vector3,int>::Element *E=db.front();E;E=E->next()) {

-			vw[E->get()]=E->key();

-		}

-

-	}

-

-	DVector<BVH*> bwptrs;

-	bwptrs.resize(fc);

-	DVector<BVH*>::Write bwp = bwptrs.write();

-	for(int i=0;i<fc;i++) {

-

-		bwp[i]=&bw[i];

-	}

-

-	max_depth=0;

-	int max_alloc=fc;

-	int max=_create_bvh(bw.ptr(),bwp.ptr(),0,fc,1,max_depth,max_alloc);

-

-	bw=DVector<BVH>::Write(); //clearup

-	bvh.resize(max_alloc); //resize back

-

-	valid=true;

-

-}

-

-

-Vector3 TriangleMesh::get_area_normal(const AABB& p_aabb) 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,

-

-

-	};

-

-	int n_count=0;

-	Vector3 n;

-

-	//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(p_aabb);

-				if (!valid) {

-

-					stack[level]=(VISIT_DONE_BIT<<VISITED_BIT_SHIFT)|node;

-

-				} else {

-

-					if (b.face_index>=0) {

-

-						const Triangle &s=triangleptr[ b.face_index ];

-						n+=s.normal;

-						n_count++;

-

-						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 (n_count>0)

-		n/=n_count;

-

-	return n;

-

-}

-

-

-bool TriangleMesh::intersect_segment(const Vector3& p_begin,const Vector3& p_end,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_end-p_begin).normalized();

-	real_t d=1e10;

-	bool inters=false;

-

-	//for(int i=0;i<max_depth;i++)

-	//	stack[i]=0;

-

-	int level=0;

-	//AABB ray_aabb;

-	//ray_aabb.pos=p_begin;

-	//ray_aabb.expand_to(p_end);

-

-

-	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_segment(p_begin,p_end);

-//				bool valid = b.aabb.intersects(ray_aabb);

-

-				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_segment(p_begin,p_end,&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::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;

-}

+#include "triangle_mesh.h"
+#include "sort.h"
+
+
+
+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) {
+
+
+	if (p_depth>max_depth) {
+		max_depth=p_depth;
+	}
+
+	if (p_size==1) {
+
+
+		return p_bb[p_from]-p_bvh;
+	} else if (p_size==0) {
+
+		return -1;
+	}
+
+
+	AABB aabb;
+	aabb=p_bb[p_from]->aabb;
+	for(int i=1;i<p_size;i++) {
+
+		aabb.merge_with(p_bb[p_from+i]->aabb);
+	}
+
+	int li=aabb.get_longest_axis_index();
+
+	switch(li) {
+
+		case Vector3::AXIS_X: {
+			SortArray<BVH*,BVHCmpX> sort_x;
+			sort_x.nth_element(0,p_size,p_size/2,&p_bb[p_from]);
+			//sort_x.sort(&p_bb[p_from],p_size);
+		} break;
+		case Vector3::AXIS_Y: {
+			SortArray<BVH*,BVHCmpY> sort_y;
+			sort_y.nth_element(0,p_size,p_size/2,&p_bb[p_from]);
+			//sort_y.sort(&p_bb[p_from],p_size);
+		} break;
+		case Vector3::AXIS_Z: {
+			SortArray<BVH*,BVHCmpZ> sort_z;
+			sort_z.nth_element(0,p_size,p_size/2,&p_bb[p_from]);
+			//sort_z.sort(&p_bb[p_from],p_size);
+
+		} break;
+	}
+
+
+	int left = _create_bvh(p_bvh,p_bb,p_from,p_size/2,p_depth+1,max_depth,max_alloc);
+	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);
+
+	int index=max_alloc++;
+	BVH *_new = &p_bvh[index];
+	_new->aabb=aabb;
+	_new->center=aabb.pos+aabb.size*0.5;
+	_new->face_index=-1;
+	_new->left=left;
+	_new->right=right;
+
+	return index;
+
+}
+
+
+void TriangleMesh::create(const DVector<Vector3>& p_faces) {
+
+	valid=false;
+
+	int fc=p_faces.size();
+	ERR_FAIL_COND(!fc || ((fc%3) != 0));
+	fc/=3;
+	triangles.resize(fc);
+
+	bvh.resize(fc*3); //will never be larger than this (todo make better)
+	DVector<BVH>::Write bw = bvh.write();
+
+	{
+
+		//create faces and indices and base bvh
+		//except for the Set for repeated triangles, everything
+		//goes in-place.
+
+		DVector<Vector3>::Read r = p_faces.read();
+		DVector<Triangle>::Write w = triangles.write();
+		Map<Vector3,int> db;
+
+		for(int i=0;i<fc;i++) {
+
+			Triangle&f=w[i];
+			const Vector3 *v=&r[i*3];
+
+			for(int j=0;j<3;j++) {
+
+				int vidx=-1;
+				Vector3 vs=v[j].snapped(0.0001);
+				Map<Vector3,int>::Element *E=db.find(vs);
+				if (E) {
+					vidx=E->get();
+				} else {
+					vidx=db.size();
+					db[vs]=vidx;
+				}
+
+				f.indices[j]=vidx;
+				if (j==0)
+					bw[i].aabb.pos=vs;
+				else
+					bw[i].aabb.expand_to(vs);
+			}
+
+			f.normal=Face3(r[i*3+0],r[i*3+1],r[i*3+2]).get_plane().get_normal();
+
+			bw[i].left=-1;
+			bw[i].right=-1;
+			bw[i].face_index=i;
+			bw[i].center=bw[i].aabb.pos+bw[i].aabb.size*0.5;
+		}
+
+		vertices.resize(db.size());
+		DVector<Vector3>::Write vw = vertices.write();
+		for (Map<Vector3,int>::Element *E=db.front();E;E=E->next()) {
+			vw[E->get()]=E->key();
+		}
+
+	}
+
+	DVector<BVH*> bwptrs;
+	bwptrs.resize(fc);
+	DVector<BVH*>::Write bwp = bwptrs.write();
+	for(int i=0;i<fc;i++) {
+
+		bwp[i]=&bw[i];
+	}
+
+	max_depth=0;
+	int max_alloc=fc;
+	int max=_create_bvh(bw.ptr(),bwp.ptr(),0,fc,1,max_depth,max_alloc);
+
+	bw=DVector<BVH>::Write(); //clearup
+	bvh.resize(max_alloc); //resize back
+
+	valid=true;
+
+}
+
+
+Vector3 TriangleMesh::get_area_normal(const AABB& p_aabb) 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,
+
+
+	};
+
+	int n_count=0;
+	Vector3 n;
+
+	//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(p_aabb);
+				if (!valid) {
+
+					stack[level]=(VISIT_DONE_BIT<<VISITED_BIT_SHIFT)|node;
+
+				} else {
+
+					if (b.face_index>=0) {
+
+						const Triangle &s=triangleptr[ b.face_index ];
+						n+=s.normal;
+						n_count++;
+
+						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 (n_count>0)
+		n/=n_count;
+
+	return n;
+
+}
+
+
+bool TriangleMesh::intersect_segment(const Vector3& p_begin,const Vector3& p_end,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_end-p_begin).normalized();
+	real_t d=1e10;
+	bool inters=false;
+
+	//for(int i=0;i<max_depth;i++)
+	//	stack[i]=0;
+
+	int level=0;
+	//AABB ray_aabb;
+	//ray_aabb.pos=p_begin;
+	//ray_aabb.expand_to(p_end);
+
+
+	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_segment(p_begin,p_end);
+//				bool valid = b.aabb.intersects(ray_aabb);
+
+				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_segment(p_begin,p_end,&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::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;
+}