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authorRĂ©mi Verschelde <rverschelde@gmail.com>2019-01-07 15:08:41 +0100
committerGitHub <noreply@github.com>2019-01-07 15:08:41 +0100
commitdab650fcaa3eb37deee5118d678a3763ac78a58a (patch)
tree3131df01280f91a61b4721eed132a5b6b21881ba /thirdparty/bullet/BulletCollision/BroadphaseCollision/btQuantizedBvh.cpp
parenta3a537c2cf86ff4bf82385bbd17606654f8013c4 (diff)
parent22b7c9dfa80d0f7abca40f061865c2ab3c136a74 (diff)
Merge pull request #24740 from OBKF/update-bullet-physics
Update Bullet physics to commit 126b676
Diffstat (limited to 'thirdparty/bullet/BulletCollision/BroadphaseCollision/btQuantizedBvh.cpp')
-rw-r--r--thirdparty/bullet/BulletCollision/BroadphaseCollision/btQuantizedBvh.cpp594
1 files changed, 274 insertions, 320 deletions
diff --git a/thirdparty/bullet/BulletCollision/BroadphaseCollision/btQuantizedBvh.cpp b/thirdparty/bullet/BulletCollision/BroadphaseCollision/btQuantizedBvh.cpp
index 875d89c53e..b814fd84d8 100644
--- a/thirdparty/bullet/BulletCollision/BroadphaseCollision/btQuantizedBvh.cpp
+++ b/thirdparty/bullet/BulletCollision/BroadphaseCollision/btQuantizedBvh.cpp
@@ -21,43 +21,38 @@ subject to the following restrictions:
#define RAYAABB2
-btQuantizedBvh::btQuantizedBvh() :
- m_bulletVersion(BT_BULLET_VERSION),
- m_useQuantization(false),
- //m_traversalMode(TRAVERSAL_STACKLESS_CACHE_FRIENDLY)
- m_traversalMode(TRAVERSAL_STACKLESS)
- //m_traversalMode(TRAVERSAL_RECURSIVE)
- ,m_subtreeHeaderCount(0) //PCK: add this line
+btQuantizedBvh::btQuantizedBvh() : m_bulletVersion(BT_BULLET_VERSION),
+ m_useQuantization(false),
+ //m_traversalMode(TRAVERSAL_STACKLESS_CACHE_FRIENDLY)
+ m_traversalMode(TRAVERSAL_STACKLESS)
+ //m_traversalMode(TRAVERSAL_RECURSIVE)
+ ,
+ m_subtreeHeaderCount(0) //PCK: add this line
{
- m_bvhAabbMin.setValue(-SIMD_INFINITY,-SIMD_INFINITY,-SIMD_INFINITY);
- m_bvhAabbMax.setValue(SIMD_INFINITY,SIMD_INFINITY,SIMD_INFINITY);
+ m_bvhAabbMin.setValue(-SIMD_INFINITY, -SIMD_INFINITY, -SIMD_INFINITY);
+ m_bvhAabbMax.setValue(SIMD_INFINITY, SIMD_INFINITY, SIMD_INFINITY);
}
-
-
-
-
void btQuantizedBvh::buildInternal()
{
///assumes that caller filled in the m_quantizedLeafNodes
m_useQuantization = true;
int numLeafNodes = 0;
-
+
if (m_useQuantization)
{
//now we have an array of leafnodes in m_leafNodes
numLeafNodes = m_quantizedLeafNodes.size();
- m_quantizedContiguousNodes.resize(2*numLeafNodes);
-
+ m_quantizedContiguousNodes.resize(2 * numLeafNodes);
}
m_curNodeIndex = 0;
- buildTree(0,numLeafNodes);
+ buildTree(0, numLeafNodes);
///if the entire tree is small then subtree size, we need to create a header info for the tree
- if(m_useQuantization && !m_SubtreeHeaders.size())
+ if (m_useQuantization && !m_SubtreeHeaders.size())
{
btBvhSubtreeInfo& subtree = m_SubtreeHeaders.expand();
subtree.setAabbFromQuantizeNode(m_quantizedContiguousNodes[0]);
@@ -73,29 +68,24 @@ void btQuantizedBvh::buildInternal()
m_leafNodes.clear();
}
-
-
///just for debugging, to visualize the individual patches/subtrees
#ifdef DEBUG_PATCH_COLORS
-btVector3 color[4]=
-{
- btVector3(1,0,0),
- btVector3(0,1,0),
- btVector3(0,0,1),
- btVector3(0,1,1)
-};
-#endif //DEBUG_PATCH_COLORS
-
-
+btVector3 color[4] =
+ {
+ btVector3(1, 0, 0),
+ btVector3(0, 1, 0),
+ btVector3(0, 0, 1),
+ btVector3(0, 1, 1)};
+#endif //DEBUG_PATCH_COLORS
-void btQuantizedBvh::setQuantizationValues(const btVector3& bvhAabbMin,const btVector3& bvhAabbMax,btScalar quantizationMargin)
+void btQuantizedBvh::setQuantizationValues(const btVector3& bvhAabbMin, const btVector3& bvhAabbMax, btScalar quantizationMargin)
{
//enlarge the AABB to avoid division by zero when initializing the quantization values
- btVector3 clampValue(quantizationMargin,quantizationMargin,quantizationMargin);
+ btVector3 clampValue(quantizationMargin, quantizationMargin, quantizationMargin);
m_bvhAabbMin = bvhAabbMin - clampValue;
m_bvhAabbMax = bvhAabbMax + clampValue;
btVector3 aabbSize = m_bvhAabbMax - m_bvhAabbMin;
- m_bvhQuantization = btVector3(btScalar(65533.0),btScalar(65533.0),btScalar(65533.0)) / aabbSize;
+ m_bvhQuantization = btVector3(btScalar(65533.0), btScalar(65533.0), btScalar(65533.0)) / aabbSize;
m_useQuantization = true;
@@ -103,25 +93,22 @@ void btQuantizedBvh::setQuantizationValues(const btVector3& bvhAabbMin,const btV
unsigned short vecIn[3];
btVector3 v;
{
- quantize(vecIn,m_bvhAabbMin,false);
+ quantize(vecIn, m_bvhAabbMin, false);
v = unQuantize(vecIn);
- m_bvhAabbMin.setMin(v-clampValue);
+ m_bvhAabbMin.setMin(v - clampValue);
}
- aabbSize = m_bvhAabbMax - m_bvhAabbMin;
- m_bvhQuantization = btVector3(btScalar(65533.0),btScalar(65533.0),btScalar(65533.0)) / aabbSize;
+ aabbSize = m_bvhAabbMax - m_bvhAabbMin;
+ m_bvhQuantization = btVector3(btScalar(65533.0), btScalar(65533.0), btScalar(65533.0)) / aabbSize;
{
- quantize(vecIn,m_bvhAabbMax,true);
+ quantize(vecIn, m_bvhAabbMax, true);
v = unQuantize(vecIn);
- m_bvhAabbMax.setMax(v+clampValue);
+ m_bvhAabbMax.setMax(v + clampValue);
}
aabbSize = m_bvhAabbMax - m_bvhAabbMin;
- m_bvhQuantization = btVector3(btScalar(65533.0),btScalar(65533.0),btScalar(65533.0)) / aabbSize;
+ m_bvhQuantization = btVector3(btScalar(65533.0), btScalar(65533.0), btScalar(65533.0)) / aabbSize;
}
}
-
-
-
btQuantizedBvh::~btQuantizedBvh()
{
}
@@ -129,104 +116,100 @@ btQuantizedBvh::~btQuantizedBvh()
#ifdef DEBUG_TREE_BUILDING
int gStackDepth = 0;
int gMaxStackDepth = 0;
-#endif //DEBUG_TREE_BUILDING
+#endif //DEBUG_TREE_BUILDING
-void btQuantizedBvh::buildTree (int startIndex,int endIndex)
+void btQuantizedBvh::buildTree(int startIndex, int endIndex)
{
#ifdef DEBUG_TREE_BUILDING
gStackDepth++;
if (gStackDepth > gMaxStackDepth)
gMaxStackDepth = gStackDepth;
-#endif //DEBUG_TREE_BUILDING
-
+#endif //DEBUG_TREE_BUILDING
int splitAxis, splitIndex, i;
- int numIndices =endIndex-startIndex;
+ int numIndices = endIndex - startIndex;
int curIndex = m_curNodeIndex;
- btAssert(numIndices>0);
+ btAssert(numIndices > 0);
- if (numIndices==1)
+ if (numIndices == 1)
{
#ifdef DEBUG_TREE_BUILDING
gStackDepth--;
-#endif //DEBUG_TREE_BUILDING
-
- assignInternalNodeFromLeafNode(m_curNodeIndex,startIndex);
+#endif //DEBUG_TREE_BUILDING
+
+ assignInternalNodeFromLeafNode(m_curNodeIndex, startIndex);
m_curNodeIndex++;
- return;
+ return;
}
//calculate Best Splitting Axis and where to split it. Sort the incoming 'leafNodes' array within range 'startIndex/endIndex'.
-
- splitAxis = calcSplittingAxis(startIndex,endIndex);
- splitIndex = sortAndCalcSplittingIndex(startIndex,endIndex,splitAxis);
+ splitAxis = calcSplittingAxis(startIndex, endIndex);
+
+ splitIndex = sortAndCalcSplittingIndex(startIndex, endIndex, splitAxis);
int internalNodeIndex = m_curNodeIndex;
-
+
//set the min aabb to 'inf' or a max value, and set the max aabb to a -inf/minimum value.
//the aabb will be expanded during buildTree/mergeInternalNodeAabb with actual node values
- setInternalNodeAabbMin(m_curNodeIndex,m_bvhAabbMax);//can't use btVector3(SIMD_INFINITY,SIMD_INFINITY,SIMD_INFINITY)) because of quantization
- setInternalNodeAabbMax(m_curNodeIndex,m_bvhAabbMin);//can't use btVector3(-SIMD_INFINITY,-SIMD_INFINITY,-SIMD_INFINITY)) because of quantization
-
-
- for (i=startIndex;i<endIndex;i++)
+ setInternalNodeAabbMin(m_curNodeIndex, m_bvhAabbMax); //can't use btVector3(SIMD_INFINITY,SIMD_INFINITY,SIMD_INFINITY)) because of quantization
+ setInternalNodeAabbMax(m_curNodeIndex, m_bvhAabbMin); //can't use btVector3(-SIMD_INFINITY,-SIMD_INFINITY,-SIMD_INFINITY)) because of quantization
+
+ for (i = startIndex; i < endIndex; i++)
{
- mergeInternalNodeAabb(m_curNodeIndex,getAabbMin(i),getAabbMax(i));
+ mergeInternalNodeAabb(m_curNodeIndex, getAabbMin(i), getAabbMax(i));
}
m_curNodeIndex++;
-
//internalNode->m_escapeIndex;
-
+
int leftChildNodexIndex = m_curNodeIndex;
//build left child tree
- buildTree(startIndex,splitIndex);
+ buildTree(startIndex, splitIndex);
int rightChildNodexIndex = m_curNodeIndex;
//build right child tree
- buildTree(splitIndex,endIndex);
+ buildTree(splitIndex, endIndex);
#ifdef DEBUG_TREE_BUILDING
gStackDepth--;
-#endif //DEBUG_TREE_BUILDING
+#endif //DEBUG_TREE_BUILDING
int escapeIndex = m_curNodeIndex - curIndex;
if (m_useQuantization)
{
//escapeIndex is the number of nodes of this subtree
- const int sizeQuantizedNode =sizeof(btQuantizedBvhNode);
+ const int sizeQuantizedNode = sizeof(btQuantizedBvhNode);
const int treeSizeInBytes = escapeIndex * sizeQuantizedNode;
if (treeSizeInBytes > MAX_SUBTREE_SIZE_IN_BYTES)
{
- updateSubtreeHeaders(leftChildNodexIndex,rightChildNodexIndex);
+ updateSubtreeHeaders(leftChildNodexIndex, rightChildNodexIndex);
}
- } else
+ }
+ else
{
-
}
- setInternalNodeEscapeIndex(internalNodeIndex,escapeIndex);
-
+ setInternalNodeEscapeIndex(internalNodeIndex, escapeIndex);
}
-void btQuantizedBvh::updateSubtreeHeaders(int leftChildNodexIndex,int rightChildNodexIndex)
+void btQuantizedBvh::updateSubtreeHeaders(int leftChildNodexIndex, int rightChildNodexIndex)
{
btAssert(m_useQuantization);
btQuantizedBvhNode& leftChildNode = m_quantizedContiguousNodes[leftChildNodexIndex];
int leftSubTreeSize = leftChildNode.isLeafNode() ? 1 : leftChildNode.getEscapeIndex();
- int leftSubTreeSizeInBytes = leftSubTreeSize * static_cast<int>(sizeof(btQuantizedBvhNode));
-
+ int leftSubTreeSizeInBytes = leftSubTreeSize * static_cast<int>(sizeof(btQuantizedBvhNode));
+
btQuantizedBvhNode& rightChildNode = m_quantizedContiguousNodes[rightChildNodexIndex];
int rightSubTreeSize = rightChildNode.isLeafNode() ? 1 : rightChildNode.getEscapeIndex();
- int rightSubTreeSizeInBytes = rightSubTreeSize * static_cast<int>(sizeof(btQuantizedBvhNode));
+ int rightSubTreeSizeInBytes = rightSubTreeSize * static_cast<int>(sizeof(btQuantizedBvhNode));
- if(leftSubTreeSizeInBytes <= MAX_SUBTREE_SIZE_IN_BYTES)
+ if (leftSubTreeSizeInBytes <= MAX_SUBTREE_SIZE_IN_BYTES)
{
btBvhSubtreeInfo& subtree = m_SubtreeHeaders.expand();
subtree.setAabbFromQuantizeNode(leftChildNode);
@@ -234,7 +217,7 @@ void btQuantizedBvh::updateSubtreeHeaders(int leftChildNodexIndex,int rightChild
subtree.m_subtreeSize = leftSubTreeSize;
}
- if(rightSubTreeSizeInBytes <= MAX_SUBTREE_SIZE_IN_BYTES)
+ if (rightSubTreeSizeInBytes <= MAX_SUBTREE_SIZE_IN_BYTES)
{
btBvhSubtreeInfo& subtree = m_SubtreeHeaders.expand();
subtree.setAabbFromQuantizeNode(rightChildNode);
@@ -246,32 +229,31 @@ void btQuantizedBvh::updateSubtreeHeaders(int leftChildNodexIndex,int rightChild
m_subtreeHeaderCount = m_SubtreeHeaders.size();
}
-
-int btQuantizedBvh::sortAndCalcSplittingIndex(int startIndex,int endIndex,int splitAxis)
+int btQuantizedBvh::sortAndCalcSplittingIndex(int startIndex, int endIndex, int splitAxis)
{
int i;
- int splitIndex =startIndex;
+ int splitIndex = startIndex;
int numIndices = endIndex - startIndex;
btScalar splitValue;
- btVector3 means(btScalar(0.),btScalar(0.),btScalar(0.));
- for (i=startIndex;i<endIndex;i++)
+ btVector3 means(btScalar(0.), btScalar(0.), btScalar(0.));
+ for (i = startIndex; i < endIndex; i++)
{
- btVector3 center = btScalar(0.5)*(getAabbMax(i)+getAabbMin(i));
- means+=center;
+ btVector3 center = btScalar(0.5) * (getAabbMax(i) + getAabbMin(i));
+ means += center;
}
- means *= (btScalar(1.)/(btScalar)numIndices);
-
+ means *= (btScalar(1.) / (btScalar)numIndices);
+
splitValue = means[splitAxis];
-
+
//sort leafNodes so all values larger then splitValue comes first, and smaller values start from 'splitIndex'.
- for (i=startIndex;i<endIndex;i++)
+ for (i = startIndex; i < endIndex; i++)
{
- btVector3 center = btScalar(0.5)*(getAabbMax(i)+getAabbMin(i));
+ btVector3 center = btScalar(0.5) * (getAabbMax(i) + getAabbMin(i));
if (center[splitAxis] > splitValue)
{
//swap
- swapLeafNodes(i,splitIndex);
+ swapLeafNodes(i, splitIndex);
splitIndex++;
}
}
@@ -281,56 +263,53 @@ int btQuantizedBvh::sortAndCalcSplittingIndex(int startIndex,int endIndex,int sp
//unbalanced1 is unsafe: it can cause stack overflows
//bool unbalanced1 = ((splitIndex==startIndex) || (splitIndex == (endIndex-1)));
- //unbalanced2 should work too: always use center (perfect balanced trees)
+ //unbalanced2 should work too: always use center (perfect balanced trees)
//bool unbalanced2 = true;
//this should be safe too:
- int rangeBalancedIndices = numIndices/3;
- bool unbalanced = ((splitIndex<=(startIndex+rangeBalancedIndices)) || (splitIndex >=(endIndex-1-rangeBalancedIndices)));
-
+ int rangeBalancedIndices = numIndices / 3;
+ bool unbalanced = ((splitIndex <= (startIndex + rangeBalancedIndices)) || (splitIndex >= (endIndex - 1 - rangeBalancedIndices)));
+
if (unbalanced)
{
- splitIndex = startIndex+ (numIndices>>1);
+ splitIndex = startIndex + (numIndices >> 1);
}
- bool unbal = (splitIndex==startIndex) || (splitIndex == (endIndex));
+ bool unbal = (splitIndex == startIndex) || (splitIndex == (endIndex));
(void)unbal;
btAssert(!unbal);
return splitIndex;
}
-
-int btQuantizedBvh::calcSplittingAxis(int startIndex,int endIndex)
+int btQuantizedBvh::calcSplittingAxis(int startIndex, int endIndex)
{
int i;
- btVector3 means(btScalar(0.),btScalar(0.),btScalar(0.));
- btVector3 variance(btScalar(0.),btScalar(0.),btScalar(0.));
- int numIndices = endIndex-startIndex;
+ btVector3 means(btScalar(0.), btScalar(0.), btScalar(0.));
+ btVector3 variance(btScalar(0.), btScalar(0.), btScalar(0.));
+ int numIndices = endIndex - startIndex;
- for (i=startIndex;i<endIndex;i++)
+ for (i = startIndex; i < endIndex; i++)
{
- btVector3 center = btScalar(0.5)*(getAabbMax(i)+getAabbMin(i));
- means+=center;
+ btVector3 center = btScalar(0.5) * (getAabbMax(i) + getAabbMin(i));
+ means += center;
}
- means *= (btScalar(1.)/(btScalar)numIndices);
-
- for (i=startIndex;i<endIndex;i++)
+ means *= (btScalar(1.) / (btScalar)numIndices);
+
+ for (i = startIndex; i < endIndex; i++)
{
- btVector3 center = btScalar(0.5)*(getAabbMax(i)+getAabbMin(i));
- btVector3 diff2 = center-means;
+ btVector3 center = btScalar(0.5) * (getAabbMax(i) + getAabbMin(i));
+ btVector3 diff2 = center - means;
diff2 = diff2 * diff2;
variance += diff2;
}
- variance *= (btScalar(1.)/ ((btScalar)numIndices-1) );
-
+ variance *= (btScalar(1.) / ((btScalar)numIndices - 1));
+
return variance.maxAxis();
}
-
-
-void btQuantizedBvh::reportAabbOverlappingNodex(btNodeOverlapCallback* nodeCallback,const btVector3& aabbMin,const btVector3& aabbMax) const
+void btQuantizedBvh::reportAabbOverlappingNodex(btNodeOverlapCallback* nodeCallback, const btVector3& aabbMin, const btVector3& aabbMax) const
{
//either choose recursive traversal (walkTree) or stackless (walkStacklessTree)
@@ -339,38 +318,37 @@ void btQuantizedBvh::reportAabbOverlappingNodex(btNodeOverlapCallback* nodeCallb
///quantize query AABB
unsigned short int quantizedQueryAabbMin[3];
unsigned short int quantizedQueryAabbMax[3];
- quantizeWithClamp(quantizedQueryAabbMin,aabbMin,0);
- quantizeWithClamp(quantizedQueryAabbMax,aabbMax,1);
+ quantizeWithClamp(quantizedQueryAabbMin, aabbMin, 0);
+ quantizeWithClamp(quantizedQueryAabbMax, aabbMax, 1);
switch (m_traversalMode)
{
- case TRAVERSAL_STACKLESS:
- walkStacklessQuantizedTree(nodeCallback,quantizedQueryAabbMin,quantizedQueryAabbMax,0,m_curNodeIndex);
- break;
- case TRAVERSAL_STACKLESS_CACHE_FRIENDLY:
- walkStacklessQuantizedTreeCacheFriendly(nodeCallback,quantizedQueryAabbMin,quantizedQueryAabbMax);
- break;
- case TRAVERSAL_RECURSIVE:
+ case TRAVERSAL_STACKLESS:
+ walkStacklessQuantizedTree(nodeCallback, quantizedQueryAabbMin, quantizedQueryAabbMax, 0, m_curNodeIndex);
+ break;
+ case TRAVERSAL_STACKLESS_CACHE_FRIENDLY:
+ walkStacklessQuantizedTreeCacheFriendly(nodeCallback, quantizedQueryAabbMin, quantizedQueryAabbMax);
+ break;
+ case TRAVERSAL_RECURSIVE:
{
const btQuantizedBvhNode* rootNode = &m_quantizedContiguousNodes[0];
- walkRecursiveQuantizedTreeAgainstQueryAabb(rootNode,nodeCallback,quantizedQueryAabbMin,quantizedQueryAabbMax);
+ walkRecursiveQuantizedTreeAgainstQueryAabb(rootNode, nodeCallback, quantizedQueryAabbMin, quantizedQueryAabbMax);
}
break;
- default:
- //unsupported
- btAssert(0);
+ default:
+ //unsupported
+ btAssert(0);
}
- } else
+ }
+ else
{
- walkStacklessTree(nodeCallback,aabbMin,aabbMax);
+ walkStacklessTree(nodeCallback, aabbMin, aabbMax);
}
}
-
int maxIterations = 0;
-
-void btQuantizedBvh::walkStacklessTree(btNodeOverlapCallback* nodeCallback,const btVector3& aabbMin,const btVector3& aabbMax) const
+void btQuantizedBvh::walkStacklessTree(btNodeOverlapCallback* nodeCallback, const btVector3& aabbMin, const btVector3& aabbMax) const
{
btAssert(!m_useQuantization);
@@ -384,24 +362,25 @@ void btQuantizedBvh::walkStacklessTree(btNodeOverlapCallback* nodeCallback,const
while (curIndex < m_curNodeIndex)
{
//catch bugs in tree data
- btAssert (walkIterations < m_curNodeIndex);
+ btAssert(walkIterations < m_curNodeIndex);
walkIterations++;
- aabbOverlap = TestAabbAgainstAabb2(aabbMin,aabbMax,rootNode->m_aabbMinOrg,rootNode->m_aabbMaxOrg);
+ aabbOverlap = TestAabbAgainstAabb2(aabbMin, aabbMax, rootNode->m_aabbMinOrg, rootNode->m_aabbMaxOrg);
isLeafNode = rootNode->m_escapeIndex == -1;
-
+
//PCK: unsigned instead of bool
if (isLeafNode && (aabbOverlap != 0))
{
- nodeCallback->processNode(rootNode->m_subPart,rootNode->m_triangleIndex);
- }
-
+ nodeCallback->processNode(rootNode->m_subPart, rootNode->m_triangleIndex);
+ }
+
//PCK: unsigned instead of bool
if ((aabbOverlap != 0) || isLeafNode)
{
rootNode++;
curIndex++;
- } else
+ }
+ else
{
escapeIndex = rootNode->m_escapeIndex;
rootNode += escapeIndex;
@@ -410,7 +389,6 @@ void btQuantizedBvh::walkStacklessTree(btNodeOverlapCallback* nodeCallback,const
}
if (maxIterations < walkIterations)
maxIterations = walkIterations;
-
}
/*
@@ -434,39 +412,38 @@ void btQuantizedBvh::walkTree(btOptimizedBvhNode* rootNode,btNodeOverlapCallback
}
*/
-void btQuantizedBvh::walkRecursiveQuantizedTreeAgainstQueryAabb(const btQuantizedBvhNode* currentNode,btNodeOverlapCallback* nodeCallback,unsigned short int* quantizedQueryAabbMin,unsigned short int* quantizedQueryAabbMax) const
+void btQuantizedBvh::walkRecursiveQuantizedTreeAgainstQueryAabb(const btQuantizedBvhNode* currentNode, btNodeOverlapCallback* nodeCallback, unsigned short int* quantizedQueryAabbMin, unsigned short int* quantizedQueryAabbMax) const
{
btAssert(m_useQuantization);
-
+
bool isLeafNode;
//PCK: unsigned instead of bool
unsigned aabbOverlap;
//PCK: unsigned instead of bool
- aabbOverlap = testQuantizedAabbAgainstQuantizedAabb(quantizedQueryAabbMin,quantizedQueryAabbMax,currentNode->m_quantizedAabbMin,currentNode->m_quantizedAabbMax);
+ aabbOverlap = testQuantizedAabbAgainstQuantizedAabb(quantizedQueryAabbMin, quantizedQueryAabbMax, currentNode->m_quantizedAabbMin, currentNode->m_quantizedAabbMax);
isLeafNode = currentNode->isLeafNode();
-
+
//PCK: unsigned instead of bool
if (aabbOverlap != 0)
{
if (isLeafNode)
{
- nodeCallback->processNode(currentNode->getPartId(),currentNode->getTriangleIndex());
- } else
+ nodeCallback->processNode(currentNode->getPartId(), currentNode->getTriangleIndex());
+ }
+ else
{
//process left and right children
- const btQuantizedBvhNode* leftChildNode = currentNode+1;
- walkRecursiveQuantizedTreeAgainstQueryAabb(leftChildNode,nodeCallback,quantizedQueryAabbMin,quantizedQueryAabbMax);
+ const btQuantizedBvhNode* leftChildNode = currentNode + 1;
+ walkRecursiveQuantizedTreeAgainstQueryAabb(leftChildNode, nodeCallback, quantizedQueryAabbMin, quantizedQueryAabbMax);
- const btQuantizedBvhNode* rightChildNode = leftChildNode->isLeafNode() ? leftChildNode+1:leftChildNode+leftChildNode->getEscapeIndex();
- walkRecursiveQuantizedTreeAgainstQueryAabb(rightChildNode,nodeCallback,quantizedQueryAabbMin,quantizedQueryAabbMax);
+ const btQuantizedBvhNode* rightChildNode = leftChildNode->isLeafNode() ? leftChildNode + 1 : leftChildNode + leftChildNode->getEscapeIndex();
+ walkRecursiveQuantizedTreeAgainstQueryAabb(rightChildNode, nodeCallback, quantizedQueryAabbMin, quantizedQueryAabbMax);
}
- }
+ }
}
-
-
-void btQuantizedBvh::walkStacklessTreeAgainstRay(btNodeOverlapCallback* nodeCallback, const btVector3& raySource, const btVector3& rayTarget, const btVector3& aabbMin, const btVector3& aabbMax, int startNodeIndex,int endNodeIndex) const
+void btQuantizedBvh::walkStacklessTreeAgainstRay(btNodeOverlapCallback* nodeCallback, const btVector3& raySource, const btVector3& rayTarget, const btVector3& aabbMin, const btVector3& aabbMax, int startNodeIndex, int endNodeIndex) const
{
btAssert(!m_useQuantization);
@@ -475,11 +452,11 @@ void btQuantizedBvh::walkStacklessTreeAgainstRay(btNodeOverlapCallback* nodeCall
int walkIterations = 0;
bool isLeafNode;
//PCK: unsigned instead of bool
- unsigned aabbOverlap=0;
- unsigned rayBoxOverlap=0;
+ unsigned aabbOverlap = 0;
+ unsigned rayBoxOverlap = 0;
btScalar lambda_max = 1.0;
-
- /* Quick pruning by quantized box */
+
+ /* Quick pruning by quantized box */
btVector3 rayAabbMin = raySource;
btVector3 rayAabbMax = raySource;
rayAabbMin.setMin(rayTarget);
@@ -490,15 +467,15 @@ void btQuantizedBvh::walkStacklessTreeAgainstRay(btNodeOverlapCallback* nodeCall
rayAabbMax += aabbMax;
#ifdef RAYAABB2
- btVector3 rayDir = (rayTarget-raySource);
- rayDir.normalize ();
- lambda_max = rayDir.dot(rayTarget-raySource);
+ btVector3 rayDir = (rayTarget - raySource);
+ rayDir.normalize();
+ lambda_max = rayDir.dot(rayTarget - raySource);
///what about division by zero? --> just set rayDirection[i] to 1.0
btVector3 rayDirectionInverse;
rayDirectionInverse[0] = rayDir[0] == btScalar(0.0) ? btScalar(BT_LARGE_FLOAT) : btScalar(1.0) / rayDir[0];
rayDirectionInverse[1] = rayDir[1] == btScalar(0.0) ? btScalar(BT_LARGE_FLOAT) : btScalar(1.0) / rayDir[1];
rayDirectionInverse[2] = rayDir[2] == btScalar(0.0) ? btScalar(BT_LARGE_FLOAT) : btScalar(1.0) / rayDir[2];
- unsigned int sign[3] = { rayDirectionInverse[0] < 0.0, rayDirectionInverse[1] < 0.0, rayDirectionInverse[2] < 0.0};
+ unsigned int sign[3] = {rayDirectionInverse[0] < 0.0, rayDirectionInverse[1] < 0.0, rayDirectionInverse[2] < 0.0};
#endif
btVector3 bounds[2];
@@ -507,7 +484,7 @@ void btQuantizedBvh::walkStacklessTreeAgainstRay(btNodeOverlapCallback* nodeCall
{
btScalar param = 1.0;
//catch bugs in tree data
- btAssert (walkIterations < m_curNodeIndex);
+ btAssert(walkIterations < m_curNodeIndex);
walkIterations++;
@@ -517,34 +494,35 @@ void btQuantizedBvh::walkStacklessTreeAgainstRay(btNodeOverlapCallback* nodeCall
bounds[0] -= aabbMax;
bounds[1] -= aabbMin;
- aabbOverlap = TestAabbAgainstAabb2(rayAabbMin,rayAabbMax,rootNode->m_aabbMinOrg,rootNode->m_aabbMaxOrg);
+ aabbOverlap = TestAabbAgainstAabb2(rayAabbMin, rayAabbMax, rootNode->m_aabbMinOrg, rootNode->m_aabbMaxOrg);
//perhaps profile if it is worth doing the aabbOverlap test first
#ifdef RAYAABB2
- ///careful with this check: need to check division by zero (above) and fix the unQuantize method
- ///thanks Joerg/hiker for the reproduction case!
- ///http://www.bulletphysics.com/Bullet/phpBB3/viewtopic.php?f=9&t=1858
- rayBoxOverlap = aabbOverlap ? btRayAabb2 (raySource, rayDirectionInverse, sign, bounds, param, 0.0f, lambda_max) : false;
+ ///careful with this check: need to check division by zero (above) and fix the unQuantize method
+ ///thanks Joerg/hiker for the reproduction case!
+ ///http://www.bulletphysics.com/Bullet/phpBB3/viewtopic.php?f=9&t=1858
+ rayBoxOverlap = aabbOverlap ? btRayAabb2(raySource, rayDirectionInverse, sign, bounds, param, 0.0f, lambda_max) : false;
#else
btVector3 normal;
- rayBoxOverlap = btRayAabb(raySource, rayTarget,bounds[0],bounds[1],param, normal);
+ rayBoxOverlap = btRayAabb(raySource, rayTarget, bounds[0], bounds[1], param, normal);
#endif
isLeafNode = rootNode->m_escapeIndex == -1;
-
+
//PCK: unsigned instead of bool
if (isLeafNode && (rayBoxOverlap != 0))
{
- nodeCallback->processNode(rootNode->m_subPart,rootNode->m_triangleIndex);
- }
-
+ nodeCallback->processNode(rootNode->m_subPart, rootNode->m_triangleIndex);
+ }
+
//PCK: unsigned instead of bool
if ((rayBoxOverlap != 0) || isLeafNode)
{
rootNode++;
curIndex++;
- } else
+ }
+ else
{
escapeIndex = rootNode->m_escapeIndex;
rootNode += escapeIndex;
@@ -553,15 +531,12 @@ void btQuantizedBvh::walkStacklessTreeAgainstRay(btNodeOverlapCallback* nodeCall
}
if (maxIterations < walkIterations)
maxIterations = walkIterations;
-
}
-
-
-void btQuantizedBvh::walkStacklessQuantizedTreeAgainstRay(btNodeOverlapCallback* nodeCallback, const btVector3& raySource, const btVector3& rayTarget, const btVector3& aabbMin, const btVector3& aabbMax, int startNodeIndex,int endNodeIndex) const
+void btQuantizedBvh::walkStacklessQuantizedTreeAgainstRay(btNodeOverlapCallback* nodeCallback, const btVector3& raySource, const btVector3& rayTarget, const btVector3& aabbMin, const btVector3& aabbMax, int startNodeIndex, int endNodeIndex) const
{
btAssert(m_useQuantization);
-
+
int curIndex = startNodeIndex;
int walkIterations = 0;
int subTreeSize = endNodeIndex - startNodeIndex;
@@ -569,7 +544,7 @@ void btQuantizedBvh::walkStacklessQuantizedTreeAgainstRay(btNodeOverlapCallback*
const btQuantizedBvhNode* rootNode = &m_quantizedContiguousNodes[startNodeIndex];
int escapeIndex;
-
+
bool isLeafNode;
//PCK: unsigned instead of bool
unsigned boxBoxOverlap = 0;
@@ -578,14 +553,14 @@ void btQuantizedBvh::walkStacklessQuantizedTreeAgainstRay(btNodeOverlapCallback*
btScalar lambda_max = 1.0;
#ifdef RAYAABB2
- btVector3 rayDirection = (rayTarget-raySource);
- rayDirection.normalize ();
- lambda_max = rayDirection.dot(rayTarget-raySource);
+ btVector3 rayDirection = (rayTarget - raySource);
+ rayDirection.normalize();
+ lambda_max = rayDirection.dot(rayTarget - raySource);
///what about division by zero? --> just set rayDirection[i] to 1.0
rayDirection[0] = rayDirection[0] == btScalar(0.0) ? btScalar(BT_LARGE_FLOAT) : btScalar(1.0) / rayDirection[0];
rayDirection[1] = rayDirection[1] == btScalar(0.0) ? btScalar(BT_LARGE_FLOAT) : btScalar(1.0) / rayDirection[1];
rayDirection[2] = rayDirection[2] == btScalar(0.0) ? btScalar(BT_LARGE_FLOAT) : btScalar(1.0) / rayDirection[2];
- unsigned int sign[3] = { rayDirection[0] < 0.0, rayDirection[1] < 0.0, rayDirection[2] < 0.0};
+ unsigned int sign[3] = {rayDirection[0] < 0.0, rayDirection[1] < 0.0, rayDirection[2] < 0.0};
#endif
/* Quick pruning by quantized box */
@@ -600,37 +575,36 @@ void btQuantizedBvh::walkStacklessQuantizedTreeAgainstRay(btNodeOverlapCallback*
unsigned short int quantizedQueryAabbMin[3];
unsigned short int quantizedQueryAabbMax[3];
- quantizeWithClamp(quantizedQueryAabbMin,rayAabbMin,0);
- quantizeWithClamp(quantizedQueryAabbMax,rayAabbMax,1);
+ quantizeWithClamp(quantizedQueryAabbMin, rayAabbMin, 0);
+ quantizeWithClamp(quantizedQueryAabbMax, rayAabbMax, 1);
while (curIndex < endNodeIndex)
{
-
//#define VISUALLY_ANALYZE_BVH 1
#ifdef VISUALLY_ANALYZE_BVH
//some code snippet to debugDraw aabb, to visually analyze bvh structure
static int drawPatch = 0;
//need some global access to a debugDrawer
extern btIDebugDraw* debugDrawerPtr;
- if (curIndex==drawPatch)
+ if (curIndex == drawPatch)
{
- btVector3 aabbMin,aabbMax;
+ btVector3 aabbMin, aabbMax;
aabbMin = unQuantize(rootNode->m_quantizedAabbMin);
aabbMax = unQuantize(rootNode->m_quantizedAabbMax);
- btVector3 color(1,0,0);
- debugDrawerPtr->drawAabb(aabbMin,aabbMax,color);
+ btVector3 color(1, 0, 0);
+ debugDrawerPtr->drawAabb(aabbMin, aabbMax, color);
}
-#endif//VISUALLY_ANALYZE_BVH
+#endif //VISUALLY_ANALYZE_BVH
//catch bugs in tree data
- btAssert (walkIterations < subTreeSize);
+ btAssert(walkIterations < subTreeSize);
walkIterations++;
//PCK: unsigned instead of bool
// only interested if this is closer than any previous hit
btScalar param = 1.0;
rayBoxOverlap = 0;
- boxBoxOverlap = testQuantizedAabbAgainstQuantizedAabb(quantizedQueryAabbMin,quantizedQueryAabbMax,rootNode->m_quantizedAabbMin,rootNode->m_quantizedAabbMax);
+ boxBoxOverlap = testQuantizedAabbAgainstQuantizedAabb(quantizedQueryAabbMin, quantizedQueryAabbMax, rootNode->m_quantizedAabbMin, rootNode->m_quantizedAabbMax);
isLeafNode = rootNode->isLeafNode();
if (boxBoxOverlap)
{
@@ -655,24 +629,25 @@ void btQuantizedBvh::walkStacklessQuantizedTreeAgainstRay(btNodeOverlapCallback*
///http://www.bulletphysics.com/Bullet/phpBB3/viewtopic.php?f=9&t=1858
//BT_PROFILE("btRayAabb2");
- rayBoxOverlap = btRayAabb2 (raySource, rayDirection, sign, bounds, param, 0.0f, lambda_max);
-
+ rayBoxOverlap = btRayAabb2(raySource, rayDirection, sign, bounds, param, 0.0f, lambda_max);
+
#else
- rayBoxOverlap = true;//btRayAabb(raySource, rayTarget, bounds[0], bounds[1], param, normal);
+ rayBoxOverlap = true; //btRayAabb(raySource, rayTarget, bounds[0], bounds[1], param, normal);
#endif
}
-
+
if (isLeafNode && rayBoxOverlap)
{
- nodeCallback->processNode(rootNode->getPartId(),rootNode->getTriangleIndex());
+ nodeCallback->processNode(rootNode->getPartId(), rootNode->getTriangleIndex());
}
-
+
//PCK: unsigned instead of bool
if ((rayBoxOverlap != 0) || isLeafNode)
{
rootNode++;
curIndex++;
- } else
+ }
+ else
{
escapeIndex = rootNode->getEscapeIndex();
rootNode += escapeIndex;
@@ -681,13 +656,12 @@ void btQuantizedBvh::walkStacklessQuantizedTreeAgainstRay(btNodeOverlapCallback*
}
if (maxIterations < walkIterations)
maxIterations = walkIterations;
-
}
-void btQuantizedBvh::walkStacklessQuantizedTree(btNodeOverlapCallback* nodeCallback,unsigned short int* quantizedQueryAabbMin,unsigned short int* quantizedQueryAabbMax,int startNodeIndex,int endNodeIndex) const
+void btQuantizedBvh::walkStacklessQuantizedTree(btNodeOverlapCallback* nodeCallback, unsigned short int* quantizedQueryAabbMin, unsigned short int* quantizedQueryAabbMax, int startNodeIndex, int endNodeIndex) const
{
btAssert(m_useQuantization);
-
+
int curIndex = startNodeIndex;
int walkIterations = 0;
int subTreeSize = endNodeIndex - startNodeIndex;
@@ -695,49 +669,49 @@ void btQuantizedBvh::walkStacklessQuantizedTree(btNodeOverlapCallback* nodeCallb
const btQuantizedBvhNode* rootNode = &m_quantizedContiguousNodes[startNodeIndex];
int escapeIndex;
-
+
bool isLeafNode;
//PCK: unsigned instead of bool
unsigned aabbOverlap;
while (curIndex < endNodeIndex)
{
-
//#define VISUALLY_ANALYZE_BVH 1
#ifdef VISUALLY_ANALYZE_BVH
//some code snippet to debugDraw aabb, to visually analyze bvh structure
static int drawPatch = 0;
//need some global access to a debugDrawer
extern btIDebugDraw* debugDrawerPtr;
- if (curIndex==drawPatch)
+ if (curIndex == drawPatch)
{
- btVector3 aabbMin,aabbMax;
+ btVector3 aabbMin, aabbMax;
aabbMin = unQuantize(rootNode->m_quantizedAabbMin);
aabbMax = unQuantize(rootNode->m_quantizedAabbMax);
- btVector3 color(1,0,0);
- debugDrawerPtr->drawAabb(aabbMin,aabbMax,color);
+ btVector3 color(1, 0, 0);
+ debugDrawerPtr->drawAabb(aabbMin, aabbMax, color);
}
-#endif//VISUALLY_ANALYZE_BVH
+#endif //VISUALLY_ANALYZE_BVH
//catch bugs in tree data
- btAssert (walkIterations < subTreeSize);
+ btAssert(walkIterations < subTreeSize);
walkIterations++;
//PCK: unsigned instead of bool
- aabbOverlap = testQuantizedAabbAgainstQuantizedAabb(quantizedQueryAabbMin,quantizedQueryAabbMax,rootNode->m_quantizedAabbMin,rootNode->m_quantizedAabbMax);
+ aabbOverlap = testQuantizedAabbAgainstQuantizedAabb(quantizedQueryAabbMin, quantizedQueryAabbMax, rootNode->m_quantizedAabbMin, rootNode->m_quantizedAabbMax);
isLeafNode = rootNode->isLeafNode();
-
+
if (isLeafNode && aabbOverlap)
{
- nodeCallback->processNode(rootNode->getPartId(),rootNode->getTriangleIndex());
- }
-
+ nodeCallback->processNode(rootNode->getPartId(), rootNode->getTriangleIndex());
+ }
+
//PCK: unsigned instead of bool
if ((aabbOverlap != 0) || isLeafNode)
{
rootNode++;
curIndex++;
- } else
+ }
+ else
{
escapeIndex = rootNode->getEscapeIndex();
rootNode += escapeIndex;
@@ -746,40 +720,36 @@ void btQuantizedBvh::walkStacklessQuantizedTree(btNodeOverlapCallback* nodeCallb
}
if (maxIterations < walkIterations)
maxIterations = walkIterations;
-
}
//This traversal can be called from Playstation 3 SPU
-void btQuantizedBvh::walkStacklessQuantizedTreeCacheFriendly(btNodeOverlapCallback* nodeCallback,unsigned short int* quantizedQueryAabbMin,unsigned short int* quantizedQueryAabbMax) const
+void btQuantizedBvh::walkStacklessQuantizedTreeCacheFriendly(btNodeOverlapCallback* nodeCallback, unsigned short int* quantizedQueryAabbMin, unsigned short int* quantizedQueryAabbMax) const
{
btAssert(m_useQuantization);
int i;
-
- for (i=0;i<this->m_SubtreeHeaders.size();i++)
+ for (i = 0; i < this->m_SubtreeHeaders.size(); i++)
{
const btBvhSubtreeInfo& subtree = m_SubtreeHeaders[i];
//PCK: unsigned instead of bool
- unsigned overlap = testQuantizedAabbAgainstQuantizedAabb(quantizedQueryAabbMin,quantizedQueryAabbMax,subtree.m_quantizedAabbMin,subtree.m_quantizedAabbMax);
+ unsigned overlap = testQuantizedAabbAgainstQuantizedAabb(quantizedQueryAabbMin, quantizedQueryAabbMax, subtree.m_quantizedAabbMin, subtree.m_quantizedAabbMax);
if (overlap != 0)
{
- walkStacklessQuantizedTree(nodeCallback,quantizedQueryAabbMin,quantizedQueryAabbMax,
- subtree.m_rootNodeIndex,
- subtree.m_rootNodeIndex+subtree.m_subtreeSize);
+ walkStacklessQuantizedTree(nodeCallback, quantizedQueryAabbMin, quantizedQueryAabbMax,
+ subtree.m_rootNodeIndex,
+ subtree.m_rootNodeIndex + subtree.m_subtreeSize);
}
}
}
-
-void btQuantizedBvh::reportRayOverlappingNodex (btNodeOverlapCallback* nodeCallback, const btVector3& raySource, const btVector3& rayTarget) const
+void btQuantizedBvh::reportRayOverlappingNodex(btNodeOverlapCallback* nodeCallback, const btVector3& raySource, const btVector3& rayTarget) const
{
- reportBoxCastOverlappingNodex(nodeCallback,raySource,rayTarget,btVector3(0,0,0),btVector3(0,0,0));
+ reportBoxCastOverlappingNodex(nodeCallback, raySource, rayTarget, btVector3(0, 0, 0), btVector3(0, 0, 0));
}
-
-void btQuantizedBvh::reportBoxCastOverlappingNodex(btNodeOverlapCallback* nodeCallback, const btVector3& raySource, const btVector3& rayTarget, const btVector3& aabbMin,const btVector3& aabbMax) const
+void btQuantizedBvh::reportBoxCastOverlappingNodex(btNodeOverlapCallback* nodeCallback, const btVector3& raySource, const btVector3& rayTarget, const btVector3& aabbMin, const btVector3& aabbMax) const
{
//always use stackless
@@ -803,31 +773,31 @@ void btQuantizedBvh::reportBoxCastOverlappingNodex(btNodeOverlapCallback* nodeCa
reportAabbOverlappingNodex(nodeCallback,qaabbMin,qaabbMax);
}
*/
-
}
-
-void btQuantizedBvh::swapLeafNodes(int i,int splitIndex)
+void btQuantizedBvh::swapLeafNodes(int i, int splitIndex)
{
if (m_useQuantization)
{
- btQuantizedBvhNode tmp = m_quantizedLeafNodes[i];
- m_quantizedLeafNodes[i] = m_quantizedLeafNodes[splitIndex];
- m_quantizedLeafNodes[splitIndex] = tmp;
- } else
+ btQuantizedBvhNode tmp = m_quantizedLeafNodes[i];
+ m_quantizedLeafNodes[i] = m_quantizedLeafNodes[splitIndex];
+ m_quantizedLeafNodes[splitIndex] = tmp;
+ }
+ else
{
- btOptimizedBvhNode tmp = m_leafNodes[i];
- m_leafNodes[i] = m_leafNodes[splitIndex];
- m_leafNodes[splitIndex] = tmp;
+ btOptimizedBvhNode tmp = m_leafNodes[i];
+ m_leafNodes[i] = m_leafNodes[splitIndex];
+ m_leafNodes[splitIndex] = tmp;
}
}
-void btQuantizedBvh::assignInternalNodeFromLeafNode(int internalNode,int leafNodeIndex)
+void btQuantizedBvh::assignInternalNodeFromLeafNode(int internalNode, int leafNodeIndex)
{
if (m_useQuantization)
{
m_quantizedContiguousNodes[internalNode] = m_quantizedLeafNodes[leafNodeIndex];
- } else
+ }
+ else
{
m_contiguousNodes[internalNode] = m_leafNodes[leafNodeIndex];
}
@@ -844,11 +814,10 @@ static const unsigned BVH_ALIGNMENT_MASK = BVH_ALIGNMENT-1;
static const unsigned BVH_ALIGNMENT_BLOCKS = 2;
#endif
-
unsigned int btQuantizedBvh::getAlignmentSerializationPadding()
{
// I changed this to 0 since the extra padding is not needed or used.
- return 0;//BVH_ALIGNMENT_BLOCKS * BVH_ALIGNMENT;
+ return 0; //BVH_ALIGNMENT_BLOCKS * BVH_ALIGNMENT;
}
unsigned btQuantizedBvh::calculateSerializeBufferSize() const
@@ -862,12 +831,12 @@ unsigned btQuantizedBvh::calculateSerializeBufferSize() const
return baseSize + m_curNodeIndex * sizeof(btOptimizedBvhNode);
}
-bool btQuantizedBvh::serialize(void *o_alignedDataBuffer, unsigned /*i_dataBufferSize */, bool i_swapEndian) const
+bool btQuantizedBvh::serialize(void* o_alignedDataBuffer, unsigned /*i_dataBufferSize */, bool i_swapEndian) const
{
btAssert(m_subtreeHeaderCount == m_SubtreeHeaders.size());
m_subtreeHeaderCount = m_SubtreeHeaders.size();
-/* if (i_dataBufferSize < calculateSerializeBufferSize() || o_alignedDataBuffer == NULL || (((unsigned)o_alignedDataBuffer & BVH_ALIGNMENT_MASK) != 0))
+ /* if (i_dataBufferSize < calculateSerializeBufferSize() || o_alignedDataBuffer == NULL || (((unsigned)o_alignedDataBuffer & BVH_ALIGNMENT_MASK) != 0))
{
///check alignedment for buffer?
btAssert(0);
@@ -875,7 +844,7 @@ bool btQuantizedBvh::serialize(void *o_alignedDataBuffer, unsigned /*i_dataBuffe
}
*/
- btQuantizedBvh *targetBvh = (btQuantizedBvh *)o_alignedDataBuffer;
+ btQuantizedBvh* targetBvh = (btQuantizedBvh*)o_alignedDataBuffer;
// construct the class so the virtual function table, etc will be set up
// Also, m_leafNodes and m_quantizedLeafNodes will be initialized to default values by the constructor
@@ -885,10 +854,9 @@ bool btQuantizedBvh::serialize(void *o_alignedDataBuffer, unsigned /*i_dataBuffe
{
targetBvh->m_curNodeIndex = static_cast<int>(btSwapEndian(m_curNodeIndex));
-
- btSwapVector3Endian(m_bvhAabbMin,targetBvh->m_bvhAabbMin);
- btSwapVector3Endian(m_bvhAabbMax,targetBvh->m_bvhAabbMax);
- btSwapVector3Endian(m_bvhQuantization,targetBvh->m_bvhQuantization);
+ btSwapVector3Endian(m_bvhAabbMin, targetBvh->m_bvhAabbMin);
+ btSwapVector3Endian(m_bvhAabbMax, targetBvh->m_bvhAabbMax);
+ btSwapVector3Endian(m_bvhQuantization, targetBvh->m_bvhQuantization);
targetBvh->m_traversalMode = (btTraversalMode)btSwapEndian(m_traversalMode);
targetBvh->m_subtreeHeaderCount = static_cast<int>(btSwapEndian(m_subtreeHeaderCount));
@@ -905,12 +873,12 @@ bool btQuantizedBvh::serialize(void *o_alignedDataBuffer, unsigned /*i_dataBuffe
targetBvh->m_useQuantization = m_useQuantization;
- unsigned char *nodeData = (unsigned char *)targetBvh;
+ unsigned char* nodeData = (unsigned char*)targetBvh;
nodeData += sizeof(btQuantizedBvh);
-
- unsigned sizeToAdd = 0;//(BVH_ALIGNMENT-((unsigned)nodeData & BVH_ALIGNMENT_MASK))&BVH_ALIGNMENT_MASK;
+
+ unsigned sizeToAdd = 0; //(BVH_ALIGNMENT-((unsigned)nodeData & BVH_ALIGNMENT_MASK))&BVH_ALIGNMENT_MASK;
nodeData += sizeToAdd;
-
+
int nodeCount = m_curNodeIndex;
if (m_useQuantization)
@@ -936,7 +904,6 @@ bool btQuantizedBvh::serialize(void *o_alignedDataBuffer, unsigned /*i_dataBuffe
{
for (int nodeIndex = 0; nodeIndex < nodeCount; nodeIndex++)
{
-
targetBvh->m_quantizedContiguousNodes[nodeIndex].m_quantizedAabbMin[0] = m_quantizedContiguousNodes[nodeIndex].m_quantizedAabbMin[0];
targetBvh->m_quantizedContiguousNodes[nodeIndex].m_quantizedAabbMin[1] = m_quantizedContiguousNodes[nodeIndex].m_quantizedAabbMin[1];
targetBvh->m_quantizedContiguousNodes[nodeIndex].m_quantizedAabbMin[2] = m_quantizedContiguousNodes[nodeIndex].m_quantizedAabbMin[2];
@@ -946,8 +913,6 @@ bool btQuantizedBvh::serialize(void *o_alignedDataBuffer, unsigned /*i_dataBuffe
targetBvh->m_quantizedContiguousNodes[nodeIndex].m_quantizedAabbMax[2] = m_quantizedContiguousNodes[nodeIndex].m_quantizedAabbMax[2];
targetBvh->m_quantizedContiguousNodes[nodeIndex].m_escapeIndexOrTriangleIndex = m_quantizedContiguousNodes[nodeIndex].m_escapeIndexOrTriangleIndex;
-
-
}
}
nodeData += sizeof(btQuantizedBvhNode) * nodeCount;
@@ -993,7 +958,7 @@ bool btQuantizedBvh::serialize(void *o_alignedDataBuffer, unsigned /*i_dataBuffe
targetBvh->m_contiguousNodes.initializeFromBuffer(NULL, 0, 0);
}
- sizeToAdd = 0;//(BVH_ALIGNMENT-((unsigned)nodeData & BVH_ALIGNMENT_MASK))&BVH_ALIGNMENT_MASK;
+ sizeToAdd = 0; //(BVH_ALIGNMENT-((unsigned)nodeData & BVH_ALIGNMENT_MASK))&BVH_ALIGNMENT_MASK;
nodeData += sizeToAdd;
// Now serialize the subtree headers
@@ -1048,14 +1013,13 @@ bool btQuantizedBvh::serialize(void *o_alignedDataBuffer, unsigned /*i_dataBuffe
return true;
}
-btQuantizedBvh *btQuantizedBvh::deSerializeInPlace(void *i_alignedDataBuffer, unsigned int i_dataBufferSize, bool i_swapEndian)
+btQuantizedBvh* btQuantizedBvh::deSerializeInPlace(void* i_alignedDataBuffer, unsigned int i_dataBufferSize, bool i_swapEndian)
{
-
- if (i_alignedDataBuffer == NULL)// || (((unsigned)i_alignedDataBuffer & BVH_ALIGNMENT_MASK) != 0))
+ if (i_alignedDataBuffer == NULL) // || (((unsigned)i_alignedDataBuffer & BVH_ALIGNMENT_MASK) != 0))
{
return NULL;
}
- btQuantizedBvh *bvh = (btQuantizedBvh *)i_alignedDataBuffer;
+ btQuantizedBvh* bvh = (btQuantizedBvh*)i_alignedDataBuffer;
if (i_swapEndian)
{
@@ -1077,12 +1041,12 @@ btQuantizedBvh *btQuantizedBvh::deSerializeInPlace(void *i_alignedDataBuffer, un
return NULL;
}
- unsigned char *nodeData = (unsigned char *)bvh;
+ unsigned char* nodeData = (unsigned char*)bvh;
nodeData += sizeof(btQuantizedBvh);
-
- unsigned sizeToAdd = 0;//(BVH_ALIGNMENT-((unsigned)nodeData & BVH_ALIGNMENT_MASK))&BVH_ALIGNMENT_MASK;
+
+ unsigned sizeToAdd = 0; //(BVH_ALIGNMENT-((unsigned)nodeData & BVH_ALIGNMENT_MASK))&BVH_ALIGNMENT_MASK;
nodeData += sizeToAdd;
-
+
int nodeCount = bvh->m_curNodeIndex;
// Must call placement new to fill in virtual function table, etc, but we don't want to overwrite most data, so call a special version of the constructor
@@ -1120,7 +1084,7 @@ btQuantizedBvh *btQuantizedBvh::deSerializeInPlace(void *i_alignedDataBuffer, un
{
btUnSwapVector3Endian(bvh->m_contiguousNodes[nodeIndex].m_aabbMinOrg);
btUnSwapVector3Endian(bvh->m_contiguousNodes[nodeIndex].m_aabbMaxOrg);
-
+
bvh->m_contiguousNodes[nodeIndex].m_escapeIndex = static_cast<int>(btSwapEndian(bvh->m_contiguousNodes[nodeIndex].m_escapeIndex));
bvh->m_contiguousNodes[nodeIndex].m_subPart = static_cast<int>(btSwapEndian(bvh->m_contiguousNodes[nodeIndex].m_subPart));
bvh->m_contiguousNodes[nodeIndex].m_triangleIndex = static_cast<int>(btSwapEndian(bvh->m_contiguousNodes[nodeIndex].m_triangleIndex));
@@ -1129,7 +1093,7 @@ btQuantizedBvh *btQuantizedBvh::deSerializeInPlace(void *i_alignedDataBuffer, un
nodeData += sizeof(btOptimizedBvhNode) * nodeCount;
}
- sizeToAdd = 0;//(BVH_ALIGNMENT-((unsigned)nodeData & BVH_ALIGNMENT_MASK))&BVH_ALIGNMENT_MASK;
+ sizeToAdd = 0; //(BVH_ALIGNMENT-((unsigned)nodeData & BVH_ALIGNMENT_MASK))&BVH_ALIGNMENT_MASK;
nodeData += sizeToAdd;
// Now serialize the subtree headers
@@ -1155,13 +1119,11 @@ btQuantizedBvh *btQuantizedBvh::deSerializeInPlace(void *i_alignedDataBuffer, un
}
// Constructor that prevents btVector3's default constructor from being called
-btQuantizedBvh::btQuantizedBvh(btQuantizedBvh &self, bool /* ownsMemory */) :
-m_bvhAabbMin(self.m_bvhAabbMin),
-m_bvhAabbMax(self.m_bvhAabbMax),
-m_bvhQuantization(self.m_bvhQuantization),
-m_bulletVersion(BT_BULLET_VERSION)
+btQuantizedBvh::btQuantizedBvh(btQuantizedBvh& self, bool /* ownsMemory */) : m_bvhAabbMin(self.m_bvhAabbMin),
+ m_bvhAabbMax(self.m_bvhAabbMax),
+ m_bvhQuantization(self.m_bvhQuantization),
+ m_bulletVersion(BT_BULLET_VERSION)
{
-
}
void btQuantizedBvh::deSerializeFloat(struct btQuantizedBvhFloatData& quantizedBvhFloatData)
@@ -1171,8 +1133,8 @@ void btQuantizedBvh::deSerializeFloat(struct btQuantizedBvhFloatData& quantizedB
m_bvhQuantization.deSerializeFloat(quantizedBvhFloatData.m_bvhQuantization);
m_curNodeIndex = quantizedBvhFloatData.m_curNodeIndex;
- m_useQuantization = quantizedBvhFloatData.m_useQuantization!=0;
-
+ m_useQuantization = quantizedBvhFloatData.m_useQuantization != 0;
+
{
int numElem = quantizedBvhFloatData.m_numContiguousLeafNodes;
m_contiguousNodes.resize(numElem);
@@ -1181,7 +1143,7 @@ void btQuantizedBvh::deSerializeFloat(struct btQuantizedBvhFloatData& quantizedB
{
btOptimizedBvhNodeFloatData* memPtr = quantizedBvhFloatData.m_contiguousNodesPtr;
- for (int i=0;i<numElem;i++,memPtr++)
+ for (int i = 0; i < numElem; i++, memPtr++)
{
m_contiguousNodes[i].m_aabbMaxOrg.deSerializeFloat(memPtr->m_aabbMaxOrg);
m_contiguousNodes[i].m_aabbMinOrg.deSerializeFloat(memPtr->m_aabbMinOrg);
@@ -1195,11 +1157,11 @@ void btQuantizedBvh::deSerializeFloat(struct btQuantizedBvhFloatData& quantizedB
{
int numElem = quantizedBvhFloatData.m_numQuantizedContiguousNodes;
m_quantizedContiguousNodes.resize(numElem);
-
+
if (numElem)
{
btQuantizedBvhNodeData* memPtr = quantizedBvhFloatData.m_quantizedContiguousNodesPtr;
- for (int i=0;i<numElem;i++,memPtr++)
+ for (int i = 0; i < numElem; i++, memPtr++)
{
m_quantizedContiguousNodes[i].m_escapeIndexOrTriangleIndex = memPtr->m_escapeIndexOrTriangleIndex;
m_quantizedContiguousNodes[i].m_quantizedAabbMax[0] = memPtr->m_quantizedAabbMax[0];
@@ -1213,16 +1175,16 @@ void btQuantizedBvh::deSerializeFloat(struct btQuantizedBvhFloatData& quantizedB
}
m_traversalMode = btTraversalMode(quantizedBvhFloatData.m_traversalMode);
-
+
{
int numElem = quantizedBvhFloatData.m_numSubtreeHeaders;
m_SubtreeHeaders.resize(numElem);
if (numElem)
{
btBvhSubtreeInfoData* memPtr = quantizedBvhFloatData.m_subTreeInfoPtr;
- for (int i=0;i<numElem;i++,memPtr++)
+ for (int i = 0; i < numElem; i++, memPtr++)
{
- m_SubtreeHeaders[i].m_quantizedAabbMax[0] = memPtr->m_quantizedAabbMax[0] ;
+ m_SubtreeHeaders[i].m_quantizedAabbMax[0] = memPtr->m_quantizedAabbMax[0];
m_SubtreeHeaders[i].m_quantizedAabbMax[1] = memPtr->m_quantizedAabbMax[1];
m_SubtreeHeaders[i].m_quantizedAabbMax[2] = memPtr->m_quantizedAabbMax[2];
m_SubtreeHeaders[i].m_quantizedAabbMin[0] = memPtr->m_quantizedAabbMin[0];
@@ -1242,8 +1204,8 @@ void btQuantizedBvh::deSerializeDouble(struct btQuantizedBvhDoubleData& quantize
m_bvhQuantization.deSerializeDouble(quantizedBvhDoubleData.m_bvhQuantization);
m_curNodeIndex = quantizedBvhDoubleData.m_curNodeIndex;
- m_useQuantization = quantizedBvhDoubleData.m_useQuantization!=0;
-
+ m_useQuantization = quantizedBvhDoubleData.m_useQuantization != 0;
+
{
int numElem = quantizedBvhDoubleData.m_numContiguousLeafNodes;
m_contiguousNodes.resize(numElem);
@@ -1252,7 +1214,7 @@ void btQuantizedBvh::deSerializeDouble(struct btQuantizedBvhDoubleData& quantize
{
btOptimizedBvhNodeDoubleData* memPtr = quantizedBvhDoubleData.m_contiguousNodesPtr;
- for (int i=0;i<numElem;i++,memPtr++)
+ for (int i = 0; i < numElem; i++, memPtr++)
{
m_contiguousNodes[i].m_aabbMaxOrg.deSerializeDouble(memPtr->m_aabbMaxOrg);
m_contiguousNodes[i].m_aabbMinOrg.deSerializeDouble(memPtr->m_aabbMinOrg);
@@ -1266,11 +1228,11 @@ void btQuantizedBvh::deSerializeDouble(struct btQuantizedBvhDoubleData& quantize
{
int numElem = quantizedBvhDoubleData.m_numQuantizedContiguousNodes;
m_quantizedContiguousNodes.resize(numElem);
-
+
if (numElem)
{
btQuantizedBvhNodeData* memPtr = quantizedBvhDoubleData.m_quantizedContiguousNodesPtr;
- for (int i=0;i<numElem;i++,memPtr++)
+ for (int i = 0; i < numElem; i++, memPtr++)
{
m_quantizedContiguousNodes[i].m_escapeIndexOrTriangleIndex = memPtr->m_escapeIndexOrTriangleIndex;
m_quantizedContiguousNodes[i].m_quantizedAabbMax[0] = memPtr->m_quantizedAabbMax[0];
@@ -1284,16 +1246,16 @@ void btQuantizedBvh::deSerializeDouble(struct btQuantizedBvhDoubleData& quantize
}
m_traversalMode = btTraversalMode(quantizedBvhDoubleData.m_traversalMode);
-
+
{
int numElem = quantizedBvhDoubleData.m_numSubtreeHeaders;
m_SubtreeHeaders.resize(numElem);
if (numElem)
{
btBvhSubtreeInfoData* memPtr = quantizedBvhDoubleData.m_subTreeInfoPtr;
- for (int i=0;i<numElem;i++,memPtr++)
+ for (int i = 0; i < numElem; i++, memPtr++)
{
- m_SubtreeHeaders[i].m_quantizedAabbMax[0] = memPtr->m_quantizedAabbMax[0] ;
+ m_SubtreeHeaders[i].m_quantizedAabbMax[0] = memPtr->m_quantizedAabbMax[0];
m_SubtreeHeaders[i].m_quantizedAabbMax[1] = memPtr->m_quantizedAabbMax[1];
m_SubtreeHeaders[i].m_quantizedAabbMax[2] = memPtr->m_quantizedAabbMax[2];
m_SubtreeHeaders[i].m_quantizedAabbMin[0] = memPtr->m_quantizedAabbMin[0];
@@ -1304,32 +1266,29 @@ void btQuantizedBvh::deSerializeDouble(struct btQuantizedBvhDoubleData& quantize
}
}
}
-
}
-
-
///fills the dataBuffer and returns the struct name (and 0 on failure)
-const char* btQuantizedBvh::serialize(void* dataBuffer, btSerializer* serializer) const
+const char* btQuantizedBvh::serialize(void* dataBuffer, btSerializer* serializer) const
{
btQuantizedBvhData* quantizedData = (btQuantizedBvhData*)dataBuffer;
-
+
m_bvhAabbMax.serialize(quantizedData->m_bvhAabbMax);
m_bvhAabbMin.serialize(quantizedData->m_bvhAabbMin);
m_bvhQuantization.serialize(quantizedData->m_bvhQuantization);
quantizedData->m_curNodeIndex = m_curNodeIndex;
quantizedData->m_useQuantization = m_useQuantization;
-
+
quantizedData->m_numContiguousLeafNodes = m_contiguousNodes.size();
- quantizedData->m_contiguousNodesPtr = (btOptimizedBvhNodeData*) (m_contiguousNodes.size() ? serializer->getUniquePointer((void*)&m_contiguousNodes[0]) : 0);
+ quantizedData->m_contiguousNodesPtr = (btOptimizedBvhNodeData*)(m_contiguousNodes.size() ? serializer->getUniquePointer((void*)&m_contiguousNodes[0]) : 0);
if (quantizedData->m_contiguousNodesPtr)
{
int sz = sizeof(btOptimizedBvhNodeData);
int numElem = m_contiguousNodes.size();
- btChunk* chunk = serializer->allocate(sz,numElem);
+ btChunk* chunk = serializer->allocate(sz, numElem);
btOptimizedBvhNodeData* memPtr = (btOptimizedBvhNodeData*)chunk->m_oldPtr;
- for (int i=0;i<numElem;i++,memPtr++)
+ for (int i = 0; i < numElem; i++, memPtr++)
{
m_contiguousNodes[i].m_aabbMaxOrg.serialize(memPtr->m_aabbMaxOrg);
m_contiguousNodes[i].m_aabbMinOrg.serialize(memPtr->m_aabbMinOrg);
@@ -1339,19 +1298,19 @@ const char* btQuantizedBvh::serialize(void* dataBuffer, btSerializer* serializer
// Fill padding with zeros to appease msan.
memset(memPtr->m_pad, 0, sizeof(memPtr->m_pad));
}
- serializer->finalizeChunk(chunk,"btOptimizedBvhNodeData",BT_ARRAY_CODE,(void*)&m_contiguousNodes[0]);
+ serializer->finalizeChunk(chunk, "btOptimizedBvhNodeData", BT_ARRAY_CODE, (void*)&m_contiguousNodes[0]);
}
quantizedData->m_numQuantizedContiguousNodes = m_quantizedContiguousNodes.size();
-// printf("quantizedData->m_numQuantizedContiguousNodes=%d\n",quantizedData->m_numQuantizedContiguousNodes);
- quantizedData->m_quantizedContiguousNodesPtr =(btQuantizedBvhNodeData*) (m_quantizedContiguousNodes.size() ? serializer->getUniquePointer((void*)&m_quantizedContiguousNodes[0]) : 0);
+ // printf("quantizedData->m_numQuantizedContiguousNodes=%d\n",quantizedData->m_numQuantizedContiguousNodes);
+ quantizedData->m_quantizedContiguousNodesPtr = (btQuantizedBvhNodeData*)(m_quantizedContiguousNodes.size() ? serializer->getUniquePointer((void*)&m_quantizedContiguousNodes[0]) : 0);
if (quantizedData->m_quantizedContiguousNodesPtr)
{
int sz = sizeof(btQuantizedBvhNodeData);
int numElem = m_quantizedContiguousNodes.size();
- btChunk* chunk = serializer->allocate(sz,numElem);
+ btChunk* chunk = serializer->allocate(sz, numElem);
btQuantizedBvhNodeData* memPtr = (btQuantizedBvhNodeData*)chunk->m_oldPtr;
- for (int i=0;i<numElem;i++,memPtr++)
+ for (int i = 0; i < numElem; i++, memPtr++)
{
memPtr->m_escapeIndexOrTriangleIndex = m_quantizedContiguousNodes[i].m_escapeIndexOrTriangleIndex;
memPtr->m_quantizedAabbMax[0] = m_quantizedContiguousNodes[i].m_quantizedAabbMax[0];
@@ -1361,20 +1320,20 @@ const char* btQuantizedBvh::serialize(void* dataBuffer, btSerializer* serializer
memPtr->m_quantizedAabbMin[1] = m_quantizedContiguousNodes[i].m_quantizedAabbMin[1];
memPtr->m_quantizedAabbMin[2] = m_quantizedContiguousNodes[i].m_quantizedAabbMin[2];
}
- serializer->finalizeChunk(chunk,"btQuantizedBvhNodeData",BT_ARRAY_CODE,(void*)&m_quantizedContiguousNodes[0]);
+ serializer->finalizeChunk(chunk, "btQuantizedBvhNodeData", BT_ARRAY_CODE, (void*)&m_quantizedContiguousNodes[0]);
}
quantizedData->m_traversalMode = int(m_traversalMode);
quantizedData->m_numSubtreeHeaders = m_SubtreeHeaders.size();
- quantizedData->m_subTreeInfoPtr = (btBvhSubtreeInfoData*) (m_SubtreeHeaders.size() ? serializer->getUniquePointer((void*)&m_SubtreeHeaders[0]) : 0);
+ quantizedData->m_subTreeInfoPtr = (btBvhSubtreeInfoData*)(m_SubtreeHeaders.size() ? serializer->getUniquePointer((void*)&m_SubtreeHeaders[0]) : 0);
if (quantizedData->m_subTreeInfoPtr)
{
int sz = sizeof(btBvhSubtreeInfoData);
int numElem = m_SubtreeHeaders.size();
- btChunk* chunk = serializer->allocate(sz,numElem);
+ btChunk* chunk = serializer->allocate(sz, numElem);
btBvhSubtreeInfoData* memPtr = (btBvhSubtreeInfoData*)chunk->m_oldPtr;
- for (int i=0;i<numElem;i++,memPtr++)
+ for (int i = 0; i < numElem; i++, memPtr++)
{
memPtr->m_quantizedAabbMax[0] = m_SubtreeHeaders[i].m_quantizedAabbMax[0];
memPtr->m_quantizedAabbMax[1] = m_SubtreeHeaders[i].m_quantizedAabbMax[1];
@@ -1386,12 +1345,7 @@ const char* btQuantizedBvh::serialize(void* dataBuffer, btSerializer* serializer
memPtr->m_rootNodeIndex = m_SubtreeHeaders[i].m_rootNodeIndex;
memPtr->m_subtreeSize = m_SubtreeHeaders[i].m_subtreeSize;
}
- serializer->finalizeChunk(chunk,"btBvhSubtreeInfoData",BT_ARRAY_CODE,(void*)&m_SubtreeHeaders[0]);
+ serializer->finalizeChunk(chunk, "btBvhSubtreeInfoData", BT_ARRAY_CODE, (void*)&m_SubtreeHeaders[0]);
}
return btQuantizedBvhDataName;
}
-
-
-
-
-