diff options
Diffstat (limited to 'thirdparty/bullet/Bullet3OpenCL/NarrowphaseCollision/b3QuantizedBvh.h')
| -rw-r--r-- | thirdparty/bullet/Bullet3OpenCL/NarrowphaseCollision/b3QuantizedBvh.h | 369 |
1 files changed, 162 insertions, 207 deletions
diff --git a/thirdparty/bullet/Bullet3OpenCL/NarrowphaseCollision/b3QuantizedBvh.h b/thirdparty/bullet/Bullet3OpenCL/NarrowphaseCollision/b3QuantizedBvh.h index 63c523c758..48b41abcad 100644 --- a/thirdparty/bullet/Bullet3OpenCL/NarrowphaseCollision/b3QuantizedBvh.h +++ b/thirdparty/bullet/Bullet3OpenCL/NarrowphaseCollision/b3QuantizedBvh.h @@ -22,11 +22,11 @@ class b3Serializer; #ifdef DEBUG_CHECK_DEQUANTIZATION #ifdef __SPU__ #define printf spu_printf -#endif //__SPU__ +#endif //__SPU__ #include <stdio.h> #include <stdlib.h> -#endif //DEBUG_CHECK_DEQUANTIZATION +#endif //DEBUG_CHECK_DEQUANTIZATION #include "Bullet3Common/b3Vector3.h" #include "Bullet3Common/b3AlignedAllocator.h" @@ -44,13 +44,10 @@ class b3Serializer; #include "Bullet3Collision/NarrowPhaseCollision/shared/b3QuantizedBvhNodeData.h" #include "Bullet3Collision/NarrowPhaseCollision/shared/b3BvhSubtreeInfoData.h" - - //http://msdn.microsoft.com/library/default.asp?url=/library/en-us/vclang/html/vclrf__m128.asp - //Note: currently we have 16 bytes per quantized node -#define MAX_SUBTREE_SIZE_IN_BYTES 2048 +#define MAX_SUBTREE_SIZE_IN_BYTES 2048 // 10 gives the potential for 1024 parts, with at most 2^21 (2097152) (minus one // actually) triangles each (since the sign bit is reserved @@ -58,7 +55,8 @@ class b3Serializer; ///b3QuantizedBvhNode is a compressed aabb node, 16 bytes. ///Node can be used for leafnode or internal node. Leafnodes can point to 32-bit triangle index (non-negative range). -B3_ATTRIBUTE_ALIGNED16 (struct) b3QuantizedBvhNode : public b3QuantizedBvhNodeData +B3_ATTRIBUTE_ALIGNED16(struct) +b3QuantizedBvhNode : public b3QuantizedBvhNodeData { B3_DECLARE_ALIGNED_ALLOCATOR(); @@ -72,48 +70,48 @@ B3_ATTRIBUTE_ALIGNED16 (struct) b3QuantizedBvhNode : public b3QuantizedBvhNodeDa b3Assert(!isLeafNode()); return -m_escapeIndexOrTriangleIndex; } - int getTriangleIndex() const + int getTriangleIndex() const { b3Assert(isLeafNode()); - unsigned int x=0; - unsigned int y = (~(x&0))<<(31-MAX_NUM_PARTS_IN_BITS); + unsigned int x = 0; + unsigned int y = (~(x & 0)) << (31 - MAX_NUM_PARTS_IN_BITS); // Get only the lower bits where the triangle index is stored - return (m_escapeIndexOrTriangleIndex&~(y)); + return (m_escapeIndexOrTriangleIndex & ~(y)); } - int getPartId() const + int getPartId() const { b3Assert(isLeafNode()); // Get only the highest bits where the part index is stored - return (m_escapeIndexOrTriangleIndex>>(31-MAX_NUM_PARTS_IN_BITS)); + return (m_escapeIndexOrTriangleIndex >> (31 - MAX_NUM_PARTS_IN_BITS)); } -} -; +}; /// b3OptimizedBvhNode contains both internal and leaf node information. /// Total node size is 44 bytes / node. You can use the compressed version of 16 bytes. -B3_ATTRIBUTE_ALIGNED16 (struct) b3OptimizedBvhNode +B3_ATTRIBUTE_ALIGNED16(struct) +b3OptimizedBvhNode { B3_DECLARE_ALIGNED_ALLOCATOR(); //32 bytes - b3Vector3 m_aabbMinOrg; - b3Vector3 m_aabbMaxOrg; + b3Vector3 m_aabbMinOrg; + b3Vector3 m_aabbMaxOrg; //4 - int m_escapeIndex; + int m_escapeIndex; //8 //for child nodes - int m_subPart; - int m_triangleIndex; + int m_subPart; + int m_triangleIndex; -//pad the size to 64 bytes - char m_padding[20]; + //pad the size to 64 bytes + char m_padding[20]; }; - ///b3BvhSubtreeInfo provides info to gather a subtree of limited size -B3_ATTRIBUTE_ALIGNED16(class) b3BvhSubtreeInfo : public b3BvhSubtreeInfoData +B3_ATTRIBUTE_ALIGNED16(class) +b3BvhSubtreeInfo : public b3BvhSubtreeInfoData { public: B3_DECLARE_ALIGNED_ALLOCATOR(); @@ -123,8 +121,7 @@ public: //memset(&m_padding[0], 0, sizeof(m_padding)); } - - void setAabbFromQuantizeNode(const b3QuantizedBvhNode& quantizedNode) + void setAabbFromQuantizeNode(const b3QuantizedBvhNode& quantizedNode) { m_quantizedAabbMin[0] = quantizedNode.m_quantizedAabbMin[0]; m_quantizedAabbMin[1] = quantizedNode.m_quantizedAabbMin[1]; @@ -133,14 +130,12 @@ public: m_quantizedAabbMax[1] = quantizedNode.m_quantizedAabbMax[1]; m_quantizedAabbMax[2] = quantizedNode.m_quantizedAabbMax[2]; } -} -; - +}; class b3NodeOverlapCallback { public: - virtual ~b3NodeOverlapCallback() {}; + virtual ~b3NodeOverlapCallback(){}; virtual void processNode(int subPart, int triangleIndex) = 0; }; @@ -148,18 +143,16 @@ public: #include "Bullet3Common/b3AlignedAllocator.h" #include "Bullet3Common/b3AlignedObjectArray.h" - - ///for code readability: -typedef b3AlignedObjectArray<b3OptimizedBvhNode> NodeArray; -typedef b3AlignedObjectArray<b3QuantizedBvhNode> QuantizedNodeArray; -typedef b3AlignedObjectArray<b3BvhSubtreeInfo> BvhSubtreeInfoArray; - +typedef b3AlignedObjectArray<b3OptimizedBvhNode> NodeArray; +typedef b3AlignedObjectArray<b3QuantizedBvhNode> QuantizedNodeArray; +typedef b3AlignedObjectArray<b3BvhSubtreeInfo> BvhSubtreeInfoArray; ///The b3QuantizedBvh class stores an AABB tree that can be quickly traversed on CPU and Cell SPU. ///It is used by the b3BvhTriangleMeshShape as midphase ///It is recommended to use quantization for better performance and lower memory requirements. -B3_ATTRIBUTE_ALIGNED16(class) b3QuantizedBvh +B3_ATTRIBUTE_ALIGNED16(class) +b3QuantizedBvh { public: enum b3TraversalMode @@ -169,56 +162,48 @@ public: TRAVERSAL_RECURSIVE }; - - - - b3Vector3 m_bvhAabbMin; - b3Vector3 m_bvhAabbMax; - b3Vector3 m_bvhQuantization; + b3Vector3 m_bvhAabbMin; + b3Vector3 m_bvhAabbMax; + b3Vector3 m_bvhQuantization; protected: - int m_bulletVersion; //for serialization versioning. It could also be used to detect endianess. + int m_bulletVersion; //for serialization versioning. It could also be used to detect endianess. - int m_curNodeIndex; + int m_curNodeIndex; //quantization data - bool m_useQuantization; + bool m_useQuantization; + NodeArray m_leafNodes; + NodeArray m_contiguousNodes; + QuantizedNodeArray m_quantizedLeafNodes; + QuantizedNodeArray m_quantizedContiguousNodes; - - NodeArray m_leafNodes; - NodeArray m_contiguousNodes; - QuantizedNodeArray m_quantizedLeafNodes; - QuantizedNodeArray m_quantizedContiguousNodes; - - b3TraversalMode m_traversalMode; - BvhSubtreeInfoArray m_SubtreeHeaders; + b3TraversalMode m_traversalMode; + BvhSubtreeInfoArray m_SubtreeHeaders; //This is only used for serialization so we don't have to add serialization directly to b3AlignedObjectArray mutable int m_subtreeHeaderCount; - - - - ///two versions, one for quantized and normal nodes. This allows code-reuse while maintaining readability (no template/macro!) ///this might be refactored into a virtual, it is usually not calculated at run-time - void setInternalNodeAabbMin(int nodeIndex, const b3Vector3& aabbMin) + void setInternalNodeAabbMin(int nodeIndex, const b3Vector3& aabbMin) { if (m_useQuantization) { - quantize(&m_quantizedContiguousNodes[nodeIndex].m_quantizedAabbMin[0] ,aabbMin,0); - } else + quantize(&m_quantizedContiguousNodes[nodeIndex].m_quantizedAabbMin[0], aabbMin, 0); + } + else { m_contiguousNodes[nodeIndex].m_aabbMinOrg = aabbMin; - } } - void setInternalNodeAabbMax(int nodeIndex,const b3Vector3& aabbMax) + void setInternalNodeAabbMax(int nodeIndex, const b3Vector3& aabbMax) { if (m_useQuantization) { - quantize(&m_quantizedContiguousNodes[nodeIndex].m_quantizedAabbMax[0],aabbMax,1); - } else + quantize(&m_quantizedContiguousNodes[nodeIndex].m_quantizedAabbMax[0], aabbMax, 1); + } + else { m_contiguousNodes[nodeIndex].m_aabbMaxOrg = aabbMax; } @@ -232,115 +217,102 @@ protected: } //non-quantized return m_leafNodes[nodeIndex].m_aabbMinOrg; - } b3Vector3 getAabbMax(int nodeIndex) const { if (m_useQuantization) { return unQuantize(&m_quantizedLeafNodes[nodeIndex].m_quantizedAabbMax[0]); - } + } //non-quantized return m_leafNodes[nodeIndex].m_aabbMaxOrg; - } - - void setInternalNodeEscapeIndex(int nodeIndex, int escapeIndex) + void setInternalNodeEscapeIndex(int nodeIndex, int escapeIndex) { if (m_useQuantization) { m_quantizedContiguousNodes[nodeIndex].m_escapeIndexOrTriangleIndex = -escapeIndex; - } + } else { m_contiguousNodes[nodeIndex].m_escapeIndex = escapeIndex; } - } - void mergeInternalNodeAabb(int nodeIndex,const b3Vector3& newAabbMin,const b3Vector3& newAabbMax) + void mergeInternalNodeAabb(int nodeIndex, const b3Vector3& newAabbMin, const b3Vector3& newAabbMax) { if (m_useQuantization) { unsigned short int quantizedAabbMin[3]; unsigned short int quantizedAabbMax[3]; - quantize(quantizedAabbMin,newAabbMin,0); - quantize(quantizedAabbMax,newAabbMax,1); - for (int i=0;i<3;i++) + quantize(quantizedAabbMin, newAabbMin, 0); + quantize(quantizedAabbMax, newAabbMax, 1); + for (int i = 0; i < 3; i++) { if (m_quantizedContiguousNodes[nodeIndex].m_quantizedAabbMin[i] > quantizedAabbMin[i]) m_quantizedContiguousNodes[nodeIndex].m_quantizedAabbMin[i] = quantizedAabbMin[i]; if (m_quantizedContiguousNodes[nodeIndex].m_quantizedAabbMax[i] < quantizedAabbMax[i]) m_quantizedContiguousNodes[nodeIndex].m_quantizedAabbMax[i] = quantizedAabbMax[i]; - } - } else + } + else { //non-quantized m_contiguousNodes[nodeIndex].m_aabbMinOrg.setMin(newAabbMin); - m_contiguousNodes[nodeIndex].m_aabbMaxOrg.setMax(newAabbMax); + m_contiguousNodes[nodeIndex].m_aabbMaxOrg.setMax(newAabbMax); } } - void swapLeafNodes(int firstIndex,int secondIndex); + void swapLeafNodes(int firstIndex, int secondIndex); - void assignInternalNodeFromLeafNode(int internalNode,int leafNodeIndex); + void assignInternalNodeFromLeafNode(int internalNode, int leafNodeIndex); protected: + void buildTree(int startIndex, int endIndex); - - - void buildTree (int startIndex,int endIndex); + int calcSplittingAxis(int startIndex, int endIndex); - int calcSplittingAxis(int startIndex,int endIndex); + int sortAndCalcSplittingIndex(int startIndex, int endIndex, int splitAxis); - int sortAndCalcSplittingIndex(int startIndex,int endIndex,int splitAxis); - - void walkStacklessTree(b3NodeOverlapCallback* nodeCallback,const b3Vector3& aabbMin,const b3Vector3& aabbMax) const; + void walkStacklessTree(b3NodeOverlapCallback * nodeCallback, const b3Vector3& aabbMin, const b3Vector3& aabbMax) const; - void walkStacklessQuantizedTreeAgainstRay(b3NodeOverlapCallback* nodeCallback, const b3Vector3& raySource, const b3Vector3& rayTarget, const b3Vector3& aabbMin, const b3Vector3& aabbMax, int startNodeIndex,int endNodeIndex) const; - void walkStacklessQuantizedTree(b3NodeOverlapCallback* nodeCallback,unsigned short int* quantizedQueryAabbMin,unsigned short int* quantizedQueryAabbMax,int startNodeIndex,int endNodeIndex) const; - void walkStacklessTreeAgainstRay(b3NodeOverlapCallback* nodeCallback, const b3Vector3& raySource, const b3Vector3& rayTarget, const b3Vector3& aabbMin, const b3Vector3& aabbMax, int startNodeIndex,int endNodeIndex) const; + void walkStacklessQuantizedTreeAgainstRay(b3NodeOverlapCallback * nodeCallback, const b3Vector3& raySource, const b3Vector3& rayTarget, const b3Vector3& aabbMin, const b3Vector3& aabbMax, int startNodeIndex, int endNodeIndex) const; + void walkStacklessQuantizedTree(b3NodeOverlapCallback * nodeCallback, unsigned short int* quantizedQueryAabbMin, unsigned short int* quantizedQueryAabbMax, int startNodeIndex, int endNodeIndex) const; + void walkStacklessTreeAgainstRay(b3NodeOverlapCallback * nodeCallback, const b3Vector3& raySource, const b3Vector3& rayTarget, const b3Vector3& aabbMin, const b3Vector3& aabbMax, int startNodeIndex, int endNodeIndex) const; ///tree traversal designed for small-memory processors like PS3 SPU - void walkStacklessQuantizedTreeCacheFriendly(b3NodeOverlapCallback* nodeCallback,unsigned short int* quantizedQueryAabbMin,unsigned short int* quantizedQueryAabbMax) const; + void walkStacklessQuantizedTreeCacheFriendly(b3NodeOverlapCallback * nodeCallback, unsigned short int* quantizedQueryAabbMin, unsigned short int* quantizedQueryAabbMax) const; ///use the 16-byte stackless 'skipindex' node tree to do a recursive traversal - void walkRecursiveQuantizedTreeAgainstQueryAabb(const b3QuantizedBvhNode* currentNode,b3NodeOverlapCallback* nodeCallback,unsigned short int* quantizedQueryAabbMin,unsigned short int* quantizedQueryAabbMax) const; + void walkRecursiveQuantizedTreeAgainstQueryAabb(const b3QuantizedBvhNode* currentNode, b3NodeOverlapCallback* nodeCallback, unsigned short int* quantizedQueryAabbMin, unsigned short int* quantizedQueryAabbMax) const; ///use the 16-byte stackless 'skipindex' node tree to do a recursive traversal - void walkRecursiveQuantizedTreeAgainstQuantizedTree(const b3QuantizedBvhNode* treeNodeA,const b3QuantizedBvhNode* treeNodeB,b3NodeOverlapCallback* nodeCallback) const; - - - + void walkRecursiveQuantizedTreeAgainstQuantizedTree(const b3QuantizedBvhNode* treeNodeA, const b3QuantizedBvhNode* treeNodeB, b3NodeOverlapCallback* nodeCallback) const; - void updateSubtreeHeaders(int leftChildNodexIndex,int rightChildNodexIndex); + void updateSubtreeHeaders(int leftChildNodexIndex, int rightChildNodexIndex); public: - B3_DECLARE_ALIGNED_ALLOCATOR(); b3QuantizedBvh(); virtual ~b3QuantizedBvh(); - ///***************************************** expert/internal use only ************************* - void setQuantizationValues(const b3Vector3& bvhAabbMin,const b3Vector3& bvhAabbMax,b3Scalar quantizationMargin=b3Scalar(1.0)); - QuantizedNodeArray& getLeafNodeArray() { return m_quantizedLeafNodes; } + void setQuantizationValues(const b3Vector3& bvhAabbMin, const b3Vector3& bvhAabbMax, b3Scalar quantizationMargin = b3Scalar(1.0)); + QuantizedNodeArray& getLeafNodeArray() { return m_quantizedLeafNodes; } ///buildInternal is expert use only: assumes that setQuantizationValues and LeafNodeArray are initialized - void buildInternal(); + void buildInternal(); ///***************************************** expert/internal use only ************************* - void reportAabbOverlappingNodex(b3NodeOverlapCallback* nodeCallback,const b3Vector3& aabbMin,const b3Vector3& aabbMax) const; - void reportRayOverlappingNodex (b3NodeOverlapCallback* nodeCallback, const b3Vector3& raySource, const b3Vector3& rayTarget) const; - void reportBoxCastOverlappingNodex(b3NodeOverlapCallback* nodeCallback, const b3Vector3& raySource, const b3Vector3& rayTarget, const b3Vector3& aabbMin,const b3Vector3& aabbMax) const; + void reportAabbOverlappingNodex(b3NodeOverlapCallback * nodeCallback, const b3Vector3& aabbMin, const b3Vector3& aabbMax) const; + void reportRayOverlappingNodex(b3NodeOverlapCallback * nodeCallback, const b3Vector3& raySource, const b3Vector3& rayTarget) const; + void reportBoxCastOverlappingNodex(b3NodeOverlapCallback * nodeCallback, const b3Vector3& raySource, const b3Vector3& rayTarget, const b3Vector3& aabbMin, const b3Vector3& aabbMax) const; - B3_FORCE_INLINE void quantize(unsigned short* out, const b3Vector3& point,int isMax) const + B3_FORCE_INLINE void quantize(unsigned short* out, const b3Vector3& point, int isMax) const { - b3Assert(m_useQuantization); b3Assert(point.getX() <= m_bvhAabbMax.getX()); @@ -357,122 +329,114 @@ public: ///@todo: double-check this if (isMax) { - out[0] = (unsigned short) (((unsigned short)(v.getX()+b3Scalar(1.)) | 1)); - out[1] = (unsigned short) (((unsigned short)(v.getY()+b3Scalar(1.)) | 1)); - out[2] = (unsigned short) (((unsigned short)(v.getZ()+b3Scalar(1.)) | 1)); - } else + out[0] = (unsigned short)(((unsigned short)(v.getX() + b3Scalar(1.)) | 1)); + out[1] = (unsigned short)(((unsigned short)(v.getY() + b3Scalar(1.)) | 1)); + out[2] = (unsigned short)(((unsigned short)(v.getZ() + b3Scalar(1.)) | 1)); + } + else { - out[0] = (unsigned short) (((unsigned short)(v.getX()) & 0xfffe)); - out[1] = (unsigned short) (((unsigned short)(v.getY()) & 0xfffe)); - out[2] = (unsigned short) (((unsigned short)(v.getZ()) & 0xfffe)); + out[0] = (unsigned short)(((unsigned short)(v.getX()) & 0xfffe)); + out[1] = (unsigned short)(((unsigned short)(v.getY()) & 0xfffe)); + out[2] = (unsigned short)(((unsigned short)(v.getZ()) & 0xfffe)); } - #ifdef DEBUG_CHECK_DEQUANTIZATION b3Vector3 newPoint = unQuantize(out); if (isMax) { if (newPoint.getX() < point.getX()) { - printf("unconservative X, diffX = %f, oldX=%f,newX=%f\n",newPoint.getX()-point.getX(), newPoint.getX(),point.getX()); + printf("unconservative X, diffX = %f, oldX=%f,newX=%f\n", newPoint.getX() - point.getX(), newPoint.getX(), point.getX()); } if (newPoint.getY() < point.getY()) { - printf("unconservative Y, diffY = %f, oldY=%f,newY=%f\n",newPoint.getY()-point.getY(), newPoint.getY(),point.getY()); + printf("unconservative Y, diffY = %f, oldY=%f,newY=%f\n", newPoint.getY() - point.getY(), newPoint.getY(), point.getY()); } if (newPoint.getZ() < point.getZ()) { - - printf("unconservative Z, diffZ = %f, oldZ=%f,newZ=%f\n",newPoint.getZ()-point.getZ(), newPoint.getZ(),point.getZ()); + printf("unconservative Z, diffZ = %f, oldZ=%f,newZ=%f\n", newPoint.getZ() - point.getZ(), newPoint.getZ(), point.getZ()); } - } else + } + else { if (newPoint.getX() > point.getX()) { - printf("unconservative X, diffX = %f, oldX=%f,newX=%f\n",newPoint.getX()-point.getX(), newPoint.getX(),point.getX()); + printf("unconservative X, diffX = %f, oldX=%f,newX=%f\n", newPoint.getX() - point.getX(), newPoint.getX(), point.getX()); } if (newPoint.getY() > point.getY()) { - printf("unconservative Y, diffY = %f, oldY=%f,newY=%f\n",newPoint.getY()-point.getY(), newPoint.getY(),point.getY()); + printf("unconservative Y, diffY = %f, oldY=%f,newY=%f\n", newPoint.getY() - point.getY(), newPoint.getY(), point.getY()); } if (newPoint.getZ() > point.getZ()) { - printf("unconservative Z, diffZ = %f, oldZ=%f,newZ=%f\n",newPoint.getZ()-point.getZ(), newPoint.getZ(),point.getZ()); + printf("unconservative Z, diffZ = %f, oldZ=%f,newZ=%f\n", newPoint.getZ() - point.getZ(), newPoint.getZ(), point.getZ()); } } -#endif //DEBUG_CHECK_DEQUANTIZATION - +#endif //DEBUG_CHECK_DEQUANTIZATION } - - B3_FORCE_INLINE void quantizeWithClamp(unsigned short* out, const b3Vector3& point2,int isMax) const + B3_FORCE_INLINE void quantizeWithClamp(unsigned short* out, const b3Vector3& point2, int isMax) const { - b3Assert(m_useQuantization); b3Vector3 clampedPoint(point2); clampedPoint.setMax(m_bvhAabbMin); clampedPoint.setMin(m_bvhAabbMax); - quantize(out,clampedPoint,isMax); - + quantize(out, clampedPoint, isMax); } - - B3_FORCE_INLINE b3Vector3 unQuantize(const unsigned short* vecIn) const + + B3_FORCE_INLINE b3Vector3 unQuantize(const unsigned short* vecIn) const { - b3Vector3 vecOut; - vecOut.setValue( + b3Vector3 vecOut; + vecOut.setValue( (b3Scalar)(vecIn[0]) / (m_bvhQuantization.getX()), (b3Scalar)(vecIn[1]) / (m_bvhQuantization.getY()), (b3Scalar)(vecIn[2]) / (m_bvhQuantization.getZ())); - vecOut += m_bvhAabbMin; - return vecOut; + vecOut += m_bvhAabbMin; + return vecOut; } ///setTraversalMode let's you choose between stackless, recursive or stackless cache friendly tree traversal. Note this is only implemented for quantized trees. - void setTraversalMode(b3TraversalMode traversalMode) + void setTraversalMode(b3TraversalMode traversalMode) { m_traversalMode = traversalMode; } - - B3_FORCE_INLINE QuantizedNodeArray& getQuantizedNodeArray() - { - return m_quantizedContiguousNodes; + B3_FORCE_INLINE QuantizedNodeArray& getQuantizedNodeArray() + { + return m_quantizedContiguousNodes; } - - B3_FORCE_INLINE BvhSubtreeInfoArray& getSubtreeInfoArray() + B3_FORCE_INLINE BvhSubtreeInfoArray& getSubtreeInfoArray() { return m_SubtreeHeaders; } -//////////////////////////////////////////////////////////////////// + //////////////////////////////////////////////////////////////////// /////Calculate space needed to store BVH for serialization unsigned calculateSerializeBufferSize() const; /// Data buffer MUST be 16 byte aligned - virtual bool serialize(void *o_alignedDataBuffer, unsigned i_dataBufferSize, bool i_swapEndian) const; + virtual bool serialize(void* o_alignedDataBuffer, unsigned i_dataBufferSize, bool i_swapEndian) const; ///deSerializeInPlace loads and initializes a BVH from a buffer in memory 'in place' - static b3QuantizedBvh *deSerializeInPlace(void *i_alignedDataBuffer, unsigned int i_dataBufferSize, bool i_swapEndian); + static b3QuantizedBvh* deSerializeInPlace(void* i_alignedDataBuffer, unsigned int i_dataBufferSize, bool i_swapEndian); static unsigned int getAlignmentSerializationPadding(); -////////////////////////////////////////////////////////////////////// + ////////////////////////////////////////////////////////////////////// - - virtual int calculateSerializeBufferSizeNew() const; + virtual int calculateSerializeBufferSizeNew() const; ///fills the dataBuffer and returns the struct name (and 0 on failure) - virtual const char* serialize(void* dataBuffer, b3Serializer* serializer) const; + virtual const char* serialize(void* dataBuffer, b3Serializer* serializer) const; - virtual void deSerializeFloat(struct b3QuantizedBvhFloatData& quantizedBvhFloatData); + virtual void deSerializeFloat(struct b3QuantizedBvhFloatData & quantizedBvhFloatData); - virtual void deSerializeDouble(struct b3QuantizedBvhDoubleData& quantizedBvhDoubleData); + virtual void deSerializeDouble(struct b3QuantizedBvhDoubleData & quantizedBvhDoubleData); - -//////////////////////////////////////////////////////////////////// + //////////////////////////////////////////////////////////////////// B3_FORCE_INLINE bool isQuantized() { @@ -483,74 +447,65 @@ private: // Special "copy" constructor that allows for in-place deserialization // Prevents b3Vector3's default constructor from being called, but doesn't inialize much else // ownsMemory should most likely be false if deserializing, and if you are not, don't call this (it also changes the function signature, which we need) - b3QuantizedBvh(b3QuantizedBvh &other, bool ownsMemory); - -} -; - + b3QuantizedBvh(b3QuantizedBvh & other, bool ownsMemory); +}; struct b3OptimizedBvhNodeFloatData { - b3Vector3FloatData m_aabbMinOrg; - b3Vector3FloatData m_aabbMaxOrg; - int m_escapeIndex; - int m_subPart; - int m_triangleIndex; + b3Vector3FloatData m_aabbMinOrg; + b3Vector3FloatData m_aabbMaxOrg; + int m_escapeIndex; + int m_subPart; + int m_triangleIndex; char m_pad[4]; }; struct b3OptimizedBvhNodeDoubleData { - b3Vector3DoubleData m_aabbMinOrg; - b3Vector3DoubleData m_aabbMaxOrg; - int m_escapeIndex; - int m_subPart; - int m_triangleIndex; - char m_pad[4]; + b3Vector3DoubleData m_aabbMinOrg; + b3Vector3DoubleData m_aabbMaxOrg; + int m_escapeIndex; + int m_subPart; + int m_triangleIndex; + char m_pad[4]; }; - - -struct b3QuantizedBvhFloatData +struct b3QuantizedBvhFloatData { - b3Vector3FloatData m_bvhAabbMin; - b3Vector3FloatData m_bvhAabbMax; - b3Vector3FloatData m_bvhQuantization; - int m_curNodeIndex; - int m_useQuantization; - int m_numContiguousLeafNodes; - int m_numQuantizedContiguousNodes; - b3OptimizedBvhNodeFloatData *m_contiguousNodesPtr; - b3QuantizedBvhNodeData *m_quantizedContiguousNodesPtr; - b3BvhSubtreeInfoData *m_subTreeInfoPtr; - int m_traversalMode; - int m_numSubtreeHeaders; - + b3Vector3FloatData m_bvhAabbMin; + b3Vector3FloatData m_bvhAabbMax; + b3Vector3FloatData m_bvhQuantization; + int m_curNodeIndex; + int m_useQuantization; + int m_numContiguousLeafNodes; + int m_numQuantizedContiguousNodes; + b3OptimizedBvhNodeFloatData* m_contiguousNodesPtr; + b3QuantizedBvhNodeData* m_quantizedContiguousNodesPtr; + b3BvhSubtreeInfoData* m_subTreeInfoPtr; + int m_traversalMode; + int m_numSubtreeHeaders; }; -struct b3QuantizedBvhDoubleData +struct b3QuantizedBvhDoubleData { - b3Vector3DoubleData m_bvhAabbMin; - b3Vector3DoubleData m_bvhAabbMax; - b3Vector3DoubleData m_bvhQuantization; - int m_curNodeIndex; - int m_useQuantization; - int m_numContiguousLeafNodes; - int m_numQuantizedContiguousNodes; - b3OptimizedBvhNodeDoubleData *m_contiguousNodesPtr; - b3QuantizedBvhNodeData *m_quantizedContiguousNodesPtr; - - int m_traversalMode; - int m_numSubtreeHeaders; - b3BvhSubtreeInfoData *m_subTreeInfoPtr; + b3Vector3DoubleData m_bvhAabbMin; + b3Vector3DoubleData m_bvhAabbMax; + b3Vector3DoubleData m_bvhQuantization; + int m_curNodeIndex; + int m_useQuantization; + int m_numContiguousLeafNodes; + int m_numQuantizedContiguousNodes; + b3OptimizedBvhNodeDoubleData* m_contiguousNodesPtr; + b3QuantizedBvhNodeData* m_quantizedContiguousNodesPtr; + + int m_traversalMode; + int m_numSubtreeHeaders; + b3BvhSubtreeInfoData* m_subTreeInfoPtr; }; - -B3_FORCE_INLINE int b3QuantizedBvh::calculateSerializeBufferSizeNew() const +B3_FORCE_INLINE int b3QuantizedBvh::calculateSerializeBufferSizeNew() const { return sizeof(b3QuantizedBvhData); } - - -#endif //B3_QUANTIZED_BVH_H +#endif //B3_QUANTIZED_BVH_H |