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Diffstat (limited to 'thirdparty/bullet/BulletCollision/Gimpact/btGImpactQuantizedBvh.h')
| -rw-r--r-- | thirdparty/bullet/BulletCollision/Gimpact/btGImpactQuantizedBvh.h | 298 |
1 files changed, 0 insertions, 298 deletions
diff --git a/thirdparty/bullet/BulletCollision/Gimpact/btGImpactQuantizedBvh.h b/thirdparty/bullet/BulletCollision/Gimpact/btGImpactQuantizedBvh.h deleted file mode 100644 index b231c1e832..0000000000 --- a/thirdparty/bullet/BulletCollision/Gimpact/btGImpactQuantizedBvh.h +++ /dev/null @@ -1,298 +0,0 @@ -#ifndef GIM_QUANTIZED_SET_H_INCLUDED -#define GIM_QUANTIZED_SET_H_INCLUDED - -/*! \file btGImpactQuantizedBvh.h -\author Francisco Leon Najera -*/ -/* -This source file is part of GIMPACT Library. - -For the latest info, see http://gimpact.sourceforge.net/ - -Copyright (c) 2007 Francisco Leon Najera. C.C. 80087371. -email: projectileman@yahoo.com - - -This software is provided 'as-is', without any express or implied warranty. -In no event will the authors be held liable for any damages arising from the use of this software. -Permission is granted to anyone to use this software for any purpose, -including commercial applications, and to alter it and redistribute it freely, -subject to the following restrictions: - -1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required. -2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software. -3. This notice may not be removed or altered from any source distribution. -*/ - -#include "btGImpactBvh.h" -#include "btQuantization.h" -#include "btGImpactQuantizedBvhStructs.h" - -class GIM_QUANTIZED_BVH_NODE_ARRAY : public btAlignedObjectArray<BT_QUANTIZED_BVH_NODE> -{ -}; - -//! Basic Box tree structure -class btQuantizedBvhTree -{ -protected: - int m_num_nodes; - GIM_QUANTIZED_BVH_NODE_ARRAY m_node_array; - btAABB m_global_bound; - btVector3 m_bvhQuantization; - -protected: - void calc_quantization(GIM_BVH_DATA_ARRAY& primitive_boxes, btScalar boundMargin = btScalar(1.0)); - - int _sort_and_calc_splitting_index( - GIM_BVH_DATA_ARRAY& primitive_boxes, - int startIndex, int endIndex, int splitAxis); - - int _calc_splitting_axis(GIM_BVH_DATA_ARRAY& primitive_boxes, int startIndex, int endIndex); - - void _build_sub_tree(GIM_BVH_DATA_ARRAY& primitive_boxes, int startIndex, int endIndex); - -public: - btQuantizedBvhTree() - { - m_num_nodes = 0; - } - - //! prototype functions for box tree management - //!@{ - void build_tree(GIM_BVH_DATA_ARRAY& primitive_boxes); - - SIMD_FORCE_INLINE void quantizePoint( - unsigned short* quantizedpoint, const btVector3& point) const - { - bt_quantize_clamp(quantizedpoint, point, m_global_bound.m_min, m_global_bound.m_max, m_bvhQuantization); - } - - SIMD_FORCE_INLINE bool testQuantizedBoxOverlapp( - int node_index, - unsigned short* quantizedMin, unsigned short* quantizedMax) const - { - return m_node_array[node_index].testQuantizedBoxOverlapp(quantizedMin, quantizedMax); - } - - SIMD_FORCE_INLINE void clearNodes() - { - m_node_array.clear(); - m_num_nodes = 0; - } - - //! node count - SIMD_FORCE_INLINE int getNodeCount() const - { - return m_num_nodes; - } - - //! tells if the node is a leaf - SIMD_FORCE_INLINE bool isLeafNode(int nodeindex) const - { - return m_node_array[nodeindex].isLeafNode(); - } - - SIMD_FORCE_INLINE int getNodeData(int nodeindex) const - { - return m_node_array[nodeindex].getDataIndex(); - } - - SIMD_FORCE_INLINE void getNodeBound(int nodeindex, btAABB& bound) const - { - bound.m_min = bt_unquantize( - m_node_array[nodeindex].m_quantizedAabbMin, - m_global_bound.m_min, m_bvhQuantization); - - bound.m_max = bt_unquantize( - m_node_array[nodeindex].m_quantizedAabbMax, - m_global_bound.m_min, m_bvhQuantization); - } - - SIMD_FORCE_INLINE void setNodeBound(int nodeindex, const btAABB& bound) - { - bt_quantize_clamp(m_node_array[nodeindex].m_quantizedAabbMin, - bound.m_min, - m_global_bound.m_min, - m_global_bound.m_max, - m_bvhQuantization); - - bt_quantize_clamp(m_node_array[nodeindex].m_quantizedAabbMax, - bound.m_max, - m_global_bound.m_min, - m_global_bound.m_max, - m_bvhQuantization); - } - - SIMD_FORCE_INLINE int getLeftNode(int nodeindex) const - { - return nodeindex + 1; - } - - SIMD_FORCE_INLINE int getRightNode(int nodeindex) const - { - if (m_node_array[nodeindex + 1].isLeafNode()) return nodeindex + 2; - return nodeindex + 1 + m_node_array[nodeindex + 1].getEscapeIndex(); - } - - SIMD_FORCE_INLINE int getEscapeNodeIndex(int nodeindex) const - { - return m_node_array[nodeindex].getEscapeIndex(); - } - - SIMD_FORCE_INLINE const BT_QUANTIZED_BVH_NODE* get_node_pointer(int index = 0) const - { - return &m_node_array[index]; - } - - //!@} -}; - -//! Structure for containing Boxes -/*! -This class offers an structure for managing a box tree of primitives. -Requires a Primitive prototype (like btPrimitiveManagerBase ) -*/ -class btGImpactQuantizedBvh -{ -protected: - btQuantizedBvhTree m_box_tree; - btPrimitiveManagerBase* m_primitive_manager; - -protected: - //stackless refit - void refit(); - -public: - //! this constructor doesn't build the tree. you must call buildSet - btGImpactQuantizedBvh() - { - m_primitive_manager = NULL; - } - - //! this constructor doesn't build the tree. you must call buildSet - btGImpactQuantizedBvh(btPrimitiveManagerBase* primitive_manager) - { - m_primitive_manager = primitive_manager; - } - - SIMD_FORCE_INLINE btAABB getGlobalBox() const - { - btAABB totalbox; - getNodeBound(0, totalbox); - return totalbox; - } - - SIMD_FORCE_INLINE void setPrimitiveManager(btPrimitiveManagerBase* primitive_manager) - { - m_primitive_manager = primitive_manager; - } - - SIMD_FORCE_INLINE btPrimitiveManagerBase* getPrimitiveManager() const - { - return m_primitive_manager; - } - - //! node manager prototype functions - ///@{ - - //! this attemps to refit the box set. - SIMD_FORCE_INLINE void update() - { - refit(); - } - - //! this rebuild the entire set - void buildSet(); - - //! returns the indices of the primitives in the m_primitive_manager - bool boxQuery(const btAABB& box, btAlignedObjectArray<int>& collided_results) const; - - //! returns the indices of the primitives in the m_primitive_manager - SIMD_FORCE_INLINE bool boxQueryTrans(const btAABB& box, - const btTransform& transform, btAlignedObjectArray<int>& collided_results) const - { - btAABB transbox = box; - transbox.appy_transform(transform); - return boxQuery(transbox, collided_results); - } - - //! returns the indices of the primitives in the m_primitive_manager - bool rayQuery( - const btVector3& ray_dir, const btVector3& ray_origin, - btAlignedObjectArray<int>& collided_results) const; - - //! tells if this set has hierarcht - SIMD_FORCE_INLINE bool hasHierarchy() const - { - return true; - } - - //! tells if this set is a trimesh - SIMD_FORCE_INLINE bool isTrimesh() const - { - return m_primitive_manager->is_trimesh(); - } - - //! node count - SIMD_FORCE_INLINE int getNodeCount() const - { - return m_box_tree.getNodeCount(); - } - - //! tells if the node is a leaf - SIMD_FORCE_INLINE bool isLeafNode(int nodeindex) const - { - return m_box_tree.isLeafNode(nodeindex); - } - - SIMD_FORCE_INLINE int getNodeData(int nodeindex) const - { - return m_box_tree.getNodeData(nodeindex); - } - - SIMD_FORCE_INLINE void getNodeBound(int nodeindex, btAABB& bound) const - { - m_box_tree.getNodeBound(nodeindex, bound); - } - - SIMD_FORCE_INLINE void setNodeBound(int nodeindex, const btAABB& bound) - { - m_box_tree.setNodeBound(nodeindex, bound); - } - - SIMD_FORCE_INLINE int getLeftNode(int nodeindex) const - { - return m_box_tree.getLeftNode(nodeindex); - } - - SIMD_FORCE_INLINE int getRightNode(int nodeindex) const - { - return m_box_tree.getRightNode(nodeindex); - } - - SIMD_FORCE_INLINE int getEscapeNodeIndex(int nodeindex) const - { - return m_box_tree.getEscapeNodeIndex(nodeindex); - } - - SIMD_FORCE_INLINE void getNodeTriangle(int nodeindex, btPrimitiveTriangle& triangle) const - { - m_primitive_manager->get_primitive_triangle(getNodeData(nodeindex), triangle); - } - - SIMD_FORCE_INLINE const BT_QUANTIZED_BVH_NODE* get_node_pointer(int index = 0) const - { - return m_box_tree.get_node_pointer(index); - } - -#ifdef TRI_COLLISION_PROFILING - static float getAverageTreeCollisionTime(); -#endif //TRI_COLLISION_PROFILING - - static void find_collision(const btGImpactQuantizedBvh* boxset1, const btTransform& trans1, - const btGImpactQuantizedBvh* boxset2, const btTransform& trans2, - btPairSet& collision_pairs); -}; - -#endif // GIM_BOXPRUNING_H_INCLUDED |