diff options
Diffstat (limited to 'thirdparty/bullet/BulletCollision/Gimpact/btGImpactQuantizedBvh.h')
| -rw-r--r-- | thirdparty/bullet/BulletCollision/Gimpact/btGImpactQuantizedBvh.h | 121 |
1 files changed, 57 insertions, 64 deletions
diff --git a/thirdparty/bullet/BulletCollision/Gimpact/btGImpactQuantizedBvh.h b/thirdparty/bullet/BulletCollision/Gimpact/btGImpactQuantizedBvh.h index 42e5520fc0..b231c1e832 100644 --- a/thirdparty/bullet/BulletCollision/Gimpact/btGImpactQuantizedBvh.h +++ b/thirdparty/bullet/BulletCollision/Gimpact/btGImpactQuantizedBvh.h @@ -28,13 +28,10 @@ subject to the following restrictions: #include "btQuantization.h" #include "btGImpactQuantizedBvhStructs.h" -class GIM_QUANTIZED_BVH_NODE_ARRAY:public btAlignedObjectArray<BT_QUANTIZED_BVH_NODE> +class GIM_QUANTIZED_BVH_NODE_ARRAY : public btAlignedObjectArray<BT_QUANTIZED_BVH_NODE> { }; - - - //! Basic Box tree structure class btQuantizedBvhTree { @@ -43,16 +40,18 @@ protected: 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) ); + 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); + 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); + 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); - void _build_sub_tree(GIM_BVH_DATA_ARRAY & primitive_boxes, int startIndex, int endIndex); public: btQuantizedBvhTree() { @@ -61,20 +60,19 @@ public: //! prototype functions for box tree management //!@{ - void build_tree(GIM_BVH_DATA_ARRAY & primitive_boxes); + void build_tree(GIM_BVH_DATA_ARRAY& primitive_boxes); SIMD_FORCE_INLINE void quantizePoint( - unsigned short * quantizedpoint, const btVector3 & point) const + unsigned short* quantizedpoint, const btVector3& point) const { - bt_quantize_clamp(quantizedpoint,point,m_global_bound.m_min,m_global_bound.m_max,m_bvhQuantization); + 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 + unsigned short* quantizedMin, unsigned short* quantizedMax) const { - return m_node_array[node_index].testQuantizedBoxOverlapp(quantizedMin,quantizedMax); + return m_node_array[node_index].testQuantizedBoxOverlapp(quantizedMin, quantizedMax); } SIMD_FORCE_INLINE void clearNodes() @@ -100,41 +98,41 @@ public: return m_node_array[nodeindex].getDataIndex(); } - SIMD_FORCE_INLINE void getNodeBound(int nodeindex, btAABB & bound) const + 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); + 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); + m_global_bound.m_min, m_bvhQuantization); } - SIMD_FORCE_INLINE void setNodeBound(int nodeindex, const btAABB & bound) + 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_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); + 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; + 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(); + 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 @@ -142,7 +140,7 @@ public: return m_node_array[nodeindex].getEscapeIndex(); } - SIMD_FORCE_INLINE const BT_QUANTIZED_BVH_NODE * get_node_pointer(int index = 0) const + SIMD_FORCE_INLINE const BT_QUANTIZED_BVH_NODE* get_node_pointer(int index = 0) const { return &m_node_array[index]; } @@ -150,8 +148,6 @@ public: //!@} }; - - //! Structure for containing Boxes /*! This class offers an structure for managing a box tree of primitives. @@ -161,13 +157,13 @@ class btGImpactQuantizedBvh { protected: btQuantizedBvhTree m_box_tree; - btPrimitiveManagerBase * m_primitive_manager; + btPrimitiveManagerBase* m_primitive_manager; protected: //stackless refit void refit(); -public: +public: //! this constructor doesn't build the tree. you must call buildSet btGImpactQuantizedBvh() { @@ -175,31 +171,30 @@ public: } //! this constructor doesn't build the tree. you must call buildSet - btGImpactQuantizedBvh(btPrimitiveManagerBase * primitive_manager) + btGImpactQuantizedBvh(btPrimitiveManagerBase* primitive_manager) { m_primitive_manager = primitive_manager; } - SIMD_FORCE_INLINE btAABB getGlobalBox() const + SIMD_FORCE_INLINE btAABB getGlobalBox() const { btAABB totalbox; getNodeBound(0, totalbox); return totalbox; } - SIMD_FORCE_INLINE void setPrimitiveManager(btPrimitiveManagerBase * primitive_manager) + SIMD_FORCE_INLINE void setPrimitiveManager(btPrimitiveManagerBase* primitive_manager) { m_primitive_manager = primitive_manager; } - SIMD_FORCE_INLINE btPrimitiveManagerBase * getPrimitiveManager() const + SIMD_FORCE_INLINE btPrimitiveManagerBase* getPrimitiveManager() const { return m_primitive_manager; } - -//! node manager prototype functions -///@{ + //! node manager prototype functions + ///@{ //! this attemps to refit the box set. SIMD_FORCE_INLINE void update() @@ -211,21 +206,21 @@ public: void buildSet(); //! returns the indices of the primitives in the m_primitive_manager - bool boxQuery(const btAABB & box, btAlignedObjectArray<int> & collided_results) const; + 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 + SIMD_FORCE_INLINE bool boxQueryTrans(const btAABB& box, + const btTransform& transform, btAlignedObjectArray<int>& collided_results) const { - btAABB transbox=box; + btAABB transbox = box; transbox.appy_transform(transform); - return boxQuery(transbox,collided_results); + 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; + 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 @@ -234,7 +229,7 @@ public: } //! tells if this set is a trimesh - SIMD_FORCE_INLINE bool isTrimesh() const + SIMD_FORCE_INLINE bool isTrimesh() const { return m_primitive_manager->is_trimesh(); } @@ -256,17 +251,16 @@ public: return m_box_tree.getNodeData(nodeindex); } - SIMD_FORCE_INLINE void getNodeBound(int nodeindex, btAABB & bound) const + 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) + 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); @@ -282,24 +276,23 @@ public: return m_box_tree.getEscapeNodeIndex(nodeindex); } - SIMD_FORCE_INLINE void getNodeTriangle(int nodeindex,btPrimitiveTriangle & triangle) const + SIMD_FORCE_INLINE void getNodeTriangle(int nodeindex, btPrimitiveTriangle& triangle) const { - m_primitive_manager->get_primitive_triangle(getNodeData(nodeindex),triangle); + m_primitive_manager->get_primitive_triangle(getNodeData(nodeindex), triangle); } - - SIMD_FORCE_INLINE const BT_QUANTIZED_BVH_NODE * get_node_pointer(int index = 0) const + 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 +#endif //TRI_COLLISION_PROFILING - static void find_collision(const btGImpactQuantizedBvh * boxset1, const btTransform & trans1, - const btGImpactQuantizedBvh * boxset2, const btTransform & trans2, - btPairSet & collision_pairs); + static void find_collision(const btGImpactQuantizedBvh* boxset1, const btTransform& trans1, + const btGImpactQuantizedBvh* boxset2, const btTransform& trans2, + btPairSet& collision_pairs); }; -#endif // GIM_BOXPRUNING_H_INCLUDED +#endif // GIM_BOXPRUNING_H_INCLUDED |