[1963] | 1 | /* |
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| 2 | Bullet Continuous Collision Detection and Physics Library |
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| 3 | Copyright (c) 2003-2007 Erwin Coumans http://continuousphysics.com/Bullet/ |
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| 4 | |
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| 5 | This software is provided 'as-is', without any express or implied warranty. |
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| 6 | In no event will the authors be held liable for any damages arising from the use of this software. |
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| 7 | Permission is granted to anyone to use this software for any purpose, |
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| 8 | including commercial applications, and to alter it and redistribute it freely, |
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| 9 | subject to the following restrictions: |
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| 10 | |
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| 11 | 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. |
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| 12 | 2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software. |
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| 13 | 3. This notice may not be removed or altered from any source distribution. |
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| 14 | */ |
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| 15 | ///btDbvt implementation by Nathanael Presson |
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| 16 | |
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| 17 | #ifndef BT_DYNAMIC_BOUNDING_VOLUME_TREE_H |
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| 18 | #define BT_DYNAMIC_BOUNDING_VOLUME_TREE_H |
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| 19 | |
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| 20 | #include "LinearMath/btAlignedObjectArray.h" |
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| 21 | #include "LinearMath/btVector3.h" |
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| 22 | #include "LinearMath/btTransform.h" |
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| 23 | #include "LinearMath/btAabbUtil2.h" |
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| 24 | |
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| 25 | // |
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| 26 | // Compile time configuration |
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| 27 | // |
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| 28 | |
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| 29 | |
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| 30 | // Implementation profiles |
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| 31 | #define DBVT_IMPL_GENERIC 0 // Generic implementation |
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| 32 | #define DBVT_IMPL_SSE 1 // SSE |
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| 33 | |
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| 34 | // Template implementation of ICollide |
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| 35 | #ifdef WIN32 |
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| 36 | #if (defined (_MSC_VER) && _MSC_VER >= 1400) |
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| 37 | #define DBVT_USE_TEMPLATE 1 |
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| 38 | #else |
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| 39 | #define DBVT_USE_TEMPLATE 0 |
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| 40 | #endif |
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| 41 | #else |
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| 42 | #define DBVT_USE_TEMPLATE 0 |
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| 43 | #endif |
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| 44 | |
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| 45 | // Use only intrinsics instead of inline asm |
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| 46 | #define DBVT_USE_INTRINSIC_SSE 1 |
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| 47 | |
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| 48 | // Using memmov for collideOCL |
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| 49 | #define DBVT_USE_MEMMOVE 1 |
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| 50 | |
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| 51 | // Enable benchmarking code |
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| 52 | #define DBVT_ENABLE_BENCHMARK 0 |
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| 53 | |
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| 54 | // Inlining |
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| 55 | #define DBVT_INLINE SIMD_FORCE_INLINE |
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| 56 | // Align |
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| 57 | #ifdef WIN32 |
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| 58 | #define DBVT_ALIGN __declspec(align(16)) |
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| 59 | #else |
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| 60 | #define DBVT_ALIGN |
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| 61 | #endif |
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| 62 | |
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| 63 | // Specific methods implementation |
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| 64 | |
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| 65 | //SSE gives errors on a MSVC 7.1 |
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| 66 | #if (defined (WIN32) && (_MSC_VER) && _MSC_VER >= 1400) && (!defined (BT_USE_DOUBLE_PRECISION)) |
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| 67 | #define DBVT_SELECT_IMPL DBVT_IMPL_SSE |
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| 68 | #define DBVT_MERGE_IMPL DBVT_IMPL_SSE |
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| 69 | #define DBVT_INT0_IMPL DBVT_IMPL_SSE |
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| 70 | #else |
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| 71 | #define DBVT_SELECT_IMPL DBVT_IMPL_GENERIC |
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| 72 | #define DBVT_MERGE_IMPL DBVT_IMPL_GENERIC |
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| 73 | #define DBVT_INT0_IMPL DBVT_IMPL_GENERIC |
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| 74 | #endif |
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| 75 | |
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| 76 | #if (DBVT_SELECT_IMPL==DBVT_IMPL_SSE)|| \ |
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| 77 | (DBVT_MERGE_IMPL==DBVT_IMPL_SSE)|| \ |
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| 78 | (DBVT_INT0_IMPL==DBVT_IMPL_SSE) |
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| 79 | #include <emmintrin.h> |
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| 80 | #endif |
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| 81 | |
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| 82 | // |
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| 83 | // Auto config and checks |
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| 84 | // |
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| 85 | |
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| 86 | #if DBVT_USE_TEMPLATE |
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| 87 | #define DBVT_VIRTUAL |
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| 88 | #define DBVT_VIRTUAL_DTOR(a) |
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| 89 | #define DBVT_PREFIX template <typename T> |
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| 90 | #define DBVT_IPOLICY T& policy |
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| 91 | #define DBVT_CHECKTYPE static const ICollide& typechecker=*(T*)0; |
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| 92 | #else |
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| 93 | #define DBVT_VIRTUAL_DTOR(a) virtual ~a() {} |
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| 94 | #define DBVT_VIRTUAL virtual |
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| 95 | #define DBVT_PREFIX |
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| 96 | #define DBVT_IPOLICY ICollide& policy |
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| 97 | #define DBVT_CHECKTYPE |
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| 98 | #endif |
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| 99 | |
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| 100 | #if DBVT_USE_MEMMOVE |
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| 101 | #ifndef __CELLOS_LV2__ |
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| 102 | #include <memory.h> |
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| 103 | #endif |
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| 104 | #include <string.h> |
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| 105 | #endif |
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| 106 | |
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| 107 | #ifndef DBVT_USE_TEMPLATE |
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| 108 | #error "DBVT_USE_TEMPLATE undefined" |
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| 109 | #endif |
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| 110 | |
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| 111 | #ifndef DBVT_USE_MEMMOVE |
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| 112 | #error "DBVT_USE_MEMMOVE undefined" |
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| 113 | #endif |
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| 114 | |
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| 115 | #ifndef DBVT_ENABLE_BENCHMARK |
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| 116 | #error "DBVT_ENABLE_BENCHMARK undefined" |
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| 117 | #endif |
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| 118 | |
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| 119 | #ifndef DBVT_SELECT_IMPL |
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| 120 | #error "DBVT_SELECT_IMPL undefined" |
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| 121 | #endif |
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| 122 | |
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| 123 | #ifndef DBVT_MERGE_IMPL |
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| 124 | #error "DBVT_MERGE_IMPL undefined" |
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| 125 | #endif |
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| 126 | |
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| 127 | #ifndef DBVT_INT0_IMPL |
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| 128 | #error "DBVT_INT0_IMPL undefined" |
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| 129 | #endif |
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| 130 | |
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| 131 | // |
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| 132 | // Defaults volumes |
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| 133 | // |
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| 134 | |
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| 135 | /* btDbvtAabbMm */ |
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| 136 | struct btDbvtAabbMm |
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| 137 | { |
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| 138 | DBVT_INLINE btVector3 Center() const { return((mi+mx)/2); } |
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| 139 | DBVT_INLINE btVector3 Lengths() const { return(mx-mi); } |
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| 140 | DBVT_INLINE btVector3 Extents() const { return((mx-mi)/2); } |
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| 141 | DBVT_INLINE const btVector3& Mins() const { return(mi); } |
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| 142 | DBVT_INLINE const btVector3& Maxs() const { return(mx); } |
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| 143 | static inline btDbvtAabbMm FromCE(const btVector3& c,const btVector3& e); |
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| 144 | static inline btDbvtAabbMm FromCR(const btVector3& c,btScalar r); |
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| 145 | static inline btDbvtAabbMm FromMM(const btVector3& mi,const btVector3& mx); |
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| 146 | static inline btDbvtAabbMm FromPoints(const btVector3* pts,int n); |
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| 147 | static inline btDbvtAabbMm FromPoints(const btVector3** ppts,int n); |
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| 148 | DBVT_INLINE void Expand(const btVector3& e); |
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| 149 | DBVT_INLINE void SignedExpand(const btVector3& e); |
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| 150 | DBVT_INLINE bool Contain(const btDbvtAabbMm& a) const; |
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| 151 | DBVT_INLINE int Classify(const btVector3& n,btScalar o,int s) const; |
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| 152 | DBVT_INLINE btScalar ProjectMinimum(const btVector3& v,unsigned signs) const; |
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| 153 | DBVT_INLINE friend bool Intersect( const btDbvtAabbMm& a, |
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| 154 | const btDbvtAabbMm& b); |
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| 155 | DBVT_INLINE friend bool Intersect( const btDbvtAabbMm& a, |
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| 156 | const btDbvtAabbMm& b, |
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| 157 | const btTransform& xform); |
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| 158 | DBVT_INLINE friend bool Intersect( const btDbvtAabbMm& a, |
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| 159 | const btVector3& b); |
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| 160 | |
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| 161 | DBVT_INLINE friend btScalar Proximity( const btDbvtAabbMm& a, |
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| 162 | const btDbvtAabbMm& b); |
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| 163 | DBVT_INLINE friend int Select( const btDbvtAabbMm& o, |
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| 164 | const btDbvtAabbMm& a, |
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| 165 | const btDbvtAabbMm& b); |
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| 166 | DBVT_INLINE friend void Merge( const btDbvtAabbMm& a, |
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| 167 | const btDbvtAabbMm& b, |
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| 168 | btDbvtAabbMm& r); |
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| 169 | DBVT_INLINE friend bool NotEqual( const btDbvtAabbMm& a, |
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| 170 | const btDbvtAabbMm& b); |
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| 171 | private: |
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| 172 | DBVT_INLINE void AddSpan(const btVector3& d,btScalar& smi,btScalar& smx) const; |
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| 173 | private: |
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| 174 | btVector3 mi,mx; |
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| 175 | }; |
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| 176 | |
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| 177 | // Types |
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| 178 | typedef btDbvtAabbMm btDbvtVolume; |
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| 179 | |
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| 180 | /* btDbvtNode */ |
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| 181 | struct btDbvtNode |
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| 182 | { |
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| 183 | btDbvtVolume volume; |
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| 184 | btDbvtNode* parent; |
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| 185 | DBVT_INLINE bool isleaf() const { return(childs[1]==0); } |
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| 186 | DBVT_INLINE bool isinternal() const { return(!isleaf()); } |
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| 187 | union { |
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| 188 | btDbvtNode* childs[2]; |
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| 189 | void* data; |
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| 190 | int dataAsInt; |
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| 191 | }; |
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| 192 | }; |
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| 193 | |
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| 194 | ///The btDbvt class implements a fast dynamic bounding volume tree based on axis aligned bounding boxes (aabb tree). |
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| 195 | ///This btDbvt is used for soft body collision detection and for the btDbvtBroadphase. It has a fast insert, remove and update of nodes. |
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| 196 | ///Unlike the btQuantizedBvh, nodes can be dynamically moved around, which allows for change in topology of the underlying data structure. |
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| 197 | struct btDbvt |
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| 198 | { |
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| 199 | /* Stack element */ |
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| 200 | struct sStkNN |
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| 201 | { |
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| 202 | const btDbvtNode* a; |
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| 203 | const btDbvtNode* b; |
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| 204 | sStkNN() {} |
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| 205 | sStkNN(const btDbvtNode* na,const btDbvtNode* nb) : a(na),b(nb) {} |
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| 206 | }; |
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| 207 | struct sStkNP |
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| 208 | { |
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| 209 | const btDbvtNode* node; |
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| 210 | int mask; |
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| 211 | sStkNP(const btDbvtNode* n,unsigned m) : node(n),mask(m) {} |
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| 212 | }; |
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| 213 | struct sStkNPS |
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| 214 | { |
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| 215 | const btDbvtNode* node; |
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| 216 | int mask; |
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| 217 | btScalar value; |
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| 218 | sStkNPS() {} |
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| 219 | sStkNPS(const btDbvtNode* n,unsigned m,btScalar v) : node(n),mask(m),value(v) {} |
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| 220 | }; |
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| 221 | struct sStkCLN |
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| 222 | { |
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| 223 | const btDbvtNode* node; |
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| 224 | btDbvtNode* parent; |
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| 225 | sStkCLN(const btDbvtNode* n,btDbvtNode* p) : node(n),parent(p) {} |
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| 226 | }; |
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| 227 | // Policies/Interfaces |
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| 228 | |
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| 229 | /* ICollide */ |
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| 230 | struct ICollide |
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| 231 | { |
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| 232 | DBVT_VIRTUAL_DTOR(ICollide) |
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| 233 | DBVT_VIRTUAL void Process(const btDbvtNode*,const btDbvtNode*) {} |
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| 234 | DBVT_VIRTUAL void Process(const btDbvtNode*) {} |
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| 235 | DBVT_VIRTUAL void Process(const btDbvtNode* n,btScalar) { Process(n); } |
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| 236 | DBVT_VIRTUAL bool Descent(const btDbvtNode*) { return(true); } |
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| 237 | DBVT_VIRTUAL bool AllLeaves(const btDbvtNode*) { return(true); } |
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| 238 | }; |
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| 239 | /* IWriter */ |
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| 240 | struct IWriter |
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| 241 | { |
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| 242 | virtual ~IWriter() {} |
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| 243 | virtual void Prepare(const btDbvtNode* root,int numnodes)=0; |
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| 244 | virtual void WriteNode(const btDbvtNode*,int index,int parent,int child0,int child1)=0; |
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| 245 | virtual void WriteLeaf(const btDbvtNode*,int index,int parent)=0; |
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| 246 | }; |
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| 247 | /* IClone */ |
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| 248 | struct IClone |
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| 249 | { |
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| 250 | virtual ~IClone() {} |
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| 251 | virtual void CloneLeaf(btDbvtNode*) {} |
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| 252 | }; |
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| 253 | |
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| 254 | // Constants |
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| 255 | enum { |
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| 256 | SIMPLE_STACKSIZE = 64, |
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| 257 | DOUBLE_STACKSIZE = SIMPLE_STACKSIZE*2 |
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| 258 | }; |
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| 259 | |
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| 260 | // Fields |
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| 261 | btDbvtNode* m_root; |
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| 262 | btDbvtNode* m_free; |
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| 263 | int m_lkhd; |
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| 264 | int m_leaves; |
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| 265 | unsigned m_opath; |
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| 266 | // Methods |
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| 267 | btDbvt(); |
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| 268 | ~btDbvt(); |
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| 269 | void clear(); |
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| 270 | bool empty() const { return(0==m_root); } |
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| 271 | void optimizeBottomUp(); |
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| 272 | void optimizeTopDown(int bu_treshold=128); |
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| 273 | void optimizeIncremental(int passes); |
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| 274 | btDbvtNode* insert(const btDbvtVolume& box,void* data); |
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| 275 | void update(btDbvtNode* leaf,int lookahead=-1); |
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| 276 | void update(btDbvtNode* leaf,const btDbvtVolume& volume); |
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| 277 | bool update(btDbvtNode* leaf,btDbvtVolume volume,const btVector3& velocity,btScalar margin); |
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| 278 | bool update(btDbvtNode* leaf,btDbvtVolume volume,const btVector3& velocity); |
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| 279 | bool update(btDbvtNode* leaf,btDbvtVolume volume,btScalar margin); |
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| 280 | void remove(btDbvtNode* leaf); |
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| 281 | void write(IWriter* iwriter) const; |
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| 282 | void clone(btDbvt& dest,IClone* iclone=0) const; |
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| 283 | static int maxdepth(const btDbvtNode* node); |
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| 284 | static int countLeaves(const btDbvtNode* node); |
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| 285 | static void extractLeaves(const btDbvtNode* node,btAlignedObjectArray<const btDbvtNode*>& leaves); |
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| 286 | #if DBVT_ENABLE_BENCHMARK |
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| 287 | static void benchmark(); |
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| 288 | #else |
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| 289 | static void benchmark(){} |
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| 290 | #endif |
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| 291 | // DBVT_IPOLICY must support ICollide policy/interface |
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| 292 | DBVT_PREFIX |
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| 293 | static void enumNodes( const btDbvtNode* root, |
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| 294 | DBVT_IPOLICY); |
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| 295 | DBVT_PREFIX |
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| 296 | static void enumLeaves( const btDbvtNode* root, |
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| 297 | DBVT_IPOLICY); |
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| 298 | DBVT_PREFIX |
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| 299 | static void collideTT( const btDbvtNode* root0, |
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| 300 | const btDbvtNode* root1, |
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| 301 | DBVT_IPOLICY); |
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| 302 | DBVT_PREFIX |
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| 303 | static void collideTT( const btDbvtNode* root0, |
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| 304 | const btDbvtNode* root1, |
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| 305 | const btTransform& xform, |
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| 306 | DBVT_IPOLICY); |
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| 307 | DBVT_PREFIX |
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| 308 | static void collideTT( const btDbvtNode* root0, |
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| 309 | const btTransform& xform0, |
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| 310 | const btDbvtNode* root1, |
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| 311 | const btTransform& xform1, |
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| 312 | DBVT_IPOLICY); |
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| 313 | DBVT_PREFIX |
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| 314 | static void collideTV( const btDbvtNode* root, |
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| 315 | const btDbvtVolume& volume, |
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| 316 | DBVT_IPOLICY); |
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| 317 | DBVT_PREFIX |
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| 318 | static void rayTest( const btDbvtNode* root, |
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| 319 | const btVector3& rayFrom, |
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| 320 | const btVector3& rayTo, |
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| 321 | DBVT_IPOLICY); |
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| 322 | DBVT_PREFIX |
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| 323 | static void collideKDOP(const btDbvtNode* root, |
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| 324 | const btVector3* normals, |
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| 325 | const btScalar* offsets, |
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| 326 | int count, |
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| 327 | DBVT_IPOLICY); |
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| 328 | DBVT_PREFIX |
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| 329 | static void collideOCL( const btDbvtNode* root, |
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| 330 | const btVector3* normals, |
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| 331 | const btScalar* offsets, |
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| 332 | const btVector3& sortaxis, |
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| 333 | int count, |
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| 334 | DBVT_IPOLICY, |
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| 335 | bool fullsort=true); |
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| 336 | DBVT_PREFIX |
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| 337 | static void collideTU( const btDbvtNode* root, |
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| 338 | DBVT_IPOLICY); |
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| 339 | // Helpers |
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| 340 | static DBVT_INLINE int nearest(const int* i,const btDbvt::sStkNPS* a,btScalar v,int l,int h) |
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| 341 | { |
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| 342 | int m=0; |
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| 343 | while(l<h) |
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| 344 | { |
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| 345 | m=(l+h)>>1; |
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| 346 | if(a[i[m]].value>=v) l=m+1; else h=m; |
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| 347 | } |
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| 348 | return(h); |
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| 349 | } |
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| 350 | static DBVT_INLINE int allocate( btAlignedObjectArray<int>& ifree, |
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| 351 | btAlignedObjectArray<sStkNPS>& stock, |
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| 352 | const sStkNPS& value) |
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| 353 | { |
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| 354 | int i; |
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| 355 | if(ifree.size()>0) |
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| 356 | { i=ifree[ifree.size()-1];ifree.pop_back();stock[i]=value; } |
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| 357 | else |
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| 358 | { i=stock.size();stock.push_back(value); } |
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| 359 | return(i); |
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| 360 | } |
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| 361 | // |
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| 362 | private: |
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| 363 | btDbvt(const btDbvt&) {} |
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| 364 | }; |
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| 365 | |
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| 366 | // |
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| 367 | // Inline's |
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| 368 | // |
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| 369 | |
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| 370 | // |
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| 371 | inline btDbvtAabbMm btDbvtAabbMm::FromCE(const btVector3& c,const btVector3& e) |
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| 372 | { |
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| 373 | btDbvtAabbMm box; |
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| 374 | box.mi=c-e;box.mx=c+e; |
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| 375 | return(box); |
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| 376 | } |
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| 377 | |
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| 378 | // |
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| 379 | inline btDbvtAabbMm btDbvtAabbMm::FromCR(const btVector3& c,btScalar r) |
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| 380 | { |
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| 381 | return(FromCE(c,btVector3(r,r,r))); |
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| 382 | } |
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| 383 | |
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| 384 | // |
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| 385 | inline btDbvtAabbMm btDbvtAabbMm::FromMM(const btVector3& mi,const btVector3& mx) |
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| 386 | { |
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| 387 | btDbvtAabbMm box; |
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| 388 | box.mi=mi;box.mx=mx; |
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| 389 | return(box); |
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| 390 | } |
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| 391 | |
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| 392 | // |
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| 393 | inline btDbvtAabbMm btDbvtAabbMm::FromPoints(const btVector3* pts,int n) |
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| 394 | { |
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| 395 | btDbvtAabbMm box; |
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| 396 | box.mi=box.mx=pts[0]; |
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| 397 | for(int i=1;i<n;++i) |
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| 398 | { |
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| 399 | box.mi.setMin(pts[i]); |
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| 400 | box.mx.setMax(pts[i]); |
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| 401 | } |
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| 402 | return(box); |
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| 403 | } |
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| 404 | |
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| 405 | // |
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| 406 | inline btDbvtAabbMm btDbvtAabbMm::FromPoints(const btVector3** ppts,int n) |
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| 407 | { |
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| 408 | btDbvtAabbMm box; |
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| 409 | box.mi=box.mx=*ppts[0]; |
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| 410 | for(int i=1;i<n;++i) |
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| 411 | { |
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| 412 | box.mi.setMin(*ppts[i]); |
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| 413 | box.mx.setMax(*ppts[i]); |
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| 414 | } |
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| 415 | return(box); |
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| 416 | } |
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| 417 | |
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| 418 | // |
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| 419 | DBVT_INLINE void btDbvtAabbMm::Expand(const btVector3& e) |
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| 420 | { |
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| 421 | mi-=e;mx+=e; |
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| 422 | } |
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| 423 | |
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| 424 | // |
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| 425 | DBVT_INLINE void btDbvtAabbMm::SignedExpand(const btVector3& e) |
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| 426 | { |
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| 427 | if(e.x()>0) mx.setX(mx.x()+e[0]); else mi.setX(mi.x()+e[0]); |
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| 428 | if(e.y()>0) mx.setY(mx.y()+e[1]); else mi.setY(mi.y()+e[1]); |
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| 429 | if(e.z()>0) mx.setZ(mx.z()+e[2]); else mi.setZ(mi.z()+e[2]); |
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| 430 | } |
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| 431 | |
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| 432 | // |
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| 433 | DBVT_INLINE bool btDbvtAabbMm::Contain(const btDbvtAabbMm& a) const |
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| 434 | { |
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| 435 | return( (mi.x()<=a.mi.x())&& |
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| 436 | (mi.y()<=a.mi.y())&& |
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| 437 | (mi.z()<=a.mi.z())&& |
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| 438 | (mx.x()>=a.mx.x())&& |
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| 439 | (mx.y()>=a.mx.y())&& |
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| 440 | (mx.z()>=a.mx.z())); |
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| 441 | } |
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| 442 | |
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| 443 | // |
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| 444 | DBVT_INLINE int btDbvtAabbMm::Classify(const btVector3& n,btScalar o,int s) const |
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| 445 | { |
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| 446 | btVector3 pi,px; |
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| 447 | switch(s) |
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| 448 | { |
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| 449 | case (0+0+0): px=btVector3(mi.x(),mi.y(),mi.z()); |
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| 450 | pi=btVector3(mx.x(),mx.y(),mx.z());break; |
---|
| 451 | case (1+0+0): px=btVector3(mx.x(),mi.y(),mi.z()); |
---|
| 452 | pi=btVector3(mi.x(),mx.y(),mx.z());break; |
---|
| 453 | case (0+2+0): px=btVector3(mi.x(),mx.y(),mi.z()); |
---|
| 454 | pi=btVector3(mx.x(),mi.y(),mx.z());break; |
---|
| 455 | case (1+2+0): px=btVector3(mx.x(),mx.y(),mi.z()); |
---|
| 456 | pi=btVector3(mi.x(),mi.y(),mx.z());break; |
---|
| 457 | case (0+0+4): px=btVector3(mi.x(),mi.y(),mx.z()); |
---|
| 458 | pi=btVector3(mx.x(),mx.y(),mi.z());break; |
---|
| 459 | case (1+0+4): px=btVector3(mx.x(),mi.y(),mx.z()); |
---|
| 460 | pi=btVector3(mi.x(),mx.y(),mi.z());break; |
---|
| 461 | case (0+2+4): px=btVector3(mi.x(),mx.y(),mx.z()); |
---|
| 462 | pi=btVector3(mx.x(),mi.y(),mi.z());break; |
---|
| 463 | case (1+2+4): px=btVector3(mx.x(),mx.y(),mx.z()); |
---|
| 464 | pi=btVector3(mi.x(),mi.y(),mi.z());break; |
---|
| 465 | } |
---|
| 466 | if((dot(n,px)+o)<0) return(-1); |
---|
| 467 | if((dot(n,pi)+o)>=0) return(+1); |
---|
| 468 | return(0); |
---|
| 469 | } |
---|
| 470 | |
---|
| 471 | // |
---|
| 472 | DBVT_INLINE btScalar btDbvtAabbMm::ProjectMinimum(const btVector3& v,unsigned signs) const |
---|
| 473 | { |
---|
| 474 | const btVector3* b[]={&mx,&mi}; |
---|
| 475 | const btVector3 p( b[(signs>>0)&1]->x(), |
---|
| 476 | b[(signs>>1)&1]->y(), |
---|
| 477 | b[(signs>>2)&1]->z()); |
---|
| 478 | return(dot(p,v)); |
---|
| 479 | } |
---|
| 480 | |
---|
| 481 | // |
---|
| 482 | DBVT_INLINE void btDbvtAabbMm::AddSpan(const btVector3& d,btScalar& smi,btScalar& smx) const |
---|
| 483 | { |
---|
| 484 | for(int i=0;i<3;++i) |
---|
| 485 | { |
---|
| 486 | if(d[i]<0) |
---|
| 487 | { smi+=mx[i]*d[i];smx+=mi[i]*d[i]; } |
---|
| 488 | else |
---|
| 489 | { smi+=mi[i]*d[i];smx+=mx[i]*d[i]; } |
---|
| 490 | } |
---|
| 491 | } |
---|
| 492 | |
---|
| 493 | // |
---|
| 494 | DBVT_INLINE bool Intersect( const btDbvtAabbMm& a, |
---|
| 495 | const btDbvtAabbMm& b) |
---|
| 496 | { |
---|
| 497 | #if DBVT_INT0_IMPL == DBVT_IMPL_SSE |
---|
| 498 | const __m128 rt(_mm_or_ps( _mm_cmplt_ps(_mm_load_ps(b.mx),_mm_load_ps(a.mi)), |
---|
| 499 | _mm_cmplt_ps(_mm_load_ps(a.mx),_mm_load_ps(b.mi)))); |
---|
| 500 | const __int32* pu((const __int32*)&rt); |
---|
| 501 | return((pu[0]|pu[1]|pu[2])==0); |
---|
| 502 | #else |
---|
| 503 | return( (a.mi.x()<=b.mx.x())&& |
---|
| 504 | (a.mx.x()>=b.mi.x())&& |
---|
| 505 | (a.mi.y()<=b.mx.y())&& |
---|
| 506 | (a.mx.y()>=b.mi.y())&& |
---|
| 507 | (a.mi.z()<=b.mx.z())&& |
---|
| 508 | (a.mx.z()>=b.mi.z())); |
---|
| 509 | #endif |
---|
| 510 | } |
---|
| 511 | |
---|
| 512 | // |
---|
| 513 | DBVT_INLINE bool Intersect( const btDbvtAabbMm& a, |
---|
| 514 | const btDbvtAabbMm& b, |
---|
| 515 | const btTransform& xform) |
---|
| 516 | { |
---|
| 517 | const btVector3 d0=xform*b.Center()-a.Center(); |
---|
| 518 | const btVector3 d1=d0*xform.getBasis(); |
---|
| 519 | btScalar s0[2]={0,0}; |
---|
| 520 | btScalar s1[2]={dot(xform.getOrigin(),d0),s1[0]}; |
---|
| 521 | a.AddSpan(d0,s0[0],s0[1]); |
---|
| 522 | b.AddSpan(d1,s1[0],s1[1]); |
---|
| 523 | if(s0[0]>(s1[1])) return(false); |
---|
| 524 | if(s0[1]<(s1[0])) return(false); |
---|
| 525 | return(true); |
---|
| 526 | } |
---|
| 527 | |
---|
| 528 | // |
---|
| 529 | DBVT_INLINE bool Intersect( const btDbvtAabbMm& a, |
---|
| 530 | const btVector3& b) |
---|
| 531 | { |
---|
| 532 | return( (b.x()>=a.mi.x())&& |
---|
| 533 | (b.y()>=a.mi.y())&& |
---|
| 534 | (b.z()>=a.mi.z())&& |
---|
| 535 | (b.x()<=a.mx.x())&& |
---|
| 536 | (b.y()<=a.mx.y())&& |
---|
| 537 | (b.z()<=a.mx.z())); |
---|
| 538 | } |
---|
| 539 | |
---|
| 540 | |
---|
| 541 | |
---|
| 542 | |
---|
| 543 | |
---|
| 544 | ////////////////////////////////////// |
---|
| 545 | |
---|
| 546 | |
---|
| 547 | // |
---|
| 548 | DBVT_INLINE btScalar Proximity( const btDbvtAabbMm& a, |
---|
| 549 | const btDbvtAabbMm& b) |
---|
| 550 | { |
---|
| 551 | const btVector3 d=(a.mi+a.mx)-(b.mi+b.mx); |
---|
| 552 | return(btFabs(d.x())+btFabs(d.y())+btFabs(d.z())); |
---|
| 553 | } |
---|
| 554 | |
---|
| 555 | // |
---|
| 556 | DBVT_INLINE int Select( const btDbvtAabbMm& o, |
---|
| 557 | const btDbvtAabbMm& a, |
---|
| 558 | const btDbvtAabbMm& b) |
---|
| 559 | { |
---|
| 560 | #if DBVT_SELECT_IMPL == DBVT_IMPL_SSE |
---|
| 561 | static DBVT_ALIGN const unsigned __int32 mask[]={0x7fffffff,0x7fffffff,0x7fffffff,0x7fffffff}; |
---|
| 562 | // TODO: the intrinsic version is 11% slower |
---|
| 563 | #if DBVT_USE_INTRINSIC_SSE |
---|
| 564 | __m128 omi(_mm_load_ps(o.mi)); |
---|
| 565 | omi=_mm_add_ps(omi,_mm_load_ps(o.mx)); |
---|
| 566 | __m128 ami(_mm_load_ps(a.mi)); |
---|
| 567 | ami=_mm_add_ps(ami,_mm_load_ps(a.mx)); |
---|
| 568 | ami=_mm_sub_ps(ami,omi); |
---|
| 569 | ami=_mm_and_ps(ami,_mm_load_ps((const float*)mask)); |
---|
| 570 | __m128 bmi(_mm_load_ps(b.mi)); |
---|
| 571 | bmi=_mm_add_ps(bmi,_mm_load_ps(b.mx)); |
---|
| 572 | bmi=_mm_sub_ps(bmi,omi); |
---|
| 573 | bmi=_mm_and_ps(bmi,_mm_load_ps((const float*)mask)); |
---|
| 574 | __m128 t0(_mm_movehl_ps(ami,ami)); |
---|
| 575 | ami=_mm_add_ps(ami,t0); |
---|
| 576 | ami=_mm_add_ss(ami,_mm_shuffle_ps(ami,ami,1)); |
---|
| 577 | __m128 t1(_mm_movehl_ps(bmi,bmi)); |
---|
| 578 | bmi=_mm_add_ps(bmi,t1); |
---|
| 579 | bmi=_mm_add_ss(bmi,_mm_shuffle_ps(bmi,bmi,1)); |
---|
| 580 | return(_mm_cmple_ss(bmi,ami).m128_u32[0]&1); |
---|
| 581 | #else |
---|
| 582 | DBVT_ALIGN __int32 r[1]; |
---|
| 583 | __asm |
---|
| 584 | { |
---|
| 585 | mov eax,o |
---|
| 586 | mov ecx,a |
---|
| 587 | mov edx,b |
---|
| 588 | movaps xmm0,[eax] |
---|
| 589 | movaps xmm5,mask |
---|
| 590 | addps xmm0,[eax+16] |
---|
| 591 | movaps xmm1,[ecx] |
---|
| 592 | movaps xmm2,[edx] |
---|
| 593 | addps xmm1,[ecx+16] |
---|
| 594 | addps xmm2,[edx+16] |
---|
| 595 | subps xmm1,xmm0 |
---|
| 596 | subps xmm2,xmm0 |
---|
| 597 | andps xmm1,xmm5 |
---|
| 598 | andps xmm2,xmm5 |
---|
| 599 | movhlps xmm3,xmm1 |
---|
| 600 | movhlps xmm4,xmm2 |
---|
| 601 | addps xmm1,xmm3 |
---|
| 602 | addps xmm2,xmm4 |
---|
| 603 | pshufd xmm3,xmm1,1 |
---|
| 604 | pshufd xmm4,xmm2,1 |
---|
| 605 | addss xmm1,xmm3 |
---|
| 606 | addss xmm2,xmm4 |
---|
| 607 | cmpless xmm2,xmm1 |
---|
| 608 | movss r,xmm2 |
---|
| 609 | } |
---|
| 610 | return(r[0]&1); |
---|
| 611 | #endif |
---|
| 612 | #else |
---|
| 613 | return(Proximity(o,a)<Proximity(o,b)?0:1); |
---|
| 614 | #endif |
---|
| 615 | } |
---|
| 616 | |
---|
| 617 | // |
---|
| 618 | DBVT_INLINE void Merge( const btDbvtAabbMm& a, |
---|
| 619 | const btDbvtAabbMm& b, |
---|
| 620 | btDbvtAabbMm& r) |
---|
| 621 | { |
---|
| 622 | #if DBVT_MERGE_IMPL==DBVT_IMPL_SSE |
---|
| 623 | __m128 ami(_mm_load_ps(a.mi)); |
---|
| 624 | __m128 amx(_mm_load_ps(a.mx)); |
---|
| 625 | __m128 bmi(_mm_load_ps(b.mi)); |
---|
| 626 | __m128 bmx(_mm_load_ps(b.mx)); |
---|
| 627 | ami=_mm_min_ps(ami,bmi); |
---|
| 628 | amx=_mm_max_ps(amx,bmx); |
---|
| 629 | _mm_store_ps(r.mi,ami); |
---|
| 630 | _mm_store_ps(r.mx,amx); |
---|
| 631 | #else |
---|
| 632 | for(int i=0;i<3;++i) |
---|
| 633 | { |
---|
| 634 | if(a.mi[i]<b.mi[i]) r.mi[i]=a.mi[i]; else r.mi[i]=b.mi[i]; |
---|
| 635 | if(a.mx[i]>b.mx[i]) r.mx[i]=a.mx[i]; else r.mx[i]=b.mx[i]; |
---|
| 636 | } |
---|
| 637 | #endif |
---|
| 638 | } |
---|
| 639 | |
---|
| 640 | // |
---|
| 641 | DBVT_INLINE bool NotEqual( const btDbvtAabbMm& a, |
---|
| 642 | const btDbvtAabbMm& b) |
---|
| 643 | { |
---|
| 644 | return( (a.mi.x()!=b.mi.x())|| |
---|
| 645 | (a.mi.y()!=b.mi.y())|| |
---|
| 646 | (a.mi.z()!=b.mi.z())|| |
---|
| 647 | (a.mx.x()!=b.mx.x())|| |
---|
| 648 | (a.mx.y()!=b.mx.y())|| |
---|
| 649 | (a.mx.z()!=b.mx.z())); |
---|
| 650 | } |
---|
| 651 | |
---|
| 652 | // |
---|
| 653 | // Inline's |
---|
| 654 | // |
---|
| 655 | |
---|
| 656 | // |
---|
| 657 | DBVT_PREFIX |
---|
| 658 | inline void btDbvt::enumNodes( const btDbvtNode* root, |
---|
| 659 | DBVT_IPOLICY) |
---|
| 660 | { |
---|
| 661 | DBVT_CHECKTYPE |
---|
| 662 | policy.Process(root); |
---|
| 663 | if(root->isinternal()) |
---|
| 664 | { |
---|
| 665 | enumNodes(root->childs[0],policy); |
---|
| 666 | enumNodes(root->childs[1],policy); |
---|
| 667 | } |
---|
| 668 | } |
---|
| 669 | |
---|
| 670 | // |
---|
| 671 | DBVT_PREFIX |
---|
| 672 | inline void btDbvt::enumLeaves( const btDbvtNode* root, |
---|
| 673 | DBVT_IPOLICY) |
---|
| 674 | { |
---|
| 675 | DBVT_CHECKTYPE |
---|
| 676 | if(root->isinternal()) |
---|
| 677 | { |
---|
| 678 | enumLeaves(root->childs[0],policy); |
---|
| 679 | enumLeaves(root->childs[1],policy); |
---|
| 680 | } |
---|
| 681 | else |
---|
| 682 | { |
---|
| 683 | policy.Process(root); |
---|
| 684 | } |
---|
| 685 | } |
---|
| 686 | |
---|
| 687 | // |
---|
| 688 | DBVT_PREFIX |
---|
| 689 | inline void btDbvt::collideTT( const btDbvtNode* root0, |
---|
| 690 | const btDbvtNode* root1, |
---|
| 691 | DBVT_IPOLICY) |
---|
| 692 | { |
---|
| 693 | DBVT_CHECKTYPE |
---|
| 694 | if(root0&&root1) |
---|
| 695 | { |
---|
| 696 | btAlignedObjectArray<sStkNN> stack; |
---|
| 697 | int depth=1; |
---|
| 698 | int treshold=DOUBLE_STACKSIZE-4; |
---|
| 699 | stack.resize(DOUBLE_STACKSIZE); |
---|
| 700 | stack[0]=sStkNN(root0,root1); |
---|
| 701 | do { |
---|
| 702 | sStkNN p=stack[--depth]; |
---|
| 703 | if(depth>treshold) |
---|
| 704 | { |
---|
| 705 | stack.resize(stack.size()*2); |
---|
| 706 | treshold=stack.size()-4; |
---|
| 707 | } |
---|
| 708 | if(p.a==p.b) |
---|
| 709 | { |
---|
| 710 | if(p.a->isinternal()) |
---|
| 711 | { |
---|
| 712 | stack[depth++]=sStkNN(p.a->childs[0],p.a->childs[0]); |
---|
| 713 | stack[depth++]=sStkNN(p.a->childs[1],p.a->childs[1]); |
---|
| 714 | stack[depth++]=sStkNN(p.a->childs[0],p.a->childs[1]); |
---|
| 715 | } |
---|
| 716 | } |
---|
| 717 | else if(Intersect(p.a->volume,p.b->volume)) |
---|
| 718 | { |
---|
| 719 | if(p.a->isinternal()) |
---|
| 720 | { |
---|
| 721 | if(p.b->isinternal()) |
---|
| 722 | { |
---|
| 723 | stack[depth++]=sStkNN(p.a->childs[0],p.b->childs[0]); |
---|
| 724 | stack[depth++]=sStkNN(p.a->childs[1],p.b->childs[0]); |
---|
| 725 | stack[depth++]=sStkNN(p.a->childs[0],p.b->childs[1]); |
---|
| 726 | stack[depth++]=sStkNN(p.a->childs[1],p.b->childs[1]); |
---|
| 727 | } |
---|
| 728 | else |
---|
| 729 | { |
---|
| 730 | stack[depth++]=sStkNN(p.a->childs[0],p.b); |
---|
| 731 | stack[depth++]=sStkNN(p.a->childs[1],p.b); |
---|
| 732 | } |
---|
| 733 | } |
---|
| 734 | else |
---|
| 735 | { |
---|
| 736 | if(p.b->isinternal()) |
---|
| 737 | { |
---|
| 738 | stack[depth++]=sStkNN(p.a,p.b->childs[0]); |
---|
| 739 | stack[depth++]=sStkNN(p.a,p.b->childs[1]); |
---|
| 740 | } |
---|
| 741 | else |
---|
| 742 | { |
---|
| 743 | policy.Process(p.a,p.b); |
---|
| 744 | } |
---|
| 745 | } |
---|
| 746 | } |
---|
| 747 | } while(depth); |
---|
| 748 | } |
---|
| 749 | } |
---|
| 750 | |
---|
| 751 | // |
---|
| 752 | DBVT_PREFIX |
---|
| 753 | inline void btDbvt::collideTT( const btDbvtNode* root0, |
---|
| 754 | const btDbvtNode* root1, |
---|
| 755 | const btTransform& xform, |
---|
| 756 | DBVT_IPOLICY) |
---|
| 757 | { |
---|
| 758 | DBVT_CHECKTYPE |
---|
| 759 | if(root0&&root1) |
---|
| 760 | { |
---|
| 761 | btAlignedObjectArray<sStkNN> stack; |
---|
| 762 | int depth=1; |
---|
| 763 | int treshold=DOUBLE_STACKSIZE-4; |
---|
| 764 | stack.resize(DOUBLE_STACKSIZE); |
---|
| 765 | stack[0]=sStkNN(root0,root1); |
---|
| 766 | do { |
---|
| 767 | sStkNN p=stack[--depth]; |
---|
| 768 | if(Intersect(p.a->volume,p.b->volume,xform)) |
---|
| 769 | { |
---|
| 770 | if(depth>treshold) |
---|
| 771 | { |
---|
| 772 | stack.resize(stack.size()*2); |
---|
| 773 | treshold=stack.size()-4; |
---|
| 774 | } |
---|
| 775 | if(p.a->isinternal()) |
---|
| 776 | { |
---|
| 777 | if(p.b->isinternal()) |
---|
| 778 | { |
---|
| 779 | stack[depth++]=sStkNN(p.a->childs[0],p.b->childs[0]); |
---|
| 780 | stack[depth++]=sStkNN(p.a->childs[1],p.b->childs[0]); |
---|
| 781 | stack[depth++]=sStkNN(p.a->childs[0],p.b->childs[1]); |
---|
| 782 | stack[depth++]=sStkNN(p.a->childs[1],p.b->childs[1]); |
---|
| 783 | } |
---|
| 784 | else |
---|
| 785 | { |
---|
| 786 | stack[depth++]=sStkNN(p.a->childs[0],p.b); |
---|
| 787 | stack[depth++]=sStkNN(p.a->childs[1],p.b); |
---|
| 788 | } |
---|
| 789 | } |
---|
| 790 | else |
---|
| 791 | { |
---|
| 792 | if(p.b->isinternal()) |
---|
| 793 | { |
---|
| 794 | stack[depth++]=sStkNN(p.a,p.b->childs[0]); |
---|
| 795 | stack[depth++]=sStkNN(p.a,p.b->childs[1]); |
---|
| 796 | } |
---|
| 797 | else |
---|
| 798 | { |
---|
| 799 | policy.Process(p.a,p.b); |
---|
| 800 | } |
---|
| 801 | } |
---|
| 802 | } |
---|
| 803 | } while(depth); |
---|
| 804 | } |
---|
| 805 | } |
---|
| 806 | |
---|
| 807 | // |
---|
| 808 | DBVT_PREFIX |
---|
| 809 | inline void btDbvt::collideTT( const btDbvtNode* root0, |
---|
| 810 | const btTransform& xform0, |
---|
| 811 | const btDbvtNode* root1, |
---|
| 812 | const btTransform& xform1, |
---|
| 813 | DBVT_IPOLICY) |
---|
| 814 | { |
---|
| 815 | const btTransform xform=xform0.inverse()*xform1; |
---|
| 816 | collideTT(root0,root1,xform,policy); |
---|
| 817 | } |
---|
| 818 | |
---|
| 819 | // |
---|
| 820 | DBVT_PREFIX |
---|
| 821 | inline void btDbvt::collideTV( const btDbvtNode* root, |
---|
| 822 | const btDbvtVolume& vol, |
---|
| 823 | DBVT_IPOLICY) |
---|
| 824 | { |
---|
| 825 | DBVT_CHECKTYPE |
---|
| 826 | if(root) |
---|
| 827 | { |
---|
| 828 | ATTRIBUTE_ALIGNED16(btDbvtVolume) volume(vol); |
---|
| 829 | btAlignedObjectArray<const btDbvtNode*> stack; |
---|
| 830 | stack.reserve(SIMPLE_STACKSIZE); |
---|
| 831 | stack.push_back(root); |
---|
| 832 | do { |
---|
| 833 | const btDbvtNode* n=stack[stack.size()-1]; |
---|
| 834 | stack.pop_back(); |
---|
| 835 | if(Intersect(n->volume,volume)) |
---|
| 836 | { |
---|
| 837 | if(n->isinternal()) |
---|
| 838 | { |
---|
| 839 | stack.push_back(n->childs[0]); |
---|
| 840 | stack.push_back(n->childs[1]); |
---|
| 841 | } |
---|
| 842 | else |
---|
| 843 | { |
---|
| 844 | policy.Process(n); |
---|
| 845 | } |
---|
| 846 | } |
---|
| 847 | } while(stack.size()>0); |
---|
| 848 | } |
---|
| 849 | } |
---|
| 850 | |
---|
| 851 | |
---|
| 852 | // |
---|
| 853 | DBVT_PREFIX |
---|
| 854 | inline void btDbvt::rayTest( const btDbvtNode* root, |
---|
| 855 | const btVector3& rayFrom, |
---|
| 856 | const btVector3& rayTo, |
---|
| 857 | DBVT_IPOLICY) |
---|
| 858 | { |
---|
| 859 | DBVT_CHECKTYPE |
---|
| 860 | if(root) |
---|
| 861 | { |
---|
| 862 | btVector3 rayDir = (rayTo-rayFrom); |
---|
| 863 | rayDir.normalize (); |
---|
| 864 | |
---|
| 865 | ///what about division by zero? --> just set rayDirection[i] to INF/1e30 |
---|
| 866 | btVector3 rayDirectionInverse; |
---|
| 867 | rayDirectionInverse[0] = rayDir[0] == btScalar(0.0) ? btScalar(1e30) : btScalar(1.0) / rayDir[0]; |
---|
| 868 | rayDirectionInverse[1] = rayDir[1] == btScalar(0.0) ? btScalar(1e30) : btScalar(1.0) / rayDir[1]; |
---|
| 869 | rayDirectionInverse[2] = rayDir[2] == btScalar(0.0) ? btScalar(1e30) : btScalar(1.0) / rayDir[2]; |
---|
| 870 | unsigned int signs[3] = { rayDirectionInverse[0] < 0.0, rayDirectionInverse[1] < 0.0, rayDirectionInverse[2] < 0.0}; |
---|
| 871 | |
---|
| 872 | |
---|
| 873 | btVector3 resultNormal; |
---|
| 874 | |
---|
| 875 | |
---|
| 876 | btAlignedObjectArray<const btDbvtNode*> stack; |
---|
| 877 | stack.reserve(SIMPLE_STACKSIZE); |
---|
| 878 | stack.push_back(root); |
---|
| 879 | do { |
---|
| 880 | const btDbvtNode* node=stack[stack.size()-1]; |
---|
| 881 | stack.pop_back(); |
---|
| 882 | |
---|
| 883 | btVector3 bounds[2] = {node->volume.Mins(),node->volume.Maxs()}; |
---|
| 884 | btScalar lambda_max = rayDir.dot(rayTo-rayFrom); |
---|
| 885 | btScalar tmin=1.f,lambda_min=0.f; |
---|
| 886 | bool result1 = btRayAabb2(rayFrom,rayDirectionInverse,signs,bounds,tmin,lambda_min,lambda_max); |
---|
| 887 | |
---|
| 888 | #ifdef COMPARE_BTRAY_AABB2 |
---|
| 889 | btScalar param=1.f; |
---|
| 890 | bool result2 = btRayAabb(rayFrom,rayTo,node->volume.Mins(),node->volume.Maxs(),param,resultNormal); |
---|
| 891 | btAssert(result1 == result2); |
---|
| 892 | #endif //TEST_BTRAY_AABB2 |
---|
| 893 | |
---|
| 894 | if(result1) |
---|
| 895 | { |
---|
| 896 | if(node->isinternal()) |
---|
| 897 | { |
---|
| 898 | stack.push_back(node->childs[0]); |
---|
| 899 | stack.push_back(node->childs[1]); |
---|
| 900 | } |
---|
| 901 | else |
---|
| 902 | { |
---|
| 903 | policy.Process(node); |
---|
| 904 | } |
---|
| 905 | } |
---|
| 906 | } while(stack.size()); |
---|
| 907 | } |
---|
| 908 | } |
---|
| 909 | |
---|
| 910 | // |
---|
| 911 | DBVT_PREFIX |
---|
| 912 | inline void btDbvt::collideKDOP(const btDbvtNode* root, |
---|
| 913 | const btVector3* normals, |
---|
| 914 | const btScalar* offsets, |
---|
| 915 | int count, |
---|
| 916 | DBVT_IPOLICY) |
---|
| 917 | { |
---|
| 918 | DBVT_CHECKTYPE |
---|
| 919 | if(root) |
---|
| 920 | { |
---|
| 921 | const int inside=(1<<count)-1; |
---|
| 922 | btAlignedObjectArray<sStkNP> stack; |
---|
| 923 | int signs[sizeof(unsigned)*8]; |
---|
| 924 | btAssert(count<int (sizeof(signs)/sizeof(signs[0]))); |
---|
| 925 | for(int i=0;i<count;++i) |
---|
| 926 | { |
---|
| 927 | signs[i]= ((normals[i].x()>=0)?1:0)+ |
---|
| 928 | ((normals[i].y()>=0)?2:0)+ |
---|
| 929 | ((normals[i].z()>=0)?4:0); |
---|
| 930 | } |
---|
| 931 | stack.reserve(SIMPLE_STACKSIZE); |
---|
| 932 | stack.push_back(sStkNP(root,0)); |
---|
| 933 | do { |
---|
| 934 | sStkNP se=stack[stack.size()-1]; |
---|
| 935 | bool out=false; |
---|
| 936 | stack.pop_back(); |
---|
| 937 | for(int i=0,j=1;(!out)&&(i<count);++i,j<<=1) |
---|
| 938 | { |
---|
| 939 | if(0==(se.mask&j)) |
---|
| 940 | { |
---|
| 941 | const int side=se.node->volume.Classify(normals[i],offsets[i],signs[i]); |
---|
| 942 | switch(side) |
---|
| 943 | { |
---|
| 944 | case -1: out=true;break; |
---|
| 945 | case +1: se.mask|=j;break; |
---|
| 946 | } |
---|
| 947 | } |
---|
| 948 | } |
---|
| 949 | if(!out) |
---|
| 950 | { |
---|
| 951 | if((se.mask!=inside)&&(se.node->isinternal())) |
---|
| 952 | { |
---|
| 953 | stack.push_back(sStkNP(se.node->childs[0],se.mask)); |
---|
| 954 | stack.push_back(sStkNP(se.node->childs[1],se.mask)); |
---|
| 955 | } |
---|
| 956 | else |
---|
| 957 | { |
---|
| 958 | if(policy.AllLeaves(se.node)) enumLeaves(se.node,policy); |
---|
| 959 | } |
---|
| 960 | } |
---|
| 961 | } while(stack.size()); |
---|
| 962 | } |
---|
| 963 | } |
---|
| 964 | |
---|
| 965 | // |
---|
| 966 | DBVT_PREFIX |
---|
| 967 | inline void btDbvt::collideOCL( const btDbvtNode* root, |
---|
| 968 | const btVector3* normals, |
---|
| 969 | const btScalar* offsets, |
---|
| 970 | const btVector3& sortaxis, |
---|
| 971 | int count, |
---|
| 972 | DBVT_IPOLICY, |
---|
| 973 | bool fsort) |
---|
| 974 | { |
---|
| 975 | DBVT_CHECKTYPE |
---|
| 976 | if(root) |
---|
| 977 | { |
---|
| 978 | const unsigned srtsgns=(sortaxis[0]>=0?1:0)+ |
---|
| 979 | (sortaxis[1]>=0?2:0)+ |
---|
| 980 | (sortaxis[2]>=0?4:0); |
---|
| 981 | const int inside=(1<<count)-1; |
---|
| 982 | btAlignedObjectArray<sStkNPS> stock; |
---|
| 983 | btAlignedObjectArray<int> ifree; |
---|
| 984 | btAlignedObjectArray<int> stack; |
---|
| 985 | int signs[sizeof(unsigned)*8]; |
---|
| 986 | btAssert(count<int (sizeof(signs)/sizeof(signs[0]))); |
---|
| 987 | for(int i=0;i<count;++i) |
---|
| 988 | { |
---|
| 989 | signs[i]= ((normals[i].x()>=0)?1:0)+ |
---|
| 990 | ((normals[i].y()>=0)?2:0)+ |
---|
| 991 | ((normals[i].z()>=0)?4:0); |
---|
| 992 | } |
---|
| 993 | stock.reserve(SIMPLE_STACKSIZE); |
---|
| 994 | stack.reserve(SIMPLE_STACKSIZE); |
---|
| 995 | ifree.reserve(SIMPLE_STACKSIZE); |
---|
| 996 | stack.push_back(allocate(ifree,stock,sStkNPS(root,0,root->volume.ProjectMinimum(sortaxis,srtsgns)))); |
---|
| 997 | do { |
---|
| 998 | const int id=stack[stack.size()-1]; |
---|
| 999 | sStkNPS se=stock[id]; |
---|
| 1000 | stack.pop_back();ifree.push_back(id); |
---|
| 1001 | if(se.mask!=inside) |
---|
| 1002 | { |
---|
| 1003 | bool out=false; |
---|
| 1004 | for(int i=0,j=1;(!out)&&(i<count);++i,j<<=1) |
---|
| 1005 | { |
---|
| 1006 | if(0==(se.mask&j)) |
---|
| 1007 | { |
---|
| 1008 | const int side=se.node->volume.Classify(normals[i],offsets[i],signs[i]); |
---|
| 1009 | switch(side) |
---|
| 1010 | { |
---|
| 1011 | case -1: out=true;break; |
---|
| 1012 | case +1: se.mask|=j;break; |
---|
| 1013 | } |
---|
| 1014 | } |
---|
| 1015 | } |
---|
| 1016 | if(out) continue; |
---|
| 1017 | } |
---|
| 1018 | if(policy.Descent(se.node)) |
---|
| 1019 | { |
---|
| 1020 | if(se.node->isinternal()) |
---|
| 1021 | { |
---|
| 1022 | const btDbvtNode* pns[]={ se.node->childs[0],se.node->childs[1]}; |
---|
| 1023 | sStkNPS nes[]={ sStkNPS(pns[0],se.mask,pns[0]->volume.ProjectMinimum(sortaxis,srtsgns)), |
---|
| 1024 | sStkNPS(pns[1],se.mask,pns[1]->volume.ProjectMinimum(sortaxis,srtsgns))}; |
---|
| 1025 | const int q=nes[0].value<nes[1].value?1:0; |
---|
| 1026 | int j=stack.size(); |
---|
| 1027 | if(fsort&&(j>0)) |
---|
| 1028 | { |
---|
| 1029 | /* Insert 0 */ |
---|
| 1030 | j=nearest(&stack[0],&stock[0],nes[q].value,0,stack.size()); |
---|
| 1031 | stack.push_back(0); |
---|
| 1032 | #if DBVT_USE_MEMMOVE |
---|
| 1033 | memmove(&stack[j+1],&stack[j],sizeof(int)*(stack.size()-j-1)); |
---|
| 1034 | #else |
---|
| 1035 | for(int k=stack.size()-1;k>j;--k) stack[k]=stack[k-1]; |
---|
| 1036 | #endif |
---|
| 1037 | stack[j]=allocate(ifree,stock,nes[q]); |
---|
| 1038 | /* Insert 1 */ |
---|
| 1039 | j=nearest(&stack[0],&stock[0],nes[1-q].value,j,stack.size()); |
---|
| 1040 | stack.push_back(0); |
---|
| 1041 | #if DBVT_USE_MEMMOVE |
---|
| 1042 | memmove(&stack[j+1],&stack[j],sizeof(int)*(stack.size()-j-1)); |
---|
| 1043 | #else |
---|
| 1044 | for(int k=stack.size()-1;k>j;--k) stack[k]=stack[k-1]; |
---|
| 1045 | #endif |
---|
| 1046 | stack[j]=allocate(ifree,stock,nes[1-q]); |
---|
| 1047 | } |
---|
| 1048 | else |
---|
| 1049 | { |
---|
| 1050 | stack.push_back(allocate(ifree,stock,nes[q])); |
---|
| 1051 | stack.push_back(allocate(ifree,stock,nes[1-q])); |
---|
| 1052 | } |
---|
| 1053 | } |
---|
| 1054 | else |
---|
| 1055 | { |
---|
| 1056 | policy.Process(se.node,se.value); |
---|
| 1057 | } |
---|
| 1058 | } |
---|
| 1059 | } while(stack.size()); |
---|
| 1060 | } |
---|
| 1061 | } |
---|
| 1062 | |
---|
| 1063 | // |
---|
| 1064 | DBVT_PREFIX |
---|
| 1065 | inline void btDbvt::collideTU( const btDbvtNode* root, |
---|
| 1066 | DBVT_IPOLICY) |
---|
| 1067 | { |
---|
| 1068 | DBVT_CHECKTYPE |
---|
| 1069 | if(root) |
---|
| 1070 | { |
---|
| 1071 | btAlignedObjectArray<const btDbvtNode*> stack; |
---|
| 1072 | stack.reserve(SIMPLE_STACKSIZE); |
---|
| 1073 | stack.push_back(root); |
---|
| 1074 | do { |
---|
| 1075 | const btDbvtNode* n=stack[stack.size()-1]; |
---|
| 1076 | stack.pop_back(); |
---|
| 1077 | if(policy.Descent(n)) |
---|
| 1078 | { |
---|
| 1079 | if(n->isinternal()) |
---|
| 1080 | { stack.push_back(n->childs[0]);stack.push_back(n->childs[1]); } |
---|
| 1081 | else |
---|
| 1082 | { policy.Process(n); } |
---|
| 1083 | } |
---|
| 1084 | } while(stack.size()>0); |
---|
| 1085 | } |
---|
| 1086 | } |
---|
| 1087 | |
---|
| 1088 | // |
---|
| 1089 | // PP Cleanup |
---|
| 1090 | // |
---|
| 1091 | |
---|
| 1092 | #undef DBVT_USE_MEMMOVE |
---|
| 1093 | #undef DBVT_USE_TEMPLATE |
---|
| 1094 | #undef DBVT_VIRTUAL_DTOR |
---|
| 1095 | #undef DBVT_VIRTUAL |
---|
| 1096 | #undef DBVT_PREFIX |
---|
| 1097 | #undef DBVT_IPOLICY |
---|
| 1098 | #undef DBVT_CHECKTYPE |
---|
| 1099 | #undef DBVT_IMPL_GENERIC |
---|
| 1100 | #undef DBVT_IMPL_SSE |
---|
| 1101 | #undef DBVT_USE_INTRINSIC_SSE |
---|
| 1102 | #undef DBVT_SELECT_IMPL |
---|
| 1103 | #undef DBVT_MERGE_IMPL |
---|
| 1104 | #undef DBVT_INT0_IMPL |
---|
| 1105 | |
---|
| 1106 | #endif |
---|