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; |
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451 | case (1+0+0): px=btVector3(mx.x(),mi.y(),mi.z()); |
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452 | pi=btVector3(mi.x(),mx.y(),mx.z());break; |
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453 | case (0+2+0): px=btVector3(mi.x(),mx.y(),mi.z()); |
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454 | pi=btVector3(mx.x(),mi.y(),mx.z());break; |
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455 | case (1+2+0): px=btVector3(mx.x(),mx.y(),mi.z()); |
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456 | pi=btVector3(mi.x(),mi.y(),mx.z());break; |
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457 | case (0+0+4): px=btVector3(mi.x(),mi.y(),mx.z()); |
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458 | pi=btVector3(mx.x(),mx.y(),mi.z());break; |
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459 | case (1+0+4): px=btVector3(mx.x(),mi.y(),mx.z()); |
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460 | pi=btVector3(mi.x(),mx.y(),mi.z());break; |
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461 | case (0+2+4): px=btVector3(mi.x(),mx.y(),mx.z()); |
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462 | pi=btVector3(mx.x(),mi.y(),mi.z());break; |
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463 | case (1+2+4): px=btVector3(mx.x(),mx.y(),mx.z()); |
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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 |
---|