CDTestFramework, OPCODE, ICE redistributed under the ZLib License, with permission of Pierre Terdiman
Added Bullet SAP/MultiSAP support by Erwin Coumans (BulletSAPCompleteBoxPruningTest.*) AABB tree broadphase by Nathanael Presson (btDbvt.*, DbvtTest.*)
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erwin.coumans
146
Extras/CDTestFramework/Opcode/OPC_AABBTree.h
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146
Extras/CDTestFramework/Opcode/OPC_AABBTree.h
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/*
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* OPCODE - Optimized Collision Detection
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* http://www.codercorner.com/Opcode.htm
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*
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* Copyright (c) 2001-2008 Pierre Terdiman, pierre@codercorner.com
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This software is provided 'as-is', without any express or implied warranty.
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In no event will the authors be held liable for any damages arising from the use of this software.
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Permission is granted to anyone to use this software for any purpose,
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including commercial applications, and to alter it and redistribute it freely,
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subject to the following restrictions:
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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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2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
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3. This notice may not be removed or altered from any source distribution.
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*/
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///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
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/**
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* Contains code for a versatile AABB tree.
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* \file OPC_AABBTree.h
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* \author Pierre Terdiman
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* \date March, 20, 2001
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*/
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///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
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///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
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// Include Guard
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#ifndef __OPC_AABBTREE_H__
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#define __OPC_AABBTREE_H__
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#ifdef OPC_NO_NEG_VANILLA_TREE
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//! TO BE DOCUMENTED
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#define IMPLEMENT_TREE(base_class, volume) \
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public: \
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/* Constructor / Destructor */ \
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base_class(); \
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~base_class(); \
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/* Data access */ \
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inline_ const volume* Get##volume() const { return &mBV; } \
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/* Clear the last bit */ \
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inline_ const base_class* GetPos() const { return (const base_class*)(mPos&~1); } \
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inline_ const base_class* GetNeg() const { const base_class* P = GetPos(); return P ? P+1 : null;} \
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\
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/* We don't need to test both nodes since we can't have one without the other */ \
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inline_ bool IsLeaf() const { return !GetPos(); } \
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\
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/* Stats */ \
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inline_ udword GetNodeSize() const { return SIZEOFOBJECT; } \
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protected: \
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/* Tree-independent data */ \
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/* Following data always belong to the BV-tree, regardless of what the tree actually contains.*/ \
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/* Whatever happens we need the two children and the enclosing volume.*/ \
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volume mBV; /* Global bounding-volume enclosing all the node-related primitives */ \
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udword mPos; /* "Positive" & "Negative" children */
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#else
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//! TO BE DOCUMENTED
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#define IMPLEMENT_TREE(base_class, volume) \
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public: \
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/* Constructor / Destructor */ \
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base_class(); \
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~base_class(); \
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/* Data access */ \
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inline_ const volume* Get##volume() const { return &mBV; } \
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/* Clear the last bit */ \
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inline_ const base_class* GetPos() const { return (const base_class*)(mPos&~1); } \
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inline_ const base_class* GetNeg() const { return (const base_class*)(mNeg&~1); } \
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\
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/* inline_ bool IsLeaf() const { return (!GetPos() && !GetNeg()); } */ \
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/* We don't need to test both nodes since we can't have one without the other */ \
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inline_ bool IsLeaf() const { return !GetPos(); } \
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\
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/* Stats */ \
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inline_ udword GetNodeSize() const { return SIZEOFOBJECT; } \
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protected: \
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/* Tree-independent data */ \
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/* Following data always belong to the BV-tree, regardless of what the tree actually contains.*/ \
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/* Whatever happens we need the two children and the enclosing volume.*/ \
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volume mBV; /* Global bounding-volume enclosing all the node-related primitives */ \
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udword mPos; /* "Positive" child */ \
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udword mNeg; /* "Negative" child */
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#endif
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typedef void (*CullingCallback) (udword nb_primitives, udword* node_primitives, BOOL need_clipping, void* user_data);
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class OPCODE_API AABBTreeNode
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{
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IMPLEMENT_TREE(AABBTreeNode, AABB)
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public:
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// Data access
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inline_ const udword* GetPrimitives() const { return mNodePrimitives; }
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inline_ udword GetNbPrimitives() const { return mNbPrimitives; }
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protected:
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// Tree-dependent data
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udword* mNodePrimitives; //!< Node-related primitives (shortcut to a position in mIndices below)
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udword mNbPrimitives; //!< Number of primitives for this node
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// Internal methods
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udword Split(udword axis, AABBTreeBuilder* builder);
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bool Subdivide(AABBTreeBuilder* builder);
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void _BuildHierarchy(AABBTreeBuilder* builder);
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void _Refit(AABBTreeBuilder* builder);
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};
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///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
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/**
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* User-callback, called for each node by the walking code.
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* \param current [in] current node
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* \param depth [in] current node's depth
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* \param user_data [in] user-defined data
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* \return true to recurse through children, else false to bypass them
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*/
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///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
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typedef bool (*WalkingCallback) (const AABBTreeNode* current, udword depth, void* user_data);
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class OPCODE_API AABBTree : public AABBTreeNode
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{
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public:
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// Constructor / Destructor
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AABBTree();
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~AABBTree();
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// Build
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bool Build(AABBTreeBuilder* builder);
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void Release();
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// Data access
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inline_ const udword* GetIndices() const { return mIndices; } //!< Catch the indices
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inline_ udword GetNbNodes() const { return mTotalNbNodes; } //!< Catch the number of nodes
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// Infos
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bool IsComplete() const;
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// Stats
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udword ComputeDepth() const;
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udword GetUsedBytes() const;
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udword Walk(WalkingCallback callback, void* user_data) const;
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bool Refit(AABBTreeBuilder* builder);
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bool Refit2(AABBTreeBuilder* builder);
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private:
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udword* mIndices; //!< Indices in the app list. Indices are reorganized during build (permutation).
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AABBTreeNode* mPool; //!< Linear pool of nodes for complete trees. Null otherwise. [Opcode 1.3]
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// Stats
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udword mTotalNbNodes; //!< Number of nodes in the tree.
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};
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#endif // __OPC_AABBTREE_H__
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