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allow quantized AABB tree to be build and used for arbitrary arrays of AABBs, not just triangle meshes

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This commit is contained in:
erwin.coumans
2008-03-15 08:52:42 +00:00
parent 3b9e114d9b
commit 2478591e13
2 changed files with 50 additions and 2 deletions
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40
src/BulletCollision/CollisionShapes/btOptimizedBvh.cpp
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@@ -202,6 +202,45 @@ void btOptimizedBvh::build(btStridingMeshInterface* triangles, bool useQuantized
void btOptimizedBvh::buildInternal()
{
///assumes that caller filled in the m_quantizedLeafNodes
m_useQuantization = true;
int numLeafNodes = 0;
if (m_useQuantization)
{
//now we have an array of leafnodes in m_leafNodes
numLeafNodes = m_quantizedLeafNodes.size();
m_quantizedContiguousNodes.resize(2*numLeafNodes);
}
m_curNodeIndex = 0;
buildTree(0,numLeafNodes);
///if the entire tree is small then subtree size, we need to create a header info for the tree
if(m_useQuantization && !m_SubtreeHeaders.size())
{
btBvhSubtreeInfo& subtree = m_SubtreeHeaders.expand();
subtree.setAabbFromQuantizeNode(m_quantizedContiguousNodes[0]);
subtree.m_rootNodeIndex = 0;
subtree.m_subtreeSize = m_quantizedContiguousNodes[0].isLeafNode() ? 1 : m_quantizedContiguousNodes[0].getEscapeIndex();
}
//PCK: update the copy of the size
m_subtreeHeaderCount = m_SubtreeHeaders.size();
//PCK: clear m_quantizedLeafNodes and m_leafNodes, they are temporary
m_quantizedLeafNodes.clear();
m_leafNodes.clear();
}
void btOptimizedBvh::refitPartial(btStridingMeshInterface* meshInterface,const btVector3& aabbMin,const btVector3& aabbMax)
{
//incrementally initialize quantization values
@@ -371,6 +410,7 @@ void btOptimizedBvh::setQuantizationValues(const btVector3& bvhAabbMin,const btV
m_bvhAabbMax = bvhAabbMax + clampValue;
btVector3 aabbSize = m_bvhAabbMax - m_bvhAabbMin;
m_bvhQuantization = btVector3(btScalar(65533.0),btScalar(65533.0),btScalar(65533.0)) / aabbSize;
m_useQuantization = true;
}

12
src/BulletCollision/CollisionShapes/btOptimizedBvh.h
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@@ -238,7 +238,6 @@ protected:
}
void setQuantizationValues(const btVector3& bvhAabbMin,const btVector3& bvhAabbMax,btScalar quantizationMargin=btScalar(1.0));
void setInternalNodeEscapeIndex(int nodeIndex, int escapeIndex)
{
@@ -337,6 +336,13 @@ public:
void build(btStridingMeshInterface* triangles,bool useQuantizedAabbCompression, const btVector3& bvhAabbMin, const btVector3& bvhAabbMax);
///***************************************** expert/internal use only *************************
void setQuantizationValues(const btVector3& bvhAabbMin,const btVector3& bvhAabbMax,btScalar quantizationMargin=btScalar(1.0));
QuantizedNodeArray& getLeafNodeArray() { return m_quantizedLeafNodes; }
///buildInternal is expert use only: assumes that setQuantizationValues and LeafNodeArray are initialized
void buildInternal();
///***************************************** expert/internal use only *************************
void reportAabbOverlappingNodex(btNodeOverlapCallback* nodeCallback,const btVector3& aabbMin,const btVector3& aabbMax) const;
void reportRayOverlappingNodex (btNodeOverlapCallback* nodeCallback, const btVector3& raySource, const btVector3& rayTarget) const;
void reportBoxCastOverlappingNodex(btNodeOverlapCallback* nodeCallback, const btVector3& raySource, const btVector3& rayTarget, const btVector3& aabbMin,const btVector3& aabbMax) const;
@@ -450,11 +456,13 @@ public:
return m_quantizedContiguousNodes;
}
SIMD_FORCE_INLINE BvhSubtreeInfoArray& getSubtreeInfoArray()
{
return m_SubtreeHeaders;
}
/////Calculate space needed to store BVH for serialization
unsigned calculateSerializeBufferSize();