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refit tree needs an aabbMin/aabbMax

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improved unquantization for quantized trees
reverted heightfield quantize
This commit is contained in:
ejcoumans
2008-02-28 02:55:25 +00:00
parent 94586390b6
commit 3d3d24afa9
9 changed files with 118 additions and 35 deletions
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5
Demos/ConcaveConvexcastDemo/ConcaveConvexcastDemo.cpp
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@@ -400,7 +400,10 @@ void ConcaveConvexcastDemo::clientMoveAndDisplay()
setVertexPositions(waveheight,offset);
trimeshShape->refitTree();
btVector3 worldMin(-1000,-1000,-1000);
btVector3 worldMax(1000,1000,1000);
trimeshShape->refitTree(worldMin,worldMax);
//clear all contact points involving mesh proxy. Note: this is a slow/unoptimized operation.
m_dynamicsWorld->getBroadphase()->getOverlappingPairCache()->cleanProxyFromPairs(staticBody->getBroadphaseHandle(),getDynamicsWorld()->getDispatcher());

5
Demos/ConcaveDemo/ConcavePhysicsDemo.cpp
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@@ -317,7 +317,10 @@ void ConcaveDemo::clientMoveAndDisplay()
setVertexPositions(waveheight,offset);
trimeshShape->refitTree();
btVector3 worldMin(-1000,-1000,-1000);
btVector3 worldMax(1000,1000,1000);
trimeshShape->refitTree(worldMin,worldMax);
//clear all contact points involving mesh proxy. Note: this is a slow/unoptimized operation.
m_dynamicsWorld->getBroadphase()->getOverlappingPairCache()->cleanProxyFromPairs(staticBody->getBroadphaseHandle(),getDynamicsWorld()->getDispatcher());

5
Demos/ConcaveRaycastDemo/ConcaveRaycastDemo.cpp
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@@ -401,8 +401,11 @@ void ConcaveRaycastDemo::clientMoveAndDisplay()
setVertexPositions(waveheight,offset);
trimeshShape->refitTree();
btVector3 worldMin(-1000,-1000,-1000);
btVector3 worldMax(1000,1000,1000);
trimeshShape->refitTree(worldMin,worldMax);
//clear all contact points involving mesh proxy. Note: this is a slow/unoptimized operation.
m_dynamicsWorld->getBroadphase()->getOverlappingPairCache()->cleanProxyFromPairs(staticBody->getBroadphaseHandle(),getDynamicsWorld()->getDispatcher());
}

2
Demos/OpenGL/GL_ShapeDrawer.cpp
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@@ -41,7 +41,7 @@ subject to the following restrictions:
#include "BulletCollision/CollisionShapes/btUniformScalingShape.h"
#include "BulletCollision/CollisionShapes/btStaticPlaneShape.h"
///
#include "ConvexHull/btShapeHull.h"
#include "btShapeHull.h"
#include "LinearMath/btTransformUtil.h"

4
src/BulletCollision/CollisionShapes/btBvhTriangleMeshShape.cpp
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@@ -75,9 +75,9 @@ void btBvhTriangleMeshShape::partialRefitTree(const btVector3& aabbMin,const btV
}
void btBvhTriangleMeshShape::refitTree()
void btBvhTriangleMeshShape::refitTree(const btVector3& aabbMin,const btVector3& aabbMax)
{
m_bvh->refit( m_meshInterface );
m_bvh->refit( m_meshInterface, aabbMin,aabbMax );
recalcLocalAabb();
}

2
src/BulletCollision/CollisionShapes/btBvhTriangleMeshShape.h
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@@ -53,7 +53,7 @@ public:
virtual void processAllTriangles(btTriangleCallback* callback,const btVector3& aabbMin,const btVector3& aabbMax) const;
void refitTree();
void refitTree(const btVector3& aabbMin,const btVector3& aabbMax);
///for a fast incremental refit of parts of the tree. Note: the entire AABB of the tree will become more conservative, it never shrinks
void partialRefitTree(const btVector3& aabbMin,const btVector3& aabbMax);

9
src/BulletCollision/CollisionShapes/btHeightfieldTerrainShape.cpp
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@@ -189,9 +189,12 @@ void btHeightfieldTerrainShape::quantizeWithClamp(int* out, const btVector3& poi
clampedPoint.setMin(m_localAabbMax);
btVector3 v = (clampedPoint);// - m_bvhAabbMin) * m_bvhQuantization;
out[0] = (unsigned short)(((unsigned short)v.getX() & 0xffffffe) | isMax);
out[1] = (unsigned short)(((unsigned short)v.getY() & 0xffffffe) | isMax);
out[2] = (unsigned short)(((unsigned short)v.getZ() & 0xffffffe) | isMax);
//TODO: optimization: check out how to removed this btFabs
out[0] = (int)(v.getX() + v.getX() / btFabs(v.getX())* btScalar(0.5) );
out[1] = (int)(v.getY() + v.getY() / btFabs(v.getY())* btScalar(0.5) );
out[2] = (int)(v.getZ() + v.getZ() / btFabs(v.getZ())* btScalar(0.5) );
}

23
src/BulletCollision/CollisionShapes/btOptimizedBvh.cpp
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@@ -132,8 +132,8 @@ void btOptimizedBvh::build(btStridingMeshInterface* triangles, bool useQuantized
aabbMin.setZ(aabbMin.z() - MIN_AABB_HALF_DIMENSION);
}
m_optimizedTree->quantizeWithClamp(&node.m_quantizedAabbMin[0],aabbMin,0);
m_optimizedTree->quantizeWithClamp(&node.m_quantizedAabbMax[0],aabbMax,1);
m_optimizedTree->quantize(&node.m_quantizedAabbMin[0],aabbMin,0);
m_optimizedTree->quantize(&node.m_quantizedAabbMax[0],aabbMax,1);
node.m_escapeIndexOrTriangleIndex = (partId<<(31-MAX_NUM_PARTS_IN_BITS)) | triangleIndex;
@@ -221,8 +221,8 @@ void btOptimizedBvh::refitPartial(btStridingMeshInterface* meshInterface,const b
unsigned short quantizedQueryAabbMin[3];
unsigned short quantizedQueryAabbMax[3];
quantizeWithClamp(&quantizedQueryAabbMin[0],aabbMin,0);
quantizeWithClamp(&quantizedQueryAabbMax[0],aabbMax,1);
quantize(&quantizedQueryAabbMin[0],aabbMin,0);
quantize(&quantizedQueryAabbMax[0],aabbMax,1);
int i;
for (i=0;i<this->m_SubtreeHeaders.size();i++)
@@ -328,8 +328,8 @@ void btOptimizedBvh::updateBvhNodes(btStridingMeshInterface* meshInterface,int f
aabbMin.setMin(triangleVerts[2]);
aabbMax.setMax(triangleVerts[2]);
quantizeWithClamp(&curNode.m_quantizedAabbMin[0],aabbMin,0);
quantizeWithClamp(&curNode.m_quantizedAabbMax[0],aabbMax,1);
quantize(&curNode.m_quantizedAabbMin[0],aabbMin,0);
quantize(&curNode.m_quantizedAabbMax[0],aabbMax,1);
} else
{
@@ -370,17 +370,14 @@ void btOptimizedBvh::setQuantizationValues(const btVector3& bvhAabbMin,const btV
m_bvhAabbMin = bvhAabbMin - clampValue;
m_bvhAabbMax = bvhAabbMax + clampValue;
btVector3 aabbSize = m_bvhAabbMax - m_bvhAabbMin;
m_bvhQuantization = btVector3(btScalar(65535.0),btScalar(65535.0),btScalar(65535.0)) / aabbSize;
m_bvhQuantization = btVector3(btScalar(65533.0),btScalar(65533.0),btScalar(65533.0)) / aabbSize;
}
void btOptimizedBvh::refit(btStridingMeshInterface* meshInterface)
void btOptimizedBvh::refit(btStridingMeshInterface* meshInterface,const btVector3& aabbMin,const btVector3& aabbMax)
{
if (m_useQuantization)
{
//calculate new aabb
btVector3 aabbMin,aabbMax;
meshInterface->calculateAabbBruteForce(aabbMin,aabbMax);
setQuantizationValues(aabbMin,aabbMax);
@@ -446,8 +443,8 @@ void btOptimizedBvh::buildTree (int startIndex,int endIndex)
int internalNodeIndex = m_curNodeIndex;
setInternalNodeAabbMax(m_curNodeIndex,btVector3(btScalar(-1e30),btScalar(-1e30),btScalar(-1e30)));
setInternalNodeAabbMin(m_curNodeIndex,btVector3(btScalar(1e30),btScalar(1e30),btScalar(1e30)));
setInternalNodeAabbMax(m_curNodeIndex,m_bvhAabbMin);
setInternalNodeAabbMin(m_curNodeIndex,m_bvhAabbMax);
for (i=startIndex;i<endIndex;i++)
{

98
src/BulletCollision/CollisionShapes/btOptimizedBvh.h
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@@ -16,7 +16,15 @@ subject to the following restrictions:
#ifndef OPTIMIZED_BVH_H
#define OPTIMIZED_BVH_H
//#define DEBUG_CHECK_DEQUANTIZATION 1
#ifdef DEBUG_CHECK_DEQUANTIZATION
#ifdef __SPU__
#define printf spu_printf
#endif //__SPU__
#include <stdio.h>
#include <stdlib.h>
#endif //DEBUG_CHECK_DEQUANTIZATION
#include "LinearMath/btVector3.h"
#include "LinearMath/btAlignedAllocator.h"
@@ -191,7 +199,7 @@ protected:
{
if (m_useQuantization)
{
quantizeWithClamp(&m_quantizedContiguousNodes[nodeIndex].m_quantizedAabbMin[0] ,aabbMin,0);
quantize(&m_quantizedContiguousNodes[nodeIndex].m_quantizedAabbMin[0] ,aabbMin,0);
} else
{
m_contiguousNodes[nodeIndex].m_aabbMinOrg = aabbMin;
@@ -202,7 +210,7 @@ protected:
{
if (m_useQuantization)
{
quantizeWithClamp(&m_quantizedContiguousNodes[nodeIndex].m_quantizedAabbMax[0],aabbMax,1);
quantize(&m_quantizedContiguousNodes[nodeIndex].m_quantizedAabbMax[0],aabbMax,1);
} else
{
m_contiguousNodes[nodeIndex].m_aabbMaxOrg = aabbMax;
@@ -251,8 +259,8 @@ protected:
{
unsigned short int quantizedAabbMin[3];
unsigned short int quantizedAabbMax[3];
quantizeWithClamp(quantizedAabbMin,newAabbMin,0);
quantizeWithClamp(quantizedAabbMax,newAabbMax,1);
quantize(quantizedAabbMin,newAabbMin,0);
quantize(quantizedAabbMax,newAabbMax,1);
for (int i=0;i<3;i++)
{
if (m_quantizedContiguousNodes[nodeIndex].m_quantizedAabbMin[i] > quantizedAabbMin[i])
@@ -332,19 +340,85 @@ public:
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;
SIMD_FORCE_INLINE void quantizeWithClamp(unsigned short* out, const btVector3& point,int isMax) const
SIMD_FORCE_INLINE void quantize(unsigned short* out, const btVector3& point,int isMax) const
{
btAssert(m_useQuantization);
btVector3 clampedPoint(point);
btAssert(point.getX() <= m_bvhAabbMax.getX());
btAssert(point.getY() <= m_bvhAabbMax.getY());
btAssert(point.getZ() <= m_bvhAabbMax.getZ());
btAssert(point.getX() >= m_bvhAabbMin.getX());
btAssert(point.getY() >= m_bvhAabbMin.getY());
btAssert(point.getZ() >= m_bvhAabbMin.getZ());
btVector3 v = (point - m_bvhAabbMin) * m_bvhQuantization;
///Make sure rounding is done in a way that unQuantize(quantizeWithClamp(...)) is conservative
///end-points always set the first bit, so that they are sorted properly (so that neighbouring AABBs overlap properly)
///todo: double-check this
if (isMax)
{
out[0] = (unsigned short) (((unsigned short)(v.getX()+btScalar(1.)) | 1));
out[1] = (unsigned short) (((unsigned short)(v.getY()+btScalar(1.)) | 1));
out[2] = (unsigned short) (((unsigned short)(v.getZ()+btScalar(1.)) | 1));
} else
{
out[0] = (unsigned short) (((unsigned short)(v.getX()) & 0xfffe));
out[1] = (unsigned short) (((unsigned short)(v.getY()) & 0xfffe));
out[2] = (unsigned short) (((unsigned short)(v.getZ()) & 0xfffe));
}
#ifdef DEBUG_CHECK_DEQUANTIZATION
btVector3 newPoint = unQuantize(out);
if (isMax)
{
if (newPoint.getX() < point.getX())
{
printf("unconservative X, diffX = %f, oldX=%f,newX=%f\n",newPoint.getX()-point.getX(), newPoint.getX(),point.getX());
}
if (newPoint.getY() < point.getY())
{
printf("unconservative Y, diffY = %f, oldY=%f,newY=%f\n",newPoint.getY()-point.getY(), newPoint.getY(),point.getY());
}
if (newPoint.getZ() < point.getZ())
{
printf("unconservative Z, diffZ = %f, oldZ=%f,newZ=%f\n",newPoint.getZ()-point.getZ(), newPoint.getZ(),point.getZ());
}
} else
{
if (newPoint.getX() > point.getX())
{
printf("unconservative X, diffX = %f, oldX=%f,newX=%f\n",newPoint.getX()-point.getX(), newPoint.getX(),point.getX());
}
if (newPoint.getY() > point.getY())
{
printf("unconservative Y, diffY = %f, oldY=%f,newY=%f\n",newPoint.getY()-point.getY(), newPoint.getY(),point.getY());
}
if (newPoint.getZ() > point.getZ())
{
printf("unconservative Z, diffZ = %f, oldZ=%f,newZ=%f\n",newPoint.getZ()-point.getZ(), newPoint.getZ(),point.getZ());
}
}
#endif //DEBUG_CHECK_DEQUANTIZATION
}
SIMD_FORCE_INLINE void quantizeWithClamp(unsigned short* out, const btVector3& point2,int isMax) const
{
btAssert(m_useQuantization);
btVector3 clampedPoint(point2);
clampedPoint.setMax(m_bvhAabbMin);
clampedPoint.setMin(m_bvhAabbMax);
btVector3 v = (clampedPoint - m_bvhAabbMin) * m_bvhQuantization;
out[0] = (unsigned short)(((unsigned short)v.getX() & 0xfffe) | isMax);
out[1] = (unsigned short)(((unsigned short)v.getY() & 0xfffe) | isMax);
out[2] = (unsigned short)(((unsigned short)v.getZ() & 0xfffe) | isMax);
quantize(out,clampedPoint,isMax);
}
SIMD_FORCE_INLINE btVector3 unQuantize(const unsigned short* vecIn) const
@@ -364,7 +438,7 @@ public:
m_traversalMode = traversalMode;
}
void refit(btStridingMeshInterface* triangles);
void refit(btStridingMeshInterface* triangles,const btVector3& aabbMin,const btVector3& aabbMax);
void refitPartial(btStridingMeshInterface* triangles,const btVector3& aabbMin, const btVector3& aabbMax);