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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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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);