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Added a refit to the quantized stackless tree, with updated ConcaveDemo.

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This commit is contained in:
ejcoumans
2007-03-21 02:45:43 +00:00
parent b39ee3f723
commit 4685f6acc8
6 changed files with 215 additions and 65 deletions
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7
src/BulletCollision/CollisionShapes/btBvhTriangleMeshShape.cpp
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@@ -33,6 +33,13 @@ btBvhTriangleMeshShape::btBvhTriangleMeshShape(btStridingMeshInterface* meshInte
}
void btBvhTriangleMeshShape::refitTree()
{
m_bvh->refit( m_meshInterface );
recalcLocalAabb();
}
btBvhTriangleMeshShape::~btBvhTriangleMeshShape()
{
delete m_bvh;

1
src/BulletCollision/CollisionShapes/btBvhTriangleMeshShape.h
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@@ -44,6 +44,7 @@ public:
virtual void processAllTriangles(btTriangleCallback* callback,const btVector3& aabbMin,const btVector3& aabbMax) const;
void refitTree();
//debugging
virtual char* getName()const {return "BVHTRIANGLEMESH";}

185
src/BulletCollision/CollisionShapes/btOptimizedBvh.cpp
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@@ -18,7 +18,7 @@ subject to the following restrictions:
#include "LinearMath/btAabbUtil2.h"
btOptimizedBvh::btOptimizedBvh() : m_contiguousNodes(0), m_quantizedContiguousNodes(0), m_useQuantization(false)
btOptimizedBvh::btOptimizedBvh() : m_contiguousNodes(0), m_useQuantization(false)
{
}
@@ -100,27 +100,7 @@ void btOptimizedBvh::build(btStridingMeshInterface* triangles, bool useQuantized
m_triangleNodes.push_back(node);
}
};
struct AabbCalculationCallback : public btInternalTriangleIndexCallback
{
btVector3 m_aabbMin;
btVector3 m_aabbMax;
AabbCalculationCallback()
{
m_aabbMin.setValue(1e30,1e30,1e30);
m_aabbMax.setValue(-1e30,-1e30,-1e30);
}
virtual void internalProcessTriangleIndex(btVector3* triangle,int partId,int triangleIndex)
{
m_aabbMin.setMin(triangle[0]);
m_aabbMax.setMax(triangle[0]);
m_aabbMin.setMin(triangle[1]);
m_aabbMax.setMax(triangle[1]);
m_aabbMin.setMin(triangle[2]);
m_aabbMax.setMax(triangle[2]);
}
};
int numLeafNodes = 0;
@@ -128,28 +108,19 @@ void btOptimizedBvh::build(btStridingMeshInterface* triangles, bool useQuantized
if (m_useQuantization)
{
//first calculate the total aabb for all triangles
AabbCalculationCallback aabbCallback;
btVector3 aabbMin(btScalar(-1e30),btScalar(-1e30),btScalar(-1e30));
btVector3 aabbMax(btScalar(1e30),btScalar(1e30),btScalar(1e30));
triangles->InternalProcessAllTriangles(&aabbCallback,aabbMin,aabbMax);
//initialize quantization values
m_bvhAabbMin = aabbCallback.m_aabbMin;
m_bvhAabbMax = aabbCallback.m_aabbMax;
btVector3 aabbSize = m_bvhAabbMax - m_bvhAabbMin;
m_bvhQuantization = btVector3(btScalar(65535.0),btScalar(65535.0),btScalar(65535.0)) / aabbSize;
initQuantizationValues(triangles);
QuantizedNodeTriangleCallback callback(m_quantizedLeafNodes,this);
triangles->InternalProcessAllTriangles(&callback,aabbMin,aabbMax);
triangles->InternalProcessAllTriangles(&callback,m_bvhAabbMin,m_bvhAabbMax);
//now we have an array of leafnodes in m_leafNodes
numLeafNodes = m_quantizedLeafNodes.size();
m_quantizedContiguousNodes = new btQuantizedBvhNode[2*numLeafNodes];
m_quantizedContiguousNodes.resize(2*numLeafNodes);
} else
@@ -173,13 +144,151 @@ void btOptimizedBvh::build(btStridingMeshInterface* triangles, bool useQuantized
}
void btOptimizedBvh::refit(btStridingMeshInterface* meshInterface)
{
if (m_useQuantization)
{
int nodeSubPart=0;
initQuantizationValues(meshInterface);
//get access info to trianglemesh data
const unsigned char *vertexbase;
int numverts;
PHY_ScalarType type;
int stride;
const unsigned char *indexbase;
int indexstride;
int numfaces;
PHY_ScalarType indicestype;
meshInterface->getLockedReadOnlyVertexIndexBase(&vertexbase,numverts, type,stride,&indexbase,indexstride,numfaces,indicestype,nodeSubPart);
int numNodes = m_curNodeIndex;
int i;
for (i=numNodes-1;i>=0;i--)
{
btVector3 triangleVerts[3];
btQuantizedBvhNode& curNode = m_quantizedContiguousNodes[i];
if (curNode.isLeafNode())
{
//recalc aabb from triangle data
int nodeTriangleIndex = curNode.getTriangleIndex();
//triangles->getLockedReadOnlyVertexIndexBase(vertexBase,numVerts,
int* gfxbase = (int*)(indexbase+nodeTriangleIndex*indexstride);
const btVector3& meshScaling = meshInterface->getScaling();
for (int j=2;j>=0;j--)
{
int graphicsindex = gfxbase[j];
btScalar* graphicsbase = (btScalar*)(vertexbase+graphicsindex*stride);
triangleVerts[j] = btVector3(
graphicsbase[0]*meshScaling.getX(),
graphicsbase[1]*meshScaling.getY(),
graphicsbase[2]*meshScaling.getZ());
}
btVector3 aabbMin,aabbMax;
aabbMin.setValue(btScalar(1e30),btScalar(1e30),btScalar(1e30));
aabbMax.setValue(btScalar(-1e30),btScalar(-1e30),btScalar(-1e30));
aabbMin.setMin(triangleVerts[0]);
aabbMax.setMax(triangleVerts[0]);
aabbMin.setMin(triangleVerts[1]);
aabbMax.setMax(triangleVerts[1]);
aabbMin.setMin(triangleVerts[2]);
aabbMax.setMax(triangleVerts[2]);
quantizeWithClamp(&curNode.m_quantizedAabbMin[0],aabbMin);
quantizeWithClamp(&curNode.m_quantizedAabbMax[0],aabbMax);
int k;
k=0;
} else
{
//combine aabb from both children
btQuantizedBvhNode* leftChildNode = &m_quantizedContiguousNodes[i+1];
btQuantizedBvhNode* rightChildNode = leftChildNode->isLeafNode() ? &m_quantizedContiguousNodes[i+2] :
&m_quantizedContiguousNodes[i+1+leftChildNode->getEscapeIndex()];
int k;
k=0;
{
for (int i=0;i<3;i++)
{
curNode.m_quantizedAabbMin[i] = leftChildNode->m_quantizedAabbMin[i];
if (curNode.m_quantizedAabbMin[i]>rightChildNode->m_quantizedAabbMin[i])
curNode.m_quantizedAabbMin[i]=rightChildNode->m_quantizedAabbMin[i];
curNode.m_quantizedAabbMax[i] = leftChildNode->m_quantizedAabbMax[i];
if (curNode.m_quantizedAabbMax[i] < rightChildNode->m_quantizedAabbMax[i])
curNode.m_quantizedAabbMax[i] = rightChildNode->m_quantizedAabbMax[i];
}
}
}
}
meshInterface->unLockReadOnlyVertexBase(nodeSubPart);
} else
{
}
}
void btOptimizedBvh::initQuantizationValues(btStridingMeshInterface* triangles)
{
struct AabbCalculationCallback : public btInternalTriangleIndexCallback
{
btVector3 m_aabbMin;
btVector3 m_aabbMax;
AabbCalculationCallback()
{
m_aabbMin.setValue(1e30,1e30,1e30);
m_aabbMax.setValue(-1e30,-1e30,-1e30);
}
virtual void internalProcessTriangleIndex(btVector3* triangle,int partId,int triangleIndex)
{
m_aabbMin.setMin(triangle[0]);
m_aabbMax.setMax(triangle[0]);
m_aabbMin.setMin(triangle[1]);
m_aabbMax.setMax(triangle[1]);
m_aabbMin.setMin(triangle[2]);
m_aabbMax.setMax(triangle[2]);
}
};
//first calculate the total aabb for all triangles
AabbCalculationCallback aabbCallback;
btVector3 aabbMin(btScalar(-1e30),btScalar(-1e30),btScalar(-1e30));
btVector3 aabbMax(btScalar(1e30),btScalar(1e30),btScalar(1e30));
triangles->InternalProcessAllTriangles(&aabbCallback,aabbMin,aabbMax);
//initialize quantization values
m_bvhAabbMin = aabbCallback.m_aabbMin;
m_bvhAabbMax = aabbCallback.m_aabbMax;
btVector3 aabbSize = m_bvhAabbMax - m_bvhAabbMin;
m_bvhQuantization = btVector3(btScalar(65535.0),btScalar(65535.0),btScalar(65535.0)) / aabbSize;
}
btOptimizedBvh::~btOptimizedBvh()
{
if (m_contiguousNodes)
delete []m_contiguousNodes;
if (m_quantizedContiguousNodes)
delete []m_quantizedContiguousNodes;
}
#ifdef DEBUG_TREE_BUILDING
@@ -395,7 +504,7 @@ void btOptimizedBvh::walkStacklessQuantizedTree(btNodeOverlapCallback* nodeCallb
quantizeWithClamp(quantizedQueryAabbMin,aabbMin);
quantizeWithClamp(quantizedQueryAabbMax,aabbMax);
btQuantizedBvhNode* rootNode = &m_quantizedContiguousNodes[0];
const btQuantizedBvhNode* rootNode = &m_quantizedContiguousNodes[0];
int escapeIndex, curIndex = 0;
int walkIterations = 0;
bool aabbOverlap, isLeafNode;

12
src/BulletCollision/CollisionShapes/btOptimizedBvh.h
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@@ -97,8 +97,9 @@ class btOptimizedBvh
btOptimizedBvhNode* m_contiguousNodes;
QuantizedNodeArray m_quantizedLeafNodes;
btQuantizedBvhNode* m_quantizedContiguousNodes;
QuantizedNodeArray m_quantizedContiguousNodes;
int m_curNodeIndex;
@@ -151,6 +152,10 @@ class btOptimizedBvh
return m_leafNodes[nodeIndex].m_aabbMaxOrg;
}
void initQuantizationValues(btStridingMeshInterface* triangles);
void setInternalNodeEscapeIndex(int nodeIndex, int escapeIndex)
{
@@ -208,7 +213,7 @@ protected:
void walkStacklessQuantizedTree(btNodeOverlapCallback* nodeCallback,const btVector3& aabbMin,const btVector3& aabbMax) const;
inline bool testQuantizedAabbAgainstQuantizedAabb(unsigned short int* aabbMin1,unsigned short int* aabbMax1,unsigned short int* aabbMin2,unsigned short int* aabbMax2) const
inline bool testQuantizedAabbAgainstQuantizedAabb(unsigned short int* aabbMin1,unsigned short int* aabbMax1,const unsigned short int* aabbMin2,const unsigned short int* aabbMax2) const
{
bool overlap = true;
overlap = (aabbMin1[0] > aabbMax2[0] || aabbMax1[0] < aabbMin2[0]) ? false : overlap;
@@ -233,6 +238,7 @@ public:
btVector3 unQuantize(const unsigned short* vecIn) const;
void refit(btStridingMeshInterface* triangles);
};