Removed (circular) dependency between broadphase and collision shapes: moved parts CollisionShapes/btOptimizedBvh into BroadphaseCollision/btQuantizedBvh
This commit is contained in:
erwin.coumans
File diff suppressed because it is too large
Load Diff
@@ -16,477 +16,35 @@ subject to the following restrictions:
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#ifndef OPTIMIZED_BVH_H
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#define OPTIMIZED_BVH_H
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//#define DEBUG_CHECK_DEQUANTIZATION 1
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#ifdef DEBUG_CHECK_DEQUANTIZATION
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#ifdef __SPU__
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#define printf spu_printf
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#endif //__SPU__
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#include <stdio.h>
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#include <stdlib.h>
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#endif //DEBUG_CHECK_DEQUANTIZATION
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#include "LinearMath/btVector3.h"
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#include "LinearMath/btAlignedAllocator.h"
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//http://msdn.microsoft.com/library/default.asp?url=/library/en-us/vclang/html/vclrf__m128.asp
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#include "BulletCollision/BroadphaseCollision/btQuantizedBvh.h"
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class btStridingMeshInterface;
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//Note: currently we have 16 bytes per quantized node
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#define MAX_SUBTREE_SIZE_IN_BYTES 2048
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// 10 gives the potential for 1024 parts, with at most 2^21 (2097152) (minus one
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// actually) triangles each (since the sign bit is reserved
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#define MAX_NUM_PARTS_IN_BITS 10
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///btQuantizedBvhNode is a compressed aabb node, 16 bytes.
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///Node can be used for leafnode or internal node. Leafnodes can point to 32-bit triangle index (non-negative range).
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ATTRIBUTE_ALIGNED16 (struct) btQuantizedBvhNode
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{
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BT_DECLARE_ALIGNED_ALLOCATOR();
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//12 bytes
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unsigned short int m_quantizedAabbMin[3];
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unsigned short int m_quantizedAabbMax[3];
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//4 bytes
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int m_escapeIndexOrTriangleIndex;
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bool isLeafNode() const
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{
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//skipindex is negative (internal node), triangleindex >=0 (leafnode)
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return (m_escapeIndexOrTriangleIndex >= 0);
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}
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int getEscapeIndex() const
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{
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btAssert(!isLeafNode());
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return -m_escapeIndexOrTriangleIndex;
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}
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int getTriangleIndex() const
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{
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btAssert(isLeafNode());
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// Get only the lower bits where the triangle index is stored
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return (m_escapeIndexOrTriangleIndex&~((~0)<<(31-MAX_NUM_PARTS_IN_BITS)));
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}
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int getPartId() const
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{
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btAssert(isLeafNode());
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// Get only the highest bits where the part index is stored
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return (m_escapeIndexOrTriangleIndex>>(31-MAX_NUM_PARTS_IN_BITS));
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}
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}
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;
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/// btOptimizedBvhNode contains both internal and leaf node information.
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/// Total node size is 44 bytes / node. You can use the compressed version of 16 bytes.
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ATTRIBUTE_ALIGNED16 (struct) btOptimizedBvhNode
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{
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BT_DECLARE_ALIGNED_ALLOCATOR();
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//32 bytes
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btVector3 m_aabbMinOrg;
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btVector3 m_aabbMaxOrg;
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//4
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int m_escapeIndex;
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//8
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//for child nodes
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int m_subPart;
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int m_triangleIndex;
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int m_padding[5];//bad, due to alignment
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};
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///btBvhSubtreeInfo provides info to gather a subtree of limited size
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ATTRIBUTE_ALIGNED16(class) btBvhSubtreeInfo
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///OptimizedBvh extends the btQuantizedBvh to create AABB tree for triangle meshes, through the btStridingMeshInterface.
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ATTRIBUTE_ALIGNED16(class) btOptimizedBvh : public btQuantizedBvh
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{
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public:
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BT_DECLARE_ALIGNED_ALLOCATOR();
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//12 bytes
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unsigned short int m_quantizedAabbMin[3];
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unsigned short int m_quantizedAabbMax[3];
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//4 bytes, points to the root of the subtree
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int m_rootNodeIndex;
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//4 bytes
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int m_subtreeSize;
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int m_padding[3];
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btBvhSubtreeInfo()
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{
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//memset(&m_padding[0], 0, sizeof(m_padding));
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}
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void setAabbFromQuantizeNode(const btQuantizedBvhNode& quantizedNode)
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{
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m_quantizedAabbMin[0] = quantizedNode.m_quantizedAabbMin[0];
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m_quantizedAabbMin[1] = quantizedNode.m_quantizedAabbMin[1];
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m_quantizedAabbMin[2] = quantizedNode.m_quantizedAabbMin[2];
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m_quantizedAabbMax[0] = quantizedNode.m_quantizedAabbMax[0];
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m_quantizedAabbMax[1] = quantizedNode.m_quantizedAabbMax[1];
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m_quantizedAabbMax[2] = quantizedNode.m_quantizedAabbMax[2];
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}
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}
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;
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class btNodeOverlapCallback
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{
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public:
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virtual ~btNodeOverlapCallback() {};
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virtual void processNode(int subPart, int triangleIndex) = 0;
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};
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#include "LinearMath/btAlignedAllocator.h"
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#include "LinearMath/btAlignedObjectArray.h"
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///for code readability:
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typedef btAlignedObjectArray<btOptimizedBvhNode> NodeArray;
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typedef btAlignedObjectArray<btQuantizedBvhNode> QuantizedNodeArray;
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typedef btAlignedObjectArray<btBvhSubtreeInfo> BvhSubtreeInfoArray;
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///OptimizedBvh store an AABB tree that can be quickly traversed on CPU (and SPU,GPU in future)
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ATTRIBUTE_ALIGNED16(class) btOptimizedBvh
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{
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NodeArray m_leafNodes;
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NodeArray m_contiguousNodes;
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QuantizedNodeArray m_quantizedLeafNodes;
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QuantizedNodeArray m_quantizedContiguousNodes;
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int m_curNodeIndex;
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//quantization data
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bool m_useQuantization;
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btVector3 m_bvhAabbMin;
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btVector3 m_bvhAabbMax;
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btVector3 m_bvhQuantization;
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public:
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BT_DECLARE_ALIGNED_ALLOCATOR();
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enum btTraversalMode
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{
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TRAVERSAL_STACKLESS = 0,
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TRAVERSAL_STACKLESS_CACHE_FRIENDLY,
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TRAVERSAL_RECURSIVE
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};
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protected:
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btTraversalMode m_traversalMode;
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BvhSubtreeInfoArray m_SubtreeHeaders;
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//This is only used for serialization so we don't have to add serialization directly to btAlignedObjectArray
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int m_subtreeHeaderCount;
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///two versions, one for quantized and normal nodes. This allows code-reuse while maintaining readability (no template/macro!)
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///this might be refactored into a virtual, it is usually not calculated at run-time
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void setInternalNodeAabbMin(int nodeIndex, const btVector3& aabbMin)
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{
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if (m_useQuantization)
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{
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quantize(&m_quantizedContiguousNodes[nodeIndex].m_quantizedAabbMin[0] ,aabbMin,0);
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} else
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{
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m_contiguousNodes[nodeIndex].m_aabbMinOrg = aabbMin;
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}
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}
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void setInternalNodeAabbMax(int nodeIndex,const btVector3& aabbMax)
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{
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if (m_useQuantization)
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{
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quantize(&m_quantizedContiguousNodes[nodeIndex].m_quantizedAabbMax[0],aabbMax,1);
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} else
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{
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m_contiguousNodes[nodeIndex].m_aabbMaxOrg = aabbMax;
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}
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}
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btVector3 getAabbMin(int nodeIndex) const
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{
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if (m_useQuantization)
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{
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return unQuantize(&m_quantizedLeafNodes[nodeIndex].m_quantizedAabbMin[0]);
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}
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//non-quantized
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return m_leafNodes[nodeIndex].m_aabbMinOrg;
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}
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btVector3 getAabbMax(int nodeIndex) const
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{
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if (m_useQuantization)
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{
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return unQuantize(&m_quantizedLeafNodes[nodeIndex].m_quantizedAabbMax[0]);
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}
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//non-quantized
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return m_leafNodes[nodeIndex].m_aabbMaxOrg;
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}
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void setInternalNodeEscapeIndex(int nodeIndex, int escapeIndex)
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{
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if (m_useQuantization)
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{
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m_quantizedContiguousNodes[nodeIndex].m_escapeIndexOrTriangleIndex = -escapeIndex;
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}
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else
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{
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m_contiguousNodes[nodeIndex].m_escapeIndex = escapeIndex;
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}
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}
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void mergeInternalNodeAabb(int nodeIndex,const btVector3& newAabbMin,const btVector3& newAabbMax)
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{
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if (m_useQuantization)
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{
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unsigned short int quantizedAabbMin[3];
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unsigned short int quantizedAabbMax[3];
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quantize(quantizedAabbMin,newAabbMin,0);
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quantize(quantizedAabbMax,newAabbMax,1);
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for (int i=0;i<3;i++)
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{
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if (m_quantizedContiguousNodes[nodeIndex].m_quantizedAabbMin[i] > quantizedAabbMin[i])
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m_quantizedContiguousNodes[nodeIndex].m_quantizedAabbMin[i] = quantizedAabbMin[i];
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if (m_quantizedContiguousNodes[nodeIndex].m_quantizedAabbMax[i] < quantizedAabbMax[i])
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m_quantizedContiguousNodes[nodeIndex].m_quantizedAabbMax[i] = quantizedAabbMax[i];
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}
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} else
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{
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//non-quantized
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m_contiguousNodes[nodeIndex].m_aabbMinOrg.setMin(newAabbMin);
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m_contiguousNodes[nodeIndex].m_aabbMaxOrg.setMax(newAabbMax);
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}
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}
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void swapLeafNodes(int firstIndex,int secondIndex);
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void assignInternalNodeFromLeafNode(int internalNode,int leafNodeIndex);
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protected:
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void buildTree (int startIndex,int endIndex);
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int calcSplittingAxis(int startIndex,int endIndex);
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int sortAndCalcSplittingIndex(int startIndex,int endIndex,int splitAxis);
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void walkStacklessTree(btNodeOverlapCallback* nodeCallback,const btVector3& aabbMin,const btVector3& aabbMax) const;
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void walkStacklessQuantizedTreeAgainstRay(btNodeOverlapCallback* nodeCallback, const btVector3& raySource, const btVector3& rayTarget, const btVector3& aabbMin, const btVector3& aabbMax, int startNodeIndex,int endNodeIndex) const;
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void walkStacklessQuantizedTree(btNodeOverlapCallback* nodeCallback,unsigned short int* quantizedQueryAabbMin,unsigned short int* quantizedQueryAabbMax,int startNodeIndex,int endNodeIndex) const;
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///tree traversal designed for small-memory processors like PS3 SPU
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void walkStacklessQuantizedTreeCacheFriendly(btNodeOverlapCallback* nodeCallback,unsigned short int* quantizedQueryAabbMin,unsigned short int* quantizedQueryAabbMax) const;
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///use the 16-byte stackless 'skipindex' node tree to do a recursive traversal
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void walkRecursiveQuantizedTreeAgainstQueryAabb(const btQuantizedBvhNode* currentNode,btNodeOverlapCallback* nodeCallback,unsigned short int* quantizedQueryAabbMin,unsigned short int* quantizedQueryAabbMax) const;
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///use the 16-byte stackless 'skipindex' node tree to do a recursive traversal
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void walkRecursiveQuantizedTreeAgainstQuantizedTree(const btQuantizedBvhNode* treeNodeA,const btQuantizedBvhNode* treeNodeB,btNodeOverlapCallback* nodeCallback) const;
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#define USE_BANCHLESS 1
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#ifdef USE_BANCHLESS
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//This block replaces the block below and uses no branches, and replaces the 8 bit return with a 32 bit return for improved performance (~3x on XBox 360)
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SIMD_FORCE_INLINE unsigned testQuantizedAabbAgainstQuantizedAabb(unsigned short int* aabbMin1,unsigned short int* aabbMax1,const unsigned short int* aabbMin2,const unsigned short int* aabbMax2) const
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{
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return static_cast<unsigned int>(btSelect((unsigned)((aabbMin1[0] <= aabbMax2[0]) & (aabbMax1[0] >= aabbMin2[0])
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& (aabbMin1[2] <= aabbMax2[2]) & (aabbMax1[2] >= aabbMin2[2])
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& (aabbMin1[1] <= aabbMax2[1]) & (aabbMax1[1] >= aabbMin2[1])),
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1, 0));
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}
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#else
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SIMD_FORCE_INLINE bool testQuantizedAabbAgainstQuantizedAabb(unsigned short int* aabbMin1,unsigned short int* aabbMax1,const unsigned short int* aabbMin2,const unsigned short int* aabbMax2) const
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{
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bool overlap = true;
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overlap = (aabbMin1[0] > aabbMax2[0] || aabbMax1[0] < aabbMin2[0]) ? false : overlap;
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overlap = (aabbMin1[2] > aabbMax2[2] || aabbMax1[2] < aabbMin2[2]) ? false : overlap;
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overlap = (aabbMin1[1] > aabbMax2[1] || aabbMax1[1] < aabbMin2[1]) ? false : overlap;
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return overlap;
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}
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#endif //USE_BANCHLESS
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void updateSubtreeHeaders(int leftChildNodexIndex,int rightChildNodexIndex);
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public:
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btOptimizedBvh();
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virtual ~btOptimizedBvh();
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void build(btStridingMeshInterface* triangles,bool useQuantizedAabbCompression, const btVector3& bvhAabbMin, const btVector3& bvhAabbMax);
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///***************************************** expert/internal use only *************************
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void setQuantizationValues(const btVector3& bvhAabbMin,const btVector3& bvhAabbMax,btScalar quantizationMargin=btScalar(1.0));
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QuantizedNodeArray& getLeafNodeArray() { return m_quantizedLeafNodes; }
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///buildInternal is expert use only: assumes that setQuantizationValues and LeafNodeArray are initialized
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void buildInternal();
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///***************************************** expert/internal use only *************************
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void reportAabbOverlappingNodex(btNodeOverlapCallback* nodeCallback,const btVector3& aabbMin,const btVector3& aabbMax) const;
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void reportRayOverlappingNodex (btNodeOverlapCallback* nodeCallback, const btVector3& raySource, const btVector3& rayTarget) const;
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void reportBoxCastOverlappingNodex(btNodeOverlapCallback* nodeCallback, const btVector3& raySource, const btVector3& rayTarget, const btVector3& aabbMin,const btVector3& aabbMax) const;
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SIMD_FORCE_INLINE void quantize(unsigned short* out, const btVector3& point,int isMax) const
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{
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btAssert(m_useQuantization);
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btAssert(point.getX() <= m_bvhAabbMax.getX());
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btAssert(point.getY() <= m_bvhAabbMax.getY());
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btAssert(point.getZ() <= m_bvhAabbMax.getZ());
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btAssert(point.getX() >= m_bvhAabbMin.getX());
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btAssert(point.getY() >= m_bvhAabbMin.getY());
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btAssert(point.getZ() >= m_bvhAabbMin.getZ());
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btVector3 v = (point - m_bvhAabbMin) * m_bvhQuantization;
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///Make sure rounding is done in a way that unQuantize(quantizeWithClamp(...)) is conservative
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///end-points always set the first bit, so that they are sorted properly (so that neighbouring AABBs overlap properly)
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///todo: double-check this
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if (isMax)
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{
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out[0] = (unsigned short) (((unsigned short)(v.getX()+btScalar(1.)) | 1));
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out[1] = (unsigned short) (((unsigned short)(v.getY()+btScalar(1.)) | 1));
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out[2] = (unsigned short) (((unsigned short)(v.getZ()+btScalar(1.)) | 1));
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} else
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{
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out[0] = (unsigned short) (((unsigned short)(v.getX()) & 0xfffe));
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out[1] = (unsigned short) (((unsigned short)(v.getY()) & 0xfffe));
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out[2] = (unsigned short) (((unsigned short)(v.getZ()) & 0xfffe));
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}
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#ifdef DEBUG_CHECK_DEQUANTIZATION
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btVector3 newPoint = unQuantize(out);
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if (isMax)
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{
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if (newPoint.getX() < point.getX())
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{
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printf("unconservative X, diffX = %f, oldX=%f,newX=%f\n",newPoint.getX()-point.getX(), newPoint.getX(),point.getX());
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}
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if (newPoint.getY() < point.getY())
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{
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printf("unconservative Y, diffY = %f, oldY=%f,newY=%f\n",newPoint.getY()-point.getY(), newPoint.getY(),point.getY());
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}
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if (newPoint.getZ() < point.getZ())
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{
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printf("unconservative Z, diffZ = %f, oldZ=%f,newZ=%f\n",newPoint.getZ()-point.getZ(), newPoint.getZ(),point.getZ());
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}
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} else
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{
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if (newPoint.getX() > point.getX())
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{
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printf("unconservative X, diffX = %f, oldX=%f,newX=%f\n",newPoint.getX()-point.getX(), newPoint.getX(),point.getX());
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}
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if (newPoint.getY() > point.getY())
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{
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printf("unconservative Y, diffY = %f, oldY=%f,newY=%f\n",newPoint.getY()-point.getY(), newPoint.getY(),point.getY());
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}
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if (newPoint.getZ() > point.getZ())
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{
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printf("unconservative Z, diffZ = %f, oldZ=%f,newZ=%f\n",newPoint.getZ()-point.getZ(), newPoint.getZ(),point.getZ());
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}
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}
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#endif //DEBUG_CHECK_DEQUANTIZATION
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}
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SIMD_FORCE_INLINE void quantizeWithClamp(unsigned short* out, const btVector3& point2,int isMax) const
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{
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btAssert(m_useQuantization);
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btVector3 clampedPoint(point2);
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clampedPoint.setMax(m_bvhAabbMin);
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clampedPoint.setMin(m_bvhAabbMax);
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quantize(out,clampedPoint,isMax);
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}
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SIMD_FORCE_INLINE btVector3 unQuantize(const unsigned short* vecIn) const
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{
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btVector3 vecOut;
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vecOut.setValue(
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(btScalar)(vecIn[0]) / (m_bvhQuantization.getX()),
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(btScalar)(vecIn[1]) / (m_bvhQuantization.getY()),
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(btScalar)(vecIn[2]) / (m_bvhQuantization.getZ()));
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vecOut += m_bvhAabbMin;
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return vecOut;
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}
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|
||||
///setTraversalMode let's you choose between stackless, recursive or stackless cache friendly tree traversal. Note this is only implemented for quantized trees.
|
||||
void setTraversalMode(btTraversalMode traversalMode)
|
||||
{
|
||||
m_traversalMode = traversalMode;
|
||||
}
|
||||
|
||||
void refit(btStridingMeshInterface* triangles,const btVector3& aabbMin,const btVector3& aabbMax);
|
||||
|
||||
void refitPartial(btStridingMeshInterface* triangles,const btVector3& aabbMin, const btVector3& aabbMax);
|
||||
|
||||
void updateBvhNodes(btStridingMeshInterface* meshInterface,int firstNode,int endNode,int index);
|
||||
|
||||
|
||||
SIMD_FORCE_INLINE QuantizedNodeArray& getQuantizedNodeArray()
|
||||
{
|
||||
return m_quantizedContiguousNodes;
|
||||
}
|
||||
|
||||
|
||||
SIMD_FORCE_INLINE BvhSubtreeInfoArray& getSubtreeInfoArray()
|
||||
{
|
||||
return m_SubtreeHeaders;
|
||||
}
|
||||
|
||||
|
||||
/////Calculate space needed to store BVH for serialization
|
||||
unsigned calculateSerializeBufferSize();
|
||||
|
||||
/// Data buffer MUST be 16 byte aligned
|
||||
bool serialize(void *o_alignedDataBuffer, unsigned i_dataBufferSize, bool i_swapEndian);
|
||||
|
||||
///deSerializeInPlace loads and initializes a BVH from a buffer in memory 'in place'
|
||||
static btOptimizedBvh *deSerializeInPlace(void *i_alignedDataBuffer, unsigned int i_dataBufferSize, bool i_swapEndian);
|
||||
|
||||
static unsigned int getAlignmentSerializationPadding();
|
||||
|
||||
SIMD_FORCE_INLINE bool isQuantized()
|
||||
{
|
||||
return m_useQuantization;
|
||||
}
|
||||
|
||||
private:
|
||||
// Special "copy" constructor that allows for in-place deserialization
|
||||
// Prevents btVector3's default constructor from being called, but doesn't inialize much else
|
||||
// ownsMemory should most likely be false if deserializing, and if you are not, don't call this (it also changes the function signature, which we need)
|
||||
btOptimizedBvh(btOptimizedBvh &other, bool ownsMemory);
|
||||
|
||||
}
|
||||
;
|
||||
};
|
||||
|
||||
|
||||
#endif //OPTIMIZED_BVH_H
|
||||
|
||||
Reference in New Issue
Block a user