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Get the open source Bullet library more in sync with Playstation SPU version

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This commit is contained in:
ejcoumans
2007-04-10 01:02:58 +00:00
parent 9546633ade
commit 853bafb7ae
25 changed files with 272 additions and 130 deletions
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79
src/BulletCollision/CollisionShapes/btOptimizedBvh.h
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@@ -26,10 +26,13 @@ subject to the following restrictions:
class btStridingMeshInterface;
//Note: currently we have 16 bytes per quantized node
#define MAX_SUBTREE_SIZE_IN_BYTES 2048
///btQuantizedBvhNode is a compressed aabb node, 16 bytes.
///Node can be used for leafnode or internal node. Leafnodes can point to 32-bit triangle index (non-negative range).
ATTRIBUTE_ALIGNED16 (struct btQuantizedBvhNode)
ATTRIBUTE_ALIGNED16 (struct) btQuantizedBvhNode
{
//12 bytes
@@ -53,11 +56,12 @@ ATTRIBUTE_ALIGNED16 (struct btQuantizedBvhNode)
btAssert(isLeafNode());
return m_escapeIndexOrTriangleIndex;
}
};
}
;
/// btOptimizedBvhNode contains both internal and leaf node information.
/// Total node size is 44 bytes / node. You can use the compressed version of 16 bytes.
ATTRIBUTE_ALIGNED16 (struct btOptimizedBvhNode)
ATTRIBUTE_ALIGNED16 (struct) btOptimizedBvhNode
{
//32 bytes
btVector3 m_aabbMinOrg;
@@ -74,6 +78,30 @@ ATTRIBUTE_ALIGNED16 (struct btOptimizedBvhNode)
};
///btBvhSubtreeInfo provides info to gather a subtree of limited size
ATTRIBUTE_ALIGNED16(class) btBvhSubtreeInfo
{
public:
//12 bytes
unsigned short int m_quantizedAabbMin[3];
unsigned short int m_quantizedAabbMax[3];
//4 bytes, points to the root of the subtree
int m_rootNodeIndex;
//4 bytes
int m_subtreeSize;
void setAabbFromQuantizeNode(const btQuantizedBvhNode& quantizedNode)
{
m_quantizedAabbMin[0] = quantizedNode.m_quantizedAabbMin[0];
m_quantizedAabbMin[1] = quantizedNode.m_quantizedAabbMin[1];
m_quantizedAabbMin[2] = quantizedNode.m_quantizedAabbMin[2];
m_quantizedAabbMax[0] = quantizedNode.m_quantizedAabbMax[0];
m_quantizedAabbMax[1] = quantizedNode.m_quantizedAabbMax[1];
m_quantizedAabbMax[2] = quantizedNode.m_quantizedAabbMax[2];
}
}
;
class btNodeOverlapCallback
{
@@ -88,13 +116,14 @@ public:
///for code readability:
typedef btAlignedObjectArray<btOptimizedBvhNode> NodeArray;
typedef btAlignedObjectArray<btQuantizedBvhNode> QuantizedNodeArray;
typedef btAlignedObjectArray<btBvhSubtreeInfo> BvhSubtreeInfoArray;
///OptimizedBvh store an AABB tree that can be quickly traversed on CPU (and SPU,GPU in future)
ATTRIBUTE_ALIGNED16(class btOptimizedBvh)
ATTRIBUTE_ALIGNED16(class) btOptimizedBvh
{
NodeArray m_leafNodes;
NodeArray m_contiguousNodes;
@@ -121,30 +150,10 @@ ATTRIBUTE_ALIGNED16(class btOptimizedBvh)
btTraversalMode m_traversalMode;
///btBvhSubtreeInfo provides info to gather a subtree of limited size
class btBvhSubtreeInfo
{
public:
//12 bytes
unsigned short int m_quantizedAabbMin[3];
unsigned short int m_quantizedAabbMax[3];
//4 bytes, points to the root of the subtree
int m_rootNodeIndex;
//4 bytes
int m_subtreeSize;
void setAabbFromQuantizeNode(const btQuantizedBvhNode& quantizedNode)
{
m_quantizedAabbMin[0] = quantizedNode.m_quantizedAabbMin[0];
m_quantizedAabbMin[1] = quantizedNode.m_quantizedAabbMin[1];
m_quantizedAabbMin[2] = quantizedNode.m_quantizedAabbMin[2];
m_quantizedAabbMax[0] = quantizedNode.m_quantizedAabbMax[0];
m_quantizedAabbMax[1] = quantizedNode.m_quantizedAabbMax[1];
m_quantizedAabbMax[2] = quantizedNode.m_quantizedAabbMax[2];
}
};
btAlignedObjectArray<btBvhSubtreeInfo> m_SubtreeHeaders;
BvhSubtreeInfoArray m_SubtreeHeaders;
///two versions, one for quantized and normal nodes. This allows code-reuse while maintaining readability (no template/macro!)
@@ -295,7 +304,19 @@ public:
}
void refit(btStridingMeshInterface* triangles);
};
QuantizedNodeArray& getQuantizedNodeArray()
{
return m_quantizedContiguousNodes;
}
BvhSubtreeInfoArray& getSubtreeInfoArray()
{
return m_SubtreeHeaders;
}
}
;
#endif //OPTIMIZED_BVH_H