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some rayTest improvements in btDbvt::rayTestInternal, it avoids/reduces memory allocations during stack allocation (by sharing a persistent m_stack)

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and rayTestInternal re-uses precomputed invRayDirection/signs.
also did some performance comparison with different ray-AABB test, from 
http://jgt.akpeters.com/papers/EisemannEtAl07/

In short: it is faster, but it is not clear how to cull ray segments using ray slopes: when rays starts inside the AABB, we get a negative t value, but negatives also get false t-values...
This commit is contained in:
erwin.coumans
2008-10-16 20:01:02 +00:00
parent 675c45f42d
commit 945b299e56
1 changed files with 650 additions and 9 deletions
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659
src/LinearMath/btAabbUtil2.h
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@@ -21,6 +21,10 @@ subject to the following restrictions:
#include "btVector3.h"
#include "btMinMax.h"
#define TEST_RAY_SLOPES 1
SIMD_FORCE_INLINE void AabbExpand (btVector3& aabbMin,
btVector3& aabbMax,
const btVector3& expansionMin,
@@ -30,15 +34,26 @@ SIMD_FORCE_INLINE void AabbExpand (btVector3& aabbMin,
aabbMax = aabbMax + expansionMax;
}
/// conservative test for overlap between two aabbs
SIMD_FORCE_INLINE bool TestPointAgainstAabb2(const btVector3 &aabbMin1, const btVector3 &aabbMax1,
const btVector3 &point)
{
bool overlap = true;
overlap = (aabbMin1.getX() > point.getX() || aabbMax1.getX() < point.getX()) ? false : overlap;
overlap = (aabbMin1.getZ() > point.getZ() || aabbMax1.getZ() < point.getZ()) ? false : overlap;
overlap = (aabbMin1.getY() > point.getY() || aabbMax1.getY() < point.getY()) ? false : overlap;
return overlap;
}
/// conservative test for overlap between two aabbs
SIMD_FORCE_INLINE bool TestAabbAgainstAabb2(const btVector3 &aabbMin1, const btVector3 &aabbMax1,
const btVector3 &aabbMin2, const btVector3 &aabbMax2)
{
bool overlap = true;
overlap = (aabbMin1[0] > aabbMax2[0] || aabbMax1[0] < aabbMin2[0]) ? false : overlap;
overlap = (aabbMin1[2] > aabbMax2[2] || aabbMax1[2] < aabbMin2[2]) ? false : overlap;
overlap = (aabbMin1[1] > aabbMax2[1] || aabbMax1[1] < aabbMin2[1]) ? false : overlap;
overlap = (aabbMin1.getX() > aabbMax2.getX() || aabbMax1.getX() < aabbMin2.getX()) ? false : overlap;
overlap = (aabbMin1.getZ() > aabbMax2.getZ() || aabbMax1.getZ() < aabbMin2.getZ()) ? false : overlap;
overlap = (aabbMin1.getY() > aabbMax2.getY() || aabbMax1.getY() < aabbMin2.getY()) ? false : overlap;
return overlap;
}
@@ -72,6 +87,632 @@ SIMD_FORCE_INLINE int btOutcode(const btVector3& p,const btVector3& halfExtent)
(p.getZ() > halfExtent.getZ() ? 0x20 : 0x0);
}
/// http://jgt.akpeters.com/papers/EisemannEtAl07/
/// See test case in btDbvt::rayTestInternal on dynamic AABB tree, Bullet/src/BulletCollision/BroadphaseCollision/btDbvt.h
enum CLASSIFICATION
{ MMM, MMP, MPM, MPP, PMM, PMP, PPM, PPP, POO, MOO, OPO, OMO, OOP, OOM,
OMM,OMP,OPM,OPP,MOM,MOP,POM,POP,MMO,MPO,PMO,PPO};
struct btRaySlope
{
//common variables
float x, y, z; // ray origin
float i, j, k; // ray direction
float ii, ij, ik; // inverses of direction components
// ray slope
int classification;
float ibyj, jbyi, kbyj, jbyk, ibyk, kbyi; //slope
float c_xy, c_xz, c_yx, c_yz, c_zx, c_zy;
};
struct btAaboxSlope
{
float x0, y0, z0, x1, y1, z1;
};
SIMD_FORCE_INLINE void btMakeRaySlope(float x, float y, float z, float i, float j, float k, btRaySlope *r)
{
//common variables
r->x = x;
r->y = y;
r->z = z;
r->i = i;
r->j = j;
r->k = k;
r->ii = 1.0f/i;
r->ij = 1.0f/j;
r->ik = 1.0f/k;
//ray slope
r->ibyj = r->i * r->ij;
r->jbyi = r->j * r->ii;
r->jbyk = r->j * r->ik;
r->kbyj = r->k * r->ij;
r->ibyk = r->i * r->ik;
r->kbyi = r->k * r->ii;
r->c_xy = r->y - r->jbyi * r->x;
r->c_xz = r->z - r->kbyi * r->x;
r->c_yx = r->x - r->ibyj * r->y;
r->c_yz = r->z - r->kbyj * r->y;
r->c_zx = r->x - r->ibyk * r->z;
r->c_zy = r->y - r->jbyk * r->z;
//ray slope classification
if(i < 0)
{
if(j < 0)
{
if(k < 0)
{
r->classification = MMM;
}
else if(k > 0){
r->classification = MMP;
}
else//(k >= 0)
{
r->classification = MMO;
}
}
else//(j >= 0)
{
if(k < 0)
{
r->classification = MPM;
if(j==0)
r->classification = MOM;
}
else//(k >= 0)
{
if((j==0) && (k==0))
r->classification = MOO;
else if(k==0)
r->classification = MPO;
else if(j==0)
r->classification = MOP;
else
r->classification = MPP;
}
}
}
else//(i >= 0)
{
if(j < 0)
{
if(k < 0)
{
r->classification = PMM;
if(i==0)
r->classification = OMM;
}
else//(k >= 0)
{
if((i==0) && (k==0))
r->classification = OMO;
else if(k==0)
r->classification = PMO;
else if(i==0)
r->classification = OMP;
else
r->classification = PMP;
}
}
else//(j >= 0)
{
if(k < 0)
{
if((i==0) && (j==0))
r->classification = OOM;
else if(i==0)
r->classification = OPM;
else if(j==0)
r->classification = POM;
else
r->classification = PPM;
}
else//(k > 0)
{
if(i==0)
{
if(j==0)
r->classification = OOP;
else if(k==0)
r->classification = OPO;
else
r->classification = OPP;
}
else
{
if((j==0) && (k==0))
r->classification = POO;
else if(j==0)
r->classification = POP;
else if(k==0)
r->classification = PPO;
else
r->classification = PPP;
}
}
}
}
}
//SIMD_FORCE_INLINE bool slopeint_div(const btRaySlope* r, const btAaboxSlope* b, float *t)
SIMD_FORCE_INLINE bool btRaySlopeAabb(const btRaySlope* r, const btAaboxSlope* b, float *t)
{
switch (r->classification)
{
case MMM:
{
if ((r->x < b->x0) || (r->y < b->y0) || (r->z < b->z0)
|| (r->jbyi * b->x0 - b->y1 + r->c_xy > 0)
|| (r->ibyj * b->y0 - b->x1 + r->c_yx > 0)
|| (r->jbyk * b->z0 - b->y1 + r->c_zy > 0)
|| (r->kbyj * b->y0 - b->z1 + r->c_yz > 0)
|| (r->kbyi * b->x0 - b->z1 + r->c_xz > 0)
|| (r->ibyk * b->z0 - b->x1 + r->c_zx > 0)
)
return false;
*t = (b->x1 - r->x) / r->i;
float t1 = (b->y1 - r->y) / r->j;
if(t1 > *t)
*t = t1;
float t2 = (b->z1 - r->z) / r->k;
if(t2 > *t)
*t = t2;
return true;
}
case MMP:
{
if ((r->x < b->x0) || (r->y < b->y0) || (r->z > b->z1)
|| (r->jbyi * b->x0 - b->y1 + r->c_xy > 0)
|| (r->ibyj * b->y0 - b->x1 + r->c_yx > 0)
|| (r->jbyk * b->z1 - b->y1 + r->c_zy > 0)
|| (r->kbyj * b->y0 - b->z0 + r->c_yz < 0)
|| (r->kbyi * b->x0 - b->z0 + r->c_xz < 0)
|| (r->ibyk * b->z1 - b->x1 + r->c_zx > 0)
)
return false;
*t = (b->x1 - r->x) / r->i;
float t1 = (b->y1 - r->y) / r->j;
if(t1 > *t)
*t = t1;
float t2 = (b->z0 - r->z) / r->k;
if(t2 > *t)
*t = t2;
return true;
}
case MPM:
{
if ((r->x < b->x0) || (r->y > b->y1) || (r->z < b->z0)
|| (r->jbyi * b->x0 - b->y0 + r->c_xy < 0)
|| (r->ibyj * b->y1 - b->x1 + r->c_yx > 0)
|| (r->jbyk * b->z0 - b->y0 + r->c_zy < 0)
|| (r->kbyj * b->y1 - b->z1 + r->c_yz > 0)
|| (r->kbyi * b->x0 - b->z1 + r->c_xz > 0)
|| (r->ibyk * b->z0 - b->x1 + r->c_zx > 0)
)
return false;
*t = (b->x1 - r->x) / r->i;
float t1 = (b->y0 - r->y) / r->j;
if(t1 > *t)
*t = t1;
float t2 = (b->z1 - r->z) / r->k;
if(t2 > *t)
*t = t2;
return true;
}
case MPP:
{
if ((r->x < b->x0) || (r->y > b->y1) || (r->z > b->z1)
|| (r->jbyi * b->x0 - b->y0 + r->c_xy < 0)
|| (r->ibyj * b->y1 - b->x1 + r->c_yx > 0)
|| (r->jbyk * b->z1 - b->y0 + r->c_zy < 0)
|| (r->kbyj * b->y1 - b->z0 + r->c_yz < 0)
|| (r->kbyi * b->x0 - b->z0 + r->c_xz < 0)
|| (r->ibyk * b->z1 - b->x1 + r->c_zx > 0)
)
return false;
*t = (b->x1 - r->x) / r->i;
float t1 = (b->y0 - r->y) / r->j;
if(t1 > *t)
*t = t1;
float t2 = (b->z0 - r->z) / r->k;
if(t2 > *t)
*t = t2;
return true;
}
case PMM:
{
if ((r->x > b->x1) || (r->y < b->y0) || (r->z < b->z0)
|| (r->jbyi * b->x1 - b->y1 + r->c_xy > 0)
|| (r->ibyj * b->y0 - b->x0 + r->c_yx < 0)
|| (r->jbyk * b->z0 - b->y1 + r->c_zy > 0)
|| (r->kbyj * b->y0 - b->z1 + r->c_yz > 0)
|| (r->kbyi * b->x1 - b->z1 + r->c_xz > 0)
|| (r->ibyk * b->z0 - b->x0 + r->c_zx < 0)
)
return false;
*t = (b->x0 - r->x) / r->i;
float t1 = (b->y1 - r->y) / r->j;
if(t1 > *t)
*t = t1;
float t2 = (b->z1 - r->z) / r->k;
if(t2 > *t)
*t = t2;
return true;
}
case PMP:
{
if ((r->x > b->x1) || (r->y < b->y0) || (r->z > b->z1)
|| (r->jbyi * b->x1 - b->y1 + r->c_xy > 0)
|| (r->ibyj * b->y0 - b->x0 + r->c_yx < 0)
|| (r->jbyk * b->z1 - b->y1 + r->c_zy > 0)
|| (r->kbyj * b->y0 - b->z0 + r->c_yz < 0)
|| (r->kbyi * b->x1 - b->z0 + r->c_xz < 0)
|| (r->ibyk * b->z1 - b->x0 + r->c_zx < 0)
)
return false;
*t = (b->x0 - r->x) / r->i;
float t1 = (b->y1 - r->y) / r->j;
if(t1 > *t)
*t = t1;
float t2 = (b->z0 - r->z) / r->k;
if(t2 > *t)
*t = t2;
return true;
}
case PPM:
{
if ((r->x > b->x1) || (r->y > b->y1) || (r->z < b->z0)
|| (r->jbyi * b->x1 - b->y0 + r->c_xy < 0)
|| (r->ibyj * b->y1 - b->x0 + r->c_yx < 0)
|| (r->jbyk * b->z0 - b->y0 + r->c_zy < 0)
|| (r->kbyj * b->y1 - b->z1 + r->c_yz > 0)
|| (r->kbyi * b->x1 - b->z1 + r->c_xz > 0)
|| (r->ibyk * b->z0 - b->x0 + r->c_zx < 0)
)
return false;
*t = (b->x0 - r->x) / r->i;
float t1 = (b->y0 - r->y) / r->j;
if(t1 > *t)
*t = t1;
float t2 = (b->z1 - r->z) / r->k;
if(t2 > *t)
*t = t2;
return true;
}
case PPP:
{
if ((r->x > b->x1) || (r->y > b->y1) || (r->z > b->z1)
|| (r->jbyi * b->x1 - b->y0 + r->c_xy < 0)
|| (r->ibyj * b->y1 - b->x0 + r->c_yx < 0)
|| (r->jbyk * b->z1 - b->y0 + r->c_zy < 0)
|| (r->kbyj * b->y1 - b->z0 + r->c_yz < 0)
|| (r->kbyi * b->x1 - b->z0 + r->c_xz < 0)
|| (r->ibyk * b->z1 - b->x0 + r->c_zx < 0)
)
return false;
*t = (b->x0 - r->x) / r->i;
float t1 = (b->y0 - r->y) / r->j;
if(t1 > *t)
*t = t1;
float t2 = (b->z0 - r->z) / r->k;
if(t2 > *t)
*t = t2;
return true;
}
case OMM:
{
if((r->x < b->x0) || (r->x > b->x1)
|| (r->y < b->y0) || (r->z < b->z0)
|| (r->jbyk * b->z0 - b->y1 + r->c_zy > 0)
|| (r->kbyj * b->y0 - b->z1 + r->c_yz > 0)
)
return false;
*t = (b->y1 - r->y) / r->j;
float t2 = (b->z1 - r->z) / r->k;
if(t2 > *t)
*t = t2;
return true;
}
case OMP:
{
if((r->x < b->x0) || (r->x > b->x1)
|| (r->y < b->y0) || (r->z > b->z1)
|| (r->jbyk * b->z1 - b->y1 + r->c_zy > 0)
|| (r->kbyj * b->y0 - b->z0 + r->c_yz < 0)
)
return false;
*t = (b->y1 - r->y) / r->j;
float t2 = (b->z0 - r->z) / r->k;
if(t2 > *t)
*t = t2;
return true;
}
case OPM:
{
if((r->x < b->x0) || (r->x > b->x1)
|| (r->y > b->y1) || (r->z < b->z0)
|| (r->jbyk * b->z0 - b->y0 + r->c_zy < 0)
|| (r->kbyj * b->y1 - b->z1 + r->c_yz > 0)
)
return false;
*t = (b->y0 - r->y) / r->j;
float t2 = (b->z1 - r->z) / r->k;
if(t2 > *t)
*t = t2;
return true;
}
case OPP:
{
if((r->x < b->x0) || (r->x > b->x1)
|| (r->y > b->y1) || (r->z > b->z1)
|| (r->jbyk * b->z1 - b->y0 + r->c_zy < 0)
|| (r->kbyj * b->y1 - b->z0 + r->c_yz < 0)
)
return false;
*t = (b->y0 - r->y) / r->j;
float t2 = (b->z0 - r->z) / r->k;
if(t2 > *t)
*t = t2;
return true;
}
case MOM:
{
if((r->y < b->y0) || (r->y > b->y1)
|| (r->x < b->x0) || (r->z < b->z0)
|| (r->kbyi * b->x0 - b->z1 + r->c_xz > 0)
|| (r->ibyk * b->z0 - b->x1 + r->c_zx > 0)
)
return false;
*t = (b->x1 - r->x) / r->i;
float t2 = (b->z1 - r->z) / r->k;
if(t2 > *t)
*t = t2;
return true;
}
case MOP:
{
if((r->y < b->y0) || (r->y > b->y1)
|| (r->x < b->x0) || (r->z > b->z1)
|| (r->kbyi * b->x0 - b->z0 + r->c_xz < 0)
|| (r->ibyk * b->z1 - b->x1 + r->c_zx > 0)
)
return false;
*t = (b->x1 - r->x) / r->i;
float t2 = (b->z0 - r->z) / r->k;
if(t2 > *t)
*t = t2;
return true;
}
case POM:
{
if((r->y < b->y0) || (r->y > b->y1)
|| (r->x > b->x1) || (r->z < b->z0)
|| (r->kbyi * b->x1 - b->z1 + r->c_xz > 0)
|| (r->ibyk * b->z0 - b->x0 + r->c_zx < 0)
)
return false;
*t = (b->x0 - r->x) / r->i;
float t2 = (b->z1 - r->z) / r->k;
if(t2 > *t)
*t = t2;
return true;
}
case POP:
{
if((r->y < b->y0) || (r->y > b->y1)
|| (r->x > b->x1) || (r->z > b->z1)
|| (r->kbyi * b->x1 - b->z0 + r->c_xz < 0)
|| (r->ibyk * b->z1 - b->x0 + r->c_zx < 0)
)
return false;
*t = (b->x0 - r->x) / r->i;
float t2 = (b->z0 - r->z) / r->k;
if(t2 > *t)
*t = t2;
return true;
}
case MMO:
{
if((r->z < b->z0) || (r->z > b->z1)
|| (r->x < b->x0) || (r->y < b->y0)
|| (r->jbyi * b->x0 - b->y1 + r->c_xy > 0)
|| (r->ibyj * b->y0 - b->x1 + r->c_yx > 0)
)
return false;
*t = (b->x1 - r->x) / r->i;
float t1 = (b->y1 - r->y) / r->j;
if(t1 > *t)
*t = t1;
return true;
}
case MPO:
{
if((r->z < b->z0) || (r->z > b->z1)
|| (r->x < b->x0) || (r->y > b->y1)
|| (r->jbyi * b->x0 - b->y0 + r->c_xy < 0)
|| (r->ibyj * b->y1 - b->x1 + r->c_yx > 0)
)
return false;
*t = (b->x1 - r->x) / r->i;
float t1 = (b->y0 - r->y) / r->j;
if(t1 > *t)
*t = t1;
return true;
}
case PMO:
{
if((r->z < b->z0) || (r->z > b->z1)
|| (r->x > b->x1) || (r->y < b->y0)
|| (r->jbyi * b->x1 - b->y1 + r->c_xy > 0)
|| (r->ibyj * b->y0 - b->x0 + r->c_yx < 0)
)
return false;
*t = (b->x0 - r->x) / r->i;
float t1 = (b->y1 - r->y) / r->j;
if(t1 > *t)
*t = t1;
return true;
}
case PPO:
{
if((r->z < b->z0) || (r->z > b->z1)
|| (r->x > b->x1) || (r->y > b->y1)
|| (r->jbyi * b->x1 - b->y0 + r->c_xy < 0)
|| (r->ibyj * b->y1 - b->x0 + r->c_yx < 0)
)
return false;
*t = (b->x0 - r->x) / r->i;
float t1 = (b->y0 - r->y) / r->j;
if(t1 > *t)
*t = t1;
return true;
}
case MOO:
{
if((r->x < b->x0)
|| (r->y < b->y0) || (r->y > b->y1)
|| (r->z < b->z0) || (r->z > b->z1)
)
return false;
*t = (b->x1 - r->x) / r->i;
return true;
}
case POO:
{
if((r->x > b->x1)
|| (r->y < b->y0) || (r->y > b->y1)
|| (r->z < b->z0) || (r->z > b->z1)
)
return false;
*t = (b->x0 - r->x) / r->i;
return true;
}
case OMO:
{
if((r->y < b->y0)
|| (r->x < b->x0) || (r->x > b->x1)
|| (r->z < b->z0) || (r->z > b->z1)
)
return false;
*t = (b->y1 - r->y) / r->j;
return true;
}
case OPO:
{
if((r->y > b->y1)
|| (r->x < b->x0) || (r->x > b->x1)
|| (r->z < b->z0) || (r->z > b->z1)
)
return false;
*t = (b->y0 - r->y) / r->j;
return true;
}
case OOM:
{
if((r->z < b->z0)
|| (r->x < b->x0) || (r->x > b->x1)
|| (r->y < b->y0) || (r->y > b->y1)
)
return false;
*t = (b->z1 - r->z) / r->k;
return true;
}
case OOP:
{
if((r->z > b->z1)
|| (r->x < b->x0) || (r->x > b->x1)
|| (r->y < b->y0) || (r->y > b->y1)
)
return false;
*t = (b->z0 - r->z) / r->k;
return true;
}
}
return false;
}
SIMD_FORCE_INLINE bool btRayAabb2(const btVector3& rayFrom,
const btVector3& rayInvDirection,
@@ -82,10 +723,10 @@ SIMD_FORCE_INLINE bool btRayAabb2(const btVector3& rayFrom,
btScalar lambda_max)
{
btScalar tmax, tymin, tymax, tzmin, tzmax;
tmin = (bounds[raySign[0]][0] - rayFrom[0]) * rayInvDirection[0];
tmax = (bounds[1-raySign[0]][0] - rayFrom[0]) * rayInvDirection[0];
tymin = (bounds[raySign[1]][1] - rayFrom[1]) * rayInvDirection[1];
tymax = (bounds[1-raySign[1]][1] - rayFrom[1]) * rayInvDirection[1];
tmin = (bounds[raySign[0]].getX() - rayFrom.getX()) * rayInvDirection.getX();
tmax = (bounds[1-raySign[0]].getX() - rayFrom.getX()) * rayInvDirection.getX();
tymin = (bounds[raySign[1]].getY() - rayFrom.getY()) * rayInvDirection.getY();
tymax = (bounds[1-raySign[1]].getY() - rayFrom.getY()) * rayInvDirection.getY();
if ( (tmin > tymax) || (tymin > tmax) )
return false;
@@ -96,8 +737,8 @@ SIMD_FORCE_INLINE bool btRayAabb2(const btVector3& rayFrom,
if (tymax < tmax)
tmax = tymax;
tzmin = (bounds[raySign[2]][2] - rayFrom[2]) * rayInvDirection[2];
tzmax = (bounds[1-raySign[2]][2] - rayFrom[2]) * rayInvDirection[2];
tzmin = (bounds[raySign[2]].getZ() - rayFrom.getZ()) * rayInvDirection.getZ();
tzmax = (bounds[1-raySign[2]].getZ() - rayFrom.getZ()) * rayInvDirection.getZ();
if ( (tmin > tzmax) || (tzmin > tmax) )
return false;