Softbody improvements, thanks to Nathanael

This commit is contained in:
erwin.coumans
2008-05-17 12:39:16 +00:00
parent 649709dc2d
commit d9e7058ff2
12 changed files with 2098 additions and 1828 deletions

View File

@@ -17,235 +17,242 @@ subject to the following restrictions:
#include "btDbvt.h"
//
typedef btAlignedObjectArray<btDbvt::Node*> tNodeArray;
typedef btAlignedObjectArray<btDbvt::Node*> tNodeArray;
typedef btAlignedObjectArray<const btDbvt::Node*> tConstNodeArray;
//
struct btDbvtNodeEnumerator : btDbvt::ICollide
{
tConstNodeArray nodes;
void Process(const btDbvt::Node* n) { nodes.push_back(n); }
};
//
static inline int indexof(const btDbvt::Node* node)
{
return(node->parent->childs[1]==node);
return(node->parent->childs[1]==node);
}
//
static inline btDbvt::Volume merge( const btDbvt::Volume& a,
const btDbvt::Volume& b)
const btDbvt::Volume& b)
{
btDbvt::Volume res;
Merge(a,b,res);
return(res);
btDbvt::Volume res;
Merge(a,b,res);
return(res);
}
// volume+edge lengths
static inline btScalar size(const btDbvt::Volume& a)
{
const btVector3 edges=a.Lengths();
return( edges.x()*edges.y()*edges.z()+
const btVector3 edges=a.Lengths();
return( edges.x()*edges.y()*edges.z()+
edges.x()+edges.y()+edges.z());
}
//
static inline void deletenode( btDbvt* pdbvt,
btDbvt::Node* node)
btDbvt::Node* node)
{
delete pdbvt->m_free;
pdbvt->m_free=node;
btAlignedFree(pdbvt->m_free);
pdbvt->m_free=node;
}
//
static inline void recursedeletenode( btDbvt* pdbvt,
btDbvt::Node* node)
btDbvt::Node* node)
{
if(!node->isleaf())
if(!node->isleaf())
{
recursedeletenode(pdbvt,node->childs[0]);
recursedeletenode(pdbvt,node->childs[1]);
recursedeletenode(pdbvt,node->childs[0]);
recursedeletenode(pdbvt,node->childs[1]);
}
if(node==pdbvt->m_root)
pdbvt->m_root=0;
deletenode(pdbvt,node);
if(node==pdbvt->m_root) pdbvt->m_root=0;
deletenode(pdbvt,node);
}
//
static inline btDbvt::Node* createnode( btDbvt* pdbvt,
btDbvt::Node* parent,
const btDbvt::Volume& volume,
void* data)
btDbvt::Node* parent,
const btDbvt::Volume& volume,
void* data)
{
btDbvt::Node* node;
if(pdbvt->m_free)
btDbvt::Node* node;
if(pdbvt->m_free)
{ node=pdbvt->m_free;pdbvt->m_free=0; }
else
{ node=new btDbvt::Node(); }
node->parent = parent;
node->volume = volume;
node->data = data;
node->childs[1] = 0;
return(node);
{ node=new(btAlignedAlloc(sizeof(btDbvt::Node),16)) btDbvt::Node(); }
node->parent = parent;
node->volume = volume;
node->data = data;
node->childs[1] = 0;
return(node);
}
//
static inline void insertleaf( btDbvt* pdbvt,
btDbvt::Node* root,
btDbvt::Node* leaf)
btDbvt::Node* root,
btDbvt::Node* leaf)
{
if(!pdbvt->m_root)
if(!pdbvt->m_root)
{
pdbvt->m_root = leaf;
leaf->parent = 0;
pdbvt->m_root = leaf;
leaf->parent = 0;
}
else
{
if(!root->isleaf())
if(!root->isleaf())
{
do {
if( Proximity(root->childs[0]->volume,leaf->volume)<
Proximity(root->childs[1]->volume,leaf->volume))
root=root->childs[0];
do {
if( Proximity(root->childs[0]->volume,leaf->volume)<
Proximity(root->childs[1]->volume,leaf->volume))
root=root->childs[0];
else
root=root->childs[1];
root=root->childs[1];
} while(!root->isleaf());
}
btDbvt::Node* prev=root->parent;
btDbvt::Node* node=createnode(pdbvt,prev,merge(leaf->volume,root->volume),0);
if(prev)
btDbvt::Node* prev=root->parent;
btDbvt::Node* node=createnode(pdbvt,prev,merge(leaf->volume,root->volume),0);
if(prev)
{
prev->childs[indexof(root)] = node;
node->childs[0] = root;root->parent=node;
node->childs[1] = leaf;leaf->parent=node;
do {
if(prev->volume.Contain(node->volume))
break;
prev->childs[indexof(root)] = node;
node->childs[0] = root;root->parent=node;
node->childs[1] = leaf;leaf->parent=node;
do {
if(!prev->volume.Contain(node->volume))
Merge(prev->childs[0]->volume,prev->childs[1]->volume,prev->volume);
else
Merge(prev->childs[0]->volume,prev->childs[1]->volume,prev->volume);
node=prev;
break;
node=prev;
} while(0!=(prev=node->parent));
}
else
{
node->childs[0] = root;root->parent=node;
node->childs[1] = leaf;leaf->parent=node;
pdbvt->m_root = node;
node->childs[0] = root;root->parent=node;
node->childs[1] = leaf;leaf->parent=node;
pdbvt->m_root = node;
}
}
}
//
static inline btDbvt::Node* removeleaf( btDbvt* pdbvt,
btDbvt::Node* leaf)
btDbvt::Node* leaf)
{
if(leaf==pdbvt->m_root)
if(leaf==pdbvt->m_root)
{
pdbvt->m_root=0;
return(0);
pdbvt->m_root=0;
return(0);
}
else
{
btDbvt::Node* parent=leaf->parent;
btDbvt::Node* prev=parent->parent;
btDbvt::Node* sibling=parent->childs[1-indexof(leaf)];
if(prev)
btDbvt::Node* parent=leaf->parent;
btDbvt::Node* prev=parent->parent;
btDbvt::Node* sibling=parent->childs[1-indexof(leaf)];
if(prev)
{
prev->childs[indexof(parent)]=sibling;
sibling->parent=prev;
deletenode(pdbvt,parent);
while(prev)
prev->childs[indexof(parent)]=sibling;
sibling->parent=prev;
deletenode(pdbvt,parent);
while(prev)
{
const btDbvt::Volume pb=prev->volume;
Merge(prev->childs[0]->volume,prev->childs[1]->volume,prev->volume);
if(NotEqual(pb,prev->volume))
const btDbvt::Volume pb=prev->volume;
Merge(prev->childs[0]->volume,prev->childs[1]->volume,prev->volume);
if(NotEqual(pb,prev->volume))
{
sibling = prev;
prev = prev->parent;
sibling = prev;
prev = prev->parent;
} else break;
}
return(prev?prev:pdbvt->m_root);
return(prev?prev:pdbvt->m_root);
}
else
{
pdbvt->m_root=sibling;
sibling->parent=0;
deletenode(pdbvt,parent);
return(pdbvt->m_root);
pdbvt->m_root=sibling;
sibling->parent=0;
deletenode(pdbvt,parent);
return(pdbvt->m_root);
}
}
}
//
static void fetchleafs( btDbvt* pdbvt,
btDbvt::Node* root,
tNodeArray& leafs,
int depth=-1)
btDbvt::Node* root,
tNodeArray& leafs,
int depth=-1)
{
if(root->isinternal()&&depth)
if(root->isinternal()&&depth)
{
fetchleafs(pdbvt,root->childs[0],leafs,depth-1);
fetchleafs(pdbvt,root->childs[1],leafs,depth-1);
deletenode(pdbvt,root);
fetchleafs(pdbvt,root->childs[0],leafs,depth-1);
fetchleafs(pdbvt,root->childs[1],leafs,depth-1);
deletenode(pdbvt,root);
}
else
{
leafs.push_back(root);
leafs.push_back(root);
}
}
//
static void split( const tNodeArray& leafs,
tNodeArray& left,
tNodeArray& right,
const btVector3& org,
const btVector3& axis)
tNodeArray& left,
tNodeArray& right,
const btVector3& org,
const btVector3& axis)
{
left.resize(0);
right.resize(0);
for(int i=0,ni=leafs.size();i<ni;++i)
left.resize(0);
right.resize(0);
for(int i=0,ni=leafs.size();i<ni;++i)
{
if(dot(axis,leafs[i]->volume.Center()-org)<0)
left.push_back(leafs[i]);
if(dot(axis,leafs[i]->volume.Center()-org)<0)
left.push_back(leafs[i]);
else
right.push_back(leafs[i]);
right.push_back(leafs[i]);
}
}
//
static btDbvt::Volume bounds( const tNodeArray& leafs)
{
btDbvt::Volume volume=leafs[0]->volume;
for(int i=1,ni=leafs.size();i<ni;++i)
btDbvt::Volume volume=leafs[0]->volume;
for(int i=1,ni=leafs.size();i<ni;++i)
{
volume=merge(volume,leafs[i]->volume);
volume=merge(volume,leafs[i]->volume);
}
return(volume);
return(volume);
}
//
static void bottomup( btDbvt* pdbvt,
tNodeArray& leafs)
tNodeArray& leafs)
{
while(leafs.size()>1)
while(leafs.size()>1)
{
btScalar minsize=SIMD_INFINITY;
int minidx[2]={-1,-1};
for(int i=0;i<leafs.size();++i)
btScalar minsize=SIMD_INFINITY;
int minidx[2]={-1,-1};
for(int i=0;i<leafs.size();++i)
{
for(int j=i+1;j<leafs.size();++j)
for(int j=i+1;j<leafs.size();++j)
{
const btScalar sz=size(merge(leafs[i]->volume,leafs[j]->volume));
if(sz<minsize)
const btScalar sz=size(merge(leafs[i]->volume,leafs[j]->volume));
if(sz<minsize)
{
minsize = sz;
minidx[0] = i;
minidx[1] = j;
minsize = sz;
minidx[0] = i;
minidx[1] = j;
}
}
}
btDbvt::Node* n[] = {leafs[minidx[0]],leafs[minidx[1]]};
btDbvt::Node* p = createnode(pdbvt,0,merge(n[0]->volume,n[1]->volume),0);
p->childs[0] = n[0];
p->childs[1] = n[1];
n[0]->parent = p;
n[1]->parent = p;
leafs[minidx[0]] = p;
leafs.swap(minidx[1],leafs.size()-1);
leafs.pop_back();
btDbvt::Node* n[] = {leafs[minidx[0]],leafs[minidx[1]]};
btDbvt::Node* p = createnode(pdbvt,0,merge(n[0]->volume,n[1]->volume),0);
p->childs[0] = n[0];
p->childs[1] = n[1];
n[0]->parent = p;
n[1]->parent = p;
leafs[minidx[0]] = p;
leafs.swap(minidx[1],leafs.size()-1);
leafs.pop_back();
}
}
@@ -254,90 +261,90 @@ static btDbvt::Node* topdown(btDbvt* pdbvt,
tNodeArray& leafs,
int bu_treshold)
{
static const btVector3 axis[]={btVector3(1,0,0),
btVector3(0,1,0),
btVector3(0,0,1)};
if(leafs.size()>1)
static const btVector3 axis[]={btVector3(1,0,0),
btVector3(0,1,0),
btVector3(0,0,1)};
if(leafs.size()>1)
{
if(leafs.size()>bu_treshold)
if(leafs.size()>bu_treshold)
{
const btDbvt::Volume vol=bounds(leafs);
const btVector3 org=vol.Center();
tNodeArray sets[2];
int bestaxis=-1;
int bestmidp=leafs.size();
int splitcount[3][2]={0,0,0,0,0,0};
for(int i=0;i<leafs.size();++i)
const btDbvt::Volume vol=bounds(leafs);
const btVector3 org=vol.Center();
tNodeArray sets[2];
int bestaxis=-1;
int bestmidp=leafs.size();
int splitcount[3][2]={0,0,0,0,0,0};
for(int i=0;i<leafs.size();++i)
{
const btVector3 x=leafs[i]->volume.Center()-org;
for(int j=0;j<3;++j)
const btVector3 x=leafs[i]->volume.Center()-org;
for(int j=0;j<3;++j)
{
++splitcount[j][dot(x,axis[j])>0?1:0];
++splitcount[j][dot(x,axis[j])>0?1:0];
}
}
for(int i=0;i<3;++i)
for(int i=0;i<3;++i)
{
if((splitcount[i][0]>0)&&(splitcount[i][1]>0))
if((splitcount[i][0]>0)&&(splitcount[i][1]>0))
{
const int midp=static_cast<int>(btFabs(static_cast<btScalar>(splitcount[i][0]-splitcount[i][1])));
if(midp<bestmidp)
const int midp=abs(splitcount[i][0]-splitcount[i][1]);
if(midp<bestmidp)
{
bestaxis=i;
bestmidp=midp;
bestaxis=i;
bestmidp=midp;
}
}
}
if(bestaxis>=0)
if(bestaxis>=0)
{
sets[0].reserve(splitcount[bestaxis][0]);
sets[1].reserve(splitcount[bestaxis][1]);
split(leafs,sets[0],sets[1],org,axis[bestaxis]);
sets[0].reserve(splitcount[bestaxis][0]);
sets[1].reserve(splitcount[bestaxis][1]);
split(leafs,sets[0],sets[1],org,axis[bestaxis]);
}
else
{
sets[0].reserve(leafs.size()/2+1);
sets[1].reserve(leafs.size()/2);
for(int i=0,ni=leafs.size();i<ni;++i)
sets[0].reserve(leafs.size()/2+1);
sets[1].reserve(leafs.size()/2);
for(int i=0,ni=leafs.size();i<ni;++i)
{
sets[i&1].push_back(leafs[i]);
sets[i&1].push_back(leafs[i]);
}
}
btDbvt::Node* node=createnode(pdbvt,0,vol,0);
node->childs[0]=topdown(pdbvt,sets[0],bu_treshold);
node->childs[1]=topdown(pdbvt,sets[1],bu_treshold);
node->childs[0]->parent=node;
node->childs[1]->parent=node;
return(node);
btDbvt::Node* node=createnode(pdbvt,0,vol,0);
node->childs[0]=topdown(pdbvt,sets[0],bu_treshold);
node->childs[1]=topdown(pdbvt,sets[1],bu_treshold);
node->childs[0]->parent=node;
node->childs[1]->parent=node;
return(node);
}
else
{
bottomup(pdbvt,leafs);
return(leafs[0]);
bottomup(pdbvt,leafs);
return(leafs[0]);
}
}
return(leafs[0]);
return(leafs[0]);
}
//
static inline btDbvt::Node* refit( btDbvt* pdbvt,
btDbvt::Node* node)
btDbvt::Node* node)
{
btDbvt::Node* parent=node->parent;
if(parent)
btDbvt::Node* parent=node->parent;
if(parent)
{
const int idx=indexof(node);
tNodeArray leafs;
leafs.reserve(64);
fetchleafs(pdbvt,node,leafs,3);
if(leafs.size()>=2)
const int idx=indexof(node);
tNodeArray leafs;
leafs.reserve(64);
fetchleafs(pdbvt,node,leafs,3);
if(leafs.size()>=2)
{
bottomup(pdbvt,leafs);
node=leafs[0];
node->parent=parent;
parent->childs[idx]=node;
bottomup(pdbvt,leafs);
node=leafs[0];
node->parent=parent;
parent->childs[idx]=node;
}
}
return(node);
return(node);
}
//
@@ -345,150 +352,174 @@ static inline btDbvt::Node* refit( btDbvt* pdbvt,
//
//
btDbvt::btDbvt()
btDbvt::btDbvt()
{
m_root = 0;
m_free = 0;
m_lkhd = 2;
m_leafs = 0;
m_root = 0;
m_free = 0;
m_lkhd = -1;
m_leafs = 0;
m_opath = 0;
}
//
btDbvt::~btDbvt()
btDbvt::~btDbvt()
{
clear();
clear();
}
//
void btDbvt::clear()
{
if(m_root) recursedeletenode(this,m_root);
delete m_free;
m_free=0;
if(m_root) recursedeletenode(this,m_root);
btAlignedFree(m_free);
m_free=0;
}
//
void btDbvt::optimizeBottomUp()
{
if(m_root)
if(m_root)
{
tNodeArray leafs;
leafs.reserve(m_leafs);
fetchleafs(this,m_root,leafs);
bottomup(this,leafs);
m_root=leafs[0];
tNodeArray leafs;
leafs.reserve(m_leafs);
fetchleafs(this,m_root,leafs);
bottomup(this,leafs);
m_root=leafs[0];
}
}
//
void btDbvt::optimizeTopDown(int bu_treshold)
{
if(m_root)
if(m_root)
{
tNodeArray leafs;
leafs.reserve(m_leafs);
fetchleafs(this,m_root,leafs);
m_root=topdown(this,leafs,bu_treshold);
tNodeArray leafs;
leafs.reserve(m_leafs);
fetchleafs(this,m_root,leafs);
m_root=topdown(this,leafs,bu_treshold);
}
}
//
void btDbvt::optimizeIncremental(int passes)
{
if(m_root&&(passes>0))
{
do {
Node* node=m_root;
unsigned bit=0;
while(node->isinternal())
{
node=node->childs[(m_opath>>bit)&1];
bit=(bit+1)&(sizeof(unsigned)*8-1);
}
update(node);
++m_opath;
} while(--passes);
}
}
//
btDbvt::Node* btDbvt::insert(const Volume& volume,void* data)
{
Node* leaf=createnode(this,0,volume,data);
insertleaf(this,m_root,leaf);
++m_leafs;
return(leaf);
Node* leaf=createnode(this,0,volume,data);
insertleaf(this,m_root,leaf);
++m_leafs;
return(leaf);
}
//
void btDbvt::update(Node* leaf,int lookahead)
{
Node* root=removeleaf(this,leaf);
if(root)
Node* root=removeleaf(this,leaf);
if(root)
{
for(int i=0;(i<lookahead)&&root->parent;++i)
if(lookahead>=0)
{
for(int i=0;(i<lookahead)&&root->parent;++i)
{
root=root->parent;
}
}
} else root=m_root;
}
insertleaf(this,root,leaf);
insertleaf(this,root,leaf);
}
//
void btDbvt::update(Node* leaf,const Volume& volume)
{
Node* root=removeleaf(this,leaf);
if(root)
Node* root=removeleaf(this,leaf);
if(root)
{
for(int i=0;(i<m_lkhd)&&root->parent;++i)
if(m_lkhd>=0)
{
for(int i=0;(i<m_lkhd)&&root->parent;++i)
{
root=root->parent;
}
}
} else root=m_root;
}
leaf->volume=volume;
insertleaf(this,root,leaf);
leaf->volume=volume;
insertleaf(this,root,leaf);
}
//
bool btDbvt::update(Node* leaf,Volume volume,const btVector3& velocity,btScalar margin)
{
if(leaf->volume.Contain(volume)) return(false);
volume.Expand(btVector3(margin,margin,margin));
volume.SignedExpand(velocity);
update(leaf,volume);
return(true);
if(leaf->volume.Contain(volume)) return(false);
volume.Expand(btVector3(margin,margin,margin));
volume.SignedExpand(velocity);
update(leaf,volume);
return(true);
}
//
bool btDbvt::update(Node* leaf,Volume volume,const btVector3& velocity)
{
if(leaf->volume.Contain(volume)) return(false);
volume.SignedExpand(velocity);
update(leaf,volume);
return(true);
if(leaf->volume.Contain(volume)) return(false);
volume.SignedExpand(velocity);
update(leaf,volume);
return(true);
}
//
bool btDbvt::update(Node* leaf,Volume volume,btScalar margin)
{
if(leaf->volume.Contain(volume)) return(false);
volume.Expand(btVector3(margin,margin,margin));
update(leaf,volume);
return(true);
if(leaf->volume.Contain(volume)) return(false);
volume.Expand(btVector3(margin,margin,margin));
update(leaf,volume);
return(true);
}
//
void btDbvt::remove(Node* leaf)
{
removeleaf(this,leaf);
deletenode(this,leaf);
--m_leafs;
removeleaf(this,leaf);
deletenode(this,leaf);
--m_leafs;
}
//
void btDbvt::collide(btDbvt* tree,
ICollide* icollide) const
void btDbvt::write(IWriter* iwriter) const
{
collideGeneric(tree,icollide);
}
//
void btDbvt::collide(btDbvt::Node* node,
ICollide* icollide) const
{
collideGeneric(node,icollide);
}
//
void btDbvt::collide(const Volume& volume,
ICollide* icollide) const
{
collideGeneric(volume,icollide);
}
//
void btDbvt::collide(ICollide* icollide) const
{
collideGeneric(icollide);
btDbvtNodeEnumerator nodes;
nodes.nodes.reserve(m_leafs*2);
enumNodes(m_root,nodes);
iwriter->Prepare(m_root,nodes.nodes.size());
for(int i=0;i<nodes.nodes.size();++i)
{
const Node* n=nodes.nodes[i];
int p=-1;
if(n->parent) p=nodes.nodes.findLinearSearch(n->parent);
if(n->isinternal())
{
const int c0=nodes.nodes.findLinearSearch(n->childs[0]);
const int c1=nodes.nodes.findLinearSearch(n->childs[1]);
iwriter->WriteNode(n,i,p,c0,c1);
}
else
{
iwriter->WriteLeaf(n,i,p);
}
}
}