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merged most of the changes from the branch into trunk, except for COLLADA, libxml and glut glitches.

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Still need to verify to make sure no unwanted renaming is introduced.
This commit is contained in:
ejcoumans
2006-09-27 20:43:51 +00:00
parent d1e9a885f3
commit eb23bb5c0c
263 changed files with 7528 additions and 6714 deletions
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60
src/BulletCollision/CollisionShapes/btOptimizedBvh.cpp
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@@ -15,11 +15,11 @@ subject to the following restrictions:
#include "btOptimizedBvh.h"
#include "btStridingMeshInterface.h"
#include "LinearMath/GenAabbUtil2.h"
#include "LinearMath/btAabbUtil2.h"
void OptimizedBvh::Build(StridingMeshInterface* triangles)
void btOptimizedBvh::Build(btStridingMeshInterface* triangles)
{
//int countTriangles = 0;
@@ -27,7 +27,7 @@ void OptimizedBvh::Build(StridingMeshInterface* triangles)
// NodeArray triangleNodes;
struct NodeTriangleCallback : public InternalTriangleIndexCallback
struct NodeTriangleCallback : public btInternalTriangleIndexCallback
{
NodeArray& m_triangleNodes;
@@ -37,12 +37,12 @@ void OptimizedBvh::Build(StridingMeshInterface* triangles)
}
virtual void InternalProcessTriangleIndex(SimdVector3* triangle,int partId,int triangleIndex)
virtual void InternalProcessTriangleIndex(btVector3* triangle,int partId,int triangleIndex)
{
OptimizedBvhNode node;
node.m_aabbMin = SimdVector3(1e30f,1e30f,1e30f);
node.m_aabbMax = SimdVector3(-1e30f,-1e30f,-1e30f);
btOptimizedBvhNode node;
node.m_aabbMin = btVector3(1e30f,1e30f,1e30f);
node.m_aabbMax = btVector3(-1e30f,-1e30f,-1e30f);
node.m_aabbMin.setMin(triangle[0]);
node.m_aabbMax.setMax(triangle[0]);
node.m_aabbMin.setMin(triangle[1]);
@@ -68,32 +68,32 @@ void OptimizedBvh::Build(StridingMeshInterface* triangles)
NodeTriangleCallback callback(m_leafNodes);
SimdVector3 aabbMin(-1e30f,-1e30f,-1e30f);
SimdVector3 aabbMax(1e30f,1e30f,1e30f);
btVector3 aabbMin(-1e30f,-1e30f,-1e30f);
btVector3 aabbMax(1e30f,1e30f,1e30f);
triangles->InternalProcessAllTriangles(&callback,aabbMin,aabbMax);
//now we have an array of leafnodes in m_leafNodes
m_contiguousNodes = new OptimizedBvhNode[2*m_leafNodes.size()];
m_contiguousNodes = new btOptimizedBvhNode[2*m_leafNodes.size()];
m_curNodeIndex = 0;
m_rootNode1 = BuildTree(m_leafNodes,0,m_leafNodes.size());
///create the leafnodes first
// OptimizedBvhNode* leafNodes = new OptimizedBvhNode;
// btOptimizedBvhNode* leafNodes = new btOptimizedBvhNode;
}
OptimizedBvh::~OptimizedBvh()
btOptimizedBvh::~btOptimizedBvh()
{
if (m_contiguousNodes)
delete m_contiguousNodes;
}
OptimizedBvhNode* OptimizedBvh::BuildTree (NodeArray& leafNodes,int startIndex,int endIndex)
btOptimizedBvhNode* btOptimizedBvh::BuildTree (NodeArray& leafNodes,int startIndex,int endIndex)
{
OptimizedBvhNode* internalNode;
btOptimizedBvhNode* internalNode;
int splitAxis, splitIndex, i;
int numIndices =endIndex-startIndex;
@@ -103,7 +103,7 @@ OptimizedBvhNode* OptimizedBvh::BuildTree (NodeArray& leafNodes,int startIndex,i
if (numIndices==1)
{
return new (&m_contiguousNodes[m_curNodeIndex++]) OptimizedBvhNode(leafNodes[startIndex]);
return new (&m_contiguousNodes[m_curNodeIndex++]) btOptimizedBvhNode(leafNodes[startIndex]);
}
//calculate Best Splitting Axis and where to split it. Sort the incoming 'leafNodes' array within range 'startIndex/endIndex'.
@@ -132,17 +132,17 @@ OptimizedBvhNode* OptimizedBvh::BuildTree (NodeArray& leafNodes,int startIndex,i
return internalNode;
}
int OptimizedBvh::SortAndCalcSplittingIndex(NodeArray& leafNodes,int startIndex,int endIndex,int splitAxis)
int btOptimizedBvh::SortAndCalcSplittingIndex(NodeArray& leafNodes,int startIndex,int endIndex,int splitAxis)
{
int i;
int splitIndex =startIndex;
int numIndices = endIndex - startIndex;
float splitValue;
SimdVector3 means(0.f,0.f,0.f);
btVector3 means(0.f,0.f,0.f);
for (i=startIndex;i<endIndex;i++)
{
SimdVector3 center = 0.5f*(leafNodes[i].m_aabbMax+leafNodes[i].m_aabbMin);
btVector3 center = 0.5f*(leafNodes[i].m_aabbMax+leafNodes[i].m_aabbMin);
means+=center;
}
means *= (1.f/(float)numIndices);
@@ -152,11 +152,11 @@ int OptimizedBvh::SortAndCalcSplittingIndex(NodeArray& leafNodes,int startIndex,
//sort leafNodes so all values larger then splitValue comes first, and smaller values start from 'splitIndex'.
for (i=startIndex;i<endIndex;i++)
{
SimdVector3 center = 0.5f*(leafNodes[i].m_aabbMax+leafNodes[i].m_aabbMin);
btVector3 center = 0.5f*(leafNodes[i].m_aabbMax+leafNodes[i].m_aabbMin);
if (center[splitAxis] > splitValue)
{
//swap
OptimizedBvhNode tmp = leafNodes[i];
btOptimizedBvhNode tmp = leafNodes[i];
leafNodes[i] = leafNodes[splitIndex];
leafNodes[splitIndex] = tmp;
splitIndex++;
@@ -170,25 +170,25 @@ int OptimizedBvh::SortAndCalcSplittingIndex(NodeArray& leafNodes,int startIndex,
}
int OptimizedBvh::CalcSplittingAxis(NodeArray& leafNodes,int startIndex,int endIndex)
int btOptimizedBvh::CalcSplittingAxis(NodeArray& leafNodes,int startIndex,int endIndex)
{
int i;
SimdVector3 means(0.f,0.f,0.f);
SimdVector3 variance(0.f,0.f,0.f);
btVector3 means(0.f,0.f,0.f);
btVector3 variance(0.f,0.f,0.f);
int numIndices = endIndex-startIndex;
for (i=startIndex;i<endIndex;i++)
{
SimdVector3 center = 0.5f*(leafNodes[i].m_aabbMax+leafNodes[i].m_aabbMin);
btVector3 center = 0.5f*(leafNodes[i].m_aabbMax+leafNodes[i].m_aabbMin);
means+=center;
}
means *= (1.f/(float)numIndices);
for (i=startIndex;i<endIndex;i++)
{
SimdVector3 center = 0.5f*(leafNodes[i].m_aabbMax+leafNodes[i].m_aabbMin);
SimdVector3 diff2 = center-means;
btVector3 center = 0.5f*(leafNodes[i].m_aabbMax+leafNodes[i].m_aabbMin);
btVector3 diff2 = center-means;
diff2 = diff2 * diff2;
variance += diff2;
}
@@ -199,7 +199,7 @@ int OptimizedBvh::CalcSplittingAxis(NodeArray& leafNodes,int startIndex,int endI
void OptimizedBvh::ReportAabbOverlappingNodex(NodeOverlapCallback* nodeCallback,const SimdVector3& aabbMin,const SimdVector3& aabbMax) const
void btOptimizedBvh::ReportAabbOverlappingNodex(btNodeOverlapCallback* nodeCallback,const btVector3& aabbMin,const btVector3& aabbMax) const
{
//either choose recursive traversal (WalkTree) or stackless (WalkStacklessTree)
@@ -208,7 +208,7 @@ void OptimizedBvh::ReportAabbOverlappingNodex(NodeOverlapCallback* nodeCallback,
WalkStacklessTree(m_rootNode1,nodeCallback,aabbMin,aabbMax);
}
void OptimizedBvh::WalkTree(OptimizedBvhNode* rootNode,NodeOverlapCallback* nodeCallback,const SimdVector3& aabbMin,const SimdVector3& aabbMax) const
void btOptimizedBvh::WalkTree(btOptimizedBvhNode* rootNode,btNodeOverlapCallback* nodeCallback,const btVector3& aabbMin,const btVector3& aabbMax) const
{
bool isLeafNode, aabbOverlap = TestAabbAgainstAabb2(aabbMin,aabbMax,rootNode->m_aabbMin,rootNode->m_aabbMax);
if (aabbOverlap)
@@ -228,7 +228,7 @@ void OptimizedBvh::WalkTree(OptimizedBvhNode* rootNode,NodeOverlapCallback* node
int maxIterations = 0;
void OptimizedBvh::WalkStacklessTree(OptimizedBvhNode* rootNode,NodeOverlapCallback* nodeCallback,const SimdVector3& aabbMin,const SimdVector3& aabbMax) const
void btOptimizedBvh::WalkStacklessTree(btOptimizedBvhNode* rootNode,btNodeOverlapCallback* nodeCallback,const btVector3& aabbMin,const btVector3& aabbMax) const
{
int escapeIndex, curIndex = 0;
int walkIterations = 0;
@@ -267,7 +267,7 @@ void OptimizedBvh::WalkStacklessTree(OptimizedBvhNode* rootNode,NodeOverlapCallb
}
void OptimizedBvh::ReportSphereOverlappingNodex(NodeOverlapCallback* nodeCallback,const SimdVector3& aabbMin,const SimdVector3& aabbMax) const
void btOptimizedBvh::ReportSphereOverlappingNodex(btNodeOverlapCallback* nodeCallback,const btVector3& aabbMin,const btVector3& aabbMax) const
{
}