542 lines
10 KiB
C++
542 lines
10 KiB
C++
#include "btDbvt.h"
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//
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typedef btAlignedObjectArray<btDbvt::Node*> tNodeArray;
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//
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static inline int indexof(const btDbvt::Node* node)
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{
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return(node->parent->childs[1]==node);
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}
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//
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static inline btDbvt::Aabb merge( const btDbvt::Aabb& a,
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const btDbvt::Aabb& b)
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{
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btDbvt::Aabb res;
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Merge(a,b,res);
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return(res);
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}
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// volume+edge lengths
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static inline btScalar size(const btDbvt::Aabb& a)
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{
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const btVector3 edges=a.Lengths();
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return( edges.x()*edges.y()*edges.z()+
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edges.x()+edges.y()+edges.z());
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}
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//
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static inline void deletenode( btDbvt* pdbvt,
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btDbvt::Node* node)
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{
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delete pdbvt->m_free;
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pdbvt->m_free=node;
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}
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//
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static inline void recursedeletenode( btDbvt* pdbvt,
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btDbvt::Node* node)
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{
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if(!node->isleaf())
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{
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recursedeletenode(pdbvt,node->childs[0]);
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recursedeletenode(pdbvt,node->childs[1]);
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}
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if(node==pdbvt->m_root) pdbvt->m_root=0;
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deletenode(pdbvt,node);
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}
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//
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static inline btDbvt::Node* createnode( btDbvt* pdbvt,
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btDbvt::Node* parent,
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const btDbvt::Aabb& box,
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void* data)
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{
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btDbvt::Node* node;
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if(pdbvt->m_free)
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{ node=pdbvt->m_free;pdbvt->m_free=0; }
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else
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{ node=new btDbvt::Node(); }
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node->parent = parent;
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node->box = box;
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node->data = data;
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node->childs[1] = 0;
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return(node);
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}
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//
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static inline void insertleaf( btDbvt* pdbvt,
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btDbvt::Node* root,
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btDbvt::Node* leaf)
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{
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if(!pdbvt->m_root)
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{
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pdbvt->m_root = leaf;
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leaf->parent = 0;
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}
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else
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{
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if(!root->isleaf())
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{
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do {
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if( Proximity(root->childs[0]->box,leaf->box)<
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Proximity(root->childs[1]->box,leaf->box))
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root=root->childs[0];
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else
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root=root->childs[1];
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} while(!root->isleaf());
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}
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btDbvt::Node* prev=root->parent;
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btDbvt::Node* node=createnode(pdbvt,prev,merge(leaf->box,root->box),0);
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if(prev)
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{
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prev->childs[indexof(root)] = node;
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node->childs[0] = root;root->parent=node;
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node->childs[1] = leaf;leaf->parent=node;
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do {
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if(prev->box.Contain(node->box))
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break;
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else
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Merge(prev->childs[0]->box,prev->childs[1]->box,prev->box);
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node=prev;
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} while(0!=(prev=node->parent));
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}
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else
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{
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node->childs[0] = root;root->parent=node;
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node->childs[1] = leaf;leaf->parent=node;
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pdbvt->m_root = node;
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}
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}
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}
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//
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static inline btDbvt::Node* removeleaf( btDbvt* pdbvt,
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btDbvt::Node* leaf)
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{
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if(leaf==pdbvt->m_root)
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{
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pdbvt->m_root=0;
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return(0);
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}
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else
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{
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btDbvt::Node* parent=leaf->parent;
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btDbvt::Node* prev=parent->parent;
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btDbvt::Node* sibling=parent->childs[1-indexof(leaf)];
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if(prev)
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{
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prev->childs[indexof(parent)]=sibling;
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sibling->parent=prev;
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deletenode(pdbvt,parent);
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while(prev)
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{
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const btDbvt::Aabb pb=prev->box;
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Merge(prev->childs[0]->box,prev->childs[1]->box,prev->box);
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if(NotEqual(pb,prev->box))
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{
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sibling = prev;
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prev = prev->parent;
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} else break;
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}
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return(prev?prev:pdbvt->m_root);
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}
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else
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{
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pdbvt->m_root=sibling;
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sibling->parent=0;
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deletenode(pdbvt,parent);
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return(pdbvt->m_root);
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}
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}
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}
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//
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static void fetchleafs( btDbvt* pdbvt,
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btDbvt::Node* root,
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tNodeArray& leafs,
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int depth=-1)
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{
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if(root->isinternal()&&depth)
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{
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fetchleafs(pdbvt,root->childs[0],leafs,depth-1);
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fetchleafs(pdbvt,root->childs[1],leafs,depth-1);
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deletenode(pdbvt,root);
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}
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else
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{
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leafs.push_back(root);
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}
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}
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//
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static int leafcount(btDbvt::Node* root)
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{
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if(root->isinternal())
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{
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return( leafcount(root->childs[0])+
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leafcount(root->childs[1]));
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}
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return(1);
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}
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//
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static void split( const tNodeArray& leafs,
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tNodeArray& left,
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tNodeArray& right,
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const btVector3& org,
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const btVector3& axis)
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{
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left.resize(0);
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right.resize(0);
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for(int i=0,ni=leafs.size();i<ni;++i)
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{
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if(dot(axis,leafs[i]->box.Center()-org)<0)
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left.push_back(leafs[i]);
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else
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right.push_back(leafs[i]);
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}
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}
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//
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static btDbvt::Aabb bounds( const tNodeArray& leafs)
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{
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btDbvt::Aabb box=leafs[0]->box;
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for(int i=1,ni=leafs.size();i<ni;++i)
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{
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box=merge(box,leafs[i]->box);
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}
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return(box);
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}
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//
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static void bottomup( btDbvt* pdbvt,
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tNodeArray& leafs)
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{
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while(leafs.size()>1)
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{
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btScalar minsize=SIMD_INFINITY;
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int minidx[2]={-1,-1};
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for(int i=0;i<leafs.size();++i)
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{
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for(int j=i+1;j<leafs.size();++j)
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{
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const btScalar sz=size(merge(leafs[i]->box,leafs[j]->box));
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if(sz<minsize)
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{
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minsize = sz;
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minidx[0] = i;
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minidx[1] = j;
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}
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}
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}
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btDbvt::Node* n[] = {leafs[minidx[0]],leafs[minidx[1]]};
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btDbvt::Node* p = createnode(pdbvt,0,merge(n[0]->box,n[1]->box),0);
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p->childs[0] = n[0];
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p->childs[1] = n[1];
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n[0]->parent = p;
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n[1]->parent = p;
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leafs[minidx[0]] = p;
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leafs.swap(minidx[1],leafs.size()-1);
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leafs.pop_back();
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}
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}
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//
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static btDbvt::Node* topdown(btDbvt* pdbvt,
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tNodeArray& leafs,
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int bu_treshold)
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{
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static const btVector3 axis[]={btVector3(1,0,0),
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btVector3(0,1,0),
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btVector3(0,0,1)};
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if(leafs.size()>1)
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{
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if(leafs.size()>bu_treshold)
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{
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const btDbvt::Aabb box=bounds(leafs);
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const btVector3 org=box.Center();
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tNodeArray sets[2];
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int bestaxis=-1;
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int bestmidp=leafs.size();
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int splitcount[3][2]={0,0,0,0,0,0};
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for(int i=0;i<leafs.size();++i)
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{
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const btVector3 x=leafs[i]->box.Center()-org;
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for(int j=0;j<3;++j)
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{
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++splitcount[j][dot(x,axis[j])>0?1:0];
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}
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}
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for(int i=0;i<3;++i)
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{
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if((splitcount[i][0]>0)&&(splitcount[i][1]>0))
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{
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const int midp=abs(splitcount[i][0]-splitcount[i][1]);
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if(midp<bestmidp)
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{
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bestaxis=i;
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bestmidp=midp;
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}
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}
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}
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if(bestaxis>=0)
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{
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sets[0].reserve(splitcount[bestaxis][0]);
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sets[1].reserve(splitcount[bestaxis][1]);
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split(leafs,sets[0],sets[1],org,axis[bestaxis]);
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}
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else
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{
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sets[0].reserve(leafs.size()/2+1);
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sets[1].reserve(leafs.size()/2);
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for(int i=0,ni=leafs.size();i<ni;++i)
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{
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sets[i&1].push_back(leafs[i]);
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}
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}
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btDbvt::Node* node=createnode(pdbvt,0,box,0);
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node->childs[0]=topdown(pdbvt,sets[0],bu_treshold);
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node->childs[1]=topdown(pdbvt,sets[1],bu_treshold);
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node->childs[0]->parent=node;
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node->childs[1]->parent=node;
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return(node);
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}
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else
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{
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bottomup(pdbvt,leafs);
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return(leafs[0]);
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}
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}
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return(leafs[0]);
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}
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//
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static inline btDbvt::Node* refit( btDbvt* pdbvt,
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btDbvt::Node* node)
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{
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btDbvt::Node* parent=node->parent;
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if(parent)
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{
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const int idx=indexof(node);
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tNodeArray leafs;
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leafs.reserve(64);
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fetchleafs(pdbvt,node,leafs,3);
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if(leafs.size()>=2)
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{
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bottomup(pdbvt,leafs);
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node=leafs[0];
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node->parent=parent;
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parent->childs[idx]=node;
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}
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}
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return(node);
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}
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//
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// Api
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//
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//
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btDbvt::btDbvt()
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{
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m_root = 0;
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m_free = 0;
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m_lkhd = 2;
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}
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//
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btDbvt::~btDbvt()
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{
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clear();
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}
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//
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void btDbvt::clear()
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{
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if(m_root) recursedeletenode(this,m_root);
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delete m_free;
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m_free=0;
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}
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//
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int btDbvt::leafCount() const
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{
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if(m_root) return(leafcount(m_root));
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else
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return(0);
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}
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//
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void btDbvt::optimizeBottomUp()
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{
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if(m_root)
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{
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tNodeArray leafs;
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leafs.reserve(leafCount());
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fetchleafs(this,m_root,leafs);
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bottomup(this,leafs);
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m_root=leafs[0];
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}
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}
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//
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void btDbvt::optimizeTopDown(int bu_treshold)
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{
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if(m_root)
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{
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tNodeArray leafs;
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leafs.reserve(leafCount());
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fetchleafs(this,m_root,leafs);
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m_root=topdown(this,leafs,bu_treshold);
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}
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}
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//
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btDbvt::Node* btDbvt::insert(const Aabb& box,void* data)
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{
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Node* leaf=createnode(this,0,box,data);
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insertleaf(this,m_root,leaf);
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return(leaf);
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}
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//
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void btDbvt::update(Node* leaf,const Aabb& box)
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{
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Node* root=removeleaf(this,leaf);
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if(root)
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{
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for(int i=0;(i<m_lkhd)&&root->parent;++i)
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{
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root=root->parent;
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}
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}
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leaf->box=box;
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insertleaf(this,root,leaf);
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}
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//
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bool btDbvt::update(Node* leaf,Aabb box,const btVector3& velocity,btScalar margin)
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{
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if(leaf->box.Contain(box)) return(false);
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if(margin>0)
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box.Expand(btVector3(margin,margin,margin));
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if(velocity.length2()>0)
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box.SignedExpand(velocity);
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update(leaf,box);
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return(true);
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}
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//
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void btDbvt::remove(Node* leaf)
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{
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removeleaf(this,leaf);
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deletenode(this,leaf);
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}
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//
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void btDbvt::collide(btDbvt* tree,
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ICollide* icollide) const
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{
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if(tree->m_root&&m_root)
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{
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btAlignedObjectArray<sStkElm> stack;
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stack.reserve(128);
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stack.push_back(sStkElm(m_root,tree->m_root));
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do {
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sStkElm p=stack[stack.size()-1];
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stack.pop_back();
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if(p.a==p.b)
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{
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if(p.a->isinternal())
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{
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stack.push_back(sStkElm(p.a->childs[0],p.a->childs[0]));
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stack.push_back(sStkElm(p.a->childs[1],p.a->childs[1]));
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stack.push_back(sStkElm(p.a->childs[0],p.a->childs[1]));
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}
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}
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else if(Intersect(p.a->box,p.b->box))
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{
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if(p.a->isinternal())
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{
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if(p.b->isinternal())
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{
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stack.push_back(sStkElm(p.a->childs[0],p.b->childs[0]));
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stack.push_back(sStkElm(p.a->childs[1],p.b->childs[0]));
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stack.push_back(sStkElm(p.a->childs[0],p.b->childs[1]));
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stack.push_back(sStkElm(p.a->childs[1],p.b->childs[1]));
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}
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else
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{
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stack.push_back(sStkElm(p.a->childs[0],p.b));
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stack.push_back(sStkElm(p.a->childs[1],p.b));
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}
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}
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else
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{
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if(p.b->isinternal())
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{
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stack.push_back(sStkElm(p.a,p.b->childs[0]));
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stack.push_back(sStkElm(p.a,p.b->childs[1]));
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}
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else
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{
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icollide->Process(p.a,p.b);
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}
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}
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}
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} while(stack.size()>0);
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}
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}
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//
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void btDbvt::collide(const Aabb& box,
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ICollide* icollide) const
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{
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if(m_root)
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{
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btAlignedObjectArray<const Node*> stack;
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stack.reserve(64);
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stack.push_back(m_root);
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do {
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const Node* n=stack[stack.size()-1];
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stack.pop_back();
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if(Intersect(n->box,box))
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{
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if(n->isinternal())
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{
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stack.push_back(n->childs[0]);
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stack.push_back(n->childs[1]);
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}
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else
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{
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icollide->Process(n);
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}
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}
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} while(stack.size()>0);
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}
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}
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//
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void btDbvt::collide(ICollide* icollide) const
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{
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if(m_root)
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{
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btAlignedObjectArray<const Node*> stack;
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stack.reserve(64);
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stack.push_back(m_root);
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do {
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const Node* n=stack[stack.size()-1];
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stack.pop_back();
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if(icollide->Descent(n))
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{
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if(n->isinternal())
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{ stack.push_back(n->childs[0]);stack.push_back(n->childs[1]); }
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else
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{ icollide->Process(n); }
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}
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} while(stack.size()>0);
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}
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}
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