1ef4c721a0
Added Bullet SAP/MultiSAP support by Erwin Coumans (BulletSAPCompleteBoxPruningTest.*) AABB tree broadphase by Nathanael Presson (btDbvt.*, DbvtTest.*)
94 lines
2.7 KiB
C
94 lines
2.7 KiB
C
/*
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Bounding Volume Hierarchy, btDbvt.h
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Copyright (c) 2008 Nathanael Presson, as part of Bullet Physics Library
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This software is provided 'as-is', without any express or implied warranty.
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In no event will the authors be held liable for any damages arising from the use of this software.
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Permission is granted to anyone to use this software for any purpose,
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including commercial applications, and to alter it and redistribute it freely,
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subject to the following restrictions:
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1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
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2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
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3. This notice may not be removed or altered from any source distribution.
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*/
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#ifndef _6095FD2A_2B3C_4c47_AB85_D56C1DD1A210_
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#define _6095FD2A_2B3C_4c47_AB85_D56C1DD1A210_
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#include "LinearMath/btAlignedObjectArray.h"
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#include "LinearMath/btPoint3.h"
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#include "LinearMath/btTransform.h"
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#include "LinearMath/btIDebugDraw.h"
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//
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// Dynamic bounding volume tree
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//
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struct btDbvt
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{
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// Types
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/* AabbCe */
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struct Aabb
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{
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btVector3 mi,mx;
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inline btVector3 Center() const { return((mi+mx)/2); }
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inline btVector3 Extent() const { return((mx-mi)/2); }
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static inline Aabb FromCE(const btVector3& c,const btVector3& e)
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{
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Aabb box;
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box.mi=c-e;box.mx=c+e;
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return(box);
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}
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inline friend bool operator==(const Aabb& a,const Aabb& b)
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{
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return( ((a.mi-b.mi).length2()==0)&&
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((a.mx-b.mx).length2()==0));
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}
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};
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/* Node */
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struct Node
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{
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Aabb box;
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Node* parent;
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bool isleaf() const { return(childs[1]==0); }
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bool isinternal() const { return(!isleaf()); }
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union {
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Node* childs[2];
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void* data;
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};
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};
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// Fields
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Node* m_root;
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Node* m_stock;
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int m_nleafs;
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// Methods
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static btDbvt* Create();
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void Delete();
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void OptimizeBottomUp();
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void OptimizeTopDown();
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Node* Insert( const btVector3& center,
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const btVector3& extent,
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void* data);
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bool Update( Node* leaf,
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const btVector3& center,
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const btVector3& extent,
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btScalar margin=0);
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void Remove( Node* leaf);
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// Inline's
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inline Node* Insert( const btVector3& center,
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btScalar radius,
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void* data)
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{
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return(Insert(center,btVector3(radius,radius,radius),data));
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}
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bool Update( Node* leaf,
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const btVector3& center,
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btScalar radius,
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btScalar margin=0)
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{
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return(Update(leaf,center,btVector3(radius,radius,radius),margin));
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}
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};
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#endif |