526 lines
11 KiB
C++
526 lines
11 KiB
C++
/*
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Bullet Continuous Collision Detection and Physics Library
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Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
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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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///btDbvt implementation by Nathanael Presson
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#include "btDbvt.h"
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//
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typedef btAlignedObjectArray<btDbvt::Node*> tNodeArray;
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typedef btAlignedObjectArray<const btDbvt::Node*> tConstNodeArray;
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//
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struct btDbvtNodeEnumerator : btDbvt::ICollide
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{
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tConstNodeArray nodes;
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void Process(const btDbvt::Node* n) { nodes.push_back(n); }
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};
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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::Volume merge( const btDbvt::Volume& a,
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const btDbvt::Volume& b)
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{
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btDbvt::Volume 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::Volume& 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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btAlignedFree(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::Volume& volume,
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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(btAlignedAlloc(sizeof(btDbvt::Node),16)) btDbvt::Node(); }
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node->parent = parent;
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node->volume = volume;
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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]->volume,leaf->volume)<
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Proximity(root->childs[1]->volume,leaf->volume))
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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->volume,root->volume),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->volume.Contain(node->volume))
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Merge(prev->childs[0]->volume,prev->childs[1]->volume,prev->volume);
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else
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break;
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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::Volume pb=prev->volume;
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Merge(prev->childs[0]->volume,prev->childs[1]->volume,prev->volume);
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if(NotEqual(pb,prev->volume))
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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 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]->volume.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::Volume bounds( const tNodeArray& leafs)
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{
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btDbvt::Volume volume=leafs[0]->volume;
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for(int i=1,ni=leafs.size();i<ni;++i)
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{
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volume=merge(volume,leafs[i]->volume);
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}
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return(volume);
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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]->volume,leafs[j]->volume));
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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]->volume,n[1]->volume),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::Volume vol=bounds(leafs);
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const btVector3 org=vol.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]->volume.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=(int)btFabs(btScalar(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,vol,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 = -1;
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m_leafs = 0;
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m_opath = 0;
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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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btAlignedFree(m_free);
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m_free=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(m_leafs);
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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(m_leafs);
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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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void btDbvt::optimizeIncremental(int passes)
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{
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if(m_root&&(passes>0))
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{
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do {
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Node* node=m_root;
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unsigned bit=0;
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while(node->isinternal())
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{
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node=node->childs[(m_opath>>bit)&1];
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bit=(bit+1)&(sizeof(unsigned)*8-1);
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}
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update(node);
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++m_opath;
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} while(--passes);
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}
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}
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//
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btDbvt::Node* btDbvt::insert(const Volume& volume,void* data)
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{
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Node* leaf=createnode(this,0,volume,data);
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insertleaf(this,m_root,leaf);
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++m_leafs;
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return(leaf);
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}
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//
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void btDbvt::update(Node* leaf,int lookahead)
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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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if(lookahead>=0)
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{
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for(int i=0;(i<lookahead)&&root->parent;++i)
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{
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root=root->parent;
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}
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} else root=m_root;
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}
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insertleaf(this,root,leaf);
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}
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//
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void btDbvt::update(Node* leaf,const Volume& volume)
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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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if(m_lkhd>=0)
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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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} else root=m_root;
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}
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leaf->volume=volume;
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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,Volume volume,const btVector3& velocity,btScalar margin)
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{
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if(leaf->volume.Contain(volume)) return(false);
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volume.Expand(btVector3(margin,margin,margin));
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volume.SignedExpand(velocity);
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update(leaf,volume);
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return(true);
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}
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//
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bool btDbvt::update(Node* leaf,Volume volume,const btVector3& velocity)
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{
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if(leaf->volume.Contain(volume)) return(false);
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volume.SignedExpand(velocity);
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update(leaf,volume);
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return(true);
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}
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//
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bool btDbvt::update(Node* leaf,Volume volume,btScalar margin)
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{
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if(leaf->volume.Contain(volume)) return(false);
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volume.Expand(btVector3(margin,margin,margin));
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update(leaf,volume);
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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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--m_leafs;
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}
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//
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void btDbvt::write(IWriter* iwriter) const
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{
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btDbvtNodeEnumerator nodes;
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nodes.nodes.reserve(m_leafs*2);
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enumNodes(m_root,nodes);
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iwriter->Prepare(m_root,nodes.nodes.size());
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for(int i=0;i<nodes.nodes.size();++i)
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{
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const Node* n=nodes.nodes[i];
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int p=-1;
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if(n->parent) p=nodes.nodes.findLinearSearch(n->parent);
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if(n->isinternal())
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{
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const int c0=nodes.nodes.findLinearSearch(n->childs[0]);
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const int c1=nodes.nodes.findLinearSearch(n->childs[1]);
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iwriter->WriteNode(n,i,p,c0,c1);
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}
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else
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{
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iwriter->WriteLeaf(n,i,p);
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}
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}
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}
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