Bullet Collision Detection & Physics Library
btQuantizedBvh.h
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1/*
2Bullet Continuous Collision Detection and Physics Library
3Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
4
5This software is provided 'as-is', without any express or implied warranty.
6In no event will the authors be held liable for any damages arising from the use of this software.
7Permission is granted to anyone to use this software for any purpose,
8including commercial applications, and to alter it and redistribute it freely,
9subject to the following restrictions:
10
111. 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.
122. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
133. This notice may not be removed or altered from any source distribution.
14*/
15
16#ifndef BT_QUANTIZED_BVH_H
17#define BT_QUANTIZED_BVH_H
18
19class btSerializer;
20
21//#define DEBUG_CHECK_DEQUANTIZATION 1
22#ifdef DEBUG_CHECK_DEQUANTIZATION
23#ifdef __SPU__
24#define printf spu_printf
25#endif //__SPU__
26
27#include <stdio.h>
28#include <stdlib.h>
29#endif //DEBUG_CHECK_DEQUANTIZATION
30
33
34#ifdef BT_USE_DOUBLE_PRECISION
35#define btQuantizedBvhData btQuantizedBvhDoubleData
36#define btOptimizedBvhNodeData btOptimizedBvhNodeDoubleData
37#define btQuantizedBvhDataName "btQuantizedBvhDoubleData"
38#else
39#define btQuantizedBvhData btQuantizedBvhFloatData
40#define btOptimizedBvhNodeData btOptimizedBvhNodeFloatData
41#define btQuantizedBvhDataName "btQuantizedBvhFloatData"
42#endif
43
44
45
46//http://msdn.microsoft.com/library/default.asp?url=/library/en-us/vclang/html/vclrf__m128.asp
47
48
49//Note: currently we have 16 bytes per quantized node
50#define MAX_SUBTREE_SIZE_IN_BYTES 2048
51
52// 10 gives the potential for 1024 parts, with at most 2^21 (2097152) (minus one
53// actually) triangles each (since the sign bit is reserved
54#define MAX_NUM_PARTS_IN_BITS 10
55
59{
61
62 //12 bytes
63 unsigned short int m_quantizedAabbMin[3];
64 unsigned short int m_quantizedAabbMax[3];
65 //4 bytes
67
68 bool isLeafNode() const
69 {
70 //skipindex is negative (internal node), triangleindex >=0 (leafnode)
71 return (m_escapeIndexOrTriangleIndex >= 0);
72 }
73 int getEscapeIndex() const
74 {
75 btAssert(!isLeafNode());
76 return -m_escapeIndexOrTriangleIndex;
77 }
78 int getTriangleIndex() const
79 {
80 btAssert(isLeafNode());
81 unsigned int x=0;
82 unsigned int y = (~(x&0))<<(31-MAX_NUM_PARTS_IN_BITS);
83 // Get only the lower bits where the triangle index is stored
84 return (m_escapeIndexOrTriangleIndex&~(y));
85 }
86 int getPartId() const
87 {
88 btAssert(isLeafNode());
89 // Get only the highest bits where the part index is stored
90 return (m_escapeIndexOrTriangleIndex>>(31-MAX_NUM_PARTS_IN_BITS));
91 }
92}
93;
94
98{
100
101 //32 bytes
104
105 //4
107
108 //8
109 //for child nodes
112
113//pad the size to 64 bytes
114 char m_padding[20];
115};
116
117
120{
121public:
123
124 //12 bytes
125 unsigned short int m_quantizedAabbMin[3];
126 unsigned short int m_quantizedAabbMax[3];
127 //4 bytes, points to the root of the subtree
129 //4 bytes
131 int m_padding[3];
132
134 {
135 //memset(&m_padding[0], 0, sizeof(m_padding));
136 }
137
138
140 {
141 m_quantizedAabbMin[0] = quantizedNode.m_quantizedAabbMin[0];
142 m_quantizedAabbMin[1] = quantizedNode.m_quantizedAabbMin[1];
143 m_quantizedAabbMin[2] = quantizedNode.m_quantizedAabbMin[2];
144 m_quantizedAabbMax[0] = quantizedNode.m_quantizedAabbMax[0];
145 m_quantizedAabbMax[1] = quantizedNode.m_quantizedAabbMax[1];
146 m_quantizedAabbMax[2] = quantizedNode.m_quantizedAabbMax[2];
147 }
148}
149;
150
151
153{
154public:
156
157 virtual void processNode(int subPart, int triangleIndex) = 0;
158};
159
162
163
164
169
170
175{
176public:
178 {
179 TRAVERSAL_STACKLESS = 0,
181 TRAVERSAL_RECURSIVE
182 };
183
184protected:
185
186
190
191 int m_bulletVersion; //for serialization versioning. It could also be used to detect endianess.
192
194 //quantization data
196
197
198
203
206
207 //This is only used for serialization so we don't have to add serialization directly to btAlignedObjectArray
209
210
211
212
213
216 void setInternalNodeAabbMin(int nodeIndex, const btVector3& aabbMin)
217 {
218 if (m_useQuantization)
219 {
220 quantize(&m_quantizedContiguousNodes[nodeIndex].m_quantizedAabbMin[0] ,aabbMin,0);
221 } else
222 {
223 m_contiguousNodes[nodeIndex].m_aabbMinOrg = aabbMin;
224
225 }
226 }
227 void setInternalNodeAabbMax(int nodeIndex,const btVector3& aabbMax)
228 {
229 if (m_useQuantization)
230 {
231 quantize(&m_quantizedContiguousNodes[nodeIndex].m_quantizedAabbMax[0],aabbMax,1);
232 } else
233 {
234 m_contiguousNodes[nodeIndex].m_aabbMaxOrg = aabbMax;
235 }
236 }
237
238 btVector3 getAabbMin(int nodeIndex) const
239 {
240 if (m_useQuantization)
241 {
242 return unQuantize(&m_quantizedLeafNodes[nodeIndex].m_quantizedAabbMin[0]);
243 }
244 //non-quantized
245 return m_leafNodes[nodeIndex].m_aabbMinOrg;
246
247 }
248 btVector3 getAabbMax(int nodeIndex) const
249 {
250 if (m_useQuantization)
251 {
252 return unQuantize(&m_quantizedLeafNodes[nodeIndex].m_quantizedAabbMax[0]);
253 }
254 //non-quantized
255 return m_leafNodes[nodeIndex].m_aabbMaxOrg;
256
257 }
258
259
260 void setInternalNodeEscapeIndex(int nodeIndex, int escapeIndex)
261 {
262 if (m_useQuantization)
263 {
264 m_quantizedContiguousNodes[nodeIndex].m_escapeIndexOrTriangleIndex = -escapeIndex;
265 }
266 else
267 {
268 m_contiguousNodes[nodeIndex].m_escapeIndex = escapeIndex;
269 }
270
271 }
272
273 void mergeInternalNodeAabb(int nodeIndex,const btVector3& newAabbMin,const btVector3& newAabbMax)
274 {
275 if (m_useQuantization)
276 {
277 unsigned short int quantizedAabbMin[3];
278 unsigned short int quantizedAabbMax[3];
279 quantize(quantizedAabbMin,newAabbMin,0);
280 quantize(quantizedAabbMax,newAabbMax,1);
281 for (int i=0;i<3;i++)
282 {
283 if (m_quantizedContiguousNodes[nodeIndex].m_quantizedAabbMin[i] > quantizedAabbMin[i])
284 m_quantizedContiguousNodes[nodeIndex].m_quantizedAabbMin[i] = quantizedAabbMin[i];
285
286 if (m_quantizedContiguousNodes[nodeIndex].m_quantizedAabbMax[i] < quantizedAabbMax[i])
287 m_quantizedContiguousNodes[nodeIndex].m_quantizedAabbMax[i] = quantizedAabbMax[i];
288
289 }
290 } else
291 {
292 //non-quantized
293 m_contiguousNodes[nodeIndex].m_aabbMinOrg.setMin(newAabbMin);
294 m_contiguousNodes[nodeIndex].m_aabbMaxOrg.setMax(newAabbMax);
295 }
296 }
297
298 void swapLeafNodes(int firstIndex,int secondIndex);
299
300 void assignInternalNodeFromLeafNode(int internalNode,int leafNodeIndex);
301
302protected:
303
304
305
306 void buildTree (int startIndex,int endIndex);
307
308 int calcSplittingAxis(int startIndex,int endIndex);
309
310 int sortAndCalcSplittingIndex(int startIndex,int endIndex,int splitAxis);
311
312 void walkStacklessTree(btNodeOverlapCallback* nodeCallback,const btVector3& aabbMin,const btVector3& aabbMax) const;
313
314 void walkStacklessQuantizedTreeAgainstRay(btNodeOverlapCallback* nodeCallback, const btVector3& raySource, const btVector3& rayTarget, const btVector3& aabbMin, const btVector3& aabbMax, int startNodeIndex,int endNodeIndex) const;
315 void walkStacklessQuantizedTree(btNodeOverlapCallback* nodeCallback,unsigned short int* quantizedQueryAabbMin,unsigned short int* quantizedQueryAabbMax,int startNodeIndex,int endNodeIndex) const;
316 void walkStacklessTreeAgainstRay(btNodeOverlapCallback* nodeCallback, const btVector3& raySource, const btVector3& rayTarget, const btVector3& aabbMin, const btVector3& aabbMax, int startNodeIndex,int endNodeIndex) const;
317
319 void walkStacklessQuantizedTreeCacheFriendly(btNodeOverlapCallback* nodeCallback,unsigned short int* quantizedQueryAabbMin,unsigned short int* quantizedQueryAabbMax) const;
320
322 void walkRecursiveQuantizedTreeAgainstQueryAabb(const btQuantizedBvhNode* currentNode,btNodeOverlapCallback* nodeCallback,unsigned short int* quantizedQueryAabbMin,unsigned short int* quantizedQueryAabbMax) const;
323
326
327
328
329
330 void updateSubtreeHeaders(int leftChildNodexIndex,int rightChildNodexIndex);
331
332public:
333
335
337
338 virtual ~btQuantizedBvh();
339
340
342 void setQuantizationValues(const btVector3& bvhAabbMin,const btVector3& bvhAabbMax,btScalar quantizationMargin=btScalar(1.0));
343 QuantizedNodeArray& getLeafNodeArray() { return m_quantizedLeafNodes; }
345 void buildInternal();
347
348 void reportAabbOverlappingNodex(btNodeOverlapCallback* nodeCallback,const btVector3& aabbMin,const btVector3& aabbMax) const;
349 void reportRayOverlappingNodex (btNodeOverlapCallback* nodeCallback, const btVector3& raySource, const btVector3& rayTarget) const;
350 void reportBoxCastOverlappingNodex(btNodeOverlapCallback* nodeCallback, const btVector3& raySource, const btVector3& rayTarget, const btVector3& aabbMin,const btVector3& aabbMax) const;
351
352 SIMD_FORCE_INLINE void quantize(unsigned short* out, const btVector3& point,int isMax) const
353 {
354
355 btAssert(m_useQuantization);
356
357 btAssert(point.getX() <= m_bvhAabbMax.getX());
358 btAssert(point.getY() <= m_bvhAabbMax.getY());
359 btAssert(point.getZ() <= m_bvhAabbMax.getZ());
360
361 btAssert(point.getX() >= m_bvhAabbMin.getX());
362 btAssert(point.getY() >= m_bvhAabbMin.getY());
363 btAssert(point.getZ() >= m_bvhAabbMin.getZ());
364
365 btVector3 v = (point - m_bvhAabbMin) * m_bvhQuantization;
369 if (isMax)
370 {
371 out[0] = (unsigned short) (((unsigned short)(v.getX()+btScalar(1.)) | 1));
372 out[1] = (unsigned short) (((unsigned short)(v.getY()+btScalar(1.)) | 1));
373 out[2] = (unsigned short) (((unsigned short)(v.getZ()+btScalar(1.)) | 1));
374 } else
375 {
376 out[0] = (unsigned short) (((unsigned short)(v.getX()) & 0xfffe));
377 out[1] = (unsigned short) (((unsigned short)(v.getY()) & 0xfffe));
378 out[2] = (unsigned short) (((unsigned short)(v.getZ()) & 0xfffe));
379 }
380
381
382#ifdef DEBUG_CHECK_DEQUANTIZATION
383 btVector3 newPoint = unQuantize(out);
384 if (isMax)
385 {
386 if (newPoint.getX() < point.getX())
387 {
388 printf("unconservative X, diffX = %f, oldX=%f,newX=%f\n",newPoint.getX()-point.getX(), newPoint.getX(),point.getX());
389 }
390 if (newPoint.getY() < point.getY())
391 {
392 printf("unconservative Y, diffY = %f, oldY=%f,newY=%f\n",newPoint.getY()-point.getY(), newPoint.getY(),point.getY());
393 }
394 if (newPoint.getZ() < point.getZ())
395 {
396
397 printf("unconservative Z, diffZ = %f, oldZ=%f,newZ=%f\n",newPoint.getZ()-point.getZ(), newPoint.getZ(),point.getZ());
398 }
399 } else
400 {
401 if (newPoint.getX() > point.getX())
402 {
403 printf("unconservative X, diffX = %f, oldX=%f,newX=%f\n",newPoint.getX()-point.getX(), newPoint.getX(),point.getX());
404 }
405 if (newPoint.getY() > point.getY())
406 {
407 printf("unconservative Y, diffY = %f, oldY=%f,newY=%f\n",newPoint.getY()-point.getY(), newPoint.getY(),point.getY());
408 }
409 if (newPoint.getZ() > point.getZ())
410 {
411 printf("unconservative Z, diffZ = %f, oldZ=%f,newZ=%f\n",newPoint.getZ()-point.getZ(), newPoint.getZ(),point.getZ());
412 }
413 }
414#endif //DEBUG_CHECK_DEQUANTIZATION
415
416 }
417
418
419 SIMD_FORCE_INLINE void quantizeWithClamp(unsigned short* out, const btVector3& point2,int isMax) const
420 {
421
422 btAssert(m_useQuantization);
423
424 btVector3 clampedPoint(point2);
425 clampedPoint.setMax(m_bvhAabbMin);
426 clampedPoint.setMin(m_bvhAabbMax);
427
428 quantize(out,clampedPoint,isMax);
429
430 }
431
432 SIMD_FORCE_INLINE btVector3 unQuantize(const unsigned short* vecIn) const
433 {
434 btVector3 vecOut;
435 vecOut.setValue(
436 (btScalar)(vecIn[0]) / (m_bvhQuantization.getX()),
437 (btScalar)(vecIn[1]) / (m_bvhQuantization.getY()),
438 (btScalar)(vecIn[2]) / (m_bvhQuantization.getZ()));
439 vecOut += m_bvhAabbMin;
440 return vecOut;
441 }
442
445 {
446 m_traversalMode = traversalMode;
447 }
448
449
451 {
452 return m_quantizedContiguousNodes;
453 }
454
455
457 {
458 return m_SubtreeHeaders;
459 }
460
462
464 unsigned calculateSerializeBufferSize() const;
465
467 virtual bool serialize(void *o_alignedDataBuffer, unsigned i_dataBufferSize, bool i_swapEndian) const;
468
470 static btQuantizedBvh *deSerializeInPlace(void *i_alignedDataBuffer, unsigned int i_dataBufferSize, bool i_swapEndian);
471
472 static unsigned int getAlignmentSerializationPadding();
474
475
476 virtual int calculateSerializeBufferSizeNew() const;
477
479 virtual const char* serialize(void* dataBuffer, btSerializer* serializer) const;
480
481 virtual void deSerializeFloat(struct btQuantizedBvhFloatData& quantizedBvhFloatData);
482
483 virtual void deSerializeDouble(struct btQuantizedBvhDoubleData& quantizedBvhDoubleData);
484
485
487
489 {
490 return m_useQuantization;
491 }
492
493private:
494 // Special "copy" constructor that allows for in-place deserialization
495 // Prevents btVector3's default constructor from being called, but doesn't inialize much else
496 // ownsMemory should most likely be false if deserializing, and if you are not, don't call this (it also changes the function signature, which we need)
497 btQuantizedBvh(btQuantizedBvh &other, bool ownsMemory);
498
499}
500;
501
502
504{
507 unsigned short m_quantizedAabbMin[3];
508 unsigned short m_quantizedAabbMax[3];
509};
510
512{
518 char m_pad[4];
519};
520
522{
528 char m_pad[4];
529};
530
531
533{
534 unsigned short m_quantizedAabbMin[3];
535 unsigned short m_quantizedAabbMax[3];
537};
538
540{
553
554};
555
557{
567
571};
572
573
575{
576 return sizeof(btQuantizedBvhData);
577}
578
579
580
581#endif //BT_QUANTIZED_BVH_H
btAlignedObjectArray< btOptimizedBvhNode > NodeArray
for code readability:
btAlignedObjectArray< btBvhSubtreeInfo > BvhSubtreeInfoArray
#define MAX_NUM_PARTS_IN_BITS
btAlignedObjectArray< btQuantizedBvhNode > QuantizedNodeArray
#define btQuantizedBvhData
float btScalar
The btScalar type abstracts floating point numbers, to easily switch between double and single floati...
Definition: btScalar.h:292
#define ATTRIBUTE_ALIGNED16(a)
Definition: btScalar.h:82
#define SIMD_FORCE_INLINE
Definition: btScalar.h:81
#define btAssert(x)
Definition: btScalar.h:131
btBvhSubtreeInfo provides info to gather a subtree of limited size
void setAabbFromQuantizeNode(const btQuantizedBvhNode &quantizedNode)
virtual ~btNodeOverlapCallback()
virtual void processNode(int subPart, int triangleIndex)=0
The btQuantizedBvh class stores an AABB tree that can be quickly traversed on CPU and Cell SPU.
void setInternalNodeAabbMax(int nodeIndex, const btVector3 &aabbMax)
NodeArray m_leafNodes
QuantizedNodeArray & getLeafNodeArray()
btVector3 m_bvhAabbMax
QuantizedNodeArray m_quantizedLeafNodes
btTraversalMode m_traversalMode
void quantize(unsigned short *out, const btVector3 &point, int isMax) const
BvhSubtreeInfoArray & getSubtreeInfoArray()
btVector3 m_bvhQuantization
btVector3 m_bvhAabbMin
void setInternalNodeEscapeIndex(int nodeIndex, int escapeIndex)
@ TRAVERSAL_STACKLESS_CACHE_FRIENDLY
BvhSubtreeInfoArray m_SubtreeHeaders
NodeArray m_contiguousNodes
QuantizedNodeArray & getQuantizedNodeArray()
void walkRecursiveQuantizedTreeAgainstQuantizedTree(const btQuantizedBvhNode *treeNodeA, const btQuantizedBvhNode *treeNodeB, btNodeOverlapCallback *nodeCallback) const
use the 16-byte stackless 'skipindex' node tree to do a recursive traversal
void setInternalNodeAabbMin(int nodeIndex, const btVector3 &aabbMin)
two versions, one for quantized and normal nodes.
void mergeInternalNodeAabb(int nodeIndex, const btVector3 &newAabbMin, const btVector3 &newAabbMax)
BT_DECLARE_ALIGNED_ALLOCATOR()
virtual int calculateSerializeBufferSizeNew() const
void quantizeWithClamp(unsigned short *out, const btVector3 &point2, int isMax) const
void setTraversalMode(btTraversalMode traversalMode)
setTraversalMode let's you choose between stackless, recursive or stackless cache friendly tree trave...
btVector3 getAabbMax(int nodeIndex) const
btVector3 getAabbMin(int nodeIndex) const
QuantizedNodeArray m_quantizedContiguousNodes
btVector3 unQuantize(const unsigned short *vecIn) const
btVector3 can be used to represent 3D points and vectors.
Definition: btVector3.h:84
const btScalar & getZ() const
Return the z value.
Definition: btVector3.h:577
void setMax(const btVector3 &other)
Set each element to the max of the current values and the values of another btVector3.
Definition: btVector3.h:621
void setValue(const btScalar &_x, const btScalar &_y, const btScalar &_z)
Definition: btVector3.h:652
const btScalar & getY() const
Return the y value.
Definition: btVector3.h:575
void setMin(const btVector3 &other)
Set each element to the min of the current values and the values of another btVector3.
Definition: btVector3.h:638
const btScalar & getX() const
Return the x value.
Definition: btVector3.h:573
unsigned short m_quantizedAabbMin[3]
unsigned short m_quantizedAabbMax[3]
btVector3DoubleData m_aabbMaxOrg
btVector3DoubleData m_aabbMinOrg
btVector3FloatData m_aabbMaxOrg
btVector3FloatData m_aabbMinOrg
btOptimizedBvhNode contains both internal and leaf node information.
btBvhSubtreeInfoData * m_subTreeInfoPtr
btVector3DoubleData m_bvhAabbMin
btVector3DoubleData m_bvhAabbMax
btVector3DoubleData m_bvhQuantization
btQuantizedBvhNodeData * m_quantizedContiguousNodesPtr
btOptimizedBvhNodeDoubleData * m_contiguousNodesPtr
btOptimizedBvhNodeFloatData * m_contiguousNodesPtr
btVector3FloatData m_bvhAabbMin
btBvhSubtreeInfoData * m_subTreeInfoPtr
btVector3FloatData m_bvhQuantization
btQuantizedBvhNodeData * m_quantizedContiguousNodesPtr
btVector3FloatData m_bvhAabbMax
unsigned short m_quantizedAabbMax[3]
unsigned short m_quantizedAabbMin[3]
btQuantizedBvhNode is a compressed aabb node, 16 bytes.
unsigned short int m_quantizedAabbMin[3]
int getPartId() const
unsigned short int m_quantizedAabbMax[3]
bool isLeafNode() const
int getEscapeIndex() const
int getTriangleIndex() const