Bullet Collision Detection & Physics Library
btGImpactBvh.h
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1#ifndef GIM_BOX_SET_H_INCLUDED
2#define GIM_BOX_SET_H_INCLUDED
3
7/*
8This source file is part of GIMPACT Library.
9
10For the latest info, see http://gimpact.sourceforge.net/
11
12Copyright (c) 2007 Francisco Leon Najera. C.C. 80087371.
13email: projectileman@yahoo.com
14
15
16This software is provided 'as-is', without any express or implied warranty.
17In no event will the authors be held liable for any damages arising from the use of this software.
18Permission is granted to anyone to use this software for any purpose,
19including commercial applications, and to alter it and redistribute it freely,
20subject to the following restrictions:
21
221. 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.
232. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
243. This notice may not be removed or altered from any source distribution.
25*/
26
27
29
30#include "btBoxCollision.h"
31#include "btTriangleShapeEx.h"
32#include "btGImpactBvhStructs.h"
33
35class btPairSet: public btAlignedObjectArray<GIM_PAIR>
36{
37public:
39 {
40 reserve(32);
41 }
42 inline void push_pair(int index1,int index2)
43 {
44 push_back(GIM_PAIR(index1,index2));
45 }
46
47 inline void push_pair_inv(int index1,int index2)
48 {
49 push_back(GIM_PAIR(index2,index1));
50 }
51};
52
53class GIM_BVH_DATA_ARRAY:public btAlignedObjectArray<GIM_BVH_DATA>
54{
55};
56
57
58class GIM_BVH_TREE_NODE_ARRAY:public btAlignedObjectArray<GIM_BVH_TREE_NODE>
59{
60};
61
62
63
64
67{
68protected:
71protected:
73 GIM_BVH_DATA_ARRAY & primitive_boxes,
74 int startIndex, int endIndex, int splitAxis);
75
76 int _calc_splitting_axis(GIM_BVH_DATA_ARRAY & primitive_boxes, int startIndex, int endIndex);
77
78 void _build_sub_tree(GIM_BVH_DATA_ARRAY & primitive_boxes, int startIndex, int endIndex);
79public:
81 {
82 m_num_nodes = 0;
83 }
84
87 void build_tree(GIM_BVH_DATA_ARRAY & primitive_boxes);
88
90 {
92 m_num_nodes = 0;
93 }
94
97 {
98 return m_num_nodes;
99 }
100
102 SIMD_FORCE_INLINE bool isLeafNode(int nodeindex) const
103 {
104 return m_node_array[nodeindex].isLeafNode();
105 }
106
107 SIMD_FORCE_INLINE int getNodeData(int nodeindex) const
108 {
109 return m_node_array[nodeindex].getDataIndex();
110 }
111
112 SIMD_FORCE_INLINE void getNodeBound(int nodeindex, btAABB & bound) const
113 {
114 bound = m_node_array[nodeindex].m_bound;
115 }
116
117 SIMD_FORCE_INLINE void setNodeBound(int nodeindex, const btAABB & bound)
118 {
119 m_node_array[nodeindex].m_bound = bound;
120 }
121
122 SIMD_FORCE_INLINE int getLeftNode(int nodeindex) const
123 {
124 return nodeindex+1;
125 }
126
127 SIMD_FORCE_INLINE int getRightNode(int nodeindex) const
128 {
129 if(m_node_array[nodeindex+1].isLeafNode()) return nodeindex+2;
130 return nodeindex+1 + m_node_array[nodeindex+1].getEscapeIndex();
131 }
132
133 SIMD_FORCE_INLINE int getEscapeNodeIndex(int nodeindex) const
134 {
135 return m_node_array[nodeindex].getEscapeIndex();
136 }
137
139 {
140 return &m_node_array[index];
141 }
142
144};
145
146
148
154{
155public:
156
158
160 virtual bool is_trimesh() const = 0;
161 virtual int get_primitive_count() const = 0;
162 virtual void get_primitive_box(int prim_index ,btAABB & primbox) const = 0;
164 virtual void get_primitive_triangle(int prim_index,btPrimitiveTriangle & triangle) const= 0;
165};
166
167
169
174{
175protected:
178
179protected:
180 //stackless refit
181 void refit();
182public:
183
186 {
187 m_primitive_manager = NULL;
188 }
189
192 {
193 m_primitive_manager = primitive_manager;
194 }
195
197 {
198 btAABB totalbox;
199 getNodeBound(0, totalbox);
200 return totalbox;
201 }
202
204 {
205 m_primitive_manager = primitive_manager;
206 }
207
209 {
210 return m_primitive_manager;
211 }
212
213
216
219 {
220 refit();
221 }
222
224 void buildSet();
225
227 bool boxQuery(const btAABB & box, btAlignedObjectArray<int> & collided_results) const;
228
231 const btTransform & transform, btAlignedObjectArray<int> & collided_results) const
232 {
233 btAABB transbox=box;
234 transbox.appy_transform(transform);
235 return boxQuery(transbox,collided_results);
236 }
237
239 bool rayQuery(
240 const btVector3 & ray_dir,const btVector3 & ray_origin ,
241 btAlignedObjectArray<int> & collided_results) const;
242
245 {
246 return true;
247 }
248
251 {
253 }
254
257 {
258 return m_box_tree.getNodeCount();
259 }
260
262 SIMD_FORCE_INLINE bool isLeafNode(int nodeindex) const
263 {
264 return m_box_tree.isLeafNode(nodeindex);
265 }
266
267 SIMD_FORCE_INLINE int getNodeData(int nodeindex) const
268 {
269 return m_box_tree.getNodeData(nodeindex);
270 }
271
272 SIMD_FORCE_INLINE void getNodeBound(int nodeindex, btAABB & bound) const
273 {
274 m_box_tree.getNodeBound(nodeindex, bound);
275 }
276
277 SIMD_FORCE_INLINE void setNodeBound(int nodeindex, const btAABB & bound)
278 {
279 m_box_tree.setNodeBound(nodeindex, bound);
280 }
281
282
283 SIMD_FORCE_INLINE int getLeftNode(int nodeindex) const
284 {
285 return m_box_tree.getLeftNode(nodeindex);
286 }
287
288 SIMD_FORCE_INLINE int getRightNode(int nodeindex) const
289 {
290 return m_box_tree.getRightNode(nodeindex);
291 }
292
293 SIMD_FORCE_INLINE int getEscapeNodeIndex(int nodeindex) const
294 {
295 return m_box_tree.getEscapeNodeIndex(nodeindex);
296 }
297
298 SIMD_FORCE_INLINE void getNodeTriangle(int nodeindex,btPrimitiveTriangle & triangle) const
299 {
301 }
302
303
305 {
306 return m_box_tree.get_node_pointer(index);
307 }
308
309#ifdef TRI_COLLISION_PROFILING
310 static float getAverageTreeCollisionTime();
311#endif //TRI_COLLISION_PROFILING
312
313 static void find_collision(btGImpactBvh * boxset1, const btTransform & trans1,
314 btGImpactBvh * boxset2, const btTransform & trans2,
315 btPairSet & collision_pairs);
316};
317
318#endif // GIM_BOXPRUNING_H_INCLUDED
#define SIMD_FORCE_INLINE
Definition: btScalar.h:81
Node Structure for trees.
Axis aligned box.
void appy_transform(const btTransform &trans)
Apply a transform to an AABB.
The btAlignedObjectArray template class uses a subset of the stl::vector interface for its methods It...
void clear()
clear the array, deallocated memory. Generally it is better to use array.resize(0),...
void push_back(const GIM_PAIR &_Val)
Basic Box tree structure.
Definition: btGImpactBvh.h:67
void _build_sub_tree(GIM_BVH_DATA_ARRAY &primitive_boxes, int startIndex, int endIndex)
int _calc_splitting_axis(GIM_BVH_DATA_ARRAY &primitive_boxes, int startIndex, int endIndex)
GIM_BVH_TREE_NODE_ARRAY m_node_array
Definition: btGImpactBvh.h:70
int getRightNode(int nodeindex) const
Definition: btGImpactBvh.h:127
void getNodeBound(int nodeindex, btAABB &bound) const
Definition: btGImpactBvh.h:112
int m_num_nodes
Definition: btGImpactBvh.h:69
void setNodeBound(int nodeindex, const btAABB &bound)
Definition: btGImpactBvh.h:117
int getNodeCount() const
node count
Definition: btGImpactBvh.h:96
void clearNodes()
Definition: btGImpactBvh.h:89
const GIM_BVH_TREE_NODE * get_node_pointer(int index=0) const
Definition: btGImpactBvh.h:138
int getNodeData(int nodeindex) const
Definition: btGImpactBvh.h:107
int getLeftNode(int nodeindex) const
Definition: btGImpactBvh.h:122
int _sort_and_calc_splitting_index(GIM_BVH_DATA_ARRAY &primitive_boxes, int startIndex, int endIndex, int splitAxis)
bool isLeafNode(int nodeindex) const
tells if the node is a leaf
Definition: btGImpactBvh.h:102
void build_tree(GIM_BVH_DATA_ARRAY &primitive_boxes)
prototype functions for box tree management
int getEscapeNodeIndex(int nodeindex) const
Definition: btGImpactBvh.h:133
Structure for containing Boxes.
Definition: btGImpactBvh.h:174
void buildSet()
this rebuild the entire set
bool isTrimesh() const
tells if this set is a trimesh
Definition: btGImpactBvh.h:250
int getRightNode(int nodeindex) const
Definition: btGImpactBvh.h:288
int getNodeCount() const
node count
Definition: btGImpactBvh.h:256
btAABB getGlobalBox() const
Definition: btGImpactBvh.h:196
bool isLeafNode(int nodeindex) const
tells if the node is a leaf
Definition: btGImpactBvh.h:262
int getLeftNode(int nodeindex) const
Definition: btGImpactBvh.h:283
bool boxQueryTrans(const btAABB &box, const btTransform &transform, btAlignedObjectArray< int > &collided_results) const
returns the indices of the primitives in the m_primitive_manager
Definition: btGImpactBvh.h:230
bool boxQuery(const btAABB &box, btAlignedObjectArray< int > &collided_results) const
returns the indices of the primitives in the m_primitive_manager
void setPrimitiveManager(btPrimitiveManagerBase *primitive_manager)
Definition: btGImpactBvh.h:203
void getNodeBound(int nodeindex, btAABB &bound) const
Definition: btGImpactBvh.h:272
int getEscapeNodeIndex(int nodeindex) const
Definition: btGImpactBvh.h:293
void getNodeTriangle(int nodeindex, btPrimitiveTriangle &triangle) const
Definition: btGImpactBvh.h:298
bool hasHierarchy() const
tells if this set has hierarcht
Definition: btGImpactBvh.h:244
btPrimitiveManagerBase * getPrimitiveManager() const
Definition: btGImpactBvh.h:208
const GIM_BVH_TREE_NODE * get_node_pointer(int index=0) const
Definition: btGImpactBvh.h:304
btGImpactBvh()
this constructor doesn't build the tree. you must call buildSet
Definition: btGImpactBvh.h:185
int getNodeData(int nodeindex) const
Definition: btGImpactBvh.h:267
bool rayQuery(const btVector3 &ray_dir, const btVector3 &ray_origin, btAlignedObjectArray< int > &collided_results) const
returns the indices of the primitives in the m_primitive_manager
btBvhTree m_box_tree
Definition: btGImpactBvh.h:176
btPrimitiveManagerBase * m_primitive_manager
Definition: btGImpactBvh.h:177
void update()
node manager prototype functions
Definition: btGImpactBvh.h:218
void setNodeBound(int nodeindex, const btAABB &bound)
Definition: btGImpactBvh.h:277
static void find_collision(btGImpactBvh *boxset1, const btTransform &trans1, btGImpactBvh *boxset2, const btTransform &trans2, btPairSet &collision_pairs)
btGImpactBvh(btPrimitiveManagerBase *primitive_manager)
this constructor doesn't build the tree. you must call buildSet
Definition: btGImpactBvh.h:191
A pairset array.
Definition: btGImpactBvh.h:36
void push_pair(int index1, int index2)
Definition: btGImpactBvh.h:42
void push_pair_inv(int index1, int index2)
Definition: btGImpactBvh.h:47
Prototype Base class for primitive classification.
Definition: btGImpactBvh.h:154
virtual void get_primitive_triangle(int prim_index, btPrimitiveTriangle &triangle) const =0
retrieves only the points of the triangle, and the collision margin
virtual ~btPrimitiveManagerBase()
Definition: btGImpactBvh.h:157
virtual bool is_trimesh() const =0
determines if this manager consist on only triangles, which special case will be optimized
virtual int get_primitive_count() const =0
virtual void get_primitive_box(int prim_index, btAABB &primbox) const =0
The btTransform class supports rigid transforms with only translation and rotation and no scaling/she...
Definition: btTransform.h:34
btVector3 can be used to represent 3D points and vectors.
Definition: btVector3.h:84
Overlapping pair.