ruby-bullet 0.0.1-x86-linux

data/deps/include/bullet/BulletCollision/Gimpact/btGImpactQuantizedBvh.h

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+#ifndef GIM_QUANTIZED_SET_H_INCLUDED
+#define GIM_QUANTIZED_SET_H_INCLUDED
+
+/*! \file btGImpactQuantizedBvh.h
+\author Francisco Leon Najera
+*/
+/*
+This source file is part of GIMPACT Library.
+
+For the latest info, see http://gimpact.sourceforge.net/
+
+Copyright (c) 2007 Francisco Leon Najera. C.C. 80087371.
+email: projectileman@yahoo.com
+
+
+This software is provided 'as-is', without any express or implied warranty.
+In no event will the authors be held liable for any damages arising from the use of this software.
+Permission is granted to anyone to use this software for any purpose,
+including commercial applications, and to alter it and redistribute it freely,
+subject to the following restrictions:
+
+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.
+2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
+3. This notice may not be removed or altered from any source distribution.
+*/
+
+#include "btGImpactBvh.h"
+#include "btQuantization.h"
+
+
+
+
+
+///btQuantizedBvhNode is a compressed aabb node, 16 bytes.
+///Node can be used for leafnode or internal node. Leafnodes can point to 32-bit triangle index (non-negative range).
+ATTRIBUTE_ALIGNED16	(struct) BT_QUANTIZED_BVH_NODE
+{
+	//12 bytes
+	unsigned short int	m_quantizedAabbMin[3];
+	unsigned short int	m_quantizedAabbMax[3];
+	//4 bytes
+	int	m_escapeIndexOrDataIndex;
+
+	BT_QUANTIZED_BVH_NODE()
+	{
+		m_escapeIndexOrDataIndex = 0;
+	}
+
+	SIMD_FORCE_INLINE bool isLeafNode() const
+	{
+		//skipindex is negative (internal node), triangleindex >=0 (leafnode)
+		return (m_escapeIndexOrDataIndex>=0);
+	}
+
+	SIMD_FORCE_INLINE int getEscapeIndex() const
+	{
+		//btAssert(m_escapeIndexOrDataIndex < 0);
+		return -m_escapeIndexOrDataIndex;
+	}
+
+	SIMD_FORCE_INLINE void setEscapeIndex(int index)
+	{
+		m_escapeIndexOrDataIndex = -index;
+	}
+
+	SIMD_FORCE_INLINE int getDataIndex() const
+	{
+		//btAssert(m_escapeIndexOrDataIndex >= 0);
+
+		return m_escapeIndexOrDataIndex;
+	}
+
+	SIMD_FORCE_INLINE void setDataIndex(int index)
+	{
+		m_escapeIndexOrDataIndex = index;
+	}
+
+	SIMD_FORCE_INLINE bool testQuantizedBoxOverlapp(
+		unsigned short * quantizedMin,unsigned short * quantizedMax) const
+	{
+		if(m_quantizedAabbMin[0] > quantizedMax[0] ||
+		   m_quantizedAabbMax[0] < quantizedMin[0] ||
+		   m_quantizedAabbMin[1] > quantizedMax[1] ||
+		   m_quantizedAabbMax[1] < quantizedMin[1] ||
+		   m_quantizedAabbMin[2] > quantizedMax[2] ||
+		   m_quantizedAabbMax[2] < quantizedMin[2])
+		{
+			return false;
+		}
+		return true;
+	}
+
+};
+
+
+
+class GIM_QUANTIZED_BVH_NODE_ARRAY:public btAlignedObjectArray<BT_QUANTIZED_BVH_NODE>
+{
+};
+
+
+
+
+//! Basic Box tree structure
+class btQuantizedBvhTree
+{
+protected:
+	int m_num_nodes;
+	GIM_QUANTIZED_BVH_NODE_ARRAY m_node_array;
+	btAABB m_global_bound;
+	btVector3 m_bvhQuantization;
+protected:
+	void calc_quantization(GIM_BVH_DATA_ARRAY & primitive_boxes, btScalar boundMargin = btScalar(1.0) );
+
+	int _sort_and_calc_splitting_index(
+		GIM_BVH_DATA_ARRAY & primitive_boxes,
+		 int startIndex,  int endIndex, int splitAxis);
+
+	int _calc_splitting_axis(GIM_BVH_DATA_ARRAY & primitive_boxes, int startIndex,  int endIndex);
+
+	void _build_sub_tree(GIM_BVH_DATA_ARRAY & primitive_boxes, int startIndex,  int endIndex);
+public:
+	btQuantizedBvhTree()
+	{
+		m_num_nodes = 0;
+	}
+
+	//! prototype functions for box tree management
+	//!@{
+	void build_tree(GIM_BVH_DATA_ARRAY & primitive_boxes);
+
+	SIMD_FORCE_INLINE void quantizePoint(
+		unsigned short * quantizedpoint, const btVector3 & point) const
+	{
+		bt_quantize_clamp(quantizedpoint,point,m_global_bound.m_min,m_global_bound.m_max,m_bvhQuantization);
+	}
+
+
+	SIMD_FORCE_INLINE bool testQuantizedBoxOverlapp(
+		int node_index,
+		unsigned short * quantizedMin,unsigned short * quantizedMax) const
+	{
+		return m_node_array[node_index].testQuantizedBoxOverlapp(quantizedMin,quantizedMax);
+	}
+
+	SIMD_FORCE_INLINE void clearNodes()
+	{
+		m_node_array.clear();
+		m_num_nodes = 0;
+	}
+
+	//! node count
+	SIMD_FORCE_INLINE int getNodeCount() const
+	{
+		return m_num_nodes;
+	}
+
+	//! tells if the node is a leaf
+	SIMD_FORCE_INLINE bool isLeafNode(int nodeindex) const
+	{
+		return m_node_array[nodeindex].isLeafNode();
+	}
+
+	SIMD_FORCE_INLINE int getNodeData(int nodeindex) const
+	{
+		return m_node_array[nodeindex].getDataIndex();
+	}
+
+	SIMD_FORCE_INLINE void getNodeBound(int nodeindex, btAABB & bound) const
+	{
+		bound.m_min = bt_unquantize(
+			m_node_array[nodeindex].m_quantizedAabbMin,
+			m_global_bound.m_min,m_bvhQuantization);
+
+		bound.m_max = bt_unquantize(
+			m_node_array[nodeindex].m_quantizedAabbMax,
+			m_global_bound.m_min,m_bvhQuantization);
+	}
+
+	SIMD_FORCE_INLINE void setNodeBound(int nodeindex, const btAABB & bound)
+	{
+		bt_quantize_clamp(	m_node_array[nodeindex].m_quantizedAabbMin,
+							bound.m_min,
+							m_global_bound.m_min,
+							m_global_bound.m_max,
+							m_bvhQuantization);
+
+		bt_quantize_clamp(	m_node_array[nodeindex].m_quantizedAabbMax,
+							bound.m_max,
+							m_global_bound.m_min,
+							m_global_bound.m_max,
+							m_bvhQuantization);
+	}
+
+	SIMD_FORCE_INLINE int getLeftNode(int nodeindex) const
+	{
+		return nodeindex+1;
+	}
+
+	SIMD_FORCE_INLINE int getRightNode(int nodeindex) const
+	{
+		if(m_node_array[nodeindex+1].isLeafNode()) return nodeindex+2;
+		return nodeindex+1 + m_node_array[nodeindex+1].getEscapeIndex();
+	}
+
+	SIMD_FORCE_INLINE int getEscapeNodeIndex(int nodeindex) const
+	{
+		return m_node_array[nodeindex].getEscapeIndex();
+	}
+
+	SIMD_FORCE_INLINE const BT_QUANTIZED_BVH_NODE * get_node_pointer(int index = 0) const
+	{
+		return &m_node_array[index];
+	}
+
+	//!@}
+};
+
+
+
+//! Structure for containing Boxes
+/*!
+This class offers an structure for managing a box tree of primitives.
+Requires a Primitive prototype (like btPrimitiveManagerBase )
+*/
+class btGImpactQuantizedBvh
+{
+protected:
+	btQuantizedBvhTree m_box_tree;
+	btPrimitiveManagerBase * m_primitive_manager;
+
+protected:
+	//stackless refit
+	void refit();
+public:
+
+	//! this constructor doesn't build the tree. you must call	buildSet
+	btGImpactQuantizedBvh()
+	{
+		m_primitive_manager = NULL;
+	}
+
+	//! this constructor doesn't build the tree. you must call	buildSet
+	btGImpactQuantizedBvh(btPrimitiveManagerBase * primitive_manager)
+	{
+		m_primitive_manager = primitive_manager;
+	}
+
+	SIMD_FORCE_INLINE btAABB getGlobalBox()  const
+	{
+		btAABB totalbox;
+		getNodeBound(0, totalbox);
+		return totalbox;
+	}
+
+	SIMD_FORCE_INLINE void setPrimitiveManager(btPrimitiveManagerBase * primitive_manager)
+	{
+		m_primitive_manager = primitive_manager;
+	}
+
+	SIMD_FORCE_INLINE btPrimitiveManagerBase * getPrimitiveManager() const
+	{
+		return m_primitive_manager;
+	}
+
+
+//! node manager prototype functions
+///@{
+
+	//! this attemps to refit the box set.
+	SIMD_FORCE_INLINE void update()
+	{
+		refit();
+	}
+
+	//! this rebuild the entire set
+	void buildSet();
+
+	//! returns the indices of the primitives in the m_primitive_manager
+	bool boxQuery(const btAABB & box, btAlignedObjectArray<int> & collided_results) const;
+
+	//! returns the indices of the primitives in the m_primitive_manager
+	SIMD_FORCE_INLINE bool boxQueryTrans(const btAABB & box,
+		 const btTransform & transform, btAlignedObjectArray<int> & collided_results) const
+	{
+		btAABB transbox=box;
+		transbox.appy_transform(transform);
+		return boxQuery(transbox,collided_results);
+	}
+
+	//! returns the indices of the primitives in the m_primitive_manager
+	bool rayQuery(
+		const btVector3 & ray_dir,const btVector3 & ray_origin ,
+		btAlignedObjectArray<int> & collided_results) const;
+
+	//! tells if this set has hierarcht
+	SIMD_FORCE_INLINE bool hasHierarchy() const
+	{
+		return true;
+	}
+
+	//! tells if this set is a trimesh
+	SIMD_FORCE_INLINE bool isTrimesh()  const
+	{
+		return m_primitive_manager->is_trimesh();
+	}
+
+	//! node count
+	SIMD_FORCE_INLINE int getNodeCount() const
+	{
+		return m_box_tree.getNodeCount();
+	}
+
+	//! tells if the node is a leaf
+	SIMD_FORCE_INLINE bool isLeafNode(int nodeindex) const
+	{
+		return m_box_tree.isLeafNode(nodeindex);
+	}
+
+	SIMD_FORCE_INLINE int getNodeData(int nodeindex) const
+	{
+		return m_box_tree.getNodeData(nodeindex);
+	}
+
+	SIMD_FORCE_INLINE void getNodeBound(int nodeindex, btAABB & bound)  const
+	{
+		m_box_tree.getNodeBound(nodeindex, bound);
+	}
+
+	SIMD_FORCE_INLINE void setNodeBound(int nodeindex, const btAABB & bound)
+	{
+		m_box_tree.setNodeBound(nodeindex, bound);
+	}
+
+
+	SIMD_FORCE_INLINE int getLeftNode(int nodeindex) const
+	{
+		return m_box_tree.getLeftNode(nodeindex);
+	}
+
+	SIMD_FORCE_INLINE int getRightNode(int nodeindex) const
+	{
+		return m_box_tree.getRightNode(nodeindex);
+	}
+
+	SIMD_FORCE_INLINE int getEscapeNodeIndex(int nodeindex) const
+	{
+		return m_box_tree.getEscapeNodeIndex(nodeindex);
+	}
+
+	SIMD_FORCE_INLINE void getNodeTriangle(int nodeindex,btPrimitiveTriangle & triangle) const
+	{
+		m_primitive_manager->get_primitive_triangle(getNodeData(nodeindex),triangle);
+	}
+
+
+	SIMD_FORCE_INLINE const BT_QUANTIZED_BVH_NODE * get_node_pointer(int index = 0) const
+	{
+		return m_box_tree.get_node_pointer(index);
+	}
+
+#ifdef TRI_COLLISION_PROFILING
+	static float getAverageTreeCollisionTime();
+#endif //TRI_COLLISION_PROFILING
+
+	static void find_collision(btGImpactQuantizedBvh * boxset1, const btTransform & trans1,
+		btGImpactQuantizedBvh * boxset2, const btTransform & trans2,
+		btPairSet & collision_pairs);
+};
+
+
+#endif // GIM_BOXPRUNING_H_INCLUDED