ruby-bullet 0.1.0-x86-linux → 0.1.1-x86-linux

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

@@ -1,372 +0,0 @@
-#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