b7901c773c
Stop include Bullet headers using `-isystem` for GCC/Clang as it misleads SCons into not properly rebuilding all files when headers change. This means we also need to make sure Bullet builds without warning, and current version fares fairly well, there were just a couple to fix (patch included). Increase minimum version for distro packages to 2.90 (this was never released as the "next" version after 2.89 was 3.05... but that covers it too).
364 lines
12 KiB
C++
364 lines
12 KiB
C++
/*
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Bullet Continuous Collision Detection and Physics Library
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Copyright (c) 2003-2009 Erwin Coumans http://bulletphysics.org
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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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#include "b3OptimizedBvh.h"
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#include "b3StridingMeshInterface.h"
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#include "Bullet3Geometry/b3AabbUtil.h"
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b3OptimizedBvh::b3OptimizedBvh()
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{
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}
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b3OptimizedBvh::~b3OptimizedBvh()
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{
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}
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void b3OptimizedBvh::build(b3StridingMeshInterface* triangles, bool useQuantizedAabbCompression, const b3Vector3& bvhAabbMin, const b3Vector3& bvhAabbMax)
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{
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m_useQuantization = useQuantizedAabbCompression;
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// NodeArray triangleNodes;
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struct NodeTriangleCallback : public b3InternalTriangleIndexCallback
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{
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NodeArray& m_triangleNodes;
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NodeTriangleCallback& operator=(NodeTriangleCallback& other)
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{
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m_triangleNodes.copyFromArray(other.m_triangleNodes);
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return *this;
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}
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NodeTriangleCallback(NodeArray& triangleNodes)
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: m_triangleNodes(triangleNodes)
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{
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}
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virtual void internalProcessTriangleIndex(b3Vector3* triangle, int partId, int triangleIndex)
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{
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b3OptimizedBvhNode node;
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b3Vector3 aabbMin, aabbMax;
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aabbMin.setValue(b3Scalar(B3_LARGE_FLOAT), b3Scalar(B3_LARGE_FLOAT), b3Scalar(B3_LARGE_FLOAT));
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aabbMax.setValue(b3Scalar(-B3_LARGE_FLOAT), b3Scalar(-B3_LARGE_FLOAT), b3Scalar(-B3_LARGE_FLOAT));
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aabbMin.setMin(triangle[0]);
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aabbMax.setMax(triangle[0]);
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aabbMin.setMin(triangle[1]);
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aabbMax.setMax(triangle[1]);
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aabbMin.setMin(triangle[2]);
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aabbMax.setMax(triangle[2]);
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//with quantization?
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node.m_aabbMinOrg = aabbMin;
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node.m_aabbMaxOrg = aabbMax;
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node.m_escapeIndex = -1;
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//for child nodes
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node.m_subPart = partId;
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node.m_triangleIndex = triangleIndex;
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m_triangleNodes.push_back(node);
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}
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};
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struct QuantizedNodeTriangleCallback : public b3InternalTriangleIndexCallback
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{
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QuantizedNodeArray& m_triangleNodes;
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const b3QuantizedBvh* m_optimizedTree; // for quantization
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QuantizedNodeTriangleCallback& operator=(QuantizedNodeTriangleCallback& other)
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{
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m_triangleNodes.copyFromArray(other.m_triangleNodes);
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m_optimizedTree = other.m_optimizedTree;
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return *this;
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}
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QuantizedNodeTriangleCallback(QuantizedNodeArray& triangleNodes, const b3QuantizedBvh* tree)
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: m_triangleNodes(triangleNodes), m_optimizedTree(tree)
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{
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}
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virtual void internalProcessTriangleIndex(b3Vector3* triangle, int partId, int triangleIndex)
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{
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// The partId and triangle index must fit in the same (positive) integer
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b3Assert(partId < (1 << MAX_NUM_PARTS_IN_BITS));
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b3Assert(triangleIndex < (1 << (31 - MAX_NUM_PARTS_IN_BITS)));
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//negative indices are reserved for escapeIndex
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b3Assert(triangleIndex >= 0);
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b3QuantizedBvhNode node;
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b3Vector3 aabbMin, aabbMax;
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aabbMin.setValue(b3Scalar(B3_LARGE_FLOAT), b3Scalar(B3_LARGE_FLOAT), b3Scalar(B3_LARGE_FLOAT));
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aabbMax.setValue(b3Scalar(-B3_LARGE_FLOAT), b3Scalar(-B3_LARGE_FLOAT), b3Scalar(-B3_LARGE_FLOAT));
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aabbMin.setMin(triangle[0]);
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aabbMax.setMax(triangle[0]);
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aabbMin.setMin(triangle[1]);
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aabbMax.setMax(triangle[1]);
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aabbMin.setMin(triangle[2]);
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aabbMax.setMax(triangle[2]);
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//PCK: add these checks for zero dimensions of aabb
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const b3Scalar MIN_AABB_DIMENSION = b3Scalar(0.002);
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const b3Scalar MIN_AABB_HALF_DIMENSION = b3Scalar(0.001);
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if (aabbMax.getX() - aabbMin.getX() < MIN_AABB_DIMENSION)
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{
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aabbMax.setX(aabbMax.getX() + MIN_AABB_HALF_DIMENSION);
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aabbMin.setX(aabbMin.getX() - MIN_AABB_HALF_DIMENSION);
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}
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if (aabbMax.getY() - aabbMin.getY() < MIN_AABB_DIMENSION)
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{
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aabbMax.setY(aabbMax.getY() + MIN_AABB_HALF_DIMENSION);
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aabbMin.setY(aabbMin.getY() - MIN_AABB_HALF_DIMENSION);
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}
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if (aabbMax.getZ() - aabbMin.getZ() < MIN_AABB_DIMENSION)
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{
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aabbMax.setZ(aabbMax.getZ() + MIN_AABB_HALF_DIMENSION);
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aabbMin.setZ(aabbMin.getZ() - MIN_AABB_HALF_DIMENSION);
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}
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m_optimizedTree->quantize(&node.m_quantizedAabbMin[0], aabbMin, 0);
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m_optimizedTree->quantize(&node.m_quantizedAabbMax[0], aabbMax, 1);
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node.m_escapeIndexOrTriangleIndex = (partId << (31 - MAX_NUM_PARTS_IN_BITS)) | triangleIndex;
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m_triangleNodes.push_back(node);
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}
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};
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int numLeafNodes = 0;
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if (m_useQuantization)
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{
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//initialize quantization values
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setQuantizationValues(bvhAabbMin, bvhAabbMax);
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QuantizedNodeTriangleCallback callback(m_quantizedLeafNodes, this);
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triangles->InternalProcessAllTriangles(&callback, m_bvhAabbMin, m_bvhAabbMax);
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//now we have an array of leafnodes in m_leafNodes
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numLeafNodes = m_quantizedLeafNodes.size();
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m_quantizedContiguousNodes.resize(2 * numLeafNodes);
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}
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else
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{
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NodeTriangleCallback callback(m_leafNodes);
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b3Vector3 aabbMin = b3MakeVector3(b3Scalar(-B3_LARGE_FLOAT), b3Scalar(-B3_LARGE_FLOAT), b3Scalar(-B3_LARGE_FLOAT));
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b3Vector3 aabbMax = b3MakeVector3(b3Scalar(B3_LARGE_FLOAT), b3Scalar(B3_LARGE_FLOAT), b3Scalar(B3_LARGE_FLOAT));
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triangles->InternalProcessAllTriangles(&callback, aabbMin, aabbMax);
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//now we have an array of leafnodes in m_leafNodes
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numLeafNodes = m_leafNodes.size();
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m_contiguousNodes.resize(2 * numLeafNodes);
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}
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m_curNodeIndex = 0;
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buildTree(0, numLeafNodes);
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///if the entire tree is small then subtree size, we need to create a header info for the tree
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if (m_useQuantization && !m_SubtreeHeaders.size())
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{
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b3BvhSubtreeInfo& subtree = m_SubtreeHeaders.expand();
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subtree.setAabbFromQuantizeNode(m_quantizedContiguousNodes[0]);
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subtree.m_rootNodeIndex = 0;
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subtree.m_subtreeSize = m_quantizedContiguousNodes[0].isLeafNode() ? 1 : m_quantizedContiguousNodes[0].getEscapeIndex();
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}
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//PCK: update the copy of the size
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m_subtreeHeaderCount = m_SubtreeHeaders.size();
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//PCK: clear m_quantizedLeafNodes and m_leafNodes, they are temporary
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m_quantizedLeafNodes.clear();
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m_leafNodes.clear();
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}
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void b3OptimizedBvh::refit(b3StridingMeshInterface* meshInterface, const b3Vector3& aabbMin, const b3Vector3& aabbMax)
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{
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if (m_useQuantization)
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{
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setQuantizationValues(aabbMin, aabbMax);
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updateBvhNodes(meshInterface, 0, m_curNodeIndex, 0);
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///now update all subtree headers
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int i;
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for (i = 0; i < m_SubtreeHeaders.size(); i++)
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{
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b3BvhSubtreeInfo& subtree = m_SubtreeHeaders[i];
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subtree.setAabbFromQuantizeNode(m_quantizedContiguousNodes[subtree.m_rootNodeIndex]);
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}
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}
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else
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{
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}
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}
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void b3OptimizedBvh::refitPartial(b3StridingMeshInterface* meshInterface, const b3Vector3& aabbMin, const b3Vector3& aabbMax)
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{
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//incrementally initialize quantization values
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b3Assert(m_useQuantization);
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b3Assert(aabbMin.getX() > m_bvhAabbMin.getX());
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b3Assert(aabbMin.getY() > m_bvhAabbMin.getY());
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b3Assert(aabbMin.getZ() > m_bvhAabbMin.getZ());
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b3Assert(aabbMax.getX() < m_bvhAabbMax.getX());
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b3Assert(aabbMax.getY() < m_bvhAabbMax.getY());
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b3Assert(aabbMax.getZ() < m_bvhAabbMax.getZ());
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///we should update all quantization values, using updateBvhNodes(meshInterface);
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///but we only update chunks that overlap the given aabb
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unsigned short quantizedQueryAabbMin[3];
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unsigned short quantizedQueryAabbMax[3];
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quantize(&quantizedQueryAabbMin[0], aabbMin, 0);
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quantize(&quantizedQueryAabbMax[0], aabbMax, 1);
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int i;
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for (i = 0; i < this->m_SubtreeHeaders.size(); i++)
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{
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b3BvhSubtreeInfo& subtree = m_SubtreeHeaders[i];
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//PCK: unsigned instead of bool
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unsigned overlap = b3TestQuantizedAabbAgainstQuantizedAabb(quantizedQueryAabbMin, quantizedQueryAabbMax, subtree.m_quantizedAabbMin, subtree.m_quantizedAabbMax);
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if (overlap != 0)
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{
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updateBvhNodes(meshInterface, subtree.m_rootNodeIndex, subtree.m_rootNodeIndex + subtree.m_subtreeSize, i);
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subtree.setAabbFromQuantizeNode(m_quantizedContiguousNodes[subtree.m_rootNodeIndex]);
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}
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}
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}
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void b3OptimizedBvh::updateBvhNodes(b3StridingMeshInterface* meshInterface, int firstNode, int endNode, int index)
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{
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(void)index;
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b3Assert(m_useQuantization);
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int curNodeSubPart = -1;
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//get access info to trianglemesh data
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const unsigned char* vertexbase = 0;
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int numverts = 0;
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PHY_ScalarType type = PHY_INTEGER;
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int stride = 0;
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const unsigned char* indexbase = 0;
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int indexstride = 0;
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int numfaces = 0;
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PHY_ScalarType indicestype = PHY_INTEGER;
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b3Vector3 triangleVerts[3];
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b3Vector3 aabbMin, aabbMax;
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const b3Vector3& meshScaling = meshInterface->getScaling();
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int i;
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for (i = endNode - 1; i >= firstNode; i--)
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{
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b3QuantizedBvhNode& curNode = m_quantizedContiguousNodes[i];
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if (curNode.isLeafNode())
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{
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//recalc aabb from triangle data
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int nodeSubPart = curNode.getPartId();
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int nodeTriangleIndex = curNode.getTriangleIndex();
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if (nodeSubPart != curNodeSubPart)
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{
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if (curNodeSubPart >= 0)
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meshInterface->unLockReadOnlyVertexBase(curNodeSubPart);
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meshInterface->getLockedReadOnlyVertexIndexBase(&vertexbase, numverts, type, stride, &indexbase, indexstride, numfaces, indicestype, nodeSubPart);
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curNodeSubPart = nodeSubPart;
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}
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//triangles->getLockedReadOnlyVertexIndexBase(vertexBase,numVerts,
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unsigned int* gfxbase = (unsigned int*)(indexbase + nodeTriangleIndex * indexstride);
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for (int j = 2; j >= 0; j--)
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{
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int graphicsindex;
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switch (indicestype) {
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case PHY_INTEGER: graphicsindex = gfxbase[j]; break;
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case PHY_SHORT: graphicsindex = ((unsigned short*)gfxbase)[j]; break;
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case PHY_UCHAR: graphicsindex = ((unsigned char*)gfxbase)[j]; break;
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default: b3Assert(0);
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}
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if (type == PHY_FLOAT)
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{
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float* graphicsbase = (float*)(vertexbase + graphicsindex * stride);
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triangleVerts[j] = b3MakeVector3(
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graphicsbase[0] * meshScaling.getX(),
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graphicsbase[1] * meshScaling.getY(),
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graphicsbase[2] * meshScaling.getZ());
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}
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else
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{
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double* graphicsbase = (double*)(vertexbase + graphicsindex * stride);
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triangleVerts[j] = b3MakeVector3(b3Scalar(graphicsbase[0] * meshScaling.getX()), b3Scalar(graphicsbase[1] * meshScaling.getY()), b3Scalar(graphicsbase[2] * meshScaling.getZ()));
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}
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}
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aabbMin.setValue(b3Scalar(B3_LARGE_FLOAT), b3Scalar(B3_LARGE_FLOAT), b3Scalar(B3_LARGE_FLOAT));
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aabbMax.setValue(b3Scalar(-B3_LARGE_FLOAT), b3Scalar(-B3_LARGE_FLOAT), b3Scalar(-B3_LARGE_FLOAT));
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aabbMin.setMin(triangleVerts[0]);
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aabbMax.setMax(triangleVerts[0]);
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aabbMin.setMin(triangleVerts[1]);
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aabbMax.setMax(triangleVerts[1]);
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aabbMin.setMin(triangleVerts[2]);
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aabbMax.setMax(triangleVerts[2]);
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quantize(&curNode.m_quantizedAabbMin[0], aabbMin, 0);
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quantize(&curNode.m_quantizedAabbMax[0], aabbMax, 1);
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}
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else
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{
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//combine aabb from both children
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b3QuantizedBvhNode* leftChildNode = &m_quantizedContiguousNodes[i + 1];
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b3QuantizedBvhNode* rightChildNode = leftChildNode->isLeafNode() ? &m_quantizedContiguousNodes[i + 2] : &m_quantizedContiguousNodes[i + 1 + leftChildNode->getEscapeIndex()];
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{
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for (int i = 0; i < 3; i++)
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{
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curNode.m_quantizedAabbMin[i] = leftChildNode->m_quantizedAabbMin[i];
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if (curNode.m_quantizedAabbMin[i] > rightChildNode->m_quantizedAabbMin[i])
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curNode.m_quantizedAabbMin[i] = rightChildNode->m_quantizedAabbMin[i];
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curNode.m_quantizedAabbMax[i] = leftChildNode->m_quantizedAabbMax[i];
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if (curNode.m_quantizedAabbMax[i] < rightChildNode->m_quantizedAabbMax[i])
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curNode.m_quantizedAabbMax[i] = rightChildNode->m_quantizedAabbMax[i];
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}
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}
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}
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}
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if (curNodeSubPart >= 0)
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meshInterface->unLockReadOnlyVertexBase(curNodeSubPart);
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}
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///deSerializeInPlace loads and initializes a BVH from a buffer in memory 'in place'
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b3OptimizedBvh* b3OptimizedBvh::deSerializeInPlace(void* i_alignedDataBuffer, unsigned int i_dataBufferSize, bool i_swapEndian)
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{
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b3QuantizedBvh* bvh = b3QuantizedBvh::deSerializeInPlace(i_alignedDataBuffer, i_dataBufferSize, i_swapEndian);
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//we don't add additional data so just do a static upcast
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return static_cast<b3OptimizedBvh*>(bvh);
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}
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