Logo Search packages:      
Sourcecode: blender version File versions  Download package

btDbvt.h

/*
Bullet Continuous Collision Detection and Physics Library
Copyright (c) 2003-2007 Erwin Coumans  http://continuousphysics.com/Bullet/

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.
*/
///btDbvt implementation by Nathanael Presson

#ifndef BT_DYNAMIC_BOUNDING_VOLUME_TREE_H
#define BT_DYNAMIC_BOUNDING_VOLUME_TREE_H

#include "LinearMath/btAlignedObjectArray.h"
#include "LinearMath/btVector3.h"
#include "LinearMath/btTransform.h"
#include "LinearMath/btAabbUtil2.h"

//
// Compile time configuration
//


// Implementation profiles
#define DBVT_IMPL_GENERIC           0     // Generic implementation     
#define DBVT_IMPL_SSE               1     // SSE

// Template implementation of ICollide
#ifdef WIN32
#if (defined (_MSC_VER) && _MSC_VER >= 1400)
#define     DBVT_USE_TEMPLATE       1
#else
#define     DBVT_USE_TEMPLATE       0
#endif
#else
#define     DBVT_USE_TEMPLATE       0
#endif

// Use only intrinsics instead of inline asm
#define DBVT_USE_INTRINSIC_SSE      1

// Using memmov for collideOCL
#define DBVT_USE_MEMMOVE            1

// Enable benchmarking code
#define     DBVT_ENABLE_BENCHMARK   0

// Inlining
#define DBVT_INLINE                       SIMD_FORCE_INLINE

// Specific methods implementation

//SSE gives errors on a MSVC 7.1
#ifdef BT_USE_SSE
#define DBVT_SELECT_IMPL            DBVT_IMPL_SSE
#define DBVT_MERGE_IMPL             DBVT_IMPL_SSE
#define DBVT_INT0_IMPL              DBVT_IMPL_SSE
#else
#define DBVT_SELECT_IMPL            DBVT_IMPL_GENERIC
#define DBVT_MERGE_IMPL             DBVT_IMPL_GENERIC
#define DBVT_INT0_IMPL              DBVT_IMPL_GENERIC
#endif

#if   (DBVT_SELECT_IMPL==DBVT_IMPL_SSE)|| \
      (DBVT_MERGE_IMPL==DBVT_IMPL_SSE)||  \
      (DBVT_INT0_IMPL==DBVT_IMPL_SSE)
#include <emmintrin.h>
#endif

//
// Auto config and checks
//

#if DBVT_USE_TEMPLATE
#define     DBVT_VIRTUAL
#define DBVT_VIRTUAL_DTOR(a)
#define DBVT_PREFIX                             template <typename T>
#define DBVT_IPOLICY                      T& policy
#define DBVT_CHECKTYPE                    static const ICollide&  typechecker=*(T*)1;(void)typechecker;
#else
#define     DBVT_VIRTUAL_DTOR(a)          virtual ~a() {}
#define DBVT_VIRTUAL                      virtual
#define DBVT_PREFIX
#define DBVT_IPOLICY                      ICollide& policy
#define DBVT_CHECKTYPE
#endif

#if DBVT_USE_MEMMOVE
#ifndef __CELLOS_LV2__
#include <memory.h>
#endif
#include <string.h>
#endif

#ifndef DBVT_USE_TEMPLATE
#error "DBVT_USE_TEMPLATE undefined"
#endif

#ifndef DBVT_USE_MEMMOVE
#error "DBVT_USE_MEMMOVE undefined"
#endif

#ifndef DBVT_ENABLE_BENCHMARK
#error "DBVT_ENABLE_BENCHMARK undefined"
#endif

#ifndef DBVT_SELECT_IMPL
#error "DBVT_SELECT_IMPL undefined"
#endif

#ifndef DBVT_MERGE_IMPL
#error "DBVT_MERGE_IMPL undefined"
#endif

#ifndef DBVT_INT0_IMPL
#error "DBVT_INT0_IMPL undefined"
#endif

//
// Defaults volumes
//

/* btDbvtAabbMm               */ 
struct      btDbvtAabbMm
{
      DBVT_INLINE btVector3               Center() const    { return((mi+mx)/2); }
      DBVT_INLINE btVector3               Lengths() const   { return(mx-mi); }
      DBVT_INLINE btVector3               Extents() const   { return((mx-mi)/2); }
      DBVT_INLINE const btVector3&  Mins() const      { return(mi); }
      DBVT_INLINE const btVector3&  Maxs() const      { return(mx); }
      static inline btDbvtAabbMm          FromCE(const btVector3& c,const btVector3& e);
      static inline btDbvtAabbMm          FromCR(const btVector3& c,btScalar r);
      static inline btDbvtAabbMm          FromMM(const btVector3& mi,const btVector3& mx);
      static inline btDbvtAabbMm          FromPoints(const btVector3* pts,int n);
      static inline btDbvtAabbMm          FromPoints(const btVector3** ppts,int n);
      DBVT_INLINE void                    Expand(const btVector3& e);
      DBVT_INLINE void                    SignedExpand(const btVector3& e);
      DBVT_INLINE bool                    Contain(const btDbvtAabbMm& a) const;
      DBVT_INLINE int                           Classify(const btVector3& n,btScalar o,int s) const;
      DBVT_INLINE btScalar                ProjectMinimum(const btVector3& v,unsigned signs) const;
      DBVT_INLINE friend bool             Intersect(  const btDbvtAabbMm& a,
            const btDbvtAabbMm& b);
      
      DBVT_INLINE friend bool             Intersect(  const btDbvtAabbMm& a,
            const btVector3& b);

      DBVT_INLINE friend btScalar         Proximity(  const btDbvtAabbMm& a,
            const btDbvtAabbMm& b);
      DBVT_INLINE friend int              Select(           const btDbvtAabbMm& o,
            const btDbvtAabbMm& a,
            const btDbvtAabbMm& b);
      DBVT_INLINE friend void             Merge(            const btDbvtAabbMm& a,
            const btDbvtAabbMm& b,
            btDbvtAabbMm& r);
      DBVT_INLINE friend bool             NotEqual(   const btDbvtAabbMm& a,
            const btDbvtAabbMm& b);
private:
      DBVT_INLINE void                    AddSpan(const btVector3& d,btScalar& smi,btScalar& smx) const;
private:
      btVector3   mi,mx;
};

// Types    
typedef     btDbvtAabbMm      btDbvtVolume;

/* btDbvtNode                       */ 
struct      btDbvtNode
{
      btDbvtVolume      volume;
      btDbvtNode*       parent;
      DBVT_INLINE bool  isleaf() const          { return(childs[1]==0); }
      DBVT_INLINE bool  isinternal() const      { return(!isleaf()); }
      union
      {
            btDbvtNode* childs[2];
            void* data;
            int         dataAsInt;
      };
};

///The btDbvt class implements a fast dynamic bounding volume tree based on axis aligned bounding boxes (aabb tree).
///This btDbvt is used for soft body collision detection and for the btDbvtBroadphase. It has a fast insert, remove and update of nodes.
///Unlike the btQuantizedBvh, nodes can be dynamically moved around, which allows for change in topology of the underlying data structure.
00190 struct      btDbvt
{
      /* Stack element  */ 
      struct      sStkNN
      {
            const btDbvtNode* a;
            const btDbvtNode* b;
            sStkNN() {}
            sStkNN(const btDbvtNode* na,const btDbvtNode* nb) : a(na),b(nb) {}
      };
      struct      sStkNP
      {
            const btDbvtNode* node;
            int               mask;
            sStkNP(const btDbvtNode* n,unsigned m) : node(n),mask(m) {}
      };
      struct      sStkNPS
      {
            const btDbvtNode* node;
            int               mask;
            btScalar    value;
            sStkNPS() {}
            sStkNPS(const btDbvtNode* n,unsigned m,btScalar v) : node(n),mask(m),value(v) {}
      };
      struct      sStkCLN
      {
            const btDbvtNode* node;
            btDbvtNode*       parent;
            sStkCLN(const btDbvtNode* n,btDbvtNode* p) : node(n),parent(p) {}
      };
      // Policies/Interfaces

      /* ICollide */ 
      struct      ICollide
      {           
            DBVT_VIRTUAL_DTOR(ICollide)
                  DBVT_VIRTUAL void Process(const btDbvtNode*,const btDbvtNode*)          {}
            DBVT_VIRTUAL void Process(const btDbvtNode*)                            {}
            DBVT_VIRTUAL void Process(const btDbvtNode* n,btScalar)                 { Process(n); }
            DBVT_VIRTUAL bool Descent(const btDbvtNode*)                            { return(true); }
            DBVT_VIRTUAL bool AllLeaves(const btDbvtNode*)                          { return(true); }
      };
      /* IWriter  */ 
      struct      IWriter
      {
            virtual ~IWriter() {}
            virtual void            Prepare(const btDbvtNode* root,int numnodes)=0;
            virtual void            WriteNode(const btDbvtNode*,int index,int parent,int child0,int child1)=0;
            virtual void            WriteLeaf(const btDbvtNode*,int index,int parent)=0;
      };
      /* IClone   */ 
      struct      IClone
      {
            virtual ~IClone() {}
            virtual void            CloneLeaf(btDbvtNode*) {}
      };

      // Constants
      enum  {
            SIMPLE_STACKSIZE  =     64,
            DOUBLE_STACKSIZE  =     SIMPLE_STACKSIZE*2
      };

      // Fields
      btDbvtNode*       m_root;
      btDbvtNode*       m_free;
      int                     m_lkhd;
      int                     m_leaves;
      unsigned          m_opath;

      
      btAlignedObjectArray<sStkNN>  m_stkStack;


      // Methods
      btDbvt();
      ~btDbvt();
      void              clear();
      bool              empty() const { return(0==m_root); }
      void              optimizeBottomUp();
      void              optimizeTopDown(int bu_treshold=128);
      void              optimizeIncremental(int passes);
      btDbvtNode*       insert(const btDbvtVolume& box,void* data);
      void              update(btDbvtNode* leaf,int lookahead=-1);
      void              update(btDbvtNode* leaf,btDbvtVolume& volume);
      bool              update(btDbvtNode* leaf,btDbvtVolume& volume,const btVector3& velocity,btScalar margin);
      bool              update(btDbvtNode* leaf,btDbvtVolume& volume,const btVector3& velocity);
      bool              update(btDbvtNode* leaf,btDbvtVolume& volume,btScalar margin);    
      void              remove(btDbvtNode* leaf);
      void              write(IWriter* iwriter) const;
      void              clone(btDbvt& dest,IClone* iclone=0) const;
      static int        maxdepth(const btDbvtNode* node);
      static int        countLeaves(const btDbvtNode* node);
      static void       extractLeaves(const btDbvtNode* node,btAlignedObjectArray<const btDbvtNode*>& leaves);
#if DBVT_ENABLE_BENCHMARK
      static void       benchmark();
#else
      static void       benchmark(){}
#endif
      // DBVT_IPOLICY must support ICollide policy/interface
      DBVT_PREFIX
            static void       enumNodes(  const btDbvtNode* root,
            DBVT_IPOLICY);
      DBVT_PREFIX
            static void       enumLeaves( const btDbvtNode* root,
            DBVT_IPOLICY);
      DBVT_PREFIX
            void        collideTT(  const btDbvtNode* root0,
            const btDbvtNode* root1,
            DBVT_IPOLICY);

      DBVT_PREFIX
            void        collideTTpersistentStack(     const btDbvtNode* root0,
              const btDbvtNode* root1,
              DBVT_IPOLICY);
#if 0
      DBVT_PREFIX
            void        collideTT(  const btDbvtNode* root0,
            const btDbvtNode* root1,
            const btTransform& xform,
            DBVT_IPOLICY);
      DBVT_PREFIX
            void        collideTT(  const btDbvtNode* root0,
            const btTransform& xform0,
            const btDbvtNode* root1,
            const btTransform& xform1,
            DBVT_IPOLICY);
#endif

      DBVT_PREFIX
            void        collideTV(  const btDbvtNode* root,
            const btDbvtVolume& volume,
            DBVT_IPOLICY);
      ///rayTest is a re-entrant ray test, and can be called in parallel as long as the btAlignedAlloc is thread-safe (uses locking etc)
      ///rayTest is slower than rayTestInternal, because it builds a local stack, using memory allocations, and it recomputes signs/rayDirectionInverses each time
      DBVT_PREFIX
            static void       rayTest(    const btDbvtNode* root,
            const btVector3& rayFrom,
            const btVector3& rayTo,
            DBVT_IPOLICY);
      ///rayTestInternal is faster than rayTest, because it uses a persistent stack (to reduce dynamic memory allocations to a minimum) and it uses precomputed signs/rayInverseDirections
      ///rayTestInternal is used by btDbvtBroadphase to accelerate world ray casts
      DBVT_PREFIX
            void        rayTestInternal(  const btDbvtNode* root,
                                                const btVector3& rayFrom,
                                                const btVector3& rayTo,
                                                const btVector3& rayDirectionInverse,
                                                unsigned int signs[3],
                                                btScalar lambda_max,
                                                const btVector3& aabbMin,
                                                const btVector3& aabbMax,
                                                DBVT_IPOLICY) const;

      DBVT_PREFIX
            static void       collideKDOP(const btDbvtNode* root,
            const btVector3* normals,
            const btScalar* offsets,
            int count,
            DBVT_IPOLICY);
      DBVT_PREFIX
            static void       collideOCL( const btDbvtNode* root,
            const btVector3* normals,
            const btScalar* offsets,
            const btVector3& sortaxis,
            int count,                                            
            DBVT_IPOLICY,
            bool fullsort=true);
      DBVT_PREFIX
            static void       collideTU(  const btDbvtNode* root,
            DBVT_IPOLICY);
      // Helpers  
      static DBVT_INLINE int  nearest(const int* i,const btDbvt::sStkNPS* a,btScalar v,int l,int h)
      {
            int   m=0;
            while(l<h)
            {
                  m=(l+h)>>1;
                  if(a[i[m]].value>=v) l=m+1; else h=m;
            }
            return(h);
      }
      static DBVT_INLINE int  allocate(   btAlignedObjectArray<int>& ifree,
            btAlignedObjectArray<sStkNPS>& stock,
            const sStkNPS& value)
      {
            int   i;
            if(ifree.size()>0)
            { i=ifree[ifree.size()-1];ifree.pop_back();stock[i]=value; }
            else
            { i=stock.size();stock.push_back(value); }
            return(i); 
      }
      //
private:
      btDbvt(const btDbvt&)   {}    
};

//
// Inline's
//

//
inline btDbvtAabbMm                 btDbvtAabbMm::FromCE(const btVector3& c,const btVector3& e)
{
      btDbvtAabbMm box;
      box.mi=c-e;box.mx=c+e;
      return(box);
}

//
inline btDbvtAabbMm                 btDbvtAabbMm::FromCR(const btVector3& c,btScalar r)
{
      return(FromCE(c,btVector3(r,r,r)));
}

//
inline btDbvtAabbMm                 btDbvtAabbMm::FromMM(const btVector3& mi,const btVector3& mx)
{
      btDbvtAabbMm box;
      box.mi=mi;box.mx=mx;
      return(box);
}

//
inline btDbvtAabbMm                 btDbvtAabbMm::FromPoints(const btVector3* pts,int n)
{
      btDbvtAabbMm box;
      box.mi=box.mx=pts[0];
      for(int i=1;i<n;++i)
      {
            box.mi.setMin(pts[i]);
            box.mx.setMax(pts[i]);
      }
      return(box);
}

//
inline btDbvtAabbMm                 btDbvtAabbMm::FromPoints(const btVector3** ppts,int n)
{
      btDbvtAabbMm box;
      box.mi=box.mx=*ppts[0];
      for(int i=1;i<n;++i)
      {
            box.mi.setMin(*ppts[i]);
            box.mx.setMax(*ppts[i]);
      }
      return(box);
}

//
DBVT_INLINE void        btDbvtAabbMm::Expand(const btVector3& e)
{
      mi-=e;mx+=e;
}

//
DBVT_INLINE void        btDbvtAabbMm::SignedExpand(const btVector3& e)
{
      if(e.x()>0) mx.setX(mx.x()+e[0]); else mi.setX(mi.x()+e[0]);
      if(e.y()>0) mx.setY(mx.y()+e[1]); else mi.setY(mi.y()+e[1]);
      if(e.z()>0) mx.setZ(mx.z()+e[2]); else mi.setZ(mi.z()+e[2]);
}

//
DBVT_INLINE bool        btDbvtAabbMm::Contain(const btDbvtAabbMm& a) const
{
      return(     (mi.x()<=a.mi.x())&&
            (mi.y()<=a.mi.y())&&
            (mi.z()<=a.mi.z())&&
            (mx.x()>=a.mx.x())&&
            (mx.y()>=a.mx.y())&&
            (mx.z()>=a.mx.z()));
}

//
DBVT_INLINE int         btDbvtAabbMm::Classify(const btVector3& n,btScalar o,int s) const
{
      btVector3               pi,px;
      switch(s)
      {
      case  (0+0+0):    px=btVector3(mi.x(),mi.y(),mi.z());
            pi=btVector3(mx.x(),mx.y(),mx.z());break;
      case  (1+0+0):    px=btVector3(mx.x(),mi.y(),mi.z());
            pi=btVector3(mi.x(),mx.y(),mx.z());break;
      case  (0+2+0):    px=btVector3(mi.x(),mx.y(),mi.z());
            pi=btVector3(mx.x(),mi.y(),mx.z());break;
      case  (1+2+0):    px=btVector3(mx.x(),mx.y(),mi.z());
            pi=btVector3(mi.x(),mi.y(),mx.z());break;
      case  (0+0+4):    px=btVector3(mi.x(),mi.y(),mx.z());
            pi=btVector3(mx.x(),mx.y(),mi.z());break;
      case  (1+0+4):    px=btVector3(mx.x(),mi.y(),mx.z());
            pi=btVector3(mi.x(),mx.y(),mi.z());break;
      case  (0+2+4):    px=btVector3(mi.x(),mx.y(),mx.z());
            pi=btVector3(mx.x(),mi.y(),mi.z());break;
      case  (1+2+4):    px=btVector3(mx.x(),mx.y(),mx.z());
            pi=btVector3(mi.x(),mi.y(),mi.z());break;
      }
      if((dot(n,px)+o)<0)           return(-1);
      if((dot(n,pi)+o)>=0)    return(+1);
      return(0);
}

//
DBVT_INLINE btScalar    btDbvtAabbMm::ProjectMinimum(const btVector3& v,unsigned signs) const
{
      const btVector3*  b[]={&mx,&mi};
      const btVector3         p(    b[(signs>>0)&1]->x(),
            b[(signs>>1)&1]->y(),
            b[(signs>>2)&1]->z());
      return(dot(p,v));
}

//
DBVT_INLINE void        btDbvtAabbMm::AddSpan(const btVector3& d,btScalar& smi,btScalar& smx) const
{
      for(int i=0;i<3;++i)
      {
            if(d[i]<0)
            { smi+=mx[i]*d[i];smx+=mi[i]*d[i]; }
            else
            { smi+=mi[i]*d[i];smx+=mx[i]*d[i]; }
      }
}

//
DBVT_INLINE bool        Intersect(  const btDbvtAabbMm& a,
                                                  const btDbvtAabbMm& b)
{
#if   DBVT_INT0_IMPL == DBVT_IMPL_SSE
      const __m128      rt(_mm_or_ps(     _mm_cmplt_ps(_mm_load_ps(b.mx),_mm_load_ps(a.mi)),
            _mm_cmplt_ps(_mm_load_ps(a.mx),_mm_load_ps(b.mi))));
      const __int32*    pu((const __int32*)&rt);
      return((pu[0]|pu[1]|pu[2])==0);
#else
      return(     (a.mi.x()<=b.mx.x())&&
            (a.mx.x()>=b.mi.x())&&
            (a.mi.y()<=b.mx.y())&&
            (a.mx.y()>=b.mi.y())&&
            (a.mi.z()<=b.mx.z())&&        
            (a.mx.z()>=b.mi.z()));
#endif
}



//
DBVT_INLINE bool        Intersect(  const btDbvtAabbMm& a,
                                                  const btVector3& b)
{
      return(     (b.x()>=a.mi.x())&&
            (b.y()>=a.mi.y())&&
            (b.z()>=a.mi.z())&&
            (b.x()<=a.mx.x())&&
            (b.y()<=a.mx.y())&&
            (b.z()<=a.mx.z()));
}





//////////////////////////////////////


//
DBVT_INLINE btScalar    Proximity(  const btDbvtAabbMm& a,
                                                  const btDbvtAabbMm& b)
{
      const btVector3   d=(a.mi+a.mx)-(b.mi+b.mx);
      return(btFabs(d.x())+btFabs(d.y())+btFabs(d.z()));
}



//
DBVT_INLINE int               Select(     const btDbvtAabbMm& o,
                                             const btDbvtAabbMm& a,
                                             const btDbvtAabbMm& b)
{
#if   DBVT_SELECT_IMPL == DBVT_IMPL_SSE
      static ATTRIBUTE_ALIGNED16(const unsigned __int32)    mask[]={0x7fffffff,0x7fffffff,0x7fffffff,0x7fffffff};
      ///@todo: the intrinsic version is 11% slower
#if DBVT_USE_INTRINSIC_SSE

      union btSSEUnion ///NOTE: if we use more intrinsics, move btSSEUnion into the LinearMath directory
      {
         __m128         ssereg;
         float          floats[4];
         int                  ints[4];
      };

      __m128      omi(_mm_load_ps(o.mi));
      omi=_mm_add_ps(omi,_mm_load_ps(o.mx));
      __m128      ami(_mm_load_ps(a.mi));
      ami=_mm_add_ps(ami,_mm_load_ps(a.mx));
      ami=_mm_sub_ps(ami,omi);
      ami=_mm_and_ps(ami,_mm_load_ps((const float*)mask));
      __m128      bmi(_mm_load_ps(b.mi));
      bmi=_mm_add_ps(bmi,_mm_load_ps(b.mx));
      bmi=_mm_sub_ps(bmi,omi);
      bmi=_mm_and_ps(bmi,_mm_load_ps((const float*)mask));
      __m128      t0(_mm_movehl_ps(ami,ami));
      ami=_mm_add_ps(ami,t0);
      ami=_mm_add_ss(ami,_mm_shuffle_ps(ami,ami,1));
      __m128 t1(_mm_movehl_ps(bmi,bmi));
      bmi=_mm_add_ps(bmi,t1);
      bmi=_mm_add_ss(bmi,_mm_shuffle_ps(bmi,bmi,1));
      
      btSSEUnion tmp;
      tmp.ssereg = _mm_cmple_ss(bmi,ami);
      return tmp.ints[0]&1;

#else
      ATTRIBUTE_ALIGNED16(__int32   r[1]);
      __asm
      {
            mov         eax,o
                  mov         ecx,a
                  mov         edx,b
                  movaps      xmm0,[eax]
            movaps      xmm5,mask
                  addps xmm0,[eax+16]     
            movaps      xmm1,[ecx]
            movaps      xmm2,[edx]
            addps xmm1,[ecx+16]
            addps xmm2,[edx+16]
            subps xmm1,xmm0
                  subps xmm2,xmm0
                  andps xmm1,xmm5
                  andps xmm2,xmm5
                  movhlps     xmm3,xmm1
                  movhlps     xmm4,xmm2
                  addps xmm1,xmm3
                  addps xmm2,xmm4
                  pshufd      xmm3,xmm1,1
                  pshufd      xmm4,xmm2,1
                  addss xmm1,xmm3
                  addss xmm2,xmm4
                  cmpless     xmm2,xmm1
                  movss r,xmm2
      }
      return(r[0]&1);
#endif
#else
      return(Proximity(o,a)<Proximity(o,b)?0:1);
#endif
}

//
DBVT_INLINE void        Merge(      const btDbvtAabbMm& a,
                                            const btDbvtAabbMm& b,
                                            btDbvtAabbMm& r)
{
#if DBVT_MERGE_IMPL==DBVT_IMPL_SSE
      __m128      ami(_mm_load_ps(a.mi));
      __m128      amx(_mm_load_ps(a.mx));
      __m128      bmi(_mm_load_ps(b.mi));
      __m128      bmx(_mm_load_ps(b.mx));
      ami=_mm_min_ps(ami,bmi);
      amx=_mm_max_ps(amx,bmx);
      _mm_store_ps(r.mi,ami);
      _mm_store_ps(r.mx,amx);
#else
      for(int i=0;i<3;++i)
      {
            if(a.mi[i]<b.mi[i]) r.mi[i]=a.mi[i]; else r.mi[i]=b.mi[i];
            if(a.mx[i]>b.mx[i]) r.mx[i]=a.mx[i]; else r.mx[i]=b.mx[i];
      }
#endif
}

//
DBVT_INLINE bool        NotEqual(   const btDbvtAabbMm& a,
                                                 const btDbvtAabbMm& b)
{
      return(     (a.mi.x()!=b.mi.x())||
            (a.mi.y()!=b.mi.y())||
            (a.mi.z()!=b.mi.z())||
            (a.mx.x()!=b.mx.x())||
            (a.mx.y()!=b.mx.y())||
            (a.mx.z()!=b.mx.z()));
}

//
// Inline's
//

//
DBVT_PREFIX
inline void       btDbvt::enumNodes(      const btDbvtNode* root,
                                                  DBVT_IPOLICY)
{
      DBVT_CHECKTYPE
            policy.Process(root);
      if(root->isinternal())
      {
            enumNodes(root->childs[0],policy);
            enumNodes(root->childs[1],policy);
      }
}

//
DBVT_PREFIX
inline void       btDbvt::enumLeaves(     const btDbvtNode* root,
                                                   DBVT_IPOLICY)
{
      DBVT_CHECKTYPE
            if(root->isinternal())
            {
                  enumLeaves(root->childs[0],policy);
                  enumLeaves(root->childs[1],policy);
            }
            else
            {
                  policy.Process(root);
            }
}

//
DBVT_PREFIX
inline void       btDbvt::collideTT(      const btDbvtNode* root0,
                                                  const btDbvtNode* root1,
                                                  DBVT_IPOLICY)
{
      DBVT_CHECKTYPE
            if(root0&&root1)
            {
                  int                                             depth=1;
                  int                                             treshold=DOUBLE_STACKSIZE-4;
                  btAlignedObjectArray<sStkNN>  stkStack;
                  stkStack.resize(DOUBLE_STACKSIZE);
                  stkStack[0]=sStkNN(root0,root1);
                  do    {           
                        sStkNN      p=stkStack[--depth];
                        if(depth>treshold)
                        {
                              stkStack.resize(stkStack.size()*2);
                              treshold=stkStack.size()-4;
                        }
                        if(p.a==p.b)
                        {
                              if(p.a->isinternal())
                              {
                                    stkStack[depth++]=sStkNN(p.a->childs[0],p.a->childs[0]);
                                    stkStack[depth++]=sStkNN(p.a->childs[1],p.a->childs[1]);
                                    stkStack[depth++]=sStkNN(p.a->childs[0],p.a->childs[1]);
                              }
                        }
                        else if(Intersect(p.a->volume,p.b->volume))
                        {
                              if(p.a->isinternal())
                              {
                                    if(p.b->isinternal())
                                    {
                                          stkStack[depth++]=sStkNN(p.a->childs[0],p.b->childs[0]);
                                          stkStack[depth++]=sStkNN(p.a->childs[1],p.b->childs[0]);
                                          stkStack[depth++]=sStkNN(p.a->childs[0],p.b->childs[1]);
                                          stkStack[depth++]=sStkNN(p.a->childs[1],p.b->childs[1]);
                                    }
                                    else
                                    {
                                          stkStack[depth++]=sStkNN(p.a->childs[0],p.b);
                                          stkStack[depth++]=sStkNN(p.a->childs[1],p.b);
                                    }
                              }
                              else
                              {
                                    if(p.b->isinternal())
                                    {
                                          stkStack[depth++]=sStkNN(p.a,p.b->childs[0]);
                                          stkStack[depth++]=sStkNN(p.a,p.b->childs[1]);
                                    }
                                    else
                                    {
                                          policy.Process(p.a,p.b);
                                    }
                              }
                        }
                  } while(depth);
            }
}



DBVT_PREFIX
inline void       btDbvt::collideTTpersistentStack(   const btDbvtNode* root0,
                                                  const btDbvtNode* root1,
                                                  DBVT_IPOLICY)
{
      DBVT_CHECKTYPE
            if(root0&&root1)
            {
                  int                                             depth=1;
                  int                                             treshold=DOUBLE_STACKSIZE-4;
                  
                  m_stkStack.resize(DOUBLE_STACKSIZE);
                  m_stkStack[0]=sStkNN(root0,root1);
                  do    {           
                        sStkNN      p=m_stkStack[--depth];
                        if(depth>treshold)
                        {
                              m_stkStack.resize(m_stkStack.size()*2);
                              treshold=m_stkStack.size()-4;
                        }
                        if(p.a==p.b)
                        {
                              if(p.a->isinternal())
                              {
                                    m_stkStack[depth++]=sStkNN(p.a->childs[0],p.a->childs[0]);
                                    m_stkStack[depth++]=sStkNN(p.a->childs[1],p.a->childs[1]);
                                    m_stkStack[depth++]=sStkNN(p.a->childs[0],p.a->childs[1]);
                              }
                        }
                        else if(Intersect(p.a->volume,p.b->volume))
                        {
                              if(p.a->isinternal())
                              {
                                    if(p.b->isinternal())
                                    {
                                          m_stkStack[depth++]=sStkNN(p.a->childs[0],p.b->childs[0]);
                                          m_stkStack[depth++]=sStkNN(p.a->childs[1],p.b->childs[0]);
                                          m_stkStack[depth++]=sStkNN(p.a->childs[0],p.b->childs[1]);
                                          m_stkStack[depth++]=sStkNN(p.a->childs[1],p.b->childs[1]);
                                    }
                                    else
                                    {
                                          m_stkStack[depth++]=sStkNN(p.a->childs[0],p.b);
                                          m_stkStack[depth++]=sStkNN(p.a->childs[1],p.b);
                                    }
                              }
                              else
                              {
                                    if(p.b->isinternal())
                                    {
                                          m_stkStack[depth++]=sStkNN(p.a,p.b->childs[0]);
                                          m_stkStack[depth++]=sStkNN(p.a,p.b->childs[1]);
                                    }
                                    else
                                    {
                                          policy.Process(p.a,p.b);
                                    }
                              }
                        }
                  } while(depth);
            }
}

#if 0
//
DBVT_PREFIX
inline void       btDbvt::collideTT(      const btDbvtNode* root0,
                                                  const btDbvtNode* root1,
                                                  const btTransform& xform,
                                                  DBVT_IPOLICY)
{
      DBVT_CHECKTYPE
            if(root0&&root1)
            {
                  int                                             depth=1;
                  int                                             treshold=DOUBLE_STACKSIZE-4;
                  btAlignedObjectArray<sStkNN>  stkStack;
                  stkStack.resize(DOUBLE_STACKSIZE);
                  stkStack[0]=sStkNN(root0,root1);
                  do    {
                        sStkNN      p=stkStack[--depth];
                        if(Intersect(p.a->volume,p.b->volume,xform))
                        {
                              if(depth>treshold)
                              {
                                    stkStack.resize(stkStack.size()*2);
                                    treshold=stkStack.size()-4;
                              }
                              if(p.a->isinternal())
                              {
                                    if(p.b->isinternal())
                                    {                             
                                          stkStack[depth++]=sStkNN(p.a->childs[0],p.b->childs[0]);
                                          stkStack[depth++]=sStkNN(p.a->childs[1],p.b->childs[0]);
                                          stkStack[depth++]=sStkNN(p.a->childs[0],p.b->childs[1]);
                                          stkStack[depth++]=sStkNN(p.a->childs[1],p.b->childs[1]);
                                    }
                                    else
                                    {
                                          stkStack[depth++]=sStkNN(p.a->childs[0],p.b);
                                          stkStack[depth++]=sStkNN(p.a->childs[1],p.b);
                                    }
                              }
                              else
                              {
                                    if(p.b->isinternal())
                                    {
                                          stkStack[depth++]=sStkNN(p.a,p.b->childs[0]);
                                          stkStack[depth++]=sStkNN(p.a,p.b->childs[1]);
                                    }
                                    else
                                    {
                                          policy.Process(p.a,p.b);
                                    }
                              }
                        }
                  } while(depth);
            }
}
//
DBVT_PREFIX
inline void       btDbvt::collideTT(      const btDbvtNode* root0,
                                                  const btTransform& xform0,
                                                  const btDbvtNode* root1,
                                                  const btTransform& xform1,
                                                  DBVT_IPOLICY)
{
      const btTransform xform=xform0.inverse()*xform1;
      collideTT(root0,root1,xform,policy);
}
#endif 

//
DBVT_PREFIX
inline void       btDbvt::collideTV(      const btDbvtNode* root,
                                                  const btDbvtVolume& vol,
                                                  DBVT_IPOLICY)
{
      DBVT_CHECKTYPE
            if(root)
            {
                  ATTRIBUTE_ALIGNED16(btDbvtVolume)         volume(vol);
                  btAlignedObjectArray<const btDbvtNode*>   stack;
                  stack.resize(0);
                  stack.reserve(SIMPLE_STACKSIZE);
                  stack.push_back(root);
                  do    {
                        const btDbvtNode* n=stack[stack.size()-1];
                        stack.pop_back();
                        if(Intersect(n->volume,volume))
                        {
                              if(n->isinternal())
                              {
                                    stack.push_back(n->childs[0]);
                                    stack.push_back(n->childs[1]);
                              }
                              else
                              {
                                    policy.Process(n);
                              }
                        }
                  } while(stack.size()>0);
            }
}

DBVT_PREFIX
00940 inline void       btDbvt::rayTestInternal(      const btDbvtNode* root,
                                                const btVector3& rayFrom,
                                                const btVector3& rayTo,
                                                const btVector3& rayDirectionInverse,
                                                unsigned int signs[3],
                                                btScalar lambda_max,
                                                const btVector3& aabbMin,
                                                const btVector3& aabbMax,
                                                DBVT_IPOLICY) const
{
      DBVT_CHECKTYPE
      if(root)
      {
            btVector3 resultNormal;

            int                                             depth=1;
            int                                             treshold=DOUBLE_STACKSIZE-2;
            btAlignedObjectArray<const btDbvtNode*>   stack;
            stack.resize(DOUBLE_STACKSIZE);
            stack[0]=root;
            btVector3 bounds[2];
            do    
            {
                  const btDbvtNode* node=stack[--depth];
                  bounds[0] = node->volume.Mins()+aabbMin;
                  bounds[1] = node->volume.Maxs()+aabbMax;
                  btScalar tmin=1.f,lambda_min=0.f;
                  unsigned int result1=false;
                  result1 = btRayAabb2(rayFrom,rayDirectionInverse,signs,bounds,tmin,lambda_min,lambda_max);
                  if(result1)
                  {
                        if(node->isinternal())
                        {
                              if(depth>treshold)
                              {
                                    stack.resize(stack.size()*2);
                                    treshold=stack.size()-2;
                              }
                              stack[depth++]=node->childs[0];
                              stack[depth++]=node->childs[1];
                        }
                        else
                        {
                              policy.Process(node);
                        }
                  }
            } while(depth);
      }
}

//
DBVT_PREFIX
00992 inline void       btDbvt::rayTest(  const btDbvtNode* root,
                                                const btVector3& rayFrom,
                                                const btVector3& rayTo,
                                                DBVT_IPOLICY)
{
      DBVT_CHECKTYPE
            if(root)
            {
                  btVector3 rayDir = (rayTo-rayFrom);
                  rayDir.normalize ();

                  ///what about division by zero? --> just set rayDirection[i] to INF/1e30
                  btVector3 rayDirectionInverse;
                  rayDirectionInverse[0] = rayDir[0] == btScalar(0.0) ? btScalar(1e30) : btScalar(1.0) / rayDir[0];
                  rayDirectionInverse[1] = rayDir[1] == btScalar(0.0) ? btScalar(1e30) : btScalar(1.0) / rayDir[1];
                  rayDirectionInverse[2] = rayDir[2] == btScalar(0.0) ? btScalar(1e30) : btScalar(1.0) / rayDir[2];
                  unsigned int signs[3] = { rayDirectionInverse[0] < 0.0, rayDirectionInverse[1] < 0.0, rayDirectionInverse[2] < 0.0};

                  btScalar lambda_max = rayDir.dot(rayTo-rayFrom);

                  btVector3 resultNormal;

                  btAlignedObjectArray<const btDbvtNode*>   stack;

                  int                                             depth=1;
                  int                                             treshold=DOUBLE_STACKSIZE-2;

                  stack.resize(DOUBLE_STACKSIZE);
                  stack[0]=root;
                  btVector3 bounds[2];
                  do    {
                        const btDbvtNode* node=stack[--depth];

                        bounds[0] = node->volume.Mins();
                        bounds[1] = node->volume.Maxs();
                        
                        btScalar tmin=1.f,lambda_min=0.f;
                        unsigned int result1 = btRayAabb2(rayFrom,rayDirectionInverse,signs,bounds,tmin,lambda_min,lambda_max);

#ifdef COMPARE_BTRAY_AABB2
                        btScalar param=1.f;
                        bool result2 = btRayAabb(rayFrom,rayTo,node->volume.Mins(),node->volume.Maxs(),param,resultNormal);
                        btAssert(result1 == result2);
#endif //TEST_BTRAY_AABB2

                        if(result1)
                        {
                              if(node->isinternal())
                              {
                                    if(depth>treshold)
                                    {
                                          stack.resize(stack.size()*2);
                                          treshold=stack.size()-2;
                                    }
                                    stack[depth++]=node->childs[0];
                                    stack[depth++]=node->childs[1];
                              }
                              else
                              {
                                    policy.Process(node);
                              }
                        }
                  } while(depth);

            }
}

//
DBVT_PREFIX
inline void       btDbvt::collideKDOP(const btDbvtNode* root,
                                                      const btVector3* normals,
                                                      const btScalar* offsets,
                                                      int count,
                                                      DBVT_IPOLICY)
{
      DBVT_CHECKTYPE
            if(root)
            {
                  const int                                 inside=(1<<count)-1;
                  btAlignedObjectArray<sStkNP>  stack;
                  int                                             signs[sizeof(unsigned)*8];
                  btAssert(count<int (sizeof(signs)/sizeof(signs[0])));
                  for(int i=0;i<count;++i)
                  {
                        signs[i]=   ((normals[i].x()>=0)?1:0)+
                              ((normals[i].y()>=0)?2:0)+
                              ((normals[i].z()>=0)?4:0);
                  }
                  stack.reserve(SIMPLE_STACKSIZE);
                  stack.push_back(sStkNP(root,0));
                  do    {
                        sStkNP      se=stack[stack.size()-1];
                        bool  out=false;
                        stack.pop_back();
                        for(int i=0,j=1;(!out)&&(i<count);++i,j<<=1)
                        {
                              if(0==(se.mask&j))
                              {
                                    const int   side=se.node->volume.Classify(normals[i],offsets[i],signs[i]);
                                    switch(side)
                                    {
                                    case  -1:   out=true;break;
                                    case  +1:   se.mask|=j;break;
                                    }
                              }
                        }
                        if(!out)
                        {
                              if((se.mask!=inside)&&(se.node->isinternal()))
                              {
                                    stack.push_back(sStkNP(se.node->childs[0],se.mask));
                                    stack.push_back(sStkNP(se.node->childs[1],se.mask));
                              }
                              else
                              {
                                    if(policy.AllLeaves(se.node)) enumLeaves(se.node,policy);
                              }
                        }
                  } while(stack.size());
            }
}

//
DBVT_PREFIX
inline void       btDbvt::collideOCL(     const btDbvtNode* root,
                                                   const btVector3* normals,
                                                   const btScalar* offsets,
                                                   const btVector3& sortaxis,
                                                   int count,
                                                   DBVT_IPOLICY,
                                                   bool fsort)
{
      DBVT_CHECKTYPE
            if(root)
            {
                  const unsigned                            srtsgns=(sortaxis[0]>=0?1:0)+
                        (sortaxis[1]>=0?2:0)+
                        (sortaxis[2]>=0?4:0);
                  const int                                 inside=(1<<count)-1;
                  btAlignedObjectArray<sStkNPS> stock;
                  btAlignedObjectArray<int>           ifree;
                  btAlignedObjectArray<int>           stack;
                  int                                             signs[sizeof(unsigned)*8];
                  btAssert(count<int (sizeof(signs)/sizeof(signs[0])));
                  for(int i=0;i<count;++i)
                  {
                        signs[i]=   ((normals[i].x()>=0)?1:0)+
                              ((normals[i].y()>=0)?2:0)+
                              ((normals[i].z()>=0)?4:0);
                  }
                  stock.reserve(SIMPLE_STACKSIZE);
                  stack.reserve(SIMPLE_STACKSIZE);
                  ifree.reserve(SIMPLE_STACKSIZE);
                  stack.push_back(allocate(ifree,stock,sStkNPS(root,0,root->volume.ProjectMinimum(sortaxis,srtsgns))));
                  do    {
                        const int   id=stack[stack.size()-1];
                        sStkNPS           se=stock[id];
                        stack.pop_back();ifree.push_back(id);
                        if(se.mask!=inside)
                        {
                              bool  out=false;
                              for(int i=0,j=1;(!out)&&(i<count);++i,j<<=1)
                              {
                                    if(0==(se.mask&j))
                                    {
                                          const int   side=se.node->volume.Classify(normals[i],offsets[i],signs[i]);
                                          switch(side)
                                          {
                                          case  -1:   out=true;break;
                                          case  +1:   se.mask|=j;break;
                                          }
                                    }
                              }
                              if(out) continue;
                        }
                        if(policy.Descent(se.node))
                        {
                              if(se.node->isinternal())
                              {
                                    const btDbvtNode* pns[]={     se.node->childs[0],se.node->childs[1]};
                                    sStkNPS           nes[]={     sStkNPS(pns[0],se.mask,pns[0]->volume.ProjectMinimum(sortaxis,srtsgns)),
                                          sStkNPS(pns[1],se.mask,pns[1]->volume.ProjectMinimum(sortaxis,srtsgns))};
                                    const int   q=nes[0].value<nes[1].value?1:0;                      
                                    int               j=stack.size();
                                    if(fsort&&(j>0))
                                    {
                                          /* Insert 0 */ 
                                          j=nearest(&stack[0],&stock[0],nes[q].value,0,stack.size());
                                          stack.push_back(0);
#if DBVT_USE_MEMMOVE
                                          memmove(&stack[j+1],&stack[j],sizeof(int)*(stack.size()-j-1));
#else
                                          for(int k=stack.size()-1;k>j;--k) stack[k]=stack[k-1];
#endif
                                          stack[j]=allocate(ifree,stock,nes[q]);
                                          /* Insert 1 */ 
                                          j=nearest(&stack[0],&stock[0],nes[1-q].value,j,stack.size());
                                          stack.push_back(0);
#if DBVT_USE_MEMMOVE
                                          memmove(&stack[j+1],&stack[j],sizeof(int)*(stack.size()-j-1));
#else
                                          for(int k=stack.size()-1;k>j;--k) stack[k]=stack[k-1];
#endif
                                          stack[j]=allocate(ifree,stock,nes[1-q]);
                                    }
                                    else
                                    {
                                          stack.push_back(allocate(ifree,stock,nes[q]));
                                          stack.push_back(allocate(ifree,stock,nes[1-q]));
                                    }
                              }
                              else
                              {
                                    policy.Process(se.node,se.value);
                              }
                        }
                  } while(stack.size());
            }
}

//
DBVT_PREFIX
inline void       btDbvt::collideTU(      const btDbvtNode* root,
                                                  DBVT_IPOLICY)
{
      DBVT_CHECKTYPE
            if(root)
            {
                  btAlignedObjectArray<const btDbvtNode*>   stack;
                  stack.reserve(SIMPLE_STACKSIZE);
                  stack.push_back(root);
                  do    {
                        const btDbvtNode* n=stack[stack.size()-1];
                        stack.pop_back();
                        if(policy.Descent(n))
                        {
                              if(n->isinternal())
                              { stack.push_back(n->childs[0]);stack.push_back(n->childs[1]); }
                              else
                              { policy.Process(n); }
                        }
                  } while(stack.size()>0);
            }
}

//
// PP Cleanup
//

#undef DBVT_USE_MEMMOVE
#undef DBVT_USE_TEMPLATE
#undef DBVT_VIRTUAL_DTOR
#undef DBVT_VIRTUAL
#undef DBVT_PREFIX
#undef DBVT_IPOLICY
#undef DBVT_CHECKTYPE
#undef DBVT_IMPL_GENERIC
#undef DBVT_IMPL_SSE
#undef DBVT_USE_INTRINSIC_SSE
#undef DBVT_SELECT_IMPL
#undef DBVT_MERGE_IMPL
#undef DBVT_INT0_IMPL

#endif

Generated by  Doxygen 1.6.0   Back to index