btGImpactBvh.h

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#ifndef BT_GIMPACT_BVH_H_INCLUDED
#define BT_GIMPACT_BVH_H_INCLUDED

/*
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 "LinearMath/btAlignedObjectArray.h"

#include "btBoxCollision.h"
#include "btTriangleShapeEx.h"
#include "btGImpactBvhStructs.h"

class btPairSet : public btAlignedObjectArray<GIM_PAIR>
{
public:
        btPairSet()
        {
                reserve(32);
        }
        inline void push_pair(int index1, int index2)
        {
                push_back(GIM_PAIR(index1, index2));
        }

        inline void push_pair_inv(int index1, int index2)
        {
                push_back(GIM_PAIR(index2, index1));
        }
};

class GIM_BVH_DATA_ARRAY : public btAlignedObjectArray<GIM_BVH_DATA>
{
};

class GIM_BVH_TREE_NODE_ARRAY : public btAlignedObjectArray<GIM_BVH_TREE_NODE>
{
};

class btBvhTree
{
protected:
        int m_num_nodes;
        GIM_BVH_TREE_NODE_ARRAY m_node_array;

protected:
        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:
        btBvhTree()
        {
                m_num_nodes = 0;
        }

        void build_tree(GIM_BVH_DATA_ARRAY& primitive_boxes);

        SIMD_FORCE_INLINE void clearNodes()
        {
                m_node_array.clear();
                m_num_nodes = 0;
        }

        SIMD_FORCE_INLINE int getNodeCount() const
        {
                return m_num_nodes;
        }

        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_node_array[nodeindex].m_bound;
        }

        SIMD_FORCE_INLINE void setNodeBound(int nodeindex, const btAABB& bound)
        {
                m_node_array[nodeindex].m_bound = bound;
        }

        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 GIM_BVH_TREE_NODE* get_node_pointer(int index = 0) const
        {
                return &m_node_array[index];
        }

};


class btPrimitiveManagerBase
{
public:
        virtual ~btPrimitiveManagerBase() {}

        virtual bool is_trimesh() const = 0;
        virtual int get_primitive_count() const = 0;
        virtual void get_primitive_box(int prim_index, btAABB& primbox) const = 0;
        virtual void get_primitive_triangle(int prim_index, btPrimitiveTriangle& triangle) const = 0;
};


class btGImpactBvh
{
protected:
        btBvhTree m_box_tree;
        btPrimitiveManagerBase* m_primitive_manager;

protected:
        //stackless refit
        void refit();

public:
        btGImpactBvh()
        {
                m_primitive_manager = NULL;
        }

        btGImpactBvh(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;
        }


        SIMD_FORCE_INLINE void update()
        {
                refit();
        }

        void buildSet();

        bool boxQuery(const btAABB& box, btAlignedObjectArray<int>& collided_results) const;

        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);
        }

        bool rayQuery(
                const btVector3& ray_dir, const btVector3& ray_origin,
                btAlignedObjectArray<int>& collided_results) const;

        SIMD_FORCE_INLINE bool hasHierarchy() const
        {
                return true;
        }

        SIMD_FORCE_INLINE bool isTrimesh() const
        {
                return m_primitive_manager->is_trimesh();
        }

        SIMD_FORCE_INLINE int getNodeCount() const
        {
                return m_box_tree.getNodeCount();
        }

        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 GIM_BVH_TREE_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(btGImpactBvh* boxset1, const btTransform& trans1,
                                                           btGImpactBvh* boxset2, const btTransform& trans2,
                                                           btPairSet& collision_pairs);
};

#endif  // BT_GIMPACT_BVH_H_INCLUDED