91 lines
2.7 KiB
C++
91 lines
2.7 KiB
C++
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#ifndef B3_QUANTIZED_BVH_NODE_H
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#define B3_QUANTIZED_BVH_NODE_H
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#include "Bullet3Common/shared/b3Float4.h"
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#define B3_MAX_NUM_PARTS_IN_BITS 10
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///b3QuantizedBvhNodeData is a compressed aabb node, 16 bytes.
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///Node can be used for leafnode or internal node. Leafnodes can point to 32-bit triangle index (non-negative range).
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typedef struct b3QuantizedBvhNodeData b3QuantizedBvhNodeData_t;
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struct b3QuantizedBvhNodeData
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{
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//12 bytes
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unsigned short int m_quantizedAabbMin[3];
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unsigned short int m_quantizedAabbMax[3];
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//4 bytes
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int m_escapeIndexOrTriangleIndex;
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};
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inline int b3GetTriangleIndex(const b3QuantizedBvhNodeData* rootNode)
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{
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unsigned int x=0;
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unsigned int y = (~(x&0))<<(31-B3_MAX_NUM_PARTS_IN_BITS);
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// Get only the lower bits where the triangle index is stored
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return (rootNode->m_escapeIndexOrTriangleIndex&~(y));
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}
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inline int b3IsLeaf(const b3QuantizedBvhNodeData* rootNode)
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{
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//skipindex is negative (internal node), triangleindex >=0 (leafnode)
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return (rootNode->m_escapeIndexOrTriangleIndex >= 0)? 1 : 0;
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}
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inline int b3GetEscapeIndex(const b3QuantizedBvhNodeData* rootNode)
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{
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return -rootNode->m_escapeIndexOrTriangleIndex;
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}
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inline void b3QuantizeWithClamp(unsigned short* out, b3Float4ConstArg point2,int isMax, b3Float4ConstArg bvhAabbMin, b3Float4ConstArg bvhAabbMax, b3Float4ConstArg bvhQuantization)
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{
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b3Float4 clampedPoint = b3MaxFloat4(point2,bvhAabbMin);
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clampedPoint = b3MinFloat4 (clampedPoint, bvhAabbMax);
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b3Float4 v = (clampedPoint - bvhAabbMin) * bvhQuantization;
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if (isMax)
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{
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out[0] = (unsigned short) (((unsigned short)(v.x+1.f) | 1));
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out[1] = (unsigned short) (((unsigned short)(v.y+1.f) | 1));
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out[2] = (unsigned short) (((unsigned short)(v.z+1.f) | 1));
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} else
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{
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out[0] = (unsigned short) (((unsigned short)(v.x) & 0xfffe));
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out[1] = (unsigned short) (((unsigned short)(v.y) & 0xfffe));
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out[2] = (unsigned short) (((unsigned short)(v.z) & 0xfffe));
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}
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}
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inline int b3TestQuantizedAabbAgainstQuantizedAabbSlow(
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const unsigned short int* aabbMin1,
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const unsigned short int* aabbMax1,
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const unsigned short int* aabbMin2,
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const unsigned short int* aabbMax2)
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{
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//int overlap = 1;
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if (aabbMin1[0] > aabbMax2[0])
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return 0;
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if (aabbMax1[0] < aabbMin2[0])
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return 0;
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if (aabbMin1[1] > aabbMax2[1])
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return 0;
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if (aabbMax1[1] < aabbMin2[1])
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return 0;
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if (aabbMin1[2] > aabbMax2[2])
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return 0;
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if (aabbMax1[2] < aabbMin2[2])
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return 0;
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return 1;
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//overlap = ((aabbMin1[0] > aabbMax2[0]) || (aabbMax1[0] < aabbMin2[0])) ? 0 : overlap;
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//overlap = ((aabbMin1[2] > aabbMax2[2]) || (aabbMax1[2] < aabbMin2[2])) ? 0 : overlap;
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//overlap = ((aabbMin1[1] > aabbMax2[1]) || (aabbMax1[1] < aabbMin2[1])) ? 0 : overlap;
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//return overlap;
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}
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#endif //B3_QUANTIZED_BVH_NODE_H
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