511 lines
17 KiB
C++
511 lines
17 KiB
C++
/*
|
|
Bullet Continuous Collision Detection and Physics Library
|
|
Copyright (c) 2003-2006 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.
|
|
*/
|
|
|
|
#ifndef B3_QUANTIZED_BVH_H
|
|
#define B3_QUANTIZED_BVH_H
|
|
|
|
class b3Serializer;
|
|
|
|
//#define DEBUG_CHECK_DEQUANTIZATION 1
|
|
#ifdef DEBUG_CHECK_DEQUANTIZATION
|
|
#ifdef __SPU__
|
|
#define printf spu_printf
|
|
#endif //__SPU__
|
|
|
|
#include <stdio.h>
|
|
#include <stdlib.h>
|
|
#endif //DEBUG_CHECK_DEQUANTIZATION
|
|
|
|
#include "Bullet3Common/b3Vector3.h"
|
|
#include "Bullet3Common/b3AlignedAllocator.h"
|
|
|
|
#ifdef B3_USE_DOUBLE_PRECISION
|
|
#define b3QuantizedBvhData b3QuantizedBvhDoubleData
|
|
#define b3OptimizedBvhNodeData b3OptimizedBvhNodeDoubleData
|
|
#define b3QuantizedBvhDataName "b3QuantizedBvhDoubleData"
|
|
#else
|
|
#define b3QuantizedBvhData b3QuantizedBvhFloatData
|
|
#define b3OptimizedBvhNodeData b3OptimizedBvhNodeFloatData
|
|
#define b3QuantizedBvhDataName "b3QuantizedBvhFloatData"
|
|
#endif
|
|
|
|
#include "Bullet3Collision/NarrowPhaseCollision/shared/b3QuantizedBvhNodeData.h"
|
|
#include "Bullet3Collision/NarrowPhaseCollision/shared/b3BvhSubtreeInfoData.h"
|
|
|
|
//http://msdn.microsoft.com/library/default.asp?url=/library/en-us/vclang/html/vclrf__m128.asp
|
|
|
|
//Note: currently we have 16 bytes per quantized node
|
|
#define MAX_SUBTREE_SIZE_IN_BYTES 2048
|
|
|
|
// 10 gives the potential for 1024 parts, with at most 2^21 (2097152) (minus one
|
|
// actually) triangles each (since the sign bit is reserved
|
|
#define MAX_NUM_PARTS_IN_BITS 10
|
|
|
|
///b3QuantizedBvhNode 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).
|
|
B3_ATTRIBUTE_ALIGNED16(struct)
|
|
b3QuantizedBvhNode : public b3QuantizedBvhNodeData
|
|
{
|
|
B3_DECLARE_ALIGNED_ALLOCATOR();
|
|
|
|
bool isLeafNode() const
|
|
{
|
|
//skipindex is negative (internal node), triangleindex >=0 (leafnode)
|
|
return (m_escapeIndexOrTriangleIndex >= 0);
|
|
}
|
|
int getEscapeIndex() const
|
|
{
|
|
b3Assert(!isLeafNode());
|
|
return -m_escapeIndexOrTriangleIndex;
|
|
}
|
|
int getTriangleIndex() const
|
|
{
|
|
b3Assert(isLeafNode());
|
|
unsigned int x = 0;
|
|
unsigned int y = (~(x & 0)) << (31 - MAX_NUM_PARTS_IN_BITS);
|
|
// Get only the lower bits where the triangle index is stored
|
|
return (m_escapeIndexOrTriangleIndex & ~(y));
|
|
}
|
|
int getPartId() const
|
|
{
|
|
b3Assert(isLeafNode());
|
|
// Get only the highest bits where the part index is stored
|
|
return (m_escapeIndexOrTriangleIndex >> (31 - MAX_NUM_PARTS_IN_BITS));
|
|
}
|
|
};
|
|
|
|
/// b3OptimizedBvhNode contains both internal and leaf node information.
|
|
/// Total node size is 44 bytes / node. You can use the compressed version of 16 bytes.
|
|
B3_ATTRIBUTE_ALIGNED16(struct)
|
|
b3OptimizedBvhNode
|
|
{
|
|
B3_DECLARE_ALIGNED_ALLOCATOR();
|
|
|
|
//32 bytes
|
|
b3Vector3 m_aabbMinOrg;
|
|
b3Vector3 m_aabbMaxOrg;
|
|
|
|
//4
|
|
int m_escapeIndex;
|
|
|
|
//8
|
|
//for child nodes
|
|
int m_subPart;
|
|
int m_triangleIndex;
|
|
|
|
//pad the size to 64 bytes
|
|
char m_padding[20];
|
|
};
|
|
|
|
///b3BvhSubtreeInfo provides info to gather a subtree of limited size
|
|
B3_ATTRIBUTE_ALIGNED16(class)
|
|
b3BvhSubtreeInfo : public b3BvhSubtreeInfoData
|
|
{
|
|
public:
|
|
B3_DECLARE_ALIGNED_ALLOCATOR();
|
|
|
|
b3BvhSubtreeInfo()
|
|
{
|
|
//memset(&m_padding[0], 0, sizeof(m_padding));
|
|
}
|
|
|
|
void setAabbFromQuantizeNode(const b3QuantizedBvhNode& quantizedNode)
|
|
{
|
|
m_quantizedAabbMin[0] = quantizedNode.m_quantizedAabbMin[0];
|
|
m_quantizedAabbMin[1] = quantizedNode.m_quantizedAabbMin[1];
|
|
m_quantizedAabbMin[2] = quantizedNode.m_quantizedAabbMin[2];
|
|
m_quantizedAabbMax[0] = quantizedNode.m_quantizedAabbMax[0];
|
|
m_quantizedAabbMax[1] = quantizedNode.m_quantizedAabbMax[1];
|
|
m_quantizedAabbMax[2] = quantizedNode.m_quantizedAabbMax[2];
|
|
}
|
|
};
|
|
|
|
class b3NodeOverlapCallback
|
|
{
|
|
public:
|
|
virtual ~b3NodeOverlapCallback(){};
|
|
|
|
virtual void processNode(int subPart, int triangleIndex) = 0;
|
|
};
|
|
|
|
#include "Bullet3Common/b3AlignedAllocator.h"
|
|
#include "Bullet3Common/b3AlignedObjectArray.h"
|
|
|
|
///for code readability:
|
|
typedef b3AlignedObjectArray<b3OptimizedBvhNode> NodeArray;
|
|
typedef b3AlignedObjectArray<b3QuantizedBvhNode> QuantizedNodeArray;
|
|
typedef b3AlignedObjectArray<b3BvhSubtreeInfo> BvhSubtreeInfoArray;
|
|
|
|
///The b3QuantizedBvh class stores an AABB tree that can be quickly traversed on CPU and Cell SPU.
|
|
///It is used by the b3BvhTriangleMeshShape as midphase
|
|
///It is recommended to use quantization for better performance and lower memory requirements.
|
|
B3_ATTRIBUTE_ALIGNED16(class)
|
|
b3QuantizedBvh
|
|
{
|
|
public:
|
|
enum b3TraversalMode
|
|
{
|
|
TRAVERSAL_STACKLESS = 0,
|
|
TRAVERSAL_STACKLESS_CACHE_FRIENDLY,
|
|
TRAVERSAL_RECURSIVE
|
|
};
|
|
|
|
b3Vector3 m_bvhAabbMin;
|
|
b3Vector3 m_bvhAabbMax;
|
|
b3Vector3 m_bvhQuantization;
|
|
|
|
protected:
|
|
int m_bulletVersion; //for serialization versioning. It could also be used to detect endianess.
|
|
|
|
int m_curNodeIndex;
|
|
//quantization data
|
|
bool m_useQuantization;
|
|
|
|
NodeArray m_leafNodes;
|
|
NodeArray m_contiguousNodes;
|
|
QuantizedNodeArray m_quantizedLeafNodes;
|
|
QuantizedNodeArray m_quantizedContiguousNodes;
|
|
|
|
b3TraversalMode m_traversalMode;
|
|
BvhSubtreeInfoArray m_SubtreeHeaders;
|
|
|
|
//This is only used for serialization so we don't have to add serialization directly to b3AlignedObjectArray
|
|
mutable int m_subtreeHeaderCount;
|
|
|
|
///two versions, one for quantized and normal nodes. This allows code-reuse while maintaining readability (no template/macro!)
|
|
///this might be refactored into a virtual, it is usually not calculated at run-time
|
|
void setInternalNodeAabbMin(int nodeIndex, const b3Vector3& aabbMin)
|
|
{
|
|
if (m_useQuantization)
|
|
{
|
|
quantize(&m_quantizedContiguousNodes[nodeIndex].m_quantizedAabbMin[0], aabbMin, 0);
|
|
}
|
|
else
|
|
{
|
|
m_contiguousNodes[nodeIndex].m_aabbMinOrg = aabbMin;
|
|
}
|
|
}
|
|
void setInternalNodeAabbMax(int nodeIndex, const b3Vector3& aabbMax)
|
|
{
|
|
if (m_useQuantization)
|
|
{
|
|
quantize(&m_quantizedContiguousNodes[nodeIndex].m_quantizedAabbMax[0], aabbMax, 1);
|
|
}
|
|
else
|
|
{
|
|
m_contiguousNodes[nodeIndex].m_aabbMaxOrg = aabbMax;
|
|
}
|
|
}
|
|
|
|
b3Vector3 getAabbMin(int nodeIndex) const
|
|
{
|
|
if (m_useQuantization)
|
|
{
|
|
return unQuantize(&m_quantizedLeafNodes[nodeIndex].m_quantizedAabbMin[0]);
|
|
}
|
|
//non-quantized
|
|
return m_leafNodes[nodeIndex].m_aabbMinOrg;
|
|
}
|
|
b3Vector3 getAabbMax(int nodeIndex) const
|
|
{
|
|
if (m_useQuantization)
|
|
{
|
|
return unQuantize(&m_quantizedLeafNodes[nodeIndex].m_quantizedAabbMax[0]);
|
|
}
|
|
//non-quantized
|
|
return m_leafNodes[nodeIndex].m_aabbMaxOrg;
|
|
}
|
|
|
|
void setInternalNodeEscapeIndex(int nodeIndex, int escapeIndex)
|
|
{
|
|
if (m_useQuantization)
|
|
{
|
|
m_quantizedContiguousNodes[nodeIndex].m_escapeIndexOrTriangleIndex = -escapeIndex;
|
|
}
|
|
else
|
|
{
|
|
m_contiguousNodes[nodeIndex].m_escapeIndex = escapeIndex;
|
|
}
|
|
}
|
|
|
|
void mergeInternalNodeAabb(int nodeIndex, const b3Vector3& newAabbMin, const b3Vector3& newAabbMax)
|
|
{
|
|
if (m_useQuantization)
|
|
{
|
|
unsigned short int quantizedAabbMin[3];
|
|
unsigned short int quantizedAabbMax[3];
|
|
quantize(quantizedAabbMin, newAabbMin, 0);
|
|
quantize(quantizedAabbMax, newAabbMax, 1);
|
|
for (int i = 0; i < 3; i++)
|
|
{
|
|
if (m_quantizedContiguousNodes[nodeIndex].m_quantizedAabbMin[i] > quantizedAabbMin[i])
|
|
m_quantizedContiguousNodes[nodeIndex].m_quantizedAabbMin[i] = quantizedAabbMin[i];
|
|
|
|
if (m_quantizedContiguousNodes[nodeIndex].m_quantizedAabbMax[i] < quantizedAabbMax[i])
|
|
m_quantizedContiguousNodes[nodeIndex].m_quantizedAabbMax[i] = quantizedAabbMax[i];
|
|
}
|
|
}
|
|
else
|
|
{
|
|
//non-quantized
|
|
m_contiguousNodes[nodeIndex].m_aabbMinOrg.setMin(newAabbMin);
|
|
m_contiguousNodes[nodeIndex].m_aabbMaxOrg.setMax(newAabbMax);
|
|
}
|
|
}
|
|
|
|
void swapLeafNodes(int firstIndex, int secondIndex);
|
|
|
|
void assignInternalNodeFromLeafNode(int internalNode, int leafNodeIndex);
|
|
|
|
protected:
|
|
void buildTree(int startIndex, int endIndex);
|
|
|
|
int calcSplittingAxis(int startIndex, int endIndex);
|
|
|
|
int sortAndCalcSplittingIndex(int startIndex, int endIndex, int splitAxis);
|
|
|
|
void walkStacklessTree(b3NodeOverlapCallback * nodeCallback, const b3Vector3& aabbMin, const b3Vector3& aabbMax) const;
|
|
|
|
void walkStacklessQuantizedTreeAgainstRay(b3NodeOverlapCallback * nodeCallback, const b3Vector3& raySource, const b3Vector3& rayTarget, const b3Vector3& aabbMin, const b3Vector3& aabbMax, int startNodeIndex, int endNodeIndex) const;
|
|
void walkStacklessQuantizedTree(b3NodeOverlapCallback * nodeCallback, unsigned short int* quantizedQueryAabbMin, unsigned short int* quantizedQueryAabbMax, int startNodeIndex, int endNodeIndex) const;
|
|
void walkStacklessTreeAgainstRay(b3NodeOverlapCallback * nodeCallback, const b3Vector3& raySource, const b3Vector3& rayTarget, const b3Vector3& aabbMin, const b3Vector3& aabbMax, int startNodeIndex, int endNodeIndex) const;
|
|
|
|
///tree traversal designed for small-memory processors like PS3 SPU
|
|
void walkStacklessQuantizedTreeCacheFriendly(b3NodeOverlapCallback * nodeCallback, unsigned short int* quantizedQueryAabbMin, unsigned short int* quantizedQueryAabbMax) const;
|
|
|
|
///use the 16-byte stackless 'skipindex' node tree to do a recursive traversal
|
|
void walkRecursiveQuantizedTreeAgainstQueryAabb(const b3QuantizedBvhNode* currentNode, b3NodeOverlapCallback* nodeCallback, unsigned short int* quantizedQueryAabbMin, unsigned short int* quantizedQueryAabbMax) const;
|
|
|
|
///use the 16-byte stackless 'skipindex' node tree to do a recursive traversal
|
|
void walkRecursiveQuantizedTreeAgainstQuantizedTree(const b3QuantizedBvhNode* treeNodeA, const b3QuantizedBvhNode* treeNodeB, b3NodeOverlapCallback* nodeCallback) const;
|
|
|
|
void updateSubtreeHeaders(int leftChildNodexIndex, int rightChildNodexIndex);
|
|
|
|
public:
|
|
B3_DECLARE_ALIGNED_ALLOCATOR();
|
|
|
|
b3QuantizedBvh();
|
|
|
|
virtual ~b3QuantizedBvh();
|
|
|
|
///***************************************** expert/internal use only *************************
|
|
void setQuantizationValues(const b3Vector3& bvhAabbMin, const b3Vector3& bvhAabbMax, b3Scalar quantizationMargin = b3Scalar(1.0));
|
|
QuantizedNodeArray& getLeafNodeArray() { return m_quantizedLeafNodes; }
|
|
///buildInternal is expert use only: assumes that setQuantizationValues and LeafNodeArray are initialized
|
|
void buildInternal();
|
|
///***************************************** expert/internal use only *************************
|
|
|
|
void reportAabbOverlappingNodex(b3NodeOverlapCallback * nodeCallback, const b3Vector3& aabbMin, const b3Vector3& aabbMax) const;
|
|
void reportRayOverlappingNodex(b3NodeOverlapCallback * nodeCallback, const b3Vector3& raySource, const b3Vector3& rayTarget) const;
|
|
void reportBoxCastOverlappingNodex(b3NodeOverlapCallback * nodeCallback, const b3Vector3& raySource, const b3Vector3& rayTarget, const b3Vector3& aabbMin, const b3Vector3& aabbMax) const;
|
|
|
|
B3_FORCE_INLINE void quantize(unsigned short* out, const b3Vector3& point, int isMax) const
|
|
{
|
|
b3Assert(m_useQuantization);
|
|
|
|
b3Assert(point.getX() <= m_bvhAabbMax.getX());
|
|
b3Assert(point.getY() <= m_bvhAabbMax.getY());
|
|
b3Assert(point.getZ() <= m_bvhAabbMax.getZ());
|
|
|
|
b3Assert(point.getX() >= m_bvhAabbMin.getX());
|
|
b3Assert(point.getY() >= m_bvhAabbMin.getY());
|
|
b3Assert(point.getZ() >= m_bvhAabbMin.getZ());
|
|
|
|
b3Vector3 v = (point - m_bvhAabbMin) * m_bvhQuantization;
|
|
///Make sure rounding is done in a way that unQuantize(quantizeWithClamp(...)) is conservative
|
|
///end-points always set the first bit, so that they are sorted properly (so that neighbouring AABBs overlap properly)
|
|
///@todo: double-check this
|
|
if (isMax)
|
|
{
|
|
out[0] = (unsigned short)(((unsigned short)(v.getX() + b3Scalar(1.)) | 1));
|
|
out[1] = (unsigned short)(((unsigned short)(v.getY() + b3Scalar(1.)) | 1));
|
|
out[2] = (unsigned short)(((unsigned short)(v.getZ() + b3Scalar(1.)) | 1));
|
|
}
|
|
else
|
|
{
|
|
out[0] = (unsigned short)(((unsigned short)(v.getX()) & 0xfffe));
|
|
out[1] = (unsigned short)(((unsigned short)(v.getY()) & 0xfffe));
|
|
out[2] = (unsigned short)(((unsigned short)(v.getZ()) & 0xfffe));
|
|
}
|
|
|
|
#ifdef DEBUG_CHECK_DEQUANTIZATION
|
|
b3Vector3 newPoint = unQuantize(out);
|
|
if (isMax)
|
|
{
|
|
if (newPoint.getX() < point.getX())
|
|
{
|
|
printf("unconservative X, diffX = %f, oldX=%f,newX=%f\n", newPoint.getX() - point.getX(), newPoint.getX(), point.getX());
|
|
}
|
|
if (newPoint.getY() < point.getY())
|
|
{
|
|
printf("unconservative Y, diffY = %f, oldY=%f,newY=%f\n", newPoint.getY() - point.getY(), newPoint.getY(), point.getY());
|
|
}
|
|
if (newPoint.getZ() < point.getZ())
|
|
{
|
|
printf("unconservative Z, diffZ = %f, oldZ=%f,newZ=%f\n", newPoint.getZ() - point.getZ(), newPoint.getZ(), point.getZ());
|
|
}
|
|
}
|
|
else
|
|
{
|
|
if (newPoint.getX() > point.getX())
|
|
{
|
|
printf("unconservative X, diffX = %f, oldX=%f,newX=%f\n", newPoint.getX() - point.getX(), newPoint.getX(), point.getX());
|
|
}
|
|
if (newPoint.getY() > point.getY())
|
|
{
|
|
printf("unconservative Y, diffY = %f, oldY=%f,newY=%f\n", newPoint.getY() - point.getY(), newPoint.getY(), point.getY());
|
|
}
|
|
if (newPoint.getZ() > point.getZ())
|
|
{
|
|
printf("unconservative Z, diffZ = %f, oldZ=%f,newZ=%f\n", newPoint.getZ() - point.getZ(), newPoint.getZ(), point.getZ());
|
|
}
|
|
}
|
|
#endif //DEBUG_CHECK_DEQUANTIZATION
|
|
}
|
|
|
|
B3_FORCE_INLINE void quantizeWithClamp(unsigned short* out, const b3Vector3& point2, int isMax) const
|
|
{
|
|
b3Assert(m_useQuantization);
|
|
|
|
b3Vector3 clampedPoint(point2);
|
|
clampedPoint.setMax(m_bvhAabbMin);
|
|
clampedPoint.setMin(m_bvhAabbMax);
|
|
|
|
quantize(out, clampedPoint, isMax);
|
|
}
|
|
|
|
B3_FORCE_INLINE b3Vector3 unQuantize(const unsigned short* vecIn) const
|
|
{
|
|
b3Vector3 vecOut;
|
|
vecOut.setValue(
|
|
(b3Scalar)(vecIn[0]) / (m_bvhQuantization.getX()),
|
|
(b3Scalar)(vecIn[1]) / (m_bvhQuantization.getY()),
|
|
(b3Scalar)(vecIn[2]) / (m_bvhQuantization.getZ()));
|
|
vecOut += m_bvhAabbMin;
|
|
return vecOut;
|
|
}
|
|
|
|
///setTraversalMode let's you choose between stackless, recursive or stackless cache friendly tree traversal. Note this is only implemented for quantized trees.
|
|
void setTraversalMode(b3TraversalMode traversalMode)
|
|
{
|
|
m_traversalMode = traversalMode;
|
|
}
|
|
|
|
B3_FORCE_INLINE QuantizedNodeArray& getQuantizedNodeArray()
|
|
{
|
|
return m_quantizedContiguousNodes;
|
|
}
|
|
|
|
B3_FORCE_INLINE BvhSubtreeInfoArray& getSubtreeInfoArray()
|
|
{
|
|
return m_SubtreeHeaders;
|
|
}
|
|
|
|
////////////////////////////////////////////////////////////////////
|
|
|
|
/////Calculate space needed to store BVH for serialization
|
|
unsigned calculateSerializeBufferSize() const;
|
|
|
|
/// Data buffer MUST be 16 byte aligned
|
|
virtual bool serialize(void* o_alignedDataBuffer, unsigned i_dataBufferSize, bool i_swapEndian) const;
|
|
|
|
///deSerializeInPlace loads and initializes a BVH from a buffer in memory 'in place'
|
|
static b3QuantizedBvh* deSerializeInPlace(void* i_alignedDataBuffer, unsigned int i_dataBufferSize, bool i_swapEndian);
|
|
|
|
static unsigned int getAlignmentSerializationPadding();
|
|
//////////////////////////////////////////////////////////////////////
|
|
|
|
virtual int calculateSerializeBufferSizeNew() const;
|
|
|
|
///fills the dataBuffer and returns the struct name (and 0 on failure)
|
|
virtual const char* serialize(void* dataBuffer, b3Serializer* serializer) const;
|
|
|
|
virtual void deSerializeFloat(struct b3QuantizedBvhFloatData & quantizedBvhFloatData);
|
|
|
|
virtual void deSerializeDouble(struct b3QuantizedBvhDoubleData & quantizedBvhDoubleData);
|
|
|
|
////////////////////////////////////////////////////////////////////
|
|
|
|
B3_FORCE_INLINE bool isQuantized()
|
|
{
|
|
return m_useQuantization;
|
|
}
|
|
|
|
private:
|
|
// Special "copy" constructor that allows for in-place deserialization
|
|
// Prevents b3Vector3's default constructor from being called, but doesn't inialize much else
|
|
// ownsMemory should most likely be false if deserializing, and if you are not, don't call this (it also changes the function signature, which we need)
|
|
b3QuantizedBvh(b3QuantizedBvh & other, bool ownsMemory);
|
|
};
|
|
|
|
struct b3OptimizedBvhNodeFloatData
|
|
{
|
|
b3Vector3FloatData m_aabbMinOrg;
|
|
b3Vector3FloatData m_aabbMaxOrg;
|
|
int m_escapeIndex;
|
|
int m_subPart;
|
|
int m_triangleIndex;
|
|
char m_pad[4];
|
|
};
|
|
|
|
struct b3OptimizedBvhNodeDoubleData
|
|
{
|
|
b3Vector3DoubleData m_aabbMinOrg;
|
|
b3Vector3DoubleData m_aabbMaxOrg;
|
|
int m_escapeIndex;
|
|
int m_subPart;
|
|
int m_triangleIndex;
|
|
char m_pad[4];
|
|
};
|
|
|
|
struct b3QuantizedBvhFloatData
|
|
{
|
|
b3Vector3FloatData m_bvhAabbMin;
|
|
b3Vector3FloatData m_bvhAabbMax;
|
|
b3Vector3FloatData m_bvhQuantization;
|
|
int m_curNodeIndex;
|
|
int m_useQuantization;
|
|
int m_numContiguousLeafNodes;
|
|
int m_numQuantizedContiguousNodes;
|
|
b3OptimizedBvhNodeFloatData* m_contiguousNodesPtr;
|
|
b3QuantizedBvhNodeData* m_quantizedContiguousNodesPtr;
|
|
b3BvhSubtreeInfoData* m_subTreeInfoPtr;
|
|
int m_traversalMode;
|
|
int m_numSubtreeHeaders;
|
|
};
|
|
|
|
struct b3QuantizedBvhDoubleData
|
|
{
|
|
b3Vector3DoubleData m_bvhAabbMin;
|
|
b3Vector3DoubleData m_bvhAabbMax;
|
|
b3Vector3DoubleData m_bvhQuantization;
|
|
int m_curNodeIndex;
|
|
int m_useQuantization;
|
|
int m_numContiguousLeafNodes;
|
|
int m_numQuantizedContiguousNodes;
|
|
b3OptimizedBvhNodeDoubleData* m_contiguousNodesPtr;
|
|
b3QuantizedBvhNodeData* m_quantizedContiguousNodesPtr;
|
|
|
|
int m_traversalMode;
|
|
int m_numSubtreeHeaders;
|
|
b3BvhSubtreeInfoData* m_subTreeInfoPtr;
|
|
};
|
|
|
|
B3_FORCE_INLINE int b3QuantizedBvh::calculateSerializeBufferSizeNew() const
|
|
{
|
|
return sizeof(b3QuantizedBvhData);
|
|
}
|
|
|
|
#endif //B3_QUANTIZED_BVH_H
|