private void Build()
{
var triangles = _bvhData.scene.triangles;
var vetices = _bvhData.scene.vertices;
var rootSpec = NodeSpec.New();
rootSpec.numRef = triangles.Count;
// 遍历所有图元（引用），计算根节点的包围盒
for (int i = 0; i < rootSpec.numRef; i++)
{
var pRef = PrimitiveRef.New();
pRef.triangleIdx = i;
// 计算单个图元的包围盒
for (int j = 0; j < 3; j++)
{
pRef.bounds.Union(vetices[triangles[i][j]]);
}
rootSpec.bounds.Union(pRef.bounds);
_refStack.Add(pRef);
}
// 最小重叠面积，只有重叠面积大于这个值时才考虑进行spatial split
_minOverlap = rootSpec.bounds.Area * SPLIT_ALPHA;
// 递归创建BVH
_bvhData.root = BuildNodeRecursively(rootSpec, 0);
Debug.Log("Build Completely.");
}
// 不能直接new NodeSpec，必须调用此方法，否则Bounds初始化成员都是0
public static NodeSpec New()
{
NodeSpec spec = new NodeSpec();
spec.bounds = AABB.New();
return(spec);
}
private BVHNode BuildNodeRecursively(NodeSpec spec, int depth)
{
// 节点只有一个图元的时候没必要再继续分割
if (spec.numRef <= MIN_LEAF_SIZE || depth >= MAX_DEPTH)
{
return(CreatLeaf(spec));
}
// 挑选使用object split还是spatial split
float leafSAH = spec.bounds.Area * spec.numRef;
float nodeSAH = spec.bounds.Area * 0.125f;//spec.Bounds.Area * 2; // 节点遍历的固定开销，2是个经验值（不一定是最好的）
ObjectSplit objectSplit = FindObjectSplit(spec, nodeSAH);
SpatialSplit spatialSplit = SpatialSplit.New();
if (depth < MAX_SPATIAL_DEPTH)
{
var overlap = objectSplit.leftBounds;
overlap.Intersect(objectSplit.rightBounds);
if (overlap.Area >= _minOverlap)
{
spatialSplit = FindSpatialSplit(spec, nodeSAH);
}
}
// 叶节点胜出，不论是Object还是Spatial slpit，分割后的
float minSAH = Mathf.Min(Mathf.Min(leafSAH, objectSplit.sah), spatialSplit.sah);
if (minSAH == leafSAH && spec.numRef <= MAX_LEAF_SIZE)
{
return(CreatLeaf(spec));
}
// spatial split胜出，尝试执行spatial split
NodeSpec left = NodeSpec.New();
NodeSpec right = NodeSpec.New();
if (minSAH == spatialSplit.sah)
{
PerformSpatialSplit(ref left, ref right, spec, spatialSplit);
}
// objcet split胜出，或spatial split并未取得实质性进展，执行object split
if (left.numRef == 0 || right.numRef == 0)
{
PerformObjectSplit(ref left, ref right, spec, objectSplit);
}
_numDuplicates += left.numRef + right.numRef - spec.numRef;
// 由于后文取下标的方式，一定是先右后左
var rightNode = BuildNodeRecursively(right, depth + 1);
var leftNode = BuildNodeRecursively(left, depth + 1);
return(new InnerNode(spec.bounds, leftNode, rightNode));
}
BVHNode CreatLeaf(NodeSpec spec)
{
for (int i = 0; i < spec.numRef; i++)
{
var end = _refStack.Count - 1;
var pRef = _refStack[end];
_bvhData.triIndices.Add(pRef.triangleIdx);
_refStack.RemoveAt(end);
}
return(new LeafNode(spec.bounds, _bvhData.triIndices.Count - spec.numRef, _bvhData.triIndices.Count));
}
private void PerformObjectSplit(ref NodeSpec left, ref NodeSpec right, NodeSpec spec, ObjectSplit split)
{
int refIdx = _refStack.Count - spec.numRef;
_refComparer.sortDim = split.dim;
_refStack.Sort(refIdx, spec.numRef, _refComparer);
left.numRef = split.numLeft;
left.bounds = split.leftBounds;
right.numRef = spec.numRef - split.numLeft;
right.bounds = split.rightBounds;
}
private ObjectSplit FindObjectSplit(NodeSpec spec, float nodeSAH)
{
ObjectSplit split = ObjectSplit.New();
int refIdx = _refStack.Count - spec.numRef; // CreateLeaf以后_refStack发生了变化
for (byte dim = 0; dim < 3; dim++)
{
_refComparer.sortDim = dim;
_refStack.Sort(refIdx, spec.numRef, _refComparer);
// 从右到左，记录每一种可能的分割后，处在“右边”包围盒的
AABB rightBounds = AABB.New();
for (int i = spec.numRef - 1; i > 0; i--)
{
rightBounds.Union(_refStack[refIdx + i].bounds);
_rightBounds[i - 1] = rightBounds; // 每一个都记录下来，后面才能比较
}
// 从左到右尝试分割，比较计算得到最佳SAH
AABB leftBounds = AABB.New();
for (int i = 1; i < spec.numRef; i++)
{
leftBounds.Union(_refStack[refIdx + i - 1].bounds);
float sah = nodeSAH + leftBounds.Area * i /*左边有i个图元*/ + _rightBounds[i - 1].Area * (spec.numRef - i);
if (sah < split.sah)
{
split.sah = sah;
split.dim = dim;
split.numLeft = i;
split.leftBounds = leftBounds;
split.rightBounds = _rightBounds[i - 1];
}
}
}
return(split);
}
/// <summary>
/// 给定分割平面后划分当前节点下的所有图元
/// </summary>
private void PerformSpatialSplit(ref NodeSpec left, ref NodeSpec right, NodeSpec spec, SpatialSplit split)
{
// 划分在左侧： [leftStart, leftEnd]
// 被分割的： [leftEnd, rightStart]
// 划分在右侧： [rightStart, refs.Count]
var refs = _refStack;
int leftStart = refs.Count - spec.numRef;
int leftEnd = leftStart;
int rightStart = refs.Count;
left.bounds = right.bounds = AABB.New();
// 处理完全只在分割平面某一侧的图元
for (int i = leftEnd; i < rightStart; i++)
{
// 完全在左边的往左边放
if (refs[i].bounds.max[split.dim] <= split.pos)
{
left.bounds.Union(refs[i].bounds);
refs.Swap(i, leftEnd++);
}
// 完全在右边的往右边放
else if (refs[i].bounds.min[split.dim] >= split.pos)
{
right.bounds.Union(refs[i].bounds);
refs.Swap(i--, --rightStart);
}
}
// 处理被分割平面分开了的图元，可能被划分在左侧或右侧，或者同时划分在两侧
while (leftEnd < rightStart)
{
// 初步分割引用
PrimitiveRef lref, rref;
SplitReference(out lref, out rref, refs[leftEnd], split.dim, split.pos);
AABB lub = left.bounds; // 不分割，完全划分到【左】侧时的包围盒,left unsplit bounds
AABB rub = right.bounds; // 不分割，完全划分到【右】侧时的包围盒
AABB ldb = left.bounds; // 分割时划分到【左】侧的包围盒,left duplicate bounds
AABB rdb = right.bounds; // 分割时划分到【右】侧的包围盒
lub.Union(refs[leftEnd].bounds);
rub.Union(refs[leftEnd].bounds);
ldb.Union(lref.bounds);
rdb.Union(rref.bounds);
float lac = leftEnd - leftStart;
float rac = refs.Count - rightStart;
float lbc = leftEnd - leftStart + 1;
float rbc = refs.Count - rightStart + 1;
float unsplitLeftSAH = lub.Area * lbc + right.bounds.Area * rac;
float unsplitRightSAH = left.bounds.Area * lac + rub.Area * rbc;
float duplicateSAH = ldb.Area * lbc + rdb.Area * rbc;
float minSAH = Mathf.Min(Mathf.Min(unsplitLeftSAH, unsplitRightSAH), duplicateSAH);
// 整个图元划分到左侧
if (minSAH == unsplitLeftSAH)
{
left.bounds = lub;
leftEnd++;
}
// 整个图元划分到右侧
else if (minSAH == unsplitRightSAH)
{
right.bounds = rub;
refs.Swap(leftEnd, --rightStart);
}
// 同时划分到两侧
else
{
left.bounds = ldb;
right.bounds = rdb;
refs[leftEnd++] = lref;
refs.Add(rref);
}
}
left.numRef = leftEnd - leftStart;
right.numRef = refs.Count - rightStart;
}
private SpatialSplit FindSpatialSplit(NodeSpec spec, float nodeSAH)
{
// _bins变量每一次分割都被复用
var origin = spec.bounds.min;
var binSize = (spec.bounds.max - origin) / N_SPATIAL_BINS;
var invBinSize = new Vector3(1f / binSize.x, 1f / binSize.y, 1f / binSize.z);
for (int dim = 0; dim < 3; dim++)
{
for (int i = 0; i < N_SPATIAL_BINS; i++)
{
_bins[dim, i] = SpatialBin.New();
}
}
// 把图元分配到3个维度的bin中
for (int refIdx = _refStack.Count - spec.numRef; refIdx < _refStack.Count; refIdx++)
{
var pRef = _refStack[refIdx];
// ....Vector3Int.FloorToInt 误用了 celling...查半天。。。。
var firstBin = MathUtils.ClampV3Int(Vector3Int.FloorToInt((pRef.bounds.min - origin).Multiply(invBinSize)), Vector3Int.zero, new Vector3Int(N_SPATIAL_BINS - 1, N_SPATIAL_BINS - 1, N_SPATIAL_BINS - 1));
var lastBin = MathUtils.ClampV3Int(Vector3Int.FloorToInt((pRef.bounds.max - origin).Multiply(invBinSize)), firstBin, new Vector3Int(N_SPATIAL_BINS - 1, N_SPATIAL_BINS - 1, N_SPATIAL_BINS - 1));
for (int dim = 0; dim < 3; dim++)
{
var curRef = pRef;
// 从左到右分割,curRef并不更新图元索引，只更新包围盒
for (int i = firstBin[dim]; i < lastBin[dim]; i++)
{
PrimitiveRef leftRef, rightRef;
SplitReference(out leftRef, out rightRef, curRef, dim, origin[dim] + binSize[dim] * (i + 1));
_bins[dim, i].bounds.Union(leftRef.bounds);
curRef = rightRef;
}
_bins[dim, lastBin[dim]].bounds.Union(curRef.bounds); // 分割后图元最右边的包围盒也算进来
// 只对分割后图元所在的第一个和最后一个bin添加图元引用计数
_bins[dim, firstBin[dim]].enter++;
_bins[dim, lastBin[dim]].exit++;
}
}
// 根据分割好的bins，来选择最佳分割平面,跟FindObjectSplit类似,只不过是以bin为单位，而不是图元
SpatialSplit split = SpatialSplit.New();
for (byte dim = 0; dim < 3; dim++)
{
// 从右到左，记录每一种可能的分割后，处在“右边”包围盒的
AABB rightBounds = AABB.New();
for (int i = N_SPATIAL_BINS - 1; i > 0; i--)
{
rightBounds.Union(_bins[dim, i].bounds);
_rightBounds[i - 1] = rightBounds; //_rightBounds用来临时记录右边包围盒的，被复用
}
AABB leftBounds = AABB.New();
int leftNum = 0;
int rightNum = spec.numRef;
for (int i = 1; i < N_SPATIAL_BINS; i++)
{
leftBounds.Union(_bins[dim, i - 1].bounds);
leftNum += _bins[dim, i - 1].enter;
rightNum -= _bins[dim, i - 1].exit;
float sah = nodeSAH + leftBounds.Area * leftNum + _rightBounds[i - 1].Area * rightNum;
if (sah < split.sah)
{
split.sah = sah;
split.dim = dim;
split.pos = origin[dim] + binSize[dim] * i;
}
}
}
return(split);
}