public virtual void InternalProcessTriangleIndex(ObjectArray<Vector3> triangle, int partId, int triangleIndex)
{
// The partId and triangle index must fit in the same (positive) integer
Debug.Assert(partId < (1<<MAX_NUM_PARTS_IN_BITS));
Debug.Assert(triangleIndex < (1 << (31 - MAX_NUM_PARTS_IN_BITS)));
//negative indices are reserved for escapeIndex
Debug.Assert(triangleIndex >= 0);
QuantizedBvhNode node = new QuantizedBvhNode();
Vector3 aabbMin,aabbMax;
aabbMin = MathUtil.MAX_VECTOR;
aabbMax = MathUtil.MIN_VECTOR;
Vector3 t1 = triangle[0];
Vector3 t2 = triangle[1];
Vector3 t3 = triangle[2];
MathUtil.VectorMin(ref t1, ref aabbMin);
MathUtil.VectorMax(ref t1, ref aabbMax);
MathUtil.VectorMin(ref t2, ref aabbMin);
MathUtil.VectorMax(ref t2, ref aabbMax);
MathUtil.VectorMin(ref t3, ref aabbMin);
MathUtil.VectorMax(ref t3, ref aabbMax);
//PCK: add these checks for zero dimensions of aabb
float MIN_AABB_DIMENSION = 0.002f;
float MIN_AABB_HALF_DIMENSION = 0.001f;
if (aabbMax.X - aabbMin.X < MIN_AABB_DIMENSION)
{
aabbMax.X = (aabbMax.X + MIN_AABB_HALF_DIMENSION);
aabbMin.X = (aabbMin.X - MIN_AABB_HALF_DIMENSION);
}
if (aabbMax.Y - aabbMin.Y < MIN_AABB_DIMENSION)
{
aabbMax.Y = (aabbMax.Y + MIN_AABB_HALF_DIMENSION);
aabbMin.Y = (aabbMin.Y - MIN_AABB_HALF_DIMENSION);
}
if (aabbMax.Z - aabbMin.Z < MIN_AABB_DIMENSION)
{
aabbMax.Z = (aabbMax.Z + MIN_AABB_HALF_DIMENSION);
aabbMin.Z = (aabbMin.Z - MIN_AABB_HALF_DIMENSION);
}
m_optimizedTree.Quantize(ref node.m_quantizedAabbMin,ref aabbMin,false);
m_optimizedTree.Quantize(ref node.m_quantizedAabbMax,ref aabbMax,true);
node.m_escapeIndexOrTriangleIndex = (partId<<(31-MAX_NUM_PARTS_IN_BITS)) | triangleIndex;
m_triangleNodes.Add(node);
}
public virtual void InternalProcessTriangleIndex(IndexedVector3[] triangle, int partId, int triangleIndex)
{
// The partId and triangle index must fit in the same (positive) integer
Debug.Assert(partId < (1 << MAX_NUM_PARTS_IN_BITS));
Debug.Assert(triangleIndex < (1 << (31 - MAX_NUM_PARTS_IN_BITS)));
//negative indices are reserved for escapeIndex
Debug.Assert(triangleIndex >= 0);
QuantizedBvhNode node = new QuantizedBvhNode();
IndexedVector3 aabbMin, aabbMax;
aabbMin = MathUtil.MAX_VECTOR;
aabbMax = MathUtil.MIN_VECTOR;
MathUtil.VectorMin(ref triangle[0], ref aabbMin);
MathUtil.VectorMax(ref triangle[0], ref aabbMax);
MathUtil.VectorMin(ref triangle[1], ref aabbMin);
MathUtil.VectorMax(ref triangle[1], ref aabbMax);
MathUtil.VectorMin(ref triangle[2], ref aabbMin);
MathUtil.VectorMax(ref triangle[2], ref aabbMax);
//PCK: add these checks for zero dimensions of aabb
float MIN_AABB_DIMENSION = 0.002f;
float MIN_AABB_HALF_DIMENSION = 0.001f;
if (aabbMax.X - aabbMin.X < MIN_AABB_DIMENSION)
{
aabbMax.X = (aabbMax.X + MIN_AABB_HALF_DIMENSION);
aabbMin.X = (aabbMin.X - MIN_AABB_HALF_DIMENSION);
}
if (aabbMax.Y - aabbMin.Y < MIN_AABB_DIMENSION)
{
aabbMax.Y = (aabbMax.Y + MIN_AABB_HALF_DIMENSION);
aabbMin.Y = (aabbMin.Y - MIN_AABB_HALF_DIMENSION);
}
if (aabbMax.Z - aabbMin.Z < MIN_AABB_DIMENSION)
{
aabbMax.Z = (aabbMax.Z + MIN_AABB_HALF_DIMENSION);
aabbMin.Z = (aabbMin.Z - MIN_AABB_HALF_DIMENSION);
}
m_optimizedTree.Quantize(out node.m_quantizedAabbMin, ref aabbMin, false);
m_optimizedTree.Quantize(out node.m_quantizedAabbMax, ref aabbMax, true);
node.m_escapeIndexOrTriangleIndex = (partId << (31 - MAX_NUM_PARTS_IN_BITS)) | triangleIndex;
m_triangleNodes.Add(node);
}
public void BuildTree(ref IndexedVector3 bvhAabbMin, ref IndexedVector3 bvhAabbMax)
{
m_optimizedAabbTree = new QuantizedBvh();
m_optimizedAabbTree.SetQuantizationValues(ref bvhAabbMin, ref bvhAabbMax);
IList <QuantizedBvhNode> nodes = m_optimizedAabbTree.GetLeafNodeArray();
for (int i = 0; i < m_sapBroadphases.Count; i++)
{
QuantizedBvhNode node = new QuantizedBvhNode();
IndexedVector3 aabbMin;
IndexedVector3 aabbMax;
m_sapBroadphases[i].GetBroadphaseAabb(out aabbMin, out aabbMax);
m_optimizedAabbTree.Quantize(out node.m_quantizedAabbMin, ref aabbMin, false);
m_optimizedAabbTree.Quantize(out node.m_quantizedAabbMax, ref aabbMax, true);
int partId = 0;
node.m_escapeIndexOrTriangleIndex = (partId << (31 - QuantizedBvh.MAX_NUM_PARTS_IN_BITS)) | i;
nodes.Add(node);
}
m_optimizedAabbTree.BuildInternal();
}
//int m_padding[3];
public void SetAabbFromQuantizeNode(QuantizedBvhNode quantizedNode)
{
m_quantizedAabbMin = quantizedNode.m_quantizedAabbMin;
m_quantizedAabbMax = quantizedNode.m_quantizedAabbMax;
}
public void UpdateBvhNodes(StridingMeshInterface meshInterface, int firstNode, int endNode, int index)
{
//(void)index;
Debug.Assert(m_useQuantization);
int curNodeSubPart = -1;
//get access info to trianglemesh data
Object vertexBaseObject = null;
int numverts = 0;
PHY_ScalarType type = PHY_ScalarType.PHY_INTEGER;
int stride = 0;
Object indexBaseObject = null;
int indexstride = 0;
int numfaces = 0;
PHY_ScalarType indicestype = PHY_ScalarType.PHY_INTEGER;
IndexedVector3[] triangleVerts = new IndexedVector3[3];
IndexedVector3 aabbMin, aabbMax;
IndexedVector3 meshScaling = meshInterface.GetScaling();
for (int i = endNode - 1; i >= firstNode; i--)
{
QuantizedBvhNode curNode = m_quantizedContiguousNodes[i];
if (curNode.IsLeafNode())
{
//recalc aabb from triangle data
int nodeSubPart = curNode.GetPartId();
int nodeTriangleIndex = curNode.GetTriangleIndex();
if (nodeSubPart != curNodeSubPart)
{
if (curNodeSubPart >= 0)
{
meshInterface.UnLockReadOnlyVertexBase(curNodeSubPart);
}
meshInterface.GetLockedReadOnlyVertexIndexBase(out vertexBaseObject, out numverts, out type, out stride, out indexBaseObject, out indexstride, out numfaces, out indicestype, nodeSubPart);
curNodeSubPart = nodeSubPart;
Debug.Assert(indicestype == PHY_ScalarType.PHY_INTEGER);
}
//triangles.getLockedReadOnlyVertexIndexBase(vertexBase,numVerts,
int gfxBaseIndex = nodeTriangleIndex * indexstride;
//unsigned int* gfxbase = (unsigned int*)(indexbase+nodeTriangleIndex*indexstride);
int[] indexBase = (indexBaseObject as ObjectArray <int>).GetRawArray();
if (vertexBaseObject is IList <IndexedVector3> )
{
IndexedVector3[] vertexBase = (vertexBaseObject as ObjectArray <IndexedVector3>).GetRawArray();
for (int j = 2; j >= 0; j--)
{
int graphicsIndex = indexBase[gfxBaseIndex + j];
if (type == PHY_ScalarType.PHY_FLOAT)
{
triangleVerts[j] = vertexBase[graphicsIndex] * meshScaling;
}
else
{
Debug.Assert(false, "Unsupported Type");
}
}
}
else if (vertexBaseObject is ObjectArray <float> )
{
float[] vertexBase = (vertexBaseObject as ObjectArray <float>).GetRawArray();
for (int j = 2; j >= 0; j--)
{
//int graphicsindex = indicestype==PHY_ScalarType.PHY_SHORT?((unsigned short*)gfxbase)[j]:gfxbase[j];
int graphicsIndex = indexBase[gfxBaseIndex + j];
if (type == PHY_ScalarType.PHY_FLOAT)
{
int graphicsBaseIndex = (graphicsIndex * stride);
//IList<float> graphicsbase = (float*)(vertexbase+graphicsindex*stride);
triangleVerts[j] = new IndexedVector3(
vertexBase[graphicsBaseIndex] * meshScaling.X,
vertexBase[graphicsBaseIndex + 1] * meshScaling.Y,
vertexBase[graphicsBaseIndex + 2] * meshScaling.Z);
}
else
{
Debug.Assert(false, "Unsupported Type");
}
}
}
else
{
Debug.Assert(false, "Unsupported Type");
}
aabbMin = MathUtil.MAX_VECTOR;
aabbMax = MathUtil.MIN_VECTOR;
MathUtil.VectorMin(ref triangleVerts[0], ref aabbMin);
MathUtil.VectorMax(ref triangleVerts[0], ref aabbMax);
MathUtil.VectorMin(ref triangleVerts[1], ref aabbMin);
MathUtil.VectorMax(ref triangleVerts[1], ref aabbMax);
MathUtil.VectorMin(ref triangleVerts[2], ref aabbMin);
MathUtil.VectorMax(ref triangleVerts[2], ref aabbMax);
Quantize(out curNode.m_quantizedAabbMin, ref aabbMin, false);
Quantize(out curNode.m_quantizedAabbMax, ref aabbMax, true);
}
else
{
//combine aabb from both children
QuantizedBvhNode leftChildNode = m_quantizedContiguousNodes[i + 1];
QuantizedBvhNode rightChildNode = leftChildNode.IsLeafNode() ? m_quantizedContiguousNodes[i + 2] :
m_quantizedContiguousNodes[i + 1 + leftChildNode.GetEscapeIndex()];
{
curNode.m_quantizedAabbMin = leftChildNode.m_quantizedAabbMin;
curNode.m_quantizedAabbMin.Min(ref rightChildNode.m_quantizedAabbMin);
curNode.m_quantizedAabbMax = leftChildNode.m_quantizedAabbMax;
curNode.m_quantizedAabbMax.Max(ref rightChildNode.m_quantizedAabbMax);
}
}
}
if (curNodeSubPart >= 0)
{
meshInterface.UnLockReadOnlyVertexBase(curNodeSubPart);
}
}
public void BuildTree(ref Vector3 bvhAabbMin, ref Vector3 bvhAabbMax)
{
m_optimizedAabbTree = new QuantizedBvh();
m_optimizedAabbTree.SetQuantizationValues(ref bvhAabbMin, ref bvhAabbMax);
IList<QuantizedBvhNode> nodes = m_optimizedAabbTree.GetLeafNodeArray();
for (int i = 0; i < m_sapBroadphases.Count; i++)
{
QuantizedBvhNode node = new QuantizedBvhNode();
Vector3 aabbMin = Vector3.Zero, aabbMax = Vector3.Zero;
m_sapBroadphases[i].GetBroadphaseAabb(ref aabbMin, ref aabbMax);
m_optimizedAabbTree.Quantize(ref node.m_quantizedAabbMin, ref aabbMin, false);
m_optimizedAabbTree.Quantize(ref node.m_quantizedAabbMax, ref aabbMax, true);
int partId = 0;
node.m_escapeIndexOrTriangleIndex = (partId << (31 - QuantizedBvh.MAX_NUM_PARTS_IN_BITS)) | i;
nodes.Add(node);
}
m_optimizedAabbTree.BuildInternal();
}
///use the 16-byte stackless 'skipindex' node tree to do a recursive traversal
protected void WalkRecursiveQuantizedTreeAgainstQuantizedTree(QuantizedBvhNode treeNodeA, QuantizedBvhNode treeNodeB, INodeOverlapCallback nodeCallback)
{
// MAN - No implementation??
}
///use the 16-byte stackless 'skipindex' node tree to do a recursive traversal
protected void WalkRecursiveQuantizedTreeAgainstQueryAabb(ref QuantizedBvhNode currentNode, INodeOverlapCallback nodeCallback, ref UShortVector3 quantizedQueryAabbMin, ref UShortVector3 quantizedQueryAabbMax)
{
Debug.Assert(m_useQuantization);
bool isLeafNode;
//PCK: unsigned instead of bool
bool aabbOverlap = false;
//PCK: unsigned instead of bool
aabbOverlap = AabbUtil2.TestQuantizedAabbAgainstQuantizedAabb(ref quantizedQueryAabbMin, ref quantizedQueryAabbMax, ref currentNode.m_quantizedAabbMin, ref currentNode.m_quantizedAabbMax);
isLeafNode = currentNode.IsLeafNode();
//PCK: unsigned instead of bool
if (aabbOverlap)
{
if (isLeafNode)
{
nodeCallback.ProcessNode(currentNode.GetPartId(), currentNode.GetTriangleIndex());
}
else
{
//process left and right children
//QuantizedBvhNode leftChildNode = currentNode + 1;
// Not sure bout thie replacement... but avoids pointer arithmetic
// this is broken ...
int nodeIndex = currentNode.GetTriangleIndex() + 1;
QuantizedBvhNode leftChildNode = m_quantizedContiguousNodes[nodeIndex];
WalkRecursiveQuantizedTreeAgainstQueryAabb(ref leftChildNode, nodeCallback, ref quantizedQueryAabbMin, ref quantizedQueryAabbMax);
int newIndex = leftChildNode.IsLeafNode() ? leftChildNode.GetTriangleIndex() + 1 : leftChildNode.GetTriangleIndex() + leftChildNode.GetEscapeIndex();
QuantizedBvhNode rightChildNode = m_quantizedContiguousNodes[newIndex];
WalkRecursiveQuantizedTreeAgainstQueryAabb(ref rightChildNode, nodeCallback, ref quantizedQueryAabbMin, ref quantizedQueryAabbMax);
}
}
}
