public void BuildSubTree(GIM_BVH_DATA_ARRAY primitive_boxes, int startIndex, int endIndex)
{
int curIndex = m_num_nodes;
m_num_nodes++;
Debug.Assert((endIndex - startIndex) > 0);
if ((endIndex - startIndex) == 1)
{
//We have a leaf node
SetNodeBound(curIndex, ref primitive_boxes.GetRawArray()[startIndex].m_bound);
m_node_array[curIndex].SetDataIndex(primitive_boxes[startIndex].m_data);
return;
}
//calculate Best Splitting Axis and where to split it. Sort the incoming 'leafNodes' array within range 'startIndex/endIndex'.
//split axis
int splitIndex = CalcSplittingAxis(primitive_boxes, startIndex, endIndex);
splitIndex = SortAndCalcSplittingIndex(
primitive_boxes, startIndex, endIndex,
splitIndex //split axis
);
//calc this node bounding box
AABB node_bound = new AABB();
node_bound.Invalidate();
for (int i = startIndex; i < endIndex; i++)
{
node_bound.Merge(ref primitive_boxes.GetRawArray()[i].m_bound);
}
SetNodeBound(curIndex, ref node_bound);
//build left branch
BuildSubTree(primitive_boxes, startIndex, splitIndex);
//build right branch
BuildSubTree(primitive_boxes, splitIndex, endIndex);
m_node_array[curIndex].SetEscapeIndex(m_num_nodes - curIndex);
}
//! this rebuild the entire set
public void BuildSet()
{
//obtain primitive boxes
GIM_BVH_DATA_ARRAY primitive_boxes = new GIM_BVH_DATA_ARRAY();
//primitive_boxes.resize(m_primitive_manager.get_primitive_count());
primitive_boxes.Capacity = m_primitive_manager.GetPrimitiveCount();
for (int i = 0; i < primitive_boxes.Count; i++)
{
m_primitive_manager.GetPrimitiveBox(i, out primitive_boxes.GetRawArray()[i].m_bound);
primitive_boxes.GetRawArray()[i].m_data = i;
}
m_box_tree.BuildTree(primitive_boxes);
}
public void CalcQuantization(GIM_BVH_DATA_ARRAY primitive_boxes, float boundMargin)
{
//calc globa box
AABB global_bound = new AABB();
global_bound.Invalidate();
int count = primitive_boxes.Count;
for (int i = 0; i < count; i++)
{
global_bound.Merge(ref primitive_boxes.GetRawArray()[i].m_bound);
}
GImpactQuantization.CalcQuantizationParameters(out m_global_bound.m_min, out m_global_bound.m_max, out m_bvhQuantization, ref global_bound.m_min, ref global_bound.m_max, boundMargin);
}
//! this rebuild the entire set
public void BuildSet()
{
//obtain primitive boxes
int listSize = m_primitive_manager.GetPrimitiveCount();
GIM_BVH_DATA_ARRAY primitive_boxes = new GIM_BVH_DATA_ARRAY(listSize);
// forces boxes to be allocated
primitive_boxes.Resize(listSize);
GIM_BVH_DATA[] rawArray = primitive_boxes.GetRawArray();
for (int i = 0; i < listSize; i++)
{
m_primitive_manager.GetPrimitiveBox(i, out rawArray[i].m_bound);
rawArray[i].m_data = i;
}
m_box_tree.BuildTree(primitive_boxes);
}
public void BuildSubTree(GIM_BVH_DATA_ARRAY primitive_boxes, int startIndex, int endIndex)
{
int curIndex = m_num_nodes;
m_num_nodes++;
Debug.Assert((endIndex - startIndex) > 0);
if ((endIndex - startIndex) == 1)
{
//We have a leaf node
SetNodeBound(curIndex, ref primitive_boxes.GetRawArray()[startIndex].m_bound);
m_node_array[curIndex].SetDataIndex(primitive_boxes[startIndex].m_data);
#if DEBUG
if (BulletGlobals.g_streamWriter != null && BulletGlobals.debugGimpactBVH)
{
BulletGlobals.g_streamWriter.WriteLine("bst curIndex[{0}] dataIndex[{1}]", curIndex, primitive_boxes[startIndex].m_data);
MathUtil.PrintVector3(BulletGlobals.g_streamWriter, "bst min", primitive_boxes[startIndex].m_bound.m_min);
MathUtil.PrintVector3(BulletGlobals.g_streamWriter, "bst max", primitive_boxes[startIndex].m_bound.m_max);
}
#endif
return;
}
//calculate Best Splitting Axis and where to split it. Sort the incoming 'leafNodes' array within range 'startIndex/endIndex'.
//split axis
int splitIndex = CalcSplittingAxis(primitive_boxes, startIndex, endIndex);
splitIndex = SortAndCalcSplittingIndex(
primitive_boxes, startIndex, endIndex,
splitIndex //split axis
);
//calc this node bounding box
AABB node_bound = new AABB();
node_bound.Invalidate();
for (int i = startIndex; i < endIndex; i++)
{
node_bound.Merge(ref primitive_boxes.GetRawArray()[i].m_bound);
}
SetNodeBound(curIndex, ref node_bound);
//build left branch
BuildSubTree(primitive_boxes, startIndex, splitIndex);
//build right branch
BuildSubTree(primitive_boxes, splitIndex, endIndex);
m_node_array.GetRawArray()[curIndex].SetEscapeIndex(m_num_nodes - curIndex);
#if DEBUG
if (BulletGlobals.g_streamWriter != null && BulletGlobals.debugGimpactBVH)
{
BulletGlobals.g_streamWriter.WriteLine("bst curIndex[{0}] escapeIndex[{1}]", curIndex, m_node_array.GetRawArray()[curIndex].GetEscapeIndex());
MathUtil.PrintVector3(BulletGlobals.g_streamWriter, "bst node min", node_bound.m_min);
MathUtil.PrintVector3(BulletGlobals.g_streamWriter, "bst node max", node_bound.m_max);
}
#endif
}
