private 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) <= MAX_INDICES_PER_NODE)
{
//We have a leaf node
int count = endIndex - startIndex;
int[] indices = new int[count];
AABB bounds = new AABB();
bounds.Invalidate();
for (int i = 0; i < count; i++)
{
indices[i] = primitive_boxes[startIndex + i].m_data;
bounds.Merge(primitive_boxes.GetRawArray()[startIndex + i].m_bound);
}
SetNodeBound(curIndex, ref bounds);
m_node_array[curIndex].SetDataIndices(indices);
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);
}
protected 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
}