Exemple #1
0
 public GImpactShapeInterface()
 {
     m_shapeType = BroadphaseNativeTypes.GIMPACT_SHAPE_PROXYTYPE;
     m_localAABB.Invalidate();
     m_needs_update = true;
     localScaling   = IndexedVector3.One;
 }
        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);
        }
Exemple #3
0
        protected 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);
        }
Exemple #4
0
        //stackless refit
        protected void Refit()
        {
            int nodecount = GetNodeCount();

            while (nodecount-- != 0)
            {
                if (IsLeafNode(nodecount))
                {
                    AABB leafbox;
                    m_primitive_manager.GetPrimitiveBox(GetNodeData(nodecount), out leafbox);
                    SetNodeBound(nodecount, ref leafbox);
                }
                else
                {
                    //const GIM_BVH_TREE_NODE * nodepointer = get_node_pointer(nodecount);
                    //get left bound
                    AABB bound = new AABB();
                    bound.Invalidate();

                    AABB temp_box;

                    int child_node = GetLeftNode(nodecount);
                    if (child_node != 0)
                    {
                        GetNodeBound(child_node, out temp_box);
                        bound.Merge(ref temp_box);
                    }

                    child_node = GetRightNode(nodecount);
                    if (child_node != 0)
                    {
                        GetNodeBound(child_node, out temp_box);
                        bound.Merge(ref temp_box);
                    }

                    SetNodeBound(nodecount, ref bound);
                }
            }
        }
Exemple #5
0
        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
        }