public void Lock()
{
if (m_lock_count > 0)
{
m_lock_count++;
return;
}
m_meshInterface.GetLockedReadOnlyVertexIndexBase(out
vertexbase, out numverts,
out type, out stride, out indexbase, out indexstride, out numfaces, out indicestype, m_part);
m_lock_count = 1;
}
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 virtual void ProcessNode(int nodeSubPart, int nodeTriangleIndex)
{
//m_triangle.Clear();
Object vertexBase;
int numVerts;
PHY_ScalarType type;
int stride;
Object indexBase;
int indexStride;
int numfaces;
PHY_ScalarType indicesType;
m_meshInterface.GetLockedReadOnlyVertexIndexBase(
out vertexBase,
out numVerts,
out type,
out stride,
out indexBase,
out indexStride,
out numfaces,
out indicesType,
nodeSubPart);
//unsigned int* gfxbase = (unsigned int*)(indexbase+nodeTriangleIndex*indexstride);
// force index stride to be 1 regardless.
indexStride = 3;
int indexIndex = nodeTriangleIndex * indexStride;
Debug.Assert(indicesType == PHY_ScalarType.PHY_INTEGER || indicesType == PHY_ScalarType.PHY_SHORT);
IndexedVector3 meshScaling = m_meshInterface.GetScaling();
int[] indexRaw = ((ObjectArray <int>)indexBase).GetRawArray();
if (vertexBase is ObjectArray <IndexedVector3> )
{
IndexedVector3[] vertexBaseRaw = ((ObjectArray <IndexedVector3>)vertexBase).GetRawArray();
for (int j = 2; j >= 0; j--)
{
m_triangle[j] = vertexBaseRaw[indexRaw[indexIndex + j]];
m_triangle[j] *= meshScaling;
}
}
#if XNA
else if (vertexBase is ObjectArray <Microsoft.Xna.Framework.Vector3> )
{
Microsoft.Xna.Framework.Vector3[] vertexBaseRaw = ((ObjectArray <Microsoft.Xna.Framework.Vector3>)vertexBase).GetRawArray();
for (int j = 2; j >= 0; j--)
{
m_triangle[j] = new IndexedVector3(vertexBaseRaw[indexRaw[indexIndex + j]]);
m_triangle[j] *= meshScaling;
}
}
#endif
else if (vertexBase is ObjectArray <float> )
{
float[] floats = ((ObjectArray <float>)vertexBase).GetRawArray();
for (int j = 2; j >= 0; j--)
{
int offset = indexRaw[indexIndex + j] * 3;
m_triangle[j] = new IndexedVector3(floats[offset] * meshScaling.X, floats[offset + 1] * meshScaling.Y, floats[offset + 2] * meshScaling.Z);
}
}
else
{
Debug.Assert(false, "Unsupported type.");
}
//FIXME - Debug here and on quantized Bvh walking
#if DEBUG
if (BulletGlobals.g_streamWriter != null && BulletGlobals.debugBVHTriangleMesh)
{
BulletGlobals.g_streamWriter.WriteLine("BVH Triangle");
MathUtil.PrintVector3(BulletGlobals.g_streamWriter, m_triangle[0]);
MathUtil.PrintVector3(BulletGlobals.g_streamWriter, m_triangle[1]);
MathUtil.PrintVector3(BulletGlobals.g_streamWriter, m_triangle[2]);
}
#endif
/* Perform ray vs. triangle collision here */
m_callback.ProcessTriangle(m_triangle, nodeSubPart, nodeTriangleIndex);
m_meshInterface.UnLockReadOnlyVertexBase(nodeSubPart);
}
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);
}
}
