public void Execute(int index)
{
Assert.IsTrue(BranchNodeOffsets[index] >= 0);
var bvh = new BoundingVolumeHierarchy(Nodes, NodeFilters);
int lastNode = bvh.BuildBranch(Points, Aabbs, Ranges[index], BranchNodeOffsets[index]);
if (NodeFilters != null)
{
bvh.BuildCombinedCollisionFilter(BodyFilters, BranchNodeOffsets[index], lastNode);
bvh.BuildCombinedCollisionFilter(Ranges[index].Root);
}
}
public void Execute(int index)
{
// This is need since we schedule the job before we know the exact number of
// branches we need to build.
if (index >= BranchCount[0])
{
return;
}
Assert.IsTrue(BranchNodeOffsets[index] >= 0);
var bvh = new BoundingVolumeHierarchy(Nodes, NodeFilters);
int lastNode = bvh.BuildBranch(Points, Aabbs, Ranges[index], BranchNodeOffsets[index]);
if (NodeFilters != null)
{
bvh.BuildCombinedCollisionFilter(BodyFilters, BranchNodeOffsets[index], lastNode);
bvh.BuildCombinedCollisionFilter(Ranges[index].Root);
}
}
public void BuildTreeByBranches([Values(2, 10, 33, 100, 1000)] int elementCount)
{
const int threadCount = 8;
int numNodes = elementCount + Constants.MaxNumTreeBranches;
var points = new NativeArray <PointAndIndex>(elementCount, Allocator.Temp, NativeArrayOptions.UninitializedMemory);
var aabbs = new NativeArray <Aabb>(elementCount, Allocator.Temp, NativeArrayOptions.UninitializedMemory);
var filters = new NativeArray <CollisionFilter>(elementCount, Allocator.Temp, NativeArrayOptions.UninitializedMemory);
InitInputArrays(points, aabbs, filters);
var nodes = new NativeArray <Node>(numNodes, Allocator.Temp, NativeArrayOptions.UninitializedMemory);
var ranges = new NativeArray <Range>(numNodes, Allocator.Temp, NativeArrayOptions.UninitializedMemory);
var branchNodeOffsets = new NativeArray <int>(numNodes, Allocator.Temp, NativeArrayOptions.UninitializedMemory);
var bvh = new BoundingVolumeHierarchy(nodes);
bvh.BuildFirstNLevels(points, ranges, branchNodeOffsets, threadCount, out int branchCount);
int minBranchNodeIndex = branchNodeOffsets[0];
for (int i = 0; i < branchCount; i++)
{
bvh.BuildBranch(points, aabbs, ranges[i], branchNodeOffsets[i]);
minBranchNodeIndex = math.min(branchNodeOffsets[i], minBranchNodeIndex);
}
bvh.Refit(aabbs, 1, minBranchNodeIndex);
bvh.CheckIntegrity();
points.Dispose();
filters.Dispose();
aabbs.Dispose();
nodes.Dispose();
ranges.Dispose();
branchNodeOffsets.Dispose();
}