Esempio n. 1
0
        public void RayTestInternal(DbvtNode root,
                                    ref IndexedVector3 rayFrom,
                                    ref IndexedVector3 rayTo,
                                    ref IndexedVector3 rayDirectionInverse,
                                    bool[] signs,
                                    float lambda_max,
                                    ref IndexedVector3 aabbMin,
                                    ref IndexedVector3 aabbMax,
                                    ICollide policy)
        {
            using (DbvtStackDataBlock stackDataBlock = BulletGlobals.DbvtStackDataBlockPool.Get())
            {
                //    (void) rayTo;
                //DBVT_CHECKTYPE
                if (root != null)
                {
                    IndexedVector3 resultNormal = new IndexedVector3(0, 1, 0);

                    int depth    = 1;
                    int treshold = DOUBLE_STACKSIZE - 2;
                    stackDataBlock.stack[0] = root;
                    do
                    {
                        DbvtNode node = stackDataBlock.stack[--depth];
                        stackDataBlock.bounds[0] = node.volume.Mins() - aabbMax;
                        stackDataBlock.bounds[1] = node.volume.Maxs() - aabbMin;
                        float tmin = 1.0f, lambda_min = 0.0f;
                        bool  result1 = AabbUtil2.RayAabb2(ref rayFrom, ref rayDirectionInverse, signs, stackDataBlock.bounds, out tmin, lambda_min, lambda_max);
                        if (result1)
                        {
                            if (node.IsInternal())
                            {
                                if (depth > treshold)
                                {
                                    stackDataBlock.stack.Resize(stackDataBlock.stack.Count * 2);
                                    treshold = stackDataBlock.stack.Count - 2;
                                }
                                stackDataBlock.stack[depth++] = node._children[0];
                                stackDataBlock.stack[depth++] = node._children[1];
                            }
                            else
                            {
                                policy.Process(node);
                            }
                        }
                    } while (depth != 0);
                }
            }
        }
Esempio n. 2
0
        public static void RayTest(DbvtNode root,
                                   ref IndexedVector3 rayFrom,
                                   ref IndexedVector3 rayTo,
                                   ICollide policy)
        {
            using (DbvtStackDataBlock stackDataBlock = BulletGlobals.DbvtStackDataBlockPool.Get())
            {
                if (root != null)
                {
                    IndexedVector3 rayDir = (rayTo - rayFrom);
                    rayDir.Normalize();

                    ///what about division by zero? -. just set rayDirection[i] to INF/BT_LARGE_FLOAT
                    IndexedVector3 rayDirectionInverse = new IndexedVector3(
                        rayDir.X == 0.0f ? MathUtil.BT_LARGE_FLOAT : 1.0f / rayDir.X,
                        rayDir.Y == 0.0f ? MathUtil.BT_LARGE_FLOAT : 1.0f / rayDir.Y,
                        rayDir.Z == 0.0f ? MathUtil.BT_LARGE_FLOAT : 1.0f / rayDir.Z);

                    stackDataBlock.signs[0] = rayDirectionInverse.X < 0.0f;
                    stackDataBlock.signs[1] = rayDirectionInverse.Y < 0.0f;
                    stackDataBlock.signs[2] = rayDirectionInverse.Z < 0.0f;


                    float lambda_max = IndexedVector3.Dot(rayDir, (rayTo - rayFrom));


                    int depth    = 1;
                    int treshold = DOUBLE_STACKSIZE - 2;

                    stackDataBlock.stack.Resize(DOUBLE_STACKSIZE);
                    stackDataBlock.stack[0] = root;
                    do
                    {
                        DbvtNode node = stackDataBlock.stack[--depth];

                        stackDataBlock.bounds[0] = node.volume.Mins();
                        stackDataBlock.bounds[1] = node.volume.Maxs();

                        float tmin = 1.0f, lambda_min = 0.0f;
                        bool  result1 = AabbUtil2.RayAabb2(ref rayFrom, ref rayDirectionInverse, stackDataBlock.signs, stackDataBlock.bounds, out tmin, lambda_min, lambda_max);

#if COMPARE_BTRAY_AABB2
                        float param   = 1.0f;
                        bool  result2 = AabbUtil.RayAabb(ref rayFrom, ref rayTo, node.volume.Mins(), node.volume.Maxs(), param, resultNormal);
                        Debug.Assert(result1 == result2);
#endif //TEST_BTRAY_AABB2

                        if (result1)
                        {
                            if (node.IsInternal())
                            {
                                if (depth > treshold)
                                {
                                    stackDataBlock.stack.Resize(stackDataBlock.stack.Count * 2);
                                    treshold = stackDataBlock.stack.Count - 2;
                                }
                                stackDataBlock.stack[depth++] = node._children[0];
                                stackDataBlock.stack[depth++] = node._children[1];
                            }
                            else
                            {
                                policy.Process(node);
                            }
                        }
                    } while (depth != 0);
                }
            }
        }