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 int CalcSplittingAxis(GIM_BVH_DATA_ARRAY primitive_boxes, int startIndex, int endIndex)
{
int i;
IndexedVector3 means = IndexedVector3.Zero;
IndexedVector3 variance = IndexedVector3.Zero;
int numIndices = endIndex - startIndex;
for (i = startIndex; i < endIndex; i++)
{
IndexedVector3 center = 0.5f * (primitive_boxes[i].m_bound.m_max +
primitive_boxes[i].m_bound.m_min);
means += center;
}
means *= (1.0f / (float)numIndices);
for (i = startIndex; i < endIndex; i++)
{
IndexedVector3 center = 0.5f * (primitive_boxes[i].m_bound.m_max +
primitive_boxes[i].m_bound.m_min);
IndexedVector3 diff2 = center - means;
diff2 = diff2 * diff2;
variance += diff2;
}
variance *= (1.0f) / ((float)numIndices - 1);
return(MathUtil.MaxAxis(ref variance));
}
protected int SortAndCalcSplittingIndex(
GIM_BVH_DATA_ARRAY primitive_boxes,
int startIndex, int endIndex, int splitAxis)
{
int i;
int splitIndex = startIndex;
int numIndices = endIndex - startIndex;
// average of centers
float splitValue = 0.0f;
IndexedVector3 means = IndexedVector3.Zero;
for (i = startIndex; i < endIndex; i++)
{
IndexedVector3 center = 0.5f * (primitive_boxes[i].m_bound.m_max +
primitive_boxes[i].m_bound.m_min);
means += center;
}
means *= (1.0f) / (float)numIndices;
splitValue = means[splitAxis];
//sort leafNodes so all values larger then splitValue comes first, and smaller values start from 'splitIndex'.
for (i = startIndex; i < endIndex; i++)
{
IndexedVector3 center = 0.5f * (primitive_boxes[i].m_bound.m_max +
primitive_boxes[i].m_bound.m_min);
if (center[splitAxis] > splitValue)
{
//swap
primitive_boxes.Swap(i, splitIndex);
//swapLeafNodes(i,splitIndex);
splitIndex++;
}
}
//if the splitIndex causes unbalanced trees, fix this by using the center in between startIndex and endIndex
//otherwise the tree-building might fail due to stack-overflows in certain cases.
//unbalanced1 is unsafe: it can cause stack overflows
//bool unbalanced1 = ((splitIndex==startIndex) || (splitIndex == (endIndex-1)));
//unbalanced2 should work too: always use center (perfect balanced trees)
//bool unbalanced2 = true;
//this should be safe too:
int rangeBalancedIndices = numIndices / 3;
bool unbalanced = ((splitIndex <= (startIndex + rangeBalancedIndices)) || (splitIndex >= (endIndex - 1 - rangeBalancedIndices)));
if (unbalanced)
{
splitIndex = startIndex + (numIndices >> 1);
}
Debug.Assert(!((splitIndex == startIndex) || (splitIndex == (endIndex))));
return(splitIndex);
}
//! prototype functions for box tree management
//!@{
internal void BuildTree(GIM_BVH_DATA_ARRAY primitive_boxes)
{
CalcQuantization(primitive_boxes);
// initialize node count to 0
m_num_nodes = 0;
// allocate nodes
m_node_array.Resize(primitive_boxes.Count * 2);
BuildSubTree(primitive_boxes, 0, primitive_boxes.Count);
}
//! prototype functions for box tree management
//!@{
public void BuildTree(GIM_BVH_DATA_ARRAY primitive_boxes)
{
// initialize node count to 0
m_num_nodes = 0;
// allocate nodes
m_node_array.Capacity = (primitive_boxes.Count * 2);
// check this- should be capacity or count??
BuildSubTree(primitive_boxes, 0, primitive_boxes.Count);
}
//! this rebuild the entire set
public void BuildSet()
{
//obtain primitive boxes
GIM_BVH_DATA_ARRAY primitive_boxes = new GIM_BVH_DATA_ARRAY();
//primitive_boxes.resize(m_primitive_manager.get_primitive_count());
primitive_boxes.Capacity = m_primitive_manager.GetPrimitiveCount();
for (int i = 0; i < primitive_boxes.Count; i++)
{
m_primitive_manager.GetPrimitiveBox(i, out primitive_boxes.GetRawArray()[i].m_bound);
primitive_boxes.GetRawArray()[i].m_data = i;
}
m_box_tree.BuildTree(primitive_boxes);
}
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);
}
//! this rebuild the entire set
public void BuildSet()
{
//obtain primitive boxes
int listSize = m_primitive_manager.GetPrimitiveCount();
GIM_BVH_DATA_ARRAY primitive_boxes = new GIM_BVH_DATA_ARRAY(listSize);
// forces boxes to be allocated
primitive_boxes.Resize(listSize);
GIM_BVH_DATA[] rawArray = primitive_boxes.GetRawArray();
for (int i = 0; i < listSize; i++)
{
m_primitive_manager.GetPrimitiveBox(i, out rawArray[i].m_bound);
rawArray[i].m_data = i;
}
m_box_tree.BuildTree(primitive_boxes);
}
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
}
protected void CalcQuantization(GIM_BVH_DATA_ARRAY primitive_boxes)
{
CalcQuantization(primitive_boxes, 1.0f);
}