internal void SplitIfNecessary(IBVHNodeAdapter <T> nAda)
{
if (GObjects.Count > nAda.BVH.LEAF_OBJ_MAX)
{
SplitNode(nAda);
}
}
internal static void AddObjectPushdown(IBVHNodeAdapter <T> nAda, BVHNode <T> curNode, T newOb)
{
var left = curNode.Left;
var right = curNode.Right;
// merge and pushdown left and right as a new node..
var mergedSubnode = new BVHNode <T>(nAda.BVH);
mergedSubnode.Left = left;
mergedSubnode.Right = right;
mergedSubnode.Parent = curNode;
mergedSubnode.GObjects = null; // we need to be an interior node... so null out our object list..
left.Parent = mergedSubnode;
right.Parent = mergedSubnode;
mergedSubnode.ChildRefit(nAda, propagate: false);
// make new subnode for obj
var newSubnode = new BVHNode <T>(nAda.BVH);
newSubnode.Parent = curNode;
newSubnode.GObjects = new List <T> {
newOb
};
nAda.MapObjectToBVHLeaf(newOb, newSubnode);
newSubnode.ComputeVolume(nAda);
// make assignments..
curNode.Left = mergedSubnode;
curNode.Right = newSubnode;
curNode.SetDepth(nAda, curNode.Depth); // propagate new depths to our children.
curNode.ChildRefit(nAda);
}
internal static float SA(IBVHNodeAdapter <T> nAda, T obj)
{
float radius = nAda.GetRadius(obj);
float size = radius * 2;
return(6.0f * (size * size));
}
internal void ComputeVolume(IBVHNodeAdapter <T> nAda)
{
AssignVolume(nAda.GetObjectPos(GObjects[0]), nAda.GetRadius(GObjects[0]));
for (int i = 1; i < GObjects.Count; i++)
{
ExpandVolume(nAda, nAda.GetObjectPos(GObjects[i]), nAda.GetRadius(GObjects[i]));
}
}
internal float SAofList(IBVHNodeAdapter <T> nAda, List <T> list)
{
var box = AABBofOBJ(nAda, list[0]);
list.ToList <T>().GetRange(1, list.Count - 1).ForEach(obj =>
{
var newbox = AABBofOBJ(nAda, obj);
box.Encapsulate(newbox);
});
return(SA(box));
}
internal static Bounds AABBofOBJ(IBVHNodeAdapter <T> nAda, T obj)
{
float radius = nAda.GetRadius(obj);
Bounds box = new Bounds
{
min = new Vector3(-radius, -radius, -radius),
max = new Vector3(radius, radius, radius)
};
return(box);
}
void SetDepth(IBVHNodeAdapter <T> nAda, int newdepth)
{
this.Depth = newdepth;
if (newdepth > nAda.BVH.maxDepth)
{
nAda.BVH.maxDepth = newdepth;
}
if (GObjects == null)
{
Left.SetDepth(nAda, newdepth + 1);
Right.SetDepth(nAda, newdepth + 1);
}
}
internal void FindOverlappingLeaves(IBVHNodeAdapter <T> nAda, Vector3 origin, float radius, List <BVHNode <T> > overlapList)
{
if (BoundsIntersectsSphere(ToBounds(), origin, radius))
{
if (GObjects != null)
{
overlapList.Add(this);
}
else
{
Left.FindOverlappingLeaves(nAda, origin, radius, overlapList);
Right.FindOverlappingLeaves(nAda, origin, radius, overlapList);
}
}
}
internal void FindOverlappingLeaves(IBVHNodeAdapter <T> nAda, Bounds aabb, List <BVHNode <T> > overlapList)
{
if (ToBounds().Intersects(aabb))
{
if (GObjects != null)
{
overlapList.Add(this);
}
else
{
Left.FindOverlappingLeaves(nAda, aabb, overlapList);
Right.FindOverlappingLeaves(nAda, aabb, overlapList);
}
}
}
/// <summary>
/// initializes a BVH with a given nodeAdaptor, and object list.
/// </summary>
/// <param name="nodeAdaptor"></param>
/// <param name="objects"></param>
/// <param name="LEAF_OBJ_MAX">WARNING! currently this must be 1 to use dynamic BVH updates</param>
public BVH(IBVHNodeAdapter <T> nodeAdaptor, List <T> objects, int LEAF_OBJ_MAX = 1)
{
this.LEAF_OBJ_MAX = LEAF_OBJ_MAX;
nodeAdaptor.BVH = this;
this.nAda = nodeAdaptor;
if (objects.Count > 0)
{
rootBVH = new BVHNode <T>(this, objects);
}
else
{
rootBVH = new BVHNode <T>(this);
rootBVH.GObjects = new List <T>(); // it's a leaf, so give it an empty object list
}
}
internal static void ChildRefit(IBVHNodeAdapter <T> nAda, BVHNode <T> curNode, bool propagate = true)
{
do
{
Bounds oldbox = curNode.Box;
BVHNode <T> left = curNode.Left;
BVHNode <T> right = curNode.Right;
// start with the left box
Bounds newBox = left.Box;
// expand any dimension bigger in the right node
if (right.Box.min.x < newBox.min.x)
{
newBox.min = new Vector3(right.Box.min.x, newBox.min.y, newBox.min.z);
}
if (right.Box.min.y < newBox.min.y)
{
newBox.min = new Vector3(newBox.min.x, right.Box.min.y, newBox.min.z);
}
if (right.Box.min.z < newBox.min.z)
{
newBox.min = new Vector3(newBox.min.x, newBox.min.y, right.Box.min.z);
}
if (right.Box.max.x > newBox.max.x)
{
newBox.max = new Vector3(right.Box.max.x, newBox.max.y, newBox.max.z);
}
if (right.Box.max.y > newBox.max.y)
{
newBox.max = new Vector3(newBox.max.x, right.Box.max.y, newBox.max.z);
}
if (right.Box.max.z > newBox.max.z)
{
newBox.max = new Vector3(newBox.max.x, newBox.max.y, right.Box.max.z);
}
// now set our box to the newly created box
curNode.Box = newBox;
// and walk up the tree
curNode = curNode.Parent;
} while (propagate && curNode != null);
}
internal void RemoveLeaf(IBVHNodeAdapter <T> nAda, BVHNode <T> removeLeaf)
{
if (Left == null || Right == null)
{
throw new Exception("bad intermediate node");
}
BVHNode <T> keepLeaf;
if (removeLeaf == Left)
{
keepLeaf = Right;
}
else if (removeLeaf == Right)
{
keepLeaf = Left;
}
else
{
throw new Exception("removeLeaf doesn't match any leaf!");
}
// "become" the leaf we are keeping.
Box = keepLeaf.Box;
Left = keepLeaf.Left; Right = keepLeaf.Right; GObjects = keepLeaf.GObjects;
// clear the leaf..
// keepLeaf.left = null; keepLeaf.right = null; keepLeaf.gobjects = null; keepLeaf.parent = null;
if (GObjects == null)
{
Left.Parent = this; Right.Parent = this; // reassign child parents..
this.SetDepth(nAda, this.Depth); // this reassigns depth for our children
}
else
{
// map the objects we adopted to us...
GObjects.ForEach(o => { nAda.MapObjectToBVHLeaf(o, this); });
}
// propagate our new volume..
if (Parent != null)
{
Parent.ChildRefit(nAda);
}
}
public void RefitObjectChanged(IBVHNodeAdapter <T> nAda, T obj)
{
if (GObjects == null)
{
throw new Exception("dangling leaf!");
}
if (RefitVolume(nAda))
{
// add our parent to the optimize list...
if (Parent != null)
{
nAda.BVH.refitNodes.Add(Parent);
// you can force an optimize every time something moves, but it's not very efficient
// instead we do this per-frame after a bunch of updates.
// nAda.BVH.Optimize();
}
}
}
private void ExpandVolume(IBVHNodeAdapter <T> nAda, Vector3 objectpos, float radius)
{
bool expanded = false;
// test min X and max X against the current bounding volume
if ((objectpos.x - radius) < Box.min.x)
{
Box.min = new Vector3(objectpos.x - radius, Box.min.y, Box.min.z);
expanded = true;
}
if ((objectpos.x + radius) > Box.max.x)
{
Box.max = new Vector3(objectpos.x + radius, Box.max.y, Box.max.z);
expanded = true;
}
// test min Y and max Y against the current bounding volume
if ((objectpos.y - radius) < Box.min.y)
{
Box.min = new Vector3(Box.min.x, (objectpos.y - radius), Box.min.z);
expanded = true;
}
if ((objectpos.y + radius) > Box.max.y)
{
Box.max = new Vector3(Box.max.x, (objectpos.y + radius), Box.max.z);
expanded = true;
}
// test min Z and max Z against the current bounding volume
if ((objectpos.z - radius) < Box.min.z)
{
Box.min = new Vector3(Box.min.x, Box.min.y, (objectpos.z - radius));
expanded = true;
}
if ((objectpos.z + radius) > Box.max.z)
{
Box.max = new Vector3(Box.max.x, Box.max.y, (objectpos.z + radius));
expanded = true;
}
if (expanded && Parent != null)
{
Parent.ChildExpanded(nAda, this);
}
}
private BVHNode(BVH <T> bvh, BVHNode <T> lparent, List <T> gobjectlist, Axis lastSplitAxis, int curdepth)
{
IBVHNodeAdapter <T> nAda = bvh.nAda;
this.NodeNumber = bvh.nodeCount++;
this.Parent = lparent; // save off the parent BVHGObj Node
this.Depth = curdepth;
if (bvh.maxDepth < curdepth)
{
bvh.maxDepth = curdepth;
}
// Early out check due to bad data
// If the list is empty then we have no BVHGObj, or invalid parameters are passed in
if (gobjectlist == null || gobjectlist.Count < 1)
{
throw new Exception("ssBVHNode constructed with invalid paramaters");
}
// Check if we’re at our LEAF node, and if so, save the objects and stop recursing. Also store the min/max for the leaf node and update the parent appropriately
if (gobjectlist.Count <= bvh.LEAF_OBJ_MAX)
{
// once we reach the leaf node, we must set prev/next to null to signify the end
Left = null;
Right = null;
// at the leaf node we store the remaining objects, so initialize a list
GObjects = gobjectlist;
GObjects.ForEach(o => nAda.MapObjectToBVHLeaf(o, this));
ComputeVolume(nAda);
SplitIfNecessary(nAda);
}
else
{
// --------------------------------------------------------------------------------------------
// if we have more than (bvh.LEAF_OBJECT_COUNT) objects, then compute the volume and split
GObjects = gobjectlist;
ComputeVolume(nAda);
SplitNode(nAda);
ChildRefit(nAda, propagate: false);
}
}
internal void SplitNode(IBVHNodeAdapter <T> nAda)
{
// second, decide which axis to split on, and sort..
List <T> splitlist = GObjects;
splitlist.ForEach(o => nAda.UnmapObject(o));
int center = (int)(splitlist.Count / 2); // find the center object
SplitAxisOpt <T> bestSplit = EachAxis.Min((axis) =>
{
var orderedlist = new List <T>(splitlist);
switch (axis)
{
case Axis.X:
orderedlist.Sort(delegate(T go1, T go2) { return(nAda.GetObjectPos(go1).x.CompareTo(nAda.GetObjectPos(go2).x)); });
break;
case Axis.Y:
orderedlist.Sort(delegate(T go1, T go2) { return(nAda.GetObjectPos(go1).y.CompareTo(nAda.GetObjectPos(go2).y)); });
break;
case Axis.Z:
orderedlist.Sort(delegate(T go1, T go2) { return(nAda.GetObjectPos(go1).z.CompareTo(nAda.GetObjectPos(go2).z)); });
break;
default:
throw new NotImplementedException("unknown split axis: " + axis.ToString());
}
var left_s = orderedlist.GetRange(0, center);
var right_s = orderedlist.GetRange(center, splitlist.Count - center);
float SAH = SAofList(nAda, left_s) * left_s.Count + SAofList(nAda, right_s) * right_s.Count;
return(new SplitAxisOpt <T>(SAH, axis, left_s, right_s));
});
// perform the split
GObjects = null;
this.Left = new BVHNode <T>(nAda.BVH, this, bestSplit.left, bestSplit.axis, this.Depth + 1); // Split the Hierarchy to the left
this.Right = new BVHNode <T>(nAda.BVH, this, bestSplit.right, bestSplit.axis, this.Depth + 1); // Split the Hierarchy to the right
}
internal void ChildExpanded(IBVHNodeAdapter <T> nAda, BVHNode <T> child)
{
bool expanded = false;
if (child.Box.min.x < Box.min.x)
{
Box.min = new Vector3(child.Box.min.x, Box.min.y, Box.min.z);
expanded = true;
}
if (child.Box.max.x > Box.max.x)
{
Box.max = new Vector3(child.Box.max.x, Box.max.y, Box.max.z);
expanded = true;
}
if (child.Box.min.y < Box.min.y)
{
Box.min = new Vector3(Box.min.x, child.Box.min.y, Box.min.z);
expanded = true;
}
if (child.Box.max.y > Box.max.y)
{
Box.max = new Vector3(Box.max.x, child.Box.max.y, Box.max.z);
expanded = true;
}
if (child.Box.min.z < Box.min.z)
{
Box.min = new Vector3(Box.min.x, Box.min.y, child.Box.min.z);
expanded = true;
}
if (child.Box.max.z > Box.max.z)
{
Box.max = new Vector3(Box.max.x, Box.max.y, child.Box.max.z);
expanded = true;
}
if (expanded && Parent != null)
{
Parent.ChildExpanded(nAda, this);
}
}
internal bool RefitVolume(IBVHNodeAdapter <T> nAda)
{
if (GObjects.Count == 0)
{
// TODO: fix this... we should never get called in this case...
throw new NotImplementedException();
}
Bounds oldbox = Box;
ComputeVolume(nAda);
if (!Box.Equals(oldbox))
{
if (Parent != null)
{
Parent.ChildRefit(nAda);
}
return(true);
}
else
{
return(false);
}
}
internal void Remove(IBVHNodeAdapter <T> nAda, T newOb)
{
if (GObjects == null)
{
throw new Exception("removeObject() called on nonLeaf!");
}
nAda.UnmapObject(newOb);
GObjects.Remove(newOb);
if (GObjects.Count > 0)
{
RefitVolume(nAda);
}
else
{
// our leaf is empty, so collapse it if we are not the root...
if (Parent != null)
{
GObjects = null;
Parent.RemoveLeaf(nAda, this);
Parent = null;
}
}
}
internal void Add(IBVHNodeAdapter <T> nAda, T newOb, ref Bounds newObBox, float newObSAH)
{
Add(nAda, this, newOb, ref newObBox, newObSAH);
}
internal void ChildRefit(IBVHNodeAdapter <T> nAda, bool propagate = true)
{
ChildRefit(nAda, this, propagate: propagate);
}
/// <summary>
/// tryRotate looks at all candidate rotations, and executes the rotation with the best resulting SAH (if any)
/// </summary>
/// <param name="bvh"></param>
internal void TryRotate(BVH <T> bvh)
{
IBVHNodeAdapter <T> nAda = bvh.nAda;
// if we are not a grandparent, then we can't rotate, so queue our parent and bail out
if (Left.IsLeaf && Right.IsLeaf)
{
if (Parent != null)
{
bvh.refitNodes.Add(Parent);
return;
}
}
// for each rotation, check that there are grandchildren as necessary (aka not a leaf)
// then compute total SAH cost of our branches after the rotation.
float mySA = SA(Left) + SA(Right);
RotOpt bestRot = EachRot.Min((rot) =>
{
switch (rot)
{
case Rot.NONE: return(new RotOpt(mySA, Rot.NONE));
// child to grandchild rotations
case Rot.L_RL:
if (Right.IsLeaf)
{
return(new RotOpt(float.MaxValue, Rot.NONE));
}
else
{
return(new RotOpt(SA(Right.Left) + SA(AABBofPair(Left, Right.Right)), rot));
}
case Rot.L_RR:
if (Right.IsLeaf)
{
return(new RotOpt(float.MaxValue, Rot.NONE));
}
else
{
return(new RotOpt(SA(Right.Right) + SA(AABBofPair(Left, Right.Left)), rot));
}
case Rot.R_LL:
if (Left.IsLeaf)
{
return(new RotOpt(float.MaxValue, Rot.NONE));
}
else
{
return(new RotOpt(SA(AABBofPair(Right, Left.Right)) + SA(Left.Left), rot));
}
case Rot.R_LR:
if (Left.IsLeaf)
{
return(new RotOpt(float.MaxValue, Rot.NONE));
}
else
{
return(new RotOpt(SA(AABBofPair(Right, Left.Left)) + SA(Left.Right), rot));
}
// grandchild to grandchild rotations
case Rot.LL_RR:
if (Left.IsLeaf || Right.IsLeaf)
{
return(new RotOpt(float.MaxValue, Rot.NONE));
}
else
{
return(new RotOpt(SA(AABBofPair(Right.Right, Left.Right)) + SA(AABBofPair(Right.Left, Left.Left)), rot));
}
case Rot.LL_RL:
if (Left.IsLeaf || Right.IsLeaf)
{
return(new RotOpt(float.MaxValue, Rot.NONE));
}
else
{
return(new RotOpt(SA(AABBofPair(Right.Left, Left.Right)) + SA(AABBofPair(Left.Left, Right.Right)), rot));
}
// unknown...
default: throw new NotImplementedException("missing implementation for BVH Rotation SAH Computation .. " + rot.ToString());
}
});
// perform the best rotation...
if (bestRot.rot != Rot.NONE)
{
// if the best rotation is no-rotation... we check our parents anyhow..
if (Parent != null)
{
// but only do it some random percentage of the time.
if ((DateTime.Now.Ticks % 100) < 2)
{
bvh.refitNodes.Add(Parent);
}
}
}
else
{
if (Parent != null)
{
bvh.refitNodes.Add(Parent);
}
if (((mySA - bestRot.SAH) / mySA) < 0.3f)
{
return; // the benefit is not worth the cost
}
Console.WriteLine("BVH swap {0} from {1} to {2}", bestRot.rot.ToString(), mySA, bestRot.SAH);
// in order to swap we need to:
// 1. swap the node locations
// 2. update the depth (if child-to-grandchild)
// 3. update the parent pointers
// 4. refit the boundary box
BVHNode <T> swap = null;
switch (bestRot.rot)
{
case Rot.NONE: break;
// child to grandchild rotations
case Rot.L_RL: swap = Left; Left = Right.Left; Left.Parent = this; Right.Left = swap; swap.Parent = Right; Right.ChildRefit(nAda, propagate: false); break;
case Rot.L_RR: swap = Left; Left = Right.Right; Left.Parent = this; Right.Right = swap; swap.Parent = Right; Right.ChildRefit(nAda, propagate: false); break;
case Rot.R_LL: swap = Right; Right = Left.Left; Right.Parent = this; Left.Left = swap; swap.Parent = Left; Left.ChildRefit(nAda, propagate: false); break;
case Rot.R_LR: swap = Right; Right = Left.Right; Right.Parent = this; Left.Right = swap; swap.Parent = Left; Left.ChildRefit(nAda, propagate: false); break;
// grandchild to grandchild rotations
case Rot.LL_RR: swap = Left.Left; Left.Left = Right.Right; Right.Right = swap; Left.Left.Parent = Left; swap.Parent = Right; Left.ChildRefit(nAda, propagate: false); Right.ChildRefit(nAda, propagate: false); break;
case Rot.LL_RL: swap = Left.Left; Left.Left = Right.Left; Right.Left = swap; Left.Left.Parent = Left; swap.Parent = Right; Left.ChildRefit(nAda, propagate: false); Right.ChildRefit(nAda, propagate: false); break;
// unknown...
default: throw new NotImplementedException("missing implementation for BVH Rotation .. " + bestRot.rot.ToString());
}
// fix the depths if necessary....
switch (bestRot.rot)
{
case Rot.L_RL:
case Rot.L_RR:
case Rot.R_LL:
case Rot.R_LR:
this.SetDepth(nAda, this.Depth);
break;
}
}
}
internal static void Add(IBVHNodeAdapter <T> nAda, BVHNode <T> curNode, T newOb, ref Bounds newObBox, float newObSAH)
{
// 1. first we traverse the node looking for the best leaf
while (curNode.GObjects == null)
{
// find the best way to add this object.. 3 options..
// 1. send to left node (L+N,R)
// 2. send to right node (L,R+N)
// 3. merge and pushdown left-and-right node (L+R,N)
var left = curNode.Left;
var right = curNode.Right;
float leftSAH = SA(left);
float rightSAH = SA(right);
//Create new bounds to avoid modifying originals when using encapsulate
Bounds leftExpanded = new Bounds
{
min = left.Box.min,
max = left.Box.max
};
Bounds rightExpanded = new Bounds
{
min = right.Box.min,
max = right.Box.max
};
leftExpanded.Encapsulate(newObBox);
rightExpanded.Encapsulate(newObBox);
float sendLeftSAH = rightSAH + SA(leftExpanded); // (L+N,R)
float sendRightSAH = leftSAH + SA(rightExpanded); // (L,R+N)
float mergedLeftAndRightSAH = SA(AABBofPair(left, right)) + newObSAH; // (L+R,N)
// Doing a merge-and-pushdown can be expensive, so we only do it if it's notably better
const float MERGE_DISCOUNT = 0.3f;
if (mergedLeftAndRightSAH < (Math.Min(sendLeftSAH, sendRightSAH)) * MERGE_DISCOUNT)
{
AddObjectPushdown(nAda, curNode, newOb);
return;
}
else
{
if (sendLeftSAH < sendRightSAH)
{
curNode = left;
}
else
{
curNode = right;
}
}
}
// 2. then we add the object and map it to our leaf
curNode.GObjects.Add(newOb);
nAda.MapObjectToBVHLeaf(newOb, curNode);
curNode.RefitVolume(nAda);
// split if necessary...
curNode.SplitIfNecessary(nAda);
}