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Diffstat (limited to 'libs/ode-0.16.1/OPCODE/OPC_AABBTree.cpp')
| -rw-r--r-- | libs/ode-0.16.1/OPCODE/OPC_AABBTree.cpp | 568 |
1 files changed, 568 insertions, 0 deletions
diff --git a/libs/ode-0.16.1/OPCODE/OPC_AABBTree.cpp b/libs/ode-0.16.1/OPCODE/OPC_AABBTree.cpp new file mode 100644 index 0000000..48129a8 --- /dev/null +++ b/libs/ode-0.16.1/OPCODE/OPC_AABBTree.cpp @@ -0,0 +1,568 @@ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/* + * OPCODE - Optimized Collision Detection + * Copyright (C) 2001 Pierre Terdiman + * Homepage: http://www.codercorner.com/Opcode.htm + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * Contains code for a versatile AABB tree. + * \file OPC_AABBTree.cpp + * \author Pierre Terdiman + * \date March, 20, 2001 + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * Contains a generic AABB tree node. + * + * \class AABBTreeNode + * \author Pierre Terdiman + * \version 1.3 + * \date March, 20, 2001 +*/ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * Contains a generic AABB tree. + * This is a vanilla AABB tree, without any particular optimization. It contains anonymous references to + * user-provided primitives, which can theoretically be anything - triangles, boxes, etc. Each primitive + * is surrounded by an AABB, regardless of the primitive's nature. When the primitive is a triangle, the + * resulting tree can be converted into an optimized tree. If the primitive is a box, the resulting tree + * can be used for culling - VFC or occlusion -, assuming you cull on a mesh-by-mesh basis (modern way). + * + * \class AABBTree + * \author Pierre Terdiman + * \version 1.3 + * \date March, 20, 2001 +*/ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +// Precompiled Header +#include "Stdafx.h" + +using namespace Opcode; + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * Constructor. + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +AABBTreeNode::AABBTreeNode() : + mPos (null), +#ifndef OPC_NO_NEG_VANILLA_TREE + mNeg (null), +#endif + mNodePrimitives (null), + mNbPrimitives (0) +{ +#ifdef OPC_USE_TREE_COHERENCE + mBitmask = 0; +#endif +} + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * Destructor. + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +AABBTreeNode::~AABBTreeNode() +{ + // Opcode 1.3: + const AABBTreeNode* Pos = GetPos(); +#ifndef OPC_NO_NEG_VANILLA_TREE + const AABBTreeNode* Neg = GetNeg(); + if(!(mPos&1)) DELETESINGLE(Pos); + if(!(mNeg&1)) DELETESINGLE(Neg); +#else + if(!(mPos&1)) DELETEARRAY(Pos); +#endif + mNodePrimitives = null; // This was just a shortcut to the global list => no release + mNbPrimitives = 0; +} + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * Splits the node along a given axis. + * The list of indices is reorganized according to the split values. + * \param axis [in] splitting axis index + * \param builder [in] the tree builder + * \return the number of primitives assigned to the first child + * \warning this method reorganizes the internal list of primitives + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +udword AABBTreeNode::Split(udword axis, AABBTreeBuilder* builder) +{ + // Get node split value + float SplitValue = builder->GetSplittingValue(mNodePrimitives, mNbPrimitives, mBV, axis); + + udword NbPos = 0; + // Loop through all node-related primitives. Their indices range from mNodePrimitives[0] to mNodePrimitives[mNbPrimitives-1]. + // Those indices map the global list in the tree builder. + for(udword i=0;i<mNbPrimitives;i++) + { + // Get index in global list + udword Index = mNodePrimitives[i]; + + // Test against the splitting value. The primitive value is tested against the enclosing-box center. + // [We only need an approximate partition of the enclosing box here.] + float PrimitiveValue = builder->GetSplittingValue(Index, axis); + + // Reorganize the list of indices in this order: positive - negative. + if(PrimitiveValue > SplitValue) + { + // Swap entries + udword Tmp = mNodePrimitives[i]; + mNodePrimitives[i] = mNodePrimitives[NbPos]; + mNodePrimitives[NbPos] = Tmp; + // Count primitives assigned to positive space + NbPos++; + } + } + return NbPos; +} + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * Subdivides the node. + * + * N + * / \ + * / \ + * N/2 N/2 + * / \ / \ + * N/4 N/4 N/4 N/4 + * (etc) + * + * A well-balanced tree should have a O(log n) depth. + * A degenerate tree would have a O(n) depth. + * Note a perfectly-balanced tree is not well-suited to collision detection anyway. + * + * \param builder [in] the tree builder + * \return true if success + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +bool AABBTreeNode::Subdivide(AABBTreeBuilder* builder) +{ + // Checkings + if(!builder) return false; + + // Stop subdividing if we reach a leaf node. This is always performed here, + // else we could end in trouble if user overrides this. + if(mNbPrimitives==1) return true; + + // Let the user validate the subdivision + if(!builder->ValidateSubdivision(mNodePrimitives, mNbPrimitives, mBV)) return true; + + bool ValidSplit = true; // Optimism... + udword NbPos; + if(builder->mSettings.mRules & SPLIT_LARGEST_AXIS) + { + // Find the largest axis to split along + Point Extents; mBV.GetExtents(Extents); // Box extents + udword Axis = Extents.LargestAxis(); // Index of largest axis + + // Split along the axis + NbPos = Split(Axis, builder); + + // Check split validity + if(!NbPos || NbPos==mNbPrimitives) ValidSplit = false; + } + else if(builder->mSettings.mRules & SPLIT_SPLATTER_POINTS) + { + // Compute the means + Point Means(0.0f, 0.0f, 0.0f); + for(udword i=0;i<mNbPrimitives;i++) + { + udword Index = mNodePrimitives[i]; + Means += builder->GetSplittingValues(Index); + } + Means/=float(mNbPrimitives); + + // Compute variances + Point Vars(0.0f, 0.0f, 0.0f); + for(udword i=0;i<mNbPrimitives;i++) + { + udword Index = mNodePrimitives[i]; + Point Center = builder->GetSplittingValues(Index); + Point Delta = Center - Means; + Vars += Delta * Delta; + } + Vars/=float(mNbPrimitives-1); + + // Choose axis with greatest variance + udword Axis = Vars.LargestAxis(); + + // Split along the axis + NbPos = Split(Axis, builder); + + // Check split validity + if(!NbPos || NbPos==mNbPrimitives) ValidSplit = false; + } + else if(builder->mSettings.mRules & SPLIT_BALANCED) + { + // Test 3 axis, take the best + float Results[3]; + NbPos = Split(0, builder); Results[0] = float(NbPos)/float(mNbPrimitives); + NbPos = Split(1, builder); Results[1] = float(NbPos)/float(mNbPrimitives); + NbPos = Split(2, builder); Results[2] = float(NbPos)/float(mNbPrimitives); + Results[0]-=0.5f; Results[0]*=Results[0]; + Results[1]-=0.5f; Results[1]*=Results[1]; + Results[2]-=0.5f; Results[2]*=Results[2]; + udword Min=0; + if(Results[1]<Results[Min]) Min = 1; + if(Results[2]<Results[Min]) Min = 2; + + // Split along the axis + NbPos = Split(Min, builder); + + // Check split validity + if(!NbPos || NbPos==mNbPrimitives) ValidSplit = false; + } + else if(builder->mSettings.mRules & SPLIT_BEST_AXIS) + { + // Test largest, then middle, then smallest axis... + + // Sort axis + Point Extents; mBV.GetExtents(Extents); // Box extents + udword SortedAxis[] = { 0, 1, 2 }; + float* Keys = (float*)&Extents.x; + for(udword j=0;j<3;j++) + { + for(udword i=0;i<2;i++) + { + if(Keys[SortedAxis[i]]<Keys[SortedAxis[i+1]]) + { + udword Tmp = SortedAxis[i]; + SortedAxis[i] = SortedAxis[i+1]; + SortedAxis[i+1] = Tmp; + } + } + } + + // Find the largest axis to split along + udword CurAxis = 0; + ValidSplit = false; + while(!ValidSplit && CurAxis!=3) + { + NbPos = Split(SortedAxis[CurAxis], builder); + // Check the subdivision has been successful + if(!NbPos || NbPos==mNbPrimitives) CurAxis++; + else ValidSplit = true; + } + } + else if(builder->mSettings.mRules & SPLIT_FIFTY) + { + // Don't even bother splitting (mainly a performance test) + NbPos = mNbPrimitives>>1; + } + else return false; // Unknown splitting rules + + // Check the subdivision has been successful + if(!ValidSplit) + { + // Here, all boxes lie in the same sub-space. Two strategies: + // - if the tree *must* be complete, make an arbitrary 50-50 split + // - else stop subdividing +// if(builder->mSettings.mRules&SPLIT_COMPLETE) + if(builder->mSettings.mLimit==1) + { + builder->IncreaseNbInvalidSplits(); + NbPos = mNbPrimitives>>1; + } + else return true; + } + + // Now create children and assign their pointers. + if(builder->mNodeBase) + { + // We use a pre-allocated linear pool for complete trees [Opcode 1.3] + AABBTreeNode* Pool = (AABBTreeNode*)builder->mNodeBase; + udword Count = builder->GetCount() - 1; // Count begins to 1... + // Set last bit to tell it shouldn't be freed ### pretty ugly, find a better way. Maybe one bit in mNbPrimitives + ASSERT(!(udword(&Pool[Count+0])&1)); + ASSERT(!(udword(&Pool[Count+1])&1)); + mPos = size_t(&Pool[Count+0])|1; +#ifndef OPC_NO_NEG_VANILLA_TREE + mNeg = size_t(&Pool[Count+1])|1; +#endif + } + else + { + // Non-complete trees and/or Opcode 1.2 allocate nodes on-the-fly +#ifndef OPC_NO_NEG_VANILLA_TREE + mPos = (size_t)new AABBTreeNode; CHECKALLOC(mPos); + mNeg = (size_t)new AABBTreeNode; CHECKALLOC(mNeg); +#else + AABBTreeNode* PosNeg = new AABBTreeNode[2]; + CHECKALLOC(PosNeg); + mPos = (size_t)PosNeg; +#endif + } + + // Update stats + builder->IncreaseCount(2); + + // Assign children + AABBTreeNode* Pos = const_cast<AABBTreeNode *>(GetPos()); + AABBTreeNode* Neg = const_cast<AABBTreeNode *>(GetNeg()); + Pos->mNodePrimitives = &mNodePrimitives[0]; + Pos->mNbPrimitives = NbPos; + Neg->mNodePrimitives = &mNodePrimitives[NbPos]; + Neg->mNbPrimitives = mNbPrimitives - NbPos; + + return true; +} + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * Recursive hierarchy building in a top-down fashion. + * \param builder [in] the tree builder + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +void AABBTreeNode::_BuildHierarchy(AABBTreeBuilder* builder) +{ + // 1) Compute the global box for current node. The box is stored in mBV. + builder->ComputeGlobalBox(mNodePrimitives, mNbPrimitives, mBV); + + // 2) Subdivide current node + Subdivide(builder); + + // 3) Recurse + AABBTreeNode* Pos = const_cast<AABBTreeNode *>(GetPos()); + AABBTreeNode* Neg = const_cast<AABBTreeNode *>(GetNeg()); + if(Pos) Pos->_BuildHierarchy(builder); + if(Neg) Neg->_BuildHierarchy(builder); +} + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * Refits the tree (top-down). + * \param builder [in] the tree builder + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +void AABBTreeNode::_Refit(AABBTreeBuilder* builder) +{ + // 1) Recompute the new global box for current node + builder->ComputeGlobalBox(mNodePrimitives, mNbPrimitives, mBV); + + // 2) Recurse + AABBTreeNode* Pos = const_cast<AABBTreeNode *>(GetPos()); + AABBTreeNode* Neg = const_cast<AABBTreeNode *>(GetNeg()); + if(Pos) Pos->_Refit(builder); + if(Neg) Neg->_Refit(builder); +} + + + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * Constructor. + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +AABBTree::AABBTree() : mIndices(null), mPool(null), mTotalNbNodes(0) +{ +} + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * Destructor. + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +AABBTree::~AABBTree() +{ + Release(); +} + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * Releases the tree. + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +void AABBTree::Release() +{ + DELETEARRAY(mPool); + DELETEARRAY(mIndices); +} + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * Builds a generic AABB tree from a tree builder. + * \param builder [in] the tree builder + * \return true if success + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +bool AABBTree::Build(AABBTreeBuilder* builder) +{ + // Checkings + if(!builder || !builder->mNbPrimitives) return false; + + // Release previous tree + Release(); + + // Init stats + builder->SetCount(1); + builder->SetNbInvalidSplits(0); + + // Initialize indices. This list will be modified during build. + mIndices = new dTriIndex[builder->mNbPrimitives]; + CHECKALLOC(mIndices); + // Identity permutation + for(udword i=0;i<builder->mNbPrimitives;i++) mIndices[i] = i; + + // Setup initial node. Here we have a complete permutation of the app's primitives. + mNodePrimitives = mIndices; + mNbPrimitives = builder->mNbPrimitives; + + // Use a linear array for complete trees (since we can predict the final number of nodes) [Opcode 1.3] +// if(builder->mRules&SPLIT_COMPLETE) + if(builder->mSettings.mLimit==1) + { + // Allocate a pool of nodes + mPool = new AABBTreeNode[builder->mNbPrimitives*2 - 1]; + + builder->mNodeBase = mPool; // ### ugly ! + } + + // Build the hierarchy + _BuildHierarchy(builder); + + // Get back total number of nodes + mTotalNbNodes = builder->GetCount(); + + // For complete trees, check the correct number of nodes has been created [Opcode 1.3] + if(mPool) ASSERT(mTotalNbNodes==builder->mNbPrimitives*2 - 1); + + return true; +} + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * Computes the depth of the tree. + * A well-balanced tree should have a log(n) depth. A degenerate tree O(n) depth. + * \return depth of the tree + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +udword AABBTree::ComputeDepth() const +{ + return Walk(null, null); // Use the walking code without callback +} + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * Walks the tree, calling the user back for each node. + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +udword AABBTree::Walk(WalkingCallback callback, void* user_data) const +{ + // Call it without callback to compute max depth + udword MaxDepth = 0; + udword CurrentDepth = 0; + + struct Local + { + static void _Walk(const AABBTreeNode* current_node, udword& max_depth, udword& current_depth, WalkingCallback callback, void* user_data) + { + // Checkings + if(!current_node) return; + // Entering a new node => increase depth + current_depth++; + // Keep track of max depth + if(current_depth>max_depth) max_depth = current_depth; + + // Callback + if(callback && !(callback)(current_node, current_depth, user_data)) return; + + // Recurse + if(current_node->GetPos()) { _Walk(current_node->GetPos(), max_depth, current_depth, callback, user_data); current_depth--; } + if(current_node->GetNeg()) { _Walk(current_node->GetNeg(), max_depth, current_depth, callback, user_data); current_depth--; } + } + }; + Local::_Walk(this, MaxDepth, CurrentDepth, callback, user_data); + return MaxDepth; +} + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * Refits the tree in a top-down way. + * \param builder [in] the tree builder + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +bool AABBTree::Refit(AABBTreeBuilder* builder) +{ + if(!builder) return false; + _Refit(builder); + return true; +} + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * Refits the tree in a bottom-up way. + * \param builder [in] the tree builder + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +bool AABBTree::Refit2(AABBTreeBuilder* builder) +{ + // Checkings + if(!builder) return false; + + ASSERT(mPool); + + // Bottom-up update + Point Min,Max; + Point Min_,Max_; + udword Index = mTotalNbNodes; + while(Index--) + { + AABBTreeNode& Current = mPool[Index]; + + if(Current.IsLeaf()) + { + builder->ComputeGlobalBox(Current.GetPrimitives(), Current.GetNbPrimitives(), *const_cast<AABB*>(Current.GetAABB())); + } + else + { + Current.GetPos()->GetAABB()->GetMin(Min); + Current.GetPos()->GetAABB()->GetMax(Max); + + Current.GetNeg()->GetAABB()->GetMin(Min_); + Current.GetNeg()->GetAABB()->GetMax(Max_); + + Min.Min(Min_); + Max.Max(Max_); + + const_cast<AABB*>(Current.GetAABB())->SetMinMax(Min, Max); + } + } + return true; +} + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * Computes the number of bytes used by the tree. + * \return number of bytes used + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +udword AABBTree::GetUsedBytes() const +{ + udword TotalSize = mTotalNbNodes*GetNodeSize(); + if(mIndices) TotalSize+=mNbPrimitives*sizeof(udword); + return TotalSize; +} + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * Checks the tree is a complete tree or not. + * A complete tree is made of 2*N-1 nodes, where N is the number of primitives in the tree. + * \return true for complete trees + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +bool AABBTree::IsComplete() const +{ + return (GetNbNodes()==GetNbPrimitives()*2-1); +} |