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+///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+/*
+ * OPCODE - Optimized Collision Detection
+ * Copyright (C) 2001 Pierre Terdiman
+ * Homepage: http://www.codercorner.com/Opcode.htm
+ */
+///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+
+///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+/**
+ * Contains code for hybrid models.
+ * \file OPC_HybridModel.cpp
+ * \author Pierre Terdiman
+ * \date May, 18, 2003
+ */
+///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+
+///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+/**
+ * An hybrid collision model.
+ *
+ * The problem :
+ *
+ * Opcode really shines for mesh-mesh collision, especially when meshes are deeply overlapping
+ * (it typically outperforms RAPID in those cases).
+ *
+ * Unfortunately this is not the typical scenario in games.
+ *
+ * For close-proximity cases, especially for volume-mesh queries, it's relatively easy to run faster
+ * than Opcode, that suffers from a relatively high setup time.
+ *
+ * In particular, Opcode's "vanilla" trees in those cases -can- run faster. They can also use -less-
+ * memory than the optimized ones, when you let the system stop at ~10 triangles / leaf for example
+ * (i.e. when you don't use "complete" trees). However, those trees tend to fragment memory quite a
+ * lot, increasing cache misses : since they're not "complete", we can't predict the final number of
+ * nodes and we have to allocate nodes on-the-fly. For the same reasons we can't use Opcode's "optimized"
+ * trees here, since they rely on a known layout to perform the "optimization".
+ *
+ * Hybrid trees :
+ *
+ * Hybrid trees try to combine best of both worlds :
+ *
+ * - they use a maximum limit of 16 triangles/leaf. "16" is used so that we'll be able to save the
+ * number of triangles using 4 bits only.
+ *
+ * - they're still "complete" trees thanks to a two-passes building phase. First we create a "vanilla"
+ * AABB-tree with Opcode, limited to 16 triangles/leaf. Then we create a *second* vanilla tree, this
+ * time using the leaves of the first one. The trick is : this second tree is now "complete"... so we
+ * can further transform it into an Opcode's optimized tree.
+ *
+ * - then we run the collision queries on that standard Opcode tree. The only difference is that leaf
+ * nodes contain indices to leaf nodes of another tree. Also, we have to skip all primitive tests in
+ * Opcode optimized trees, since our leaves don't contain triangles anymore.
+ *
+ * - finally, for each collided leaf, we simply loop through 16 triangles max, and collide them with
+ * the bounding volume used in the query (we only support volume-vs-mesh queries here, not mesh-vs-mesh)
+ *
+ * All of that is wrapped in this "hybrid model" that contains the minimal data required for this to work.
+ * It's a mix between old "vanilla" trees, and old "optimized" trees.
+ *
+ * Extra advantages:
+ *
+ * - If we use them for dynamic models, we're left with a very small number of leaf nodes to refit. It
+ * might be a bit faster since we have less nodes to write back.
+ *
+ * - In rigid body simulation, using temporal coherence and sleeping objects greatly reduce the actual
+ * influence of one tree over another (i.e. the speed difference is often invisible). So memory is really
+ * the key element to consider, and in this regard hybrid trees are just better.
+ *
+ * Information to take home:
+ * - they use less ram
+ * - they're not slower (they're faster or slower depending on cases, overall there's no significant
+ * difference *as long as objects don't interpenetrate too much* - in which case Opcode's optimized trees
+ * are still notably faster)
+ *
+ * \class HybridModel
+ * \author Pierre Terdiman
+ * \version 1.3
+ * \date May, 18, 2003
+*/
+///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+
+///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+// Precompiled Header
+#include "Stdafx.h"
+
+using namespace Opcode;
+
+///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+/**
+ * Constructor.
+ */
+///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+HybridModel::HybridModel() :
+ mNbLeaves (0),
+ mTriangles (null),
+ mNbPrimitives (0),
+ mIndices (null)
+{
+}
+
+///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+/**
+ * Destructor.
+ */
+///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+HybridModel::~HybridModel()
+{
+ Release();
+}
+
+///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+/**
+ * Releases everything.
+ */
+///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+void HybridModel::Release()
+{
+ ReleaseBase();
+ DELETEARRAY(mIndices);
+ DELETEARRAY(mTriangles);
+ mNbLeaves = 0;
+ mNbPrimitives = 0;
+}
+
+ struct Internal
+ {
+ Internal()
+ {
+ mNbLeaves = 0;
+ mLeaves = null;
+ mTriangles = null;
+ mBase = null;
+ }
+ ~Internal()
+ {
+ DELETEARRAY(mLeaves);
+ }
+
+ udword mNbLeaves;
+ AABB* mLeaves;
+ LeafTriangles* mTriangles;
+ const dTriIndex* mBase;
+ };
+
+///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+/**
+ * Builds a collision model.
+ * \param create [in] model creation structure
+ * \return true if success
+ */
+///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+bool HybridModel::Build(const OPCODECREATE& create)
+{
+ // 1) Checkings
+ if(!create.mIMesh || !create.mIMesh->IsValid()) return false;
+
+ // Look for degenerate faces.
+ //udword NbDegenerate = create.mIMesh->CheckTopology();
+ //if(NbDegenerate) Log("OPCODE WARNING: found %d degenerate faces in model! Collision might report wrong results!\n", NbDegenerate);
+ // We continue nonetheless....
+
+ Release(); // Make sure previous tree has been discarded
+
+ // 1-1) Setup mesh interface automatically
+ SetMeshInterface(create.mIMesh);
+
+ bool Status = false;
+ AABBTree* LeafTree = null;
+ Internal Data;
+
+ // 2) Build a generic AABB Tree.
+ mSource = new AABBTree;
+ CHECKALLOC(mSource);
+
+ // 2-1) Setup a builder. Our primitives here are triangles from input mesh,
+ // so we use an AABBTreeOfTrianglesBuilder.....
+ {
+ AABBTreeOfTrianglesBuilder TB;
+ TB.mIMesh = create.mIMesh;
+ TB.mNbPrimitives = create.mIMesh->GetNbTriangles();
+ TB.mSettings = create.mSettings;
+ TB.mSettings.mLimit = 16; // ### Hardcoded, but maybe we could let the user choose 8 / 16 / 32 ...
+ if(!mSource->Build(&TB)) goto FreeAndExit;
+ }
+
+ // 2-2) Here's the trick : create *another* AABB tree using the leaves of the first one (which are boxes, this time)
+ struct Local
+ {
+ // A callback to count leaf nodes
+ static bool CountLeaves(const AABBTreeNode* current, udword /*depth*/, void* user_data)
+ {
+ if(current->IsLeaf())
+ {
+ Internal* Data = (Internal*)user_data;
+ Data->mNbLeaves++;
+ }
+ return true;
+ }
+
+ // A callback to setup leaf nodes in our internal structures
+ static bool SetupLeafData(const AABBTreeNode* current, udword /*depth*/, void* user_data)
+ {
+ if(current->IsLeaf())
+ {
+ Internal* Data = (Internal*)user_data;
+
+ // Get current leaf's box
+ Data->mLeaves[Data->mNbLeaves] = *current->GetAABB();
+
+ // Setup leaf data
+ udword Index = udword((size_t(current->GetPrimitives()) - size_t(Data->mBase)) / sizeof(udword));
+ Data->mTriangles[Data->mNbLeaves].SetData(current->GetNbPrimitives(), Index);
+
+ Data->mNbLeaves++;
+ }
+ return true;
+ }
+ };
+
+ // Walk the tree & count number of leaves
+ Data.mNbLeaves = 0;
+ mSource->Walk(Local::CountLeaves, &Data);
+ mNbLeaves = Data.mNbLeaves; // Keep track of it
+
+ // Special case for 1-leaf meshes
+ if(mNbLeaves==1)
+ {
+ mModelCode |= OPC_SINGLE_NODE;
+ Status = true;
+ goto FreeAndExit;
+ }
+
+ // Allocate our structures
+ Data.mLeaves = new AABB[Data.mNbLeaves]; CHECKALLOC(Data.mLeaves);
+ mTriangles = new LeafTriangles[Data.mNbLeaves]; CHECKALLOC(mTriangles);
+
+ // Walk the tree again & setup leaf data
+ Data.mTriangles = mTriangles;
+ Data.mBase = mSource->GetIndices();
+ Data.mNbLeaves = 0; // Reset for incoming walk
+ mSource->Walk(Local::SetupLeafData, &Data);
+
+ // Handle source indices
+ {
+ bool MustKeepIndices = true;
+ if(create.mCanRemap)
+ {
+ // We try to get rid of source indices (saving more ram!) by reorganizing triangle arrays...
+ // Remap can fail when we use callbacks => keep track of indices in that case (it still
+ // works, only using more memory)
+ if(create.mIMesh->RemapClient(mSource->GetNbPrimitives(), mSource->GetIndices()))
+ {
+ MustKeepIndices = false;
+ }
+ }
+
+ if(MustKeepIndices)
+ {
+ // Keep track of source indices (from vanilla tree)
+ mNbPrimitives = mSource->GetNbPrimitives();
+ mIndices = new udword[mNbPrimitives];
+ CopyMemory(mIndices, mSource->GetIndices(), mNbPrimitives*sizeof(udword));
+ }
+ }
+
+ // Now, create our optimized tree using previous leaf nodes
+ LeafTree = new AABBTree;
+ CHECKALLOC(LeafTree);
+ {
+ AABBTreeOfAABBsBuilder TB; // Now using boxes !
+ TB.mSettings = create.mSettings;
+ TB.mSettings.mLimit = 1; // We now want a complete tree so that we can "optimize" it
+ TB.mNbPrimitives = Data.mNbLeaves;
+ TB.mAABBArray = Data.mLeaves;
+ if(!LeafTree->Build(&TB)) goto FreeAndExit;
+ }
+
+ // 3) Create an optimized tree according to user-settings
+ if(!CreateTree(create.mNoLeaf, create.mQuantized)) goto FreeAndExit;
+
+ // 3-2) Create optimized tree
+ if(!mTree->Build(LeafTree)) goto FreeAndExit;
+
+ // Finally ok...
+ Status = true;
+
+FreeAndExit: // Allow me this one...
+ DELETESINGLE(LeafTree);
+
+ // 3-3) Delete generic tree if needed
+ if(!create.mKeepOriginal) DELETESINGLE(mSource);
+
+ return Status;
+}
+
+///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+/**
+ * Gets the number of bytes used by the tree.
+ * \return amount of bytes used
+ */
+///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+udword HybridModel::GetUsedBytes() const
+{
+ udword UsedBytes = 0;
+ if(mTree) UsedBytes += mTree->GetUsedBytes();
+ if(mIndices) UsedBytes += mNbPrimitives * sizeof(udword); // mIndices
+ if(mTriangles) UsedBytes += mNbLeaves * sizeof(LeafTriangles); // mTriangles
+ return UsedBytes;
+}
+
+inline_ void ComputeMinMax(Point& min, Point& max, const VertexPointers& vp)
+{
+ // Compute triangle's AABB = a leaf box
+#ifdef OPC_USE_FCOMI // a 15% speedup on my machine, not much
+ min.x = FCMin3(vp.Vertex[0]->x, vp.Vertex[1]->x, vp.Vertex[2]->x);
+ max.x = FCMax3(vp.Vertex[0]->x, vp.Vertex[1]->x, vp.Vertex[2]->x);
+
+ min.y = FCMin3(vp.Vertex[0]->y, vp.Vertex[1]->y, vp.Vertex[2]->y);
+ max.y = FCMax3(vp.Vertex[0]->y, vp.Vertex[1]->y, vp.Vertex[2]->y);
+
+ min.z = FCMin3(vp.Vertex[0]->z, vp.Vertex[1]->z, vp.Vertex[2]->z);
+ max.z = FCMax3(vp.Vertex[0]->z, vp.Vertex[1]->z, vp.Vertex[2]->z);
+#else
+ min = *vp.Vertex[0];
+ max = *vp.Vertex[0];
+ min.Min(*vp.Vertex[1]);
+ max.Max(*vp.Vertex[1]);
+ min.Min(*vp.Vertex[2]);
+ max.Max(*vp.Vertex[2]);
+#endif
+}
+
+///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+/**
+ * Refits the collision model. This can be used to handle dynamic meshes. Usage is:
+ * 1. modify your mesh vertices (keep the topology constant!)
+ * 2. refit the tree (call this method)
+ * \return true if success
+ */
+///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+bool HybridModel::Refit()
+{
+ if(!mIMesh) return false;
+ if(!mTree) return false;
+
+ if(IsQuantized()) return false;
+ if(HasLeafNodes()) return false;
+
+ const LeafTriangles* LT = GetLeafTriangles();
+ const udword* Indices = GetIndices();
+
+ // Bottom-up update
+ VertexPointers VP;
+ ConversionArea VC;
+ Point Min,Max;
+ Point Min_,Max_;
+ udword Index = mTree->GetNbNodes();
+ AABBNoLeafNode* Nodes = const_cast<AABBNoLeafNode *>(static_cast<const AABBNoLeafNode *>(static_cast<AABBNoLeafTree *>(mTree)->GetNodes()));
+ while(Index--)
+ {
+ AABBNoLeafNode& Current = Nodes[Index];
+
+ if(Current.HasPosLeaf())
+ {
+ const LeafTriangles& CurrentLeaf = LT[Current.GetPosPrimitive()];
+
+ Min.SetPlusInfinity();
+ Max.SetMinusInfinity();
+
+ Point TmpMin, TmpMax;
+
+ // Each leaf box has a set of triangles
+ udword NbTris = CurrentLeaf.GetNbTriangles();
+ if(Indices)
+ {
+ const udword* T = &Indices[CurrentLeaf.GetTriangleIndex()];
+
+ // Loop through triangles and test each of them
+ while(NbTris--)
+ {
+ mIMesh->GetTriangle(VP, *T++, VC);
+ ComputeMinMax(TmpMin, TmpMax, VP);
+ Min.Min(TmpMin);
+ Max.Max(TmpMax);
+ }
+ }
+ else
+ {
+ udword BaseIndex = CurrentLeaf.GetTriangleIndex();
+
+ // Loop through triangles and test each of them
+ while(NbTris--)
+ {
+ mIMesh->GetTriangle(VP, BaseIndex++, VC);
+ ComputeMinMax(TmpMin, TmpMax, VP);
+ Min.Min(TmpMin);
+ Max.Max(TmpMax);
+ }
+ }
+ }
+ else
+ {
+ const CollisionAABB& CurrentBox = Current.GetPos()->mAABB;
+ CurrentBox.GetMin(Min);
+ CurrentBox.GetMax(Max);
+ }
+
+ if(Current.HasNegLeaf())
+ {
+ const LeafTriangles& CurrentLeaf = LT[Current.GetNegPrimitive()];
+
+ Min_.SetPlusInfinity();
+ Max_.SetMinusInfinity();
+
+ Point TmpMin, TmpMax;
+
+ // Each leaf box has a set of triangles
+ udword NbTris = CurrentLeaf.GetNbTriangles();
+ if(Indices)
+ {
+ const udword* T = &Indices[CurrentLeaf.GetTriangleIndex()];
+
+ // Loop through triangles and test each of them
+ while(NbTris--)
+ {
+ mIMesh->GetTriangle(VP, *T++, VC);
+ ComputeMinMax(TmpMin, TmpMax, VP);
+ Min_.Min(TmpMin);
+ Max_.Max(TmpMax);
+ }
+ }
+ else
+ {
+ udword BaseIndex = CurrentLeaf.GetTriangleIndex();
+
+ // Loop through triangles and test each of them
+ while(NbTris--)
+ {
+ mIMesh->GetTriangle(VP, BaseIndex++, VC);
+ ComputeMinMax(TmpMin, TmpMax, VP);
+ Min_.Min(TmpMin);
+ Max_.Max(TmpMax);
+ }
+ }
+ }
+ else
+ {
+ const CollisionAABB& CurrentBox = Current.GetNeg()->mAABB;
+ CurrentBox.GetMin(Min_);
+ CurrentBox.GetMax(Max_);
+ }
+#ifdef OPC_USE_FCOMI
+ Min.x = FCMin2(Min.x, Min_.x);
+ Max.x = FCMax2(Max.x, Max_.x);
+ Min.y = FCMin2(Min.y, Min_.y);
+ Max.y = FCMax2(Max.y, Max_.y);
+ Min.z = FCMin2(Min.z, Min_.z);
+ Max.z = FCMax2(Max.z, Max_.z);
+#else
+ Min.Min(Min_);
+ Max.Max(Max_);
+#endif
+ Current.mAABB.SetMinMax(Min, Max);
+ }
+ return true;
+}
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