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Diffstat (limited to 'libs/ode-0.16.1/OPCODE/OPC_TreeBuilders.h')
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diff --git a/libs/ode-0.16.1/OPCODE/OPC_TreeBuilders.h b/libs/ode-0.16.1/OPCODE/OPC_TreeBuilders.h new file mode 100644 index 0000000..66e9480 --- /dev/null +++ b/libs/ode-0.16.1/OPCODE/OPC_TreeBuilders.h @@ -0,0 +1,178 @@ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/* + * OPCODE - Optimized Collision Detection + * Copyright (C) 2001 Pierre Terdiman + * Homepage: http://www.codercorner.com/Opcode.htm + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +/** + * Contains code for tree builders. + * \file OPC_TreeBuilders.h + * \author Pierre Terdiman + * \date March, 20, 2001 + */ +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +// Include Guard +#ifndef __OPC_TREEBUILDERS_H__ +#define __OPC_TREEBUILDERS_H__ + + //! Tree splitting rules + enum SplittingRules + { + // Primitive split + SPLIT_LARGEST_AXIS = (1<<0), //!< Split along the largest axis + SPLIT_SPLATTER_POINTS = (1<<1), //!< Splatter primitive centers (QuickCD-style) + SPLIT_BEST_AXIS = (1<<2), //!< Try largest axis, then second, then last + SPLIT_BALANCED = (1<<3), //!< Try to keep a well-balanced tree + SPLIT_FIFTY = (1<<4), //!< Arbitrary 50-50 split + // Node split + SPLIT_GEOM_CENTER = (1<<5), //!< Split at geometric center (else split in the middle) + // + SPLIT_FORCE_DWORD = 0x7fffffff + }; + + //! Simple wrapper around build-related settings [Opcode 1.3] + struct OPCODE_API BuildSettings + { + inline_ BuildSettings() : mLimit(1), mRules(SPLIT_FORCE_DWORD) {} + inline_ explicit BuildSettings(udword Rules) : mLimit(1), mRules(Rules) {} + + udword mLimit; //!< Limit number of primitives / node. If limit is 1, build a complete tree (2*N-1 nodes) + udword mRules; //!< Building/Splitting rules (a combination of SplittingRules flags) + }; + + class OPCODE_API AABBTreeBuilder + { + public: + //! Constructor + AABBTreeBuilder() : + mNbPrimitives(0), + mNodeBase(null), + mCount(0), + mNbInvalidSplits(0) {} + //! Destructor + virtual ~AABBTreeBuilder() {} + + /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + /** + * Computes the AABB of a set of primitives. + * \param primitives [in] list of indices of primitives + * \param nb_prims [in] number of indices + * \param global_box [out] global AABB enclosing the set of input primitives + * \return true if success + */ + /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + virtual bool ComputeGlobalBox(const dTriIndex* primitives, udword nb_prims, AABB& global_box) const = 0; + + /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + /** + * Computes the splitting value along a given axis for a given primitive. + * \param index [in] index of the primitive to split + * \param axis [in] axis index (0,1,2) + * \return splitting value + */ + /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + virtual float GetSplittingValue(udword index, udword axis) const = 0; + virtual Point GetSplittingValues(udword index) const = 0; + + /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + /** + * Computes the splitting value along a given axis for a given node. + * \param primitives [in] list of indices of primitives + * \param nb_prims [in] number of indices + * \param global_box [in] global AABB enclosing the set of input primitives + * \param axis [in] axis index (0,1,2) + * \return splitting value + */ + /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + virtual float GetSplittingValue(const dTriIndex* /*primitives*/, udword /*nb_prims*/, const AABB& global_box, udword axis) const + { + // Default split value = middle of the axis (using only the box) + return global_box.GetCenter(axis); + } + + /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + /** + * Validates node subdivision. This is called each time a node is considered for subdivision, during tree building. + * \param primitives [in] list of indices of primitives + * \param nb_prims [in] number of indices + * \param global_box [in] global AABB enclosing the set of input primitives + * \return TRUE if the node should be subdivised + */ + /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + virtual BOOL ValidateSubdivision(const dTriIndex* /*primitives*/, udword nb_prims, const AABB& /*global_box*/) + { + // Check the user-defined limit + if(nb_prims<=mSettings.mLimit) return FALSE; + + return TRUE; + } + + BuildSettings mSettings; //!< Splitting rules & split limit [Opcode 1.3] + udword mNbPrimitives; //!< Total number of primitives. + void* mNodeBase; //!< Address of node pool [Opcode 1.3] + // Stats + inline_ void SetCount(udword nb) { mCount=nb; } + inline_ void IncreaseCount(udword nb) { mCount+=nb; } + inline_ udword GetCount() const { return mCount; } + inline_ void SetNbInvalidSplits(udword nb) { mNbInvalidSplits=nb; } + inline_ void IncreaseNbInvalidSplits() { mNbInvalidSplits++; } + inline_ udword GetNbInvalidSplits() const { return mNbInvalidSplits; } + + private: + udword mCount; //!< Stats: number of nodes created + udword mNbInvalidSplits; //!< Stats: number of invalid splits + }; + + class OPCODE_API AABBTreeOfVerticesBuilder : public AABBTreeBuilder + { + public: + //! Constructor + AABBTreeOfVerticesBuilder() : mVertexArray(null) {} + //! Destructor + virtual ~AABBTreeOfVerticesBuilder() {} + + override(AABBTreeBuilder) bool ComputeGlobalBox(const dTriIndex* primitives, udword nb_prims, AABB& global_box) const; + override(AABBTreeBuilder) float GetSplittingValue(udword index, udword axis) const; + override(AABBTreeBuilder) Point GetSplittingValues(udword index) const; + override(AABBTreeBuilder) float GetSplittingValue(const dTriIndex* primitives, udword nb_prims, const AABB& global_box, udword axis) const; + + const Point* mVertexArray; //!< Shortcut to an app-controlled array of vertices. + }; + + class OPCODE_API AABBTreeOfAABBsBuilder : public AABBTreeBuilder + { + public: + //! Constructor + AABBTreeOfAABBsBuilder() : mAABBArray(null) {} + //! Destructor + virtual ~AABBTreeOfAABBsBuilder() {} + + override(AABBTreeBuilder) bool ComputeGlobalBox(const dTriIndex* primitives, udword nb_prims, AABB& global_box) const; + override(AABBTreeBuilder) float GetSplittingValue(udword index, udword axis) const; + override(AABBTreeBuilder) Point GetSplittingValues(udword index) const; + + const AABB* mAABBArray; //!< Shortcut to an app-controlled array of AABBs. + }; + + class OPCODE_API AABBTreeOfTrianglesBuilder : public AABBTreeBuilder + { + public: + //! Constructor + AABBTreeOfTrianglesBuilder() : mIMesh(null) {} + //! Destructor + virtual ~AABBTreeOfTrianglesBuilder() {} + + override(AABBTreeBuilder) bool ComputeGlobalBox(const dTriIndex* primitives, udword nb_prims, AABB& global_box) const; + override(AABBTreeBuilder) float GetSplittingValue(udword index, udword axis) const; + override(AABBTreeBuilder) float GetSplittingValue(const dTriIndex* primitives, udword nb_prims, const AABB& global_box, udword axis) const; + override(AABBTreeBuilder) Point GetSplittingValues(udword index) const; + + const MeshInterface* mIMesh; //!< Shortcut to an app-controlled mesh interface + }; + +#endif // __OPC_TREEBUILDERS_H__ |