btQuantizedBvh.h File Reference

#include "LinearMath/btVector3.h"
#include "LinearMath/btAlignedAllocator.h"
#include "LinearMath/btAlignedObjectArray.h"

Go to the source code of this file.

Classes
class	btNodeOverlapCallback

Macros
#define	btQuantizedBvhData   btQuantizedBvhFloatData
#define	btOptimizedBvhNodeData   btOptimizedBvhNodeFloatData
#define	btQuantizedBvhDataName   "btQuantizedBvhFloatData"
#define	MAX_SUBTREE_SIZE_IN_BYTES   2048
#define	MAX_NUM_PARTS_IN_BITS   10

Typedefs
typedef btAlignedObjectArray< btOptimizedBvhNode >	NodeArray
	for code readability:
typedef btAlignedObjectArray< btQuantizedBvhNode >	QuantizedNodeArray
typedef btAlignedObjectArray< btBvhSubtreeInfo >	BvhSubtreeInfoArray

Functions
bool	isLeafNode () const
int	getEscapeIndex () const
int	getTriangleIndex () const
int	getPartId () const
void	setAabbFromQuantizeNode (const btQuantizedBvhNode &quantizedNode)
void	setInternalNodeAabbMin (int nodeIndex, const btVector3 &aabbMin)
void	setInternalNodeAabbMax (int nodeIndex, const btVector3 &aabbMax)
btVector3	getAabbMin (int nodeIndex) const
btVector3	getAabbMax (int nodeIndex) const
void	setInternalNodeEscapeIndex (int nodeIndex, int escapeIndex)
void	mergeInternalNodeAabb (int nodeIndex, const btVector3 &newAabbMin, const btVector3 &newAabbMax)
void	swapLeafNodes (int firstIndex, int secondIndex)
void	assignInternalNodeFromLeafNode (int internalNode, int leafNodeIndex)
void	buildTree (int startIndex, int endIndex)
int	calcSplittingAxis (int startIndex, int endIndex)
int	sortAndCalcSplittingIndex (int startIndex, int endIndex, int splitAxis)
void	walkStacklessTree (btNodeOverlapCallback *nodeCallback, const btVector3 &aabbMin, const btVector3 &aabbMax) const
void	walkStacklessQuantizedTreeAgainstRay (btNodeOverlapCallback *nodeCallback, const btVector3 &raySource, const btVector3 &rayTarget, const btVector3 &aabbMin, const btVector3 &aabbMax, int startNodeIndex, int endNodeIndex) const
void	walkStacklessQuantizedTree (btNodeOverlapCallback *nodeCallback, unsigned short int *quantizedQueryAabbMin, unsigned short int *quantizedQueryAabbMax, int startNodeIndex, int endNodeIndex) const
void	walkStacklessTreeAgainstRay (btNodeOverlapCallback *nodeCallback, const btVector3 &raySource, const btVector3 &rayTarget, const btVector3 &aabbMin, const btVector3 &aabbMax, int startNodeIndex, int endNodeIndex) const
void	walkStacklessQuantizedTreeCacheFriendly (btNodeOverlapCallback *nodeCallback, unsigned short int *quantizedQueryAabbMin, unsigned short int *quantizedQueryAabbMax) const
	tree traversal designed for small-memory processors like PS3 SPU
void	walkRecursiveQuantizedTreeAgainstQueryAabb (const btQuantizedBvhNode *currentNode, btNodeOverlapCallback *nodeCallback, unsigned short int *quantizedQueryAabbMin, unsigned short int *quantizedQueryAabbMax) const
	use the 16-byte stackless 'skipindex' node tree to do a recursive traversal
void	walkRecursiveQuantizedTreeAgainstQuantizedTree (const btQuantizedBvhNode *treeNodeA, const btQuantizedBvhNode *treeNodeB, btNodeOverlapCallback *nodeCallback) const
	use the 16-byte stackless 'skipindex' node tree to do a recursive traversal
void	updateSubtreeHeaders (int leftChildNodexIndex, int rightChildNodexIndex)
	BT_DECLARE_ALIGNED_ALLOCATOR ()
virtual	~btQuantizedBvh ()
void	setQuantizationValues (const btVector3 &bvhAabbMin, const btVector3 &bvhAabbMax, btScalar quantizationMargin=btScalar(1.0))
	***************************************** expert/internal use only *************************
QuantizedNodeArray &	getLeafNodeArray ()
void	buildInternal ()
	buildInternal is expert use only: assumes that setQuantizationValues and LeafNodeArray are initialized
void	reportAabbOverlappingNodex (btNodeOverlapCallback *nodeCallback, const btVector3 &aabbMin, const btVector3 &aabbMax) const
	***************************************** expert/internal use only *************************
void	reportRayOverlappingNodex (btNodeOverlapCallback *nodeCallback, const btVector3 &raySource, const btVector3 &rayTarget) const
void	reportBoxCastOverlappingNodex (btNodeOverlapCallback *nodeCallback, const btVector3 &raySource, const btVector3 &rayTarget, const btVector3 &aabbMin, const btVector3 &aabbMax) const
SIMD_FORCE_INLINE void	quantize (unsigned short *out, const btVector3 &point, int isMax) const
SIMD_FORCE_INLINE void	quantizeWithClamp (unsigned short *out, const btVector3 &point2, int isMax) const
SIMD_FORCE_INLINE btVector3	unQuantize (const unsigned short *vecIn) const
void	setTraversalMode (btTraversalMode traversalMode)
	setTraversalMode let's you choose between stackless, recursive or stackless cache friendly tree traversal. Note this is only implemented for quantized trees.
SIMD_FORCE_INLINE QuantizedNodeArray &	getQuantizedNodeArray ()
SIMD_FORCE_INLINE BvhSubtreeInfoArray &	getSubtreeInfoArray ()
unsigned	calculateSerializeBufferSize () const
virtual bool	serialize (void *o_alignedDataBuffer, unsigned i_dataBufferSize, bool i_swapEndian) const
	Data buffer MUST be 16 byte aligned.
static btQuantizedBvh *	deSerializeInPlace (void *i_alignedDataBuffer, unsigned int i_dataBufferSize, bool i_swapEndian)
	deSerializeInPlace loads and initializes a BVH from a buffer in memory 'in place'
static unsigned int	getAlignmentSerializationPadding ()
virtual int	calculateSerializeBufferSizeNew () const
virtual const char *	serialize (void *dataBuffer, btSerializer *serializer) const
	fills the dataBuffer and returns the struct name (and 0 on failure)
virtual void	deSerializeFloat (struct btQuantizedBvhFloatData &quantizedBvhFloatData)
virtual void	deSerializeDouble (struct btQuantizedBvhDoubleData &quantizedBvhDoubleData)
SIMD_FORCE_INLINE bool	isQuantized ()

Variables
	btQuantizedBvhNode
unsigned short int	m_quantizedAabbMin [3]
unsigned short int	m_quantizedAabbMax [3]
int	m_escapeIndexOrTriangleIndex
	btOptimizedBvhNode
btVector3	m_aabbMinOrg
btVector3	m_aabbMaxOrg
int	m_escapeIndex
int	m_subPart
int	m_triangleIndex
char	m_padding [20]
	btBvhSubtreeInfo
	btBvhSubtreeInfo provides info to gather a subtree of limited size
int	m_rootNodeIndex
int	m_subtreeSize
	btQuantizedBvh
btVector3	m_bvhAabbMin
btVector3	m_bvhAabbMax
btVector3	m_bvhQuantization
int	m_bulletVersion
int	m_curNodeIndex
bool	m_useQuantization
NodeArray	m_leafNodes
NodeArray	m_contiguousNodes
QuantizedNodeArray	m_quantizedLeafNodes
QuantizedNodeArray	m_quantizedContiguousNodes
btTraversalMode	m_traversalMode
BvhSubtreeInfoArray	m_SubtreeHeaders
int	m_subtreeHeaderCount

Macro Definition Documentation

btOptimizedBvhNodeData

#define btOptimizedBvhNodeData   btOptimizedBvhNodeFloatData

Definition at line 40 of file btQuantizedBvh.h.

btQuantizedBvhData

#define btQuantizedBvhData   btQuantizedBvhFloatData

Definition at line 39 of file btQuantizedBvh.h.

Referenced by calculateSerializeBufferSizeNew().

btQuantizedBvhDataName

#define btQuantizedBvhDataName   "btQuantizedBvhFloatData"

Definition at line 41 of file btQuantizedBvh.h.

MAX_NUM_PARTS_IN_BITS

#define MAX_NUM_PARTS_IN_BITS   10

Definition at line 51 of file btQuantizedBvh.h.

Referenced by btGetHash(), btTriIndex::btTriIndex(), btTriIndex::getPartId(), getPartId(), btTriIndex::getTriangleIndex(), and getTriangleIndex().

MAX_SUBTREE_SIZE_IN_BYTES

#define MAX_SUBTREE_SIZE_IN_BYTES   2048

Definition at line 47 of file btQuantizedBvh.h.

Referenced by buildTree(), and updateSubtreeHeaders().

Typedef Documentation

BvhSubtreeInfoArray

typedef btAlignedObjectArray<btBvhSubtreeInfo> BvhSubtreeInfoArray

Definition at line 161 of file btQuantizedBvh.h.

NodeArray

typedef btAlignedObjectArray<btOptimizedBvhNode> NodeArray

for code readability:

Definition at line 159 of file btQuantizedBvh.h.

QuantizedNodeArray

typedef btAlignedObjectArray<btQuantizedBvhNode> QuantizedNodeArray

Definition at line 160 of file btQuantizedBvh.h.

Function Documentation

assignInternalNodeFromLeafNode()

void btQuantizedBvh::assignInternalNodeFromLeafNode ( int internalNode, int leafNodeIndex )

protected

Definition at line 784 of file btQuantizedBvh.cpp.

References m_contiguousNodes, m_leafNodes, m_quantizedContiguousNodes, m_quantizedLeafNodes, and m_useQuantization.

Referenced by buildTree().

BT_DECLARE_ALIGNED_ALLOCATOR()

BT_DECLARE_ALIGNED_ALLOCATOR

(

)

buildInternal()

void btQuantizedBvh::buildInternal

(

)

buildInternal is expert use only: assumes that setQuantizationValues and LeafNodeArray are initialized

assumes that caller filled in the m_quantizedLeafNodes

if the entire tree is small then subtree size, we need to create a header info for the tree

Definition at line 36 of file btQuantizedBvh.cpp.

References btBvhSubtreeInfo, buildTree(), btAlignedObjectArray< T >::clear(), btAlignedObjectArray< T >::expand(), m_curNodeIndex, m_leafNodes, m_quantizedContiguousNodes, m_quantizedLeafNodes, m_subtreeHeaderCount, m_SubtreeHeaders, m_useQuantization, btAlignedObjectArray< T >::resize(), and btAlignedObjectArray< T >::size().

buildTree()

void btQuantizedBvh::buildTree ( int startIndex, int endIndex )

protected

Definition at line 121 of file btQuantizedBvh.cpp.

References assignInternalNodeFromLeafNode(), btAssert, btQuantizedBvhNode, buildTree(), calcSplittingAxis(), getAabbMax(), getAabbMin(), m_bvhAabbMax, m_bvhAabbMin, m_curNodeIndex, m_useQuantization, MAX_SUBTREE_SIZE_IN_BYTES, mergeInternalNodeAabb(), numIndices(), setInternalNodeAabbMax(), setInternalNodeAabbMin(), setInternalNodeEscapeIndex(), sortAndCalcSplittingIndex(), and updateSubtreeHeaders().

Referenced by buildInternal(), and buildTree().

calcSplittingAxis()

int btQuantizedBvh::calcSplittingAxis ( int startIndex, int endIndex )

protected

Definition at line 285 of file btQuantizedBvh.cpp.

References getAabbMax(), getAabbMin(), and numIndices().

Referenced by buildTree().

calculateSerializeBufferSize()

unsigned calculateSerializeBufferSize

(

)

const

Referenced by serializeSingleShape().

calculateSerializeBufferSizeNew()

SIMD_FORCE_INLINE int btQuantizedBvh::calculateSerializeBufferSizeNew ( ) const

virtual

Definition at line 538 of file btQuantizedBvh.h.

References btQuantizedBvhData.

deSerializeDouble()

virtual void deSerializeDouble ( struct btQuantizedBvhDoubleData & quantizedBvhDoubleData )

virtual

deSerializeFloat()

virtual void deSerializeFloat ( struct btQuantizedBvhFloatData & quantizedBvhFloatData )

virtual

deSerializeInPlace()

static btQuantizedBvh * deSerializeInPlace ( void * i_alignedDataBuffer, unsigned int i_dataBufferSize, bool i_swapEndian )

static

deSerializeInPlace loads and initializes a BVH from a buffer in memory 'in place'

getAabbMax()

btVector3 getAabbMax ( int nodeIndex ) const

protected

Definition at line 233 of file btQuantizedBvh.h.

References m_leafNodes, m_quantizedAabbMax, m_quantizedLeafNodes, m_useQuantization, and unQuantize().

getAabbMin()

btVector3 getAabbMin ( int nodeIndex ) const

protected

Definition at line 224 of file btQuantizedBvh.h.

References m_leafNodes, m_quantizedAabbMin, m_quantizedLeafNodes, m_useQuantization, and unQuantize().

getAlignmentSerializationPadding()

unsigned int btQuantizedBvh::getAlignmentSerializationPadding ( )

static

Definition at line 807 of file btQuantizedBvh.cpp.

getEscapeIndex()

int getEscapeIndex

(

)

const

Definition at line 71 of file btQuantizedBvh.h.

References btAssert, isLeafNode(), and m_escapeIndexOrTriangleIndex.

getLeafNodeArray()

QuantizedNodeArray & getLeafNodeArray

(

)

Definition at line 317 of file btQuantizedBvh.h.

References m_quantizedLeafNodes.

getPartId()

int getPartId

(

)

const

Definition at line 84 of file btQuantizedBvh.h.

References btAssert, isLeafNode(), m_escapeIndexOrTriangleIndex, and MAX_NUM_PARTS_IN_BITS.

getQuantizedNodeArray()

SIMD_FORCE_INLINE QuantizedNodeArray & getQuantizedNodeArray

(

)

Definition at line 418 of file btQuantizedBvh.h.

References m_quantizedContiguousNodes.

getSubtreeInfoArray()

SIMD_FORCE_INLINE BvhSubtreeInfoArray & getSubtreeInfoArray

(

)

Definition at line 423 of file btQuantizedBvh.h.

References m_SubtreeHeaders.

getTriangleIndex()

int getTriangleIndex

(

)

const

Definition at line 76 of file btQuantizedBvh.h.

References btAssert, isLeafNode(), m_escapeIndexOrTriangleIndex, and MAX_NUM_PARTS_IN_BITS.

isLeafNode()

bool isLeafNode

(

)

const

Definition at line 66 of file btQuantizedBvh.h.

References m_escapeIndexOrTriangleIndex.

Referenced by btGImpactBvh::boxQuery(), btGImpactQuantizedBvh::boxQuery(), GIM_BOX_TREE_TEMPLATE_SET< _GIM_PRIMITIVE_MANAGER_PROTOTYPE, _GIM_BOX_TREE_PROTOTYPE >::boxQuery(), getEscapeIndex(), getPartId(), btBvhTree::getRightNode(), btQuantizedBvhTree::getRightNode(), getTriangleIndex(), btGImpactBvh::rayQuery(), btGImpactQuantizedBvh::rayQuery(), GIM_BOX_TREE_TEMPLATE_SET< _GIM_PRIMITIVE_MANAGER_PROTOTYPE, _GIM_BOX_TREE_PROTOTYPE >::rayQuery(), btGImpactBvh::refit(), btGImpactQuantizedBvh::refit(), GIM_BOX_TREE_TEMPLATE_SET< _GIM_PRIMITIVE_MANAGER_PROTOTYPE, _GIM_BOX_TREE_PROTOTYPE >::refit(), walkRecursiveQuantizedTreeAgainstQueryAabb(), walkStacklessQuantizedTree(), walkStacklessQuantizedTreeAgainstRay(), walkStacklessTree(), and walkStacklessTreeAgainstRay().

isQuantized()

SIMD_FORCE_INLINE bool isQuantized

(

)

Definition at line 453 of file btQuantizedBvh.h.

References m_useQuantization.

mergeInternalNodeAabb()

void mergeInternalNodeAabb ( int nodeIndex, const btVector3 & newAabbMin, const btVector3 & newAabbMax )

protected

Definition at line 255 of file btQuantizedBvh.h.

References m_contiguousNodes, m_quantizedAabbMax, m_quantizedAabbMin, m_quantizedContiguousNodes, m_useQuantization, and quantize().

Referenced by buildTree().

quantize()

SIMD_FORCE_INLINE void quantize	(	unsigned short *	out,
		const btVector3 &	point,
		int	isMax ) const

Make sure rounding is done in a way that unQuantize(quantizeWithClamp(...)) is conservative end-points always set the first bit, so that they are sorted properly (so that neighbouring AABBs overlap properly)

Todo

: double-check this

Definition at line 326 of file btQuantizedBvh.h.

References btAssert, m_bvhAabbMax, m_bvhAabbMin, m_bvhQuantization, m_useQuantization, printf, unQuantize(), and v.

Referenced by btAxisSweep3Internal< BP_FP_INT_TYPE >::addHandle(), mergeInternalNodeAabb(), quantizeWithClamp(), refitPartial(), setInternalNodeAabbMax(), setInternalNodeAabbMin(), setQuantizationValues(), updateBvhNodes(), and btAxisSweep3Internal< BP_FP_INT_TYPE >::updateHandle().

quantizeWithClamp()

SIMD_FORCE_INLINE void quantizeWithClamp	(	unsigned short *	out,
		const btVector3 &	point2,
		int	isMax ) const

Definition at line 390 of file btQuantizedBvh.h.

References btAssert, m_bvhAabbMax, m_bvhAabbMin, m_useQuantization, and quantize().

Referenced by reportAabbOverlappingNodex(), and walkStacklessQuantizedTreeAgainstRay().

reportAabbOverlappingNodex()

void btQuantizedBvh::reportAabbOverlappingNodex	(	btNodeOverlapCallback *	nodeCallback,
		const btVector3 &	aabbMin,
		const btVector3 &	aabbMax ) const

***************************************** expert/internal use only *************************

quantize query AABB

Definition at line 312 of file btQuantizedBvh.cpp.

References btAssert, btQuantizedBvhNode, m_curNodeIndex, m_quantizedContiguousNodes, m_traversalMode, m_useQuantization, quantizeWithClamp(), walkRecursiveQuantizedTreeAgainstQueryAabb(), walkStacklessQuantizedTree(), walkStacklessQuantizedTreeCacheFriendly(), and walkStacklessTree().

reportBoxCastOverlappingNodex()

void btQuantizedBvh::reportBoxCastOverlappingNodex	(	btNodeOverlapCallback *	nodeCallback,
		const btVector3 &	raySource,
		const btVector3 &	rayTarget,
		const btVector3 &	aabbMin,
		const btVector3 &	aabbMax ) const

Definition at line 742 of file btQuantizedBvh.cpp.

References m_curNodeIndex, m_useQuantization, walkStacklessQuantizedTreeAgainstRay(), and walkStacklessTreeAgainstRay().

Referenced by reportRayOverlappingNodex().

reportRayOverlappingNodex()

void btQuantizedBvh::reportRayOverlappingNodex	(	btNodeOverlapCallback *	nodeCallback,
		const btVector3 &	raySource,
		const btVector3 &	rayTarget ) const

Definition at line 737 of file btQuantizedBvh.cpp.

References btVector3, and reportBoxCastOverlappingNodex().

serialize() [1/2]

virtual const char * serialize ( void * dataBuffer, btSerializer * serializer ) const

virtual

fills the dataBuffer and returns the struct name (and 0 on failure)

serialize() [2/2]

virtual bool serialize ( void * o_alignedDataBuffer, unsigned i_dataBufferSize, bool i_swapEndian ) const

virtual

Data buffer MUST be 16 byte aligned.

Referenced by blender::bke::bake::serialize_bake_item(), blender::bke::bake::serialize_geometry_set(), and serializeSingleShape().

setAabbFromQuantizeNode()

void setAabbFromQuantizeNode

(

const btQuantizedBvhNode &

quantizedNode

)

Definition at line 136 of file btQuantizedBvh.h.

References m_quantizedAabbMax, and m_quantizedAabbMin.

setInternalNodeAabbMax()

void setInternalNodeAabbMax ( int nodeIndex, const btVector3 & aabbMax )

protected

Definition at line 212 of file btQuantizedBvh.h.

References m_contiguousNodes, m_quantizedAabbMax, m_quantizedContiguousNodes, m_useQuantization, and quantize().

Referenced by buildTree().

setInternalNodeAabbMin()

void setInternalNodeAabbMin ( int nodeIndex, const btVector3 & aabbMin )

protected

two versions, one for quantized and normal nodes. This allows code-reuse while maintaining readability (no template/macro!) this might be refactored into a virtual, it is usually not calculated at run-time

Definition at line 201 of file btQuantizedBvh.h.

References m_contiguousNodes, m_quantizedAabbMin, m_quantizedContiguousNodes, m_useQuantization, and quantize().

Referenced by buildTree().

setInternalNodeEscapeIndex()

void setInternalNodeEscapeIndex ( int nodeIndex, int escapeIndex )

protected

Definition at line 243 of file btQuantizedBvh.h.

References m_contiguousNodes, m_quantizedContiguousNodes, and m_useQuantization.

Referenced by buildTree().

setQuantizationValues()

void btQuantizedBvh::setQuantizationValues	(	const btVector3 &	bvhAabbMin,
		const btVector3 &	bvhAabbMax,
		btScalar	quantizationMargin = btScalar(1.0) )

***************************************** expert/internal use only *************************

just for debugging, to visualize the individual patches/subtrees

Definition at line 81 of file btQuantizedBvh.cpp.

References btVector3, m_bvhAabbMax, m_bvhAabbMin, m_bvhQuantization, m_useQuantization, quantize(), unQuantize(), and v.

setTraversalMode()

void setTraversalMode

(

btTraversalMode

traversalMode

)

setTraversalMode let's you choose between stackless, recursive or stackless cache friendly tree traversal. Note this is only implemented for quantized trees.

Definition at line 413 of file btQuantizedBvh.h.

References m_traversalMode.

sortAndCalcSplittingIndex()

int btQuantizedBvh::sortAndCalcSplittingIndex ( int startIndex, int endIndex, int splitAxis )

protected

Definition at line 232 of file btQuantizedBvh.cpp.

References btAssert, getAabbMax(), getAabbMin(), numIndices(), and swapLeafNodes().

Referenced by buildTree().

swapLeafNodes()

void btQuantizedBvh::swapLeafNodes ( int firstIndex, int secondIndex )

protected

Definition at line 768 of file btQuantizedBvh.cpp.

References btOptimizedBvhNode, btQuantizedBvhNode, m_leafNodes, m_quantizedLeafNodes, and m_useQuantization.

Referenced by sortAndCalcSplittingIndex().

unQuantize()

SIMD_FORCE_INLINE btVector3 unQuantize

(

const unsigned short *

vecIn

)

const

Definition at line 401 of file btQuantizedBvh.h.

References m_bvhAabbMin, and m_bvhQuantization.

Referenced by getAabbMax(), getAabbMin(), quantize(), setQuantizationValues(), walkStacklessQuantizedTree(), and walkStacklessQuantizedTreeAgainstRay().

updateSubtreeHeaders()

void btQuantizedBvh::updateSubtreeHeaders ( int leftChildNodexIndex, int rightChildNodexIndex )

protected

Definition at line 200 of file btQuantizedBvh.cpp.

References btAssert, btBvhSubtreeInfo, btQuantizedBvhNode, btAlignedObjectArray< T >::expand(), m_quantizedContiguousNodes, m_subtreeHeaderCount, m_SubtreeHeaders, m_useQuantization, MAX_SUBTREE_SIZE_IN_BYTES, and btAlignedObjectArray< T >::size().

Referenced by buildTree().

walkRecursiveQuantizedTreeAgainstQuantizedTree()

void walkRecursiveQuantizedTreeAgainstQuantizedTree ( const btQuantizedBvhNode * treeNodeA, const btQuantizedBvhNode * treeNodeB, btNodeOverlapCallback * nodeCallback ) const

protected

use the 16-byte stackless 'skipindex' node tree to do a recursive traversal

walkRecursiveQuantizedTreeAgainstQueryAabb()

void btQuantizedBvh::walkRecursiveQuantizedTreeAgainstQueryAabb ( const btQuantizedBvhNode * currentNode, btNodeOverlapCallback * nodeCallback, unsigned short int * quantizedQueryAabbMin, unsigned short int * quantizedQueryAabbMax ) const

protected

use the 16-byte stackless 'skipindex' node tree to do a recursive traversal

Definition at line 411 of file btQuantizedBvh.cpp.

References btAssert, btQuantizedBvhNode, isLeafNode(), m_useQuantization, btNodeOverlapCallback::processNode(), testQuantizedAabbAgainstQuantizedAabb(), and walkRecursiveQuantizedTreeAgainstQueryAabb().

Referenced by reportAabbOverlappingNodex(), and walkRecursiveQuantizedTreeAgainstQueryAabb().

walkStacklessQuantizedTree()

void btQuantizedBvh::walkStacklessQuantizedTree ( btNodeOverlapCallback * nodeCallback, unsigned short int * quantizedQueryAabbMin, unsigned short int * quantizedQueryAabbMax, int startNodeIndex, int endNodeIndex ) const

protected

Definition at line 653 of file btQuantizedBvh.cpp.

References btAssert, btQuantizedBvhNode, color, btIDebugDraw::drawAabb(), isLeafNode(), m_quantizedContiguousNodes, m_useQuantization, btNodeOverlapCallback::processNode(), testQuantizedAabbAgainstQuantizedAabb(), and unQuantize().

Referenced by reportAabbOverlappingNodex(), and walkStacklessQuantizedTreeCacheFriendly().

walkStacklessQuantizedTreeAgainstRay()

void btQuantizedBvh::walkStacklessQuantizedTreeAgainstRay ( btNodeOverlapCallback * nodeCallback, const btVector3 & raySource, const btVector3 & rayTarget, const btVector3 & aabbMin, const btVector3 & aabbMax, int startNodeIndex, int endNodeIndex ) const

protected

what about division by zero? --> just set rayDirection[i] to 1.0

careful with this check: need to check division by zero (above) and fix the unQuantize method thanks Joerg/hiker for the reproduction case! http://www.bulletphysics.com/Bullet/phpBB3/viewtopic.php?f=9&t=1858

Definition at line 530 of file btQuantizedBvh.cpp.

References bounds(), BT_LARGE_FLOAT, btAssert, btQuantizedBvhNode, btRayAabb(), btRayAabb2(), color, btIDebugDraw::drawAabb(), isLeafNode(), m_quantizedContiguousNodes, m_useQuantization, printf, btNodeOverlapCallback::processNode(), quantizeWithClamp(), testQuantizedAabbAgainstQuantizedAabb(), and unQuantize().

Referenced by reportBoxCastOverlappingNodex().

walkStacklessQuantizedTreeCacheFriendly()

void btQuantizedBvh::walkStacklessQuantizedTreeCacheFriendly ( btNodeOverlapCallback * nodeCallback, unsigned short int * quantizedQueryAabbMin, unsigned short int * quantizedQueryAabbMax ) const

protected

tree traversal designed for small-memory processors like PS3 SPU

Definition at line 716 of file btQuantizedBvh.cpp.

References btAssert, btBvhSubtreeInfo, m_SubtreeHeaders, m_useQuantization, btAlignedObjectArray< T >::size(), testQuantizedAabbAgainstQuantizedAabb(), and walkStacklessQuantizedTree().

Referenced by reportAabbOverlappingNodex().

walkStacklessTree()

void btQuantizedBvh::walkStacklessTree ( btNodeOverlapCallback * nodeCallback, const btVector3 & aabbMin, const btVector3 & aabbMax ) const

protected

Definition at line 349 of file btQuantizedBvh.cpp.

References btAssert, btOptimizedBvhNode, isLeafNode(), m_contiguousNodes, m_curNodeIndex, m_useQuantization, btNodeOverlapCallback::processNode(), and TestAabbAgainstAabb2().

Referenced by reportAabbOverlappingNodex().

walkStacklessTreeAgainstRay()

void btQuantizedBvh::walkStacklessTreeAgainstRay ( btNodeOverlapCallback * nodeCallback, const btVector3 & raySource, const btVector3 & rayTarget, const btVector3 & aabbMin, const btVector3 & aabbMax, int startNodeIndex, int endNodeIndex ) const

protected

what about division by zero? --> just set rayDirection[i] to 1.0

careful with this check: need to check division by zero (above) and fix the unQuantize method thanks Joerg/hiker for the reproduction case! http://www.bulletphysics.com/Bullet/phpBB3/viewtopic.php?f=9&t=1858

Definition at line 442 of file btQuantizedBvh.cpp.

References bounds(), BT_LARGE_FLOAT, btAssert, btOptimizedBvhNode, btRayAabb(), btRayAabb2(), isLeafNode(), m_contiguousNodes, m_curNodeIndex, m_useQuantization, btNodeOverlapCallback::processNode(), and TestAabbAgainstAabb2().

Referenced by reportBoxCastOverlappingNodex().

~btQuantizedBvh()

btQuantizedBvh::~btQuantizedBvh ( )

virtual

Definition at line 112 of file btQuantizedBvh.cpp.

Variable Documentation

btBvhSubtreeInfo

btBvhSubtreeInfo

Initial value:

{
public:
    BT_DECLARE_ALIGNED_ALLOCATOR()

btBvhSubtreeInfo provides info to gather a subtree of limited size

Definition at line 117 of file btQuantizedBvh.h.

Referenced by buildInternal(), refitPartial(), updateSubtreeHeaders(), and walkStacklessQuantizedTreeCacheFriendly().

btOptimizedBvhNode

btOptimizedBvhNode

Initial value:

{
    BT_DECLARE_ALIGNED_ALLOCATOR()

btOptimizedBvhNode contains both internal and leaf node information. Total node size is 44 bytes / node. You can use the compressed version of 16 bytes.

Definition at line 95 of file btQuantizedBvh.h.

Referenced by swapLeafNodes(), walkStacklessTree(), and walkStacklessTreeAgainstRay().

btQuantizedBvh

btQuantizedBvh

Initial value:

{
public:
    enum btTraversalMode
    {
        TRAVERSAL_STACKLESS = 0,
        TRAVERSAL_STACKLESS_CACHE_FRIENDLY,
        TRAVERSAL_RECURSIVE
    }

The btQuantizedBvh class stores an AABB tree that can be quickly traversed on CPU and Cell SPU. It is used by the btBvhTriangleMeshShape as midphase. It is recommended to use quantization for better performance and lower memory requirements.

Definition at line 167 of file btQuantizedBvh.h.

btQuantizedBvhNode

btQuantizedBvhNode

Initial value:

{
    BT_DECLARE_ALIGNED_ALLOCATOR()

btQuantizedBvhNode is a compressed aabb node, 16 bytes. Node can be used for leafnode or internal node. Leafnodes can point to 32-bit triangle index (non-negative range).

Definition at line 56 of file btQuantizedBvh.h.

Referenced by buildTree(), reportAabbOverlappingNodex(), swapLeafNodes(), updateBvhNodes(), updateSubtreeHeaders(), walkRecursiveQuantizedTreeAgainstQueryAabb(), walkStacklessQuantizedTree(), and walkStacklessQuantizedTreeAgainstRay().

m_aabbMaxOrg

btVector3 m_aabbMaxOrg

Definition at line 101 of file btQuantizedBvh.h.

m_aabbMinOrg

btVector3 m_aabbMinOrg

Definition at line 100 of file btQuantizedBvh.h.

m_bulletVersion

int m_bulletVersion

protected

Definition at line 182 of file btQuantizedBvh.h.

m_bvhAabbMax

btVector3 m_bvhAabbMax

protected

Definition at line 179 of file btQuantizedBvh.h.

Referenced by buildTree(), quantize(), quantizeWithClamp(), refitPartial(), and setQuantizationValues().

m_bvhAabbMin

btVector3 m_bvhAabbMin

protected

Definition at line 178 of file btQuantizedBvh.h.

Referenced by buildTree(), quantize(), quantizeWithClamp(), refitPartial(), setQuantizationValues(), and unQuantize().

m_bvhQuantization

btVector3 m_bvhQuantization

protected

Definition at line 180 of file btQuantizedBvh.h.

Referenced by quantize(), setQuantizationValues(), and unQuantize().

m_contiguousNodes

NodeArray m_contiguousNodes

protected

Definition at line 189 of file btQuantizedBvh.h.

Referenced by assignInternalNodeFromLeafNode(), mergeInternalNodeAabb(), setInternalNodeAabbMax(), setInternalNodeAabbMin(), setInternalNodeEscapeIndex(), walkStacklessTree(), and walkStacklessTreeAgainstRay().

m_curNodeIndex

int m_curNodeIndex

protected

Definition at line 184 of file btQuantizedBvh.h.

Referenced by buildInternal(), buildTree(), reportAabbOverlappingNodex(), reportBoxCastOverlappingNodex(), walkStacklessTree(), and walkStacklessTreeAgainstRay().

m_escapeIndex

int m_escapeIndex

Definition at line 104 of file btQuantizedBvh.h.

m_escapeIndexOrTriangleIndex

int m_escapeIndexOrTriangleIndex

Definition at line 64 of file btQuantizedBvh.h.

Referenced by getEscapeIndex(), getPartId(), getTriangleIndex(), and isLeafNode().

m_leafNodes

NodeArray m_leafNodes

protected

Definition at line 188 of file btQuantizedBvh.h.

Referenced by assignInternalNodeFromLeafNode(), buildInternal(), getAabbMax(), getAabbMin(), and swapLeafNodes().

m_padding

int m_padding

Definition at line 112 of file btQuantizedBvh.h.

Referenced by btSphereShape().

m_quantizedAabbMax

unsigned short int m_quantizedAabbMax

Definition at line 62 of file btQuantizedBvh.h.

Referenced by getAabbMax(), btQuantizedBvhTree::getNodeBound(), mergeInternalNodeAabb(), setAabbFromQuantizeNode(), setInternalNodeAabbMax(), and btQuantizedBvhTree::setNodeBound().

m_quantizedAabbMin

unsigned short int m_quantizedAabbMin

Definition at line 61 of file btQuantizedBvh.h.

Referenced by getAabbMin(), btQuantizedBvhTree::getNodeBound(), mergeInternalNodeAabb(), setAabbFromQuantizeNode(), setInternalNodeAabbMin(), btQuantizedBvhTree::setNodeBound(), and testQuantizedBoxOverlapp().

m_quantizedContiguousNodes

QuantizedNodeArray m_quantizedContiguousNodes

protected

Definition at line 191 of file btQuantizedBvh.h.

Referenced by assignInternalNodeFromLeafNode(), buildInternal(), getQuantizedNodeArray(), mergeInternalNodeAabb(), refitPartial(), reportAabbOverlappingNodex(), setInternalNodeAabbMax(), setInternalNodeAabbMin(), setInternalNodeEscapeIndex(), updateBvhNodes(), updateSubtreeHeaders(), walkStacklessQuantizedTree(), and walkStacklessQuantizedTreeAgainstRay().

m_quantizedLeafNodes

QuantizedNodeArray m_quantizedLeafNodes

protected

Definition at line 190 of file btQuantizedBvh.h.

Referenced by assignInternalNodeFromLeafNode(), buildInternal(), getAabbMax(), getAabbMin(), getLeafNodeArray(), and swapLeafNodes().

m_rootNodeIndex

int m_rootNodeIndex

Definition at line 126 of file btQuantizedBvh.h.

m_subPart

int m_subPart

Definition at line 108 of file btQuantizedBvh.h.

m_subtreeHeaderCount

int m_subtreeHeaderCount

mutableprotected

Definition at line 197 of file btQuantizedBvh.h.

Referenced by buildInternal(), and updateSubtreeHeaders().

m_SubtreeHeaders

BvhSubtreeInfoArray m_SubtreeHeaders

protected

Definition at line 194 of file btQuantizedBvh.h.

Referenced by buildInternal(), getSubtreeInfoArray(), refitPartial(), updateSubtreeHeaders(), and walkStacklessQuantizedTreeCacheFriendly().

m_subtreeSize

int m_subtreeSize

Definition at line 128 of file btQuantizedBvh.h.

m_traversalMode

btTraversalMode m_traversalMode

protected

Definition at line 193 of file btQuantizedBvh.h.

Referenced by reportAabbOverlappingNodex(), and setTraversalMode().

m_triangleIndex

int m_triangleIndex

Definition at line 109 of file btQuantizedBvh.h.

m_useQuantization

bool m_useQuantization

protected

Definition at line 186 of file btQuantizedBvh.h.

Referenced by assignInternalNodeFromLeafNode(), buildInternal(), buildTree(), getAabbMax(), getAabbMin(), isQuantized(), mergeInternalNodeAabb(), quantize(), quantizeWithClamp(), refitPartial(), reportAabbOverlappingNodex(), reportBoxCastOverlappingNodex(), setInternalNodeAabbMax(), setInternalNodeAabbMin(), setInternalNodeEscapeIndex(), setQuantizationValues(), swapLeafNodes(), updateBvhNodes(), updateSubtreeHeaders(), walkRecursiveQuantizedTreeAgainstQueryAabb(), walkStacklessQuantizedTree(), walkStacklessQuantizedTreeAgainstRay(), walkStacklessQuantizedTreeCacheFriendly(), walkStacklessTree(), and walkStacklessTreeAgainstRay().