1 /* 2 Bullet Continuous Collision Detection and Physics Library 3 Copyright (c) 2003-2007 Erwin Coumans http://continuousphysics.com/Bullet/ 4 5 This software is provided 'as-is', without any express or implied warranty. 6 In no event will the authors be held liable for any damages arising from the use of this software. 7 Permission is granted to anyone to use this software for any purpose, 8 including commercial applications, and to alter it and redistribute it freely, 9 subject to the following restrictions: 10 11 1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required. 12 2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software. 13 3. This notice may not be removed or altered from any source distribution. 14 */ 15 ///btDbvt implementation by Nathanael Presson 16 17 #ifndef BT_DYNAMIC_BOUNDING_VOLUME_TREE_H 18 #define BT_DYNAMIC_BOUNDING_VOLUME_TREE_H 19 20 #include "LinearMath/btAlignedObjectArray.h" 21 #include "LinearMath/btVector3.h" 22 #include "LinearMath/btTransform.h" 23 #include "LinearMath/btAabbUtil2.h" 24 25 // 26 // Compile time configuration 27 // 28 29 30 // Implementation profiles 31 #define DBVT_IMPL_GENERIC 0 // Generic implementation 32 #define DBVT_IMPL_SSE 1 // SSE 33 34 // Template implementation of ICollide 35 #ifdef _WIN32 36 #if (defined (_MSC_VER) && _MSC_VER >= 1400) 37 #define DBVT_USE_TEMPLATE 1 38 #else 39 #define DBVT_USE_TEMPLATE 0 40 #endif 41 #else 42 #define DBVT_USE_TEMPLATE 0 43 #endif 44 45 // Use only intrinsics instead of inline asm 46 #define DBVT_USE_INTRINSIC_SSE 1 47 48 // Using memmov for collideOCL 49 #define DBVT_USE_MEMMOVE 1 50 51 // Enable benchmarking code 52 #define DBVT_ENABLE_BENCHMARK 0 53 54 // Inlining 55 #define DBVT_INLINE SIMD_FORCE_INLINE 56 57 // Specific methods implementation 58 59 //SSE gives errors on a MSVC 7.1 60 #if defined (BT_USE_SSE) //&& defined (_WIN32) 61 #define DBVT_SELECT_IMPL DBVT_IMPL_SSE 62 #define DBVT_MERGE_IMPL DBVT_IMPL_SSE 63 #define DBVT_INT0_IMPL DBVT_IMPL_SSE 64 #else 65 #define DBVT_SELECT_IMPL DBVT_IMPL_GENERIC 66 #define DBVT_MERGE_IMPL DBVT_IMPL_GENERIC 67 #define DBVT_INT0_IMPL DBVT_IMPL_GENERIC 68 #endif 69 70 #if (DBVT_SELECT_IMPL==DBVT_IMPL_SSE)|| \ 71 (DBVT_MERGE_IMPL==DBVT_IMPL_SSE)|| \ 72 (DBVT_INT0_IMPL==DBVT_IMPL_SSE) 73 #include <emmintrin.h> 74 #endif 75 76 // 77 // Auto config and checks 78 // 79 80 #if DBVT_USE_TEMPLATE 81 #define DBVT_VIRTUAL 82 #define DBVT_VIRTUAL_DTOR(a) 83 #define DBVT_PREFIX template <typename T> 84 #define DBVT_IPOLICY T& policy 85 #define DBVT_CHECKTYPE static const ICollide& typechecker=*(T*)1;(void)typechecker; 86 #else 87 #define DBVT_VIRTUAL_DTOR(a) virtual ~a() {} 88 #define DBVT_VIRTUAL virtual 89 #define DBVT_PREFIX 90 #define DBVT_IPOLICY ICollide& policy 91 #define DBVT_CHECKTYPE 92 #endif 93 94 #if DBVT_USE_MEMMOVE 95 #if !defined( __CELLOS_LV2__) && !defined(__MWERKS__) 96 #include <memory.h> 97 #endif 98 #include <string.h> 99 #endif 100 101 #ifndef DBVT_USE_TEMPLATE 102 #error "DBVT_USE_TEMPLATE undefined" 103 #endif 104 105 #ifndef DBVT_USE_MEMMOVE 106 #error "DBVT_USE_MEMMOVE undefined" 107 #endif 108 109 #ifndef DBVT_ENABLE_BENCHMARK 110 #error "DBVT_ENABLE_BENCHMARK undefined" 111 #endif 112 113 #ifndef DBVT_SELECT_IMPL 114 #error "DBVT_SELECT_IMPL undefined" 115 #endif 116 117 #ifndef DBVT_MERGE_IMPL 118 #error "DBVT_MERGE_IMPL undefined" 119 #endif 120 121 #ifndef DBVT_INT0_IMPL 122 #error "DBVT_INT0_IMPL undefined" 123 #endif 124 125 // 126 // Defaults volumes 127 // 128 129 /* btDbvtAabbMm */ 130 struct btDbvtAabbMm 131 { 132 DBVT_INLINE btVector3 Center() const { return((mi+mx)/2); } 133 DBVT_INLINE btVector3 Lengths() const { return(mx-mi); } 134 DBVT_INLINE btVector3 Extents() const { return((mx-mi)/2); } 135 DBVT_INLINE const btVector3& Mins() const { return(mi); } 136 DBVT_INLINE const btVector3& Maxs() const { return(mx); } 137 static inline btDbvtAabbMm FromCE(const btVector3& c,const btVector3& e); 138 static inline btDbvtAabbMm FromCR(const btVector3& c,btScalar r); 139 static inline btDbvtAabbMm FromMM(const btVector3& mi,const btVector3& mx); 140 static inline btDbvtAabbMm FromPoints(const btVector3* pts,int n); 141 static inline btDbvtAabbMm FromPoints(const btVector3** ppts,int n); 142 DBVT_INLINE void Expand(const btVector3& e); 143 DBVT_INLINE void SignedExpand(const btVector3& e); 144 DBVT_INLINE bool Contain(const btDbvtAabbMm& a) const; 145 DBVT_INLINE int Classify(const btVector3& n,btScalar o,int s) const; 146 DBVT_INLINE btScalar ProjectMinimum(const btVector3& v,unsigned signs) const; 147 DBVT_INLINE friend bool Intersect( const btDbvtAabbMm& a, 148 const btDbvtAabbMm& b); 149 150 DBVT_INLINE friend bool Intersect( const btDbvtAabbMm& a, 151 const btVector3& b); 152 153 DBVT_INLINE friend btScalar Proximity( const btDbvtAabbMm& a, 154 const btDbvtAabbMm& b); 155 DBVT_INLINE friend int Select( const btDbvtAabbMm& o, 156 const btDbvtAabbMm& a, 157 const btDbvtAabbMm& b); 158 DBVT_INLINE friend void Merge( const btDbvtAabbMm& a, 159 const btDbvtAabbMm& b, 160 btDbvtAabbMm& r); 161 DBVT_INLINE friend bool NotEqual( const btDbvtAabbMm& a, 162 const btDbvtAabbMm& b); 163 164 DBVT_INLINE btVector3& tMins() { return(mi); } 165 DBVT_INLINE btVector3& tMaxs() { return(mx); } 166 167 private: 168 DBVT_INLINE void AddSpan(const btVector3& d,btScalar& smi,btScalar& smx) const; 169 private: 170 btVector3 mi,mx; 171 }; 172 173 // Types 174 typedef btDbvtAabbMm btDbvtVolume; 175 176 /* btDbvtNode */ 177 struct btDbvtNode 178 { 179 btDbvtVolume volume; 180 btDbvtNode* parent; 181 DBVT_INLINE bool isleaf() const { return(childs[1]==0); } 182 DBVT_INLINE bool isinternal() const { return(!isleaf()); } 183 union 184 { 185 btDbvtNode* childs[2]; 186 void* data; 187 int dataAsInt; 188 }; 189 }; 190 191 ///The btDbvt class implements a fast dynamic bounding volume tree based on axis aligned bounding boxes (aabb tree). 192 ///This btDbvt is used for soft body collision detection and for the btDbvtBroadphase. It has a fast insert, remove and update of nodes. 193 ///Unlike the btQuantizedBvh, nodes can be dynamically moved around, which allows for change in topology of the underlying data structure. 194 struct btDbvt 195 { 196 /* Stack element */ 197 struct sStkNN 198 { 199 const btDbvtNode* a; 200 const btDbvtNode* b; 201 sStkNN() {} 202 sStkNN(const btDbvtNode* na,const btDbvtNode* nb) : a(na),b(nb) {} 203 }; 204 struct sStkNP 205 { 206 const btDbvtNode* node; 207 int mask; 208 sStkNP(const btDbvtNode* n,unsigned m) : node(n),mask(m) {} 209 }; 210 struct sStkNPS 211 { 212 const btDbvtNode* node; 213 int mask; 214 btScalar value; 215 sStkNPS() {} 216 sStkNPS(const btDbvtNode* n,unsigned m,btScalar v) : node(n),mask(m),value(v) {} 217 }; 218 struct sStkCLN 219 { 220 const btDbvtNode* node; 221 btDbvtNode* parent; 222 sStkCLN(const btDbvtNode* n,btDbvtNode* p) : node(n),parent(p) {} 223 }; 224 // Policies/Interfaces 225 226 /* ICollide */ 227 struct ICollide 228 { 229 DBVT_VIRTUAL_DTOR(ICollide) 230 DBVT_VIRTUAL void Process(const btDbvtNode*,const btDbvtNode*) {} 231 DBVT_VIRTUAL void Process(const btDbvtNode*) {} 232 DBVT_VIRTUAL void Process(const btDbvtNode* n,btScalar) { Process(n); } 233 DBVT_VIRTUAL bool Descent(const btDbvtNode*) { return(true); } 234 DBVT_VIRTUAL bool AllLeaves(const btDbvtNode*) { return(true); } 235 }; 236 /* IWriter */ 237 struct IWriter 238 { 239 virtual ~IWriter() {} 240 virtual void Prepare(const btDbvtNode* root,int numnodes)=0; 241 virtual void WriteNode(const btDbvtNode*,int index,int parent,int child0,int child1)=0; 242 virtual void WriteLeaf(const btDbvtNode*,int index,int parent)=0; 243 }; 244 /* IClone */ 245 struct IClone 246 { 247 virtual ~IClone() {} 248 virtual void CloneLeaf(btDbvtNode*) {} 249 }; 250 251 // Constants 252 enum { 253 SIMPLE_STACKSIZE = 64, 254 DOUBLE_STACKSIZE = SIMPLE_STACKSIZE*2 255 }; 256 257 // Fields 258 btDbvtNode* m_root; 259 btDbvtNode* m_free; 260 int m_lkhd; 261 int m_leaves; 262 unsigned m_opath; 263 264 265 btAlignedObjectArray<sStkNN> m_stkStack; 266 mutable btAlignedObjectArray<const btDbvtNode*> m_rayTestStack; 267 268 269 // Methods 270 btDbvt(); 271 ~btDbvt(); 272 void clear(); 273 bool empty() const { return(0==m_root); } 274 void optimizeBottomUp(); 275 void optimizeTopDown(int bu_treshold=128); 276 void optimizeIncremental(int passes); 277 btDbvtNode* insert(const btDbvtVolume& box,void* data); 278 void update(btDbvtNode* leaf,int lookahead=-1); 279 void update(btDbvtNode* leaf,btDbvtVolume& volume); 280 bool update(btDbvtNode* leaf,btDbvtVolume& volume,const btVector3& velocity,btScalar margin); 281 bool update(btDbvtNode* leaf,btDbvtVolume& volume,const btVector3& velocity); 282 bool update(btDbvtNode* leaf,btDbvtVolume& volume,btScalar margin); 283 void remove(btDbvtNode* leaf); 284 void write(IWriter* iwriter) const; 285 void clone(btDbvt& dest,IClone* iclone=0) const; 286 static int maxdepth(const btDbvtNode* node); 287 static int countLeaves(const btDbvtNode* node); 288 static void extractLeaves(const btDbvtNode* node,btAlignedObjectArray<const btDbvtNode*>& leaves); 289 #if DBVT_ENABLE_BENCHMARK 290 static void benchmark(); 291 #else 292 static void benchmark(){} 293 #endif 294 // DBVT_IPOLICY must support ICollide policy/interface 295 DBVT_PREFIX 296 static void enumNodes( const btDbvtNode* root, 297 DBVT_IPOLICY); 298 DBVT_PREFIX 299 static void enumLeaves( const btDbvtNode* root, 300 DBVT_IPOLICY); 301 DBVT_PREFIX 302 void collideTT( const btDbvtNode* root0, 303 const btDbvtNode* root1, 304 DBVT_IPOLICY); 305 306 DBVT_PREFIX 307 void collideTTpersistentStack( const btDbvtNode* root0, 308 const btDbvtNode* root1, 309 DBVT_IPOLICY); 310 #if 0 311 DBVT_PREFIX 312 void collideTT( const btDbvtNode* root0, 313 const btDbvtNode* root1, 314 const btTransform& xform, 315 DBVT_IPOLICY); 316 DBVT_PREFIX 317 void collideTT( const btDbvtNode* root0, 318 const btTransform& xform0, 319 const btDbvtNode* root1, 320 const btTransform& xform1, 321 DBVT_IPOLICY); 322 #endif 323 324 DBVT_PREFIX 325 void collideTV( const btDbvtNode* root, 326 const btDbvtVolume& volume, 327 DBVT_IPOLICY) const; 328 ///rayTest is a re-entrant ray test, and can be called in parallel as long as the btAlignedAlloc is thread-safe (uses locking etc) 329 ///rayTest is slower than rayTestInternal, because it builds a local stack, using memory allocations, and it recomputes signs/rayDirectionInverses each time 330 DBVT_PREFIX 331 static void rayTest( const btDbvtNode* root, 332 const btVector3& rayFrom, 333 const btVector3& rayTo, 334 DBVT_IPOLICY); 335 ///rayTestInternal is faster than rayTest, because it uses a persistent stack (to reduce dynamic memory allocations to a minimum) and it uses precomputed signs/rayInverseDirections 336 ///rayTestInternal is used by btDbvtBroadphase to accelerate world ray casts 337 DBVT_PREFIX 338 void rayTestInternal( const btDbvtNode* root, 339 const btVector3& rayFrom, 340 const btVector3& rayTo, 341 const btVector3& rayDirectionInverse, 342 unsigned int signs[3], 343 btScalar lambda_max, 344 const btVector3& aabbMin, 345 const btVector3& aabbMax, 346 DBVT_IPOLICY) const; 347 348 DBVT_PREFIX 349 static void collideKDOP(const btDbvtNode* root, 350 const btVector3* normals, 351 const btScalar* offsets, 352 int count, 353 DBVT_IPOLICY); 354 DBVT_PREFIX 355 static void collideOCL( const btDbvtNode* root, 356 const btVector3* normals, 357 const btScalar* offsets, 358 const btVector3& sortaxis, 359 int count, 360 DBVT_IPOLICY, 361 bool fullsort=true); 362 DBVT_PREFIX 363 static void collideTU( const btDbvtNode* root, 364 DBVT_IPOLICY); 365 // Helpers 366 static DBVT_INLINE int nearest(const int* i,const btDbvt::sStkNPS* a,btScalar v,int l,int h) 367 { 368 int m=0; 369 while(l<h) 370 { 371 m=(l+h)>>1; 372 if(a[i[m]].value>=v) l=m+1; else h=m; 373 } 374 return(h); 375 } 376 static DBVT_INLINE int allocate( btAlignedObjectArray<int>& ifree, 377 btAlignedObjectArray<sStkNPS>& stock, 378 const sStkNPS& value) 379 { 380 int i; 381 if(ifree.size()>0) 382 { i=ifree[ifree.size()-1];ifree.pop_back();stock[i]=value; } 383 else 384 { i=stock.size();stock.push_back(value); } 385 return(i); 386 } 387 // 388 private: 389 btDbvt(const btDbvt&) {} 390 }; 391 392 // 393 // Inline's 394 // 395 396 // 397 inline btDbvtAabbMm btDbvtAabbMm::FromCE(const btVector3& c,const btVector3& e) 398 { 399 btDbvtAabbMm box; 400 box.mi=c-e;box.mx=c+e; 401 return(box); 402 } 403 404 // 405 inline btDbvtAabbMm btDbvtAabbMm::FromCR(const btVector3& c,btScalar r) 406 { 407 return(FromCE(c,btVector3(r,r,r))); 408 } 409 410 // 411 inline btDbvtAabbMm btDbvtAabbMm::FromMM(const btVector3& mi,const btVector3& mx) 412 { 413 btDbvtAabbMm box; 414 box.mi=mi;box.mx=mx; 415 return(box); 416 } 417 418 // 419 inline btDbvtAabbMm btDbvtAabbMm::FromPoints(const btVector3* pts,int n) 420 { 421 btDbvtAabbMm box; 422 box.mi=box.mx=pts[0]; 423 for(int i=1;i<n;++i) 424 { 425 box.mi.setMin(pts[i]); 426 box.mx.setMax(pts[i]); 427 } 428 return(box); 429 } 430 431 // 432 inline btDbvtAabbMm btDbvtAabbMm::FromPoints(const btVector3** ppts,int n) 433 { 434 btDbvtAabbMm box; 435 box.mi=box.mx=*ppts[0]; 436 for(int i=1;i<n;++i) 437 { 438 box.mi.setMin(*ppts[i]); 439 box.mx.setMax(*ppts[i]); 440 } 441 return(box); 442 } 443 444 // 445 DBVT_INLINE void btDbvtAabbMm::Expand(const btVector3& e) 446 { 447 mi-=e;mx+=e; 448 } 449 450 // 451 DBVT_INLINE void btDbvtAabbMm::SignedExpand(const btVector3& e) 452 { 453 if(e.x()>0) mx.setX(mx.x()+e[0]); else mi.setX(mi.x()+e[0]); 454 if(e.y()>0) mx.setY(mx.y()+e[1]); else mi.setY(mi.y()+e[1]); 455 if(e.z()>0) mx.setZ(mx.z()+e[2]); else mi.setZ(mi.z()+e[2]); 456 } 457 458 // 459 DBVT_INLINE bool btDbvtAabbMm::Contain(const btDbvtAabbMm& a) const 460 { 461 return( (mi.x()<=a.mi.x())&& 462 (mi.y()<=a.mi.y())&& 463 (mi.z()<=a.mi.z())&& 464 (mx.x()>=a.mx.x())&& 465 (mx.y()>=a.mx.y())&& 466 (mx.z()>=a.mx.z())); 467 } 468 469 // 470 DBVT_INLINE int btDbvtAabbMm::Classify(const btVector3& n,btScalar o,int s) const 471 { 472 btVector3 pi,px; 473 switch(s) 474 { 475 case (0+0+0): px=btVector3(mi.x(),mi.y(),mi.z()); 476 pi=btVector3(mx.x(),mx.y(),mx.z());break; 477 case (1+0+0): px=btVector3(mx.x(),mi.y(),mi.z()); 478 pi=btVector3(mi.x(),mx.y(),mx.z());break; 479 case (0+2+0): px=btVector3(mi.x(),mx.y(),mi.z()); 480 pi=btVector3(mx.x(),mi.y(),mx.z());break; 481 case (1+2+0): px=btVector3(mx.x(),mx.y(),mi.z()); 482 pi=btVector3(mi.x(),mi.y(),mx.z());break; 483 case (0+0+4): px=btVector3(mi.x(),mi.y(),mx.z()); 484 pi=btVector3(mx.x(),mx.y(),mi.z());break; 485 case (1+0+4): px=btVector3(mx.x(),mi.y(),mx.z()); 486 pi=btVector3(mi.x(),mx.y(),mi.z());break; 487 case (0+2+4): px=btVector3(mi.x(),mx.y(),mx.z()); 488 pi=btVector3(mx.x(),mi.y(),mi.z());break; 489 case (1+2+4): px=btVector3(mx.x(),mx.y(),mx.z()); 490 pi=btVector3(mi.x(),mi.y(),mi.z());break; 491 } 492 if((btDot(n,px)+o)<0) return(-1); 493 if((btDot(n,pi)+o)>=0) return(+1); 494 return(0); 495 } 496 497 // 498 DBVT_INLINE btScalar btDbvtAabbMm::ProjectMinimum(const btVector3& v,unsigned signs) const 499 { 500 const btVector3* b[]={&mx,&mi}; 501 const btVector3 p( b[(signs>>0)&1]->x(), 502 b[(signs>>1)&1]->y(), 503 b[(signs>>2)&1]->z()); 504 return(btDot(p,v)); 505 } 506 507 // 508 DBVT_INLINE void btDbvtAabbMm::AddSpan(const btVector3& d,btScalar& smi,btScalar& smx) const 509 { 510 for(int i=0;i<3;++i) 511 { 512 if(d[i]<0) 513 { smi+=mx[i]*d[i];smx+=mi[i]*d[i]; } 514 else 515 { smi+=mi[i]*d[i];smx+=mx[i]*d[i]; } 516 } 517 } 518 519 // 520 DBVT_INLINE bool Intersect( const btDbvtAabbMm& a, 521 const btDbvtAabbMm& b) 522 { 523 #if DBVT_INT0_IMPL == DBVT_IMPL_SSE 524 const __m128 rt(_mm_or_ps( _mm_cmplt_ps(_mm_load_ps(b.mx),_mm_load_ps(a.mi)), 525 _mm_cmplt_ps(_mm_load_ps(a.mx),_mm_load_ps(b.mi)))); 526 #if defined (_WIN32) 527 const __int32* pu((const __int32*)&rt); 528 #else 529 const int* pu((const int*)&rt); 530 #endif 531 return((pu[0]|pu[1]|pu[2])==0); 532 #else 533 return( (a.mi.x()<=b.mx.x())&& 534 (a.mx.x()>=b.mi.x())&& 535 (a.mi.y()<=b.mx.y())&& 536 (a.mx.y()>=b.mi.y())&& 537 (a.mi.z()<=b.mx.z())&& 538 (a.mx.z()>=b.mi.z())); 539 #endif 540 } 541 542 543 544 // 545 DBVT_INLINE bool Intersect( const btDbvtAabbMm& a, 546 const btVector3& b) 547 { 548 return( (b.x()>=a.mi.x())&& 549 (b.y()>=a.mi.y())&& 550 (b.z()>=a.mi.z())&& 551 (b.x()<=a.mx.x())&& 552 (b.y()<=a.mx.y())&& 553 (b.z()<=a.mx.z())); 554 } 555 556 557 558 559 560 ////////////////////////////////////// 561 562 563 // 564 DBVT_INLINE btScalar Proximity( const btDbvtAabbMm& a, 565 const btDbvtAabbMm& b) 566 { 567 const btVector3 d=(a.mi+a.mx)-(b.mi+b.mx); 568 return(btFabs(d.x())+btFabs(d.y())+btFabs(d.z())); 569 } 570 571 572 573 // 574 DBVT_INLINE int Select( const btDbvtAabbMm& o, 575 const btDbvtAabbMm& a, 576 const btDbvtAabbMm& b) 577 { 578 #if DBVT_SELECT_IMPL == DBVT_IMPL_SSE 579 580 #if defined (_WIN32) 581 static ATTRIBUTE_ALIGNED16(const unsigned __int32) mask[]={0x7fffffff,0x7fffffff,0x7fffffff,0x7fffffff}; 582 #else 583 static ATTRIBUTE_ALIGNED16(const unsigned int) mask[]={0x7fffffff,0x7fffffff,0x7fffffff,0x00000000 /*0x7fffffff*/}; 584 #endif 585 ///@todo: the intrinsic version is 11% slower 586 #if DBVT_USE_INTRINSIC_SSE 587 588 union btSSEUnion ///NOTE: if we use more intrinsics, move btSSEUnion into the LinearMath directory 589 { 590 __m128 ssereg; 591 float floats[4]; 592 int ints[4]; 593 }; 594 595 __m128 omi(_mm_load_ps(o.mi)); 596 omi=_mm_add_ps(omi,_mm_load_ps(o.mx)); 597 __m128 ami(_mm_load_ps(a.mi)); 598 ami=_mm_add_ps(ami,_mm_load_ps(a.mx)); 599 ami=_mm_sub_ps(ami,omi); 600 ami=_mm_and_ps(ami,_mm_load_ps((const float*)mask)); 601 __m128 bmi(_mm_load_ps(b.mi)); 602 bmi=_mm_add_ps(bmi,_mm_load_ps(b.mx)); 603 bmi=_mm_sub_ps(bmi,omi); 604 bmi=_mm_and_ps(bmi,_mm_load_ps((const float*)mask)); 605 __m128 t0(_mm_movehl_ps(ami,ami)); 606 ami=_mm_add_ps(ami,t0); 607 ami=_mm_add_ss(ami,_mm_shuffle_ps(ami,ami,1)); 608 __m128 t1(_mm_movehl_ps(bmi,bmi)); 609 bmi=_mm_add_ps(bmi,t1); 610 bmi=_mm_add_ss(bmi,_mm_shuffle_ps(bmi,bmi,1)); 611 612 btSSEUnion tmp; 613 tmp.ssereg = _mm_cmple_ss(bmi,ami); 614 return tmp.ints[0]&1; 615 616 #else 617 ATTRIBUTE_ALIGNED16(__int32 r[1]); 618 __asm 619 { 620 mov eax,o 621 mov ecx,a 622 mov edx,b 623 movaps xmm0,[eax] 624 movaps xmm5,mask 625 addps xmm0,[eax+16] 626 movaps xmm1,[ecx] 627 movaps xmm2,[edx] 628 addps xmm1,[ecx+16] 629 addps xmm2,[edx+16] 630 subps xmm1,xmm0 631 subps xmm2,xmm0 632 andps xmm1,xmm5 633 andps xmm2,xmm5 634 movhlps xmm3,xmm1 635 movhlps xmm4,xmm2 636 addps xmm1,xmm3 637 addps xmm2,xmm4 638 pshufd xmm3,xmm1,1 639 pshufd xmm4,xmm2,1 640 addss xmm1,xmm3 641 addss xmm2,xmm4 642 cmpless xmm2,xmm1 643 movss r,xmm2 644 } 645 return(r[0]&1); 646 #endif 647 #else 648 return(Proximity(o,a)<Proximity(o,b)?0:1); 649 #endif 650 } 651 652 // 653 DBVT_INLINE void Merge( const btDbvtAabbMm& a, 654 const btDbvtAabbMm& b, 655 btDbvtAabbMm& r) 656 { 657 #if DBVT_MERGE_IMPL==DBVT_IMPL_SSE 658 __m128 ami(_mm_load_ps(a.mi)); 659 __m128 amx(_mm_load_ps(a.mx)); 660 __m128 bmi(_mm_load_ps(b.mi)); 661 __m128 bmx(_mm_load_ps(b.mx)); 662 ami=_mm_min_ps(ami,bmi); 663 amx=_mm_max_ps(amx,bmx); 664 _mm_store_ps(r.mi,ami); 665 _mm_store_ps(r.mx,amx); 666 #else 667 for(int i=0;i<3;++i) 668 { 669 if(a.mi[i]<b.mi[i]) r.mi[i]=a.mi[i]; else r.mi[i]=b.mi[i]; 670 if(a.mx[i]>b.mx[i]) r.mx[i]=a.mx[i]; else r.mx[i]=b.mx[i]; 671 } 672 #endif 673 } 674 675 // 676 DBVT_INLINE bool NotEqual( const btDbvtAabbMm& a, 677 const btDbvtAabbMm& b) 678 { 679 return( (a.mi.x()!=b.mi.x())|| 680 (a.mi.y()!=b.mi.y())|| 681 (a.mi.z()!=b.mi.z())|| 682 (a.mx.x()!=b.mx.x())|| 683 (a.mx.y()!=b.mx.y())|| 684 (a.mx.z()!=b.mx.z())); 685 } 686 687 // 688 // Inline's 689 // 690 691 // 692 DBVT_PREFIX 693 inline void btDbvt::enumNodes( const btDbvtNode* root, 694 DBVT_IPOLICY) 695 { 696 DBVT_CHECKTYPE 697 policy.Process(root); 698 if(root->isinternal()) 699 { 700 enumNodes(root->childs[0],policy); 701 enumNodes(root->childs[1],policy); 702 } 703 } 704 705 // 706 DBVT_PREFIX 707 inline void btDbvt::enumLeaves( const btDbvtNode* root, 708 DBVT_IPOLICY) 709 { 710 DBVT_CHECKTYPE 711 if(root->isinternal()) 712 { 713 enumLeaves(root->childs[0],policy); 714 enumLeaves(root->childs[1],policy); 715 } 716 else 717 { 718 policy.Process(root); 719 } 720 } 721 722 // 723 DBVT_PREFIX 724 inline void btDbvt::collideTT( const btDbvtNode* root0, 725 const btDbvtNode* root1, 726 DBVT_IPOLICY) 727 { 728 DBVT_CHECKTYPE 729 if(root0&&root1) 730 { 731 int depth=1; 732 int treshold=DOUBLE_STACKSIZE-4; 733 btAlignedObjectArray<sStkNN> stkStack; 734 stkStack.resize(DOUBLE_STACKSIZE); 735 stkStack[0]=sStkNN(root0,root1); 736 do { 737 sStkNN p=stkStack[--depth]; 738 if(depth>treshold) 739 { 740 stkStack.resize(stkStack.size()*2); 741 treshold=stkStack.size()-4; 742 } 743 if(p.a==p.b) 744 { 745 if(p.a->isinternal()) 746 { 747 stkStack[depth++]=sStkNN(p.a->childs[0],p.a->childs[0]); 748 stkStack[depth++]=sStkNN(p.a->childs[1],p.a->childs[1]); 749 stkStack[depth++]=sStkNN(p.a->childs[0],p.a->childs[1]); 750 } 751 } 752 else if(Intersect(p.a->volume,p.b->volume)) 753 { 754 if(p.a->isinternal()) 755 { 756 if(p.b->isinternal()) 757 { 758 stkStack[depth++]=sStkNN(p.a->childs[0],p.b->childs[0]); 759 stkStack[depth++]=sStkNN(p.a->childs[1],p.b->childs[0]); 760 stkStack[depth++]=sStkNN(p.a->childs[0],p.b->childs[1]); 761 stkStack[depth++]=sStkNN(p.a->childs[1],p.b->childs[1]); 762 } 763 else 764 { 765 stkStack[depth++]=sStkNN(p.a->childs[0],p.b); 766 stkStack[depth++]=sStkNN(p.a->childs[1],p.b); 767 } 768 } 769 else 770 { 771 if(p.b->isinternal()) 772 { 773 stkStack[depth++]=sStkNN(p.a,p.b->childs[0]); 774 stkStack[depth++]=sStkNN(p.a,p.b->childs[1]); 775 } 776 else 777 { 778 policy.Process(p.a,p.b); 779 } 780 } 781 } 782 } while(depth); 783 } 784 } 785 786 787 788 DBVT_PREFIX 789 inline void btDbvt::collideTTpersistentStack( const btDbvtNode* root0, 790 const btDbvtNode* root1, 791 DBVT_IPOLICY) 792 { 793 DBVT_CHECKTYPE 794 if(root0&&root1) 795 { 796 int depth=1; 797 int treshold=DOUBLE_STACKSIZE-4; 798 799 m_stkStack.resize(DOUBLE_STACKSIZE); 800 m_stkStack[0]=sStkNN(root0,root1); 801 do { 802 sStkNN p=m_stkStack[--depth]; 803 if(depth>treshold) 804 { 805 m_stkStack.resize(m_stkStack.size()*2); 806 treshold=m_stkStack.size()-4; 807 } 808 if(p.a==p.b) 809 { 810 if(p.a->isinternal()) 811 { 812 m_stkStack[depth++]=sStkNN(p.a->childs[0],p.a->childs[0]); 813 m_stkStack[depth++]=sStkNN(p.a->childs[1],p.a->childs[1]); 814 m_stkStack[depth++]=sStkNN(p.a->childs[0],p.a->childs[1]); 815 } 816 } 817 else if(Intersect(p.a->volume,p.b->volume)) 818 { 819 if(p.a->isinternal()) 820 { 821 if(p.b->isinternal()) 822 { 823 m_stkStack[depth++]=sStkNN(p.a->childs[0],p.b->childs[0]); 824 m_stkStack[depth++]=sStkNN(p.a->childs[1],p.b->childs[0]); 825 m_stkStack[depth++]=sStkNN(p.a->childs[0],p.b->childs[1]); 826 m_stkStack[depth++]=sStkNN(p.a->childs[1],p.b->childs[1]); 827 } 828 else 829 { 830 m_stkStack[depth++]=sStkNN(p.a->childs[0],p.b); 831 m_stkStack[depth++]=sStkNN(p.a->childs[1],p.b); 832 } 833 } 834 else 835 { 836 if(p.b->isinternal()) 837 { 838 m_stkStack[depth++]=sStkNN(p.a,p.b->childs[0]); 839 m_stkStack[depth++]=sStkNN(p.a,p.b->childs[1]); 840 } 841 else 842 { 843 policy.Process(p.a,p.b); 844 } 845 } 846 } 847 } while(depth); 848 } 849 } 850 851 #if 0 852 // 853 DBVT_PREFIX 854 inline void btDbvt::collideTT( const btDbvtNode* root0, 855 const btDbvtNode* root1, 856 const btTransform& xform, 857 DBVT_IPOLICY) 858 { 859 DBVT_CHECKTYPE 860 if(root0&&root1) 861 { 862 int depth=1; 863 int treshold=DOUBLE_STACKSIZE-4; 864 btAlignedObjectArray<sStkNN> stkStack; 865 stkStack.resize(DOUBLE_STACKSIZE); 866 stkStack[0]=sStkNN(root0,root1); 867 do { 868 sStkNN p=stkStack[--depth]; 869 if(Intersect(p.a->volume,p.b->volume,xform)) 870 { 871 if(depth>treshold) 872 { 873 stkStack.resize(stkStack.size()*2); 874 treshold=stkStack.size()-4; 875 } 876 if(p.a->isinternal()) 877 { 878 if(p.b->isinternal()) 879 { 880 stkStack[depth++]=sStkNN(p.a->childs[0],p.b->childs[0]); 881 stkStack[depth++]=sStkNN(p.a->childs[1],p.b->childs[0]); 882 stkStack[depth++]=sStkNN(p.a->childs[0],p.b->childs[1]); 883 stkStack[depth++]=sStkNN(p.a->childs[1],p.b->childs[1]); 884 } 885 else 886 { 887 stkStack[depth++]=sStkNN(p.a->childs[0],p.b); 888 stkStack[depth++]=sStkNN(p.a->childs[1],p.b); 889 } 890 } 891 else 892 { 893 if(p.b->isinternal()) 894 { 895 stkStack[depth++]=sStkNN(p.a,p.b->childs[0]); 896 stkStack[depth++]=sStkNN(p.a,p.b->childs[1]); 897 } 898 else 899 { 900 policy.Process(p.a,p.b); 901 } 902 } 903 } 904 } while(depth); 905 } 906 } 907 // 908 DBVT_PREFIX 909 inline void btDbvt::collideTT( const btDbvtNode* root0, 910 const btTransform& xform0, 911 const btDbvtNode* root1, 912 const btTransform& xform1, 913 DBVT_IPOLICY) 914 { 915 const btTransform xform=xform0.inverse()*xform1; 916 collideTT(root0,root1,xform,policy); 917 } 918 #endif 919 920 // 921 DBVT_PREFIX 922 inline void btDbvt::collideTV( const btDbvtNode* root, 923 const btDbvtVolume& vol, 924 DBVT_IPOLICY) const 925 { 926 DBVT_CHECKTYPE 927 if(root) 928 { 929 ATTRIBUTE_ALIGNED16(btDbvtVolume) volume(vol); 930 btAlignedObjectArray<const btDbvtNode*> stack; 931 stack.resize(0); 932 stack.reserve(SIMPLE_STACKSIZE); 933 stack.push_back(root); 934 do { 935 const btDbvtNode* n=stack[stack.size()-1]; 936 stack.pop_back(); 937 if(Intersect(n->volume,volume)) 938 { 939 if(n->isinternal()) 940 { 941 stack.push_back(n->childs[0]); 942 stack.push_back(n->childs[1]); 943 } 944 else 945 { 946 policy.Process(n); 947 } 948 } 949 } while(stack.size()>0); 950 } 951 } 952 953 DBVT_PREFIX 954 inline void btDbvt::rayTestInternal( const btDbvtNode* root, 955 const btVector3& rayFrom, 956 const btVector3& rayTo, 957 const btVector3& rayDirectionInverse, 958 unsigned int signs[3], 959 btScalar lambda_max, 960 const btVector3& aabbMin, 961 const btVector3& aabbMax, 962 DBVT_IPOLICY) const 963 { 964 (void) rayTo; 965 DBVT_CHECKTYPE 966 if(root) 967 { 968 btVector3 resultNormal; 969 970 int depth=1; 971 int treshold=DOUBLE_STACKSIZE-2; 972 btAlignedObjectArray<const btDbvtNode*>& stack = m_rayTestStack; 973 stack.resize(DOUBLE_STACKSIZE); 974 stack[0]=root; 975 btVector3 bounds[2]; 976 do 977 { 978 const btDbvtNode* node=stack[--depth]; 979 bounds[0] = node->volume.Mins()-aabbMax; 980 bounds[1] = node->volume.Maxs()-aabbMin; 981 btScalar tmin=1.f,lambda_min=0.f; 982 unsigned int result1=false; 983 result1 = btRayAabb2(rayFrom,rayDirectionInverse,signs,bounds,tmin,lambda_min,lambda_max); 984 if(result1) 985 { 986 if(node->isinternal()) 987 { 988 if(depth>treshold) 989 { 990 stack.resize(stack.size()*2); 991 treshold=stack.size()-2; 992 } 993 stack[depth++]=node->childs[0]; 994 stack[depth++]=node->childs[1]; 995 } 996 else 997 { 998 policy.Process(node); 999 } 1000 } 1001 } while(depth); 1002 } 1003 } 1004 1005 // 1006 DBVT_PREFIX 1007 inline void btDbvt::rayTest( const btDbvtNode* root, 1008 const btVector3& rayFrom, 1009 const btVector3& rayTo, 1010 DBVT_IPOLICY) 1011 { 1012 DBVT_CHECKTYPE 1013 if(root) 1014 { 1015 btVector3 rayDir = (rayTo-rayFrom); 1016 rayDir.normalize (); 1017 1018 ///what about division by zero? --> just set rayDirection[i] to INF/BT_LARGE_FLOAT 1019 btVector3 rayDirectionInverse; 1020 rayDirectionInverse[0] = rayDir[0] == btScalar(0.0) ? btScalar(BT_LARGE_FLOAT) : btScalar(1.0) / rayDir[0]; 1021 rayDirectionInverse[1] = rayDir[1] == btScalar(0.0) ? btScalar(BT_LARGE_FLOAT) : btScalar(1.0) / rayDir[1]; 1022 rayDirectionInverse[2] = rayDir[2] == btScalar(0.0) ? btScalar(BT_LARGE_FLOAT) : btScalar(1.0) / rayDir[2]; 1023 unsigned int signs[3] = { rayDirectionInverse[0] < 0.0, rayDirectionInverse[1] < 0.0, rayDirectionInverse[2] < 0.0}; 1024 1025 btScalar lambda_max = rayDir.dot(rayTo-rayFrom); 1026 1027 btVector3 resultNormal; 1028 1029 btAlignedObjectArray<const btDbvtNode*> stack; 1030 1031 int depth=1; 1032 int treshold=DOUBLE_STACKSIZE-2; 1033 1034 stack.resize(DOUBLE_STACKSIZE); 1035 stack[0]=root; 1036 btVector3 bounds[2]; 1037 do { 1038 const btDbvtNode* node=stack[--depth]; 1039 1040 bounds[0] = node->volume.Mins(); 1041 bounds[1] = node->volume.Maxs(); 1042 1043 btScalar tmin=1.f,lambda_min=0.f; 1044 unsigned int result1 = btRayAabb2(rayFrom,rayDirectionInverse,signs,bounds,tmin,lambda_min,lambda_max); 1045 1046 #ifdef COMPARE_BTRAY_AABB2 1047 btScalar param=1.f; 1048 bool result2 = btRayAabb(rayFrom,rayTo,node->volume.Mins(),node->volume.Maxs(),param,resultNormal); 1049 btAssert(result1 == result2); 1050 #endif //TEST_BTRAY_AABB2 1051 1052 if(result1) 1053 { 1054 if(node->isinternal()) 1055 { 1056 if(depth>treshold) 1057 { 1058 stack.resize(stack.size()*2); 1059 treshold=stack.size()-2; 1060 } 1061 stack[depth++]=node->childs[0]; 1062 stack[depth++]=node->childs[1]; 1063 } 1064 else 1065 { 1066 policy.Process(node); 1067 } 1068 } 1069 } while(depth); 1070 1071 } 1072 } 1073 1074 // 1075 DBVT_PREFIX 1076 inline void btDbvt::collideKDOP(const btDbvtNode* root, 1077 const btVector3* normals, 1078 const btScalar* offsets, 1079 int count, 1080 DBVT_IPOLICY) 1081 { 1082 DBVT_CHECKTYPE 1083 if(root) 1084 { 1085 const int inside=(1<<count)-1; 1086 btAlignedObjectArray<sStkNP> stack; 1087 int signs[sizeof(unsigned)*8]; 1088 btAssert(count<int (sizeof(signs)/sizeof(signs[0]))); 1089 for(int i=0;i<count;++i) 1090 { 1091 signs[i]= ((normals[i].x()>=0)?1:0)+ 1092 ((normals[i].y()>=0)?2:0)+ 1093 ((normals[i].z()>=0)?4:0); 1094 } 1095 stack.reserve(SIMPLE_STACKSIZE); 1096 stack.push_back(sStkNP(root,0)); 1097 do { 1098 sStkNP se=stack[stack.size()-1]; 1099 bool out=false; 1100 stack.pop_back(); 1101 for(int i=0,j=1;(!out)&&(i<count);++i,j<<=1) 1102 { 1103 if(0==(se.mask&j)) 1104 { 1105 const int side=se.node->volume.Classify(normals[i],offsets[i],signs[i]); 1106 switch(side) 1107 { 1108 case -1: out=true;break; 1109 case +1: se.mask|=j;break; 1110 } 1111 } 1112 } 1113 if(!out) 1114 { 1115 if((se.mask!=inside)&&(se.node->isinternal())) 1116 { 1117 stack.push_back(sStkNP(se.node->childs[0],se.mask)); 1118 stack.push_back(sStkNP(se.node->childs[1],se.mask)); 1119 } 1120 else 1121 { 1122 if(policy.AllLeaves(se.node)) enumLeaves(se.node,policy); 1123 } 1124 } 1125 } while(stack.size()); 1126 } 1127 } 1128 1129 // 1130 DBVT_PREFIX 1131 inline void btDbvt::collideOCL( const btDbvtNode* root, 1132 const btVector3* normals, 1133 const btScalar* offsets, 1134 const btVector3& sortaxis, 1135 int count, 1136 DBVT_IPOLICY, 1137 bool fsort) 1138 { 1139 DBVT_CHECKTYPE 1140 if(root) 1141 { 1142 const unsigned srtsgns=(sortaxis[0]>=0?1:0)+ 1143 (sortaxis[1]>=0?2:0)+ 1144 (sortaxis[2]>=0?4:0); 1145 const int inside=(1<<count)-1; 1146 btAlignedObjectArray<sStkNPS> stock; 1147 btAlignedObjectArray<int> ifree; 1148 btAlignedObjectArray<int> stack; 1149 int signs[sizeof(unsigned)*8]; 1150 btAssert(count<int (sizeof(signs)/sizeof(signs[0]))); 1151 for(int i=0;i<count;++i) 1152 { 1153 signs[i]= ((normals[i].x()>=0)?1:0)+ 1154 ((normals[i].y()>=0)?2:0)+ 1155 ((normals[i].z()>=0)?4:0); 1156 } 1157 stock.reserve(SIMPLE_STACKSIZE); 1158 stack.reserve(SIMPLE_STACKSIZE); 1159 ifree.reserve(SIMPLE_STACKSIZE); 1160 stack.push_back(allocate(ifree,stock,sStkNPS(root,0,root->volume.ProjectMinimum(sortaxis,srtsgns)))); 1161 do { 1162 const int id=stack[stack.size()-1]; 1163 sStkNPS se=stock[id]; 1164 stack.pop_back();ifree.push_back(id); 1165 if(se.mask!=inside) 1166 { 1167 bool out=false; 1168 for(int i=0,j=1;(!out)&&(i<count);++i,j<<=1) 1169 { 1170 if(0==(se.mask&j)) 1171 { 1172 const int side=se.node->volume.Classify(normals[i],offsets[i],signs[i]); 1173 switch(side) 1174 { 1175 case -1: out=true;break; 1176 case +1: se.mask|=j;break; 1177 } 1178 } 1179 } 1180 if(out) continue; 1181 } 1182 if(policy.Descent(se.node)) 1183 { 1184 if(se.node->isinternal()) 1185 { 1186 const btDbvtNode* pns[]={ se.node->childs[0],se.node->childs[1]}; 1187 sStkNPS nes[]={ sStkNPS(pns[0],se.mask,pns[0]->volume.ProjectMinimum(sortaxis,srtsgns)), 1188 sStkNPS(pns[1],se.mask,pns[1]->volume.ProjectMinimum(sortaxis,srtsgns))}; 1189 const int q=nes[0].value<nes[1].value?1:0; 1190 int j=stack.size(); 1191 if(fsort&&(j>0)) 1192 { 1193 /* Insert 0 */ 1194 j=nearest(&stack[0],&stock[0],nes[q].value,0,stack.size()); 1195 stack.push_back(0); 1196 1197 //void * memmove ( void * destination, const void * source, size_t num ); 1198 1199 //#if DBVT_USE_MEMMOVE 1200 // memmove(&stack[j],&stack[j-1],sizeof(int)*(stack.size()-j-1)); 1201 //#else 1202 for(int k=stack.size()-1;k>j;--k) 1203 { 1204 stack[k]=stack[k-1]; 1205 } 1206 //#endif 1207 stack[j]=allocate(ifree,stock,nes[q]); 1208 /* Insert 1 */ 1209 j=nearest(&stack[0],&stock[0],nes[1-q].value,j,stack.size()); 1210 stack.push_back(0); 1211 //#if DBVT_USE_MEMMOVE 1212 // memmove(&stack[j],&stack[j-1],sizeof(int)*(stack.size()-j-1)); 1213 //#else 1214 for(int k=stack.size()-1;k>j;--k) stack[k]=stack[k-1]; 1215 //#endif 1216 stack[j]=allocate(ifree,stock,nes[1-q]); 1217 } 1218 else 1219 { 1220 stack.push_back(allocate(ifree,stock,nes[q])); 1221 stack.push_back(allocate(ifree,stock,nes[1-q])); 1222 } 1223 } 1224 else 1225 { 1226 policy.Process(se.node,se.value); 1227 } 1228 } 1229 } while(stack.size()); 1230 } 1231 } 1232 1233 // 1234 DBVT_PREFIX 1235 inline void btDbvt::collideTU( const btDbvtNode* root, 1236 DBVT_IPOLICY) 1237 { 1238 DBVT_CHECKTYPE 1239 if(root) 1240 { 1241 btAlignedObjectArray<const btDbvtNode*> stack; 1242 stack.reserve(SIMPLE_STACKSIZE); 1243 stack.push_back(root); 1244 do { 1245 const btDbvtNode* n=stack[stack.size()-1]; 1246 stack.pop_back(); 1247 if(policy.Descent(n)) 1248 { 1249 if(n->isinternal()) 1250 { stack.push_back(n->childs[0]);stack.push_back(n->childs[1]); } 1251 else 1252 { policy.Process(n); } 1253 } 1254 } while(stack.size()>0); 1255 } 1256 } 1257 1258 // 1259 // PP Cleanup 1260 // 1261 1262 #undef DBVT_USE_MEMMOVE 1263 #undef DBVT_USE_TEMPLATE 1264 #undef DBVT_VIRTUAL_DTOR 1265 #undef DBVT_VIRTUAL 1266 #undef DBVT_PREFIX 1267 #undef DBVT_IPOLICY 1268 #undef DBVT_CHECKTYPE 1269 #undef DBVT_IMPL_GENERIC 1270 #undef DBVT_IMPL_SSE 1271 #undef DBVT_USE_INTRINSIC_SSE 1272 #undef DBVT_SELECT_IMPL 1273 #undef DBVT_MERGE_IMPL 1274 #undef DBVT_INT0_IMPL 1275 1276 #endif 1277
