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author | dan miller | 2007-10-19 05:20:48 +0000 |
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committer | dan miller | 2007-10-19 05:20:48 +0000 |
commit | d48ea5bb797037069d641da41da0f195f0124491 (patch) | |
tree | 40ff433d94859d629aac933d5ec73b382f62ba1a /libraries/ode-0.9/OPCODE/OPC_AABBTree.h | |
parent | dont ask (diff) | |
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one more for the gipper
Diffstat (limited to 'libraries/ode-0.9/OPCODE/OPC_AABBTree.h')
-rw-r--r-- | libraries/ode-0.9/OPCODE/OPC_AABBTree.h | 137 |
1 files changed, 137 insertions, 0 deletions
diff --git a/libraries/ode-0.9/OPCODE/OPC_AABBTree.h b/libraries/ode-0.9/OPCODE/OPC_AABBTree.h new file mode 100644 index 0000000..ee2533d --- /dev/null +++ b/libraries/ode-0.9/OPCODE/OPC_AABBTree.h | |||
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1 | /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// | ||
2 | /* | ||
3 | * OPCODE - Optimized Collision Detection | ||
4 | * Copyright (C) 2001 Pierre Terdiman | ||
5 | * Homepage: http://www.codercorner.com/Opcode.htm | ||
6 | */ | ||
7 | /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// | ||
8 | |||
9 | /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// | ||
10 | /** | ||
11 | * Contains code for a versatile AABB tree. | ||
12 | * \file OPC_AABBTree.h | ||
13 | * \author Pierre Terdiman | ||
14 | * \date March, 20, 2001 | ||
15 | */ | ||
16 | /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// | ||
17 | |||
18 | /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// | ||
19 | // Include Guard | ||
20 | #ifndef __OPC_AABBTREE_H__ | ||
21 | #define __OPC_AABBTREE_H__ | ||
22 | |||
23 | #ifdef OPC_NO_NEG_VANILLA_TREE | ||
24 | //! TO BE DOCUMENTED | ||
25 | #define IMPLEMENT_TREE(base_class, volume) \ | ||
26 | public: \ | ||
27 | /* Constructor / Destructor */ \ | ||
28 | base_class(); \ | ||
29 | ~base_class(); \ | ||
30 | /* Data access */ \ | ||
31 | inline_ const volume* Get##volume() const { return &mBV; } \ | ||
32 | /* Clear the last bit */ \ | ||
33 | inline_ const base_class* GetPos() const { return (const base_class*)(mPos&~1); } \ | ||
34 | inline_ const base_class* GetNeg() const { const base_class* P = GetPos(); return P ? P+1 : null;} \ | ||
35 | \ | ||
36 | /* We don't need to test both nodes since we can't have one without the other */ \ | ||
37 | inline_ bool IsLeaf() const { return !GetPos(); } \ | ||
38 | \ | ||
39 | /* Stats */ \ | ||
40 | inline_ udword GetNodeSize() const { return SIZEOFOBJECT; } \ | ||
41 | protected: \ | ||
42 | /* Tree-independent data */ \ | ||
43 | /* Following data always belong to the BV-tree, regardless of what the tree actually contains.*/ \ | ||
44 | /* Whatever happens we need the two children and the enclosing volume.*/ \ | ||
45 | volume mBV; /* Global bounding-volume enclosing all the node-related primitives */ \ | ||
46 | size_t mPos; /* "Positive" & "Negative" children */ | ||
47 | #else | ||
48 | //! TO BE DOCUMENTED | ||
49 | #define IMPLEMENT_TREE(base_class, volume) \ | ||
50 | public: \ | ||
51 | /* Constructor / Destructor */ \ | ||
52 | base_class(); \ | ||
53 | ~base_class(); \ | ||
54 | /* Data access */ \ | ||
55 | inline_ const volume* Get##volume() const { return &mBV; } \ | ||
56 | /* Clear the last bit */ \ | ||
57 | inline_ const base_class* GetPos() const { return (const base_class*)(mPos&~1); } \ | ||
58 | inline_ const base_class* GetNeg() const { return (const base_class*)(mNeg&~1); } \ | ||
59 | \ | ||
60 | /* inline_ bool IsLeaf() const { return (!GetPos() && !GetNeg()); } */ \ | ||
61 | /* We don't need to test both nodes since we can't have one without the other */ \ | ||
62 | inline_ bool IsLeaf() const { return !GetPos(); } \ | ||
63 | \ | ||
64 | /* Stats */ \ | ||
65 | inline_ udword GetNodeSize() const { return SIZEOFOBJECT; } \ | ||
66 | protected: \ | ||
67 | /* Tree-independent data */ \ | ||
68 | /* Following data always belong to the BV-tree, regardless of what the tree actually contains.*/ \ | ||
69 | /* Whatever happens we need the two children and the enclosing volume.*/ \ | ||
70 | volume mBV; /* Global bounding-volume enclosing all the node-related primitives */ \ | ||
71 | size_t mPos; /* "Positive" child */ \ | ||
72 | size_t mNeg; /* "Negative" child */ | ||
73 | #endif | ||
74 | |||
75 | typedef void (*CullingCallback) (udword nb_primitives, udword* node_primitives, BOOL need_clipping, void* user_data); | ||
76 | |||
77 | class OPCODE_API AABBTreeNode | ||
78 | { | ||
79 | IMPLEMENT_TREE(AABBTreeNode, AABB) | ||
80 | public: | ||
81 | // Data access | ||
82 | inline_ const udword* GetPrimitives() const { return mNodePrimitives; } | ||
83 | inline_ udword GetNbPrimitives() const { return mNbPrimitives; } | ||
84 | |||
85 | protected: | ||
86 | // Tree-dependent data | ||
87 | udword* mNodePrimitives; //!< Node-related primitives (shortcut to a position in mIndices below) | ||
88 | udword mNbPrimitives; //!< Number of primitives for this node | ||
89 | // Internal methods | ||
90 | udword Split(udword axis, AABBTreeBuilder* builder); | ||
91 | bool Subdivide(AABBTreeBuilder* builder); | ||
92 | void _BuildHierarchy(AABBTreeBuilder* builder); | ||
93 | void _Refit(AABBTreeBuilder* builder); | ||
94 | }; | ||
95 | |||
96 | /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// | ||
97 | /** | ||
98 | * User-callback, called for each node by the walking code. | ||
99 | * \param current [in] current node | ||
100 | * \param depth [in] current node's depth | ||
101 | * \param user_data [in] user-defined data | ||
102 | * \return true to recurse through children, else false to bypass them | ||
103 | */ | ||
104 | /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// | ||
105 | typedef bool (*WalkingCallback) (const AABBTreeNode* current, udword depth, void* user_data); | ||
106 | |||
107 | class OPCODE_API AABBTree : public AABBTreeNode | ||
108 | { | ||
109 | public: | ||
110 | // Constructor / Destructor | ||
111 | AABBTree(); | ||
112 | ~AABBTree(); | ||
113 | // Build | ||
114 | bool Build(AABBTreeBuilder* builder); | ||
115 | void Release(); | ||
116 | |||
117 | // Data access | ||
118 | inline_ const udword* GetIndices() const { return mIndices; } //!< Catch the indices | ||
119 | inline_ udword GetNbNodes() const { return mTotalNbNodes; } //!< Catch the number of nodes | ||
120 | |||
121 | // Infos | ||
122 | bool IsComplete() const; | ||
123 | // Stats | ||
124 | udword ComputeDepth() const; | ||
125 | udword GetUsedBytes() const; | ||
126 | udword Walk(WalkingCallback callback, void* user_data) const; | ||
127 | |||
128 | bool Refit(AABBTreeBuilder* builder); | ||
129 | bool Refit2(AABBTreeBuilder* builder); | ||
130 | private: | ||
131 | udword* mIndices; //!< Indices in the app list. Indices are reorganized during build (permutation). | ||
132 | AABBTreeNode* mPool; //!< Linear pool of nodes for complete trees. Null otherwise. [Opcode 1.3] | ||
133 | // Stats | ||
134 | udword mTotalNbNodes; //!< Number of nodes in the tree. | ||
135 | }; | ||
136 | |||
137 | #endif // __OPC_AABBTREE_H__ | ||