1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
188
189
190
191
192
193
194
195
196
197
198
199
200
201
202
203
204
205
206
207
208
209
210
211
212
213
214
215
216
217
218
219
220
221
222
223
224
225
226
227
228
229
230
231
232
233
234
235
236
237
238
239
240
241
242
243
244
245
246
247
248
249
250
251
252
253
254
255
256
257
258
259
|
//
// Redistribution and use in source and binary forms, with or without
// modification, are permitted provided that the following conditions
// are met:
// * Redistributions of source code must retain the above copyright
// notice, this list of conditions and the following disclaimer.
// * Redistributions in binary form must reproduce the above copyright
// notice, this list of conditions and the following disclaimer in the
// documentation and/or other materials provided with the distribution.
// * Neither the name of NVIDIA CORPORATION nor the names of its
// contributors may be used to endorse or promote products derived
// from this software without specific prior written permission.
//
// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ``AS IS'' AND ANY
// EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR
// PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR
// CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL,
// EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO,
// PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR
// PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY
// OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
// OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
//
// Copyright (c) 2008-2018 NVIDIA Corporation. All rights reserved.
// Copyright (c) 2004-2008 AGEIA Technologies, Inc. All rights reserved.
// Copyright (c) 2001-2004 NovodeX AG. All rights reserved.
#ifndef SQ_AABBTREE_H
#define SQ_AABBTREE_H
#include "foundation/PxMemory.h"
#include "foundation/PxBounds3.h"
#include "PsUserAllocated.h"
#include "PsVecMath.h"
#include "SqTypedef.h"
#include "SqAABBTreeBuild.h"
#include "PsArray.h"
namespace physx
{
using namespace shdfnd::aos;
namespace Sq
{
class AABBTreeUpdateMap;
typedef Ps::Pair<PxU32, PxU32> TreeMergePair;
typedef Ps::Array<TreeMergePair > TreeMergeMap;
class BitArray
{
public:
BitArray() : mBits(NULL), mSize(0) {}
BitArray(PxU32 nb_bits) { init(nb_bits); }
~BitArray() { PX_FREE_AND_RESET(mBits); mBits = NULL; }
bool init(PxU32 nb_bits);
// Data management
PX_FORCE_INLINE void setBit(PxU32 bit_number)
{
mBits[bit_number>>5] |= 1<<(bit_number&31);
}
PX_FORCE_INLINE void clearBit(PxU32 bit_number)
{
mBits[bit_number>>5] &= ~(1<<(bit_number&31));
}
PX_FORCE_INLINE void toggleBit(PxU32 bit_number)
{
mBits[bit_number>>5] ^= 1<<(bit_number&31);
}
PX_FORCE_INLINE void clearAll() { PxMemZero(mBits, mSize*4); }
PX_FORCE_INLINE void setAll() { PxMemSet(mBits, 0xff, mSize*4); }
void resize(PxU32 maxBitNumber);
// Data access
PX_FORCE_INLINE Ps::IntBool isSet(PxU32 bit_number) const
{
return Ps::IntBool(mBits[bit_number>>5] & (1<<(bit_number&31)));
}
PX_FORCE_INLINE const PxU32* getBits() const { return mBits; }
PX_FORCE_INLINE PxU32 getSize() const { return mSize; }
protected:
PxU32* mBits; //!< Array of bits
PxU32 mSize; //!< Size of the array in dwords
};
//! AABB tree node used for runtime (smaller than for build)
class AABBTreeRuntimeNode : public Ps::UserAllocated
{
public:
PX_FORCE_INLINE AABBTreeRuntimeNode() {}
PX_FORCE_INLINE ~AABBTreeRuntimeNode() {}
PX_FORCE_INLINE PxU32 isLeaf() const { return mData&1; }
PX_FORCE_INLINE const PxU32* getPrimitives(const PxU32* base) const { return base + (mData>>5); }
PX_FORCE_INLINE PxU32* getPrimitives(PxU32* base) { return base + (mData>>5); }
PX_FORCE_INLINE PxU32 getNbPrimitives() const { return (mData>>1)&15; }
PX_FORCE_INLINE PxU32 getPosIndex() const { return mData>>1; }
PX_FORCE_INLINE PxU32 getNegIndex() const { return (mData>>1) + 1; }
PX_FORCE_INLINE const AABBTreeRuntimeNode* getPos(const AABBTreeRuntimeNode* base) const { return base + (mData>>1); }
PX_FORCE_INLINE const AABBTreeRuntimeNode* getNeg(const AABBTreeRuntimeNode* base) const { const AABBTreeRuntimeNode* P = getPos(base); return P ? P+1 : NULL;}
PX_FORCE_INLINE AABBTreeRuntimeNode* getPos(AABBTreeRuntimeNode* base) { return base + (mData >> 1); }
PX_FORCE_INLINE AABBTreeRuntimeNode* getNeg(AABBTreeRuntimeNode* base) { AABBTreeRuntimeNode* P = getPos(base); return P ? P + 1 : NULL; }
PX_FORCE_INLINE PxU32 getNbRuntimePrimitives() const { return (mData>>1)&15; }
PX_FORCE_INLINE void setNbRunTimePrimitives(PxU32 val)
{
PX_ASSERT(val<16);
PxU32 data = mData & ~(15<<1);
data |= val<<1;
mData = data;
}
PX_FORCE_INLINE void getAABBCenterExtentsV(Vec3V* center, Vec3V* extents) const
{
const Vec4V minV = V4LoadU(&mBV.minimum.x);
const Vec4V maxV = V4LoadU(&mBV.maximum.x);
const float half = 0.5f;
const FloatV halfV = FLoad(half);
*extents = Vec3V_From_Vec4V(V4Scale(V4Sub(maxV, minV), halfV));
*center = Vec3V_From_Vec4V(V4Scale(V4Add(maxV, minV), halfV));
}
PX_FORCE_INLINE void getAABBCenterExtentsV2(Vec3V* center, Vec3V* extents) const
{
const Vec4V minV = V4LoadU(&mBV.minimum.x);
const Vec4V maxV = V4LoadU(&mBV.maximum.x);
*extents = Vec3V_From_Vec4V(V4Sub(maxV, minV));
*center = Vec3V_From_Vec4V(V4Add(maxV, minV));
}
PX_FORCE_INLINE void getAABBMinMaxV(Vec4V* minV, Vec4V* maxV) const
{
*minV = V4LoadU(&mBV.minimum.x);
*maxV = V4LoadU(&mBV.maximum.x);
}
PxBounds3 mBV; // Global bounding-volume enclosing all the node-related primitives
PxU32 mData; // 27 bits node or prim index|4 bits #prims|1 bit leaf
};
//! Contains AABB-tree merge parameters
class AABBTreeMergeData
{
public:
AABBTreeMergeData(PxU32 nbNodes, const AABBTreeRuntimeNode* nodes, PxU32 nbIndices, const PxU32* indices, PxU32 indicesOffset) :
mNbNodes(nbNodes), mNodes(nodes), mNbIndices(nbIndices), mIndices(indices), mIndicesOffset(indicesOffset)
{
}
~AABBTreeMergeData() {}
PX_FORCE_INLINE const AABBTreeRuntimeNode& getRootNode() const { return mNodes[0]; }
public:
PxU32 mNbNodes; //!< Number of nodes of AABB tree merge
const AABBTreeRuntimeNode* mNodes; //!< Nodes of AABB tree merge
PxU32 mNbIndices; //!< Number of indices of AABB tree merge
const PxU32* mIndices; //!< Indices of AABB tree merge
PxU32 mIndicesOffset; //!< Indices offset from pruning pool
};
// Progressive building
class FIFOStack;
//~Progressive building
//! AABB-tree, N primitives/leaf
class AABBTree : public Ps::UserAllocated
{
public:
AABBTree();
~AABBTree();
// Build
bool build(AABBTreeBuildParams& params);
// Progressive building
PxU32 progressiveBuild(AABBTreeBuildParams& params, BuildStats& stats, PxU32 progress, PxU32 limit);
//~Progressive building
void release(bool clearRefitMap=true);
// Merge tree with another one
void mergeTree(const AABBTreeMergeData& tree);
// Initialize tree from given merge data
void initTree(const AABBTreeMergeData& tree);
// Data access
PX_FORCE_INLINE const PxU32* getIndices() const { return mIndices; }
PX_FORCE_INLINE PxU32* getIndices() { return mIndices; }
PX_FORCE_INLINE void setIndices(PxU32* indices) { mIndices = indices; }
PX_FORCE_INLINE PxU32 getNbNodes() const { return mTotalNbNodes; }
PX_FORCE_INLINE const AABBTreeRuntimeNode* getNodes() const { return mRuntimePool; }
PX_FORCE_INLINE AABBTreeRuntimeNode* getNodes() { return mRuntimePool; }
PX_FORCE_INLINE void setNodes(AABBTreeRuntimeNode* nodes) { mRuntimePool = nodes; }
PX_FORCE_INLINE PxU32 getTotalPrims() const { return mTotalPrims; }
#if PX_DEBUG
void validate() const;
#endif
void shiftOrigin(const PxVec3& shift);
// Shift indices of the tree by offset. Used for merged trees, when initial indices needs to be shifted to match indices in current pruning pool
void shiftIndices(PxU32 offset);
private:
PxU32* mIndices; //!< Indices in the app list. Indices are reorganized during build (permutation).
PxU32 mNbIndices; //!< Nb indices
AABBTreeRuntimeNode* mRuntimePool; //!< Linear pool of nodes.
NodeAllocator mNodeAllocator;
PxU32* mParentIndices; //!< PT: hot/cold split, keep parent data in separate array
// Stats
PxU32 mTotalNbNodes; //!< Number of nodes in the tree.
PxU32 mTotalPrims; //!< Copy of final BuildStats::mTotalPrims
// Progressive building
FIFOStack* mStack;
//~Progressive building
bool buildInit(AABBTreeBuildParams& params, BuildStats& stats);
void buildEnd(AABBTreeBuildParams& params, BuildStats& stats);
// tree merge
void mergeRuntimeNode(AABBTreeRuntimeNode& targetNode, const AABBTreeMergeData& tree, PxU32 targetNodeIndex);
void mergeRuntimeLeaf(AABBTreeRuntimeNode& targetNode, const AABBTreeMergeData& tree, PxU32 targetNodeIndex);
void addRuntimeChilds(PxU32& nodeIndex, const AABBTreeMergeData& tree);
void traverseRuntimeNode(AABBTreeRuntimeNode& targetNode, const AABBTreeMergeData& tree, PxU32 nodeIndex);
// REFIT
public:
void fullRefit(const PxBounds3* boxes);
// adds node[index] to a list of nodes to refit when refitMarkedNodes is called
// Note that this includes updating the hierarchy up the chain
void markNodeForRefit(TreeNodeIndex nodeIndex);
void refitMarkedNodes(const PxBounds3* boxes);
private:
BitArray mRefitBitmask; //!< bit is set for each node index in markForRefit
PxU32 mRefitHighestSetWord;
//~REFIT
};
} // namespace Sq
}
#endif // SQ_AABBTREE_H
|