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//
// 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_BUCKETPRUNER_H
#define SQ_BUCKETPRUNER_H
#include "SqTypedef.h"
#include "SqPruningPool.h"
#include "PsHash.h"
#define FREE_PRUNER_SIZE 16
//#define USE_REGULAR_HASH_MAP
#ifdef USE_REGULAR_HASH_MAP
#include "PsHashMap.h"
#endif
namespace physx
{
namespace Sq
{
typedef PxU32 BucketWord;
#if PX_VC
#pragma warning(push)
#pragma warning( disable : 4324 ) // Padding was added at the end of a structure because of a __declspec(align) value.
#endif
PX_ALIGN_PREFIX(16) struct BucketBox
{
PxVec3 mCenter;
PxU32 mData0; // Integer-encoded min value along sorting axis
PxVec3 mExtents;
PxU32 mData1; // Integer-encoded max value along sorting axis
#ifdef _DEBUG
// PT: we need the original min value for debug checks. Using the center/extents version
// fails because recomputing the min from them introduces FPU accuracy errors in the values.
float mDebugMin;
#endif
PX_FORCE_INLINE PxVec3 getMin() const
{
return mCenter - mExtents;
}
PX_FORCE_INLINE PxVec3 getMax() const
{
return mCenter + mExtents;
}
PX_FORCE_INLINE void setEmpty()
{
mCenter = PxVec3(0.0f);
mExtents = PxVec3(-PX_MAX_BOUNDS_EXTENTS);
#ifdef _DEBUG
mDebugMin = PX_MAX_BOUNDS_EXTENTS;
#endif
}
}PX_ALIGN_SUFFIX(16);
PX_ALIGN_PREFIX(16) struct BucketPrunerNode
{
BucketPrunerNode();
void classifyBoxes( float limitX, float limitZ,
PxU32 nb,
BucketBox* PX_RESTRICT boxes,
const PrunerPayload* PX_RESTRICT objects,
BucketBox* PX_RESTRICT sortedBoxes,
PrunerPayload* PX_RESTRICT sortedObjects,
bool isCrossBucket, PxU32 sortAxis);
PX_FORCE_INLINE void initCounters()
{
for(PxU32 i=0;i<5;i++)
mCounters[i] = 0;
for(PxU32 i=0;i<5;i++)
mOffsets[i] = 0;
}
BucketWord mCounters[5]; // Number of objects in each of the 5 children
BucketWord mOffsets[5]; // Start index of objects for each of the 5 children
BucketBox mBucketBox[5]; // AABBs around objects for each of the 5 children
PxU16 mOrder[8]; // PNS: 5 children => 3 bits/index => 3*5=15 bits total, for each of the 8 canonical directions
}PX_ALIGN_SUFFIX(16);
PX_FORCE_INLINE PxU32 hash(const PrunerPayload& payload)
{
#if PX_P64_FAMILY
// const PxU32 h0 = Ps::hash((const void*)payload.data[0]);
// const PxU32 h1 = Ps::hash((const void*)payload.data[1]);
const PxU32 h0 = PxU32(PX_MAX_U32 & payload.data[0]);
const PxU32 h1 = PxU32(PX_MAX_U32 & payload.data[1]);
return Ps::hash(PxU64(h0)|(PxU64(h1)<<32));
#else
return Ps::hash(PxU64(payload.data[0])|(PxU64(payload.data[1])<<32));
#endif
}
#ifdef USE_REGULAR_HASH_MAP
struct BucketPrunerPair : public Ps::UserAllocated
{
PX_FORCE_INLINE BucketPrunerPair() {}
PX_FORCE_INLINE BucketPrunerPair(PxU32 index, PxU32 stamp) : mCoreIndex(index), mTimeStamp(stamp) {}
PxU32 mCoreIndex; // index in mCoreObjects
PxU32 mTimeStamp;
};
typedef Ps::HashMap<PrunerPayload, BucketPrunerPair> BucketPrunerMap;
#else
struct BucketPrunerPair : public Ps::UserAllocated
{
PrunerPayload mPayload;
PxU32 mCoreIndex; // index in mCoreObjects
PxU32 mTimeStamp;
};
// Custom hash-map - currently faster than the regular hash-map (Ps::HashMap), in particular for 'find-and-erase' operations.
class BucketPrunerMap : public Ps::UserAllocated
{
public:
BucketPrunerMap();
~BucketPrunerMap();
void purge();
void shrinkMemory();
BucketPrunerPair* addPair (const PrunerPayload& payload, PxU32 coreIndex, PxU32 timeStamp);
bool removePair (const PrunerPayload& payload, PxU32& coreIndex, PxU32& timeStamp);
const BucketPrunerPair* findPair (const PrunerPayload& payload) const;
PX_FORCE_INLINE PxU32 getPairIndex (const BucketPrunerPair* pair) const
{
return (PxU32((size_t(pair) - size_t(mActivePairs)))/sizeof(BucketPrunerPair));
}
PxU32 mHashSize;
PxU32 mMask;
PxU32 mNbActivePairs;
PxU32* mHashTable;
PxU32* mNext;
BucketPrunerPair* mActivePairs;
PxU32 mReservedMemory;
PX_FORCE_INLINE BucketPrunerPair* findPair(const PrunerPayload& payload, PxU32 hashValue) const;
void removePairInternal(const PrunerPayload& payload, PxU32 hashValue, PxU32 pairIndex);
void reallocPairs();
void reserveMemory(PxU32 memSize);
};
#endif
class BucketPrunerCore : public Ps::UserAllocated
{
public:
BucketPrunerCore(bool externalMemory=true);
~BucketPrunerCore();
void release();
void setExternalMemory(PxU32 nbObjects, PxBounds3* boxes, PrunerPayload* objects);
bool addObject(const PrunerPayload& object, const PxBounds3& worldAABB, PxU32 timeStamp=0);
bool removeObject(const PrunerPayload& object, PxU32& timeStamp);
bool updateObject(const PxBounds3& worldAABB, const PrunerPayload& object);
// PT: look for objects marked with input timestamp everywhere in the structure, and remove them. This is the same
// as calling 'removeObject' individually for all these objects, but much more efficient. Returns number of removed objects.
PxU32 removeMarkedObjects(PxU32 timeStamp);
PxAgain raycast(const PxVec3& origin, const PxVec3& unitDir, PxReal& inOutDistance, PrunerCallback&) const;
PxAgain overlap(const Gu::ShapeData& queryVolume, PrunerCallback&) const;
PxAgain sweep(const Gu::ShapeData& queryVolume, const PxVec3& unitDir, PxReal& inOutDistance, PrunerCallback&) const;
void shiftOrigin(const PxVec3& shift);
void visualize(Cm::RenderOutput& out, PxU32 color) const;
PX_FORCE_INLINE void build() { classifyBoxes(); }
PX_FORCE_INLINE PxU32 getNbObjects() const { return mNbFree + mCoreNbObjects; }
// private:
PxU32 mCoreNbObjects; // Current number of objects in core arrays
PxU32 mCoreCapacity; // Capacity of core arrays
PxBounds3* mCoreBoxes; // Core array
PrunerPayload* mCoreObjects; // Core array
PxU32* mCoreRemap; // Remaps core index to sorted index, i.e. sortedIndex = mCoreRemap[coreIndex]
BucketBox* mSortedWorldBoxes; // Sorted array
PrunerPayload* mSortedObjects; // Sorted array
PxU32 mNbFree; // Current number of objects in the "free array" (mFreeObjects/mFreeBounds)
PrunerPayload mFreeObjects[FREE_PRUNER_SIZE]; // mNbFree objects are stored here
PxBounds3 mFreeBounds[FREE_PRUNER_SIZE]; // mNbFree object bounds are stored here
PxU32 mFreeStamps[FREE_PRUNER_SIZE];
BucketPrunerMap mMap; // Maps (PrunerPayload) object to corresponding index in core array.
// Objects in the free array do not appear in this map.
PxU32 mSortedNb;
PxU32 mSortedCapacity;
PxU32 mSortAxis;
BucketBox mGlobalBox; // Global bounds around all objects in the structure (except the ones in the "free" array)
BucketPrunerNode mLevel1;
BucketPrunerNode mLevel2[5];
BucketPrunerNode mLevel3[5][5];
bool mDirty;
bool mOwnMemory;
private:
void classifyBoxes();
void allocateSortedMemory(PxU32 nb);
void resizeCore();
PX_FORCE_INLINE void addObjectInternal(const PrunerPayload& object, const PxBounds3& worldAABB, PxU32 timeStamp);
};
#if PX_VC
#pragma warning(pop)
#endif
class BucketPruner : public Pruner
{
public:
BucketPruner();
virtual ~BucketPruner();
// Pruner
virtual bool addObjects(PrunerHandle* results, const PxBounds3* bounds, const PrunerPayload* payload, PxU32 count, bool);
virtual void removeObjects(const PrunerHandle* handles, PxU32 count);
virtual void updateObjectsAfterManualBoundsUpdates(const PrunerHandle* handles, PxU32 count);
virtual void updateObjectsAndInflateBounds(const PrunerHandle* handles, const PxU32* indices, const PxBounds3* newBounds, PxU32 count);
virtual void commit();
virtual PxAgain raycast(const PxVec3& origin, const PxVec3& unitDir, PxReal& inOutDistance, PrunerCallback&) const;
virtual PxAgain overlap(const Gu::ShapeData& queryVolume, PrunerCallback&) const;
virtual PxAgain sweep(const Gu::ShapeData& queryVolume, const PxVec3& unitDir, PxReal& inOutDistance, PrunerCallback&) const;
virtual const PrunerPayload& getPayload(PrunerHandle handle) const { return mPool.getPayload(handle); }
virtual const PrunerPayload& getPayload(PrunerHandle handle, PxBounds3*& bounds) const { return mPool.getPayload(handle, bounds); }
virtual void preallocate(PxU32 entries) { mPool.preallocate(entries); }
virtual void shiftOrigin(const PxVec3& shift);
virtual void visualize(Cm::RenderOutput& out, PxU32 color) const;
// merge not implemented for bucket pruner
virtual void merge(const void* ) {}
//~Pruner
private:
BucketPrunerCore mCore;
PruningPool mPool;
};
} // namespace Sq
}
#endif // SQ_BUCKETPRUNER_H
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