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// This code contains NVIDIA Confidential Information and is disclosed to you
// under a form of NVIDIA software license agreement provided separately to you.
//
// Notice
// NVIDIA Corporation and its licensors retain all intellectual property and
// proprietary rights in and to this software and related documentation and
// any modifications thereto. Any use, reproduction, disclosure, or
// distribution of this software and related documentation without an express
// license agreement from NVIDIA Corporation is strictly prohibited.
//
// ALL NVIDIA DESIGN SPECIFICATIONS, CODE ARE PROVIDED "AS IS.". NVIDIA MAKES
// NO WARRANTIES, EXPRESSED, IMPLIED, STATUTORY, OR OTHERWISE WITH RESPECT TO
// THE MATERIALS, AND EXPRESSLY DISCLAIMS ALL IMPLIED WARRANTIES OF NONINFRINGEMENT,
// MERCHANTABILITY, AND FITNESS FOR A PARTICULAR PURPOSE.
//
// Information and code furnished is believed to be accurate and reliable.
// However, NVIDIA Corporation assumes no responsibility for the consequences of use of such
// information or for any infringement of patents or other rights of third parties that may
// result from its use. No license is granted by implication or otherwise under any patent
// or patent rights of NVIDIA Corporation. Details are subject to change without notice.
// This code supersedes and replaces all information previously supplied.
// NVIDIA Corporation products are not authorized for use as critical
// components in life support devices or systems without express written approval of
// NVIDIA Corporation.
//
// Copyright (c) 2008-2017 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_INCREMENTAL_AABB_TREE_H
#define SQ_INCREMENTAL_AABB_TREE_H
#include "foundation/PxBounds3.h"
#include "PsUserAllocated.h"
#include "PsVecMath.h"
#include "SqPruner.h"
#include "SqAABBTreeBuild.h"
#include "PsPool.h"
namespace physx
{
using namespace shdfnd::aos;
namespace Sq
{
class AABBTree;
#define NB_OBJECTS_PER_NODE 4
///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
// tree indices, can change in runtime
struct AABBTreeIndices
{
PX_FORCE_INLINE AABBTreeIndices(PoolIndex index) :
nbIndices(1)
{
indices[0] = index;
for(PxU32 i = 1; i < NB_OBJECTS_PER_NODE; i++)
{
indices[i] = 0;
}
}
PxU32 nbIndices;
PoolIndex indices[NB_OBJECTS_PER_NODE];
};
///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
// tree node, has parent information
class IncrementalAABBTreeNode : public Ps::UserAllocated
{
public:
PX_FORCE_INLINE IncrementalAABBTreeNode():
mParent(NULL)
{
mChilds[0] = NULL;
mChilds[1] = NULL;
}
PX_FORCE_INLINE IncrementalAABBTreeNode(AABBTreeIndices* indices):
mParent(NULL)
{
mIndices = indices;
mChilds[1] = NULL;
}
PX_FORCE_INLINE ~IncrementalAABBTreeNode() {}
PX_FORCE_INLINE PxU32 isLeaf() const { return PxU32(mChilds[1]==0); }
PX_FORCE_INLINE const PxU32* getPrimitives(const PxU32* ) const { return &mIndices->indices[0]; }
PX_FORCE_INLINE PxU32* getPrimitives(PxU32* ) { return &mIndices->indices[0]; }
PX_FORCE_INLINE PxU32 getNbPrimitives() const { return mIndices->nbIndices; }
PX_FORCE_INLINE const IncrementalAABBTreeNode* getPos(const IncrementalAABBTreeNode* ) const { return mChilds[0]; }
PX_FORCE_INLINE const IncrementalAABBTreeNode* getNeg(const IncrementalAABBTreeNode* ) const { return mChilds[1]; }
PX_FORCE_INLINE IncrementalAABBTreeNode* getPos(IncrementalAABBTreeNode* ) { return mChilds[0]; }
PX_FORCE_INLINE IncrementalAABBTreeNode* getNeg(IncrementalAABBTreeNode* ) { return mChilds[1]; }
PX_FORCE_INLINE void getAABBCenterExtentsV(physx::shdfnd::aos::Vec3V* center, physx::shdfnd::aos::Vec3V* extents) const
{
const float half = 0.5f;
const FloatV halfV = FLoad(half);
*extents = Vec3V_From_Vec4V((V4Scale(V4Sub(mBVMax, mBVMin), halfV)));
*center = Vec3V_From_Vec4V((V4Scale(V4Add(mBVMax, mBVMin), halfV)));
}
PX_FORCE_INLINE void getAABBCenterExtentsV2(physx::shdfnd::aos::Vec3V* center, physx::shdfnd::aos::Vec3V* extents) const
{
*extents = Vec3V_From_Vec4V((V4Sub(mBVMax, mBVMin)));
*center = Vec3V_From_Vec4V((V4Add(mBVMax, mBVMin)));
}
PX_FORCE_INLINE void getAABBMinMaxV(physx::shdfnd::aos::Vec4V* minV, physx::shdfnd::aos::Vec4V* maxV) const
{
*minV = mBVMin;
*maxV = mBVMax;
}
Vec4V mBVMin; // Global bounding-volume min enclosing all the node-related primitives
Vec4V mBVMax; // Global bounding-volume max enclosing all the node-related primitives
IncrementalAABBTreeNode* mParent; // node parent
union
{
IncrementalAABBTreeNode* mChilds[2]; // childs of node if not a leaf
AABBTreeIndices* mIndices; // if leaf, indices information
};
};
struct IncrementalAABBTreeNodePair
{
IncrementalAABBTreeNode mNode0;
IncrementalAABBTreeNode mNode1;
};
///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
// incremental AABB tree, all changes are immediatelly reflected to the tree
class IncrementalAABBTree : public Ps::UserAllocated
{
public:
IncrementalAABBTree();
~IncrementalAABBTree();
// Build the tree for the first time
bool build(AABBTreeBuildParams& params, Ps::Array<IncrementalAABBTreeNode*>& mapping);
// insert a new index into the tre
IncrementalAABBTreeNode* insert(const PoolIndex index, const PxBounds3* bounds, bool& split);
// update the object in the tree - full update insert/remove
IncrementalAABBTreeNode* update(IncrementalAABBTreeNode* node, const PoolIndex index, const PxBounds3* bounds, bool& split, IncrementalAABBTreeNode*& removedNode);
// update the object in the tree, faster method, that may unballance the tree
IncrementalAABBTreeNode* updateFast(IncrementalAABBTreeNode* node, const PoolIndex index, const PxBounds3* bounds, bool& split, IncrementalAABBTreeNode*& removedNode);
// remove object from the tree
IncrementalAABBTreeNode* remove(IncrementalAABBTreeNode* node, const PoolIndex index, const PxBounds3* bounds);
// fixup the tree indices, if we swapped the objects in the pruning pool
void fixupTreeIndices(IncrementalAABBTreeNode* node, const PoolIndex index, const PoolIndex newIndex);
// origin shift
void shiftOrigin(const PxVec3& shift);
// get the tree root node
const IncrementalAABBTreeNode* getNodes() const { return mRoot; }
// define this function so we can share the scene query code with regular AABBTree
const PxU32* getIndices() const { return NULL; }
// paranoia checks
void hierarchyCheck(PoolIndex maxIndex, const PxBounds3* bounds);
void checkTreeLeaf(IncrementalAABBTreeNode* leaf, PoolIndex h);
void release();
private:
// clone the tree from the generic AABB tree that was built
void clone(Ps::Array<IncrementalAABBTreeNode*>& mapping, const PxU32* indices, IncrementalAABBTreeNode** treeNodes);
// split leaf node, the newly added object does not fit in
IncrementalAABBTreeNode* splitLeafNode(IncrementalAABBTreeNode* node, const PoolIndex index, const Vec4V& minV, const Vec4V& maxV, const PxBounds3* bounds);
void releaseNode(IncrementalAABBTreeNode* node);
private:
Ps::Pool<AABBTreeIndices> mIndicesPool;
Ps::Pool<IncrementalAABBTreeNodePair> mNodesPool;
IncrementalAABBTreeNode* mRoot;
NodeAllocator mNodeAllocator;
};
}
}
#endif
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