OPC_AABBTree.h
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1 /*
3  * OPCODE - Optimized Collision Detection
4  * Copyright (C) 2001 Pierre Terdiman
5  * Homepage: http://www.codercorner.com/Opcode.htm
6  */
8 
10 
16 
19 // Include Guard
20 #ifndef __OPC_AABBTREE_H__
21 #define __OPC_AABBTREE_H__
22 
23 #if (defined __x86_64) || (defined __aarch64__)
24 #define EXWORD uqword
25 #else
26 #define EXWORD udword
27 #endif
28 
29 #ifdef OPC_NO_NEG_VANILLA_TREE
30  #define IMPLEMENT_TREE(base_class, volume) \
32  public: \
33  /* Constructor / Destructor */ \
34  base_class(); \
35  ~base_class(); \
36  /* Data access */ \
37  inline_ const volume* Get##volume() const { return &mBV; } \
38  /* Clear the last bit */ \
39  inline_ const base_class* GetPos() const { return (const base_class*)(mPos&~1); } \
40  inline_ const base_class* GetNeg() const { const base_class* P = GetPos(); return P ? P+1 : null;} \
41  \
42  /* We don't need to test both nodes since we can't have one without the other */ \
43  inline_ bool IsLeaf() const { return !GetPos(); } \
44  \
45  /* Stats */ \
46  inline_ udword GetNodeSize() const { return SIZEOFOBJECT; } \
47  protected: \
48  /* Tree-independent data */ \
49  /* Following data always belong to the BV-tree, regardless of what the tree actually contains.*/ \
50  /* Whatever happens we need the two children and the enclosing volume.*/ \
51  volume mBV; /* Global bounding-volume enclosing all the node-related primitives */ \
52  EXWORD mPos; /* "Positive" & "Negative" children */
53 #else
54  #define IMPLEMENT_TREE(base_class, volume) \
56  public: \
57  /* Constructor / Destructor */ \
58  base_class(); \
59  ~base_class(); \
60  /* Data access */ \
61  inline_ const volume* Get##volume() const { return &mBV; } \
62  /* Clear the last bit */ \
63  inline_ const base_class* GetPos() const { return (const base_class*)(mPos&~1); } \
64  inline_ const base_class* GetNeg() const { return (const base_class*)(mNeg&~1); } \
65  \
66 /* inline_ bool IsLeaf() const { return (!GetPos() && !GetNeg()); } */ \
67  /* We don't need to test both nodes since we can't have one without the other */ \
68  inline_ bool IsLeaf() const { return !GetPos(); } \
69  \
70  /* Stats */ \
71  inline_ udword GetNodeSize() const { return SIZEOFOBJECT; } \
72  protected: \
73  /* Tree-independent data */ \
74  /* Following data always belong to the BV-tree, regardless of what the tree actually contains.*/ \
75  /* Whatever happens we need the two children and the enclosing volume.*/ \
76  volume mBV; /* Global bounding-volume enclosing all the node-related primitives */ \
77  EXWORD mPos; /* "Positive" child */ \
78  EXOWRD mNeg; /* "Negative" child */
79 #endif
80 
81  typedef void (*CullingCallback) (udword nb_primitives, udword* node_primitives, BOOL need_clipping, void* user_data);
82 
83  class OPCODE_API AABBTreeNode
84  {
85  IMPLEMENT_TREE(AABBTreeNode, AABB)
86  public:
87  // Data access
88  inline_ const udword* GetPrimitives() const { return mNodePrimitives; }
89  inline_ udword GetNbPrimitives() const { return mNbPrimitives; }
90 
91  protected:
92  // Tree-dependent data
93  udword* mNodePrimitives;
94  udword mNbPrimitives;
95  // Internal methods
96  udword Split(udword axis, AABBTreeBuilder* builder);
97  bool Subdivide(AABBTreeBuilder* builder);
98  void _BuildHierarchy(AABBTreeBuilder* builder);
99  void _Refit(AABBTreeBuilder* builder);
100  };
101 
103 
110  typedef bool (*WalkingCallback) (const AABBTreeNode* current, udword depth, void* user_data);
112 
113  class OPCODE_API AABBTree : public AABBTreeNode
114  {
115  public:
116  // Constructor / Destructor
117  AABBTree();
118  ~AABBTree();
119  // Build
120  bool Build(AABBTreeBuilder* builder);
121  void Release();
122 
123  // Data access
124  inline_ const udword* GetIndices() const { return mIndices; }
125  inline_ udword GetNbNodes() const { return mTotalNbNodes; }
126 
127  // Infos
128  bool IsComplete() const;
129  // Stats
130  udword ComputeDepth() const;
131  udword GetUsedBytes() const;
132  udword Walk(WalkingCallback callback, void* user_data) const;
133 
134  bool Refit(AABBTreeBuilder* builder);
135  bool Refit2(AABBTreeBuilder* builder);
136  private:
137  udword* mIndices;
138  AABBTreeNode* mPool;
139  // Stats
140  udword mTotalNbNodes;
141  };
142 
143 #endif // __OPC_AABBTREE_H__
AABBTree::mPool
AABBTreeNode * mPool
Linear pool of nodes for complete trees. Null otherwise. [Opcode 1.3].
Definition: OPC_AABBTree.h:138
AABBTreeNode::GetNbPrimitives
inline_ udword GetNbPrimitives() const
Definition: OPC_AABBTree.h:89
IMPLEMENT_TREE
#define IMPLEMENT_TREE(base_class, volume)
TO BE DOCUMENTED.
Definition: Opcode.h:32
CullingCallback
void(* CullingCallback)(udword nb_primitives, udword *node_primitives, BOOL need_clipping, void *user_data)
Definition: OPC_AABBTree.h:81
AABBTreeNode::mNodePrimitives
udword * mNodePrimitives
Node-related primitives (shortcut to a position in mIndices below)
Definition: OPC_AABBTree.h:93
inline_
#define inline_
Definition: IcePreprocessor.h:103
OPCODE_API
#define OPCODE_API
Definition: Opcode.h:68
AABBTree::GetIndices
inline_ const udword * GetIndices() const
Catch the indices.
Definition: OPC_AABBTree.h:124
BOOL
int BOOL
Another boolean type.
Definition: IceTypes.h:102
AABBTreeNode::GetPrimitives
inline_ const udword * GetPrimitives() const
Definition: OPC_AABBTree.h:88
AABBTreeNode::mNbPrimitives
udword mNbPrimitives
Number of primitives for this node.
Definition: OPC_AABBTree.h:94
AABBTree::GetNbNodes
inline_ udword GetNbNodes() const
Catch the number of nodes.
Definition: OPC_AABBTree.h:125
AABBTree::mTotalNbNodes
udword mTotalNbNodes
Number of nodes in the tree.
Definition: OPC_AABBTree.h:140
udword
unsigned int udword
sizeof(udword) must be 4
Definition: IceTypes.h:65
AABBTree::mIndices
udword * mIndices
Indices in the app list. Indices are reorganized during build (permutation).
Definition: OPC_AABBTree.h:137
AABB
Definition: IceAABB.h:267
void
typedef void(PNGAPI *png_error_ptr) PNGARG((png_structp
WalkingCallback
bool(* WalkingCallback)(const AABBTreeNode *current, udword depth, void *user_data)
Definition: OPC_AABBTree.h:111

openhrp3
Author(s): AIST, General Robotix Inc., Nakamura Lab of Dept. of Mechano Informatics at University of Tokyo
autogenerated on Sat May 8 2021 02:42:39