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-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-/*
- * OPCODE - Optimized Collision Detection
- * Copyright (C) 2001 Pierre Terdiman
- * Homepage: http://www.codercorner.com/Opcode.htm
- */
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-/**
- * Contains code for hybrid models.
- * \file OPC_HybridModel.cpp
- * \author Pierre Terdiman
- * \date May, 18, 2003
- */
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-/**
- * An hybrid collision model.
- *
- * The problem :
- *
- * Opcode really shines for mesh-mesh collision, especially when meshes are deeply overlapping
- * (it typically outperforms RAPID in those cases).
- *
- * Unfortunately this is not the typical scenario in games.
- *
- * For close-proximity cases, especially for volume-mesh queries, it's relatively easy to run faster
- * than Opcode, that suffers from a relatively high setup time.
- *
- * In particular, Opcode's "vanilla" trees in those cases -can- run faster. They can also use -less-
- * memory than the optimized ones, when you let the system stop at ~10 triangles / leaf for example
- * (i.e. when you don't use "complete" trees). However, those trees tend to fragment memory quite a
- * lot, increasing cache misses : since they're not "complete", we can't predict the final number of
- * nodes and we have to allocate nodes on-the-fly. For the same reasons we can't use Opcode's "optimized"
- * trees here, since they rely on a known layout to perform the "optimization".
- *
- * Hybrid trees :
- *
- * Hybrid trees try to combine best of both worlds :
- *
- * - they use a maximum limit of 16 triangles/leaf. "16" is used so that we'll be able to save the
- * number of triangles using 4 bits only.
- *
- * - they're still "complete" trees thanks to a two-passes building phase. First we create a "vanilla"
- * AABB-tree with Opcode, limited to 16 triangles/leaf. Then we create a *second* vanilla tree, this
- * time using the leaves of the first one. The trick is : this second tree is now "complete"... so we
- * can further transform it into an Opcode's optimized tree.
- *
- * - then we run the collision queries on that standard Opcode tree. The only difference is that leaf
- * nodes contain indices to leaf nodes of another tree. Also, we have to skip all primitive tests in
- * Opcode optimized trees, since our leaves don't contain triangles anymore.
- *
- * - finally, for each collided leaf, we simply loop through 16 triangles max, and collide them with
- * the bounding volume used in the query (we only support volume-vs-mesh queries here, not mesh-vs-mesh)
- *
- * All of that is wrapped in this "hybrid model" that contains the minimal data required for this to work.
- * It's a mix between old "vanilla" trees, and old "optimized" trees.
- *
- * Extra advantages:
- *
- * - If we use them for dynamic models, we're left with a very small number of leaf nodes to refit. It
- * might be a bit faster since we have less nodes to write back.
- *
- * - In rigid body simulation, using temporal coherence and sleeping objects greatly reduce the actual
- * influence of one tree over another (i.e. the speed difference is often invisible). So memory is really
- * the key element to consider, and in this regard hybrid trees are just better.
- *
- * Information to take home:
- * - they use less ram
- * - they're not slower (they're faster or slower depending on cases, overall there's no significant
- * difference *as long as objects don't interpenetrate too much* - in which case Opcode's optimized trees
- * are still notably faster)
- *
- * \class HybridModel
- * \author Pierre Terdiman
- * \version 1.3
- * \date May, 18, 2003
-*/
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-// Precompiled Header
-#include "StdAfx.h"
-
-using namespace Opcode;
-
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-/**
- * Constructor.
- */
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-HybridModel::HybridModel() :
- mNbLeaves (0),
- mNbPrimitives (0),
- mTriangles (null),
- mIndices (null)
-{
-}
-
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-/**
- * Destructor.
- */
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-HybridModel::~HybridModel()
-{
- Release();
-}
-
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-/**
- * Releases everything.
- */
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-void HybridModel::Release()
-{
- ReleaseBase();
- DELETEARRAY(mIndices);
- DELETEARRAY(mTriangles);
- mNbLeaves = 0;
- mNbPrimitives = 0;
-}
-
- struct Internal
- {
- Internal()
- {
- mNbLeaves = 0;
- mLeaves = null;
- mTriangles = null;
- mBase = null;
- }
- ~Internal()
- {
- DELETEARRAY(mLeaves);
- }
-
- udword mNbLeaves;
- AABB* mLeaves;
- LeafTriangles* mTriangles;
- const udword* mBase;
- };
-
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-/**
- * Builds a collision model.
- * \param create [in] model creation structure
- * \return true if success
- */
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-bool HybridModel::Build(const OPCODECREATE& create)
-{
- // 1) Checkings
- if(!create.mIMesh || !create.mIMesh->IsValid()) return false;
-
- // Look for degenerate faces.
- udword NbDegenerate = create.mIMesh->CheckTopology();
- if(NbDegenerate) Log("OPCODE WARNING: found %d degenerate faces in model! Collision might report wrong results!\n", NbDegenerate);
- // We continue nonetheless....
-
- Release(); // Make sure previous tree has been discarded
-
- // 1-1) Setup mesh interface automatically
- SetMeshInterface(create.mIMesh);
-
- bool Status = false;
- AABBTree* LeafTree = null;
- Internal Data;
-
- // 2) Build a generic AABB Tree.
- mSource = new AABBTree;
- CHECKALLOC(mSource);
-
- // 2-1) Setup a builder. Our primitives here are triangles from input mesh,
- // so we use an AABBTreeOfTrianglesBuilder.....
- {
- AABBTreeOfTrianglesBuilder TB;
- TB.mIMesh = create.mIMesh;
- TB.mNbPrimitives = create.mIMesh->GetNbTriangles();
- TB.mSettings = create.mSettings;
- TB.mSettings.mLimit = 16; // ### Hardcoded, but maybe we could let the user choose 8 / 16 / 32 ...
- if(!mSource->Build(&TB)) goto FreeAndExit;
- }
-
- // 2-2) Here's the trick : create *another* AABB tree using the leaves of the first one (which are boxes, this time)
- struct Local
- {
- // A callback to count leaf nodes
- static bool CountLeaves(const AABBTreeNode* current, udword depth, void* user_data)
- {
- if(current->IsLeaf())
- {
- Internal* Data = (Internal*)user_data;
- Data->mNbLeaves++;
- }
- return true;
- }
-
- // A callback to setup leaf nodes in our internal structures
- static bool SetupLeafData(const AABBTreeNode* current, udword depth, void* user_data)
- {
- if(current->IsLeaf())
- {
- Internal* Data = (Internal*)user_data;
-
- // Get current leaf's box
- Data->mLeaves[Data->mNbLeaves] = *current->GetAABB();
-
- // Setup leaf data
- udword Index = (udword(current->GetPrimitives()) - udword(Data->mBase))/sizeof(udword);
- Data->mTriangles[Data->mNbLeaves].SetData(current->GetNbPrimitives(), Index);
-
- Data->mNbLeaves++;
- }
- return true;
- }
- };
-
- // Walk the tree & count number of leaves
- Data.mNbLeaves = 0;
- mSource->Walk(Local::CountLeaves, &Data);
- mNbLeaves = Data.mNbLeaves; // Keep track of it
-
- // Special case for 1-leaf meshes
- if(mNbLeaves==1)
- {
- mModelCode |= OPC_SINGLE_NODE;
- Status = true;
- goto FreeAndExit;
- }
-
- // Allocate our structures
- Data.mLeaves = new AABB[Data.mNbLeaves]; CHECKALLOC(Data.mLeaves);
- mTriangles = new LeafTriangles[Data.mNbLeaves]; CHECKALLOC(mTriangles);
-
- // Walk the tree again & setup leaf data
- Data.mTriangles = mTriangles;
- Data.mBase = mSource->GetIndices();
- Data.mNbLeaves = 0; // Reset for incoming walk
- mSource->Walk(Local::SetupLeafData, &Data);
-
- // Handle source indices
- {
- bool MustKeepIndices = true;
- if(create.mCanRemap)
- {
- // We try to get rid of source indices (saving more ram!) by reorganizing triangle arrays...
- // Remap can fail when we use callbacks => keep track of indices in that case (it still
- // works, only using more memory)
- if(create.mIMesh->RemapClient(mSource->GetNbPrimitives(), mSource->GetIndices()))
- {
- MustKeepIndices = false;
- }
- }
-
- if(MustKeepIndices)
- {
- // Keep track of source indices (from vanilla tree)
- mNbPrimitives = mSource->GetNbPrimitives();
- mIndices = new udword[mNbPrimitives];
- CopyMemory(mIndices, mSource->GetIndices(), mNbPrimitives*sizeof(udword));
- }
- }
-
- // Now, create our optimized tree using previous leaf nodes
- LeafTree = new AABBTree;
- CHECKALLOC(LeafTree);
- {
- AABBTreeOfAABBsBuilder TB; // Now using boxes !
- TB.mSettings = create.mSettings;
- TB.mSettings.mLimit = 1; // We now want a complete tree so that we can "optimize" it
- TB.mNbPrimitives = Data.mNbLeaves;
- TB.mAABBArray = Data.mLeaves;
- if(!LeafTree->Build(&TB)) goto FreeAndExit;
- }
-
- // 3) Create an optimized tree according to user-settings
- if(!CreateTree(create.mNoLeaf, create.mQuantized)) goto FreeAndExit;
-
- // 3-2) Create optimized tree
- if(!mTree->Build(LeafTree)) goto FreeAndExit;
-
- // Finally ok...
- Status = true;
-
-FreeAndExit: // Allow me this one...
- DELETESINGLE(LeafTree);
-
- // 3-3) Delete generic tree if needed
- if(!create.mKeepOriginal) DELETESINGLE(mSource);
-
- return Status;
-}
-
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-/**
- * Gets the number of bytes used by the tree.
- * \return amount of bytes used
- */
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-udword HybridModel::GetUsedBytes() const
-{
- udword UsedBytes = 0;
- if(mTree) UsedBytes += mTree->GetUsedBytes();
- if(mIndices) UsedBytes += mNbPrimitives * sizeof(udword); // mIndices
- if(mTriangles) UsedBytes += mNbLeaves * sizeof(LeafTriangles); // mTriangles
- return UsedBytes;
-}
-
-inline_ void ComputeMinMax(IcePoint& min, IcePoint& max, const VertexPointers& vp)
-{
- // Compute triangle's AABB = a leaf box
-#ifdef OPC_USE_FCOMI // a 15% speedup on my machine, not much
- min.x = FCMin3(vp.Vertex[0]->x, vp.Vertex[1]->x, vp.Vertex[2]->x);
- max.x = FCMax3(vp.Vertex[0]->x, vp.Vertex[1]->x, vp.Vertex[2]->x);
-
- min.y = FCMin3(vp.Vertex[0]->y, vp.Vertex[1]->y, vp.Vertex[2]->y);
- max.y = FCMax3(vp.Vertex[0]->y, vp.Vertex[1]->y, vp.Vertex[2]->y);
-
- min.z = FCMin3(vp.Vertex[0]->z, vp.Vertex[1]->z, vp.Vertex[2]->z);
- max.z = FCMax3(vp.Vertex[0]->z, vp.Vertex[1]->z, vp.Vertex[2]->z);
-#else
- min = *vp.Vertex[0];
- max = *vp.Vertex[0];
- min.Min(*vp.Vertex[1]);
- max.Max(*vp.Vertex[1]);
- min.Min(*vp.Vertex[2]);
- max.Max(*vp.Vertex[2]);
-#endif
-}
-
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-/**
- * Refits the collision model. This can be used to handle dynamic meshes. Usage is:
- * 1. modify your mesh vertices (keep the topology constant!)
- * 2. refit the tree (call this method)
- * \return true if success
- */
-///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-bool HybridModel::Refit()
-{
- if(!mIMesh) return false;
- if(!mTree) return false;
-
- if(IsQuantized()) return false;
- if(HasLeafNodes()) return false;
-
- const LeafTriangles* LT = GetLeafTriangles();
- const udword* Indices = GetIndices();
-
- // Bottom-up update
- VertexPointers VP;
- IcePoint Min,Max;
- IcePoint Min_,Max_;
- udword Index = mTree->GetNbNodes();
- AABBNoLeafNode* Nodes = (AABBNoLeafNode*)((AABBNoLeafTree*)mTree)->GetNodes();
- while(Index--)
- {
- AABBNoLeafNode& Current = Nodes[Index];
-
- if(Current.HasPosLeaf())
- {
- const LeafTriangles& CurrentLeaf = LT[Current.GetPosPrimitive()];
-
- Min.SetPlusInfinity();
- Max.SetMinusInfinity();
-
- IcePoint TmpMin, TmpMax;
-
- // Each leaf box has a set of triangles
- udword NbTris = CurrentLeaf.GetNbTriangles();
- if(Indices)
- {
- const udword* T = &Indices[CurrentLeaf.GetTriangleIndex()];
-
- // Loop through triangles and test each of them
- while(NbTris--)
- {
- mIMesh->GetTriangle(VP, *T++);
- ComputeMinMax(TmpMin, TmpMax, VP);
- Min.Min(TmpMin);
- Max.Max(TmpMax);
- }
- }
- else
- {
- udword BaseIndex = CurrentLeaf.GetTriangleIndex();
-
- // Loop through triangles and test each of them
- while(NbTris--)
- {
- mIMesh->GetTriangle(VP, BaseIndex++);
- ComputeMinMax(TmpMin, TmpMax, VP);
- Min.Min(TmpMin);
- Max.Max(TmpMax);
- }
- }
- }
- else
- {
- const CollisionAABB& CurrentBox = Current.GetPos()->mAABB;
- CurrentBox.GetMin(Min);
- CurrentBox.GetMax(Max);
- }
-
- if(Current.HasNegLeaf())
- {
- const LeafTriangles& CurrentLeaf = LT[Current.GetNegPrimitive()];
-
- Min_.SetPlusInfinity();
- Max_.SetMinusInfinity();
-
- IcePoint TmpMin, TmpMax;
-
- // Each leaf box has a set of triangles
- udword NbTris = CurrentLeaf.GetNbTriangles();
- if(Indices)
- {
- const udword* T = &Indices[CurrentLeaf.GetTriangleIndex()];
-
- // Loop through triangles and test each of them
- while(NbTris--)
- {
- mIMesh->GetTriangle(VP, *T++);
- ComputeMinMax(TmpMin, TmpMax, VP);
- Min_.Min(TmpMin);
- Max_.Max(TmpMax);
- }
- }
- else
- {
- udword BaseIndex = CurrentLeaf.GetTriangleIndex();
-
- // Loop through triangles and test each of them
- while(NbTris--)
- {
- mIMesh->GetTriangle(VP, BaseIndex++);
- ComputeMinMax(TmpMin, TmpMax, VP);
- Min_.Min(TmpMin);
- Max_.Max(TmpMax);
- }
- }
- }
- else
- {
- const CollisionAABB& CurrentBox = Current.GetNeg()->mAABB;
- CurrentBox.GetMin(Min_);
- CurrentBox.GetMax(Max_);
- }
-#ifdef OPC_USE_FCOMI
- Min.x = FCMin2(Min.x, Min_.x);
- Max.x = FCMax2(Max.x, Max_.x);
- Min.y = FCMin2(Min.y, Min_.y);
- Max.y = FCMax2(Max.y, Max_.y);
- Min.z = FCMin2(Min.z, Min_.z);
- Max.z = FCMax2(Max.z, Max_.z);
-#else
- Min.Min(Min_);
- Max.Max(Max_);
-#endif
- Current.mAABB.SetMinMax(Min, Max);
- }
- return true;
-}
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