Bullet Collision Detection & Physics Library: btQuantizedBvh Class Reference

The btQuantizedBvh class stores an AABB tree that can be quickly traversed on CPU and Cell SPU. More...

#include <btQuantizedBvh.h>

Inheritance diagram for btQuantizedBvh:

Collaboration diagram for btQuantizedBvh:

Public Types
enum	btTraversalMode { TRAVERSAL_STACKLESS = 0, TRAVERSAL_STACKLESS_CACHE_FRIENDLY, TRAVERSAL_RECURSIVE }

Public Member Functions
	BT_DECLARE_ALIGNED_ALLOCATOR ()

	btQuantizedBvh ()

virtual	~btQuantizedBvh ()

void	setQuantizationValues (const btVector3 &bvhAabbMin, const btVector3 &bvhAabbMax, btScalar quantizationMargin=btScalar(1.0))
	*************************************** expert/internal use only *********************** More...

QuantizedNodeArray &	getLeafNodeArray ()

void	buildInternal ()
	buildInternal is expert use only: assumes that setQuantizationValues and LeafNodeArray are initialized More...

void	reportAabbOverlappingNodex (btNodeOverlapCallback *nodeCallback, const btVector3 &aabbMin, const btVector3 &aabbMax) const
	*************************************** expert/internal use only *********************** More...

void	reportRayOverlappingNodex (btNodeOverlapCallback *nodeCallback, const btVector3 &raySource, const btVector3 &rayTarget) const

void	reportBoxCastOverlappingNodex (btNodeOverlapCallback *nodeCallback, const btVector3 &raySource, const btVector3 &rayTarget, const btVector3 &aabbMin, const btVector3 &aabbMax) const

void	quantize (unsigned short *out, const btVector3 &point, int isMax) const

void	quantizeWithClamp (unsigned short *out, const btVector3 &point2, int isMax) const

btVector3	unQuantize (const unsigned short *vecIn) const

void	setTraversalMode (btTraversalMode traversalMode)
	setTraversalMode let's you choose between stackless, recursive or stackless cache friendly tree traversal. Note this is only implemented for quantized trees. More...

QuantizedNodeArray &	getQuantizedNodeArray ()

BvhSubtreeInfoArray &	getSubtreeInfoArray ()

unsigned	calculateSerializeBufferSize () const

virtual bool	serialize (void *o_alignedDataBuffer, unsigned i_dataBufferSize, bool i_swapEndian) const
	Data buffer MUST be 16 byte aligned. More...

virtual int	calculateSerializeBufferSizeNew () const

virtual const char *	serialize (void dataBuffer, btSerializer serializer) const
	fills the dataBuffer and returns the struct name (and 0 on failure) More...

virtual void	deSerializeFloat (struct btQuantizedBvhFloatData &quantizedBvhFloatData)

virtual void	deSerializeDouble (struct btQuantizedBvhDoubleData &quantizedBvhDoubleData)

bool	isQuantized ()

Static Public Member Functions
static btQuantizedBvh *	deSerializeInPlace (void *i_alignedDataBuffer, unsigned int i_dataBufferSize, bool i_swapEndian)
	deSerializeInPlace loads and initializes a BVH from a buffer in memory 'in place' More...

static unsigned int	getAlignmentSerializationPadding ()

Protected Member Functions
void	setInternalNodeAabbMin (int nodeIndex, const btVector3 &aabbMin)
	two versions, one for quantized and normal nodes. More...

void	setInternalNodeAabbMax (int nodeIndex, const btVector3 &aabbMax)

btVector3	getAabbMin (int nodeIndex) const

btVector3	getAabbMax (int nodeIndex) const

void	setInternalNodeEscapeIndex (int nodeIndex, int escapeIndex)

void	mergeInternalNodeAabb (int nodeIndex, const btVector3 &newAabbMin, const btVector3 &newAabbMax)

void	swapLeafNodes (int firstIndex, int secondIndex)

void	assignInternalNodeFromLeafNode (int internalNode, int leafNodeIndex)

void	buildTree (int startIndex, int endIndex)

int	calcSplittingAxis (int startIndex, int endIndex)

int	sortAndCalcSplittingIndex (int startIndex, int endIndex, int splitAxis)

void	walkStacklessTree (btNodeOverlapCallback *nodeCallback, const btVector3 &aabbMin, const btVector3 &aabbMax) const

void	walkStacklessQuantizedTreeAgainstRay (btNodeOverlapCallback *nodeCallback, const btVector3 &raySource, const btVector3 &rayTarget, const btVector3 &aabbMin, const btVector3 &aabbMax, int startNodeIndex, int endNodeIndex) const

void	walkStacklessQuantizedTree (btNodeOverlapCallback nodeCallback, unsigned short int quantizedQueryAabbMin, unsigned short int *quantizedQueryAabbMax, int startNodeIndex, int endNodeIndex) const

void	walkStacklessTreeAgainstRay (btNodeOverlapCallback *nodeCallback, const btVector3 &raySource, const btVector3 &rayTarget, const btVector3 &aabbMin, const btVector3 &aabbMax, int startNodeIndex, int endNodeIndex) const

void	walkStacklessQuantizedTreeCacheFriendly (btNodeOverlapCallback nodeCallback, unsigned short int quantizedQueryAabbMin, unsigned short int *quantizedQueryAabbMax) const
	tree traversal designed for small-memory processors like PS3 SPU More...

void	walkRecursiveQuantizedTreeAgainstQueryAabb (const btQuantizedBvhNode currentNode, btNodeOverlapCallback nodeCallback, unsigned short int quantizedQueryAabbMin, unsigned short int quantizedQueryAabbMax) const
	use the 16-byte stackless 'skipindex' node tree to do a recursive traversal More...

void	walkRecursiveQuantizedTreeAgainstQuantizedTree (const btQuantizedBvhNode treeNodeA, const btQuantizedBvhNode treeNodeB, btNodeOverlapCallback *nodeCallback) const
	use the 16-byte stackless 'skipindex' node tree to do a recursive traversal More...

void	updateSubtreeHeaders (int leftChildNodexIndex, int rightChildNodexIndex)

Private Member Functions
	btQuantizedBvh (btQuantizedBvh &other, bool ownsMemory)

Detailed Description

The btQuantizedBvh class stores an AABB tree that can be quickly traversed on CPU and Cell SPU.

It is used by the btBvhTriangleMeshShape as midphase, and by the btMultiSapBroadphase. It is recommended to use quantization for better performance and lower memory requirements.

Definition at line 174 of file btQuantizedBvh.h.

Member Enumeration Documentation

enum btQuantizedBvh::btTraversalMode

Enumerator
TRAVERSAL_STACKLESS
TRAVERSAL_STACKLESS_CACHE_FRIENDLY
TRAVERSAL_RECURSIVE

Definition at line 177 of file btQuantizedBvh.h.

Constructor & Destructor Documentation

btQuantizedBvh::btQuantizedBvh ( )

Definition at line 24 of file btQuantizedBvh.cpp.

btQuantizedBvh::~btQuantizedBvh ( )

virtual

Definition at line 105 of file btQuantizedBvh.cpp.

btQuantizedBvh::btQuantizedBvh	(	btQuantizedBvh &	other,
		bool	ownsMemory
	)

private

Definition at line 1138 of file btQuantizedBvh.cpp.

Member Function Documentation

void btQuantizedBvh::assignInternalNodeFromLeafNode	(	int	internalNode,
		int	leafNodeIndex
	)

protected

Definition at line 805 of file btQuantizedBvh.cpp.

btQuantizedBvh::BT_DECLARE_ALIGNED_ALLOCATOR ( )

void btQuantizedBvh::buildInternal ( )

buildInternal is expert use only: assumes that setQuantizationValues and LeafNodeArray are initialized

assumes that caller filled in the m_quantizedLeafNodes

if the entire tree is small then subtree size, we need to create a header info for the tree

Definition at line 40 of file btQuantizedBvh.cpp.

void btQuantizedBvh::buildTree	(	int	startIndex,
		int	endIndex
	)

protected

Definition at line 114 of file btQuantizedBvh.cpp.

int btQuantizedBvh::calcSplittingAxis	(	int	startIndex,
		int	endIndex
	)

protected

Definition at line 284 of file btQuantizedBvh.cpp.

unsigned btQuantizedBvh::calculateSerializeBufferSize ( ) const

Definition at line 834 of file btQuantizedBvh.cpp.

int btQuantizedBvh::calculateSerializeBufferSizeNew ( ) const

inlinevirtual

Definition at line 574 of file btQuantizedBvh.h.

void btQuantizedBvh::deSerializeDouble ( struct btQuantizedBvhDoubleData & quantizedBvhDoubleData)

virtual

Definition at line 1218 of file btQuantizedBvh.cpp.

void btQuantizedBvh::deSerializeFloat ( struct btQuantizedBvhFloatData & quantizedBvhFloatData)

virtual

Definition at line 1147 of file btQuantizedBvh.cpp.

btQuantizedBvh * btQuantizedBvh::deSerializeInPlace	(	void *	i_alignedDataBuffer,
		unsigned int	i_dataBufferSize,
		bool	i_swapEndian
	)

static

deSerializeInPlace loads and initializes a BVH from a buffer in memory 'in place'

Definition at line 1031 of file btQuantizedBvh.cpp.

btVector3 btQuantizedBvh::getAabbMax ( int nodeIndex) const

inlineprotected

Definition at line 248 of file btQuantizedBvh.h.

btVector3 btQuantizedBvh::getAabbMin ( int nodeIndex) const

inlineprotected

Definition at line 238 of file btQuantizedBvh.h.

unsigned int btQuantizedBvh::getAlignmentSerializationPadding ( )

static

Definition at line 828 of file btQuantizedBvh.cpp.

QuantizedNodeArray& btQuantizedBvh::getLeafNodeArray ( )

inline

Definition at line 343 of file btQuantizedBvh.h.

QuantizedNodeArray& btQuantizedBvh::getQuantizedNodeArray ( )

inline

Definition at line 450 of file btQuantizedBvh.h.

BvhSubtreeInfoArray& btQuantizedBvh::getSubtreeInfoArray ( )

inline

Definition at line 456 of file btQuantizedBvh.h.

bool btQuantizedBvh::isQuantized ( )

inline

Definition at line 488 of file btQuantizedBvh.h.

void btQuantizedBvh::mergeInternalNodeAabb	(	int	nodeIndex,
		const btVector3 &	newAabbMin,
		const btVector3 &	newAabbMax
	)

inlineprotected

Definition at line 273 of file btQuantizedBvh.h.

void btQuantizedBvh::quantize	(	unsigned short *	out,
		const btVector3 &	point,
		int	isMax
	)		const

inline

Make sure rounding is done in a way that unQuantize(quantizeWithClamp(...)) is conservative end-points always set the first bit, so that they are sorted properly (so that neighbouring AABBs overlap properly)

Definition at line 352 of file btQuantizedBvh.h.

void btQuantizedBvh::quantizeWithClamp	(	unsigned short *	out,
		const btVector3 &	point2,
		int	isMax
	)		const

inline

Definition at line 419 of file btQuantizedBvh.h.

void btQuantizedBvh::reportAabbOverlappingNodex	(	btNodeOverlapCallback *	nodeCallback,
		const btVector3 &	aabbMin,
		const btVector3 &	aabbMax
	)		const

***************************************** expert/internal use only *************************

quantize query AABB

Definition at line 313 of file btQuantizedBvh.cpp.

void btQuantizedBvh::reportBoxCastOverlappingNodex	(	btNodeOverlapCallback *	nodeCallback,
		const btVector3 &	raySource,
		const btVector3 &	rayTarget,
		const btVector3 &	aabbMin,
		const btVector3 &	aabbMax
	)		const

Definition at line 762 of file btQuantizedBvh.cpp.

void btQuantizedBvh::reportRayOverlappingNodex	(	btNodeOverlapCallback *	nodeCallback,
		const btVector3 &	raySource,
		const btVector3 &	rayTarget
	)		const

Definition at line 756 of file btQuantizedBvh.cpp.

bool btQuantizedBvh::serialize	(	void *	o_alignedDataBuffer,
		unsigned	i_dataBufferSize,
		bool	i_swapEndian
	)		const

virtual

Data buffer MUST be 16 byte aligned.

Definition at line 845 of file btQuantizedBvh.cpp.

const char * btQuantizedBvh::serialize	(	void *	dataBuffer,
		btSerializer *	serializer
	)		const

virtual

fills the dataBuffer and returns the struct name (and 0 on failure)

Definition at line 1293 of file btQuantizedBvh.cpp.

void btQuantizedBvh::setInternalNodeAabbMax	(	int	nodeIndex,
		const btVector3 &	aabbMax
	)

inlineprotected

Definition at line 227 of file btQuantizedBvh.h.

void btQuantizedBvh::setInternalNodeAabbMin	(	int	nodeIndex,
		const btVector3 &	aabbMin
	)

inlineprotected

two versions, one for quantized and normal nodes.

This allows code-reuse while maintaining readability (no template/macro!) this might be refactored into a virtual, it is usually not calculated at run-time

Definition at line 216 of file btQuantizedBvh.h.

void btQuantizedBvh::setInternalNodeEscapeIndex	(	int	nodeIndex,
		int	escapeIndex
	)

inlineprotected

Definition at line 260 of file btQuantizedBvh.h.

void btQuantizedBvh::setQuantizationValues	(	const btVector3 &	bvhAabbMin,
		const btVector3 &	bvhAabbMax,
		btScalar	quantizationMargin = `btScalar(1.0)`
	)

***************************************** expert/internal use only *************************

just for debugging, to visualize the individual patches/subtrees

Definition at line 91 of file btQuantizedBvh.cpp.

void btQuantizedBvh::setTraversalMode ( btTraversalMode traversalMode)

inline

setTraversalMode let's you choose between stackless, recursive or stackless cache friendly tree traversal. Note this is only implemented for quantized trees.

Definition at line 444 of file btQuantizedBvh.h.

int btQuantizedBvh::sortAndCalcSplittingIndex	(	int	startIndex,
		int	endIndex,
		int	splitAxis
	)

protected

Definition at line 230 of file btQuantizedBvh.cpp.

void btQuantizedBvh::swapLeafNodes	(	int	firstIndex,
		int	secondIndex
	)

protected

Definition at line 790 of file btQuantizedBvh.cpp.

btVector3 btQuantizedBvh::unQuantize ( const unsigned short * vecIn) const

inline

Definition at line 432 of file btQuantizedBvh.h.

void btQuantizedBvh::updateSubtreeHeaders	(	int	leftChildNodexIndex,
		int	rightChildNodexIndex
	)

protected

Definition at line 197 of file btQuantizedBvh.cpp.

void btQuantizedBvh::walkRecursiveQuantizedTreeAgainstQuantizedTree	(	const btQuantizedBvhNode *	treeNodeA,
		const btQuantizedBvhNode *	treeNodeB,
		btNodeOverlapCallback *	nodeCallback
	)		const

protected

use the 16-byte stackless 'skipindex' node tree to do a recursive traversal

void btQuantizedBvh::walkRecursiveQuantizedTreeAgainstQueryAabb	(	const btQuantizedBvhNode *	currentNode,
		btNodeOverlapCallback *	nodeCallback,
		unsigned short int *	quantizedQueryAabbMin,
		unsigned short int *	quantizedQueryAabbMax
	)		const

protected

use the 16-byte stackless 'skipindex' node tree to do a recursive traversal

Definition at line 417 of file btQuantizedBvh.cpp.

void btQuantizedBvh::walkStacklessQuantizedTree	(	btNodeOverlapCallback *	nodeCallback,
		unsigned short int *	quantizedQueryAabbMin,
		unsigned short int *	quantizedQueryAabbMax,
		int	startNodeIndex,
		int	endNodeIndex
	)		const

protected

Definition at line 667 of file btQuantizedBvh.cpp.

void btQuantizedBvh::walkStacklessQuantizedTreeAgainstRay	(	btNodeOverlapCallback *	nodeCallback,
		const btVector3 &	raySource,
		const btVector3 &	rayTarget,
		const btVector3 &	aabbMin,
		const btVector3 &	aabbMax,
		int	startNodeIndex,
		int	endNodeIndex
	)		const

protected

what about division by zero? –> just set rayDirection[i] to 1.0

careful with this check: need to check division by zero (above) and fix the unQuantize method thanks Joerg/hiker for the reproduction case! http://www.bulletphysics.com/Bullet/phpBB3/viewtopic.php?f=9&t=1858

Definition at line 541 of file btQuantizedBvh.cpp.

void btQuantizedBvh::walkStacklessQuantizedTreeCacheFriendly	(	btNodeOverlapCallback *	nodeCallback,
		unsigned short int *	quantizedQueryAabbMin,
		unsigned short int *	quantizedQueryAabbMax
	)		const

protected

tree traversal designed for small-memory processors like PS3 SPU

Definition at line 733 of file btQuantizedBvh.cpp.

void btQuantizedBvh::walkStacklessTree	(	btNodeOverlapCallback *	nodeCallback,
		const btVector3 &	aabbMin,
		const btVector3 &	aabbMax
	)		const

protected

Definition at line 353 of file btQuantizedBvh.cpp.

void btQuantizedBvh::walkStacklessTreeAgainstRay	(	btNodeOverlapCallback *	nodeCallback,
		const btVector3 &	raySource,
		const btVector3 &	rayTarget,
		const btVector3 &	aabbMin,
		const btVector3 &	aabbMax,
		int	startNodeIndex,
		int	endNodeIndex
	)		const

protected

what about division by zero? –> just set rayDirection[i] to 1.0

Definition at line 449 of file btQuantizedBvh.cpp.

Member Data Documentation

int btQuantizedBvh::m_bulletVersion

protected

Definition at line 191 of file btQuantizedBvh.h.

btVector3 btQuantizedBvh::m_bvhAabbMax

protected

Definition at line 188 of file btQuantizedBvh.h.

btVector3 btQuantizedBvh::m_bvhAabbMin

protected

Definition at line 187 of file btQuantizedBvh.h.

btVector3 btQuantizedBvh::m_bvhQuantization

protected

Definition at line 189 of file btQuantizedBvh.h.

NodeArray btQuantizedBvh::m_contiguousNodes

protected

Definition at line 200 of file btQuantizedBvh.h.

int btQuantizedBvh::m_curNodeIndex

protected

Definition at line 193 of file btQuantizedBvh.h.

NodeArray btQuantizedBvh::m_leafNodes

protected

Definition at line 199 of file btQuantizedBvh.h.

QuantizedNodeArray btQuantizedBvh::m_quantizedContiguousNodes

protected

Definition at line 202 of file btQuantizedBvh.h.

QuantizedNodeArray btQuantizedBvh::m_quantizedLeafNodes

protected

Definition at line 201 of file btQuantizedBvh.h.

int btQuantizedBvh::m_subtreeHeaderCount

mutableprotected

Definition at line 208 of file btQuantizedBvh.h.

BvhSubtreeInfoArray btQuantizedBvh::m_SubtreeHeaders

protected

Definition at line 205 of file btQuantizedBvh.h.

btTraversalMode btQuantizedBvh::m_traversalMode

protected

Definition at line 204 of file btQuantizedBvh.h.

bool btQuantizedBvh::m_useQuantization

protected

Definition at line 195 of file btQuantizedBvh.h.

The documentation for this class was generated from the following files:

Protected Attributes
btVector3	m_bvhAabbMin

btVector3	m_bvhAabbMax

btVector3	m_bvhQuantization

int	m_bulletVersion

int	m_curNodeIndex

bool	m_useQuantization

NodeArray	m_leafNodes

NodeArray	m_contiguousNodes

QuantizedNodeArray	m_quantizedLeafNodes

QuantizedNodeArray	m_quantizedContiguousNodes

btTraversalMode	m_traversalMode

BvhSubtreeInfoArray	m_SubtreeHeaders

int	m_subtreeHeaderCount

Public Types

Public Member Functions

Static Public Member Functions

Protected Member Functions

Protected Attributes

Private Member Functions

Detailed Description

Member Enumeration Documentation

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation