110 lines
3.9 KiB
C++
110 lines
3.9 KiB
C++
// Redistribution and use in source and binary forms, with or without
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// modification, are permitted provided that the following conditions
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// are met:
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// * Redistributions of source code must retain the above copyright
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// notice, this list of conditions and the following disclaimer.
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// * Redistributions in binary form must reproduce the above copyright
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// notice, this list of conditions and the following disclaimer in the
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// documentation and/or other materials provided with the distribution.
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// * Neither the name of NVIDIA CORPORATION nor the names of its
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// contributors may be used to endorse or promote products derived
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// from this software without specific prior written permission.
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//
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// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ''AS IS'' AND ANY
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// EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
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// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR
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// PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR
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// CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL,
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// EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO,
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// PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR
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// PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY
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// OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
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// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
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// OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
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//
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// Copyright (c) 2008-2025 NVIDIA Corporation. All rights reserved.
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#ifndef EXT_TET_CPU_BVH_H
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#define EXT_TET_CPU_BVH_H
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#include "foundation/PxArray.h"
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#include "foundation/PxBounds3.h"
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#include "GuBVH.h"
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#include "GuAABBTree.h"
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#include "GuAABBTreeNode.h"
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#include "GuAABBTreeBounds.h"
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#include "GuAABBTreeQuery.h"
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#include "GuTriangle.h"
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#include "ExtVec3.h"
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namespace physx
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{
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namespace Ext
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{
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using Triangle = Gu::IndexedTriangleT<PxI32>;
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//Creates an unique 64bit bit key out of two 32bit values, the key is order independent, useful as hash key for edges
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//Use this functions to compute the edge keys used in the edgesToSplit parameter of the split function below.
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PX_FORCE_INLINE PxU64 key(PxI32 a, PxI32 b)
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{
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if (a < b)
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return ((PxU64(a)) << 32) | (PxU64(b));
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else
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return ((PxU64(b)) << 32) | (PxU64(a));
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}
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void buildTree(const PxU32* triangles, const PxU32 numTriangles, const PxVec3d* points, PxArray<Gu::BVHNode>& tree, PxF32 enlargement = 1e-4f);
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//Builds a BVH from a set of triangles
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PX_FORCE_INLINE void buildTree(const PxArray<Triangle>& triangles, const PxArray<PxVec3d>& points, PxArray<Gu::BVHNode>& tree, PxF32 enlargement = 1e-4f)
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{
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buildTree(reinterpret_cast<const PxU32*>(triangles.begin()), triangles.size(), points.begin(), tree, enlargement);
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}
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template<typename T>
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void traverseBVH(const PxArray<Gu::BVHNode>& nodes, T& traversalController, PxI32 rootNodeIndex = 0)
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{
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traverseBVH(nodes.begin(), traversalController, rootNodeIndex);
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}
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class IntersectionCollectingTraversalController
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{
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PxBounds3 box;
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PxArray<PxI32>& candidateTriangleIndices;
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public:
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IntersectionCollectingTraversalController(PxArray<PxI32>& candidateTriangleIndices_) :
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box(PxBounds3::empty()), candidateTriangleIndices(candidateTriangleIndices_)
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{ }
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IntersectionCollectingTraversalController(const PxBounds3& box_, PxArray<PxI32>& candidateTriangleIndices_) :
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box(box_), candidateTriangleIndices(candidateTriangleIndices_)
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{ }
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void reset(const PxBounds3& box_)
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{
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box = box_;
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candidateTriangleIndices.clear();
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}
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Gu::TraversalControl::Enum analyze(const Gu::BVHNode& node, PxI32)
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{
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if (node.isLeaf())
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{
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candidateTriangleIndices.pushBack(node.getPrimitiveIndex());
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return Gu::TraversalControl::eDontGoDeeper;
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}
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if (node.mBV.intersects(box))
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return Gu::TraversalControl::eGoDeeper;
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return Gu::TraversalControl::eDontGoDeeper;
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}
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private:
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PX_NOCOPY(IntersectionCollectingTraversalController)
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};
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}
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}
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#endif
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