/*
Bullet Continuous Collision Detection and Physics Library
Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
This software is provided 'as-is', without any express or implied warranty.
In no event will the authors be held liable for any damages arising from the use of this software.
Permission is granted to anyone to use this software for any purpose,
including commercial applications, and to alter it and redistribute it freely,
subject to the following restrictions:
1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
3. This notice may not be removed or altered from any source distribution.
*/
#include "btQuantizedBvh.h"
#include "LinearMath/btAabbUtil2.h"
#include "LinearMath/btIDebugDraw.h"
#include "LinearMath/btSerializer.h"
#define RAYAABB2
btQuantizedBvh::btQuantizedBvh() :
m_bulletVersion(BT_BULLET_VERSION),
m_useQuantization(false),
//m_traversalMode(TRAVERSAL_STACKLESS_CACHE_FRIENDLY)
m_traversalMode(TRAVERSAL_STACKLESS)
//m_traversalMode(TRAVERSAL_RECURSIVE)
,m_subtreeHeaderCount(0) //PCK: add this line
{
m_bvhAabbMin.setValue(-SIMD_INFINITY,-SIMD_INFINITY,-SIMD_INFINITY);
m_bvhAabbMax.setValue(SIMD_INFINITY,SIMD_INFINITY,SIMD_INFINITY);
}
void btQuantizedBvh::buildInternal()
{
///assumes that caller filled in the m_quantizedLeafNodes
m_useQuantization = true;
int numLeafNodes = 0;
if (m_useQuantization)
{
//now we have an array of leafnodes in m_leafNodes
numLeafNodes = m_quantizedLeafNodes.size();
m_quantizedContiguousNodes.resize(2*numLeafNodes);
}
m_curNodeIndex = 0;
buildTree(0,numLeafNodes);
///if the entire tree is small then subtree size, we need to create a header info for the tree
if(m_useQuantization && !m_SubtreeHeaders.size())
{
btBvhSubtreeInfo& subtree = m_SubtreeHeaders.expand();
subtree.setAabbFromQuantizeNode(m_quantizedContiguousNodes[0]);
subtree.m_rootNodeIndex = 0;
subtree.m_subtreeSize = m_quantizedContiguousNodes[0].isLeafNode() ? 1 : m_quantizedContiguousNodes[0].getEscapeIndex();
}
//PCK: update the copy of the size
m_subtreeHeaderCount = m_SubtreeHeaders.size();
//PCK: clear m_quantizedLeafNodes and m_leafNodes, they are temporary
m_quantizedLeafNodes.clear();
m_leafNodes.clear();
}
///just for debugging, to visualize the individual patches/subtrees
#ifdef DEBUG_PATCH_COLORS
btVector3 color[4]=
{
btVector3(1,0,0),
btVector3(0,1,0),
