Revision: 14954
http://projects.blender.org/plugins/scmsvn/viewcvs.php?view=rev&root=bf-blender&revision=14954
Author: jaguarandi
Date: 2008-05-25 15:44:55 +0200 (Sun, 25 May 2008)
Log Message:
-----------
Merge bvh tree from cloth branch
Modified Paths:
--------------
branches/soc-2008-jaguarandi/source/blender/blenlib/intern/BLI_kdopbvh.c
Modified:
branches/soc-2008-jaguarandi/source/blender/blenlib/intern/BLI_kdopbvh.c
===================================================================
--- branches/soc-2008-jaguarandi/source/blender/blenlib/intern/BLI_kdopbvh.c
2008-05-25 13:15:54 UTC (rev 14953)
+++ branches/soc-2008-jaguarandi/source/blender/blenlib/intern/BLI_kdopbvh.c
2008-05-25 13:44:55 UTC (rev 14954)
@@ -49,6 +49,38 @@
#define node_get_bv(tree, node) ((node)->bv)
#define node_get_child(tree,node,i) ((node)->children[i])
+/* Util macros */
+#define TO_STR(a) #a
+#define JOIN(a,b) a##b
+
+/* Benchmark macros */
+#if 1
+
+#define BENCH(a) \
+ do { \
+ clock_t _clock_init = clock(); \
+ (a); \
+ printf("%s: %fms\n", #a,
(float)(clock()-_clock_init)*1000/CLOCKS_PER_SEC); \
+} while(0)
+
+#define BENCH_VAR(name) clock_t JOIN(_bench_step,name) = 0,
JOIN(_bench_total,name) = 0
+#define BENCH_BEGIN(name) JOIN(_bench_step, name) = clock()
+#define BENCH_END(name) JOIN(_bench_total,name) += clock() -
JOIN(_bench_step,name)
+#define BENCH_RESET(name) JOIN(_bench_total, name) = 0
+#define BENCH_REPORT(name) printf("%s: %fms\n", TO_STR(name),
JOIN(_bench_total,name)*1000.0f/CLOCKS_PER_SEC)
+
+#else
+
+#define BENCH(a) (a)
+#define BENCH_VAR(name)
+#define BENCH_BEGIN(name)
+#define BENCH_END(name)
+#define BENCH_RESET(name)
+#define BENCH_REPORT(name)
+
+#endif
+
+
typedef struct BVHNode
{
struct BVHNode **children;// max 8 children
@@ -63,15 +95,15 @@
struct BVHTree
{
BVHNode **nodes;
+ BVHNode *nodearray; // pre-alloc branchs
+ BVHNode **nodechild; // pre-alloc childs for nodes
float *nodebv; // pre-alloc bounding-volumes for nodes
- BVHNode **nodechild; // pre-alloc childs for nodes
- BVHNode *nodearray; // pre-alloc branchs
float epsilon; // epslion is used for inflation of the
k-dop
int totleaf; // leafs
int totbranch;
char tree_type; // type of tree (4 => quadtree)
char axis; // kdop type (6 => OBB, 7 => AABB, ...)
- char start_axis, stop_axis; // KDOP_AXES array indices according to
axis
+ char start_axis, stop_axis; // KDOP_AXES array indices according to
axis char start_axis, stop_axis; // KDOP_AXES array indices according to
axis
};
typedef struct BVHOverlapData
@@ -103,7 +135,35 @@
// http://ralphunden.net/content/tutorials/a-guide-to-introsort/
// and he derived it from the SUN STL
//////////////////////////////////////////////////////////////////////////////////////////////////////
+static int size_threshold = 16;
+/*
+* Common methods for all algorithms
+*/
+static int floor_lg(int a)
+{
+ return (int)(floor(log(a)/log(2)));
+}
+/*
+* Insertion sort algorithm
+*/
+static void bvh_insertionsort(BVHNode **a, int lo, int hi, int axis)
+{
+ int i,j;
+ BVHNode *t;
+ for (i=lo; i < hi; i++)
+ {
+ j=i;
+ t = a[i];
+ while((j!=lo) && (t->bv[axis] < (a[j-1])->bv[axis]))
+ {
+ a[j] = a[j-1];
+ j--;
+ }
+ a[j] = t;
+ }
+}
+
static int bvh_partition(BVHNode **a, int lo, int hi, BVHNode * x, int axis)
{
int i=lo, j=hi;
@@ -119,6 +179,41 @@
}
}
+/*
+* Heapsort algorithm
+*/
+static void bvh_downheap(BVHNode **a, int i, int n, int lo, int axis)
+{
+ BVHNode * d = a[lo+i-1];
+ int child;
+ while (i<=n/2)
+ {
+ child = 2*i;
+ if ((child < n) && ((a[lo+child-1])->bv[axis] <
(a[lo+child])->bv[axis]))
+ {
+ child++;
+ }
+ if (!(d->bv[axis] < (a[lo+child-1])->bv[axis])) break;
+ a[lo+i-1] = a[lo+child-1];
+ i = child;
+ }
+ a[lo+i-1] = d;
+}
+
+static void bvh_heapsort(BVHNode **a, int lo, int hi, int axis)
+{
+ int n = hi-lo, i;
+ for (i=n/2; i>=1; i=i-1)
+ {
+ bvh_downheap(a, i,n,lo, axis);
+ }
+ for (i=n; i>1; i=i-1)
+ {
+ SWAP(BVHNode*, a[lo],a[lo+i-1]);
+ bvh_downheap(a, 1,i-1,lo, axis);
+ }
+}
+
static BVHNode *bvh_medianof3(BVHNode **a, int lo, int mid, int hi, int axis)
// returns Sortable
{
if ((a[mid])->bv[axis] < (a[lo])->bv[axis])
@@ -146,23 +241,57 @@
return a[mid];
}
}
+/*
+* Quicksort algorithm modified for Introsort
+*/
+static void bvh_introsort_loop (BVHNode **a, int lo, int hi, int depth_limit,
int axis)
+{
+ int p;
-//after a call to this function you can expect one of:
-// every node to left of a[n] are smaller than it
-// every node to the right of a[n-1] are greater than it
-void partition_nth_element(BVHNode **a, int _begin, int _end, int n, int axis)
+ while (hi-lo > size_threshold)
+ {
+ if (depth_limit == 0)
+ {
+ bvh_heapsort(a, lo, hi, axis);
+ return;
+ }
+ depth_limit=depth_limit-1;
+ p=bvh_partition(a, lo, hi, bvh_medianof3(a, lo,
lo+((hi-lo)/2)+1, hi-1, axis), axis);
+ bvh_introsort_loop(a, p, hi, depth_limit, axis);
+ hi=p;
+ }
+}
+
+static void sort(BVHNode **a0, int begin, int end, int axis)
{
- int begin = _begin, end = _end;
- while(begin < n && end >= n)
+ if (begin < end)
{
- int mid = bvh_partition(a, begin, end, bvh_medianof3(a, begin,
(begin+end-1)/2, end-1, axis), axis );
-
- if(mid >= n)
- end = n-1;
- else
- begin = n+1;
+ BVHNode **a=a0;
+ bvh_introsort_loop(a, begin, end, 2*floor_lg(end-begin), axis);
+ bvh_insertionsort(a, begin, end, axis);
}
+}
+void sort_along_axis(BVHTree *tree, int start, int end, int axis)
+{
+ sort(tree->nodes, start, end, axis);
+}
+//after a call to this function you can expect one of:
+// every node to left of a[n] are smaller or equal to it
+// every node to the right of a[n] are greater or equal to it
+int partition_nth_element(BVHNode **a, int _begin, int _end, int n, int axis){
+ int begin = _begin, end = _end, cut;
+ while(end-begin > 3)
+ {
+ cut = bvh_partition(a, begin, end, bvh_medianof3(a, begin,
(begin+end)/2, end-1, axis), axis );
+ if(cut <= n)
+ begin = cut;
+ else
+ end = cut;
+ }
+ bvh_insertionsort(a, begin, end, axis);
+
+ return n;
}
//////////////////////////////////////////////////////////////////////////////////////////////////////
@@ -278,6 +407,7 @@
return tree;
}
+
static void create_kdop_hull(BVHTree *tree, BVHNode *node, float *co, int
numpoints, int moving)
{
float newminmax;
@@ -417,7 +547,6 @@
{
tend = start + slice;
-
if(tend > end) tend = end;
if(tend-start == 1) // ok, we have 1 left for this node
@@ -432,7 +561,9 @@
tnode = node->children[i] = tree->nodes[tree->totleaf
+ tree->totbranch] = &(tree->nodearray[tree->totbranch + tree->totleaf]);
tree->totbranch++;
tnode->parent = node;
-
+
+ if(tend != end)
+ partition_nth_element(tree->nodes, start, end,
tend, laxis);
refit_kdop_hull(tree, tnode, start, tend);
bvh_div_nodes(tree, tnode, start, tend, laxis);
}
@@ -592,7 +723,7 @@
{
int j, total = 0;
BVHTreeOverlap *overlap = NULL, *to = NULL;
- BVHOverlapData *data[tree1->tree_type];
+ BVHOverlapData **data;
// check for compatibility of both trees (can't compare 14-DOP with
18-DOP)
if((tree1->axis != tree2->axis) && ((tree1->axis == 14) || tree2->axis
== 14))
@@ -601,6 +732,8 @@
// fast check root nodes for collision before doing big splitting +
traversal
if(!tree_overlap(tree1->nodes[tree1->totleaf],
tree2->nodes[tree2->totleaf], MIN2(tree1->start_axis, tree2->start_axis),
MIN2(tree1->stop_axis, tree2->stop_axis)))
return 0;
+
+ *data = MEM_callocN(sizeof(BVHOverlapData *)* tree1->tree_type,
"BVHOverlapData_star");
for(j = 0; j < tree1->tree_type; j++)
{
@@ -636,6 +769,7 @@
free(data[j]->overlap);
MEM_freeN(data[j]);
}
+ MEM_freeN(*data);
(*result) = total;
return overlap;
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