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#ifndef GIM_QUANTIZED_SET_H_INCLUDED
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#define GIM_QUANTIZED_SET_H_INCLUDED
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/*! \file btGImpactQuantizedBvh.h
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\author Francisco Leon Najera
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*/
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/*
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This source file is part of GIMPACT Library.
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For the latest info, see http://gimpact.sourceforge.net/
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Copyright (c) 2007 Francisco Leon Najera. C.C. 80087371.
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email: projectileman@yahoo.com
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This software is provided 'as-is', without any express or implied warranty.
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In no event will the authors be held liable for any damages arising from the use of this software.
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Permission is granted to anyone to use this software for any purpose,
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including commercial applications, and to alter it and redistribute it freely,
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subject to the following restrictions:
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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.
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2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
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3. This notice may not be removed or altered from any source distribution.
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*/
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#include "btGImpactBvh.h"
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#include "btQuantization.h"
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#include "btGImpactQuantizedBvhStructs.h"
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class GIM_QUANTIZED_BVH_NODE_ARRAY:public btAlignedObjectArray<BT_QUANTIZED_BVH_NODE>
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{
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};
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//! Basic Box tree structure
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class btQuantizedBvhTree
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{
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protected:
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int m_num_nodes;
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GIM_QUANTIZED_BVH_NODE_ARRAY m_node_array;
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btAABB m_global_bound;
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btVector3 m_bvhQuantization;
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protected:
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void calc_quantization(GIM_BVH_DATA_ARRAY & primitive_boxes, btScalar boundMargin = btScalar(1.0) );
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int _sort_and_calc_splitting_index(
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GIM_BVH_DATA_ARRAY & primitive_boxes,
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int startIndex, int endIndex, int splitAxis);
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int _calc_splitting_axis(GIM_BVH_DATA_ARRAY & primitive_boxes, int startIndex, int endIndex);
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void _build_sub_tree(GIM_BVH_DATA_ARRAY & primitive_boxes, int startIndex, int endIndex);
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public:
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btQuantizedBvhTree()
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{
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m_num_nodes = 0;
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}
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//! prototype functions for box tree management
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//!@{
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void build_tree(GIM_BVH_DATA_ARRAY & primitive_boxes);
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SIMD_FORCE_INLINE void quantizePoint(
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unsigned short * quantizedpoint, const btVector3 & point) const
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{
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bt_quantize_clamp(quantizedpoint,point,m_global_bound.m_min,m_global_bound.m_max,m_bvhQuantization);
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}
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SIMD_FORCE_INLINE bool testQuantizedBoxOverlapp(
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int node_index,
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unsigned short * quantizedMin,unsigned short * quantizedMax) const
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{
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return m_node_array[node_index].testQuantizedBoxOverlapp(quantizedMin,quantizedMax);
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}
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SIMD_FORCE_INLINE void clearNodes()
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{
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m_node_array.clear();
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m_num_nodes = 0;
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}
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//! node count
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SIMD_FORCE_INLINE int getNodeCount() const
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{
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return m_num_nodes;
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}
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//! tells if the node is a leaf
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SIMD_FORCE_INLINE bool isLeafNode(int nodeindex) const
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{
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return m_node_array[nodeindex].isLeafNode();
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}
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SIMD_FORCE_INLINE int getNodeData(int nodeindex) const
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{
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return m_node_array[nodeindex].getDataIndex();
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}
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SIMD_FORCE_INLINE void getNodeBound(int nodeindex, btAABB & bound) const
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{
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bound.m_min = bt_unquantize(
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m_node_array[nodeindex].m_quantizedAabbMin,
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m_global_bound.m_min,m_bvhQuantization);
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bound.m_max = bt_unquantize(
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m_node_array[nodeindex].m_quantizedAabbMax,
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m_global_bound.m_min,m_bvhQuantization);
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}
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SIMD_FORCE_INLINE void setNodeBound(int nodeindex, const btAABB & bound)
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{
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bt_quantize_clamp( m_node_array[nodeindex].m_quantizedAabbMin,
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bound.m_min,
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m_global_bound.m_min,
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m_global_bound.m_max,
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m_bvhQuantization);
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bt_quantize_clamp( m_node_array[nodeindex].m_quantizedAabbMax,
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bound.m_max,
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m_global_bound.m_min,
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m_global_bound.m_max,
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m_bvhQuantization);
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}
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SIMD_FORCE_INLINE int getLeftNode(int nodeindex) const
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{
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return nodeindex+1;
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}
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SIMD_FORCE_INLINE int getRightNode(int nodeindex) const
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{
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if(m_node_array[nodeindex+1].isLeafNode()) return nodeindex+2;
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return nodeindex+1 + m_node_array[nodeindex+1].getEscapeIndex();
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}
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SIMD_FORCE_INLINE int getEscapeNodeIndex(int nodeindex) const
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{
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return m_node_array[nodeindex].getEscapeIndex();
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}
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SIMD_FORCE_INLINE const BT_QUANTIZED_BVH_NODE * get_node_pointer(int index = 0) const
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{
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return &m_node_array[index];
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}
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//!@}
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};
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//! Structure for containing Boxes
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/*!
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This class offers an structure for managing a box tree of primitives.
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Requires a Primitive prototype (like btPrimitiveManagerBase )
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*/
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class btGImpactQuantizedBvh
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{
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protected:
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btQuantizedBvhTree m_box_tree;
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btPrimitiveManagerBase * m_primitive_manager;
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protected:
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//stackless refit
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void refit();
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public:
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//! this constructor doesn't build the tree. you must call buildSet
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btGImpactQuantizedBvh()
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{
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m_primitive_manager = NULL;
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}
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//! this constructor doesn't build the tree. you must call buildSet
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btGImpactQuantizedBvh(btPrimitiveManagerBase * primitive_manager)
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{
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m_primitive_manager = primitive_manager;
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}
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SIMD_FORCE_INLINE btAABB getGlobalBox() const
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{
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btAABB totalbox;
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getNodeBound(0, totalbox);
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return totalbox;
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}
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SIMD_FORCE_INLINE void setPrimitiveManager(btPrimitiveManagerBase * primitive_manager)
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{
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m_primitive_manager = primitive_manager;
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}
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SIMD_FORCE_INLINE btPrimitiveManagerBase * getPrimitiveManager() const
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{
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return m_primitive_manager;
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}
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//! node manager prototype functions
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///@{
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//! this attemps to refit the box set.
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SIMD_FORCE_INLINE void update()
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{
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refit();
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}
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//! this rebuild the entire set
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void buildSet();
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//! returns the indices of the primitives in the m_primitive_manager
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bool boxQuery(const btAABB & box, btAlignedObjectArray<int> & collided_results) const;
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//! returns the indices of the primitives in the m_primitive_manager
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SIMD_FORCE_INLINE bool boxQueryTrans(const btAABB & box,
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const btTransform & transform, btAlignedObjectArray<int> & collided_results) const
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{
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btAABB transbox=box;
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transbox.appy_transform(transform);
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return boxQuery(transbox,collided_results);
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}
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//! returns the indices of the primitives in the m_primitive_manager
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bool rayQuery(
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const btVector3 & ray_dir,const btVector3 & ray_origin ,
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btAlignedObjectArray<int> & collided_results) const;
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//! tells if this set has hierarcht
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SIMD_FORCE_INLINE bool hasHierarchy() const
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{
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return true;
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}
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//! tells if this set is a trimesh
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SIMD_FORCE_INLINE bool isTrimesh() const
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{
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return m_primitive_manager->is_trimesh();
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}
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//! node count
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SIMD_FORCE_INLINE int getNodeCount() const
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{
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return m_box_tree.getNodeCount();
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}
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//! tells if the node is a leaf
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SIMD_FORCE_INLINE bool isLeafNode(int nodeindex) const
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{
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return m_box_tree.isLeafNode(nodeindex);
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}
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SIMD_FORCE_INLINE int getNodeData(int nodeindex) const
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{
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return m_box_tree.getNodeData(nodeindex);
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}
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SIMD_FORCE_INLINE void getNodeBound(int nodeindex, btAABB & bound) const
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{
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m_box_tree.getNodeBound(nodeindex, bound);
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}
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SIMD_FORCE_INLINE void setNodeBound(int nodeindex, const btAABB & bound)
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{
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m_box_tree.setNodeBound(nodeindex, bound);
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}
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SIMD_FORCE_INLINE int getLeftNode(int nodeindex) const
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{
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return m_box_tree.getLeftNode(nodeindex);
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}
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SIMD_FORCE_INLINE int getRightNode(int nodeindex) const
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{
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return m_box_tree.getRightNode(nodeindex);
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}
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SIMD_FORCE_INLINE int getEscapeNodeIndex(int nodeindex) const
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{
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return m_box_tree.getEscapeNodeIndex(nodeindex);
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}
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SIMD_FORCE_INLINE void getNodeTriangle(int nodeindex,btPrimitiveTriangle & triangle) const
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{
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m_primitive_manager->get_primitive_triangle(getNodeData(nodeindex),triangle);
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}
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SIMD_FORCE_INLINE const BT_QUANTIZED_BVH_NODE * get_node_pointer(int index = 0) const
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{
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return m_box_tree.get_node_pointer(index);
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}
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#ifdef TRI_COLLISION_PROFILING
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static float getAverageTreeCollisionTime();
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#endif //TRI_COLLISION_PROFILING
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static void find_collision(const btGImpactQuantizedBvh * boxset1, const btTransform & trans1,
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const btGImpactQuantizedBvh * boxset2, const btTransform & trans2,
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btPairSet & collision_pairs);
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};
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#endif // GIM_BOXPRUNING_H_INCLUDED
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