1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
|
#ifndef BVHTREE_H
#define BVHTREE_H
#include "Game/Components/CollisionComponents/BoundingTriangle.h"
#include "Game/GameObjects/GameObject.h"
#include "glm/glm.hpp"
#include <map>
#include <vector>
// primitive = triangle
struct BVHPrimitive{
Bounds3f bounds;
glm::vec3 centroid;
Triangle triangle;
BVHPrimitive(const Triangle &tri):
triangle(tri),
bounds(tri.bounds),
centroid(.333f*(tri.vertexA + tri.vertexB + tri.vertexC)){}
};
struct BVHNode{
// glm::vec3 aabbMin, aabbMax;
Bounds3f bounds;
int leftNode, firstPrimitiveIndex, primitiveCount;
bool isLeaf(){
return primitiveCount > 0;
}
};
struct BVHaabb {
Bounds3f bounds;
void grow(Bounds3f newbounds){
bounds.min = newbounds.min;
bounds.max = newbounds.max;
}
float area(){
glm::vec3 e = bounds.max-bounds.min;
return (e.x*e.y) + (e.y*e.z) * (e.z*e.x);
}
};
template <typename T> Bounds3f
getNodeBounds(const Bounds3f &b1, const Bounds3f &b2){
Bounds3f bounds;
bounds.min = glm::vec3(std::min(b1.min.x, b2.min.x),
std::min(b1.min.y, b2.min.y),
std::min(b1.min.z, b2.min.z));
bounds.max = glm::vec3(std::max(b1.max.x, b2.max.x),
std::max(b1.max.y, b2.max.y),
std::max(b1.max.z, b2.max.z));
return bounds;
}
template <typename T> Bounds3f
getNodeBounds_Point(const Bounds3f &b, const glm::vec3 &p){
Bounds3f bounds;
bounds.min = glm::vec3(std::min(b.min.x, p.x),
std::min(b.min.y, p.y),
std::min(b.min.z, p.z));
bounds.max = glm::vec3(std::max(b.max.x, p.x),
std::max(b.max.y, p.y),
std::max(b.max.z, p.z));
return bounds;
}
class BVHTree
{
BVHNode *m_bvhNodes;
int *m_primitive_indices;
public:
BVHTree(std::map<std::string, std::shared_ptr<GameObject>>& rigid_gameobjects);
~BVHTree();
std::vector<Triangle> getBVHDetectedCollisions(glm::vec3 posA, glm::vec3 posB, glm::vec3 ellip_R);
void intersectBVH(glm::vec3 posA, glm::vec3 posB, const int nodeIndex, std::vector<Triangle> &candidates, glm::vec3 ellip_R);
private:
float evaluateSAH(BVHNode& node, int axis, float pos);
void initializePrimitiveInfo();
void buildBVH();
void updateNodeBounds(int nodeIndex);
void subdivide(int nodeIndex);
bool intersectsNode(glm::vec3 posA, glm::vec3 posB, glm::vec3 min, glm::vec3 max, glm::vec3 ellip_R);
//std::unique_ptr<EllipsoidTriangleCollisionSystem> m_ellipsoid_triangle_collision_system;
std::vector<BVHPrimitive> m_primitives;
std::map<std::string, std::shared_ptr<GameObject>>& m_rigid_gameobjects;
//std::vector<BVHNode> m_bvhNodes;
//std::vector<int> m_primitive_indices;
int m_nodesUsed = 1;
int N = 0;
// std::pair<std::vector<CollisionData>, glm::vec3> m_detected_collisions;
};
#endif // BVHTREE_H
|
