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706 lines
17 KiB
C++
706 lines
17 KiB
C++
/*************************************************************************/
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/* triangle_mesh.cpp */
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/*************************************************************************/
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/* This file is part of: */
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/* GODOT ENGINE */
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/* https://godotengine.org */
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/*************************************************************************/
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/* Copyright (c) 2007-2022 Juan Linietsky, Ariel Manzur. */
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/* Copyright (c) 2014-2022 Godot Engine contributors (cf. AUTHORS.md). */
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/* */
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/* Permission is hereby granted, free of charge, to any person obtaining */
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/* a copy of this software and associated documentation files (the */
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/* "Software"), to deal in the Software without restriction, including */
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/* without limitation the rights to use, copy, modify, merge, publish, */
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/* distribute, sublicense, and/or sell copies of the Software, and to */
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/* permit persons to whom the Software is furnished to do so, subject to */
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/* the following conditions: */
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/* */
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/* The above copyright notice and this permission notice shall be */
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/* included in all copies or substantial portions of the Software. */
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/* */
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/* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, */
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/* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF */
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/* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.*/
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/* IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY */
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/* CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, */
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/* TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE */
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/* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. */
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/*************************************************************************/
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#include "triangle_mesh.h"
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#include "core/templates/sort_array.h"
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int TriangleMesh::_create_bvh(BVH *p_bvh, BVH **p_bb, int p_from, int p_size, int p_depth, int &r_max_depth, int &r_max_alloc) {
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if (p_depth > r_max_depth) {
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r_max_depth = p_depth;
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}
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if (p_size == 1) {
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return p_bb[p_from] - p_bvh;
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} else if (p_size == 0) {
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return -1;
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}
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AABB aabb;
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aabb = p_bb[p_from]->aabb;
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for (int i = 1; i < p_size; i++) {
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aabb.merge_with(p_bb[p_from + i]->aabb);
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}
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int li = aabb.get_longest_axis_index();
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switch (li) {
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case Vector3::AXIS_X: {
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SortArray<BVH *, BVHCmpX> sort_x;
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sort_x.nth_element(0, p_size, p_size / 2, &p_bb[p_from]);
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//sort_x.sort(&p_bb[p_from],p_size);
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} break;
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case Vector3::AXIS_Y: {
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SortArray<BVH *, BVHCmpY> sort_y;
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sort_y.nth_element(0, p_size, p_size / 2, &p_bb[p_from]);
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//sort_y.sort(&p_bb[p_from],p_size);
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} break;
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case Vector3::AXIS_Z: {
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SortArray<BVH *, BVHCmpZ> sort_z;
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sort_z.nth_element(0, p_size, p_size / 2, &p_bb[p_from]);
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//sort_z.sort(&p_bb[p_from],p_size);
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} break;
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}
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int left = _create_bvh(p_bvh, p_bb, p_from, p_size / 2, p_depth + 1, r_max_depth, r_max_alloc);
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int right = _create_bvh(p_bvh, p_bb, p_from + p_size / 2, p_size - p_size / 2, p_depth + 1, r_max_depth, r_max_alloc);
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int index = r_max_alloc++;
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BVH *_new = &p_bvh[index];
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_new->aabb = aabb;
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_new->center = aabb.get_center();
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_new->face_index = -1;
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_new->left = left;
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_new->right = right;
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return index;
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}
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void TriangleMesh::get_indices(Vector<int> *r_triangles_indices) const {
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if (!valid) {
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return;
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}
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const int triangles_num = triangles.size();
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// Parse vertices indices
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const Triangle *triangles_read = triangles.ptr();
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r_triangles_indices->resize(triangles_num * 3);
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int *r_indices_write = r_triangles_indices->ptrw();
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for (int i = 0; i < triangles_num; ++i) {
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r_indices_write[3 * i + 0] = triangles_read[i].indices[0];
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r_indices_write[3 * i + 1] = triangles_read[i].indices[1];
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r_indices_write[3 * i + 2] = triangles_read[i].indices[2];
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}
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}
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void TriangleMesh::create(const Vector<Vector3> &p_faces) {
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valid = false;
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int fc = p_faces.size();
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ERR_FAIL_COND(!fc || ((fc % 3) != 0));
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fc /= 3;
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triangles.resize(fc);
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bvh.resize(fc * 3); //will never be larger than this (todo make better)
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BVH *bw = bvh.ptrw();
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{
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//create faces and indices and base bvh
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//except for the Set for repeated triangles, everything
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//goes in-place.
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const Vector3 *r = p_faces.ptr();
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Triangle *w = triangles.ptrw();
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Map<Vector3, int> db;
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for (int i = 0; i < fc; i++) {
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Triangle &f = w[i];
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const Vector3 *v = &r[i * 3];
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for (int j = 0; j < 3; j++) {
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int vidx = -1;
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Vector3 vs = v[j].snapped(Vector3(0.0001, 0.0001, 0.0001));
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Map<Vector3, int>::Element *E = db.find(vs);
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if (E) {
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vidx = E->get();
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} else {
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vidx = db.size();
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db[vs] = vidx;
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}
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f.indices[j] = vidx;
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if (j == 0) {
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bw[i].aabb.position = vs;
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} else {
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bw[i].aabb.expand_to(vs);
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}
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}
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f.normal = Face3(r[i * 3 + 0], r[i * 3 + 1], r[i * 3 + 2]).get_plane().get_normal();
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bw[i].left = -1;
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bw[i].right = -1;
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bw[i].face_index = i;
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bw[i].center = bw[i].aabb.get_center();
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}
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vertices.resize(db.size());
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Vector3 *vw = vertices.ptrw();
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for (const KeyValue<Vector3, int> &E : db) {
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vw[E.value] = E.key;
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}
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}
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Vector<BVH *> bwptrs;
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bwptrs.resize(fc);
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BVH **bwp = bwptrs.ptrw();
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for (int i = 0; i < fc; i++) {
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bwp[i] = &bw[i];
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}
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max_depth = 0;
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int max_alloc = fc;
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_create_bvh(bw, bwp, 0, fc, 1, max_depth, max_alloc);
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bvh.resize(max_alloc); //resize back
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valid = true;
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}
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Vector3 TriangleMesh::get_area_normal(const AABB &p_aabb) const {
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uint32_t *stack = (uint32_t *)alloca(sizeof(int) * max_depth);
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enum {
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TEST_AABB_BIT = 0,
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VISIT_LEFT_BIT = 1,
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VISIT_RIGHT_BIT = 2,
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VISIT_DONE_BIT = 3,
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VISITED_BIT_SHIFT = 29,
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NODE_IDX_MASK = (1 << VISITED_BIT_SHIFT) - 1,
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VISITED_BIT_MASK = ~NODE_IDX_MASK,
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};
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int n_count = 0;
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Vector3 n;
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int level = 0;
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const Triangle *triangleptr = triangles.ptr();
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// const Vector3 *verticesr = vertices.ptr();
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const BVH *bvhptr = bvh.ptr();
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int pos = bvh.size() - 1;
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stack[0] = pos;
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while (true) {
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uint32_t node = stack[level] & NODE_IDX_MASK;
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const BVH &b = bvhptr[node];
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bool done = false;
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switch (stack[level] >> VISITED_BIT_SHIFT) {
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case TEST_AABB_BIT: {
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bool valid = b.aabb.intersects(p_aabb);
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if (!valid) {
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stack[level] = (VISIT_DONE_BIT << VISITED_BIT_SHIFT) | node;
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} else {
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if (b.face_index >= 0) {
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const Triangle &s = triangleptr[b.face_index];
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n += s.normal;
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n_count++;
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stack[level] = (VISIT_DONE_BIT << VISITED_BIT_SHIFT) | node;
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} else {
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stack[level] = (VISIT_LEFT_BIT << VISITED_BIT_SHIFT) | node;
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}
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}
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continue;
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}
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case VISIT_LEFT_BIT: {
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stack[level] = (VISIT_RIGHT_BIT << VISITED_BIT_SHIFT) | node;
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stack[level + 1] = b.left | TEST_AABB_BIT;
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level++;
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continue;
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}
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case VISIT_RIGHT_BIT: {
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stack[level] = (VISIT_DONE_BIT << VISITED_BIT_SHIFT) | node;
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stack[level + 1] = b.right | TEST_AABB_BIT;
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level++;
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continue;
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}
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case VISIT_DONE_BIT: {
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if (level == 0) {
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done = true;
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break;
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} else {
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level--;
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}
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continue;
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}
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}
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if (done) {
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break;
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}
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}
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if (n_count > 0) {
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n /= n_count;
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}
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return n;
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}
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bool TriangleMesh::intersect_segment(const Vector3 &p_begin, const Vector3 &p_end, Vector3 &r_point, Vector3 &r_normal) const {
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uint32_t *stack = (uint32_t *)alloca(sizeof(int) * max_depth);
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enum {
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TEST_AABB_BIT = 0,
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VISIT_LEFT_BIT = 1,
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VISIT_RIGHT_BIT = 2,
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VISIT_DONE_BIT = 3,
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VISITED_BIT_SHIFT = 29,
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NODE_IDX_MASK = (1 << VISITED_BIT_SHIFT) - 1,
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VISITED_BIT_MASK = ~NODE_IDX_MASK,
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};
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Vector3 n = (p_end - p_begin).normalized();
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real_t d = 1e10;
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bool inters = false;
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int level = 0;
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const Triangle *triangleptr = triangles.ptr();
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const Vector3 *vertexptr = vertices.ptr();
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const BVH *bvhptr = bvh.ptr();
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int pos = bvh.size() - 1;
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stack[0] = pos;
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while (true) {
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uint32_t node = stack[level] & NODE_IDX_MASK;
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const BVH &b = bvhptr[node];
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bool done = false;
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switch (stack[level] >> VISITED_BIT_SHIFT) {
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case TEST_AABB_BIT: {
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bool valid = b.aabb.intersects_segment(p_begin, p_end);
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//bool valid = b.aabb.intersects(ray_aabb);
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if (!valid) {
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stack[level] = (VISIT_DONE_BIT << VISITED_BIT_SHIFT) | node;
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} else {
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if (b.face_index >= 0) {
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const Triangle &s = triangleptr[b.face_index];
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Face3 f3(vertexptr[s.indices[0]], vertexptr[s.indices[1]], vertexptr[s.indices[2]]);
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Vector3 res;
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if (f3.intersects_segment(p_begin, p_end, &res)) {
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real_t nd = n.dot(res);
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if (nd < d) {
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d = nd;
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r_point = res;
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r_normal = f3.get_plane().get_normal();
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inters = true;
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}
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}
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stack[level] = (VISIT_DONE_BIT << VISITED_BIT_SHIFT) | node;
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} else {
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stack[level] = (VISIT_LEFT_BIT << VISITED_BIT_SHIFT) | node;
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}
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}
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continue;
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}
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case VISIT_LEFT_BIT: {
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stack[level] = (VISIT_RIGHT_BIT << VISITED_BIT_SHIFT) | node;
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stack[level + 1] = b.left | TEST_AABB_BIT;
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level++;
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continue;
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}
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case VISIT_RIGHT_BIT: {
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stack[level] = (VISIT_DONE_BIT << VISITED_BIT_SHIFT) | node;
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stack[level + 1] = b.right | TEST_AABB_BIT;
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level++;
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continue;
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}
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case VISIT_DONE_BIT: {
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if (level == 0) {
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done = true;
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break;
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} else {
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level--;
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}
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continue;
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}
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}
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if (done) {
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break;
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}
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}
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if (inters) {
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if (n.dot(r_normal) > 0) {
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r_normal = -r_normal;
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}
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}
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return inters;
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}
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bool TriangleMesh::intersect_ray(const Vector3 &p_begin, const Vector3 &p_dir, Vector3 &r_point, Vector3 &r_normal) const {
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uint32_t *stack = (uint32_t *)alloca(sizeof(int) * max_depth);
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enum {
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TEST_AABB_BIT = 0,
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VISIT_LEFT_BIT = 1,
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VISIT_RIGHT_BIT = 2,
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VISIT_DONE_BIT = 3,
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VISITED_BIT_SHIFT = 29,
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NODE_IDX_MASK = (1 << VISITED_BIT_SHIFT) - 1,
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VISITED_BIT_MASK = ~NODE_IDX_MASK,
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};
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Vector3 n = p_dir;
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real_t d = 1e20;
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bool inters = false;
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int level = 0;
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const Triangle *triangleptr = triangles.ptr();
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const Vector3 *vertexptr = vertices.ptr();
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const BVH *bvhptr = bvh.ptr();
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int pos = bvh.size() - 1;
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stack[0] = pos;
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while (true) {
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uint32_t node = stack[level] & NODE_IDX_MASK;
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const BVH &b = bvhptr[node];
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bool done = false;
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switch (stack[level] >> VISITED_BIT_SHIFT) {
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case TEST_AABB_BIT: {
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bool valid = b.aabb.intersects_ray(p_begin, p_dir);
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if (!valid) {
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stack[level] = (VISIT_DONE_BIT << VISITED_BIT_SHIFT) | node;
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} else {
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if (b.face_index >= 0) {
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const Triangle &s = triangleptr[b.face_index];
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Face3 f3(vertexptr[s.indices[0]], vertexptr[s.indices[1]], vertexptr[s.indices[2]]);
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Vector3 res;
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if (f3.intersects_ray(p_begin, p_dir, &res)) {
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real_t nd = n.dot(res);
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if (nd < d) {
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d = nd;
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r_point = res;
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r_normal = f3.get_plane().get_normal();
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inters = true;
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}
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}
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stack[level] = (VISIT_DONE_BIT << VISITED_BIT_SHIFT) | node;
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} else {
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stack[level] = (VISIT_LEFT_BIT << VISITED_BIT_SHIFT) | node;
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}
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}
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continue;
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}
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case VISIT_LEFT_BIT: {
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stack[level] = (VISIT_RIGHT_BIT << VISITED_BIT_SHIFT) | node;
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stack[level + 1] = b.left | TEST_AABB_BIT;
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level++;
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continue;
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}
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case VISIT_RIGHT_BIT: {
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stack[level] = (VISIT_DONE_BIT << VISITED_BIT_SHIFT) | node;
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stack[level + 1] = b.right | TEST_AABB_BIT;
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level++;
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continue;
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}
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case VISIT_DONE_BIT: {
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if (level == 0) {
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done = true;
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break;
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} else {
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level--;
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}
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continue;
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}
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}
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if (done) {
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break;
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}
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}
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if (inters) {
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if (n.dot(r_normal) > 0) {
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r_normal = -r_normal;
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}
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}
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return inters;
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}
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bool TriangleMesh::intersect_convex_shape(const Plane *p_planes, int p_plane_count, const Vector3 *p_points, int p_point_count) const {
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uint32_t *stack = (uint32_t *)alloca(sizeof(int) * max_depth);
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//p_fully_inside = true;
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enum {
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TEST_AABB_BIT = 0,
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VISIT_LEFT_BIT = 1,
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VISIT_RIGHT_BIT = 2,
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VISIT_DONE_BIT = 3,
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VISITED_BIT_SHIFT = 29,
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NODE_IDX_MASK = (1 << VISITED_BIT_SHIFT) - 1,
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VISITED_BIT_MASK = ~NODE_IDX_MASK,
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};
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int level = 0;
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const Triangle *triangleptr = triangles.ptr();
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const Vector3 *vertexptr = vertices.ptr();
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const BVH *bvhptr = bvh.ptr();
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int pos = bvh.size() - 1;
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stack[0] = pos;
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while (true) {
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uint32_t node = stack[level] & NODE_IDX_MASK;
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const BVH &b = bvhptr[node];
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bool done = false;
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switch (stack[level] >> VISITED_BIT_SHIFT) {
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case TEST_AABB_BIT: {
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bool valid = b.aabb.intersects_convex_shape(p_planes, p_plane_count, p_points, p_point_count);
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if (!valid) {
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stack[level] = (VISIT_DONE_BIT << VISITED_BIT_SHIFT) | node;
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} else {
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if (b.face_index >= 0) {
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const Triangle &s = triangleptr[b.face_index];
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for (int j = 0; j < 3; ++j) {
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const Vector3 &point = vertexptr[s.indices[j]];
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const Vector3 &next_point = vertexptr[s.indices[(j + 1) % 3]];
|
|
Vector3 res;
|
|
bool over = true;
|
|
for (int i = 0; i < p_plane_count; i++) {
|
|
const Plane &p = p_planes[i];
|
|
|
|
if (p.intersects_segment(point, next_point, &res)) {
|
|
bool inisde = true;
|
|
for (int k = 0; k < p_plane_count; k++) {
|
|
if (k == i) {
|
|
continue;
|
|
}
|
|
const Plane &pp = p_planes[k];
|
|
if (pp.is_point_over(res)) {
|
|
inisde = false;
|
|
break;
|
|
}
|
|
}
|
|
if (inisde) {
|
|
return true;
|
|
}
|
|
}
|
|
|
|
if (p.is_point_over(point)) {
|
|
over = false;
|
|
break;
|
|
}
|
|
}
|
|
if (over) {
|
|
return true;
|
|
}
|
|
}
|
|
|
|
stack[level] = (VISIT_DONE_BIT << VISITED_BIT_SHIFT) | node;
|
|
|
|
} else {
|
|
stack[level] = (VISIT_LEFT_BIT << VISITED_BIT_SHIFT) | node;
|
|
}
|
|
}
|
|
continue;
|
|
}
|
|
case VISIT_LEFT_BIT: {
|
|
stack[level] = (VISIT_RIGHT_BIT << VISITED_BIT_SHIFT) | node;
|
|
stack[level + 1] = b.left | TEST_AABB_BIT;
|
|
level++;
|
|
continue;
|
|
}
|
|
case VISIT_RIGHT_BIT: {
|
|
stack[level] = (VISIT_DONE_BIT << VISITED_BIT_SHIFT) | node;
|
|
stack[level + 1] = b.right | TEST_AABB_BIT;
|
|
level++;
|
|
continue;
|
|
}
|
|
case VISIT_DONE_BIT: {
|
|
if (level == 0) {
|
|
done = true;
|
|
break;
|
|
} else {
|
|
level--;
|
|
}
|
|
continue;
|
|
}
|
|
}
|
|
|
|
if (done) {
|
|
break;
|
|
}
|
|
}
|
|
|
|
return false;
|
|
}
|
|
|
|
bool TriangleMesh::inside_convex_shape(const Plane *p_planes, int p_plane_count, const Vector3 *p_points, int p_point_count, Vector3 p_scale) const {
|
|
uint32_t *stack = (uint32_t *)alloca(sizeof(int) * max_depth);
|
|
|
|
enum {
|
|
TEST_AABB_BIT = 0,
|
|
VISIT_LEFT_BIT = 1,
|
|
VISIT_RIGHT_BIT = 2,
|
|
VISIT_DONE_BIT = 3,
|
|
VISITED_BIT_SHIFT = 29,
|
|
NODE_IDX_MASK = (1 << VISITED_BIT_SHIFT) - 1,
|
|
VISITED_BIT_MASK = ~NODE_IDX_MASK,
|
|
|
|
};
|
|
|
|
int level = 0;
|
|
|
|
const Triangle *triangleptr = triangles.ptr();
|
|
const Vector3 *vertexptr = vertices.ptr();
|
|
const BVH *bvhptr = bvh.ptr();
|
|
|
|
Transform3D scale(Basis().scaled(p_scale));
|
|
|
|
int pos = bvh.size() - 1;
|
|
|
|
stack[0] = pos;
|
|
while (true) {
|
|
uint32_t node = stack[level] & NODE_IDX_MASK;
|
|
const BVH &b = bvhptr[node];
|
|
bool done = false;
|
|
|
|
switch (stack[level] >> VISITED_BIT_SHIFT) {
|
|
case TEST_AABB_BIT: {
|
|
bool intersects = scale.xform(b.aabb).intersects_convex_shape(p_planes, p_plane_count, p_points, p_point_count);
|
|
if (!intersects) {
|
|
return false;
|
|
}
|
|
|
|
bool inside = scale.xform(b.aabb).inside_convex_shape(p_planes, p_plane_count);
|
|
if (inside) {
|
|
stack[level] = (VISIT_DONE_BIT << VISITED_BIT_SHIFT) | node;
|
|
|
|
} else {
|
|
if (b.face_index >= 0) {
|
|
const Triangle &s = triangleptr[b.face_index];
|
|
for (int j = 0; j < 3; ++j) {
|
|
Vector3 point = scale.xform(vertexptr[s.indices[j]]);
|
|
for (int i = 0; i < p_plane_count; i++) {
|
|
const Plane &p = p_planes[i];
|
|
if (p.is_point_over(point)) {
|
|
return false;
|
|
}
|
|
}
|
|
}
|
|
|
|
stack[level] = (VISIT_DONE_BIT << VISITED_BIT_SHIFT) | node;
|
|
|
|
} else {
|
|
stack[level] = (VISIT_LEFT_BIT << VISITED_BIT_SHIFT) | node;
|
|
}
|
|
}
|
|
continue;
|
|
}
|
|
case VISIT_LEFT_BIT: {
|
|
stack[level] = (VISIT_RIGHT_BIT << VISITED_BIT_SHIFT) | node;
|
|
stack[level + 1] = b.left | TEST_AABB_BIT;
|
|
level++;
|
|
continue;
|
|
}
|
|
case VISIT_RIGHT_BIT: {
|
|
stack[level] = (VISIT_DONE_BIT << VISITED_BIT_SHIFT) | node;
|
|
stack[level + 1] = b.right | TEST_AABB_BIT;
|
|
level++;
|
|
continue;
|
|
}
|
|
case VISIT_DONE_BIT: {
|
|
if (level == 0) {
|
|
done = true;
|
|
break;
|
|
} else {
|
|
level--;
|
|
}
|
|
continue;
|
|
}
|
|
}
|
|
|
|
if (done) {
|
|
break;
|
|
}
|
|
}
|
|
|
|
return true;
|
|
}
|
|
|
|
bool TriangleMesh::is_valid() const {
|
|
return valid;
|
|
}
|
|
|
|
Vector<Face3> TriangleMesh::get_faces() const {
|
|
if (!valid) {
|
|
return Vector<Face3>();
|
|
}
|
|
|
|
Vector<Face3> faces;
|
|
int ts = triangles.size();
|
|
faces.resize(triangles.size());
|
|
|
|
Face3 *w = faces.ptrw();
|
|
const Triangle *r = triangles.ptr();
|
|
const Vector3 *rv = vertices.ptr();
|
|
|
|
for (int i = 0; i < ts; i++) {
|
|
for (int j = 0; j < 3; j++) {
|
|
w[i].vertex[j] = rv[r[i].indices[j]];
|
|
}
|
|
}
|
|
|
|
return faces;
|
|
}
|
|
|
|
TriangleMesh::TriangleMesh() {
|
|
valid = false;
|
|
max_depth = 0;
|
|
}
|