bool Cm::CompleteBoxPruning(const PxBounds3* bounds, PxU32 nb, Ps::Array<PxU32>& pairs, const Axes& axes)
{
pairs.clear();
// Checkings
if(!nb)
return false;
// Catch axes
const PxU32 Axis0 = axes.mAxis0;
const PxU32 Axis1 = axes.mAxis1;
const PxU32 Axis2 = axes.mAxis2;
PX_UNUSED(Axis1);
PX_UNUSED(Axis2);
// Allocate some temporary data
float* PosList = reinterpret_cast<float*>(PX_ALLOC_TEMP(sizeof(float)*nb, "Cm::CompleteBoxPruning"));
// 1) Build main list using the primary axis
for(PxU32 i=0;i<nb;i++) PosList[i] = bounds[i].minimum[Axis0];
// 2) Sort the list
/*static*/ RadixSortBuffered RS; // Static for coherence
const PxU32* Sorted = RS.Sort(PosList, nb).GetRanks();
// 3) Prune the list
const PxU32* const LastSorted = &Sorted[nb];
const PxU32* RunningAddress = Sorted;
PxU32 Index0, Index1;
while(RunningAddress<LastSorted && Sorted<LastSorted)
{
Index0 = *Sorted++;
while(RunningAddress<LastSorted && PosList[*RunningAddress++]<PosList[Index0]);
const PxU32* RunningAddress2 = RunningAddress;
while(RunningAddress2<LastSorted && PosList[Index1 = *RunningAddress2++]<=bounds[Index0].maximum[Axis0])
{
if(Index0!=Index1)
{
if(bounds[Index0].intersects(bounds[Index1]))
{
pairs.pushBack(Index0);
pairs.pushBack(Index1);
}
}
}
}
PX_FREE(PosList);
return true;
}
void InternalIndexPool::freeIndices()
{
mIndexCount = 0;
mFreeList.clear();
}
bool Cm::BipartiteBoxPruning(const PxBounds3* bounds0, PxU32 nb0, const PxBounds3* bounds1, PxU32 nb1, Ps::Array<PxU32>& pairs, const Axes& axes)
{
pairs.clear();
// Checkings
if(nb0 == 0 || nb1 == 0)
return false;
// Catch axes
PxU32 Axis0 = axes.mAxis0;
PxU32 Axis1 = axes.mAxis1;
PxU32 Axis2 = axes.mAxis2;
PX_UNUSED(Axis1);
PX_UNUSED(Axis2);
// Allocate some temporary data
float* MinPosBounds0 = reinterpret_cast<float*>(PX_ALLOC_TEMP(sizeof(float)*nb0, "Gu::BipartiteBoxPruning"));
float* MinPosBounds1 = reinterpret_cast<float*>(PX_ALLOC_TEMP(sizeof(float)*nb1, "Gu::BipartiteBoxPruning"));
// 1) Build main lists using the primary axis
for(PxU32 i=0;i<nb0;i++) MinPosBounds0[i] = bounds0[i].minimum[Axis0];
for(PxU32 i=0;i<nb1;i++) MinPosBounds1[i] = bounds1[i].minimum[Axis0];
// 2) Sort the lists
//static RadixSort RS0, RS1; // Static for coherence. Crashes on exit
RadixSortBuffered RS0, RS1; // Static for coherence.
const PxU32* Sorted0 = RS0.Sort(MinPosBounds0, nb0).GetRanks();
const PxU32* Sorted1 = RS1.Sort(MinPosBounds1, nb1).GetRanks();
// 3) Prune the lists
PxU32 Index0, Index1;
const PxU32* const LastSorted0 = &Sorted0[nb0];
const PxU32* const LastSorted1 = &Sorted1[nb1];
const PxU32* RunningAddress0 = Sorted0;
const PxU32* RunningAddress1 = Sorted1;
while(RunningAddress1<LastSorted1 && Sorted0<LastSorted0)
{
Index0 = *Sorted0++;
while(RunningAddress1<LastSorted1 && MinPosBounds1[*RunningAddress1]<MinPosBounds0[Index0]) RunningAddress1++;
const PxU32* RunningAddress2_1 = RunningAddress1;
while(RunningAddress2_1<LastSorted1 && MinPosBounds1[Index1 = *RunningAddress2_1++]<=bounds0[Index0].maximum[Axis0])
{
if(bounds0[Index0].intersects(bounds1[Index1]))
{
pairs.pushBack(Index0);
pairs.pushBack(Index1);
}
}
}
////
while(RunningAddress0<LastSorted0 && Sorted1<LastSorted1)
{
Index0 = *Sorted1++;
while(RunningAddress0<LastSorted0 && MinPosBounds0[*RunningAddress0]<=MinPosBounds1[Index0]) RunningAddress0++;
const PxU32* RunningAddress2_0 = RunningAddress0;
while(RunningAddress2_0<LastSorted0 && MinPosBounds0[Index1 = *RunningAddress2_0++]<=bounds1[Index0].maximum[Axis0])
{
if(bounds0[Index1].intersects(bounds1[Index0]))
{
pairs.pushBack(Index1);
pairs.pushBack(Index0);
}
}
}
PX_FREE(MinPosBounds1);
PX_FREE(MinPosBounds0);
return true;
}