bool Opcode::BruteForceCompleteBoxTest(udword nb, const AABB** array, Pairs& pairs)
{
// Checkings
if(!nb || !array) return false;
// Brute-force n(n-1)/2 overlap tests
for(udword i=0;i<nb;i++)
{
for(udword j=i+1;j<nb;j++)
{
if(array[i]->Intersect(*array[j])) pairs.AddPair(i, j);
}
}
return true;
}
bool Opcode::BruteForceBipartiteBoxTest(udword nb0, const AABB** array0, udword nb1, const AABB** array1, Pairs& pairs)
{
// Checkings
if(!nb0 || !array0 || !nb1 || !array1) return false;
// Brute-force nb0*nb1 overlap tests
for(udword i=0;i<nb0;i++)
{
for(udword j=0;j<nb1;j++)
{
if(array0[i]->Intersect(*array1[j])) pairs.AddPair(i, j);
}
}
return true;
}
bool Opcode::BipartiteBoxPruning(udword nb0, const AABB** array0, udword nb1, const AABB** array1, Pairs& pairs, const Axes& axes)
{
// Checkings
if(!nb0 || !array0 || !nb1 || !array1) return false;
// Catch axes
udword Axis0 = axes.mAxis0;
udword Axis1 = axes.mAxis1;
udword Axis2 = axes.mAxis2;
// Allocate some temporary data
float* MinPosList0 = new float[nb0];
float* MinPosList1 = new float[nb1];
// 1) Build main lists using the primary axis
for(udword i=0;i<nb0;i++) MinPosList0[i] = array0[i]->GetMin(Axis0);
for(udword i=0;i<nb1;i++) MinPosList1[i] = array1[i]->GetMin(Axis0);
// 2) Sort the lists
PRUNING_SORTER* RS0 = GetBipartitePruningSorter0();
PRUNING_SORTER* RS1 = GetBipartitePruningSorter1();
const udword* Sorted0 = RS0->Sort(MinPosList0, nb0).GetRanks();
const udword* Sorted1 = RS1->Sort(MinPosList1, nb1).GetRanks();
// 3) Prune the lists
udword Index0, Index1;
const udword* const LastSorted0 = &Sorted0[nb0];
const udword* const LastSorted1 = &Sorted1[nb1];
const udword* RunningAddress0 = Sorted0;
const udword* RunningAddress1 = Sorted1;
while(RunningAddress1<LastSorted1 && Sorted0<LastSorted0)
{
Index0 = *Sorted0++;
while(RunningAddress1<LastSorted1 && MinPosList1[*RunningAddress1]<MinPosList0[Index0]) RunningAddress1++;
const udword* RunningAddress2_1 = RunningAddress1;
while(RunningAddress2_1<LastSorted1 && MinPosList1[Index1 = *RunningAddress2_1++]<=array0[Index0]->GetMax(Axis0))
{
if(array0[Index0]->Intersect(*array1[Index1], Axis1))
{
if(array0[Index0]->Intersect(*array1[Index1], Axis2))
{
pairs.AddPair(Index0, Index1);
}
}
}
}
////
while(RunningAddress0<LastSorted0 && Sorted1<LastSorted1)
{
Index0 = *Sorted1++;
while(RunningAddress0<LastSorted0 && MinPosList0[*RunningAddress0]<=MinPosList1[Index0]) RunningAddress0++;
const udword* RunningAddress2_0 = RunningAddress0;
while(RunningAddress2_0<LastSorted0 && MinPosList0[Index1 = *RunningAddress2_0++]<=array1[Index0]->GetMax(Axis0))
{
if(array0[Index1]->Intersect(*array1[Index0], Axis1))
{
if(array0[Index1]->Intersect(*array1[Index0], Axis2))
{
pairs.AddPair(Index1, Index0);
}
}
}
}
DELETEARRAY(MinPosList1);
DELETEARRAY(MinPosList0);
return true;
}
bool Opcode::CompleteBoxPruning(udword nb, const AABB** array, Pairs& pairs, const Axes& axes)
{
// Checkings
if(!nb || !array) return false;
// Catch axes
udword Axis0 = axes.mAxis0;
udword Axis1 = axes.mAxis1;
udword Axis2 = axes.mAxis2;
#ifdef ORIGINAL_VERSION
// Allocate some temporary data
// float* PosList = new float[nb];
float* PosList = new float[nb+1];
// 1) Build main list using the primary axis
for(udword i=0;i<nb;i++) PosList[i] = array[i]->GetMin(Axis0);
PosList[nb++] = MAX_FLOAT;
// 2) Sort the list
PRUNING_SORTER* RS = GetCompletePruningSorter();
const udword* Sorted = RS->Sort(PosList, nb).GetRanks();
// 3) Prune the list
const udword* const LastSorted = &Sorted[nb];
const udword* RunningAddress = Sorted;
udword Index0, Index1;
while(RunningAddress<LastSorted && Sorted<LastSorted)
{
Index0 = *Sorted++;
// while(RunningAddress<LastSorted && PosList[*RunningAddress++]<PosList[Index0]);
while(PosList[*RunningAddress++]<PosList[Index0]);
if(RunningAddress<LastSorted)
{
const udword* RunningAddress2 = RunningAddress;
// while(RunningAddress2<LastSorted && PosList[Index1 = *RunningAddress2++]<=array[Index0]->GetMax(Axis0))
while(PosList[Index1 = *RunningAddress2++]<=array[Index0]->GetMax(Axis0))
{
// if(Index0!=Index1)
// {
if(array[Index0]->Intersect(*array[Index1], Axis1))
{
if(array[Index0]->Intersect(*array[Index1], Axis2))
{
pairs.AddPair(Index0, Index1);
}
}
// }
}
}
}
DELETEARRAY(PosList);
#endif
#ifdef JOAKIM
// Allocate some temporary data
// float* PosList = new float[nb];
float* MinList = new float[nb+1];
// 1) Build main list using the primary axis
for(udword i=0;i<nb;i++) MinList[i] = array[i]->GetMin(Axis0);
MinList[nb] = MAX_FLOAT;
// 2) Sort the list
PRUNING_SORTER* RS = GetCompletePruningSorter();
udword* Sorted = RS->Sort(MinList, nb+1).GetRanks();
// 3) Prune the list
// const udword* const LastSorted = &Sorted[nb];
// const udword* const LastSorted = &Sorted[nb-1];
const udword* RunningAddress = Sorted;
udword Index0, Index1;
// while(RunningAddress<LastSorted && Sorted<LastSorted)
// while(RunningAddress<LastSorted)
while(RunningAddress<&Sorted[nb])
// while(Sorted<LastSorted)
{
// Index0 = *Sorted++;
Index0 = *RunningAddress++;
// while(RunningAddress<LastSorted && PosList[*RunningAddress++]<PosList[Index0]);
// while(PosList[*RunningAddress++]<PosList[Index0]);
//RunningAddress = Sorted;
// if(RunningAddress<LastSorted)
{
const udword* RunningAddress2 = RunningAddress;
// while(RunningAddress2<LastSorted && PosList[Index1 = *RunningAddress2++]<=array[Index0]->GetMax(Axis0))
// float CurrentMin = array[Index0]->GetMin(Axis0);
float CurrentMax = array[Index0]->GetMax(Axis0);
while(MinList[Index1 = *RunningAddress2] <= CurrentMax)
// while(PosList[Index1 = *RunningAddress] <= CurrentMax)
{
// if(Index0!=Index1)
// {
if(array[Index0]->Intersect(*array[Index1], Axis1))
{
if(array[Index0]->Intersect(*array[Index1], Axis2))
{
pairs.AddPair(Index0, Index1);
}
}
// }
RunningAddress2++;
// RunningAddress++;
}
}
}
DELETEARRAY(MinList);
#endif
return true;
}
/**
* Complete box pruning.
* Returns a list of overlapping pairs of boxes, each box of the pair
* belongs to the same set.
* NOTE: code uses floats instead of dReals because Opcode's radix sort
* is optimized for floats :)
*
* @param count [in] number of boxes.
* @param geoms [in] geoms of boxes.
* @param pairs [out] array of overlapping pairs.
* @param axes [in] projection order (0,2,1 is often best).
* @return true If success.
*/
static bool complete_box_pruning( int count, const dxGeom** geoms, Pairs& pairs, const Axes& axes )
{
// Checks
if (!count || !geoms)
return false;
// Catch axes
udword Axis0 = axes.mAxis0;
udword Axis1 = axes.mAxis1;
udword Axis2 = axes.mAxis2;
// Axis indices into geom's aabb are: min=idx, max=idx+1
udword ax0idx = Axis0*2;
udword ax1idx = Axis1*2;
udword ax2idx = Axis2*2;
// Allocate some temporary data
// TBD: persistent allocation between queries?
float* PosList = new float[count+1];
// 1) Build main list using the primary axis
for( int i = 0; i < count; ++i )
PosList[i] = (float)geoms[i]->aabb[ax0idx];
PosList[count++] = MAX_FLOAT;
// 2) Sort the list
PRUNING_SORTER* RS = get_pruning_sorter();
const udword* Sorted = RS->Sort(PosList, count).GetRanks();
// 3) Prune the list
const udword* const LastSorted = &Sorted[count];
const udword* RunningAddress = Sorted;
udword Index0, Index1;
while( RunningAddress < LastSorted && Sorted < LastSorted ) {
Index0 = *Sorted++;
while( PosList[*RunningAddress++] < PosList[Index0] ) {
// empty, the loop just advances RunningAddress
}
if( RunningAddress < LastSorted ) {
const udword* RunningAddress2 = RunningAddress;
float idx0ax0max = (float)geoms[Index0]->aabb[ax0idx+1];
float idx0ax1max = (float)geoms[Index0]->aabb[ax1idx+1];
float idx0ax2max = (float)geoms[Index0]->aabb[ax2idx+1];
while( PosList[Index1 = *RunningAddress2++] <= idx0ax0max ) {
// if(Index0!=Index1)
// {
const dReal* aabb0 = geoms[Index0]->aabb;
const dReal* aabb1 = geoms[Index1]->aabb;
if( idx0ax1max < (float)aabb1[ax1idx] || (float)aabb1[ax1idx+1] < (float)aabb0[ax1idx] ) {
// no intersection
} else {
if( idx0ax2max < (float)aabb1[ax2idx] || (float)aabb1[ax2idx+1] < (float)aabb0[ax2idx] ) {
// no intersection
} else {
// yes! :)
pairs.AddPair( Index0, Index1 );
}
}
// }
}
}
}
DELETEARRAY(PosList);
return true;
}