void propagateBVHFrontListCollisionRecurse(CollisionTraversalNodeBase* node, BVHFrontList* front_list)
{
BVHFrontList::iterator front_iter;
BVHFrontList append;
for(front_iter = front_list->begin(); front_iter != front_list->end(); ++front_iter)
{
int b1 = front_iter->left;
int b2 = front_iter->right;
bool l1 = node->isFirstNodeLeaf(b1);
bool l2 = node->isSecondNodeLeaf(b2);
if(l1 & l2)
{
front_iter->valid = false; // the front node is no longer valid, in collideRecurse will add again.
collisionRecurse(node, b1, b2, &append);
}
else
{
if(!node->BVTesting(b1, b2))
{
front_iter->valid = false;
if(node->firstOverSecond(b1, b2))
{
int c1 = node->getFirstLeftChild(b1);
int c2 = node->getFirstRightChild(b2);
collisionRecurse(node, c1, b2, front_list);
collisionRecurse(node, c2, b2, front_list);
}
else
{
int c1 = node->getSecondLeftChild(b2);
int c2 = node->getSecondRightChild(b2);
collisionRecurse(node, b1, c1, front_list);
collisionRecurse(node, b1, c2, front_list);
}
}
}
}
// clean the old front list (remove invalid node)
for(front_iter = front_list->begin(); front_iter != front_list->end();)
{
if(!front_iter->valid)
front_iter = front_list->erase(front_iter);
else
++front_iter;
}
for(front_iter = append.begin(); front_iter != append.end(); ++front_iter)
{
front_list->push_back(*front_iter);
}
}
void propagateBVHFrontList(BVNode<RSS>* tree1, BVNode<RSS>* tree2,
Vec3f R[3], const Vec3f& T,
Vec3f* vertices1, Vec3f* vertices2,
Triangle* tri_indices1, Triangle* tri_indices2,
BVH_CollideResult* res,
BVHFrontList* front_list)
{
BVHFrontList::iterator front_iter;
BVHFrontList append;
for(front_iter = front_list->begin(); front_iter != front_list->end(); ++front_iter)
{
int b1 = front_iter->left;
int b2 = front_iter->right;
BVNode<RSS>* node1 = tree1 + b1;
BVNode<RSS>* node2 = tree2 + b2;
bool l1 = node1->isLeaf();
bool l2 = node2->isLeaf();
if(l1 & l2)
{
front_iter->valid = false; // the front node is no longer valid, in collideRecurse will add again.
collideRecurse(tree1, tree2, R, T, b1, b2, vertices1, vertices2, tri_indices1, tri_indices2, res, &append);
}
else
{
res->num_bv_tests++;
if(!overlap(R, T, node1->bv, node2->bv))
{
front_iter->valid = false; // the front node is no longer valid
BVH_REAL sz1 = node1->bv.size();
BVH_REAL sz2 = node2->bv.size();
if(l2 || (!l1 && (sz1 > sz2)))
{
int c1 = node1->first_child;
int c2 = c1 + 1;
collideRecurse(tree1, tree2, R, T, c1, b2, vertices1, vertices2, tri_indices1, tri_indices2, res, &append);
collideRecurse(tree1, tree2, R, T, c2, b2, vertices1, vertices2, tri_indices1, tri_indices2, res, &append);
}
else
{
int c1 = node2->first_child;
int c2 = c1 + 1;
collideRecurse(tree1, tree2, R, T, b1, c1, vertices1, vertices2, tri_indices1, tri_indices2, res, &append);
collideRecurse(tree1, tree2, R, T, b1, c2, vertices1, vertices2, tri_indices1, tri_indices2, res, &append);
}
}
}
}
// clean the old front list (remove invalid node)
for(front_iter = front_list->begin(); front_iter != front_list->end();)
{
if(!front_iter->valid)
front_iter = front_list->erase(front_iter);
else
++front_iter;
}
for(front_iter = append.begin(); front_iter != append.end(); ++front_iter)
{
front_list->push_back(*front_iter);
}
}
