libbullet-dev 2.82-r2704+dfsg-2 / usr / include / bullet / BulletSoftBody / btSparseSDF.h

/*
Bullet Continuous Collision Detection and Physics Library
Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/

This software is provided 'as-is', without any express or implied warranty.
In no event will the authors be held liable for any damages arising from the use of this software.
Permission is granted to anyone to use this software for any purpose,
including commercial applications, and to alter it and redistribute it freely,
subject to the following restrictions:

1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
3. This notice may not be removed or altered from any source distribution.
*/
///btSparseSdf implementation by Nathanael Presson

#ifndef BT_SPARSE_SDF_H
#define BT_SPARSE_SDF_H

#include "BulletCollision/CollisionDispatch/btCollisionObject.h"
#include "BulletCollision/NarrowPhaseCollision/btGjkEpa2.h"

// Modified Paul Hsieh hash
template <const int DWORDLEN>
unsigned int HsiehHash(const void* pdata)
{
	const unsigned short*	data=(const unsigned short*)pdata;
	unsigned				hash=DWORDLEN<<2,tmp;
	for(int i=0;i<DWORDLEN;++i)
	{
		hash	+=	data[0];
		tmp		=	(data[1]<<11)^hash;
		hash	=	(hash<<16)^tmp;
		data	+=	2;
		hash	+=	hash>>11;
	}
	hash^=hash<<3;hash+=hash>>5;
	hash^=hash<<4;hash+=hash>>17;
	hash^=hash<<25;hash+=hash>>6;
	return(hash);
}

template <const int CELLSIZE>
struct	btSparseSdf
{
	//
	// Inner types
	//
	struct IntFrac
	{
		int					b;
		int					i;
		btScalar			f;
	};
	struct	Cell
	{
		btScalar			d[CELLSIZE+1][CELLSIZE+1][CELLSIZE+1];
		int					c[3];
		int					puid;
		unsigned			hash;
		const btCollisionShape*	pclient;
		Cell*				next;
	};
	//
	// Fields
	//

	btAlignedObjectArray<Cell*>		cells;	
	btScalar						voxelsz;
	int								puid;
	int								ncells;
	int								m_clampCells;
	int								nprobes;
	int								nqueries;	

	//
	// Methods
	//

	//
	void					Initialize(int hashsize=2383, int clampCells = 256*1024)
	{
		//avoid a crash due to running out of memory, so clamp the maximum number of cells allocated
		//if this limit is reached, the SDF is reset (at the cost of some performance during the reset)
		m_clampCells = clampCells;
		cells.resize(hashsize,0);
		Reset();
	}
	//
	void					Reset()
	{
		for(int i=0,ni=cells.size();i<ni;++i)
		{
			Cell*	pc=cells[i];
			cells[i]=0;
			while(pc)
			{
				Cell*	pn=pc->next;
				delete pc;
				pc=pn;
			}
		}
		voxelsz		=0.25;
		puid		=0;
		ncells		=0;
		nprobes		=1;
		nqueries	=1;
	}
	//
	void					GarbageCollect(int lifetime=256)
	{
		const int life=puid-lifetime;
		for(int i=0;i<cells.size();++i)
		{
			Cell*&	root=cells[i];
			Cell*	pp=0;
			Cell*	pc=root;
			while(pc)
			{
				Cell*	pn=pc->next;
				if(pc->puid<life)
				{
					if(pp) pp->next=pn; else root=pn;
					delete pc;pc=pp;--ncells;
				}
				pp=pc;pc=pn;
			}
		}
		//printf("GC[%d]: %d cells, PpQ: %f\r\n",puid,ncells,nprobes/(btScalar)nqueries);
		nqueries=1;
		nprobes=1;
		++puid;	///@todo: Reset puid's when int range limit is reached	*/ 
		/* else setup a priority list...						*/ 
	}
	//
	int						RemoveReferences(btCollisionShape* pcs)
	{
		int	refcount=0;
		for(int i=0;i<cells.size();++i)
		{
			Cell*&	root=cells[i];
			Cell*	pp=0;
			Cell*	pc=root;
			while(pc)
			{
				Cell*	pn=pc->next;
				if(pc->pclient==pcs)
				{
					if(pp) pp->next=pn; else root=pn;
					delete pc;pc=pp;++refcount;
				}
				pp=pc;pc=pn;
			}
		}
		return(refcount);
	}
	//
	btScalar				Evaluate(	const btVector3& x,
		const btCollisionShape* shape,
		btVector3& normal,
		btScalar margin)
	{
		/* Lookup cell			*/ 
		const btVector3	scx=x/voxelsz;
		const IntFrac	ix=Decompose(scx.x());
		const IntFrac	iy=Decompose(scx.y());
		const IntFrac	iz=Decompose(scx.z());
		const unsigned	h=Hash(ix.b,iy.b,iz.b,shape);
		Cell*&			root=cells[static_cast<int>(h%cells.size())];
		Cell*			c=root;
		++nqueries;
		while(c)
		{
			++nprobes;
			if(	(c->hash==h)	&&
				(c->c[0]==ix.b)	&&
				(c->c[1]==iy.b)	&&
				(c->c[2]==iz.b)	&&
				(c->pclient==shape))
			{ break; }
			else
			{ c=c->next; }
		}
		if(!c)
		{
			++nprobes;		
			++ncells;
			int sz = sizeof(Cell);
			if (ncells>m_clampCells)
			{
				static int numResets=0;
				numResets++;
//				printf("numResets=%d\n",numResets);
				Reset();
			}

			c=new Cell();
			c->next=root;root=c;
			c->pclient=shape;
			c->hash=h;
			c->c[0]=ix.b;c->c[1]=iy.b;c->c[2]=iz.b;
			BuildCell(*c);
		}
		c->puid=puid;
		/* Extract infos		*/ 
		const int		o[]={	ix.i,iy.i,iz.i};
		const btScalar	d[]={	c->d[o[0]+0][o[1]+0][o[2]+0],
			c->d[o[0]+1][o[1]+0][o[2]+0],
			c->d[o[0]+1][o[1]+1][o[2]+0],
			c->d[o[0]+0][o[1]+1][o[2]+0],
			c->d[o[0]+0][o[1]+0][o[2]+1],
			c->d[o[0]+1][o[1]+0][o[2]+1],
			c->d[o[0]+1][o[1]+1][o[2]+1],
			c->d[o[0]+0][o[1]+1][o[2]+1]};
		/* Normal	*/ 
#if 1
		const btScalar	gx[]={	d[1]-d[0],d[2]-d[3],
			d[5]-d[4],d[6]-d[7]};
		const btScalar	gy[]={	d[3]-d[0],d[2]-d[1],
			d[7]-d[4],d[6]-d[5]};
		const btScalar	gz[]={	d[4]-d[0],d[5]-d[1],
			d[7]-d[3],d[6]-d[2]};
		normal.setX(Lerp(	Lerp(gx[0],gx[1],iy.f),
			Lerp(gx[2],gx[3],iy.f),iz.f));
		normal.setY(Lerp(	Lerp(gy[0],gy[1],ix.f),
			Lerp(gy[2],gy[3],ix.f),iz.f));
		normal.setZ(Lerp(	Lerp(gz[0],gz[1],ix.f),
			Lerp(gz[2],gz[3],ix.f),iy.f));
		normal		=	normal.normalized();
#else
		normal		=	btVector3(d[1]-d[0],d[3]-d[0],d[4]-d[0]).normalized();
#endif
		/* Distance	*/ 
		const btScalar	d0=Lerp(Lerp(d[0],d[1],ix.f),
			Lerp(d[3],d[2],ix.f),iy.f);
		const btScalar	d1=Lerp(Lerp(d[4],d[5],ix.f),
			Lerp(d[7],d[6],ix.f),iy.f);
		return(Lerp(d0,d1,iz.f)-margin);
	}
	//
	void					BuildCell(Cell& c)
	{
		const btVector3	org=btVector3(	(btScalar)c.c[0],
			(btScalar)c.c[1],
			(btScalar)c.c[2])	*
			CELLSIZE*voxelsz;
		for(int k=0;k<=CELLSIZE;++k)
		{
			const btScalar	z=voxelsz*k+org.z();
			for(int j=0;j<=CELLSIZE;++j)
			{
				const btScalar	y=voxelsz*j+org.y();
				for(int i=0;i<=CELLSIZE;++i)
				{
					const btScalar	x=voxelsz*i+org.x();
					c.d[i][j][k]=DistanceToShape(	btVector3(x,y,z),
						c.pclient);
				}
			}
		}
	}
	//
	static inline btScalar	DistanceToShape(const btVector3& x,
		const btCollisionShape* shape)
	{
		btTransform	unit;
		unit.setIdentity();
		if(shape->isConvex())
		{
			btGjkEpaSolver2::sResults	res;
			const btConvexShape*				csh=static_cast<const btConvexShape*>(shape);
			return(btGjkEpaSolver2::SignedDistance(x,0,csh,unit,res));
		}
		return(0);
	}
	//
	static inline IntFrac	Decompose(btScalar x)
	{
		/* That one need a lot of improvements...	*/
		/* Remove test, faster floor...				*/ 
		IntFrac			r;
		x/=CELLSIZE;
		const int		o=x<0?(int)(-x+1):0;
		x+=o;r.b=(int)x;
		const btScalar	k=(x-r.b)*CELLSIZE;
		r.i=(int)k;r.f=k-r.i;r.b-=o;
		return(r);
	}
	//
	static inline btScalar	Lerp(btScalar a,btScalar b,btScalar t)
	{
		return(a+(b-a)*t);
	}



	//
	static inline unsigned int	Hash(int x,int y,int z,const btCollisionShape* shape)
	{
		struct btS
		{ 
			int x,y,z;
			void* p;
		};

		btS myset;

		myset.x=x;myset.y=y;myset.z=z;myset.p=(void*)shape;
		const void* ptr = &myset;

		unsigned int result = HsiehHash<sizeof(btS)/4> (ptr);


		return result;
	}
};


#endif //BT_SPARSE_SDF_H