368 lines
13 KiB
C++
368 lines
13 KiB
C++
///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
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/*
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* OPCODE - Optimized Collision Detection
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* Copyright (C) 2001 Pierre Terdiman
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* Homepage: http://www.codercorner.com/Opcode.htm
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*/
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///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
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///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
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/**
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* Contains code for box pruning.
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* \file IceBoxPruning.cpp
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* \author Pierre Terdiman
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* \date January, 29, 2000
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*/
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///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
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/*
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///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
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You could use a complex sweep-and-prune as implemented in I-Collide.
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You could use a complex hashing scheme as implemented in V-Clip or recently in ODE it seems.
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You could use a "Recursive Dimensional Clustering" algorithm as implemented in GPG2.
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Or you could use this.
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Faster ? I don't know. Probably not. It would be a shame. But who knows ?
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Easier ? Definitely. Enjoy the sheer simplicity.
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///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
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*/
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///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
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// Precompiled Header
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#include "Stdafx.h"
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using namespace Opcode;
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inline_ void FindRunningIndex(udword& index, float* array, udword* sorted, int last, float max)
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{
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int First=index;
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while(First<=last)
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{
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index = (First+last)>>1;
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if(max>array[sorted[index]]) First = index+1;
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else last = index-1;
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}
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}
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// ### could be log(n) !
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// and maybe use cmp integers
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// InsertionSort has better coherence, RadixSort is better for one-shot queries.
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#define PRUNING_SORTER RadixSort
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//#define PRUNING_SORTER InsertionSort
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// Static for coherence
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static PRUNING_SORTER* gCompletePruningSorter = null;
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static PRUNING_SORTER* gBipartitePruningSorter0 = null;
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static PRUNING_SORTER* gBipartitePruningSorter1 = null;
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inline_ PRUNING_SORTER* GetCompletePruningSorter()
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{
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if(!gCompletePruningSorter) gCompletePruningSorter = new PRUNING_SORTER;
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return gCompletePruningSorter;
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}
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inline_ PRUNING_SORTER* GetBipartitePruningSorter0()
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{
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if(!gBipartitePruningSorter0) gBipartitePruningSorter0 = new PRUNING_SORTER;
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return gBipartitePruningSorter0;
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}
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inline_ PRUNING_SORTER* GetBipartitePruningSorter1()
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{
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if(!gBipartitePruningSorter1) gBipartitePruningSorter1 = new PRUNING_SORTER;
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return gBipartitePruningSorter1;
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}
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void ReleasePruningSorters()
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{
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DELETESINGLE(gBipartitePruningSorter1);
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DELETESINGLE(gBipartitePruningSorter0);
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DELETESINGLE(gCompletePruningSorter);
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}
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///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
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/**
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* Bipartite box pruning. Returns a list of overlapping pairs of boxes, each box of the pair belongs to a different set.
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* \param nb0 [in] number of boxes in the first set
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* \param array0 [in] array of boxes for the first set
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* \param nb1 [in] number of boxes in the second set
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* \param array1 [in] array of boxes for the second set
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* \param pairs [out] array of overlapping pairs
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* \param axes [in] projection order (0,2,1 is often best)
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* \return true if success.
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*/
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///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
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bool Opcode::BipartiteBoxPruning(udword nb0, const AABB** array0, udword nb1, const AABB** array1, Pairs& pairs, const Axes& axes)
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{
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// Checkings
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if(!nb0 || !array0 || !nb1 || !array1) return false;
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// Catch axes
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udword Axis0 = axes.mAxis0;
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udword Axis1 = axes.mAxis1;
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udword Axis2 = axes.mAxis2;
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// Allocate some temporary data
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float* MinPosList0 = new float[nb0];
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float* MinPosList1 = new float[nb1];
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// 1) Build main lists using the primary axis
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for(udword i=0;i<nb0;i++) MinPosList0[i] = array0[i]->GetMin(Axis0);
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for(udword i=0;i<nb1;i++) MinPosList1[i] = array1[i]->GetMin(Axis0);
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// 2) Sort the lists
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PRUNING_SORTER* RS0 = GetBipartitePruningSorter0();
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PRUNING_SORTER* RS1 = GetBipartitePruningSorter1();
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const udword* Sorted0 = RS0->Sort(MinPosList0, nb0).GetRanks();
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const udword* Sorted1 = RS1->Sort(MinPosList1, nb1).GetRanks();
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// 3) Prune the lists
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udword Index0, Index1;
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const udword* const LastSorted0 = &Sorted0[nb0];
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const udword* const LastSorted1 = &Sorted1[nb1];
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const udword* RunningAddress0 = Sorted0;
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const udword* RunningAddress1 = Sorted1;
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while(RunningAddress1<LastSorted1 && Sorted0<LastSorted0)
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{
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Index0 = *Sorted0++;
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while(RunningAddress1<LastSorted1 && MinPosList1[*RunningAddress1]<MinPosList0[Index0]) RunningAddress1++;
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const udword* RunningAddress2_1 = RunningAddress1;
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while(RunningAddress2_1<LastSorted1 && MinPosList1[Index1 = *RunningAddress2_1++]<=array0[Index0]->GetMax(Axis0))
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{
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if(array0[Index0]->Intersect(*array1[Index1], Axis1))
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{
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if(array0[Index0]->Intersect(*array1[Index1], Axis2))
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{
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pairs.AddPair(Index0, Index1);
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}
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}
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}
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}
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////
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while(RunningAddress0<LastSorted0 && Sorted1<LastSorted1)
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{
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Index0 = *Sorted1++;
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while(RunningAddress0<LastSorted0 && MinPosList0[*RunningAddress0]<=MinPosList1[Index0]) RunningAddress0++;
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const udword* RunningAddress2_0 = RunningAddress0;
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while(RunningAddress2_0<LastSorted0 && MinPosList0[Index1 = *RunningAddress2_0++]<=array1[Index0]->GetMax(Axis0))
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{
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if(array0[Index1]->Intersect(*array1[Index0], Axis1))
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{
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if(array0[Index1]->Intersect(*array1[Index0], Axis2))
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{
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pairs.AddPair(Index1, Index0);
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}
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}
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}
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}
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DELETEARRAY(MinPosList1);
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DELETEARRAY(MinPosList0);
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return true;
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}
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#define ORIGINAL_VERSION
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//#define JOAKIM
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///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
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/**
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* Complete box pruning. Returns a list of overlapping pairs of boxes, each box of the pair belongs to the same set.
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* \param nb [in] number of boxes
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* \param array [in] array of boxes
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* \param pairs [out] array of overlapping pairs
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* \param axes [in] projection order (0,2,1 is often best)
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* \return true if success.
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*/
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///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
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bool Opcode::CompleteBoxPruning(udword nb, const AABB** array, Pairs& pairs, const Axes& axes)
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{
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// Checkings
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if(!nb || !array) return false;
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// Catch axes
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udword Axis0 = axes.mAxis0;
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udword Axis1 = axes.mAxis1;
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udword Axis2 = axes.mAxis2;
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#ifdef ORIGINAL_VERSION
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// Allocate some temporary data
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// float* PosList = new float[nb];
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float* PosList = new float[nb+1];
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// 1) Build main list using the primary axis
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for(udword i=0;i<nb;i++) PosList[i] = array[i]->GetMin(Axis0);
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PosList[nb++] = MAX_FLOAT;
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// 2) Sort the list
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PRUNING_SORTER* RS = GetCompletePruningSorter();
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const udword* Sorted = RS->Sort(PosList, nb).GetRanks();
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// 3) Prune the list
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const udword* const LastSorted = &Sorted[nb];
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const udword* RunningAddress = Sorted;
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udword Index0, Index1;
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while(RunningAddress<LastSorted && Sorted<LastSorted)
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{
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Index0 = *Sorted++;
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// while(RunningAddress<LastSorted && PosList[*RunningAddress++]<PosList[Index0]);
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while(PosList[*RunningAddress++]<PosList[Index0]);
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if(RunningAddress<LastSorted)
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{
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const udword* RunningAddress2 = RunningAddress;
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// while(RunningAddress2<LastSorted && PosList[Index1 = *RunningAddress2++]<=array[Index0]->GetMax(Axis0))
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while(PosList[Index1 = *RunningAddress2++]<=array[Index0]->GetMax(Axis0))
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{
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// if(Index0!=Index1)
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// {
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if(array[Index0]->Intersect(*array[Index1], Axis1))
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{
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if(array[Index0]->Intersect(*array[Index1], Axis2))
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{
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pairs.AddPair(Index0, Index1);
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}
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}
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// }
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}
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}
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}
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DELETEARRAY(PosList);
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#endif
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#ifdef JOAKIM
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// Allocate some temporary data
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// float* PosList = new float[nb];
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float* MinList = new float[nb+1];
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// 1) Build main list using the primary axis
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for(udword i=0;i<nb;i++) MinList[i] = array[i]->GetMin(Axis0);
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MinList[nb] = MAX_FLOAT;
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// 2) Sort the list
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PRUNING_SORTER* RS = GetCompletePruningSorter();
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udword* Sorted = RS->Sort(MinList, nb+1).GetRanks();
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// 3) Prune the list
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// const udword* const LastSorted = &Sorted[nb];
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// const udword* const LastSorted = &Sorted[nb-1];
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const udword* RunningAddress = Sorted;
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udword Index0, Index1;
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// while(RunningAddress<LastSorted && Sorted<LastSorted)
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// while(RunningAddress<LastSorted)
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while(RunningAddress<&Sorted[nb])
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// while(Sorted<LastSorted)
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{
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// Index0 = *Sorted++;
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Index0 = *RunningAddress++;
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// while(RunningAddress<LastSorted && PosList[*RunningAddress++]<PosList[Index0]);
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// while(PosList[*RunningAddress++]<PosList[Index0]);
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//RunningAddress = Sorted;
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// if(RunningAddress<LastSorted)
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{
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const udword* RunningAddress2 = RunningAddress;
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// while(RunningAddress2<LastSorted && PosList[Index1 = *RunningAddress2++]<=array[Index0]->GetMax(Axis0))
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// float CurrentMin = array[Index0]->GetMin(Axis0);
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float CurrentMax = array[Index0]->GetMax(Axis0);
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while(MinList[Index1 = *RunningAddress2] <= CurrentMax)
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// while(PosList[Index1 = *RunningAddress] <= CurrentMax)
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{
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// if(Index0!=Index1)
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// {
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if(array[Index0]->Intersect(*array[Index1], Axis1))
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{
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if(array[Index0]->Intersect(*array[Index1], Axis2))
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{
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pairs.AddPair(Index0, Index1);
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}
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}
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// }
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RunningAddress2++;
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// RunningAddress++;
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}
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}
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}
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DELETEARRAY(MinList);
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#endif
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return true;
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}
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///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
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// Brute-force versions are kept:
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// - to check the optimized versions return the correct list of intersections
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// - to check the speed of the optimized code against the brute-force one
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///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
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///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
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/**
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* Brute-force bipartite box pruning. Returns a list of overlapping pairs of boxes, each box of the pair belongs to a different set.
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* \param nb0 [in] number of boxes in the first set
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* \param array0 [in] array of boxes for the first set
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* \param nb1 [in] number of boxes in the second set
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* \param array1 [in] array of boxes for the second set
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* \param pairs [out] array of overlapping pairs
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* \return true if success.
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*/
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///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
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bool Opcode::BruteForceBipartiteBoxTest(udword nb0, const AABB** array0, udword nb1, const AABB** array1, Pairs& pairs)
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{
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// Checkings
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if(!nb0 || !array0 || !nb1 || !array1) return false;
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// Brute-force nb0*nb1 overlap tests
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for(udword i=0;i<nb0;i++)
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{
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for(udword j=0;j<nb1;j++)
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{
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if(array0[i]->Intersect(*array1[j])) pairs.AddPair(i, j);
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}
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}
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return true;
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}
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///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
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/**
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* Complete box pruning. Returns a list of overlapping pairs of boxes, each box of the pair belongs to the same set.
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* \param nb [in] number of boxes
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* \param array [in] array of boxes
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* \param pairs [out] array of overlapping pairs
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* \return true if success.
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*/
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///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
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bool Opcode::BruteForceCompleteBoxTest(udword nb, const AABB** array, Pairs& pairs)
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{
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// Checkings
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if(!nb || !array) return false;
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// Brute-force n(n-1)/2 overlap tests
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for(udword i=0;i<nb;i++)
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{
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for(udword j=i+1;j<nb;j++)
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{
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if(array[i]->Intersect(*array[j])) pairs.AddPair(i, j);
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}
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}
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return true;
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}
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