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App/v8world/KDTree.h

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+#pragma once
+
+#include "util/G3DCore.h"
+
+class btTriangleCallback;
+
+namespace RBX {
+
+union KDNode
+{
+    struct
+    {
+        // left child contents is to the left of splits[0] along axis
+        // right child contents is to the right of splits[1] along axis
+        float splits[2];
+
+        // axis index; must be 0/1/2 (X/Y/Z)
+        unsigned int axis: 2;
+
+        // left child is at childIndex; right child is at childIndex+1
+        unsigned int childIndex: 30;
+    } branch;
+
+    struct
+    {
+        unsigned int triangles[2];
+
+        // axis index; must be 3 so that isLeaf() can distinguish nodes
+        unsigned int axis: 2;
+
+        unsigned int triangleCount: 30;
+    } leaf;
+
+    bool isLeaf() const
+    {
+        return branch.axis == 3;
+    }
+};
+
+struct KDTree
+{
+    const Vector3* vertexPositions;
+    const unsigned char* vertexMaterials;
+    const unsigned int* indices;
+
+    std::vector<KDNode> nodes;
+    size_t depth;
+    Vector3 extentsMin;
+    Vector3 extentsMax;
+
+    struct RayResult
+    {
+        float fraction;
+        const KDTree* tree;
+        unsigned int triangle;
+
+        RayResult(): fraction(1), tree(NULL), triangle(0)
+        {
+        }
+
+        RayResult(float fraction, const KDTree* tree, unsigned int triangle): fraction(fraction), tree(tree), triangle(triangle)
+        {
+        }
+        
+        bool hasHit() const
+        {
+            return tree != 0;
+        }
+    };
+    
+    KDTree();
+
+    void build(const Vector3* vertexPositions, const unsigned char* vertexMaterials, size_t vertexCount, const unsigned int* indices, size_t triangleCount);
+
+    void queryAABB(btTriangleCallback* callback, const Vector3& aabbMin, const Vector3& aabbMax) const;
+    void queryRay(RayResult& result, const Vector3& raySource, const Vector3& rayTarget) const;
+    
+    Vector3 getTriangleNormal(unsigned int triangle) const;
+    unsigned char getMaterial(unsigned int triangle, const Vector3& position) const;
+};
+
+}