216 lines
9.6 KiB
C++
216 lines
9.6 KiB
C++
/*
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* OPCODE - Optimized Collision Detection
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* http://www.codercorner.com/Opcode.htm
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*
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* Copyright (c) 2001-2008 Pierre Terdiman, pierre@codercorner.com
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This software is provided 'as-is', without any express or implied warranty.
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In no event will the authors be held liable for any damages arising from the use of this software.
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Permission is granted to anyone to use this software for any purpose,
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including commercial applications, and to alter it and redistribute it freely,
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subject to the following restrictions:
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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.
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2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
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3. This notice may not be removed or altered from any source distribution.
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*/
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///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
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/**
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* Contains code for optimized trees.
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* \file OPC_OptimizedTree.h
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* \author Pierre Terdiman
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* \date March, 20, 2001
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*/
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///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
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///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
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// Include Guard
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#ifndef __OPC_OPTIMIZEDTREE_H__
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#define __OPC_OPTIMIZEDTREE_H__
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//! Common interface for a node of an implicit tree
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#define IMPLEMENT_IMPLICIT_NODE(base_class, volume) \
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public: \
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/* Constructor / Destructor */ \
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inline_ base_class() : mData(0) {} \
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inline_ ~base_class() {} \
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/* Leaf test */ \
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inline_ BOOL IsLeaf() const { return mData&1; } \
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/* Data access */ \
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inline_ const base_class* GetPos() const { return (base_class*)mData; } \
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inline_ const base_class* GetNeg() const { return ((base_class*)mData)+1; } \
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inline_ udword GetPrimitive() const { return (mData>>1); } \
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/* Stats */ \
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inline_ udword GetNodeSize() const { return SIZEOFOBJECT; } \
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\
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volume mAABB; \
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udword mData;
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//! Common interface for a node of a no-leaf tree
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#define IMPLEMENT_NOLEAF_NODE(base_class, volume) \
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public: \
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/* Constructor / Destructor */ \
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inline_ base_class() : mPosData(0), mNegData(0) {} \
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inline_ ~base_class() {} \
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/* Leaf tests */ \
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inline_ BOOL HasPosLeaf() const { return mPosData&1; } \
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inline_ BOOL HasNegLeaf() const { return mNegData&1; } \
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/* Data access */ \
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inline_ const base_class* GetPos() const { return (base_class*)mPosData; } \
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inline_ const base_class* GetNeg() const { return (base_class*)mNegData; } \
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inline_ udword GetPosPrimitive() const { return (mPosData>>1); } \
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inline_ udword GetNegPrimitive() const { return (mNegData>>1); } \
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/* Stats */ \
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inline_ udword GetNodeSize() const { return SIZEOFOBJECT; } \
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\
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volume mAABB; \
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udword mPosData; \
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udword mNegData;
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class OPCODE_API AABBCollisionNode
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{
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IMPLEMENT_IMPLICIT_NODE(AABBCollisionNode, CollisionAABB)
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inline_ float GetVolume() const { return mAABB.mExtents.x * mAABB.mExtents.y * mAABB.mExtents.z; }
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inline_ float GetSize() const { return mAABB.mExtents.SquareMagnitude(); }
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inline_ udword GetRadius() const
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{
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udword* Bits = (udword*)&mAABB.mExtents.x;
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udword Max = Bits[0];
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if(Bits[1]>Max) Max = Bits[1];
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if(Bits[2]>Max) Max = Bits[2];
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return Max;
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}
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// NB: using the square-magnitude or the true volume of the box, seems to yield better results
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// (assuming UNC-like informed traversal methods). I borrowed this idea from PQP. The usual "size"
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// otherwise, is the largest box extent. In SOLID that extent is computed on-the-fly each time it's
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// needed (the best approach IMHO). In RAPID the rotation matrix is permuted so that Extent[0] is
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// always the greatest, which saves looking for it at runtime. On the other hand, it yields matrices
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// whose determinant is not 1, i.e. you can't encode them anymore as unit quaternions. Not a very
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// good strategy.
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};
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class OPCODE_API AABBQuantizedNode
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{
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IMPLEMENT_IMPLICIT_NODE(AABBQuantizedNode, QuantizedAABB)
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inline_ uword GetSize() const
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{
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const uword* Bits = mAABB.mExtents;
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uword Max = Bits[0];
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if(Bits[1]>Max) Max = Bits[1];
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if(Bits[2]>Max) Max = Bits[2];
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return Max;
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}
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// NB: for quantized nodes I don't feel like computing a square-magnitude with integers all
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// over the place.......!
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};
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class OPCODE_API AABBNoLeafNode
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{
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IMPLEMENT_NOLEAF_NODE(AABBNoLeafNode, CollisionAABB)
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};
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class OPCODE_API AABBQuantizedNoLeafNode
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{
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IMPLEMENT_NOLEAF_NODE(AABBQuantizedNoLeafNode, QuantizedAABB)
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};
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//! Common interface for a collision tree
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#define IMPLEMENT_COLLISION_TREE(base_class, node) \
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public: \
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/* Constructor / Destructor */ \
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base_class(); \
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virtual ~base_class(); \
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/* Builds from a standard tree */ \
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override(AABBOptimizedTree) bool Build(AABBTree* tree); \
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/* Refits the tree */ \
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override(AABBOptimizedTree) bool Refit(const MeshInterface* mesh_interface); \
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/* Walks the tree */ \
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override(AABBOptimizedTree) bool Walk(GenericWalkingCallback callback, void* user_data) const; \
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/* Data access */ \
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inline_ const node* GetNodes() const { return mNodes; } \
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/* Stats */ \
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override(AABBOptimizedTree) udword GetUsedBytes() const { return mNbNodes*sizeof(node); } \
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private: \
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node* mNodes;
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typedef bool (*GenericWalkingCallback) (const void* current, void* user_data);
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class OPCODE_API AABBOptimizedTree
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{
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public:
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// Constructor / Destructor
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AABBOptimizedTree() :
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mNbNodes (0)
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{}
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virtual ~AABBOptimizedTree() {}
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///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
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/**
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* Builds the collision tree from a generic AABB tree.
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* \param tree [in] generic AABB tree
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* \return true if success
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*/
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///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
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virtual bool Build(AABBTree* tree) = 0;
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///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
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/**
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* Refits the collision tree after vertices have been modified.
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* \param mesh_interface [in] mesh interface for current model
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* \return true if success
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*/
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///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
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virtual bool Refit(const MeshInterface* mesh_interface) = 0;
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///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
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/**
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* Walks the tree and call the user back for each node.
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* \param callback [in] walking callback
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* \param user_data [in] callback's user data
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* \return true if success
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*/
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///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
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virtual bool Walk(GenericWalkingCallback callback, void* user_data) const = 0;
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// Data access
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virtual udword GetUsedBytes() const = 0;
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inline_ udword GetNbNodes() const { return mNbNodes; }
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protected:
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udword mNbNodes;
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};
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class OPCODE_API AABBCollisionTree : public AABBOptimizedTree
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{
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IMPLEMENT_COLLISION_TREE(AABBCollisionTree, AABBCollisionNode)
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};
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class OPCODE_API AABBNoLeafTree : public AABBOptimizedTree
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{
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IMPLEMENT_COLLISION_TREE(AABBNoLeafTree, AABBNoLeafNode)
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};
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class OPCODE_API AABBQuantizedTree : public AABBOptimizedTree
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{
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IMPLEMENT_COLLISION_TREE(AABBQuantizedTree, AABBQuantizedNode)
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public:
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Point mCenterCoeff;
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Point mExtentsCoeff;
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};
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class OPCODE_API AABBQuantizedNoLeafTree : public AABBOptimizedTree
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{
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IMPLEMENT_COLLISION_TREE(AABBQuantizedNoLeafTree, AABBQuantizedNoLeafNode)
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public:
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Point mCenterCoeff;
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Point mExtentsCoeff;
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};
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#endif // __OPC_OPTIMIZEDTREE_H__
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