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-rw-r--r--src/3d/bvh.cc16
-rw-r--r--src/3d/bvh.h3
-rw-r--r--src/3d/physics.cc26
-rw-r--r--src/3d/scene_loader.cc77
4 files changed, 47 insertions, 75 deletions
diff --git a/src/3d/bvh.cc b/src/3d/bvh.cc
index 5f7abef..129016c 100644
--- a/src/3d/bvh.cc
+++ b/src/3d/bvh.cc
@@ -4,14 +4,6 @@
#include "3d/bvh.h"
#include <algorithm>
-namespace {
-
-struct ObjectInfo {
- int index;
- AABB aabb;
- vec3 centroid;
-};
-
AABB get_world_aabb(const Object3D& obj) {
BoundingVolume local = obj.get_local_bounds();
mat4 model = obj.get_model_matrix();
@@ -35,6 +27,14 @@ AABB get_world_aabb(const Object3D& obj) {
return world;
}
+namespace {
+
+struct ObjectInfo {
+ int index;
+ AABB aabb;
+ vec3 centroid;
+};
+
int build_recursive(std::vector<BVHNode>& nodes,
std::vector<ObjectInfo>& obj_info, int start, int end) {
int node_idx = (int)nodes.size();
diff --git a/src/3d/bvh.h b/src/3d/bvh.h
index 97e9a06..af4b152 100644
--- a/src/3d/bvh.h
+++ b/src/3d/bvh.h
@@ -63,6 +63,9 @@ class BVH {
void query(const AABB& box, std::vector<int>& out_indices) const;
};
+// Compute world-space AABB by transforming local bounds corners
+AABB get_world_aabb(const Object3D& obj);
+
class BVHBuilder {
public:
static void build(BVH& out_bvh, const std::vector<Object3D>& objects);
diff --git a/src/3d/physics.cc b/src/3d/physics.cc
index 2aa101d..db27e95 100644
--- a/src/3d/physics.cc
+++ b/src/3d/physics.cc
@@ -6,31 +6,7 @@
#include "3d/sdf_cpu.h"
#include <algorithm>
-namespace {
-// Helper to get world AABB (copied from bvh.cc or shared)
-AABB get_world_aabb(const Object3D& obj) {
- BoundingVolume local = obj.get_local_bounds();
- mat4 model = obj.get_model_matrix();
-
- vec3 corners[8] = {
- {local.min.x, local.min.y, local.min.z},
- {local.max.x, local.min.y, local.min.z},
- {local.min.x, local.max.y, local.min.z},
- {local.max.x, local.max.y, local.min.z},
- {local.min.x, local.min.y, local.max.z},
- {local.max.x, local.min.y, local.max.z},
- {local.min.x, local.max.y, local.max.z},
- {local.max.x, local.max.y, local.max.z},
- };
-
- AABB world;
- for (int i = 0; i < 8; ++i) {
- vec4 p = model * vec4(corners[i].x, corners[i].y, corners[i].z, 1.0f);
- world.expand(p.xyz());
- }
- return world;
-}
-} // namespace
+// get_world_aabb() is declared in bvh.h
float PhysicsSystem::sample_sdf(const Object3D& obj, vec3 world_p) {
mat4 inv_model = obj.get_model_matrix().inverse();
diff --git a/src/3d/scene_loader.cc b/src/3d/scene_loader.cc
index eb20954..d5c1879 100644
--- a/src/3d/scene_loader.cc
+++ b/src/3d/scene_loader.cc
@@ -11,6 +11,18 @@
namespace SceneLoader {
+// Safe unaligned read helpers
+static inline uint32_t read_u32(const uint8_t* p) {
+ uint32_t v;
+ std::memcpy(&v, p, sizeof(v));
+ return v;
+}
+static inline float read_f32(const uint8_t* p) {
+ float v;
+ std::memcpy(&v, p, sizeof(v));
+ return v;
+}
+
bool LoadScene(Scene& scene, const uint8_t* data, size_t size) {
if (!data || size < 16) { // Header size check
printf("SceneLoader: Data too small\n");
@@ -25,11 +37,11 @@ bool LoadScene(Scene& scene, const uint8_t* data, size_t size) {
size_t offset = 4;
- uint32_t num_objects = *(const uint32_t*)(data + offset);
+ uint32_t num_objects = read_u32(data + offset);
offset += 4;
- uint32_t num_cameras = *(const uint32_t*)(data + offset);
+ uint32_t num_cameras = read_u32(data + offset);
offset += 4;
- uint32_t num_lights = *(const uint32_t*)(data + offset);
+ uint32_t num_lights = read_u32(data + offset);
offset += 4;
// printf("SceneLoader: Loading %d objects, %d cameras, %d lights\n",
@@ -45,49 +57,33 @@ bool LoadScene(Scene& scene, const uint8_t* data, size_t size) {
if (offset + 4 > size)
return false;
- uint32_t type_val = *(const uint32_t*)(data + offset);
+ uint32_t type_val = read_u32(data + offset);
offset += 4;
ObjectType type = (ObjectType)type_val;
if (offset + 12 + 16 + 12 + 16 > size)
return false; // Transforms + Color
- float px = *(const float*)(data + offset);
- offset += 4;
- float py = *(const float*)(data + offset);
- offset += 4;
- float pz = *(const float*)(data + offset);
- offset += 4;
+ float px = read_f32(data + offset); offset += 4;
+ float py = read_f32(data + offset); offset += 4;
+ float pz = read_f32(data + offset); offset += 4;
vec3 pos(px, py, pz);
- float rx = *(const float*)(data + offset);
- offset += 4;
- float ry = *(const float*)(data + offset);
- offset += 4;
- float rz = *(const float*)(data + offset);
- offset += 4;
- float rw = *(const float*)(data + offset);
- offset += 4;
+ float rx = read_f32(data + offset); offset += 4;
+ float ry = read_f32(data + offset); offset += 4;
+ float rz = read_f32(data + offset); offset += 4;
+ float rw = read_f32(data + offset); offset += 4;
quat rot(rx, ry, rz, rw);
- float sx = *(const float*)(data + offset);
- offset += 4;
- float sy = *(const float*)(data + offset);
- offset += 4;
- float sz = *(const float*)(data + offset);
- offset += 4;
+ float sx = read_f32(data + offset); offset += 4;
+ float sy = read_f32(data + offset); offset += 4;
+ float sz = read_f32(data + offset); offset += 4;
vec3 scale(sx, sy, sz);
- // Color components (cr, cg, cb, ca)
- float cr = *(const float*)(data + offset);
- offset += 4;
- float cg = *(const float*)(data + offset);
- offset += 4;
- float cb = *(const float*)(data + offset);
- offset += 4;
- // Read ca, advance offset AFTER reading ca, then construct color
- float ca = *(const float*)(data + offset);
- offset += 4; // Offset is now after ca
+ float cr = read_f32(data + offset); offset += 4;
+ float cg = read_f32(data + offset); offset += 4;
+ float cb = read_f32(data + offset); offset += 4;
+ float ca = read_f32(data + offset); offset += 4;
vec4 color(cr, cg, cb, ca);
// Plane Distance (if type == PLANE)
@@ -96,7 +92,7 @@ bool LoadScene(Scene& scene, const uint8_t* data, size_t size) {
// Check bounds before reading plane_distance
if (offset + 4 > size)
return false;
- plane_distance = *(const float*)(data + offset);
+ plane_distance = read_f32(data + offset);
offset += 4; // Advance offset after reading plane_distance
}
@@ -105,7 +101,7 @@ bool LoadScene(Scene& scene, const uint8_t* data, size_t size) {
// either after ca (if not PLANE) or after plane_distance (if PLANE).
if (offset + 4 > size)
return false;
- uint32_t name_len = *(const uint32_t*)(data + offset);
+ uint32_t name_len = read_u32(data + offset);
offset += 4;
AssetId mesh_id = (AssetId)0; // Default or INVALID (if 0 is invalid)
@@ -131,12 +127,9 @@ bool LoadScene(Scene& scene, const uint8_t* data, size_t size) {
// Physics properties
if (offset + 4 + 4 + 4 > size)
return false;
- float mass = *(const float*)(data + offset);
- offset += 4;
- float restitution = *(const float*)(data + offset);
- offset += 4;
- uint32_t is_static_u32 = *(const uint32_t*)(data + offset);
- offset += 4;
+ float mass = read_f32(data + offset); offset += 4;
+ float restitution = read_f32(data + offset); offset += 4;
+ uint32_t is_static_u32 = read_u32(data + offset); offset += 4;
bool is_static = (is_static_u32 != 0);
// Create Object3D
generated by cgit v1.2.3 (git 2.51.0) at 2026-05-30 01:00:13 +0000