382 lines
15 KiB
C++
382 lines
15 KiB
C++
/*
|
|
Bullet Continuous Collision Detection and Physics Library
|
|
Copyright (c) 2003-2009 Erwin Coumans http://bulletphysics.org
|
|
|
|
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.
|
|
*/
|
|
|
|
#include "btStridingMeshInterface.h"
|
|
#include "LinearMath/btSerializer.h"
|
|
|
|
btStridingMeshInterface::~btStridingMeshInterface()
|
|
{
|
|
|
|
}
|
|
|
|
|
|
void btStridingMeshInterface::InternalProcessAllTriangles(btInternalTriangleIndexCallback* callback,const btVector3& aabbMin,const btVector3& aabbMax) const
|
|
{
|
|
(void)aabbMin;
|
|
(void)aabbMax;
|
|
int numtotalphysicsverts = 0;
|
|
int part,graphicssubparts = getNumSubParts();
|
|
const unsigned char * vertexbase;
|
|
const unsigned char * indexbase;
|
|
int indexstride;
|
|
PHY_ScalarType type;
|
|
PHY_ScalarType gfxindextype;
|
|
int stride,numverts,numtriangles;
|
|
int gfxindex;
|
|
btVector3 triangle[3];
|
|
|
|
btVector3 meshScaling = getScaling();
|
|
|
|
///if the number of parts is big, the performance might drop due to the innerloop switch on indextype
|
|
for (part=0;part<graphicssubparts ;part++)
|
|
{
|
|
getLockedReadOnlyVertexIndexBase(&vertexbase,numverts,type,stride,&indexbase,indexstride,numtriangles,gfxindextype,part);
|
|
numtotalphysicsverts+=numtriangles*3; //upper bound
|
|
|
|
///unlike that developers want to pass in double-precision meshes in single-precision Bullet build
|
|
///so disable this feature by default
|
|
///see patch http://code.google.com/p/bullet/issues/detail?id=213
|
|
|
|
switch (type)
|
|
{
|
|
case PHY_FLOAT:
|
|
{
|
|
|
|
float* graphicsbase;
|
|
|
|
switch (gfxindextype)
|
|
{
|
|
case PHY_INTEGER:
|
|
{
|
|
for (gfxindex=0;gfxindex<numtriangles;gfxindex++)
|
|
{
|
|
unsigned int* tri_indices= (unsigned int*)(indexbase+gfxindex*indexstride);
|
|
graphicsbase = (float*)(vertexbase+tri_indices[0]*stride);
|
|
triangle[0].setValue(graphicsbase[0]*meshScaling.getX(),graphicsbase[1]*meshScaling.getY(),graphicsbase[2]*meshScaling.getZ());
|
|
graphicsbase = (float*)(vertexbase+tri_indices[1]*stride);
|
|
triangle[1].setValue(graphicsbase[0]*meshScaling.getX(),graphicsbase[1]*meshScaling.getY(), graphicsbase[2]*meshScaling.getZ());
|
|
graphicsbase = (float*)(vertexbase+tri_indices[2]*stride);
|
|
triangle[2].setValue(graphicsbase[0]*meshScaling.getX(),graphicsbase[1]*meshScaling.getY(), graphicsbase[2]*meshScaling.getZ());
|
|
callback->internalProcessTriangleIndex(triangle,part,gfxindex);
|
|
}
|
|
break;
|
|
}
|
|
case PHY_SHORT:
|
|
{
|
|
for (gfxindex=0;gfxindex<numtriangles;gfxindex++)
|
|
{
|
|
unsigned short int* tri_indices= (unsigned short int*)(indexbase+gfxindex*indexstride);
|
|
graphicsbase = (float*)(vertexbase+tri_indices[0]*stride);
|
|
triangle[0].setValue(graphicsbase[0]*meshScaling.getX(),graphicsbase[1]*meshScaling.getY(),graphicsbase[2]*meshScaling.getZ());
|
|
graphicsbase = (float*)(vertexbase+tri_indices[1]*stride);
|
|
triangle[1].setValue(graphicsbase[0]*meshScaling.getX(),graphicsbase[1]*meshScaling.getY(), graphicsbase[2]*meshScaling.getZ());
|
|
graphicsbase = (float*)(vertexbase+tri_indices[2]*stride);
|
|
triangle[2].setValue(graphicsbase[0]*meshScaling.getX(),graphicsbase[1]*meshScaling.getY(), graphicsbase[2]*meshScaling.getZ());
|
|
callback->internalProcessTriangleIndex(triangle,part,gfxindex);
|
|
}
|
|
break;
|
|
}
|
|
case PHY_UCHAR:
|
|
{
|
|
for (gfxindex=0;gfxindex<numtriangles;gfxindex++)
|
|
{
|
|
unsigned char* tri_indices= (unsigned char*)(indexbase+gfxindex*indexstride);
|
|
graphicsbase = (float*)(vertexbase+tri_indices[0]*stride);
|
|
triangle[0].setValue(graphicsbase[0]*meshScaling.getX(),graphicsbase[1]*meshScaling.getY(),graphicsbase[2]*meshScaling.getZ());
|
|
graphicsbase = (float*)(vertexbase+tri_indices[1]*stride);
|
|
triangle[1].setValue(graphicsbase[0]*meshScaling.getX(),graphicsbase[1]*meshScaling.getY(), graphicsbase[2]*meshScaling.getZ());
|
|
graphicsbase = (float*)(vertexbase+tri_indices[2]*stride);
|
|
triangle[2].setValue(graphicsbase[0]*meshScaling.getX(),graphicsbase[1]*meshScaling.getY(), graphicsbase[2]*meshScaling.getZ());
|
|
callback->internalProcessTriangleIndex(triangle,part,gfxindex);
|
|
}
|
|
break;
|
|
}
|
|
default:
|
|
btAssert((gfxindextype == PHY_INTEGER) || (gfxindextype == PHY_SHORT));
|
|
}
|
|
break;
|
|
}
|
|
|
|
case PHY_DOUBLE:
|
|
{
|
|
double* graphicsbase;
|
|
|
|
switch (gfxindextype)
|
|
{
|
|
case PHY_INTEGER:
|
|
{
|
|
for (gfxindex=0;gfxindex<numtriangles;gfxindex++)
|
|
{
|
|
unsigned int* tri_indices= (unsigned int*)(indexbase+gfxindex*indexstride);
|
|
graphicsbase = (double*)(vertexbase+tri_indices[0]*stride);
|
|
triangle[0].setValue((btScalar)graphicsbase[0]*meshScaling.getX(),(btScalar)graphicsbase[1]*meshScaling.getY(),(btScalar)graphicsbase[2]*meshScaling.getZ());
|
|
graphicsbase = (double*)(vertexbase+tri_indices[1]*stride);
|
|
triangle[1].setValue((btScalar)graphicsbase[0]*meshScaling.getX(),(btScalar)graphicsbase[1]*meshScaling.getY(), (btScalar)graphicsbase[2]*meshScaling.getZ());
|
|
graphicsbase = (double*)(vertexbase+tri_indices[2]*stride);
|
|
triangle[2].setValue((btScalar)graphicsbase[0]*meshScaling.getX(),(btScalar)graphicsbase[1]*meshScaling.getY(), (btScalar)graphicsbase[2]*meshScaling.getZ());
|
|
callback->internalProcessTriangleIndex(triangle,part,gfxindex);
|
|
}
|
|
break;
|
|
}
|
|
case PHY_SHORT:
|
|
{
|
|
for (gfxindex=0;gfxindex<numtriangles;gfxindex++)
|
|
{
|
|
unsigned short int* tri_indices= (unsigned short int*)(indexbase+gfxindex*indexstride);
|
|
graphicsbase = (double*)(vertexbase+tri_indices[0]*stride);
|
|
triangle[0].setValue((btScalar)graphicsbase[0]*meshScaling.getX(),(btScalar)graphicsbase[1]*meshScaling.getY(),(btScalar)graphicsbase[2]*meshScaling.getZ());
|
|
graphicsbase = (double*)(vertexbase+tri_indices[1]*stride);
|
|
triangle[1].setValue((btScalar)graphicsbase[0]*meshScaling.getX(),(btScalar)graphicsbase[1]*meshScaling.getY(), (btScalar)graphicsbase[2]*meshScaling.getZ());
|
|
graphicsbase = (double*)(vertexbase+tri_indices[2]*stride);
|
|
triangle[2].setValue((btScalar)graphicsbase[0]*meshScaling.getX(),(btScalar)graphicsbase[1]*meshScaling.getY(), (btScalar)graphicsbase[2]*meshScaling.getZ());
|
|
callback->internalProcessTriangleIndex(triangle,part,gfxindex);
|
|
}
|
|
break;
|
|
}
|
|
case PHY_UCHAR:
|
|
{
|
|
for (gfxindex=0;gfxindex<numtriangles;gfxindex++)
|
|
{
|
|
unsigned char* tri_indices= (unsigned char*)(indexbase+gfxindex*indexstride);
|
|
graphicsbase = (double*)(vertexbase+tri_indices[0]*stride);
|
|
triangle[0].setValue((btScalar)graphicsbase[0]*meshScaling.getX(),(btScalar)graphicsbase[1]*meshScaling.getY(),(btScalar)graphicsbase[2]*meshScaling.getZ());
|
|
graphicsbase = (double*)(vertexbase+tri_indices[1]*stride);
|
|
triangle[1].setValue((btScalar)graphicsbase[0]*meshScaling.getX(),(btScalar)graphicsbase[1]*meshScaling.getY(), (btScalar)graphicsbase[2]*meshScaling.getZ());
|
|
graphicsbase = (double*)(vertexbase+tri_indices[2]*stride);
|
|
triangle[2].setValue((btScalar)graphicsbase[0]*meshScaling.getX(),(btScalar)graphicsbase[1]*meshScaling.getY(), (btScalar)graphicsbase[2]*meshScaling.getZ());
|
|
callback->internalProcessTriangleIndex(triangle,part,gfxindex);
|
|
}
|
|
break;
|
|
}
|
|
default:
|
|
btAssert((gfxindextype == PHY_INTEGER) || (gfxindextype == PHY_SHORT));
|
|
}
|
|
break;
|
|
}
|
|
default:
|
|
btAssert((type == PHY_FLOAT) || (type == PHY_DOUBLE));
|
|
}
|
|
|
|
unLockReadOnlyVertexBase(part);
|
|
}
|
|
}
|
|
|
|
void btStridingMeshInterface::calculateAabbBruteForce(btVector3& aabbMin,btVector3& aabbMax)
|
|
{
|
|
|
|
struct AabbCalculationCallback : public btInternalTriangleIndexCallback
|
|
{
|
|
btVector3 m_aabbMin;
|
|
btVector3 m_aabbMax;
|
|
|
|
AabbCalculationCallback()
|
|
{
|
|
m_aabbMin.setValue(btScalar(BT_LARGE_FLOAT),btScalar(BT_LARGE_FLOAT),btScalar(BT_LARGE_FLOAT));
|
|
m_aabbMax.setValue(btScalar(-BT_LARGE_FLOAT),btScalar(-BT_LARGE_FLOAT),btScalar(-BT_LARGE_FLOAT));
|
|
}
|
|
|
|
virtual void internalProcessTriangleIndex(btVector3* triangle,int partId,int triangleIndex)
|
|
{
|
|
(void)partId;
|
|
(void)triangleIndex;
|
|
|
|
m_aabbMin.setMin(triangle[0]);
|
|
m_aabbMax.setMax(triangle[0]);
|
|
m_aabbMin.setMin(triangle[1]);
|
|
m_aabbMax.setMax(triangle[1]);
|
|
m_aabbMin.setMin(triangle[2]);
|
|
m_aabbMax.setMax(triangle[2]);
|
|
}
|
|
};
|
|
|
|
//first calculate the total aabb for all triangles
|
|
AabbCalculationCallback aabbCallback;
|
|
aabbMin.setValue(btScalar(-BT_LARGE_FLOAT),btScalar(-BT_LARGE_FLOAT),btScalar(-BT_LARGE_FLOAT));
|
|
aabbMax.setValue(btScalar(BT_LARGE_FLOAT),btScalar(BT_LARGE_FLOAT),btScalar(BT_LARGE_FLOAT));
|
|
InternalProcessAllTriangles(&aabbCallback,aabbMin,aabbMax);
|
|
|
|
aabbMin = aabbCallback.m_aabbMin;
|
|
aabbMax = aabbCallback.m_aabbMax;
|
|
}
|
|
|
|
|
|
|
|
///fills the dataBuffer and returns the struct name (and 0 on failure)
|
|
const char* btStridingMeshInterface::serialize(void* dataBuffer, btSerializer* serializer) const
|
|
{
|
|
btStridingMeshInterfaceData* trimeshData = (btStridingMeshInterfaceData*) dataBuffer;
|
|
|
|
trimeshData->m_numMeshParts = getNumSubParts();
|
|
|
|
//void* uniquePtr = 0;
|
|
|
|
trimeshData->m_meshPartsPtr = 0;
|
|
|
|
if (trimeshData->m_numMeshParts)
|
|
{
|
|
btChunk* chunk = serializer->allocate(sizeof(btMeshPartData),trimeshData->m_numMeshParts);
|
|
btMeshPartData* memPtr = (btMeshPartData*)chunk->m_oldPtr;
|
|
trimeshData->m_meshPartsPtr = (btMeshPartData *)serializer->getUniquePointer(memPtr);
|
|
|
|
|
|
// int numtotalphysicsverts = 0;
|
|
int part,graphicssubparts = getNumSubParts();
|
|
const unsigned char * vertexbase;
|
|
const unsigned char * indexbase;
|
|
int indexstride;
|
|
PHY_ScalarType type;
|
|
PHY_ScalarType gfxindextype;
|
|
int stride,numverts,numtriangles;
|
|
int gfxindex;
|
|
// btVector3 triangle[3];
|
|
|
|
// btVector3 meshScaling = getScaling();
|
|
|
|
///if the number of parts is big, the performance might drop due to the innerloop switch on indextype
|
|
for (part=0;part<graphicssubparts ;part++,memPtr++)
|
|
{
|
|
getLockedReadOnlyVertexIndexBase(&vertexbase,numverts,type,stride,&indexbase,indexstride,numtriangles,gfxindextype,part);
|
|
memPtr->m_numTriangles = numtriangles;//indices = 3*numtriangles
|
|
memPtr->m_numVertices = numverts;
|
|
memPtr->m_indices16 = 0;
|
|
memPtr->m_indices32 = 0;
|
|
memPtr->m_3indices16 = 0;
|
|
memPtr->m_3indices8 = 0;
|
|
memPtr->m_vertices3f = 0;
|
|
memPtr->m_vertices3d = 0;
|
|
|
|
|
|
switch (gfxindextype)
|
|
{
|
|
case PHY_INTEGER:
|
|
{
|
|
int numindices = numtriangles*3;
|
|
|
|
if (numindices)
|
|
{
|
|
btChunk* chunk = serializer->allocate(sizeof(btIntIndexData),numindices);
|
|
btIntIndexData* tmpIndices = (btIntIndexData*)chunk->m_oldPtr;
|
|
memPtr->m_indices32 = (btIntIndexData*)serializer->getUniquePointer(tmpIndices);
|
|
for (gfxindex=0;gfxindex<numtriangles;gfxindex++)
|
|
{
|
|
unsigned int* tri_indices= (unsigned int*)(indexbase+gfxindex*indexstride);
|
|
tmpIndices[gfxindex*3].m_value = tri_indices[0];
|
|
tmpIndices[gfxindex*3+1].m_value = tri_indices[1];
|
|
tmpIndices[gfxindex*3+2].m_value = tri_indices[2];
|
|
}
|
|
serializer->finalizeChunk(chunk,"btIntIndexData",BT_ARRAY_CODE,(void*)chunk->m_oldPtr);
|
|
}
|
|
break;
|
|
}
|
|
case PHY_SHORT:
|
|
{
|
|
if (numtriangles)
|
|
{
|
|
btChunk* chunk = serializer->allocate(sizeof(btShortIntIndexTripletData),numtriangles);
|
|
btShortIntIndexTripletData* tmpIndices = (btShortIntIndexTripletData*)chunk->m_oldPtr;
|
|
memPtr->m_3indices16 = (btShortIntIndexTripletData*) serializer->getUniquePointer(tmpIndices);
|
|
for (gfxindex=0;gfxindex<numtriangles;gfxindex++)
|
|
{
|
|
unsigned short int* tri_indices= (unsigned short int*)(indexbase+gfxindex*indexstride);
|
|
tmpIndices[gfxindex].m_values[0] = tri_indices[0];
|
|
tmpIndices[gfxindex].m_values[1] = tri_indices[1];
|
|
tmpIndices[gfxindex].m_values[2] = tri_indices[2];
|
|
}
|
|
serializer->finalizeChunk(chunk,"btShortIntIndexTripletData",BT_ARRAY_CODE,(void*)chunk->m_oldPtr);
|
|
}
|
|
break;
|
|
}
|
|
case PHY_UCHAR:
|
|
{
|
|
if (numtriangles)
|
|
{
|
|
btChunk* chunk = serializer->allocate(sizeof(btCharIndexTripletData),numtriangles);
|
|
btCharIndexTripletData* tmpIndices = (btCharIndexTripletData*)chunk->m_oldPtr;
|
|
memPtr->m_3indices8 = (btCharIndexTripletData*) serializer->getUniquePointer(tmpIndices);
|
|
for (gfxindex=0;gfxindex<numtriangles;gfxindex++)
|
|
{
|
|
unsigned char* tri_indices= (unsigned char*)(indexbase+gfxindex*indexstride);
|
|
tmpIndices[gfxindex].m_values[0] = tri_indices[0];
|
|
tmpIndices[gfxindex].m_values[1] = tri_indices[1];
|
|
tmpIndices[gfxindex].m_values[2] = tri_indices[2];
|
|
}
|
|
serializer->finalizeChunk(chunk,"btCharIndexTripletData",BT_ARRAY_CODE,(void*)chunk->m_oldPtr);
|
|
}
|
|
break;
|
|
}
|
|
default:
|
|
{
|
|
btAssert(0);
|
|
//unknown index type
|
|
}
|
|
}
|
|
|
|
switch (type)
|
|
{
|
|
case PHY_FLOAT:
|
|
{
|
|
float* graphicsbase;
|
|
|
|
if (numverts)
|
|
{
|
|
btChunk* chunk = serializer->allocate(sizeof(btVector3FloatData),numverts);
|
|
btVector3FloatData* tmpVertices = (btVector3FloatData*) chunk->m_oldPtr;
|
|
memPtr->m_vertices3f = (btVector3FloatData *)serializer->getUniquePointer(tmpVertices);
|
|
for (int i=0;i<numverts;i++)
|
|
{
|
|
graphicsbase = (float*)(vertexbase+i*stride);
|
|
tmpVertices[i].m_floats[0] = graphicsbase[0];
|
|
tmpVertices[i].m_floats[1] = graphicsbase[1];
|
|
tmpVertices[i].m_floats[2] = graphicsbase[2];
|
|
}
|
|
serializer->finalizeChunk(chunk,"btVector3FloatData",BT_ARRAY_CODE,(void*)chunk->m_oldPtr);
|
|
}
|
|
break;
|
|
}
|
|
|
|
case PHY_DOUBLE:
|
|
{
|
|
if (numverts)
|
|
{
|
|
btChunk* chunk = serializer->allocate(sizeof(btVector3DoubleData),numverts);
|
|
btVector3DoubleData* tmpVertices = (btVector3DoubleData*) chunk->m_oldPtr;
|
|
memPtr->m_vertices3d = (btVector3DoubleData *) serializer->getUniquePointer(tmpVertices);
|
|
for (int i=0;i<numverts;i++)
|
|
{
|
|
double* graphicsbase = (double*)(vertexbase+i*stride);//for now convert to float, might leave it at double
|
|
tmpVertices[i].m_floats[0] = graphicsbase[0];
|
|
tmpVertices[i].m_floats[1] = graphicsbase[1];
|
|
tmpVertices[i].m_floats[2] = graphicsbase[2];
|
|
}
|
|
serializer->finalizeChunk(chunk,"btVector3DoubleData",BT_ARRAY_CODE,(void*)chunk->m_oldPtr);
|
|
}
|
|
break;
|
|
}
|
|
|
|
default:
|
|
btAssert((type == PHY_FLOAT) || (type == PHY_DOUBLE));
|
|
}
|
|
|
|
unLockReadOnlyVertexBase(part);
|
|
}
|
|
|
|
serializer->finalizeChunk(chunk,"btMeshPartData",BT_ARRAY_CODE,chunk->m_oldPtr);
|
|
}
|
|
|
|
|
|
m_scaling.serializeFloat(trimeshData->m_scaling);
|
|
return "btStridingMeshInterfaceData";
|
|
}
|