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+ provide access to 'root' collision shape, in case the original collision shape is temporarily replaced by a child collision shape.

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+ added MultiMaterialDemo showing how to use the new btTriangleIndexVertexMaterialArray.
Thanks to Alex Silverman for this contribution!
This commit is contained in:
erwin.coumans
2008-07-10 22:19:30 +00:00
parent b66e5350d0
commit 1c0fa00bc7
16 changed files with 900 additions and 22 deletions
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2
src/BulletCollision/BroadphaseCollision/btBroadphaseProxy.h
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@@ -52,6 +52,8 @@ CONCAVE_SHAPES_START_HERE,
TERRAIN_SHAPE_PROXYTYPE,
///Used for GIMPACT Trimesh integration
GIMPACT_SHAPE_PROXYTYPE,
///Multimaterial mesh
MULTIMATERIAL_TRIANGLE_MESH_PROXYTYPE,
EMPTY_SHAPE_PROXYTYPE,
STATIC_PLANE_PROXYTYPE,

1
src/BulletCollision/CollisionDispatch/btCollisionObject.cpp
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@@ -19,6 +19,7 @@ subject to the following restrictions:
btCollisionObject::btCollisionObject()
: m_broadphaseHandle(0),
m_collisionShape(0),
m_rootCollisionShape(0),
m_collisionFlags(btCollisionObject::CF_STATIC_OBJECT),
m_islandTag1(-1),
m_companionId(-1),

22
src/BulletCollision/CollisionDispatch/btCollisionObject.h
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@@ -51,6 +51,11 @@ protected:
btVector3 m_interpolationAngularVelocity;
btBroadphaseProxy* m_broadphaseHandle;
btCollisionShape* m_collisionShape;
///m_rootCollisionShape is temporarily used to store the original collision shape
///The m_collisionShape might be temporarily replaced by a child collision shape during collision detection purposes
///If it is NULL, the m_collisionShape is not temporarily replaced.
btCollisionShape* m_rootCollisionShape;
int m_collisionFlags;
@@ -141,6 +146,7 @@ public:
void setCollisionShape(btCollisionShape* collisionShape)
{
m_collisionShape = collisionShape;
m_rootCollisionShape = collisionShape;
}
SIMD_FORCE_INLINE const btCollisionShape* getCollisionShape() const
@@ -153,8 +159,22 @@ public:
return m_collisionShape;
}
SIMD_FORCE_INLINE const btCollisionShape* getRootCollisionShape() const
{
return m_rootCollisionShape;
}
SIMD_FORCE_INLINE btCollisionShape* getRootCollisionShape()
{
return m_rootCollisionShape;
}
///Avoid using this internal API call
///internalSetTemporaryCollisionShape is used to temporary replace the actual collision shape by a child collision shape.
void internalSetTemporaryCollisionShape(btCollisionShape* collisionShape)
{
m_collisionShape = collisionShape;
}
int getActivationState() const { return m_activationState1;}

5
src/BulletCollision/CollisionDispatch/btCompoundCollisionAlgorithm.cpp
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@@ -34,10 +34,9 @@ m_isSwapped(isSwapped)
for (i=0;i<numChildren;i++)
{
btCollisionShape* childShape = compoundShape->getChildShape(i);
btCollisionShape* orgShape = colObj->getCollisionShape();
colObj->setCollisionShape( childShape );
colObj->internalSetTemporaryCollisionShape( childShape );
m_childCollisionAlgorithms[i] = ci.m_dispatcher1->findAlgorithm(colObj,otherObj);
colObj->setCollisionShape( orgShape );
colObj->setCollisionShape( colObj->getRootCollisionShape());
}
}

11
src/BulletCollision/CollisionDispatch/btConvexConcaveCollisionAlgorithm.cpp
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@@ -116,14 +116,9 @@ void btConvexTriangleCallback::processTriangle(btVector3* triangle,int partId, i
{
btTriangleShape tm(triangle[0],triangle[1],triangle[2]);
tm.setMargin(m_collisionMarginTriangle);
btCollisionShape* tmpShape = ob->getCollisionShape();
//copy over user pointers to temporary shape
tm.setUserPointer(tmpShape->getUserPointer());
ob->setCollisionShape( &tm );
ob->internalSetTemporaryCollisionShape( &tm );
btCollisionAlgorithm* colAlgo = ci.m_dispatcher1->findAlgorithm(m_convexBody,m_triBody,m_manifoldPtr);
///this should use the btDispatcher, so the actual registered algorithm is used
// btConvexConvexAlgorithm cvxcvxalgo(m_manifoldPtr,ci,m_convexBody,m_triBody);
@@ -134,11 +129,9 @@ void btConvexTriangleCallback::processTriangle(btVector3* triangle,int partId, i
colAlgo->processCollision(m_convexBody,m_triBody,*m_dispatchInfoPtr,m_resultOut);
colAlgo->~btCollisionAlgorithm();
ci.m_dispatcher1->freeCollisionAlgorithm(colAlgo);
ob->setCollisionShape( tmpShape );
ob->setCollisionShape( ob->getRootCollisionShape());
}
}

34
src/BulletCollision/CollisionShapes/btMaterial.h Normal file
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@@ -0,0 +1,34 @@
/*
Bullet Continuous Collision Detection and Physics Library
Copyright (c) 2003-2008 Erwin Coumans http://continuousphysics.com/Bullet/
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.
*/
/// This file was created by Alex Silverman
#ifndef MATERIAL_H
#define MATERIAL_H
// Material class to be used by btMultimaterialTriangleMeshShape to store triangle properties
class btMaterial
{
// public members so that materials can change due to world events
public:
btScalar m_friction;
btScalar m_restitution;
int pad[2];
btMaterial(){}
btMaterial(btScalar fric, btScalar rest) { m_friction = fric; m_restitution = rest; }
};
#endif // MATERIAL_H

45
src/BulletCollision/CollisionShapes/btMultimaterialTriangleMeshShape.cpp Normal file
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@@ -0,0 +1,45 @@
/*
Bullet Continuous Collision Detection and Physics Library
Copyright (c) 2003-2008 Erwin Coumans http://continuousphysics.com/Bullet/
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.
*/
/// This file was created by Alex Silverman
#include "BulletCollision/CollisionShapes/btMultimaterialTriangleMeshShape.h"
#include "BulletCollision/CollisionShapes/btTriangleIndexVertexMaterialArray.h"
//#include "BulletCollision/CollisionShapes/btOptimizedBvh.h"
///Obtains the material for a specific triangle
const btMaterial * btMultimaterialTriangleMeshShape::getMaterialProperties(int partID, int triIndex)
{
const unsigned char * materialBase = 0;
int numMaterials;
PHY_ScalarType materialType;
int materialStride;
const unsigned char * triangleMaterialBase = 0;
int numTriangles;
int triangleMaterialStride;
PHY_ScalarType triangleType;
((btTriangleIndexVertexMaterialArray*)m_meshInterface)->getLockedReadOnlyMaterialBase(&materialBase, numMaterials, materialType, materialStride,
&triangleMaterialBase, numTriangles, triangleMaterialStride, triangleType, partID);
// return the pointer to the place with the friction for the triangle
// TODO: This depends on whether it's a moving mesh or not
// BUG IN GIMPACT
//return (btScalar*)(&materialBase[triangleMaterialBase[(triIndex-1) * triangleMaterialStride] * materialStride]);
int * matInd = (int *)(&(triangleMaterialBase[(triIndex * triangleMaterialStride)]));
btMaterial *matVal = (btMaterial *)(&(materialBase[*matInd * materialStride]));
return (matVal);
}

125
src/BulletCollision/CollisionShapes/btMultimaterialTriangleMeshShape.h Normal file
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@@ -0,0 +1,125 @@
/*
Bullet Continuous Collision Detection and Physics Library
Copyright (c) 2003-2008 Erwin Coumans http://continuousphysics.com/Bullet/
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.
*/
/// This file was created by Alex Silverman
#ifndef BVH_TRIANGLE_MATERIAL_MESH_SHAPE_H
#define BVH_TRIANGLE_MATERIAL_MESH_SHAPE_H
#include "btBvhTriangleMeshShape.h"
#include "btMaterial.h"
///BvhTriangleMaterialMeshShape extends BvhTriangleMeshShape.
///Its main contribution is the interface into a material array.
ATTRIBUTE_ALIGNED16(class) btMultimaterialTriangleMeshShape : public btBvhTriangleMeshShape
{
btAlignedObjectArray <btMaterial*> m_materialList;
int ** m_triangleMaterials;
public:
BT_DECLARE_ALIGNED_ALLOCATOR();
btMultimaterialTriangleMeshShape(): btBvhTriangleMeshShape() {}
btMultimaterialTriangleMeshShape(btStridingMeshInterface* meshInterface, bool useQuantizedAabbCompression, bool buildBvh = true):
btBvhTriangleMeshShape(meshInterface, useQuantizedAabbCompression, buildBvh)
{
btVector3 m_triangle[3];
const unsigned char *vertexbase;
int numverts;
PHY_ScalarType type;
int stride;
const unsigned char *indexbase;
int indexstride;
int numfaces;
PHY_ScalarType indicestype;
//m_materialLookup = (int**)(btAlignedAlloc(sizeof(int*) * meshInterface->getNumSubParts(), 16));
for(int i = 0; i < meshInterface->getNumSubParts(); i++)
{
m_meshInterface->getLockedReadOnlyVertexIndexBase(
&vertexbase,
numverts,
type,
stride,
&indexbase,
indexstride,
numfaces,
indicestype,
i);
//m_materialLookup[i] = (int*)(btAlignedAlloc(sizeof(int) * numfaces, 16));
}
}
///optionally pass in a larger bvh aabb, used for quantization. This allows for deformations within this aabb
btMultimaterialTriangleMeshShape(btStridingMeshInterface* meshInterface, bool useQuantizedAabbCompression,const btVector3& bvhAabbMin,const btVector3& bvhAabbMax, bool buildBvh = true):
btBvhTriangleMeshShape(meshInterface, useQuantizedAabbCompression, bvhAabbMin, bvhAabbMax, buildBvh)
{
btVector3 m_triangle[3];
const unsigned char *vertexbase;
int numverts;
PHY_ScalarType type;
int stride;
const unsigned char *indexbase;
int indexstride;
int numfaces;
PHY_ScalarType indicestype;
//m_materialLookup = (int**)(btAlignedAlloc(sizeof(int*) * meshInterface->getNumSubParts(), 16));
for(int i = 0; i < meshInterface->getNumSubParts(); i++)
{
m_meshInterface->getLockedReadOnlyVertexIndexBase(
&vertexbase,
numverts,
type,
stride,
&indexbase,
indexstride,
numfaces,
indicestype,
i);
//m_materialLookup[i] = (int*)(btAlignedAlloc(sizeof(int) * numfaces * 2, 16));
}
}
virtual ~btMultimaterialTriangleMeshShape()
{
/*
for(int i = 0; i < m_meshInterface->getNumSubParts(); i++)
{
btAlignedFree(m_materialValues[i]);
m_materialLookup[i] = NULL;
}
btAlignedFree(m_materialValues);
m_materialLookup = NULL;
*/
}
virtual int getShapeType() const
{
return MULTIMATERIAL_TRIANGLE_MESH_PROXYTYPE;
}
//debugging
virtual const char* getName()const {return "MULTIMATERIALTRIANGLEMESH";}
///Obtains the material for a specific triangle
const btMaterial * getMaterialProperties(int partID, int triIndex);
}
;
#endif //BVH_TRIANGLE_MATERIAL_MESH_SHAPE_H

86
src/BulletCollision/CollisionShapes/btTriangleIndexVertexMaterialArray.cpp Normal file
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@@ -0,0 +1,86 @@
/*
Bullet Continuous Collision Detection and Physics Library
Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
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.
*/
///This file was created by Alex Silverman
#include "btTriangleIndexVertexMaterialArray.h"
btTriangleIndexVertexMaterialArray::btTriangleIndexVertexMaterialArray(int numTriangles,int* triangleIndexBase,int triangleIndexStride,
int numVertices,btScalar* vertexBase,int vertexStride,
int numMaterials, unsigned char* materialBase, int materialStride,
int* triangleMaterialsBase, int materialIndexStride) :
btTriangleIndexVertexArray(numTriangles, triangleIndexBase, triangleIndexStride, numVertices, vertexBase, vertexStride)
{
btMaterialProperties mat;
mat.m_numMaterials = numMaterials;
mat.m_materialBase = materialBase;
mat.m_materialStride = materialStride;
#ifdef BT_USE_DOUBLE_PRECISION
mat.m_materialType = PHY_DOUBLE;
#else
mat.m_materialType = PHY_FLOAT;
#endif
mat.m_numTriangles = numTriangles;
mat.m_triangleMaterialsBase = (unsigned char *)triangleMaterialsBase;
mat.m_triangleMaterialStride = materialIndexStride;
mat.m_triangleType = PHY_INTEGER;
addMaterialProperties(mat);
}
void btTriangleIndexVertexMaterialArray::getLockedMaterialBase(unsigned char **materialBase, int& numMaterials, PHY_ScalarType& materialType, int& materialStride,
unsigned char ** triangleMaterialBase, int& numTriangles, int& triangleMaterialStride, PHY_ScalarType& triangleType, int subpart)
{
btAssert(subpart< getNumSubParts() );
btMaterialProperties& mats = m_materials[subpart];
numMaterials = mats.m_numMaterials;
(*materialBase) = (unsigned char *) mats.m_materialBase;
#ifdef BT_USE_DOUBLE_PRECISION
materialType = PHY_DOUBLE;
#else
materialType = PHY_FLOAT;
#endif
materialStride = mats.m_materialStride;
numTriangles = mats.m_numTriangles;
(*triangleMaterialBase) = (unsigned char *)mats.m_triangleMaterialsBase;
triangleMaterialStride = mats.m_triangleMaterialStride;
triangleType = mats.m_triangleType;
}
void btTriangleIndexVertexMaterialArray::getLockedReadOnlyMaterialBase(const unsigned char **materialBase, int& numMaterials, PHY_ScalarType& materialType, int& materialStride,
const unsigned char ** triangleMaterialBase, int& numTriangles, int& triangleMaterialStride, PHY_ScalarType& triangleType, int subpart)
{
btMaterialProperties& mats = m_materials[subpart];
numMaterials = mats.m_numMaterials;
(*materialBase) = (const unsigned char *) mats.m_materialBase;
#ifdef BT_USE_DOUBLE_PRECISION
materialType = PHY_DOUBLE;
#else
materialType = PHY_FLOAT;
#endif
materialStride = mats.m_materialStride;
numTriangles = mats.m_numTriangles;
(*triangleMaterialBase) = (const unsigned char *)mats.m_triangleMaterialsBase;
triangleMaterialStride = mats.m_triangleMaterialStride;
triangleType = mats.m_triangleType;
}

84
src/BulletCollision/CollisionShapes/btTriangleIndexVertexMaterialArray.h Normal file
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@@ -0,0 +1,84 @@
/*
Bullet Continuous Collision Detection and Physics Library
Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
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.
*/
///This file was created by Alex Silverman
#ifndef BT_MULTIMATERIAL_TRIANGLE_INDEX_VERTEX_ARRAY_H
#define BT_MULTIMATERIAL_TRIANGLE_INDEX_VERTEX_ARRAY_H
#include "btTriangleIndexVertexArray.h"
ATTRIBUTE_ALIGNED16( struct) btMaterialProperties
{
///m_materialBase ==========> 2 btScalar values make up one material, friction then restitution
int m_numMaterials;
const unsigned char * m_materialBase;
int m_materialStride;
PHY_ScalarType m_materialType;
///m_numTriangles <=========== This exists in the btIndexedMesh object for the same subpart, but since we're
/// padding the structure, it can be reproduced at no real cost
///m_triangleMaterials =====> 1 integer value makes up one entry
/// eg: m_triangleMaterials[1] = 5; // This will set triangle 2 to use material 5
int m_numTriangles;
const unsigned char * m_triangleMaterialsBase;
int m_triangleMaterialStride;
///m_triangleType <========== Automatically set in addMaterialProperties
PHY_ScalarType m_triangleType;
};
typedef btAlignedObjectArray<btMaterialProperties> MaterialArray;
///TriangleIndexVertexMaterialArray is built on TriangleIndexVertexArray
///The addition of a material array allows for the utilization of the partID and
///triangleIndex that are returned in the ContactAddedCallback. As with
///TriangleIndexVertexArray, no duplicate is made of the material data, so it
///is the users responsibility to maintain the array during the lifetime of the
///TriangleIndexVertexMaterialArray.
ATTRIBUTE_ALIGNED16(class) btTriangleIndexVertexMaterialArray : public btTriangleIndexVertexArray
{
protected:
MaterialArray m_materials;
public:
BT_DECLARE_ALIGNED_ALLOCATOR();
btTriangleIndexVertexMaterialArray()
{
}
btTriangleIndexVertexMaterialArray(int numTriangles,int* triangleIndexBase,int triangleIndexStride,
int numVertices,btScalar* vertexBase,int vertexStride,
int numMaterials, unsigned char* materialBase, int materialStride,
int* triangleMaterialsBase, int materialIndexStride);
virtual ~btTriangleIndexVertexMaterialArray() {}
void addMaterialProperties(const btMaterialProperties& mat, PHY_ScalarType triangleType = PHY_INTEGER)
{
m_materials.push_back(mat);
m_materials[m_materials.size()-1].m_triangleType = triangleType;
}
virtual void getLockedMaterialBase(unsigned char **materialBase, int& numMaterials, PHY_ScalarType& materialType, int& materialStride,
unsigned char ** triangleMaterialBase, int& numTriangles, int& triangleMaterialStride, PHY_ScalarType& triangleType ,int subpart = 0);
virtual void getLockedReadOnlyMaterialBase(const unsigned char **materialBase, int& numMaterials, PHY_ScalarType& materialType, int& materialStride,
const unsigned char ** triangleMaterialBase, int& numTriangles, int& triangleMaterialStride, PHY_ScalarType& triangleType, int subpart = 0);
}
;
#endif //BT_MULTIMATERIAL_TRIANGLE_INDEX_VERTEX_ARRAY_H

14
src/BulletCollision/CollisionShapes/btTriangleShape.h
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@@ -27,7 +27,6 @@ public:
btVector3 m_vertices1[3];
virtual int getNumVertices() const
{
return 3;
@@ -84,14 +83,13 @@ public:
btTriangleShape(const btVector3& p0,const btVector3& p1,const btVector3& p2)
{
m_vertices1[0] = p0;
m_vertices1[1] = p1;
m_vertices1[2] = p2;
}
btTriangleShape(const btVector3& p0,const btVector3& p1,const btVector3& p2)
{
m_vertices1[0] = p0;
m_vertices1[1] = p1;
m_vertices1[2] = p2;
}
virtual void getPlane(btVector3& planeNormal,btPoint3& planeSupport,int i) const
{

2
src/BulletDynamics/Dynamics/btRigidBody.cpp
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@@ -77,7 +77,7 @@ void btRigidBody::setupRigidBody(const btRigidBody::btRigidBodyConstructionInfo&
m_friction = constructionInfo.m_friction;
m_restitution = constructionInfo.m_restitution;
m_collisionShape = constructionInfo.m_collisionShape;
setCollisionShape( constructionInfo.m_collisionShape );
m_debugBodyId = uniqueId++;
setMassProps(constructionInfo.m_mass, constructionInfo.m_localInertia);