+ provide access to 'root' collision shape, in case the original collision shape is temporarily replaced by a child collision shape.
+ added MultiMaterialDemo showing how to use the new btTriangleIndexVertexMaterialArray. Thanks to Alex Silverman for this contribution!
This commit is contained in:
erwin.coumans
34
src/BulletCollision/CollisionShapes/btMaterial.h
Normal file
34
src/BulletCollision/CollisionShapes/btMaterial.h
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@@ -0,0 +1,34 @@
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/*
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Bullet Continuous Collision Detection and Physics Library
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Copyright (c) 2003-2008 Erwin Coumans http://continuousphysics.com/Bullet/
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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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/// This file was created by Alex Silverman
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#ifndef MATERIAL_H
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#define MATERIAL_H
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// Material class to be used by btMultimaterialTriangleMeshShape to store triangle properties
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class btMaterial
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{
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// public members so that materials can change due to world events
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public:
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btScalar m_friction;
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btScalar m_restitution;
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int pad[2];
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btMaterial(){}
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btMaterial(btScalar fric, btScalar rest) { m_friction = fric; m_restitution = rest; }
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};
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#endif // MATERIAL_H
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@@ -0,0 +1,45 @@
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/*
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Bullet Continuous Collision Detection and Physics Library
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Copyright (c) 2003-2008 Erwin Coumans http://continuousphysics.com/Bullet/
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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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/// This file was created by Alex Silverman
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#include "BulletCollision/CollisionShapes/btMultimaterialTriangleMeshShape.h"
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#include "BulletCollision/CollisionShapes/btTriangleIndexVertexMaterialArray.h"
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//#include "BulletCollision/CollisionShapes/btOptimizedBvh.h"
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///Obtains the material for a specific triangle
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const btMaterial * btMultimaterialTriangleMeshShape::getMaterialProperties(int partID, int triIndex)
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{
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const unsigned char * materialBase = 0;
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int numMaterials;
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PHY_ScalarType materialType;
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int materialStride;
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const unsigned char * triangleMaterialBase = 0;
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int numTriangles;
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int triangleMaterialStride;
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PHY_ScalarType triangleType;
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((btTriangleIndexVertexMaterialArray*)m_meshInterface)->getLockedReadOnlyMaterialBase(&materialBase, numMaterials, materialType, materialStride,
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&triangleMaterialBase, numTriangles, triangleMaterialStride, triangleType, partID);
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// return the pointer to the place with the friction for the triangle
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// TODO: This depends on whether it's a moving mesh or not
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// BUG IN GIMPACT
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//return (btScalar*)(&materialBase[triangleMaterialBase[(triIndex-1) * triangleMaterialStride] * materialStride]);
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int * matInd = (int *)(&(triangleMaterialBase[(triIndex * triangleMaterialStride)]));
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btMaterial *matVal = (btMaterial *)(&(materialBase[*matInd * materialStride]));
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return (matVal);
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}
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@@ -0,0 +1,125 @@
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/*
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Bullet Continuous Collision Detection and Physics Library
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Copyright (c) 2003-2008 Erwin Coumans http://continuousphysics.com/Bullet/
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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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/// This file was created by Alex Silverman
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#ifndef BVH_TRIANGLE_MATERIAL_MESH_SHAPE_H
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#define BVH_TRIANGLE_MATERIAL_MESH_SHAPE_H
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#include "btBvhTriangleMeshShape.h"
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#include "btMaterial.h"
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///BvhTriangleMaterialMeshShape extends BvhTriangleMeshShape.
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///Its main contribution is the interface into a material array.
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ATTRIBUTE_ALIGNED16(class) btMultimaterialTriangleMeshShape : public btBvhTriangleMeshShape
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{
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btAlignedObjectArray <btMaterial*> m_materialList;
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int ** m_triangleMaterials;
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public:
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BT_DECLARE_ALIGNED_ALLOCATOR();
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btMultimaterialTriangleMeshShape(): btBvhTriangleMeshShape() {}
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btMultimaterialTriangleMeshShape(btStridingMeshInterface* meshInterface, bool useQuantizedAabbCompression, bool buildBvh = true):
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btBvhTriangleMeshShape(meshInterface, useQuantizedAabbCompression, buildBvh)
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{
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btVector3 m_triangle[3];
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const unsigned char *vertexbase;
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int numverts;
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PHY_ScalarType type;
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int stride;
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const unsigned char *indexbase;
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int indexstride;
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int numfaces;
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PHY_ScalarType indicestype;
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//m_materialLookup = (int**)(btAlignedAlloc(sizeof(int*) * meshInterface->getNumSubParts(), 16));
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for(int i = 0; i < meshInterface->getNumSubParts(); i++)
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{
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m_meshInterface->getLockedReadOnlyVertexIndexBase(
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&vertexbase,
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numverts,
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type,
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stride,
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&indexbase,
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indexstride,
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numfaces,
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indicestype,
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i);
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//m_materialLookup[i] = (int*)(btAlignedAlloc(sizeof(int) * numfaces, 16));
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}
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}
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///optionally pass in a larger bvh aabb, used for quantization. This allows for deformations within this aabb
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btMultimaterialTriangleMeshShape(btStridingMeshInterface* meshInterface, bool useQuantizedAabbCompression,const btVector3& bvhAabbMin,const btVector3& bvhAabbMax, bool buildBvh = true):
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btBvhTriangleMeshShape(meshInterface, useQuantizedAabbCompression, bvhAabbMin, bvhAabbMax, buildBvh)
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{
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btVector3 m_triangle[3];
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const unsigned char *vertexbase;
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int numverts;
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PHY_ScalarType type;
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int stride;
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const unsigned char *indexbase;
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int indexstride;
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int numfaces;
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PHY_ScalarType indicestype;
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//m_materialLookup = (int**)(btAlignedAlloc(sizeof(int*) * meshInterface->getNumSubParts(), 16));
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for(int i = 0; i < meshInterface->getNumSubParts(); i++)
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{
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m_meshInterface->getLockedReadOnlyVertexIndexBase(
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&vertexbase,
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numverts,
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type,
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stride,
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&indexbase,
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indexstride,
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numfaces,
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indicestype,
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i);
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//m_materialLookup[i] = (int*)(btAlignedAlloc(sizeof(int) * numfaces * 2, 16));
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}
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}
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virtual ~btMultimaterialTriangleMeshShape()
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{
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/*
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for(int i = 0; i < m_meshInterface->getNumSubParts(); i++)
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{
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btAlignedFree(m_materialValues[i]);
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m_materialLookup[i] = NULL;
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}
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btAlignedFree(m_materialValues);
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m_materialLookup = NULL;
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*/
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}
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virtual int getShapeType() const
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{
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return MULTIMATERIAL_TRIANGLE_MESH_PROXYTYPE;
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}
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//debugging
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virtual const char* getName()const {return "MULTIMATERIALTRIANGLEMESH";}
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///Obtains the material for a specific triangle
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const btMaterial * getMaterialProperties(int partID, int triIndex);
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}
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;
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#endif //BVH_TRIANGLE_MATERIAL_MESH_SHAPE_H
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@@ -0,0 +1,86 @@
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/*
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Bullet Continuous Collision Detection and Physics Library
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Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
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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.
|
||||
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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///This file was created by Alex Silverman
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#include "btTriangleIndexVertexMaterialArray.h"
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btTriangleIndexVertexMaterialArray::btTriangleIndexVertexMaterialArray(int numTriangles,int* triangleIndexBase,int triangleIndexStride,
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int numVertices,btScalar* vertexBase,int vertexStride,
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int numMaterials, unsigned char* materialBase, int materialStride,
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int* triangleMaterialsBase, int materialIndexStride) :
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btTriangleIndexVertexArray(numTriangles, triangleIndexBase, triangleIndexStride, numVertices, vertexBase, vertexStride)
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{
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btMaterialProperties mat;
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mat.m_numMaterials = numMaterials;
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mat.m_materialBase = materialBase;
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mat.m_materialStride = materialStride;
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#ifdef BT_USE_DOUBLE_PRECISION
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mat.m_materialType = PHY_DOUBLE;
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#else
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mat.m_materialType = PHY_FLOAT;
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#endif
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mat.m_numTriangles = numTriangles;
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mat.m_triangleMaterialsBase = (unsigned char *)triangleMaterialsBase;
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mat.m_triangleMaterialStride = materialIndexStride;
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mat.m_triangleType = PHY_INTEGER;
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addMaterialProperties(mat);
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}
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void btTriangleIndexVertexMaterialArray::getLockedMaterialBase(unsigned char **materialBase, int& numMaterials, PHY_ScalarType& materialType, int& materialStride,
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unsigned char ** triangleMaterialBase, int& numTriangles, int& triangleMaterialStride, PHY_ScalarType& triangleType, int subpart)
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{
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btAssert(subpart< getNumSubParts() );
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btMaterialProperties& mats = m_materials[subpart];
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numMaterials = mats.m_numMaterials;
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(*materialBase) = (unsigned char *) mats.m_materialBase;
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#ifdef BT_USE_DOUBLE_PRECISION
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materialType = PHY_DOUBLE;
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#else
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materialType = PHY_FLOAT;
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#endif
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materialStride = mats.m_materialStride;
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numTriangles = mats.m_numTriangles;
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(*triangleMaterialBase) = (unsigned char *)mats.m_triangleMaterialsBase;
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triangleMaterialStride = mats.m_triangleMaterialStride;
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triangleType = mats.m_triangleType;
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}
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void btTriangleIndexVertexMaterialArray::getLockedReadOnlyMaterialBase(const unsigned char **materialBase, int& numMaterials, PHY_ScalarType& materialType, int& materialStride,
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const unsigned char ** triangleMaterialBase, int& numTriangles, int& triangleMaterialStride, PHY_ScalarType& triangleType, int subpart)
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{
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btMaterialProperties& mats = m_materials[subpart];
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numMaterials = mats.m_numMaterials;
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(*materialBase) = (const unsigned char *) mats.m_materialBase;
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#ifdef BT_USE_DOUBLE_PRECISION
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materialType = PHY_DOUBLE;
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#else
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materialType = PHY_FLOAT;
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#endif
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materialStride = mats.m_materialStride;
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numTriangles = mats.m_numTriangles;
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(*triangleMaterialBase) = (const unsigned char *)mats.m_triangleMaterialsBase;
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triangleMaterialStride = mats.m_triangleMaterialStride;
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triangleType = mats.m_triangleType;
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}
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@@ -0,0 +1,84 @@
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/*
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Bullet Continuous Collision Detection and Physics Library
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Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
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|
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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.
|
||||
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.
|
||||
*/
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///This file was created by Alex Silverman
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#ifndef BT_MULTIMATERIAL_TRIANGLE_INDEX_VERTEX_ARRAY_H
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#define BT_MULTIMATERIAL_TRIANGLE_INDEX_VERTEX_ARRAY_H
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#include "btTriangleIndexVertexArray.h"
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ATTRIBUTE_ALIGNED16( struct) btMaterialProperties
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{
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///m_materialBase ==========> 2 btScalar values make up one material, friction then restitution
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int m_numMaterials;
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const unsigned char * m_materialBase;
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int m_materialStride;
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PHY_ScalarType m_materialType;
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///m_numTriangles <=========== This exists in the btIndexedMesh object for the same subpart, but since we're
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/// padding the structure, it can be reproduced at no real cost
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///m_triangleMaterials =====> 1 integer value makes up one entry
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/// eg: m_triangleMaterials[1] = 5; // This will set triangle 2 to use material 5
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int m_numTriangles;
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const unsigned char * m_triangleMaterialsBase;
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int m_triangleMaterialStride;
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///m_triangleType <========== Automatically set in addMaterialProperties
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PHY_ScalarType m_triangleType;
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};
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typedef btAlignedObjectArray<btMaterialProperties> MaterialArray;
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///TriangleIndexVertexMaterialArray is built on TriangleIndexVertexArray
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///The addition of a material array allows for the utilization of the partID and
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///triangleIndex that are returned in the ContactAddedCallback. As with
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///TriangleIndexVertexArray, no duplicate is made of the material data, so it
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///is the users responsibility to maintain the array during the lifetime of the
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///TriangleIndexVertexMaterialArray.
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ATTRIBUTE_ALIGNED16(class) btTriangleIndexVertexMaterialArray : public btTriangleIndexVertexArray
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{
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protected:
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MaterialArray m_materials;
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public:
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BT_DECLARE_ALIGNED_ALLOCATOR();
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btTriangleIndexVertexMaterialArray()
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{
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}
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btTriangleIndexVertexMaterialArray(int numTriangles,int* triangleIndexBase,int triangleIndexStride,
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int numVertices,btScalar* vertexBase,int vertexStride,
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int numMaterials, unsigned char* materialBase, int materialStride,
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int* triangleMaterialsBase, int materialIndexStride);
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virtual ~btTriangleIndexVertexMaterialArray() {}
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void addMaterialProperties(const btMaterialProperties& mat, PHY_ScalarType triangleType = PHY_INTEGER)
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{
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m_materials.push_back(mat);
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m_materials[m_materials.size()-1].m_triangleType = triangleType;
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}
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virtual void getLockedMaterialBase(unsigned char **materialBase, int& numMaterials, PHY_ScalarType& materialType, int& materialStride,
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unsigned char ** triangleMaterialBase, int& numTriangles, int& triangleMaterialStride, PHY_ScalarType& triangleType ,int subpart = 0);
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virtual void getLockedReadOnlyMaterialBase(const unsigned char **materialBase, int& numMaterials, PHY_ScalarType& materialType, int& materialStride,
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const unsigned char ** triangleMaterialBase, int& numTriangles, int& triangleMaterialStride, PHY_ScalarType& triangleType, int subpart = 0);
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}
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;
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#endif //BT_MULTIMATERIAL_TRIANGLE_INDEX_VERTEX_ARRAY_H
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@@ -27,7 +27,6 @@ public:
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btVector3 m_vertices1[3];
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||||
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||||
virtual int getNumVertices() const
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||||
{
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return 3;
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@@ -84,14 +83,13 @@ public:
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|
||||
|
||||
|
||||
btTriangleShape(const btVector3& p0,const btVector3& p1,const btVector3& p2)
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{
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m_vertices1[0] = p0;
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m_vertices1[1] = p1;
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m_vertices1[2] = p2;
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}
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btTriangleShape(const btVector3& p0,const btVector3& p1,const btVector3& p2)
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{
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m_vertices1[0] = p0;
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m_vertices1[1] = p1;
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m_vertices1[2] = p2;
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}
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||||
|
||||
|
||||
|
||||
virtual void getPlane(btVector3& planeNormal,btPoint3& planeSupport,int i) const
|
||||
{
|
||||
|
||||
Reference in New Issue
Block a user