Bart/bullet3
1
0
Fork 0
Code Issues Pull Requests Releases Wiki Activity

Further refactoring of btConvexHull.

Browse Source
This commit is contained in:
johnmccutchan
2008-01-24 22:22:36 +00:00
parent a267152945
commit 2addd46f4b
3 changed files with 240 additions and 663 deletions
Download Patch File Download Diff File Expand all files Collapse all files

20
src/BulletCollision/CollisionShapes/btShapeHull.cpp
View File

@@ -111,19 +111,10 @@ btShapeHull::buildHull (btScalar margin)
hd.mVcount = numSampleDirections;
#ifdef BT_USE_DOUBLE_PRECISION
float* tmpVerts = new float[numSampleDirections*3];
for (i=0;i<numSampleDirections;i++)
{
tmpVerts[i*3] = supportPoints[i].getX();
tmpVerts[i*3+1] = supportPoints[i].getY();
tmpVerts[i*3+2] = supportPoints[i].getZ();
}
hd.mVertices = tmpVerts;
hd.mVertexStride = 3*sizeof(float);//sizeof (btVector3);
hd.mVertices = &supportPoints[0];
hd.mVertexStride = sizeof(btVector3);
#else
hd.mVertices = &supportPoints[0].getX();
hd.mVertices = &supportPoints[0];
hd.mVertexStride = sizeof (btVector3);
#endif
@@ -135,12 +126,9 @@ btShapeHull::buildHull (btScalar margin)
}
m_vertices.resize (hr.mNumOutputVertices);
float* V = hr.mOutputVertices;
for (unsigned int i = 0; i < hr.mNumOutputVertices; i++)
{
btVector3 hp (V[0], V[1], V[2]);
V+=3;
m_vertices[i] = hp;
m_vertices[i] = hr.mOutputVertices[i];
}
m_numIndices = hr.mNumIndices;
m_indices = new unsigned int [m_numIndices];

830
src/LinearMath/btConvexHull.cpp
View File

File diff suppressed because it is too large Load Diff

53
src/LinearMath/btConvexHull.h
View File

@@ -19,6 +19,8 @@ subject to the following restrictions:
#ifndef CD_HULL_H
#define CD_HULL_H
#include "LinearMath/btVector3.h"
class HullResult
{
public:
@@ -33,7 +35,7 @@ public:
}
bool mPolygons; // true if indices represents polygons, false indices are triangles
unsigned int mNumOutputVertices; // number of vertices in the output hull
float *mOutputVertices; // array of vertices, 3 floats each x,y,z
btVector3 *mOutputVertices; // array of vertices
unsigned int mNumFaces; // the number of faces produced
unsigned int mNumIndices; // the total number of indices
unsigned int *mIndices; // pointer to indices.
@@ -46,8 +48,7 @@ enum HullFlag
{
QF_TRIANGLES = (1<<0), // report results as triangles, not polygons.
QF_REVERSE_ORDER = (1<<1), // reverse order of the triangle indices.
QF_SKIN_WIDTH = (1<<2), // extrude hull based on this skin width
QF_DEFAULT = 0
QF_DEFAULT = QF_TRIANGLES
};
@@ -59,25 +60,23 @@ public:
mFlags = QF_DEFAULT;
mVcount = 0;
mVertices = 0;
mVertexStride = sizeof(float)*3;
mVertexStride = sizeof(btVector3);
mNormalEpsilon = 0.001f;
mMaxVertices = 4096; // maximum number of points to be considered for a convex hull.
mMaxFaces = 4096;
mSkinWidth = 0.01f; // default is one centimeter
mMaxVertices = 4096; // maximum number of points to be considered for a convex hull.
mMaxFaces = 4096;
};
HullDesc(HullFlag flag,
unsigned int vcount,
const float *vertices,
unsigned int stride)
unsigned int vcount,
const btVector3 *vertices,
unsigned int stride = sizeof(btVector3))
{
mFlags = flag;
mVcount = vcount;
mVertices = vertices;
mVertexStride = stride;
mNormalEpsilon = 0.001f;
mNormalEpsilon = btScalar(0.001);
mMaxVertices = 4096;
mSkinWidth = 0.01f; // default is one centimeter
}
bool HasHullFlag(HullFlag flag) const
@@ -98,11 +97,10 @@ public:
unsigned int mFlags; // flags to use when generating the convex hull.
unsigned int mVcount; // number of vertices in the input point cloud
const float *mVertices; // the array of vertices.
const btVector3 *mVertices; // the array of vertices.
unsigned int mVertexStride; // the stride of each vertex, in bytes.
float mNormalEpsilon; // the epsilon for removing duplicates. This is a normalized value, if normalized bit is on.
float mSkinWidth;
unsigned int mMaxVertices; // maximum number of vertices to be considered for the hull!
btScalar mNormalEpsilon; // the epsilon for removing duplicates. This is a normalized value, if normalized bit is on.
unsigned int mMaxVertices; // maximum number of vertices to be considered for the hull!
unsigned int mMaxFaces;
};
@@ -116,26 +114,23 @@ class HullLibrary
{
public:
HullError CreateConvexHull(const HullDesc &desc, // describes the input request
HullResult &result); // contains the resulst
HullError CreateConvexHull(const HullDesc& desc, // describes the input request
HullResult& result); // contains the resulst
HullError ReleaseResult(HullResult &result); // release memory allocated for this result, we are done with it.
private:
//BringOutYourDead (John Ratcliff): When you create a convex hull you hand it a large input set of vertices forming a 'point cloud'.
//After the hull is generated it give you back a set of polygon faces which index the *original* point cloud.
//The thing is, often times, there are many 'dead vertices' in the point cloud that are on longer referenced by the hull.
//The routine 'BringOutYourDead' find only the referenced vertices, copies them to an new buffer, and re-indexes the hull so that it is a minimal representation.
void BringOutYourDead(const float *verts,unsigned int vcount, float *overts,unsigned int &ocount,unsigned int *indices,unsigned indexcount);
void BringOutYourDead(const btVector3* verts,unsigned int vcount, btVector3* overts,unsigned int &ocount,unsigned int* indices,unsigned indexcount);
bool CleanupVertices(unsigned int svcount,
const float *svertices,
unsigned int stride,
unsigned int &vcount, // output number of vertices
float *vertices, // location to store the results.
float normalepsilon,
float *scale);
bool CleanupVertices(unsigned int svcount,
const btVector3* svertices,
unsigned int stride,
unsigned int &vcount, // output number of vertices
btVector3* vertices, // location to store the results.
btScalar normalepsilon,
btVector3& scale);
};