add the 'extras' and Bullet 2 tests, to make it easier to create a new intermediate release
This commit is contained in:
erwin coumans
375
Extras/ConvexDecomposition/ConvexDecomposition.cpp
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375
Extras/ConvexDecomposition/ConvexDecomposition.cpp
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#include "float_math.h"
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#include <stdio.h>
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#include <stdlib.h>
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#include <string.h>
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#include <assert.h>
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/*----------------------------------------------------------------------
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Copyright (c) 2004 Open Dynamics Framework Group
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www.physicstools.org
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All rights reserved.
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Redistribution and use in source and binary forms, with or without modification, are permitted provided
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that the following conditions are met:
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Redistributions of source code must retain the above copyright notice, this list of conditions
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and the following disclaimer.
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Redistributions in binary form must reproduce the above copyright notice,
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this list of conditions and the following disclaimer in the documentation
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and/or other materials provided with the distribution.
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Neither the name of the Open Dynamics Framework Group nor the names of its contributors may
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be used to endorse or promote products derived from this software without specific prior written permission.
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THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS 'AS IS' AND ANY EXPRESS OR IMPLIED WARRANTIES,
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INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
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DISCLAIMED. IN NO EVENT SHALL THE INTEL OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL,
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EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
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LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER
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IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF
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THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
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-----------------------------------------------------------------------*/
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// http://codesuppository.blogspot.com
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//
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// mailto: jratcliff@infiniplex.net
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//
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// http://www.amillionpixels.us
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//
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#include "ConvexDecomposition.h"
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#include "cd_vector.h"
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#include "cd_hull.h"
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#include "bestfit.h"
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#include "planetri.h"
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#include "vlookup.h"
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#include "splitplane.h"
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#include "meshvolume.h"
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#include "concavity.h"
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#include "bestfitobb.h"
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#include "float_math.h"
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#include "fitsphere.h"
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#define SHOW_MESH 0
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#define MAKE_MESH 1
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using namespace ConvexDecomposition;
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namespace ConvexDecomposition
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{
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class FaceTri
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{
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public:
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FaceTri(void) { };
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FaceTri(const float *vertices,unsigned int i1,unsigned int i2,unsigned int i3)
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{
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mP1.Set( &vertices[i1*3] );
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mP2.Set( &vertices[i2*3] );
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mP3.Set( &vertices[i3*3] );
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}
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Vector3d mP1;
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Vector3d mP2;
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Vector3d mP3;
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Vector3d mNormal;
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};
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void addTri(VertexLookup vl,UintVector &list,const Vector3d &p1,const Vector3d &p2,const Vector3d &p3)
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{
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unsigned int i1 = Vl_getIndex(vl, p1.Ptr() );
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unsigned int i2 = Vl_getIndex(vl, p2.Ptr() );
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unsigned int i3 = Vl_getIndex(vl, p3.Ptr() );
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// do *not* process degenerate triangles!
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if ( i1 != i2 && i1 != i3 && i2 != i3 )
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{
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list.push_back(i1);
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list.push_back(i2);
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list.push_back(i3);
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}
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}
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void calcConvexDecomposition(unsigned int vcount,
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const float *vertices,
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unsigned int tcount,
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const unsigned int *indices,
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ConvexDecompInterface *callback,
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float masterVolume,
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unsigned int depth)
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{
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float plane[4];
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bool split = false;
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if ( depth < MAXDEPTH )
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{
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float volume;
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float c = computeConcavity( vcount, vertices, tcount, indices, callback, plane, volume );
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if ( depth == 0 )
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{
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masterVolume = volume;
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}
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float percent = (c*100.0f)/masterVolume;
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if ( percent > CONCAVE_PERCENT ) // if great than 5% of the total volume is concave, go ahead and keep splitting.
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{
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split = true;
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}
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}
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if ( depth >= MAXDEPTH || !split )
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{
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#if 1
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HullResult result;
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HullLibrary hl;
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HullDesc desc;
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desc.SetHullFlag(QF_TRIANGLES);
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desc.mVcount = vcount;
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desc.mVertices = vertices;
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desc.mVertexStride = sizeof(float)*3;
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HullError ret = hl.CreateConvexHull(desc,result);
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if ( ret == QE_OK )
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{
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ConvexResult r(result.mNumOutputVertices, result.mOutputVertices, result.mNumFaces, result.mIndices);
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callback->ConvexDecompResult(r);
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}
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#else
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static unsigned int colors[8] =
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{
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0xFF0000,
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0x00FF00,
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0x0000FF,
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0xFFFF00,
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0x00FFFF,
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0xFF00FF,
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0xFFFFFF,
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0xFF8040
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};
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static int count = 0;
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count++;
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if ( count == 8 ) count = 0;
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assert( count >= 0 && count < 8 );
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unsigned int color = colors[count];
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const unsigned int *source = indices;
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for (unsigned int i=0; i<tcount; i++)
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{
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unsigned int i1 = *source++;
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unsigned int i2 = *source++;
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unsigned int i3 = *source++;
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FaceTri t(vertices, i1, i2, i3 );
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callback->ConvexDebugTri( t.mP1.Ptr(), t.mP2.Ptr(), t.mP3.Ptr(), color );
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}
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#endif
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hl.ReleaseResult (result);
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return;
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}
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UintVector ifront;
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UintVector iback;
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VertexLookup vfront = Vl_createVertexLookup();
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VertexLookup vback = Vl_createVertexLookup();
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bool showmesh = false;
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#if SHOW_MESH
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showmesh = true;
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#endif
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if ( 0 )
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{
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showmesh = true;
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for (float x=-1; x<1; x+=0.10f)
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{
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for (float y=0; y<1; y+=0.10f)
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{
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for (float z=-1; z<1; z+=0.04f)
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{
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float d = x*plane[0] + y*plane[1] + z*plane[2] + plane[3];
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Vector3d p(x,y,z);
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if ( d >= 0 )
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callback->ConvexDebugPoint(p.Ptr(), 0.02f, 0x00FF00);
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else
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callback->ConvexDebugPoint(p.Ptr(), 0.02f, 0xFF0000);
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}
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}
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}
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}
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if ( 1 )
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{
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// ok..now we are going to 'split' all of the input triangles against this plane!
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const unsigned int *source = indices;
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for (unsigned int i=0; i<tcount; i++)
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{
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unsigned int i1 = *source++;
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unsigned int i2 = *source++;
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unsigned int i3 = *source++;
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FaceTri t(vertices, i1, i2, i3 );
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Vector3d front[4];
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Vector3d back[4];
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unsigned int fcount=0;
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unsigned int bcount=0;
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PlaneTriResult result;
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result = planeTriIntersection(plane,t.mP1.Ptr(),sizeof(Vector3d),0.00001f,front[0].Ptr(),fcount,back[0].Ptr(),bcount );
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if( fcount > 4 || bcount > 4 )
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{
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result = planeTriIntersection(plane,t.mP1.Ptr(),sizeof(Vector3d),0.00001f,front[0].Ptr(),fcount,back[0].Ptr(),bcount );
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}
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switch ( result )
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{
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case PTR_FRONT:
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assert( fcount == 3 );
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if ( showmesh )
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callback->ConvexDebugTri( front[0].Ptr(), front[1].Ptr(), front[2].Ptr(), 0x00FF00 );
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#if MAKE_MESH
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addTri( vfront, ifront, front[0], front[1], front[2] );
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#endif
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break;
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case PTR_BACK:
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assert( bcount == 3 );
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if ( showmesh )
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callback->ConvexDebugTri( back[0].Ptr(), back[1].Ptr(), back[2].Ptr(), 0xFFFF00 );
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#if MAKE_MESH
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addTri( vback, iback, back[0], back[1], back[2] );
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#endif
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break;
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case PTR_SPLIT:
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assert( fcount >= 3 && fcount <= 4);
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assert( bcount >= 3 && bcount <= 4);
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#if MAKE_MESH
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addTri( vfront, ifront, front[0], front[1], front[2] );
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addTri( vback, iback, back[0], back[1], back[2] );
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if ( fcount == 4 )
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{
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addTri( vfront, ifront, front[0], front[2], front[3] );
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}
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if ( bcount == 4 )
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{
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addTri( vback, iback, back[0], back[2], back[3] );
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}
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#endif
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if ( showmesh )
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{
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callback->ConvexDebugTri( front[0].Ptr(), front[1].Ptr(), front[2].Ptr(), 0x00D000 );
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callback->ConvexDebugTri( back[0].Ptr(), back[1].Ptr(), back[2].Ptr(), 0xD0D000 );
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if ( fcount == 4 )
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{
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callback->ConvexDebugTri( front[0].Ptr(), front[2].Ptr(), front[3].Ptr(), 0x00D000 );
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}
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if ( bcount == 4 )
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{
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callback->ConvexDebugTri( back[0].Ptr(), back[2].Ptr(), back[3].Ptr(), 0xD0D000 );
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}
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}
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break;
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}
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}
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// ok... here we recursively call
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if ( ifront.size() )
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{
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unsigned int vcount = Vl_getVcount(vfront);
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const float *vertices = Vl_getVertices(vfront);
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unsigned int tcount = ifront.size()/3;
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calcConvexDecomposition(vcount, vertices, tcount, &ifront[0], callback, masterVolume, depth+1);
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}
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ifront.clear();
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Vl_releaseVertexLookup(vfront);
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if ( iback.size() )
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{
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unsigned int vcount = Vl_getVcount(vback);
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const float *vertices = Vl_getVertices(vback);
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unsigned int tcount = iback.size()/3;
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calcConvexDecomposition(vcount, vertices, tcount, &iback[0], callback, masterVolume, depth+1);
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}
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iback.clear();
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Vl_releaseVertexLookup(vback);
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}
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}
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}
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