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add the 'extras' and Bullet 2 tests, to make it easier to create a new intermediate release

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This commit is contained in:
erwin coumans
2014-05-07 08:54:08 -07:00
parent e0784b2da6
commit 2cf7806c87
172 changed files with 42937 additions and 0 deletions
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37
Extras/GIMPACTUtils/CMakeLists.txt Normal file
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INCLUDE_DIRECTORIES(
${BULLET_PHYSICS_SOURCE_DIR}/Extras/GIMPACT/include
${BULLET_PHYSICS_SOURCE_DIR}/src
${BULLET_PHYSICS_SOURCE_DIR}/Extras/GIMPACTUtils
${BULLET_PHYSICS_SOURCE_DIR}/Extras/ConvexDecomposition
)
ADD_LIBRARY(GIMPACTUtils
btGImpactConvexDecompositionShape.cpp btGImpactConvexDecompositionShape.h
)
SET_TARGET_PROPERTIES(GIMPACTUtils PROPERTIES VERSION ${BULLET_VERSION})
SET_TARGET_PROPERTIES(GIMPACTUtils PROPERTIES SOVERSION ${BULLET_VERSION})
IF (BUILD_SHARED_LIBS)
TARGET_LINK_LIBRARIES(GIMPACTUtils ConvexDecomposition BulletCollision)
ENDIF (BUILD_SHARED_LIBS)
IF (INSTALL_EXTRA_LIBS)
IF (NOT INTERNAL_CREATE_DISTRIBUTABLE_MSVC_PROJECTFILES)
#FILES_MATCHING requires CMake 2.6
IF (${CMAKE_MAJOR_VERSION}.${CMAKE_MINOR_VERSION} GREATER 2.5)
IF (APPLE AND BUILD_SHARED_LIBS AND FRAMEWORK)
INSTALL(TARGETS GIMPACTUtils DESTINATION .)
ELSE (APPLE AND BUILD_SHARED_LIBS AND FRAMEWORK)
INSTALL(TARGETS GIMPACTUtils DESTINATION lib${LIB_SUFFIX})
INSTALL(DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR}
DESTINATION ${INCLUDE_INSTALL_DIR} FILES_MATCHING PATTERN "*.h" PATTERN
".svn" EXCLUDE PATTERN "CMakeFiles" EXCLUDE)
ENDIF (APPLE AND BUILD_SHARED_LIBS AND FRAMEWORK)
ENDIF (${CMAKE_MAJOR_VERSION}.${CMAKE_MINOR_VERSION} GREATER 2.5)
IF (APPLE AND BUILD_SHARED_LIBS AND FRAMEWORK)
SET_TARGET_PROPERTIES(GIMPACTUtils PROPERTIES FRAMEWORK true)
SET_TARGET_PROPERTIES(GIMPACTUtils PROPERTIES PUBLIC_HEADER "btGImpactConvexDecompositionShape.h")
ENDIF (APPLE AND BUILD_SHARED_LIBS AND FRAMEWORK)
ENDIF (NOT INTERNAL_CREATE_DISTRIBUTABLE_MSVC_PROJECTFILES)
ENDIF (INSTALL_EXTRA_LIBS)

240
Extras/GIMPACTUtils/btGImpactConvexDecompositionShape.cpp Normal file
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/*
This source file is part of GIMPACT Library.
For the latest info, see http://gimpact.sourceforge.net/
Copyright (c) 2007 Francisco Leon Najera. C.C. 80087371.
email: projectileman@yahoo.com
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 "btGImpactConvexDecompositionShape.h"
#include "BulletCollision/CollisionShapes/btConvexHullShape.h"
#include "ConvexBuilder.h"
class GIM_ConvexDecomposition : public ConvexDecomposition::ConvexDecompInterface
{
protected:
btGImpactConvexDecompositionShape * m_compoundShape;
btAlignedObjectArray<btCollisionShape*> m_convexShapes;
public:
int mBaseCount;
int mHullCount;
bool m_transformSubShapes;
GIM_ConvexDecomposition(btGImpactConvexDecompositionShape * compoundShape,bool transformSubShapes)
{
mBaseCount = 0;
mHullCount = 0;
m_compoundShape = compoundShape;
m_transformSubShapes = transformSubShapes;
}
virtual ~GIM_ConvexDecomposition()
{
int i;
for (i=0;i<m_convexShapes.size();i++)
{
btCollisionShape* shape = m_convexShapes[i];
delete shape;
}
}
virtual void ConvexDecompResult(ConvexDecomposition::ConvexResult &result)
{
//calc centroid, to shift vertices around center of mass
btVector3 centroid(0,0,0);
btAlignedObjectArray<btVector3> vertices;
if(m_transformSubShapes)
{
//const unsigned int *src = result.mHullIndices;
for (unsigned int i=0; i<result.mHullVcount; i++)
{
btVector3 vertex(result.mHullVertices[i*3],result.mHullVertices[i*3+1],result.mHullVertices[i*3+2]);
centroid += vertex;
}
centroid *= 1.f/(float(result.mHullVcount) );
}
// collect vertices
for (unsigned int i=0; i<result.mHullVcount; i++)
{
btVector3 vertex(result.mHullVertices[i*3],result.mHullVertices[i*3+1],result.mHullVertices[i*3+2]);
if(m_transformSubShapes)
{
vertex -= centroid ;
}
vertices.push_back(vertex);
}
// build convex shape
btCollisionShape* convexShape = new btConvexHullShape(
&(vertices[0].getX()),vertices.size(),sizeof(btVector3));
m_convexShapes.push_back(convexShape);
convexShape->setMargin(m_compoundShape->getMargin());
if(m_transformSubShapes)
{
btTransform trans;
trans.setIdentity();
trans.setOrigin(centroid);
// add convex shape
m_compoundShape->addChildShape(trans,convexShape);
}
else
{
btTransform trans;
trans.setIdentity();
//trans.setOrigin(centroid);
// add convex shape
m_compoundShape->addChildShape(trans,convexShape);
//m_compoundShape->addChildShape(convexShape);
}
}
void processDecomposition(int part)
{
btGImpactMeshShapePart::TrimeshPrimitiveManager * trimeshInterface =
m_compoundShape->getTrimeshInterface(part);
trimeshInterface->lock();
//collect vertices
btAlignedObjectArray<float> vertices;
vertices.reserve(trimeshInterface->get_vertex_count()*3);
for(int vi = 0;vi<trimeshInterface->get_vertex_count();vi++)
{
btVector3 vec;
trimeshInterface->get_vertex(vi,vec);
vertices.push_back(vec[0]);
vertices.push_back(vec[1]);
vertices.push_back(vec[2]);
}
//collect indices
btAlignedObjectArray<unsigned int> indices;
indices.reserve(trimeshInterface->get_primitive_count()*3);
for(int i = 0;i<trimeshInterface->get_primitive_count();i++)
{
unsigned int i0, i1,i2;
trimeshInterface->get_indices(i,i0,i1,i2);
indices.push_back(i0);
indices.push_back(i1);
indices.push_back(i2);
}
trimeshInterface->unlock();
unsigned int depth = 5;
float cpercent = 5;
float ppercent = 15;
unsigned int maxv = 16;
float skinWidth = 0.0f;
ConvexDecomposition::DecompDesc desc;
desc.mVcount = trimeshInterface->get_vertex_count();
desc.mVertices = &vertices[0];
desc.mTcount = trimeshInterface->get_primitive_count();
desc.mIndices = &indices[0];
desc.mDepth = depth;
desc.mCpercent = cpercent;
desc.mPpercent = ppercent;
desc.mMaxVertices = maxv;
desc.mSkinWidth = skinWidth;
desc.mCallback = this;
//convexDecomposition.performConvexDecomposition(desc);
ConvexBuilder cb(desc.mCallback);
cb.process(desc);
}
};
void btGImpactConvexDecompositionShape::buildConvexDecomposition(bool transformSubShapes)
{
m_decomposition = new GIM_ConvexDecomposition(this,transformSubShapes);
int part_count = m_trimeshInterfaces.size();
for (int i = 0;i<part_count ;i++ )
{
m_decomposition->processDecomposition(i);
}
postUpdate();
}
btGImpactConvexDecompositionShape::~btGImpactConvexDecompositionShape()
{
delete m_decomposition;
}
void btGImpactConvexDecompositionShape::processAllTriangles(btTriangleCallback* callback,const btVector3& aabbMin,const btVector3& aabbMax) const
{
int part_count = m_trimeshInterfaces.size();
for (int part = 0;part<part_count ;part++ )
{
void * ptr = (void * )&m_trimeshInterfaces[part];
btGImpactMeshShapePart::TrimeshPrimitiveManager * trimeshInterface =
static_cast<btGImpactMeshShapePart::TrimeshPrimitiveManager *>(ptr);
trimeshInterface->lock();
btPrimitiveTriangle triangle;
int i = trimeshInterface->get_primitive_count();
while(i--)
{
trimeshInterface->get_primitive_triangle(i,triangle);
callback->processTriangle(triangle.m_vertices,part,i);
}
trimeshInterface->unlock();
}
}

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Extras/GIMPACTUtils/btGImpactConvexDecompositionShape.h Normal file
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/*! \file btGImpactConvexDecompositionShape.h
\author Francisco Le<4C>n N<>jera
*/
/*
This source file is part of GIMPACT Library.
For the latest info, see http://gimpact.sourceforge.net/
Copyright (c) 2007 Francisco Leon Najera. C.C. 80087371.
email: projectileman@yahoo.com
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.
*/
#ifndef GIMPACT_CONVEX_DECOMPOSITION_SHAPE_H
#define GIMPACT_CONVEX_DECOMPOSITION_SHAPE_H
#include "BulletCollision/Gimpact/btGImpactShape.h" // box tree class
//! This class creates a decomposition from a trimesh.
/*!
*/
class btGImpactConvexDecompositionShape : public btGImpactCompoundShape
{
protected:
btAlignedObjectArray<btGImpactMeshShapePart::TrimeshPrimitiveManager> m_trimeshInterfaces;
class GIM_ConvexDecomposition* m_decomposition;
void buildConvexDecomposition(bool transformSubShapes);
public:
btGImpactConvexDecompositionShape(
btStridingMeshInterface * meshInterface,
const btVector3 & mesh_scale,
btScalar margin = btScalar(0.01),bool children_has_transform = true)
:btGImpactCompoundShape(children_has_transform)
{
m_collisionMargin = margin;
btGImpactMeshShapePart::TrimeshPrimitiveManager triInterface;
triInterface.m_meshInterface = meshInterface;
triInterface.m_scale = mesh_scale;
triInterface.m_margin = btScalar(1.0);
//add parts
int part_count = meshInterface->getNumSubParts();
for (int i=0;i< part_count;i++ )
{
triInterface.m_part = i;
m_trimeshInterfaces.push_back(triInterface);
}
m_decomposition = 0;
buildConvexDecomposition(children_has_transform);
}
virtual ~btGImpactConvexDecompositionShape();
SIMD_FORCE_INLINE btGImpactMeshShapePart::TrimeshPrimitiveManager * getTrimeshInterface(int part)
{
return &m_trimeshInterfaces[part];
}
virtual void processAllTriangles(btTriangleCallback* callback,const btVector3& aabbMin,const btVector3& aabbMax) const;
};
#endif //GIMPACT_MESH_SHAPE_H