added new convex trianglemesh shape

Bullet/BroadphaseCollision/BroadphaseProxy.h

@@ -27,6 +27,7 @@ enum BroadphaseNativeTypes
 	BOX_SHAPE_PROXYTYPE,
 	TRIANGLE_SHAPE_PROXYTYPE,
 	TETRAHEDRAL_SHAPE_PROXYTYPE,
+	CONVEX_TRIANGLEMESH_SHAPE_PROXYTYPE,
 	CONVEX_HULL_SHAPE_PROXYTYPE,
 //implicit convex shapes
 IMPLICIT_CONVEX_SHAPES_START_HERE,

Bullet/CollisionShapes/ConvexTriangleMeshShape.cpp

@@ -0,0 +1,197 @@
+/*
+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.
+*/
+#include "ConvexTriangleMeshShape.h"
+#include "CollisionShapes/CollisionMargin.h"
+
+#include "SimdQuaternion.h"
+#include "CollisionShapes/StridingMeshInterface.h"
+
+
+ConvexTriangleMeshShape ::ConvexTriangleMeshShape (StridingMeshInterface* meshInterface)
+:m_stridingMesh(meshInterface)
+{
+}
+
+
+
+
+///It's not nice to have all this virtual function overhead, so perhaps we can also gather the points once
+///but then we are duplicating
+class LocalSupportVertexCallback: public InternalTriangleIndexCallback
+{
+
+	SimdVector3 m_supportVertexLocal;
+public:
+
+	SimdScalar m_maxDot;
+	SimdVector3 m_supportVecLocal;
+
+	LocalSupportVertexCallback(const SimdVector3& supportVecLocal)
+		: m_supportVertexLocal(0.f,0.f,0.f),
+		m_supportVecLocal(supportVecLocal),
+		m_maxDot(-1e30f)
+	{
+	}
+
+	virtual void InternalProcessTriangleIndex(SimdVector3* triangle,int partId,int  triangleIndex)
+	{
+		for (int i=0;i<3;i++)
+		{
+			SimdScalar dot = m_supportVecLocal.dot(triangle[i]);
+			if (dot > m_maxDot)
+			{
+				m_maxDot = dot;
+				m_supportVertexLocal = triangle[i];
+			}
+		}
+	}
+	
+	SimdVector3	GetSupportVertexLocal()
+	{
+		return m_supportVertexLocal;
+	}
+
+};
+
+
+
+
+
+SimdVector3	ConvexTriangleMeshShape::LocalGetSupportingVertexWithoutMargin(const SimdVector3& vec0)const
+{
+	SimdVector3 supVec(0.f,0.f,0.f);
+	SimdScalar newDot,maxDot = -1e30f;
+
+	SimdVector3 vec = vec0;
+	SimdScalar lenSqr = vec.length2();
+	if (lenSqr < 0.0001f)
+	{
+		vec.setValue(1,0,0);
+	} else
+	{
+		float rlen = 1.f / SimdSqrt(lenSqr );
+		vec *= rlen;
+	}
+
+	LocalSupportVertexCallback	supportCallback(vec);
+	SimdVector3 aabbMax(1e30f,1e30f,1e30f);
+	m_stridingMesh->InternalProcessAllTriangles(&supportCallback,-aabbMax,aabbMax);
+	supVec = supportCallback.GetSupportVertexLocal();
+
+	return supVec;
+}
+
+void	ConvexTriangleMeshShape::BatchedUnitVectorGetSupportingVertexWithoutMargin(const SimdVector3* vectors,SimdVector3* supportVerticesOut,int numVectors) const
+{
+	SimdScalar newDot;
+	//use 'w' component of supportVerticesOut?
+	{
+		for (int i=0;i<numVectors;i++)
+		{
+			supportVerticesOut[i][3] = -1e30f;
+		}
+	}
+	
+	//todo: could do the batch inside the callback!
+
+
+	for (int j=0;j<numVectors;j++)
+	{
+		const SimdVector3& vec = vectors[j];
+		LocalSupportVertexCallback	supportCallback(vec);
+		SimdVector3 aabbMax(1e30f,1e30f,1e30f);
+		m_stridingMesh->InternalProcessAllTriangles(&supportCallback,-aabbMax,aabbMax);
+		supportVerticesOut[j] = supportCallback.GetSupportVertexLocal();
+	}
+	
+}
+	
+
+
+SimdVector3	ConvexTriangleMeshShape::LocalGetSupportingVertex(const SimdVector3& vec)const
+{
+	SimdVector3 supVertex = LocalGetSupportingVertexWithoutMargin(vec);
+
+	if ( GetMargin()!=0.f )
+	{
+		SimdVector3 vecnorm = vec;
+		if (vecnorm .length2() < (SIMD_EPSILON*SIMD_EPSILON))
+		{
+			vecnorm.setValue(-1.f,-1.f,-1.f);
+		} 
+		vecnorm.normalize();
+		supVertex+= GetMargin() * vecnorm;
+	}
+	return supVertex;
+}
+
+
+
+
+
+
+
+
+
+//currently just for debugging (drawing), perhaps future support for algebraic continuous collision detection
+//Please note that you can debug-draw ConvexTriangleMeshShape with the Raytracer Demo
+int	ConvexTriangleMeshShape::GetNumVertices() const
+{
+	//cache this?
+	assert(0);
+	return 0;
+	
+}
+
+int ConvexTriangleMeshShape::GetNumEdges() const
+{
+	assert(0);	
+	return 0;
+}
+
+void ConvexTriangleMeshShape::GetEdge(int i,SimdPoint3& pa,SimdPoint3& pb) const
+{
+	assert(0);	
+}
+
+void ConvexTriangleMeshShape::GetVertex(int i,SimdPoint3& vtx) const
+{
+	assert(0);
+}
+
+int	ConvexTriangleMeshShape::GetNumPlanes() const
+{
+	return 0;
+}
+
+void ConvexTriangleMeshShape::GetPlane(SimdVector3& planeNormal,SimdPoint3& planeSupport,int i ) const
+{
+	assert(0);
+}
+
+//not yet
+bool ConvexTriangleMeshShape::IsInside(const SimdPoint3& pt,SimdScalar tolerance) const
+{
+	assert(0);
+	return false;
+}
+
+
+
+void	ConvexTriangleMeshShape::setLocalScaling(const SimdVector3& scaling)
+{
+	m_stridingMesh->setScaling(scaling);
+}
+

Bullet/CollisionShapes/ConvexTriangleMeshShape.h

@@ -0,0 +1,49 @@
+#ifndef CONVEX_TRIANGLEMESH_SHAPE_H
+#define CONVEX_TRIANGLEMESH_SHAPE_H
+
+
+#include "PolyhedralConvexShape.h"
+#include "BroadphaseCollision/BroadphaseProxy.h" // for the types
+
+#include <vector>
+
+/// ConvexTriangleMeshShape is a convex hull of a triangle mesh. If you just have a point cloud, you can use ConvexHullShape instead.
+/// It uses the StridingMeshInterface instead of a point cloud. This can avoid the duplication of the triangle mesh data.
+class ConvexTriangleMeshShape : public PolyhedralConvexShape
+{
+
+	class StridingMeshInterface*	m_stridingMesh;
+
+public:
+	ConvexTriangleMeshShape(StridingMeshInterface* meshInterface);
+
+	class StridingMeshInterface*	GetStridingMesh()
+	{
+		return m_stridingMesh;
+	}
+	
+	virtual SimdVector3	LocalGetSupportingVertex(const SimdVector3& vec)const;
+	virtual SimdVector3	LocalGetSupportingVertexWithoutMargin(const SimdVector3& vec)const;
+	virtual void	BatchedUnitVectorGetSupportingVertexWithoutMargin(const SimdVector3* vectors,SimdVector3* supportVerticesOut,int numVectors) const;
+	
+	virtual int	GetShapeType()const { return CONVEX_TRIANGLEMESH_SHAPE_PROXYTYPE; }
+
+	//debugging
+	virtual char*	GetName()const {return "ConvexTrimesh";}
+	
+	virtual int	GetNumVertices() const;
+	virtual int GetNumEdges() const;
+	virtual void GetEdge(int i,SimdPoint3& pa,SimdPoint3& pb) const;
+	virtual void GetVertex(int i,SimdPoint3& vtx) const;
+	virtual int	GetNumPlanes() const;
+	virtual void GetPlane(SimdVector3& planeNormal,SimdPoint3& planeSupport,int i ) const;
+	virtual	bool IsInside(const SimdPoint3& pt,SimdScalar tolerance) const;
+
+	
+	void	setLocalScaling(const SimdVector3& scaling);
+
+};
+
+
+
+#endif //CONVEX_TRIANGLEMESH_SHAPE_H