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added GIMPACT update from Francisco. Thanks!

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This commit is contained in:
ejcoumans
2006-11-17 02:20:37 +00:00
parent b07bb88a2d
commit 509ed8f634
4 changed files with 431 additions and 248 deletions
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230
Extras/GIMPACTBullet/btGIMPACTMeshShape.cpp
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@@ -24,9 +24,9 @@ int g_gimpact_references = 0;
void increase_gimpact_reference()
{
g_gimpact_references++;
if(g_gimpact_references >1 ) return;
gimpact_init();
}
@@ -34,18 +34,18 @@ void increase_gimpact_reference()
void decrease_gimpact_reference()
{
if(g_gimpact_references <=0 ) return;
g_gimpact_references--;
if(g_gimpact_references >0 ) return;
g_gimpact_references--;
if(g_gimpact_references >0 ) return;
gimpact_terminate();
}
/////////////////////////// btGIMPACTMeshData class/////////////////////////////////////////////////////////////
void btGIMPACTMeshData::clearMeshParts()
{
{
for(size_t i = 0;i<m_meshes.size();i++)
{
gim_trimesh_data_dec_ref(m_meshes[i]);
gim_trimesh_data_dec_ref(m_meshes[i]);
}
m_meshes.clear();
}
@@ -95,7 +95,7 @@ void btGIMPACTMeshData::addMeshPart(btStridingMeshInterface* meshInterface, int
//Create shared buffer for indices
gim_create_shared_buffer_from_data(
gim_create_shared_buffer_from_data(
vertexbase, numverts*vertexStride,
&buffer_vertex_array.m_buffer_id);
@@ -170,7 +170,7 @@ void btGIMPACTMeshShape::clearMeshParts()
}
void btGIMPACTMeshShape::processMeshParts(btGIMPACTMeshData * meshdata)
{
{
clearMeshParts();
this->m_meshdata = meshdata;
@@ -187,19 +187,21 @@ void btGIMPACTMeshShape::processMeshParts(btGIMPACTMeshData * meshdata)
}
btGIMPACTMeshShape::btGIMPACTMeshShape(btGIMPACTMeshData * meshdata)
{
{
m_scale.setValue(1.0f,1.0f,1.0f);
processMeshParts(meshdata);
}
btGIMPACTMeshShape::~btGIMPACTMeshShape()
{
clearMeshParts();
{
clearMeshParts();
}
void btGIMPACTMeshShape::prepareMeshes(const btTransform & trans) const
{
{
mat4f gim_trans;
IDENTIFY_MATRIX_4X4(gim_trans);
IDENTIFY_MATRIX_4X4(gim_trans);
COPY_MATRIX_3X3(gim_trans,trans.getBasis());
btVector3 scaling = getLocalScaling();
@@ -243,7 +245,7 @@ void btGIMPACTMeshShape::getAabb(const btTransform& t,btVector3& aabbMin,btVecto
aabbMax[0] = global_box.maxX;
aabbMax[1] = global_box.maxY;
aabbMax[2] = global_box.maxZ;
}
void btGIMPACTMeshShape::setLocalScaling(const btVector3& scaling)
@@ -251,171 +253,11 @@ void btGIMPACTMeshShape::setLocalScaling(const btVector3& scaling)
m_scale = scaling;
}
const btVector3& btGIMPACTMeshShape::getLocalScaling() const
const btVector3& btGIMPACTMeshShape::getLocalScaling() const
{
return m_scale ;
}
#define CUBE(x) ((x)*(x)*(x)) //!< Returns x cube
void bt_calc_inertia_gim_trimesh(GIM_TRIMESH * trimesh, vec3f T)
{
unsigned int triangles = gim_trimesh_get_triangle_count(trimesh);
float nx, ny, nz;
unsigned int i, A, B, C;
// face integrals
float Fa, Fb, Fc, Faa, Fbb, Fcc, Faaa, Fbbb, Fccc, Faab, Fbbc, Fcca;
// projection integrals
float P1, Pa, Pb, Paa, Pab, Pbb, Paaa, Paab, Pabb, Pbbb;
float T0 = 0;
gim_trimesh_locks_work_data(trimesh);
for( i = 0; i < triangles; i++ )
{
vec3f v0, v1, v2;
gim_trimesh_get_triangle_vertices(trimesh,i,v0,v1,v2);
vec3f n, a, b;
VEC_DIFF(a,v1,v0);
VEC_DIFF(b,v2,v0);
VEC_CROSS(n,b,a);
nx = fabs(n[0]);
ny = fabs(n[1]);
nz = fabs(n[2]);
if( nx > ny && nx > nz )
C = 0;
else
C = (ny > nz) ? 1 : 2;
A = (C + 1) % 3;
B = (A + 1) % 3;
// calculate face integrals
{
float w;
float k1, k2, k3, k4;
//compProjectionIntegrals(f);
{
float a0, a1, da;
float b0, b1, db;
float a0_2, a0_3, a0_4, b0_2, b0_3, b0_4;
float a1_2, a1_3, b1_2, b1_3;
float C1, Ca, Caa, Caaa, Cb, Cbb, Cbbb;
float Cab, Kab, Caab, Kaab, Cabb, Kabb;
P1 = Pa = Pb = Paa = Pab = Pbb = Paaa = Paab = Pabb = Pbbb = 0.0;
for( int j = 0; j < 3; j++)
{
switch(j)
{
case 0:
a0 = v0[A];
b0 = v0[B];
a1 = v1[A];
b1 = v1[B];
break;
case 1:
a0 = v1[A];
b0 = v1[B];
a1 = v2[A];
b1 = v2[B];
break;
case 2:
a0 = v2[A];
b0 = v2[B];
a1 = v0[A];
b1 = v0[B];
break;
}
da = a1 - a0;
db = b1 - b0;
a0_2 = a0 * a0; a0_3 = a0_2 * a0; a0_4 = a0_3 * a0;
b0_2 = b0 * b0; b0_3 = b0_2 * b0; b0_4 = b0_3 * b0;
a1_2 = a1 * a1; a1_3 = a1_2 * a1;
b1_2 = b1 * b1; b1_3 = b1_2 * b1;
C1 = a1 + a0;
Ca = a1*C1 + a0_2; Caa = a1*Ca + a0_3; Caaa = a1*Caa + a0_4;
Cb = b1*(b1 + b0) + b0_2; Cbb = b1*Cb + b0_3; Cbbb = b1*Cbb + b0_4;
Cab = 3*a1_2 + 2*a1*a0 + a0_2; Kab = a1_2 + 2*a1*a0 + 3*a0_2;
Caab = a0*Cab + 4*a1_3; Kaab = a1*Kab + 4*a0_3;
Cabb = 4*b1_3 + 3*b1_2*b0 + 2*b1*b0_2 + b0_3;
Kabb = b1_3 + 2*b1_2*b0 + 3*b1*b0_2 + 4*b0_3;
P1 += db*C1;
Pa += db*Ca;
Paa += db*Caa;
Paaa += db*Caaa;
Pb += da*Cb;
Pbb += da*Cbb;
Pbbb += da*Cbbb;
Pab += db*(b1*Cab + b0*Kab);
Paab += db*(b1*Caab + b0*Kaab);
Pabb += da*(a1*Cabb + a0*Kabb);
}
P1 /= 2.0;
Pa /= 6.0;
Paa /= 12.0;
Paaa /= 20.0;
Pb /= -6.0;
Pbb /= -12.0;
Pbbb /= -20.0;
Pab /= 24.0;
Paab /= 60.0;
Pabb /= -60.0;
}
w = - VEC_DOT(n, v0);
k1 = 1 / n[C]; k2 = k1 * k1; k3 = k2 * k1; k4 = k3 * k1;
Fa = k1 * Pa;
Fb = k1 * Pb;
Fc = -k2 * (n[A]*Pa + n[B]*Pb + w*P1);
Faa = k1 * Paa;
Fbb = k1 * Pbb;
Fcc = k3 * (gim_sqrt(n[A])*Paa + 2*n[A]*n[B]*Pab + gim_sqrt(n[B])*Pbb +
w*(2*(n[A]*Pa + n[B]*Pb) + w*P1));
Faaa = k1 * Paaa;
Fbbb = k1 * Pbbb;
Fccc = -k4 * (CUBE(n[A])*Paaa + 3*gim_sqrt(n[A])*n[B]*Paab
+ 3*n[A]*gim_sqrt(n[B])*Pabb + CUBE(n[B])*Pbbb
+ 3*w*(gim_sqrt(n[A])*Paa + 2*n[A]*n[B]*Pab + gim_sqrt(n[B])*Pbb)
+ w*w*(3*(n[A]*Pa + n[B]*Pb) + w*P1));
Faab = k1 * Paab;
Fbbc = -k2 * (n[A]*Pabb + n[B]*Pbbb + w*Pbb);
Fcca = k3 * (gim_sqrt(n[A])*Paaa + 2*n[A]*n[B]*Paab + gim_sqrt(n[B])*Pabb
+ w*(2*(n[A]*Paa + n[B]*Pab) + w*Pa));
}
T0 += n[0] * ((A == 0) ? Fa : ((B == 0) ? Fb : Fc));
T[A] += n[A] * Faaa;
T[B] += n[B] * Fbbb;
T[C] += n[C] * Fccc;
}
gim_trimesh_unlocks_work_data(trimesh);
}
void btGIMPACTMeshShape::calculateLocalInertia(btScalar mass,btVector3& inertia)
{
@@ -427,7 +269,7 @@ void btGIMPACTMeshShape::calculateLocalInertia(btScalar mass,btVector3& inertia)
getAabb(t,aabbMin,aabbMax);
//not yet, return box inertia
//not yet, return box inertia
btVector3 halfExtents = (aabbMax-aabbMin)*0.5f;
@@ -441,44 +283,18 @@ void btGIMPACTMeshShape::calculateLocalInertia(btScalar mass,btVector3& inertia)
inertia = scaledmass * (btVector3(y2+z2,x2+z2,x2+y2));
/*
//prepareMeshes(t);
inertia.setValue(0.0f,0.0f,0.0f);
vec3f T;
VEC_ZERO(T);
//Process Every triangle
GIM_TRIMESH * ptrimesh;
for(size_t i = 0;i<m_gim_trimesh_parts.size();i++)
{
ptrimesh = (GIM_TRIMESH * )m_gim_trimesh_parts[i];
bt_calc_inertia_gim_trimesh(ptrimesh,T);
}
T[0] /= 3; T[1] /= 3; T[2] /= 3;
inertia[0] = (T[1] + T[2]);
inertia[0] *= mass/(aabbMax[0] - aabbMin[0]);
inertia[1] = (T[2] + T[0]);
inertia[1] *= mass/(aabbMax[1] - aabbMin[1]);
inertia[2] = (T[0] + T[1]);
inertia[2] *= mass/(aabbMax[2] - aabbMin[2]);*/
}
void btGIMPACTMeshShape::processAllTriangles(btTriangleCallback* callback,const btVector3& aabbMin,const btVector3& aabbMax) const
{
{
/*btTransform t;
t.setIdentity();
prepareMeshes(t);*/
GDYNAMIC_ARRAY collision_result;
GDYNAMIC_ARRAY collision_result;
GIM_TRIMESH * ptrimesh;
size_t i,j;
@@ -513,7 +329,7 @@ void btGIMPACTMeshShape::processAllTriangles(btTriangleCallback* callback,const
for(j=0;j<collision_result.m_size;j++)
{
gim_trimesh_get_triangle_vertices_local(ptrimesh,boxesresult[j],trivec[0],trivec[1],trivec[2]);
btrivec[0].setValue(trivec[0][0]*scalevec[0],trivec[0][1]*scalevec[1],trivec[0][2]*scalevec[2]);
btrivec[1].setValue(trivec[1][0]*scalevec[0],trivec[1][1]*scalevec[1],trivec[1][2]*scalevec[2]);
btrivec[2].setValue(trivec[2][0]*scalevec[0],trivec[2][1]*scalevec[1],trivec[2][2]*scalevec[2]);
@@ -524,8 +340,8 @@ void btGIMPACTMeshShape::processAllTriangles(btTriangleCallback* callback,const
///unlocks
gim_trimesh_unlocks_work_data(ptrimesh);
GIM_DYNARRAY_DESTROY(collision_result);
GIM_DYNARRAY_DESTROY(collision_result);
}
}