diff --git a/Extras/GIMPACT/CMakeLists.txt b/Extras/GIMPACT/CMakeLists.txt deleted file mode 100644 index 6fab342d3..000000000 --- a/Extras/GIMPACT/CMakeLists.txt +++ /dev/null @@ -1,17 +0,0 @@ -INCLUDE_DIRECTORIES( -${BULLET_PHYSICS_SOURCE_DIR}/Extras/GIMPACT/include -${BULLET_PHYSICS_SOURCE_DIR}/src -) - -ADD_LIBRARY(LibGIMPACT - src/Bullet/btContactProcessing.cpp - src/Bullet/btGImpactBvh.cpp - src/Bullet/btGImpactQuantizedBvh.cpp - src/Bullet/btTriangleShapeEx.cpp - src/Bullet/btGImpactCollisionAlgorithm.cpp - src/Bullet/btGImpactShape.cpp - src/core/gim_box_set.cpp - src/core/gim_contact.cpp - src/core/gim_memory.cpp - src/core/gim_tri_collision.cpp -) diff --git a/Extras/GIMPACT/Doxyfile b/Extras/GIMPACT/Doxyfile deleted file mode 100755 index e37623ac0..000000000 --- a/Extras/GIMPACT/Doxyfile +++ /dev/null @@ -1,263 +0,0 @@ -# Doxyfile 1.5.2 - -#--------------------------------------------------------------------------- -# Project related configuration options -#--------------------------------------------------------------------------- -DOXYFILE_ENCODING = UTF-8 -PROJECT_NAME = GIMPACT -PROJECT_NUMBER = 0.2 -OUTPUT_DIRECTORY = docs -CREATE_SUBDIRS = NO -OUTPUT_LANGUAGE = English -BRIEF_MEMBER_DESC = YES -REPEAT_BRIEF = YES -ABBREVIATE_BRIEF = "The $name class" \ - "The $name widget" \ - "The $name file" \ - is \ - provides \ - specifies \ - contains \ - represents \ - a \ - an \ - the -ALWAYS_DETAILED_SEC = NO -INLINE_INHERITED_MEMB = NO -FULL_PATH_NAMES = YES -STRIP_FROM_PATH = "C:/Documents and Settings/Administrador/" -STRIP_FROM_INC_PATH = -SHORT_NAMES = NO -JAVADOC_AUTOBRIEF = NO -MULTILINE_CPP_IS_BRIEF = NO -DETAILS_AT_TOP = NO -INHERIT_DOCS = YES -SEPARATE_MEMBER_PAGES = NO -TAB_SIZE = 8 -ALIASES = -OPTIMIZE_OUTPUT_FOR_C = NO -OPTIMIZE_OUTPUT_JAVA = NO -BUILTIN_STL_SUPPORT = NO -CPP_CLI_SUPPORT = NO -DISTRIBUTE_GROUP_DOC = NO -SUBGROUPING = YES -#--------------------------------------------------------------------------- -# Build related configuration options -#--------------------------------------------------------------------------- -EXTRACT_ALL = YES -EXTRACT_PRIVATE = YES -EXTRACT_STATIC = YES -EXTRACT_LOCAL_CLASSES = YES -EXTRACT_LOCAL_METHODS = NO -HIDE_UNDOC_MEMBERS = NO -HIDE_UNDOC_CLASSES = NO -HIDE_FRIEND_COMPOUNDS = NO -HIDE_IN_BODY_DOCS = NO -INTERNAL_DOCS = NO -CASE_SENSE_NAMES = NO -HIDE_SCOPE_NAMES = NO -SHOW_INCLUDE_FILES = YES -INLINE_INFO = YES -SORT_MEMBER_DOCS = YES -SORT_BRIEF_DOCS = NO -SORT_BY_SCOPE_NAME = NO -GENERATE_TODOLIST = YES -GENERATE_TESTLIST = YES -GENERATE_BUGLIST = YES -GENERATE_DEPRECATEDLIST= YES -ENABLED_SECTIONS = -MAX_INITIALIZER_LINES = 30 -SHOW_USED_FILES = YES -SHOW_DIRECTORIES = NO -FILE_VERSION_FILTER = -#--------------------------------------------------------------------------- -# configuration options related to warning and progress messages -#--------------------------------------------------------------------------- -QUIET = NO -WARNINGS = YES -WARN_IF_UNDOCUMENTED = YES -WARN_IF_DOC_ERROR = YES -WARN_NO_PARAMDOC = NO -WARN_FORMAT = "$file:$line: $text" -WARN_LOGFILE = -#--------------------------------------------------------------------------- -# configuration options related to the input files -#--------------------------------------------------------------------------- -INPUT = include -INPUT_ENCODING = UTF-8 -FILE_PATTERNS = *.c \ - *.cc \ - *.cxx \ - *.cpp \ - *.c++ \ - *.d \ - *.java \ - *.ii \ - *.ixx \ - *.ipp \ - *.i++ \ - *.inl \ - *.h \ - *.hh \ - *.hxx \ - *.hpp \ - *.h++ \ - *.idl \ - *.odl \ - *.cs \ - *.php \ - *.php3 \ - *.inc \ - *.m \ - *.mm \ - *.dox \ - *.py -RECURSIVE = YES -EXCLUDE = -EXCLUDE_SYMLINKS = NO -EXCLUDE_PATTERNS = -EXCLUDE_SYMBOLS = -EXAMPLE_PATH = -EXAMPLE_PATTERNS = * -EXAMPLE_RECURSIVE = NO -IMAGE_PATH = -INPUT_FILTER = -FILTER_PATTERNS = -FILTER_SOURCE_FILES = NO -#--------------------------------------------------------------------------- -# configuration options related to source browsing -#--------------------------------------------------------------------------- -SOURCE_BROWSER = NO -INLINE_SOURCES = NO -STRIP_CODE_COMMENTS = YES -REFERENCED_BY_RELATION = NO -REFERENCES_RELATION = NO -REFERENCES_LINK_SOURCE = YES -USE_HTAGS = NO -VERBATIM_HEADERS = NO -#--------------------------------------------------------------------------- -# configuration options related to the alphabetical class index -#--------------------------------------------------------------------------- -ALPHABETICAL_INDEX = NO -COLS_IN_ALPHA_INDEX = 5 -IGNORE_PREFIX = -#--------------------------------------------------------------------------- -# configuration options related to the HTML output -#--------------------------------------------------------------------------- -GENERATE_HTML = YES -HTML_OUTPUT = html -HTML_FILE_EXTENSION = .html -HTML_HEADER = -HTML_FOOTER = -HTML_STYLESHEET = -HTML_ALIGN_MEMBERS = YES -GENERATE_HTMLHELP = NO -CHM_FILE = -HHC_LOCATION = -GENERATE_CHI = NO -BINARY_TOC = NO -TOC_EXPAND = NO -DISABLE_INDEX = NO -ENUM_VALUES_PER_LINE = 4 -GENERATE_TREEVIEW = NO -TREEVIEW_WIDTH = 250 -#--------------------------------------------------------------------------- -# configuration options related to the LaTeX output -#--------------------------------------------------------------------------- -GENERATE_LATEX = YES -LATEX_OUTPUT = latex -LATEX_CMD_NAME = latex -MAKEINDEX_CMD_NAME = makeindex -COMPACT_LATEX = NO -PAPER_TYPE = a4wide -EXTRA_PACKAGES = -LATEX_HEADER = -PDF_HYPERLINKS = NO -USE_PDFLATEX = NO -LATEX_BATCHMODE = NO -LATEX_HIDE_INDICES = NO -#--------------------------------------------------------------------------- -# configuration options related to the RTF output -#--------------------------------------------------------------------------- -GENERATE_RTF = NO -RTF_OUTPUT = rtf -COMPACT_RTF = NO -RTF_HYPERLINKS = NO -RTF_STYLESHEET_FILE = -RTF_EXTENSIONS_FILE = -#--------------------------------------------------------------------------- -# configuration options related to the man page output -#--------------------------------------------------------------------------- -GENERATE_MAN = NO -MAN_OUTPUT = man -MAN_EXTENSION = .3 -MAN_LINKS = NO -#--------------------------------------------------------------------------- -# configuration options related to the XML output -#--------------------------------------------------------------------------- -GENERATE_XML = NO -XML_OUTPUT = xml -XML_SCHEMA = -XML_DTD = -XML_PROGRAMLISTING = YES -#--------------------------------------------------------------------------- -# configuration options for the AutoGen Definitions output -#--------------------------------------------------------------------------- -GENERATE_AUTOGEN_DEF = NO -#--------------------------------------------------------------------------- -# configuration options related to the Perl module output -#--------------------------------------------------------------------------- -GENERATE_PERLMOD = NO -PERLMOD_LATEX = NO -PERLMOD_PRETTY = YES -PERLMOD_MAKEVAR_PREFIX = -#--------------------------------------------------------------------------- -# Configuration options related to the preprocessor -#--------------------------------------------------------------------------- -ENABLE_PREPROCESSING = YES -MACRO_EXPANSION = NO -EXPAND_ONLY_PREDEF = NO -SEARCH_INCLUDES = YES -INCLUDE_PATH = -INCLUDE_FILE_PATTERNS = -PREDEFINED = -EXPAND_AS_DEFINED = -SKIP_FUNCTION_MACROS = YES -#--------------------------------------------------------------------------- -# Configuration::additions related to external references -#--------------------------------------------------------------------------- -TAGFILES = -GENERATE_TAGFILE = -ALLEXTERNALS = NO -EXTERNAL_GROUPS = YES -PERL_PATH = /usr/bin/perl -#--------------------------------------------------------------------------- -# Configuration options related to the dot tool -#--------------------------------------------------------------------------- -CLASS_DIAGRAMS = YES -MSCGEN_PATH = -HIDE_UNDOC_RELATIONS = YES -HAVE_DOT = NO -CLASS_GRAPH = YES -COLLABORATION_GRAPH = YES -GROUP_GRAPHS = YES -UML_LOOK = NO -TEMPLATE_RELATIONS = NO -INCLUDE_GRAPH = YES -INCLUDED_BY_GRAPH = YES -CALL_GRAPH = NO -CALLER_GRAPH = NO -GRAPHICAL_HIERARCHY = YES -DIRECTORY_GRAPH = YES -DOT_IMAGE_FORMAT = png -DOT_PATH = -DOTFILE_DIRS = -DOT_GRAPH_MAX_NODES = 50 -DOT_TRANSPARENT = NO -DOT_MULTI_TARGETS = NO -GENERATE_LEGEND = YES -DOT_CLEANUP = YES -#--------------------------------------------------------------------------- -# Configuration::additions related to the search engine -#--------------------------------------------------------------------------- -SEARCHENGINE = NO diff --git a/Extras/GIMPACT/GIMPACT-LICENSE-BSD.TXT b/Extras/GIMPACT/GIMPACT-LICENSE-BSD.TXT deleted file mode 100755 index 95545aac2..000000000 --- a/Extras/GIMPACT/GIMPACT-LICENSE-BSD.TXT +++ /dev/null @@ -1,29 +0,0 @@ -GIMPACT : Geometric tools for VR. - -Copyright (c) 2006 , Francisco León. -All rights reserved. - -Redistribution and use in source and binary forms, with or without modification, - are permitted provided that the following conditions are met: - - * Redistributions of source code must retain the above copyright notice, this list of - conditions and the following disclaimer. - - * Redistributions in binary form must reproduce the above copyright notice, this list - of conditions and the following disclaimer in the documentation and/or other materials - provided with the distribution. - - * Neither the name of the GIMPACT nor the names of its contributors may be used - to endorse or promote products derived from this software without specific prior - written permission. - -THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND ANY EXPRESS -OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF -MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. -IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, -INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES -(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, - DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, - WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING - IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH - DAMAGE. \ No newline at end of file diff --git a/Extras/GIMPACT/GIMPACT-LICENSE-LGPL.TXT b/Extras/GIMPACT/GIMPACT-LICENSE-LGPL.TXT deleted file mode 100755 index 60b81560d..000000000 --- a/Extras/GIMPACT/GIMPACT-LICENSE-LGPL.TXT +++ /dev/null @@ -1,502 +0,0 @@ - GNU LESSER GENERAL PUBLIC LICENSE - Version 2.1, February 1999 - - Copyright (C) 1991, 1999 Free Software Foundation, 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You can do so by permitting -redistribution under these terms (or, alternatively, under the terms of the -ordinary General Public License). - - To apply these terms, attach the following notices to the library. It is -safest to attach them to the start of each source file to most effectively -convey the exclusion of warranty; and each file should have at least the -"copyright" line and a pointer to where the full notice is found. - - - Copyright (C) - - This library is free software; you can redistribute it and/or - modify it under the terms of the GNU Lesser General Public - License as published by the Free Software Foundation; either - version 2.1 of the License, or (at your option) any later version. - - This library is distributed in the hope that it will be useful, - but WITHOUT ANY WARRANTY; without even the implied warranty of - MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU - Lesser General Public License for more details. - - You should have received a copy of the GNU Lesser General Public - License along with this library; if not, write to the Free Software - Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA - -Also add information on how to contact you by electronic and paper mail. - -You should also get your employer (if you work as a programmer) or your -school, if any, to sign a "copyright disclaimer" for the library, if -necessary. Here is a sample; alter the names: - - Yoyodyne, Inc., hereby disclaims all copyright interest in the - library `Frob' (a library for tweaking knobs) written by James Random Hacker. - - , 1 April 1990 - Ty Coon, President of Vice - -That's all there is to it! diff --git a/Extras/GIMPACT/GIMPACT-LICENSE-ZLIB.TXT b/Extras/GIMPACT/GIMPACT-LICENSE-ZLIB.TXT deleted file mode 100755 index 616f33f7c..000000000 --- a/Extras/GIMPACT/GIMPACT-LICENSE-ZLIB.TXT +++ /dev/null @@ -1,23 +0,0 @@ -GIMPACT : Geometric tools for VR. - -Copyright (c) 2006 , Francisco León. -All rights reserved. - - -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. - diff --git a/Extras/GIMPACT/Jamfile b/Extras/GIMPACT/Jamfile deleted file mode 100644 index 917c4d086..000000000 --- a/Extras/GIMPACT/Jamfile +++ /dev/null @@ -1,13 +0,0 @@ -SubDir TOP Extras GIMPACT ; - -#IncludeDir Extras/GIMPACT/include ; -SubInclude TOP Extras GIMPACT include ; - -Library GIMPACT : [ Wildcard src/Bullet : */.h *.cpp ] [ Wildcard src/core : *.cpp ] : noinstall ; -CFlags GIMPACT : [ FIncludes $(TOP)/Extras/GIMPACT/include ] ; -LibDepends GIMPACT : ; - - MsvcIncDirs GIMPACT : - "../../Extras/GIMPACT/include" ; - -InstallHeader [ Wildcard *.h ] : GIMPACT ; diff --git a/Extras/GIMPACT/include/GIMPACT/gim_manual.h b/Extras/GIMPACT/include/GIMPACT/gim_manual.h deleted file mode 100755 index bb123d795..000000000 --- a/Extras/GIMPACT/include/GIMPACT/gim_manual.h +++ /dev/null @@ -1,137 +0,0 @@ -#ifndef GIM_MANUAL_H_INCLUDED -#define GIM_MANUAL_H_INCLUDED - -/*! \file gim_manual.h -*\author Francisco León Nájera -GIMPACT documentation - -*/ -/* -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. -*/ - -/*! \mainpage GIMPACT -*\section INTRO INTRODUCTION -

-GIMPACT is a software library with tools for geometry processing and collision detection, focused on solving most common problems on Virtual Reality development. -

-

-Since Version 0.2, GIMPACT will work integrated with the Bullet Engine for general collision detection and physics. For more details, please visit http://www.continuousphysics.com/Bullet/ -

-

For updates, please visit http://sourceforge.net/projects/gimpact/

- -*\section CONTENT -- \subpage FEATURES -- \subpage REQUIREMENTS -- \subpage PROGRAMMERS_GUIDE "PROGRAMMERS GUIDE" -- \subpage TODO -*/ -/*! \page FEATURES -- C++ oriented. -- Extensible design. -- Collision detection algorithm for concave shapes in the Bullet Physics Engine. See btGImpactCollisionAlgorithm. -- Efficient Dynamic Hierarcht Bounding Box tree structures for handle collisions with composed shapes whose have large sets of primitives (triangles or convex shapes) See the GIM_BOX_TREE_SET class. -- Collision detection for trimeshes with the btGImpactMeshShape class. Now GIMPACT works fine with the btStridingInterface class for getting the data from trimesh models. -- Support for deformable trimeshes. -- Collision detection for compound shapes through the btGImpactCompoundShape class. This class takes advantage from the Hierarcht Bounding Box structure (GIM_BOX_TREE_SET class). -- Collision Shapes (Both btGImpactCompoundSape and btGImpactTrimeshShape ) can be shared by two or more Rigid Bodies in Bullet. - -*/ -/*! \page REQUIREMENTS -- GIMPACT has dependencies to the Bullet Physics Engine. -- Ansi C++ compiler, -*/ -/*! \page PROGRAMMERS_GUIDE PROGRAMMERS GUIDE -This guide will show how to incorpore the GIMPACt functionality on the Bullet Engine: -*\section REG Registering the Algorithm -For register this algorithm in Bullet, proceed as following: - \code -btCollisionDispatcher * dispatcher = static_cast(m_dynamicsWorld ->getDispatcher()); -btGImpactCollisionAlgorithm::registerAlgorithm(dispatcher); - \endcode -

-With the instructon above, btGImpactCollisionAlgorithm will handle: -- Convex shapes vs GImpact shapes. -- Concave shapes vs GImpact shapes. -- Compoind shapes vs GImpact shapes. - -*\section CREATING_SHAPES Creating Shapes. -*\subsection TRIMESH Creating trimeshes. -

For creating trimeshes you must provide an interface for your model data. You could use btTriangleIndexVertexArray class for providing the indices and the vertices from your triangle models.

-

-For example, you could create a trimesh from memory as following: -\code -btTriangleIndexVertexArray* indexVertexArrays = new btTriangleIndexVertexArray(NUM_TRIANGLES, - &gIndices[0][0], - 3*sizeof(int), - NUM_VERTICES,(REAL*) &gVertices[0],sizeof(REAL)*3); -\endcode -

-

-Where gIndices is an array of integers and gVertices is an array of float with 3 components. -

-Then you must create the Trimesh shape as following: -\code -btGImpactMeshShape * trimesh = new btGImpactMeshShape(indexVertexArrays); -\endcode -The next step is configuring the trimesh, for example changing the scale: -\code -trimesh->setLocalScaling(btVector3(4.f,4.f,4.f)); -\endcode -At end, you must call btGImpactMeshShape.updateBound for ensure that the shape will build its internal Box set structure: -\code -trimesh->updateBound();// Call this method once before doing collisions -\endcode -Also you must call btGImpactMeshShape.postUpdate() each time when changing the trimesh data ( For deformable meshes), this will enable a flag to the trimesh shape which tells that the trimesh data has been changed and btGImpactMeshShape.updateBound will be called in collision routines. -< - -*\subsection COMPOUND Compound Shapes. -For compound shapes, you must create btGImpactCompoundShape objects. Then you could add -sub shapes as following; -\code -btGImpactCompoundShape * mycompound = new btGImpactCompoundShape(); - -btTransform localtransform; - .... Setting transformation - -//add shapes with transformation -btCollisionShape * subshape = creatingShape(0); -mycompound->addChildShape(localtransform,subshape); -.... Setting transformation -btCollisionShape * subshape2 = creatingShape(1); -mycompound->addChildShape(localtransform,subshape); -.... add more shapes -\endcode -At end, you must call btGImpactCompoundShape.updateBound for ensure that the shape will build its internal Box set structure: -*/ - -/*! \page TODO -*\section FEATURE FEATURE REQUESTS -- Tetrahedrization for solid trimeshes. -- Examples for implement deformable collisions, like cloth simulations and finite elements dynamics. -- Generic Ray collision functionality. -- Implement Low level SAT algorithms for speed up convex collisions. -*\section MISCELANEOUS -- Improve the documentation. -- Benchmarking. -- Bug reports and Bug Fixes. -*/ - - -#endif diff --git a/Extras/GIMPACT/include/Jamfile b/Extras/GIMPACT/include/Jamfile deleted file mode 100644 index 44bb136d7..000000000 --- a/Extras/GIMPACT/include/Jamfile +++ /dev/null @@ -1,4 +0,0 @@ -SubDir TOP Extras GIMPACT include ; - - -Recurse InstallHeader : .h ; diff --git a/Extras/GIMPACT/include/GIMPACT/Bullet/btBoxCollision.h b/src/BulletCollision/Gimpact/btBoxCollision.h similarity index 99% rename from Extras/GIMPACT/include/GIMPACT/Bullet/btBoxCollision.h rename to src/BulletCollision/Gimpact/btBoxCollision.h index c98526f09..cf43f487e 100644 --- a/Extras/GIMPACT/include/GIMPACT/Bullet/btBoxCollision.h +++ b/src/BulletCollision/Gimpact/btBoxCollision.h @@ -2,7 +2,7 @@ #define BT_BOX_COLLISION_H_INCLUDED /*! \file gim_box_collision.h -\author Francisco León Nájera +\author Francisco Len Nßjera */ /* This source file is part of GIMPACT Library. diff --git a/Extras/GIMPACT/include/GIMPACT/Bullet/btClipPolygon.h b/src/BulletCollision/Gimpact/btClipPolygon.h similarity index 99% rename from Extras/GIMPACT/include/GIMPACT/Bullet/btClipPolygon.h rename to src/BulletCollision/Gimpact/btClipPolygon.h index 32d470a23..28c03b7e0 100644 --- a/Extras/GIMPACT/include/GIMPACT/Bullet/btClipPolygon.h +++ b/src/BulletCollision/Gimpact/btClipPolygon.h @@ -2,7 +2,7 @@ #define BT_CLIP_POLYGON_H_INCLUDED /*! \file btClipPolygon.h -\author Francisco León Nájera +\author Francisco Len Nßjera */ /* This source file is part of GIMPACT Library. diff --git a/Extras/GIMPACT/src/Bullet/btContactProcessing.cpp b/src/BulletCollision/Gimpact/btContactProcessing.cpp similarity index 94% rename from Extras/GIMPACT/src/Bullet/btContactProcessing.cpp rename to src/BulletCollision/Gimpact/btContactProcessing.cpp index aa52e9888..faba2d8a5 100644 --- a/Extras/GIMPACT/src/Bullet/btContactProcessing.cpp +++ b/src/BulletCollision/Gimpact/btContactProcessing.cpp @@ -1,181 +1,181 @@ - -/* -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 "GIMPACT/Bullet/btContactProcessing.h" - -#define MAX_COINCIDENT 8 - -struct CONTACT_KEY_TOKEN -{ - unsigned int m_key; - int m_value; - CONTACT_KEY_TOKEN() - { - } - - CONTACT_KEY_TOKEN(unsigned int key,int token) - { - m_key = key; - m_value = token; - } - - CONTACT_KEY_TOKEN(const CONTACT_KEY_TOKEN& rtoken) - { - m_key = rtoken.m_key; - m_value = rtoken.m_value; - } - - inline bool operator <(const CONTACT_KEY_TOKEN& other) const - { - return (m_key < other.m_key); - } - - inline bool operator >(const CONTACT_KEY_TOKEN& other) const - { - return (m_key > other.m_key); - } - -}; - -class CONTACT_KEY_TOKEN_COMP -{ - public: - - bool operator() ( const CONTACT_KEY_TOKEN& a, const CONTACT_KEY_TOKEN& b ) - { - return ( a < b ); - } -}; - - -void btContactArray::merge_contacts( - const btContactArray & contacts, bool normal_contact_average) -{ - clear(); - - int i; - if(contacts.size()==0) return; - - - if(contacts.size()==1) - { - push_back(contacts[0]); - return; - } - - btAlignedObjectArray keycontacts; - - keycontacts.reserve(contacts.size()); - - //fill key contacts - - for ( i = 0;im_depth - CONTACT_DIFF_EPSILON > scontact->m_depth)//) - { - *pcontact = *scontact; - coincident_count = 0; - } - else if(normal_contact_average) - { - if(btFabs(pcontact->m_depth - scontact->m_depth)m_normal; - coincident_count++; - } - } - } - } - else - {//add new contact - - if(normal_contact_average && coincident_count>0) - { - pcontact->interpolate_normals(coincident_normals,coincident_count); - coincident_count = 0; - } - - push_back(*scontact); - pcontact = &(*this)[this->size()-1]; - } - last_key = key; - } -} - -void btContactArray::merge_contacts_unique(const btContactArray & contacts) -{ - clear(); - - if(contacts.size()==0) return; - - if(contacts.size()==1) - { - push_back(contacts[0]); - return; - } - - BT_CONTACT average_contact = contacts[0]; - - for (int i=1;i(const CONTACT_KEY_TOKEN& other) const + { + return (m_key > other.m_key); + } + +}; + +class CONTACT_KEY_TOKEN_COMP +{ + public: + + bool operator() ( const CONTACT_KEY_TOKEN& a, const CONTACT_KEY_TOKEN& b ) + { + return ( a < b ); + } +}; + + +void btContactArray::merge_contacts( + const btContactArray & contacts, bool normal_contact_average) +{ + clear(); + + int i; + if(contacts.size()==0) return; + + + if(contacts.size()==1) + { + push_back(contacts[0]); + return; + } + + btAlignedObjectArray keycontacts; + + keycontacts.reserve(contacts.size()); + + //fill key contacts + + for ( i = 0;im_depth - CONTACT_DIFF_EPSILON > scontact->m_depth)//) + { + *pcontact = *scontact; + coincident_count = 0; + } + else if(normal_contact_average) + { + if(btFabs(pcontact->m_depth - scontact->m_depth)m_normal; + coincident_count++; + } + } + } + } + else + {//add new contact + + if(normal_contact_average && coincident_count>0) + { + pcontact->interpolate_normals(coincident_normals,coincident_count); + coincident_count = 0; + } + + push_back(*scontact); + pcontact = &(*this)[this->size()-1]; + } + last_key = key; + } +} + +void btContactArray::merge_contacts_unique(const btContactArray & contacts) +{ + clear(); + + if(contacts.size()==0) return; + + if(contacts.size()==1) + { + push_back(contacts[0]); + return; + } + + BT_CONTACT average_contact = contacts[0]; + + for (int i=1;im_gim_shape->getChildShape(index); - } - }; - - class TriangleShapeRetriever:public ChildShapeRetriever - { - public: - - virtual btCollisionShape * getChildShape(int index) - { - m_parent->m_gim_shape->getBulletTriangle(index,m_parent->m_trishape); - return &m_parent->m_trishape; - } - }; - - class TetraShapeRetriever:public ChildShapeRetriever - { - public: - - virtual btCollisionShape * getChildShape(int index) - { - m_parent->m_gim_shape->getBulletTetrahedron(index,m_parent->m_tetrashape); - return &m_parent->m_tetrashape; - } - }; -public: - ChildShapeRetriever m_child_retriever; - TriangleShapeRetriever m_tri_retriever; - TetraShapeRetriever m_tetra_retriever; - ChildShapeRetriever * m_current_retriever; - - GIM_ShapeRetriever(btGImpactShapeInterface * gim_shape) - { - m_gim_shape = gim_shape; - //select retriever - if(m_gim_shape->needsRetrieveTriangles()) - { - m_current_retriever = &m_tri_retriever; - } - else if(m_gim_shape->needsRetrieveTetrahedrons()) - { - m_current_retriever = &m_tetra_retriever; - } - else - { - m_current_retriever = &m_child_retriever; - } - - m_current_retriever->m_parent = this; - } - - btCollisionShape * getChildShape(int index) - { - return m_current_retriever->getChildShape(index); - } - - -}; - - - -//!@} - - -#ifdef TRI_COLLISION_PROFILING - -//! Gets the average time in miliseconds of tree collisions -float btGImpactCollisionAlgorithm::getAverageTreeCollisionTime() -{ - return btGImpactBoxSet::getAverageTreeCollisionTime(); - -} - -//! Gets the average time in miliseconds of triangle collisions -float btGImpactCollisionAlgorithm::getAverageTriangleCollisionTime() -{ - if(g_count_triangle_collision == 0) return 0; - - float avgtime = g_accum_triangle_collision_time; - avgtime /= (float)g_count_triangle_collision; - - g_accum_triangle_collision_time = 0; - g_count_triangle_collision = 0; - - return avgtime; -} - -#endif //TRI_COLLISION_PROFILING - - - -btGImpactCollisionAlgorithm::btGImpactCollisionAlgorithm( const btCollisionAlgorithmConstructionInfo& ci, btCollisionObject* body0,btCollisionObject* body1) -: btCollisionAlgorithm(ci) -{ - m_manifoldPtr = NULL; - m_convex_algorithm = NULL; -} - -btGImpactCollisionAlgorithm::~btGImpactCollisionAlgorithm() -{ - clearCache(); -} - - - - - -void btGImpactCollisionAlgorithm::addContactPoint(btCollisionObject * body0, - btCollisionObject * body1, - const btVector3 & point, - const btVector3 & normal, - btScalar distance) -{ - m_resultOut->setShapeIdentifiers(m_part0,m_triface0,m_part1,m_triface1); - checkManifold(body0,body1); - m_resultOut->addContactPoint(normal,point,distance); -} - - -void btGImpactCollisionAlgorithm::shape_vs_shape_collision( - btCollisionObject * body0, - btCollisionObject * body1, - btCollisionShape * shape0, - btCollisionShape * shape1) -{ - - btCollisionShape* tmpShape0 = body0->getCollisionShape(); - btCollisionShape* tmpShape1 = body1->getCollisionShape(); - - body0->internalSetTemporaryCollisionShape(shape0); - body1->internalSetTemporaryCollisionShape(shape1); - - { - btCollisionAlgorithm* algor = newAlgorithm(body0,body1); - // post : checkManifold is called - - m_resultOut->setShapeIdentifiers(m_part0,m_triface0,m_part1,m_triface1); - - algor->processCollision(body0,body1,*m_dispatchInfo,m_resultOut); - - algor->~btCollisionAlgorithm(); - m_dispatcher->freeCollisionAlgorithm(algor); - } - - body0->internalSetTemporaryCollisionShape(tmpShape0); - body1->internalSetTemporaryCollisionShape(tmpShape1); -} - -void btGImpactCollisionAlgorithm::convex_vs_convex_collision( - btCollisionObject * body0, - btCollisionObject * body1, - btCollisionShape * shape0, - btCollisionShape * shape1) -{ - - btCollisionShape* tmpShape0 = body0->getCollisionShape(); - btCollisionShape* tmpShape1 = body1->getCollisionShape(); - - body0->internalSetTemporaryCollisionShape(shape0); - body1->internalSetTemporaryCollisionShape(shape1); - - - m_resultOut->setShapeIdentifiers(m_part0,m_triface0,m_part1,m_triface1); - - checkConvexAlgorithm(body0,body1); - m_convex_algorithm->processCollision(body0,body1,*m_dispatchInfo,m_resultOut); - - body0->internalSetTemporaryCollisionShape(tmpShape0); - body1->internalSetTemporaryCollisionShape(tmpShape1); - -} - - - - -void btGImpactCollisionAlgorithm::gimpact_vs_gimpact_find_pairs( - const btTransform & trans0, - const btTransform & trans1, - btGImpactShapeInterface * shape0, - btGImpactShapeInterface * shape1,btPairSet & pairset) -{ - if(shape0->hasBoxSet() && shape1->hasBoxSet()) - { - btGImpactBoxSet::find_collision(shape0->getBoxSet(),trans0,shape1->getBoxSet(),trans1,pairset); - } - else - { - btAABB boxshape0; - btAABB boxshape1; - int i = shape0->getNumChildShapes(); - - while(i--) - { - shape0->getChildAabb(i,trans0,boxshape0.m_min,boxshape0.m_max); - - int j = shape1->getNumChildShapes(); - while(j--) - { - shape1->getChildAabb(i,trans1,boxshape1.m_min,boxshape1.m_max); - - if(boxshape1.has_collision(boxshape0)) - { - pairset.push_pair(i,j); - } - } - } - } - - -} - - -void btGImpactCollisionAlgorithm::gimpact_vs_shape_find_pairs( - const btTransform & trans0, - const btTransform & trans1, - btGImpactShapeInterface * shape0, - btCollisionShape * shape1, - btAlignedObjectArray & collided_primitives) -{ - - btAABB boxshape; - - - if(shape0->hasBoxSet()) - { - btTransform trans1to0 = trans0.inverse(); - trans1to0 *= trans1; - - shape1->getAabb(trans1to0,boxshape.m_min,boxshape.m_max); - - shape0->getBoxSet()->boxQuery(boxshape, collided_primitives); - } - else - { - shape1->getAabb(trans1,boxshape.m_min,boxshape.m_max); - - btAABB boxshape0; - int i = shape0->getNumChildShapes(); - - while(i--) - { - shape0->getChildAabb(i,trans0,boxshape0.m_min,boxshape0.m_max); - - if(boxshape.has_collision(boxshape0)) - { - collided_primitives.push_back(i); - } - } - - } - -} - - -void btGImpactCollisionAlgorithm::collide_gjk_triangles(btCollisionObject * body0, - btCollisionObject * body1, - btGImpactMeshShapePart * shape0, - btGImpactMeshShapePart * shape1, - const int * pairs, int pair_count) -{ - btTriangleShapeEx tri0; - btTriangleShapeEx tri1; - - shape0->lockChildShapes(); - shape1->lockChildShapes(); - - const int * pair_pointer = pairs; - - while(pair_count--) - { - - m_triface0 = *(pair_pointer); - m_triface1 = *(pair_pointer+1); - pair_pointer+=2; - - - - shape0->getBulletTriangle(m_triface0,tri0); - shape1->getBulletTriangle(m_triface1,tri1); - - - //collide two convex shapes - if(tri0.overlap_test_conservative(tri1)) - { - convex_vs_convex_collision(body0,body1,&tri0,&tri1); - } - - } - - shape0->unlockChildShapes(); - shape1->unlockChildShapes(); -} - -void btGImpactCollisionAlgorithm::collide_sat_triangles(btCollisionObject * body0, - btCollisionObject * body1, - btGImpactMeshShapePart * shape0, - btGImpactMeshShapePart * shape1, - const int * pairs, int pair_count) -{ - btTransform orgtrans0 = body0->getWorldTransform(); - btTransform orgtrans1 = body1->getWorldTransform(); - - btPrimitiveTriangle ptri0; - btPrimitiveTriangle ptri1; - BT_TRIANGLE_CONTACT contact_data; - - shape0->lockChildShapes(); - shape1->lockChildShapes(); - - const int * pair_pointer = pairs; - - while(pair_count--) - { - - m_triface0 = *(pair_pointer); - m_triface1 = *(pair_pointer+1); - pair_pointer+=2; - - - shape0->getPrimitiveTriangle(m_triface0,ptri0); - shape1->getPrimitiveTriangle(m_triface1,ptri1); - - #ifdef TRI_COLLISION_PROFILING - bt_begin_gim02_tri_time(); - #endif - - ptri0.applyTransform(orgtrans0); - ptri1.applyTransform(orgtrans1); - - - //build planes - ptri0.buildTriPlane(); - ptri1.buildTriPlane(); - // test conservative - - - - if(ptri0.overlap_test_conservative(ptri1)) - { - if(ptri0.find_triangle_collision_clip_method(ptri1,contact_data)) - { - - int j = contact_data.m_point_count; - while(j--) - { - - addContactPoint(body0, body1, - contact_data.m_points[j], - contact_data.m_separating_normal, - -contact_data.m_penetration_depth); - } - } - } - - #ifdef TRI_COLLISION_PROFILING - bt_end_gim02_tri_time(); - #endif - - } - - shape0->unlockChildShapes(); - shape1->unlockChildShapes(); - -} - - -void btGImpactCollisionAlgorithm::gimpact_vs_gimpact( - btCollisionObject * body0, - btCollisionObject * body1, - btGImpactShapeInterface * shape0, - btGImpactShapeInterface * shape1) -{ - - if(shape0->getGImpactShapeType()==CONST_GIMPACT_TRIMESH_SHAPE) - { - btGImpactMeshShape * meshshape0 = static_cast(shape0); - m_part0 = meshshape0->getMeshPartCount(); - - while(m_part0--) - { - gimpact_vs_gimpact(body0,body1,meshshape0->getMeshPart(m_part0),shape1); - } - - return; - } - - if(shape1->getGImpactShapeType()==CONST_GIMPACT_TRIMESH_SHAPE) - { - btGImpactMeshShape * meshshape1 = static_cast(shape1); - m_part1 = meshshape1->getMeshPartCount(); - - while(m_part1--) - { - - gimpact_vs_gimpact(body0,body1,shape0,meshshape1->getMeshPart(m_part1)); - - } - - return; - } - - - btTransform orgtrans0 = body0->getWorldTransform(); - btTransform orgtrans1 = body1->getWorldTransform(); - - btPairSet pairset; - - gimpact_vs_gimpact_find_pairs(orgtrans0,orgtrans1,shape0,shape1,pairset); - - if(pairset.size()== 0) return; - - if(shape0->getGImpactShapeType() == CONST_GIMPACT_TRIMESH_SHAPE_PART && - shape1->getGImpactShapeType() == CONST_GIMPACT_TRIMESH_SHAPE_PART) - { - btGImpactMeshShapePart * shapepart0 = static_cast(shape0); - btGImpactMeshShapePart * shapepart1 = static_cast(shape1); - //specialized function - #ifdef BULLET_TRIANGLE_COLLISION - collide_gjk_triangles(body0,body1,shapepart0,shapepart1,&pairset[0].m_index1,pairset.size()); - #else - collide_sat_triangles(body0,body1,shapepart0,shapepart1,&pairset[0].m_index1,pairset.size()); - #endif - - return; - } - - //general function - - shape0->lockChildShapes(); - shape1->lockChildShapes(); - - GIM_ShapeRetriever retriever0(shape0); - GIM_ShapeRetriever retriever1(shape1); - - bool child_has_transform0 = shape0->childrenHasTransform(); - bool child_has_transform1 = shape1->childrenHasTransform(); - - int i = pairset.size(); - while(i--) - { - BT_PAIR * pair = &pairset[i]; - m_triface0 = pair->m_index1; - m_triface1 = pair->m_index2; - btCollisionShape * colshape0 = retriever0.getChildShape(m_triface0); - btCollisionShape * colshape1 = retriever1.getChildShape(m_triface1); - - if(child_has_transform0) - { - body0->setWorldTransform(orgtrans0*shape0->getChildTransform(m_triface0)); - } - - if(child_has_transform1) - { - body1->setWorldTransform(orgtrans1*shape1->getChildTransform(m_triface1)); - } - - //collide two convex shapes - convex_vs_convex_collision(body0,body1,colshape0,colshape1); - - - if(child_has_transform0) - { - body0->setWorldTransform(orgtrans0); - } - - if(child_has_transform1) - { - body1->setWorldTransform(orgtrans1); - } - - } - - shape0->unlockChildShapes(); - shape1->unlockChildShapes(); -} - -void btGImpactCollisionAlgorithm::gimpact_vs_shape(btCollisionObject * body0, - btCollisionObject * body1, - btGImpactShapeInterface * shape0, - btCollisionShape * shape1,bool swapped) -{ - if(shape0->getGImpactShapeType()==CONST_GIMPACT_TRIMESH_SHAPE) - { - btGImpactMeshShape * meshshape0 = static_cast(shape0); - m_part0 = meshshape0->getMeshPartCount(); - - while(m_part0--) - { - - gimpact_vs_shape(body0, - body1, - meshshape0->getMeshPart(m_part0), - shape1,swapped); - - } - - return; - } - - #ifdef GIMPACT_VS_PLANE_COLLISION - if(shape0->getGImpactShapeType() == CONST_GIMPACT_TRIMESH_SHAPE_PART && - shape1->getShapeType() == STATIC_PLANE_PROXYTYPE) - { - btGImpactMeshShapePart * shapepart = static_cast(shape0); - btStaticPlaneShape * planeshape = static_cast(shape1); - gimpacttrimeshpart_vs_plane_collision(body0,body1,shapepart,planeshape,swapped); - return; - } - - #endif - - - - if(shape1->isCompound()) - { - btCompoundShape * compoundshape = static_cast(shape1); - gimpact_vs_compoundshape(body0,body1,shape0,compoundshape,swapped); - return; - } - else if(shape1->isConcave()) - { - btConcaveShape * concaveshape = static_cast(shape1); - gimpact_vs_concave(body0,body1,shape0,concaveshape,swapped); - return; - } - - - btTransform orgtrans0 = body0->getWorldTransform(); - - btTransform orgtrans1 = body1->getWorldTransform(); - - btAlignedObjectArray collided_results; - - gimpact_vs_shape_find_pairs(orgtrans0,orgtrans1,shape0,shape1,collided_results); - - if(collided_results.size() == 0) return; - - - shape0->lockChildShapes(); - - GIM_ShapeRetriever retriever0(shape0); - - - bool child_has_transform0 = shape0->childrenHasTransform(); - - - int i = collided_results.size(); - - while(i--) - { - int child_index = collided_results[i]; - if(swapped) - m_triface1 = child_index; - else - m_triface0 = child_index; - - btCollisionShape * colshape0 = retriever0.getChildShape(child_index); - - if(child_has_transform0) - { - body0->setWorldTransform(orgtrans0*shape0->getChildTransform(child_index)); - } - - //collide two shapes - if(swapped) - { - shape_vs_shape_collision(body1,body0,shape1,colshape0); - } - else - { - shape_vs_shape_collision(body0,body1,colshape0,shape1); - } - - //restore transforms - if(child_has_transform0) - { - body0->setWorldTransform(orgtrans0); - } - - } - - shape0->unlockChildShapes(); - -} - -void btGImpactCollisionAlgorithm::gimpact_vs_compoundshape(btCollisionObject * body0, - btCollisionObject * body1, - btGImpactShapeInterface * shape0, - btCompoundShape * shape1,bool swapped) -{ - btTransform orgtrans1 = body1->getWorldTransform(); - - int i = shape1->getNumChildShapes(); - while(i--) - { - - btCollisionShape * colshape1 = shape1->getChildShape(i); - btTransform childtrans1 = orgtrans1*shape1->getChildTransform(i); - - body1->setWorldTransform(childtrans1); - - //collide child shape - gimpact_vs_shape(body0, body1, - shape0,colshape1,swapped); - - - //restore transforms - body1->setWorldTransform(orgtrans1); - } -} - -void btGImpactCollisionAlgorithm::gimpacttrimeshpart_vs_plane_collision( - btCollisionObject * body0, - btCollisionObject * body1, - btGImpactMeshShapePart * shape0, - btStaticPlaneShape * shape1,bool swapped) -{ - - - btTransform orgtrans0 = body0->getWorldTransform(); - btTransform orgtrans1 = body1->getWorldTransform(); - - btPlaneShape * planeshape = static_cast(shape1); - btVector4 plane; - planeshape->get_plane_equation_transformed(orgtrans1,plane); - - //test box against plane - - btAABB tribox; - shape0->getAabb(orgtrans0,tribox.m_min,tribox.m_max); - tribox.increment_margin(planeshape->getMargin()); - - if( tribox.plane_classify(plane)!= BT_CONST_COLLIDE_PLANE) return; - - shape0->lockChildShapes(); - - btScalar margin = shape0->getMargin() + planeshape->getMargin(); - - btVector3 vertex; - int vi = shape0->getVertexCount(); - while(vi--) - { - shape0->getVertex(vi,vertex); - vertex = orgtrans0(vertex); - - btScalar distance = vertex.dot(plane) - plane[3] - margin; - - if(distance<0.0)//add contact - { - if(swapped) - { - addContactPoint(body1, body0, - vertex, - -plane, - distance); - } - else - { - addContactPoint(body0, body1, - vertex, - plane, - distance); - } - } - } - - shape0->unlockChildShapes(); -} - - - - -class btGImpactTriangleCallback: public btTriangleCallback -{ -public: - btGImpactCollisionAlgorithm * algorithm; - btCollisionObject * body0; - btCollisionObject * body1; - btGImpactShapeInterface * gimpactshape0; - bool swapped; - btScalar margin; - - virtual void processTriangle(btVector3* triangle, int partId, int triangleIndex) - { - btTriangleShapeEx tri1(triangle[0],triangle[1],triangle[2]); - tri1.setMargin(margin); - if(swapped) - { - algorithm->setPart0(partId); - algorithm->setFace0(triangleIndex); - } - else - { - algorithm->setPart1(partId); - algorithm->setFace1(triangleIndex); - } - algorithm->gimpact_vs_shape( - body0,body1,gimpactshape0,&tri1,swapped); - } -}; - - - - -void btGImpactCollisionAlgorithm::gimpact_vs_concave( - btCollisionObject * body0, - btCollisionObject * body1, - btGImpactShapeInterface * shape0, - btConcaveShape * shape1,bool swapped) -{ - //create the callback - btGImpactTriangleCallback tricallback; - tricallback.algorithm = this; - tricallback.body0 = body0; - tricallback.body1 = body1; - tricallback.gimpactshape0 = shape0; - tricallback.swapped = swapped; - tricallback.margin = shape1->getMargin(); - - //getting the trimesh AABB - btTransform gimpactInConcaveSpace; - - gimpactInConcaveSpace = body1->getWorldTransform().inverse() * body0->getWorldTransform(); - - btVector3 minAABB,maxAABB; - shape0->getAabb(gimpactInConcaveSpace,minAABB,maxAABB); - - shape1->processAllTriangles(&tricallback,minAABB,maxAABB); - -} - - - -void btGImpactCollisionAlgorithm::processCollision (btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut) -{ - clearCache(); - - m_resultOut = resultOut; - m_dispatchInfo = &dispatchInfo; - btGImpactShapeInterface * gimpactshape0; - btGImpactShapeInterface * gimpactshape1; - - if (body0->getCollisionShape()->getShapeType()==GIMPACT_SHAPE_PROXYTYPE) - { - gimpactshape0 = static_cast(body0->getCollisionShape()); - - if( body1->getCollisionShape()->getShapeType()==GIMPACT_SHAPE_PROXYTYPE ) - { - gimpactshape1 = static_cast(body1->getCollisionShape()); - - gimpact_vs_gimpact(body0,body1,gimpactshape0,gimpactshape1); - } - else - { - gimpact_vs_shape(body0,body1,gimpactshape0,body1->getCollisionShape(),false); - } - - } - else if (body1->getCollisionShape()->getShapeType()==GIMPACT_SHAPE_PROXYTYPE ) - { - gimpactshape1 = static_cast(body1->getCollisionShape()); - - gimpact_vs_shape(body1,body0,gimpactshape1,body0->getCollisionShape(),true); - } -} - - -btScalar btGImpactCollisionAlgorithm::calculateTimeOfImpact(btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut) -{ - return 1.f; - -} - -///////////////////////////////////// REGISTERING ALGORITHM ////////////////////////////////////////////// - -btGImpactCollisionAlgorithm::CreateFunc g_gimpact_cf; - -//! Use this function for register the algorithm externally -void btGImpactCollisionAlgorithm::registerAlgorithm(btCollisionDispatcher * dispatcher) -{ - - int i; - - for ( i = 0;i < MAX_BROADPHASE_COLLISION_TYPES ;i++ ) - { - dispatcher->registerCollisionCreateFunc(GIMPACT_SHAPE_PROXYTYPE,i ,&g_gimpact_cf); - } - - for ( i = 0;i < MAX_BROADPHASE_COLLISION_TYPES ;i++ ) - { - dispatcher->registerCollisionCreateFunc(i,GIMPACT_SHAPE_PROXYTYPE ,&g_gimpact_cf); - } - -} +/* +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. +*/ +/* +Author: Francisco Len Nßjera +Concave-Concave Collision + +*/ + +#include "BulletCollision/CollisionDispatch/btManifoldResult.h" +#include "LinearMath/btIDebugDraw.h" +#include "BulletCollision/CollisionDispatch/btCollisionObject.h" +#include "BulletCollision/CollisionShapes/btBoxShape.h" +#include "btGImpactCollisionAlgorithm.h" +#include "btContactProcessing.h" +#include "LinearMath/btQuickprof.h" + + +//! Class for accessing the plane equation +class btPlaneShape : public btStaticPlaneShape +{ +public: + + btPlaneShape(const btVector3& v, float f) + :btStaticPlaneShape(v,f) + { + } + + void get_plane_equation(btVector4 &equation) + { + equation[0] = m_planeNormal[0]; + equation[1] = m_planeNormal[1]; + equation[2] = m_planeNormal[2]; + equation[3] = m_planeConstant; + } + + + void get_plane_equation_transformed(const btTransform & trans,btVector4 &equation) + { + equation[0] = trans.getBasis().getRow(0).dot(m_planeNormal); + equation[1] = trans.getBasis().getRow(1).dot(m_planeNormal); + equation[2] = trans.getBasis().getRow(2).dot(m_planeNormal); + equation[3] = trans.getOrigin().dot(m_planeNormal) + m_planeConstant; + } +}; + + + +////////////////////////////////////////////////////////////////////////////////////////////// +#ifdef TRI_COLLISION_PROFILING + +btClock g_triangle_clock; + +float g_accum_triangle_collision_time = 0; +int g_count_triangle_collision = 0; + +void bt_begin_gim02_tri_time() +{ + g_triangle_clock.reset(); +} + +void bt_end_gim02_tri_time() +{ + g_accum_triangle_collision_time += g_triangle_clock.getTimeMicroseconds(); + g_count_triangle_collision++; +} +#endif //TRI_COLLISION_PROFILING +//! Retrieving shapes shapes +/*! +Declared here due of insuficent space on Pool allocators +*/ +//!@{ +class GIM_ShapeRetriever +{ +public: + btGImpactShapeInterface * m_gim_shape; + btTriangleShapeEx m_trishape; + btTetrahedronShapeEx m_tetrashape; + +public: + class ChildShapeRetriever + { + public: + GIM_ShapeRetriever * m_parent; + virtual btCollisionShape * getChildShape(int index) + { + return m_parent->m_gim_shape->getChildShape(index); + } + }; + + class TriangleShapeRetriever:public ChildShapeRetriever + { + public: + + virtual btCollisionShape * getChildShape(int index) + { + m_parent->m_gim_shape->getBulletTriangle(index,m_parent->m_trishape); + return &m_parent->m_trishape; + } + }; + + class TetraShapeRetriever:public ChildShapeRetriever + { + public: + + virtual btCollisionShape * getChildShape(int index) + { + m_parent->m_gim_shape->getBulletTetrahedron(index,m_parent->m_tetrashape); + return &m_parent->m_tetrashape; + } + }; +public: + ChildShapeRetriever m_child_retriever; + TriangleShapeRetriever m_tri_retriever; + TetraShapeRetriever m_tetra_retriever; + ChildShapeRetriever * m_current_retriever; + + GIM_ShapeRetriever(btGImpactShapeInterface * gim_shape) + { + m_gim_shape = gim_shape; + //select retriever + if(m_gim_shape->needsRetrieveTriangles()) + { + m_current_retriever = &m_tri_retriever; + } + else if(m_gim_shape->needsRetrieveTetrahedrons()) + { + m_current_retriever = &m_tetra_retriever; + } + else + { + m_current_retriever = &m_child_retriever; + } + + m_current_retriever->m_parent = this; + } + + btCollisionShape * getChildShape(int index) + { + return m_current_retriever->getChildShape(index); + } + + +}; + + + +//!@} + + +#ifdef TRI_COLLISION_PROFILING + +//! Gets the average time in miliseconds of tree collisions +float btGImpactCollisionAlgorithm::getAverageTreeCollisionTime() +{ + return btGImpactBoxSet::getAverageTreeCollisionTime(); + +} + +//! Gets the average time in miliseconds of triangle collisions +float btGImpactCollisionAlgorithm::getAverageTriangleCollisionTime() +{ + if(g_count_triangle_collision == 0) return 0; + + float avgtime = g_accum_triangle_collision_time; + avgtime /= (float)g_count_triangle_collision; + + g_accum_triangle_collision_time = 0; + g_count_triangle_collision = 0; + + return avgtime; +} + +#endif //TRI_COLLISION_PROFILING + + + +btGImpactCollisionAlgorithm::btGImpactCollisionAlgorithm( const btCollisionAlgorithmConstructionInfo& ci, btCollisionObject* body0,btCollisionObject* body1) +: btCollisionAlgorithm(ci) +{ + m_manifoldPtr = NULL; + m_convex_algorithm = NULL; +} + +btGImpactCollisionAlgorithm::~btGImpactCollisionAlgorithm() +{ + clearCache(); +} + + + + + +void btGImpactCollisionAlgorithm::addContactPoint(btCollisionObject * body0, + btCollisionObject * body1, + const btVector3 & point, + const btVector3 & normal, + btScalar distance) +{ + m_resultOut->setShapeIdentifiers(m_part0,m_triface0,m_part1,m_triface1); + checkManifold(body0,body1); + m_resultOut->addContactPoint(normal,point,distance); +} + + +void btGImpactCollisionAlgorithm::shape_vs_shape_collision( + btCollisionObject * body0, + btCollisionObject * body1, + btCollisionShape * shape0, + btCollisionShape * shape1) +{ + + btCollisionShape* tmpShape0 = body0->getCollisionShape(); + btCollisionShape* tmpShape1 = body1->getCollisionShape(); + + body0->internalSetTemporaryCollisionShape(shape0); + body1->internalSetTemporaryCollisionShape(shape1); + + { + btCollisionAlgorithm* algor = newAlgorithm(body0,body1); + // post : checkManifold is called + + m_resultOut->setShapeIdentifiers(m_part0,m_triface0,m_part1,m_triface1); + + algor->processCollision(body0,body1,*m_dispatchInfo,m_resultOut); + + algor->~btCollisionAlgorithm(); + m_dispatcher->freeCollisionAlgorithm(algor); + } + + body0->internalSetTemporaryCollisionShape(tmpShape0); + body1->internalSetTemporaryCollisionShape(tmpShape1); +} + +void btGImpactCollisionAlgorithm::convex_vs_convex_collision( + btCollisionObject * body0, + btCollisionObject * body1, + btCollisionShape * shape0, + btCollisionShape * shape1) +{ + + btCollisionShape* tmpShape0 = body0->getCollisionShape(); + btCollisionShape* tmpShape1 = body1->getCollisionShape(); + + body0->internalSetTemporaryCollisionShape(shape0); + body1->internalSetTemporaryCollisionShape(shape1); + + + m_resultOut->setShapeIdentifiers(m_part0,m_triface0,m_part1,m_triface1); + + checkConvexAlgorithm(body0,body1); + m_convex_algorithm->processCollision(body0,body1,*m_dispatchInfo,m_resultOut); + + body0->internalSetTemporaryCollisionShape(tmpShape0); + body1->internalSetTemporaryCollisionShape(tmpShape1); + +} + + + + +void btGImpactCollisionAlgorithm::gimpact_vs_gimpact_find_pairs( + const btTransform & trans0, + const btTransform & trans1, + btGImpactShapeInterface * shape0, + btGImpactShapeInterface * shape1,btPairSet & pairset) +{ + if(shape0->hasBoxSet() && shape1->hasBoxSet()) + { + btGImpactBoxSet::find_collision(shape0->getBoxSet(),trans0,shape1->getBoxSet(),trans1,pairset); + } + else + { + btAABB boxshape0; + btAABB boxshape1; + int i = shape0->getNumChildShapes(); + + while(i--) + { + shape0->getChildAabb(i,trans0,boxshape0.m_min,boxshape0.m_max); + + int j = shape1->getNumChildShapes(); + while(j--) + { + shape1->getChildAabb(i,trans1,boxshape1.m_min,boxshape1.m_max); + + if(boxshape1.has_collision(boxshape0)) + { + pairset.push_pair(i,j); + } + } + } + } + + +} + + +void btGImpactCollisionAlgorithm::gimpact_vs_shape_find_pairs( + const btTransform & trans0, + const btTransform & trans1, + btGImpactShapeInterface * shape0, + btCollisionShape * shape1, + btAlignedObjectArray & collided_primitives) +{ + + btAABB boxshape; + + + if(shape0->hasBoxSet()) + { + btTransform trans1to0 = trans0.inverse(); + trans1to0 *= trans1; + + shape1->getAabb(trans1to0,boxshape.m_min,boxshape.m_max); + + shape0->getBoxSet()->boxQuery(boxshape, collided_primitives); + } + else + { + shape1->getAabb(trans1,boxshape.m_min,boxshape.m_max); + + btAABB boxshape0; + int i = shape0->getNumChildShapes(); + + while(i--) + { + shape0->getChildAabb(i,trans0,boxshape0.m_min,boxshape0.m_max); + + if(boxshape.has_collision(boxshape0)) + { + collided_primitives.push_back(i); + } + } + + } + +} + + +void btGImpactCollisionAlgorithm::collide_gjk_triangles(btCollisionObject * body0, + btCollisionObject * body1, + btGImpactMeshShapePart * shape0, + btGImpactMeshShapePart * shape1, + const int * pairs, int pair_count) +{ + btTriangleShapeEx tri0; + btTriangleShapeEx tri1; + + shape0->lockChildShapes(); + shape1->lockChildShapes(); + + const int * pair_pointer = pairs; + + while(pair_count--) + { + + m_triface0 = *(pair_pointer); + m_triface1 = *(pair_pointer+1); + pair_pointer+=2; + + + + shape0->getBulletTriangle(m_triface0,tri0); + shape1->getBulletTriangle(m_triface1,tri1); + + + //collide two convex shapes + if(tri0.overlap_test_conservative(tri1)) + { + convex_vs_convex_collision(body0,body1,&tri0,&tri1); + } + + } + + shape0->unlockChildShapes(); + shape1->unlockChildShapes(); +} + +void btGImpactCollisionAlgorithm::collide_sat_triangles(btCollisionObject * body0, + btCollisionObject * body1, + btGImpactMeshShapePart * shape0, + btGImpactMeshShapePart * shape1, + const int * pairs, int pair_count) +{ + btTransform orgtrans0 = body0->getWorldTransform(); + btTransform orgtrans1 = body1->getWorldTransform(); + + btPrimitiveTriangle ptri0; + btPrimitiveTriangle ptri1; + BT_TRIANGLE_CONTACT contact_data; + + shape0->lockChildShapes(); + shape1->lockChildShapes(); + + const int * pair_pointer = pairs; + + while(pair_count--) + { + + m_triface0 = *(pair_pointer); + m_triface1 = *(pair_pointer+1); + pair_pointer+=2; + + + shape0->getPrimitiveTriangle(m_triface0,ptri0); + shape1->getPrimitiveTriangle(m_triface1,ptri1); + + #ifdef TRI_COLLISION_PROFILING + bt_begin_gim02_tri_time(); + #endif + + ptri0.applyTransform(orgtrans0); + ptri1.applyTransform(orgtrans1); + + + //build planes + ptri0.buildTriPlane(); + ptri1.buildTriPlane(); + // test conservative + + + + if(ptri0.overlap_test_conservative(ptri1)) + { + if(ptri0.find_triangle_collision_clip_method(ptri1,contact_data)) + { + + int j = contact_data.m_point_count; + while(j--) + { + + addContactPoint(body0, body1, + contact_data.m_points[j], + contact_data.m_separating_normal, + -contact_data.m_penetration_depth); + } + } + } + + #ifdef TRI_COLLISION_PROFILING + bt_end_gim02_tri_time(); + #endif + + } + + shape0->unlockChildShapes(); + shape1->unlockChildShapes(); + +} + + +void btGImpactCollisionAlgorithm::gimpact_vs_gimpact( + btCollisionObject * body0, + btCollisionObject * body1, + btGImpactShapeInterface * shape0, + btGImpactShapeInterface * shape1) +{ + + if(shape0->getGImpactShapeType()==CONST_GIMPACT_TRIMESH_SHAPE) + { + btGImpactMeshShape * meshshape0 = static_cast(shape0); + m_part0 = meshshape0->getMeshPartCount(); + + while(m_part0--) + { + gimpact_vs_gimpact(body0,body1,meshshape0->getMeshPart(m_part0),shape1); + } + + return; + } + + if(shape1->getGImpactShapeType()==CONST_GIMPACT_TRIMESH_SHAPE) + { + btGImpactMeshShape * meshshape1 = static_cast(shape1); + m_part1 = meshshape1->getMeshPartCount(); + + while(m_part1--) + { + + gimpact_vs_gimpact(body0,body1,shape0,meshshape1->getMeshPart(m_part1)); + + } + + return; + } + + + btTransform orgtrans0 = body0->getWorldTransform(); + btTransform orgtrans1 = body1->getWorldTransform(); + + btPairSet pairset; + + gimpact_vs_gimpact_find_pairs(orgtrans0,orgtrans1,shape0,shape1,pairset); + + if(pairset.size()== 0) return; + + if(shape0->getGImpactShapeType() == CONST_GIMPACT_TRIMESH_SHAPE_PART && + shape1->getGImpactShapeType() == CONST_GIMPACT_TRIMESH_SHAPE_PART) + { + btGImpactMeshShapePart * shapepart0 = static_cast(shape0); + btGImpactMeshShapePart * shapepart1 = static_cast(shape1); + //specialized function + #ifdef BULLET_TRIANGLE_COLLISION + collide_gjk_triangles(body0,body1,shapepart0,shapepart1,&pairset[0].m_index1,pairset.size()); + #else + collide_sat_triangles(body0,body1,shapepart0,shapepart1,&pairset[0].m_index1,pairset.size()); + #endif + + return; + } + + //general function + + shape0->lockChildShapes(); + shape1->lockChildShapes(); + + GIM_ShapeRetriever retriever0(shape0); + GIM_ShapeRetriever retriever1(shape1); + + bool child_has_transform0 = shape0->childrenHasTransform(); + bool child_has_transform1 = shape1->childrenHasTransform(); + + int i = pairset.size(); + while(i--) + { + BT_PAIR * pair = &pairset[i]; + m_triface0 = pair->m_index1; + m_triface1 = pair->m_index2; + btCollisionShape * colshape0 = retriever0.getChildShape(m_triface0); + btCollisionShape * colshape1 = retriever1.getChildShape(m_triface1); + + if(child_has_transform0) + { + body0->setWorldTransform(orgtrans0*shape0->getChildTransform(m_triface0)); + } + + if(child_has_transform1) + { + body1->setWorldTransform(orgtrans1*shape1->getChildTransform(m_triface1)); + } + + //collide two convex shapes + convex_vs_convex_collision(body0,body1,colshape0,colshape1); + + + if(child_has_transform0) + { + body0->setWorldTransform(orgtrans0); + } + + if(child_has_transform1) + { + body1->setWorldTransform(orgtrans1); + } + + } + + shape0->unlockChildShapes(); + shape1->unlockChildShapes(); +} + +void btGImpactCollisionAlgorithm::gimpact_vs_shape(btCollisionObject * body0, + btCollisionObject * body1, + btGImpactShapeInterface * shape0, + btCollisionShape * shape1,bool swapped) +{ + if(shape0->getGImpactShapeType()==CONST_GIMPACT_TRIMESH_SHAPE) + { + btGImpactMeshShape * meshshape0 = static_cast(shape0); + m_part0 = meshshape0->getMeshPartCount(); + + while(m_part0--) + { + + gimpact_vs_shape(body0, + body1, + meshshape0->getMeshPart(m_part0), + shape1,swapped); + + } + + return; + } + + #ifdef GIMPACT_VS_PLANE_COLLISION + if(shape0->getGImpactShapeType() == CONST_GIMPACT_TRIMESH_SHAPE_PART && + shape1->getShapeType() == STATIC_PLANE_PROXYTYPE) + { + btGImpactMeshShapePart * shapepart = static_cast(shape0); + btStaticPlaneShape * planeshape = static_cast(shape1); + gimpacttrimeshpart_vs_plane_collision(body0,body1,shapepart,planeshape,swapped); + return; + } + + #endif + + + + if(shape1->isCompound()) + { + btCompoundShape * compoundshape = static_cast(shape1); + gimpact_vs_compoundshape(body0,body1,shape0,compoundshape,swapped); + return; + } + else if(shape1->isConcave()) + { + btConcaveShape * concaveshape = static_cast(shape1); + gimpact_vs_concave(body0,body1,shape0,concaveshape,swapped); + return; + } + + + btTransform orgtrans0 = body0->getWorldTransform(); + + btTransform orgtrans1 = body1->getWorldTransform(); + + btAlignedObjectArray collided_results; + + gimpact_vs_shape_find_pairs(orgtrans0,orgtrans1,shape0,shape1,collided_results); + + if(collided_results.size() == 0) return; + + + shape0->lockChildShapes(); + + GIM_ShapeRetriever retriever0(shape0); + + + bool child_has_transform0 = shape0->childrenHasTransform(); + + + int i = collided_results.size(); + + while(i--) + { + int child_index = collided_results[i]; + if(swapped) + m_triface1 = child_index; + else + m_triface0 = child_index; + + btCollisionShape * colshape0 = retriever0.getChildShape(child_index); + + if(child_has_transform0) + { + body0->setWorldTransform(orgtrans0*shape0->getChildTransform(child_index)); + } + + //collide two shapes + if(swapped) + { + shape_vs_shape_collision(body1,body0,shape1,colshape0); + } + else + { + shape_vs_shape_collision(body0,body1,colshape0,shape1); + } + + //restore transforms + if(child_has_transform0) + { + body0->setWorldTransform(orgtrans0); + } + + } + + shape0->unlockChildShapes(); + +} + +void btGImpactCollisionAlgorithm::gimpact_vs_compoundshape(btCollisionObject * body0, + btCollisionObject * body1, + btGImpactShapeInterface * shape0, + btCompoundShape * shape1,bool swapped) +{ + btTransform orgtrans1 = body1->getWorldTransform(); + + int i = shape1->getNumChildShapes(); + while(i--) + { + + btCollisionShape * colshape1 = shape1->getChildShape(i); + btTransform childtrans1 = orgtrans1*shape1->getChildTransform(i); + + body1->setWorldTransform(childtrans1); + + //collide child shape + gimpact_vs_shape(body0, body1, + shape0,colshape1,swapped); + + + //restore transforms + body1->setWorldTransform(orgtrans1); + } +} + +void btGImpactCollisionAlgorithm::gimpacttrimeshpart_vs_plane_collision( + btCollisionObject * body0, + btCollisionObject * body1, + btGImpactMeshShapePart * shape0, + btStaticPlaneShape * shape1,bool swapped) +{ + + + btTransform orgtrans0 = body0->getWorldTransform(); + btTransform orgtrans1 = body1->getWorldTransform(); + + btPlaneShape * planeshape = static_cast(shape1); + btVector4 plane; + planeshape->get_plane_equation_transformed(orgtrans1,plane); + + //test box against plane + + btAABB tribox; + shape0->getAabb(orgtrans0,tribox.m_min,tribox.m_max); + tribox.increment_margin(planeshape->getMargin()); + + if( tribox.plane_classify(plane)!= BT_CONST_COLLIDE_PLANE) return; + + shape0->lockChildShapes(); + + btScalar margin = shape0->getMargin() + planeshape->getMargin(); + + btVector3 vertex; + int vi = shape0->getVertexCount(); + while(vi--) + { + shape0->getVertex(vi,vertex); + vertex = orgtrans0(vertex); + + btScalar distance = vertex.dot(plane) - plane[3] - margin; + + if(distance<0.0)//add contact + { + if(swapped) + { + addContactPoint(body1, body0, + vertex, + -plane, + distance); + } + else + { + addContactPoint(body0, body1, + vertex, + plane, + distance); + } + } + } + + shape0->unlockChildShapes(); +} + + + + +class btGImpactTriangleCallback: public btTriangleCallback +{ +public: + btGImpactCollisionAlgorithm * algorithm; + btCollisionObject * body0; + btCollisionObject * body1; + btGImpactShapeInterface * gimpactshape0; + bool swapped; + btScalar margin; + + virtual void processTriangle(btVector3* triangle, int partId, int triangleIndex) + { + btTriangleShapeEx tri1(triangle[0],triangle[1],triangle[2]); + tri1.setMargin(margin); + if(swapped) + { + algorithm->setPart0(partId); + algorithm->setFace0(triangleIndex); + } + else + { + algorithm->setPart1(partId); + algorithm->setFace1(triangleIndex); + } + algorithm->gimpact_vs_shape( + body0,body1,gimpactshape0,&tri1,swapped); + } +}; + + + + +void btGImpactCollisionAlgorithm::gimpact_vs_concave( + btCollisionObject * body0, + btCollisionObject * body1, + btGImpactShapeInterface * shape0, + btConcaveShape * shape1,bool swapped) +{ + //create the callback + btGImpactTriangleCallback tricallback; + tricallback.algorithm = this; + tricallback.body0 = body0; + tricallback.body1 = body1; + tricallback.gimpactshape0 = shape0; + tricallback.swapped = swapped; + tricallback.margin = shape1->getMargin(); + + //getting the trimesh AABB + btTransform gimpactInConcaveSpace; + + gimpactInConcaveSpace = body1->getWorldTransform().inverse() * body0->getWorldTransform(); + + btVector3 minAABB,maxAABB; + shape0->getAabb(gimpactInConcaveSpace,minAABB,maxAABB); + + shape1->processAllTriangles(&tricallback,minAABB,maxAABB); + +} + + + +void btGImpactCollisionAlgorithm::processCollision (btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut) +{ + clearCache(); + + m_resultOut = resultOut; + m_dispatchInfo = &dispatchInfo; + btGImpactShapeInterface * gimpactshape0; + btGImpactShapeInterface * gimpactshape1; + + if (body0->getCollisionShape()->getShapeType()==GIMPACT_SHAPE_PROXYTYPE) + { + gimpactshape0 = static_cast(body0->getCollisionShape()); + + if( body1->getCollisionShape()->getShapeType()==GIMPACT_SHAPE_PROXYTYPE ) + { + gimpactshape1 = static_cast(body1->getCollisionShape()); + + gimpact_vs_gimpact(body0,body1,gimpactshape0,gimpactshape1); + } + else + { + gimpact_vs_shape(body0,body1,gimpactshape0,body1->getCollisionShape(),false); + } + + } + else if (body1->getCollisionShape()->getShapeType()==GIMPACT_SHAPE_PROXYTYPE ) + { + gimpactshape1 = static_cast(body1->getCollisionShape()); + + gimpact_vs_shape(body1,body0,gimpactshape1,body0->getCollisionShape(),true); + } +} + + +btScalar btGImpactCollisionAlgorithm::calculateTimeOfImpact(btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut) +{ + return 1.f; + +} + +///////////////////////////////////// REGISTERING ALGORITHM ////////////////////////////////////////////// + +btGImpactCollisionAlgorithm::CreateFunc g_gimpact_cf; + +//! Use this function for register the algorithm externally +void btGImpactCollisionAlgorithm::registerAlgorithm(btCollisionDispatcher * dispatcher) +{ + + int i; + + for ( i = 0;i < MAX_BROADPHASE_COLLISION_TYPES ;i++ ) + { + dispatcher->registerCollisionCreateFunc(GIMPACT_SHAPE_PROXYTYPE,i ,&g_gimpact_cf); + } + + for ( i = 0;i < MAX_BROADPHASE_COLLISION_TYPES ;i++ ) + { + dispatcher->registerCollisionCreateFunc(i,GIMPACT_SHAPE_PROXYTYPE ,&g_gimpact_cf); + } + +} diff --git a/Extras/GIMPACT/include/GIMPACT/Bullet/btGImpactCollisionAlgorithm.h b/src/BulletCollision/Gimpact/btGImpactCollisionAlgorithm.h old mode 100755 new mode 100644 similarity index 95% rename from Extras/GIMPACT/include/GIMPACT/Bullet/btGImpactCollisionAlgorithm.h rename to src/BulletCollision/Gimpact/btGImpactCollisionAlgorithm.h index f12c44cb5..c745b7ed5 --- a/Extras/GIMPACT/include/GIMPACT/Bullet/btGImpactCollisionAlgorithm.h +++ b/src/BulletCollision/Gimpact/btGImpactCollisionAlgorithm.h @@ -1,306 +1,306 @@ -/*! \file btGImpactShape.h -\author Francisco León Nájera -*/ -/* -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 BVH_CONCAVE_COLLISION_ALGORITHM_H -#define BVH_CONCAVE_COLLISION_ALGORITHM_H - -#include "BulletCollision/BroadphaseCollision/btCollisionAlgorithm.h" -#include "BulletCollision/BroadphaseCollision/btDispatcher.h" -#include "BulletCollision/BroadphaseCollision/btBroadphaseInterface.h" -#include "BulletCollision/NarrowPhaseCollision/btPersistentManifold.h" -class btDispatcher; -#include "BulletCollision/BroadphaseCollision/btBroadphaseProxy.h" -#include "BulletCollision/CollisionDispatch/btCollisionCreateFunc.h" -#include "BulletCollision/CollisionDispatch/btCollisionDispatcher.h" - -#include "LinearMath/btAlignedObjectArray.h" - -#include "GIMPACT/Bullet/btGImpactShape.h" -#include "BulletCollision/CollisionShapes/btStaticPlaneShape.h" -#include "BulletCollision/CollisionShapes/btCompoundShape.h" -#include "BulletCollision/CollisionDispatch/btConvexConvexAlgorithm.h" -#include "LinearMath/btIDebugDraw.h" - - - -//! Collision Algorithm for GImpact Shapes -/*! -For register this algorithm in Bullet, proceed as following: - \code -btCollisionDispatcher * dispatcher = static_cast(m_dynamicsWorld ->getDispatcher()); -btGImpactCollisionAlgorithm::registerAlgorithm(dispatcher); - \endcode -*/ -class btGImpactCollisionAlgorithm : public btCollisionAlgorithm -{ -protected: - btCollisionAlgorithm * m_convex_algorithm; - btPersistentManifold * m_manifoldPtr; - btManifoldResult* m_resultOut; - const btDispatcherInfo * m_dispatchInfo; - int m_triface0; - int m_part0; - int m_triface1; - int m_part1; - - - //! Creates a new contact point - SIMD_FORCE_INLINE btPersistentManifold* newContactManifold(btCollisionObject* body0,btCollisionObject* body1) - { - m_manifoldPtr = m_dispatcher->getNewManifold(body0,body1); - return m_manifoldPtr; - } - - SIMD_FORCE_INLINE void destroyConvexAlgorithm() - { - if(m_convex_algorithm) - { - m_convex_algorithm->~btCollisionAlgorithm(); - m_dispatcher->freeCollisionAlgorithm( m_convex_algorithm); - m_convex_algorithm = NULL; - } - } - - SIMD_FORCE_INLINE void destroyContactManifolds() - { - if(m_manifoldPtr == NULL) return; - m_dispatcher->releaseManifold(m_manifoldPtr); - m_manifoldPtr = NULL; - } - - SIMD_FORCE_INLINE void clearCache() - { - destroyContactManifolds(); - destroyConvexAlgorithm(); - - m_triface0 = -1; - m_part0 = -1; - m_triface1 = -1; - m_part1 = -1; - } - - SIMD_FORCE_INLINE btPersistentManifold* getLastManifold() - { - return m_manifoldPtr; - } - - - // Call before process collision - SIMD_FORCE_INLINE void checkManifold(btCollisionObject* body0,btCollisionObject* body1) - { - if(getLastManifold() == 0) - { - newContactManifold(body0,body1); - } - - m_resultOut->setPersistentManifold(getLastManifold()); - } - - // Call before process collision - SIMD_FORCE_INLINE btCollisionAlgorithm * newAlgorithm(btCollisionObject* body0,btCollisionObject* body1) - { - checkManifold(body0,body1); - - btCollisionAlgorithm * convex_algorithm = m_dispatcher->findAlgorithm( - body0,body1,getLastManifold()); - return convex_algorithm ; - } - - // Call before process collision - SIMD_FORCE_INLINE void checkConvexAlgorithm(btCollisionObject* body0,btCollisionObject* body1) - { - if(m_convex_algorithm) return; - m_convex_algorithm = newAlgorithm(body0,body1); - } - - - - - void addContactPoint(btCollisionObject * body0, - btCollisionObject * body1, - const btVector3 & point, - const btVector3 & normal, - btScalar distance); - -//! Collision routines -//!@{ - - void collide_gjk_triangles(btCollisionObject * body0, - btCollisionObject * body1, - btGImpactMeshShapePart * shape0, - btGImpactMeshShapePart * shape1, - const int * pairs, int pair_count); - - void collide_sat_triangles(btCollisionObject * body0, - btCollisionObject * body1, - btGImpactMeshShapePart * shape0, - btGImpactMeshShapePart * shape1, - const int * pairs, int pair_count); - - - - - void shape_vs_shape_collision( - btCollisionObject * body0, - btCollisionObject * body1, - btCollisionShape * shape0, - btCollisionShape * shape1); - - void convex_vs_convex_collision(btCollisionObject * body0, - btCollisionObject * body1, - btCollisionShape * shape0, - btCollisionShape * shape1); - - - - void gimpact_vs_gimpact_find_pairs( - const btTransform & trans0, - const btTransform & trans1, - btGImpactShapeInterface * shape0, - btGImpactShapeInterface * shape1,btPairSet & pairset); - - void gimpact_vs_shape_find_pairs( - const btTransform & trans0, - const btTransform & trans1, - btGImpactShapeInterface * shape0, - btCollisionShape * shape1, - btAlignedObjectArray & collided_primitives); - - - void gimpacttrimeshpart_vs_plane_collision( - btCollisionObject * body0, - btCollisionObject * body1, - btGImpactMeshShapePart * shape0, - btStaticPlaneShape * shape1,bool swapped); - - -public: - - btGImpactCollisionAlgorithm( const btCollisionAlgorithmConstructionInfo& ci,btCollisionObject* body0,btCollisionObject* body1); - - virtual ~btGImpactCollisionAlgorithm(); - - virtual void processCollision (btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut); - - btScalar calculateTimeOfImpact(btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut); - - virtual void getAllContactManifolds(btManifoldArray& manifoldArray) - { - if (m_manifoldPtr) - manifoldArray.push_back(m_manifoldPtr); - } - - - struct CreateFunc :public btCollisionAlgorithmCreateFunc - { - virtual btCollisionAlgorithm* CreateCollisionAlgorithm(btCollisionAlgorithmConstructionInfo& ci, btCollisionObject* body0,btCollisionObject* body1) - { - void* mem = ci.m_dispatcher1->allocateCollisionAlgorithm(sizeof(btGImpactCollisionAlgorithm)); - return new(mem) btGImpactCollisionAlgorithm(ci,body0,body1); - } - }; - - //! Use this function for register the algorithm externally - static void registerAlgorithm(btCollisionDispatcher * dispatcher); - - //! Gets the average time in miliseconds of tree collisions - static float getAverageTreeCollisionTime(); - - //! Gets the average time in miliseconds of triangle collisions - static float getAverageTriangleCollisionTime(); - - - //! Collides two gimpact shapes - /*! - \pre shape0 and shape1 couldn't be btGImpactMeshShape objects - */ - - - void gimpact_vs_gimpact(btCollisionObject * body0, - btCollisionObject * body1, - btGImpactShapeInterface * shape0, - btGImpactShapeInterface * shape1); - - void gimpact_vs_shape(btCollisionObject * body0, - btCollisionObject * body1, - btGImpactShapeInterface * shape0, - btCollisionShape * shape1,bool swapped); - - void gimpact_vs_compoundshape(btCollisionObject * body0, - btCollisionObject * body1, - btGImpactShapeInterface * shape0, - btCompoundShape * shape1,bool swapped); - - void gimpact_vs_concave( - btCollisionObject * body0, - btCollisionObject * body1, - btGImpactShapeInterface * shape0, - btConcaveShape * shape1,bool swapped); - - - - - /// Accessor/Mutator pairs for Part and triangleID - void setFace0(int value) - { - m_triface0 = value; - } - int getFace0() - { - return m_triface0; - } - void setFace1(int value) - { - m_triface1 = value; - } - int getFace1() - { - return m_triface1; - } - void setPart0(int value) - { - m_part0 = value; - } - int getPart0() - { - return m_part0; - } - void setPart1(int value) - { - m_part1 = value; - } - int getPart1() - { - return m_part1; - } - -}; - - -//algorithm details -//#define BULLET_TRIANGLE_COLLISION 1 -#define GIMPACT_VS_PLANE_COLLISION 1 - - - -#endif //BVH_CONCAVE_COLLISION_ALGORITHM_H +/*! \file btGImpactShape.h +\author Francisco Len Nßjera +*/ +/* +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 BVH_CONCAVE_COLLISION_ALGORITHM_H +#define BVH_CONCAVE_COLLISION_ALGORITHM_H + +#include "BulletCollision/BroadphaseCollision/btCollisionAlgorithm.h" +#include "BulletCollision/BroadphaseCollision/btDispatcher.h" +#include "BulletCollision/BroadphaseCollision/btBroadphaseInterface.h" +#include "BulletCollision/NarrowPhaseCollision/btPersistentManifold.h" +class btDispatcher; +#include "BulletCollision/BroadphaseCollision/btBroadphaseProxy.h" +#include "BulletCollision/CollisionDispatch/btCollisionCreateFunc.h" +#include "BulletCollision/CollisionDispatch/btCollisionDispatcher.h" + +#include "LinearMath/btAlignedObjectArray.h" + +#include "btGImpactShape.h" +#include "BulletCollision/CollisionShapes/btStaticPlaneShape.h" +#include "BulletCollision/CollisionShapes/btCompoundShape.h" +#include "BulletCollision/CollisionDispatch/btConvexConvexAlgorithm.h" +#include "LinearMath/btIDebugDraw.h" + + + +//! Collision Algorithm for GImpact Shapes +/*! +For register this algorithm in Bullet, proceed as following: + \code +btCollisionDispatcher * dispatcher = static_cast(m_dynamicsWorld ->getDispatcher()); +btGImpactCollisionAlgorithm::registerAlgorithm(dispatcher); + \endcode +*/ +class btGImpactCollisionAlgorithm : public btCollisionAlgorithm +{ +protected: + btCollisionAlgorithm * m_convex_algorithm; + btPersistentManifold * m_manifoldPtr; + btManifoldResult* m_resultOut; + const btDispatcherInfo * m_dispatchInfo; + int m_triface0; + int m_part0; + int m_triface1; + int m_part1; + + + //! Creates a new contact point + SIMD_FORCE_INLINE btPersistentManifold* newContactManifold(btCollisionObject* body0,btCollisionObject* body1) + { + m_manifoldPtr = m_dispatcher->getNewManifold(body0,body1); + return m_manifoldPtr; + } + + SIMD_FORCE_INLINE void destroyConvexAlgorithm() + { + if(m_convex_algorithm) + { + m_convex_algorithm->~btCollisionAlgorithm(); + m_dispatcher->freeCollisionAlgorithm( m_convex_algorithm); + m_convex_algorithm = NULL; + } + } + + SIMD_FORCE_INLINE void destroyContactManifolds() + { + if(m_manifoldPtr == NULL) return; + m_dispatcher->releaseManifold(m_manifoldPtr); + m_manifoldPtr = NULL; + } + + SIMD_FORCE_INLINE void clearCache() + { + destroyContactManifolds(); + destroyConvexAlgorithm(); + + m_triface0 = -1; + m_part0 = -1; + m_triface1 = -1; + m_part1 = -1; + } + + SIMD_FORCE_INLINE btPersistentManifold* getLastManifold() + { + return m_manifoldPtr; + } + + + // Call before process collision + SIMD_FORCE_INLINE void checkManifold(btCollisionObject* body0,btCollisionObject* body1) + { + if(getLastManifold() == 0) + { + newContactManifold(body0,body1); + } + + m_resultOut->setPersistentManifold(getLastManifold()); + } + + // Call before process collision + SIMD_FORCE_INLINE btCollisionAlgorithm * newAlgorithm(btCollisionObject* body0,btCollisionObject* body1) + { + checkManifold(body0,body1); + + btCollisionAlgorithm * convex_algorithm = m_dispatcher->findAlgorithm( + body0,body1,getLastManifold()); + return convex_algorithm ; + } + + // Call before process collision + SIMD_FORCE_INLINE void checkConvexAlgorithm(btCollisionObject* body0,btCollisionObject* body1) + { + if(m_convex_algorithm) return; + m_convex_algorithm = newAlgorithm(body0,body1); + } + + + + + void addContactPoint(btCollisionObject * body0, + btCollisionObject * body1, + const btVector3 & point, + const btVector3 & normal, + btScalar distance); + +//! Collision routines +//!@{ + + void collide_gjk_triangles(btCollisionObject * body0, + btCollisionObject * body1, + btGImpactMeshShapePart * shape0, + btGImpactMeshShapePart * shape1, + const int * pairs, int pair_count); + + void collide_sat_triangles(btCollisionObject * body0, + btCollisionObject * body1, + btGImpactMeshShapePart * shape0, + btGImpactMeshShapePart * shape1, + const int * pairs, int pair_count); + + + + + void shape_vs_shape_collision( + btCollisionObject * body0, + btCollisionObject * body1, + btCollisionShape * shape0, + btCollisionShape * shape1); + + void convex_vs_convex_collision(btCollisionObject * body0, + btCollisionObject * body1, + btCollisionShape * shape0, + btCollisionShape * shape1); + + + + void gimpact_vs_gimpact_find_pairs( + const btTransform & trans0, + const btTransform & trans1, + btGImpactShapeInterface * shape0, + btGImpactShapeInterface * shape1,btPairSet & pairset); + + void gimpact_vs_shape_find_pairs( + const btTransform & trans0, + const btTransform & trans1, + btGImpactShapeInterface * shape0, + btCollisionShape * shape1, + btAlignedObjectArray & collided_primitives); + + + void gimpacttrimeshpart_vs_plane_collision( + btCollisionObject * body0, + btCollisionObject * body1, + btGImpactMeshShapePart * shape0, + btStaticPlaneShape * shape1,bool swapped); + + +public: + + btGImpactCollisionAlgorithm( const btCollisionAlgorithmConstructionInfo& ci,btCollisionObject* body0,btCollisionObject* body1); + + virtual ~btGImpactCollisionAlgorithm(); + + virtual void processCollision (btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut); + + btScalar calculateTimeOfImpact(btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut); + + virtual void getAllContactManifolds(btManifoldArray& manifoldArray) + { + if (m_manifoldPtr) + manifoldArray.push_back(m_manifoldPtr); + } + + + struct CreateFunc :public btCollisionAlgorithmCreateFunc + { + virtual btCollisionAlgorithm* CreateCollisionAlgorithm(btCollisionAlgorithmConstructionInfo& ci, btCollisionObject* body0,btCollisionObject* body1) + { + void* mem = ci.m_dispatcher1->allocateCollisionAlgorithm(sizeof(btGImpactCollisionAlgorithm)); + return new(mem) btGImpactCollisionAlgorithm(ci,body0,body1); + } + }; + + //! Use this function for register the algorithm externally + static void registerAlgorithm(btCollisionDispatcher * dispatcher); + + //! Gets the average time in miliseconds of tree collisions + static float getAverageTreeCollisionTime(); + + //! Gets the average time in miliseconds of triangle collisions + static float getAverageTriangleCollisionTime(); + + + //! Collides two gimpact shapes + /*! + \pre shape0 and shape1 couldn't be btGImpactMeshShape objects + */ + + + void gimpact_vs_gimpact(btCollisionObject * body0, + btCollisionObject * body1, + btGImpactShapeInterface * shape0, + btGImpactShapeInterface * shape1); + + void gimpact_vs_shape(btCollisionObject * body0, + btCollisionObject * body1, + btGImpactShapeInterface * shape0, + btCollisionShape * shape1,bool swapped); + + void gimpact_vs_compoundshape(btCollisionObject * body0, + btCollisionObject * body1, + btGImpactShapeInterface * shape0, + btCompoundShape * shape1,bool swapped); + + void gimpact_vs_concave( + btCollisionObject * body0, + btCollisionObject * body1, + btGImpactShapeInterface * shape0, + btConcaveShape * shape1,bool swapped); + + + + + /// Accessor/Mutator pairs for Part and triangleID + void setFace0(int value) + { + m_triface0 = value; + } + int getFace0() + { + return m_triface0; + } + void setFace1(int value) + { + m_triface1 = value; + } + int getFace1() + { + return m_triface1; + } + void setPart0(int value) + { + m_part0 = value; + } + int getPart0() + { + return m_part0; + } + void setPart1(int value) + { + m_part1 = value; + } + int getPart1() + { + return m_part1; + } + +}; + + +//algorithm details +//#define BULLET_TRIANGLE_COLLISION 1 +#define GIMPACT_VS_PLANE_COLLISION 1 + + + +#endif //BVH_CONCAVE_COLLISION_ALGORITHM_H diff --git a/Extras/GIMPACT/include/GIMPACT/Bullet/btGImpactMassUtil.h b/src/BulletCollision/Gimpact/btGImpactMassUtil.h old mode 100755 new mode 100644 similarity index 95% rename from Extras/GIMPACT/include/GIMPACT/Bullet/btGImpactMassUtil.h rename to src/BulletCollision/Gimpact/btGImpactMassUtil.h index 7d1c26bc8..0a10f3cdb --- a/Extras/GIMPACT/include/GIMPACT/Bullet/btGImpactMassUtil.h +++ b/src/BulletCollision/Gimpact/btGImpactMassUtil.h @@ -1,60 +1,60 @@ -/*! \file btGImpactMassUtil.h -\author Francisco León Nájera -*/ -/* -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_MASS_UTIL_H -#define GIMPACT_MASS_UTIL_H - -#include "LinearMath/btTransform.h" - - - -SIMD_FORCE_INLINE btVector3 gim_inertia_add_transformed( - const btVector3 & source_inertia, const btVector3 & added_inertia, const btTransform & transform) -{ - btMatrix3x3 rotatedTensor = transform.getBasis().scaled(added_inertia) * transform.getBasis().transpose(); - - btScalar x2 = transform.getOrigin()[0]; - x2*= x2; - btScalar y2 = transform.getOrigin()[1]; - y2*= y2; - btScalar z2 = transform.getOrigin()[2]; - z2*= z2; - - btScalar ix = rotatedTensor[0][0]*(y2+z2); - btScalar iy = rotatedTensor[1][1]*(x2+z2); - btScalar iz = rotatedTensor[2][2]*(x2+y2); - - return btVector3(source_inertia[0]+ix,source_inertia[1]+iy,source_inertia[2] + iz); -} - -SIMD_FORCE_INLINE btVector3 gim_get_point_inertia(const btVector3 & point, btScalar mass) -{ - btScalar x2 = point[0]*point[0]; - btScalar y2 = point[1]*point[1]; - btScalar z2 = point[2]*point[2]; - return btVector3(mass*(y2+z2),mass*(x2+z2),mass*(x2+y2)); -} - - -#endif //GIMPACT_MESH_SHAPE_H +/*! \file btGImpactMassUtil.h +\author Francisco Len Nßjera +*/ +/* +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_MASS_UTIL_H +#define GIMPACT_MASS_UTIL_H + +#include "LinearMath/btTransform.h" + + + +SIMD_FORCE_INLINE btVector3 gim_inertia_add_transformed( + const btVector3 & source_inertia, const btVector3 & added_inertia, const btTransform & transform) +{ + btMatrix3x3 rotatedTensor = transform.getBasis().scaled(added_inertia) * transform.getBasis().transpose(); + + btScalar x2 = transform.getOrigin()[0]; + x2*= x2; + btScalar y2 = transform.getOrigin()[1]; + y2*= y2; + btScalar z2 = transform.getOrigin()[2]; + z2*= z2; + + btScalar ix = rotatedTensor[0][0]*(y2+z2); + btScalar iy = rotatedTensor[1][1]*(x2+z2); + btScalar iz = rotatedTensor[2][2]*(x2+y2); + + return btVector3(source_inertia[0]+ix,source_inertia[1]+iy,source_inertia[2] + iz); +} + +SIMD_FORCE_INLINE btVector3 gim_get_point_inertia(const btVector3 & point, btScalar mass) +{ + btScalar x2 = point[0]*point[0]; + btScalar y2 = point[1]*point[1]; + btScalar z2 = point[2]*point[2]; + return btVector3(mass*(y2+z2),mass*(x2+z2),mass*(x2+y2)); +} + + +#endif //GIMPACT_MESH_SHAPE_H diff --git a/Extras/GIMPACT/src/Bullet/btGImpactQuantizedBvh.cpp b/src/BulletCollision/Gimpact/btGImpactQuantizedBvh.cpp similarity index 99% rename from Extras/GIMPACT/src/Bullet/btGImpactQuantizedBvh.cpp rename to src/BulletCollision/Gimpact/btGImpactQuantizedBvh.cpp index 66cdb8214..0b1ef6acd 100644 --- a/Extras/GIMPACT/src/Bullet/btGImpactQuantizedBvh.cpp +++ b/src/BulletCollision/Gimpact/btGImpactQuantizedBvh.cpp @@ -1,5 +1,5 @@ /*! \file gim_box_set.h -\author Francisco León Nájera +\author Francisco Len Nßjera */ /* This source file is part of GIMPACT Library. @@ -21,7 +21,7 @@ subject to the following restrictions: 3. This notice may not be removed or altered from any source distribution. */ -#include "GIMPACT/Bullet/btGImpactQuantizedBvh.h" +#include "btGImpactQuantizedBvh.h" #include "LinearMath/btQuickprof.h" #ifdef TRI_COLLISION_PROFILING diff --git a/Extras/GIMPACT/include/GIMPACT/Bullet/btGImpactQuantizedBvh.h b/src/BulletCollision/Gimpact/btGImpactQuantizedBvh.h similarity index 98% rename from Extras/GIMPACT/include/GIMPACT/Bullet/btGImpactQuantizedBvh.h rename to src/BulletCollision/Gimpact/btGImpactQuantizedBvh.h index 610862b4d..3a4774b84 100644 --- a/Extras/GIMPACT/include/GIMPACT/Bullet/btGImpactQuantizedBvh.h +++ b/src/BulletCollision/Gimpact/btGImpactQuantizedBvh.h @@ -2,7 +2,7 @@ #define GIM_QUANTIZED_SET_H_INCLUDED /*! \file btGImpactQuantizedBvh.h -\author Francisco León Nájera +\author Francisco Len Nßjera */ /* This source file is part of GIMPACT Library. @@ -24,8 +24,8 @@ subject to the following restrictions: 3. This notice may not be removed or altered from any source distribution. */ -#include "GIMPACT/Bullet/btGImpactBvh.h" -#include "GIMPACT/Bullet/btQuantization.h" +#include "btGImpactBvh.h" +#include "btQuantization.h" diff --git a/Extras/GIMPACT/src/Bullet/btGImpactShape.cpp b/src/BulletCollision/Gimpact/btGImpactShape.cpp old mode 100755 new mode 100644 similarity index 94% rename from Extras/GIMPACT/src/Bullet/btGImpactShape.cpp rename to src/BulletCollision/Gimpact/btGImpactShape.cpp index 88e1c8e4c..da6a4dbfc --- a/Extras/GIMPACT/src/Bullet/btGImpactShape.cpp +++ b/src/BulletCollision/Gimpact/btGImpactShape.cpp @@ -1,183 +1,183 @@ -/* -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 "GIMPACT/Bullet/btGImpactShape.h" -#include "GIMPACT/Bullet/btGImpactMassUtil.h" - - -#define CALC_EXACT_INERTIA 1 - -void btGImpactCompoundShape::calculateLocalInertia(btScalar mass,btVector3& inertia) const -{ - lockChildShapes(); -#ifdef CALC_EXACT_INERTIA - inertia.setValue(0.f,0.f,0.f); - - int i = this->getNumChildShapes(); - btScalar shapemass = mass/btScalar(i); - - while(i--) - { - btVector3 temp_inertia; - m_childShapes[i]->calculateLocalInertia(shapemass,temp_inertia); - if(childrenHasTransform()) - { - inertia = gim_inertia_add_transformed( inertia,temp_inertia,m_childTransforms[i]); - } - else - { - inertia = gim_inertia_add_transformed( inertia,temp_inertia,btTransform::getIdentity()); - } - - } - -#else - - // Calc box inertia - - btScalar lx= m_localAABB.m_max[0] - m_localAABB.m_min[0]; - btScalar ly= m_localAABB.m_max[1] - m_localAABB.m_min[1]; - btScalar lz= m_localAABB.m_max[2] - m_localAABB.m_min[2]; - const btScalar x2 = lx*lx; - const btScalar y2 = ly*ly; - const btScalar z2 = lz*lz; - const btScalar scaledmass = mass * btScalar(0.08333333); - - inertia = scaledmass * (btVector3(y2+z2,x2+z2,x2+y2)); - -#endif - unlockChildShapes(); -} - - - -void btGImpactMeshShapePart::calculateLocalInertia(btScalar mass,btVector3& inertia) const -{ - lockChildShapes(); - - -#ifdef CALC_EXACT_INERTIA - inertia.setValue(0.f,0.f,0.f); - - int i = this->getVertexCount(); - btScalar pointmass = mass/btScalar(i); - - while(i--) - { - btVector3 pointintertia; - this->getVertex(i,pointintertia); - pointintertia = gim_get_point_inertia(pointintertia,pointmass); - inertia+=pointintertia; - } - -#else - - // Calc box inertia - - btScalar lx= m_localAABB.m_max[0] - m_localAABB.m_min[0]; - btScalar ly= m_localAABB.m_max[1] - m_localAABB.m_min[1]; - btScalar lz= m_localAABB.m_max[2] - m_localAABB.m_min[2]; - const btScalar x2 = lx*lx; - const btScalar y2 = ly*ly; - const btScalar z2 = lz*lz; - const btScalar scaledmass = mass * btScalar(0.08333333); - - inertia = scaledmass * (btVector3(y2+z2,x2+z2,x2+y2)); - -#endif - - unlockChildShapes(); -} - -void btGImpactMeshShape::calculateLocalInertia(btScalar mass,btVector3& inertia) const -{ - -#ifdef CALC_EXACT_INERTIA - inertia.setValue(0.f,0.f,0.f); - - int i = this->getMeshPartCount(); - btScalar partmass = mass/btScalar(i); - - while(i--) - { - btVector3 partinertia; - getMeshPart(i)->calculateLocalInertia(partmass,partinertia); - inertia+=partinertia; - } - -#else - - // Calc box inertia - - btScalar lx= m_localAABB.m_max[0] - m_localAABB.m_min[0]; - btScalar ly= m_localAABB.m_max[1] - m_localAABB.m_min[1]; - btScalar lz= m_localAABB.m_max[2] - m_localAABB.m_min[2]; - const btScalar x2 = lx*lx; - const btScalar y2 = ly*ly; - const btScalar z2 = lz*lz; - const btScalar scaledmass = mass * btScalar(0.08333333); - - inertia = scaledmass * (btVector3(y2+z2,x2+z2,x2+y2)); - -#endif -} - -void btGImpactMeshShape::rayTest(const btVector3& rayFrom, const btVector3& rayTo, btCollisionWorld::RayResultCallback& resultCallback) const -{ -} - - -void btGImpactMeshShapePart::processAllTriangles(btTriangleCallback* callback,const btVector3& aabbMin,const btVector3& aabbMax) const -{ - lockChildShapes(); - btAABB box; - box.m_min = aabbMin; - box.m_max = aabbMax; - - btAlignedObjectArray collided; - m_box_set.boxQuery(box,collided); - - if(collided.size()==0) - { - unlockChildShapes(); - return; - } - - int part = (int)getPart(); - btPrimitiveTriangle triangle; - int i = collided.size(); - while(i--) - { - this->getPrimitiveTriangle(collided[i],triangle); - callback->processTriangle(triangle.m_vertices,part,collided[i]); - } - unlockChildShapes(); - -} - -void btGImpactMeshShape::processAllTriangles(btTriangleCallback* callback,const btVector3& aabbMin,const btVector3& aabbMax) const -{ - int i = m_mesh_parts.size(); - while(i--) - { - m_mesh_parts[i]->processAllTriangles(callback,aabbMin,aabbMax); - } -} +/* +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 "btGImpactShape.h" +#include "btGImpactMassUtil.h" + + +#define CALC_EXACT_INERTIA 1 + +void btGImpactCompoundShape::calculateLocalInertia(btScalar mass,btVector3& inertia) const +{ + lockChildShapes(); +#ifdef CALC_EXACT_INERTIA + inertia.setValue(0.f,0.f,0.f); + + int i = this->getNumChildShapes(); + btScalar shapemass = mass/btScalar(i); + + while(i--) + { + btVector3 temp_inertia; + m_childShapes[i]->calculateLocalInertia(shapemass,temp_inertia); + if(childrenHasTransform()) + { + inertia = gim_inertia_add_transformed( inertia,temp_inertia,m_childTransforms[i]); + } + else + { + inertia = gim_inertia_add_transformed( inertia,temp_inertia,btTransform::getIdentity()); + } + + } + +#else + + // Calc box inertia + + btScalar lx= m_localAABB.m_max[0] - m_localAABB.m_min[0]; + btScalar ly= m_localAABB.m_max[1] - m_localAABB.m_min[1]; + btScalar lz= m_localAABB.m_max[2] - m_localAABB.m_min[2]; + const btScalar x2 = lx*lx; + const btScalar y2 = ly*ly; + const btScalar z2 = lz*lz; + const btScalar scaledmass = mass * btScalar(0.08333333); + + inertia = scaledmass * (btVector3(y2+z2,x2+z2,x2+y2)); + +#endif + unlockChildShapes(); +} + + + +void btGImpactMeshShapePart::calculateLocalInertia(btScalar mass,btVector3& inertia) const +{ + lockChildShapes(); + + +#ifdef CALC_EXACT_INERTIA + inertia.setValue(0.f,0.f,0.f); + + int i = this->getVertexCount(); + btScalar pointmass = mass/btScalar(i); + + while(i--) + { + btVector3 pointintertia; + this->getVertex(i,pointintertia); + pointintertia = gim_get_point_inertia(pointintertia,pointmass); + inertia+=pointintertia; + } + +#else + + // Calc box inertia + + btScalar lx= m_localAABB.m_max[0] - m_localAABB.m_min[0]; + btScalar ly= m_localAABB.m_max[1] - m_localAABB.m_min[1]; + btScalar lz= m_localAABB.m_max[2] - m_localAABB.m_min[2]; + const btScalar x2 = lx*lx; + const btScalar y2 = ly*ly; + const btScalar z2 = lz*lz; + const btScalar scaledmass = mass * btScalar(0.08333333); + + inertia = scaledmass * (btVector3(y2+z2,x2+z2,x2+y2)); + +#endif + + unlockChildShapes(); +} + +void btGImpactMeshShape::calculateLocalInertia(btScalar mass,btVector3& inertia) const +{ + +#ifdef CALC_EXACT_INERTIA + inertia.setValue(0.f,0.f,0.f); + + int i = this->getMeshPartCount(); + btScalar partmass = mass/btScalar(i); + + while(i--) + { + btVector3 partinertia; + getMeshPart(i)->calculateLocalInertia(partmass,partinertia); + inertia+=partinertia; + } + +#else + + // Calc box inertia + + btScalar lx= m_localAABB.m_max[0] - m_localAABB.m_min[0]; + btScalar ly= m_localAABB.m_max[1] - m_localAABB.m_min[1]; + btScalar lz= m_localAABB.m_max[2] - m_localAABB.m_min[2]; + const btScalar x2 = lx*lx; + const btScalar y2 = ly*ly; + const btScalar z2 = lz*lz; + const btScalar scaledmass = mass * btScalar(0.08333333); + + inertia = scaledmass * (btVector3(y2+z2,x2+z2,x2+y2)); + +#endif +} + +void btGImpactMeshShape::rayTest(const btVector3& rayFrom, const btVector3& rayTo, btCollisionWorld::RayResultCallback& resultCallback) const +{ +} + + +void btGImpactMeshShapePart::processAllTriangles(btTriangleCallback* callback,const btVector3& aabbMin,const btVector3& aabbMax) const +{ + lockChildShapes(); + btAABB box; + box.m_min = aabbMin; + box.m_max = aabbMax; + + btAlignedObjectArray collided; + m_box_set.boxQuery(box,collided); + + if(collided.size()==0) + { + unlockChildShapes(); + return; + } + + int part = (int)getPart(); + btPrimitiveTriangle triangle; + int i = collided.size(); + while(i--) + { + this->getPrimitiveTriangle(collided[i],triangle); + callback->processTriangle(triangle.m_vertices,part,collided[i]); + } + unlockChildShapes(); + +} + +void btGImpactMeshShape::processAllTriangles(btTriangleCallback* callback,const btVector3& aabbMin,const btVector3& aabbMax) const +{ + int i = m_mesh_parts.size(); + while(i--) + { + m_mesh_parts[i]->processAllTriangles(callback,aabbMin,aabbMax); + } +} diff --git a/Extras/GIMPACT/include/GIMPACT/Bullet/btGImpactShape.h b/src/BulletCollision/Gimpact/btGImpactShape.h old mode 100755 new mode 100644 similarity index 95% rename from Extras/GIMPACT/include/GIMPACT/Bullet/btGImpactShape.h rename to src/BulletCollision/Gimpact/btGImpactShape.h index 0885b23c7..43f32bea5 --- a/Extras/GIMPACT/include/GIMPACT/Bullet/btGImpactShape.h +++ b/src/BulletCollision/Gimpact/btGImpactShape.h @@ -1,1107 +1,1109 @@ -/*! \file btGImpactShape.h -\author Francisco León Nájera -*/ -/* -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_SHAPE_H -#define GIMPACT_SHAPE_H - -#include "BulletCollision/CollisionShapes/btCollisionShape.h" -#include "BulletCollision/CollisionShapes/btTriangleShape.h" -#include "BulletCollision/CollisionShapes/btStridingMeshInterface.h" -#include "BulletCollision/CollisionShapes/btCollisionMargin.h" -#include "BulletCollision/CollisionDispatch/btCollisionWorld.h" -#include "BulletCollision/CollisionShapes/btConcaveShape.h" -#include "BulletCollision/CollisionShapes/btTetrahedronShape.h" -#include "LinearMath/btVector3.h" -#include "LinearMath/btTransform.h" -#include "LinearMath/btMatrix3x3.h" -#include "LinearMath/btAlignedObjectArray.h" - -#include "GIMPACT/Bullet/btGImpactQuantizedBvh.h" // box tree class - - -//! declare Quantized trees, (you can change to float based trees) -typedef btGImpactQuantizedBvh btGImpactBoxSet; - -enum eGIMPACT_SHAPE_TYPE -{ - CONST_GIMPACT_COMPOUND_SHAPE = 0, - CONST_GIMPACT_TRIMESH_SHAPE_PART, - CONST_GIMPACT_TRIMESH_SHAPE -}; - - -//! Helper class for tetrahedrons -class btTetrahedronShapeEx:public btBU_Simplex1to4 -{ -public: - btTetrahedronShapeEx() - { - m_numVertices = 4; - } - - - SIMD_FORCE_INLINE void setVertices( - const btVector3 & v0,const btVector3 & v1, - const btVector3 & v2,const btVector3 & v3) - { - m_vertices[0] = v0; - m_vertices[1] = v1; - m_vertices[2] = v2; - m_vertices[3] = v3; - recalcLocalAabb(); - } -}; - - -//! Base class for gimpact shapes -class btGImpactShapeInterface : public btConcaveShape -{ -protected: - btAABB m_localAABB; - bool m_needs_update; - btVector3 localScaling; - btGImpactBoxSet m_box_set;// optionally boxset - - //! use this function for perfofm refit in bounding boxes - //! use this function for perfofm refit in bounding boxes - virtual void calcLocalAABB() - { - lockChildShapes(); - if(m_box_set.getNodeCount() == 0) - { - m_box_set.buildSet(); - } - else - { - m_box_set.update(); - } - unlockChildShapes(); - - m_localAABB = m_box_set.getGlobalBox(); - } - - -public: - btGImpactShapeInterface() - { - m_shapeType = GIMPACT_SHAPE_PROXYTYPE; - m_localAABB.invalidate(); - m_needs_update = true; - localScaling.setValue(1.f,1.f,1.f); - } - - - //! performs refit operation - /*! - Updates the entire Box set of this shape. - \pre postUpdate() must be called for attemps to calculating the box set, else this function - will does nothing. - \post if m_needs_update == true, then it calls calcLocalAABB(); - */ - SIMD_FORCE_INLINE void updateBound() - { - if(!m_needs_update) return; - calcLocalAABB(); - m_needs_update = false; - } - - //! If the Bounding box is not updated, then this class attemps to calculate it. - /*! - \post Calls updateBound() for update the box set. - */ - void getAabb(const btTransform& t,btVector3& aabbMin,btVector3& aabbMax) const - { - btAABB transformedbox = m_localAABB; - transformedbox.appy_transform(t); - aabbMin = transformedbox.m_min; - aabbMax = transformedbox.m_max; - } - - //! Tells to this object that is needed to refit the box set - virtual void postUpdate() - { - m_needs_update = true; - } - - //! Obtains the local box, which is the global calculated box of the total of subshapes - SIMD_FORCE_INLINE const btAABB & getLocalBox() - { - return m_localAABB; - } - - - - - /*! - \post You must call updateBound() for update the box set. - */ - virtual void setLocalScaling(const btVector3& scaling) - { - localScaling = scaling; - postUpdate(); - } - - virtual const btVector3& getLocalScaling() const - { - return localScaling; - } - - - virtual void setMargin(btScalar margin) - { - m_collisionMargin = margin; - int i = getNumChildShapes(); - while(i--) - { - btCollisionShape* child = getChildShape(i); - child->setMargin(margin); - } - - m_needs_update = true; - } - - - //! Subshape member functions - //!@{ - - //! Base method for determinig which kind of GIMPACT shape we get - virtual eGIMPACT_SHAPE_TYPE getGImpactShapeType() = 0; - - //! gets boxset - SIMD_FORCE_INLINE btGImpactBoxSet * getBoxSet() - { - return &m_box_set; - } - - //! Determines if this class has a hierarchy structure for sorting its primitives - SIMD_FORCE_INLINE bool hasBoxSet() const - { - if(m_box_set.getNodeCount() == 0) return false; - return true; - } - - //! Obtains the primitive manager - virtual const btPrimitiveManagerBase * getPrimitiveManager() const = 0; - - - //! Gets the number of children - virtual int getNumChildShapes() const = 0; - - //! if true, then its children must get transforms. - virtual bool childrenHasTransform() const = 0; - - //! Determines if this shape has triangles - virtual bool needsRetrieveTriangles() const = 0; - - //! Determines if this shape has tetrahedrons - virtual bool needsRetrieveTetrahedrons() const = 0; - - virtual void getBulletTriangle(int prim_index,btTriangleShapeEx & triangle) const = 0; - - virtual void getBulletTetrahedron(int prim_index,btTetrahedronShapeEx & tetrahedron) const = 0; - - - - //! call when reading child shapes - virtual void lockChildShapes() const - { - } - - virtual void unlockChildShapes() const - { - } - - //! if this trimesh - SIMD_FORCE_INLINE void getPrimitiveTriangle(int index,btPrimitiveTriangle & triangle) const - { - getPrimitiveManager()->get_primitive_triangle(index,triangle); - } - - - //! Retrieves the bound from a child - /*! - */ - virtual void getChildAabb(int child_index,const btTransform& t,btVector3& aabbMin,btVector3& aabbMax) const - { - btAABB child_aabb; - getPrimitiveManager()->get_primitive_box(child_index,child_aabb); - child_aabb.appy_transform(t); - aabbMin = child_aabb.m_min; - aabbMax = child_aabb.m_max; - } - - //! Gets the children - virtual btCollisionShape* getChildShape(int index) = 0; - - - //! Gets the child - virtual const btCollisionShape* getChildShape(int index) const = 0; - - //! Gets the children transform - virtual btTransform getChildTransform(int index) const = 0; - - //! Sets the children transform - /*! - \post You must call updateBound() for update the box set. - */ - virtual void setChildTransform(int index, const btTransform & transform) = 0; - - //!@} - - - //! virtual method for ray collision - virtual void rayTest(const btVector3& rayFrom, const btVector3& rayTo, btCollisionWorld::RayResultCallback& resultCallback) const - { - } - - //! Function for retrieve triangles. - /*! - It gives the triangles in local space - */ - virtual void processAllTriangles(btTriangleCallback* callback,const btVector3& aabbMin,const btVector3& aabbMax) const - { - } - - //!@} - -}; - - -//! btGImpactCompoundShape allows to handle multiple btCollisionShape objects at once -/*! -This class only can manage Convex subshapes -*/ -class btGImpactCompoundShape : public btGImpactShapeInterface -{ -public: - //! compound primitive manager - class CompoundPrimitiveManager:public btPrimitiveManagerBase - { - public: - btGImpactCompoundShape * m_compoundShape; - - - CompoundPrimitiveManager(const CompoundPrimitiveManager& compound) - { - m_compoundShape = compound.m_compoundShape; - } - - CompoundPrimitiveManager(btGImpactCompoundShape * compoundShape) - { - m_compoundShape = compoundShape; - } - - CompoundPrimitiveManager() - { - m_compoundShape = NULL; - } - - virtual bool is_trimesh() const - { - return false; - } - - virtual int get_primitive_count() const - { - return (int )m_compoundShape->getNumChildShapes(); - } - - virtual void get_primitive_box(int prim_index ,btAABB & primbox) const - { - btTransform prim_trans; - if(m_compoundShape->childrenHasTransform()) - { - prim_trans = m_compoundShape->getChildTransform(prim_index); - } - else - { - prim_trans.setIdentity(); - } - const btCollisionShape* shape = m_compoundShape->getChildShape(prim_index); - shape->getAabb(prim_trans,primbox.m_min,primbox.m_max); - } - - virtual void get_primitive_triangle(int prim_index,btPrimitiveTriangle & triangle) const - { - btAssert(0); - } - - }; - - - -protected: - CompoundPrimitiveManager m_primitive_manager; - btAlignedObjectArray m_childTransforms; - btAlignedObjectArray m_childShapes; - - -public: - - btGImpactCompoundShape(bool children_has_transform = true) - { - m_primitive_manager.m_compoundShape = this; - m_box_set.setPrimitiveManager(&m_primitive_manager); - } - - virtual ~btGImpactCompoundShape() - { - } - - - //! if true, then its children must get transforms. - virtual bool childrenHasTransform() const - { - if(m_childTransforms.size()==0) return false; - return true; - } - - - //! Obtains the primitive manager - virtual const btPrimitiveManagerBase * getPrimitiveManager() const - { - return &m_primitive_manager; - } - - //! Obtains the compopund primitive manager - SIMD_FORCE_INLINE CompoundPrimitiveManager * getCompoundPrimitiveManager() - { - return &m_primitive_manager; - } - - //! Gets the number of children - virtual int getNumChildShapes() const - { - return m_childShapes.size(); - } - - - //! Use this method for adding children. Only Convex shapes are allowed. - void addChildShape(const btTransform& localTransform,btCollisionShape* shape) - { - btAssert(shape->isConvex()); - m_childTransforms.push_back(localTransform); - m_childShapes.push_back(shape); - } - - //! Use this method for adding children. Only Convex shapes are allowed. - void addChildShape(btCollisionShape* shape) - { - btAssert(shape->isConvex()); - m_childShapes.push_back(shape); - } - - //! Gets the children - virtual btCollisionShape* getChildShape(int index) - { - return m_childShapes[index]; - } - - //! Gets the children - virtual const btCollisionShape* getChildShape(int index) const - { - return m_childShapes[index]; - } - - //! Retrieves the bound from a child - /*! - */ - virtual void getChildAabb(int child_index,const btTransform& t,btVector3& aabbMin,btVector3& aabbMax) const - { - - if(childrenHasTransform()) - { - m_childShapes[child_index]->getAabb(t*m_childTransforms[child_index],aabbMin,aabbMax); - } - else - { - m_childShapes[child_index]->getAabb(t,aabbMin,aabbMax); - } - } - - - //! Gets the children transform - virtual btTransform getChildTransform(int index) const - { - btAssert(m_childTransforms.size() == m_childShapes.size()); - return m_childTransforms[index]; - } - - //! Sets the children transform - /*! - \post You must call updateBound() for update the box set. - */ - virtual void setChildTransform(int index, const btTransform & transform) - { - btAssert(m_childTransforms.size() == m_childShapes.size()); - m_childTransforms[index] = transform; - postUpdate(); - } - - //! Determines if this shape has triangles - virtual bool needsRetrieveTriangles() const - { - return false; - } - - //! Determines if this shape has tetrahedrons - virtual bool needsRetrieveTetrahedrons() const - { - return false; - } - - - virtual void getBulletTriangle(int prim_index,btTriangleShapeEx & triangle) const - { - btAssert(0); - } - - virtual void getBulletTetrahedron(int prim_index,btTetrahedronShapeEx & tetrahedron) const - { - btAssert(0); - } - - - //! Calculates the exact inertia tensor for this shape - virtual void calculateLocalInertia(btScalar mass,btVector3& inertia) const; - - virtual const char* getName()const - { - return "GImpactCompound"; - } - - virtual eGIMPACT_SHAPE_TYPE getGImpactShapeType() - { - return CONST_GIMPACT_COMPOUND_SHAPE; - } - -}; - - - -//! This class manages a sub part of a mesh supplied by the btStridingMeshInterface interface. -/*! -- Simply create this shape by passing the btStridingMeshInterface to the constructor btGImpactMeshShapePart, then you must call updateBound() after creating the mesh -- When making operations with this shape, you must call lock before accessing to the trimesh primitives, and then call unlock -- You can handle deformable meshes with this shape, by calling postUpdate() every time when changing the mesh vertices. - -*/ -class btGImpactMeshShapePart : public btGImpactShapeInterface -{ -public: - //! Trimesh primitive manager - /*! - Manages the info from btStridingMeshInterface object and controls the Lock/Unlock mechanism - */ - class TrimeshPrimitiveManager:public btPrimitiveManagerBase - { - public: - btScalar m_margin; - btStridingMeshInterface * m_meshInterface; - btVector3 m_scale; - int m_part; - int m_lock_count; - const unsigned char *vertexbase; - int numverts; - PHY_ScalarType type; - int stride; - const unsigned char *indexbase; - int indexstride; - int numfaces; - PHY_ScalarType indicestype; - - TrimeshPrimitiveManager() - { - m_meshInterface = NULL; - m_part = 0; - m_margin = 0.01f; - m_scale = btVector3(1.f,1.f,1.f); - m_lock_count = 0; - vertexbase = 0; - numverts = 0; - stride = 0; - indexbase = 0; - indexstride = 0; - numfaces = 0; - } - - TrimeshPrimitiveManager(const TrimeshPrimitiveManager & manager) - { - m_meshInterface = manager.m_meshInterface; - m_part = manager.m_part; - m_margin = manager.m_margin; - m_scale = manager.m_scale; - m_lock_count = 0; - vertexbase = 0; - numverts = 0; - stride = 0; - indexbase = 0; - indexstride = 0; - numfaces = 0; - - } - - TrimeshPrimitiveManager( - btStridingMeshInterface * meshInterface, int part) - { - m_meshInterface = meshInterface; - m_part = part; - m_scale = m_meshInterface->getScaling(); - m_margin = 0.1f; - m_lock_count = 0; - vertexbase = 0; - numverts = 0; - stride = 0; - indexbase = 0; - indexstride = 0; - numfaces = 0; - - } - - - void lock() - { - if(m_lock_count>0) - { - m_lock_count++; - return; - } - m_meshInterface->getLockedReadOnlyVertexIndexBase( - &vertexbase,numverts, - type, stride,&indexbase, indexstride, numfaces,indicestype,m_part); - - m_lock_count = 1; - } - - void unlock() - { - if(m_lock_count == 0) return; - if(m_lock_count>1) - { - --m_lock_count; - return; - } - m_meshInterface->unLockReadOnlyVertexBase(m_part); - vertexbase = NULL; - m_lock_count = 0; - } - - virtual bool is_trimesh() const - { - return true; - } - - virtual int get_primitive_count() const - { - return (int )numfaces; - } - - SIMD_FORCE_INLINE int get_vertex_count() const - { - return (int )numverts; - } - - SIMD_FORCE_INLINE void get_indices(int face_index,int &i0,int &i1,int &i2) const - { - if(indicestype == PHY_SHORT) - { - short * s_indices = (short *)(indexbase + face_index*indexstride); - i0 = s_indices[0]; - i1 = s_indices[1]; - i2 = s_indices[2]; - } - else - { - int * i_indices = (int *)(indexbase + face_index*indexstride); - i0 = i_indices[0]; - i1 = i_indices[1]; - i2 = i_indices[2]; - } - } - - SIMD_FORCE_INLINE void get_vertex(int vertex_index, btVector3 & vertex) const - { - if(type == PHY_DOUBLE) - { - double * dvertices = (double *)(vertexbase + vertex_index*stride); - vertex[0] = btScalar(dvertices[0]*m_scale[0]); - vertex[1] = btScalar(dvertices[1]*m_scale[1]); - vertex[2] = btScalar(dvertices[2]*m_scale[2]); - } - else - { - float * svertices = (float *)(vertexbase + vertex_index*stride); - vertex[0] = svertices[0]*m_scale[0]; - vertex[1] = svertices[1]*m_scale[1]; - vertex[2] = svertices[2]*m_scale[2]; - } - } - - virtual void get_primitive_box(int prim_index ,btAABB & primbox) const - { - btPrimitiveTriangle triangle; - get_primitive_triangle(prim_index,triangle); - primbox.calc_from_triangle_margin( - triangle.m_vertices[0], - triangle.m_vertices[1],triangle.m_vertices[2],triangle.m_margin); - } - - virtual void get_primitive_triangle(int prim_index,btPrimitiveTriangle & triangle) const - { - int indices[3]; - get_indices(prim_index,indices[0],indices[1],indices[2]); - get_vertex(indices[0],triangle.m_vertices[0]); - get_vertex(indices[1],triangle.m_vertices[1]); - get_vertex(indices[2],triangle.m_vertices[2]); - triangle.m_margin = m_margin; - } - - SIMD_FORCE_INLINE void get_bullet_triangle(int prim_index,btTriangleShapeEx & triangle) const - { - int indices[3]; - get_indices(prim_index,indices[0],indices[1],indices[2]); - get_vertex(indices[0],triangle.m_vertices1[0]); - get_vertex(indices[1],triangle.m_vertices1[1]); - get_vertex(indices[2],triangle.m_vertices1[2]); - triangle.setMargin(m_margin); - } - - }; - - -protected: - TrimeshPrimitiveManager m_primitive_manager; -public: - - btGImpactMeshShapePart() - { - m_box_set.setPrimitiveManager(&m_primitive_manager); - } - - - btGImpactMeshShapePart(btStridingMeshInterface * meshInterface, int part) - { - m_primitive_manager.m_meshInterface = meshInterface; - m_primitive_manager.m_part = part; - m_box_set.setPrimitiveManager(&m_primitive_manager); - } - - virtual ~btGImpactMeshShapePart() - { - } - - //! if true, then its children must get transforms. - virtual bool childrenHasTransform() const - { - return false; - } - - - //! call when reading child shapes - virtual void lockChildShapes() const - { - void * dummy = (void*)(m_box_set.getPrimitiveManager()); - TrimeshPrimitiveManager * dummymanager = static_cast(dummy); - dummymanager->lock(); - } - - virtual void unlockChildShapes() const - { - void * dummy = (void*)(m_box_set.getPrimitiveManager()); - TrimeshPrimitiveManager * dummymanager = static_cast(dummy); - dummymanager->unlock(); - } - - //! Gets the number of children - virtual int getNumChildShapes() const - { - return m_primitive_manager.get_primitive_count(); - } - - - //! Gets the children - virtual btCollisionShape* getChildShape(int index) - { - btAssert(0); - return NULL; - } - - - - //! Gets the child - virtual const btCollisionShape* getChildShape(int index) const - { - btAssert(0); - return NULL; - } - - //! Gets the children transform - virtual btTransform getChildTransform(int index) const - { - btAssert(0); - return btTransform(); - } - - //! Sets the children transform - /*! - \post You must call updateBound() for update the box set. - */ - virtual void setChildTransform(int index, const btTransform & transform) - { - btAssert(0); - } - - - //! Obtains the primitive manager - virtual const btPrimitiveManagerBase * getPrimitiveManager() const - { - return &m_primitive_manager; - } - - SIMD_FORCE_INLINE TrimeshPrimitiveManager * getTrimeshPrimitiveManager() - { - return &m_primitive_manager; - } - - - - - - virtual void calculateLocalInertia(btScalar mass,btVector3& inertia) const; - - - - - virtual const char* getName()const - { - return "GImpactMeshShapePart"; - } - - virtual eGIMPACT_SHAPE_TYPE getGImpactShapeType() - { - return CONST_GIMPACT_TRIMESH_SHAPE_PART; - } - - //! Determines if this shape has triangles - virtual bool needsRetrieveTriangles() const - { - return true; - } - - //! Determines if this shape has tetrahedrons - virtual bool needsRetrieveTetrahedrons() const - { - return false; - } - - virtual void getBulletTriangle(int prim_index,btTriangleShapeEx & triangle) const - { - m_primitive_manager.get_bullet_triangle(prim_index,triangle); - } - - virtual void getBulletTetrahedron(int prim_index,btTetrahedronShapeEx & tetrahedron) const - { - btAssert(0); - } - - - - SIMD_FORCE_INLINE int getVertexCount() const - { - return m_primitive_manager.get_vertex_count(); - } - - SIMD_FORCE_INLINE void getVertex(int vertex_index, btVector3 & vertex) const - { - m_primitive_manager.get_vertex(vertex_index,vertex); - } - - SIMD_FORCE_INLINE void setMargin(btScalar margin) - { - m_primitive_manager.m_margin = margin; - postUpdate(); - } - - SIMD_FORCE_INLINE btScalar getMargin() const - { - return m_primitive_manager.m_margin; - } - - virtual void setLocalScaling(const btVector3& scaling) - { - m_primitive_manager.m_scale = scaling; - postUpdate(); - } - - virtual const btVector3& getLocalScaling() const - { - return m_primitive_manager.m_scale; - } - - SIMD_FORCE_INLINE int getPart() const - { - return (int)m_primitive_manager.m_part; - } - - virtual void processAllTriangles(btTriangleCallback* callback,const btVector3& aabbMin,const btVector3& aabbMax) const; -}; - - -//! This class manages a mesh supplied by the btStridingMeshInterface interface. -/*! -Set of btGImpactMeshShapePart parts -- Simply create this shape by passing the btStridingMeshInterface to the constructor btGImpactMeshShape, then you must call updateBound() after creating the mesh - -- You can handle deformable meshes with this shape, by calling postUpdate() every time when changing the mesh vertices. - -*/ -class btGImpactMeshShape : public btGImpactShapeInterface -{ -protected: - btAlignedObjectArray m_mesh_parts; - void buildMeshParts(btStridingMeshInterface * meshInterface) - { - for (int i=0;igetNumSubParts() ;++i ) - { - btGImpactMeshShapePart * newpart = new btGImpactMeshShapePart(meshInterface,i); - m_mesh_parts.push_back(newpart); - } - } - - //! use this function for perfofm refit in bounding boxes - virtual void calcLocalAABB() - { - m_localAABB.invalidate(); - int i = m_mesh_parts.size(); - while(i--) - { - m_mesh_parts[i]->updateBound(); - m_localAABB.merge(m_mesh_parts[i]->getLocalBox()); - } - } - -public: - btGImpactMeshShape(btStridingMeshInterface * meshInterface) - { - buildMeshParts(meshInterface); - } - - virtual ~btGImpactMeshShape() - { - int i = m_mesh_parts.size(); - while(i--) - { - btGImpactMeshShapePart * part = m_mesh_parts[i]; - delete part; - } - m_mesh_parts.clear(); - } - - - - int getMeshPartCount() const - { - return m_mesh_parts.size(); - } - - btGImpactMeshShapePart * getMeshPart(int index) - { - return m_mesh_parts[index]; - } - - - - const btGImpactMeshShapePart * getMeshPart(int index) const - { - return m_mesh_parts[index]; - } - - - virtual void setLocalScaling(const btVector3& scaling) - { - localScaling = scaling; - - int i = m_mesh_parts.size(); - while(i--) - { - btGImpactMeshShapePart * part = m_mesh_parts[i]; - part->setLocalScaling(scaling); - } - - m_needs_update = true; - } - - virtual void setMargin(btScalar margin) - { - m_collisionMargin = margin; - - int i = m_mesh_parts.size(); - while(i--) - { - btGImpactMeshShapePart * part = m_mesh_parts[i]; - part->setMargin(margin); - } - - m_needs_update = true; - } - - //! Tells to this object that is needed to refit all the meshes - virtual void postUpdate() - { - int i = m_mesh_parts.size(); - while(i--) - { - btGImpactMeshShapePart * part = m_mesh_parts[i]; - part->postUpdate(); - } - - m_needs_update = true; - } - - virtual void calculateLocalInertia(btScalar mass,btVector3& inertia) const; - - - //! Obtains the primitive manager - virtual const btPrimitiveManagerBase * getPrimitiveManager() const - { - btAssert(0); - return NULL; - } - - - //! Gets the number of children - virtual int getNumChildShapes() const - { - btAssert(0); - return 0; - } - - - //! if true, then its children must get transforms. - virtual bool childrenHasTransform() const - { - btAssert(0); - return false; - } - - //! Determines if this shape has triangles - virtual bool needsRetrieveTriangles() const - { - btAssert(0); - return false; - } - - //! Determines if this shape has tetrahedrons - virtual bool needsRetrieveTetrahedrons() const - { - btAssert(0); - return false; - } - - virtual void getBulletTriangle(int prim_index,btTriangleShapeEx & triangle) const - { - btAssert(0); - } - - virtual void getBulletTetrahedron(int prim_index,btTetrahedronShapeEx & tetrahedron) const - { - btAssert(0); - } - - //! call when reading child shapes - virtual void lockChildShapes() - { - btAssert(0); - } - - virtual void unlockChildShapes() - { - btAssert(0); - } - - - - - //! Retrieves the bound from a child - /*! - */ - virtual void getChildAabb(int child_index,const btTransform& t,btVector3& aabbMin,btVector3& aabbMax) const - { - btAssert(0); - } - - //! Gets the children - virtual btCollisionShape* getChildShape(int index) - { - btAssert(0); - return NULL; - } - - - //! Gets the child - virtual const btCollisionShape* getChildShape(int index) const - { - btAssert(0); - return NULL; - } - - //! Gets the children transform - virtual btTransform getChildTransform(int index) const - { - btAssert(0); - return btTransform(); - } - - //! Sets the children transform - /*! - \post You must call updateBound() for update the box set. - */ - virtual void setChildTransform(int index, const btTransform & transform) - { - btAssert(0); - } - - - virtual eGIMPACT_SHAPE_TYPE getGImpactShapeType() - { - return CONST_GIMPACT_TRIMESH_SHAPE; - } - - - virtual const char* getName()const - { - return "GImpactMesh"; - } - - virtual void rayTest(const btVector3& rayFrom, const btVector3& rayTo, btCollisionWorld::RayResultCallback& resultCallback) const; - - //! Function for retrieve triangles. - /*! - It gives the triangles in local space - */ - virtual void processAllTriangles(btTriangleCallback* callback,const btVector3& aabbMin,const btVector3& aabbMax) const; -}; - - -#endif //GIMPACT_MESH_SHAPE_H +/*! \file btGImpactShape.h +\author Francisco Len Nßjera +*/ +/* +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_SHAPE_H +#define GIMPACT_SHAPE_H + +#include "BulletCollision/CollisionShapes/btCollisionShape.h" +#include "BulletCollision/CollisionShapes/btTriangleShape.h" +#include "BulletCollision/CollisionShapes/btStridingMeshInterface.h" +#include "BulletCollision/CollisionShapes/btCollisionMargin.h" +#include "BulletCollision/CollisionDispatch/btCollisionWorld.h" +#include "BulletCollision/CollisionShapes/btConcaveShape.h" +#include "BulletCollision/CollisionShapes/btTetrahedronShape.h" +#include "LinearMath/btVector3.h" +#include "LinearMath/btTransform.h" +#include "LinearMath/btMatrix3x3.h" +#include "LinearMath/btAlignedObjectArray.h" + +#include "btGImpactQuantizedBvh.h" // box tree class + + +//! declare Quantized trees, (you can change to float based trees) +typedef btGImpactQuantizedBvh btGImpactBoxSet; + +enum eGIMPACT_SHAPE_TYPE +{ + CONST_GIMPACT_COMPOUND_SHAPE = 0, + CONST_GIMPACT_TRIMESH_SHAPE_PART, + CONST_GIMPACT_TRIMESH_SHAPE +}; + + +//! Helper class for tetrahedrons +class btTetrahedronShapeEx:public btBU_Simplex1to4 +{ +public: + btTetrahedronShapeEx() + { + m_numVertices = 4; + } + + + SIMD_FORCE_INLINE void setVertices( + const btVector3 & v0,const btVector3 & v1, + const btVector3 & v2,const btVector3 & v3) + { + m_vertices[0] = v0; + m_vertices[1] = v1; + m_vertices[2] = v2; + m_vertices[3] = v3; + recalcLocalAabb(); + } +}; + + +//! Base class for gimpact shapes +class btGImpactShapeInterface : public btConcaveShape +{ +protected: + btAABB m_localAABB; + bool m_needs_update; + btVector3 localScaling; + btGImpactBoxSet m_box_set;// optionally boxset + + //! use this function for perfofm refit in bounding boxes + //! use this function for perfofm refit in bounding boxes + virtual void calcLocalAABB() + { + lockChildShapes(); + if(m_box_set.getNodeCount() == 0) + { + m_box_set.buildSet(); + } + else + { + m_box_set.update(); + } + unlockChildShapes(); + + m_localAABB = m_box_set.getGlobalBox(); + } + + +public: + btGImpactShapeInterface() + { + m_localAABB.invalidate(); + m_needs_update = true; + localScaling.setValue(1.f,1.f,1.f); + } + + + //! performs refit operation + /*! + Updates the entire Box set of this shape. + \pre postUpdate() must be called for attemps to calculating the box set, else this function + will does nothing. + \post if m_needs_update == true, then it calls calcLocalAABB(); + */ + SIMD_FORCE_INLINE void updateBound() + { + if(!m_needs_update) return; + calcLocalAABB(); + m_needs_update = false; + } + + //! If the Bounding box is not updated, then this class attemps to calculate it. + /*! + \post Calls updateBound() for update the box set. + */ + void getAabb(const btTransform& t,btVector3& aabbMin,btVector3& aabbMax) const + { + btAABB transformedbox = m_localAABB; + transformedbox.appy_transform(t); + aabbMin = transformedbox.m_min; + aabbMax = transformedbox.m_max; + } + + //! Tells to this object that is needed to refit the box set + virtual void postUpdate() + { + m_needs_update = true; + } + + //! Obtains the local box, which is the global calculated box of the total of subshapes + SIMD_FORCE_INLINE const btAABB & getLocalBox() + { + return m_localAABB; + } + + + virtual int getShapeType() const + { + return GIMPACT_SHAPE_PROXYTYPE; + } + + /*! + \post You must call updateBound() for update the box set. + */ + virtual void setLocalScaling(const btVector3& scaling) + { + localScaling = scaling; + postUpdate(); + } + + virtual const btVector3& getLocalScaling() const + { + return localScaling; + } + + + virtual void setMargin(btScalar margin) + { + m_collisionMargin = margin; + int i = getNumChildShapes(); + while(i--) + { + btCollisionShape* child = getChildShape(i); + child->setMargin(margin); + } + + m_needs_update = true; + } + + + //! Subshape member functions + //!@{ + + //! Base method for determinig which kind of GIMPACT shape we get + virtual eGIMPACT_SHAPE_TYPE getGImpactShapeType() = 0; + + //! gets boxset + SIMD_FORCE_INLINE btGImpactBoxSet * getBoxSet() + { + return &m_box_set; + } + + //! Determines if this class has a hierarchy structure for sorting its primitives + SIMD_FORCE_INLINE bool hasBoxSet() const + { + if(m_box_set.getNodeCount() == 0) return false; + return true; + } + + //! Obtains the primitive manager + virtual const btPrimitiveManagerBase * getPrimitiveManager() const = 0; + + + //! Gets the number of children + virtual int getNumChildShapes() const = 0; + + //! if true, then its children must get transforms. + virtual bool childrenHasTransform() const = 0; + + //! Determines if this shape has triangles + virtual bool needsRetrieveTriangles() const = 0; + + //! Determines if this shape has tetrahedrons + virtual bool needsRetrieveTetrahedrons() const = 0; + + virtual void getBulletTriangle(int prim_index,btTriangleShapeEx & triangle) const = 0; + + virtual void getBulletTetrahedron(int prim_index,btTetrahedronShapeEx & tetrahedron) const = 0; + + + + //! call when reading child shapes + virtual void lockChildShapes() const + { + } + + virtual void unlockChildShapes() const + { + } + + //! if this trimesh + SIMD_FORCE_INLINE void getPrimitiveTriangle(int index,btPrimitiveTriangle & triangle) const + { + getPrimitiveManager()->get_primitive_triangle(index,triangle); + } + + + //! Retrieves the bound from a child + /*! + */ + virtual void getChildAabb(int child_index,const btTransform& t,btVector3& aabbMin,btVector3& aabbMax) const + { + btAABB child_aabb; + getPrimitiveManager()->get_primitive_box(child_index,child_aabb); + child_aabb.appy_transform(t); + aabbMin = child_aabb.m_min; + aabbMax = child_aabb.m_max; + } + + //! Gets the children + virtual btCollisionShape* getChildShape(int index) = 0; + + + //! Gets the child + virtual const btCollisionShape* getChildShape(int index) const = 0; + + //! Gets the children transform + virtual btTransform getChildTransform(int index) const = 0; + + //! Sets the children transform + /*! + \post You must call updateBound() for update the box set. + */ + virtual void setChildTransform(int index, const btTransform & transform) = 0; + + //!@} + + + //! virtual method for ray collision + virtual void rayTest(const btVector3& rayFrom, const btVector3& rayTo, btCollisionWorld::RayResultCallback& resultCallback) const + { + } + + //! Function for retrieve triangles. + /*! + It gives the triangles in local space + */ + virtual void processAllTriangles(btTriangleCallback* callback,const btVector3& aabbMin,const btVector3& aabbMax) const + { + } + + //!@} + +}; + + +//! btGImpactCompoundShape allows to handle multiple btCollisionShape objects at once +/*! +This class only can manage Convex subshapes +*/ +class btGImpactCompoundShape : public btGImpactShapeInterface +{ +public: + //! compound primitive manager + class CompoundPrimitiveManager:public btPrimitiveManagerBase + { + public: + btGImpactCompoundShape * m_compoundShape; + + + CompoundPrimitiveManager(const CompoundPrimitiveManager& compound) + { + m_compoundShape = compound.m_compoundShape; + } + + CompoundPrimitiveManager(btGImpactCompoundShape * compoundShape) + { + m_compoundShape = compoundShape; + } + + CompoundPrimitiveManager() + { + m_compoundShape = NULL; + } + + virtual bool is_trimesh() const + { + return false; + } + + virtual int get_primitive_count() const + { + return (int )m_compoundShape->getNumChildShapes(); + } + + virtual void get_primitive_box(int prim_index ,btAABB & primbox) const + { + btTransform prim_trans; + if(m_compoundShape->childrenHasTransform()) + { + prim_trans = m_compoundShape->getChildTransform(prim_index); + } + else + { + prim_trans.setIdentity(); + } + const btCollisionShape* shape = m_compoundShape->getChildShape(prim_index); + shape->getAabb(prim_trans,primbox.m_min,primbox.m_max); + } + + virtual void get_primitive_triangle(int prim_index,btPrimitiveTriangle & triangle) const + { + btAssert(0); + } + + }; + + + +protected: + CompoundPrimitiveManager m_primitive_manager; + btAlignedObjectArray m_childTransforms; + btAlignedObjectArray m_childShapes; + + +public: + + btGImpactCompoundShape(bool children_has_transform = true) + { + m_primitive_manager.m_compoundShape = this; + m_box_set.setPrimitiveManager(&m_primitive_manager); + } + + virtual ~btGImpactCompoundShape() + { + } + + + //! if true, then its children must get transforms. + virtual bool childrenHasTransform() const + { + if(m_childTransforms.size()==0) return false; + return true; + } + + + //! Obtains the primitive manager + virtual const btPrimitiveManagerBase * getPrimitiveManager() const + { + return &m_primitive_manager; + } + + //! Obtains the compopund primitive manager + SIMD_FORCE_INLINE CompoundPrimitiveManager * getCompoundPrimitiveManager() + { + return &m_primitive_manager; + } + + //! Gets the number of children + virtual int getNumChildShapes() const + { + return m_childShapes.size(); + } + + + //! Use this method for adding children. Only Convex shapes are allowed. + void addChildShape(const btTransform& localTransform,btCollisionShape* shape) + { + btAssert(shape->isConvex()); + m_childTransforms.push_back(localTransform); + m_childShapes.push_back(shape); + } + + //! Use this method for adding children. Only Convex shapes are allowed. + void addChildShape(btCollisionShape* shape) + { + btAssert(shape->isConvex()); + m_childShapes.push_back(shape); + } + + //! Gets the children + virtual btCollisionShape* getChildShape(int index) + { + return m_childShapes[index]; + } + + //! Gets the children + virtual const btCollisionShape* getChildShape(int index) const + { + return m_childShapes[index]; + } + + //! Retrieves the bound from a child + /*! + */ + virtual void getChildAabb(int child_index,const btTransform& t,btVector3& aabbMin,btVector3& aabbMax) const + { + + if(childrenHasTransform()) + { + m_childShapes[child_index]->getAabb(t*m_childTransforms[child_index],aabbMin,aabbMax); + } + else + { + m_childShapes[child_index]->getAabb(t,aabbMin,aabbMax); + } + } + + + //! Gets the children transform + virtual btTransform getChildTransform(int index) const + { + btAssert(m_childTransforms.size() == m_childShapes.size()); + return m_childTransforms[index]; + } + + //! Sets the children transform + /*! + \post You must call updateBound() for update the box set. + */ + virtual void setChildTransform(int index, const btTransform & transform) + { + btAssert(m_childTransforms.size() == m_childShapes.size()); + m_childTransforms[index] = transform; + postUpdate(); + } + + //! Determines if this shape has triangles + virtual bool needsRetrieveTriangles() const + { + return false; + } + + //! Determines if this shape has tetrahedrons + virtual bool needsRetrieveTetrahedrons() const + { + return false; + } + + + virtual void getBulletTriangle(int prim_index,btTriangleShapeEx & triangle) const + { + btAssert(0); + } + + virtual void getBulletTetrahedron(int prim_index,btTetrahedronShapeEx & tetrahedron) const + { + btAssert(0); + } + + + //! Calculates the exact inertia tensor for this shape + virtual void calculateLocalInertia(btScalar mass,btVector3& inertia) const; + + virtual const char* getName()const + { + return "GImpactCompound"; + } + + virtual eGIMPACT_SHAPE_TYPE getGImpactShapeType() + { + return CONST_GIMPACT_COMPOUND_SHAPE; + } + +}; + + + +//! This class manages a sub part of a mesh supplied by the btStridingMeshInterface interface. +/*! +- Simply create this shape by passing the btStridingMeshInterface to the constructor btGImpactMeshShapePart, then you must call updateBound() after creating the mesh +- When making operations with this shape, you must call lock before accessing to the trimesh primitives, and then call unlock +- You can handle deformable meshes with this shape, by calling postUpdate() every time when changing the mesh vertices. + +*/ +class btGImpactMeshShapePart : public btGImpactShapeInterface +{ +public: + //! Trimesh primitive manager + /*! + Manages the info from btStridingMeshInterface object and controls the Lock/Unlock mechanism + */ + class TrimeshPrimitiveManager:public btPrimitiveManagerBase + { + public: + btScalar m_margin; + btStridingMeshInterface * m_meshInterface; + btVector3 m_scale; + int m_part; + int m_lock_count; + const unsigned char *vertexbase; + int numverts; + PHY_ScalarType type; + int stride; + const unsigned char *indexbase; + int indexstride; + int numfaces; + PHY_ScalarType indicestype; + + TrimeshPrimitiveManager() + { + m_meshInterface = NULL; + m_part = 0; + m_margin = 0.01f; + m_scale = btVector3(1.f,1.f,1.f); + m_lock_count = 0; + vertexbase = 0; + numverts = 0; + stride = 0; + indexbase = 0; + indexstride = 0; + numfaces = 0; + } + + TrimeshPrimitiveManager(const TrimeshPrimitiveManager & manager) + { + m_meshInterface = manager.m_meshInterface; + m_part = manager.m_part; + m_margin = manager.m_margin; + m_scale = manager.m_scale; + m_lock_count = 0; + vertexbase = 0; + numverts = 0; + stride = 0; + indexbase = 0; + indexstride = 0; + numfaces = 0; + + } + + TrimeshPrimitiveManager( + btStridingMeshInterface * meshInterface, int part) + { + m_meshInterface = meshInterface; + m_part = part; + m_scale = m_meshInterface->getScaling(); + m_margin = 0.1f; + m_lock_count = 0; + vertexbase = 0; + numverts = 0; + stride = 0; + indexbase = 0; + indexstride = 0; + numfaces = 0; + + } + + + void lock() + { + if(m_lock_count>0) + { + m_lock_count++; + return; + } + m_meshInterface->getLockedReadOnlyVertexIndexBase( + &vertexbase,numverts, + type, stride,&indexbase, indexstride, numfaces,indicestype,m_part); + + m_lock_count = 1; + } + + void unlock() + { + if(m_lock_count == 0) return; + if(m_lock_count>1) + { + --m_lock_count; + return; + } + m_meshInterface->unLockReadOnlyVertexBase(m_part); + vertexbase = NULL; + m_lock_count = 0; + } + + virtual bool is_trimesh() const + { + return true; + } + + virtual int get_primitive_count() const + { + return (int )numfaces; + } + + SIMD_FORCE_INLINE int get_vertex_count() const + { + return (int )numverts; + } + + SIMD_FORCE_INLINE void get_indices(int face_index,int &i0,int &i1,int &i2) const + { + if(indicestype == PHY_SHORT) + { + short * s_indices = (short *)(indexbase + face_index*indexstride); + i0 = s_indices[0]; + i1 = s_indices[1]; + i2 = s_indices[2]; + } + else + { + int * i_indices = (int *)(indexbase + face_index*indexstride); + i0 = i_indices[0]; + i1 = i_indices[1]; + i2 = i_indices[2]; + } + } + + SIMD_FORCE_INLINE void get_vertex(int vertex_index, btVector3 & vertex) const + { + if(type == PHY_DOUBLE) + { + double * dvertices = (double *)(vertexbase + vertex_index*stride); + vertex[0] = btScalar(dvertices[0]*m_scale[0]); + vertex[1] = btScalar(dvertices[1]*m_scale[1]); + vertex[2] = btScalar(dvertices[2]*m_scale[2]); + } + else + { + float * svertices = (float *)(vertexbase + vertex_index*stride); + vertex[0] = svertices[0]*m_scale[0]; + vertex[1] = svertices[1]*m_scale[1]; + vertex[2] = svertices[2]*m_scale[2]; + } + } + + virtual void get_primitive_box(int prim_index ,btAABB & primbox) const + { + btPrimitiveTriangle triangle; + get_primitive_triangle(prim_index,triangle); + primbox.calc_from_triangle_margin( + triangle.m_vertices[0], + triangle.m_vertices[1],triangle.m_vertices[2],triangle.m_margin); + } + + virtual void get_primitive_triangle(int prim_index,btPrimitiveTriangle & triangle) const + { + int indices[3]; + get_indices(prim_index,indices[0],indices[1],indices[2]); + get_vertex(indices[0],triangle.m_vertices[0]); + get_vertex(indices[1],triangle.m_vertices[1]); + get_vertex(indices[2],triangle.m_vertices[2]); + triangle.m_margin = m_margin; + } + + SIMD_FORCE_INLINE void get_bullet_triangle(int prim_index,btTriangleShapeEx & triangle) const + { + int indices[3]; + get_indices(prim_index,indices[0],indices[1],indices[2]); + get_vertex(indices[0],triangle.m_vertices1[0]); + get_vertex(indices[1],triangle.m_vertices1[1]); + get_vertex(indices[2],triangle.m_vertices1[2]); + triangle.setMargin(m_margin); + } + + }; + + +protected: + TrimeshPrimitiveManager m_primitive_manager; +public: + + btGImpactMeshShapePart() + { + m_box_set.setPrimitiveManager(&m_primitive_manager); + } + + + btGImpactMeshShapePart(btStridingMeshInterface * meshInterface, int part) + { + m_primitive_manager.m_meshInterface = meshInterface; + m_primitive_manager.m_part = part; + m_box_set.setPrimitiveManager(&m_primitive_manager); + } + + virtual ~btGImpactMeshShapePart() + { + } + + //! if true, then its children must get transforms. + virtual bool childrenHasTransform() const + { + return false; + } + + + //! call when reading child shapes + virtual void lockChildShapes() const + { + void * dummy = (void*)(m_box_set.getPrimitiveManager()); + TrimeshPrimitiveManager * dummymanager = static_cast(dummy); + dummymanager->lock(); + } + + virtual void unlockChildShapes() const + { + void * dummy = (void*)(m_box_set.getPrimitiveManager()); + TrimeshPrimitiveManager * dummymanager = static_cast(dummy); + dummymanager->unlock(); + } + + //! Gets the number of children + virtual int getNumChildShapes() const + { + return m_primitive_manager.get_primitive_count(); + } + + + //! Gets the children + virtual btCollisionShape* getChildShape(int index) + { + btAssert(0); + return NULL; + } + + + + //! Gets the child + virtual const btCollisionShape* getChildShape(int index) const + { + btAssert(0); + return NULL; + } + + //! Gets the children transform + virtual btTransform getChildTransform(int index) const + { + btAssert(0); + return btTransform(); + } + + //! Sets the children transform + /*! + \post You must call updateBound() for update the box set. + */ + virtual void setChildTransform(int index, const btTransform & transform) + { + btAssert(0); + } + + + //! Obtains the primitive manager + virtual const btPrimitiveManagerBase * getPrimitiveManager() const + { + return &m_primitive_manager; + } + + SIMD_FORCE_INLINE TrimeshPrimitiveManager * getTrimeshPrimitiveManager() + { + return &m_primitive_manager; + } + + + + + + virtual void calculateLocalInertia(btScalar mass,btVector3& inertia) const; + + + + + virtual const char* getName()const + { + return "GImpactMeshShapePart"; + } + + virtual eGIMPACT_SHAPE_TYPE getGImpactShapeType() + { + return CONST_GIMPACT_TRIMESH_SHAPE_PART; + } + + //! Determines if this shape has triangles + virtual bool needsRetrieveTriangles() const + { + return true; + } + + //! Determines if this shape has tetrahedrons + virtual bool needsRetrieveTetrahedrons() const + { + return false; + } + + virtual void getBulletTriangle(int prim_index,btTriangleShapeEx & triangle) const + { + m_primitive_manager.get_bullet_triangle(prim_index,triangle); + } + + virtual void getBulletTetrahedron(int prim_index,btTetrahedronShapeEx & tetrahedron) const + { + btAssert(0); + } + + + + SIMD_FORCE_INLINE int getVertexCount() const + { + return m_primitive_manager.get_vertex_count(); + } + + SIMD_FORCE_INLINE void getVertex(int vertex_index, btVector3 & vertex) const + { + m_primitive_manager.get_vertex(vertex_index,vertex); + } + + SIMD_FORCE_INLINE void setMargin(btScalar margin) + { + m_primitive_manager.m_margin = margin; + postUpdate(); + } + + SIMD_FORCE_INLINE btScalar getMargin() const + { + return m_primitive_manager.m_margin; + } + + virtual void setLocalScaling(const btVector3& scaling) + { + m_primitive_manager.m_scale = scaling; + postUpdate(); + } + + virtual const btVector3& getLocalScaling() const + { + return m_primitive_manager.m_scale; + } + + SIMD_FORCE_INLINE int getPart() const + { + return (int)m_primitive_manager.m_part; + } + + virtual void processAllTriangles(btTriangleCallback* callback,const btVector3& aabbMin,const btVector3& aabbMax) const; +}; + + +//! This class manages a mesh supplied by the btStridingMeshInterface interface. +/*! +Set of btGImpactMeshShapePart parts +- Simply create this shape by passing the btStridingMeshInterface to the constructor btGImpactMeshShape, then you must call updateBound() after creating the mesh + +- You can handle deformable meshes with this shape, by calling postUpdate() every time when changing the mesh vertices. + +*/ +class btGImpactMeshShape : public btGImpactShapeInterface +{ +protected: + btAlignedObjectArray m_mesh_parts; + void buildMeshParts(btStridingMeshInterface * meshInterface) + { + for (int i=0;igetNumSubParts() ;++i ) + { + btGImpactMeshShapePart * newpart = new btGImpactMeshShapePart(meshInterface,i); + m_mesh_parts.push_back(newpart); + } + } + + //! use this function for perfofm refit in bounding boxes + virtual void calcLocalAABB() + { + m_localAABB.invalidate(); + int i = m_mesh_parts.size(); + while(i--) + { + m_mesh_parts[i]->updateBound(); + m_localAABB.merge(m_mesh_parts[i]->getLocalBox()); + } + } + +public: + btGImpactMeshShape(btStridingMeshInterface * meshInterface) + { + buildMeshParts(meshInterface); + } + + virtual ~btGImpactMeshShape() + { + int i = m_mesh_parts.size(); + while(i--) + { + btGImpactMeshShapePart * part = m_mesh_parts[i]; + delete part; + } + m_mesh_parts.clear(); + } + + + + int getMeshPartCount() const + { + return m_mesh_parts.size(); + } + + btGImpactMeshShapePart * getMeshPart(int index) + { + return m_mesh_parts[index]; + } + + + + const btGImpactMeshShapePart * getMeshPart(int index) const + { + return m_mesh_parts[index]; + } + + + virtual void setLocalScaling(const btVector3& scaling) + { + localScaling = scaling; + + int i = m_mesh_parts.size(); + while(i--) + { + btGImpactMeshShapePart * part = m_mesh_parts[i]; + part->setLocalScaling(scaling); + } + + m_needs_update = true; + } + + virtual void setMargin(btScalar margin) + { + m_collisionMargin = margin; + + int i = m_mesh_parts.size(); + while(i--) + { + btGImpactMeshShapePart * part = m_mesh_parts[i]; + part->setMargin(margin); + } + + m_needs_update = true; + } + + //! Tells to this object that is needed to refit all the meshes + virtual void postUpdate() + { + int i = m_mesh_parts.size(); + while(i--) + { + btGImpactMeshShapePart * part = m_mesh_parts[i]; + part->postUpdate(); + } + + m_needs_update = true; + } + + virtual void calculateLocalInertia(btScalar mass,btVector3& inertia) const; + + + //! Obtains the primitive manager + virtual const btPrimitiveManagerBase * getPrimitiveManager() const + { + btAssert(0); + return NULL; + } + + + //! Gets the number of children + virtual int getNumChildShapes() const + { + btAssert(0); + return 0; + } + + + //! if true, then its children must get transforms. + virtual bool childrenHasTransform() const + { + btAssert(0); + return false; + } + + //! Determines if this shape has triangles + virtual bool needsRetrieveTriangles() const + { + btAssert(0); + return false; + } + + //! Determines if this shape has tetrahedrons + virtual bool needsRetrieveTetrahedrons() const + { + btAssert(0); + return false; + } + + virtual void getBulletTriangle(int prim_index,btTriangleShapeEx & triangle) const + { + btAssert(0); + } + + virtual void getBulletTetrahedron(int prim_index,btTetrahedronShapeEx & tetrahedron) const + { + btAssert(0); + } + + //! call when reading child shapes + virtual void lockChildShapes() + { + btAssert(0); + } + + virtual void unlockChildShapes() + { + btAssert(0); + } + + + + + //! Retrieves the bound from a child + /*! + */ + virtual void getChildAabb(int child_index,const btTransform& t,btVector3& aabbMin,btVector3& aabbMax) const + { + btAssert(0); + } + + //! Gets the children + virtual btCollisionShape* getChildShape(int index) + { + btAssert(0); + return NULL; + } + + + //! Gets the child + virtual const btCollisionShape* getChildShape(int index) const + { + btAssert(0); + return NULL; + } + + //! Gets the children transform + virtual btTransform getChildTransform(int index) const + { + btAssert(0); + return btTransform(); + } + + //! Sets the children transform + /*! + \post You must call updateBound() for update the box set. + */ + virtual void setChildTransform(int index, const btTransform & transform) + { + btAssert(0); + } + + + virtual eGIMPACT_SHAPE_TYPE getGImpactShapeType() + { + return CONST_GIMPACT_TRIMESH_SHAPE; + } + + + virtual const char* getName()const + { + return "GImpactMesh"; + } + + virtual void rayTest(const btVector3& rayFrom, const btVector3& rayTo, btCollisionWorld::RayResultCallback& resultCallback) const; + + //! Function for retrieve triangles. + /*! + It gives the triangles in local space + */ + virtual void processAllTriangles(btTriangleCallback* callback,const btVector3& aabbMin,const btVector3& aabbMax) const; +}; + + +#endif //GIMPACT_MESH_SHAPE_H diff --git a/Extras/GIMPACT/src/Bullet/btGenericPoolAllocator.cpp b/src/BulletCollision/Gimpact/btGenericPoolAllocator.cpp old mode 100755 new mode 100644 similarity index 94% rename from Extras/GIMPACT/src/Bullet/btGenericPoolAllocator.cpp rename to src/BulletCollision/Gimpact/btGenericPoolAllocator.cpp index 1f3740511..4b4b5e20d --- a/Extras/GIMPACT/src/Bullet/btGenericPoolAllocator.cpp +++ b/src/BulletCollision/Gimpact/btGenericPoolAllocator.cpp @@ -1,283 +1,283 @@ -/*! \file btGenericPoolAllocator.cpp -\author Francisco León Nájera. email projectileman@yahoo.com - -General purpose allocator class -*/ -/* -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 "GIMPACT/Bullet/btGenericPoolAllocator.h" - - - -/// *************** btGenericMemoryPool ******************/////////// - -size_t btGenericMemoryPool::allocate_from_free_nodes(size_t num_elements) -{ - size_t ptr = BT_UINT_MAX; - - if(m_free_nodes_count == 0) return BT_UINT_MAX; - // find an avaliable free node with the correct size - size_t revindex = m_free_nodes_count; - - while(revindex-- && ptr == BT_UINT_MAX) - { - if(m_allocated_sizes[m_free_nodes[revindex]]>=num_elements) - { - ptr = revindex; - } - } - if(ptr == BT_UINT_MAX) return BT_UINT_MAX; // not found - - - revindex = ptr; - ptr = m_free_nodes[revindex]; - // post: ptr contains the node index, and revindex the index in m_free_nodes - - size_t finalsize = m_allocated_sizes[ptr]; - finalsize -= num_elements; - - m_allocated_sizes[ptr] = num_elements; - - // post: finalsize>=0, m_allocated_sizes[ptr] has the requested size - - if(finalsize>0) // preserve free node, there are some free memory - { - m_free_nodes[revindex] = ptr + num_elements; - m_allocated_sizes[ptr + num_elements] = finalsize; - } - else // delete free node - { - // swap with end - m_free_nodes[revindex] = m_free_nodes[m_free_nodes_count-1]; - m_free_nodes_count--; - } - - return ptr; -} - -size_t btGenericMemoryPool::allocate_from_pool(size_t num_elements) -{ - if(m_allocated_count+num_elements>m_max_element_count) return BT_UINT_MAX; - - size_t ptr = m_allocated_count; - - m_allocated_sizes[m_allocated_count] = num_elements; - m_allocated_count+=num_elements; - - return ptr; -} - - -void btGenericMemoryPool::init_pool(size_t element_size, size_t element_count) -{ - m_allocated_count = 0; - m_free_nodes_count = 0; - - m_element_size = element_size; - m_max_element_count = element_count; - - - - - m_pool = (unsigned char *) btAlignedAlloc(m_element_size*m_max_element_count,16); - m_free_nodes = (size_t *) btAlignedAlloc(sizeof(size_t)*m_max_element_count,16); - m_allocated_sizes = (size_t *) btAlignedAlloc(sizeof(size_t)*m_max_element_count,16); - - for (size_t i = 0;i< m_max_element_count;i++ ) - { - m_allocated_sizes[i] = 0; - } -} - -void btGenericMemoryPool::end_pool() -{ - btAlignedFree(m_pool); - btAlignedFree(m_free_nodes); - btAlignedFree(m_allocated_sizes); - m_allocated_count = 0; - m_free_nodes_count = 0; -} - - -//! Allocates memory in pool -/*! -\param size_bytes size in bytes of the buffer -*/ -void * btGenericMemoryPool::allocate(size_t size_bytes) -{ - - size_t module = size_bytes%m_element_size; - size_t element_count = size_bytes/m_element_size; - if(module>0) element_count++; - - size_t alloc_pos = allocate_from_free_nodes(element_count); - // a free node is found - if(alloc_pos != BT_UINT_MAX) - { - return get_element_data(alloc_pos); - } - // allocate directly on pool - alloc_pos = allocate_from_pool(element_count); - - if(alloc_pos == BT_UINT_MAX) return NULL; // not space - return get_element_data(alloc_pos); -} - -bool btGenericMemoryPool::freeMemory(void * pointer) -{ - unsigned char * pointer_pos = (unsigned char *)pointer; - unsigned char * pool_pos = (unsigned char *)m_pool; - // calc offset - if(pointer_pos=get_pool_capacity()) return false;// far away - - // find free position - m_free_nodes[m_free_nodes_count] = offset/m_element_size; - m_free_nodes_count++; - return true; -} - - -/// *******************! btGenericPoolAllocator *******************!/// - - -btGenericPoolAllocator::~btGenericPoolAllocator() -{ - // destroy pools - size_t i; - for (i=0;iend_pool(); - btAlignedFree(m_pools[i]); - } -} - - -// creates a pool -btGenericMemoryPool * btGenericPoolAllocator::push_new_pool() -{ - if(m_pool_count >= BT_DEFAULT_MAX_POOLS) return NULL; - - btGenericMemoryPool * newptr = (btGenericMemoryPool *)btAlignedAlloc(sizeof(btGenericMemoryPool),16); - - m_pools[m_pool_count] = newptr; - - m_pools[m_pool_count]->init_pool(m_pool_element_size,m_pool_element_count); - - m_pool_count++; - return newptr; -} - -void * btGenericPoolAllocator::failback_alloc(size_t size_bytes) -{ - - btGenericMemoryPool * pool = NULL; - - - if(size_bytes<=get_pool_capacity()) - { - pool = push_new_pool(); - } - - if(pool==NULL) // failback - { - return btAlignedAlloc(size_bytes,16); - } - - return pool->allocate(size_bytes); -} - -bool btGenericPoolAllocator::failback_free(void * pointer) -{ - btAlignedFree(pointer); - return true; -} - - -//! Allocates memory in pool -/*! -\param size_bytes size in bytes of the buffer -*/ -void * btGenericPoolAllocator::allocate(size_t size_bytes) -{ - void * ptr = NULL; - - size_t i = 0; - while(iallocate(size_bytes); - ++i; - } - - if(ptr) return ptr; - - return failback_alloc(size_bytes); -} - -bool btGenericPoolAllocator::freeMemory(void * pointer) -{ - bool result = false; - - size_t i = 0; - while(ifreeMemory(pointer); - ++i; - } - - if(result) return true; - - return failback_free(pointer); -} - -/// ************** STANDARD ALLOCATOR ***************************/// - - -#define BT_DEFAULT_POOL_SIZE 32768 -#define BT_DEFAULT_POOL_ELEMENT_SIZE 8 - -// main allocator -class BT_STANDARD_ALLOCATOR: public btGenericPoolAllocator -{ -public: - BT_STANDARD_ALLOCATOR():btGenericPoolAllocator(BT_DEFAULT_POOL_ELEMENT_SIZE,BT_DEFAULT_POOL_SIZE) - { - } -}; - -// global allocator -BT_STANDARD_ALLOCATOR g_main_allocator; - - -void * btPoolAlloc(size_t size) -{ - return g_main_allocator.allocate(size); -} - -void * btPoolRealloc(void *ptr, size_t oldsize, size_t newsize) -{ - void * newptr = btPoolAlloc(newsize); - size_t copysize = oldsize=num_elements) + { + ptr = revindex; + } + } + if(ptr == BT_UINT_MAX) return BT_UINT_MAX; // not found + + + revindex = ptr; + ptr = m_free_nodes[revindex]; + // post: ptr contains the node index, and revindex the index in m_free_nodes + + size_t finalsize = m_allocated_sizes[ptr]; + finalsize -= num_elements; + + m_allocated_sizes[ptr] = num_elements; + + // post: finalsize>=0, m_allocated_sizes[ptr] has the requested size + + if(finalsize>0) // preserve free node, there are some free memory + { + m_free_nodes[revindex] = ptr + num_elements; + m_allocated_sizes[ptr + num_elements] = finalsize; + } + else // delete free node + { + // swap with end + m_free_nodes[revindex] = m_free_nodes[m_free_nodes_count-1]; + m_free_nodes_count--; + } + + return ptr; +} + +size_t btGenericMemoryPool::allocate_from_pool(size_t num_elements) +{ + if(m_allocated_count+num_elements>m_max_element_count) return BT_UINT_MAX; + + size_t ptr = m_allocated_count; + + m_allocated_sizes[m_allocated_count] = num_elements; + m_allocated_count+=num_elements; + + return ptr; +} + + +void btGenericMemoryPool::init_pool(size_t element_size, size_t element_count) +{ + m_allocated_count = 0; + m_free_nodes_count = 0; + + m_element_size = element_size; + m_max_element_count = element_count; + + + + + m_pool = (unsigned char *) btAlignedAlloc(m_element_size*m_max_element_count,16); + m_free_nodes = (size_t *) btAlignedAlloc(sizeof(size_t)*m_max_element_count,16); + m_allocated_sizes = (size_t *) btAlignedAlloc(sizeof(size_t)*m_max_element_count,16); + + for (size_t i = 0;i< m_max_element_count;i++ ) + { + m_allocated_sizes[i] = 0; + } +} + +void btGenericMemoryPool::end_pool() +{ + btAlignedFree(m_pool); + btAlignedFree(m_free_nodes); + btAlignedFree(m_allocated_sizes); + m_allocated_count = 0; + m_free_nodes_count = 0; +} + + +//! Allocates memory in pool +/*! +\param size_bytes size in bytes of the buffer +*/ +void * btGenericMemoryPool::allocate(size_t size_bytes) +{ + + size_t module = size_bytes%m_element_size; + size_t element_count = size_bytes/m_element_size; + if(module>0) element_count++; + + size_t alloc_pos = allocate_from_free_nodes(element_count); + // a free node is found + if(alloc_pos != BT_UINT_MAX) + { + return get_element_data(alloc_pos); + } + // allocate directly on pool + alloc_pos = allocate_from_pool(element_count); + + if(alloc_pos == BT_UINT_MAX) return NULL; // not space + return get_element_data(alloc_pos); +} + +bool btGenericMemoryPool::freeMemory(void * pointer) +{ + unsigned char * pointer_pos = (unsigned char *)pointer; + unsigned char * pool_pos = (unsigned char *)m_pool; + // calc offset + if(pointer_pos=get_pool_capacity()) return false;// far away + + // find free position + m_free_nodes[m_free_nodes_count] = offset/m_element_size; + m_free_nodes_count++; + return true; +} + + +/// *******************! btGenericPoolAllocator *******************!/// + + +btGenericPoolAllocator::~btGenericPoolAllocator() +{ + // destroy pools + size_t i; + for (i=0;iend_pool(); + btAlignedFree(m_pools[i]); + } +} + + +// creates a pool +btGenericMemoryPool * btGenericPoolAllocator::push_new_pool() +{ + if(m_pool_count >= BT_DEFAULT_MAX_POOLS) return NULL; + + btGenericMemoryPool * newptr = (btGenericMemoryPool *)btAlignedAlloc(sizeof(btGenericMemoryPool),16); + + m_pools[m_pool_count] = newptr; + + m_pools[m_pool_count]->init_pool(m_pool_element_size,m_pool_element_count); + + m_pool_count++; + return newptr; +} + +void * btGenericPoolAllocator::failback_alloc(size_t size_bytes) +{ + + btGenericMemoryPool * pool = NULL; + + + if(size_bytes<=get_pool_capacity()) + { + pool = push_new_pool(); + } + + if(pool==NULL) // failback + { + return btAlignedAlloc(size_bytes,16); + } + + return pool->allocate(size_bytes); +} + +bool btGenericPoolAllocator::failback_free(void * pointer) +{ + btAlignedFree(pointer); + return true; +} + + +//! Allocates memory in pool +/*! +\param size_bytes size in bytes of the buffer +*/ +void * btGenericPoolAllocator::allocate(size_t size_bytes) +{ + void * ptr = NULL; + + size_t i = 0; + while(iallocate(size_bytes); + ++i; + } + + if(ptr) return ptr; + + return failback_alloc(size_bytes); +} + +bool btGenericPoolAllocator::freeMemory(void * pointer) +{ + bool result = false; + + size_t i = 0; + while(ifreeMemory(pointer); + ++i; + } + + if(result) return true; + + return failback_free(pointer); +} + +/// ************** STANDARD ALLOCATOR ***************************/// + + +#define BT_DEFAULT_POOL_SIZE 32768 +#define BT_DEFAULT_POOL_ELEMENT_SIZE 8 + +// main allocator +class BT_STANDARD_ALLOCATOR: public btGenericPoolAllocator +{ +public: + BT_STANDARD_ALLOCATOR():btGenericPoolAllocator(BT_DEFAULT_POOL_ELEMENT_SIZE,BT_DEFAULT_POOL_SIZE) + { + } +}; + +// global allocator +BT_STANDARD_ALLOCATOR g_main_allocator; + + +void * btPoolAlloc(size_t size) +{ + return g_main_allocator.allocate(size); +} + +void * btPoolRealloc(void *ptr, size_t oldsize, size_t newsize) +{ + void * newptr = btPoolAlloc(newsize); + size_t copysize = oldsize -#include -#include -#include "LinearMath/btAlignedAllocator.h" - -#define BT_UINT_MAX UINT_MAX -#define BT_DEFAULT_MAX_POOLS 16 - - -//! Generic Pool class -class btGenericMemoryPool -{ -public: - unsigned char * m_pool; //[m_element_size*m_max_element_count]; - size_t * m_free_nodes; //[m_max_element_count];//! free nodes - size_t * m_allocated_sizes;//[m_max_element_count];//! Number of elements allocated per node - size_t m_allocated_count; - size_t m_free_nodes_count; -protected: - size_t m_element_size; - size_t m_max_element_count; - - size_t allocate_from_free_nodes(size_t num_elements); - size_t allocate_from_pool(size_t num_elements); - -public: - - void init_pool(size_t element_size, size_t element_count); - - void end_pool(); - - - btGenericMemoryPool(size_t element_size, size_t element_count) - { - init_pool(element_size, element_count); - } - - ~btGenericMemoryPool() - { - end_pool(); - } - - - inline size_t get_pool_capacity() - { - return m_element_size*m_max_element_count; - } - - inline size_t gem_element_size() - { - return m_element_size; - } - - inline size_t get_max_element_count() - { - return m_max_element_count; - } - - inline size_t get_allocated_count() - { - return m_allocated_count; - } - - inline size_t get_free_positions_count() - { - return m_free_nodes_count; - } - - inline void * get_element_data(size_t element_index) - { - return &m_pool[element_index*m_element_size]; - } - - //! Allocates memory in pool - /*! - \param size_bytes size in bytes of the buffer - */ - void * allocate(size_t size_bytes); - - bool freeMemory(void * pointer); -}; - - - - -//! Generic Allocator with pools -/*! -General purpose Allocator which can create Memory Pools dynamiacally as needed. -*/ -class btGenericPoolAllocator -{ -protected: - size_t m_pool_element_size; - size_t m_pool_element_count; -public: - btGenericMemoryPool * m_pools[BT_DEFAULT_MAX_POOLS]; - size_t m_pool_count; - - - inline size_t get_pool_capacity() - { - return m_pool_element_size*m_pool_element_count; - } - - -protected: - // creates a pool - btGenericMemoryPool * push_new_pool(); - - void * failback_alloc(size_t size_bytes); - - bool failback_free(void * pointer); -public: - - btGenericPoolAllocator(size_t pool_element_size, size_t pool_element_count) - { - m_pool_count = 0; - m_pool_element_size = pool_element_size; - m_pool_element_count = pool_element_count; - } - - virtual ~btGenericPoolAllocator(); - - //! Allocates memory in pool - /*! - \param size_bytes size in bytes of the buffer - */ - void * allocate(size_t size_bytes); - - bool freeMemory(void * pointer); -}; - - - -/*! \defgroup POOL_MEMORY_FUNCTIONS -standar managed Memory functions. Memory pools are used. -*/ -//! @{ -void * btPoolAlloc(size_t size); -void * btPoolRealloc(void *ptr, size_t oldsize, size_t newsize); -void btPoolFree(void *ptr); -//! @} - - -#endif +/*! \file btGenericPoolAllocator.h +\author Francisco Len Nßjera. email projectileman@yahoo.com + +General purpose allocator class +*/ +/* +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. +*/ + +#ifndef BT_GENERIC_POOL_ALLOCATOR_H +#define BT_GENERIC_POOL_ALLOCATOR_H + +#include +#include +#include +#include "LinearMath/btAlignedAllocator.h" + +#define BT_UINT_MAX UINT_MAX +#define BT_DEFAULT_MAX_POOLS 16 + + +//! Generic Pool class +class btGenericMemoryPool +{ +public: + unsigned char * m_pool; //[m_element_size*m_max_element_count]; + size_t * m_free_nodes; //[m_max_element_count];//! free nodes + size_t * m_allocated_sizes;//[m_max_element_count];//! Number of elements allocated per node + size_t m_allocated_count; + size_t m_free_nodes_count; +protected: + size_t m_element_size; + size_t m_max_element_count; + + size_t allocate_from_free_nodes(size_t num_elements); + size_t allocate_from_pool(size_t num_elements); + +public: + + void init_pool(size_t element_size, size_t element_count); + + void end_pool(); + + + btGenericMemoryPool(size_t element_size, size_t element_count) + { + init_pool(element_size, element_count); + } + + ~btGenericMemoryPool() + { + end_pool(); + } + + + inline size_t get_pool_capacity() + { + return m_element_size*m_max_element_count; + } + + inline size_t gem_element_size() + { + return m_element_size; + } + + inline size_t get_max_element_count() + { + return m_max_element_count; + } + + inline size_t get_allocated_count() + { + return m_allocated_count; + } + + inline size_t get_free_positions_count() + { + return m_free_nodes_count; + } + + inline void * get_element_data(size_t element_index) + { + return &m_pool[element_index*m_element_size]; + } + + //! Allocates memory in pool + /*! + \param size_bytes size in bytes of the buffer + */ + void * allocate(size_t size_bytes); + + bool freeMemory(void * pointer); +}; + + + + +//! Generic Allocator with pools +/*! +General purpose Allocator which can create Memory Pools dynamiacally as needed. +*/ +class btGenericPoolAllocator +{ +protected: + size_t m_pool_element_size; + size_t m_pool_element_count; +public: + btGenericMemoryPool * m_pools[BT_DEFAULT_MAX_POOLS]; + size_t m_pool_count; + + + inline size_t get_pool_capacity() + { + return m_pool_element_size*m_pool_element_count; + } + + +protected: + // creates a pool + btGenericMemoryPool * push_new_pool(); + + void * failback_alloc(size_t size_bytes); + + bool failback_free(void * pointer); +public: + + btGenericPoolAllocator(size_t pool_element_size, size_t pool_element_count) + { + m_pool_count = 0; + m_pool_element_size = pool_element_size; + m_pool_element_count = pool_element_count; + } + + virtual ~btGenericPoolAllocator(); + + //! Allocates memory in pool + /*! + \param size_bytes size in bytes of the buffer + */ + void * allocate(size_t size_bytes); + + bool freeMemory(void * pointer); +}; + + + +/*! \defgroup POOL_MEMORY_FUNCTIONS +standar managed Memory functions. Memory pools are used. +*/ +//! @{ +void * btPoolAlloc(size_t size); +void * btPoolRealloc(void *ptr, size_t oldsize, size_t newsize); +void btPoolFree(void *ptr); +//! @} + + +#endif diff --git a/Extras/GIMPACT/include/GIMPACT/Bullet/btGeometryOperations.h b/src/BulletCollision/Gimpact/btGeometryOperations.h similarity index 98% rename from Extras/GIMPACT/include/GIMPACT/Bullet/btGeometryOperations.h rename to src/BulletCollision/Gimpact/btGeometryOperations.h index 2c8a0af2b..f5800716a 100644 --- a/Extras/GIMPACT/include/GIMPACT/Bullet/btGeometryOperations.h +++ b/src/BulletCollision/Gimpact/btGeometryOperations.h @@ -2,7 +2,7 @@ #define BT_BASIC_GEOMETRY_OPERATIONS_H_INCLUDED /*! \file btGeometryOperations.h -*\author Francisco León Nájera +*\author Francisco Len Nßjera */ /* @@ -25,7 +25,7 @@ subject to the following restrictions: 3. This notice may not be removed or altered from any source distribution. */ -#include "GIMPACT/Bullet/btBoxCollision.h" +#include "btBoxCollision.h" diff --git a/Extras/GIMPACT/include/GIMPACT/Bullet/btQuantization.h b/src/BulletCollision/Gimpact/btQuantization.h similarity index 98% rename from Extras/GIMPACT/include/GIMPACT/Bullet/btQuantization.h rename to src/BulletCollision/Gimpact/btQuantization.h index fd4aea424..e9e6ad3d8 100644 --- a/Extras/GIMPACT/include/GIMPACT/Bullet/btQuantization.h +++ b/src/BulletCollision/Gimpact/btQuantization.h @@ -2,7 +2,7 @@ #define BT_QUANTIZATION_H_INCLUDED /*! \file btQuantization.h -*\author Francisco León Nájera +*\author Francisco Len Nßjera */ /* diff --git a/Extras/GIMPACT/src/Bullet/btTriangleShapeEx.cpp b/src/BulletCollision/Gimpact/btTriangleShapeEx.cpp similarity index 98% rename from Extras/GIMPACT/src/Bullet/btTriangleShapeEx.cpp rename to src/BulletCollision/Gimpact/btTriangleShapeEx.cpp index 7be6bee75..0267f7e67 100644 --- a/Extras/GIMPACT/src/Bullet/btTriangleShapeEx.cpp +++ b/src/BulletCollision/Gimpact/btTriangleShapeEx.cpp @@ -1,5 +1,5 @@ /*! \file btGImpactTriangleShape.h -\author Francisco León Nájera +\author Francisco Len Nßjera */ /* This source file is part of GIMPACT Library. @@ -21,7 +21,7 @@ subject to the following restrictions: 3. This notice may not be removed or altered from any source distribution. */ -#include "GIMPACT/Bullet/btTriangleShapeEx.h" +#include "btTriangleShapeEx.h" diff --git a/Extras/GIMPACT/include/GIMPACT/Bullet/btTriangleShapeEx.h b/src/BulletCollision/Gimpact/btTriangleShapeEx.h similarity index 96% rename from Extras/GIMPACT/include/GIMPACT/Bullet/btTriangleShapeEx.h rename to src/BulletCollision/Gimpact/btTriangleShapeEx.h index 02b9a7575..bdaa323d5 100644 --- a/Extras/GIMPACT/include/GIMPACT/Bullet/btTriangleShapeEx.h +++ b/src/BulletCollision/Gimpact/btTriangleShapeEx.h @@ -1,5 +1,5 @@ /*! \file btGImpactShape.h -\author Francisco León Nájera +\author Francisco Len Nßjera */ /* This source file is part of GIMPACT Library. @@ -27,9 +27,9 @@ subject to the following restrictions: #include "BulletCollision/CollisionShapes/btCollisionShape.h" #include "BulletCollision/CollisionShapes/btTriangleShape.h" -#include "GIMPACT/Bullet/btBoxCollision.h" -#include "GIMPACT/Bullet/btClipPolygon.h" -#include "GIMPACT/Bullet/btGeometryOperations.h" +#include "btBoxCollision.h" +#include "btClipPolygon.h" +#include "btGeometryOperations.h" #define MAX_TRI_CLIPPING 16 diff --git a/Extras/GIMPACT/include/GIMPACT/core/gim_array.h b/src/BulletCollision/Gimpact/gim_array.h old mode 100755 new mode 100644 similarity index 93% rename from Extras/GIMPACT/include/GIMPACT/core/gim_array.h rename to src/BulletCollision/Gimpact/gim_array.h index fd9e6732e..89fbb5ab0 --- a/Extras/GIMPACT/include/GIMPACT/core/gim_array.h +++ b/src/BulletCollision/Gimpact/gim_array.h @@ -1,332 +1,332 @@ -#ifndef GIM_ARRAY_H_INCLUDED -#define GIM_ARRAY_H_INCLUDED -/*! \file gim_array.h -\author Francisco León Nájera -*/ -/* ------------------------------------------------------------------------------ -This source file is part of GIMPACT Library. - -For the latest info, see http://gimpact.sourceforge.net/ - -Copyright (c) 2006 Francisco Leon Najera. C.C. 80087371. -email: projectileman@yahoo.com - - This library is free software; you can redistribute it and/or - modify it under the terms of EITHER: - (1) The GNU Lesser General Public License as published by the Free - Software Foundation; either version 2.1 of the License, or (at - your option) any later version. The text of the GNU Lesser - General Public License is included with this library in the - file GIMPACT-LICENSE-LGPL.TXT. - (2) The BSD-style license that is included with this library in - the file GIMPACT-LICENSE-BSD.TXT. - (3) The zlib/libpng license that is included with this library in - the file GIMPACT-LICENSE-ZLIB.TXT. - - This library is distributed in the hope that it will be useful, - but WITHOUT ANY WARRANTY; without even the implied warranty of - MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the files - GIMPACT-LICENSE-LGPL.TXT, GIMPACT-LICENSE-ZLIB.TXT and GIMPACT-LICENSE-BSD.TXT for more details. - ------------------------------------------------------------------------------ -*/ - -#include "GIMPACT/core/gim_memory.h" - -/*! \addtogroup CONTAINERS -\brief -Abstract class for template containers -*/ -//! @{ - -#define GIM_ARRAY_GROW_INCREMENT 2 -#define GIM_ARRAY_GROW_FACTOR 2 - -//! Very simple array container with fast access and simd memory -template -class gim_array -{ -public: -//! properties -//!@{ - T *m_data; - GUINT m_size; - GUINT m_allocated_size; -//!@} -//! protected operations -//!@{ - - inline void destroyData() - { - m_allocated_size = 0; - if(m_data==NULL) return; - gim_free(m_data); - m_data = NULL; - } - - inline bool resizeData(GUINT newsize) - { - if(newsize==0) - { - destroyData(); - return true; - } - - if(m_size>0) - { - m_data = (T*)gim_realloc(m_data,m_size*sizeof(T),newsize*sizeof(T)); - } - else - { - m_data = (T*)gim_alloc(newsize*sizeof(T)); - } - m_allocated_size = newsize; - return true; - } - - inline bool growingCheck() - { - if(m_allocated_size<=m_size) - { - GUINT requestsize = m_size; - m_size = m_allocated_size; - if(resizeData((requestsize+GIM_ARRAY_GROW_INCREMENT)*GIM_ARRAY_GROW_FACTOR)==false) return false; - } - return true; - } - -//!@} -//! public operations -//!@{ - inline bool reserve(GUINT size) - { - if(m_allocated_size>=size) return false; - return resizeData(size); - } - - inline void clear_range(GUINT start_range) - { - while(m_size>start_range) - { - m_data[--m_size].~T(); - } - } - - inline void clear() - { - if(m_size==0)return; - clear_range(0); - } - - inline void clear_memory() - { - clear(); - destroyData(); - } - - gim_array() - { - m_data = 0; - m_size = 0; - m_allocated_size = 0; - } - - gim_array(GUINT reservesize) - { - m_data = 0; - m_size = 0; - - m_allocated_size = 0; - reserve(reservesize); - } - - ~gim_array() - { - clear_memory(); - } - - inline GUINT size() const - { - return m_size; - } - - inline GUINT max_size() const - { - return m_allocated_size; - } - - inline T & operator[](size_t i) - { - return m_data[i]; - } - inline const T & operator[](size_t i) const - { - return m_data[i]; - } - - inline T * pointer(){ return m_data;} - inline const T * pointer() const - { return m_data;} - - - inline T * get_pointer_at(GUINT i) - { - return m_data + i; - } - - inline const T * get_pointer_at(GUINT i) const - { - return m_data + i; - } - - inline T & at(GUINT i) - { - return m_data[i]; - } - - inline const T & at(GUINT i) const - { - return m_data[i]; - } - - inline T & front() - { - return *m_data; - } - - inline const T & front() const - { - return *m_data; - } - - inline T & back() - { - return m_data[m_size-1]; - } - - inline const T & back() const - { - return m_data[m_size-1]; - } - - - inline void swap(GUINT i, GUINT j) - { - gim_swap_elements(m_data,i,j); - } - - inline void push_back(const T & obj) - { - this->growingCheck(); - m_data[m_size] = obj; - m_size++; - } - - //!Simply increase the m_size, doesn't call the new element constructor - inline void push_back_mem() - { - this->growingCheck(); - m_size++; - } - - inline void push_back_memcpy(const T & obj) - { - this->growingCheck(); - irr_simd_memcpy(&m_data[m_size],&obj,sizeof(T)); - m_size++; - } - - inline void pop_back() - { - m_size--; - m_data[m_size].~T(); - } - - //!Simply decrease the m_size, doesn't call the deleted element destructor - inline void pop_back_mem() - { - m_size--; - } - - //! fast erase - inline void erase(GUINT index) - { - if(indexgrowingCheck(); - for(GUINT i = m_size;i>index;i--) - { - gim_simd_memcpy(m_data+i,m_data+i-1,sizeof(T)); - } - m_size++; - } - - inline void insert(const T & obj,GUINT index) - { - insert_mem(index); - m_data[index] = obj; - } - - inline void resize(GUINT size, bool call_constructor = true) - { - - if(size>m_size) - { - reserve(size); - if(call_constructor) - { - T obj; - while(m_size +class gim_array +{ +public: +//! properties +//!@{ + T *m_data; + GUINT m_size; + GUINT m_allocated_size; +//!@} +//! protected operations +//!@{ + + inline void destroyData() + { + m_allocated_size = 0; + if(m_data==NULL) return; + gim_free(m_data); + m_data = NULL; + } + + inline bool resizeData(GUINT newsize) + { + if(newsize==0) + { + destroyData(); + return true; + } + + if(m_size>0) + { + m_data = (T*)gim_realloc(m_data,m_size*sizeof(T),newsize*sizeof(T)); + } + else + { + m_data = (T*)gim_alloc(newsize*sizeof(T)); + } + m_allocated_size = newsize; + return true; + } + + inline bool growingCheck() + { + if(m_allocated_size<=m_size) + { + GUINT requestsize = m_size; + m_size = m_allocated_size; + if(resizeData((requestsize+GIM_ARRAY_GROW_INCREMENT)*GIM_ARRAY_GROW_FACTOR)==false) return false; + } + return true; + } + +//!@} +//! public operations +//!@{ + inline bool reserve(GUINT size) + { + if(m_allocated_size>=size) return false; + return resizeData(size); + } + + inline void clear_range(GUINT start_range) + { + while(m_size>start_range) + { + m_data[--m_size].~T(); + } + } + + inline void clear() + { + if(m_size==0)return; + clear_range(0); + } + + inline void clear_memory() + { + clear(); + destroyData(); + } + + gim_array() + { + m_data = 0; + m_size = 0; + m_allocated_size = 0; + } + + gim_array(GUINT reservesize) + { + m_data = 0; + m_size = 0; + + m_allocated_size = 0; + reserve(reservesize); + } + + ~gim_array() + { + clear_memory(); + } + + inline GUINT size() const + { + return m_size; + } + + inline GUINT max_size() const + { + return m_allocated_size; + } + + inline T & operator[](size_t i) + { + return m_data[i]; + } + inline const T & operator[](size_t i) const + { + return m_data[i]; + } + + inline T * pointer(){ return m_data;} + inline const T * pointer() const + { return m_data;} + + + inline T * get_pointer_at(GUINT i) + { + return m_data + i; + } + + inline const T * get_pointer_at(GUINT i) const + { + return m_data + i; + } + + inline T & at(GUINT i) + { + return m_data[i]; + } + + inline const T & at(GUINT i) const + { + return m_data[i]; + } + + inline T & front() + { + return *m_data; + } + + inline const T & front() const + { + return *m_data; + } + + inline T & back() + { + return m_data[m_size-1]; + } + + inline const T & back() const + { + return m_data[m_size-1]; + } + + + inline void swap(GUINT i, GUINT j) + { + gim_swap_elements(m_data,i,j); + } + + inline void push_back(const T & obj) + { + this->growingCheck(); + m_data[m_size] = obj; + m_size++; + } + + //!Simply increase the m_size, doesn't call the new element constructor + inline void push_back_mem() + { + this->growingCheck(); + m_size++; + } + + inline void push_back_memcpy(const T & obj) + { + this->growingCheck(); + irr_simd_memcpy(&m_data[m_size],&obj,sizeof(T)); + m_size++; + } + + inline void pop_back() + { + m_size--; + m_data[m_size].~T(); + } + + //!Simply decrease the m_size, doesn't call the deleted element destructor + inline void pop_back_mem() + { + m_size--; + } + + //! fast erase + inline void erase(GUINT index) + { + if(indexgrowingCheck(); + for(GUINT i = m_size;i>index;i--) + { + gim_simd_memcpy(m_data+i,m_data+i-1,sizeof(T)); + } + m_size++; + } + + inline void insert(const T & obj,GUINT index) + { + insert_mem(index); + m_data[index] = obj; + } + + inline void resize(GUINT size, bool call_constructor = true) + { + + if(size>m_size) + { + reserve(size); + if(call_constructor) + { + T obj; + while(m_size -SIMD_FORCE_INLINE bool POINT_IN_HULL( - const CLASS_POINT& point,const CLASS_PLANE * planes,GUINT plane_count) -{ - GREAL _dis; - for (GUINT _i = 0;_i< plane_count;++_i) - { - _dis = DISTANCE_PLANE_POINT(planes[_i],point); - if(_dis>0.0f) return false; - } - return true; -} - -template -SIMD_FORCE_INLINE void PLANE_CLIP_SEGMENT( - const CLASS_POINT& s1, - const CLASS_POINT &s2,const CLASS_PLANE &plane,CLASS_POINT &clipped) -{ - GREAL _dis1,_dis2; - _dis1 = DISTANCE_PLANE_POINT(plane,s1); - VEC_DIFF(clipped,s2,s1); - _dis2 = VEC_DOT(clipped,plane); - VEC_SCALE(clipped,-_dis1/_dis2,clipped); - VEC_SUM(clipped,clipped,s1); -} - -enum ePLANE_INTERSECTION_TYPE -{ - G_BACK_PLANE = 0, - G_COLLIDE_PLANE, - G_FRONT_PLANE -}; - -enum eLINE_PLANE_INTERSECTION_TYPE -{ - G_FRONT_PLANE_S1 = 0, - G_FRONT_PLANE_S2, - G_BACK_PLANE_S1, - G_BACK_PLANE_S2, - G_COLLIDE_PLANE_S1, - G_COLLIDE_PLANE_S2 -}; - -//! Confirms if the plane intersect the edge or nor -/*! -intersection type must have the following values -
    -
  • 0 : Segment in front of plane, s1 closest -
  • 1 : Segment in front of plane, s2 closest -
  • 2 : Segment in back of plane, s1 closest -
  • 3 : Segment in back of plane, s2 closest -
  • 4 : Segment collides plane, s1 in back -
  • 5 : Segment collides plane, s2 in back -
-*/ - -template -SIMD_FORCE_INLINE eLINE_PLANE_INTERSECTION_TYPE PLANE_CLIP_SEGMENT2( - const CLASS_POINT& s1, - const CLASS_POINT &s2, - const CLASS_PLANE &plane,CLASS_POINT &clipped) -{ - GREAL _dis1 = DISTANCE_PLANE_POINT(plane,s1); - GREAL _dis2 = DISTANCE_PLANE_POINT(plane,s2); - if(_dis1 >-G_EPSILON && _dis2 >-G_EPSILON) - { - if(_dis1<_dis2) return G_FRONT_PLANE_S1; - return G_FRONT_PLANE_S2; - } - else if(_dis1 _dis2) return G_BACK_PLANE_S1; - return G_BACK_PLANE_S2; - } - - VEC_DIFF(clipped,s2,s1); - _dis2 = VEC_DOT(clipped,plane); - VEC_SCALE(clipped,-_dis1/_dis2,clipped); - VEC_SUM(clipped,clipped,s1); - if(_dis1<_dis2) return G_COLLIDE_PLANE_S1; - return G_COLLIDE_PLANE_S2; -} - -//! Confirms if the plane intersect the edge or not -/*! -clipped1 and clipped2 are the vertices behind the plane. -clipped1 is the closest - -intersection_type must have the following values -
    -
  • 0 : Segment in front of plane, s1 closest -
  • 1 : Segment in front of plane, s2 closest -
  • 2 : Segment in back of plane, s1 closest -
  • 3 : Segment in back of plane, s2 closest -
  • 4 : Segment collides plane, s1 in back -
  • 5 : Segment collides plane, s2 in back -
-*/ -template -SIMD_FORCE_INLINE eLINE_PLANE_INTERSECTION_TYPE PLANE_CLIP_SEGMENT_CLOSEST( - const CLASS_POINT& s1, - const CLASS_POINT &s2, - const CLASS_PLANE &plane, - CLASS_POINT &clipped1,CLASS_POINT &clipped2) -{ - eLINE_PLANE_INTERSECTION_TYPE intersection_type = PLANE_CLIP_SEGMENT2(s1,s2,plane,clipped1); - switch(intersection_type) - { - case G_FRONT_PLANE_S1: - VEC_COPY(clipped1,s1); - VEC_COPY(clipped2,s2); - break; - case G_FRONT_PLANE_S2: - VEC_COPY(clipped1,s2); - VEC_COPY(clipped2,s1); - break; - case G_BACK_PLANE_S1: - VEC_COPY(clipped1,s1); - VEC_COPY(clipped2,s2); - break; - case G_BACK_PLANE_S2: - VEC_COPY(clipped1,s2); - VEC_COPY(clipped2,s1); - break; - case G_COLLIDE_PLANE_S1: - VEC_COPY(clipped2,s1); - break; - case G_COLLIDE_PLANE_S2: - VEC_COPY(clipped2,s2); - break; - } - return intersection_type; -} - - -//! Finds the 2 smallest cartesian coordinates of a plane normal -#define PLANE_MINOR_AXES(plane, i0, i1) VEC_MINOR_AXES(plane, i0, i1) - -//! Ray plane collision in one way -/*! -Intersects plane in one way only. The ray must face the plane (normals must be in opossite directions).
-It uses the PLANEDIREPSILON constant. -*/ -template -SIMD_FORCE_INLINE bool RAY_PLANE_COLLISION( - const CLASS_PLANE & plane, - const CLASS_POINT & vDir, - const CLASS_POINT & vPoint, - CLASS_POINT & pout,T &tparam) -{ - GREAL _dis,_dotdir; - _dotdir = VEC_DOT(plane,vDir); - if(_dotdir -SIMD_FORCE_INLINE GUINT LINE_PLANE_COLLISION( - const CLASS_PLANE & plane, - const CLASS_POINT & vDir, - const CLASS_POINT & vPoint, - CLASS_POINT & pout, - T &tparam, - T tmin, T tmax) -{ - GREAL _dis,_dotdir; - _dotdir = VEC_DOT(plane,vDir); - if(btFabs(_dotdir)tmax) - { - returnvalue = 0; - tparam = tmax; - } - - VEC_SCALE(pout,tparam,vDir); - VEC_SUM(pout,vPoint,pout); - return returnvalue; -} - -/*! \brief Returns the Ray on which 2 planes intersect if they do. - Written by Rodrigo Hernandez on ODE convex collision - - \param p1 Plane 1 - \param p2 Plane 2 - \param p Contains the origin of the ray upon returning if planes intersect - \param d Contains the direction of the ray upon returning if planes intersect - \return true if the planes intersect, 0 if paralell. - -*/ -template -SIMD_FORCE_INLINE bool INTERSECT_PLANES( - const CLASS_PLANE &p1, - const CLASS_PLANE &p2, - CLASS_POINT &p, - CLASS_POINT &d) -{ - VEC_CROSS(d,p1,p2); - GREAL denom = VEC_DOT(d, d); - if(GIM_IS_ZERO(denom)) return false; - vec3f _n; - _n[0]=p1[3]*p2[0] - p2[3]*p1[0]; - _n[1]=p1[3]*p2[1] - p2[3]*p1[1]; - _n[2]=p1[3]*p2[2] - p2[3]*p1[2]; - VEC_CROSS(p,_n,d); - p[0]/=denom; - p[1]/=denom; - p[2]/=denom; - return true; -} - -//***************** SEGMENT and LINE FUNCTIONS **********************************/// - -/*! Finds the closest point(cp) to (v) on a segment (e1,e2) - */ -template -SIMD_FORCE_INLINE void CLOSEST_POINT_ON_SEGMENT( - CLASS_POINT & cp, const CLASS_POINT & v, - const CLASS_POINT &e1,const CLASS_POINT &e2) -{ - vec3f _n; - VEC_DIFF(_n,e2,e1); - VEC_DIFF(cp,v,e1); - GREAL _scalar = VEC_DOT(cp, _n); - _scalar/= VEC_DOT(_n, _n); - if(_scalar <0.0f) - { - VEC_COPY(cp,e1); - } - else if(_scalar >1.0f) - { - VEC_COPY(cp,e2); - } - else - { - VEC_SCALE(cp,_scalar,_n); - VEC_SUM(cp,cp,e1); - } -} - - -/*! \brief Finds the line params where these lines intersect. - -\param dir1 Direction of line 1 -\param point1 Point of line 1 -\param dir2 Direction of line 2 -\param point2 Point of line 2 -\param t1 Result Parameter for line 1 -\param t2 Result Parameter for line 2 -\param dointersect 0 if the lines won't intersect, else 1 - -*/ -template -SIMD_FORCE_INLINE bool LINE_INTERSECTION_PARAMS( - const CLASS_POINT & dir1, - CLASS_POINT & point1, - const CLASS_POINT & dir2, - CLASS_POINT & point2, - T& t1,T& t2) -{ - GREAL det; - GREAL e1e1 = VEC_DOT(dir1,dir1); - GREAL e1e2 = VEC_DOT(dir1,dir2); - GREAL e2e2 = VEC_DOT(dir2,dir2); - vec3f p1p2; - VEC_DIFF(p1p2,point1,point2); - GREAL p1p2e1 = VEC_DOT(p1p2,dir1); - GREAL p1p2e2 = VEC_DOT(p1p2,dir2); - det = e1e2*e1e2 - e1e1*e2e2; - if(GIM_IS_ZERO(det)) return false; - t1 = (e1e2*p1p2e2 - e2e2*p1p2e1)/det; - t2 = (e1e1*p1p2e2 - e1e2*p1p2e1)/det; - return true; -} - -//! Find closest points on segments -template -SIMD_FORCE_INLINE void SEGMENT_COLLISION( - const CLASS_POINT & vA1, - const CLASS_POINT & vA2, - const CLASS_POINT & vB1, - const CLASS_POINT & vB2, - CLASS_POINT & vPointA, - CLASS_POINT & vPointB) -{ - CLASS_POINT _AD,_BD,_N; - vec4f _M;//plane - VEC_DIFF(_AD,vA2,vA1); - VEC_DIFF(_BD,vB2,vB1); - VEC_CROSS(_N,_AD,_BD); - GREAL _tp = VEC_DOT(_N,_N); - if(_tp_M[1]) - { - invert_b_order = true; - GIM_SWAP_NUMBERS(_M[0],_M[1]); - } - _M[2] = VEC_DOT(vA1,_AD); - _M[3] = VEC_DOT(vA2,_AD); - //mid points - _N[0] = (_M[0]+_M[1])*0.5f; - _N[1] = (_M[2]+_M[3])*0.5f; - - if(_N[0]<_N[1]) - { - if(_M[1]<_M[2]) - { - vPointB = invert_b_order?vB1:vB2; - vPointA = vA1; - } - else if(_M[1]<_M[3]) - { - vPointB = invert_b_order?vB1:vB2; - CLOSEST_POINT_ON_SEGMENT(vPointA,vPointB,vA1,vA2); - } - else - { - vPointA = vA2; - CLOSEST_POINT_ON_SEGMENT(vPointB,vPointA,vB1,vB2); - } - } - else - { - if(_M[3]<_M[0]) - { - vPointB = invert_b_order?vB2:vB1; - vPointA = vA2; - } - else if(_M[3]<_M[1]) - { - vPointA = vA2; - CLOSEST_POINT_ON_SEGMENT(vPointB,vPointA,vB1,vB2); - } - else - { - vPointB = invert_b_order?vB1:vB2; - CLOSEST_POINT_ON_SEGMENT(vPointA,vPointB,vA1,vA2); - } - } - return; - } - - - VEC_CROSS(_M,_N,_BD); - _M[3] = VEC_DOT(_M,vB1); - - LINE_PLANE_COLLISION(_M,_AD,vA1,vPointA,_tp,btScalar(0), btScalar(1)); - /*Closest point on segment*/ - VEC_DIFF(vPointB,vPointA,vB1); - _tp = VEC_DOT(vPointB, _BD); - _tp/= VEC_DOT(_BD, _BD); - _tp = GIM_CLAMP(_tp,0.0f,1.0f); - VEC_SCALE(vPointB,_tp,_BD); - VEC_SUM(vPointB,vPointB,vB1); -} - - - - -//! Line box intersection in one dimension -/*! - -*\param pos Position of the ray -*\param dir Projection of the Direction of the ray -*\param bmin Minimum bound of the box -*\param bmax Maximum bound of the box -*\param tfirst the minimum projection. Assign to 0 at first. -*\param tlast the maximum projection. Assign to INFINITY at first. -*\return true if there is an intersection. -*/ -template -SIMD_FORCE_INLINE bool BOX_AXIS_INTERSECT(T pos, T dir,T bmin, T bmax, T & tfirst, T & tlast) -{ - if(GIM_IS_ZERO(dir)) - { - return !(pos < bmin || pos > bmax); - } - GREAL a0 = (bmin - pos) / dir; - GREAL a1 = (bmax - pos) / dir; - if(a0 > a1) GIM_SWAP_NUMBERS(a0, a1); - tfirst = GIM_MAX(a0, tfirst); - tlast = GIM_MIN(a1, tlast); - if (tlast < tfirst) return false; - return true; -} - - -//! Sorts 3 componets -template -SIMD_FORCE_INLINE void SORT_3_INDICES( - const T * values, - GUINT * order_indices) -{ - //get minimum - order_indices[0] = values[0] < values[1] ? (values[0] < values[2] ? 0 : 2) : (values[1] < values[2] ? 1 : 2); - - //get second and third - GUINT i0 = (order_indices[0] + 1)%3; - GUINT i1 = (i0 + 1)%3; - - if(values[i0] < values[i1]) - { - order_indices[1] = i0; - order_indices[2] = i1; - } - else - { - order_indices[1] = i1; - order_indices[2] = i0; - } -} - - - -//! @} - - -#endif // GIM_VECTOR_H_INCLUDED +#ifndef GIM_BASIC_GEOMETRY_OPERATIONS_H_INCLUDED +#define GIM_BASIC_GEOMETRY_OPERATIONS_H_INCLUDED + +/*! \file gim_basic_geometry_operations.h +*\author Francisco Len Nßjera +type independant geometry routines + +*/ +/* +----------------------------------------------------------------------------- +This source file is part of GIMPACT Library. + +For the latest info, see http://gimpact.sourceforge.net/ + +Copyright (c) 2006 Francisco Leon Najera. C.C. 80087371. +email: projectileman@yahoo.com + + This library is free software; you can redistribute it and/or + modify it under the terms of EITHER: + (1) The GNU Lesser General Public License as published by the Free + Software Foundation; either version 2.1 of the License, or (at + your option) any later version. The text of the GNU Lesser + General Public License is included with this library in the + file GIMPACT-LICENSE-LGPL.TXT. + (2) The BSD-style license that is included with this library in + the file GIMPACT-LICENSE-BSD.TXT. + (3) The zlib/libpng license that is included with this library in + the file GIMPACT-LICENSE-ZLIB.TXT. + + This library is distributed in the hope that it will be useful, + but WITHOUT ANY WARRANTY; without even the implied warranty of + MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the files + GIMPACT-LICENSE-LGPL.TXT, GIMPACT-LICENSE-ZLIB.TXT and GIMPACT-LICENSE-BSD.TXT for more details. + +----------------------------------------------------------------------------- +*/ + + +#include "gim_linear_math.h" + + + +/*! \defgroup GEOMETRIC_OPERATIONS +*/ +//! @{ + + +#define PLANEDIREPSILON 0.0000001f +#define PARALELENORMALS 0.000001f + + +#define TRIANGLE_NORMAL(v1,v2,v3,n)\ +{\ + vec3f _dif1,_dif2;\ + VEC_DIFF(_dif1,v2,v1);\ + VEC_DIFF(_dif2,v3,v1);\ + VEC_CROSS(n,_dif1,_dif2);\ + VEC_NORMALIZE(n);\ +}\ + +#define TRIANGLE_NORMAL_FAST(v1,v2,v3,n){\ + vec3f _dif1,_dif2; \ + VEC_DIFF(_dif1,v2,v1); \ + VEC_DIFF(_dif2,v3,v1); \ + VEC_CROSS(n,_dif1,_dif2); \ +}\ + +/// plane is a vec4f +#define TRIANGLE_PLANE(v1,v2,v3,plane) {\ + TRIANGLE_NORMAL(v1,v2,v3,plane);\ + plane[3] = VEC_DOT(v1,plane);\ +}\ + +/// plane is a vec4f +#define TRIANGLE_PLANE_FAST(v1,v2,v3,plane) {\ + TRIANGLE_NORMAL_FAST(v1,v2,v3,plane);\ + plane[3] = VEC_DOT(v1,plane);\ +}\ + +/// Calc a plane from an edge an a normal. plane is a vec4f +#define EDGE_PLANE(e1,e2,n,plane) {\ + vec3f _dif; \ + VEC_DIFF(_dif,e2,e1); \ + VEC_CROSS(plane,_dif,n); \ + VEC_NORMALIZE(plane); \ + plane[3] = VEC_DOT(e1,plane);\ +}\ + +#define DISTANCE_PLANE_POINT(plane,point) (VEC_DOT(plane,point) - plane[3]) + +#define PROJECT_POINT_PLANE(point,plane,projected) {\ + GREAL _dis;\ + _dis = DISTANCE_PLANE_POINT(plane,point);\ + VEC_SCALE(projected,-_dis,plane);\ + VEC_SUM(projected,projected,point); \ +}\ + +//! Verifies if a point is in the plane hull +template +SIMD_FORCE_INLINE bool POINT_IN_HULL( + const CLASS_POINT& point,const CLASS_PLANE * planes,GUINT plane_count) +{ + GREAL _dis; + for (GUINT _i = 0;_i< plane_count;++_i) + { + _dis = DISTANCE_PLANE_POINT(planes[_i],point); + if(_dis>0.0f) return false; + } + return true; +} + +template +SIMD_FORCE_INLINE void PLANE_CLIP_SEGMENT( + const CLASS_POINT& s1, + const CLASS_POINT &s2,const CLASS_PLANE &plane,CLASS_POINT &clipped) +{ + GREAL _dis1,_dis2; + _dis1 = DISTANCE_PLANE_POINT(plane,s1); + VEC_DIFF(clipped,s2,s1); + _dis2 = VEC_DOT(clipped,plane); + VEC_SCALE(clipped,-_dis1/_dis2,clipped); + VEC_SUM(clipped,clipped,s1); +} + +enum ePLANE_INTERSECTION_TYPE +{ + G_BACK_PLANE = 0, + G_COLLIDE_PLANE, + G_FRONT_PLANE +}; + +enum eLINE_PLANE_INTERSECTION_TYPE +{ + G_FRONT_PLANE_S1 = 0, + G_FRONT_PLANE_S2, + G_BACK_PLANE_S1, + G_BACK_PLANE_S2, + G_COLLIDE_PLANE_S1, + G_COLLIDE_PLANE_S2 +}; + +//! Confirms if the plane intersect the edge or nor +/*! +intersection type must have the following values +
    +
  • 0 : Segment in front of plane, s1 closest +
  • 1 : Segment in front of plane, s2 closest +
  • 2 : Segment in back of plane, s1 closest +
  • 3 : Segment in back of plane, s2 closest +
  • 4 : Segment collides plane, s1 in back +
  • 5 : Segment collides plane, s2 in back +
+*/ + +template +SIMD_FORCE_INLINE eLINE_PLANE_INTERSECTION_TYPE PLANE_CLIP_SEGMENT2( + const CLASS_POINT& s1, + const CLASS_POINT &s2, + const CLASS_PLANE &plane,CLASS_POINT &clipped) +{ + GREAL _dis1 = DISTANCE_PLANE_POINT(plane,s1); + GREAL _dis2 = DISTANCE_PLANE_POINT(plane,s2); + if(_dis1 >-G_EPSILON && _dis2 >-G_EPSILON) + { + if(_dis1<_dis2) return G_FRONT_PLANE_S1; + return G_FRONT_PLANE_S2; + } + else if(_dis1 _dis2) return G_BACK_PLANE_S1; + return G_BACK_PLANE_S2; + } + + VEC_DIFF(clipped,s2,s1); + _dis2 = VEC_DOT(clipped,plane); + VEC_SCALE(clipped,-_dis1/_dis2,clipped); + VEC_SUM(clipped,clipped,s1); + if(_dis1<_dis2) return G_COLLIDE_PLANE_S1; + return G_COLLIDE_PLANE_S2; +} + +//! Confirms if the plane intersect the edge or not +/*! +clipped1 and clipped2 are the vertices behind the plane. +clipped1 is the closest + +intersection_type must have the following values +
    +
  • 0 : Segment in front of plane, s1 closest +
  • 1 : Segment in front of plane, s2 closest +
  • 2 : Segment in back of plane, s1 closest +
  • 3 : Segment in back of plane, s2 closest +
  • 4 : Segment collides plane, s1 in back +
  • 5 : Segment collides plane, s2 in back +
+*/ +template +SIMD_FORCE_INLINE eLINE_PLANE_INTERSECTION_TYPE PLANE_CLIP_SEGMENT_CLOSEST( + const CLASS_POINT& s1, + const CLASS_POINT &s2, + const CLASS_PLANE &plane, + CLASS_POINT &clipped1,CLASS_POINT &clipped2) +{ + eLINE_PLANE_INTERSECTION_TYPE intersection_type = PLANE_CLIP_SEGMENT2(s1,s2,plane,clipped1); + switch(intersection_type) + { + case G_FRONT_PLANE_S1: + VEC_COPY(clipped1,s1); + VEC_COPY(clipped2,s2); + break; + case G_FRONT_PLANE_S2: + VEC_COPY(clipped1,s2); + VEC_COPY(clipped2,s1); + break; + case G_BACK_PLANE_S1: + VEC_COPY(clipped1,s1); + VEC_COPY(clipped2,s2); + break; + case G_BACK_PLANE_S2: + VEC_COPY(clipped1,s2); + VEC_COPY(clipped2,s1); + break; + case G_COLLIDE_PLANE_S1: + VEC_COPY(clipped2,s1); + break; + case G_COLLIDE_PLANE_S2: + VEC_COPY(clipped2,s2); + break; + } + return intersection_type; +} + + +//! Finds the 2 smallest cartesian coordinates of a plane normal +#define PLANE_MINOR_AXES(plane, i0, i1) VEC_MINOR_AXES(plane, i0, i1) + +//! Ray plane collision in one way +/*! +Intersects plane in one way only. The ray must face the plane (normals must be in opossite directions).
+It uses the PLANEDIREPSILON constant. +*/ +template +SIMD_FORCE_INLINE bool RAY_PLANE_COLLISION( + const CLASS_PLANE & plane, + const CLASS_POINT & vDir, + const CLASS_POINT & vPoint, + CLASS_POINT & pout,T &tparam) +{ + GREAL _dis,_dotdir; + _dotdir = VEC_DOT(plane,vDir); + if(_dotdir +SIMD_FORCE_INLINE GUINT LINE_PLANE_COLLISION( + const CLASS_PLANE & plane, + const CLASS_POINT & vDir, + const CLASS_POINT & vPoint, + CLASS_POINT & pout, + T &tparam, + T tmin, T tmax) +{ + GREAL _dis,_dotdir; + _dotdir = VEC_DOT(plane,vDir); + if(btFabs(_dotdir)tmax) + { + returnvalue = 0; + tparam = tmax; + } + + VEC_SCALE(pout,tparam,vDir); + VEC_SUM(pout,vPoint,pout); + return returnvalue; +} + +/*! \brief Returns the Ray on which 2 planes intersect if they do. + Written by Rodrigo Hernandez on ODE convex collision + + \param p1 Plane 1 + \param p2 Plane 2 + \param p Contains the origin of the ray upon returning if planes intersect + \param d Contains the direction of the ray upon returning if planes intersect + \return true if the planes intersect, 0 if paralell. + +*/ +template +SIMD_FORCE_INLINE bool INTERSECT_PLANES( + const CLASS_PLANE &p1, + const CLASS_PLANE &p2, + CLASS_POINT &p, + CLASS_POINT &d) +{ + VEC_CROSS(d,p1,p2); + GREAL denom = VEC_DOT(d, d); + if(GIM_IS_ZERO(denom)) return false; + vec3f _n; + _n[0]=p1[3]*p2[0] - p2[3]*p1[0]; + _n[1]=p1[3]*p2[1] - p2[3]*p1[1]; + _n[2]=p1[3]*p2[2] - p2[3]*p1[2]; + VEC_CROSS(p,_n,d); + p[0]/=denom; + p[1]/=denom; + p[2]/=denom; + return true; +} + +//***************** SEGMENT and LINE FUNCTIONS **********************************/// + +/*! Finds the closest point(cp) to (v) on a segment (e1,e2) + */ +template +SIMD_FORCE_INLINE void CLOSEST_POINT_ON_SEGMENT( + CLASS_POINT & cp, const CLASS_POINT & v, + const CLASS_POINT &e1,const CLASS_POINT &e2) +{ + vec3f _n; + VEC_DIFF(_n,e2,e1); + VEC_DIFF(cp,v,e1); + GREAL _scalar = VEC_DOT(cp, _n); + _scalar/= VEC_DOT(_n, _n); + if(_scalar <0.0f) + { + VEC_COPY(cp,e1); + } + else if(_scalar >1.0f) + { + VEC_COPY(cp,e2); + } + else + { + VEC_SCALE(cp,_scalar,_n); + VEC_SUM(cp,cp,e1); + } +} + + +/*! \brief Finds the line params where these lines intersect. + +\param dir1 Direction of line 1 +\param point1 Point of line 1 +\param dir2 Direction of line 2 +\param point2 Point of line 2 +\param t1 Result Parameter for line 1 +\param t2 Result Parameter for line 2 +\param dointersect 0 if the lines won't intersect, else 1 + +*/ +template +SIMD_FORCE_INLINE bool LINE_INTERSECTION_PARAMS( + const CLASS_POINT & dir1, + CLASS_POINT & point1, + const CLASS_POINT & dir2, + CLASS_POINT & point2, + T& t1,T& t2) +{ + GREAL det; + GREAL e1e1 = VEC_DOT(dir1,dir1); + GREAL e1e2 = VEC_DOT(dir1,dir2); + GREAL e2e2 = VEC_DOT(dir2,dir2); + vec3f p1p2; + VEC_DIFF(p1p2,point1,point2); + GREAL p1p2e1 = VEC_DOT(p1p2,dir1); + GREAL p1p2e2 = VEC_DOT(p1p2,dir2); + det = e1e2*e1e2 - e1e1*e2e2; + if(GIM_IS_ZERO(det)) return false; + t1 = (e1e2*p1p2e2 - e2e2*p1p2e1)/det; + t2 = (e1e1*p1p2e2 - e1e2*p1p2e1)/det; + return true; +} + +//! Find closest points on segments +template +SIMD_FORCE_INLINE void SEGMENT_COLLISION( + const CLASS_POINT & vA1, + const CLASS_POINT & vA2, + const CLASS_POINT & vB1, + const CLASS_POINT & vB2, + CLASS_POINT & vPointA, + CLASS_POINT & vPointB) +{ + CLASS_POINT _AD,_BD,_N; + vec4f _M;//plane + VEC_DIFF(_AD,vA2,vA1); + VEC_DIFF(_BD,vB2,vB1); + VEC_CROSS(_N,_AD,_BD); + GREAL _tp = VEC_DOT(_N,_N); + if(_tp_M[1]) + { + invert_b_order = true; + GIM_SWAP_NUMBERS(_M[0],_M[1]); + } + _M[2] = VEC_DOT(vA1,_AD); + _M[3] = VEC_DOT(vA2,_AD); + //mid points + _N[0] = (_M[0]+_M[1])*0.5f; + _N[1] = (_M[2]+_M[3])*0.5f; + + if(_N[0]<_N[1]) + { + if(_M[1]<_M[2]) + { + vPointB = invert_b_order?vB1:vB2; + vPointA = vA1; + } + else if(_M[1]<_M[3]) + { + vPointB = invert_b_order?vB1:vB2; + CLOSEST_POINT_ON_SEGMENT(vPointA,vPointB,vA1,vA2); + } + else + { + vPointA = vA2; + CLOSEST_POINT_ON_SEGMENT(vPointB,vPointA,vB1,vB2); + } + } + else + { + if(_M[3]<_M[0]) + { + vPointB = invert_b_order?vB2:vB1; + vPointA = vA2; + } + else if(_M[3]<_M[1]) + { + vPointA = vA2; + CLOSEST_POINT_ON_SEGMENT(vPointB,vPointA,vB1,vB2); + } + else + { + vPointB = invert_b_order?vB1:vB2; + CLOSEST_POINT_ON_SEGMENT(vPointA,vPointB,vA1,vA2); + } + } + return; + } + + + VEC_CROSS(_M,_N,_BD); + _M[3] = VEC_DOT(_M,vB1); + + LINE_PLANE_COLLISION(_M,_AD,vA1,vPointA,_tp,btScalar(0), btScalar(1)); + /*Closest point on segment*/ + VEC_DIFF(vPointB,vPointA,vB1); + _tp = VEC_DOT(vPointB, _BD); + _tp/= VEC_DOT(_BD, _BD); + _tp = GIM_CLAMP(_tp,0.0f,1.0f); + VEC_SCALE(vPointB,_tp,_BD); + VEC_SUM(vPointB,vPointB,vB1); +} + + + + +//! Line box intersection in one dimension +/*! + +*\param pos Position of the ray +*\param dir Projection of the Direction of the ray +*\param bmin Minimum bound of the box +*\param bmax Maximum bound of the box +*\param tfirst the minimum projection. Assign to 0 at first. +*\param tlast the maximum projection. Assign to INFINITY at first. +*\return true if there is an intersection. +*/ +template +SIMD_FORCE_INLINE bool BOX_AXIS_INTERSECT(T pos, T dir,T bmin, T bmax, T & tfirst, T & tlast) +{ + if(GIM_IS_ZERO(dir)) + { + return !(pos < bmin || pos > bmax); + } + GREAL a0 = (bmin - pos) / dir; + GREAL a1 = (bmax - pos) / dir; + if(a0 > a1) GIM_SWAP_NUMBERS(a0, a1); + tfirst = GIM_MAX(a0, tfirst); + tlast = GIM_MIN(a1, tlast); + if (tlast < tfirst) return false; + return true; +} + + +//! Sorts 3 componets +template +SIMD_FORCE_INLINE void SORT_3_INDICES( + const T * values, + GUINT * order_indices) +{ + //get minimum + order_indices[0] = values[0] < values[1] ? (values[0] < values[2] ? 0 : 2) : (values[1] < values[2] ? 1 : 2); + + //get second and third + GUINT i0 = (order_indices[0] + 1)%3; + GUINT i1 = (i0 + 1)%3; + + if(values[i0] < values[i1]) + { + order_indices[1] = i0; + order_indices[2] = i1; + } + else + { + order_indices[1] = i1; + order_indices[2] = i0; + } +} + + + +//! @} + + +#endif // GIM_VECTOR_H_INCLUDED diff --git a/Extras/GIMPACT/include/GIMPACT/core/gim_bitset.h b/src/BulletCollision/Gimpact/gim_bitset.h old mode 100755 new mode 100644 similarity index 93% rename from Extras/GIMPACT/include/GIMPACT/core/gim_bitset.h rename to src/BulletCollision/Gimpact/gim_bitset.h index 893eea5ff..7784aeff1 --- a/Extras/GIMPACT/include/GIMPACT/core/gim_bitset.h +++ b/src/BulletCollision/Gimpact/gim_bitset.h @@ -1,129 +1,129 @@ -#ifndef GIM_BITSET_H_INCLUDED -#define GIM_BITSET_H_INCLUDED -/*! \file gim_bitset.h -\author Francisco León Nájera -*/ -/* ------------------------------------------------------------------------------ -This source file is part of GIMPACT Library. - -For the latest info, see http://gimpact.sourceforge.net/ - -Copyright (c) 2006 Francisco Leon Najera. C.C. 80087371. -email: projectileman@yahoo.com - - This library is free software; you can redistribute it and/or - modify it under the terms of EITHER: - (1) The GNU Lesser General Public License as published by the Free - Software Foundation; either version 2.1 of the License, or (at - your option) any later version. The text of the GNU Lesser - General Public License is included with this library in the - file GIMPACT-LICENSE-LGPL.TXT. - (2) The BSD-style license that is included with this library in - the file GIMPACT-LICENSE-BSD.TXT. - (3) The zlib/libpng license that is included with this library in - the file GIMPACT-LICENSE-ZLIB.TXT. - - This library is distributed in the hope that it will be useful, - but WITHOUT ANY WARRANTY; without even the implied warranty of - MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the files - GIMPACT-LICENSE-LGPL.TXT, GIMPACT-LICENSE-ZLIB.TXT and GIMPACT-LICENSE-BSD.TXT for more details. - ------------------------------------------------------------------------------ -*/ - -#include "GIMPACT/core/gim_array.h" - -/*! \addtogroup CONTAINERS -\brief -Abstract class for template containers -*/ -//! @{ - -#define GUINT_BIT_COUNT 32 -#define GUINT_EXPONENT 5 - -class gim_bitset -{ -public: - gim_array m_container; - - gim_bitset() - { - - } - - gim_bitset(GUINT bits_count) - { - resize(bits_count); - } - - ~gim_bitset() - { - } - - inline bool resize(GUINT newsize) - { - GUINT oldsize = m_container.size(); - m_container.resize(newsize/GUINT_BIT_COUNT + 1,false); - while(oldsize=size()) - { - resize(bit_index); - } - m_container[bit_index >> GUINT_EXPONENT] |= (1 << (bit_index & (GUINT_BIT_COUNT-1))); - } - - ///Return 0 or 1 - inline char get(GUINT bit_index) - { - if(bit_index>=size()) - { - return 0; - } - char value = m_container[bit_index >> GUINT_EXPONENT] & - (1 << (bit_index & (GUINT_BIT_COUNT-1))); - return value; - } - - inline void clear(GUINT bit_index) - { - m_container[bit_index >> GUINT_EXPONENT] &= ~(1 << (bit_index & (GUINT_BIT_COUNT-1))); - } -}; - - -//! @} - - - -#endif // GIM_CONTAINERS_H_INCLUDED +#ifndef GIM_BITSET_H_INCLUDED +#define GIM_BITSET_H_INCLUDED +/*! \file gim_bitset.h +\author Francisco Len Nßjera +*/ +/* +----------------------------------------------------------------------------- +This source file is part of GIMPACT Library. + +For the latest info, see http://gimpact.sourceforge.net/ + +Copyright (c) 2006 Francisco Leon Najera. C.C. 80087371. +email: projectileman@yahoo.com + + This library is free software; you can redistribute it and/or + modify it under the terms of EITHER: + (1) The GNU Lesser General Public License as published by the Free + Software Foundation; either version 2.1 of the License, or (at + your option) any later version. The text of the GNU Lesser + General Public License is included with this library in the + file GIMPACT-LICENSE-LGPL.TXT. + (2) The BSD-style license that is included with this library in + the file GIMPACT-LICENSE-BSD.TXT. + (3) The zlib/libpng license that is included with this library in + the file GIMPACT-LICENSE-ZLIB.TXT. + + This library is distributed in the hope that it will be useful, + but WITHOUT ANY WARRANTY; without even the implied warranty of + MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the files + GIMPACT-LICENSE-LGPL.TXT, GIMPACT-LICENSE-ZLIB.TXT and GIMPACT-LICENSE-BSD.TXT for more details. + +----------------------------------------------------------------------------- +*/ + +#include "gim_array.h" + +/*! \addtogroup CONTAINERS +\brief +Abstract class for template containers +*/ +//! @{ + +#define GUINT_BIT_COUNT 32 +#define GUINT_EXPONENT 5 + +class gim_bitset +{ +public: + gim_array m_container; + + gim_bitset() + { + + } + + gim_bitset(GUINT bits_count) + { + resize(bits_count); + } + + ~gim_bitset() + { + } + + inline bool resize(GUINT newsize) + { + GUINT oldsize = m_container.size(); + m_container.resize(newsize/GUINT_BIT_COUNT + 1,false); + while(oldsize=size()) + { + resize(bit_index); + } + m_container[bit_index >> GUINT_EXPONENT] |= (1 << (bit_index & (GUINT_BIT_COUNT-1))); + } + + ///Return 0 or 1 + inline char get(GUINT bit_index) + { + if(bit_index>=size()) + { + return 0; + } + char value = m_container[bit_index >> GUINT_EXPONENT] & + (1 << (bit_index & (GUINT_BIT_COUNT-1))); + return value; + } + + inline void clear(GUINT bit_index) + { + m_container[bit_index >> GUINT_EXPONENT] &= ~(1 << (bit_index & (GUINT_BIT_COUNT-1))); + } +}; + + +//! @} + + + +#endif // GIM_CONTAINERS_H_INCLUDED diff --git a/Extras/GIMPACT/include/GIMPACT/core/gim_box_collision.h b/src/BulletCollision/Gimpact/gim_box_collision.h old mode 100755 new mode 100644 similarity index 96% rename from Extras/GIMPACT/include/GIMPACT/core/gim_box_collision.h rename to src/BulletCollision/Gimpact/gim_box_collision.h index cde486382..c9bb83e36 --- a/Extras/GIMPACT/include/GIMPACT/core/gim_box_collision.h +++ b/src/BulletCollision/Gimpact/gim_box_collision.h @@ -1,594 +1,594 @@ -#ifndef GIM_BOX_COLLISION_H_INCLUDED -#define GIM_BOX_COLLISION_H_INCLUDED - -/*! \file gim_box_collision.h -\author Francisco León Nájera -*/ -/* ------------------------------------------------------------------------------ -This source file is part of GIMPACT Library. - -For the latest info, see http://gimpact.sourceforge.net/ - -Copyright (c) 2006 Francisco Leon Najera. C.C. 80087371. -email: projectileman@yahoo.com - - This library is free software; you can redistribute it and/or - modify it under the terms of EITHER: - (1) The GNU Lesser General Public License as published by the Free - Software Foundation; either version 2.1 of the License, or (at - your option) any later version. The text of the GNU Lesser - General Public License is included with this library in the - file GIMPACT-LICENSE-LGPL.TXT. - (2) The BSD-style license that is included with this library in - the file GIMPACT-LICENSE-BSD.TXT. - (3) The zlib/libpng license that is included with this library in - the file GIMPACT-LICENSE-ZLIB.TXT. - - This library is distributed in the hope that it will be useful, - but WITHOUT ANY WARRANTY; without even the implied warranty of - MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the files - GIMPACT-LICENSE-LGPL.TXT, GIMPACT-LICENSE-ZLIB.TXT and GIMPACT-LICENSE-BSD.TXT for more details. - ------------------------------------------------------------------------------ -*/ -#include "GIMPACT/core/gim_basic_geometry_operations.h" -#include "LinearMath/btTransform.h" - -/*! \defgroup BOUND_AABB_OPERATIONS -*/ -//! @{ - - -//SIMD_FORCE_INLINE bool test_cross_edge_box( -// const btVector3 & edge, -// const btVector3 & absolute_edge, -// const btVector3 & pointa, -// const btVector3 & pointb, const btVector3 & extend, -// int dir_index0, -// int dir_index1 -// int component_index0, -// int component_index1) -//{ -// // dir coords are -z and y -// -// const btScalar dir0 = -edge[dir_index0]; -// const btScalar dir1 = edge[dir_index1]; -// btScalar pmin = pointa[component_index0]*dir0 + pointa[component_index1]*dir1; -// btScalar pmax = pointb[component_index0]*dir0 + pointb[component_index1]*dir1; -// //find minmax -// if(pmin>pmax) -// { -// GIM_SWAP_NUMBERS(pmin,pmax); -// } -// //find extends -// const btScalar rad = extend[component_index0] * absolute_edge[dir_index0] + -// extend[component_index1] * absolute_edge[dir_index1]; -// -// if(pmin>rad || -rad>pmax) return false; -// return true; -//} -// -//SIMD_FORCE_INLINE bool test_cross_edge_box_X_axis( -// const btVector3 & edge, -// const btVector3 & absolute_edge, -// const btVector3 & pointa, -// const btVector3 & pointb, btVector3 & extend) -//{ -// -// return test_cross_edge_box(edge,absolute_edge,pointa,pointb,extend,2,1,1,2); -//} -// -// -//SIMD_FORCE_INLINE bool test_cross_edge_box_Y_axis( -// const btVector3 & edge, -// const btVector3 & absolute_edge, -// const btVector3 & pointa, -// const btVector3 & pointb, btVector3 & extend) -//{ -// -// return test_cross_edge_box(edge,absolute_edge,pointa,pointb,extend,0,2,2,0); -//} -// -//SIMD_FORCE_INLINE bool test_cross_edge_box_Z_axis( -// const btVector3 & edge, -// const btVector3 & absolute_edge, -// const btVector3 & pointa, -// const btVector3 & pointb, btVector3 & extend) -//{ -// -// return test_cross_edge_box(edge,absolute_edge,pointa,pointb,extend,1,0,0,1); -//} - -#define TEST_CROSS_EDGE_BOX_MCR(edge,absolute_edge,pointa,pointb,_extend,i_dir_0,i_dir_1,i_comp_0,i_comp_1)\ -{\ - const btScalar dir0 = -edge[i_dir_0];\ - const btScalar dir1 = edge[i_dir_1];\ - btScalar pmin = pointa[i_comp_0]*dir0 + pointa[i_comp_1]*dir1;\ - btScalar pmax = pointb[i_comp_0]*dir0 + pointb[i_comp_1]*dir1;\ - if(pmin>pmax)\ - {\ - GIM_SWAP_NUMBERS(pmin,pmax); \ - }\ - const btScalar abs_dir0 = absolute_edge[i_dir_0];\ - const btScalar abs_dir1 = absolute_edge[i_dir_1];\ - const btScalar rad = _extend[i_comp_0] * abs_dir0 + _extend[i_comp_1] * abs_dir1;\ - if(pmin>rad || -rad>pmax) return false;\ -}\ - - -#define TEST_CROSS_EDGE_BOX_X_AXIS_MCR(edge,absolute_edge,pointa,pointb,_extend)\ -{\ - TEST_CROSS_EDGE_BOX_MCR(edge,absolute_edge,pointa,pointb,_extend,2,1,1,2);\ -}\ - -#define TEST_CROSS_EDGE_BOX_Y_AXIS_MCR(edge,absolute_edge,pointa,pointb,_extend)\ -{\ - TEST_CROSS_EDGE_BOX_MCR(edge,absolute_edge,pointa,pointb,_extend,0,2,2,0);\ -}\ - -#define TEST_CROSS_EDGE_BOX_Z_AXIS_MCR(edge,absolute_edge,pointa,pointb,_extend)\ -{\ - TEST_CROSS_EDGE_BOX_MCR(edge,absolute_edge,pointa,pointb,_extend,1,0,0,1);\ -}\ - - - -//! Class for transforming a model1 to the space of model0 -class GIM_BOX_BOX_TRANSFORM_CACHE -{ -public: - btVector3 m_T1to0;//!< Transforms translation of model1 to model 0 - btMatrix3x3 m_R1to0;//!< Transforms Rotation of model1 to model 0, equal to R0' * R1 - btMatrix3x3 m_AR;//!< Absolute value of m_R1to0 - - SIMD_FORCE_INLINE void calc_absolute_matrix() - { - static const btVector3 vepsi(1e-6f,1e-6f,1e-6f); - m_AR[0] = vepsi + m_R1to0[0].absolute(); - m_AR[1] = vepsi + m_R1to0[1].absolute(); - m_AR[2] = vepsi + m_R1to0[2].absolute(); - } - - GIM_BOX_BOX_TRANSFORM_CACHE() - { - } - - - GIM_BOX_BOX_TRANSFORM_CACHE(mat4f trans1_to_0) - { - COPY_MATRIX_3X3(m_R1to0,trans1_to_0) - MAT_GET_TRANSLATION(trans1_to_0,m_T1to0) - calc_absolute_matrix(); - } - - //! Calc the transformation relative 1 to 0. Inverts matrics by transposing - SIMD_FORCE_INLINE void calc_from_homogenic(const btTransform & trans0,const btTransform & trans1) - { - - m_R1to0 = trans0.getBasis().transpose(); - m_T1to0 = m_R1to0 * (-trans0.getOrigin()); - - m_T1to0 += m_R1to0*trans1.getOrigin(); - m_R1to0 *= trans1.getBasis(); - - calc_absolute_matrix(); - } - - //! Calcs the full invertion of the matrices. Useful for scaling matrices - SIMD_FORCE_INLINE void calc_from_full_invert(const btTransform & trans0,const btTransform & trans1) - { - m_R1to0 = trans0.getBasis().inverse(); - m_T1to0 = m_R1to0 * (-trans0.getOrigin()); - - m_T1to0 += m_R1to0*trans1.getOrigin(); - m_R1to0 *= trans1.getBasis(); - - calc_absolute_matrix(); - } - - SIMD_FORCE_INLINE btVector3 transform(const btVector3 & point) - { - return btVector3(m_R1to0[0].dot(point) + m_T1to0.x(), - m_R1to0[1].dot(point) + m_T1to0.y(), - m_R1to0[2].dot(point) + m_T1to0.z()); - } -}; - - -#define BOX_PLANE_EPSILON 0.000001f - -//! Axis aligned box -class GIM_AABB -{ -public: - btVector3 m_min; - btVector3 m_max; - - GIM_AABB() - {} - - - GIM_AABB(const btVector3 & V1, - const btVector3 & V2, - const btVector3 & V3) - { - m_min[0] = GIM_MIN3(V1[0],V2[0],V3[0]); - m_min[1] = GIM_MIN3(V1[1],V2[1],V3[1]); - m_min[2] = GIM_MIN3(V1[2],V2[2],V3[2]); - - m_max[0] = GIM_MAX3(V1[0],V2[0],V3[0]); - m_max[1] = GIM_MAX3(V1[1],V2[1],V3[1]); - m_max[2] = GIM_MAX3(V1[2],V2[2],V3[2]); - } - - GIM_AABB(const btVector3 & V1, - const btVector3 & V2, - const btVector3 & V3, - GREAL margin) - { - m_min[0] = GIM_MIN3(V1[0],V2[0],V3[0]); - m_min[1] = GIM_MIN3(V1[1],V2[1],V3[1]); - m_min[2] = GIM_MIN3(V1[2],V2[2],V3[2]); - - m_max[0] = GIM_MAX3(V1[0],V2[0],V3[0]); - m_max[1] = GIM_MAX3(V1[1],V2[1],V3[1]); - m_max[2] = GIM_MAX3(V1[2],V2[2],V3[2]); - - m_min[0] -= margin; - m_min[1] -= margin; - m_min[2] -= margin; - m_max[0] += margin; - m_max[1] += margin; - m_max[2] += margin; - } - - GIM_AABB(const GIM_AABB &other): - m_min(other.m_min),m_max(other.m_max) - { - } - - GIM_AABB(const GIM_AABB &other,btScalar margin ): - m_min(other.m_min),m_max(other.m_max) - { - m_min[0] -= margin; - m_min[1] -= margin; - m_min[2] -= margin; - m_max[0] += margin; - m_max[1] += margin; - m_max[2] += margin; - } - - SIMD_FORCE_INLINE void invalidate() - { - m_min[0] = G_REAL_INFINITY; - m_min[1] = G_REAL_INFINITY; - m_min[2] = G_REAL_INFINITY; - m_max[0] = -G_REAL_INFINITY; - m_max[1] = -G_REAL_INFINITY; - m_max[2] = -G_REAL_INFINITY; - } - - SIMD_FORCE_INLINE void increment_margin(btScalar margin) - { - m_min[0] -= margin; - m_min[1] -= margin; - m_min[2] -= margin; - m_max[0] += margin; - m_max[1] += margin; - m_max[2] += margin; - } - - SIMD_FORCE_INLINE void copy_with_margin(const GIM_AABB &other, btScalar margin) - { - m_min[0] = other.m_min[0] - margin; - m_min[1] = other.m_min[1] - margin; - m_min[2] = other.m_min[2] - margin; - - m_max[0] = other.m_max[0] + margin; - m_max[1] = other.m_max[1] + margin; - m_max[2] = other.m_max[2] + margin; - } - - template - SIMD_FORCE_INLINE void calc_from_triangle( - const CLASS_POINT & V1, - const CLASS_POINT & V2, - const CLASS_POINT & V3) - { - m_min[0] = GIM_MIN3(V1[0],V2[0],V3[0]); - m_min[1] = GIM_MIN3(V1[1],V2[1],V3[1]); - m_min[2] = GIM_MIN3(V1[2],V2[2],V3[2]); - - m_max[0] = GIM_MAX3(V1[0],V2[0],V3[0]); - m_max[1] = GIM_MAX3(V1[1],V2[1],V3[1]); - m_max[2] = GIM_MAX3(V1[2],V2[2],V3[2]); - } - - template - SIMD_FORCE_INLINE void calc_from_triangle_margin( - const CLASS_POINT & V1, - const CLASS_POINT & V2, - const CLASS_POINT & V3, btScalar margin) - { - m_min[0] = GIM_MIN3(V1[0],V2[0],V3[0]); - m_min[1] = GIM_MIN3(V1[1],V2[1],V3[1]); - m_min[2] = GIM_MIN3(V1[2],V2[2],V3[2]); - - m_max[0] = GIM_MAX3(V1[0],V2[0],V3[0]); - m_max[1] = GIM_MAX3(V1[1],V2[1],V3[1]); - m_max[2] = GIM_MAX3(V1[2],V2[2],V3[2]); - - m_min[0] -= margin; - m_min[1] -= margin; - m_min[2] -= margin; - m_max[0] += margin; - m_max[1] += margin; - m_max[2] += margin; - } - - //! Apply a transform to an AABB - SIMD_FORCE_INLINE void appy_transform(const btTransform & trans) - { - btVector3 center = (m_max+m_min)*0.5f; - btVector3 extends = m_max - center; - // Compute new center - center = trans(center); - - btVector3 textends(extends.dot(trans.getBasis().getRow(0).absolute()), - extends.dot(trans.getBasis().getRow(1).absolute()), - extends.dot(trans.getBasis().getRow(2).absolute())); - - m_min = center - textends; - m_max = center + textends; - } - - //! Merges a Box - SIMD_FORCE_INLINE void merge(const GIM_AABB & box) - { - m_min[0] = GIM_MIN(m_min[0],box.m_min[0]); - m_min[1] = GIM_MIN(m_min[1],box.m_min[1]); - m_min[2] = GIM_MIN(m_min[2],box.m_min[2]); - - m_max[0] = GIM_MAX(m_max[0],box.m_max[0]); - m_max[1] = GIM_MAX(m_max[1],box.m_max[1]); - m_max[2] = GIM_MAX(m_max[2],box.m_max[2]); - } - - //! Merges a point - template - SIMD_FORCE_INLINE void merge_point(const CLASS_POINT & point) - { - m_min[0] = GIM_MIN(m_min[0],point[0]); - m_min[1] = GIM_MIN(m_min[1],point[1]); - m_min[2] = GIM_MIN(m_min[2],point[2]); - - m_max[0] = GIM_MAX(m_max[0],point[0]); - m_max[1] = GIM_MAX(m_max[1],point[1]); - m_max[2] = GIM_MAX(m_max[2],point[2]); - } - - //! Gets the extend and center - SIMD_FORCE_INLINE void get_center_extend(btVector3 & center,btVector3 & extend) const - { - center = (m_max+m_min)*0.5f; - extend = m_max - center; - } - - //! Finds the intersecting box between this box and the other. - SIMD_FORCE_INLINE void find_intersection(const GIM_AABB & other, GIM_AABB & intersection) const - { - intersection.m_min[0] = GIM_MAX(other.m_min[0],m_min[0]); - intersection.m_min[1] = GIM_MAX(other.m_min[1],m_min[1]); - intersection.m_min[2] = GIM_MAX(other.m_min[2],m_min[2]); - - intersection.m_max[0] = GIM_MIN(other.m_max[0],m_max[0]); - intersection.m_max[1] = GIM_MIN(other.m_max[1],m_max[1]); - intersection.m_max[2] = GIM_MIN(other.m_max[2],m_max[2]); - } - - - SIMD_FORCE_INLINE bool has_collision(const GIM_AABB & other) const - { - if(m_min[0] > other.m_max[0] || - m_max[0] < other.m_min[0] || - m_min[1] > other.m_max[1] || - m_max[1] < other.m_min[1] || - m_min[2] > other.m_max[2] || - m_max[2] < other.m_min[2]) - { - return false; - } - return true; - } - - /*! \brief Finds the Ray intersection parameter. - \param aabb Aligned box - \param vorigin A vec3f with the origin of the ray - \param vdir A vec3f with the direction of the ray - */ - SIMD_FORCE_INLINE bool collide_ray(const btVector3 & vorigin,const btVector3 & vdir) - { - btVector3 extents,center; - this->get_center_extend(center,extents);; - - btScalar Dx = vorigin[0] - center[0]; - if(GIM_GREATER(Dx, extents[0]) && Dx*vdir[0]>=0.0f) return false; - btScalar Dy = vorigin[1] - center[1]; - if(GIM_GREATER(Dy, extents[1]) && Dy*vdir[1]>=0.0f) return false; - btScalar Dz = vorigin[2] - center[2]; - if(GIM_GREATER(Dz, extents[2]) && Dz*vdir[2]>=0.0f) return false; - - - btScalar f = vdir[1] * Dz - vdir[2] * Dy; - if(btFabs(f) > extents[1]*btFabs(vdir[2]) + extents[2]*btFabs(vdir[1])) return false; - f = vdir[2] * Dx - vdir[0] * Dz; - if(btFabs(f) > extents[0]*btFabs(vdir[2]) + extents[2]*btFabs(vdir[0]))return false; - f = vdir[0] * Dy - vdir[1] * Dx; - if(btFabs(f) > extents[0]*btFabs(vdir[1]) + extents[1]*btFabs(vdir[0]))return false; - return true; - } - - - SIMD_FORCE_INLINE void projection_interval(const btVector3 & direction, btScalar &vmin, btScalar &vmax) const - { - btVector3 center = (m_max+m_min)*0.5f; - btVector3 extend = m_max-center; - - btScalar _fOrigin = direction.dot(center); - btScalar _fMaximumExtent = extend.dot(direction.absolute()); - vmin = _fOrigin - _fMaximumExtent; - vmax = _fOrigin + _fMaximumExtent; - } - - SIMD_FORCE_INLINE ePLANE_INTERSECTION_TYPE plane_classify(const btVector4 &plane) const - { - btScalar _fmin,_fmax; - this->projection_interval(plane,_fmin,_fmax); - - if(plane[3] > _fmax + BOX_PLANE_EPSILON) - { - return G_BACK_PLANE; // 0 - } - - if(plane[3]+BOX_PLANE_EPSILON >=_fmin) - { - return G_COLLIDE_PLANE; //1 - } - return G_FRONT_PLANE;//2 - } - - SIMD_FORCE_INLINE bool overlapping_trans_conservative(const GIM_AABB & box, btTransform & trans1_to_0) - { - GIM_AABB tbox = box; - tbox.appy_transform(trans1_to_0); - return has_collision(tbox); - } - - //! transcache is the transformation cache from box to this AABB - SIMD_FORCE_INLINE bool overlapping_trans_cache( - const GIM_AABB & box,const GIM_BOX_BOX_TRANSFORM_CACHE & transcache, bool fulltest) - { - - //Taken from OPCODE - btVector3 ea,eb;//extends - btVector3 ca,cb;//extends - get_center_extend(ca,ea); - box.get_center_extend(cb,eb); - - - btVector3 T; - btScalar t,t2; - int i; - - // Class I : A's basis vectors - for(i=0;i<3;i++) - { - T[i] = transcache.m_R1to0[i].dot(cb) + transcache.m_T1to0[i] - ca[i]; - t = transcache.m_AR[i].dot(eb) + ea[i]; - if(GIM_GREATER(T[i], t)) return false; - } - // Class II : B's basis vectors - for(i=0;i<3;i++) - { - t = MAT_DOT_COL(transcache.m_R1to0,T,i); - t2 = MAT_DOT_COL(transcache.m_AR,ea,i) + eb[i]; - if(GIM_GREATER(t,t2)) return false; - } - // Class III : 9 cross products - if(fulltest) - { - int j,m,n,o,p,q,r; - for(i=0;i<3;i++) - { - m = (i+1)%3; - n = (i+2)%3; - o = i==0?1:0; - p = i==2?1:2; - for(j=0;j<3;j++) - { - q = j==2?1:2; - r = j==0?1:0; - t = T[n]*transcache.m_R1to0[m][j] - T[m]*transcache.m_R1to0[n][j]; - t2 = ea[o]*transcache.m_AR[p][j] + ea[p]*transcache.m_AR[o][j] + - eb[r]*transcache.m_AR[i][q] + eb[q]*transcache.m_AR[i][r]; - if(GIM_GREATER(t,t2)) return false; - } - } - } - return true; - } - - //! Simple test for planes. - SIMD_FORCE_INLINE bool collide_plane( - const btVector4 & plane) - { - ePLANE_INTERSECTION_TYPE classify = plane_classify(plane); - return (classify == G_COLLIDE_PLANE); - } - - //! test for a triangle, with edges - SIMD_FORCE_INLINE bool collide_triangle_exact( - const btVector3 & p1, - const btVector3 & p2, - const btVector3 & p3, - const btVector4 & triangle_plane) - { - if(!collide_plane(triangle_plane)) return false; - - btVector3 center,extends; - this->get_center_extend(center,extends); - - const btVector3 v1(p1 - center); - const btVector3 v2(p2 - center); - const btVector3 v3(p3 - center); - - //First axis - btVector3 diff(v2 - v1); - btVector3 abs_diff = diff.absolute(); - //Test With X axis - TEST_CROSS_EDGE_BOX_X_AXIS_MCR(diff,abs_diff,v1,v3,extends); - //Test With Y axis - TEST_CROSS_EDGE_BOX_Y_AXIS_MCR(diff,abs_diff,v1,v3,extends); - //Test With Z axis - TEST_CROSS_EDGE_BOX_Z_AXIS_MCR(diff,abs_diff,v1,v3,extends); - - - diff = v3 - v2; - abs_diff = diff.absolute(); - //Test With X axis - TEST_CROSS_EDGE_BOX_X_AXIS_MCR(diff,abs_diff,v2,v1,extends); - //Test With Y axis - TEST_CROSS_EDGE_BOX_Y_AXIS_MCR(diff,abs_diff,v2,v1,extends); - //Test With Z axis - TEST_CROSS_EDGE_BOX_Z_AXIS_MCR(diff,abs_diff,v2,v1,extends); - - diff = v1 - v3; - abs_diff = diff.absolute(); - //Test With X axis - TEST_CROSS_EDGE_BOX_X_AXIS_MCR(diff,abs_diff,v3,v2,extends); - //Test With Y axis - TEST_CROSS_EDGE_BOX_Y_AXIS_MCR(diff,abs_diff,v3,v2,extends); - //Test With Z axis - TEST_CROSS_EDGE_BOX_Z_AXIS_MCR(diff,abs_diff,v3,v2,extends); - - return true; - } -}; - - -//! Compairison of transformation objects -SIMD_FORCE_INLINE bool btCompareTransformsEqual(const btTransform & t1,const btTransform & t2) -{ - if(!(t1.getOrigin() == t2.getOrigin()) ) return false; - - if(!(t1.getBasis().getRow(0) == t2.getBasis().getRow(0)) ) return false; - if(!(t1.getBasis().getRow(1) == t2.getBasis().getRow(1)) ) return false; - if(!(t1.getBasis().getRow(2) == t2.getBasis().getRow(2)) ) return false; - return true; -} - - -//! @} - -#endif // GIM_BOX_COLLISION_H_INCLUDED +#ifndef GIM_BOX_COLLISION_H_INCLUDED +#define GIM_BOX_COLLISION_H_INCLUDED + +/*! \file gim_box_collision.h +\author Francisco Len Nßjera +*/ +/* +----------------------------------------------------------------------------- +This source file is part of GIMPACT Library. + +For the latest info, see http://gimpact.sourceforge.net/ + +Copyright (c) 2006 Francisco Leon Najera. C.C. 80087371. +email: projectileman@yahoo.com + + This library is free software; you can redistribute it and/or + modify it under the terms of EITHER: + (1) The GNU Lesser General Public License as published by the Free + Software Foundation; either version 2.1 of the License, or (at + your option) any later version. The text of the GNU Lesser + General Public License is included with this library in the + file GIMPACT-LICENSE-LGPL.TXT. + (2) The BSD-style license that is included with this library in + the file GIMPACT-LICENSE-BSD.TXT. + (3) The zlib/libpng license that is included with this library in + the file GIMPACT-LICENSE-ZLIB.TXT. + + This library is distributed in the hope that it will be useful, + but WITHOUT ANY WARRANTY; without even the implied warranty of + MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the files + GIMPACT-LICENSE-LGPL.TXT, GIMPACT-LICENSE-ZLIB.TXT and GIMPACT-LICENSE-BSD.TXT for more details. + +----------------------------------------------------------------------------- +*/ +#include "gim_basic_geometry_operations.h" +#include "LinearMath/btTransform.h" + +/*! \defgroup BOUND_AABB_OPERATIONS +*/ +//! @{ + + +//SIMD_FORCE_INLINE bool test_cross_edge_box( +// const btVector3 & edge, +// const btVector3 & absolute_edge, +// const btVector3 & pointa, +// const btVector3 & pointb, const btVector3 & extend, +// int dir_index0, +// int dir_index1 +// int component_index0, +// int component_index1) +//{ +// // dir coords are -z and y +// +// const btScalar dir0 = -edge[dir_index0]; +// const btScalar dir1 = edge[dir_index1]; +// btScalar pmin = pointa[component_index0]*dir0 + pointa[component_index1]*dir1; +// btScalar pmax = pointb[component_index0]*dir0 + pointb[component_index1]*dir1; +// //find minmax +// if(pmin>pmax) +// { +// GIM_SWAP_NUMBERS(pmin,pmax); +// } +// //find extends +// const btScalar rad = extend[component_index0] * absolute_edge[dir_index0] + +// extend[component_index1] * absolute_edge[dir_index1]; +// +// if(pmin>rad || -rad>pmax) return false; +// return true; +//} +// +//SIMD_FORCE_INLINE bool test_cross_edge_box_X_axis( +// const btVector3 & edge, +// const btVector3 & absolute_edge, +// const btVector3 & pointa, +// const btVector3 & pointb, btVector3 & extend) +//{ +// +// return test_cross_edge_box(edge,absolute_edge,pointa,pointb,extend,2,1,1,2); +//} +// +// +//SIMD_FORCE_INLINE bool test_cross_edge_box_Y_axis( +// const btVector3 & edge, +// const btVector3 & absolute_edge, +// const btVector3 & pointa, +// const btVector3 & pointb, btVector3 & extend) +//{ +// +// return test_cross_edge_box(edge,absolute_edge,pointa,pointb,extend,0,2,2,0); +//} +// +//SIMD_FORCE_INLINE bool test_cross_edge_box_Z_axis( +// const btVector3 & edge, +// const btVector3 & absolute_edge, +// const btVector3 & pointa, +// const btVector3 & pointb, btVector3 & extend) +//{ +// +// return test_cross_edge_box(edge,absolute_edge,pointa,pointb,extend,1,0,0,1); +//} + +#define TEST_CROSS_EDGE_BOX_MCR(edge,absolute_edge,pointa,pointb,_extend,i_dir_0,i_dir_1,i_comp_0,i_comp_1)\ +{\ + const btScalar dir0 = -edge[i_dir_0];\ + const btScalar dir1 = edge[i_dir_1];\ + btScalar pmin = pointa[i_comp_0]*dir0 + pointa[i_comp_1]*dir1;\ + btScalar pmax = pointb[i_comp_0]*dir0 + pointb[i_comp_1]*dir1;\ + if(pmin>pmax)\ + {\ + GIM_SWAP_NUMBERS(pmin,pmax); \ + }\ + const btScalar abs_dir0 = absolute_edge[i_dir_0];\ + const btScalar abs_dir1 = absolute_edge[i_dir_1];\ + const btScalar rad = _extend[i_comp_0] * abs_dir0 + _extend[i_comp_1] * abs_dir1;\ + if(pmin>rad || -rad>pmax) return false;\ +}\ + + +#define TEST_CROSS_EDGE_BOX_X_AXIS_MCR(edge,absolute_edge,pointa,pointb,_extend)\ +{\ + TEST_CROSS_EDGE_BOX_MCR(edge,absolute_edge,pointa,pointb,_extend,2,1,1,2);\ +}\ + +#define TEST_CROSS_EDGE_BOX_Y_AXIS_MCR(edge,absolute_edge,pointa,pointb,_extend)\ +{\ + TEST_CROSS_EDGE_BOX_MCR(edge,absolute_edge,pointa,pointb,_extend,0,2,2,0);\ +}\ + +#define TEST_CROSS_EDGE_BOX_Z_AXIS_MCR(edge,absolute_edge,pointa,pointb,_extend)\ +{\ + TEST_CROSS_EDGE_BOX_MCR(edge,absolute_edge,pointa,pointb,_extend,1,0,0,1);\ +}\ + + + +//! Class for transforming a model1 to the space of model0 +class GIM_BOX_BOX_TRANSFORM_CACHE +{ +public: + btVector3 m_T1to0;//!< Transforms translation of model1 to model 0 + btMatrix3x3 m_R1to0;//!< Transforms Rotation of model1 to model 0, equal to R0' * R1 + btMatrix3x3 m_AR;//!< Absolute value of m_R1to0 + + SIMD_FORCE_INLINE void calc_absolute_matrix() + { + static const btVector3 vepsi(1e-6f,1e-6f,1e-6f); + m_AR[0] = vepsi + m_R1to0[0].absolute(); + m_AR[1] = vepsi + m_R1to0[1].absolute(); + m_AR[2] = vepsi + m_R1to0[2].absolute(); + } + + GIM_BOX_BOX_TRANSFORM_CACHE() + { + } + + + GIM_BOX_BOX_TRANSFORM_CACHE(mat4f trans1_to_0) + { + COPY_MATRIX_3X3(m_R1to0,trans1_to_0) + MAT_GET_TRANSLATION(trans1_to_0,m_T1to0) + calc_absolute_matrix(); + } + + //! Calc the transformation relative 1 to 0. Inverts matrics by transposing + SIMD_FORCE_INLINE void calc_from_homogenic(const btTransform & trans0,const btTransform & trans1) + { + + m_R1to0 = trans0.getBasis().transpose(); + m_T1to0 = m_R1to0 * (-trans0.getOrigin()); + + m_T1to0 += m_R1to0*trans1.getOrigin(); + m_R1to0 *= trans1.getBasis(); + + calc_absolute_matrix(); + } + + //! Calcs the full invertion of the matrices. Useful for scaling matrices + SIMD_FORCE_INLINE void calc_from_full_invert(const btTransform & trans0,const btTransform & trans1) + { + m_R1to0 = trans0.getBasis().inverse(); + m_T1to0 = m_R1to0 * (-trans0.getOrigin()); + + m_T1to0 += m_R1to0*trans1.getOrigin(); + m_R1to0 *= trans1.getBasis(); + + calc_absolute_matrix(); + } + + SIMD_FORCE_INLINE btVector3 transform(const btVector3 & point) + { + return btVector3(m_R1to0[0].dot(point) + m_T1to0.x(), + m_R1to0[1].dot(point) + m_T1to0.y(), + m_R1to0[2].dot(point) + m_T1to0.z()); + } +}; + + +#define BOX_PLANE_EPSILON 0.000001f + +//! Axis aligned box +class GIM_AABB +{ +public: + btVector3 m_min; + btVector3 m_max; + + GIM_AABB() + {} + + + GIM_AABB(const btVector3 & V1, + const btVector3 & V2, + const btVector3 & V3) + { + m_min[0] = GIM_MIN3(V1[0],V2[0],V3[0]); + m_min[1] = GIM_MIN3(V1[1],V2[1],V3[1]); + m_min[2] = GIM_MIN3(V1[2],V2[2],V3[2]); + + m_max[0] = GIM_MAX3(V1[0],V2[0],V3[0]); + m_max[1] = GIM_MAX3(V1[1],V2[1],V3[1]); + m_max[2] = GIM_MAX3(V1[2],V2[2],V3[2]); + } + + GIM_AABB(const btVector3 & V1, + const btVector3 & V2, + const btVector3 & V3, + GREAL margin) + { + m_min[0] = GIM_MIN3(V1[0],V2[0],V3[0]); + m_min[1] = GIM_MIN3(V1[1],V2[1],V3[1]); + m_min[2] = GIM_MIN3(V1[2],V2[2],V3[2]); + + m_max[0] = GIM_MAX3(V1[0],V2[0],V3[0]); + m_max[1] = GIM_MAX3(V1[1],V2[1],V3[1]); + m_max[2] = GIM_MAX3(V1[2],V2[2],V3[2]); + + m_min[0] -= margin; + m_min[1] -= margin; + m_min[2] -= margin; + m_max[0] += margin; + m_max[1] += margin; + m_max[2] += margin; + } + + GIM_AABB(const GIM_AABB &other): + m_min(other.m_min),m_max(other.m_max) + { + } + + GIM_AABB(const GIM_AABB &other,btScalar margin ): + m_min(other.m_min),m_max(other.m_max) + { + m_min[0] -= margin; + m_min[1] -= margin; + m_min[2] -= margin; + m_max[0] += margin; + m_max[1] += margin; + m_max[2] += margin; + } + + SIMD_FORCE_INLINE void invalidate() + { + m_min[0] = G_REAL_INFINITY; + m_min[1] = G_REAL_INFINITY; + m_min[2] = G_REAL_INFINITY; + m_max[0] = -G_REAL_INFINITY; + m_max[1] = -G_REAL_INFINITY; + m_max[2] = -G_REAL_INFINITY; + } + + SIMD_FORCE_INLINE void increment_margin(btScalar margin) + { + m_min[0] -= margin; + m_min[1] -= margin; + m_min[2] -= margin; + m_max[0] += margin; + m_max[1] += margin; + m_max[2] += margin; + } + + SIMD_FORCE_INLINE void copy_with_margin(const GIM_AABB &other, btScalar margin) + { + m_min[0] = other.m_min[0] - margin; + m_min[1] = other.m_min[1] - margin; + m_min[2] = other.m_min[2] - margin; + + m_max[0] = other.m_max[0] + margin; + m_max[1] = other.m_max[1] + margin; + m_max[2] = other.m_max[2] + margin; + } + + template + SIMD_FORCE_INLINE void calc_from_triangle( + const CLASS_POINT & V1, + const CLASS_POINT & V2, + const CLASS_POINT & V3) + { + m_min[0] = GIM_MIN3(V1[0],V2[0],V3[0]); + m_min[1] = GIM_MIN3(V1[1],V2[1],V3[1]); + m_min[2] = GIM_MIN3(V1[2],V2[2],V3[2]); + + m_max[0] = GIM_MAX3(V1[0],V2[0],V3[0]); + m_max[1] = GIM_MAX3(V1[1],V2[1],V3[1]); + m_max[2] = GIM_MAX3(V1[2],V2[2],V3[2]); + } + + template + SIMD_FORCE_INLINE void calc_from_triangle_margin( + const CLASS_POINT & V1, + const CLASS_POINT & V2, + const CLASS_POINT & V3, btScalar margin) + { + m_min[0] = GIM_MIN3(V1[0],V2[0],V3[0]); + m_min[1] = GIM_MIN3(V1[1],V2[1],V3[1]); + m_min[2] = GIM_MIN3(V1[2],V2[2],V3[2]); + + m_max[0] = GIM_MAX3(V1[0],V2[0],V3[0]); + m_max[1] = GIM_MAX3(V1[1],V2[1],V3[1]); + m_max[2] = GIM_MAX3(V1[2],V2[2],V3[2]); + + m_min[0] -= margin; + m_min[1] -= margin; + m_min[2] -= margin; + m_max[0] += margin; + m_max[1] += margin; + m_max[2] += margin; + } + + //! Apply a transform to an AABB + SIMD_FORCE_INLINE void appy_transform(const btTransform & trans) + { + btVector3 center = (m_max+m_min)*0.5f; + btVector3 extends = m_max - center; + // Compute new center + center = trans(center); + + btVector3 textends(extends.dot(trans.getBasis().getRow(0).absolute()), + extends.dot(trans.getBasis().getRow(1).absolute()), + extends.dot(trans.getBasis().getRow(2).absolute())); + + m_min = center - textends; + m_max = center + textends; + } + + //! Merges a Box + SIMD_FORCE_INLINE void merge(const GIM_AABB & box) + { + m_min[0] = GIM_MIN(m_min[0],box.m_min[0]); + m_min[1] = GIM_MIN(m_min[1],box.m_min[1]); + m_min[2] = GIM_MIN(m_min[2],box.m_min[2]); + + m_max[0] = GIM_MAX(m_max[0],box.m_max[0]); + m_max[1] = GIM_MAX(m_max[1],box.m_max[1]); + m_max[2] = GIM_MAX(m_max[2],box.m_max[2]); + } + + //! Merges a point + template + SIMD_FORCE_INLINE void merge_point(const CLASS_POINT & point) + { + m_min[0] = GIM_MIN(m_min[0],point[0]); + m_min[1] = GIM_MIN(m_min[1],point[1]); + m_min[2] = GIM_MIN(m_min[2],point[2]); + + m_max[0] = GIM_MAX(m_max[0],point[0]); + m_max[1] = GIM_MAX(m_max[1],point[1]); + m_max[2] = GIM_MAX(m_max[2],point[2]); + } + + //! Gets the extend and center + SIMD_FORCE_INLINE void get_center_extend(btVector3 & center,btVector3 & extend) const + { + center = (m_max+m_min)*0.5f; + extend = m_max - center; + } + + //! Finds the intersecting box between this box and the other. + SIMD_FORCE_INLINE void find_intersection(const GIM_AABB & other, GIM_AABB & intersection) const + { + intersection.m_min[0] = GIM_MAX(other.m_min[0],m_min[0]); + intersection.m_min[1] = GIM_MAX(other.m_min[1],m_min[1]); + intersection.m_min[2] = GIM_MAX(other.m_min[2],m_min[2]); + + intersection.m_max[0] = GIM_MIN(other.m_max[0],m_max[0]); + intersection.m_max[1] = GIM_MIN(other.m_max[1],m_max[1]); + intersection.m_max[2] = GIM_MIN(other.m_max[2],m_max[2]); + } + + + SIMD_FORCE_INLINE bool has_collision(const GIM_AABB & other) const + { + if(m_min[0] > other.m_max[0] || + m_max[0] < other.m_min[0] || + m_min[1] > other.m_max[1] || + m_max[1] < other.m_min[1] || + m_min[2] > other.m_max[2] || + m_max[2] < other.m_min[2]) + { + return false; + } + return true; + } + + /*! \brief Finds the Ray intersection parameter. + \param aabb Aligned box + \param vorigin A vec3f with the origin of the ray + \param vdir A vec3f with the direction of the ray + */ + SIMD_FORCE_INLINE bool collide_ray(const btVector3 & vorigin,const btVector3 & vdir) + { + btVector3 extents,center; + this->get_center_extend(center,extents);; + + btScalar Dx = vorigin[0] - center[0]; + if(GIM_GREATER(Dx, extents[0]) && Dx*vdir[0]>=0.0f) return false; + btScalar Dy = vorigin[1] - center[1]; + if(GIM_GREATER(Dy, extents[1]) && Dy*vdir[1]>=0.0f) return false; + btScalar Dz = vorigin[2] - center[2]; + if(GIM_GREATER(Dz, extents[2]) && Dz*vdir[2]>=0.0f) return false; + + + btScalar f = vdir[1] * Dz - vdir[2] * Dy; + if(btFabs(f) > extents[1]*btFabs(vdir[2]) + extents[2]*btFabs(vdir[1])) return false; + f = vdir[2] * Dx - vdir[0] * Dz; + if(btFabs(f) > extents[0]*btFabs(vdir[2]) + extents[2]*btFabs(vdir[0]))return false; + f = vdir[0] * Dy - vdir[1] * Dx; + if(btFabs(f) > extents[0]*btFabs(vdir[1]) + extents[1]*btFabs(vdir[0]))return false; + return true; + } + + + SIMD_FORCE_INLINE void projection_interval(const btVector3 & direction, btScalar &vmin, btScalar &vmax) const + { + btVector3 center = (m_max+m_min)*0.5f; + btVector3 extend = m_max-center; + + btScalar _fOrigin = direction.dot(center); + btScalar _fMaximumExtent = extend.dot(direction.absolute()); + vmin = _fOrigin - _fMaximumExtent; + vmax = _fOrigin + _fMaximumExtent; + } + + SIMD_FORCE_INLINE ePLANE_INTERSECTION_TYPE plane_classify(const btVector4 &plane) const + { + btScalar _fmin,_fmax; + this->projection_interval(plane,_fmin,_fmax); + + if(plane[3] > _fmax + BOX_PLANE_EPSILON) + { + return G_BACK_PLANE; // 0 + } + + if(plane[3]+BOX_PLANE_EPSILON >=_fmin) + { + return G_COLLIDE_PLANE; //1 + } + return G_FRONT_PLANE;//2 + } + + SIMD_FORCE_INLINE bool overlapping_trans_conservative(const GIM_AABB & box, btTransform & trans1_to_0) + { + GIM_AABB tbox = box; + tbox.appy_transform(trans1_to_0); + return has_collision(tbox); + } + + //! transcache is the transformation cache from box to this AABB + SIMD_FORCE_INLINE bool overlapping_trans_cache( + const GIM_AABB & box,const GIM_BOX_BOX_TRANSFORM_CACHE & transcache, bool fulltest) + { + + //Taken from OPCODE + btVector3 ea,eb;//extends + btVector3 ca,cb;//extends + get_center_extend(ca,ea); + box.get_center_extend(cb,eb); + + + btVector3 T; + btScalar t,t2; + int i; + + // Class I : A's basis vectors + for(i=0;i<3;i++) + { + T[i] = transcache.m_R1to0[i].dot(cb) + transcache.m_T1to0[i] - ca[i]; + t = transcache.m_AR[i].dot(eb) + ea[i]; + if(GIM_GREATER(T[i], t)) return false; + } + // Class II : B's basis vectors + for(i=0;i<3;i++) + { + t = MAT_DOT_COL(transcache.m_R1to0,T,i); + t2 = MAT_DOT_COL(transcache.m_AR,ea,i) + eb[i]; + if(GIM_GREATER(t,t2)) return false; + } + // Class III : 9 cross products + if(fulltest) + { + int j,m,n,o,p,q,r; + for(i=0;i<3;i++) + { + m = (i+1)%3; + n = (i+2)%3; + o = i==0?1:0; + p = i==2?1:2; + for(j=0;j<3;j++) + { + q = j==2?1:2; + r = j==0?1:0; + t = T[n]*transcache.m_R1to0[m][j] - T[m]*transcache.m_R1to0[n][j]; + t2 = ea[o]*transcache.m_AR[p][j] + ea[p]*transcache.m_AR[o][j] + + eb[r]*transcache.m_AR[i][q] + eb[q]*transcache.m_AR[i][r]; + if(GIM_GREATER(t,t2)) return false; + } + } + } + return true; + } + + //! Simple test for planes. + SIMD_FORCE_INLINE bool collide_plane( + const btVector4 & plane) + { + ePLANE_INTERSECTION_TYPE classify = plane_classify(plane); + return (classify == G_COLLIDE_PLANE); + } + + //! test for a triangle, with edges + SIMD_FORCE_INLINE bool collide_triangle_exact( + const btVector3 & p1, + const btVector3 & p2, + const btVector3 & p3, + const btVector4 & triangle_plane) + { + if(!collide_plane(triangle_plane)) return false; + + btVector3 center,extends; + this->get_center_extend(center,extends); + + const btVector3 v1(p1 - center); + const btVector3 v2(p2 - center); + const btVector3 v3(p3 - center); + + //First axis + btVector3 diff(v2 - v1); + btVector3 abs_diff = diff.absolute(); + //Test With X axis + TEST_CROSS_EDGE_BOX_X_AXIS_MCR(diff,abs_diff,v1,v3,extends); + //Test With Y axis + TEST_CROSS_EDGE_BOX_Y_AXIS_MCR(diff,abs_diff,v1,v3,extends); + //Test With Z axis + TEST_CROSS_EDGE_BOX_Z_AXIS_MCR(diff,abs_diff,v1,v3,extends); + + + diff = v3 - v2; + abs_diff = diff.absolute(); + //Test With X axis + TEST_CROSS_EDGE_BOX_X_AXIS_MCR(diff,abs_diff,v2,v1,extends); + //Test With Y axis + TEST_CROSS_EDGE_BOX_Y_AXIS_MCR(diff,abs_diff,v2,v1,extends); + //Test With Z axis + TEST_CROSS_EDGE_BOX_Z_AXIS_MCR(diff,abs_diff,v2,v1,extends); + + diff = v1 - v3; + abs_diff = diff.absolute(); + //Test With X axis + TEST_CROSS_EDGE_BOX_X_AXIS_MCR(diff,abs_diff,v3,v2,extends); + //Test With Y axis + TEST_CROSS_EDGE_BOX_Y_AXIS_MCR(diff,abs_diff,v3,v2,extends); + //Test With Z axis + TEST_CROSS_EDGE_BOX_Z_AXIS_MCR(diff,abs_diff,v3,v2,extends); + + return true; + } +}; + + +//! Compairison of transformation objects +SIMD_FORCE_INLINE bool btCompareTransformsEqual(const btTransform & t1,const btTransform & t2) +{ + if(!(t1.getOrigin() == t2.getOrigin()) ) return false; + + if(!(t1.getBasis().getRow(0) == t2.getBasis().getRow(0)) ) return false; + if(!(t1.getBasis().getRow(1) == t2.getBasis().getRow(1)) ) return false; + if(!(t1.getBasis().getRow(2) == t2.getBasis().getRow(2)) ) return false; + return true; +} + + +//! @} + +#endif // GIM_BOX_COLLISION_H_INCLUDED diff --git a/Extras/GIMPACT/src/core/gim_box_set.cpp b/src/BulletCollision/Gimpact/gim_box_set.cpp old mode 100755 new mode 100644 similarity index 96% rename from Extras/GIMPACT/src/core/gim_box_set.cpp rename to src/BulletCollision/Gimpact/gim_box_set.cpp index b9b6be991..1ffc2bbad --- a/Extras/GIMPACT/src/core/gim_box_set.cpp +++ b/src/BulletCollision/Gimpact/gim_box_set.cpp @@ -1,182 +1,182 @@ - -/* ------------------------------------------------------------------------------ -This source file is part of GIMPACT Library. - -For the latest info, see http://gimpact.sourceforge.net/ - -Copyright (c) 2006 Francisco Leon Najera. C.C. 80087371. -email: projectileman@yahoo.com - - This library is free software; you can redistribute it and/or - modify it under the terms of EITHER: - (1) The GNU Lesser General Public License as published by the Free - Software Foundation; either version 2.1 of the License, or (at - your option) any later version. The text of the GNU Lesser - General Public License is included with this library in the - file GIMPACT-LICENSE-LGPL.TXT. - (2) The BSD-style license that is included with this library in - the file GIMPACT-LICENSE-BSD.TXT. - (3) The zlib/libpng license that is included with this library in - the file GIMPACT-LICENSE-ZLIB.TXT. - - This library is distributed in the hope that it will be useful, - but WITHOUT ANY WARRANTY; without even the implied warranty of - MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the files - GIMPACT-LICENSE-LGPL.TXT, GIMPACT-LICENSE-ZLIB.TXT and GIMPACT-LICENSE-BSD.TXT for more details. - ------------------------------------------------------------------------------ -*/ - - -#include "GIMPACT/core/gim_box_set.h" - - -GUINT GIM_BOX_TREE::_calc_splitting_axis( - gim_array & primitive_boxes, GUINT startIndex, GUINT endIndex) -{ - GUINT i; - - btVector3 means(btScalar(0.),btScalar(0.),btScalar(0.)); - btVector3 variance(btScalar(0.),btScalar(0.),btScalar(0.)); - GUINT numIndices = endIndex-startIndex; - - for (i=startIndex;i & primitive_boxes, GUINT startIndex, - GUINT endIndex, GUINT splitAxis) -{ - GUINT i; - GUINT splitIndex =startIndex; - GUINT numIndices = endIndex - startIndex; - - // average of centers - btScalar splitValue = 0.0f; - for (i=startIndex;i splitValue) - { - //swap - primitive_boxes.swap(i,splitIndex); - splitIndex++; - } - } - - //if the splitIndex causes unbalanced trees, fix this by using the center in between startIndex and endIndex - //otherwise the tree-building might fail due to stack-overflows in certain cases. - //unbalanced1 is unsafe: it can cause stack overflows - //bool unbalanced1 = ((splitIndex==startIndex) || (splitIndex == (endIndex-1))); - - //unbalanced2 should work too: always use center (perfect balanced trees) - //bool unbalanced2 = true; - - //this should be safe too: - GUINT rangeBalancedIndices = numIndices/3; - bool unbalanced = ((splitIndex<=(startIndex+rangeBalancedIndices)) || (splitIndex >=(endIndex-1-rangeBalancedIndices))); - - if (unbalanced) - { - splitIndex = startIndex+ (numIndices>>1); - } - - bool unbal = (splitIndex==startIndex) || (splitIndex == (endIndex)); - btAssert(!unbal); - - return splitIndex; -} - - -void GIM_BOX_TREE::_build_sub_tree(gim_array & primitive_boxes, GUINT startIndex, GUINT endIndex) -{ - GUINT current_index = m_num_nodes++; - - btAssert((endIndex-startIndex)>0); - - if((endIndex-startIndex) == 1) //we got a leaf - { - m_node_array[current_index].m_left = 0; - m_node_array[current_index].m_right = 0; - m_node_array[current_index].m_escapeIndex = 0; - - m_node_array[current_index].m_bound = primitive_boxes[startIndex].m_bound; - m_node_array[current_index].m_data = primitive_boxes[startIndex].m_data; - return; - } - - //configure inner node - - GUINT splitIndex; - - //calc this node bounding box - m_node_array[current_index].m_bound.invalidate(); - for (splitIndex=startIndex;splitIndex & primitive_boxes) -{ - // initialize node count to 0 - m_num_nodes = 0; - // allocate nodes - m_node_array.resize(primitive_boxes.size()*2); - - _build_sub_tree(primitive_boxes, 0, primitive_boxes.size()); -} - + +/* +----------------------------------------------------------------------------- +This source file is part of GIMPACT Library. + +For the latest info, see http://gimpact.sourceforge.net/ + +Copyright (c) 2006 Francisco Leon Najera. C.C. 80087371. +email: projectileman@yahoo.com + + This library is free software; you can redistribute it and/or + modify it under the terms of EITHER: + (1) The GNU Lesser General Public License as published by the Free + Software Foundation; either version 2.1 of the License, or (at + your option) any later version. The text of the GNU Lesser + General Public License is included with this library in the + file GIMPACT-LICENSE-LGPL.TXT. + (2) The BSD-style license that is included with this library in + the file GIMPACT-LICENSE-BSD.TXT. + (3) The zlib/libpng license that is included with this library in + the file GIMPACT-LICENSE-ZLIB.TXT. + + This library is distributed in the hope that it will be useful, + but WITHOUT ANY WARRANTY; without even the implied warranty of + MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the files + GIMPACT-LICENSE-LGPL.TXT, GIMPACT-LICENSE-ZLIB.TXT and GIMPACT-LICENSE-BSD.TXT for more details. + +----------------------------------------------------------------------------- +*/ + + +#include "gim_box_set.h" + + +GUINT GIM_BOX_TREE::_calc_splitting_axis( + gim_array & primitive_boxes, GUINT startIndex, GUINT endIndex) +{ + GUINT i; + + btVector3 means(btScalar(0.),btScalar(0.),btScalar(0.)); + btVector3 variance(btScalar(0.),btScalar(0.),btScalar(0.)); + GUINT numIndices = endIndex-startIndex; + + for (i=startIndex;i & primitive_boxes, GUINT startIndex, + GUINT endIndex, GUINT splitAxis) +{ + GUINT i; + GUINT splitIndex =startIndex; + GUINT numIndices = endIndex - startIndex; + + // average of centers + btScalar splitValue = 0.0f; + for (i=startIndex;i splitValue) + { + //swap + primitive_boxes.swap(i,splitIndex); + splitIndex++; + } + } + + //if the splitIndex causes unbalanced trees, fix this by using the center in between startIndex and endIndex + //otherwise the tree-building might fail due to stack-overflows in certain cases. + //unbalanced1 is unsafe: it can cause stack overflows + //bool unbalanced1 = ((splitIndex==startIndex) || (splitIndex == (endIndex-1))); + + //unbalanced2 should work too: always use center (perfect balanced trees) + //bool unbalanced2 = true; + + //this should be safe too: + GUINT rangeBalancedIndices = numIndices/3; + bool unbalanced = ((splitIndex<=(startIndex+rangeBalancedIndices)) || (splitIndex >=(endIndex-1-rangeBalancedIndices))); + + if (unbalanced) + { + splitIndex = startIndex+ (numIndices>>1); + } + + bool unbal = (splitIndex==startIndex) || (splitIndex == (endIndex)); + btAssert(!unbal); + + return splitIndex; +} + + +void GIM_BOX_TREE::_build_sub_tree(gim_array & primitive_boxes, GUINT startIndex, GUINT endIndex) +{ + GUINT current_index = m_num_nodes++; + + btAssert((endIndex-startIndex)>0); + + if((endIndex-startIndex) == 1) //we got a leaf + { + m_node_array[current_index].m_left = 0; + m_node_array[current_index].m_right = 0; + m_node_array[current_index].m_escapeIndex = 0; + + m_node_array[current_index].m_bound = primitive_boxes[startIndex].m_bound; + m_node_array[current_index].m_data = primitive_boxes[startIndex].m_data; + return; + } + + //configure inner node + + GUINT splitIndex; + + //calc this node bounding box + m_node_array[current_index].m_bound.invalidate(); + for (splitIndex=startIndex;splitIndex & primitive_boxes) +{ + // initialize node count to 0 + m_num_nodes = 0; + // allocate nodes + m_node_array.resize(primitive_boxes.size()*2); + + _build_sub_tree(primitive_boxes, 0, primitive_boxes.size()); +} + diff --git a/Extras/GIMPACT/include/GIMPACT/core/gim_box_set.h b/src/BulletCollision/Gimpact/gim_box_set.h old mode 100755 new mode 100644 similarity index 94% rename from Extras/GIMPACT/include/GIMPACT/core/gim_box_set.h rename to src/BulletCollision/Gimpact/gim_box_set.h index bd02bb43d..ece5936de --- a/Extras/GIMPACT/include/GIMPACT/core/gim_box_set.h +++ b/src/BulletCollision/Gimpact/gim_box_set.h @@ -1,678 +1,678 @@ -#ifndef GIM_BOX_SET_H_INCLUDED -#define GIM_BOX_SET_H_INCLUDED - -/*! \file gim_box_set.h -\author Francisco León Nájera -*/ -/* ------------------------------------------------------------------------------ -This source file is part of GIMPACT Library. - -For the latest info, see http://gimpact.sourceforge.net/ - -Copyright (c) 2006 Francisco Leon Najera. C.C. 80087371. -email: projectileman@yahoo.com - - This library is free software; you can redistribute it and/or - modify it under the terms of EITHER: - (1) The GNU Lesser General Public License as published by the Free - Software Foundation; either version 2.1 of the License, or (at - your option) any later version. The text of the GNU Lesser - General Public License is included with this library in the - file GIMPACT-LICENSE-LGPL.TXT. - (2) The BSD-style license that is included with this library in - the file GIMPACT-LICENSE-BSD.TXT. - (3) The zlib/libpng license that is included with this library in - the file GIMPACT-LICENSE-ZLIB.TXT. - - This library is distributed in the hope that it will be useful, - but WITHOUT ANY WARRANTY; without even the implied warranty of - MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the files - GIMPACT-LICENSE-LGPL.TXT, GIMPACT-LICENSE-ZLIB.TXT and GIMPACT-LICENSE-BSD.TXT for more details. - ------------------------------------------------------------------------------ -*/ - - -#include "GIMPACT/core/gim_array.h" -#include "GIMPACT/core/gim_radixsort.h" -#include "GIMPACT/core/gim_box_collision.h" -#include "GIMPACT/core/gim_tri_collision.h" - - -/*! \defgroup BOX_PRUNNING - - - -*/ -//! @{ - -//! Overlapping pair -struct GIM_PAIR -{ - GUINT m_index1; - GUINT m_index2; - GIM_PAIR() - {} - - GIM_PAIR(const GIM_PAIR & p) - { - m_index1 = p.m_index1; - m_index2 = p.m_index2; - } - - GIM_PAIR(GUINT index1, GUINT index2) - { - m_index1 = index1; - m_index2 = index2; - } -}; - -//! A pairset array -class gim_pair_set: public gim_array -{ -public: - gim_pair_set():gim_array(32) - { - } - inline void push_pair(GUINT index1,GUINT index2) - { - push_back(GIM_PAIR(index1,index2)); - } - - inline void push_pair_inv(GUINT index1,GUINT index2) - { - push_back(GIM_PAIR(index2,index1)); - } -}; - - -//! Prototype Base class for primitive classification -/*! -This class is a wrapper for primitive collections. -This tells relevant info for the Bounding Box set classes, which take care of space classification. -This class can manage Compound shapes and trimeshes, and if it is managing trimesh then the Hierarchy Bounding Box classes will take advantage of primitive Vs Box overlapping tests for getting optimal results and less Per Box compairisons. -*/ -class GIM_PRIMITIVE_MANAGER_PROTOTYPE -{ -public: - - //! determines if this manager consist on only triangles, which special case will be optimized - virtual bool is_trimesh() = 0; - virtual GUINT get_primitive_count() = 0; - virtual void get_primitive_box(GUINT prim_index ,GIM_AABB & primbox) = 0; - virtual void get_primitive_triangle(GUINT prim_index,GIM_TRIANGLE & triangle) = 0; -}; - - -struct GIM_AABB_DATA -{ - GIM_AABB m_bound; - GUINT m_data; -}; - -//! Node Structure for trees -struct GIM_BOX_TREE_NODE -{ - GIM_AABB m_bound; - GUINT m_left;//!< Left subtree - GUINT m_right;//!< Right subtree - GUINT m_escapeIndex;//!< Scape index for traversing - GUINT m_data;//!< primitive index if apply - - GIM_BOX_TREE_NODE() - { - m_left = 0; - m_right = 0; - m_escapeIndex = 0; - m_data = 0; - } - - SIMD_FORCE_INLINE bool is_leaf_node() const - { - return (!m_left && !m_right); - } -}; - -//! Basic Box tree structure -class GIM_BOX_TREE -{ -protected: - GUINT m_num_nodes; - gim_array m_node_array; -protected: - GUINT _sort_and_calc_splitting_index( - gim_array & primitive_boxes, - GUINT startIndex, GUINT endIndex, GUINT splitAxis); - - GUINT _calc_splitting_axis(gim_array & primitive_boxes, GUINT startIndex, GUINT endIndex); - - void _build_sub_tree(gim_array & primitive_boxes, GUINT startIndex, GUINT endIndex); -public: - GIM_BOX_TREE() - { - m_num_nodes = 0; - } - - //! prototype functions for box tree management - //!@{ - void build_tree(gim_array & primitive_boxes); - - SIMD_FORCE_INLINE void clearNodes() - { - m_node_array.clear(); - m_num_nodes = 0; - } - - //! node count - SIMD_FORCE_INLINE GUINT getNodeCount() const - { - return m_num_nodes; - } - - //! tells if the node is a leaf - SIMD_FORCE_INLINE bool isLeafNode(GUINT nodeindex) const - { - return m_node_array[nodeindex].is_leaf_node(); - } - - SIMD_FORCE_INLINE GUINT getNodeData(GUINT nodeindex) const - { - return m_node_array[nodeindex].m_data; - } - - SIMD_FORCE_INLINE void getNodeBound(GUINT nodeindex, GIM_AABB & bound) const - { - bound = m_node_array[nodeindex].m_bound; - } - - SIMD_FORCE_INLINE void setNodeBound(GUINT nodeindex, const GIM_AABB & bound) - { - m_node_array[nodeindex].m_bound = bound; - } - - SIMD_FORCE_INLINE GUINT getLeftNodeIndex(GUINT nodeindex) const - { - return m_node_array[nodeindex].m_left; - } - - SIMD_FORCE_INLINE GUINT getRightNodeIndex(GUINT nodeindex) const - { - return m_node_array[nodeindex].m_right; - } - - SIMD_FORCE_INLINE GUINT getScapeNodeIndex(GUINT nodeindex) const - { - return m_node_array[nodeindex].m_escapeIndex; - } - - //!@} -}; - - -//! Generic Box Tree Template -/*! -This class offers an structure for managing a box tree of primitives. -Requires a Primitive prototype (like GIM_PRIMITIVE_MANAGER_PROTOTYPE ) and -a Box tree structure ( like GIM_BOX_TREE). -*/ -template -class GIM_BOX_TREE_TEMPLATE_SET -{ -protected: - _GIM_PRIMITIVE_MANAGER_PROTOTYPE m_primitive_manager; - _GIM_BOX_TREE_PROTOTYPE m_box_tree; -protected: - //stackless refit - SIMD_FORCE_INLINE void refit() - { - GUINT nodecount = getNodeCount(); - while(nodecount--) - { - if(isLeafNode(nodecount)) - { - GIM_AABB leafbox; - m_primitive_manager.get_primitive_box(getNodeData(nodecount),leafbox); - setNodeBound(nodecount,leafbox); - } - else - { - //get left bound - GUINT childindex = getLeftNodeIndex(nodecount); - GIM_AABB bound; - getNodeBound(childindex,bound); - //get right bound - childindex = getRightNodeIndex(nodecount); - GIM_AABB bound2; - getNodeBound(childindex,bound2); - bound.merge(bound2); - - setNodeBound(nodecount,bound); - } - } - } -public: - - GIM_BOX_TREE_TEMPLATE_SET() - { - } - - SIMD_FORCE_INLINE GIM_AABB getGlobalBox() const - { - GIM_AABB totalbox; - getNodeBound(0, totalbox); - return totalbox; - } - - SIMD_FORCE_INLINE void setPrimitiveManager(const _GIM_PRIMITIVE_MANAGER_PROTOTYPE & primitive_manager) - { - m_primitive_manager = primitive_manager; - } - - const _GIM_PRIMITIVE_MANAGER_PROTOTYPE & getPrimitiveManager() const - { - return m_primitive_manager; - } - - _GIM_PRIMITIVE_MANAGER_PROTOTYPE & getPrimitiveManager() - { - return m_primitive_manager; - } - -//! node manager prototype functions -///@{ - - //! this attemps to refit the box set. - SIMD_FORCE_INLINE void update() - { - refit(); - } - - //! this rebuild the entire set - SIMD_FORCE_INLINE void buildSet() - { - //obtain primitive boxes - gim_array primitive_boxes; - primitive_boxes.resize(m_primitive_manager.get_primitive_count(),false); - - for (GUINT i = 0;i & collided_results) const - { - GUINT curIndex = 0; - GUINT numNodes = getNodeCount(); - - while (curIndex < numNodes) - { - GIM_AABB bound; - getNodeBound(curIndex,bound); - - //catch bugs in tree data - - bool aabbOverlap = bound.has_collision(box); - bool isleafnode = isLeafNode(curIndex); - - if (isleafnode && aabbOverlap) - { - collided_results.push_back(getNodeData(curIndex)); - } - - if (aabbOverlap || isleafnode) - { - //next subnode - curIndex++; - } - else - { - //skip node - curIndex+= getScapeNodeIndex(curIndex); - } - } - if(collided_results.size()>0) return true; - return false; - } - - //! returns the indices of the primitives in the m_primitive_manager - SIMD_FORCE_INLINE bool boxQueryTrans(const GIM_AABB & box, - const btTransform & transform, gim_array & collided_results) const - { - GIM_AABB transbox=box; - transbox.appy_transform(transform); - return boxQuery(transbox,collided_results); - } - - //! returns the indices of the primitives in the m_primitive_manager - SIMD_FORCE_INLINE bool rayQuery( - const btVector3 & ray_dir,const btVector3 & ray_origin , - gim_array & collided_results) const - { - GUINT curIndex = 0; - GUINT numNodes = getNodeCount(); - - while (curIndex < numNodes) - { - GIM_AABB bound; - getNodeBound(curIndex,bound); - - //catch bugs in tree data - - bool aabbOverlap = bound.collide_ray(ray_origin,ray_dir); - bool isleafnode = isLeafNode(curIndex); - - if (isleafnode && aabbOverlap) - { - collided_results.push_back(getNodeData( curIndex)); - } - - if (aabbOverlap || isleafnode) - { - //next subnode - curIndex++; - } - else - { - //skip node - curIndex+= getScapeNodeIndex(curIndex); - } - } - if(collided_results.size()>0) return true; - return false; - } - - //! tells if this set has hierarcht - SIMD_FORCE_INLINE bool hasHierarchy() const - { - return true; - } - - //! tells if this set is a trimesh - SIMD_FORCE_INLINE bool isTrimesh() const - { - return m_primitive_manager.is_trimesh(); - } - - //! node count - SIMD_FORCE_INLINE GUINT getNodeCount() const - { - return m_box_tree.getNodeCount(); - } - - //! tells if the node is a leaf - SIMD_FORCE_INLINE bool isLeafNode(GUINT nodeindex) const - { - return m_box_tree.isLeafNode(nodeindex); - } - - SIMD_FORCE_INLINE GUINT getNodeData(GUINT nodeindex) const - { - return m_box_tree.getNodeData(nodeindex); - } - - SIMD_FORCE_INLINE void getNodeBound(GUINT nodeindex, GIM_AABB & bound) const - { - m_box_tree.getNodeBound(nodeindex, bound); - } - - SIMD_FORCE_INLINE void setNodeBound(GUINT nodeindex, const GIM_AABB & bound) - { - m_box_tree.setNodeBound(nodeindex, bound); - } - - SIMD_FORCE_INLINE GUINT getLeftNodeIndex(GUINT nodeindex) const - { - return m_box_tree.getLeftNodeIndex(nodeindex); - } - - SIMD_FORCE_INLINE GUINT getRightNodeIndex(GUINT nodeindex) const - { - return m_box_tree.getRightNodeIndex(nodeindex); - } - - SIMD_FORCE_INLINE GUINT getScapeNodeIndex(GUINT nodeindex) const - { - return m_box_tree.getScapeNodeIndex(nodeindex); - } - - SIMD_FORCE_INLINE void getNodeTriangle(GUINT nodeindex,GIM_TRIANGLE & triangle) const - { - m_primitive_manager.get_primitive_triangle(getNodeData(nodeindex),triangle); - } - -//! @} -}; - -//! Class for Box Tree Sets -/*! -this has the GIM_BOX_TREE implementation for bounding boxes. -*/ -template -class GIM_BOX_TREE_SET: public GIM_BOX_TREE_TEMPLATE_SET< _GIM_PRIMITIVE_MANAGER_PROTOTYPE, GIM_BOX_TREE> -{ -public: - -}; - - - - - -/// GIM_BOX_SET collision methods -template -class GIM_TREE_TREE_COLLIDER -{ -public: - gim_pair_set * m_collision_pairs; - BOX_SET_CLASS0 * m_boxset0; - BOX_SET_CLASS1 * m_boxset1; - GUINT current_node0; - GUINT current_node1; - bool node0_is_leaf; - bool node1_is_leaf; - bool t0_is_trimesh; - bool t1_is_trimesh; - bool node0_has_triangle; - bool node1_has_triangle; - GIM_AABB m_box0; - GIM_AABB m_box1; - GIM_BOX_BOX_TRANSFORM_CACHE trans_cache_1to0; - btTransform trans_cache_0to1; - GIM_TRIANGLE m_tri0; - btVector4 m_tri0_plane; - GIM_TRIANGLE m_tri1; - btVector4 m_tri1_plane; - - -public: - GIM_TREE_TREE_COLLIDER() - { - current_node0 = G_UINT_INFINITY; - current_node1 = G_UINT_INFINITY; - } -protected: - SIMD_FORCE_INLINE void retrieve_node0_triangle(GUINT node0) - { - if(node0_has_triangle) return; - m_boxset0->getNodeTriangle(node0,m_tri0); - //transform triangle - m_tri0.m_vertices[0] = trans_cache_0to1(m_tri0.m_vertices[0]); - m_tri0.m_vertices[1] = trans_cache_0to1(m_tri0.m_vertices[1]); - m_tri0.m_vertices[2] = trans_cache_0to1(m_tri0.m_vertices[2]); - m_tri0.get_plane(m_tri0_plane); - - node0_has_triangle = true; - } - - SIMD_FORCE_INLINE void retrieve_node1_triangle(GUINT node1) - { - if(node1_has_triangle) return; - m_boxset1->getNodeTriangle(node1,m_tri1); - //transform triangle - m_tri1.m_vertices[0] = trans_cache_1to0.transform(m_tri1.m_vertices[0]); - m_tri1.m_vertices[1] = trans_cache_1to0.transform(m_tri1.m_vertices[1]); - m_tri1.m_vertices[2] = trans_cache_1to0.transform(m_tri1.m_vertices[2]); - m_tri1.get_plane(m_tri1_plane); - - node1_has_triangle = true; - } - - SIMD_FORCE_INLINE void retrieve_node0_info(GUINT node0) - { - if(node0 == current_node0) return; - m_boxset0->getNodeBound(node0,m_box0); - node0_is_leaf = m_boxset0->isLeafNode(node0); - node0_has_triangle = false; - current_node0 = node0; - } - - SIMD_FORCE_INLINE void retrieve_node1_info(GUINT node1) - { - if(node1 == current_node1) return; - m_boxset1->getNodeBound(node1,m_box1); - node1_is_leaf = m_boxset1->isLeafNode(node1); - node1_has_triangle = false; - current_node1 = node1; - } - - SIMD_FORCE_INLINE bool node_collision(GUINT node0 ,GUINT node1) - { - retrieve_node0_info(node0); - retrieve_node1_info(node1); - bool result = m_box0.overlapping_trans_cache(m_box1,trans_cache_1to0,true); - if(!result) return false; - - if(t0_is_trimesh && node0_is_leaf) - { - //perform primitive vs box collision - retrieve_node0_triangle(node0); - //do triangle vs box collision - m_box1.increment_margin(m_tri0.m_margin); - - result = m_box1.collide_triangle_exact( - m_tri0.m_vertices[0],m_tri0.m_vertices[1],m_tri0.m_vertices[2],m_tri0_plane); - - m_box1.increment_margin(-m_tri0.m_margin); - - if(!result) return false; - return true; - } - else if(t1_is_trimesh && node1_is_leaf) - { - //perform primitive vs box collision - retrieve_node1_triangle(node1); - //do triangle vs box collision - m_box0.increment_margin(m_tri1.m_margin); - - result = m_box0.collide_triangle_exact( - m_tri1.m_vertices[0],m_tri1.m_vertices[1],m_tri1.m_vertices[2],m_tri1_plane); - - m_box0.increment_margin(-m_tri1.m_margin); - - if(!result) return false; - return true; - } - return true; - } - - //stackless collision routine - void find_collision_pairs() - { - gim_pair_set stack_collisions; - stack_collisions.reserve(32); - - //add the first pair - stack_collisions.push_pair(0,0); - - - while(stack_collisions.size()) - { - //retrieve the last pair and pop - GUINT node0 = stack_collisions.back().m_index1; - GUINT node1 = stack_collisions.back().m_index2; - stack_collisions.pop_back(); - if(node_collision(node0,node1)) // a collision is found - { - if(node0_is_leaf) - { - if(node1_is_leaf) - { - m_collision_pairs->push_pair(m_boxset0->getNodeData(node0),m_boxset1->getNodeData(node1)); - } - else - { - //collide left - stack_collisions.push_pair(node0,m_boxset1->getLeftNodeIndex(node1)); - - //collide right - stack_collisions.push_pair(node0,m_boxset1->getRightNodeIndex(node1)); - } - } - else - { - if(node1_is_leaf) - { - //collide left - stack_collisions.push_pair(m_boxset0->getLeftNodeIndex(node0),node1); - //collide right - stack_collisions.push_pair(m_boxset0->getRightNodeIndex(node0),node1); - } - else - { - GUINT left0 = m_boxset0->getLeftNodeIndex(node0); - GUINT right0 = m_boxset0->getRightNodeIndex(node0); - GUINT left1 = m_boxset1->getLeftNodeIndex(node1); - GUINT right1 = m_boxset1->getRightNodeIndex(node1); - //collide left - stack_collisions.push_pair(left0,left1); - //collide right - stack_collisions.push_pair(left0,right1); - //collide left - stack_collisions.push_pair(right0,left1); - //collide right - stack_collisions.push_pair(right0,right1); - - }// else if node1 is not a leaf - }// else if node0 is not a leaf - - }// if(node_collision(node0,node1)) - }//while(stack_collisions.size()) - } -public: - void find_collision(BOX_SET_CLASS0 * boxset1, const btTransform & trans1, - BOX_SET_CLASS1 * boxset2, const btTransform & trans2, - gim_pair_set & collision_pairs, bool complete_primitive_tests = true) - { - m_collision_pairs = &collision_pairs; - m_boxset0 = boxset1; - m_boxset1 = boxset2; - - trans_cache_1to0.calc_from_homogenic(trans1,trans2); - - trans_cache_0to1 = trans2.inverse(); - trans_cache_0to1 *= trans1; - - - if(complete_primitive_tests) - { - t0_is_trimesh = boxset1->getPrimitiveManager().is_trimesh(); - t1_is_trimesh = boxset2->getPrimitiveManager().is_trimesh(); - } - else - { - t0_is_trimesh = false; - t1_is_trimesh = false; - } - - find_collision_pairs(); - } -}; - - -#endif // GIM_BOXPRUNING_H_INCLUDED +#ifndef GIM_BOX_SET_H_INCLUDED +#define GIM_BOX_SET_H_INCLUDED + +/*! \file gim_box_set.h +\author Francisco Len Nßjera +*/ +/* +----------------------------------------------------------------------------- +This source file is part of GIMPACT Library. + +For the latest info, see http://gimpact.sourceforge.net/ + +Copyright (c) 2006 Francisco Leon Najera. C.C. 80087371. +email: projectileman@yahoo.com + + This library is free software; you can redistribute it and/or + modify it under the terms of EITHER: + (1) The GNU Lesser General Public License as published by the Free + Software Foundation; either version 2.1 of the License, or (at + your option) any later version. The text of the GNU Lesser + General Public License is included with this library in the + file GIMPACT-LICENSE-LGPL.TXT. + (2) The BSD-style license that is included with this library in + the file GIMPACT-LICENSE-BSD.TXT. + (3) The zlib/libpng license that is included with this library in + the file GIMPACT-LICENSE-ZLIB.TXT. + + This library is distributed in the hope that it will be useful, + but WITHOUT ANY WARRANTY; without even the implied warranty of + MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the files + GIMPACT-LICENSE-LGPL.TXT, GIMPACT-LICENSE-ZLIB.TXT and GIMPACT-LICENSE-BSD.TXT for more details. + +----------------------------------------------------------------------------- +*/ + + +#include "gim_array.h" +#include "gim_radixsort.h" +#include "gim_box_collision.h" +#include "gim_tri_collision.h" + + +/*! \defgroup BOX_PRUNNING + + + +*/ +//! @{ + +//! Overlapping pair +struct GIM_PAIR +{ + GUINT m_index1; + GUINT m_index2; + GIM_PAIR() + {} + + GIM_PAIR(const GIM_PAIR & p) + { + m_index1 = p.m_index1; + m_index2 = p.m_index2; + } + + GIM_PAIR(GUINT index1, GUINT index2) + { + m_index1 = index1; + m_index2 = index2; + } +}; + +//! A pairset array +class gim_pair_set: public gim_array +{ +public: + gim_pair_set():gim_array(32) + { + } + inline void push_pair(GUINT index1,GUINT index2) + { + push_back(GIM_PAIR(index1,index2)); + } + + inline void push_pair_inv(GUINT index1,GUINT index2) + { + push_back(GIM_PAIR(index2,index1)); + } +}; + + +//! Prototype Base class for primitive classification +/*! +This class is a wrapper for primitive collections. +This tells relevant info for the Bounding Box set classes, which take care of space classification. +This class can manage Compound shapes and trimeshes, and if it is managing trimesh then the Hierarchy Bounding Box classes will take advantage of primitive Vs Box overlapping tests for getting optimal results and less Per Box compairisons. +*/ +class GIM_PRIMITIVE_MANAGER_PROTOTYPE +{ +public: + + //! determines if this manager consist on only triangles, which special case will be optimized + virtual bool is_trimesh() = 0; + virtual GUINT get_primitive_count() = 0; + virtual void get_primitive_box(GUINT prim_index ,GIM_AABB & primbox) = 0; + virtual void get_primitive_triangle(GUINT prim_index,GIM_TRIANGLE & triangle) = 0; +}; + + +struct GIM_AABB_DATA +{ + GIM_AABB m_bound; + GUINT m_data; +}; + +//! Node Structure for trees +struct GIM_BOX_TREE_NODE +{ + GIM_AABB m_bound; + GUINT m_left;//!< Left subtree + GUINT m_right;//!< Right subtree + GUINT m_escapeIndex;//!< Scape index for traversing + GUINT m_data;//!< primitive index if apply + + GIM_BOX_TREE_NODE() + { + m_left = 0; + m_right = 0; + m_escapeIndex = 0; + m_data = 0; + } + + SIMD_FORCE_INLINE bool is_leaf_node() const + { + return (!m_left && !m_right); + } +}; + +//! Basic Box tree structure +class GIM_BOX_TREE +{ +protected: + GUINT m_num_nodes; + gim_array m_node_array; +protected: + GUINT _sort_and_calc_splitting_index( + gim_array & primitive_boxes, + GUINT startIndex, GUINT endIndex, GUINT splitAxis); + + GUINT _calc_splitting_axis(gim_array & primitive_boxes, GUINT startIndex, GUINT endIndex); + + void _build_sub_tree(gim_array & primitive_boxes, GUINT startIndex, GUINT endIndex); +public: + GIM_BOX_TREE() + { + m_num_nodes = 0; + } + + //! prototype functions for box tree management + //!@{ + void build_tree(gim_array & primitive_boxes); + + SIMD_FORCE_INLINE void clearNodes() + { + m_node_array.clear(); + m_num_nodes = 0; + } + + //! node count + SIMD_FORCE_INLINE GUINT getNodeCount() const + { + return m_num_nodes; + } + + //! tells if the node is a leaf + SIMD_FORCE_INLINE bool isLeafNode(GUINT nodeindex) const + { + return m_node_array[nodeindex].is_leaf_node(); + } + + SIMD_FORCE_INLINE GUINT getNodeData(GUINT nodeindex) const + { + return m_node_array[nodeindex].m_data; + } + + SIMD_FORCE_INLINE void getNodeBound(GUINT nodeindex, GIM_AABB & bound) const + { + bound = m_node_array[nodeindex].m_bound; + } + + SIMD_FORCE_INLINE void setNodeBound(GUINT nodeindex, const GIM_AABB & bound) + { + m_node_array[nodeindex].m_bound = bound; + } + + SIMD_FORCE_INLINE GUINT getLeftNodeIndex(GUINT nodeindex) const + { + return m_node_array[nodeindex].m_left; + } + + SIMD_FORCE_INLINE GUINT getRightNodeIndex(GUINT nodeindex) const + { + return m_node_array[nodeindex].m_right; + } + + SIMD_FORCE_INLINE GUINT getScapeNodeIndex(GUINT nodeindex) const + { + return m_node_array[nodeindex].m_escapeIndex; + } + + //!@} +}; + + +//! Generic Box Tree Template +/*! +This class offers an structure for managing a box tree of primitives. +Requires a Primitive prototype (like GIM_PRIMITIVE_MANAGER_PROTOTYPE ) and +a Box tree structure ( like GIM_BOX_TREE). +*/ +template +class GIM_BOX_TREE_TEMPLATE_SET +{ +protected: + _GIM_PRIMITIVE_MANAGER_PROTOTYPE m_primitive_manager; + _GIM_BOX_TREE_PROTOTYPE m_box_tree; +protected: + //stackless refit + SIMD_FORCE_INLINE void refit() + { + GUINT nodecount = getNodeCount(); + while(nodecount--) + { + if(isLeafNode(nodecount)) + { + GIM_AABB leafbox; + m_primitive_manager.get_primitive_box(getNodeData(nodecount),leafbox); + setNodeBound(nodecount,leafbox); + } + else + { + //get left bound + GUINT childindex = getLeftNodeIndex(nodecount); + GIM_AABB bound; + getNodeBound(childindex,bound); + //get right bound + childindex = getRightNodeIndex(nodecount); + GIM_AABB bound2; + getNodeBound(childindex,bound2); + bound.merge(bound2); + + setNodeBound(nodecount,bound); + } + } + } +public: + + GIM_BOX_TREE_TEMPLATE_SET() + { + } + + SIMD_FORCE_INLINE GIM_AABB getGlobalBox() const + { + GIM_AABB totalbox; + getNodeBound(0, totalbox); + return totalbox; + } + + SIMD_FORCE_INLINE void setPrimitiveManager(const _GIM_PRIMITIVE_MANAGER_PROTOTYPE & primitive_manager) + { + m_primitive_manager = primitive_manager; + } + + const _GIM_PRIMITIVE_MANAGER_PROTOTYPE & getPrimitiveManager() const + { + return m_primitive_manager; + } + + _GIM_PRIMITIVE_MANAGER_PROTOTYPE & getPrimitiveManager() + { + return m_primitive_manager; + } + +//! node manager prototype functions +///@{ + + //! this attemps to refit the box set. + SIMD_FORCE_INLINE void update() + { + refit(); + } + + //! this rebuild the entire set + SIMD_FORCE_INLINE void buildSet() + { + //obtain primitive boxes + gim_array primitive_boxes; + primitive_boxes.resize(m_primitive_manager.get_primitive_count(),false); + + for (GUINT i = 0;i & collided_results) const + { + GUINT curIndex = 0; + GUINT numNodes = getNodeCount(); + + while (curIndex < numNodes) + { + GIM_AABB bound; + getNodeBound(curIndex,bound); + + //catch bugs in tree data + + bool aabbOverlap = bound.has_collision(box); + bool isleafnode = isLeafNode(curIndex); + + if (isleafnode && aabbOverlap) + { + collided_results.push_back(getNodeData(curIndex)); + } + + if (aabbOverlap || isleafnode) + { + //next subnode + curIndex++; + } + else + { + //skip node + curIndex+= getScapeNodeIndex(curIndex); + } + } + if(collided_results.size()>0) return true; + return false; + } + + //! returns the indices of the primitives in the m_primitive_manager + SIMD_FORCE_INLINE bool boxQueryTrans(const GIM_AABB & box, + const btTransform & transform, gim_array & collided_results) const + { + GIM_AABB transbox=box; + transbox.appy_transform(transform); + return boxQuery(transbox,collided_results); + } + + //! returns the indices of the primitives in the m_primitive_manager + SIMD_FORCE_INLINE bool rayQuery( + const btVector3 & ray_dir,const btVector3 & ray_origin , + gim_array & collided_results) const + { + GUINT curIndex = 0; + GUINT numNodes = getNodeCount(); + + while (curIndex < numNodes) + { + GIM_AABB bound; + getNodeBound(curIndex,bound); + + //catch bugs in tree data + + bool aabbOverlap = bound.collide_ray(ray_origin,ray_dir); + bool isleafnode = isLeafNode(curIndex); + + if (isleafnode && aabbOverlap) + { + collided_results.push_back(getNodeData( curIndex)); + } + + if (aabbOverlap || isleafnode) + { + //next subnode + curIndex++; + } + else + { + //skip node + curIndex+= getScapeNodeIndex(curIndex); + } + } + if(collided_results.size()>0) return true; + return false; + } + + //! tells if this set has hierarcht + SIMD_FORCE_INLINE bool hasHierarchy() const + { + return true; + } + + //! tells if this set is a trimesh + SIMD_FORCE_INLINE bool isTrimesh() const + { + return m_primitive_manager.is_trimesh(); + } + + //! node count + SIMD_FORCE_INLINE GUINT getNodeCount() const + { + return m_box_tree.getNodeCount(); + } + + //! tells if the node is a leaf + SIMD_FORCE_INLINE bool isLeafNode(GUINT nodeindex) const + { + return m_box_tree.isLeafNode(nodeindex); + } + + SIMD_FORCE_INLINE GUINT getNodeData(GUINT nodeindex) const + { + return m_box_tree.getNodeData(nodeindex); + } + + SIMD_FORCE_INLINE void getNodeBound(GUINT nodeindex, GIM_AABB & bound) const + { + m_box_tree.getNodeBound(nodeindex, bound); + } + + SIMD_FORCE_INLINE void setNodeBound(GUINT nodeindex, const GIM_AABB & bound) + { + m_box_tree.setNodeBound(nodeindex, bound); + } + + SIMD_FORCE_INLINE GUINT getLeftNodeIndex(GUINT nodeindex) const + { + return m_box_tree.getLeftNodeIndex(nodeindex); + } + + SIMD_FORCE_INLINE GUINT getRightNodeIndex(GUINT nodeindex) const + { + return m_box_tree.getRightNodeIndex(nodeindex); + } + + SIMD_FORCE_INLINE GUINT getScapeNodeIndex(GUINT nodeindex) const + { + return m_box_tree.getScapeNodeIndex(nodeindex); + } + + SIMD_FORCE_INLINE void getNodeTriangle(GUINT nodeindex,GIM_TRIANGLE & triangle) const + { + m_primitive_manager.get_primitive_triangle(getNodeData(nodeindex),triangle); + } + +//! @} +}; + +//! Class for Box Tree Sets +/*! +this has the GIM_BOX_TREE implementation for bounding boxes. +*/ +template +class GIM_BOX_TREE_SET: public GIM_BOX_TREE_TEMPLATE_SET< _GIM_PRIMITIVE_MANAGER_PROTOTYPE, GIM_BOX_TREE> +{ +public: + +}; + + + + + +/// GIM_BOX_SET collision methods +template +class GIM_TREE_TREE_COLLIDER +{ +public: + gim_pair_set * m_collision_pairs; + BOX_SET_CLASS0 * m_boxset0; + BOX_SET_CLASS1 * m_boxset1; + GUINT current_node0; + GUINT current_node1; + bool node0_is_leaf; + bool node1_is_leaf; + bool t0_is_trimesh; + bool t1_is_trimesh; + bool node0_has_triangle; + bool node1_has_triangle; + GIM_AABB m_box0; + GIM_AABB m_box1; + GIM_BOX_BOX_TRANSFORM_CACHE trans_cache_1to0; + btTransform trans_cache_0to1; + GIM_TRIANGLE m_tri0; + btVector4 m_tri0_plane; + GIM_TRIANGLE m_tri1; + btVector4 m_tri1_plane; + + +public: + GIM_TREE_TREE_COLLIDER() + { + current_node0 = G_UINT_INFINITY; + current_node1 = G_UINT_INFINITY; + } +protected: + SIMD_FORCE_INLINE void retrieve_node0_triangle(GUINT node0) + { + if(node0_has_triangle) return; + m_boxset0->getNodeTriangle(node0,m_tri0); + //transform triangle + m_tri0.m_vertices[0] = trans_cache_0to1(m_tri0.m_vertices[0]); + m_tri0.m_vertices[1] = trans_cache_0to1(m_tri0.m_vertices[1]); + m_tri0.m_vertices[2] = trans_cache_0to1(m_tri0.m_vertices[2]); + m_tri0.get_plane(m_tri0_plane); + + node0_has_triangle = true; + } + + SIMD_FORCE_INLINE void retrieve_node1_triangle(GUINT node1) + { + if(node1_has_triangle) return; + m_boxset1->getNodeTriangle(node1,m_tri1); + //transform triangle + m_tri1.m_vertices[0] = trans_cache_1to0.transform(m_tri1.m_vertices[0]); + m_tri1.m_vertices[1] = trans_cache_1to0.transform(m_tri1.m_vertices[1]); + m_tri1.m_vertices[2] = trans_cache_1to0.transform(m_tri1.m_vertices[2]); + m_tri1.get_plane(m_tri1_plane); + + node1_has_triangle = true; + } + + SIMD_FORCE_INLINE void retrieve_node0_info(GUINT node0) + { + if(node0 == current_node0) return; + m_boxset0->getNodeBound(node0,m_box0); + node0_is_leaf = m_boxset0->isLeafNode(node0); + node0_has_triangle = false; + current_node0 = node0; + } + + SIMD_FORCE_INLINE void retrieve_node1_info(GUINT node1) + { + if(node1 == current_node1) return; + m_boxset1->getNodeBound(node1,m_box1); + node1_is_leaf = m_boxset1->isLeafNode(node1); + node1_has_triangle = false; + current_node1 = node1; + } + + SIMD_FORCE_INLINE bool node_collision(GUINT node0 ,GUINT node1) + { + retrieve_node0_info(node0); + retrieve_node1_info(node1); + bool result = m_box0.overlapping_trans_cache(m_box1,trans_cache_1to0,true); + if(!result) return false; + + if(t0_is_trimesh && node0_is_leaf) + { + //perform primitive vs box collision + retrieve_node0_triangle(node0); + //do triangle vs box collision + m_box1.increment_margin(m_tri0.m_margin); + + result = m_box1.collide_triangle_exact( + m_tri0.m_vertices[0],m_tri0.m_vertices[1],m_tri0.m_vertices[2],m_tri0_plane); + + m_box1.increment_margin(-m_tri0.m_margin); + + if(!result) return false; + return true; + } + else if(t1_is_trimesh && node1_is_leaf) + { + //perform primitive vs box collision + retrieve_node1_triangle(node1); + //do triangle vs box collision + m_box0.increment_margin(m_tri1.m_margin); + + result = m_box0.collide_triangle_exact( + m_tri1.m_vertices[0],m_tri1.m_vertices[1],m_tri1.m_vertices[2],m_tri1_plane); + + m_box0.increment_margin(-m_tri1.m_margin); + + if(!result) return false; + return true; + } + return true; + } + + //stackless collision routine + void find_collision_pairs() + { + gim_pair_set stack_collisions; + stack_collisions.reserve(32); + + //add the first pair + stack_collisions.push_pair(0,0); + + + while(stack_collisions.size()) + { + //retrieve the last pair and pop + GUINT node0 = stack_collisions.back().m_index1; + GUINT node1 = stack_collisions.back().m_index2; + stack_collisions.pop_back(); + if(node_collision(node0,node1)) // a collision is found + { + if(node0_is_leaf) + { + if(node1_is_leaf) + { + m_collision_pairs->push_pair(m_boxset0->getNodeData(node0),m_boxset1->getNodeData(node1)); + } + else + { + //collide left + stack_collisions.push_pair(node0,m_boxset1->getLeftNodeIndex(node1)); + + //collide right + stack_collisions.push_pair(node0,m_boxset1->getRightNodeIndex(node1)); + } + } + else + { + if(node1_is_leaf) + { + //collide left + stack_collisions.push_pair(m_boxset0->getLeftNodeIndex(node0),node1); + //collide right + stack_collisions.push_pair(m_boxset0->getRightNodeIndex(node0),node1); + } + else + { + GUINT left0 = m_boxset0->getLeftNodeIndex(node0); + GUINT right0 = m_boxset0->getRightNodeIndex(node0); + GUINT left1 = m_boxset1->getLeftNodeIndex(node1); + GUINT right1 = m_boxset1->getRightNodeIndex(node1); + //collide left + stack_collisions.push_pair(left0,left1); + //collide right + stack_collisions.push_pair(left0,right1); + //collide left + stack_collisions.push_pair(right0,left1); + //collide right + stack_collisions.push_pair(right0,right1); + + }// else if node1 is not a leaf + }// else if node0 is not a leaf + + }// if(node_collision(node0,node1)) + }//while(stack_collisions.size()) + } +public: + void find_collision(BOX_SET_CLASS0 * boxset1, const btTransform & trans1, + BOX_SET_CLASS1 * boxset2, const btTransform & trans2, + gim_pair_set & collision_pairs, bool complete_primitive_tests = true) + { + m_collision_pairs = &collision_pairs; + m_boxset0 = boxset1; + m_boxset1 = boxset2; + + trans_cache_1to0.calc_from_homogenic(trans1,trans2); + + trans_cache_0to1 = trans2.inverse(); + trans_cache_0to1 *= trans1; + + + if(complete_primitive_tests) + { + t0_is_trimesh = boxset1->getPrimitiveManager().is_trimesh(); + t1_is_trimesh = boxset2->getPrimitiveManager().is_trimesh(); + } + else + { + t0_is_trimesh = false; + t1_is_trimesh = false; + } + + find_collision_pairs(); + } +}; + + +#endif // GIM_BOXPRUNING_H_INCLUDED diff --git a/Extras/GIMPACT/include/GIMPACT/core/gim_clip_polygon.h b/src/BulletCollision/Gimpact/gim_clip_polygon.h old mode 100755 new mode 100644 similarity index 95% rename from Extras/GIMPACT/include/GIMPACT/core/gim_clip_polygon.h rename to src/BulletCollision/Gimpact/gim_clip_polygon.h index f0e2d895b..62151cb97 --- a/Extras/GIMPACT/include/GIMPACT/core/gim_clip_polygon.h +++ b/src/BulletCollision/Gimpact/gim_clip_polygon.h @@ -1,214 +1,214 @@ -#ifndef GIM_CLIP_POLYGON_H_INCLUDED -#define GIM_CLIP_POLYGON_H_INCLUDED - -/*! \file gim_tri_collision.h -\author Francisco León Nájera -*/ -/* ------------------------------------------------------------------------------ -This source file is part of GIMPACT Library. - -For the latest info, see http://gimpact.sourceforge.net/ - -Copyright (c) 2006 Francisco Leon Najera. C.C. 80087371. -email: projectileman@yahoo.com - - This library is free software; you can redistribute it and/or - modify it under the terms of EITHER: - (1) The GNU Lesser General Public License as published by the Free - Software Foundation; either version 2.1 of the License, or (at - your option) any later version. The text of the GNU Lesser - General Public License is included with this library in the - file GIMPACT-LICENSE-LGPL.TXT. - (2) The BSD-style license that is included with this library in - the file GIMPACT-LICENSE-BSD.TXT. - (3) The zlib/libpng license that is included with this library in - the file GIMPACT-LICENSE-ZLIB.TXT. - - This library is distributed in the hope that it will be useful, - but WITHOUT ANY WARRANTY; without even the implied warranty of - MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the files - GIMPACT-LICENSE-LGPL.TXT, GIMPACT-LICENSE-ZLIB.TXT and GIMPACT-LICENSE-BSD.TXT for more details. - ------------------------------------------------------------------------------ -*/ - -/*! \addtogroup GEOMETRIC_OPERATIONS -*/ -//! @{ - -//! This function calcs the distance from a 3D plane -class DISTANCE_PLANE_3D_FUNC -{ -public: - template - inline GREAL operator()(const CLASS_PLANE & plane, const CLASS_POINT & point) - { - return DISTANCE_PLANE_POINT(plane, point); - } -}; - - - -template -SIMD_FORCE_INLINE void PLANE_CLIP_POLYGON_COLLECT( - const CLASS_POINT & point0, - const CLASS_POINT & point1, - GREAL dist0, - GREAL dist1, - CLASS_POINT * clipped, - GUINT & clipped_count) -{ - GUINT _prevclassif = (dist0>G_EPSILON); - GUINT _classif = (dist1>G_EPSILON); - if(_classif!=_prevclassif) - { - GREAL blendfactor = -dist0/(dist1-dist0); - VEC_BLEND(clipped[clipped_count],point0,point1,blendfactor); - clipped_count++; - } - if(!_classif) - { - VEC_COPY(clipped[clipped_count],point1); - clipped_count++; - } -} - - -//! Clips a polygon by a plane -/*! -*\return The count of the clipped counts -*/ -template -SIMD_FORCE_INLINE GUINT PLANE_CLIP_POLYGON_GENERIC( - const CLASS_PLANE & plane, - const CLASS_POINT * polygon_points, - GUINT polygon_point_count, - CLASS_POINT * clipped,DISTANCE_PLANE_FUNC distance_func) -{ - GUINT clipped_count = 0; - - - //clip first point - GREAL firstdist = distance_func(plane,polygon_points[0]);; - if(!(firstdist>G_EPSILON)) - { - VEC_COPY(clipped[clipped_count],polygon_points[0]); - clipped_count++; - } - - GREAL olddist = firstdist; - for(GUINT _i=1;_i -SIMD_FORCE_INLINE GUINT PLANE_CLIP_TRIANGLE_GENERIC( - const CLASS_PLANE & plane, - const CLASS_POINT & point0, - const CLASS_POINT & point1, - const CLASS_POINT & point2, - CLASS_POINT * clipped,DISTANCE_PLANE_FUNC distance_func) -{ - GUINT clipped_count = 0; - - //clip first point - GREAL firstdist = distance_func(plane,point0);; - if(!(firstdist>G_EPSILON)) - { - VEC_COPY(clipped[clipped_count],point0); - clipped_count++; - } - - // point 1 - GREAL olddist = firstdist; - GREAL dist = distance_func(plane,point1); - - PLANE_CLIP_POLYGON_COLLECT( - point0,point1, - olddist, - dist, - clipped, - clipped_count); - - olddist = dist; - - - // point 2 - dist = distance_func(plane,point2); - - PLANE_CLIP_POLYGON_COLLECT( - point1,point2, - olddist, - dist, - clipped, - clipped_count); - olddist = dist; - - - - //RETURN TO FIRST point - PLANE_CLIP_POLYGON_COLLECT( - point2,point0, - olddist, - firstdist, - clipped, - clipped_count); - - return clipped_count; -} - - -template -SIMD_FORCE_INLINE GUINT PLANE_CLIP_POLYGON3D( - const CLASS_PLANE & plane, - const CLASS_POINT * polygon_points, - GUINT polygon_point_count, - CLASS_POINT * clipped) -{ - return PLANE_CLIP_POLYGON_GENERIC(plane,polygon_points,polygon_point_count,clipped,DISTANCE_PLANE_3D_FUNC()); -} - - -template -SIMD_FORCE_INLINE GUINT PLANE_CLIP_TRIANGLE3D( - const CLASS_PLANE & plane, - const CLASS_POINT & point0, - const CLASS_POINT & point1, - const CLASS_POINT & point2, - CLASS_POINT * clipped) -{ - return PLANE_CLIP_TRIANGLE_GENERIC(plane,point0,point1,point2,clipped,DISTANCE_PLANE_3D_FUNC()); -} - - -//! @} - -#endif // GIM_TRI_COLLISION_H_INCLUDED +#ifndef GIM_CLIP_POLYGON_H_INCLUDED +#define GIM_CLIP_POLYGON_H_INCLUDED + +/*! \file gim_tri_collision.h +\author Francisco Len Nßjera +*/ +/* +----------------------------------------------------------------------------- +This source file is part of GIMPACT Library. + +For the latest info, see http://gimpact.sourceforge.net/ + +Copyright (c) 2006 Francisco Leon Najera. C.C. 80087371. +email: projectileman@yahoo.com + + This library is free software; you can redistribute it and/or + modify it under the terms of EITHER: + (1) The GNU Lesser General Public License as published by the Free + Software Foundation; either version 2.1 of the License, or (at + your option) any later version. The text of the GNU Lesser + General Public License is included with this library in the + file GIMPACT-LICENSE-LGPL.TXT. + (2) The BSD-style license that is included with this library in + the file GIMPACT-LICENSE-BSD.TXT. + (3) The zlib/libpng license that is included with this library in + the file GIMPACT-LICENSE-ZLIB.TXT. + + This library is distributed in the hope that it will be useful, + but WITHOUT ANY WARRANTY; without even the implied warranty of + MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the files + GIMPACT-LICENSE-LGPL.TXT, GIMPACT-LICENSE-ZLIB.TXT and GIMPACT-LICENSE-BSD.TXT for more details. + +----------------------------------------------------------------------------- +*/ + +/*! \addtogroup GEOMETRIC_OPERATIONS +*/ +//! @{ + +//! This function calcs the distance from a 3D plane +class DISTANCE_PLANE_3D_FUNC +{ +public: + template + inline GREAL operator()(const CLASS_PLANE & plane, const CLASS_POINT & point) + { + return DISTANCE_PLANE_POINT(plane, point); + } +}; + + + +template +SIMD_FORCE_INLINE void PLANE_CLIP_POLYGON_COLLECT( + const CLASS_POINT & point0, + const CLASS_POINT & point1, + GREAL dist0, + GREAL dist1, + CLASS_POINT * clipped, + GUINT & clipped_count) +{ + GUINT _prevclassif = (dist0>G_EPSILON); + GUINT _classif = (dist1>G_EPSILON); + if(_classif!=_prevclassif) + { + GREAL blendfactor = -dist0/(dist1-dist0); + VEC_BLEND(clipped[clipped_count],point0,point1,blendfactor); + clipped_count++; + } + if(!_classif) + { + VEC_COPY(clipped[clipped_count],point1); + clipped_count++; + } +} + + +//! Clips a polygon by a plane +/*! +*\return The count of the clipped counts +*/ +template +SIMD_FORCE_INLINE GUINT PLANE_CLIP_POLYGON_GENERIC( + const CLASS_PLANE & plane, + const CLASS_POINT * polygon_points, + GUINT polygon_point_count, + CLASS_POINT * clipped,DISTANCE_PLANE_FUNC distance_func) +{ + GUINT clipped_count = 0; + + + //clip first point + GREAL firstdist = distance_func(plane,polygon_points[0]);; + if(!(firstdist>G_EPSILON)) + { + VEC_COPY(clipped[clipped_count],polygon_points[0]); + clipped_count++; + } + + GREAL olddist = firstdist; + for(GUINT _i=1;_i +SIMD_FORCE_INLINE GUINT PLANE_CLIP_TRIANGLE_GENERIC( + const CLASS_PLANE & plane, + const CLASS_POINT & point0, + const CLASS_POINT & point1, + const CLASS_POINT & point2, + CLASS_POINT * clipped,DISTANCE_PLANE_FUNC distance_func) +{ + GUINT clipped_count = 0; + + //clip first point + GREAL firstdist = distance_func(plane,point0);; + if(!(firstdist>G_EPSILON)) + { + VEC_COPY(clipped[clipped_count],point0); + clipped_count++; + } + + // point 1 + GREAL olddist = firstdist; + GREAL dist = distance_func(plane,point1); + + PLANE_CLIP_POLYGON_COLLECT( + point0,point1, + olddist, + dist, + clipped, + clipped_count); + + olddist = dist; + + + // point 2 + dist = distance_func(plane,point2); + + PLANE_CLIP_POLYGON_COLLECT( + point1,point2, + olddist, + dist, + clipped, + clipped_count); + olddist = dist; + + + + //RETURN TO FIRST point + PLANE_CLIP_POLYGON_COLLECT( + point2,point0, + olddist, + firstdist, + clipped, + clipped_count); + + return clipped_count; +} + + +template +SIMD_FORCE_INLINE GUINT PLANE_CLIP_POLYGON3D( + const CLASS_PLANE & plane, + const CLASS_POINT * polygon_points, + GUINT polygon_point_count, + CLASS_POINT * clipped) +{ + return PLANE_CLIP_POLYGON_GENERIC(plane,polygon_points,polygon_point_count,clipped,DISTANCE_PLANE_3D_FUNC()); +} + + +template +SIMD_FORCE_INLINE GUINT PLANE_CLIP_TRIANGLE3D( + const CLASS_PLANE & plane, + const CLASS_POINT & point0, + const CLASS_POINT & point1, + const CLASS_POINT & point2, + CLASS_POINT * clipped) +{ + return PLANE_CLIP_TRIANGLE_GENERIC(plane,point0,point1,point2,clipped,DISTANCE_PLANE_3D_FUNC()); +} + + +//! @} + +#endif // GIM_TRI_COLLISION_H_INCLUDED diff --git a/Extras/GIMPACT/src/core/gim_contact.cpp b/src/BulletCollision/Gimpact/gim_contact.cpp old mode 100755 new mode 100644 similarity index 95% rename from Extras/GIMPACT/src/core/gim_contact.cpp rename to src/BulletCollision/Gimpact/gim_contact.cpp index e613d6264..20e41de08 --- a/Extras/GIMPACT/src/core/gim_contact.cpp +++ b/src/BulletCollision/Gimpact/gim_contact.cpp @@ -1,146 +1,146 @@ - -/* ------------------------------------------------------------------------------ -This source file is part of GIMPACT Library. - -For the latest info, see http://gimpact.sourceforge.net/ - -Copyright (c) 2006 Francisco Leon Najera. C.C. 80087371. -email: projectileman@yahoo.com - - This library is free software; you can redistribute it and/or - modify it under the terms of EITHER: - (1) The GNU Lesser General Public License as published by the Free - Software Foundation; either version 2.1 of the License, or (at - your option) any later version. The text of the GNU Lesser - General Public License is included with this library in the - file GIMPACT-LICENSE-LGPL.TXT. - (2) The BSD-style license that is included with this library in - the file GIMPACT-LICENSE-BSD.TXT. - (3) The zlib/libpng license that is included with this library in - the file GIMPACT-LICENSE-ZLIB.TXT. - - This library is distributed in the hope that it will be useful, - but WITHOUT ANY WARRANTY; without even the implied warranty of - MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the files - GIMPACT-LICENSE-LGPL.TXT, GIMPACT-LICENSE-ZLIB.TXT and GIMPACT-LICENSE-BSD.TXT for more details. - ------------------------------------------------------------------------------ -*/ - -#include "GIMPACT/core/gim_contact.h" - -#define MAX_COINCIDENT 8 - -void gim_contact_array::merge_contacts( - const gim_contact_array & contacts, bool normal_contact_average) -{ - clear(); - - if(contacts.size()==1) - { - push_back(contacts.back()); - return; - } - - gim_array keycontacts(contacts.size()); - keycontacts.resize(contacts.size(),false); - - //fill key contacts - - GUINT i; - - for (i = 0;im_depth - CONTACT_DIFF_EPSILON > scontact->m_depth)//) - { - *pcontact = *scontact; - coincident_count = 0; - } - else if(normal_contact_average) - { - if(btFabs(pcontact->m_depth - scontact->m_depth)m_normal; - coincident_count++; - } - } - } - } - else - {//add new contact - - if(normal_contact_average && coincident_count>0) - { - pcontact->interpolate_normals(coincident_normals,coincident_count); - coincident_count = 0; - } - - push_back(*scontact); - pcontact = &back(); - } - last_key = key; - } -} - -void gim_contact_array::merge_contacts_unique(const gim_contact_array & contacts) -{ - clear(); - - if(contacts.size()==1) - { - push_back(contacts.back()); - return; - } - - GIM_CONTACT average_contact = contacts.back(); - - for (GUINT i=1;i keycontacts(contacts.size()); + keycontacts.resize(contacts.size(),false); + + //fill key contacts + + GUINT i; + + for (i = 0;im_depth - CONTACT_DIFF_EPSILON > scontact->m_depth)//) + { + *pcontact = *scontact; + coincident_count = 0; + } + else if(normal_contact_average) + { + if(btFabs(pcontact->m_depth - scontact->m_depth)m_normal; + coincident_count++; + } + } + } + } + else + {//add new contact + + if(normal_contact_average && coincident_count>0) + { + pcontact->interpolate_normals(coincident_normals,coincident_count); + coincident_count = 0; + } + + push_back(*scontact); + pcontact = &back(); + } + last_key = key; + } +} + +void gim_contact_array::merge_contacts_unique(const gim_contact_array & contacts) +{ + clear(); + + if(contacts.size()==1) + { + push_back(contacts.back()); + return; + } + + GIM_CONTACT average_contact = contacts.back(); + + for (GUINT i=1;i -
  • Contact lists must be create by calling \ref GIM_CREATE_CONTACT_LIST -
  • After querys, contact lists must be destroy by calling \ref GIM_DYNARRAY_DESTROY -
  • Contacts can be merge for avoid duplicate results by calling \ref gim_merge_contacts - - -*/ -//! @{ - -/** -Configuration var for applying interpolation of contact normals -*/ -#define NORMAL_CONTACT_AVERAGE 1 -#define CONTACT_DIFF_EPSILON 0.00001f - -/// Structure for collision results -class GIM_CONTACT -{ -public: - btVector3 m_point; - btVector3 m_normal; - GREAL m_depth;//Positive value indicates interpenetration - GREAL m_distance;//Padding not for use - GUINT m_feature1;//Face number - GUINT m_feature2;//Face number -public: - GIM_CONTACT() - { - } - - GIM_CONTACT(const GIM_CONTACT & contact): - m_point(contact.m_point), - m_normal(contact.m_normal), - m_depth(contact.m_depth), - m_feature1(contact.m_feature1), - m_feature2(contact.m_feature2) - { - m_point = contact.m_point; - m_normal = contact.m_normal; - m_depth = contact.m_depth; - m_feature1 = contact.m_feature1; - m_feature2 = contact.m_feature2; - } - - GIM_CONTACT(const btVector3 &point,const btVector3 & normal, - GREAL depth, GUINT feature1, GUINT feature2): - m_point(point), - m_normal(normal), - m_depth(depth), - m_feature1(feature1), - m_feature2(feature2) - { - } - - //! Calcs key for coord classification - SIMD_FORCE_INLINE GUINT calc_key_contact() const - { - GINT _coords[] = { - (GINT)(m_point[0]*1000.0f+1.0f), - (GINT)(m_point[1]*1333.0f), - (GINT)(m_point[2]*2133.0f+3.0f)}; - GUINT _hash=0; - GUINT *_uitmp = (GUINT *)(&_coords[0]); - _hash = *_uitmp; - _uitmp++; - _hash += (*_uitmp)<<4; - _uitmp++; - _hash += (*_uitmp)<<8; - return _hash; - } - - SIMD_FORCE_INLINE void interpolate_normals( btVector3 * normals,GUINT normal_count) - { - btVector3 vec_sum(m_normal); - for(GUINT i=0;i -{ -public: - gim_contact_array():gim_array(64) - { - } - - SIMD_FORCE_INLINE void push_contact(const btVector3 &point,const btVector3 & normal, - GREAL depth, GUINT feature1, GUINT feature2) - { - push_back_mem(); - GIM_CONTACT & newele = back(); - newele.m_point = point; - newele.m_normal = normal; - newele.m_depth = depth; - newele.m_feature1 = feature1; - newele.m_feature2 = feature2; - } - - SIMD_FORCE_INLINE void push_triangle_contacts( - const GIM_TRIANGLE_CONTACT_DATA & tricontact, - GUINT feature1,GUINT feature2) - { - for(GUINT i = 0;i +
  • Contact lists must be create by calling \ref GIM_CREATE_CONTACT_LIST +
  • After querys, contact lists must be destroy by calling \ref GIM_DYNARRAY_DESTROY +
  • Contacts can be merge for avoid duplicate results by calling \ref gim_merge_contacts + + +*/ +//! @{ + +/** +Configuration var for applying interpolation of contact normals +*/ +#define NORMAL_CONTACT_AVERAGE 1 +#define CONTACT_DIFF_EPSILON 0.00001f + +/// Structure for collision results +class GIM_CONTACT +{ +public: + btVector3 m_point; + btVector3 m_normal; + GREAL m_depth;//Positive value indicates interpenetration + GREAL m_distance;//Padding not for use + GUINT m_feature1;//Face number + GUINT m_feature2;//Face number +public: + GIM_CONTACT() + { + } + + GIM_CONTACT(const GIM_CONTACT & contact): + m_point(contact.m_point), + m_normal(contact.m_normal), + m_depth(contact.m_depth), + m_feature1(contact.m_feature1), + m_feature2(contact.m_feature2) + { + m_point = contact.m_point; + m_normal = contact.m_normal; + m_depth = contact.m_depth; + m_feature1 = contact.m_feature1; + m_feature2 = contact.m_feature2; + } + + GIM_CONTACT(const btVector3 &point,const btVector3 & normal, + GREAL depth, GUINT feature1, GUINT feature2): + m_point(point), + m_normal(normal), + m_depth(depth), + m_feature1(feature1), + m_feature2(feature2) + { + } + + //! Calcs key for coord classification + SIMD_FORCE_INLINE GUINT calc_key_contact() const + { + GINT _coords[] = { + (GINT)(m_point[0]*1000.0f+1.0f), + (GINT)(m_point[1]*1333.0f), + (GINT)(m_point[2]*2133.0f+3.0f)}; + GUINT _hash=0; + GUINT *_uitmp = (GUINT *)(&_coords[0]); + _hash = *_uitmp; + _uitmp++; + _hash += (*_uitmp)<<4; + _uitmp++; + _hash += (*_uitmp)<<8; + return _hash; + } + + SIMD_FORCE_INLINE void interpolate_normals( btVector3 * normals,GUINT normal_count) + { + btVector3 vec_sum(m_normal); + for(GUINT i=0;i +{ +public: + gim_contact_array():gim_array(64) + { + } + + SIMD_FORCE_INLINE void push_contact(const btVector3 &point,const btVector3 & normal, + GREAL depth, GUINT feature1, GUINT feature2) + { + push_back_mem(); + GIM_CONTACT & newele = back(); + newele.m_point = point; + newele.m_normal = normal; + newele.m_depth = depth; + newele.m_feature1 = feature1; + newele.m_feature2 = feature2; + } + + SIMD_FORCE_INLINE void push_triangle_contacts( + const GIM_TRIANGLE_CONTACT_DATA & tricontact, + GUINT feature1,GUINT feature2) + { + for(GUINT i = 0;i -struct GIM_HASH_TABLE_NODE -{ - GUINT m_key; - T m_data; - GIM_HASH_TABLE_NODE() - { - } - - GIM_HASH_TABLE_NODE(const GIM_HASH_TABLE_NODE & value) - { - m_key = value.m_key; - m_data = value.m_data; - } - - GIM_HASH_TABLE_NODE(GUINT key, const T & data) - { - m_key = key; - m_data = data; - } - - bool operator <(const GIM_HASH_TABLE_NODE & other) const - { - ///inverse order, further objects are first - if(m_key < other.m_key) return true; - return false; - } - - bool operator >(const GIM_HASH_TABLE_NODE & other) const - { - ///inverse order, further objects are first - if(m_key > other.m_key) return true; - return false; - } - - bool operator ==(const GIM_HASH_TABLE_NODE & other) const - { - ///inverse order, further objects are first - if(m_key == other.m_key) return true; - return false; - } -}; - -///Macro for getting the key -class GIM_HASH_NODE_GET_KEY -{ -public: - template - inline GUINT operator()( const T& a) - { - return a.m_key; - } -}; - - - -///Macro for comparing the key and the element -class GIM_HASH_NODE_CMP_KEY_MACRO -{ -public: - template - inline int operator() ( const T& a, GUINT key) - { - return ((int)(a.m_key - key)); - } -}; - -///Macro for comparing Hash nodes -class GIM_HASH_NODE_CMP_MACRO -{ -public: - template - inline int operator() ( const T& a, const T& b ) - { - return ((int)(a.m_key - b.m_key)); - } -}; - - - - - -//! Sorting for hash table -/*! -switch automatically between quicksort and radixsort -*/ -template -void gim_sort_hash_node_array(T * array, GUINT array_count) -{ - if(array_count - -
      -
    • if node_size = 0, then this container becomes a simple sorted array allocator. reserve_size is used for reserve memory in m_nodes. -When the array size reaches the size equivalent to 'min_hash_table_size', then it becomes a hash table by calling check_for_switching_to_hashtable. -
    • If node_size != 0, then this container becomes a hash table for ever -
    - -*/ -template -class gim_hash_table -{ -protected: - typedef GIM_HASH_TABLE_NODE _node_type; - - //!The nodes - //array< _node_type, SuperAllocator<_node_type> > m_nodes; - gim_array< _node_type > m_nodes; - //SuperBufferedArray< _node_type > m_nodes; - bool m_sorted; - - /*! \defgroup HASH_TABLE_STRUCTURES - \brief - Hash table data management. The hash table has the indices to the corresponding m_nodes array - */ - //! @{ - - GUINT * m_hash_table;//!< - GUINT m_table_size;//!< - GUINT m_node_size;//!< - GUINT m_min_hash_table_size; - - - - //! Returns the cell index - inline GUINT _find_cell(GUINT hashkey) - { - _node_type * nodesptr = m_nodes.pointer(); - GUINT start_index = (hashkey%m_table_size)*m_node_size; - GUINT end_index = start_index + m_node_size; - - while(start_index= m_nodes.size()) return false; - if(m_nodes[index].m_key != GIM_INVALID_HASH) - { - //Search for the avaliable cell in buffer - GUINT cell_index = _find_cell(m_nodes[index].m_key); - - btAssert(cell_index!=GIM_INVALID_HASH); - btAssert(m_hash_table[cell_index]==index); - - m_hash_table[cell_index] = GIM_INVALID_HASH; - } - - return this->_erase_unsorted(index); - } - - //! erase by key in hash table - inline bool _erase_hash_table(GUINT hashkey) - { - if(hashkey == GIM_INVALID_HASH) return false; - - //Search for the avaliable cell in buffer - GUINT cell_index = _find_cell(hashkey); - if(cell_index ==GIM_INVALID_HASH) return false; - - GUINT index = m_hash_table[cell_index]; - m_hash_table[cell_index] = GIM_INVALID_HASH; - - return this->_erase_unsorted(index); - } - - - - //! insert an element in hash table - /*! - If the element exists, this won't insert the element - \return the index in the array of the existing element,or GIM_INVALID_HASH if the element has been inserted - If so, the element has been inserted at the last position of the array. - */ - inline GUINT _insert_hash_table(GUINT hashkey, const T & value) - { - if(hashkey==GIM_INVALID_HASH) - { - //Insert anyway - _insert_unsorted(hashkey,value); - return GIM_INVALID_HASH; - } - - GUINT cell_index = _assign_hash_table_cell(hashkey); - - GUINT value_key = m_hash_table[cell_index]; - - if(value_key!= GIM_INVALID_HASH) return value_key;// Not overrited - - m_hash_table[cell_index] = m_nodes.size(); - - _insert_unsorted(hashkey,value); - return GIM_INVALID_HASH; - } - - //! insert an element in hash table. - /*! - If the element exists, this replaces the element. - \return the index in the array of the existing element,or GIM_INVALID_HASH if the element has been inserted - If so, the element has been inserted at the last position of the array. - */ - inline GUINT _insert_hash_table_replace(GUINT hashkey, const T & value) - { - if(hashkey==GIM_INVALID_HASH) - { - //Insert anyway - _insert_unsorted(hashkey,value); - return GIM_INVALID_HASH; - } - - GUINT cell_index = _assign_hash_table_cell(hashkey); - - GUINT value_key = m_hash_table[cell_index]; - - if(value_key!= GIM_INVALID_HASH) - {//replaces the existing - m_nodes[value_key] = _node_type(hashkey,value); - return value_key;// index of the replaced element - } - - m_hash_table[cell_index] = m_nodes.size(); - - _insert_unsorted(hashkey,value); - return GIM_INVALID_HASH; - - } - - //! @} - - /*! \defgroup SORTED_ARRAY_STRUCTURES - \brief - Sorted array data management. The hash table has the indices to the corresponding m_nodes array - */ - //! @{ - inline bool _erase_sorted(GUINT index) - { - if(index>=(GUINT)m_nodes.size()) return false; - m_nodes.erase_sorted(index); - if(m_nodes.size()<2) m_sorted = false; - return true; - } - - //! faster, but unsorted - inline bool _erase_unsorted(GUINT index) - { - if(index>=m_nodes.size()) return false; - - GUINT lastindex = m_nodes.size()-1; - if(indexcheck_for_switching_to_hashtable(); - } - - //! Insert an element in an ordered array - inline GUINT _insert_sorted(GUINT hashkey, const T & value) - { - if(hashkey==GIM_INVALID_HASH || size()==0) - { - m_nodes.push_back(_node_type(hashkey,value)); - return GIM_INVALID_HASH; - } - //Insert at last position - //Sort element - - - GUINT result_ind=0; - GUINT last_index = m_nodes.size()-1; - _node_type * ptr = m_nodes.pointer(); - - bool found = gim_binary_search_ex( - ptr,0,last_index,result_ind,hashkey,GIM_HASH_NODE_CMP_KEY_MACRO()); - - - //Insert before found index - if(found) - { - return result_ind; - } - else - { - _insert_in_pos(hashkey, value, result_ind); - } - return GIM_INVALID_HASH; - } - - inline GUINT _insert_sorted_replace(GUINT hashkey, const T & value) - { - if(hashkey==GIM_INVALID_HASH || size()==0) - { - m_nodes.push_back(_node_type(hashkey,value)); - return GIM_INVALID_HASH; - } - //Insert at last position - //Sort element - GUINT result_ind; - GUINT last_index = m_nodes.size()-1; - _node_type * ptr = m_nodes.pointer(); - - bool found = gim_binary_search_ex( - ptr,0,last_index,result_ind,hashkey,GIM_HASH_NODE_CMP_KEY_MACRO()); - - //Insert before found index - if(found) - { - m_nodes[result_ind] = _node_type(hashkey,value); - } - else - { - _insert_in_pos(hashkey, value, result_ind); - } - return result_ind; - } - - //! Fast insertion in m_nodes array - inline GUINT _insert_unsorted(GUINT hashkey, const T & value) - { - m_nodes.push_back(_node_type(hashkey,value)); - m_sorted = false; - return GIM_INVALID_HASH; - } - - //! @} - - -public: - - /*! -
  • if node_size = 0, then this container becomes a simple sorted array allocator. reserve_size is used for reserve memory in m_nodes. - When the array size reaches the size equivalent to 'min_hash_table_size', then it becomes a hash table by calling check_for_switching_to_hashtable. -
  • If node_size != 0, then this container becomes a hash table for ever - - */ - gim_hash_table(GUINT reserve_size = GIM_DEFAULT_HASH_TABLE_SIZE, - GUINT node_size = GIM_DEFAULT_HASH_TABLE_NODE_SIZE, - GUINT min_hash_table_size = GIM_INVALID_HASH) - { - m_hash_table = NULL; - m_table_size = 0; - m_sorted = false; - m_node_size = node_size; - m_min_hash_table_size = min_hash_table_size; - - if(m_node_size!=0) - { - if(reserve_size!=0) - { - m_nodes.reserve(reserve_size); - _reserve_table_memory(reserve_size); - _invalidate_keys(); - } - else - { - m_nodes.reserve(GIM_DEFAULT_HASH_TABLE_SIZE); - _reserve_table_memory(GIM_DEFAULT_HASH_TABLE_SIZE); - _invalidate_keys(); - } - } - else if(reserve_size!=0) - { - m_nodes.reserve(reserve_size); - } - - } - - ~gim_hash_table() - { - _destroy(); - } - - inline bool is_hash_table() - { - if(m_hash_table) return true; - return false; - } - - inline bool is_sorted() - { - if(size()<2) return true; - return m_sorted; - } - - bool sort() - { - if(is_sorted()) return true; - if(m_nodes.size()<2) return false; - - - _node_type * ptr = m_nodes.pointer(); - GUINT siz = m_nodes.size(); - gim_sort_hash_node_array(ptr,siz); - m_sorted=true; - - - - if(m_hash_table) - { - _rehash(); - } - return true; - } - - bool switch_to_hashtable() - { - if(m_hash_table) return false; - if(m_node_size==0) m_node_size = GIM_DEFAULT_HASH_TABLE_NODE_SIZE; - if(m_nodes.size()m_hash_table) return true; - - if(!(m_nodes.size()< m_min_hash_table_size)) - { - if(m_node_size == 0) - { - m_node_size = GIM_DEFAULT_HASH_TABLE_NODE_SIZE; - } - - _resize_table(m_nodes.size()+1); - return true; - } - return false; - } - - inline void set_sorted(bool value) - { - m_sorted = value; - } - - //! Retrieves the amount of keys. - inline GUINT size() const - { - return m_nodes.size(); - } - - //! Retrieves the hash key. - inline GUINT get_key(GUINT index) const - { - return m_nodes[index].m_key; - } - - //! Retrieves the value by index - /*! - */ - inline T * get_value_by_index(GUINT index) - { - return &m_nodes[index].m_data; - } - - inline const T& operator[](GUINT index) const - { - return m_nodes[index].m_data; - } - - inline T& operator[](GUINT index) - { - return m_nodes[index].m_data; - } - - //! Finds the index of the element with the key - /*! - \return the index in the array of the existing element,or GIM_INVALID_HASH if the element has been inserted - If so, the element has been inserted at the last position of the array. - */ - inline GUINT find(GUINT hashkey) - { - if(m_hash_table) - { - GUINT cell_index = _find_cell(hashkey); - if(cell_index==GIM_INVALID_HASH) return GIM_INVALID_HASH; - return m_hash_table[cell_index]; - } - GUINT last_index = m_nodes.size(); - if(last_index<2) - { - if(last_index==0) return GIM_INVALID_HASH; - if(m_nodes[0].m_key == hashkey) return 0; - return GIM_INVALID_HASH; - } - else if(m_sorted) - { - //Binary search - GUINT result_ind = 0; - last_index--; - _node_type * ptr = m_nodes.pointer(); - - bool found = gim_binary_search_ex(ptr,0,last_index,result_ind,hashkey,GIM_HASH_NODE_CMP_KEY_MACRO()); - - - if(found) return result_ind; - } - return GIM_INVALID_HASH; - } - - //! Retrieves the value associated with the index - /*! - \return the found element, or null - */ - inline T * get_value(GUINT hashkey) - { - GUINT index = find(hashkey); - if(index == GIM_INVALID_HASH) return NULL; - return &m_nodes[index].m_data; - } - - - /*! - */ - inline bool erase_by_index(GUINT index) - { - if(index > m_nodes.size()) return false; - - if(m_hash_table == NULL) - { - if(is_sorted()) - { - return this->_erase_sorted(index); - } - else - { - return this->_erase_unsorted(index); - } - } - else - { - return this->_erase_by_index_hash_table(index); - } - return false; - } - - - - inline bool erase_by_index_unsorted(GUINT index) - { - if(index > m_nodes.size()) return false; - - if(m_hash_table == NULL) - { - return this->_erase_unsorted(index); - } - else - { - return this->_erase_by_index_hash_table(index); - } - return false; - } - - - - /*! - - */ - inline bool erase_by_key(GUINT hashkey) - { - if(size()==0) return false; - - if(m_hash_table) - { - return this->_erase_hash_table(hashkey); - } - //Binary search - - if(is_sorted()==false) return false; - - GUINT result_ind = find(hashkey); - if(result_ind!= GIM_INVALID_HASH) - { - return this->_erase_sorted(result_ind); - } - return false; - } - - void clear() - { - m_nodes.clear(); - - if(m_hash_table==NULL) return; - GUINT datasize = m_table_size*m_node_size; - //Initialize the hashkeys. - GUINT i; - for(i=0;i_insert_hash_table(hashkey,element); - } - if(this->is_sorted()) - { - return this->_insert_sorted(hashkey,element); - } - return this->_insert_unsorted(hashkey,element); - } - - //! Insert an element into the hash, and could overrite an existing object with the same hash. - /*! - \return If GIM_INVALID_HASH, the object has been inserted succesfully. Else it returns the position - of the replaced element. - */ - inline GUINT insert_override(GUINT hashkey, const T & element) - { - if(m_hash_table) - { - return this->_insert_hash_table_replace(hashkey,element); - } - if(this->is_sorted()) - { - return this->_insert_sorted_replace(hashkey,element); - } - this->_insert_unsorted(hashkey,element); - return m_nodes.size(); - } - - - - //! Insert an element into the hash,But if this container is a sorted array, this inserts it unsorted - /*! - */ - inline GUINT insert_unsorted(GUINT hashkey,const T & element) - { - if(m_hash_table) - { - return this->_insert_hash_table(hashkey,element); - } - return this->_insert_unsorted(hashkey,element); - } - - -}; - -//! @} - - - -#endif // GIM_CONTAINERS_H_INCLUDED +#ifndef GIM_HASH_TABLE_H_INCLUDED +#define GIM_HASH_TABLE_H_INCLUDED +/*! \file gim_trimesh_data.h +\author Francisco Len Nßjera +*/ +/* +----------------------------------------------------------------------------- +This source file is part of GIMPACT Library. + +For the latest info, see http://gimpact.sourceforge.net/ + +Copyright (c) 2006 Francisco Leon Najera. C.C. 80087371. +email: projectileman@yahoo.com + + This library is free software; you can redistribute it and/or + modify it under the terms of EITHER: + (1) The GNU Lesser General Public License as published by the Free + Software Foundation; either version 2.1 of the License, or (at + your option) any later version. The text of the GNU Lesser + General Public License is included with this library in the + file GIMPACT-LICENSE-LGPL.TXT. + (2) The BSD-style license that is included with this library in + the file GIMPACT-LICENSE-BSD.TXT. + (3) The zlib/libpng license that is included with this library in + the file GIMPACT-LICENSE-ZLIB.TXT. + + This library is distributed in the hope that it will be useful, + but WITHOUT ANY WARRANTY; without even the implied warranty of + MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the files + GIMPACT-LICENSE-LGPL.TXT, GIMPACT-LICENSE-ZLIB.TXT and GIMPACT-LICENSE-BSD.TXT for more details. + +----------------------------------------------------------------------------- +*/ + +#include "gim_radixsort.h" + +/*! \addtogroup CONTAINERS +\brief +Abstract class for collision objects +*/ +//! @{ + +#define GIM_INVALID_HASH 0xffffffff //!< A very very high value +#define GIM_DEFAULT_HASH_TABLE_SIZE 380 +#define GIM_DEFAULT_HASH_TABLE_NODE_SIZE 4 +#define GIM_HASH_TABLE_GROW_FACTOR 2 + +#define GIM_MIN_RADIX_SORT_SIZE 860 //!< calibrated on a PIII + +template +struct GIM_HASH_TABLE_NODE +{ + GUINT m_key; + T m_data; + GIM_HASH_TABLE_NODE() + { + } + + GIM_HASH_TABLE_NODE(const GIM_HASH_TABLE_NODE & value) + { + m_key = value.m_key; + m_data = value.m_data; + } + + GIM_HASH_TABLE_NODE(GUINT key, const T & data) + { + m_key = key; + m_data = data; + } + + bool operator <(const GIM_HASH_TABLE_NODE & other) const + { + ///inverse order, further objects are first + if(m_key < other.m_key) return true; + return false; + } + + bool operator >(const GIM_HASH_TABLE_NODE & other) const + { + ///inverse order, further objects are first + if(m_key > other.m_key) return true; + return false; + } + + bool operator ==(const GIM_HASH_TABLE_NODE & other) const + { + ///inverse order, further objects are first + if(m_key == other.m_key) return true; + return false; + } +}; + +///Macro for getting the key +class GIM_HASH_NODE_GET_KEY +{ +public: + template + inline GUINT operator()( const T& a) + { + return a.m_key; + } +}; + + + +///Macro for comparing the key and the element +class GIM_HASH_NODE_CMP_KEY_MACRO +{ +public: + template + inline int operator() ( const T& a, GUINT key) + { + return ((int)(a.m_key - key)); + } +}; + +///Macro for comparing Hash nodes +class GIM_HASH_NODE_CMP_MACRO +{ +public: + template + inline int operator() ( const T& a, const T& b ) + { + return ((int)(a.m_key - b.m_key)); + } +}; + + + + + +//! Sorting for hash table +/*! +switch automatically between quicksort and radixsort +*/ +template +void gim_sort_hash_node_array(T * array, GUINT array_count) +{ + if(array_count + +
      +
    • if node_size = 0, then this container becomes a simple sorted array allocator. reserve_size is used for reserve memory in m_nodes. +When the array size reaches the size equivalent to 'min_hash_table_size', then it becomes a hash table by calling check_for_switching_to_hashtable. +
    • If node_size != 0, then this container becomes a hash table for ever +
    + +*/ +template +class gim_hash_table +{ +protected: + typedef GIM_HASH_TABLE_NODE _node_type; + + //!The nodes + //array< _node_type, SuperAllocator<_node_type> > m_nodes; + gim_array< _node_type > m_nodes; + //SuperBufferedArray< _node_type > m_nodes; + bool m_sorted; + + /*! \defgroup HASH_TABLE_STRUCTURES + \brief + Hash table data management. The hash table has the indices to the corresponding m_nodes array + */ + //! @{ + + GUINT * m_hash_table;//!< + GUINT m_table_size;//!< + GUINT m_node_size;//!< + GUINT m_min_hash_table_size; + + + + //! Returns the cell index + inline GUINT _find_cell(GUINT hashkey) + { + _node_type * nodesptr = m_nodes.pointer(); + GUINT start_index = (hashkey%m_table_size)*m_node_size; + GUINT end_index = start_index + m_node_size; + + while(start_index= m_nodes.size()) return false; + if(m_nodes[index].m_key != GIM_INVALID_HASH) + { + //Search for the avaliable cell in buffer + GUINT cell_index = _find_cell(m_nodes[index].m_key); + + btAssert(cell_index!=GIM_INVALID_HASH); + btAssert(m_hash_table[cell_index]==index); + + m_hash_table[cell_index] = GIM_INVALID_HASH; + } + + return this->_erase_unsorted(index); + } + + //! erase by key in hash table + inline bool _erase_hash_table(GUINT hashkey) + { + if(hashkey == GIM_INVALID_HASH) return false; + + //Search for the avaliable cell in buffer + GUINT cell_index = _find_cell(hashkey); + if(cell_index ==GIM_INVALID_HASH) return false; + + GUINT index = m_hash_table[cell_index]; + m_hash_table[cell_index] = GIM_INVALID_HASH; + + return this->_erase_unsorted(index); + } + + + + //! insert an element in hash table + /*! + If the element exists, this won't insert the element + \return the index in the array of the existing element,or GIM_INVALID_HASH if the element has been inserted + If so, the element has been inserted at the last position of the array. + */ + inline GUINT _insert_hash_table(GUINT hashkey, const T & value) + { + if(hashkey==GIM_INVALID_HASH) + { + //Insert anyway + _insert_unsorted(hashkey,value); + return GIM_INVALID_HASH; + } + + GUINT cell_index = _assign_hash_table_cell(hashkey); + + GUINT value_key = m_hash_table[cell_index]; + + if(value_key!= GIM_INVALID_HASH) return value_key;// Not overrited + + m_hash_table[cell_index] = m_nodes.size(); + + _insert_unsorted(hashkey,value); + return GIM_INVALID_HASH; + } + + //! insert an element in hash table. + /*! + If the element exists, this replaces the element. + \return the index in the array of the existing element,or GIM_INVALID_HASH if the element has been inserted + If so, the element has been inserted at the last position of the array. + */ + inline GUINT _insert_hash_table_replace(GUINT hashkey, const T & value) + { + if(hashkey==GIM_INVALID_HASH) + { + //Insert anyway + _insert_unsorted(hashkey,value); + return GIM_INVALID_HASH; + } + + GUINT cell_index = _assign_hash_table_cell(hashkey); + + GUINT value_key = m_hash_table[cell_index]; + + if(value_key!= GIM_INVALID_HASH) + {//replaces the existing + m_nodes[value_key] = _node_type(hashkey,value); + return value_key;// index of the replaced element + } + + m_hash_table[cell_index] = m_nodes.size(); + + _insert_unsorted(hashkey,value); + return GIM_INVALID_HASH; + + } + + //! @} + + /*! \defgroup SORTED_ARRAY_STRUCTURES + \brief + Sorted array data management. The hash table has the indices to the corresponding m_nodes array + */ + //! @{ + inline bool _erase_sorted(GUINT index) + { + if(index>=(GUINT)m_nodes.size()) return false; + m_nodes.erase_sorted(index); + if(m_nodes.size()<2) m_sorted = false; + return true; + } + + //! faster, but unsorted + inline bool _erase_unsorted(GUINT index) + { + if(index>=m_nodes.size()) return false; + + GUINT lastindex = m_nodes.size()-1; + if(indexcheck_for_switching_to_hashtable(); + } + + //! Insert an element in an ordered array + inline GUINT _insert_sorted(GUINT hashkey, const T & value) + { + if(hashkey==GIM_INVALID_HASH || size()==0) + { + m_nodes.push_back(_node_type(hashkey,value)); + return GIM_INVALID_HASH; + } + //Insert at last position + //Sort element + + + GUINT result_ind=0; + GUINT last_index = m_nodes.size()-1; + _node_type * ptr = m_nodes.pointer(); + + bool found = gim_binary_search_ex( + ptr,0,last_index,result_ind,hashkey,GIM_HASH_NODE_CMP_KEY_MACRO()); + + + //Insert before found index + if(found) + { + return result_ind; + } + else + { + _insert_in_pos(hashkey, value, result_ind); + } + return GIM_INVALID_HASH; + } + + inline GUINT _insert_sorted_replace(GUINT hashkey, const T & value) + { + if(hashkey==GIM_INVALID_HASH || size()==0) + { + m_nodes.push_back(_node_type(hashkey,value)); + return GIM_INVALID_HASH; + } + //Insert at last position + //Sort element + GUINT result_ind; + GUINT last_index = m_nodes.size()-1; + _node_type * ptr = m_nodes.pointer(); + + bool found = gim_binary_search_ex( + ptr,0,last_index,result_ind,hashkey,GIM_HASH_NODE_CMP_KEY_MACRO()); + + //Insert before found index + if(found) + { + m_nodes[result_ind] = _node_type(hashkey,value); + } + else + { + _insert_in_pos(hashkey, value, result_ind); + } + return result_ind; + } + + //! Fast insertion in m_nodes array + inline GUINT _insert_unsorted(GUINT hashkey, const T & value) + { + m_nodes.push_back(_node_type(hashkey,value)); + m_sorted = false; + return GIM_INVALID_HASH; + } + + //! @} + + +public: + + /*! +
  • if node_size = 0, then this container becomes a simple sorted array allocator. reserve_size is used for reserve memory in m_nodes. + When the array size reaches the size equivalent to 'min_hash_table_size', then it becomes a hash table by calling check_for_switching_to_hashtable. +
  • If node_size != 0, then this container becomes a hash table for ever + + */ + gim_hash_table(GUINT reserve_size = GIM_DEFAULT_HASH_TABLE_SIZE, + GUINT node_size = GIM_DEFAULT_HASH_TABLE_NODE_SIZE, + GUINT min_hash_table_size = GIM_INVALID_HASH) + { + m_hash_table = NULL; + m_table_size = 0; + m_sorted = false; + m_node_size = node_size; + m_min_hash_table_size = min_hash_table_size; + + if(m_node_size!=0) + { + if(reserve_size!=0) + { + m_nodes.reserve(reserve_size); + _reserve_table_memory(reserve_size); + _invalidate_keys(); + } + else + { + m_nodes.reserve(GIM_DEFAULT_HASH_TABLE_SIZE); + _reserve_table_memory(GIM_DEFAULT_HASH_TABLE_SIZE); + _invalidate_keys(); + } + } + else if(reserve_size!=0) + { + m_nodes.reserve(reserve_size); + } + + } + + ~gim_hash_table() + { + _destroy(); + } + + inline bool is_hash_table() + { + if(m_hash_table) return true; + return false; + } + + inline bool is_sorted() + { + if(size()<2) return true; + return m_sorted; + } + + bool sort() + { + if(is_sorted()) return true; + if(m_nodes.size()<2) return false; + + + _node_type * ptr = m_nodes.pointer(); + GUINT siz = m_nodes.size(); + gim_sort_hash_node_array(ptr,siz); + m_sorted=true; + + + + if(m_hash_table) + { + _rehash(); + } + return true; + } + + bool switch_to_hashtable() + { + if(m_hash_table) return false; + if(m_node_size==0) m_node_size = GIM_DEFAULT_HASH_TABLE_NODE_SIZE; + if(m_nodes.size()m_hash_table) return true; + + if(!(m_nodes.size()< m_min_hash_table_size)) + { + if(m_node_size == 0) + { + m_node_size = GIM_DEFAULT_HASH_TABLE_NODE_SIZE; + } + + _resize_table(m_nodes.size()+1); + return true; + } + return false; + } + + inline void set_sorted(bool value) + { + m_sorted = value; + } + + //! Retrieves the amount of keys. + inline GUINT size() const + { + return m_nodes.size(); + } + + //! Retrieves the hash key. + inline GUINT get_key(GUINT index) const + { + return m_nodes[index].m_key; + } + + //! Retrieves the value by index + /*! + */ + inline T * get_value_by_index(GUINT index) + { + return &m_nodes[index].m_data; + } + + inline const T& operator[](GUINT index) const + { + return m_nodes[index].m_data; + } + + inline T& operator[](GUINT index) + { + return m_nodes[index].m_data; + } + + //! Finds the index of the element with the key + /*! + \return the index in the array of the existing element,or GIM_INVALID_HASH if the element has been inserted + If so, the element has been inserted at the last position of the array. + */ + inline GUINT find(GUINT hashkey) + { + if(m_hash_table) + { + GUINT cell_index = _find_cell(hashkey); + if(cell_index==GIM_INVALID_HASH) return GIM_INVALID_HASH; + return m_hash_table[cell_index]; + } + GUINT last_index = m_nodes.size(); + if(last_index<2) + { + if(last_index==0) return GIM_INVALID_HASH; + if(m_nodes[0].m_key == hashkey) return 0; + return GIM_INVALID_HASH; + } + else if(m_sorted) + { + //Binary search + GUINT result_ind = 0; + last_index--; + _node_type * ptr = m_nodes.pointer(); + + bool found = gim_binary_search_ex(ptr,0,last_index,result_ind,hashkey,GIM_HASH_NODE_CMP_KEY_MACRO()); + + + if(found) return result_ind; + } + return GIM_INVALID_HASH; + } + + //! Retrieves the value associated with the index + /*! + \return the found element, or null + */ + inline T * get_value(GUINT hashkey) + { + GUINT index = find(hashkey); + if(index == GIM_INVALID_HASH) return NULL; + return &m_nodes[index].m_data; + } + + + /*! + */ + inline bool erase_by_index(GUINT index) + { + if(index > m_nodes.size()) return false; + + if(m_hash_table == NULL) + { + if(is_sorted()) + { + return this->_erase_sorted(index); + } + else + { + return this->_erase_unsorted(index); + } + } + else + { + return this->_erase_by_index_hash_table(index); + } + return false; + } + + + + inline bool erase_by_index_unsorted(GUINT index) + { + if(index > m_nodes.size()) return false; + + if(m_hash_table == NULL) + { + return this->_erase_unsorted(index); + } + else + { + return this->_erase_by_index_hash_table(index); + } + return false; + } + + + + /*! + + */ + inline bool erase_by_key(GUINT hashkey) + { + if(size()==0) return false; + + if(m_hash_table) + { + return this->_erase_hash_table(hashkey); + } + //Binary search + + if(is_sorted()==false) return false; + + GUINT result_ind = find(hashkey); + if(result_ind!= GIM_INVALID_HASH) + { + return this->_erase_sorted(result_ind); + } + return false; + } + + void clear() + { + m_nodes.clear(); + + if(m_hash_table==NULL) return; + GUINT datasize = m_table_size*m_node_size; + //Initialize the hashkeys. + GUINT i; + for(i=0;i_insert_hash_table(hashkey,element); + } + if(this->is_sorted()) + { + return this->_insert_sorted(hashkey,element); + } + return this->_insert_unsorted(hashkey,element); + } + + //! Insert an element into the hash, and could overrite an existing object with the same hash. + /*! + \return If GIM_INVALID_HASH, the object has been inserted succesfully. Else it returns the position + of the replaced element. + */ + inline GUINT insert_override(GUINT hashkey, const T & element) + { + if(m_hash_table) + { + return this->_insert_hash_table_replace(hashkey,element); + } + if(this->is_sorted()) + { + return this->_insert_sorted_replace(hashkey,element); + } + this->_insert_unsorted(hashkey,element); + return m_nodes.size(); + } + + + + //! Insert an element into the hash,But if this container is a sorted array, this inserts it unsorted + /*! + */ + inline GUINT insert_unsorted(GUINT hashkey,const T & element) + { + if(m_hash_table) + { + return this->_insert_hash_table(hashkey,element); + } + return this->_insert_unsorted(hashkey,element); + } + + +}; + +//! @} + + + +#endif // GIM_CONTAINERS_H_INCLUDED diff --git a/Extras/GIMPACT/include/GIMPACT/core/gim_linear_math.h b/src/BulletCollision/Gimpact/gim_linear_math.h old mode 100755 new mode 100644 similarity index 95% rename from Extras/GIMPACT/include/GIMPACT/core/gim_linear_math.h rename to src/BulletCollision/Gimpact/gim_linear_math.h index 26613ca98..adf1c1c2d --- a/Extras/GIMPACT/include/GIMPACT/core/gim_linear_math.h +++ b/src/BulletCollision/Gimpact/gim_linear_math.h @@ -1,1584 +1,1584 @@ -#ifndef GIM_LINEAR_H_INCLUDED -#define GIM_LINEAR_H_INCLUDED - -/*! \file gim_linear_math.h -*\author Francisco León Nájera -Type Independant Vector and matrix operations. -*/ -/* ------------------------------------------------------------------------------ -This source file is part of GIMPACT Library. - -For the latest info, see http://gimpact.sourceforge.net/ - -Copyright (c) 2006 Francisco Leon Najera. C.C. 80087371. -email: projectileman@yahoo.com - - This library is free software; you can redistribute it and/or - modify it under the terms of EITHER: - (1) The GNU Lesser General Public License as published by the Free - Software Foundation; either version 2.1 of the License, or (at - your option) any later version. The text of the GNU Lesser - General Public License is included with this library in the - file GIMPACT-LICENSE-LGPL.TXT. - (2) The BSD-style license that is included with this library in - the file GIMPACT-LICENSE-BSD.TXT. - (3) The zlib/libpng license that is included with this library in - the file GIMPACT-LICENSE-ZLIB.TXT. - - This library is distributed in the hope that it will be useful, - but WITHOUT ANY WARRANTY; without even the implied warranty of - MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the files - GIMPACT-LICENSE-LGPL.TXT, GIMPACT-LICENSE-ZLIB.TXT and GIMPACT-LICENSE-BSD.TXT for more details. - ------------------------------------------------------------------------------ -*/ - - -#include "GIMPACT/core/gim_math.h" -#include "GIMPACT/core/gim_geom_types.h" - - - -/*! \defgroup VECTOR_OPERATIONS -T -Operations for vectors : vec2f,vec3f and vec4f -*/ -//! @{ - -//! Zero out a 2D vector -#define VEC_ZERO_2(a) \ -{ \ - (a)[0] = (a)[1] = 0.0f; \ -}\ - - -//! Zero out a 3D vector -#define VEC_ZERO(a) \ -{ \ - (a)[0] = (a)[1] = (a)[2] = 0.0f; \ -}\ - - -/// Zero out a 4D vector -#define VEC_ZERO_4(a) \ -{ \ - (a)[0] = (a)[1] = (a)[2] = (a)[3] = 0.0f; \ -}\ - - -/// Vector copy -#define VEC_COPY_2(b,a) \ -{ \ - (b)[0] = (a)[0]; \ - (b)[1] = (a)[1]; \ -}\ - - -/// Copy 3D vector -#define VEC_COPY(b,a) \ -{ \ - (b)[0] = (a)[0]; \ - (b)[1] = (a)[1]; \ - (b)[2] = (a)[2]; \ -}\ - - -/// Copy 4D vector -#define VEC_COPY_4(b,a) \ -{ \ - (b)[0] = (a)[0]; \ - (b)[1] = (a)[1]; \ - (b)[2] = (a)[2]; \ - (b)[3] = (a)[3]; \ -}\ - -/// VECTOR SWAP -#define VEC_SWAP(b,a) \ -{ \ - GIM_SWAP_NUMBERS((b)[0],(a)[0]);\ - GIM_SWAP_NUMBERS((b)[1],(a)[1]);\ - GIM_SWAP_NUMBERS((b)[2],(a)[2]);\ -}\ - -/// Vector difference -#define VEC_DIFF_2(v21,v2,v1) \ -{ \ - (v21)[0] = (v2)[0] - (v1)[0]; \ - (v21)[1] = (v2)[1] - (v1)[1]; \ -}\ - - -/// Vector difference -#define VEC_DIFF(v21,v2,v1) \ -{ \ - (v21)[0] = (v2)[0] - (v1)[0]; \ - (v21)[1] = (v2)[1] - (v1)[1]; \ - (v21)[2] = (v2)[2] - (v1)[2]; \ -}\ - - -/// Vector difference -#define VEC_DIFF_4(v21,v2,v1) \ -{ \ - (v21)[0] = (v2)[0] - (v1)[0]; \ - (v21)[1] = (v2)[1] - (v1)[1]; \ - (v21)[2] = (v2)[2] - (v1)[2]; \ - (v21)[3] = (v2)[3] - (v1)[3]; \ -}\ - - -/// Vector sum -#define VEC_SUM_2(v21,v2,v1) \ -{ \ - (v21)[0] = (v2)[0] + (v1)[0]; \ - (v21)[1] = (v2)[1] + (v1)[1]; \ -}\ - - -/// Vector sum -#define VEC_SUM(v21,v2,v1) \ -{ \ - (v21)[0] = (v2)[0] + (v1)[0]; \ - (v21)[1] = (v2)[1] + (v1)[1]; \ - (v21)[2] = (v2)[2] + (v1)[2]; \ -}\ - - -/// Vector sum -#define VEC_SUM_4(v21,v2,v1) \ -{ \ - (v21)[0] = (v2)[0] + (v1)[0]; \ - (v21)[1] = (v2)[1] + (v1)[1]; \ - (v21)[2] = (v2)[2] + (v1)[2]; \ - (v21)[3] = (v2)[3] + (v1)[3]; \ -}\ - - -/// scalar times vector -#define VEC_SCALE_2(c,a,b) \ -{ \ - (c)[0] = (a)*(b)[0]; \ - (c)[1] = (a)*(b)[1]; \ -}\ - - -/// scalar times vector -#define VEC_SCALE(c,a,b) \ -{ \ - (c)[0] = (a)*(b)[0]; \ - (c)[1] = (a)*(b)[1]; \ - (c)[2] = (a)*(b)[2]; \ -}\ - - -/// scalar times vector -#define VEC_SCALE_4(c,a,b) \ -{ \ - (c)[0] = (a)*(b)[0]; \ - (c)[1] = (a)*(b)[1]; \ - (c)[2] = (a)*(b)[2]; \ - (c)[3] = (a)*(b)[3]; \ -}\ - - -/// accumulate scaled vector -#define VEC_ACCUM_2(c,a,b) \ -{ \ - (c)[0] += (a)*(b)[0]; \ - (c)[1] += (a)*(b)[1]; \ -}\ - - -/// accumulate scaled vector -#define VEC_ACCUM(c,a,b) \ -{ \ - (c)[0] += (a)*(b)[0]; \ - (c)[1] += (a)*(b)[1]; \ - (c)[2] += (a)*(b)[2]; \ -}\ - - -/// accumulate scaled vector -#define VEC_ACCUM_4(c,a,b) \ -{ \ - (c)[0] += (a)*(b)[0]; \ - (c)[1] += (a)*(b)[1]; \ - (c)[2] += (a)*(b)[2]; \ - (c)[3] += (a)*(b)[3]; \ -}\ - - -/// Vector dot product -#define VEC_DOT_2(a,b) ((a)[0]*(b)[0] + (a)[1]*(b)[1]) - - -/// Vector dot product -#define VEC_DOT(a,b) ((a)[0]*(b)[0] + (a)[1]*(b)[1] + (a)[2]*(b)[2]) - -/// Vector dot product -#define VEC_DOT_4(a,b) ((a)[0]*(b)[0] + (a)[1]*(b)[1] + (a)[2]*(b)[2] + (a)[3]*(b)[3]) - -/// vector impact parameter (squared) -#define VEC_IMPACT_SQ(bsq,direction,position) {\ - GREAL _llel_ = VEC_DOT(direction, position);\ - bsq = VEC_DOT(position, position) - _llel_*_llel_;\ -}\ - - -/// vector impact parameter -#define VEC_IMPACT(bsq,direction,position) {\ - VEC_IMPACT_SQ(bsq,direction,position); \ - GIM_SQRT(bsq,bsq); \ -}\ - -/// Vector length -#define VEC_LENGTH_2(a,l)\ -{\ - GREAL _pp = VEC_DOT_2(a,a);\ - GIM_SQRT(_pp,l);\ -}\ - - -/// Vector length -#define VEC_LENGTH(a,l)\ -{\ - GREAL _pp = VEC_DOT(a,a);\ - GIM_SQRT(_pp,l);\ -}\ - - -/// Vector length -#define VEC_LENGTH_4(a,l)\ -{\ - GREAL _pp = VEC_DOT_4(a,a);\ - GIM_SQRT(_pp,l);\ -}\ - -/// Vector inv length -#define VEC_INV_LENGTH_2(a,l)\ -{\ - GREAL _pp = VEC_DOT_2(a,a);\ - GIM_INV_SQRT(_pp,l);\ -}\ - - -/// Vector inv length -#define VEC_INV_LENGTH(a,l)\ -{\ - GREAL _pp = VEC_DOT(a,a);\ - GIM_INV_SQRT(_pp,l);\ -}\ - - -/// Vector inv length -#define VEC_INV_LENGTH_4(a,l)\ -{\ - GREAL _pp = VEC_DOT_4(a,a);\ - GIM_INV_SQRT(_pp,l);\ -}\ - - - -/// distance between two points -#define VEC_DISTANCE(_len,_va,_vb) {\ - vec3f _tmp_; \ - VEC_DIFF(_tmp_, _vb, _va); \ - VEC_LENGTH(_tmp_,_len); \ -}\ - - -/// Vector length -#define VEC_CONJUGATE_LENGTH(a,l)\ -{\ - GREAL _pp = 1.0 - a[0]*a[0] - a[1]*a[1] - a[2]*a[2];\ - GIM_SQRT(_pp,l);\ -}\ - - -/// Vector length -#define VEC_NORMALIZE(a) { \ - GREAL len;\ - VEC_INV_LENGTH(a,len); \ - if(lenA[1]?(A[0]>A[2]?0:2):(A[1]>A[2]?1:2);\ -}\ - -//! Finds the 2 smallest cartesian coordinates from a vector -#define VEC_MINOR_AXES(vec, i0, i1)\ -{\ - VEC_MAYOR_COORD(vec,i0);\ - i0 = (i0+1)%3;\ - i1 = (i0+1)%3;\ -}\ - - - - -#define VEC_EQUAL(v1,v2) (v1[0]==v2[0]&&v1[1]==v2[1]&&v1[2]==v2[2]) - -#define VEC_NEAR_EQUAL(v1,v2) (GIM_NEAR_EQUAL(v1[0],v2[0])&&GIM_NEAR_EQUAL(v1[1],v2[1])&&GIM_NEAR_EQUAL(v1[2],v2[2])) - - -/// Vector cross -#define X_AXIS_CROSS_VEC(dst,src)\ -{ \ - dst[0] = 0.0f; \ - dst[1] = -src[2]; \ - dst[2] = src[1]; \ -}\ - -#define Y_AXIS_CROSS_VEC(dst,src)\ -{ \ - dst[0] = src[2]; \ - dst[1] = 0.0f; \ - dst[2] = -src[0]; \ -}\ - -#define Z_AXIS_CROSS_VEC(dst,src)\ -{ \ - dst[0] = -src[1]; \ - dst[1] = src[0]; \ - dst[2] = 0.0f; \ -}\ - - - -//! @} - - -/*! \defgroup MATRIX_OPERATIONS -Operations for matrices : mat2f, mat3f and mat4f -*/ -//! @{ - -/// initialize matrix -#define IDENTIFY_MATRIX_3X3(m) \ -{ \ - m[0][0] = 1.0; \ - m[0][1] = 0.0; \ - m[0][2] = 0.0; \ - \ - m[1][0] = 0.0; \ - m[1][1] = 1.0; \ - m[1][2] = 0.0; \ - \ - m[2][0] = 0.0; \ - m[2][1] = 0.0; \ - m[2][2] = 1.0; \ -}\ - -/*! initialize matrix */ -#define IDENTIFY_MATRIX_4X4(m) \ -{ \ - m[0][0] = 1.0; \ - m[0][1] = 0.0; \ - m[0][2] = 0.0; \ - m[0][3] = 0.0; \ - \ - m[1][0] = 0.0; \ - m[1][1] = 1.0; \ - m[1][2] = 0.0; \ - m[1][3] = 0.0; \ - \ - m[2][0] = 0.0; \ - m[2][1] = 0.0; \ - m[2][2] = 1.0; \ - m[2][3] = 0.0; \ - \ - m[3][0] = 0.0; \ - m[3][1] = 0.0; \ - m[3][2] = 0.0; \ - m[3][3] = 1.0; \ -}\ - -/*! initialize matrix */ -#define ZERO_MATRIX_4X4(m) \ -{ \ - m[0][0] = 0.0; \ - m[0][1] = 0.0; \ - m[0][2] = 0.0; \ - m[0][3] = 0.0; \ - \ - m[1][0] = 0.0; \ - m[1][1] = 0.0; \ - m[1][2] = 0.0; \ - m[1][3] = 0.0; \ - \ - m[2][0] = 0.0; \ - m[2][1] = 0.0; \ - m[2][2] = 0.0; \ - m[2][3] = 0.0; \ - \ - m[3][0] = 0.0; \ - m[3][1] = 0.0; \ - m[3][2] = 0.0; \ - m[3][3] = 0.0; \ -}\ - -/*! matrix rotation X */ -#define ROTX_CS(m,cosine,sine) \ -{ \ - /* rotation about the x-axis */ \ - \ - m[0][0] = 1.0; \ - m[0][1] = 0.0; \ - m[0][2] = 0.0; \ - m[0][3] = 0.0; \ - \ - m[1][0] = 0.0; \ - m[1][1] = (cosine); \ - m[1][2] = (sine); \ - m[1][3] = 0.0; \ - \ - m[2][0] = 0.0; \ - m[2][1] = -(sine); \ - m[2][2] = (cosine); \ - m[2][3] = 0.0; \ - \ - m[3][0] = 0.0; \ - m[3][1] = 0.0; \ - m[3][2] = 0.0; \ - m[3][3] = 1.0; \ -}\ - -/*! matrix rotation Y */ -#define ROTY_CS(m,cosine,sine) \ -{ \ - /* rotation about the y-axis */ \ - \ - m[0][0] = (cosine); \ - m[0][1] = 0.0; \ - m[0][2] = -(sine); \ - m[0][3] = 0.0; \ - \ - m[1][0] = 0.0; \ - m[1][1] = 1.0; \ - m[1][2] = 0.0; \ - m[1][3] = 0.0; \ - \ - m[2][0] = (sine); \ - m[2][1] = 0.0; \ - m[2][2] = (cosine); \ - m[2][3] = 0.0; \ - \ - m[3][0] = 0.0; \ - m[3][1] = 0.0; \ - m[3][2] = 0.0; \ - m[3][3] = 1.0; \ -}\ - -/*! matrix rotation Z */ -#define ROTZ_CS(m,cosine,sine) \ -{ \ - /* rotation about the z-axis */ \ - \ - m[0][0] = (cosine); \ - m[0][1] = (sine); \ - m[0][2] = 0.0; \ - m[0][3] = 0.0; \ - \ - m[1][0] = -(sine); \ - m[1][1] = (cosine); \ - m[1][2] = 0.0; \ - m[1][3] = 0.0; \ - \ - m[2][0] = 0.0; \ - m[2][1] = 0.0; \ - m[2][2] = 1.0; \ - m[2][3] = 0.0; \ - \ - m[3][0] = 0.0; \ - m[3][1] = 0.0; \ - m[3][2] = 0.0; \ - m[3][3] = 1.0; \ -}\ - -/*! matrix copy */ -#define COPY_MATRIX_2X2(b,a) \ -{ \ - b[0][0] = a[0][0]; \ - b[0][1] = a[0][1]; \ - \ - b[1][0] = a[1][0]; \ - b[1][1] = a[1][1]; \ - \ -}\ - - -/*! matrix copy */ -#define COPY_MATRIX_2X3(b,a) \ -{ \ - b[0][0] = a[0][0]; \ - b[0][1] = a[0][1]; \ - b[0][2] = a[0][2]; \ - \ - b[1][0] = a[1][0]; \ - b[1][1] = a[1][1]; \ - b[1][2] = a[1][2]; \ -}\ - - -/*! matrix copy */ -#define COPY_MATRIX_3X3(b,a) \ -{ \ - b[0][0] = a[0][0]; \ - b[0][1] = a[0][1]; \ - b[0][2] = a[0][2]; \ - \ - b[1][0] = a[1][0]; \ - b[1][1] = a[1][1]; \ - b[1][2] = a[1][2]; \ - \ - b[2][0] = a[2][0]; \ - b[2][1] = a[2][1]; \ - b[2][2] = a[2][2]; \ -}\ - - -/*! matrix copy */ -#define COPY_MATRIX_4X4(b,a) \ -{ \ - b[0][0] = a[0][0]; \ - b[0][1] = a[0][1]; \ - b[0][2] = a[0][2]; \ - b[0][3] = a[0][3]; \ - \ - b[1][0] = a[1][0]; \ - b[1][1] = a[1][1]; \ - b[1][2] = a[1][2]; \ - b[1][3] = a[1][3]; \ - \ - b[2][0] = a[2][0]; \ - b[2][1] = a[2][1]; \ - b[2][2] = a[2][2]; \ - b[2][3] = a[2][3]; \ - \ - b[3][0] = a[3][0]; \ - b[3][1] = a[3][1]; \ - b[3][2] = a[3][2]; \ - b[3][3] = a[3][3]; \ -}\ - - -/*! matrix transpose */ -#define TRANSPOSE_MATRIX_2X2(b,a) \ -{ \ - b[0][0] = a[0][0]; \ - b[0][1] = a[1][0]; \ - \ - b[1][0] = a[0][1]; \ - b[1][1] = a[1][1]; \ -}\ - - -/*! matrix transpose */ -#define TRANSPOSE_MATRIX_3X3(b,a) \ -{ \ - b[0][0] = a[0][0]; \ - b[0][1] = a[1][0]; \ - b[0][2] = a[2][0]; \ - \ - b[1][0] = a[0][1]; \ - b[1][1] = a[1][1]; \ - b[1][2] = a[2][1]; \ - \ - b[2][0] = a[0][2]; \ - b[2][1] = a[1][2]; \ - b[2][2] = a[2][2]; \ -}\ - - -/*! matrix transpose */ -#define TRANSPOSE_MATRIX_4X4(b,a) \ -{ \ - b[0][0] = a[0][0]; \ - b[0][1] = a[1][0]; \ - b[0][2] = a[2][0]; \ - b[0][3] = a[3][0]; \ - \ - b[1][0] = a[0][1]; \ - b[1][1] = a[1][1]; \ - b[1][2] = a[2][1]; \ - b[1][3] = a[3][1]; \ - \ - b[2][0] = a[0][2]; \ - b[2][1] = a[1][2]; \ - b[2][2] = a[2][2]; \ - b[2][3] = a[3][2]; \ - \ - b[3][0] = a[0][3]; \ - b[3][1] = a[1][3]; \ - b[3][2] = a[2][3]; \ - b[3][3] = a[3][3]; \ -}\ - - -/*! multiply matrix by scalar */ -#define SCALE_MATRIX_2X2(b,s,a) \ -{ \ - b[0][0] = (s) * a[0][0]; \ - b[0][1] = (s) * a[0][1]; \ - \ - b[1][0] = (s) * a[1][0]; \ - b[1][1] = (s) * a[1][1]; \ -}\ - - -/*! multiply matrix by scalar */ -#define SCALE_MATRIX_3X3(b,s,a) \ -{ \ - b[0][0] = (s) * a[0][0]; \ - b[0][1] = (s) * a[0][1]; \ - b[0][2] = (s) * a[0][2]; \ - \ - b[1][0] = (s) * a[1][0]; \ - b[1][1] = (s) * a[1][1]; \ - b[1][2] = (s) * a[1][2]; \ - \ - b[2][0] = (s) * a[2][0]; \ - b[2][1] = (s) * a[2][1]; \ - b[2][2] = (s) * a[2][2]; \ -}\ - - -/*! multiply matrix by scalar */ -#define SCALE_MATRIX_4X4(b,s,a) \ -{ \ - b[0][0] = (s) * a[0][0]; \ - b[0][1] = (s) * a[0][1]; \ - b[0][2] = (s) * a[0][2]; \ - b[0][3] = (s) * a[0][3]; \ - \ - b[1][0] = (s) * a[1][0]; \ - b[1][1] = (s) * a[1][1]; \ - b[1][2] = (s) * a[1][2]; \ - b[1][3] = (s) * a[1][3]; \ - \ - b[2][0] = (s) * a[2][0]; \ - b[2][1] = (s) * a[2][1]; \ - b[2][2] = (s) * a[2][2]; \ - b[2][3] = (s) * a[2][3]; \ - \ - b[3][0] = s * a[3][0]; \ - b[3][1] = s * a[3][1]; \ - b[3][2] = s * a[3][2]; \ - b[3][3] = s * a[3][3]; \ -}\ - - -/*! multiply matrix by scalar */ -#define SCALE_VEC_MATRIX_2X2(b,svec,a) \ -{ \ - b[0][0] = svec[0] * a[0][0]; \ - b[1][0] = svec[0] * a[1][0]; \ - \ - b[0][1] = svec[1] * a[0][1]; \ - b[1][1] = svec[1] * a[1][1]; \ -}\ - - -/*! multiply matrix by scalar. Each columns is scaled by each scalar vector component */ -#define SCALE_VEC_MATRIX_3X3(b,svec,a) \ -{ \ - b[0][0] = svec[0] * a[0][0]; \ - b[1][0] = svec[0] * a[1][0]; \ - b[2][0] = svec[0] * a[2][0]; \ - \ - b[0][1] = svec[1] * a[0][1]; \ - b[1][1] = svec[1] * a[1][1]; \ - b[2][1] = svec[1] * a[2][1]; \ - \ - b[0][2] = svec[2] * a[0][2]; \ - b[1][2] = svec[2] * a[1][2]; \ - b[2][2] = svec[2] * a[2][2]; \ -}\ - - -/*! multiply matrix by scalar */ -#define SCALE_VEC_MATRIX_4X4(b,svec,a) \ -{ \ - b[0][0] = svec[0] * a[0][0]; \ - b[1][0] = svec[0] * a[1][0]; \ - b[2][0] = svec[0] * a[2][0]; \ - b[3][0] = svec[0] * a[3][0]; \ - \ - b[0][1] = svec[1] * a[0][1]; \ - b[1][1] = svec[1] * a[1][1]; \ - b[2][1] = svec[1] * a[2][1]; \ - b[3][1] = svec[1] * a[3][1]; \ - \ - b[0][2] = svec[2] * a[0][2]; \ - b[1][2] = svec[2] * a[1][2]; \ - b[2][2] = svec[2] * a[2][2]; \ - b[3][2] = svec[2] * a[3][2]; \ - \ - b[0][3] = svec[3] * a[0][3]; \ - b[1][3] = svec[3] * a[1][3]; \ - b[2][3] = svec[3] * a[2][3]; \ - b[3][3] = svec[3] * a[3][3]; \ -}\ - - -/*! multiply matrix by scalar */ -#define ACCUM_SCALE_MATRIX_2X2(b,s,a) \ -{ \ - b[0][0] += (s) * a[0][0]; \ - b[0][1] += (s) * a[0][1]; \ - \ - b[1][0] += (s) * a[1][0]; \ - b[1][1] += (s) * a[1][1]; \ -}\ - - -/*! multiply matrix by scalar */ -#define ACCUM_SCALE_MATRIX_3X3(b,s,a) \ -{ \ - b[0][0] += (s) * a[0][0]; \ - b[0][1] += (s) * a[0][1]; \ - b[0][2] += (s) * a[0][2]; \ - \ - b[1][0] += (s) * a[1][0]; \ - b[1][1] += (s) * a[1][1]; \ - b[1][2] += (s) * a[1][2]; \ - \ - b[2][0] += (s) * a[2][0]; \ - b[2][1] += (s) * a[2][1]; \ - b[2][2] += (s) * a[2][2]; \ -}\ - - -/*! multiply matrix by scalar */ -#define ACCUM_SCALE_MATRIX_4X4(b,s,a) \ -{ \ - b[0][0] += (s) * a[0][0]; \ - b[0][1] += (s) * a[0][1]; \ - b[0][2] += (s) * a[0][2]; \ - b[0][3] += (s) * a[0][3]; \ - \ - b[1][0] += (s) * a[1][0]; \ - b[1][1] += (s) * a[1][1]; \ - b[1][2] += (s) * a[1][2]; \ - b[1][3] += (s) * a[1][3]; \ - \ - b[2][0] += (s) * a[2][0]; \ - b[2][1] += (s) * a[2][1]; \ - b[2][2] += (s) * a[2][2]; \ - b[2][3] += (s) * a[2][3]; \ - \ - b[3][0] += (s) * a[3][0]; \ - b[3][1] += (s) * a[3][1]; \ - b[3][2] += (s) * a[3][2]; \ - b[3][3] += (s) * a[3][3]; \ -}\ - -/*! matrix product */ -/*! c[x][y] = a[x][0]*b[0][y]+a[x][1]*b[1][y]+a[x][2]*b[2][y]+a[x][3]*b[3][y];*/ -#define MATRIX_PRODUCT_2X2(c,a,b) \ -{ \ - c[0][0] = a[0][0]*b[0][0]+a[0][1]*b[1][0]; \ - c[0][1] = a[0][0]*b[0][1]+a[0][1]*b[1][1]; \ - \ - c[1][0] = a[1][0]*b[0][0]+a[1][1]*b[1][0]; \ - c[1][1] = a[1][0]*b[0][1]+a[1][1]*b[1][1]; \ - \ -}\ - -/*! matrix product */ -/*! c[x][y] = a[x][0]*b[0][y]+a[x][1]*b[1][y]+a[x][2]*b[2][y]+a[x][3]*b[3][y];*/ -#define MATRIX_PRODUCT_3X3(c,a,b) \ -{ \ - c[0][0] = a[0][0]*b[0][0]+a[0][1]*b[1][0]+a[0][2]*b[2][0]; \ - c[0][1] = a[0][0]*b[0][1]+a[0][1]*b[1][1]+a[0][2]*b[2][1]; \ - c[0][2] = a[0][0]*b[0][2]+a[0][1]*b[1][2]+a[0][2]*b[2][2]; \ - \ - c[1][0] = a[1][0]*b[0][0]+a[1][1]*b[1][0]+a[1][2]*b[2][0]; \ - c[1][1] = a[1][0]*b[0][1]+a[1][1]*b[1][1]+a[1][2]*b[2][1]; \ - c[1][2] = a[1][0]*b[0][2]+a[1][1]*b[1][2]+a[1][2]*b[2][2]; \ - \ - c[2][0] = a[2][0]*b[0][0]+a[2][1]*b[1][0]+a[2][2]*b[2][0]; \ - c[2][1] = a[2][0]*b[0][1]+a[2][1]*b[1][1]+a[2][2]*b[2][1]; \ - c[2][2] = a[2][0]*b[0][2]+a[2][1]*b[1][2]+a[2][2]*b[2][2]; \ -}\ - - -/*! matrix product */ -/*! c[x][y] = a[x][0]*b[0][y]+a[x][1]*b[1][y]+a[x][2]*b[2][y]+a[x][3]*b[3][y];*/ -#define MATRIX_PRODUCT_4X4(c,a,b) \ -{ \ - c[0][0] = a[0][0]*b[0][0]+a[0][1]*b[1][0]+a[0][2]*b[2][0]+a[0][3]*b[3][0];\ - c[0][1] = a[0][0]*b[0][1]+a[0][1]*b[1][1]+a[0][2]*b[2][1]+a[0][3]*b[3][1];\ - c[0][2] = a[0][0]*b[0][2]+a[0][1]*b[1][2]+a[0][2]*b[2][2]+a[0][3]*b[3][2];\ - c[0][3] = a[0][0]*b[0][3]+a[0][1]*b[1][3]+a[0][2]*b[2][3]+a[0][3]*b[3][3];\ - \ - c[1][0] = a[1][0]*b[0][0]+a[1][1]*b[1][0]+a[1][2]*b[2][0]+a[1][3]*b[3][0];\ - c[1][1] = a[1][0]*b[0][1]+a[1][1]*b[1][1]+a[1][2]*b[2][1]+a[1][3]*b[3][1];\ - c[1][2] = a[1][0]*b[0][2]+a[1][1]*b[1][2]+a[1][2]*b[2][2]+a[1][3]*b[3][2];\ - c[1][3] = a[1][0]*b[0][3]+a[1][1]*b[1][3]+a[1][2]*b[2][3]+a[1][3]*b[3][3];\ - \ - c[2][0] = a[2][0]*b[0][0]+a[2][1]*b[1][0]+a[2][2]*b[2][0]+a[2][3]*b[3][0];\ - c[2][1] = a[2][0]*b[0][1]+a[2][1]*b[1][1]+a[2][2]*b[2][1]+a[2][3]*b[3][1];\ - c[2][2] = a[2][0]*b[0][2]+a[2][1]*b[1][2]+a[2][2]*b[2][2]+a[2][3]*b[3][2];\ - c[2][3] = a[2][0]*b[0][3]+a[2][1]*b[1][3]+a[2][2]*b[2][3]+a[2][3]*b[3][3];\ - \ - c[3][0] = a[3][0]*b[0][0]+a[3][1]*b[1][0]+a[3][2]*b[2][0]+a[3][3]*b[3][0];\ - c[3][1] = a[3][0]*b[0][1]+a[3][1]*b[1][1]+a[3][2]*b[2][1]+a[3][3]*b[3][1];\ - c[3][2] = a[3][0]*b[0][2]+a[3][1]*b[1][2]+a[3][2]*b[2][2]+a[3][3]*b[3][2];\ - c[3][3] = a[3][0]*b[0][3]+a[3][1]*b[1][3]+a[3][2]*b[2][3]+a[3][3]*b[3][3];\ -}\ - - -/*! matrix times vector */ -#define MAT_DOT_VEC_2X2(p,m,v) \ -{ \ - p[0] = m[0][0]*v[0] + m[0][1]*v[1]; \ - p[1] = m[1][0]*v[0] + m[1][1]*v[1]; \ -}\ - - -/*! matrix times vector */ -#define MAT_DOT_VEC_3X3(p,m,v) \ -{ \ - p[0] = m[0][0]*v[0] + m[0][1]*v[1] + m[0][2]*v[2]; \ - p[1] = m[1][0]*v[0] + m[1][1]*v[1] + m[1][2]*v[2]; \ - p[2] = m[2][0]*v[0] + m[2][1]*v[1] + m[2][2]*v[2]; \ -}\ - - -/*! matrix times vector -v is a vec4f -*/ -#define MAT_DOT_VEC_4X4(p,m,v) \ -{ \ - p[0] = m[0][0]*v[0] + m[0][1]*v[1] + m[0][2]*v[2] + m[0][3]*v[3]; \ - p[1] = m[1][0]*v[0] + m[1][1]*v[1] + m[1][2]*v[2] + m[1][3]*v[3]; \ - p[2] = m[2][0]*v[0] + m[2][1]*v[1] + m[2][2]*v[2] + m[2][3]*v[3]; \ - p[3] = m[3][0]*v[0] + m[3][1]*v[1] + m[3][2]*v[2] + m[3][3]*v[3]; \ -}\ - -/*! matrix times vector -v is a vec3f -and m is a mat4f
    -Last column is added as the position -*/ -#define MAT_DOT_VEC_3X4(p,m,v) \ -{ \ - p[0] = m[0][0]*v[0] + m[0][1]*v[1] + m[0][2]*v[2] + m[0][3]; \ - p[1] = m[1][0]*v[0] + m[1][1]*v[1] + m[1][2]*v[2] + m[1][3]; \ - p[2] = m[2][0]*v[0] + m[2][1]*v[1] + m[2][2]*v[2] + m[2][3]; \ -}\ - - -/*! vector transpose times matrix */ -/*! p[j] = v[0]*m[0][j] + v[1]*m[1][j] + v[2]*m[2][j]; */ -#define VEC_DOT_MAT_3X3(p,v,m) \ -{ \ - p[0] = v[0]*m[0][0] + v[1]*m[1][0] + v[2]*m[2][0]; \ - p[1] = v[0]*m[0][1] + v[1]*m[1][1] + v[2]*m[2][1]; \ - p[2] = v[0]*m[0][2] + v[1]*m[1][2] + v[2]*m[2][2]; \ -}\ - - -/*! affine matrix times vector */ -/** The matrix is assumed to be an affine matrix, with last two - * entries representing a translation */ -#define MAT_DOT_VEC_2X3(p,m,v) \ -{ \ - p[0] = m[0][0]*v[0] + m[0][1]*v[1] + m[0][2]; \ - p[1] = m[1][0]*v[0] + m[1][1]*v[1] + m[1][2]; \ -}\ - -//! Transform a plane -#define MAT_TRANSFORM_PLANE_4X4(pout,m,plane)\ -{ \ - pout[0] = m[0][0]*plane[0] + m[0][1]*plane[1] + m[0][2]*plane[2];\ - pout[1] = m[1][0]*plane[0] + m[1][1]*plane[1] + m[1][2]*plane[2];\ - pout[2] = m[2][0]*plane[0] + m[2][1]*plane[1] + m[2][2]*plane[2];\ - pout[3] = m[0][3]*pout[0] + m[1][3]*pout[1] + m[2][3]*pout[2] + plane[3];\ -}\ - - - -/** inverse transpose of matrix times vector - * - * This macro computes inverse transpose of matrix m, - * and multiplies vector v into it, to yeild vector p - * - * DANGER !!! Do Not use this on normal vectors!!! - * It will leave normals the wrong length !!! - * See macro below for use on normals. - */ -#define INV_TRANSP_MAT_DOT_VEC_2X2(p,m,v) \ -{ \ - GREAL det; \ - \ - det = m[0][0]*m[1][1] - m[0][1]*m[1][0]; \ - p[0] = m[1][1]*v[0] - m[1][0]*v[1]; \ - p[1] = - m[0][1]*v[0] + m[0][0]*v[1]; \ - \ - /* if matrix not singular, and not orthonormal, then renormalize */ \ - if ((det!=1.0f) && (det != 0.0f)) { \ - det = 1.0f / det; \ - p[0] *= det; \ - p[1] *= det; \ - } \ -}\ - - -/** transform normal vector by inverse transpose of matrix - * and then renormalize the vector - * - * This macro computes inverse transpose of matrix m, - * and multiplies vector v into it, to yeild vector p - * Vector p is then normalized. - */ -#define NORM_XFORM_2X2(p,m,v) \ -{ \ - GREAL len; \ - \ - /* do nothing if off-diagonals are zero and diagonals are \ - * equal */ \ - if ((m[0][1] != 0.0) || (m[1][0] != 0.0) || (m[0][0] != m[1][1])) { \ - p[0] = m[1][1]*v[0] - m[1][0]*v[1]; \ - p[1] = - m[0][1]*v[0] + m[0][0]*v[1]; \ - \ - len = p[0]*p[0] + p[1]*p[1]; \ - GIM_INV_SQRT(len,len); \ - p[0] *= len; \ - p[1] *= len; \ - } else { \ - VEC_COPY_2 (p, v); \ - } \ -}\ - - -/** outer product of vector times vector transpose - * - * The outer product of vector v and vector transpose t yeilds - * dyadic matrix m. - */ -#define OUTER_PRODUCT_2X2(m,v,t) \ -{ \ - m[0][0] = v[0] * t[0]; \ - m[0][1] = v[0] * t[1]; \ - \ - m[1][0] = v[1] * t[0]; \ - m[1][1] = v[1] * t[1]; \ -}\ - - -/** outer product of vector times vector transpose - * - * The outer product of vector v and vector transpose t yeilds - * dyadic matrix m. - */ -#define OUTER_PRODUCT_3X3(m,v,t) \ -{ \ - m[0][0] = v[0] * t[0]; \ - m[0][1] = v[0] * t[1]; \ - m[0][2] = v[0] * t[2]; \ - \ - m[1][0] = v[1] * t[0]; \ - m[1][1] = v[1] * t[1]; \ - m[1][2] = v[1] * t[2]; \ - \ - m[2][0] = v[2] * t[0]; \ - m[2][1] = v[2] * t[1]; \ - m[2][2] = v[2] * t[2]; \ -}\ - - -/** outer product of vector times vector transpose - * - * The outer product of vector v and vector transpose t yeilds - * dyadic matrix m. - */ -#define OUTER_PRODUCT_4X4(m,v,t) \ -{ \ - m[0][0] = v[0] * t[0]; \ - m[0][1] = v[0] * t[1]; \ - m[0][2] = v[0] * t[2]; \ - m[0][3] = v[0] * t[3]; \ - \ - m[1][0] = v[1] * t[0]; \ - m[1][1] = v[1] * t[1]; \ - m[1][2] = v[1] * t[2]; \ - m[1][3] = v[1] * t[3]; \ - \ - m[2][0] = v[2] * t[0]; \ - m[2][1] = v[2] * t[1]; \ - m[2][2] = v[2] * t[2]; \ - m[2][3] = v[2] * t[3]; \ - \ - m[3][0] = v[3] * t[0]; \ - m[3][1] = v[3] * t[1]; \ - m[3][2] = v[3] * t[2]; \ - m[3][3] = v[3] * t[3]; \ -}\ - - -/** outer product of vector times vector transpose - * - * The outer product of vector v and vector transpose t yeilds - * dyadic matrix m. - */ -#define ACCUM_OUTER_PRODUCT_2X2(m,v,t) \ -{ \ - m[0][0] += v[0] * t[0]; \ - m[0][1] += v[0] * t[1]; \ - \ - m[1][0] += v[1] * t[0]; \ - m[1][1] += v[1] * t[1]; \ -}\ - - -/** outer product of vector times vector transpose - * - * The outer product of vector v and vector transpose t yeilds - * dyadic matrix m. - */ -#define ACCUM_OUTER_PRODUCT_3X3(m,v,t) \ -{ \ - m[0][0] += v[0] * t[0]; \ - m[0][1] += v[0] * t[1]; \ - m[0][2] += v[0] * t[2]; \ - \ - m[1][0] += v[1] * t[0]; \ - m[1][1] += v[1] * t[1]; \ - m[1][2] += v[1] * t[2]; \ - \ - m[2][0] += v[2] * t[0]; \ - m[2][1] += v[2] * t[1]; \ - m[2][2] += v[2] * t[2]; \ -}\ - - -/** outer product of vector times vector transpose - * - * The outer product of vector v and vector transpose t yeilds - * dyadic matrix m. - */ -#define ACCUM_OUTER_PRODUCT_4X4(m,v,t) \ -{ \ - m[0][0] += v[0] * t[0]; \ - m[0][1] += v[0] * t[1]; \ - m[0][2] += v[0] * t[2]; \ - m[0][3] += v[0] * t[3]; \ - \ - m[1][0] += v[1] * t[0]; \ - m[1][1] += v[1] * t[1]; \ - m[1][2] += v[1] * t[2]; \ - m[1][3] += v[1] * t[3]; \ - \ - m[2][0] += v[2] * t[0]; \ - m[2][1] += v[2] * t[1]; \ - m[2][2] += v[2] * t[2]; \ - m[2][3] += v[2] * t[3]; \ - \ - m[3][0] += v[3] * t[0]; \ - m[3][1] += v[3] * t[1]; \ - m[3][2] += v[3] * t[2]; \ - m[3][3] += v[3] * t[3]; \ -}\ - - -/** determinant of matrix - * - * Computes determinant of matrix m, returning d - */ -#define DETERMINANT_2X2(d,m) \ -{ \ - d = m[0][0] * m[1][1] - m[0][1] * m[1][0]; \ -}\ - - -/** determinant of matrix - * - * Computes determinant of matrix m, returning d - */ -#define DETERMINANT_3X3(d,m) \ -{ \ - d = m[0][0] * (m[1][1]*m[2][2] - m[1][2] * m[2][1]); \ - d -= m[0][1] * (m[1][0]*m[2][2] - m[1][2] * m[2][0]); \ - d += m[0][2] * (m[1][0]*m[2][1] - m[1][1] * m[2][0]); \ -}\ - - -/** i,j,th cofactor of a 4x4 matrix - * - */ -#define COFACTOR_4X4_IJ(fac,m,i,j) \ -{ \ - GUINT __ii[4], __jj[4], __k; \ - \ - for (__k=0; __k -*/ -#define INV_MAT_DOT_VEC_3X3(p,m,v) \ -{ \ - p[0] = MAT_DOT_COL(m,v,0); \ - p[1] = MAT_DOT_COL(m,v,1); \ - p[2] = MAT_DOT_COL(m,v,2); \ -}\ - - -//! @} - -#endif // GIM_VECTOR_H_INCLUDED +#ifndef GIM_LINEAR_H_INCLUDED +#define GIM_LINEAR_H_INCLUDED + +/*! \file gim_linear_math.h +*\author Francisco Len Nßjera +Type Independant Vector and matrix operations. +*/ +/* +----------------------------------------------------------------------------- +This source file is part of GIMPACT Library. + +For the latest info, see http://gimpact.sourceforge.net/ + +Copyright (c) 2006 Francisco Leon Najera. C.C. 80087371. +email: projectileman@yahoo.com + + This library is free software; you can redistribute it and/or + modify it under the terms of EITHER: + (1) The GNU Lesser General Public License as published by the Free + Software Foundation; either version 2.1 of the License, or (at + your option) any later version. The text of the GNU Lesser + General Public License is included with this library in the + file GIMPACT-LICENSE-LGPL.TXT. + (2) The BSD-style license that is included with this library in + the file GIMPACT-LICENSE-BSD.TXT. + (3) The zlib/libpng license that is included with this library in + the file GIMPACT-LICENSE-ZLIB.TXT. + + This library is distributed in the hope that it will be useful, + but WITHOUT ANY WARRANTY; without even the implied warranty of + MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the files + GIMPACT-LICENSE-LGPL.TXT, GIMPACT-LICENSE-ZLIB.TXT and GIMPACT-LICENSE-BSD.TXT for more details. + +----------------------------------------------------------------------------- +*/ + + +#include "gim_math.h" +#include "gim_geom_types.h" + + + +/*! \defgroup VECTOR_OPERATIONS +T +Operations for vectors : vec2f,vec3f and vec4f +*/ +//! @{ + +//! Zero out a 2D vector +#define VEC_ZERO_2(a) \ +{ \ + (a)[0] = (a)[1] = 0.0f; \ +}\ + + +//! Zero out a 3D vector +#define VEC_ZERO(a) \ +{ \ + (a)[0] = (a)[1] = (a)[2] = 0.0f; \ +}\ + + +/// Zero out a 4D vector +#define VEC_ZERO_4(a) \ +{ \ + (a)[0] = (a)[1] = (a)[2] = (a)[3] = 0.0f; \ +}\ + + +/// Vector copy +#define VEC_COPY_2(b,a) \ +{ \ + (b)[0] = (a)[0]; \ + (b)[1] = (a)[1]; \ +}\ + + +/// Copy 3D vector +#define VEC_COPY(b,a) \ +{ \ + (b)[0] = (a)[0]; \ + (b)[1] = (a)[1]; \ + (b)[2] = (a)[2]; \ +}\ + + +/// Copy 4D vector +#define VEC_COPY_4(b,a) \ +{ \ + (b)[0] = (a)[0]; \ + (b)[1] = (a)[1]; \ + (b)[2] = (a)[2]; \ + (b)[3] = (a)[3]; \ +}\ + +/// VECTOR SWAP +#define VEC_SWAP(b,a) \ +{ \ + GIM_SWAP_NUMBERS((b)[0],(a)[0]);\ + GIM_SWAP_NUMBERS((b)[1],(a)[1]);\ + GIM_SWAP_NUMBERS((b)[2],(a)[2]);\ +}\ + +/// Vector difference +#define VEC_DIFF_2(v21,v2,v1) \ +{ \ + (v21)[0] = (v2)[0] - (v1)[0]; \ + (v21)[1] = (v2)[1] - (v1)[1]; \ +}\ + + +/// Vector difference +#define VEC_DIFF(v21,v2,v1) \ +{ \ + (v21)[0] = (v2)[0] - (v1)[0]; \ + (v21)[1] = (v2)[1] - (v1)[1]; \ + (v21)[2] = (v2)[2] - (v1)[2]; \ +}\ + + +/// Vector difference +#define VEC_DIFF_4(v21,v2,v1) \ +{ \ + (v21)[0] = (v2)[0] - (v1)[0]; \ + (v21)[1] = (v2)[1] - (v1)[1]; \ + (v21)[2] = (v2)[2] - (v1)[2]; \ + (v21)[3] = (v2)[3] - (v1)[3]; \ +}\ + + +/// Vector sum +#define VEC_SUM_2(v21,v2,v1) \ +{ \ + (v21)[0] = (v2)[0] + (v1)[0]; \ + (v21)[1] = (v2)[1] + (v1)[1]; \ +}\ + + +/// Vector sum +#define VEC_SUM(v21,v2,v1) \ +{ \ + (v21)[0] = (v2)[0] + (v1)[0]; \ + (v21)[1] = (v2)[1] + (v1)[1]; \ + (v21)[2] = (v2)[2] + (v1)[2]; \ +}\ + + +/// Vector sum +#define VEC_SUM_4(v21,v2,v1) \ +{ \ + (v21)[0] = (v2)[0] + (v1)[0]; \ + (v21)[1] = (v2)[1] + (v1)[1]; \ + (v21)[2] = (v2)[2] + (v1)[2]; \ + (v21)[3] = (v2)[3] + (v1)[3]; \ +}\ + + +/// scalar times vector +#define VEC_SCALE_2(c,a,b) \ +{ \ + (c)[0] = (a)*(b)[0]; \ + (c)[1] = (a)*(b)[1]; \ +}\ + + +/// scalar times vector +#define VEC_SCALE(c,a,b) \ +{ \ + (c)[0] = (a)*(b)[0]; \ + (c)[1] = (a)*(b)[1]; \ + (c)[2] = (a)*(b)[2]; \ +}\ + + +/// scalar times vector +#define VEC_SCALE_4(c,a,b) \ +{ \ + (c)[0] = (a)*(b)[0]; \ + (c)[1] = (a)*(b)[1]; \ + (c)[2] = (a)*(b)[2]; \ + (c)[3] = (a)*(b)[3]; \ +}\ + + +/// accumulate scaled vector +#define VEC_ACCUM_2(c,a,b) \ +{ \ + (c)[0] += (a)*(b)[0]; \ + (c)[1] += (a)*(b)[1]; \ +}\ + + +/// accumulate scaled vector +#define VEC_ACCUM(c,a,b) \ +{ \ + (c)[0] += (a)*(b)[0]; \ + (c)[1] += (a)*(b)[1]; \ + (c)[2] += (a)*(b)[2]; \ +}\ + + +/// accumulate scaled vector +#define VEC_ACCUM_4(c,a,b) \ +{ \ + (c)[0] += (a)*(b)[0]; \ + (c)[1] += (a)*(b)[1]; \ + (c)[2] += (a)*(b)[2]; \ + (c)[3] += (a)*(b)[3]; \ +}\ + + +/// Vector dot product +#define VEC_DOT_2(a,b) ((a)[0]*(b)[0] + (a)[1]*(b)[1]) + + +/// Vector dot product +#define VEC_DOT(a,b) ((a)[0]*(b)[0] + (a)[1]*(b)[1] + (a)[2]*(b)[2]) + +/// Vector dot product +#define VEC_DOT_4(a,b) ((a)[0]*(b)[0] + (a)[1]*(b)[1] + (a)[2]*(b)[2] + (a)[3]*(b)[3]) + +/// vector impact parameter (squared) +#define VEC_IMPACT_SQ(bsq,direction,position) {\ + GREAL _llel_ = VEC_DOT(direction, position);\ + bsq = VEC_DOT(position, position) - _llel_*_llel_;\ +}\ + + +/// vector impact parameter +#define VEC_IMPACT(bsq,direction,position) {\ + VEC_IMPACT_SQ(bsq,direction,position); \ + GIM_SQRT(bsq,bsq); \ +}\ + +/// Vector length +#define VEC_LENGTH_2(a,l)\ +{\ + GREAL _pp = VEC_DOT_2(a,a);\ + GIM_SQRT(_pp,l);\ +}\ + + +/// Vector length +#define VEC_LENGTH(a,l)\ +{\ + GREAL _pp = VEC_DOT(a,a);\ + GIM_SQRT(_pp,l);\ +}\ + + +/// Vector length +#define VEC_LENGTH_4(a,l)\ +{\ + GREAL _pp = VEC_DOT_4(a,a);\ + GIM_SQRT(_pp,l);\ +}\ + +/// Vector inv length +#define VEC_INV_LENGTH_2(a,l)\ +{\ + GREAL _pp = VEC_DOT_2(a,a);\ + GIM_INV_SQRT(_pp,l);\ +}\ + + +/// Vector inv length +#define VEC_INV_LENGTH(a,l)\ +{\ + GREAL _pp = VEC_DOT(a,a);\ + GIM_INV_SQRT(_pp,l);\ +}\ + + +/// Vector inv length +#define VEC_INV_LENGTH_4(a,l)\ +{\ + GREAL _pp = VEC_DOT_4(a,a);\ + GIM_INV_SQRT(_pp,l);\ +}\ + + + +/// distance between two points +#define VEC_DISTANCE(_len,_va,_vb) {\ + vec3f _tmp_; \ + VEC_DIFF(_tmp_, _vb, _va); \ + VEC_LENGTH(_tmp_,_len); \ +}\ + + +/// Vector length +#define VEC_CONJUGATE_LENGTH(a,l)\ +{\ + GREAL _pp = 1.0 - a[0]*a[0] - a[1]*a[1] - a[2]*a[2];\ + GIM_SQRT(_pp,l);\ +}\ + + +/// Vector length +#define VEC_NORMALIZE(a) { \ + GREAL len;\ + VEC_INV_LENGTH(a,len); \ + if(lenA[1]?(A[0]>A[2]?0:2):(A[1]>A[2]?1:2);\ +}\ + +//! Finds the 2 smallest cartesian coordinates from a vector +#define VEC_MINOR_AXES(vec, i0, i1)\ +{\ + VEC_MAYOR_COORD(vec,i0);\ + i0 = (i0+1)%3;\ + i1 = (i0+1)%3;\ +}\ + + + + +#define VEC_EQUAL(v1,v2) (v1[0]==v2[0]&&v1[1]==v2[1]&&v1[2]==v2[2]) + +#define VEC_NEAR_EQUAL(v1,v2) (GIM_NEAR_EQUAL(v1[0],v2[0])&&GIM_NEAR_EQUAL(v1[1],v2[1])&&GIM_NEAR_EQUAL(v1[2],v2[2])) + + +/// Vector cross +#define X_AXIS_CROSS_VEC(dst,src)\ +{ \ + dst[0] = 0.0f; \ + dst[1] = -src[2]; \ + dst[2] = src[1]; \ +}\ + +#define Y_AXIS_CROSS_VEC(dst,src)\ +{ \ + dst[0] = src[2]; \ + dst[1] = 0.0f; \ + dst[2] = -src[0]; \ +}\ + +#define Z_AXIS_CROSS_VEC(dst,src)\ +{ \ + dst[0] = -src[1]; \ + dst[1] = src[0]; \ + dst[2] = 0.0f; \ +}\ + + + +//! @} + + +/*! \defgroup MATRIX_OPERATIONS +Operations for matrices : mat2f, mat3f and mat4f +*/ +//! @{ + +/// initialize matrix +#define IDENTIFY_MATRIX_3X3(m) \ +{ \ + m[0][0] = 1.0; \ + m[0][1] = 0.0; \ + m[0][2] = 0.0; \ + \ + m[1][0] = 0.0; \ + m[1][1] = 1.0; \ + m[1][2] = 0.0; \ + \ + m[2][0] = 0.0; \ + m[2][1] = 0.0; \ + m[2][2] = 1.0; \ +}\ + +/*! initialize matrix */ +#define IDENTIFY_MATRIX_4X4(m) \ +{ \ + m[0][0] = 1.0; \ + m[0][1] = 0.0; \ + m[0][2] = 0.0; \ + m[0][3] = 0.0; \ + \ + m[1][0] = 0.0; \ + m[1][1] = 1.0; \ + m[1][2] = 0.0; \ + m[1][3] = 0.0; \ + \ + m[2][0] = 0.0; \ + m[2][1] = 0.0; \ + m[2][2] = 1.0; \ + m[2][3] = 0.0; \ + \ + m[3][0] = 0.0; \ + m[3][1] = 0.0; \ + m[3][2] = 0.0; \ + m[3][3] = 1.0; \ +}\ + +/*! initialize matrix */ +#define ZERO_MATRIX_4X4(m) \ +{ \ + m[0][0] = 0.0; \ + m[0][1] = 0.0; \ + m[0][2] = 0.0; \ + m[0][3] = 0.0; \ + \ + m[1][0] = 0.0; \ + m[1][1] = 0.0; \ + m[1][2] = 0.0; \ + m[1][3] = 0.0; \ + \ + m[2][0] = 0.0; \ + m[2][1] = 0.0; \ + m[2][2] = 0.0; \ + m[2][3] = 0.0; \ + \ + m[3][0] = 0.0; \ + m[3][1] = 0.0; \ + m[3][2] = 0.0; \ + m[3][3] = 0.0; \ +}\ + +/*! matrix rotation X */ +#define ROTX_CS(m,cosine,sine) \ +{ \ + /* rotation about the x-axis */ \ + \ + m[0][0] = 1.0; \ + m[0][1] = 0.0; \ + m[0][2] = 0.0; \ + m[0][3] = 0.0; \ + \ + m[1][0] = 0.0; \ + m[1][1] = (cosine); \ + m[1][2] = (sine); \ + m[1][3] = 0.0; \ + \ + m[2][0] = 0.0; \ + m[2][1] = -(sine); \ + m[2][2] = (cosine); \ + m[2][3] = 0.0; \ + \ + m[3][0] = 0.0; \ + m[3][1] = 0.0; \ + m[3][2] = 0.0; \ + m[3][3] = 1.0; \ +}\ + +/*! matrix rotation Y */ +#define ROTY_CS(m,cosine,sine) \ +{ \ + /* rotation about the y-axis */ \ + \ + m[0][0] = (cosine); \ + m[0][1] = 0.0; \ + m[0][2] = -(sine); \ + m[0][3] = 0.0; \ + \ + m[1][0] = 0.0; \ + m[1][1] = 1.0; \ + m[1][2] = 0.0; \ + m[1][3] = 0.0; \ + \ + m[2][0] = (sine); \ + m[2][1] = 0.0; \ + m[2][2] = (cosine); \ + m[2][3] = 0.0; \ + \ + m[3][0] = 0.0; \ + m[3][1] = 0.0; \ + m[3][2] = 0.0; \ + m[3][3] = 1.0; \ +}\ + +/*! matrix rotation Z */ +#define ROTZ_CS(m,cosine,sine) \ +{ \ + /* rotation about the z-axis */ \ + \ + m[0][0] = (cosine); \ + m[0][1] = (sine); \ + m[0][2] = 0.0; \ + m[0][3] = 0.0; \ + \ + m[1][0] = -(sine); \ + m[1][1] = (cosine); \ + m[1][2] = 0.0; \ + m[1][3] = 0.0; \ + \ + m[2][0] = 0.0; \ + m[2][1] = 0.0; \ + m[2][2] = 1.0; \ + m[2][3] = 0.0; \ + \ + m[3][0] = 0.0; \ + m[3][1] = 0.0; \ + m[3][2] = 0.0; \ + m[3][3] = 1.0; \ +}\ + +/*! matrix copy */ +#define COPY_MATRIX_2X2(b,a) \ +{ \ + b[0][0] = a[0][0]; \ + b[0][1] = a[0][1]; \ + \ + b[1][0] = a[1][0]; \ + b[1][1] = a[1][1]; \ + \ +}\ + + +/*! matrix copy */ +#define COPY_MATRIX_2X3(b,a) \ +{ \ + b[0][0] = a[0][0]; \ + b[0][1] = a[0][1]; \ + b[0][2] = a[0][2]; \ + \ + b[1][0] = a[1][0]; \ + b[1][1] = a[1][1]; \ + b[1][2] = a[1][2]; \ +}\ + + +/*! matrix copy */ +#define COPY_MATRIX_3X3(b,a) \ +{ \ + b[0][0] = a[0][0]; \ + b[0][1] = a[0][1]; \ + b[0][2] = a[0][2]; \ + \ + b[1][0] = a[1][0]; \ + b[1][1] = a[1][1]; \ + b[1][2] = a[1][2]; \ + \ + b[2][0] = a[2][0]; \ + b[2][1] = a[2][1]; \ + b[2][2] = a[2][2]; \ +}\ + + +/*! matrix copy */ +#define COPY_MATRIX_4X4(b,a) \ +{ \ + b[0][0] = a[0][0]; \ + b[0][1] = a[0][1]; \ + b[0][2] = a[0][2]; \ + b[0][3] = a[0][3]; \ + \ + b[1][0] = a[1][0]; \ + b[1][1] = a[1][1]; \ + b[1][2] = a[1][2]; \ + b[1][3] = a[1][3]; \ + \ + b[2][0] = a[2][0]; \ + b[2][1] = a[2][1]; \ + b[2][2] = a[2][2]; \ + b[2][3] = a[2][3]; \ + \ + b[3][0] = a[3][0]; \ + b[3][1] = a[3][1]; \ + b[3][2] = a[3][2]; \ + b[3][3] = a[3][3]; \ +}\ + + +/*! matrix transpose */ +#define TRANSPOSE_MATRIX_2X2(b,a) \ +{ \ + b[0][0] = a[0][0]; \ + b[0][1] = a[1][0]; \ + \ + b[1][0] = a[0][1]; \ + b[1][1] = a[1][1]; \ +}\ + + +/*! matrix transpose */ +#define TRANSPOSE_MATRIX_3X3(b,a) \ +{ \ + b[0][0] = a[0][0]; \ + b[0][1] = a[1][0]; \ + b[0][2] = a[2][0]; \ + \ + b[1][0] = a[0][1]; \ + b[1][1] = a[1][1]; \ + b[1][2] = a[2][1]; \ + \ + b[2][0] = a[0][2]; \ + b[2][1] = a[1][2]; \ + b[2][2] = a[2][2]; \ +}\ + + +/*! matrix transpose */ +#define TRANSPOSE_MATRIX_4X4(b,a) \ +{ \ + b[0][0] = a[0][0]; \ + b[0][1] = a[1][0]; \ + b[0][2] = a[2][0]; \ + b[0][3] = a[3][0]; \ + \ + b[1][0] = a[0][1]; \ + b[1][1] = a[1][1]; \ + b[1][2] = a[2][1]; \ + b[1][3] = a[3][1]; \ + \ + b[2][0] = a[0][2]; \ + b[2][1] = a[1][2]; \ + b[2][2] = a[2][2]; \ + b[2][3] = a[3][2]; \ + \ + b[3][0] = a[0][3]; \ + b[3][1] = a[1][3]; \ + b[3][2] = a[2][3]; \ + b[3][3] = a[3][3]; \ +}\ + + +/*! multiply matrix by scalar */ +#define SCALE_MATRIX_2X2(b,s,a) \ +{ \ + b[0][0] = (s) * a[0][0]; \ + b[0][1] = (s) * a[0][1]; \ + \ + b[1][0] = (s) * a[1][0]; \ + b[1][1] = (s) * a[1][1]; \ +}\ + + +/*! multiply matrix by scalar */ +#define SCALE_MATRIX_3X3(b,s,a) \ +{ \ + b[0][0] = (s) * a[0][0]; \ + b[0][1] = (s) * a[0][1]; \ + b[0][2] = (s) * a[0][2]; \ + \ + b[1][0] = (s) * a[1][0]; \ + b[1][1] = (s) * a[1][1]; \ + b[1][2] = (s) * a[1][2]; \ + \ + b[2][0] = (s) * a[2][0]; \ + b[2][1] = (s) * a[2][1]; \ + b[2][2] = (s) * a[2][2]; \ +}\ + + +/*! multiply matrix by scalar */ +#define SCALE_MATRIX_4X4(b,s,a) \ +{ \ + b[0][0] = (s) * a[0][0]; \ + b[0][1] = (s) * a[0][1]; \ + b[0][2] = (s) * a[0][2]; \ + b[0][3] = (s) * a[0][3]; \ + \ + b[1][0] = (s) * a[1][0]; \ + b[1][1] = (s) * a[1][1]; \ + b[1][2] = (s) * a[1][2]; \ + b[1][3] = (s) * a[1][3]; \ + \ + b[2][0] = (s) * a[2][0]; \ + b[2][1] = (s) * a[2][1]; \ + b[2][2] = (s) * a[2][2]; \ + b[2][3] = (s) * a[2][3]; \ + \ + b[3][0] = s * a[3][0]; \ + b[3][1] = s * a[3][1]; \ + b[3][2] = s * a[3][2]; \ + b[3][3] = s * a[3][3]; \ +}\ + + +/*! multiply matrix by scalar */ +#define SCALE_VEC_MATRIX_2X2(b,svec,a) \ +{ \ + b[0][0] = svec[0] * a[0][0]; \ + b[1][0] = svec[0] * a[1][0]; \ + \ + b[0][1] = svec[1] * a[0][1]; \ + b[1][1] = svec[1] * a[1][1]; \ +}\ + + +/*! multiply matrix by scalar. Each columns is scaled by each scalar vector component */ +#define SCALE_VEC_MATRIX_3X3(b,svec,a) \ +{ \ + b[0][0] = svec[0] * a[0][0]; \ + b[1][0] = svec[0] * a[1][0]; \ + b[2][0] = svec[0] * a[2][0]; \ + \ + b[0][1] = svec[1] * a[0][1]; \ + b[1][1] = svec[1] * a[1][1]; \ + b[2][1] = svec[1] * a[2][1]; \ + \ + b[0][2] = svec[2] * a[0][2]; \ + b[1][2] = svec[2] * a[1][2]; \ + b[2][2] = svec[2] * a[2][2]; \ +}\ + + +/*! multiply matrix by scalar */ +#define SCALE_VEC_MATRIX_4X4(b,svec,a) \ +{ \ + b[0][0] = svec[0] * a[0][0]; \ + b[1][0] = svec[0] * a[1][0]; \ + b[2][0] = svec[0] * a[2][0]; \ + b[3][0] = svec[0] * a[3][0]; \ + \ + b[0][1] = svec[1] * a[0][1]; \ + b[1][1] = svec[1] * a[1][1]; \ + b[2][1] = svec[1] * a[2][1]; \ + b[3][1] = svec[1] * a[3][1]; \ + \ + b[0][2] = svec[2] * a[0][2]; \ + b[1][2] = svec[2] * a[1][2]; \ + b[2][2] = svec[2] * a[2][2]; \ + b[3][2] = svec[2] * a[3][2]; \ + \ + b[0][3] = svec[3] * a[0][3]; \ + b[1][3] = svec[3] * a[1][3]; \ + b[2][3] = svec[3] * a[2][3]; \ + b[3][3] = svec[3] * a[3][3]; \ +}\ + + +/*! multiply matrix by scalar */ +#define ACCUM_SCALE_MATRIX_2X2(b,s,a) \ +{ \ + b[0][0] += (s) * a[0][0]; \ + b[0][1] += (s) * a[0][1]; \ + \ + b[1][0] += (s) * a[1][0]; \ + b[1][1] += (s) * a[1][1]; \ +}\ + + +/*! multiply matrix by scalar */ +#define ACCUM_SCALE_MATRIX_3X3(b,s,a) \ +{ \ + b[0][0] += (s) * a[0][0]; \ + b[0][1] += (s) * a[0][1]; \ + b[0][2] += (s) * a[0][2]; \ + \ + b[1][0] += (s) * a[1][0]; \ + b[1][1] += (s) * a[1][1]; \ + b[1][2] += (s) * a[1][2]; \ + \ + b[2][0] += (s) * a[2][0]; \ + b[2][1] += (s) * a[2][1]; \ + b[2][2] += (s) * a[2][2]; \ +}\ + + +/*! multiply matrix by scalar */ +#define ACCUM_SCALE_MATRIX_4X4(b,s,a) \ +{ \ + b[0][0] += (s) * a[0][0]; \ + b[0][1] += (s) * a[0][1]; \ + b[0][2] += (s) * a[0][2]; \ + b[0][3] += (s) * a[0][3]; \ + \ + b[1][0] += (s) * a[1][0]; \ + b[1][1] += (s) * a[1][1]; \ + b[1][2] += (s) * a[1][2]; \ + b[1][3] += (s) * a[1][3]; \ + \ + b[2][0] += (s) * a[2][0]; \ + b[2][1] += (s) * a[2][1]; \ + b[2][2] += (s) * a[2][2]; \ + b[2][3] += (s) * a[2][3]; \ + \ + b[3][0] += (s) * a[3][0]; \ + b[3][1] += (s) * a[3][1]; \ + b[3][2] += (s) * a[3][2]; \ + b[3][3] += (s) * a[3][3]; \ +}\ + +/*! matrix product */ +/*! c[x][y] = a[x][0]*b[0][y]+a[x][1]*b[1][y]+a[x][2]*b[2][y]+a[x][3]*b[3][y];*/ +#define MATRIX_PRODUCT_2X2(c,a,b) \ +{ \ + c[0][0] = a[0][0]*b[0][0]+a[0][1]*b[1][0]; \ + c[0][1] = a[0][0]*b[0][1]+a[0][1]*b[1][1]; \ + \ + c[1][0] = a[1][0]*b[0][0]+a[1][1]*b[1][0]; \ + c[1][1] = a[1][0]*b[0][1]+a[1][1]*b[1][1]; \ + \ +}\ + +/*! matrix product */ +/*! c[x][y] = a[x][0]*b[0][y]+a[x][1]*b[1][y]+a[x][2]*b[2][y]+a[x][3]*b[3][y];*/ +#define MATRIX_PRODUCT_3X3(c,a,b) \ +{ \ + c[0][0] = a[0][0]*b[0][0]+a[0][1]*b[1][0]+a[0][2]*b[2][0]; \ + c[0][1] = a[0][0]*b[0][1]+a[0][1]*b[1][1]+a[0][2]*b[2][1]; \ + c[0][2] = a[0][0]*b[0][2]+a[0][1]*b[1][2]+a[0][2]*b[2][2]; \ + \ + c[1][0] = a[1][0]*b[0][0]+a[1][1]*b[1][0]+a[1][2]*b[2][0]; \ + c[1][1] = a[1][0]*b[0][1]+a[1][1]*b[1][1]+a[1][2]*b[2][1]; \ + c[1][2] = a[1][0]*b[0][2]+a[1][1]*b[1][2]+a[1][2]*b[2][2]; \ + \ + c[2][0] = a[2][0]*b[0][0]+a[2][1]*b[1][0]+a[2][2]*b[2][0]; \ + c[2][1] = a[2][0]*b[0][1]+a[2][1]*b[1][1]+a[2][2]*b[2][1]; \ + c[2][2] = a[2][0]*b[0][2]+a[2][1]*b[1][2]+a[2][2]*b[2][2]; \ +}\ + + +/*! matrix product */ +/*! c[x][y] = a[x][0]*b[0][y]+a[x][1]*b[1][y]+a[x][2]*b[2][y]+a[x][3]*b[3][y];*/ +#define MATRIX_PRODUCT_4X4(c,a,b) \ +{ \ + c[0][0] = a[0][0]*b[0][0]+a[0][1]*b[1][0]+a[0][2]*b[2][0]+a[0][3]*b[3][0];\ + c[0][1] = a[0][0]*b[0][1]+a[0][1]*b[1][1]+a[0][2]*b[2][1]+a[0][3]*b[3][1];\ + c[0][2] = a[0][0]*b[0][2]+a[0][1]*b[1][2]+a[0][2]*b[2][2]+a[0][3]*b[3][2];\ + c[0][3] = a[0][0]*b[0][3]+a[0][1]*b[1][3]+a[0][2]*b[2][3]+a[0][3]*b[3][3];\ + \ + c[1][0] = a[1][0]*b[0][0]+a[1][1]*b[1][0]+a[1][2]*b[2][0]+a[1][3]*b[3][0];\ + c[1][1] = a[1][0]*b[0][1]+a[1][1]*b[1][1]+a[1][2]*b[2][1]+a[1][3]*b[3][1];\ + c[1][2] = a[1][0]*b[0][2]+a[1][1]*b[1][2]+a[1][2]*b[2][2]+a[1][3]*b[3][2];\ + c[1][3] = a[1][0]*b[0][3]+a[1][1]*b[1][3]+a[1][2]*b[2][3]+a[1][3]*b[3][3];\ + \ + c[2][0] = a[2][0]*b[0][0]+a[2][1]*b[1][0]+a[2][2]*b[2][0]+a[2][3]*b[3][0];\ + c[2][1] = a[2][0]*b[0][1]+a[2][1]*b[1][1]+a[2][2]*b[2][1]+a[2][3]*b[3][1];\ + c[2][2] = a[2][0]*b[0][2]+a[2][1]*b[1][2]+a[2][2]*b[2][2]+a[2][3]*b[3][2];\ + c[2][3] = a[2][0]*b[0][3]+a[2][1]*b[1][3]+a[2][2]*b[2][3]+a[2][3]*b[3][3];\ + \ + c[3][0] = a[3][0]*b[0][0]+a[3][1]*b[1][0]+a[3][2]*b[2][0]+a[3][3]*b[3][0];\ + c[3][1] = a[3][0]*b[0][1]+a[3][1]*b[1][1]+a[3][2]*b[2][1]+a[3][3]*b[3][1];\ + c[3][2] = a[3][0]*b[0][2]+a[3][1]*b[1][2]+a[3][2]*b[2][2]+a[3][3]*b[3][2];\ + c[3][3] = a[3][0]*b[0][3]+a[3][1]*b[1][3]+a[3][2]*b[2][3]+a[3][3]*b[3][3];\ +}\ + + +/*! matrix times vector */ +#define MAT_DOT_VEC_2X2(p,m,v) \ +{ \ + p[0] = m[0][0]*v[0] + m[0][1]*v[1]; \ + p[1] = m[1][0]*v[0] + m[1][1]*v[1]; \ +}\ + + +/*! matrix times vector */ +#define MAT_DOT_VEC_3X3(p,m,v) \ +{ \ + p[0] = m[0][0]*v[0] + m[0][1]*v[1] + m[0][2]*v[2]; \ + p[1] = m[1][0]*v[0] + m[1][1]*v[1] + m[1][2]*v[2]; \ + p[2] = m[2][0]*v[0] + m[2][1]*v[1] + m[2][2]*v[2]; \ +}\ + + +/*! matrix times vector +v is a vec4f +*/ +#define MAT_DOT_VEC_4X4(p,m,v) \ +{ \ + p[0] = m[0][0]*v[0] + m[0][1]*v[1] + m[0][2]*v[2] + m[0][3]*v[3]; \ + p[1] = m[1][0]*v[0] + m[1][1]*v[1] + m[1][2]*v[2] + m[1][3]*v[3]; \ + p[2] = m[2][0]*v[0] + m[2][1]*v[1] + m[2][2]*v[2] + m[2][3]*v[3]; \ + p[3] = m[3][0]*v[0] + m[3][1]*v[1] + m[3][2]*v[2] + m[3][3]*v[3]; \ +}\ + +/*! matrix times vector +v is a vec3f +and m is a mat4f
    +Last column is added as the position +*/ +#define MAT_DOT_VEC_3X4(p,m,v) \ +{ \ + p[0] = m[0][0]*v[0] + m[0][1]*v[1] + m[0][2]*v[2] + m[0][3]; \ + p[1] = m[1][0]*v[0] + m[1][1]*v[1] + m[1][2]*v[2] + m[1][3]; \ + p[2] = m[2][0]*v[0] + m[2][1]*v[1] + m[2][2]*v[2] + m[2][3]; \ +}\ + + +/*! vector transpose times matrix */ +/*! p[j] = v[0]*m[0][j] + v[1]*m[1][j] + v[2]*m[2][j]; */ +#define VEC_DOT_MAT_3X3(p,v,m) \ +{ \ + p[0] = v[0]*m[0][0] + v[1]*m[1][0] + v[2]*m[2][0]; \ + p[1] = v[0]*m[0][1] + v[1]*m[1][1] + v[2]*m[2][1]; \ + p[2] = v[0]*m[0][2] + v[1]*m[1][2] + v[2]*m[2][2]; \ +}\ + + +/*! affine matrix times vector */ +/** The matrix is assumed to be an affine matrix, with last two + * entries representing a translation */ +#define MAT_DOT_VEC_2X3(p,m,v) \ +{ \ + p[0] = m[0][0]*v[0] + m[0][1]*v[1] + m[0][2]; \ + p[1] = m[1][0]*v[0] + m[1][1]*v[1] + m[1][2]; \ +}\ + +//! Transform a plane +#define MAT_TRANSFORM_PLANE_4X4(pout,m,plane)\ +{ \ + pout[0] = m[0][0]*plane[0] + m[0][1]*plane[1] + m[0][2]*plane[2];\ + pout[1] = m[1][0]*plane[0] + m[1][1]*plane[1] + m[1][2]*plane[2];\ + pout[2] = m[2][0]*plane[0] + m[2][1]*plane[1] + m[2][2]*plane[2];\ + pout[3] = m[0][3]*pout[0] + m[1][3]*pout[1] + m[2][3]*pout[2] + plane[3];\ +}\ + + + +/** inverse transpose of matrix times vector + * + * This macro computes inverse transpose of matrix m, + * and multiplies vector v into it, to yeild vector p + * + * DANGER !!! Do Not use this on normal vectors!!! + * It will leave normals the wrong length !!! + * See macro below for use on normals. + */ +#define INV_TRANSP_MAT_DOT_VEC_2X2(p,m,v) \ +{ \ + GREAL det; \ + \ + det = m[0][0]*m[1][1] - m[0][1]*m[1][0]; \ + p[0] = m[1][1]*v[0] - m[1][0]*v[1]; \ + p[1] = - m[0][1]*v[0] + m[0][0]*v[1]; \ + \ + /* if matrix not singular, and not orthonormal, then renormalize */ \ + if ((det!=1.0f) && (det != 0.0f)) { \ + det = 1.0f / det; \ + p[0] *= det; \ + p[1] *= det; \ + } \ +}\ + + +/** transform normal vector by inverse transpose of matrix + * and then renormalize the vector + * + * This macro computes inverse transpose of matrix m, + * and multiplies vector v into it, to yeild vector p + * Vector p is then normalized. + */ +#define NORM_XFORM_2X2(p,m,v) \ +{ \ + GREAL len; \ + \ + /* do nothing if off-diagonals are zero and diagonals are \ + * equal */ \ + if ((m[0][1] != 0.0) || (m[1][0] != 0.0) || (m[0][0] != m[1][1])) { \ + p[0] = m[1][1]*v[0] - m[1][0]*v[1]; \ + p[1] = - m[0][1]*v[0] + m[0][0]*v[1]; \ + \ + len = p[0]*p[0] + p[1]*p[1]; \ + GIM_INV_SQRT(len,len); \ + p[0] *= len; \ + p[1] *= len; \ + } else { \ + VEC_COPY_2 (p, v); \ + } \ +}\ + + +/** outer product of vector times vector transpose + * + * The outer product of vector v and vector transpose t yeilds + * dyadic matrix m. + */ +#define OUTER_PRODUCT_2X2(m,v,t) \ +{ \ + m[0][0] = v[0] * t[0]; \ + m[0][1] = v[0] * t[1]; \ + \ + m[1][0] = v[1] * t[0]; \ + m[1][1] = v[1] * t[1]; \ +}\ + + +/** outer product of vector times vector transpose + * + * The outer product of vector v and vector transpose t yeilds + * dyadic matrix m. + */ +#define OUTER_PRODUCT_3X3(m,v,t) \ +{ \ + m[0][0] = v[0] * t[0]; \ + m[0][1] = v[0] * t[1]; \ + m[0][2] = v[0] * t[2]; \ + \ + m[1][0] = v[1] * t[0]; \ + m[1][1] = v[1] * t[1]; \ + m[1][2] = v[1] * t[2]; \ + \ + m[2][0] = v[2] * t[0]; \ + m[2][1] = v[2] * t[1]; \ + m[2][2] = v[2] * t[2]; \ +}\ + + +/** outer product of vector times vector transpose + * + * The outer product of vector v and vector transpose t yeilds + * dyadic matrix m. + */ +#define OUTER_PRODUCT_4X4(m,v,t) \ +{ \ + m[0][0] = v[0] * t[0]; \ + m[0][1] = v[0] * t[1]; \ + m[0][2] = v[0] * t[2]; \ + m[0][3] = v[0] * t[3]; \ + \ + m[1][0] = v[1] * t[0]; \ + m[1][1] = v[1] * t[1]; \ + m[1][2] = v[1] * t[2]; \ + m[1][3] = v[1] * t[3]; \ + \ + m[2][0] = v[2] * t[0]; \ + m[2][1] = v[2] * t[1]; \ + m[2][2] = v[2] * t[2]; \ + m[2][3] = v[2] * t[3]; \ + \ + m[3][0] = v[3] * t[0]; \ + m[3][1] = v[3] * t[1]; \ + m[3][2] = v[3] * t[2]; \ + m[3][3] = v[3] * t[3]; \ +}\ + + +/** outer product of vector times vector transpose + * + * The outer product of vector v and vector transpose t yeilds + * dyadic matrix m. + */ +#define ACCUM_OUTER_PRODUCT_2X2(m,v,t) \ +{ \ + m[0][0] += v[0] * t[0]; \ + m[0][1] += v[0] * t[1]; \ + \ + m[1][0] += v[1] * t[0]; \ + m[1][1] += v[1] * t[1]; \ +}\ + + +/** outer product of vector times vector transpose + * + * The outer product of vector v and vector transpose t yeilds + * dyadic matrix m. + */ +#define ACCUM_OUTER_PRODUCT_3X3(m,v,t) \ +{ \ + m[0][0] += v[0] * t[0]; \ + m[0][1] += v[0] * t[1]; \ + m[0][2] += v[0] * t[2]; \ + \ + m[1][0] += v[1] * t[0]; \ + m[1][1] += v[1] * t[1]; \ + m[1][2] += v[1] * t[2]; \ + \ + m[2][0] += v[2] * t[0]; \ + m[2][1] += v[2] * t[1]; \ + m[2][2] += v[2] * t[2]; \ +}\ + + +/** outer product of vector times vector transpose + * + * The outer product of vector v and vector transpose t yeilds + * dyadic matrix m. + */ +#define ACCUM_OUTER_PRODUCT_4X4(m,v,t) \ +{ \ + m[0][0] += v[0] * t[0]; \ + m[0][1] += v[0] * t[1]; \ + m[0][2] += v[0] * t[2]; \ + m[0][3] += v[0] * t[3]; \ + \ + m[1][0] += v[1] * t[0]; \ + m[1][1] += v[1] * t[1]; \ + m[1][2] += v[1] * t[2]; \ + m[1][3] += v[1] * t[3]; \ + \ + m[2][0] += v[2] * t[0]; \ + m[2][1] += v[2] * t[1]; \ + m[2][2] += v[2] * t[2]; \ + m[2][3] += v[2] * t[3]; \ + \ + m[3][0] += v[3] * t[0]; \ + m[3][1] += v[3] * t[1]; \ + m[3][2] += v[3] * t[2]; \ + m[3][3] += v[3] * t[3]; \ +}\ + + +/** determinant of matrix + * + * Computes determinant of matrix m, returning d + */ +#define DETERMINANT_2X2(d,m) \ +{ \ + d = m[0][0] * m[1][1] - m[0][1] * m[1][0]; \ +}\ + + +/** determinant of matrix + * + * Computes determinant of matrix m, returning d + */ +#define DETERMINANT_3X3(d,m) \ +{ \ + d = m[0][0] * (m[1][1]*m[2][2] - m[1][2] * m[2][1]); \ + d -= m[0][1] * (m[1][0]*m[2][2] - m[1][2] * m[2][0]); \ + d += m[0][2] * (m[1][0]*m[2][1] - m[1][1] * m[2][0]); \ +}\ + + +/** i,j,th cofactor of a 4x4 matrix + * + */ +#define COFACTOR_4X4_IJ(fac,m,i,j) \ +{ \ + GUINT __ii[4], __jj[4], __k; \ + \ + for (__k=0; __k +*/ +#define INV_MAT_DOT_VEC_3X3(p,m,v) \ +{ \ + p[0] = MAT_DOT_COL(m,v,0); \ + p[1] = MAT_DOT_COL(m,v,1); \ + p[2] = MAT_DOT_COL(m,v,2); \ +}\ + + +//! @} + +#endif // GIM_VECTOR_H_INCLUDED diff --git a/Extras/GIMPACT/include/GIMPACT/core/gim_math.h b/src/BulletCollision/Gimpact/gim_math.h old mode 100755 new mode 100644 similarity index 95% rename from Extras/GIMPACT/include/GIMPACT/core/gim_math.h rename to src/BulletCollision/Gimpact/gim_math.h index 18e55aded..25ad1e21c --- a/Extras/GIMPACT/include/GIMPACT/core/gim_math.h +++ b/src/BulletCollision/Gimpact/gim_math.h @@ -1,181 +1,181 @@ -#ifndef GIM_MATH_H_INCLUDED -#define GIM_MATH_H_INCLUDED -/*! \file gim_math.h -\author Francisco León Nájera -*/ -/* ------------------------------------------------------------------------------ -This source file is part of GIMPACT Library. - -For the latest info, see http://gimpact.sourceforge.net/ - -Copyright (c) 2006 Francisco Leon Najera. C.C. 80087371. -email: projectileman@yahoo.com - - This library is free software; you can redistribute it and/or - modify it under the terms of EITHER: - (1) The GNU Lesser General Public License as published by the Free - Software Foundation; either version 2.1 of the License, or (at - your option) any later version. The text of the GNU Lesser - General Public License is included with this library in the - file GIMPACT-LICENSE-LGPL.TXT. - (2) The BSD-style license that is included with this library in - the file GIMPACT-LICENSE-BSD.TXT. - (3) The zlib/libpng license that is included with this library in - the file GIMPACT-LICENSE-ZLIB.TXT. - - This library is distributed in the hope that it will be useful, - but WITHOUT ANY WARRANTY; without even the implied warranty of - MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the files - GIMPACT-LICENSE-LGPL.TXT, GIMPACT-LICENSE-ZLIB.TXT and GIMPACT-LICENSE-BSD.TXT for more details. - ------------------------------------------------------------------------------ -*/ - -#include "LinearMath/btScalar.h" - - -/*! \defgroup BASIC_TYPES -Basic types and constants -Conventions: -Types starting with G -Constants starting with G_ -*/ -//! @{ - -#define GREAL btScalar -#define GREAL2 double -#define GINT int -#define GUINT unsigned int -#define GSHORT short -#define GUSHORT unsigned short -#define GINT64 long long -#define GUINT64 unsigned long long - -//! @} - -/*! \defgroup BASIC_CONSTANTS -Basic constants -Conventions: -Types starting with G -Constants starting with G_ -*/ -//! @{ - -#define G_PI 3.14159265358979f -#define G_HALF_PI 1.5707963f -//267948966 -#define G_TWO_PI 6.28318530f -//71795864 -#define G_ROOT3 1.73205f -#define G_ROOT2 1.41421f -#define G_UINT_INFINITY 0xffffffff //!< A very very high value -#define G_REAL_INFINITY FLT_MAX -#define G_SIGN_BITMASK 0x80000000 -#define G_EPSILON SIMD_EPSILON -//! @} - - -/*! \defgroup SCALAR_TYPES -\brief -Precision type constants -*/ -//! @{ -enum GIM_SCALAR_TYPES -{ - G_STYPE_REAL =0, - G_STYPE_REAL2, - G_STYPE_SHORT, - G_STYPE_USHORT, - G_STYPE_INT, - G_STYPE_UINT, - G_STYPE_INT64, - G_STYPE_UINT64 -}; -//! @} - -/*! \defgroup MATH_FUNCTIONS -mathematical functions -*/ -//! @{ - -#define G_DEGTORAD(X) ((X)*3.1415926f/180.0f) -#define G_RADTODEG(X) ((X)*180.0f/3.1415926f) - -//! Integer representation of a floating-point value. -#define GIM_IR(x) ((GUINT&)(x)) - -//! Signed integer representation of a floating-point value. -#define GIM_SIR(x) ((GINT&)(x)) - -//! Absolute integer representation of a floating-point value -#define GIM_AIR(x) (GIM_IR(x)&0x7fffffff) - -//! Floating-point representation of an integer value. -#define GIM_FR(x) ((GREAL&)(x)) - -#define GIM_MAX(a,b) (ab?b:a) - -#define GIM_MAX3(a,b,c) GIM_MAX(a,GIM_MAX(b,c)) -#define GIM_MIN3(a,b,c) GIM_MIN(a,GIM_MIN(b,c)) - -#define GIM_IS_ZERO(value) (value < G_EPSILON && value > -G_EPSILON) - -#define GIM_IS_NEGATIVE(value) (value <= -G_EPSILON) - -#define GIM_IS_POSISITVE(value) (value >= G_EPSILON) - -#define GIM_NEAR_EQUAL(v1,v2) GIM_IS_ZERO((v1-v2)) - -///returns a clamped number -#define GIM_CLAMP(number,minval,maxval) (numbermaxval?maxval:number)) - -#define GIM_GREATER(x, y) fabsf(x) > (y) - -///Swap numbers -#define GIM_SWAP_NUMBERS(a,b){ \ - a = a+b; \ - b = a-b; \ - a = a-b; \ -}\ - -#define GIM_INV_SQRT(va,isva)\ -{\ - if(va<=0.0000001f)\ - {\ - isva = G_REAL_INFINITY;\ - }\ - else\ - {\ - GREAL _x = va * 0.5f;\ - GUINT _y = 0x5f3759df - ( GIM_IR(va) >> 1);\ - isva = GIM_FR(_y);\ - isva = isva * ( 1.5f - ( _x * isva * isva ) );\ - }\ -}\ - -#define GIM_SQRT(va,sva)\ -{\ - GIM_INV_SQRT(va,sva);\ - sva = 1.0f/sva;\ -}\ - -//! Computes 1.0f / sqrtf(x). Comes from Quake3. See http://www.magic-software.com/3DGEDInvSqrt.html -inline GREAL gim_inv_sqrt(GREAL f) -{ - GREAL r; - GIM_INV_SQRT(f,r); - return r; -} - -inline GREAL gim_sqrt(GREAL f) -{ - GREAL r; - GIM_SQRT(f,r); - return r; -} - -//! @} - -#endif // GIM_MATH_H_INCLUDED +#ifndef GIM_MATH_H_INCLUDED +#define GIM_MATH_H_INCLUDED +/*! \file gim_math.h +\author Francisco Len Nßjera +*/ +/* +----------------------------------------------------------------------------- +This source file is part of GIMPACT Library. + +For the latest info, see http://gimpact.sourceforge.net/ + +Copyright (c) 2006 Francisco Leon Najera. C.C. 80087371. +email: projectileman@yahoo.com + + This library is free software; you can redistribute it and/or + modify it under the terms of EITHER: + (1) The GNU Lesser General Public License as published by the Free + Software Foundation; either version 2.1 of the License, or (at + your option) any later version. The text of the GNU Lesser + General Public License is included with this library in the + file GIMPACT-LICENSE-LGPL.TXT. + (2) The BSD-style license that is included with this library in + the file GIMPACT-LICENSE-BSD.TXT. + (3) The zlib/libpng license that is included with this library in + the file GIMPACT-LICENSE-ZLIB.TXT. + + This library is distributed in the hope that it will be useful, + but WITHOUT ANY WARRANTY; without even the implied warranty of + MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the files + GIMPACT-LICENSE-LGPL.TXT, GIMPACT-LICENSE-ZLIB.TXT and GIMPACT-LICENSE-BSD.TXT for more details. + +----------------------------------------------------------------------------- +*/ + +#include "LinearMath/btScalar.h" + + +/*! \defgroup BASIC_TYPES +Basic types and constants +Conventions: +Types starting with G +Constants starting with G_ +*/ +//! @{ + +#define GREAL btScalar +#define GREAL2 double +#define GINT int +#define GUINT unsigned int +#define GSHORT short +#define GUSHORT unsigned short +#define GINT64 long long +#define GUINT64 unsigned long long + +//! @} + +/*! \defgroup BASIC_CONSTANTS +Basic constants +Conventions: +Types starting with G +Constants starting with G_ +*/ +//! @{ + +#define G_PI 3.14159265358979f +#define G_HALF_PI 1.5707963f +//267948966 +#define G_TWO_PI 6.28318530f +//71795864 +#define G_ROOT3 1.73205f +#define G_ROOT2 1.41421f +#define G_UINT_INFINITY 0xffffffff //!< A very very high value +#define G_REAL_INFINITY FLT_MAX +#define G_SIGN_BITMASK 0x80000000 +#define G_EPSILON SIMD_EPSILON +//! @} + + +/*! \defgroup SCALAR_TYPES +\brief +Precision type constants +*/ +//! @{ +enum GIM_SCALAR_TYPES +{ + G_STYPE_REAL =0, + G_STYPE_REAL2, + G_STYPE_SHORT, + G_STYPE_USHORT, + G_STYPE_INT, + G_STYPE_UINT, + G_STYPE_INT64, + G_STYPE_UINT64 +}; +//! @} + +/*! \defgroup MATH_FUNCTIONS +mathematical functions +*/ +//! @{ + +#define G_DEGTORAD(X) ((X)*3.1415926f/180.0f) +#define G_RADTODEG(X) ((X)*180.0f/3.1415926f) + +//! Integer representation of a floating-point value. +#define GIM_IR(x) ((GUINT&)(x)) + +//! Signed integer representation of a floating-point value. +#define GIM_SIR(x) ((GINT&)(x)) + +//! Absolute integer representation of a floating-point value +#define GIM_AIR(x) (GIM_IR(x)&0x7fffffff) + +//! Floating-point representation of an integer value. +#define GIM_FR(x) ((GREAL&)(x)) + +#define GIM_MAX(a,b) (ab?b:a) + +#define GIM_MAX3(a,b,c) GIM_MAX(a,GIM_MAX(b,c)) +#define GIM_MIN3(a,b,c) GIM_MIN(a,GIM_MIN(b,c)) + +#define GIM_IS_ZERO(value) (value < G_EPSILON && value > -G_EPSILON) + +#define GIM_IS_NEGATIVE(value) (value <= -G_EPSILON) + +#define GIM_IS_POSISITVE(value) (value >= G_EPSILON) + +#define GIM_NEAR_EQUAL(v1,v2) GIM_IS_ZERO((v1-v2)) + +///returns a clamped number +#define GIM_CLAMP(number,minval,maxval) (numbermaxval?maxval:number)) + +#define GIM_GREATER(x, y) fabsf(x) > (y) + +///Swap numbers +#define GIM_SWAP_NUMBERS(a,b){ \ + a = a+b; \ + b = a-b; \ + a = a-b; \ +}\ + +#define GIM_INV_SQRT(va,isva)\ +{\ + if(va<=0.0000001f)\ + {\ + isva = G_REAL_INFINITY;\ + }\ + else\ + {\ + GREAL _x = va * 0.5f;\ + GUINT _y = 0x5f3759df - ( GIM_IR(va) >> 1);\ + isva = GIM_FR(_y);\ + isva = isva * ( 1.5f - ( _x * isva * isva ) );\ + }\ +}\ + +#define GIM_SQRT(va,sva)\ +{\ + GIM_INV_SQRT(va,sva);\ + sva = 1.0f/sva;\ +}\ + +//! Computes 1.0f / sqrtf(x). Comes from Quake3. See http://www.magic-software.com/3DGEDInvSqrt.html +inline GREAL gim_inv_sqrt(GREAL f) +{ + GREAL r; + GIM_INV_SQRT(f,r); + return r; +} + +inline GREAL gim_sqrt(GREAL f) +{ + GREAL r; + GIM_SQRT(f,r); + return r; +} + +//! @} + +#endif // GIM_MATH_H_INCLUDED diff --git a/Extras/GIMPACT/src/core/gim_memory.cpp b/src/BulletCollision/Gimpact/gim_memory.cpp old mode 100755 new mode 100644 similarity index 94% rename from Extras/GIMPACT/src/core/gim_memory.cpp rename to src/BulletCollision/Gimpact/gim_memory.cpp index 32e6458b5..1636eb786 --- a/Extras/GIMPACT/src/core/gim_memory.cpp +++ b/src/BulletCollision/Gimpact/gim_memory.cpp @@ -1,135 +1,135 @@ -/* ------------------------------------------------------------------------------ -This source file is part of GIMPACT Library. - -For the latest info, see http://gimpact.sourceforge.net/ - -Copyright (c) 2006 Francisco Leon Najera. C.C. 80087371. -email: projectileman@yahoo.com - - This library is free software; you can redistribute it and/or - modify it under the terms of EITHER: - (1) The GNU Lesser General Public License as published by the Free - Software Foundation; either version 2.1 of the License, or (at - your option) any later version. The text of the GNU Lesser - General Public License is included with this library in the - file GIMPACT-LICENSE-LGPL.TXT. - (2) The BSD-style license that is included with this library in - the file GIMPACT-LICENSE-BSD.TXT. - (3) The zlib/libpng license that is included with this library in - the file GIMPACT-LICENSE-ZLIB.TXT. - - This library is distributed in the hope that it will be useful, - but WITHOUT ANY WARRANTY; without even the implied warranty of - MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the files - GIMPACT-LICENSE-LGPL.TXT, GIMPACT-LICENSE-ZLIB.TXT and GIMPACT-LICENSE-BSD.TXT for more details. - ------------------------------------------------------------------------------ -*/ - - -#include "GIMPACT/core/gim_memory.h" -#include "stdlib.h" - -#ifdef GIM_SIMD_MEMORY -#include "LinearMath/btAlignedAllocator.h" -#endif - -static gim_alloc_function *g_allocfn = 0; -static gim_alloca_function *g_allocafn = 0; -static gim_realloc_function *g_reallocfn = 0; -static gim_free_function *g_freefn = 0; - -void gim_set_alloc_handler (gim_alloc_function *fn) -{ - g_allocfn = fn; -} - -void gim_set_alloca_handler (gim_alloca_function *fn) -{ - g_allocafn = fn; -} - -void gim_set_realloc_handler (gim_realloc_function *fn) -{ - g_reallocfn = fn; -} - -void gim_set_free_handler (gim_free_function *fn) -{ - g_freefn = fn; -} - -gim_alloc_function *gim_get_alloc_handler() -{ - return g_allocfn; -} - -gim_alloca_function *gim_get_alloca_handler() -{ - return g_allocafn; -} - - -gim_realloc_function *gim_get_realloc_handler () -{ - return g_reallocfn; -} - - -gim_free_function *gim_get_free_handler () -{ - return g_freefn; -} - - -void * gim_alloc(size_t size) -{ - void * ptr; - if (g_allocfn) - { - ptr = g_allocfn(size); - } - else - { -#ifdef GIM_SIMD_MEMORY - ptr = btAlignedAlloc(size,16); -#else - ptr = malloc(size); -#endif - } - return ptr; -} - -void * gim_alloca(size_t size) -{ - if (g_allocafn) return g_allocafn(size); else return gim_alloc(size); -} - - -void * gim_realloc(void *ptr, size_t oldsize, size_t newsize) -{ - void * newptr = gim_alloc(newsize); - size_t copysize = oldsize - -//#define PREFETCH 1 -//! \defgroup PREFETCH -//! @{ -#ifdef PREFETCH -#include // for prefetch -#define pfval 64 -#define pfval2 128 -//! Prefetch 64 -#define pf(_x,_i) _mm_prefetch((void *)(_x + _i + pfval), 0) -//! Prefetch 128 -#define pf2(_x,_i) _mm_prefetch((void *)(_x + _i + pfval2), 0) -#else -//! Prefetch 64 -#define pf(_x,_i) -//! Prefetch 128 -#define pf2(_x,_i) -#endif -//! @} - -/*! \defgroup ARRAY_UTILITIES -\brief -Functions for manip packed arrays of numbers -*/ -//! @{ -#define GIM_COPY_ARRAYS(dest_array,source_array,element_count)\ -{\ - for (GUINT _i_=0;_i_=SIMD_T_SIZE) - { - *(ui_dst_ptr++) = *(ui_src_ptr++); - copysize-=SIMD_T_SIZE; - } - if(copysize==0) return; -*/ - - char * c_src_ptr = (char *)src; - char * c_dst_ptr = (char *)dst; - while(copysize>0) - { - *(c_dst_ptr++) = *(c_src_ptr++); - copysize--; - } - return; -#else - memcpy(dst,src,copysize); -#endif -} - - - -template -inline void gim_swap_elements(T* _array,size_t _i,size_t _j) -{ - T _e_tmp_ = _array[_i]; - _array[_i] = _array[_j]; - _array[_j] = _e_tmp_; -} - - -template -inline void gim_swap_elements_memcpy(T* _array,size_t _i,size_t _j) -{ - char _e_tmp_[sizeof(T)]; - gim_simd_memcpy(_e_tmp_,&_array[_i],sizeof(T)); - gim_simd_memcpy(&_array[_i],&_array[_j],sizeof(T)); - gim_simd_memcpy(&_array[_j],_e_tmp_,sizeof(T)); -} - -template -inline void gim_swap_elements_ptr(char * _array,size_t _i,size_t _j) -{ - char _e_tmp_[SIZE]; - _i*=SIZE; - _j*=SIZE; - gim_simd_memcpy(_e_tmp_,_array+_i,SIZE); - gim_simd_memcpy(_array+_i,_array+_j,SIZE); - gim_simd_memcpy(_array+_j,_e_tmp_,SIZE); -} - -#endif // GIM_MEMORY_H_INCLUDED +#ifndef GIM_MEMORY_H_INCLUDED +#define GIM_MEMORY_H_INCLUDED +/*! \file gim_memory.h +\author Francisco Len Nßjera +*/ +/* +----------------------------------------------------------------------------- +This source file is part of GIMPACT Library. + +For the latest info, see http://gimpact.sourceforge.net/ + +Copyright (c) 2006 Francisco Leon Najera. C.C. 80087371. +email: projectileman@yahoo.com + + This library is free software; you can redistribute it and/or + modify it under the terms of EITHER: + (1) The GNU Lesser General Public License as published by the Free + Software Foundation; either version 2.1 of the License, or (at + your option) any later version. The text of the GNU Lesser + General Public License is included with this library in the + file GIMPACT-LICENSE-LGPL.TXT. + (2) The BSD-style license that is included with this library in + the file GIMPACT-LICENSE-BSD.TXT. + (3) The zlib/libpng license that is included with this library in + the file GIMPACT-LICENSE-ZLIB.TXT. + + This library is distributed in the hope that it will be useful, + but WITHOUT ANY WARRANTY; without even the implied warranty of + MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the files + GIMPACT-LICENSE-LGPL.TXT, GIMPACT-LICENSE-ZLIB.TXT and GIMPACT-LICENSE-BSD.TXT for more details. + +----------------------------------------------------------------------------- +*/ + + +#include "gim_math.h" +#include + +//#define PREFETCH 1 +//! \defgroup PREFETCH +//! @{ +#ifdef PREFETCH +#include // for prefetch +#define pfval 64 +#define pfval2 128 +//! Prefetch 64 +#define pf(_x,_i) _mm_prefetch((void *)(_x + _i + pfval), 0) +//! Prefetch 128 +#define pf2(_x,_i) _mm_prefetch((void *)(_x + _i + pfval2), 0) +#else +//! Prefetch 64 +#define pf(_x,_i) +//! Prefetch 128 +#define pf2(_x,_i) +#endif +//! @} + +/*! \defgroup ARRAY_UTILITIES +\brief +Functions for manip packed arrays of numbers +*/ +//! @{ +#define GIM_COPY_ARRAYS(dest_array,source_array,element_count)\ +{\ + for (GUINT _i_=0;_i_=SIMD_T_SIZE) + { + *(ui_dst_ptr++) = *(ui_src_ptr++); + copysize-=SIMD_T_SIZE; + } + if(copysize==0) return; +*/ + + char * c_src_ptr = (char *)src; + char * c_dst_ptr = (char *)dst; + while(copysize>0) + { + *(c_dst_ptr++) = *(c_src_ptr++); + copysize--; + } + return; +#else + memcpy(dst,src,copysize); +#endif +} + + + +template +inline void gim_swap_elements(T* _array,size_t _i,size_t _j) +{ + T _e_tmp_ = _array[_i]; + _array[_i] = _array[_j]; + _array[_j] = _e_tmp_; +} + + +template +inline void gim_swap_elements_memcpy(T* _array,size_t _i,size_t _j) +{ + char _e_tmp_[sizeof(T)]; + gim_simd_memcpy(_e_tmp_,&_array[_i],sizeof(T)); + gim_simd_memcpy(&_array[_i],&_array[_j],sizeof(T)); + gim_simd_memcpy(&_array[_j],_e_tmp_,sizeof(T)); +} + +template +inline void gim_swap_elements_ptr(char * _array,size_t _i,size_t _j) +{ + char _e_tmp_[SIZE]; + _i*=SIZE; + _j*=SIZE; + gim_simd_memcpy(_e_tmp_,_array+_i,SIZE); + gim_simd_memcpy(_array+_i,_array+_j,SIZE); + gim_simd_memcpy(_array+_j,_e_tmp_,SIZE); +} + +#endif // GIM_MEMORY_H_INCLUDED diff --git a/Extras/GIMPACT/include/GIMPACT/core/gim_radixsort.h b/src/BulletCollision/Gimpact/gim_radixsort.h old mode 100755 new mode 100644 similarity index 95% rename from Extras/GIMPACT/include/GIMPACT/core/gim_radixsort.h rename to src/BulletCollision/Gimpact/gim_radixsort.h index cf2a6bacd..9ecf61bdc --- a/Extras/GIMPACT/include/GIMPACT/core/gim_radixsort.h +++ b/src/BulletCollision/Gimpact/gim_radixsort.h @@ -1,410 +1,410 @@ -#ifndef GIM_RADIXSORT_H_INCLUDED -#define GIM_RADIXSORT_H_INCLUDED -/*! \file gim_radixsort.h -\author Francisco León Nájera. -Based on the work of Michael Herf : "fast floating-point radix sort" -Avaliable on http://www.stereopsis.com/radix.html -*/ -/* ------------------------------------------------------------------------------ -This source file is part of GIMPACT Library. - -For the latest info, see http://gimpact.sourceforge.net/ - -Copyright (c) 2006 Francisco Leon Najera. C.C. 80087371. -email: projectileman@yahoo.com - - This library is free software; you can redistribute it and/or - modify it under the terms of EITHER: - (1) The GNU Lesser General Public License as published by the Free - Software Foundation; either version 2.1 of the License, or (at - your option) any later version. The text of the GNU Lesser - General Public License is included with this library in the - file GIMPACT-LICENSE-LGPL.TXT. - (2) The BSD-style license that is included with this library in - the file GIMPACT-LICENSE-BSD.TXT. - (3) The zlib/libpng license that is included with this library in - the file GIMPACT-LICENSE-ZLIB.TXT. - - This library is distributed in the hope that it will be useful, - but WITHOUT ANY WARRANTY; without even the implied warranty of - MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the files - GIMPACT-LICENSE-LGPL.TXT, GIMPACT-LICENSE-ZLIB.TXT and GIMPACT-LICENSE-BSD.TXT for more details. - ------------------------------------------------------------------------------ -*/ - -#include "GIMPACT/core/gim_memory.h" - -/*! \defgroup SORTING -\brief -Macros for sorting. -*/ - -//! Prototype for comparators -class less_comparator -{ - public: - - template - inline int operator() ( const T& a, const Z& b ) - { - return ( ab?1:0)); - } -}; - -//! Prototype for comparators -class integer_comparator -{ - public: - - template - inline int operator() ( const T& a, const T& b ) - { - return (int)(a-b); - } -}; - -//!Prototype for getting the integer representation of an object -class uint_key_func -{ -public: - template - inline GUINT operator()( const T& a) - { - return (GUINT)a; - } -}; - - -//!Prototype for copying elements -class copy_elements_func -{ -public: - template - inline void operator()(T& a,T& b) - { - a = b; - } -}; - -//!Prototype for copying elements -class memcopy_elements_func -{ -public: - template - inline void operator()(T& a,T& b) - { - gim_simd_memcpy(&a,&b,sizeof(T)); - } -}; - - -//! @{ -struct GIM_RSORT_TOKEN -{ - GUINT m_key; - GUINT m_value; - GIM_RSORT_TOKEN() - { - } - GIM_RSORT_TOKEN(const GIM_RSORT_TOKEN& rtoken) - { - m_key = rtoken.m_key; - m_value = rtoken.m_value; - } - - inline bool operator <(const GIM_RSORT_TOKEN& other) const - { - return (m_key < other.m_key); - } - - inline bool operator >(const GIM_RSORT_TOKEN& other) const - { - return (m_key > other.m_key); - } -}; - -//! Prototype for comparators -class GIM_RSORT_TOKEN_COMPARATOR -{ - public: - - inline int operator()( const GIM_RSORT_TOKEN& a, const GIM_RSORT_TOKEN& b ) - { - return (int)((a.m_key) - (b.m_key)); - } -}; - - - -#define kHist 2048 -// ---- utils for accessing 11-bit quantities -#define D11_0(x) (x & 0x7FF) -#define D11_1(x) (x >> 11 & 0x7FF) -#define D11_2(x) (x >> 22 ) - - - -///Radix sort for unsigned integer keys -inline void gim_radix_sort_rtokens( - GIM_RSORT_TOKEN * array, - GIM_RSORT_TOKEN * sorted, GUINT element_count) -{ - GUINT i; - GUINT b0[kHist * 3]; - GUINT *b1 = b0 + kHist; - GUINT *b2 = b1 + kHist; - for (i = 0; i < kHist * 3; ++i) - { - b0[i] = 0; - } - GUINT fi; - GUINT pos; - for (i = 0; i < element_count; ++i) - { - fi = array[i].m_key; - b0[D11_0(fi)] ++; - b1[D11_1(fi)] ++; - b2[D11_2(fi)] ++; - } - { - GUINT sum0 = 0, sum1 = 0, sum2 = 0; - GUINT tsum; - for (i = 0; i < kHist; ++i) - { - tsum = b0[i] + sum0; - b0[i] = sum0 - 1; - sum0 = tsum; - tsum = b1[i] + sum1; - b1[i] = sum1 - 1; - sum1 = tsum; - tsum = b2[i] + sum2; - b2[i] = sum2 - 1; - sum2 = tsum; - } - } - for (i = 0; i < element_count; ++i) - { - fi = array[i].m_key; - pos = D11_0(fi); - pos = ++b0[pos]; - sorted[pos].m_key = array[i].m_key; - sorted[pos].m_value = array[i].m_value; - } - for (i = 0; i < element_count; ++i) - { - fi = sorted[i].m_key; - pos = D11_1(fi); - pos = ++b1[pos]; - array[pos].m_key = sorted[i].m_key; - array[pos].m_value = sorted[i].m_value; - } - for (i = 0; i < element_count; ++i) - { - fi = array[i].m_key; - pos = D11_2(fi); - pos = ++b2[pos]; - sorted[pos].m_key = array[i].m_key; - sorted[pos].m_value = array[i].m_value; - } -} - - - - -/// Get the sorted tokens from an array. For generic use. Tokens are IRR_RSORT_TOKEN -/*! -*\param array Array of elements to sort -*\param sorted_tokens Tokens of sorted elements -*\param element_count element count -*\param uintkey_macro Functor which retrieves the integer representation of an array element -*/ -template -void gim_radix_sort_array_tokens( - T* array , - GIM_RSORT_TOKEN * sorted_tokens, - GUINT element_count,GETKEY_CLASS uintkey_macro) -{ - GIM_RSORT_TOKEN * _unsorted = (GIM_RSORT_TOKEN *) gim_alloc(sizeof(GIM_RSORT_TOKEN)*element_count); - for (GUINT _i=0;_i -void gim_radix_sort( - T * array, GUINT element_count, - GETKEY_CLASS get_uintkey_macro, COPY_CLASS copy_elements_macro) -{ - GIM_RSORT_TOKEN * _sorted = (GIM_RSORT_TOKEN *) gim_alloc(sizeof(GIM_RSORT_TOKEN)*element_count); - gim_radix_sort_array_tokens(array,_sorted,element_count,get_uintkey_macro); - T * _original_array = (T *) gim_alloc(sizeof(T)*element_count); - gim_simd_memcpy(_original_array,array,sizeof(T)*element_count); - for (GUINT _i=0;_i -bool gim_binary_search_ex( - const T* _array, GUINT _start_i, - GUINT _end_i,GUINT & _result_index, - const KEYCLASS & _search_key, - COMP_CLASS _comp_macro) -{ - GUINT _k; - int _comp_result; - GUINT _i = _start_i; - GUINT _j = _end_i+1; - while (_i < _j) - { - _k = (_j+_i-1)/2; - _comp_result = _comp_macro(_array[_k], _search_key); - if (_comp_result == 0) - { - _result_index = _k; - return true; - } - else if (_comp_result < 0) - { - _i = _k+1; - } - else - { - _j = _k; - } - } - _result_index = _i; - return false; -} - - - -//! Failsafe Iterative binary search,Template version -/*! -If the element is not found, it returns the nearest upper element position, may be the further position after the last element. -\param _array -\param _start_i the beginning of the array -\param _end_i the ending index of the array -\param _search_key Value to find -\param _result_index the index of the found element, or if not found then it will get the index of the closest bigger value -\return true if found, else false -*/ -template -bool gim_binary_search( - const T*_array,GUINT _start_i, - GUINT _end_i,const T & _search_key, - GUINT & _result_index) -{ - GUINT _i = _start_i; - GUINT _j = _end_i+1; - GUINT _k; - while(_i < _j) - { - _k = (_j+_i-1)/2; - if(_array[_k]==_search_key) - { - _result_index = _k; - return true; - } - else if (_array[_k]<_search_key) - { - _i = _k+1; - } - else - { - _j = _k; - } - } - _result_index = _i; - return false; -} - - - -///heap sort from http://www.csse.monash.edu.au/~lloyd/tildeAlgDS/Sort/Heap/ -template -void gim_down_heap(T *pArr, GUINT k, GUINT n,COMP_CLASS CompareFunc) -{ - /* PRE: a[k+1..N] is a heap */ - /* POST: a[k..N] is a heap */ - - T temp = pArr[k - 1]; - /* k has child(s) */ - while (k <= n/2) - { - int child = 2*k; - - if ((child < (int)n) && CompareFunc(pArr[child - 1] , pArr[child])<0) - { - child++; - } - /* pick larger child */ - if (CompareFunc(temp , pArr[child - 1])<0) - { - /* move child up */ - pArr[k - 1] = pArr[child - 1]; - k = child; - } - else - { - break; - } - } - pArr[k - 1] = temp; -} /*downHeap*/ - - -template -void gim_heap_sort(T *pArr, GUINT element_count, COMP_CLASS CompareFunc) -{ - /* sort a[0..N-1], N.B. 0 to N-1 */ - GUINT k; - GUINT n = element_count; - for (k = n/2; k > 0; k--) - { - gim_down_heap(pArr, k, n, CompareFunc); - } - - /* a[1..N] is now a heap */ - while ( n>=2 ) - { - gim_swap_elements(pArr,0,n-1); /* largest of a[0..n-1] */ - --n; - /* restore a[1..i-1] heap */ - gim_down_heap(pArr, 1, n, CompareFunc); - } -} - - - -//! @} -#endif // GIM_RADIXSORT_H_INCLUDED +#ifndef GIM_RADIXSORT_H_INCLUDED +#define GIM_RADIXSORT_H_INCLUDED +/*! \file gim_radixsort.h +\author Francisco Len Nßjera. +Based on the work of Michael Herf : "fast floating-point radix sort" +Avaliable on http://www.stereopsis.com/radix.html +*/ +/* +----------------------------------------------------------------------------- +This source file is part of GIMPACT Library. + +For the latest info, see http://gimpact.sourceforge.net/ + +Copyright (c) 2006 Francisco Leon Najera. C.C. 80087371. +email: projectileman@yahoo.com + + This library is free software; you can redistribute it and/or + modify it under the terms of EITHER: + (1) The GNU Lesser General Public License as published by the Free + Software Foundation; either version 2.1 of the License, or (at + your option) any later version. The text of the GNU Lesser + General Public License is included with this library in the + file GIMPACT-LICENSE-LGPL.TXT. + (2) The BSD-style license that is included with this library in + the file GIMPACT-LICENSE-BSD.TXT. + (3) The zlib/libpng license that is included with this library in + the file GIMPACT-LICENSE-ZLIB.TXT. + + This library is distributed in the hope that it will be useful, + but WITHOUT ANY WARRANTY; without even the implied warranty of + MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the files + GIMPACT-LICENSE-LGPL.TXT, GIMPACT-LICENSE-ZLIB.TXT and GIMPACT-LICENSE-BSD.TXT for more details. + +----------------------------------------------------------------------------- +*/ + +#include "gim_memory.h" + +/*! \defgroup SORTING +\brief +Macros for sorting. +*/ + +//! Prototype for comparators +class less_comparator +{ + public: + + template + inline int operator() ( const T& a, const Z& b ) + { + return ( ab?1:0)); + } +}; + +//! Prototype for comparators +class integer_comparator +{ + public: + + template + inline int operator() ( const T& a, const T& b ) + { + return (int)(a-b); + } +}; + +//!Prototype for getting the integer representation of an object +class uint_key_func +{ +public: + template + inline GUINT operator()( const T& a) + { + return (GUINT)a; + } +}; + + +//!Prototype for copying elements +class copy_elements_func +{ +public: + template + inline void operator()(T& a,T& b) + { + a = b; + } +}; + +//!Prototype for copying elements +class memcopy_elements_func +{ +public: + template + inline void operator()(T& a,T& b) + { + gim_simd_memcpy(&a,&b,sizeof(T)); + } +}; + + +//! @{ +struct GIM_RSORT_TOKEN +{ + GUINT m_key; + GUINT m_value; + GIM_RSORT_TOKEN() + { + } + GIM_RSORT_TOKEN(const GIM_RSORT_TOKEN& rtoken) + { + m_key = rtoken.m_key; + m_value = rtoken.m_value; + } + + inline bool operator <(const GIM_RSORT_TOKEN& other) const + { + return (m_key < other.m_key); + } + + inline bool operator >(const GIM_RSORT_TOKEN& other) const + { + return (m_key > other.m_key); + } +}; + +//! Prototype for comparators +class GIM_RSORT_TOKEN_COMPARATOR +{ + public: + + inline int operator()( const GIM_RSORT_TOKEN& a, const GIM_RSORT_TOKEN& b ) + { + return (int)((a.m_key) - (b.m_key)); + } +}; + + + +#define kHist 2048 +// ---- utils for accessing 11-bit quantities +#define D11_0(x) (x & 0x7FF) +#define D11_1(x) (x >> 11 & 0x7FF) +#define D11_2(x) (x >> 22 ) + + + +///Radix sort for unsigned integer keys +inline void gim_radix_sort_rtokens( + GIM_RSORT_TOKEN * array, + GIM_RSORT_TOKEN * sorted, GUINT element_count) +{ + GUINT i; + GUINT b0[kHist * 3]; + GUINT *b1 = b0 + kHist; + GUINT *b2 = b1 + kHist; + for (i = 0; i < kHist * 3; ++i) + { + b0[i] = 0; + } + GUINT fi; + GUINT pos; + for (i = 0; i < element_count; ++i) + { + fi = array[i].m_key; + b0[D11_0(fi)] ++; + b1[D11_1(fi)] ++; + b2[D11_2(fi)] ++; + } + { + GUINT sum0 = 0, sum1 = 0, sum2 = 0; + GUINT tsum; + for (i = 0; i < kHist; ++i) + { + tsum = b0[i] + sum0; + b0[i] = sum0 - 1; + sum0 = tsum; + tsum = b1[i] + sum1; + b1[i] = sum1 - 1; + sum1 = tsum; + tsum = b2[i] + sum2; + b2[i] = sum2 - 1; + sum2 = tsum; + } + } + for (i = 0; i < element_count; ++i) + { + fi = array[i].m_key; + pos = D11_0(fi); + pos = ++b0[pos]; + sorted[pos].m_key = array[i].m_key; + sorted[pos].m_value = array[i].m_value; + } + for (i = 0; i < element_count; ++i) + { + fi = sorted[i].m_key; + pos = D11_1(fi); + pos = ++b1[pos]; + array[pos].m_key = sorted[i].m_key; + array[pos].m_value = sorted[i].m_value; + } + for (i = 0; i < element_count; ++i) + { + fi = array[i].m_key; + pos = D11_2(fi); + pos = ++b2[pos]; + sorted[pos].m_key = array[i].m_key; + sorted[pos].m_value = array[i].m_value; + } +} + + + + +/// Get the sorted tokens from an array. For generic use. Tokens are IRR_RSORT_TOKEN +/*! +*\param array Array of elements to sort +*\param sorted_tokens Tokens of sorted elements +*\param element_count element count +*\param uintkey_macro Functor which retrieves the integer representation of an array element +*/ +template +void gim_radix_sort_array_tokens( + T* array , + GIM_RSORT_TOKEN * sorted_tokens, + GUINT element_count,GETKEY_CLASS uintkey_macro) +{ + GIM_RSORT_TOKEN * _unsorted = (GIM_RSORT_TOKEN *) gim_alloc(sizeof(GIM_RSORT_TOKEN)*element_count); + for (GUINT _i=0;_i +void gim_radix_sort( + T * array, GUINT element_count, + GETKEY_CLASS get_uintkey_macro, COPY_CLASS copy_elements_macro) +{ + GIM_RSORT_TOKEN * _sorted = (GIM_RSORT_TOKEN *) gim_alloc(sizeof(GIM_RSORT_TOKEN)*element_count); + gim_radix_sort_array_tokens(array,_sorted,element_count,get_uintkey_macro); + T * _original_array = (T *) gim_alloc(sizeof(T)*element_count); + gim_simd_memcpy(_original_array,array,sizeof(T)*element_count); + for (GUINT _i=0;_i +bool gim_binary_search_ex( + const T* _array, GUINT _start_i, + GUINT _end_i,GUINT & _result_index, + const KEYCLASS & _search_key, + COMP_CLASS _comp_macro) +{ + GUINT _k; + int _comp_result; + GUINT _i = _start_i; + GUINT _j = _end_i+1; + while (_i < _j) + { + _k = (_j+_i-1)/2; + _comp_result = _comp_macro(_array[_k], _search_key); + if (_comp_result == 0) + { + _result_index = _k; + return true; + } + else if (_comp_result < 0) + { + _i = _k+1; + } + else + { + _j = _k; + } + } + _result_index = _i; + return false; +} + + + +//! Failsafe Iterative binary search,Template version +/*! +If the element is not found, it returns the nearest upper element position, may be the further position after the last element. +\param _array +\param _start_i the beginning of the array +\param _end_i the ending index of the array +\param _search_key Value to find +\param _result_index the index of the found element, or if not found then it will get the index of the closest bigger value +\return true if found, else false +*/ +template +bool gim_binary_search( + const T*_array,GUINT _start_i, + GUINT _end_i,const T & _search_key, + GUINT & _result_index) +{ + GUINT _i = _start_i; + GUINT _j = _end_i+1; + GUINT _k; + while(_i < _j) + { + _k = (_j+_i-1)/2; + if(_array[_k]==_search_key) + { + _result_index = _k; + return true; + } + else if (_array[_k]<_search_key) + { + _i = _k+1; + } + else + { + _j = _k; + } + } + _result_index = _i; + return false; +} + + + +///heap sort from http://www.csse.monash.edu.au/~lloyd/tildeAlgDS/Sort/Heap/ +template +void gim_down_heap(T *pArr, GUINT k, GUINT n,COMP_CLASS CompareFunc) +{ + /* PRE: a[k+1..N] is a heap */ + /* POST: a[k..N] is a heap */ + + T temp = pArr[k - 1]; + /* k has child(s) */ + while (k <= n/2) + { + int child = 2*k; + + if ((child < (int)n) && CompareFunc(pArr[child - 1] , pArr[child])<0) + { + child++; + } + /* pick larger child */ + if (CompareFunc(temp , pArr[child - 1])<0) + { + /* move child up */ + pArr[k - 1] = pArr[child - 1]; + k = child; + } + else + { + break; + } + } + pArr[k - 1] = temp; +} /*downHeap*/ + + +template +void gim_heap_sort(T *pArr, GUINT element_count, COMP_CLASS CompareFunc) +{ + /* sort a[0..N-1], N.B. 0 to N-1 */ + GUINT k; + GUINT n = element_count; + for (k = n/2; k > 0; k--) + { + gim_down_heap(pArr, k, n, CompareFunc); + } + + /* a[1..N] is now a heap */ + while ( n>=2 ) + { + gim_swap_elements(pArr,0,n-1); /* largest of a[0..n-1] */ + --n; + /* restore a[1..i-1] heap */ + gim_down_heap(pArr, 1, n, CompareFunc); + } +} + + + +//! @} +#endif // GIM_RADIXSORT_H_INCLUDED diff --git a/Extras/GIMPACT/src/core/gim_tri_collision.cpp b/src/BulletCollision/Gimpact/gim_tri_collision.cpp old mode 100755 new mode 100644 similarity index 95% rename from Extras/GIMPACT/src/core/gim_tri_collision.cpp rename to src/BulletCollision/Gimpact/gim_tri_collision.cpp index c7a9944f9..ef6feabdf --- a/Extras/GIMPACT/src/core/gim_tri_collision.cpp +++ b/src/BulletCollision/Gimpact/gim_tri_collision.cpp @@ -1,640 +1,640 @@ - -/*! \file gim_tri_collision.h -\author Francisco León Nájera -*/ -/* ------------------------------------------------------------------------------ -This source file is part of GIMPACT Library. - -For the latest info, see http://gimpact.sourceforge.net/ - -Copyright (c) 2006 Francisco Leon Najera. C.C. 80087371. -email: projectileman@yahoo.com - - This library is free software; you can redistribute it and/or - modify it under the terms of EITHER: - (1) The GNU Lesser General Public License as published by the Free - Software Foundation; either version 2.1 of the License, or (at - your option) any later version. The text of the GNU Lesser - General Public License is included with this library in the - file GIMPACT-LICENSE-LGPL.TXT. - (2) The BSD-style license that is included with this library in - the file GIMPACT-LICENSE-BSD.TXT. - (3) The zlib/libpng license that is included with this library in - the file GIMPACT-LICENSE-ZLIB.TXT. - - This library is distributed in the hope that it will be useful, - but WITHOUT ANY WARRANTY; without even the implied warranty of - MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the files - GIMPACT-LICENSE-LGPL.TXT, GIMPACT-LICENSE-ZLIB.TXT and GIMPACT-LICENSE-BSD.TXT for more details. - ------------------------------------------------------------------------------ -*/ - -#include "GIMPACT/core/gim_tri_collision.h" - - -#define TRI_LOCAL_EPSILON 0.000001f -#define MIN_EDGE_EDGE_DIS 0.00001f - - -class _GIM_TRIANGLE_CALCULATION_CACHE -{ -public: - GREAL margin; - btVector3 tu_vertices[3]; - btVector3 tv_vertices[3]; - btVector4 tu_plane; - btVector4 tv_plane; - btVector3 closest_point_u; - btVector3 closest_point_v; - btVector3 edge_edge_dir; - btVector3 distances; - GREAL du[4]; - GREAL du0du1; - GREAL du0du2; - GREAL dv[4]; - GREAL dv0dv1; - GREAL dv0dv2; - btVector3 temp_points[MAX_TRI_CLIPPING]; - btVector3 temp_points1[MAX_TRI_CLIPPING]; - btVector3 contact_points[MAX_TRI_CLIPPING]; - - - - //! if returns false, the faces are paralele - SIMD_FORCE_INLINE bool compute_intervals( - const GREAL &D0, - const GREAL &D1, - const GREAL &D2, - const GREAL &D0D1, - const GREAL &D0D2, - GREAL & scale_edge0, - GREAL & scale_edge1, - GUINT &edge_index0, - GUINT &edge_index1) - { - if(D0D1>0.0f) - { - /* here we know that D0D2<=0.0 */ - /* that is D0, D1 are on the same side, D2 on the other or on the plane */ - scale_edge0 = -D2/(D0-D2); - scale_edge1 = -D1/(D2-D1); - edge_index0 = 2;edge_index1 = 1; - } - else if(D0D2>0.0f) - { - /* here we know that d0d1<=0.0 */ - scale_edge0 = -D0/(D1-D0); - scale_edge1 = -D1/(D2-D1); - edge_index0 = 0;edge_index1 = 1; - } - else if(D1*D2>0.0f || D0!=0.0f) - { - /* here we know that d0d1<=0.0 or that D0!=0.0 */ - scale_edge0 = -D0/(D1-D0); - scale_edge1 = -D2/(D0-D2); - edge_index0 = 0 ;edge_index1 = 2; - } - else - { - return false; - } - return true; - } - - - //! clip triangle - /*! - */ - SIMD_FORCE_INLINE GUINT clip_triangle( - const btVector4 & tri_plane, - const btVector3 * tripoints, - const btVector3 * srcpoints, - btVector3 * clip_points) - { - // edge 0 - - btVector4 edgeplane; - - EDGE_PLANE(tripoints[0],tripoints[1],tri_plane,edgeplane); - - GUINT clipped_count = PLANE_CLIP_TRIANGLE3D( - edgeplane,srcpoints[0],srcpoints[1],srcpoints[2],temp_points); - - if(clipped_count == 0) return 0; - - // edge 1 - - EDGE_PLANE(tripoints[1],tripoints[2],tri_plane,edgeplane); - - clipped_count = PLANE_CLIP_POLYGON3D( - edgeplane,temp_points,clipped_count,temp_points1); - - if(clipped_count == 0) return 0; - - // edge 2 - - EDGE_PLANE(tripoints[2],tripoints[0],tri_plane,edgeplane); - - clipped_count = PLANE_CLIP_POLYGON3D( - edgeplane,temp_points1,clipped_count,clip_points); - - return clipped_count; - - - /*GUINT i0 = (tri_plane.closestAxis()+1)%3; - GUINT i1 = (i0+1)%3; - // edge 0 - btVector3 temp_points[MAX_TRI_CLIPPING]; - btVector3 temp_points1[MAX_TRI_CLIPPING]; - - GUINT clipped_count= PLANE_CLIP_TRIANGLE_GENERIC( - 0,srcpoints[0],srcpoints[1],srcpoints[2],temp_points, - DISTANCE_EDGE(tripoints[0],tripoints[1],i0,i1)); - - - if(clipped_count == 0) return 0; - - // edge 1 - clipped_count = PLANE_CLIP_POLYGON_GENERIC( - 0,temp_points,clipped_count,temp_points1, - DISTANCE_EDGE(tripoints[1],tripoints[2],i0,i1)); - - if(clipped_count == 0) return 0; - - // edge 2 - clipped_count = PLANE_CLIP_POLYGON_GENERIC( - 0,temp_points1,clipped_count,clipped_points, - DISTANCE_EDGE(tripoints[2],tripoints[0],i0,i1)); - - return clipped_count;*/ - } - - SIMD_FORCE_INLINE void sort_isect( - GREAL & isect0,GREAL & isect1,GUINT &e0,GUINT &e1,btVector3 & vec0,btVector3 & vec1) - { - if(isect1=isect_v[1]) // face U casts face V - { - return 1; - } - else if(isect_v[0]<=isect_u[0]) // face V casts face U - { - return 2; - } - // closest points - closest_point_u = up_e1; - closest_point_v = vp_e0; - // calc edges and separation - - if(isect_u[1]+ MIN_EDGE_EDGE_DIS=isect_u[1]) // face V casts face U - { - return 2; - } - else if(isect_u[0]<=isect_v[0]) // face U casts face V - { - return 1; - } - // closest points - closest_point_u = up_e0; - closest_point_v = vp_e1; - // calc edges and separation - - if(isect_v[1]+MIN_EDGE_EDGE_DIS0.0f && du0du2>0.0f) // same sign on all of them + not equal 0 ? - { - if(du[0]<0) //we need test behind the triangle plane - { - distances[0] = GIM_MAX3(du[0],du[1],du[2]); - distances[0] = -distances[0]; - if(distances[0]>margin) return false; //never intersect - - //reorder triangle v - VEC_SWAP(tv_vertices[0],tv_vertices[1]); - VEC_SCALE_4(tv_plane,-1.0f,tv_plane); - } - else - { - distances[0] = GIM_MIN3(du[0],du[1],du[2]); - if(distances[0]>margin) return false; //never intersect - } - } - else - { - //Look if we need to invert the triangle - distances[0] = (du[0]+du[1]+du[2])/3.0f; //centroid - - if(distances[0]<0.0f) - { - //reorder triangle v - VEC_SWAP(tv_vertices[0],tv_vertices[1]); - VEC_SCALE_4(tv_plane,-1.0f,tv_plane); - - distances[0] = GIM_MAX3(du[0],du[1],du[2]); - distances[0] = -distances[0]; - } - else - { - distances[0] = GIM_MIN3(du[0],du[1],du[2]); - } - } - - - // plane U vs V points - - TRIANGLE_PLANE(tu_vertices[0],tu_vertices[1],tu_vertices[2],tu_plane); - - dv[0] = DISTANCE_PLANE_POINT(tu_plane,tv_vertices[0]); - dv[1] = DISTANCE_PLANE_POINT(tu_plane,tv_vertices[1]); - dv[2] = DISTANCE_PLANE_POINT(tu_plane,tv_vertices[2]); - - dv0dv1 = dv[0] * dv[1]; - dv0dv2 = dv[0] * dv[2]; - - - if(dv0dv1>0.0f && dv0dv2>0.0f) // same sign on all of them + not equal 0 ? - { - if(dv[0]<0) //we need test behind the triangle plane - { - distances[1] = GIM_MAX3(dv[0],dv[1],dv[2]); - distances[1] = -distances[1]; - if(distances[1]>margin) return false; //never intersect - - //reorder triangle u - VEC_SWAP(tu_vertices[0],tu_vertices[1]); - VEC_SCALE_4(tu_plane,-1.0f,tu_plane); - } - else - { - distances[1] = GIM_MIN3(dv[0],dv[1],dv[2]); - if(distances[1]>margin) return false; //never intersect - } - } - else - { - //Look if we need to invert the triangle - distances[1] = (dv[0]+dv[1]+dv[2])/3.0f; //centroid - - if(distances[1]<0.0f) - { - //reorder triangle v - VEC_SWAP(tu_vertices[0],tu_vertices[1]); - VEC_SCALE_4(tu_plane,-1.0f,tu_plane); - - distances[1] = GIM_MAX3(dv[0],dv[1],dv[2]); - distances[1] = -distances[1]; - } - else - { - distances[1] = GIM_MIN3(dv[0],dv[1],dv[2]); - } - } - - GUINT bl; - /* bl = cross_line_intersection_test(); - if(bl==3) - { - //take edge direction too - bl = distances.maxAxis(); - } - else - {*/ - bl = 0; - if(distances[0]margin) return false; - - contacts.m_penetration_depth = -distances[2] + margin; - contacts.m_points[0] = closest_point_v; - contacts.m_point_count = 1; - VEC_COPY(contacts.m_separating_normal,edge_edge_dir); - - return true; - } - - //clip face against other - - - GUINT point_count; - //TODO - if(bl == 0) //clip U points against V - { - point_count = clip_triangle(tv_plane,tv_vertices,tu_vertices,contact_points); - if(point_count == 0) return false; - contacts.merge_points(tv_plane,margin,contact_points,point_count); - } - else //clip V points against U - { - point_count = clip_triangle(tu_plane,tu_vertices,tv_vertices,contact_points); - if(point_count == 0) return false; - contacts.merge_points(tu_plane,margin,contact_points,point_count); - contacts.m_separating_normal *= -1.f; - } - if(contacts.m_point_count == 0) return false; - return true; - } - -}; - - -/*class _GIM_TRIANGLE_CALCULATION_CACHE -{ -public: - GREAL margin; - GUINT clipped_count; - btVector3 tu_vertices[3]; - btVector3 tv_vertices[3]; - btVector3 temp_points[MAX_TRI_CLIPPING]; - btVector3 temp_points1[MAX_TRI_CLIPPING]; - btVector3 clipped_points[MAX_TRI_CLIPPING]; - GIM_TRIANGLE_CONTACT_DATA contacts1; - GIM_TRIANGLE_CONTACT_DATA contacts2; - - - //! clip triangle - GUINT clip_triangle( - const btVector4 & tri_plane, - const btVector3 * tripoints, - const btVector3 * srcpoints, - btVector3 * clipped_points) - { - // edge 0 - - btVector4 edgeplane; - - EDGE_PLANE(tripoints[0],tripoints[1],tri_plane,edgeplane); - - GUINT clipped_count = PLANE_CLIP_TRIANGLE3D( - edgeplane,srcpoints[0],srcpoints[1],srcpoints[2],temp_points); - - if(clipped_count == 0) return 0; - - // edge 1 - - EDGE_PLANE(tripoints[1],tripoints[2],tri_plane,edgeplane); - - clipped_count = PLANE_CLIP_POLYGON3D( - edgeplane,temp_points,clipped_count,temp_points1); - - if(clipped_count == 0) return 0; - - // edge 2 - - EDGE_PLANE(tripoints[2],tripoints[0],tri_plane,edgeplane); - - clipped_count = PLANE_CLIP_POLYGON3D( - edgeplane,temp_points1,clipped_count,clipped_points); - - return clipped_count; - } - - - - - //! collides only on one side - bool triangle_collision( - const btVector3 & u0, - const btVector3 & u1, - const btVector3 & u2, - GREAL margin_u, - const btVector3 & v0, - const btVector3 & v1, - const btVector3 & v2, - GREAL margin_v, - GIM_TRIANGLE_CONTACT_DATA & contacts) - { - - margin = margin_u + margin_v; - - - tu_vertices[0] = u0; - tu_vertices[1] = u1; - tu_vertices[2] = u2; - - tv_vertices[0] = v0; - tv_vertices[1] = v1; - tv_vertices[2] = v2; - - //create planes - // plane v vs U points - - - TRIANGLE_PLANE(tv_vertices[0],tv_vertices[1],tv_vertices[2],contacts1.m_separating_normal); - - clipped_count = clip_triangle( - contacts1.m_separating_normal,tv_vertices,tu_vertices,clipped_points); - - if(clipped_count == 0 ) - { - return false;//Reject - } - - //find most deep interval face1 - contacts1.merge_points(contacts1.m_separating_normal,margin,clipped_points,clipped_count); - if(contacts1.m_point_count == 0) return false; // too far - - //Normal pointing to triangle1 - //contacts1.m_separating_normal *= -1.f; - - //Clip tri1 by tri2 edges - - TRIANGLE_PLANE(tu_vertices[0],tu_vertices[1],tu_vertices[2],contacts2.m_separating_normal); - - clipped_count = clip_triangle( - contacts2.m_separating_normal,tu_vertices,tv_vertices,clipped_points); - - if(clipped_count == 0 ) - { - return false;//Reject - } - - //find most deep interval face1 - contacts2.merge_points(contacts2.m_separating_normal,margin,clipped_points,clipped_count); - if(contacts2.m_point_count == 0) return false; // too far - - contacts2.m_separating_normal *= -1.f; - - ////check most dir for contacts - if(contacts2.m_penetration_depth0.0f) + { + /* here we know that D0D2<=0.0 */ + /* that is D0, D1 are on the same side, D2 on the other or on the plane */ + scale_edge0 = -D2/(D0-D2); + scale_edge1 = -D1/(D2-D1); + edge_index0 = 2;edge_index1 = 1; + } + else if(D0D2>0.0f) + { + /* here we know that d0d1<=0.0 */ + scale_edge0 = -D0/(D1-D0); + scale_edge1 = -D1/(D2-D1); + edge_index0 = 0;edge_index1 = 1; + } + else if(D1*D2>0.0f || D0!=0.0f) + { + /* here we know that d0d1<=0.0 or that D0!=0.0 */ + scale_edge0 = -D0/(D1-D0); + scale_edge1 = -D2/(D0-D2); + edge_index0 = 0 ;edge_index1 = 2; + } + else + { + return false; + } + return true; + } + + + //! clip triangle + /*! + */ + SIMD_FORCE_INLINE GUINT clip_triangle( + const btVector4 & tri_plane, + const btVector3 * tripoints, + const btVector3 * srcpoints, + btVector3 * clip_points) + { + // edge 0 + + btVector4 edgeplane; + + EDGE_PLANE(tripoints[0],tripoints[1],tri_plane,edgeplane); + + GUINT clipped_count = PLANE_CLIP_TRIANGLE3D( + edgeplane,srcpoints[0],srcpoints[1],srcpoints[2],temp_points); + + if(clipped_count == 0) return 0; + + // edge 1 + + EDGE_PLANE(tripoints[1],tripoints[2],tri_plane,edgeplane); + + clipped_count = PLANE_CLIP_POLYGON3D( + edgeplane,temp_points,clipped_count,temp_points1); + + if(clipped_count == 0) return 0; + + // edge 2 + + EDGE_PLANE(tripoints[2],tripoints[0],tri_plane,edgeplane); + + clipped_count = PLANE_CLIP_POLYGON3D( + edgeplane,temp_points1,clipped_count,clip_points); + + return clipped_count; + + + /*GUINT i0 = (tri_plane.closestAxis()+1)%3; + GUINT i1 = (i0+1)%3; + // edge 0 + btVector3 temp_points[MAX_TRI_CLIPPING]; + btVector3 temp_points1[MAX_TRI_CLIPPING]; + + GUINT clipped_count= PLANE_CLIP_TRIANGLE_GENERIC( + 0,srcpoints[0],srcpoints[1],srcpoints[2],temp_points, + DISTANCE_EDGE(tripoints[0],tripoints[1],i0,i1)); + + + if(clipped_count == 0) return 0; + + // edge 1 + clipped_count = PLANE_CLIP_POLYGON_GENERIC( + 0,temp_points,clipped_count,temp_points1, + DISTANCE_EDGE(tripoints[1],tripoints[2],i0,i1)); + + if(clipped_count == 0) return 0; + + // edge 2 + clipped_count = PLANE_CLIP_POLYGON_GENERIC( + 0,temp_points1,clipped_count,clipped_points, + DISTANCE_EDGE(tripoints[2],tripoints[0],i0,i1)); + + return clipped_count;*/ + } + + SIMD_FORCE_INLINE void sort_isect( + GREAL & isect0,GREAL & isect1,GUINT &e0,GUINT &e1,btVector3 & vec0,btVector3 & vec1) + { + if(isect1=isect_v[1]) // face U casts face V + { + return 1; + } + else if(isect_v[0]<=isect_u[0]) // face V casts face U + { + return 2; + } + // closest points + closest_point_u = up_e1; + closest_point_v = vp_e0; + // calc edges and separation + + if(isect_u[1]+ MIN_EDGE_EDGE_DIS=isect_u[1]) // face V casts face U + { + return 2; + } + else if(isect_u[0]<=isect_v[0]) // face U casts face V + { + return 1; + } + // closest points + closest_point_u = up_e0; + closest_point_v = vp_e1; + // calc edges and separation + + if(isect_v[1]+MIN_EDGE_EDGE_DIS0.0f && du0du2>0.0f) // same sign on all of them + not equal 0 ? + { + if(du[0]<0) //we need test behind the triangle plane + { + distances[0] = GIM_MAX3(du[0],du[1],du[2]); + distances[0] = -distances[0]; + if(distances[0]>margin) return false; //never intersect + + //reorder triangle v + VEC_SWAP(tv_vertices[0],tv_vertices[1]); + VEC_SCALE_4(tv_plane,-1.0f,tv_plane); + } + else + { + distances[0] = GIM_MIN3(du[0],du[1],du[2]); + if(distances[0]>margin) return false; //never intersect + } + } + else + { + //Look if we need to invert the triangle + distances[0] = (du[0]+du[1]+du[2])/3.0f; //centroid + + if(distances[0]<0.0f) + { + //reorder triangle v + VEC_SWAP(tv_vertices[0],tv_vertices[1]); + VEC_SCALE_4(tv_plane,-1.0f,tv_plane); + + distances[0] = GIM_MAX3(du[0],du[1],du[2]); + distances[0] = -distances[0]; + } + else + { + distances[0] = GIM_MIN3(du[0],du[1],du[2]); + } + } + + + // plane U vs V points + + TRIANGLE_PLANE(tu_vertices[0],tu_vertices[1],tu_vertices[2],tu_plane); + + dv[0] = DISTANCE_PLANE_POINT(tu_plane,tv_vertices[0]); + dv[1] = DISTANCE_PLANE_POINT(tu_plane,tv_vertices[1]); + dv[2] = DISTANCE_PLANE_POINT(tu_plane,tv_vertices[2]); + + dv0dv1 = dv[0] * dv[1]; + dv0dv2 = dv[0] * dv[2]; + + + if(dv0dv1>0.0f && dv0dv2>0.0f) // same sign on all of them + not equal 0 ? + { + if(dv[0]<0) //we need test behind the triangle plane + { + distances[1] = GIM_MAX3(dv[0],dv[1],dv[2]); + distances[1] = -distances[1]; + if(distances[1]>margin) return false; //never intersect + + //reorder triangle u + VEC_SWAP(tu_vertices[0],tu_vertices[1]); + VEC_SCALE_4(tu_plane,-1.0f,tu_plane); + } + else + { + distances[1] = GIM_MIN3(dv[0],dv[1],dv[2]); + if(distances[1]>margin) return false; //never intersect + } + } + else + { + //Look if we need to invert the triangle + distances[1] = (dv[0]+dv[1]+dv[2])/3.0f; //centroid + + if(distances[1]<0.0f) + { + //reorder triangle v + VEC_SWAP(tu_vertices[0],tu_vertices[1]); + VEC_SCALE_4(tu_plane,-1.0f,tu_plane); + + distances[1] = GIM_MAX3(dv[0],dv[1],dv[2]); + distances[1] = -distances[1]; + } + else + { + distances[1] = GIM_MIN3(dv[0],dv[1],dv[2]); + } + } + + GUINT bl; + /* bl = cross_line_intersection_test(); + if(bl==3) + { + //take edge direction too + bl = distances.maxAxis(); + } + else + {*/ + bl = 0; + if(distances[0]margin) return false; + + contacts.m_penetration_depth = -distances[2] + margin; + contacts.m_points[0] = closest_point_v; + contacts.m_point_count = 1; + VEC_COPY(contacts.m_separating_normal,edge_edge_dir); + + return true; + } + + //clip face against other + + + GUINT point_count; + //TODO + if(bl == 0) //clip U points against V + { + point_count = clip_triangle(tv_plane,tv_vertices,tu_vertices,contact_points); + if(point_count == 0) return false; + contacts.merge_points(tv_plane,margin,contact_points,point_count); + } + else //clip V points against U + { + point_count = clip_triangle(tu_plane,tu_vertices,tv_vertices,contact_points); + if(point_count == 0) return false; + contacts.merge_points(tu_plane,margin,contact_points,point_count); + contacts.m_separating_normal *= -1.f; + } + if(contacts.m_point_count == 0) return false; + return true; + } + +}; + + +/*class _GIM_TRIANGLE_CALCULATION_CACHE +{ +public: + GREAL margin; + GUINT clipped_count; + btVector3 tu_vertices[3]; + btVector3 tv_vertices[3]; + btVector3 temp_points[MAX_TRI_CLIPPING]; + btVector3 temp_points1[MAX_TRI_CLIPPING]; + btVector3 clipped_points[MAX_TRI_CLIPPING]; + GIM_TRIANGLE_CONTACT_DATA contacts1; + GIM_TRIANGLE_CONTACT_DATA contacts2; + + + //! clip triangle + GUINT clip_triangle( + const btVector4 & tri_plane, + const btVector3 * tripoints, + const btVector3 * srcpoints, + btVector3 * clipped_points) + { + // edge 0 + + btVector4 edgeplane; + + EDGE_PLANE(tripoints[0],tripoints[1],tri_plane,edgeplane); + + GUINT clipped_count = PLANE_CLIP_TRIANGLE3D( + edgeplane,srcpoints[0],srcpoints[1],srcpoints[2],temp_points); + + if(clipped_count == 0) return 0; + + // edge 1 + + EDGE_PLANE(tripoints[1],tripoints[2],tri_plane,edgeplane); + + clipped_count = PLANE_CLIP_POLYGON3D( + edgeplane,temp_points,clipped_count,temp_points1); + + if(clipped_count == 0) return 0; + + // edge 2 + + EDGE_PLANE(tripoints[2],tripoints[0],tri_plane,edgeplane); + + clipped_count = PLANE_CLIP_POLYGON3D( + edgeplane,temp_points1,clipped_count,clipped_points); + + return clipped_count; + } + + + + + //! collides only on one side + bool triangle_collision( + const btVector3 & u0, + const btVector3 & u1, + const btVector3 & u2, + GREAL margin_u, + const btVector3 & v0, + const btVector3 & v1, + const btVector3 & v2, + GREAL margin_v, + GIM_TRIANGLE_CONTACT_DATA & contacts) + { + + margin = margin_u + margin_v; + + + tu_vertices[0] = u0; + tu_vertices[1] = u1; + tu_vertices[2] = u2; + + tv_vertices[0] = v0; + tv_vertices[1] = v1; + tv_vertices[2] = v2; + + //create planes + // plane v vs U points + + + TRIANGLE_PLANE(tv_vertices[0],tv_vertices[1],tv_vertices[2],contacts1.m_separating_normal); + + clipped_count = clip_triangle( + contacts1.m_separating_normal,tv_vertices,tu_vertices,clipped_points); + + if(clipped_count == 0 ) + { + return false;//Reject + } + + //find most deep interval face1 + contacts1.merge_points(contacts1.m_separating_normal,margin,clipped_points,clipped_count); + if(contacts1.m_point_count == 0) return false; // too far + + //Normal pointing to triangle1 + //contacts1.m_separating_normal *= -1.f; + + //Clip tri1 by tri2 edges + + TRIANGLE_PLANE(tu_vertices[0],tu_vertices[1],tu_vertices[2],contacts2.m_separating_normal); + + clipped_count = clip_triangle( + contacts2.m_separating_normal,tu_vertices,tv_vertices,clipped_points); + + if(clipped_count == 0 ) + { + return false;//Reject + } + + //find most deep interval face1 + contacts2.merge_points(contacts2.m_separating_normal,margin,clipped_points,clipped_count); + if(contacts2.m_point_count == 0) return false; // too far + + contacts2.m_separating_normal *= -1.f; + + ////check most dir for contacts + if(contacts2.m_penetration_depth - SIMD_FORCE_INLINE void mergepoints_generic(const CLASS_PLANE & plane, - GREAL margin, const btVector3 * points, GUINT point_count, DISTANCE_FUNC distance_func) - { - m_point_count = 0; - m_penetration_depth= -1000.0f; - - GUINT point_indices[MAX_TRI_CLIPPING]; - - GUINT _k; - - for(_k=0;_k=0.0f) - { - if(_dist>m_penetration_depth) - { - m_penetration_depth = _dist; - point_indices[0] = _k; - m_point_count=1; - } - else if((_dist+G_EPSILON)>=m_penetration_depth) - { - point_indices[m_point_count] = _k; - m_point_count++; - } - } - } - - for( _k=0;_k u*axe1[i1] + ((vecproj[i2] - u*axe1[i2])/axe2[i2])*axe2[i1] = vecproj[i1] - - --> u*axe1[i1] + vecproj[i2]*axe2[i1]/axe2[i2] - u*axe1[i2]*axe2[i1]/axe2[i2] = vecproj[i1] - - --> u*(axe1[i1] - axe1[i2]*axe2[i1]/axe2[i2]) = vecproj[i1] - vecproj[i2]*axe2[i1]/axe2[i2] - - --> u*((axe1[i1]*axe2[i2] - axe1[i2]*axe2[i1])/axe2[i2]) = (vecproj[i1]*axe2[i2] - vecproj[i2]*axe2[i1])/axe2[i2] - - --> u*(axe1[i1]*axe2[i2] - axe1[i2]*axe2[i1]) = vecproj[i1]*axe2[i2] - vecproj[i2]*axe2[i1] - - --> u = (vecproj[i1]*axe2[i2] - vecproj[i2]*axe2[i1]) /(axe1[i1]*axe2[i2] - axe1[i2]*axe2[i1]) - -if 0.0<= u+v <=1.0 then they are inside of triangle - - \return false if the point is outside of triangle.This function doesn't take the margin - */ - SIMD_FORCE_INLINE bool get_uv_parameters( - const btVector3 & point, - const btVector3 & tri_plane, - GREAL & u, GREAL & v) const - { - btVector3 _axe1 = m_vertices[1]-m_vertices[0]; - btVector3 _axe2 = m_vertices[2]-m_vertices[0]; - btVector3 _vecproj = point - m_vertices[0]; - GUINT _i1 = (tri_plane.closestAxis()+1)%3; - GUINT _i2 = (_i1+1)%3; - if(btFabs(_axe2[_i2])G_EPSILON) - { - return false; - } - } - return true; - } - - //! is point in triangle beam? - /*! - Test if point is in triangle, with m_margin tolerance - */ - SIMD_FORCE_INLINE bool is_point_inside(const btVector3 & point, const btVector3 & tri_normal) const - { - //Test with edge 0 - btVector4 edge_plane; - this->get_edge_plane(0,tri_normal,edge_plane); - GREAL dist = DISTANCE_PLANE_POINT(edge_plane,point); - if(dist-m_margin>0.0f) return false; // outside plane - - this->get_edge_plane(1,tri_normal,edge_plane); - dist = DISTANCE_PLANE_POINT(edge_plane,point); - if(dist-m_margin>0.0f) return false; // outside plane - - this->get_edge_plane(2,tri_normal,edge_plane); - dist = DISTANCE_PLANE_POINT(edge_plane,point); - if(dist-m_margin>0.0f) return false; // outside plane - return true; - } - - - //! Bidireccional ray collision - SIMD_FORCE_INLINE bool ray_collision( - const btVector3 & vPoint, - const btVector3 & vDir, btVector3 & pout, btVector3 & triangle_normal, - GREAL & tparam, GREAL tmax = G_REAL_INFINITY) - { - btVector4 faceplane; - { - btVector3 dif1 = m_vertices[1] - m_vertices[0]; - btVector3 dif2 = m_vertices[2] - m_vertices[0]; - VEC_CROSS(faceplane,dif1,dif2); - faceplane[3] = m_vertices[0].dot(faceplane); - } - - GUINT res = LINE_PLANE_COLLISION(faceplane,vDir,vPoint,pout,tparam, btScalar(0), tmax); - if(res == 0) return false; - if(! is_point_inside(pout,faceplane)) return false; - - if(res==2) //invert normal - { - triangle_normal.setValue(-faceplane[0],-faceplane[1],-faceplane[2]); - } - else - { - triangle_normal.setValue(faceplane[0],faceplane[1],faceplane[2]); - } - - VEC_NORMALIZE(triangle_normal); - - return true; - } - - - //! one direccion ray collision - SIMD_FORCE_INLINE bool ray_collision_front_side( - const btVector3 & vPoint, - const btVector3 & vDir, btVector3 & pout, btVector3 & triangle_normal, - GREAL & tparam, GREAL tmax = G_REAL_INFINITY) - { - btVector4 faceplane; - { - btVector3 dif1 = m_vertices[1] - m_vertices[0]; - btVector3 dif2 = m_vertices[2] - m_vertices[0]; - VEC_CROSS(faceplane,dif1,dif2); - faceplane[3] = m_vertices[0].dot(faceplane); - } - - GUINT res = LINE_PLANE_COLLISION(faceplane,vDir,vPoint,pout,tparam, btScalar(0), tmax); - if(res != 1) return false; - - if(!is_point_inside(pout,faceplane)) return false; - - triangle_normal.setValue(faceplane[0],faceplane[1],faceplane[2]); - - VEC_NORMALIZE(triangle_normal); - - return true; - } - -}; - - - -//! @} - -#endif // GIM_TRI_COLLISION_H_INCLUDED +#ifndef GIM_TRI_COLLISION_H_INCLUDED +#define GIM_TRI_COLLISION_H_INCLUDED + +/*! \file gim_tri_collision.h +\author Francisco Len Nßjera +*/ +/* +----------------------------------------------------------------------------- +This source file is part of GIMPACT Library. + +For the latest info, see http://gimpact.sourceforge.net/ + +Copyright (c) 2006 Francisco Leon Najera. C.C. 80087371. +email: projectileman@yahoo.com + + This library is free software; you can redistribute it and/or + modify it under the terms of EITHER: + (1) The GNU Lesser General Public License as published by the Free + Software Foundation; either version 2.1 of the License, or (at + your option) any later version. The text of the GNU Lesser + General Public License is included with this library in the + file GIMPACT-LICENSE-LGPL.TXT. + (2) The BSD-style license that is included with this library in + the file GIMPACT-LICENSE-BSD.TXT. + (3) The zlib/libpng license that is included with this library in + the file GIMPACT-LICENSE-ZLIB.TXT. + + This library is distributed in the hope that it will be useful, + but WITHOUT ANY WARRANTY; without even the implied warranty of + MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the files + GIMPACT-LICENSE-LGPL.TXT, GIMPACT-LICENSE-ZLIB.TXT and GIMPACT-LICENSE-BSD.TXT for more details. + +----------------------------------------------------------------------------- +*/ + +#include "gim_box_collision.h" +#include "gim_clip_polygon.h" + +/*! \addtogroup GEOMETRIC_OPERATIONS +*/ +//! @{ + + + +#define MAX_TRI_CLIPPING 16 + +//! Structure for collision +struct GIM_TRIANGLE_CONTACT_DATA +{ + GREAL m_penetration_depth; + GUINT m_point_count; + btVector4 m_separating_normal; + btVector3 m_points[MAX_TRI_CLIPPING]; + + SIMD_FORCE_INLINE void copy_from(const GIM_TRIANGLE_CONTACT_DATA& other) + { + m_penetration_depth = other.m_penetration_depth; + m_separating_normal = other.m_separating_normal; + m_point_count = other.m_point_count; + GUINT i = m_point_count; + while(i--) + { + m_points[i] = other.m_points[i]; + } + } + + GIM_TRIANGLE_CONTACT_DATA() + { + } + + GIM_TRIANGLE_CONTACT_DATA(const GIM_TRIANGLE_CONTACT_DATA& other) + { + copy_from(other); + } + + + + + //! classify points that are closer + template + SIMD_FORCE_INLINE void mergepoints_generic(const CLASS_PLANE & plane, + GREAL margin, const btVector3 * points, GUINT point_count, DISTANCE_FUNC distance_func) + { + m_point_count = 0; + m_penetration_depth= -1000.0f; + + GUINT point_indices[MAX_TRI_CLIPPING]; + + GUINT _k; + + for(_k=0;_k=0.0f) + { + if(_dist>m_penetration_depth) + { + m_penetration_depth = _dist; + point_indices[0] = _k; + m_point_count=1; + } + else if((_dist+G_EPSILON)>=m_penetration_depth) + { + point_indices[m_point_count] = _k; + m_point_count++; + } + } + } + + for( _k=0;_k u*axe1[i1] + ((vecproj[i2] - u*axe1[i2])/axe2[i2])*axe2[i1] = vecproj[i1] + + --> u*axe1[i1] + vecproj[i2]*axe2[i1]/axe2[i2] - u*axe1[i2]*axe2[i1]/axe2[i2] = vecproj[i1] + + --> u*(axe1[i1] - axe1[i2]*axe2[i1]/axe2[i2]) = vecproj[i1] - vecproj[i2]*axe2[i1]/axe2[i2] + + --> u*((axe1[i1]*axe2[i2] - axe1[i2]*axe2[i1])/axe2[i2]) = (vecproj[i1]*axe2[i2] - vecproj[i2]*axe2[i1])/axe2[i2] + + --> u*(axe1[i1]*axe2[i2] - axe1[i2]*axe2[i1]) = vecproj[i1]*axe2[i2] - vecproj[i2]*axe2[i1] + + --> u = (vecproj[i1]*axe2[i2] - vecproj[i2]*axe2[i1]) /(axe1[i1]*axe2[i2] - axe1[i2]*axe2[i1]) + +if 0.0<= u+v <=1.0 then they are inside of triangle + + \return false if the point is outside of triangle.This function doesn't take the margin + */ + SIMD_FORCE_INLINE bool get_uv_parameters( + const btVector3 & point, + const btVector3 & tri_plane, + GREAL & u, GREAL & v) const + { + btVector3 _axe1 = m_vertices[1]-m_vertices[0]; + btVector3 _axe2 = m_vertices[2]-m_vertices[0]; + btVector3 _vecproj = point - m_vertices[0]; + GUINT _i1 = (tri_plane.closestAxis()+1)%3; + GUINT _i2 = (_i1+1)%3; + if(btFabs(_axe2[_i2])G_EPSILON) + { + return false; + } + } + return true; + } + + //! is point in triangle beam? + /*! + Test if point is in triangle, with m_margin tolerance + */ + SIMD_FORCE_INLINE bool is_point_inside(const btVector3 & point, const btVector3 & tri_normal) const + { + //Test with edge 0 + btVector4 edge_plane; + this->get_edge_plane(0,tri_normal,edge_plane); + GREAL dist = DISTANCE_PLANE_POINT(edge_plane,point); + if(dist-m_margin>0.0f) return false; // outside plane + + this->get_edge_plane(1,tri_normal,edge_plane); + dist = DISTANCE_PLANE_POINT(edge_plane,point); + if(dist-m_margin>0.0f) return false; // outside plane + + this->get_edge_plane(2,tri_normal,edge_plane); + dist = DISTANCE_PLANE_POINT(edge_plane,point); + if(dist-m_margin>0.0f) return false; // outside plane + return true; + } + + + //! Bidireccional ray collision + SIMD_FORCE_INLINE bool ray_collision( + const btVector3 & vPoint, + const btVector3 & vDir, btVector3 & pout, btVector3 & triangle_normal, + GREAL & tparam, GREAL tmax = G_REAL_INFINITY) + { + btVector4 faceplane; + { + btVector3 dif1 = m_vertices[1] - m_vertices[0]; + btVector3 dif2 = m_vertices[2] - m_vertices[0]; + VEC_CROSS(faceplane,dif1,dif2); + faceplane[3] = m_vertices[0].dot(faceplane); + } + + GUINT res = LINE_PLANE_COLLISION(faceplane,vDir,vPoint,pout,tparam, btScalar(0), tmax); + if(res == 0) return false; + if(! is_point_inside(pout,faceplane)) return false; + + if(res==2) //invert normal + { + triangle_normal.setValue(-faceplane[0],-faceplane[1],-faceplane[2]); + } + else + { + triangle_normal.setValue(faceplane[0],faceplane[1],faceplane[2]); + } + + VEC_NORMALIZE(triangle_normal); + + return true; + } + + + //! one direccion ray collision + SIMD_FORCE_INLINE bool ray_collision_front_side( + const btVector3 & vPoint, + const btVector3 & vDir, btVector3 & pout, btVector3 & triangle_normal, + GREAL & tparam, GREAL tmax = G_REAL_INFINITY) + { + btVector4 faceplane; + { + btVector3 dif1 = m_vertices[1] - m_vertices[0]; + btVector3 dif2 = m_vertices[2] - m_vertices[0]; + VEC_CROSS(faceplane,dif1,dif2); + faceplane[3] = m_vertices[0].dot(faceplane); + } + + GUINT res = LINE_PLANE_COLLISION(faceplane,vDir,vPoint,pout,tparam, btScalar(0), tmax); + if(res != 1) return false; + + if(!is_point_inside(pout,faceplane)) return false; + + triangle_normal.setValue(faceplane[0],faceplane[1],faceplane[2]); + + VEC_NORMALIZE(triangle_normal); + + return true; + } + +}; + + + +//! @} + +#endif // GIM_TRI_COLLISION_H_INCLUDED diff --git a/Extras/BulletMultiThreaded/CMakeLists.txt b/src/BulletMultiThreaded/CMakeLists.txt similarity index 100% rename from Extras/BulletMultiThreaded/CMakeLists.txt rename to src/BulletMultiThreaded/CMakeLists.txt diff --git a/Extras/BulletMultiThreaded/Jamfile b/src/BulletMultiThreaded/Jamfile similarity index 100% rename from Extras/BulletMultiThreaded/Jamfile rename to src/BulletMultiThreaded/Jamfile diff --git a/Extras/BulletMultiThreaded/Makefile.original b/src/BulletMultiThreaded/Makefile.original similarity index 100% rename from Extras/BulletMultiThreaded/Makefile.original rename to src/BulletMultiThreaded/Makefile.original diff --git a/Extras/BulletMultiThreaded/PlatformDefinitions.h b/src/BulletMultiThreaded/PlatformDefinitions.h similarity index 100% rename from Extras/BulletMultiThreaded/PlatformDefinitions.h rename to src/BulletMultiThreaded/PlatformDefinitions.h diff --git a/Extras/BulletMultiThreaded/PosixThreadSupport.cpp b/src/BulletMultiThreaded/PosixThreadSupport.cpp similarity index 100% rename from Extras/BulletMultiThreaded/PosixThreadSupport.cpp rename to src/BulletMultiThreaded/PosixThreadSupport.cpp diff --git a/Extras/BulletMultiThreaded/PosixThreadSupport.h b/src/BulletMultiThreaded/PosixThreadSupport.h similarity index 100% rename from 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b/src/BulletMultiThreaded/SpuCollisionTaskProcess.cpp similarity index 100% rename from Extras/BulletMultiThreaded/SpuCollisionTaskProcess.cpp rename to src/BulletMultiThreaded/SpuCollisionTaskProcess.cpp diff --git a/Extras/BulletMultiThreaded/SpuCollisionTaskProcess.h b/src/BulletMultiThreaded/SpuCollisionTaskProcess.h similarity index 100% rename from Extras/BulletMultiThreaded/SpuCollisionTaskProcess.h rename to src/BulletMultiThreaded/SpuCollisionTaskProcess.h diff --git a/Extras/BulletMultiThreaded/SpuContactManifoldCollisionAlgorithm.cpp b/src/BulletMultiThreaded/SpuContactManifoldCollisionAlgorithm.cpp similarity index 100% rename from Extras/BulletMultiThreaded/SpuContactManifoldCollisionAlgorithm.cpp rename to src/BulletMultiThreaded/SpuContactManifoldCollisionAlgorithm.cpp diff --git a/Extras/BulletMultiThreaded/SpuContactManifoldCollisionAlgorithm.h b/src/BulletMultiThreaded/SpuContactManifoldCollisionAlgorithm.h similarity index 100% rename from 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a/Extras/BulletMultiThreaded/SpuLibspe2Support.h b/src/BulletMultiThreaded/SpuLibspe2Support.h similarity index 100% rename from Extras/BulletMultiThreaded/SpuLibspe2Support.h rename to src/BulletMultiThreaded/SpuLibspe2Support.h diff --git a/Extras/BulletMultiThreaded/SpuNarrowPhaseCollisionTask/SpuCollisionShapes.cpp b/src/BulletMultiThreaded/SpuNarrowPhaseCollisionTask/SpuCollisionShapes.cpp similarity index 100% rename from Extras/BulletMultiThreaded/SpuNarrowPhaseCollisionTask/SpuCollisionShapes.cpp rename to src/BulletMultiThreaded/SpuNarrowPhaseCollisionTask/SpuCollisionShapes.cpp diff --git a/Extras/BulletMultiThreaded/SpuNarrowPhaseCollisionTask/SpuCollisionShapes.h b/src/BulletMultiThreaded/SpuNarrowPhaseCollisionTask/SpuCollisionShapes.h similarity index 100% rename from Extras/BulletMultiThreaded/SpuNarrowPhaseCollisionTask/SpuCollisionShapes.h rename to src/BulletMultiThreaded/SpuNarrowPhaseCollisionTask/SpuCollisionShapes.h diff --git a/Extras/BulletMultiThreaded/SpuNarrowPhaseCollisionTask/SpuContactResult.cpp b/src/BulletMultiThreaded/SpuNarrowPhaseCollisionTask/SpuContactResult.cpp similarity index 100% rename from Extras/BulletMultiThreaded/SpuNarrowPhaseCollisionTask/SpuContactResult.cpp rename to src/BulletMultiThreaded/SpuNarrowPhaseCollisionTask/SpuContactResult.cpp diff --git a/Extras/BulletMultiThreaded/SpuNarrowPhaseCollisionTask/SpuContactResult.h b/src/BulletMultiThreaded/SpuNarrowPhaseCollisionTask/SpuContactResult.h similarity index 100% rename from Extras/BulletMultiThreaded/SpuNarrowPhaseCollisionTask/SpuContactResult.h rename to src/BulletMultiThreaded/SpuNarrowPhaseCollisionTask/SpuContactResult.h diff --git a/Extras/BulletMultiThreaded/SpuNarrowPhaseCollisionTask/SpuConvexPenetrationDepthSolver.h b/src/BulletMultiThreaded/SpuNarrowPhaseCollisionTask/SpuConvexPenetrationDepthSolver.h similarity index 100% rename from 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a/Extras/BulletMultiThreaded/SpuNarrowPhaseCollisionTask/SpuGatheringCollisionTask.cpp b/src/BulletMultiThreaded/SpuNarrowPhaseCollisionTask/SpuGatheringCollisionTask.cpp similarity index 100% rename from Extras/BulletMultiThreaded/SpuNarrowPhaseCollisionTask/SpuGatheringCollisionTask.cpp rename to src/BulletMultiThreaded/SpuNarrowPhaseCollisionTask/SpuGatheringCollisionTask.cpp diff --git a/Extras/BulletMultiThreaded/SpuNarrowPhaseCollisionTask/SpuGatheringCollisionTask.h b/src/BulletMultiThreaded/SpuNarrowPhaseCollisionTask/SpuGatheringCollisionTask.h similarity index 100% rename from Extras/BulletMultiThreaded/SpuNarrowPhaseCollisionTask/SpuGatheringCollisionTask.h rename to src/BulletMultiThreaded/SpuNarrowPhaseCollisionTask/SpuGatheringCollisionTask.h diff --git a/Extras/BulletMultiThreaded/SpuNarrowPhaseCollisionTask/SpuGjkEpa2.cpp b/src/BulletMultiThreaded/SpuNarrowPhaseCollisionTask/SpuGjkEpa2.cpp similarity index 100% rename from Extras/BulletMultiThreaded/SpuNarrowPhaseCollisionTask/SpuGjkEpa2.cpp rename to src/BulletMultiThreaded/SpuNarrowPhaseCollisionTask/SpuGjkEpa2.cpp diff --git a/Extras/BulletMultiThreaded/SpuNarrowPhaseCollisionTask/SpuGjkEpa2.h b/src/BulletMultiThreaded/SpuNarrowPhaseCollisionTask/SpuGjkEpa2.h similarity index 100% rename from Extras/BulletMultiThreaded/SpuNarrowPhaseCollisionTask/SpuGjkEpa2.h rename to src/BulletMultiThreaded/SpuNarrowPhaseCollisionTask/SpuGjkEpa2.h diff --git a/Extras/BulletMultiThreaded/SpuNarrowPhaseCollisionTask/SpuGjkPairDetector.cpp b/src/BulletMultiThreaded/SpuNarrowPhaseCollisionTask/SpuGjkPairDetector.cpp similarity index 100% rename from Extras/BulletMultiThreaded/SpuNarrowPhaseCollisionTask/SpuGjkPairDetector.cpp rename to src/BulletMultiThreaded/SpuNarrowPhaseCollisionTask/SpuGjkPairDetector.cpp diff --git a/Extras/BulletMultiThreaded/SpuNarrowPhaseCollisionTask/SpuGjkPairDetector.h b/src/BulletMultiThreaded/SpuNarrowPhaseCollisionTask/SpuGjkPairDetector.h similarity index 100% rename from Extras/BulletMultiThreaded/SpuNarrowPhaseCollisionTask/SpuGjkPairDetector.h rename to src/BulletMultiThreaded/SpuNarrowPhaseCollisionTask/SpuGjkPairDetector.h diff --git a/Extras/BulletMultiThreaded/SpuNarrowPhaseCollisionTask/SpuLocalSupport.h b/src/BulletMultiThreaded/SpuNarrowPhaseCollisionTask/SpuLocalSupport.h similarity index 100% rename from Extras/BulletMultiThreaded/SpuNarrowPhaseCollisionTask/SpuLocalSupport.h rename to src/BulletMultiThreaded/SpuNarrowPhaseCollisionTask/SpuLocalSupport.h diff --git a/Extras/BulletMultiThreaded/SpuNarrowPhaseCollisionTask/SpuMinkowskiPenetrationDepthSolver.cpp b/src/BulletMultiThreaded/SpuNarrowPhaseCollisionTask/SpuMinkowskiPenetrationDepthSolver.cpp similarity index 100% rename from Extras/BulletMultiThreaded/SpuNarrowPhaseCollisionTask/SpuMinkowskiPenetrationDepthSolver.cpp rename to src/BulletMultiThreaded/SpuNarrowPhaseCollisionTask/SpuMinkowskiPenetrationDepthSolver.cpp diff --git a/Extras/BulletMultiThreaded/SpuNarrowPhaseCollisionTask/SpuMinkowskiPenetrationDepthSolver.h b/src/BulletMultiThreaded/SpuNarrowPhaseCollisionTask/SpuMinkowskiPenetrationDepthSolver.h similarity index 100% rename from Extras/BulletMultiThreaded/SpuNarrowPhaseCollisionTask/SpuMinkowskiPenetrationDepthSolver.h rename to src/BulletMultiThreaded/SpuNarrowPhaseCollisionTask/SpuMinkowskiPenetrationDepthSolver.h diff --git a/Extras/BulletMultiThreaded/SpuNarrowPhaseCollisionTask/SpuPreferredPenetrationDirections.h b/src/BulletMultiThreaded/SpuNarrowPhaseCollisionTask/SpuPreferredPenetrationDirections.h similarity index 100% rename from Extras/BulletMultiThreaded/SpuNarrowPhaseCollisionTask/SpuPreferredPenetrationDirections.h rename to src/BulletMultiThreaded/SpuNarrowPhaseCollisionTask/SpuPreferredPenetrationDirections.h diff --git a/Extras/BulletMultiThreaded/SpuNarrowPhaseCollisionTask/SpuVoronoiSimplexSolver.cpp b/src/BulletMultiThreaded/SpuNarrowPhaseCollisionTask/SpuVoronoiSimplexSolver.cpp similarity index 100% rename from Extras/BulletMultiThreaded/SpuNarrowPhaseCollisionTask/SpuVoronoiSimplexSolver.cpp rename to src/BulletMultiThreaded/SpuNarrowPhaseCollisionTask/SpuVoronoiSimplexSolver.cpp diff --git a/Extras/BulletMultiThreaded/SpuNarrowPhaseCollisionTask/SpuVoronoiSimplexSolver.h b/src/BulletMultiThreaded/SpuNarrowPhaseCollisionTask/SpuVoronoiSimplexSolver.h similarity index 100% rename from Extras/BulletMultiThreaded/SpuNarrowPhaseCollisionTask/SpuVoronoiSimplexSolver.h rename to src/BulletMultiThreaded/SpuNarrowPhaseCollisionTask/SpuVoronoiSimplexSolver.h diff --git a/Extras/BulletMultiThreaded/SpuNarrowPhaseCollisionTask/readme.txt b/src/BulletMultiThreaded/SpuNarrowPhaseCollisionTask/readme.txt similarity index 100% rename from Extras/BulletMultiThreaded/SpuNarrowPhaseCollisionTask/readme.txt rename to src/BulletMultiThreaded/SpuNarrowPhaseCollisionTask/readme.txt diff --git a/Extras/BulletMultiThreaded/SpuParallelSolver.cpp b/src/BulletMultiThreaded/SpuParallelSolver.cpp similarity index 100% rename from Extras/BulletMultiThreaded/SpuParallelSolver.cpp rename to src/BulletMultiThreaded/SpuParallelSolver.cpp diff --git a/Extras/BulletMultiThreaded/SpuParallelSolver.h b/src/BulletMultiThreaded/SpuParallelSolver.h similarity index 100% rename from Extras/BulletMultiThreaded/SpuParallelSolver.h rename to src/BulletMultiThreaded/SpuParallelSolver.h diff --git a/Extras/BulletMultiThreaded/SpuRaycastTask/SpuRaycastTask.cpp b/src/BulletMultiThreaded/SpuRaycastTask/SpuRaycastTask.cpp similarity index 100% rename from Extras/BulletMultiThreaded/SpuRaycastTask/SpuRaycastTask.cpp rename to src/BulletMultiThreaded/SpuRaycastTask/SpuRaycastTask.cpp diff --git a/Extras/BulletMultiThreaded/SpuRaycastTask/SpuRaycastTask.h b/src/BulletMultiThreaded/SpuRaycastTask/SpuRaycastTask.h similarity index 100% rename from Extras/BulletMultiThreaded/SpuRaycastTask/SpuRaycastTask.h rename to src/BulletMultiThreaded/SpuRaycastTask/SpuRaycastTask.h diff --git a/Extras/BulletMultiThreaded/SpuRaycastTask/SpuSubSimplexConvexCast.cpp b/src/BulletMultiThreaded/SpuRaycastTask/SpuSubSimplexConvexCast.cpp similarity index 100% rename from Extras/BulletMultiThreaded/SpuRaycastTask/SpuSubSimplexConvexCast.cpp rename to src/BulletMultiThreaded/SpuRaycastTask/SpuSubSimplexConvexCast.cpp diff --git a/Extras/BulletMultiThreaded/SpuRaycastTask/SpuSubSimplexConvexCast.h b/src/BulletMultiThreaded/SpuRaycastTask/SpuSubSimplexConvexCast.h similarity index 100% rename from Extras/BulletMultiThreaded/SpuRaycastTask/SpuSubSimplexConvexCast.h rename to src/BulletMultiThreaded/SpuRaycastTask/SpuSubSimplexConvexCast.h diff --git a/Extras/BulletMultiThreaded/SpuRaycastTaskProcess.cpp b/src/BulletMultiThreaded/SpuRaycastTaskProcess.cpp similarity index 100% rename from Extras/BulletMultiThreaded/SpuRaycastTaskProcess.cpp rename to src/BulletMultiThreaded/SpuRaycastTaskProcess.cpp diff --git a/Extras/BulletMultiThreaded/SpuRaycastTaskProcess.h b/src/BulletMultiThreaded/SpuRaycastTaskProcess.h similarity index 100% rename from Extras/BulletMultiThreaded/SpuRaycastTaskProcess.h rename to src/BulletMultiThreaded/SpuRaycastTaskProcess.h diff --git a/Extras/BulletMultiThreaded/SpuSampleTask/SpuSampleTask.cpp b/src/BulletMultiThreaded/SpuSampleTask/SpuSampleTask.cpp similarity index 100% rename from Extras/BulletMultiThreaded/SpuSampleTask/SpuSampleTask.cpp rename to src/BulletMultiThreaded/SpuSampleTask/SpuSampleTask.cpp diff --git a/Extras/BulletMultiThreaded/SpuSampleTask/SpuSampleTask.h b/src/BulletMultiThreaded/SpuSampleTask/SpuSampleTask.h similarity index 100% rename from Extras/BulletMultiThreaded/SpuSampleTask/SpuSampleTask.h rename to src/BulletMultiThreaded/SpuSampleTask/SpuSampleTask.h diff --git a/Extras/BulletMultiThreaded/SpuSampleTask/readme.txt b/src/BulletMultiThreaded/SpuSampleTask/readme.txt similarity index 100% rename from Extras/BulletMultiThreaded/SpuSampleTask/readme.txt rename to src/BulletMultiThreaded/SpuSampleTask/readme.txt diff --git a/Extras/BulletMultiThreaded/SpuSampleTaskProcess.cpp b/src/BulletMultiThreaded/SpuSampleTaskProcess.cpp similarity index 100% rename from Extras/BulletMultiThreaded/SpuSampleTaskProcess.cpp rename to src/BulletMultiThreaded/SpuSampleTaskProcess.cpp diff --git a/Extras/BulletMultiThreaded/SpuSampleTaskProcess.h b/src/BulletMultiThreaded/SpuSampleTaskProcess.h similarity index 100% rename from Extras/BulletMultiThreaded/SpuSampleTaskProcess.h rename to src/BulletMultiThreaded/SpuSampleTaskProcess.h diff --git a/Extras/BulletMultiThreaded/SpuSolverTask/SpuParallellSolverTask.cpp b/src/BulletMultiThreaded/SpuSolverTask/SpuParallellSolverTask.cpp similarity index 100% rename from Extras/BulletMultiThreaded/SpuSolverTask/SpuParallellSolverTask.cpp rename to src/BulletMultiThreaded/SpuSolverTask/SpuParallellSolverTask.cpp diff --git a/Extras/BulletMultiThreaded/SpuSolverTask/SpuParallellSolverTask.h b/src/BulletMultiThreaded/SpuSolverTask/SpuParallellSolverTask.h similarity index 100% rename from Extras/BulletMultiThreaded/SpuSolverTask/SpuParallellSolverTask.h rename to src/BulletMultiThreaded/SpuSolverTask/SpuParallellSolverTask.h diff --git a/Extras/BulletMultiThreaded/SpuSync.h b/src/BulletMultiThreaded/SpuSync.h similarity index 100% rename from Extras/BulletMultiThreaded/SpuSync.h rename to src/BulletMultiThreaded/SpuSync.h diff --git a/Extras/BulletMultiThreaded/Win32ThreadSupport.cpp b/src/BulletMultiThreaded/Win32ThreadSupport.cpp similarity index 100% rename from Extras/BulletMultiThreaded/Win32ThreadSupport.cpp rename to src/BulletMultiThreaded/Win32ThreadSupport.cpp diff --git a/Extras/BulletMultiThreaded/Win32ThreadSupport.h b/src/BulletMultiThreaded/Win32ThreadSupport.h similarity index 100% rename from Extras/BulletMultiThreaded/Win32ThreadSupport.h rename to src/BulletMultiThreaded/Win32ThreadSupport.h diff --git a/Extras/BulletMultiThreaded/btThreadSupportInterface.cpp b/src/BulletMultiThreaded/btThreadSupportInterface.cpp similarity index 100% rename from Extras/BulletMultiThreaded/btThreadSupportInterface.cpp rename to src/BulletMultiThreaded/btThreadSupportInterface.cpp diff --git a/Extras/BulletMultiThreaded/btThreadSupportInterface.h b/src/BulletMultiThreaded/btThreadSupportInterface.h similarity index 100% rename from Extras/BulletMultiThreaded/btThreadSupportInterface.h rename to src/BulletMultiThreaded/btThreadSupportInterface.h