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fixed btSoftBodyConcaveCollisionAlgorithm, wrong bounding box transformation

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added vertex welding option for btTriangleMesh (brute-force slow)
reject appendFace for some degenerate triangles (all 3 vertices/nodes need to be different)
add setVelocity method for btSoftBody
This commit is contained in:
erwin.coumans
2008-09-26 21:59:03 +00:00
parent e0d1c1d057
commit 682a0a1b90
5 changed files with 99 additions and 72 deletions
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98
src/BulletCollision/CollisionShapes/btTriangleMesh.cpp
View File

@@ -19,7 +19,8 @@ subject to the following restrictions:
btTriangleMesh::btTriangleMesh (bool use32bitIndices,bool use4componentVertices)
:m_use32bitIndices(use32bitIndices),
m_use4componentVertices(use4componentVertices)
m_use4componentVertices(use4componentVertices),
m_weldingThreshold(0.0)
{
btIndexedMesh meshIndex;
meshIndex.m_numTriangles = 0;
@@ -60,49 +61,66 @@ m_use4componentVertices(use4componentVertices)
}
void btTriangleMesh::addIndex(int index)
{
if (m_use32bitIndices)
{
m_32bitIndices.push_back(index);
m_indexedMeshes[0].m_triangleIndexBase = (unsigned char*) &m_32bitIndices[0];
} else
{
m_16bitIndices.push_back(index);
m_indexedMeshes[0].m_triangleIndexBase = (unsigned char*) &m_16bitIndices[0];
}
}
int btTriangleMesh::findOrAddVertex(const btVector3& vertex)
{
//return index of new/existing vertex
//todo: could use acceleration structure for this
if (m_use4componentVertices)
{
for (int i=0;i< m_4componentVertices.size();i++)
{
if ((m_4componentVertices[i]-vertex).length2() <= m_weldingThreshold)
{
return i;
}
}
m_indexedMeshes[0].m_numVertices++;
m_4componentVertices.push_back(vertex);
m_indexedMeshes[0].m_vertexBase = (unsigned char*)&m_4componentVertices[0];
return m_4componentVertices.size()-1;
} else
{
for (int i=0;i< m_3componentVertices.size();i+=3)
{
btVector3 vtx(m_3componentVertices[i],m_3componentVertices[i+1],m_3componentVertices[i+2]);
if ((vtx-vertex).length2() <= m_weldingThreshold)
{
return i/3;
}
}
m_3componentVertices.push_back(vertex.getX());
m_3componentVertices.push_back(vertex.getY());
m_3componentVertices.push_back(vertex.getZ());
m_indexedMeshes[0].m_numVertices++;
m_indexedMeshes[0].m_vertexBase = (unsigned char*)&m_3componentVertices[0];
return (m_3componentVertices.size()/3)-1;
}
}
void btTriangleMesh::addTriangle(const btVector3& vertex0,const btVector3& vertex1,const btVector3& vertex2)
{
m_indexedMeshes[0].m_numTriangles++;
m_indexedMeshes[0].m_numVertices+=3;
if (m_use4componentVertices)
{
m_4componentVertices.push_back(vertex0);
m_4componentVertices.push_back(vertex1);
m_4componentVertices.push_back(vertex2);
m_indexedMeshes[0].m_vertexBase = (unsigned char*)&m_4componentVertices[0];
} else
{
m_3componentVertices.push_back(vertex0.getX());
m_3componentVertices.push_back(vertex0.getY());
m_3componentVertices.push_back(vertex0.getZ());
m_3componentVertices.push_back(vertex1.getX());
m_3componentVertices.push_back(vertex1.getY());
m_3componentVertices.push_back(vertex1.getZ());
m_3componentVertices.push_back(vertex2.getX());
m_3componentVertices.push_back(vertex2.getY());
m_3componentVertices.push_back(vertex2.getZ());
m_indexedMeshes[0].m_vertexBase = (unsigned char*)&m_3componentVertices[0];
}
if (m_use32bitIndices)
{
int curIndex = m_32bitIndices.size();
m_32bitIndices.push_back(curIndex++);
m_32bitIndices.push_back(curIndex++);
m_32bitIndices.push_back(curIndex++);
m_indexedMeshes[0].m_triangleIndexBase = (unsigned char*) &m_32bitIndices[0];
} else
{
short curIndex = static_cast<short>(m_16bitIndices.size());
m_16bitIndices.push_back(curIndex++);
m_16bitIndices.push_back(curIndex++);
m_16bitIndices.push_back(curIndex++);
m_indexedMeshes[0].m_triangleIndexBase = (unsigned char*) &m_16bitIndices[0];
}
addIndex(findOrAddVertex(vertex0));
addIndex(findOrAddVertex(vertex1));
addIndex(findOrAddVertex(vertex2));
}
int btTriangleMesh::getNumTriangles() const

8
src/BulletCollision/CollisionShapes/btTriangleMesh.h
View File

@@ -25,6 +25,7 @@ subject to the following restrictions:
///It allows either 32bit or 16bit indices, and 4 (x-y-z-w) or 3 (x-y-z) component vertices.
///If you want to share triangle/index data between graphics mesh and collision mesh (btBvhTriangleMeshShape), you can directly use btTriangleIndexVertexArray or derive your own class from btStridingMeshInterface.
///Performance of btTriangleMesh and btTriangleIndexVertexArray used in a btBvhTriangleMeshShape is the same.
///It has a brute-force option to weld together closeby vertices.
class btTriangleMesh : public btTriangleIndexVertexArray
{
btAlignedObjectArray<btVector3> m_4componentVertices;
@@ -34,11 +35,16 @@ class btTriangleMesh : public btTriangleIndexVertexArray
btAlignedObjectArray<unsigned short int> m_16bitIndices;
bool m_use32bitIndices;
bool m_use4componentVertices;
public:
btScalar m_weldingThreshold;
btTriangleMesh (bool use32bitIndices=true,bool use4componentVertices=true);
int findOrAddVertex(const btVector3& vertex);
void addIndex(int index);
bool getUse32bitIndices() const
{
return m_use32bitIndices;