initial upgrade to GIMPACT 0.3, thanks to Francisco Leon for the update. GIMPACT demo/build system will be fixed today.
This commit is contained in:
ejcoumans
221
Extras/GIMPACTUtils/btGImpactConvexDecompositionShape.cpp
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221
Extras/GIMPACTUtils/btGImpactConvexDecompositionShape.cpp
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/*
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This source file is part of GIMPACT Library.
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For the latest info, see http://gimpact.sourceforge.net/
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Copyright (c) 2007 Francisco Leon Najera. C.C. 80087371.
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email: projectileman@yahoo.com
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This software is provided 'as-is', without any express or implied warranty.
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In no event will the authors be held liable for any damages arising from the use of this software.
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Permission is granted to anyone to use this software for any purpose,
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including commercial applications, and to alter it and redistribute it freely,
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subject to the following restrictions:
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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.
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2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
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3. This notice may not be removed or altered from any source distribution.
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*/
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#include "btGImpactConvexDecompositionShape.h"
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#include "BulletCollision/CollisionShapes/btConvexHullShape.h"
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#include "ConvexBuilder.h"
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class GIM_ConvexDecomposition : public ConvexDecomposition::ConvexDecompInterface
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{
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protected:
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btGImpactConvexDecompositionShape * m_compoundShape;
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public:
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int mBaseCount;
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int mHullCount;
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bool m_transformSubShapes;
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GIM_ConvexDecomposition(btGImpactConvexDecompositionShape * compoundShape,bool transformSubShapes)
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{
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mBaseCount = 0;
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mHullCount = 0;
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m_compoundShape = compoundShape;
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m_transformSubShapes = transformSubShapes;
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}
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virtual void ConvexDecompResult(ConvexDecomposition::ConvexResult &result)
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{
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//calc centroid, to shift vertices around center of mass
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btVector3 centroid(0,0,0);
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btAlignedObjectArray<btVector3> vertices;
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if(m_transformSubShapes)
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{
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//const unsigned int *src = result.mHullIndices;
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for (unsigned int i=0; i<result.mHullVcount; i++)
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{
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btVector3 vertex(result.mHullVertices[i*3],result.mHullVertices[i*3+1],result.mHullVertices[i*3+2]);
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centroid += vertex;
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}
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centroid *= 1.f/(float(result.mHullVcount) );
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}
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// collect vertices
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for (unsigned int i=0; i<result.mHullVcount; i++)
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{
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btVector3 vertex(result.mHullVertices[i*3],result.mHullVertices[i*3+1],result.mHullVertices[i*3+2]);
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if(m_transformSubShapes)
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{
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vertex -= centroid ;
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}
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vertices.push_back(vertex);
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}
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// build convex shape
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btCollisionShape* convexShape = new btConvexHullShape(
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&(vertices[0].getX()),vertices.size(),sizeof(btVector3));
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convexShape->setMargin(m_compoundShape->getMargin());
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if(m_transformSubShapes)
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{
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btTransform trans;
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trans.setIdentity();
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trans.setOrigin(centroid);
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// add convex shape
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m_compoundShape->addChildShape(trans,convexShape);
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}
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else
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{
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btTransform trans;
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trans.setIdentity();
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//trans.setOrigin(centroid);
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// add convex shape
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m_compoundShape->addChildShape(trans,convexShape);
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//m_compoundShape->addChildShape(convexShape);
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}
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}
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void processDecomposition(int part)
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{
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btGImpactMeshShapePart::TrimeshPrimitiveManager * trimeshInterface =
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m_compoundShape->getTrimeshInterface(part);
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trimeshInterface->lock();
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//collect vertices
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btAlignedObjectArray<float> vertices;
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vertices.reserve(trimeshInterface->get_vertex_count()*3);
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for(int vi = 0;vi<trimeshInterface->get_vertex_count();vi++)
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{
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btVector3 vec;
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trimeshInterface->get_vertex(vi,vec);
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vertices.push_back(vec[0]);
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vertices.push_back(vec[1]);
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vertices.push_back(vec[2]);
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}
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//collect indices
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btAlignedObjectArray<unsigned int> indices;
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indices.reserve(trimeshInterface->get_primitive_count()*3);
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for(int i = 0;i<trimeshInterface->get_primitive_count();i++)
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{
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int i0, i1,i2;
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trimeshInterface->get_indices(i,i0,i1,i2);
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indices.push_back(i0);
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indices.push_back(i1);
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indices.push_back(i2);
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}
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trimeshInterface->unlock();
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unsigned int depth = 5;
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float cpercent = 5;
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float ppercent = 15;
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unsigned int maxv = 16;
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float skinWidth = 0.0;
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ConvexDecomposition::DecompDesc desc;
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desc.mVcount = trimeshInterface->get_vertex_count();
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desc.mVertices = &vertices[0];
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desc.mTcount = trimeshInterface->get_primitive_count();
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desc.mIndices = &indices[0];
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desc.mDepth = depth;
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desc.mCpercent = cpercent;
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desc.mPpercent = ppercent;
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desc.mMaxVertices = maxv;
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desc.mSkinWidth = skinWidth;
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desc.mCallback = this;
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//convexDecomposition.performConvexDecomposition(desc);
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ConvexBuilder cb(desc.mCallback);
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cb.process(desc);
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}
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};
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void btGImpactConvexDecompositionShape::buildConvexDecomposition(bool transformSubShapes)
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{
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GIM_ConvexDecomposition decomposition(this,transformSubShapes);
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int part_count = m_trimeshInterfaces.size();
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for (int i = 0;i<part_count ;i++ )
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{
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decomposition.processDecomposition(i);
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}
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postUpdate();
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}
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void btGImpactConvexDecompositionShape::processAllTriangles(btTriangleCallback* callback,const btVector3& aabbMin,const btVector3& aabbMax) const
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{
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int part_count = m_trimeshInterfaces.size();
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for (int part = 0;part<part_count ;part++ )
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{
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void * ptr = (void * )&m_trimeshInterfaces[part];
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btGImpactMeshShapePart::TrimeshPrimitiveManager * trimeshInterface =
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static_cast<btGImpactMeshShapePart::TrimeshPrimitiveManager *>(ptr);
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trimeshInterface->lock();
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btPrimitiveTriangle triangle;
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int i = trimeshInterface->get_primitive_count();
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while(i--)
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{
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trimeshInterface->get_primitive_triangle(i,triangle);
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callback->processTriangle(triangle.m_vertices,part,i);
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}
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trimeshInterface->unlock();
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}
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}
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86
Extras/GIMPACTUtils/btGImpactConvexDecompositionShape.h
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86
Extras/GIMPACTUtils/btGImpactConvexDecompositionShape.h
Normal file
@@ -0,0 +1,86 @@
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/*! \file btGImpactConvexDecompositionShape.h
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\author Francisco Le<4C>n N<>jera
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*/
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/*
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This source file is part of GIMPACT Library.
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For the latest info, see http://gimpact.sourceforge.net/
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Copyright (c) 2007 Francisco Leon Najera. C.C. 80087371.
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email: projectileman@yahoo.com
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This software is provided 'as-is', without any express or implied warranty.
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In no event will the authors be held liable for any damages arising from the use of this software.
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Permission is granted to anyone to use this software for any purpose,
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including commercial applications, and to alter it and redistribute it freely,
|
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subject to the following restrictions:
|
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|
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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.
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3. This notice may not be removed or altered from any source distribution.
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*/
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#ifndef GIMPACT_CONVEX_DECOMPOSITION_SHAPE_H
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#define GIMPACT_CONVEX_DECOMPOSITION_SHAPE_H
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#include "GIMPACT/Bullet/btGImpactShape.h" // box tree class
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//! This class creates a decomposition from a trimesh.
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/*!
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*/
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class btGImpactConvexDecompositionShape : public btGImpactCompoundShape
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{
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protected:
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btAlignedObjectArray<btGImpactMeshShapePart::TrimeshPrimitiveManager> m_trimeshInterfaces;
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void buildConvexDecomposition(bool transformSubShapes);
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public:
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btGImpactConvexDecompositionShape(
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btStridingMeshInterface * meshInterface,
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const btVector3 & mesh_scale,
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btScalar margin = btScalar(0.01),bool children_has_transform = true)
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:btGImpactCompoundShape(children_has_transform)
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{
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m_collisionMargin = margin;
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btGImpactMeshShapePart::TrimeshPrimitiveManager triInterface;
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triInterface.m_meshInterface = meshInterface;
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triInterface.m_scale = mesh_scale;
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triInterface.m_margin = btScalar(1.0);
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//add parts
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int part_count = meshInterface->getNumSubParts();
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for (int i=0;i< part_count;i++ )
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{
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triInterface.m_part = i;
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m_trimeshInterfaces.push_back(triInterface);
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}
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buildConvexDecomposition(children_has_transform);
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}
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virtual ~btGImpactConvexDecompositionShape()
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{
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}
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SIMD_FORCE_INLINE btGImpactMeshShapePart::TrimeshPrimitiveManager * getTrimeshInterface(int part)
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{
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return &m_trimeshInterfaces[part];
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}
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virtual void processAllTriangles(btTriangleCallback* callback,const btVector3& aabbMin,const btVector3& aabbMax) const;
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};
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#endif //GIMPACT_MESH_SHAPE_H
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