minor tweaks to demos: enable constraint debug drawing in AllBulletDemos, default constraint debugging size set to 0.3,
set svn:eol-style native for folder files http://code.google.com/p/bullet/issues/detail?id=191
This commit is contained in:
erwin.coumans
@@ -1,171 +1,171 @@
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||||
/*
|
||||
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.
|
||||
*/
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||||
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||||
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#include "btCapsuleShape.h"
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#include "BulletCollision/CollisionShapes/btCollisionMargin.h"
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#include "LinearMath/btQuaternion.h"
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btCapsuleShape::btCapsuleShape(btScalar radius, btScalar height) : btConvexInternalShape ()
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{
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m_shapeType = CAPSULE_SHAPE_PROXYTYPE;
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m_upAxis = 1;
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m_implicitShapeDimensions.setValue(radius,0.5f*height,radius);
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}
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btVector3 btCapsuleShape::localGetSupportingVertexWithoutMargin(const btVector3& vec0)const
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{
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btVector3 supVec(0,0,0);
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btScalar maxDot(btScalar(-1e30));
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||||
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||||
btVector3 vec = vec0;
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btScalar lenSqr = vec.length2();
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if (lenSqr < btScalar(0.0001))
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{
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vec.setValue(1,0,0);
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} else
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{
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btScalar rlen = btScalar(1.) / btSqrt(lenSqr );
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vec *= rlen;
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}
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btVector3 vtx;
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btScalar newDot;
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btScalar radius = getRadius();
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{
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btVector3 pos(0,0,0);
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pos[getUpAxis()] = getHalfHeight();
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vtx = pos +vec*m_localScaling*(radius) - vec * getMargin();
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newDot = vec.dot(vtx);
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if (newDot > maxDot)
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{
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maxDot = newDot;
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supVec = vtx;
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}
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}
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{
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btVector3 pos(0,0,0);
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pos[getUpAxis()] = -getHalfHeight();
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vtx = pos +vec*m_localScaling*(radius) - vec * getMargin();
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newDot = vec.dot(vtx);
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if (newDot > maxDot)
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{
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maxDot = newDot;
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supVec = vtx;
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}
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}
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return supVec;
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}
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void btCapsuleShape::batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3* vectors,btVector3* supportVerticesOut,int numVectors) const
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{
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btScalar radius = getRadius();
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for (int j=0;j<numVectors;j++)
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{
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btScalar maxDot(btScalar(-1e30));
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const btVector3& vec = vectors[j];
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btVector3 vtx;
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btScalar newDot;
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{
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btVector3 pos(0,0,0);
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pos[getUpAxis()] = getHalfHeight();
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vtx = pos +vec*m_localScaling*(radius) - vec * getMargin();
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newDot = vec.dot(vtx);
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if (newDot > maxDot)
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{
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maxDot = newDot;
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supportVerticesOut[j] = vtx;
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}
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}
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{
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btVector3 pos(0,0,0);
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pos[getUpAxis()] = -getHalfHeight();
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vtx = pos +vec*m_localScaling*(radius) - vec * getMargin();
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newDot = vec.dot(vtx);
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if (newDot > maxDot)
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{
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maxDot = newDot;
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supportVerticesOut[j] = vtx;
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}
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}
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}
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}
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void btCapsuleShape::calculateLocalInertia(btScalar mass,btVector3& inertia) const
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{
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//as an approximation, take the inertia of the box that bounds the spheres
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btTransform ident;
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ident.setIdentity();
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btScalar radius = getRadius();
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btVector3 halfExtents(radius,radius,radius);
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halfExtents[getUpAxis()]+=getHalfHeight();
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btScalar margin = CONVEX_DISTANCE_MARGIN;
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btScalar lx=btScalar(2.)*(halfExtents[0]+margin);
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btScalar ly=btScalar(2.)*(halfExtents[1]+margin);
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btScalar lz=btScalar(2.)*(halfExtents[2]+margin);
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const btScalar x2 = lx*lx;
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const btScalar y2 = ly*ly;
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const btScalar z2 = lz*lz;
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const btScalar scaledmass = mass * btScalar(.08333333);
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inertia[0] = scaledmass * (y2+z2);
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inertia[1] = scaledmass * (x2+z2);
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inertia[2] = scaledmass * (x2+y2);
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}
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btCapsuleShapeX::btCapsuleShapeX(btScalar radius,btScalar height)
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{
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m_upAxis = 0;
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m_implicitShapeDimensions.setValue(0.5f*height, radius,radius);
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}
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||||
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||||
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||||
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btCapsuleShapeZ::btCapsuleShapeZ(btScalar radius,btScalar height)
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{
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m_upAxis = 2;
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m_implicitShapeDimensions.setValue(radius,radius,0.5f*height);
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}
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||||
|
||||
|
||||
|
||||
|
||||
/*
|
||||
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.
|
||||
*/
|
||||
|
||||
|
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#include "btCapsuleShape.h"
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#include "BulletCollision/CollisionShapes/btCollisionMargin.h"
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#include "LinearMath/btQuaternion.h"
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btCapsuleShape::btCapsuleShape(btScalar radius, btScalar height) : btConvexInternalShape ()
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{
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m_shapeType = CAPSULE_SHAPE_PROXYTYPE;
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m_upAxis = 1;
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m_implicitShapeDimensions.setValue(radius,0.5f*height,radius);
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}
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btVector3 btCapsuleShape::localGetSupportingVertexWithoutMargin(const btVector3& vec0)const
|
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{
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btVector3 supVec(0,0,0);
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|
||||
btScalar maxDot(btScalar(-1e30));
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btVector3 vec = vec0;
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btScalar lenSqr = vec.length2();
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if (lenSqr < btScalar(0.0001))
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{
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vec.setValue(1,0,0);
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} else
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{
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btScalar rlen = btScalar(1.) / btSqrt(lenSqr );
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vec *= rlen;
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}
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btVector3 vtx;
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btScalar newDot;
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btScalar radius = getRadius();
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|
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{
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btVector3 pos(0,0,0);
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pos[getUpAxis()] = getHalfHeight();
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vtx = pos +vec*m_localScaling*(radius) - vec * getMargin();
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newDot = vec.dot(vtx);
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if (newDot > maxDot)
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{
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maxDot = newDot;
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supVec = vtx;
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}
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}
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{
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btVector3 pos(0,0,0);
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pos[getUpAxis()] = -getHalfHeight();
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vtx = pos +vec*m_localScaling*(radius) - vec * getMargin();
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newDot = vec.dot(vtx);
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if (newDot > maxDot)
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{
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maxDot = newDot;
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supVec = vtx;
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}
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}
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return supVec;
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}
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void btCapsuleShape::batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3* vectors,btVector3* supportVerticesOut,int numVectors) const
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{
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|
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btScalar radius = getRadius();
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|
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for (int j=0;j<numVectors;j++)
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{
|
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btScalar maxDot(btScalar(-1e30));
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const btVector3& vec = vectors[j];
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btVector3 vtx;
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btScalar newDot;
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{
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btVector3 pos(0,0,0);
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pos[getUpAxis()] = getHalfHeight();
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vtx = pos +vec*m_localScaling*(radius) - vec * getMargin();
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newDot = vec.dot(vtx);
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if (newDot > maxDot)
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{
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maxDot = newDot;
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supportVerticesOut[j] = vtx;
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}
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}
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{
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btVector3 pos(0,0,0);
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pos[getUpAxis()] = -getHalfHeight();
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vtx = pos +vec*m_localScaling*(radius) - vec * getMargin();
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newDot = vec.dot(vtx);
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if (newDot > maxDot)
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{
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maxDot = newDot;
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supportVerticesOut[j] = vtx;
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||||
}
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}
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}
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}
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void btCapsuleShape::calculateLocalInertia(btScalar mass,btVector3& inertia) const
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{
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//as an approximation, take the inertia of the box that bounds the spheres
|
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|
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btTransform ident;
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ident.setIdentity();
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|
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|
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btScalar radius = getRadius();
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btVector3 halfExtents(radius,radius,radius);
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halfExtents[getUpAxis()]+=getHalfHeight();
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btScalar margin = CONVEX_DISTANCE_MARGIN;
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btScalar lx=btScalar(2.)*(halfExtents[0]+margin);
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btScalar ly=btScalar(2.)*(halfExtents[1]+margin);
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btScalar lz=btScalar(2.)*(halfExtents[2]+margin);
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const btScalar x2 = lx*lx;
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const btScalar y2 = ly*ly;
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const btScalar z2 = lz*lz;
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const btScalar scaledmass = mass * btScalar(.08333333);
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inertia[0] = scaledmass * (y2+z2);
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inertia[1] = scaledmass * (x2+z2);
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inertia[2] = scaledmass * (x2+y2);
|
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|
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}
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|
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btCapsuleShapeX::btCapsuleShapeX(btScalar radius,btScalar height)
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||||
{
|
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m_upAxis = 0;
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m_implicitShapeDimensions.setValue(0.5f*height, radius,radius);
|
||||
}
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
btCapsuleShapeZ::btCapsuleShapeZ(btScalar radius,btScalar height)
|
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{
|
||||
m_upAxis = 2;
|
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m_implicitShapeDimensions.setValue(radius,radius,0.5f*height);
|
||||
}
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
@@ -1,118 +1,118 @@
|
||||
/*
|
||||
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_CAPSULE_SHAPE_H
|
||||
#define BT_CAPSULE_SHAPE_H
|
||||
|
||||
#include "btConvexInternalShape.h"
|
||||
#include "BulletCollision/BroadphaseCollision/btBroadphaseProxy.h" // for the types
|
||||
|
||||
|
||||
///The btCapsuleShape represents a capsule around the Y axis, there is also the btCapsuleShapeX aligned around the X axis and btCapsuleShapeZ around the Z axis.
|
||||
///The total height is height+2*radius, so the height is just the height between the center of each 'sphere' of the capsule caps.
|
||||
///The btCapsuleShape is a convex hull of two spheres. The btMultiSphereShape is a more general collision shape that takes the convex hull of multiple sphere, so it can also represent a capsule when just using two spheres.
|
||||
class btCapsuleShape : public btConvexInternalShape
|
||||
{
|
||||
protected:
|
||||
int m_upAxis;
|
||||
|
||||
protected:
|
||||
///only used for btCapsuleShapeZ and btCapsuleShapeX subclasses.
|
||||
btCapsuleShape() : btConvexInternalShape() {m_shapeType = CAPSULE_SHAPE_PROXYTYPE;};
|
||||
|
||||
public:
|
||||
btCapsuleShape(btScalar radius,btScalar height);
|
||||
|
||||
///CollisionShape Interface
|
||||
virtual void calculateLocalInertia(btScalar mass,btVector3& inertia) const;
|
||||
|
||||
/// btConvexShape Interface
|
||||
virtual btVector3 localGetSupportingVertexWithoutMargin(const btVector3& vec)const;
|
||||
|
||||
virtual void batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3* vectors,btVector3* supportVerticesOut,int numVectors) const;
|
||||
|
||||
virtual void getAabb (const btTransform& t, btVector3& aabbMin, btVector3& aabbMax) const
|
||||
{
|
||||
btVector3 halfExtents(getRadius(),getRadius(),getRadius());
|
||||
halfExtents[m_upAxis] = getRadius() + getHalfHeight();
|
||||
halfExtents += btVector3(getMargin(),getMargin(),getMargin());
|
||||
btMatrix3x3 abs_b = t.getBasis().absolute();
|
||||
btVector3 center = t.getOrigin();
|
||||
btVector3 extent = btVector3(abs_b[0].dot(halfExtents),abs_b[1].dot(halfExtents),abs_b[2].dot(halfExtents));
|
||||
|
||||
aabbMin = center - extent;
|
||||
aabbMax = center + extent;
|
||||
}
|
||||
|
||||
virtual const char* getName()const
|
||||
{
|
||||
return "CapsuleShape";
|
||||
}
|
||||
|
||||
int getUpAxis() const
|
||||
{
|
||||
return m_upAxis;
|
||||
}
|
||||
|
||||
btScalar getRadius() const
|
||||
{
|
||||
int radiusAxis = (m_upAxis+2)%3;
|
||||
return m_implicitShapeDimensions[radiusAxis];
|
||||
}
|
||||
|
||||
btScalar getHalfHeight() const
|
||||
{
|
||||
return m_implicitShapeDimensions[m_upAxis];
|
||||
}
|
||||
|
||||
};
|
||||
|
||||
///btCapsuleShapeX represents a capsule around the Z axis
|
||||
///the total height is height+2*radius, so the height is just the height between the center of each 'sphere' of the capsule caps.
|
||||
class btCapsuleShapeX : public btCapsuleShape
|
||||
{
|
||||
public:
|
||||
|
||||
btCapsuleShapeX(btScalar radius,btScalar height);
|
||||
|
||||
//debugging
|
||||
virtual const char* getName()const
|
||||
{
|
||||
return "CapsuleX";
|
||||
}
|
||||
|
||||
|
||||
|
||||
};
|
||||
|
||||
///btCapsuleShapeZ represents a capsule around the Z axis
|
||||
///the total height is height+2*radius, so the height is just the height between the center of each 'sphere' of the capsule caps.
|
||||
class btCapsuleShapeZ : public btCapsuleShape
|
||||
{
|
||||
public:
|
||||
btCapsuleShapeZ(btScalar radius,btScalar height);
|
||||
|
||||
//debugging
|
||||
virtual const char* getName()const
|
||||
{
|
||||
return "CapsuleZ";
|
||||
}
|
||||
|
||||
|
||||
};
|
||||
|
||||
|
||||
|
||||
#endif //BT_CAPSULE_SHAPE_H
|
||||
/*
|
||||
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_CAPSULE_SHAPE_H
|
||||
#define BT_CAPSULE_SHAPE_H
|
||||
|
||||
#include "btConvexInternalShape.h"
|
||||
#include "BulletCollision/BroadphaseCollision/btBroadphaseProxy.h" // for the types
|
||||
|
||||
|
||||
///The btCapsuleShape represents a capsule around the Y axis, there is also the btCapsuleShapeX aligned around the X axis and btCapsuleShapeZ around the Z axis.
|
||||
///The total height is height+2*radius, so the height is just the height between the center of each 'sphere' of the capsule caps.
|
||||
///The btCapsuleShape is a convex hull of two spheres. The btMultiSphereShape is a more general collision shape that takes the convex hull of multiple sphere, so it can also represent a capsule when just using two spheres.
|
||||
class btCapsuleShape : public btConvexInternalShape
|
||||
{
|
||||
protected:
|
||||
int m_upAxis;
|
||||
|
||||
protected:
|
||||
///only used for btCapsuleShapeZ and btCapsuleShapeX subclasses.
|
||||
btCapsuleShape() : btConvexInternalShape() {m_shapeType = CAPSULE_SHAPE_PROXYTYPE;};
|
||||
|
||||
public:
|
||||
btCapsuleShape(btScalar radius,btScalar height);
|
||||
|
||||
///CollisionShape Interface
|
||||
virtual void calculateLocalInertia(btScalar mass,btVector3& inertia) const;
|
||||
|
||||
/// btConvexShape Interface
|
||||
virtual btVector3 localGetSupportingVertexWithoutMargin(const btVector3& vec)const;
|
||||
|
||||
virtual void batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3* vectors,btVector3* supportVerticesOut,int numVectors) const;
|
||||
|
||||
virtual void getAabb (const btTransform& t, btVector3& aabbMin, btVector3& aabbMax) const
|
||||
{
|
||||
btVector3 halfExtents(getRadius(),getRadius(),getRadius());
|
||||
halfExtents[m_upAxis] = getRadius() + getHalfHeight();
|
||||
halfExtents += btVector3(getMargin(),getMargin(),getMargin());
|
||||
btMatrix3x3 abs_b = t.getBasis().absolute();
|
||||
btVector3 center = t.getOrigin();
|
||||
btVector3 extent = btVector3(abs_b[0].dot(halfExtents),abs_b[1].dot(halfExtents),abs_b[2].dot(halfExtents));
|
||||
|
||||
aabbMin = center - extent;
|
||||
aabbMax = center + extent;
|
||||
}
|
||||
|
||||
virtual const char* getName()const
|
||||
{
|
||||
return "CapsuleShape";
|
||||
}
|
||||
|
||||
int getUpAxis() const
|
||||
{
|
||||
return m_upAxis;
|
||||
}
|
||||
|
||||
btScalar getRadius() const
|
||||
{
|
||||
int radiusAxis = (m_upAxis+2)%3;
|
||||
return m_implicitShapeDimensions[radiusAxis];
|
||||
}
|
||||
|
||||
btScalar getHalfHeight() const
|
||||
{
|
||||
return m_implicitShapeDimensions[m_upAxis];
|
||||
}
|
||||
|
||||
};
|
||||
|
||||
///btCapsuleShapeX represents a capsule around the Z axis
|
||||
///the total height is height+2*radius, so the height is just the height between the center of each 'sphere' of the capsule caps.
|
||||
class btCapsuleShapeX : public btCapsuleShape
|
||||
{
|
||||
public:
|
||||
|
||||
btCapsuleShapeX(btScalar radius,btScalar height);
|
||||
|
||||
//debugging
|
||||
virtual const char* getName()const
|
||||
{
|
||||
return "CapsuleX";
|
||||
}
|
||||
|
||||
|
||||
|
||||
};
|
||||
|
||||
///btCapsuleShapeZ represents a capsule around the Z axis
|
||||
///the total height is height+2*radius, so the height is just the height between the center of each 'sphere' of the capsule caps.
|
||||
class btCapsuleShapeZ : public btCapsuleShape
|
||||
{
|
||||
public:
|
||||
btCapsuleShapeZ(btScalar radius,btScalar height);
|
||||
|
||||
//debugging
|
||||
virtual const char* getName()const
|
||||
{
|
||||
return "CapsuleZ";
|
||||
}
|
||||
|
||||
|
||||
};
|
||||
|
||||
|
||||
|
||||
#endif //BT_CAPSULE_SHAPE_H
|
||||
|
||||
@@ -1,156 +1,156 @@
|
||||
/*
|
||||
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 "btConvexPointCloudShape.h"
|
||||
#include "BulletCollision/CollisionShapes/btCollisionMargin.h"
|
||||
|
||||
#include "LinearMath/btQuaternion.h"
|
||||
|
||||
void btConvexPointCloudShape::setLocalScaling(const btVector3& scaling)
|
||||
{
|
||||
m_localScaling = scaling;
|
||||
recalcLocalAabb();
|
||||
}
|
||||
|
||||
#ifndef __SPU__
|
||||
btVector3 btConvexPointCloudShape::localGetSupportingVertexWithoutMargin(const btVector3& vec0)const
|
||||
{
|
||||
btVector3 supVec(btScalar(0.),btScalar(0.),btScalar(0.));
|
||||
btScalar newDot,maxDot = btScalar(-1e30);
|
||||
|
||||
btVector3 vec = vec0;
|
||||
btScalar lenSqr = vec.length2();
|
||||
if (lenSqr < btScalar(0.0001))
|
||||
{
|
||||
vec.setValue(1,0,0);
|
||||
} else
|
||||
{
|
||||
btScalar rlen = btScalar(1.) / btSqrt(lenSqr );
|
||||
vec *= rlen;
|
||||
}
|
||||
|
||||
|
||||
for (int i=0;i<m_numPoints;i++)
|
||||
{
|
||||
btVector3 vtx = getScaledPoint(i);
|
||||
|
||||
newDot = vec.dot(vtx);
|
||||
if (newDot > maxDot)
|
||||
{
|
||||
maxDot = newDot;
|
||||
supVec = vtx;
|
||||
}
|
||||
}
|
||||
return supVec;
|
||||
}
|
||||
|
||||
void btConvexPointCloudShape::batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3* vectors,btVector3* supportVerticesOut,int numVectors) const
|
||||
{
|
||||
btScalar newDot;
|
||||
//use 'w' component of supportVerticesOut?
|
||||
{
|
||||
for (int i=0;i<numVectors;i++)
|
||||
{
|
||||
supportVerticesOut[i][3] = btScalar(-1e30);
|
||||
}
|
||||
}
|
||||
for (int i=0;i<m_numPoints;i++)
|
||||
{
|
||||
btVector3 vtx = getScaledPoint(i);
|
||||
|
||||
for (int j=0;j<numVectors;j++)
|
||||
{
|
||||
const btVector3& vec = vectors[j];
|
||||
|
||||
newDot = vec.dot(vtx);
|
||||
if (newDot > supportVerticesOut[j][3])
|
||||
{
|
||||
//WARNING: don't swap next lines, the w component would get overwritten!
|
||||
supportVerticesOut[j] = vtx;
|
||||
supportVerticesOut[j][3] = newDot;
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
|
||||
}
|
||||
|
||||
|
||||
|
||||
btVector3 btConvexPointCloudShape::localGetSupportingVertex(const btVector3& vec)const
|
||||
{
|
||||
btVector3 supVertex = localGetSupportingVertexWithoutMargin(vec);
|
||||
|
||||
if ( getMargin()!=btScalar(0.) )
|
||||
{
|
||||
btVector3 vecnorm = vec;
|
||||
if (vecnorm .length2() < (SIMD_EPSILON*SIMD_EPSILON))
|
||||
{
|
||||
vecnorm.setValue(btScalar(-1.),btScalar(-1.),btScalar(-1.));
|
||||
}
|
||||
vecnorm.normalize();
|
||||
supVertex+= getMargin() * vecnorm;
|
||||
}
|
||||
return supVertex;
|
||||
}
|
||||
|
||||
|
||||
#endif
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
//currently just for debugging (drawing), perhaps future support for algebraic continuous collision detection
|
||||
//Please note that you can debug-draw btConvexHullShape with the Raytracer Demo
|
||||
int btConvexPointCloudShape::getNumVertices() const
|
||||
{
|
||||
return m_numPoints;
|
||||
}
|
||||
|
||||
int btConvexPointCloudShape::getNumEdges() const
|
||||
{
|
||||
return 0;
|
||||
}
|
||||
|
||||
void btConvexPointCloudShape::getEdge(int i,btVector3& pa,btVector3& pb) const
|
||||
{
|
||||
btAssert (0);
|
||||
}
|
||||
|
||||
void btConvexPointCloudShape::getVertex(int i,btVector3& vtx) const
|
||||
{
|
||||
vtx = m_unscaledPoints[i]*m_localScaling;
|
||||
}
|
||||
|
||||
int btConvexPointCloudShape::getNumPlanes() const
|
||||
{
|
||||
return 0;
|
||||
}
|
||||
|
||||
void btConvexPointCloudShape::getPlane(btVector3& ,btVector3& ,int ) const
|
||||
{
|
||||
|
||||
btAssert(0);
|
||||
}
|
||||
|
||||
//not yet
|
||||
bool btConvexPointCloudShape::isInside(const btVector3& ,btScalar ) const
|
||||
{
|
||||
btAssert(0);
|
||||
return false;
|
||||
}
|
||||
|
||||
/*
|
||||
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 "btConvexPointCloudShape.h"
|
||||
#include "BulletCollision/CollisionShapes/btCollisionMargin.h"
|
||||
|
||||
#include "LinearMath/btQuaternion.h"
|
||||
|
||||
void btConvexPointCloudShape::setLocalScaling(const btVector3& scaling)
|
||||
{
|
||||
m_localScaling = scaling;
|
||||
recalcLocalAabb();
|
||||
}
|
||||
|
||||
#ifndef __SPU__
|
||||
btVector3 btConvexPointCloudShape::localGetSupportingVertexWithoutMargin(const btVector3& vec0)const
|
||||
{
|
||||
btVector3 supVec(btScalar(0.),btScalar(0.),btScalar(0.));
|
||||
btScalar newDot,maxDot = btScalar(-1e30);
|
||||
|
||||
btVector3 vec = vec0;
|
||||
btScalar lenSqr = vec.length2();
|
||||
if (lenSqr < btScalar(0.0001))
|
||||
{
|
||||
vec.setValue(1,0,0);
|
||||
} else
|
||||
{
|
||||
btScalar rlen = btScalar(1.) / btSqrt(lenSqr );
|
||||
vec *= rlen;
|
||||
}
|
||||
|
||||
|
||||
for (int i=0;i<m_numPoints;i++)
|
||||
{
|
||||
btVector3 vtx = getScaledPoint(i);
|
||||
|
||||
newDot = vec.dot(vtx);
|
||||
if (newDot > maxDot)
|
||||
{
|
||||
maxDot = newDot;
|
||||
supVec = vtx;
|
||||
}
|
||||
}
|
||||
return supVec;
|
||||
}
|
||||
|
||||
void btConvexPointCloudShape::batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3* vectors,btVector3* supportVerticesOut,int numVectors) const
|
||||
{
|
||||
btScalar newDot;
|
||||
//use 'w' component of supportVerticesOut?
|
||||
{
|
||||
for (int i=0;i<numVectors;i++)
|
||||
{
|
||||
supportVerticesOut[i][3] = btScalar(-1e30);
|
||||
}
|
||||
}
|
||||
for (int i=0;i<m_numPoints;i++)
|
||||
{
|
||||
btVector3 vtx = getScaledPoint(i);
|
||||
|
||||
for (int j=0;j<numVectors;j++)
|
||||
{
|
||||
const btVector3& vec = vectors[j];
|
||||
|
||||
newDot = vec.dot(vtx);
|
||||
if (newDot > supportVerticesOut[j][3])
|
||||
{
|
||||
//WARNING: don't swap next lines, the w component would get overwritten!
|
||||
supportVerticesOut[j] = vtx;
|
||||
supportVerticesOut[j][3] = newDot;
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
|
||||
}
|
||||
|
||||
|
||||
|
||||
btVector3 btConvexPointCloudShape::localGetSupportingVertex(const btVector3& vec)const
|
||||
{
|
||||
btVector3 supVertex = localGetSupportingVertexWithoutMargin(vec);
|
||||
|
||||
if ( getMargin()!=btScalar(0.) )
|
||||
{
|
||||
btVector3 vecnorm = vec;
|
||||
if (vecnorm .length2() < (SIMD_EPSILON*SIMD_EPSILON))
|
||||
{
|
||||
vecnorm.setValue(btScalar(-1.),btScalar(-1.),btScalar(-1.));
|
||||
}
|
||||
vecnorm.normalize();
|
||||
supVertex+= getMargin() * vecnorm;
|
||||
}
|
||||
return supVertex;
|
||||
}
|
||||
|
||||
|
||||
#endif
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
//currently just for debugging (drawing), perhaps future support for algebraic continuous collision detection
|
||||
//Please note that you can debug-draw btConvexHullShape with the Raytracer Demo
|
||||
int btConvexPointCloudShape::getNumVertices() const
|
||||
{
|
||||
return m_numPoints;
|
||||
}
|
||||
|
||||
int btConvexPointCloudShape::getNumEdges() const
|
||||
{
|
||||
return 0;
|
||||
}
|
||||
|
||||
void btConvexPointCloudShape::getEdge(int i,btVector3& pa,btVector3& pb) const
|
||||
{
|
||||
btAssert (0);
|
||||
}
|
||||
|
||||
void btConvexPointCloudShape::getVertex(int i,btVector3& vtx) const
|
||||
{
|
||||
vtx = m_unscaledPoints[i]*m_localScaling;
|
||||
}
|
||||
|
||||
int btConvexPointCloudShape::getNumPlanes() const
|
||||
{
|
||||
return 0;
|
||||
}
|
||||
|
||||
void btConvexPointCloudShape::getPlane(btVector3& ,btVector3& ,int ) const
|
||||
{
|
||||
|
||||
btAssert(0);
|
||||
}
|
||||
|
||||
//not yet
|
||||
bool btConvexPointCloudShape::isInside(const btVector3& ,btScalar ) const
|
||||
{
|
||||
btAssert(0);
|
||||
return false;
|
||||
}
|
||||
|
||||
|
||||
@@ -1,96 +1,96 @@
|
||||
/*
|
||||
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_CONVEX_POINT_CLOUD_SHAPE_H
|
||||
#define BT_CONVEX_POINT_CLOUD_SHAPE_H
|
||||
|
||||
#include "btPolyhedralConvexShape.h"
|
||||
#include "BulletCollision/BroadphaseCollision/btBroadphaseProxy.h" // for the types
|
||||
#include "LinearMath/btAlignedObjectArray.h"
|
||||
|
||||
///The btConvexPointCloudShape implements an implicit convex hull of an array of vertices.
|
||||
ATTRIBUTE_ALIGNED16(class) btConvexPointCloudShape : public btPolyhedralConvexShape
|
||||
{
|
||||
btVector3* m_unscaledPoints;
|
||||
int m_numPoints;
|
||||
|
||||
public:
|
||||
BT_DECLARE_ALIGNED_ALLOCATOR();
|
||||
|
||||
btConvexPointCloudShape(btVector3* points,int numPoints, const btVector3& localScaling,bool computeAabb = true)
|
||||
{
|
||||
m_localScaling = localScaling;
|
||||
m_shapeType = CONVEX_POINT_CLOUD_SHAPE_PROXYTYPE;
|
||||
m_unscaledPoints = points;
|
||||
m_numPoints = numPoints;
|
||||
|
||||
if (computeAabb)
|
||||
recalcLocalAabb();
|
||||
}
|
||||
|
||||
void setPoints (btVector3* points, int numPoints, bool computeAabb = true)
|
||||
{
|
||||
m_unscaledPoints = points;
|
||||
m_numPoints = numPoints;
|
||||
|
||||
if (computeAabb)
|
||||
recalcLocalAabb();
|
||||
}
|
||||
|
||||
SIMD_FORCE_INLINE btVector3* getUnscaledPoints()
|
||||
{
|
||||
return m_unscaledPoints;
|
||||
}
|
||||
|
||||
SIMD_FORCE_INLINE const btVector3* getUnscaledPoints() const
|
||||
{
|
||||
return m_unscaledPoints;
|
||||
}
|
||||
|
||||
SIMD_FORCE_INLINE int getNumPoints() const
|
||||
{
|
||||
return m_numPoints;
|
||||
}
|
||||
|
||||
SIMD_FORCE_INLINE btVector3 getScaledPoint( int index) const
|
||||
{
|
||||
return m_unscaledPoints[index] * m_localScaling;
|
||||
}
|
||||
|
||||
#ifndef __SPU__
|
||||
virtual btVector3 localGetSupportingVertex(const btVector3& vec)const;
|
||||
virtual btVector3 localGetSupportingVertexWithoutMargin(const btVector3& vec)const;
|
||||
virtual void batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3* vectors,btVector3* supportVerticesOut,int numVectors) const;
|
||||
#endif
|
||||
|
||||
|
||||
//debugging
|
||||
virtual const char* getName()const {return "ConvexPointCloud";}
|
||||
|
||||
virtual int getNumVertices() const;
|
||||
virtual int getNumEdges() const;
|
||||
virtual void getEdge(int i,btVector3& pa,btVector3& pb) const;
|
||||
virtual void getVertex(int i,btVector3& vtx) const;
|
||||
virtual int getNumPlanes() const;
|
||||
virtual void getPlane(btVector3& planeNormal,btVector3& planeSupport,int i ) const;
|
||||
virtual bool isInside(const btVector3& pt,btScalar tolerance) const;
|
||||
|
||||
///in case we receive negative scaling
|
||||
virtual void setLocalScaling(const btVector3& scaling);
|
||||
};
|
||||
|
||||
|
||||
#endif //BT_CONVEX_POINT_CLOUD_SHAPE_H
|
||||
|
||||
/*
|
||||
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_CONVEX_POINT_CLOUD_SHAPE_H
|
||||
#define BT_CONVEX_POINT_CLOUD_SHAPE_H
|
||||
|
||||
#include "btPolyhedralConvexShape.h"
|
||||
#include "BulletCollision/BroadphaseCollision/btBroadphaseProxy.h" // for the types
|
||||
#include "LinearMath/btAlignedObjectArray.h"
|
||||
|
||||
///The btConvexPointCloudShape implements an implicit convex hull of an array of vertices.
|
||||
ATTRIBUTE_ALIGNED16(class) btConvexPointCloudShape : public btPolyhedralConvexShape
|
||||
{
|
||||
btVector3* m_unscaledPoints;
|
||||
int m_numPoints;
|
||||
|
||||
public:
|
||||
BT_DECLARE_ALIGNED_ALLOCATOR();
|
||||
|
||||
btConvexPointCloudShape(btVector3* points,int numPoints, const btVector3& localScaling,bool computeAabb = true)
|
||||
{
|
||||
m_localScaling = localScaling;
|
||||
m_shapeType = CONVEX_POINT_CLOUD_SHAPE_PROXYTYPE;
|
||||
m_unscaledPoints = points;
|
||||
m_numPoints = numPoints;
|
||||
|
||||
if (computeAabb)
|
||||
recalcLocalAabb();
|
||||
}
|
||||
|
||||
void setPoints (btVector3* points, int numPoints, bool computeAabb = true)
|
||||
{
|
||||
m_unscaledPoints = points;
|
||||
m_numPoints = numPoints;
|
||||
|
||||
if (computeAabb)
|
||||
recalcLocalAabb();
|
||||
}
|
||||
|
||||
SIMD_FORCE_INLINE btVector3* getUnscaledPoints()
|
||||
{
|
||||
return m_unscaledPoints;
|
||||
}
|
||||
|
||||
SIMD_FORCE_INLINE const btVector3* getUnscaledPoints() const
|
||||
{
|
||||
return m_unscaledPoints;
|
||||
}
|
||||
|
||||
SIMD_FORCE_INLINE int getNumPoints() const
|
||||
{
|
||||
return m_numPoints;
|
||||
}
|
||||
|
||||
SIMD_FORCE_INLINE btVector3 getScaledPoint( int index) const
|
||||
{
|
||||
return m_unscaledPoints[index] * m_localScaling;
|
||||
}
|
||||
|
||||
#ifndef __SPU__
|
||||
virtual btVector3 localGetSupportingVertex(const btVector3& vec)const;
|
||||
virtual btVector3 localGetSupportingVertexWithoutMargin(const btVector3& vec)const;
|
||||
virtual void batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3* vectors,btVector3* supportVerticesOut,int numVectors) const;
|
||||
#endif
|
||||
|
||||
|
||||
//debugging
|
||||
virtual const char* getName()const {return "ConvexPointCloud";}
|
||||
|
||||
virtual int getNumVertices() const;
|
||||
virtual int getNumEdges() const;
|
||||
virtual void getEdge(int i,btVector3& pa,btVector3& pb) const;
|
||||
virtual void getVertex(int i,btVector3& vtx) const;
|
||||
virtual int getNumPlanes() const;
|
||||
virtual void getPlane(btVector3& planeNormal,btVector3& planeSupport,int i ) const;
|
||||
virtual bool isInside(const btVector3& pt,btScalar tolerance) const;
|
||||
|
||||
///in case we receive negative scaling
|
||||
virtual void setLocalScaling(const btVector3& scaling);
|
||||
};
|
||||
|
||||
|
||||
#endif //BT_CONVEX_POINT_CLOUD_SHAPE_H
|
||||
|
||||
|
||||
@@ -1,314 +1,314 @@
|
||||
/*
|
||||
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 "btConvexTriangleMeshShape.h"
|
||||
#include "BulletCollision/CollisionShapes/btCollisionMargin.h"
|
||||
|
||||
#include "LinearMath/btQuaternion.h"
|
||||
#include "BulletCollision/CollisionShapes/btStridingMeshInterface.h"
|
||||
|
||||
|
||||
btConvexTriangleMeshShape ::btConvexTriangleMeshShape (btStridingMeshInterface* meshInterface, bool calcAabb)
|
||||
: btPolyhedralConvexShape(), m_stridingMesh(meshInterface)
|
||||
{
|
||||
m_shapeType = CONVEX_TRIANGLEMESH_SHAPE_PROXYTYPE;
|
||||
if ( calcAabb )
|
||||
recalcLocalAabb();
|
||||
}
|
||||
|
||||
|
||||
|
||||
|
||||
///It's not nice to have all this virtual function overhead, so perhaps we can also gather the points once
|
||||
///but then we are duplicating
|
||||
class LocalSupportVertexCallback: public btInternalTriangleIndexCallback
|
||||
{
|
||||
|
||||
btVector3 m_supportVertexLocal;
|
||||
public:
|
||||
|
||||
btScalar m_maxDot;
|
||||
btVector3 m_supportVecLocal;
|
||||
|
||||
LocalSupportVertexCallback(const btVector3& supportVecLocal)
|
||||
: m_supportVertexLocal(btScalar(0.),btScalar(0.),btScalar(0.)),
|
||||
m_maxDot(btScalar(-1e30)),
|
||||
m_supportVecLocal(supportVecLocal)
|
||||
{
|
||||
}
|
||||
|
||||
virtual void internalProcessTriangleIndex(btVector3* triangle,int partId,int triangleIndex)
|
||||
{
|
||||
(void)triangleIndex;
|
||||
(void)partId;
|
||||
|
||||
for (int i=0;i<3;i++)
|
||||
{
|
||||
btScalar dot = m_supportVecLocal.dot(triangle[i]);
|
||||
if (dot > m_maxDot)
|
||||
{
|
||||
m_maxDot = dot;
|
||||
m_supportVertexLocal = triangle[i];
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
btVector3 GetSupportVertexLocal()
|
||||
{
|
||||
return m_supportVertexLocal;
|
||||
}
|
||||
|
||||
};
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
btVector3 btConvexTriangleMeshShape::localGetSupportingVertexWithoutMargin(const btVector3& vec0)const
|
||||
{
|
||||
btVector3 supVec(btScalar(0.),btScalar(0.),btScalar(0.));
|
||||
|
||||
btVector3 vec = vec0;
|
||||
btScalar lenSqr = vec.length2();
|
||||
if (lenSqr < btScalar(0.0001))
|
||||
{
|
||||
vec.setValue(1,0,0);
|
||||
} else
|
||||
{
|
||||
btScalar rlen = btScalar(1.) / btSqrt(lenSqr );
|
||||
vec *= rlen;
|
||||
}
|
||||
|
||||
LocalSupportVertexCallback supportCallback(vec);
|
||||
btVector3 aabbMax(btScalar(1e30),btScalar(1e30),btScalar(1e30));
|
||||
m_stridingMesh->InternalProcessAllTriangles(&supportCallback,-aabbMax,aabbMax);
|
||||
supVec = supportCallback.GetSupportVertexLocal();
|
||||
|
||||
return supVec;
|
||||
}
|
||||
|
||||
void btConvexTriangleMeshShape::batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3* vectors,btVector3* supportVerticesOut,int numVectors) const
|
||||
{
|
||||
//use 'w' component of supportVerticesOut?
|
||||
{
|
||||
for (int i=0;i<numVectors;i++)
|
||||
{
|
||||
supportVerticesOut[i][3] = btScalar(-1e30);
|
||||
}
|
||||
}
|
||||
|
||||
///@todo: could do the batch inside the callback!
|
||||
|
||||
|
||||
for (int j=0;j<numVectors;j++)
|
||||
{
|
||||
const btVector3& vec = vectors[j];
|
||||
LocalSupportVertexCallback supportCallback(vec);
|
||||
btVector3 aabbMax(btScalar(1e30),btScalar(1e30),btScalar(1e30));
|
||||
m_stridingMesh->InternalProcessAllTriangles(&supportCallback,-aabbMax,aabbMax);
|
||||
supportVerticesOut[j] = supportCallback.GetSupportVertexLocal();
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
|
||||
|
||||
btVector3 btConvexTriangleMeshShape::localGetSupportingVertex(const btVector3& vec)const
|
||||
{
|
||||
btVector3 supVertex = localGetSupportingVertexWithoutMargin(vec);
|
||||
|
||||
if ( getMargin()!=btScalar(0.) )
|
||||
{
|
||||
btVector3 vecnorm = vec;
|
||||
if (vecnorm .length2() < (SIMD_EPSILON*SIMD_EPSILON))
|
||||
{
|
||||
vecnorm.setValue(btScalar(-1.),btScalar(-1.),btScalar(-1.));
|
||||
}
|
||||
vecnorm.normalize();
|
||||
supVertex+= getMargin() * vecnorm;
|
||||
}
|
||||
return supVertex;
|
||||
}
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
//currently just for debugging (drawing), perhaps future support for algebraic continuous collision detection
|
||||
//Please note that you can debug-draw btConvexTriangleMeshShape with the Raytracer Demo
|
||||
int btConvexTriangleMeshShape::getNumVertices() const
|
||||
{
|
||||
//cache this?
|
||||
return 0;
|
||||
|
||||
}
|
||||
|
||||
int btConvexTriangleMeshShape::getNumEdges() const
|
||||
{
|
||||
return 0;
|
||||
}
|
||||
|
||||
void btConvexTriangleMeshShape::getEdge(int ,btVector3& ,btVector3& ) const
|
||||
{
|
||||
btAssert(0);
|
||||
}
|
||||
|
||||
void btConvexTriangleMeshShape::getVertex(int ,btVector3& ) const
|
||||
{
|
||||
btAssert(0);
|
||||
}
|
||||
|
||||
int btConvexTriangleMeshShape::getNumPlanes() const
|
||||
{
|
||||
return 0;
|
||||
}
|
||||
|
||||
void btConvexTriangleMeshShape::getPlane(btVector3& ,btVector3& ,int ) const
|
||||
{
|
||||
btAssert(0);
|
||||
}
|
||||
|
||||
//not yet
|
||||
bool btConvexTriangleMeshShape::isInside(const btVector3& ,btScalar ) const
|
||||
{
|
||||
btAssert(0);
|
||||
return false;
|
||||
}
|
||||
|
||||
|
||||
|
||||
void btConvexTriangleMeshShape::setLocalScaling(const btVector3& scaling)
|
||||
{
|
||||
m_stridingMesh->setScaling(scaling);
|
||||
|
||||
recalcLocalAabb();
|
||||
|
||||
}
|
||||
|
||||
|
||||
const btVector3& btConvexTriangleMeshShape::getLocalScaling() const
|
||||
{
|
||||
return m_stridingMesh->getScaling();
|
||||
}
|
||||
|
||||
void btConvexTriangleMeshShape::calculatePrincipalAxisTransform(btTransform& principal, btVector3& inertia, btScalar& volume) const
|
||||
{
|
||||
class CenterCallback: public btInternalTriangleIndexCallback
|
||||
{
|
||||
bool first;
|
||||
btVector3 ref;
|
||||
btVector3 sum;
|
||||
btScalar volume;
|
||||
|
||||
public:
|
||||
|
||||
CenterCallback() : first(true), ref(0, 0, 0), sum(0, 0, 0), volume(0)
|
||||
{
|
||||
}
|
||||
|
||||
virtual void internalProcessTriangleIndex(btVector3* triangle, int partId, int triangleIndex)
|
||||
{
|
||||
(void) triangleIndex;
|
||||
(void) partId;
|
||||
if (first)
|
||||
{
|
||||
ref = triangle[0];
|
||||
first = false;
|
||||
}
|
||||
else
|
||||
{
|
||||
btScalar vol = btFabs((triangle[0] - ref).triple(triangle[1] - ref, triangle[2] - ref));
|
||||
sum += (btScalar(0.25) * vol) * ((triangle[0] + triangle[1] + triangle[2] + ref));
|
||||
volume += vol;
|
||||
}
|
||||
}
|
||||
|
||||
btVector3 getCenter()
|
||||
{
|
||||
return (volume > 0) ? sum / volume : ref;
|
||||
}
|
||||
|
||||
btScalar getVolume()
|
||||
{
|
||||
return volume * btScalar(1. / 6);
|
||||
}
|
||||
|
||||
};
|
||||
|
||||
class InertiaCallback: public btInternalTriangleIndexCallback
|
||||
{
|
||||
btMatrix3x3 sum;
|
||||
btVector3 center;
|
||||
|
||||
public:
|
||||
|
||||
InertiaCallback(btVector3& center) : sum(0, 0, 0, 0, 0, 0, 0, 0, 0), center(center)
|
||||
{
|
||||
}
|
||||
|
||||
virtual void internalProcessTriangleIndex(btVector3* triangle, int partId, int triangleIndex)
|
||||
{
|
||||
(void) triangleIndex;
|
||||
(void) partId;
|
||||
btMatrix3x3 i;
|
||||
btVector3 a = triangle[0] - center;
|
||||
btVector3 b = triangle[1] - center;
|
||||
btVector3 c = triangle[2] - center;
|
||||
btScalar volNeg = -btFabs(a.triple(b, c)) * btScalar(1. / 6);
|
||||
for (int j = 0; j < 3; j++)
|
||||
{
|
||||
for (int k = 0; k <= j; k++)
|
||||
{
|
||||
i[j][k] = i[k][j] = volNeg * (btScalar(0.1) * (a[j] * a[k] + b[j] * b[k] + c[j] * c[k])
|
||||
+ btScalar(0.05) * (a[j] * b[k] + a[k] * b[j] + a[j] * c[k] + a[k] * c[j] + b[j] * c[k] + b[k] * c[j]));
|
||||
}
|
||||
}
|
||||
btScalar i00 = -i[0][0];
|
||||
btScalar i11 = -i[1][1];
|
||||
btScalar i22 = -i[2][2];
|
||||
i[0][0] = i11 + i22;
|
||||
i[1][1] = i22 + i00;
|
||||
i[2][2] = i00 + i11;
|
||||
sum[0] += i[0];
|
||||
sum[1] += i[1];
|
||||
sum[2] += i[2];
|
||||
}
|
||||
|
||||
btMatrix3x3& getInertia()
|
||||
{
|
||||
return sum;
|
||||
}
|
||||
|
||||
};
|
||||
|
||||
CenterCallback centerCallback;
|
||||
btVector3 aabbMax(btScalar(1e30),btScalar(1e30),btScalar(1e30));
|
||||
m_stridingMesh->InternalProcessAllTriangles(¢erCallback, -aabbMax, aabbMax);
|
||||
btVector3 center = centerCallback.getCenter();
|
||||
principal.setOrigin(center);
|
||||
volume = centerCallback.getVolume();
|
||||
|
||||
InertiaCallback inertiaCallback(center);
|
||||
m_stridingMesh->InternalProcessAllTriangles(&inertiaCallback, -aabbMax, aabbMax);
|
||||
|
||||
btMatrix3x3& i = inertiaCallback.getInertia();
|
||||
i.diagonalize(principal.getBasis(), btScalar(0.00001), 20);
|
||||
inertia.setValue(i[0][0], i[1][1], i[2][2]);
|
||||
inertia /= volume;
|
||||
}
|
||||
|
||||
/*
|
||||
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 "btConvexTriangleMeshShape.h"
|
||||
#include "BulletCollision/CollisionShapes/btCollisionMargin.h"
|
||||
|
||||
#include "LinearMath/btQuaternion.h"
|
||||
#include "BulletCollision/CollisionShapes/btStridingMeshInterface.h"
|
||||
|
||||
|
||||
btConvexTriangleMeshShape ::btConvexTriangleMeshShape (btStridingMeshInterface* meshInterface, bool calcAabb)
|
||||
: btPolyhedralConvexShape(), m_stridingMesh(meshInterface)
|
||||
{
|
||||
m_shapeType = CONVEX_TRIANGLEMESH_SHAPE_PROXYTYPE;
|
||||
if ( calcAabb )
|
||||
recalcLocalAabb();
|
||||
}
|
||||
|
||||
|
||||
|
||||
|
||||
///It's not nice to have all this virtual function overhead, so perhaps we can also gather the points once
|
||||
///but then we are duplicating
|
||||
class LocalSupportVertexCallback: public btInternalTriangleIndexCallback
|
||||
{
|
||||
|
||||
btVector3 m_supportVertexLocal;
|
||||
public:
|
||||
|
||||
btScalar m_maxDot;
|
||||
btVector3 m_supportVecLocal;
|
||||
|
||||
LocalSupportVertexCallback(const btVector3& supportVecLocal)
|
||||
: m_supportVertexLocal(btScalar(0.),btScalar(0.),btScalar(0.)),
|
||||
m_maxDot(btScalar(-1e30)),
|
||||
m_supportVecLocal(supportVecLocal)
|
||||
{
|
||||
}
|
||||
|
||||
virtual void internalProcessTriangleIndex(btVector3* triangle,int partId,int triangleIndex)
|
||||
{
|
||||
(void)triangleIndex;
|
||||
(void)partId;
|
||||
|
||||
for (int i=0;i<3;i++)
|
||||
{
|
||||
btScalar dot = m_supportVecLocal.dot(triangle[i]);
|
||||
if (dot > m_maxDot)
|
||||
{
|
||||
m_maxDot = dot;
|
||||
m_supportVertexLocal = triangle[i];
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
btVector3 GetSupportVertexLocal()
|
||||
{
|
||||
return m_supportVertexLocal;
|
||||
}
|
||||
|
||||
};
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
btVector3 btConvexTriangleMeshShape::localGetSupportingVertexWithoutMargin(const btVector3& vec0)const
|
||||
{
|
||||
btVector3 supVec(btScalar(0.),btScalar(0.),btScalar(0.));
|
||||
|
||||
btVector3 vec = vec0;
|
||||
btScalar lenSqr = vec.length2();
|
||||
if (lenSqr < btScalar(0.0001))
|
||||
{
|
||||
vec.setValue(1,0,0);
|
||||
} else
|
||||
{
|
||||
btScalar rlen = btScalar(1.) / btSqrt(lenSqr );
|
||||
vec *= rlen;
|
||||
}
|
||||
|
||||
LocalSupportVertexCallback supportCallback(vec);
|
||||
btVector3 aabbMax(btScalar(1e30),btScalar(1e30),btScalar(1e30));
|
||||
m_stridingMesh->InternalProcessAllTriangles(&supportCallback,-aabbMax,aabbMax);
|
||||
supVec = supportCallback.GetSupportVertexLocal();
|
||||
|
||||
return supVec;
|
||||
}
|
||||
|
||||
void btConvexTriangleMeshShape::batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3* vectors,btVector3* supportVerticesOut,int numVectors) const
|
||||
{
|
||||
//use 'w' component of supportVerticesOut?
|
||||
{
|
||||
for (int i=0;i<numVectors;i++)
|
||||
{
|
||||
supportVerticesOut[i][3] = btScalar(-1e30);
|
||||
}
|
||||
}
|
||||
|
||||
///@todo: could do the batch inside the callback!
|
||||
|
||||
|
||||
for (int j=0;j<numVectors;j++)
|
||||
{
|
||||
const btVector3& vec = vectors[j];
|
||||
LocalSupportVertexCallback supportCallback(vec);
|
||||
btVector3 aabbMax(btScalar(1e30),btScalar(1e30),btScalar(1e30));
|
||||
m_stridingMesh->InternalProcessAllTriangles(&supportCallback,-aabbMax,aabbMax);
|
||||
supportVerticesOut[j] = supportCallback.GetSupportVertexLocal();
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
|
||||
|
||||
btVector3 btConvexTriangleMeshShape::localGetSupportingVertex(const btVector3& vec)const
|
||||
{
|
||||
btVector3 supVertex = localGetSupportingVertexWithoutMargin(vec);
|
||||
|
||||
if ( getMargin()!=btScalar(0.) )
|
||||
{
|
||||
btVector3 vecnorm = vec;
|
||||
if (vecnorm .length2() < (SIMD_EPSILON*SIMD_EPSILON))
|
||||
{
|
||||
vecnorm.setValue(btScalar(-1.),btScalar(-1.),btScalar(-1.));
|
||||
}
|
||||
vecnorm.normalize();
|
||||
supVertex+= getMargin() * vecnorm;
|
||||
}
|
||||
return supVertex;
|
||||
}
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
//currently just for debugging (drawing), perhaps future support for algebraic continuous collision detection
|
||||
//Please note that you can debug-draw btConvexTriangleMeshShape with the Raytracer Demo
|
||||
int btConvexTriangleMeshShape::getNumVertices() const
|
||||
{
|
||||
//cache this?
|
||||
return 0;
|
||||
|
||||
}
|
||||
|
||||
int btConvexTriangleMeshShape::getNumEdges() const
|
||||
{
|
||||
return 0;
|
||||
}
|
||||
|
||||
void btConvexTriangleMeshShape::getEdge(int ,btVector3& ,btVector3& ) const
|
||||
{
|
||||
btAssert(0);
|
||||
}
|
||||
|
||||
void btConvexTriangleMeshShape::getVertex(int ,btVector3& ) const
|
||||
{
|
||||
btAssert(0);
|
||||
}
|
||||
|
||||
int btConvexTriangleMeshShape::getNumPlanes() const
|
||||
{
|
||||
return 0;
|
||||
}
|
||||
|
||||
void btConvexTriangleMeshShape::getPlane(btVector3& ,btVector3& ,int ) const
|
||||
{
|
||||
btAssert(0);
|
||||
}
|
||||
|
||||
//not yet
|
||||
bool btConvexTriangleMeshShape::isInside(const btVector3& ,btScalar ) const
|
||||
{
|
||||
btAssert(0);
|
||||
return false;
|
||||
}
|
||||
|
||||
|
||||
|
||||
void btConvexTriangleMeshShape::setLocalScaling(const btVector3& scaling)
|
||||
{
|
||||
m_stridingMesh->setScaling(scaling);
|
||||
|
||||
recalcLocalAabb();
|
||||
|
||||
}
|
||||
|
||||
|
||||
const btVector3& btConvexTriangleMeshShape::getLocalScaling() const
|
||||
{
|
||||
return m_stridingMesh->getScaling();
|
||||
}
|
||||
|
||||
void btConvexTriangleMeshShape::calculatePrincipalAxisTransform(btTransform& principal, btVector3& inertia, btScalar& volume) const
|
||||
{
|
||||
class CenterCallback: public btInternalTriangleIndexCallback
|
||||
{
|
||||
bool first;
|
||||
btVector3 ref;
|
||||
btVector3 sum;
|
||||
btScalar volume;
|
||||
|
||||
public:
|
||||
|
||||
CenterCallback() : first(true), ref(0, 0, 0), sum(0, 0, 0), volume(0)
|
||||
{
|
||||
}
|
||||
|
||||
virtual void internalProcessTriangleIndex(btVector3* triangle, int partId, int triangleIndex)
|
||||
{
|
||||
(void) triangleIndex;
|
||||
(void) partId;
|
||||
if (first)
|
||||
{
|
||||
ref = triangle[0];
|
||||
first = false;
|
||||
}
|
||||
else
|
||||
{
|
||||
btScalar vol = btFabs((triangle[0] - ref).triple(triangle[1] - ref, triangle[2] - ref));
|
||||
sum += (btScalar(0.25) * vol) * ((triangle[0] + triangle[1] + triangle[2] + ref));
|
||||
volume += vol;
|
||||
}
|
||||
}
|
||||
|
||||
btVector3 getCenter()
|
||||
{
|
||||
return (volume > 0) ? sum / volume : ref;
|
||||
}
|
||||
|
||||
btScalar getVolume()
|
||||
{
|
||||
return volume * btScalar(1. / 6);
|
||||
}
|
||||
|
||||
};
|
||||
|
||||
class InertiaCallback: public btInternalTriangleIndexCallback
|
||||
{
|
||||
btMatrix3x3 sum;
|
||||
btVector3 center;
|
||||
|
||||
public:
|
||||
|
||||
InertiaCallback(btVector3& center) : sum(0, 0, 0, 0, 0, 0, 0, 0, 0), center(center)
|
||||
{
|
||||
}
|
||||
|
||||
virtual void internalProcessTriangleIndex(btVector3* triangle, int partId, int triangleIndex)
|
||||
{
|
||||
(void) triangleIndex;
|
||||
(void) partId;
|
||||
btMatrix3x3 i;
|
||||
btVector3 a = triangle[0] - center;
|
||||
btVector3 b = triangle[1] - center;
|
||||
btVector3 c = triangle[2] - center;
|
||||
btScalar volNeg = -btFabs(a.triple(b, c)) * btScalar(1. / 6);
|
||||
for (int j = 0; j < 3; j++)
|
||||
{
|
||||
for (int k = 0; k <= j; k++)
|
||||
{
|
||||
i[j][k] = i[k][j] = volNeg * (btScalar(0.1) * (a[j] * a[k] + b[j] * b[k] + c[j] * c[k])
|
||||
+ btScalar(0.05) * (a[j] * b[k] + a[k] * b[j] + a[j] * c[k] + a[k] * c[j] + b[j] * c[k] + b[k] * c[j]));
|
||||
}
|
||||
}
|
||||
btScalar i00 = -i[0][0];
|
||||
btScalar i11 = -i[1][1];
|
||||
btScalar i22 = -i[2][2];
|
||||
i[0][0] = i11 + i22;
|
||||
i[1][1] = i22 + i00;
|
||||
i[2][2] = i00 + i11;
|
||||
sum[0] += i[0];
|
||||
sum[1] += i[1];
|
||||
sum[2] += i[2];
|
||||
}
|
||||
|
||||
btMatrix3x3& getInertia()
|
||||
{
|
||||
return sum;
|
||||
}
|
||||
|
||||
};
|
||||
|
||||
CenterCallback centerCallback;
|
||||
btVector3 aabbMax(btScalar(1e30),btScalar(1e30),btScalar(1e30));
|
||||
m_stridingMesh->InternalProcessAllTriangles(¢erCallback, -aabbMax, aabbMax);
|
||||
btVector3 center = centerCallback.getCenter();
|
||||
principal.setOrigin(center);
|
||||
volume = centerCallback.getVolume();
|
||||
|
||||
InertiaCallback inertiaCallback(center);
|
||||
m_stridingMesh->InternalProcessAllTriangles(&inertiaCallback, -aabbMax, aabbMax);
|
||||
|
||||
btMatrix3x3& i = inertiaCallback.getInertia();
|
||||
i.diagonalize(principal.getBasis(), btScalar(0.00001), 20);
|
||||
inertia.setValue(i[0][0], i[1][1], i[2][2]);
|
||||
inertia /= volume;
|
||||
}
|
||||
|
||||
|
||||
@@ -1,411 +1,411 @@
|
||||
/*
|
||||
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 "btHeightfieldTerrainShape.h"
|
||||
|
||||
#include "LinearMath/btTransformUtil.h"
|
||||
|
||||
|
||||
|
||||
btHeightfieldTerrainShape::btHeightfieldTerrainShape
|
||||
(
|
||||
int heightStickWidth, int heightStickLength, void* heightfieldData,
|
||||
btScalar heightScale, btScalar minHeight, btScalar maxHeight,int upAxis,
|
||||
PHY_ScalarType hdt, bool flipQuadEdges
|
||||
)
|
||||
{
|
||||
initialize(heightStickWidth, heightStickLength, heightfieldData,
|
||||
heightScale, minHeight, maxHeight, upAxis, hdt,
|
||||
flipQuadEdges);
|
||||
}
|
||||
|
||||
|
||||
|
||||
btHeightfieldTerrainShape::btHeightfieldTerrainShape(int heightStickWidth, int heightStickLength,void* heightfieldData,btScalar maxHeight,int upAxis,bool useFloatData,bool flipQuadEdges)
|
||||
{
|
||||
// legacy constructor: support only float or unsigned char,
|
||||
// and min height is zero
|
||||
PHY_ScalarType hdt = (useFloatData) ? PHY_FLOAT : PHY_UCHAR;
|
||||
btScalar minHeight = 0.0;
|
||||
|
||||
// previously, height = uchar * maxHeight / 65535.
|
||||
// So to preserve legacy behavior, heightScale = maxHeight / 65535
|
||||
btScalar heightScale = maxHeight / 65535;
|
||||
|
||||
initialize(heightStickWidth, heightStickLength, heightfieldData,
|
||||
heightScale, minHeight, maxHeight, upAxis, hdt,
|
||||
flipQuadEdges);
|
||||
}
|
||||
|
||||
|
||||
|
||||
void btHeightfieldTerrainShape::initialize
|
||||
(
|
||||
int heightStickWidth, int heightStickLength, void* heightfieldData,
|
||||
btScalar heightScale, btScalar minHeight, btScalar maxHeight, int upAxis,
|
||||
PHY_ScalarType hdt, bool flipQuadEdges
|
||||
)
|
||||
{
|
||||
// validation
|
||||
btAssert(heightStickWidth > 1 && "bad width");
|
||||
btAssert(heightStickLength > 1 && "bad length");
|
||||
btAssert(heightfieldData && "null heightfield data");
|
||||
// btAssert(heightScale) -- do we care? Trust caller here
|
||||
btAssert(minHeight <= maxHeight && "bad min/max height");
|
||||
btAssert(upAxis >= 0 && upAxis < 3 &&
|
||||
"bad upAxis--should be in range [0,2]");
|
||||
btAssert(hdt != PHY_UCHAR || hdt != PHY_FLOAT || hdt != PHY_SHORT &&
|
||||
"Bad height data type enum");
|
||||
|
||||
// initialize member variables
|
||||
m_shapeType = TERRAIN_SHAPE_PROXYTYPE;
|
||||
m_heightStickWidth = heightStickWidth;
|
||||
m_heightStickLength = heightStickLength;
|
||||
m_minHeight = minHeight;
|
||||
m_maxHeight = maxHeight;
|
||||
m_width = (btScalar) (heightStickWidth - 1);
|
||||
m_length = (btScalar) (heightStickLength - 1);
|
||||
m_heightScale = heightScale;
|
||||
m_heightfieldDataUnknown = heightfieldData;
|
||||
m_heightDataType = hdt;
|
||||
m_flipQuadEdges = flipQuadEdges;
|
||||
m_useDiamondSubdivision = false;
|
||||
m_upAxis = upAxis;
|
||||
m_localScaling.setValue(btScalar(1.), btScalar(1.), btScalar(1.));
|
||||
|
||||
// determine min/max axis-aligned bounding box (aabb) values
|
||||
switch (m_upAxis)
|
||||
{
|
||||
case 0:
|
||||
{
|
||||
m_localAabbMin.setValue(m_minHeight, 0, 0);
|
||||
m_localAabbMax.setValue(m_maxHeight, m_width, m_length);
|
||||
break;
|
||||
}
|
||||
case 1:
|
||||
{
|
||||
m_localAabbMin.setValue(0, m_minHeight, 0);
|
||||
m_localAabbMax.setValue(m_width, m_maxHeight, m_length);
|
||||
break;
|
||||
};
|
||||
case 2:
|
||||
{
|
||||
m_localAabbMin.setValue(0, 0, m_minHeight);
|
||||
m_localAabbMax.setValue(m_width, m_length, m_maxHeight);
|
||||
break;
|
||||
}
|
||||
default:
|
||||
{
|
||||
//need to get valid m_upAxis
|
||||
btAssert(0 && "Bad m_upAxis");
|
||||
}
|
||||
}
|
||||
|
||||
// remember origin (defined as exact middle of aabb)
|
||||
m_localOrigin = btScalar(0.5) * (m_localAabbMin + m_localAabbMax);
|
||||
}
|
||||
|
||||
|
||||
|
||||
btHeightfieldTerrainShape::~btHeightfieldTerrainShape()
|
||||
{
|
||||
}
|
||||
|
||||
|
||||
|
||||
void btHeightfieldTerrainShape::getAabb(const btTransform& t,btVector3& aabbMin,btVector3& aabbMax) const
|
||||
{
|
||||
btVector3 halfExtents = (m_localAabbMax-m_localAabbMin)* m_localScaling * btScalar(0.5);
|
||||
|
||||
btVector3 localOrigin(0, 0, 0);
|
||||
localOrigin[m_upAxis] = (m_minHeight + m_maxHeight) * btScalar(0.5);
|
||||
localOrigin *= m_localScaling;
|
||||
|
||||
btMatrix3x3 abs_b = t.getBasis().absolute();
|
||||
btVector3 center = t.getOrigin();
|
||||
btVector3 extent = btVector3(abs_b[0].dot(halfExtents),
|
||||
abs_b[1].dot(halfExtents),
|
||||
abs_b[2].dot(halfExtents));
|
||||
extent += btVector3(getMargin(),getMargin(),getMargin());
|
||||
|
||||
aabbMin = center - extent;
|
||||
aabbMax = center + extent;
|
||||
}
|
||||
|
||||
|
||||
/// This returns the "raw" (user's initial) height, not the actual height.
|
||||
/// The actual height needs to be adjusted to be relative to the center
|
||||
/// of the heightfield's AABB.
|
||||
btScalar
|
||||
btHeightfieldTerrainShape::getRawHeightFieldValue(int x,int y) const
|
||||
{
|
||||
btScalar val = 0.f;
|
||||
switch (m_heightDataType)
|
||||
{
|
||||
case PHY_FLOAT:
|
||||
{
|
||||
val = m_heightfieldDataFloat[(y*m_heightStickWidth)+x];
|
||||
break;
|
||||
}
|
||||
|
||||
case PHY_UCHAR:
|
||||
{
|
||||
unsigned char heightFieldValue = m_heightfieldDataUnsignedChar[(y*m_heightStickWidth)+x];
|
||||
val = heightFieldValue * m_heightScale;
|
||||
break;
|
||||
}
|
||||
|
||||
case PHY_SHORT:
|
||||
{
|
||||
short hfValue = m_heightfieldDataShort[(y * m_heightStickWidth) + x];
|
||||
val = hfValue * m_heightScale;
|
||||
break;
|
||||
}
|
||||
|
||||
default:
|
||||
{
|
||||
btAssert(!"Bad m_heightDataType");
|
||||
}
|
||||
}
|
||||
|
||||
return val;
|
||||
}
|
||||
|
||||
|
||||
|
||||
|
||||
/// this returns the vertex in bullet-local coordinates
|
||||
void btHeightfieldTerrainShape::getVertex(int x,int y,btVector3& vertex) const
|
||||
{
|
||||
btAssert(x>=0);
|
||||
btAssert(y>=0);
|
||||
btAssert(x<m_heightStickWidth);
|
||||
btAssert(y<m_heightStickLength);
|
||||
|
||||
btScalar height = getRawHeightFieldValue(x,y);
|
||||
|
||||
switch (m_upAxis)
|
||||
{
|
||||
case 0:
|
||||
{
|
||||
vertex.setValue(
|
||||
height - m_localOrigin.getX(),
|
||||
(-m_width/btScalar(2.0)) + x,
|
||||
(-m_length/btScalar(2.0) ) + y
|
||||
);
|
||||
break;
|
||||
}
|
||||
case 1:
|
||||
{
|
||||
vertex.setValue(
|
||||
(-m_width/btScalar(2.0)) + x,
|
||||
height - m_localOrigin.getY(),
|
||||
(-m_length/btScalar(2.0)) + y
|
||||
);
|
||||
break;
|
||||
};
|
||||
case 2:
|
||||
{
|
||||
vertex.setValue(
|
||||
(-m_width/btScalar(2.0)) + x,
|
||||
(-m_length/btScalar(2.0)) + y,
|
||||
height - m_localOrigin.getZ()
|
||||
);
|
||||
break;
|
||||
}
|
||||
default:
|
||||
{
|
||||
//need to get valid m_upAxis
|
||||
btAssert(0);
|
||||
}
|
||||
}
|
||||
|
||||
vertex*=m_localScaling;
|
||||
}
|
||||
|
||||
|
||||
|
||||
static inline int
|
||||
getQuantized
|
||||
(
|
||||
btScalar x
|
||||
)
|
||||
{
|
||||
if (x < 0.0) {
|
||||
return (int) (x - 0.5);
|
||||
}
|
||||
return (int) (x + 0.5);
|
||||
}
|
||||
|
||||
|
||||
|
||||
/// given input vector, return quantized version
|
||||
/**
|
||||
This routine is basically determining the gridpoint indices for a given
|
||||
input vector, answering the question: "which gridpoint is closest to the
|
||||
provided point?".
|
||||
|
||||
"with clamp" means that we restrict the point to be in the heightfield's
|
||||
axis-aligned bounding box.
|
||||
*/
|
||||
void btHeightfieldTerrainShape::quantizeWithClamp(int* out, const btVector3& point,int /*isMax*/) const
|
||||
{
|
||||
btVector3 clampedPoint(point);
|
||||
clampedPoint.setMax(m_localAabbMin);
|
||||
clampedPoint.setMin(m_localAabbMax);
|
||||
|
||||
out[0] = getQuantized(clampedPoint.getX());
|
||||
out[1] = getQuantized(clampedPoint.getY());
|
||||
out[2] = getQuantized(clampedPoint.getZ());
|
||||
|
||||
}
|
||||
|
||||
|
||||
|
||||
/// process all triangles within the provided axis-aligned bounding box
|
||||
/**
|
||||
basic algorithm:
|
||||
- convert input aabb to local coordinates (scale down and shift for local origin)
|
||||
- convert input aabb to a range of heightfield grid points (quantize)
|
||||
- iterate over all triangles in that subset of the grid
|
||||
*/
|
||||
void btHeightfieldTerrainShape::processAllTriangles(btTriangleCallback* callback,const btVector3& aabbMin,const btVector3& aabbMax) const
|
||||
{
|
||||
// scale down the input aabb's so they are in local (non-scaled) coordinates
|
||||
btVector3 localAabbMin = aabbMin*btVector3(1.f/m_localScaling[0],1.f/m_localScaling[1],1.f/m_localScaling[2]);
|
||||
btVector3 localAabbMax = aabbMax*btVector3(1.f/m_localScaling[0],1.f/m_localScaling[1],1.f/m_localScaling[2]);
|
||||
|
||||
// account for local origin
|
||||
localAabbMin += m_localOrigin;
|
||||
localAabbMax += m_localOrigin;
|
||||
|
||||
//quantize the aabbMin and aabbMax, and adjust the start/end ranges
|
||||
int quantizedAabbMin[3];
|
||||
int quantizedAabbMax[3];
|
||||
quantizeWithClamp(quantizedAabbMin, localAabbMin,0);
|
||||
quantizeWithClamp(quantizedAabbMax, localAabbMax,1);
|
||||
|
||||
// expand the min/max quantized values
|
||||
// this is to catch the case where the input aabb falls between grid points!
|
||||
for (int i = 0; i < 3; ++i) {
|
||||
quantizedAabbMin[i]--;
|
||||
quantizedAabbMax[i]++;
|
||||
}
|
||||
|
||||
int startX=0;
|
||||
int endX=m_heightStickWidth-1;
|
||||
int startJ=0;
|
||||
int endJ=m_heightStickLength-1;
|
||||
|
||||
switch (m_upAxis)
|
||||
{
|
||||
case 0:
|
||||
{
|
||||
if (quantizedAabbMin[1]>startX)
|
||||
startX = quantizedAabbMin[1];
|
||||
if (quantizedAabbMax[1]<endX)
|
||||
endX = quantizedAabbMax[1];
|
||||
if (quantizedAabbMin[2]>startJ)
|
||||
startJ = quantizedAabbMin[2];
|
||||
if (quantizedAabbMax[2]<endJ)
|
||||
endJ = quantizedAabbMax[2];
|
||||
break;
|
||||
}
|
||||
case 1:
|
||||
{
|
||||
if (quantizedAabbMin[0]>startX)
|
||||
startX = quantizedAabbMin[0];
|
||||
if (quantizedAabbMax[0]<endX)
|
||||
endX = quantizedAabbMax[0];
|
||||
if (quantizedAabbMin[2]>startJ)
|
||||
startJ = quantizedAabbMin[2];
|
||||
if (quantizedAabbMax[2]<endJ)
|
||||
endJ = quantizedAabbMax[2];
|
||||
break;
|
||||
};
|
||||
case 2:
|
||||
{
|
||||
if (quantizedAabbMin[0]>startX)
|
||||
startX = quantizedAabbMin[0];
|
||||
if (quantizedAabbMax[0]<endX)
|
||||
endX = quantizedAabbMax[0];
|
||||
if (quantizedAabbMin[1]>startJ)
|
||||
startJ = quantizedAabbMin[1];
|
||||
if (quantizedAabbMax[1]<endJ)
|
||||
endJ = quantizedAabbMax[1];
|
||||
break;
|
||||
}
|
||||
default:
|
||||
{
|
||||
//need to get valid m_upAxis
|
||||
btAssert(0);
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
|
||||
|
||||
for(int j=startJ; j<endJ; j++)
|
||||
{
|
||||
for(int x=startX; x<endX; x++)
|
||||
{
|
||||
btVector3 vertices[3];
|
||||
if (m_flipQuadEdges || (m_useDiamondSubdivision && !((j+x) & 1)))
|
||||
{
|
||||
//first triangle
|
||||
getVertex(x,j,vertices[0]);
|
||||
getVertex(x+1,j,vertices[1]);
|
||||
getVertex(x+1,j+1,vertices[2]);
|
||||
callback->processTriangle(vertices,x,j);
|
||||
//second triangle
|
||||
getVertex(x,j,vertices[0]);
|
||||
getVertex(x+1,j+1,vertices[1]);
|
||||
getVertex(x,j+1,vertices[2]);
|
||||
callback->processTriangle(vertices,x,j);
|
||||
} else
|
||||
{
|
||||
//first triangle
|
||||
getVertex(x,j,vertices[0]);
|
||||
getVertex(x,j+1,vertices[1]);
|
||||
getVertex(x+1,j,vertices[2]);
|
||||
callback->processTriangle(vertices,x,j);
|
||||
//second triangle
|
||||
getVertex(x+1,j,vertices[0]);
|
||||
getVertex(x,j+1,vertices[1]);
|
||||
getVertex(x+1,j+1,vertices[2]);
|
||||
callback->processTriangle(vertices,x,j);
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
|
||||
}
|
||||
|
||||
void btHeightfieldTerrainShape::calculateLocalInertia(btScalar ,btVector3& inertia) const
|
||||
{
|
||||
//moving concave objects not supported
|
||||
|
||||
inertia.setValue(btScalar(0.),btScalar(0.),btScalar(0.));
|
||||
}
|
||||
|
||||
void btHeightfieldTerrainShape::setLocalScaling(const btVector3& scaling)
|
||||
{
|
||||
m_localScaling = scaling;
|
||||
}
|
||||
const btVector3& btHeightfieldTerrainShape::getLocalScaling() const
|
||||
{
|
||||
return m_localScaling;
|
||||
}
|
||||
/*
|
||||
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 "btHeightfieldTerrainShape.h"
|
||||
|
||||
#include "LinearMath/btTransformUtil.h"
|
||||
|
||||
|
||||
|
||||
btHeightfieldTerrainShape::btHeightfieldTerrainShape
|
||||
(
|
||||
int heightStickWidth, int heightStickLength, void* heightfieldData,
|
||||
btScalar heightScale, btScalar minHeight, btScalar maxHeight,int upAxis,
|
||||
PHY_ScalarType hdt, bool flipQuadEdges
|
||||
)
|
||||
{
|
||||
initialize(heightStickWidth, heightStickLength, heightfieldData,
|
||||
heightScale, minHeight, maxHeight, upAxis, hdt,
|
||||
flipQuadEdges);
|
||||
}
|
||||
|
||||
|
||||
|
||||
btHeightfieldTerrainShape::btHeightfieldTerrainShape(int heightStickWidth, int heightStickLength,void* heightfieldData,btScalar maxHeight,int upAxis,bool useFloatData,bool flipQuadEdges)
|
||||
{
|
||||
// legacy constructor: support only float or unsigned char,
|
||||
// and min height is zero
|
||||
PHY_ScalarType hdt = (useFloatData) ? PHY_FLOAT : PHY_UCHAR;
|
||||
btScalar minHeight = 0.0;
|
||||
|
||||
// previously, height = uchar * maxHeight / 65535.
|
||||
// So to preserve legacy behavior, heightScale = maxHeight / 65535
|
||||
btScalar heightScale = maxHeight / 65535;
|
||||
|
||||
initialize(heightStickWidth, heightStickLength, heightfieldData,
|
||||
heightScale, minHeight, maxHeight, upAxis, hdt,
|
||||
flipQuadEdges);
|
||||
}
|
||||
|
||||
|
||||
|
||||
void btHeightfieldTerrainShape::initialize
|
||||
(
|
||||
int heightStickWidth, int heightStickLength, void* heightfieldData,
|
||||
btScalar heightScale, btScalar minHeight, btScalar maxHeight, int upAxis,
|
||||
PHY_ScalarType hdt, bool flipQuadEdges
|
||||
)
|
||||
{
|
||||
// validation
|
||||
btAssert(heightStickWidth > 1 && "bad width");
|
||||
btAssert(heightStickLength > 1 && "bad length");
|
||||
btAssert(heightfieldData && "null heightfield data");
|
||||
// btAssert(heightScale) -- do we care? Trust caller here
|
||||
btAssert(minHeight <= maxHeight && "bad min/max height");
|
||||
btAssert(upAxis >= 0 && upAxis < 3 &&
|
||||
"bad upAxis--should be in range [0,2]");
|
||||
btAssert(hdt != PHY_UCHAR || hdt != PHY_FLOAT || hdt != PHY_SHORT &&
|
||||
"Bad height data type enum");
|
||||
|
||||
// initialize member variables
|
||||
m_shapeType = TERRAIN_SHAPE_PROXYTYPE;
|
||||
m_heightStickWidth = heightStickWidth;
|
||||
m_heightStickLength = heightStickLength;
|
||||
m_minHeight = minHeight;
|
||||
m_maxHeight = maxHeight;
|
||||
m_width = (btScalar) (heightStickWidth - 1);
|
||||
m_length = (btScalar) (heightStickLength - 1);
|
||||
m_heightScale = heightScale;
|
||||
m_heightfieldDataUnknown = heightfieldData;
|
||||
m_heightDataType = hdt;
|
||||
m_flipQuadEdges = flipQuadEdges;
|
||||
m_useDiamondSubdivision = false;
|
||||
m_upAxis = upAxis;
|
||||
m_localScaling.setValue(btScalar(1.), btScalar(1.), btScalar(1.));
|
||||
|
||||
// determine min/max axis-aligned bounding box (aabb) values
|
||||
switch (m_upAxis)
|
||||
{
|
||||
case 0:
|
||||
{
|
||||
m_localAabbMin.setValue(m_minHeight, 0, 0);
|
||||
m_localAabbMax.setValue(m_maxHeight, m_width, m_length);
|
||||
break;
|
||||
}
|
||||
case 1:
|
||||
{
|
||||
m_localAabbMin.setValue(0, m_minHeight, 0);
|
||||
m_localAabbMax.setValue(m_width, m_maxHeight, m_length);
|
||||
break;
|
||||
};
|
||||
case 2:
|
||||
{
|
||||
m_localAabbMin.setValue(0, 0, m_minHeight);
|
||||
m_localAabbMax.setValue(m_width, m_length, m_maxHeight);
|
||||
break;
|
||||
}
|
||||
default:
|
||||
{
|
||||
//need to get valid m_upAxis
|
||||
btAssert(0 && "Bad m_upAxis");
|
||||
}
|
||||
}
|
||||
|
||||
// remember origin (defined as exact middle of aabb)
|
||||
m_localOrigin = btScalar(0.5) * (m_localAabbMin + m_localAabbMax);
|
||||
}
|
||||
|
||||
|
||||
|
||||
btHeightfieldTerrainShape::~btHeightfieldTerrainShape()
|
||||
{
|
||||
}
|
||||
|
||||
|
||||
|
||||
void btHeightfieldTerrainShape::getAabb(const btTransform& t,btVector3& aabbMin,btVector3& aabbMax) const
|
||||
{
|
||||
btVector3 halfExtents = (m_localAabbMax-m_localAabbMin)* m_localScaling * btScalar(0.5);
|
||||
|
||||
btVector3 localOrigin(0, 0, 0);
|
||||
localOrigin[m_upAxis] = (m_minHeight + m_maxHeight) * btScalar(0.5);
|
||||
localOrigin *= m_localScaling;
|
||||
|
||||
btMatrix3x3 abs_b = t.getBasis().absolute();
|
||||
btVector3 center = t.getOrigin();
|
||||
btVector3 extent = btVector3(abs_b[0].dot(halfExtents),
|
||||
abs_b[1].dot(halfExtents),
|
||||
abs_b[2].dot(halfExtents));
|
||||
extent += btVector3(getMargin(),getMargin(),getMargin());
|
||||
|
||||
aabbMin = center - extent;
|
||||
aabbMax = center + extent;
|
||||
}
|
||||
|
||||
|
||||
/// This returns the "raw" (user's initial) height, not the actual height.
|
||||
/// The actual height needs to be adjusted to be relative to the center
|
||||
/// of the heightfield's AABB.
|
||||
btScalar
|
||||
btHeightfieldTerrainShape::getRawHeightFieldValue(int x,int y) const
|
||||
{
|
||||
btScalar val = 0.f;
|
||||
switch (m_heightDataType)
|
||||
{
|
||||
case PHY_FLOAT:
|
||||
{
|
||||
val = m_heightfieldDataFloat[(y*m_heightStickWidth)+x];
|
||||
break;
|
||||
}
|
||||
|
||||
case PHY_UCHAR:
|
||||
{
|
||||
unsigned char heightFieldValue = m_heightfieldDataUnsignedChar[(y*m_heightStickWidth)+x];
|
||||
val = heightFieldValue * m_heightScale;
|
||||
break;
|
||||
}
|
||||
|
||||
case PHY_SHORT:
|
||||
{
|
||||
short hfValue = m_heightfieldDataShort[(y * m_heightStickWidth) + x];
|
||||
val = hfValue * m_heightScale;
|
||||
break;
|
||||
}
|
||||
|
||||
default:
|
||||
{
|
||||
btAssert(!"Bad m_heightDataType");
|
||||
}
|
||||
}
|
||||
|
||||
return val;
|
||||
}
|
||||
|
||||
|
||||
|
||||
|
||||
/// this returns the vertex in bullet-local coordinates
|
||||
void btHeightfieldTerrainShape::getVertex(int x,int y,btVector3& vertex) const
|
||||
{
|
||||
btAssert(x>=0);
|
||||
btAssert(y>=0);
|
||||
btAssert(x<m_heightStickWidth);
|
||||
btAssert(y<m_heightStickLength);
|
||||
|
||||
btScalar height = getRawHeightFieldValue(x,y);
|
||||
|
||||
switch (m_upAxis)
|
||||
{
|
||||
case 0:
|
||||
{
|
||||
vertex.setValue(
|
||||
height - m_localOrigin.getX(),
|
||||
(-m_width/btScalar(2.0)) + x,
|
||||
(-m_length/btScalar(2.0) ) + y
|
||||
);
|
||||
break;
|
||||
}
|
||||
case 1:
|
||||
{
|
||||
vertex.setValue(
|
||||
(-m_width/btScalar(2.0)) + x,
|
||||
height - m_localOrigin.getY(),
|
||||
(-m_length/btScalar(2.0)) + y
|
||||
);
|
||||
break;
|
||||
};
|
||||
case 2:
|
||||
{
|
||||
vertex.setValue(
|
||||
(-m_width/btScalar(2.0)) + x,
|
||||
(-m_length/btScalar(2.0)) + y,
|
||||
height - m_localOrigin.getZ()
|
||||
);
|
||||
break;
|
||||
}
|
||||
default:
|
||||
{
|
||||
//need to get valid m_upAxis
|
||||
btAssert(0);
|
||||
}
|
||||
}
|
||||
|
||||
vertex*=m_localScaling;
|
||||
}
|
||||
|
||||
|
||||
|
||||
static inline int
|
||||
getQuantized
|
||||
(
|
||||
btScalar x
|
||||
)
|
||||
{
|
||||
if (x < 0.0) {
|
||||
return (int) (x - 0.5);
|
||||
}
|
||||
return (int) (x + 0.5);
|
||||
}
|
||||
|
||||
|
||||
|
||||
/// given input vector, return quantized version
|
||||
/**
|
||||
This routine is basically determining the gridpoint indices for a given
|
||||
input vector, answering the question: "which gridpoint is closest to the
|
||||
provided point?".
|
||||
|
||||
"with clamp" means that we restrict the point to be in the heightfield's
|
||||
axis-aligned bounding box.
|
||||
*/
|
||||
void btHeightfieldTerrainShape::quantizeWithClamp(int* out, const btVector3& point,int /*isMax*/) const
|
||||
{
|
||||
btVector3 clampedPoint(point);
|
||||
clampedPoint.setMax(m_localAabbMin);
|
||||
clampedPoint.setMin(m_localAabbMax);
|
||||
|
||||
out[0] = getQuantized(clampedPoint.getX());
|
||||
out[1] = getQuantized(clampedPoint.getY());
|
||||
out[2] = getQuantized(clampedPoint.getZ());
|
||||
|
||||
}
|
||||
|
||||
|
||||
|
||||
/// process all triangles within the provided axis-aligned bounding box
|
||||
/**
|
||||
basic algorithm:
|
||||
- convert input aabb to local coordinates (scale down and shift for local origin)
|
||||
- convert input aabb to a range of heightfield grid points (quantize)
|
||||
- iterate over all triangles in that subset of the grid
|
||||
*/
|
||||
void btHeightfieldTerrainShape::processAllTriangles(btTriangleCallback* callback,const btVector3& aabbMin,const btVector3& aabbMax) const
|
||||
{
|
||||
// scale down the input aabb's so they are in local (non-scaled) coordinates
|
||||
btVector3 localAabbMin = aabbMin*btVector3(1.f/m_localScaling[0],1.f/m_localScaling[1],1.f/m_localScaling[2]);
|
||||
btVector3 localAabbMax = aabbMax*btVector3(1.f/m_localScaling[0],1.f/m_localScaling[1],1.f/m_localScaling[2]);
|
||||
|
||||
// account for local origin
|
||||
localAabbMin += m_localOrigin;
|
||||
localAabbMax += m_localOrigin;
|
||||
|
||||
//quantize the aabbMin and aabbMax, and adjust the start/end ranges
|
||||
int quantizedAabbMin[3];
|
||||
int quantizedAabbMax[3];
|
||||
quantizeWithClamp(quantizedAabbMin, localAabbMin,0);
|
||||
quantizeWithClamp(quantizedAabbMax, localAabbMax,1);
|
||||
|
||||
// expand the min/max quantized values
|
||||
// this is to catch the case where the input aabb falls between grid points!
|
||||
for (int i = 0; i < 3; ++i) {
|
||||
quantizedAabbMin[i]--;
|
||||
quantizedAabbMax[i]++;
|
||||
}
|
||||
|
||||
int startX=0;
|
||||
int endX=m_heightStickWidth-1;
|
||||
int startJ=0;
|
||||
int endJ=m_heightStickLength-1;
|
||||
|
||||
switch (m_upAxis)
|
||||
{
|
||||
case 0:
|
||||
{
|
||||
if (quantizedAabbMin[1]>startX)
|
||||
startX = quantizedAabbMin[1];
|
||||
if (quantizedAabbMax[1]<endX)
|
||||
endX = quantizedAabbMax[1];
|
||||
if (quantizedAabbMin[2]>startJ)
|
||||
startJ = quantizedAabbMin[2];
|
||||
if (quantizedAabbMax[2]<endJ)
|
||||
endJ = quantizedAabbMax[2];
|
||||
break;
|
||||
}
|
||||
case 1:
|
||||
{
|
||||
if (quantizedAabbMin[0]>startX)
|
||||
startX = quantizedAabbMin[0];
|
||||
if (quantizedAabbMax[0]<endX)
|
||||
endX = quantizedAabbMax[0];
|
||||
if (quantizedAabbMin[2]>startJ)
|
||||
startJ = quantizedAabbMin[2];
|
||||
if (quantizedAabbMax[2]<endJ)
|
||||
endJ = quantizedAabbMax[2];
|
||||
break;
|
||||
};
|
||||
case 2:
|
||||
{
|
||||
if (quantizedAabbMin[0]>startX)
|
||||
startX = quantizedAabbMin[0];
|
||||
if (quantizedAabbMax[0]<endX)
|
||||
endX = quantizedAabbMax[0];
|
||||
if (quantizedAabbMin[1]>startJ)
|
||||
startJ = quantizedAabbMin[1];
|
||||
if (quantizedAabbMax[1]<endJ)
|
||||
endJ = quantizedAabbMax[1];
|
||||
break;
|
||||
}
|
||||
default:
|
||||
{
|
||||
//need to get valid m_upAxis
|
||||
btAssert(0);
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
|
||||
|
||||
for(int j=startJ; j<endJ; j++)
|
||||
{
|
||||
for(int x=startX; x<endX; x++)
|
||||
{
|
||||
btVector3 vertices[3];
|
||||
if (m_flipQuadEdges || (m_useDiamondSubdivision && !((j+x) & 1)))
|
||||
{
|
||||
//first triangle
|
||||
getVertex(x,j,vertices[0]);
|
||||
getVertex(x+1,j,vertices[1]);
|
||||
getVertex(x+1,j+1,vertices[2]);
|
||||
callback->processTriangle(vertices,x,j);
|
||||
//second triangle
|
||||
getVertex(x,j,vertices[0]);
|
||||
getVertex(x+1,j+1,vertices[1]);
|
||||
getVertex(x,j+1,vertices[2]);
|
||||
callback->processTriangle(vertices,x,j);
|
||||
} else
|
||||
{
|
||||
//first triangle
|
||||
getVertex(x,j,vertices[0]);
|
||||
getVertex(x,j+1,vertices[1]);
|
||||
getVertex(x+1,j,vertices[2]);
|
||||
callback->processTriangle(vertices,x,j);
|
||||
//second triangle
|
||||
getVertex(x+1,j,vertices[0]);
|
||||
getVertex(x,j+1,vertices[1]);
|
||||
getVertex(x+1,j+1,vertices[2]);
|
||||
callback->processTriangle(vertices,x,j);
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
|
||||
}
|
||||
|
||||
void btHeightfieldTerrainShape::calculateLocalInertia(btScalar ,btVector3& inertia) const
|
||||
{
|
||||
//moving concave objects not supported
|
||||
|
||||
inertia.setValue(btScalar(0.),btScalar(0.),btScalar(0.));
|
||||
}
|
||||
|
||||
void btHeightfieldTerrainShape::setLocalScaling(const btVector3& scaling)
|
||||
{
|
||||
m_localScaling = scaling;
|
||||
}
|
||||
const btVector3& btHeightfieldTerrainShape::getLocalScaling() const
|
||||
{
|
||||
return m_localScaling;
|
||||
}
|
||||
|
||||
@@ -1,161 +1,161 @@
|
||||
/*
|
||||
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 HEIGHTFIELD_TERRAIN_SHAPE_H
|
||||
#define HEIGHTFIELD_TERRAIN_SHAPE_H
|
||||
|
||||
#include "btConcaveShape.h"
|
||||
|
||||
///btHeightfieldTerrainShape simulates a 2D heightfield terrain
|
||||
/**
|
||||
The caller is responsible for maintaining the heightfield array; this
|
||||
class does not make a copy.
|
||||
|
||||
The heightfield can be dynamic so long as the min/max height values
|
||||
capture the extremes (heights must always be in that range).
|
||||
|
||||
The local origin of the heightfield is assumed to be the exact
|
||||
center (as determined by width and length and height, with each
|
||||
axis multiplied by the localScaling).
|
||||
|
||||
\b NOTE: be careful with coordinates. If you have a heightfield with a local
|
||||
min height of -100m, and a max height of +500m, you may be tempted to place it
|
||||
at the origin (0,0) and expect the heights in world coordinates to be
|
||||
-100 to +500 meters.
|
||||
Actually, the heights will be -300 to +300m, because bullet will re-center
|
||||
the heightfield based on its AABB (which is determined by the min/max
|
||||
heights). So keep in mind that once you create a btHeightfieldTerrainShape
|
||||
object, the heights will be adjusted relative to the center of the AABB. This
|
||||
is different to the behavior of many rendering engines, but is useful for
|
||||
physics engines.
|
||||
|
||||
Most (but not all) rendering and heightfield libraries assume upAxis = 1
|
||||
(that is, the y-axis is "up"). This class allows any of the 3 coordinates
|
||||
to be "up". Make sure your choice of axis is consistent with your rendering
|
||||
system.
|
||||
|
||||
The heightfield heights are determined from the data type used for the
|
||||
heightfieldData array.
|
||||
|
||||
- PHY_UCHAR: height at a point is the uchar value at the
|
||||
grid point, multipled by heightScale. uchar isn't recommended
|
||||
because of its inability to deal with negative values, and
|
||||
low resolution (8-bit).
|
||||
|
||||
- PHY_SHORT: height at a point is the short int value at that grid
|
||||
point, multipled by heightScale.
|
||||
|
||||
- PHY_FLOAT: height at a point is the float value at that grid
|
||||
point. heightScale is ignored when using the float heightfield
|
||||
data type.
|
||||
|
||||
Whatever the caller specifies as minHeight and maxHeight will be honored.
|
||||
The class will not inspect the heightfield to discover the actual minimum
|
||||
or maximum heights. These values are used to determine the heightfield's
|
||||
axis-aligned bounding box, multiplied by localScaling.
|
||||
|
||||
For usage and testing see the TerrainDemo.
|
||||
*/
|
||||
class btHeightfieldTerrainShape : public btConcaveShape
|
||||
{
|
||||
protected:
|
||||
btVector3 m_localAabbMin;
|
||||
btVector3 m_localAabbMax;
|
||||
btVector3 m_localOrigin;
|
||||
|
||||
///terrain data
|
||||
int m_heightStickWidth;
|
||||
int m_heightStickLength;
|
||||
btScalar m_minHeight;
|
||||
btScalar m_maxHeight;
|
||||
btScalar m_width;
|
||||
btScalar m_length;
|
||||
btScalar m_heightScale;
|
||||
union
|
||||
{
|
||||
unsigned char* m_heightfieldDataUnsignedChar;
|
||||
short* m_heightfieldDataShort;
|
||||
btScalar* m_heightfieldDataFloat;
|
||||
void* m_heightfieldDataUnknown;
|
||||
};
|
||||
|
||||
PHY_ScalarType m_heightDataType;
|
||||
bool m_flipQuadEdges;
|
||||
bool m_useDiamondSubdivision;
|
||||
|
||||
int m_upAxis;
|
||||
|
||||
btVector3 m_localScaling;
|
||||
|
||||
virtual btScalar getRawHeightFieldValue(int x,int y) const;
|
||||
void quantizeWithClamp(int* out, const btVector3& point,int isMax) const;
|
||||
void getVertex(int x,int y,btVector3& vertex) const;
|
||||
|
||||
|
||||
|
||||
/// protected initialization
|
||||
/**
|
||||
Handles the work of constructors so that public constructors can be
|
||||
backwards-compatible without a lot of copy/paste.
|
||||
*/
|
||||
void initialize(int heightStickWidth, int heightStickLength,
|
||||
void* heightfieldData, btScalar heightScale,
|
||||
btScalar minHeight, btScalar maxHeight, int upAxis,
|
||||
PHY_ScalarType heightDataType, bool flipQuadEdges);
|
||||
|
||||
public:
|
||||
/// preferred constructor
|
||||
/**
|
||||
This constructor supports a range of heightfield
|
||||
data types, and allows for a non-zero minimum height value.
|
||||
heightScale is needed for any integer-based heightfield data types.
|
||||
*/
|
||||
btHeightfieldTerrainShape(int heightStickWidth,int heightStickLength,
|
||||
void* heightfieldData, btScalar heightScale,
|
||||
btScalar minHeight, btScalar maxHeight,
|
||||
int upAxis, PHY_ScalarType heightDataType,
|
||||
bool flipQuadEdges);
|
||||
|
||||
/// legacy constructor
|
||||
/**
|
||||
The legacy constructor assumes the heightfield has a minimum height
|
||||
of zero. Only unsigned char or floats are supported. For legacy
|
||||
compatibility reasons, heightScale is calculated as maxHeight / 65535
|
||||
(and is only used when useFloatData = false).
|
||||
*/
|
||||
btHeightfieldTerrainShape(int heightStickWidth,int heightStickLength,void* heightfieldData, btScalar maxHeight,int upAxis,bool useFloatData,bool flipQuadEdges);
|
||||
|
||||
virtual ~btHeightfieldTerrainShape();
|
||||
|
||||
|
||||
void setUseDiamondSubdivision(bool useDiamondSubdivision=true) { m_useDiamondSubdivision = useDiamondSubdivision;}
|
||||
|
||||
|
||||
virtual void getAabb(const btTransform& t,btVector3& aabbMin,btVector3& aabbMax) const;
|
||||
|
||||
virtual void processAllTriangles(btTriangleCallback* callback,const btVector3& aabbMin,const btVector3& aabbMax) const;
|
||||
|
||||
virtual void calculateLocalInertia(btScalar mass,btVector3& inertia) const;
|
||||
|
||||
virtual void setLocalScaling(const btVector3& scaling);
|
||||
|
||||
virtual const btVector3& getLocalScaling() const;
|
||||
|
||||
//debugging
|
||||
virtual const char* getName()const {return "HEIGHTFIELD";}
|
||||
|
||||
};
|
||||
|
||||
#endif //HEIGHTFIELD_TERRAIN_SHAPE_H
|
||||
/*
|
||||
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 HEIGHTFIELD_TERRAIN_SHAPE_H
|
||||
#define HEIGHTFIELD_TERRAIN_SHAPE_H
|
||||
|
||||
#include "btConcaveShape.h"
|
||||
|
||||
///btHeightfieldTerrainShape simulates a 2D heightfield terrain
|
||||
/**
|
||||
The caller is responsible for maintaining the heightfield array; this
|
||||
class does not make a copy.
|
||||
|
||||
The heightfield can be dynamic so long as the min/max height values
|
||||
capture the extremes (heights must always be in that range).
|
||||
|
||||
The local origin of the heightfield is assumed to be the exact
|
||||
center (as determined by width and length and height, with each
|
||||
axis multiplied by the localScaling).
|
||||
|
||||
\b NOTE: be careful with coordinates. If you have a heightfield with a local
|
||||
min height of -100m, and a max height of +500m, you may be tempted to place it
|
||||
at the origin (0,0) and expect the heights in world coordinates to be
|
||||
-100 to +500 meters.
|
||||
Actually, the heights will be -300 to +300m, because bullet will re-center
|
||||
the heightfield based on its AABB (which is determined by the min/max
|
||||
heights). So keep in mind that once you create a btHeightfieldTerrainShape
|
||||
object, the heights will be adjusted relative to the center of the AABB. This
|
||||
is different to the behavior of many rendering engines, but is useful for
|
||||
physics engines.
|
||||
|
||||
Most (but not all) rendering and heightfield libraries assume upAxis = 1
|
||||
(that is, the y-axis is "up"). This class allows any of the 3 coordinates
|
||||
to be "up". Make sure your choice of axis is consistent with your rendering
|
||||
system.
|
||||
|
||||
The heightfield heights are determined from the data type used for the
|
||||
heightfieldData array.
|
||||
|
||||
- PHY_UCHAR: height at a point is the uchar value at the
|
||||
grid point, multipled by heightScale. uchar isn't recommended
|
||||
because of its inability to deal with negative values, and
|
||||
low resolution (8-bit).
|
||||
|
||||
- PHY_SHORT: height at a point is the short int value at that grid
|
||||
point, multipled by heightScale.
|
||||
|
||||
- PHY_FLOAT: height at a point is the float value at that grid
|
||||
point. heightScale is ignored when using the float heightfield
|
||||
data type.
|
||||
|
||||
Whatever the caller specifies as minHeight and maxHeight will be honored.
|
||||
The class will not inspect the heightfield to discover the actual minimum
|
||||
or maximum heights. These values are used to determine the heightfield's
|
||||
axis-aligned bounding box, multiplied by localScaling.
|
||||
|
||||
For usage and testing see the TerrainDemo.
|
||||
*/
|
||||
class btHeightfieldTerrainShape : public btConcaveShape
|
||||
{
|
||||
protected:
|
||||
btVector3 m_localAabbMin;
|
||||
btVector3 m_localAabbMax;
|
||||
btVector3 m_localOrigin;
|
||||
|
||||
///terrain data
|
||||
int m_heightStickWidth;
|
||||
int m_heightStickLength;
|
||||
btScalar m_minHeight;
|
||||
btScalar m_maxHeight;
|
||||
btScalar m_width;
|
||||
btScalar m_length;
|
||||
btScalar m_heightScale;
|
||||
union
|
||||
{
|
||||
unsigned char* m_heightfieldDataUnsignedChar;
|
||||
short* m_heightfieldDataShort;
|
||||
btScalar* m_heightfieldDataFloat;
|
||||
void* m_heightfieldDataUnknown;
|
||||
};
|
||||
|
||||
PHY_ScalarType m_heightDataType;
|
||||
bool m_flipQuadEdges;
|
||||
bool m_useDiamondSubdivision;
|
||||
|
||||
int m_upAxis;
|
||||
|
||||
btVector3 m_localScaling;
|
||||
|
||||
virtual btScalar getRawHeightFieldValue(int x,int y) const;
|
||||
void quantizeWithClamp(int* out, const btVector3& point,int isMax) const;
|
||||
void getVertex(int x,int y,btVector3& vertex) const;
|
||||
|
||||
|
||||
|
||||
/// protected initialization
|
||||
/**
|
||||
Handles the work of constructors so that public constructors can be
|
||||
backwards-compatible without a lot of copy/paste.
|
||||
*/
|
||||
void initialize(int heightStickWidth, int heightStickLength,
|
||||
void* heightfieldData, btScalar heightScale,
|
||||
btScalar minHeight, btScalar maxHeight, int upAxis,
|
||||
PHY_ScalarType heightDataType, bool flipQuadEdges);
|
||||
|
||||
public:
|
||||
/// preferred constructor
|
||||
/**
|
||||
This constructor supports a range of heightfield
|
||||
data types, and allows for a non-zero minimum height value.
|
||||
heightScale is needed for any integer-based heightfield data types.
|
||||
*/
|
||||
btHeightfieldTerrainShape(int heightStickWidth,int heightStickLength,
|
||||
void* heightfieldData, btScalar heightScale,
|
||||
btScalar minHeight, btScalar maxHeight,
|
||||
int upAxis, PHY_ScalarType heightDataType,
|
||||
bool flipQuadEdges);
|
||||
|
||||
/// legacy constructor
|
||||
/**
|
||||
The legacy constructor assumes the heightfield has a minimum height
|
||||
of zero. Only unsigned char or floats are supported. For legacy
|
||||
compatibility reasons, heightScale is calculated as maxHeight / 65535
|
||||
(and is only used when useFloatData = false).
|
||||
*/
|
||||
btHeightfieldTerrainShape(int heightStickWidth,int heightStickLength,void* heightfieldData, btScalar maxHeight,int upAxis,bool useFloatData,bool flipQuadEdges);
|
||||
|
||||
virtual ~btHeightfieldTerrainShape();
|
||||
|
||||
|
||||
void setUseDiamondSubdivision(bool useDiamondSubdivision=true) { m_useDiamondSubdivision = useDiamondSubdivision;}
|
||||
|
||||
|
||||
virtual void getAabb(const btTransform& t,btVector3& aabbMin,btVector3& aabbMax) const;
|
||||
|
||||
virtual void processAllTriangles(btTriangleCallback* callback,const btVector3& aabbMin,const btVector3& aabbMax) const;
|
||||
|
||||
virtual void calculateLocalInertia(btScalar mass,btVector3& inertia) const;
|
||||
|
||||
virtual void setLocalScaling(const btVector3& scaling);
|
||||
|
||||
virtual const btVector3& getLocalScaling() const;
|
||||
|
||||
//debugging
|
||||
virtual const char* getName()const {return "HEIGHTFIELD";}
|
||||
|
||||
};
|
||||
|
||||
#endif //HEIGHTFIELD_TERRAIN_SHAPE_H
|
||||
|
||||
@@ -1,34 +1,34 @@
|
||||
/*
|
||||
Bullet Continuous Collision Detection and Physics Library
|
||||
Copyright (c) 2003-2008 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.
|
||||
*/
|
||||
|
||||
/// This file was created by Alex Silverman
|
||||
|
||||
#ifndef MATERIAL_H
|
||||
#define MATERIAL_H
|
||||
|
||||
// Material class to be used by btMultimaterialTriangleMeshShape to store triangle properties
|
||||
class btMaterial
|
||||
{
|
||||
// public members so that materials can change due to world events
|
||||
public:
|
||||
btScalar m_friction;
|
||||
btScalar m_restitution;
|
||||
int pad[2];
|
||||
|
||||
btMaterial(){}
|
||||
btMaterial(btScalar fric, btScalar rest) { m_friction = fric; m_restitution = rest; }
|
||||
};
|
||||
|
||||
/*
|
||||
Bullet Continuous Collision Detection and Physics Library
|
||||
Copyright (c) 2003-2008 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.
|
||||
*/
|
||||
|
||||
/// This file was created by Alex Silverman
|
||||
|
||||
#ifndef MATERIAL_H
|
||||
#define MATERIAL_H
|
||||
|
||||
// Material class to be used by btMultimaterialTriangleMeshShape to store triangle properties
|
||||
class btMaterial
|
||||
{
|
||||
// public members so that materials can change due to world events
|
||||
public:
|
||||
btScalar m_friction;
|
||||
btScalar m_restitution;
|
||||
int pad[2];
|
||||
|
||||
btMaterial(){}
|
||||
btMaterial(btScalar fric, btScalar rest) { m_friction = fric; m_restitution = rest; }
|
||||
};
|
||||
|
||||
#endif // MATERIAL_H
|
||||
@@ -1,45 +1,45 @@
|
||||
/*
|
||||
Bullet Continuous Collision Detection and Physics Library
|
||||
Copyright (c) 2003-2008 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.
|
||||
*/
|
||||
|
||||
/// This file was created by Alex Silverman
|
||||
|
||||
#include "BulletCollision/CollisionShapes/btMultimaterialTriangleMeshShape.h"
|
||||
#include "BulletCollision/CollisionShapes/btTriangleIndexVertexMaterialArray.h"
|
||||
//#include "BulletCollision/CollisionShapes/btOptimizedBvh.h"
|
||||
|
||||
|
||||
///Obtains the material for a specific triangle
|
||||
const btMaterial * btMultimaterialTriangleMeshShape::getMaterialProperties(int partID, int triIndex)
|
||||
{
|
||||
const unsigned char * materialBase = 0;
|
||||
int numMaterials;
|
||||
PHY_ScalarType materialType;
|
||||
int materialStride;
|
||||
const unsigned char * triangleMaterialBase = 0;
|
||||
int numTriangles;
|
||||
int triangleMaterialStride;
|
||||
PHY_ScalarType triangleType;
|
||||
|
||||
((btTriangleIndexVertexMaterialArray*)m_meshInterface)->getLockedReadOnlyMaterialBase(&materialBase, numMaterials, materialType, materialStride,
|
||||
&triangleMaterialBase, numTriangles, triangleMaterialStride, triangleType, partID);
|
||||
|
||||
// return the pointer to the place with the friction for the triangle
|
||||
// TODO: This depends on whether it's a moving mesh or not
|
||||
// BUG IN GIMPACT
|
||||
//return (btScalar*)(&materialBase[triangleMaterialBase[(triIndex-1) * triangleMaterialStride] * materialStride]);
|
||||
int * matInd = (int *)(&(triangleMaterialBase[(triIndex * triangleMaterialStride)]));
|
||||
btMaterial *matVal = (btMaterial *)(&(materialBase[*matInd * materialStride]));
|
||||
return (matVal);
|
||||
}
|
||||
/*
|
||||
Bullet Continuous Collision Detection and Physics Library
|
||||
Copyright (c) 2003-2008 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.
|
||||
*/
|
||||
|
||||
/// This file was created by Alex Silverman
|
||||
|
||||
#include "BulletCollision/CollisionShapes/btMultimaterialTriangleMeshShape.h"
|
||||
#include "BulletCollision/CollisionShapes/btTriangleIndexVertexMaterialArray.h"
|
||||
//#include "BulletCollision/CollisionShapes/btOptimizedBvh.h"
|
||||
|
||||
|
||||
///Obtains the material for a specific triangle
|
||||
const btMaterial * btMultimaterialTriangleMeshShape::getMaterialProperties(int partID, int triIndex)
|
||||
{
|
||||
const unsigned char * materialBase = 0;
|
||||
int numMaterials;
|
||||
PHY_ScalarType materialType;
|
||||
int materialStride;
|
||||
const unsigned char * triangleMaterialBase = 0;
|
||||
int numTriangles;
|
||||
int triangleMaterialStride;
|
||||
PHY_ScalarType triangleType;
|
||||
|
||||
((btTriangleIndexVertexMaterialArray*)m_meshInterface)->getLockedReadOnlyMaterialBase(&materialBase, numMaterials, materialType, materialStride,
|
||||
&triangleMaterialBase, numTriangles, triangleMaterialStride, triangleType, partID);
|
||||
|
||||
// return the pointer to the place with the friction for the triangle
|
||||
// TODO: This depends on whether it's a moving mesh or not
|
||||
// BUG IN GIMPACT
|
||||
//return (btScalar*)(&materialBase[triangleMaterialBase[(triIndex-1) * triangleMaterialStride] * materialStride]);
|
||||
int * matInd = (int *)(&(triangleMaterialBase[(triIndex * triangleMaterialStride)]));
|
||||
btMaterial *matVal = (btMaterial *)(&(materialBase[*matInd * materialStride]));
|
||||
return (matVal);
|
||||
}
|
||||
|
||||
@@ -1,123 +1,123 @@
|
||||
/*
|
||||
Bullet Continuous Collision Detection and Physics Library
|
||||
Copyright (c) 2003-2008 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.
|
||||
*/
|
||||
|
||||
/// This file was created by Alex Silverman
|
||||
|
||||
#ifndef BVH_TRIANGLE_MATERIAL_MESH_SHAPE_H
|
||||
#define BVH_TRIANGLE_MATERIAL_MESH_SHAPE_H
|
||||
|
||||
#include "btBvhTriangleMeshShape.h"
|
||||
#include "btMaterial.h"
|
||||
|
||||
///The BvhTriangleMaterialMeshShape extends the btBvhTriangleMeshShape. Its main contribution is the interface into a material array, which allows per-triangle friction and restitution.
|
||||
ATTRIBUTE_ALIGNED16(class) btMultimaterialTriangleMeshShape : public btBvhTriangleMeshShape
|
||||
{
|
||||
btAlignedObjectArray <btMaterial*> m_materialList;
|
||||
int ** m_triangleMaterials;
|
||||
|
||||
public:
|
||||
|
||||
BT_DECLARE_ALIGNED_ALLOCATOR();
|
||||
|
||||
btMultimaterialTriangleMeshShape(): btBvhTriangleMeshShape() {m_shapeType = MULTIMATERIAL_TRIANGLE_MESH_PROXYTYPE;}
|
||||
btMultimaterialTriangleMeshShape(btStridingMeshInterface* meshInterface, bool useQuantizedAabbCompression, bool buildBvh = true):
|
||||
btBvhTriangleMeshShape(meshInterface, useQuantizedAabbCompression, buildBvh)
|
||||
{
|
||||
m_shapeType = MULTIMATERIAL_TRIANGLE_MESH_PROXYTYPE;
|
||||
|
||||
btVector3 m_triangle[3];
|
||||
const unsigned char *vertexbase;
|
||||
int numverts;
|
||||
PHY_ScalarType type;
|
||||
int stride;
|
||||
const unsigned char *indexbase;
|
||||
int indexstride;
|
||||
int numfaces;
|
||||
PHY_ScalarType indicestype;
|
||||
|
||||
//m_materialLookup = (int**)(btAlignedAlloc(sizeof(int*) * meshInterface->getNumSubParts(), 16));
|
||||
|
||||
for(int i = 0; i < meshInterface->getNumSubParts(); i++)
|
||||
{
|
||||
m_meshInterface->getLockedReadOnlyVertexIndexBase(
|
||||
&vertexbase,
|
||||
numverts,
|
||||
type,
|
||||
stride,
|
||||
&indexbase,
|
||||
indexstride,
|
||||
numfaces,
|
||||
indicestype,
|
||||
i);
|
||||
//m_materialLookup[i] = (int*)(btAlignedAlloc(sizeof(int) * numfaces, 16));
|
||||
}
|
||||
}
|
||||
|
||||
///optionally pass in a larger bvh aabb, used for quantization. This allows for deformations within this aabb
|
||||
btMultimaterialTriangleMeshShape(btStridingMeshInterface* meshInterface, bool useQuantizedAabbCompression,const btVector3& bvhAabbMin,const btVector3& bvhAabbMax, bool buildBvh = true):
|
||||
btBvhTriangleMeshShape(meshInterface, useQuantizedAabbCompression, bvhAabbMin, bvhAabbMax, buildBvh)
|
||||
{
|
||||
m_shapeType = MULTIMATERIAL_TRIANGLE_MESH_PROXYTYPE;
|
||||
|
||||
btVector3 m_triangle[3];
|
||||
const unsigned char *vertexbase;
|
||||
int numverts;
|
||||
PHY_ScalarType type;
|
||||
int stride;
|
||||
const unsigned char *indexbase;
|
||||
int indexstride;
|
||||
int numfaces;
|
||||
PHY_ScalarType indicestype;
|
||||
|
||||
//m_materialLookup = (int**)(btAlignedAlloc(sizeof(int*) * meshInterface->getNumSubParts(), 16));
|
||||
|
||||
for(int i = 0; i < meshInterface->getNumSubParts(); i++)
|
||||
{
|
||||
m_meshInterface->getLockedReadOnlyVertexIndexBase(
|
||||
&vertexbase,
|
||||
numverts,
|
||||
type,
|
||||
stride,
|
||||
&indexbase,
|
||||
indexstride,
|
||||
numfaces,
|
||||
indicestype,
|
||||
i);
|
||||
//m_materialLookup[i] = (int*)(btAlignedAlloc(sizeof(int) * numfaces * 2, 16));
|
||||
}
|
||||
}
|
||||
|
||||
virtual ~btMultimaterialTriangleMeshShape()
|
||||
{
|
||||
/*
|
||||
for(int i = 0; i < m_meshInterface->getNumSubParts(); i++)
|
||||
{
|
||||
btAlignedFree(m_materialValues[i]);
|
||||
m_materialLookup[i] = NULL;
|
||||
}
|
||||
btAlignedFree(m_materialValues);
|
||||
m_materialLookup = NULL;
|
||||
*/
|
||||
}
|
||||
//debugging
|
||||
virtual const char* getName()const {return "MULTIMATERIALTRIANGLEMESH";}
|
||||
|
||||
///Obtains the material for a specific triangle
|
||||
const btMaterial * getMaterialProperties(int partID, int triIndex);
|
||||
|
||||
}
|
||||
;
|
||||
|
||||
#endif //BVH_TRIANGLE_MATERIAL_MESH_SHAPE_H
|
||||
/*
|
||||
Bullet Continuous Collision Detection and Physics Library
|
||||
Copyright (c) 2003-2008 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.
|
||||
*/
|
||||
|
||||
/// This file was created by Alex Silverman
|
||||
|
||||
#ifndef BVH_TRIANGLE_MATERIAL_MESH_SHAPE_H
|
||||
#define BVH_TRIANGLE_MATERIAL_MESH_SHAPE_H
|
||||
|
||||
#include "btBvhTriangleMeshShape.h"
|
||||
#include "btMaterial.h"
|
||||
|
||||
///The BvhTriangleMaterialMeshShape extends the btBvhTriangleMeshShape. Its main contribution is the interface into a material array, which allows per-triangle friction and restitution.
|
||||
ATTRIBUTE_ALIGNED16(class) btMultimaterialTriangleMeshShape : public btBvhTriangleMeshShape
|
||||
{
|
||||
btAlignedObjectArray <btMaterial*> m_materialList;
|
||||
int ** m_triangleMaterials;
|
||||
|
||||
public:
|
||||
|
||||
BT_DECLARE_ALIGNED_ALLOCATOR();
|
||||
|
||||
btMultimaterialTriangleMeshShape(): btBvhTriangleMeshShape() {m_shapeType = MULTIMATERIAL_TRIANGLE_MESH_PROXYTYPE;}
|
||||
btMultimaterialTriangleMeshShape(btStridingMeshInterface* meshInterface, bool useQuantizedAabbCompression, bool buildBvh = true):
|
||||
btBvhTriangleMeshShape(meshInterface, useQuantizedAabbCompression, buildBvh)
|
||||
{
|
||||
m_shapeType = MULTIMATERIAL_TRIANGLE_MESH_PROXYTYPE;
|
||||
|
||||
btVector3 m_triangle[3];
|
||||
const unsigned char *vertexbase;
|
||||
int numverts;
|
||||
PHY_ScalarType type;
|
||||
int stride;
|
||||
const unsigned char *indexbase;
|
||||
int indexstride;
|
||||
int numfaces;
|
||||
PHY_ScalarType indicestype;
|
||||
|
||||
//m_materialLookup = (int**)(btAlignedAlloc(sizeof(int*) * meshInterface->getNumSubParts(), 16));
|
||||
|
||||
for(int i = 0; i < meshInterface->getNumSubParts(); i++)
|
||||
{
|
||||
m_meshInterface->getLockedReadOnlyVertexIndexBase(
|
||||
&vertexbase,
|
||||
numverts,
|
||||
type,
|
||||
stride,
|
||||
&indexbase,
|
||||
indexstride,
|
||||
numfaces,
|
||||
indicestype,
|
||||
i);
|
||||
//m_materialLookup[i] = (int*)(btAlignedAlloc(sizeof(int) * numfaces, 16));
|
||||
}
|
||||
}
|
||||
|
||||
///optionally pass in a larger bvh aabb, used for quantization. This allows for deformations within this aabb
|
||||
btMultimaterialTriangleMeshShape(btStridingMeshInterface* meshInterface, bool useQuantizedAabbCompression,const btVector3& bvhAabbMin,const btVector3& bvhAabbMax, bool buildBvh = true):
|
||||
btBvhTriangleMeshShape(meshInterface, useQuantizedAabbCompression, bvhAabbMin, bvhAabbMax, buildBvh)
|
||||
{
|
||||
m_shapeType = MULTIMATERIAL_TRIANGLE_MESH_PROXYTYPE;
|
||||
|
||||
btVector3 m_triangle[3];
|
||||
const unsigned char *vertexbase;
|
||||
int numverts;
|
||||
PHY_ScalarType type;
|
||||
int stride;
|
||||
const unsigned char *indexbase;
|
||||
int indexstride;
|
||||
int numfaces;
|
||||
PHY_ScalarType indicestype;
|
||||
|
||||
//m_materialLookup = (int**)(btAlignedAlloc(sizeof(int*) * meshInterface->getNumSubParts(), 16));
|
||||
|
||||
for(int i = 0; i < meshInterface->getNumSubParts(); i++)
|
||||
{
|
||||
m_meshInterface->getLockedReadOnlyVertexIndexBase(
|
||||
&vertexbase,
|
||||
numverts,
|
||||
type,
|
||||
stride,
|
||||
&indexbase,
|
||||
indexstride,
|
||||
numfaces,
|
||||
indicestype,
|
||||
i);
|
||||
//m_materialLookup[i] = (int*)(btAlignedAlloc(sizeof(int) * numfaces * 2, 16));
|
||||
}
|
||||
}
|
||||
|
||||
virtual ~btMultimaterialTriangleMeshShape()
|
||||
{
|
||||
/*
|
||||
for(int i = 0; i < m_meshInterface->getNumSubParts(); i++)
|
||||
{
|
||||
btAlignedFree(m_materialValues[i]);
|
||||
m_materialLookup[i] = NULL;
|
||||
}
|
||||
btAlignedFree(m_materialValues);
|
||||
m_materialLookup = NULL;
|
||||
*/
|
||||
}
|
||||
//debugging
|
||||
virtual const char* getName()const {return "MULTIMATERIALTRIANGLEMESH";}
|
||||
|
||||
///Obtains the material for a specific triangle
|
||||
const btMaterial * getMaterialProperties(int partID, int triIndex);
|
||||
|
||||
}
|
||||
;
|
||||
|
||||
#endif //BVH_TRIANGLE_MATERIAL_MESH_SHAPE_H
|
||||
|
||||
@@ -1,120 +1,120 @@
|
||||
/*
|
||||
Bullet Continuous Collision Detection and Physics Library
|
||||
Copyright (c) 2003-2008 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 "btScaledBvhTriangleMeshShape.h"
|
||||
|
||||
btScaledBvhTriangleMeshShape::btScaledBvhTriangleMeshShape(btBvhTriangleMeshShape* childShape,const btVector3& localScaling)
|
||||
:m_localScaling(localScaling),m_bvhTriMeshShape(childShape)
|
||||
{
|
||||
m_shapeType = SCALED_TRIANGLE_MESH_SHAPE_PROXYTYPE;
|
||||
}
|
||||
|
||||
btScaledBvhTriangleMeshShape::~btScaledBvhTriangleMeshShape()
|
||||
{
|
||||
}
|
||||
|
||||
|
||||
class btScaledTriangleCallback : public btTriangleCallback
|
||||
{
|
||||
btTriangleCallback* m_originalCallback;
|
||||
|
||||
btVector3 m_localScaling;
|
||||
|
||||
public:
|
||||
|
||||
btScaledTriangleCallback(btTriangleCallback* originalCallback,const btVector3& localScaling)
|
||||
:m_originalCallback(originalCallback),
|
||||
m_localScaling(localScaling)
|
||||
{
|
||||
}
|
||||
|
||||
virtual void processTriangle(btVector3* triangle, int partId, int triangleIndex)
|
||||
{
|
||||
btVector3 newTriangle[3];
|
||||
newTriangle[0] = triangle[0]*m_localScaling;
|
||||
newTriangle[1] = triangle[1]*m_localScaling;
|
||||
newTriangle[2] = triangle[2]*m_localScaling;
|
||||
m_originalCallback->processTriangle(&newTriangle[0],partId,triangleIndex);
|
||||
}
|
||||
};
|
||||
|
||||
void btScaledBvhTriangleMeshShape::processAllTriangles(btTriangleCallback* callback,const btVector3& aabbMin,const btVector3& aabbMax) const
|
||||
{
|
||||
btScaledTriangleCallback scaledCallback(callback,m_localScaling);
|
||||
|
||||
btVector3 invLocalScaling(1.f/m_localScaling.getX(),1.f/m_localScaling.getY(),1.f/m_localScaling.getZ());
|
||||
btVector3 scaledAabbMin,scaledAabbMax;
|
||||
|
||||
///support negative scaling
|
||||
scaledAabbMin[0] = m_localScaling.getX() >= 0. ? aabbMin[0] * invLocalScaling[0] : aabbMax[0] * invLocalScaling[0];
|
||||
scaledAabbMin[1] = m_localScaling.getY() >= 0. ? aabbMin[1] * invLocalScaling[1] : aabbMax[1] * invLocalScaling[1];
|
||||
scaledAabbMin[2] = m_localScaling.getZ() >= 0. ? aabbMin[2] * invLocalScaling[2] : aabbMax[2] * invLocalScaling[2];
|
||||
|
||||
scaledAabbMax[0] = m_localScaling.getX() <= 0. ? aabbMin[0] * invLocalScaling[0] : aabbMax[0] * invLocalScaling[0];
|
||||
scaledAabbMax[1] = m_localScaling.getY() <= 0. ? aabbMin[1] * invLocalScaling[1] : aabbMax[1] * invLocalScaling[1];
|
||||
scaledAabbMax[2] = m_localScaling.getZ() <= 0. ? aabbMin[2] * invLocalScaling[2] : aabbMax[2] * invLocalScaling[2];
|
||||
|
||||
|
||||
m_bvhTriMeshShape->processAllTriangles(&scaledCallback,scaledAabbMin,scaledAabbMax);
|
||||
}
|
||||
|
||||
|
||||
void btScaledBvhTriangleMeshShape::getAabb(const btTransform& trans,btVector3& aabbMin,btVector3& aabbMax) const
|
||||
{
|
||||
btVector3 localAabbMin = m_bvhTriMeshShape->getLocalAabbMin();
|
||||
btVector3 localAabbMax = m_bvhTriMeshShape->getLocalAabbMax();
|
||||
|
||||
btVector3 tmpLocalAabbMin = localAabbMin * m_localScaling;
|
||||
btVector3 tmpLocalAabbMax = localAabbMax * m_localScaling;
|
||||
|
||||
localAabbMin[0] = (m_localScaling.getX() >= 0.) ? tmpLocalAabbMin[0] : tmpLocalAabbMax[0];
|
||||
localAabbMin[1] = (m_localScaling.getY() >= 0.) ? tmpLocalAabbMin[1] : tmpLocalAabbMax[1];
|
||||
localAabbMin[2] = (m_localScaling.getZ() >= 0.) ? tmpLocalAabbMin[2] : tmpLocalAabbMax[2];
|
||||
localAabbMax[0] = (m_localScaling.getX() <= 0.) ? tmpLocalAabbMin[0] : tmpLocalAabbMax[0];
|
||||
localAabbMax[1] = (m_localScaling.getY() <= 0.) ? tmpLocalAabbMin[1] : tmpLocalAabbMax[1];
|
||||
localAabbMax[2] = (m_localScaling.getZ() <= 0.) ? tmpLocalAabbMin[2] : tmpLocalAabbMax[2];
|
||||
|
||||
btVector3 localHalfExtents = btScalar(0.5)*(localAabbMax-localAabbMin);
|
||||
btScalar margin = m_bvhTriMeshShape->getMargin();
|
||||
localHalfExtents += btVector3(margin,margin,margin);
|
||||
btVector3 localCenter = btScalar(0.5)*(localAabbMax+localAabbMin);
|
||||
|
||||
btMatrix3x3 abs_b = trans.getBasis().absolute();
|
||||
|
||||
btVector3 center = trans(localCenter);
|
||||
|
||||
btVector3 extent = btVector3(abs_b[0].dot(localHalfExtents),
|
||||
abs_b[1].dot(localHalfExtents),
|
||||
abs_b[2].dot(localHalfExtents));
|
||||
aabbMin = center - extent;
|
||||
aabbMax = center + extent;
|
||||
|
||||
}
|
||||
|
||||
void btScaledBvhTriangleMeshShape::setLocalScaling(const btVector3& scaling)
|
||||
{
|
||||
m_localScaling = scaling;
|
||||
}
|
||||
|
||||
const btVector3& btScaledBvhTriangleMeshShape::getLocalScaling() const
|
||||
{
|
||||
return m_localScaling;
|
||||
}
|
||||
|
||||
void btScaledBvhTriangleMeshShape::calculateLocalInertia(btScalar mass,btVector3& inertia) const
|
||||
{
|
||||
///don't make this a movable object!
|
||||
// btAssert(0);
|
||||
}
|
||||
/*
|
||||
Bullet Continuous Collision Detection and Physics Library
|
||||
Copyright (c) 2003-2008 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 "btScaledBvhTriangleMeshShape.h"
|
||||
|
||||
btScaledBvhTriangleMeshShape::btScaledBvhTriangleMeshShape(btBvhTriangleMeshShape* childShape,const btVector3& localScaling)
|
||||
:m_localScaling(localScaling),m_bvhTriMeshShape(childShape)
|
||||
{
|
||||
m_shapeType = SCALED_TRIANGLE_MESH_SHAPE_PROXYTYPE;
|
||||
}
|
||||
|
||||
btScaledBvhTriangleMeshShape::~btScaledBvhTriangleMeshShape()
|
||||
{
|
||||
}
|
||||
|
||||
|
||||
class btScaledTriangleCallback : public btTriangleCallback
|
||||
{
|
||||
btTriangleCallback* m_originalCallback;
|
||||
|
||||
btVector3 m_localScaling;
|
||||
|
||||
public:
|
||||
|
||||
btScaledTriangleCallback(btTriangleCallback* originalCallback,const btVector3& localScaling)
|
||||
:m_originalCallback(originalCallback),
|
||||
m_localScaling(localScaling)
|
||||
{
|
||||
}
|
||||
|
||||
virtual void processTriangle(btVector3* triangle, int partId, int triangleIndex)
|
||||
{
|
||||
btVector3 newTriangle[3];
|
||||
newTriangle[0] = triangle[0]*m_localScaling;
|
||||
newTriangle[1] = triangle[1]*m_localScaling;
|
||||
newTriangle[2] = triangle[2]*m_localScaling;
|
||||
m_originalCallback->processTriangle(&newTriangle[0],partId,triangleIndex);
|
||||
}
|
||||
};
|
||||
|
||||
void btScaledBvhTriangleMeshShape::processAllTriangles(btTriangleCallback* callback,const btVector3& aabbMin,const btVector3& aabbMax) const
|
||||
{
|
||||
btScaledTriangleCallback scaledCallback(callback,m_localScaling);
|
||||
|
||||
btVector3 invLocalScaling(1.f/m_localScaling.getX(),1.f/m_localScaling.getY(),1.f/m_localScaling.getZ());
|
||||
btVector3 scaledAabbMin,scaledAabbMax;
|
||||
|
||||
///support negative scaling
|
||||
scaledAabbMin[0] = m_localScaling.getX() >= 0. ? aabbMin[0] * invLocalScaling[0] : aabbMax[0] * invLocalScaling[0];
|
||||
scaledAabbMin[1] = m_localScaling.getY() >= 0. ? aabbMin[1] * invLocalScaling[1] : aabbMax[1] * invLocalScaling[1];
|
||||
scaledAabbMin[2] = m_localScaling.getZ() >= 0. ? aabbMin[2] * invLocalScaling[2] : aabbMax[2] * invLocalScaling[2];
|
||||
|
||||
scaledAabbMax[0] = m_localScaling.getX() <= 0. ? aabbMin[0] * invLocalScaling[0] : aabbMax[0] * invLocalScaling[0];
|
||||
scaledAabbMax[1] = m_localScaling.getY() <= 0. ? aabbMin[1] * invLocalScaling[1] : aabbMax[1] * invLocalScaling[1];
|
||||
scaledAabbMax[2] = m_localScaling.getZ() <= 0. ? aabbMin[2] * invLocalScaling[2] : aabbMax[2] * invLocalScaling[2];
|
||||
|
||||
|
||||
m_bvhTriMeshShape->processAllTriangles(&scaledCallback,scaledAabbMin,scaledAabbMax);
|
||||
}
|
||||
|
||||
|
||||
void btScaledBvhTriangleMeshShape::getAabb(const btTransform& trans,btVector3& aabbMin,btVector3& aabbMax) const
|
||||
{
|
||||
btVector3 localAabbMin = m_bvhTriMeshShape->getLocalAabbMin();
|
||||
btVector3 localAabbMax = m_bvhTriMeshShape->getLocalAabbMax();
|
||||
|
||||
btVector3 tmpLocalAabbMin = localAabbMin * m_localScaling;
|
||||
btVector3 tmpLocalAabbMax = localAabbMax * m_localScaling;
|
||||
|
||||
localAabbMin[0] = (m_localScaling.getX() >= 0.) ? tmpLocalAabbMin[0] : tmpLocalAabbMax[0];
|
||||
localAabbMin[1] = (m_localScaling.getY() >= 0.) ? tmpLocalAabbMin[1] : tmpLocalAabbMax[1];
|
||||
localAabbMin[2] = (m_localScaling.getZ() >= 0.) ? tmpLocalAabbMin[2] : tmpLocalAabbMax[2];
|
||||
localAabbMax[0] = (m_localScaling.getX() <= 0.) ? tmpLocalAabbMin[0] : tmpLocalAabbMax[0];
|
||||
localAabbMax[1] = (m_localScaling.getY() <= 0.) ? tmpLocalAabbMin[1] : tmpLocalAabbMax[1];
|
||||
localAabbMax[2] = (m_localScaling.getZ() <= 0.) ? tmpLocalAabbMin[2] : tmpLocalAabbMax[2];
|
||||
|
||||
btVector3 localHalfExtents = btScalar(0.5)*(localAabbMax-localAabbMin);
|
||||
btScalar margin = m_bvhTriMeshShape->getMargin();
|
||||
localHalfExtents += btVector3(margin,margin,margin);
|
||||
btVector3 localCenter = btScalar(0.5)*(localAabbMax+localAabbMin);
|
||||
|
||||
btMatrix3x3 abs_b = trans.getBasis().absolute();
|
||||
|
||||
btVector3 center = trans(localCenter);
|
||||
|
||||
btVector3 extent = btVector3(abs_b[0].dot(localHalfExtents),
|
||||
abs_b[1].dot(localHalfExtents),
|
||||
abs_b[2].dot(localHalfExtents));
|
||||
aabbMin = center - extent;
|
||||
aabbMax = center + extent;
|
||||
|
||||
}
|
||||
|
||||
void btScaledBvhTriangleMeshShape::setLocalScaling(const btVector3& scaling)
|
||||
{
|
||||
m_localScaling = scaling;
|
||||
}
|
||||
|
||||
const btVector3& btScaledBvhTriangleMeshShape::getLocalScaling() const
|
||||
{
|
||||
return m_localScaling;
|
||||
}
|
||||
|
||||
void btScaledBvhTriangleMeshShape::calculateLocalInertia(btScalar mass,btVector3& inertia) const
|
||||
{
|
||||
///don't make this a movable object!
|
||||
// btAssert(0);
|
||||
}
|
||||
|
||||
@@ -1,62 +1,62 @@
|
||||
/*
|
||||
Bullet Continuous Collision Detection and Physics Library
|
||||
Copyright (c) 2003-2008 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 SCALED_BVH_TRIANGLE_MESH_SHAPE_H
|
||||
#define SCALED_BVH_TRIANGLE_MESH_SHAPE_H
|
||||
|
||||
#include "BulletCollision/CollisionShapes/btBvhTriangleMeshShape.h"
|
||||
|
||||
|
||||
///The btScaledBvhTriangleMeshShape allows to instance a scaled version of an existing btBvhTriangleMeshShape.
|
||||
///Note that each btBvhTriangleMeshShape still can have its own local scaling, independent from this btScaledBvhTriangleMeshShape 'localScaling'
|
||||
ATTRIBUTE_ALIGNED16(class) btScaledBvhTriangleMeshShape : public btConcaveShape
|
||||
{
|
||||
|
||||
|
||||
btVector3 m_localScaling;
|
||||
|
||||
btBvhTriangleMeshShape* m_bvhTriMeshShape;
|
||||
|
||||
public:
|
||||
|
||||
|
||||
btScaledBvhTriangleMeshShape(btBvhTriangleMeshShape* childShape,const btVector3& localScaling);
|
||||
|
||||
virtual ~btScaledBvhTriangleMeshShape();
|
||||
|
||||
|
||||
virtual void getAabb(const btTransform& t,btVector3& aabbMin,btVector3& aabbMax) const;
|
||||
virtual void setLocalScaling(const btVector3& scaling);
|
||||
virtual const btVector3& getLocalScaling() const;
|
||||
virtual void calculateLocalInertia(btScalar mass,btVector3& inertia) const;
|
||||
|
||||
virtual void processAllTriangles(btTriangleCallback* callback,const btVector3& aabbMin,const btVector3& aabbMax) const;
|
||||
|
||||
btBvhTriangleMeshShape* getChildShape()
|
||||
{
|
||||
return m_bvhTriMeshShape;
|
||||
}
|
||||
|
||||
const btBvhTriangleMeshShape* getChildShape() const
|
||||
{
|
||||
return m_bvhTriMeshShape;
|
||||
}
|
||||
|
||||
//debugging
|
||||
virtual const char* getName()const {return "SCALEDBVHTRIANGLEMESH";}
|
||||
|
||||
};
|
||||
|
||||
#endif //BVH_TRIANGLE_MESH_SHAPE_H
|
||||
/*
|
||||
Bullet Continuous Collision Detection and Physics Library
|
||||
Copyright (c) 2003-2008 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 SCALED_BVH_TRIANGLE_MESH_SHAPE_H
|
||||
#define SCALED_BVH_TRIANGLE_MESH_SHAPE_H
|
||||
|
||||
#include "BulletCollision/CollisionShapes/btBvhTriangleMeshShape.h"
|
||||
|
||||
|
||||
///The btScaledBvhTriangleMeshShape allows to instance a scaled version of an existing btBvhTriangleMeshShape.
|
||||
///Note that each btBvhTriangleMeshShape still can have its own local scaling, independent from this btScaledBvhTriangleMeshShape 'localScaling'
|
||||
ATTRIBUTE_ALIGNED16(class) btScaledBvhTriangleMeshShape : public btConcaveShape
|
||||
{
|
||||
|
||||
|
||||
btVector3 m_localScaling;
|
||||
|
||||
btBvhTriangleMeshShape* m_bvhTriMeshShape;
|
||||
|
||||
public:
|
||||
|
||||
|
||||
btScaledBvhTriangleMeshShape(btBvhTriangleMeshShape* childShape,const btVector3& localScaling);
|
||||
|
||||
virtual ~btScaledBvhTriangleMeshShape();
|
||||
|
||||
|
||||
virtual void getAabb(const btTransform& t,btVector3& aabbMin,btVector3& aabbMax) const;
|
||||
virtual void setLocalScaling(const btVector3& scaling);
|
||||
virtual const btVector3& getLocalScaling() const;
|
||||
virtual void calculateLocalInertia(btScalar mass,btVector3& inertia) const;
|
||||
|
||||
virtual void processAllTriangles(btTriangleCallback* callback,const btVector3& aabbMin,const btVector3& aabbMax) const;
|
||||
|
||||
btBvhTriangleMeshShape* getChildShape()
|
||||
{
|
||||
return m_bvhTriMeshShape;
|
||||
}
|
||||
|
||||
const btBvhTriangleMeshShape* getChildShape() const
|
||||
{
|
||||
return m_bvhTriMeshShape;
|
||||
}
|
||||
|
||||
//debugging
|
||||
virtual const char* getName()const {return "SCALEDBVHTRIANGLEMESH";}
|
||||
|
||||
};
|
||||
|
||||
#endif //BVH_TRIANGLE_MESH_SHAPE_H
|
||||
|
||||
@@ -1,164 +1,164 @@
|
||||
/*
|
||||
btbtShapeHull implemented by John McCutchan.
|
||||
|
||||
Bullet Continuous Collision Detection and Physics Library
|
||||
Copyright (c) 2003-2008 Erwin Coumans http://bulletphysics.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 "btShapeHull.h"
|
||||
#include "LinearMath/btConvexHull.h"
|
||||
|
||||
#define NUM_UNITSPHERE_POINTS 42
|
||||
|
||||
static btVector3 btUnitSpherePoints[NUM_UNITSPHERE_POINTS+MAX_PREFERRED_PENETRATION_DIRECTIONS*2] =
|
||||
{
|
||||
btVector3(btScalar(0.000000) , btScalar(-0.000000),btScalar(-1.000000)),
|
||||
btVector3(btScalar(0.723608) , btScalar(-0.525725),btScalar(-0.447219)),
|
||||
btVector3(btScalar(-0.276388) , btScalar(-0.850649),btScalar(-0.447219)),
|
||||
btVector3(btScalar(-0.894426) , btScalar(-0.000000),btScalar(-0.447216)),
|
||||
btVector3(btScalar(-0.276388) , btScalar(0.850649),btScalar(-0.447220)),
|
||||
btVector3(btScalar(0.723608) , btScalar(0.525725),btScalar(-0.447219)),
|
||||
btVector3(btScalar(0.276388) , btScalar(-0.850649),btScalar(0.447220)),
|
||||
btVector3(btScalar(-0.723608) , btScalar(-0.525725),btScalar(0.447219)),
|
||||
btVector3(btScalar(-0.723608) , btScalar(0.525725),btScalar(0.447219)),
|
||||
btVector3(btScalar(0.276388) , btScalar(0.850649),btScalar(0.447219)),
|
||||
btVector3(btScalar(0.894426) , btScalar(0.000000),btScalar(0.447216)),
|
||||
btVector3(btScalar(-0.000000) , btScalar(0.000000),btScalar(1.000000)),
|
||||
btVector3(btScalar(0.425323) , btScalar(-0.309011),btScalar(-0.850654)),
|
||||
btVector3(btScalar(-0.162456) , btScalar(-0.499995),btScalar(-0.850654)),
|
||||
btVector3(btScalar(0.262869) , btScalar(-0.809012),btScalar(-0.525738)),
|
||||
btVector3(btScalar(0.425323) , btScalar(0.309011),btScalar(-0.850654)),
|
||||
btVector3(btScalar(0.850648) , btScalar(-0.000000),btScalar(-0.525736)),
|
||||
btVector3(btScalar(-0.525730) , btScalar(-0.000000),btScalar(-0.850652)),
|
||||
btVector3(btScalar(-0.688190) , btScalar(-0.499997),btScalar(-0.525736)),
|
||||
btVector3(btScalar(-0.162456) , btScalar(0.499995),btScalar(-0.850654)),
|
||||
btVector3(btScalar(-0.688190) , btScalar(0.499997),btScalar(-0.525736)),
|
||||
btVector3(btScalar(0.262869) , btScalar(0.809012),btScalar(-0.525738)),
|
||||
btVector3(btScalar(0.951058) , btScalar(0.309013),btScalar(0.000000)),
|
||||
btVector3(btScalar(0.951058) , btScalar(-0.309013),btScalar(0.000000)),
|
||||
btVector3(btScalar(0.587786) , btScalar(-0.809017),btScalar(0.000000)),
|
||||
btVector3(btScalar(0.000000) , btScalar(-1.000000),btScalar(0.000000)),
|
||||
btVector3(btScalar(-0.587786) , btScalar(-0.809017),btScalar(0.000000)),
|
||||
btVector3(btScalar(-0.951058) , btScalar(-0.309013),btScalar(-0.000000)),
|
||||
btVector3(btScalar(-0.951058) , btScalar(0.309013),btScalar(-0.000000)),
|
||||
btVector3(btScalar(-0.587786) , btScalar(0.809017),btScalar(-0.000000)),
|
||||
btVector3(btScalar(-0.000000) , btScalar(1.000000),btScalar(-0.000000)),
|
||||
btVector3(btScalar(0.587786) , btScalar(0.809017),btScalar(-0.000000)),
|
||||
btVector3(btScalar(0.688190) , btScalar(-0.499997),btScalar(0.525736)),
|
||||
btVector3(btScalar(-0.262869) , btScalar(-0.809012),btScalar(0.525738)),
|
||||
btVector3(btScalar(-0.850648) , btScalar(0.000000),btScalar(0.525736)),
|
||||
btVector3(btScalar(-0.262869) , btScalar(0.809012),btScalar(0.525738)),
|
||||
btVector3(btScalar(0.688190) , btScalar(0.499997),btScalar(0.525736)),
|
||||
btVector3(btScalar(0.525730) , btScalar(0.000000),btScalar(0.850652)),
|
||||
btVector3(btScalar(0.162456) , btScalar(-0.499995),btScalar(0.850654)),
|
||||
btVector3(btScalar(-0.425323) , btScalar(-0.309011),btScalar(0.850654)),
|
||||
btVector3(btScalar(-0.425323) , btScalar(0.309011),btScalar(0.850654)),
|
||||
btVector3(btScalar(0.162456) , btScalar(0.499995),btScalar(0.850654))
|
||||
};
|
||||
|
||||
btShapeHull::btShapeHull (const btConvexShape* shape)
|
||||
{
|
||||
m_shape = shape;
|
||||
m_vertices.clear ();
|
||||
m_indices.clear();
|
||||
m_numIndices = 0;
|
||||
}
|
||||
|
||||
btShapeHull::~btShapeHull ()
|
||||
{
|
||||
m_indices.clear();
|
||||
m_vertices.clear ();
|
||||
}
|
||||
|
||||
bool
|
||||
btShapeHull::buildHull (btScalar /*margin*/)
|
||||
{
|
||||
int numSampleDirections = NUM_UNITSPHERE_POINTS;
|
||||
{
|
||||
int numPDA = m_shape->getNumPreferredPenetrationDirections();
|
||||
if (numPDA)
|
||||
{
|
||||
for (int i=0;i<numPDA;i++)
|
||||
{
|
||||
btVector3 norm;
|
||||
m_shape->getPreferredPenetrationDirection(i,norm);
|
||||
btUnitSpherePoints[numSampleDirections] = norm;
|
||||
numSampleDirections++;
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
btVector3 supportPoints[NUM_UNITSPHERE_POINTS+MAX_PREFERRED_PENETRATION_DIRECTIONS*2];
|
||||
int i;
|
||||
for (i = 0; i < numSampleDirections; i++)
|
||||
{
|
||||
supportPoints[i] = m_shape->localGetSupportingVertex(btUnitSpherePoints[i]);
|
||||
}
|
||||
|
||||
HullDesc hd;
|
||||
hd.mFlags = QF_TRIANGLES;
|
||||
hd.mVcount = static_cast<unsigned int>(numSampleDirections);
|
||||
|
||||
#ifdef BT_USE_DOUBLE_PRECISION
|
||||
hd.mVertices = &supportPoints[0];
|
||||
hd.mVertexStride = sizeof(btVector3);
|
||||
#else
|
||||
hd.mVertices = &supportPoints[0];
|
||||
hd.mVertexStride = sizeof (btVector3);
|
||||
#endif
|
||||
|
||||
HullLibrary hl;
|
||||
HullResult hr;
|
||||
if (hl.CreateConvexHull (hd, hr) == QE_FAIL)
|
||||
{
|
||||
return false;
|
||||
}
|
||||
|
||||
m_vertices.resize (static_cast<int>(hr.mNumOutputVertices));
|
||||
|
||||
|
||||
for (i = 0; i < static_cast<int>(hr.mNumOutputVertices); i++)
|
||||
{
|
||||
m_vertices[i] = hr.m_OutputVertices[i];
|
||||
}
|
||||
m_numIndices = hr.mNumIndices;
|
||||
m_indices.resize(static_cast<int>(m_numIndices));
|
||||
for (i = 0; i < static_cast<int>(m_numIndices); i++)
|
||||
{
|
||||
m_indices[i] = hr.m_Indices[i];
|
||||
}
|
||||
|
||||
// free temporary hull result that we just copied
|
||||
hl.ReleaseResult (hr);
|
||||
|
||||
return true;
|
||||
}
|
||||
|
||||
int
|
||||
btShapeHull::numTriangles () const
|
||||
{
|
||||
return static_cast<int>(m_numIndices / 3);
|
||||
}
|
||||
|
||||
int
|
||||
btShapeHull::numVertices () const
|
||||
{
|
||||
return m_vertices.size ();
|
||||
}
|
||||
|
||||
int
|
||||
btShapeHull::numIndices () const
|
||||
{
|
||||
return static_cast<int>(m_numIndices);
|
||||
}
|
||||
|
||||
/*
|
||||
btbtShapeHull implemented by John McCutchan.
|
||||
|
||||
Bullet Continuous Collision Detection and Physics Library
|
||||
Copyright (c) 2003-2008 Erwin Coumans http://bulletphysics.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 "btShapeHull.h"
|
||||
#include "LinearMath/btConvexHull.h"
|
||||
|
||||
#define NUM_UNITSPHERE_POINTS 42
|
||||
|
||||
static btVector3 btUnitSpherePoints[NUM_UNITSPHERE_POINTS+MAX_PREFERRED_PENETRATION_DIRECTIONS*2] =
|
||||
{
|
||||
btVector3(btScalar(0.000000) , btScalar(-0.000000),btScalar(-1.000000)),
|
||||
btVector3(btScalar(0.723608) , btScalar(-0.525725),btScalar(-0.447219)),
|
||||
btVector3(btScalar(-0.276388) , btScalar(-0.850649),btScalar(-0.447219)),
|
||||
btVector3(btScalar(-0.894426) , btScalar(-0.000000),btScalar(-0.447216)),
|
||||
btVector3(btScalar(-0.276388) , btScalar(0.850649),btScalar(-0.447220)),
|
||||
btVector3(btScalar(0.723608) , btScalar(0.525725),btScalar(-0.447219)),
|
||||
btVector3(btScalar(0.276388) , btScalar(-0.850649),btScalar(0.447220)),
|
||||
btVector3(btScalar(-0.723608) , btScalar(-0.525725),btScalar(0.447219)),
|
||||
btVector3(btScalar(-0.723608) , btScalar(0.525725),btScalar(0.447219)),
|
||||
btVector3(btScalar(0.276388) , btScalar(0.850649),btScalar(0.447219)),
|
||||
btVector3(btScalar(0.894426) , btScalar(0.000000),btScalar(0.447216)),
|
||||
btVector3(btScalar(-0.000000) , btScalar(0.000000),btScalar(1.000000)),
|
||||
btVector3(btScalar(0.425323) , btScalar(-0.309011),btScalar(-0.850654)),
|
||||
btVector3(btScalar(-0.162456) , btScalar(-0.499995),btScalar(-0.850654)),
|
||||
btVector3(btScalar(0.262869) , btScalar(-0.809012),btScalar(-0.525738)),
|
||||
btVector3(btScalar(0.425323) , btScalar(0.309011),btScalar(-0.850654)),
|
||||
btVector3(btScalar(0.850648) , btScalar(-0.000000),btScalar(-0.525736)),
|
||||
btVector3(btScalar(-0.525730) , btScalar(-0.000000),btScalar(-0.850652)),
|
||||
btVector3(btScalar(-0.688190) , btScalar(-0.499997),btScalar(-0.525736)),
|
||||
btVector3(btScalar(-0.162456) , btScalar(0.499995),btScalar(-0.850654)),
|
||||
btVector3(btScalar(-0.688190) , btScalar(0.499997),btScalar(-0.525736)),
|
||||
btVector3(btScalar(0.262869) , btScalar(0.809012),btScalar(-0.525738)),
|
||||
btVector3(btScalar(0.951058) , btScalar(0.309013),btScalar(0.000000)),
|
||||
btVector3(btScalar(0.951058) , btScalar(-0.309013),btScalar(0.000000)),
|
||||
btVector3(btScalar(0.587786) , btScalar(-0.809017),btScalar(0.000000)),
|
||||
btVector3(btScalar(0.000000) , btScalar(-1.000000),btScalar(0.000000)),
|
||||
btVector3(btScalar(-0.587786) , btScalar(-0.809017),btScalar(0.000000)),
|
||||
btVector3(btScalar(-0.951058) , btScalar(-0.309013),btScalar(-0.000000)),
|
||||
btVector3(btScalar(-0.951058) , btScalar(0.309013),btScalar(-0.000000)),
|
||||
btVector3(btScalar(-0.587786) , btScalar(0.809017),btScalar(-0.000000)),
|
||||
btVector3(btScalar(-0.000000) , btScalar(1.000000),btScalar(-0.000000)),
|
||||
btVector3(btScalar(0.587786) , btScalar(0.809017),btScalar(-0.000000)),
|
||||
btVector3(btScalar(0.688190) , btScalar(-0.499997),btScalar(0.525736)),
|
||||
btVector3(btScalar(-0.262869) , btScalar(-0.809012),btScalar(0.525738)),
|
||||
btVector3(btScalar(-0.850648) , btScalar(0.000000),btScalar(0.525736)),
|
||||
btVector3(btScalar(-0.262869) , btScalar(0.809012),btScalar(0.525738)),
|
||||
btVector3(btScalar(0.688190) , btScalar(0.499997),btScalar(0.525736)),
|
||||
btVector3(btScalar(0.525730) , btScalar(0.000000),btScalar(0.850652)),
|
||||
btVector3(btScalar(0.162456) , btScalar(-0.499995),btScalar(0.850654)),
|
||||
btVector3(btScalar(-0.425323) , btScalar(-0.309011),btScalar(0.850654)),
|
||||
btVector3(btScalar(-0.425323) , btScalar(0.309011),btScalar(0.850654)),
|
||||
btVector3(btScalar(0.162456) , btScalar(0.499995),btScalar(0.850654))
|
||||
};
|
||||
|
||||
btShapeHull::btShapeHull (const btConvexShape* shape)
|
||||
{
|
||||
m_shape = shape;
|
||||
m_vertices.clear ();
|
||||
m_indices.clear();
|
||||
m_numIndices = 0;
|
||||
}
|
||||
|
||||
btShapeHull::~btShapeHull ()
|
||||
{
|
||||
m_indices.clear();
|
||||
m_vertices.clear ();
|
||||
}
|
||||
|
||||
bool
|
||||
btShapeHull::buildHull (btScalar /*margin*/)
|
||||
{
|
||||
int numSampleDirections = NUM_UNITSPHERE_POINTS;
|
||||
{
|
||||
int numPDA = m_shape->getNumPreferredPenetrationDirections();
|
||||
if (numPDA)
|
||||
{
|
||||
for (int i=0;i<numPDA;i++)
|
||||
{
|
||||
btVector3 norm;
|
||||
m_shape->getPreferredPenetrationDirection(i,norm);
|
||||
btUnitSpherePoints[numSampleDirections] = norm;
|
||||
numSampleDirections++;
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
btVector3 supportPoints[NUM_UNITSPHERE_POINTS+MAX_PREFERRED_PENETRATION_DIRECTIONS*2];
|
||||
int i;
|
||||
for (i = 0; i < numSampleDirections; i++)
|
||||
{
|
||||
supportPoints[i] = m_shape->localGetSupportingVertex(btUnitSpherePoints[i]);
|
||||
}
|
||||
|
||||
HullDesc hd;
|
||||
hd.mFlags = QF_TRIANGLES;
|
||||
hd.mVcount = static_cast<unsigned int>(numSampleDirections);
|
||||
|
||||
#ifdef BT_USE_DOUBLE_PRECISION
|
||||
hd.mVertices = &supportPoints[0];
|
||||
hd.mVertexStride = sizeof(btVector3);
|
||||
#else
|
||||
hd.mVertices = &supportPoints[0];
|
||||
hd.mVertexStride = sizeof (btVector3);
|
||||
#endif
|
||||
|
||||
HullLibrary hl;
|
||||
HullResult hr;
|
||||
if (hl.CreateConvexHull (hd, hr) == QE_FAIL)
|
||||
{
|
||||
return false;
|
||||
}
|
||||
|
||||
m_vertices.resize (static_cast<int>(hr.mNumOutputVertices));
|
||||
|
||||
|
||||
for (i = 0; i < static_cast<int>(hr.mNumOutputVertices); i++)
|
||||
{
|
||||
m_vertices[i] = hr.m_OutputVertices[i];
|
||||
}
|
||||
m_numIndices = hr.mNumIndices;
|
||||
m_indices.resize(static_cast<int>(m_numIndices));
|
||||
for (i = 0; i < static_cast<int>(m_numIndices); i++)
|
||||
{
|
||||
m_indices[i] = hr.m_Indices[i];
|
||||
}
|
||||
|
||||
// free temporary hull result that we just copied
|
||||
hl.ReleaseResult (hr);
|
||||
|
||||
return true;
|
||||
}
|
||||
|
||||
int
|
||||
btShapeHull::numTriangles () const
|
||||
{
|
||||
return static_cast<int>(m_numIndices / 3);
|
||||
}
|
||||
|
||||
int
|
||||
btShapeHull::numVertices () const
|
||||
{
|
||||
return m_vertices.size ();
|
||||
}
|
||||
|
||||
int
|
||||
btShapeHull::numIndices () const
|
||||
{
|
||||
return static_cast<int>(m_numIndices);
|
||||
}
|
||||
|
||||
|
||||
@@ -1,56 +1,56 @@
|
||||
/*
|
||||
btShapeHull implemented by John McCutchan.
|
||||
|
||||
Bullet Continuous Collision Detection and Physics Library
|
||||
Copyright (c) 2003-2008 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 _SHAPE_HULL_H
|
||||
#define _SHAPE_HULL_H
|
||||
|
||||
#include "LinearMath/btAlignedObjectArray.h"
|
||||
#include "BulletCollision/CollisionShapes/btConvexShape.h"
|
||||
|
||||
|
||||
///The btShapeHull class takes a btConvexShape, builds a simplified convex hull using btConvexHull and provides triangle indices and vertices.
|
||||
///It can be useful for to simplify a complex convex object and for visualization of a non-polyhedral convex object.
|
||||
///It approximates the convex hull using the supporting vertex of 42 directions.
|
||||
class btShapeHull
|
||||
{
|
||||
public:
|
||||
btShapeHull (const btConvexShape* shape);
|
||||
~btShapeHull ();
|
||||
|
||||
bool buildHull (btScalar margin);
|
||||
|
||||
int numTriangles () const;
|
||||
int numVertices () const;
|
||||
int numIndices () const;
|
||||
|
||||
const btVector3* getVertexPointer() const
|
||||
{
|
||||
return &m_vertices[0];
|
||||
}
|
||||
const unsigned int* getIndexPointer() const
|
||||
{
|
||||
return &m_indices[0];
|
||||
}
|
||||
|
||||
protected:
|
||||
btAlignedObjectArray<btVector3> m_vertices;
|
||||
btAlignedObjectArray<unsigned int> m_indices;
|
||||
unsigned int m_numIndices;
|
||||
const btConvexShape* m_shape;
|
||||
};
|
||||
|
||||
#endif //_SHAPE_HULL_H
|
||||
/*
|
||||
btShapeHull implemented by John McCutchan.
|
||||
|
||||
Bullet Continuous Collision Detection and Physics Library
|
||||
Copyright (c) 2003-2008 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 _SHAPE_HULL_H
|
||||
#define _SHAPE_HULL_H
|
||||
|
||||
#include "LinearMath/btAlignedObjectArray.h"
|
||||
#include "BulletCollision/CollisionShapes/btConvexShape.h"
|
||||
|
||||
|
||||
///The btShapeHull class takes a btConvexShape, builds a simplified convex hull using btConvexHull and provides triangle indices and vertices.
|
||||
///It can be useful for to simplify a complex convex object and for visualization of a non-polyhedral convex object.
|
||||
///It approximates the convex hull using the supporting vertex of 42 directions.
|
||||
class btShapeHull
|
||||
{
|
||||
public:
|
||||
btShapeHull (const btConvexShape* shape);
|
||||
~btShapeHull ();
|
||||
|
||||
bool buildHull (btScalar margin);
|
||||
|
||||
int numTriangles () const;
|
||||
int numVertices () const;
|
||||
int numIndices () const;
|
||||
|
||||
const btVector3* getVertexPointer() const
|
||||
{
|
||||
return &m_vertices[0];
|
||||
}
|
||||
const unsigned int* getIndexPointer() const
|
||||
{
|
||||
return &m_indices[0];
|
||||
}
|
||||
|
||||
protected:
|
||||
btAlignedObjectArray<btVector3> m_vertices;
|
||||
btAlignedObjectArray<unsigned int> m_indices;
|
||||
unsigned int m_numIndices;
|
||||
const btConvexShape* m_shape;
|
||||
};
|
||||
|
||||
#endif //_SHAPE_HULL_H
|
||||
|
||||
@@ -1,35 +1,35 @@
|
||||
/*
|
||||
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 "btTriangleBuffer.h"
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
void btTriangleBuffer::processTriangle(btVector3* triangle,int partId,int triangleIndex)
|
||||
{
|
||||
btTriangle tri;
|
||||
tri.m_vertex0 = triangle[0];
|
||||
tri.m_vertex1 = triangle[1];
|
||||
tri.m_vertex2 = triangle[2];
|
||||
tri.m_partId = partId;
|
||||
tri.m_triangleIndex = triangleIndex;
|
||||
|
||||
m_triangleBuffer.push_back(tri);
|
||||
}
|
||||
|
||||
/*
|
||||
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 "btTriangleBuffer.h"
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
void btTriangleBuffer::processTriangle(btVector3* triangle,int partId,int triangleIndex)
|
||||
{
|
||||
btTriangle tri;
|
||||
tri.m_vertex0 = triangle[0];
|
||||
tri.m_vertex1 = triangle[1];
|
||||
tri.m_vertex2 = triangle[2];
|
||||
tri.m_partId = partId;
|
||||
tri.m_triangleIndex = triangleIndex;
|
||||
|
||||
m_triangleBuffer.push_back(tri);
|
||||
}
|
||||
|
||||
|
||||
@@ -1,69 +1,69 @@
|
||||
/*
|
||||
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_TRIANGLE_BUFFER_H
|
||||
#define BT_TRIANGLE_BUFFER_H
|
||||
|
||||
#include "btTriangleCallback.h"
|
||||
#include "LinearMath/btAlignedObjectArray.h"
|
||||
|
||||
struct btTriangle
|
||||
{
|
||||
btVector3 m_vertex0;
|
||||
btVector3 m_vertex1;
|
||||
btVector3 m_vertex2;
|
||||
int m_partId;
|
||||
int m_triangleIndex;
|
||||
};
|
||||
|
||||
///The btTriangleBuffer callback can be useful to collect and store overlapping triangles between AABB and concave objects that support 'processAllTriangles'
|
||||
///Example usage of this class:
|
||||
/// btTriangleBuffer triBuf;
|
||||
/// concaveShape->processAllTriangles(&triBuf,aabbMin, aabbMax);
|
||||
/// for (int i=0;i<triBuf.getNumTriangles();i++)
|
||||
/// {
|
||||
/// const btTriangle& tri = triBuf.getTriangle(i);
|
||||
/// //do something useful here with the triangle
|
||||
/// }
|
||||
class btTriangleBuffer : public btTriangleCallback
|
||||
{
|
||||
|
||||
btAlignedObjectArray<btTriangle> m_triangleBuffer;
|
||||
|
||||
public:
|
||||
|
||||
|
||||
virtual void processTriangle(btVector3* triangle, int partId, int triangleIndex);
|
||||
|
||||
int getNumTriangles() const
|
||||
{
|
||||
return int(m_triangleBuffer.size());
|
||||
}
|
||||
|
||||
const btTriangle& getTriangle(int index) const
|
||||
{
|
||||
return m_triangleBuffer[index];
|
||||
}
|
||||
|
||||
void clearBuffer()
|
||||
{
|
||||
m_triangleBuffer.clear();
|
||||
}
|
||||
|
||||
};
|
||||
|
||||
|
||||
#endif //BT_TRIANGLE_BUFFER_H
|
||||
|
||||
/*
|
||||
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_TRIANGLE_BUFFER_H
|
||||
#define BT_TRIANGLE_BUFFER_H
|
||||
|
||||
#include "btTriangleCallback.h"
|
||||
#include "LinearMath/btAlignedObjectArray.h"
|
||||
|
||||
struct btTriangle
|
||||
{
|
||||
btVector3 m_vertex0;
|
||||
btVector3 m_vertex1;
|
||||
btVector3 m_vertex2;
|
||||
int m_partId;
|
||||
int m_triangleIndex;
|
||||
};
|
||||
|
||||
///The btTriangleBuffer callback can be useful to collect and store overlapping triangles between AABB and concave objects that support 'processAllTriangles'
|
||||
///Example usage of this class:
|
||||
/// btTriangleBuffer triBuf;
|
||||
/// concaveShape->processAllTriangles(&triBuf,aabbMin, aabbMax);
|
||||
/// for (int i=0;i<triBuf.getNumTriangles();i++)
|
||||
/// {
|
||||
/// const btTriangle& tri = triBuf.getTriangle(i);
|
||||
/// //do something useful here with the triangle
|
||||
/// }
|
||||
class btTriangleBuffer : public btTriangleCallback
|
||||
{
|
||||
|
||||
btAlignedObjectArray<btTriangle> m_triangleBuffer;
|
||||
|
||||
public:
|
||||
|
||||
|
||||
virtual void processTriangle(btVector3* triangle, int partId, int triangleIndex);
|
||||
|
||||
int getNumTriangles() const
|
||||
{
|
||||
return int(m_triangleBuffer.size());
|
||||
}
|
||||
|
||||
const btTriangle& getTriangle(int index) const
|
||||
{
|
||||
return m_triangleBuffer[index];
|
||||
}
|
||||
|
||||
void clearBuffer()
|
||||
{
|
||||
m_triangleBuffer.clear();
|
||||
}
|
||||
|
||||
};
|
||||
|
||||
|
||||
#endif //BT_TRIANGLE_BUFFER_H
|
||||
|
||||
|
||||
@@ -82,6 +82,7 @@ bool btTriangleIndexVertexArray::hasPremadeAabb() const
|
||||
return (m_hasAabb == 1);
|
||||
}
|
||||
|
||||
|
||||
void btTriangleIndexVertexArray::setPremadeAabb(const btVector3& aabbMin, const btVector3& aabbMax ) const
|
||||
{
|
||||
m_aabbMin = aabbMin;
|
||||
|
||||
@@ -1,86 +1,87 @@
|
||||
/*
|
||||
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.
|
||||
*/
|
||||
|
||||
///This file was created by Alex Silverman
|
||||
|
||||
#include "btTriangleIndexVertexMaterialArray.h"
|
||||
|
||||
btTriangleIndexVertexMaterialArray::btTriangleIndexVertexMaterialArray(int numTriangles,int* triangleIndexBase,int triangleIndexStride,
|
||||
int numVertices,btScalar* vertexBase,int vertexStride,
|
||||
int numMaterials, unsigned char* materialBase, int materialStride,
|
||||
int* triangleMaterialsBase, int materialIndexStride) :
|
||||
btTriangleIndexVertexArray(numTriangles, triangleIndexBase, triangleIndexStride, numVertices, vertexBase, vertexStride)
|
||||
{
|
||||
btMaterialProperties mat;
|
||||
|
||||
mat.m_numMaterials = numMaterials;
|
||||
mat.m_materialBase = materialBase;
|
||||
mat.m_materialStride = materialStride;
|
||||
#ifdef BT_USE_DOUBLE_PRECISION
|
||||
mat.m_materialType = PHY_DOUBLE;
|
||||
#else
|
||||
mat.m_materialType = PHY_FLOAT;
|
||||
#endif
|
||||
|
||||
mat.m_numTriangles = numTriangles;
|
||||
mat.m_triangleMaterialsBase = (unsigned char *)triangleMaterialsBase;
|
||||
mat.m_triangleMaterialStride = materialIndexStride;
|
||||
mat.m_triangleType = PHY_INTEGER;
|
||||
|
||||
addMaterialProperties(mat);
|
||||
}
|
||||
|
||||
|
||||
void btTriangleIndexVertexMaterialArray::getLockedMaterialBase(unsigned char **materialBase, int& numMaterials, PHY_ScalarType& materialType, int& materialStride,
|
||||
unsigned char ** triangleMaterialBase, int& numTriangles, int& triangleMaterialStride, PHY_ScalarType& triangleType, int subpart)
|
||||
{
|
||||
btAssert(subpart< getNumSubParts() );
|
||||
|
||||
btMaterialProperties& mats = m_materials[subpart];
|
||||
|
||||
numMaterials = mats.m_numMaterials;
|
||||
(*materialBase) = (unsigned char *) mats.m_materialBase;
|
||||
#ifdef BT_USE_DOUBLE_PRECISION
|
||||
materialType = PHY_DOUBLE;
|
||||
#else
|
||||
materialType = PHY_FLOAT;
|
||||
#endif
|
||||
materialStride = mats.m_materialStride;
|
||||
|
||||
numTriangles = mats.m_numTriangles;
|
||||
(*triangleMaterialBase) = (unsigned char *)mats.m_triangleMaterialsBase;
|
||||
triangleMaterialStride = mats.m_triangleMaterialStride;
|
||||
triangleType = mats.m_triangleType;
|
||||
}
|
||||
|
||||
void btTriangleIndexVertexMaterialArray::getLockedReadOnlyMaterialBase(const unsigned char **materialBase, int& numMaterials, PHY_ScalarType& materialType, int& materialStride,
|
||||
const unsigned char ** triangleMaterialBase, int& numTriangles, int& triangleMaterialStride, PHY_ScalarType& triangleType, int subpart)
|
||||
{
|
||||
btMaterialProperties& mats = m_materials[subpart];
|
||||
|
||||
numMaterials = mats.m_numMaterials;
|
||||
(*materialBase) = (const unsigned char *) mats.m_materialBase;
|
||||
#ifdef BT_USE_DOUBLE_PRECISION
|
||||
materialType = PHY_DOUBLE;
|
||||
#else
|
||||
materialType = PHY_FLOAT;
|
||||
#endif
|
||||
materialStride = mats.m_materialStride;
|
||||
|
||||
numTriangles = mats.m_numTriangles;
|
||||
(*triangleMaterialBase) = (const unsigned char *)mats.m_triangleMaterialsBase;
|
||||
triangleMaterialStride = mats.m_triangleMaterialStride;
|
||||
triangleType = mats.m_triangleType;
|
||||
}
|
||||
|
||||
/*
|
||||
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.
|
||||
*/
|
||||
|
||||
///This file was created by Alex Silverman
|
||||
|
||||
#include "btTriangleIndexVertexMaterialArray.h"
|
||||
|
||||
btTriangleIndexVertexMaterialArray::btTriangleIndexVertexMaterialArray(int numTriangles,int* triangleIndexBase,int triangleIndexStride,
|
||||
int numVertices,btScalar* vertexBase,int vertexStride,
|
||||
int numMaterials, unsigned char* materialBase, int materialStride,
|
||||
int* triangleMaterialsBase, int materialIndexStride) :
|
||||
btTriangleIndexVertexArray(numTriangles, triangleIndexBase, triangleIndexStride, numVertices, vertexBase, vertexStride)
|
||||
{
|
||||
btMaterialProperties mat;
|
||||
|
||||
mat.m_numMaterials = numMaterials;
|
||||
mat.m_materialBase = materialBase;
|
||||
mat.m_materialStride = materialStride;
|
||||
#ifdef BT_USE_DOUBLE_PRECISION
|
||||
mat.m_materialType = PHY_DOUBLE;
|
||||
#else
|
||||
mat.m_materialType = PHY_FLOAT;
|
||||
#endif
|
||||
|
||||
mat.m_numTriangles = numTriangles;
|
||||
mat.m_triangleMaterialsBase = (unsigned char *)triangleMaterialsBase;
|
||||
mat.m_triangleMaterialStride = materialIndexStride;
|
||||
mat.m_triangleType = PHY_INTEGER;
|
||||
|
||||
addMaterialProperties(mat);
|
||||
}
|
||||
|
||||
|
||||
void btTriangleIndexVertexMaterialArray::getLockedMaterialBase(unsigned char **materialBase, int& numMaterials, PHY_ScalarType& materialType, int& materialStride,
|
||||
unsigned char ** triangleMaterialBase, int& numTriangles, int& triangleMaterialStride, PHY_ScalarType& triangleType, int subpart)
|
||||
{
|
||||
btAssert(subpart< getNumSubParts() );
|
||||
|
||||
btMaterialProperties& mats = m_materials[subpart];
|
||||
|
||||
numMaterials = mats.m_numMaterials;
|
||||
(*materialBase) = (unsigned char *) mats.m_materialBase;
|
||||
#ifdef BT_USE_DOUBLE_PRECISION
|
||||
materialType = PHY_DOUBLE;
|
||||
#else
|
||||
materialType = PHY_FLOAT;
|
||||
#endif
|
||||
materialStride = mats.m_materialStride;
|
||||
|
||||
numTriangles = mats.m_numTriangles;
|
||||
(*triangleMaterialBase) = (unsigned char *)mats.m_triangleMaterialsBase;
|
||||
triangleMaterialStride = mats.m_triangleMaterialStride;
|
||||
triangleType = mats.m_triangleType;
|
||||
}
|
||||
|
||||
void btTriangleIndexVertexMaterialArray::getLockedReadOnlyMaterialBase(const unsigned char **materialBase, int& numMaterials, PHY_ScalarType& materialType, int& materialStride,
|
||||
const unsigned char ** triangleMaterialBase, int& numTriangles, int& triangleMaterialStride, PHY_ScalarType& triangleType, int subpart)
|
||||
{
|
||||
btMaterialProperties& mats = m_materials[subpart];
|
||||
|
||||
numMaterials = mats.m_numMaterials;
|
||||
(*materialBase) = (const unsigned char *) mats.m_materialBase;
|
||||
#ifdef BT_USE_DOUBLE_PRECISION
|
||||
materialType = PHY_DOUBLE;
|
||||
#else
|
||||
materialType = PHY_FLOAT;
|
||||
#endif
|
||||
materialStride = mats.m_materialStride;
|
||||
|
||||
numTriangles = mats.m_numTriangles;
|
||||
(*triangleMaterialBase) = (const unsigned char *)mats.m_triangleMaterialsBase;
|
||||
triangleMaterialStride = mats.m_triangleMaterialStride;
|
||||
triangleType = mats.m_triangleType;
|
||||
}
|
||||
|
||||
@@ -1,84 +1,84 @@
|
||||
/*
|
||||
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.
|
||||
*/
|
||||
|
||||
///This file was created by Alex Silverman
|
||||
|
||||
#ifndef BT_MULTIMATERIAL_TRIANGLE_INDEX_VERTEX_ARRAY_H
|
||||
#define BT_MULTIMATERIAL_TRIANGLE_INDEX_VERTEX_ARRAY_H
|
||||
|
||||
#include "btTriangleIndexVertexArray.h"
|
||||
|
||||
|
||||
ATTRIBUTE_ALIGNED16( struct) btMaterialProperties
|
||||
{
|
||||
///m_materialBase ==========> 2 btScalar values make up one material, friction then restitution
|
||||
int m_numMaterials;
|
||||
const unsigned char * m_materialBase;
|
||||
int m_materialStride;
|
||||
PHY_ScalarType m_materialType;
|
||||
///m_numTriangles <=========== This exists in the btIndexedMesh object for the same subpart, but since we're
|
||||
/// padding the structure, it can be reproduced at no real cost
|
||||
///m_triangleMaterials =====> 1 integer value makes up one entry
|
||||
/// eg: m_triangleMaterials[1] = 5; // This will set triangle 2 to use material 5
|
||||
int m_numTriangles;
|
||||
const unsigned char * m_triangleMaterialsBase;
|
||||
int m_triangleMaterialStride;
|
||||
///m_triangleType <========== Automatically set in addMaterialProperties
|
||||
PHY_ScalarType m_triangleType;
|
||||
};
|
||||
|
||||
typedef btAlignedObjectArray<btMaterialProperties> MaterialArray;
|
||||
|
||||
///Teh btTriangleIndexVertexMaterialArray is built on TriangleIndexVertexArray
|
||||
///The addition of a material array allows for the utilization of the partID and
|
||||
///triangleIndex that are returned in the ContactAddedCallback. As with
|
||||
///TriangleIndexVertexArray, no duplicate is made of the material data, so it
|
||||
///is the users responsibility to maintain the array during the lifetime of the
|
||||
///TriangleIndexVertexMaterialArray.
|
||||
ATTRIBUTE_ALIGNED16(class) btTriangleIndexVertexMaterialArray : public btTriangleIndexVertexArray
|
||||
{
|
||||
protected:
|
||||
MaterialArray m_materials;
|
||||
|
||||
public:
|
||||
BT_DECLARE_ALIGNED_ALLOCATOR();
|
||||
|
||||
btTriangleIndexVertexMaterialArray()
|
||||
{
|
||||
}
|
||||
|
||||
btTriangleIndexVertexMaterialArray(int numTriangles,int* triangleIndexBase,int triangleIndexStride,
|
||||
int numVertices,btScalar* vertexBase,int vertexStride,
|
||||
int numMaterials, unsigned char* materialBase, int materialStride,
|
||||
int* triangleMaterialsBase, int materialIndexStride);
|
||||
|
||||
virtual ~btTriangleIndexVertexMaterialArray() {}
|
||||
|
||||
void addMaterialProperties(const btMaterialProperties& mat, PHY_ScalarType triangleType = PHY_INTEGER)
|
||||
{
|
||||
m_materials.push_back(mat);
|
||||
m_materials[m_materials.size()-1].m_triangleType = triangleType;
|
||||
}
|
||||
|
||||
virtual void getLockedMaterialBase(unsigned char **materialBase, int& numMaterials, PHY_ScalarType& materialType, int& materialStride,
|
||||
unsigned char ** triangleMaterialBase, int& numTriangles, int& triangleMaterialStride, PHY_ScalarType& triangleType ,int subpart = 0);
|
||||
|
||||
virtual void getLockedReadOnlyMaterialBase(const unsigned char **materialBase, int& numMaterials, PHY_ScalarType& materialType, int& materialStride,
|
||||
const unsigned char ** triangleMaterialBase, int& numTriangles, int& triangleMaterialStride, PHY_ScalarType& triangleType, int subpart = 0);
|
||||
|
||||
}
|
||||
;
|
||||
|
||||
#endif //BT_MULTIMATERIAL_TRIANGLE_INDEX_VERTEX_ARRAY_H
|
||||
/*
|
||||
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.
|
||||
*/
|
||||
|
||||
///This file was created by Alex Silverman
|
||||
|
||||
#ifndef BT_MULTIMATERIAL_TRIANGLE_INDEX_VERTEX_ARRAY_H
|
||||
#define BT_MULTIMATERIAL_TRIANGLE_INDEX_VERTEX_ARRAY_H
|
||||
|
||||
#include "btTriangleIndexVertexArray.h"
|
||||
|
||||
|
||||
ATTRIBUTE_ALIGNED16( struct) btMaterialProperties
|
||||
{
|
||||
///m_materialBase ==========> 2 btScalar values make up one material, friction then restitution
|
||||
int m_numMaterials;
|
||||
const unsigned char * m_materialBase;
|
||||
int m_materialStride;
|
||||
PHY_ScalarType m_materialType;
|
||||
///m_numTriangles <=========== This exists in the btIndexedMesh object for the same subpart, but since we're
|
||||
/// padding the structure, it can be reproduced at no real cost
|
||||
///m_triangleMaterials =====> 1 integer value makes up one entry
|
||||
/// eg: m_triangleMaterials[1] = 5; // This will set triangle 2 to use material 5
|
||||
int m_numTriangles;
|
||||
const unsigned char * m_triangleMaterialsBase;
|
||||
int m_triangleMaterialStride;
|
||||
///m_triangleType <========== Automatically set in addMaterialProperties
|
||||
PHY_ScalarType m_triangleType;
|
||||
};
|
||||
|
||||
typedef btAlignedObjectArray<btMaterialProperties> MaterialArray;
|
||||
|
||||
///Teh btTriangleIndexVertexMaterialArray is built on TriangleIndexVertexArray
|
||||
///The addition of a material array allows for the utilization of the partID and
|
||||
///triangleIndex that are returned in the ContactAddedCallback. As with
|
||||
///TriangleIndexVertexArray, no duplicate is made of the material data, so it
|
||||
///is the users responsibility to maintain the array during the lifetime of the
|
||||
///TriangleIndexVertexMaterialArray.
|
||||
ATTRIBUTE_ALIGNED16(class) btTriangleIndexVertexMaterialArray : public btTriangleIndexVertexArray
|
||||
{
|
||||
protected:
|
||||
MaterialArray m_materials;
|
||||
|
||||
public:
|
||||
BT_DECLARE_ALIGNED_ALLOCATOR();
|
||||
|
||||
btTriangleIndexVertexMaterialArray()
|
||||
{
|
||||
}
|
||||
|
||||
btTriangleIndexVertexMaterialArray(int numTriangles,int* triangleIndexBase,int triangleIndexStride,
|
||||
int numVertices,btScalar* vertexBase,int vertexStride,
|
||||
int numMaterials, unsigned char* materialBase, int materialStride,
|
||||
int* triangleMaterialsBase, int materialIndexStride);
|
||||
|
||||
virtual ~btTriangleIndexVertexMaterialArray() {}
|
||||
|
||||
void addMaterialProperties(const btMaterialProperties& mat, PHY_ScalarType triangleType = PHY_INTEGER)
|
||||
{
|
||||
m_materials.push_back(mat);
|
||||
m_materials[m_materials.size()-1].m_triangleType = triangleType;
|
||||
}
|
||||
|
||||
virtual void getLockedMaterialBase(unsigned char **materialBase, int& numMaterials, PHY_ScalarType& materialType, int& materialStride,
|
||||
unsigned char ** triangleMaterialBase, int& numTriangles, int& triangleMaterialStride, PHY_ScalarType& triangleType ,int subpart = 0);
|
||||
|
||||
virtual void getLockedReadOnlyMaterialBase(const unsigned char **materialBase, int& numMaterials, PHY_ScalarType& materialType, int& materialStride,
|
||||
const unsigned char ** triangleMaterialBase, int& numTriangles, int& triangleMaterialStride, PHY_ScalarType& triangleType, int subpart = 0);
|
||||
|
||||
}
|
||||
;
|
||||
|
||||
#endif //BT_MULTIMATERIAL_TRIANGLE_INDEX_VERTEX_ARRAY_H
|
||||
|
||||
Reference in New Issue
Block a user