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attempt to support negative local scaling for btConvexHullShape, btConvexInternalShape-derived classes and btScaledBvhTriangleMeshShape

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This commit is contained in:
erwin.coumans
2008-09-20 23:47:38 +00:00
parent 58f2747acf
commit 8db0285d4f
5 changed files with 95 additions and 69 deletions
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7
src/BulletCollision/CollisionShapes/btConvexHullShape.cpp
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@@ -36,6 +36,13 @@ btConvexHullShape ::btConvexHullShape (const btScalar* points,int numPoints,int
}
void btConvexHullShape::setLocalScaling(const btVector3& scaling)
{
m_localScaling = scaling;
recalcLocalAabb();
}
void btConvexHullShape::addPoint(const btPoint3& point)
{
m_points.push_back(point);

3
src/BulletCollision/CollisionShapes/btConvexHullShape.h
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@@ -71,7 +71,8 @@ public:
virtual void getPlane(btVector3& planeNormal,btPoint3& planeSupport,int i ) const;
virtual bool isInside(const btPoint3& pt,btScalar tolerance) const;
///in case we receive negative scaling
virtual void setLocalScaling(const btVector3& scaling);
};

2
src/BulletCollision/CollisionShapes/btConvexInternalShape.cpp
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@@ -26,7 +26,7 @@ m_collisionMargin(CONVEX_DISTANCE_MARGIN)
void btConvexInternalShape::setLocalScaling(const btVector3& scaling)
{
m_localScaling = scaling;
m_localScaling = scaling.absolute();
}

126
src/BulletCollision/CollisionShapes/btConvexTriangleMeshShape.h
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@@ -1,63 +1,63 @@
#ifndef CONVEX_TRIANGLEMESH_SHAPE_H
#define CONVEX_TRIANGLEMESH_SHAPE_H
#include "btPolyhedralConvexShape.h"
#include "BulletCollision/BroadphaseCollision/btBroadphaseProxy.h" // for the types
/// The btConvexTriangleMeshShape is a convex hull of a triangle mesh, but the performance is not as good as btConvexHullShape.
/// A small benefit of this class is that it uses the btStridingMeshInterface, so you can avoid the duplication of the triangle mesh data. Nevertheless, most users should use the much better performing btConvexHullShape instead.
class btConvexTriangleMeshShape : public btPolyhedralConvexShape
{
class btStridingMeshInterface* m_stridingMesh;
public:
btConvexTriangleMeshShape(btStridingMeshInterface* meshInterface, bool calcAabb = true);
class btStridingMeshInterface* getMeshInterface()
{
return m_stridingMesh;
}
const class btStridingMeshInterface* getMeshInterface() const
{
return m_stridingMesh;
}
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;
virtual int getShapeType()const { return CONVEX_TRIANGLEMESH_SHAPE_PROXYTYPE; }
//debugging
virtual const char* getName()const {return "ConvexTrimesh";}
virtual int getNumVertices() const;
virtual int getNumEdges() const;
virtual void getEdge(int i,btPoint3& pa,btPoint3& pb) const;
virtual void getVertex(int i,btPoint3& vtx) const;
virtual int getNumPlanes() const;
virtual void getPlane(btVector3& planeNormal,btPoint3& planeSupport,int i ) const;
virtual bool isInside(const btPoint3& pt,btScalar tolerance) const;
virtual void setLocalScaling(const btVector3& scaling);
virtual const btVector3& getLocalScaling() const;
///computes the exact moment of inertia and the transform from the coordinate system defined by the principal axes of the moment of inertia
///and the center of mass to the current coordinate system. A mass of 1 is assumed, for other masses just multiply the computed "inertia"
///by the mass. The resulting transform "principal" has to be applied inversely to the mesh in order for the local coordinate system of the
///shape to be centered at the center of mass and to coincide with the principal axes. This also necessitates a correction of the world transform
///of the collision object by the principal transform. This method also computes the volume of the convex mesh.
void calculatePrincipalAxisTransform(btTransform& principal, btVector3& inertia, btScalar& volume) const;
};
#endif //CONVEX_TRIANGLEMESH_SHAPE_H
#ifndef CONVEX_TRIANGLEMESH_SHAPE_H
#define CONVEX_TRIANGLEMESH_SHAPE_H
#include "btPolyhedralConvexShape.h"
#include "BulletCollision/BroadphaseCollision/btBroadphaseProxy.h" // for the types
/// The btConvexTriangleMeshShape is a convex hull of a triangle mesh, but the performance is not as good as btConvexHullShape.
/// A small benefit of this class is that it uses the btStridingMeshInterface, so you can avoid the duplication of the triangle mesh data. Nevertheless, most users should use the much better performing btConvexHullShape instead.
class btConvexTriangleMeshShape : public btPolyhedralConvexShape
{
class btStridingMeshInterface* m_stridingMesh;
public:
btConvexTriangleMeshShape(btStridingMeshInterface* meshInterface, bool calcAabb = true);
class btStridingMeshInterface* getMeshInterface()
{
return m_stridingMesh;
}
const class btStridingMeshInterface* getMeshInterface() const
{
return m_stridingMesh;
}
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;
virtual int getShapeType()const { return CONVEX_TRIANGLEMESH_SHAPE_PROXYTYPE; }
//debugging
virtual const char* getName()const {return "ConvexTrimesh";}
virtual int getNumVertices() const;
virtual int getNumEdges() const;
virtual void getEdge(int i,btPoint3& pa,btPoint3& pb) const;
virtual void getVertex(int i,btPoint3& vtx) const;
virtual int getNumPlanes() const;
virtual void getPlane(btVector3& planeNormal,btPoint3& planeSupport,int i ) const;
virtual bool isInside(const btPoint3& pt,btScalar tolerance) const;
virtual void setLocalScaling(const btVector3& scaling);
virtual const btVector3& getLocalScaling() const;
///computes the exact moment of inertia and the transform from the coordinate system defined by the principal axes of the moment of inertia
///and the center of mass to the current coordinate system. A mass of 1 is assumed, for other masses just multiply the computed "inertia"
///by the mass. The resulting transform "principal" has to be applied inversely to the mesh in order for the local coordinate system of the
///shape to be centered at the center of mass and to coincide with the principal axes. This also necessitates a correction of the world transform
///of the collision object by the principal transform. This method also computes the volume of the convex mesh.
void calculatePrincipalAxisTransform(btTransform& principal, btVector3& inertia, btScalar& volume) const;
};
#endif //CONVEX_TRIANGLEMESH_SHAPE_H

26
src/BulletCollision/CollisionShapes/btScaledBvhTriangleMeshShape.cpp
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@@ -56,8 +56,18 @@ void btScaledBvhTriangleMeshShape::processAllTriangles(btTriangleCallback* callb
btScaledTriangleCallback scaledCallback(callback,m_localScaling);
btVector3 invLocalScaling(1.f/m_localScaling.getX(),1.f/m_localScaling.getY(),1.f/m_localScaling.getZ());
btVector3 scaledAabbMin = aabbMin * invLocalScaling;
btVector3 scaledAabbMax = aabbMax * invLocalScaling;
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);
}
@@ -66,8 +76,16 @@ void btScaledBvhTriangleMeshShape::getAabb(const btTransform& trans,btVector3& a
{
btVector3 localAabbMin = m_bvhTriMeshShape->getLocalAabbMin();
btVector3 localAabbMax = m_bvhTriMeshShape->getLocalAabbMax();
localAabbMin *= m_localScaling;
localAabbMax *= m_localScaling;
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();