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Committing height field terrain work from tomva1@yahoo.com

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This commit is contained in:
john.mccutchan
2008-11-06 19:41:31 +00:00
parent 521314b9e7
commit 9b5df088de
18 changed files with 1257 additions and 130 deletions
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21
src/BulletCollision/BroadphaseCollision/btQuantizedBvh.h
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@@ -310,26 +310,7 @@ protected:
void walkRecursiveQuantizedTreeAgainstQuantizedTree(const btQuantizedBvhNode* treeNodeA,const btQuantizedBvhNode* treeNodeB,btNodeOverlapCallback* nodeCallback) const;
#define USE_BANCHLESS 1
#ifdef USE_BANCHLESS
//This block replaces the block below and uses no branches, and replaces the 8 bit return with a 32 bit return for improved performance (~3x on XBox 360)
SIMD_FORCE_INLINE unsigned testQuantizedAabbAgainstQuantizedAabb(unsigned short int* aabbMin1,unsigned short int* aabbMax1,const unsigned short int* aabbMin2,const unsigned short int* aabbMax2) const
{
return static_cast<unsigned int>(btSelect((unsigned)((aabbMin1[0] <= aabbMax2[0]) & (aabbMax1[0] >= aabbMin2[0])
& (aabbMin1[2] <= aabbMax2[2]) & (aabbMax1[2] >= aabbMin2[2])
& (aabbMin1[1] <= aabbMax2[1]) & (aabbMax1[1] >= aabbMin2[1])),
1, 0));
}
#else
SIMD_FORCE_INLINE bool testQuantizedAabbAgainstQuantizedAabb(unsigned short int* aabbMin1,unsigned short int* aabbMax1,const unsigned short int* aabbMin2,const unsigned short int* aabbMax2) const
{
bool overlap = true;
overlap = (aabbMin1[0] > aabbMax2[0] || aabbMax1[0] < aabbMin2[0]) ? false : overlap;
overlap = (aabbMin1[2] > aabbMax2[2] || aabbMax1[2] < aabbMin2[2]) ? false : overlap;
overlap = (aabbMin1[1] > aabbMax2[1] || aabbMax1[1] < aabbMin2[1]) ? false : overlap;
return overlap;
}
#endif //USE_BANCHLESS
void updateSubtreeHeaders(int leftChildNodexIndex,int rightChildNodexIndex);

10
src/BulletCollision/CollisionShapes/btConcaveShape.h
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@@ -20,6 +20,16 @@ subject to the following restrictions:
#include "BulletCollision/BroadphaseCollision/btBroadphaseProxy.h" // for the types
#include "btTriangleCallback.h"
/// PHY_ScalarType enumerates possible scalar types.
/// See the btStridingMeshInterface or btHeightfieldTerrainShape for its use
typedef enum PHY_ScalarType {
PHY_FLOAT,
PHY_DOUBLE,
PHY_INTEGER,
PHY_SHORT,
PHY_FIXEDPOINT88,
PHY_UCHAR
} PHY_ScalarType;
///The btConcaveShape class provides an interface for non-moving (static) concave shapes.
///It has been implemented by the btStaticPlaneShape, btBvhTriangleMeshShape and btHeightfieldTerrainShape.

239
src/BulletCollision/CollisionShapes/btHeightfieldTerrainShape.cpp
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@@ -18,71 +18,107 @@ subject to the following restrictions:
#include "LinearMath/btTransformUtil.h"
btHeightfieldTerrainShape::btHeightfieldTerrainShape(int heightStickWidth, int heightStickLength,void* heightfieldData,btScalar maxHeight,int upAxis,bool useFloatData,bool flipQuadEdges)
: btConcaveShape (), m_heightStickWidth(heightStickWidth),
m_heightStickLength(heightStickLength),
m_maxHeight(maxHeight),
m_width((btScalar)heightStickWidth-1),
m_length((btScalar)heightStickLength-1),
m_heightfieldDataUnknown(heightfieldData),
m_useFloatData(useFloatData),
m_flipQuadEdges(flipQuadEdges),
m_useDiamondSubdivision(false),
m_upAxis(upAxis),
m_localScaling(btScalar(1.),btScalar(1.),btScalar(1.))
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.));
btScalar quantizationMargin = 1.f;
//enlarge the AABB to avoid division by zero when initializing the quantization values
btVector3 clampValue(quantizationMargin,quantizationMargin,quantizationMargin);
btVector3 halfExtents(0,0,0);
// determine min/max axis-aligned bounding box (aabb) values
switch (m_upAxis)
{
case 0:
{
halfExtents.setValue(
btScalar(m_maxHeight),
btScalar(m_width), //?? don't know if this should change
btScalar(m_length));
m_localAabbMin.setValue(m_minHeight, 0, 0);
m_localAabbMax.setValue(m_maxHeight, m_width, m_length);
break;
}
case 1:
{
halfExtents.setValue(
btScalar(m_width),
btScalar(m_maxHeight),
btScalar(m_length));
m_localAabbMin.setValue(0, m_minHeight, 0);
m_localAabbMax.setValue(m_width, m_maxHeight, m_length);
break;
};
case 2:
{
halfExtents.setValue(
btScalar(m_width),
btScalar(m_length),
btScalar(m_maxHeight)
);
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);
btAssert(0 && "Bad m_upAxis");
}
}
halfExtents*= btScalar(0.5);
m_localAabbMin = -halfExtents - clampValue;
m_localAabbMax = halfExtents + clampValue;
btVector3 aabbSize = m_localAabbMax - m_localAabbMin;
// remember origin (defined as exact middle of aabb)
m_localOrigin = btScalar(0.5) * (m_localAabbMin + m_localAabbMax);
}
btHeightfieldTerrainShape::~btHeightfieldTerrainShape()
{
}
@@ -92,33 +128,53 @@ btHeightfieldTerrainShape::~btHeightfieldTerrainShape()
void btHeightfieldTerrainShape::getAabb(const btTransform& t,btVector3& aabbMin,btVector3& aabbMax) const
{
btVector3 halfExtents = (m_localAabbMax-m_localAabbMin)* m_localScaling * btScalar(0.5);
halfExtents += btVector3(getMargin(),getMargin(),getMargin());
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;
}
btScalar btHeightfieldTerrainShape::getHeightFieldValue(int x,int y) const
{
btScalar val = 0.f;
if (m_useFloatData)
switch (m_heightDataType)
{
val = m_heightfieldDataFloat[(y*m_heightStickWidth)+x];
} else
{
//assume unsigned short int
unsigned char heightFieldValue = m_heightfieldDataUnsignedChar[(y*m_heightStickWidth)+x];
val = heightFieldValue* (m_maxHeight/btScalar(65535));
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;
}
@@ -178,41 +234,73 @@ void btHeightfieldTerrainShape::getVertex(int x,int y,btVector3& vertex) const
}
static inline int
getQuantized
(
float 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);
btVector3 v = (clampedPoint);// - m_bvhAabbMin) * m_bvhQuantization;
///@todo: optimization: check out how to removed this btFabs
out[0] = getQuantized(clampedPoint.getX());
out[1] = getQuantized(clampedPoint.getY());
out[2] = getQuantized(clampedPoint.getZ());
out[0] = (int)(v.getX() + v.getX() / btFabs(v.getX())* btScalar(0.5) );
out[1] = (int)(v.getY() + v.getY() / btFabs(v.getY())* btScalar(0.5) );
out[2] = (int)(v.getZ() + v.getZ() / btFabs(v.getZ())* btScalar(0.5) );
}
/// 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
{
(void)callback;
(void)aabbMax;
(void)aabbMin;
//quantize the aabbMin and aabbMax, and adjust the start/end ranges
int quantizedAabbMin[3];
int quantizedAabbMax[3];
// 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;
@@ -223,11 +311,6 @@ void btHeightfieldTerrainShape::processAllTriangles(btTriangleCallback* callback
{
case 0:
{
quantizedAabbMin[1]+=m_heightStickWidth/2-1;
quantizedAabbMax[1]+=m_heightStickWidth/2+1;
quantizedAabbMin[2]+=m_heightStickLength/2-1;
quantizedAabbMax[2]+=m_heightStickLength/2+1;
if (quantizedAabbMin[1]>startX)
startX = quantizedAabbMin[1];
if (quantizedAabbMax[1]<endX)
@@ -240,11 +323,6 @@ void btHeightfieldTerrainShape::processAllTriangles(btTriangleCallback* callback
}
case 1:
{
quantizedAabbMin[0]+=m_heightStickWidth/2-1;
quantizedAabbMax[0]+=m_heightStickWidth/2+1;
quantizedAabbMin[2]+=m_heightStickLength/2-1;
quantizedAabbMax[2]+=m_heightStickLength/2+1;
if (quantizedAabbMin[0]>startX)
startX = quantizedAabbMin[0];
if (quantizedAabbMax[0]<endX)
@@ -257,11 +335,6 @@ void btHeightfieldTerrainShape::processAllTriangles(btTriangleCallback* callback
};
case 2:
{
quantizedAabbMin[0]+=m_heightStickWidth/2-1;
quantizedAabbMax[0]+=m_heightStickWidth/2+1;
quantizedAabbMin[1]+=m_heightStickLength/2-1;
quantizedAabbMax[1]+=m_heightStickLength/2+1;
if (quantizedAabbMin[0]>startX)
startX = quantizedAabbMin[0];
if (quantizedAabbMax[0]<endX)

91
src/BulletCollision/CollisionShapes/btHeightfieldTerrainShape.h
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@@ -18,28 +18,69 @@ subject to the following restrictions:
#include "btConcaveShape.h"
///The btHeightfieldTerrainShape simulates a 2D heightfield terrain collision shape. You can also use the more general btBvhTriangleMeshShape instead.
///An example implementation of btHeightfieldTerrainShape is provided in Demos/VehicleDemo/VehicleDemo.cpp
///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).
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;
};
bool m_useFloatData;
PHY_ScalarType m_heightDataType;
bool m_flipQuadEdges;
bool m_useDiamondSubdivision;
@@ -51,17 +92,39 @@ protected:
void quantizeWithClamp(int* out, const btVector3& point,int isMax) const;
void getVertex(int x,int y,btVector3& vertex) const;
inline bool testQuantizedAabbAgainstQuantizedAabb(int* aabbMin1, int* aabbMax1,const int* aabbMin2,const int* aabbMax2) const
{
bool overlap = true;
overlap = (aabbMin1[0] > aabbMax2[0] || aabbMax1[0] < aabbMin2[0]) ? false : overlap;
overlap = (aabbMin1[2] > aabbMax2[2] || aabbMax1[2] < aabbMin2[2]) ? false : overlap;
overlap = (aabbMin1[1] > aabbMax2[1] || aabbMax1[1] < aabbMin2[1]) ? false : overlap;
return overlap;
}
/// 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:
btHeightfieldTerrainShape(int heightStickWidth,int heightStickHeight,void* heightfieldData, btScalar maxHeight,int upAxis,bool useFloatData,bool flipQuadEdges);
/// 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();

11
src/BulletCollision/CollisionShapes/btStridingMeshInterface.h
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@@ -18,16 +18,9 @@ subject to the following restrictions:
#include "LinearMath/btVector3.h"
#include "btTriangleCallback.h"
#include "btConcaveShape.h"
/// PHY_ScalarType enumerates possible scalar types.
/// See the btStridingMeshInterface for its use
typedef enum PHY_ScalarType {
PHY_FLOAT,
PHY_DOUBLE,
PHY_INTEGER,
PHY_SHORT,
PHY_FIXEDPOINT88
} PHY_ScalarType;
/// The btStridingMeshInterface is the interface class for high performance generic access to triangle meshes, used in combination with btBvhTriangleMeshShape and some other collision shapes.
/// Using index striding of 3*sizeof(integer) it can use triangle arrays, using index striding of 1*sizeof(integer) it can handle triangle strips.