gimpact 0.2 preparation
This commit is contained in:
ejcoumans
@@ -1,8 +0,0 @@
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INCLUDE_DIRECTORIES(
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${BULLET_PHYSICS_SOURCE_DIR}/src ${BULLET_PHYSICS_SOURCE_DIR}/Extras/GIMPACT/include ${BULLET_PHYSICS_SOURCE_DIR}/Extras/GIMPACTBullet
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)
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ADD_LIBRARY(LibGIMPACTBullet
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btConcaveConcaveCollisionAlgorithm.cpp
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btGIMPACTMeshShape.cpp
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)
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@@ -1,13 +0,0 @@
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SubDir TOP Extras GIMPACTBullet ;
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Library GIMPACTBullet : [ Wildcard *.h *.cpp ] : noinstall ;
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CFlags GIMPACTBullet : [ FIncludes $(TOP)/Extras/GIMPACTBullet $(TOP)/Extras/GIMPACT/include ] ;
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LibDepends GIMPACTBullet : GIMPACT ;
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MsvcIncDirs GIMPACTBullet :
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"../../Extras/GIMPACTBullet"
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"../../Extras/GIMPACT/include" ;
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#InstallHeader [ Wildcard *.h ] : GIMPACTBullet ;
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@@ -1,494 +0,0 @@
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/*
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Bullet Continuous Collision Detection and Physics Library
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Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
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This software is provided 'as-is', without any express or implied warranty.
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In no event will the authors be held liable for any damages arising from the use of this software.
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Permission is granted to anyone to use this software for any purpose,
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including commercial applications, and to alter it and redistribute it freely,
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subject to the following restrictions:
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1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
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2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
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3. This notice may not be removed or altered from any source distribution.
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*/
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/*
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Author: Francisco Le<4C>n N<>jera
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Concave-Concave Collision
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*/
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#include "BulletCollision/CollisionDispatch/btManifoldResult.h"
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#include "LinearMath/btIDebugDraw.h"
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#include "btConcaveConcaveCollisionAlgorithm.h"
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#include "BulletCollision/CollisionDispatch/btCollisionObject.h"
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#include "btGIMPACTMeshShape.h"
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#include "BulletCollision/CollisionShapes/btStaticPlaneShape.h"
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#include "GIMPACT/gimpact.h"
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//! Class for accessing the plane equation
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class btPlaneShape : public btStaticPlaneShape
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{
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public:
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btPlaneShape(const btVector3& v, float f)
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:btStaticPlaneShape(v,f)
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{
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}
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void get_plane_equation(float equation[4])
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{
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equation[0] = m_planeNormal[0];
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equation[1] = m_planeNormal[1];
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equation[2] = m_planeNormal[2];
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equation[3] = m_planeConstant;
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}
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void get_plane_equation_transformed(const btTransform & trans,float equation[4])
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{
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/*mat4f plane_trans;
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IDENTIFY_MATRIX_4X4(plane_trans);
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COPY_MATRIX_3X3(plane_trans,trans.getBasis());
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MAT_SET_TRANSLATION(plane_trans,trans.getOrigin());
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float ptemp[4]
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//vec4f ptemp;
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get_plane_equation(ptemp);
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MAT_TRANSFORM_PLANE_4X4(equation,plane_trans,ptemp);*/
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equation[0] = trans.getBasis().getRow(0).dot(m_planeNormal);
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equation[1] = trans.getBasis().getRow(1).dot(m_planeNormal);
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equation[2] = trans.getBasis().getRow(2).dot(m_planeNormal);
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equation[3] = trans.getOrigin().dot(m_planeNormal) + m_planeConstant;
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}
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};
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btConcaveConcaveCollisionAlgorithm::btConcaveConcaveCollisionAlgorithm( const btCollisionAlgorithmConstructionInfo& ci, btCollisionObject* body0,btCollisionObject* body1)
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: btCollisionAlgorithm(ci)
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{
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}
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btConcaveConcaveCollisionAlgorithm::~btConcaveConcaveCollisionAlgorithm()
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{
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clearCache();
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}
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void btConcaveConcaveCollisionAlgorithm::clearCache()
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{
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btPersistentManifold* mainfold;
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for (int i=0;i<this->m_mainfoldsPtr.size() ; i++)
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{
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mainfold = m_mainfoldsPtr[i];
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m_dispatcher->releaseManifold(mainfold);
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}
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m_mainfoldsPtr.clear();
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}
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btPersistentManifold* btConcaveConcaveCollisionAlgorithm::newContactMainfold(btCollisionObject* body0,btCollisionObject* body1)
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{
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btPersistentManifold* newmainfold;
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newmainfold = m_dispatcher->getNewManifold(body0,body1);
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m_mainfoldsPtr.push_back(newmainfold);
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return newmainfold;
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}
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void process_gimpact_contacts(GIM_CONTACT * pcontacts,
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int contact_count,
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btConcaveConcaveCollisionAlgorithm * algorithm,
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btCollisionObject* body0,
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btCollisionObject* body1,
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btManifoldResult* resultOut, bool swapped = false)
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{
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int i, ci = MANIFOLD_CACHE_SIZE;//Max point size
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btPersistentManifold * current_mainfold = 0;
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btCollisionObject* pbody0 = swapped?body1:body0;
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btCollisionObject* pbody1 = swapped?body0:body1;
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float csign = swapped?-1.f:1.f;
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btVector3 cpoint;
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btVector3 cnormal;
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for(i=0;i<contact_count;i++)
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{
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if(ci>=MANIFOLD_CACHE_SIZE)
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{
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current_mainfold = algorithm->newContactMainfold(pbody0,pbody1);
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resultOut->setPersistentManifold(current_mainfold);
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ci=0;
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}
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cpoint.setValue(pcontacts->m_point[0],pcontacts->m_point[1],pcontacts->m_point[2]);
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//Normal points to body0
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cnormal.setValue(csign*pcontacts->m_normal[0],csign*pcontacts->m_normal[1],csign*pcontacts->m_normal[2]);
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resultOut->addContactPoint(cnormal,cpoint,-pcontacts->m_depth);
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pcontacts++;
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ci++;
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}
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}
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void process_gimpact_plane_contacts(vec4f * pcontacts,
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vec4f planenormal,
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int contact_count,
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btConcaveConcaveCollisionAlgorithm * algorithm,
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btCollisionObject* body0,
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btCollisionObject* body1,
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btManifoldResult* resultOut, bool swapped = false)
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{
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int i, ci = MANIFOLD_CACHE_SIZE;//Max point size
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btPersistentManifold * current_mainfold = 0;
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btCollisionObject* pbody0 = swapped?body1:body0;
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btCollisionObject* pbody1 = swapped?body0:body1;
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float csign = swapped?-1.f:1.f;
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btVector3 cpoint;
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btVector3 cnormal;
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for(i=0;i<contact_count;i++)
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{
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if(ci>=MANIFOLD_CACHE_SIZE)
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{
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current_mainfold = algorithm->newContactMainfold(pbody0,pbody1);
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resultOut->setPersistentManifold(current_mainfold);
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ci=0;
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}
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cpoint.setValue(pcontacts[i][0],pcontacts[i][1],pcontacts[i][2]);
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//Normal points to body0
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cnormal.setValue(csign*planenormal[0],csign*planenormal[1],csign*planenormal[2]);
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resultOut->addContactPoint(cnormal,cpoint,-pcontacts[i][3]);
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ci++;
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}
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}
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class CONCAVE_TRIANGLE_TOKEN
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{
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public:
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GIM_TRIANGLE_DATA m_tridata;
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int partId;
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int triangleIndex;
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CONCAVE_TRIANGLE_TOKEN()
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{
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m_tridata.m_has_planes = 0;
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partId = 0;
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triangleIndex = 0;
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}
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CONCAVE_TRIANGLE_TOKEN(const CONCAVE_TRIANGLE_TOKEN & token)
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{
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m_tridata.m_has_planes = 0;
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VEC_COPY(m_tridata.m_vertices[0],token.m_tridata.m_vertices[0]);
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VEC_COPY(m_tridata.m_vertices[1],token.m_tridata.m_vertices[1]);
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VEC_COPY(m_tridata.m_vertices[2],token.m_tridata.m_vertices[2]);
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partId = token.partId;
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triangleIndex = token.triangleIndex;
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}
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};
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void bt_gimpact_gimpact_collision(btConcaveConcaveCollisionAlgorithm * algorithm,
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btCollisionObject* body0,
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btCollisionObject* body1,
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btManifoldResult* resultOut)
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{
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btGIMPACTMeshShape* tri0b = static_cast<btGIMPACTMeshShape*>( body0->getCollisionShape());
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btGIMPACTMeshShape* tri1b = static_cast<btGIMPACTMeshShape*>( body1->getCollisionShape());
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tri0b->prepareMeshes(body0->getWorldTransform());
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tri1b->prepareMeshes(body1->getWorldTransform());
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size_t i,j;
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size_t parts0 = tri0b->m_gim_trimesh_parts.size();
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size_t parts1 = tri1b->m_gim_trimesh_parts.size();
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GIM_TRIMESH * trimesh0;
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GIM_TRIMESH * trimesh1;
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GDYNAMIC_ARRAY contacts;
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GIM_CONTACT * pcontacts;
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for(i=0;i<parts0;i++)
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{
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for(j=0;j<parts1;j++)
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{
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trimesh0 = (GIM_TRIMESH * )tri0b->m_gim_trimesh_parts[i];
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trimesh1 = (GIM_TRIMESH * )tri1b->m_gim_trimesh_parts[j];
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GIM_CREATE_CONTACT_LIST(contacts);
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gim_trimesh_trimesh_collision(trimesh0,trimesh1,&contacts);
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if(contacts.m_size>0)
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{
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pcontacts = GIM_DYNARRAY_POINTER(GIM_CONTACT,contacts);
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process_gimpact_contacts(pcontacts,contacts.m_size,algorithm,body0,body1,resultOut);
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}
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GIM_DYNARRAY_DESTROY(contacts);
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}
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}
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}
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void bt_gimpact_plane_collision(btConcaveConcaveCollisionAlgorithm * algorithm,
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btCollisionObject* tribody0,
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btCollisionObject* planebody1,
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btManifoldResult* resultOut,bool swapped)
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{
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btGIMPACTMeshShape* tri0b = static_cast<btGIMPACTMeshShape*>( tribody0->getCollisionShape());
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btPlaneShape * plane1b = static_cast<btPlaneShape *>( planebody1->getCollisionShape());
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tri0b->prepareMeshes(tribody0->getWorldTransform());
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////////////////////////////////Getting plane////////////////////////////////////
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vec4f pnormal;
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plane1b->get_plane_equation_transformed(planebody1->getWorldTransform(),pnormal);
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////////////////////////////////End Getting plane////////////////////////////////////
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size_t i;
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size_t parts0 = tri0b->m_gim_trimesh_parts.size();
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GIM_TRIMESH * trimesh0;
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GDYNAMIC_ARRAY contacts;
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vec4f * pcontacts;
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for(i=0;i<parts0;i++)
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{
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trimesh0 = (GIM_TRIMESH * )tri0b->m_gim_trimesh_parts[i];
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GIM_CREATE_TRIMESHPLANE_CONTACTS(contacts);
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gim_trimesh_plane_collision(trimesh0,pnormal,&contacts);
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if(contacts.m_size>0)
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{
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pcontacts = GIM_DYNARRAY_POINTER(vec4f,contacts);
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process_gimpact_plane_contacts(pcontacts,pnormal,
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contacts.m_size,algorithm,tribody0,planebody1,resultOut,swapped);
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}
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GIM_DYNARRAY_DESTROY(contacts);
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}
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}
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///For each triangle in the concave mesh that overlaps with the AABB of a convex (m_convexProxy), processTriangle is called.
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class btConcaveTriangleCallback : public btTriangleCallback
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{
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public:
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btCollisionObject* m_body;
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mat4f m_transform;
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btAlignedObjectArray<CONCAVE_TRIANGLE_TOKEN> m_triangles;
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btConcaveTriangleCallback(btCollisionObject* body)
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{
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m_body = body;
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IDENTIFY_MATRIX_4X4(m_transform);
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COPY_MATRIX_3X3(m_transform,body->getWorldTransform().getBasis());
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MAT_SET_TRANSLATION(m_transform,body->getWorldTransform().getOrigin());
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m_triangles.reserve(100);
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}
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void setTimeStepAndCounters(float collisionMarginTriangle,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut)
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{}
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virtual ~btConcaveTriangleCallback(){
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}
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virtual void processTriangle(btVector3* triangle, int partId, int triangleIndex)
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{
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CONCAVE_TRIANGLE_TOKEN token;
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token.m_tridata.m_has_planes = 0;
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token.partId = partId;
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token.triangleIndex = triangleIndex;
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//Copy vertices
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MAT_DOT_VEC_3X4(token.m_tridata.m_vertices[0],m_transform,triangle[0]);
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MAT_DOT_VEC_3X4(token.m_tridata.m_vertices[1],m_transform,triangle[1]);
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MAT_DOT_VEC_3X4(token.m_tridata.m_vertices[2],m_transform,triangle[2]);
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m_triangles.push_back(token);
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}
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void clearCache(){}
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};
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void bt_concave_concave_collision(btConcaveConcaveCollisionAlgorithm * algorithm,
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btCollisionObject* tribody0,
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btCollisionObject* tribody1,
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btManifoldResult* resultOut)
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{
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btConcaveShape* tri0b = static_cast<btConcaveShape*>( tribody0->getCollisionShape());
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btConcaveShape* tri1b = static_cast<btConcaveShape*>( tribody1->getCollisionShape());
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//Get First AABB
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btVector3 aabbMin0,aabbMax0;
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tri0b->getAabb(tribody0->getWorldTransform(),aabbMin0,aabbMax0);
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//Get Second AABB
|
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btVector3 aabbMin1,aabbMax1;
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tri1b->getAabb(tribody1->getWorldTransform(),aabbMin1,aabbMax1);
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//Transform boxes to local spaces
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aabb3f aabb0 = {
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aabbMin0[0],aabbMax0[0],
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aabbMin0[1],aabbMax0[1],
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aabbMin0[2],aabbMax0[2],
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||||
};
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aabb3f aabb1 = {
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aabbMin1[0],aabbMax1[0],
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aabbMin1[1],aabbMax1[1],
|
||||
aabbMin1[2],aabbMax1[2],
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||||
};
|
||||
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mat4f transform;
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IDENTIFY_MATRIX_4X4(transform);
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// body0 inverse transform
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btTransform transinv = tribody0->getWorldTransform().inverse();
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COPY_MATRIX_3X3(transform,transinv.getBasis());
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MAT_SET_TRANSLATION(transform,transinv.getOrigin());
|
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//Transform box1 to body0 space
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AABB_TRANSFORM(aabb1,aabb1,transform);
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AABB_GET_MIN(aabb1,aabbMin1);
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AABB_GET_MAX(aabb1,aabbMax1);
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btConcaveTriangleCallback callback0(tribody0);
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tri0b->processAllTriangles(&callback0,aabbMin1,aabbMax1);
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||||
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if(callback0.m_triangles.size()==0) return;
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// body1 inverse transform
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transinv = tribody1->getWorldTransform().inverse();
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COPY_MATRIX_3X3(transform,transinv.getBasis());
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MAT_SET_TRANSLATION(transform,transinv.getOrigin());
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//Transform box0 to body1 space
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AABB_TRANSFORM(aabb0,aabb0,transform);
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AABB_GET_MIN(aabb0,aabbMin0);
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AABB_GET_MAX(aabb0,aabbMax0);
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btConcaveTriangleCallback callback1(tribody1);
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tri1b->processAllTriangles(&callback1,aabbMin0,aabbMax0);
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if(callback1.m_triangles.size()==0) return;
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////////////////////////////////Collide triangles////////////////////////////////////
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//dummy contacts
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GDYNAMIC_ARRAY dummycontacts;
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GIM_CREATE_CONTACT_LIST(dummycontacts);
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||||
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||||
//Auxiliary triangle data
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||||
GIM_TRIANGLE_CONTACT_DATA tri_contact_data;
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||||
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||||
size_t i,j,ci;
|
||||
int colresult;
|
||||
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||||
for(i=0;i<callback0.m_triangles.size();i++)
|
||||
{
|
||||
for(j=0;j<callback1.m_triangles.size();j++)
|
||||
{
|
||||
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||||
//collide triangles
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||||
colresult = gim_triangle_triangle_collision(
|
||||
&callback0.m_triangles[i].m_tridata,
|
||||
&callback1.m_triangles[j].m_tridata,&tri_contact_data);
|
||||
if(colresult == 1)
|
||||
{
|
||||
//Add contacts
|
||||
for (ci=0;ci<tri_contact_data.m_point_count ;ci++ )
|
||||
{
|
||||
GIM_PUSH_CONTACT(dummycontacts, tri_contact_data.m_points[ci],tri_contact_data.m_separating_normal ,tri_contact_data.m_penetration_depth,tribody0, tribody1, callback0.m_triangles[i].triangleIndex, callback1.m_triangles[j].triangleIndex);
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
if(dummycontacts.m_size == 0) //reject
|
||||
{
|
||||
GIM_DYNARRAY_DESTROY(dummycontacts);
|
||||
return;
|
||||
}
|
||||
|
||||
//dummy contacts
|
||||
GDYNAMIC_ARRAY contacts;
|
||||
GIM_CREATE_CONTACT_LIST(contacts);
|
||||
|
||||
//merge contacts
|
||||
gim_merge_contacts(&dummycontacts,&contacts);
|
||||
|
||||
GIM_CONTACT * pcontacts = GIM_DYNARRAY_POINTER(GIM_CONTACT,contacts);
|
||||
process_gimpact_contacts(pcontacts,contacts.m_size,algorithm,tribody0,tribody1,resultOut);
|
||||
|
||||
//Terminate
|
||||
GIM_DYNARRAY_DESTROY(dummycontacts);
|
||||
GIM_DYNARRAY_DESTROY(contacts);
|
||||
}
|
||||
|
||||
|
||||
void btConcaveConcaveCollisionAlgorithm::processCollision (btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut)
|
||||
{
|
||||
clearCache();
|
||||
if (body0->getCollisionShape()->getShapeType()==GIMPACT_SHAPE_PROXYTYPE && body1->getCollisionShape()->getShapeType()==GIMPACT_SHAPE_PROXYTYPE )
|
||||
{
|
||||
bt_gimpact_gimpact_collision(this,body0,body1,resultOut);
|
||||
}
|
||||
else if (body0->getCollisionShape()->getShapeType()==STATIC_PLANE_PROXYTYPE&& body1->getCollisionShape()->getShapeType()==GIMPACT_SHAPE_PROXYTYPE )
|
||||
{
|
||||
bt_gimpact_plane_collision(this,body1,body0,resultOut,true);
|
||||
}
|
||||
else if (body0->getCollisionShape()->getShapeType()==GIMPACT_SHAPE_PROXYTYPE&& body1->getCollisionShape()->getShapeType()==STATIC_PLANE_PROXYTYPE)
|
||||
{
|
||||
bt_gimpact_plane_collision(this,body0,body1,resultOut,false);
|
||||
}
|
||||
else if(body0->getCollisionShape()->isConcave() && body1->getCollisionShape()->isConcave() )
|
||||
{
|
||||
bt_concave_concave_collision(this,body0,body1,resultOut);
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
btScalar btConcaveConcaveCollisionAlgorithm::calculateTimeOfImpact(btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut)
|
||||
{
|
||||
return 1.f;
|
||||
|
||||
}
|
||||
|
||||
///////////////////////////////////// REGISTERING ALGORITHM //////////////////////////////////////////////
|
||||
|
||||
|
||||
//! Use this function for register the algorithm externally
|
||||
void btConcaveConcaveCollisionAlgorithm::registerAlgorithm(btCollisionDispatcher * dispatcher)
|
||||
{
|
||||
dispatcher->registerCollisionCreateFunc(GIMPACT_SHAPE_PROXYTYPE,GIMPACT_SHAPE_PROXYTYPE ,new btConcaveConcaveCollisionAlgorithm::CreateFunc);
|
||||
dispatcher->registerCollisionCreateFunc(GIMPACT_SHAPE_PROXYTYPE,STATIC_PLANE_PROXYTYPE ,new btConcaveConcaveCollisionAlgorithm::CreateFunc);
|
||||
dispatcher->registerCollisionCreateFunc(STATIC_PLANE_PROXYTYPE,GIMPACT_SHAPE_PROXYTYPE ,new btConcaveConcaveCollisionAlgorithm::CreateFunc);
|
||||
dispatcher->registerCollisionCreateFunc(GIMPACT_SHAPE_PROXYTYPE,TRIANGLE_MESH_SHAPE_PROXYTYPE,new btConcaveConcaveCollisionAlgorithm::CreateFunc);
|
||||
dispatcher->registerCollisionCreateFunc(TRIANGLE_MESH_SHAPE_PROXYTYPE,GIMPACT_SHAPE_PROXYTYPE,new btConcaveConcaveCollisionAlgorithm::CreateFunc);
|
||||
dispatcher->registerCollisionCreateFunc(STATIC_PLANE_PROXYTYPE,TRIANGLE_MESH_SHAPE_PROXYTYPE,new btConcaveConcaveCollisionAlgorithm::CreateFunc);
|
||||
dispatcher->registerCollisionCreateFunc(TRIANGLE_MESH_SHAPE_PROXYTYPE,STATIC_PLANE_PROXYTYPE,new btConcaveConcaveCollisionAlgorithm::CreateFunc);
|
||||
dispatcher->registerCollisionCreateFunc(TRIANGLE_MESH_SHAPE_PROXYTYPE,TRIANGLE_MESH_SHAPE_PROXYTYPE,new btConcaveConcaveCollisionAlgorithm::CreateFunc);
|
||||
}
|
||||
@@ -1,65 +0,0 @@
|
||||
/*
|
||||
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 BVH_CONCAVE_COLLISION_ALGORITHM_H
|
||||
#define BVH_CONCAVE_COLLISION_ALGORITHM_H
|
||||
|
||||
#include "BulletCollision/BroadphaseCollision/btCollisionAlgorithm.h"
|
||||
#include "BulletCollision/BroadphaseCollision/btDispatcher.h"
|
||||
#include "BulletCollision/BroadphaseCollision/btBroadphaseInterface.h"
|
||||
#include "BulletCollision/CollisionShapes/btBvhTriangleMeshShape.h"
|
||||
#include "BulletCollision/NarrowPhaseCollision/btPersistentManifold.h"
|
||||
class btDispatcher;
|
||||
#include "BulletCollision/BroadphaseCollision/btBroadphaseProxy.h"
|
||||
#include "BulletCollision/CollisionDispatch/btCollisionCreateFunc.h"
|
||||
#include "BulletCollision/CollisionDispatch/btCollisionDispatcher.h"
|
||||
|
||||
#include "LinearMath/btAlignedObjectArray.h"
|
||||
|
||||
/// btConcaveConcaveCollisionAlgorithm supports collision between btBvhTriangleMeshShape shapes
|
||||
class btConcaveConcaveCollisionAlgorithm : public btCollisionAlgorithm
|
||||
{
|
||||
protected:
|
||||
btAlignedObjectArray<btPersistentManifold*> m_mainfoldsPtr;
|
||||
public:
|
||||
|
||||
btConcaveConcaveCollisionAlgorithm( const btCollisionAlgorithmConstructionInfo& ci,btCollisionObject* body0,btCollisionObject* body1);
|
||||
|
||||
virtual ~btConcaveConcaveCollisionAlgorithm();
|
||||
|
||||
virtual void processCollision (btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut);
|
||||
|
||||
btScalar calculateTimeOfImpact(btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut);
|
||||
|
||||
void clearCache();
|
||||
|
||||
btPersistentManifold* newContactMainfold(btCollisionObject* body0,btCollisionObject* body1);
|
||||
|
||||
struct CreateFunc :public btCollisionAlgorithmCreateFunc
|
||||
{
|
||||
virtual btCollisionAlgorithm* CreateCollisionAlgorithm(btCollisionAlgorithmConstructionInfo& ci, btCollisionObject* body0,btCollisionObject* body1)
|
||||
{
|
||||
return new btConcaveConcaveCollisionAlgorithm(ci,body0,body1);
|
||||
}
|
||||
};
|
||||
|
||||
//! Use this function for register the algorithm externally
|
||||
static void registerAlgorithm(btCollisionDispatcher * dispatcher);
|
||||
|
||||
|
||||
};
|
||||
|
||||
|
||||
#endif //BVH_CONCAVE_COLLISION_ALGORITHM_H
|
||||
@@ -1,353 +0,0 @@
|
||||
/*
|
||||
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.
|
||||
*/
|
||||
|
||||
//#define DISABLE_BVH
|
||||
|
||||
|
||||
#include "btGIMPACTMeshShape.h"
|
||||
#include "GIMPACT/gimpact.h"
|
||||
|
||||
int g_gimpact_references = 0;
|
||||
//Mechanism for initialize and terminate GIMPACT structures
|
||||
void increase_gimpact_reference()
|
||||
{
|
||||
g_gimpact_references++;
|
||||
|
||||
if(g_gimpact_references >1 ) return;
|
||||
|
||||
gimpact_init();
|
||||
|
||||
}
|
||||
|
||||
void decrease_gimpact_reference()
|
||||
{
|
||||
if(g_gimpact_references <=0 ) return;
|
||||
g_gimpact_references--;
|
||||
if(g_gimpact_references >0 ) return;
|
||||
gimpact_terminate();
|
||||
}
|
||||
|
||||
/////////////////////////// btGIMPACTMeshData class/////////////////////////////////////////////////////////////
|
||||
|
||||
void btGIMPACTMeshData::clearMeshParts()
|
||||
{
|
||||
for(int i = 0;i<m_meshes.size();i++)
|
||||
{
|
||||
gim_trimesh_data_dec_ref(m_meshes[i]);
|
||||
}
|
||||
m_meshes.clear();
|
||||
}
|
||||
|
||||
void btGIMPACTMeshData::addMeshPart(btStridingMeshInterface* meshInterface, int part)
|
||||
{
|
||||
//Construct the trimesh
|
||||
// The buffer configuration
|
||||
|
||||
const unsigned char *vertexbase;
|
||||
int numverts;
|
||||
PHY_ScalarType stype;
|
||||
int vertexStride;
|
||||
const unsigned char *indexbase;
|
||||
int indexstride;
|
||||
int numfaces;
|
||||
PHY_ScalarType indicestype;
|
||||
|
||||
meshInterface->getLockedReadOnlyVertexIndexBase(&vertexbase, numverts,stype,vertexStride,&indexbase,
|
||||
indexstride,numfaces,indicestype,part);
|
||||
|
||||
GUINT int_type;
|
||||
switch (indicestype)
|
||||
{
|
||||
case PHY_INTEGER:
|
||||
int_type = G_STYPE_INT;
|
||||
break;
|
||||
case PHY_SHORT:
|
||||
default :
|
||||
int_type = G_STYPE_SHORT;
|
||||
break;
|
||||
}
|
||||
|
||||
GUINT vert_type;
|
||||
switch (stype)
|
||||
{
|
||||
case PHY_FLOAT:
|
||||
vert_type = G_STYPE_REAL;
|
||||
break;
|
||||
case PHY_DOUBLE:
|
||||
default :
|
||||
vert_type = G_STYPE_REAL2;
|
||||
break;
|
||||
}
|
||||
|
||||
GBUFFER_ARRAY buffer_vertex_array;
|
||||
GBUFFER_ARRAY buffer_triindex_array;
|
||||
GUINT trimesh_data_handle;
|
||||
|
||||
//Create shared buffer for indices
|
||||
|
||||
gim_create_shared_buffer_from_data(
|
||||
vertexbase, numverts*vertexStride,
|
||||
&buffer_vertex_array.m_buffer_id);
|
||||
|
||||
GIM_BUFFER_ARRAY_INIT_OFFSET_STRIDE(
|
||||
buffer_vertex_array,buffer_vertex_array.m_buffer_id,
|
||||
numverts,0,vertexStride);
|
||||
|
||||
//Create shared buffer for vertices
|
||||
gim_create_shared_buffer_from_data(indexbase,
|
||||
numfaces*indexstride, &buffer_triindex_array.m_buffer_id);
|
||||
|
||||
GIM_BUFFER_ARRAY_INIT_OFFSET_STRIDE(
|
||||
buffer_triindex_array,buffer_triindex_array.m_buffer_id,
|
||||
numfaces,0,indexstride);
|
||||
|
||||
//Create the trimesh data
|
||||
gim_trimesh_data_create_from_arrays(
|
||||
&trimesh_data_handle,
|
||||
&buffer_vertex_array,vert_type,
|
||||
&buffer_triindex_array,int_type);
|
||||
|
||||
//always call this after create a buffer_array
|
||||
GIM_BUFFER_ARRAY_DESTROY(buffer_vertex_array);
|
||||
GIM_BUFFER_ARRAY_DESTROY(buffer_triindex_array);
|
||||
|
||||
//Build Bounding volume tree
|
||||
gim_trimesh_data_build_aabbtree(trimesh_data_handle);
|
||||
|
||||
gim_trimesh_data_inc_ref(trimesh_data_handle);
|
||||
|
||||
m_meshes.push_back(trimesh_data_handle);
|
||||
|
||||
}
|
||||
|
||||
void btGIMPACTMeshData::processMeshParts(btStridingMeshInterface* meshInterface)
|
||||
{
|
||||
clearMeshParts();
|
||||
this->m_meshInterface = meshInterface;
|
||||
int meshcount = meshInterface->getNumSubParts();
|
||||
for(int i = 0;i<meshcount;i++)
|
||||
{
|
||||
addMeshPart(meshInterface,i);
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
btGIMPACTMeshData::btGIMPACTMeshData(btStridingMeshInterface* meshInterface)
|
||||
{
|
||||
increase_gimpact_reference();
|
||||
processMeshParts(meshInterface);
|
||||
}
|
||||
|
||||
btGIMPACTMeshData::~btGIMPACTMeshData()
|
||||
{
|
||||
clearMeshParts();
|
||||
decrease_gimpact_reference();
|
||||
}
|
||||
|
||||
/////////////////////////// btGIMPACTMeshShape class/////////////////////////////////////////////////////////////
|
||||
|
||||
void btGIMPACTMeshShape::clearMeshParts()
|
||||
{
|
||||
GIM_TRIMESH * ptrimesh;
|
||||
for(int i = 0;i<m_gim_trimesh_parts.size();i++)
|
||||
{
|
||||
ptrimesh = (GIM_TRIMESH * )m_gim_trimesh_parts[i];
|
||||
gim_trimesh_destroy(ptrimesh);
|
||||
gim_free(ptrimesh,0);
|
||||
}
|
||||
|
||||
m_gim_trimesh_parts.clear();
|
||||
}
|
||||
|
||||
void btGIMPACTMeshShape::processMeshParts(btGIMPACTMeshData * meshdata)
|
||||
{
|
||||
clearMeshParts();
|
||||
this->m_meshdata = meshdata;
|
||||
|
||||
BT_GIMPACT_TRIMESH_HANDLE gimhandle;
|
||||
GIM_TRIMESH * ptrimesh;
|
||||
|
||||
for(int i = 0;i<m_meshdata->m_meshes.size();i++)
|
||||
{
|
||||
ptrimesh = (GIM_TRIMESH *)gim_alloc(sizeof(GIM_TRIMESH));
|
||||
gim_trimesh_create(ptrimesh,m_meshdata->m_meshes[i],1,0);
|
||||
gimhandle = (BT_GIMPACT_TRIMESH_HANDLE) ptrimesh;
|
||||
m_gim_trimesh_parts.push_back(gimhandle);
|
||||
}
|
||||
}
|
||||
|
||||
btGIMPACTMeshShape::btGIMPACTMeshShape(btGIMPACTMeshData * meshdata)
|
||||
{
|
||||
m_scale.setValue(1.0f,1.0f,1.0f);
|
||||
processMeshParts(meshdata);
|
||||
|
||||
}
|
||||
|
||||
btGIMPACTMeshShape::~btGIMPACTMeshShape()
|
||||
{
|
||||
clearMeshParts();
|
||||
}
|
||||
|
||||
void btGIMPACTMeshShape::prepareMeshes(const btTransform & trans) const
|
||||
{
|
||||
mat4f gim_trans;
|
||||
IDENTIFY_MATRIX_4X4(gim_trans);
|
||||
COPY_MATRIX_3X3(gim_trans,trans.getBasis());
|
||||
|
||||
btVector3 scaling = getLocalScaling();
|
||||
|
||||
SCALE_VEC_MATRIX_3X3(gim_trans,scaling,gim_trans);
|
||||
MAT_SET_TRANSLATION(gim_trans,trans.getOrigin());
|
||||
|
||||
GIM_TRIMESH * ptrimesh;
|
||||
|
||||
for(int i = 0;i<m_gim_trimesh_parts.size();i++)
|
||||
{
|
||||
ptrimesh = (GIM_TRIMESH * )m_gim_trimesh_parts[i];
|
||||
gim_trimesh_set_tranform(ptrimesh, gim_trans);
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
|
||||
///getAabb returns the axis aligned bounding box in the coordinate frame of the given transform t.
|
||||
void btGIMPACTMeshShape::getAabb(const btTransform& t,btVector3& aabbMin,btVector3& aabbMax) const
|
||||
{
|
||||
prepareMeshes(t);
|
||||
|
||||
aabb3f meshbox, global_box;
|
||||
|
||||
INVALIDATE_AABB(global_box);
|
||||
|
||||
GIM_TRIMESH * ptrimesh;
|
||||
|
||||
for(int i = 0;i<m_gim_trimesh_parts.size();i++)
|
||||
{
|
||||
ptrimesh = (GIM_TRIMESH * )m_gim_trimesh_parts[i];
|
||||
gim_trimesh_get_aabb(ptrimesh,&meshbox);
|
||||
MERGEBOXES(global_box,meshbox);
|
||||
}
|
||||
|
||||
aabbMin[0] = global_box.minX;
|
||||
aabbMin[1] = global_box.minY;
|
||||
aabbMin[2] = global_box.minZ;
|
||||
|
||||
aabbMax[0] = global_box.maxX;
|
||||
aabbMax[1] = global_box.maxY;
|
||||
aabbMax[2] = global_box.maxZ;
|
||||
|
||||
}
|
||||
|
||||
void btGIMPACTMeshShape::setLocalScaling(const btVector3& scaling)
|
||||
{
|
||||
m_scale = scaling;
|
||||
}
|
||||
|
||||
const btVector3& btGIMPACTMeshShape::getLocalScaling() const
|
||||
{
|
||||
return m_scale ;
|
||||
}
|
||||
|
||||
|
||||
void btGIMPACTMeshShape::calculateLocalInertia(btScalar mass,btVector3& inertia)
|
||||
{
|
||||
btTransform t;
|
||||
t.setIdentity();
|
||||
|
||||
btVector3 aabbMin;
|
||||
btVector3 aabbMax;
|
||||
|
||||
getAabb(t,aabbMin,aabbMax);
|
||||
|
||||
//not yet, return box inertia
|
||||
|
||||
btVector3 halfExtents = (aabbMax-aabbMin)*0.5f;
|
||||
|
||||
btScalar lx=2.f*(halfExtents.x());
|
||||
btScalar ly=2.f*(halfExtents.y());
|
||||
btScalar lz=2.f*(halfExtents.z());
|
||||
const btScalar x2 = lx*lx;
|
||||
const btScalar y2 = ly*ly;
|
||||
const btScalar z2 = lz*lz;
|
||||
const btScalar scaledmass = mass * 0.08333333f;
|
||||
|
||||
inertia = scaledmass * (btVector3(y2+z2,x2+z2,x2+y2));
|
||||
|
||||
}
|
||||
|
||||
|
||||
|
||||
|
||||
void btGIMPACTMeshShape::processAllTriangles(btTriangleCallback* callback,const btVector3& aabbMin,const btVector3& aabbMax) const
|
||||
{
|
||||
|
||||
/*btTransform t;
|
||||
t.setIdentity();
|
||||
prepareMeshes(t);*/
|
||||
|
||||
GDYNAMIC_ARRAY collision_result;
|
||||
|
||||
GIM_TRIMESH * ptrimesh;
|
||||
int i;
|
||||
unsigned int j;
|
||||
vec3f trivec[3];
|
||||
btVector3 btrivec[3];
|
||||
GUINT * boxesresult;
|
||||
btVector3 scalevec = this->getLocalScaling();
|
||||
|
||||
aabb3f test_aabb;
|
||||
test_aabb.minX = aabbMin[0]/scalevec[0];
|
||||
test_aabb.minY = aabbMin[1]/scalevec[1];
|
||||
test_aabb.minZ = aabbMin[2]/scalevec[2];
|
||||
|
||||
test_aabb.maxX = aabbMax[0]/scalevec[0];
|
||||
test_aabb.maxY = aabbMax[1]/scalevec[1];
|
||||
test_aabb.maxZ = aabbMax[2]/scalevec[2];
|
||||
|
||||
for(i = 0;i<m_gim_trimesh_parts.size();i++)
|
||||
{
|
||||
ptrimesh = (GIM_TRIMESH * )m_gim_trimesh_parts[i];
|
||||
|
||||
GIM_CREATE_BOXQUERY_LIST(collision_result);
|
||||
|
||||
gim_trimesh_midphase_box_collision_local(ptrimesh,&test_aabb,&collision_result);
|
||||
|
||||
boxesresult = GIM_DYNARRAY_POINTER(GUINT,collision_result);
|
||||
|
||||
//collide triangles
|
||||
//Locks trimesh
|
||||
gim_trimesh_locks_work_data(ptrimesh);
|
||||
|
||||
for(j=0;j<collision_result.m_size;j++)
|
||||
{
|
||||
gim_trimesh_get_triangle_vertices_local(ptrimesh,boxesresult[j],trivec[0],trivec[1],trivec[2]);
|
||||
|
||||
btrivec[0].setValue(trivec[0][0]*scalevec[0],trivec[0][1]*scalevec[1],trivec[0][2]*scalevec[2]);
|
||||
btrivec[1].setValue(trivec[1][0]*scalevec[0],trivec[1][1]*scalevec[1],trivec[1][2]*scalevec[2]);
|
||||
btrivec[2].setValue(trivec[2][0]*scalevec[0],trivec[2][1]*scalevec[1],trivec[2][2]*scalevec[2]);
|
||||
|
||||
callback->processTriangle(btrivec,(int)i,(int)boxesresult[j]);
|
||||
}
|
||||
|
||||
///unlocks
|
||||
gim_trimesh_unlocks_work_data(ptrimesh);
|
||||
|
||||
|
||||
GIM_DYNARRAY_DESTROY(collision_result);
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
|
||||
@@ -1,115 +0,0 @@
|
||||
/*
|
||||
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 GIMPACT_MESH_SHAPE_H
|
||||
#define GIMPACT_MESH_SHAPE_H
|
||||
|
||||
#include "BulletCollision/CollisionShapes/btConcaveShape.h"
|
||||
#include "BulletCollision/CollisionShapes/btStridingMeshInterface.h"
|
||||
#include "LinearMath/btAlignedObjectArray.h"
|
||||
|
||||
|
||||
//#define GIMPACT_SHAPE_PROXYTYPE (MAX_BROADPHASE_COLLISION_TYPES + 1)
|
||||
|
||||
//! Handle representation for each mesh part
|
||||
/*!
|
||||
Each mesh part must have a GIMPACT trimesh data (GIM_TRIMESH_DATA).
|
||||
*/
|
||||
typedef unsigned long BT_GIMPACT_TRIMESH_DATA_HANDLE;
|
||||
|
||||
|
||||
class BT_GIMPACT_TRIMESH_DATA_HANDLE_ARRAY: public btAlignedObjectArray<BT_GIMPACT_TRIMESH_DATA_HANDLE>
|
||||
{
|
||||
public:
|
||||
|
||||
};
|
||||
|
||||
class btGIMPACTMeshData
|
||||
{
|
||||
protected:
|
||||
void clearMeshParts();
|
||||
void addMeshPart(btStridingMeshInterface* meshInterface, int part);
|
||||
void processMeshParts(btStridingMeshInterface* meshInterface);
|
||||
public:
|
||||
btStridingMeshInterface* m_meshInterface;
|
||||
BT_GIMPACT_TRIMESH_DATA_HANDLE_ARRAY m_meshes;
|
||||
|
||||
btGIMPACTMeshData(btStridingMeshInterface* meshInterface);
|
||||
virtual ~btGIMPACTMeshData();
|
||||
};
|
||||
|
||||
|
||||
//! Handle representation for each mesh part
|
||||
/*!
|
||||
Each mesh part must have a GIMPACT trimesh (GIM_TRIMESH).
|
||||
*/
|
||||
typedef void * BT_GIMPACT_TRIMESH_HANDLE;
|
||||
|
||||
|
||||
class BT_GIMPACT_TRIMESH_HANDLE_ARRAY: public btAlignedObjectArray<BT_GIMPACT_TRIMESH_HANDLE>
|
||||
{
|
||||
public:
|
||||
|
||||
};
|
||||
|
||||
///
|
||||
///Uses an interface to access the triangles to allow for sharing graphics/physics triangles.
|
||||
class btGIMPACTMeshShape : public btConcaveShape
|
||||
{
|
||||
protected:
|
||||
btGIMPACTMeshData * m_meshdata;
|
||||
btVector3 m_scale;
|
||||
|
||||
void clearMeshParts();
|
||||
void processMeshParts(btGIMPACTMeshData * meshdata);
|
||||
|
||||
public:
|
||||
BT_GIMPACT_TRIMESH_HANDLE_ARRAY m_gim_trimesh_parts;
|
||||
|
||||
|
||||
btGIMPACTMeshShape(btGIMPACTMeshData * meshInterface);
|
||||
|
||||
virtual ~btGIMPACTMeshShape();
|
||||
|
||||
|
||||
virtual int getShapeType() const
|
||||
{
|
||||
return GIMPACT_SHAPE_PROXYTYPE;
|
||||
}
|
||||
|
||||
|
||||
//! Function for retrieve triangles.
|
||||
/*!
|
||||
It gives the triangles in local space
|
||||
*/
|
||||
virtual void processAllTriangles(btTriangleCallback* callback,const btVector3& aabbMin,const btVector3& aabbMax) const;
|
||||
|
||||
|
||||
//debugging
|
||||
virtual char* getName()const {return "GIMPACT_SHAPE_PROXYTYPE";}
|
||||
|
||||
virtual void prepareMeshes(const btTransform & trans) const;
|
||||
|
||||
///getAabb returns the axis aligned bounding box in the coordinate frame of the given transform t.
|
||||
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);
|
||||
|
||||
};
|
||||
|
||||
#endif //GIMPACT_MESH_SHAPE_H
|
||||
Reference in New Issue
Block a user