Added GIMPACT integration for moving concave meshes (interaction with all other Bullet collision shapes)
Thanks a lot to Francisco León Nájera for the contribution!
This commit is contained in:
ejcoumans
10
Extras/GIMPACTBullet/Jamfile
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10
Extras/GIMPACTBullet/Jamfile
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@@ -0,0 +1,10 @@
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SubDir TOP Extras GIMPACTBullet ;
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IncludeDir Extras/GIMPACTBullet ;
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Library GIMPACTBullet : [ Wildcard *.h *.cpp ] ;
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CFlags GIMPACTBullet : [ FIncludes $(TOP)/Extras/GIMPACTBullet ] ;
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LibDepends GIMPACTBullet : ;
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InstallHeader [ Wildcard *.h ] : GIMPACTBullet ;
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136
Extras/GIMPACTBullet/btConcaveConcaveCollisionAlgorithm.cpp
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136
Extras/GIMPACTBullet/btConcaveConcaveCollisionAlgorithm.cpp
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@@ -0,0 +1,136 @@
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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.
|
||||
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,
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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.
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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 "../Extras/GIMPACT/include/GIMPACT/gimpact.h"
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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 (size_t 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)
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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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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(body0,body1);
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resultOut->setPersistentManifold(current_mainfold);
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ci=0;
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}
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btVector3 cpoint(pcontacts->m_point[0],pcontacts->m_point[1],pcontacts->m_point[2]);
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//Normal points to body0
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btVector3 cnormal(pcontacts->m_normal[0],pcontacts->m_normal[1],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 btConcaveConcaveCollisionAlgorithm::processCollision (btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut)
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{
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clearCache();
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if (body0->getCollisionShape()->getShapeType()==GIMPACT_SHAPE_PROXYTYPE && body1->getCollisionShape()->getShapeType()==GIMPACT_SHAPE_PROXYTYPE )
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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,this,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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}
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float btConcaveConcaveCollisionAlgorithm::calculateTimeOfImpact(btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut)
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{
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return 1.f;
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}
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60
Extras/GIMPACTBullet/btConcaveConcaveCollisionAlgorithm.h
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60
Extras/GIMPACTBullet/btConcaveConcaveCollisionAlgorithm.h
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@@ -0,0 +1,60 @@
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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.
|
||||
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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#ifndef BVH_CONCAVE_COLLISION_ALGORITHM_H
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#define BVH_CONCAVE_COLLISION_ALGORITHM_H
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#include "BulletCollision/BroadphaseCollision/btCollisionAlgorithm.h"
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#include "BulletCollision/BroadphaseCollision/btDispatcher.h"
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#include "BulletCollision/BroadphaseCollision/btBroadphaseInterface.h"
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#include "BulletCollision/CollisionShapes/btBvhTriangleMeshShape.h"
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#include "BulletCollision/NarrowPhaseCollision/btPersistentManifold.h"
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class btDispatcher;
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#include "BulletCollision/BroadphaseCollision/btBroadphaseProxy.h"
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#include "BulletCollision/CollisionDispatch/btCollisionCreateFunc.h"
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/// btConcaveConcaveCollisionAlgorithm supports collision between btBvhTriangleMeshShape shapes
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class btConcaveConcaveCollisionAlgorithm : public btCollisionAlgorithm
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{
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protected:
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std::vector<btPersistentManifold*> m_mainfoldsPtr;
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public:
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btConcaveConcaveCollisionAlgorithm( const btCollisionAlgorithmConstructionInfo& ci,btCollisionObject* body0,btCollisionObject* body1);
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virtual ~btConcaveConcaveCollisionAlgorithm();
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virtual void processCollision (btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut);
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float calculateTimeOfImpact(btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut);
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void clearCache();
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btPersistentManifold* newContactMainfold(btCollisionObject* body0,btCollisionObject* body1);
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struct CreateFunc :public btCollisionAlgorithmCreateFunc
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{
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virtual btCollisionAlgorithm* CreateCollisionAlgorithm(btCollisionAlgorithmConstructionInfo& ci, btCollisionObject* body0,btCollisionObject* body1)
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{
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return new btConcaveConcaveCollisionAlgorithm(ci,body0,body1);
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}
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};
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};
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#endif //BVH_CONCAVE_COLLISION_ALGORITHM_H
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533
Extras/GIMPACTBullet/btGIMPACTMeshShape.cpp
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533
Extras/GIMPACTBullet/btGIMPACTMeshShape.cpp
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@@ -0,0 +1,533 @@
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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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|
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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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//#define DISABLE_BVH
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#include "btGIMPACTMeshShape.h"
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#include "GIMPACT/gimpact.h"
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int g_gimpact_references = 0;
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//Mechanism for initialize and terminate GIMPACT structures
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void increase_gimpact_reference()
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{
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g_gimpact_references++;
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if(g_gimpact_references >1 ) return;
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gimpact_init();
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}
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void decrease_gimpact_reference()
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{
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if(g_gimpact_references <=0 ) return;
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g_gimpact_references--;
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if(g_gimpact_references >0 ) return;
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gimpact_terminate();
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}
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/////////////////////////// btGIMPACTMeshData class/////////////////////////////////////////////////////////////
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void btGIMPACTMeshData::clearMeshParts()
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{
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for(size_t i = 0;i<m_meshes.size();i++)
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{
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gim_trimesh_data_dec_ref(m_meshes[i]);
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}
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m_meshes.clear();
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}
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void btGIMPACTMeshData::addMeshPart(btStridingMeshInterface* meshInterface, int part)
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{
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//Construct the trimesh
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// The buffer configuration
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const unsigned char *vertexbase;
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int numverts;
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PHY_ScalarType stype;
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int vertexStride;
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const unsigned char *indexbase;
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int indexstride;
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int numfaces;
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PHY_ScalarType indicestype;
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meshInterface->getLockedReadOnlyVertexIndexBase(&vertexbase, numverts,stype,vertexStride,&indexbase,
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indexstride,numfaces,indicestype,part);
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GUINT int_type;
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switch (indicestype)
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{
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case PHY_INTEGER:
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int_type = G_STYPE_INT;
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break;
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case PHY_SHORT:
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int_type = G_STYPE_SHORT;
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break;
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}
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GUINT vert_type;
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switch (stype)
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{
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case PHY_FLOAT:
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vert_type = G_STYPE_REAL;
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break;
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case PHY_DOUBLE:
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vert_type = G_STYPE_REAL2;
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break;
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}
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GBUFFER_ARRAY buffer_vertex_array;
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GBUFFER_ARRAY buffer_triindex_array;
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GUINT trimesh_data_handle;
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//Create shared buffer for indices
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gim_create_shared_buffer_from_data(
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vertexbase, numverts*vertexStride,
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&buffer_vertex_array.m_buffer_id);
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GIM_BUFFER_ARRAY_INIT_OFFSET_STRIDE(
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buffer_vertex_array,buffer_vertex_array.m_buffer_id,
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numverts,0,vertexStride);
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//Create shared buffer for vertices
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gim_create_shared_buffer_from_data(indexbase,
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numfaces*indexstride, &buffer_triindex_array.m_buffer_id);
|
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|
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GIM_BUFFER_ARRAY_INIT_OFFSET_STRIDE(
|
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buffer_triindex_array,buffer_triindex_array.m_buffer_id,
|
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numfaces,0,indexstride);
|
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|
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//Create the trimesh data
|
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gim_trimesh_data_create_from_arrays(
|
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&trimesh_data_handle,
|
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&buffer_vertex_array,vert_type,
|
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&buffer_triindex_array,int_type);
|
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|
||||
//always call this after create a buffer_array
|
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GIM_BUFFER_ARRAY_DESTROY(buffer_vertex_array);
|
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GIM_BUFFER_ARRAY_DESTROY(buffer_triindex_array);
|
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|
||||
//Build Bounding volume tree
|
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gim_trimesh_data_build_aabbtree(trimesh_data_handle);
|
||||
|
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gim_trimesh_data_inc_ref(trimesh_data_handle);
|
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|
||||
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(size_t 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(size_t 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)
|
||||
{
|
||||
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(size_t 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(size_t 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 ;
|
||||
}
|
||||
|
||||
#define CUBE(x) ((x)*(x)*(x)) //!< Returns x cube
|
||||
|
||||
void bt_calc_inertia_gim_trimesh(GIM_TRIMESH * trimesh, vec3f T)
|
||||
{
|
||||
unsigned int triangles = gim_trimesh_get_triangle_count(trimesh);
|
||||
|
||||
float nx, ny, nz;
|
||||
unsigned int i, A, B, C;
|
||||
// face integrals
|
||||
float Fa, Fb, Fc, Faa, Fbb, Fcc, Faaa, Fbbb, Fccc, Faab, Fbbc, Fcca;
|
||||
|
||||
// projection integrals
|
||||
float P1, Pa, Pb, Paa, Pab, Pbb, Paaa, Paab, Pabb, Pbbb;
|
||||
|
||||
float T0 = 0;
|
||||
|
||||
gim_trimesh_locks_work_data(trimesh);
|
||||
|
||||
|
||||
for( i = 0; i < triangles; i++ )
|
||||
{
|
||||
vec3f v0, v1, v2;
|
||||
|
||||
gim_trimesh_get_triangle_vertices(trimesh,i,v0,v1,v2);
|
||||
|
||||
|
||||
vec3f n, a, b;
|
||||
|
||||
VEC_DIFF(a,v1,v0);
|
||||
VEC_DIFF(b,v2,v0);
|
||||
|
||||
VEC_CROSS(n,b,a);
|
||||
|
||||
nx = fabs(n[0]);
|
||||
ny = fabs(n[1]);
|
||||
nz = fabs(n[2]);
|
||||
|
||||
if( nx > ny && nx > nz )
|
||||
C = 0;
|
||||
else
|
||||
C = (ny > nz) ? 1 : 2;
|
||||
|
||||
A = (C + 1) % 3;
|
||||
B = (A + 1) % 3;
|
||||
|
||||
// calculate face integrals
|
||||
{
|
||||
float w;
|
||||
float k1, k2, k3, k4;
|
||||
|
||||
//compProjectionIntegrals(f);
|
||||
{
|
||||
float a0, a1, da;
|
||||
float b0, b1, db;
|
||||
float a0_2, a0_3, a0_4, b0_2, b0_3, b0_4;
|
||||
float a1_2, a1_3, b1_2, b1_3;
|
||||
float C1, Ca, Caa, Caaa, Cb, Cbb, Cbbb;
|
||||
float Cab, Kab, Caab, Kaab, Cabb, Kabb;
|
||||
|
||||
P1 = Pa = Pb = Paa = Pab = Pbb = Paaa = Paab = Pabb = Pbbb = 0.0;
|
||||
|
||||
for( int j = 0; j < 3; j++)
|
||||
{
|
||||
switch(j)
|
||||
{
|
||||
case 0:
|
||||
a0 = v0[A];
|
||||
b0 = v0[B];
|
||||
a1 = v1[A];
|
||||
b1 = v1[B];
|
||||
break;
|
||||
case 1:
|
||||
a0 = v1[A];
|
||||
b0 = v1[B];
|
||||
a1 = v2[A];
|
||||
b1 = v2[B];
|
||||
break;
|
||||
case 2:
|
||||
a0 = v2[A];
|
||||
b0 = v2[B];
|
||||
a1 = v0[A];
|
||||
b1 = v0[B];
|
||||
break;
|
||||
}
|
||||
da = a1 - a0;
|
||||
db = b1 - b0;
|
||||
a0_2 = a0 * a0; a0_3 = a0_2 * a0; a0_4 = a0_3 * a0;
|
||||
b0_2 = b0 * b0; b0_3 = b0_2 * b0; b0_4 = b0_3 * b0;
|
||||
a1_2 = a1 * a1; a1_3 = a1_2 * a1;
|
||||
b1_2 = b1 * b1; b1_3 = b1_2 * b1;
|
||||
|
||||
C1 = a1 + a0;
|
||||
Ca = a1*C1 + a0_2; Caa = a1*Ca + a0_3; Caaa = a1*Caa + a0_4;
|
||||
Cb = b1*(b1 + b0) + b0_2; Cbb = b1*Cb + b0_3; Cbbb = b1*Cbb + b0_4;
|
||||
Cab = 3*a1_2 + 2*a1*a0 + a0_2; Kab = a1_2 + 2*a1*a0 + 3*a0_2;
|
||||
Caab = a0*Cab + 4*a1_3; Kaab = a1*Kab + 4*a0_3;
|
||||
Cabb = 4*b1_3 + 3*b1_2*b0 + 2*b1*b0_2 + b0_3;
|
||||
Kabb = b1_3 + 2*b1_2*b0 + 3*b1*b0_2 + 4*b0_3;
|
||||
|
||||
P1 += db*C1;
|
||||
Pa += db*Ca;
|
||||
Paa += db*Caa;
|
||||
Paaa += db*Caaa;
|
||||
Pb += da*Cb;
|
||||
Pbb += da*Cbb;
|
||||
Pbbb += da*Cbbb;
|
||||
Pab += db*(b1*Cab + b0*Kab);
|
||||
Paab += db*(b1*Caab + b0*Kaab);
|
||||
Pabb += da*(a1*Cabb + a0*Kabb);
|
||||
}
|
||||
|
||||
P1 /= 2.0;
|
||||
Pa /= 6.0;
|
||||
Paa /= 12.0;
|
||||
Paaa /= 20.0;
|
||||
Pb /= -6.0;
|
||||
Pbb /= -12.0;
|
||||
Pbbb /= -20.0;
|
||||
Pab /= 24.0;
|
||||
Paab /= 60.0;
|
||||
Pabb /= -60.0;
|
||||
}
|
||||
|
||||
w = - VEC_DOT(n, v0);
|
||||
|
||||
k1 = 1 / n[C]; k2 = k1 * k1; k3 = k2 * k1; k4 = k3 * k1;
|
||||
|
||||
Fa = k1 * Pa;
|
||||
Fb = k1 * Pb;
|
||||
Fc = -k2 * (n[A]*Pa + n[B]*Pb + w*P1);
|
||||
|
||||
Faa = k1 * Paa;
|
||||
Fbb = k1 * Pbb;
|
||||
Fcc = k3 * (gim_sqrt(n[A])*Paa + 2*n[A]*n[B]*Pab + gim_sqrt(n[B])*Pbb +
|
||||
w*(2*(n[A]*Pa + n[B]*Pb) + w*P1));
|
||||
|
||||
Faaa = k1 * Paaa;
|
||||
Fbbb = k1 * Pbbb;
|
||||
Fccc = -k4 * (CUBE(n[A])*Paaa + 3*gim_sqrt(n[A])*n[B]*Paab
|
||||
+ 3*n[A]*gim_sqrt(n[B])*Pabb + CUBE(n[B])*Pbbb
|
||||
+ 3*w*(gim_sqrt(n[A])*Paa + 2*n[A]*n[B]*Pab + gim_sqrt(n[B])*Pbb)
|
||||
+ w*w*(3*(n[A]*Pa + n[B]*Pb) + w*P1));
|
||||
|
||||
Faab = k1 * Paab;
|
||||
Fbbc = -k2 * (n[A]*Pabb + n[B]*Pbbb + w*Pbb);
|
||||
Fcca = k3 * (gim_sqrt(n[A])*Paaa + 2*n[A]*n[B]*Paab + gim_sqrt(n[B])*Pabb
|
||||
+ w*(2*(n[A]*Paa + n[B]*Pab) + w*Pa));
|
||||
}
|
||||
|
||||
T0 += n[0] * ((A == 0) ? Fa : ((B == 0) ? Fb : Fc));
|
||||
|
||||
|
||||
T[A] += n[A] * Faaa;
|
||||
T[B] += n[B] * Fbbb;
|
||||
T[C] += n[C] * Fccc;
|
||||
}
|
||||
|
||||
gim_trimesh_unlocks_work_data(trimesh);
|
||||
|
||||
}
|
||||
|
||||
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));
|
||||
|
||||
/*
|
||||
//prepareMeshes(t);
|
||||
inertia.setValue(0.0f,0.0f,0.0f);
|
||||
vec3f T;
|
||||
VEC_ZERO(T);
|
||||
|
||||
//Process Every triangle
|
||||
GIM_TRIMESH * ptrimesh;
|
||||
|
||||
for(size_t i = 0;i<m_gim_trimesh_parts.size();i++)
|
||||
{
|
||||
ptrimesh = (GIM_TRIMESH * )m_gim_trimesh_parts[i];
|
||||
bt_calc_inertia_gim_trimesh(ptrimesh,T);
|
||||
}
|
||||
|
||||
T[0] /= 3; T[1] /= 3; T[2] /= 3;
|
||||
|
||||
inertia[0] = (T[1] + T[2]);
|
||||
inertia[0] *= mass/(aabbMax[0] - aabbMin[0]);
|
||||
|
||||
inertia[1] = (T[2] + T[0]);
|
||||
inertia[1] *= mass/(aabbMax[1] - aabbMin[1]);
|
||||
|
||||
inertia[2] = (T[0] + T[1]);
|
||||
inertia[2] *= mass/(aabbMax[2] - aabbMin[2]);*/
|
||||
|
||||
}
|
||||
|
||||
|
||||
|
||||
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;
|
||||
size_t i,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);
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
|
||||
114
Extras/GIMPACTBullet/btGIMPACTMeshShape.h
Normal file
114
Extras/GIMPACTBullet/btGIMPACTMeshShape.h
Normal file
@@ -0,0 +1,114 @@
|
||||
/*
|
||||
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 <vector>
|
||||
|
||||
//#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 std::vector<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 std::vector<BT_GIMPACT_TRIMESH_HANDLE>
|
||||
{
|
||||
public:
|
||||
|
||||
};
|
||||
|
||||
///
|
||||
///Uses an interface to access the triangles to allow for sharing graphics/physics triangles.
|
||||
class btGIMPACTMeshShape : public ConcaveShape
|
||||
{
|
||||
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