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Code-style consistency improvement:

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Apply clang-format-all.sh using the _clang-format file through all the cpp/.h files.
make sure not to apply it to certain serialization structures, since some parser expects the * as part of the name, instead of type.
This commit contains no other changes aside from adding and applying clang-format-all.sh
This commit is contained in:
erwincoumans
2018-09-23 14:17:31 -07:00
parent b73b05e9fb
commit ab8f16961e
1773 changed files with 1081087 additions and 474249 deletions
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175
Extras/ConvexDecomposition/ConvexBuilder.cpp
View File

@@ -8,34 +8,32 @@
#include "fitsphere.h"
#include "bestfitobb.h"
unsigned int MAXDEPTH = 8 ;
float CONCAVE_PERCENT = 1.0f ;
float MERGE_PERCENT = 2.0f ;
unsigned int MAXDEPTH = 8;
float CONCAVE_PERCENT = 1.0f;
float MERGE_PERCENT = 2.0f;
CHull::CHull(const ConvexDecomposition::ConvexResult &result)
{
mResult = new ConvexDecomposition::ConvexResult(result);
mVolume = computeMeshVolume( result.mHullVertices, result.mHullTcount, result.mHullIndices );
mVolume = computeMeshVolume(result.mHullVertices, result.mHullTcount, result.mHullIndices);
mDiagonal = getBoundingRegion( result.mHullVcount, result.mHullVertices, sizeof(float)*3, mMin, mMax );
mDiagonal = getBoundingRegion(result.mHullVcount, result.mHullVertices, sizeof(float) * 3, mMin, mMax);
float dx = mMax[0] - mMin[0];
float dy = mMax[1] - mMin[1];
float dz = mMax[2] - mMin[2];
dx*=0.1f; // inflate 1/10th on each edge
dy*=0.1f; // inflate 1/10th on each edge
dz*=0.1f; // inflate 1/10th on each edge
mMin[0]-=dx;
mMin[1]-=dy;
mMin[2]-=dz;
mMax[0]+=dx;
mMax[1]+=dy;
mMax[2]+=dz;
dx *= 0.1f; // inflate 1/10th on each edge
dy *= 0.1f; // inflate 1/10th on each edge
dz *= 0.1f; // inflate 1/10th on each edge
mMin[0] -= dx;
mMin[1] -= dy;
mMin[2] -= dz;
mMax[0] += dx;
mMax[1] += dy;
mMax[2] += dz;
}
CHull::~CHull(void)
@@ -45,12 +43,9 @@ CHull::~CHull(void)
bool CHull::overlap(const CHull &h) const
{
return overlapAABB(mMin,mMax, h.mMin, h.mMax );
return overlapAABB(mMin, mMax, h.mMin, h.mMax);
}
ConvexBuilder::ConvexBuilder(ConvexDecompInterface *callback)
{
mCallback = callback;
@@ -59,45 +54,45 @@ ConvexBuilder::ConvexBuilder(ConvexDecompInterface *callback)
ConvexBuilder::~ConvexBuilder(void)
{
int i;
for (i=0;i<mChulls.size();i++)
for (i = 0; i < mChulls.size(); i++)
{
CHull *cr = mChulls[i];
delete cr;
}
}
bool ConvexBuilder::isDuplicate(unsigned int i1,unsigned int i2,unsigned int i3,
unsigned int ci1,unsigned int ci2,unsigned int ci3)
bool ConvexBuilder::isDuplicate(unsigned int i1, unsigned int i2, unsigned int i3,
unsigned int ci1, unsigned int ci2, unsigned int ci3)
{
unsigned int dcount = 0;
assert( i1 != i2 && i1 != i3 && i2 != i3 );
assert( ci1 != ci2 && ci1 != ci3 && ci2 != ci3 );
assert(i1 != i2 && i1 != i3 && i2 != i3);
assert(ci1 != ci2 && ci1 != ci3 && ci2 != ci3);
if ( i1 == ci1 || i1 == ci2 || i1 == ci3 ) dcount++;
if ( i2 == ci1 || i2 == ci2 || i2 == ci3 ) dcount++;
if ( i3 == ci1 || i3 == ci2 || i3 == ci3 ) dcount++;
if (i1 == ci1 || i1 == ci2 || i1 == ci3) dcount++;
if (i2 == ci1 || i2 == ci2 || i2 == ci3) dcount++;
if (i3 == ci1 || i3 == ci2 || i3 == ci3) dcount++;
return dcount == 3;
}
void ConvexBuilder::getMesh(const ConvexDecomposition::ConvexResult &cr,VertexLookup vc,UintVector &indices)
void ConvexBuilder::getMesh(const ConvexDecomposition::ConvexResult &cr, VertexLookup vc, UintVector &indices)
{
unsigned int *src = cr.mHullIndices;
for (unsigned int i=0; i<cr.mHullTcount; i++)
for (unsigned int i = 0; i < cr.mHullTcount; i++)
{
unsigned int i1 = *src++;
unsigned int i2 = *src++;
unsigned int i3 = *src++;
const float *p1 = &cr.mHullVertices[i1*3];
const float *p2 = &cr.mHullVertices[i2*3];
const float *p3 = &cr.mHullVertices[i3*3];
const float *p1 = &cr.mHullVertices[i1 * 3];
const float *p2 = &cr.mHullVertices[i2 * 3];
const float *p3 = &cr.mHullVertices[i3 * 3];
i1 = Vl_getIndex(vc,p1);
i2 = Vl_getIndex(vc,p2);
i3 = Vl_getIndex(vc,p3);
i1 = Vl_getIndex(vc, p1);
i2 = Vl_getIndex(vc, p2);
i3 = Vl_getIndex(vc, p3);
#if 0
bool duplicate = false;
@@ -122,14 +117,12 @@ void ConvexBuilder::getMesh(const ConvexDecomposition::ConvexResult &cr,VertexLo
indices.push_back(i3);
}
#endif
}
}
CHull * ConvexBuilder::canMerge(CHull *a,CHull *b)
CHull *ConvexBuilder::canMerge(CHull *a, CHull *b)
{
if ( !a->overlap(*b) ) return 0; // if their AABB's (with a little slop) don't overlap, then return.
if (!a->overlap(*b)) return 0; // if their AABB's (with a little slop) don't overlap, then return.
CHull *ret = 0;
@@ -140,17 +133,17 @@ CHull * ConvexBuilder::canMerge(CHull *a,CHull *b)
UintVector indices;
getMesh( *a->mResult, vc, indices );
getMesh( *b->mResult, vc, indices );
getMesh(*a->mResult, vc, indices);
getMesh(*b->mResult, vc, indices);
unsigned int vcount = Vl_getVcount(vc);
const float *vertices = Vl_getVertices(vc);
unsigned int tcount = indices.size()/3;
unsigned int tcount = indices.size() / 3;
//don't do anything if hull is empty
if (!tcount)
{
Vl_releaseVertexLookup (vc);
Vl_releaseVertexLookup(vc);
return 0;
}
@@ -162,25 +155,23 @@ CHull * ConvexBuilder::canMerge(CHull *a,CHull *b)
desc.mVcount = vcount;
desc.mVertices = vertices;
desc.mVertexStride = sizeof(float)*3;
desc.mVertexStride = sizeof(float) * 3;
ConvexDecomposition::HullError hret = hl.CreateConvexHull(desc,hresult);
ConvexDecomposition::HullError hret = hl.CreateConvexHull(desc, hresult);
if ( hret == ConvexDecomposition::QE_OK )
if (hret == ConvexDecomposition::QE_OK)
{
float combineVolume = computeMeshVolume( hresult.mOutputVertices, hresult.mNumFaces, hresult.mIndices );
float combineVolume = computeMeshVolume(hresult.mOutputVertices, hresult.mNumFaces, hresult.mIndices);
float sumVolume = a->mVolume + b->mVolume;
float percent = (sumVolume*100) / combineVolume;
if ( percent >= (100.0f-MERGE_PERCENT) )
float percent = (sumVolume * 100) / combineVolume;
if (percent >= (100.0f - MERGE_PERCENT))
{
ConvexDecomposition::ConvexResult cr(hresult.mNumOutputVertices, hresult.mOutputVertices, hresult.mNumFaces, hresult.mIndices);
ret = new CHull(cr);
}
}
Vl_releaseVertexLookup(vc);
return ret;
@@ -188,41 +179,36 @@ CHull * ConvexBuilder::canMerge(CHull *a,CHull *b)
bool ConvexBuilder::combineHulls(void)
{
bool combine = false;
sortChulls(mChulls); // sort the convex hulls, largest volume to least...
CHullVector output; // the output hulls...
int i;
for (i=0;i<mChulls.size() && !combine; ++i)
for (i = 0; i < mChulls.size() && !combine; ++i)
{
CHull *cr = mChulls[i];
int j;
for (j=0;j<mChulls.size();j++)
for (j = 0; j < mChulls.size(); j++)
{
CHull *match = mChulls[j];
if ( cr != match ) // don't try to merge a hull with itself, that be stoopid
if (cr != match) // don't try to merge a hull with itself, that be stoopid
{
CHull *merge = canMerge(cr, match); // if we can merge these two....
CHull *merge = canMerge(cr,match); // if we can merge these two....
if ( merge )
if (merge)
{
output.push_back(merge);
++i;
while ( i != mChulls.size() )
while (i != mChulls.size())
{
CHull *cr = mChulls[i];
if ( cr != match )
if (cr != match)
{
output.push_back(cr);
}
@@ -237,7 +223,7 @@ bool ConvexBuilder::combineHulls(void)
}
}
if ( combine )
if (combine)
{
break;
}
@@ -245,37 +231,33 @@ bool ConvexBuilder::combineHulls(void)
{
output.push_back(cr);
}
}
if ( combine )
if (combine)
{
mChulls.clear();
mChulls.copyFromArray(output);
output.clear();
}
return combine;
}
unsigned int ConvexBuilder::process(const ConvexDecomposition::DecompDesc &desc)
{
unsigned int ret = 0;
MAXDEPTH = desc.mDepth;
CONCAVE_PERCENT = desc.mCpercent;
MERGE_PERCENT = desc.mPpercent;
calcConvexDecomposition(desc.mVcount, desc.mVertices, desc.mTcount, desc.mIndices, this, 0, 0);
calcConvexDecomposition(desc.mVcount, desc.mVertices, desc.mTcount, desc.mIndices,this,0,0);
while ( combineHulls() ); // keep combinging hulls until I can't combine any more...
while (combineHulls())
; // keep combinging hulls until I can't combine any more...
int i;
for (i=0;i<mChulls.size();i++)
for (i = 0; i < mChulls.size(); i++)
{
CHull *cr = mChulls[i];
@@ -292,41 +274,39 @@ unsigned int ConvexBuilder::process(const ConvexDecomposition::DecompDesc &desc)
hdesc.mVcount = c.mHullVcount;
hdesc.mVertices = c.mHullVertices;
hdesc.mVertexStride = sizeof(float)*3;
hdesc.mVertexStride = sizeof(float) * 3;
hdesc.mMaxVertices = desc.mMaxVertices; // maximum number of vertices allowed in the output
if ( desc.mSkinWidth )
if (desc.mSkinWidth)
{
hdesc.mSkinWidth = desc.mSkinWidth;
hdesc.SetHullFlag(ConvexDecomposition::QF_SKIN_WIDTH); // do skin width computation.
}
ConvexDecomposition::HullError ret = hl.CreateConvexHull(hdesc,result);
ConvexDecomposition::HullError ret = hl.CreateConvexHull(hdesc, result);
if ( ret == ConvexDecomposition::QE_OK )
if (ret == ConvexDecomposition::QE_OK)
{
ConvexDecomposition::ConvexResult r(result.mNumOutputVertices, result.mOutputVertices, result.mNumFaces, result.mIndices);
r.mHullVolume = computeMeshVolume( result.mOutputVertices, result.mNumFaces, result.mIndices ); // the volume of the hull.
r.mHullVolume = computeMeshVolume(result.mOutputVertices, result.mNumFaces, result.mIndices); // the volume of the hull.
// compute the best fit OBB
computeBestFitOBB( result.mNumOutputVertices, result.mOutputVertices, sizeof(float)*3, r.mOBBSides, r.mOBBTransform );
computeBestFitOBB(result.mNumOutputVertices, result.mOutputVertices, sizeof(float) * 3, r.mOBBSides, r.mOBBTransform);
r.mOBBVolume = r.mOBBSides[0] * r.mOBBSides[1] *r.mOBBSides[2]; // compute the OBB volume.
r.mOBBVolume = r.mOBBSides[0] * r.mOBBSides[1] * r.mOBBSides[2]; // compute the OBB volume.
fm_getTranslation( r.mOBBTransform, r.mOBBCenter ); // get the translation component of the 4x4 matrix.
fm_getTranslation(r.mOBBTransform, r.mOBBCenter); // get the translation component of the 4x4 matrix.
fm_matrixToQuat( r.mOBBTransform, r.mOBBOrientation ); // extract the orientation as a quaternion.
r.mSphereRadius = computeBoundingSphere( result.mNumOutputVertices, result.mOutputVertices, r.mSphereCenter );
r.mSphereVolume = fm_sphereVolume( r.mSphereRadius );
fm_matrixToQuat(r.mOBBTransform, r.mOBBOrientation); // extract the orientation as a quaternion.
r.mSphereRadius = computeBoundingSphere(result.mNumOutputVertices, result.mOutputVertices, r.mSphereCenter);
r.mSphereVolume = fm_sphereVolume(r.mSphereRadius);
mCallback->ConvexDecompResult(r);
}
hl.ReleaseResult (result);
hl.ReleaseResult(result);
delete cr;
}
@@ -338,24 +318,23 @@ unsigned int ConvexBuilder::process(const ConvexDecomposition::DecompDesc &desc)
return ret;
}
void ConvexBuilder::ConvexDebugTri(const float *p1,const float *p2,const float *p3,unsigned int color)
void ConvexBuilder::ConvexDebugTri(const float *p1, const float *p2, const float *p3, unsigned int color)
{
mCallback->ConvexDebugTri(p1,p2,p3,color);
mCallback->ConvexDebugTri(p1, p2, p3, color);
}
void ConvexBuilder::ConvexDebugOBB(const float *sides, const float *matrix,unsigned int color)
void ConvexBuilder::ConvexDebugOBB(const float *sides, const float *matrix, unsigned int color)
{
mCallback->ConvexDebugOBB(sides,matrix,color);
mCallback->ConvexDebugOBB(sides, matrix, color);
}
void ConvexBuilder::ConvexDebugPoint(const float *p,float dist,unsigned int color)
void ConvexBuilder::ConvexDebugPoint(const float *p, float dist, unsigned int color)
{
mCallback->ConvexDebugPoint(p,dist,color);
mCallback->ConvexDebugPoint(p, dist, color);
}
void ConvexBuilder::ConvexDebugBound(const float *bmin,const float *bmax,unsigned int color)
void ConvexBuilder::ConvexDebugBound(const float *bmin, const float *bmax, unsigned int color)
{
mCallback->ConvexDebugBound(bmin,bmax,color);
mCallback->ConvexDebugBound(bmin, bmax, color);
}
void ConvexBuilder::ConvexDecompResult(ConvexDecomposition::ConvexResult &result)
@@ -369,5 +348,3 @@ void ConvexBuilder::sortChulls(CHullVector &hulls)
hulls.quickSort(CHullSort());
//hulls.heapSort(CHullSort());
}

27
Extras/ConvexDecomposition/ConvexBuilder.h
View File

@@ -35,12 +35,10 @@ THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
// http://www.amillionpixels.us
//
#include "ConvexDecomposition.h"
#include "vlookup.h"
#include "LinearMath/btAlignedObjectArray.h"
class CHull
{
public:
@@ -61,17 +59,13 @@ public:
class CHullSort
{
public:
inline bool operator()(const CHull *a,const CHull *b) const
inline bool operator()(const CHull *a, const CHull *b) const
{
return a->mVolume < b->mVolume;
}
};
typedef btAlignedObjectArray< CHull * > CHullVector;
typedef btAlignedObjectArray<CHull *> CHullVector;
class ConvexBuilder : public ConvexDecomposition::ConvexDecompInterface
{
@@ -80,23 +74,23 @@ public:
virtual ~ConvexBuilder(void);
bool isDuplicate(unsigned int i1,unsigned int i2,unsigned int i3,
unsigned int ci1,unsigned int ci2,unsigned int ci3);
bool isDuplicate(unsigned int i1, unsigned int i2, unsigned int i3,
unsigned int ci1, unsigned int ci2, unsigned int ci3);
void getMesh(const ConvexDecomposition::ConvexResult &cr,VertexLookup vc,UintVector &indices);
void getMesh(const ConvexDecomposition::ConvexResult &cr, VertexLookup vc, UintVector &indices);
CHull * canMerge(CHull *a,CHull *b);
CHull *canMerge(CHull *a, CHull *b);
bool combineHulls(void);
unsigned int process(const ConvexDecomposition::DecompDesc &desc);
virtual void ConvexDebugTri(const float *p1,const float *p2,const float *p3,unsigned int color);
virtual void ConvexDebugTri(const float *p1, const float *p2, const float *p3, unsigned int color);
virtual void ConvexDebugOBB(const float *sides, const float *matrix,unsigned int color);
virtual void ConvexDebugPoint(const float *p,float dist,unsigned int color);
virtual void ConvexDebugOBB(const float *sides, const float *matrix, unsigned int color);
virtual void ConvexDebugPoint(const float *p, float dist, unsigned int color);
virtual void ConvexDebugBound(const float *bmin,const float *bmax,unsigned int color);
virtual void ConvexDebugBound(const float *bmin, const float *bmax, unsigned int color);
virtual void ConvexDecompResult(ConvexDecomposition::ConvexResult &result);
@@ -107,4 +101,3 @@ public:
};
#endif //CONVEX_BUILDER_H

189
Extras/ConvexDecomposition/ConvexDecomposition.cpp
View File

@@ -5,7 +5,6 @@
#include <string.h>
#include <assert.h>
/*----------------------------------------------------------------------
Copyright (c) 2004 Open Dynamics Framework Group
www.physicstools.org
@@ -56,42 +55,36 @@
#define SHOW_MESH 0
#define MAKE_MESH 1
using namespace ConvexDecomposition;
namespace ConvexDecomposition
{
class FaceTri
{
public:
FaceTri(void) { };
FaceTri(const float *vertices,unsigned int i1,unsigned int i2,unsigned int i3)
FaceTri(void){};
FaceTri(const float *vertices, unsigned int i1, unsigned int i2, unsigned int i3)
{
mP1.Set( &vertices[i1*3] );
mP2.Set( &vertices[i2*3] );
mP3.Set( &vertices[i3*3] );
mP1.Set(&vertices[i1 * 3]);
mP2.Set(&vertices[i2 * 3]);
mP3.Set(&vertices[i3 * 3]);
}
Vector3d mP1;
Vector3d mP2;
Vector3d mP3;
Vector3d mNormal;
};
void addTri(VertexLookup vl,UintVector &list,const Vector3d &p1,const Vector3d &p2,const Vector3d &p3)
void addTri(VertexLookup vl, UintVector &list, const Vector3d &p1, const Vector3d &p2, const Vector3d &p3)
{
unsigned int i1 = Vl_getIndex(vl, p1.Ptr() );
unsigned int i2 = Vl_getIndex(vl, p2.Ptr() );
unsigned int i3 = Vl_getIndex(vl, p3.Ptr() );
unsigned int i1 = Vl_getIndex(vl, p1.Ptr());
unsigned int i2 = Vl_getIndex(vl, p2.Ptr());
unsigned int i3 = Vl_getIndex(vl, p3.Ptr());
// do *not* process degenerate triangles!
if ( i1 != i2 && i1 != i3 && i2 != i3 )
if (i1 != i2 && i1 != i3 && i2 != i3)
{
list.push_back(i1);
list.push_back(i2);
@@ -99,7 +92,6 @@ void addTri(VertexLookup vl,UintVector &list,const Vector3d &p1,const Vector3d &
}
}
void calcConvexDecomposition(unsigned int vcount,
const float *vertices,
unsigned int tcount,
@@ -109,35 +101,30 @@ void calcConvexDecomposition(unsigned int vcount,
unsigned int depth)
{
float plane[4];
bool split = false;
if ( depth < MAXDEPTH )
if (depth < MAXDEPTH)
{
float volume;
float c = computeConcavity( vcount, vertices, tcount, indices, callback, plane, volume );
float c = computeConcavity(vcount, vertices, tcount, indices, callback, plane, volume);
if ( depth == 0 )
if (depth == 0)
{
masterVolume = volume;
}
float percent = (c*100.0f)/masterVolume;
float percent = (c * 100.0f) / masterVolume;
if ( percent > CONCAVE_PERCENT ) // if great than 5% of the total volume is concave, go ahead and keep splitting.
if (percent > CONCAVE_PERCENT) // if great than 5% of the total volume is concave, go ahead and keep splitting.
{
split = true;
}
}
if ( depth >= MAXDEPTH || !split )
if (depth >= MAXDEPTH || !split)
{
#if 1
HullResult result;
@@ -148,20 +135,17 @@ void calcConvexDecomposition(unsigned int vcount,
desc.mVcount = vcount;
desc.mVertices = vertices;
desc.mVertexStride = sizeof(float)*3;
desc.mVertexStride = sizeof(float) * 3;
HullError ret = hl.CreateConvexHull(desc,result);
HullError ret = hl.CreateConvexHull(desc, result);
if ( ret == QE_OK )
if (ret == QE_OK)
{
ConvexResult r(result.mNumOutputVertices, result.mOutputVertices, result.mNumFaces, result.mIndices);
callback->ConvexDecompResult(r);
}
#else
static unsigned int colors[8] =
@@ -173,38 +157,34 @@ void calcConvexDecomposition(unsigned int vcount,
0x00FFFF,
0xFF00FF,
0xFFFFFF,
0xFF8040
};
0xFF8040};
static int count = 0;
count++;
if ( count == 8 ) count = 0;
if (count == 8) count = 0;
assert( count >= 0 && count < 8 );
assert(count >= 0 && count < 8);
unsigned int color = colors[count];
const unsigned int *source = indices;
for (unsigned int i=0; i<tcount; i++)
for (unsigned int i = 0; i < tcount; i++)
{
unsigned int i1 = *source++;
unsigned int i2 = *source++;
unsigned int i3 = *source++;
FaceTri t(vertices, i1, i2, i3 );
callback->ConvexDebugTri( t.mP1.Ptr(), t.mP2.Ptr(), t.mP3.Ptr(), color );
FaceTri t(vertices, i1, i2, i3);
callback->ConvexDebugTri(t.mP1.Ptr(), t.mP2.Ptr(), t.mP3.Ptr(), color);
}
#endif
hl.ReleaseResult (result);
hl.ReleaseResult(result);
return;
}
UintVector ifront;
@@ -213,24 +193,23 @@ void calcConvexDecomposition(unsigned int vcount,
VertexLookup vfront = Vl_createVertexLookup();
VertexLookup vback = Vl_createVertexLookup();
bool showmesh = false;
#if SHOW_MESH
#if SHOW_MESH
showmesh = true;
#endif
#endif
if ( 0 )
if (0)
{
showmesh = true;
for (float x=-1; x<1; x+=0.10f)
for (float x = -1; x < 1; x += 0.10f)
{
for (float y=0; y<1; y+=0.10f)
for (float y = 0; y < 1; y += 0.10f)
{
for (float z=-1; z<1; z+=0.04f)
for (float z = -1; z < 1; z += 0.04f)
{
float d = x*plane[0] + y*plane[1] + z*plane[2] + plane[3];
Vector3d p(x,y,z);
if ( d >= 0 )
float d = x * plane[0] + y * plane[1] + z * plane[2] + plane[3];
Vector3d p(x, y, z);
if (d >= 0)
callback->ConvexDebugPoint(p.Ptr(), 0.02f, 0x00FF00);
else
callback->ConvexDebugPoint(p.Ptr(), 0.02f, 0xFF0000);
@@ -239,98 +218,96 @@ void calcConvexDecomposition(unsigned int vcount,
}
}
if ( 1 )
if (1)
{
// ok..now we are going to 'split' all of the input triangles against this plane!
const unsigned int *source = indices;
for (unsigned int i=0; i<tcount; i++)
for (unsigned int i = 0; i < tcount; i++)
{
unsigned int i1 = *source++;
unsigned int i2 = *source++;
unsigned int i3 = *source++;
FaceTri t(vertices, i1, i2, i3 );
FaceTri t(vertices, i1, i2, i3);
Vector3d front[4];
Vector3d back[4];
unsigned int fcount=0;
unsigned int bcount=0;
unsigned int fcount = 0;
unsigned int bcount = 0;
PlaneTriResult result;
result = planeTriIntersection(plane,t.mP1.Ptr(),sizeof(Vector3d),0.00001f,front[0].Ptr(),fcount,back[0].Ptr(),bcount );
result = planeTriIntersection(plane, t.mP1.Ptr(), sizeof(Vector3d), 0.00001f, front[0].Ptr(), fcount, back[0].Ptr(), bcount);
if( fcount > 4 || bcount > 4 )
if (fcount > 4 || bcount > 4)
{
result = planeTriIntersection(plane,t.mP1.Ptr(),sizeof(Vector3d),0.00001f,front[0].Ptr(),fcount,back[0].Ptr(),bcount );
result = planeTriIntersection(plane, t.mP1.Ptr(), sizeof(Vector3d), 0.00001f, front[0].Ptr(), fcount, back[0].Ptr(), bcount);
}
switch ( result )
switch (result)
{
case PTR_FRONT:
assert( fcount == 3 );
assert(fcount == 3);
if ( showmesh )
callback->ConvexDebugTri( front[0].Ptr(), front[1].Ptr(), front[2].Ptr(), 0x00FF00 );
if (showmesh)
callback->ConvexDebugTri(front[0].Ptr(), front[1].Ptr(), front[2].Ptr(), 0x00FF00);
#if MAKE_MESH
#if MAKE_MESH
addTri( vfront, ifront, front[0], front[1], front[2] );
addTri(vfront, ifront, front[0], front[1], front[2]);
#endif
#endif
break;
case PTR_BACK:
assert( bcount == 3 );
assert(bcount == 3);
if ( showmesh )
callback->ConvexDebugTri( back[0].Ptr(), back[1].Ptr(), back[2].Ptr(), 0xFFFF00 );
if (showmesh)
callback->ConvexDebugTri(back[0].Ptr(), back[1].Ptr(), back[2].Ptr(), 0xFFFF00);
#if MAKE_MESH
#if MAKE_MESH
addTri( vback, iback, back[0], back[1], back[2] );
addTri(vback, iback, back[0], back[1], back[2]);
#endif
#endif
break;
case PTR_SPLIT:
assert( fcount >= 3 && fcount <= 4);
assert( bcount >= 3 && bcount <= 4);
assert(fcount >= 3 && fcount <= 4);
assert(bcount >= 3 && bcount <= 4);
#if MAKE_MESH
#if MAKE_MESH
addTri( vfront, ifront, front[0], front[1], front[2] );
addTri( vback, iback, back[0], back[1], back[2] );
addTri(vfront, ifront, front[0], front[1], front[2]);
addTri(vback, iback, back[0], back[1], back[2]);
if ( fcount == 4 )
if (fcount == 4)
{
addTri( vfront, ifront, front[0], front[2], front[3] );
addTri(vfront, ifront, front[0], front[2], front[3]);
}
if ( bcount == 4 )
if (bcount == 4)
{
addTri( vback, iback, back[0], back[2], back[3] );
addTri(vback, iback, back[0], back[2], back[3]);
}
#endif
#endif
if ( showmesh )
if (showmesh)
{
callback->ConvexDebugTri( front[0].Ptr(), front[1].Ptr(), front[2].Ptr(), 0x00D000 );
callback->ConvexDebugTri( back[0].Ptr(), back[1].Ptr(), back[2].Ptr(), 0xD0D000 );
callback->ConvexDebugTri(front[0].Ptr(), front[1].Ptr(), front[2].Ptr(), 0x00D000);
callback->ConvexDebugTri(back[0].Ptr(), back[1].Ptr(), back[2].Ptr(), 0xD0D000);
if ( fcount == 4 )
if (fcount == 4)
{
callback->ConvexDebugTri( front[0].Ptr(), front[2].Ptr(), front[3].Ptr(), 0x00D000 );
callback->ConvexDebugTri(front[0].Ptr(), front[2].Ptr(), front[3].Ptr(), 0x00D000);
}
if ( bcount == 4 )
if (bcount == 4)
{
callback->ConvexDebugTri( back[0].Ptr(), back[2].Ptr(), back[3].Ptr(), 0xD0D000 );
callback->ConvexDebugTri(back[0].Ptr(), back[2].Ptr(), back[3].Ptr(), 0xD0D000);
}
}
@@ -339,37 +316,31 @@ void calcConvexDecomposition(unsigned int vcount,
}
// ok... here we recursively call
if ( ifront.size() )
if (ifront.size())
{
unsigned int vcount = Vl_getVcount(vfront);
const float *vertices = Vl_getVertices(vfront);
unsigned int tcount = ifront.size()/3;
calcConvexDecomposition(vcount, vertices, tcount, &ifront[0], callback, masterVolume, depth+1);
unsigned int tcount = ifront.size() / 3;
calcConvexDecomposition(vcount, vertices, tcount, &ifront[0], callback, masterVolume, depth + 1);
}
ifront.clear();
Vl_releaseVertexLookup(vfront);
if ( iback.size() )
if (iback.size())
{
unsigned int vcount = Vl_getVcount(vback);
const float *vertices = Vl_getVertices(vback);
unsigned int tcount = iback.size()/3;
calcConvexDecomposition(vcount, vertices, tcount, &iback[0], callback, masterVolume, depth+1);
unsigned int tcount = iback.size() / 3;
calcConvexDecomposition(vcount, vertices, tcount, &iback[0], callback, masterVolume, depth + 1);
}
iback.clear();
Vl_releaseVertexLookup(vback);
}
}
}
} // namespace ConvexDecomposition

104
Extras/ConvexDecomposition/ConvexDecomposition.h
View File

@@ -36,7 +36,6 @@ THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
// http://www.amillionpixels.us
//
#ifdef _WIN32
#include <memory.h> //memcpy
#endif
@@ -44,23 +43,17 @@ THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
#include <stdio.h>
#include "LinearMath/btAlignedObjectArray.h"
extern unsigned int MAXDEPTH;
extern float CONCAVE_PERCENT;
extern float MERGE_PERCENT;
extern unsigned int MAXDEPTH ;
extern float CONCAVE_PERCENT ;
extern float MERGE_PERCENT ;
typedef btAlignedObjectArray< unsigned int > UintVector;
typedef btAlignedObjectArray<unsigned int> UintVector;
namespace ConvexDecomposition
{
class ConvexResult
{
public:
class ConvexResult
{
public:
ConvexResult(void)
{
mHullVcount = 0;
@@ -69,13 +62,13 @@ namespace ConvexDecomposition
mHullIndices = 0;
}
ConvexResult(unsigned int hvcount,const float *hvertices,unsigned int htcount,const unsigned int *hindices)
ConvexResult(unsigned int hvcount, const float *hvertices, unsigned int htcount, const unsigned int *hindices)
{
mHullVcount = hvcount;
if ( mHullVcount )
if (mHullVcount)
{
mHullVertices = new float[mHullVcount*sizeof(float)*3];
memcpy(mHullVertices, hvertices, sizeof(float)*3*mHullVcount );
mHullVertices = new float[mHullVcount * sizeof(float) * 3];
memcpy(mHullVertices, hvertices, sizeof(float) * 3 * mHullVcount);
}
else
{
@@ -84,35 +77,34 @@ namespace ConvexDecomposition
mHullTcount = htcount;
if ( mHullTcount )
if (mHullTcount)
{
mHullIndices = new unsigned int[sizeof(unsigned int)*mHullTcount*3];
memcpy(mHullIndices,hindices, sizeof(unsigned int)*mHullTcount*3 );
mHullIndices = new unsigned int[sizeof(unsigned int) * mHullTcount * 3];
memcpy(mHullIndices, hindices, sizeof(unsigned int) * mHullTcount * 3);
}
else
{
mHullIndices = 0;
}
}
ConvexResult(const ConvexResult &r)
{
mHullVcount = r.mHullVcount;
if ( mHullVcount )
if (mHullVcount)
{
mHullVertices = new float[mHullVcount*sizeof(float)*3];
memcpy(mHullVertices, r.mHullVertices, sizeof(float)*3*mHullVcount );
mHullVertices = new float[mHullVcount * sizeof(float) * 3];
memcpy(mHullVertices, r.mHullVertices, sizeof(float) * 3 * mHullVcount);
}
else
{
mHullVertices = 0;
}
mHullTcount = r.mHullTcount;
if ( mHullTcount )
if (mHullTcount)
{
mHullIndices = new unsigned int[sizeof(unsigned int)*mHullTcount*3];
memcpy(mHullIndices, r.mHullIndices, sizeof(unsigned int)*mHullTcount*3 );
mHullIndices = new unsigned int[sizeof(unsigned int) * mHullTcount * 3];
memcpy(mHullIndices, r.mHullIndices, sizeof(unsigned int) * mHullTcount * 3);
}
else
{
@@ -122,13 +114,13 @@ namespace ConvexDecomposition
~ConvexResult(void)
{
delete [] mHullVertices;
delete [] mHullIndices;
delete[] mHullVertices;
delete[] mHullIndices;
}
// the convex hull.
unsigned int mHullVcount;
float * mHullVertices;
float *mHullVertices;
unsigned int mHullTcount;
unsigned int *mHullIndices;
@@ -143,31 +135,25 @@ namespace ConvexDecomposition
float mSphereRadius; // radius and center of best fit sphere
float mSphereCenter[3];
float mSphereVolume; // volume of the best fit sphere
};
};
class ConvexDecompInterface
{
public:
virtual ~ConvexDecompInterface() {};
virtual void ConvexDebugTri(const float *p1,const float *p2,const float *p3,unsigned int color) { };
virtual void ConvexDebugPoint(const float *p,float dist,unsigned int color) { };
virtual void ConvexDebugBound(const float *bmin,const float *bmax,unsigned int color) { };
virtual void ConvexDebugOBB(const float *sides, const float *matrix,unsigned int color) { };
class ConvexDecompInterface
{
public:
virtual ~ConvexDecompInterface(){};
virtual void ConvexDebugTri(const float *p1, const float *p2, const float *p3, unsigned int color){};
virtual void ConvexDebugPoint(const float *p, float dist, unsigned int color){};
virtual void ConvexDebugBound(const float *bmin, const float *bmax, unsigned int color){};
virtual void ConvexDebugOBB(const float *sides, const float *matrix, unsigned int color){};
virtual void ConvexDecompResult(ConvexResult &result) = 0;
};
};
// just to avoid passing a zillion parameters to the method the
// options are packed into this descriptor.
class DecompDesc
{
public:
// just to avoid passing a zillion parameters to the method the
// options are packed into this descriptor.
class DecompDesc
{
public:
DecompDesc(void)
{
mVcount = 0;
@@ -198,14 +184,12 @@ namespace ConvexDecomposition
float mSkinWidth; // a skin width to apply to the output hulls.
ConvexDecompInterface *mCallback; // the interface to receive back the results.
};
};
// perform approximate convex decomposition on a mesh.
unsigned int performConvexDecomposition(const DecompDesc &desc); // returns the number of hulls produced.
// perform approximate convex decomposition on a mesh.
unsigned int performConvexDecomposition(const DecompDesc &desc); // returns the number of hulls produced.
void calcConvexDecomposition(unsigned int vcount,
void calcConvexDecomposition(unsigned int vcount,
const float *vertices,
unsigned int tcount,
const unsigned int *indices,
@@ -213,8 +197,6 @@ namespace ConvexDecomposition
float masterVolume,
unsigned int depth);
}
} // namespace ConvexDecomposition
#endif

228
Extras/ConvexDecomposition/bestfit.cpp
View File

@@ -52,17 +52,20 @@
namespace BestFit
{
class Vec3
{
public:
Vec3(void) { };
Vec3(float _x,float _y,float _z) { x = _x; y = _y; z = _z; };
Vec3(void){};
Vec3(float _x, float _y, float _z)
{
x = _x;
y = _y;
z = _z;
};
float dot(const Vec3 &v)
{
return x*v.x + y*v.y + z*v.z; // the dot product
return x * v.x + y * v.y + z * v.z; // the dot product
}
float x;
@@ -70,12 +73,9 @@ public:
float z;
};
class Eigen
{
public:
void DecrSortEigenStuff(void)
{
Tridiagonal(); //diagonalize the matrix.
@@ -97,15 +97,15 @@ public:
m_afSubd[2] = 0;
if (fM02 != (float)0.0)
{
float fLength = sqrtf(fM01*fM01+fM02*fM02);
float fInvLength = ((float)1.0)/fLength;
float fLength = sqrtf(fM01 * fM01 + fM02 * fM02);
float fInvLength = ((float)1.0) / fLength;
fM01 *= fInvLength;
fM02 *= fInvLength;
float fQ = ((float)2.0)*fM01*fM12+fM02*(fM22-fM11);
m_afDiag[1] = fM11+fM02*fQ;
m_afDiag[2] = fM22-fM02*fQ;
float fQ = ((float)2.0) * fM01 * fM12 + fM02 * (fM22 - fM11);
m_afDiag[1] = fM11 + fM02 * fQ;
m_afDiag[2] = fM22 - fM02 * fQ;
m_afSubd[0] = fLength;
m_afSubd[1] = fM12-fM01*fQ;
m_afSubd[1] = fM12 - fM01 * fQ;
mElement[0][0] = (float)1.0;
mElement[0][1] = (float)0.0;
mElement[0][2] = (float)0.0;
@@ -140,16 +140,16 @@ public:
{
const int iMaxIter = 32;
for (int i0 = 0; i0 <3; i0++)
for (int i0 = 0; i0 < 3; i0++)
{
int i1;
for (i1 = 0; i1 < iMaxIter; i1++)
{
int i2;
for (i2 = i0; i2 <= (3-2); i2++)
for (i2 = i0; i2 <= (3 - 2); i2++)
{
float fTmp = fabsf(m_afDiag[i2]) + fabsf(m_afDiag[i2+1]);
if ( fabsf(m_afSubd[i2]) + fTmp == fTmp )
float fTmp = fabsf(m_afDiag[i2]) + fabsf(m_afDiag[i2 + 1]);
if (fabsf(m_afSubd[i2]) + fTmp == fTmp)
break;
}
if (i2 == i0)
@@ -157,47 +157,47 @@ public:
break;
}
float fG = (m_afDiag[i0+1] - m_afDiag[i0])/(((float)2.0) * m_afSubd[i0]);
float fR = sqrtf(fG*fG+(float)1.0);
float fG = (m_afDiag[i0 + 1] - m_afDiag[i0]) / (((float)2.0) * m_afSubd[i0]);
float fR = sqrtf(fG * fG + (float)1.0);
if (fG < (float)0.0)
{
fG = m_afDiag[i2]-m_afDiag[i0]+m_afSubd[i0]/(fG-fR);
fG = m_afDiag[i2] - m_afDiag[i0] + m_afSubd[i0] / (fG - fR);
}
else
{
fG = m_afDiag[i2]-m_afDiag[i0]+m_afSubd[i0]/(fG+fR);
fG = m_afDiag[i2] - m_afDiag[i0] + m_afSubd[i0] / (fG + fR);
}
float fSin = (float)1.0, fCos = (float)1.0, fP = (float)0.0;
for (int i3 = i2-1; i3 >= i0; i3--)
for (int i3 = i2 - 1; i3 >= i0; i3--)
{
float fF = fSin*m_afSubd[i3];
float fB = fCos*m_afSubd[i3];
float fF = fSin * m_afSubd[i3];
float fB = fCos * m_afSubd[i3];
if (fabsf(fF) >= fabsf(fG))
{
fCos = fG/fF;
fR = sqrtf(fCos*fCos+(float)1.0);
m_afSubd[i3+1] = fF*fR;
fSin = ((float)1.0)/fR;
fCos = fG / fF;
fR = sqrtf(fCos * fCos + (float)1.0);
m_afSubd[i3 + 1] = fF * fR;
fSin = ((float)1.0) / fR;
fCos *= fSin;
}
else
{
fSin = fF/fG;
fR = sqrtf(fSin*fSin+(float)1.0);
m_afSubd[i3+1] = fG*fR;
fCos = ((float)1.0)/fR;
fSin = fF / fG;
fR = sqrtf(fSin * fSin + (float)1.0);
m_afSubd[i3 + 1] = fG * fR;
fCos = ((float)1.0) / fR;
fSin *= fCos;
}
fG = m_afDiag[i3+1]-fP;
fR = (m_afDiag[i3]-fG)*fSin+((float)2.0)*fB*fCos;
fP = fSin*fR;
m_afDiag[i3+1] = fG+fP;
fG = fCos*fR-fB;
fG = m_afDiag[i3 + 1] - fP;
fR = (m_afDiag[i3] - fG) * fSin + ((float)2.0) * fB * fCos;
fP = fSin * fR;
m_afDiag[i3 + 1] = fG + fP;
fG = fCos * fR - fB;
for (int i4 = 0; i4 < 3; i4++)
{
fF = mElement[i4][i3+1];
mElement[i4][i3+1] = fSin*mElement[i4][i3]+fCos*fF;
mElement[i4][i3] = fCos*mElement[i4][i3]-fSin*fF;
fF = mElement[i4][i3 + 1];
mElement[i4][i3 + 1] = fSin * mElement[i4][i3] + fCos * fF;
mElement[i4][i3] = fCos * mElement[i4][i3] - fSin * fF;
}
}
m_afDiag[i0] -= fP;
@@ -215,13 +215,13 @@ public:
void DecreasingSort(void)
{
//sort eigenvalues in decreasing order, e[0] >= ... >= e[iSize-1]
for (int i0 = 0, i1; i0 <= 3-2; i0++)
for (int i0 = 0, i1; i0 <= 3 - 2; i0++)
{
// locate maximum eigenvalue
i1 = i0;
float fMax = m_afDiag[i1];
int i2;
for (i2 = i0+1; i2 < 3; i2++)
for (i2 = i0 + 1; i2 < 3; i2++)
{
if (m_afDiag[i2] > fMax)
{
@@ -247,13 +247,12 @@ public:
}
}
void GuaranteeRotation(void)
{
if (!m_bIsRotation)
{
// change sign on the first column
for (int iRow = 0; iRow <3; iRow++)
for (int iRow = 0; iRow < 3; iRow++)
{
mElement[iRow][0] = -mElement[iRow][0];
}
@@ -266,12 +265,10 @@ public:
bool m_bIsRotation;
};
}
} // namespace BestFit
using namespace BestFit;
bool getBestFitPlane(unsigned int vcount,
const float *points,
unsigned int vstride,
@@ -281,90 +278,85 @@ bool getBestFitPlane(unsigned int vcount,
{
bool ret = false;
Vec3 kOrigin(0,0,0);
Vec3 kOrigin(0, 0, 0);
float wtotal = 0;
if ( 1 )
if (1)
{
const char *source = (const char *) points;
const char *wsource = (const char *) weights;
const char *source = (const char *)points;
const char *wsource = (const char *)weights;
for (unsigned int i=0; i<vcount; i++)
for (unsigned int i = 0; i < vcount; i++)
{
const float *p = (const float *) source;
const float *p = (const float *)source;
float w = 1;
if ( wsource )
if (wsource)
{
const float *ws = (const float *) wsource;
const float *ws = (const float *)wsource;
w = *ws; //
wsource+=wstride;
wsource += wstride;
}
kOrigin.x+=p[0]*w;
kOrigin.y+=p[1]*w;
kOrigin.z+=p[2]*w;
kOrigin.x += p[0] * w;
kOrigin.y += p[1] * w;
kOrigin.z += p[2] * w;
wtotal+=w;
wtotal += w;
source+=vstride;
source += vstride;
}
}
float recip = 1.0f / wtotal; // reciprocol of total weighting
kOrigin.x*=recip;
kOrigin.y*=recip;
kOrigin.z*=recip;
kOrigin.x *= recip;
kOrigin.y *= recip;
kOrigin.z *= recip;
float fSumXX = 0;
float fSumXY = 0;
float fSumXZ = 0;
float fSumXX=0;
float fSumXY=0;
float fSumXZ=0;
float fSumYY = 0;
float fSumYZ = 0;
float fSumZZ = 0;
float fSumYY=0;
float fSumYZ=0;
float fSumZZ=0;
if ( 1 )
if (1)
{
const char *source = (const char *) points;
const char *wsource = (const char *) weights;
const char *source = (const char *)points;
const char *wsource = (const char *)weights;
for (unsigned int i=0; i<vcount; i++)
for (unsigned int i = 0; i < vcount; i++)
{
const float *p = (const float *) source;
const float *p = (const float *)source;
float w = 1;
if ( wsource )
if (wsource)
{
const float *ws = (const float *) wsource;
const float *ws = (const float *)wsource;
w = *ws; //
wsource+=wstride;
wsource += wstride;
}
Vec3 kDiff;
kDiff.x = w*(p[0] - kOrigin.x); // apply vertex weighting!
kDiff.y = w*(p[1] - kOrigin.y);
kDiff.z = w*(p[2] - kOrigin.z);
kDiff.x = w * (p[0] - kOrigin.x); // apply vertex weighting!
kDiff.y = w * (p[1] - kOrigin.y);
kDiff.z = w * (p[2] - kOrigin.z);
fSumXX+= kDiff.x * kDiff.x; // sume of the squares of the differences.
fSumXY+= kDiff.x * kDiff.y; // sume of the squares of the differences.
fSumXZ+= kDiff.x * kDiff.z; // sume of the squares of the differences.
fSumXX += kDiff.x * kDiff.x; // sume of the squares of the differences.
fSumXY += kDiff.x * kDiff.y; // sume of the squares of the differences.
fSumXZ += kDiff.x * kDiff.z; // sume of the squares of the differences.
fSumYY+= kDiff.y * kDiff.y;
fSumYZ+= kDiff.y * kDiff.z;
fSumZZ+= kDiff.z * kDiff.z;
fSumYY += kDiff.y * kDiff.y;
fSumYZ += kDiff.y * kDiff.z;
fSumZZ += kDiff.z * kDiff.z;
source+=vstride;
source += vstride;
}
}
@@ -409,12 +401,9 @@ bool getBestFitPlane(unsigned int vcount,
return ret;
}
float getBoundingRegion(unsigned int vcount,const float *points,unsigned int pstride,float *bmin,float *bmax) // returns the diagonal distance
float getBoundingRegion(unsigned int vcount, const float *points, unsigned int pstride, float *bmin, float *bmax) // returns the diagonal distance
{
const unsigned char *source = (const unsigned char *) points;
const unsigned char *source = (const unsigned char *)points;
bmin[0] = points[0];
bmin[1] = points[1];
@@ -424,43 +413,36 @@ float getBoundingRegion(unsigned int vcount,const float *points,unsigned int pst
bmax[1] = points[1];
bmax[2] = points[2];
for (unsigned int i=1; i<vcount; i++)
for (unsigned int i = 1; i < vcount; i++)
{
source+=pstride;
const float *p = (const float *) source;
source += pstride;
const float *p = (const float *)source;
if ( p[0] < bmin[0] ) bmin[0] = p[0];
if ( p[1] < bmin[1] ) bmin[1] = p[1];
if ( p[2] < bmin[2] ) bmin[2] = p[2];
if ( p[0] > bmax[0] ) bmax[0] = p[0];
if ( p[1] > bmax[1] ) bmax[1] = p[1];
if ( p[2] > bmax[2] ) bmax[2] = p[2];
if (p[0] < bmin[0]) bmin[0] = p[0];
if (p[1] < bmin[1]) bmin[1] = p[1];
if (p[2] < bmin[2]) bmin[2] = p[2];
if (p[0] > bmax[0]) bmax[0] = p[0];
if (p[1] > bmax[1]) bmax[1] = p[1];
if (p[2] > bmax[2]) bmax[2] = p[2];
}
float dx = bmax[0] - bmin[0];
float dy = bmax[1] - bmin[1];
float dz = bmax[2] - bmin[2];
return sqrtf( dx*dx + dy*dy + dz*dz );
return sqrtf(dx * dx + dy * dy + dz * dz);
}
bool overlapAABB(const float *bmin1,const float *bmax1,const float *bmin2,const float *bmax2) // return true if the two AABB's overlap.
bool overlapAABB(const float *bmin1, const float *bmax1, const float *bmin2, const float *bmax2) // return true if the two AABB's overlap.
{
if ( bmax2[0] < bmin1[0] ) return false; // if the maximum is less than our minimum on any axis
if ( bmax2[1] < bmin1[1] ) return false;
if ( bmax2[2] < bmin1[2] ) return false;
if ( bmin2[0] > bmax1[0] ) return false; // if the minimum is greater than our maximum on any axis
if ( bmin2[1] > bmax1[1] ) return false; // if the minimum is greater than our maximum on any axis
if ( bmin2[2] > bmax1[2] ) return false; // if the minimum is greater than our maximum on any axis
if (bmax2[0] < bmin1[0]) return false; // if the maximum is less than our minimum on any axis
if (bmax2[1] < bmin1[1]) return false;
if (bmax2[2] < bmin1[2]) return false;
if (bmin2[0] > bmax1[0]) return false; // if the minimum is greater than our maximum on any axis
if (bmin2[1] > bmax1[1]) return false; // if the minimum is greater than our maximum on any axis
if (bmin2[2] > bmax1[2]) return false; // if the minimum is greater than our maximum on any axis
return true; // the extents overlap
}

6
Extras/ConvexDecomposition/bestfit.h
View File

@@ -36,7 +36,6 @@
// http://www.amillionpixels.us
//
// This routine was released in 'snippet' form
// by John W. Ratcliff mailto:jratcliff@infiniplex.net
// on March 22, 2006.
@@ -58,8 +57,7 @@ bool getBestFitPlane(unsigned int vcount, // number of input data points
unsigned int wstride, // weight stride for each vertex.
float *plane);
float getBoundingRegion(unsigned int vcount,const float *points,unsigned int pstride,float *bmin,float *bmax); // returns the diagonal distance
bool overlapAABB(const float *bmin1,const float *bmax1,const float *bmin2,const float *bmax2); // return true if the two AABB's overlap.
float getBoundingRegion(unsigned int vcount, const float *points, unsigned int pstride, float *bmin, float *bmax); // returns the diagonal distance
bool overlapAABB(const float *bmin1, const float *bmax1, const float *bmin2, const float *bmax2); // return true if the two AABB's overlap.
#endif

87
Extras/ConvexDecomposition/bestfitobb.cpp
View File

@@ -44,59 +44,56 @@
#include "float_math.h"
// computes the OBB for this set of points relative to this transform matrix.
void computeOBB(unsigned int vcount,const float *points,unsigned int pstride,float *sides,const float *matrix)
void computeOBB(unsigned int vcount, const float *points, unsigned int pstride, float *sides, const float *matrix)
{
const char *src = (const char *) points;
const char *src = (const char *)points;
float bmin[3] = { 1e9, 1e9, 1e9 };
float bmax[3] = { -1e9, -1e9, -1e9 };
float bmin[3] = {1e9, 1e9, 1e9};
float bmax[3] = {-1e9, -1e9, -1e9};
for (unsigned int i=0; i<vcount; i++)
for (unsigned int i = 0; i < vcount; i++)
{
const float *p = (const float *) src;
const float *p = (const float *)src;
float t[3];
fm_inverseRT(matrix, p, t ); // inverse rotate translate
fm_inverseRT(matrix, p, t); // inverse rotate translate
if ( t[0] < bmin[0] ) bmin[0] = t[0];
if ( t[1] < bmin[1] ) bmin[1] = t[1];
if ( t[2] < bmin[2] ) bmin[2] = t[2];
if (t[0] < bmin[0]) bmin[0] = t[0];
if (t[1] < bmin[1]) bmin[1] = t[1];
if (t[2] < bmin[2]) bmin[2] = t[2];
if ( t[0] > bmax[0] ) bmax[0] = t[0];
if ( t[1] > bmax[1] ) bmax[1] = t[1];
if ( t[2] > bmax[2] ) bmax[2] = t[2];
if (t[0] > bmax[0]) bmax[0] = t[0];
if (t[1] > bmax[1]) bmax[1] = t[1];
if (t[2] > bmax[2]) bmax[2] = t[2];
src+=pstride;
src += pstride;
}
sides[0] = bmax[0];
sides[1] = bmax[1];
sides[2] = bmax[2];
if ( fabsf(bmin[0]) > sides[0] ) sides[0] = fabsf(bmin[0]);
if ( fabsf(bmin[1]) > sides[1] ) sides[1] = fabsf(bmin[1]);
if ( fabsf(bmin[2]) > sides[2] ) sides[2] = fabsf(bmin[2]);
sides[0]*=2.0f;
sides[1]*=2.0f;
sides[2]*=2.0f;
if (fabsf(bmin[0]) > sides[0]) sides[0] = fabsf(bmin[0]);
if (fabsf(bmin[1]) > sides[1]) sides[1] = fabsf(bmin[1]);
if (fabsf(bmin[2]) > sides[2]) sides[2] = fabsf(bmin[2]);
sides[0] *= 2.0f;
sides[1] *= 2.0f;
sides[2] *= 2.0f;
}
void computeBestFitOBB(unsigned int vcount,const float *points,unsigned int pstride,float *sides,float *matrix)
void computeBestFitOBB(unsigned int vcount, const float *points, unsigned int pstride, float *sides, float *matrix)
{
float bmin[3];
float bmax[3];
fm_getAABB(vcount,points,pstride,bmin,bmax);
fm_getAABB(vcount, points, pstride, bmin, bmax);
float center[3];
center[0] = (bmax[0]-bmin[0])*0.5f + bmin[0];
center[1] = (bmax[1]-bmin[1])*0.5f + bmin[1];
center[2] = (bmax[2]-bmin[2])*0.5f + bmin[2];
center[0] = (bmax[0] - bmin[0]) * 0.5f + bmin[0];
center[1] = (bmax[1] - bmin[1]) * 0.5f + bmin[1];
center[2] = (bmax[2] - bmin[2]) * 0.5f + bmin[2];
float ax = 0;
float ay = 0;
@@ -106,36 +103,35 @@ void computeBestFitOBB(unsigned int vcount,const float *points,unsigned int pstr
float steps = 8.0f; // 16 steps on each axis.
float bestVolume = 1e9;
float angle[3]={0.f,0.f,0.f};
float angle[3] = {0.f, 0.f, 0.f};
while ( sweep >= 1 )
while (sweep >= 1)
{
bool found = false;
float stepsize = sweep / steps;
for (float x=ax-sweep; x<=ax+sweep; x+=stepsize)
for (float x = ax - sweep; x <= ax + sweep; x += stepsize)
{
for (float y=ay-sweep; y<=ay+sweep; y+=stepsize)
for (float y = ay - sweep; y <= ay + sweep; y += stepsize)
{
for (float z=az-sweep; z<=az+sweep; z+=stepsize)
for (float z = az - sweep; z <= az + sweep; z += stepsize)
{
float pmatrix[16];
fm_eulerMatrix( x*FM_DEG_TO_RAD, y*FM_DEG_TO_RAD, z*FM_DEG_TO_RAD, pmatrix );
fm_eulerMatrix(x * FM_DEG_TO_RAD, y * FM_DEG_TO_RAD, z * FM_DEG_TO_RAD, pmatrix);
pmatrix[3*4+0] = center[0];
pmatrix[3*4+1] = center[1];
pmatrix[3*4+2] = center[2];
pmatrix[3 * 4 + 0] = center[0];
pmatrix[3 * 4 + 1] = center[1];
pmatrix[3 * 4 + 2] = center[2];
float psides[3];
computeOBB( vcount, points, pstride, psides, pmatrix );
computeOBB(vcount, points, pstride, psides, pmatrix);
float volume = psides[0]*psides[1]*psides[2]; // the volume of the cube
float volume = psides[0] * psides[1] * psides[2]; // the volume of the cube
if ( volume <= bestVolume )
if (volume <= bestVolume)
{
bestVolume = volume;
@@ -147,27 +143,24 @@ void computeBestFitOBB(unsigned int vcount,const float *points,unsigned int pstr
angle[1] = ay;
angle[2] = az;
memcpy(matrix,pmatrix,sizeof(float)*16);
memcpy(matrix, pmatrix, sizeof(float) * 16);
found = true; // yes, we found an improvement.
}
}
}
}
if ( found )
if (found)
{
ax = angle[0];
ay = angle[1];
az = angle[2];
sweep*=0.5f; // sweep 1/2 the distance as the last time.
sweep *= 0.5f; // sweep 1/2 the distance as the last time.
}
else
{
break; // no improvement, so just
}
}
}

4
Extras/ConvexDecomposition/bestfitobb.h
View File

@@ -36,8 +36,6 @@
// http://www.amillionpixels.us
//
void computeBestFitOBB(unsigned int vcount,const float *points,unsigned int pstride,float *sides,float *matrix);
void computeBestFitOBB(unsigned int vcount, const float *points, unsigned int pstride, float *sides, float *matrix);
#endif

2909
Extras/ConvexDecomposition/cd_hull.cpp
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File diff suppressed because it is too large Load Diff

27
Extras/ConvexDecomposition/cd_hull.h
View File

@@ -31,7 +31,6 @@
namespace ConvexDecomposition
{
class HullResult
{
public:
@@ -51,19 +50,18 @@ public:
unsigned int mNumIndices; // the total number of indices
unsigned int *mIndices; // pointer to indices.
// If triangles, then indices are array indexes into the vertex list.
// If polygons, indices are in the form (number of points in face) (p1, p2, p3, ..) etc..
// If triangles, then indices are array indexes into the vertex list.
// If polygons, indices are in the form (number of points in face) (p1, p2, p3, ..) etc..
};
enum HullFlag
{
QF_TRIANGLES = (1<<0), // report results as triangles, not polygons.
QF_REVERSE_ORDER = (1<<1), // reverse order of the triangle indices.
QF_SKIN_WIDTH = (1<<2), // extrude hull based on this skin width
QF_TRIANGLES = (1 << 0), // report results as triangles, not polygons.
QF_REVERSE_ORDER = (1 << 1), // reverse order of the triangle indices.
QF_SKIN_WIDTH = (1 << 2), // extrude hull based on this skin width
QF_DEFAULT = 0
};
class HullDesc
{
public:
@@ -72,7 +70,7 @@ public:
mFlags = QF_DEFAULT;
mVcount = 0;
mVertices = 0;
mVertexStride = sizeof(float)*3;
mVertexStride = sizeof(float) * 3;
mNormalEpsilon = 0.001f;
mMaxVertices = 4096; // maximum number of points to be considered for a convex hull.
mMaxFaces = 4096;
@@ -95,18 +93,18 @@ public:
bool HasHullFlag(HullFlag flag) const
{
if ( mFlags & flag ) return true;
if (mFlags & flag) return true;
return false;
}
void SetHullFlag(HullFlag flag)
{
mFlags|=flag;
mFlags |= flag;
}
void ClearHullFlag(HullFlag flag)
{
mFlags&=~flag;
mFlags &= ~flag;
}
unsigned int mFlags; // flags to use when generating the convex hull.
@@ -128,15 +126,13 @@ enum HullError
class HullLibrary
{
public:
HullError CreateConvexHull(const HullDesc &desc, // describes the input request
HullResult &result); // contains the resulst
HullError ReleaseResult(HullResult &result); // release memory allocated for this result, we are done with it.
private:
void BringOutYourDead(const float *verts,unsigned int vcount, float *overts,unsigned int &ocount,unsigned int *indices,unsigned indexcount);
void BringOutYourDead(const float *verts, unsigned int vcount, float *overts, unsigned int &ocount, unsigned int *indices, unsigned indexcount);
bool CleanupVertices(unsigned int svcount,
const float *svertices,
@@ -147,7 +143,6 @@ private:
float *scale);
};
}
} // namespace ConvexDecomposition
#endif

547
Extras/ConvexDecomposition/cd_vector.h
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File diff suppressed because it is too large Load Diff

348
Extras/ConvexDecomposition/cd_wavefront.cpp
View File

@@ -41,7 +41,6 @@
#include "cd_wavefront.h"
using namespace ConvexDecomposition;
/*----------------------------------------------------------------------
@@ -75,9 +74,8 @@ using namespace ConvexDecomposition;
namespace ConvexDecomposition
{
typedef std::vector< int > IntVector;
typedef std::vector< float > FloatVector;
typedef std::vector<int> IntVector;
typedef std::vector<float> FloatVector;
#if defined(__APPLE__) || defined(__CELLOS_LV2__)
#define stricmp(a, b) strcasecmp((a), (b))
@@ -89,9 +87,9 @@ typedef std::vector< float > FloatVector;
class InPlaceParserInterface
{
public:
virtual ~InPlaceParserInterface () {} ;
virtual ~InPlaceParserInterface(){};
virtual int ParseLine(int lineno,int argc,const char **argv) =0; // return TRUE to continue parsing, return FALSE to abort parsing process
virtual int ParseLine(int lineno, int argc, const char **argv) = 0; // return TRUE to continue parsing, return FALSE to abort parsing process
};
enum SeparatorType
@@ -110,10 +108,10 @@ public:
Init();
}
InPlaceParser(char *data,int len)
InPlaceParser(char *data, int len)
{
Init();
SetSourceData(data,len);
SetSourceData(data, len);
}
InPlaceParser(const char *fname)
@@ -130,11 +128,11 @@ public:
mData = 0;
mLen = 0;
mMyAlloc = false;
for (int i=0; i<256; i++)
for (int i = 0; i < 256; i++)
{
mHard[i] = ST_DATA;
mHardString[i*2] = i;
mHardString[i*2+1] = 0;
mHardString[i * 2] = i;
mHardString[i * 2 + 1] = 0;
}
mHard[0] = ST_EOS;
mHard[32] = ST_SOFT;
@@ -145,7 +143,7 @@ public:
void SetFile(const char *fname); // use this file as source data to parse.
void SetSourceData(char *data,int len)
void SetSourceData(char *data, int len)
{
mData = data;
mLen = len;
@@ -154,9 +152,9 @@ public:
int Parse(InPlaceParserInterface *callback); // returns true if entire file was parsed, false if it aborted for some reason
int ProcessLine(int lineno,char *line,InPlaceParserInterface *callback);
int ProcessLine(int lineno, char *line, InPlaceParserInterface *callback);
const char ** GetArglist(char *source,int &count); // convert source string into an arg list, this is a destructive parse.
const char **GetArglist(char *source, int &count); // convert source string into an arg list, this is a destructive parse.
void SetHardSeparator(char c) // add a hard separator
{
@@ -168,7 +166,6 @@ public:
mHard[(int)c] = ST_HARD;
}
void SetCommentSymbol(char c) // comment character, treated as 'end of string'
{
mHard[(int)c] = ST_EOS;
@@ -179,12 +176,11 @@ public:
mHard[(int)c] = ST_DATA;
}
void DefaultSymbols(void); // set up default symbols for hard seperator and comment symbol of the '#' character.
bool EOS(char c)
{
if ( mHard[(int)c] == ST_EOS )
if (mHard[(int)c] == ST_EOS)
{
return true;
}
@@ -197,11 +193,9 @@ public:
}
private:
inline char * AddHard(int &argc,const char **argv,char *foo);
inline char *AddHard(int &argc, const char **argv, char *foo);
inline bool IsHard(char c);
inline char * SkipSpaces(char *foo);
inline char *SkipSpaces(char *foo);
inline bool IsWhiteSpace(char c);
inline bool IsNonSeparator(char c); // non seperator,neither hard nor soft
@@ -209,7 +203,7 @@ private:
char *mData; // ascii data to parse.
int mLen; // length of data
SeparatorType mHard[256];
char mHardString[256*2];
char mHardString[256 * 2];
char mQuoteChar;
};
@@ -218,7 +212,7 @@ private:
/*******************************************************************/
void InPlaceParser::SetFile(const char *fname)
{
if ( mMyAlloc )
if (mMyAlloc)
{
free(mData);
}
@@ -226,18 +220,17 @@ void InPlaceParser::SetFile(const char *fname)
mLen = 0;
mMyAlloc = false;
FILE *fph = fopen(fname,"rb");
if ( fph )
FILE *fph = fopen(fname, "rb");
if (fph)
{
fseek(fph,0L,SEEK_END);
fseek(fph, 0L, SEEK_END);
mLen = ftell(fph);
fseek(fph,0L,SEEK_SET);
if ( mLen )
fseek(fph, 0L, SEEK_SET);
if (mLen)
{
mData = (char *) malloc(sizeof(char)*(mLen+1));
mData = (char *)malloc(sizeof(char) * (mLen + 1));
int ok = fread(mData, mLen, 1, fph);
if ( !ok )
if (!ok)
{
free(mData);
mData = 0;
@@ -254,7 +247,7 @@ void InPlaceParser::SetFile(const char *fname)
InPlaceParser::~InPlaceParser(void)
{
if ( mMyAlloc )
if (mMyAlloc)
{
free(mData);
}
@@ -267,12 +260,12 @@ bool InPlaceParser::IsHard(char c)
return mHard[(int)c] == ST_HARD;
}
char * InPlaceParser::AddHard(int &argc,const char **argv,char *foo)
char *InPlaceParser::AddHard(int &argc, const char **argv, char *foo)
{
while ( IsHard(*foo) )
while (IsHard(*foo))
{
const char *hard = &mHardString[*foo*2];
if ( argc < MAXARGS )
const char *hard = &mHardString[*foo * 2];
if (argc < MAXARGS)
{
argv[argc++] = hard;
}
@@ -286,20 +279,19 @@ bool InPlaceParser::IsWhiteSpace(char c)
return mHard[(int)c] == ST_SOFT;
}
char * InPlaceParser::SkipSpaces(char *foo)
char *InPlaceParser::SkipSpaces(char *foo)
{
while ( !EOS(*foo) && IsWhiteSpace(*foo) ) foo++;
while (!EOS(*foo) && IsWhiteSpace(*foo)) foo++;
return foo;
}
bool InPlaceParser::IsNonSeparator(char c)
{
if ( !IsHard(c) && !IsWhiteSpace(c) && c != 0 ) return true;
if (!IsHard(c) && !IsWhiteSpace(c) && c != 0) return true;
return false;
}
int InPlaceParser::ProcessLine(int lineno,char *line,InPlaceParserInterface *callback)
int InPlaceParser::ProcessLine(int lineno, char *line, InPlaceParserInterface *callback)
{
int ret = 0;
@@ -308,22 +300,21 @@ int InPlaceParser::ProcessLine(int lineno,char *line,InPlaceParserInterface *cal
char *foo = line;
while ( !EOS(*foo) && argc < MAXARGS )
while (!EOS(*foo) && argc < MAXARGS)
{
foo = SkipSpaces(foo); // skip any leading spaces
if ( EOS(*foo) ) break;
if (EOS(*foo)) break;
if ( *foo == mQuoteChar ) // if it is an open quote
if (*foo == mQuoteChar) // if it is an open quote
{
foo++;
if ( argc < MAXARGS )
if (argc < MAXARGS)
{
argv[argc++] = foo;
}
while ( !EOS(*foo) && *foo != mQuoteChar ) foo++;
if ( !EOS(*foo) )
while (!EOS(*foo) && *foo != mQuoteChar) foo++;
if (!EOS(*foo))
{
*foo = 0; // replace close quote with zero byte EOS
foo++;
@@ -331,43 +322,42 @@ int InPlaceParser::ProcessLine(int lineno,char *line,InPlaceParserInterface *cal
}
else
{
foo = AddHard(argc, argv, foo); // add any hard separators, skip any spaces
foo = AddHard(argc,argv,foo); // add any hard separators, skip any spaces
if ( IsNonSeparator(*foo) ) // add non-hard argument.
if (IsNonSeparator(*foo)) // add non-hard argument.
{
bool quote = false;
if ( *foo == mQuoteChar )
if (*foo == mQuoteChar)
{
foo++;
quote = true;
}
if ( argc < MAXARGS )
if (argc < MAXARGS)
{
argv[argc++] = foo;
}
if ( quote )
if (quote)
{
while (*foo && *foo != mQuoteChar ) foo++;
if ( *foo ) *foo = 32;
while (*foo && *foo != mQuoteChar) foo++;
if (*foo) *foo = 32;
}
// continue..until we hit an eos ..
while ( !EOS(*foo) ) // until we hit EOS
while (!EOS(*foo)) // until we hit EOS
{
if ( IsWhiteSpace(*foo) ) // if we hit a space, stomp a zero byte, and exit
if (IsWhiteSpace(*foo)) // if we hit a space, stomp a zero byte, and exit
{
*foo = 0;
foo++;
break;
}
else if ( IsHard(*foo) ) // if we hit a hard separator, stomp a zero byte and store the hard separator argument
else if (IsHard(*foo)) // if we hit a hard separator, stomp a zero byte and store the hard separator argument
{
const char *hard = &mHardString[*foo*2];
const char *hard = &mHardString[*foo * 2];
*foo = 0;
if ( argc < MAXARGS )
if (argc < MAXARGS)
{
argv[argc++] = hard;
}
@@ -380,9 +370,9 @@ int InPlaceParser::ProcessLine(int lineno,char *line,InPlaceParserInterface *cal
}
}
if ( argc )
if (argc)
{
ret = callback->ParseLine(lineno, argc, argv );
ret = callback->ParseLine(lineno, argc, argv);
}
return ret;
@@ -390,8 +380,8 @@ int InPlaceParser::ProcessLine(int lineno,char *line,InPlaceParserInterface *cal
int InPlaceParser::Parse(InPlaceParserInterface *callback) // returns true if entire file was parsed, false if it aborted for some reason
{
assert( callback );
if ( !mData ) return 0;
assert(callback);
if (!mData) return 0;
int ret = 0;
@@ -400,22 +390,21 @@ int InPlaceParser::Parse(InPlaceParserInterface *callback) // returns true if e
char *foo = mData;
char *begin = foo;
while ( *foo )
while (*foo)
{
if ( *foo == 10 || *foo == 13 )
if (*foo == 10 || *foo == 13)
{
lineno++;
*foo = 0;
if ( *begin ) // if there is any data to parse at all...
if (*begin) // if there is any data to parse at all...
{
int v = ProcessLine(lineno,begin,callback);
if ( v ) ret = v;
int v = ProcessLine(lineno, begin, callback);
if (v) ret = v;
}
foo++;
if ( *foo == 10 ) foo++; // skip line feed, if it is in the carraige-return line-feed format...
if (*foo == 10) foo++; // skip line feed, if it is in the carraige-return line-feed format...
begin = foo;
}
else
@@ -426,12 +415,11 @@ int InPlaceParser::Parse(InPlaceParserInterface *callback) // returns true if e
lineno++; // lasst line.
int v = ProcessLine(lineno,begin,callback);
if ( v ) ret = v;
int v = ProcessLine(lineno, begin, callback);
if (v) ret = v;
return ret;
}
void InPlaceParser::DefaultSymbols(void)
{
SetHardSeparator(',');
@@ -445,8 +433,7 @@ void InPlaceParser::DefaultSymbols(void)
SetCommentSymbol('#');
}
const char ** InPlaceParser::GetArglist(char *line,int &count) // convert source string into an arg list, this is a destructive parse.
const char **InPlaceParser::GetArglist(char *line, int &count) // convert source string into an arg list, this is a destructive parse.
{
const char **ret = 0;
@@ -455,22 +442,21 @@ const char ** InPlaceParser::GetArglist(char *line,int &count) // convert source
char *foo = line;
while ( !EOS(*foo) && argc < MAXARGS )
while (!EOS(*foo) && argc < MAXARGS)
{
foo = SkipSpaces(foo); // skip any leading spaces
if ( EOS(*foo) ) break;
if (EOS(*foo)) break;
if ( *foo == mQuoteChar ) // if it is an open quote
if (*foo == mQuoteChar) // if it is an open quote
{
foo++;
if ( argc < MAXARGS )
if (argc < MAXARGS)
{
argv[argc++] = foo;
}
while ( !EOS(*foo) && *foo != mQuoteChar ) foo++;
if ( !EOS(*foo) )
while (!EOS(*foo) && *foo != mQuoteChar) foo++;
if (!EOS(*foo))
{
*foo = 0; // replace close quote with zero byte EOS
foo++;
@@ -478,43 +464,42 @@ const char ** InPlaceParser::GetArglist(char *line,int &count) // convert source
}
else
{
foo = AddHard(argc, argv, foo); // add any hard separators, skip any spaces
foo = AddHard(argc,argv,foo); // add any hard separators, skip any spaces
if ( IsNonSeparator(*foo) ) // add non-hard argument.
if (IsNonSeparator(*foo)) // add non-hard argument.
{
bool quote = false;
if ( *foo == mQuoteChar )
if (*foo == mQuoteChar)
{
foo++;
quote = true;
}
if ( argc < MAXARGS )
if (argc < MAXARGS)
{
argv[argc++] = foo;
}
if ( quote )
if (quote)
{
while (*foo && *foo != mQuoteChar ) foo++;
if ( *foo ) *foo = 32;
while (*foo && *foo != mQuoteChar) foo++;
if (*foo) *foo = 32;
}
// continue..until we hit an eos ..
while ( !EOS(*foo) ) // until we hit EOS
while (!EOS(*foo)) // until we hit EOS
{
if ( IsWhiteSpace(*foo) ) // if we hit a space, stomp a zero byte, and exit
if (IsWhiteSpace(*foo)) // if we hit a space, stomp a zero byte, and exit
{
*foo = 0;
foo++;
break;
}
else if ( IsHard(*foo) ) // if we hit a hard separator, stomp a zero byte and store the hard separator argument
else if (IsHard(*foo)) // if we hit a hard separator, stomp a zero byte and store the hard separator argument
{
const char *hard = &mHardString[*foo*2];
const char *hard = &mHardString[*foo * 2];
*foo = 0;
if ( argc < MAXARGS )
if (argc < MAXARGS)
{
argv[argc++] = hard;
}
@@ -528,7 +513,7 @@ const char ** InPlaceParser::GetArglist(char *line,int &count) // convert source
}
count = argc;
if ( argc )
if (argc)
{
ret = argv;
}
@@ -548,30 +533,25 @@ public:
float mTexel[2];
};
class GeometryInterface
{
public:
virtual void NodeTriangle(const GeometryVertex *v1, const GeometryVertex *v2, const GeometryVertex *v3) {}
virtual void NodeTriangle(const GeometryVertex *v1,const GeometryVertex *v2,const GeometryVertex *v3) {}
virtual ~GeometryInterface () {}
virtual ~GeometryInterface() {}
};
/*******************************************************************/
/******************** Obj.h ********************************/
/*******************************************************************/
class OBJ : public InPlaceParserInterface
{
public:
int LoadMesh(const char *fname,GeometryInterface *callback);
int ParseLine(int lineno,int argc,const char **argv); // return TRUE to continue parsing, return FALSE to abort parsing process
int LoadMesh(const char *fname, GeometryInterface *callback);
int ParseLine(int lineno, int argc, const char **argv); // return TRUE to continue parsing, return FALSE to abort parsing process
private:
void getVertex(GeometryVertex &v,const char *face) const;
void getVertex(GeometryVertex &v, const char *face) const;
FloatVector mVerts;
FloatVector mTexels;
@@ -580,12 +560,11 @@ private:
GeometryInterface *mCallback;
};
/*******************************************************************/
/******************** Obj.cpp ********************************/
/*******************************************************************/
int OBJ::LoadMesh(const char *fname,GeometryInterface *iface)
int OBJ::LoadMesh(const char *fname, GeometryInterface *iface)
{
int ret = 0;
@@ -599,18 +578,17 @@ int OBJ::LoadMesh(const char *fname,GeometryInterface *iface)
ipp.Parse(this);
return ret;
}
//static const char * GetArg(const char **argv,int i,int argc)
//{
// const char * ret = 0;
// if ( i < argc ) ret = argv[i];
// return ret;
// const char * ret = 0;
// if ( i < argc ) ret = argv[i];
// return ret;
//}
void OBJ::getVertex(GeometryVertex &v,const char *face) const
void OBJ::getVertex(GeometryVertex &v, const char *face) const
{
v.mPos[0] = 0;
v.mPos[1] = 0;
@@ -623,31 +601,30 @@ void OBJ::getVertex(GeometryVertex &v,const char *face) const
v.mNormal[1] = 1;
v.mNormal[2] = 0;
int index = atoi( face )-1;
int index = atoi(face) - 1;
const char *texel = strstr(face,"/");
const char *texel = strstr(face, "/");
if ( texel )
if (texel)
{
int tindex = atoi( texel+1) - 1;
int tindex = atoi(texel + 1) - 1;
if ( tindex >=0 && tindex < (int)(mTexels.size()/2) )
if (tindex >= 0 && tindex < (int)(mTexels.size() / 2))
{
const float *t = &mTexels[tindex*2];
const float *t = &mTexels[tindex * 2];
v.mTexel[0] = t[0];
v.mTexel[1] = t[1];
}
const char *normal = strstr(texel+1,"/");
if ( normal )
const char *normal = strstr(texel + 1, "/");
if (normal)
{
int nindex = atoi( normal+1 ) - 1;
int nindex = atoi(normal + 1) - 1;
if (nindex >= 0 && nindex < (int)(mNormals.size()/3) )
if (nindex >= 0 && nindex < (int)(mNormals.size() / 3))
{
const float *n = &mNormals[nindex*3];
const float *n = &mNormals[nindex * 3];
v.mNormal[0] = n[0];
v.mNormal[1] = n[1];
@@ -656,69 +633,67 @@ void OBJ::getVertex(GeometryVertex &v,const char *face) const
}
}
if ( index >= 0 && index < (int)(mVerts.size()/3) )
if (index >= 0 && index < (int)(mVerts.size() / 3))
{
const float *p = &mVerts[index*3];
const float *p = &mVerts[index * 3];
v.mPos[0] = p[0];
v.mPos[1] = p[1];
v.mPos[2] = p[2];
}
}
int OBJ::ParseLine(int lineno,int argc,const char **argv) // return TRUE to continue parsing, return FALSE to abort parsing process
int OBJ::ParseLine(int lineno, int argc, const char **argv) // return TRUE to continue parsing, return FALSE to abort parsing process
{
int ret = 0;
if ( argc >= 1 )
if (argc >= 1)
{
const char *foo = argv[0];
if ( *foo != '#' )
if (*foo != '#')
{
if ( strcmp(argv[0],"v") == 0 && argc == 4 )
if (strcmp(argv[0], "v") == 0 && argc == 4)
//if ( stricmp(argv[0],"v") == 0 && argc == 4 )
{
float vx = (float) atof( argv[1] );
float vy = (float) atof( argv[2] );
float vz = (float) atof( argv[3] );
float vx = (float)atof(argv[1]);
float vy = (float)atof(argv[2]);
float vz = (float)atof(argv[3]);
mVerts.push_back(vx);
mVerts.push_back(vy);
mVerts.push_back(vz);
}
else if ( strcmp(argv[0],"vt") == 0 && argc == 3 )
else if (strcmp(argv[0], "vt") == 0 && argc == 3)
// else if ( stricmp(argv[0],"vt") == 0 && argc == 3 )
{
float tx = (float) atof( argv[1] );
float ty = (float) atof( argv[2] );
float tx = (float)atof(argv[1]);
float ty = (float)atof(argv[2]);
mTexels.push_back(tx);
mTexels.push_back(ty);
}
// else if ( stricmp(argv[0],"vn") == 0 && argc == 4 )
else if ( strcmp(argv[0],"vn") == 0 && argc == 4 )
else if (strcmp(argv[0], "vn") == 0 && argc == 4)
{
float normalx = (float) atof(argv[1]);
float normaly = (float) atof(argv[2]);
float normalz = (float) atof(argv[3]);
float normalx = (float)atof(argv[1]);
float normaly = (float)atof(argv[2]);
float normalz = (float)atof(argv[3]);
mNormals.push_back(normalx);
mNormals.push_back(normaly);
mNormals.push_back(normalz);
}
// else if ( stricmp(argv[0],"f") == 0 && argc >= 4 )
// else if ( stricmp(argv[0],"f") == 0 && argc >= 4 )
else if ( strcmp(argv[0],"f") == 0 && argc >= 4 )
else if (strcmp(argv[0], "f") == 0 && argc >= 4)
{
GeometryVertex v[32];
int vcount = argc-1;
int vcount = argc - 1;
for (int i=1; i<argc; i++)
for (int i = 1; i < argc; i++)
{
getVertex(v[i-1],argv[i] );
getVertex(v[i - 1], argv[i]);
}
// need to generate a normal!
@@ -742,16 +717,15 @@ int OBJ::ParseLine(int lineno,int argc,const char **argv) // return TRUE to con
}
#endif
mCallback->NodeTriangle(&v[0],&v[1],&v[2]);
mCallback->NodeTriangle(&v[0], &v[1], &v[2]);
if ( vcount >=3 ) // do the fan
if (vcount >= 3) // do the fan
{
for (int i=2; i<(vcount-1); i++)
for (int i = 2; i < (vcount - 1); i++)
{
mCallback->NodeTriangle(&v[0],&v[i],&v[i+1]);
mCallback->NodeTriangle(&v[0], &v[i], &v[i + 1]);
}
}
}
}
}
@@ -759,53 +733,47 @@ int OBJ::ParseLine(int lineno,int argc,const char **argv) // return TRUE to con
return ret;
}
class BuildMesh : public GeometryInterface
{
public:
int getIndex(const float *p)
{
int vcount = mVertices.size() / 3;
int vcount = mVertices.size()/3;
if(vcount>0)
if (vcount > 0)
{
//New MS STL library checks indices in debug build, so zero causes an assert if it is empty.
const float *v = &mVertices[0];
for (int i=0; i<vcount; i++)
for (int i = 0; i < vcount; i++)
{
if ( v[0] == p[0] && v[1] == p[1] && v[2] == p[2] ) return i;
v+=3;
if (v[0] == p[0] && v[1] == p[1] && v[2] == p[2]) return i;
v += 3;
}
}
mVertices.push_back( p[0] );
mVertices.push_back( p[1] );
mVertices.push_back( p[2] );
mVertices.push_back(p[0]);
mVertices.push_back(p[1]);
mVertices.push_back(p[2]);
return vcount;
}
virtual void NodeTriangle(const GeometryVertex *v1,const GeometryVertex *v2,const GeometryVertex *v3)
virtual void NodeTriangle(const GeometryVertex *v1, const GeometryVertex *v2, const GeometryVertex *v3)
{
mIndices.push_back( getIndex(v1->mPos) );
mIndices.push_back( getIndex(v2->mPos) );
mIndices.push_back( getIndex(v3->mPos) );
mIndices.push_back(getIndex(v1->mPos));
mIndices.push_back(getIndex(v2->mPos));
mIndices.push_back(getIndex(v3->mPos));
}
const FloatVector& GetVertices(void) const { return mVertices; };
const IntVector& GetIndices(void) const { return mIndices; };
const FloatVector &GetVertices(void) const { return mVertices; };
const IntVector &GetIndices(void) const { return mIndices; };
private:
FloatVector mVertices;
IntVector mIndices;
};
WavefrontObj::WavefrontObj(void)
{
mVertexCount = 0;
@@ -816,45 +784,41 @@ WavefrontObj::WavefrontObj(void)
WavefrontObj::~WavefrontObj(void)
{
delete [] mIndices;
delete [] mVertices;
delete[] mIndices;
delete[] mVertices;
}
unsigned int WavefrontObj::loadObj(const char *fname) // load a wavefront obj returns number of triangles that were loaded. Data is persists until the class is destructed.
{
unsigned int ret = 0;
delete [] mVertices;
delete[] mVertices;
mVertices = 0;
delete [] mIndices;
delete[] mIndices;
mIndices = 0;
mVertexCount = 0;
mTriCount = 0;
BuildMesh bm;
OBJ obj;
obj.LoadMesh(fname,&bm);
obj.LoadMesh(fname, &bm);
const FloatVector &vlist = bm.GetVertices();
const IntVector &indices = bm.GetIndices();
if ( vlist.size() )
if (vlist.size())
{
mVertexCount = vlist.size()/3;
mVertices = new float[mVertexCount*3];
memcpy( mVertices, &vlist[0], sizeof(float)*mVertexCount*3 );
mTriCount = indices.size()/3;
mIndices = new int[mTriCount*3*sizeof(int)];
memcpy(mIndices, &indices[0], sizeof(int)*mTriCount*3);
mVertexCount = vlist.size() / 3;
mVertices = new float[mVertexCount * 3];
memcpy(mVertices, &vlist[0], sizeof(float) * mVertexCount * 3);
mTriCount = indices.size() / 3;
mIndices = new int[mTriCount * 3 * sizeof(int)];
memcpy(mIndices, &indices[0], sizeof(int) * mTriCount * 3);
ret = mTriCount;
}
return ret;
}
}
} // namespace ConvexDecomposition

7
Extras/ConvexDecomposition/cd_wavefront.h
View File

@@ -1,9 +1,7 @@
#ifndef CD_WAVEFRONT_OBJ_H
#define CD_WAVEFRONT_OBJ_H
/*----------------------------------------------------------------------
Copyright (c) 2004 Open Dynamics Framework Group
www.physicstools.org
@@ -38,14 +36,11 @@
// http://www.amillionpixels.us
//
namespace ConvexDecomposition
{
class WavefrontObj
{
public:
WavefrontObj(void);
~WavefrontObj(void);
@@ -57,6 +52,6 @@ public:
float *mVertices;
};
}
} // namespace ConvexDecomposition
#endif

324
Extras/ConvexDecomposition/concavity.cpp
View File

@@ -49,13 +49,11 @@
#include "splitplane.h"
#include "ConvexDecomposition.h"
#define WSCALE 4
#define CONCAVE_THRESH 0.05f
namespace ConvexDecomposition
{
unsigned int getDebugColor(void)
{
static unsigned int colors[8] =
@@ -67,27 +65,25 @@ unsigned int getDebugColor(void)
0x00FFFF,
0xFF00FF,
0xFFFFFF,
0xFF8040
};
0xFF8040};
static int count = 0;
count++;
if ( count == 8 ) count = 0;
if (count == 8) count = 0;
assert( count >= 0 && count < 8 );
assert(count >= 0 && count < 8);
unsigned int color = colors[count];
return color;
}
class Wpoint
{
public:
Wpoint(const Vector3d &p,float w)
Wpoint(const Vector3d &p, float w)
{
mPoint = p;
mWeight = w;
@@ -97,23 +93,20 @@ public:
float mWeight;
};
typedef std::vector< Wpoint > WpointVector;
typedef std::vector<Wpoint> WpointVector;
static inline float DistToPt(const float *p,const float *plane)
static inline float DistToPt(const float *p, const float *plane)
{
float x = p[0];
float y = p[1];
float z = p[2];
float d = x*plane[0] + y*plane[1] + z*plane[2] + plane[3];
float d = x * plane[0] + y * plane[1] + z * plane[2] + plane[3];
return d;
}
static void intersect(const float *p1,const float *p2,float *split,const float *plane)
static void intersect(const float *p1, const float *p2, float *split, const float *plane)
{
float dp1 = DistToPt(p1,plane);
float dp1 = DistToPt(p1, plane);
float dir[3];
@@ -121,23 +114,22 @@ static void intersect(const float *p1,const float *p2,float *split,const float *
dir[1] = p2[1] - p1[1];
dir[2] = p2[2] - p1[2];
float dot1 = dir[0]*plane[0] + dir[1]*plane[1] + dir[2]*plane[2];
float dot1 = dir[0] * plane[0] + dir[1] * plane[1] + dir[2] * plane[2];
float dot2 = dp1 - plane[3];
float t = -(plane[3] + dot2 ) / dot1;
float t = -(plane[3] + dot2) / dot1;
split[0] = (dir[0]*t)+p1[0];
split[1] = (dir[1]*t)+p1[1];
split[2] = (dir[2]*t)+p1[2];
split[0] = (dir[0] * t) + p1[0];
split[1] = (dir[1] * t) + p1[1];
split[2] = (dir[2] * t) + p1[2];
}
class CTri
{
public:
CTri(void) { };
CTri(void){};
CTri(const float *p1,const float *p2,const float *p3,unsigned int i1,unsigned int i2,unsigned int i3)
CTri(const float *p1, const float *p2, const float *p3, unsigned int i1, unsigned int i2, unsigned int i3)
{
mProcessed = 0;
mI1 = i1;
@@ -148,7 +140,7 @@ public:
mP2.Set(p2);
mP3.Set(p3);
mPlaneD = mNormal.ComputePlane(mP1,mP2,mP3);
mPlaneD = mNormal.ComputePlane(mP1, mP2, mP3);
}
float Facing(const CTri &t)
@@ -158,56 +150,55 @@ public:
}
// clip this line segment against this triangle.
bool clip(const Vector3d &start,Vector3d &end) const
bool clip(const Vector3d &start, Vector3d &end) const
{
Vector3d sect;
bool hit = lineIntersectsTriangle(start.Ptr(), end.Ptr(), mP1.Ptr(), mP2.Ptr(), mP3.Ptr(), sect.Ptr() );
bool hit = lineIntersectsTriangle(start.Ptr(), end.Ptr(), mP1.Ptr(), mP2.Ptr(), mP3.Ptr(), sect.Ptr());
if ( hit )
if (hit)
{
end = sect;
}
return hit;
}
bool Concave(const Vector3d &p,float &distance,Vector3d &n) const
bool Concave(const Vector3d &p, float &distance, Vector3d &n) const
{
n.NearestPointInTriangle(p,mP1,mP2,mP3);
n.NearestPointInTriangle(p, mP1, mP2, mP3);
distance = p.Distance(n);
return true;
}
void addTri(unsigned int *indices,unsigned int i1,unsigned int i2,unsigned int i3,unsigned int &tcount) const
void addTri(unsigned int *indices, unsigned int i1, unsigned int i2, unsigned int i3, unsigned int &tcount) const
{
indices[tcount*3+0] = i1;
indices[tcount*3+1] = i2;
indices[tcount*3+2] = i3;
indices[tcount * 3 + 0] = i1;
indices[tcount * 3 + 1] = i2;
indices[tcount * 3 + 2] = i3;
tcount++;
}
float getVolume(ConvexDecompInterface *callback) const
{
unsigned int indices[8*3];
unsigned int indices[8 * 3];
unsigned int tcount = 0;
addTri(indices,0,1,2,tcount);
addTri(indices,3,4,5,tcount);
addTri(indices, 0, 1, 2, tcount);
addTri(indices, 3, 4, 5, tcount);
addTri(indices,0,3,4,tcount);
addTri(indices,0,4,1,tcount);
addTri(indices, 0, 3, 4, tcount);
addTri(indices, 0, 4, 1, tcount);
addTri(indices,1,4,5,tcount);
addTri(indices,1,5,2,tcount);
addTri(indices, 1, 4, 5, tcount);
addTri(indices, 1, 5, 2, tcount);
addTri(indices,0,3,5,tcount);
addTri(indices,0,5,2,tcount);
addTri(indices, 0, 3, 5, tcount);
addTri(indices, 0, 5, 2, tcount);
const float *vertices = mP1.Ptr();
if ( callback )
if (callback)
{
unsigned int color = getDebugColor();
@@ -228,29 +219,27 @@ public:
callback->ConvexDebugTri(mP3.Ptr(), d3.Ptr(), d3.Ptr(),0x00FF00);
#else
for (unsigned int i=0; i<tcount; i++)
for (unsigned int i = 0; i < tcount; i++)
{
unsigned int i1 = indices[i*3+0];
unsigned int i2 = indices[i*3+1];
unsigned int i3 = indices[i*3+2];
unsigned int i1 = indices[i * 3 + 0];
unsigned int i2 = indices[i * 3 + 1];
unsigned int i3 = indices[i * 3 + 2];
const float *p1 = &vertices[ i1*3 ];
const float *p2 = &vertices[ i2*3 ];
const float *p3 = &vertices[ i3*3 ];
callback->ConvexDebugTri(p1,p2,p3,color);
const float *p1 = &vertices[i1 * 3];
const float *p2 = &vertices[i2 * 3];
const float *p3 = &vertices[i3 * 3];
callback->ConvexDebugTri(p1, p2, p3, color);
}
#endif
}
float v = computeMeshVolume(mP1.Ptr(), tcount, indices );
float v = computeMeshVolume(mP1.Ptr(), tcount, indices);
return v;
}
float raySect(const Vector3d &p,const Vector3d &dir,Vector3d &sect) const
float raySect(const Vector3d &p, const Vector3d &dir, Vector3d &sect) const
{
float plane[4];
@@ -259,12 +248,11 @@ public:
plane[2] = mNormal.z;
plane[3] = mPlaneD;
Vector3d dest = p+dir*100000;
Vector3d dest = p + dir * 100000;
intersect( p.Ptr(), dest.Ptr(), sect.Ptr(), plane );
intersect(p.Ptr(), dest.Ptr(), sect.Ptr(), plane);
return sect.Distance(p); // return the intersection distance.
}
float planeDistance(const Vector3d &p) const
@@ -276,27 +264,26 @@ public:
plane[2] = mNormal.z;
plane[3] = mPlaneD;
return DistToPt( p.Ptr(), plane );
return DistToPt(p.Ptr(), plane);
}
bool samePlane(const CTri &t) const
{
const float THRESH = 0.001f;
float dd = fabsf( t.mPlaneD - mPlaneD );
if ( dd > THRESH ) return false;
dd = fabsf( t.mNormal.x - mNormal.x );
if ( dd > THRESH ) return false;
dd = fabsf( t.mNormal.y - mNormal.y );
if ( dd > THRESH ) return false;
dd = fabsf( t.mNormal.z - mNormal.z );
if ( dd > THRESH ) return false;
float dd = fabsf(t.mPlaneD - mPlaneD);
if (dd > THRESH) return false;
dd = fabsf(t.mNormal.x - mNormal.x);
if (dd > THRESH) return false;
dd = fabsf(t.mNormal.y - mNormal.y);
if (dd > THRESH) return false;
dd = fabsf(t.mNormal.z - mNormal.z);
if (dd > THRESH) return false;
return true;
}
bool hasIndex(unsigned int i) const
{
if ( i == mI1 || i == mI2 || i == mI3 ) return true;
if (i == mI1 || i == mI2 || i == mI3) return true;
return false;
}
@@ -305,54 +292,53 @@ public:
bool ret = false;
unsigned int count = 0;
if ( t.hasIndex(mI1) ) count++;
if ( t.hasIndex(mI2) ) count++;
if ( t.hasIndex(mI3) ) count++;
if (t.hasIndex(mI1)) count++;
if (t.hasIndex(mI2)) count++;
if (t.hasIndex(mI3)) count++;
if ( count >= 2 ) ret = true;
if (count >= 2) ret = true;
return ret;
}
void debug(unsigned int color,ConvexDecompInterface *callback)
void debug(unsigned int color, ConvexDecompInterface *callback)
{
callback->ConvexDebugTri( mP1.Ptr(), mP2.Ptr(), mP3.Ptr(), color );
callback->ConvexDebugTri( mP1.Ptr(), mP1.Ptr(), mNear1.Ptr(), 0xFF0000 );
callback->ConvexDebugTri( mP2.Ptr(), mP2.Ptr(), mNear2.Ptr(), 0xFF0000 );
callback->ConvexDebugTri( mP2.Ptr(), mP3.Ptr(), mNear3.Ptr(), 0xFF0000 );
callback->ConvexDebugPoint( mNear1.Ptr(), 0.01f, 0xFF0000 );
callback->ConvexDebugPoint( mNear2.Ptr(), 0.01f, 0xFF0000 );
callback->ConvexDebugPoint( mNear3.Ptr(), 0.01f, 0xFF0000 );
callback->ConvexDebugTri(mP1.Ptr(), mP2.Ptr(), mP3.Ptr(), color);
callback->ConvexDebugTri(mP1.Ptr(), mP1.Ptr(), mNear1.Ptr(), 0xFF0000);
callback->ConvexDebugTri(mP2.Ptr(), mP2.Ptr(), mNear2.Ptr(), 0xFF0000);
callback->ConvexDebugTri(mP2.Ptr(), mP3.Ptr(), mNear3.Ptr(), 0xFF0000);
callback->ConvexDebugPoint(mNear1.Ptr(), 0.01f, 0xFF0000);
callback->ConvexDebugPoint(mNear2.Ptr(), 0.01f, 0xFF0000);
callback->ConvexDebugPoint(mNear3.Ptr(), 0.01f, 0xFF0000);
}
float area(void)
{
float a = mConcavity*mP1.Area(mP2,mP3);
float a = mConcavity * mP1.Area(mP2, mP3);
return a;
}
void addWeighted(WpointVector &list,ConvexDecompInterface *callback)
void addWeighted(WpointVector &list, ConvexDecompInterface *callback)
{
Wpoint p1(mP1,mC1);
Wpoint p2(mP2,mC2);
Wpoint p3(mP3,mC3);
Wpoint p1(mP1, mC1);
Wpoint p2(mP2, mC2);
Wpoint p3(mP3, mC3);
Vector3d d1 = mNear1 - mP1;
Vector3d d2 = mNear2 - mP2;
Vector3d d3 = mNear3 - mP3;
d1*=WSCALE;
d2*=WSCALE;
d3*=WSCALE;
d1 *= WSCALE;
d2 *= WSCALE;
d3 *= WSCALE;
d1 = d1 + mP1;
d2 = d2 + mP2;
d3 = d3 + mP3;
Wpoint p4(d1,mC1);
Wpoint p5(d2,mC2);
Wpoint p6(d3,mC3);
Wpoint p4(d1, mC1);
Wpoint p5(d2, mC2);
Wpoint p6(d3, mC3);
list.push_back(p1);
list.push_back(p2);
@@ -387,9 +373,6 @@ public:
callback->ConvexDebugPoint( np3.Ptr(), 0.01F, 0XFF00FF );
#endif
}
Vector3d mP1;
@@ -410,11 +393,10 @@ public:
int mProcessed; // already been added...
};
typedef std::vector< CTri > CTriVector;
typedef std::vector<CTri> CTriVector;
bool featureMatch(CTri &m,const CTriVector &tris,ConvexDecompInterface *callback,const CTriVector &input_mesh)
bool featureMatch(CTri &m, const CTriVector &tris, ConvexDecompInterface *callback, const CTriVector &input_mesh)
{
bool ret = false;
float neardot = 0.707f;
@@ -429,15 +411,13 @@ bool featureMatch(CTri &m,const CTriVector &tris,ConvexDecompInterface *callback
CTri nearest;
for (i=tris.begin(); i!=tris.end(); ++i)
for (i = tris.begin(); i != tris.end(); ++i)
{
const CTri &t = (*i);
//gLog->Display(" HullPlane: %0.4f,%0.4f,%0.4f %0.4f\r\n", t.mNormal.x, t.mNormal.y, t.mNormal.z, t.mPlaneD );
if ( t.samePlane(m) )
if (t.samePlane(m))
{
//gLog->Display("*** PLANE MATCH!!!\r\n");
ret = false;
@@ -446,45 +426,42 @@ bool featureMatch(CTri &m,const CTriVector &tris,ConvexDecompInterface *callback
float dot = t.mNormal.Dot(m.mNormal);
if ( dot > neardot )
if (dot > neardot)
{
float d1 = t.planeDistance(m.mP1);
float d2 = t.planeDistance(m.mP2);
float d3 = t.planeDistance(m.mP3);
float d1 = t.planeDistance( m.mP1 );
float d2 = t.planeDistance( m.mP2 );
float d3 = t.planeDistance( m.mP3 );
if ( d1 > 0.001f || d2 > 0.001f || d3 > 0.001f ) // can't be near coplaner!
if (d1 > 0.001f || d2 > 0.001f || d3 > 0.001f) // can't be near coplaner!
{
neardot = dot;
Vector3d n1,n2,n3;
Vector3d n1, n2, n3;
t.raySect( m.mP1, m.mNormal, m.mNear1 );
t.raySect( m.mP2, m.mNormal, m.mNear2 );
t.raySect( m.mP3, m.mNormal, m.mNear3 );
t.raySect(m.mP1, m.mNormal, m.mNear1);
t.raySect(m.mP2, m.mNormal, m.mNear2);
t.raySect(m.mP3, m.mNormal, m.mNear3);
nearest = t;
ret = true;
}
}
}
if ( ret )
if (ret)
{
if ( 0 )
if (0)
{
CTriVector::const_iterator i;
for (i=input_mesh.begin(); i!=input_mesh.end(); ++i)
for (i = input_mesh.begin(); i != input_mesh.end(); ++i)
{
const CTri &c = (*i);
if ( c.mI1 != m.mI1 && c.mI2 != m.mI2 && c.mI3 != m.mI3 )
if (c.mI1 != m.mI1 && c.mI2 != m.mI2 && c.mI3 != m.mI3)
{
c.clip( m.mP1, m.mNear1 );
c.clip( m.mP2, m.mNear2 );
c.clip( m.mP3, m.mNear3 );
c.clip(m.mP1, m.mNear1);
c.clip(m.mP2, m.mNear2);
c.clip(m.mP3, m.mNear3);
}
}
}
@@ -492,24 +469,23 @@ bool featureMatch(CTri &m,const CTriVector &tris,ConvexDecompInterface *callback
//gLog->Display("*********************************************\r\n");
//gLog->Display(" HullPlaneNearest: %0.4f,%0.4f,%0.4f %0.4f\r\n", nearest.mNormal.x, nearest.mNormal.y, nearest.mNormal.z, nearest.mPlaneD );
m.mC1 = m.mP1.Distance( m.mNear1 );
m.mC2 = m.mP2.Distance( m.mNear2 );
m.mC3 = m.mP3.Distance( m.mNear3 );
m.mC1 = m.mP1.Distance(m.mNear1);
m.mC2 = m.mP2.Distance(m.mNear2);
m.mC3 = m.mP3.Distance(m.mNear3);
m.mConcavity = m.mC1;
if ( m.mC2 > m.mConcavity ) m.mConcavity = m.mC2;
if ( m.mC3 > m.mConcavity ) m.mConcavity = m.mC3;
if (m.mC2 > m.mConcavity) m.mConcavity = m.mC2;
if (m.mC3 > m.mConcavity) m.mConcavity = m.mC3;
#if 0
#if 0
callback->ConvexDebugTri( m.mP1.Ptr(), m.mP2.Ptr(), m.mP3.Ptr(), 0x00FF00 );
callback->ConvexDebugTri( m.mNear1.Ptr(), m.mNear2.Ptr(), m.mNear3.Ptr(), 0xFF0000 );
callback->ConvexDebugTri( m.mP1.Ptr(), m.mP1.Ptr(), m.mNear1.Ptr(), 0xFFFF00 );
callback->ConvexDebugTri( m.mP2.Ptr(), m.mP2.Ptr(), m.mNear2.Ptr(), 0xFFFF00 );
callback->ConvexDebugTri( m.mP3.Ptr(), m.mP3.Ptr(), m.mNear3.Ptr(), 0xFFFF00 );
#endif
#endif
}
else
{
@@ -520,31 +496,30 @@ bool featureMatch(CTri &m,const CTriVector &tris,ConvexDecompInterface *callback
return ret;
}
bool isFeatureTri(CTri &t,CTriVector &flist,float fc,ConvexDecompInterface *callback,unsigned int color)
bool isFeatureTri(CTri &t, CTriVector &flist, float fc, ConvexDecompInterface *callback, unsigned int color)
{
bool ret = false;
if ( t.mProcessed == 0 ) // if not already processed
if (t.mProcessed == 0) // if not already processed
{
float c = t.mConcavity / fc; // must be within 80% of the concavity of the parent.
if ( c > 0.85f )
if (c > 0.85f)
{
// see if this triangle is a 'feature' triangle. Meaning it shares an
// edge with any existing feature triangle and is within roughly the same
// concavity of the parent.
if ( flist.size() )
if (flist.size())
{
CTriVector::iterator i;
for (i=flist.begin(); i!=flist.end(); ++i)
for (i = flist.begin(); i != flist.end(); ++i)
{
CTri &ftri = (*i);
if ( ftri.sharesEdge(t) )
if (ftri.sharesEdge(t))
{
t.mProcessed = 2; // it is now part of a feature.
flist.push_back(t); // add it to the feature list.
// callback->ConvexDebugTri( t.mP1.Ptr(), t.mP2.Ptr(),t.mP3.Ptr(), color );
// callback->ConvexDebugTri( t.mP1.Ptr(), t.mP2.Ptr(),t.mP3.Ptr(), color );
ret = true;
break;
}
@@ -554,7 +529,7 @@ bool isFeatureTri(CTri &t,CTriVector &flist,float fc,ConvexDecompInterface *call
{
t.mProcessed = 2;
flist.push_back(t); // add it to the feature list.
// callback->ConvexDebugTri( t.mP1.Ptr(), t.mP2.Ptr(),t.mP3.Ptr(), color );
// callback->ConvexDebugTri( t.mP1.Ptr(), t.mP2.Ptr(),t.mP3.Ptr(), color );
ret = true;
}
}
@@ -562,7 +537,6 @@ bool isFeatureTri(CTri &t,CTriVector &flist,float fc,ConvexDecompInterface *call
{
t.mProcessed = 1; // eliminated for this feature, but might be valid for the next one..
}
}
return ret;
}
@@ -575,8 +549,6 @@ float computeConcavity(unsigned int vcount,
float *plane, // plane equation to split on
float &volume)
{
float cret = 0;
volume = 1;
@@ -588,14 +560,13 @@ float computeConcavity(unsigned int vcount,
desc.mMaxVertices = 256;
desc.SetHullFlag(QF_TRIANGLES);
desc.mVcount = vcount;
desc.mVertices = vertices;
desc.mVertexStride = sizeof(float)*3;
desc.mVertexStride = sizeof(float) * 3;
HullError ret = hl.CreateConvexHull(desc,result);
HullError ret = hl.CreateConvexHull(desc, result);
if ( ret == QE_OK )
if (ret == QE_OK)
{
#if 0
float bmin[3];
@@ -612,7 +583,7 @@ float computeConcavity(unsigned int vcount,
center.z = bmin[2] + dz*0.5f;
#endif
volume = computeMeshVolume2( result.mOutputVertices, result.mNumFaces, result.mIndices );
volume = computeMeshVolume2(result.mOutputVertices, result.mNumFaces, result.mIndices);
#if 1
// ok..now..for each triangle on the original mesh..
@@ -621,19 +592,19 @@ float computeConcavity(unsigned int vcount,
CTriVector tris;
for (unsigned int i=0; i<result.mNumFaces; i++)
for (unsigned int i = 0; i < result.mNumFaces; i++)
{
unsigned int i1 = *source++;
unsigned int i2 = *source++;
unsigned int i3 = *source++;
const float *p1 = &result.mOutputVertices[i1*3];
const float *p2 = &result.mOutputVertices[i2*3];
const float *p3 = &result.mOutputVertices[i3*3];
const float *p1 = &result.mOutputVertices[i1 * 3];
const float *p2 = &result.mOutputVertices[i2 * 3];
const float *p3 = &result.mOutputVertices[i3 * 3];
// callback->ConvexDebugTri(p1,p2,p3,0xFFFFFF);
// callback->ConvexDebugTri(p1,p2,p3,0xFFFFFF);
CTri t(p1,p2,p3,i1,i2,i3); //
CTri t(p1, p2, p3, i1, i2, i3); //
tris.push_back(t);
}
@@ -645,63 +616,57 @@ float computeConcavity(unsigned int vcount,
const unsigned int *src = indices;
float maxc = 0;
float maxc=0;
if ( 1 )
if (1)
{
CTriVector input_mesh;
if ( 1 )
if (1)
{
const unsigned int *src = indices;
for (unsigned int i=0; i<tcount; i++)
for (unsigned int i = 0; i < tcount; i++)
{
unsigned int i1 = *src++;
unsigned int i2 = *src++;
unsigned int i3 = *src++;
const float *p1 = &vertices[i1*3];
const float *p2 = &vertices[i2*3];
const float *p3 = &vertices[i3*3];
const float *p1 = &vertices[i1 * 3];
const float *p2 = &vertices[i2 * 3];
const float *p3 = &vertices[i3 * 3];
CTri t(p1,p2,p3,i1,i2,i3);
CTri t(p1, p2, p3, i1, i2, i3);
input_mesh.push_back(t);
}
}
CTri maxctri;
for (unsigned int i=0; i<tcount; i++)
for (unsigned int i = 0; i < tcount; i++)
{
unsigned int i1 = *src++;
unsigned int i2 = *src++;
unsigned int i3 = *src++;
const float *p1 = &vertices[i1*3];
const float *p2 = &vertices[i2*3];
const float *p3 = &vertices[i3*3];
const float *p1 = &vertices[i1 * 3];
const float *p2 = &vertices[i2 * 3];
const float *p3 = &vertices[i3 * 3];
CTri t(p1,p2,p3,i1,i2,i3);
CTri t(p1, p2, p3, i1, i2, i3);
featureMatch(t, tris, callback, input_mesh );
featureMatch(t, tris, callback, input_mesh);
if ( t.mConcavity > CONCAVE_THRESH )
if (t.mConcavity > CONCAVE_THRESH)
{
if ( t.mConcavity > maxc )
if (t.mConcavity > maxc)
{
maxc = t.mConcavity;
maxctri = t;
}
float v = t.getVolume(0);
totalVolume+=v;
totalVolume += v;
ftris.push_back(t);
}
}
}
@@ -793,5 +758,4 @@ float computeConcavity(unsigned int vcount,
return cret;
}
}
} // namespace ConvexDecomposition

7
Extras/ConvexDecomposition/concavity.h
View File

@@ -36,11 +36,8 @@
// http://www.amillionpixels.us
//
namespace ConvexDecomposition
{
class ConvexDecompInterface;
// compute's how 'concave' this object is and returns the total volume of the
@@ -53,8 +50,6 @@ float computeConcavity(unsigned int vcount,
float *plane,
float &volume);
}
} // namespace ConvexDecomposition
#endif

113
Extras/ConvexDecomposition/fitsphere.cpp
View File

@@ -6,7 +6,6 @@
#include "fitsphere.h"
/*----------------------------------------------------------------------
Copyright (c) 2004 Open Dynamics Framework Group
www.physicstools.org
@@ -55,23 +54,22 @@ from "Graphics Gems", Academic Press, 1990
#define BIGNUMBER 100000000.0 /* hundred million */
static inline void Set(float *n,float x,float y,float z)
static inline void Set(float *n, float x, float y, float z)
{
n[0] = x;
n[1] = y;
n[2] = z;
}
static inline void Copy(float *dest,const float *source)
static inline void Copy(float *dest, const float *source)
{
dest[0] = source[0];
dest[1] = source[1];
dest[2] = source[2];
}
float computeBoundingSphere(unsigned int vcount,const float *points,float *center)
float computeBoundingSphere(unsigned int vcount, const float *points, float *center)
{
float mRadius;
float mRadius2;
@@ -85,118 +83,115 @@ float computeBoundingSphere(unsigned int vcount,const float *points,float *cente
float dia2[3];
/* FIRST PASS: find 6 minima/maxima points */
Set(xmin,BIGNUMBER,BIGNUMBER,BIGNUMBER);
Set(xmax,-BIGNUMBER,-BIGNUMBER,-BIGNUMBER);
Set(ymin,BIGNUMBER,BIGNUMBER,BIGNUMBER);
Set(ymax,-BIGNUMBER,-BIGNUMBER,-BIGNUMBER);
Set(zmin,BIGNUMBER,BIGNUMBER,BIGNUMBER);
Set(zmax,-BIGNUMBER,-BIGNUMBER,-BIGNUMBER);
Set(xmin, BIGNUMBER, BIGNUMBER, BIGNUMBER);
Set(xmax, -BIGNUMBER, -BIGNUMBER, -BIGNUMBER);
Set(ymin, BIGNUMBER, BIGNUMBER, BIGNUMBER);
Set(ymax, -BIGNUMBER, -BIGNUMBER, -BIGNUMBER);
Set(zmin, BIGNUMBER, BIGNUMBER, BIGNUMBER);
Set(zmax, -BIGNUMBER, -BIGNUMBER, -BIGNUMBER);
for (unsigned i=0; i<vcount; i++)
for (unsigned i = 0; i < vcount; i++)
{
const float *caller_p = &points[i*3];
const float *caller_p = &points[i * 3];
if (caller_p[0]<xmin[0])
Copy(xmin,caller_p); /* New xminimum point */
if (caller_p[0]>xmax[0])
Copy(xmax,caller_p);
if (caller_p[1]<ymin[1])
Copy(ymin,caller_p);
if (caller_p[1]>ymax[1])
Copy(ymax,caller_p);
if (caller_p[2]<zmin[2])
Copy(zmin,caller_p);
if (caller_p[2]>zmax[2])
Copy(zmax,caller_p);
if (caller_p[0] < xmin[0])
Copy(xmin, caller_p); /* New xminimum point */
if (caller_p[0] > xmax[0])
Copy(xmax, caller_p);
if (caller_p[1] < ymin[1])
Copy(ymin, caller_p);
if (caller_p[1] > ymax[1])
Copy(ymax, caller_p);
if (caller_p[2] < zmin[2])
Copy(zmin, caller_p);
if (caller_p[2] > zmax[2])
Copy(zmax, caller_p);
}
/* Set xspan = distance between the 2 points xmin & xmax (squared) */
float dx = xmax[0] - xmin[0];
float dy = xmax[1] - xmin[1];
float dz = xmax[2] - xmin[2];
float xspan = dx*dx + dy*dy + dz*dz;
float xspan = dx * dx + dy * dy + dz * dz;
/* Same for y & z spans */
dx = ymax[0] - ymin[0];
dy = ymax[1] - ymin[1];
dz = ymax[2] - ymin[2];
float yspan = dx*dx + dy*dy + dz*dz;
float yspan = dx * dx + dy * dy + dz * dz;
dx = zmax[0] - zmin[0];
dy = zmax[1] - zmin[1];
dz = zmax[2] - zmin[2];
float zspan = dx*dx + dy*dy + dz*dz;
float zspan = dx * dx + dy * dy + dz * dz;
/* Set points dia1 & dia2 to the maximally separated pair */
Copy(dia1,xmin);
Copy(dia2,xmax); /* assume xspan biggest */
Copy(dia1, xmin);
Copy(dia2, xmax); /* assume xspan biggest */
float maxspan = xspan;
if (yspan>maxspan)
if (yspan > maxspan)
{
maxspan = yspan;
Copy(dia1,ymin);
Copy(dia2,ymax);
Copy(dia1, ymin);
Copy(dia2, ymax);
}
if (zspan>maxspan)
if (zspan > maxspan)
{
Copy(dia1,zmin);
Copy(dia2,zmax);
Copy(dia1, zmin);
Copy(dia2, zmax);
}
/* dia1,dia2 is a diameter of initial sphere */
/* calc initial center */
center[0] = (dia1[0]+dia2[0])*0.5f;
center[1] = (dia1[1]+dia2[1])*0.5f;
center[2] = (dia1[2]+dia2[2])*0.5f;
center[0] = (dia1[0] + dia2[0]) * 0.5f;
center[1] = (dia1[1] + dia2[1]) * 0.5f;
center[2] = (dia1[2] + dia2[2]) * 0.5f;
/* calculate initial radius**2 and radius */
dx = dia2[0]-center[0]; /* x component of radius vector */
dy = dia2[1]-center[1]; /* y component of radius vector */
dz = dia2[2]-center[2]; /* z component of radius vector */
dx = dia2[0] - center[0]; /* x component of radius vector */
dy = dia2[1] - center[1]; /* y component of radius vector */
dz = dia2[2] - center[2]; /* z component of radius vector */
mRadius2 = dx*dx + dy*dy + dz*dz;
mRadius2 = dx * dx + dy * dy + dz * dz;
mRadius = float(sqrt(mRadius2));
/* SECOND PASS: increment current sphere */
if ( 1 )
if (1)
{
for (unsigned i=0; i<vcount; i++)
for (unsigned i = 0; i < vcount; i++)
{
const float *caller_p = &points[i*3];
const float *caller_p = &points[i * 3];
dx = caller_p[0]-center[0];
dy = caller_p[1]-center[1];
dz = caller_p[2]-center[2];
dx = caller_p[0] - center[0];
dy = caller_p[1] - center[1];
dz = caller_p[2] - center[2];
float old_to_p_sq = dx*dx + dy*dy + dz*dz;
float old_to_p_sq = dx * dx + dy * dy + dz * dz;
if (old_to_p_sq > mRadius2) /* do r**2 test first */
{ /* this point is outside of current sphere */
float old_to_p = float(sqrt(old_to_p_sq));
/* calc radius of new sphere */
mRadius = (mRadius + old_to_p) * 0.5f;
mRadius2 = mRadius*mRadius; /* for next r**2 compare */
mRadius2 = mRadius * mRadius; /* for next r**2 compare */
float old_to_new = old_to_p - mRadius;
/* calc center of new sphere */
float recip = 1.0f /old_to_p;
float recip = 1.0f / old_to_p;
float cx = (mRadius*center[0] + old_to_new*caller_p[0]) * recip;
float cy = (mRadius*center[1] + old_to_new*caller_p[1]) * recip;
float cz = (mRadius*center[2] + old_to_new*caller_p[2]) * recip;
float cx = (mRadius * center[0] + old_to_new * caller_p[0]) * recip;
float cy = (mRadius * center[1] + old_to_new * caller_p[1]) * recip;
float cz = (mRadius * center[2] + old_to_new * caller_p[2]) * recip;
Set(center,cx,cy,cz);
Set(center, cx, cy, cz);
}
}
}
return mRadius;
}

4
Extras/ConvexDecomposition/fitsphere.h
View File

@@ -36,8 +36,6 @@
// http://www.amillionpixels.us
//
float computeBoundingSphere(unsigned int vcount,const float *points,float *center);
float computeBoundingSphere(unsigned int vcount, const float *points, float *center);
#endif

199
Extras/ConvexDecomposition/float_math.cpp
View File

@@ -6,7 +6,6 @@
#include <assert.h>
#include <math.h>
/*----------------------------------------------------------------------
Copyright (c) 2004 Open Dynamics Framework Group
www.physicstools.org
@@ -41,58 +40,53 @@
// http://www.amillionpixels.us
//
void fm_inverseRT(const float *matrix,const float *pos,float *t) // inverse rotate translate the point.
void fm_inverseRT(const float *matrix, const float *pos, float *t) // inverse rotate translate the point.
{
float _x = pos[0] - matrix[3*4+0];
float _y = pos[1] - matrix[3*4+1];
float _z = pos[2] - matrix[3*4+2];
float _x = pos[0] - matrix[3 * 4 + 0];
float _y = pos[1] - matrix[3 * 4 + 1];
float _z = pos[2] - matrix[3 * 4 + 2];
// Multiply inverse-translated source vector by inverted rotation transform
t[0] = (matrix[0*4+0] * _x) + (matrix[0*4+1] * _y) + (matrix[0*4+2] * _z);
t[1] = (matrix[1*4+0] * _x) + (matrix[1*4+1] * _y) + (matrix[1*4+2] * _z);
t[2] = (matrix[2*4+0] * _x) + (matrix[2*4+1] * _y) + (matrix[2*4+2] * _z);
t[0] = (matrix[0 * 4 + 0] * _x) + (matrix[0 * 4 + 1] * _y) + (matrix[0 * 4 + 2] * _z);
t[1] = (matrix[1 * 4 + 0] * _x) + (matrix[1 * 4 + 1] * _y) + (matrix[1 * 4 + 2] * _z);
t[2] = (matrix[2 * 4 + 0] * _x) + (matrix[2 * 4 + 1] * _y) + (matrix[2 * 4 + 2] * _z);
}
void fm_identity(float *matrix) // set 4x4 matrix to identity.
{
matrix[0*4+0] = 1;
matrix[1*4+1] = 1;
matrix[2*4+2] = 1;
matrix[3*4+3] = 1;
matrix[0 * 4 + 0] = 1;
matrix[1 * 4 + 1] = 1;
matrix[2 * 4 + 2] = 1;
matrix[3 * 4 + 3] = 1;
matrix[1*4+0] = 0;
matrix[2*4+0] = 0;
matrix[3*4+0] = 0;
matrix[1 * 4 + 0] = 0;
matrix[2 * 4 + 0] = 0;
matrix[3 * 4 + 0] = 0;
matrix[0*4+1] = 0;
matrix[2*4+1] = 0;
matrix[3*4+1] = 0;
matrix[0 * 4 + 1] = 0;
matrix[2 * 4 + 1] = 0;
matrix[3 * 4 + 1] = 0;
matrix[0*4+2] = 0;
matrix[1*4+2] = 0;
matrix[3*4+2] = 0;
matrix[0*4+3] = 0;
matrix[1*4+3] = 0;
matrix[2*4+3] = 0;
matrix[0 * 4 + 2] = 0;
matrix[1 * 4 + 2] = 0;
matrix[3 * 4 + 2] = 0;
matrix[0 * 4 + 3] = 0;
matrix[1 * 4 + 3] = 0;
matrix[2 * 4 + 3] = 0;
}
void fm_eulerMatrix(float ax,float ay,float az,float *matrix) // convert euler (in radians) to a dest 4x4 matrix (translation set to zero)
void fm_eulerMatrix(float ax, float ay, float az, float *matrix) // convert euler (in radians) to a dest 4x4 matrix (translation set to zero)
{
float quat[4];
fm_eulerToQuat(ax,ay,az,quat);
fm_quatToMatrix(quat,matrix);
fm_eulerToQuat(ax, ay, az, quat);
fm_quatToMatrix(quat, matrix);
}
void fm_getAABB(unsigned int vcount,const float *points,unsigned int pstride,float *bmin,float *bmax)
void fm_getAABB(unsigned int vcount, const float *points, unsigned int pstride, float *bmin, float *bmax)
{
const unsigned char *source = (const unsigned char *) points;
const unsigned char *source = (const unsigned char *)points;
bmin[0] = points[0];
bmin[1] = points[1];
@@ -102,25 +96,22 @@ void fm_getAABB(unsigned int vcount,const float *points,unsigned int pstride,flo
bmax[1] = points[1];
bmax[2] = points[2];
for (unsigned int i=1; i<vcount; i++)
for (unsigned int i = 1; i < vcount; i++)
{
source+=pstride;
const float *p = (const float *) source;
source += pstride;
const float *p = (const float *)source;
if ( p[0] < bmin[0] ) bmin[0] = p[0];
if ( p[1] < bmin[1] ) bmin[1] = p[1];
if ( p[2] < bmin[2] ) bmin[2] = p[2];
if ( p[0] > bmax[0] ) bmax[0] = p[0];
if ( p[1] > bmax[1] ) bmax[1] = p[1];
if ( p[2] > bmax[2] ) bmax[2] = p[2];
if (p[0] < bmin[0]) bmin[0] = p[0];
if (p[1] < bmin[1]) bmin[1] = p[1];
if (p[2] < bmin[2]) bmin[2] = p[2];
if (p[0] > bmax[0]) bmax[0] = p[0];
if (p[1] > bmax[1]) bmax[1] = p[1];
if (p[2] > bmax[2]) bmax[2] = p[2];
}
}
void fm_eulerToQuat(float roll,float pitch,float yaw,float *quat) // convert euler angles to quaternion.
void fm_eulerToQuat(float roll, float pitch, float yaw, float *quat) // convert euler angles to quaternion.
{
roll *= 0.5f;
pitch *= 0.5f;
@@ -139,83 +130,76 @@ void fm_eulerToQuat(float roll,float pitch,float yaw,float *quat) // convert eul
float spcy = sp * cy;
float cpsy = cp * sy;
quat[0] = ( sr * cpcy - cr * spsy);
quat[1] = ( cr * spcy + sr * cpsy);
quat[2] = ( cr * cpsy - sr * spcy);
quat[0] = (sr * cpcy - cr * spsy);
quat[1] = (cr * spcy + sr * cpsy);
quat[2] = (cr * cpsy - sr * spcy);
quat[3] = cr * cpcy + sr * spsy;
}
void fm_quatToMatrix(const float *quat,float *matrix) // convert quaterinion rotation to matrix, zeros out the translation component.
void fm_quatToMatrix(const float *quat, float *matrix) // convert quaterinion rotation to matrix, zeros out the translation component.
{
float xx = quat[0] * quat[0];
float yy = quat[1] * quat[1];
float zz = quat[2] * quat[2];
float xy = quat[0] * quat[1];
float xz = quat[0] * quat[2];
float yz = quat[1] * quat[2];
float wx = quat[3] * quat[0];
float wy = quat[3] * quat[1];
float wz = quat[3] * quat[2];
float xx = quat[0]*quat[0];
float yy = quat[1]*quat[1];
float zz = quat[2]*quat[2];
float xy = quat[0]*quat[1];
float xz = quat[0]*quat[2];
float yz = quat[1]*quat[2];
float wx = quat[3]*quat[0];
float wy = quat[3]*quat[1];
float wz = quat[3]*quat[2];
matrix[0 * 4 + 0] = 1 - 2 * (yy + zz);
matrix[1 * 4 + 0] = 2 * (xy - wz);
matrix[2 * 4 + 0] = 2 * (xz + wy);
matrix[0*4+0] = 1 - 2 * ( yy + zz );
matrix[1*4+0] = 2 * ( xy - wz );
matrix[2*4+0] = 2 * ( xz + wy );
matrix[0 * 4 + 1] = 2 * (xy + wz);
matrix[1 * 4 + 1] = 1 - 2 * (xx + zz);
matrix[2 * 4 + 1] = 2 * (yz - wx);
matrix[0*4+1] = 2 * ( xy + wz );
matrix[1*4+1] = 1 - 2 * ( xx + zz );
matrix[2*4+1] = 2 * ( yz - wx );
matrix[0*4+2] = 2 * ( xz - wy );
matrix[1*4+2] = 2 * ( yz + wx );
matrix[2*4+2] = 1 - 2 * ( xx + yy );
matrix[3*4+0] = matrix[3*4+1] = matrix[3*4+2] = 0.0f;
matrix[0*4+3] = matrix[1*4+3] = matrix[2*4+3] = 0.0f;
matrix[3*4+3] = 1.0f;
matrix[0 * 4 + 2] = 2 * (xz - wy);
matrix[1 * 4 + 2] = 2 * (yz + wx);
matrix[2 * 4 + 2] = 1 - 2 * (xx + yy);
matrix[3 * 4 + 0] = matrix[3 * 4 + 1] = matrix[3 * 4 + 2] = 0.0f;
matrix[0 * 4 + 3] = matrix[1 * 4 + 3] = matrix[2 * 4 + 3] = 0.0f;
matrix[3 * 4 + 3] = 1.0f;
}
void fm_quatRotate(const float *quat,const float *v,float *r) // rotate a vector directly by a quaternion.
void fm_quatRotate(const float *quat, const float *v, float *r) // rotate a vector directly by a quaternion.
{
float left[4];
left[0] = quat[3]*v[0] + quat[1]*v[2] - v[1]*quat[2];
left[1] = quat[3]*v[1] + quat[2]*v[0] - v[2]*quat[0];
left[2] = quat[3]*v[2] + quat[0]*v[1] - v[0]*quat[1];
left[3] = - quat[0]*v[0] - quat[1]*v[1] - quat[2]*v[2];
r[0] = (left[3]*-quat[0]) + (quat[3]*left[0]) + (left[1]*-quat[2]) - (-quat[1]*left[2]);
r[1] = (left[3]*-quat[1]) + (quat[3]*left[1]) + (left[2]*-quat[0]) - (-quat[2]*left[0]);
r[2] = (left[3]*-quat[2]) + (quat[3]*left[2]) + (left[0]*-quat[1]) - (-quat[0]*left[1]);
left[0] = quat[3] * v[0] + quat[1] * v[2] - v[1] * quat[2];
left[1] = quat[3] * v[1] + quat[2] * v[0] - v[2] * quat[0];
left[2] = quat[3] * v[2] + quat[0] * v[1] - v[0] * quat[1];
left[3] = -quat[0] * v[0] - quat[1] * v[1] - quat[2] * v[2];
r[0] = (left[3] * -quat[0]) + (quat[3] * left[0]) + (left[1] * -quat[2]) - (-quat[1] * left[2]);
r[1] = (left[3] * -quat[1]) + (quat[3] * left[1]) + (left[2] * -quat[0]) - (-quat[2] * left[0]);
r[2] = (left[3] * -quat[2]) + (quat[3] * left[2]) + (left[0] * -quat[1]) - (-quat[0] * left[1]);
}
void fm_getTranslation(const float *matrix,float *t)
void fm_getTranslation(const float *matrix, float *t)
{
t[0] = matrix[3*4+0];
t[1] = matrix[3*4+1];
t[2] = matrix[3*4+2];
t[0] = matrix[3 * 4 + 0];
t[1] = matrix[3 * 4 + 1];
t[2] = matrix[3 * 4 + 2];
}
void fm_matrixToQuat(const float *matrix,float *quat) // convert the 3x3 portion of a 4x4 matrix into a quaterion as x,y,z,w
void fm_matrixToQuat(const float *matrix, float *quat) // convert the 3x3 portion of a 4x4 matrix into a quaterion as x,y,z,w
{
float tr = matrix[0*4+0] + matrix[1*4+1] + matrix[2*4+2];
float tr = matrix[0 * 4 + 0] + matrix[1 * 4 + 1] + matrix[2 * 4 + 2];
// check the diagonal
if (tr > 0.0f )
if (tr > 0.0f)
{
float s = (float) sqrt ( (double) (tr + 1.0f) );
float s = (float)sqrt((double)(tr + 1.0f));
quat[3] = s * 0.5f;
s = 0.5f / s;
quat[0] = (matrix[1*4+2] - matrix[2*4+1]) * s;
quat[1] = (matrix[2*4+0] - matrix[0*4+2]) * s;
quat[2] = (matrix[0*4+1] - matrix[1*4+0]) * s;
quat[0] = (matrix[1 * 4 + 2] - matrix[2 * 4 + 1]) * s;
quat[1] = (matrix[2 * 4 + 0] - matrix[0 * 4 + 2]) * s;
quat[2] = (matrix[0 * 4 + 1] - matrix[1 * 4 + 0]) * s;
}
else
{
@@ -225,33 +209,30 @@ void fm_matrixToQuat(const float *matrix,float *quat) // convert the 3x3 portion
int i = 0;
if (matrix[1*4+1] > matrix[0*4+0]) i = 1;
if (matrix[2*4+2] > matrix[i*4+i]) i = 2;
if (matrix[1 * 4 + 1] > matrix[0 * 4 + 0]) i = 1;
if (matrix[2 * 4 + 2] > matrix[i * 4 + i]) i = 2;
int j = nxt[i];
int k = nxt[j];
float s = sqrtf ( ((matrix[i*4+i] - (matrix[j*4+j] + matrix[k*4+k])) + 1.0f) );
float s = sqrtf(((matrix[i * 4 + i] - (matrix[j * 4 + j] + matrix[k * 4 + k])) + 1.0f));
qa[i] = s * 0.5f;
if (s != 0.0f ) s = 0.5f / s;
if (s != 0.0f) s = 0.5f / s;
qa[3] = (matrix[j*4+k] - matrix[k*4+j]) * s;
qa[j] = (matrix[i*4+j] + matrix[j*4+i]) * s;
qa[k] = (matrix[i*4+k] + matrix[k*4+i]) * s;
qa[3] = (matrix[j * 4 + k] - matrix[k * 4 + j]) * s;
qa[j] = (matrix[i * 4 + j] + matrix[j * 4 + i]) * s;
qa[k] = (matrix[i * 4 + k] + matrix[k * 4 + i]) * s;
quat[0] = qa[0];
quat[1] = qa[1];
quat[2] = qa[2];
quat[3] = qa[3];
}
}
float fm_sphereVolume(float radius) // return's the volume of a sphere of this radius (4/3 PI * R cubed )
{
return (4.0f / 3.0f ) * FM_PI * radius * radius * radius;
return (4.0f / 3.0f) * FM_PI * radius * radius * radius;
}

29
Extras/ConvexDecomposition/float_math.h
View File

@@ -3,12 +3,12 @@
#define FLOAT_MATH_H
#ifdef _WIN32
#pragma warning(disable : 4324) // disable padding warning
#pragma warning(disable : 4244) // disable padding warning
#pragma warning(disable : 4267) // possible loss of data
#pragma warning(disable:4530) // Disable the exception disable but used in MSCV Stl warning.
#pragma warning(disable:4996) //Turn off warnings about deprecated C routines
#pragma warning(disable:4786) // Disable the "debug name too long" warning
#pragma warning(disable : 4324) // disable padding warning
#pragma warning(disable : 4244) // disable padding warning
#pragma warning(disable : 4267) // possible loss of data
#pragma warning(disable : 4530) // Disable the exception disable but used in MSCV Stl warning.
#pragma warning(disable : 4996) //Turn off warnings about deprecated C routines
#pragma warning(disable : 4786) // Disable the "debug name too long" warning
#endif
/*----------------------------------------------------------------------
@@ -45,7 +45,6 @@
// http://www.amillionpixels.us
//
// a set of routines that last you do common 3d math
// operations without any vector, matrix, or quaternion
// classes or templates.
@@ -59,14 +58,14 @@ const float FM_DEG_TO_RAD = ((2.0f * FM_PI) / 360.0f);
const float FM_RAD_TO_DEG = (360.0f / (2.0f * FM_PI));
void fm_identity(float *matrix); // set 4x4 matrix to identity.
void fm_inverseRT(const float *matrix,const float *pos,float *t); // inverse rotate translate the point.
void fm_eulerMatrix(float ax,float ay,float az,float *matrix); // convert euler (in radians) to a dest 4x4 matrix (translation set to zero)
void fm_getAABB(unsigned int vcount,const float *points,unsigned int pstride,float *bmin,float *bmax);
void fm_eulerToQuat(float roll,float pitch,float yaw,float *quat); // convert euler angles to quaternion.
void fm_quatToMatrix(const float *quat,float *matrix); // convert quaterinion rotation to matrix, translation set to zero.
void fm_quatRotate(const float *quat,const float *v,float *r); // rotate a vector directly by a quaternion.
void fm_getTranslation(const float *matrix,float *t);
void fm_matrixToQuat(const float *matrix,float *quat); // convert the 3x3 portion of a 4x4 matrix into a quaterion as x,y,z,w
void fm_inverseRT(const float *matrix, const float *pos, float *t); // inverse rotate translate the point.
void fm_eulerMatrix(float ax, float ay, float az, float *matrix); // convert euler (in radians) to a dest 4x4 matrix (translation set to zero)
void fm_getAABB(unsigned int vcount, const float *points, unsigned int pstride, float *bmin, float *bmax);
void fm_eulerToQuat(float roll, float pitch, float yaw, float *quat); // convert euler angles to quaternion.
void fm_quatToMatrix(const float *quat, float *matrix); // convert quaterinion rotation to matrix, translation set to zero.
void fm_quatRotate(const float *quat, const float *v, float *r); // rotate a vector directly by a quaternion.
void fm_getTranslation(const float *matrix, float *t);
void fm_matrixToQuat(const float *matrix, float *quat); // convert the 3x3 portion of a 4x4 matrix into a quaterion as x,y,z,w
float fm_sphereVolume(float radius); // return's the volume of a sphere of this radius (4/3 PI * R cubed )
#endif

62
Extras/ConvexDecomposition/meshvolume.cpp
View File

@@ -35,45 +35,43 @@
// http://www.amillionpixels.us
//
inline float det(const float *p1,const float *p2,const float *p3)
inline float det(const float *p1, const float *p2, const float *p3)
{
return p1[0]*p2[1]*p3[2] + p2[0]*p3[1]*p1[2] + p3[0]*p1[1]*p2[2] -p1[0]*p3[1]*p2[2] - p2[0]*p1[1]*p3[2] - p3[0]*p2[1]*p1[2];
return p1[0] * p2[1] * p3[2] + p2[0] * p3[1] * p1[2] + p3[0] * p1[1] * p2[2] - p1[0] * p3[1] * p2[2] - p2[0] * p1[1] * p3[2] - p3[0] * p2[1] * p1[2];
}
float computeMeshVolume(const float *vertices,unsigned int tcount,const unsigned int *indices)
float computeMeshVolume(const float *vertices, unsigned int tcount, const unsigned int *indices)
{
float volume = 0;
for (unsigned int i=0; i<tcount; i++,indices+=3)
for (unsigned int i = 0; i < tcount; i++, indices += 3)
{
const float *p1 = &vertices[indices[0] * 3];
const float *p2 = &vertices[indices[1] * 3];
const float *p3 = &vertices[indices[2] * 3];
const float *p1 = &vertices[ indices[0]*3 ];
const float *p2 = &vertices[ indices[1]*3 ];
const float *p3 = &vertices[ indices[2]*3 ];
volume+=det(p1,p2,p3); // compute the volume of the tetrahedran relative to the origin.
volume += det(p1, p2, p3); // compute the volume of the tetrahedran relative to the origin.
}
volume*=(1.0f/6.0f);
if ( volume < 0 )
volume*=-1;
volume *= (1.0f / 6.0f);
if (volume < 0)
volume *= -1;
return volume;
}
inline void CrossProduct(const float *a,const float *b,float *cross)
inline void CrossProduct(const float *a, const float *b, float *cross)
{
cross[0] = a[1]*b[2] - a[2]*b[1];
cross[1] = a[2]*b[0] - a[0]*b[2];
cross[2] = a[0]*b[1] - a[1]*b[0];
cross[0] = a[1] * b[2] - a[2] * b[1];
cross[1] = a[2] * b[0] - a[0] * b[2];
cross[2] = a[0] * b[1] - a[1] * b[0];
}
inline float DotProduct(const float *a,const float *b)
inline float DotProduct(const float *a, const float *b)
{
return a[0] * b[0] + a[1] * b[1] + a[2] * b[2];
}
inline float tetVolume(const float *p0,const float *p1,const float *p2,const float *p3)
inline float tetVolume(const float *p0, const float *p1, const float *p2, const float *p3)
{
float a[3];
float b[3];
@@ -93,36 +91,34 @@ inline float tetVolume(const float *p0,const float *p1,const float *p2,const flo
float cross[3];
CrossProduct( b, c, cross );
CrossProduct(b, c, cross);
float volume = DotProduct( a, cross );
float volume = DotProduct(a, cross);
if ( volume < 0 )
if (volume < 0)
return -volume;
return volume;
}
inline float det(const float *p0,const float *p1,const float *p2,const float *p3)
inline float det(const float *p0, const float *p1, const float *p2, const float *p3)
{
return p1[0]*p2[1]*p3[2] + p2[0]*p3[1]*p1[2] + p3[0]*p1[1]*p2[2] -p1[0]*p3[1]*p2[2] - p2[0]*p1[1]*p3[2] - p3[0]*p2[1]*p1[2];
return p1[0] * p2[1] * p3[2] + p2[0] * p3[1] * p1[2] + p3[0] * p1[1] * p2[2] - p1[0] * p3[1] * p2[2] - p2[0] * p1[1] * p3[2] - p3[0] * p2[1] * p1[2];
}
float computeMeshVolume2(const float *vertices,unsigned int tcount,const unsigned int *indices)
float computeMeshVolume2(const float *vertices, unsigned int tcount, const unsigned int *indices)
{
float volume = 0;
const float *p0 = vertices;
for (unsigned int i=0; i<tcount; i++,indices+=3)
for (unsigned int i = 0; i < tcount; i++, indices += 3)
{
const float *p1 = &vertices[indices[0] * 3];
const float *p2 = &vertices[indices[1] * 3];
const float *p3 = &vertices[indices[2] * 3];
const float *p1 = &vertices[ indices[0]*3 ];
const float *p2 = &vertices[ indices[1]*3 ];
const float *p3 = &vertices[ indices[2]*3 ];
volume+=tetVolume(p0,p1,p2,p3); // compute the volume of the tetrahdren relative to the root vertice
volume += tetVolume(p0, p1, p2, p3); // compute the volume of the tetrahdren relative to the root vertice
}
return volume * (1.0f / 6.0f );
return volume * (1.0f / 6.0f);
}

7
Extras/ConvexDecomposition/meshvolume.h
View File

@@ -36,10 +36,7 @@
// http://www.amillionpixels.us
//
float computeMeshVolume(const float *vertices,unsigned int tcount,const unsigned int *indices);
float computeMeshVolume2(const float *vertices,unsigned int tcount,const unsigned int *indices);
float computeMeshVolume(const float *vertices, unsigned int tcount, const unsigned int *indices);
float computeMeshVolume2(const float *vertices, unsigned int tcount, const unsigned int *indices);
#endif

145
Extras/ConvexDecomposition/planetri.cpp
View File

@@ -40,45 +40,41 @@
// http://www.amillionpixels.us
//
static inline float DistToPt(const float *p,const float *plane)
static inline float DistToPt(const float *p, const float *plane)
{
float x = p[0];
float y = p[1];
float z = p[2];
float d = x*plane[0] + y*plane[1] + z*plane[2] + plane[3];
float d = x * plane[0] + y * plane[1] + z * plane[2] + plane[3];
return d;
}
static PlaneTriResult getSidePlane(const float *p,const float *plane,float epsilon)
static PlaneTriResult getSidePlane(const float *p, const float *plane, float epsilon)
{
float d = DistToPt(p, plane);
float d = DistToPt(p,plane);
if ( (d+epsilon) > 0 )
if ((d + epsilon) > 0)
return PTR_FRONT; // it is 'in front' within the provided epsilon value.
return PTR_BACK;
}
static void add(const float *p,float *dest,unsigned int tstride,unsigned int &pcount)
static void add(const float *p, float *dest, unsigned int tstride, unsigned int &pcount)
{
char *d = (char *) dest;
d = d + pcount*tstride;
dest = (float *) d;
char *d = (char *)dest;
d = d + pcount * tstride;
dest = (float *)d;
dest[0] = p[0];
dest[1] = p[1];
dest[2] = p[2];
pcount++;
assert( pcount <= 4 );
assert(pcount <= 4);
}
// assumes that the points are on opposite sides of the plane!
static void intersect(const float *p1,const float *p2,float *split,const float *plane)
static void intersect(const float *p1, const float *p2, float *split, const float *plane)
{
float dp1 = DistToPt(p1,plane);
float dp1 = DistToPt(p1, plane);
float dir[3];
@@ -86,15 +82,14 @@ static void intersect(const float *p1,const float *p2,float *split,const float *
dir[1] = p2[1] - p1[1];
dir[2] = p2[2] - p1[2];
float dot1 = dir[0]*plane[0] + dir[1]*plane[1] + dir[2]*plane[2];
float dot1 = dir[0] * plane[0] + dir[1] * plane[1] + dir[2] * plane[2];
float dot2 = dp1 - plane[3];
float t = -(plane[3] + dot2 ) / dot1;
split[0] = (dir[0]*t)+p1[0];
split[1] = (dir[1]*t)+p1[1];
split[2] = (dir[2]*t)+p1[2];
float t = -(plane[3] + dot2) / dot1;
split[0] = (dir[0] * t) + p1[0];
split[1] = (dir[1] * t) + p1[1];
split[2] = (dir[2] * t) + p1[2];
}
PlaneTriResult planeTriIntersection(const float *plane, // the plane equation in Ax+By+Cz+D format
@@ -109,31 +104,30 @@ PlaneTriResult planeTriIntersection(const float *plane, // the plane equation
fcount = 0;
bcount = 0;
const char *tsource = (const char *) triangle;
const char *tsource = (const char *)triangle;
// get the three vertices of the triangle.
const float *p1 = (const float *) (tsource);
const float *p2 = (const float *) (tsource+tstride);
const float *p3 = (const float *) (tsource+tstride*2);
const float *p1 = (const float *)(tsource);
const float *p2 = (const float *)(tsource + tstride);
const float *p3 = (const float *)(tsource + tstride * 2);
PlaneTriResult r1 = getSidePlane(p1, plane, epsilon); // compute the side of the plane each vertex is on
PlaneTriResult r2 = getSidePlane(p2, plane, epsilon);
PlaneTriResult r3 = getSidePlane(p3, plane, epsilon);
PlaneTriResult r1 = getSidePlane(p1,plane,epsilon); // compute the side of the plane each vertex is on
PlaneTriResult r2 = getSidePlane(p2,plane,epsilon);
PlaneTriResult r3 = getSidePlane(p3,plane,epsilon);
if ( r1 == r2 && r1 == r3 ) // if all three vertices are on the same side of the plane.
if (r1 == r2 && r1 == r3) // if all three vertices are on the same side of the plane.
{
if ( r1 == PTR_FRONT ) // if all three are in front of the plane, then copy to the 'front' output triangle.
if (r1 == PTR_FRONT) // if all three are in front of the plane, then copy to the 'front' output triangle.
{
add(p1,front,tstride,fcount);
add(p2,front,tstride,fcount);
add(p3,front,tstride,fcount);
add(p1, front, tstride, fcount);
add(p2, front, tstride, fcount);
add(p3, front, tstride, fcount);
}
else
{
add(p1,back,tstride,bcount); // if all three are in 'abck' then copy to the 'back' output triangle.
add(p2,back,tstride,bcount);
add(p3,back,tstride,bcount);
add(p1, back, tstride, bcount); // if all three are in 'abck' then copy to the 'back' output triangle.
add(p2, back, tstride, bcount);
add(p3, back, tstride, bcount);
}
return r1; // if all three points are on the same side of the plane return result
}
@@ -141,98 +135,93 @@ PlaneTriResult planeTriIntersection(const float *plane, // the plane equation
// ok.. we need to split the triangle at the plane.
// First test ray segment P1 to P2
if ( r1 == r2 ) // if these are both on the same side...
if (r1 == r2) // if these are both on the same side...
{
if ( r1 == PTR_FRONT )
if (r1 == PTR_FRONT)
{
add( p1, front, tstride, fcount );
add( p2, front, tstride, fcount );
add(p1, front, tstride, fcount);
add(p2, front, tstride, fcount);
}
else
{
add( p1, back, tstride, bcount );
add( p2, back, tstride, bcount );
add(p1, back, tstride, bcount);
add(p2, back, tstride, bcount);
}
}
else
{
float split[3]; // split the point
intersect(p1,p2,split,plane);
intersect(p1, p2, split, plane);
if ( r1 == PTR_FRONT )
if (r1 == PTR_FRONT)
{
add(p1, front, tstride, fcount);
add(split, front, tstride, fcount);
add(p1, front, tstride, fcount );
add(split, front, tstride, fcount );
add(split, back, tstride, bcount );
add(p2, back, tstride, bcount );
add(split, back, tstride, bcount);
add(p2, back, tstride, bcount);
}
else
{
add(p1, back, tstride, bcount );
add(split, back, tstride, bcount );
add(p1, back, tstride, bcount);
add(split, back, tstride, bcount);
add(split, front, tstride, fcount );
add(p2, front, tstride, fcount );
add(split, front, tstride, fcount);
add(p2, front, tstride, fcount);
}
}
// Next test ray segment P2 to P3
if ( r2 == r3 ) // if these are both on the same side...
if (r2 == r3) // if these are both on the same side...
{
if ( r3 == PTR_FRONT )
if (r3 == PTR_FRONT)
{
add( p3, front, tstride, fcount );
add(p3, front, tstride, fcount);
}
else
{
add( p3, back, tstride, bcount );
add(p3, back, tstride, bcount);
}
}
else
{
float split[3]; // split the point
intersect(p2,p3,split,plane);
intersect(p2, p3, split, plane);
if ( r3 == PTR_FRONT )
if (r3 == PTR_FRONT)
{
add(split, front, tstride, fcount );
add(split, back, tstride, bcount );
add(split, front, tstride, fcount);
add(split, back, tstride, bcount);
add(p3, front, tstride, fcount );
add(p3, front, tstride, fcount);
}
else
{
add(split, front, tstride, fcount );
add(split, back, tstride, bcount );
add(split, front, tstride, fcount);
add(split, back, tstride, bcount);
add(p3, back, tstride, bcount );
add(p3, back, tstride, bcount);
}
}
// Next test ray segment P3 to P1
if ( r3 != r1 ) // if these are both on the same side...
if (r3 != r1) // if these are both on the same side...
{
float split[3]; // split the point
intersect(p3,p1,split,plane);
intersect(p3, p1, split, plane);
if ( r1 == PTR_FRONT )
if (r1 == PTR_FRONT)
{
add(split, front, tstride, fcount );
add(split, back, tstride, bcount );
add(split, front, tstride, fcount);
add(split, back, tstride, bcount);
}
else
{
add(split, front, tstride, fcount );
add(split, back, tstride, bcount );
add(split, front, tstride, fcount);
add(split, back, tstride, bcount);
}
}
return PTR_SPLIT;
}

3
Extras/ConvexDecomposition/planetri.h
View File

@@ -36,8 +36,6 @@
// http://www.amillionpixels.us
//
enum PlaneTriResult
{
PTR_FRONT,
@@ -54,5 +52,4 @@ PlaneTriResult planeTriIntersection(const float *plane, // the plane equation
float *back, // the triangle in back of the plane
unsigned int &bcount); // the number of vertices in the 'back' triangle.
#endif

68
Extras/ConvexDecomposition/raytri.cpp
View File

@@ -41,62 +41,57 @@
// http://www.amillionpixels.us
//
/* a = b - c */
#define vector(a,b,c) \
#define vector(a, b, c) \
(a)[0] = (b)[0] - (c)[0]; \
(a)[1] = (b)[1] - (c)[1]; \
(a)[2] = (b)[2] - (c)[2];
#define innerProduct(v,q) \
#define innerProduct(v, q) \
((v)[0] * (q)[0] + \
(v)[1] * (q)[1] + \
(v)[2] * (q)[2])
#define crossProduct(a,b,c) \
#define crossProduct(a, b, c) \
(a)[0] = (b)[1] * (c)[2] - (c)[1] * (b)[2]; \
(a)[1] = (b)[2] * (c)[0] - (c)[2] * (b)[0]; \
(a)[2] = (b)[0] * (c)[1] - (c)[0] * (b)[1];
bool rayIntersectsTriangle(const float *p,const float *d,const float *v0,const float *v1,const float *v2,float &t)
bool rayIntersectsTriangle(const float *p, const float *d, const float *v0, const float *v1, const float *v2, float &t)
{
float e1[3], e2[3], h[3], s[3], q[3];
float a, f, u, v;
float e1[3],e2[3],h[3],s[3],q[3];
float a,f,u,v;
vector(e1,v1,v0);
vector(e2,v2,v0);
crossProduct(h,d,e2);
a = innerProduct(e1,h);
vector(e1, v1, v0);
vector(e2, v2, v0);
crossProduct(h, d, e2);
a = innerProduct(e1, h);
if (a > -0.00001 && a < 0.00001)
return(false);
return (false);
f = 1/a;
vector(s,p,v0);
u = f * (innerProduct(s,h));
f = 1 / a;
vector(s, p, v0);
u = f * (innerProduct(s, h));
if (u < 0.0 || u > 1.0)
return(false);
return (false);
crossProduct(q,s,e1);
v = f * innerProduct(d,q);
crossProduct(q, s, e1);
v = f * innerProduct(d, q);
if (v < 0.0 || u + v > 1.0)
return(false);
return (false);
// at this stage we can compute t to find out where
// the intersection point is on the line
t = f * innerProduct(e2,q);
t = f * innerProduct(e2, q);
if (t > 0) // ray intersection
return(true);
return (true);
else // this means that there is a line intersection
// but not a ray intersection
return (false);
}
bool lineIntersectsTriangle(const float *rayStart,const float *rayEnd,const float *p1,const float *p2,const float *p3,float *sect)
bool lineIntersectsTriangle(const float *rayStart, const float *rayEnd, const float *p1, const float *p2, const float *p3, float *sect)
{
float dir[3];
@@ -104,25 +99,24 @@ bool lineIntersectsTriangle(const float *rayStart,const float *rayEnd,const floa
dir[1] = rayEnd[1] - rayStart[1];
dir[2] = rayEnd[2] - rayStart[2];
float d = sqrtf(dir[0]*dir[0] + dir[1]*dir[1] + dir[2]*dir[2]);
float d = sqrtf(dir[0] * dir[0] + dir[1] * dir[1] + dir[2] * dir[2]);
float r = 1.0f / d;
dir[0]*=r;
dir[1]*=r;
dir[2]*=r;
dir[0] *= r;
dir[1] *= r;
dir[2] *= r;
float t;
bool ret = rayIntersectsTriangle(rayStart, dir, p1, p2, p3, t );
bool ret = rayIntersectsTriangle(rayStart, dir, p1, p2, p3, t);
if ( ret )
if (ret)
{
if ( t > d )
if (t > d)
{
sect[0] = rayStart[0] + dir[0]*t;
sect[1] = rayStart[1] + dir[1]*t;
sect[2] = rayStart[2] + dir[2]*t;
sect[0] = rayStart[0] + dir[0] * t;
sect[1] = rayStart[1] + dir[1] * t;
sect[2] = rayStart[2] + dir[2] * t;
}
else
{

6
Extras/ConvexDecomposition/raytri.h
View File

@@ -36,10 +36,8 @@
// http://www.amillionpixels.us
//
// returns true if the ray intersects the triangle.
bool lineIntersectsTriangle(const float *rayStart,const float *rayEnd,const float *p1,const float *p2,const float *p3,float *sect);
bool rayIntersectsTriangle(const float *p,const float *d,const float *v0,const float *v1,const float *v2,float &t);
bool lineIntersectsTriangle(const float *rayStart, const float *rayEnd, const float *p1, const float *p2, const float *p3, float *sect);
bool rayIntersectsTriangle(const float *p, const float *d, const float *v0, const float *v1, const float *v2, float &t);
#endif

96
Extras/ConvexDecomposition/splitplane.cpp
View File

@@ -6,7 +6,6 @@
#include <float.h>
#include <math.h>
/*----------------------------------------------------------------------
Copyright (c) 2004 Open Dynamics Framework Group
www.physicstools.org
@@ -53,10 +52,8 @@
namespace ConvexDecomposition
{
static void computePlane(const float *A,const float *B,const float *C,float *plane)
static void computePlane(const float *A, const float *B, const float *C, float *plane)
{
float vx = (B[0] - C[0]);
float vy = (B[1] - C[1]);
float vz = (B[2] - C[2]);
@@ -71,37 +68,34 @@ static void computePlane(const float *A,const float *B,const float *C,float *pla
float mag = sqrtf((vw_x * vw_x) + (vw_y * vw_y) + (vw_z * vw_z));
if ( mag < 0.000001f )
if (mag < 0.000001f)
{
mag = 0;
}
else
{
mag = 1.0f/mag;
mag = 1.0f / mag;
}
float x = vw_x * mag;
float y = vw_y * mag;
float z = vw_z * mag;
float D = 0.0f - ((x*A[0])+(y*A[1])+(z*A[2]));
float D = 0.0f - ((x * A[0]) + (y * A[1]) + (z * A[2]));
plane[0] = x;
plane[1] = y;
plane[2] = z;
plane[3] = D;
}
class Rect3d
{
public:
Rect3d(void) { };
Rect3d(void){};
Rect3d(const float *bmin,const float *bmax)
Rect3d(const float *bmin, const float *bmax)
{
mMin[0] = bmin[0];
mMin[1] = bmin[1];
mMin[2] = bmin[2];
@@ -109,7 +103,6 @@ public:
mMax[0] = bmax[0];
mMax[1] = bmax[1];
mMax[2] = bmax[2];
}
void SetMin(const float *bmin)
@@ -126,14 +119,14 @@ public:
mMax[2] = bmax[2];
}
void SetMin(float x,float y,float z)
void SetMin(float x, float y, float z)
{
mMin[0] = x;
mMin[1] = y;
mMin[2] = z;
}
void SetMax(float x,float y,float z)
void SetMax(float x, float y, float z)
{
mMax[0] = x;
mMax[1] = y;
@@ -150,29 +143,29 @@ void splitRect(unsigned int axis,
Rect3d &b2,
const float *midpoint)
{
switch ( axis )
switch (axis)
{
case 0:
b1.SetMin(source.mMin);
b1.SetMax( midpoint[0], source.mMax[1], source.mMax[2] );
b1.SetMax(midpoint[0], source.mMax[1], source.mMax[2]);
b2.SetMin( midpoint[0], source.mMin[1], source.mMin[2] );
b2.SetMin(midpoint[0], source.mMin[1], source.mMin[2]);
b2.SetMax(source.mMax);
break;
case 1:
b1.SetMin(source.mMin);
b1.SetMax( source.mMax[0], midpoint[1], source.mMax[2] );
b1.SetMax(source.mMax[0], midpoint[1], source.mMax[2]);
b2.SetMin( source.mMin[0], midpoint[1], source.mMin[2] );
b2.SetMin(source.mMin[0], midpoint[1], source.mMin[2]);
b2.SetMax(source.mMax);
break;
case 2:
b1.SetMin(source.mMin);
b1.SetMax( source.mMax[0], source.mMax[1], midpoint[2] );
b1.SetMax(source.mMax[0], source.mMax[1], midpoint[2]);
b2.SetMin( source.mMin[0], source.mMin[1], midpoint[2] );
b2.SetMin(source.mMin[0], source.mMin[1], midpoint[2]);
b2.SetMax(source.mMax);
break;
@@ -186,39 +179,37 @@ bool computeSplitPlane(unsigned int vcount,
ConvexDecompInterface *callback,
float *plane)
{
float bmin[3] = { 1e9, 1e9, 1e9 };
float bmax[3] = { -1e9, -1e9, -1e9 };
float bmin[3] = {1e9, 1e9, 1e9};
float bmax[3] = {-1e9, -1e9, -1e9};
for (unsigned int i=0; i<vcount; i++)
for (unsigned int i = 0; i < vcount; i++)
{
const float *p = &vertices[i*3];
const float *p = &vertices[i * 3];
if ( p[0] < bmin[0] ) bmin[0] = p[0];
if ( p[1] < bmin[1] ) bmin[1] = p[1];
if ( p[2] < bmin[2] ) bmin[2] = p[2];
if ( p[0] > bmax[0] ) bmax[0] = p[0];
if ( p[1] > bmax[1] ) bmax[1] = p[1];
if ( p[2] > bmax[2] ) bmax[2] = p[2];
if (p[0] < bmin[0]) bmin[0] = p[0];
if (p[1] < bmin[1]) bmin[1] = p[1];
if (p[2] < bmin[2]) bmin[2] = p[2];
if (p[0] > bmax[0]) bmax[0] = p[0];
if (p[1] > bmax[1]) bmax[1] = p[1];
if (p[2] > bmax[2]) bmax[2] = p[2];
}
float dx = bmax[0] - bmin[0];
float dy = bmax[1] - bmin[1];
float dz = bmax[2] - bmin[2];
float laxis = dx;
unsigned int axis = 0;
if ( dy > dx )
if (dy > dx)
{
axis = 1;
laxis = dy;
}
if ( dz > dx && dz > dy )
if (dz > dx && dz > dy)
{
axis = 2;
laxis = dz;
@@ -228,27 +219,26 @@ bool computeSplitPlane(unsigned int vcount,
float p2[3];
float p3[3];
p3[0] = p2[0] = p1[0] = bmin[0] + dx*0.5f;
p3[1] = p2[1] = p1[1] = bmin[1] + dy*0.5f;
p3[2] = p2[2] = p1[2] = bmin[2] + dz*0.5f;
p3[0] = p2[0] = p1[0] = bmin[0] + dx * 0.5f;
p3[1] = p2[1] = p1[1] = bmin[1] + dy * 0.5f;
p3[2] = p2[2] = p1[2] = bmin[2] + dz * 0.5f;
Rect3d b(bmin,bmax);
Rect3d b(bmin, bmax);
Rect3d b1,b2;
Rect3d b1, b2;
splitRect(axis,b,b1,b2,p1);
splitRect(axis, b, b1, b2, p1);
// callback->ConvexDebugBound(b1.mMin,b1.mMax,0x00FF00);
// callback->ConvexDebugBound(b2.mMin,b2.mMax,0xFFFF00);
// callback->ConvexDebugBound(b1.mMin,b1.mMax,0x00FF00);
// callback->ConvexDebugBound(b2.mMin,b2.mMax,0xFFFF00);
switch ( axis )
switch (axis)
{
case 0:
p2[1] = bmin[1];
p2[2] = bmin[2];
if ( dz > dy )
if (dz > dy)
{
p3[1] = bmax[1];
p3[2] = bmin[2];
@@ -264,7 +254,7 @@ bool computeSplitPlane(unsigned int vcount,
p2[0] = bmin[0];
p2[2] = bmin[2];
if ( dx > dz )
if (dx > dz)
{
p3[0] = bmax[0];
p3[2] = bmin[2];
@@ -280,7 +270,7 @@ bool computeSplitPlane(unsigned int vcount,
p2[0] = bmin[0];
p2[1] = bmin[1];
if ( dx > dy )
if (dx > dy)
{
p3[0] = bmax[0];
p3[1] = bmin[1];
@@ -294,13 +284,11 @@ bool computeSplitPlane(unsigned int vcount,
break;
}
// callback->ConvexDebugTri(p1,p2,p3,0xFF0000);
// callback->ConvexDebugTri(p1,p2,p3,0xFF0000);
computePlane(p1,p2,p3,plane);
computePlane(p1, p2, p3, plane);
return true;
}
}
} // namespace ConvexDecomposition

6
Extras/ConvexDecomposition/splitplane.h
View File

@@ -39,11 +39,8 @@
// http://www.amillionpixels.us
//
namespace ConvexDecomposition
{
class ConvexDecompInterface;
bool computeSplitPlane(unsigned int vcount,
@@ -53,7 +50,6 @@ bool computeSplitPlane(unsigned int vcount,
ConvexDecompInterface *callback,
float *plane);
}
} // namespace ConvexDecomposition
#endif

113
Extras/ConvexDecomposition/vlookup.cpp
View File

@@ -4,13 +4,12 @@
#include <string.h>
#include <assert.h>
#pragma warning(disable:4786)
#pragma warning(disable : 4786)
#include <vector>
#include <map>
#include <set>
/*----------------------------------------------------------------------
Copyright (c) 2004 Open Dynamics Framework Group
www.physicstools.org
@@ -107,18 +106,14 @@
// You could easily modify this code to support other vertex
// formats with any number of interpolants.
#include "vlookup.h"
namespace Vlookup
{
class VertexPosition
{
public:
VertexPosition(void) { };
VertexPosition(void){};
VertexPosition(const float *p)
{
mPos[0] = p[0];
@@ -126,14 +121,13 @@ public:
mPos[2] = p[2];
};
void Set(int index,const float *pos)
void Set(int index, const float *pos)
{
const float * p = &pos[index*3];
const float *p = &pos[index * 3];
mPos[0] = p[0];
mPos[1] = p[1];
mPos[2] = p[2];
};
float GetX(void) const { return mPos[0]; };
@@ -143,7 +137,7 @@ public:
float mPos[3];
};
typedef std::vector< VertexPosition > VertexVector;
typedef std::vector<VertexPosition> VertexVector;
struct Tracker
{
@@ -155,7 +149,7 @@ struct Tracker
mList = 0;
}
void SetSearch(const VertexPosition& match,VertexVector *list)
void SetSearch(const VertexPosition &match, VertexVector *list)
{
mFind = match;
mList = list;
@@ -165,9 +159,9 @@ struct Tracker
struct VertexID
{
int mID;
Tracker* mTracker;
Tracker *mTracker;
VertexID(int ID, Tracker* Tracker)
VertexID(int ID, Tracker *Tracker)
{
mID = ID;
mTracker = Tracker;
@@ -177,46 +171,45 @@ struct VertexID
class VertexLess
{
public:
bool operator()(VertexID v1,VertexID v2) const;
bool operator()(VertexID v1, VertexID v2) const;
private:
const VertexPosition& Get(VertexID index) const
const VertexPosition &Get(VertexID index) const
{
if ( index.mID == -1 ) return index.mTracker->mFind;
if (index.mID == -1) return index.mTracker->mFind;
VertexVector &vlist = *index.mTracker->mList;
return vlist[index.mID];
}
};
template <class Type> class VertexPool
template <class Type>
class VertexPool
{
public:
typedef std::set<VertexID, VertexLess > VertexSet;
typedef std::vector< Type > VertexVector;
typedef std::set<VertexID, VertexLess> VertexSet;
typedef std::vector<Type> VertexVector;
int getVertex(const Type& vtx)
int getVertex(const Type &vtx)
{
mTracker.SetSearch(vtx,&mVtxs);
mTracker.SetSearch(vtx, &mVtxs);
VertexSet::iterator found;
found = mVertSet.find( VertexID(-1,&mTracker) );
if ( found != mVertSet.end() )
found = mVertSet.find(VertexID(-1, &mTracker));
if (found != mVertSet.end())
{
return found->mID;
}
int idx = (int)mVtxs.size();
mVtxs.push_back( vtx );
mVertSet.insert( VertexID(idx,&mTracker) );
mVtxs.push_back(vtx);
mVertSet.insert(VertexID(idx, &mTracker));
return idx;
};
const float * GetPos(int idx) const
const float *GetPos(int idx) const
{
return mVtxs[idx].mPos;
}
const Type& Get(int idx) const
const Type &Get(int idx) const
{
return mVtxs[idx];
};
@@ -233,9 +226,9 @@ public:
mVtxs.reserve(reservesize);
};
const VertexVector& GetVertexList(void) const { return mVtxs; };
const VertexVector &GetVertexList(void) const { return mVtxs; };
void Set(const Type& vtx)
void Set(const Type &vtx)
{
mVtxs.push_back(vtx);
}
@@ -245,8 +238,7 @@ public:
return mVtxs.size();
};
Type * getBuffer(void)
Type *getBuffer(void)
{
return &mVtxs[0];
};
@@ -257,70 +249,63 @@ private:
Tracker mTracker;
};
bool VertexLess::operator()(VertexID v1,VertexID v2) const
bool VertexLess::operator()(VertexID v1, VertexID v2) const
{
const VertexPosition &a = Get(v1);
const VertexPosition &b = Get(v2);
const VertexPosition& a = Get(v1);
const VertexPosition& b = Get(v2);
int ixA = (int)(a.GetX() * 10000.0f);
int ixB = (int)(b.GetX() * 10000.0f);
int ixA = (int) (a.GetX()*10000.0f);
int ixB = (int) (b.GetX()*10000.0f);
if (ixA < ixB) return true;
if (ixA > ixB) return false;
if ( ixA < ixB ) return true;
if ( ixA > ixB ) return false;
int iyA = (int)(a.GetY() * 10000.0f);
int iyB = (int)(b.GetY() * 10000.0f);
int iyA = (int) (a.GetY()*10000.0f);
int iyB = (int) (b.GetY()*10000.0f);
if (iyA < iyB) return true;
if (iyA > iyB) return false;
if ( iyA < iyB ) return true;
if ( iyA > iyB ) return false;
int izA = (int) (a.GetZ()*10000.0f);
int izB = (int) (b.GetZ()*10000.0f);
if ( izA < izB ) return true;
if ( izA > izB ) return false;
int izA = (int)(a.GetZ() * 10000.0f);
int izB = (int)(b.GetZ() * 10000.0f);
if (izA < izB) return true;
if (izA > izB) return false;
return false;
}
}
} // namespace Vlookup
using namespace Vlookup;
VertexLookup Vl_createVertexLookup(void)
{
VertexLookup ret = new VertexPool< VertexPosition >;
VertexLookup ret = new VertexPool<VertexPosition>;
return ret;
}
void Vl_releaseVertexLookup(VertexLookup vlook)
{
VertexPool< VertexPosition > *vp = (VertexPool< VertexPosition > *) vlook;
VertexPool<VertexPosition> *vp = (VertexPool<VertexPosition> *)vlook;
delete vp;
}
unsigned int Vl_getIndex(VertexLookup vlook,const float *pos) // get index.
unsigned int Vl_getIndex(VertexLookup vlook, const float *pos) // get index.
{
VertexPool< VertexPosition > *vp = (VertexPool< VertexPosition > *) vlook;
VertexPool<VertexPosition> *vp = (VertexPool<VertexPosition> *)vlook;
VertexPosition p(pos);
return vp->getVertex(p);
}
const float * Vl_getVertices(VertexLookup vlook)
const float *Vl_getVertices(VertexLookup vlook)
{
VertexPool< VertexPosition > *vp = (VertexPool< VertexPosition > *) vlook;
VertexPool<VertexPosition> *vp = (VertexPool<VertexPosition> *)vlook;
return vp->GetPos(0);
}
unsigned int Vl_getVcount(VertexLookup vlook)
{
VertexPool< VertexPosition > *vp = (VertexPool< VertexPosition > *) vlook;
VertexPool<VertexPosition> *vp = (VertexPool<VertexPosition> *)vlook;
return vp->GetVertexCount();
}

10
Extras/ConvexDecomposition/vlookup.h
View File

@@ -2,7 +2,6 @@
#define VLOOKUP_H
/*----------------------------------------------------------------------
Copyright (c) 2004 Open Dynamics Framework Group
www.physicstools.org
@@ -37,7 +36,6 @@
// http://www.amillionpixels.us
//
// CodeSnippet provided by John W. Ratcliff
// on March 23, 2006.
//
@@ -105,15 +103,13 @@
// Uses an STL set to create an index table for a bunch of vertex positions
// used typically to re-index a collection of raw triangle data.
typedef void * VertexLookup;
typedef void *VertexLookup;
VertexLookup Vl_createVertexLookup(void);
void Vl_releaseVertexLookup(VertexLookup vlook);
unsigned int Vl_getIndex(VertexLookup vlook,const float *pos); // get index.
const float * Vl_getVertices(VertexLookup vlook);
unsigned int Vl_getIndex(VertexLookup vlook, const float *pos); // get index.
const float *Vl_getVertices(VertexLookup vlook);
unsigned int Vl_getVcount(VertexLookup vlook);
#endif

92
Extras/GIMPACTUtils/btGImpactConvexDecompositionShape.cpp
View File

@@ -26,17 +26,16 @@ subject to the following restrictions:
class GIM_ConvexDecomposition : public ConvexDecomposition::ConvexDecompInterface
{
protected:
btGImpactConvexDecompositionShape * m_compoundShape;
btGImpactConvexDecompositionShape* m_compoundShape;
btAlignedObjectArray<btCollisionShape*> m_convexShapes;
public:
int mBaseCount;
int mHullCount;
bool m_transformSubShapes;
GIM_ConvexDecomposition(btGImpactConvexDecompositionShape * compoundShape,bool transformSubShapes)
GIM_ConvexDecomposition(btGImpactConvexDecompositionShape* compoundShape, bool transformSubShapes)
{
mBaseCount = 0;
mHullCount = 0;
@@ -47,43 +46,39 @@ public:
virtual ~GIM_ConvexDecomposition()
{
int i;
for (i=0;i<m_convexShapes.size();i++)
for (i = 0; i < m_convexShapes.size(); i++)
{
btCollisionShape* shape = m_convexShapes[i];
delete shape;
}
}
virtual void ConvexDecompResult(ConvexDecomposition::ConvexResult &result)
virtual void ConvexDecompResult(ConvexDecomposition::ConvexResult& result)
{
//calc centroid, to shift vertices around center of mass
btVector3 centroid(0,0,0);
btVector3 centroid(0, 0, 0);
btAlignedObjectArray<btVector3> vertices;
if(m_transformSubShapes)
if (m_transformSubShapes)
{
//const unsigned int *src = result.mHullIndices;
for (unsigned int i=0; i<result.mHullVcount; i++)
for (unsigned int i = 0; i < result.mHullVcount; i++)
{
btVector3 vertex(result.mHullVertices[i*3],result.mHullVertices[i*3+1],result.mHullVertices[i*3+2]);
btVector3 vertex(result.mHullVertices[i * 3], result.mHullVertices[i * 3 + 1], result.mHullVertices[i * 3 + 2]);
centroid += vertex;
}
centroid *= 1.f/(float(result.mHullVcount) );
centroid *= 1.f / (float(result.mHullVcount));
}
// collect vertices
for (unsigned int i=0; i<result.mHullVcount; i++)
for (unsigned int i = 0; i < result.mHullVcount; i++)
{
btVector3 vertex(result.mHullVertices[i*3],result.mHullVertices[i*3+1],result.mHullVertices[i*3+2]);
btVector3 vertex(result.mHullVertices[i * 3], result.mHullVertices[i * 3 + 1], result.mHullVertices[i * 3 + 2]);
if(m_transformSubShapes)
if (m_transformSubShapes)
{
vertex -= centroid ;
vertex -= centroid;
}
vertices.push_back(vertex);
}
@@ -91,12 +86,12 @@ public:
// build convex shape
btCollisionShape* convexShape = new btConvexHullShape(
&(vertices[0].getX()),vertices.size(),sizeof(btVector3));
&(vertices[0].getX()), vertices.size(), sizeof(btVector3));
m_convexShapes.push_back(convexShape);
convexShape->setMargin(m_compoundShape->getMargin());
if(m_transformSubShapes)
if (m_transformSubShapes)
{
btTransform trans;
trans.setIdentity();
@@ -104,7 +99,7 @@ public:
// add convex shape
m_compoundShape->addChildShape(trans,convexShape);
m_compoundShape->addChildShape(trans, convexShape);
}
else
{
@@ -114,7 +109,7 @@ public:
// add convex shape
m_compoundShape->addChildShape(trans,convexShape);
m_compoundShape->addChildShape(trans, convexShape);
//m_compoundShape->addChildShape(convexShape);
}
@@ -122,35 +117,32 @@ public:
void processDecomposition(int part)
{
btGImpactMeshShapePart::TrimeshPrimitiveManager * trimeshInterface =
btGImpactMeshShapePart::TrimeshPrimitiveManager* trimeshInterface =
m_compoundShape->getTrimeshInterface(part);
trimeshInterface->lock();
//collect vertices
btAlignedObjectArray<float> vertices;
vertices.reserve(trimeshInterface->get_vertex_count()*3);
vertices.reserve(trimeshInterface->get_vertex_count() * 3);
for(int vi = 0;vi<trimeshInterface->get_vertex_count();vi++)
for (int vi = 0; vi < trimeshInterface->get_vertex_count(); vi++)
{
btVector3 vec;
trimeshInterface->get_vertex(vi,vec);
trimeshInterface->get_vertex(vi, vec);
vertices.push_back(vec[0]);
vertices.push_back(vec[1]);
vertices.push_back(vec[2]);
}
//collect indices
btAlignedObjectArray<unsigned int> indices;
indices.reserve(trimeshInterface->get_primitive_count()*3);
indices.reserve(trimeshInterface->get_primitive_count() * 3);
for(int i = 0;i<trimeshInterface->get_primitive_count();i++)
for (int i = 0; i < trimeshInterface->get_primitive_count(); i++)
{
unsigned int i0, i1,i2;
trimeshInterface->get_indices(i,i0,i1,i2);
unsigned int i0, i1, i2;
trimeshInterface->get_indices(i, i0, i1, i2);
indices.push_back(i0);
indices.push_back(i1);
indices.push_back(i2);
@@ -158,15 +150,12 @@ public:
trimeshInterface->unlock();
unsigned int depth = 5;
float cpercent = 5;
float ppercent = 15;
unsigned int maxv = 16;
float skinWidth = 0.0f;
ConvexDecomposition::DecompDesc desc;
desc.mVcount = trimeshInterface->get_vertex_count();
desc.mVertices = &vertices[0];
@@ -184,21 +173,14 @@ public:
ConvexBuilder cb(desc.mCallback);
cb.process(desc);
}
};
void btGImpactConvexDecompositionShape::buildConvexDecomposition(bool transformSubShapes)
{
m_decomposition = new GIM_ConvexDecomposition(this,transformSubShapes);
m_decomposition = new GIM_ConvexDecomposition(this, transformSubShapes);
int part_count = m_trimeshInterfaces.size();
for (int i = 0;i<part_count ;i++ )
for (int i = 0; i < part_count; i++)
{
m_decomposition->processDecomposition(i);
}
@@ -210,31 +192,27 @@ btGImpactConvexDecompositionShape::~btGImpactConvexDecompositionShape()
{
delete m_decomposition;
}
void btGImpactConvexDecompositionShape::processAllTriangles(btTriangleCallback* callback,const btVector3& aabbMin,const btVector3& aabbMax) const
void btGImpactConvexDecompositionShape::processAllTriangles(btTriangleCallback* callback, const btVector3& aabbMin, const btVector3& aabbMax) const
{
int part_count = m_trimeshInterfaces.size();
for (int part = 0;part<part_count ;part++ )
for (int part = 0; part < part_count; part++)
{
void * ptr = (void * )&m_trimeshInterfaces[part];
void* ptr = (void*)&m_trimeshInterfaces[part];
btGImpactMeshShapePart::TrimeshPrimitiveManager * trimeshInterface =
static_cast<btGImpactMeshShapePart::TrimeshPrimitiveManager *>(ptr);
btGImpactMeshShapePart::TrimeshPrimitiveManager* trimeshInterface =
static_cast<btGImpactMeshShapePart::TrimeshPrimitiveManager*>(ptr);
trimeshInterface->lock();
btPrimitiveTriangle triangle;
int i = trimeshInterface->get_primitive_count();
while(i--)
while (i--)
{
trimeshInterface->get_primitive_triangle(i,triangle);
callback->processTriangle(triangle.m_vertices,part,i);
trimeshInterface->get_primitive_triangle(i, triangle);
callback->processTriangle(triangle.m_vertices, part, i);
}
trimeshInterface->unlock();
}
}

24
Extras/GIMPACTUtils/btGImpactConvexDecompositionShape.h
View File

@@ -24,11 +24,8 @@ subject to the following restrictions:
#ifndef GIMPACT_CONVEX_DECOMPOSITION_SHAPE_H
#define GIMPACT_CONVEX_DECOMPOSITION_SHAPE_H
#include "BulletCollision/Gimpact/btGImpactShape.h" // box tree class
//! This class creates a decomposition from a trimesh.
/*!
@@ -41,15 +38,14 @@ protected:
class GIM_ConvexDecomposition* m_decomposition;
void buildConvexDecomposition(bool transformSubShapes);
public:
btGImpactConvexDecompositionShape(
btStridingMeshInterface * meshInterface,
const btVector3 & mesh_scale,
btScalar margin = btScalar(0.01),bool children_has_transform = true)
:btGImpactCompoundShape(children_has_transform)
btStridingMeshInterface* meshInterface,
const btVector3& mesh_scale,
btScalar margin = btScalar(0.01), bool children_has_transform = true)
: btGImpactCompoundShape(children_has_transform)
{
m_collisionMargin = margin;
btGImpactMeshShapePart::TrimeshPrimitiveManager triInterface;
@@ -59,7 +55,7 @@ public:
//add parts
int part_count = meshInterface->getNumSubParts();
for (int i=0;i< part_count;i++ )
for (int i = 0; i < part_count; i++)
{
triInterface.m_part = i;
m_trimeshInterfaces.push_back(triInterface);
@@ -72,16 +68,12 @@ public:
virtual ~btGImpactConvexDecompositionShape();
SIMD_FORCE_INLINE btGImpactMeshShapePart::TrimeshPrimitiveManager * getTrimeshInterface(int part)
SIMD_FORCE_INLINE btGImpactMeshShapePart::TrimeshPrimitiveManager* getTrimeshInterface(int part)
{
return &m_trimeshInterfaces[part];
}
virtual void processAllTriangles(btTriangleCallback* callback,const btVector3& aabbMin,const btVector3& aabbMax) const;
virtual void processAllTriangles(btTriangleCallback* callback, const btVector3& aabbMin, const btVector3& aabbMax) const;
};
#endif //GIMPACT_MESH_SHAPE_H

86
Extras/HACD/hacdCircularList.h
View File

@@ -15,51 +15,57 @@
#pragma once
#ifndef HACD_CIRCULAR_LIST_H
#define HACD_CIRCULAR_LIST_H
#include<stdlib.h>
#include <stdlib.h>
#include "hacdVersion.h"
namespace HACD
{
//! CircularListElement class.
template < typename T > class CircularListElement
{
public:
T & GetData() { return m_data; }
const T & GetData() const { return m_data; }
CircularListElement<T> * & GetNext() { return m_next; }
CircularListElement<T> * & GetPrev() { return m_prev; }
const CircularListElement<T> * & GetNext() const { return m_next; }
const CircularListElement<T> * & GetPrev() const { return m_prev; }
//! CircularListElement class.
template <typename T>
class CircularListElement
{
public:
T& GetData() { return m_data; }
const T& GetData() const { return m_data; }
CircularListElement<T>*& GetNext() { return m_next; }
CircularListElement<T>*& GetPrev() { return m_prev; }
const CircularListElement<T>*& GetNext() const { return m_next; }
const CircularListElement<T>*& GetPrev() const { return m_prev; }
//! Constructor
CircularListElement(const T & data) {m_data = data;}
CircularListElement(void){}
CircularListElement(const T& data) { m_data = data; }
CircularListElement(void) {}
//! Destructor
~CircularListElement(void){}
private:
~CircularListElement(void) {}
private:
T m_data;
CircularListElement<T> * m_next;
CircularListElement<T> * m_prev;
CircularListElement<T>* m_next;
CircularListElement<T>* m_prev;
CircularListElement(const CircularListElement & rhs);
};
CircularListElement(const CircularListElement& rhs);
};
//! CircularList class.
template < typename T > class CircularList
{
public:
CircularListElement<T> * & GetHead() { return m_head;}
const CircularListElement<T> * GetHead() const { return m_head;}
bool IsEmpty() const { return (m_size == 0);}
//! CircularList class.
template <typename T>
class CircularList
{
public:
CircularListElement<T>*& GetHead() { return m_head; }
const CircularListElement<T>* GetHead() const { return m_head; }
bool IsEmpty() const { return (m_size == 0); }
size_t GetSize() const { return m_size; }
const T & GetData() const { return m_head->GetData(); }
T & GetData() { return m_head->GetData();}
bool Delete() ;
bool Delete(CircularListElement<T> * element);
CircularListElement<T> * Add(const T * data = 0);
CircularListElement<T> * Add(const T & data);
const T& GetData() const { return m_head->GetData(); }
T& GetData() { return m_head->GetData(); }
bool Delete();
bool Delete(CircularListElement<T>* element);
CircularListElement<T>* Add(const T* data = 0);
CircularListElement<T>* Add(const T& data);
bool Next();
bool Prev();
void Clear() { while(Delete());};
void Clear()
{
while (Delete())
;
};
const CircularList& operator=(const CircularList& rhs);
//! Constructor
CircularList()
@@ -69,12 +75,12 @@ namespace HACD
}
CircularList(const CircularList& rhs);
//! Destructor
virtual ~CircularList(void) {Clear();};
private:
CircularListElement<T> * m_head; //!< a pointer to the head of the circular list
size_t m_size; //!< number of element in the circular list
virtual ~CircularList(void) { Clear(); };
};
}
private:
CircularListElement<T>* m_head; //!< a pointer to the head of the circular list
size_t m_size; //!< number of element in the circular list
};
} // namespace HACD
#include "hacdCircularList.inl"
#endif

122
Extras/HACD/hacdGraph.cpp
View File

@@ -15,9 +15,8 @@
#include "hacdGraph.h"
namespace HACD
{
GraphEdge::GraphEdge()
{
GraphEdge::GraphEdge()
{
m_convexHull = 0;
m_v1 = -1;
m_v2 = -1;
@@ -28,10 +27,10 @@ namespace HACD
m_concavity = 0;
m_volume = 0;
m_deleted = false;
}
}
GraphVertex::GraphVertex()
{
GraphVertex::GraphVertex()
{
m_convexHull = 0;
m_name = -1;
m_cc = -1;
@@ -41,52 +40,52 @@ namespace HACD
m_concavity = 0;
m_volume = 0;
m_deleted = false;
}
}
bool GraphVertex::DeleteEdge(long name)
{
bool GraphVertex::DeleteEdge(long name)
{
std::set<long>::iterator it = m_edges.find(name);
if (it != m_edges.end() )
if (it != m_edges.end())
{
m_edges.erase(it);
return true;
}
return false;
}
}
Graph::Graph()
{
Graph::Graph()
{
m_nV = 0;
m_nE = 0;
m_nCCs = 0;
}
}
Graph::~Graph()
{
}
Graph::~Graph()
{
}
void Graph::Allocate(size_t nV, size_t nE)
{
void Graph::Allocate(size_t nV, size_t nE)
{
m_nV = nV;
m_edges.reserve(nE);
m_vertices.resize(nV);
for(size_t i = 0; i < nV; i++)
for (size_t i = 0; i < nV; i++)
{
m_vertices[i].m_name = static_cast<long>(i);
}
}
}
long Graph::AddVertex()
{
long Graph::AddVertex()
{
size_t name = m_vertices.size();
m_vertices.resize(name+1);
m_vertices.resize(name + 1);
m_vertices[name].m_name = static_cast<long>(name);
m_nV++;
return static_cast<long>(name);
}
}
long Graph::AddEdge(long v1, long v2)
{
long Graph::AddEdge(long v1, long v2)
{
size_t name = m_edges.size();
m_edges.push_back(GraphEdge());
m_edges[name].m_name = static_cast<long>(name);
@@ -96,10 +95,10 @@ namespace HACD
m_vertices[v2].AddEdge(static_cast<long>(name));
m_nE++;
return static_cast<long>(name);
}
}
bool Graph::DeleteEdge(long name)
{
bool Graph::DeleteEdge(long name)
{
if (name < static_cast<long>(m_edges.size()))
{
long v1 = m_edges[name].m_v1;
@@ -115,9 +114,9 @@ namespace HACD
return true;
}
return false;
}
bool Graph::DeleteVertex(long name)
{
}
bool Graph::DeleteVertex(long name)
{
if (name < static_cast<long>(m_vertices.size()))
{
m_vertices[name].m_deleted = true;
@@ -131,9 +130,9 @@ namespace HACD
return true;
}
return false;
}
bool Graph::EdgeCollapse(long v1, long v2)
{
}
bool Graph::EdgeCollapse(long v1, long v2)
{
long edgeToDelete = GetEdgeID(v1, v2);
if (edgeToDelete >= 0)
{
@@ -146,11 +145,11 @@ namespace HACD
m_vertices[v2].m_ancestors.begin(),
m_vertices[v2].m_ancestors.end());
// update adjacency information
std::set<long> & v1Edges = m_vertices[v1].m_edges;
std::set<long>& v1Edges = m_vertices[v1].m_edges;
std::set<long>::const_iterator ed(m_vertices[v2].m_edges.begin());
std::set<long>::const_iterator itEnd(m_vertices[v2].m_edges.end());
long b = -1;
for(; ed != itEnd; ++ed)
for (; ed != itEnd; ++ed)
{
if (m_edges[*ed].m_v1 == v2)
{
@@ -178,40 +177,39 @@ namespace HACD
return true;
}
return false;
}
}
long Graph::GetEdgeID(long v1, long v2) const
{
long Graph::GetEdgeID(long v1, long v2) const
{
if (v1 < static_cast<long>(m_vertices.size()) && !m_vertices[v1].m_deleted)
{
std::set<long>::const_iterator ed(m_vertices[v1].m_edges.begin());
std::set<long>::const_iterator itEnd(m_vertices[v1].m_edges.end());
for(; ed != itEnd; ++ed)
for (; ed != itEnd; ++ed)
{
if ( (m_edges[*ed].m_v1 == v2) ||
(m_edges[*ed].m_v2 == v2) )
if ((m_edges[*ed].m_v1 == v2) ||
(m_edges[*ed].m_v2 == v2))
{
return m_edges[*ed].m_name;
}
}
}
return -1;
}
}
void Graph::Print() const
{
void Graph::Print() const
{
std::cout << "-----------------------------" << std::endl;
std::cout << "vertices (" << m_nV << ")" << std::endl;
for (size_t v = 0; v < m_vertices.size(); ++v)
{
const GraphVertex & currentVertex = m_vertices[v];
const GraphVertex& currentVertex = m_vertices[v];
if (!m_vertices[v].m_deleted)
{
std::cout << currentVertex.m_name << "\t";
std::set<long>::const_iterator ed(currentVertex.m_edges.begin());
std::set<long>::const_iterator itEnd(currentVertex.m_edges.end());
for(; ed != itEnd; ++ed)
for (; ed != itEnd; ++ed)
{
std::cout << "(" << m_edges[*ed].m_v1 << "," << m_edges[*ed].m_v2 << ") ";
}
@@ -222,25 +220,25 @@ namespace HACD
std::cout << "vertices (" << m_nE << ")" << std::endl;
for (size_t e = 0; e < m_edges.size(); ++e)
{
const GraphEdge & currentEdge = m_edges[e];
const GraphEdge& currentEdge = m_edges[e];
if (!m_edges[e].m_deleted)
{
std::cout << currentEdge.m_name << "\t("
<< m_edges[e].m_v1 << ","
<< m_edges[e].m_v2 << ") "<< std::endl;
<< m_edges[e].m_v2 << ") " << std::endl;
}
}
}
void Graph::Clear()
{
}
void Graph::Clear()
{
m_vertices.clear();
m_edges.clear();
m_nV = 0;
m_nE = 0;
}
}
long Graph::ExtractCCs()
{
long Graph::ExtractCCs()
{
// all CCs to -1
for (size_t v = 0; v < m_vertices.size(); ++v)
{
@@ -263,11 +261,11 @@ namespace HACD
temp.push_back(m_vertices[v].m_name);
while (temp.size())
{
long vertex = temp[temp.size()-1];
long vertex = temp[temp.size() - 1];
temp.pop_back();
std::set<long>::const_iterator ed(m_vertices[vertex].m_edges.begin());
std::set<long>::const_iterator itEnd(m_vertices[vertex].m_edges.end());
for(; ed != itEnd; ++ed)
for (; ed != itEnd; ++ed)
{
if (m_edges[*ed].m_v1 == vertex)
{
@@ -277,7 +275,7 @@ namespace HACD
{
v2 = m_edges[*ed].m_v1;
}
if ( !m_vertices[v2].m_deleted && m_vertices[v2].m_cc == -1)
if (!m_vertices[v2].m_deleted && m_vertices[v2].m_cc == -1)
{
m_vertices[v2].m_cc = static_cast<long>(m_nCCs);
temp.push_back(v2);
@@ -288,5 +286,5 @@ namespace HACD
}
}
return static_cast<long>(m_nCCs);
}
}
} // namespace HACD

57
Extras/HACD/hacdGraph.h
View File

@@ -24,14 +24,14 @@
namespace HACD
{
class GraphVertex;
class GraphEdge;
class Graph;
class HACD;
class GraphVertex;
class GraphEdge;
class Graph;
class HACD;
class GraphVertex
{
public:
class GraphVertex
{
public:
bool AddEdge(long name)
{
m_edges.insert(name);
@@ -39,8 +39,9 @@ namespace HACD
}
bool DeleteEdge(long name);
GraphVertex();
~GraphVertex(){ delete m_convexHull;};
private:
~GraphVertex() { delete m_convexHull; };
private:
long m_name;
long m_cc;
std::set<long> m_edges;
@@ -53,21 +54,21 @@ namespace HACD
double m_volume;
double m_perimeter;
double m_concavity;
ICHull * m_convexHull;
ICHull* m_convexHull;
std::set<unsigned long long> m_boudaryEdges;
friend class GraphEdge;
friend class Graph;
friend class HACD;
};
};
class GraphEdge
{
public:
class GraphEdge
{
public:
GraphEdge();
~GraphEdge(){delete m_convexHull;};
private:
~GraphEdge() { delete m_convexHull; };
private:
long m_name;
long m_v1;
long m_v2;
@@ -77,22 +78,20 @@ namespace HACD
double m_volume;
double m_perimeter;
double m_concavity;
ICHull * m_convexHull;
ICHull* m_convexHull;
std::set<unsigned long long> m_boudaryEdges;
bool m_deleted;
friend class GraphVertex;
friend class Graph;
friend class HACD;
};
};
class Graph
{
public:
size_t GetNEdges() const { return m_nE;}
size_t GetNVertices() const { return m_nV;}
class Graph
{
public:
size_t GetNEdges() const { return m_nE; }
size_t GetNVertices() const { return m_nV; }
bool EdgeCollapse(long v1, long v2);
long AddVertex();
long AddEdge(long v1, long v2);
@@ -107,7 +106,7 @@ namespace HACD
virtual ~Graph();
void Allocate(size_t nV, size_t nE);
private:
private:
size_t m_nCCs;
size_t m_nV;
size_t m_nE;
@@ -115,6 +114,6 @@ namespace HACD
std::vector<GraphVertex> m_vertices;
friend class HACD;
};
}
};
} // namespace HACD
#endif

300
Extras/HACD/hacdHACD.cpp
View File

@@ -26,16 +26,16 @@
#include <limits>
#include "assert.h"
bool gCancelRequest=false;
bool gCancelRequest = false;
namespace HACD
{
double HACD::Concavity(ICHull & ch, std::map<long, DPoint> & distPoints)
{
double HACD::Concavity(ICHull& ch, std::map<long, DPoint>& distPoints)
{
double concavity = 0.0;
double distance = 0.0;
std::map<long, DPoint>::iterator itDP(distPoints.begin());
std::map<long, DPoint>::iterator itDPEnd(distPoints.end());
for(; itDP != itDPEnd; ++itDP)
for (; itDP != itDPEnd; ++itDP)
{
if (!(itDP->second).m_computed)
{
@@ -45,7 +45,7 @@ namespace HACD
}
else
{
distance = ch.ComputeDistance(itDP->first, m_facePoints[-itDP->first-1], m_faceNormals[-itDP->first-1], (itDP->second).m_computed, true);
distance = ch.ComputeDistance(itDP->first, m_facePoints[-itDP->first - 1], m_faceNormals[-itDP->first - 1], (itDP->second).m_computed, true);
}
}
else
@@ -58,14 +58,14 @@ namespace HACD
}
}
return concavity;
}
}
void HACD::CreateGraph()
{
void HACD::CreateGraph()
{
// vertex to triangle adjacency information
std::vector< std::set<long> > vertexToTriangles;
std::vector<std::set<long> > vertexToTriangles;
vertexToTriangles.resize(m_nPoints);
for(size_t t = 0; t < m_nTriangles; ++t)
for (size_t t = 0; t < m_nTriangles; ++t)
{
vertexToTriangles[m_triangles[t].X()].insert(static_cast<long>(t));
vertexToTriangles[m_triangles[t].Y()].insert(static_cast<long>(t));
@@ -81,7 +81,7 @@ namespace HACD
for (size_t v = 0; v < m_nPoints; v++)
{
std::set<long>::const_iterator it1(vertexToTriangles[v].begin()), itEnd(vertexToTriangles[v].end());
for(; it1 != itEnd; ++it1)
for (; it1 != itEnd; ++it1)
{
t1 = *it1;
i1 = m_triangles[t1].X();
@@ -91,7 +91,7 @@ namespace HACD
tr1[1] = GetEdgeIndex(j1, k1);
tr1[2] = GetEdgeIndex(k1, i1);
std::set<long>::const_iterator it2(it1);
for(++it2; it2 != itEnd; ++it2)
for (++it2; it2 != itEnd; ++it2)
{
t2 = *it2;
i2 = m_triangles[t2].X();
@@ -101,9 +101,9 @@ namespace HACD
tr2[1] = GetEdgeIndex(j2, k2);
tr2[2] = GetEdgeIndex(k2, i2);
int shared = 0;
for(int i = 0; i < 3; ++i)
for (int i = 0; i < 3; ++i)
{
for(int j = 0; j < 3; ++j)
for (int j = 0; j < 3; ++j)
{
if (tr1[i] == tr2[j])
{
@@ -123,10 +123,10 @@ namespace HACD
m_graph.ExtractCCs();
if (m_graph.m_nCCs > 1)
{
std::vector< std::set<long> > cc2V;
std::vector<std::set<long> > cc2V;
cc2V.resize(m_graph.m_nCCs);
long cc;
for(size_t t = 0; t < m_nTriangles; ++t)
for (size_t t = 0; t < m_nTriangles; ++t)
{
cc = m_graph.m_vertices[t].m_cc;
cc2V[cc].insert(m_triangles[t].X());
@@ -134,19 +134,19 @@ namespace HACD
cc2V[cc].insert(m_triangles[t].Z());
}
for(size_t cc1 = 0; cc1 < m_graph.m_nCCs; ++cc1)
for (size_t cc1 = 0; cc1 < m_graph.m_nCCs; ++cc1)
{
for(size_t cc2 = cc1+1; cc2 < m_graph.m_nCCs; ++cc2)
for (size_t cc2 = cc1 + 1; cc2 < m_graph.m_nCCs; ++cc2)
{
std::set<long>::const_iterator itV1(cc2V[cc1].begin()), itVEnd1(cc2V[cc1].end());
for(; itV1 != itVEnd1; ++itV1)
for (; itV1 != itVEnd1; ++itV1)
{
double distC1C2 = std::numeric_limits<double>::max();
double dist;
t1 = -1;
t2 = -1;
std::set<long>::const_iterator itV2(cc2V[cc2].begin()), itVEnd2(cc2V[cc2].end());
for(; itV2 != itVEnd2; ++itV2)
for (; itV2 != itVEnd2; ++itV2)
{
dist = (m_points[*itV1] - m_points[*itV2]).GetNorm();
if (dist < distC1C2)
@@ -157,7 +157,7 @@ namespace HACD
std::set<long>::const_iterator it2(vertexToTriangles[*itV2].begin()),
it2End(vertexToTriangles[*itV2].end());
t2 = -1;
for(; it2 != it2End; ++it2)
for (; it2 != it2End; ++it2)
{
if (*it2 != t1)
{
@@ -169,7 +169,6 @@ namespace HACD
}
if (distC1C2 <= m_ccConnectDist && t1 > 0 && t2 > 0)
{
m_graph.AddEdge(t1, t2);
}
}
@@ -177,22 +176,22 @@ namespace HACD
}
}
}
}
void HACD::InitializeDualGraph()
{
}
void HACD::InitializeDualGraph()
{
long i, j, k;
Vec3<Real> u, v, w, normal;
delete [] m_normals;
delete[] m_normals;
m_normals = new Vec3<Real>[m_nPoints];
if (m_addFacesPoints)
{
delete [] m_facePoints;
delete [] m_faceNormals;
delete[] m_facePoints;
delete[] m_faceNormals;
m_facePoints = new Vec3<Real>[m_nTriangles];
m_faceNormals = new Vec3<Real>[m_nTriangles];
}
memset(m_normals, 0, sizeof(Vec3<Real>) * m_nPoints);
for(unsigned long f = 0; f < m_nTriangles; f++)
for (unsigned long f = 0; f < m_nTriangles; f++)
{
if (m_callBack) (*m_callBack)("+ InitializeDualGraph\n", f, m_nTriangles, 0);
@@ -207,7 +206,7 @@ namespace HACD
m_graph.m_vertices[f].m_distPoints[j].m_distOnly = false;
m_graph.m_vertices[f].m_distPoints[k].m_distOnly = false;
ICHull * ch = new ICHull;
ICHull* ch = new ICHull;
m_graph.m_vertices[f].m_convexHull = ch;
ch->AddPoint(m_points[i], i);
ch->AddPoint(m_points[j], j);
@@ -228,17 +227,17 @@ namespace HACD
normal.Normalize();
m_graph.m_vertices[f].m_boudaryEdges.insert(GetEdgeIndex(i,j));
m_graph.m_vertices[f].m_boudaryEdges.insert(GetEdgeIndex(j,k));
m_graph.m_vertices[f].m_boudaryEdges.insert(GetEdgeIndex(k,i));
if(m_addFacesPoints)
m_graph.m_vertices[f].m_boudaryEdges.insert(GetEdgeIndex(i, j));
m_graph.m_vertices[f].m_boudaryEdges.insert(GetEdgeIndex(j, k));
m_graph.m_vertices[f].m_boudaryEdges.insert(GetEdgeIndex(k, i));
if (m_addFacesPoints)
{
m_faceNormals[f] = normal;
m_facePoints[f] = (m_points[i] + m_points[j] + m_points[k]) / 3.0;
m_graph.m_vertices[f].m_distPoints[-static_cast<long>(f)-1].m_distOnly = true;
m_graph.m_vertices[f].m_distPoints[-static_cast<long>(f) - 1].m_distOnly = true;
}
if (m_addExtraDistPoints)
{// we need a kd-tree structure to accelerate this part!
{ // we need a kd-tree structure to accelerate this part!
long i1, j1, k1;
Vec3<Real> u1, v1, normal1;
normal = -normal;
@@ -247,7 +246,7 @@ namespace HACD
size_t faceIndex = m_nTriangles;
Vec3<Real> seedPoint((m_points[i] + m_points[j] + m_points[k]) / 3.0);
long nhit = 0;
for(size_t f1 = 0; f1 < m_nTriangles; f1++)
for (size_t f1 = 0; f1 < m_nTriangles; f1++)
{
i1 = m_triangles[f1].X();
j1 = m_triangles[f1].Y();
@@ -263,15 +262,14 @@ namespace HACD
Vec3<double>(m_points[j1].X(), m_points[j1].Y(), m_points[j1].Z()),
Vec3<double>(m_points[k1].X(), m_points[k1].Y(), m_points[k1].Z()),
distance);
if ((nhit==1) && ((distMin > distance) || (faceIndex == m_nTriangles)))
if ((nhit == 1) && ((distMin > distance) || (faceIndex == m_nTriangles)))
{
distMin = distance;
faceIndex = f1;
}
}
}
if (faceIndex < m_nTriangles )
if (faceIndex < m_nTriangles)
{
i1 = m_triangles[faceIndex].X();
j1 = m_triangles[faceIndex].Y();
@@ -281,7 +279,7 @@ namespace HACD
m_graph.m_vertices[f].m_distPoints[k1].m_distOnly = true;
if (m_addFacesPoints)
{
m_graph.m_vertices[f].m_distPoints[-static_cast<long>(faceIndex)-1].m_distOnly = true;
m_graph.m_vertices[f].m_distPoints[-static_cast<long>(faceIndex) - 1].m_distOnly = true;
}
}
}
@@ -290,10 +288,10 @@ namespace HACD
{
m_normals[v].Normalize();
}
}
}
void HACD::NormalizeData()
{
void HACD::NormalizeData()
{
if (m_nPoints == 0)
{
return;
@@ -302,32 +300,38 @@ namespace HACD
Vec3<Real> min = m_points[0];
Vec3<Real> max = m_points[0];
Real x, y, z;
for (size_t v = 1; v < m_nPoints ; v++)
for (size_t v = 1; v < m_nPoints; v++)
{
m_barycenter += m_points[v];
x = m_points[v].X();
y = m_points[v].Y();
z = m_points[v].Z();
if ( x < min.X()) min.X() = x;
else if ( x > max.X()) max.X() = x;
if ( y < min.Y()) min.Y() = y;
else if ( y > max.Y()) max.Y() = y;
if ( z < min.Z()) min.Z() = z;
else if ( z > max.Z()) max.Z() = z;
if (x < min.X())
min.X() = x;
else if (x > max.X())
max.X() = x;
if (y < min.Y())
min.Y() = y;
else if (y > max.Y())
max.Y() = y;
if (z < min.Z())
min.Z() = z;
else if (z > max.Z())
max.Z() = z;
}
m_barycenter /= static_cast<Real>(m_nPoints);
m_diag = (max-min).GetNorm();
m_diag = (max - min).GetNorm();
const Real invDiag = static_cast<Real>(2.0 * m_scale / m_diag);
if (m_diag != 0.0)
{
for (size_t v = 0; v < m_nPoints ; v++)
for (size_t v = 0; v < m_nPoints; v++)
{
m_points[v] = (m_points[v] - m_barycenter) * invDiag;
}
}
}
void HACD::DenormalizeData()
{
}
void HACD::DenormalizeData()
{
if (m_nPoints == 0)
{
return;
@@ -335,14 +339,14 @@ namespace HACD
if (m_diag != 0.0)
{
const Real diag = static_cast<Real>(m_diag / (2.0 * m_scale));
for (size_t v = 0; v < m_nPoints ; v++)
for (size_t v = 0; v < m_nPoints; v++)
{
m_points[v] = m_points[v] * diag + m_barycenter;
}
}
}
HACD::HACD(void)
{
}
HACD::HACD(void)
{
m_convexHulls = 0;
m_triangles = 0;
m_points = 0;
@@ -352,7 +356,7 @@ namespace HACD
m_nClusters = 0;
m_concavity = 0.0;
m_diag = 1.0;
m_barycenter = Vec3<Real>(0.0, 0.0,0.0);
m_barycenter = Vec3<Real>(0.0, 0.0, 0.0);
m_alpha = 0.1;
m_beta = 0.1;
m_nVerticesPerCH = 30;
@@ -365,36 +369,36 @@ namespace HACD
m_facePoints = 0;
m_faceNormals = 0;
m_ccConnectDist = 30;
}
HACD::~HACD(void)
{
delete [] m_normals;
delete [] m_convexHulls;
delete [] m_partition;
delete [] m_facePoints;
delete [] m_faceNormals;
}
int iteration = 0;
void HACD::ComputeEdgeCost(size_t e)
{
GraphEdge & gE = m_graph.m_edges[e];
}
HACD::~HACD(void)
{
delete[] m_normals;
delete[] m_convexHulls;
delete[] m_partition;
delete[] m_facePoints;
delete[] m_faceNormals;
}
int iteration = 0;
void HACD::ComputeEdgeCost(size_t e)
{
GraphEdge& gE = m_graph.m_edges[e];
long v1 = gE.m_v1;
long v2 = gE.m_v2;
if (m_graph.m_vertices[v2].m_distPoints.size()>m_graph.m_vertices[v1].m_distPoints.size())
if (m_graph.m_vertices[v2].m_distPoints.size() > m_graph.m_vertices[v1].m_distPoints.size())
{
gE.m_v1 = v2;
gE.m_v2 = v1;
//std::swap<long>(v1, v2);
std::swap(v1, v2);
}
GraphVertex & gV1 = m_graph.m_vertices[v1];
GraphVertex & gV2 = m_graph.m_vertices[v2];
GraphVertex& gV1 = m_graph.m_vertices[v1];
GraphVertex& gV2 = m_graph.m_vertices[v2];
// delete old convex-hull
delete gE.m_convexHull;
// create the edge's convex-hull
ICHull * ch = new ICHull;
ICHull* ch = new ICHull;
gE.m_convexHull = ch;
(*ch) = (*gV1.m_convexHull);
@@ -404,20 +408,20 @@ namespace HACD
std::map<long, DPoint>::iterator itDPEnd(gV2.m_distPoints.end());
std::map<long, DPoint>::iterator itDP1;
for(; itDP != itDPEnd; ++itDP)
for (; itDP != itDPEnd; ++itDP)
{
itDP1 = gE.m_distPoints.find(itDP->first);
if (itDP1 == gE.m_distPoints.end())
{
gE.m_distPoints[itDP->first].m_distOnly = (itDP->second).m_distOnly;
if ( !(itDP->second).m_distOnly )
if (!(itDP->second).m_distOnly)
{
ch->AddPoint(m_points[itDP->first], itDP->first);
}
}
else
{
if ( (itDP1->second).m_distOnly && !(itDP->second).m_distOnly)
if ((itDP1->second).m_distOnly && !(itDP->second).m_distOnly)
{
gE.m_distPoints[itDP->first].m_distOnly = false;
ch->AddPoint(m_points[itDP->first], itDP->first);
@@ -429,16 +433,16 @@ namespace HACD
// create the convex-hull
while (ch->Process() == ICHullErrorInconsistent) // if we face problems when constructing the visual-hull. really ugly!!!!
{
// if (m_callBack) (*m_callBack)("\t Problem with convex-hull construction [HACD::ComputeEdgeCost]\n", 0.0, 0.0, 0);
// if (m_callBack) (*m_callBack)("\t Problem with convex-hull construction [HACD::ComputeEdgeCost]\n", 0.0, 0.0, 0);
ch = new ICHull;
CircularList<TMMVertex> & verticesCH = (gE.m_convexHull)->GetMesh().m_vertices;
CircularList<TMMVertex>& verticesCH = (gE.m_convexHull)->GetMesh().m_vertices;
size_t nV = verticesCH.GetSize();
long ptIndex = 0;
verticesCH.Next();
for(size_t v = 1; v < nV; ++v)
for (size_t v = 1; v < nV; ++v)
{
ptIndex = verticesCH.GetHead()->GetData().m_name;
if (ptIndex != ICHull::sc_dummyIndex/* && ptIndex < m_nPoints*/)
if (ptIndex != ICHull::sc_dummyIndex /* && ptIndex < m_nPoints*/)
ch->AddPoint(m_points[ptIndex], ptIndex);
verticesCH.Next();
}
@@ -452,7 +456,7 @@ namespace HACD
bool insideHull;
std::map<long, DPoint>::iterator itDP(gE.m_distPoints.begin());
std::map<long, DPoint>::iterator itDPEnd(gE.m_distPoints.end());
for(; itDP != itDPEnd; ++itDP)
for (; itDP != itDPEnd; ++itDP)
{
if (itDP->first >= 0)
{
@@ -469,20 +473,20 @@ namespace HACD
gV1.m_edges.end(),
gV2.m_edges.begin(),
gV2.m_edges.end(),
std::inserter( eEdges, eEdges.begin() ) );
std::inserter(eEdges, eEdges.begin()));
std::set<long>::const_iterator ed(eEdges.begin());
std::set<long>::const_iterator itEnd(eEdges.end());
long a, b, c;
for(; ed != itEnd; ++ed)
for (; ed != itEnd; ++ed)
{
a = m_graph.m_edges[*ed].m_v1;
b = m_graph.m_edges[*ed].m_v2;
if ( a != v2 && a != v1)
if (a != v2 && a != v1)
{
c = a;
}
else if ( b != v2 && b != v1)
else if (b != v2 && b != v1)
{
c = b;
}
@@ -490,13 +494,13 @@ namespace HACD
{
c = -1;
}
if ( c > 0)
if (c > 0)
{
GraphVertex & gVC = m_graph.m_vertices[c];
GraphVertex& gVC = m_graph.m_vertices[c];
std::map<long, DPoint>::iterator itDP(gVC.m_distPoints.begin());
std::map<long, DPoint>::iterator itDPEnd(gVC.m_distPoints.end());
std::map<long, DPoint>::iterator itDP1;
for(; itDP != itDPEnd; ++itDP)
for (; itDP != itDPEnd; ++itDP)
{
itDP1 = gE.m_distPoints.find(itDP->first);
if (itDP1 == gE.m_distPoints.end())
@@ -505,7 +509,7 @@ namespace HACD
{
gE.m_distPoints[itDP->first].m_distOnly = true;
}
else if (itDP->first < 0 && ch->IsInside(m_facePoints[-itDP->first-1]))
else if (itDP->first < 0 && ch->IsInside(m_facePoints[-itDP->first - 1]))
{
gE.m_distPoints[itDP->first].m_distOnly = true;
}
@@ -523,41 +527,42 @@ namespace HACD
if (m_alpha > 0.0)
{
gE.m_boudaryEdges.clear();
std::set_symmetric_difference (gV1.m_boudaryEdges.begin(),
std::set_symmetric_difference(gV1.m_boudaryEdges.begin(),
gV1.m_boudaryEdges.end(),
gV2.m_boudaryEdges.begin(),
gV2.m_boudaryEdges.end(),
std::inserter( gE.m_boudaryEdges,
gE.m_boudaryEdges.begin() ) );
std::inserter(gE.m_boudaryEdges,
gE.m_boudaryEdges.begin()));
std::set<unsigned long long>::const_iterator itBE(gE.m_boudaryEdges.begin());
std::set<unsigned long long>::const_iterator itBEEnd(gE.m_boudaryEdges.end());
for(; itBE != itBEEnd; ++itBE)
for (; itBE != itBEEnd; ++itBE)
{
perimeter += (m_points[static_cast<long>((*itBE) >> 32)] -
m_points[static_cast<long>((*itBE) & 0xFFFFFFFFULL)]).GetNorm();
m_points[static_cast<long>((*itBE) & 0xFFFFFFFFULL)])
.GetNorm();
}
surf = gV1.m_surf + gV2.m_surf;
}
double ratio = perimeter * perimeter / (4.0 * sc_pi * surf);
gE.m_volume = (m_beta == 0.0)?0.0:ch->ComputeVolume()/pow(m_scale, 3.0); // cluster's volume
gE.m_volume = (m_beta == 0.0) ? 0.0 : ch->ComputeVolume() / pow(m_scale, 3.0); // cluster's volume
gE.m_surf = surf; // cluster's area
gE.m_perimeter = perimeter; // cluster's perimeter
gE.m_concavity = concavity; // cluster's concavity
gE.m_error = static_cast<Real>(concavity + m_alpha * ratio + m_beta * volume); // cluster's priority
}
bool HACD::InitializePriorityQueue()
{
}
bool HACD::InitializePriorityQueue()
{
m_pqueue.reserve(m_graph.m_nE + 100);
for (size_t e=0; e < m_graph.m_nE; ++e)
for (size_t e = 0; e < m_graph.m_nE; ++e)
{
ComputeEdgeCost(static_cast<long>(e));
m_pqueue.push(GraphEdgePriorityQueue(static_cast<long>(e), m_graph.m_edges[e].m_error));
}
return true;
}
void HACD::Simplify()
{
}
void HACD::Simplify()
{
long v1 = -1;
long v2 = -1;
double progressOld = -1.0;
@@ -565,12 +570,12 @@ namespace HACD
double globalConcavity = 0.0;
char msg[1024];
double ptgStep = 1.0;
while ( (globalConcavity < m_concavity) &&
while ((globalConcavity < m_concavity) &&
(m_graph.GetNVertices() > m_nMinClusters) &&
(m_graph.GetNEdges() > 0))
{
progress = 100.0-m_graph.GetNVertices() * 100.0 / m_nTriangles;
if (fabs(progress-progressOld) > ptgStep && m_callBack)
progress = 100.0 - m_graph.GetNVertices() * 100.0 / m_nTriangles;
if (fabs(progress - progressOld) > ptgStep && m_callBack)
{
sprintf(msg, "%3.2f %% V = %lu \t C = %f \t \t \r", progress, static_cast<unsigned long>(m_graph.GetNVertices()), globalConcavity);
(*m_callBack)(msg, progress, globalConcavity, m_graph.GetNVertices());
@@ -585,7 +590,7 @@ namespace HACD
}
}
GraphEdgePriorityQueue currentEdge(0,0.0);
GraphEdgePriorityQueue currentEdge(0, 0.0);
bool done = false;
do
{
@@ -597,14 +602,12 @@ namespace HACD
}
currentEdge = m_pqueue.top();
m_pqueue.pop();
}
while ( m_graph.m_edges[currentEdge.m_name].m_deleted ||
} while (m_graph.m_edges[currentEdge.m_name].m_deleted ||
m_graph.m_edges[currentEdge.m_name].m_error != currentEdge.m_priority);
if (m_graph.m_edges[currentEdge.m_name].m_concavity < m_concavity && !done)
{
globalConcavity = std::max<double>(globalConcavity ,m_graph.m_edges[currentEdge.m_name].m_concavity);
globalConcavity = std::max<double>(globalConcavity, m_graph.m_edges[currentEdge.m_name].m_concavity);
v1 = m_graph.m_edges[currentEdge.m_name].m_v1;
v2 = m_graph.m_edges[currentEdge.m_name].m_v2;
// update vertex info
@@ -619,12 +622,12 @@ namespace HACD
m_graph.m_vertices[v1].m_boudaryEdges = m_graph.m_edges[currentEdge.m_name].m_boudaryEdges;
// We apply the optimal ecol
// std::cout << "v1 " << v1 << " v2 " << v2 << std::endl;
// std::cout << "v1 " << v1 << " v2 " << v2 << std::endl;
m_graph.EdgeCollapse(v1, v2);
// recompute the adjacent edges costs
std::set<long>::const_iterator itE(m_graph.m_vertices[v1].m_edges.begin()),
itEEnd(m_graph.m_vertices[v1].m_edges.end());
for(; itE != itEEnd; ++itE)
for (; itE != itEEnd; ++itE)
{
size_t e = *itE;
ComputeEdgeCost(static_cast<long>(e));
@@ -644,7 +647,7 @@ namespace HACD
m_cVertices.clear();
m_nClusters = m_graph.GetNVertices();
m_cVertices.reserve(m_nClusters);
for (size_t p=0, v = 0; v != m_graph.m_vertices.size(); ++v)
for (size_t p = 0, v = 0; v != m_graph.m_vertices.size(); ++v)
{
if (!m_graph.m_vertices[v].m_deleted)
{
@@ -663,14 +666,13 @@ namespace HACD
sprintf(msg, "# clusters = %lu \t C = %f\n", static_cast<unsigned long>(m_nClusters), globalConcavity);
(*m_callBack)(msg, progress, globalConcavity, m_graph.GetNVertices());
}
}
}
bool HACD::Compute(bool fullCH, bool exportDistPoints)
{
bool HACD::Compute(bool fullCH, bool exportDistPoints)
{
gCancelRequest = false;
if ( !m_points || !m_triangles || !m_nPoints || !m_nTriangles)
if (!m_points || !m_triangles || !m_nPoints || !m_nTriangles)
{
return false;
}
@@ -716,23 +718,23 @@ namespace HACD
if (m_callBack) (*m_callBack)("+ Denormalizing Data\n", 0.0, 0.0, m_nClusters);
DenormalizeData();
if (m_callBack) (*m_callBack)("+ Computing final convex-hulls\n", 0.0, 0.0, m_nClusters);
delete [] m_convexHulls;
delete[] m_convexHulls;
m_convexHulls = new ICHull[m_nClusters];
delete [] m_partition;
m_partition = new long [m_nTriangles];
delete[] m_partition;
m_partition = new long[m_nTriangles];
for (size_t p = 0; p != m_cVertices.size(); ++p)
{
size_t v = m_cVertices[p];
m_partition[v] = static_cast<long>(p);
for(size_t a = 0; a < m_graph.m_vertices[v].m_ancestors.size(); a++)
for (size_t a = 0; a < m_graph.m_vertices[v].m_ancestors.size(); a++)
{
m_partition[m_graph.m_vertices[v].m_ancestors[a]] = static_cast<long>(p);
}
// compute the convex-hull
const std::map<long, DPoint> & pointsCH = m_graph.m_vertices[v].m_distPoints;
const std::map<long, DPoint>& pointsCH = m_graph.m_vertices[v].m_distPoints;
std::map<long, DPoint>::const_iterator itCH(pointsCH.begin());
std::map<long, DPoint>::const_iterator itCHEnd(pointsCH.end());
for(; itCH != itCHEnd; ++itCH)
for (; itCH != itCHEnd; ++itCH)
{
if (!(itCH->second).m_distOnly)
{
@@ -751,7 +753,7 @@ namespace HACD
if (exportDistPoints)
{
itCH = pointsCH.begin();
for(; itCH != itCHEnd; ++itCH)
for (; itCH != itCHEnd; ++itCH)
{
if ((itCH->second).m_distOnly)
{
@@ -761,44 +763,44 @@ namespace HACD
}
else
{
m_convexHulls[p].AddPoint(m_facePoints[-itCH->first-1], itCH->first);
m_convexHulls[p].AddPoint(m_facePoints[-itCH->first - 1], itCH->first);
}
}
}
}
}
return true;
}
}
size_t HACD::GetNTrianglesCH(size_t numCH) const
{
size_t HACD::GetNTrianglesCH(size_t numCH) const
{
if (numCH >= m_nClusters)
{
return 0;
}
return m_convexHulls[numCH].GetMesh().GetNTriangles();
}
size_t HACD::GetNPointsCH(size_t numCH) const
{
}
size_t HACD::GetNPointsCH(size_t numCH) const
{
if (numCH >= m_nClusters)
{
return 0;
}
return m_convexHulls[numCH].GetMesh().GetNVertices();
}
}
bool HACD::GetCH(size_t numCH, Vec3<Real> * const points, Vec3<long> * const triangles)
{
bool HACD::GetCH(size_t numCH, Vec3<Real>* const points, Vec3<long>* const triangles)
{
if (numCH >= m_nClusters)
{
return false;
}
m_convexHulls[numCH].GetMesh().GetIFS(points, triangles);
return true;
}
}
bool HACD::Save(const char * fileName, bool uniColor, long numCluster) const
{
bool HACD::Save(const char* fileName, bool uniColor, long numCluster) const
{
std::ofstream fout(fileName);
if (fout.is_open())
{
@@ -818,11 +820,11 @@ namespace HACD
mat.m_diffuseColor.X() = mat.m_diffuseColor.Y() = mat.m_diffuseColor.Z() = 0.0;
while (mat.m_diffuseColor.X() == mat.m_diffuseColor.Y() ||
mat.m_diffuseColor.Z() == mat.m_diffuseColor.Y() ||
mat.m_diffuseColor.Z() == mat.m_diffuseColor.X() )
mat.m_diffuseColor.Z() == mat.m_diffuseColor.X())
{
mat.m_diffuseColor.X() = (rand()%100) / 100.0;
mat.m_diffuseColor.Y() = (rand()%100) / 100.0;
mat.m_diffuseColor.Z() = (rand()%100) / 100.0;
mat.m_diffuseColor.X() = (rand() % 100) / 100.0;
mat.m_diffuseColor.Y() = (rand() % 100) / 100.0;
mat.m_diffuseColor.Z() = (rand() % 100) / 100.0;
}
}
m_convexHulls[p].GetMesh().SaveVRML2(fout, mat);
@@ -845,7 +847,5 @@ namespace HACD
}
return false;
}
}
}
} // namespace HACD

171
Extras/HACD/hacdHACD.h
View File

@@ -26,25 +26,26 @@
namespace HACD
{
const double sc_pi = 3.14159265;
class HACD;
const double sc_pi = 3.14159265;
class HACD;
// just to be able to set the capcity of the container
// just to be able to set the capcity of the container
template<class _Ty, class _Container = std::vector<_Ty>, class _Pr = std::less<typename _Container::value_type> >
class reservable_priority_queue: public std::priority_queue<_Ty, _Container, _Pr>
{
template <class _Ty, class _Container = std::vector<_Ty>, class _Pr = std::less<typename _Container::value_type> >
class reservable_priority_queue : public std::priority_queue<_Ty, _Container, _Pr>
{
typedef typename std::priority_queue<_Ty, _Container, _Pr>::size_type size_type;
public:
public:
reservable_priority_queue(size_type capacity = 0) { reserve(capacity); };
void reserve(size_type capacity) { this->c.reserve(capacity); }
size_type capacity() const { return this->c.capacity(); }
};
};
//! priority queque element
class GraphEdgePriorityQueue
{
public:
//! priority queque element
class GraphEdgePriorityQueue
{
public:
//! Constructor
//! @param name edge's id
//! @param priority edge's priority
@@ -54,125 +55,125 @@ namespace HACD
m_priority = priority;
}
//! Destructor
~GraphEdgePriorityQueue(void){}
private:
~GraphEdgePriorityQueue(void) {}
private:
long m_name; //!< edge name
Real m_priority; //!< priority
//! Operator < for GraphEdgePQ
friend bool operator<(const GraphEdgePriorityQueue & lhs, const GraphEdgePriorityQueue & rhs);
friend bool operator<(const GraphEdgePriorityQueue &lhs, const GraphEdgePriorityQueue &rhs);
//! Operator > for GraphEdgePQ
friend bool operator>(const GraphEdgePriorityQueue & lhs, const GraphEdgePriorityQueue & rhs);
friend bool operator>(const GraphEdgePriorityQueue &lhs, const GraphEdgePriorityQueue &rhs);
friend class HACD;
};
inline bool operator<(const GraphEdgePriorityQueue & lhs, const GraphEdgePriorityQueue & rhs)
{
return lhs.m_priority<rhs.m_priority;
}
inline bool operator>(const GraphEdgePriorityQueue & lhs, const GraphEdgePriorityQueue & rhs)
{
return lhs.m_priority>rhs.m_priority;
}
typedef bool (*CallBackFunction)(const char *, double, double, size_t);
//! Provides an implementation of the Hierarchical Approximate Convex Decomposition (HACD) technique described in "A Simple and Efficient Approach for 3D Mesh Approximate Convex Decomposition" Game Programming Gems 8 - Chapter 2.8, p.202. A short version of the chapter was published in ICIP09 and is available at ftp://ftp.elet.polimi.it/users/Stefano.Tubaro/ICIP_USB_Proceedings_v2/pdfs/0003501.pdf
class HACD
{
public:
};
inline bool operator<(const GraphEdgePriorityQueue &lhs, const GraphEdgePriorityQueue &rhs)
{
return lhs.m_priority < rhs.m_priority;
}
inline bool operator>(const GraphEdgePriorityQueue &lhs, const GraphEdgePriorityQueue &rhs)
{
return lhs.m_priority > rhs.m_priority;
}
typedef bool (*CallBackFunction)(const char *, double, double, size_t);
//! Provides an implementation of the Hierarchical Approximate Convex Decomposition (HACD) technique described in "A Simple and Efficient Approach for 3D Mesh Approximate Convex Decomposition" Game Programming Gems 8 - Chapter 2.8, p.202. A short version of the chapter was published in ICIP09 and is available at ftp://ftp.elet.polimi.it/users/Stefano.Tubaro/ICIP_USB_Proceedings_v2/pdfs/0003501.pdf
class HACD
{
public:
//! Gives the triangles partitionas an array of size m_nTriangles where the i-th element specifies the cluster to which belong the i-th triangle
//! @return triangles partition
const long * GetPartition() const { return m_partition;}
const long *GetPartition() const { return m_partition; }
//! Sets the scale factor
//! @param scale scale factor
void SetScaleFactor(double scale) { m_scale = scale;}
void SetScaleFactor(double scale) { m_scale = scale; }
//! Gives the scale factor
//! @return scale factor
double GetScaleFactor() const { return m_scale;}
double GetScaleFactor() const { return m_scale; }
//! Sets the call-back function
//! @param callBack pointer to the call-back function
void SetCallBack(CallBackFunction callBack) { m_callBack = callBack;}
void SetCallBack(CallBackFunction callBack) { m_callBack = callBack; }
//! Gives the call-back function
//! @return pointer to the call-back function
CallBackFunction GetCallBack() const { return m_callBack;}
CallBackFunction GetCallBack() const { return m_callBack; }
//! Specifies whether faces points should be added when computing the concavity
//! @param addFacesPoints true = faces points should be added
void SetAddFacesPoints(bool addFacesPoints) { m_addFacesPoints = addFacesPoints;}
void SetAddFacesPoints(bool addFacesPoints) { m_addFacesPoints = addFacesPoints; }
//! Specifies wheter faces points should be added when computing the concavity
//! @return true = faces points should be added
bool GetAddFacesPoints() const { return m_addFacesPoints;}
bool GetAddFacesPoints() const { return m_addFacesPoints; }
//! Specifies whether extra points should be added when computing the concavity
//! @param addExteraDistPoints true = extra points should be added
void SetAddExtraDistPoints(bool addExtraDistPoints) { m_addExtraDistPoints = addExtraDistPoints;}
void SetAddExtraDistPoints(bool addExtraDistPoints) { m_addExtraDistPoints = addExtraDistPoints; }
//! Specifies wheter extra points should be added when computing the concavity
//! @return true = extra points should be added
bool GetAddExtraDistPoints() const { return m_addExtraDistPoints;}
bool GetAddExtraDistPoints() const { return m_addExtraDistPoints; }
//! Specifies whether extra points should be added when computing the concavity
//! @param addExteraDistPoints true = extra points should be added
void SetAddNeighboursDistPoints(bool addNeighboursDistPoints) { m_addNeighboursDistPoints = addNeighboursDistPoints;}
void SetAddNeighboursDistPoints(bool addNeighboursDistPoints) { m_addNeighboursDistPoints = addNeighboursDistPoints; }
//! Specifies wheter extra points should be added when computing the concavity
//! @return true = extra points should be added
bool GetAddNeighboursDistPoints() const { return m_addNeighboursDistPoints;}
bool GetAddNeighboursDistPoints() const { return m_addNeighboursDistPoints; }
//! Sets the points of the input mesh (Remark: the input points will be scaled and shifted. Use DenormalizeData() to invert those operations)
//! @param points pointer to the input points
void SetPoints(Vec3<Real> * points) { m_points = points;}
void SetPoints(Vec3<Real> *points) { m_points = points; }
//! Gives the points of the input mesh (Remark: the input points will be scaled and shifted. Use DenormalizeData() to invert those operations)
//! @return pointer to the input points
const Vec3<Real> * GetPoints() const { return m_points;}
const Vec3<Real> *GetPoints() const { return m_points; }
//! Sets the triangles of the input mesh.
//! @param triangles points pointer to the input points
void SetTriangles(Vec3<long> * triangles) { m_triangles = triangles;}
void SetTriangles(Vec3<long> *triangles) { m_triangles = triangles; }
//! Gives the triangles in the input mesh
//! @return pointer to the input triangles
const Vec3<long> * GetTriangles() const { return m_triangles;}
const Vec3<long> *GetTriangles() const { return m_triangles; }
//! Sets the number of points in the input mesh.
//! @param nPoints number of points the input mesh
void SetNPoints(size_t nPoints) { m_nPoints = nPoints;}
void SetNPoints(size_t nPoints) { m_nPoints = nPoints; }
//! Gives the number of points in the input mesh.
//! @return number of points the input mesh
size_t GetNPoints() const { return m_nPoints;}
size_t GetNPoints() const { return m_nPoints; }
//! Sets the number of triangles in the input mesh.
//! @param nTriangles number of triangles in the input mesh
void SetNTriangles(size_t nTriangles) { m_nTriangles = nTriangles;}
void SetNTriangles(size_t nTriangles) { m_nTriangles = nTriangles; }
//! Gives the number of triangles in the input mesh.
//! @return number of triangles the input mesh
size_t GetNTriangles() const { return m_nTriangles;}
size_t GetNTriangles() const { return m_nTriangles; }
//! Sets the minimum number of clusters to be generated.
//! @param nClusters minimum number of clusters
void SetNClusters(size_t nClusters) { m_nMinClusters = nClusters;}
void SetNClusters(size_t nClusters) { m_nMinClusters = nClusters; }
//! Gives the number of generated clusters.
//! @return number of generated clusters
size_t GetNClusters() const { return m_nClusters;}
size_t GetNClusters() const { return m_nClusters; }
//! Sets the maximum allowed concavity.
//! @param concavity maximum concavity
void SetConcavity(double concavity) { m_concavity = concavity;}
void SetConcavity(double concavity) { m_concavity = concavity; }
//! Gives the maximum allowed concavity.
//! @return maximum concavity
double GetConcavity() const { return m_concavity;}
double GetConcavity() const { return m_concavity; }
//! Sets the maximum allowed distance to get CCs connected.
//! @param concavity maximum distance to get CCs connected
void SetConnectDist(double ccConnectDist) { m_ccConnectDist = ccConnectDist;}
void SetConnectDist(double ccConnectDist) { m_ccConnectDist = ccConnectDist; }
//! Gives the maximum allowed distance to get CCs connected.
//! @return maximum distance to get CCs connected
double GetConnectDist() const { return m_ccConnectDist;}
double GetConnectDist() const { return m_ccConnectDist; }
//! Sets the volume weight.
//! @param beta volume weight
void SetVolumeWeight(double beta) { m_beta = beta;}
void SetVolumeWeight(double beta) { m_beta = beta; }
//! Gives the volume weight.
//! @return volume weight
double GetVolumeWeight() const { return m_beta;}
double GetVolumeWeight() const { return m_beta; }
//! Sets the compacity weight (i.e. parameter alpha in ftp://ftp.elet.polimi.it/users/Stefano.Tubaro/ICIP_USB_Proceedings_v2/pdfs/0003501.pdf).
//! @param alpha compacity weight
void SetCompacityWeight(double alpha) { m_alpha = alpha;}
void SetCompacityWeight(double alpha) { m_alpha = alpha; }
//! Gives the compacity weight (i.e. parameter alpha in ftp://ftp.elet.polimi.it/users/Stefano.Tubaro/ICIP_USB_Proceedings_v2/pdfs/0003501.pdf).
//! @return compacity weight
double GetCompacityWeight() const { return m_alpha;}
double GetCompacityWeight() const { return m_alpha; }
//! Sets the maximum number of vertices for each generated convex-hull.
//! @param nVerticesPerCH maximum # vertices per CH
void SetNVerticesPerCH(size_t nVerticesPerCH) { m_nVerticesPerCH = nVerticesPerCH;}
void SetNVerticesPerCH(size_t nVerticesPerCH) { m_nVerticesPerCH = nVerticesPerCH; }
//! Gives the maximum number of vertices for each generated convex-hull.
//! @return maximum # vertices per CH
size_t GetNVerticesPerCH() const { return m_nVerticesPerCH;}
size_t GetNVerticesPerCH() const { return m_nVerticesPerCH; }
//! Gives the number of vertices for the cluster number numCH.
//! @return number of vertices
size_t GetNPointsCH(size_t numCH) const;
@@ -185,18 +186,18 @@ namespace HACD
//! @param points pointer to the vector of points to be filled
//! @param triangles pointer to the vector of triangles to be filled
//! @return true if sucess
bool GetCH(size_t numCH, Vec3<Real> * const points, Vec3<long> * const triangles);
bool GetCH(size_t numCH, Vec3<Real> *const points, Vec3<long> *const triangles);
//! Computes the HACD decomposition.
//! @param fullCH specifies whether to generate convex-hulls with a full or limited (i.e. < m_nVerticesPerCH) number of vertices
//! @param exportDistPoints specifies wheter distance points should ne exported or not (used only for debugging).
//! @return true if sucess
bool Compute(bool fullCH=false, bool exportDistPoints=false);
bool Compute(bool fullCH = false, bool exportDistPoints = false);
//! Saves the generated convex-hulls in a VRML 2.0 file.
//! @param fileName the output file name
//! @param uniColor specifies whether the different convex-hulls should have the same color or not
//! @param numCluster specifies the cluster to be saved, if numCluster < 0 export all clusters
//! @return true if sucess
bool Save(const char * fileName, bool uniColor, long numCluster=-1) const;
bool Save(const char *fileName, bool uniColor, long numCluster = -1) const;
//! Shifts and scales to the data to have all the coordinates between 0.0 and 1000.0.
void NormalizeData();
//! Inverse the operations applied by NormalizeData().
@@ -206,26 +207,28 @@ namespace HACD
//! Destructor.
~HACD(void);
private:
private:
//! Gives the edge index.
//! @param a first vertex id
//! @param b second vertex id
//! @return edge's index
static unsigned long long GetEdgeIndex(unsigned long long a, unsigned long long b)
{
if (a > b) return (a << 32) + b;
else return (b << 32) + a;
if (a > b)
return (a << 32) + b;
else
return (b << 32) + a;
}
//! Computes the concavity of a cluster.
//! @param ch the cluster's convex-hull
//! @param distPoints the cluster's points
//! @return cluster's concavity
double Concavity(ICHull & ch, std::map<long, DPoint> & distPoints);
double Concavity(ICHull &ch, std::map<long, DPoint> &distPoints);
//! Computes the perimeter of a cluster.
//! @param triIndices the cluster's triangles
//! @param distPoints the cluster's points
//! @return cluster's perimeter
double ComputePerimeter(const std::vector<long> & triIndices) const;
double ComputePerimeter(const std::vector<long> &triIndices) const;
//! Creates the Graph by associating to each mesh triangle a vertex in the graph and to each couple of adjacent triangles an edge in the graph.
void CreateGraph();
//! Initializes the graph costs and computes the vertices normals
@@ -246,13 +249,13 @@ namespace HACD
//! @param fast specifies whether fast mode is used
void Simplify();
private:
private:
double m_scale; //>! scale factor used for NormalizeData() and DenormalizeData()
Vec3<long> * m_triangles; //>! pointer the triangles array
Vec3<Real> * m_points; //>! pointer the points array
Vec3<Real> * m_facePoints; //>! pointer to the faces points array
Vec3<Real> * m_faceNormals; //>! pointer to the faces normals array
Vec3<Real> * m_normals; //>! pointer the normals array
Vec3<long> *m_triangles; //>! pointer the triangles array
Vec3<Real> *m_points; //>! pointer the points array
Vec3<Real> *m_facePoints; //>! pointer to the faces points array
Vec3<Real> *m_faceNormals; //>! pointer to the faces normals array
Vec3<Real> *m_normals; //>! pointer the normals array
size_t m_nTriangles; //>! number of triangles in the original mesh
size_t m_nPoints; //>! number of vertices in the original mesh
size_t m_nClusters; //>! number of clusters
@@ -263,20 +266,20 @@ namespace HACD
double m_beta; //>! volume weigth
double m_diag; //>! length of the BB diagonal
Vec3<Real> m_barycenter; //>! barycenter of the mesh
std::vector< long > m_cVertices; //>! array of vertices each belonging to a different cluster
ICHull * m_convexHulls; //>! convex-hulls associated with the final HACD clusters
std::vector<long> m_cVertices; //>! array of vertices each belonging to a different cluster
ICHull *m_convexHulls; //>! convex-hulls associated with the final HACD clusters
Graph m_graph; //>! simplification graph
size_t m_nVerticesPerCH; //>! maximum number of vertices per convex-hull
reservable_priority_queue<GraphEdgePriorityQueue,
std::vector<GraphEdgePriorityQueue>,
std::greater<std::vector<GraphEdgePriorityQueue>::value_type> > m_pqueue; //!> priority queue
HACD(const HACD & rhs);
std::greater<std::vector<GraphEdgePriorityQueue>::value_type> >
m_pqueue; //!> priority queue
HACD(const HACD &rhs);
CallBackFunction m_callBack; //>! call-back function
long * m_partition; //>! array of size m_nTriangles where the i-th element specifies the cluster to which belong the i-th triangle
long *m_partition; //>! array of size m_nTriangles where the i-th element specifies the cluster to which belong the i-th triangle
bool m_addFacesPoints; //>! specifies whether to add faces points or not
bool m_addExtraDistPoints; //>! specifies whether to add extra points for concave shapes or not
bool m_addNeighboursDistPoints; //>! specifies whether to add extra points from adjacent clusters or not
};
}
};
} // namespace HACD
#endif

429
Extras/HACD/hacdICHull.cpp
View File

@@ -18,20 +18,20 @@
namespace HACD
{
const long ICHull::sc_dummyIndex = std::numeric_limits<long>::max();
ICHull::ICHull(void)
{
const long ICHull::sc_dummyIndex = std::numeric_limits<long>::max();
ICHull::ICHull(void)
{
m_distPoints = 0;
m_isFlat = false;
m_dummyVertex = 0;
}
bool ICHull::AddPoints(const Vec3<Real> * points, size_t nPoints)
{
}
bool ICHull::AddPoints(const Vec3<Real> *points, size_t nPoints)
{
if (!points)
{
return false;
}
CircularListElement<TMMVertex> * vertex = NULL;
CircularListElement<TMMVertex> *vertex = NULL;
for (size_t i = 0; i < nPoints; i++)
{
vertex = m_mesh.AddVertex();
@@ -41,10 +41,10 @@ namespace HACD
vertex->GetData().m_name = static_cast<long>(i);
}
return true;
}
bool ICHull::AddPoints(std::vector< Vec3<Real> > points)
{
CircularListElement<TMMVertex> * vertex = NULL;
}
bool ICHull::AddPoints(std::vector<Vec3<Real> > points)
{
CircularListElement<TMMVertex> *vertex = NULL;
for (size_t i = 0; i < points.size(); i++)
{
vertex = m_mesh.AddVertex();
@@ -53,20 +53,20 @@ namespace HACD
vertex->GetData().m_pos.Z() = points[i].Z();
}
return true;
}
}
bool ICHull::AddPoint(const Vec3<Real> & point, long id)
{
bool ICHull::AddPoint(const Vec3<Real> &point, long id)
{
if (AddPoints(&point, 1))
{
m_mesh.m_vertices.GetData().m_name = id;
return true;
}
return false;
}
}
ICHullError ICHull::Process()
{
ICHullError ICHull::Process()
{
unsigned long addedPoints = 0;
if (m_mesh.GetNVertices() < 3)
{
@@ -75,16 +75,16 @@ namespace HACD
if (m_mesh.GetNVertices() == 3)
{
m_isFlat = true;
CircularListElement<TMMTriangle> * t1 = m_mesh.AddTriangle();
CircularListElement<TMMTriangle> * t2 = m_mesh.AddTriangle();
CircularListElement<TMMVertex> * v0 = m_mesh.m_vertices.GetHead();
CircularListElement<TMMVertex> * v1 = v0->GetNext();
CircularListElement<TMMVertex> * v2 = v1->GetNext();
CircularListElement<TMMTriangle> *t1 = m_mesh.AddTriangle();
CircularListElement<TMMTriangle> *t2 = m_mesh.AddTriangle();
CircularListElement<TMMVertex> *v0 = m_mesh.m_vertices.GetHead();
CircularListElement<TMMVertex> *v1 = v0->GetNext();
CircularListElement<TMMVertex> *v2 = v1->GetNext();
// Compute the normal to the plane
Vec3<Real> p0 = v0->GetData().m_pos;
Vec3<Real> p1 = v1->GetData().m_pos;
Vec3<Real> p2 = v2->GetData().m_pos;
m_normal = (p1-p0) ^ (p2-p0);
m_normal = (p1 - p0) ^ (p2 - p0);
m_normal.Normalize();
t1->GetData().m_vertices[0] = v0;
t1->GetData().m_vertices[1] = v1;
@@ -112,7 +112,7 @@ namespace HACD
addedPoints += 3;
}
}
CircularList<TMMVertex> & vertices = m_mesh.GetVertices();
CircularList<TMMVertex> &vertices = m_mesh.GetVertices();
// go to the first added and not processed vertex
while (!(vertices.GetHead()->GetPrev()->GetData().m_tag))
{
@@ -134,19 +134,19 @@ namespace HACD
}
if (m_isFlat)
{
std::vector< CircularListElement<TMMTriangle> * > trianglesToDuplicate;
std::vector<CircularListElement<TMMTriangle> *> trianglesToDuplicate;
size_t nT = m_mesh.GetNTriangles();
for(size_t f = 0; f < nT; f++)
for (size_t f = 0; f < nT; f++)
{
TMMTriangle & currentTriangle = m_mesh.m_triangles.GetHead()->GetData();
if( currentTriangle.m_vertices[0]->GetData().m_name == sc_dummyIndex ||
TMMTriangle &currentTriangle = m_mesh.m_triangles.GetHead()->GetData();
if (currentTriangle.m_vertices[0]->GetData().m_name == sc_dummyIndex ||
currentTriangle.m_vertices[1]->GetData().m_name == sc_dummyIndex ||
currentTriangle.m_vertices[2]->GetData().m_name == sc_dummyIndex )
currentTriangle.m_vertices[2]->GetData().m_name == sc_dummyIndex)
{
m_trianglesToDelete.push_back(m_mesh.m_triangles.GetHead());
for(int k = 0; k < 3; k++)
for (int k = 0; k < 3; k++)
{
for(int h = 0; h < 2; h++)
for (int h = 0; h < 2; h++)
{
if (currentTriangle.m_edges[k]->GetData().m_triangles[h] == m_mesh.m_triangles.GetHead())
{
@@ -163,10 +163,10 @@ namespace HACD
m_mesh.m_triangles.Next();
}
size_t nE = m_mesh.GetNEdges();
for(size_t e = 0; e < nE; e++)
for (size_t e = 0; e < nE; e++)
{
TMMEdge & currentEdge = m_mesh.m_edges.GetHead()->GetData();
if( currentEdge.m_triangles[0] == 0 && currentEdge.m_triangles[1] == 0)
TMMEdge &currentEdge = m_mesh.m_edges.GetHead()->GetData();
if (currentEdge.m_triangles[0] == 0 && currentEdge.m_triangles[1] == 0)
{
m_edgesToDelete.push_back(m_mesh.m_edges.GetHead());
}
@@ -175,16 +175,16 @@ namespace HACD
m_mesh.m_vertices.Delete(m_dummyVertex);
m_dummyVertex = 0;
size_t nV = m_mesh.GetNVertices();
CircularList<TMMVertex> & vertices = m_mesh.GetVertices();
for(size_t v = 0; v < nV; ++v)
CircularList<TMMVertex> &vertices = m_mesh.GetVertices();
for (size_t v = 0; v < nV; ++v)
{
vertices.GetData().m_tag = false;
vertices.Next();
}
CleanEdges();
CleanTriangles();
CircularListElement<TMMTriangle> * newTriangle;
for(size_t t = 0; t < trianglesToDuplicate.size(); t++)
CircularListElement<TMMTriangle> *newTriangle;
for (size_t t = 0; t < trianglesToDuplicate.size(); t++)
{
newTriangle = m_mesh.AddTriangle();
newTriangle->GetData().m_vertices[0] = trianglesToDuplicate[t]->GetData().m_vertices[1];
@@ -193,9 +193,9 @@ namespace HACD
}
}
return ICHullErrorOK;
}
ICHullError ICHull::Process(unsigned long nPointsCH)
{
}
ICHullError ICHull::Process(unsigned long nPointsCH)
{
unsigned long addedPoints = 0;
if (nPointsCH < 3 || m_mesh.GetNVertices() < 3)
{
@@ -204,16 +204,16 @@ namespace HACD
if (m_mesh.GetNVertices() == 3)
{
m_isFlat = true;
CircularListElement<TMMTriangle> * t1 = m_mesh.AddTriangle();
CircularListElement<TMMTriangle> * t2 = m_mesh.AddTriangle();
CircularListElement<TMMVertex> * v0 = m_mesh.m_vertices.GetHead();
CircularListElement<TMMVertex> * v1 = v0->GetNext();
CircularListElement<TMMVertex> * v2 = v1->GetNext();
CircularListElement<TMMTriangle> *t1 = m_mesh.AddTriangle();
CircularListElement<TMMTriangle> *t2 = m_mesh.AddTriangle();
CircularListElement<TMMVertex> *v0 = m_mesh.m_vertices.GetHead();
CircularListElement<TMMVertex> *v1 = v0->GetNext();
CircularListElement<TMMVertex> *v2 = v1->GetNext();
// Compute the normal to the plane
Vec3<Real> p0 = v0->GetData().m_pos;
Vec3<Real> p1 = v1->GetData().m_pos;
Vec3<Real> p2 = v2->GetData().m_pos;
m_normal = (p1-p0) ^ (p2-p0);
m_normal = (p1 - p0) ^ (p2 - p0);
m_normal.Normalize();
t1->GetData().m_vertices[0] = v0;
t1->GetData().m_vertices[1] = v1;
@@ -243,7 +243,7 @@ namespace HACD
addedPoints += 3;
}
}
CircularList<TMMVertex> & vertices = m_mesh.GetVertices();
CircularList<TMMVertex> &vertices = m_mesh.GetVertices();
while (!vertices.GetData().m_tag && addedPoints < nPointsCH) // not processed
{
if (!FindMaxVolumePoint())
@@ -271,19 +271,19 @@ namespace HACD
}
if (m_isFlat)
{
std::vector< CircularListElement<TMMTriangle> * > trianglesToDuplicate;
std::vector<CircularListElement<TMMTriangle> *> trianglesToDuplicate;
size_t nT = m_mesh.GetNTriangles();
for(size_t f = 0; f < nT; f++)
for (size_t f = 0; f < nT; f++)
{
TMMTriangle & currentTriangle = m_mesh.m_triangles.GetHead()->GetData();
if( currentTriangle.m_vertices[0]->GetData().m_name == sc_dummyIndex ||
TMMTriangle &currentTriangle = m_mesh.m_triangles.GetHead()->GetData();
if (currentTriangle.m_vertices[0]->GetData().m_name == sc_dummyIndex ||
currentTriangle.m_vertices[1]->GetData().m_name == sc_dummyIndex ||
currentTriangle.m_vertices[2]->GetData().m_name == sc_dummyIndex )
currentTriangle.m_vertices[2]->GetData().m_name == sc_dummyIndex)
{
m_trianglesToDelete.push_back(m_mesh.m_triangles.GetHead());
for(int k = 0; k < 3; k++)
for (int k = 0; k < 3; k++)
{
for(int h = 0; h < 2; h++)
for (int h = 0; h < 2; h++)
{
if (currentTriangle.m_edges[k]->GetData().m_triangles[h] == m_mesh.m_triangles.GetHead())
{
@@ -300,10 +300,10 @@ namespace HACD
m_mesh.m_triangles.Next();
}
size_t nE = m_mesh.GetNEdges();
for(size_t e = 0; e < nE; e++)
for (size_t e = 0; e < nE; e++)
{
TMMEdge & currentEdge = m_mesh.m_edges.GetHead()->GetData();
if( currentEdge.m_triangles[0] == 0 && currentEdge.m_triangles[1] == 0)
TMMEdge &currentEdge = m_mesh.m_edges.GetHead()->GetData();
if (currentEdge.m_triangles[0] == 0 && currentEdge.m_triangles[1] == 0)
{
m_edgesToDelete.push_back(m_mesh.m_edges.GetHead());
}
@@ -312,16 +312,16 @@ namespace HACD
m_mesh.m_vertices.Delete(m_dummyVertex);
m_dummyVertex = 0;
size_t nV = m_mesh.GetNVertices();
CircularList<TMMVertex> & vertices = m_mesh.GetVertices();
for(size_t v = 0; v < nV; ++v)
CircularList<TMMVertex> &vertices = m_mesh.GetVertices();
for (size_t v = 0; v < nV; ++v)
{
vertices.GetData().m_tag = false;
vertices.Next();
}
CleanEdges();
CleanTriangles();
CircularListElement<TMMTriangle> * newTriangle;
for(size_t t = 0; t < trianglesToDuplicate.size(); t++)
CircularListElement<TMMTriangle> *newTriangle;
for (size_t t = 0; t < trianglesToDuplicate.size(); t++)
{
newTriangle = m_mesh.AddTriangle();
newTriangle->GetData().m_vertices[0] = trianglesToDuplicate[t]->GetData().m_vertices[1];
@@ -330,12 +330,12 @@ namespace HACD
}
}
return ICHullErrorOK;
}
bool ICHull::FindMaxVolumePoint()
{
CircularList<TMMVertex> & vertices = m_mesh.GetVertices();
CircularListElement<TMMVertex> * vMaxVolume = 0;
CircularListElement<TMMVertex> * vHeadPrev = vertices.GetHead()->GetPrev();
}
bool ICHull::FindMaxVolumePoint()
{
CircularList<TMMVertex> &vertices = m_mesh.GetVertices();
CircularListElement<TMMVertex> *vMaxVolume = 0;
CircularListElement<TMMVertex> *vHeadPrev = vertices.GetHead()->GetPrev();
double maxVolume = 0.0;
double volume = 0.0;
@@ -344,7 +344,7 @@ namespace HACD
{
if (ComputePointVolume(volume, false))
{
if ( maxVolume < volume)
if (maxVolume < volume)
{
maxVolume = volume;
vMaxVolume = vertices.GetHead();
@@ -352,7 +352,7 @@ namespace HACD
vertices.Next();
}
}
CircularListElement<TMMVertex> * vHead = vHeadPrev->GetNext();
CircularListElement<TMMVertex> *vHead = vHeadPrev->GetNext();
vertices.GetHead() = vHead;
if (!vMaxVolume)
@@ -370,35 +370,34 @@ namespace HACD
vHead->GetData().m_name = id;
}
return true;
}
ICHullError ICHull::DoubleTriangle()
{
}
ICHullError ICHull::DoubleTriangle()
{
// find three non colinear points
m_isFlat = false;
CircularList<TMMVertex> & vertices = m_mesh.GetVertices();
CircularListElement<TMMVertex> * v0 = vertices.GetHead();
while( Colinear(v0->GetData().m_pos,
CircularList<TMMVertex> &vertices = m_mesh.GetVertices();
CircularListElement<TMMVertex> *v0 = vertices.GetHead();
while (Colinear(v0->GetData().m_pos,
v0->GetNext()->GetData().m_pos,
v0->GetNext()->GetNext()->GetData().m_pos))
{
if ( (v0 = v0->GetNext()) == vertices.GetHead())
if ((v0 = v0->GetNext()) == vertices.GetHead())
{
return ICHullErrorCoplanarPoints;
}
}
CircularListElement<TMMVertex> * v1 = v0->GetNext();
CircularListElement<TMMVertex> * v2 = v1->GetNext();
CircularListElement<TMMVertex> *v1 = v0->GetNext();
CircularListElement<TMMVertex> *v2 = v1->GetNext();
// mark points as processed
v0->GetData().m_tag = v1->GetData().m_tag = v2->GetData().m_tag = true;
// create two triangles
CircularListElement<TMMTriangle> * f0 = MakeFace(v0, v1, v2, 0);
CircularListElement<TMMTriangle> *f0 = MakeFace(v0, v1, v2, 0);
MakeFace(v2, v1, v0, f0);
// find a fourth non-coplanar point to form tetrahedron
CircularListElement<TMMVertex> * v3 = v2->GetNext();
CircularListElement<TMMVertex> *v3 = v2->GetNext();
vertices.GetHead() = v3;
double vol = Volume(v0->GetData().m_pos, v1->GetData().m_pos, v2->GetData().m_pos, v3->GetData().m_pos);
@@ -410,20 +409,19 @@ namespace HACD
if (vol == 0.0)
{
// compute the barycenter
Vec3<Real> bary(0.0,0.0,0.0);
CircularListElement<TMMVertex> * vBary = v0;
Vec3<Real> bary(0.0, 0.0, 0.0);
CircularListElement<TMMVertex> *vBary = v0;
do
{
bary += vBary->GetData().m_pos;
}
while ( (vBary = vBary->GetNext()) != v0);
} while ((vBary = vBary->GetNext()) != v0);
bary /= static_cast<Real>(vertices.GetSize());
// Compute the normal to the plane
Vec3<Real> p0 = v0->GetData().m_pos;
Vec3<Real> p1 = v1->GetData().m_pos;
Vec3<Real> p2 = v2->GetData().m_pos;
m_normal = (p1-p0) ^ (p2-p0);
m_normal = (p1 - p0) ^ (p2 - p0);
m_normal.Normalize();
// add dummy vertex placed at (bary + normal)
vertices.GetHead() = v2;
@@ -446,15 +444,15 @@ namespace HACD
vertices.GetHead()->GetData().m_pos = temp.m_pos;
}
return ICHullErrorOK;
}
CircularListElement<TMMTriangle> * ICHull::MakeFace(CircularListElement<TMMVertex> * v0,
CircularListElement<TMMVertex> * v1,
CircularListElement<TMMVertex> * v2,
CircularListElement<TMMTriangle> * fold)
{
CircularListElement<TMMEdge> * e0;
CircularListElement<TMMEdge> * e1;
CircularListElement<TMMEdge> * e2;
}
CircularListElement<TMMTriangle> *ICHull::MakeFace(CircularListElement<TMMVertex> *v0,
CircularListElement<TMMVertex> *v1,
CircularListElement<TMMVertex> *v2,
CircularListElement<TMMTriangle> *fold)
{
CircularListElement<TMMEdge> *e0;
CircularListElement<TMMEdge> *e1;
CircularListElement<TMMEdge> *e2;
long index = 0;
if (!fold) // if first face to be created
{
@@ -469,24 +467,31 @@ namespace HACD
e2 = fold->GetData().m_edges[0];
index = 1;
}
e0->GetData().m_vertices[0] = v0; e0->GetData().m_vertices[1] = v1;
e1->GetData().m_vertices[0] = v1; e1->GetData().m_vertices[1] = v2;
e2->GetData().m_vertices[0] = v2; e2->GetData().m_vertices[1] = v0;
e0->GetData().m_vertices[0] = v0;
e0->GetData().m_vertices[1] = v1;
e1->GetData().m_vertices[0] = v1;
e1->GetData().m_vertices[1] = v2;
e2->GetData().m_vertices[0] = v2;
e2->GetData().m_vertices[1] = v0;
// create the new face
CircularListElement<TMMTriangle> * f = m_mesh.AddTriangle();
f->GetData().m_edges[0] = e0; f->GetData().m_edges[1] = e1; f->GetData().m_edges[2] = e2;
f->GetData().m_vertices[0] = v0; f->GetData().m_vertices[1] = v1; f->GetData().m_vertices[2] = v2;
CircularListElement<TMMTriangle> *f = m_mesh.AddTriangle();
f->GetData().m_edges[0] = e0;
f->GetData().m_edges[1] = e1;
f->GetData().m_edges[2] = e2;
f->GetData().m_vertices[0] = v0;
f->GetData().m_vertices[1] = v1;
f->GetData().m_vertices[2] = v2;
// link edges to face f
e0->GetData().m_triangles[index] = e1->GetData().m_triangles[index] = e2->GetData().m_triangles[index] = f;
return f;
}
CircularListElement<TMMTriangle> * ICHull::MakeConeFace(CircularListElement<TMMEdge> * e, CircularListElement<TMMVertex> * p)
{
}
CircularListElement<TMMTriangle> *ICHull::MakeConeFace(CircularListElement<TMMEdge> *e, CircularListElement<TMMVertex> *p)
{
// create two new edges if they don't already exist
CircularListElement<TMMEdge> * newEdges[2];
for(int i = 0; i < 2; ++i)
CircularListElement<TMMEdge> *newEdges[2];
for (int i = 0; i < 2; ++i)
{
if ( !( newEdges[i] = e->GetData().m_vertices[i]->GetData().m_duplicate ) )
if (!(newEdges[i] = e->GetData().m_vertices[i]->GetData().m_duplicate))
{ // if the edge doesn't exits add it and mark the vertex as duplicated
newEdges[i] = m_mesh.AddEdge();
newEdges[i]->GetData().m_vertices[0] = e->GetData().m_vertices[i];
@@ -495,16 +500,16 @@ namespace HACD
}
}
// make the new face
CircularListElement<TMMTriangle> * newFace = m_mesh.AddTriangle();
CircularListElement<TMMTriangle> *newFace = m_mesh.AddTriangle();
newFace->GetData().m_edges[0] = e;
newFace->GetData().m_edges[1] = newEdges[0];
newFace->GetData().m_edges[2] = newEdges[1];
MakeCCW(newFace, e, p);
for(int i=0; i < 2; ++i)
for (int i = 0; i < 2; ++i)
{
for(int j=0; j < 2; ++j)
for (int j = 0; j < 2; ++j)
{
if ( ! newEdges[i]->GetData().m_triangles[j] )
if (!newEdges[i]->GetData().m_triangles[j])
{
newEdges[i]->GetData().m_triangles[j] = newFace;
break;
@@ -512,14 +517,14 @@ namespace HACD
}
}
return newFace;
}
bool ICHull::ComputePointVolume(double &totalVolume, bool markVisibleFaces)
{
}
bool ICHull::ComputePointVolume(double &totalVolume, bool markVisibleFaces)
{
// mark visible faces
CircularListElement<TMMTriangle> * fHead = m_mesh.GetTriangles().GetHead();
CircularListElement<TMMTriangle> * f = fHead;
CircularList<TMMVertex> & vertices = m_mesh.GetVertices();
CircularListElement<TMMVertex> * vertex0 = vertices.GetHead();
CircularListElement<TMMTriangle> *fHead = m_mesh.GetTriangles().GetHead();
CircularListElement<TMMTriangle> *f = fHead;
CircularList<TMMVertex> &vertices = m_mesh.GetVertices();
CircularListElement<TMMVertex> *vertex0 = vertices.GetHead();
bool visible = false;
Vec3<double> pos0 = Vec3<double>(vertex0->GetData().m_pos.X(),
vertex0->GetData().m_pos.Y(),
@@ -539,7 +544,7 @@ namespace HACD
ver2.Y() = f->GetData().m_vertices[2]->GetData().m_pos.Y();
ver2.Z() = f->GetData().m_vertices[2]->GetData().m_pos.Z();
vol = Volume(ver0, ver1, ver2, pos0);
if ( vol < 0.0 )
if (vol < 0.0)
{
vol = fabs(vol);
totalVolume += vol;
@@ -551,12 +556,11 @@ namespace HACD
visible = true;
}
f = f->GetNext();
}
while (f != fHead);
} while (f != fHead);
if (m_trianglesToDelete.size() == m_mesh.m_triangles.GetSize())
{
for(size_t i = 0; i < m_trianglesToDelete.size(); i++)
for (size_t i = 0; i < m_trianglesToDelete.size(); i++)
{
m_trianglesToDelete[i]->GetData().m_visible = false;
}
@@ -572,9 +576,9 @@ namespace HACD
return false;
}
return true;
}
bool ICHull::ProcessPoint()
{
}
bool ICHull::ProcessPoint()
{
double totalVolume = 0.0;
if (!ComputePointVolume(totalVolume, true))
{
@@ -582,10 +586,10 @@ namespace HACD
}
// Mark edges in interior of visible region for deletion.
// Create a new face based on each border edge
CircularListElement<TMMVertex> * v0 = m_mesh.GetVertices().GetHead();
CircularListElement<TMMEdge> * eHead = m_mesh.GetEdges().GetHead();
CircularListElement<TMMEdge> * e = eHead;
CircularListElement<TMMEdge> * tmp = 0;
CircularListElement<TMMVertex> *v0 = m_mesh.GetVertices().GetHead();
CircularListElement<TMMEdge> *eHead = m_mesh.GetEdges().GetHead();
CircularListElement<TMMEdge> *e = eHead;
CircularListElement<TMMEdge> *tmp = 0;
long nvisible = 0;
m_edgesToDelete.clear();
m_edgesToUpdate.clear();
@@ -593,33 +597,32 @@ namespace HACD
{
tmp = e->GetNext();
nvisible = 0;
for(int k = 0; k < 2; k++)
for (int k = 0; k < 2; k++)
{
if ( e->GetData().m_triangles[k]->GetData().m_visible )
if (e->GetData().m_triangles[k]->GetData().m_visible)
{
nvisible++;
}
}
if ( nvisible == 2)
if (nvisible == 2)
{
m_edgesToDelete.push_back(e);
}
else if ( nvisible == 1)
else if (nvisible == 1)
{
e->GetData().m_newFace = MakeConeFace(e, v0);
m_edgesToUpdate.push_back(e);
}
e = tmp;
}
while (e != eHead);
} while (e != eHead);
return true;
}
bool ICHull::MakeCCW(CircularListElement<TMMTriangle> * f,
CircularListElement<TMMEdge> * e,
CircularListElement<TMMVertex> * v)
{
}
bool ICHull::MakeCCW(CircularListElement<TMMTriangle> *f,
CircularListElement<TMMEdge> *e,
CircularListElement<TMMVertex> *v)
{
// the visible face adjacent to e
CircularListElement<TMMTriangle> * fv;
CircularListElement<TMMTriangle> *fv;
if (e->GetData().m_triangles[0]->GetData().m_visible)
{
fv = e->GetData().m_triangles[0];
@@ -631,11 +634,12 @@ namespace HACD
// set vertex[0] and vertex[1] to have the same orientation as the corresponding vertices of fv.
long i; // index of e->m_vertices[0] in fv
CircularListElement<TMMVertex> * v0 = e->GetData().m_vertices[0];
CircularListElement<TMMVertex> * v1 = e->GetData().m_vertices[1];
for(i = 0; fv->GetData().m_vertices[i] != v0; i++);
CircularListElement<TMMVertex> *v0 = e->GetData().m_vertices[0];
CircularListElement<TMMVertex> *v1 = e->GetData().m_vertices[1];
for (i = 0; fv->GetData().m_vertices[i] != v0; i++)
;
if ( fv->GetData().m_vertices[(i+1) % 3] != e->GetData().m_vertices[1] )
if (fv->GetData().m_vertices[(i + 1) % 3] != e->GetData().m_vertices[1])
{
f->GetData().m_vertices[0] = v1;
f->GetData().m_vertices[1] = v0;
@@ -645,31 +649,31 @@ namespace HACD
f->GetData().m_vertices[0] = v0;
f->GetData().m_vertices[1] = v1;
// swap edges
CircularListElement<TMMEdge> * tmp = f->GetData().m_edges[0];
CircularListElement<TMMEdge> *tmp = f->GetData().m_edges[0];
f->GetData().m_edges[0] = f->GetData().m_edges[1];
f->GetData().m_edges[1] = tmp;
}
f->GetData().m_vertices[2] = v;
return true;
}
bool ICHull::CleanUp(unsigned long & addedPoints)
{
}
bool ICHull::CleanUp(unsigned long &addedPoints)
{
bool r0 = CleanEdges();
bool r1 = CleanTriangles();
bool r2 = CleanVertices(addedPoints);
return r0 && r1 && r2;
}
bool ICHull::CleanEdges()
{
}
bool ICHull::CleanEdges()
{
// integrate the new faces into the data structure
CircularListElement<TMMEdge> * e;
CircularListElement<TMMEdge> *e;
const std::vector<CircularListElement<TMMEdge> *>::iterator itEndUpdate = m_edgesToUpdate.end();
for(std::vector<CircularListElement<TMMEdge> *>::iterator it = m_edgesToUpdate.begin(); it != itEndUpdate; ++it)
for (std::vector<CircularListElement<TMMEdge> *>::iterator it = m_edgesToUpdate.begin(); it != itEndUpdate; ++it)
{
e = *it;
if ( e->GetData().m_newFace )
if (e->GetData().m_newFace)
{
if ( e->GetData().m_triangles[0]->GetData().m_visible)
if (e->GetData().m_triangles[0]->GetData().m_visible)
{
e->GetData().m_triangles[0] = e->GetData().m_newFace;
}
@@ -681,21 +685,21 @@ namespace HACD
}
}
// delete edges maked for deletion
CircularList<TMMEdge> & edges = m_mesh.GetEdges();
CircularList<TMMEdge> &edges = m_mesh.GetEdges();
const std::vector<CircularListElement<TMMEdge> *>::iterator itEndDelete = m_edgesToDelete.end();
for(std::vector<CircularListElement<TMMEdge> *>::iterator it = m_edgesToDelete.begin(); it != itEndDelete; ++it)
for (std::vector<CircularListElement<TMMEdge> *>::iterator it = m_edgesToDelete.begin(); it != itEndDelete; ++it)
{
edges.Delete(*it);
}
m_edgesToDelete.clear();
m_edgesToUpdate.clear();
return true;
}
bool ICHull::CleanTriangles()
{
CircularList<TMMTriangle> & triangles = m_mesh.GetTriangles();
}
bool ICHull::CleanTriangles()
{
CircularList<TMMTriangle> &triangles = m_mesh.GetTriangles();
const std::vector<CircularListElement<TMMTriangle> *>::iterator itEndDelete = m_trianglesToDelete.end();
for(std::vector<CircularListElement<TMMTriangle> *>::iterator it = m_trianglesToDelete.begin(); it != itEndDelete; ++it)
for (std::vector<CircularListElement<TMMTriangle> *>::iterator it = m_trianglesToDelete.begin(); it != itEndDelete; ++it)
{
if (m_distPoints)
{
@@ -708,7 +712,7 @@ namespace HACD
std::set<long>::const_iterator itPEnd((*it)->GetData().m_incidentPoints.end());
std::set<long>::const_iterator itP((*it)->GetData().m_incidentPoints.begin());
std::map<long, DPoint>::iterator itPoint;
for(; itP != itPEnd; ++itP)
for (; itP != itPEnd; ++itP)
{
itPoint = m_distPoints->find(*itP);
if (itPoint != m_distPoints->end())
@@ -722,29 +726,29 @@ namespace HACD
}
m_trianglesToDelete.clear();
return true;
}
bool ICHull::CleanVertices(unsigned long & addedPoints)
{
}
bool ICHull::CleanVertices(unsigned long &addedPoints)
{
// mark all vertices incident to some undeleted edge as on the hull
CircularList<TMMEdge> & edges = m_mesh.GetEdges();
CircularListElement<TMMEdge> * e = edges.GetHead();
CircularList<TMMEdge> &edges = m_mesh.GetEdges();
CircularListElement<TMMEdge> *e = edges.GetHead();
size_t nE = edges.GetSize();
for(size_t i = 0; i < nE; i++)
for (size_t i = 0; i < nE; i++)
{
e->GetData().m_vertices[0]->GetData().m_onHull = true;
e->GetData().m_vertices[1]->GetData().m_onHull = true;
e = e->GetNext();
}
// delete all the vertices that have been processed but are not on the hull
CircularList<TMMVertex> & vertices = m_mesh.GetVertices();
CircularListElement<TMMVertex> * vHead = vertices.GetHead();
CircularListElement<TMMVertex> * v = vHead;
CircularList<TMMVertex> &vertices = m_mesh.GetVertices();
CircularListElement<TMMVertex> *vHead = vertices.GetHead();
CircularListElement<TMMVertex> *v = vHead;
v = v->GetPrev();
do
{
if (v->GetData().m_tag && !v->GetData().m_onHull)
{
CircularListElement<TMMVertex> * tmp = v->GetPrev();
CircularListElement<TMMVertex> *tmp = v->GetPrev();
if (tmp == m_dummyVertex)
m_dummyVertex = 0;
vertices.Delete(v);
@@ -757,20 +761,19 @@ namespace HACD
v->GetData().m_onHull = false;
v = v->GetPrev();
}
}
while (v->GetData().m_tag && v != vHead);
} while (v->GetData().m_tag && v != vHead);
return true;
}
void ICHull::Clear()
{
}
void ICHull::Clear()
{
m_mesh.Clear();
m_edgesToDelete = std::vector<CircularListElement<TMMEdge> *>();
m_edgesToUpdate = std::vector<CircularListElement<TMMEdge> *>();
m_trianglesToDelete= std::vector<CircularListElement<TMMTriangle> *>();
m_trianglesToDelete = std::vector<CircularListElement<TMMTriangle> *>();
m_isFlat = false;
}
const ICHull & ICHull::operator=(ICHull & rhs)
{
}
const ICHull &ICHull::operator=(ICHull &rhs)
{
if (&rhs != this)
{
m_mesh.Copy(rhs.m_mesh);
@@ -780,16 +783,16 @@ namespace HACD
m_isFlat = rhs.m_isFlat;
}
return (*this);
}
double ICHull::ComputeVolume()
{
}
double ICHull::ComputeVolume()
{
size_t nV = m_mesh.m_vertices.GetSize();
if (nV == 0 || m_isFlat)
{
return 0.0;
}
Vec3<double> bary(0.0, 0.0, 0.0);
for(size_t v = 0; v < nV; v++)
for (size_t v = 0; v < nV; v++)
{
bary.X() += m_mesh.m_vertices.GetHead()->GetData().m_pos.X();
bary.Y() += m_mesh.m_vertices.GetHead()->GetData().m_pos.Y();
@@ -801,7 +804,7 @@ namespace HACD
size_t nT = m_mesh.m_triangles.GetSize();
Vec3<double> ver0, ver1, ver2;
double totalVolume = 0.0;
for(size_t t = 0; t < nT; t++)
for (size_t t = 0; t < nT; t++)
{
ver0.X() = m_mesh.m_triangles.GetHead()->GetData().m_vertices[0]->GetData().m_pos.X();
ver0.Y() = m_mesh.m_triangles.GetHead()->GetData().m_vertices[0]->GetData().m_pos.Y();
@@ -816,16 +819,16 @@ namespace HACD
m_mesh.m_triangles.Next();
}
return totalVolume;
}
bool ICHull::IsInside(const Vec3<Real> & pt0)
{
}
bool ICHull::IsInside(const Vec3<Real> &pt0)
{
const Vec3<double> pt(pt0.X(), pt0.Y(), pt0.Z());
if (m_isFlat)
{
size_t nT = m_mesh.m_triangles.GetSize();
Vec3<double> ver0, ver1, ver2, a, b, c;
double u,v;
for(size_t t = 0; t < nT; t++)
double u, v;
for (size_t t = 0; t < nT; t++)
{
ver0.X() = m_mesh.m_triangles.GetHead()->GetData().m_vertices[0]->GetData().m_pos.X();
ver0.Y() = m_mesh.m_triangles.GetHead()->GetData().m_vertices[0]->GetData().m_pos.Y();
@@ -841,7 +844,7 @@ namespace HACD
c = pt - ver0;
u = c * a;
v = c * b;
if ( u >= 0.0 && u <= 1.0 && v >= 0.0 && u+v <= 1.0)
if (u >= 0.0 && u <= 1.0 && v >= 0.0 && u + v <= 1.0)
{
return true;
}
@@ -853,7 +856,7 @@ namespace HACD
{
size_t nT = m_mesh.m_triangles.GetSize();
Vec3<double> ver0, ver1, ver2;
for(size_t t = 0; t < nT; t++)
for (size_t t = 0; t < nT; t++)
{
ver0.X() = m_mesh.m_triangles.GetHead()->GetData().m_vertices[0]->GetData().m_pos.X();
ver0.Y() = m_mesh.m_triangles.GetHead()->GetData().m_vertices[0]->GetData().m_pos.Y();
@@ -872,13 +875,13 @@ namespace HACD
}
return true;
}
}
double ICHull::ComputeDistance(long name, const Vec3<Real> & pt, const Vec3<Real> & normal, bool & insideHull, bool updateIncidentPoints)
{
}
double ICHull::ComputeDistance(long name, const Vec3<Real> &pt, const Vec3<Real> &normal, bool &insideHull, bool updateIncidentPoints)
{
Vec3<double> ptNormal(static_cast<double>(normal.X()),
static_cast<double>(normal.Y()),
static_cast<double>(normal.Z()));
Vec3<double> p0( static_cast<double>(pt.X()),
Vec3<double> p0(static_cast<double>(pt.X()),
static_cast<double>(pt.Y()),
static_cast<double>(pt.Z()));
@@ -900,14 +903,14 @@ namespace HACD
double mua, mub, s;
const double EPS = 0.00000000001;
size_t nE = m_mesh.GetNEdges();
for(size_t e = 0; e < nE; e++)
for (size_t e = 0; e < nE; e++)
{
TMMEdge & currentEdge = m_mesh.m_edges.GetHead()->GetData();
TMMEdge &currentEdge = m_mesh.m_edges.GetHead()->GetData();
nameVE1 = currentEdge.m_vertices[0]->GetData().m_name;
nameVE2 = currentEdge.m_vertices[1]->GetData().m_name;
if (currentEdge.m_triangles[0] == 0 || currentEdge.m_triangles[1] == 0)
{
if ( nameVE1==name || nameVE2==name )
if (nameVE1 == name || nameVE2 == name)
{
return 0.0;
}
@@ -930,10 +933,10 @@ namespace HACD
d1 = pa - p2;
d2 = pa - pb;
d3 = pa - p0;
mua = d1.GetNorm()/d0.GetNorm();
mub = d1*d0;
s = d3*ptNormal;
if (d2.GetNorm() < EPS && mua <= 1.0 && mub>=0.0 && s>0.0)
mua = d1.GetNorm() / d0.GetNorm();
mub = d1 * d0;
s = d3 * ptNormal;
if (d2.GetNorm() < EPS && mua <= 1.0 && mub >= 0.0 && s > 0.0)
{
distance = std::max<double>(distance, d3.GetNorm());
}
@@ -957,11 +960,11 @@ namespace HACD
double distance = 0.0;
size_t nT = m_mesh.GetNTriangles();
insideHull = false;
CircularListElement<TMMTriangle> * face = 0;
CircularListElement<TMMTriangle> *face = 0;
Vec3<double> ver0, ver1, ver2;
for(size_t f = 0; f < nT; f++)
for (size_t f = 0; f < nT; f++)
{
TMMTriangle & currentTriangle = m_mesh.m_triangles.GetHead()->GetData();
TMMTriangle &currentTriangle = m_mesh.m_triangles.GetHead()->GetData();
/*
if (debug) std::cout << "T " << currentTriangle.m_vertices[0]->GetData().m_name << " "
<< currentTriangle.m_vertices[1]->GetData().m_name << " "
@@ -993,7 +996,7 @@ namespace HACD
distance = dist;
insideHull = true;
face = m_mesh.m_triangles.GetHead();
/*
/*
std::cout << name << " -> T " << currentTriangle.m_vertices[0]->GetData().m_name << " "
<< currentTriangle.m_vertices[1]->GetData().m_name << " "
<< currentTriangle.m_vertices[2]->GetData().m_name << " Dist "
@@ -1013,7 +1016,5 @@ namespace HACD
}
return distance;
}
}
}
} // namespace HACD

78
Extras/HACD/hacdICHull.h
View File

@@ -22,35 +22,35 @@
#include <map>
namespace HACD
{
class DPoint;
class HACD;
//! Incremental Convex Hull algorithm (cf. http://maven.smith.edu/~orourke/books/ftp.html ).
enum ICHullError
{
class DPoint;
class HACD;
//! Incremental Convex Hull algorithm (cf. http://maven.smith.edu/~orourke/books/ftp.html ).
enum ICHullError
{
ICHullErrorOK = 0,
ICHullErrorCoplanarPoints,
ICHullErrorNoVolume,
ICHullErrorInconsistent,
ICHullErrorNotEnoughPoints
};
class ICHull
{
public:
};
class ICHull
{
public:
//!
bool IsFlat() { return m_isFlat;}
bool IsFlat() { return m_isFlat; }
//!
std::map<long, DPoint> * GetDistPoints() const { return m_distPoints;}
std::map<long, DPoint> *GetDistPoints() const { return m_distPoints; }
//!
void SetDistPoints(std::map<long, DPoint> * distPoints) { m_distPoints = distPoints;}
void SetDistPoints(std::map<long, DPoint> *distPoints) { m_distPoints = distPoints; }
//! Returns the computed mesh
TMMesh & GetMesh() { return m_mesh;}
TMMesh &GetMesh() { return m_mesh; }
//! Add one point to the convex-hull
bool AddPoint(const Vec3<Real> & point) {return AddPoints(&point, 1);}
bool AddPoint(const Vec3<Real> &point) { return AddPoints(&point, 1); }
//! Add one point to the convex-hull
bool AddPoint(const Vec3<Real> & point, long id);
bool AddPoint(const Vec3<Real> &point, long id);
//! Add points to the convex-hull
bool AddPoints(const Vec3<Real> * points, size_t nPoints);
bool AddPoints(std::vector< Vec3<Real> > points);
bool AddPoints(const Vec3<Real> *points, size_t nPoints);
bool AddPoints(std::vector<Vec3<Real> > points);
//!
ICHullError Process();
//!
@@ -58,27 +58,27 @@ namespace HACD
//!
double ComputeVolume();
//!
bool IsInside(const Vec3<Real> & pt0);
bool IsInside(const Vec3<Real> &pt0);
//!
double ComputeDistance(long name, const Vec3<Real> & pt, const Vec3<Real> & normal, bool & insideHull, bool updateIncidentPoints);
double ComputeDistance(long name, const Vec3<Real> &pt, const Vec3<Real> &normal, bool &insideHull, bool updateIncidentPoints);
//!
const ICHull & operator=(ICHull & rhs);
const ICHull &operator=(ICHull &rhs);
//! Constructor
ICHull(void);
//! Destructor
virtual ~ICHull(void) {};
virtual ~ICHull(void){};
private:
private:
//! DoubleTriangle builds the initial double triangle. It first finds 3 noncollinear points and makes two faces out of them, in opposite order. It then finds a fourth point that is not coplanar with that face. The vertices are stored in the face structure in counterclockwise order so that the volume between the face and the point is negative. Lastly, the 3 newfaces to the fourth point are constructed and the data structures are cleaned up.
ICHullError DoubleTriangle();
//! MakeFace creates a new face structure from three vertices (in ccw order). It returns a pointer to the face.
CircularListElement<TMMTriangle> * MakeFace(CircularListElement<TMMVertex> * v0,
CircularListElement<TMMVertex> * v1,
CircularListElement<TMMVertex> * v2,
CircularListElement<TMMTriangle> * fold);
CircularListElement<TMMTriangle> *MakeFace(CircularListElement<TMMVertex> *v0,
CircularListElement<TMMVertex> *v1,
CircularListElement<TMMVertex> *v2,
CircularListElement<TMMTriangle> *fold);
//!
CircularListElement<TMMTriangle> * MakeConeFace(CircularListElement<TMMEdge> * e, CircularListElement<TMMVertex> * v);
CircularListElement<TMMTriangle> *MakeConeFace(CircularListElement<TMMEdge> *e, CircularListElement<TMMVertex> *v);
//!
bool ProcessPoint();
//!
@@ -88,33 +88,33 @@ namespace HACD
//!
bool CleanEdges();
//!
bool CleanVertices(unsigned long & addedPoints);
bool CleanVertices(unsigned long &addedPoints);
//!
bool CleanTriangles();
//!
bool CleanUp(unsigned long & addedPoints);
bool CleanUp(unsigned long &addedPoints);
//!
bool MakeCCW(CircularListElement<TMMTriangle> * f,
CircularListElement<TMMEdge> * e,
CircularListElement<TMMVertex> * v);
bool MakeCCW(CircularListElement<TMMTriangle> *f,
CircularListElement<TMMEdge> *e,
CircularListElement<TMMVertex> *v);
void Clear();
private:
private:
static const long sc_dummyIndex;
static const double sc_distMin;
TMMesh m_mesh;
std::vector<CircularListElement<TMMEdge> *> m_edgesToDelete;
std::vector<CircularListElement<TMMEdge> *> m_edgesToUpdate;
std::vector<CircularListElement<TMMTriangle> *> m_trianglesToDelete;
std::map<long, DPoint> * m_distPoints;
CircularListElement<TMMVertex> * m_dummyVertex;
std::map<long, DPoint> *m_distPoints;
CircularListElement<TMMVertex> *m_dummyVertex;
Vec3<Real> m_normal;
bool m_isFlat;
ICHull(const ICHull & rhs);
ICHull(const ICHull &rhs);
friend class HACD;
};
};
}
} // namespace HACD
#endif

385
Extras/HACD/hacdManifoldMesh.cpp
View File

@@ -15,11 +15,10 @@
#include "hacdManifoldMesh.h"
using namespace std;
namespace HACD
{
Material::Material(void)
{
Material::Material(void)
{
m_diffuseColor.X() = 0.5;
m_diffuseColor.Y() = 0.5;
m_diffuseColor.Z() = 0.5;
@@ -32,58 +31,58 @@ namespace HACD
m_emissiveColor.Z() = 0.0;
m_shininess = 0.4;
m_transparency = 0.0;
}
}
TMMVertex::TMMVertex(void)
{
TMMVertex::TMMVertex(void)
{
m_name = 0;
m_id = 0;
m_duplicate = 0;
m_onHull = false;
m_tag = false;
}
TMMVertex::~TMMVertex(void)
{
}
TMMEdge::TMMEdge(void)
{
}
TMMVertex::~TMMVertex(void)
{
}
TMMEdge::TMMEdge(void)
{
m_id = 0;
m_triangles[0] = m_triangles[1] = m_newFace = 0;
m_vertices[0] = m_vertices[1] = 0;
}
TMMEdge::~TMMEdge(void)
{
}
TMMTriangle::TMMTriangle(void)
{
}
TMMEdge::~TMMEdge(void)
{
}
TMMTriangle::TMMTriangle(void)
{
m_id = 0;
for(int i = 0; i < 3; i++)
for (int i = 0; i < 3; i++)
{
m_edges[i] = 0;
m_vertices[0] = 0;
}
m_visible = false;
}
TMMTriangle::~TMMTriangle(void)
{
}
TMMesh::TMMesh(void)
{
m_barycenter = Vec3<Real>(0,0,0);
}
TMMTriangle::~TMMTriangle(void)
{
}
TMMesh::TMMesh(void)
{
m_barycenter = Vec3<Real>(0, 0, 0);
m_diag = 1;
}
TMMesh::~TMMesh(void)
{
}
}
TMMesh::~TMMesh(void)
{
}
void TMMesh::Print()
{
void TMMesh::Print()
{
size_t nV = m_vertices.GetSize();
std::cout << "-----------------------------" << std::endl;
std::cout << "vertices (" << nV << ")" << std::endl;
for(size_t v = 0; v < nV; v++)
for (size_t v = 0; v < nV; v++)
{
const TMMVertex & currentVertex = m_vertices.GetData();
const TMMVertex &currentVertex = m_vertices.GetData();
std::cout << currentVertex.m_id << ", "
<< currentVertex.m_pos.X() << ", "
<< currentVertex.m_pos.Y() << ", "
@@ -91,21 +90,20 @@ namespace HACD
m_vertices.Next();
}
size_t nE = m_edges.GetSize();
std::cout << "edges (" << nE << ")" << std::endl;
for(size_t e = 0; e < nE; e++)
for (size_t e = 0; e < nE; e++)
{
const TMMEdge & currentEdge = m_edges.GetData();
const CircularListElement<TMMVertex> * v0 = currentEdge.m_vertices[0];
const CircularListElement<TMMVertex> * v1 = currentEdge.m_vertices[1];
const CircularListElement<TMMTriangle> * f0 = currentEdge.m_triangles[0];
const CircularListElement<TMMTriangle> * f1 = currentEdge.m_triangles[1];
const TMMEdge &currentEdge = m_edges.GetData();
const CircularListElement<TMMVertex> *v0 = currentEdge.m_vertices[0];
const CircularListElement<TMMVertex> *v1 = currentEdge.m_vertices[1];
const CircularListElement<TMMTriangle> *f0 = currentEdge.m_triangles[0];
const CircularListElement<TMMTriangle> *f1 = currentEdge.m_triangles[1];
std::cout << "-> (" << v0->GetData().m_name << ", " << v1->GetData().m_name << ")" << std::endl;
std::cout << "-> F0 (" << f0->GetData().m_vertices[0]->GetData().m_name << ", "
<< f0->GetData().m_vertices[1]->GetData().m_name << ", "
<< f0->GetData().m_vertices[2]->GetData().m_name <<")" << std::endl;
<< f0->GetData().m_vertices[2]->GetData().m_name << ")" << std::endl;
std::cout << "-> F1 (" << f1->GetData().m_vertices[0]->GetData().m_name << ", "
<< f1->GetData().m_vertices[1]->GetData().m_name << ", "
<< f1->GetData().m_vertices[2]->GetData().m_name << ")" << std::endl;
@@ -113,17 +111,17 @@ namespace HACD
}
size_t nT = m_triangles.GetSize();
std::cout << "triangles (" << nT << ")" << std::endl;
for(size_t t = 0; t < nT; t++)
for (size_t t = 0; t < nT; t++)
{
const TMMTriangle & currentTriangle = m_triangles.GetData();
const CircularListElement<TMMVertex> * v0 = currentTriangle.m_vertices[0];
const CircularListElement<TMMVertex> * v1 = currentTriangle.m_vertices[1];
const CircularListElement<TMMVertex> * v2 = currentTriangle.m_vertices[2];
const CircularListElement<TMMEdge> * e0 = currentTriangle.m_edges[0];
const CircularListElement<TMMEdge> * e1 = currentTriangle.m_edges[1];
const CircularListElement<TMMEdge> * e2 = currentTriangle.m_edges[2];
const TMMTriangle &currentTriangle = m_triangles.GetData();
const CircularListElement<TMMVertex> *v0 = currentTriangle.m_vertices[0];
const CircularListElement<TMMVertex> *v1 = currentTriangle.m_vertices[1];
const CircularListElement<TMMVertex> *v2 = currentTriangle.m_vertices[2];
const CircularListElement<TMMEdge> *e0 = currentTriangle.m_edges[0];
const CircularListElement<TMMEdge> *e1 = currentTriangle.m_edges[1];
const CircularListElement<TMMEdge> *e2 = currentTriangle.m_edges[2];
std::cout << "-> (" << v0->GetData().m_name << ", " << v1->GetData().m_name << ", "<< v2->GetData().m_name << ")" << std::endl;
std::cout << "-> (" << v0->GetData().m_name << ", " << v1->GetData().m_name << ", " << v2->GetData().m_name << ")" << std::endl;
std::cout << "-> E0 (" << e0->GetData().m_vertices[0]->GetData().m_name << ", "
<< e0->GetData().m_vertices[1]->GetData().m_name << ")" << std::endl;
@@ -133,9 +131,9 @@ namespace HACD
<< e2->GetData().m_vertices[1]->GetData().m_name << ")" << std::endl;
m_triangles.Next();
}
}
bool TMMesh::Save(const char *fileName)
{
}
bool TMMesh::Save(const char *fileName)
{
std::ofstream fout(fileName);
std::cout << "Saving " << fileName << std::endl;
if (SaveVRML2(fout))
@@ -144,124 +142,125 @@ namespace HACD
return true;
}
return false;
}
bool TMMesh::SaveVRML2(std::ofstream &fout)
{
}
bool TMMesh::SaveVRML2(std::ofstream &fout)
{
return SaveVRML2(fout, Material());
}
bool TMMesh::SaveVRML2(std::ofstream &fout, const Material & material)
{
}
bool TMMesh::SaveVRML2(std::ofstream &fout, const Material &material)
{
if (fout.is_open())
{
size_t nV = m_vertices.GetSize();
size_t nT = m_triangles.GetSize();
fout <<"#VRML V2.0 utf8" << std::endl;
fout <<"" << std::endl;
fout <<"# Vertices: " << nV << std::endl;
fout <<"# Triangles: " << nT << std::endl;
fout <<"" << std::endl;
fout <<"Group {" << std::endl;
fout <<" children [" << std::endl;
fout <<" Shape {" << std::endl;
fout <<" appearance Appearance {" << std::endl;
fout <<" material Material {" << std::endl;
fout <<" diffuseColor " << material.m_diffuseColor.X() << " "
fout << "#VRML V2.0 utf8" << std::endl;
fout << "" << std::endl;
fout << "# Vertices: " << nV << std::endl;
fout << "# Triangles: " << nT << std::endl;
fout << "" << std::endl;
fout << "Group {" << std::endl;
fout << " children [" << std::endl;
fout << " Shape {" << std::endl;
fout << " appearance Appearance {" << std::endl;
fout << " material Material {" << std::endl;
fout << " diffuseColor " << material.m_diffuseColor.X() << " "
<< material.m_diffuseColor.Y() << " "
<< material.m_diffuseColor.Z() << std::endl;
fout <<" ambientIntensity " << material.m_ambientIntensity << std::endl;
fout <<" specularColor " << material.m_specularColor.X() << " "
fout << " ambientIntensity " << material.m_ambientIntensity << std::endl;
fout << " specularColor " << material.m_specularColor.X() << " "
<< material.m_specularColor.Y() << " "
<< material.m_specularColor.Z() << std::endl;
fout <<" emissiveColor " << material.m_emissiveColor.X() << " "
fout << " emissiveColor " << material.m_emissiveColor.X() << " "
<< material.m_emissiveColor.Y() << " "
<< material.m_emissiveColor.Z() << std::endl;
fout <<" shininess " << material.m_shininess << std::endl;
fout <<" transparency " << material.m_transparency << std::endl;
fout <<" }" << std::endl;
fout <<" }" << std::endl;
fout <<" geometry IndexedFaceSet {" << std::endl;
fout <<" ccw TRUE" << std::endl;
fout <<" solid TRUE" << std::endl;
fout <<" convex TRUE" << std::endl;
if (GetNVertices() > 0) {
fout <<" coord DEF co Coordinate {" << std::endl;
fout <<" point [" << std::endl;
for(size_t v = 0; v < nV; v++)
fout << " shininess " << material.m_shininess << std::endl;
fout << " transparency " << material.m_transparency << std::endl;
fout << " }" << std::endl;
fout << " }" << std::endl;
fout << " geometry IndexedFaceSet {" << std::endl;
fout << " ccw TRUE" << std::endl;
fout << " solid TRUE" << std::endl;
fout << " convex TRUE" << std::endl;
if (GetNVertices() > 0)
{
TMMVertex & currentVertex = m_vertices.GetData();
fout <<" " << currentVertex.m_pos.X() << " "
fout << " coord DEF co Coordinate {" << std::endl;
fout << " point [" << std::endl;
for (size_t v = 0; v < nV; v++)
{
TMMVertex &currentVertex = m_vertices.GetData();
fout << " " << currentVertex.m_pos.X() << " "
<< currentVertex.m_pos.Y() << " "
<< currentVertex.m_pos.Z() << "," << std::endl;
currentVertex.m_id = v;
m_vertices.Next();
}
fout <<" ]" << std::endl;
fout <<" }" << std::endl;
fout << " ]" << std::endl;
fout << " }" << std::endl;
}
if (GetNTriangles() > 0) {
fout <<" coordIndex [ " << std::endl;
for(size_t f = 0; f < nT; f++)
if (GetNTriangles() > 0)
{
TMMTriangle & currentTriangle = m_triangles.GetData();
fout <<" " << currentTriangle.m_vertices[0]->GetData().m_id << ", "
fout << " coordIndex [ " << std::endl;
for (size_t f = 0; f < nT; f++)
{
TMMTriangle &currentTriangle = m_triangles.GetData();
fout << " " << currentTriangle.m_vertices[0]->GetData().m_id << ", "
<< currentTriangle.m_vertices[1]->GetData().m_id << ", "
<< currentTriangle.m_vertices[2]->GetData().m_id << ", -1," << std::endl;
m_triangles.Next();
}
fout <<" ]" << std::endl;
fout << " ]" << std::endl;
}
fout <<" }" << std::endl;
fout <<" }" << std::endl;
fout <<" ]" << std::endl;
fout <<"}" << std::endl;
fout << " }" << std::endl;
fout << " }" << std::endl;
fout << " ]" << std::endl;
fout << "}" << std::endl;
}
return true;
}
void TMMesh::GetIFS(Vec3<Real> * const points, Vec3<long> * const triangles)
{
}
void TMMesh::GetIFS(Vec3<Real> *const points, Vec3<long> *const triangles)
{
size_t nV = m_vertices.GetSize();
size_t nT = m_triangles.GetSize();
for(size_t v = 0; v < nV; v++)
for (size_t v = 0; v < nV; v++)
{
points[v] = m_vertices.GetData().m_pos;
m_vertices.GetData().m_id = v;
m_vertices.Next();
}
for(size_t f = 0; f < nT; f++)
for (size_t f = 0; f < nT; f++)
{
TMMTriangle & currentTriangle = m_triangles.GetData();
TMMTriangle &currentTriangle = m_triangles.GetData();
triangles[f].X() = static_cast<long>(currentTriangle.m_vertices[0]->GetData().m_id);
triangles[f].Y() = static_cast<long>(currentTriangle.m_vertices[1]->GetData().m_id);
triangles[f].Z() = static_cast<long>(currentTriangle.m_vertices[2]->GetData().m_id);
m_triangles.Next();
}
}
void TMMesh::Clear()
{
}
void TMMesh::Clear()
{
m_vertices.Clear();
m_edges.Clear();
m_triangles.Clear();
}
void TMMesh::Copy(TMMesh & mesh)
{
}
void TMMesh::Copy(TMMesh &mesh)
{
Clear();
// updating the id's
size_t nV = mesh.m_vertices.GetSize();
size_t nE = mesh. m_edges.GetSize();
size_t nE = mesh.m_edges.GetSize();
size_t nT = mesh.m_triangles.GetSize();
for(size_t v = 0; v < nV; v++)
for (size_t v = 0; v < nV; v++)
{
mesh.m_vertices.GetData().m_id = v;
mesh.m_vertices.Next();
}
for(size_t e = 0; e < nE; e++)
for (size_t e = 0; e < nE; e++)
{
mesh.m_edges.GetData().m_id = e;
mesh.m_edges.Next();
}
for(size_t f = 0; f < nT; f++)
for (size_t f = 0; f < nT; f++)
{
mesh.m_triangles.GetData().m_id = f;
mesh.m_triangles.Next();
@@ -272,34 +271,34 @@ namespace HACD
m_triangles = mesh.m_triangles;
// generating mapping
CircularListElement<TMMVertex> ** vertexMap = new CircularListElement<TMMVertex> * [nV];
CircularListElement<TMMEdge> ** edgeMap = new CircularListElement<TMMEdge> * [nE];
CircularListElement<TMMTriangle> ** triangleMap = new CircularListElement<TMMTriangle> * [nT];
for(size_t v = 0; v < nV; v++)
CircularListElement<TMMVertex> **vertexMap = new CircularListElement<TMMVertex> *[nV];
CircularListElement<TMMEdge> **edgeMap = new CircularListElement<TMMEdge> *[nE];
CircularListElement<TMMTriangle> **triangleMap = new CircularListElement<TMMTriangle> *[nT];
for (size_t v = 0; v < nV; v++)
{
vertexMap[v] = m_vertices.GetHead();
m_vertices.Next();
}
for(size_t e = 0; e < nE; e++)
for (size_t e = 0; e < nE; e++)
{
edgeMap[e] = m_edges.GetHead();
m_edges.Next();
}
for(size_t f = 0; f < nT; f++)
for (size_t f = 0; f < nT; f++)
{
triangleMap[f] = m_triangles.GetHead();
m_triangles.Next();
}
// updating pointers
for(size_t v = 0; v < nV; v++)
for (size_t v = 0; v < nV; v++)
{
if (vertexMap[v]->GetData().m_duplicate)
{
vertexMap[v]->GetData().m_duplicate = edgeMap[vertexMap[v]->GetData().m_duplicate->GetData().m_id];
}
}
for(size_t e = 0; e < nE; e++)
for (size_t e = 0; e < nE; e++)
{
if (edgeMap[e]->GetData().m_newFace)
{
@@ -307,7 +306,7 @@ namespace HACD
}
if (nT > 0)
{
for(int f = 0; f < 2; f++)
for (int f = 0; f < 2; f++)
{
if (edgeMap[e]->GetData().m_triangles[f])
{
@@ -315,7 +314,7 @@ namespace HACD
}
}
}
for(int v = 0; v < 2; v++)
for (int v = 0; v < 2; v++)
{
if (edgeMap[e]->GetData().m_vertices[v])
{
@@ -323,11 +322,11 @@ namespace HACD
}
}
}
for(size_t f = 0; f < nT; f++)
for (size_t f = 0; f < nT; f++)
{
if (nE > 0)
{
for(int e = 0; e < 3; e++)
for (int e = 0; e < 3; e++)
{
if (triangleMap[f]->GetData().m_edges[e])
{
@@ -335,7 +334,7 @@ namespace HACD
}
}
}
for(int v = 0; v < 3; v++)
for (int v = 0; v < 3; v++)
{
if (triangleMap[f]->GetData().m_vertices[v])
{
@@ -343,15 +342,14 @@ namespace HACD
}
}
}
delete [] vertexMap;
delete [] edgeMap;
delete [] triangleMap;
}
long IntersectRayTriangle(const Vec3<double> & P0, const Vec3<double> & dir,
const Vec3<double> & V0, const Vec3<double> & V1,
const Vec3<double> & V2, double &t)
{
delete[] vertexMap;
delete[] edgeMap;
delete[] triangleMap;
}
long IntersectRayTriangle(const Vec3<double> &P0, const Vec3<double> &dir,
const Vec3<double> &V0, const Vec3<double> &V1,
const Vec3<double> &V2, double &t)
{
Vec3<double> edge1, edge2, edge3;
double det, invDet;
edge1 = V1 - V2;
@@ -360,7 +358,7 @@ namespace HACD
det = edge1 * pvec;
if (det == 0.0)
return 0;
invDet = 1.0/det;
invDet = 1.0 / det;
Vec3<double> tvec = P0 - V0;
Vec3<double> qvec = tvec ^ edge1;
t = (edge2 * qvec) * invDet;
@@ -370,24 +368,24 @@ namespace HACD
}
edge3 = V0 - V1;
Vec3<double> I(P0 + t * dir);
Vec3<double> s0 = (I-V0) ^ edge3;
Vec3<double> s1 = (I-V1) ^ edge1;
Vec3<double> s2 = (I-V2) ^ edge2;
if (s0*s1 > -1e-9 && s2*s1 > -1e-9)
Vec3<double> s0 = (I - V0) ^ edge3;
Vec3<double> s1 = (I - V1) ^ edge1;
Vec3<double> s2 = (I - V2) ^ edge2;
if (s0 * s1 > -1e-9 && s2 * s1 > -1e-9)
{
return 1;
}
return 0;
}
}
bool IntersectLineLine(const Vec3<double> & p1, const Vec3<double> & p2,
const Vec3<double> & p3, const Vec3<double> & p4,
Vec3<double> & pa, Vec3<double> & pb,
double & mua, double & mub)
{
Vec3<double> p13,p43,p21;
double d1343,d4321,d1321,d4343,d2121;
double numer,denom;
bool IntersectLineLine(const Vec3<double> &p1, const Vec3<double> &p2,
const Vec3<double> &p3, const Vec3<double> &p4,
Vec3<double> &pa, Vec3<double> &pb,
double &mua, double &mub)
{
Vec3<double> p13, p43, p21;
double d1343, d4321, d1321, d4343, d2121;
double numer, denom;
p13.X() = p1.X() - p3.X();
p13.Y() = p1.Y() - p3.Y();
@@ -395,12 +393,12 @@ namespace HACD
p43.X() = p4.X() - p3.X();
p43.Y() = p4.Y() - p3.Y();
p43.Z() = p4.Z() - p3.Z();
if (p43.X()==0.0 && p43.Y()==0.0 && p43.Z()==0.0)
if (p43.X() == 0.0 && p43.Y() == 0.0 && p43.Z() == 0.0)
return false;
p21.X() = p2.X() - p1.X();
p21.Y() = p2.Y() - p1.Y();
p21.Z() = p2.Z() - p1.Z();
if (p21.X()==0.0 && p21.Y()==0.0 && p21.Z()==0.0)
if (p21.X() == 0.0 && p21.Y() == 0.0 && p21.Z() == 0.0)
return false;
d1343 = p13.X() * p43.X() + p13.Y() * p43.Y() + p13.Z() * p43.Z();
@@ -410,7 +408,7 @@ namespace HACD
d2121 = p21.X() * p21.X() + p21.Y() * p21.Y() + p21.Z() * p21.Z();
denom = d2121 * d4343 - d4321 * d4321;
if (denom==0.0)
if (denom == 0.0)
return false;
numer = d1343 * d4321 - d1321 * d4343;
@@ -425,12 +423,12 @@ namespace HACD
pb.Z() = p3.Z() + mub * p43.Z();
return true;
}
}
long IntersectRayTriangle2(const Vec3<double> & P0, const Vec3<double> & dir,
const Vec3<double> & V0, const Vec3<double> & V1,
const Vec3<double> & V2, double &r)
{
long IntersectRayTriangle2(const Vec3<double> &P0, const Vec3<double> &dir,
const Vec3<double> &V0, const Vec3<double> &V1,
const Vec3<double> &V2, double &r)
{
Vec3<double> u, v, n; // triangle vectors
Vec3<double> w0, w; // ray vectors
double a, b; // params to calc ray-plane intersect
@@ -443,12 +441,14 @@ namespace HACD
return -1; // do not deal with this case
w0 = P0 - V0;
a = - n * w0;
a = -n * w0;
b = n * dir;
if (fabs(b) <= 0.0) { // ray is parallel to triangle plane
if (fabs(b) <= 0.0)
{ // ray is parallel to triangle plane
if (a == 0.0) // ray lies in triangle plane
return 2;
else return 0; // ray disjoint from plane
else
return 0; // ray disjoint from plane
}
// get intersect point of ray with triangle plane
@@ -478,16 +478,15 @@ namespace HACD
if (t < 0.0 || (s + t) > 1.0) // I is outside T
return 0;
return 1; // I is in T
}
}
bool TMMesh::CheckConsistancy()
{
bool TMMesh::CheckConsistancy()
{
size_t nE = m_edges.GetSize();
size_t nT = m_triangles.GetSize();
for(size_t e = 0; e < nE; e++)
for (size_t e = 0; e < nE; e++)
{
for(int f = 0; f < 2; f++)
for (int f = 0; f < 2; f++)
{
if (!m_edges.GetHead()->GetData().m_triangles[f])
{
@@ -497,12 +496,12 @@ namespace HACD
m_edges.Next();
}
for(size_t f = 0; f < nT; f++)
for (size_t f = 0; f < nT; f++)
{
for(int e = 0; e < 3; e++)
for (int e = 0; e < 3; e++)
{
int found = 0;
for(int k = 0; k < 2; k++)
for (int k = 0; k < 2; k++)
{
if (m_triangles.GetHead()->GetData().m_edges[e]->GetData().m_triangles[k] == m_triangles.GetHead())
{
@@ -518,9 +517,9 @@ namespace HACD
}
return true;
}
bool TMMesh::Normalize()
{
}
bool TMMesh::Normalize()
{
size_t nV = m_vertices.GetSize();
if (nV == 0)
{
@@ -530,35 +529,41 @@ namespace HACD
Vec3<Real> min = m_barycenter;
Vec3<Real> max = m_barycenter;
Real x, y, z;
for(size_t v = 1; v < nV; v++)
for (size_t v = 1; v < nV; v++)
{
m_barycenter += m_vertices.GetHead()->GetData().m_pos;
x = m_vertices.GetHead()->GetData().m_pos.X();
y = m_vertices.GetHead()->GetData().m_pos.Y();
z = m_vertices.GetHead()->GetData().m_pos.Z();
if ( x < min.X()) min.X() = x;
else if ( x > max.X()) max.X() = x;
if ( y < min.Y()) min.Y() = y;
else if ( y > max.Y()) max.Y() = y;
if ( z < min.Z()) min.Z() = z;
else if ( z > max.Z()) max.Z() = z;
if (x < min.X())
min.X() = x;
else if (x > max.X())
max.X() = x;
if (y < min.Y())
min.Y() = y;
else if (y > max.Y())
max.Y() = y;
if (z < min.Z())
min.Z() = z;
else if (z > max.Z())
max.Z() = z;
m_vertices.Next();
}
m_barycenter /= static_cast<Real>(nV);
m_diag = static_cast<Real>(0.001 * (max-min).GetNorm());
m_diag = static_cast<Real>(0.001 * (max - min).GetNorm());
const Real invDiag = static_cast<Real>(1.0 / m_diag);
if (m_diag != 0.0)
{
for(size_t v = 0; v < nV; v++)
for (size_t v = 0; v < nV; v++)
{
m_vertices.GetHead()->GetData().m_pos = (m_vertices.GetHead()->GetData().m_pos - m_barycenter) * invDiag;
m_vertices.Next();
}
}
return true;
}
bool TMMesh::Denormalize()
{
}
bool TMMesh::Denormalize()
{
size_t nV = m_vertices.GetSize();
if (nV == 0)
{
@@ -566,12 +571,12 @@ namespace HACD
}
if (m_diag != 0.0)
{
for(size_t v = 0; v < nV; v++)
for (size_t v = 0; v < nV; v++)
{
m_vertices.GetHead()->GetData().m_pos = m_vertices.GetHead()->GetData().m_pos * m_diag + m_barycenter;
m_vertices.Next();
}
}
return false;
}
}
} // namespace HACD

187
Extras/HACD/hacdManifoldMesh.h
View File

@@ -38,21 +38,22 @@ All rights reserved.
#include <set>
namespace HACD
{
class TMMTriangle;
class TMMEdge;
class TMMesh;
class ICHull;
class HACD;
class TMMTriangle;
class TMMEdge;
class TMMesh;
class ICHull;
class HACD;
class DPoint
{
public:
DPoint(Real dist=0, bool computed=false, bool distOnly=false)
:m_dist(dist),
class DPoint
{
public:
DPoint(Real dist = 0, bool computed = false, bool distOnly = false)
: m_dist(dist),
m_computed(computed),
m_distOnly(distOnly){};
~DPoint(){};
private:
private:
Real m_dist;
bool m_computed;
bool m_distOnly;
@@ -63,81 +64,82 @@ namespace HACD
friend class Graph;
friend class ICHull;
friend class HACD;
};
};
//! Vertex data structure used in a triangular manifold mesh (TMM).
class TMMVertex
{
public:
//! Vertex data structure used in a triangular manifold mesh (TMM).
class TMMVertex
{
public:
TMMVertex(void);
~TMMVertex(void);
private:
private:
Vec3<Real> m_pos;
long m_name;
size_t m_id;
CircularListElement<TMMEdge> * m_duplicate; // pointer to incident cone edge (or NULL)
CircularListElement<TMMEdge> *m_duplicate; // pointer to incident cone edge (or NULL)
bool m_onHull;
bool m_tag;
TMMVertex(const TMMVertex & rhs);
TMMVertex(const TMMVertex &rhs);
friend class HACD;
friend class ICHull;
friend class TMMesh;
friend class TMMTriangle;
friend class TMMEdge;
};
};
//! Edge data structure used in a triangular manifold mesh (TMM).
class TMMEdge
{
public:
//! Edge data structure used in a triangular manifold mesh (TMM).
class TMMEdge
{
public:
TMMEdge(void);
~TMMEdge(void);
private:
private:
size_t m_id;
CircularListElement<TMMTriangle> * m_triangles[2];
CircularListElement<TMMVertex> * m_vertices[2];
CircularListElement<TMMTriangle> * m_newFace;
CircularListElement<TMMTriangle> *m_triangles[2];
CircularListElement<TMMVertex> *m_vertices[2];
CircularListElement<TMMTriangle> *m_newFace;
TMMEdge(const TMMEdge & rhs);
TMMEdge(const TMMEdge &rhs);
friend class HACD;
friend class ICHull;
friend class TMMTriangle;
friend class TMMVertex;
friend class TMMesh;
};
};
//! Triangle data structure used in a triangular manifold mesh (TMM).
class TMMTriangle
{
public:
//! Triangle data structure used in a triangular manifold mesh (TMM).
class TMMTriangle
{
public:
TMMTriangle(void);
~TMMTriangle(void);
private:
private:
size_t m_id;
CircularListElement<TMMEdge> * m_edges[3];
CircularListElement<TMMVertex> * m_vertices[3];
CircularListElement<TMMEdge> *m_edges[3];
CircularListElement<TMMVertex> *m_vertices[3];
std::set<long> m_incidentPoints;
bool m_visible;
TMMTriangle(const TMMTriangle & rhs);
TMMTriangle(const TMMTriangle &rhs);
friend class HACD;
friend class ICHull;
friend class TMMesh;
friend class TMMVertex;
friend class TMMEdge;
};
};
class Material
{
public:
class Material
{
public:
Material(void);
~Material(void){}
// private:
~Material(void) {}
// private:
Vec3<double> m_diffuseColor;
double m_ambientIntensity;
Vec3<double> m_specularColor;
@@ -147,51 +149,50 @@ namespace HACD
friend class TMMesh;
friend class HACD;
};
//! triangular manifold mesh data structure.
class TMMesh
{
public:
};
//! triangular manifold mesh data structure.
class TMMesh
{
public:
//! Returns the number of vertices>
inline size_t GetNVertices() const { return m_vertices.GetSize();}
inline size_t GetNVertices() const { return m_vertices.GetSize(); }
//! Returns the number of edges
inline size_t GetNEdges() const { return m_edges.GetSize();}
inline size_t GetNEdges() const { return m_edges.GetSize(); }
//! Returns the number of triangles
inline size_t GetNTriangles() const { return m_triangles.GetSize();}
inline size_t GetNTriangles() const { return m_triangles.GetSize(); }
//! Returns the vertices circular list
inline const CircularList<TMMVertex> & GetVertices() const { return m_vertices;}
inline const CircularList<TMMVertex> &GetVertices() const { return m_vertices; }
//! Returns the edges circular list
inline const CircularList<TMMEdge> & GetEdges() const { return m_edges;}
inline const CircularList<TMMEdge> &GetEdges() const { return m_edges; }
//! Returns the triangles circular list
inline const CircularList<TMMTriangle> & GetTriangles() const { return m_triangles;}
inline const CircularList<TMMTriangle> &GetTriangles() const { return m_triangles; }
//! Returns the vertices circular list
inline CircularList<TMMVertex> & GetVertices() { return m_vertices;}
inline CircularList<TMMVertex> &GetVertices() { return m_vertices; }
//! Returns the edges circular list
inline CircularList<TMMEdge> & GetEdges() { return m_edges;}
inline CircularList<TMMEdge> &GetEdges() { return m_edges; }
//! Returns the triangles circular list
inline CircularList<TMMTriangle> & GetTriangles() { return m_triangles;}
inline CircularList<TMMTriangle> &GetTriangles() { return m_triangles; }
//! Add vertex to the mesh
CircularListElement<TMMVertex> * AddVertex() {return m_vertices.Add();}
CircularListElement<TMMVertex> *AddVertex() { return m_vertices.Add(); }
//! Add vertex to the mesh
CircularListElement<TMMEdge> * AddEdge() {return m_edges.Add();}
CircularListElement<TMMEdge> *AddEdge() { return m_edges.Add(); }
//! Add vertex to the mesh
CircularListElement<TMMTriangle> * AddTriangle() {return m_triangles.Add();}
CircularListElement<TMMTriangle> *AddTriangle() { return m_triangles.Add(); }
//! Print mesh information
void Print();
//!
void GetIFS(Vec3<Real> * const points, Vec3<long> * const triangles);
void GetIFS(Vec3<Real> *const points, Vec3<long> *const triangles);
//! Save mesh
bool Save(const char *fileName);
//! Save mesh to VRML 2.0 format
bool SaveVRML2(std::ofstream &fout);
//! Save mesh to VRML 2.0 format
bool SaveVRML2(std::ofstream &fout, const Material & material);
bool SaveVRML2(std::ofstream &fout, const Material &material);
//!
void Clear();
//!
void Copy(TMMesh & mesh);
void Copy(TMMesh &mesh);
//!
bool CheckConsistancy();
//!
@@ -203,7 +204,7 @@ namespace HACD
//! Destructor
virtual ~TMMesh(void);
private:
private:
CircularList<TMMVertex> m_vertices;
CircularList<TMMEdge> m_edges;
CircularList<TMMTriangle> m_triangles;
@@ -211,40 +212,40 @@ namespace HACD
Vec3<Real> m_barycenter; //>! barycenter of the mesh
// not defined
TMMesh(const TMMesh & rhs);
TMMesh(const TMMesh &rhs);
friend class ICHull;
friend class HACD;
};
//! IntersectRayTriangle(): intersect a ray with a 3D triangle
//! Input: a ray R, and a triangle T
//! Output: *I = intersection point (when it exists)
//! 0 = disjoint (no intersect)
//! 1 = intersect in unique point I1
long IntersectRayTriangle( const Vec3<double> & P0, const Vec3<double> & dir,
const Vec3<double> & V0, const Vec3<double> & V1,
const Vec3<double> & V2, double &t);
};
//! IntersectRayTriangle(): intersect a ray with a 3D triangle
//! Input: a ray R, and a triangle T
//! Output: *I = intersection point (when it exists)
//! 0 = disjoint (no intersect)
//! 1 = intersect in unique point I1
long IntersectRayTriangle(const Vec3<double> &P0, const Vec3<double> &dir,
const Vec3<double> &V0, const Vec3<double> &V1,
const Vec3<double> &V2, double &t);
// intersect_RayTriangle(): intersect a ray with a 3D triangle
// Input: a ray R, and a triangle T
// Output: *I = intersection point (when it exists)
// Return: -1 = triangle is degenerate (a segment or point)
// 0 = disjoint (no intersect)
// 1 = intersect in unique point I1
// 2 = are in the same plane
long IntersectRayTriangle2(const Vec3<double> & P0, const Vec3<double> & dir,
const Vec3<double> & V0, const Vec3<double> & V1,
const Vec3<double> & V2, double &r);
// intersect_RayTriangle(): intersect a ray with a 3D triangle
// Input: a ray R, and a triangle T
// Output: *I = intersection point (when it exists)
// Return: -1 = triangle is degenerate (a segment or point)
// 0 = disjoint (no intersect)
// 1 = intersect in unique point I1
// 2 = are in the same plane
long IntersectRayTriangle2(const Vec3<double> &P0, const Vec3<double> &dir,
const Vec3<double> &V0, const Vec3<double> &V1,
const Vec3<double> &V2, double &r);
/*
/*
Calculate the line segment PaPb that is the shortest route between
two lines P1P2 and P3P4. Calculate also the values of mua and mub where
Pa = P1 + mua (P2 - P1)
Pb = P3 + mub (P4 - P3)
Return FALSE if no solution exists.
*/
bool IntersectLineLine(const Vec3<double> & p1, const Vec3<double> & p2,
const Vec3<double> & p3, const Vec3<double> & p4,
Vec3<double> & pa, Vec3<double> & pb,
double & mua, double &mub);
}
bool IntersectLineLine(const Vec3<double> &p1, const Vec3<double> &p2,
const Vec3<double> &p3, const Vec3<double> &p4,
Vec3<double> &pa, Vec3<double> &pb,
double &mua, double &mub);
} // namespace HACD
#endif

63
Extras/HACD/hacdVector.h
View File

@@ -15,53 +15,54 @@
#pragma once
#ifndef HACD_VECTOR_H
#define HACD_VECTOR_H
#include<math.h>
#include<iostream>
#include <math.h>
#include <iostream>
#include "hacdVersion.h"
namespace HACD
{
typedef double Real;
//! Vector dim 3.
template < typename T > class Vec3
{
public:
T & X();
T & Y();
T & Z();
const T & X() const;
const T & Y() const;
const T & Z() const;
typedef double Real;
//! Vector dim 3.
template <typename T>
class Vec3
{
public:
T& X();
T& Y();
T& Z();
const T& X() const;
const T& Y() const;
const T& Z() const;
void Normalize();
T GetNorm() const;
void operator= (const Vec3 & rhs);
void operator+=(const Vec3 & rhs);
void operator-=(const Vec3 & rhs);
void operator=(const Vec3& rhs);
void operator+=(const Vec3& rhs);
void operator-=(const Vec3& rhs);
void operator-=(T a);
void operator+=(T a);
void operator/=(T a);
void operator*=(T a);
Vec3 operator^ (const Vec3 & rhs) const;
T operator* (const Vec3 & rhs) const;
Vec3 operator+ (const Vec3 & rhs) const;
Vec3 operator- (const Vec3 & rhs) const;
Vec3 operator- () const;
Vec3 operator* (T rhs) const;
Vec3 operator/ (T rhs) const;
Vec3 operator^(const Vec3& rhs) const;
T operator*(const Vec3& rhs) const;
Vec3 operator+(const Vec3& rhs) const;
Vec3 operator-(const Vec3& rhs) const;
Vec3 operator-() const;
Vec3 operator*(T rhs) const;
Vec3 operator/(T rhs) const;
Vec3();
Vec3(T a);
Vec3(T x, T y, T z);
Vec3(const Vec3 & rhs);
Vec3(const Vec3& rhs);
/*virtual*/ ~Vec3(void);
private:
private:
T m_data[3];
};
template<typename T>
bool Colinear(const Vec3<T> & a, const Vec3<T> & b, const Vec3<T> & c);
template<typename T>
const T Volume(const Vec3<T> & a, const Vec3<T> & b, const Vec3<T> & c, const Vec3<T> & d);
};
template <typename T>
bool Colinear(const Vec3<T>& a, const Vec3<T>& b, const Vec3<T>& c);
template <typename T>
const T Volume(const Vec3<T>& a, const Vec3<T>& b, const Vec3<T>& c, const Vec3<T>& d);
}
} // namespace HACD
#include "hacdVector.inl" // template implementation
#endif

4
Extras/InverseDynamics/BulletInverseDynamicsUtilsCommon.h
View File

@@ -12,6 +12,4 @@
#include "MultiBodyNameMap.hpp"
#include "User2InternalIndex.hpp"
#endif//BULLET_INVERSE_DYNAMICS_UTILS_COMMON_H
#endif //BULLET_INVERSE_DYNAMICS_UTILS_COMMON_H

28
Extras/InverseDynamics/CloneTreeCreator.cpp
View File

@@ -2,27 +2,36 @@
#include <cstdio>
namespace btInverseDynamics {
namespace btInverseDynamics
{
#define CHECK_NULLPTR() \
do { \
if (m_reference == 0x0) { \
do \
{ \
if (m_reference == 0x0) \
{ \
bt_id_error_message("m_reference == 0x0\n"); \
return -1; \
} \
} while (0)
#define TRY(x) \
do { \
if (x == -1) { \
do \
{ \
if (x == -1) \
{ \
bt_id_error_message("error calling " #x "\n"); \
return -1; \
} \
} while (0)
CloneTreeCreator::CloneTreeCreator(const MultiBodyTree* reference) { m_reference = reference; }
CloneTreeCreator::CloneTreeCreator(const MultiBodyTree* reference)
{
m_reference = reference;
}
CloneTreeCreator::~CloneTreeCreator() {}
int CloneTreeCreator::getNumBodies(int* num_bodies) const {
int CloneTreeCreator::getNumBodies(int* num_bodies) const
{
CHECK_NULLPTR();
*num_bodies = m_reference->numBodies();
return 0;
@@ -31,7 +40,8 @@ int CloneTreeCreator::getNumBodies(int* num_bodies) const {
int CloneTreeCreator::getBody(const int body_index, int* parent_index, JointType* joint_type,
vec3* parent_r_parent_body_ref, mat33* body_T_parent_ref,
vec3* body_axis_of_motion, idScalar* mass, vec3* body_r_body_com,
mat33* body_I_body, int* user_int, void** user_ptr) const {
mat33* body_I_body, int* user_int, void** user_ptr) const
{
CHECK_NULLPTR();
TRY(m_reference->getParentIndex(body_index, parent_index));
TRY(m_reference->getJointType(body_index, joint_type));
@@ -46,4 +56,4 @@ int CloneTreeCreator::getBody(const int body_index, int* parent_index, JointType
return 0;
}
}
} // namespace btInverseDynamics

12
Extras/InverseDynamics/CloneTreeCreator.hpp
View File

@@ -4,13 +4,15 @@
#include "BulletInverseDynamics/IDConfig.hpp"
#include "MultiBodyTreeCreator.hpp"
namespace btInverseDynamics {
namespace btInverseDynamics
{
/// Generate an identical multibody tree from a reference system.
class CloneTreeCreator : public MultiBodyTreeCreator {
class CloneTreeCreator : public MultiBodyTreeCreator
{
public:
/// ctor
/// @param reference the MultiBodyTree to clone
CloneTreeCreator(const MultiBodyTree*reference);
CloneTreeCreator(const MultiBodyTree* reference);
~CloneTreeCreator();
///\copydoc MultiBodyTreeCreator::getNumBodies
int getNumBodies(int* num_bodies) const;
@@ -21,7 +23,7 @@ public:
void** user_ptr) const;
private:
const MultiBodyTree *m_reference;
const MultiBodyTree* m_reference;
};
}
} // namespace btInverseDynamics
#endif // CLONETREE_CREATOR_HPP_

20
Extras/InverseDynamics/CoilCreator.cpp
View File

@@ -2,9 +2,12 @@
#include "CoilCreator.hpp"
namespace btInverseDynamics {
CoilCreator::CoilCreator(int n) : m_num_bodies(n), m_parent(n) {
for (int i = 0; i < m_num_bodies; i++) {
namespace btInverseDynamics
{
CoilCreator::CoilCreator(int n) : m_num_bodies(n), m_parent(n)
{
for (int i = 0; i < m_num_bodies; i++)
{
m_parent[i] = i - 1;
}
@@ -38,7 +41,8 @@ CoilCreator::CoilCreator(int n) : m_num_bodies(n), m_parent(n) {
CoilCreator::~CoilCreator() {}
int CoilCreator::getNumBodies(int* num_bodies) const {
int CoilCreator::getNumBodies(int* num_bodies) const
{
*num_bodies = m_num_bodies;
return 0;
}
@@ -46,8 +50,10 @@ int CoilCreator::getNumBodies(int* num_bodies) const {
int CoilCreator::getBody(int body_index, int* parent_index, JointType* joint_type,
vec3* parent_r_parent_body_ref, mat33* body_T_parent_ref,
vec3* body_axis_of_motion, idScalar* mass, vec3* body_r_body_com,
mat33* body_I_body, int* user_int, void** user_ptr) const {
if (body_index < 0 || body_index >= m_num_bodies) {
mat33* body_I_body, int* user_int, void** user_ptr) const
{
if (body_index < 0 || body_index >= m_num_bodies)
{
bt_id_error_message("invalid body index %d\n", body_index);
return -1;
}
@@ -64,4 +70,4 @@ int CoilCreator::getBody(int body_index, int* parent_index, JointType* joint_typ
*user_ptr = 0;
return 0;
}
}
} // namespace btInverseDynamics

9
Extras/InverseDynamics/CoilCreator.hpp
View File

@@ -3,15 +3,16 @@
#include "MultiBodyTreeCreator.hpp"
namespace btInverseDynamics {
namespace btInverseDynamics
{
/// Creator class for building a "coil" system as intruduced as benchmark example in
/// Featherstone (1999), "A Divide-and-Conquer Articulated-Body Algorithm for Parallel O(log(n))
/// Calculation of Rigid-Body Dynamics. Part 2: Trees, Loops, and Accuracy.", The International
/// Journal of Robotics Research 18 (9): 876–892. doi : 10.1177 / 02783649922066628.
///
/// This is a serial chain, with an initial configuration resembling a coil.
class CoilCreator : public MultiBodyTreeCreator {
class CoilCreator : public MultiBodyTreeCreator
{
public:
/// ctor.
/// @param n the number of bodies in the system
@@ -36,5 +37,5 @@ private:
vec3 m_body_r_body_com;
mat33 m_body_I_body;
};
}
} // namespace btInverseDynamics
#endif

44
Extras/InverseDynamics/DillCreator.cpp
View File

@@ -1,11 +1,11 @@
#include "DillCreator.hpp"
#include <cmath>
namespace btInverseDynamics {
namespace btInverseDynamics
{
DillCreator::DillCreator(int level)
: m_level(level),
m_num_bodies(BT_ID_POW(2, level))
{
{
m_parent.resize(m_num_bodies);
m_parent_r_parent_body_ref.resize(m_num_bodies);
m_body_T_parent_ref.resize(m_num_bodies);
@@ -15,7 +15,8 @@ DillCreator::DillCreator(int level)
m_body_I_body.resize(m_num_bodies);
// generate names (for debugging)
for (int i = 0; i < m_num_bodies; i++) {
for (int i = 0; i < m_num_bodies; i++)
{
m_parent[i] = i - 1;
// all z-axis (DH convention)
@@ -31,7 +32,8 @@ DillCreator::DillCreator(int level)
const idScalar a_DH = 0.0;
const idScalar alpha_DH = 0.0;
if (-1 == recurseDill(m_level, parent, d_DH, a_DH, alpha_DH)) {
if (-1 == recurseDill(m_level, parent, d_DH, a_DH, alpha_DH))
{
bt_id_error_message("recurseDill failed\n");
abort();
}
@@ -39,7 +41,8 @@ DillCreator::DillCreator(int level)
DillCreator::~DillCreator() {}
int DillCreator::getNumBodies(int* num_bodies) const {
int DillCreator::getNumBodies(int* num_bodies) const
{
*num_bodies = m_num_bodies;
return 0;
}
@@ -47,8 +50,10 @@ int DillCreator::getNumBodies(int* num_bodies) const {
int DillCreator::getBody(const int body_index, int* parent_index, JointType* joint_type,
vec3* parent_r_parent_body_ref, mat33* body_T_parent_ref,
vec3* body_axis_of_motion, idScalar* mass, vec3* body_r_body_com,
mat33* body_I_body, int* user_int, void** user_ptr) const {
if (body_index < 0 || body_index >= m_num_bodies) {
mat33* body_I_body, int* user_int, void** user_ptr) const
{
if (body_index < 0 || body_index >= m_num_bodies)
{
bt_id_error_message("invalid body index %d\n", body_index);
return -1;
}
@@ -67,13 +72,16 @@ int DillCreator::getBody(const int body_index, int* parent_index, JointType* joi
}
int DillCreator::recurseDill(const int level, const int parent, const idScalar d_DH_in,
const idScalar a_DH_in, const idScalar alpha_DH_in) {
if (level < 0) {
const idScalar a_DH_in, const idScalar alpha_DH_in)
{
if (level < 0)
{
bt_id_error_message("invalid level parameter (%d)\n", level);
return -1;
}
if (m_current_body >= m_num_bodies || m_current_body < 0) {
if (m_current_body >= m_num_bodies || m_current_body < 0)
{
bt_id_error_message("invalid body parameter (%d, num_bodies: %d)\n", m_current_body,
m_num_bodies);
return -1;
@@ -92,9 +100,11 @@ int DillCreator::recurseDill(const int level, const int parent, const idScalar d
m_body_r_body_com[body](1) = 0;
m_body_r_body_com[body](2) = 0;
// initialization
for (int i = 0; i < 3; i++) {
for (int i = 0; i < 3; i++)
{
m_parent_r_parent_body_ref[body](i) = 0;
for (int j = 0; j < 3; j++) {
for (int j = 0; j < 3; j++)
{
m_body_I_body[body](i, j) = 0.0;
m_body_T_parent_ref[body](i, j) = 0.0;
}
@@ -108,9 +118,11 @@ int DillCreator::recurseDill(const int level, const int parent, const idScalar d
&m_body_T_parent_ref[body]);
// attach "level" Dill systems of levels 1...level
for (int i = 1; i <= level; i++) {
for (int i = 1; i <= level; i++)
{
idScalar d_DH = 0.01 * size;
if (i == level) {
if (i == level)
{
d_DH = 0.0;
}
const idScalar a_DH = i * 0.1;
@@ -121,4 +133,4 @@ int DillCreator::recurseDill(const int level, const int parent, const idScalar d
return 0; // ok!
}
}
} // namespace btInverseDynamics

10
Extras/InverseDynamics/DillCreator.hpp
View File

@@ -3,16 +3,16 @@
#include "MultiBodyTreeCreator.hpp"
namespace btInverseDynamics {
namespace btInverseDynamics
{
/// Creator class for building a "Dill" system as intruduced as benchmark example in
/// Featherstone (1999), "A Divide-and-Conquer Articulated-Body Algorithm for Parallel O(log(n))
/// Calculation of Rigid-Body Dynamics. Part 2: Trees, Loops, and Accuracy.", The International
/// Journal of Robotics Research 18 (9): 876–892. doi : 10.1177 / 02783649922066628.
///
/// This is a self-similar branched tree, somewhat resembling a dill plant
class DillCreator : public MultiBodyTreeCreator {
class DillCreator : public MultiBodyTreeCreator
{
public:
/// ctor
/// @param levels the number of dill levels
@@ -43,5 +43,5 @@ private:
idArray<mat33>::type m_body_I_body;
int m_current_body;
};
}
} // namespace btInverseDynamics
#endif

25
Extras/InverseDynamics/IDRandomUtil.cpp
View File

@@ -6,9 +6,8 @@
#include "BulletInverseDynamics/IDMath.hpp"
#include "IDRandomUtil.hpp"
namespace btInverseDynamics {
namespace btInverseDynamics
{
// constants for random mass and inertia generation
// these are arbitrary positive values.
static const float mass_min = 0.001;
@@ -19,15 +18,18 @@ void randomInit(unsigned seed) { srand(seed); }
int randomInt(int low, int high) { return rand() % (high + 1 - low) + low; }
float randomFloat(float low, float high) {
float randomFloat(float low, float high)
{
return low + static_cast<float>(rand()) / RAND_MAX * (high - low);
}
float randomMass() { return randomFloat(mass_min, mass_max); }
vec3 randomInertiaPrincipal() {
vec3 randomInertiaPrincipal()
{
vec3 inertia;
do {
do
{
inertia(0) = randomFloat(mass_min, mass_max);
inertia(1) = randomFloat(mass_min, mass_max);
inertia(2) = randomFloat(mass_min, mass_max);
@@ -36,7 +38,8 @@ vec3 randomInertiaPrincipal() {
return inertia;
}
mat33 randomInertiaMatrix() {
mat33 randomInertiaMatrix()
{
// generate random valid inertia matrix by first getting valid components
// along major axes and then rotating by random amount
vec3 principal = randomInertiaPrincipal();
@@ -55,10 +58,12 @@ mat33 randomInertiaMatrix() {
return rot * inertia * rot.transpose();
}
vec3 randomAxis() {
vec3 randomAxis()
{
vec3 axis;
idScalar length;
do {
do
{
axis(0) = randomFloat(-1.0, 1.0);
axis(1) = randomFloat(-1.0, 1.0);
axis(2) = randomFloat(-1.0, 1.0);
@@ -68,4 +73,4 @@ vec3 randomAxis() {
return axis / length;
}
}
} // namespace btInverseDynamics

5
Extras/InverseDynamics/IDRandomUtil.hpp
View File

@@ -1,7 +1,8 @@
#ifndef ID_RANDOM_UTIL_HPP_
#define ID_RANDOM_UTIL_HPP_
#include "BulletInverseDynamics/IDConfig.hpp"
namespace btInverseDynamics {
namespace btInverseDynamics
{
/// seed random number generator using time()
void randomInit();
/// seed random number generator with identical value to get repeatable results
@@ -32,5 +33,5 @@ vec3 randomInertiaPrincipal();
mat33 randomInertiaMatrix();
/// generate a random unit vector
vec3 randomAxis();
}
} // namespace btInverseDynamics
#endif

48
Extras/InverseDynamics/MultiBodyNameMap.cpp
View File

@@ -1,15 +1,18 @@
#include "MultiBodyNameMap.hpp"
namespace btInverseDynamics {
namespace btInverseDynamics
{
MultiBodyNameMap::MultiBodyNameMap() {}
int MultiBodyNameMap::addBody(const int index, const std::string& name) {
if (m_index_to_body_name.count(index) > 0) {
int MultiBodyNameMap::addBody(const int index, const std::string& name)
{
if (m_index_to_body_name.count(index) > 0)
{
bt_id_error_message("trying to add index %d again\n", index);
return -1;
}
if (m_body_name_to_index.count(name) > 0) {
if (m_body_name_to_index.count(name) > 0)
{
bt_id_error_message("trying to add name %s again\n", name.c_str());
return -1;
}
@@ -20,12 +23,15 @@ int MultiBodyNameMap::addBody(const int index, const std::string& name) {
return 0;
}
int MultiBodyNameMap::addJoint(const int index, const std::string& name) {
if (m_index_to_joint_name.count(index) > 0) {
int MultiBodyNameMap::addJoint(const int index, const std::string& name)
{
if (m_index_to_joint_name.count(index) > 0)
{
bt_id_error_message("trying to add index %d again\n", index);
return -1;
}
if (m_joint_name_to_index.count(name) > 0) {
if (m_joint_name_to_index.count(name) > 0)
{
bt_id_error_message("trying to add name %s again\n", name.c_str());
return -1;
}
@@ -36,9 +42,11 @@ int MultiBodyNameMap::addJoint(const int index, const std::string& name) {
return 0;
}
int MultiBodyNameMap::getBodyName(const int index, std::string* name) const {
int MultiBodyNameMap::getBodyName(const int index, std::string* name) const
{
std::map<int, std::string>::const_iterator it = m_index_to_body_name.find(index);
if (it == m_index_to_body_name.end()) {
if (it == m_index_to_body_name.end())
{
bt_id_error_message("index %d not known\n", index);
return -1;
}
@@ -46,9 +54,11 @@ int MultiBodyNameMap::getBodyName(const int index, std::string* name) const {
return 0;
}
int MultiBodyNameMap::getJointName(const int index, std::string* name) const {
int MultiBodyNameMap::getJointName(const int index, std::string* name) const
{
std::map<int, std::string>::const_iterator it = m_index_to_joint_name.find(index);
if (it == m_index_to_joint_name.end()) {
if (it == m_index_to_joint_name.end())
{
bt_id_error_message("index %d not known\n", index);
return -1;
}
@@ -56,9 +66,11 @@ int MultiBodyNameMap::getJointName(const int index, std::string* name) const {
return 0;
}
int MultiBodyNameMap::getBodyIndex(const std::string& name, int* index) const {
int MultiBodyNameMap::getBodyIndex(const std::string& name, int* index) const
{
std::map<std::string, int>::const_iterator it = m_body_name_to_index.find(name);
if (it == m_body_name_to_index.end()) {
if (it == m_body_name_to_index.end())
{
bt_id_error_message("name %s not known\n", name.c_str());
return -1;
}
@@ -66,13 +78,15 @@ int MultiBodyNameMap::getBodyIndex(const std::string& name, int* index) const {
return 0;
}
int MultiBodyNameMap::getJointIndex(const std::string& name, int* index) const {
int MultiBodyNameMap::getJointIndex(const std::string& name, int* index) const
{
std::map<std::string, int>::const_iterator it = m_joint_name_to_index.find(name);
if (it == m_joint_name_to_index.end()) {
if (it == m_joint_name_to_index.end())
{
bt_id_error_message("name %s not known\n", name.c_str());
return -1;
}
*index = it->second;
return 0;
}
}
} // namespace btInverseDynamics

9
Extras/InverseDynamics/MultiBodyNameMap.hpp
View File

@@ -5,11 +5,12 @@
#include <string>
#include <map>
namespace btInverseDynamics {
namespace btInverseDynamics
{
/// \brief The MultiBodyNameMap class
/// Utility class that stores a maps from body/joint indices to/from body and joint names
class MultiBodyNameMap {
class MultiBodyNameMap
{
public:
MultiBodyNameMap();
/// add a body to the map
@@ -50,5 +51,5 @@ private:
std::map<std::string, int> m_joint_name_to_index;
std::map<std::string, int> m_body_name_to_index;
};
}
} // namespace btInverseDynamics
#endif // MULTIBODYNAMEMAP_HPP_

27
Extras/InverseDynamics/MultiBodyTreeCreator.cpp
View File

@@ -1,8 +1,9 @@
#include "MultiBodyTreeCreator.hpp"
namespace btInverseDynamics {
MultiBodyTree* CreateMultiBodyTree(const MultiBodyTreeCreator& creator) {
namespace btInverseDynamics
{
MultiBodyTree* CreateMultiBodyTree(const MultiBodyTreeCreator& creator)
{
int num_bodies;
int parent_index;
JointType joint_type;
@@ -16,7 +17,8 @@ MultiBodyTree* CreateMultiBodyTree(const MultiBodyTreeCreator& creator) {
void* user_ptr;
MultiBodyTree* tree = new MultiBodyTree();
if (0x0 == tree) {
if (0x0 == tree)
{
bt_id_error_message("cannot allocate tree\n");
return 0x0;
}
@@ -25,19 +27,22 @@ MultiBodyTree* CreateMultiBodyTree(const MultiBodyTreeCreator& creator) {
tree->setAcceptInvalidMassParameters(false);
// get number of bodies in the system
if (-1 == creator.getNumBodies(&num_bodies)) {
if (-1 == creator.getNumBodies(&num_bodies))
{
bt_id_error_message("getting body indices\n");
delete tree;
return 0x0;
}
// get data for all bodies
for (int index = 0; index < num_bodies; index++) {
for (int index = 0; index < num_bodies; index++)
{
// get body parameters from user callbacks
if (-1 ==
creator.getBody(index, &parent_index, &joint_type, &body_r_parent_body_ref,
&body_R_parent_ref, &body_axis_of_motion, &mass, &body_r_body_com,
&body_I_body, &user_int, &user_ptr)) {
&body_I_body, &user_int, &user_ptr))
{
bt_id_error_message("getting data for body %d\n", index);
delete tree;
return 0x0;
@@ -46,14 +51,16 @@ MultiBodyTree* CreateMultiBodyTree(const MultiBodyTreeCreator& creator) {
if (-1 ==
tree->addBody(index, parent_index, joint_type, body_r_parent_body_ref,
body_R_parent_ref, body_axis_of_motion, mass, body_r_body_com,
body_I_body, user_int, user_ptr)) {
body_I_body, user_int, user_ptr))
{
bt_id_error_message("adding body %d\n", index);
delete tree;
return 0x0;
}
}
// finalize initialization
if (-1 == tree->finalize()) {
if (-1 == tree->finalize())
{
bt_id_error_message("building system\n");
delete tree;
return 0x0;
@@ -61,4 +68,4 @@ MultiBodyTree* CreateMultiBodyTree(const MultiBodyTreeCreator& creator) {
return tree;
}
}
} // namespace btInverseDynamics

10
Extras/InverseDynamics/MultiBodyTreeCreator.hpp
View File

@@ -8,12 +8,14 @@
#include "BulletInverseDynamics/MultiBodyTree.hpp"
#include "MultiBodyNameMap.hpp"
namespace btInverseDynamics {
namespace btInverseDynamics
{
/// Interface class for initializing a MultiBodyTree instance.
/// Data to be provided is modeled on the URDF specification.
/// The user can derive from this class in order to programmatically
/// initialize a system.
class MultiBodyTreeCreator {
class MultiBodyTreeCreator
{
public:
/// the dtor
virtual ~MultiBodyTreeCreator() {}
@@ -29,7 +31,7 @@ public:
vec3* body_axis_of_motion, idScalar* mass, vec3* body_r_body_com,
mat33* body_I_body, int* user_int, void** user_ptr) const = 0;
/// @return a pointer to a name mapping utility class, or 0x0 if not available
virtual const MultiBodyNameMap* getNameMap() const {return 0x0;}
virtual const MultiBodyNameMap* getNameMap() const { return 0x0; }
};
/// Create a multibody object.
@@ -38,7 +40,7 @@ public:
/// @return A pointer to an allocated multibodytree instance, or
/// 0x0 if an error occured.
MultiBodyTree* CreateMultiBodyTree(const MultiBodyTreeCreator& creator);
}
} // namespace btInverseDynamics
// does urdf have gravity direction ??

45
Extras/InverseDynamics/MultiBodyTreeDebugGraph.cpp
View File

@@ -2,56 +2,69 @@
#include <cstdio>
namespace btInverseDynamics {
namespace btInverseDynamics
{
int writeGraphvizDotFile(const MultiBodyTree* tree, const MultiBodyNameMap* map,
const char* filename) {
if (0x0 == tree) {
const char* filename)
{
if (0x0 == tree)
{
bt_id_error_message("tree pointer is null\n");
return -1;
}
if (0x0 == filename) {
if (0x0 == filename)
{
bt_id_error_message("filename is null\n");
return -1;
}
FILE* fp = fopen(filename, "w");
if (NULL == fp) {
if (NULL == fp)
{
bt_id_error_message("cannot open file %s for writing\n", filename);
return -1;
}
fprintf(fp, "// to generate postscript file, run dot -Tps %s -o %s.ps\n"
fprintf(fp,
"// to generate postscript file, run dot -Tps %s -o %s.ps\n"
"// details see graphviz documentation at http://graphviz.org\n"
"digraph tree {\n",
filename, filename);
for (int body = 0; body < tree->numBodies(); body++) {
for (int body = 0; body < tree->numBodies(); body++)
{
std::string name;
if (0x0 != map) {
if (-1 == map->getBodyName(body, &name)) {
if (0x0 != map)
{
if (-1 == map->getBodyName(body, &name))
{
bt_id_error_message("can't get name of body %d\n", body);
return -1;
}
fprintf(fp, " %d [label=\"%d/%s\"];\n", body, body, name.c_str());
}
}
for (int body = 0; body < tree->numBodies(); body++) {
for (int body = 0; body < tree->numBodies(); body++)
{
int parent;
const char* joint_type;
int qi;
if (-1 == tree->getParentIndex(body, &parent)) {
if (-1 == tree->getParentIndex(body, &parent))
{
bt_id_error_message("indexing error\n");
return -1;
}
if (-1 == tree->getJointTypeStr(body, &joint_type)) {
if (-1 == tree->getJointTypeStr(body, &joint_type))
{
bt_id_error_message("indexing error\n");
return -1;
}
if (-1 == tree->getDoFOffset(body, &qi)) {
if (-1 == tree->getDoFOffset(body, &qi))
{
bt_id_error_message("indexing error\n");
return -1;
}
if (-1 != parent) {
if (-1 != parent)
{
fprintf(fp, " %d -> %d [label= \"type:%s, q=%d\"];\n", parent, body,
joint_type, qi);
}
@@ -61,4 +74,4 @@ int writeGraphvizDotFile(const MultiBodyTree* tree, const MultiBodyNameMap* map,
fclose(fp);
return 0;
}
}
} // namespace btInverseDynamics

5
Extras/InverseDynamics/MultiBodyTreeDebugGraph.hpp
View File

@@ -4,7 +4,8 @@
#include "BulletInverseDynamics/MultiBodyTree.hpp"
#include "MultiBodyNameMap.hpp"
namespace btInverseDynamics {
namespace btInverseDynamics
{
/// generate a dot-file of the multibody tree for generating a graph using graphviz' dot tool
/// @param tree the multibody tree
/// @param map to add names of links (if 0x0, no names will be added)
@@ -12,6 +13,6 @@ namespace btInverseDynamics {
/// @return 0 on success, -1 on error
int writeGraphvizDotFile(const MultiBodyTree* tree, const MultiBodyNameMap* map,
const char* filename);
}
} // namespace btInverseDynamics
#endif // MULTIBODYTREEDEBUGGRAPH_HPP

38
Extras/InverseDynamics/RandomTreeCreator.cpp
View File

@@ -4,13 +4,17 @@
#include "IDRandomUtil.hpp"
namespace btInverseDynamics {
RandomTreeCreator::RandomTreeCreator(const int max_bodies, bool random_seed) {
namespace btInverseDynamics
{
RandomTreeCreator::RandomTreeCreator(const int max_bodies, bool random_seed)
{
// seed generator
if(random_seed) {
if (random_seed)
{
randomInit(); // seeds with time()
} else {
}
else
{
randomInit(1); // seeds with 1
}
m_num_bodies = randomInt(1, max_bodies);
@@ -18,7 +22,8 @@ RandomTreeCreator::RandomTreeCreator(const int max_bodies, bool random_seed) {
RandomTreeCreator::~RandomTreeCreator() {}
int RandomTreeCreator::getNumBodies(int* num_bodies) const {
int RandomTreeCreator::getNumBodies(int* num_bodies) const
{
*num_bodies = m_num_bodies;
return 0;
}
@@ -26,14 +31,19 @@ int RandomTreeCreator::getNumBodies(int* num_bodies) const {
int RandomTreeCreator::getBody(const int body_index, int* parent_index, JointType* joint_type,
vec3* parent_r_parent_body_ref, mat33* body_T_parent_ref,
vec3* body_axis_of_motion, idScalar* mass, vec3* body_r_body_com,
mat33* body_I_body, int* user_int, void** user_ptr) const {
if(0 == body_index) { //root body
mat33* body_I_body, int* user_int, void** user_ptr) const
{
if (0 == body_index)
{ //root body
*parent_index = -1;
} else {
}
else
{
*parent_index = randomInt(0, body_index - 1);
}
switch (randomInt(0, 3)) {
switch (randomInt(0, 3))
{
case 0:
*joint_type = FIXED;
break;
@@ -68,9 +78,9 @@ int RandomTreeCreator::getBody(const int body_index, int* parent_index, JointTyp
vec3 ii = randomInertiaPrincipal();
mat33 ii_diag;
setZero(ii_diag);
ii_diag(0,0)=ii(0);
ii_diag(1,1)=ii(1);
ii_diag(2,2)=ii(2);
ii_diag(0, 0) = ii(0);
ii_diag(1, 1) = ii(1);
ii_diag(2, 2) = ii(2);
*body_I_body = transformX(a) * transformY(b) * transformZ(c) * ii_diag *
transformZ(-c) * transformY(-b) * transformX(-a);
*user_int = 0;
@@ -78,4 +88,4 @@ int RandomTreeCreator::getBody(const int body_index, int* parent_index, JointTyp
return 0;
}
}
} // namespace btInverseDynamics

10
Extras/InverseDynamics/RandomTreeCreator.hpp
View File

@@ -4,17 +4,19 @@
#include "BulletInverseDynamics/IDConfig.hpp"
#include "MultiBodyTreeCreator.hpp"
namespace btInverseDynamics {
namespace btInverseDynamics
{
/// Generate a random MultiBodyTree with fixed or floating base and fixed, prismatic or revolute
/// joints
/// Uses a pseudo random number generator seeded from a random device.
class RandomTreeCreator : public MultiBodyTreeCreator {
class RandomTreeCreator : public MultiBodyTreeCreator
{
public:
/// ctor
/// @param max_bodies maximum number of bodies
/// @param gravity gravitational acceleration
/// @param use_seed if true, seed random number generator
RandomTreeCreator(const int max_bodies, bool use_seed=false);
RandomTreeCreator(const int max_bodies, bool use_seed = false);
~RandomTreeCreator();
///\copydoc MultiBodyTreeCreator::getNumBodies
int getNumBodies(int* num_bodies) const;
@@ -27,5 +29,5 @@ public:
private:
int m_num_bodies;
};
}
} // namespace btInverseDynamics
#endif // RANDOMTREE_CREATOR_HPP_

24
Extras/InverseDynamics/SimpleTreeCreator.cpp
View File

@@ -2,9 +2,11 @@
#include <cstdio>
namespace btInverseDynamics {
namespace btInverseDynamics
{
/// minimal "tree" (chain)
SimpleTreeCreator::SimpleTreeCreator(int dim) : m_num_bodies(dim) {
SimpleTreeCreator::SimpleTreeCreator(int dim) : m_num_bodies(dim)
{
m_mass = 1.0;
m_body_T_parent_ref(0, 0) = 1;
m_body_T_parent_ref(0, 1) = 0;
@@ -38,7 +40,8 @@ SimpleTreeCreator::SimpleTreeCreator(int dim) : m_num_bodies(dim) {
m_axis(1) = 0;
m_axis(2) = 1;
}
int SimpleTreeCreator::getNumBodies(int* num_bodies) const {
int SimpleTreeCreator::getNumBodies(int* num_bodies) const
{
*num_bodies = m_num_bodies;
return 0;
}
@@ -46,15 +49,20 @@ int SimpleTreeCreator::getNumBodies(int* num_bodies) const {
int SimpleTreeCreator::getBody(const int body_index, int* parent_index, JointType* joint_type,
vec3* parent_r_parent_body_ref, mat33* body_T_parent_ref,
vec3* body_axis_of_motion, idScalar* mass, vec3* body_r_body_com,
mat33* body_I_body, int* user_int, void** user_ptr) const {
mat33* body_I_body, int* user_int, void** user_ptr) const
{
*parent_index = body_index - 1;
if (body_index % 2) {
if (body_index % 2)
{
*joint_type = PRISMATIC;
} else {
}
else
{
*joint_type = REVOLUTE;
}
*parent_r_parent_body_ref = m_parent_r_parent_body_ref;
if (0 == body_index) {
if (0 == body_index)
{
(*parent_r_parent_body_ref)(2) = 1.0;
}
*body_T_parent_ref = m_body_T_parent_ref;
@@ -66,4 +74,4 @@ int SimpleTreeCreator::getBody(const int body_index, int* parent_index, JointTyp
*user_ptr = 0;
return 0;
}
}
} // namespace btInverseDynamics

9
Extras/InverseDynamics/SimpleTreeCreator.hpp
View File

@@ -3,10 +3,11 @@
#include "MultiBodyTreeCreator.hpp"
namespace btInverseDynamics {
namespace btInverseDynamics
{
/// minimal "tree" (chain)
class SimpleTreeCreator : public MultiBodyTreeCreator {
class SimpleTreeCreator : public MultiBodyTreeCreator
{
public:
/// ctor
/// @param dim number of bodies
@@ -30,5 +31,5 @@ private:
mat33 m_body_I_body;
vec3 m_axis;
};
}
} // namespace btInverseDynamics
#endif // SIMPLETREECREATOR_HPP_

70
Extras/InverseDynamics/User2InternalIndex.cpp
View File

@@ -1,14 +1,18 @@
#include "User2InternalIndex.hpp"
namespace btInverseDynamics {
namespace btInverseDynamics
{
User2InternalIndex::User2InternalIndex() : m_map_built(false) {}
void User2InternalIndex::addBody(const int body, const int parent) {
void User2InternalIndex::addBody(const int body, const int parent)
{
m_user_parent_index_map[body] = parent;
}
int User2InternalIndex::findRoot(int index) {
if (0 == m_user_parent_index_map.count(index)) {
int User2InternalIndex::findRoot(int index)
{
if (0 == m_user_parent_index_map.count(index))
{
return index;
}
return findRoot(m_user_parent_index_map[index]);
@@ -17,24 +21,32 @@ int User2InternalIndex::findRoot(int index) {
// modelled after URDF2Bullet.cpp:void ComputeParentIndices(const
// URDFImporterInterface& u2b, URDF2BulletCachedData& cache, int urdfLinkIndex,
// int urdfParentIndex)
void User2InternalIndex::recurseIndexSets(const int user_body_index) {
void User2InternalIndex::recurseIndexSets(const int user_body_index)
{
m_user_to_internal[user_body_index] = m_current_index;
m_current_index++;
for (size_t i = 0; i < m_user_child_indices[user_body_index].size(); i++) {
for (size_t i = 0; i < m_user_child_indices[user_body_index].size(); i++)
{
recurseIndexSets(m_user_child_indices[user_body_index][i]);
}
}
int User2InternalIndex::buildMapping() {
int User2InternalIndex::buildMapping()
{
// find root index
int user_root_index = -1;
for (std::map<int, int>::iterator it = m_user_parent_index_map.begin();
it != m_user_parent_index_map.end(); it++) {
it != m_user_parent_index_map.end(); it++)
{
int current_root_index = findRoot(it->second);
if (it == m_user_parent_index_map.begin()) {
if (it == m_user_parent_index_map.begin())
{
user_root_index = current_root_index;
} else {
if (user_root_index != current_root_index) {
}
else
{
if (user_root_index != current_root_index)
{
bt_id_error_message("multiple roots (at least) %d and %d\n", user_root_index,
current_root_index);
return -1;
@@ -44,7 +56,8 @@ int User2InternalIndex::buildMapping() {
// build child index map
for (std::map<int, int>::iterator it = m_user_parent_index_map.begin();
it != m_user_parent_index_map.end(); it++) {
it != m_user_parent_index_map.end(); it++)
{
m_user_child_indices[it->second].push_back(it->first);
}
@@ -55,7 +68,8 @@ int User2InternalIndex::buildMapping() {
// reverse mapping
for (std::map<int, int>::iterator it = m_user_to_internal.begin();
it != m_user_to_internal.end(); it++) {
it != m_user_to_internal.end(); it++)
{
m_internal_to_user[it->second] = it->first;
}
@@ -63,37 +77,45 @@ int User2InternalIndex::buildMapping() {
return 0;
}
int User2InternalIndex::user2internal(const int user, int *internal) const {
if (!m_map_built) {
int User2InternalIndex::user2internal(const int user, int *internal) const
{
if (!m_map_built)
{
return -1;
}
std::map<int, int>::const_iterator it;
it = m_user_to_internal.find(user);
if (it != m_user_to_internal.end()) {
if (it != m_user_to_internal.end())
{
*internal = it->second;
return 0;
} else {
}
else
{
bt_id_error_message("no user index %d\n", user);
return -1;
}
}
int User2InternalIndex::internal2user(const int internal, int *user) const {
if (!m_map_built) {
int User2InternalIndex::internal2user(const int internal, int *user) const
{
if (!m_map_built)
{
return -1;
}
std::map<int, int>::const_iterator it;
it = m_internal_to_user.find(internal);
if (it != m_internal_to_user.end()) {
if (it != m_internal_to_user.end())
{
*user = it->second;
return 0;
} else {
}
else
{
bt_id_error_message("no internal index %d\n", internal);
return -1;
}
}
}
} // namespace btInverseDynamics

9
Extras/InverseDynamics/User2InternalIndex.hpp
View File

@@ -5,11 +5,12 @@
#include "BulletInverseDynamics/IDConfig.hpp"
namespace btInverseDynamics {
namespace btInverseDynamics
{
/// Convert arbitrary indexing scheme to internal indexing
/// used for MultiBodyTree
class User2InternalIndex {
class User2InternalIndex
{
public:
/// Ctor
User2InternalIndex();
@@ -41,6 +42,6 @@ private:
std::map<int, std::vector<int> > m_user_child_indices;
int m_current_index;
};
}
} // namespace btInverseDynamics
#endif // USER2INTERNALINDEX_HPP

20
Extras/InverseDynamics/btMultiBodyFromURDF.hpp
View File

@@ -14,14 +14,16 @@
/// Create a btMultiBody model from URDF.
/// This is adapted from Bullet URDF loader example
class MyBtMultiBodyFromURDF {
class MyBtMultiBodyFromURDF
{
public:
/// ctor
/// @param gravity gravitational acceleration (in world frame)
/// @param base_fixed if true, the root body is treated as fixed,
/// if false, it is treated as floating
MyBtMultiBodyFromURDF(const btVector3 &gravity, const bool base_fixed)
: m_gravity(gravity), m_base_fixed(base_fixed) {
: m_gravity(gravity), m_base_fixed(base_fixed)
{
m_broadphase = 0x0;
m_dispatcher = 0x0;
m_solver = 0x0;
@@ -30,7 +32,8 @@ public:
m_multibody = 0x0;
}
/// dtor
~MyBtMultiBodyFromURDF() {
~MyBtMultiBodyFromURDF()
{
delete m_dynamicsWorld;
delete m_solver;
delete m_broadphase;
@@ -41,14 +44,16 @@ public:
/// @param name path to urdf file
void setFileName(const std::string name) { m_filename = name; }
/// load urdf file and build btMultiBody model
void init() {
void init()
{
this->createEmptyDynamicsWorld();
m_dynamicsWorld->setGravity(m_gravity);
BulletURDFImporter urdf_importer(&m_nogfx,0,1,0);
BulletURDFImporter urdf_importer(&m_nogfx, 0, 1, 0);
URDFImporterInterface &u2b(urdf_importer);
bool loadOk = u2b.loadURDF(m_filename.c_str(), m_base_fixed);
if (loadOk) {
if (loadOk)
{
btTransform identityTrans;
identityTrans.setIdentity();
MyMultiBodyCreator creation(&m_nogfx);
@@ -64,7 +69,8 @@ public:
private:
// internal utility function
void createEmptyDynamicsWorld() {
void createEmptyDynamicsWorld()
{
m_collisionConfiguration = new btDefaultCollisionConfiguration();
/// use the default collision dispatcher. For parallel processing you can use a diffent

85
Extras/InverseDynamics/btMultiBodyTreeCreator.cpp
View File

@@ -1,11 +1,13 @@
#include "btMultiBodyTreeCreator.hpp"
namespace btInverseDynamics {
namespace btInverseDynamics
{
btMultiBodyTreeCreator::btMultiBodyTreeCreator() : m_initialized(false) {}
int btMultiBodyTreeCreator::createFromBtMultiBody(const btMultiBody *btmb, const bool verbose) {
if (0x0 == btmb) {
int btMultiBodyTreeCreator::createFromBtMultiBody(const btMultiBody *btmb, const bool verbose)
{
if (0x0 == btmb)
{
bt_id_error_message("cannot create MultiBodyTree from null pointer\n");
return -1;
}
@@ -22,12 +24,15 @@ int btMultiBodyTreeCreator::createFromBtMultiBody(const btMultiBody *btmb, const
LinkData &link = m_data[0];
link.parent_index = -1;
if (btmb->hasFixedBase()) {
if (btmb->hasFixedBase())
{
link.joint_type = FIXED;
} else {
}
else
{
link.joint_type = FLOATING;
}
btTransform transform=(btmb->getBaseWorldTransform());
btTransform transform = (btmb->getBaseWorldTransform());
//compute inverse dynamics in body-fixed frame
transform.setIdentity();
@@ -70,8 +75,10 @@ int btMultiBodyTreeCreator::createFromBtMultiBody(const btMultiBody *btmb, const
// shift reference point to link origin (in joint axis)
mat33 tilde_r_com = tildeOperator(link.body_r_body_com);
link.body_I_body = link.body_I_body - link.mass * tilde_r_com * tilde_r_com;
if (verbose) {
id_printf("base: mass= %f, bt_inertia= [%f %f %f]\n"
if (verbose)
{
id_printf(
"base: mass= %f, bt_inertia= [%f %f %f]\n"
"Io= [%f %f %f;\n"
" %f %f %f;\n"
" %f %f %f]\n",
@@ -83,8 +90,10 @@ int btMultiBodyTreeCreator::createFromBtMultiBody(const btMultiBody *btmb, const
}
}
for (int bt_index = 0; bt_index < btmb->getNumLinks(); bt_index++) {
if (verbose) {
for (int bt_index = 0; bt_index < btmb->getNumLinks(); bt_index++)
{
if (verbose)
{
id_printf("bt->id: converting link %d\n", bt_index);
}
const btMultibodyLink &bt_link = btmb->getLink(bt_index);
@@ -93,14 +102,16 @@ int btMultiBodyTreeCreator::createFromBtMultiBody(const btMultiBody *btmb, const
link.parent_index = bt_link.m_parent + 1;
link.mass = bt_link.m_mass;
if (verbose) {
if (verbose)
{
id_printf("mass= %f\n", link.mass);
}
// from this body's pivot to this body's com in this body's frame
link.body_r_body_com[0] = bt_link.m_dVector[0];
link.body_r_body_com[1] = bt_link.m_dVector[1];
link.body_r_body_com[2] = bt_link.m_dVector[2];
if (verbose) {
if (verbose)
{
id_printf("com= %f %f %f\n", link.body_r_body_com[0], link.body_r_body_com[1],
link.body_r_body_com[2]);
}
@@ -118,8 +129,10 @@ int btMultiBodyTreeCreator::createFromBtMultiBody(const btMultiBody *btmb, const
mat33 tilde_r_com = tildeOperator(link.body_r_body_com);
link.body_I_body = link.body_I_body - link.mass * tilde_r_com * tilde_r_com;
if (verbose) {
id_printf("link %d: mass= %f, bt_inertia= [%f %f %f]\n"
if (verbose)
{
id_printf(
"link %d: mass= %f, bt_inertia= [%f %f %f]\n"
"Io= [%f %f %f;\n"
" %f %f %f;\n"
" %f %f %f]\n",
@@ -140,17 +153,21 @@ int btMultiBodyTreeCreator::createFromBtMultiBody(const btMultiBody *btmb, const
link.body_T_parent_ref(2, 0) = basis[2][0];
link.body_T_parent_ref(2, 1) = basis[2][1];
link.body_T_parent_ref(2, 2) = basis[2][2];
if (verbose) {
id_printf("body_T_parent_ref= %f %f %f\n"
if (verbose)
{
id_printf(
"body_T_parent_ref= %f %f %f\n"
" %f %f %f\n"
" %f %f %f\n",
basis[0][0], basis[0][1], basis[0][2], basis[1][0], basis[1][1], basis[1][2],
basis[2][0], basis[2][1], basis[2][2]);
}
switch (bt_link.m_jointType) {
switch (bt_link.m_jointType)
{
case btMultibodyLink::eRevolute:
link.joint_type = REVOLUTE;
if (verbose) {
if (verbose)
{
id_printf("type= revolute\n");
}
link.body_axis_of_motion(0) = bt_link.m_axes[0].m_topVec[0];
@@ -166,7 +183,8 @@ int btMultiBodyTreeCreator::createFromBtMultiBody(const btMultiBody *btmb, const
break;
case btMultibodyLink::ePrismatic:
link.joint_type = PRISMATIC;
if (verbose) {
if (verbose)
{
id_printf("type= prismatic\n");
}
link.body_axis_of_motion(0) = bt_link.m_axes[0].m_bottomVec[0];
@@ -207,18 +225,22 @@ int btMultiBodyTreeCreator::createFromBtMultiBody(const btMultiBody *btmb, const
bt_link.m_jointType);
return -1;
}
if (link.parent_index > 0) { // parent body isn't the root
if (link.parent_index > 0)
{ // parent body isn't the root
const btMultibodyLink &bt_parent_link = btmb->getLink(link.parent_index - 1);
// from parent pivot to parent com, in parent frame
link.parent_r_parent_body_ref(0) += bt_parent_link.m_dVector[0];
link.parent_r_parent_body_ref(1) += bt_parent_link.m_dVector[1];
link.parent_r_parent_body_ref(2) += bt_parent_link.m_dVector[2];
} else {
}
else
{
// parent is root body. btMultiBody only knows 6-DoF or 0-DoF root bodies,
// whose link frame is in the CoM (ie, no notion of a pivot point)
}
if (verbose) {
if (verbose)
{
id_printf("parent_r_parent_body_ref= %f %f %f\n", link.parent_r_parent_body_ref[0],
link.parent_r_parent_body_ref[1], link.parent_r_parent_body_ref[2]);
}
@@ -229,8 +251,10 @@ int btMultiBodyTreeCreator::createFromBtMultiBody(const btMultiBody *btmb, const
return 0;
}
int btMultiBodyTreeCreator::getNumBodies(int *num_bodies) const {
if (false == m_initialized) {
int btMultiBodyTreeCreator::getNumBodies(int *num_bodies) const
{
if (false == m_initialized)
{
bt_id_error_message("btMultiBody not converted yet\n");
return -1;
}
@@ -243,13 +267,16 @@ int btMultiBodyTreeCreator::getBody(const int body_index, int *parent_index, Joi
vec3 *parent_r_parent_body_ref, mat33 *body_T_parent_ref,
vec3 *body_axis_of_motion, idScalar *mass,
vec3 *body_r_body_com, mat33 *body_I_body, int *user_int,
void **user_ptr) const {
if (false == m_initialized) {
void **user_ptr) const
{
if (false == m_initialized)
{
bt_id_error_message("MultiBodyTree not created yet\n");
return -1;
}
if (body_index < 0 || body_index >= static_cast<int>(m_data.size())) {
if (body_index < 0 || body_index >= static_cast<int>(m_data.size()))
{
bt_id_error_message("index out of range (got %d but only %zu bodies)\n", body_index,
m_data.size());
return -1;
@@ -269,4 +296,4 @@ int btMultiBodyTreeCreator::getBody(const int body_index, int *parent_index, Joi
return 0;
}
}
} // namespace btInverseDynamics

12
Extras/InverseDynamics/btMultiBodyTreeCreator.hpp
View File

@@ -7,11 +7,12 @@
#include "MultiBodyTreeCreator.hpp"
#include "BulletDynamics/Featherstone/btMultiBody.h"
namespace btInverseDynamics {
namespace btInverseDynamics
{
/// MultiBodyTreeCreator implementation for converting
/// a btMultiBody forward dynamics model into a MultiBodyTree inverse dynamics model
class btMultiBodyTreeCreator : public MultiBodyTreeCreator {
class btMultiBodyTreeCreator : public MultiBodyTreeCreator
{
public:
/// ctor
btMultiBodyTreeCreator();
@@ -32,7 +33,8 @@ public:
private:
// internal struct holding data extracted from btMultiBody
struct LinkData {
struct LinkData
{
int parent_index;
JointType joint_type;
vec3 parent_r_parent_body_ref;
@@ -45,6 +47,6 @@ private:
idArray<LinkData>::type m_data;
bool m_initialized;
};
}
} // namespace btInverseDynamics
#endif // BTMULTIBODYTREECREATOR_HPP_

158
Extras/InverseDynamics/invdyn_bullet_comparison.cpp
View File

@@ -8,20 +8,25 @@
#include "BulletDynamics/Featherstone/btMultiBodyLinkCollider.h"
#include "BulletDynamics/Featherstone/btMultiBodyPoint2Point.h"
namespace btInverseDynamics {
namespace btInverseDynamics
{
int compareInverseAndForwardDynamics(vecx &q, vecx &u, vecx &dot_u, btVector3 &gravity, bool verbose,
btMultiBody *btmb, MultiBodyTree *id_tree, double *pos_error,
double *acc_error) {
double *acc_error)
{
// call function and return -1 if it does, printing an bt_id_error_message
#define RETURN_ON_FAILURE(x) \
do { \
if (-1 == x) { \
do \
{ \
if (-1 == x) \
{ \
bt_id_error_message("calling " #x "\n"); \
return -1; \
} \
} while (0)
if (verbose) {
if (verbose)
{
printf("\n ===================================== \n");
}
vecx joint_forces(q.size());
@@ -50,37 +55,47 @@ int compareInverseAndForwardDynamics(vecx &q, vecx &u, vecx &dot_u, btVector3 &g
// remaining links
int q_index;
if (btmb->hasFixedBase()) {
if (btmb->hasFixedBase())
{
q_index = 0;
} else {
}
else
{
q_index = 6;
}
if (verbose) {
if (verbose)
{
printf("bt:num_links= %d, num_dofs= %d\n", btmb->getNumLinks(), btmb->getNumDofs());
}
for (int l = 0; l < btmb->getNumLinks(); l++) {
for (int l = 0; l < btmb->getNumLinks(); l++)
{
const btMultibodyLink &link = btmb->getLink(l);
if (verbose) {
if (verbose)
{
printf("link %d, pos_var_count= %d, dof_count= %d\n", l, link.m_posVarCount,
link.m_dofCount);
}
if (link.m_posVarCount == 1) {
if (link.m_posVarCount == 1)
{
btmb->setJointPosMultiDof(l, &q(q_index));
btmb->setJointVelMultiDof(l, &u(q_index));
if (verbose) {
if (verbose)
{
printf("set q[%d]= %f, u[%d]= %f\n", q_index, q(q_index), q_index, u(q_index));
}
q_index++;
}
}
// sanity check
if (q_index != q.size()) {
if (q_index != q.size())
{
bt_id_error_message("error in number of dofs for btMultibody and MultiBodyTree\n");
return -1;
}
// run inverse dynamics to determine joint_forces for given q, u, dot_u
if (-1 == id_tree->calculateInverseDynamics(q, u, dot_u, &joint_forces)) {
if (-1 == id_tree->calculateInverseDynamics(q, u, dot_u, &joint_forces))
{
bt_id_error_message("calculating inverse dynamics\n");
return -1;
}
@@ -95,9 +110,11 @@ int compareInverseAndForwardDynamics(vecx &q, vecx &u, vecx &dot_u, btVector3 &g
// apply gravity forces for btMultiBody model. Must be done manually.
btmb->addBaseForce(btmb->getBaseMass() * gravity);
for (int link = 0; link < btmb->getNumLinks(); link++) {
for (int link = 0; link < btmb->getNumLinks(); link++)
{
btmb->addLinkForce(link, gravity * btmb->getLinkMass(link));
if (verbose) {
if (verbose)
{
printf("link %d, applying gravity %f %f %f\n", link,
gravity[0] * btmb->getLinkMass(link), gravity[1] * btmb->getLinkMass(link),
gravity[2] * btmb->getLinkMass(link));
@@ -105,9 +122,12 @@ int compareInverseAndForwardDynamics(vecx &q, vecx &u, vecx &dot_u, btVector3 &g
}
// apply generalized forces
if (btmb->hasFixedBase()) {
if (btmb->hasFixedBase())
{
q_index = 0;
} else {
}
else
{
vec3 base_force;
base_force(0) = joint_forces(3);
base_force(1) = joint_forces(4);
@@ -120,7 +140,8 @@ int compareInverseAndForwardDynamics(vecx &q, vecx &u, vecx &dot_u, btVector3 &g
btmb->addBaseForce(world_T_base * base_force);
btmb->addBaseTorque(world_T_base * base_moment);
if (verbose) {
if (verbose)
{
printf("base force from id: %f %f %f\n", joint_forces(3), joint_forces(4),
joint_forces(5));
printf("base moment from id: %f %f %f\n", joint_forces(0), joint_forces(1),
@@ -129,10 +150,13 @@ int compareInverseAndForwardDynamics(vecx &q, vecx &u, vecx &dot_u, btVector3 &g
q_index = 6;
}
for (int l = 0; l < btmb->getNumLinks(); l++) {
for (int l = 0; l < btmb->getNumLinks(); l++)
{
const btMultibodyLink &link = btmb->getLink(l);
if (link.m_posVarCount == 1) {
if (verbose) {
if (link.m_posVarCount == 1)
{
if (verbose)
{
printf("id:joint_force[%d]= %f, applied to link %d\n", q_index,
joint_forces(q_index), l);
}
@@ -142,7 +166,8 @@ int compareInverseAndForwardDynamics(vecx &q, vecx &u, vecx &dot_u, btVector3 &g
}
// sanity check
if (q_index != q.size()) {
if (q_index != q.size())
{
bt_id_error_message("error in number of dofs for btMultibody and MultiBodyTree\n");
return -1;
}
@@ -160,21 +185,29 @@ int compareInverseAndForwardDynamics(vecx &q, vecx &u, vecx &dot_u, btVector3 &g
btScalar *joint_accel = base_accel + 6;
*acc_error = 0;
int dot_u_offset = 0;
if (btmb->hasFixedBase()) {
if (btmb->hasFixedBase())
{
dot_u_offset = 0;
} else {
}
else
{
dot_u_offset = 6;
}
if (true == btmb->hasFixedBase()) {
for (int i = 0; i < btmb->getNumDofs(); i++) {
if (verbose) {
if (true == btmb->hasFixedBase())
{
for (int i = 0; i < btmb->getNumDofs(); i++)
{
if (verbose)
{
printf("bt:ddot_q[%d]= %f, id:ddot_q= %e, diff= %e\n", i, joint_accel[i],
dot_u(i + dot_u_offset), joint_accel[i] - dot_u(i));
}
*acc_error += BT_ID_POW(joint_accel[i] - dot_u(i + dot_u_offset), 2);
}
} else {
}
else
{
vec3 base_dot_omega;
vec3 world_dot_omega;
world_dot_omega(0) = base_accel[0];
@@ -189,25 +222,31 @@ int compareInverseAndForwardDynamics(vecx &q, vecx &u, vecx &dot_u, btVector3 &g
world_ddot_com(0) = base_accel[3];
world_ddot_com(1) = base_accel[4];
world_ddot_com(2) = base_accel[5];
base_ddot_com = world_T_base.transpose()*world_ddot_com;
base_ddot_com = world_T_base.transpose() * world_ddot_com;
for (int i = 0; i < 3; i++) {
if (verbose) {
for (int i = 0; i < 3; i++)
{
if (verbose)
{
printf("bt::base_dot_omega(%d)= %e dot_u[%d]= %e, diff= %e\n", i, base_dot_omega(i),
i, dot_u[i], base_dot_omega(i) - dot_u[i]);
}
*acc_error += BT_ID_POW(base_dot_omega(i) - dot_u(i), 2);
}
for (int i = 0; i < 3; i++) {
if (verbose) {
for (int i = 0; i < 3; i++)
{
if (verbose)
{
printf("bt::base_ddot_com(%d)= %e dot_u[%d]= %e, diff= %e\n", i, base_ddot_com(i),
i, dot_u[i + 3], base_ddot_com(i) - dot_u[i + 3]);
}
*acc_error += BT_ID_POW(base_ddot_com(i) - dot_u(i + 3), 2);
}
for (int i = 0; i < btmb->getNumDofs(); i++) {
if (verbose) {
for (int i = 0; i < btmb->getNumDofs(); i++)
{
if (verbose)
{
printf("bt:ddot_q[%d]= %f, id:ddot_q= %e, diff= %e\n", i, joint_accel[i],
dot_u(i + 6), joint_accel[i] - dot_u(i + 6));
}
@@ -215,26 +254,31 @@ int compareInverseAndForwardDynamics(vecx &q, vecx &u, vecx &dot_u, btVector3 &g
}
}
*acc_error = std::sqrt(*acc_error);
if (verbose) {
if (verbose)
{
printf("======dynamics-err: %e\n", *acc_error);
}
*pos_error = 0.0;
{
mat33 world_T_body;
if (-1 == id_tree->getBodyTransform(0, &world_T_body)) {
if (-1 == id_tree->getBodyTransform(0, &world_T_body))
{
bt_id_error_message("getting transform for body %d\n", 0);
return -1;
}
vec3 world_com;
if (-1 == id_tree->getBodyCoM(0, &world_com)) {
if (-1 == id_tree->getBodyCoM(0, &world_com))
{
bt_id_error_message("getting com for body %d\n", 0);
return -1;
}
if (verbose) {
if (verbose)
{
printf("id:com: %f %f %f\n", world_com(0), world_com(1), world_com(2));
printf("id:transform: %f %f %f\n"
printf(
"id:transform: %f %f %f\n"
" %f %f %f\n"
" %f %f %f\n",
world_T_body(0, 0), world_T_body(0, 1), world_T_body(0, 2), world_T_body(1, 0),
@@ -243,15 +287,18 @@ int compareInverseAndForwardDynamics(vecx &q, vecx &u, vecx &dot_u, btVector3 &g
}
}
for (int l = 0; l < btmb->getNumLinks(); l++) {
for (int l = 0; l < btmb->getNumLinks(); l++)
{
const btMultibodyLink &bt_link = btmb->getLink(l);
vec3 bt_origin = bt_link.m_cachedWorldTransform.getOrigin();
mat33 bt_basis = bt_link.m_cachedWorldTransform.getBasis();
if (verbose) {
if (verbose)
{
printf("------------- link %d\n", l + 1);
printf("bt:com: %f %f %f\n", bt_origin(0), bt_origin(1), bt_origin(2));
printf("bt:transform: %f %f %f\n"
printf(
"bt:transform: %f %f %f\n"
" %f %f %f\n"
" %f %f %f\n",
bt_basis(0, 0), bt_basis(0, 1), bt_basis(0, 2), bt_basis(1, 0), bt_basis(1, 1),
@@ -260,18 +307,22 @@ int compareInverseAndForwardDynamics(vecx &q, vecx &u, vecx &dot_u, btVector3 &g
mat33 id_world_T_body;
vec3 id_world_com;
if (-1 == id_tree->getBodyTransform(l + 1, &id_world_T_body)) {
if (-1 == id_tree->getBodyTransform(l + 1, &id_world_T_body))
{
bt_id_error_message("getting transform for body %d\n", l);
return -1;
}
if (-1 == id_tree->getBodyCoM(l + 1, &id_world_com)) {
if (-1 == id_tree->getBodyCoM(l + 1, &id_world_com))
{
bt_id_error_message("getting com for body %d\n", l);
return -1;
}
if (verbose) {
if (verbose)
{
printf("id:com: %f %f %f\n", id_world_com(0), id_world_com(1), id_world_com(2));
printf("id:transform: %f %f %f\n"
printf(
"id:transform: %f %f %f\n"
" %f %f %f\n"
" %f %f %f\n",
id_world_T_body(0, 0), id_world_T_body(0, 1), id_world_T_body(0, 2),
@@ -280,7 +331,8 @@ int compareInverseAndForwardDynamics(vecx &q, vecx &u, vecx &dot_u, btVector3 &g
}
vec3 diff_com = bt_origin - id_world_com;
mat33 diff_basis = bt_basis - id_world_T_body;
if (verbose) {
if (verbose)
{
printf("diff-com: %e %e %e\n", diff_com(0), diff_com(1), diff_com(2));
printf("diff-transform: %e %e %e %e %e %e %e %e %e\n", diff_basis(0, 0),
@@ -294,14 +346,16 @@ int compareInverseAndForwardDynamics(vecx &q, vecx &u, vecx &dot_u, btVector3 &g
BT_ID_POW(diff_basis(1, 0), 2) + BT_ID_POW(diff_basis(1, 1), 2) +
BT_ID_POW(diff_basis(1, 2), 2) + BT_ID_POW(diff_basis(2, 0), 2) +
BT_ID_POW(diff_basis(2, 1), 2) + BT_ID_POW(diff_basis(2, 2), 2));
if (verbose) {
if (verbose)
{
printf("======kin-pos-err: %e\n", total_pos_err);
}
if (total_pos_err > *pos_error) {
if (total_pos_err > *pos_error)
{
*pos_error = total_pos_err;
}
}
return 0;
}
}
} // namespace btInverseDynamics

5
Extras/InverseDynamics/invdyn_bullet_comparison.hpp
View File

@@ -6,7 +6,8 @@
class btMultiBody;
class btVector3;
namespace btInverseDynamics {
namespace btInverseDynamics
{
class MultiBodyTree;
/// this function compares the forward dynamics computations implemented in btMultiBody to
@@ -31,5 +32,5 @@ class MultiBodyTree;
int compareInverseAndForwardDynamics(vecx &q, vecx &u, vecx &dot_u, btVector3 &gravity, bool verbose,
btMultiBody *btmb, MultiBodyTree *id_tree, double *pos_error,
double *acc_error);
}
} // namespace btInverseDynamics
#endif // INVDYN_BULLET_COMPARISON_HPP

94
Extras/Serialize/BlenderSerialize/bBlenderFile.cpp
View File

@@ -27,32 +27,27 @@ extern int DNAlen;
extern unsigned char DNAstr64[];
extern int DNAlen64;
using namespace bParse;
bBlenderFile::bBlenderFile(const char* fileName)
:bFile(fileName, "BLENDER")
bBlenderFile::bBlenderFile(const char *fileName)
: bFile(fileName, "BLENDER")
{
mMain= new bMain(this, fileName, mVersion);
mMain = new bMain(this, fileName, mVersion);
}
bBlenderFile::bBlenderFile(char *memoryBuffer, int len)
:bFile(memoryBuffer,len, "BLENDER"),
mMain(0)
: bFile(memoryBuffer, len, "BLENDER"),
mMain(0)
{
mMain= new bMain(this, "memoryBuf", mVersion);
mMain = new bMain(this, "memoryBuf", mVersion);
}
bBlenderFile::~bBlenderFile()
{
delete mMain;
}
bMain* bBlenderFile::getMain()
bMain *bBlenderFile::getMain()
{
return mMain;
}
@@ -60,20 +55,17 @@ bMain* bBlenderFile::getMain()
// ----------------------------------------------------- //
void bBlenderFile::parseData()
{
// printf ("Building datablocks\n");
// printf ("Chunk size = %d\n",CHUNK_HEADER_LEN);
// printf ("File chunk size = %d\n", ChunkUtils::getOffset(mFlags));
// printf ("Building datablocks\n");
// printf ("Chunk size = %d\n",CHUNK_HEADER_LEN);
// printf ("File chunk size = %d\n", ChunkUtils::getOffset(mFlags));
const bool swap = (mFlags&FD_ENDIAN_SWAP)!=0;
const bool swap = (mFlags & FD_ENDIAN_SWAP) != 0;
char *dataPtr = mFileBuffer+mDataStart;
char *dataPtr = mFileBuffer + mDataStart;
bChunkInd dataChunk;
dataChunk.code = 0;
//dataPtr += ChunkUtils::getNextBlock(&dataChunk, dataPtr, mFlags);
int seek = getNextBlock(&dataChunk, dataPtr, mFlags);
//dataPtr += ChunkUtils::getOffset(mFlags);
@@ -81,34 +73,30 @@ void bBlenderFile::parseData()
while (dataChunk.code != DNA1)
{
// one behind
if (dataChunk.code == SDNA) break;
//if (dataChunk.code == DNA1) break;
// same as (BHEAD+DATA dependency)
dataPtrHead = dataPtr+ChunkUtils::getOffset(mFlags);
dataPtrHead = dataPtr + ChunkUtils::getOffset(mFlags);
char *id = readStruct(dataPtrHead, dataChunk);
// lookup maps
if (id)
{
m_chunkPtrPtrMap.insert(dataChunk.oldPtr, dataChunk);
mLibPointers.insert(dataChunk.oldPtr, (bStructHandle*)id);
mLibPointers.insert(dataChunk.oldPtr, (bStructHandle *)id);
m_chunks.push_back(dataChunk);
// block it
bListBasePtr *listID = mMain->getListBasePtr(dataChunk.code);
if (listID)
listID->push_back((bStructHandle*)id);
listID->push_back((bStructHandle *)id);
}
if (dataChunk.code == GLOB)
{
m_glob = (bStructHandle*) id;
m_glob = (bStructHandle *)id;
}
// next please!
@@ -118,18 +106,13 @@ void bBlenderFile::parseData()
if (seek < 0)
break;
}
}
void bBlenderFile::addDataBlock(char* dataBlock)
void bBlenderFile::addDataBlock(char *dataBlock)
{
mMain->addDatablock(dataBlock);
}
// 32 && 64 bit versions
extern unsigned char DNAstr[];
extern int DNAlen;
@@ -137,14 +120,11 @@ extern int DNAlen;
//unsigned char DNAstr[]={0};
//int DNAlen=0;
extern unsigned char DNAstr64[];
extern int DNAlen64;
void bBlenderFile::writeDNA(FILE* fp)
void bBlenderFile::writeDNA(FILE *fp)
{
bChunkInd dataChunk;
dataChunk.code = DNA1;
dataChunk.dna_nr = 0;
@@ -154,15 +134,15 @@ void bBlenderFile::writeDNA(FILE* fp)
{
dataChunk.len = DNAlen64;
dataChunk.oldPtr = DNAstr64;
fwrite(&dataChunk,sizeof(bChunkInd),1,fp);
fwrite(DNAstr64, DNAlen64,1,fp);
fwrite(&dataChunk, sizeof(bChunkInd), 1, fp);
fwrite(DNAstr64, DNAlen64, 1, fp);
}
else
{
dataChunk.len = DNAlen;
dataChunk.oldPtr = DNAstr;
fwrite(&dataChunk,sizeof(bChunkInd),1,fp);
fwrite(DNAstr, DNAlen,1,fp);
fwrite(&dataChunk, sizeof(bChunkInd), 1, fp);
fwrite(DNAstr, DNAlen, 1, fp);
}
}
@@ -170,55 +150,57 @@ void bBlenderFile::parse(int verboseMode)
{
if (VOID_IS_8)
{
parseInternal(verboseMode,(char*)DNAstr64,DNAlen64);
parseInternal(verboseMode, (char *)DNAstr64, DNAlen64);
}
else
{
parseInternal(verboseMode,(char*)DNAstr,DNAlen);
parseInternal(verboseMode, (char *)DNAstr, DNAlen);
}
}
// experimental
int bBlenderFile::write(const char* fileName, bool fixupPointers)
int bBlenderFile::write(const char *fileName, bool fixupPointers)
{
FILE *fp = fopen(fileName, "wb");
if (fp)
{
char header[SIZEOFBLENDERHEADER] ;
char header[SIZEOFBLENDERHEADER];
memcpy(header, m_headerString, 7);
int endian= 1;
endian= ((char*)&endian)[0];
int endian = 1;
endian = ((char *)&endian)[0];
if (endian)
{
header[7] = '_';
} else
}
else
{
header[7] = '-';
}
if (VOID_IS_8)
{
header[8]='V';
} else
header[8] = 'V';
}
else
{
header[8]='v';
header[8] = 'v';
}
header[9] = '2';
header[10] = '4';
header[11] = '9';
fwrite(header,SIZEOFBLENDERHEADER,1,fp);
fwrite(header, SIZEOFBLENDERHEADER, 1, fp);
writeChunks(fp, fixupPointers);
writeDNA(fp);
fclose(fp);
} else
}
else
{
printf("Error: cannot open file %s for writing\n",fileName);
printf("Error: cannot open file %s for writing\n", fileName);
return 0;
}
return 1;

23
Extras/Serialize/BlenderSerialize/bBlenderFile.h
View File

@@ -16,26 +16,22 @@ subject to the following restrictions:
#ifndef B_BLENDER_FILE_H
#define B_BLENDER_FILE_H
#include "bFile.h"
namespace bParse {
// ----------------------------------------------------- //
class bBlenderFile : public bFile
{
protected:
namespace bParse
{
// ----------------------------------------------------- //
class bBlenderFile : public bFile
{
protected:
bMain* mMain;
bStructHandle* m_glob;
public:
public:
bBlenderFile(const char* fileName);
bBlenderFile(char *memoryBuffer, int len);
bBlenderFile(char* memoryBuffer, int len);
virtual ~bBlenderFile();
@@ -56,8 +52,7 @@ namespace bParse {
virtual void parseData();
virtual void writeDNA(FILE* fp);
};
};
}; // namespace bParse
#endif //B_BLENDER_FILE_H

82
Extras/Serialize/BlenderSerialize/bMain.cpp
View File

@@ -21,51 +21,49 @@ subject to the following restrictions:
using namespace bParse;
// ----------------------------------------------------- //
bMain::bMain(bBlenderFile *filePtr, const char *baseName, int fileVersion)
: mFP(filePtr),
mVersion(fileVersion),
mName(baseName)
{
mData.insert(ID_SCE,bListBasePtr());
mData.insert(ID_LI,bListBasePtr());
mData.insert(ID_OB,bListBasePtr());
mData.insert(ID_ME,bListBasePtr());
mData.insert(ID_CU,bListBasePtr());
mData.insert(ID_MB,bListBasePtr());
mData.insert(ID_MA,bListBasePtr());
mData.insert(ID_TE,bListBasePtr());
mData.insert(ID_IM,bListBasePtr());
mData.insert(ID_WV,bListBasePtr());
mData.insert(ID_LT,bListBasePtr());
mData.insert(ID_LA,bListBasePtr());
mData.insert(ID_CA,bListBasePtr());
mData.insert(ID_IP,bListBasePtr());
mData.insert(ID_KE,bListBasePtr());
mData.insert(ID_WO,bListBasePtr());
mData.insert(ID_SCR,bListBasePtr());
mData.insert(ID_VF,bListBasePtr());
mData.insert(ID_TXT,bListBasePtr());
mData.insert(ID_SO,bListBasePtr());
mData.insert(ID_GR,bListBasePtr());
mData.insert(ID_AR,bListBasePtr());
mData.insert(ID_AC,bListBasePtr());
mData.insert(ID_NT,bListBasePtr());
mData.insert(ID_BR,bListBasePtr());
mData.insert(ID_SCE, bListBasePtr());
mData.insert(ID_LI, bListBasePtr());
mData.insert(ID_OB, bListBasePtr());
mData.insert(ID_ME, bListBasePtr());
mData.insert(ID_CU, bListBasePtr());
mData.insert(ID_MB, bListBasePtr());
mData.insert(ID_MA, bListBasePtr());
mData.insert(ID_TE, bListBasePtr());
mData.insert(ID_IM, bListBasePtr());
mData.insert(ID_WV, bListBasePtr());
mData.insert(ID_LT, bListBasePtr());
mData.insert(ID_LA, bListBasePtr());
mData.insert(ID_CA, bListBasePtr());
mData.insert(ID_IP, bListBasePtr());
mData.insert(ID_KE, bListBasePtr());
mData.insert(ID_WO, bListBasePtr());
mData.insert(ID_SCR, bListBasePtr());
mData.insert(ID_VF, bListBasePtr());
mData.insert(ID_TXT, bListBasePtr());
mData.insert(ID_SO, bListBasePtr());
mData.insert(ID_GR, bListBasePtr());
mData.insert(ID_AR, bListBasePtr());
mData.insert(ID_AC, bListBasePtr());
mData.insert(ID_NT, bListBasePtr());
mData.insert(ID_BR, bListBasePtr());
mData.insert(ID_SCRIPT, bListBasePtr());
}
// ----------------------------------------------------- //
bMain::~bMain()
{
// allocated data blocks!
int sz = mPool.size();
for (int i=0;i<sz;i++)
for (int i = 0; i < sz; i++)
{
delete [] mPool[i];
delete[] mPool[i];
}
}
@@ -85,16 +83,12 @@ const char *bMain::getName()
void bMain::addDatablock(void *allocated)
{
assert(allocated);
mPool.push_back((bStructHandle*)allocated);
mPool.push_back((bStructHandle *)allocated);
}
// ------------------------------------------------------------//
void bMain::linkList(void *listBasePtr)
{
struct ListBase // local Blender::ListBase
{
void *first;
@@ -107,8 +101,7 @@ void bMain::linkList(void *listBasePtr)
void *prev;
};
ListBase *base = (ListBase*)listBasePtr;
ListBase *base = (ListBase *)listBasePtr;
if (!base || !base->first)
return;
@@ -121,18 +114,18 @@ void bMain::linkList(void *listBasePtr)
}
void *prev = 0;
Link *l = (Link*)base->first;
Link *l = (Link *)base->first;
while (l)
{
l->next = mFP->findLibPointer(l->next);
l->prev = l->next;
prev = l->next;
l = (Link*)l->next;
l = (Link *)l->next;
}
}
// ------------------------------------------------------------//
bListBasePtr* bMain::getListBasePtr(int listBaseCode)
bListBasePtr *bMain::getListBasePtr(int listBaseCode)
{
bListBasePtr *ptr = _findCode(listBaseCode);
if (!ptr)
@@ -143,12 +136,10 @@ bListBasePtr* bMain::getListBasePtr(int listBaseCode)
// ------------------------------------------------------------//
bListBasePtr *bMain::_findCode(int code)
{
bListBasePtr* lbPtr = mData.find(code);
bListBasePtr *lbPtr = mData.find(code);
return lbPtr;
}
// ------------------------------------------------------------//
bListBasePtr *bMain::getScene()
{
@@ -193,8 +184,6 @@ bListBasePtr *bMain::getCurve()
return ptr;
}
// ------------------------------------------------------------//
bListBasePtr *bMain::getMball()
{
@@ -222,7 +211,6 @@ bListBasePtr *bMain::getTex()
return ptr;
}
// ------------------------------------------------------------//
bListBasePtr *bMain::getImage()
{
@@ -295,7 +283,6 @@ bListBasePtr *bMain::getWorld()
return ptr;
}
// ------------------------------------------------------------//
bListBasePtr *bMain::getScreen()
{
@@ -368,7 +355,6 @@ bListBasePtr *bMain::getAction()
return ptr;
}
// ------------------------------------------------------------//
bListBasePtr *bMain::getNodetree()
{
@@ -387,6 +373,4 @@ bListBasePtr *bMain::getBrush()
return ptr;
}
//eof

50
Extras/Serialize/BlenderSerialize/bMain.h
View File

@@ -20,44 +20,35 @@ subject to the following restrictions:
#include "bChunk.h"
#include "LinearMath/btHashMap.h"
namespace bParse
{
class bDNA;
class bBlenderFile;
}; // namespace bParse
namespace bParse
{
class bDNA;
// ----------------------------------------------------- //
class bBlenderFile;
};
typedef btHashMap<btHashInt, bListBasePtr> bMainDataMap;
namespace bParse {
// ----------------------------------------------------- //
typedef btHashMap<btHashInt,bListBasePtr> bMainDataMap;
// ----------------------------------------------------- //
class bMain
{
// ----------------------------------------------------- //
class bMain
{
//private:
public:
bBlenderFile* mFP;
public:
bBlenderFile *mFP;
bListBasePtr mPool;
int mVersion;
const char* mName;
const char *mName;
bMainDataMap mData;
bListBasePtr *_findCode(int code);
public:
public:
bMain(bBlenderFile *filePtr, const char *baseName, int fileVersion);
~bMain();
@@ -66,7 +57,6 @@ namespace bParse {
bListBasePtr *getListBasePtr(int listBaseCode);
bListBasePtr *getScene();
bListBasePtr *getLibrary();
bListBasePtr *getObject();
@@ -94,17 +84,13 @@ namespace bParse {
bListBasePtr *getNodetree();
bListBasePtr *getBrush();
// tracking allocated memory
void addDatablock(void *allocated);
// --
void linkList(void *listBasePtr);
};
}
};
} // namespace bParse
#endif//__BMAIN_H__
#endif //__BMAIN_H__

2793
Extras/Serialize/BlenderSerialize/dna249-64bit.cpp
View File

File diff suppressed because it is too large Load Diff

2793
Extras/Serialize/BlenderSerialize/dna249.cpp
View File

File diff suppressed because it is too large Load Diff

981
Extras/Serialize/BulletFileLoader/autogenerated/bullet.h
View File

File diff suppressed because it is too large Load Diff

12
Extras/Serialize/BulletFileLoader/bChunk.cpp
View File

@@ -17,15 +17,13 @@ subject to the following restrictions:
#include "bDefines.h"
#include "bFile.h"
#if !defined( __CELLOS_LV2__) && !defined(__MWERKS__)
#if !defined(__CELLOS_LV2__) && !defined(__MWERKS__)
#include <memory.h>
#endif
#include <string.h>
using namespace bParse;
// ----------------------------------------------------- //
short ChunkUtils::swapShort(short sht)
{
@@ -57,19 +55,15 @@ int ChunkUtils::getOffset(int flags)
if (VOID_IS_8)
{
if (flags &FD_BITS_VARIES)
if (flags & FD_BITS_VARIES)
res = sizeof(bChunkPtr4);
}
else
{
if (flags &FD_BITS_VARIES)
if (flags & FD_BITS_VARIES)
res = sizeof(bChunkPtr8);
}
return res;
}
//eof

82
Extras/Serialize/BulletFileLoader/bChunk.h
View File

@@ -16,64 +16,58 @@ subject to the following restrictions:
#ifndef __BCHUNK_H__
#define __BCHUNK_H__
#if defined (_WIN32) && ! defined (__MINGW32__)
#define long64 __int64
#elif defined (__MINGW32__)
#include <stdint.h>
#define long64 int64_t
#if defined(_WIN32) && !defined(__MINGW32__)
#define long64 __int64
#elif defined(__MINGW32__)
#include <stdint.h>
#define long64 int64_t
#else
#define long64 long long
#define long64 long long
#endif
namespace bParse {
// ----------------------------------------------------- //
class bChunkPtr4
{
public:
bChunkPtr4(){}
namespace bParse
{
// ----------------------------------------------------- //
class bChunkPtr4
{
public:
bChunkPtr4() {}
int code;
int len;
union
{
union {
int m_uniqueInt;
};
int dna_nr;
int nr;
};
};
// ----------------------------------------------------- //
class bChunkPtr8
{
public:
bChunkPtr8(){}
// ----------------------------------------------------- //
class bChunkPtr8
{
public:
bChunkPtr8() {}
int code, len;
union
{
union {
long64 oldPrev;
int m_uniqueInts[2];
};
int dna_nr, nr;
};
};
// ----------------------------------------------------- //
class bChunkInd
{
public:
bChunkInd(){}
// ----------------------------------------------------- //
class bChunkInd
{
public:
bChunkInd() {}
int code, len;
void *oldPtr;
int dna_nr, nr;
};
// ----------------------------------------------------- //
class ChunkUtils
{
public:
};
// ----------------------------------------------------- //
class ChunkUtils
{
public:
// file chunk offset
static int getOffset(int flags);
@@ -81,12 +75,10 @@ namespace bParse {
static short swapShort(short sht);
static int swapInt(int inte);
static long64 swapLong64(long64 lng);
};
};
const int CHUNK_HEADER_LEN = ((sizeof(bChunkInd)));
const bool VOID_IS_8 = ((sizeof(void *) == 8));
} // namespace bParse
const int CHUNK_HEADER_LEN = ((sizeof(bChunkInd)));
const bool VOID_IS_8 = ((sizeof(void*)==8));
}
#endif//__BCHUNK_H__
#endif //__BCHUNK_H__

29
Extras/Serialize/BulletFileLoader/bCommon.h
View File

@@ -16,24 +16,25 @@ subject to the following restrictions:
#ifndef __BCOMMON_H__
#define __BCOMMON_H__
#include <assert.h>
//#include "bLog.h"
#include "LinearMath/btAlignedObjectArray.h"
#include "LinearMath/btHashMap.h"
namespace bParse {
namespace bParse
{
class bMain;
class bFileData;
class bFile;
class bDNA;
class bMain;
class bFileData;
class bFile;
class bDNA;
// delete void* undefined
typedef struct bStructHandle
{
int unused;
} bStructHandle;
typedef btAlignedObjectArray<bStructHandle*> bListBasePtr;
typedef btHashMap<btHashPtr, bStructHandle*> bPtrMap;
} // namespace bParse
// delete void* undefined
typedef struct bStructHandle {int unused;}bStructHandle;
typedef btAlignedObjectArray<bStructHandle*> bListBasePtr;
typedef btHashMap<btHashPtr, bStructHandle*> bPtrMap;
}
#endif//__BCOMMON_H__
#endif //__BCOMMON_H__

280
Extras/Serialize/BulletFileLoader/bDNA.cpp
View File

@@ -23,10 +23,8 @@ subject to the following restrictions:
//this define will force traversal of structures, to check backward (and forward) compatibility
//#define TEST_BACKWARD_FORWARD_COMPATIBILITY
using namespace bParse;
// ----------------------------------------------------- //
bDNA::bDNA()
: mPtrLen(0)
@@ -43,7 +41,7 @@ bDNA::~bDNA()
// ----------------------------------------------------- //
bool bDNA::lessThan(bDNA *file)
{
return ( m_Names.size() < file->m_Names.size());
return (m_Names.size() < file->m_Names.size());
}
// ----------------------------------------------------- //
@@ -53,15 +51,13 @@ char *bDNA::getName(int ind)
return m_Names[ind].m_name;
}
// ----------------------------------------------------- //
char *bDNA::getType(int ind)
{
assert(ind<= (int)mTypes.size());
assert(ind <= (int)mTypes.size());
return mTypes[ind];
}
// ----------------------------------------------------- //
short *bDNA::getStruct(int ind)
{
@@ -69,7 +65,6 @@ short *bDNA::getStruct(int ind)
return mStructs[ind];
}
// ----------------------------------------------------- //
short bDNA::getLength(int ind)
{
@@ -77,12 +72,10 @@ short bDNA::getLength(int ind)
return mTlens[ind];
}
// ----------------------------------------------------- //
int bDNA::getReverseType(short type)
{
int* intPtr = mStructReverse.find(type);
int *intPtr = mStructReverse.find(type);
if (intPtr)
return *intPtr;
@@ -92,9 +85,8 @@ int bDNA::getReverseType(short type)
// ----------------------------------------------------- //
int bDNA::getReverseType(const char *type)
{
btHashString key(type);
int* valuePtr = mTypeLookup.find(key);
int *valuePtr = mTypeLookup.find(key);
if (valuePtr)
return *valuePtr;
@@ -143,15 +135,15 @@ void bDNA::initRecurseCmpFlags(int iter)
short *oldStrc = mStructs[iter];
short type = oldStrc[0];
for (int i=0; i<(int)mStructs.size(); i++)
for (int i = 0; i < (int)mStructs.size(); i++)
{
if (i != iter && mCMPFlags[i] == FDF_STRUCT_EQU )
if (i != iter && mCMPFlags[i] == FDF_STRUCT_EQU)
{
short *curStruct = mStructs[i];
int eleLen = curStruct[1];
curStruct+=2;
curStruct += 2;
for (int j=0; j<eleLen; j++, curStruct+=2)
for (int j = 0; j < eleLen; j++, curStruct += 2)
{
if (curStruct[0] == type)
{
@@ -171,19 +163,15 @@ void bDNA::initRecurseCmpFlags(int iter)
// ----------------------------------------------------- //
void bDNA::initCmpFlags(bDNA *memDNA)
{
// compare the file to memory
// this ptr should be the file data
assert(!(m_Names.size() == 0));//DNA empty!
assert(!(m_Names.size() == 0)); //DNA empty!
mCMPFlags.resize(mStructs.size(), FDF_NONE);
int i;
for ( i=0; i<(int)mStructs.size(); i++)
for (i = 0; i < (int)mStructs.size(); i++)
{
short *oldStruct = mStructs[i];
@@ -197,7 +185,7 @@ void bDNA::initCmpFlags(bDNA *memDNA)
//#define SLOW_FORWARD_COMPATIBLE 1
#ifdef SLOW_FORWARD_COMPATIBLE
char* typeName = mTypes[oldLookup];
char *typeName = mTypes[oldLookup];
int newLookup = memDNA->getReverseType(typeName);
if (newLookup == -1)
{
@@ -213,8 +201,6 @@ void bDNA::initCmpFlags(bDNA *memDNA)
short *curStruct = memDNA->mStructs[oldLookup];
#endif
// rebuild...
mCMPFlags[i] = FDF_STRUCT_NEQU;
@@ -228,26 +214,24 @@ void bDNA::initCmpFlags(bDNA *memDNA)
bool isSame = true;
int elementLength = oldStruct[1];
curStruct += 2;
oldStruct += 2;
curStruct+=2;
oldStruct+=2;
for (int j=0; j<elementLength; j++, curStruct+=2, oldStruct+=2)
for (int j = 0; j < elementLength; j++, curStruct += 2, oldStruct += 2)
{
// type the same
//const char* typeFileDNA = mTypes[oldStruct[0]];
//const char* typeMemDNA = mTypes[curStruct[0]];
if (strcmp(mTypes[oldStruct[0]], memDNA->mTypes[curStruct[0]])!=0)
if (strcmp(mTypes[oldStruct[0]], memDNA->mTypes[curStruct[0]]) != 0)
{
isSame=false;
isSame = false;
break;
}
// name the same
if (strcmp(m_Names[oldStruct[1]].m_name, memDNA->m_Names[curStruct[1]].m_name)!=0)
if (strcmp(m_Names[oldStruct[1]].m_name, memDNA->m_Names[curStruct[1]].m_name) != 0)
{
isSame=false;
isSame = false;
break;
}
}
@@ -258,24 +242,18 @@ void bDNA::initCmpFlags(bDNA *memDNA)
}
#endif
}
}
// recurse in
for ( i=0; i<(int)mStructs.size(); i++)
{
if (mCMPFlags[i] == FDF_STRUCT_NEQU)
initRecurseCmpFlags(i);
}
}
// recurse in
for (i = 0; i < (int)mStructs.size(); i++)
{
if (mCMPFlags[i] == FDF_STRUCT_NEQU)
initRecurseCmpFlags(i);
}
}
static int name_is_array(char* name, int* dim1, int* dim2) {
static int name_is_array(char *name, int *dim1, int *dim2)
{
int len = strlen(name);
/*fprintf(stderr,"[%s]",name);*/
/*if (len >= 1) {
@@ -285,58 +263,77 @@ static int name_is_array(char* name, int* dim1, int* dim2) {
return 0;*/
char *bp;
int num;
if (dim1) {
if (dim1)
{
*dim1 = 1;
}
if (dim2) {
if (dim2)
{
*dim2 = 1;
}
bp = strchr(name, '[');
if (!bp) {
if (!bp)
{
return 0;
}
num = 0;
while (++bp < name+len-1) {
while (++bp < name + len - 1)
{
const char c = *bp;
if (c == ']') {
if (c == ']')
{
break;
}
if (c <= '9' && c >= '0') {
if (c <= '9' && c >= '0')
{
num *= 10;
num += (c - '0');
} else {
}
else
{
printf("array parse error.\n");
return 0;
}
}
if (dim2) {
if (dim2)
{
*dim2 = num;
}
/* find second dim, if any. */
bp = strchr(bp, '[');
if (!bp) {
if (!bp)
{
return 1; /* at least we got the first dim. */
}
num = 0;
while (++bp < name+len-1) {
while (++bp < name + len - 1)
{
const char c = *bp;
if (c == ']') {
if (c == ']')
{
break;
}
if (c <= '9' && c >= '0') {
if (c <= '9' && c >= '0')
{
num *= 10;
num += (c - '0');
} else {
}
else
{
printf("array2 parse error.\n");
return 1;
}
}
if (dim1) {
if (dim2) {
if (dim1)
{
if (dim2)
{
*dim1 = *dim2;
*dim2 = num;
} else {
}
else
{
*dim1 = num;
}
}
@@ -344,14 +341,15 @@ static int name_is_array(char* name, int* dim1, int* dim2) {
return 1;
}
// ----------------------------------------------------- //
void bDNA::init(char *data, int len, bool swap)
{
int *intPtr=0;short *shtPtr=0;
char *cp = 0;int dataLen =0;
int *intPtr = 0;
short *shtPtr = 0;
char *cp = 0;
int dataLen = 0;
//long nr=0;
intPtr = (int*)data;
intPtr = (int *)data;
/*
SDNA (4 bytes) (magic number)
@@ -361,14 +359,13 @@ void bDNA::init(char *data, int len, bool swap)
<string>
*/
if (strncmp(data, "SDNA", 4)==0)
if (strncmp(data, "SDNA", 4) == 0)
{
// skip ++ NAME
intPtr++; intPtr++;
intPtr++;
intPtr++;
}
// Parse names
if (swap)
{
@@ -377,22 +374,20 @@ void bDNA::init(char *data, int len, bool swap)
dataLen = *intPtr;
intPtr++;
cp = (char*)intPtr;
cp = (char *)intPtr;
int i;
for ( i=0; i<dataLen; i++)
for (i = 0; i < dataLen; i++)
{
bNameInfo info;
info.m_name = cp;
info.m_isPointer = (info.m_name[0] == '*') || (info.m_name[1] == '*');
name_is_array(info.m_name,&info.m_dim0,&info.m_dim1);
name_is_array(info.m_name, &info.m_dim0, &info.m_dim1);
m_Names.push_back(info);
while (*cp)cp++;
while (*cp) cp++;
cp++;
}
cp = btAlignPointer(cp,4);
cp = btAlignPointer(cp, 4);
/*
TYPE (4 bytes)
@@ -401,8 +396,9 @@ void bDNA::init(char *data, int len, bool swap)
<string>
*/
intPtr = (int*)cp;
assert(strncmp(cp, "TYPE", 4)==0); intPtr++;
intPtr = (int *)cp;
assert(strncmp(cp, "TYPE", 4) == 0);
intPtr++;
if (swap)
{
@@ -411,15 +407,15 @@ void bDNA::init(char *data, int len, bool swap)
dataLen = *intPtr;
intPtr++;
cp = (char*)intPtr;
for ( i=0; i<dataLen; i++)
cp = (char *)intPtr;
for (i = 0; i < dataLen; i++)
{
mTypes.push_back(cp);
while (*cp)cp++;
while (*cp) cp++;
cp++;
}
cp = btAlignPointer(cp,4);
cp = btAlignPointer(cp, 4);
/*
TLEN (4 bytes)
@@ -428,13 +424,14 @@ void bDNA::init(char *data, int len, bool swap)
*/
// Parse type lens
intPtr = (int*)cp;
assert(strncmp(cp, "TLEN", 4)==0); intPtr++;
intPtr = (int *)cp;
assert(strncmp(cp, "TLEN", 4) == 0);
intPtr++;
dataLen = (int)mTypes.size();
shtPtr = (short*)intPtr;
for ( i=0; i<dataLen; i++, shtPtr++)
shtPtr = (short *)intPtr;
for (i = 0; i < dataLen; i++, shtPtr++)
{
if (swap)
shtPtr[0] = ChunkUtils::swapShort(shtPtr[0]);
@@ -454,9 +451,10 @@ void bDNA::init(char *data, int len, bool swap)
<namenr>
*/
intPtr = (int*)shtPtr;
cp = (char*)intPtr;
assert(strncmp(cp, "STRC", 4)==0); intPtr++;
intPtr = (int *)shtPtr;
cp = (char *)intPtr;
assert(strncmp(cp, "STRC", 4) == 0);
intPtr++;
if (swap)
{
@@ -465,83 +463,77 @@ void bDNA::init(char *data, int len, bool swap)
dataLen = *intPtr;
intPtr++;
shtPtr = (short*)intPtr;
for ( i=0; i<dataLen; i++)
shtPtr = (short *)intPtr;
for (i = 0; i < dataLen; i++)
{
mStructs.push_back (shtPtr);
mStructs.push_back(shtPtr);
if (swap)
{
shtPtr[0]= ChunkUtils::swapShort(shtPtr[0]);
shtPtr[1]= ChunkUtils::swapShort(shtPtr[1]);
shtPtr[0] = ChunkUtils::swapShort(shtPtr[0]);
shtPtr[1] = ChunkUtils::swapShort(shtPtr[1]);
int len = shtPtr[1];
shtPtr+= 2;
shtPtr += 2;
for (int a=0; a<len; a++, shtPtr+=2)
for (int a = 0; a < len; a++, shtPtr += 2)
{
shtPtr[0]= ChunkUtils::swapShort(shtPtr[0]);
shtPtr[1]= ChunkUtils::swapShort(shtPtr[1]);
shtPtr[0] = ChunkUtils::swapShort(shtPtr[0]);
shtPtr[1] = ChunkUtils::swapShort(shtPtr[1]);
}
}
else
shtPtr+= (2*shtPtr[1])+2;
shtPtr += (2 * shtPtr[1]) + 2;
}
// build reverse lookups
for ( i=0; i<(int)mStructs.size(); i++)
for (i = 0; i < (int)mStructs.size(); i++)
{
short *strc = mStructs.at(i);
if (!mPtrLen && strcmp(mTypes[strc[0]],"ListBase")==0)
if (!mPtrLen && strcmp(mTypes[strc[0]], "ListBase") == 0)
{
mPtrLen = mTlens[strc[0]]/2;
mPtrLen = mTlens[strc[0]] / 2;
}
mStructReverse.insert(strc[0], i);
mTypeLookup.insert(btHashString(mTypes[strc[0]]),i);
mTypeLookup.insert(btHashString(mTypes[strc[0]]), i);
}
}
// ----------------------------------------------------- //
int bDNA::getArraySize(char* string)
int bDNA::getArraySize(char *string)
{
int ret = 1;
int len = strlen(string);
char* next = 0;
for (int i=0; i<len; i++)
char *next = 0;
for (int i = 0; i < len; i++)
{
char c = string[i];
if (c == '[')
next = &string[i+1];
else if (c==']')
next = &string[i + 1];
else if (c == ']')
if (next)
ret *= atoi(next);
}
// print (string << ' ' << ret);
// print (string << ' ' << ret);
return ret;
}
void bDNA::dumpTypeDefinitions()
{
int i;
int numTypes = mTypes.size();
for (i=0;i<numTypes;i++)
for (i = 0; i < numTypes; i++)
{
}
for ( i=0; i<(int)mStructs.size(); i++)
for (i = 0; i < (int)mStructs.size(); i++)
{
int totalBytes=0;
int totalBytes = 0;
short *oldStruct = mStructs[i];
int oldLookup = getReverseType(oldStruct[0]);
@@ -551,45 +543,47 @@ void bDNA::dumpTypeDefinitions()
continue;
}
short* newStruct = mStructs[oldLookup];
char* typeName = mTypes[newStruct[0]];
printf("%3d: %s ",i,typeName);
short *newStruct = mStructs[oldLookup];
char *typeName = mTypes[newStruct[0]];
printf("%3d: %s ", i, typeName);
//char *name = mNames[oldStruct[1]];
int len = oldStruct[1];
printf(" (%d fields) ",len);
oldStruct+=2;
printf(" (%d fields) ", len);
oldStruct += 2;
printf("{");
int j;
for (j=0; j<len; ++j,oldStruct+=2) {
const char* name = m_Names[oldStruct[1]].m_name;
printf("%s %s", mTypes[oldStruct[0]],name);
int elemNumBytes= 0;
for (j = 0; j < len; ++j, oldStruct += 2)
{
const char *name = m_Names[oldStruct[1]].m_name;
printf("%s %s", mTypes[oldStruct[0]], name);
int elemNumBytes = 0;
int arrayDimensions = getArraySizeNew(oldStruct[1]);
if (m_Names[oldStruct[1]].m_isPointer)
{
elemNumBytes = VOID_IS_8 ? 8 : 4;
} else
}
else
{
elemNumBytes = getLength(oldStruct[0]);
}
printf(" /* %d bytes */",elemNumBytes*arrayDimensions);
printf(" /* %d bytes */", elemNumBytes * arrayDimensions);
if (j == len-1) {
if (j == len - 1)
{
printf(";}");
} else {
}
else
{
printf("; ");
}
totalBytes+=elemNumBytes*arrayDimensions;
totalBytes += elemNumBytes * arrayDimensions;
}
printf("\ntotalBytes=%d\n\n",totalBytes);
printf("\ntotalBytes=%d\n\n", totalBytes);
}
#if 0
/* dump out display of types and their sizes */
for (i=0; i<bf->types_count; ++i) {
@@ -618,12 +612,6 @@ void bDNA::dumpTypeDefinitions()
}
}
#endif
}
//eof

57
Extras/Serialize/BulletFileLoader/bDNA.h
View File

@@ -16,37 +16,36 @@ subject to the following restrictions:
#ifndef __BDNA_H__
#define __BDNA_H__
#include "bCommon.h"
namespace bParse {
struct bNameInfo
{
char* m_name;
namespace bParse
{
struct bNameInfo
{
char *m_name;
bool m_isPointer;
int m_dim0;
int m_dim1;
};
};
class bDNA
{
public:
class bDNA
{
public:
bDNA();
~bDNA();
void init(char *data, int len, bool swap=false);
void init(char *data, int len, bool swap = false);
int getArraySize(char* str);
int getArraySize(char *str);
int getArraySizeNew(short name)
{
const bNameInfo& nameInfo = m_Names[name];
return nameInfo.m_dim0*nameInfo.m_dim1;
const bNameInfo &nameInfo = m_Names[name];
return nameInfo.m_dim0 * nameInfo.m_dim1;
}
int getElementSize(short type, short name)
{
const bNameInfo& nameInfo = m_Names[name];
int size = nameInfo.m_isPointer ? mPtrLen*nameInfo.m_dim0*nameInfo.m_dim1 : mTlens[type]*nameInfo.m_dim0*nameInfo.m_dim1;
const bNameInfo &nameInfo = m_Names[name];
int size = nameInfo.m_isPointer ? mPtrLen * nameInfo.m_dim0 * nameInfo.m_dim1 : mTlens[type] * nameInfo.m_dim0 * nameInfo.m_dim1;
return size;
}
@@ -62,27 +61,24 @@ namespace bParse {
int getReverseType(short type);
int getReverseType(const char *type);
int getNumStructs();
//
bool lessThan(bDNA* other);
bool lessThan(bDNA *other);
void initCmpFlags(bDNA *memDNA);
bool flagNotEqual(int dna_nr);
bool flagEqual(int dna_nr);
bool flagNone(int dna_nr);
int getPointerSize();
void dumpTypeDefinitions();
private:
private:
enum FileDNAFlags
{
FDF_NONE=0,
FDF_NONE = 0,
FDF_STRUCT_NEQU,
FDF_STRUCT_EQU
};
@@ -92,19 +88,14 @@ namespace bParse {
btAlignedObjectArray<int> mCMPFlags;
btAlignedObjectArray<bNameInfo> m_Names;
btAlignedObjectArray<char*> mTypes;
btAlignedObjectArray<short*> mStructs;
btAlignedObjectArray<char *> mTypes;
btAlignedObjectArray<short *> mStructs;
btAlignedObjectArray<short> mTlens;
btHashMap<btHashInt, int> mStructReverse;
btHashMap<btHashString,int> mTypeLookup;
btHashMap<btHashString, int> mTypeLookup;
int mPtrLen;
};
} // namespace bParse
};
}
#endif//__BDNA_H__
#endif //__BDNA_H__

119
Extras/Serialize/BulletFileLoader/bDefines.h
View File

@@ -19,28 +19,25 @@
#ifndef __B_DEFINES_H__
#define __B_DEFINES_H__
// MISC defines, see BKE_global.h, BKE_utildefines.h
#define SIZEOFBLENDERHEADER 12
// ------------------------------------------------------------
#if defined(__sgi) || defined (__sparc) || defined (__sparc__) || defined (__PPC__) || defined (__ppc__) || defined (__BIG_ENDIAN__)
# define MAKE_ID(a,b,c,d) ( (int)(a)<<24 | (int)(b)<<16 | (c)<<8 | (d) )
#if defined(__sgi) || defined(__sparc) || defined(__sparc__) || defined(__PPC__) || defined(__ppc__) || defined(__BIG_ENDIAN__)
#define MAKE_ID(a, b, c, d) ((int)(a) << 24 | (int)(b) << 16 | (c) << 8 | (d))
#else
# define MAKE_ID(a,b,c,d) ( (int)(d)<<24 | (int)(c)<<16 | (b)<<8 | (a) )
#define MAKE_ID(a, b, c, d) ((int)(d) << 24 | (int)(c) << 16 | (b) << 8 | (a))
#endif
// ------------------------------------------------------------
#if defined(__sgi) || defined(__sparc) || defined(__sparc__) || defined (__PPC__) || defined (__ppc__) || defined (__BIG_ENDIAN__)
# define MAKE_ID2(c, d) ( (c)<<8 | (d) )
# define MOST_SIG_BYTE 0
# define BBIG_ENDIAN
#if defined(__sgi) || defined(__sparc) || defined(__sparc__) || defined(__PPC__) || defined(__ppc__) || defined(__BIG_ENDIAN__)
#define MAKE_ID2(c, d) ((c) << 8 | (d))
#define MOST_SIG_BYTE 0
#define BBIG_ENDIAN
#else
# define MAKE_ID2(c, d) ( (d)<<8 | (c) )
# define MOST_SIG_BYTE 1
# define BLITTLE_ENDIAN
#define MAKE_ID2(c, d) ((d) << 8 | (c))
#define MOST_SIG_BYTE 1
#define BLITTLE_ENDIAN
#endif
// ------------------------------------------------------------
@@ -77,7 +74,6 @@
#define ID_NT MAKE_ID2('N', 'T')
#define ID_BR MAKE_ID2('B', 'R')
#define ID_SEQ MAKE_ID2('S', 'Q')
#define ID_CO MAKE_ID2('C', 'O')
#define ID_PO MAKE_ID2('A', 'C')
@@ -86,54 +82,71 @@
#define ID_VS MAKE_ID2('V', 'S')
#define ID_VN MAKE_ID2('V', 'N')
// ------------------------------------------------------------
#define FORM MAKE_ID('F', 'O', 'R', 'M')
#define DDG1 MAKE_ID('3', 'D', 'G', '1')
#define DDG2 MAKE_ID('3', 'D', 'G', '2')
#define DDG3 MAKE_ID('3', 'D', 'G', '3')
#define DDG4 MAKE_ID('3', 'D', 'G', '4')
#define GOUR MAKE_ID('G', 'O', 'U', 'R')
#define BLEN MAKE_ID('B', 'L', 'E', 'N')
#define DER_ MAKE_ID('D', 'E', 'R', '_')
#define V100 MAKE_ID('V', '1', '0', '0')
#define DATA MAKE_ID('D', 'A', 'T', 'A')
#define GLOB MAKE_ID('G', 'L', 'O', 'B')
#define IMAG MAKE_ID('I', 'M', 'A', 'G')
#define USER MAKE_ID('U', 'S', 'E', 'R')
// ------------------------------------------------------------
#define FORM MAKE_ID('F','O','R','M')
#define DDG1 MAKE_ID('3','D','G','1')
#define DDG2 MAKE_ID('3','D','G','2')
#define DDG3 MAKE_ID('3','D','G','3')
#define DDG4 MAKE_ID('3','D','G','4')
#define GOUR MAKE_ID('G','O','U','R')
#define BLEN MAKE_ID('B','L','E','N')
#define DER_ MAKE_ID('D','E','R','_')
#define V100 MAKE_ID('V','1','0','0')
#define DATA MAKE_ID('D','A','T','A')
#define GLOB MAKE_ID('G','L','O','B')
#define IMAG MAKE_ID('I','M','A','G')
#define USER MAKE_ID('U','S','E','R')
#define DNA1 MAKE_ID('D', 'N', 'A', '1')
#define REND MAKE_ID('R', 'E', 'N', 'D')
#define ENDB MAKE_ID('E', 'N', 'D', 'B')
#define NAME MAKE_ID('N', 'A', 'M', 'E')
#define SDNA MAKE_ID('S', 'D', 'N', 'A')
#define TYPE MAKE_ID('T', 'Y', 'P', 'E')
#define TLEN MAKE_ID('T', 'L', 'E', 'N')
#define STRC MAKE_ID('S', 'T', 'R', 'C')
// ------------------------------------------------------------
#define DNA1 MAKE_ID('D','N','A','1')
#define REND MAKE_ID('R','E','N','D')
#define ENDB MAKE_ID('E','N','D','B')
#define NAME MAKE_ID('N','A','M','E')
#define SDNA MAKE_ID('S','D','N','A')
#define TYPE MAKE_ID('T','Y','P','E')
#define TLEN MAKE_ID('T','L','E','N')
#define STRC MAKE_ID('S','T','R','C')
// ------------------------------------------------------------
#define SWITCH_INT(a) { \
#define SWITCH_INT(a) \
{ \
char s_i, *p_i; \
p_i= (char *)&(a); \
s_i=p_i[0]; p_i[0]=p_i[3]; p_i[3]=s_i; \
s_i=p_i[1]; p_i[1]=p_i[2]; p_i[2]=s_i; }
p_i = (char *)&(a); \
s_i = p_i[0]; \
p_i[0] = p_i[3]; \
p_i[3] = s_i; \
s_i = p_i[1]; \
p_i[1] = p_i[2]; \
p_i[2] = s_i; \
}
// ------------------------------------------------------------
#define SWITCH_SHORT(a) { \
#define SWITCH_SHORT(a) \
{ \
char s_i, *p_i; \
p_i= (char *)&(a); \
s_i=p_i[0]; p_i[0]=p_i[1]; p_i[1]=s_i; }
p_i = (char *)&(a); \
s_i = p_i[0]; \
p_i[0] = p_i[1]; \
p_i[1] = s_i; \
}
// ------------------------------------------------------------
#define SWITCH_LONGINT(a) { \
#define SWITCH_LONGINT(a) \
{ \
char s_i, *p_i; \
p_i= (char *)&(a); \
s_i=p_i[0]; p_i[0]=p_i[7]; p_i[7]=s_i; \
s_i=p_i[1]; p_i[1]=p_i[6]; p_i[6]=s_i; \
s_i=p_i[2]; p_i[2]=p_i[5]; p_i[5]=s_i; \
s_i=p_i[3]; p_i[3]=p_i[4]; p_i[4]=s_i; }
p_i = (char *)&(a); \
s_i = p_i[0]; \
p_i[0] = p_i[7]; \
p_i[7] = s_i; \
s_i = p_i[1]; \
p_i[1] = p_i[6]; \
p_i[6] = s_i; \
s_i = p_i[2]; \
p_i[2] = p_i[5]; \
p_i[5] = s_i; \
s_i = p_i[3]; \
p_i[3] = p_i[4]; \
p_i[4] = s_i; \
}
#endif//__B_DEFINES_H__
#endif //__B_DEFINES_H__

940
Extras/Serialize/BulletFileLoader/bFile.cpp
View File

File diff suppressed because it is too large Load Diff

95
Extras/Serialize/BulletFileLoader/bFile.h
View File

@@ -20,35 +20,34 @@ subject to the following restrictions:
#include "bChunk.h"
#include <stdio.h>
namespace bParse {
// ----------------------------------------------------- //
enum bFileFlags
{
FD_INVALID =0,
FD_OK =1,
FD_VOID_IS_8 =2,
FD_ENDIAN_SWAP =4,
FD_FILE_64 =8,
FD_BITS_VARIES =16,
namespace bParse
{
// ----------------------------------------------------- //
enum bFileFlags
{
FD_INVALID = 0,
FD_OK = 1,
FD_VOID_IS_8 = 2,
FD_ENDIAN_SWAP = 4,
FD_FILE_64 = 8,
FD_BITS_VARIES = 16,
FD_VERSION_VARIES = 32,
FD_DOUBLE_PRECISION =64,
FD_DOUBLE_PRECISION = 64,
FD_BROKEN_DNA = 128,
FD_FILEDNA_IS_MEMDNA = 256
};
};
enum bFileVerboseMode
{
enum bFileVerboseMode
{
FD_VERBOSE_EXPORT_XML = 1,
FD_VERBOSE_DUMP_DNA_TYPE_DEFINITIONS = 2,
FD_VERBOSE_DUMP_CHUNKS = 4,
FD_VERBOSE_DUMP_FILE_INFO=8,
};
// ----------------------------------------------------- //
class bFile
{
protected:
FD_VERBOSE_DUMP_FILE_INFO = 8,
};
// ----------------------------------------------------- //
class bFile
{
protected:
char m_headerString[7];
bool mOwnsBuffer;
@@ -56,7 +55,6 @@ namespace bParse {
int mFileLen;
int mVersion;
bPtrMap mLibPointers;
int mDataStart;
@@ -73,14 +71,13 @@ namespace bParse {
bPtrMap mDataPointers;
int mFlags;
// ////////////////////////////////////////////////////////////////////////////
// buffer offset util
int getNextBlock(bChunkInd *dataChunk, const char *dataPtr, const int flags);
void safeSwapPtr(char *dst, const char *src);
int getNextBlock(bChunkInd* dataChunk, const char* dataPtr, const int flags);
void safeSwapPtr(char* dst, const char* src);
virtual void parseHeader();
@@ -89,32 +86,30 @@ namespace bParse {
void resolvePointersMismatch();
void resolvePointersChunk(const bChunkInd& dataChunk, int verboseMode);
int resolvePointersStructRecursive(char *strcPtr, int old_dna, int verboseMode, int recursion);
int resolvePointersStructRecursive(char* strcPtr, int old_dna, int verboseMode, int recursion);
//void swapPtr(char *dst, char *src);
void parseStruct(char *strcPtr, char *dtPtr, int old_dna, int new_dna, bool fixupPointers);
void getMatchingFileDNA(short* old, const char* lookupName, const char* lookupType, char *strcData, char *data, bool fixupPointers);
char* getFileElement(short *firstStruct, char *lookupName, char *lookupType, char *data, short **foundPos);
void parseStruct(char* strcPtr, char* dtPtr, int old_dna, int new_dna, bool fixupPointers);
void getMatchingFileDNA(short* old, const char* lookupName, const char* lookupType, char* strcData, char* data, bool fixupPointers);
char* getFileElement(short* firstStruct, char* lookupName, char* lookupType, char* data, short** foundPos);
void swap(char *head, class bChunkInd& ch, bool ignoreEndianFlag);
void swapData(char *data, short type, int arraySize, bool ignoreEndianFlag);
void swapStruct(int dna_nr, char *data, bool ignoreEndianFlag);
void swapLen(char *dataPtr);
void swap(char* head, class bChunkInd& ch, bool ignoreEndianFlag);
void swapData(char* data, short type, int arraySize, bool ignoreEndianFlag);
void swapStruct(int dna_nr, char* data, bool ignoreEndianFlag);
void swapLen(char* dataPtr);
void swapDNA(char* ptr);
char* readStruct(char* head, class bChunkInd& chunk);
char* getAsString(int code);
char* readStruct(char *head, class bChunkInd& chunk);
char *getAsString(int code);
virtual void parseInternal(int verboseMode, char* memDna, int memDnaLength);
virtual void parseInternal(int verboseMode, char* memDna,int memDnaLength);
public:
bFile(const char *filename, const char headerString[7]);
public:
bFile(const char* filename, const char headerString[7]);
//todo: make memoryBuffer const char
//bFile( const char *memoryBuffer, int len);
bFile( char *memoryBuffer, int len, const char headerString[7]);
bFile(char* memoryBuffer, int len, const char headerString[7]);
virtual ~bFile();
bDNA* getFileDNA()
@@ -139,15 +134,15 @@ namespace bParse {
return mLibPointers;
}
void* findLibPointer(void *ptr);
void* findLibPointer(void* ptr);
bool ok();
virtual void parse(int verboseMode) = 0;
virtual int write(const char* fileName, bool fixupPointers=false) = 0;
virtual int write(const char* fileName, bool fixupPointers = false) = 0;
virtual void writeChunks(FILE* fp, bool fixupPointers );
virtual void writeChunks(FILE* fp, bool fixupPointers);
virtual void writeDNA(FILE* fp) = 0;
@@ -165,11 +160,7 @@ namespace bParse {
//pre-swap the endianness, so that data loaded on a target with different endianness doesn't need to be swapped
void preSwap();
void writeFile(const char* fileName);
};
} // namespace bParse
};
}
#endif//__BFILE_H__
#endif //__BFILE_H__

222
Extras/Serialize/BulletFileLoader/btBulletFile.cpp
View File

@@ -17,12 +17,11 @@ subject to the following restrictions:
#include "bDefines.h"
#include "bDNA.h"
#if !defined( __CELLOS_LV2__) && !defined(__MWERKS__)
#if !defined(__CELLOS_LV2__) && !defined(__MWERKS__)
#include <memory.h>
#endif
#include <string.h>
// 32 && 64 bit versions
#ifdef BT_INTERNAL_UPDATE_SERIALIZATION_STRUCTURES
#ifdef _WIN64
@@ -32,7 +31,7 @@ extern int sBulletDNAlen64;
extern char sBulletDNAstr[];
extern int sBulletDNAlen;
#endif //_WIN64
#else//BT_INTERNAL_UPDATE_SERIALIZATION_STRUCTURES
#else //BT_INTERNAL_UPDATE_SERIALIZATION_STRUCTURES
extern char sBulletDNAstr64[];
extern int sBulletDNAlen64;
@@ -44,124 +43,110 @@ extern int sBulletDNAlen;
using namespace bParse;
btBulletFile::btBulletFile()
:bFile("", "BULLET ")
: bFile("", "BULLET ")
{
mMemoryDNA = new bDNA(); //this memory gets released in the bFile::~bFile destructor,@todo not consistent with the rule 'who allocates it, has to deallocate it"
m_DnaCopy = 0;
#ifdef BT_INTERNAL_UPDATE_SERIALIZATION_STRUCTURES
#ifdef _WIN64
m_DnaCopy = (char*)btAlignedAlloc(sBulletDNAlen64,16);
memcpy(m_DnaCopy,sBulletDNAstr64,sBulletDNAlen64);
mMemoryDNA->init(m_DnaCopy,sBulletDNAlen64);
#else//_WIN64
m_DnaCopy = (char*)btAlignedAlloc(sBulletDNAlen,16);
memcpy(m_DnaCopy,sBulletDNAstr,sBulletDNAlen);
mMemoryDNA->init(m_DnaCopy,sBulletDNAlen);
#endif//_WIN64
#else//BT_INTERNAL_UPDATE_SERIALIZATION_STRUCTURES
m_DnaCopy = (char*)btAlignedAlloc(sBulletDNAlen64, 16);
memcpy(m_DnaCopy, sBulletDNAstr64, sBulletDNAlen64);
mMemoryDNA->init(m_DnaCopy, sBulletDNAlen64);
#else //_WIN64
m_DnaCopy = (char*)btAlignedAlloc(sBulletDNAlen, 16);
memcpy(m_DnaCopy, sBulletDNAstr, sBulletDNAlen);
mMemoryDNA->init(m_DnaCopy, sBulletDNAlen);
#endif //_WIN64
#else //BT_INTERNAL_UPDATE_SERIALIZATION_STRUCTURES
if (VOID_IS_8)
{
m_DnaCopy = (char*) btAlignedAlloc(sBulletDNAlen64,16);
memcpy(m_DnaCopy,sBulletDNAstr64,sBulletDNAlen64);
mMemoryDNA->init(m_DnaCopy,sBulletDNAlen64);
m_DnaCopy = (char*)btAlignedAlloc(sBulletDNAlen64, 16);
memcpy(m_DnaCopy, sBulletDNAstr64, sBulletDNAlen64);
mMemoryDNA->init(m_DnaCopy, sBulletDNAlen64);
}
else
{
m_DnaCopy =(char*) btAlignedAlloc(sBulletDNAlen,16);
memcpy(m_DnaCopy,sBulletDNAstr,sBulletDNAlen);
mMemoryDNA->init(m_DnaCopy,sBulletDNAlen);
m_DnaCopy = (char*)btAlignedAlloc(sBulletDNAlen, 16);
memcpy(m_DnaCopy, sBulletDNAstr, sBulletDNAlen);
mMemoryDNA->init(m_DnaCopy, sBulletDNAlen);
}
#endif//BT_INTERNAL_UPDATE_SERIALIZATION_STRUCTURES
#endif //BT_INTERNAL_UPDATE_SERIALIZATION_STRUCTURES
}
btBulletFile::btBulletFile(const char* fileName)
:bFile(fileName, "BULLET ")
: bFile(fileName, "BULLET ")
{
m_DnaCopy = 0;
}
btBulletFile::btBulletFile(char *memoryBuffer, int len)
:bFile(memoryBuffer,len, "BULLET ")
btBulletFile::btBulletFile(char* memoryBuffer, int len)
: bFile(memoryBuffer, len, "BULLET ")
{
m_DnaCopy = 0;
}
btBulletFile::~btBulletFile()
{
if (m_DnaCopy)
btAlignedFree(m_DnaCopy);
while (m_dataBlocks.size())
{
char* dataBlock = m_dataBlocks[m_dataBlocks.size()-1];
char* dataBlock = m_dataBlocks[m_dataBlocks.size() - 1];
delete[] dataBlock;
m_dataBlocks.pop_back();
}
}
// ----------------------------------------------------- //
void btBulletFile::parseData()
{
// printf ("Building datablocks");
// printf ("Chunk size = %d",CHUNK_HEADER_LEN);
// printf ("File chunk size = %d",ChunkUtils::getOffset(mFlags));
// printf ("Building datablocks");
// printf ("Chunk size = %d",CHUNK_HEADER_LEN);
// printf ("File chunk size = %d",ChunkUtils::getOffset(mFlags));
const bool brokenDNA = (mFlags&FD_BROKEN_DNA)!=0;
const bool brokenDNA = (mFlags & FD_BROKEN_DNA) != 0;
//const bool swap = (mFlags&FD_ENDIAN_SWAP)!=0;
int remain = mFileLen;
mDataStart = 12;
remain-=12;
remain -= 12;
//invalid/empty file?
if (remain < sizeof(bChunkInd))
return;
char *dataPtr = mFileBuffer+mDataStart;
char* dataPtr = mFileBuffer + mDataStart;
bChunkInd dataChunk;
dataChunk.code = 0;
//dataPtr += ChunkUtils::getNextBlock(&dataChunk, dataPtr, mFlags);
int seek = getNextBlock(&dataChunk, dataPtr, mFlags);
if (mFlags &FD_ENDIAN_SWAP)
if (mFlags & FD_ENDIAN_SWAP)
swapLen(dataPtr);
//dataPtr += ChunkUtils::getOffset(mFlags);
char *dataPtrHead = 0;
char* dataPtrHead = 0;
while (dataChunk.code != DNA1)
{
if (!brokenDNA || (dataChunk.code != BT_QUANTIZED_BVH_CODE) )
if (!brokenDNA || (dataChunk.code != BT_QUANTIZED_BVH_CODE))
{
// one behind
if (dataChunk.code == SDNA) break;
//if (dataChunk.code == DNA1) break;
// same as (BHEAD+DATA dependency)
dataPtrHead = dataPtr+ChunkUtils::getOffset(mFlags);
if (dataChunk.dna_nr>=0)
dataPtrHead = dataPtr + ChunkUtils::getOffset(mFlags);
if (dataChunk.dna_nr >= 0)
{
char *id = readStruct(dataPtrHead, dataChunk);
char* id = readStruct(dataPtrHead, dataChunk);
// lookup maps
if (id)
@@ -192,87 +177,82 @@ void btBulletFile::parseData()
if (dataChunk.code == BT_SOFTBODY_CODE)
{
m_softBodies.push_back((bStructHandle*) id);
m_softBodies.push_back((bStructHandle*)id);
}
if (dataChunk.code == BT_RIGIDBODY_CODE)
{
m_rigidBodies.push_back((bStructHandle*) id);
m_rigidBodies.push_back((bStructHandle*)id);
}
if (dataChunk.code == BT_DYNAMICSWORLD_CODE)
{
m_dynamicsWorldInfo.push_back((bStructHandle*) id);
m_dynamicsWorldInfo.push_back((bStructHandle*)id);
}
if (dataChunk.code == BT_CONSTRAINT_CODE)
{
m_constraints.push_back((bStructHandle*) id);
m_constraints.push_back((bStructHandle*)id);
}
if (dataChunk.code == BT_QUANTIZED_BVH_CODE)
{
m_bvhs.push_back((bStructHandle*) id);
m_bvhs.push_back((bStructHandle*)id);
}
if (dataChunk.code == BT_TRIANLGE_INFO_MAP)
{
m_triangleInfoMaps.push_back((bStructHandle*) id);
m_triangleInfoMaps.push_back((bStructHandle*)id);
}
if (dataChunk.code == BT_COLLISIONOBJECT_CODE)
{
m_collisionObjects.push_back((bStructHandle*) id);
m_collisionObjects.push_back((bStructHandle*)id);
}
if (dataChunk.code == BT_SHAPE_CODE)
{
m_collisionShapes.push_back((bStructHandle*) id);
m_collisionShapes.push_back((bStructHandle*)id);
}
// if (dataChunk.code == GLOB)
// {
// m_glob = (bStructHandle*) id;
// }
} else
}
else
{
//printf("unknown chunk\n");
mLibPointers.insert(dataChunk.oldPtr, (bStructHandle*)dataPtrHead);
}
} else
}
else
{
printf("skipping BT_QUANTIZED_BVH_CODE due to broken DNA\n");
}
dataPtr += seek;
remain-=seek;
if (remain<=0)
remain -= seek;
if (remain <= 0)
break;
seek = getNextBlock(&dataChunk, dataPtr, mFlags);
if (mFlags &FD_ENDIAN_SWAP)
if (mFlags & FD_ENDIAN_SWAP)
swapLen(dataPtr);
if (seek < 0)
break;
}
}
void btBulletFile::addDataBlock(char* dataBlock)
{
m_dataBlocks.push_back(dataBlock);
}
void btBulletFile::writeDNA(FILE* fp)
{
bChunkInd dataChunk;
dataChunk.code = DNA1;
dataChunk.dna_nr = 0;
@@ -283,8 +263,8 @@ void btBulletFile::writeDNA(FILE* fp)
#ifdef _WIN64
dataChunk.len = sBulletDNAlen64;
dataChunk.oldPtr = sBulletDNAstr64;
fwrite(&dataChunk,sizeof(bChunkInd),1,fp);
fwrite(sBulletDNAstr64, sBulletDNAlen64,1,fp);
fwrite(&dataChunk, sizeof(bChunkInd), 1, fp);
fwrite(sBulletDNAstr64, sBulletDNAlen64, 1, fp);
#else
btAssert(0);
#endif
@@ -294,31 +274,30 @@ void btBulletFile::writeDNA(FILE* fp)
#ifndef _WIN64
dataChunk.len = sBulletDNAlen;
dataChunk.oldPtr = sBulletDNAstr;
fwrite(&dataChunk,sizeof(bChunkInd),1,fp);
fwrite(sBulletDNAstr, sBulletDNAlen,1,fp);
#else//_WIN64
fwrite(&dataChunk, sizeof(bChunkInd), 1, fp);
fwrite(sBulletDNAstr, sBulletDNAlen, 1, fp);
#else //_WIN64
btAssert(0);
#endif//_WIN64
#endif //_WIN64
}
#else//BT_INTERNAL_UPDATE_SERIALIZATION_STRUCTURES
#else //BT_INTERNAL_UPDATE_SERIALIZATION_STRUCTURES
if (VOID_IS_8)
{
dataChunk.len = sBulletDNAlen64;
dataChunk.oldPtr = sBulletDNAstr64;
fwrite(&dataChunk,sizeof(bChunkInd),1,fp);
fwrite(sBulletDNAstr64, sBulletDNAlen64,1,fp);
fwrite(&dataChunk, sizeof(bChunkInd), 1, fp);
fwrite(sBulletDNAstr64, sBulletDNAlen64, 1, fp);
}
else
{
dataChunk.len = sBulletDNAlen;
dataChunk.oldPtr = sBulletDNAstr;
fwrite(&dataChunk,sizeof(bChunkInd),1,fp);
fwrite(sBulletDNAstr, sBulletDNAlen,1,fp);
fwrite(&dataChunk, sizeof(bChunkInd), 1, fp);
fwrite(sBulletDNAstr, sBulletDNAlen, 1, fp);
}
#endif//BT_INTERNAL_UPDATE_SERIALIZATION_STRUCTURES
#endif //BT_INTERNAL_UPDATE_SERIALIZATION_STRUCTURES
}
void btBulletFile::parse(int verboseMode)
{
#ifdef BT_INTERNAL_UPDATE_SERIALIZATION_STRUCTURES
@@ -328,9 +307,9 @@ void btBulletFile::parse(int verboseMode)
if (m_DnaCopy)
delete m_DnaCopy;
m_DnaCopy = (char*)btAlignedAlloc(sBulletDNAlen64,16);
memcpy(m_DnaCopy,sBulletDNAstr64,sBulletDNAlen64);
parseInternal(verboseMode,(char*)sBulletDNAstr64,sBulletDNAlen64);
m_DnaCopy = (char*)btAlignedAlloc(sBulletDNAlen64, 16);
memcpy(m_DnaCopy, sBulletDNAstr64, sBulletDNAlen64);
parseInternal(verboseMode, (char*)sBulletDNAstr64, sBulletDNAlen64);
#else
btAssert(0);
#endif
@@ -341,93 +320,91 @@ void btBulletFile::parse(int verboseMode)
if (m_DnaCopy)
delete m_DnaCopy;
m_DnaCopy = (char*)btAlignedAlloc(sBulletDNAlen,16);
memcpy(m_DnaCopy,sBulletDNAstr,sBulletDNAlen);
parseInternal(verboseMode,m_DnaCopy,sBulletDNAlen);
m_DnaCopy = (char*)btAlignedAlloc(sBulletDNAlen, 16);
memcpy(m_DnaCopy, sBulletDNAstr, sBulletDNAlen);
parseInternal(verboseMode, m_DnaCopy, sBulletDNAlen);
#else
btAssert(0);
#endif
}
#else//BT_INTERNAL_UPDATE_SERIALIZATION_STRUCTURES
#else //BT_INTERNAL_UPDATE_SERIALIZATION_STRUCTURES
if (VOID_IS_8)
{
if (m_DnaCopy)
delete m_DnaCopy;
m_DnaCopy = (char*)btAlignedAlloc(sBulletDNAlen64,16);
memcpy(m_DnaCopy,sBulletDNAstr64,sBulletDNAlen64);
parseInternal(verboseMode,m_DnaCopy,sBulletDNAlen64);
m_DnaCopy = (char*)btAlignedAlloc(sBulletDNAlen64, 16);
memcpy(m_DnaCopy, sBulletDNAstr64, sBulletDNAlen64);
parseInternal(verboseMode, m_DnaCopy, sBulletDNAlen64);
}
else
{
if (m_DnaCopy)
delete m_DnaCopy;
m_DnaCopy = (char*)btAlignedAlloc(sBulletDNAlen,16);
memcpy(m_DnaCopy,sBulletDNAstr,sBulletDNAlen);
parseInternal(verboseMode,m_DnaCopy,sBulletDNAlen);
m_DnaCopy = (char*)btAlignedAlloc(sBulletDNAlen, 16);
memcpy(m_DnaCopy, sBulletDNAstr, sBulletDNAlen);
parseInternal(verboseMode, m_DnaCopy, sBulletDNAlen);
}
#endif//BT_INTERNAL_UPDATE_SERIALIZATION_STRUCTURES
#endif //BT_INTERNAL_UPDATE_SERIALIZATION_STRUCTURES
//the parsing will convert to cpu endian
mFlags &=~FD_ENDIAN_SWAP;
mFlags &= ~FD_ENDIAN_SWAP;
int littleEndian= 1;
littleEndian= ((char*)&littleEndian)[0];
mFileBuffer[8] = littleEndian?'v':'V';
int littleEndian = 1;
littleEndian = ((char*)&littleEndian)[0];
mFileBuffer[8] = littleEndian ? 'v' : 'V';
}
// experimental
int btBulletFile::write(const char* fileName, bool fixupPointers)
{
FILE *fp = fopen(fileName, "wb");
FILE* fp = fopen(fileName, "wb");
if (fp)
{
char header[SIZEOFBLENDERHEADER] ;
char header[SIZEOFBLENDERHEADER];
memcpy(header, m_headerString, 7);
int endian= 1;
endian= ((char*)&endian)[0];
int endian = 1;
endian = ((char*)&endian)[0];
if (endian)
{
header[7] = '_';
} else
}
else
{
header[7] = '-';
}
if (VOID_IS_8)
{
header[8]='V';
} else
header[8] = 'V';
}
else
{
header[8]='v';
header[8] = 'v';
}
header[9] = '2';
header[10] = '7';
header[11] = '5';
fwrite(header,SIZEOFBLENDERHEADER,1,fp);
fwrite(header, SIZEOFBLENDERHEADER, 1, fp);
writeChunks(fp, fixupPointers);
writeDNA(fp);
fclose(fp);
} else
}
else
{
printf("Error: cannot open file %s for writing\n",fileName);
printf("Error: cannot open file %s for writing\n", fileName);
return 0;
}
return 1;
}
void btBulletFile::addStruct(const char* structType,void* data, int len, void* oldPtr, int code)
void btBulletFile::addStruct(const char* structType, void* data, int len, void* oldPtr, int code)
{
bParse::bChunkInd dataChunk;
dataChunk.code = code;
dataChunk.nr = 1;
@@ -436,13 +413,12 @@ void btBulletFile::addStruct(const char* structType,void* data, int len, void* o
dataChunk.oldPtr = oldPtr;
///Perform structure size validation
short* structInfo= mMemoryDNA->getStruct(dataChunk.dna_nr);
short* structInfo = mMemoryDNA->getStruct(dataChunk.dna_nr);
int elemBytes;
elemBytes= mMemoryDNA->getLength(structInfo[0]);
// int elemBytes = mMemoryDNA->getElementSize(structInfo[0],structInfo[1]);
assert(len==elemBytes);
elemBytes = mMemoryDNA->getLength(structInfo[0]);
// int elemBytes = mMemoryDNA->getElementSize(structInfo[0],structInfo[1]);
assert(len == elemBytes);
mLibPointers.insert(dataChunk.oldPtr, (bStructHandle*)data);
m_chunks.push_back(dataChunk);
}

32
Extras/Serialize/BulletFileLoader/btBulletFile.h
View File

@@ -16,29 +16,21 @@ subject to the following restrictions:
#ifndef BT_BULLET_FILE_H
#define BT_BULLET_FILE_H
#include "bFile.h"
#include "LinearMath/btAlignedObjectArray.h"
#include "bDefines.h"
#include "LinearMath/btSerializer.h"
namespace bParse {
// ----------------------------------------------------- //
class btBulletFile : public bFile
{
protected:
namespace bParse
{
// ----------------------------------------------------- //
class btBulletFile : public bFile
{
protected:
char* m_DnaCopy;
public:
public:
btAlignedObjectArray<bStructHandle*> m_multiBodies;
btAlignedObjectArray<bStructHandle*> m_multiBodyLinkColliders;
@@ -66,15 +58,14 @@ namespace bParse {
btBulletFile(const char* fileName);
btBulletFile(char *memoryBuffer, int len);
btBulletFile(char* memoryBuffer, int len);
virtual ~btBulletFile();
virtual void addDataBlock(char* dataBlock);
// experimental
virtual int write(const char* fileName, bool fixupPointers=false);
virtual int write(const char* fileName, bool fixupPointers = false);
virtual void parse(int verboseMode);
@@ -82,9 +73,8 @@ namespace bParse {
virtual void writeDNA(FILE* fp);
void addStruct(const char* structType,void* data, int len, void* oldPtr, int code);
};
void addStruct(const char* structType, void* data, int len, void* oldPtr, int code);
};
}; // namespace bParse
#endif //BT_BULLET_FILE_H

110
Extras/Serialize/BulletWorldImporter/btBulletWorldImporter.cpp
View File

@@ -13,7 +13,6 @@ subject to the following restrictions:
3. This notice may not be removed or altered from any source distribution.
*/
#include "btBulletWorldImporter.h"
#include "../BulletFileLoader/btBulletFile.h"
@@ -22,14 +21,13 @@ subject to the following restrictions:
#include "BulletCollision/Gimpact/btGImpactShape.h"
#endif
//#define USE_INTERNAL_EDGE_UTILITY
#ifdef USE_INTERNAL_EDGE_UTILITY
#include "BulletCollision/CollisionDispatch/btInternalEdgeUtility.h"
#endif //USE_INTERNAL_EDGE_UTILITY
btBulletWorldImporter::btBulletWorldImporter(btDynamicsWorld* world)
:btWorldImporter(world)
: btWorldImporter(world)
{
}
@@ -37,12 +35,10 @@ btBulletWorldImporter::~btBulletWorldImporter()
{
}
bool btBulletWorldImporter::loadFile( const char* fileName, const char* preSwapFilenameOut)
bool btBulletWorldImporter::loadFile(const char* fileName, const char* preSwapFilenameOut)
{
bParse::btBulletFile* bulletFile2 = new bParse::btBulletFile(fileName);
bool result = loadFileFromMemory(bulletFile2);
//now you could save the file in 'native' format using
//bulletFile2->writeFile("native.bullet");
@@ -53,19 +49,15 @@ bool btBulletWorldImporter::loadFile( const char* fileName, const char* preSwapF
bulletFile2->preSwap();
bulletFile2->writeFile(preSwapFilenameOut);
}
}
delete bulletFile2;
return result;
}
bool btBulletWorldImporter::loadFileFromMemory( char* memoryBuffer, int len)
bool btBulletWorldImporter::loadFileFromMemory(char* memoryBuffer, int len)
{
bParse::btBulletFile* bulletFile2 = new bParse::btBulletFile(memoryBuffer,len);
bParse::btBulletFile* bulletFile2 = new bParse::btBulletFile(memoryBuffer, len);
bool result = loadFileFromMemory(bulletFile2);
@@ -74,12 +66,9 @@ bool btBulletWorldImporter::loadFileFromMemory( char* memoryBuffer, int len)
return result;
}
bool btBulletWorldImporter::loadFileFromMemory( bParse::btBulletFile* bulletFile2)
bool btBulletWorldImporter::loadFileFromMemory(bParse::btBulletFile* bulletFile2)
{
bool ok = (bulletFile2->getFlags()& bParse::FD_OK)!=0;
bool ok = (bulletFile2->getFlags() & bParse::FD_OK) != 0;
if (ok)
bulletFile2->parse(m_verboseMode);
@@ -92,18 +81,16 @@ bool btBulletWorldImporter::loadFileFromMemory( bParse::btBulletFile* bulletFil
}
return convertAllObjects(bulletFile2);
}
bool btBulletWorldImporter::convertAllObjects( bParse::btBulletFile* bulletFile2)
bool btBulletWorldImporter::convertAllObjects(bParse::btBulletFile* bulletFile2)
{
m_shapeMap.clear();
m_bodyMap.clear();
int i;
for (i=0;i<bulletFile2->m_bvhs.size();i++)
for (i = 0; i < bulletFile2->m_bvhs.size(); i++)
{
btOptimizedBvh* bvh = createOptimizedBvh();
@@ -111,41 +98,34 @@ bool btBulletWorldImporter::convertAllObjects( bParse::btBulletFile* bulletFile
{
btQuantizedBvhDoubleData* bvhData = (btQuantizedBvhDoubleData*)bulletFile2->m_bvhs[i];
bvh->deSerializeDouble(*bvhData);
} else
}
else
{
btQuantizedBvhFloatData* bvhData = (btQuantizedBvhFloatData*)bulletFile2->m_bvhs[i];
bvh->deSerializeFloat(*bvhData);
}
m_bvhMap.insert(bulletFile2->m_bvhs[i],bvh);
m_bvhMap.insert(bulletFile2->m_bvhs[i], bvh);
}
for (i=0;i<bulletFile2->m_collisionShapes.size();i++)
for (i = 0; i < bulletFile2->m_collisionShapes.size(); i++)
{
btCollisionShapeData* shapeData = (btCollisionShapeData*)bulletFile2->m_collisionShapes[i];
btCollisionShape* shape = convertCollisionShape(shapeData);
if (shape)
{
// printf("shapeMap.insert(%x,%x)\n",shapeData,shape);
m_shapeMap.insert(shapeData,shape);
m_shapeMap.insert(shapeData, shape);
}
if (shape&& shapeData->m_name)
if (shape && shapeData->m_name)
{
char* newname = duplicateName(shapeData->m_name);
m_objectNameMap.insert(shape,newname);
m_nameShapeMap.insert(newname,shape);
m_objectNameMap.insert(shape, newname);
m_nameShapeMap.insert(newname, shape);
}
}
for (int i=0;i<bulletFile2->m_dynamicsWorldInfo.size();i++)
for (int i = 0; i < bulletFile2->m_dynamicsWorldInfo.size(); i++)
{
if (bulletFile2->getFlags() & bParse::FD_DOUBLE_PRECISION)
{
@@ -182,8 +162,9 @@ bool btBulletWorldImporter::convertAllObjects( bParse::btBulletFile* bulletFile
solverInfo.m_splitImpulse = solverInfoData->m_solverInfo.m_splitImpulse;
setDynamicsWorldInfo(gravity,solverInfo);
} else
setDynamicsWorldInfo(gravity, solverInfo);
}
else
{
btDynamicsWorldFloatData* solverInfoData = (btDynamicsWorldFloatData*)bulletFile2->m_dynamicsWorldInfo[i];
btContactSolverInfo solverInfo;
@@ -218,27 +199,25 @@ bool btBulletWorldImporter::convertAllObjects( bParse::btBulletFile* bulletFile
solverInfo.m_splitImpulse = solverInfoData->m_solverInfo.m_splitImpulse;
setDynamicsWorldInfo(gravity,solverInfo);
setDynamicsWorldInfo(gravity, solverInfo);
}
}
for (i=0;i<bulletFile2->m_rigidBodies.size();i++)
for (i = 0; i < bulletFile2->m_rigidBodies.size(); i++)
{
if (bulletFile2->getFlags() & bParse::FD_DOUBLE_PRECISION)
{
btRigidBodyDoubleData* colObjData = (btRigidBodyDoubleData*)bulletFile2->m_rigidBodies[i];
convertRigidBodyDouble(colObjData);
} else
}
else
{
btRigidBodyFloatData* colObjData = (btRigidBodyFloatData*)bulletFile2->m_rigidBodies[i];
convertRigidBodyFloat(colObjData);
}
}
for (i=0;i<bulletFile2->m_collisionObjects.size();i++)
for (i = 0; i < bulletFile2->m_collisionObjects.size(); i++)
{
if (bulletFile2->getFlags() & bParse::FD_DOUBLE_PRECISION)
{
@@ -251,7 +230,7 @@ bool btBulletWorldImporter::convertAllObjects( bParse::btBulletFile* bulletFile
startTransform.deSerializeDouble(colObjData->m_worldTransform);
btCollisionShape* shape = (btCollisionShape*)*shapePtr;
btCollisionObject* body = createCollisionObject(startTransform,shape,colObjData->m_name);
btCollisionObject* body = createCollisionObject(startTransform, shape, colObjData->m_name);
body->setFriction(btScalar(colObjData->m_friction));
body->setRestitution(btScalar(colObjData->m_restitution));
@@ -265,13 +244,14 @@ bool btBulletWorldImporter::convertAllObjects( bParse::btBulletFile* bulletFile
}
}
#endif //USE_INTERNAL_EDGE_UTILITY
m_bodyMap.insert(colObjData,body);
} else
m_bodyMap.insert(colObjData, body);
}
else
{
printf("error: no shape found\n");
}
} else
}
else
{
btCollisionObjectFloatData* colObjData = (btCollisionObjectFloatData*)bulletFile2->m_collisionObjects[i];
btCollisionShape** shapePtr = m_shapeMap.find(colObjData->m_collisionShape);
@@ -282,7 +262,7 @@ bool btBulletWorldImporter::convertAllObjects( bParse::btBulletFile* bulletFile
startTransform.deSerializeFloat(colObjData->m_worldTransform);
btCollisionShape* shape = (btCollisionShape*)*shapePtr;
btCollisionObject* body = createCollisionObject(startTransform,shape,colObjData->m_name);
btCollisionObject* body = createCollisionObject(startTransform, shape, colObjData->m_name);
#ifdef USE_INTERNAL_EDGE_UTILITY
if (shape->getShapeType() == TRIANGLE_MESH_SHAPE_PROXYTYPE)
@@ -294,17 +274,16 @@ bool btBulletWorldImporter::convertAllObjects( bParse::btBulletFile* bulletFile
}
}
#endif //USE_INTERNAL_EDGE_UTILITY
m_bodyMap.insert(colObjData,body);
} else
m_bodyMap.insert(colObjData, body);
}
else
{
printf("error: no shape found\n");
}
}
}
for (i=0;i<bulletFile2->m_constraints.size();i++)
for (i = 0; i < bulletFile2->m_constraints.size(); i++)
{
btTypedConstraintData2* constraintData = (btTypedConstraintData2*)bulletFile2->m_constraints[i];
@@ -329,33 +308,30 @@ bool btBulletWorldImporter::convertAllObjects( bParse::btBulletFile* bulletFile
if (!rbA && !rbB)
continue;
bool isDoublePrecisionData = (bulletFile2->getFlags() & bParse::FD_DOUBLE_PRECISION)!=0;
bool isDoublePrecisionData = (bulletFile2->getFlags() & bParse::FD_DOUBLE_PRECISION) != 0;
if (isDoublePrecisionData)
{
if (bulletFile2->getVersion()>=282)
if (bulletFile2->getVersion() >= 282)
{
btTypedConstraintDoubleData* dc = (btTypedConstraintDoubleData*)constraintData;
convertConstraintDouble(dc, rbA,rbB, bulletFile2->getVersion());
} else
convertConstraintDouble(dc, rbA, rbB, bulletFile2->getVersion());
}
else
{
//double-precision constraints were messed up until 2.82, try to recover data...
btTypedConstraintData* oldData = (btTypedConstraintData*)constraintData;
convertConstraintBackwardsCompatible281(oldData, rbA,rbB, bulletFile2->getVersion());
convertConstraintBackwardsCompatible281(oldData, rbA, rbB, bulletFile2->getVersion());
}
}
else
{
btTypedConstraintFloatData* dc = (btTypedConstraintFloatData*)constraintData;
convertConstraintFloat(dc, rbA,rbB, bulletFile2->getVersion());
convertConstraintFloat(dc, rbA, rbB, bulletFile2->getVersion());
}
}
return true;
}

24
Extras/Serialize/BulletWorldImporter/btBulletWorldImporter.h
View File

@@ -13,56 +13,40 @@ subject to the following restrictions:
3. This notice may not be removed or altered from any source distribution.
*/
#ifndef BULLET_WORLD_IMPORTER_H
#define BULLET_WORLD_IMPORTER_H
#include "btWorldImporter.h"
class btBulletFile;
namespace bParse
{
class btBulletFile;
class btBulletFile;
};
///The btBulletWorldImporter is a starting point to import .bullet files.
///note that not all data is converted yet. You are expected to override or modify this class.
///See Bullet/Demos/SerializeDemo for a derived class that extract btSoftBody objects too.
class btBulletWorldImporter : public btWorldImporter
{
public:
btBulletWorldImporter(btDynamicsWorld* world=0);
btBulletWorldImporter(btDynamicsWorld* world = 0);
virtual ~btBulletWorldImporter();
///if you pass a valid preSwapFilenameOut, it will save a new file with a different endianness
///this pre-swapped file can be loaded without swapping on a target platform of different endianness
bool loadFile(const char* fileName, const char* preSwapFilenameOut=0);
bool loadFile(const char* fileName, const char* preSwapFilenameOut = 0);
///the memoryBuffer might be modified (for example if endian swaps are necessary)
bool loadFileFromMemory(char *memoryBuffer, int len);
bool loadFileFromMemory(char* memoryBuffer, int len);
bool loadFileFromMemory(bParse::btBulletFile* file);
//call make sure bulletFile2 has been parsed, either using btBulletFile::parse or btBulletWorldImporter::loadFileFromMemory
virtual bool convertAllObjects(bParse::btBulletFile* file);
};
#endif //BULLET_WORLD_IMPORTER_H

50
Extras/Serialize/BulletWorldImporter/btMultiBodyWorldImporter.cpp
View File

@@ -15,13 +15,12 @@ struct btMultiBodyWorldImporterInternalData
};
btMultiBodyWorldImporter::btMultiBodyWorldImporter(btMultiBodyDynamicsWorld* world)
:btBulletWorldImporter(world)
: btBulletWorldImporter(world)
{
m_data = new btMultiBodyWorldImporterInternalData;
m_data->m_mbDynamicsWorld = world;
}
btMultiBodyWorldImporter::~btMultiBodyWorldImporter()
{
delete m_data;
@@ -32,7 +31,6 @@ void btMultiBodyWorldImporter::deleteAllData()
btBulletWorldImporter::deleteAllData();
}
static btCollisionObjectDoubleData* getBody0FromContactManifold(btPersistentManifoldDoubleData* manifold)
{
return (btCollisionObjectDoubleData*)manifold->m_body0;
@@ -50,8 +48,8 @@ static btCollisionObjectFloatData* getBody1FromContactManifold(btPersistentManif
return (btCollisionObjectFloatData*)manifold->m_body1;
}
template<class T> void syncContactManifolds(T** contactManifolds, int numContactManifolds, btMultiBodyWorldImporterInternalData* m_data)
template <class T>
void syncContactManifolds(T** contactManifolds, int numContactManifolds, btMultiBodyWorldImporterInternalData* m_data)
{
m_data->m_mbDynamicsWorld->updateAabbs();
m_data->m_mbDynamicsWorld->computeOverlappingPairs();
@@ -59,7 +57,6 @@ template<class T> void syncContactManifolds(T** contactManifolds, int numContact
btDispatcherInfo& dispatchInfo = m_data->m_mbDynamicsWorld->getDispatchInfo();
if (dispatcher)
{
btOverlappingPairCache* pairCache = m_data->m_mbDynamicsWorld->getBroadphase()->getOverlappingPairCache();
@@ -104,10 +101,10 @@ template<class T> void syncContactManifolds(T** contactManifolds, int numContact
}
}
}
}
template<class T> void syncMultiBody(T* mbd, btMultiBody* mb, btMultiBodyWorldImporterInternalData* m_data, btAlignedObjectArray<btQuaternion>& scratchQ, btAlignedObjectArray<btVector3>& scratchM)
template <class T>
void syncMultiBody(T* mbd, btMultiBody* mb, btMultiBodyWorldImporterInternalData* m_data, btAlignedObjectArray<btQuaternion>& scratchQ, btAlignedObjectArray<btVector3>& scratchM)
{
bool isFixedBase = mbd->m_baseMass == 0;
bool canSleep = false;
@@ -129,7 +126,6 @@ template<class T> void syncMultiBody(T* mbd, btMultiBody* mb, btMultiBodyWorldI
for (int i = 0; i < mbd->m_numLinks; i++)
{
mb->getLink(i).m_absFrameTotVelocity.m_topVec.deSerialize(mbd->m_links[i].m_absFrameTotVelocityTop);
mb->getLink(i).m_absFrameTotVelocity.m_bottomVec.deSerialize(mbd->m_links[i].m_absFrameTotVelocityBottom);
mb->getLink(i).m_absFrameLocVelocity.m_topVec.deSerialize(mbd->m_links[i].m_absFrameLocVelocityTop);
@@ -155,8 +151,8 @@ template<class T> void syncMultiBody(T* mbd, btMultiBody* mb, btMultiBodyWorldI
}
case btMultibodyLink::eSpherical:
{
btScalar jointPos[4] = { (btScalar)mbd->m_links[i].m_jointPos[0], (btScalar)mbd->m_links[i].m_jointPos[1], (btScalar)mbd->m_links[i].m_jointPos[2], (btScalar)mbd->m_links[i].m_jointPos[3] };
btScalar jointVel[3] = { (btScalar)mbd->m_links[i].m_jointVel[0], (btScalar)mbd->m_links[i].m_jointVel[1], (btScalar)mbd->m_links[i].m_jointVel[2] };
btScalar jointPos[4] = {(btScalar)mbd->m_links[i].m_jointPos[0], (btScalar)mbd->m_links[i].m_jointPos[1], (btScalar)mbd->m_links[i].m_jointPos[2], (btScalar)mbd->m_links[i].m_jointPos[3]};
btScalar jointVel[3] = {(btScalar)mbd->m_links[i].m_jointVel[0], (btScalar)mbd->m_links[i].m_jointVel[1], (btScalar)mbd->m_links[i].m_jointVel[2]};
mb->setJointPosMultiDof(i, jointPos);
mb->setJointVelMultiDof(i, jointVel);
@@ -175,7 +171,8 @@ template<class T> void syncMultiBody(T* mbd, btMultiBody* mb, btMultiBodyWorldI
mb->updateCollisionObjectWorldTransforms(scratchQ, scratchM);
}
template<class T> void convertMultiBody(T* mbd, btMultiBodyWorldImporterInternalData* m_data)
template <class T>
void convertMultiBody(T* mbd, btMultiBodyWorldImporterInternalData* m_data)
{
bool isFixedBase = mbd->m_baseMass == 0;
bool canSleep = false;
@@ -208,8 +205,6 @@ template<class T> void convertMultiBody(T* mbd, btMultiBodyWorldImporterInterna
{
case btMultibodyLink::eFixed:
{
mb->setupFixed(i, mbd->m_links[i].m_linkMass, localInertiaDiagonal, mbd->m_links[i].m_parentIndex,
parentRotToThis, parentComToThisPivotOffset, thisPivotToThisComOffset);
//search for the collider
@@ -220,7 +215,7 @@ template<class T> void convertMultiBody(T* mbd, btMultiBodyWorldImporterInterna
{
btVector3 jointAxis;
jointAxis.deSerialize(mbd->m_links[i].m_jointAxisBottom[0]);
bool disableParentCollision = true;//todo
bool disableParentCollision = true; //todo
mb->setupPrismatic(i, mbd->m_links[i].m_linkMass, localInertiaDiagonal, mbd->m_links[i].m_parentIndex,
parentRotToThis, jointAxis, parentComToThisPivotOffset, thisPivotToThisComOffset, disableParentCollision);
mb->setJointPos(i, mbd->m_links[i].m_jointPos[0]);
@@ -231,7 +226,7 @@ template<class T> void convertMultiBody(T* mbd, btMultiBodyWorldImporterInterna
{
btVector3 jointAxis;
jointAxis.deSerialize(mbd->m_links[i].m_jointAxisTop[0]);
bool disableParentCollision = true;//todo
bool disableParentCollision = true; //todo
mb->setupRevolute(i, mbd->m_links[i].m_linkMass, localInertiaDiagonal, mbd->m_links[i].m_parentIndex,
parentRotToThis, jointAxis, parentComToThisPivotOffset, thisPivotToThisComOffset, disableParentCollision);
mb->setJointPos(i, mbd->m_links[i].m_jointPos[0]);
@@ -241,11 +236,11 @@ template<class T> void convertMultiBody(T* mbd, btMultiBodyWorldImporterInterna
case btMultibodyLink::eSpherical:
{
btAssert(0);
bool disableParentCollision = true;//todo
bool disableParentCollision = true; //todo
mb->setupSpherical(i, mbd->m_links[i].m_linkMass, localInertiaDiagonal, mbd->m_links[i].m_parentIndex,
parentRotToThis, parentComToThisPivotOffset, thisPivotToThisComOffset, disableParentCollision);
btScalar jointPos[4] = { (btScalar)mbd->m_links[i].m_jointPos[0], (btScalar)mbd->m_links[i].m_jointPos[1], (btScalar)mbd->m_links[i].m_jointPos[2], (btScalar)mbd->m_links[i].m_jointPos[3] };
btScalar jointVel[3] = { (btScalar)mbd->m_links[i].m_jointVel[0], (btScalar)mbd->m_links[i].m_jointVel[1], (btScalar)mbd->m_links[i].m_jointVel[2] };
btScalar jointPos[4] = {(btScalar)mbd->m_links[i].m_jointPos[0], (btScalar)mbd->m_links[i].m_jointPos[1], (btScalar)mbd->m_links[i].m_jointPos[2], (btScalar)mbd->m_links[i].m_jointPos[3]};
btScalar jointVel[3] = {(btScalar)mbd->m_links[i].m_jointVel[0], (btScalar)mbd->m_links[i].m_jointVel[1], (btScalar)mbd->m_links[i].m_jointVel[2]};
mb->setJointPosMultiDof(i, jointPos);
mb->setJointVelMultiDof(i, jointVel);
@@ -264,13 +259,13 @@ template<class T> void convertMultiBody(T* mbd, btMultiBodyWorldImporterInterna
}
}
bool btMultiBodyWorldImporter::convertAllObjects( bParse::btBulletFile* bulletFile2)
bool btMultiBodyWorldImporter::convertAllObjects(bParse::btBulletFile* bulletFile2)
{
bool result = false;
btAlignedObjectArray<btQuaternion> scratchQ;
btAlignedObjectArray<btVector3> scratchM;
if (m_importerFlags&eRESTORE_EXISTING_OBJECTS)
if (m_importerFlags & eRESTORE_EXISTING_OBJECTS)
{
//check if the snapshot is valid for the existing world
//equal number of objects, # links etc
@@ -284,7 +279,6 @@ bool btMultiBodyWorldImporter::convertAllObjects( bParse::btBulletFile* bulletF
//convert all multibodies
if (bulletFile2->getFlags() & bParse::FD_DOUBLE_PRECISION)
{
//for (int i = 0; i < bulletFile2->m_multiBodies.size(); i++)
for (int i = bulletFile2->m_multiBodies.size() - 1; i >= 0; i--)
{
@@ -352,7 +346,6 @@ bool btMultiBodyWorldImporter::convertAllObjects( bParse::btBulletFile* bulletF
}
}
if (bulletFile2->m_contactManifolds.size())
{
syncContactManifolds((btPersistentManifoldDoubleData**)&bulletFile2->m_contactManifolds[0], bulletFile2->m_contactManifolds.size(), m_data);
@@ -389,23 +382,19 @@ bool btMultiBodyWorldImporter::convertAllObjects( bParse::btBulletFile* bulletF
}
}
if (bulletFile2->m_contactManifolds.size())
{
syncContactManifolds((btPersistentManifoldFloatData**)&bulletFile2->m_contactManifolds[0], bulletFile2->m_contactManifolds.size(), m_data);
}
}
}
else
{
result = btBulletWorldImporter::convertAllObjects(bulletFile2);
//convert all multibodies
for (int i = 0; i < bulletFile2->m_multiBodies.size(); i++)
{
if (bulletFile2->getFlags() & bParse::FD_DOUBLE_PRECISION)
{
btMultiBodyDoubleData* mbd = (btMultiBodyDoubleData*)bulletFile2->m_multiBodies[i];
@@ -421,7 +410,7 @@ bool btMultiBodyWorldImporter::convertAllObjects( bParse::btBulletFile* bulletF
//forward kinematics, so that the link world transforms are valid, for collision detection
for (int i = 0; i < m_data->m_mbMap.size(); i++)
{
btMultiBody**ptr = m_data->m_mbMap.getAtIndex(i);
btMultiBody** ptr = m_data->m_mbMap.getAtIndex(i);
if (ptr)
{
btMultiBody* mb = *ptr;
@@ -444,7 +433,6 @@ bool btMultiBodyWorldImporter::convertAllObjects( bParse::btBulletFile* bulletF
{
btMultiBody* multiBody = *ptr;
btCollisionShape** shapePtr = m_shapeMap.find(mblcd->m_colObjData.m_collisionShape);
if (shapePtr && *shapePtr)
{
@@ -491,7 +479,6 @@ bool btMultiBodyWorldImporter::convertAllObjects( bParse::btBulletFile* bulletF
#endif
m_data->m_mbDynamicsWorld->addCollisionObject(col, collisionFilterGroup, collisionFilterMask);
}
}
else
{
@@ -503,13 +490,12 @@ bool btMultiBodyWorldImporter::convertAllObjects( bParse::btBulletFile* bulletF
world1->addCollisionObject(col, collisionFilterGroup, collisionFilterMask);
#endif
}
}
}
for (int i = 0; i < m_data->m_mbMap.size(); i++)
{
btMultiBody**ptr = m_data->m_mbMap.getAtIndex(i);
btMultiBody** ptr = m_data->m_mbMap.getAtIndex(i);
if (ptr)
{
btMultiBody* mb = *ptr;

3
Extras/Serialize/BulletWorldImporter/btMultiBodyWorldImporter.h
View File

@@ -8,11 +8,10 @@ class btMultiBodyWorldImporter : public btBulletWorldImporter
struct btMultiBodyWorldImporterInternalData* m_data;
public:
btMultiBodyWorldImporter(class btMultiBodyDynamicsWorld* world);
virtual ~btMultiBodyWorldImporter();
virtual bool convertAllObjects( bParse::btBulletFile* bulletFile2);
virtual bool convertAllObjects(bParse::btBulletFile* bulletFile2);
virtual void deleteAllData();
};

913
Extras/Serialize/BulletWorldImporter/btWorldImporter.cpp
View File

File diff suppressed because it is too large Load Diff

79
Extras/Serialize/BulletWorldImporter/btWorldImporter.h
View File

@@ -13,7 +13,6 @@ subject to the following restrictions:
3. This notice may not be removed or altered from any source distribution.
*/
#ifndef BT_WORLD_IMPORTER_H
#define BT_WORLD_IMPORTER_H
@@ -57,11 +56,11 @@ struct btRigidBodyFloatData;
#define btRigidBodyData btRigidBodyDoubleData
#else
#define btRigidBodyData btRigidBodyFloatData
#endif//BT_USE_DOUBLE_PRECISION
#endif //BT_USE_DOUBLE_PRECISION
enum btWorldImporterFlags
{
eRESTORE_EXISTING_OBJECTS=1,//don't create new objects
eRESTORE_EXISTING_OBJECTS = 1, //don't create new objects
};
class btWorldImporter
@@ -89,18 +88,16 @@ protected:
btAlignedObjectArray<btVector3FloatData*> m_floatVertexArrays;
btAlignedObjectArray<btVector3DoubleData*> m_doubleVertexArrays;
btHashMap<btHashPtr, btOptimizedBvh*> m_bvhMap;
btHashMap<btHashPtr, btTriangleInfoMap*> m_timMap;
btHashMap<btHashPtr,btOptimizedBvh*> m_bvhMap;
btHashMap<btHashPtr,btTriangleInfoMap*> m_timMap;
btHashMap<btHashString,btCollisionShape*> m_nameShapeMap;
btHashMap<btHashString,btRigidBody*> m_nameBodyMap;
btHashMap<btHashString,btTypedConstraint*> m_nameConstraintMap;
btHashMap<btHashPtr,const char*> m_objectNameMap;
btHashMap<btHashPtr,btCollisionShape*> m_shapeMap;
btHashMap<btHashPtr,btCollisionObject*> m_bodyMap;
btHashMap<btHashString, btCollisionShape*> m_nameShapeMap;
btHashMap<btHashString, btRigidBody*> m_nameBodyMap;
btHashMap<btHashString, btTypedConstraint*> m_nameConstraintMap;
btHashMap<btHashPtr, const char*> m_objectNameMap;
btHashMap<btHashPtr, btCollisionShape*> m_shapeMap;
btHashMap<btHashPtr, btCollisionObject*> m_bodyMap;
//methods
@@ -108,16 +105,15 @@ protected:
char* duplicateName(const char* name);
btCollisionShape* convertCollisionShape( btCollisionShapeData* shapeData );
btCollisionShape* convertCollisionShape(btCollisionShapeData* shapeData);
void convertConstraintBackwardsCompatible281(btTypedConstraintData* constraintData, btRigidBody* rbA, btRigidBody* rbB, int fileVersion);
void convertConstraintFloat(btTypedConstraintFloatData* constraintData, btRigidBody* rbA, btRigidBody* rbB, int fileVersion);
void convertConstraintDouble(btTypedConstraintDoubleData* constraintData, btRigidBody* rbA, btRigidBody* rbB, int fileVersion);
void convertRigidBodyFloat(btRigidBodyFloatData* colObjData);
void convertRigidBodyDouble( btRigidBodyDoubleData* colObjData);
void convertRigidBodyDouble(btRigidBodyDoubleData* colObjData);
public:
btWorldImporter(btDynamicsWorld* world);
virtual ~btWorldImporter();
@@ -146,8 +142,6 @@ public:
return m_importerFlags;
}
// query for data
int getNumCollisionShapes() const;
btCollisionShape* getCollisionShapeByIndex(int index);
@@ -171,24 +165,24 @@ public:
virtual void setDynamicsWorldInfo(const btVector3& gravity, const btContactSolverInfo& solverInfo);
//bodies
virtual btRigidBody* createRigidBody(bool isDynamic, btScalar mass, const btTransform& startTransform, btCollisionShape* shape,const char* bodyName);
virtual btCollisionObject* createCollisionObject( const btTransform& startTransform, btCollisionShape* shape,const char* bodyName);
virtual btRigidBody* createRigidBody(bool isDynamic, btScalar mass, const btTransform& startTransform, btCollisionShape* shape, const char* bodyName);
virtual btCollisionObject* createCollisionObject(const btTransform& startTransform, btCollisionShape* shape, const char* bodyName);
///shapes
virtual btCollisionShape* createPlaneShape(const btVector3& planeNormal,btScalar planeConstant);
virtual btCollisionShape* createPlaneShape(const btVector3& planeNormal, btScalar planeConstant);
virtual btCollisionShape* createBoxShape(const btVector3& halfExtents);
virtual btCollisionShape* createSphereShape(btScalar radius);
virtual btCollisionShape* createCapsuleShapeX(btScalar radius, btScalar height);
virtual btCollisionShape* createCapsuleShapeY(btScalar radius, btScalar height);
virtual btCollisionShape* createCapsuleShapeZ(btScalar radius, btScalar height);
virtual btCollisionShape* createCylinderShapeX(btScalar radius,btScalar height);
virtual btCollisionShape* createCylinderShapeY(btScalar radius,btScalar height);
virtual btCollisionShape* createCylinderShapeZ(btScalar radius,btScalar height);
virtual btCollisionShape* createConeShapeX(btScalar radius,btScalar height);
virtual btCollisionShape* createConeShapeY(btScalar radius,btScalar height);
virtual btCollisionShape* createConeShapeZ(btScalar radius,btScalar height);
virtual btCollisionShape* createCylinderShapeX(btScalar radius, btScalar height);
virtual btCollisionShape* createCylinderShapeY(btScalar radius, btScalar height);
virtual btCollisionShape* createCylinderShapeZ(btScalar radius, btScalar height);
virtual btCollisionShape* createConeShapeX(btScalar radius, btScalar height);
virtual btCollisionShape* createConeShapeY(btScalar radius, btScalar height);
virtual btCollisionShape* createConeShapeZ(btScalar radius, btScalar height);
virtual class btTriangleIndexVertexArray* createTriangleMeshContainer();
virtual btBvhTriangleMeshShape* createBvhTriangleMeshShape(btStridingMeshInterface* trimesh, btOptimizedBvh* bvh);
virtual btCollisionShape* createConvexTriangleMeshShape(btStridingMeshInterface* trimesh);
@@ -197,9 +191,9 @@ public:
virtual class btConvexHullShape* createConvexHullShape();
virtual class btCompoundShape* createCompoundShape();
virtual class btScaledBvhTriangleMeshShape* createScaledTrangleMeshShape(btBvhTriangleMeshShape* meshShape,const btVector3& localScalingbtBvhTriangleMeshShape);
virtual class btScaledBvhTriangleMeshShape* createScaledTrangleMeshShape(btBvhTriangleMeshShape* meshShape, const btVector3& localScalingbtBvhTriangleMeshShape);
virtual class btMultiSphereShape* createMultiSphereShape(const btVector3* positions,const btScalar* radi,int numSpheres);
virtual class btMultiSphereShape* createMultiSphereShape(const btVector3* positions, const btScalar* radi, int numSpheres);
virtual btTriangleIndexVertexArray* createMeshInterface(btStridingMeshInterfaceData& meshData);
@@ -208,25 +202,20 @@ public:
virtual btTriangleInfoMap* createTriangleInfoMap();
///constraints
virtual btPoint2PointConstraint* createPoint2PointConstraint(btRigidBody& rbA,btRigidBody& rbB, const btVector3& pivotInA,const btVector3& pivotInB);
virtual btPoint2PointConstraint* createPoint2PointConstraint(btRigidBody& rbA,const btVector3& pivotInA);
virtual btHingeConstraint* createHingeConstraint(btRigidBody& rbA,btRigidBody& rbB, const btTransform& rbAFrame, const btTransform& rbBFrame, bool useReferenceFrameA=false);
virtual btHingeConstraint* createHingeConstraint(btRigidBody& rbA,const btTransform& rbAFrame, bool useReferenceFrameA=false);
virtual btConeTwistConstraint* createConeTwistConstraint(btRigidBody& rbA,btRigidBody& rbB,const btTransform& rbAFrame, const btTransform& rbBFrame);
virtual btConeTwistConstraint* createConeTwistConstraint(btRigidBody& rbA,const btTransform& rbAFrame);
virtual btGeneric6DofConstraint* createGeneric6DofConstraint(btRigidBody& rbA, btRigidBody& rbB, const btTransform& frameInA, const btTransform& frameInB ,bool useLinearReferenceFrameA);
virtual btPoint2PointConstraint* createPoint2PointConstraint(btRigidBody& rbA, btRigidBody& rbB, const btVector3& pivotInA, const btVector3& pivotInB);
virtual btPoint2PointConstraint* createPoint2PointConstraint(btRigidBody& rbA, const btVector3& pivotInA);
virtual btHingeConstraint* createHingeConstraint(btRigidBody& rbA, btRigidBody& rbB, const btTransform& rbAFrame, const btTransform& rbBFrame, bool useReferenceFrameA = false);
virtual btHingeConstraint* createHingeConstraint(btRigidBody& rbA, const btTransform& rbAFrame, bool useReferenceFrameA = false);
virtual btConeTwistConstraint* createConeTwistConstraint(btRigidBody& rbA, btRigidBody& rbB, const btTransform& rbAFrame, const btTransform& rbBFrame);
virtual btConeTwistConstraint* createConeTwistConstraint(btRigidBody& rbA, const btTransform& rbAFrame);
virtual btGeneric6DofConstraint* createGeneric6DofConstraint(btRigidBody& rbA, btRigidBody& rbB, const btTransform& frameInA, const btTransform& frameInB, bool useLinearReferenceFrameA);
virtual btGeneric6DofConstraint* createGeneric6DofConstraint(btRigidBody& rbB, const btTransform& frameInB, bool useLinearReferenceFrameB);
virtual btGeneric6DofSpringConstraint* createGeneric6DofSpringConstraint(btRigidBody& rbA, btRigidBody& rbB, const btTransform& frameInA, const btTransform& frameInB ,bool useLinearReferenceFrameA);
virtual btGeneric6DofSpring2Constraint* createGeneric6DofSpring2Constraint(btRigidBody& rbA, btRigidBody& rbB, const btTransform& frameInA, const btTransform& frameInB, int rotateOrder );
virtual btGeneric6DofSpringConstraint* createGeneric6DofSpringConstraint(btRigidBody& rbA, btRigidBody& rbB, const btTransform& frameInA, const btTransform& frameInB, bool useLinearReferenceFrameA);
virtual btGeneric6DofSpring2Constraint* createGeneric6DofSpring2Constraint(btRigidBody& rbA, btRigidBody& rbB, const btTransform& frameInA, const btTransform& frameInB, int rotateOrder);
virtual btSliderConstraint* createSliderConstraint(btRigidBody& rbA, btRigidBody& rbB, const btTransform& frameInA, const btTransform& frameInB ,bool useLinearReferenceFrameA);
virtual btSliderConstraint* createSliderConstraint(btRigidBody& rbA, btRigidBody& rbB, const btTransform& frameInA, const btTransform& frameInB, bool useLinearReferenceFrameA);
virtual btSliderConstraint* createSliderConstraint(btRigidBody& rbB, const btTransform& frameInB, bool useLinearReferenceFrameA);
virtual btGearConstraint* createGearConstraint(btRigidBody& rbA, btRigidBody& rbB, const btVector3& axisInA,const btVector3& axisInB, btScalar ratio);
virtual btGearConstraint* createGearConstraint(btRigidBody& rbA, btRigidBody& rbB, const btVector3& axisInA, const btVector3& axisInB, btScalar ratio);
};
#endif //BT_WORLD_IMPORTER_H

549
Extras/Serialize/BulletXmlWorldImporter/btBulletXmlWorldImporter.cpp
View File

@@ -24,23 +24,20 @@ struct MyLocalCaster
void* m_ptr;
int m_int;
MyLocalCaster()
:m_ptr(0)
: m_ptr(0)
{
}
};
btBulletXmlWorldImporter::btBulletXmlWorldImporter(btDynamicsWorld* world)
:btWorldImporter(world),
: btWorldImporter(world),
m_fileVersion(-1),
m_fileOk(false)
{
}
btBulletXmlWorldImporter::~btBulletXmlWorldImporter()
{
}
#if 0
@@ -61,19 +58,19 @@ static int get_double_attribute_by_name(const XMLElement* pElement, const char*
}
#endif
static int get_int_attribute_by_name(const XMLElement* pElement, const char* attribName,int* value)
static int get_int_attribute_by_name(const XMLElement* pElement, const char* attribName, int* value)
{
if ( !pElement )
if (!pElement)
return 0;
const XMLAttribute* pAttrib=pElement->FirstAttribute();
const XMLAttribute* pAttrib = pElement->FirstAttribute();
while (pAttrib)
{
if (!strcmp(pAttrib->Name(),attribName))
if (pAttrib->QueryIntValue(value)==XML_SUCCESS)
if (!strcmp(pAttrib->Name(), attribName))
if (pAttrib->QueryIntValue(value) == XML_SUCCESS)
return 1;
// if (pAttrib->QueryDoubleValue(&dval)==TIXML_SUCCESS) printf( " d=%1.1f", dval);
pAttrib=pAttrib->Next();
// if (pAttrib->QueryDoubleValue(&dval)==TIXML_SUCCESS) printf( " d=%1.1f", dval);
pAttrib = pAttrib->Next();
}
return 0;
}
@@ -82,13 +79,12 @@ void stringToFloatArray(const std::string& string, btAlignedObjectArray<float>&
{
btAlignedObjectArray<std::string> pieces;
bullet_utils::split( pieces, string, " ");
for ( int i = 0; i < pieces.size(); ++i)
bullet_utils::split(pieces, string, " ");
for (int i = 0; i < pieces.size(); ++i)
{
btAssert(pieces[i]!="");
btAssert(pieces[i] != "");
floats.push_back((float)atof(pieces[i].c_str()));
}
}
static btVector3FloatData TextToVector3Data(const char* txt)
@@ -96,7 +92,7 @@ static btVector3FloatData TextToVector3Data(const char* txt)
btAssert(txt);
btAlignedObjectArray<float> floats;
stringToFloatArray(txt, floats);
btAssert(floats.size()==4);
btAssert(floats.size() == 4);
btVector3FloatData vec4;
vec4.m_floats[0] = floats[0];
@@ -106,145 +102,137 @@ static btVector3FloatData TextToVector3Data(const char* txt)
return vec4;
}
void btBulletXmlWorldImporter::deSerializeVector3FloatData(XMLNode* pParent,btAlignedObjectArray<btVector3FloatData>& vectors)
void btBulletXmlWorldImporter::deSerializeVector3FloatData(XMLNode* pParent, btAlignedObjectArray<btVector3FloatData>& vectors)
{
XMLNode* flNode = pParent->FirstChildElement("m_floats");
btAssert(flNode);
while (flNode && flNode->FirstChildElement())
{
XMLText* pText = flNode->FirstChildElement()->ToText();
// printf("value = %s\n",pText->Value());
// printf("value = %s\n",pText->Value());
btVector3FloatData vec4 = TextToVector3Data(pText->Value());
vectors.push_back(vec4);
flNode = flNode->NextSibling();
}
}
#define SET_INT_VALUE(xmlnode, targetdata, argname) \
btAssert((xmlnode)->FirstChildElement(#argname) && (xmlnode)->FirstChildElement(#argname)->ToElement());\
if ((xmlnode)->FirstChildElement(#argname) && (xmlnode)->FirstChildElement(#argname)->ToElement())\
(targetdata)->argname= (int)atof(xmlnode->FirstChildElement(#argname)->ToElement()->GetText());
btAssert((xmlnode)->FirstChildElement(#argname) && (xmlnode)->FirstChildElement(#argname)->ToElement()); \
if ((xmlnode)->FirstChildElement(#argname) && (xmlnode)->FirstChildElement(#argname)->ToElement()) \
(targetdata)->argname = (int)atof(xmlnode->FirstChildElement(#argname)->ToElement()->GetText());
#define SET_FLOAT_VALUE(xmlnode, targetdata, argname) \
btAssert((xmlnode)->FirstChildElement(#argname) && (xmlnode)->FirstChildElement(#argname)->ToElement());\
if ((xmlnode)->FirstChildElement(#argname) && (xmlnode)->FirstChildElement(#argname)->ToElement())\
(targetdata)->argname= (float)atof(xmlnode->FirstChildElement(#argname)->ToElement()->GetText());
btAssert((xmlnode)->FirstChildElement(#argname) && (xmlnode)->FirstChildElement(#argname)->ToElement()); \
if ((xmlnode)->FirstChildElement(#argname) && (xmlnode)->FirstChildElement(#argname)->ToElement()) \
(targetdata)->argname = (float)atof(xmlnode->FirstChildElement(#argname)->ToElement()->GetText());
#define SET_POINTER_VALUE(xmlnode, targetdata, argname, pointertype) \
{\
XMLNode* node = xmlnode->FirstChildElement(#argname);\
btAssert(node);\
if (node)\
{\
const char* txt = (node)->ToElement()->GetText();\
MyLocalCaster cast;\
cast.m_int = (int) atof(txt);\
(targetdata).argname= (pointertype)cast.m_ptr;\
}\
{ \
XMLNode* node = xmlnode->FirstChildElement(#argname); \
btAssert(node); \
if (node) \
{ \
const char* txt = (node)->ToElement()->GetText(); \
MyLocalCaster cast; \
cast.m_int = (int)atof(txt); \
(targetdata).argname = (pointertype)cast.m_ptr; \
} \
}
#define SET_VECTOR4_VALUE(xmlnode, targetdata, argname) \
{\
XMLNode* flNode = xmlnode->FirstChildElement(#argname);\
btAssert(flNode);\
if (flNode && flNode->FirstChildElement())\
{\
const char* txt= flNode->FirstChildElement()->ToElement()->GetText();\
btVector3FloatData vec4 = TextToVector3Data(txt);\
(targetdata)->argname.m_floats[0] = vec4.m_floats[0];\
(targetdata)->argname.m_floats[1] = vec4.m_floats[1];\
(targetdata)->argname.m_floats[2] = vec4.m_floats[2];\
(targetdata)->argname.m_floats[3] = vec4.m_floats[3];\
}\
{ \
XMLNode* flNode = xmlnode->FirstChildElement(#argname); \
btAssert(flNode); \
if (flNode && flNode->FirstChildElement()) \
{ \
const char* txt = flNode->FirstChildElement()->ToElement()->GetText(); \
btVector3FloatData vec4 = TextToVector3Data(txt); \
(targetdata)->argname.m_floats[0] = vec4.m_floats[0]; \
(targetdata)->argname.m_floats[1] = vec4.m_floats[1]; \
(targetdata)->argname.m_floats[2] = vec4.m_floats[2]; \
(targetdata)->argname.m_floats[3] = vec4.m_floats[3]; \
} \
}
#define SET_MATRIX33_VALUE(n, targetdata, argname) \
{\
XMLNode* xmlnode = n->FirstChildElement(#argname);\
btAssert(xmlnode);\
if (xmlnode)\
{\
XMLNode* eleNode = xmlnode->FirstChildElement("m_el");\
btAssert(eleNode);\
if (eleNode&& eleNode->FirstChildElement())\
{\
const char* txt= eleNode->FirstChildElement()->ToElement()->GetText();\
btVector3FloatData vec4 = TextToVector3Data(txt);\
(targetdata)->argname.m_el[0].m_floats[0] = vec4.m_floats[0];\
(targetdata)->argname.m_el[0].m_floats[1] = vec4.m_floats[1];\
(targetdata)->argname.m_el[0].m_floats[2] = vec4.m_floats[2];\
(targetdata)->argname.m_el[0].m_floats[3] = vec4.m_floats[3];\
{ \
XMLNode* xmlnode = n->FirstChildElement(#argname); \
btAssert(xmlnode); \
if (xmlnode) \
{ \
XMLNode* eleNode = xmlnode->FirstChildElement("m_el"); \
btAssert(eleNode); \
if (eleNode && eleNode->FirstChildElement()) \
{ \
const char* txt = eleNode->FirstChildElement()->ToElement()->GetText(); \
btVector3FloatData vec4 = TextToVector3Data(txt); \
(targetdata)->argname.m_el[0].m_floats[0] = vec4.m_floats[0]; \
(targetdata)->argname.m_el[0].m_floats[1] = vec4.m_floats[1]; \
(targetdata)->argname.m_el[0].m_floats[2] = vec4.m_floats[2]; \
(targetdata)->argname.m_el[0].m_floats[3] = vec4.m_floats[3]; \
\
XMLNode* n1 = eleNode->FirstChildElement()->NextSibling();\
btAssert(n1);\
if (n1)\
{\
const char* txt= n1->ToElement()->GetText();\
btVector3FloatData vec4 = TextToVector3Data(txt);\
(targetdata)->argname.m_el[1].m_floats[0] = vec4.m_floats[0];\
(targetdata)->argname.m_el[1].m_floats[1] = vec4.m_floats[1];\
(targetdata)->argname.m_el[1].m_floats[2] = vec4.m_floats[2];\
(targetdata)->argname.m_el[1].m_floats[3] = vec4.m_floats[3];\
XMLNode* n1 = eleNode->FirstChildElement()->NextSibling(); \
btAssert(n1); \
if (n1) \
{ \
const char* txt = n1->ToElement()->GetText(); \
btVector3FloatData vec4 = TextToVector3Data(txt); \
(targetdata)->argname.m_el[1].m_floats[0] = vec4.m_floats[0]; \
(targetdata)->argname.m_el[1].m_floats[1] = vec4.m_floats[1]; \
(targetdata)->argname.m_el[1].m_floats[2] = vec4.m_floats[2]; \
(targetdata)->argname.m_el[1].m_floats[3] = vec4.m_floats[3]; \
\
XMLNode* n2 = n1->NextSibling();\
btAssert(n2);\
if (n2)\
{\
const char* txt= n2->ToElement()->GetText();\
btVector3FloatData vec4 = TextToVector3Data(txt);\
(targetdata)->argname.m_el[2].m_floats[0] = vec4.m_floats[0];\
(targetdata)->argname.m_el[2].m_floats[1] = vec4.m_floats[1];\
(targetdata)->argname.m_el[2].m_floats[2] = vec4.m_floats[2];\
(targetdata)->argname.m_el[2].m_floats[3] = vec4.m_floats[3];\
}\
}\
}\
}\
}\
XMLNode* n2 = n1->NextSibling(); \
btAssert(n2); \
if (n2) \
{ \
const char* txt = n2->ToElement()->GetText(); \
btVector3FloatData vec4 = TextToVector3Data(txt); \
(targetdata)->argname.m_el[2].m_floats[0] = vec4.m_floats[0]; \
(targetdata)->argname.m_el[2].m_floats[1] = vec4.m_floats[1]; \
(targetdata)->argname.m_el[2].m_floats[2] = vec4.m_floats[2]; \
(targetdata)->argname.m_el[2].m_floats[3] = vec4.m_floats[3]; \
} \
} \
} \
} \
}
#define SET_TRANSFORM_VALUE(n, targetdata, argname) \
{\
XMLNode* trNode = n->FirstChildElement(#argname);\
btAssert(trNode);\
if (trNode)\
{\
SET_VECTOR4_VALUE(trNode,&(targetdata)->argname,m_origin)\
SET_MATRIX33_VALUE(trNode, &(targetdata)->argname,m_basis)\
}\
}\
{ \
XMLNode* trNode = n->FirstChildElement(#argname); \
btAssert(trNode); \
if (trNode) \
{ \
SET_VECTOR4_VALUE(trNode, &(targetdata)->argname, m_origin) \
SET_MATRIX33_VALUE(trNode, &(targetdata)->argname, m_basis) \
} \
}
void btBulletXmlWorldImporter::deSerializeCollisionShapeData(XMLNode* pParent, btCollisionShapeData* colShapeData)
{
SET_INT_VALUE(pParent,colShapeData,m_shapeType)
SET_INT_VALUE(pParent, colShapeData, m_shapeType)
colShapeData->m_name = 0;
}
void btBulletXmlWorldImporter::deSerializeConvexHullShapeData(XMLNode* pParent)
{
MyLocalCaster cast;
get_int_attribute_by_name(pParent->ToElement(),"pointer",&cast.m_int);
get_int_attribute_by_name(pParent->ToElement(), "pointer", &cast.m_int);
btConvexHullShapeData* convexHullData = (btConvexHullShapeData*)btAlignedAlloc(sizeof(btConvexHullShapeData), 16);
XMLNode* xmlConvexInt = pParent->FirstChildElement("m_convexInternalShapeData");
btAssert(xmlConvexInt);
XMLNode* xmlColShape = xmlConvexInt ->FirstChildElement("m_collisionShapeData");
XMLNode* xmlColShape = xmlConvexInt->FirstChildElement("m_collisionShapeData");
btAssert(xmlColShape);
deSerializeCollisionShapeData(xmlColShape,&convexHullData->m_convexInternalShapeData.m_collisionShapeData);
deSerializeCollisionShapeData(xmlColShape, &convexHullData->m_convexInternalShapeData.m_collisionShapeData);
SET_FLOAT_VALUE(xmlConvexInt,&convexHullData->m_convexInternalShapeData,m_collisionMargin)
SET_VECTOR4_VALUE(xmlConvexInt,&convexHullData->m_convexInternalShapeData,m_localScaling)
SET_VECTOR4_VALUE(xmlConvexInt,&convexHullData->m_convexInternalShapeData,m_implicitShapeDimensions)
SET_FLOAT_VALUE(xmlConvexInt, &convexHullData->m_convexInternalShapeData, m_collisionMargin)
SET_VECTOR4_VALUE(xmlConvexInt, &convexHullData->m_convexInternalShapeData, m_localScaling)
SET_VECTOR4_VALUE(xmlConvexInt, &convexHullData->m_convexInternalShapeData, m_implicitShapeDimensions)
//convexHullData->m_unscaledPointsFloatPtr
//#define SET_POINTER_VALUE(xmlnode, targetdata, argname, pointertype)
@@ -256,23 +244,23 @@ void btBulletXmlWorldImporter::deSerializeConvexHullShapeData(XMLNode* pParent)
{
const char* txt = (node)->ToElement()->GetText();
MyLocalCaster cast;
cast.m_int = (int) atof(txt);
(*convexHullData).m_unscaledPointsFloatPtr= (btVector3FloatData*) cast.m_ptr;
cast.m_int = (int)atof(txt);
(*convexHullData).m_unscaledPointsFloatPtr = (btVector3FloatData*)cast.m_ptr;
}
}
SET_POINTER_VALUE(pParent,*convexHullData,m_unscaledPointsFloatPtr,btVector3FloatData*);
SET_POINTER_VALUE(pParent,*convexHullData,m_unscaledPointsDoublePtr,btVector3DoubleData*);
SET_INT_VALUE(pParent,convexHullData,m_numUnscaledPoints);
SET_POINTER_VALUE(pParent, *convexHullData, m_unscaledPointsFloatPtr, btVector3FloatData*);
SET_POINTER_VALUE(pParent, *convexHullData, m_unscaledPointsDoublePtr, btVector3DoubleData*);
SET_INT_VALUE(pParent, convexHullData, m_numUnscaledPoints);
m_collisionShapeData.push_back((btCollisionShapeData*)convexHullData);
m_pointerLookup.insert(cast.m_ptr,convexHullData);
m_pointerLookup.insert(cast.m_ptr, convexHullData);
}
void btBulletXmlWorldImporter::deSerializeCompoundShapeChildData(XMLNode* pParent)
{
MyLocalCaster cast;
get_int_attribute_by_name(pParent->ToElement(),"pointer",&cast.m_int);
get_int_attribute_by_name(pParent->ToElement(), "pointer", &cast.m_int);
int numChildren = 0;
btAlignedObjectArray<btCompoundShapeChildData>* compoundChildArrayPtr = new btAlignedObjectArray<btCompoundShapeChildData>;
@@ -282,17 +270,17 @@ void btBulletXmlWorldImporter::deSerializeCompoundShapeChildData(XMLNode* pParen
XMLNode* marginNode = pParent->FirstChildElement("m_childMargin");
XMLNode* childTypeNode = pParent->FirstChildElement("m_childShapeType");
int i=0;
int i = 0;
while (transNode && colShapeNode && marginNode && childTypeNode)
{
compoundChildArrayPtr->expandNonInitializing();
SET_VECTOR4_VALUE (transNode,&compoundChildArrayPtr->at(i).m_transform,m_origin)
SET_MATRIX33_VALUE(transNode,&compoundChildArrayPtr->at(i).m_transform,m_basis)
SET_VECTOR4_VALUE(transNode, &compoundChildArrayPtr->at(i).m_transform, m_origin)
SET_MATRIX33_VALUE(transNode, &compoundChildArrayPtr->at(i).m_transform, m_basis)
const char* txt = (colShapeNode)->ToElement()->GetText();
MyLocalCaster cast;
cast.m_int = (int) atof(txt);
compoundChildArrayPtr->at(i).m_childShape = (btCollisionShapeData*) cast.m_ptr;
cast.m_int = (int)atof(txt);
compoundChildArrayPtr->at(i).m_childShape = (btCollisionShapeData*)cast.m_ptr;
btAssert(childTypeNode->ToElement());
if (childTypeNode->ToElement())
@@ -314,7 +302,6 @@ void btBulletXmlWorldImporter::deSerializeCompoundShapeChildData(XMLNode* pParen
}
numChildren = i;
}
btAssert(numChildren);
@@ -322,66 +309,62 @@ void btBulletXmlWorldImporter::deSerializeCompoundShapeChildData(XMLNode* pParen
{
m_compoundShapeChildDataArrays.push_back(compoundChildArrayPtr);
btCompoundShapeChildData* cd = &compoundChildArrayPtr->at(0);
m_pointerLookup.insert(cast.m_ptr,cd);
m_pointerLookup.insert(cast.m_ptr, cd);
}
}
void btBulletXmlWorldImporter::deSerializeCompoundShapeData(XMLNode* pParent)
{
MyLocalCaster cast;
get_int_attribute_by_name(pParent->ToElement(),"pointer",&cast.m_int);
get_int_attribute_by_name(pParent->ToElement(), "pointer", &cast.m_int);
btCompoundShapeData* compoundData = (btCompoundShapeData*) btAlignedAlloc(sizeof(btCompoundShapeData),16);
btCompoundShapeData* compoundData = (btCompoundShapeData*)btAlignedAlloc(sizeof(btCompoundShapeData), 16);
XMLNode* xmlColShape = pParent ->FirstChildElement("m_collisionShapeData");
XMLNode* xmlColShape = pParent->FirstChildElement("m_collisionShapeData");
btAssert(xmlColShape);
deSerializeCollisionShapeData(xmlColShape,&compoundData->m_collisionShapeData);
deSerializeCollisionShapeData(xmlColShape, &compoundData->m_collisionShapeData);
SET_INT_VALUE(pParent, compoundData,m_numChildShapes);
SET_INT_VALUE(pParent, compoundData, m_numChildShapes);
XMLNode* xmlShapeData = pParent->FirstChildElement("m_collisionShapeData");
btAssert(xmlShapeData );
btAssert(xmlShapeData);
{
XMLNode* node = pParent->FirstChildElement("m_childShapePtr");\
XMLNode* node = pParent->FirstChildElement("m_childShapePtr");
btAssert(node);
while (node)
{
const char* txt = (node)->ToElement()->GetText();
MyLocalCaster cast;
cast.m_int = (int) atof(txt);
compoundData->m_childShapePtr = (btCompoundShapeChildData*) cast.m_ptr;
cast.m_int = (int)atof(txt);
compoundData->m_childShapePtr = (btCompoundShapeChildData*)cast.m_ptr;
node = node->NextSiblingElement("m_childShapePtr");
}
//SET_POINTER_VALUE(xmlColShape, *compoundData,m_childShapePtr,btCompoundShapeChildData*);
}
SET_FLOAT_VALUE(pParent, compoundData,m_collisionMargin);
SET_FLOAT_VALUE(pParent, compoundData, m_collisionMargin);
m_collisionShapeData.push_back((btCollisionShapeData*)compoundData);
m_pointerLookup.insert(cast.m_ptr,compoundData);
m_pointerLookup.insert(cast.m_ptr, compoundData);
}
void btBulletXmlWorldImporter::deSerializeStaticPlaneShapeData(XMLNode* pParent)
{
MyLocalCaster cast;
get_int_attribute_by_name(pParent->ToElement(),"pointer",&cast.m_int);
get_int_attribute_by_name(pParent->ToElement(), "pointer", &cast.m_int);
btStaticPlaneShapeData* planeData = (btStaticPlaneShapeData*) btAlignedAlloc(sizeof(btStaticPlaneShapeData),16);
btStaticPlaneShapeData* planeData = (btStaticPlaneShapeData*)btAlignedAlloc(sizeof(btStaticPlaneShapeData), 16);
XMLNode* xmlShapeData = pParent->FirstChildElement("m_collisionShapeData");
btAssert(xmlShapeData );
deSerializeCollisionShapeData(xmlShapeData,&planeData->m_collisionShapeData);
btAssert(xmlShapeData);
deSerializeCollisionShapeData(xmlShapeData, &planeData->m_collisionShapeData);
SET_VECTOR4_VALUE(pParent, planeData,m_localScaling);
SET_VECTOR4_VALUE(pParent, planeData,m_planeNormal);
SET_FLOAT_VALUE(pParent, planeData,m_planeConstant);
SET_VECTOR4_VALUE(pParent, planeData, m_localScaling);
SET_VECTOR4_VALUE(pParent, planeData, m_planeNormal);
SET_FLOAT_VALUE(pParent, planeData, m_planeConstant);
m_collisionShapeData.push_back((btCollisionShapeData*)planeData);
m_pointerLookup.insert(cast.m_ptr,planeData);
m_pointerLookup.insert(cast.m_ptr, planeData);
}
void btBulletXmlWorldImporter::deSerializeDynamicsWorldData(XMLNode* pParent)
@@ -397,25 +380,22 @@ void btBulletXmlWorldImporter::deSerializeDynamicsWorldData(XMLNode* pParent)
void btBulletXmlWorldImporter::deSerializeConvexInternalShapeData(XMLNode* pParent)
{
MyLocalCaster cast;
get_int_attribute_by_name(pParent->ToElement(),"pointer",&cast.m_int);
get_int_attribute_by_name(pParent->ToElement(), "pointer", &cast.m_int);
btConvexInternalShapeData* convexShape = (btConvexInternalShapeData*) btAlignedAlloc(sizeof(btConvexInternalShapeData),16);
memset(convexShape,0,sizeof(btConvexInternalShapeData));
btConvexInternalShapeData* convexShape = (btConvexInternalShapeData*)btAlignedAlloc(sizeof(btConvexInternalShapeData), 16);
memset(convexShape, 0, sizeof(btConvexInternalShapeData));
XMLNode* xmlShapeData = pParent->FirstChildElement("m_collisionShapeData");
btAssert(xmlShapeData );
btAssert(xmlShapeData);
deSerializeCollisionShapeData(xmlShapeData,&convexShape->m_collisionShapeData);
deSerializeCollisionShapeData(xmlShapeData, &convexShape->m_collisionShapeData);
SET_FLOAT_VALUE(pParent,convexShape,m_collisionMargin)
SET_VECTOR4_VALUE(pParent,convexShape,m_localScaling)
SET_VECTOR4_VALUE(pParent,convexShape,m_implicitShapeDimensions)
SET_FLOAT_VALUE(pParent, convexShape, m_collisionMargin)
SET_VECTOR4_VALUE(pParent, convexShape, m_localScaling)
SET_VECTOR4_VALUE(pParent, convexShape, m_implicitShapeDimensions)
m_collisionShapeData.push_back((btCollisionShapeData*)convexShape);
m_pointerLookup.insert(cast.m_ptr,convexShape);
m_pointerLookup.insert(cast.m_ptr, convexShape);
}
/*
@@ -433,115 +413,110 @@ enum btTypedConstraintType
};
*/
void btBulletXmlWorldImporter::deSerializeGeneric6DofConstraintData(XMLNode* pParent)
{
MyLocalCaster cast;
get_int_attribute_by_name(pParent->ToElement(),"pointer",&cast.m_int);
btGeneric6DofConstraintData2* dof6Data = (btGeneric6DofConstraintData2*)btAlignedAlloc(sizeof(btGeneric6DofConstraintData2),16);
get_int_attribute_by_name(pParent->ToElement(), "pointer", &cast.m_int);
btGeneric6DofConstraintData2* dof6Data = (btGeneric6DofConstraintData2*)btAlignedAlloc(sizeof(btGeneric6DofConstraintData2), 16);
XMLNode* n = pParent->FirstChildElement("m_typeConstraintData");
if (n)
{
SET_POINTER_VALUE(n,dof6Data->m_typeConstraintData,m_rbA,btRigidBodyData*);
SET_POINTER_VALUE(n,dof6Data->m_typeConstraintData,m_rbB,btRigidBodyData*);
dof6Data->m_typeConstraintData.m_name = 0;//tbd
SET_INT_VALUE(n,&dof6Data->m_typeConstraintData,m_objectType);
SET_INT_VALUE(n,&dof6Data->m_typeConstraintData,m_userConstraintType);
SET_INT_VALUE(n,&dof6Data->m_typeConstraintData,m_userConstraintId);
SET_INT_VALUE(n,&dof6Data->m_typeConstraintData,m_needsFeedback);
SET_FLOAT_VALUE(n,&dof6Data->m_typeConstraintData,m_appliedImpulse);
SET_FLOAT_VALUE(n,&dof6Data->m_typeConstraintData,m_dbgDrawSize);
SET_INT_VALUE(n,&dof6Data->m_typeConstraintData,m_disableCollisionsBetweenLinkedBodies);
SET_INT_VALUE(n,&dof6Data->m_typeConstraintData,m_overrideNumSolverIterations);
SET_FLOAT_VALUE(n,&dof6Data->m_typeConstraintData,m_breakingImpulseThreshold);
SET_INT_VALUE(n,&dof6Data->m_typeConstraintData,m_isEnabled);
SET_POINTER_VALUE(n, dof6Data->m_typeConstraintData, m_rbA, btRigidBodyData*);
SET_POINTER_VALUE(n, dof6Data->m_typeConstraintData, m_rbB, btRigidBodyData*);
dof6Data->m_typeConstraintData.m_name = 0; //tbd
SET_INT_VALUE(n, &dof6Data->m_typeConstraintData, m_objectType);
SET_INT_VALUE(n, &dof6Data->m_typeConstraintData, m_userConstraintType);
SET_INT_VALUE(n, &dof6Data->m_typeConstraintData, m_userConstraintId);
SET_INT_VALUE(n, &dof6Data->m_typeConstraintData, m_needsFeedback);
SET_FLOAT_VALUE(n, &dof6Data->m_typeConstraintData, m_appliedImpulse);
SET_FLOAT_VALUE(n, &dof6Data->m_typeConstraintData, m_dbgDrawSize);
SET_INT_VALUE(n, &dof6Data->m_typeConstraintData, m_disableCollisionsBetweenLinkedBodies);
SET_INT_VALUE(n, &dof6Data->m_typeConstraintData, m_overrideNumSolverIterations);
SET_FLOAT_VALUE(n, &dof6Data->m_typeConstraintData, m_breakingImpulseThreshold);
SET_INT_VALUE(n, &dof6Data->m_typeConstraintData, m_isEnabled);
}
SET_TRANSFORM_VALUE( pParent, dof6Data, m_rbAFrame);
SET_TRANSFORM_VALUE( pParent, dof6Data, m_rbBFrame);
SET_TRANSFORM_VALUE(pParent, dof6Data, m_rbAFrame);
SET_TRANSFORM_VALUE(pParent, dof6Data, m_rbBFrame);
SET_VECTOR4_VALUE(pParent, dof6Data, m_linearUpperLimit);
SET_VECTOR4_VALUE(pParent, dof6Data, m_linearLowerLimit);
SET_VECTOR4_VALUE(pParent, dof6Data, m_angularUpperLimit);
SET_VECTOR4_VALUE(pParent, dof6Data, m_angularLowerLimit);
SET_INT_VALUE(pParent, dof6Data,m_useLinearReferenceFrameA);
SET_INT_VALUE(pParent, dof6Data,m_useOffsetForConstraintFrame);
SET_INT_VALUE(pParent, dof6Data, m_useLinearReferenceFrameA);
SET_INT_VALUE(pParent, dof6Data, m_useOffsetForConstraintFrame);
m_constraintData.push_back((btTypedConstraintData2*)dof6Data);
m_pointerLookup.insert(cast.m_ptr,dof6Data);
m_pointerLookup.insert(cast.m_ptr, dof6Data);
}
void btBulletXmlWorldImporter::deSerializeRigidBodyFloatData(XMLNode* pParent)
{
MyLocalCaster cast;
if (!get_int_attribute_by_name(pParent->ToElement(),"pointer",&cast.m_int))
if (!get_int_attribute_by_name(pParent->ToElement(), "pointer", &cast.m_int))
{
m_fileOk = false;
return;
}
btRigidBodyData* rbData = (btRigidBodyData*)btAlignedAlloc(sizeof(btRigidBodyData),16);
btRigidBodyData* rbData = (btRigidBodyData*)btAlignedAlloc(sizeof(btRigidBodyData), 16);
XMLNode* n = pParent->FirstChildElement("m_collisionObjectData");
if (n)
{
SET_POINTER_VALUE(n,rbData->m_collisionObjectData,m_collisionShape, void*);
SET_TRANSFORM_VALUE(n,&rbData->m_collisionObjectData,m_worldTransform);
SET_TRANSFORM_VALUE(n,&rbData->m_collisionObjectData,m_interpolationWorldTransform);
SET_VECTOR4_VALUE(n,&rbData->m_collisionObjectData,m_interpolationLinearVelocity)
SET_VECTOR4_VALUE(n,&rbData->m_collisionObjectData,m_interpolationAngularVelocity)
SET_VECTOR4_VALUE(n,&rbData->m_collisionObjectData,m_anisotropicFriction)
SET_FLOAT_VALUE(n,&rbData->m_collisionObjectData,m_contactProcessingThreshold);
SET_FLOAT_VALUE(n,&rbData->m_collisionObjectData,m_deactivationTime);
SET_FLOAT_VALUE(n,&rbData->m_collisionObjectData,m_friction);
SET_FLOAT_VALUE(n,&rbData->m_collisionObjectData,m_restitution);
SET_FLOAT_VALUE(n,&rbData->m_collisionObjectData,m_hitFraction);
SET_FLOAT_VALUE(n,&rbData->m_collisionObjectData,m_ccdSweptSphereRadius);
SET_FLOAT_VALUE(n,&rbData->m_collisionObjectData,m_ccdMotionThreshold);
SET_INT_VALUE(n,&rbData->m_collisionObjectData,m_hasAnisotropicFriction);
SET_INT_VALUE(n,&rbData->m_collisionObjectData,m_collisionFlags);
SET_INT_VALUE(n,&rbData->m_collisionObjectData,m_islandTag1);
SET_INT_VALUE(n,&rbData->m_collisionObjectData,m_companionId);
SET_INT_VALUE(n,&rbData->m_collisionObjectData,m_activationState1);
SET_INT_VALUE(n,&rbData->m_collisionObjectData,m_internalType);
SET_INT_VALUE(n,&rbData->m_collisionObjectData,m_checkCollideWith);
SET_POINTER_VALUE(n, rbData->m_collisionObjectData, m_collisionShape, void*);
SET_TRANSFORM_VALUE(n, &rbData->m_collisionObjectData, m_worldTransform);
SET_TRANSFORM_VALUE(n, &rbData->m_collisionObjectData, m_interpolationWorldTransform);
SET_VECTOR4_VALUE(n, &rbData->m_collisionObjectData, m_interpolationLinearVelocity)
SET_VECTOR4_VALUE(n, &rbData->m_collisionObjectData, m_interpolationAngularVelocity)
SET_VECTOR4_VALUE(n, &rbData->m_collisionObjectData, m_anisotropicFriction)
SET_FLOAT_VALUE(n, &rbData->m_collisionObjectData, m_contactProcessingThreshold);
SET_FLOAT_VALUE(n, &rbData->m_collisionObjectData, m_deactivationTime);
SET_FLOAT_VALUE(n, &rbData->m_collisionObjectData, m_friction);
SET_FLOAT_VALUE(n, &rbData->m_collisionObjectData, m_restitution);
SET_FLOAT_VALUE(n, &rbData->m_collisionObjectData, m_hitFraction);
SET_FLOAT_VALUE(n, &rbData->m_collisionObjectData, m_ccdSweptSphereRadius);
SET_FLOAT_VALUE(n, &rbData->m_collisionObjectData, m_ccdMotionThreshold);
SET_INT_VALUE(n, &rbData->m_collisionObjectData, m_hasAnisotropicFriction);
SET_INT_VALUE(n, &rbData->m_collisionObjectData, m_collisionFlags);
SET_INT_VALUE(n, &rbData->m_collisionObjectData, m_islandTag1);
SET_INT_VALUE(n, &rbData->m_collisionObjectData, m_companionId);
SET_INT_VALUE(n, &rbData->m_collisionObjectData, m_activationState1);
SET_INT_VALUE(n, &rbData->m_collisionObjectData, m_internalType);
SET_INT_VALUE(n, &rbData->m_collisionObjectData, m_checkCollideWith);
}
// SET_VECTOR4_VALUE(pParent,rbData,m_linearVelocity);
// SET_VECTOR4_VALUE(pParent,rbData,m_linearVelocity);
SET_MATRIX33_VALUE(pParent,rbData,m_invInertiaTensorWorld);
SET_VECTOR4_VALUE(pParent,rbData,m_linearVelocity)
SET_VECTOR4_VALUE(pParent,rbData,m_angularVelocity)
SET_VECTOR4_VALUE(pParent,rbData,m_angularFactor)
SET_VECTOR4_VALUE(pParent,rbData,m_linearFactor)
SET_VECTOR4_VALUE(pParent,rbData,m_gravity)
SET_VECTOR4_VALUE(pParent,rbData,m_gravity_acceleration )
SET_VECTOR4_VALUE(pParent,rbData,m_invInertiaLocal)
SET_VECTOR4_VALUE(pParent,rbData,m_totalTorque)
SET_VECTOR4_VALUE(pParent,rbData,m_totalForce)
SET_FLOAT_VALUE(pParent,rbData,m_inverseMass);
SET_FLOAT_VALUE(pParent,rbData,m_linearDamping);
SET_FLOAT_VALUE(pParent,rbData,m_angularDamping);
SET_FLOAT_VALUE(pParent,rbData,m_additionalDampingFactor);
SET_FLOAT_VALUE(pParent,rbData,m_additionalLinearDampingThresholdSqr);
SET_FLOAT_VALUE(pParent,rbData,m_additionalAngularDampingThresholdSqr);
SET_FLOAT_VALUE(pParent,rbData,m_additionalAngularDampingFactor);
SET_FLOAT_VALUE(pParent,rbData,m_angularSleepingThreshold);
SET_FLOAT_VALUE(pParent,rbData,m_linearSleepingThreshold);
SET_INT_VALUE(pParent,rbData,m_additionalDamping);
SET_MATRIX33_VALUE(pParent, rbData, m_invInertiaTensorWorld);
SET_VECTOR4_VALUE(pParent, rbData, m_linearVelocity)
SET_VECTOR4_VALUE(pParent, rbData, m_angularVelocity)
SET_VECTOR4_VALUE(pParent, rbData, m_angularFactor)
SET_VECTOR4_VALUE(pParent, rbData, m_linearFactor)
SET_VECTOR4_VALUE(pParent, rbData, m_gravity)
SET_VECTOR4_VALUE(pParent, rbData, m_gravity_acceleration)
SET_VECTOR4_VALUE(pParent, rbData, m_invInertiaLocal)
SET_VECTOR4_VALUE(pParent, rbData, m_totalTorque)
SET_VECTOR4_VALUE(pParent, rbData, m_totalForce)
SET_FLOAT_VALUE(pParent, rbData, m_inverseMass);
SET_FLOAT_VALUE(pParent, rbData, m_linearDamping);
SET_FLOAT_VALUE(pParent, rbData, m_angularDamping);
SET_FLOAT_VALUE(pParent, rbData, m_additionalDampingFactor);
SET_FLOAT_VALUE(pParent, rbData, m_additionalLinearDampingThresholdSqr);
SET_FLOAT_VALUE(pParent, rbData, m_additionalAngularDampingThresholdSqr);
SET_FLOAT_VALUE(pParent, rbData, m_additionalAngularDampingFactor);
SET_FLOAT_VALUE(pParent, rbData, m_angularSleepingThreshold);
SET_FLOAT_VALUE(pParent, rbData, m_linearSleepingThreshold);
SET_INT_VALUE(pParent, rbData, m_additionalDamping);
m_rigidBodyData.push_back(rbData);
m_pointerLookup.insert(cast.m_ptr,rbData);
m_pointerLookup.insert(cast.m_ptr, rbData);
// rbData->m_collisionObjectData.m_collisionShape = (void*) (int)atof(txt);
// rbData->m_collisionObjectData.m_collisionShape = (void*) (int)atof(txt);
}
/*
@@ -599,26 +574,23 @@ void btBulletXmlWorldImporter::fixupConstraintData(btTypedConstraintData2* tcd)
{
btRigidBodyData** ptrptr = (btRigidBodyData**)m_pointerLookup.find(tcd->m_rbA);
btAssert(ptrptr);
tcd->m_rbA = ptrptr? *ptrptr : 0;
tcd->m_rbA = ptrptr ? *ptrptr : 0;
}
if (tcd->m_rbB)
{
btRigidBodyData** ptrptr = (btRigidBodyData**)m_pointerLookup.find(tcd->m_rbB);
btAssert(ptrptr);
tcd->m_rbB = ptrptr? *ptrptr : 0;
tcd->m_rbB = ptrptr ? *ptrptr : 0;
}
}
void btBulletXmlWorldImporter::fixupCollisionDataPointers(btCollisionShapeData* shapeData)
{
switch (shapeData->m_shapeType)
{
case COMPOUND_SHAPE_PROXYTYPE:
{
btCompoundShapeData* compound = (btCompoundShapeData*) shapeData;
btCompoundShapeData* compound = (btCompoundShapeData*)shapeData;
void** cdptr = m_pointerLookup.find((void*)compound->m_childShapePtr);
btCompoundShapeChildData** c = (btCompoundShapeChildData**)cdptr;
@@ -626,7 +598,8 @@ void btBulletXmlWorldImporter::fixupCollisionDataPointers(btCollisionShapeData*
if (c)
{
compound->m_childShapePtr = *c;
} else
}
else
{
compound->m_childShapePtr = 0;
}
@@ -641,7 +614,8 @@ void btBulletXmlWorldImporter::fixupCollisionDataPointers(btCollisionShapeData*
if (ptrptr)
{
convexData->m_unscaledPointsFloatPtr = *ptrptr;
} else
}
else
{
convexData->m_unscaledPointsFloatPtr = 0;
}
@@ -661,76 +635,74 @@ void btBulletXmlWorldImporter::fixupCollisionDataPointers(btCollisionShapeData*
}
}
void btBulletXmlWorldImporter::auto_serialize_root_level_children(XMLNode* pParent)
{
int numChildren = 0;
btAssert(pParent);
if (pParent)
{
XMLNode*pChild;
for ( pChild = pParent->FirstChildElement(); pChild != 0; pChild = pChild->NextSibling(), numChildren++)
XMLNode* pChild;
for (pChild = pParent->FirstChildElement(); pChild != 0; pChild = pChild->NextSibling(), numChildren++)
{
// printf("child Name=%s\n", pChild->Value());
if (!strcmp(pChild->Value(),"btVector3FloatData"))
// printf("child Name=%s\n", pChild->Value());
if (!strcmp(pChild->Value(), "btVector3FloatData"))
{
MyLocalCaster cast;
get_int_attribute_by_name(pChild->ToElement(),"pointer",&cast.m_int);
get_int_attribute_by_name(pChild->ToElement(), "pointer", &cast.m_int);
btAlignedObjectArray<btVector3FloatData> v;
deSerializeVector3FloatData(pChild,v);
deSerializeVector3FloatData(pChild, v);
int numVectors = v.size();
btVector3FloatData* vectors= (btVector3FloatData*) btAlignedAlloc(sizeof(btVector3FloatData)*numVectors,16);
for (int i=0;i<numVectors;i++)
btVector3FloatData* vectors = (btVector3FloatData*)btAlignedAlloc(sizeof(btVector3FloatData) * numVectors, 16);
for (int i = 0; i < numVectors; i++)
vectors[i] = v[i];
m_floatVertexArrays.push_back(vectors);
m_pointerLookup.insert(cast.m_ptr,vectors);
m_pointerLookup.insert(cast.m_ptr, vectors);
continue;
}
if (!strcmp(pChild->Value(),"btGeneric6DofConstraintData"))
if (!strcmp(pChild->Value(), "btGeneric6DofConstraintData"))
{
deSerializeGeneric6DofConstraintData(pChild);
continue;
}
if (!strcmp(pChild->Value(),"btStaticPlaneShapeData"))
if (!strcmp(pChild->Value(), "btStaticPlaneShapeData"))
{
deSerializeStaticPlaneShapeData(pChild);
continue;
}
if (!strcmp(pChild->Value(),"btCompoundShapeData"))
if (!strcmp(pChild->Value(), "btCompoundShapeData"))
{
deSerializeCompoundShapeData(pChild);
continue;
}
if (!strcmp(pChild->Value(),"btCompoundShapeChildData"))
if (!strcmp(pChild->Value(), "btCompoundShapeChildData"))
{
deSerializeCompoundShapeChildData(pChild);
continue;
}
if (!strcmp(pChild->Value(),"btConvexHullShapeData"))
if (!strcmp(pChild->Value(), "btConvexHullShapeData"))
{
deSerializeConvexHullShapeData(pChild);
continue;
}
if (!strcmp(pChild->Value(),"btDynamicsWorldFloatData"))
if (!strcmp(pChild->Value(), "btDynamicsWorldFloatData"))
{
deSerializeDynamicsWorldData(pChild);
continue;
}
if (!strcmp(pChild->Value(),"btConvexInternalShapeData"))
if (!strcmp(pChild->Value(), "btConvexInternalShapeData"))
{
deSerializeConvexInternalShapeData(pChild);
continue;
}
if (!strcmp(pChild->Value(),"btRigidBodyFloatData"))
if (!strcmp(pChild->Value(), "btRigidBodyFloatData"))
{
deSerializeRigidBodyFloatData(pChild);
continue;
@@ -745,10 +717,10 @@ void btBulletXmlWorldImporter::auto_serialize_root_level_children(XMLNode* pPare
///fixup pointers in various places, in the right order
//fixup compoundshape child data
for (int i=0;i<m_compoundShapeChildDataArrays.size();i++)
for (int i = 0; i < m_compoundShapeChildDataArrays.size(); i++)
{
btAlignedObjectArray<btCompoundShapeChildData>* childDataArray = m_compoundShapeChildDataArrays[i];
for (int c=0;c<childDataArray->size();c++)
for (int c = 0; c < childDataArray->size(); c++)
{
btCompoundShapeChildData* childData = &childDataArray->at(c);
btCollisionShapeData** ptrptr = (btCollisionShapeData**)m_pointerLookup[childData->m_childShape];
@@ -760,15 +732,14 @@ void btBulletXmlWorldImporter::auto_serialize_root_level_children(XMLNode* pPare
}
}
for (int i=0;i<this->m_collisionShapeData.size();i++)
for (int i = 0; i < this->m_collisionShapeData.size(); i++)
{
btCollisionShapeData* shapeData = m_collisionShapeData[i];
fixupCollisionDataPointers(shapeData);
}
///now fixup pointers
for (int i=0;i<m_rigidBodyData.size();i++)
for (int i = 0; i < m_rigidBodyData.size(); i++)
{
btRigidBodyData* rbData = m_rigidBodyData[i];
@@ -776,42 +747,39 @@ void btBulletXmlWorldImporter::auto_serialize_root_level_children(XMLNode* pPare
//btAssert(ptrptr);
rbData->m_collisionObjectData.m_broadphaseHandle = 0;
rbData->m_collisionObjectData.m_rootCollisionShape = 0;
rbData->m_collisionObjectData.m_name = 0;//tbd
rbData->m_collisionObjectData.m_name = 0; //tbd
if (ptrptr)
{
rbData->m_collisionObjectData.m_collisionShape = *ptrptr;
}
}
for (int i=0;i<m_constraintData.size();i++)
for (int i = 0; i < m_constraintData.size(); i++)
{
btTypedConstraintData2* tcd = m_constraintData[i];
fixupConstraintData(tcd);
}
///=================================================================
///convert data into Bullet data in the right order
///convert collision shapes
for (int i=0;i<this->m_collisionShapeData.size();i++)
for (int i = 0; i < this->m_collisionShapeData.size(); i++)
{
btCollisionShapeData* shapeData = m_collisionShapeData[i];
btCollisionShape* shape = convertCollisionShape(shapeData);
if (shape)
{
m_shapeMap.insert(shapeData,shape);
m_shapeMap.insert(shapeData, shape);
}
if (shape&& shapeData->m_name)
if (shape && shapeData->m_name)
{
char* newname = duplicateName(shapeData->m_name);
m_objectNameMap.insert(shape,newname);
m_nameShapeMap.insert(newname,shape);
m_objectNameMap.insert(shape, newname);
m_nameShapeMap.insert(newname, shape);
}
}
for (int i=0;i<m_rigidBodyData.size();i++)
for (int i = 0; i < m_rigidBodyData.size(); i++)
{
#ifdef BT_USE_DOUBLE_PRECISION
convertRigidBodyDouble(m_rigidBodyData[i]);
@@ -820,10 +788,10 @@ void btBulletXmlWorldImporter::auto_serialize_root_level_children(XMLNode* pPare
#endif
}
for (int i=0;i<m_constraintData.size();i++)
for (int i = 0; i < m_constraintData.size(); i++)
{
btTypedConstraintData2* tcd = m_constraintData[i];
// bool isDoublePrecision = false;
// bool isDoublePrecision = false;
btRigidBody* rbA = 0;
btRigidBody* rbB = 0;
{
@@ -842,62 +810,53 @@ void btBulletXmlWorldImporter::auto_serialize_root_level_children(XMLNode* pPare
}
if (rbA || rbB)
{
btAssert(0);//todo
btAssert(0); //todo
//convertConstraint(tcd,rbA,rbB,isDoublePrecision, m_fileVersion);
}
}
}
void btBulletXmlWorldImporter::auto_serialize(XMLNode* pParent)
{
// XMLElement* root = pParent->FirstChildElement("bullet_physics");
// XMLElement* root = pParent->FirstChildElement("bullet_physics");
if (pParent)
{
XMLNode*pChild;
for ( pChild = pParent->FirstChildElement(); pChild != 0; pChild = pChild->NextSibling())
XMLNode* pChild;
for (pChild = pParent->FirstChildElement(); pChild != 0; pChild = pChild->NextSibling())
{
//if (pChild->Type()==XMLNode::TINYXML_ELEMENT)
{
// printf("root Name=%s\n", pChild->Value());
// printf("root Name=%s\n", pChild->Value());
auto_serialize_root_level_children(pChild);
}
}
} else
}
else
{
printf("ERROR: no bullet_physics element\n");
}
}
bool btBulletXmlWorldImporter::loadFile(const char* fileName)
{
XMLDocument doc;
XMLError loadOkay = doc.LoadFile(fileName);
if (loadOkay==XML_SUCCESS)
if (loadOkay == XML_SUCCESS)
{
if (get_int_attribute_by_name(doc.FirstChildElement()->ToElement(),"version", &m_fileVersion))
if (get_int_attribute_by_name(doc.FirstChildElement()->ToElement(), "version", &m_fileVersion))
{
if (m_fileVersion==281)
if (m_fileVersion == 281)
{
m_fileOk = true;
int itemcount;
get_int_attribute_by_name(doc.FirstChildElement()->ToElement(),"itemcount", &itemcount);
get_int_attribute_by_name(doc.FirstChildElement()->ToElement(), "itemcount", &itemcount);
auto_serialize(&doc);
return m_fileOk;
}
}
}
return false;
}

19
Extras/Serialize/BulletXmlWorldImporter/btBulletXmlWorldImporter.h
View File

@@ -22,7 +22,7 @@ class btDynamicsWorld;
namespace tinyxml2
{
class XMLNode;
class XMLNode;
};
struct btConvexInternalShapeData;
@@ -37,38 +37,34 @@ struct btRigidBodyFloatData;
struct btTypedConstraintFloatData;
#define btTypedConstraintData2 btTypedConstraintFloatData
#define btRigidBodyData btRigidBodyFloatData
#endif//BT_USE_DOUBLE_PRECISION
#endif //BT_USE_DOUBLE_PRECISION
struct btCompoundShapeChildData;
#include "LinearMath/btAlignedObjectArray.h"
#include "btWorldImporter.h"
class btBulletXmlWorldImporter : public btWorldImporter
{
protected:
btAlignedObjectArray<btCollisionShapeData*> m_collisionShapeData;
btAlignedObjectArray<btAlignedObjectArray<btCompoundShapeChildData>* > m_compoundShapeChildDataArrays;
btAlignedObjectArray<btAlignedObjectArray<btCompoundShapeChildData>*> m_compoundShapeChildDataArrays;
btAlignedObjectArray<btRigidBodyData*> m_rigidBodyData;
btAlignedObjectArray<btTypedConstraintData2*> m_constraintData;
btHashMap<btHashPtr,void*> m_pointerLookup;
btHashMap<btHashPtr, void*> m_pointerLookup;
int m_fileVersion;
bool m_fileOk;
void auto_serialize_root_level_children(tinyxml2::XMLNode* pParent);
void auto_serialize(tinyxml2::XMLNode* pParent);
void deSerializeVector3FloatData(tinyxml2::XMLNode* pParent,btAlignedObjectArray<btVector3FloatData>& vectors);
void deSerializeVector3FloatData(tinyxml2::XMLNode* pParent, btAlignedObjectArray<btVector3FloatData>& vectors);
void fixupCollisionDataPointers(btCollisionShapeData* shapeData);
void fixupConstraintData(btTypedConstraintData2* tcd);
//collision shapes data
void deSerializeCollisionShapeData(tinyxml2::XMLNode* pParent,btCollisionShapeData* colShapeData);
void deSerializeCollisionShapeData(tinyxml2::XMLNode* pParent, btCollisionShapeData* colShapeData);
void deSerializeConvexInternalShapeData(tinyxml2::XMLNode* pParent);
void deSerializeStaticPlaneShapeData(tinyxml2::XMLNode* pParent);
void deSerializeCompoundShapeData(tinyxml2::XMLNode* pParent);
@@ -82,13 +78,12 @@ protected:
///constraints
void deSerializeGeneric6DofConstraintData(tinyxml2::XMLNode* pParent);
public:
public:
btBulletXmlWorldImporter(btDynamicsWorld* world);
virtual ~btBulletXmlWorldImporter();
bool loadFile(const char* fileName);
};
#endif //BT_BULLET_XML_WORLD_IMPORTER_H

85
Extras/Serialize/BulletXmlWorldImporter/string_split.cpp
View File

@@ -25,18 +25,16 @@ subject to the following restrictions:
namespace bullet_utils
{
void split( btAlignedObjectArray<std::string>&pieces, const std::string& vector_str, const std::string& separator)
{
char** strArray = str_split(vector_str.c_str(),separator.c_str());
void split(btAlignedObjectArray<std::string> &pieces, const std::string &vector_str, const std::string &separator)
{
char **strArray = str_split(vector_str.c_str(), separator.c_str());
int numSubStr = str_array_len(strArray);
for (int i=0;i<numSubStr;i++)
for (int i = 0; i < numSubStr; i++)
pieces.push_back(std::string(strArray[i]));
str_array_free(strArray);
}
};
}
}; // namespace bullet_utils
/* Append an item to a dynamically allocated array of strings. On failure,
return NULL, in which case the original array is intact. The item
@@ -50,8 +48,9 @@ char **str_array_append(char **array, size_t nitems, const char *item,
char *copy;
if (item == NULL)
copy = NULL;
else {
copy = (char*)malloc(itemlen + 1);
else
{
copy = (char *)malloc(itemlen + 1);
if (copy == NULL)
return NULL;
memcpy(copy, item, itemlen);
@@ -61,19 +60,19 @@ char **str_array_append(char **array, size_t nitems, const char *item,
/* Extend array with one element. Except extend it by two elements,
in case it did not yet exist. This might mean it is a teeny bit
too big, but we don't care. */
array = (char**)realloc(array, (nitems + 2) * sizeof(array[0]));
if (array == NULL) {
array = (char **)realloc(array, (nitems + 2) * sizeof(array[0]));
if (array == NULL)
{
free(copy);
return NULL;
}
/* Add copy of item to array, and return it. */
array[nitems] = copy;
array[nitems+1] = NULL;
array[nitems + 1] = NULL;
return array;
}
/* Free a dynamic array of dynamic strings. */
void str_array_free(char **array)
{
@@ -84,7 +83,6 @@ void str_array_free(char **array)
free(array);
}
/* Split a string into substrings. Return dynamic array of dynamically
allocated substrings, or NULL if there was an error. Caller is
expected to free the memory, for example with str_array_free. */
@@ -98,29 +96,37 @@ char **str_split(const char *input, const char *sep)
const char *item;
size_t itemlen;
for (;;) {
for (;;)
{
next = strstr(start, sep);
if (next == NULL) {
if (next == NULL)
{
/* Add the remaining string (or empty string, if input ends with
separator. */
char **newstr = str_array_append(array, nitems, start, strlen(start));
if (newstr == NULL) {
if (newstr == NULL)
{
str_array_free(array);
return NULL;
}
array = newstr;
++nitems;
break;
} else if (next == input) {
}
else if (next == input)
{
/* Input starts with separator. */
item = "";
itemlen = 0;
} else {
}
else
{
item = start;
itemlen = next - item;
}
char **newstr = str_array_append(array, nitems, item, itemlen);
if (newstr == NULL) {
if (newstr == NULL)
{
str_array_free(array);
return NULL;
}
@@ -129,7 +135,8 @@ char **str_split(const char *input, const char *sep)
start = next + seplen;
}
if (nitems == 0) {
if (nitems == 0)
{
/* Input does not contain separator at all. */
assert(array == NULL);
array = str_array_append(array, nitems, input, strlen(input));
@@ -138,7 +145,6 @@ char **str_split(const char *input, const char *sep)
return array;
}
/* Return length of a NULL-delimited array of strings. */
size_t str_array_len(char **array)
{
@@ -153,10 +159,10 @@ size_t str_array_len(char **array)
#define MAX_OUTPUT 20
int main(void)
{
struct {
struct
{
const char *input;
const char *sep;
char *output[MAX_OUTPUT];
@@ -208,28 +214,35 @@ int main(void)
errors = false;
for (int i = 0; i < tab_len; ++i) {
for (int i = 0; i < tab_len; ++i)
{
printf("test %d\n", i);
char **output = str_split(tab[i].input, tab[i].sep);
if (output == NULL) {
if (output == NULL)
{
fprintf(stderr, "output is NULL\n");
errors = true;
break;
}
size_t num_output = str_array_len(output);
printf("num_output %lu\n", (unsigned long) num_output);
printf("num_output %lu\n", (unsigned long)num_output);
size_t num_correct = str_array_len(tab[i].output);
if (num_output != num_correct) {
if (num_output != num_correct)
{
fprintf(stderr, "wrong number of outputs (%lu, not %lu)\n",
(unsigned long) num_output, (unsigned long) num_correct);
(unsigned long)num_output, (unsigned long)num_correct);
errors = true;
} else {
for (size_t j = 0; j < num_output; ++j) {
if (strcmp(tab[i].output[j], output[j]) != 0) {
}
else
{
for (size_t j = 0; j < num_output; ++j)
{
if (strcmp(tab[i].output[j], output[j]) != 0)
{
fprintf(stderr, "output[%lu] is '%s' not '%s'\n",
(unsigned long) j, output[j], tab[i].output[j]);
(unsigned long)j, output[j], tab[i].output[j]);
errors = true;
break;
}
@@ -245,6 +258,4 @@ int main(void)
return 0;
}
#endif//
#endif //

5
Extras/Serialize/BulletXmlWorldImporter/string_split.h
View File

@@ -16,7 +16,6 @@ subject to the following restrictions:
///The string split C code is by Lars Wirzenius
///See http://stackoverflow.com/questions/2531605/how-to-split-a-string-with-a-delimiter-larger-than-one-single-char
#ifndef STRING_SPLIT_H
#define STRING_SPLIT_H
@@ -27,13 +26,12 @@ subject to the following restrictions:
namespace bullet_utils
{
void split( btAlignedObjectArray<std::string>&pieces, const std::string& vector_str, const std::string& separator);
void split(btAlignedObjectArray<std::string>& pieces, const std::string& vector_str, const std::string& separator);
};
///The string split C code is by Lars Wirzenius
///See http://stackoverflow.com/questions/2531605/how-to-split-a-string-with-a-delimiter-larger-than-one-single-char
/* Split a string into substrings. Return dynamic array of dynamically
allocated substrings, or NULL if there was an error. Caller is
expected to free the memory, for example with str_array_free. */
@@ -46,4 +44,3 @@ void str_array_free(char** array);
size_t str_array_len(char** array);
#endif //STRING_SPLIT_H

134
Extras/Serialize/HeaderGenerator/apiGen.cpp
View File

@@ -36,13 +36,11 @@ typedef std::map<bString, bString> bStringMap;
typedef std::vector<class bVariable> bVariableList;
typedef std::vector<bString> bStringList;
///////////////////////////////////////////////////////////////////////////////
static FILE *dump = 0;
static bDNA *mDNA =0;
static bDNA *mDNA = 0;
static bStringMap mStructs;
///////////////////////////////////////////////////////////////////////////////
class bVariable
{
@@ -50,11 +48,9 @@ public:
bVariable();
~bVariable();
bString dataType;
bString variableName;
bString functionName;
bString classCtor;
@@ -62,7 +58,6 @@ public:
bString memberDataType;
bString functionArgs;
void initialize(bString dataType, bString variable, bStringMap refDataTable);
bool isPtr;
@@ -103,19 +98,18 @@ bool dataTypeStandard(bString dataType)
void writeTemplate(short *structData)
{
bString type = mDNA->getType(structData[0]);
bString className=type;
bString prefix = isBulletFile? "bullet_" : "blender_";
bString className = type;
bString prefix = isBulletFile ? "bullet_" : "blender_";
int thisLen = structData[1];
structData+=2;
structData += 2;
bString fileName = prefix+type;
bString fileName = prefix + type;
bVariableList dataTypes;
bStringMap includeFiles;
for (int dataVal =0; dataVal<thisLen; dataVal++, structData+=2)
for (int dataVal = 0; dataVal < thisLen; dataVal++, structData += 2)
{
bString dataType = mDNA->getType(structData[0]);
bString dataName = mDNA->getName(structData[1]);
@@ -148,7 +142,6 @@ void writeTemplate(short *structData)
if (dataName[0] != '*')
{
}
}
}
@@ -160,28 +153,26 @@ void writeTemplate(short *structData)
}
}
bStringMap::iterator include = mStructs.find(dataType);
if (include != mStructs.end())
{
if (dataName[0] != '*')
{
if (includeFiles.find(dataType)== includeFiles.end())
if (includeFiles.find(dataType) == includeFiles.end())
{
includeFiles[dataType]=prefix+dataType;
includeFiles[dataType] = prefix + dataType;
}
}
}
}
fprintf(dump, "###############################################################\n");
fprintf(dump, "%s = bStructClass()\n", fileName.c_str());
fprintf(dump, "%s.name = '%s'\n", fileName.c_str(), className.c_str());
fprintf(dump, "%s.filename = '%s'\n", fileName.c_str(), fileName.c_str());
bVariableList::iterator vars = dataTypes.begin();
while (vars!= dataTypes.end())
while (vars != dataTypes.end())
{
fprintf(dump, "%s.dataTypes.append('%s %s')\n", fileName.c_str(), vars->dataType.c_str(), vars->variableName.c_str());
vars++;
@@ -196,32 +187,27 @@ void writeTemplate(short *structData)
fprintf(dump, "DataTypeList.append(%s)\n", fileName.c_str());
}
///////////////////////////////////////////////////////////////////////////////
char data[] = {
"\n"
"class bStructClass:\n"
" def __init__(self):\n"
" self.name = \"\";\n"
" self.filename = \"\";\n"
" self.includes = []\n"
" self.dataTypes = []\n"
"\n\n"
"DataTypeList = []\n"};
///////////////////////////////////////////////////////////////////////////////
char data[]={
"\n"
"class bStructClass:\n"
" def __init__(self):\n"
" self.name = \"\";\n"
" self.filename = \"\";\n"
" self.includes = []\n"
" self.dataTypes = []\n"
"\n\n"
"DataTypeList = []\n"
};
///////////////////////////////////////////////////////////////////////////////
int main(int argc,char** argv)
int main(int argc, char **argv)
{
using namespace bParse;
dump = fopen("dump.py", "w");
if (!dump) return 0;
fprintf(dump, "%s\n", data);
#if 0
char* filename = "../../../../data/r2d2_multibody.bullet";
@@ -275,73 +261,65 @@ int main(int argc,char** argv)
#else
isBulletFile = true;
bool swap = false;
char* memBuf = sBulletDNAstr;
char *memBuf = sBulletDNAstr;
int len = sBulletDNAlen;
#endif
char *blenderData = memBuf;
int sdnaPos=0;
int sdnaPos = 0;
int mDataStart = 12;
char *tempBuffer = blenderData;
for (int i=0; i<len; i++)
for (int i = 0; i < len; i++)
{
// looking for the data's starting position
// and the start of SDNA decls
if (!mDataStart && strncmp(tempBuffer, "REND", 4)==0)
if (!mDataStart && strncmp(tempBuffer, "REND", 4) == 0)
mDataStart = i;
if (!sdnaPos && strncmp(tempBuffer, "SDNA", 4)==0)
if (!sdnaPos && strncmp(tempBuffer, "SDNA", 4) == 0)
sdnaPos = i;
if (mDataStart && sdnaPos) break;
tempBuffer++;
}
FILE* fpdna = fopen("dnaString.txt","w");
FILE *fpdna = fopen("dnaString.txt", "w");
char buf[1024];
for (int i=0;i<len-sdnaPos;i++)
for (int i = 0; i < len - sdnaPos; i++)
{
int dnaval = (memBuf+sdnaPos)[i];
int dnaval = (memBuf + sdnaPos)[i];
if ((i%32)==0)
if ((i % 32) == 0)
{
sprintf(buf,"%d,\n",dnaval);
} else
sprintf(buf, "%d,\n", dnaval);
}
else
{
sprintf(buf,"%d,",dnaval);
sprintf(buf, "%d,", dnaval);
}
fwrite(buf,strlen(buf),1,fpdna);
fwrite(buf, strlen(buf), 1, fpdna);
}
fclose(fpdna);
mDNA = new bDNA();
//mDNA->initMemory();
mDNA->init(memBuf+sdnaPos, len-sdnaPos, swap);
mDNA->init(memBuf + sdnaPos, len - sdnaPos, swap);
for (int i=0; i<mDNA->getNumStructs(); i++)
for (int i = 0; i < mDNA->getNumStructs(); i++)
{
short *structData = mDNA->getStruct(i);
bString type = mDNA->getType(structData[0]);
bString className = type;
mStructs[type]=className;
mStructs[type] = className;
}
for (int i=0; i<mDNA->getNumStructs(); i++)
for (int i = 0; i < mDNA->getNumStructs(); i++)
{
short *structData = mDNA->getStruct(i);
writeTemplate(structData);
@@ -353,23 +331,22 @@ int main(int argc,char** argv)
}
///////////////////////////////////////////////////////////////////////////////
///////////////////////////////////////////////////////////////////////////////
int _getArraySize(char* str)
int _getArraySize(char *str)
{
int a, mul=1;
char stri[100], *cp=0;
int a, mul = 1;
char stri[100], *cp = 0;
int len = (int)strlen(str);
memcpy(stri, str, len+1);
for (a=0; a<len; a++)
memcpy(stri, str, len + 1);
for (a = 0; a < len; a++)
{
if (str[a]== '[')
cp= &(stri[a+1]);
else if ( str[a]==']' && cp)
if (str[a] == '[')
cp = &(stri[a + 1]);
else if (str[a] == ']' && cp)
{
stri[a]= 0;
mul*= atoi(cp);
stri[a] = 0;
mul *= atoi(cp);
}
}
return mul;
@@ -397,7 +374,6 @@ bVariable::bVariable()
{
}
///////////////////////////////////////////////////////////////////////////////
bVariable::~bVariable()
{
@@ -405,7 +381,6 @@ bVariable::~bVariable()
variableName.clear();
}
///////////////////////////////////////////////////////////////////////////////
void bVariable::initialize(bString type, bString variable, bStringMap refDataTable)
{
@@ -422,7 +397,7 @@ void bVariable::initialize(bString type, bString variable, bStringMap refDataTab
if (variableName[1] == '*')
isFunctionPtr = true;
if (variableName[variableName.size()-1] == ']')
if (variableName[variableName.size() - 1] == ']')
{
isArray = true;
if (type == "char")
@@ -434,14 +409,13 @@ void bVariable::initialize(bString type, bString variable, bStringMap refDataTab
if (variableName[0] == 'p')
{
bString sub = variableName.substr(0,3);
bString sub = variableName.substr(0, 3);
if (sub == "pad")
isPadding = true;
}
if (dataType[0] == '/' && dataType[1] == '/')
isCommentedOut = true;
if (refDataTable.find(dataType) != refDataTable.end())
isGeneratedType = true;
@@ -450,13 +424,13 @@ void bVariable::initialize(bString type, bString variable, bStringMap refDataTab
// replace valid float arrays
if (dataType == "float" && isArray)
{
int size = _getArraySize((char*)variableName.c_str());
if (size==3)
int size = _getArraySize((char *)variableName.c_str());
if (size == 3)
{
dataType = "vec3f";
variableName = variableName.substr(0, variableName.find_first_of("["));
}
if (size==4)
if (size == 4)
{
dataType = "vec4f";
variableName = variableName.substr(0, variableName.find_first_of("["));

46
Extras/Serialize/ReadBulletSample/BulletDataExtractor.cpp
View File

@@ -22,8 +22,8 @@ enum LocalBroadphaseNativeTypes
CONVEX_HULL_SHAPE_PROXYTYPE,
CONVEX_POINT_CLOUD_SHAPE_PROXYTYPE,
CUSTOM_POLYHEDRAL_SHAPE_TYPE,
//implicit convex shapes
IMPLICIT_CONVEX_SHAPES_START_HERE,
//implicit convex shapes
IMPLICIT_CONVEX_SHAPES_START_HERE,
SPHERE_SHAPE_PROXYTYPE,
MULTI_SPHERE_SHAPE_PROXYTYPE,
CAPSULE_SHAPE_PROXYTYPE,
@@ -36,8 +36,8 @@ IMPLICIT_CONVEX_SHAPES_START_HERE,
BOX_2D_SHAPE_PROXYTYPE,
CONVEX_2D_SHAPE_PROXYTYPE,
CUSTOM_CONVEX_SHAPE_TYPE,
//concave shapes
CONCAVE_SHAPES_START_HERE,
//concave shapes
CONCAVE_SHAPES_START_HERE,
//keep all the convex shapetype below here, for the check IsConvexShape in broadphase proxy!
TRIANGLE_MESH_SHAPE_PROXYTYPE,
SCALED_TRIANGLE_MESH_SHAPE_PROXYTYPE,
@@ -45,15 +45,15 @@ CONCAVE_SHAPES_START_HERE,
FAST_CONCAVE_MESH_PROXYTYPE,
//terrain
TERRAIN_SHAPE_PROXYTYPE,
///Used for GIMPACT Trimesh integration
///Used for GIMPACT Trimesh integration
GIMPACT_SHAPE_PROXYTYPE,
///Multimaterial mesh
///Multimaterial mesh
MULTIMATERIAL_TRIANGLE_MESH_PROXYTYPE,
EMPTY_SHAPE_PROXYTYPE,
STATIC_PLANE_PROXYTYPE,
CUSTOM_CONCAVE_SHAPE_TYPE,
CONCAVE_SHAPES_END_HERE,
CONCAVE_SHAPES_END_HERE,
COMPOUND_SHAPE_PROXYTYPE,
@@ -78,19 +78,16 @@ void btBulletDataExtractor::convertAllObjects(bParse::btBulletFile* bulletFile2)
{
int i;
for (i=0;i<bulletFile2->m_collisionShapes.size();i++)
for (i = 0; i < bulletFile2->m_collisionShapes.size(); i++)
{
btCollisionShapeData* shapeData = (btCollisionShapeData*)bulletFile2->m_collisionShapes[i];
if (shapeData->m_name)
printf("converting shape %s\n", shapeData->m_name);
void* shape = convertCollisionShape(shapeData);
}
}
void* btBulletDataExtractor::convertCollisionShape( btCollisionShapeData* shapeData )
void* btBulletDataExtractor::convertCollisionShape(btCollisionShapeData* shapeData)
{
void* shape = 0;
@@ -99,7 +96,7 @@ void* btBulletDataExtractor::convertCollisionShape( btCollisionShapeData* shape
case STATIC_PLANE_PROXYTYPE:
{
btStaticPlaneShapeData* planeData = (btStaticPlaneShapeData*)shapeData;
void* shape = createPlaneShape(planeData->m_planeNormal,planeData->m_planeConstant, planeData->m_localScaling);
void* shape = createPlaneShape(planeData->m_planeNormal, planeData->m_planeConstant, planeData->m_localScaling);
break;
}
@@ -116,12 +113,12 @@ void* btBulletDataExtractor::convertCollisionShape( btCollisionShapeData* shape
{
case BOX_SHAPE_PROXYTYPE:
{
shape = createBoxShape(bsd->m_implicitShapeDimensions, bsd->m_localScaling,bsd->m_collisionMargin);
shape = createBoxShape(bsd->m_implicitShapeDimensions, bsd->m_localScaling, bsd->m_collisionMargin);
break;
}
case SPHERE_SHAPE_PROXYTYPE:
{
shape = createSphereShape(bsd->m_implicitShapeDimensions.m_floats[0],bsd->m_localScaling, bsd->m_collisionMargin);
shape = createSphereShape(bsd->m_implicitShapeDimensions.m_floats[0], bsd->m_localScaling, bsd->m_collisionMargin);
break;
}
#if 0
@@ -223,7 +220,7 @@ void* btBulletDataExtractor::convertCollisionShape( btCollisionShapeData* shape
default:
{
printf("error: cannot create shape type (%d)\n",shapeData->m_shapeType);
printf("error: cannot create shape type (%d)\n", shapeData->m_shapeType);
}
}
@@ -316,30 +313,27 @@ void* btBulletDataExtractor::convertCollisionShape( btCollisionShapeData* shape
#endif
default:
{
printf("unsupported shape type (%d)\n",shapeData->m_shapeType);
printf("unsupported shape type (%d)\n", shapeData->m_shapeType);
}
}
return shape;
}
void* btBulletDataExtractor::createBoxShape( const Bullet::btVector3FloatData& halfDimensions, const Bullet::btVector3FloatData& localScaling, float collisionMargin)
void* btBulletDataExtractor::createBoxShape(const Bullet::btVector3FloatData& halfDimensions, const Bullet::btVector3FloatData& localScaling, float collisionMargin)
{
printf("createBoxShape with halfDimensions %f,%f,%f\n",halfDimensions.m_floats[0], halfDimensions.m_floats[1],halfDimensions.m_floats[2]);
printf("createBoxShape with halfDimensions %f,%f,%f\n", halfDimensions.m_floats[0], halfDimensions.m_floats[1], halfDimensions.m_floats[2]);
return 0;
}
void* btBulletDataExtractor::createSphereShape( float radius, const Bullet::btVector3FloatData& localScaling, float collisionMargin)
void* btBulletDataExtractor::createSphereShape(float radius, const Bullet::btVector3FloatData& localScaling, float collisionMargin)
{
printf("createSphereShape with radius %f\n",radius);
printf("createSphereShape with radius %f\n", radius);
return 0;
}
void* btBulletDataExtractor::createPlaneShape( const btVector3FloatData& planeNormal, float planeConstant, const Bullet::btVector3FloatData& localScaling)
void* btBulletDataExtractor::createPlaneShape(const btVector3FloatData& planeNormal, float planeConstant, const Bullet::btVector3FloatData& localScaling)
{
printf("createPlaneShape with normal %f,%f,%f and planeConstant\n",planeNormal.m_floats[0], planeNormal.m_floats[1],planeNormal.m_floats[2],planeConstant);
printf("createPlaneShape with normal %f,%f,%f and planeConstant\n", planeNormal.m_floats[0], planeNormal.m_floats[1], planeNormal.m_floats[2], planeConstant);
return 0;
}

15
Extras/Serialize/ReadBulletSample/BulletDataExtractor.h
View File

@@ -1,32 +1,29 @@
#ifndef BULLET_DATA_EXTRACTOR_H
#define BULLET_DATA_EXTRACTOR_H
#include "../BulletFileLoader/autogenerated/bullet.h"
namespace bParse
{
class btBulletFile;
class btBulletFile;
};
class btBulletDataExtractor
{
public:
public:
btBulletDataExtractor();
virtual ~btBulletDataExtractor();
virtual void convertAllObjects(bParse::btBulletFile* bulletFile);
virtual void* convertCollisionShape( Bullet::btCollisionShapeData* shapeData );
virtual void* convertCollisionShape(Bullet::btCollisionShapeData* shapeData);
virtual void* createPlaneShape( const Bullet::btVector3FloatData& planeNormal, float planeConstant, const Bullet::btVector3FloatData& localScaling);
virtual void* createPlaneShape(const Bullet::btVector3FloatData& planeNormal, float planeConstant, const Bullet::btVector3FloatData& localScaling);
virtual void* createBoxShape( const Bullet::btVector3FloatData& halfDimensions, const Bullet::btVector3FloatData& localScaling, float collisionMargin);
virtual void* createSphereShape( float radius, const Bullet::btVector3FloatData& localScaling, float collisionMargin);
virtual void* createBoxShape(const Bullet::btVector3FloatData& halfDimensions, const Bullet::btVector3FloatData& localScaling, float collisionMargin);
virtual void* createSphereShape(float radius, const Bullet::btVector3FloatData& localScaling, float collisionMargin);
};
#endif //BULLET_DATA_EXTRACTOR_H

13
Extras/Serialize/ReadBulletSample/main.cpp
View File

@@ -13,7 +13,6 @@ subject to the following restrictions:
3. This notice may not be removed or altered from any source distribution.
*/
#include <stdio.h>
#include "../BulletFileLoader/btBulletFile.h"
#include "BulletDataExtractor.h"
@@ -25,24 +24,24 @@ subject to the following restrictions:
int main(int argc, char** argv)
{
const char* fileName="testFile.bullet";
const char* fileName = "testFile.bullet";
bool verboseDumpAllTypes = false;
bParse::btBulletFile* bulletFile2 = new bParse::btBulletFile(fileName);
bool ok = (bulletFile2->getFlags()& bParse::FD_OK)!=0;
bool ok = (bulletFile2->getFlags() & bParse::FD_OK) != 0;
if (ok)
bulletFile2->parse(verboseDumpAllTypes);
else
{
printf("Error loading file %s.\n",fileName);
printf("Error loading file %s.\n", fileName);
exit(0);
}
ok = (bulletFile2->getFlags()& bParse::FD_OK)!=0;
ok = (bulletFile2->getFlags() & bParse::FD_OK) != 0;
if (!ok)
{
printf("Error parsing file %s.\n",fileName);
printf("Error parsing file %s.\n", fileName);
exit(0);
}
@@ -51,7 +50,6 @@ int main(int argc, char** argv)
bulletFile2->dumpChunks(bulletFile2->getFileDNA());
}
btBulletDataExtractor extractor;
extractor.convertAllObjects(bulletFile2);
@@ -60,4 +58,3 @@ int main(int argc, char** argv)
return 0;
}

3
Extras/Serialize/makesdna/DNA_rigidbody.h
View File

@@ -2,7 +2,6 @@
#ifndef DNA_RIGIDBODY_H
#define DNA_RIGIDBODY_H
struct PointerArray
{
int m_size;
@@ -10,7 +9,6 @@ struct PointerArray
void *m_data;
};
struct btPhysicsSystem
{
PointerArray m_collisionShapes;
@@ -25,5 +23,4 @@ struct ListBase
void *last;
};
#endif

801
Extras/Serialize/makesdna/makesdna.cpp
View File

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