Added btScaledBvhTriangleMeshShape. The btScaledBvhTriangleMeshShape allows to instance multiple differently scaled versions of an existing btBvhTriangleMeshShape.
All those instances re-use the same btBvhTriangleMeshShape child shape (and its btOptimizedBvh).
This commit is contained in:
erwin.coumans
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/*
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Bullet Continuous Collision Detection and Physics Library
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Copyright (c) 2003-2008 Erwin Coumans http://continuousphysics.com/Bullet/
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This software is provided 'as-is', without any express or implied warranty.
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In no event will the authors be held liable for any damages arising from the use of this software.
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Permission is granted to anyone to use this software for any purpose,
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including commercial applications, and to alter it and redistribute it freely,
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subject to the following restrictions:
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1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
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2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
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3. This notice may not be removed or altered from any source distribution.
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*/
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#include "btScaledBvhTriangleMeshShape.h"
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btScaledBvhTriangleMeshShape::btScaledBvhTriangleMeshShape(btBvhTriangleMeshShape* childShape,btVector3 localScaling)
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:m_bvhTriMeshShape(childShape),
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m_localScaling(localScaling)
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{
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}
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btScaledBvhTriangleMeshShape::~btScaledBvhTriangleMeshShape()
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{
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}
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class btScaledTriangleCallback : public btTriangleCallback
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{
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btTriangleCallback* m_originalCallback;
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btVector3 m_localScaling;
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public:
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btScaledTriangleCallback(btTriangleCallback* originalCallback,btVector3 localScaling)
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:m_originalCallback(originalCallback),
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m_localScaling(localScaling)
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{
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}
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virtual void processTriangle(btVector3* triangle, int partId, int triangleIndex)
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{
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btVector3 newTriangle[3];
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newTriangle[0] = triangle[0]*m_localScaling;
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newTriangle[1] = triangle[1]*m_localScaling;
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newTriangle[2] = triangle[2]*m_localScaling;
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m_originalCallback->processTriangle(&newTriangle[0],partId,triangleIndex);
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}
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};
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void btScaledBvhTriangleMeshShape::processAllTriangles(btTriangleCallback* callback,const btVector3& aabbMin,const btVector3& aabbMax) const
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{
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btScaledTriangleCallback scaledCallback(callback,m_localScaling);
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btVector3 invLocalScaling(1.f/m_localScaling.getX(),1.f/m_localScaling.getY(),1.f/m_localScaling.getZ());
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btVector3 scaledAabbMin = aabbMin * invLocalScaling;
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btVector3 scaledAabbMax = aabbMax * invLocalScaling;
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m_bvhTriMeshShape->processAllTriangles(&scaledCallback,scaledAabbMin,scaledAabbMax);
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}
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void btScaledBvhTriangleMeshShape::getAabb(const btTransform& trans,btVector3& aabbMin,btVector3& aabbMax) const
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{
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btVector3 localAabbMin = m_bvhTriMeshShape->getLocalAabbMin();
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btVector3 localAabbMax = m_bvhTriMeshShape->getLocalAabbMax();
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localAabbMin *= m_localScaling;
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localAabbMax *= m_localScaling;
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btVector3 localHalfExtents = btScalar(0.5)*(localAabbMax-localAabbMin);
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btScalar margin = m_bvhTriMeshShape->getMargin();
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localHalfExtents += btVector3(margin,margin,margin);
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btVector3 localCenter = btScalar(0.5)*(localAabbMax+localAabbMin);
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btMatrix3x3 abs_b = trans.getBasis().absolute();
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btPoint3 center = trans(localCenter);
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btVector3 extent = btVector3(abs_b[0].dot(localHalfExtents),
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abs_b[1].dot(localHalfExtents),
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abs_b[2].dot(localHalfExtents));
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aabbMin = center - extent;
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aabbMax = center + extent;
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}
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void btScaledBvhTriangleMeshShape::setLocalScaling(const btVector3& scaling)
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{
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m_localScaling = scaling;
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}
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const btVector3& btScaledBvhTriangleMeshShape::getLocalScaling() const
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{
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return m_localScaling;
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}
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void btScaledBvhTriangleMeshShape::calculateLocalInertia(btScalar mass,btVector3& inertia) const
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{
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///don't make this a movable object!
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btAssert(0);
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}
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@@ -0,0 +1,55 @@
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/*
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Bullet Continuous Collision Detection and Physics Library
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Copyright (c) 2003-2008 Erwin Coumans http://continuousphysics.com/Bullet/
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This software is provided 'as-is', without any express or implied warranty.
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In no event will the authors be held liable for any damages arising from the use of this software.
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Permission is granted to anyone to use this software for any purpose,
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including commercial applications, and to alter it and redistribute it freely,
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subject to the following restrictions:
|
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|
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1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
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2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
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3. This notice may not be removed or altered from any source distribution.
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*/
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#ifndef SCALED_BVH_TRIANGLE_MESH_SHAPE_H
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#define SCALED_BVH_TRIANGLE_MESH_SHAPE_H
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#include "BulletCollision/CollisionShapes/btBvhTriangleMeshShape.h"
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///The btScaledBvhTriangleMeshShape allows to instance a scaled version of an existing btBvhTriangleMeshShape.
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///Note that each btBvhTriangleMeshShape still can have its own local scaling, independent from this btScaledBvhTriangleMeshShape 'localScaling'
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ATTRIBUTE_ALIGNED16(class) btScaledBvhTriangleMeshShape : public btConcaveShape
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{
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public:
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btVector3 m_localScaling;
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btBvhTriangleMeshShape* m_bvhTriMeshShape;
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btScaledBvhTriangleMeshShape(btBvhTriangleMeshShape* childShape,btVector3 localScaling);
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virtual ~btScaledBvhTriangleMeshShape();
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virtual int getShapeType() const
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{
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//use un-used 'FAST_CONCAVE_MESH_PROXYTYPE' for now, later add SCALED_TRIANGLE_MESH_SHAPE_PROXYTYPE to btBroadphaseProxy.h
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return FAST_CONCAVE_MESH_PROXYTYPE;
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}
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virtual void getAabb(const btTransform& t,btVector3& aabbMin,btVector3& aabbMax) const;
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virtual void setLocalScaling(const btVector3& scaling);
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virtual const btVector3& getLocalScaling() const;
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virtual void calculateLocalInertia(btScalar mass,btVector3& inertia) const;
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virtual void processAllTriangles(btTriangleCallback* callback,const btVector3& aabbMin,const btVector3& aabbMax) const;
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//debugging
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virtual const char* getName()const {return "SCALEDBVHTRIANGLEMESH";}
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};
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#endif //BVH_TRIANGLE_MESH_SHAPE_H
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