moved files around

2006-05-25 19:18:29 +00:00
commit e061ec1ebf
1024 changed files with 349445 additions and 0 deletions
--- a/Bullet/CollisionShapes/TriangleMeshShape.cpp
+++ b/Bullet/CollisionShapes/TriangleMeshShape.cpp
@@ -0,0 +1,202 @@
+/*
+Bullet Continuous Collision Detection and Physics Library
+Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
+
+This software is provided 'as-is', without any express or implied warranty.
+In no event will the authors be held liable for any damages arising from the use of this software.
+Permission is granted to anyone to use this software for any purpose, 
+including commercial applications, and to alter it and redistribute it freely, 
+subject to the following restrictions:
+
+1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
+2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
+3. This notice may not be removed or altered from any source distribution.
+*/
+
+#include "TriangleMeshShape.h"
+#include "SimdVector3.h"
+#include "SimdQuaternion.h"
+#include "StridingMeshInterface.h"
+#include "AabbUtil2.h"
+#include "CollisionShapes/CollisionMargin.h"
+
+#include "stdio.h"
+
+TriangleMeshShape::TriangleMeshShape(StridingMeshInterface* meshInterface)
+: m_meshInterface(meshInterface),
+m_collisionMargin(CONVEX_DISTANCE_MARGIN)
+{
+	RecalcLocalAabb();
+}
+
+
+TriangleMeshShape::~TriangleMeshShape()
+{
+		
+}
+
+
+
+
+void TriangleMeshShape::GetAabb(const SimdTransform& trans,SimdVector3& aabbMin,SimdVector3& aabbMax) const
+{
+
+	SimdVector3 localHalfExtents = 0.5f*(m_localAabbMax-m_localAabbMin);
+	SimdVector3 localCenter = 0.5f*(m_localAabbMax+m_localAabbMin);
+	
+	SimdMatrix3x3 abs_b = trans.getBasis().absolute();  
+
+	SimdPoint3 center = trans(localCenter);
+
+	SimdVector3 extent = SimdVector3(abs_b[0].dot(localHalfExtents),
+		   abs_b[1].dot(localHalfExtents),
+		  abs_b[2].dot(localHalfExtents));
+	extent += SimdVector3(GetMargin(),GetMargin(),GetMargin());
+
+	aabbMin = center - extent;
+	aabbMax = center + extent;
+
+	
+}
+
+void	TriangleMeshShape::RecalcLocalAabb()
+{
+	for (int i=0;i<3;i++)
+	{
+		SimdVector3 vec(0.f,0.f,0.f);
+		vec[i] = 1.f;
+		SimdVector3 tmp = LocalGetSupportingVertex(vec);
+		m_localAabbMax[i] = tmp[i]+m_collisionMargin;
+		vec[i] = -1.f;
+		tmp = LocalGetSupportingVertex(vec);
+		m_localAabbMin[i] = tmp[i]-m_collisionMargin;
+	}
+}
+
+
+
+class SupportVertexCallback : public TriangleCallback
+{
+
+	SimdVector3 m_supportVertexLocal;
+public:
+
+	SimdTransform	m_worldTrans;
+	SimdScalar m_maxDot;
+	SimdVector3 m_supportVecLocal;
+
+	SupportVertexCallback(const SimdVector3& supportVecWorld,const SimdTransform& trans)
+		: m_supportVertexLocal(0.f,0.f,0.f), m_worldTrans(trans) ,m_maxDot(-1e30f)
+		
+	{
+		m_supportVecLocal = supportVecWorld * m_worldTrans.getBasis();
+	}
+
+	virtual void ProcessTriangle( SimdVector3* triangle,int partId, int triangleIndex)
+	{
+		for (int i=0;i<3;i++)
+		{
+			SimdScalar dot = m_supportVecLocal.dot(triangle[i]);
+			if (dot > m_maxDot)
+			{
+				m_maxDot = dot;
+				m_supportVertexLocal = triangle[i];
+			}
+		}
+	}
+
+	SimdVector3 GetSupportVertexWorldSpace()
+	{
+		return m_worldTrans(m_supportVertexLocal);
+	}
+
+	SimdVector3	GetSupportVertexLocal()
+	{
+		return m_supportVertexLocal;
+	}
+
+};
+
+	
+void TriangleMeshShape::setLocalScaling(const SimdVector3& scaling)
+{
+	m_meshInterface->setScaling(scaling);
+	RecalcLocalAabb();
+}
+
+const SimdVector3& TriangleMeshShape::getLocalScaling() const
+{
+	return m_meshInterface->getScaling();
+}
+
+
+
+
+
+
+//#define DEBUG_TRIANGLE_MESH
+
+
+void	TriangleMeshShape::ProcessAllTriangles(TriangleCallback* callback,const SimdVector3& aabbMin,const SimdVector3& aabbMax) const
+{
+
+	struct FilteredCallback : public InternalTriangleIndexCallback
+	{
+		TriangleCallback* m_callback;
+		SimdVector3 m_aabbMin;
+		SimdVector3 m_aabbMax;
+
+		FilteredCallback(TriangleCallback* callback,const SimdVector3& aabbMin,const SimdVector3& aabbMax)
+			:m_callback(callback),
+			m_aabbMin(aabbMin),
+			m_aabbMax(aabbMax)
+		{
+		}
+
+		virtual void InternalProcessTriangleIndex(SimdVector3* triangle,int partId,int triangleIndex)
+		{
+			if (TestTriangleAgainstAabb2(&triangle[0],m_aabbMin,m_aabbMax))
+			{
+				//check aabb in triangle-space, before doing this
+				m_callback->ProcessTriangle(triangle,partId,triangleIndex);
+			}
+			
+		}
+
+	};
+
+	FilteredCallback filterCallback(callback,aabbMin,aabbMax);
+
+	m_meshInterface->InternalProcessAllTriangles(&filterCallback,aabbMin,aabbMax);
+
+}
+
+
+
+
+
+void	TriangleMeshShape::CalculateLocalInertia(SimdScalar mass,SimdVector3& inertia)
+{
+	//moving concave objects not supported
+	assert(0);
+	inertia.setValue(0.f,0.f,0.f);
+}
+
+
+SimdVector3 TriangleMeshShape::LocalGetSupportingVertex(const SimdVector3& vec) const
+{
+	SimdVector3 supportVertex;
+
+	SimdTransform ident;
+	ident.setIdentity();
+
+	SupportVertexCallback supportCallback(vec,ident);
+
+	SimdVector3 aabbMax(1e30f,1e30f,1e30f);
+	
+	ProcessAllTriangles(&supportCallback,-aabbMax,aabbMax);
+		
+	supportVertex = supportCallback.GetSupportVertexLocal();
+
+	return supportVertex;
+}