moved files around

2006-05-25 19:18:29 +00:00
commit e061ec1ebf
1024 changed files with 349445 additions and 0 deletions
--- a/Extras/BulletOdeCollide/BVHTrimeshShape.cpp
+++ b/Extras/BulletOdeCollide/BVHTrimeshShape.cpp
@@ -0,0 +1,147 @@
+
+#include "BVHTrimeshShape.h"
+
+#define TRIMESH_INTERNAL //requires OPCODE for the AABB tree
+#include <../ode/src/collision_trimesh_internal.h>
+
+//Thanks AndrewONeil for the TrimeshBridge fix
+
+BVHTrimeshShape::BVHTrimeshShape(dxTriMesh* trimesh) 
+: TriangleMeshShape(new TrimeshBridge(trimesh)) 
+, m_triangleBridge( static_cast<TrimeshBridge*>(m_meshInterface)) 
+{ 
+} 
+
+BVHTrimeshShape::~BVHTrimeshShape () 
+{ 
+   delete m_triangleBridge; 
+} 
+
+
+
+
+
+TrimeshBridge::TrimeshBridge(dxTriMesh* trimesh)
+:m_trimesh(trimesh)
+{
+}
+
+void	TrimeshBridge::getLockedReadOnlyVertexIndexBase(const unsigned char **vertexbase, int& numverts,PHY_ScalarType& type, int& stride,const unsigned char **indexbase,int & indexstride,int& numfaces,PHY_ScalarType& indicestype,int subpart) const
+{
+	numverts = m_trimesh->Data->Mesh.GetNbVertices();
+	(*vertexbase) = (unsigned char *)m_trimesh->Data->Mesh.GetVerts();
+	type = PHY_FLOAT;
+	stride = m_trimesh->Data->Mesh.GetVertexStride();
+
+	numfaces = m_trimesh->Data->Mesh.GetNbTriangles();
+	(*indexbase) = (unsigned char *)m_trimesh->Data->Mesh.GetTris();
+	indexstride = m_trimesh->Data->Mesh.GetTriStride();
+	indicestype = PHY_INTEGER;
+}
+
+void	TrimeshBridge::getLockedVertexIndexBase(unsigned char **vertexbase, int& numverts,PHY_ScalarType& type, int& stride,unsigned char **indexbase,int & indexstride,int& numfaces,PHY_ScalarType& indicestype,int subpart)
+{
+
+	numverts = m_trimesh->Data->Mesh.GetNbVertices();
+	(*vertexbase) = (unsigned char *)m_trimesh->Data->Mesh.GetVerts();
+	type = PHY_FLOAT;
+	stride = m_trimesh->Data->Mesh.GetVertexStride();
+
+	numfaces = m_trimesh->Data->Mesh.GetNbTriangles();
+	(*indexbase) = (unsigned char *)m_trimesh->Data->Mesh.GetTris();
+	indexstride = m_trimesh->Data->Mesh.GetTriStride();
+	indicestype = PHY_INTEGER;
+	
+}
+
+
+#ifdef USE_AABB_TREE
+
+	//ProcessAllTriangles first gets the overlapping triangles using BVH culling
+	//and passes them on to the TriangleCallback
+void	BVHTrimeshShape::ProcessAllTriangles(TriangleCallback* callback,const SimdVector3& aabbMin,const SimdVector3& aabbMax) const
+{
+	dxTriMesh* TriMesh = m_triangleBridge->m_trimesh;
+
+	// Init
+	const dVector3& TLPosition = *(const dVector3*)dGeomGetPosition(TriMesh);
+	const dMatrix3& TLRotation = *(const dMatrix3*)dGeomGetRotation(TriMesh);
+
+	SphereCollider& Collider = TriMesh->_SphereCollider;
+
+	
+	SimdVector3 he = (aabbMax-aabbMin)*0.5f;
+	SimdVector3 cen = (aabbMax+aabbMin)*0.5f;
+
+
+	dVector3 aabbHalfExtents;
+	aabbHalfExtents[0] = he.x();
+	aabbHalfExtents[1] = he.y();
+	aabbHalfExtents[2] = he.z();
+
+	dVector3 Position;
+	Position[0]=cen.x();
+	Position[1]=cen.y();
+	Position[2]=cen.z();
+	
+	dReal Radius = he.length();
+
+	// Bounding Sphere (from aabb)
+	Sphere Sphere;
+	Sphere.mCenter.x = Position[0];
+	Sphere.mCenter.y = Position[1];
+	Sphere.mCenter.z = Position[2];
+	Sphere.mRadius = Radius;
+
+	Matrix4x4 trimeshTransform;
+	MakeMatrix(TLPosition, TLRotation, trimeshTransform);
+
+//	bvhTraversal.getOverlappingPrimitiveIndices(
+//		indicesCache,
+//		Sphere, 
+//		TriMesh->Data->BVTree,
+//		&trimeshTransform);
+
+	Collider.SetTemporalCoherence(false);
+	Collider.SetPrimitiveTests(false);
+	Collider.Collide(dxTriMesh::defaultSphereCache, Sphere, TriMesh->Data->BVTree, null, 
+					 &trimeshTransform);
+
+	// get results
+	int TriCount = Collider.GetNbTouchedPrimitives();
+	const int* Triangles = (const int*)Collider.GetTouchedPrimitives();
+
+	if (TriCount != 0){
+		
+		int OutTriCount = 0;
+		for (int i = 0; i < TriCount; i++){
+			//what was this
+			//if (OutTriCount == (Flags & 0xffff)){
+			//	break;
+			//}
+
+			const int& TriIndex = Triangles[i];
+
+			dVector3 dv[3];
+			FetchTriangle(TriMesh, TriIndex, TLPosition, TLRotation, dv);
+	
+			SimdVector3 vts[3] = 
+			{	SimdVector3(dv[0][0],dv[0][1],dv[0][2]),
+				SimdVector3 (dv[1][0],dv[1][1],dv[1][2]),
+				SimdVector3 (dv[2][0],dv[2][1],dv[2][2])
+			};
+
+			callback->ProcessTriangle(&vts[0]);
+
+			OutTriCount++;
+		}
+		if (OutTriCount)
+		{
+
+		}
+	}
+
+
+}
+#endif //USE_AABB_TREE
+