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free memory for btShapeHulls, keep track of it in GL_ShapeDrawer.

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move btShapeHull and btConvexHull into its own library in Extras/ConvexHull (it allocates memory using mem/delete and refactoring into using btAlignedAlloc/Free takes too much time)
fix heightfield / btOptimizedBvh for quantization, so that raycast can use quantized aabb (clamp up for maxima and down for minima)

work-in-progress (update projectfiles etc)
This commit is contained in:
ejcoumans
2008-02-13 07:14:19 +00:00
parent 98006e5607
commit eeb78b8d45
31 changed files with 188 additions and 117 deletions
Download Patch File Download Diff File Expand all files Collapse all files

7
Demos/AllBulletDemos/Main.cpp
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@@ -28,7 +28,6 @@
#include "GLDebugDrawer.h"
static GLDebugDrawer gDebugDrawer;
#include "LinearMath/btQuickprof.h"
@@ -80,7 +79,7 @@ DemoApplication* CreatDemo(btDemoEntry* entry)
btAssert(demo);
if (demo->getDynamicsWorld())
{
demo->getDynamicsWorld()->setDebugDrawer(&gDebugDrawer);
demo->getDynamicsWorld()->setDebugDrawer(new GLDebugDrawer());
}
#ifndef BT_NO_PROFILE
@@ -168,6 +167,8 @@ void SimulationLoop()
if (testSelection != testIndex)
{
testIndex = testSelection;
if (demo->getDynamicsWorld() && demo->getDynamicsWorld()->getDebugDrawer())
delete demo->getDynamicsWorld()->getDebugDrawer();
delete demo;
entry = g_demoEntries + testIndex;
demo = CreatDemo(entry);
@@ -192,6 +193,8 @@ void Keyboard(unsigned char key, int x, int y)
// Press 'r' to reset.
case 'r':
if (demo->getDynamicsWorld()->getDebugDrawer())
delete demo->getDynamicsWorld()->getDebugDrawer();
delete demo;
demo = CreatDemo(entry);
Resize(width,height);

4
Demos/CollisionDemo/CollisionDemo.cpp
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@@ -232,7 +232,7 @@ void CollisionDemo::displayCallback(void) {
tr[i].getOpenGLMatrix( m );
GL_ShapeDrawer::drawOpenGL(m,shapePtr[i],btVector3(1,1,1),getDebugMode());
m_shapeDrawer.drawOpenGL(m,shapePtr[i],btVector3(1,1,1),getDebugMode());
}
@@ -248,7 +248,7 @@ void CollisionDemo::displayCallback(void) {
btTransform ident;
ident.setIdentity();
ident.getOpenGLMatrix(m);
GL_ShapeDrawer::drawOpenGL(m,&simplex,btVector3(1,1,1),getDebugMode());
m_shapeDrawer.drawOpenGL(m,&simplex,btVector3(1,1,1),getDebugMode());
btQuaternion orn;

2
Demos/CollisionInterfaceDemo/CollisionInterfaceDemo.cpp
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@@ -164,7 +164,7 @@ void CollisionInterfaceDemo::displayCallback(void) {
{
objects[i].getWorldTransform().getOpenGLMatrix( m );
GL_ShapeDrawer::drawOpenGL(m,objects[i].getCollisionShape(),btVector3(1,1,1),getDebugMode());
m_shapeDrawer.drawOpenGL(m,objects[i].getCollisionShape(),btVector3(1,1,1),getDebugMode());
}

16
Demos/ContinuousConvexCollision/ContinuousConvexCollisionDemo.cpp
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@@ -152,7 +152,7 @@ void btContinuousConvexCollisionDemo::displayCallback(void) {
/*for (i=0;i<numObjects;i++)
{
fromTrans[i].getOpenGLMatrix( m );
GL_ShapeDrawer::drawOpenGL(m,shapePtr[i]);
m_shapeDrawer.drawOpenGL(m,shapePtr[i]);
}
*/
@@ -171,13 +171,13 @@ void btContinuousConvexCollisionDemo::displayCallback(void) {
btTransformUtil::integrateTransform(fromTrans[i],linVels[i],angVels[i],subStep,interpolatedTrans);
//fromTrans[i].getOpenGLMatrix(m);
//GL_ShapeDrawer::drawOpenGL(m,shapePtr[i]);
//m_shapeDrawer.drawOpenGL(m,shapePtr[i]);
//toTrans[i].getOpenGLMatrix(m);
//GL_ShapeDrawer::drawOpenGL(m,shapePtr[i]);
//m_shapeDrawer.drawOpenGL(m,shapePtr[i]);
interpolatedTrans.getOpenGLMatrix( m );
GL_ShapeDrawer::drawOpenGL(m,shapePtr[i],btVector3(1,0,1),getDebugMode());
m_shapeDrawer.drawOpenGL(m,shapePtr[i],btVector3(1,0,1),getDebugMode());
}
}
}
@@ -229,10 +229,10 @@ void btContinuousConvexCollisionDemo::displayCallback(void) {
for (i=0;i<numObjects;i++)
{
fromTrans[i].getOpenGLMatrix(m);
GL_ShapeDrawer::drawOpenGL(m,shapePtr[i],btVector3(1,1,1),getDebugMode());
m_shapeDrawer.drawOpenGL(m,shapePtr[i],btVector3(1,1,1),getDebugMode());
}
btDebugCastResult rayResult1(fromTrans[0],shapePtr[0],linVels[0],angVels[0]);
btDebugCastResult rayResult1(fromTrans[0],shapePtr[0],linVels[0],angVels[0],&m_shapeDrawer);
for (i=1;i<numObjects;i++)
@@ -267,12 +267,12 @@ void btContinuousConvexCollisionDemo::displayCallback(void) {
btTransformUtil::integrateTransform(fromTrans[0],linVels[0],angVels[0],rayResultPtr->m_fraction,hitTrans);
hitTrans.getOpenGLMatrix(m);
GL_ShapeDrawer::drawOpenGL(m,shapePtr[0],btVector3(0,1,0),getDebugMode());
m_shapeDrawer.drawOpenGL(m,shapePtr[0],btVector3(0,1,0),getDebugMode());
btTransformUtil::integrateTransform(fromTrans[i],linVels[i],angVels[i],rayResultPtr->m_fraction,hitTrans);
hitTrans.getOpenGLMatrix(m);
GL_ShapeDrawer::drawOpenGL(m,shapePtr[i],btVector3(0,1,1),getDebugMode());
m_shapeDrawer.drawOpenGL(m,shapePtr[i],btVector3(0,1,1),getDebugMode());
}

2
Demos/ConvexDecompositionDemo/ConvexDecompositionDemo.cpp
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@@ -21,7 +21,7 @@ subject to the following restrictions:
#include "LinearMath/btQuickprof.h"
#include "LinearMath/btIDebugDraw.h"
#include "LinearMath/btGeometryUtil.h"
#include "BulletCollision/CollisionShapes/btShapeHull.h"
#include "btShapeHull.h"
//#define USE_PARALLEL_DISPATCHER 1
#ifdef USE_PARALLEL_DISPATCHER

54
Demos/ConvexDecompositionDemo/main.cpp
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@@ -1,28 +1,28 @@
#include "ConvexDecompositionDemo.h"
#include "GlutStuff.h"
#include "ConvexDecompositionDemo.h"
#include "GlutStuff.h"
#include "GLDebugDrawer.h"
#include "btBulletDynamicsCommon.h"
GLDebugDrawer gDebugDrawer;
int main(int argc,char** argv)
{
const char* filename = "file.obj";
ConvexDecompositionDemo* convexDecompDemo = new ConvexDecompositionDemo();
convexDecompDemo->initPhysics(filename);
convexDecompDemo->getDynamicsWorld()->setDebugDrawer(&gDebugDrawer);
convexDecompDemo->clientResetScene();
return glutmain(argc, argv,640,480,"Bullet Physics Demo. http://www.continuousphysics.com/Bullet/phpBB2/",convexDecompDemo);
}
#include "btBulletDynamicsCommon.h"
GLDebugDrawer gDebugDrawer;
int main(int argc,char** argv)
{
const char* filename = "file.obj";
ConvexDecompositionDemo* convexDecompDemo = new ConvexDecompositionDemo();
convexDecompDemo->initPhysics(filename);
convexDecompDemo->getDynamicsWorld()->setDebugDrawer(&gDebugDrawer);
convexDecompDemo->clientResetScene();
return glutmain(argc, argv,640,480,"Bullet Physics Demo. http://www.continuousphysics.com/Bullet/phpBB2/",convexDecompDemo);
}

2
Demos/DoublePrecisionDemo/DoublePrecisionDemo.cpp
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@@ -169,7 +169,7 @@ void DoublePrecisionDemo::displayCallback(void)
temp = objects[i].getWorldTransform();
temp.setOrigin(temp.getOrigin() - m_cameraPosition);
temp.getOpenGLMatrix( m );
GL_ShapeDrawer::drawOpenGL(m,objects[i].getCollisionShape(),color,getDebugMode());
m_shapeDrawer.drawOpenGL(m,objects[i].getCollisionShape(),color,getDebugMode());
}
objects[1].getWorldTransform().setOrigin(objects[1].getWorldTransform().getOrigin()+btVector3(-VERY_SMALL_INCREMENT,-VERY_SMALL_INCREMENT,0));

2
Demos/GimpactTestDemo/GimpactTestDemo.cpp
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@@ -152,7 +152,7 @@ void GimpactConcaveDemo::renderme()
}
}
GL_ShapeDrawer::drawOpenGL(m,colObj->getCollisionShape(),wireColor,getDebugMode());
m_shapeDrawer.drawOpenGL(m,colObj->getCollisionShape(),wireColor,getDebugMode());
}

8
Demos/GjkConvexCastDemo/LinearConvexCastDemo.cpp
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@@ -137,8 +137,8 @@ void LinearConvexCastDemo::displayCallback(void)
tr[ 0 ].getOpenGLMatrix( m1 );
tr[ 1 ].getOpenGLMatrix( m2 );
GL_ShapeDrawer::drawOpenGL( m1, shapePtr[ 0 ], btVector3( 1, 0, 0 ), getDebugMode() );
GL_ShapeDrawer::drawOpenGL( m2, shapePtr[ 1 ], btVector3( 1, 0, 0 ), getDebugMode() );
m_shapeDrawer.drawOpenGL( m1, shapePtr[ 0 ], btVector3( 1, 0, 0 ), getDebugMode() );
m_shapeDrawer.drawOpenGL( m2, shapePtr[ 1 ], btVector3( 1, 0, 0 ), getDebugMode() );
btVector3 originA, originB;
originA.setInterpolate3( tr[ 0 ].getOrigin(), toA.getOrigin(), result.m_fraction );
@@ -153,8 +153,8 @@ void LinearConvexCastDemo::displayCallback(void)
A.getOpenGLMatrix( m1 );
B.getOpenGLMatrix( m2 );
GL_ShapeDrawer::drawOpenGL( m1, shapePtr[ 0 ], btVector3( 1, 1, 0 ), getDebugMode() );
GL_ShapeDrawer::drawOpenGL( m2, shapePtr[ 1 ], btVector3( 1, 1, 0 ), getDebugMode() );
m_shapeDrawer.drawOpenGL( m1, shapePtr[ 0 ], btVector3( 1, 1, 0 ), getDebugMode() );
m_shapeDrawer.drawOpenGL( m2, shapePtr[ 1 ], btVector3( 1, 1, 0 ), getDebugMode() );
glFlush();
glutSwapBuffers();

2
Demos/MovingConcaveDemo/ConcavePhysicsDemo.cpp
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@@ -1535,7 +1535,7 @@ void ConcaveDemo::renderme()
}
}
GL_ShapeDrawer::drawOpenGL(m,colObj->getCollisionShape(),wireColor,getDebugMode());
m_shapeDrawer.drawOpenGL(m,colObj->getCollisionShape(),wireColor,getDebugMode());
}

6
Demos/OpenGL/DebugCastResult.h
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@@ -37,9 +37,10 @@ struct btDebugCastResult : public btConvexCast::CastResult
const btPolyhedralConvexShape* m_shape;
btVector3 m_linVel;
btVector3 m_angVel;
GL_ShapeDrawer* m_shapeDrawer;
btDebugCastResult(const btTransform& fromTrans,const btPolyhedralConvexShape* shape,
const btVector3& linVel,const btVector3& angVel)
const btVector3& linVel,const btVector3& angVel,GL_ShapeDrawer* drawer)
:m_fromTrans(fromTrans),
m_shape(shape),
m_linVel(linVel),
@@ -74,8 +75,7 @@ struct btDebugCastResult : public btConvexCast::CastResult
btTransform hitTrans;
btTransformUtil::integrateTransform(m_fromTrans,m_linVel,m_angVel,fraction,hitTrans);
hitTrans.getOpenGLMatrix(m);
GL_ShapeDrawer::drawOpenGL(m,m_shape,btVector3(1,0,0),btIDebugDraw::DBG_NoDebug);
m_shapeDrawer->drawOpenGL(m,m_shape,btVector3(1,0,0),btIDebugDraw::DBG_NoDebug);
}
};

2
Demos/OpenGL/DemoApplication.cpp
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@@ -927,7 +927,7 @@ void DemoApplication::renderme()
}
}
GL_ShapeDrawer::drawOpenGL(m,colObj->getCollisionShape(),wireColor,getDebugMode());
m_shapeDrawer.drawOpenGL(m,colObj->getCollisionShape(),wireColor,getDebugMode());
}

3
Demos/OpenGL/DemoApplication.h
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@@ -18,6 +18,7 @@ subject to the following restrictions:
#include "GlutStuff.h"
#include "GL_ShapeDrawer.h"
#include <stdlib.h>
#include <stdio.h>
@@ -37,7 +38,6 @@ class btTypedConstraint;
class DemoApplication
{
void displayProfileString(int xOffset,int yStart,char* message);
@@ -81,6 +81,7 @@ class DemoApplication
void showProfileInfo(float& xOffset,float& yStart, float yIncr);
GL_ShapeDrawer m_shapeDrawer;
public:

29
Demos/OpenGL/GL_ShapeDrawer.cpp
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@@ -40,7 +40,8 @@ subject to the following restrictions:
#include "BulletCollision/CollisionShapes/btConvexTriangleMeshShape.h"
#include "BulletCollision/CollisionShapes/btUniformScalingShape.h"
#include "BulletCollision/CollisionShapes/btStaticPlaneShape.h"
#include "BulletCollision/CollisionShapes/btShapeHull.h"
///
#include "btShapeHull.h"
#include "LinearMath/btTransformUtil.h"
@@ -470,7 +471,12 @@ void GL_ShapeDrawer::drawOpenGL(btScalar* m, const btCollisionShape* shape, cons
if (!shape->getUserPointer())
{
//create a hull approximation
btShapeHull* hull = new btShapeHull(convexShape);
void* mem = btAlignedAlloc(sizeof(btShapeHull),16);
btShapeHull* hull = new(mem) btShapeHull(convexShape);
///cleanup memory
m_shapeHulls.push_back(hull);
btScalar margin = shape->getMargin();
hull->buildHull(margin);
convexShape->setUserPointer(hull);
@@ -655,3 +661,22 @@ void GL_ShapeDrawer::drawOpenGL(btScalar* m, const btCollisionShape* shape, cons
glPopMatrix();
}
GL_ShapeDrawer::GL_ShapeDrawer()
{
}
GL_ShapeDrawer::~GL_ShapeDrawer()
{
int i;
for (i=0;i<m_shapeHulls.size();i++)
{
btShapeHull* hull = m_shapeHulls[i];
hull->~btShapeHull();
btAlignedFree(hull);
m_shapeHulls[i] = 0;
}
m_shapeHulls.clear();
}

16
Demos/OpenGL/GL_ShapeDrawer.h
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@@ -16,16 +16,26 @@ subject to the following restrictions:
#define GL_SHAPE_DRAWER_H
class btCollisionShape;
class btShapeHull;
#include "LinearMath/btAlignedObjectArray.h"
#include "LinearMath/btVector3.h"
/// OpenGL shape drawing
class GL_ShapeDrawer
{
public:
//clean-up memory of dynamically created shape hulls
btAlignedObjectArray<btShapeHull*> m_shapeHulls;
static void drawOpenGL(btScalar* m, const btCollisionShape* shape, const btVector3& color,int debugMode);
static void drawCoordSystem();
public:
GL_ShapeDrawer();
virtual ~GL_ShapeDrawer();
///drawOpenGL might allocate temporary memoty, stores pointer in shape userpointer
void drawOpenGL(btScalar* m, const btCollisionShape* shape, const btVector3& color,int debugMode);
static void drawCylinder(float radius,float halfHeight, int upAxis);
static void drawCoordSystem();
};
void OGL_displaylist_register_shape(btCollisionShape * shape);

2
Demos/SimplexDemo/SimplexDemo.cpp
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@@ -88,7 +88,7 @@ void SimplexDemo::displayCallback()
transA.getOpenGLMatrix( m );
/// draw the simplex
GL_ShapeDrawer::drawOpenGL(m,shapePtr[i],btVector3(1,1,1),getDebugMode());
m_shapeDrawer.drawOpenGL(m,shapePtr[i],btVector3(1,1,1),getDebugMode());
/// calculate closest point from simplex to the origin, and draw this vector
simplex.calcClosest(m);

2
Demos/VehicleDemo/VehicleDemo.cpp
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@@ -409,7 +409,7 @@ void VehicleDemo::renderme()
m_vehicle->updateWheelTransform(i,true);
//draw wheels (cylinders)
m_vehicle->getWheelInfo(i).m_worldTransform.getOpenGLMatrix(m);
GL_ShapeDrawer::drawOpenGL(m,&wheelShape,wheelColor,getDebugMode());
m_shapeDrawer.drawOpenGL(m,&wheelShape,wheelColor,getDebugMode());
}

2
Extras/BulletColladaConverter/ColladaConverter.cpp
View File

@@ -30,12 +30,12 @@ subject to the following restrictions:
#include "dom/domCOLLADA.h"
#include "dae/domAny.h"
#include "dom/domConstants.h"
#include "btShapeHull.h"
#include "BulletCollision/CollisionShapes/btBoxShape.h"
#include "BulletCollision/CollisionShapes/btSphereShape.h"
#include "BulletCollision/CollisionShapes/btCylinderShape.h"
#include "BulletCollision/CollisionShapes/btConeShape.h"
#include "BulletCollision/CollisionShapes/btShapeHull.h"
#include "BulletCollision/CollisionShapes/btStaticPlaneShape.h"
#include "BulletCollision/CollisionShapes/btConvexHullShape.h"
#include "BulletCollision/CollisionShapes/btTriangleMesh.h"

4
Extras/BulletMultiThreaded/SpuNarrowPhaseCollisionTask/SpuGatheringCollisionTask.cpp
View File

@@ -363,8 +363,8 @@ void ProcessConvexConcaveSpuCollision(SpuCollisionPairInput* wuInput, CollisionT
///quantize query AABB
unsigned short int quantizedQueryAabbMin[3];
unsigned short int quantizedQueryAabbMax[3];
lsMemPtr->bvhShapeData.getOptimizedBvh()->quantizeWithClamp(quantizedQueryAabbMin,aabbMin);
lsMemPtr->bvhShapeData.getOptimizedBvh()->quantizeWithClamp(quantizedQueryAabbMax,aabbMax);
lsMemPtr->bvhShapeData.getOptimizedBvh()->quantizeWithClamp(quantizedQueryAabbMin,aabbMin,0);
lsMemPtr->bvhShapeData.getOptimizedBvh()->quantizeWithClamp(quantizedQueryAabbMax,aabbMax,1);
QuantizedNodeArray& nodeArray = lsMemPtr->bvhShapeData.getOptimizedBvh()->getQuantizedNodeArray();
//spu_printf("SPU: numNodes = %d\n",nodeArray.size());

2
Extras/CMakeLists.txt
View File

@@ -1 +1 @@
SUBDIRS( glui ConvexDecomposition BulletMultiThreaded BulletColladaConverter LibXML COLLADA_DOM GIMPACTUtils GIMPACT )
SUBDIRS( glui ConvexDecomposition ConvexHull BulletMultiThreaded BulletColladaConverter LibXML COLLADA_DOM GIMPACTUtils GIMPACT )

10
Extras/ConvexHull/CMakeLists.txt Normal file
View File

@@ -0,0 +1,10 @@
INCLUDE_DIRECTORIES(
${BULLET_PHYSICS_SOURCE_DIR}/src ${BULLET_PHYSICS_SOURCE_DIR}/Extras/ConvexHull
)
ADD_LIBRARY(LibConvexHull
btConvexHull.h
btConvexHull.cpp
btShapeHull.cpp
btShapeHull.h
)

17
Extras/ConvexHull/Jamfile Normal file
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@@ -0,0 +1,17 @@
SubDir TOP Extras ConvexHull ;
Library convexhull : [ Wildcard *.h *.cpp ] : noinstall ;
#internal header path to compile convexhull
CFlags convexhull : [ FIncludes $(TOP)/Extras/ConvexHull ] ;
#expose header include path for apps that depend on ConvexHull
convexhull.CFLAGS = [ FIncludes $(TOP)/Extras/ConvexHull ] ;
#same for msvcgen
MsvcGenConfig convexhull.INCDIRS : $(TOP)/Extras/ConvexHull ;
#for the include paths
LibDepends convexhull : bulletcollision ;
#InstallHeader [ Wildcard *.h ] : ConvexHull ;

44
src/LinearMath/btConvexHull.cpp → Extras/ConvexHull/btConvexHull.cpp
View File

@@ -196,6 +196,16 @@ class ConvexH
HalfEdge(){}
HalfEdge(short _ea,unsigned char _v, unsigned char _p):ea(_ea),v(_v),p(_p){}
};
ConvexH()
{
int i;
i=0;
}
~ConvexH()
{
int i;
i=0;
}
btAlignedObjectArray<REAL3> vertices;
btAlignedObjectArray<HalfEdge> edges;
btAlignedObjectArray<Plane> facets;
@@ -415,9 +425,9 @@ ConvexH *ConvexHCrop(ConvexH &convex,const Plane &slice)
int i;
int vertcountunder=0;
int vertcountover =0;
static btAlignedObjectArray<int> vertscoplanar; // existing vertex members of convex that are coplanar
btAlignedObjectArray<int> vertscoplanar; // existing vertex members of convex that are coplanar
vertscoplanar.resize(0);
static btAlignedObjectArray<int> edgesplit; // existing edges that members of convex that cross the splitplane
btAlignedObjectArray<int> edgesplit; // existing edges that members of convex that cross the splitplane
edgesplit.resize(0);
assert(convex.edges.size()<480);
@@ -1164,7 +1174,7 @@ int calchull(btVector3 *verts,int verts_count, int *&tris_out, int &tris_count,i
}
}
tris_count = ts.size()/3;
tris_out = (int*)btAlignedAlloc(sizeof(int)*ts.size(),16);
tris_out = (int*)new int[ts.size()];
for (i=0;i<ts.size();i++)
{
@@ -1216,7 +1226,7 @@ int overhull(Plane *planes,int planes_count,btVector3 *verts, int verts_count,in
assert(AssertIntact(*c));
//return c;
faces_out = (int*)btAlignedAlloc(sizeof(int)*(1+c->facets.size()+c->edges.size()),16); // new int[1+c->facets.size()+c->edges.size()];
faces_out = (int*)new int[(1+c->facets.size()+c->edges.size())]; // new int[1+c->facets.size()+c->edges.size()];
faces_count_out=0;
i=0;
faces_out[faces_count_out++]=-1;
@@ -1273,7 +1283,7 @@ void ReleaseHull(PHullResult &result)
{
if ( result.mIndices )
{
btAlignedFree(result.mIndices);
delete[]result.mIndices;
}
result.mVcount = 0;
@@ -1307,7 +1317,7 @@ HullError HullLibrary::CreateConvexHull(const HullDesc &desc, //
unsigned int vcount = desc.mVcount;
if ( vcount < 8 ) vcount = 8;
btVector3* vsource = (btVector3*) btAlignedAlloc (sizeof(btVector3)*vcount,16);
btVector3* vsource = new btVector3[vcount];
btVector3 scale;
@@ -1336,7 +1346,7 @@ HullError HullLibrary::CreateConvexHull(const HullDesc &desc, //
{
// re-index triangle mesh so it refers to only used vertices, rebuild a new vertex table.
btVector3 *vscratch = (btVector3 *) btAlignedAlloc( sizeof(btVector3)*hr.mVcount,16);
btVector3 *vscratch = new btVector3[hr.mVcount];
BringOutYourDead(hr.mVertices,hr.mVcount, vscratch, ovcount, hr.mIndices, hr.mIndexCount );
ret = QE_OK;
@@ -1345,11 +1355,11 @@ HullError HullLibrary::CreateConvexHull(const HullDesc &desc, //
{
result.mPolygons = false;
result.mNumOutputVertices = ovcount;
result.mOutputVertices = (btVector3 *)btAlignedAlloc( sizeof(btVector3)*ovcount,16);
result.mOutputVertices = new btVector3[ovcount];;
result.mNumFaces = hr.mFaceCount;
result.mNumIndices = hr.mIndexCount;
result.mIndices = (unsigned int *) btAlignedAlloc( sizeof(unsigned int)*hr.mIndexCount,16);
result.mIndices = new unsigned int[hr.mIndexCount];
memcpy(result.mOutputVertices, vscratch, sizeof(btVector3)*ovcount );
@@ -1378,10 +1388,10 @@ HullError HullLibrary::CreateConvexHull(const HullDesc &desc, //
{
result.mPolygons = true;
result.mNumOutputVertices = ovcount;
result.mOutputVertices = (btVector3 *)btAlignedAlloc( sizeof(btVector3)*ovcount,16);
result.mOutputVertices = new btVector3[ovcount];
result.mNumFaces = hr.mFaceCount;
result.mNumIndices = hr.mIndexCount+hr.mFaceCount;
result.mIndices = (unsigned int *) btAlignedAlloc( sizeof(unsigned int)*result.mNumIndices,16);
result.mIndices = new unsigned int[result.mNumIndices];
memcpy(result.mOutputVertices, vscratch, sizeof(btVector3)*ovcount );
if ( 1 )
@@ -1412,14 +1422,14 @@ HullError HullLibrary::CreateConvexHull(const HullDesc &desc, //
ReleaseHull(hr);
if ( vscratch )
{
btAlignedFree(vscratch);
delete[] vscratch;
}
}
}
if ( vsource )
{
btAlignedFree(vsource);
delete[] vsource;
}
@@ -1432,12 +1442,12 @@ HullError HullLibrary::ReleaseResult(HullResult &result) // release memory alloc
{
if ( result.mOutputVertices )
{
btAlignedFree(result.mOutputVertices);
delete[] result.mOutputVertices;
result.mOutputVertices = 0;
}
if ( result.mIndices )
{
btAlignedFree(result.mIndices);
delete[] result.mIndices;
result.mIndices = 0;
}
return QE_OK;
@@ -1724,7 +1734,7 @@ bool HullLibrary::CleanupVertices(unsigned int svcount,
void HullLibrary::BringOutYourDead(const btVector3* verts,unsigned int vcount, btVector3* overts,unsigned int &ocount,unsigned int *indices,unsigned indexcount)
{
unsigned int *used = (unsigned int *)btAlignedAlloc(sizeof(unsigned int)*vcount,16);
unsigned int *used = new unsigned int[vcount];
memset(used,0,sizeof(unsigned int)*vcount);
ocount = 0;
@@ -1756,5 +1766,5 @@ void HullLibrary::BringOutYourDead(const btVector3* verts,unsigned int vcount, b
}
}
btAlignedFree(used);
delete[] used;
}

0
src/LinearMath/btConvexHull.h → Extras/ConvexHull/btConvexHull.h
View File

2
src/BulletCollision/CollisionShapes/btShapeHull.cpp → Extras/ConvexHull/btShapeHull.cpp
View File

@@ -16,7 +16,7 @@ subject to the following restrictions:
*/
#include "btShapeHull.h"
#include "LinearMath/btConvexHull.h"
#include "btConvexHull.h"
#define NUM_UNITSPHERE_POINTS 42

2
src/BulletCollision/CollisionShapes/btShapeHull.h → Extras/ConvexHull/btShapeHull.h
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@@ -19,7 +19,7 @@ subject to the following restrictions:
#define _SHAPE_HULL_H
#include "LinearMath/btAlignedObjectArray.h"
#include "btConvexShape.h"
#include "BulletCollision/CollisionShapes/btConvexShape.h"
///btShapeHull takes a btConvexShape, builds the convex hull using btConvexHull and provides triangle indices and vertices.

1
Extras/Jamfile
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@@ -3,6 +3,7 @@ SubDir TOP Extras ;
SubInclude TOP Extras ConvexDecomposition ;
SubInclude TOP Extras COLLADA_DOM ;
SubInclude TOP Extras glui ;
SubInclude TOP Extras ConvexHull ;
SubInclude TOP Extras LibXML ;
SubInclude TOP Extras BulletColladaConverter ;
SubInclude TOP Extras BulletMultiThreaded ;

18
src/BulletCollision/CollisionShapes/btHeightfieldTerrainShape.cpp
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@@ -182,20 +182,16 @@ void btHeightfieldTerrainShape::getVertex(int x,int y,btVector3& vertex) const
}
void btHeightfieldTerrainShape::quantizeWithClamp(int* out, const btVector3& point) const
void btHeightfieldTerrainShape::quantizeWithClamp(int* out, const btVector3& point,int isMax) const
{
btVector3 clampedPoint(point);
clampedPoint.setMax(m_localAabbMin);
clampedPoint.setMin(m_localAabbMax);
btVector3 v = (clampedPoint );// * m_quantization;
// SMJ - Add 0.5 in the correct direction before doing the int conversion.
out[0] = (int)(v.getX() + v.getX() / btFabs(v.getX())* btScalar(0.5) );
out[1] = (int)(v.getY() + v.getY() / btFabs(v.getY())* btScalar(0.5) );
out[2] = (int)(v.getZ() + v.getZ() / btFabs(v.getZ())* btScalar(0.5) );
btVector3 v = (clampedPoint);// - m_bvhAabbMin) * m_bvhQuantization;
out[0] = (unsigned short)(((unsigned short)v.getX() & 0xffffffe) | isMax);
out[1] = (unsigned short)(((unsigned short)v.getY() & 0xffffffe) | isMax);
out[2] = (unsigned short)(((unsigned short)v.getZ() & 0xffffffe) | isMax);
}
@@ -214,8 +210,8 @@ void btHeightfieldTerrainShape::processAllTriangles(btTriangleCallback* callback
btVector3 localAabbMin = aabbMin*btVector3(1.f/m_localScaling[0],1.f/m_localScaling[1],1.f/m_localScaling[2]);
btVector3 localAabbMax = aabbMax*btVector3(1.f/m_localScaling[0],1.f/m_localScaling[1],1.f/m_localScaling[2]);
quantizeWithClamp(quantizedAabbMin, localAabbMin);
quantizeWithClamp(quantizedAabbMax, localAabbMax);
quantizeWithClamp(quantizedAabbMin, localAabbMin,0);
quantizeWithClamp(quantizedAabbMax, localAabbMax,1);

2
src/BulletCollision/CollisionShapes/btHeightfieldTerrainShape.h
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@@ -47,7 +47,7 @@ protected:
btVector3 m_localScaling;
virtual btScalar getHeightFieldValue(int x,int y) const;
void quantizeWithClamp(int* out, const btVector3& point) const;
void quantizeWithClamp(int* out, const btVector3& point,int isMax) const;
void getVertex(int x,int y,btVector3& vertex) const;
inline bool testQuantizedAabbAgainstQuantizedAabb(int* aabbMin1, int* aabbMax1,const int* aabbMin2,const int* aabbMax2) const

24
src/BulletCollision/CollisionShapes/btOptimizedBvh.cpp
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@@ -132,8 +132,8 @@ void btOptimizedBvh::build(btStridingMeshInterface* triangles, bool useQuantized
aabbMin.setZ(aabbMin.z() - MIN_AABB_HALF_DIMENSION);
}
m_optimizedTree->quantizeWithClamp(&node.m_quantizedAabbMin[0],aabbMin);
m_optimizedTree->quantizeWithClamp(&node.m_quantizedAabbMax[0],aabbMax);
m_optimizedTree->quantizeWithClamp(&node.m_quantizedAabbMin[0],aabbMin,0);
m_optimizedTree->quantizeWithClamp(&node.m_quantizedAabbMax[0],aabbMax,1);
node.m_escapeIndexOrTriangleIndex = (partId<<(31-MAX_NUM_PARTS_IN_BITS)) | triangleIndex;
@@ -221,8 +221,8 @@ void btOptimizedBvh::refitPartial(btStridingMeshInterface* meshInterface,const b
unsigned short quantizedQueryAabbMin[3];
unsigned short quantizedQueryAabbMax[3];
quantizeWithClamp(&quantizedQueryAabbMin[0],aabbMin);
quantizeWithClamp(&quantizedQueryAabbMax[0],aabbMax);
quantizeWithClamp(&quantizedQueryAabbMin[0],aabbMin,0);
quantizeWithClamp(&quantizedQueryAabbMax[0],aabbMax,1);
int i;
for (i=0;i<this->m_SubtreeHeaders.size();i++)
@@ -328,8 +328,8 @@ void btOptimizedBvh::updateBvhNodes(btStridingMeshInterface* meshInterface,int f
aabbMin.setMin(triangleVerts[2]);
aabbMax.setMax(triangleVerts[2]);
quantizeWithClamp(&curNode.m_quantizedAabbMin[0],aabbMin);
quantizeWithClamp(&curNode.m_quantizedAabbMax[0],aabbMax);
quantizeWithClamp(&curNode.m_quantizedAabbMin[0],aabbMin,0);
quantizeWithClamp(&curNode.m_quantizedAabbMax[0],aabbMax,1);
} else
{
@@ -613,8 +613,8 @@ void btOptimizedBvh::reportAabbOverlappingNodex(btNodeOverlapCallback* nodeCallb
///quantize query AABB
unsigned short int quantizedQueryAabbMin[3];
unsigned short int quantizedQueryAabbMax[3];
quantizeWithClamp(quantizedQueryAabbMin,aabbMin);
quantizeWithClamp(quantizedQueryAabbMax,aabbMax);
quantizeWithClamp(quantizedQueryAabbMin,aabbMin,0);
quantizeWithClamp(quantizedQueryAabbMax,aabbMax,1);
switch (m_traversalMode)
{
@@ -783,8 +783,8 @@ void btOptimizedBvh::walkStacklessQuantizedTreeAgainstRay(btNodeOverlapCallback*
unsigned short int quantizedQueryAabbMin[3];
unsigned short int quantizedQueryAabbMax[3];
quantizeWithClamp(quantizedQueryAabbMin,rayAabbMin);
quantizeWithClamp(quantizedQueryAabbMax,rayAabbMax);
quantizeWithClamp(quantizedQueryAabbMin,rayAabbMin,0);
quantizeWithClamp(quantizedQueryAabbMax,rayAabbMax,1);
while (curIndex < endNodeIndex)
{
@@ -833,11 +833,11 @@ void btOptimizedBvh::walkStacklessQuantizedTreeAgainstRay(btNodeOverlapCallback*
}
#endif
#ifdef RAYAABB2
///disable this check: need to check division by zero (above) and fix the unQuantize method
///careful with this check: need to check division by zero (above) and fix the unQuantize method
///thanks Joerg/hiker for the reproduction case!
///http://www.bulletphysics.com/Bullet/phpBB3/viewtopic.php?f=9&t=1858
rayBoxOverlap = true;//btRayAabb2 (raySource, rayDirection, sign, bounds, param, 0.0, lambda_max);
rayBoxOverlap = btRayAabb2 (raySource, rayDirection, sign, bounds, param, 0.0f, lambda_max);
#else
rayBoxOverlap = true;//btRayAabb(raySource, rayTarget, bounds[0], bounds[1], param, normal);
#endif

18
src/BulletCollision/CollisionShapes/btOptimizedBvh.h
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@@ -191,7 +191,7 @@ protected:
{
if (m_useQuantization)
{
quantizeWithClamp(&m_quantizedContiguousNodes[nodeIndex].m_quantizedAabbMin[0] ,aabbMin);
quantizeWithClamp(&m_quantizedContiguousNodes[nodeIndex].m_quantizedAabbMin[0] ,aabbMin,0);
} else
{
m_contiguousNodes[nodeIndex].m_aabbMinOrg = aabbMin;
@@ -202,7 +202,7 @@ protected:
{
if (m_useQuantization)
{
quantizeWithClamp(&m_quantizedContiguousNodes[nodeIndex].m_quantizedAabbMax[0],aabbMax);
quantizeWithClamp(&m_quantizedContiguousNodes[nodeIndex].m_quantizedAabbMax[0],aabbMax,1);
} else
{
m_contiguousNodes[nodeIndex].m_aabbMaxOrg = aabbMax;
@@ -251,8 +251,8 @@ protected:
{
unsigned short int quantizedAabbMin[3];
unsigned short int quantizedAabbMax[3];
quantizeWithClamp(quantizedAabbMin,newAabbMin);
quantizeWithClamp(quantizedAabbMax,newAabbMax);
quantizeWithClamp(quantizedAabbMin,newAabbMin,0);
quantizeWithClamp(quantizedAabbMax,newAabbMax,1);
for (int i=0;i<3;i++)
{
if (m_quantizedContiguousNodes[nodeIndex].m_quantizedAabbMin[i] > quantizedAabbMin[i])
@@ -333,7 +333,7 @@ public:
void reportRayOverlappingNodex (btNodeOverlapCallback* nodeCallback, const btVector3& raySource, const btVector3& rayTarget) const;
void reportBoxCastOverlappingNodex(btNodeOverlapCallback* nodeCallback, const btVector3& raySource, const btVector3& rayTarget, const btVector3& aabbMin,const btVector3& aabbMax) const;
SIMD_FORCE_INLINE void quantizeWithClamp(unsigned short* out, const btVector3& point) const
SIMD_FORCE_INLINE void quantizeWithClamp(unsigned short* out, const btVector3& point,int isMax) const
{
btAssert(m_useQuantization);
@@ -341,13 +341,11 @@ public:
btVector3 clampedPoint(point);
clampedPoint.setMax(m_bvhAabbMin);
clampedPoint.setMin(m_bvhAabbMax);
btVector3 v = (clampedPoint - m_bvhAabbMin) * m_bvhQuantization;
out[0] = (unsigned short)(v.getX()+0.5f);
out[1] = (unsigned short)(v.getY()+0.5f);
out[2] = (unsigned short)(v.getZ()+0.5f);
out[0] = (unsigned short)(((unsigned short)v.getX() & 0xfffe) | isMax);
out[1] = (unsigned short)(((unsigned short)v.getY() & 0xfffe) | isMax);
out[2] = (unsigned short)(((unsigned short)v.getZ() & 0xfffe) | isMax);
}
SIMD_FORCE_INLINE btVector3 unQuantize(const unsigned short* vecIn) const
{