b80e5fd167
Improve SAT performance, by skipping back-facing features Add assert in array class (probably fires in places)
425 lines
10 KiB
C++
425 lines
10 KiB
C++
/*
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Bullet Continuous Collision Detection and Physics Library
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Copyright (c) 2003-2009 Erwin Coumans http://bulletphysics.org
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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 "BulletCollision/CollisionShapes/btPolyhedralConvexShape.h"
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#include "btConvexPolyhedron.h"
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#include "LinearMath/btConvexHullComputer.h"
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#include <new>
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#include "LinearMath/btGeometryUtil.h"
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#include "LinearMath/btGrahamScan2dConvexHull.h"
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btPolyhedralConvexShape::btPolyhedralConvexShape() :btConvexInternalShape(),
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m_polyhedron(0)
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{
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}
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btPolyhedralConvexShape::~btPolyhedralConvexShape()
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{
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if (m_polyhedron)
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{
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btAlignedFree(m_polyhedron);
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}
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}
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bool btPolyhedralConvexShape::initializePolyhedralFeatures()
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{
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if (m_polyhedron)
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btAlignedFree(m_polyhedron);
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void* mem = btAlignedAlloc(sizeof(btConvexPolyhedron),16);
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m_polyhedron = new (mem) btConvexPolyhedron;
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btAlignedObjectArray<btVector3> orgVertices;
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for (int i=0;i<getNumVertices();i++)
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{
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btVector3& newVertex = orgVertices.expand();
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getVertex(i,newVertex);
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}
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btAlignedObjectArray<btVector3> planeEquations;
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btGeometryUtil::getPlaneEquationsFromVertices(orgVertices,planeEquations);
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btAlignedObjectArray<btVector3> shiftedPlaneEquations;
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for (int p=0;p<planeEquations.size();p++)
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{
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btVector3 plane = planeEquations[p];
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plane[3] -= getMargin();
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shiftedPlaneEquations.push_back(plane);
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}
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btAlignedObjectArray<btVector3> tmpVertices;
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btGeometryUtil::getVerticesFromPlaneEquations(shiftedPlaneEquations,tmpVertices);
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btConvexHullComputer conv;
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conv.compute(&tmpVertices[0].getX(), sizeof(btVector3),tmpVertices.size(),0.f,0.f);
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btAlignedObjectArray<btVector3> faceNormals;
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int numFaces = conv.faces.size();
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faceNormals.resize(numFaces);
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btConvexHullComputer* convexUtil = &conv;
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btAlignedObjectArray<btFace> tmpFaces;
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tmpFaces.resize(numFaces);
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int numVertices = convexUtil->vertices.size();
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m_polyhedron->m_vertices.resize(numVertices);
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for (int p=0;p<numVertices;p++)
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{
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m_polyhedron->m_vertices[p] = convexUtil->vertices[p];
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}
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for (int i=0;i<numFaces;i++)
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{
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int face = convexUtil->faces[i];
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//printf("face=%d\n",face);
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const btConvexHullComputer::Edge* firstEdge = &convexUtil->edges[face];
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const btConvexHullComputer::Edge* edge = firstEdge;
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btVector3 edges[3];
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int numEdges = 0;
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//compute face normals
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btScalar maxCross2 = 0.f;
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int chosenEdge = -1;
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do
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{
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int src = edge->getSourceVertex();
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tmpFaces[i].m_indices.push_back(src);
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int targ = edge->getTargetVertex();
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btVector3 wa = convexUtil->vertices[src];
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btVector3 wb = convexUtil->vertices[targ];
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btVector3 newEdge = wb-wa;
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newEdge.normalize();
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if (numEdges<2)
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edges[numEdges++] = newEdge;
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edge = edge->getNextEdgeOfFace();
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} while (edge!=firstEdge);
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btScalar planeEq = 1e30f;
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if (numEdges==2)
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{
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faceNormals[i] = edges[0].cross(edges[1]);
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faceNormals[i].normalize();
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tmpFaces[i].m_plane[0] = faceNormals[i].getX();
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tmpFaces[i].m_plane[1] = faceNormals[i].getY();
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tmpFaces[i].m_plane[2] = faceNormals[i].getZ();
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tmpFaces[i].m_plane[3] = planeEq;
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}
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else
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{
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btAssert(0);//degenerate?
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faceNormals[i].setZero();
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}
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for (int v=0;v<tmpFaces[i].m_indices.size();v++)
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{
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btScalar eq = m_polyhedron->m_vertices[tmpFaces[i].m_indices[v]].dot(faceNormals[i]);
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if (planeEq>eq)
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{
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planeEq=eq;
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}
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}
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tmpFaces[i].m_plane[3] = -planeEq;
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}
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//merge coplanar faces and copy them to m_polyhedron
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btScalar faceWeldThreshold= 0.999f;
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btAlignedObjectArray<int> todoFaces;
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for (int i=0;i<tmpFaces.size();i++)
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todoFaces.push_back(i);
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while (todoFaces.size())
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{
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btAlignedObjectArray<int> coplanarFaceGroup;
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int refFace = todoFaces[todoFaces.size()-1];
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coplanarFaceGroup.push_back(refFace);
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btFace& faceA = tmpFaces[refFace];
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todoFaces.pop_back();
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btVector3 faceNormalA(faceA.m_plane[0],faceA.m_plane[1],faceA.m_plane[2]);
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for (int j=todoFaces.size()-1;j>=0;j--)
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{
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int i = todoFaces[j];
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btFace& faceB = tmpFaces[i];
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btVector3 faceNormalB(faceB.m_plane[0],faceB.m_plane[1],faceB.m_plane[2]);
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if (faceNormalA.dot(faceNormalB)>faceWeldThreshold)
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{
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coplanarFaceGroup.push_back(i);
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todoFaces.remove(i);
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}
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}
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if (coplanarFaceGroup.size()>1)
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{
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//do the merge: use Graham Scan 2d convex hull
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btAlignedObjectArray<GrahamVector2> orgpoints;
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for (int i=0;i<coplanarFaceGroup.size();i++)
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{
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// m_polyhedron->m_faces.push_back(tmpFaces[coplanarFaceGroup[i]]);
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btFace& face = tmpFaces[coplanarFaceGroup[i]];
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btVector3 faceNormal(face.m_plane[0],face.m_plane[1],face.m_plane[2]);
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btVector3 xyPlaneNormal(0,0,1);
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btQuaternion rotationArc = shortestArcQuat(faceNormal,xyPlaneNormal);
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for (int f=0;f<face.m_indices.size();f++)
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{
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int orgIndex = face.m_indices[f];
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btVector3 pt = m_polyhedron->m_vertices[orgIndex];
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btVector3 rotatedPt = quatRotate(rotationArc,pt);
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rotatedPt.setZ(0);
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bool found = false;
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for (int i=0;i<orgpoints.size();i++)
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{
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if ((rotatedPt-orgpoints[i]).length2()<0.001)
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{
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found=true;
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break;
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}
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}
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if (!found)
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orgpoints.push_back(GrahamVector2(rotatedPt,orgIndex));
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}
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}
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btFace combinedFace;
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for (int i=0;i<4;i++)
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combinedFace.m_plane[i] = tmpFaces[coplanarFaceGroup[0]].m_plane[i];
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btAlignedObjectArray<GrahamVector2> hull;
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GrahamScanConvexHull2D(orgpoints,hull);
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for (int i=0;i<hull.size();i++)
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{
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combinedFace.m_indices.push_back(hull[i].m_orgIndex);
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}
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m_polyhedron->m_faces.push_back(combinedFace);
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} else
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{
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for (int i=0;i<coplanarFaceGroup.size();i++)
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{
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m_polyhedron->m_faces.push_back(tmpFaces[coplanarFaceGroup[i]]);
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}
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}
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}
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m_polyhedron->initialize();
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return true;
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}
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btVector3 btPolyhedralConvexShape::localGetSupportingVertexWithoutMargin(const btVector3& vec0)const
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{
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btVector3 supVec(0,0,0);
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#ifndef __SPU__
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int i;
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btScalar maxDot(btScalar(-BT_LARGE_FLOAT));
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btVector3 vec = vec0;
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btScalar lenSqr = vec.length2();
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if (lenSqr < btScalar(0.0001))
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{
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vec.setValue(1,0,0);
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} else
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{
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btScalar rlen = btScalar(1.) / btSqrt(lenSqr );
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vec *= rlen;
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}
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btVector3 vtx;
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btScalar newDot;
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for (i=0;i<getNumVertices();i++)
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{
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getVertex(i,vtx);
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newDot = vec.dot(vtx);
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if (newDot > maxDot)
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{
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maxDot = newDot;
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supVec = vtx;
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}
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}
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#endif //__SPU__
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return supVec;
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}
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void btPolyhedralConvexShape::batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3* vectors,btVector3* supportVerticesOut,int numVectors) const
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{
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#ifndef __SPU__
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int i;
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btVector3 vtx;
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btScalar newDot;
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for (i=0;i<numVectors;i++)
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{
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supportVerticesOut[i][3] = btScalar(-BT_LARGE_FLOAT);
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}
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for (int j=0;j<numVectors;j++)
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{
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const btVector3& vec = vectors[j];
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for (i=0;i<getNumVertices();i++)
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{
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getVertex(i,vtx);
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newDot = vec.dot(vtx);
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if (newDot > supportVerticesOut[j][3])
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{
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//WARNING: don't swap next lines, the w component would get overwritten!
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supportVerticesOut[j] = vtx;
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supportVerticesOut[j][3] = newDot;
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}
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}
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}
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#endif //__SPU__
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}
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void btPolyhedralConvexShape::calculateLocalInertia(btScalar mass,btVector3& inertia) const
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{
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#ifndef __SPU__
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//not yet, return box inertia
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btScalar margin = getMargin();
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btTransform ident;
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ident.setIdentity();
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btVector3 aabbMin,aabbMax;
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getAabb(ident,aabbMin,aabbMax);
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btVector3 halfExtents = (aabbMax-aabbMin)*btScalar(0.5);
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btScalar lx=btScalar(2.)*(halfExtents.x()+margin);
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btScalar ly=btScalar(2.)*(halfExtents.y()+margin);
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btScalar lz=btScalar(2.)*(halfExtents.z()+margin);
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const btScalar x2 = lx*lx;
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const btScalar y2 = ly*ly;
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const btScalar z2 = lz*lz;
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const btScalar scaledmass = mass * btScalar(0.08333333);
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inertia = scaledmass * (btVector3(y2+z2,x2+z2,x2+y2));
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#endif //__SPU__
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}
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void btPolyhedralConvexAabbCachingShape::setLocalScaling(const btVector3& scaling)
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{
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btConvexInternalShape::setLocalScaling(scaling);
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recalcLocalAabb();
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}
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btPolyhedralConvexAabbCachingShape::btPolyhedralConvexAabbCachingShape()
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:btPolyhedralConvexShape(),
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m_localAabbMin(1,1,1),
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m_localAabbMax(-1,-1,-1),
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m_isLocalAabbValid(false)
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{
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}
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void btPolyhedralConvexAabbCachingShape::getAabb(const btTransform& trans,btVector3& aabbMin,btVector3& aabbMax) const
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{
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getNonvirtualAabb(trans,aabbMin,aabbMax,getMargin());
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}
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void btPolyhedralConvexAabbCachingShape::recalcLocalAabb()
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{
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m_isLocalAabbValid = true;
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#if 1
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static const btVector3 _directions[] =
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{
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btVector3( 1., 0., 0.),
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btVector3( 0., 1., 0.),
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btVector3( 0., 0., 1.),
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btVector3( -1., 0., 0.),
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btVector3( 0., -1., 0.),
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btVector3( 0., 0., -1.)
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};
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btVector3 _supporting[] =
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{
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btVector3( 0., 0., 0.),
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btVector3( 0., 0., 0.),
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btVector3( 0., 0., 0.),
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btVector3( 0., 0., 0.),
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btVector3( 0., 0., 0.),
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btVector3( 0., 0., 0.)
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};
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batchedUnitVectorGetSupportingVertexWithoutMargin(_directions, _supporting, 6);
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for ( int i = 0; i < 3; ++i )
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{
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m_localAabbMax[i] = _supporting[i][i] + m_collisionMargin;
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m_localAabbMin[i] = _supporting[i + 3][i] - m_collisionMargin;
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}
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#else
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for (int i=0;i<3;i++)
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{
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btVector3 vec(btScalar(0.),btScalar(0.),btScalar(0.));
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vec[i] = btScalar(1.);
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btVector3 tmp = localGetSupportingVertex(vec);
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m_localAabbMax[i] = tmp[i]+m_collisionMargin;
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vec[i] = btScalar(-1.);
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tmp = localGetSupportingVertex(vec);
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m_localAabbMin[i] = tmp[i]-m_collisionMargin;
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}
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#endif
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}
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