353 lines
9.0 KiB
C++
353 lines
9.0 KiB
C++
/*
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Bullet Continuous Collision Detection and Physics Library
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Copyright (c) 2003-2006 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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//#define DISABLE_BVH
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#include "btGIMPACTMeshShape.h"
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#include "GIMPACT/gimpact.h"
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int g_gimpact_references = 0;
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//Mechanism for initialize and terminate GIMPACT structures
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void increase_gimpact_reference()
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{
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g_gimpact_references++;
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if(g_gimpact_references >1 ) return;
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gimpact_init();
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}
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void decrease_gimpact_reference()
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{
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if(g_gimpact_references <=0 ) return;
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g_gimpact_references--;
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if(g_gimpact_references >0 ) return;
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gimpact_terminate();
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}
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/////////////////////////// btGIMPACTMeshData class/////////////////////////////////////////////////////////////
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void btGIMPACTMeshData::clearMeshParts()
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{
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for(int i = 0;i<m_meshes.size();i++)
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{
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gim_trimesh_data_dec_ref(m_meshes[i]);
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}
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m_meshes.clear();
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}
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void btGIMPACTMeshData::addMeshPart(btStridingMeshInterface* meshInterface, int part)
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{
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//Construct the trimesh
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// The buffer configuration
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const unsigned char *vertexbase;
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int numverts;
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PHY_ScalarType stype;
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int vertexStride;
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const unsigned char *indexbase;
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int indexstride;
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int numfaces;
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PHY_ScalarType indicestype;
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meshInterface->getLockedReadOnlyVertexIndexBase(&vertexbase, numverts,stype,vertexStride,&indexbase,
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indexstride,numfaces,indicestype,part);
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GUINT int_type;
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switch (indicestype)
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{
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case PHY_INTEGER:
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int_type = G_STYPE_INT;
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break;
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case PHY_SHORT:
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default :
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int_type = G_STYPE_SHORT;
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break;
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}
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GUINT vert_type;
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switch (stype)
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{
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case PHY_FLOAT:
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vert_type = G_STYPE_REAL;
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break;
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case PHY_DOUBLE:
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default :
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vert_type = G_STYPE_REAL2;
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break;
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}
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GBUFFER_ARRAY buffer_vertex_array;
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GBUFFER_ARRAY buffer_triindex_array;
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GUINT trimesh_data_handle;
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//Create shared buffer for indices
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gim_create_shared_buffer_from_data(
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vertexbase, numverts*vertexStride,
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&buffer_vertex_array.m_buffer_id);
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GIM_BUFFER_ARRAY_INIT_OFFSET_STRIDE(
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buffer_vertex_array,buffer_vertex_array.m_buffer_id,
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numverts,0,vertexStride);
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//Create shared buffer for vertices
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gim_create_shared_buffer_from_data(indexbase,
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numfaces*indexstride, &buffer_triindex_array.m_buffer_id);
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GIM_BUFFER_ARRAY_INIT_OFFSET_STRIDE(
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buffer_triindex_array,buffer_triindex_array.m_buffer_id,
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numfaces,0,indexstride);
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//Create the trimesh data
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gim_trimesh_data_create_from_arrays(
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&trimesh_data_handle,
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&buffer_vertex_array,vert_type,
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&buffer_triindex_array,int_type);
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//always call this after create a buffer_array
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GIM_BUFFER_ARRAY_DESTROY(buffer_vertex_array);
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GIM_BUFFER_ARRAY_DESTROY(buffer_triindex_array);
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//Build Bounding volume tree
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gim_trimesh_data_build_aabbtree(trimesh_data_handle);
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gim_trimesh_data_inc_ref(trimesh_data_handle);
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m_meshes.push_back(trimesh_data_handle);
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}
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void btGIMPACTMeshData::processMeshParts(btStridingMeshInterface* meshInterface)
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{
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clearMeshParts();
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this->m_meshInterface = meshInterface;
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int meshcount = meshInterface->getNumSubParts();
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for(int i = 0;i<meshcount;i++)
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{
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addMeshPart(meshInterface,i);
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}
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}
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btGIMPACTMeshData::btGIMPACTMeshData(btStridingMeshInterface* meshInterface)
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{
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increase_gimpact_reference();
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processMeshParts(meshInterface);
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}
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btGIMPACTMeshData::~btGIMPACTMeshData()
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{
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clearMeshParts();
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decrease_gimpact_reference();
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}
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/////////////////////////// btGIMPACTMeshShape class/////////////////////////////////////////////////////////////
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void btGIMPACTMeshShape::clearMeshParts()
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{
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GIM_TRIMESH * ptrimesh;
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for(int i = 0;i<m_gim_trimesh_parts.size();i++)
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{
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ptrimesh = (GIM_TRIMESH * )m_gim_trimesh_parts[i];
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gim_trimesh_destroy(ptrimesh);
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gim_free(ptrimesh,0);
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}
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m_gim_trimesh_parts.clear();
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}
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void btGIMPACTMeshShape::processMeshParts(btGIMPACTMeshData * meshdata)
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{
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clearMeshParts();
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this->m_meshdata = meshdata;
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BT_GIMPACT_TRIMESH_HANDLE gimhandle;
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GIM_TRIMESH * ptrimesh;
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for(int i = 0;i<m_meshdata->m_meshes.size();i++)
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{
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ptrimesh = (GIM_TRIMESH *)gim_alloc(sizeof(GIM_TRIMESH));
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gim_trimesh_create(ptrimesh,m_meshdata->m_meshes[i],1,0);
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gimhandle = (BT_GIMPACT_TRIMESH_HANDLE) ptrimesh;
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m_gim_trimesh_parts.push_back(gimhandle);
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}
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}
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btGIMPACTMeshShape::btGIMPACTMeshShape(btGIMPACTMeshData * meshdata)
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{
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m_scale.setValue(1.0f,1.0f,1.0f);
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processMeshParts(meshdata);
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}
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btGIMPACTMeshShape::~btGIMPACTMeshShape()
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{
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clearMeshParts();
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}
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void btGIMPACTMeshShape::prepareMeshes(const btTransform & trans) const
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{
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mat4f gim_trans;
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IDENTIFY_MATRIX_4X4(gim_trans);
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COPY_MATRIX_3X3(gim_trans,trans.getBasis());
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btVector3 scaling = getLocalScaling();
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SCALE_VEC_MATRIX_3X3(gim_trans,scaling,gim_trans);
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MAT_SET_TRANSLATION(gim_trans,trans.getOrigin());
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GIM_TRIMESH * ptrimesh;
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for(int i = 0;i<m_gim_trimesh_parts.size();i++)
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{
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ptrimesh = (GIM_TRIMESH * )m_gim_trimesh_parts[i];
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gim_trimesh_set_tranform(ptrimesh, gim_trans);
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}
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}
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///getAabb returns the axis aligned bounding box in the coordinate frame of the given transform t.
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void btGIMPACTMeshShape::getAabb(const btTransform& t,btVector3& aabbMin,btVector3& aabbMax) const
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{
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prepareMeshes(t);
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aabb3f meshbox, global_box;
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INVALIDATE_AABB(global_box);
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GIM_TRIMESH * ptrimesh;
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for(int i = 0;i<m_gim_trimesh_parts.size();i++)
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{
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ptrimesh = (GIM_TRIMESH * )m_gim_trimesh_parts[i];
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gim_trimesh_get_aabb(ptrimesh,&meshbox);
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MERGEBOXES(global_box,meshbox);
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}
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aabbMin[0] = global_box.minX;
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aabbMin[1] = global_box.minY;
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aabbMin[2] = global_box.minZ;
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aabbMax[0] = global_box.maxX;
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aabbMax[1] = global_box.maxY;
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aabbMax[2] = global_box.maxZ;
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}
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void btGIMPACTMeshShape::setLocalScaling(const btVector3& scaling)
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{
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m_scale = scaling;
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}
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const btVector3& btGIMPACTMeshShape::getLocalScaling() const
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{
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return m_scale ;
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}
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void btGIMPACTMeshShape::calculateLocalInertia(btScalar mass,btVector3& inertia)
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{
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btTransform t;
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t.setIdentity();
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btVector3 aabbMin;
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btVector3 aabbMax;
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getAabb(t,aabbMin,aabbMax);
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//not yet, return box inertia
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btVector3 halfExtents = (aabbMax-aabbMin)*0.5f;
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btScalar lx=2.f*(halfExtents.x());
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btScalar ly=2.f*(halfExtents.y());
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btScalar lz=2.f*(halfExtents.z());
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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 * 0.08333333f;
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inertia = scaledmass * (btVector3(y2+z2,x2+z2,x2+y2));
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}
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void btGIMPACTMeshShape::processAllTriangles(btTriangleCallback* callback,const btVector3& aabbMin,const btVector3& aabbMax) const
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{
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/*btTransform t;
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t.setIdentity();
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prepareMeshes(t);*/
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GDYNAMIC_ARRAY collision_result;
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GIM_TRIMESH * ptrimesh;
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int i;
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unsigned int j;
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vec3f trivec[3];
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btVector3 btrivec[3];
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GUINT * boxesresult;
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btVector3 scalevec = this->getLocalScaling();
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aabb3f test_aabb;
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test_aabb.minX = aabbMin[0]/scalevec[0];
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test_aabb.minY = aabbMin[1]/scalevec[1];
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test_aabb.minZ = aabbMin[2]/scalevec[2];
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test_aabb.maxX = aabbMax[0]/scalevec[0];
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test_aabb.maxY = aabbMax[1]/scalevec[1];
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test_aabb.maxZ = aabbMax[2]/scalevec[2];
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for(i = 0;i<m_gim_trimesh_parts.size();i++)
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{
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ptrimesh = (GIM_TRIMESH * )m_gim_trimesh_parts[i];
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GIM_CREATE_BOXQUERY_LIST(collision_result);
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gim_trimesh_midphase_box_collision_local(ptrimesh,&test_aabb,&collision_result);
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boxesresult = GIM_DYNARRAY_POINTER(GUINT,collision_result);
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//collide triangles
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//Locks trimesh
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gim_trimesh_locks_work_data(ptrimesh);
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for(j=0;j<collision_result.m_size;j++)
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{
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gim_trimesh_get_triangle_vertices_local(ptrimesh,boxesresult[j],trivec[0],trivec[1],trivec[2]);
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btrivec[0].setValue(trivec[0][0]*scalevec[0],trivec[0][1]*scalevec[1],trivec[0][2]*scalevec[2]);
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btrivec[1].setValue(trivec[1][0]*scalevec[0],trivec[1][1]*scalevec[1],trivec[1][2]*scalevec[2]);
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btrivec[2].setValue(trivec[2][0]*scalevec[0],trivec[2][1]*scalevec[1],trivec[2][2]*scalevec[2]);
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callback->processTriangle(btrivec,(int)i,(int)boxesresult[j]);
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}
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///unlocks
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gim_trimesh_unlocks_work_data(ptrimesh);
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GIM_DYNARRAY_DESTROY(collision_result);
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}
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}
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