Vendor thirdparty Bullet source for upcoming physics server backend

1 files changed, 470 insertions, 0 deletions

diff --git a/thirdparty/bullet/src/BulletCollision/CollisionShapes/btBvhTriangleMeshShape.cpp b/thirdparty/bullet/src/BulletCollision/CollisionShapes/btBvhTriangleMeshShape.cpp
new file mode 100644
index 0000000000..61f465cb72
--- /dev/null
+++ b/thirdparty/bullet/src/BulletCollision/CollisionShapes/btBvhTriangleMeshShape.cpp
@@ -0,0 +1,470 @@
+/*
+Bullet Continuous Collision Detection and Physics Library
+Copyright (c) 2003-2009 Erwin Coumans  http://bulletphysics.org
+
+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.
+*/
+
+//#define DISABLE_BVH
+
+#include "BulletCollision/CollisionShapes/btBvhTriangleMeshShape.h"
+#include "BulletCollision/CollisionShapes/btOptimizedBvh.h"
+#include "LinearMath/btSerializer.h"
+
+///Bvh Concave triangle mesh is a static-triangle mesh shape with Bounding Volume Hierarchy optimization.
+///Uses an interface to access the triangles to allow for sharing graphics/physics triangles.
+btBvhTriangleMeshShape::btBvhTriangleMeshShape(btStridingMeshInterface* meshInterface, bool useQuantizedAabbCompression, bool buildBvh)
+:btTriangleMeshShape(meshInterface),
+m_bvh(0),
+m_triangleInfoMap(0),
+m_useQuantizedAabbCompression(useQuantizedAabbCompression),
+m_ownsBvh(false)
+{
+	m_shapeType = TRIANGLE_MESH_SHAPE_PROXYTYPE;
+	//construct bvh from meshInterface
+#ifndef DISABLE_BVH
+
+	if (buildBvh)
+	{
+		buildOptimizedBvh();
+	}
+
+#endif //DISABLE_BVH
+
+}
+
+btBvhTriangleMeshShape::btBvhTriangleMeshShape(btStridingMeshInterface* meshInterface, bool useQuantizedAabbCompression,const btVector3& bvhAabbMin,const btVector3& bvhAabbMax,bool buildBvh)
+:btTriangleMeshShape(meshInterface),
+m_bvh(0),
+m_triangleInfoMap(0),
+m_useQuantizedAabbCompression(useQuantizedAabbCompression),
+m_ownsBvh(false)
+{
+	m_shapeType = TRIANGLE_MESH_SHAPE_PROXYTYPE;
+	//construct bvh from meshInterface
+#ifndef DISABLE_BVH
+
+	if (buildBvh)
+	{
+		void* mem = btAlignedAlloc(sizeof(btOptimizedBvh),16);
+		m_bvh = new (mem) btOptimizedBvh();
+		
+		m_bvh->build(meshInterface,m_useQuantizedAabbCompression,bvhAabbMin,bvhAabbMax);
+		m_ownsBvh = true;
+	}
+
+#endif //DISABLE_BVH
+
+}
+
+void	btBvhTriangleMeshShape::partialRefitTree(const btVector3& aabbMin,const btVector3& aabbMax)
+{
+	m_bvh->refitPartial( m_meshInterface,aabbMin,aabbMax );
+	
+	m_localAabbMin.setMin(aabbMin);
+	m_localAabbMax.setMax(aabbMax);
+}
+
+
+void	btBvhTriangleMeshShape::refitTree(const btVector3& aabbMin,const btVector3& aabbMax)
+{
+	m_bvh->refit( m_meshInterface, aabbMin,aabbMax );
+	
+	recalcLocalAabb();
+}
+
+btBvhTriangleMeshShape::~btBvhTriangleMeshShape()
+{
+	if (m_ownsBvh)
+	{
+		m_bvh->~btOptimizedBvh();
+		btAlignedFree(m_bvh);
+	}
+}
+
+void	btBvhTriangleMeshShape::performRaycast (btTriangleCallback* callback, const btVector3& raySource, const btVector3& rayTarget)
+{
+	struct	MyNodeOverlapCallback : public btNodeOverlapCallback
+	{
+		btStridingMeshInterface*	m_meshInterface;
+		btTriangleCallback* m_callback;
+
+		MyNodeOverlapCallback(btTriangleCallback* callback,btStridingMeshInterface* meshInterface)
+			:m_meshInterface(meshInterface),
+			m_callback(callback)
+		{
+		}
+				
+		virtual void processNode(int nodeSubPart, int nodeTriangleIndex)
+		{
+			btVector3 m_triangle[3];
+			const unsigned char *vertexbase;
+			int numverts;
+			PHY_ScalarType type;
+			int stride;
+			const unsigned char *indexbase;
+			int indexstride;
+			int numfaces;
+			PHY_ScalarType indicestype;
+
+			m_meshInterface->getLockedReadOnlyVertexIndexBase(
+				&vertexbase,
+				numverts,
+				type,
+				stride,
+				&indexbase,
+				indexstride,
+				numfaces,
+				indicestype,
+				nodeSubPart);
+
+			unsigned int* gfxbase = (unsigned int*)(indexbase+nodeTriangleIndex*indexstride);
+			btAssert(indicestype==PHY_INTEGER||indicestype==PHY_SHORT);
+	
+			const btVector3& meshScaling = m_meshInterface->getScaling();
+			for (int j=2;j>=0;j--)
+			{
+				int graphicsindex = indicestype==PHY_SHORT?((unsigned short*)gfxbase)[j]:gfxbase[j];
+				
+				if (type == PHY_FLOAT)
+				{
+					float* graphicsbase = (float*)(vertexbase+graphicsindex*stride);
+					
+					m_triangle[j] = btVector3(graphicsbase[0]*meshScaling.getX(),graphicsbase[1]*meshScaling.getY(),graphicsbase[2]*meshScaling.getZ());		
+				}
+				else
+				{
+					double* graphicsbase = (double*)(vertexbase+graphicsindex*stride);
+					
+					m_triangle[j] = btVector3(btScalar(graphicsbase[0])*meshScaling.getX(),btScalar(graphicsbase[1])*meshScaling.getY(),btScalar(graphicsbase[2])*meshScaling.getZ());		
+				}
+			}
+
+			/* Perform ray vs. triangle collision here */
+			m_callback->processTriangle(m_triangle,nodeSubPart,nodeTriangleIndex);
+			m_meshInterface->unLockReadOnlyVertexBase(nodeSubPart);
+		}
+	};
+
+	MyNodeOverlapCallback	myNodeCallback(callback,m_meshInterface);
+
+	m_bvh->reportRayOverlappingNodex(&myNodeCallback,raySource,rayTarget);
+}
+
+void	btBvhTriangleMeshShape::performConvexcast (btTriangleCallback* callback, const btVector3& raySource, const btVector3& rayTarget, const btVector3& aabbMin, const btVector3& aabbMax)
+{
+	struct	MyNodeOverlapCallback : public btNodeOverlapCallback
+	{
+		btStridingMeshInterface*	m_meshInterface;
+		btTriangleCallback* m_callback;
+
+		MyNodeOverlapCallback(btTriangleCallback* callback,btStridingMeshInterface* meshInterface)
+			:m_meshInterface(meshInterface),
+			m_callback(callback)
+		{
+		}
+				
+		virtual void processNode(int nodeSubPart, int nodeTriangleIndex)
+		{
+			btVector3 m_triangle[3];
+			const unsigned char *vertexbase;
+			int numverts;
+			PHY_ScalarType type;
+			int stride;
+			const unsigned char *indexbase;
+			int indexstride;
+			int numfaces;
+			PHY_ScalarType indicestype;
+
+			m_meshInterface->getLockedReadOnlyVertexIndexBase(
+				&vertexbase,
+				numverts,
+				type,
+				stride,
+				&indexbase,
+				indexstride,
+				numfaces,
+				indicestype,
+				nodeSubPart);
+
+			unsigned int* gfxbase = (unsigned int*)(indexbase+nodeTriangleIndex*indexstride);
+			btAssert(indicestype==PHY_INTEGER||indicestype==PHY_SHORT);
+	
+			const btVector3& meshScaling = m_meshInterface->getScaling();
+			for (int j=2;j>=0;j--)
+			{
+				int graphicsindex = indicestype==PHY_SHORT?((unsigned short*)gfxbase)[j]:gfxbase[j];
+
+				if (type == PHY_FLOAT)
+				{
+					float* graphicsbase = (float*)(vertexbase+graphicsindex*stride);
+
+					m_triangle[j] = btVector3(graphicsbase[0]*meshScaling.getX(),graphicsbase[1]*meshScaling.getY(),graphicsbase[2]*meshScaling.getZ());		
+				}
+				else
+				{
+					double* graphicsbase = (double*)(vertexbase+graphicsindex*stride);
+					
+					m_triangle[j] = btVector3(btScalar(graphicsbase[0])*meshScaling.getX(),btScalar(graphicsbase[1])*meshScaling.getY(),btScalar(graphicsbase[2])*meshScaling.getZ());		
+				}
+			}
+
+			/* Perform ray vs. triangle collision here */
+			m_callback->processTriangle(m_triangle,nodeSubPart,nodeTriangleIndex);
+			m_meshInterface->unLockReadOnlyVertexBase(nodeSubPart);
+		}
+	};
+
+	MyNodeOverlapCallback	myNodeCallback(callback,m_meshInterface);
+
+	m_bvh->reportBoxCastOverlappingNodex (&myNodeCallback, raySource, rayTarget, aabbMin, aabbMax);
+}
+
+//perform bvh tree traversal and report overlapping triangles to 'callback'
+void	btBvhTriangleMeshShape::processAllTriangles(btTriangleCallback* callback,const btVector3& aabbMin,const btVector3& aabbMax) const
+{
+
+#ifdef DISABLE_BVH
+	//brute force traverse all triangles
+	btTriangleMeshShape::processAllTriangles(callback,aabbMin,aabbMax);
+#else
+
+	//first get all the nodes
+
+	
+	struct	MyNodeOverlapCallback : public btNodeOverlapCallback
+	{
+		btStridingMeshInterface*	m_meshInterface;
+		btTriangleCallback*		m_callback;
+		btVector3				m_triangle[3];
+		int m_numOverlap;
+
+		MyNodeOverlapCallback(btTriangleCallback* callback,btStridingMeshInterface* meshInterface)
+			:m_meshInterface(meshInterface),
+			m_callback(callback),
+			m_numOverlap(0)
+		{
+		}
+				
+		virtual void processNode(int nodeSubPart, int nodeTriangleIndex)
+		{
+			m_numOverlap++;
+			const unsigned char *vertexbase;
+			int numverts;
+			PHY_ScalarType type;
+			int stride;
+			const unsigned char *indexbase;
+			int indexstride;
+			int numfaces;
+			PHY_ScalarType indicestype;
+			
+
+			m_meshInterface->getLockedReadOnlyVertexIndexBase(
+				&vertexbase,
+				numverts,
+				type,
+				stride,
+				&indexbase,
+				indexstride,
+				numfaces,
+				indicestype,
+				nodeSubPart);
+
+			unsigned int* gfxbase = (unsigned int*)(indexbase+nodeTriangleIndex*indexstride);
+			btAssert(indicestype==PHY_INTEGER||indicestype==PHY_SHORT||indicestype==PHY_UCHAR);
+	
+			const btVector3& meshScaling = m_meshInterface->getScaling();
+			for (int j=2;j>=0;j--)
+			{
+				
+				int graphicsindex = indicestype==PHY_SHORT?((unsigned short*)gfxbase)[j]:indicestype==PHY_INTEGER?gfxbase[j]:((unsigned char*)gfxbase)[j];
+
+
+#ifdef DEBUG_TRIANGLE_MESH
+				printf("%d ,",graphicsindex);
+#endif //DEBUG_TRIANGLE_MESH
+				if (type == PHY_FLOAT)
+				{
+					float* graphicsbase = (float*)(vertexbase+graphicsindex*stride);
+					
+					m_triangle[j] = btVector3(
+																		graphicsbase[0]*meshScaling.getX(),
+																		graphicsbase[1]*meshScaling.getY(),
+																		graphicsbase[2]*meshScaling.getZ());
+				}
+				else
+				{
+					double* graphicsbase = (double*)(vertexbase+graphicsindex*stride);
+
+					m_triangle[j] = btVector3(
+						btScalar(graphicsbase[0])*meshScaling.getX(),
+						btScalar(graphicsbase[1])*meshScaling.getY(),
+						btScalar(graphicsbase[2])*meshScaling.getZ());
+				}
+#ifdef DEBUG_TRIANGLE_MESH
+				printf("triangle vertices:%f,%f,%f\n",triangle[j].x(),triangle[j].y(),triangle[j].z());
+#endif //DEBUG_TRIANGLE_MESH
+			}
+
+			m_callback->processTriangle(m_triangle,nodeSubPart,nodeTriangleIndex);
+			m_meshInterface->unLockReadOnlyVertexBase(nodeSubPart);
+		}
+
+	};
+
+	MyNodeOverlapCallback	myNodeCallback(callback,m_meshInterface);
+
+	m_bvh->reportAabbOverlappingNodex(&myNodeCallback,aabbMin,aabbMax);
+	
+#endif//DISABLE_BVH
+
+
+}
+
+void   btBvhTriangleMeshShape::setLocalScaling(const btVector3& scaling)
+{
+   if ((getLocalScaling() -scaling).length2() > SIMD_EPSILON)
+   {
+      btTriangleMeshShape::setLocalScaling(scaling);
+	  buildOptimizedBvh();
+   }
+}
+
+void   btBvhTriangleMeshShape::buildOptimizedBvh()
+{
+	if (m_ownsBvh)
+	{
+		m_bvh->~btOptimizedBvh();
+		btAlignedFree(m_bvh);
+	}
+	///m_localAabbMin/m_localAabbMax is already re-calculated in btTriangleMeshShape. We could just scale aabb, but this needs some more work
+	void* mem = btAlignedAlloc(sizeof(btOptimizedBvh),16);
+	m_bvh = new(mem) btOptimizedBvh();
+	//rebuild the bvh...
+	m_bvh->build(m_meshInterface,m_useQuantizedAabbCompression,m_localAabbMin,m_localAabbMax);
+	m_ownsBvh = true;
+}
+
+void   btBvhTriangleMeshShape::setOptimizedBvh(btOptimizedBvh* bvh, const btVector3& scaling)
+{
+   btAssert(!m_bvh);
+   btAssert(!m_ownsBvh);
+
+   m_bvh = bvh;
+   m_ownsBvh = false;
+   // update the scaling without rebuilding the bvh
+   if ((getLocalScaling() -scaling).length2() > SIMD_EPSILON)
+   {
+      btTriangleMeshShape::setLocalScaling(scaling);
+   }
+}
+
+
+
+///fills the dataBuffer and returns the struct name (and 0 on failure)
+const char*	btBvhTriangleMeshShape::serialize(void* dataBuffer, btSerializer* serializer) const
+{
+	btTriangleMeshShapeData* trimeshData = (btTriangleMeshShapeData*) dataBuffer;
+
+	btCollisionShape::serialize(&trimeshData->m_collisionShapeData,serializer);
+
+	m_meshInterface->serialize(&trimeshData->m_meshInterface, serializer);
+
+	trimeshData->m_collisionMargin = float(m_collisionMargin);
+
+	
+
+	if (m_bvh && !(serializer->getSerializationFlags()&BT_SERIALIZE_NO_BVH))
+	{
+		void* chunk = serializer->findPointer(m_bvh);
+		if (chunk)
+		{
+#ifdef BT_USE_DOUBLE_PRECISION
+			trimeshData->m_quantizedDoubleBvh = (btQuantizedBvhData*)chunk;
+			trimeshData->m_quantizedFloatBvh = 0;
+#else
+			trimeshData->m_quantizedFloatBvh  = (btQuantizedBvhData*)chunk;
+			trimeshData->m_quantizedDoubleBvh= 0;
+#endif //BT_USE_DOUBLE_PRECISION
+		} else
+		{
+
+#ifdef BT_USE_DOUBLE_PRECISION
+			trimeshData->m_quantizedDoubleBvh = (btQuantizedBvhData*)serializer->getUniquePointer(m_bvh);
+			trimeshData->m_quantizedFloatBvh = 0;
+#else
+			trimeshData->m_quantizedFloatBvh  = (btQuantizedBvhData*)serializer->getUniquePointer(m_bvh);
+			trimeshData->m_quantizedDoubleBvh= 0;
+#endif //BT_USE_DOUBLE_PRECISION
+	
+			int sz = m_bvh->calculateSerializeBufferSizeNew();
+			btChunk* chunk = serializer->allocate(sz,1);
+			const char* structType = m_bvh->serialize(chunk->m_oldPtr, serializer);
+			serializer->finalizeChunk(chunk,structType,BT_QUANTIZED_BVH_CODE,m_bvh);
+		}
+	} else
+	{
+		trimeshData->m_quantizedFloatBvh = 0;
+		trimeshData->m_quantizedDoubleBvh = 0;
+	}
+
+	
+
+	if (m_triangleInfoMap && !(serializer->getSerializationFlags()&BT_SERIALIZE_NO_TRIANGLEINFOMAP))
+	{
+		void* chunk = serializer->findPointer(m_triangleInfoMap);
+		if (chunk)
+		{
+			trimeshData->m_triangleInfoMap = (btTriangleInfoMapData*)chunk;
+		} else
+		{
+			trimeshData->m_triangleInfoMap = (btTriangleInfoMapData*)serializer->getUniquePointer(m_triangleInfoMap);
+			int sz = m_triangleInfoMap->calculateSerializeBufferSize();
+			btChunk* chunk = serializer->allocate(sz,1);
+			const char* structType = m_triangleInfoMap->serialize(chunk->m_oldPtr, serializer);
+			serializer->finalizeChunk(chunk,structType,BT_TRIANLGE_INFO_MAP,m_triangleInfoMap);
+		}
+	} else
+	{
+		trimeshData->m_triangleInfoMap = 0;
+	}
+
+	// Fill padding with zeros to appease msan.
+	memset(trimeshData->m_pad3, 0, sizeof(trimeshData->m_pad3));
+
+	return "btTriangleMeshShapeData";
+}
+
+void	btBvhTriangleMeshShape::serializeSingleBvh(btSerializer* serializer) const
+{
+	if (m_bvh)
+	{
+		int len = m_bvh->calculateSerializeBufferSizeNew(); //make sure not to use calculateSerializeBufferSize because it is used for in-place
+		btChunk* chunk = serializer->allocate(len,1);
+		const char* structType = m_bvh->serialize(chunk->m_oldPtr, serializer);
+		serializer->finalizeChunk(chunk,structType,BT_QUANTIZED_BVH_CODE,(void*)m_bvh);
+	}
+}
+
+void	btBvhTriangleMeshShape::serializeSingleTriangleInfoMap(btSerializer* serializer) const
+{
+	if (m_triangleInfoMap)
+	{
+		int len = m_triangleInfoMap->calculateSerializeBufferSize();
+		btChunk* chunk = serializer->allocate(len,1);
+		const char* structType = m_triangleInfoMap->serialize(chunk->m_oldPtr, serializer);
+		serializer->finalizeChunk(chunk,structType,BT_TRIANLGE_INFO_MAP,(void*)m_triangleInfoMap);
+	}
+}
+
+
+
+