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-rw-r--r--thirdparty/bullet/Bullet3OpenCL/NarrowphaseCollision/b3StridingMeshInterface.cpp214
1 files changed, 214 insertions, 0 deletions
diff --git a/thirdparty/bullet/Bullet3OpenCL/NarrowphaseCollision/b3StridingMeshInterface.cpp b/thirdparty/bullet/Bullet3OpenCL/NarrowphaseCollision/b3StridingMeshInterface.cpp
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index 0000000000..4d97f7f62b
--- /dev/null
+++ b/thirdparty/bullet/Bullet3OpenCL/NarrowphaseCollision/b3StridingMeshInterface.cpp
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+/*
+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.
+*/
+
+#include "b3StridingMeshInterface.h"
+
+
+b3StridingMeshInterface::~b3StridingMeshInterface()
+{
+
+}
+
+
+void b3StridingMeshInterface::InternalProcessAllTriangles(b3InternalTriangleIndexCallback* callback,const b3Vector3& aabbMin,const b3Vector3& aabbMax) const
+{
+ (void)aabbMin;
+ (void)aabbMax;
+ int numtotalphysicsverts = 0;
+ int part,graphicssubparts = getNumSubParts();
+ const unsigned char * vertexbase;
+ const unsigned char * indexbase;
+ int indexstride;
+ PHY_ScalarType type;
+ PHY_ScalarType gfxindextype;
+ int stride,numverts,numtriangles;
+ int gfxindex;
+ b3Vector3 triangle[3];
+
+ b3Vector3 meshScaling = getScaling();
+
+ ///if the number of parts is big, the performance might drop due to the innerloop switch on indextype
+ for (part=0;part<graphicssubparts ;part++)
+ {
+ getLockedReadOnlyVertexIndexBase(&vertexbase,numverts,type,stride,&indexbase,indexstride,numtriangles,gfxindextype,part);
+ numtotalphysicsverts+=numtriangles*3; //upper bound
+
+ ///unlike that developers want to pass in double-precision meshes in single-precision Bullet build
+ ///so disable this feature by default
+ ///see patch http://code.google.com/p/bullet/issues/detail?id=213
+
+ switch (type)
+ {
+ case PHY_FLOAT:
+ {
+
+ float* graphicsbase;
+
+ switch (gfxindextype)
+ {
+ case PHY_INTEGER:
+ {
+ for (gfxindex=0;gfxindex<numtriangles;gfxindex++)
+ {
+ unsigned int* tri_indices= (unsigned int*)(indexbase+gfxindex*indexstride);
+ graphicsbase = (float*)(vertexbase+tri_indices[0]*stride);
+ triangle[0].setValue(graphicsbase[0]*meshScaling.getX(),graphicsbase[1]*meshScaling.getY(),graphicsbase[2]*meshScaling.getZ());
+ graphicsbase = (float*)(vertexbase+tri_indices[1]*stride);
+ triangle[1].setValue(graphicsbase[0]*meshScaling.getX(),graphicsbase[1]*meshScaling.getY(), graphicsbase[2]*meshScaling.getZ());
+ graphicsbase = (float*)(vertexbase+tri_indices[2]*stride);
+ triangle[2].setValue(graphicsbase[0]*meshScaling.getX(),graphicsbase[1]*meshScaling.getY(), graphicsbase[2]*meshScaling.getZ());
+ callback->internalProcessTriangleIndex(triangle,part,gfxindex);
+ }
+ break;
+ }
+ case PHY_SHORT:
+ {
+ for (gfxindex=0;gfxindex<numtriangles;gfxindex++)
+ {
+ unsigned short int* tri_indices= (unsigned short int*)(indexbase+gfxindex*indexstride);
+ graphicsbase = (float*)(vertexbase+tri_indices[0]*stride);
+ triangle[0].setValue(graphicsbase[0]*meshScaling.getX(),graphicsbase[1]*meshScaling.getY(),graphicsbase[2]*meshScaling.getZ());
+ graphicsbase = (float*)(vertexbase+tri_indices[1]*stride);
+ triangle[1].setValue(graphicsbase[0]*meshScaling.getX(),graphicsbase[1]*meshScaling.getY(), graphicsbase[2]*meshScaling.getZ());
+ graphicsbase = (float*)(vertexbase+tri_indices[2]*stride);
+ triangle[2].setValue(graphicsbase[0]*meshScaling.getX(),graphicsbase[1]*meshScaling.getY(), graphicsbase[2]*meshScaling.getZ());
+ callback->internalProcessTriangleIndex(triangle,part,gfxindex);
+ }
+ break;
+ }
+ case PHY_UCHAR:
+ {
+ for (gfxindex=0;gfxindex<numtriangles;gfxindex++)
+ {
+ unsigned char* tri_indices= (unsigned char*)(indexbase+gfxindex*indexstride);
+ graphicsbase = (float*)(vertexbase+tri_indices[0]*stride);
+ triangle[0].setValue(graphicsbase[0]*meshScaling.getX(),graphicsbase[1]*meshScaling.getY(),graphicsbase[2]*meshScaling.getZ());
+ graphicsbase = (float*)(vertexbase+tri_indices[1]*stride);
+ triangle[1].setValue(graphicsbase[0]*meshScaling.getX(),graphicsbase[1]*meshScaling.getY(), graphicsbase[2]*meshScaling.getZ());
+ graphicsbase = (float*)(vertexbase+tri_indices[2]*stride);
+ triangle[2].setValue(graphicsbase[0]*meshScaling.getX(),graphicsbase[1]*meshScaling.getY(), graphicsbase[2]*meshScaling.getZ());
+ callback->internalProcessTriangleIndex(triangle,part,gfxindex);
+ }
+ break;
+ }
+ default:
+ b3Assert((gfxindextype == PHY_INTEGER) || (gfxindextype == PHY_SHORT));
+ }
+ break;
+ }
+
+ case PHY_DOUBLE:
+ {
+ double* graphicsbase;
+
+ switch (gfxindextype)
+ {
+ case PHY_INTEGER:
+ {
+ for (gfxindex=0;gfxindex<numtriangles;gfxindex++)
+ {
+ unsigned int* tri_indices= (unsigned int*)(indexbase+gfxindex*indexstride);
+ graphicsbase = (double*)(vertexbase+tri_indices[0]*stride);
+ triangle[0].setValue((b3Scalar)graphicsbase[0]*meshScaling.getX(),(b3Scalar)graphicsbase[1]*meshScaling.getY(),(b3Scalar)graphicsbase[2]*meshScaling.getZ());
+ graphicsbase = (double*)(vertexbase+tri_indices[1]*stride);
+ triangle[1].setValue((b3Scalar)graphicsbase[0]*meshScaling.getX(),(b3Scalar)graphicsbase[1]*meshScaling.getY(), (b3Scalar)graphicsbase[2]*meshScaling.getZ());
+ graphicsbase = (double*)(vertexbase+tri_indices[2]*stride);
+ triangle[2].setValue((b3Scalar)graphicsbase[0]*meshScaling.getX(),(b3Scalar)graphicsbase[1]*meshScaling.getY(), (b3Scalar)graphicsbase[2]*meshScaling.getZ());
+ callback->internalProcessTriangleIndex(triangle,part,gfxindex);
+ }
+ break;
+ }
+ case PHY_SHORT:
+ {
+ for (gfxindex=0;gfxindex<numtriangles;gfxindex++)
+ {
+ unsigned short int* tri_indices= (unsigned short int*)(indexbase+gfxindex*indexstride);
+ graphicsbase = (double*)(vertexbase+tri_indices[0]*stride);
+ triangle[0].setValue((b3Scalar)graphicsbase[0]*meshScaling.getX(),(b3Scalar)graphicsbase[1]*meshScaling.getY(),(b3Scalar)graphicsbase[2]*meshScaling.getZ());
+ graphicsbase = (double*)(vertexbase+tri_indices[1]*stride);
+ triangle[1].setValue((b3Scalar)graphicsbase[0]*meshScaling.getX(),(b3Scalar)graphicsbase[1]*meshScaling.getY(), (b3Scalar)graphicsbase[2]*meshScaling.getZ());
+ graphicsbase = (double*)(vertexbase+tri_indices[2]*stride);
+ triangle[2].setValue((b3Scalar)graphicsbase[0]*meshScaling.getX(),(b3Scalar)graphicsbase[1]*meshScaling.getY(), (b3Scalar)graphicsbase[2]*meshScaling.getZ());
+ callback->internalProcessTriangleIndex(triangle,part,gfxindex);
+ }
+ break;
+ }
+ case PHY_UCHAR:
+ {
+ for (gfxindex=0;gfxindex<numtriangles;gfxindex++)
+ {
+ unsigned char* tri_indices= (unsigned char*)(indexbase+gfxindex*indexstride);
+ graphicsbase = (double*)(vertexbase+tri_indices[0]*stride);
+ triangle[0].setValue((b3Scalar)graphicsbase[0]*meshScaling.getX(),(b3Scalar)graphicsbase[1]*meshScaling.getY(),(b3Scalar)graphicsbase[2]*meshScaling.getZ());
+ graphicsbase = (double*)(vertexbase+tri_indices[1]*stride);
+ triangle[1].setValue((b3Scalar)graphicsbase[0]*meshScaling.getX(),(b3Scalar)graphicsbase[1]*meshScaling.getY(), (b3Scalar)graphicsbase[2]*meshScaling.getZ());
+ graphicsbase = (double*)(vertexbase+tri_indices[2]*stride);
+ triangle[2].setValue((b3Scalar)graphicsbase[0]*meshScaling.getX(),(b3Scalar)graphicsbase[1]*meshScaling.getY(), (b3Scalar)graphicsbase[2]*meshScaling.getZ());
+ callback->internalProcessTriangleIndex(triangle,part,gfxindex);
+ }
+ break;
+ }
+ default:
+ b3Assert((gfxindextype == PHY_INTEGER) || (gfxindextype == PHY_SHORT));
+ }
+ break;
+ }
+ default:
+ b3Assert((type == PHY_FLOAT) || (type == PHY_DOUBLE));
+ }
+
+ unLockReadOnlyVertexBase(part);
+ }
+}
+
+void b3StridingMeshInterface::calculateAabbBruteForce(b3Vector3& aabbMin,b3Vector3& aabbMax)
+{
+
+ struct AabbCalculationCallback : public b3InternalTriangleIndexCallback
+ {
+ b3Vector3 m_aabbMin;
+ b3Vector3 m_aabbMax;
+
+ AabbCalculationCallback()
+ {
+ m_aabbMin.setValue(b3Scalar(B3_LARGE_FLOAT),b3Scalar(B3_LARGE_FLOAT),b3Scalar(B3_LARGE_FLOAT));
+ m_aabbMax.setValue(b3Scalar(-B3_LARGE_FLOAT),b3Scalar(-B3_LARGE_FLOAT),b3Scalar(-B3_LARGE_FLOAT));
+ }
+
+ virtual void internalProcessTriangleIndex(b3Vector3* triangle,int partId,int triangleIndex)
+ {
+ (void)partId;
+ (void)triangleIndex;
+
+ m_aabbMin.setMin(triangle[0]);
+ m_aabbMax.setMax(triangle[0]);
+ m_aabbMin.setMin(triangle[1]);
+ m_aabbMax.setMax(triangle[1]);
+ m_aabbMin.setMin(triangle[2]);
+ m_aabbMax.setMax(triangle[2]);
+ }
+ };
+
+ //first calculate the total aabb for all triangles
+ AabbCalculationCallback aabbCallback;
+ aabbMin.setValue(b3Scalar(-B3_LARGE_FLOAT),b3Scalar(-B3_LARGE_FLOAT),b3Scalar(-B3_LARGE_FLOAT));
+ aabbMax.setValue(b3Scalar(B3_LARGE_FLOAT),b3Scalar(B3_LARGE_FLOAT),b3Scalar(B3_LARGE_FLOAT));
+ InternalProcessAllTriangles(&aabbCallback,aabbMin,aabbMax);
+
+ aabbMin = aabbCallback.m_aabbMin;
+ aabbMax = aabbCallback.m_aabbMax;
+}
+
+
generated by cgit v1.2.3 (git 2.25.1) at 2024-12-12 21:13:51 +0000