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path: root/thirdparty/bullet/Bullet3OpenCL/NarrowphaseCollision/b3StridingMeshInterface.cpp
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Diffstat (limited to 'thirdparty/bullet/Bullet3OpenCL/NarrowphaseCollision/b3StridingMeshInterface.cpp')
-rw-r--r--thirdparty/bullet/Bullet3OpenCL/NarrowphaseCollision/b3StridingMeshInterface.cpp229
1 files changed, 111 insertions, 118 deletions
diff --git a/thirdparty/bullet/Bullet3OpenCL/NarrowphaseCollision/b3StridingMeshInterface.cpp b/thirdparty/bullet/Bullet3OpenCL/NarrowphaseCollision/b3StridingMeshInterface.cpp
index 4d97f7f62b..6b0c941f23 100644
--- a/thirdparty/bullet/Bullet3OpenCL/NarrowphaseCollision/b3StridingMeshInterface.cpp
+++ b/thirdparty/bullet/Bullet3OpenCL/NarrowphaseCollision/b3StridingMeshInterface.cpp
@@ -15,35 +15,32 @@ subject to the following restrictions:
#include "b3StridingMeshInterface.h"
-
b3StridingMeshInterface::~b3StridingMeshInterface()
{
-
}
-
-void b3StridingMeshInterface::InternalProcessAllTriangles(b3InternalTriangleIndexCallback* callback,const b3Vector3& aabbMin,const b3Vector3& aabbMax) const
+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 part, graphicssubparts = getNumSubParts();
+ const unsigned char* vertexbase;
+ const unsigned char* indexbase;
int indexstride;
PHY_ScalarType type;
PHY_ScalarType gfxindextype;
- int stride,numverts,numtriangles;
+ 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++)
+ for (part = 0; part < graphicssubparts; part++)
{
- getLockedReadOnlyVertexIndexBase(&vertexbase,numverts,type,stride,&indexbase,indexstride,numtriangles,gfxindextype,part);
- numtotalphysicsverts+=numtriangles*3; //upper bound
+ 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
@@ -51,143 +48,141 @@ void b3StridingMeshInterface::InternalProcessAllTriangles(b3InternalTriangleInde
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:
+ 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:
+ case PHY_INTEGER:
{
- for (gfxindex=0;gfxindex<numtriangles;gfxindex++)
+ 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);
+ 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:
+ case PHY_SHORT:
{
- for (gfxindex=0;gfxindex<numtriangles;gfxindex++)
+ 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);
+ 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:
+ case PHY_UCHAR:
{
- for (gfxindex=0;gfxindex<numtriangles;gfxindex++)
+ 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);
+ 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));
+ default:
+ b3Assert((gfxindextype == PHY_INTEGER) || (gfxindextype == PHY_SHORT));
}
break;
}
- default:
- b3Assert((type == PHY_FLOAT) || (type == PHY_DOUBLE));
+ default:
+ b3Assert((type == PHY_FLOAT) || (type == PHY_DOUBLE));
}
unLockReadOnlyVertexBase(part);
}
}
-void b3StridingMeshInterface::calculateAabbBruteForce(b3Vector3& aabbMin,b3Vector3& aabbMax)
+void b3StridingMeshInterface::calculateAabbBruteForce(b3Vector3& aabbMin, b3Vector3& aabbMax)
{
-
- struct AabbCalculationCallback : public b3InternalTriangleIndexCallback
+ struct AabbCalculationCallback : public b3InternalTriangleIndexCallback
{
- b3Vector3 m_aabbMin;
- b3Vector3 m_aabbMax;
+ 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));
+ 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)
+ virtual void internalProcessTriangleIndex(b3Vector3* triangle, int partId, int triangleIndex)
{
(void)partId;
(void)triangleIndex;
@@ -202,13 +197,11 @@ void b3StridingMeshInterface::calculateAabbBruteForce(b3Vector3& aabbMin,b3Vecto
};
//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);
+ 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 2024-12-21 14:49:09 +0000