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-rw-r--r--thirdparty/bullet/BulletCollision/CollisionShapes/btConvexTriangleMeshShape.cpp312
1 files changed, 140 insertions, 172 deletions
diff --git a/thirdparty/bullet/BulletCollision/CollisionShapes/btConvexTriangleMeshShape.cpp b/thirdparty/bullet/BulletCollision/CollisionShapes/btConvexTriangleMeshShape.cpp
index 0f9ced554b..f6987cc760 100644
--- a/thirdparty/bullet/BulletCollision/CollisionShapes/btConvexTriangleMeshShape.cpp
+++ b/thirdparty/bullet/BulletCollision/CollisionShapes/btConvexTriangleMeshShape.cpp
@@ -19,42 +19,37 @@ subject to the following restrictions:
#include "LinearMath/btQuaternion.h"
#include "BulletCollision/CollisionShapes/btStridingMeshInterface.h"
-
-btConvexTriangleMeshShape ::btConvexTriangleMeshShape (btStridingMeshInterface* meshInterface, bool calcAabb)
-: btPolyhedralConvexAabbCachingShape(), m_stridingMesh(meshInterface)
+btConvexTriangleMeshShape ::btConvexTriangleMeshShape(btStridingMeshInterface* meshInterface, bool calcAabb)
+ : btPolyhedralConvexAabbCachingShape(), m_stridingMesh(meshInterface)
{
m_shapeType = CONVEX_TRIANGLEMESH_SHAPE_PROXYTYPE;
- if ( calcAabb )
+ if (calcAabb)
recalcLocalAabb();
}
-
-
-
///It's not nice to have all this virtual function overhead, so perhaps we can also gather the points once
///but then we are duplicating
-class LocalSupportVertexCallback: public btInternalTriangleIndexCallback
+class LocalSupportVertexCallback : public btInternalTriangleIndexCallback
{
-
btVector3 m_supportVertexLocal;
-public:
+public:
btScalar m_maxDot;
btVector3 m_supportVecLocal;
LocalSupportVertexCallback(const btVector3& supportVecLocal)
- : m_supportVertexLocal(btScalar(0.),btScalar(0.),btScalar(0.)),
- m_maxDot(btScalar(-BT_LARGE_FLOAT)),
- m_supportVecLocal(supportVecLocal)
+ : m_supportVertexLocal(btScalar(0.), btScalar(0.), btScalar(0.)),
+ m_maxDot(btScalar(-BT_LARGE_FLOAT)),
+ m_supportVecLocal(supportVecLocal)
{
}
- virtual void internalProcessTriangleIndex(btVector3* triangle,int partId,int triangleIndex)
+ virtual void internalProcessTriangleIndex(btVector3* triangle, int partId, int triangleIndex)
{
(void)triangleIndex;
(void)partId;
- for (int i=0;i<3;i++)
+ for (int i = 0; i < 3; i++)
{
btScalar dot = m_supportVecLocal.dot(triangle[i]);
if (dot > m_maxDot)
@@ -64,99 +59,82 @@ public:
}
}
}
-
- btVector3 GetSupportVertexLocal()
+
+ btVector3 GetSupportVertexLocal()
{
return m_supportVertexLocal;
}
-
};
-
-
-
-
-btVector3 btConvexTriangleMeshShape::localGetSupportingVertexWithoutMargin(const btVector3& vec0)const
+btVector3 btConvexTriangleMeshShape::localGetSupportingVertexWithoutMargin(const btVector3& vec0) const
{
- btVector3 supVec(btScalar(0.),btScalar(0.),btScalar(0.));
+ btVector3 supVec(btScalar(0.), btScalar(0.), btScalar(0.));
btVector3 vec = vec0;
btScalar lenSqr = vec.length2();
if (lenSqr < btScalar(0.0001))
{
- vec.setValue(1,0,0);
- } else
+ vec.setValue(1, 0, 0);
+ }
+ else
{
- btScalar rlen = btScalar(1.) / btSqrt(lenSqr );
+ btScalar rlen = btScalar(1.) / btSqrt(lenSqr);
vec *= rlen;
}
- LocalSupportVertexCallback supportCallback(vec);
- btVector3 aabbMax(btScalar(BT_LARGE_FLOAT),btScalar(BT_LARGE_FLOAT),btScalar(BT_LARGE_FLOAT));
- m_stridingMesh->InternalProcessAllTriangles(&supportCallback,-aabbMax,aabbMax);
+ LocalSupportVertexCallback supportCallback(vec);
+ btVector3 aabbMax(btScalar(BT_LARGE_FLOAT), btScalar(BT_LARGE_FLOAT), btScalar(BT_LARGE_FLOAT));
+ m_stridingMesh->InternalProcessAllTriangles(&supportCallback, -aabbMax, aabbMax);
supVec = supportCallback.GetSupportVertexLocal();
return supVec;
}
-void btConvexTriangleMeshShape::batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3* vectors,btVector3* supportVerticesOut,int numVectors) const
+void btConvexTriangleMeshShape::batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3* vectors, btVector3* supportVerticesOut, int numVectors) const
{
//use 'w' component of supportVerticesOut?
{
- for (int i=0;i<numVectors;i++)
+ for (int i = 0; i < numVectors; i++)
{
supportVerticesOut[i][3] = btScalar(-BT_LARGE_FLOAT);
}
}
-
- ///@todo: could do the batch inside the callback!
+ ///@todo: could do the batch inside the callback!
- for (int j=0;j<numVectors;j++)
+ for (int j = 0; j < numVectors; j++)
{
const btVector3& vec = vectors[j];
- LocalSupportVertexCallback supportCallback(vec);
- btVector3 aabbMax(btScalar(BT_LARGE_FLOAT),btScalar(BT_LARGE_FLOAT),btScalar(BT_LARGE_FLOAT));
- m_stridingMesh->InternalProcessAllTriangles(&supportCallback,-aabbMax,aabbMax);
+ LocalSupportVertexCallback supportCallback(vec);
+ btVector3 aabbMax(btScalar(BT_LARGE_FLOAT), btScalar(BT_LARGE_FLOAT), btScalar(BT_LARGE_FLOAT));
+ m_stridingMesh->InternalProcessAllTriangles(&supportCallback, -aabbMax, aabbMax);
supportVerticesOut[j] = supportCallback.GetSupportVertexLocal();
}
-
}
-
-
-btVector3 btConvexTriangleMeshShape::localGetSupportingVertex(const btVector3& vec)const
+btVector3 btConvexTriangleMeshShape::localGetSupportingVertex(const btVector3& vec) const
{
btVector3 supVertex = localGetSupportingVertexWithoutMargin(vec);
- if ( getMargin()!=btScalar(0.) )
+ if (getMargin() != btScalar(0.))
{
btVector3 vecnorm = vec;
- if (vecnorm .length2() < (SIMD_EPSILON*SIMD_EPSILON))
+ if (vecnorm.length2() < (SIMD_EPSILON * SIMD_EPSILON))
{
- vecnorm.setValue(btScalar(-1.),btScalar(-1.),btScalar(-1.));
- }
+ vecnorm.setValue(btScalar(-1.), btScalar(-1.), btScalar(-1.));
+ }
vecnorm.normalize();
- supVertex+= getMargin() * vecnorm;
+ supVertex += getMargin() * vecnorm;
}
return supVertex;
}
-
-
-
-
-
-
-
-
//currently just for debugging (drawing), perhaps future support for algebraic continuous collision detection
//Please note that you can debug-draw btConvexTriangleMeshShape with the Raytracer Demo
-int btConvexTriangleMeshShape::getNumVertices() const
+int btConvexTriangleMeshShape::getNumVertices() const
{
//cache this?
return 0;
-
}
int btConvexTriangleMeshShape::getNumEdges() const
@@ -164,44 +142,40 @@ int btConvexTriangleMeshShape::getNumEdges() const
return 0;
}
-void btConvexTriangleMeshShape::getEdge(int ,btVector3& ,btVector3& ) const
+void btConvexTriangleMeshShape::getEdge(int, btVector3&, btVector3&) const
{
- btAssert(0);
+ btAssert(0);
}
-void btConvexTriangleMeshShape::getVertex(int ,btVector3& ) const
+void btConvexTriangleMeshShape::getVertex(int, btVector3&) const
{
btAssert(0);
}
-int btConvexTriangleMeshShape::getNumPlanes() const
+int btConvexTriangleMeshShape::getNumPlanes() const
{
return 0;
}
-void btConvexTriangleMeshShape::getPlane(btVector3& ,btVector3& ,int ) const
+void btConvexTriangleMeshShape::getPlane(btVector3&, btVector3&, int) const
{
btAssert(0);
}
//not yet
-bool btConvexTriangleMeshShape::isInside(const btVector3& ,btScalar ) const
+bool btConvexTriangleMeshShape::isInside(const btVector3&, btScalar) const
{
btAssert(0);
return false;
}
-
-
-void btConvexTriangleMeshShape::setLocalScaling(const btVector3& scaling)
+void btConvexTriangleMeshShape::setLocalScaling(const btVector3& scaling)
{
m_stridingMesh->setScaling(scaling);
-
+
recalcLocalAabb();
-
}
-
const btVector3& btConvexTriangleMeshShape::getLocalScaling() const
{
return m_stridingMesh->getScaling();
@@ -209,107 +183,101 @@ const btVector3& btConvexTriangleMeshShape::getLocalScaling() const
void btConvexTriangleMeshShape::calculatePrincipalAxisTransform(btTransform& principal, btVector3& inertia, btScalar& volume) const
{
- class CenterCallback: public btInternalTriangleIndexCallback
- {
- bool first;
- btVector3 ref;
- btVector3 sum;
- btScalar volume;
-
- public:
-
- CenterCallback() : first(true), ref(0, 0, 0), sum(0, 0, 0), volume(0)
- {
- }
-
- virtual void internalProcessTriangleIndex(btVector3* triangle, int partId, int triangleIndex)
- {
- (void) triangleIndex;
- (void) partId;
- if (first)
- {
- ref = triangle[0];
- first = false;
- }
- else
- {
- btScalar vol = btFabs((triangle[0] - ref).triple(triangle[1] - ref, triangle[2] - ref));
- sum += (btScalar(0.25) * vol) * ((triangle[0] + triangle[1] + triangle[2] + ref));
- volume += vol;
- }
- }
-
- btVector3 getCenter()
- {
- return (volume > 0) ? sum / volume : ref;
- }
-
- btScalar getVolume()
- {
- return volume * btScalar(1. / 6);
- }
-
- };
-
- class InertiaCallback: public btInternalTriangleIndexCallback
- {
- btMatrix3x3 sum;
- btVector3 center;
-
- public:
-
- InertiaCallback(btVector3& center) : sum(0, 0, 0, 0, 0, 0, 0, 0, 0), center(center)
- {
- }
-
- virtual void internalProcessTriangleIndex(btVector3* triangle, int partId, int triangleIndex)
- {
- (void) triangleIndex;
- (void) partId;
- btMatrix3x3 i;
- btVector3 a = triangle[0] - center;
- btVector3 b = triangle[1] - center;
- btVector3 c = triangle[2] - center;
- btScalar volNeg = -btFabs(a.triple(b, c)) * btScalar(1. / 6);
- for (int j = 0; j < 3; j++)
- {
- for (int k = 0; k <= j; k++)
- {
- i[j][k] = i[k][j] = volNeg * (btScalar(0.1) * (a[j] * a[k] + b[j] * b[k] + c[j] * c[k])
- + btScalar(0.05) * (a[j] * b[k] + a[k] * b[j] + a[j] * c[k] + a[k] * c[j] + b[j] * c[k] + b[k] * c[j]));
- }
- }
- btScalar i00 = -i[0][0];
- btScalar i11 = -i[1][1];
- btScalar i22 = -i[2][2];
- i[0][0] = i11 + i22;
- i[1][1] = i22 + i00;
- i[2][2] = i00 + i11;
- sum[0] += i[0];
- sum[1] += i[1];
- sum[2] += i[2];
- }
-
- btMatrix3x3& getInertia()
- {
- return sum;
- }
-
- };
-
- CenterCallback centerCallback;
- btVector3 aabbMax(btScalar(BT_LARGE_FLOAT),btScalar(BT_LARGE_FLOAT),btScalar(BT_LARGE_FLOAT));
- m_stridingMesh->InternalProcessAllTriangles(&centerCallback, -aabbMax, aabbMax);
- btVector3 center = centerCallback.getCenter();
- principal.setOrigin(center);
- volume = centerCallback.getVolume();
-
- InertiaCallback inertiaCallback(center);
- m_stridingMesh->InternalProcessAllTriangles(&inertiaCallback, -aabbMax, aabbMax);
-
- btMatrix3x3& i = inertiaCallback.getInertia();
- i.diagonalize(principal.getBasis(), btScalar(0.00001), 20);
- inertia.setValue(i[0][0], i[1][1], i[2][2]);
- inertia /= volume;
-}
+ class CenterCallback : public btInternalTriangleIndexCallback
+ {
+ bool first;
+ btVector3 ref;
+ btVector3 sum;
+ btScalar volume;
+
+ public:
+ CenterCallback() : first(true), ref(0, 0, 0), sum(0, 0, 0), volume(0)
+ {
+ }
+
+ virtual void internalProcessTriangleIndex(btVector3* triangle, int partId, int triangleIndex)
+ {
+ (void)triangleIndex;
+ (void)partId;
+ if (first)
+ {
+ ref = triangle[0];
+ first = false;
+ }
+ else
+ {
+ btScalar vol = btFabs((triangle[0] - ref).triple(triangle[1] - ref, triangle[2] - ref));
+ sum += (btScalar(0.25) * vol) * ((triangle[0] + triangle[1] + triangle[2] + ref));
+ volume += vol;
+ }
+ }
+ btVector3 getCenter()
+ {
+ return (volume > 0) ? sum / volume : ref;
+ }
+
+ btScalar getVolume()
+ {
+ return volume * btScalar(1. / 6);
+ }
+ };
+
+ class InertiaCallback : public btInternalTriangleIndexCallback
+ {
+ btMatrix3x3 sum;
+ btVector3 center;
+
+ public:
+ InertiaCallback(btVector3& center) : sum(0, 0, 0, 0, 0, 0, 0, 0, 0), center(center)
+ {
+ }
+
+ virtual void internalProcessTriangleIndex(btVector3* triangle, int partId, int triangleIndex)
+ {
+ (void)triangleIndex;
+ (void)partId;
+ btMatrix3x3 i;
+ btVector3 a = triangle[0] - center;
+ btVector3 b = triangle[1] - center;
+ btVector3 c = triangle[2] - center;
+ btScalar volNeg = -btFabs(a.triple(b, c)) * btScalar(1. / 6);
+ for (int j = 0; j < 3; j++)
+ {
+ for (int k = 0; k <= j; k++)
+ {
+ i[j][k] = i[k][j] = volNeg * (btScalar(0.1) * (a[j] * a[k] + b[j] * b[k] + c[j] * c[k]) + btScalar(0.05) * (a[j] * b[k] + a[k] * b[j] + a[j] * c[k] + a[k] * c[j] + b[j] * c[k] + b[k] * c[j]));
+ }
+ }
+ btScalar i00 = -i[0][0];
+ btScalar i11 = -i[1][1];
+ btScalar i22 = -i[2][2];
+ i[0][0] = i11 + i22;
+ i[1][1] = i22 + i00;
+ i[2][2] = i00 + i11;
+ sum[0] += i[0];
+ sum[1] += i[1];
+ sum[2] += i[2];
+ }
+
+ btMatrix3x3& getInertia()
+ {
+ return sum;
+ }
+ };
+
+ CenterCallback centerCallback;
+ btVector3 aabbMax(btScalar(BT_LARGE_FLOAT), btScalar(BT_LARGE_FLOAT), btScalar(BT_LARGE_FLOAT));
+ m_stridingMesh->InternalProcessAllTriangles(&centerCallback, -aabbMax, aabbMax);
+ btVector3 center = centerCallback.getCenter();
+ principal.setOrigin(center);
+ volume = centerCallback.getVolume();
+
+ InertiaCallback inertiaCallback(center);
+ m_stridingMesh->InternalProcessAllTriangles(&inertiaCallback, -aabbMax, aabbMax);
+
+ btMatrix3x3& i = inertiaCallback.getInertia();
+ i.diagonalize(principal.getBasis(), btScalar(0.00001), 20);
+ inertia.setValue(i[0][0], i[1][1], i[2][2]);
+ inertia /= volume;
+}
generated by cgit v1.2.3 (git 2.25.1) at 2024-11-18 13:49:00 +0000