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Diffstat (limited to 'thirdparty/bullet/BulletCollision/CollisionShapes/btMiniSDF.cpp')
-rw-r--r--thirdparty/bullet/BulletCollision/CollisionShapes/btMiniSDF.cpp522
1 files changed, 0 insertions, 522 deletions
diff --git a/thirdparty/bullet/BulletCollision/CollisionShapes/btMiniSDF.cpp b/thirdparty/bullet/BulletCollision/CollisionShapes/btMiniSDF.cpp
deleted file mode 100644
index 13c0a343f1..0000000000
--- a/thirdparty/bullet/BulletCollision/CollisionShapes/btMiniSDF.cpp
+++ /dev/null
@@ -1,522 +0,0 @@
-#include "btMiniSDF.h"
-
-//
-//Based on code from DiscreGrid, https://github.com/InteractiveComputerGraphics/Discregrid
-//example:
-//GenerateSDF.exe -r "32 32 32" -d "-1.6 -1.6 -.6 1.6 1.6 .6" concave_box.obj
-//The MIT License (MIT)
-//
-//Copyright (c) 2017 Dan Koschier
-//
-
-#include <limits.h>
-#include <string.h> //memcpy
-
-struct btSdfDataStream
-{
- const char* m_data;
- int m_size;
-
- int m_currentOffset;
-
- btSdfDataStream(const char* data, int size)
- : m_data(data),
- m_size(size),
- m_currentOffset(0)
- {
- }
-
- template <class T>
- bool read(T& val)
- {
- int bytes = sizeof(T);
- if (m_currentOffset + bytes <= m_size)
- {
- char* dest = (char*)&val;
- memcpy(dest, &m_data[m_currentOffset], bytes);
- m_currentOffset += bytes;
- return true;
- }
- btAssert(0);
- return false;
- }
-};
-
-bool btMiniSDF::load(const char* data, int size)
-{
- int fileSize = -1;
-
- btSdfDataStream ds(data, size);
- {
- double buf[6];
- ds.read(buf);
- m_domain.m_min[0] = buf[0];
- m_domain.m_min[1] = buf[1];
- m_domain.m_min[2] = buf[2];
- m_domain.m_min[3] = 0;
- m_domain.m_max[0] = buf[3];
- m_domain.m_max[1] = buf[4];
- m_domain.m_max[2] = buf[5];
- m_domain.m_max[3] = 0;
- }
- {
- unsigned int buf2[3];
- ds.read(buf2);
- m_resolution[0] = buf2[0];
- m_resolution[1] = buf2[1];
- m_resolution[2] = buf2[2];
- }
- {
- double buf[3];
- ds.read(buf);
- m_cell_size[0] = buf[0];
- m_cell_size[1] = buf[1];
- m_cell_size[2] = buf[2];
- }
- {
- double buf[3];
- ds.read(buf);
- m_inv_cell_size[0] = buf[0];
- m_inv_cell_size[1] = buf[1];
- m_inv_cell_size[2] = buf[2];
- }
- {
- unsigned long long int cells;
- ds.read(cells);
- m_n_cells = cells;
- }
- {
- unsigned long long int fields;
- ds.read(fields);
- m_n_fields = fields;
- }
-
- unsigned long long int nodes0;
- std::size_t n_nodes0;
- ds.read(nodes0);
- n_nodes0 = nodes0;
- if (n_nodes0 > 1024 * 1024 * 1024)
- {
- return m_isValid;
- }
- m_nodes.resize(n_nodes0);
- for (unsigned int i = 0; i < n_nodes0; i++)
- {
- unsigned long long int n_nodes1;
- ds.read(n_nodes1);
- btAlignedObjectArray<double>& nodes = m_nodes[i];
- nodes.resize(n_nodes1);
- for (int j = 0; j < nodes.size(); j++)
- {
- double& node = nodes[j];
- ds.read(node);
- }
- }
-
- unsigned long long int n_cells0;
- ds.read(n_cells0);
- m_cells.resize(n_cells0);
- for (int i = 0; i < n_cells0; i++)
- {
- unsigned long long int n_cells1;
- btAlignedObjectArray<btCell32>& cells = m_cells[i];
- ds.read(n_cells1);
- cells.resize(n_cells1);
- for (int j = 0; j < n_cells1; j++)
- {
- btCell32& cell = cells[j];
- ds.read(cell);
- }
- }
-
- {
- unsigned long long int n_cell_maps0;
- ds.read(n_cell_maps0);
-
- m_cell_map.resize(n_cell_maps0);
- for (int i = 0; i < n_cell_maps0; i++)
- {
- unsigned long long int n_cell_maps1;
- btAlignedObjectArray<unsigned int>& cell_maps = m_cell_map[i];
- ds.read(n_cell_maps1);
- cell_maps.resize(n_cell_maps1);
- for (int j = 0; j < n_cell_maps1; j++)
- {
- unsigned int& cell_map = cell_maps[j];
- ds.read(cell_map);
- }
- }
- }
-
- m_isValid = (ds.m_currentOffset == ds.m_size);
- return m_isValid;
-}
-
-unsigned int btMiniSDF::multiToSingleIndex(btMultiIndex const& ijk) const
-{
- return m_resolution[1] * m_resolution[0] * ijk.ijk[2] + m_resolution[0] * ijk.ijk[1] + ijk.ijk[0];
-}
-
-btAlignedBox3d
-btMiniSDF::subdomain(btMultiIndex const& ijk) const
-{
- btAssert(m_isValid);
- btVector3 tmp;
- tmp.m_floats[0] = m_cell_size[0] * (double)ijk.ijk[0];
- tmp.m_floats[1] = m_cell_size[1] * (double)ijk.ijk[1];
- tmp.m_floats[2] = m_cell_size[2] * (double)ijk.ijk[2];
-
- btVector3 origin = m_domain.min() + tmp;
-
- btAlignedBox3d box = btAlignedBox3d(origin, origin + m_cell_size);
- return box;
-}
-
-btMultiIndex
-btMiniSDF::singleToMultiIndex(unsigned int l) const
-{
- btAssert(m_isValid);
- unsigned int n01 = m_resolution[0] * m_resolution[1];
- unsigned int k = l / n01;
- unsigned int temp = l % n01;
- unsigned int j = temp / m_resolution[0];
- unsigned int i = temp % m_resolution[0];
- btMultiIndex mi;
- mi.ijk[0] = i;
- mi.ijk[1] = j;
- mi.ijk[2] = k;
- return mi;
-}
-
-btAlignedBox3d
-btMiniSDF::subdomain(unsigned int l) const
-{
- btAssert(m_isValid);
- return subdomain(singleToMultiIndex(l));
-}
-
-btShapeMatrix
-btMiniSDF::shape_function_(btVector3 const& xi, btShapeGradients* gradient) const
-{
- btAssert(m_isValid);
- btShapeMatrix res;
-
- btScalar x = xi[0];
- btScalar y = xi[1];
- btScalar z = xi[2];
-
- btScalar x2 = x * x;
- btScalar y2 = y * y;
- btScalar z2 = z * z;
-
- btScalar _1mx = 1.0 - x;
- btScalar _1my = 1.0 - y;
- btScalar _1mz = 1.0 - z;
-
- btScalar _1px = 1.0 + x;
- btScalar _1py = 1.0 + y;
- btScalar _1pz = 1.0 + z;
-
- btScalar _1m3x = 1.0 - 3.0 * x;
- btScalar _1m3y = 1.0 - 3.0 * y;
- btScalar _1m3z = 1.0 - 3.0 * z;
-
- btScalar _1p3x = 1.0 + 3.0 * x;
- btScalar _1p3y = 1.0 + 3.0 * y;
- btScalar _1p3z = 1.0 + 3.0 * z;
-
- btScalar _1mxt1my = _1mx * _1my;
- btScalar _1mxt1py = _1mx * _1py;
- btScalar _1pxt1my = _1px * _1my;
- btScalar _1pxt1py = _1px * _1py;
-
- btScalar _1mxt1mz = _1mx * _1mz;
- btScalar _1mxt1pz = _1mx * _1pz;
- btScalar _1pxt1mz = _1px * _1mz;
- btScalar _1pxt1pz = _1px * _1pz;
-
- btScalar _1myt1mz = _1my * _1mz;
- btScalar _1myt1pz = _1my * _1pz;
- btScalar _1pyt1mz = _1py * _1mz;
- btScalar _1pyt1pz = _1py * _1pz;
-
- btScalar _1mx2 = 1.0 - x2;
- btScalar _1my2 = 1.0 - y2;
- btScalar _1mz2 = 1.0 - z2;
-
- // Corner nodes.
- btScalar fac = 1.0 / 64.0 * (9.0 * (x2 + y2 + z2) - 19.0);
- res[0] = fac * _1mxt1my * _1mz;
- res[1] = fac * _1pxt1my * _1mz;
- res[2] = fac * _1mxt1py * _1mz;
- res[3] = fac * _1pxt1py * _1mz;
- res[4] = fac * _1mxt1my * _1pz;
- res[5] = fac * _1pxt1my * _1pz;
- res[6] = fac * _1mxt1py * _1pz;
- res[7] = fac * _1pxt1py * _1pz;
-
- // Edge nodes.
-
- fac = 9.0 / 64.0 * _1mx2;
- btScalar fact1m3x = fac * _1m3x;
- btScalar fact1p3x = fac * _1p3x;
- res[8] = fact1m3x * _1myt1mz;
- res[9] = fact1p3x * _1myt1mz;
- res[10] = fact1m3x * _1myt1pz;
- res[11] = fact1p3x * _1myt1pz;
- res[12] = fact1m3x * _1pyt1mz;
- res[13] = fact1p3x * _1pyt1mz;
- res[14] = fact1m3x * _1pyt1pz;
- res[15] = fact1p3x * _1pyt1pz;
-
- fac = 9.0 / 64.0 * _1my2;
- btScalar fact1m3y = fac * _1m3y;
- btScalar fact1p3y = fac * _1p3y;
- res[16] = fact1m3y * _1mxt1mz;
- res[17] = fact1p3y * _1mxt1mz;
- res[18] = fact1m3y * _1pxt1mz;
- res[19] = fact1p3y * _1pxt1mz;
- res[20] = fact1m3y * _1mxt1pz;
- res[21] = fact1p3y * _1mxt1pz;
- res[22] = fact1m3y * _1pxt1pz;
- res[23] = fact1p3y * _1pxt1pz;
-
- fac = 9.0 / 64.0 * _1mz2;
- btScalar fact1m3z = fac * _1m3z;
- btScalar fact1p3z = fac * _1p3z;
- res[24] = fact1m3z * _1mxt1my;
- res[25] = fact1p3z * _1mxt1my;
- res[26] = fact1m3z * _1mxt1py;
- res[27] = fact1p3z * _1mxt1py;
- res[28] = fact1m3z * _1pxt1my;
- res[29] = fact1p3z * _1pxt1my;
- res[30] = fact1m3z * _1pxt1py;
- res[31] = fact1p3z * _1pxt1py;
-
- if (gradient)
- {
- btShapeGradients& dN = *gradient;
-
- btScalar _9t3x2py2pz2m19 = 9.0 * (3.0 * x2 + y2 + z2) - 19.0;
- btScalar _9tx2p3y2pz2m19 = 9.0 * (x2 + 3.0 * y2 + z2) - 19.0;
- btScalar _9tx2py2p3z2m19 = 9.0 * (x2 + y2 + 3.0 * z2) - 19.0;
- btScalar _18x = 18.0 * x;
- btScalar _18y = 18.0 * y;
- btScalar _18z = 18.0 * z;
-
- btScalar _3m9x2 = 3.0 - 9.0 * x2;
- btScalar _3m9y2 = 3.0 - 9.0 * y2;
- btScalar _3m9z2 = 3.0 - 9.0 * z2;
-
- btScalar _2x = 2.0 * x;
- btScalar _2y = 2.0 * y;
- btScalar _2z = 2.0 * z;
-
- btScalar _18xm9t3x2py2pz2m19 = _18x - _9t3x2py2pz2m19;
- btScalar _18xp9t3x2py2pz2m19 = _18x + _9t3x2py2pz2m19;
- btScalar _18ym9tx2p3y2pz2m19 = _18y - _9tx2p3y2pz2m19;
- btScalar _18yp9tx2p3y2pz2m19 = _18y + _9tx2p3y2pz2m19;
- btScalar _18zm9tx2py2p3z2m19 = _18z - _9tx2py2p3z2m19;
- btScalar _18zp9tx2py2p3z2m19 = _18z + _9tx2py2p3z2m19;
-
- dN(0, 0) = _18xm9t3x2py2pz2m19 * _1myt1mz;
- dN(0, 1) = _1mxt1mz * _18ym9tx2p3y2pz2m19;
- dN(0, 2) = _1mxt1my * _18zm9tx2py2p3z2m19;
- dN(1, 0) = _18xp9t3x2py2pz2m19 * _1myt1mz;
- dN(1, 1) = _1pxt1mz * _18ym9tx2p3y2pz2m19;
- dN(1, 2) = _1pxt1my * _18zm9tx2py2p3z2m19;
- dN(2, 0) = _18xm9t3x2py2pz2m19 * _1pyt1mz;
- dN(2, 1) = _1mxt1mz * _18yp9tx2p3y2pz2m19;
- dN(2, 2) = _1mxt1py * _18zm9tx2py2p3z2m19;
- dN(3, 0) = _18xp9t3x2py2pz2m19 * _1pyt1mz;
- dN(3, 1) = _1pxt1mz * _18yp9tx2p3y2pz2m19;
- dN(3, 2) = _1pxt1py * _18zm9tx2py2p3z2m19;
- dN(4, 0) = _18xm9t3x2py2pz2m19 * _1myt1pz;
- dN(4, 1) = _1mxt1pz * _18ym9tx2p3y2pz2m19;
- dN(4, 2) = _1mxt1my * _18zp9tx2py2p3z2m19;
- dN(5, 0) = _18xp9t3x2py2pz2m19 * _1myt1pz;
- dN(5, 1) = _1pxt1pz * _18ym9tx2p3y2pz2m19;
- dN(5, 2) = _1pxt1my * _18zp9tx2py2p3z2m19;
- dN(6, 0) = _18xm9t3x2py2pz2m19 * _1pyt1pz;
- dN(6, 1) = _1mxt1pz * _18yp9tx2p3y2pz2m19;
- dN(6, 2) = _1mxt1py * _18zp9tx2py2p3z2m19;
- dN(7, 0) = _18xp9t3x2py2pz2m19 * _1pyt1pz;
- dN(7, 1) = _1pxt1pz * _18yp9tx2p3y2pz2m19;
- dN(7, 2) = _1pxt1py * _18zp9tx2py2p3z2m19;
-
- dN.topRowsDivide(8, 64.0);
-
- btScalar _m3m9x2m2x = -_3m9x2 - _2x;
- btScalar _p3m9x2m2x = _3m9x2 - _2x;
- btScalar _1mx2t1m3x = _1mx2 * _1m3x;
- btScalar _1mx2t1p3x = _1mx2 * _1p3x;
- dN(8, 0) = _m3m9x2m2x * _1myt1mz,
- dN(8, 1) = -_1mx2t1m3x * _1mz,
- dN(8, 2) = -_1mx2t1m3x * _1my;
- dN(9, 0) = _p3m9x2m2x * _1myt1mz,
- dN(9, 1) = -_1mx2t1p3x * _1mz,
- dN(9, 2) = -_1mx2t1p3x * _1my;
- dN(10, 0) = _m3m9x2m2x * _1myt1pz,
- dN(10, 1) = -_1mx2t1m3x * _1pz,
- dN(10, 2) = _1mx2t1m3x * _1my;
- dN(11, 0) = _p3m9x2m2x * _1myt1pz,
- dN(11, 1) = -_1mx2t1p3x * _1pz,
- dN(11, 2) = _1mx2t1p3x * _1my;
- dN(12, 0) = _m3m9x2m2x * _1pyt1mz,
- dN(12, 1) = _1mx2t1m3x * _1mz,
- dN(12, 2) = -_1mx2t1m3x * _1py;
- dN(13, 0) = _p3m9x2m2x * _1pyt1mz,
- dN(13, 1) = _1mx2t1p3x * _1mz,
- dN(13, 2) = -_1mx2t1p3x * _1py;
- dN(14, 0) = _m3m9x2m2x * _1pyt1pz,
- dN(14, 1) = _1mx2t1m3x * _1pz,
- dN(14, 2) = _1mx2t1m3x * _1py;
- dN(15, 0) = _p3m9x2m2x * _1pyt1pz,
- dN(15, 1) = _1mx2t1p3x * _1pz,
- dN(15, 2) = _1mx2t1p3x * _1py;
-
- btScalar _m3m9y2m2y = -_3m9y2 - _2y;
- btScalar _p3m9y2m2y = _3m9y2 - _2y;
- btScalar _1my2t1m3y = _1my2 * _1m3y;
- btScalar _1my2t1p3y = _1my2 * _1p3y;
- dN(16, 0) = -_1my2t1m3y * _1mz,
- dN(16, 1) = _m3m9y2m2y * _1mxt1mz,
- dN(16, 2) = -_1my2t1m3y * _1mx;
- dN(17, 0) = -_1my2t1p3y * _1mz,
- dN(17, 1) = _p3m9y2m2y * _1mxt1mz,
- dN(17, 2) = -_1my2t1p3y * _1mx;
- dN(18, 0) = _1my2t1m3y * _1mz,
- dN(18, 1) = _m3m9y2m2y * _1pxt1mz,
- dN(18, 2) = -_1my2t1m3y * _1px;
- dN(19, 0) = _1my2t1p3y * _1mz,
- dN(19, 1) = _p3m9y2m2y * _1pxt1mz,
- dN(19, 2) = -_1my2t1p3y * _1px;
- dN(20, 0) = -_1my2t1m3y * _1pz,
- dN(20, 1) = _m3m9y2m2y * _1mxt1pz,
- dN(20, 2) = _1my2t1m3y * _1mx;
- dN(21, 0) = -_1my2t1p3y * _1pz,
- dN(21, 1) = _p3m9y2m2y * _1mxt1pz,
- dN(21, 2) = _1my2t1p3y * _1mx;
- dN(22, 0) = _1my2t1m3y * _1pz,
- dN(22, 1) = _m3m9y2m2y * _1pxt1pz,
- dN(22, 2) = _1my2t1m3y * _1px;
- dN(23, 0) = _1my2t1p3y * _1pz,
- dN(23, 1) = _p3m9y2m2y * _1pxt1pz,
- dN(23, 2) = _1my2t1p3y * _1px;
-
- btScalar _m3m9z2m2z = -_3m9z2 - _2z;
- btScalar _p3m9z2m2z = _3m9z2 - _2z;
- btScalar _1mz2t1m3z = _1mz2 * _1m3z;
- btScalar _1mz2t1p3z = _1mz2 * _1p3z;
- dN(24, 0) = -_1mz2t1m3z * _1my,
- dN(24, 1) = -_1mz2t1m3z * _1mx,
- dN(24, 2) = _m3m9z2m2z * _1mxt1my;
- dN(25, 0) = -_1mz2t1p3z * _1my,
- dN(25, 1) = -_1mz2t1p3z * _1mx,
- dN(25, 2) = _p3m9z2m2z * _1mxt1my;
- dN(26, 0) = -_1mz2t1m3z * _1py,
- dN(26, 1) = _1mz2t1m3z * _1mx,
- dN(26, 2) = _m3m9z2m2z * _1mxt1py;
- dN(27, 0) = -_1mz2t1p3z * _1py,
- dN(27, 1) = _1mz2t1p3z * _1mx,
- dN(27, 2) = _p3m9z2m2z * _1mxt1py;
- dN(28, 0) = _1mz2t1m3z * _1my,
- dN(28, 1) = -_1mz2t1m3z * _1px,
- dN(28, 2) = _m3m9z2m2z * _1pxt1my;
- dN(29, 0) = _1mz2t1p3z * _1my,
- dN(29, 1) = -_1mz2t1p3z * _1px,
- dN(29, 2) = _p3m9z2m2z * _1pxt1my;
- dN(30, 0) = _1mz2t1m3z * _1py,
- dN(30, 1) = _1mz2t1m3z * _1px,
- dN(30, 2) = _m3m9z2m2z * _1pxt1py;
- dN(31, 0) = _1mz2t1p3z * _1py,
- dN(31, 1) = _1mz2t1p3z * _1px,
- dN(31, 2) = _p3m9z2m2z * _1pxt1py;
-
- dN.bottomRowsMul(32u - 8u, 9.0 / 64.0);
- }
-
- return res;
-}
-
-bool btMiniSDF::interpolate(unsigned int field_id, double& dist, btVector3 const& x,
- btVector3* gradient) const
-{
- btAssert(m_isValid);
- if (!m_isValid)
- return false;
-
- if (!m_domain.contains(x))
- return false;
-
- btVector3 tmpmi = ((x - m_domain.min()) * (m_inv_cell_size)); //.cast<unsigned int>().eval();
- unsigned int mi[3] = {(unsigned int)tmpmi[0], (unsigned int)tmpmi[1], (unsigned int)tmpmi[2]};
- if (mi[0] >= m_resolution[0])
- mi[0] = m_resolution[0] - 1;
- if (mi[1] >= m_resolution[1])
- mi[1] = m_resolution[1] - 1;
- if (mi[2] >= m_resolution[2])
- mi[2] = m_resolution[2] - 1;
- btMultiIndex mui;
- mui.ijk[0] = mi[0];
- mui.ijk[1] = mi[1];
- mui.ijk[2] = mi[2];
- int i = multiToSingleIndex(mui);
- unsigned int i_ = m_cell_map[field_id][i];
- if (i_ == UINT_MAX)
- return false;
-
- btAlignedBox3d sd = subdomain(i);
- i = i_;
- btVector3 d = sd.m_max - sd.m_min; //.diagonal().eval();
-
- btVector3 denom = (sd.max() - sd.min());
- btVector3 c0 = btVector3(2.0, 2.0, 2.0) / denom;
- btVector3 c1 = (sd.max() + sd.min()) / denom;
- btVector3 xi = (c0 * x - c1);
-
- btCell32 const& cell = m_cells[field_id][i];
- if (!gradient)
- {
- //auto phi = m_coefficients[field_id][i].dot(shape_function_(xi, 0));
- double phi = 0.0;
- btShapeMatrix N = shape_function_(xi, 0);
- for (unsigned int j = 0u; j < 32u; ++j)
- {
- unsigned int v = cell.m_cells[j];
- double c = m_nodes[field_id][v];
- if (c == DBL_MAX)
- {
- return false;
- ;
- }
- phi += c * N[j];
- }
-
- dist = phi;
- return true;
- }
-
- btShapeGradients dN;
- btShapeMatrix N = shape_function_(xi, &dN);
-
- double phi = 0.0;
- gradient->setZero();
- for (unsigned int j = 0u; j < 32u; ++j)
- {
- unsigned int v = cell.m_cells[j];
- double c = m_nodes[field_id][v];
- if (c == DBL_MAX)
- {
- gradient->setZero();
- return false;
- }
- phi += c * N[j];
- (*gradient)[0] += c * dN(j, 0);
- (*gradient)[1] += c * dN(j, 1);
- (*gradient)[2] += c * dN(j, 2);
- }
- (*gradient) *= c0;
- dist = phi;
- return true;
-}
generated by cgit v1.2.3 (git 2.25.1) at 2024-12-21 06:51:46 +0000