diff options
Diffstat (limited to 'thirdparty/bullet/BulletCollision/CollisionShapes/btStridingMeshInterface.cpp')
| -rw-r--r-- | thirdparty/bullet/BulletCollision/CollisionShapes/btStridingMeshInterface.cpp | 388 |
1 files changed, 388 insertions, 0 deletions
diff --git a/thirdparty/bullet/BulletCollision/CollisionShapes/btStridingMeshInterface.cpp b/thirdparty/bullet/BulletCollision/CollisionShapes/btStridingMeshInterface.cpp new file mode 100644 index 0000000000..78ddeb3704 --- /dev/null +++ b/thirdparty/bullet/BulletCollision/CollisionShapes/btStridingMeshInterface.cpp @@ -0,0 +1,388 @@ +/* +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 "btStridingMeshInterface.h" +#include "LinearMath/btSerializer.h" + +btStridingMeshInterface::~btStridingMeshInterface() +{ + +} + + +void btStridingMeshInterface::InternalProcessAllTriangles(btInternalTriangleIndexCallback* callback,const btVector3& aabbMin,const btVector3& 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; + btVector3 triangle[3]; + + btVector3 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: + btAssert((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((btScalar)graphicsbase[0]*meshScaling.getX(),(btScalar)graphicsbase[1]*meshScaling.getY(),(btScalar)graphicsbase[2]*meshScaling.getZ()); + graphicsbase = (double*)(vertexbase+tri_indices[1]*stride); + triangle[1].setValue((btScalar)graphicsbase[0]*meshScaling.getX(),(btScalar)graphicsbase[1]*meshScaling.getY(), (btScalar)graphicsbase[2]*meshScaling.getZ()); + graphicsbase = (double*)(vertexbase+tri_indices[2]*stride); + triangle[2].setValue((btScalar)graphicsbase[0]*meshScaling.getX(),(btScalar)graphicsbase[1]*meshScaling.getY(), (btScalar)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((btScalar)graphicsbase[0]*meshScaling.getX(),(btScalar)graphicsbase[1]*meshScaling.getY(),(btScalar)graphicsbase[2]*meshScaling.getZ()); + graphicsbase = (double*)(vertexbase+tri_indices[1]*stride); + triangle[1].setValue((btScalar)graphicsbase[0]*meshScaling.getX(),(btScalar)graphicsbase[1]*meshScaling.getY(), (btScalar)graphicsbase[2]*meshScaling.getZ()); + graphicsbase = (double*)(vertexbase+tri_indices[2]*stride); + triangle[2].setValue((btScalar)graphicsbase[0]*meshScaling.getX(),(btScalar)graphicsbase[1]*meshScaling.getY(), (btScalar)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((btScalar)graphicsbase[0]*meshScaling.getX(),(btScalar)graphicsbase[1]*meshScaling.getY(),(btScalar)graphicsbase[2]*meshScaling.getZ()); + graphicsbase = (double*)(vertexbase+tri_indices[1]*stride); + triangle[1].setValue((btScalar)graphicsbase[0]*meshScaling.getX(),(btScalar)graphicsbase[1]*meshScaling.getY(), (btScalar)graphicsbase[2]*meshScaling.getZ()); + graphicsbase = (double*)(vertexbase+tri_indices[2]*stride); + triangle[2].setValue((btScalar)graphicsbase[0]*meshScaling.getX(),(btScalar)graphicsbase[1]*meshScaling.getY(), (btScalar)graphicsbase[2]*meshScaling.getZ()); + callback->internalProcessTriangleIndex(triangle,part,gfxindex); + } + break; + } + default: + btAssert((gfxindextype == PHY_INTEGER) || (gfxindextype == PHY_SHORT)); + } + break; + } + default: + btAssert((type == PHY_FLOAT) || (type == PHY_DOUBLE)); + } + + unLockReadOnlyVertexBase(part); + } +} + +void btStridingMeshInterface::calculateAabbBruteForce(btVector3& aabbMin,btVector3& aabbMax) +{ + + struct AabbCalculationCallback : public btInternalTriangleIndexCallback + { + btVector3 m_aabbMin; + btVector3 m_aabbMax; + + AabbCalculationCallback() + { + m_aabbMin.setValue(btScalar(BT_LARGE_FLOAT),btScalar(BT_LARGE_FLOAT),btScalar(BT_LARGE_FLOAT)); + m_aabbMax.setValue(btScalar(-BT_LARGE_FLOAT),btScalar(-BT_LARGE_FLOAT),btScalar(-BT_LARGE_FLOAT)); + } + + virtual void internalProcessTriangleIndex(btVector3* 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(btScalar(-BT_LARGE_FLOAT),btScalar(-BT_LARGE_FLOAT),btScalar(-BT_LARGE_FLOAT)); + aabbMax.setValue(btScalar(BT_LARGE_FLOAT),btScalar(BT_LARGE_FLOAT),btScalar(BT_LARGE_FLOAT)); + InternalProcessAllTriangles(&aabbCallback,aabbMin,aabbMax); + + aabbMin = aabbCallback.m_aabbMin; + aabbMax = aabbCallback.m_aabbMax; +} + + + +///fills the dataBuffer and returns the struct name (and 0 on failure) +const char* btStridingMeshInterface::serialize(void* dataBuffer, btSerializer* serializer) const +{ + btStridingMeshInterfaceData* trimeshData = (btStridingMeshInterfaceData*) dataBuffer; + + trimeshData->m_numMeshParts = getNumSubParts(); + + //void* uniquePtr = 0; + + trimeshData->m_meshPartsPtr = 0; + + if (trimeshData->m_numMeshParts) + { + btChunk* chunk = serializer->allocate(sizeof(btMeshPartData),trimeshData->m_numMeshParts); + btMeshPartData* memPtr = (btMeshPartData*)chunk->m_oldPtr; + trimeshData->m_meshPartsPtr = (btMeshPartData *)serializer->getUniquePointer(memPtr); + + + // 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; + // btVector3 triangle[3]; + + // btVector3 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++,memPtr++) + { + getLockedReadOnlyVertexIndexBase(&vertexbase,numverts,type,stride,&indexbase,indexstride,numtriangles,gfxindextype,part); + memPtr->m_numTriangles = numtriangles;//indices = 3*numtriangles + memPtr->m_numVertices = numverts; + memPtr->m_indices16 = 0; + memPtr->m_indices32 = 0; + memPtr->m_3indices16 = 0; + memPtr->m_3indices8 = 0; + memPtr->m_vertices3f = 0; + memPtr->m_vertices3d = 0; + + + switch (gfxindextype) + { + case PHY_INTEGER: + { + int numindices = numtriangles*3; + + if (numindices) + { + btChunk* chunk = serializer->allocate(sizeof(btIntIndexData),numindices); + btIntIndexData* tmpIndices = (btIntIndexData*)chunk->m_oldPtr; + memPtr->m_indices32 = (btIntIndexData*)serializer->getUniquePointer(tmpIndices); + for (gfxindex=0;gfxindex<numtriangles;gfxindex++) + { + unsigned int* tri_indices= (unsigned int*)(indexbase+gfxindex*indexstride); + tmpIndices[gfxindex*3].m_value = tri_indices[0]; + tmpIndices[gfxindex*3+1].m_value = tri_indices[1]; + tmpIndices[gfxindex*3+2].m_value = tri_indices[2]; + } + serializer->finalizeChunk(chunk,"btIntIndexData",BT_ARRAY_CODE,(void*)chunk->m_oldPtr); + } + break; + } + case PHY_SHORT: + { + if (numtriangles) + { + btChunk* chunk = serializer->allocate(sizeof(btShortIntIndexTripletData),numtriangles); + btShortIntIndexTripletData* tmpIndices = (btShortIntIndexTripletData*)chunk->m_oldPtr; + memPtr->m_3indices16 = (btShortIntIndexTripletData*) serializer->getUniquePointer(tmpIndices); + for (gfxindex=0;gfxindex<numtriangles;gfxindex++) + { + unsigned short int* tri_indices= (unsigned short int*)(indexbase+gfxindex*indexstride); + tmpIndices[gfxindex].m_values[0] = tri_indices[0]; + tmpIndices[gfxindex].m_values[1] = tri_indices[1]; + tmpIndices[gfxindex].m_values[2] = tri_indices[2]; + // Fill padding with zeros to appease msan. + tmpIndices[gfxindex].m_pad[0] = 0; + tmpIndices[gfxindex].m_pad[1] = 0; + } + serializer->finalizeChunk(chunk,"btShortIntIndexTripletData",BT_ARRAY_CODE,(void*)chunk->m_oldPtr); + } + break; + } + case PHY_UCHAR: + { + if (numtriangles) + { + btChunk* chunk = serializer->allocate(sizeof(btCharIndexTripletData),numtriangles); + btCharIndexTripletData* tmpIndices = (btCharIndexTripletData*)chunk->m_oldPtr; + memPtr->m_3indices8 = (btCharIndexTripletData*) serializer->getUniquePointer(tmpIndices); + for (gfxindex=0;gfxindex<numtriangles;gfxindex++) + { + unsigned char* tri_indices= (unsigned char*)(indexbase+gfxindex*indexstride); + tmpIndices[gfxindex].m_values[0] = tri_indices[0]; + tmpIndices[gfxindex].m_values[1] = tri_indices[1]; + tmpIndices[gfxindex].m_values[2] = tri_indices[2]; + // Fill padding with zeros to appease msan. + tmpIndices[gfxindex].m_pad = 0; + } + serializer->finalizeChunk(chunk,"btCharIndexTripletData",BT_ARRAY_CODE,(void*)chunk->m_oldPtr); + } + break; + } + default: + { + btAssert(0); + //unknown index type + } + } + + switch (type) + { + case PHY_FLOAT: + { + float* graphicsbase; + + if (numverts) + { + btChunk* chunk = serializer->allocate(sizeof(btVector3FloatData),numverts); + btVector3FloatData* tmpVertices = (btVector3FloatData*) chunk->m_oldPtr; + memPtr->m_vertices3f = (btVector3FloatData *)serializer->getUniquePointer(tmpVertices); + for (int i=0;i<numverts;i++) + { + graphicsbase = (float*)(vertexbase+i*stride); + tmpVertices[i].m_floats[0] = graphicsbase[0]; + tmpVertices[i].m_floats[1] = graphicsbase[1]; + tmpVertices[i].m_floats[2] = graphicsbase[2]; + } + serializer->finalizeChunk(chunk,"btVector3FloatData",BT_ARRAY_CODE,(void*)chunk->m_oldPtr); + } + break; + } + + case PHY_DOUBLE: + { + if (numverts) + { + btChunk* chunk = serializer->allocate(sizeof(btVector3DoubleData),numverts); + btVector3DoubleData* tmpVertices = (btVector3DoubleData*) chunk->m_oldPtr; + memPtr->m_vertices3d = (btVector3DoubleData *) serializer->getUniquePointer(tmpVertices); + for (int i=0;i<numverts;i++) + { + double* graphicsbase = (double*)(vertexbase+i*stride);//for now convert to float, might leave it at double + tmpVertices[i].m_floats[0] = graphicsbase[0]; + tmpVertices[i].m_floats[1] = graphicsbase[1]; + tmpVertices[i].m_floats[2] = graphicsbase[2]; + } + serializer->finalizeChunk(chunk,"btVector3DoubleData",BT_ARRAY_CODE,(void*)chunk->m_oldPtr); + } + break; + } + + default: + btAssert((type == PHY_FLOAT) || (type == PHY_DOUBLE)); + } + + unLockReadOnlyVertexBase(part); + } + + serializer->finalizeChunk(chunk,"btMeshPartData",BT_ARRAY_CODE,chunk->m_oldPtr); + } + + // Fill padding with zeros to appease msan. + memset(trimeshData->m_padding, 0, sizeof(trimeshData->m_padding)); + + m_scaling.serializeFloat(trimeshData->m_scaling); + return "btStridingMeshInterfaceData"; +} |