diff options
Diffstat (limited to 'thirdparty/bullet/BulletCollision/CollisionShapes/btTriangleMesh.cpp')
| -rw-r--r-- | thirdparty/bullet/BulletCollision/CollisionShapes/btTriangleMesh.cpp | 169 |
1 files changed, 169 insertions, 0 deletions
diff --git a/thirdparty/bullet/BulletCollision/CollisionShapes/btTriangleMesh.cpp b/thirdparty/bullet/BulletCollision/CollisionShapes/btTriangleMesh.cpp new file mode 100644 index 0000000000..e4de732093 --- /dev/null +++ b/thirdparty/bullet/BulletCollision/CollisionShapes/btTriangleMesh.cpp @@ -0,0 +1,169 @@ +/* +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 "btTriangleMesh.h" + + + +btTriangleMesh::btTriangleMesh (bool use32bitIndices,bool use4componentVertices) +:m_use32bitIndices(use32bitIndices), +m_use4componentVertices(use4componentVertices), +m_weldingThreshold(0.0) +{ + btIndexedMesh meshIndex; + meshIndex.m_numTriangles = 0; + meshIndex.m_numVertices = 0; + meshIndex.m_indexType = PHY_INTEGER; + meshIndex.m_triangleIndexBase = 0; + meshIndex.m_triangleIndexStride = 3*sizeof(int); + meshIndex.m_vertexBase = 0; + meshIndex.m_vertexStride = sizeof(btVector3); + m_indexedMeshes.push_back(meshIndex); + + if (m_use32bitIndices) + { + m_indexedMeshes[0].m_numTriangles = m_32bitIndices.size()/3; + m_indexedMeshes[0].m_triangleIndexBase = 0; + m_indexedMeshes[0].m_indexType = PHY_INTEGER; + m_indexedMeshes[0].m_triangleIndexStride = 3*sizeof(int); + } else + { + m_indexedMeshes[0].m_numTriangles = m_16bitIndices.size()/3; + m_indexedMeshes[0].m_triangleIndexBase = 0; + m_indexedMeshes[0].m_indexType = PHY_SHORT; + m_indexedMeshes[0].m_triangleIndexStride = 3*sizeof(short int); + } + + if (m_use4componentVertices) + { + m_indexedMeshes[0].m_numVertices = m_4componentVertices.size(); + m_indexedMeshes[0].m_vertexBase = 0; + m_indexedMeshes[0].m_vertexStride = sizeof(btVector3); + } else + { + m_indexedMeshes[0].m_numVertices = m_3componentVertices.size()/3; + m_indexedMeshes[0].m_vertexBase = 0; + m_indexedMeshes[0].m_vertexStride = 3*sizeof(btScalar); + } + + +} + +void btTriangleMesh::addIndex(int index) +{ + if (m_use32bitIndices) + { + m_32bitIndices.push_back(index); + m_indexedMeshes[0].m_triangleIndexBase = (unsigned char*) &m_32bitIndices[0]; + } else + { + m_16bitIndices.push_back(index); + m_indexedMeshes[0].m_triangleIndexBase = (unsigned char*) &m_16bitIndices[0]; + } +} + +void btTriangleMesh::addTriangleIndices(int index1, int index2, int index3 ) +{ + m_indexedMeshes[0].m_numTriangles++; + addIndex( index1 ); + addIndex( index2 ); + addIndex( index3 ); +} + +int btTriangleMesh::findOrAddVertex(const btVector3& vertex, bool removeDuplicateVertices) +{ + //return index of new/existing vertex + ///@todo: could use acceleration structure for this + if (m_use4componentVertices) + { + if (removeDuplicateVertices) + { + for (int i=0;i< m_4componentVertices.size();i++) + { + if ((m_4componentVertices[i]-vertex).length2() <= m_weldingThreshold) + { + return i; + } + } + } + m_indexedMeshes[0].m_numVertices++; + m_4componentVertices.push_back(vertex); + m_indexedMeshes[0].m_vertexBase = (unsigned char*)&m_4componentVertices[0]; + + return m_4componentVertices.size()-1; + + } else + { + + if (removeDuplicateVertices) + { + for (int i=0;i< m_3componentVertices.size();i+=3) + { + btVector3 vtx(m_3componentVertices[i],m_3componentVertices[i+1],m_3componentVertices[i+2]); + if ((vtx-vertex).length2() <= m_weldingThreshold) + { + return i/3; + } + } + } + m_3componentVertices.push_back(vertex.getX()); + m_3componentVertices.push_back(vertex.getY()); + m_3componentVertices.push_back(vertex.getZ()); + m_indexedMeshes[0].m_numVertices++; + m_indexedMeshes[0].m_vertexBase = (unsigned char*)&m_3componentVertices[0]; + return (m_3componentVertices.size()/3)-1; + } + +} + +void btTriangleMesh::addTriangle(const btVector3& vertex0,const btVector3& vertex1,const btVector3& vertex2,bool removeDuplicateVertices) +{ + m_indexedMeshes[0].m_numTriangles++; + addIndex(findOrAddVertex(vertex0,removeDuplicateVertices)); + addIndex(findOrAddVertex(vertex1,removeDuplicateVertices)); + addIndex(findOrAddVertex(vertex2,removeDuplicateVertices)); +} + +int btTriangleMesh::getNumTriangles() const +{ + if (m_use32bitIndices) + { + return m_32bitIndices.size() / 3; + } + return m_16bitIndices.size() / 3; +} + +void btTriangleMesh::preallocateVertices(int numverts) +{ + if (m_use4componentVertices) + { + m_4componentVertices.reserve(numverts); + } else + { + m_3componentVertices.reserve(numverts); + } +} + +void btTriangleMesh::preallocateIndices(int numindices) +{ + if (m_use32bitIndices) + { + m_32bitIndices.reserve(numindices); + } else + { + m_16bitIndices.reserve(numindices); + } +} |