diff options
Diffstat (limited to 'thirdparty/bullet/src/LinearMath/btConvexHull.cpp')
| -rw-r--r-- | thirdparty/bullet/src/LinearMath/btConvexHull.cpp | 1167 |
1 files changed, 0 insertions, 1167 deletions
diff --git a/thirdparty/bullet/src/LinearMath/btConvexHull.cpp b/thirdparty/bullet/src/LinearMath/btConvexHull.cpp deleted file mode 100644 index f8b79a1aba..0000000000 --- a/thirdparty/bullet/src/LinearMath/btConvexHull.cpp +++ /dev/null @@ -1,1167 +0,0 @@ -/* -Stan Melax Convex Hull Computation -Copyright (c) 2003-2006 Stan Melax http://www.melax.com/ - -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 <string.h> - -#include "btConvexHull.h" -#include "btAlignedObjectArray.h" -#include "btMinMax.h" -#include "btVector3.h" - - - - - -//---------------------------------- - -class int3 -{ -public: - int x,y,z; - int3(){}; - int3(int _x,int _y, int _z){x=_x;y=_y;z=_z;} - const int& operator[](int i) const {return (&x)[i];} - int& operator[](int i) {return (&x)[i];} -}; - - -//------- btPlane ---------- - - -inline btPlane PlaneFlip(const btPlane &plane){return btPlane(-plane.normal,-plane.dist);} -inline int operator==( const btPlane &a, const btPlane &b ) { return (a.normal==b.normal && a.dist==b.dist); } -inline int coplanar( const btPlane &a, const btPlane &b ) { return (a==b || a==PlaneFlip(b)); } - - -//--------- Utility Functions ------ - -btVector3 PlaneLineIntersection(const btPlane &plane, const btVector3 &p0, const btVector3 &p1); -btVector3 PlaneProject(const btPlane &plane, const btVector3 &point); - -btVector3 ThreePlaneIntersection(const btPlane &p0,const btPlane &p1, const btPlane &p2); -btVector3 ThreePlaneIntersection(const btPlane &p0,const btPlane &p1, const btPlane &p2) -{ - btVector3 N1 = p0.normal; - btVector3 N2 = p1.normal; - btVector3 N3 = p2.normal; - - btVector3 n2n3; n2n3 = N2.cross(N3); - btVector3 n3n1; n3n1 = N3.cross(N1); - btVector3 n1n2; n1n2 = N1.cross(N2); - - btScalar quotient = (N1.dot(n2n3)); - - btAssert(btFabs(quotient) > btScalar(0.000001)); - - quotient = btScalar(-1.) / quotient; - n2n3 *= p0.dist; - n3n1 *= p1.dist; - n1n2 *= p2.dist; - btVector3 potentialVertex = n2n3; - potentialVertex += n3n1; - potentialVertex += n1n2; - potentialVertex *= quotient; - - btVector3 result(potentialVertex.getX(),potentialVertex.getY(),potentialVertex.getZ()); - return result; - -} - -btScalar DistanceBetweenLines(const btVector3 &ustart, const btVector3 &udir, const btVector3 &vstart, const btVector3 &vdir, btVector3 *upoint=NULL, btVector3 *vpoint=NULL); -btVector3 TriNormal(const btVector3 &v0, const btVector3 &v1, const btVector3 &v2); -btVector3 NormalOf(const btVector3 *vert, const int n); - - -btVector3 PlaneLineIntersection(const btPlane &plane, const btVector3 &p0, const btVector3 &p1) -{ - // returns the point where the line p0-p1 intersects the plane n&d - btVector3 dif; - dif = p1-p0; - btScalar dn= btDot(plane.normal,dif); - btScalar t = -(plane.dist+btDot(plane.normal,p0) )/dn; - return p0 + (dif*t); -} - -btVector3 PlaneProject(const btPlane &plane, const btVector3 &point) -{ - return point - plane.normal * (btDot(point,plane.normal)+plane.dist); -} - -btVector3 TriNormal(const btVector3 &v0, const btVector3 &v1, const btVector3 &v2) -{ - // return the normal of the triangle - // inscribed by v0, v1, and v2 - btVector3 cp=btCross(v1-v0,v2-v1); - btScalar m=cp.length(); - if(m==0) return btVector3(1,0,0); - return cp*(btScalar(1.0)/m); -} - - -btScalar DistanceBetweenLines(const btVector3 &ustart, const btVector3 &udir, const btVector3 &vstart, const btVector3 &vdir, btVector3 *upoint, btVector3 *vpoint) -{ - btVector3 cp; - cp = btCross(udir,vdir).normalized(); - - btScalar distu = -btDot(cp,ustart); - btScalar distv = -btDot(cp,vstart); - btScalar dist = (btScalar)fabs(distu-distv); - if(upoint) - { - btPlane plane; - plane.normal = btCross(vdir,cp).normalized(); - plane.dist = -btDot(plane.normal,vstart); - *upoint = PlaneLineIntersection(plane,ustart,ustart+udir); - } - if(vpoint) - { - btPlane plane; - plane.normal = btCross(udir,cp).normalized(); - plane.dist = -btDot(plane.normal,ustart); - *vpoint = PlaneLineIntersection(plane,vstart,vstart+vdir); - } - return dist; -} - - - - - - - -#define COPLANAR (0) -#define UNDER (1) -#define OVER (2) -#define SPLIT (OVER|UNDER) -#define PAPERWIDTH (btScalar(0.001)) - -btScalar planetestepsilon = PAPERWIDTH; - - - -typedef ConvexH::HalfEdge HalfEdge; - -ConvexH::ConvexH(int vertices_size,int edges_size,int facets_size) -{ - vertices.resize(vertices_size); - edges.resize(edges_size); - facets.resize(facets_size); -} - - -int PlaneTest(const btPlane &p, const btVector3 &v); -int PlaneTest(const btPlane &p, const btVector3 &v) { - btScalar a = btDot(v,p.normal)+p.dist; - int flag = (a>planetestepsilon)?OVER:((a<-planetestepsilon)?UNDER:COPLANAR); - return flag; -} - -int SplitTest(ConvexH &convex,const btPlane &plane); -int SplitTest(ConvexH &convex,const btPlane &plane) { - int flag=0; - for(int i=0;i<convex.vertices.size();i++) { - flag |= PlaneTest(plane,convex.vertices[i]); - } - return flag; -} - -class VertFlag -{ -public: - unsigned char planetest; - unsigned char junk; - unsigned char undermap; - unsigned char overmap; -}; -class EdgeFlag -{ -public: - unsigned char planetest; - unsigned char fixes; - short undermap; - short overmap; -}; -class PlaneFlag -{ -public: - unsigned char undermap; - unsigned char overmap; -}; -class Coplanar{ -public: - unsigned short ea; - unsigned char v0; - unsigned char v1; -}; - - - - - - - - -template<class T> -int maxdirfiltered(const T *p,int count,const T &dir,btAlignedObjectArray<int> &allow) -{ - btAssert(count); - int m=-1; - for(int i=0;i<count;i++) - if(allow[i]) - { - if(m==-1 || btDot(p[i],dir)>btDot(p[m],dir)) - m=i; - } - btAssert(m!=-1); - return m; -} - -btVector3 orth(const btVector3 &v); -btVector3 orth(const btVector3 &v) -{ - btVector3 a=btCross(v,btVector3(0,0,1)); - btVector3 b=btCross(v,btVector3(0,1,0)); - if (a.length() > b.length()) - { - return a.normalized(); - } else { - return b.normalized(); - } -} - - -template<class T> -int maxdirsterid(const T *p,int count,const T &dir,btAlignedObjectArray<int> &allow) -{ - int m=-1; - while(m==-1) - { - m = maxdirfiltered(p,count,dir,allow); - if(allow[m]==3) return m; - T u = orth(dir); - T v = btCross(u,dir); - int ma=-1; - for(btScalar x = btScalar(0.0) ; x<= btScalar(360.0) ; x+= btScalar(45.0)) - { - btScalar s = btSin(SIMD_RADS_PER_DEG*(x)); - btScalar c = btCos(SIMD_RADS_PER_DEG*(x)); - int mb = maxdirfiltered(p,count,dir+(u*s+v*c)*btScalar(0.025),allow); - if(ma==m && mb==m) - { - allow[m]=3; - return m; - } - if(ma!=-1 && ma!=mb) // Yuck - this is really ugly - { - int mc = ma; - for(btScalar xx = x-btScalar(40.0) ; xx <= x ; xx+= btScalar(5.0)) - { - btScalar s = btSin(SIMD_RADS_PER_DEG*(xx)); - btScalar c = btCos(SIMD_RADS_PER_DEG*(xx)); - int md = maxdirfiltered(p,count,dir+(u*s+v*c)*btScalar(0.025),allow); - if(mc==m && md==m) - { - allow[m]=3; - return m; - } - mc=md; - } - } - ma=mb; - } - allow[m]=0; - m=-1; - } - btAssert(0); - return m; -} - - - - -int operator ==(const int3 &a,const int3 &b); -int operator ==(const int3 &a,const int3 &b) -{ - for(int i=0;i<3;i++) - { - if(a[i]!=b[i]) return 0; - } - return 1; -} - - -int above(btVector3* vertices,const int3& t, const btVector3 &p, btScalar epsilon); -int above(btVector3* vertices,const int3& t, const btVector3 &p, btScalar epsilon) -{ - btVector3 n=TriNormal(vertices[t[0]],vertices[t[1]],vertices[t[2]]); - return (btDot(n,p-vertices[t[0]]) > epsilon); // EPSILON??? -} -int hasedge(const int3 &t, int a,int b); -int hasedge(const int3 &t, int a,int b) -{ - for(int i=0;i<3;i++) - { - int i1= (i+1)%3; - if(t[i]==a && t[i1]==b) return 1; - } - return 0; -} -int hasvert(const int3 &t, int v); -int hasvert(const int3 &t, int v) -{ - return (t[0]==v || t[1]==v || t[2]==v) ; -} -int shareedge(const int3 &a,const int3 &b); -int shareedge(const int3 &a,const int3 &b) -{ - int i; - for(i=0;i<3;i++) - { - int i1= (i+1)%3; - if(hasedge(a,b[i1],b[i])) return 1; - } - return 0; -} - -class btHullTriangle; - - - -class btHullTriangle : public int3 -{ -public: - int3 n; - int id; - int vmax; - btScalar rise; - btHullTriangle(int a,int b,int c):int3(a,b,c),n(-1,-1,-1) - { - vmax=-1; - rise = btScalar(0.0); - } - ~btHullTriangle() - { - } - int &neib(int a,int b); -}; - - -int &btHullTriangle::neib(int a,int b) -{ - static int er=-1; - int i; - for(i=0;i<3;i++) - { - int i1=(i+1)%3; - int i2=(i+2)%3; - if((*this)[i]==a && (*this)[i1]==b) return n[i2]; - if((*this)[i]==b && (*this)[i1]==a) return n[i2]; - } - btAssert(0); - return er; -} -void HullLibrary::b2bfix(btHullTriangle* s,btHullTriangle*t) -{ - int i; - for(i=0;i<3;i++) - { - int i1=(i+1)%3; - int i2=(i+2)%3; - int a = (*s)[i1]; - int b = (*s)[i2]; - btAssert(m_tris[s->neib(a,b)]->neib(b,a) == s->id); - btAssert(m_tris[t->neib(a,b)]->neib(b,a) == t->id); - m_tris[s->neib(a,b)]->neib(b,a) = t->neib(b,a); - m_tris[t->neib(b,a)]->neib(a,b) = s->neib(a,b); - } -} - -void HullLibrary::removeb2b(btHullTriangle* s,btHullTriangle*t) -{ - b2bfix(s,t); - deAllocateTriangle(s); - - deAllocateTriangle(t); -} - -void HullLibrary::checkit(btHullTriangle *t) -{ - (void)t; - - int i; - btAssert(m_tris[t->id]==t); - for(i=0;i<3;i++) - { - int i1=(i+1)%3; - int i2=(i+2)%3; - int a = (*t)[i1]; - int b = (*t)[i2]; - - // release compile fix - (void)i1; - (void)i2; - (void)a; - (void)b; - - btAssert(a!=b); - btAssert( m_tris[t->n[i]]->neib(b,a) == t->id); - } -} - -btHullTriangle* HullLibrary::allocateTriangle(int a,int b,int c) -{ - void* mem = btAlignedAlloc(sizeof(btHullTriangle),16); - btHullTriangle* tr = new (mem)btHullTriangle(a,b,c); - tr->id = m_tris.size(); - m_tris.push_back(tr); - - return tr; -} - -void HullLibrary::deAllocateTriangle(btHullTriangle* tri) -{ - btAssert(m_tris[tri->id]==tri); - m_tris[tri->id]=NULL; - tri->~btHullTriangle(); - btAlignedFree(tri); -} - - -void HullLibrary::extrude(btHullTriangle *t0,int v) -{ - int3 t= *t0; - int n = m_tris.size(); - btHullTriangle* ta = allocateTriangle(v,t[1],t[2]); - ta->n = int3(t0->n[0],n+1,n+2); - m_tris[t0->n[0]]->neib(t[1],t[2]) = n+0; - btHullTriangle* tb = allocateTriangle(v,t[2],t[0]); - tb->n = int3(t0->n[1],n+2,n+0); - m_tris[t0->n[1]]->neib(t[2],t[0]) = n+1; - btHullTriangle* tc = allocateTriangle(v,t[0],t[1]); - tc->n = int3(t0->n[2],n+0,n+1); - m_tris[t0->n[2]]->neib(t[0],t[1]) = n+2; - checkit(ta); - checkit(tb); - checkit(tc); - if(hasvert(*m_tris[ta->n[0]],v)) removeb2b(ta,m_tris[ta->n[0]]); - if(hasvert(*m_tris[tb->n[0]],v)) removeb2b(tb,m_tris[tb->n[0]]); - if(hasvert(*m_tris[tc->n[0]],v)) removeb2b(tc,m_tris[tc->n[0]]); - deAllocateTriangle(t0); - -} - -btHullTriangle* HullLibrary::extrudable(btScalar epsilon) -{ - int i; - btHullTriangle *t=NULL; - for(i=0;i<m_tris.size();i++) - { - if(!t || (m_tris[i] && t->rise<m_tris[i]->rise)) - { - t = m_tris[i]; - } - } - return (t->rise >epsilon)?t:NULL ; -} - - - - -int4 HullLibrary::FindSimplex(btVector3 *verts,int verts_count,btAlignedObjectArray<int> &allow) -{ - btVector3 basis[3]; - basis[0] = btVector3( btScalar(0.01), btScalar(0.02), btScalar(1.0) ); - int p0 = maxdirsterid(verts,verts_count, basis[0],allow); - int p1 = maxdirsterid(verts,verts_count,-basis[0],allow); - basis[0] = verts[p0]-verts[p1]; - if(p0==p1 || basis[0]==btVector3(0,0,0)) - return int4(-1,-1,-1,-1); - basis[1] = btCross(btVector3( btScalar(1),btScalar(0.02), btScalar(0)),basis[0]); - basis[2] = btCross(btVector3(btScalar(-0.02), btScalar(1), btScalar(0)),basis[0]); - if (basis[1].length() > basis[2].length()) - { - basis[1].normalize(); - } else { - basis[1] = basis[2]; - basis[1].normalize (); - } - int p2 = maxdirsterid(verts,verts_count,basis[1],allow); - if(p2 == p0 || p2 == p1) - { - p2 = maxdirsterid(verts,verts_count,-basis[1],allow); - } - if(p2 == p0 || p2 == p1) - return int4(-1,-1,-1,-1); - basis[1] = verts[p2] - verts[p0]; - basis[2] = btCross(basis[1],basis[0]).normalized(); - int p3 = maxdirsterid(verts,verts_count,basis[2],allow); - if(p3==p0||p3==p1||p3==p2) p3 = maxdirsterid(verts,verts_count,-basis[2],allow); - if(p3==p0||p3==p1||p3==p2) - return int4(-1,-1,-1,-1); - btAssert(!(p0==p1||p0==p2||p0==p3||p1==p2||p1==p3||p2==p3)); - if(btDot(verts[p3]-verts[p0],btCross(verts[p1]-verts[p0],verts[p2]-verts[p0])) <0) {btSwap(p2,p3);} - return int4(p0,p1,p2,p3); -} - -int HullLibrary::calchullgen(btVector3 *verts,int verts_count, int vlimit) -{ - if(verts_count <4) return 0; - if(vlimit==0) vlimit=1000000000; - int j; - btVector3 bmin(*verts),bmax(*verts); - btAlignedObjectArray<int> isextreme; - isextreme.reserve(verts_count); - btAlignedObjectArray<int> allow; - allow.reserve(verts_count); - - for(j=0;j<verts_count;j++) - { - allow.push_back(1); - isextreme.push_back(0); - bmin.setMin (verts[j]); - bmax.setMax (verts[j]); - } - btScalar epsilon = (bmax-bmin).length() * btScalar(0.001); - btAssert (epsilon != 0.0); - - - int4 p = FindSimplex(verts,verts_count,allow); - if(p.x==-1) return 0; // simplex failed - - - - btVector3 center = (verts[p[0]]+verts[p[1]]+verts[p[2]]+verts[p[3]]) / btScalar(4.0); // a valid interior point - btHullTriangle *t0 = allocateTriangle(p[2],p[3],p[1]); t0->n=int3(2,3,1); - btHullTriangle *t1 = allocateTriangle(p[3],p[2],p[0]); t1->n=int3(3,2,0); - btHullTriangle *t2 = allocateTriangle(p[0],p[1],p[3]); t2->n=int3(0,1,3); - btHullTriangle *t3 = allocateTriangle(p[1],p[0],p[2]); t3->n=int3(1,0,2); - isextreme[p[0]]=isextreme[p[1]]=isextreme[p[2]]=isextreme[p[3]]=1; - checkit(t0);checkit(t1);checkit(t2);checkit(t3); - - for(j=0;j<m_tris.size();j++) - { - btHullTriangle *t=m_tris[j]; - btAssert(t); - btAssert(t->vmax<0); - btVector3 n=TriNormal(verts[(*t)[0]],verts[(*t)[1]],verts[(*t)[2]]); - t->vmax = maxdirsterid(verts,verts_count,n,allow); - t->rise = btDot(n,verts[t->vmax]-verts[(*t)[0]]); - } - btHullTriangle *te; - vlimit-=4; - while(vlimit >0 && ((te=extrudable(epsilon)) != 0)) - { - //int3 ti=*te; - int v=te->vmax; - btAssert(v != -1); - btAssert(!isextreme[v]); // wtf we've already done this vertex - isextreme[v]=1; - //if(v==p0 || v==p1 || v==p2 || v==p3) continue; // done these already - j=m_tris.size(); - while(j--) { - if(!m_tris[j]) continue; - int3 t=*m_tris[j]; - if(above(verts,t,verts[v],btScalar(0.01)*epsilon)) - { - extrude(m_tris[j],v); - } - } - // now check for those degenerate cases where we have a flipped triangle or a really skinny triangle - j=m_tris.size(); - while(j--) - { - if(!m_tris[j]) continue; - if(!hasvert(*m_tris[j],v)) break; - int3 nt=*m_tris[j]; - if(above(verts,nt,center,btScalar(0.01)*epsilon) || btCross(verts[nt[1]]-verts[nt[0]],verts[nt[2]]-verts[nt[1]]).length()< epsilon*epsilon*btScalar(0.1) ) - { - btHullTriangle *nb = m_tris[m_tris[j]->n[0]]; - btAssert(nb);btAssert(!hasvert(*nb,v));btAssert(nb->id<j); - extrude(nb,v); - j=m_tris.size(); - } - } - j=m_tris.size(); - while(j--) - { - btHullTriangle *t=m_tris[j]; - if(!t) continue; - if(t->vmax>=0) break; - btVector3 n=TriNormal(verts[(*t)[0]],verts[(*t)[1]],verts[(*t)[2]]); - t->vmax = maxdirsterid(verts,verts_count,n,allow); - if(isextreme[t->vmax]) - { - t->vmax=-1; // already done that vertex - algorithm needs to be able to terminate. - } - else - { - t->rise = btDot(n,verts[t->vmax]-verts[(*t)[0]]); - } - } - vlimit --; - } - return 1; -} - -int HullLibrary::calchull(btVector3 *verts,int verts_count, TUIntArray& tris_out, int &tris_count,int vlimit) -{ - int rc=calchullgen(verts,verts_count, vlimit) ; - if(!rc) return 0; - btAlignedObjectArray<int> ts; - int i; - - for(i=0;i<m_tris.size();i++) - { - if(m_tris[i]) - { - for(int j=0;j<3;j++) - ts.push_back((*m_tris[i])[j]); - deAllocateTriangle(m_tris[i]); - } - } - tris_count = ts.size()/3; - tris_out.resize(ts.size()); - - for (i=0;i<ts.size();i++) - { - tris_out[i] = static_cast<unsigned int>(ts[i]); - } - m_tris.resize(0); - - return 1; -} - - - - - -bool HullLibrary::ComputeHull(unsigned int vcount,const btVector3 *vertices,PHullResult &result,unsigned int vlimit) -{ - - int tris_count; - int ret = calchull( (btVector3 *) vertices, (int) vcount, result.m_Indices, tris_count, static_cast<int>(vlimit) ); - if(!ret) return false; - result.mIndexCount = (unsigned int) (tris_count*3); - result.mFaceCount = (unsigned int) tris_count; - result.mVertices = (btVector3*) vertices; - result.mVcount = (unsigned int) vcount; - return true; - -} - - -void ReleaseHull(PHullResult &result); -void ReleaseHull(PHullResult &result) -{ - if ( result.m_Indices.size() ) - { - result.m_Indices.clear(); - } - - result.mVcount = 0; - result.mIndexCount = 0; - result.mVertices = 0; -} - - -//********************************************************************* -//********************************************************************* -//******** HullLib header -//********************************************************************* -//********************************************************************* - -//********************************************************************* -//********************************************************************* -//******** HullLib implementation -//********************************************************************* -//********************************************************************* - -HullError HullLibrary::CreateConvexHull(const HullDesc &desc, // describes the input request - HullResult &result) // contains the resulst -{ - HullError ret = QE_FAIL; - - - PHullResult hr; - - unsigned int vcount = desc.mVcount; - if ( vcount < 8 ) vcount = 8; - - btAlignedObjectArray<btVector3> vertexSource; - vertexSource.resize(static_cast<int>(vcount)); - - btVector3 scale; - - unsigned int ovcount; - - bool ok = CleanupVertices(desc.mVcount,desc.mVertices, desc.mVertexStride, ovcount, &vertexSource[0], desc.mNormalEpsilon, scale ); // normalize point cloud, remove duplicates! - - if ( ok ) - { - - -// if ( 1 ) // scale vertices back to their original size. - { - for (unsigned int i=0; i<ovcount; i++) - { - btVector3& v = vertexSource[static_cast<int>(i)]; - v[0]*=scale[0]; - v[1]*=scale[1]; - v[2]*=scale[2]; - } - } - - ok = ComputeHull(ovcount,&vertexSource[0],hr,desc.mMaxVertices); - - if ( ok ) - { - - // re-index triangle mesh so it refers to only used vertices, rebuild a new vertex table. - btAlignedObjectArray<btVector3> vertexScratch; - vertexScratch.resize(static_cast<int>(hr.mVcount)); - - BringOutYourDead(hr.mVertices,hr.mVcount, &vertexScratch[0], ovcount, &hr.m_Indices[0], hr.mIndexCount ); - - ret = QE_OK; - - if ( desc.HasHullFlag(QF_TRIANGLES) ) // if he wants the results as triangle! - { - result.mPolygons = false; - result.mNumOutputVertices = ovcount; - result.m_OutputVertices.resize(static_cast<int>(ovcount)); - result.mNumFaces = hr.mFaceCount; - result.mNumIndices = hr.mIndexCount; - - result.m_Indices.resize(static_cast<int>(hr.mIndexCount)); - - memcpy(&result.m_OutputVertices[0], &vertexScratch[0], sizeof(btVector3)*ovcount ); - - if ( desc.HasHullFlag(QF_REVERSE_ORDER) ) - { - - const unsigned int *source = &hr.m_Indices[0]; - unsigned int *dest = &result.m_Indices[0]; - - for (unsigned int i=0; i<hr.mFaceCount; i++) - { - dest[0] = source[2]; - dest[1] = source[1]; - dest[2] = source[0]; - dest+=3; - source+=3; - } - - } - else - { - memcpy(&result.m_Indices[0], &hr.m_Indices[0], sizeof(unsigned int)*hr.mIndexCount); - } - } - else - { - result.mPolygons = true; - result.mNumOutputVertices = ovcount; - result.m_OutputVertices.resize(static_cast<int>(ovcount)); - result.mNumFaces = hr.mFaceCount; - result.mNumIndices = hr.mIndexCount+hr.mFaceCount; - result.m_Indices.resize(static_cast<int>(result.mNumIndices)); - memcpy(&result.m_OutputVertices[0], &vertexScratch[0], sizeof(btVector3)*ovcount ); - -// if ( 1 ) - { - const unsigned int *source = &hr.m_Indices[0]; - unsigned int *dest = &result.m_Indices[0]; - for (unsigned int i=0; i<hr.mFaceCount; i++) - { - dest[0] = 3; - if ( desc.HasHullFlag(QF_REVERSE_ORDER) ) - { - dest[1] = source[2]; - dest[2] = source[1]; - dest[3] = source[0]; - } - else - { - dest[1] = source[0]; - dest[2] = source[1]; - dest[3] = source[2]; - } - - dest+=4; - source+=3; - } - } - } - ReleaseHull(hr); - } - } - - return ret; -} - - - -HullError HullLibrary::ReleaseResult(HullResult &result) // release memory allocated for this result, we are done with it. -{ - if ( result.m_OutputVertices.size()) - { - result.mNumOutputVertices=0; - result.m_OutputVertices.clear(); - } - if ( result.m_Indices.size() ) - { - result.mNumIndices=0; - result.m_Indices.clear(); - } - return QE_OK; -} - - -static void addPoint(unsigned int &vcount,btVector3 *p,btScalar x,btScalar y,btScalar z) -{ - // XXX, might be broken - btVector3& dest = p[vcount]; - dest[0] = x; - dest[1] = y; - dest[2] = z; - vcount++; -} - -btScalar GetDist(btScalar px,btScalar py,btScalar pz,const btScalar *p2); -btScalar GetDist(btScalar px,btScalar py,btScalar pz,const btScalar *p2) -{ - - btScalar dx = px - p2[0]; - btScalar dy = py - p2[1]; - btScalar dz = pz - p2[2]; - - return dx*dx+dy*dy+dz*dz; -} - - - -bool HullLibrary::CleanupVertices(unsigned int svcount, - const btVector3 *svertices, - unsigned int stride, - unsigned int &vcount, // output number of vertices - btVector3 *vertices, // location to store the results. - btScalar normalepsilon, - btVector3& scale) -{ - if ( svcount == 0 ) return false; - - m_vertexIndexMapping.resize(0); - - -#define EPSILON btScalar(0.000001) /* close enough to consider two btScalaring point numbers to be 'the same'. */ - - vcount = 0; - - btScalar recip[3]={0.f,0.f,0.f}; - - if ( scale ) - { - scale[0] = 1; - scale[1] = 1; - scale[2] = 1; - } - - btScalar bmin[3] = { FLT_MAX, FLT_MAX, FLT_MAX }; - btScalar bmax[3] = { -FLT_MAX, -FLT_MAX, -FLT_MAX }; - - const char *vtx = (const char *) svertices; - -// if ( 1 ) - { - for (unsigned int i=0; i<svcount; i++) - { - const btScalar *p = (const btScalar *) vtx; - - vtx+=stride; - - for (int j=0; j<3; j++) - { - if ( p[j] < bmin[j] ) bmin[j] = p[j]; - if ( p[j] > bmax[j] ) bmax[j] = p[j]; - } - } - } - - btScalar dx = bmax[0] - bmin[0]; - btScalar dy = bmax[1] - bmin[1]; - btScalar dz = bmax[2] - bmin[2]; - - btVector3 center; - - center[0] = dx*btScalar(0.5) + bmin[0]; - center[1] = dy*btScalar(0.5) + bmin[1]; - center[2] = dz*btScalar(0.5) + bmin[2]; - - if ( dx < EPSILON || dy < EPSILON || dz < EPSILON || svcount < 3 ) - { - - btScalar len = FLT_MAX; - - if ( dx > EPSILON && dx < len ) len = dx; - if ( dy > EPSILON && dy < len ) len = dy; - if ( dz > EPSILON && dz < len ) len = dz; - - if ( len == FLT_MAX ) - { - dx = dy = dz = btScalar(0.01); // one centimeter - } - else - { - if ( dx < EPSILON ) dx = len * btScalar(0.05); // 1/5th the shortest non-zero edge. - if ( dy < EPSILON ) dy = len * btScalar(0.05); - if ( dz < EPSILON ) dz = len * btScalar(0.05); - } - - btScalar x1 = center[0] - dx; - btScalar x2 = center[0] + dx; - - btScalar y1 = center[1] - dy; - btScalar y2 = center[1] + dy; - - btScalar z1 = center[2] - dz; - btScalar z2 = center[2] + dz; - - addPoint(vcount,vertices,x1,y1,z1); - addPoint(vcount,vertices,x2,y1,z1); - addPoint(vcount,vertices,x2,y2,z1); - addPoint(vcount,vertices,x1,y2,z1); - addPoint(vcount,vertices,x1,y1,z2); - addPoint(vcount,vertices,x2,y1,z2); - addPoint(vcount,vertices,x2,y2,z2); - addPoint(vcount,vertices,x1,y2,z2); - - return true; // return cube - - - } - else - { - if ( scale ) - { - scale[0] = dx; - scale[1] = dy; - scale[2] = dz; - - recip[0] = 1 / dx; - recip[1] = 1 / dy; - recip[2] = 1 / dz; - - center[0]*=recip[0]; - center[1]*=recip[1]; - center[2]*=recip[2]; - - } - - } - - - - vtx = (const char *) svertices; - - for (unsigned int i=0; i<svcount; i++) - { - const btVector3 *p = (const btVector3 *)vtx; - vtx+=stride; - - btScalar px = p->getX(); - btScalar py = p->getY(); - btScalar pz = p->getZ(); - - if ( scale ) - { - px = px*recip[0]; // normalize - py = py*recip[1]; // normalize - pz = pz*recip[2]; // normalize - } - -// if ( 1 ) - { - unsigned int j; - - for (j=0; j<vcount; j++) - { - /// XXX might be broken - btVector3& v = vertices[j]; - - btScalar x = v[0]; - btScalar y = v[1]; - btScalar z = v[2]; - - btScalar dx = btFabs(x - px ); - btScalar dy = btFabs(y - py ); - btScalar dz = btFabs(z - pz ); - - if ( dx < normalepsilon && dy < normalepsilon && dz < normalepsilon ) - { - // ok, it is close enough to the old one - // now let us see if it is further from the center of the point cloud than the one we already recorded. - // in which case we keep this one instead. - - btScalar dist1 = GetDist(px,py,pz,center); - btScalar dist2 = GetDist(v[0],v[1],v[2],center); - - if ( dist1 > dist2 ) - { - v[0] = px; - v[1] = py; - v[2] = pz; - - } - - break; - } - } - - if ( j == vcount ) - { - btVector3& dest = vertices[vcount]; - dest[0] = px; - dest[1] = py; - dest[2] = pz; - vcount++; - } - m_vertexIndexMapping.push_back(j); - } - } - - // ok..now make sure we didn't prune so many vertices it is now invalid. -// if ( 1 ) - { - btScalar bmin[3] = { FLT_MAX, FLT_MAX, FLT_MAX }; - btScalar bmax[3] = { -FLT_MAX, -FLT_MAX, -FLT_MAX }; - - for (unsigned int i=0; i<vcount; i++) - { - const btVector3& p = vertices[i]; - for (int j=0; j<3; j++) - { - if ( p[j] < bmin[j] ) bmin[j] = p[j]; - if ( p[j] > bmax[j] ) bmax[j] = p[j]; - } - } - - btScalar dx = bmax[0] - bmin[0]; - btScalar dy = bmax[1] - bmin[1]; - btScalar dz = bmax[2] - bmin[2]; - - if ( dx < EPSILON || dy < EPSILON || dz < EPSILON || vcount < 3) - { - btScalar cx = dx*btScalar(0.5) + bmin[0]; - btScalar cy = dy*btScalar(0.5) + bmin[1]; - btScalar cz = dz*btScalar(0.5) + bmin[2]; - - btScalar len = FLT_MAX; - - if ( dx >= EPSILON && dx < len ) len = dx; - if ( dy >= EPSILON && dy < len ) len = dy; - if ( dz >= EPSILON && dz < len ) len = dz; - - if ( len == FLT_MAX ) - { - dx = dy = dz = btScalar(0.01); // one centimeter - } - else - { - if ( dx < EPSILON ) dx = len * btScalar(0.05); // 1/5th the shortest non-zero edge. - if ( dy < EPSILON ) dy = len * btScalar(0.05); - if ( dz < EPSILON ) dz = len * btScalar(0.05); - } - - btScalar x1 = cx - dx; - btScalar x2 = cx + dx; - - btScalar y1 = cy - dy; - btScalar y2 = cy + dy; - - btScalar z1 = cz - dz; - btScalar z2 = cz + dz; - - vcount = 0; // add box - - addPoint(vcount,vertices,x1,y1,z1); - addPoint(vcount,vertices,x2,y1,z1); - addPoint(vcount,vertices,x2,y2,z1); - addPoint(vcount,vertices,x1,y2,z1); - addPoint(vcount,vertices,x1,y1,z2); - addPoint(vcount,vertices,x2,y1,z2); - addPoint(vcount,vertices,x2,y2,z2); - addPoint(vcount,vertices,x1,y2,z2); - - return true; - } - } - - return true; -} - -void HullLibrary::BringOutYourDead(const btVector3* verts,unsigned int vcount, btVector3* overts,unsigned int &ocount,unsigned int *indices,unsigned indexcount) -{ - btAlignedObjectArray<int>tmpIndices; - tmpIndices.resize(m_vertexIndexMapping.size()); - int i; - - for (i=0;i<m_vertexIndexMapping.size();i++) - { - tmpIndices[i] = m_vertexIndexMapping[i]; - } - - TUIntArray usedIndices; - usedIndices.resize(static_cast<int>(vcount)); - memset(&usedIndices[0],0,sizeof(unsigned int)*vcount); - - ocount = 0; - - for (i=0; i<int (indexcount); i++) - { - unsigned int v = indices[i]; // original array index - - btAssert( v >= 0 && v < vcount ); - - if ( usedIndices[static_cast<int>(v)] ) // if already remapped - { - indices[i] = usedIndices[static_cast<int>(v)]-1; // index to new array - } - else - { - - indices[i] = ocount; // new index mapping - - overts[ocount][0] = verts[v][0]; // copy old vert to new vert array - overts[ocount][1] = verts[v][1]; - overts[ocount][2] = verts[v][2]; - - for (int k=0;k<m_vertexIndexMapping.size();k++) - { - if (tmpIndices[k]==int(v)) - m_vertexIndexMapping[k]=ocount; - } - - ocount++; // increment output vert count - - btAssert( ocount >=0 && ocount <= vcount ); - - usedIndices[static_cast<int>(v)] = ocount; // assign new index remapping - - - } - } - - -} |