diff options
Diffstat (limited to 'thirdparty')
356 files changed, 21132 insertions, 13644 deletions
diff --git a/thirdparty/README.md b/thirdparty/README.md index 7c7f331657..9b6f670972 100644 --- a/thirdparty/README.md +++ b/thirdparty/README.md @@ -4,29 +4,14 @@ ## assimp - Upstream: http://github.com/assimp/assimp -- Version: git (1d565b0aab5a2ee00462f18c5b8a81f6a5454a48) +- Version: git (308db73d0b3c2d1870cd3e465eaa283692a4cf23) - License: BSD-3-Clause -## b2d_convexdecomp - -- Upstream: https://github.com/erincatto/Box2D/tree/master/Contributions/Utilities/ConvexDecomposition -- Version: git (25615e0, 2015) with modifications -- License: zlib - -The files were adapted to Godot by removing the dependency on b2Math (replacing -it by b2Glue.h) and commenting out some verbose printf calls. -Upstream code has not changed in 10 years, no need to keep track of changes. - -Important: Some files have Godot-made changes. -They are marked with `// -- GODOT start --` and `// -- GODOT end --` -comments. - - ## bullet - Upstream: https://github.com/bulletphysics/bullet3 -- Version: git (5ec8339, 2019) +- Version: 2.89 - License: zlib Files extracted from upstream source: @@ -61,7 +46,7 @@ Files extracted from upstream source: ## enet - Upstream: http://enet.bespin.org -- Version: 1.3.13 +- Version: 1.3.14 (0eaf48e, 2019) - License: MIT Files extracted from upstream source: @@ -72,12 +57,14 @@ Files extracted from upstream source: Important: enet.h, host.c, protocol.c have been slightly modified to be usable by godot socket implementation and allow IPv6. +Apply the patch in the `patches/` folder when syncing on newer upstream +commits. + Two files (godot.cpp and enet/godot.h) have been added to provide enet socket implementation using Godot classes. + It is still possible to build against a system wide ENet but doing so will limit it's functionality to IPv4 only. -Check the diff of enet.h, protocol.c, and host.c with the 1.3.13 -tarball before the next update. ## etc2comp @@ -135,7 +122,7 @@ Files extracted from upstream source: ## glad - Upstream: https://github.com/Dav1dde/glad -- Version: 0.1.31 +- Version: 0.1.33 - License: MIT The files we package are automatically generated. @@ -157,12 +144,12 @@ Files extracted from upstream source: ## libogg - Upstream: https://www.xiph.org/ogg -- Version: 1.3.3 +- Version: git (c8fca6b, 2019) - License: BSD-3-Clause Files extracted from upstream source: -- `src/*.c` +- `src/*.{c,h}` - `include/ogg/*.h` in ogg/ - COPYING @@ -250,7 +237,7 @@ from the Android NDK r18. ## libwebp - Upstream: https://chromium.googlesource.com/webm/libwebp/ -- Version: 1.0.2 +- Version: 1.1.0 - License: BSD-3-Clause Files extracted from upstream source: @@ -266,15 +253,17 @@ changes are marked with `// -- GODOT --` comments. ## mbedtls - Upstream: https://tls.mbed.org/ -- Version: 2.16.2 +- Version: 2.16.4 - License: Apache 2.0 File extracted from upstream release tarball (`-apache.tgz` variant): + - All `*.h` from `include/mbedtls/` to `thirdparty/mbedtls/include/mbedtls/` - All `*.c` from `library/` to `thirdparty/mbedtls/library/` -- Applied the patch in `thirdparty/mbedtls/1453.diff` (PR 1453). +- LICENSE and apache-2.0.txt files +- Applied the patch in `thirdparty/mbedtls/patches/1453.diff` (PR 1453). Soon to be merged upstream. Check it out at next update. -- Applied the patch in `thirdparty/mbedtls/padlock.diff`. This disables VIA +- Applied the patch in `thirdparty/mbedtls/patches/padlock.diff`. This disables VIA padlock support which defines a symbol `unsupported` which clashes with a symbol in libwebsockets. - Added 2 files `godot_core_mbedtls_platform.{c,h}` providing configuration @@ -284,12 +273,13 @@ File extracted from upstream release tarball (`-apache.tgz` variant): ## miniupnpc - Upstream: https://github.com/miniupnp/miniupnp/tree/master/miniupnpc -- Version: git (3cf6efa, 2019) +- Version: git (0ab1d67, 2019) - License: BSD-3-Clause -Extract only the `miniupnpc` folder inside `thirdparty/miniupnpc`. -Exclude all non `.c` and `.h` files, plus all files beginning with `test` -`minihttptestserver.c` and `wingenminiupnpcstrings.c`. +Files extracted from upstream source: + +- All `*.c` and `*.h` files from `miniupnpc` to `thirdparty/miniupnpc/miniupnpc` +- Remove `test*`, `minihttptestserver.c` and `wingenminiupnpcstrings.c` The only modified file is miniupnpcstrings.h, which was created for Godot (it is usually autogenerated by cmake). @@ -376,14 +366,14 @@ Collection of single-file libraries used in Godot components. * License: zlib - `stb_vorbis.c` * Upstream: https://github.com/nothings/stb - * Version: 1.16 + * Version: 1.17 * License: Public Domain (Unlicense) or MIT ## nanosvg - Upstream: https://github.com/memononen/nanosvg -- Version: git (c1f6e20, 2018) +- Version: git (25241c5, 2019) - License: zlib Files extracted from the upstream source: @@ -468,7 +458,7 @@ comments and a patch is provided in the squish/ folder. ## tinyexr - Upstream: https://github.com/syoyo/tinyexr -- Version: git (65f9859, 2018) +- Version: git (656bb61, 2019) - License: BSD-3-Clause Files extracted from upstream source: @@ -479,7 +469,7 @@ Files extracted from upstream source: ## vhacd - Upstream: https://github.com/kmammou/v-hacd -- Version: git (2297aa1, 2018) +- Version: git (b07958e, 2019) - License: BSD-3-Clause Files extracted from upstream source: @@ -509,15 +499,13 @@ File extracted from upstream release tarball: ## xatlas - Upstream: https://github.com/jpcy/xatlas -- Version: git (b4b5426, 2019) +- Version: git (e12ea82, 2019) - License: MIT Files extracted from upstream source: - `xatlas.{cpp,h}` - -Note: License is marked as Public Domain in the files, but it was -later clarified upstream to MIT license. +- `LICENSE` ## zlib @@ -534,7 +522,7 @@ Files extracted from upstream source: ## zstd - Upstream: https://github.com/facebook/zstd -- Version: 1.4.1 +- Version: 1.4.4 - License: BSD-3-Clause Files extracted from upstream source: diff --git a/thirdparty/assimp/code/Common/BaseImporter.cpp b/thirdparty/assimp/code/Common/BaseImporter.cpp index de5018a250..5c1e605549 100644 --- a/thirdparty/assimp/code/Common/BaseImporter.cpp +++ b/thirdparty/assimp/code/Common/BaseImporter.cpp @@ -67,7 +67,20 @@ using namespace Assimp; // Constructor to be privately used by Importer BaseImporter::BaseImporter() AI_NO_EXCEPT : m_progress() { - // nothing to do here + /** + * Assimp Importer + * unit conversions available + * if you need another measurment unit add it below. + * it's currently defined in assimp that we prefer meters. + * + * NOTE: Initialised here rather than in the header file + * to workaround a VS2013 bug with brace initialisers + * */ + importerUnits[ImporterUnits::M] = 1.0; + importerUnits[ImporterUnits::CM] = 0.01; + importerUnits[ImporterUnits::MM] = 0.001; + importerUnits[ImporterUnits::INCHES] = 0.0254; + importerUnits[ImporterUnits::FEET] = 0.3048; } // ------------------------------------------------------------------------------------------------ @@ -85,7 +98,7 @@ void BaseImporter::UpdateImporterScale( Importer* pImp ) double activeScale = importerScale * fileScale; // Set active scaling - pImp->SetPropertyFloat( AI_CONFIG_APP_SCALE_KEY, activeScale); + pImp->SetPropertyFloat( AI_CONFIG_APP_SCALE_KEY, static_cast<float>( activeScale) ); ASSIMP_LOG_DEBUG_F("UpdateImporterScale scale set: %f", activeScale ); } diff --git a/thirdparty/assimp/code/Common/DefaultIOSystem.cpp b/thirdparty/assimp/code/Common/DefaultIOSystem.cpp index d40b67de32..6fdc24dd80 100644 --- a/thirdparty/assimp/code/Common/DefaultIOSystem.cpp +++ b/thirdparty/assimp/code/Common/DefaultIOSystem.cpp @@ -61,83 +61,66 @@ OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. using namespace Assimp; -// maximum path length -// XXX http://insanecoding.blogspot.com/2007/11/pathmax-simply-isnt.html -#ifdef PATH_MAX -# define PATHLIMIT PATH_MAX -#else -# define PATHLIMIT 4096 +#ifdef _WIN32 +static std::wstring Utf8ToWide(const char* in) +{ + int size = MultiByteToWideChar(CP_UTF8, 0, in, -1, nullptr, 0); + // size includes terminating null; std::wstring adds null automatically + std::wstring out(static_cast<size_t>(size) - 1, L'\0'); + MultiByteToWideChar(CP_UTF8, 0, in, -1, &out[0], size); + return out; +} + +static std::string WideToUtf8(const wchar_t* in) +{ + int size = WideCharToMultiByte(CP_UTF8, 0, in, -1, nullptr, 0, nullptr, nullptr); + // size includes terminating null; std::string adds null automatically + std::string out(static_cast<size_t>(size) - 1, '\0'); + WideCharToMultiByte(CP_UTF8, 0, in, -1, &out[0], size, nullptr, nullptr); + return out; +} #endif // ------------------------------------------------------------------------------------------------ // Tests for the existence of a file at the given path. -bool DefaultIOSystem::Exists( const char* pFile) const +bool DefaultIOSystem::Exists(const char* pFile) const { #ifdef _WIN32 - wchar_t fileName16[PATHLIMIT]; - -#ifndef WindowsStore - bool isUnicode = IsTextUnicode(pFile, static_cast<int>(strlen(pFile)), NULL) != 0; - if (isUnicode) { - - MultiByteToWideChar(CP_UTF8, MB_PRECOMPOSED, pFile, -1, fileName16, PATHLIMIT); - struct __stat64 filestat; - if (0 != _wstat64(fileName16, &filestat)) { - return false; - } - } else { -#endif - FILE* file = ::fopen(pFile, "rb"); - if (!file) - return false; - - ::fclose(file); -#ifndef WindowsStore + struct __stat64 filestat; + if (_wstat64(Utf8ToWide(pFile).c_str(), &filestat) != 0) { + return false; } -#endif #else - FILE* file = ::fopen( pFile, "rb"); - if( !file) + FILE* file = ::fopen(pFile, "rb"); + if (!file) return false; - ::fclose( file); + ::fclose(file); #endif return true; } // ------------------------------------------------------------------------------------------------ // Open a new file with a given path. -IOStream* DefaultIOSystem::Open( const char* strFile, const char* strMode) +IOStream* DefaultIOSystem::Open(const char* strFile, const char* strMode) { - ai_assert(NULL != strFile); - ai_assert(NULL != strMode); + ai_assert(strFile != nullptr); + ai_assert(strMode != nullptr); FILE* file; #ifdef _WIN32 - wchar_t fileName16[PATHLIMIT]; -#ifndef WindowsStore - bool isUnicode = IsTextUnicode(strFile, static_cast<int>(strlen(strFile)), NULL) != 0; - if (isUnicode) { - MultiByteToWideChar(CP_UTF8, MB_PRECOMPOSED, strFile, -1, fileName16, PATHLIMIT); - std::string mode8(strMode); - file = ::_wfopen(fileName16, std::wstring(mode8.begin(), mode8.end()).c_str()); - } else { -#endif - file = ::fopen(strFile, strMode); -#ifndef WindowsStore - } -#endif + file = ::_wfopen(Utf8ToWide(strFile).c_str(), Utf8ToWide(strMode).c_str()); #else file = ::fopen(strFile, strMode); #endif - if (nullptr == file) + if (!file) return nullptr; - return new DefaultIOStream(file, (std::string) strFile); + return new DefaultIOStream(file, strFile); } // ------------------------------------------------------------------------------------------------ // Closes the given file and releases all resources associated with it. -void DefaultIOSystem::Close( IOStream* pFile) +void DefaultIOSystem::Close(IOStream* pFile) { delete pFile; } @@ -155,78 +138,56 @@ char DefaultIOSystem::getOsSeparator() const // ------------------------------------------------------------------------------------------------ // IOSystem default implementation (ComparePaths isn't a pure virtual function) -bool IOSystem::ComparePaths (const char* one, const char* second) const +bool IOSystem::ComparePaths(const char* one, const char* second) const { - return !ASSIMP_stricmp(one,second); + return !ASSIMP_stricmp(one, second); } // ------------------------------------------------------------------------------------------------ // Convert a relative path into an absolute path -inline static void MakeAbsolutePath (const char* in, char* _out) +inline static std::string MakeAbsolutePath(const char* in) { - ai_assert(in && _out); -#if defined( _MSC_VER ) || defined( __MINGW32__ ) -#ifndef WindowsStore - bool isUnicode = IsTextUnicode(in, static_cast<int>(strlen(in)), NULL) != 0; - if (isUnicode) { - wchar_t out16[PATHLIMIT]; - wchar_t in16[PATHLIMIT]; - MultiByteToWideChar(CP_UTF8, MB_PRECOMPOSED, in, -1, out16, PATHLIMIT); - wchar_t* ret = ::_wfullpath(out16, in16, PATHLIMIT); - if (ret) { - WideCharToMultiByte(CP_UTF8, MB_PRECOMPOSED, out16, -1, _out, PATHLIMIT, nullptr, nullptr); - } - if (!ret) { - // preserve the input path, maybe someone else is able to fix - // the path before it is accessed (e.g. our file system filter) - ASSIMP_LOG_WARN_F("Invalid path: ", std::string(in)); - strcpy(_out, in); - } - - } else { -#endif - char* ret = :: _fullpath(_out, in, PATHLIMIT); - if (!ret) { - // preserve the input path, maybe someone else is able to fix - // the path before it is accessed (e.g. our file system filter) - ASSIMP_LOG_WARN_F("Invalid path: ", std::string(in)); - strcpy(_out, in); - } -#ifndef WindowsStore + ai_assert(in); + std::string out; +#ifdef _WIN32 + wchar_t* ret = ::_wfullpath(nullptr, Utf8ToWide(in).c_str(), 0); + if (ret) { + out = WideToUtf8(ret); + free(ret); } -#endif #else - // use realpath - char* ret = realpath(in, _out); - if(!ret) { + char* ret = realpath(in, nullptr); + if (ret) { + out = ret; + free(ret); + } +#endif + if (!ret) { // preserve the input path, maybe someone else is able to fix // the path before it is accessed (e.g. our file system filter) ASSIMP_LOG_WARN_F("Invalid path: ", std::string(in)); - strcpy(_out,in); + out = in; } -#endif + return out; } // ------------------------------------------------------------------------------------------------ // DefaultIOSystem's more specialized implementation -bool DefaultIOSystem::ComparePaths (const char* one, const char* second) const +bool DefaultIOSystem::ComparePaths(const char* one, const char* second) const { // chances are quite good both paths are formatted identically, // so we can hopefully return here already - if( !ASSIMP_stricmp(one,second) ) + if (!ASSIMP_stricmp(one, second)) return true; - char temp1[PATHLIMIT]; - char temp2[PATHLIMIT]; - - MakeAbsolutePath (one, temp1); - MakeAbsolutePath (second, temp2); + std::string temp1 = MakeAbsolutePath(one); + std::string temp2 = MakeAbsolutePath(second); - return !ASSIMP_stricmp(temp1,temp2); + return !ASSIMP_stricmp(temp1, temp2); } // ------------------------------------------------------------------------------------------------ -std::string DefaultIOSystem::fileName( const std::string &path ) +std::string DefaultIOSystem::fileName(const std::string& path) { std::string ret = path; std::size_t last = ret.find_last_of("\\/"); @@ -235,16 +196,16 @@ std::string DefaultIOSystem::fileName( const std::string &path ) } // ------------------------------------------------------------------------------------------------ -std::string DefaultIOSystem::completeBaseName( const std::string &path ) +std::string DefaultIOSystem::completeBaseName(const std::string& path) { std::string ret = fileName(path); std::size_t pos = ret.find_last_of('.'); - if(pos != ret.npos) ret = ret.substr(0, pos); + if (pos != std::string::npos) ret = ret.substr(0, pos); return ret; } // ------------------------------------------------------------------------------------------------ -std::string DefaultIOSystem::absolutePath( const std::string &path ) +std::string DefaultIOSystem::absolutePath(const std::string& path) { std::string ret = path; std::size_t last = ret.find_last_of("\\/"); @@ -253,5 +214,3 @@ std::string DefaultIOSystem::absolutePath( const std::string &path ) } // ------------------------------------------------------------------------------------------------ - -#undef PATHLIMIT diff --git a/thirdparty/assimp/code/Common/Exporter.cpp b/thirdparty/assimp/code/Common/Exporter.cpp index 090b561ae0..4ce1a2bd80 100644 --- a/thirdparty/assimp/code/Common/Exporter.cpp +++ b/thirdparty/assimp/code/Common/Exporter.cpp @@ -102,6 +102,8 @@ void ExportSceneX3D(const char*, IOSystem*, const aiScene*, const ExportProperti void ExportSceneFBX(const char*, IOSystem*, const aiScene*, const ExportProperties*); void ExportSceneFBXA(const char*, IOSystem*, const aiScene*, const ExportProperties*); void ExportScene3MF( const char*, IOSystem*, const aiScene*, const ExportProperties* ); +void ExportSceneM3D(const char*, IOSystem*, const aiScene*, const ExportProperties*); +void ExportSceneA3D(const char*, IOSystem*, const aiScene*, const ExportProperties*); void ExportAssimp2Json(const char* , IOSystem*, const aiScene* , const Assimp::ExportProperties*); // ------------------------------------------------------------------------------------------------ @@ -179,6 +181,11 @@ Exporter::ExportFormatEntry gExporters[] = Exporter::ExportFormatEntry( "fbxa", "Autodesk FBX (ascii)", "fbx", &ExportSceneFBXA, 0 ), #endif +#ifndef ASSIMP_BUILD_NO_M3D_EXPORTER + Exporter::ExportFormatEntry( "m3d", "Model 3D (binary)", "m3d", &ExportSceneM3D, 0 ), + Exporter::ExportFormatEntry( "a3d", "Model 3D (ascii)", "m3d", &ExportSceneA3D, 0 ), +#endif + #ifndef ASSIMP_BUILD_NO_3MF_EXPORTER Exporter::ExportFormatEntry( "3mf", "The 3MF-File-Format", "3mf", &ExportScene3MF, 0 ), #endif @@ -316,34 +323,6 @@ const aiExportDataBlob* Exporter::ExportToBlob( const aiScene* pScene, const cha } // ------------------------------------------------------------------------------------------------ -bool IsVerboseFormat(const aiMesh* mesh) { - // avoid slow vector<bool> specialization - std::vector<unsigned int> seen(mesh->mNumVertices,0); - for(unsigned int i = 0; i < mesh->mNumFaces; ++i) { - const aiFace& f = mesh->mFaces[i]; - for(unsigned int j = 0; j < f.mNumIndices; ++j) { - if(++seen[f.mIndices[j]] == 2) { - // found a duplicate index - return false; - } - } - } - - return true; -} - -// ------------------------------------------------------------------------------------------------ -bool IsVerboseFormat(const aiScene* pScene) { - for(unsigned int i = 0; i < pScene->mNumMeshes; ++i) { - if(!IsVerboseFormat(pScene->mMeshes[i])) { - return false; - } - } - - return true; -} - -// ------------------------------------------------------------------------------------------------ aiReturn Exporter::Export( const aiScene* pScene, const char* pFormatId, const char* pPath, unsigned int pPreprocessing, const ExportProperties* pProperties) { ASSIMP_BEGIN_EXCEPTION_REGION(); @@ -352,7 +331,7 @@ aiReturn Exporter::Export( const aiScene* pScene, const char* pFormatId, const c // format. They will likely not be aware that there is a flag in the scene to indicate // this, however. To avoid surprises and bug reports, we check for duplicates in // meshes upfront. - const bool is_verbose_format = !(pScene->mFlags & AI_SCENE_FLAGS_NON_VERBOSE_FORMAT) || IsVerboseFormat(pScene); + const bool is_verbose_format = !(pScene->mFlags & AI_SCENE_FLAGS_NON_VERBOSE_FORMAT) || MakeVerboseFormatProcess::IsVerboseFormat(pScene); pimpl->mProgressHandler->UpdateFileWrite(0, 4); @@ -472,7 +451,10 @@ aiReturn Exporter::Export( const aiScene* pScene, const char* pFormatId, const c } ExportProperties emptyProperties; // Never pass NULL ExportProperties so Exporters don't have to worry. - exp.mExportFunction(pPath,pimpl->mIOSystem.get(),scenecopy.get(), pProperties ? pProperties : &emptyProperties); + ExportProperties* pProp = pProperties ? (ExportProperties*)pProperties : &emptyProperties; + pProp->SetPropertyBool("bJoinIdenticalVertices", must_join_again); + exp.mExportFunction(pPath,pimpl->mIOSystem.get(),scenecopy.get(), pProp); + exp.mExportFunction(pPath,pimpl->mIOSystem.get(),scenecopy.get(), pProp); pimpl->mProgressHandler->UpdateFileWrite(4, 4); } catch (DeadlyExportError& err) { diff --git a/thirdparty/assimp/code/Common/ImporterRegistry.cpp b/thirdparty/assimp/code/Common/ImporterRegistry.cpp index 32ac3b4168..b9f28f0356 100644 --- a/thirdparty/assimp/code/Common/ImporterRegistry.cpp +++ b/thirdparty/assimp/code/Common/ImporterRegistry.cpp @@ -197,6 +197,9 @@ corresponding preprocessor flag to selectively disable formats. #ifndef ASSIMP_BUILD_NO_MMD_IMPORTER # include "MMD/MMDImporter.h" #endif +#ifndef ASSIMP_BUILD_NO_M3D_IMPORTER +# include "M3D/M3DImporter.h" +#endif #ifndef ASSIMP_BUILD_NO_STEP_IMPORTER # include "Importer/StepFile/StepFileImporter.h" #endif @@ -223,6 +226,9 @@ void GetImporterInstanceList(std::vector< BaseImporter* >& out) #if (!defined ASSIMP_BUILD_NO_3DS_IMPORTER) out.push_back( new Discreet3DSImporter()); #endif +#if (!defined ASSIMP_BUILD_NO_M3D_IMPORTER) + out.push_back( new M3DImporter()); +#endif #if (!defined ASSIMP_BUILD_NO_MD3_IMPORTER) out.push_back( new MD3Importer()); #endif diff --git a/thirdparty/assimp/code/Common/PostStepRegistry.cpp b/thirdparty/assimp/code/Common/PostStepRegistry.cpp index ef58f8ddfd..8ff4af0400 100644 --- a/thirdparty/assimp/code/Common/PostStepRegistry.cpp +++ b/thirdparty/assimp/code/Common/PostStepRegistry.cpp @@ -131,11 +131,15 @@ corresponding preprocessor flag to selectively disable steps. #if (!defined ASSIMP_BUILD_NO_GLOBALSCALE_PROCESS) # include "PostProcessing/ScaleProcess.h" #endif +#if (!defined ASSIMP_BUILD_NO_ARMATUREPOPULATE_PROCESS) +# include "PostProcessing/ArmaturePopulate.h" +#endif #if (!defined ASSIMP_BUILD_NO_GENBOUNDINGBOXES_PROCESS) # include "PostProcessing/GenBoundingBoxesProcess.h" #endif + namespace Assimp { // ------------------------------------------------------------------------------------------------ @@ -180,6 +184,9 @@ void GetPostProcessingStepInstanceList(std::vector< BaseProcess* >& out) #if (!defined ASSIMP_BUILD_NO_GLOBALSCALE_PROCESS) out.push_back( new ScaleProcess()); #endif +#if (!defined ASSIMP_BUILD_NO_ARMATUREPOPULATE_PROCESS) + out.push_back( new ArmaturePopulate()); +#endif #if (!defined ASSIMP_BUILD_NO_PRETRANSFORMVERTICES_PROCESS) out.push_back( new PretransformVertices()); #endif diff --git a/thirdparty/assimp/code/Common/SceneCombiner.cpp b/thirdparty/assimp/code/Common/SceneCombiner.cpp index e445bd7434..f7b13cc951 100644 --- a/thirdparty/assimp/code/Common/SceneCombiner.cpp +++ b/thirdparty/assimp/code/Common/SceneCombiner.cpp @@ -1091,6 +1091,35 @@ void SceneCombiner::Copy( aiMesh** _dest, const aiMesh* src ) { aiFace& f = dest->mFaces[i]; GetArrayCopy(f.mIndices,f.mNumIndices); } + + // make a deep copy of all blend shapes + CopyPtrArray(dest->mAnimMeshes, dest->mAnimMeshes, dest->mNumAnimMeshes); +} + +// ------------------------------------------------------------------------------------------------ +void SceneCombiner::Copy(aiAnimMesh** _dest, const aiAnimMesh* src) { + if (nullptr == _dest || nullptr == src) { + return; + } + + aiAnimMesh* dest = *_dest = new aiAnimMesh(); + + // get a flat copy + ::memcpy(dest, src, sizeof(aiAnimMesh)); + + // and reallocate all arrays + GetArrayCopy(dest->mVertices, dest->mNumVertices); + GetArrayCopy(dest->mNormals, dest->mNumVertices); + GetArrayCopy(dest->mTangents, dest->mNumVertices); + GetArrayCopy(dest->mBitangents, dest->mNumVertices); + + unsigned int n = 0; + while (dest->HasTextureCoords(n)) + GetArrayCopy(dest->mTextureCoords[n++], dest->mNumVertices); + + n = 0; + while (dest->HasVertexColors(n)) + GetArrayCopy(dest->mColors[n++], dest->mNumVertices); } // ------------------------------------------------------------------------------------------------ @@ -1167,6 +1196,7 @@ void SceneCombiner::Copy( aiAnimation** _dest, const aiAnimation* src ) { // and reallocate all arrays CopyPtrArray( dest->mChannels, src->mChannels, dest->mNumChannels ); + CopyPtrArray( dest->mMorphMeshChannels, src->mMorphMeshChannels, dest->mNumMorphMeshChannels ); } // ------------------------------------------------------------------------------------------------ @@ -1186,6 +1216,26 @@ void SceneCombiner::Copy(aiNodeAnim** _dest, const aiNodeAnim* src) { GetArrayCopy( dest->mRotationKeys, dest->mNumRotationKeys ); } +void SceneCombiner::Copy(aiMeshMorphAnim** _dest, const aiMeshMorphAnim* src) { + if ( nullptr == _dest || nullptr == src ) { + return; + } + + aiMeshMorphAnim* dest = *_dest = new aiMeshMorphAnim(); + + // get a flat copy + ::memcpy(dest,src,sizeof(aiMeshMorphAnim)); + + // and reallocate all arrays + GetArrayCopy( dest->mKeys, dest->mNumKeys ); + for (ai_uint i = 0; i < dest->mNumKeys;++i) { + dest->mKeys[i].mValues = new unsigned int[dest->mKeys[i].mNumValuesAndWeights]; + dest->mKeys[i].mWeights = new double[dest->mKeys[i].mNumValuesAndWeights]; + ::memcpy(dest->mKeys[i].mValues, src->mKeys[i].mValues, dest->mKeys[i].mNumValuesAndWeights * sizeof(unsigned int)); + ::memcpy(dest->mKeys[i].mWeights, src->mKeys[i].mWeights, dest->mKeys[i].mNumValuesAndWeights * sizeof(double)); + } +} + // ------------------------------------------------------------------------------------------------ void SceneCombiner::Copy( aiCamera** _dest,const aiCamera* src) { if ( nullptr == _dest || nullptr == src ) { diff --git a/thirdparty/assimp/code/Common/Version.cpp b/thirdparty/assimp/code/Common/Version.cpp index cc94340ac8..cf1da7d5ba 100644 --- a/thirdparty/assimp/code/Common/Version.cpp +++ b/thirdparty/assimp/code/Common/Version.cpp @@ -46,8 +46,7 @@ OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. #include <assimp/scene.h> #include "ScenePrivate.h" -static const unsigned int MajorVersion = 4; -static const unsigned int MinorVersion = 1; +#include "revision.h" // -------------------------------------------------------------------------------- // Legal information string - don't remove this. @@ -56,9 +55,9 @@ static const char* LEGAL_INFORMATION = "Open Asset Import Library (Assimp).\n" "A free C/C++ library to import various 3D file formats into applications\n\n" -"(c) 2008-2017, assimp team\n" +"(c) 2006-2019, assimp team\n" "License under the terms and conditions of the 3-clause BSD license\n" -"http://assimp.sourceforge.net\n" +"http://assimp.org\n" ; // ------------------------------------------------------------------------------------------------ @@ -70,13 +69,13 @@ ASSIMP_API const char* aiGetLegalString () { // ------------------------------------------------------------------------------------------------ // Get Assimp minor version ASSIMP_API unsigned int aiGetVersionMinor () { - return MinorVersion; + return VER_MINOR; } // ------------------------------------------------------------------------------------------------ // Get Assimp major version ASSIMP_API unsigned int aiGetVersionMajor () { - return MajorVersion; + return VER_MAJOR; } // ------------------------------------------------------------------------------------------------ @@ -104,9 +103,6 @@ ASSIMP_API unsigned int aiGetCompileFlags () { return flags; } -// include current build revision, which is even updated from time to time -- :-) -#include "revision.h" - // ------------------------------------------------------------------------------------------------ ASSIMP_API unsigned int aiGetVersionRevision() { return GitVersion; diff --git a/thirdparty/assimp/code/Common/scene.cpp b/thirdparty/assimp/code/Common/scene.cpp index 2acb348d81..d15619acff 100644 --- a/thirdparty/assimp/code/Common/scene.cpp +++ b/thirdparty/assimp/code/Common/scene.cpp @@ -44,23 +44,23 @@ OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. aiNode::aiNode() : mName("") -, mParent(NULL) +, mParent(nullptr) , mNumChildren(0) -, mChildren(NULL) +, mChildren(nullptr) , mNumMeshes(0) -, mMeshes(NULL) -, mMetaData(NULL) { +, mMeshes(nullptr) +, mMetaData(nullptr) { // empty } aiNode::aiNode(const std::string& name) : mName(name) -, mParent(NULL) +, mParent(nullptr) , mNumChildren(0) -, mChildren(NULL) +, mChildren(nullptr) , mNumMeshes(0) -, mMeshes(NULL) -, mMetaData(NULL) { +, mMeshes(nullptr) +, mMetaData(nullptr) { // empty } @@ -68,7 +68,7 @@ aiNode::aiNode(const std::string& name) aiNode::~aiNode() { // delete all children recursively // to make sure we won't crash if the data is invalid ... - if (mChildren && mNumChildren) + if (mNumChildren && mChildren) { for (unsigned int a = 0; a < mNumChildren; a++) delete mChildren[a]; diff --git a/thirdparty/assimp/code/FBX/FBXCompileConfig.h b/thirdparty/assimp/code/FBX/FBXCompileConfig.h index 3a3841fa5b..03536a1823 100644 --- a/thirdparty/assimp/code/FBX/FBXCompileConfig.h +++ b/thirdparty/assimp/code/FBX/FBXCompileConfig.h @@ -47,6 +47,7 @@ OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. #define INCLUDED_AI_FBX_COMPILECONFIG_H #include <map> +#include <set> // #if _MSC_VER > 1500 || (defined __GNUC___) @@ -54,16 +55,23 @@ OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. # else # define fbx_unordered_map map # define fbx_unordered_multimap multimap +# define fbx_unordered_set set +# define fbx_unordered_multiset multiset #endif #ifdef ASSIMP_FBX_USE_UNORDERED_MULTIMAP # include <unordered_map> +# include <unordered_set> # if _MSC_VER > 1600 # define fbx_unordered_map unordered_map # define fbx_unordered_multimap unordered_multimap +# define fbx_unordered_set unordered_set +# define fbx_unordered_multiset unordered_multiset # else # define fbx_unordered_map tr1::unordered_map # define fbx_unordered_multimap tr1::unordered_multimap +# define fbx_unordered_set tr1::unordered_set +# define fbx_unordered_multiset tr1::unordered_multiset # endif #endif diff --git a/thirdparty/assimp/code/FBX/FBXConverter.cpp b/thirdparty/assimp/code/FBX/FBXConverter.cpp index 3f64016ea4..d8a22d9f74 100644 --- a/thirdparty/assimp/code/FBX/FBXConverter.cpp +++ b/thirdparty/assimp/code/FBX/FBXConverter.cpp @@ -55,6 +55,7 @@ OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. #include "FBXImporter.h" #include <assimp/StringComparison.h> +#include <assimp/MathFunctions.h> #include <assimp/scene.h> @@ -67,7 +68,8 @@ OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. #include <sstream> #include <iomanip> #include <cstdint> - +#include <iostream> +#include <stdlib.h> namespace Assimp { namespace FBX { @@ -76,7 +78,7 @@ namespace Assimp { #define MAGIC_NODE_TAG "_$AssimpFbx$" -#define CONVERT_FBX_TIME(time) static_cast<double>(time) / 46186158000L +#define CONVERT_FBX_TIME(time) static_cast<double>(time) / 46186158000LL FBXConverter::FBXConverter(aiScene* out, const Document& doc, bool removeEmptyBones ) : defaultMaterialIndex() @@ -95,6 +97,14 @@ namespace Assimp { // populate the node_anim_chain_bits map, which is needed // to determine which nodes need to be generated. ConvertAnimations(); + // Embedded textures in FBX could be connected to nothing but to itself, + // for instance Texture -> Video connection only but not to the main graph, + // The idea here is to traverse all objects to find these Textures and convert them, + // so later during material conversion it will find converted texture in the textures_converted array. + if (doc.Settings().readTextures) + { + ConvertOrphantEmbeddedTextures(); + } ConvertRootNode(); if (doc.Settings().readAllMaterials) { @@ -144,7 +154,7 @@ namespace Assimp { out->mRootNode->mName.Set(unique_name); // root has ID 0 - ConvertNodes(0L, *out->mRootNode); + ConvertNodes(0L, out->mRootNode, out->mRootNode); } static std::string getAncestorBaseName(const aiNode* node) @@ -178,8 +188,11 @@ namespace Assimp { GetUniqueName(original_name, unique_name); return unique_name; } - - void FBXConverter::ConvertNodes(uint64_t id, aiNode& parent, const aiMatrix4x4& parent_transform) { + /// todo: pre-build node hierarchy + /// todo: get bone from stack + /// todo: make map of aiBone* to aiNode* + /// then update convert clusters to the new format + void FBXConverter::ConvertNodes(uint64_t id, aiNode *parent, aiNode *root_node) { const std::vector<const Connection*>& conns = doc.GetConnectionsByDestinationSequenced(id, "Model"); std::vector<aiNode*> nodes; @@ -190,62 +203,69 @@ namespace Assimp { try { for (const Connection* con : conns) { - // ignore object-property links if (con->PropertyName().length()) { - continue; + // really important we document why this is ignored. + FBXImporter::LogInfo("ignoring property link - no docs on why this is ignored"); + continue; //? } + // convert connection source object into Object base class const Object* const object = con->SourceObject(); if (nullptr == object) { - FBXImporter::LogWarn("failed to convert source object for Model link"); + FBXImporter::LogError("failed to convert source object for Model link"); continue; } + // FBX Model::Cube, Model::Bone001, etc elements + // This detects if we can cast the object into this model structure. const Model* const model = dynamic_cast<const Model*>(object); if (nullptr != model) { nodes_chain.clear(); post_nodes_chain.clear(); - aiMatrix4x4 new_abs_transform = parent_transform; - - std::string unique_name = MakeUniqueNodeName(model, parent); - + aiMatrix4x4 new_abs_transform = parent->mTransformation; + std::string node_name = FixNodeName(model->Name()); // even though there is only a single input node, the design of // assimp (or rather: the complicated transformation chain that // is employed by fbx) means that we may need multiple aiNode's // to represent a fbx node's transformation. - const bool need_additional_node = GenerateTransformationNodeChain(*model, unique_name, nodes_chain, post_nodes_chain); + + // generate node transforms - this includes pivot data + // if need_additional_node is true then you t + const bool need_additional_node = GenerateTransformationNodeChain(*model, node_name, nodes_chain, post_nodes_chain); + + // assert that for the current node we must have at least a single transform ai_assert(nodes_chain.size()); if (need_additional_node) { - nodes_chain.push_back(new aiNode(unique_name)); + nodes_chain.push_back(new aiNode(node_name)); } //setup metadata on newest node SetupNodeMetadata(*model, *nodes_chain.back()); // link all nodes in a row - aiNode* last_parent = &parent; - for (aiNode* prenode : nodes_chain) { - ai_assert(prenode); + aiNode* last_parent = parent; + for (aiNode* child : nodes_chain) { + ai_assert(child); - if (last_parent != &parent) { + if (last_parent != parent) { last_parent->mNumChildren = 1; last_parent->mChildren = new aiNode*[1]; - last_parent->mChildren[0] = prenode; + last_parent->mChildren[0] = child; } - prenode->mParent = last_parent; - last_parent = prenode; + child->mParent = last_parent; + last_parent = child; - new_abs_transform *= prenode->mTransformation; + new_abs_transform *= child->mTransformation; } // attach geometry - ConvertModel(*model, *nodes_chain.back(), new_abs_transform); + ConvertModel(*model, nodes_chain.back(), root_node, new_abs_transform); // check if there will be any child nodes const std::vector<const Connection*>& child_conns @@ -257,7 +277,7 @@ namespace Assimp { for (aiNode* postnode : post_nodes_chain) { ai_assert(postnode); - if (last_parent != &parent) { + if (last_parent != parent) { last_parent->mNumChildren = 1; last_parent->mChildren = new aiNode*[1]; last_parent->mChildren[0] = postnode; @@ -279,15 +299,15 @@ namespace Assimp { ); } - // attach sub-nodes (if any) - ConvertNodes(model->ID(), *last_parent, new_abs_transform); + // recursion call - child nodes + ConvertNodes(model->ID(), last_parent, root_node); if (doc.Settings().readLights) { - ConvertLights(*model, unique_name); + ConvertLights(*model, node_name); } if (doc.Settings().readCameras) { - ConvertCameras(*model, unique_name); + ConvertCameras(*model, node_name); } nodes.push_back(nodes_chain.front()); @@ -296,11 +316,17 @@ namespace Assimp { } if (nodes.size()) { - parent.mChildren = new aiNode*[nodes.size()](); - parent.mNumChildren = static_cast<unsigned int>(nodes.size()); + parent->mChildren = new aiNode*[nodes.size()](); + parent->mNumChildren = static_cast<unsigned int>(nodes.size()); - std::swap_ranges(nodes.begin(), nodes.end(), parent.mChildren); + std::swap_ranges(nodes.begin(), nodes.end(), parent->mChildren); } + else + { + parent->mNumChildren = 0; + parent->mChildren = nullptr; + } + } catch (std::exception&) { Util::delete_fun<aiNode> deleter; @@ -553,7 +579,7 @@ namespace Assimp { return; } - const float angle_epsilon = 1e-6f; + const float angle_epsilon = Math::getEpsilon<float>(); out = aiMatrix4x4(); @@ -694,7 +720,7 @@ namespace Assimp { std::fill_n(chain, static_cast<unsigned int>(TransformationComp_MAXIMUM), aiMatrix4x4()); // generate transformation matrices for all the different transformation components - const float zero_epsilon = 1e-6f; + const float zero_epsilon = Math::getEpsilon<float>(); const aiVector3D all_ones(1.0f, 1.0f, 1.0f); const aiVector3D& PreRotation = PropertyGet<aiVector3D>(props, "PreRotation", ok); @@ -802,7 +828,7 @@ namespace Assimp { // is_complex needs to be consistent with NeedsComplexTransformationChain() // or the interplay between this code and the animation converter would // not be guaranteed. - ai_assert(NeedsComplexTransformationChain(model) == ((chainBits & chainMaskComplex) != 0)); + //ai_assert(NeedsComplexTransformationChain(model) == ((chainBits & chainMaskComplex) != 0)); // now, if we have more than just Translation, Scaling and Rotation, // we need to generate a full node chain to accommodate for assimp's @@ -904,7 +930,8 @@ namespace Assimp { } } - void FBXConverter::ConvertModel(const Model& model, aiNode& nd, const aiMatrix4x4& node_global_transform) + void FBXConverter::ConvertModel(const Model &model, aiNode *parent, aiNode *root_node, + const aiMatrix4x4 &absolute_transform) { const std::vector<const Geometry*>& geos = model.GetGeometry(); @@ -916,11 +943,12 @@ namespace Assimp { const MeshGeometry* const mesh = dynamic_cast<const MeshGeometry*>(geo); const LineGeometry* const line = dynamic_cast<const LineGeometry*>(geo); if (mesh) { - const std::vector<unsigned int>& indices = ConvertMesh(*mesh, model, node_global_transform, nd); + const std::vector<unsigned int>& indices = ConvertMesh(*mesh, model, parent, root_node, + absolute_transform); std::copy(indices.begin(), indices.end(), std::back_inserter(meshes)); } else if (line) { - const std::vector<unsigned int>& indices = ConvertLine(*line, model, node_global_transform, nd); + const std::vector<unsigned int>& indices = ConvertLine(*line, model, parent, root_node); std::copy(indices.begin(), indices.end(), std::back_inserter(meshes)); } else { @@ -929,15 +957,16 @@ namespace Assimp { } if (meshes.size()) { - nd.mMeshes = new unsigned int[meshes.size()](); - nd.mNumMeshes = static_cast<unsigned int>(meshes.size()); + parent->mMeshes = new unsigned int[meshes.size()](); + parent->mNumMeshes = static_cast<unsigned int>(meshes.size()); - std::swap_ranges(meshes.begin(), meshes.end(), nd.mMeshes); + std::swap_ranges(meshes.begin(), meshes.end(), parent->mMeshes); } } - std::vector<unsigned int> FBXConverter::ConvertMesh(const MeshGeometry& mesh, const Model& model, - const aiMatrix4x4& node_global_transform, aiNode& nd) + std::vector<unsigned int> + FBXConverter::ConvertMesh(const MeshGeometry &mesh, const Model &model, aiNode *parent, aiNode *root_node, + const aiMatrix4x4 &absolute_transform) { std::vector<unsigned int> temp; @@ -961,18 +990,18 @@ namespace Assimp { const MatIndexArray::value_type base = mindices[0]; for (MatIndexArray::value_type index : mindices) { if (index != base) { - return ConvertMeshMultiMaterial(mesh, model, node_global_transform, nd); + return ConvertMeshMultiMaterial(mesh, model, parent, root_node, absolute_transform); } } } // faster code-path, just copy the data - temp.push_back(ConvertMeshSingleMaterial(mesh, model, node_global_transform, nd)); + temp.push_back(ConvertMeshSingleMaterial(mesh, model, absolute_transform, parent, root_node)); return temp; } std::vector<unsigned int> FBXConverter::ConvertLine(const LineGeometry& line, const Model& model, - const aiMatrix4x4& node_global_transform, aiNode& nd) + aiNode *parent, aiNode *root_node) { std::vector<unsigned int> temp; @@ -983,7 +1012,7 @@ namespace Assimp { return temp; } - aiMesh* const out_mesh = SetupEmptyMesh(line, nd); + aiMesh* const out_mesh = SetupEmptyMesh(line, root_node); out_mesh->mPrimitiveTypes |= aiPrimitiveType_LINE; // copy vertices @@ -1018,7 +1047,7 @@ namespace Assimp { return temp; } - aiMesh* FBXConverter::SetupEmptyMesh(const Geometry& mesh, aiNode& nd) + aiMesh* FBXConverter::SetupEmptyMesh(const Geometry& mesh, aiNode *parent) { aiMesh* const out_mesh = new aiMesh(); meshes.push_back(out_mesh); @@ -1035,17 +1064,18 @@ namespace Assimp { } else { - out_mesh->mName = nd.mName; + out_mesh->mName = parent->mName; } return out_mesh; } - unsigned int FBXConverter::ConvertMeshSingleMaterial(const MeshGeometry& mesh, const Model& model, - const aiMatrix4x4& node_global_transform, aiNode& nd) + unsigned int FBXConverter::ConvertMeshSingleMaterial(const MeshGeometry &mesh, const Model &model, + const aiMatrix4x4 &absolute_transform, aiNode *parent, + aiNode *root_node) { const MatIndexArray& mindices = mesh.GetMaterialIndices(); - aiMesh* const out_mesh = SetupEmptyMesh(mesh, nd); + aiMesh* const out_mesh = SetupEmptyMesh(mesh, parent); const std::vector<aiVector3D>& vertices = mesh.GetVertices(); const std::vector<unsigned int>& faces = mesh.GetFaceIndexCounts(); @@ -1112,7 +1142,7 @@ namespace Assimp { binormals = &tempBinormals; } else { - binormals = NULL; + binormals = nullptr; } } @@ -1162,8 +1192,9 @@ namespace Assimp { ConvertMaterialForMesh(out_mesh, model, mesh, mindices[0]); } - if (doc.Settings().readWeights && mesh.DeformerSkin() != NULL) { - ConvertWeights(out_mesh, model, mesh, node_global_transform, NO_MATERIAL_SEPARATION); + if (doc.Settings().readWeights && mesh.DeformerSkin() != nullptr) { + ConvertWeights(out_mesh, model, mesh, absolute_transform, parent, root_node, NO_MATERIAL_SEPARATION, + nullptr); } std::vector<aiAnimMesh*> animMeshes; @@ -1208,8 +1239,10 @@ namespace Assimp { return static_cast<unsigned int>(meshes.size() - 1); } - std::vector<unsigned int> FBXConverter::ConvertMeshMultiMaterial(const MeshGeometry& mesh, const Model& model, - const aiMatrix4x4& node_global_transform, aiNode& nd) + std::vector<unsigned int> + FBXConverter::ConvertMeshMultiMaterial(const MeshGeometry &mesh, const Model &model, aiNode *parent, + aiNode *root_node, + const aiMatrix4x4 &absolute_transform) { const MatIndexArray& mindices = mesh.GetMaterialIndices(); ai_assert(mindices.size()); @@ -1220,7 +1253,7 @@ namespace Assimp { for (MatIndexArray::value_type index : mindices) { if (had.find(index) == had.end()) { - indices.push_back(ConvertMeshMultiMaterial(mesh, model, index, node_global_transform, nd)); + indices.push_back(ConvertMeshMultiMaterial(mesh, model, index, parent, root_node, absolute_transform)); had.insert(index); } } @@ -1228,18 +1261,18 @@ namespace Assimp { return indices; } - unsigned int FBXConverter::ConvertMeshMultiMaterial(const MeshGeometry& mesh, const Model& model, - MatIndexArray::value_type index, - const aiMatrix4x4& node_global_transform, - aiNode& nd) + unsigned int FBXConverter::ConvertMeshMultiMaterial(const MeshGeometry &mesh, const Model &model, + MatIndexArray::value_type index, + aiNode *parent, aiNode *root_node, + const aiMatrix4x4 &absolute_transform) { - aiMesh* const out_mesh = SetupEmptyMesh(mesh, nd); + aiMesh* const out_mesh = SetupEmptyMesh(mesh, parent); const MatIndexArray& mindices = mesh.GetMaterialIndices(); const std::vector<aiVector3D>& vertices = mesh.GetVertices(); const std::vector<unsigned int>& faces = mesh.GetFaceIndexCounts(); - const bool process_weights = doc.Settings().readWeights && mesh.DeformerSkin() != NULL; + const bool process_weights = doc.Settings().readWeights && mesh.DeformerSkin() != nullptr; unsigned int count_faces = 0; unsigned int count_vertices = 0; @@ -1299,7 +1332,7 @@ namespace Assimp { binormals = &tempBinormals; } else { - binormals = NULL; + binormals = nullptr; } } @@ -1398,7 +1431,7 @@ namespace Assimp { ConvertMaterialForMesh(out_mesh, model, mesh, index); if (process_weights) { - ConvertWeights(out_mesh, model, mesh, node_global_transform, index, &reverseMapping); + ConvertWeights(out_mesh, model, mesh, absolute_transform, parent, root_node, index, &reverseMapping); } std::vector<aiAnimMesh*> animMeshes; @@ -1448,10 +1481,10 @@ namespace Assimp { return static_cast<unsigned int>(meshes.size() - 1); } - void FBXConverter::ConvertWeights(aiMesh* out, const Model& model, const MeshGeometry& geo, - const aiMatrix4x4& node_global_transform, - unsigned int materialIndex, - std::vector<unsigned int>* outputVertStartIndices) + void FBXConverter::ConvertWeights(aiMesh *out, const Model &model, const MeshGeometry &geo, + const aiMatrix4x4 &absolute_transform, + aiNode *parent, aiNode *root_node, unsigned int materialIndex, + std::vector<unsigned int> *outputVertStartIndices) { ai_assert(geo.DeformerSkin()); @@ -1462,13 +1495,12 @@ namespace Assimp { const Skin& sk = *geo.DeformerSkin(); std::vector<aiBone*> bones; - bones.reserve(sk.Clusters().size()); const bool no_mat_check = materialIndex == NO_MATERIAL_SEPARATION; ai_assert(no_mat_check || outputVertStartIndices); try { - + // iterate over the sub deformers for (const Cluster* cluster : sk.Clusters()) { ai_assert(cluster); @@ -1482,15 +1514,16 @@ namespace Assimp { index_out_indices.clear(); out_indices.clear(); + // now check if *any* of these weights is contained in the output mesh, // taking notes so we don't need to do it twice. for (WeightIndexArray::value_type index : indices) { unsigned int count = 0; const unsigned int* const out_idx = geo.ToOutputVertexIndex(index, count); - // ToOutputVertexIndex only returns NULL if index is out of bounds + // ToOutputVertexIndex only returns nullptr if index is out of bounds // which should never happen - ai_assert(out_idx != NULL); + ai_assert(out_idx != nullptr); index_out_indices.push_back(no_index_sentinel); count_out_indices.push_back(0); @@ -1519,68 +1552,107 @@ namespace Assimp { } } } - + // if we found at least one, generate the output bones // XXX this could be heavily simplified by collecting the bone // data in a single step. - ConvertCluster(bones, model, *cluster, out_indices, index_out_indices, - count_out_indices, node_global_transform); + ConvertCluster(bones, cluster, out_indices, index_out_indices, + count_out_indices, absolute_transform, parent, root_node); } + + bone_map.clear(); } - catch (std::exception&) { + catch (std::exception&e) { std::for_each(bones.begin(), bones.end(), Util::delete_fun<aiBone>()); throw; } if (bones.empty()) { + out->mBones = nullptr; + out->mNumBones = 0; return; - } - - out->mBones = new aiBone*[bones.size()](); - out->mNumBones = static_cast<unsigned int>(bones.size()); + } else { + out->mBones = new aiBone *[bones.size()](); + out->mNumBones = static_cast<unsigned int>(bones.size()); - std::swap_ranges(bones.begin(), bones.end(), out->mBones); + std::swap_ranges(bones.begin(), bones.end(), out->mBones); + } } - void FBXConverter::ConvertCluster(std::vector<aiBone*>& bones, const Model& /*model*/, const Cluster& cl, - std::vector<size_t>& out_indices, - std::vector<size_t>& index_out_indices, - std::vector<size_t>& count_out_indices, - const aiMatrix4x4& node_global_transform) + const aiNode* FBXConverter::GetNodeByName( const aiString& name, aiNode *current_node ) { + aiNode * iter = current_node; + //printf("Child count: %d", iter->mNumChildren); + return iter; + } - aiBone* const bone = new aiBone(); - bones.push_back(bone); + void FBXConverter::ConvertCluster(std::vector<aiBone *> &local_mesh_bones, const Cluster *cl, + std::vector<size_t> &out_indices, std::vector<size_t> &index_out_indices, + std::vector<size_t> &count_out_indices, const aiMatrix4x4 &absolute_transform, + aiNode *parent, aiNode *root_node) { + ai_assert(cl); // make sure cluster valid + std::string deformer_name = cl->TargetNode()->Name(); + aiString bone_name = aiString(FixNodeName(deformer_name)); - bone->mName = FixNodeName(cl.TargetNode()->Name()); + aiBone *bone = nullptr; - bone->mOffsetMatrix = cl.TransformLink(); - bone->mOffsetMatrix.Inverse(); + if (bone_map.count(deformer_name)) { + std::cout << "retrieved bone from lookup " << bone_name.C_Str() << ". Deformer: " << deformer_name + << std::endl; + bone = bone_map[deformer_name]; + } else { + std::cout << "created new bone " << bone_name.C_Str() << ". Deformer: " << deformer_name << std::endl; + bone = new aiBone(); + bone->mName = bone_name; - bone->mOffsetMatrix = bone->mOffsetMatrix * node_global_transform; + // store local transform link for post processing + bone->mOffsetMatrix = cl->TransformLink(); + bone->mOffsetMatrix.Inverse(); - bone->mNumWeights = static_cast<unsigned int>(out_indices.size()); - aiVertexWeight* cursor = bone->mWeights = new aiVertexWeight[out_indices.size()]; + aiMatrix4x4 matrix = (aiMatrix4x4)absolute_transform; - const size_t no_index_sentinel = std::numeric_limits<size_t>::max(); - const WeightArray& weights = cl.GetWeights(); + bone->mOffsetMatrix = bone->mOffsetMatrix * matrix; // * mesh_offset - const size_t c = index_out_indices.size(); - for (size_t i = 0; i < c; ++i) { - const size_t index_index = index_out_indices[i]; - if (index_index == no_index_sentinel) { - continue; - } + // + // Now calculate the aiVertexWeights + // + + aiVertexWeight *cursor = nullptr; + + bone->mNumWeights = static_cast<unsigned int>(out_indices.size()); + cursor = bone->mWeights = new aiVertexWeight[out_indices.size()]; - const size_t cc = count_out_indices[i]; - for (size_t j = 0; j < cc; ++j) { - aiVertexWeight& out_weight = *cursor++; + const size_t no_index_sentinel = std::numeric_limits<size_t>::max(); + const WeightArray& weights = cl->GetWeights(); - out_weight.mVertexId = static_cast<unsigned int>(out_indices[index_index + j]); - out_weight.mWeight = weights[i]; + const size_t c = index_out_indices.size(); + for (size_t i = 0; i < c; ++i) { + const size_t index_index = index_out_indices[i]; + + if (index_index == no_index_sentinel) { + continue; + } + + const size_t cc = count_out_indices[i]; + for (size_t j = 0; j < cc; ++j) { + // cursor runs from first element relative to the start + // or relative to the start of the next indexes. + aiVertexWeight& out_weight = *cursor++; + + out_weight.mVertexId = static_cast<unsigned int>(out_indices[index_index + j]); + out_weight.mWeight = weights[i]; + } } + + bone_map.insert(std::pair<const std::string, aiBone *>(deformer_name, bone)); } + + std::cout << "bone research: Indicies size: " << out_indices.size() << std::endl; + + // lookup must be populated in case something goes wrong + // this also allocates bones to mesh instance outside + local_mesh_bones.push_back(bone); } void FBXConverter::ConvertMaterialForMesh(aiMesh* out, const Model& model, const MeshGeometry& geo, @@ -1710,7 +1782,7 @@ namespace Assimp { bool textureReady = false; //tells if our texture is ready (if it was loaded or if it was found) unsigned int index; - VideoMap::const_iterator it = textures_converted.find(media); + VideoMap::const_iterator it = textures_converted.find(*media); if (it != textures_converted.end()) { index = (*it).second; textureReady = true; @@ -1718,7 +1790,7 @@ namespace Assimp { else { if (media->ContentLength() > 0) { index = ConvertVideo(*media); - textures_converted[media] = index; + textures_converted[*media] = index; textureReady = true; } } @@ -2242,13 +2314,13 @@ void FBXConverter::SetShadingPropertiesRaw(aiMaterial* out_mat, const PropertyTa if (media != nullptr && media->ContentLength() > 0) { unsigned int index; - VideoMap::const_iterator it = textures_converted.find(media); + VideoMap::const_iterator it = textures_converted.find(*media); if (it != textures_converted.end()) { index = (*it).second; } else { index = ConvertVideo(*media); - textures_converted[media] = index; + textures_converted[*media] = index; } // setup texture reference string (copied from ColladaLoader::FindFilenameForEffectTexture) @@ -2676,7 +2748,7 @@ void FBXConverter::SetShadingPropertiesRaw(aiMaterial* out_mat, const PropertyTa // sanity check whether the input is ok static void validateAnimCurveNodes(const std::vector<const AnimationCurveNode*>& curves, bool strictMode) { - const Object* target(NULL); + const Object* target(nullptr); for (const AnimationCurveNode* node : curves) { if (!target) { target = node->Target(); @@ -2707,7 +2779,7 @@ void FBXConverter::SetShadingPropertiesRaw(aiMaterial* out_mat, const PropertyTa #ifdef ASSIMP_BUILD_DEBUG validateAnimCurveNodes(curves, doc.Settings().strictMode); #endif - const AnimationCurveNode* curve_node = NULL; + const AnimationCurveNode* curve_node = nullptr; for (const AnimationCurveNode* node : curves) { ai_assert(node); @@ -2967,7 +3039,7 @@ void FBXConverter::SetShadingPropertiesRaw(aiMaterial* out_mat, const PropertyTa TransformationCompDefaultValue(comp) ); - const float epsilon = 1e-6f; + const float epsilon = Math::getEpsilon<float>(); return (dyn_val - static_val).SquareLength() < epsilon; } @@ -3555,7 +3627,7 @@ void FBXConverter::SetShadingPropertiesRaw(aiMaterial* out_mat, const PropertyTa ai_assert(!out->mMeshes); ai_assert(!out->mNumMeshes); - // note: the trailing () ensures initialization with NULL - not + // note: the trailing () ensures initialization with nullptr - not // many C++ users seem to know this, so pointing it out to avoid // confusion why this code works. @@ -3602,6 +3674,47 @@ void FBXConverter::SetShadingPropertiesRaw(aiMaterial* out_mat, const PropertyTa } } + void FBXConverter::ConvertOrphantEmbeddedTextures() + { + // in C++14 it could be: + // for (auto&& [id, object] : objects) + for (auto&& id_and_object : doc.Objects()) + { + auto&& id = std::get<0>(id_and_object); + auto&& object = std::get<1>(id_and_object); + // If an object doesn't have parent + if (doc.ConnectionsBySource().count(id) == 0) + { + const Texture* realTexture = nullptr; + try + { + const auto& element = object->GetElement(); + const Token& key = element.KeyToken(); + const char* obtype = key.begin(); + const size_t length = static_cast<size_t>(key.end() - key.begin()); + if (strncmp(obtype, "Texture", length) == 0) + { + const Texture* texture = static_cast<const Texture*>(object->Get()); + if (texture->Media() && texture->Media()->ContentLength() > 0) + { + realTexture = texture; + } + } + } + catch (...) + { + // do nothing + } + if (realTexture) + { + const Video* media = realTexture->Media(); + unsigned int index = ConvertVideo(*media); + textures_converted[*media] = index; + } + } + } + } + // ------------------------------------------------------------------------------------------------ void ConvertToAssimpScene(aiScene* out, const Document& doc, bool removeEmptyBones) { diff --git a/thirdparty/assimp/code/FBX/FBXConverter.h b/thirdparty/assimp/code/FBX/FBXConverter.h index ab610058a4..46693bdca6 100644 --- a/thirdparty/assimp/code/FBX/FBXConverter.h +++ b/thirdparty/assimp/code/FBX/FBXConverter.h @@ -76,16 +76,6 @@ namespace Assimp { namespace FBX { class Document; - -enum class FbxUnit { - cm = 0, - m, - km, - NumUnits, - - Undefined -}; - /** * Convert a FBX #Document to #aiScene * @param out Empty scene to be populated @@ -133,7 +123,7 @@ private: // ------------------------------------------------------------------------------------------------ // collect and assign child nodes - void ConvertNodes(uint64_t id, aiNode& parent, const aiMatrix4x4& parent_transform = aiMatrix4x4()); + void ConvertNodes(uint64_t id, aiNode *parent, aiNode *root_node); // ------------------------------------------------------------------------------------------------ void ConvertLights(const Model& model, const std::string &orig_name ); @@ -189,32 +179,35 @@ private: void SetupNodeMetadata(const Model& model, aiNode& nd); // ------------------------------------------------------------------------------------------------ - void ConvertModel(const Model& model, aiNode& nd, const aiMatrix4x4& node_global_transform); + void ConvertModel(const Model &model, aiNode *parent, aiNode *root_node, + const aiMatrix4x4 &absolute_transform); // ------------------------------------------------------------------------------------------------ // MeshGeometry -> aiMesh, return mesh index + 1 or 0 if the conversion failed - std::vector<unsigned int> ConvertMesh(const MeshGeometry& mesh, const Model& model, - const aiMatrix4x4& node_global_transform, aiNode& nd); + std::vector<unsigned int> + ConvertMesh(const MeshGeometry &mesh, const Model &model, aiNode *parent, aiNode *root_node, + const aiMatrix4x4 &absolute_transform); // ------------------------------------------------------------------------------------------------ std::vector<unsigned int> ConvertLine(const LineGeometry& line, const Model& model, - const aiMatrix4x4& node_global_transform, aiNode& nd); + aiNode *parent, aiNode *root_node); // ------------------------------------------------------------------------------------------------ - aiMesh* SetupEmptyMesh(const Geometry& mesh, aiNode& nd); + aiMesh* SetupEmptyMesh(const Geometry& mesh, aiNode *parent); // ------------------------------------------------------------------------------------------------ - unsigned int ConvertMeshSingleMaterial(const MeshGeometry& mesh, const Model& model, - const aiMatrix4x4& node_global_transform, aiNode& nd); + unsigned int ConvertMeshSingleMaterial(const MeshGeometry &mesh, const Model &model, + const aiMatrix4x4 &absolute_transform, aiNode *parent, + aiNode *root_node); // ------------------------------------------------------------------------------------------------ - std::vector<unsigned int> ConvertMeshMultiMaterial(const MeshGeometry& mesh, const Model& model, - const aiMatrix4x4& node_global_transform, aiNode& nd); + std::vector<unsigned int> + ConvertMeshMultiMaterial(const MeshGeometry &mesh, const Model &model, aiNode *parent, aiNode *root_node, + const aiMatrix4x4 &absolute_transform); // ------------------------------------------------------------------------------------------------ - unsigned int ConvertMeshMultiMaterial(const MeshGeometry& mesh, const Model& model, - MatIndexArray::value_type index, - const aiMatrix4x4& node_global_transform, aiNode& nd); + unsigned int ConvertMeshMultiMaterial(const MeshGeometry &mesh, const Model &model, MatIndexArray::value_type index, + aiNode *parent, aiNode *root_node, const aiMatrix4x4 &absolute_transform); // ------------------------------------------------------------------------------------------------ static const unsigned int NO_MATERIAL_SEPARATION = /* std::numeric_limits<unsigned int>::max() */ @@ -227,17 +220,17 @@ private: * - outputVertStartIndices is only used when a material index is specified, it gives for * each output vertex the DOM index it maps to. */ - void ConvertWeights(aiMesh* out, const Model& model, const MeshGeometry& geo, - const aiMatrix4x4& node_global_transform = aiMatrix4x4(), - unsigned int materialIndex = NO_MATERIAL_SEPARATION, - std::vector<unsigned int>* outputVertStartIndices = NULL); - + void ConvertWeights(aiMesh *out, const Model &model, const MeshGeometry &geo, const aiMatrix4x4 &absolute_transform, + aiNode *parent = NULL, aiNode *root_node = NULL, + unsigned int materialIndex = NO_MATERIAL_SEPARATION, + std::vector<unsigned int> *outputVertStartIndices = NULL); + // lookup + static const aiNode* GetNodeByName( const aiString& name, aiNode *current_node ); // ------------------------------------------------------------------------------------------------ - void ConvertCluster(std::vector<aiBone*>& bones, const Model& /*model*/, const Cluster& cl, - std::vector<size_t>& out_indices, - std::vector<size_t>& index_out_indices, - std::vector<size_t>& count_out_indices, - const aiMatrix4x4& node_global_transform); + void ConvertCluster(std::vector<aiBone *> &local_mesh_bones, const Cluster *cl, + std::vector<size_t> &out_indices, std::vector<size_t> &index_out_indices, + std::vector<size_t> &count_out_indices, const aiMatrix4x4 &absolute_transform, + aiNode *parent, aiNode *root_node); // ------------------------------------------------------------------------------------------------ void ConvertMaterialForMesh(aiMesh* out, const Model& model, const MeshGeometry& geo, @@ -434,6 +427,10 @@ private: // copy generated meshes, animations, lights, cameras and textures to the output scene void TransferDataToScene(); + // ------------------------------------------------------------------------------------------------ + // FBX file could have embedded textures not connected to anything + void ConvertOrphantEmbeddedTextures(); + private: // 0: not assigned yet, others: index is value - 1 unsigned int defaultMaterialIndex; @@ -445,28 +442,47 @@ private: std::vector<aiCamera*> cameras; std::vector<aiTexture*> textures; - using MaterialMap = std::map<const Material*, unsigned int>; + using MaterialMap = std::fbx_unordered_map<const Material*, unsigned int>; MaterialMap materials_converted; - using VideoMap = std::map<const Video*, unsigned int>; + using VideoMap = std::fbx_unordered_map<const Video, unsigned int>; VideoMap textures_converted; - using MeshMap = std::map<const Geometry*, std::vector<unsigned int> >; + using MeshMap = std::fbx_unordered_map<const Geometry*, std::vector<unsigned int> >; MeshMap meshes_converted; // fixed node name -> which trafo chain components have animations? - using NodeAnimBitMap = std::map<std::string, unsigned int> ; + using NodeAnimBitMap = std::fbx_unordered_map<std::string, unsigned int> ; NodeAnimBitMap node_anim_chain_bits; // number of nodes with the same name - using NodeNameCache = std::unordered_map<std::string, unsigned int>; + using NodeNameCache = std::fbx_unordered_map<std::string, unsigned int>; NodeNameCache mNodeNames; + // Deformer name is not the same as a bone name - it does contain the bone name though :) + // Deformer names in FBX are always unique in an FBX file. + std::map<const std::string, aiBone *> bone_map; + double anim_fps; aiScene* const out; const FBX::Document& doc; - FbxUnit mCurrentUnit; + + static void BuildBoneList(aiNode *current_node, const aiNode *root_node, const aiScene *scene, + std::vector<aiBone*>& bones); + + void BuildBoneStack(aiNode *current_node, const aiNode *root_node, const aiScene *scene, + const std::vector<aiBone *> &bones, + std::map<aiBone *, aiNode *> &bone_stack, + std::vector<aiNode*> &node_stack ); + + static void BuildNodeList(aiNode *current_node, std::vector<aiNode *> &nodes); + + static aiNode *GetNodeFromStack(const aiString &node_name, std::vector<aiNode *> &nodes); + + static aiNode *GetArmatureRoot(aiNode *bone_node, std::vector<aiBone*> &bone_list); + + static bool IsBoneNode(const aiString &bone_name, std::vector<aiBone *> &bones); }; } diff --git a/thirdparty/assimp/code/FBX/FBXDocument.h b/thirdparty/assimp/code/FBX/FBXDocument.h index 18e5c38f13..a60d7d9efa 100644 --- a/thirdparty/assimp/code/FBX/FBXDocument.h +++ b/thirdparty/assimp/code/FBX/FBXDocument.h @@ -637,6 +637,20 @@ public: return ptr; } + bool operator==(const Video& other) const + { + return ( + type == other.type + && relativeFileName == other.relativeFileName + && fileName == other.fileName + ); + } + + bool operator<(const Video& other) const + { + return std::tie(type, relativeFileName, fileName) < std::tie(other.type, other.relativeFileName, other.fileName); + } + private: std::string type; std::string relativeFileName; @@ -1005,10 +1019,10 @@ public: // during their entire lifetime (Document). FBX files have // up to many thousands of objects (most of which we never use), // so the memory overhead for them should be kept at a minimum. -typedef std::map<uint64_t, LazyObject*> ObjectMap; +typedef std::fbx_unordered_map<uint64_t, LazyObject*> ObjectMap; typedef std::fbx_unordered_map<std::string, std::shared_ptr<const PropertyTable> > PropertyTemplateMap; -typedef std::multimap<uint64_t, const Connection*> ConnectionMap; +typedef std::fbx_unordered_multimap<uint64_t, const Connection*> ConnectionMap; /** DOM class for global document settings, a single instance per document can * be accessed via Document.Globals(). */ @@ -1177,4 +1191,25 @@ private: } // Namespace FBX } // Namespace Assimp +namespace std +{ + template <> + struct hash<const Assimp::FBX::Video> + { + std::size_t operator()(const Assimp::FBX::Video& video) const + { + using std::size_t; + using std::hash; + using std::string; + + size_t res = 17; + res = res * 31 + hash<string>()(video.Name()); + res = res * 31 + hash<string>()(video.RelativeFilename()); + res = res * 31 + hash<string>()(video.Type()); + + return res; + } + }; +} + #endif // INCLUDED_AI_FBX_DOCUMENT_H diff --git a/thirdparty/assimp/code/FBX/FBXExportProperty.cpp b/thirdparty/assimp/code/FBX/FBXExportProperty.cpp index f8593e6295..f2a63b72b9 100644 --- a/thirdparty/assimp/code/FBX/FBXExportProperty.cpp +++ b/thirdparty/assimp/code/FBX/FBXExportProperty.cpp @@ -59,11 +59,7 @@ namespace FBX { FBXExportProperty::FBXExportProperty(bool v) : type('C') -, data(1) { - data = { - uint8_t(v) - }; -} +, data(1, uint8_t(v)) {} FBXExportProperty::FBXExportProperty(int16_t v) : type('Y') diff --git a/thirdparty/assimp/code/FBX/FBXExporter.cpp b/thirdparty/assimp/code/FBX/FBXExporter.cpp index 8ebc8555a2..9316dc4f02 100644 --- a/thirdparty/assimp/code/FBX/FBXExporter.cpp +++ b/thirdparty/assimp/code/FBX/FBXExporter.cpp @@ -67,6 +67,7 @@ OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. #include <vector> #include <array> #include <unordered_set> +#include <numeric> // RESOURCES: // https://code.blender.org/2013/08/fbx-binary-file-format-specification/ @@ -1005,6 +1006,9 @@ void FBXExporter::WriteObjects () object_node.EndProperties(outstream, binary, indent); object_node.BeginChildren(outstream, binary, indent); + bool bJoinIdenticalVertices = mProperties->GetPropertyBool("bJoinIdenticalVertices", true); + std::vector<std::vector<int32_t>> vVertexIndice;//save vertex_indices as it is needed later + // geometry (aiMesh) mesh_uids.clear(); indent = 1; @@ -1031,21 +1035,35 @@ void FBXExporter::WriteObjects () std::vector<int32_t> vertex_indices; // map of vertex value to its index in the data vector std::map<aiVector3D,size_t> index_by_vertex_value; - int32_t index = 0; - for (size_t vi = 0; vi < m->mNumVertices; ++vi) { - aiVector3D vtx = m->mVertices[vi]; - auto elem = index_by_vertex_value.find(vtx); - if (elem == index_by_vertex_value.end()) { - vertex_indices.push_back(index); - index_by_vertex_value[vtx] = index; - flattened_vertices.push_back(vtx[0]); - flattened_vertices.push_back(vtx[1]); - flattened_vertices.push_back(vtx[2]); - ++index; - } else { - vertex_indices.push_back(int32_t(elem->second)); + if(bJoinIdenticalVertices){ + int32_t index = 0; + for (size_t vi = 0; vi < m->mNumVertices; ++vi) { + aiVector3D vtx = m->mVertices[vi]; + auto elem = index_by_vertex_value.find(vtx); + if (elem == index_by_vertex_value.end()) { + vertex_indices.push_back(index); + index_by_vertex_value[vtx] = index; + flattened_vertices.push_back(vtx[0]); + flattened_vertices.push_back(vtx[1]); + flattened_vertices.push_back(vtx[2]); + ++index; + } else { + vertex_indices.push_back(int32_t(elem->second)); + } + } + } + else { // do not join vertex, respect the export flag + vertex_indices.resize(m->mNumVertices); + std::iota(vertex_indices.begin(), vertex_indices.end(), 0); + for(unsigned int v = 0; v < m->mNumVertices; ++ v) { + aiVector3D vtx = m->mVertices[v]; + flattened_vertices.push_back(vtx.x); + flattened_vertices.push_back(vtx.y); + flattened_vertices.push_back(vtx.z); } } + vVertexIndice.push_back(vertex_indices); + FBX::Node::WritePropertyNode( "Vertices", flattened_vertices, outstream, binary, indent ); @@ -1116,6 +1134,51 @@ void FBXExporter::WriteObjects () normals.End(outstream, binary, indent, true); } + // colors, if any + // TODO only one color channel currently + const int32_t colorChannelIndex = 0; + if (m->HasVertexColors(colorChannelIndex)) { + FBX::Node vertexcolors("LayerElementColor", int32_t(colorChannelIndex)); + vertexcolors.Begin(outstream, binary, indent); + vertexcolors.DumpProperties(outstream, binary, indent); + vertexcolors.EndProperties(outstream, binary, indent); + vertexcolors.BeginChildren(outstream, binary, indent); + indent = 3; + FBX::Node::WritePropertyNode( + "Version", int32_t(101), outstream, binary, indent + ); + char layerName[8]; + sprintf(layerName, "COLOR_%d", colorChannelIndex); + FBX::Node::WritePropertyNode( + "Name", (const char*)layerName, outstream, binary, indent + ); + FBX::Node::WritePropertyNode( + "MappingInformationType", "ByPolygonVertex", + outstream, binary, indent + ); + FBX::Node::WritePropertyNode( + "ReferenceInformationType", "Direct", + outstream, binary, indent + ); + std::vector<double> color_data; + color_data.reserve(4 * polygon_data.size()); + for (size_t fi = 0; fi < m->mNumFaces; ++fi) { + const aiFace &f = m->mFaces[fi]; + for (size_t pvi = 0; pvi < f.mNumIndices; ++pvi) { + const aiColor4D &c = m->mColors[colorChannelIndex][f.mIndices[pvi]]; + color_data.push_back(c.r); + color_data.push_back(c.g); + color_data.push_back(c.b); + color_data.push_back(c.a); + } + } + FBX::Node::WritePropertyNode( + "Colors", color_data, outstream, binary, indent + ); + indent = 2; + vertexcolors.End(outstream, binary, indent, true); + } + // uvs, if any for (size_t uvi = 0; uvi < m->GetNumUVChannels(); ++uvi) { if (m->mNumUVComponents[uvi] > 2) { @@ -1209,6 +1272,11 @@ void FBXExporter::WriteObjects () le.AddChild("Type", "LayerElementNormal"); le.AddChild("TypedIndex", int32_t(0)); layer.AddChild(le); + // TODO only 1 color channel currently + le = FBX::Node("LayerElement"); + le.AddChild("Type", "LayerElementColor"); + le.AddChild("TypedIndex", int32_t(0)); + layer.AddChild(le); le = FBX::Node("LayerElement"); le.AddChild("Type", "LayerElementMaterial"); le.AddChild("TypedIndex", int32_t(0)); @@ -1221,7 +1289,7 @@ void FBXExporter::WriteObjects () for(unsigned int lr = 1; lr < m->GetNumUVChannels(); ++ lr) { - FBX::Node layerExtra("Layer", int32_t(1)); + FBX::Node layerExtra("Layer", int32_t(lr)); layerExtra.AddChild("Version", int32_t(100)); FBX::Node leExtra("LayerElement"); leExtra.AddChild("Type", "LayerElementUV"); @@ -1748,28 +1816,8 @@ void FBXExporter::WriteObjects () // connect it connections.emplace_back("C", "OO", deformer_uid, mesh_uids[mi]); - // we will be indexing by vertex... - // but there might be a different number of "vertices" - // between assimp and our output FBX. - // this code is cut-and-pasted from the geometry section above... - // ideally this should not be so. - // --- - // index of original vertex in vertex data vector - std::vector<int32_t> vertex_indices; - // map of vertex value to its index in the data vector - std::map<aiVector3D,size_t> index_by_vertex_value; - int32_t index = 0; - for (size_t vi = 0; vi < m->mNumVertices; ++vi) { - aiVector3D vtx = m->mVertices[vi]; - auto elem = index_by_vertex_value.find(vtx); - if (elem == index_by_vertex_value.end()) { - vertex_indices.push_back(index); - index_by_vertex_value[vtx] = index; - ++index; - } else { - vertex_indices.push_back(int32_t(elem->second)); - } - } + //computed before + std::vector<int32_t>& vertex_indices = vVertexIndice[mi]; // TODO, FIXME: this won't work if anything is not in the bind pose. // for now if such a situation is detected, we throw an exception. @@ -2435,7 +2483,7 @@ void FBXExporter::WriteModelNodes( void FBXExporter::WriteAnimationCurveNode( StreamWriterLE& outstream, int64_t uid, - std::string name, // "T", "R", or "S" + const std::string& name, // "T", "R", or "S" aiVector3D default_value, std::string property_name, // "Lcl Translation" etc int64_t layer_uid, diff --git a/thirdparty/assimp/code/FBX/FBXExporter.h b/thirdparty/assimp/code/FBX/FBXExporter.h index 71fb55c57f..1ae727eda9 100644 --- a/thirdparty/assimp/code/FBX/FBXExporter.h +++ b/thirdparty/assimp/code/FBX/FBXExporter.h @@ -156,7 +156,7 @@ namespace Assimp void WriteAnimationCurveNode( StreamWriterLE& outstream, int64_t uid, - std::string name, // "T", "R", or "S" + const std::string& name, // "T", "R", or "S" aiVector3D default_value, std::string property_name, // "Lcl Translation" etc int64_t animation_layer_uid, diff --git a/thirdparty/assimp/code/FBX/FBXImporter.cpp b/thirdparty/assimp/code/FBX/FBXImporter.cpp index 271935a568..afcc1ddc78 100644 --- a/thirdparty/assimp/code/FBX/FBXImporter.cpp +++ b/thirdparty/assimp/code/FBX/FBXImporter.cpp @@ -48,26 +48,26 @@ OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. #include "FBXImporter.h" -#include "FBXTokenizer.h" +#include "FBXConverter.h" +#include "FBXDocument.h" #include "FBXParser.h" +#include "FBXTokenizer.h" #include "FBXUtil.h" -#include "FBXDocument.h" -#include "FBXConverter.h" -#include <assimp/StreamReader.h> #include <assimp/MemoryIOWrapper.h> -#include <assimp/Importer.hpp> +#include <assimp/StreamReader.h> #include <assimp/importerdesc.h> +#include <assimp/Importer.hpp> namespace Assimp { -template<> -const char* LogFunctions<FBXImporter>::Prefix() { - static auto prefix = "FBX: "; - return prefix; +template <> +const char *LogFunctions<FBXImporter>::Prefix() { + static auto prefix = "FBX: "; + return prefix; } -} +} // namespace Assimp using namespace Assimp; using namespace Assimp::Formatter; @@ -76,136 +76,123 @@ using namespace Assimp::FBX; namespace { static const aiImporterDesc desc = { - "Autodesk FBX Importer", - "", - "", - "", - aiImporterFlags_SupportTextFlavour, - 0, - 0, - 0, - 0, - "fbx" + "Autodesk FBX Importer", + "", + "", + "", + aiImporterFlags_SupportTextFlavour, + 0, + 0, + 0, + 0, + "fbx" }; } // ------------------------------------------------------------------------------------------------ // Constructor to be privately used by #Importer -FBXImporter::FBXImporter() -{ +FBXImporter::FBXImporter() { } // ------------------------------------------------------------------------------------------------ // Destructor, private as well -FBXImporter::~FBXImporter() -{ +FBXImporter::~FBXImporter() { } // ------------------------------------------------------------------------------------------------ // Returns whether the class can handle the format of the given file. -bool FBXImporter::CanRead( const std::string& pFile, IOSystem* pIOHandler, bool checkSig) const -{ - const std::string& extension = GetExtension(pFile); - if (extension == std::string( desc.mFileExtensions ) ) { - return true; - } - - else if ((!extension.length() || checkSig) && pIOHandler) { - // at least ASCII-FBX files usually have a 'FBX' somewhere in their head - const char* tokens[] = {"fbx"}; - return SearchFileHeaderForToken(pIOHandler,pFile,tokens,1); - } - return false; +bool FBXImporter::CanRead(const std::string &pFile, IOSystem *pIOHandler, bool checkSig) const { + const std::string &extension = GetExtension(pFile); + if (extension == std::string(desc.mFileExtensions)) { + return true; + } + + else if ((!extension.length() || checkSig) && pIOHandler) { + // at least ASCII-FBX files usually have a 'FBX' somewhere in their head + const char *tokens[] = { "fbx" }; + return SearchFileHeaderForToken(pIOHandler, pFile, tokens, 1); + } + return false; } // ------------------------------------------------------------------------------------------------ // List all extensions handled by this loader -const aiImporterDesc* FBXImporter::GetInfo () const -{ - return &desc; +const aiImporterDesc *FBXImporter::GetInfo() const { + return &desc; } // ------------------------------------------------------------------------------------------------ // Setup configuration properties for the loader -void FBXImporter::SetupProperties(const Importer* pImp) -{ - settings.readAllLayers = pImp->GetPropertyBool(AI_CONFIG_IMPORT_FBX_READ_ALL_GEOMETRY_LAYERS, true); - settings.readAllMaterials = pImp->GetPropertyBool(AI_CONFIG_IMPORT_FBX_READ_ALL_MATERIALS, false); - settings.readMaterials = pImp->GetPropertyBool(AI_CONFIG_IMPORT_FBX_READ_MATERIALS, true); - settings.readTextures = pImp->GetPropertyBool(AI_CONFIG_IMPORT_FBX_READ_TEXTURES, true); - settings.readCameras = pImp->GetPropertyBool(AI_CONFIG_IMPORT_FBX_READ_CAMERAS, true); - settings.readLights = pImp->GetPropertyBool(AI_CONFIG_IMPORT_FBX_READ_LIGHTS, true); - settings.readAnimations = pImp->GetPropertyBool(AI_CONFIG_IMPORT_FBX_READ_ANIMATIONS, true); - settings.strictMode = pImp->GetPropertyBool(AI_CONFIG_IMPORT_FBX_STRICT_MODE, false); - settings.preservePivots = pImp->GetPropertyBool(AI_CONFIG_IMPORT_FBX_PRESERVE_PIVOTS, true); - settings.optimizeEmptyAnimationCurves = pImp->GetPropertyBool(AI_CONFIG_IMPORT_FBX_OPTIMIZE_EMPTY_ANIMATION_CURVES, true); - settings.useLegacyEmbeddedTextureNaming = pImp->GetPropertyBool(AI_CONFIG_IMPORT_FBX_EMBEDDED_TEXTURES_LEGACY_NAMING, false); - settings.removeEmptyBones = pImp->GetPropertyBool(AI_CONFIG_IMPORT_REMOVE_EMPTY_BONES, true); - settings.convertToMeters = pImp->GetPropertyBool(AI_CONFIG_FBX_CONVERT_TO_M, false); +void FBXImporter::SetupProperties(const Importer *pImp) { + settings.readAllLayers = pImp->GetPropertyBool(AI_CONFIG_IMPORT_FBX_READ_ALL_GEOMETRY_LAYERS, true); + settings.readAllMaterials = pImp->GetPropertyBool(AI_CONFIG_IMPORT_FBX_READ_ALL_MATERIALS, false); + settings.readMaterials = pImp->GetPropertyBool(AI_CONFIG_IMPORT_FBX_READ_MATERIALS, true); + settings.readTextures = pImp->GetPropertyBool(AI_CONFIG_IMPORT_FBX_READ_TEXTURES, true); + settings.readCameras = pImp->GetPropertyBool(AI_CONFIG_IMPORT_FBX_READ_CAMERAS, true); + settings.readLights = pImp->GetPropertyBool(AI_CONFIG_IMPORT_FBX_READ_LIGHTS, true); + settings.readAnimations = pImp->GetPropertyBool(AI_CONFIG_IMPORT_FBX_READ_ANIMATIONS, true); + settings.strictMode = pImp->GetPropertyBool(AI_CONFIG_IMPORT_FBX_STRICT_MODE, false); + settings.preservePivots = pImp->GetPropertyBool(AI_CONFIG_IMPORT_FBX_PRESERVE_PIVOTS, true); + settings.optimizeEmptyAnimationCurves = pImp->GetPropertyBool(AI_CONFIG_IMPORT_FBX_OPTIMIZE_EMPTY_ANIMATION_CURVES, true); + settings.useLegacyEmbeddedTextureNaming = pImp->GetPropertyBool(AI_CONFIG_IMPORT_FBX_EMBEDDED_TEXTURES_LEGACY_NAMING, false); + settings.removeEmptyBones = pImp->GetPropertyBool(AI_CONFIG_IMPORT_REMOVE_EMPTY_BONES, true); + settings.convertToMeters = pImp->GetPropertyBool(AI_CONFIG_FBX_CONVERT_TO_M, false); } // ------------------------------------------------------------------------------------------------ // Imports the given file into the given scene structure. -void FBXImporter::InternReadFile( const std::string& pFile, aiScene* pScene, IOSystem* pIOHandler) -{ - std::unique_ptr<IOStream> stream(pIOHandler->Open(pFile,"rb")); - if (!stream) { - ThrowException("Could not open file for reading"); - } - - // read entire file into memory - no streaming for this, fbx - // files can grow large, but the assimp output data structure - // then becomes very large, too. Assimp doesn't support - // streaming for its output data structures so the net win with - // streaming input data would be very low. - std::vector<char> contents; - contents.resize(stream->FileSize()+1); - stream->Read( &*contents.begin(), 1, contents.size()-1 ); - contents[ contents.size() - 1 ] = 0; - const char* const begin = &*contents.begin(); - - // broadphase tokenizing pass in which we identify the core - // syntax elements of FBX (brackets, commas, key:value mappings) - TokenList tokens; - try { - - bool is_binary = false; - if (!strncmp(begin,"Kaydara FBX Binary",18)) { - is_binary = true; - TokenizeBinary(tokens,begin,contents.size()); - } - else { - Tokenize(tokens,begin); - } - - // use this information to construct a very rudimentary - // parse-tree representing the FBX scope structure - Parser parser(tokens, is_binary); - - // take the raw parse-tree and convert it to a FBX DOM - Document doc(parser,settings); - - FbxUnit unit(FbxUnit::cm); - if (settings.convertToMeters) { - unit = FbxUnit::m; - } - - // convert the FBX DOM to aiScene - ConvertToAssimpScene(pScene, doc, settings.removeEmptyBones); - - // size relative to cm - float size_relative_to_cm = doc.GlobalSettings().UnitScaleFactor(); - - // Set FBX file scale is relative to CM must be converted to M for - // assimp universal format (M) - SetFileScale( size_relative_to_cm * 0.01f); - - std::for_each(tokens.begin(),tokens.end(),Util::delete_fun<Token>()); - } - catch(std::exception&) { - std::for_each(tokens.begin(),tokens.end(),Util::delete_fun<Token>()); - throw; - } +void FBXImporter::InternReadFile(const std::string &pFile, aiScene *pScene, IOSystem *pIOHandler) { + std::unique_ptr<IOStream> stream(pIOHandler->Open(pFile, "rb")); + if (!stream) { + ThrowException("Could not open file for reading"); + } + + // read entire file into memory - no streaming for this, fbx + // files can grow large, but the assimp output data structure + // then becomes very large, too. Assimp doesn't support + // streaming for its output data structures so the net win with + // streaming input data would be very low. + std::vector<char> contents; + contents.resize(stream->FileSize() + 1); + stream->Read(&*contents.begin(), 1, contents.size() - 1); + contents[contents.size() - 1] = 0; + const char *const begin = &*contents.begin(); + + // broadphase tokenizing pass in which we identify the core + // syntax elements of FBX (brackets, commas, key:value mappings) + TokenList tokens; + try { + + bool is_binary = false; + if (!strncmp(begin, "Kaydara FBX Binary", 18)) { + is_binary = true; + TokenizeBinary(tokens, begin, contents.size()); + } else { + Tokenize(tokens, begin); + } + + // use this information to construct a very rudimentary + // parse-tree representing the FBX scope structure + Parser parser(tokens, is_binary); + + // take the raw parse-tree and convert it to a FBX DOM + Document doc(parser, settings); + + // convert the FBX DOM to aiScene + ConvertToAssimpScene(pScene, doc, settings.removeEmptyBones); + + // size relative to cm + float size_relative_to_cm = doc.GlobalSettings().UnitScaleFactor(); + + // Set FBX file scale is relative to CM must be converted to M for + // assimp universal format (M) + SetFileScale(size_relative_to_cm * 0.01f); + + std::for_each(tokens.begin(), tokens.end(), Util::delete_fun<Token>()); + } catch (std::exception &) { + std::for_each(tokens.begin(), tokens.end(), Util::delete_fun<Token>()); + throw; + } } #endif // !ASSIMP_BUILD_NO_FBX_IMPORTER diff --git a/thirdparty/assimp/code/FBX/FBXMeshGeometry.cpp b/thirdparty/assimp/code/FBX/FBXMeshGeometry.cpp index 5c9a0e309d..1386e2383c 100644 --- a/thirdparty/assimp/code/FBX/FBXMeshGeometry.cpp +++ b/thirdparty/assimp/code/FBX/FBXMeshGeometry.cpp @@ -610,11 +610,11 @@ void MeshGeometry::ReadVertexDataMaterials(std::vector<int>& materials_out, cons const std::string& ReferenceInformationType) { const size_t face_count = m_faces.size(); - if(face_count <= 0) + if( 0 == face_count ) { return; } - + // materials are handled separately. First of all, they are assigned per-face // and not per polyvert. Secondly, ReferenceInformationType=IndexToDirect // has a slightly different meaning for materials. @@ -625,16 +625,14 @@ void MeshGeometry::ReadVertexDataMaterials(std::vector<int>& materials_out, cons if (materials_out.empty()) { FBXImporter::LogError(Formatter::format("expected material index, ignoring")); return; - } - else if (materials_out.size() > 1) { + } else if (materials_out.size() > 1) { FBXImporter::LogWarn(Formatter::format("expected only a single material index, ignoring all except the first one")); materials_out.clear(); } materials_out.resize(m_vertices.size()); std::fill(materials_out.begin(), materials_out.end(), materials_out.at(0)); - } - else if (MappingInformationType == "ByPolygon" && ReferenceInformationType == "IndexToDirect") { + } else if (MappingInformationType == "ByPolygon" && ReferenceInformationType == "IndexToDirect") { materials_out.resize(face_count); if(materials_out.size() != face_count) { @@ -643,18 +641,16 @@ void MeshGeometry::ReadVertexDataMaterials(std::vector<int>& materials_out, cons ); return; } - } - else { + } else { FBXImporter::LogError(Formatter::format("ignoring material assignments, access type not implemented: ") << MappingInformationType << "," << ReferenceInformationType); } } // ------------------------------------------------------------------------------------------------ ShapeGeometry::ShapeGeometry(uint64_t id, const Element& element, const std::string& name, const Document& doc) - : Geometry(id, element, name, doc) -{ - const Scope* sc = element.Compound(); - if (!sc) { +: Geometry(id, element, name, doc) { + const Scope *sc = element.Compound(); + if (nullptr == sc) { DOMError("failed to read Geometry object (class: Shape), no data scope found"); } const Element& Indexes = GetRequiredElement(*sc, "Indexes", &element); diff --git a/thirdparty/assimp/code/MMD/MMDCpp14.h b/thirdparty/assimp/code/MMD/MMDCpp14.h deleted file mode 100644 index 638b0bfd2f..0000000000 --- a/thirdparty/assimp/code/MMD/MMDCpp14.h +++ /dev/null @@ -1,83 +0,0 @@ -/* -Open Asset Import Library (assimp) ----------------------------------------------------------------------- - -Copyright (c) 2006-2019, assimp team - - -All rights reserved. - -Redistribution and use of this software in source and binary forms, -with or without modification, are permitted provided that the -following conditions are met: - -* Redistributions of source code must retain the above -copyright notice, this list of conditions and the -following disclaimer. - -* Redistributions in binary form must reproduce the above -copyright notice, this list of conditions and the -following disclaimer in the documentation and/or other -materials provided with the distribution. - -* Neither the name of the assimp team, nor the names of its -contributors may be used to endorse or promote products -derived from this software without specific prior -written permission of the assimp team. - -THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS -"AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT -LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR -A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT -OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, -SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT -LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, -DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY -THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT -(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE -OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. - ----------------------------------------------------------------------- -*/ -#pragma once - -#ifndef MMD_CPP14_H -#define MMD_CPP14_H - -#include <cstddef> -#include <memory> -#include <type_traits> -#include <utility> - -namespace mmd { - template<class T> struct _Unique_if { - typedef std::unique_ptr<T> _Single_object; - }; - - template<class T> struct _Unique_if<T[]> { - typedef std::unique_ptr<T[]> _Unknown_bound; - }; - - template<class T, size_t N> struct _Unique_if<T[N]> { - typedef void _Known_bound; - }; - - template<class T, class... Args> - typename _Unique_if<T>::_Single_object - make_unique(Args&&... args) { - return std::unique_ptr<T>(new T(std::forward<Args>(args)...)); - } - - template<class T> - typename _Unique_if<T>::_Unknown_bound - make_unique(size_t n) { - typedef typename std::remove_extent<T>::type U; - return std::unique_ptr<T>(new U[n]()); - } - - template<class T, class... Args> - typename _Unique_if<T>::_Known_bound - make_unique(Args&&...) = delete; -} - -#endif diff --git a/thirdparty/assimp/code/MMD/MMDImporter.cpp b/thirdparty/assimp/code/MMD/MMDImporter.cpp deleted file mode 100644 index e7744e4cd0..0000000000 --- a/thirdparty/assimp/code/MMD/MMDImporter.cpp +++ /dev/null @@ -1,372 +0,0 @@ -/* ---------------------------------------------------------------------------- -Open Asset Import Library (assimp) ---------------------------------------------------------------------------- - -Copyright (c) 2006-2016, assimp team - -All rights reserved. - -Redistribution and use of this software in source and binary forms, -with or without modification, are permitted provided that the following -conditions are met: - -* Redistributions of source code must retain the above - copyright notice, this list of conditions and the - following disclaimer. - -* Redistributions in binary form must reproduce the above - copyright notice, this list of conditions and the - following disclaimer in the documentation and/or other - materials provided with the distribution. - -* Neither the name of the assimp team, nor the names of its - contributors may be used to endorse or promote products - derived from this software without specific prior - written permission of the assimp team. - -THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS -"AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT -LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR -A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT -OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, -SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT -LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, -DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY -THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT -(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE -OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. ---------------------------------------------------------------------------- -*/ - -#ifndef ASSIMP_BUILD_NO_MMD_IMPORTER - -#include "MMD/MMDImporter.h" -#include "MMD/MMDPmdParser.h" -#include "MMD/MMDPmxParser.h" -#include "MMD/MMDVmdParser.h" -#include "PostProcessing/ConvertToLHProcess.h" - -#include <assimp/DefaultIOSystem.h> -#include <assimp/Importer.hpp> -#include <assimp/ai_assert.h> -#include <assimp/scene.h> - -#include <fstream> -#include <iomanip> -#include <memory> - -static const aiImporterDesc desc = {"MMD Importer", - "", - "", - "surfaces supported?", - aiImporterFlags_SupportTextFlavour, - 0, - 0, - 0, - 0, - "pmx"}; - -namespace Assimp { - -using namespace std; - -// ------------------------------------------------------------------------------------------------ -// Default constructor -MMDImporter::MMDImporter() -: m_Buffer() -, m_strAbsPath("") { - DefaultIOSystem io; - m_strAbsPath = io.getOsSeparator(); -} - -// ------------------------------------------------------------------------------------------------ -// Destructor. -MMDImporter::~MMDImporter() { - // empty -} - -// ------------------------------------------------------------------------------------------------ -// Returns true, if file is an pmx file. -bool MMDImporter::CanRead(const std::string &pFile, IOSystem *pIOHandler, - bool checkSig) const { - if (!checkSig) // Check File Extension - { - return SimpleExtensionCheck(pFile, "pmx"); - } else // Check file Header - { - static const char *pTokens[] = {"PMX "}; - return BaseImporter::SearchFileHeaderForToken(pIOHandler, pFile, pTokens, 1); - } -} - -// ------------------------------------------------------------------------------------------------ -const aiImporterDesc *MMDImporter::GetInfo() const { return &desc; } - -// ------------------------------------------------------------------------------------------------ -// MMD import implementation -void MMDImporter::InternReadFile(const std::string &file, aiScene *pScene, - IOSystem * /*pIOHandler*/) { - // Read file by istream - std::filebuf fb; - if (!fb.open(file, std::ios::in | std::ios::binary)) { - throw DeadlyImportError("Failed to open file " + file + "."); - } - - std::istream fileStream(&fb); - - // Get the file-size and validate it, throwing an exception when fails - fileStream.seekg(0, fileStream.end); - size_t fileSize = static_cast<size_t>(fileStream.tellg()); - fileStream.seekg(0, fileStream.beg); - - if (fileSize < sizeof(pmx::PmxModel)) { - throw DeadlyImportError(file + " is too small."); - } - - pmx::PmxModel model; - model.Read(&fileStream); - - CreateDataFromImport(&model, pScene); -} - -// ------------------------------------------------------------------------------------------------ -void MMDImporter::CreateDataFromImport(const pmx::PmxModel *pModel, - aiScene *pScene) { - if (pModel == NULL) { - return; - } - - aiNode *pNode = new aiNode; - if (!pModel->model_name.empty()) { - pNode->mName.Set(pModel->model_name); - } - - pScene->mRootNode = pNode; - - pNode = new aiNode; - pScene->mRootNode->addChildren(1, &pNode); - pNode->mName.Set(string(pModel->model_name) + string("_mesh")); - - // split mesh by materials - pNode->mNumMeshes = pModel->material_count; - pNode->mMeshes = new unsigned int[pNode->mNumMeshes]; - for (unsigned int index = 0; index < pNode->mNumMeshes; index++) { - pNode->mMeshes[index] = index; - } - - pScene->mNumMeshes = pModel->material_count; - pScene->mMeshes = new aiMesh *[pScene->mNumMeshes]; - for (unsigned int i = 0, indexStart = 0; i < pScene->mNumMeshes; i++) { - const int indexCount = pModel->materials[i].index_count; - - pScene->mMeshes[i] = CreateMesh(pModel, indexStart, indexCount); - pScene->mMeshes[i]->mName = pModel->materials[i].material_name; - pScene->mMeshes[i]->mMaterialIndex = i; - indexStart += indexCount; - } - - // create node hierarchy for bone position - std::unique_ptr<aiNode *[]> ppNode(new aiNode *[pModel->bone_count]); - for (auto i = 0; i < pModel->bone_count; i++) { - ppNode[i] = new aiNode(pModel->bones[i].bone_name); - } - - for (auto i = 0; i < pModel->bone_count; i++) { - const pmx::PmxBone &bone = pModel->bones[i]; - - if (bone.parent_index < 0) { - pScene->mRootNode->addChildren(1, ppNode.get() + i); - } else { - ppNode[bone.parent_index]->addChildren(1, ppNode.get() + i); - - aiVector3D v3 = aiVector3D( - bone.position[0] - pModel->bones[bone.parent_index].position[0], - bone.position[1] - pModel->bones[bone.parent_index].position[1], - bone.position[2] - pModel->bones[bone.parent_index].position[2]); - aiMatrix4x4::Translation(v3, ppNode[i]->mTransformation); - } - } - - // create materials - pScene->mNumMaterials = pModel->material_count; - pScene->mMaterials = new aiMaterial *[pScene->mNumMaterials]; - for (unsigned int i = 0; i < pScene->mNumMaterials; i++) { - pScene->mMaterials[i] = CreateMaterial(&pModel->materials[i], pModel); - } - - // Convert everything to OpenGL space - MakeLeftHandedProcess convertProcess; - convertProcess.Execute(pScene); - - FlipUVsProcess uvFlipper; - uvFlipper.Execute(pScene); - - FlipWindingOrderProcess windingFlipper; - windingFlipper.Execute(pScene); -} - -// ------------------------------------------------------------------------------------------------ -aiMesh *MMDImporter::CreateMesh(const pmx::PmxModel *pModel, - const int indexStart, const int indexCount) { - aiMesh *pMesh = new aiMesh; - - pMesh->mNumVertices = indexCount; - - pMesh->mNumFaces = indexCount / 3; - pMesh->mFaces = new aiFace[pMesh->mNumFaces]; - - const int numIndices = 3; // triangular face - for (unsigned int index = 0; index < pMesh->mNumFaces; index++) { - pMesh->mFaces[index].mNumIndices = numIndices; - unsigned int *indices = new unsigned int[numIndices]; - indices[0] = numIndices * index; - indices[1] = numIndices * index + 1; - indices[2] = numIndices * index + 2; - pMesh->mFaces[index].mIndices = indices; - } - - pMesh->mVertices = new aiVector3D[pMesh->mNumVertices]; - pMesh->mNormals = new aiVector3D[pMesh->mNumVertices]; - pMesh->mTextureCoords[0] = new aiVector3D[pMesh->mNumVertices]; - pMesh->mNumUVComponents[0] = 2; - - // additional UVs - for (int i = 1; i <= pModel->setting.uv; i++) { - pMesh->mTextureCoords[i] = new aiVector3D[pMesh->mNumVertices]; - pMesh->mNumUVComponents[i] = 4; - } - - map<int, vector<aiVertexWeight>> bone_vertex_map; - - // fill in contents and create bones - for (int index = 0; index < indexCount; index++) { - const pmx::PmxVertex *v = - &pModel->vertices[pModel->indices[indexStart + index]]; - const float *position = v->position; - pMesh->mVertices[index].Set(position[0], position[1], position[2]); - const float *normal = v->normal; - - pMesh->mNormals[index].Set(normal[0], normal[1], normal[2]); - pMesh->mTextureCoords[0][index].x = v->uv[0]; - pMesh->mTextureCoords[0][index].y = v->uv[1]; - - for (int i = 1; i <= pModel->setting.uv; i++) { - // TODO: wrong here? use quaternion transform? - pMesh->mTextureCoords[i][index].x = v->uva[i][0]; - pMesh->mTextureCoords[i][index].y = v->uva[i][1]; - } - - // handle bone map - const auto vsBDEF1_ptr = - dynamic_cast<pmx::PmxVertexSkinningBDEF1 *>(v->skinning.get()); - const auto vsBDEF2_ptr = - dynamic_cast<pmx::PmxVertexSkinningBDEF2 *>(v->skinning.get()); - const auto vsBDEF4_ptr = - dynamic_cast<pmx::PmxVertexSkinningBDEF4 *>(v->skinning.get()); - const auto vsSDEF_ptr = - dynamic_cast<pmx::PmxVertexSkinningSDEF *>(v->skinning.get()); - switch (v->skinning_type) { - case pmx::PmxVertexSkinningType::BDEF1: - bone_vertex_map[vsBDEF1_ptr->bone_index].push_back( - aiVertexWeight(index, 1.0)); - break; - case pmx::PmxVertexSkinningType::BDEF2: - bone_vertex_map[vsBDEF2_ptr->bone_index1].push_back( - aiVertexWeight(index, vsBDEF2_ptr->bone_weight)); - bone_vertex_map[vsBDEF2_ptr->bone_index2].push_back( - aiVertexWeight(index, 1.0f - vsBDEF2_ptr->bone_weight)); - break; - case pmx::PmxVertexSkinningType::BDEF4: - bone_vertex_map[vsBDEF4_ptr->bone_index1].push_back( - aiVertexWeight(index, vsBDEF4_ptr->bone_weight1)); - bone_vertex_map[vsBDEF4_ptr->bone_index2].push_back( - aiVertexWeight(index, vsBDEF4_ptr->bone_weight2)); - bone_vertex_map[vsBDEF4_ptr->bone_index3].push_back( - aiVertexWeight(index, vsBDEF4_ptr->bone_weight3)); - bone_vertex_map[vsBDEF4_ptr->bone_index4].push_back( - aiVertexWeight(index, vsBDEF4_ptr->bone_weight4)); - break; - case pmx::PmxVertexSkinningType::SDEF: // TODO: how to use sdef_c, sdef_r0, - // sdef_r1? - bone_vertex_map[vsSDEF_ptr->bone_index1].push_back( - aiVertexWeight(index, vsSDEF_ptr->bone_weight)); - bone_vertex_map[vsSDEF_ptr->bone_index2].push_back( - aiVertexWeight(index, 1.0f - vsSDEF_ptr->bone_weight)); - break; - case pmx::PmxVertexSkinningType::QDEF: - const auto vsQDEF_ptr = - dynamic_cast<pmx::PmxVertexSkinningQDEF *>(v->skinning.get()); - bone_vertex_map[vsQDEF_ptr->bone_index1].push_back( - aiVertexWeight(index, vsQDEF_ptr->bone_weight1)); - bone_vertex_map[vsQDEF_ptr->bone_index2].push_back( - aiVertexWeight(index, vsQDEF_ptr->bone_weight2)); - bone_vertex_map[vsQDEF_ptr->bone_index3].push_back( - aiVertexWeight(index, vsQDEF_ptr->bone_weight3)); - bone_vertex_map[vsQDEF_ptr->bone_index4].push_back( - aiVertexWeight(index, vsQDEF_ptr->bone_weight4)); - break; - } - } - - // make all bones for each mesh - // assign bone weights to skinned bones (otherwise just initialize) - auto bone_ptr_ptr = new aiBone *[pModel->bone_count]; - pMesh->mNumBones = pModel->bone_count; - pMesh->mBones = bone_ptr_ptr; - for (auto ii = 0; ii < pModel->bone_count; ++ii) { - auto pBone = new aiBone; - const auto &pmxBone = pModel->bones[ii]; - pBone->mName = pmxBone.bone_name; - aiVector3D pos(pmxBone.position[0], pmxBone.position[1], pmxBone.position[2]); - aiMatrix4x4::Translation(-pos, pBone->mOffsetMatrix); - auto it = bone_vertex_map.find(ii); - if (it != bone_vertex_map.end()) { - pBone->mNumWeights = static_cast<unsigned int>(it->second.size()); - pBone->mWeights = new aiVertexWeight[pBone->mNumWeights]; - for (unsigned int j = 0; j < pBone->mNumWeights; j++) { - pBone->mWeights[j] = it->second[j]; - } - } - bone_ptr_ptr[ii] = pBone; - } - - return pMesh; -} - -// ------------------------------------------------------------------------------------------------ -aiMaterial *MMDImporter::CreateMaterial(const pmx::PmxMaterial *pMat, - const pmx::PmxModel *pModel) { - aiMaterial *mat = new aiMaterial(); - aiString name(pMat->material_english_name); - mat->AddProperty(&name, AI_MATKEY_NAME); - - aiColor3D diffuse(pMat->diffuse[0], pMat->diffuse[1], pMat->diffuse[2]); - mat->AddProperty(&diffuse, 1, AI_MATKEY_COLOR_DIFFUSE); - aiColor3D specular(pMat->specular[0], pMat->specular[1], pMat->specular[2]); - mat->AddProperty(&specular, 1, AI_MATKEY_COLOR_SPECULAR); - aiColor3D ambient(pMat->ambient[0], pMat->ambient[1], pMat->ambient[2]); - mat->AddProperty(&ambient, 1, AI_MATKEY_COLOR_AMBIENT); - - float opacity = pMat->diffuse[3]; - mat->AddProperty(&opacity, 1, AI_MATKEY_OPACITY); - float shininess = pMat->specularlity; - mat->AddProperty(&shininess, 1, AI_MATKEY_SHININESS_STRENGTH); - - if(pMat->diffuse_texture_index >= 0) { - aiString texture_path(pModel->textures[pMat->diffuse_texture_index]); - mat->AddProperty(&texture_path, AI_MATKEY_TEXTURE(aiTextureType_DIFFUSE, 0)); - } - - int mapping_uvwsrc = 0; - mat->AddProperty(&mapping_uvwsrc, 1, - AI_MATKEY_UVWSRC(aiTextureType_DIFFUSE, 0)); - - return mat; -} - -// ------------------------------------------------------------------------------------------------ - -} // Namespace Assimp - -#endif // !! ASSIMP_BUILD_NO_MMD_IMPORTER diff --git a/thirdparty/assimp/code/MMD/MMDImporter.h b/thirdparty/assimp/code/MMD/MMDImporter.h deleted file mode 100644 index 4ee94eeb00..0000000000 --- a/thirdparty/assimp/code/MMD/MMDImporter.h +++ /dev/null @@ -1,96 +0,0 @@ -/* -Open Asset Import Library (assimp) ----------------------------------------------------------------------- - -Copyright (c) 2006-2016, assimp team -All rights reserved. - -Redistribution and use of this software in source and binary forms, -with or without modification, are permitted provided that the -following conditions are met: - -* Redistributions of source code must retain the above - copyright notice, this list of conditions and the - following disclaimer. - -* Redistributions in binary form must reproduce the above - copyright notice, this list of conditions and the - following disclaimer in the documentation and/or other - materials provided with the distribution. - -* Neither the name of the assimp team, nor the names of its - contributors may be used to endorse or promote products - derived from this software without specific prior - written permission of the assimp team. - -THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS -"AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT -LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR -A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT -OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, -SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT -LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, -DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY -THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT -(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE -OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. - ----------------------------------------------------------------------- -*/ -#ifndef MMD_FILE_IMPORTER_H_INC -#define MMD_FILE_IMPORTER_H_INC - -#include <assimp/BaseImporter.h> -#include "MMDPmxParser.h" -#include <assimp/material.h> -#include <vector> - -struct aiMesh; - -namespace Assimp { - -// ------------------------------------------------------------------------------------------------ -/// \class MMDImporter -/// \brief Imports MMD a pmx/pmd/vmd file -// ------------------------------------------------------------------------------------------------ -class MMDImporter : public BaseImporter { -public: - /// \brief Default constructor - MMDImporter(); - - /// \brief Destructor - ~MMDImporter(); - -public: - /// \brief Returns whether the class can handle the format of the given file. - /// \remark See BaseImporter::CanRead() for details. - bool CanRead( const std::string& pFile, IOSystem* pIOHandler, bool checkSig) const; - -private: - //! \brief Appends the supported extension. - const aiImporterDesc* GetInfo () const; - - //! \brief File import implementation. - void InternReadFile(const std::string& pFile, aiScene* pScene, IOSystem* pIOHandler); - - //! \brief Create the data from imported content. - void CreateDataFromImport(const pmx::PmxModel* pModel, aiScene* pScene); - - //! \brief Create the mesh - aiMesh* CreateMesh(const pmx::PmxModel* pModel, const int indexStart, const int indexCount); - - //! \brief Create the material - aiMaterial* CreateMaterial(const pmx::PmxMaterial* pMat, const pmx::PmxModel* pModel); - -private: - //! Data buffer - std::vector<char> m_Buffer; - //! Absolute pathname of model in file system - std::string m_strAbsPath; -}; - -// ------------------------------------------------------------------------------------------------ - -} // Namespace Assimp - -#endif
\ No newline at end of file diff --git a/thirdparty/assimp/code/MMD/MMDPmdParser.h b/thirdparty/assimp/code/MMD/MMDPmdParser.h deleted file mode 100644 index d2f2224aa1..0000000000 --- a/thirdparty/assimp/code/MMD/MMDPmdParser.h +++ /dev/null @@ -1,597 +0,0 @@ -/* -Open Asset Import Library (assimp) ----------------------------------------------------------------------- - -Copyright (c) 2006-2019, assimp team - - -All rights reserved. - -Redistribution and use of this software in source and binary forms, -with or without modification, are permitted provided that the -following conditions are met: - -* Redistributions of source code must retain the above -copyright notice, this list of conditions and the -following disclaimer. - -* Redistributions in binary form must reproduce the above -copyright notice, this list of conditions and the -following disclaimer in the documentation and/or other -materials provided with the distribution. - -* Neither the name of the assimp team, nor the names of its -contributors may be used to endorse or promote products -derived from this software without specific prior -written permission of the assimp team. - -THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS -"AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT -LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR -A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT -OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, -SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT -LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, -DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY -THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT -(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE -OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. - ----------------------------------------------------------------------- -*/ -#pragma once - -#include <vector> -#include <string> -#include <memory> -#include <iostream> -#include <fstream> -#include "MMDCpp14.h" - -namespace pmd -{ - class PmdHeader - { - public: - std::string name; - std::string name_english; - std::string comment; - std::string comment_english; - - bool Read(std::ifstream* stream) - { - char buffer[256]; - stream->read(buffer, 20); - name = std::string(buffer); - stream->read(buffer, 256); - comment = std::string(buffer); - return true; - } - - bool ReadExtension(std::ifstream* stream) - { - char buffer[256]; - stream->read(buffer, 20); - name_english = std::string(buffer); - stream->read(buffer, 256); - comment_english = std::string(buffer); - return true; - } - }; - - class PmdVertex - { - public: - float position[3]; - - float normal[3]; - - float uv[2]; - - uint16_t bone_index[2]; - - uint8_t bone_weight; - - bool edge_invisible; - - bool Read(std::ifstream* stream) - { - stream->read((char*) position, sizeof(float) * 3); - stream->read((char*) normal, sizeof(float) * 3); - stream->read((char*) uv, sizeof(float) * 2); - stream->read((char*) bone_index, sizeof(uint16_t) * 2); - stream->read((char*) &bone_weight, sizeof(uint8_t)); - stream->read((char*) &edge_invisible, sizeof(uint8_t)); - return true; - } - }; - - class PmdMaterial - { - public: - float diffuse[4]; - float power; - float specular[3]; - float ambient[3]; - uint8_t toon_index; - uint8_t edge_flag; - uint32_t index_count; - std::string texture_filename; - std::string sphere_filename; - - bool Read(std::ifstream* stream) - { - char buffer[20]; - stream->read((char*) &diffuse, sizeof(float) * 4); - stream->read((char*) &power, sizeof(float)); - stream->read((char*) &specular, sizeof(float) * 3); - stream->read((char*) &ambient, sizeof(float) * 3); - stream->read((char*) &toon_index, sizeof(uint8_t)); - stream->read((char*) &edge_flag, sizeof(uint8_t)); - stream->read((char*) &index_count, sizeof(uint32_t)); - stream->read((char*) &buffer, sizeof(char) * 20); - char* pstar = strchr(buffer, '*'); - if (NULL == pstar) - { - texture_filename = std::string(buffer); - sphere_filename.clear(); - } - else { - *pstar = 0; - texture_filename = std::string(buffer); - sphere_filename = std::string(pstar+1); - } - return true; - } - }; - - enum class BoneType : uint8_t - { - Rotation, - RotationAndMove, - IkEffector, - Unknown, - IkEffectable, - RotationEffectable, - IkTarget, - Invisible, - Twist, - RotationMovement - }; - - class PmdBone - { - public: - std::string name; - std::string name_english; - uint16_t parent_bone_index; - uint16_t tail_pos_bone_index; - BoneType bone_type; - uint16_t ik_parent_bone_index; - float bone_head_pos[3]; - - void Read(std::istream *stream) - { - char buffer[20]; - stream->read(buffer, 20); - name = std::string(buffer); - stream->read((char*) &parent_bone_index, sizeof(uint16_t)); - stream->read((char*) &tail_pos_bone_index, sizeof(uint16_t)); - stream->read((char*) &bone_type, sizeof(uint8_t)); - stream->read((char*) &ik_parent_bone_index, sizeof(uint16_t)); - stream->read((char*) &bone_head_pos, sizeof(float) * 3); - } - - void ReadExpantion(std::istream *stream) - { - char buffer[20]; - stream->read(buffer, 20); - name_english = std::string(buffer); - } - }; - - class PmdIk - { - public: - uint16_t ik_bone_index; - uint16_t target_bone_index; - uint16_t interations; - float angle_limit; - std::vector<uint16_t> ik_child_bone_index; - - void Read(std::istream *stream) - { - stream->read((char *) &ik_bone_index, sizeof(uint16_t)); - stream->read((char *) &target_bone_index, sizeof(uint16_t)); - uint8_t ik_chain_length; - stream->read((char*) &ik_chain_length, sizeof(uint8_t)); - stream->read((char *) &interations, sizeof(uint16_t)); - stream->read((char *) &angle_limit, sizeof(float)); - ik_child_bone_index.resize(ik_chain_length); - for (int i = 0; i < ik_chain_length; i++) - { - stream->read((char *) &ik_child_bone_index[i], sizeof(uint16_t)); - } - } - }; - - class PmdFaceVertex - { - public: - int vertex_index; - float position[3]; - - void Read(std::istream *stream) - { - stream->read((char *) &vertex_index, sizeof(int)); - stream->read((char *) position, sizeof(float) * 3); - } - }; - - enum class FaceCategory : uint8_t - { - Base, - Eyebrow, - Eye, - Mouth, - Other - }; - - class PmdFace - { - public: - std::string name; - FaceCategory type; - std::vector<PmdFaceVertex> vertices; - std::string name_english; - - void Read(std::istream *stream) - { - char buffer[20]; - stream->read(buffer, 20); - name = std::string(buffer); - int vertex_count; - stream->read((char*) &vertex_count, sizeof(int)); - stream->read((char*) &type, sizeof(uint8_t)); - vertices.resize(vertex_count); - for (int i = 0; i < vertex_count; i++) - { - vertices[i].Read(stream); - } - } - - void ReadExpantion(std::istream *stream) - { - char buffer[20]; - stream->read(buffer, 20); - name_english = std::string(buffer); - } - }; - - class PmdBoneDispName - { - public: - std::string bone_disp_name; - std::string bone_disp_name_english; - - void Read(std::istream *stream) - { - char buffer[50]; - stream->read(buffer, 50); - bone_disp_name = std::string(buffer); - bone_disp_name_english.clear(); - } - void ReadExpantion(std::istream *stream) - { - char buffer[50]; - stream->read(buffer, 50); - bone_disp_name_english = std::string(buffer); - } - }; - - class PmdBoneDisp - { - public: - uint16_t bone_index; - uint8_t bone_disp_index; - - void Read(std::istream *stream) - { - stream->read((char*) &bone_index, sizeof(uint16_t)); - stream->read((char*) &bone_disp_index, sizeof(uint8_t)); - } - }; - - enum class RigidBodyShape : uint8_t - { - Sphere = 0, - Box = 1, - Cpusel = 2 - }; - - enum class RigidBodyType : uint8_t - { - BoneConnected = 0, - Physics = 1, - ConnectedPhysics = 2 - }; - - class PmdRigidBody - { - public: - std::string name; - uint16_t related_bone_index; - uint8_t group_index; - uint16_t mask; - RigidBodyShape shape; - float size[3]; - float position[3]; - float orientation[3]; - float weight; - float linear_damping; - float anglar_damping; - float restitution; - float friction; - RigidBodyType rigid_type; - - void Read(std::istream *stream) - { - char buffer[20]; - stream->read(buffer, sizeof(char) * 20); - name = (std::string(buffer)); - stream->read((char*) &related_bone_index, sizeof(uint16_t)); - stream->read((char*) &group_index, sizeof(uint8_t)); - stream->read((char*) &mask, sizeof(uint16_t)); - stream->read((char*) &shape, sizeof(uint8_t)); - stream->read((char*) size, sizeof(float) * 3); - stream->read((char*) position, sizeof(float) * 3); - stream->read((char*) orientation, sizeof(float) * 3); - stream->read((char*) &weight, sizeof(float)); - stream->read((char*) &linear_damping, sizeof(float)); - stream->read((char*) &anglar_damping, sizeof(float)); - stream->read((char*) &restitution, sizeof(float)); - stream->read((char*) &friction, sizeof(float)); - stream->read((char*) &rigid_type, sizeof(char)); - } - }; - - class PmdConstraint - { - public: - std::string name; - uint32_t rigid_body_index_a; - uint32_t rigid_body_index_b; - float position[3]; - float orientation[3]; - float linear_lower_limit[3]; - float linear_upper_limit[3]; - float angular_lower_limit[3]; - float angular_upper_limit[3]; - float linear_stiffness[3]; - float angular_stiffness[3]; - - void Read(std::istream *stream) - { - char buffer[20]; - stream->read(buffer, 20); - name = std::string(buffer); - stream->read((char *) &rigid_body_index_a, sizeof(uint32_t)); - stream->read((char *) &rigid_body_index_b, sizeof(uint32_t)); - stream->read((char *) position, sizeof(float) * 3); - stream->read((char *) orientation, sizeof(float) * 3); - stream->read((char *) linear_lower_limit, sizeof(float) * 3); - stream->read((char *) linear_upper_limit, sizeof(float) * 3); - stream->read((char *) angular_lower_limit, sizeof(float) * 3); - stream->read((char *) angular_upper_limit, sizeof(float) * 3); - stream->read((char *) linear_stiffness, sizeof(float) * 3); - stream->read((char *) angular_stiffness, sizeof(float) * 3); - } - }; - - class PmdModel - { - public: - float version; - PmdHeader header; - std::vector<PmdVertex> vertices; - std::vector<uint16_t> indices; - std::vector<PmdMaterial> materials; - std::vector<PmdBone> bones; - std::vector<PmdIk> iks; - std::vector<PmdFace> faces; - std::vector<uint16_t> faces_indices; - std::vector<PmdBoneDispName> bone_disp_name; - std::vector<PmdBoneDisp> bone_disp; - std::vector<std::string> toon_filenames; - std::vector<PmdRigidBody> rigid_bodies; - std::vector<PmdConstraint> constraints; - - static std::unique_ptr<PmdModel> LoadFromFile(const char *filename) - { - std::ifstream stream(filename, std::ios::binary); - if (stream.fail()) - { - std::cerr << "could not open \"" << filename << "\"" << std::endl; - return nullptr; - } - auto result = LoadFromStream(&stream); - stream.close(); - return result; - } - - static std::unique_ptr<PmdModel> LoadFromStream(std::ifstream *stream) - { - auto result = mmd::make_unique<PmdModel>(); - char buffer[100]; - - // magic - char magic[3]; - stream->read(magic, 3); - if (magic[0] != 'P' || magic[1] != 'm' || magic[2] != 'd') - { - std::cerr << "invalid file" << std::endl; - return nullptr; - } - - // version - stream->read((char*) &(result->version), sizeof(float)); - if (result ->version != 1.0f) - { - std::cerr << "invalid version" << std::endl; - return nullptr; - } - - // header - result->header.Read(stream); - - // vertices - uint32_t vertex_num; - stream->read((char*) &vertex_num, sizeof(uint32_t)); - result->vertices.resize(vertex_num); - for (uint32_t i = 0; i < vertex_num; i++) - { - result->vertices[i].Read(stream); - } - - // indices - uint32_t index_num; - stream->read((char*) &index_num, sizeof(uint32_t)); - result->indices.resize(index_num); - for (uint32_t i = 0; i < index_num; i++) - { - stream->read((char*) &result->indices[i], sizeof(uint16_t)); - } - - // materials - uint32_t material_num; - stream->read((char*) &material_num, sizeof(uint32_t)); - result->materials.resize(material_num); - for (uint32_t i = 0; i < material_num; i++) - { - result->materials[i].Read(stream); - } - - // bones - uint16_t bone_num; - stream->read((char*) &bone_num, sizeof(uint16_t)); - result->bones.resize(bone_num); - for (uint32_t i = 0; i < bone_num; i++) - { - result->bones[i].Read(stream); - } - - // iks - uint16_t ik_num; - stream->read((char*) &ik_num, sizeof(uint16_t)); - result->iks.resize(ik_num); - for (uint32_t i = 0; i < ik_num; i++) - { - result->iks[i].Read(stream); - } - - // faces - uint16_t face_num; - stream->read((char*) &face_num, sizeof(uint16_t)); - result->faces.resize(face_num); - for (uint32_t i = 0; i < face_num; i++) - { - result->faces[i].Read(stream); - } - - // face frames - uint8_t face_frame_num; - stream->read((char*) &face_frame_num, sizeof(uint8_t)); - result->faces_indices.resize(face_frame_num); - for (uint32_t i = 0; i < face_frame_num; i++) - { - stream->read((char*) &result->faces_indices[i], sizeof(uint16_t)); - } - - // bone names - uint8_t bone_disp_num; - stream->read((char*) &bone_disp_num, sizeof(uint8_t)); - result->bone_disp_name.resize(bone_disp_num); - for (uint32_t i = 0; i < bone_disp_num; i++) - { - result->bone_disp_name[i].Read(stream); - } - - // bone frame - uint32_t bone_frame_num; - stream->read((char*) &bone_frame_num, sizeof(uint32_t)); - result->bone_disp.resize(bone_frame_num); - for (uint32_t i = 0; i < bone_frame_num; i++) - { - result->bone_disp[i].Read(stream); - } - - // english name - bool english; - stream->read((char*) &english, sizeof(char)); - if (english) - { - result->header.ReadExtension(stream); - for (uint32_t i = 0; i < bone_num; i++) - { - result->bones[i].ReadExpantion(stream); - } - for (uint32_t i = 0; i < face_num; i++) - { - if (result->faces[i].type == pmd::FaceCategory::Base) - { - continue; - } - result->faces[i].ReadExpantion(stream); - } - for (uint32_t i = 0; i < result->bone_disp_name.size(); i++) - { - result->bone_disp_name[i].ReadExpantion(stream); - } - } - - // toon textures - if (stream->peek() == std::ios::traits_type::eof()) - { - result->toon_filenames.clear(); - } - else { - result->toon_filenames.resize(10); - for (uint32_t i = 0; i < 10; i++) - { - stream->read(buffer, 100); - result->toon_filenames[i] = std::string(buffer); - } - } - - // physics - if (stream->peek() == std::ios::traits_type::eof()) - { - result->rigid_bodies.clear(); - result->constraints.clear(); - } - else { - uint32_t rigid_body_num; - stream->read((char*) &rigid_body_num, sizeof(uint32_t)); - result->rigid_bodies.resize(rigid_body_num); - for (uint32_t i = 0; i < rigid_body_num; i++) - { - result->rigid_bodies[i].Read(stream); - } - uint32_t constraint_num; - stream->read((char*) &constraint_num, sizeof(uint32_t)); - result->constraints.resize(constraint_num); - for (uint32_t i = 0; i < constraint_num; i++) - { - result->constraints[i].Read(stream); - } - } - - if (stream->peek() != std::ios::traits_type::eof()) - { - std::cerr << "there is unknown data" << std::endl; - } - - return result; - } - }; -} diff --git a/thirdparty/assimp/code/MMD/MMDPmxParser.cpp b/thirdparty/assimp/code/MMD/MMDPmxParser.cpp deleted file mode 100644 index 80f0986dd7..0000000000 --- a/thirdparty/assimp/code/MMD/MMDPmxParser.cpp +++ /dev/null @@ -1,608 +0,0 @@ -/* -Open Asset Import Library (assimp) ----------------------------------------------------------------------- - -Copyright (c) 2006-2019, assimp team - - -All rights reserved. - -Redistribution and use of this software in source and binary forms, -with or without modification, are permitted provided that the -following conditions are met: - -* Redistributions of source code must retain the above -copyright notice, this list of conditions and the -following disclaimer. - -* Redistributions in binary form must reproduce the above -copyright notice, this list of conditions and the -following disclaimer in the documentation and/or other -materials provided with the distribution. - -* Neither the name of the assimp team, nor the names of its -contributors may be used to endorse or promote products -derived from this software without specific prior -written permission of the assimp team. - -THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS -"AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT -LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR -A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT -OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, -SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT -LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, -DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY -THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT -(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE -OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. - ----------------------------------------------------------------------- -*/ -#include <utility> -#include "MMDPmxParser.h" -#include <assimp/StringUtils.h> -#ifdef ASSIMP_USE_HUNTER -# include <utf8/utf8.h> -#else -# include "../contrib/utf8cpp/source/utf8.h" -#endif -#include <assimp/Exceptional.h> - -namespace pmx -{ - int ReadIndex(std::istream *stream, int size) - { - switch (size) - { - case 1: - uint8_t tmp8; - stream->read((char*) &tmp8, sizeof(uint8_t)); - if (255 == tmp8) - { - return -1; - } - else { - return (int) tmp8; - } - case 2: - uint16_t tmp16; - stream->read((char*) &tmp16, sizeof(uint16_t)); - if (65535 == tmp16) - { - return -1; - } - else { - return (int) tmp16; - } - case 4: - int tmp32; - stream->read((char*) &tmp32, sizeof(int)); - return tmp32; - default: - return -1; - } - } - - std::string ReadString(std::istream *stream, uint8_t encoding) - { - int size; - stream->read((char*) &size, sizeof(int)); - std::vector<char> buffer; - if (size == 0) - { - return std::string(""); - } - buffer.reserve(size); - stream->read((char*) buffer.data(), size); - if (encoding == 0) - { - // UTF16 to UTF8 - const uint16_t* sourceStart = (uint16_t*)buffer.data(); - const unsigned int targetSize = size * 3; // enough to encode - char *targetStart = new char[targetSize]; - std::memset(targetStart, 0, targetSize * sizeof(char)); - - utf8::utf16to8( sourceStart, sourceStart + size/2, targetStart ); - - std::string result(targetStart); - delete [] targetStart; - return result; - } - else - { - // the name is already UTF8 - return std::string((const char*)buffer.data(), size); - } - } - - void PmxSetting::Read(std::istream *stream) - { - uint8_t count; - stream->read((char*) &count, sizeof(uint8_t)); - if (count < 8) - { - throw DeadlyImportError("MMD: invalid size"); - } - stream->read((char*) &encoding, sizeof(uint8_t)); - stream->read((char*) &uv, sizeof(uint8_t)); - stream->read((char*) &vertex_index_size, sizeof(uint8_t)); - stream->read((char*) &texture_index_size, sizeof(uint8_t)); - stream->read((char*) &material_index_size, sizeof(uint8_t)); - stream->read((char*) &bone_index_size, sizeof(uint8_t)); - stream->read((char*) &morph_index_size, sizeof(uint8_t)); - stream->read((char*) &rigidbody_index_size, sizeof(uint8_t)); - uint8_t temp; - for (int i = 8; i < count; i++) - { - stream->read((char*)&temp, sizeof(uint8_t)); - } - } - - void PmxVertexSkinningBDEF1::Read(std::istream *stream, PmxSetting *setting) - { - this->bone_index = ReadIndex(stream, setting->bone_index_size); - } - - void PmxVertexSkinningBDEF2::Read(std::istream *stream, PmxSetting *setting) - { - this->bone_index1 = ReadIndex(stream, setting->bone_index_size); - this->bone_index2 = ReadIndex(stream, setting->bone_index_size); - stream->read((char*) &this->bone_weight, sizeof(float)); - } - - void PmxVertexSkinningBDEF4::Read(std::istream *stream, PmxSetting *setting) - { - this->bone_index1 = ReadIndex(stream, setting->bone_index_size); - this->bone_index2 = ReadIndex(stream, setting->bone_index_size); - this->bone_index3 = ReadIndex(stream, setting->bone_index_size); - this->bone_index4 = ReadIndex(stream, setting->bone_index_size); - stream->read((char*) &this->bone_weight1, sizeof(float)); - stream->read((char*) &this->bone_weight2, sizeof(float)); - stream->read((char*) &this->bone_weight3, sizeof(float)); - stream->read((char*) &this->bone_weight4, sizeof(float)); - } - - void PmxVertexSkinningSDEF::Read(std::istream *stream, PmxSetting *setting) - { - this->bone_index1 = ReadIndex(stream, setting->bone_index_size); - this->bone_index2 = ReadIndex(stream, setting->bone_index_size); - stream->read((char*) &this->bone_weight, sizeof(float)); - stream->read((char*) this->sdef_c, sizeof(float) * 3); - stream->read((char*) this->sdef_r0, sizeof(float) * 3); - stream->read((char*) this->sdef_r1, sizeof(float) * 3); - } - - void PmxVertexSkinningQDEF::Read(std::istream *stream, PmxSetting *setting) - { - this->bone_index1 = ReadIndex(stream, setting->bone_index_size); - this->bone_index2 = ReadIndex(stream, setting->bone_index_size); - this->bone_index3 = ReadIndex(stream, setting->bone_index_size); - this->bone_index4 = ReadIndex(stream, setting->bone_index_size); - stream->read((char*) &this->bone_weight1, sizeof(float)); - stream->read((char*) &this->bone_weight2, sizeof(float)); - stream->read((char*) &this->bone_weight3, sizeof(float)); - stream->read((char*) &this->bone_weight4, sizeof(float)); - } - - void PmxVertex::Read(std::istream *stream, PmxSetting *setting) - { - stream->read((char*) this->position, sizeof(float) * 3); - stream->read((char*) this->normal, sizeof(float) * 3); - stream->read((char*) this->uv, sizeof(float) * 2); - for (int i = 0; i < setting->uv; ++i) - { - stream->read((char*) this->uva[i], sizeof(float) * 4); - } - stream->read((char*) &this->skinning_type, sizeof(PmxVertexSkinningType)); - switch (this->skinning_type) - { - case PmxVertexSkinningType::BDEF1: - this->skinning = mmd::make_unique<PmxVertexSkinningBDEF1>(); - break; - case PmxVertexSkinningType::BDEF2: - this->skinning = mmd::make_unique<PmxVertexSkinningBDEF2>(); - break; - case PmxVertexSkinningType::BDEF4: - this->skinning = mmd::make_unique<PmxVertexSkinningBDEF4>(); - break; - case PmxVertexSkinningType::SDEF: - this->skinning = mmd::make_unique<PmxVertexSkinningSDEF>(); - break; - case PmxVertexSkinningType::QDEF: - this->skinning = mmd::make_unique<PmxVertexSkinningQDEF>(); - break; - default: - throw "invalid skinning type"; - } - this->skinning->Read(stream, setting); - stream->read((char*) &this->edge, sizeof(float)); - } - - void PmxMaterial::Read(std::istream *stream, PmxSetting *setting) - { - this->material_name = ReadString(stream, setting->encoding); - this->material_english_name = ReadString(stream, setting->encoding); - stream->read((char*) this->diffuse, sizeof(float) * 4); - stream->read((char*) this->specular, sizeof(float) * 3); - stream->read((char*) &this->specularlity, sizeof(float)); - stream->read((char*) this->ambient, sizeof(float) * 3); - stream->read((char*) &this->flag, sizeof(uint8_t)); - stream->read((char*) this->edge_color, sizeof(float) * 4); - stream->read((char*) &this->edge_size, sizeof(float)); - this->diffuse_texture_index = ReadIndex(stream, setting->texture_index_size); - this->sphere_texture_index = ReadIndex(stream, setting->texture_index_size); - stream->read((char*) &this->sphere_op_mode, sizeof(uint8_t)); - stream->read((char*) &this->common_toon_flag, sizeof(uint8_t)); - if (this->common_toon_flag) - { - stream->read((char*) &this->toon_texture_index, sizeof(uint8_t)); - } - else { - this->toon_texture_index = ReadIndex(stream, setting->texture_index_size); - } - this->memo = ReadString(stream, setting->encoding); - stream->read((char*) &this->index_count, sizeof(int)); - } - - void PmxIkLink::Read(std::istream *stream, PmxSetting *setting) - { - this->link_target = ReadIndex(stream, setting->bone_index_size); - stream->read((char*) &this->angle_lock, sizeof(uint8_t)); - if (angle_lock == 1) - { - stream->read((char*) this->max_radian, sizeof(float) * 3); - stream->read((char*) this->min_radian, sizeof(float) * 3); - } - } - - void PmxBone::Read(std::istream *stream, PmxSetting *setting) - { - this->bone_name = ReadString(stream, setting->encoding); - this->bone_english_name = ReadString(stream, setting->encoding); - stream->read((char*) this->position, sizeof(float) * 3); - this->parent_index = ReadIndex(stream, setting->bone_index_size); - stream->read((char*) &this->level, sizeof(int)); - stream->read((char*) &this->bone_flag, sizeof(uint16_t)); - if (this->bone_flag & 0x0001) { - this->target_index = ReadIndex(stream, setting->bone_index_size); - } - else { - stream->read((char*)this->offset, sizeof(float) * 3); - } - if (this->bone_flag & (0x0100 | 0x0200)) { - this->grant_parent_index = ReadIndex(stream, setting->bone_index_size); - stream->read((char*) &this->grant_weight, sizeof(float)); - } - if (this->bone_flag & 0x0400) { - stream->read((char*)this->lock_axis_orientation, sizeof(float) * 3); - } - if (this->bone_flag & 0x0800) { - stream->read((char*)this->local_axis_x_orientation, sizeof(float) * 3); - stream->read((char*)this->local_axis_y_orientation, sizeof(float) * 3); - } - if (this->bone_flag & 0x2000) { - stream->read((char*) &this->key, sizeof(int)); - } - if (this->bone_flag & 0x0020) { - this->ik_target_bone_index = ReadIndex(stream, setting->bone_index_size); - stream->read((char*) &ik_loop, sizeof(int)); - stream->read((char*) &ik_loop_angle_limit, sizeof(float)); - stream->read((char*) &ik_link_count, sizeof(int)); - this->ik_links = mmd::make_unique<PmxIkLink []>(ik_link_count); - for (int i = 0; i < ik_link_count; i++) { - ik_links[i].Read(stream, setting); - } - } - } - - void PmxMorphVertexOffset::Read(std::istream *stream, PmxSetting *setting) - { - this->vertex_index = ReadIndex(stream, setting->vertex_index_size); - stream->read((char*)this->position_offset, sizeof(float) * 3); - } - - void PmxMorphUVOffset::Read(std::istream *stream, PmxSetting *setting) - { - this->vertex_index = ReadIndex(stream, setting->vertex_index_size); - stream->read((char*)this->uv_offset, sizeof(float) * 4); - } - - void PmxMorphBoneOffset::Read(std::istream *stream, PmxSetting *setting) - { - this->bone_index = ReadIndex(stream, setting->bone_index_size); - stream->read((char*)this->translation, sizeof(float) * 3); - stream->read((char*)this->rotation, sizeof(float) * 4); - } - - void PmxMorphMaterialOffset::Read(std::istream *stream, PmxSetting *setting) - { - this->material_index = ReadIndex(stream, setting->material_index_size); - stream->read((char*) &this->offset_operation, sizeof(uint8_t)); - stream->read((char*)this->diffuse, sizeof(float) * 4); - stream->read((char*)this->specular, sizeof(float) * 3); - stream->read((char*) &this->specularity, sizeof(float)); - stream->read((char*)this->ambient, sizeof(float) * 3); - stream->read((char*)this->edge_color, sizeof(float) * 4); - stream->read((char*) &this->edge_size, sizeof(float)); - stream->read((char*)this->texture_argb, sizeof(float) * 4); - stream->read((char*)this->sphere_texture_argb, sizeof(float) * 4); - stream->read((char*)this->toon_texture_argb, sizeof(float) * 4); - } - - void PmxMorphGroupOffset::Read(std::istream *stream, PmxSetting *setting) - { - this->morph_index = ReadIndex(stream, setting->morph_index_size); - stream->read((char*) &this->morph_weight, sizeof(float)); - } - - void PmxMorphFlipOffset::Read(std::istream *stream, PmxSetting *setting) - { - this->morph_index = ReadIndex(stream, setting->morph_index_size); - stream->read((char*) &this->morph_value, sizeof(float)); - } - - void PmxMorphImplusOffset::Read(std::istream *stream, PmxSetting *setting) - { - this->rigid_body_index = ReadIndex(stream, setting->rigidbody_index_size); - stream->read((char*) &this->is_local, sizeof(uint8_t)); - stream->read((char*)this->velocity, sizeof(float) * 3); - stream->read((char*)this->angular_torque, sizeof(float) * 3); - } - - void PmxMorph::Read(std::istream *stream, PmxSetting *setting) - { - this->morph_name = ReadString(stream, setting->encoding); - this->morph_english_name = ReadString(stream, setting->encoding); - stream->read((char*) &category, sizeof(MorphCategory)); - stream->read((char*) &morph_type, sizeof(MorphType)); - stream->read((char*) &this->offset_count, sizeof(int)); - switch (this->morph_type) - { - case MorphType::Group: - group_offsets = mmd::make_unique<PmxMorphGroupOffset []>(this->offset_count); - for (int i = 0; i < offset_count; i++) - { - group_offsets[i].Read(stream, setting); - } - break; - case MorphType::Vertex: - vertex_offsets = mmd::make_unique<PmxMorphVertexOffset []>(this->offset_count); - for (int i = 0; i < offset_count; i++) - { - vertex_offsets[i].Read(stream, setting); - } - break; - case MorphType::Bone: - bone_offsets = mmd::make_unique<PmxMorphBoneOffset []>(this->offset_count); - for (int i = 0; i < offset_count; i++) - { - bone_offsets[i].Read(stream, setting); - } - break; - case MorphType::Matrial: - material_offsets = mmd::make_unique<PmxMorphMaterialOffset []>(this->offset_count); - for (int i = 0; i < offset_count; i++) - { - material_offsets[i].Read(stream, setting); - } - break; - case MorphType::UV: - case MorphType::AdditionalUV1: - case MorphType::AdditionalUV2: - case MorphType::AdditionalUV3: - case MorphType::AdditionalUV4: - uv_offsets = mmd::make_unique<PmxMorphUVOffset []>(this->offset_count); - for (int i = 0; i < offset_count; i++) - { - uv_offsets[i].Read(stream, setting); - } - break; - default: - throw DeadlyImportError("MMD: unknown morth type"); - } - } - - void PmxFrameElement::Read(std::istream *stream, PmxSetting *setting) - { - stream->read((char*) &this->element_target, sizeof(uint8_t)); - if (this->element_target == 0x00) - { - this->index = ReadIndex(stream, setting->bone_index_size); - } - else { - this->index = ReadIndex(stream, setting->morph_index_size); - } - } - - void PmxFrame::Read(std::istream *stream, PmxSetting *setting) - { - this->frame_name = ReadString(stream, setting->encoding); - this->frame_english_name = ReadString(stream, setting->encoding); - stream->read((char*) &this->frame_flag, sizeof(uint8_t)); - stream->read((char*) &this->element_count, sizeof(int)); - this->elements = mmd::make_unique<PmxFrameElement []>(this->element_count); - for (int i = 0; i < this->element_count; i++) - { - this->elements[i].Read(stream, setting); - } - } - - void PmxRigidBody::Read(std::istream *stream, PmxSetting *setting) - { - this->girid_body_name = ReadString(stream, setting->encoding); - this->girid_body_english_name = ReadString(stream, setting->encoding); - this->target_bone = ReadIndex(stream, setting->bone_index_size); - stream->read((char*) &this->group, sizeof(uint8_t)); - stream->read((char*) &this->mask, sizeof(uint16_t)); - stream->read((char*) &this->shape, sizeof(uint8_t)); - stream->read((char*) this->size, sizeof(float) * 3); - stream->read((char*) this->position, sizeof(float) * 3); - stream->read((char*) this->orientation, sizeof(float) * 3); - stream->read((char*) &this->mass, sizeof(float)); - stream->read((char*) &this->move_attenuation, sizeof(float)); - stream->read((char*) &this->rotation_attenuation, sizeof(float)); - stream->read((char*) &this->repulsion, sizeof(float)); - stream->read((char*) &this->friction, sizeof(float)); - stream->read((char*) &this->physics_calc_type, sizeof(uint8_t)); - } - - void PmxJointParam::Read(std::istream *stream, PmxSetting *setting) - { - this->rigid_body1 = ReadIndex(stream, setting->rigidbody_index_size); - this->rigid_body2 = ReadIndex(stream, setting->rigidbody_index_size); - stream->read((char*) this->position, sizeof(float) * 3); - stream->read((char*) this->orientaiton, sizeof(float) * 3); - stream->read((char*) this->move_limitation_min, sizeof(float) * 3); - stream->read((char*) this->move_limitation_max, sizeof(float) * 3); - stream->read((char*) this->rotation_limitation_min, sizeof(float) * 3); - stream->read((char*) this->rotation_limitation_max, sizeof(float) * 3); - stream->read((char*) this->spring_move_coefficient, sizeof(float) * 3); - stream->read((char*) this->spring_rotation_coefficient, sizeof(float) * 3); - } - - void PmxJoint::Read(std::istream *stream, PmxSetting *setting) - { - this->joint_name = ReadString(stream, setting->encoding); - this->joint_english_name = ReadString(stream, setting->encoding); - stream->read((char*) &this->joint_type, sizeof(uint8_t)); - this->param.Read(stream, setting); - } - - void PmxAncherRigidBody::Read(std::istream *stream, PmxSetting *setting) - { - this->related_rigid_body = ReadIndex(stream, setting->rigidbody_index_size); - this->related_vertex = ReadIndex(stream, setting->vertex_index_size); - stream->read((char*) &this->is_near, sizeof(uint8_t)); - } - - void PmxSoftBody::Read(std::istream * /*stream*/, PmxSetting * /*setting*/) - { - std::cerr << "Not Implemented Exception" << std::endl; - throw DeadlyImportError("MMD: Not Implemented Exception"); - } - - void PmxModel::Init() - { - this->version = 0.0f; - this->model_name.clear(); - this->model_english_name.clear(); - this->model_comment.clear(); - this->model_english_comment.clear(); - this->vertex_count = 0; - this->vertices = nullptr; - this->index_count = 0; - this->indices = nullptr; - this->texture_count = 0; - this->textures = nullptr; - this->material_count = 0; - this->materials = nullptr; - this->bone_count = 0; - this->bones = nullptr; - this->morph_count = 0; - this->morphs = nullptr; - this->frame_count = 0; - this->frames = nullptr; - this->rigid_body_count = 0; - this->rigid_bodies = nullptr; - this->joint_count = 0; - this->joints = nullptr; - this->soft_body_count = 0; - this->soft_bodies = nullptr; - } - - void PmxModel::Read(std::istream *stream) - { - char magic[4]; - stream->read((char*) magic, sizeof(char) * 4); - if (magic[0] != 0x50 || magic[1] != 0x4d || magic[2] != 0x58 || magic[3] != 0x20) - { - std::cerr << "invalid magic number." << std::endl; - throw DeadlyImportError("MMD: invalid magic number."); - } - stream->read((char*) &version, sizeof(float)); - if (version != 2.0f && version != 2.1f) - { - std::cerr << "this is not ver2.0 or ver2.1 but " << version << "." << std::endl; - throw DeadlyImportError("MMD: this is not ver2.0 or ver2.1 but " + to_string(version)); - } - this->setting.Read(stream); - - this->model_name = ReadString(stream, setting.encoding); - this->model_english_name = ReadString(stream, setting.encoding); - this->model_comment = ReadString(stream, setting.encoding); - this->model_english_comment = ReadString(stream, setting.encoding); - - // read vertices - stream->read((char*) &vertex_count, sizeof(int)); - this->vertices = mmd::make_unique<PmxVertex []>(vertex_count); - for (int i = 0; i < vertex_count; i++) - { - vertices[i].Read(stream, &setting); - } - - // read indices - stream->read((char*) &index_count, sizeof(int)); - this->indices = mmd::make_unique<int []>(index_count); - for (int i = 0; i < index_count; i++) - { - this->indices[i] = ReadIndex(stream, setting.vertex_index_size); - } - - // read texture names - stream->read((char*) &texture_count, sizeof(int)); - this->textures = mmd::make_unique<std::string []>(texture_count); - for (int i = 0; i < texture_count; i++) - { - this->textures[i] = ReadString(stream, setting.encoding); - } - - // read materials - stream->read((char*) &material_count, sizeof(int)); - this->materials = mmd::make_unique<PmxMaterial []>(material_count); - for (int i = 0; i < material_count; i++) - { - this->materials[i].Read(stream, &setting); - } - - // read bones - stream->read((char*) &this->bone_count, sizeof(int)); - this->bones = mmd::make_unique<PmxBone []>(this->bone_count); - for (int i = 0; i < this->bone_count; i++) - { - this->bones[i].Read(stream, &setting); - } - - // read morphs - stream->read((char*) &this->morph_count, sizeof(int)); - this->morphs = mmd::make_unique<PmxMorph []>(this->morph_count); - for (int i = 0; i < this->morph_count; i++) - { - this->morphs[i].Read(stream, &setting); - } - - // read display frames - stream->read((char*) &this->frame_count, sizeof(int)); - this->frames = mmd::make_unique<PmxFrame []>(this->frame_count); - for (int i = 0; i < this->frame_count; i++) - { - this->frames[i].Read(stream, &setting); - } - - // read rigid bodies - stream->read((char*) &this->rigid_body_count, sizeof(int)); - this->rigid_bodies = mmd::make_unique<PmxRigidBody []>(this->rigid_body_count); - for (int i = 0; i < this->rigid_body_count; i++) - { - this->rigid_bodies[i].Read(stream, &setting); - } - - // read joints - stream->read((char*) &this->joint_count, sizeof(int)); - this->joints = mmd::make_unique<PmxJoint []>(this->joint_count); - for (int i = 0; i < this->joint_count; i++) - { - this->joints[i].Read(stream, &setting); - } - } -} diff --git a/thirdparty/assimp/code/MMD/MMDPmxParser.h b/thirdparty/assimp/code/MMD/MMDPmxParser.h deleted file mode 100644 index cf523a1298..0000000000 --- a/thirdparty/assimp/code/MMD/MMDPmxParser.h +++ /dev/null @@ -1,782 +0,0 @@ -/* -Open Asset Import Library (assimp) ----------------------------------------------------------------------- - -Copyright (c) 2006-2019, assimp team - - -All rights reserved. - -Redistribution and use of this software in source and binary forms, -with or without modification, are permitted provided that the -following conditions are met: - -* Redistributions of source code must retain the above -copyright notice, this list of conditions and the -following disclaimer. - -* Redistributions in binary form must reproduce the above -copyright notice, this list of conditions and the -following disclaimer in the documentation and/or other -materials provided with the distribution. - -* Neither the name of the assimp team, nor the names of its -contributors may be used to endorse or promote products -derived from this software without specific prior -written permission of the assimp team. - -THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS -"AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT -LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR -A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT -OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, -SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT -LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, -DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY -THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT -(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE -OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. - ----------------------------------------------------------------------- -*/ -#pragma once - -#include <vector> -#include <string> -#include <iostream> -#include <fstream> -#include <memory> -#include "MMDCpp14.h" - -namespace pmx -{ - class PmxSetting - { - public: - PmxSetting() - : encoding(0) - , uv(0) - , vertex_index_size(0) - , texture_index_size(0) - , material_index_size(0) - , bone_index_size(0) - , morph_index_size(0) - , rigidbody_index_size(0) - {} - - uint8_t encoding; - uint8_t uv; - uint8_t vertex_index_size; - uint8_t texture_index_size; - uint8_t material_index_size; - uint8_t bone_index_size; - uint8_t morph_index_size; - uint8_t rigidbody_index_size; - void Read(std::istream *stream); - }; - - enum class PmxVertexSkinningType : uint8_t - { - BDEF1 = 0, - BDEF2 = 1, - BDEF4 = 2, - SDEF = 3, - QDEF = 4, - }; - - class PmxVertexSkinning - { - public: - virtual void Read(std::istream *stream, PmxSetting *setting) = 0; - virtual ~PmxVertexSkinning() {} - }; - - class PmxVertexSkinningBDEF1 : public PmxVertexSkinning - { - public: - PmxVertexSkinningBDEF1() - : bone_index(0) - {} - - int bone_index; - void Read(std::istream *stresam, PmxSetting *setting); - }; - - class PmxVertexSkinningBDEF2 : public PmxVertexSkinning - { - public: - PmxVertexSkinningBDEF2() - : bone_index1(0) - , bone_index2(0) - , bone_weight(0.0f) - {} - - int bone_index1; - int bone_index2; - float bone_weight; - void Read(std::istream *stresam, PmxSetting *setting); - }; - - class PmxVertexSkinningBDEF4 : public PmxVertexSkinning - { - public: - PmxVertexSkinningBDEF4() - : bone_index1(0) - , bone_index2(0) - , bone_index3(0) - , bone_index4(0) - , bone_weight1(0.0f) - , bone_weight2(0.0f) - , bone_weight3(0.0f) - , bone_weight4(0.0f) - {} - - int bone_index1; - int bone_index2; - int bone_index3; - int bone_index4; - float bone_weight1; - float bone_weight2; - float bone_weight3; - float bone_weight4; - void Read(std::istream *stresam, PmxSetting *setting); - }; - - class PmxVertexSkinningSDEF : public PmxVertexSkinning - { - public: - PmxVertexSkinningSDEF() - : bone_index1(0) - , bone_index2(0) - , bone_weight(0.0f) - { - for (int i = 0; i < 3; ++i) { - sdef_c[i] = 0.0f; - sdef_r0[i] = 0.0f; - sdef_r1[i] = 0.0f; - } - } - - int bone_index1; - int bone_index2; - float bone_weight; - float sdef_c[3]; - float sdef_r0[3]; - float sdef_r1[3]; - void Read(std::istream *stresam, PmxSetting *setting); - }; - - class PmxVertexSkinningQDEF : public PmxVertexSkinning - { - public: - PmxVertexSkinningQDEF() - : bone_index1(0) - , bone_index2(0) - , bone_index3(0) - , bone_index4(0) - , bone_weight1(0.0f) - , bone_weight2(0.0f) - , bone_weight3(0.0f) - , bone_weight4(0.0f) - {} - - int bone_index1; - int bone_index2; - int bone_index3; - int bone_index4; - float bone_weight1; - float bone_weight2; - float bone_weight3; - float bone_weight4; - void Read(std::istream *stresam, PmxSetting *setting); - }; - - class PmxVertex - { - public: - PmxVertex() - : edge(0.0f) - { - uv[0] = uv[1] = 0.0f; - for (int i = 0; i < 3; ++i) { - position[i] = 0.0f; - normal[i] = 0.0f; - } - for (int i = 0; i < 4; ++i) { - for (int k = 0; k < 4; ++k) { - uva[i][k] = 0.0f; - } - } - } - - float position[3]; - float normal[3]; - float uv[2]; - float uva[4][4]; - PmxVertexSkinningType skinning_type; - std::unique_ptr<PmxVertexSkinning> skinning; - float edge; - void Read(std::istream *stream, PmxSetting *setting); - }; - - class PmxMaterial - { - public: - PmxMaterial() - : specularlity(0.0f) - , flag(0) - , edge_size(0.0f) - , diffuse_texture_index(0) - , sphere_texture_index(0) - , sphere_op_mode(0) - , common_toon_flag(0) - , toon_texture_index(0) - , index_count(0) - { - for (int i = 0; i < 3; ++i) { - specular[i] = 0.0f; - ambient[i] = 0.0f; - edge_color[i] = 0.0f; - } - for (int i = 0; i < 4; ++i) { - diffuse[i] = 0.0f; - } - } - - std::string material_name; - std::string material_english_name; - float diffuse[4]; - float specular[3]; - float specularlity; - float ambient[3]; - uint8_t flag; - float edge_color[4]; - float edge_size; - int diffuse_texture_index; - int sphere_texture_index; - uint8_t sphere_op_mode; - uint8_t common_toon_flag; - int toon_texture_index; - std::string memo; - int index_count; - void Read(std::istream *stream, PmxSetting *setting); - }; - - class PmxIkLink - { - public: - PmxIkLink() - : link_target(0) - , angle_lock(0) - { - for (int i = 0; i < 3; ++i) { - max_radian[i] = 0.0f; - min_radian[i] = 0.0f; - } - } - - int link_target; - uint8_t angle_lock; - float max_radian[3]; - float min_radian[3]; - void Read(std::istream *stream, PmxSetting *settingn); - }; - - class PmxBone - { - public: - PmxBone() - : parent_index(0) - , level(0) - , bone_flag(0) - , target_index(0) - , grant_parent_index(0) - , grant_weight(0.0f) - , key(0) - , ik_target_bone_index(0) - , ik_loop(0) - , ik_loop_angle_limit(0.0f) - , ik_link_count(0) - { - for (int i = 0; i < 3; ++i) { - position[i] = 0.0f; - offset[i] = 0.0f; - lock_axis_orientation[i] = 0.0f; - local_axis_x_orientation[i] = 0.0f; - local_axis_y_orientation[i] = 0.0f; - } - } - - std::string bone_name; - std::string bone_english_name; - float position[3]; - int parent_index; - int level; - uint16_t bone_flag; - float offset[3]; - int target_index; - int grant_parent_index; - float grant_weight; - float lock_axis_orientation[3]; - float local_axis_x_orientation[3]; - float local_axis_y_orientation[3]; - int key; - int ik_target_bone_index; - int ik_loop; - float ik_loop_angle_limit; - int ik_link_count; - std::unique_ptr<PmxIkLink []> ik_links; - void Read(std::istream *stream, PmxSetting *setting); - }; - - enum class MorphType : uint8_t - { - Group = 0, - Vertex = 1, - Bone = 2, - UV = 3, - AdditionalUV1 = 4, - AdditionalUV2 = 5, - AdditionalUV3 = 6, - AdditionalUV4 = 7, - Matrial = 8, - Flip = 9, - Implus = 10, - }; - - enum class MorphCategory : uint8_t - { - ReservedCategory = 0, - Eyebrow = 1, - Eye = 2, - Mouth = 3, - Other = 4, - }; - - class PmxMorphOffset - { - public: - void virtual Read(std::istream *stream, PmxSetting *setting) = 0; - }; - - class PmxMorphVertexOffset : public PmxMorphOffset - { - public: - PmxMorphVertexOffset() - : vertex_index(0) - { - for (int i = 0; i < 3; ++i) { - position_offset[i] = 0.0f; - } - } - int vertex_index; - float position_offset[3]; - void Read(std::istream *stream, PmxSetting *setting); //override; - }; - - class PmxMorphUVOffset : public PmxMorphOffset - { - public: - PmxMorphUVOffset() - : vertex_index(0) - { - for (int i = 0; i < 4; ++i) { - uv_offset[i] = 0.0f; - } - } - int vertex_index; - float uv_offset[4]; - void Read(std::istream *stream, PmxSetting *setting); //override; - }; - - class PmxMorphBoneOffset : public PmxMorphOffset - { - public: - PmxMorphBoneOffset() - : bone_index(0) - { - for (int i = 0; i < 3; ++i) { - translation[i] = 0.0f; - } - for (int i = 0; i < 4; ++i) { - rotation[i] = 0.0f; - } - } - int bone_index; - float translation[3]; - float rotation[4]; - void Read(std::istream *stream, PmxSetting *setting); //override; - }; - - class PmxMorphMaterialOffset : public PmxMorphOffset - { - public: - PmxMorphMaterialOffset() - : specularity(0.0f) - , edge_size(0.0f) - { - for (int i = 0; i < 3; ++i) { - specular[i] = 0.0f; - ambient[i] = 0.0f; - } - for (int i = 0; i < 4; ++i) { - diffuse[i] = 0.0f; - edge_color[i] = 0.0f; - texture_argb[i] = 0.0f; - sphere_texture_argb[i] = 0.0f; - toon_texture_argb[i] = 0.0f; - } - } - int material_index; - uint8_t offset_operation; - float diffuse[4]; - float specular[3]; - float specularity; - float ambient[3]; - float edge_color[4]; - float edge_size; - float texture_argb[4]; - float sphere_texture_argb[4]; - float toon_texture_argb[4]; - void Read(std::istream *stream, PmxSetting *setting); //override; - }; - - class PmxMorphGroupOffset : public PmxMorphOffset - { - public: - PmxMorphGroupOffset() - : morph_index(0) - , morph_weight(0.0f) - {} - int morph_index; - float morph_weight; - void Read(std::istream *stream, PmxSetting *setting); //override; - }; - - class PmxMorphFlipOffset : public PmxMorphOffset - { - public: - PmxMorphFlipOffset() - : morph_index(0) - , morph_value(0.0f) - {} - int morph_index; - float morph_value; - void Read(std::istream *stream, PmxSetting *setting); //override; - }; - - class PmxMorphImplusOffset : public PmxMorphOffset - { - public: - PmxMorphImplusOffset() - : rigid_body_index(0) - , is_local(0) - { - for (int i = 0; i < 3; ++i) { - velocity[i] = 0.0f; - angular_torque[i] = 0.0f; - } - } - int rigid_body_index; - uint8_t is_local; - float velocity[3]; - float angular_torque[3]; - void Read(std::istream *stream, PmxSetting *setting); //override; - }; - - class PmxMorph - { - public: - PmxMorph() - : offset_count(0) - { - } - std::string morph_name; - std::string morph_english_name; - MorphCategory category; - MorphType morph_type; - int offset_count; - std::unique_ptr<PmxMorphVertexOffset []> vertex_offsets; - std::unique_ptr<PmxMorphUVOffset []> uv_offsets; - std::unique_ptr<PmxMorphBoneOffset []> bone_offsets; - std::unique_ptr<PmxMorphMaterialOffset []> material_offsets; - std::unique_ptr<PmxMorphGroupOffset []> group_offsets; - std::unique_ptr<PmxMorphFlipOffset []> flip_offsets; - std::unique_ptr<PmxMorphImplusOffset []> implus_offsets; - void Read(std::istream *stream, PmxSetting *setting); - }; - - class PmxFrameElement - { - public: - PmxFrameElement() - : element_target(0) - , index(0) - { - } - uint8_t element_target; - int index; - void Read(std::istream *stream, PmxSetting *setting); - }; - - class PmxFrame - { - public: - PmxFrame() - : frame_flag(0) - , element_count(0) - { - } - std::string frame_name; - std::string frame_english_name; - uint8_t frame_flag; - int element_count; - std::unique_ptr<PmxFrameElement []> elements; - void Read(std::istream *stream, PmxSetting *setting); - }; - - class PmxRigidBody - { - public: - PmxRigidBody() - : target_bone(0) - , group(0) - , mask(0) - , shape(0) - , mass(0.0f) - , move_attenuation(0.0f) - , rotation_attenuation(0.0f) - , repulsion(0.0f) - , friction(0.0f) - , physics_calc_type(0) - { - for (int i = 0; i < 3; ++i) { - size[i] = 0.0f; - position[i] = 0.0f; - orientation[i] = 0.0f; - } - } - std::string girid_body_name; - std::string girid_body_english_name; - int target_bone; - uint8_t group; - uint16_t mask; - uint8_t shape; - float size[3]; - float position[3]; - float orientation[3]; - float mass; - float move_attenuation; - float rotation_attenuation; - float repulsion; - float friction; - uint8_t physics_calc_type; - void Read(std::istream *stream, PmxSetting *setting); - }; - - enum class PmxJointType : uint8_t - { - Generic6DofSpring = 0, - Generic6Dof = 1, - Point2Point = 2, - ConeTwist = 3, - Slider = 5, - Hinge = 6 - }; - - class PmxJointParam - { - public: - PmxJointParam() - : rigid_body1(0) - , rigid_body2(0) - { - for (int i = 0; i < 3; ++i) { - position[i] = 0.0f; - orientaiton[i] = 0.0f; - move_limitation_min[i] = 0.0f; - move_limitation_max[i] = 0.0f; - rotation_limitation_min[i] = 0.0f; - rotation_limitation_max[i] = 0.0f; - spring_move_coefficient[i] = 0.0f; - spring_rotation_coefficient[i] = 0.0f; - } - } - int rigid_body1; - int rigid_body2; - float position[3]; - float orientaiton[3]; - float move_limitation_min[3]; - float move_limitation_max[3]; - float rotation_limitation_min[3]; - float rotation_limitation_max[3]; - float spring_move_coefficient[3]; - float spring_rotation_coefficient[3]; - void Read(std::istream *stream, PmxSetting *setting); - }; - - class PmxJoint - { - public: - std::string joint_name; - std::string joint_english_name; - PmxJointType joint_type; - PmxJointParam param; - void Read(std::istream *stream, PmxSetting *setting); - }; - - enum PmxSoftBodyFlag : uint8_t - { - BLink = 0x01, - Cluster = 0x02, - Link = 0x04 - }; - - class PmxAncherRigidBody - { - public: - PmxAncherRigidBody() - : related_rigid_body(0) - , related_vertex(0) - , is_near(false) - {} - int related_rigid_body; - int related_vertex; - bool is_near; - void Read(std::istream *stream, PmxSetting *setting); - }; - - class PmxSoftBody - { - public: - PmxSoftBody() - : shape(0) - , target_material(0) - , group(0) - , mask(0) - , blink_distance(0) - , cluster_count(0) - , mass(0.0) - , collisioni_margin(0.0) - , aero_model(0) - , VCF(0.0f) - , DP(0.0f) - , DG(0.0f) - , LF(0.0f) - , PR(0.0f) - , VC(0.0f) - , DF(0.0f) - , MT(0.0f) - , CHR(0.0f) - , KHR(0.0f) - , SHR(0.0f) - , AHR(0.0f) - , SRHR_CL(0.0f) - , SKHR_CL(0.0f) - , SSHR_CL(0.0f) - , SR_SPLT_CL(0.0f) - , SK_SPLT_CL(0.0f) - , SS_SPLT_CL(0.0f) - , V_IT(0) - , P_IT(0) - , D_IT(0) - , C_IT(0) - , LST(0.0f) - , AST(0.0f) - , VST(0.0f) - , anchor_count(0) - , pin_vertex_count(0) - {} - std::string soft_body_name; - std::string soft_body_english_name; - uint8_t shape; - int target_material; - uint8_t group; - uint16_t mask; - PmxSoftBodyFlag flag; - int blink_distance; - int cluster_count; - float mass; - float collisioni_margin; - int aero_model; - float VCF; - float DP; - float DG; - float LF; - float PR; - float VC; - float DF; - float MT; - float CHR; - float KHR; - float SHR; - float AHR; - float SRHR_CL; - float SKHR_CL; - float SSHR_CL; - float SR_SPLT_CL; - float SK_SPLT_CL; - float SS_SPLT_CL; - int V_IT; - int P_IT; - int D_IT; - int C_IT; - float LST; - float AST; - float VST; - int anchor_count; - std::unique_ptr<PmxAncherRigidBody []> anchers; - int pin_vertex_count; - std::unique_ptr<int []> pin_vertices; - void Read(std::istream *stream, PmxSetting *setting); - }; - - class PmxModel - { - public: - PmxModel() - : version(0.0f) - , vertex_count(0) - , index_count(0) - , texture_count(0) - , material_count(0) - , bone_count(0) - , morph_count(0) - , frame_count(0) - , rigid_body_count(0) - , joint_count(0) - , soft_body_count(0) - {} - - float version; - PmxSetting setting; - std::string model_name; - std::string model_english_name; - std::string model_comment; - std::string model_english_comment; - int vertex_count; - std::unique_ptr<PmxVertex []> vertices; - int index_count; - std::unique_ptr<int []> indices; - int texture_count; - std::unique_ptr< std::string []> textures; - int material_count; - std::unique_ptr<PmxMaterial []> materials; - int bone_count; - std::unique_ptr<PmxBone []> bones; - int morph_count; - std::unique_ptr<PmxMorph []> morphs; - int frame_count; - std::unique_ptr<PmxFrame [] > frames; - int rigid_body_count; - std::unique_ptr<PmxRigidBody []> rigid_bodies; - int joint_count; - std::unique_ptr<PmxJoint []> joints; - int soft_body_count; - std::unique_ptr<PmxSoftBody []> soft_bodies; - void Init(); - void Read(std::istream *stream); - //static std::unique_ptr<PmxModel> ReadFromFile(const char *filename); - //static std::unique_ptr<PmxModel> ReadFromStream(std::istream *stream); - }; -} diff --git a/thirdparty/assimp/code/MMD/MMDVmdParser.h b/thirdparty/assimp/code/MMD/MMDVmdParser.h deleted file mode 100644 index 947c3a2422..0000000000 --- a/thirdparty/assimp/code/MMD/MMDVmdParser.h +++ /dev/null @@ -1,376 +0,0 @@ -/* -Open Asset Import Library (assimp) ----------------------------------------------------------------------- - -Copyright (c) 2006-2019, assimp team - - -All rights reserved. - -Redistribution and use of this software in source and binary forms, -with or without modification, are permitted provided that the -following conditions are met: - -* Redistributions of source code must retain the above -copyright notice, this list of conditions and the -following disclaimer. - -* Redistributions in binary form must reproduce the above -copyright notice, this list of conditions and the -following disclaimer in the documentation and/or other -materials provided with the distribution. - -* Neither the name of the assimp team, nor the names of its -contributors may be used to endorse or promote products -derived from this software without specific prior -written permission of the assimp team. - -THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS -"AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT -LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR -A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT -OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, -SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT -LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, -DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY -THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT -(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE -OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. - ----------------------------------------------------------------------- -*/ -#pragma once - -#include <vector> -#include <string> -#include <memory> -#include <iostream> -#include <fstream> -#include <ostream> -#include "MMDCpp14.h" - -namespace vmd -{ - class VmdBoneFrame - { - public: - std::string name; - int frame; - float position[3]; - float orientation[4]; - char interpolation[4][4][4]; - - void Read(std::istream* stream) - { - char buffer[15]; - stream->read((char*) buffer, sizeof(char)*15); - name = std::string(buffer); - stream->read((char*) &frame, sizeof(int)); - stream->read((char*) position, sizeof(float)*3); - stream->read((char*) orientation, sizeof(float)*4); - stream->read((char*) interpolation, sizeof(char) * 4 * 4 * 4); - } - - void Write(std::ostream* stream) - { - stream->write((char*)name.c_str(), sizeof(char) * 15); - stream->write((char*)&frame, sizeof(int)); - stream->write((char*)position, sizeof(float) * 3); - stream->write((char*)orientation, sizeof(float) * 4); - stream->write((char*)interpolation, sizeof(char) * 4 * 4 * 4); - } - }; - - class VmdFaceFrame - { - public: - std::string face_name; - float weight; - uint32_t frame; - - void Read(std::istream* stream) - { - char buffer[15]; - stream->read((char*) &buffer, sizeof(char) * 15); - face_name = std::string(buffer); - stream->read((char*) &frame, sizeof(int)); - stream->read((char*) &weight, sizeof(float)); - } - - void Write(std::ostream* stream) - { - stream->write((char*)face_name.c_str(), sizeof(char) * 15); - stream->write((char*)&frame, sizeof(int)); - stream->write((char*)&weight, sizeof(float)); - } - }; - - class VmdCameraFrame - { - public: - int frame; - float distance; - float position[3]; - float orientation[3]; - char interpolation[6][4]; - float angle; - char unknown[3]; - - void Read(std::istream *stream) - { - stream->read((char*) &frame, sizeof(int)); - stream->read((char*) &distance, sizeof(float)); - stream->read((char*) position, sizeof(float) * 3); - stream->read((char*) orientation, sizeof(float) * 3); - stream->read((char*) interpolation, sizeof(char) * 24); - stream->read((char*) &angle, sizeof(float)); - stream->read((char*) unknown, sizeof(char) * 3); - } - - void Write(std::ostream *stream) - { - stream->write((char*)&frame, sizeof(int)); - stream->write((char*)&distance, sizeof(float)); - stream->write((char*)position, sizeof(float) * 3); - stream->write((char*)orientation, sizeof(float) * 3); - stream->write((char*)interpolation, sizeof(char) * 24); - stream->write((char*)&angle, sizeof(float)); - stream->write((char*)unknown, sizeof(char) * 3); - } - }; - - class VmdLightFrame - { - public: - int frame; - float color[3]; - float position[3]; - - void Read(std::istream* stream) - { - stream->read((char*) &frame, sizeof(int)); - stream->read((char*) color, sizeof(float) * 3); - stream->read((char*) position, sizeof(float) * 3); - } - - void Write(std::ostream* stream) - { - stream->write((char*)&frame, sizeof(int)); - stream->write((char*)color, sizeof(float) * 3); - stream->write((char*)position, sizeof(float) * 3); - } - }; - - class VmdIkEnable - { - public: - std::string ik_name; - bool enable; - }; - - class VmdIkFrame - { - public: - int frame; - bool display; - std::vector<VmdIkEnable> ik_enable; - - void Read(std::istream *stream) - { - char buffer[20]; - stream->read((char*) &frame, sizeof(int)); - stream->read((char*) &display, sizeof(uint8_t)); - int ik_count; - stream->read((char*) &ik_count, sizeof(int)); - ik_enable.resize(ik_count); - for (int i = 0; i < ik_count; i++) - { - stream->read(buffer, 20); - ik_enable[i].ik_name = std::string(buffer); - stream->read((char*) &ik_enable[i].enable, sizeof(uint8_t)); - } - } - - void Write(std::ostream *stream) - { - stream->write((char*)&frame, sizeof(int)); - stream->write((char*)&display, sizeof(uint8_t)); - int ik_count = static_cast<int>(ik_enable.size()); - stream->write((char*)&ik_count, sizeof(int)); - for (int i = 0; i < ik_count; i++) - { - const VmdIkEnable& ik_enable = this->ik_enable.at(i); - stream->write(ik_enable.ik_name.c_str(), 20); - stream->write((char*)&ik_enable.enable, sizeof(uint8_t)); - } - } - }; - - class VmdMotion - { - public: - std::string model_name; - int version; - std::vector<VmdBoneFrame> bone_frames; - std::vector<VmdFaceFrame> face_frames; - std::vector<VmdCameraFrame> camera_frames; - std::vector<VmdLightFrame> light_frames; - std::vector<VmdIkFrame> ik_frames; - - static std::unique_ptr<VmdMotion> LoadFromFile(char const *filename) - { - std::ifstream stream(filename, std::ios::binary); - auto result = LoadFromStream(&stream); - stream.close(); - return result; - } - - static std::unique_ptr<VmdMotion> LoadFromStream(std::ifstream *stream) - { - - char buffer[30]; - auto result = mmd::make_unique<VmdMotion>(); - - // magic and version - stream->read((char*) buffer, 30); - if (strncmp(buffer, "Vocaloid Motion Data", 20)) - { - std::cerr << "invalid vmd file." << std::endl; - return nullptr; - } - result->version = std::atoi(buffer + 20); - - // name - stream->read(buffer, 20); - result->model_name = std::string(buffer); - - // bone frames - int bone_frame_num; - stream->read((char*) &bone_frame_num, sizeof(int)); - result->bone_frames.resize(bone_frame_num); - for (int i = 0; i < bone_frame_num; i++) - { - result->bone_frames[i].Read(stream); - } - - // face frames - int face_frame_num; - stream->read((char*) &face_frame_num, sizeof(int)); - result->face_frames.resize(face_frame_num); - for (int i = 0; i < face_frame_num; i++) - { - result->face_frames[i].Read(stream); - } - - // camera frames - int camera_frame_num; - stream->read((char*) &camera_frame_num, sizeof(int)); - result->camera_frames.resize(camera_frame_num); - for (int i = 0; i < camera_frame_num; i++) - { - result->camera_frames[i].Read(stream); - } - - // light frames - int light_frame_num; - stream->read((char*) &light_frame_num, sizeof(int)); - result->light_frames.resize(light_frame_num); - for (int i = 0; i < light_frame_num; i++) - { - result->light_frames[i].Read(stream); - } - - // unknown2 - stream->read(buffer, 4); - - // ik frames - if (stream->peek() != std::ios::traits_type::eof()) - { - int ik_num; - stream->read((char*) &ik_num, sizeof(int)); - result->ik_frames.resize(ik_num); - for (int i = 0; i < ik_num; i++) - { - result->ik_frames[i].Read(stream); - } - } - - if (stream->peek() != std::ios::traits_type::eof()) - { - std::cerr << "vmd stream has unknown data." << std::endl; - } - - return result; - } - - bool SaveToFile(const std::u16string& /*filename*/) - { - // TODO: How to adapt u16string to string? - /* - std::ofstream stream(filename.c_str(), std::ios::binary); - auto result = SaveToStream(&stream); - stream.close(); - return result; - */ - return false; - } - - bool SaveToStream(std::ofstream *stream) - { - std::string magic = "Vocaloid Motion Data 0002\0"; - magic.resize(30); - - // magic and version - stream->write(magic.c_str(), 30); - - // name - stream->write(model_name.c_str(), 20); - - // bone frames - const int bone_frame_num = static_cast<int>(bone_frames.size()); - stream->write(reinterpret_cast<const char*>(&bone_frame_num), sizeof(int)); - for (int i = 0; i < bone_frame_num; i++) - { - bone_frames[i].Write(stream); - } - - // face frames - const int face_frame_num = static_cast<int>(face_frames.size()); - stream->write(reinterpret_cast<const char*>(&face_frame_num), sizeof(int)); - for (int i = 0; i < face_frame_num; i++) - { - face_frames[i].Write(stream); - } - - // camera frames - const int camera_frame_num = static_cast<int>(camera_frames.size()); - stream->write(reinterpret_cast<const char*>(&camera_frame_num), sizeof(int)); - for (int i = 0; i < camera_frame_num; i++) - { - camera_frames[i].Write(stream); - } - - // light frames - const int light_frame_num = static_cast<int>(light_frames.size()); - stream->write(reinterpret_cast<const char*>(&light_frame_num), sizeof(int)); - for (int i = 0; i < light_frame_num; i++) - { - light_frames[i].Write(stream); - } - - // self shadow datas - const int self_shadow_num = 0; - stream->write(reinterpret_cast<const char*>(&self_shadow_num), sizeof(int)); - - // ik frames - const int ik_num = static_cast<int>(ik_frames.size()); - stream->write(reinterpret_cast<const char*>(&ik_num), sizeof(int)); - for (int i = 0; i < ik_num; i++) - { - ik_frames[i].Write(stream); - } - - return true; - } - }; -} diff --git a/thirdparty/assimp/code/Material/MaterialSystem.cpp b/thirdparty/assimp/code/Material/MaterialSystem.cpp index d0b39093b6..0be6e9f7bb 100644 --- a/thirdparty/assimp/code/Material/MaterialSystem.cpp +++ b/thirdparty/assimp/code/Material/MaterialSystem.cpp @@ -51,7 +51,6 @@ OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. #include <assimp/types.h> #include <assimp/material.h> #include <assimp/DefaultLogger.hpp> -#include <assimp/Macros.h> using namespace Assimp; @@ -545,23 +544,7 @@ aiReturn aiMaterial::AddProperty (const aiString* pInput, unsigned int type, unsigned int index) { - // We don't want to add the whole buffer .. write a 32 bit length - // prefix followed by the zero-terminated UTF8 string. - // (HACK) I don't want to break the ABI now, but we definitely - // ought to change aiString::mLength to uint32_t one day. - if (sizeof(size_t) == 8) { - aiString copy = *pInput; - uint32_t* s = reinterpret_cast<uint32_t*>(©.length); - s[1] = static_cast<uint32_t>(pInput->length); - - return AddBinaryProperty(s+1, - static_cast<unsigned int>(pInput->length+1+4), - pKey, - type, - index, - aiPTI_String); - } - ai_assert(sizeof(size_t)==4); + ai_assert(sizeof(ai_uint32)==4); return AddBinaryProperty(pInput, static_cast<unsigned int>(pInput->length+1+4), pKey, diff --git a/thirdparty/assimp/code/PostProcessing/ArmaturePopulate.cpp b/thirdparty/assimp/code/PostProcessing/ArmaturePopulate.cpp new file mode 100644 index 0000000000..75daeb6b59 --- /dev/null +++ b/thirdparty/assimp/code/PostProcessing/ArmaturePopulate.cpp @@ -0,0 +1,268 @@ +/* +Open Asset Import Library (assimp) +---------------------------------------------------------------------- + +Copyright (c) 2006-2019, assimp team + + +All rights reserved. + +Redistribution and use of this software in source and binary forms, +with or without modification, are permitted provided that the +following conditions are met: + +* Redistributions of source code must retain the above +copyright notice, this list of conditions and the +following disclaimer. + +* Redistributions in binary form must reproduce the above +copyright notice, this list of conditions and the +following disclaimer in the documentation and/or other +materials provided with the distribution. + +* Neither the name of the assimp team, nor the names of its +contributors may be used to endorse or promote products +derived from this software without specific prior +written permission of the assimp team. + +THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS +"AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT +LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR +A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT +OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, +SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT +LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, +DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY +THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT +(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE +OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + +---------------------------------------------------------------------- +*/ +#include "ArmaturePopulate.h" + +#include <assimp/BaseImporter.h> +#include <assimp/DefaultLogger.hpp> +#include <assimp/postprocess.h> +#include <assimp/scene.h> +#include <iostream> + +namespace Assimp { + +/// The default class constructor. +ArmaturePopulate::ArmaturePopulate() : BaseProcess() +{} + +/// The class destructor. +ArmaturePopulate::~ArmaturePopulate() +{} + +bool ArmaturePopulate::IsActive(unsigned int pFlags) const { + return (pFlags & aiProcess_PopulateArmatureData) != 0; +} + +void ArmaturePopulate::SetupProperties(const Importer *pImp) { + // do nothing +} + +void ArmaturePopulate::Execute(aiScene *out) { + + // Now convert all bone positions to the correct mOffsetMatrix + std::vector<aiBone *> bones; + std::vector<aiNode *> nodes; + std::map<aiBone *, aiNode *> bone_stack; + BuildBoneList(out->mRootNode, out->mRootNode, out, bones); + BuildNodeList(out->mRootNode, nodes); + + BuildBoneStack(out->mRootNode, out->mRootNode, out, bones, bone_stack, nodes); + + ASSIMP_LOG_DEBUG_F("Bone stack size: ", bone_stack.size()); + + for (std::pair<aiBone *, aiNode *> kvp : bone_stack) { + aiBone *bone = kvp.first; + aiNode *bone_node = kvp.second; + ASSIMP_LOG_DEBUG_F("active node lookup: ", bone->mName.C_Str()); + // lcl transform grab - done in generate_nodes :) + + // bone->mOffsetMatrix = bone_node->mTransformation; + aiNode *armature = GetArmatureRoot(bone_node, bones); + + ai_assert(armature); + + // set up bone armature id + bone->mArmature = armature; + + // set this bone node to be referenced properly + ai_assert(bone_node); + bone->mNode = bone_node; + } +} + + +/* Reprocess all nodes to calculate bone transforms properly based on the REAL + * mOffsetMatrix not the local. */ +/* Before this would use mesh transforms which is wrong for bone transforms */ +/* Before this would work for simple character skeletons but not complex meshes + * with multiple origins */ +/* Source: sketch fab log cutter fbx */ +void ArmaturePopulate::BuildBoneList(aiNode *current_node, + const aiNode *root_node, + const aiScene *scene, + std::vector<aiBone *> &bones) { + ai_assert(scene); + for (unsigned int nodeId = 0; nodeId < current_node->mNumChildren; ++nodeId) { + aiNode *child = current_node->mChildren[nodeId]; + ai_assert(child); + + // check for bones + for (unsigned int meshId = 0; meshId < child->mNumMeshes; ++meshId) { + ai_assert(child->mMeshes); + unsigned int mesh_index = child->mMeshes[meshId]; + aiMesh *mesh = scene->mMeshes[mesh_index]; + ai_assert(mesh); + + for (unsigned int boneId = 0; boneId < mesh->mNumBones; ++boneId) { + aiBone *bone = mesh->mBones[boneId]; + ai_assert(bone); + + // duplicate meshes exist with the same bones sometimes :) + // so this must be detected + if (std::find(bones.begin(), bones.end(), bone) == bones.end()) { + // add the element once + bones.push_back(bone); + } + } + + // find mesh and get bones + // then do recursive lookup for bones in root node hierarchy + } + + BuildBoneList(child, root_node, scene, bones); + } +} + +/* Prepare flat node list which can be used for non recursive lookups later */ +void ArmaturePopulate::BuildNodeList(const aiNode *current_node, + std::vector<aiNode *> &nodes) { + ai_assert(current_node); + + for (unsigned int nodeId = 0; nodeId < current_node->mNumChildren; ++nodeId) { + aiNode *child = current_node->mChildren[nodeId]; + ai_assert(child); + + nodes.push_back(child); + + BuildNodeList(child, nodes); + } +} + +/* A bone stack allows us to have multiple armatures, with the same bone names + * A bone stack allows us also to retrieve bones true transform even with + * duplicate names :) + */ +void ArmaturePopulate::BuildBoneStack(aiNode *current_node, + const aiNode *root_node, + const aiScene *scene, + const std::vector<aiBone *> &bones, + std::map<aiBone *, aiNode *> &bone_stack, + std::vector<aiNode *> &node_stack) { + ai_assert(scene); + ai_assert(root_node); + ai_assert(!node_stack.empty()); + + for (aiBone *bone : bones) { + ai_assert(bone); + aiNode *node = GetNodeFromStack(bone->mName, node_stack); + if (node == nullptr) { + node_stack.clear(); + BuildNodeList(root_node, node_stack); + ASSIMP_LOG_DEBUG_F("Resetting bone stack: nullptr element ", bone->mName.C_Str()); + + node = GetNodeFromStack(bone->mName, node_stack); + + if (!node) { + ASSIMP_LOG_ERROR("serious import issue node for bone was not detected"); + continue; + } + } + + ASSIMP_LOG_DEBUG_F("Successfully added bone[", bone->mName.C_Str(), "] to stack and bone node is: ", node->mName.C_Str()); + + bone_stack.insert(std::pair<aiBone *, aiNode *>(bone, node)); + } +} + + +/* Returns the armature root node */ +/* This is required to be detected for a bone initially, it will recurse up + * until it cannot find another bone and return the node No known failure + * points. (yet) + */ +aiNode *ArmaturePopulate::GetArmatureRoot(aiNode *bone_node, + std::vector<aiBone *> &bone_list) { + while (bone_node) { + if (!IsBoneNode(bone_node->mName, bone_list)) { + ASSIMP_LOG_DEBUG_F("GetArmatureRoot() Found valid armature: ", bone_node->mName.C_Str()); + return bone_node; + } + + bone_node = bone_node->mParent; + } + + ASSIMP_LOG_ERROR("GetArmatureRoot() can't find armature!"); + + return nullptr; +} + + + +/* Simple IsBoneNode check if this could be a bone */ +bool ArmaturePopulate::IsBoneNode(const aiString &bone_name, + std::vector<aiBone *> &bones) { + for (aiBone *bone : bones) { + if (bone->mName == bone_name) { + return true; + } + } + + return false; +} + +/* Pop this node by name from the stack if found */ +/* Used in multiple armature situations with duplicate node / bone names */ +/* Known flaw: cannot have nodes with bone names, will be fixed in later release + */ +/* (serious to be fixed) Known flaw: nodes which have more than one bone could + * be prematurely dropped from stack */ +aiNode *ArmaturePopulate::GetNodeFromStack(const aiString &node_name, + std::vector<aiNode *> &nodes) { + std::vector<aiNode *>::iterator iter; + aiNode *found = nullptr; + for (iter = nodes.begin(); iter < nodes.end(); ++iter) { + aiNode *element = *iter; + ai_assert(element); + // node valid and node name matches + if (element->mName == node_name) { + found = element; + break; + } + } + + if (found != nullptr) { + ASSIMP_LOG_INFO_F("Removed node from stack: ", found->mName.C_Str()); + // now pop the element from the node list + nodes.erase(iter); + + return found; + } + + // unique names can cause this problem + ASSIMP_LOG_ERROR("[Serious] GetNodeFromStack() can't find node from stack!"); + + return nullptr; +} + + + + +} // Namespace Assimp diff --git a/thirdparty/assimp/code/PostProcessing/ArmaturePopulate.h b/thirdparty/assimp/code/PostProcessing/ArmaturePopulate.h new file mode 100644 index 0000000000..aa1ad7c80c --- /dev/null +++ b/thirdparty/assimp/code/PostProcessing/ArmaturePopulate.h @@ -0,0 +1,112 @@ +/* +Open Asset Import Library (assimp) +---------------------------------------------------------------------- + +Copyright (c) 2006-2019, assimp team + + +All rights reserved. + +Redistribution and use of this software in source and binary forms, +with or without modification, are permitted provided that the +following conditions are met: + +* Redistributions of source code must retain the above +copyright notice, this list of conditions and the +following disclaimer. + +* Redistributions in binary form must reproduce the above +copyright notice, this list of conditions and the +following disclaimer in the documentation and/or other +materials provided with the distribution. + +* Neither the name of the assimp team, nor the names of its +contributors may be used to endorse or promote products +derived from this software without specific prior +written permission of the assimp team. + +THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS +"AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT +LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR +A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT +OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, +SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT +LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, +DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY +THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT +(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE +OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + +---------------------------------------------------------------------- +*/ +#ifndef ARMATURE_POPULATE_H_ +#define ARMATURE_POPULATE_H_ + +#include "Common/BaseProcess.h" +#include <assimp/BaseImporter.h> +#include <vector> +#include <map> + + +struct aiNode; +struct aiBone; + +namespace Assimp { + +// --------------------------------------------------------------------------- +/** Armature Populate: This is a post process designed + * To save you time when importing models into your game engines + * This was originally designed only for fbx but will work with other formats + * it is intended to auto populate aiBone data with armature and the aiNode + * This is very useful when dealing with skinned meshes + * or when dealing with many different skeletons + * It's off by default but recommend that you try it and use it + * It should reduce down any glue code you have in your + * importers + * You can contact RevoluPowered <gordon@gordonite.tech> + * For more info about this +*/ +class ASSIMP_API ArmaturePopulate : public BaseProcess { +public: + /// The default class constructor. + ArmaturePopulate(); + + /// The class destructor. + virtual ~ArmaturePopulate(); + + /// Overwritten, @see BaseProcess + virtual bool IsActive( unsigned int pFlags ) const; + + /// Overwritten, @see BaseProcess + virtual void SetupProperties( const Importer* pImp ); + + /// Overwritten, @see BaseProcess + virtual void Execute( aiScene* pScene ); + + static aiNode *GetArmatureRoot(aiNode *bone_node, + std::vector<aiBone *> &bone_list); + + static bool IsBoneNode(const aiString &bone_name, + std::vector<aiBone *> &bones); + + static aiNode *GetNodeFromStack(const aiString &node_name, + std::vector<aiNode *> &nodes); + + static void BuildNodeList(const aiNode *current_node, + std::vector<aiNode *> &nodes); + + static void BuildBoneList(aiNode *current_node, const aiNode *root_node, + const aiScene *scene, + std::vector<aiBone *> &bones); + + static void BuildBoneStack(aiNode *current_node, const aiNode *root_node, + const aiScene *scene, + const std::vector<aiBone *> &bones, + std::map<aiBone *, aiNode *> &bone_stack, + std::vector<aiNode *> &node_stack); +}; + +} // Namespace Assimp + + +#endif // SCALE_PROCESS_H_
\ No newline at end of file diff --git a/thirdparty/assimp/code/PostProcessing/ComputeUVMappingProcess.cpp b/thirdparty/assimp/code/PostProcessing/ComputeUVMappingProcess.cpp index bb571a551b..df4d44337d 100644 --- a/thirdparty/assimp/code/PostProcessing/ComputeUVMappingProcess.cpp +++ b/thirdparty/assimp/code/PostProcessing/ComputeUVMappingProcess.cpp @@ -354,12 +354,12 @@ void ComputeUVMappingProcess::ComputePlaneMapping(aiMesh* mesh,const aiVector3D& } else if (axis * base_axis_z >= angle_epsilon) { FindMeshCenter(mesh, center, min, max); - diffu = max.y - min.y; - diffv = max.z - min.z; + diffu = max.x - min.x; + diffv = max.y - min.y; for (unsigned int pnt = 0; pnt < mesh->mNumVertices;++pnt) { const aiVector3D& pos = mesh->mVertices[pnt]; - out[pnt].Set((pos.y - min.y) / diffu,(pos.x - min.x) / diffv,0.0); + out[pnt].Set((pos.x - min.x) / diffu,(pos.y - min.y) / diffv,0.0); } } // slower code path in case the mapping axis is not one of the coordinate system axes diff --git a/thirdparty/assimp/code/PostProcessing/FindInvalidDataProcess.cpp b/thirdparty/assimp/code/PostProcessing/FindInvalidDataProcess.cpp index 433f042448..016884c6e7 100644 --- a/thirdparty/assimp/code/PostProcessing/FindInvalidDataProcess.cpp +++ b/thirdparty/assimp/code/PostProcessing/FindInvalidDataProcess.cpp @@ -52,7 +52,6 @@ OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. #include "FindInvalidDataProcess.h" #include "ProcessHelper.h" -#include <assimp/Macros.h> #include <assimp/Exceptional.h> #include <assimp/qnan.h> diff --git a/thirdparty/assimp/code/PostProcessing/JoinVerticesProcess.cpp b/thirdparty/assimp/code/PostProcessing/JoinVerticesProcess.cpp index 914ec05b46..f121fc60d3 100644 --- a/thirdparty/assimp/code/PostProcessing/JoinVerticesProcess.cpp +++ b/thirdparty/assimp/code/PostProcessing/JoinVerticesProcess.cpp @@ -431,31 +431,6 @@ int JoinVerticesProcess::ProcessMesh( aiMesh* pMesh, unsigned int meshIndex) bone->mWeights = new aiVertexWeight[bone->mNumWeights]; memcpy( bone->mWeights, &newWeights[0], bone->mNumWeights * sizeof( aiVertexWeight)); } - else { - - /* NOTE: - * - * In the algorithm above we're assuming that there are no vertices - * with a different bone weight setup at the same position. That wouldn't - * make sense, but it is not absolutely impossible. SkeletonMeshBuilder - * for example generates such input data if two skeleton points - * share the same position. Again this doesn't make sense but is - * reality for some model formats (MD5 for example uses these special - * nodes as attachment tags for its weapons). - * - * Then it is possible that a bone has no weights anymore .... as a quick - * workaround, we're just removing these bones. If they're animated, - * model geometry might be modified but at least there's no risk of a crash. - */ - delete bone; - --pMesh->mNumBones; - for (unsigned int n = a; n < pMesh->mNumBones; ++n) { - pMesh->mBones[n] = pMesh->mBones[n+1]; - } - - --a; - ASSIMP_LOG_WARN("Removing bone -> no weights remaining"); - } } return pMesh->mNumVertices; } diff --git a/thirdparty/assimp/code/PostProcessing/MakeVerboseFormat.cpp b/thirdparty/assimp/code/PostProcessing/MakeVerboseFormat.cpp index 50ff5ed93d..41f50a5ba5 100644 --- a/thirdparty/assimp/code/PostProcessing/MakeVerboseFormat.cpp +++ b/thirdparty/assimp/code/PostProcessing/MakeVerboseFormat.cpp @@ -224,3 +224,32 @@ bool MakeVerboseFormatProcess::MakeVerboseFormat(aiMesh* pcMesh) } return (pcMesh->mNumVertices != iOldNumVertices); } + + +// ------------------------------------------------------------------------------------------------ +bool IsMeshInVerboseFormat(const aiMesh* mesh) { + // avoid slow vector<bool> specialization + std::vector<unsigned int> seen(mesh->mNumVertices,0); + for(unsigned int i = 0; i < mesh->mNumFaces; ++i) { + const aiFace& f = mesh->mFaces[i]; + for(unsigned int j = 0; j < f.mNumIndices; ++j) { + if(++seen[f.mIndices[j]] == 2) { + // found a duplicate index + return false; + } + } + } + + return true; +} + +// ------------------------------------------------------------------------------------------------ +bool MakeVerboseFormatProcess::IsVerboseFormat(const aiScene* pScene) { + for(unsigned int i = 0; i < pScene->mNumMeshes; ++i) { + if(!IsMeshInVerboseFormat(pScene->mMeshes[i])) { + return false; + } + } + + return true; +} diff --git a/thirdparty/assimp/code/PostProcessing/MakeVerboseFormat.h b/thirdparty/assimp/code/PostProcessing/MakeVerboseFormat.h index 1adf8e2f69..8565d5933a 100644 --- a/thirdparty/assimp/code/PostProcessing/MakeVerboseFormat.h +++ b/thirdparty/assimp/code/PostProcessing/MakeVerboseFormat.h @@ -94,6 +94,13 @@ public: * @param pScene The imported data to work at. */ void Execute( aiScene* pScene); +public: + + // ------------------------------------------------------------------- + /** Checks whether the scene is already in verbose format. + * @param pScene The data to check. + * @return true if the scene is already in verbose format. */ + static bool IsVerboseFormat(const aiScene* pScene); private: diff --git a/thirdparty/assimp/code/PostProcessing/ValidateDataStructure.cpp b/thirdparty/assimp/code/PostProcessing/ValidateDataStructure.cpp index 712fd6943d..75d1b6ef78 100644 --- a/thirdparty/assimp/code/PostProcessing/ValidateDataStructure.cpp +++ b/thirdparty/assimp/code/PostProcessing/ValidateDataStructure.cpp @@ -538,13 +538,17 @@ void ValidateDSProcess::Validate( const aiAnimation* pAnimation) { Validate(&pAnimation->mName); - // validate all materials - if (pAnimation->mNumChannels) + // validate all animations + if (pAnimation->mNumChannels || pAnimation->mNumMorphMeshChannels) { - if (!pAnimation->mChannels) { + if (!pAnimation->mChannels && pAnimation->mNumChannels) { ReportError("aiAnimation::mChannels is NULL (aiAnimation::mNumChannels is %i)", pAnimation->mNumChannels); } + if (!pAnimation->mMorphMeshChannels && pAnimation->mNumMorphMeshChannels) { + ReportError("aiAnimation::mMorphMeshChannels is NULL (aiAnimation::mNumMorphMeshChannels is %i)", + pAnimation->mNumMorphMeshChannels); + } for (unsigned int i = 0; i < pAnimation->mNumChannels;++i) { if (!pAnimation->mChannels[i]) @@ -554,6 +558,15 @@ void ValidateDSProcess::Validate( const aiAnimation* pAnimation) } Validate(pAnimation, pAnimation->mChannels[i]); } + for (unsigned int i = 0; i < pAnimation->mNumMorphMeshChannels;++i) + { + if (!pAnimation->mMorphMeshChannels[i]) + { + ReportError("aiAnimation::mMorphMeshChannels[%i] is NULL (aiAnimation::mNumMorphMeshChannels is %i)", + i, pAnimation->mNumMorphMeshChannels); + } + Validate(pAnimation, pAnimation->mMorphMeshChannels[i]); + } } else { ReportError("aiAnimation::mNumChannels is 0. At least one node animation channel must be there."); @@ -903,6 +916,48 @@ void ValidateDSProcess::Validate( const aiAnimation* pAnimation, } } +void ValidateDSProcess::Validate( const aiAnimation* pAnimation, + const aiMeshMorphAnim* pMeshMorphAnim) +{ + Validate(&pMeshMorphAnim->mName); + + if (!pMeshMorphAnim->mNumKeys) { + ReportError("Empty mesh morph animation channel"); + } + + // otherwise check whether one of the keys exceeds the total duration of the animation + if (pMeshMorphAnim->mNumKeys) + { + if (!pMeshMorphAnim->mKeys) + { + ReportError("aiMeshMorphAnim::mKeys is NULL (aiMeshMorphAnim::mNumKeys is %i)", + pMeshMorphAnim->mNumKeys); + } + double dLast = -10e10; + for (unsigned int i = 0; i < pMeshMorphAnim->mNumKeys;++i) + { + // ScenePreprocessor will compute the duration if still the default value + // (Aramis) Add small epsilon, comparison tended to fail if max_time == duration, + // seems to be due the compilers register usage/width. + if (pAnimation->mDuration > 0. && pMeshMorphAnim->mKeys[i].mTime > pAnimation->mDuration+0.001) + { + ReportError("aiMeshMorphAnim::mKeys[%i].mTime (%.5f) is larger " + "than aiAnimation::mDuration (which is %.5f)",i, + (float)pMeshMorphAnim->mKeys[i].mTime, + (float)pAnimation->mDuration); + } + if (i && pMeshMorphAnim->mKeys[i].mTime <= dLast) + { + ReportWarning("aiMeshMorphAnim::mKeys[%i].mTime (%.5f) is smaller " + "than aiMeshMorphAnim::mKeys[%i] (which is %.5f)",i, + (float)pMeshMorphAnim->mKeys[i].mTime, + i-1, (float)dLast); + } + dLast = pMeshMorphAnim->mKeys[i].mTime; + } + } +} + // ------------------------------------------------------------------------------------------------ void ValidateDSProcess::Validate( const aiNode* pNode) { @@ -958,7 +1013,7 @@ void ValidateDSProcess::Validate( const aiString* pString) { if (pString->length > MAXLEN) { - ReportError("aiString::length is too large (%lu, maximum is %lu)", + ReportError("aiString::length is too large (%u, maximum is %lu)", pString->length,MAXLEN); } const char* sz = pString->data; diff --git a/thirdparty/assimp/code/PostProcessing/ValidateDataStructure.h b/thirdparty/assimp/code/PostProcessing/ValidateDataStructure.h index 0b891ef414..7b309c9251 100644 --- a/thirdparty/assimp/code/PostProcessing/ValidateDataStructure.h +++ b/thirdparty/assimp/code/PostProcessing/ValidateDataStructure.h @@ -55,6 +55,7 @@ struct aiBone; struct aiMesh; struct aiAnimation; struct aiNodeAnim; +struct aiMeshMorphAnim; struct aiTexture; struct aiMaterial; struct aiNode; @@ -150,6 +151,13 @@ protected: void Validate( const aiAnimation* pAnimation, const aiNodeAnim* pBoneAnim); + /** Validates a mesh morph animation channel. + * @param pAnimation Input animation. + * @param pMeshMorphAnim Mesh morph animation channel. + * */ + void Validate( const aiAnimation* pAnimation, + const aiMeshMorphAnim* pMeshMorphAnim); + // ------------------------------------------------------------------- /** Validates a node and all of its subnodes * @param Node Input node*/ diff --git a/thirdparty/assimp/code/revision.h b/thirdparty/assimp/code/revision.h index 88872aef22..66eb875303 100644 --- a/thirdparty/assimp/code/revision.h +++ b/thirdparty/assimp/code/revision.h @@ -1,7 +1,28 @@ #ifndef ASSIMP_REVISION_H_INC #define ASSIMP_REVISION_H_INC -#define GitVersion 0x00000000 +#define GitVersion 0x308db73d #define GitBranch "master" +#define VER_MAJOR 5 +#define VER_MINOR 0 +#define VER_PATCH 0 +#define VER_BUILD 0 + +#define STR_HELP(x) #x +#define STR(x) STR_HELP(x) + +#define VER_FILEVERSION VER_MAJOR,VER_MINOR,VER_PATCH,VER_BUILD +#if (GitVersion == 0) +#define VER_FILEVERSION_STR STR(VER_MAJOR) "." STR(VER_MINOR) "." STR(VER_PATCH) "." STR(VER_BUILD) +#else +#define VER_FILEVERSION_STR STR(VER_MAJOR) "." STR(VER_MINOR) "." STR(VER_PATCH) "." STR(VER_BUILD) " (Commit 308db73d)" +#endif + +#ifdef NDEBUG +#define VER_ORIGINAL_FILENAME_STR "assimp.dll" +#else +#define VER_ORIGINAL_FILENAME_STR "assimp.dll" +#endif // NDEBUG + #endif // ASSIMP_REVISION_H_INC diff --git a/thirdparty/assimp/include/assimp/.editorconfig b/thirdparty/assimp/include/assimp/.editorconfig new file mode 100644 index 0000000000..9ea66423ad --- /dev/null +++ b/thirdparty/assimp/include/assimp/.editorconfig @@ -0,0 +1,8 @@ +# See <http://EditorConfig.org> for details + +[*.{h,hpp,inl}] +end_of_line = lf +insert_final_newline = true +trim_trailing_whitespace = true +indent_size = 4 +indent_style = space diff --git a/thirdparty/assimp/include/assimp/BaseImporter.h b/thirdparty/assimp/include/assimp/BaseImporter.h index 55f7fe3754..ad8a3dafd8 100644 --- a/thirdparty/assimp/include/assimp/BaseImporter.h +++ b/thirdparty/assimp/include/assimp/BaseImporter.h @@ -41,9 +41,14 @@ OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. */ /** @file Definition of the base class for all importer worker classes. */ +#pragma once #ifndef INCLUDED_AI_BASEIMPORTER_H #define INCLUDED_AI_BASEIMPORTER_H +#ifdef __GNUC__ +# pragma GCC system_header +#endif + #include "Exceptional.h" #include <vector> @@ -191,16 +196,13 @@ public: /** * Assimp Importer * unit conversions available - * if you need another measurment unit add it below. - * it's currently defined in assimp that we prefer meters. + * NOTE: Valid options are initialised in the + * constructor in the implementation file to + * work around a VS2013 compiler bug if support + * for that compiler is dropped in the future + * initialisation can be moved back here * */ - std::map<ImporterUnits, double> importerUnits = { - {ImporterUnits::M, 1}, - {ImporterUnits::CM, 0.01}, - {ImporterUnits::MM, 0.001}, - {ImporterUnits::INCHES, 0.0254}, - {ImporterUnits::FEET, 0.3048} - }; + std::map<ImporterUnits, double> importerUnits; virtual void SetApplicationUnits( const ImporterUnits& unit ) { diff --git a/thirdparty/assimp/include/assimp/Bitmap.h b/thirdparty/assimp/include/assimp/Bitmap.h index e6b5fb1327..4c3f5a437b 100644 --- a/thirdparty/assimp/include/assimp/Bitmap.h +++ b/thirdparty/assimp/include/assimp/Bitmap.h @@ -46,10 +46,14 @@ OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. * * Used for file formats which embed their textures into the model file. */ - +#pragma once #ifndef AI_BITMAP_H_INC #define AI_BITMAP_H_INC +#ifdef __GNUC__ +# pragma GCC system_header +#endif + #include "defs.h" #include <stdint.h> #include <cstddef> diff --git a/thirdparty/assimp/include/assimp/ByteSwapper.h b/thirdparty/assimp/include/assimp/ByteSwapper.h index 20a2463fb8..3f14c471a8 100644 --- a/thirdparty/assimp/include/assimp/ByteSwapper.h +++ b/thirdparty/assimp/include/assimp/ByteSwapper.h @@ -42,9 +42,14 @@ OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. /** @file Helper class tp perform various byte oder swappings (e.g. little to big endian) */ +#pragma once #ifndef AI_BYTESWAPPER_H_INC #define AI_BYTESWAPPER_H_INC +#ifdef __GNUC__ +# pragma GCC system_header +#endif + #include <assimp/ai_assert.h> #include <assimp/types.h> #include <stdint.h> diff --git a/thirdparty/assimp/include/assimp/CreateAnimMesh.h b/thirdparty/assimp/include/assimp/CreateAnimMesh.h index a60173588f..1266d1de11 100644 --- a/thirdparty/assimp/include/assimp/CreateAnimMesh.h +++ b/thirdparty/assimp/include/assimp/CreateAnimMesh.h @@ -43,16 +43,26 @@ OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. /** @file CreateAnimMesh.h * Create AnimMesh from Mesh */ +#pragma once #ifndef INCLUDED_AI_CREATE_ANIM_MESH_H #define INCLUDED_AI_CREATE_ANIM_MESH_H +#ifdef __GNUC__ +# pragma GCC system_header +#endif + #include <assimp/mesh.h> -namespace Assimp { +namespace Assimp { -/** Create aiAnimMesh from aiMesh. */ +/** + * Create aiAnimMesh from aiMesh. + * @param mesh The input mesh to create an animated mesh from. + * @return The new created animated mesh. + */ ASSIMP_API aiAnimMesh *aiCreateAnimMesh(const aiMesh *mesh); } // end of namespace Assimp + #endif // INCLUDED_AI_CREATE_ANIM_MESH_H diff --git a/thirdparty/assimp/include/assimp/DefaultIOStream.h b/thirdparty/assimp/include/assimp/DefaultIOStream.h index 994d728ff5..c6d382c1b5 100644 --- a/thirdparty/assimp/include/assimp/DefaultIOStream.h +++ b/thirdparty/assimp/include/assimp/DefaultIOStream.h @@ -41,15 +41,20 @@ OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. */ /** @file Default file I/O using fXXX()-family of functions */ +#pragma once #ifndef AI_DEFAULTIOSTREAM_H_INC #define AI_DEFAULTIOSTREAM_H_INC +#ifdef __GNUC__ +# pragma GCC system_header +#endif + #include <stdio.h> #include <assimp/IOStream.hpp> #include <assimp/importerdesc.h> #include <assimp/Defines.h> -namespace Assimp { +namespace Assimp { // ---------------------------------------------------------------------------------- //! @class DefaultIOStream @@ -57,8 +62,7 @@ namespace Assimp { //! @note An instance of this class can exist without a valid file handle //! attached to it. All calls fail, but the instance can nevertheless be //! used with no restrictions. -class ASSIMP_API DefaultIOStream : public IOStream -{ +class ASSIMP_API DefaultIOStream : public IOStream { friend class DefaultIOSystem; #if __ANDROID__ # if __ANDROID_API__ > 9 @@ -82,7 +86,6 @@ public: size_t pSize, size_t pCount); - // ------------------------------------------------------------------- /// Write to stream size_t Write(const void* pvBuffer, @@ -107,16 +110,13 @@ public: void Flush(); private: - // File data-structure, using clib FILE* mFile; - // Filename std::string mFilename; - // Cached file size mutable size_t mCachedSize; }; // ---------------------------------------------------------------------------------- -inline +AI_FORCE_INLINE DefaultIOStream::DefaultIOStream() AI_NO_EXCEPT : mFile(nullptr) , mFilename("") @@ -125,7 +125,7 @@ DefaultIOStream::DefaultIOStream() AI_NO_EXCEPT } // ---------------------------------------------------------------------------------- -inline +AI_FORCE_INLINE DefaultIOStream::DefaultIOStream (FILE* pFile, const std::string &strFilename) : mFile(pFile) , mFilename(strFilename) @@ -137,4 +137,3 @@ DefaultIOStream::DefaultIOStream (FILE* pFile, const std::string &strFilename) } // ns assimp #endif //!!AI_DEFAULTIOSTREAM_H_INC - diff --git a/thirdparty/assimp/include/assimp/DefaultIOSystem.h b/thirdparty/assimp/include/assimp/DefaultIOSystem.h index 2dd5c801b5..46f6d447c5 100644 --- a/thirdparty/assimp/include/assimp/DefaultIOSystem.h +++ b/thirdparty/assimp/include/assimp/DefaultIOSystem.h @@ -41,9 +41,14 @@ OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. */ /** @file Default implementation of IOSystem using the standard C file functions */ +#pragma once #ifndef AI_DEFAULTIOSYSTEM_H_INC #define AI_DEFAULTIOSYSTEM_H_INC +#ifdef __GNUC__ +# pragma GCC system_header +#endif + #include <assimp/IOSystem.hpp> namespace Assimp { diff --git a/thirdparty/assimp/include/assimp/Defines.h b/thirdparty/assimp/include/assimp/Defines.h index 15e1d83c26..be3e2fafd6 100644 --- a/thirdparty/assimp/include/assimp/Defines.h +++ b/thirdparty/assimp/include/assimp/Defines.h @@ -38,6 +38,14 @@ OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. ---------------------------------------------------------------------- */ +#pragma once +#ifndef AI_DEFINES_H_INC +#define AI_DEFINES_H_INC + +#ifdef __GNUC__ +# pragma GCC system_header +#endif + // We need those constants, workaround for any platforms where nobody defined them yet #if (!defined SIZE_MAX) # define SIZE_MAX (~((size_t)0)) @@ -47,3 +55,4 @@ OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. # define UINT_MAX (~((unsigned int)0)) #endif +#endif // AI_DEINES_H_INC diff --git a/thirdparty/assimp/include/assimp/Exceptional.h b/thirdparty/assimp/include/assimp/Exceptional.h index 5109b8f077..6bb6ce1e39 100644 --- a/thirdparty/assimp/include/assimp/Exceptional.h +++ b/thirdparty/assimp/include/assimp/Exceptional.h @@ -38,11 +38,17 @@ OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. ---------------------------------------------------------------------- */ -#ifndef INCLUDED_EXCEPTIONAL_H -#define INCLUDED_EXCEPTIONAL_H +#pragma once +#ifndef AI_INCLUDED_EXCEPTIONAL_H +#define AI_INCLUDED_EXCEPTIONAL_H + +#ifdef __GNUC__ +# pragma GCC system_header +#endif #include <stdexcept> #include <assimp/DefaultIOStream.h> + using std::runtime_error; #ifdef _MSC_VER @@ -53,17 +59,14 @@ using std::runtime_error; /** FOR IMPORTER PLUGINS ONLY: Simple exception class to be thrown if an * unrecoverable error occurs while importing. Loading APIs return * NULL instead of a valid aiScene then. */ -class DeadlyImportError - : public runtime_error -{ +class DeadlyImportError : public runtime_error { public: /** Constructor with arguments */ explicit DeadlyImportError( const std::string& errorText) - : runtime_error(errorText) - { + : runtime_error(errorText) { + // empty } -private: }; typedef DeadlyImportError DeadlyExportError; @@ -84,7 +87,7 @@ struct ExceptionSwallower { template <typename T> struct ExceptionSwallower<T*> { T* operator ()() const { - return NULL; + return nullptr; } }; @@ -122,4 +125,4 @@ struct ExceptionSwallower<void> { }\ } -#endif // INCLUDED_EXCEPTIONAL_H +#endif // AI_INCLUDED_EXCEPTIONAL_H diff --git a/thirdparty/assimp/include/assimp/Exporter.hpp b/thirdparty/assimp/include/assimp/Exporter.hpp index ea0303e804..2612e1f9d2 100644 --- a/thirdparty/assimp/include/assimp/Exporter.hpp +++ b/thirdparty/assimp/include/assimp/Exporter.hpp @@ -48,6 +48,10 @@ OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. #ifndef AI_EXPORT_HPP_INC #define AI_EXPORT_HPP_INC +#ifdef __GNUC__ +# pragma GCC system_header +#endif + #ifndef ASSIMP_BUILD_NO_EXPORT #include "cexport.h" diff --git a/thirdparty/assimp/include/assimp/GenericProperty.h b/thirdparty/assimp/include/assimp/GenericProperty.h index 183ecd5197..7796d595b8 100644 --- a/thirdparty/assimp/include/assimp/GenericProperty.h +++ b/thirdparty/assimp/include/assimp/GenericProperty.h @@ -40,12 +40,17 @@ OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. ---------------------------------------------------------------------- */ +#pragma once #ifndef AI_GENERIC_PROPERTY_H_INCLUDED #define AI_GENERIC_PROPERTY_H_INCLUDED +#ifdef __GNUC__ +# pragma GCC system_header +#endif + #include <assimp/Importer.hpp> #include <assimp/ai_assert.h> -#include "Hash.h" +#include <assimp/Hash.h> #include <map> diff --git a/thirdparty/assimp/include/assimp/Hash.h b/thirdparty/assimp/include/assimp/Hash.h index 30657be198..9056440789 100644 --- a/thirdparty/assimp/include/assimp/Hash.h +++ b/thirdparty/assimp/include/assimp/Hash.h @@ -39,10 +39,14 @@ OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. ---------------------------------------------------------------------- */ - +#pragma once #ifndef AI_HASH_H_INCLUDED #define AI_HASH_H_INCLUDED +#ifdef __GNUC__ +# pragma GCC system_header +#endif + #include <stdint.h> #include <string.h> diff --git a/thirdparty/assimp/include/assimp/IOStream.hpp b/thirdparty/assimp/include/assimp/IOStream.hpp index 0623d0f70b..39932cd949 100644 --- a/thirdparty/assimp/include/assimp/IOStream.hpp +++ b/thirdparty/assimp/include/assimp/IOStream.hpp @@ -48,14 +48,18 @@ OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. #ifndef AI_IOSTREAM_H_INC #define AI_IOSTREAM_H_INC -#include "types.h" +#ifdef __GNUC__ +# pragma GCC system_header +#endif + +#include <assimp/types.h> #ifndef __cplusplus # error This header requires C++ to be used. aiFileIO.h is the \ corresponding C interface. #endif -namespace Assimp { +namespace Assimp { // ---------------------------------------------------------------------------------- /** @brief CPP-API: Class to handle file I/O for C++ @@ -125,13 +129,13 @@ public: }; //! class IOStream // ---------------------------------------------------------------------------------- -inline +AI_FORCE_INLINE IOStream::IOStream() AI_NO_EXCEPT { // empty } // ---------------------------------------------------------------------------------- -inline +AI_FORCE_INLINE IOStream::~IOStream() { // empty } diff --git a/thirdparty/assimp/include/assimp/IOStreamBuffer.h b/thirdparty/assimp/include/assimp/IOStreamBuffer.h index 58abd97a02..97c84b23e2 100644 --- a/thirdparty/assimp/include/assimp/IOStreamBuffer.h +++ b/thirdparty/assimp/include/assimp/IOStreamBuffer.h @@ -1,5 +1,3 @@ -#pragma once - /* Open Asset Import Library (assimp) ---------------------------------------------------------------------- @@ -42,10 +40,17 @@ OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. ---------------------------------------------------------------------- */ +#pragma once +#ifndef AI_IOSTREAMBUFFER_H_INC +#define AI_IOSTREAMBUFFER_H_INC + +#ifdef __GNUC__ +# pragma GCC system_header +#endif + #include <assimp/types.h> #include <assimp/IOStream.hpp> - -#include "ParsingUtils.h" +#include <assimp/ParsingUtils.h> #include <vector> @@ -124,7 +129,7 @@ private: }; template<class T> -inline +AI_FORCE_INLINE IOStreamBuffer<T>::IOStreamBuffer( size_t cache ) : m_stream( nullptr ) , m_filesize( 0 ) @@ -138,13 +143,13 @@ IOStreamBuffer<T>::IOStreamBuffer( size_t cache ) } template<class T> -inline +AI_FORCE_INLINE IOStreamBuffer<T>::~IOStreamBuffer() { // empty } template<class T> -inline +AI_FORCE_INLINE bool IOStreamBuffer<T>::open( IOStream *stream ) { // file still opened! if ( nullptr != m_stream ) { @@ -174,7 +179,7 @@ bool IOStreamBuffer<T>::open( IOStream *stream ) { } template<class T> -inline +AI_FORCE_INLINE bool IOStreamBuffer<T>::close() { if ( nullptr == m_stream ) { return false; @@ -192,19 +197,19 @@ bool IOStreamBuffer<T>::close() { } template<class T> -inline +AI_FORCE_INLINE size_t IOStreamBuffer<T>::size() const { return m_filesize; } template<class T> -inline +AI_FORCE_INLINE size_t IOStreamBuffer<T>::cacheSize() const { return m_cacheSize; } template<class T> -inline +AI_FORCE_INLINE bool IOStreamBuffer<T>::readNextBlock() { m_stream->Seek( m_filePos, aiOrigin_SET ); size_t readLen = m_stream->Read( &m_cache[ 0 ], sizeof( T ), m_cacheSize ); @@ -222,25 +227,25 @@ bool IOStreamBuffer<T>::readNextBlock() { } template<class T> -inline +AI_FORCE_INLINE size_t IOStreamBuffer<T>::getNumBlocks() const { return m_numBlocks; } template<class T> -inline +AI_FORCE_INLINE size_t IOStreamBuffer<T>::getCurrentBlockIndex() const { return m_blockIdx; } template<class T> -inline +AI_FORCE_INLINE size_t IOStreamBuffer<T>::getFilePos() const { return m_filePos; } template<class T> -inline +AI_FORCE_INLINE bool IOStreamBuffer<T>::getNextDataLine( std::vector<T> &buffer, T continuationToken ) { buffer.resize( m_cacheSize ); if ( m_cachePos >= m_cacheSize || 0 == m_filePos ) { @@ -289,13 +294,13 @@ bool IOStreamBuffer<T>::getNextDataLine( std::vector<T> &buffer, T continuationT return true; } -static inline +static AI_FORCE_INLINE bool isEndOfCache( size_t pos, size_t cacheSize ) { return ( pos == cacheSize ); } template<class T> -inline +AI_FORCE_INLINE bool IOStreamBuffer<T>::getNextLine(std::vector<T> &buffer) { buffer.resize(m_cacheSize); if ( isEndOfCache( m_cachePos, m_cacheSize ) || 0 == m_filePos) { @@ -335,7 +340,7 @@ bool IOStreamBuffer<T>::getNextLine(std::vector<T> &buffer) { } template<class T> -inline +AI_FORCE_INLINE bool IOStreamBuffer<T>::getNextBlock( std::vector<T> &buffer) { // Return the last block-value if getNextLine was used before if ( 0 != m_cachePos ) { @@ -353,3 +358,5 @@ bool IOStreamBuffer<T>::getNextBlock( std::vector<T> &buffer) { } } // !ns Assimp + +#endif // AI_IOSTREAMBUFFER_H_INC diff --git a/thirdparty/assimp/include/assimp/IOSystem.hpp b/thirdparty/assimp/include/assimp/IOSystem.hpp index 78139c2839..f1fb3b0c27 100644 --- a/thirdparty/assimp/include/assimp/IOSystem.hpp +++ b/thirdparty/assimp/include/assimp/IOSystem.hpp @@ -50,6 +50,10 @@ OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. #ifndef AI_IOSYSTEM_H_INC #define AI_IOSYSTEM_H_INC +#ifdef __GNUC__ +# pragma GCC system_header +#endif + #ifndef __cplusplus # error This header requires C++ to be used. aiFileIO.h is the \ corresponding C interface. diff --git a/thirdparty/assimp/include/assimp/Importer.hpp b/thirdparty/assimp/include/assimp/Importer.hpp index 4941df4122..bf449a9a25 100644 --- a/thirdparty/assimp/include/assimp/Importer.hpp +++ b/thirdparty/assimp/include/assimp/Importer.hpp @@ -48,6 +48,10 @@ OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. #ifndef AI_ASSIMP_HPP_INC #define AI_ASSIMP_HPP_INC +#ifdef __GNUC__ +# pragma GCC system_header +#endif + #ifndef __cplusplus # error This header requires C++ to be used. Use assimp.h for plain C. #endif // __cplusplus diff --git a/thirdparty/assimp/include/assimp/LineSplitter.h b/thirdparty/assimp/include/assimp/LineSplitter.h index 4afe45b92a..6c1097bb6d 100644 --- a/thirdparty/assimp/include/assimp/LineSplitter.h +++ b/thirdparty/assimp/include/assimp/LineSplitter.h @@ -48,9 +48,13 @@ OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. #ifndef INCLUDED_LINE_SPLITTER_H #define INCLUDED_LINE_SPLITTER_H +#ifdef __GNUC__ +# pragma GCC system_header +#endif + #include <stdexcept> -#include "StreamReader.h" -#include "ParsingUtils.h" +#include <assimp/StreamReader.h> +#include <assimp/ParsingUtils.h> namespace Assimp { @@ -140,7 +144,7 @@ private: bool mSwallow, mSkip_empty_lines, mTrim; }; -inline +AI_FORCE_INLINE LineSplitter::LineSplitter(StreamReaderLE& stream, bool skip_empty_lines, bool trim ) : mIdx(0) , mCur() @@ -153,12 +157,12 @@ LineSplitter::LineSplitter(StreamReaderLE& stream, bool skip_empty_lines, bool t mIdx = 0; } -inline +AI_FORCE_INLINE LineSplitter::~LineSplitter() { // empty } -inline +AI_FORCE_INLINE LineSplitter& LineSplitter::operator++() { if (mSwallow) { mSwallow = false; @@ -199,12 +203,12 @@ LineSplitter& LineSplitter::operator++() { return *this; } -inline +AI_FORCE_INLINE LineSplitter &LineSplitter::operator++(int) { return ++(*this); } -inline +AI_FORCE_INLINE const char *LineSplitter::operator[] (size_t idx) const { const char* s = operator->()->c_str(); @@ -222,7 +226,7 @@ const char *LineSplitter::operator[] (size_t idx) const { } template <size_t N> -inline +AI_FORCE_INLINE void LineSplitter::get_tokens(const char* (&tokens)[N]) const { const char* s = operator->()->c_str(); @@ -238,44 +242,44 @@ void LineSplitter::get_tokens(const char* (&tokens)[N]) const { } } -inline +AI_FORCE_INLINE const std::string* LineSplitter::operator -> () const { return &mCur; } -inline +AI_FORCE_INLINE std::string LineSplitter::operator* () const { return mCur; } -inline +AI_FORCE_INLINE LineSplitter::operator bool() const { return mStream.GetRemainingSize() > 0; } -inline +AI_FORCE_INLINE LineSplitter::operator line_idx() const { return mIdx; } -inline +AI_FORCE_INLINE LineSplitter::line_idx LineSplitter::get_index() const { return mIdx; } -inline +AI_FORCE_INLINE StreamReaderLE &LineSplitter::get_stream() { return mStream; } -inline +AI_FORCE_INLINE bool LineSplitter::match_start(const char* check) { const size_t len = ::strlen(check); return len <= mCur.length() && std::equal(check, check + len, mCur.begin()); } -inline +AI_FORCE_INLINE void LineSplitter::swallow_next_increment() { mSwallow = true; } diff --git a/thirdparty/assimp/include/assimp/LogAux.h b/thirdparty/assimp/include/assimp/LogAux.h index 558485272e..bcead78dd3 100644 --- a/thirdparty/assimp/include/assimp/LogAux.h +++ b/thirdparty/assimp/include/assimp/LogAux.h @@ -43,9 +43,14 @@ OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. /** @file LogAux.h * @brief Common logging usage patterns for importer implementations */ +#pragma once #ifndef INCLUDED_AI_LOGAUX_H #define INCLUDED_AI_LOGAUX_H +#ifdef __GNUC__ +# pragma GCC system_header +#endif + #include <assimp/TinyFormatter.h> #include <assimp/Exceptional.h> #include <assimp/DefaultLogger.hpp> diff --git a/thirdparty/assimp/include/assimp/Macros.h b/thirdparty/assimp/include/assimp/Macros.h deleted file mode 100644 index 6515303372..0000000000 --- a/thirdparty/assimp/include/assimp/Macros.h +++ /dev/null @@ -1,49 +0,0 @@ -/* ---------------------------------------------------------------------------- -Open Asset Import Library (assimp) ---------------------------------------------------------------------------- - -Copyright (c) 2006-2019, assimp team - -All rights reserved. - -Redistribution and use of this software in source and binary forms, -with or without modification, are permitted provided that the following -conditions are met: - -* Redistributions of source code must retain the above - copyright notice, this list of conditions and the - following disclaimer. - -* Redistributions in binary form must reproduce the above - copyright notice, this list of conditions and the - following disclaimer in the documentation and/or other - materials provided with the distribution. - -* Neither the name of the assimp team, nor the names of its - contributors may be used to endorse or promote products - derived from this software without specific prior - written permission of the assimp team. - -THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS -"AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT -LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR -A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT -OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, -SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT -LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, -DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY -THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT -(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE -OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. ---------------------------------------------------------------------------- -*/ - -/* Helper macro to set a pointer to NULL in debug builds - */ -#if (defined ASSIMP_BUILD_DEBUG) -# define AI_DEBUG_INVALIDATE_PTR(x) x = NULL; -#else -# define AI_DEBUG_INVALIDATE_PTR(x) -#endif - diff --git a/thirdparty/assimp/include/assimp/MathFunctions.h b/thirdparty/assimp/include/assimp/MathFunctions.h index cb3b696076..b6c5872a72 100644 --- a/thirdparty/assimp/include/assimp/MathFunctions.h +++ b/thirdparty/assimp/include/assimp/MathFunctions.h @@ -39,22 +39,28 @@ OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. --------------------------------------------------------------------------- */ +#pragma once + +#ifdef __GNUC__ +# pragma GCC system_header +#endif + /** @file MathFunctions.h - * @brief Implementation of the math functions (gcd and lcm) +* @brief Implementation of math utility functions. * - * Copied from BoostWorkaround/math - */ +*/ + +#include <limits> namespace Assimp { namespace Math { // TODO: use binary GCD for unsigned integers .... template < typename IntegerType > -IntegerType gcd( IntegerType a, IntegerType b ) -{ +inline +IntegerType gcd( IntegerType a, IntegerType b ) { const IntegerType zero = (IntegerType)0; - while ( true ) - { + while ( true ) { if ( a == zero ) return b; b %= a; @@ -66,12 +72,19 @@ IntegerType gcd( IntegerType a, IntegerType b ) } template < typename IntegerType > -IntegerType lcm( IntegerType a, IntegerType b ) -{ +inline +IntegerType lcm( IntegerType a, IntegerType b ) { const IntegerType t = gcd (a,b); - if (!t)return t; + if (!t) + return t; return a / t * b; } +template<class T> +inline +T getEpsilon() { + return std::numeric_limits<T>::epsilon(); +} + } } diff --git a/thirdparty/assimp/include/assimp/MemoryIOWrapper.h b/thirdparty/assimp/include/assimp/MemoryIOWrapper.h index c522787184..5598d4fc5f 100644 --- a/thirdparty/assimp/include/assimp/MemoryIOWrapper.h +++ b/thirdparty/assimp/include/assimp/MemoryIOWrapper.h @@ -42,12 +42,18 @@ OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. /** @file MemoryIOWrapper.h * Handy IOStream/IOSystem implemetation to read directly from a memory buffer */ +#pragma once #ifndef AI_MEMORYIOSTREAM_H_INC #define AI_MEMORYIOSTREAM_H_INC +#ifdef __GNUC__ +# pragma GCC system_header +#endif + #include <assimp/IOStream.hpp> #include <assimp/IOSystem.hpp> #include <assimp/ai_assert.h> + #include <stdint.h> namespace Assimp { diff --git a/thirdparty/assimp/include/assimp/ParsingUtils.h b/thirdparty/assimp/include/assimp/ParsingUtils.h index 6b9574fc67..3025601246 100644 --- a/thirdparty/assimp/include/assimp/ParsingUtils.h +++ b/thirdparty/assimp/include/assimp/ParsingUtils.h @@ -44,11 +44,16 @@ OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. /** @file ParsingUtils.h * @brief Defines helper functions for text parsing */ +#pragma once #ifndef AI_PARSING_UTILS_H_INC #define AI_PARSING_UTILS_H_INC -#include "StringComparison.h" -#include "StringUtils.h" +#ifdef __GNUC__ +# pragma GCC system_header +#endif + +#include <assimp/StringComparison.h> +#include <assimp/StringUtils.h> #include <assimp/defs.h> namespace Assimp { diff --git a/thirdparty/assimp/include/assimp/Profiler.h b/thirdparty/assimp/include/assimp/Profiler.h index 6ff9d41c0a..624029be99 100644 --- a/thirdparty/assimp/include/assimp/Profiler.h +++ b/thirdparty/assimp/include/assimp/Profiler.h @@ -43,12 +43,17 @@ OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. /** @file Profiler.h * @brief Utility to measure the respective runtime of each import step */ -#ifndef INCLUDED_PROFILER_H -#define INCLUDED_PROFILER_H +#pragma once +#ifndef AI_INCLUDED_PROFILER_H +#define AI_INCLUDED_PROFILER_H + +#ifdef __GNUC__ +# pragma GCC system_header +#endif #include <chrono> #include <assimp/DefaultLogger.hpp> -#include "TinyFormatter.h" +#include <assimp/TinyFormatter.h> #include <map> @@ -67,7 +72,6 @@ public: // empty } -public: /** Start a named timer */ void BeginRegion(const std::string& region) { @@ -95,5 +99,5 @@ private: } } -#endif +#endif // AI_INCLUDED_PROFILER_H diff --git a/thirdparty/assimp/include/assimp/ProgressHandler.hpp b/thirdparty/assimp/include/assimp/ProgressHandler.hpp index 4e47f1d0a6..8991a64618 100644 --- a/thirdparty/assimp/include/assimp/ProgressHandler.hpp +++ b/thirdparty/assimp/include/assimp/ProgressHandler.hpp @@ -47,9 +47,13 @@ OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. #ifndef AI_PROGRESSHANDLER_H_INC #define AI_PROGRESSHANDLER_H_INC -#include "types.h" +#ifdef __GNUC__ +# pragma GCC system_header +#endif + +#include <assimp/types.h> -namespace Assimp { +namespace Assimp { // ------------------------------------------------------------------------------------ /** @brief CPP-API: Abstract interface for custom progress report receivers. diff --git a/thirdparty/assimp/include/assimp/RemoveComments.h b/thirdparty/assimp/include/assimp/RemoveComments.h index 404b496719..f129420535 100644 --- a/thirdparty/assimp/include/assimp/RemoveComments.h +++ b/thirdparty/assimp/include/assimp/RemoveComments.h @@ -4,7 +4,6 @@ Open Asset Import Library (assimp) Copyright (c) 2006-2019, assimp team - All rights reserved. Redistribution and use of this software in source and binary forms, @@ -43,9 +42,13 @@ OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. /** @file Declares a helper class, "CommentRemover", which can be * used to remove comments (single and multi line) from a text file. */ +#pragma once #ifndef AI_REMOVE_COMMENTS_H_INC #define AI_REMOVE_COMMENTS_H_INC +#ifdef __GNUC__ +# pragma GCC system_header +#endif #include <assimp/defs.h> @@ -58,8 +61,7 @@ namespace Assimp { * to those in C or C++ so this code has been moved to a separate * module. */ -class ASSIMP_API CommentRemover -{ +class ASSIMP_API CommentRemover { // class cannot be instanced CommentRemover() {} diff --git a/thirdparty/assimp/include/assimp/SGSpatialSort.h b/thirdparty/assimp/include/assimp/SGSpatialSort.h index 5b4f3f41f2..fdb5ce8174 100644 --- a/thirdparty/assimp/include/assimp/SGSpatialSort.h +++ b/thirdparty/assimp/include/assimp/SGSpatialSort.h @@ -42,9 +42,14 @@ OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. /** Small helper classes to optimize finding vertices close to a given location */ +#pragma once #ifndef AI_D3DSSPATIALSORT_H_INC #define AI_D3DSSPATIALSORT_H_INC +#ifdef __GNUC__ +# pragma GCC system_header +#endif + #include <assimp/types.h> #include <vector> #include <stdint.h> diff --git a/thirdparty/assimp/include/assimp/SceneCombiner.h b/thirdparty/assimp/include/assimp/SceneCombiner.h index 679a2acea4..0683c1e052 100644 --- a/thirdparty/assimp/include/assimp/SceneCombiner.h +++ b/thirdparty/assimp/include/assimp/SceneCombiner.h @@ -43,17 +43,22 @@ OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. /** @file Declares a helper class, "SceneCombiner" providing various * utilities to merge scenes. */ +#pragma once #ifndef AI_SCENE_COMBINER_H_INC #define AI_SCENE_COMBINER_H_INC +#ifdef __GNUC__ +# pragma GCC system_header +#endif + #include <assimp/ai_assert.h> #include <assimp/types.h> #include <assimp/Defines.h> + #include <stddef.h> #include <set> #include <list> #include <stdint.h> - #include <vector> struct aiScene; @@ -65,8 +70,10 @@ struct aiLight; struct aiMetadata; struct aiBone; struct aiMesh; +struct aiAnimMesh; struct aiAnimation; struct aiNodeAnim; +struct aiMeshMorphAnim; namespace Assimp { @@ -363,6 +370,7 @@ public: static void Copy (aiMesh** dest, const aiMesh* src); // similar to Copy(): + static void Copy (aiAnimMesh** dest, const aiAnimMesh* src); static void Copy (aiMaterial** dest, const aiMaterial* src); static void Copy (aiTexture** dest, const aiTexture* src); static void Copy (aiAnimation** dest, const aiAnimation* src); @@ -370,6 +378,7 @@ public: static void Copy (aiBone** dest, const aiBone* src); static void Copy (aiLight** dest, const aiLight* src); static void Copy (aiNodeAnim** dest, const aiNodeAnim* src); + static void Copy (aiMeshMorphAnim** dest, const aiMeshMorphAnim* src); static void Copy (aiMetadata** dest, const aiMetadata* src); // recursive, of course diff --git a/thirdparty/assimp/include/assimp/SkeletonMeshBuilder.h b/thirdparty/assimp/include/assimp/SkeletonMeshBuilder.h index f9b8d9f55c..ad979a33fa 100644 --- a/thirdparty/assimp/include/assimp/SkeletonMeshBuilder.h +++ b/thirdparty/assimp/include/assimp/SkeletonMeshBuilder.h @@ -47,9 +47,14 @@ OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. * for animation skeletons. */ +#pragma once #ifndef AI_SKELETONMESHBUILDER_H_INC #define AI_SKELETONMESHBUILDER_H_INC +#ifdef __GNUC__ +# pragma GCC system_header +#endif + #include <vector> #include <assimp/mesh.h> diff --git a/thirdparty/assimp/include/assimp/SmoothingGroups.h b/thirdparty/assimp/include/assimp/SmoothingGroups.h index 92d65cea02..c1a93947f1 100644 --- a/thirdparty/assimp/include/assimp/SmoothingGroups.h +++ b/thirdparty/assimp/include/assimp/SmoothingGroups.h @@ -43,10 +43,16 @@ OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. /** @file Defines the helper data structures for importing 3DS files. http://www.jalix.org/ressources/graphics/3DS/_unofficials/3ds-unofficial.txt */ +#pragma once #ifndef AI_SMOOTHINGGROUPS_H_INC #define AI_SMOOTHINGGROUPS_H_INC +#ifdef __GNUC__ +# pragma GCC system_header +#endif + #include <assimp/vector3.h> + #include <stdint.h> #include <vector> diff --git a/thirdparty/assimp/include/assimp/SmoothingGroups.inl b/thirdparty/assimp/include/assimp/SmoothingGroups.inl index 84ea4a1b00..37ea083dbe 100644 --- a/thirdparty/assimp/include/assimp/SmoothingGroups.inl +++ b/thirdparty/assimp/include/assimp/SmoothingGroups.inl @@ -41,13 +41,16 @@ OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. /** @file Generation of normal vectors basing on smoothing groups */ +#pragma once #ifndef AI_SMOOTHINGGROUPS_INL_INCLUDED #define AI_SMOOTHINGGROUPS_INL_INCLUDED -// internal headers +#ifdef __GNUC__ +# pragma GCC system_header +#endif + #include <assimp/SGSpatialSort.h> -// CRT header #include <algorithm> using namespace Assimp; diff --git a/thirdparty/assimp/include/assimp/SpatialSort.h b/thirdparty/assimp/include/assimp/SpatialSort.h index 61b345bcbf..9f93543150 100644 --- a/thirdparty/assimp/include/assimp/SpatialSort.h +++ b/thirdparty/assimp/include/assimp/SpatialSort.h @@ -41,9 +41,14 @@ OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. */ /** Small helper classes to optimise finding vertizes close to a given location */ +#pragma once #ifndef AI_SPATIALSORT_H_INC #define AI_SPATIALSORT_H_INC +#ifdef __GNUC__ +# pragma GCC system_header +#endif + #include <vector> #include <assimp/types.h> diff --git a/thirdparty/assimp/include/assimp/StandardShapes.h b/thirdparty/assimp/include/assimp/StandardShapes.h index 3791569b83..c594cb63f4 100644 --- a/thirdparty/assimp/include/assimp/StandardShapes.h +++ b/thirdparty/assimp/include/assimp/StandardShapes.h @@ -41,11 +41,16 @@ OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. */ /** @file Declares a helper class, "StandardShapes" which generates - * vertices for standard shapes, such as cylnders, cones, spheres .. + * vertices for standard shapes, such as cylinders, cones, spheres .. */ +#pragma once #ifndef AI_STANDARD_SHAPES_H_INC #define AI_STANDARD_SHAPES_H_INC +#ifdef __GNUC__ +# pragma GCC system_header +#endif + #include <assimp/vector3.h> #include <vector> diff --git a/thirdparty/assimp/include/assimp/StreamReader.h b/thirdparty/assimp/include/assimp/StreamReader.h index 9116c14261..cb24f1595b 100644 --- a/thirdparty/assimp/include/assimp/StreamReader.h +++ b/thirdparty/assimp/include/assimp/StreamReader.h @@ -44,15 +44,19 @@ OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. /** @file Defines the StreamReader class which reads data from * a binary stream with a well-defined endianness. */ - +#pragma once #ifndef AI_STREAMREADER_H_INCLUDED #define AI_STREAMREADER_H_INCLUDED +#ifdef __GNUC__ +# pragma GCC system_header +#endif + #include <assimp/IOStream.hpp> #include <assimp/Defines.h> +#include <assimp/ByteSwapper.h> +#include <assimp/Exceptional.h> -#include "ByteSwapper.h" -#include "Exceptional.h" #include <memory> namespace Assimp { diff --git a/thirdparty/assimp/include/assimp/StreamWriter.h b/thirdparty/assimp/include/assimp/StreamWriter.h index c7cf6c0d74..489e8adfe3 100644 --- a/thirdparty/assimp/include/assimp/StreamWriter.h +++ b/thirdparty/assimp/include/assimp/StreamWriter.h @@ -43,11 +43,15 @@ OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. /** @file Defines the StreamWriter class which writes data to * a binary stream with a well-defined endianness. */ - +#pragma once #ifndef AI_STREAMWRITER_H_INCLUDED #define AI_STREAMWRITER_H_INCLUDED -#include "ByteSwapper.h" +#ifdef __GNUC__ +# pragma GCC system_header +#endif + +#include <assimp/ByteSwapper.h> #include <assimp/IOStream.hpp> #include <memory> diff --git a/thirdparty/assimp/include/assimp/StringComparison.h b/thirdparty/assimp/include/assimp/StringComparison.h index 8acef277b9..d3ca3e9714 100644 --- a/thirdparty/assimp/include/assimp/StringComparison.h +++ b/thirdparty/assimp/include/assimp/StringComparison.h @@ -49,12 +49,17 @@ OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. These functions are not consistently available on all platforms, or the provided implementations behave too differently. */ +#pragma once #ifndef INCLUDED_AI_STRING_WORKERS_H #define INCLUDED_AI_STRING_WORKERS_H +#ifdef __GNUC__ +# pragma GCC system_header +#endif + #include <assimp/ai_assert.h> #include <assimp/defs.h> -#include "StringComparison.h" +#include <assimp/StringComparison.h> #include <string.h> #include <stdint.h> diff --git a/thirdparty/assimp/include/assimp/StringUtils.h b/thirdparty/assimp/include/assimp/StringUtils.h index d68b7fa479..af481f819e 100644 --- a/thirdparty/assimp/include/assimp/StringUtils.h +++ b/thirdparty/assimp/include/assimp/StringUtils.h @@ -39,9 +39,14 @@ OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. ---------------------------------------------------------------------- */ +#pragma once #ifndef INCLUDED_AI_STRINGUTILS_H #define INCLUDED_AI_STRINGUTILS_H +#ifdef __GNUC__ +# pragma GCC system_header +#endif + #include <assimp/defs.h> #include <sstream> diff --git a/thirdparty/assimp/include/assimp/Subdivision.h b/thirdparty/assimp/include/assimp/Subdivision.h index 43feb73b30..e9450267ec 100644 --- a/thirdparty/assimp/include/assimp/Subdivision.h +++ b/thirdparty/assimp/include/assimp/Subdivision.h @@ -45,7 +45,10 @@ OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. #ifndef AI_SUBDISIVION_H_INC #define AI_SUBDISIVION_H_INC -#include <cstddef> +#ifdef __GNUC__ +# pragma GCC system_header +#endif + #include <assimp/types.h> struct aiMesh; diff --git a/thirdparty/assimp/include/assimp/TinyFormatter.h b/thirdparty/assimp/include/assimp/TinyFormatter.h index 1226b482e6..6227e42c52 100644 --- a/thirdparty/assimp/include/assimp/TinyFormatter.h +++ b/thirdparty/assimp/include/assimp/TinyFormatter.h @@ -45,9 +45,14 @@ OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. * to get rid of the boost::format dependency. Much slinker, * basically just extends stringstream. */ +#pragma once #ifndef INCLUDED_TINY_FORMATTER_H #define INCLUDED_TINY_FORMATTER_H +#ifdef __GNUC__ +# pragma GCC system_header +#endif + #include <sstream> namespace Assimp { @@ -65,24 +70,15 @@ namespace Formatter { * @endcode */ template < typename T, typename CharTraits = std::char_traits<T>, - typename Allocator = std::allocator<T> -> -class basic_formatter -{ - -public: - - typedef class std::basic_string< - T,CharTraits,Allocator - > string; - - typedef class std::basic_ostringstream< - T,CharTraits,Allocator - > stringstream; - + typename Allocator = std::allocator<T> > +class basic_formatter { public: + typedef class std::basic_string<T,CharTraits,Allocator> string; + typedef class std::basic_ostringstream<T,CharTraits,Allocator> stringstream; - basic_formatter() {} + basic_formatter() { + // empty + } /* Allow basic_formatter<T>'s to be used almost interchangeably * with std::(w)string or const (w)char* arguments because the @@ -104,14 +100,10 @@ public: } #endif - -public: - operator string () const { return underlying.str(); } - /* note - this is declared const because binding temporaries does only * work for const references, so many function prototypes will * include const basic_formatter<T>& s but might still want to diff --git a/thirdparty/assimp/include/assimp/Vertex.h b/thirdparty/assimp/include/assimp/Vertex.h index 2a7f0256ad..5e63db5fe4 100644 --- a/thirdparty/assimp/include/assimp/Vertex.h +++ b/thirdparty/assimp/include/assimp/Vertex.h @@ -47,12 +47,18 @@ OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. that are not currently well-defined (and would cause compile errors due to missing operators in the math library), are commented. */ +#pragma once #ifndef AI_VERTEX_H_INC #define AI_VERTEX_H_INC +#ifdef __GNUC__ +# pragma GCC system_header +#endif + #include <assimp/vector3.h> #include <assimp/mesh.h> #include <assimp/ai_assert.h> + #include <functional> namespace Assimp { @@ -91,23 +97,14 @@ namespace Assimp { * to *all* vertex components equally. This is useful for stuff like interpolation * or subdivision, but won't work if special handling is required for some vertex components. */ // ------------------------------------------------------------------------------------------------ -class Vertex -{ +class Vertex { friend Vertex operator + (const Vertex&,const Vertex&); friend Vertex operator - (const Vertex&,const Vertex&); - -// friend Vertex operator + (const Vertex&,ai_real); -// friend Vertex operator - (const Vertex&,ai_real); friend Vertex operator * (const Vertex&,ai_real); friend Vertex operator / (const Vertex&,ai_real); - -// friend Vertex operator + (ai_real, const Vertex&); -// friend Vertex operator - (ai_real, const Vertex&); friend Vertex operator * (ai_real, const Vertex&); -// friend Vertex operator / (ai_real, const Vertex&); public: - Vertex() {} // ---------------------------------------------------------------------------- @@ -158,8 +155,6 @@ public: } } -public: - Vertex& operator += (const Vertex& v) { *this = *this+v; return *this; @@ -170,18 +165,6 @@ public: return *this; } - -/* - Vertex& operator += (ai_real v) { - *this = *this+v; - return *this; - } - - Vertex& operator -= (ai_real v) { - *this = *this-v; - return *this; - } -*/ Vertex& operator *= (ai_real v) { *this = *this*v; return *this; @@ -192,12 +175,9 @@ public: return *this; } -public: - // ---------------------------------------------------------------------------- /** Convert back to non-interleaved storage */ void SortBack(aiMesh* out, unsigned int idx) const { - ai_assert(idx<out->mNumVertices); out->mVertices[idx] = position; @@ -291,8 +271,6 @@ public: aiColor4D colors[AI_MAX_NUMBER_OF_COLOR_SETS]; }; - - // ------------------------------------------------------------------------------------------------ AI_FORCE_INLINE Vertex operator + (const Vertex& v0,const Vertex& v1) { return Vertex::BinaryOp<std::plus>(v0,v1); @@ -302,19 +280,6 @@ AI_FORCE_INLINE Vertex operator - (const Vertex& v0,const Vertex& v1) { return Vertex::BinaryOp<std::minus>(v0,v1); } - -// ------------------------------------------------------------------------------------------------ -/* -AI_FORCE_INLINE Vertex operator + (const Vertex& v0,ai_real f) { - return Vertex::BinaryOp<Intern::plus>(v0,f); -} - -AI_FORCE_INLINE Vertex operator - (const Vertex& v0,ai_real f) { - return Vertex::BinaryOp<Intern::minus>(v0,f); -} - -*/ - AI_FORCE_INLINE Vertex operator * (const Vertex& v0,ai_real f) { return Vertex::BinaryOp<Intern::multiplies>(v0,f); } @@ -323,26 +288,10 @@ AI_FORCE_INLINE Vertex operator / (const Vertex& v0,ai_real f) { return Vertex::BinaryOp<Intern::multiplies>(v0,1.f/f); } -// ------------------------------------------------------------------------------------------------ -/* -AI_FORCE_INLINE Vertex operator + (ai_real f,const Vertex& v0) { - return Vertex::BinaryOp<Intern::plus>(f,v0); -} - -AI_FORCE_INLINE Vertex operator - (ai_real f,const Vertex& v0) { - return Vertex::BinaryOp<Intern::minus>(f,v0); -} -*/ - AI_FORCE_INLINE Vertex operator * (ai_real f,const Vertex& v0) { return Vertex::BinaryOp<Intern::multiplies>(f,v0); } -/* -AI_FORCE_INLINE Vertex operator / (ai_real f,const Vertex& v0) { - return Vertex::BinaryOp<Intern::divides>(f,v0); } -*/ -} -#endif +#endif // AI_VERTEX_H_INC diff --git a/thirdparty/assimp/include/assimp/XMLTools.h b/thirdparty/assimp/include/assimp/XMLTools.h index b0d3276873..95f12cdebf 100644 --- a/thirdparty/assimp/include/assimp/XMLTools.h +++ b/thirdparty/assimp/include/assimp/XMLTools.h @@ -40,9 +40,14 @@ OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. ---------------------------------------------------------------------- */ +#pragma once #ifndef INCLUDED_ASSIMP_XML_TOOLS_H #define INCLUDED_ASSIMP_XML_TOOLS_H +#ifdef __GNUC__ +# pragma GCC system_header +#endif + #include <string> namespace Assimp { diff --git a/thirdparty/assimp/include/assimp/aabb.h b/thirdparty/assimp/include/assimp/aabb.h index a20f317424..83bb62256b 100644 --- a/thirdparty/assimp/include/assimp/aabb.h +++ b/thirdparty/assimp/include/assimp/aabb.h @@ -5,8 +5,6 @@ Open Asset Import Library (assimp) Copyright (c) 2006-2019, assimp team - - All rights reserved. Redistribution and use of this software in source and binary forms, @@ -45,6 +43,10 @@ OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. #ifndef AI_AABB_H_INC #define AI_AABB_H_INC +#ifdef __GNUC__ +# pragma GCC system_header +#endif + #include <assimp/vector3.h> struct aiAABB { @@ -69,8 +71,9 @@ struct aiAABB { // empty } -#endif +#endif // __cplusplus + }; -#endif +#endif // AI_AABB_H_INC diff --git a/thirdparty/assimp/include/assimp/ai_assert.h b/thirdparty/assimp/include/assimp/ai_assert.h index e5de5d3f36..2b32b01d3e 100644 --- a/thirdparty/assimp/include/assimp/ai_assert.h +++ b/thirdparty/assimp/include/assimp/ai_assert.h @@ -44,6 +44,10 @@ OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. #ifndef AI_ASSERT_H_INC #define AI_ASSERT_H_INC +#ifdef __GNUC__ +# pragma GCC system_header +#endif + #ifdef ASSIMP_BUILD_DEBUG # include <assert.h> # define ai_assert(expression) assert( expression ) diff --git a/thirdparty/assimp/include/assimp/anim.h b/thirdparty/assimp/include/assimp/anim.h index 02e92739ec..e208b11adb 100644 --- a/thirdparty/assimp/include/assimp/anim.h +++ b/thirdparty/assimp/include/assimp/anim.h @@ -50,6 +50,10 @@ OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. #ifndef AI_ANIM_H_INC #define AI_ANIM_H_INC +#ifdef __GNUC__ +# pragma GCC system_header +#endif + #include <assimp/types.h> #include <assimp/quaternion.h> diff --git a/thirdparty/assimp/include/assimp/camera.h b/thirdparty/assimp/include/assimp/camera.h index e573eea5d1..adb749ff59 100644 --- a/thirdparty/assimp/include/assimp/camera.h +++ b/thirdparty/assimp/include/assimp/camera.h @@ -47,6 +47,10 @@ OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. #ifndef AI_CAMERA_H_INC #define AI_CAMERA_H_INC +#ifdef __GNUC__ +# pragma GCC system_header +#endif + #include "types.h" #ifdef __cplusplus @@ -113,7 +117,6 @@ struct aiCamera */ C_STRUCT aiVector3D mPosition; - /** 'Up' - vector of the camera coordinate system relative to * the coordinate space defined by the corresponding node. * @@ -134,7 +137,6 @@ struct aiCamera */ C_STRUCT aiVector3D mLookAt; - /** Half horizontal field of view angle, in radians. * * The field of view angle is the angle between the center diff --git a/thirdparty/assimp/include/assimp/cexport.h b/thirdparty/assimp/include/assimp/cexport.h index 1d62dc26b3..cbc0253d50 100644 --- a/thirdparty/assimp/include/assimp/cexport.h +++ b/thirdparty/assimp/include/assimp/cexport.h @@ -3,7 +3,7 @@ Open Asset Import Library (assimp) --------------------------------------------------------------------------- -Copyright (c) 2006-2011, assimp team +Copyright (c) 2006-2019, assimp team All rights reserved. @@ -46,6 +46,10 @@ OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. #ifndef AI_EXPORT_H_INC #define AI_EXPORT_H_INC +#ifdef __GNUC__ +# pragma GCC system_header +#endif + #ifndef ASSIMP_BUILD_NO_EXPORT // Public ASSIMP data structures diff --git a/thirdparty/assimp/include/assimp/cfileio.h b/thirdparty/assimp/include/assimp/cfileio.h index 8f7ca45469..be90999d87 100644 --- a/thirdparty/assimp/include/assimp/cfileio.h +++ b/thirdparty/assimp/include/assimp/cfileio.h @@ -48,10 +48,16 @@ OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. #ifndef AI_FILEIO_H_INC #define AI_FILEIO_H_INC +#ifdef __GNUC__ +# pragma GCC system_header +#endif + #include <assimp/types.h> + #ifdef __cplusplus extern "C" { #endif + struct aiFileIO; struct aiFile; diff --git a/thirdparty/assimp/include/assimp/cimport.h b/thirdparty/assimp/include/assimp/cimport.h index dbd10f1370..66b1c9a174 100644 --- a/thirdparty/assimp/include/assimp/cimport.h +++ b/thirdparty/assimp/include/assimp/cimport.h @@ -48,8 +48,12 @@ OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. #ifndef AI_ASSIMP_H_INC #define AI_ASSIMP_H_INC +#ifdef __GNUC__ +# pragma GCC system_header +#endif + #include <assimp/types.h> -#include "importerdesc.h" +#include <assimp/importerdesc.h> #ifdef __cplusplus extern "C" { diff --git a/thirdparty/assimp/include/assimp/color4.h b/thirdparty/assimp/include/assimp/color4.h index 3c97c8eda2..fa86128f4f 100644 --- a/thirdparty/assimp/include/assimp/color4.h +++ b/thirdparty/assimp/include/assimp/color4.h @@ -47,7 +47,11 @@ OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. #ifndef AI_COLOR4D_H_INC #define AI_COLOR4D_H_INC -#include "defs.h" +#ifdef __GNUC__ +# pragma GCC system_header +#endif + +#include <assimp/defs.h> #ifdef __cplusplus @@ -56,8 +60,7 @@ OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. * alpha component. Color values range from 0 to 1. */ // ---------------------------------------------------------------------------------- template <typename TReal> -class aiColor4t -{ +class aiColor4t { public: aiColor4t() AI_NO_EXCEPT : r(), g(), b(), a() {} aiColor4t (TReal _r, TReal _g, TReal _b, TReal _a) @@ -65,14 +68,12 @@ public: explicit aiColor4t (TReal _r) : r(_r), g(_r), b(_r), a(_r) {} aiColor4t (const aiColor4t& o) = default; -public: // combined operators const aiColor4t& operator += (const aiColor4t& o); const aiColor4t& operator -= (const aiColor4t& o); const aiColor4t& operator *= (TReal f); const aiColor4t& operator /= (TReal f); -public: // comparison bool operator == (const aiColor4t& other) const; bool operator != (const aiColor4t& other) const; @@ -85,8 +86,6 @@ public: /** check whether a color is (close to) black */ inline bool IsBlack() const; -public: - // Red, green, blue and alpha color values TReal r, g, b, a; }; // !struct aiColor4D diff --git a/thirdparty/assimp/include/assimp/color4.inl b/thirdparty/assimp/include/assimp/color4.inl index afa53dcb5b..d4a2a98109 100644 --- a/thirdparty/assimp/include/assimp/color4.inl +++ b/thirdparty/assimp/include/assimp/color4.inl @@ -48,36 +48,61 @@ OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. #ifndef AI_COLOR4D_INL_INC #define AI_COLOR4D_INL_INC +#ifdef __GNUC__ +# pragma GCC system_header +#endif + #ifdef __cplusplus -#include "color4.h" +#include <assimp/color4.h> // ------------------------------------------------------------------------------------------------ template <typename TReal> -AI_FORCE_INLINE const aiColor4t<TReal>& aiColor4t<TReal>::operator += (const aiColor4t<TReal>& o) { - r += o.r; g += o.g; b += o.b; a += o.a; +AI_FORCE_INLINE +const aiColor4t<TReal>& aiColor4t<TReal>::operator += (const aiColor4t<TReal>& o) { + r += o.r; + g += o.g; + b += o.b; + a += o.a; + return *this; } // ------------------------------------------------------------------------------------------------ template <typename TReal> -AI_FORCE_INLINE const aiColor4t<TReal>& aiColor4t<TReal>::operator -= (const aiColor4t<TReal>& o) { - r -= o.r; g -= o.g; b -= o.b; a -= o.a; +AI_FORCE_INLINE +const aiColor4t<TReal>& aiColor4t<TReal>::operator -= (const aiColor4t<TReal>& o) { + r -= o.r; + g -= o.g; + b -= o.b; + a -= o.a; + return *this; } // ------------------------------------------------------------------------------------------------ template <typename TReal> -AI_FORCE_INLINE const aiColor4t<TReal>& aiColor4t<TReal>::operator *= (TReal f) { - r *= f; g *= f; b *= f; a *= f; +AI_FORCE_INLINE +const aiColor4t<TReal>& aiColor4t<TReal>::operator *= (TReal f) { + r *= f; + g *= f; + b *= f; + a *= f; + return *this; } // ------------------------------------------------------------------------------------------------ template <typename TReal> -AI_FORCE_INLINE const aiColor4t<TReal>& aiColor4t<TReal>::operator /= (TReal f) { - r /= f; g /= f; b /= f; a /= f; +AI_FORCE_INLINE +const aiColor4t<TReal>& aiColor4t<TReal>::operator /= (TReal f) { + r /= f; + g /= f; + b /= f; + a /= f; + return *this; } // ------------------------------------------------------------------------------------------------ template <typename TReal> -AI_FORCE_INLINE TReal aiColor4t<TReal>::operator[](unsigned int i) const { +AI_FORCE_INLINE +TReal aiColor4t<TReal>::operator[](unsigned int i) const { switch ( i ) { case 0: return r; @@ -94,7 +119,8 @@ AI_FORCE_INLINE TReal aiColor4t<TReal>::operator[](unsigned int i) const { } // ------------------------------------------------------------------------------------------------ template <typename TReal> -AI_FORCE_INLINE TReal& aiColor4t<TReal>::operator[](unsigned int i) { +AI_FORCE_INLINE +TReal& aiColor4t<TReal>::operator[](unsigned int i) { switch ( i ) { case 0: return r; @@ -111,17 +137,20 @@ AI_FORCE_INLINE TReal& aiColor4t<TReal>::operator[](unsigned int i) { } // ------------------------------------------------------------------------------------------------ template <typename TReal> -AI_FORCE_INLINE bool aiColor4t<TReal>::operator== (const aiColor4t<TReal>& other) const { +AI_FORCE_INLINE +bool aiColor4t<TReal>::operator== (const aiColor4t<TReal>& other) const { return r == other.r && g == other.g && b == other.b && a == other.a; } // ------------------------------------------------------------------------------------------------ template <typename TReal> -AI_FORCE_INLINE bool aiColor4t<TReal>::operator!= (const aiColor4t<TReal>& other) const { +AI_FORCE_INLINE +bool aiColor4t<TReal>::operator!= (const aiColor4t<TReal>& other) const { return r != other.r || g != other.g || b != other.b || a != other.a; } // ------------------------------------------------------------------------------------------------ template <typename TReal> -AI_FORCE_INLINE bool aiColor4t<TReal>::operator< (const aiColor4t<TReal>& other) const { +AI_FORCE_INLINE +bool aiColor4t<TReal>::operator< (const aiColor4t<TReal>& other) const { return r < other.r || ( r == other.r && ( g < other.g || ( @@ -136,14 +165,17 @@ AI_FORCE_INLINE bool aiColor4t<TReal>::operator< (const aiColor4t<TReal>& other) ) ); } + // ------------------------------------------------------------------------------------------------ template <typename TReal> -AI_FORCE_INLINE aiColor4t<TReal> operator + (const aiColor4t<TReal>& v1, const aiColor4t<TReal>& v2) { +AI_FORCE_INLINE +aiColor4t<TReal> operator + (const aiColor4t<TReal>& v1, const aiColor4t<TReal>& v2) { return aiColor4t<TReal>( v1.r + v2.r, v1.g + v2.g, v1.b + v2.b, v1.a + v2.a); } // ------------------------------------------------------------------------------------------------ template <typename TReal> -AI_FORCE_INLINE aiColor4t<TReal> operator - (const aiColor4t<TReal>& v1, const aiColor4t<TReal>& v2) { +AI_FORCE_INLINE +aiColor4t<TReal> operator - (const aiColor4t<TReal>& v1, const aiColor4t<TReal>& v2) { return aiColor4t<TReal>( v1.r - v2.r, v1.g - v2.g, v1.b - v2.b, v1.a - v2.a); } // ------------------------------------------------------------------------------------------------ @@ -153,53 +185,63 @@ AI_FORCE_INLINE aiColor4t<TReal> operator * (const aiColor4t<TReal>& v1, const a } // ------------------------------------------------------------------------------------------------ template <typename TReal> -AI_FORCE_INLINE aiColor4t<TReal> operator / (const aiColor4t<TReal>& v1, const aiColor4t<TReal>& v2) { +AI_FORCE_INLINE +aiColor4t<TReal> operator / (const aiColor4t<TReal>& v1, const aiColor4t<TReal>& v2) { return aiColor4t<TReal>( v1.r / v2.r, v1.g / v2.g, v1.b / v2.b, v1.a / v2.a); } // ------------------------------------------------------------------------------------------------ template <typename TReal> -AI_FORCE_INLINE aiColor4t<TReal> operator * ( TReal f, const aiColor4t<TReal>& v) { +AI_FORCE_INLINE +aiColor4t<TReal> operator * ( TReal f, const aiColor4t<TReal>& v) { return aiColor4t<TReal>( f*v.r, f*v.g, f*v.b, f*v.a); } // ------------------------------------------------------------------------------------------------ template <typename TReal> -AI_FORCE_INLINE aiColor4t<TReal> operator * ( const aiColor4t<TReal>& v, TReal f) { +AI_FORCE_INLINE +aiColor4t<TReal> operator * ( const aiColor4t<TReal>& v, TReal f) { return aiColor4t<TReal>( f*v.r, f*v.g, f*v.b, f*v.a); } // ------------------------------------------------------------------------------------------------ template <typename TReal> -AI_FORCE_INLINE aiColor4t<TReal> operator / ( const aiColor4t<TReal>& v, TReal f) { +AI_FORCE_INLINE +aiColor4t<TReal> operator / ( const aiColor4t<TReal>& v, TReal f) { return v * (1/f); } // ------------------------------------------------------------------------------------------------ template <typename TReal> -AI_FORCE_INLINE aiColor4t<TReal> operator / ( TReal f,const aiColor4t<TReal>& v) { +AI_FORCE_INLINE +aiColor4t<TReal> operator / ( TReal f,const aiColor4t<TReal>& v) { return aiColor4t<TReal>(f,f,f,f)/v; } // ------------------------------------------------------------------------------------------------ template <typename TReal> -AI_FORCE_INLINE aiColor4t<TReal> operator + ( const aiColor4t<TReal>& v, TReal f) { +AI_FORCE_INLINE +aiColor4t<TReal> operator + ( const aiColor4t<TReal>& v, TReal f) { return aiColor4t<TReal>( f+v.r, f+v.g, f+v.b, f+v.a); } // ------------------------------------------------------------------------------------------------ template <typename TReal> -AI_FORCE_INLINE aiColor4t<TReal> operator - ( const aiColor4t<TReal>& v, TReal f) { +AI_FORCE_INLINE +aiColor4t<TReal> operator - ( const aiColor4t<TReal>& v, TReal f) { return aiColor4t<TReal>( v.r-f, v.g-f, v.b-f, v.a-f); } // ------------------------------------------------------------------------------------------------ template <typename TReal> -AI_FORCE_INLINE aiColor4t<TReal> operator + ( TReal f, const aiColor4t<TReal>& v) { +AI_FORCE_INLINE +aiColor4t<TReal> operator + ( TReal f, const aiColor4t<TReal>& v) { return aiColor4t<TReal>( f+v.r, f+v.g, f+v.b, f+v.a); } // ------------------------------------------------------------------------------------------------ template <typename TReal> -AI_FORCE_INLINE aiColor4t<TReal> operator - ( TReal f, const aiColor4t<TReal>& v) { +AI_FORCE_INLINE +aiColor4t<TReal> operator - ( TReal f, const aiColor4t<TReal>& v) { return aiColor4t<TReal>( f-v.r, f-v.g, f-v.b, f-v.a); } // ------------------------------------------------------------------------------------------------ template <typename TReal> -inline bool aiColor4t<TReal> :: IsBlack() const { +AI_FORCE_INLINE +bool aiColor4t<TReal>::IsBlack() const { // The alpha component doesn't care here. black is black. static const TReal epsilon = 10e-3f; return std::fabs( r ) < epsilon && std::fabs( g ) < epsilon && std::fabs( b ) < epsilon; diff --git a/thirdparty/assimp/include/assimp/defs.h b/thirdparty/assimp/include/assimp/defs.h index 05a5e3fd4b..6f2f8ae88b 100644 --- a/thirdparty/assimp/include/assimp/defs.h +++ b/thirdparty/assimp/include/assimp/defs.h @@ -5,8 +5,6 @@ Open Asset Import Library (assimp) Copyright (c) 2006-2019, assimp team - - All rights reserved. Redistribution and use of this software in source and binary forms, @@ -50,6 +48,10 @@ OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. #ifndef AI_DEFINES_H_INC #define AI_DEFINES_H_INC +#ifdef __GNUC__ +# pragma GCC system_header +#endif + #include <assimp/config.h> ////////////////////////////////////////////////////////////////////////// @@ -126,16 +128,14 @@ OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. * GENBOUNDINGBOXES */ ////////////////////////////////////////////////////////////////////////// -#ifdef _MSC_VER +#ifdef _WIN32 # undef ASSIMP_API - ////////////////////////////////////////////////////////////////////////// /* Define 'ASSIMP_BUILD_DLL_EXPORT' to build a DLL of the library */ ////////////////////////////////////////////////////////////////////////// # ifdef ASSIMP_BUILD_DLL_EXPORT # define ASSIMP_API __declspec(dllexport) # define ASSIMP_API_WINONLY __declspec(dllexport) -# pragma warning (disable : 4251) ////////////////////////////////////////////////////////////////////////// /* Define 'ASSIMP_DLL' before including Assimp to link to ASSIMP in @@ -148,7 +148,19 @@ OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. # define ASSIMP_API # define ASSIMP_API_WINONLY # endif +#elif defined(SWIG) + + /* Do nothing, the relevant defines are all in AssimpSwigPort.i */ +#else +# define ASSIMP_API __attribute__ ((visibility("default"))) +# define ASSIMP_API_WINONLY +#endif + +#ifdef _MSC_VER +# ifdef ASSIMP_BUILD_DLL_EXPORT +# pragma warning (disable : 4251) +# endif /* Force the compiler to inline a function, if possible */ # define AI_FORCE_INLINE __forceinline @@ -156,17 +168,12 @@ OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. /* Tells the compiler that a function never returns. Used in code analysis * to skip dead paths (e.g. after an assertion evaluated to false). */ # define AI_WONT_RETURN __declspec(noreturn) - #elif defined(SWIG) /* Do nothing, the relevant defines are all in AssimpSwigPort.i */ #else - # define AI_WONT_RETURN - -# define ASSIMP_API __attribute__ ((visibility("default"))) -# define ASSIMP_API_WINONLY # define AI_FORCE_INLINE inline #endif // (defined _MSC_VER) @@ -291,9 +298,10 @@ static const ai_real ai_epsilon = (ai_real) 0.00001; #endif -/* To avoid running out of memory - * This can be adjusted for specific use cases - * It's NOT a total limit, just a limit for individual allocations +/** + * To avoid running out of memory + * This can be adjusted for specific use cases + * It's NOT a total limit, just a limit for individual allocations */ #define AI_MAX_ALLOC(type) ((256U * 1024 * 1024) / sizeof(type)) @@ -307,4 +315,13 @@ static const ai_real ai_epsilon = (ai_real) 0.00001; # endif #endif // _MSC_VER +/** + * Helper macro to set a pointer to NULL in debug builds + */ +#if (defined ASSIMP_BUILD_DEBUG) +# define AI_DEBUG_INVALIDATE_PTR(x) x = NULL; +#else +# define AI_DEBUG_INVALIDATE_PTR(x) +#endif + #endif // !! AI_DEFINES_H_INC diff --git a/thirdparty/assimp/include/assimp/fast_atof.h b/thirdparty/assimp/include/assimp/fast_atof.h index 62ea969e97..6e9a1bba7a 100644 --- a/thirdparty/assimp/include/assimp/fast_atof.h +++ b/thirdparty/assimp/include/assimp/fast_atof.h @@ -13,10 +13,14 @@ // to ensure long numbers are handled correctly // ------------------------------------------------------------------------------------ - +#pragma once #ifndef FAST_A_TO_F_H_INCLUDED #define FAST_A_TO_F_H_INCLUDED +#ifdef __GNUC__ +# pragma GCC system_header +#endif + #include <cmath> #include <limits> #include <stdint.h> diff --git a/thirdparty/assimp/include/assimp/importerdesc.h b/thirdparty/assimp/include/assimp/importerdesc.h index 36e387f011..0a6919c1ae 100644 --- a/thirdparty/assimp/include/assimp/importerdesc.h +++ b/thirdparty/assimp/include/assimp/importerdesc.h @@ -48,11 +48,14 @@ OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. #ifndef AI_IMPORTER_DESC_H_INC #define AI_IMPORTER_DESC_H_INC +#ifdef __GNUC__ +# pragma GCC system_header +#endif + /** Mixed set of flags for #aiImporterDesc, indicating some features * common to many importers*/ -enum aiImporterFlags -{ +enum aiImporterFlags { /** Indicates that there is a textual encoding of the * file format; and that it is supported.*/ aiImporterFlags_SupportTextFlavour = 0x1, @@ -87,8 +90,7 @@ enum aiImporterFlags * as importers/exporters are added to Assimp, so it might be useful * to have a common mechanism to query some rough importer * characteristics. */ -struct aiImporterDesc -{ +struct aiImporterDesc { /** Full name of the importer (i.e. Blender3D importer)*/ const char* mName; diff --git a/thirdparty/assimp/include/assimp/light.h b/thirdparty/assimp/include/assimp/light.h index 1667cfb8c1..bdb2368c4f 100644 --- a/thirdparty/assimp/include/assimp/light.h +++ b/thirdparty/assimp/include/assimp/light.h @@ -49,7 +49,11 @@ OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. #ifndef AI_LIGHT_H_INC #define AI_LIGHT_H_INC -#include "types.h" +#ifdef __GNUC__ +# pragma GCC system_header +#endif + +#include <assimp/types.h> #ifdef __cplusplus extern "C" { diff --git a/thirdparty/assimp/include/assimp/material.h b/thirdparty/assimp/include/assimp/material.h index 206eb2a2b0..19a7c69709 100644 --- a/thirdparty/assimp/include/assimp/material.h +++ b/thirdparty/assimp/include/assimp/material.h @@ -48,7 +48,11 @@ OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. #ifndef AI_MATERIAL_H_INC #define AI_MATERIAL_H_INC -#include "types.h" +#ifdef __GNUC__ +# pragma GCC system_header +#endif + +#include <assimp/types.h> #ifdef __cplusplus extern "C" { diff --git a/thirdparty/assimp/include/assimp/material.inl b/thirdparty/assimp/include/assimp/material.inl index b05d6af6c3..8ae6b88d3e 100644 --- a/thirdparty/assimp/include/assimp/material.inl +++ b/thirdparty/assimp/include/assimp/material.inl @@ -49,14 +49,18 @@ OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. #ifndef AI_MATERIAL_INL_INC #define AI_MATERIAL_INL_INC +#ifdef __GNUC__ +# pragma GCC system_header +#endif + // --------------------------------------------------------------------------- -inline aiPropertyTypeInfo ai_real_to_property_type_info(float) -{ +AI_FORCE_INLINE +aiPropertyTypeInfo ai_real_to_property_type_info(float) { return aiPTI_Float; } -inline aiPropertyTypeInfo ai_real_to_property_type_info(double) -{ +AI_FORCE_INLINE +aiPropertyTypeInfo ai_real_to_property_type_info(double) { return aiPTI_Double; } // --------------------------------------------------------------------------- @@ -64,30 +68,30 @@ inline aiPropertyTypeInfo ai_real_to_property_type_info(double) //! @cond never // --------------------------------------------------------------------------- -inline aiReturn aiMaterial::GetTexture( aiTextureType type, - unsigned int index, - C_STRUCT aiString* path, - aiTextureMapping* mapping /*= NULL*/, - unsigned int* uvindex /*= NULL*/, - ai_real* blend /*= NULL*/, - aiTextureOp* op /*= NULL*/, - aiTextureMapMode* mapmode /*= NULL*/) const -{ +AI_FORCE_INLINE +aiReturn aiMaterial::GetTexture( aiTextureType type, + unsigned int index, + C_STRUCT aiString* path, + aiTextureMapping* mapping /*= NULL*/, + unsigned int* uvindex /*= NULL*/, + ai_real* blend /*= NULL*/, + aiTextureOp* op /*= NULL*/, + aiTextureMapMode* mapmode /*= NULL*/) const { return ::aiGetMaterialTexture(this,type,index,path,mapping,uvindex,blend,op,mapmode); } // --------------------------------------------------------------------------- -inline unsigned int aiMaterial::GetTextureCount(aiTextureType type) const -{ +AI_FORCE_INLINE +unsigned int aiMaterial::GetTextureCount(aiTextureType type) const { return ::aiGetMaterialTextureCount(this,type); } // --------------------------------------------------------------------------- template <typename Type> -inline aiReturn aiMaterial::Get(const char* pKey,unsigned int type, - unsigned int idx, Type* pOut, - unsigned int* pMax) const -{ +AI_FORCE_INLINE +aiReturn aiMaterial::Get(const char* pKey,unsigned int type, + unsigned int idx, Type* pOut, + unsigned int* pMax) const { unsigned int iNum = pMax ? *pMax : 1; const aiMaterialProperty* prop; @@ -114,9 +118,9 @@ inline aiReturn aiMaterial::Get(const char* pKey,unsigned int type, // --------------------------------------------------------------------------- template <typename Type> -inline aiReturn aiMaterial::Get(const char* pKey,unsigned int type, - unsigned int idx,Type& pOut) const -{ +AI_FORCE_INLINE +aiReturn aiMaterial::Get(const char* pKey,unsigned int type, + unsigned int idx,Type& pOut) const { const aiMaterialProperty* prop; const aiReturn ret = ::aiGetMaterialProperty(this,pKey,type,idx, (const aiMaterialProperty**)&prop); @@ -136,60 +140,56 @@ inline aiReturn aiMaterial::Get(const char* pKey,unsigned int type, } // --------------------------------------------------------------------------- -inline aiReturn aiMaterial::Get(const char* pKey,unsigned int type, - unsigned int idx,ai_real* pOut, - unsigned int* pMax) const -{ +AI_FORCE_INLINE +aiReturn aiMaterial::Get(const char* pKey,unsigned int type, + unsigned int idx,ai_real* pOut, + unsigned int* pMax) const { return ::aiGetMaterialFloatArray(this,pKey,type,idx,pOut,pMax); } // --------------------------------------------------------------------------- -inline aiReturn aiMaterial::Get(const char* pKey,unsigned int type, - unsigned int idx,int* pOut, - unsigned int* pMax) const -{ +AI_FORCE_INLINE +aiReturn aiMaterial::Get(const char* pKey,unsigned int type, + unsigned int idx,int* pOut, + unsigned int* pMax) const { return ::aiGetMaterialIntegerArray(this,pKey,type,idx,pOut,pMax); } // --------------------------------------------------------------------------- -inline aiReturn aiMaterial::Get(const char* pKey,unsigned int type, - unsigned int idx,ai_real& pOut) const -{ +AI_FORCE_INLINE +aiReturn aiMaterial::Get(const char* pKey,unsigned int type, + unsigned int idx,ai_real& pOut) const { return aiGetMaterialFloat(this,pKey,type,idx,&pOut); } // --------------------------------------------------------------------------- -inline aiReturn aiMaterial::Get(const char* pKey,unsigned int type, - unsigned int idx,int& pOut) const -{ +AI_FORCE_INLINE +aiReturn aiMaterial::Get(const char* pKey,unsigned int type, + unsigned int idx,int& pOut) const { return aiGetMaterialInteger(this,pKey,type,idx,&pOut); } // --------------------------------------------------------------------------- -inline aiReturn aiMaterial::Get(const char* pKey,unsigned int type, - unsigned int idx,aiColor4D& pOut) const -{ +AI_FORCE_INLINE +aiReturn aiMaterial::Get(const char* pKey,unsigned int type, + unsigned int idx,aiColor4D& pOut) const { return aiGetMaterialColor(this,pKey,type,idx,&pOut); } // --------------------------------------------------------------------------- -inline aiReturn aiMaterial::Get(const char* pKey,unsigned int type, - unsigned int idx,aiColor3D& pOut) const -{ +AI_FORCE_INLINE aiReturn aiMaterial::Get(const char* pKey,unsigned int type, + unsigned int idx,aiColor3D& pOut) const { aiColor4D c; const aiReturn ret = aiGetMaterialColor(this,pKey,type,idx,&c); pOut = aiColor3D(c.r,c.g,c.b); return ret; } // --------------------------------------------------------------------------- -inline aiReturn aiMaterial::Get(const char* pKey,unsigned int type, - unsigned int idx,aiString& pOut) const -{ +AI_FORCE_INLINE aiReturn aiMaterial::Get(const char* pKey,unsigned int type, + unsigned int idx,aiString& pOut) const { return aiGetMaterialString(this,pKey,type,idx,&pOut); } // --------------------------------------------------------------------------- -inline aiReturn aiMaterial::Get(const char* pKey,unsigned int type, - unsigned int idx,aiUVTransform& pOut) const -{ +AI_FORCE_INLINE aiReturn aiMaterial::Get(const char* pKey,unsigned int type, + unsigned int idx,aiUVTransform& pOut) const { return aiGetMaterialUVTransform(this,pKey,type,idx,&pOut); } - // --------------------------------------------------------------------------- template<class TYPE> aiReturn aiMaterial::AddProperty (const TYPE* pInput, @@ -204,84 +204,83 @@ aiReturn aiMaterial::AddProperty (const TYPE* pInput, } // --------------------------------------------------------------------------- -inline aiReturn aiMaterial::AddProperty(const float* pInput, - const unsigned int pNumValues, - const char* pKey, - unsigned int type, - unsigned int index) -{ +AI_FORCE_INLINE aiReturn aiMaterial::AddProperty(const float* pInput, + const unsigned int pNumValues, + const char* pKey, + unsigned int type, + unsigned int index) { return AddBinaryProperty((const void*)pInput, pNumValues * sizeof(float), pKey,type,index,aiPTI_Float); } // --------------------------------------------------------------------------- -inline aiReturn aiMaterial::AddProperty(const double* pInput, - const unsigned int pNumValues, - const char* pKey, - unsigned int type, - unsigned int index) -{ +AI_FORCE_INLINE +aiReturn aiMaterial::AddProperty(const double* pInput, + const unsigned int pNumValues, + const char* pKey, + unsigned int type, + unsigned int index) { return AddBinaryProperty((const void*)pInput, pNumValues * sizeof(double), pKey,type,index,aiPTI_Double); } // --------------------------------------------------------------------------- -inline aiReturn aiMaterial::AddProperty(const aiUVTransform* pInput, - const unsigned int pNumValues, - const char* pKey, - unsigned int type, - unsigned int index) -{ +AI_FORCE_INLINE +aiReturn aiMaterial::AddProperty(const aiUVTransform* pInput, + const unsigned int pNumValues, + const char* pKey, + unsigned int type, + unsigned int index) { return AddBinaryProperty((const void*)pInput, pNumValues * sizeof(aiUVTransform), pKey,type,index,ai_real_to_property_type_info(pInput->mRotation)); } // --------------------------------------------------------------------------- -inline aiReturn aiMaterial::AddProperty(const aiColor4D* pInput, - const unsigned int pNumValues, - const char* pKey, - unsigned int type, - unsigned int index) -{ +AI_FORCE_INLINE +aiReturn aiMaterial::AddProperty(const aiColor4D* pInput, + const unsigned int pNumValues, + const char* pKey, + unsigned int type, + unsigned int index) { return AddBinaryProperty((const void*)pInput, pNumValues * sizeof(aiColor4D), pKey,type,index,ai_real_to_property_type_info(pInput->a)); } // --------------------------------------------------------------------------- -inline aiReturn aiMaterial::AddProperty(const aiColor3D* pInput, - const unsigned int pNumValues, - const char* pKey, - unsigned int type, - unsigned int index) -{ +AI_FORCE_INLINE +aiReturn aiMaterial::AddProperty(const aiColor3D* pInput, + const unsigned int pNumValues, + const char* pKey, + unsigned int type, + unsigned int index) { return AddBinaryProperty((const void*)pInput, pNumValues * sizeof(aiColor3D), pKey,type,index,ai_real_to_property_type_info(pInput->b)); } // --------------------------------------------------------------------------- -inline aiReturn aiMaterial::AddProperty(const aiVector3D* pInput, - const unsigned int pNumValues, - const char* pKey, - unsigned int type, - unsigned int index) -{ +AI_FORCE_INLINE +aiReturn aiMaterial::AddProperty(const aiVector3D* pInput, + const unsigned int pNumValues, + const char* pKey, + unsigned int type, + unsigned int index) { return AddBinaryProperty((const void*)pInput, pNumValues * sizeof(aiVector3D), pKey,type,index,ai_real_to_property_type_info(pInput->x)); } // --------------------------------------------------------------------------- -inline aiReturn aiMaterial::AddProperty(const int* pInput, - const unsigned int pNumValues, - const char* pKey, - unsigned int type, - unsigned int index) -{ +AI_FORCE_INLINE +aiReturn aiMaterial::AddProperty(const int* pInput, + const unsigned int pNumValues, + const char* pKey, + unsigned int type, + unsigned int index) { return AddBinaryProperty((const void*)pInput, pNumValues * sizeof(int), pKey,type,index,aiPTI_Integer); @@ -296,12 +295,12 @@ inline aiReturn aiMaterial::AddProperty(const int* pInput, // --------------------------------------------------------------------------- template<> -inline aiReturn aiMaterial::AddProperty<float>(const float* pInput, - const unsigned int pNumValues, - const char* pKey, - unsigned int type, - unsigned int index) -{ +AI_FORCE_INLINE +aiReturn aiMaterial::AddProperty<float>(const float* pInput, + const unsigned int pNumValues, + const char* pKey, + unsigned int type, + unsigned int index) { return AddBinaryProperty((const void*)pInput, pNumValues * sizeof(float), pKey,type,index,aiPTI_Float); @@ -309,12 +308,12 @@ inline aiReturn aiMaterial::AddProperty<float>(const float* pInput, // --------------------------------------------------------------------------- template<> -inline aiReturn aiMaterial::AddProperty<double>(const double* pInput, - const unsigned int pNumValues, - const char* pKey, - unsigned int type, - unsigned int index) -{ +AI_FORCE_INLINE +aiReturn aiMaterial::AddProperty<double>(const double* pInput, + const unsigned int pNumValues, + const char* pKey, + unsigned int type, + unsigned int index) { return AddBinaryProperty((const void*)pInput, pNumValues * sizeof(double), pKey,type,index,aiPTI_Double); @@ -322,12 +321,12 @@ inline aiReturn aiMaterial::AddProperty<double>(const double* pInput, // --------------------------------------------------------------------------- template<> -inline aiReturn aiMaterial::AddProperty<aiUVTransform>(const aiUVTransform* pInput, - const unsigned int pNumValues, - const char* pKey, - unsigned int type, - unsigned int index) -{ +AI_FORCE_INLINE +aiReturn aiMaterial::AddProperty<aiUVTransform>(const aiUVTransform* pInput, + const unsigned int pNumValues, + const char* pKey, + unsigned int type, + unsigned int index) { return AddBinaryProperty((const void*)pInput, pNumValues * sizeof(aiUVTransform), pKey,type,index,aiPTI_Float); @@ -335,12 +334,12 @@ inline aiReturn aiMaterial::AddProperty<aiUVTransform>(const aiUVTransform* pInp // --------------------------------------------------------------------------- template<> -inline aiReturn aiMaterial::AddProperty<aiColor4D>(const aiColor4D* pInput, - const unsigned int pNumValues, - const char* pKey, - unsigned int type, - unsigned int index) -{ +AI_FORCE_INLINE +aiReturn aiMaterial::AddProperty<aiColor4D>(const aiColor4D* pInput, + const unsigned int pNumValues, + const char* pKey, + unsigned int type, + unsigned int index) { return AddBinaryProperty((const void*)pInput, pNumValues * sizeof(aiColor4D), pKey,type,index,aiPTI_Float); @@ -348,12 +347,12 @@ inline aiReturn aiMaterial::AddProperty<aiColor4D>(const aiColor4D* pInput, // --------------------------------------------------------------------------- template<> -inline aiReturn aiMaterial::AddProperty<aiColor3D>(const aiColor3D* pInput, - const unsigned int pNumValues, - const char* pKey, - unsigned int type, - unsigned int index) -{ +AI_FORCE_INLINE +aiReturn aiMaterial::AddProperty<aiColor3D>(const aiColor3D* pInput, + const unsigned int pNumValues, + const char* pKey, + unsigned int type, + unsigned int index) { return AddBinaryProperty((const void*)pInput, pNumValues * sizeof(aiColor3D), pKey,type,index,aiPTI_Float); @@ -361,12 +360,12 @@ inline aiReturn aiMaterial::AddProperty<aiColor3D>(const aiColor3D* pInput, // --------------------------------------------------------------------------- template<> -inline aiReturn aiMaterial::AddProperty<aiVector3D>(const aiVector3D* pInput, - const unsigned int pNumValues, - const char* pKey, - unsigned int type, - unsigned int index) -{ +AI_FORCE_INLINE +aiReturn aiMaterial::AddProperty<aiVector3D>(const aiVector3D* pInput, + const unsigned int pNumValues, + const char* pKey, + unsigned int type, + unsigned int index) { return AddBinaryProperty((const void*)pInput, pNumValues * sizeof(aiVector3D), pKey,type,index,aiPTI_Float); @@ -374,12 +373,12 @@ inline aiReturn aiMaterial::AddProperty<aiVector3D>(const aiVector3D* pInput, // --------------------------------------------------------------------------- template<> -inline aiReturn aiMaterial::AddProperty<int>(const int* pInput, - const unsigned int pNumValues, - const char* pKey, - unsigned int type, - unsigned int index) -{ +AI_FORCE_INLINE +aiReturn aiMaterial::AddProperty<int>(const int* pInput, + const unsigned int pNumValues, + const char* pKey, + unsigned int type, + unsigned int index) { return AddBinaryProperty((const void*)pInput, pNumValues * sizeof(int), pKey,type,index,aiPTI_Integer); diff --git a/thirdparty/assimp/include/assimp/matrix3x3.h b/thirdparty/assimp/include/assimp/matrix3x3.h index 22b69561ff..2c26cf92bb 100644 --- a/thirdparty/assimp/include/assimp/matrix3x3.h +++ b/thirdparty/assimp/include/assimp/matrix3x3.h @@ -48,7 +48,11 @@ OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. #ifndef AI_MATRIX3X3_H_INC #define AI_MATRIX3X3_H_INC -#include "defs.h" +#ifdef __GNUC__ +# pragma GCC system_header +#endif + +#include <assimp/defs.h> #ifdef __cplusplus @@ -65,10 +69,8 @@ template <typename T> class aiVector2t; * defined thereby. */ template <typename TReal> -class aiMatrix3x3t -{ +class aiMatrix3x3t { public: - aiMatrix3x3t() AI_NO_EXCEPT : a1(static_cast<TReal>(1.0f)), a2(), a3(), b1(), b2(static_cast<TReal>(1.0f)), b3(), @@ -82,8 +84,6 @@ public: c1(_c1), c2(_c2), c3(_c3) {} -public: - // matrix multiplication. aiMatrix3x3t& operator *= (const aiMatrix3x3t& m); aiMatrix3x3t operator * (const aiMatrix3x3t& m) const; @@ -101,8 +101,6 @@ public: template <typename TOther> operator aiMatrix3x3t<TOther> () const; -public: - // ------------------------------------------------------------------- /** @brief Construction from a 4x4 matrix. The remaining parts * of the matrix are ignored. @@ -122,7 +120,6 @@ public: aiMatrix3x3t& Inverse(); TReal Determinant() const; -public: // ------------------------------------------------------------------- /** @brief Returns a rotation matrix for a rotation around z * @param a Rotation angle, in radians diff --git a/thirdparty/assimp/include/assimp/matrix3x3.inl b/thirdparty/assimp/include/assimp/matrix3x3.inl index d9d45a3e92..1ce8c9691c 100644 --- a/thirdparty/assimp/include/assimp/matrix3x3.inl +++ b/thirdparty/assimp/include/assimp/matrix3x3.inl @@ -48,10 +48,14 @@ OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. #ifndef AI_MATRIX3X3_INL_INC #define AI_MATRIX3X3_INL_INC +#ifdef __GNUC__ +# pragma GCC system_header +#endif + #ifdef __cplusplus -#include "matrix3x3.h" +#include <assimp/matrix3x3.h> +#include <assimp/matrix4x4.h> -#include "matrix4x4.h" #include <algorithm> #include <cmath> #include <limits> @@ -59,8 +63,8 @@ OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. // ------------------------------------------------------------------------------------------------ // Construction from a 4x4 matrix. The remaining parts of the matrix are ignored. template <typename TReal> -inline aiMatrix3x3t<TReal>::aiMatrix3x3t( const aiMatrix4x4t<TReal>& pMatrix) -{ +AI_FORCE_INLINE +aiMatrix3x3t<TReal>::aiMatrix3x3t( const aiMatrix4x4t<TReal>& pMatrix) { a1 = pMatrix.a1; a2 = pMatrix.a2; a3 = pMatrix.a3; b1 = pMatrix.b1; b2 = pMatrix.b2; b3 = pMatrix.b3; c1 = pMatrix.c1; c2 = pMatrix.c2; c3 = pMatrix.c3; @@ -68,8 +72,8 @@ inline aiMatrix3x3t<TReal>::aiMatrix3x3t( const aiMatrix4x4t<TReal>& pMatrix) // ------------------------------------------------------------------------------------------------ template <typename TReal> -inline aiMatrix3x3t<TReal>& aiMatrix3x3t<TReal>::operator *= (const aiMatrix3x3t<TReal>& m) -{ +AI_FORCE_INLINE +aiMatrix3x3t<TReal>& aiMatrix3x3t<TReal>::operator *= (const aiMatrix3x3t<TReal>& m) { *this = aiMatrix3x3t<TReal>(m.a1 * a1 + m.b1 * a2 + m.c1 * a3, m.a2 * a1 + m.b2 * a2 + m.c2 * a3, m.a3 * a1 + m.b3 * a2 + m.c3 * a3, @@ -85,8 +89,7 @@ inline aiMatrix3x3t<TReal>& aiMatrix3x3t<TReal>::operator *= (const aiMatrix3x3t // ------------------------------------------------------------------------------------------------ template <typename TReal> template <typename TOther> -aiMatrix3x3t<TReal>::operator aiMatrix3x3t<TOther> () const -{ +aiMatrix3x3t<TReal>::operator aiMatrix3x3t<TOther> () const { return aiMatrix3x3t<TOther>(static_cast<TOther>(a1),static_cast<TOther>(a2),static_cast<TOther>(a3), static_cast<TOther>(b1),static_cast<TOther>(b2),static_cast<TOther>(b3), static_cast<TOther>(c1),static_cast<TOther>(c2),static_cast<TOther>(c3)); @@ -94,8 +97,8 @@ aiMatrix3x3t<TReal>::operator aiMatrix3x3t<TOther> () const // ------------------------------------------------------------------------------------------------ template <typename TReal> -inline aiMatrix3x3t<TReal> aiMatrix3x3t<TReal>::operator* (const aiMatrix3x3t<TReal>& m) const -{ +AI_FORCE_INLINE +aiMatrix3x3t<TReal> aiMatrix3x3t<TReal>::operator* (const aiMatrix3x3t<TReal>& m) const { aiMatrix3x3t<TReal> temp( *this); temp *= m; return temp; @@ -103,7 +106,8 @@ inline aiMatrix3x3t<TReal> aiMatrix3x3t<TReal>::operator* (const aiMatrix3x3t<TR // ------------------------------------------------------------------------------------------------ template <typename TReal> -inline TReal* aiMatrix3x3t<TReal>::operator[] (unsigned int p_iIndex) { +AI_FORCE_INLINE +TReal* aiMatrix3x3t<TReal>::operator[] (unsigned int p_iIndex) { switch ( p_iIndex ) { case 0: return &a1; @@ -119,7 +123,8 @@ inline TReal* aiMatrix3x3t<TReal>::operator[] (unsigned int p_iIndex) { // ------------------------------------------------------------------------------------------------ template <typename TReal> -inline const TReal* aiMatrix3x3t<TReal>::operator[] (unsigned int p_iIndex) const { +AI_FORCE_INLINE +const TReal* aiMatrix3x3t<TReal>::operator[] (unsigned int p_iIndex) const { switch ( p_iIndex ) { case 0: return &a1; @@ -135,8 +140,8 @@ inline const TReal* aiMatrix3x3t<TReal>::operator[] (unsigned int p_iIndex) cons // ------------------------------------------------------------------------------------------------ template <typename TReal> -inline bool aiMatrix3x3t<TReal>::operator== (const aiMatrix4x4t<TReal>& m) const -{ +AI_FORCE_INLINE +bool aiMatrix3x3t<TReal>::operator== (const aiMatrix4x4t<TReal>& m) const { return a1 == m.a1 && a2 == m.a2 && a3 == m.a3 && b1 == m.b1 && b2 == m.b2 && b3 == m.b3 && c1 == m.c1 && c2 == m.c2 && c3 == m.c3; @@ -144,14 +149,15 @@ inline bool aiMatrix3x3t<TReal>::operator== (const aiMatrix4x4t<TReal>& m) const // ------------------------------------------------------------------------------------------------ template <typename TReal> -inline bool aiMatrix3x3t<TReal>::operator!= (const aiMatrix4x4t<TReal>& m) const -{ +AI_FORCE_INLINE +bool aiMatrix3x3t<TReal>::operator!= (const aiMatrix4x4t<TReal>& m) const { return !(*this == m); } // --------------------------------------------------------------------------- template<typename TReal> -inline bool aiMatrix3x3t<TReal>::Equal(const aiMatrix4x4t<TReal>& m, TReal epsilon) const { +AI_FORCE_INLINE +bool aiMatrix3x3t<TReal>::Equal(const aiMatrix4x4t<TReal>& m, TReal epsilon) const { return std::abs(a1 - m.a1) <= epsilon && std::abs(a2 - m.a2) <= epsilon && @@ -166,8 +172,8 @@ inline bool aiMatrix3x3t<TReal>::Equal(const aiMatrix4x4t<TReal>& m, TReal epsil // ------------------------------------------------------------------------------------------------ template <typename TReal> -inline aiMatrix3x3t<TReal>& aiMatrix3x3t<TReal>::Transpose() -{ +AI_FORCE_INLINE +aiMatrix3x3t<TReal>& aiMatrix3x3t<TReal>::Transpose() { // (TReal&) don't remove, GCC complains cause of packed fields std::swap( (TReal&)a2, (TReal&)b1); std::swap( (TReal&)a3, (TReal&)c1); @@ -177,15 +183,15 @@ inline aiMatrix3x3t<TReal>& aiMatrix3x3t<TReal>::Transpose() // ---------------------------------------------------------------------------------------- template <typename TReal> -inline TReal aiMatrix3x3t<TReal>::Determinant() const -{ +AI_FORCE_INLINE +TReal aiMatrix3x3t<TReal>::Determinant() const { return a1*b2*c3 - a1*b3*c2 + a2*b3*c1 - a2*b1*c3 + a3*b1*c2 - a3*b2*c1; } // ---------------------------------------------------------------------------------------- template <typename TReal> -inline aiMatrix3x3t<TReal>& aiMatrix3x3t<TReal>::Inverse() -{ +AI_FORCE_INLINE +aiMatrix3x3t<TReal>& aiMatrix3x3t<TReal>::Inverse() { // Compute the reciprocal determinant TReal det = Determinant(); if(det == static_cast<TReal>(0.0)) @@ -219,8 +225,8 @@ inline aiMatrix3x3t<TReal>& aiMatrix3x3t<TReal>::Inverse() // ------------------------------------------------------------------------------------------------ template <typename TReal> -inline aiMatrix3x3t<TReal>& aiMatrix3x3t<TReal>::RotationZ(TReal a, aiMatrix3x3t<TReal>& out) -{ +AI_FORCE_INLINE +aiMatrix3x3t<TReal>& aiMatrix3x3t<TReal>::RotationZ(TReal a, aiMatrix3x3t<TReal>& out) { out.a1 = out.b2 = std::cos(a); out.b1 = std::sin(a); out.a2 = - out.b1; @@ -234,8 +240,8 @@ inline aiMatrix3x3t<TReal>& aiMatrix3x3t<TReal>::RotationZ(TReal a, aiMatrix3x3t // ------------------------------------------------------------------------------------------------ // Returns a rotation matrix for a rotation around an arbitrary axis. template <typename TReal> -inline aiMatrix3x3t<TReal>& aiMatrix3x3t<TReal>::Rotation( TReal a, const aiVector3t<TReal>& axis, aiMatrix3x3t<TReal>& out) -{ +AI_FORCE_INLINE +aiMatrix3x3t<TReal>& aiMatrix3x3t<TReal>::Rotation( TReal a, const aiVector3t<TReal>& axis, aiMatrix3x3t<TReal>& out) { TReal c = std::cos( a), s = std::sin( a), t = 1 - c; TReal x = axis.x, y = axis.y, z = axis.z; @@ -249,8 +255,8 @@ inline aiMatrix3x3t<TReal>& aiMatrix3x3t<TReal>::Rotation( TReal a, const aiVect // ------------------------------------------------------------------------------------------------ template <typename TReal> -inline aiMatrix3x3t<TReal>& aiMatrix3x3t<TReal>::Translation( const aiVector2t<TReal>& v, aiMatrix3x3t<TReal>& out) -{ +AI_FORCE_INLINE +aiMatrix3x3t<TReal>& aiMatrix3x3t<TReal>::Translation( const aiVector2t<TReal>& v, aiMatrix3x3t<TReal>& out) { out = aiMatrix3x3t<TReal>(); out.a3 = v.x; out.b3 = v.y; @@ -268,9 +274,8 @@ inline aiMatrix3x3t<TReal>& aiMatrix3x3t<TReal>::Translation( const aiVector2t<T */ // ---------------------------------------------------------------------------------------- template <typename TReal> -inline aiMatrix3x3t<TReal>& aiMatrix3x3t<TReal>::FromToMatrix(const aiVector3t<TReal>& from, - const aiVector3t<TReal>& to, aiMatrix3x3t<TReal>& mtx) -{ +AI_FORCE_INLINE aiMatrix3x3t<TReal>& aiMatrix3x3t<TReal>::FromToMatrix(const aiVector3t<TReal>& from, + const aiVector3t<TReal>& to, aiMatrix3x3t<TReal>& mtx) { const TReal e = from * to; const TReal f = (e < 0)? -e:e; @@ -352,6 +357,5 @@ inline aiMatrix3x3t<TReal>& aiMatrix3x3t<TReal>::FromToMatrix(const aiVector3t<T return mtx; } - #endif // __cplusplus #endif // AI_MATRIX3X3_INL_INC diff --git a/thirdparty/assimp/include/assimp/matrix4x4.h b/thirdparty/assimp/include/assimp/matrix4x4.h index 046bb535f2..8fc216f669 100644 --- a/thirdparty/assimp/include/assimp/matrix4x4.h +++ b/thirdparty/assimp/include/assimp/matrix4x4.h @@ -47,8 +47,12 @@ OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. #ifndef AI_MATRIX4X4_H_INC #define AI_MATRIX4X4_H_INC -#include "vector3.h" -#include "defs.h" +#ifdef __GNUC__ +# pragma GCC system_header +#endif + +#include <assimp/vector3.h> +#include <assimp/defs.h> #ifdef __cplusplus @@ -66,8 +70,7 @@ template<typename TReal> class aiQuaterniont; * defined thereby. */ template<typename TReal> -class aiMatrix4x4t -{ +class aiMatrix4x4t { public: /** set to identity */ @@ -91,8 +94,6 @@ public: aiMatrix4x4t(const aiVector3t<TReal>& scaling, const aiQuaterniont<TReal>& rotation, const aiVector3t<TReal>& position); -public: - // array access operators /** @fn TReal* operator[] (unsigned int p_iIndex) * @param [in] p_iIndex - index of the row. @@ -120,8 +121,6 @@ public: template <typename TOther> operator aiMatrix4x4t<TOther> () const; -public: - // ------------------------------------------------------------------- /** @brief Transpose the matrix */ aiMatrix4x4t& Transpose(); @@ -182,7 +181,6 @@ public: void DecomposeNoScaling (aiQuaterniont<TReal>& rotation, aiVector3t<TReal>& position) const; - // ------------------------------------------------------------------- /** @brief Creates a trafo matrix from a set of euler angles * @param x Rotation angle for the x-axis, in radians @@ -192,7 +190,6 @@ public: aiMatrix4x4t& FromEulerAnglesXYZ(TReal x, TReal y, TReal z); aiMatrix4x4t& FromEulerAnglesXYZ(const aiVector3t<TReal>& blubb); -public: // ------------------------------------------------------------------- /** @brief Returns a rotation matrix for a rotation around the x axis * @param a Rotation angle, in radians @@ -256,7 +253,6 @@ public: static aiMatrix4x4t& FromToMatrix(const aiVector3t<TReal>& from, const aiVector3t<TReal>& to, aiMatrix4x4t& out); -public: TReal a1, a2, a3, a4; TReal b1, b2, b3, b4; TReal c1, c2, c3, c4; diff --git a/thirdparty/assimp/include/assimp/matrix4x4.inl b/thirdparty/assimp/include/assimp/matrix4x4.inl index ebc67a06ec..84079974f7 100644 --- a/thirdparty/assimp/include/assimp/matrix4x4.inl +++ b/thirdparty/assimp/include/assimp/matrix4x4.inl @@ -5,8 +5,6 @@ Open Asset Import Library (assimp) Copyright (c) 2006-2019, assimp team - - All rights reserved. Redistribution and use of this software in source and binary forms, @@ -53,6 +51,7 @@ OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. #include "matrix4x4.h" #include "matrix3x3.h" #include "quaternion.h" +#include "MathFunctions.h" #include <algorithm> #include <limits> @@ -61,12 +60,11 @@ OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. // ---------------------------------------------------------------------------------------- template <typename TReal> aiMatrix4x4t<TReal>::aiMatrix4x4t() AI_NO_EXCEPT : - a1(1.0f), a2(), a3(), a4(), - b1(), b2(1.0f), b3(), b4(), - c1(), c2(), c3(1.0f), c4(), - d1(), d2(), d3(), d4(1.0f) -{ - + a1(1.0f), a2(), a3(), a4(), + b1(), b2(1.0f), b3(), b4(), + c1(), c2(), c3(1.0f), c4(), + d1(), d2(), d3(), d4(1.0f) { + // empty } // ---------------------------------------------------------------------------------------- @@ -75,19 +73,17 @@ aiMatrix4x4t<TReal>::aiMatrix4x4t (TReal _a1, TReal _a2, TReal _a3, TReal _a4, TReal _b1, TReal _b2, TReal _b3, TReal _b4, TReal _c1, TReal _c2, TReal _c3, TReal _c4, TReal _d1, TReal _d2, TReal _d3, TReal _d4) : - a1(_a1), a2(_a2), a3(_a3), a4(_a4), - b1(_b1), b2(_b2), b3(_b3), b4(_b4), - c1(_c1), c2(_c2), c3(_c3), c4(_c4), - d1(_d1), d2(_d2), d3(_d3), d4(_d4) -{ - + a1(_a1), a2(_a2), a3(_a3), a4(_a4), + b1(_b1), b2(_b2), b3(_b3), b4(_b4), + c1(_c1), c2(_c2), c3(_c3), c4(_c4), + d1(_d1), d2(_d2), d3(_d3), d4(_d4) { + // empty } // ------------------------------------------------------------------------------------------------ template <typename TReal> template <typename TOther> -aiMatrix4x4t<TReal>::operator aiMatrix4x4t<TOther> () const -{ +aiMatrix4x4t<TReal>::operator aiMatrix4x4t<TOther> () const { return aiMatrix4x4t<TOther>(static_cast<TOther>(a1),static_cast<TOther>(a2),static_cast<TOther>(a3),static_cast<TOther>(a4), static_cast<TOther>(b1),static_cast<TOther>(b2),static_cast<TOther>(b3),static_cast<TOther>(b4), static_cast<TOther>(c1),static_cast<TOther>(c2),static_cast<TOther>(c3),static_cast<TOther>(c4), @@ -97,8 +93,8 @@ aiMatrix4x4t<TReal>::operator aiMatrix4x4t<TOther> () const // ---------------------------------------------------------------------------------------- template <typename TReal> -inline aiMatrix4x4t<TReal>::aiMatrix4x4t (const aiMatrix3x3t<TReal>& m) -{ +AI_FORCE_INLINE +aiMatrix4x4t<TReal>::aiMatrix4x4t (const aiMatrix3x3t<TReal>& m) { a1 = m.a1; a2 = m.a2; a3 = m.a3; a4 = static_cast<TReal>(0.0); b1 = m.b1; b2 = m.b2; b3 = m.b3; b4 = static_cast<TReal>(0.0); c1 = m.c1; c2 = m.c2; c3 = m.c3; c4 = static_cast<TReal>(0.0); @@ -107,8 +103,8 @@ inline aiMatrix4x4t<TReal>::aiMatrix4x4t (const aiMatrix3x3t<TReal>& m) // ---------------------------------------------------------------------------------------- template <typename TReal> -inline aiMatrix4x4t<TReal>::aiMatrix4x4t (const aiVector3t<TReal>& scaling, const aiQuaterniont<TReal>& rotation, const aiVector3t<TReal>& position) -{ +AI_FORCE_INLINE +aiMatrix4x4t<TReal>::aiMatrix4x4t (const aiVector3t<TReal>& scaling, const aiQuaterniont<TReal>& rotation, const aiVector3t<TReal>& position) { // build a 3x3 rotation matrix aiMatrix3x3t<TReal> m = rotation.GetMatrix(); @@ -135,8 +131,8 @@ inline aiMatrix4x4t<TReal>::aiMatrix4x4t (const aiVector3t<TReal>& scaling, cons // ---------------------------------------------------------------------------------------- template <typename TReal> -inline aiMatrix4x4t<TReal>& aiMatrix4x4t<TReal>::operator *= (const aiMatrix4x4t<TReal>& m) -{ +AI_FORCE_INLINE +aiMatrix4x4t<TReal>& aiMatrix4x4t<TReal>::operator *= (const aiMatrix4x4t<TReal>& m) { *this = aiMatrix4x4t<TReal>( m.a1 * a1 + m.b1 * a2 + m.c1 * a3 + m.d1 * a4, m.a2 * a1 + m.b2 * a2 + m.c2 * a3 + m.d2 * a4, @@ -159,8 +155,7 @@ inline aiMatrix4x4t<TReal>& aiMatrix4x4t<TReal>::operator *= (const aiMatrix4x4t // ---------------------------------------------------------------------------------------- template <typename TReal> -inline aiMatrix4x4t<TReal> aiMatrix4x4t<TReal>::operator* (const TReal& aFloat) const -{ +AI_FORCE_INLINE aiMatrix4x4t<TReal> aiMatrix4x4t<TReal>::operator* (const TReal& aFloat) const { aiMatrix4x4t<TReal> temp( a1 * aFloat, a2 * aFloat, @@ -183,8 +178,8 @@ inline aiMatrix4x4t<TReal> aiMatrix4x4t<TReal>::operator* (const TReal& aFloat) // ---------------------------------------------------------------------------------------- template <typename TReal> -inline aiMatrix4x4t<TReal> aiMatrix4x4t<TReal>::operator+ (const aiMatrix4x4t<TReal>& m) const -{ +AI_FORCE_INLINE +aiMatrix4x4t<TReal> aiMatrix4x4t<TReal>::operator+ (const aiMatrix4x4t<TReal>& m) const { aiMatrix4x4t<TReal> temp( m.a1 + a1, m.a2 + a2, @@ -207,18 +202,16 @@ inline aiMatrix4x4t<TReal> aiMatrix4x4t<TReal>::operator+ (const aiMatrix4x4t<TR // ---------------------------------------------------------------------------------------- template <typename TReal> -inline aiMatrix4x4t<TReal> aiMatrix4x4t<TReal>::operator* (const aiMatrix4x4t<TReal>& m) const -{ +AI_FORCE_INLINE +aiMatrix4x4t<TReal> aiMatrix4x4t<TReal>::operator* (const aiMatrix4x4t<TReal>& m) const { aiMatrix4x4t<TReal> temp( *this); temp *= m; return temp; } - // ---------------------------------------------------------------------------------------- template <typename TReal> -inline aiMatrix4x4t<TReal>& aiMatrix4x4t<TReal>::Transpose() -{ +AI_FORCE_INLINE aiMatrix4x4t<TReal>& aiMatrix4x4t<TReal>::Transpose() { // (TReal&) don't remove, GCC complains cause of packed fields std::swap( (TReal&)b1, (TReal&)a2); std::swap( (TReal&)c1, (TReal&)a3); @@ -229,11 +222,10 @@ inline aiMatrix4x4t<TReal>& aiMatrix4x4t<TReal>::Transpose() return *this; } - // ---------------------------------------------------------------------------------------- template <typename TReal> -inline TReal aiMatrix4x4t<TReal>::Determinant() const -{ +AI_FORCE_INLINE +TReal aiMatrix4x4t<TReal>::Determinant() const { return a1*b2*c3*d4 - a1*b2*c4*d3 + a1*b3*c4*d2 - a1*b3*c2*d4 + a1*b4*c2*d3 - a1*b4*c3*d2 - a2*b3*c4*d1 + a2*b3*c1*d4 - a2*b4*c1*d3 + a2*b4*c3*d1 - a2*b1*c3*d4 + a2*b1*c4*d3 @@ -244,8 +236,8 @@ inline TReal aiMatrix4x4t<TReal>::Determinant() const // ---------------------------------------------------------------------------------------- template <typename TReal> -inline aiMatrix4x4t<TReal>& aiMatrix4x4t<TReal>::Inverse() -{ +AI_FORCE_INLINE +aiMatrix4x4t<TReal>& aiMatrix4x4t<TReal>::Inverse() { // Compute the reciprocal determinant const TReal det = Determinant(); if(det == static_cast<TReal>(0.0)) @@ -289,9 +281,10 @@ inline aiMatrix4x4t<TReal>& aiMatrix4x4t<TReal>::Inverse() // ---------------------------------------------------------------------------------------- template <typename TReal> -inline TReal* aiMatrix4x4t<TReal>::operator[](unsigned int p_iIndex) { +AI_FORCE_INLINE +TReal* aiMatrix4x4t<TReal>::operator[](unsigned int p_iIndex) { if (p_iIndex > 3) { - return NULL; + return nullptr; } switch ( p_iIndex ) { case 0: @@ -310,9 +303,10 @@ inline TReal* aiMatrix4x4t<TReal>::operator[](unsigned int p_iIndex) { // ---------------------------------------------------------------------------------------- template <typename TReal> -inline const TReal* aiMatrix4x4t<TReal>::operator[](unsigned int p_iIndex) const { +AI_FORCE_INLINE +const TReal* aiMatrix4x4t<TReal>::operator[](unsigned int p_iIndex) const { if (p_iIndex > 3) { - return NULL; + return nullptr; } switch ( p_iIndex ) { @@ -332,8 +326,8 @@ inline const TReal* aiMatrix4x4t<TReal>::operator[](unsigned int p_iIndex) const // ---------------------------------------------------------------------------------------- template <typename TReal> -inline bool aiMatrix4x4t<TReal>::operator== (const aiMatrix4x4t<TReal>& m) const -{ +AI_FORCE_INLINE +bool aiMatrix4x4t<TReal>::operator== (const aiMatrix4x4t<TReal>& m) const { return (a1 == m.a1 && a2 == m.a2 && a3 == m.a3 && a4 == m.a4 && b1 == m.b1 && b2 == m.b2 && b3 == m.b3 && b4 == m.b4 && c1 == m.c1 && c2 == m.c2 && c3 == m.c3 && c4 == m.c4 && @@ -342,14 +336,15 @@ inline bool aiMatrix4x4t<TReal>::operator== (const aiMatrix4x4t<TReal>& m) const // ---------------------------------------------------------------------------------------- template <typename TReal> -inline bool aiMatrix4x4t<TReal>::operator!= (const aiMatrix4x4t<TReal>& m) const -{ +AI_FORCE_INLINE +bool aiMatrix4x4t<TReal>::operator!= (const aiMatrix4x4t<TReal>& m) const { return !(*this == m); } // --------------------------------------------------------------------------- template<typename TReal> -inline bool aiMatrix4x4t<TReal>::Equal(const aiMatrix4x4t<TReal>& m, TReal epsilon) const { +AI_FORCE_INLINE +bool aiMatrix4x4t<TReal>::Equal(const aiMatrix4x4t<TReal>& m, TReal epsilon) const { return std::abs(a1 - m.a1) <= epsilon && std::abs(a2 - m.a2) <= epsilon && @@ -401,13 +396,10 @@ inline bool aiMatrix4x4t<TReal>::Equal(const aiMatrix4x4t<TReal>& m, TReal epsil \ do {} while(false) - - - template <typename TReal> -inline void aiMatrix4x4t<TReal>::Decompose (aiVector3t<TReal>& pScaling, aiQuaterniont<TReal>& pRotation, - aiVector3t<TReal>& pPosition) const -{ +AI_FORCE_INLINE +void aiMatrix4x4t<TReal>::Decompose (aiVector3t<TReal>& pScaling, aiQuaterniont<TReal>& pRotation, + aiVector3t<TReal>& pPosition) const { ASSIMP_MATRIX4_4_DECOMPOSE_PART; // build a 3x3 rotation matrix @@ -420,8 +412,8 @@ inline void aiMatrix4x4t<TReal>::Decompose (aiVector3t<TReal>& pScaling, aiQuate } template <typename TReal> -inline void aiMatrix4x4t<TReal>::Decompose(aiVector3t<TReal>& pScaling, aiVector3t<TReal>& pRotation, aiVector3t<TReal>& pPosition) const -{ +AI_FORCE_INLINE +void aiMatrix4x4t<TReal>::Decompose(aiVector3t<TReal>& pScaling, aiVector3t<TReal>& pRotation, aiVector3t<TReal>& pPosition) const { ASSIMP_MATRIX4_4_DECOMPOSE_PART; /* @@ -442,7 +434,7 @@ inline void aiMatrix4x4t<TReal>::Decompose(aiVector3t<TReal>& pScaling, aiVector */ // Use a small epsilon to solve floating-point inaccuracies - const TReal epsilon = 10e-3f; + const TReal epsilon = Assimp::Math::getEpsilon<TReal>(); pRotation.y = std::asin(-vCols[0].z);// D. Angle around oY. @@ -475,10 +467,10 @@ inline void aiMatrix4x4t<TReal>::Decompose(aiVector3t<TReal>& pScaling, aiVector #undef ASSIMP_MATRIX4_4_DECOMPOSE_PART template <typename TReal> -inline void aiMatrix4x4t<TReal>::Decompose(aiVector3t<TReal>& pScaling, aiVector3t<TReal>& pRotationAxis, TReal& pRotationAngle, - aiVector3t<TReal>& pPosition) const -{ -aiQuaterniont<TReal> pRotation; +AI_FORCE_INLINE +void aiMatrix4x4t<TReal>::Decompose(aiVector3t<TReal>& pScaling, aiVector3t<TReal>& pRotationAxis, TReal& pRotationAngle, + aiVector3t<TReal>& pPosition) const { + aiQuaterniont<TReal> pRotation; Decompose(pScaling, pRotation, pPosition); pRotation.Normalize(); @@ -500,9 +492,9 @@ aiQuaterniont<TReal> pRotation; // ---------------------------------------------------------------------------------------- template <typename TReal> -inline void aiMatrix4x4t<TReal>::DecomposeNoScaling (aiQuaterniont<TReal>& rotation, - aiVector3t<TReal>& position) const -{ +AI_FORCE_INLINE +void aiMatrix4x4t<TReal>::DecomposeNoScaling (aiQuaterniont<TReal>& rotation, + aiVector3t<TReal>& position) const { const aiMatrix4x4t<TReal>& _this = *this; // extract translation @@ -516,15 +508,15 @@ inline void aiMatrix4x4t<TReal>::DecomposeNoScaling (aiQuaterniont<TReal>& rotat // ---------------------------------------------------------------------------------------- template <typename TReal> -inline aiMatrix4x4t<TReal>& aiMatrix4x4t<TReal>::FromEulerAnglesXYZ(const aiVector3t<TReal>& blubb) -{ +AI_FORCE_INLINE +aiMatrix4x4t<TReal>& aiMatrix4x4t<TReal>::FromEulerAnglesXYZ(const aiVector3t<TReal>& blubb) { return FromEulerAnglesXYZ(blubb.x,blubb.y,blubb.z); } // ---------------------------------------------------------------------------------------- template <typename TReal> -inline aiMatrix4x4t<TReal>& aiMatrix4x4t<TReal>::FromEulerAnglesXYZ(TReal x, TReal y, TReal z) -{ +AI_FORCE_INLINE +aiMatrix4x4t<TReal>& aiMatrix4x4t<TReal>::FromEulerAnglesXYZ(TReal x, TReal y, TReal z) { aiMatrix4x4t<TReal>& _this = *this; TReal cx = std::cos(x); @@ -552,8 +544,8 @@ inline aiMatrix4x4t<TReal>& aiMatrix4x4t<TReal>::FromEulerAnglesXYZ(TReal x, TRe // ---------------------------------------------------------------------------------------- template <typename TReal> -inline bool aiMatrix4x4t<TReal>::IsIdentity() const -{ +AI_FORCE_INLINE +bool aiMatrix4x4t<TReal>::IsIdentity() const { // Use a small epsilon to solve floating-point inaccuracies const static TReal epsilon = 10e-3f; @@ -577,8 +569,8 @@ inline bool aiMatrix4x4t<TReal>::IsIdentity() const // ---------------------------------------------------------------------------------------- template <typename TReal> -inline aiMatrix4x4t<TReal>& aiMatrix4x4t<TReal>::RotationX(TReal a, aiMatrix4x4t<TReal>& out) -{ +AI_FORCE_INLINE +aiMatrix4x4t<TReal>& aiMatrix4x4t<TReal>::RotationX(TReal a, aiMatrix4x4t<TReal>& out) { /* | 1 0 0 0 | M = | 0 cos(A) -sin(A) 0 | @@ -592,8 +584,8 @@ inline aiMatrix4x4t<TReal>& aiMatrix4x4t<TReal>::RotationX(TReal a, aiMatrix4x4t // ---------------------------------------------------------------------------------------- template <typename TReal> -inline aiMatrix4x4t<TReal>& aiMatrix4x4t<TReal>::RotationY(TReal a, aiMatrix4x4t<TReal>& out) -{ +AI_FORCE_INLINE +aiMatrix4x4t<TReal>& aiMatrix4x4t<TReal>::RotationY(TReal a, aiMatrix4x4t<TReal>& out) { /* | cos(A) 0 sin(A) 0 | M = | 0 1 0 0 | @@ -608,8 +600,8 @@ inline aiMatrix4x4t<TReal>& aiMatrix4x4t<TReal>::RotationY(TReal a, aiMatrix4x4t // ---------------------------------------------------------------------------------------- template <typename TReal> -inline aiMatrix4x4t<TReal>& aiMatrix4x4t<TReal>::RotationZ(TReal a, aiMatrix4x4t<TReal>& out) -{ +AI_FORCE_INLINE +aiMatrix4x4t<TReal>& aiMatrix4x4t<TReal>::RotationZ(TReal a, aiMatrix4x4t<TReal>& out) { /* | cos(A) -sin(A) 0 0 | M = | sin(A) cos(A) 0 0 | @@ -624,26 +616,25 @@ inline aiMatrix4x4t<TReal>& aiMatrix4x4t<TReal>::RotationZ(TReal a, aiMatrix4x4t // ---------------------------------------------------------------------------------------- // Returns a rotation matrix for a rotation around an arbitrary axis. template <typename TReal> -inline aiMatrix4x4t<TReal>& aiMatrix4x4t<TReal>::Rotation( TReal a, const aiVector3t<TReal>& axis, aiMatrix4x4t<TReal>& out) -{ - TReal c = std::cos( a), s = std::sin( a), t = 1 - c; - TReal x = axis.x, y = axis.y, z = axis.z; - - // Many thanks to MathWorld and Wikipedia - out.a1 = t*x*x + c; out.a2 = t*x*y - s*z; out.a3 = t*x*z + s*y; - out.b1 = t*x*y + s*z; out.b2 = t*y*y + c; out.b3 = t*y*z - s*x; - out.c1 = t*x*z - s*y; out.c2 = t*y*z + s*x; out.c3 = t*z*z + c; - out.a4 = out.b4 = out.c4 = static_cast<TReal>(0.0); - out.d1 = out.d2 = out.d3 = static_cast<TReal>(0.0); - out.d4 = static_cast<TReal>(1.0); - - return out; +AI_FORCE_INLINE +aiMatrix4x4t<TReal>& aiMatrix4x4t<TReal>::Rotation( TReal a, const aiVector3t<TReal>& axis, aiMatrix4x4t<TReal>& out) { + TReal c = std::cos( a), s = std::sin( a), t = 1 - c; + TReal x = axis.x, y = axis.y, z = axis.z; + + // Many thanks to MathWorld and Wikipedia + out.a1 = t*x*x + c; out.a2 = t*x*y - s*z; out.a3 = t*x*z + s*y; + out.b1 = t*x*y + s*z; out.b2 = t*y*y + c; out.b3 = t*y*z - s*x; + out.c1 = t*x*z - s*y; out.c2 = t*y*z + s*x; out.c3 = t*z*z + c; + out.a4 = out.b4 = out.c4 = static_cast<TReal>(0.0); + out.d1 = out.d2 = out.d3 = static_cast<TReal>(0.0); + out.d4 = static_cast<TReal>(1.0); + + return out; } // ---------------------------------------------------------------------------------------- template <typename TReal> -inline aiMatrix4x4t<TReal>& aiMatrix4x4t<TReal>::Translation( const aiVector3t<TReal>& v, aiMatrix4x4t<TReal>& out) -{ +AI_FORCE_INLINE aiMatrix4x4t<TReal>& aiMatrix4x4t<TReal>::Translation( const aiVector3t<TReal>& v, aiMatrix4x4t<TReal>& out) { out = aiMatrix4x4t<TReal>(); out.a4 = v.x; out.b4 = v.y; @@ -653,8 +644,8 @@ inline aiMatrix4x4t<TReal>& aiMatrix4x4t<TReal>::Translation( const aiVector3t<T // ---------------------------------------------------------------------------------------- template <typename TReal> -inline aiMatrix4x4t<TReal>& aiMatrix4x4t<TReal>::Scaling( const aiVector3t<TReal>& v, aiMatrix4x4t<TReal>& out) -{ +AI_FORCE_INLINE +aiMatrix4x4t<TReal>& aiMatrix4x4t<TReal>::Scaling( const aiVector3t<TReal>& v, aiMatrix4x4t<TReal>& out) { out = aiMatrix4x4t<TReal>(); out.a1 = v.x; out.b2 = v.y; @@ -673,9 +664,9 @@ inline aiMatrix4x4t<TReal>& aiMatrix4x4t<TReal>::Scaling( const aiVector3t<TReal */ // ---------------------------------------------------------------------------------------- template <typename TReal> -inline aiMatrix4x4t<TReal>& aiMatrix4x4t<TReal>::FromToMatrix(const aiVector3t<TReal>& from, - const aiVector3t<TReal>& to, aiMatrix4x4t<TReal>& mtx) -{ +AI_FORCE_INLINE +aiMatrix4x4t<TReal>& aiMatrix4x4t<TReal>::FromToMatrix(const aiVector3t<TReal>& from, + const aiVector3t<TReal>& to, aiMatrix4x4t<TReal>& mtx) { aiMatrix3x3t<TReal> m3; aiMatrix3x3t<TReal>::FromToMatrix(from,to,m3); mtx = aiMatrix4x4t<TReal>(m3); diff --git a/thirdparty/assimp/include/assimp/mesh.h b/thirdparty/assimp/include/assimp/mesh.h index f1628f1f54..fbf2a857ad 100644 --- a/thirdparty/assimp/include/assimp/mesh.h +++ b/thirdparty/assimp/include/assimp/mesh.h @@ -48,6 +48,10 @@ OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. #ifndef AI_MESH_H_INC #define AI_MESH_H_INC +#ifdef __GNUC__ +# pragma GCC system_header +#endif + #include <assimp/types.h> #include <assimp/aabb.h> @@ -248,6 +252,9 @@ struct aiVertexWeight { }; +// Forward declare aiNode (pointer use only) +struct aiNode; + // --------------------------------------------------------------------------- /** @brief A single bone of a mesh. * @@ -264,6 +271,16 @@ struct aiBone { //! The maximum value for this member is #AI_MAX_BONE_WEIGHTS. unsigned int mNumWeights; +#ifndef ASSIMP_BUILD_NO_ARMATUREPOPULATE_PROCESS + // The bone armature node - used for skeleton conversion + // you must enable aiProcess_PopulateArmatureData to populate this + C_STRUCT aiNode* mArmature; + + // The bone node in the scene - used for skeleton conversion + // you must enable aiProcess_PopulateArmatureData to populate this + C_STRUCT aiNode* mNode; + +#endif //! The influence weights of this bone, by vertex index. C_STRUCT aiVertexWeight* mWeights; @@ -418,11 +435,11 @@ struct aiAnimMesh /**Anim Mesh name */ C_STRUCT aiString mName; - /** Replacement for aiMesh::mVertices. If this array is non-NULL, + /** Replacement for aiMesh::mVertices. If this array is non-nullptr, * it *must* contain mNumVertices entries. The corresponding - * array in the host mesh must be non-NULL as well - animation + * array in the host mesh must be non-nullptr as well - animation * meshes may neither add or nor remove vertex components (if - * a replacement array is NULL and the corresponding source + * a replacement array is nullptr and the corresponding source * array is not, the source data is taken instead)*/ C_STRUCT aiVector3D* mVertices; @@ -596,7 +613,7 @@ struct aiMesh C_STRUCT aiVector3D* mVertices; /** Vertex normals. - * The array contains normalized vectors, NULL if not present. + * The array contains normalized vectors, nullptr if not present. * The array is mNumVertices in size. Normals are undefined for * point and line primitives. A mesh consisting of points and * lines only may not have normal vectors. Meshes with mixed @@ -619,7 +636,7 @@ struct aiMesh /** Vertex tangents. * The tangent of a vertex points in the direction of the positive - * X texture axis. The array contains normalized vectors, NULL if + * X texture axis. The array contains normalized vectors, nullptr if * not present. The array is mNumVertices in size. A mesh consisting * of points and lines only may not have normal vectors. Meshes with * mixed primitive types (i.e. lines and triangles) may have @@ -633,7 +650,7 @@ struct aiMesh /** Vertex bitangents. * The bitangent of a vertex points in the direction of the positive - * Y texture axis. The array contains normalized vectors, NULL if not + * Y texture axis. The array contains normalized vectors, nullptr if not * present. The array is mNumVertices in size. * @note If the mesh contains tangents, it automatically also contains * bitangents. @@ -642,14 +659,14 @@ struct aiMesh /** Vertex color sets. * A mesh may contain 0 to #AI_MAX_NUMBER_OF_COLOR_SETS vertex - * colors per vertex. NULL if not present. Each array is + * colors per vertex. nullptr if not present. Each array is * mNumVertices in size if present. */ C_STRUCT aiColor4D* mColors[AI_MAX_NUMBER_OF_COLOR_SETS]; /** Vertex texture coords, also known as UV channels. * A mesh may contain 0 to AI_MAX_NUMBER_OF_TEXTURECOORDS per - * vertex. NULL if not present. The array is mNumVertices in size. + * vertex. nullptr if not present. The array is mNumVertices in size. */ C_STRUCT aiVector3D* mTextureCoords[AI_MAX_NUMBER_OF_TEXTURECOORDS]; @@ -671,7 +688,7 @@ struct aiMesh C_STRUCT aiFace* mFaces; /** The number of bones this mesh contains. - * Can be 0, in which case the mBones array is NULL. + * Can be 0, in which case the mBones array is nullptr. */ unsigned int mNumBones; @@ -769,7 +786,10 @@ struct aiMesh // DO NOT REMOVE THIS ADDITIONAL CHECK if (mNumBones && mBones) { for( unsigned int a = 0; a < mNumBones; a++) { - delete mBones[a]; + if(mBones[a]) + { + delete mBones[a]; + } } delete [] mBones; } diff --git a/thirdparty/assimp/include/assimp/metadata.h b/thirdparty/assimp/include/assimp/metadata.h index 3a1dd1442a..849d90f485 100644 --- a/thirdparty/assimp/include/assimp/metadata.h +++ b/thirdparty/assimp/include/assimp/metadata.h @@ -48,6 +48,10 @@ OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. #ifndef AI_METADATA_H_INC #define AI_METADATA_H_INC +#ifdef __GNUC__ +# pragma GCC system_header +#endif + #if defined(_MSC_VER) && (_MSC_VER <= 1500) # include "Compiler/pstdint.h" #else diff --git a/thirdparty/assimp/include/assimp/pbrmaterial.h b/thirdparty/assimp/include/assimp/pbrmaterial.h index ce5f822173..892a6347f7 100644 --- a/thirdparty/assimp/include/assimp/pbrmaterial.h +++ b/thirdparty/assimp/include/assimp/pbrmaterial.h @@ -5,8 +5,6 @@ Open Asset Import Library (assimp) Copyright (c) 2006-2019, assimp team - - All rights reserved. Redistribution and use of this software in source and binary forms, @@ -44,9 +42,14 @@ OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. /** @file pbrmaterial.h * @brief Defines the material system of the library */ +#pragma once #ifndef AI_PBRMATERIAL_H_INC #define AI_PBRMATERIAL_H_INC +#ifdef __GNUC__ +# pragma GCC system_header +#endif + #define AI_MATKEY_GLTF_PBRMETALLICROUGHNESS_BASE_COLOR_FACTOR "$mat.gltf.pbrMetallicRoughness.baseColorFactor", 0, 0 #define AI_MATKEY_GLTF_PBRMETALLICROUGHNESS_METALLIC_FACTOR "$mat.gltf.pbrMetallicRoughness.metallicFactor", 0, 0 #define AI_MATKEY_GLTF_PBRMETALLICROUGHNESS_ROUGHNESS_FACTOR "$mat.gltf.pbrMetallicRoughness.roughnessFactor", 0, 0 diff --git a/thirdparty/assimp/include/assimp/postprocess.h b/thirdparty/assimp/include/assimp/postprocess.h index 2a74414216..4b6732e80a 100644 --- a/thirdparty/assimp/include/assimp/postprocess.h +++ b/thirdparty/assimp/include/assimp/postprocess.h @@ -47,7 +47,11 @@ OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. #ifndef AI_POSTPROCESS_H_INC #define AI_POSTPROCESS_H_INC -#include "types.h" +#include <assimp/types.h> + +#ifdef __GNUC__ +# pragma GCC system_header +#endif #ifdef __cplusplus extern "C" { @@ -316,6 +320,19 @@ enum aiPostProcessSteps */ aiProcess_FixInfacingNormals = 0x2000, + + + // ------------------------------------------------------------------------- + /** + * This step generically populates aiBone->mArmature and aiBone->mNode generically + * The point of these is it saves you later having to calculate these elements + * This is useful when handling rest information or skin information + * If you have multiple armatures on your models we strongly recommend enabling this + * Instead of writing your own multi-root, multi-armature lookups we have done the + * hard work for you :) + */ + aiProcess_PopulateArmatureData = 0x4000, + // ------------------------------------------------------------------------- /** <hr>This step splits meshes with more than one primitive type in * homogeneous sub-meshes. @@ -533,6 +550,8 @@ enum aiPostProcessSteps */ aiProcess_Debone = 0x4000000, + + // ------------------------------------------------------------------------- /** <hr>This step will perform a global scale of the model. * diff --git a/thirdparty/assimp/include/assimp/qnan.h b/thirdparty/assimp/include/assimp/qnan.h index 0918bde5e7..06780da5b8 100644 --- a/thirdparty/assimp/include/assimp/qnan.h +++ b/thirdparty/assimp/include/assimp/qnan.h @@ -50,19 +50,23 @@ OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. * but last time I checked compiler coverage was so bad that I decided * to reinvent the wheel. */ - +#pragma once #ifndef AI_QNAN_H_INCLUDED #define AI_QNAN_H_INCLUDED +#ifdef __GNUC__ +# pragma GCC system_header +#endif + #include <assimp/defs.h> + #include <limits> #include <stdint.h> // --------------------------------------------------------------------------- /** Data structure to represent the bit pattern of a 32 Bit * IEEE 754 floating-point number. */ -union _IEEESingle -{ +union _IEEESingle { float Float; struct { @@ -75,8 +79,7 @@ union _IEEESingle // --------------------------------------------------------------------------- /** Data structure to represent the bit pattern of a 64 Bit * IEEE 754 floating-point number. */ -union _IEEEDouble -{ +union _IEEEDouble { double Double; struct { @@ -89,8 +92,7 @@ union _IEEEDouble // --------------------------------------------------------------------------- /** Check whether a given float is qNaN. * @param in Input value */ -AI_FORCE_INLINE bool is_qnan(float in) -{ +AI_FORCE_INLINE bool is_qnan(float in) { // the straightforward solution does not work: // return (in != in); // compiler generates code like this @@ -107,8 +109,7 @@ AI_FORCE_INLINE bool is_qnan(float in) // --------------------------------------------------------------------------- /** Check whether a given double is qNaN. * @param in Input value */ -AI_FORCE_INLINE bool is_qnan(double in) -{ +AI_FORCE_INLINE bool is_qnan(double in) { // the straightforward solution does not work: // return (in != in); // compiler generates code like this @@ -127,8 +128,7 @@ AI_FORCE_INLINE bool is_qnan(double in) * * Denorms return false, they're treated like normal values. * @param in Input value */ -AI_FORCE_INLINE bool is_special_float(float in) -{ +AI_FORCE_INLINE bool is_special_float(float in) { _IEEESingle temp; memcpy(&temp, &in, sizeof(float)); return (temp.IEEE.Exp == (1u << 8)-1); @@ -139,8 +139,7 @@ AI_FORCE_INLINE bool is_special_float(float in) * * Denorms return false, they're treated like normal values. * @param in Input value */ -AI_FORCE_INLINE bool is_special_float(double in) -{ +AI_FORCE_INLINE bool is_special_float(double in) { _IEEESingle temp; memcpy(&temp, &in, sizeof(float)); return (temp.IEEE.Exp == (1u << 11)-1); @@ -150,15 +149,13 @@ AI_FORCE_INLINE bool is_special_float(double in) /** Check whether a float is NOT qNaN. * @param in Input value */ template<class TReal> -AI_FORCE_INLINE bool is_not_qnan(TReal in) -{ +AI_FORCE_INLINE bool is_not_qnan(TReal in) { return !is_qnan(in); } // --------------------------------------------------------------------------- /** @brief Get a fresh qnan. */ -AI_FORCE_INLINE ai_real get_qnan() -{ +AI_FORCE_INLINE ai_real get_qnan() { return std::numeric_limits<ai_real>::quiet_NaN(); } diff --git a/thirdparty/assimp/include/assimp/quaternion.h b/thirdparty/assimp/include/assimp/quaternion.h index 96574d24b9..ae45959b41 100644 --- a/thirdparty/assimp/include/assimp/quaternion.h +++ b/thirdparty/assimp/include/assimp/quaternion.h @@ -49,7 +49,11 @@ OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. #ifdef __cplusplus -#include "defs.h" +#ifdef __GNUC__ +# pragma GCC system_header +#endif + +#include <assimp/defs.h> template <typename TReal> class aiVector3t; template <typename TReal> class aiMatrix3x3t; diff --git a/thirdparty/assimp/include/assimp/quaternion.inl b/thirdparty/assimp/include/assimp/quaternion.inl index c26648215e..3ce514d1bb 100644 --- a/thirdparty/assimp/include/assimp/quaternion.inl +++ b/thirdparty/assimp/include/assimp/quaternion.inl @@ -48,8 +48,12 @@ OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. #ifndef AI_QUATERNION_INL_INC #define AI_QUATERNION_INL_INC +#ifdef __GNUC__ +# pragma GCC system_header +#endif + #ifdef __cplusplus -#include "quaternion.h" +#include <assimp/quaternion.h> #include <cmath> diff --git a/thirdparty/assimp/include/assimp/scene.h b/thirdparty/assimp/include/assimp/scene.h index 2667db85b3..b76709eb15 100644 --- a/thirdparty/assimp/include/assimp/scene.h +++ b/thirdparty/assimp/include/assimp/scene.h @@ -48,14 +48,18 @@ OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. #ifndef AI_SCENE_H_INC #define AI_SCENE_H_INC -#include "types.h" -#include "texture.h" -#include "mesh.h" -#include "light.h" -#include "camera.h" -#include "material.h" -#include "anim.h" -#include "metadata.h" +#ifdef __GNUC__ +# pragma GCC system_header +#endif + +#include <assimp/types.h> +#include <assimp/texture.h> +#include <assimp/mesh.h> +#include <assimp/light.h> +#include <assimp/camera.h> +#include <assimp/material.h> +#include <assimp/anim.h> +#include <assimp/metadata.h> #ifdef __cplusplus # include <cstdlib> @@ -106,13 +110,13 @@ struct ASSIMP_API aiNode /** The transformation relative to the node's parent. */ C_STRUCT aiMatrix4x4 mTransformation; - /** Parent node. NULL if this node is the root node. */ + /** Parent node. nullptr if this node is the root node. */ C_STRUCT aiNode* mParent; /** The number of child nodes of this node. */ unsigned int mNumChildren; - /** The child nodes of this node. NULL if mNumChildren is 0. */ + /** The child nodes of this node. nullptr if mNumChildren is 0. */ C_STRUCT aiNode** mChildren; /** The number of meshes of this node. */ @@ -123,7 +127,7 @@ struct ASSIMP_API aiNode */ unsigned int* mMeshes; - /** Metadata associated with this node or NULL if there is no metadata. + /** Metadata associated with this node or nullptr if there is no metadata. * Whether any metadata is generated depends on the source file format. See the * @link importer_notes @endlink page for more information on every source file * format. Importers that don't document any metadata don't write any. @@ -145,7 +149,7 @@ struct ASSIMP_API aiNode * of the scene. * * @param name Name to search for - * @return NULL or a valid Node if the search was successful. + * @return nullptr or a valid Node if the search was successful. */ inline const aiNode* FindNode(const aiString& name) const { @@ -340,7 +344,7 @@ struct aiScene #ifdef __cplusplus - //! Default constructor - set everything to 0/NULL + //! Default constructor - set everything to 0/nullptr ASSIMP_API aiScene(); //! Destructor @@ -349,33 +353,33 @@ struct aiScene //! Check whether the scene contains meshes //! Unless no special scene flags are set this will always be true. inline bool HasMeshes() const { - return mMeshes != NULL && mNumMeshes > 0; + return mMeshes != nullptr && mNumMeshes > 0; } //! Check whether the scene contains materials //! Unless no special scene flags are set this will always be true. inline bool HasMaterials() const { - return mMaterials != NULL && mNumMaterials > 0; + return mMaterials != nullptr && mNumMaterials > 0; } //! Check whether the scene contains lights inline bool HasLights() const { - return mLights != NULL && mNumLights > 0; + return mLights != nullptr && mNumLights > 0; } //! Check whether the scene contains textures inline bool HasTextures() const { - return mTextures != NULL && mNumTextures > 0; + return mTextures != nullptr && mNumTextures > 0; } //! Check whether the scene contains cameras inline bool HasCameras() const { - return mCameras != NULL && mNumCameras > 0; + return mCameras != nullptr && mNumCameras > 0; } //! Check whether the scene contains animations inline bool HasAnimations() const { - return mAnimations != NULL && mNumAnimations > 0; + return mAnimations != nullptr && mNumAnimations > 0; } //! Returns a short filename from a full path diff --git a/thirdparty/assimp/include/assimp/texture.h b/thirdparty/assimp/include/assimp/texture.h index dc6cbef65c..0867659f46 100644 --- a/thirdparty/assimp/include/assimp/texture.h +++ b/thirdparty/assimp/include/assimp/texture.h @@ -5,8 +5,6 @@ Open Asset Import Library (assimp) Copyright (c) 2006-2019, assimp team - - All rights reserved. Redistribution and use of this software in source and binary forms, @@ -53,13 +51,16 @@ OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. #ifndef AI_TEXTURE_H_INC #define AI_TEXTURE_H_INC -#include "types.h" +#ifdef __GNUC__ +# pragma GCC system_header +#endif + +#include <assimp/types.h> #ifdef __cplusplus extern "C" { #endif - // -------------------------------------------------------------------------------- /** \def AI_EMBEDDED_TEXNAME_PREFIX @@ -79,7 +80,6 @@ extern "C" { # define AI_MAKE_EMBEDDED_TEXNAME(_n_) AI_EMBEDDED_TEXNAME_PREFIX # _n_ #endif - #include "./Compiler/pushpack1.h" // -------------------------------------------------------------------------------- @@ -87,8 +87,7 @@ extern "C" { * * Used by aiTexture. */ -struct aiTexel -{ +struct aiTexel { unsigned char b,g,r,a; #ifdef __cplusplus diff --git a/thirdparty/assimp/include/assimp/types.h b/thirdparty/assimp/include/assimp/types.h index 331b8cd03f..e32cae331c 100644 --- a/thirdparty/assimp/include/assimp/types.h +++ b/thirdparty/assimp/include/assimp/types.h @@ -48,22 +48,30 @@ OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. #ifndef AI_TYPES_H_INC #define AI_TYPES_H_INC +#ifdef __GNUC__ +# pragma GCC system_header +#endif + // Some runtime headers #include <sys/types.h> #include <stddef.h> #include <string.h> #include <limits.h> +#include <stdint.h> // Our compile configuration -#include "defs.h" +#include <assimp/defs.h> // Some types moved to separate header due to size of operators -#include "vector3.h" -#include "vector2.h" -#include "color4.h" -#include "matrix3x3.h" -#include "matrix4x4.h" -#include "quaternion.h" +#include <assimp/vector3.h> +#include <assimp/vector2.h> +#include <assimp/color4.h> +#include <assimp/matrix3x3.h> +#include <assimp/matrix4x4.h> +#include <assimp/quaternion.h> + +typedef int32_t ai_int32; +typedef uint32_t ai_uint32 ; #ifdef __cplusplus #include <cstring> @@ -71,7 +79,7 @@ OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. #include <string> // for aiString::Set(const std::string&) namespace Assimp { - //! @cond never +//! @cond never namespace Intern { // -------------------------------------------------------------------- /** @brief Internal helper class to utilize our internal new/delete @@ -269,8 +277,8 @@ struct aiString } /** Copy constructor */ - aiString(const aiString& rOther) : - length(rOther.length) + aiString(const aiString& rOther) + : length(rOther.length) { // Crop the string to the maximum length length = length>=MAXLEN?MAXLEN-1:length; @@ -280,7 +288,7 @@ struct aiString /** Constructor from std::string */ explicit aiString(const std::string& pString) : - length(pString.length()) + length( (ai_uint32) pString.length()) { length = length>=MAXLEN?MAXLEN-1:length; memcpy( data, pString.c_str(), length); @@ -292,15 +300,15 @@ struct aiString if( pString.length() > MAXLEN - 1) { return; } - length = pString.length(); + length = (ai_uint32)pString.length(); memcpy( data, pString.c_str(), length); data[length] = 0; } /** Copy a const char* to the aiString */ void Set( const char* sz) { - const size_t len = ::strlen(sz); - if( len > MAXLEN - 1) { + const ai_int32 len = (ai_uint32) ::strlen(sz); + if( len > (ai_int32)MAXLEN - 1) { return; } length = len; @@ -346,7 +354,7 @@ struct aiString /** Append a string to the string */ void Append (const char* app) { - const size_t len = ::strlen(app); + const ai_uint32 len = (ai_uint32) ::strlen(app); if (!len) { return; } @@ -379,7 +387,7 @@ struct aiString /** Binary length of the string excluding the terminal 0. This is NOT the * logical length of strings containing UTF-8 multi-byte sequences! It's * the number of bytes from the beginning of the string to its end.*/ - size_t length; + ai_uint32 length; /** String buffer. Size limit is MAXLEN */ char data[MAXLEN]; diff --git a/thirdparty/assimp/include/assimp/vector2.h b/thirdparty/assimp/include/assimp/vector2.h index d5ef001542..c8b1ebbbc2 100644 --- a/thirdparty/assimp/include/assimp/vector2.h +++ b/thirdparty/assimp/include/assimp/vector2.h @@ -47,6 +47,10 @@ OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. #ifndef AI_VECTOR2D_H_INC #define AI_VECTOR2D_H_INC +#ifdef __GNUC__ +# pragma GCC system_header +#endif + #ifdef __cplusplus # include <cmath> #else diff --git a/thirdparty/assimp/include/assimp/vector2.inl b/thirdparty/assimp/include/assimp/vector2.inl index 3b7a7beabb..4bbf432ff8 100644 --- a/thirdparty/assimp/include/assimp/vector2.inl +++ b/thirdparty/assimp/include/assimp/vector2.inl @@ -48,8 +48,12 @@ OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. #ifndef AI_VECTOR2D_INL_INC #define AI_VECTOR2D_INL_INC +#ifdef __GNUC__ +# pragma GCC system_header +#endif + #ifdef __cplusplus -#include "vector2.h" +#include <assimp/vector2.h> #include <cmath> diff --git a/thirdparty/assimp/include/assimp/vector3.h b/thirdparty/assimp/include/assimp/vector3.h index 7ff25cf0ad..fffeb12ad7 100644 --- a/thirdparty/assimp/include/assimp/vector3.h +++ b/thirdparty/assimp/include/assimp/vector3.h @@ -47,13 +47,17 @@ OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. #ifndef AI_VECTOR3D_H_INC #define AI_VECTOR3D_H_INC +#ifdef __GNUC__ +# pragma GCC system_header +#endif + #ifdef __cplusplus # include <cmath> #else # include <math.h> #endif -#include "defs.h" +#include <assimp/defs.h> #ifdef __cplusplus @@ -63,16 +67,13 @@ template<typename TReal> class aiMatrix4x4t; // --------------------------------------------------------------------------- /** Represents a three-dimensional vector. */ template <typename TReal> -class aiVector3t -{ +class aiVector3t { public: aiVector3t() AI_NO_EXCEPT : x(), y(), z() {} aiVector3t(TReal _x, TReal _y, TReal _z) : x(_x), y(_y), z(_z) {} explicit aiVector3t (TReal _xyz ) : x(_xyz), y(_xyz), z(_xyz) {} aiVector3t( const aiVector3t& o ) = default; -public: - // combined operators const aiVector3t& operator += (const aiVector3t& o); const aiVector3t& operator -= (const aiVector3t& o); @@ -97,7 +98,6 @@ public: template <typename TOther> operator aiVector3t<TOther> () const; -public: /** @brief Set the components of a vector * @param pX X component * @param pY Y component diff --git a/thirdparty/assimp/include/assimp/vector3.inl b/thirdparty/assimp/include/assimp/vector3.inl index 2fce6eddee..6682d3b32c 100644 --- a/thirdparty/assimp/include/assimp/vector3.inl +++ b/thirdparty/assimp/include/assimp/vector3.inl @@ -49,7 +49,7 @@ OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. #define AI_VECTOR3D_INL_INC #ifdef __cplusplus -#include "vector3.h" +#include <assimp/vector3.h> #include <cmath> diff --git a/thirdparty/assimp/include/assimp/version.h b/thirdparty/assimp/include/assimp/version.h index c62a40e118..2fdd37a43c 100644 --- a/thirdparty/assimp/include/assimp/version.h +++ b/thirdparty/assimp/include/assimp/version.h @@ -49,7 +49,7 @@ OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. #ifndef AI_VERSION_H_INC #define AI_VERSION_H_INC -#include "defs.h" +#include <assimp/defs.h> #ifdef __cplusplus extern "C" { diff --git a/thirdparty/b2d_convexdecomp/b2Glue.h b/thirdparty/b2d_convexdecomp/b2Glue.h deleted file mode 100644 index 175f75be75..0000000000 --- a/thirdparty/b2d_convexdecomp/b2Glue.h +++ /dev/null @@ -1,174 +0,0 @@ -/* -* Copyright (c) 2006-2009 Erin Catto http://www.gphysics.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. -*/ - -#ifndef B2GLUE_H -#define B2GLUE_H - -#include "core/math/vector2.h" - -#include <limits.h> - -namespace b2ConvexDecomp { - -typedef real_t float32; -typedef int32_t int32; - -static inline float32 b2Sqrt(float32 val) { return Math::sqrt(val); } -#define b2_maxFloat FLT_MAX -#define b2_epsilon CMP_EPSILON -#define b2_pi 3.14159265359f -#define b2_maxPolygonVertices 16 -#define b2Max MAX -#define b2Min MIN -#define b2Clamp CLAMP -#define b2Abs ABS -/// A small length used as a collision and constraint tolerance. Usually it is -/// chosen to be numerically significant, but visually insignificant. -#define b2_linearSlop 0.005f - -/// A small angle used as a collision and constraint tolerance. Usually it is -/// chosen to be numerically significant, but visually insignificant. -#define b2_angularSlop (2.0f / 180.0f * b2_pi) - -/// A 2D column vector. -struct b2Vec2 -{ - /// Default constructor does nothing (for performance). - b2Vec2() {} - - /// Construct using coordinates. - b2Vec2(float32 x, float32 y) : x(x), y(y) {} - - /// Set this vector to all zeros. - void SetZero() { x = 0.0f; y = 0.0f; } - - /// Set this vector to some specified coordinates. - void Set(float32 x_, float32 y_) { x = x_; y = y_; } - - /// Negate this vector. - b2Vec2 operator -() const { b2Vec2 v; v.Set(-x, -y); return v; } - - /// Read from and indexed element. - float32 operator () (int32 i) const - { - return (&x)[i]; - } - - /// Write to an indexed element. - float32& operator () (int32 i) - { - return (&x)[i]; - } - - /// Add a vector to this vector. - void operator += (const b2Vec2& v) - { - x += v.x; y += v.y; - } - - /// Subtract a vector from this vector. - void operator -= (const b2Vec2& v) - { - x -= v.x; y -= v.y; - } - - /// Multiply this vector by a scalar. - void operator *= (float32 a) - { - x *= a; y *= a; - } - - /// Get the length of this vector (the norm). - float32 Length() const - { - return b2Sqrt(x * x + y * y); - } - - /// Get the length squared. For performance, use this instead of - /// b2Vec2::Length (if possible). - float32 LengthSquared() const - { - return x * x + y * y; - } - - bool operator==(const b2Vec2& p_v) const { - return x==p_v.x && y==p_v.y; - } - b2Vec2 operator+(const b2Vec2& p_v) const { - return b2Vec2(x+p_v.x,y+p_v.y); - } - b2Vec2 operator-(const b2Vec2& p_v) const { - return b2Vec2(x-p_v.x,y-p_v.y); - } - - b2Vec2 operator*(float32 f) const { - return b2Vec2(f*x,f*y); - } - - /// Convert this vector into a unit vector. Returns the length. - float32 Normalize() - { - float32 length = Length(); - if (length < b2_epsilon) - { - return 0.0f; - } - float32 invLength = 1.0f / length; - x *= invLength; - y *= invLength; - - return length; - } - - /* - /// Does this vector contain finite coordinates? - bool IsValid() const - { - return b2IsValid(x) && b2IsValid(y); - } - */ - - float32 x, y; -}; - -inline b2Vec2 operator*(float32 f,const b2Vec2& p_v) { - return b2Vec2(f*p_v.x,f*p_v.y); -} - -/// Perform the dot product on two vectors. -inline float32 b2Dot(const b2Vec2& a, const b2Vec2& b) -{ - return a.x * b.x + a.y * b.y; -} - -/// Perform the cross product on two vectors. In 2D this produces a scalar. -inline float32 b2Cross(const b2Vec2& a, const b2Vec2& b) -{ - return a.x * b.y - a.y * b.x; -} - -/// Perform the cross product on a vector and a scalar. In 2D this produces -/// a vector. -inline b2Vec2 b2Cross(const b2Vec2& a, float32 s) -{ - return b2Vec2(s * a.y, -s * a.x); -} - -} - -#endif diff --git a/thirdparty/b2d_convexdecomp/b2Polygon.cpp b/thirdparty/b2d_convexdecomp/b2Polygon.cpp deleted file mode 100644 index c80204ae21..0000000000 --- a/thirdparty/b2d_convexdecomp/b2Polygon.cpp +++ /dev/null @@ -1,1591 +0,0 @@ -/* - * Copyright (c) 2007 Eric Jordan - * - * 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. - */ - -// This utility works with Box2d version 2.0 (or higher), and not with 1.4.3 - -#include "b2Triangle.h" -#include "b2Polygon.h" - -#include <math.h> -#include <limits.h> -#include <assert.h> -#define b2Assert assert - -namespace b2ConvexDecomp { - - -//If you're using 1.4.3, b2_toiSlop won't exist, so set this equal to 0 -static const float32 toiSlop = 0.0f; - -/* - * Check if the lines a0->a1 and b0->b1 cross. - * If they do, intersectionPoint will be filled - * with the point of crossing. - * - * Grazing lines should not return true. - */ -bool intersect(const b2Vec2& a0, const b2Vec2& a1, - const b2Vec2& b0, const b2Vec2& b1, - b2Vec2& intersectionPoint) { - - if (a0 == b0 || a0 == b1 || a1 == b0 || a1 == b1) return false; - float x1 = a0.x; float y1 = a0.y; - float x2 = a1.x; float y2 = a1.y; - float x3 = b0.x; float y3 = b0.y; - float x4 = b1.x; float y4 = b1.y; - - //AABB early exit - if (b2Max(x1,x2) < b2Min(x3,x4) || b2Max(x3,x4) < b2Min(x1,x2) ) return false; - if (b2Max(y1,y2) < b2Min(y3,y4) || b2Max(y3,y4) < b2Min(y1,y2) ) return false; - - float ua = ((x4 - x3) * (y1 - y3) - (y4 - y3) * (x1 - x3)); - float ub = ((x2 - x1) * (y1 - y3) - (y2 - y1) * (x1 - x3)); - float denom = (y4 - y3) * (x2 - x1) - (x4 - x3) * (y2 - y1); - if (b2Abs(denom) < CMP_EPSILON) { - //Lines are too close to parallel to call - return false; - } - ua /= denom; - ub /= denom; - - if ((0 < ua) && (ua < 1) && (0 < ub) && (ub < 1)) { - //if (intersectionPoint){ - intersectionPoint.x = (x1 + ua * (x2 - x1)); - intersectionPoint.y = (y1 + ua * (y2 - y1)); - //} - //printf("%f, %f -> %f, %f crosses %f, %f -> %f, %f\n",x1,y1,x2,y2,x3,y3,x4,y4); - return true; - } - - return false; -} - -/* - * True if line from a0->a1 intersects b0->b1 - */ -bool intersect(const b2Vec2& a0, const b2Vec2& a1, - const b2Vec2& b0, const b2Vec2& b1) { - b2Vec2 myVec(0.0f,0.0f); - return intersect(a0, a1, b0, b1, myVec); -} - -b2Polygon::b2Polygon(float32* _x, float32* _y, int32 nVert) { - nVertices = nVert; - x = new float32[nVertices]; - y = new float32[nVertices]; - for (int32 i = 0; i < nVertices; ++i) { - x[i] = _x[i]; - y[i] = _y[i]; - } - areaIsSet = false; -} - -b2Polygon::b2Polygon(b2Vec2* v, int32 nVert) { - nVertices = nVert; - x = new float32[nVertices]; - y = new float32[nVertices]; - for (int32 i = 0; i < nVertices; ++i) { - x[i] = v[i].x; - y[i] = v[i].y; - - } - areaIsSet = false; -} - -b2Polygon::b2Polygon() { - x = NULL; - y = NULL; - nVertices = 0; - areaIsSet = false; -} - -b2Polygon::~b2Polygon() { - //printf("About to delete poly with %d vertices\n",nVertices); - delete[] x; - delete[] y; -} - -float32 b2Polygon::GetArea() { - // TODO: fix up the areaIsSet caching so that it can be used - //if (areaIsSet) return area; - area = 0.0f; - - //First do wraparound - area += x[nVertices-1]*y[0]-x[0]*y[nVertices-1]; - for (int i=0; i<nVertices-1; ++i){ - area += x[i]*y[i+1]-x[i+1]*y[i]; - } - area *= .5f; - areaIsSet = true; - return area; -} - -bool b2Polygon::IsCCW() { - return (GetArea() > 0.0f); -} - -void b2Polygon::MergeParallelEdges(float32 tolerance) { - if (nVertices <= 3) return; //Can't do anything useful here to a triangle - bool* mergeMe = new bool[nVertices]; - int32 newNVertices = nVertices; - for (int32 i = 0; i < nVertices; ++i) { - int32 lower = (i == 0) ? (nVertices - 1) : (i - 1); - int32 middle = i; - int32 upper = (i == nVertices - 1) ? (0) : (i + 1); - float32 dx0 = x[middle] - x[lower]; - float32 dy0 = y[middle] - y[lower]; - float32 dx1 = x[upper] - x[middle]; - float32 dy1 = y[upper] - y[middle]; - float32 norm0 = sqrtf(dx0*dx0+dy0*dy0); - float32 norm1 = sqrtf(dx1*dx1+dy1*dy1); - if ( !(norm0 > 0.0f && norm1 > 0.0f) && newNVertices > 3 ) { - //Merge identical points - mergeMe[i] = true; - --newNVertices; - } - dx0 /= norm0; dy0 /= norm0; - dx1 /= norm1; dy1 /= norm1; - float32 cross = dx0 * dy1 - dx1 * dy0; - float32 dot = dx0 * dx1 + dy0 * dy1; - if (fabs(cross) < tolerance && dot > 0 && newNVertices > 3) { - mergeMe[i] = true; - --newNVertices; - } else { - mergeMe[i] = false; - } - } - if(newNVertices == nVertices || newNVertices == 0) { - delete[] mergeMe; - return; - } - float32* newx = new float32[newNVertices]; - float32* newy = new float32[newNVertices]; - int32 currIndex = 0; - for (int32 i=0; i < nVertices; ++i) { - if (mergeMe[i] || newNVertices == 0 || currIndex == newNVertices) continue; - b2Assert(currIndex < newNVertices); - newx[currIndex] = x[i]; - newy[currIndex] = y[i]; - ++currIndex; - } - delete[] x; - delete[] y; - delete[] mergeMe; - x = newx; - y = newy; - nVertices = newNVertices; - //printf("%d \n", newNVertices); -} - - /* - * Allocates and returns pointer to vector vertex array. - * Length of array is nVertices. - */ -b2Vec2* b2Polygon::GetVertexVecs() { - b2Vec2* out = new b2Vec2[nVertices]; - for (int32 i = 0; i < nVertices; ++i) { - out[i].Set(x[i], y[i]); - } - return out; -} - -b2Polygon::b2Polygon(b2Triangle& t) { - nVertices = 3; - x = new float[nVertices]; - y = new float[nVertices]; - for (int32 i = 0; i < nVertices; ++i) { - x[i] = t.x[i]; - y[i] = t.y[i]; - } -} - -void b2Polygon::Set(const b2Polygon& p) { - if (nVertices != p.nVertices){ - nVertices = p.nVertices; - delete[] x; - delete[] y; - x = new float32[nVertices]; - y = new float32[nVertices]; - } - - for (int32 i = 0; i < nVertices; ++i) { - x[i] = p.x[i]; - y[i] = p.y[i]; - } - areaIsSet = false; -} - - /* - * Assuming the polygon is simple, checks if it is convex. - */ -bool b2Polygon::IsConvex() { - bool isPositive = false; - for (int32 i = 0; i < nVertices; ++i) { - int32 lower = (i == 0) ? (nVertices - 1) : (i - 1); - int32 middle = i; - int32 upper = (i == nVertices - 1) ? (0) : (i + 1); - float32 dx0 = x[middle] - x[lower]; - float32 dy0 = y[middle] - y[lower]; - float32 dx1 = x[upper] - x[middle]; - float32 dy1 = y[upper] - y[middle]; - float32 cross = dx0 * dy1 - dx1 * dy0; - // Cross product should have same sign - // for each vertex if poly is convex. - bool newIsP = (cross >= 0) ? true : false; - if (i == 0) { - isPositive = newIsP; - } - else if (isPositive != newIsP) { - return false; - } - } - return true; -} - -/* - * Pulled from b2Shape.cpp, assertions removed - */ -static b2Vec2 PolyCentroid(const b2Vec2* vs, int32 count) -{ - b2Vec2 c; c.Set(0.0f, 0.0f); - float32 area = 0.0f; - - const float32 inv3 = 1.0f / 3.0f; - b2Vec2 pRef(0.0f, 0.0f); - for (int32 i = 0; i < count; ++i) - { - // Triangle vertices. - b2Vec2 p1 = pRef; - b2Vec2 p2 = vs[i]; - b2Vec2 p3 = i + 1 < count ? vs[i+1] : vs[0]; - - b2Vec2 e1 = p2 - p1; - b2Vec2 e2 = p3 - p1; - - float32 D = b2Cross(e1, e2); - - float32 triangleArea = 0.5f * D; - area += triangleArea; - - // Area weighted centroid - c += (p1 + p2 + p3) * triangleArea * inv3; - } - - // Centroid - c *= 1.0f / area; - return c; -} - - -/* - * Checks if polygon is valid for use in Box2d engine. - * Last ditch effort to ensure no invalid polygons are - * added to world geometry. - * - * Performs a full check, for simplicity, convexity, - * orientation, minimum angle, and volume. This won't - * be very efficient, and a lot of it is redundant when - * other tools in this section are used. - */ -bool b2Polygon::IsUsable(bool printErrors){ - int32 error = -1; - bool noError = true; - if (nVertices < 3 || nVertices > b2_maxPolygonVertices) {noError = false; error = 0;} - if (!IsConvex()) {noError = false; error = 1;} - if (!IsSimple()) {noError = false; error = 2;} - if (GetArea() < CMP_EPSILON) {noError = false; error = 3;} - - //Compute normals - b2Vec2* normals = new b2Vec2[nVertices]; - b2Vec2* vertices = new b2Vec2[nVertices]; - for (int32 i = 0; i < nVertices; ++i){ - vertices[i].Set(x[i],y[i]); - int32 i1 = i; - int32 i2 = i + 1 < nVertices ? i + 1 : 0; - b2Vec2 edge(x[i2]-x[i1],y[i2]-y[i1]); - normals[i] = b2Cross(edge, 1.0f); - normals[i].Normalize(); - } - - //Required side checks - for (int32 i=0; i<nVertices; ++i){ - int32 iminus = (i==0)?nVertices-1:i-1; - //int32 iplus = (i==nVertices-1)?0:i+1; - - //Parallel sides check - float32 cross = b2Cross(normals[iminus], normals[i]); - cross = b2Clamp(cross, -1.0f, 1.0f); - float32 angle = asinf(cross); - if(angle <= b2_angularSlop){ - noError = false; - error = 4; - break; - } - - //Too skinny check - for (int32 j=0; j<nVertices; ++j){ - if (j == i || j == (i + 1) % nVertices){ - continue; - } - float32 s = b2Dot(normals[i], vertices[j] - vertices[i]); - if (s >= -b2_linearSlop){ - noError = false; - error = 5; - } - } - - - b2Vec2 centroid = PolyCentroid(vertices,nVertices); - b2Vec2 n1 = normals[iminus]; - b2Vec2 n2 = normals[i]; - b2Vec2 v = vertices[i] - centroid; - - b2Vec2 d; - d.x = b2Dot(n1, v) - toiSlop; - d.y = b2Dot(n2, v) - toiSlop; - - // Shifting the edge inward by b2_toiSlop should - // not cause the plane to pass the centroid. - if ((d.x < 0.0f)||(d.y < 0.0f)){ - noError = false; - error = 6; - } - - } - delete[] vertices; - delete[] normals; - - if (!noError && printErrors){ - printf("Found invalid polygon, "); - switch(error){ - case 0: - printf("must have between 3 and %d vertices.\n",b2_maxPolygonVertices); - break; - case 1: - printf("must be convex.\n"); - break; - case 2: - printf("must be simple (cannot intersect itself).\n"); - break; - case 3: - printf("area is too small.\n"); - break; - case 4: - printf("sides are too close to parallel.\n"); - break; - case 5: - printf("polygon is too thin.\n"); - break; - case 6: - printf("core shape generation would move edge past centroid (too thin).\n"); - break; - default: - printf("don't know why.\n"); - } - } - return noError; -} - - -bool b2Polygon::IsUsable(){ - return IsUsable(B2_POLYGON_REPORT_ERRORS); -} - -//Check for edge crossings -bool b2Polygon::IsSimple() { - for (int32 i=0; i<nVertices; ++i){ - int32 iplus = (i+1 > nVertices-1)?0:i+1; - b2Vec2 a1(x[i],y[i]); - b2Vec2 a2(x[iplus],y[iplus]); - for (int32 j=i+1; j<nVertices; ++j){ - int32 jplus = (j+1 > nVertices-1)?0:j+1; - b2Vec2 b1(x[j],y[j]); - b2Vec2 b2(x[jplus],y[jplus]); - if (intersect(a1,a2,b1,b2)){ - return false; - } - } - } - return true; -} - - /* - * Tries to add a triangle to the polygon. Returns null if it can't connect - * properly, otherwise returns a pointer to the new Polygon. Assumes bitwise - * equality of joined vertex positions. - * - * Remember to delete the pointer afterwards. - * Todo: Make this return a b2Polygon instead - * of a pointer to a heap-allocated one. - * - * For internal use. - */ -b2Polygon* b2Polygon::Add(b2Triangle& t) { - // First, find vertices that connect - int32 firstP = -1; - int32 firstT = -1; - int32 secondP = -1; - int32 secondT = -1; - for (int32 i = 0; i < nVertices; i++) { - if (t.x[0] == x[i] && t.y[0] == y[i]) { - if (firstP == -1) { - firstP = i; - firstT = 0; - } - else { - secondP = i; - secondT = 0; - } - } - else if (t.x[1] == x[i] && t.y[1] == y[i]) { - if (firstP == -1) { - firstP = i; - firstT = 1; - } - else { - secondP = i; - secondT = 1; - } - } - else if (t.x[2] == x[i] && t.y[2] == y[i]) { - if (firstP == -1) { - firstP = i; - firstT = 2; - } - else { - secondP = i; - secondT = 2; - } - } - else { - } - } - // Fix ordering if first should be last vertex of poly - if (firstP == 0 && secondP == nVertices - 1) { - firstP = nVertices - 1; - secondP = 0; - } - - // Didn't find it - if (secondP == -1) { - return NULL; - } - - // Find tip index on triangle - int32 tipT = 0; - if (tipT == firstT || tipT == secondT) - tipT = 1; - if (tipT == firstT || tipT == secondT) - tipT = 2; - - float32* newx = new float[nVertices + 1]; - float32* newy = new float[nVertices + 1]; - int32 currOut = 0; - for (int32 i = 0; i < nVertices; i++) { - newx[currOut] = x[i]; - newy[currOut] = y[i]; - if (i == firstP) { - ++currOut; - newx[currOut] = t.x[tipT]; - newy[currOut] = t.y[tipT]; - } - ++currOut; - } - b2Polygon* result = new b2Polygon(newx, newy, nVertices+1); - delete[] newx; - delete[] newy; - return result; -} - - /** - * Adds this polygon to a PolyDef. - */ -#if 0 -void b2Polygon::AddTo(b2FixtureDef& pd) { - if (nVertices < 3) return; - - b2Assert(nVertices <= b2_maxPolygonVertices); - - b2Vec2* vecs = GetVertexVecs(); - b2Vec2* vecsToAdd = new b2Vec2[nVertices]; - - int32 offset = 0; - - b2PolygonShape *polyShape = new b2PolygonShape; - int32 ind; - - for (int32 i = 0; i < nVertices; ++i) { - - //Omit identical neighbors (including wraparound) - ind = i - offset; - if (vecs[i].x==vecs[remainder(i+1,nVertices)].x && - vecs[i].y==vecs[remainder(i+1,nVertices)].y){ - offset++; - continue; - } - - vecsToAdd[ind] = vecs[i]; - - } - - polyShape->Set((const b2Vec2*)vecsToAdd, ind+1); - pd.shape = polyShape; - - delete[] vecs; - delete[] vecsToAdd; -} -#endif - /** - * Finds and fixes "pinch points," points where two polygon - * vertices are at the same point. - * - * If a pinch point is found, pin is broken up into poutA and poutB - * and true is returned; otherwise, returns false. - * - * Mostly for internal use. - */ -bool ResolvePinchPoint(const b2Polygon& pin, b2Polygon& poutA, b2Polygon& poutB){ - if (pin.nVertices < 3) return false; - float32 tol = .001f; - bool hasPinchPoint = false; - int32 pinchIndexA = -1; - int32 pinchIndexB = -1; - for (int i=0; i<pin.nVertices; ++i){ - for (int j=i+1; j<pin.nVertices; ++j){ - //Don't worry about pinch points where the points - //are actually just dupe neighbors - if (b2Abs(pin.x[i]-pin.x[j])<tol&&b2Abs(pin.y[i]-pin.y[j])<tol&&j!=i+1){ - pinchIndexA = i; - pinchIndexB = j; - //printf("pinch: %f, %f == %f, %f\n",pin.x[i],pin.y[i],pin.x[j],pin.y[j]); - //printf("at indexes %d, %d\n",i,j); - hasPinchPoint = true; - break; - } - } - if (hasPinchPoint) break; - } - if (hasPinchPoint){ - //printf("Found pinch point\n"); - int32 sizeA = pinchIndexB - pinchIndexA; - if (sizeA == pin.nVertices) return false;//has dupe points at wraparound, not a problem here - float32* xA = new float32[sizeA]; - float32* yA = new float32[sizeA]; - for (int32 i=0; i < sizeA; ++i){ - int32 ind = remainder(pinchIndexA+i,pin.nVertices); - xA[i] = pin.x[ind]; - yA[i] = pin.y[ind]; - } - b2Polygon tempA(xA,yA,sizeA); - poutA.Set(tempA); - delete[] xA; - delete[] yA; - - int32 sizeB = pin.nVertices - sizeA; - float32* xB = new float32[sizeB]; - float32* yB = new float32[sizeB]; - for (int32 i=0; i<sizeB; ++i){ - int32 ind = remainder(pinchIndexB+i,pin.nVertices); - xB[i] = pin.x[ind]; - yB[i] = pin.y[ind]; - } - b2Polygon tempB(xB,yB,sizeB); - poutB.Set(tempB); - //printf("Size of a: %d, size of b: %d\n",sizeA,sizeB); - delete[] xB; - delete[] yB; - } - return hasPinchPoint; -} - - /** - * Triangulates a polygon using simple ear-clipping algorithm. Returns - * size of Triangle array unless the polygon can't be triangulated. - * This should only happen if the polygon self-intersects, - * though it will not _always_ return null for a bad polygon - it is the - * caller's responsibility to check for self-intersection, and if it - * doesn't, it should at least check that the return value is non-null - * before using. You're warned! - * - * Triangles may be degenerate, especially if you have identical points - * in the input to the algorithm. Check this before you use them. - * - * This is totally unoptimized, so for large polygons it should not be part - * of the simulation loop. - * - * Returns: - * -1 if algorithm fails (self-intersection most likely) - * 0 if there are not enough vertices to triangulate anything. - * Number of triangles if triangulation was successful. - * - * results will be filled with results - ear clipping always creates vNum - 2 - * or fewer (due to pinch point polygon snipping), so allocate an array of - * this size. - */ - -int32 TriangulatePolygon(float32* xv, float32* yv, int32 vNum, b2Triangle* results) { - if (vNum < 3) - return 0; - - //Recurse and split on pinch points - b2Polygon pA,pB; - b2Polygon pin(xv,yv,vNum); - if (ResolvePinchPoint(pin,pA,pB)){ - b2Triangle* mergeA = new b2Triangle[pA.nVertices]; - b2Triangle* mergeB = new b2Triangle[pB.nVertices]; - int32 nA = TriangulatePolygon(pA.x,pA.y,pA.nVertices,mergeA); - int32 nB = TriangulatePolygon(pB.x,pB.y,pB.nVertices,mergeB); - if (nA==-1 || nB==-1){ - delete[] mergeA; - delete[] mergeB; - return -1; - } - for (int32 i=0; i<nA; ++i){ - results[i].Set(mergeA[i]); - } - for (int32 i=0; i<nB; ++i){ - results[nA+i].Set(mergeB[i]); - } - delete[] mergeA; - delete[] mergeB; - return (nA+nB); - } - - b2Triangle* buffer = new b2Triangle[vNum-2]; - int32 bufferSize = 0; - float32* xrem = new float32[vNum]; - float32* yrem = new float32[vNum]; - for (int32 i = 0; i < vNum; ++i) { - xrem[i] = xv[i]; - yrem[i] = yv[i]; - } - - int xremLength = vNum; - - while (vNum > 3) { - // Find an ear - int32 earIndex = -1; - //float32 earVolume = -1.0f; - float32 earMaxMinCross = -10.0f; - for (int32 i = 0; i < vNum; ++i) { - if (IsEar(i, xrem, yrem, vNum)) { - int32 lower = remainder(i-1,vNum); - int32 upper = remainder(i+1,vNum); - b2Vec2 d1(xrem[upper]-xrem[i],yrem[upper]-yrem[i]); - b2Vec2 d2(xrem[i]-xrem[lower],yrem[i]-yrem[lower]); - b2Vec2 d3(xrem[lower]-xrem[upper],yrem[lower]-yrem[upper]); - - d1.Normalize(); - d2.Normalize(); - d3.Normalize(); - float32 cross12 = b2Abs( b2Cross(d1,d2) ); - float32 cross23 = b2Abs( b2Cross(d2,d3) ); - float32 cross31 = b2Abs( b2Cross(d3,d1) ); - //Find the maximum minimum angle - float32 minCross = b2Min(cross12, b2Min(cross23,cross31)); - if (minCross > earMaxMinCross){ - earIndex = i; - earMaxMinCross = minCross; - } - - /*//This bit chooses the ear with greatest volume first - float32 testVol = b2Abs( d1.x*d2.y-d2.x*d1.y ); - if (testVol > earVolume){ - earIndex = i; - earVolume = testVol; - }*/ - } - } - - // If we still haven't found an ear, we're screwed. - // Note: sometimes this is happening because the - // remaining points are collinear. Really these - // should just be thrown out without halting triangulation. - if (earIndex == -1){ - if (B2_POLYGON_REPORT_ERRORS){ - b2Polygon dump(xrem,yrem,vNum); - printf("Couldn't find an ear, dumping remaining poly:\n"); - dump.printFormatted(); - printf("Please submit this dump to ewjordan at Box2d forums\n"); - } - for (int32 i = 0; i < bufferSize; i++) { - results[i].Set(buffer[i]); - } - - delete[] buffer; - - if (bufferSize > 0) return bufferSize; - else return -1; - } - - // Clip off the ear: - // - remove the ear tip from the list - - --vNum; - float32* newx = new float32[vNum]; - float32* newy = new float32[vNum]; - int32 currDest = 0; - for (int32 i = 0; i < vNum; ++i) { - if (currDest == earIndex) ++currDest; - newx[i] = xrem[currDest]; - newy[i] = yrem[currDest]; - ++currDest; - } - - // - add the clipped triangle to the triangle list - int32 under = (earIndex == 0) ? (vNum) : (earIndex - 1); - int32 over = (earIndex == vNum) ? 0 : (earIndex + 1); - b2Triangle toAdd = b2Triangle(xrem[earIndex], yrem[earIndex], xrem[over], yrem[over], xrem[under], yrem[under]); - buffer[bufferSize].Set(toAdd); - ++bufferSize; - - // - replace the old list with the new one - delete[] xrem; - delete[] yrem; - xrem = newx; - yrem = newy; - } - - b2Triangle toAdd = b2Triangle(xrem[1], yrem[1], xrem[2], yrem[2], - xrem[0], yrem[0]); - buffer[bufferSize].Set(toAdd); - ++bufferSize; - - delete[] xrem; - delete[] yrem; - - b2Assert(bufferSize == xremLength-2); - - for (int32 i = 0; i < bufferSize; i++) { - results[i].Set(buffer[i]); - } - - delete[] buffer; - - return bufferSize; -} - - /** - * Turns a list of triangles into a list of convex polygons. Very simple - * method - start with a seed triangle, keep adding triangles to it until - * you can't add any more without making the polygon non-convex. - * - * Returns an integer telling how many polygons were created. Will fill - * polys array up to polysLength entries, which may be smaller or larger - * than the return value. - * - * Takes O(N*P) where P is the number of resultant polygons, N is triangle - * count. - * - * The final polygon list will not necessarily be minimal, though in - * practice it works fairly well. - */ -int32 PolygonizeTriangles(b2Triangle* triangulated, int32 triangulatedLength, b2Polygon* polys, int32 polysLength) { - int32 polyIndex = 0; - - if (triangulatedLength <= 0) { - return 0; - } - else { - int* covered = new int[triangulatedLength]; - for (int32 i = 0; i < triangulatedLength; ++i) { - covered[i] = 0; - //Check here for degenerate triangles - if ( ( (triangulated[i].x[0] == triangulated[i].x[1]) && (triangulated[i].y[0] == triangulated[i].y[1]) ) - || ( (triangulated[i].x[1] == triangulated[i].x[2]) && (triangulated[i].y[1] == triangulated[i].y[2]) ) - || ( (triangulated[i].x[0] == triangulated[i].x[2]) && (triangulated[i].y[0] == triangulated[i].y[2]) ) ) { - covered[i] = 1; - } - } - - bool notDone = true; - while (notDone) { - int32 currTri = -1; - for (int32 i = 0; i < triangulatedLength; ++i) { - if (covered[i]) - continue; - currTri = i; - break; - } - if (currTri == -1) { - notDone = false; - } - else { - b2Polygon poly(triangulated[currTri]); - covered[currTri] = 1; - int32 index = 0; - for (int32 i = 0; i < 2*triangulatedLength; ++i,++index) { - while (index >= triangulatedLength) index -= triangulatedLength; - if (covered[index]) { - continue; - } - b2Polygon* newP = poly.Add(triangulated[index]); - if (!newP) { - continue; - } - if (newP->nVertices > b2Polygon::maxVerticesPerPolygon) { - delete newP; - newP = NULL; - continue; - } - if (newP->IsConvex()) { //Or should it be IsUsable? Maybe re-write IsConvex to apply the angle threshold from Box2d - poly.Set(*newP); - delete newP; - newP = NULL; - covered[index] = 1; - } else { - delete newP; - newP = NULL; - } - } - if (polyIndex < polysLength){ - poly.MergeParallelEdges(b2_angularSlop); - //If identical points are present, a triangle gets - //borked by the MergeParallelEdges function, hence - //the vertex number check - if (poly.nVertices >= 3) polys[polyIndex].Set(poly); - //else printf("Skipping corrupt poly\n"); - } - if (poly.nVertices >= 3) polyIndex++; //Must be outside (polyIndex < polysLength) test - } - //printf("MEMCHECK: %d\n",_CrtCheckMemory()); - } - delete[] covered; - } - return polyIndex; -} - - /** - * Checks if vertex i is the tip of an ear in polygon defined by xv[] and - * yv[]. - * - * Assumes clockwise orientation of polygon...ick - */ -bool IsEar(int32 i, float32* xv, float32* yv, int32 xvLength) { - float32 dx0, dy0, dx1, dy1; - dx0 = dy0 = dx1 = dy1 = 0; - if (i >= xvLength || i < 0 || xvLength < 3) { - return false; - } - int32 upper = i + 1; - int32 lower = i - 1; - if (i == 0) { - dx0 = xv[0] - xv[xvLength - 1]; - dy0 = yv[0] - yv[xvLength - 1]; - dx1 = xv[1] - xv[0]; - dy1 = yv[1] - yv[0]; - lower = xvLength - 1; - } - else if (i == xvLength - 1) { - dx0 = xv[i] - xv[i - 1]; - dy0 = yv[i] - yv[i - 1]; - dx1 = xv[0] - xv[i]; - dy1 = yv[0] - yv[i]; - upper = 0; - } - else { - dx0 = xv[i] - xv[i - 1]; - dy0 = yv[i] - yv[i - 1]; - dx1 = xv[i + 1] - xv[i]; - dy1 = yv[i + 1] - yv[i]; - } - float32 cross = dx0 * dy1 - dx1 * dy0; - if (cross > 0) - return false; - b2Triangle myTri(xv[i], yv[i], xv[upper], yv[upper], - xv[lower], yv[lower]); - for (int32 j = 0; j < xvLength; ++j) { - if (j == i || j == lower || j == upper) - continue; - if (myTri.IsInside(xv[j], yv[j])) - return false; - } - return true; -} - -void ReversePolygon(b2Polygon& p){ - ReversePolygon(p.x,p.y,p.nVertices); -} - -void ReversePolygon(float* x, float* y, int n) { - if (n == 1) - return; - int32 low = 0; - int32 high = n - 1; - while (low < high) { - float32 buffer = x[low]; - x[low] = x[high]; - x[high] = buffer; - buffer = y[low]; - y[low] = y[high]; - y[high] = buffer; - ++low; - --high; - } -} - - /** - * Decomposes a non-convex polygon into a number of convex polygons, up - * to maxPolys (remaining pieces are thrown out, but the total number - * is returned, so the return value can be greater than maxPolys). - * - * Each resulting polygon will have no more than maxVerticesPerPolygon - * vertices (set to b2MaxPolyVertices by default, though you can change - * this). - * - * Returns -1 if operation fails (usually due to self-intersection of - * polygon). - */ -int32 DecomposeConvex(b2Polygon* p, b2Polygon* results, int32 maxPolys) { - if (p->nVertices < 3) return 0; - - b2Triangle* triangulated = new b2Triangle[p->nVertices - 2]; - int32 nTri; - if (p->IsCCW()) { - //printf("It is ccw \n"); - b2Polygon tempP; - tempP.Set(*p); - ReversePolygon(tempP.x, tempP.y, tempP.nVertices); - nTri = TriangulatePolygon(tempP.x, tempP.y, tempP.nVertices, triangulated); - //ReversePolygon(p->x, p->y, p->nVertices); //reset orientation - } else { - //printf("It is not ccw \n"); - nTri = TriangulatePolygon(p->x, p->y, p->nVertices, triangulated); - } - if (nTri < 1) { - //Still no luck? Oh well... - delete[] triangulated; - return -1; - } - int32 nPolys = PolygonizeTriangles(triangulated, nTri, results, maxPolys); - delete[] triangulated; - return nPolys; -} - - /** - * Decomposes a polygon into convex polygons and adds all pieces to a b2BodyDef - * using a prototype b2PolyDef. All fields of the prototype are used for every - * shape except the vertices (friction, restitution, density, etc). - * - * If you want finer control, you'll have to add everything by hand. - * - * This is the simplest method to add a complicated polygon to a body. - * - * Until Box2D's b2BodyDef behavior changes, this method returns a pointer to - * a heap-allocated array of b2PolyDefs, which must be deleted by the user - * after the b2BodyDef is added to the world. - */ -#if 0 -void DecomposeConvexAndAddTo(b2Polygon* p, b2Body* bd, b2FixtureDef* prototype) { - - if (p->nVertices < 3) return; - b2Polygon* decomposed = new b2Polygon[p->nVertices - 2]; //maximum number of polys - int32 nPolys = DecomposeConvex(p, decomposed, p->nVertices - 2); - //printf("npolys: %d",nPolys); - b2FixtureDef* pdarray = new b2FixtureDef[2*p->nVertices];//extra space in case of splits - int32 extra = 0; - for (int32 i = 0; i < nPolys; ++i) { - b2FixtureDef* toAdd = &pdarray[i+extra]; - *toAdd = *prototype; - //Hmm, shouldn't have to do all this... - /* - toAdd->type = prototype->type; - toAdd->friction = prototype->friction; - toAdd->restitution = prototype->restitution; - toAdd->density = prototype->density; - toAdd->userData = prototype->userData; - toAdd->categoryBits = prototype->categoryBits; - toAdd->maskBits = prototype->maskBits; - toAdd->groupIndex = prototype->groupIndex;//*/ - //decomposed[i].print(); - b2Polygon curr = decomposed[i]; - //TODO ewjordan: move this triangle handling to a better place so that - //it happens even if this convenience function is not called. - if (curr.nVertices == 3){ - //Check here for near-parallel edges, since we can't - //handle this in merge routine - for (int j=0; j<3; ++j){ - int32 lower = (j == 0) ? (curr.nVertices - 1) : (j - 1); - int32 middle = j; - int32 upper = (j == curr.nVertices - 1) ? (0) : (j + 1); - float32 dx0 = curr.x[middle] - curr.x[lower]; float32 dy0 = curr.y[middle] - curr.y[lower]; - float32 dx1 = curr.x[upper] - curr.x[middle]; float32 dy1 = curr.y[upper] - curr.y[middle]; - float32 norm0 = sqrtf(dx0*dx0+dy0*dy0); float32 norm1 = sqrtf(dx1*dx1+dy1*dy1); - if ( !(norm0 > 0.0f && norm1 > 0.0f) ) { - //Identical points, don't do anything! - goto Skip; - } - dx0 /= norm0; dy0 /= norm0; - dx1 /= norm1; dy1 /= norm1; - float32 cross = dx0 * dy1 - dx1 * dy0; - float32 dot = dx0*dx1 + dy0*dy1; - if (fabs(cross) < b2_angularSlop && dot > 0) { - //Angle too close, split the triangle across from this point. - //This is guaranteed to result in two triangles that satify - //the tolerance (one of the angles is 90 degrees) - float32 dx2 = curr.x[lower] - curr.x[upper]; float32 dy2 = curr.y[lower] - curr.y[upper]; - float32 norm2 = sqrtf(dx2*dx2+dy2*dy2); - if (norm2 == 0.0f) { - goto Skip; - } - dx2 /= norm2; dy2 /= norm2; - float32 thisArea = curr.GetArea(); - float32 thisHeight = 2.0f * thisArea / norm2; - float32 buffer2 = dx2; - dx2 = dy2; dy2 = -buffer2; - //Make two new polygons - //printf("dx2: %f, dy2: %f, thisHeight: %f, middle: %d\n",dx2,dy2,thisHeight,middle); - float32 newX1[3] = { curr.x[middle]+dx2*thisHeight, curr.x[lower], curr.x[middle] }; - float32 newY1[3] = { curr.y[middle]+dy2*thisHeight, curr.y[lower], curr.y[middle] }; - float32 newX2[3] = { newX1[0], curr.x[middle], curr.x[upper] }; - float32 newY2[3] = { newY1[0], curr.y[middle], curr.y[upper] }; - b2Polygon p1(newX1,newY1,3); - b2Polygon p2(newX2,newY2,3); - if (p1.IsUsable()){ - p1.AddTo(*toAdd); - - - bd->CreateFixture(toAdd); - ++extra; - } else if (B2_POLYGON_REPORT_ERRORS){ - printf("Didn't add unusable polygon. Dumping vertices:\n"); - p1.print(); - } - if (p2.IsUsable()){ - p2.AddTo(pdarray[i+extra]); - - bd->CreateFixture(toAdd); - } else if (B2_POLYGON_REPORT_ERRORS){ - printf("Didn't add unusable polygon. Dumping vertices:\n"); - p2.print(); - } - goto Skip; - } - } - - } - if (decomposed[i].IsUsable()){ - decomposed[i].AddTo(*toAdd); - - bd->CreateFixture((const b2FixtureDef*)toAdd); - } else if (B2_POLYGON_REPORT_ERRORS){ - printf("Didn't add unusable polygon. Dumping vertices:\n"); - decomposed[i].print(); - } -Skip: - ; - } - delete[] pdarray; - delete[] decomposed; - return;// pdarray; //needs to be deleted after body is created -} - -#endif - /** - * Find the convex hull of a point cloud using "Gift-wrap" algorithm - start - * with an extremal point, and walk around the outside edge by testing - * angles. - * - * Runs in O(N*S) time where S is number of sides of resulting polygon. - * Worst case: point cloud is all vertices of convex polygon -> O(N^2). - * - * There may be faster algorithms to do this, should you need one - - * this is just the simplest. You can get O(N log N) expected time if you - * try, I think, and O(N) if you restrict inputs to simple polygons. - * - * Returns null if number of vertices passed is less than 3. - * - * Results should be passed through convex decomposition afterwards - * to ensure that each shape has few enough points to be used in Box2d. - * - * FIXME?: May be buggy with colinear points on hull. Couldn't find a test - * case that resulted in wrong behavior. If one turns up, the solution is to - * supplement angle check with an equality resolver that always picks the - * longer edge. I think the current solution is working, though it sometimes - * creates an extra edge along a line. - */ - -b2Polygon ConvexHull(b2Vec2* v, int nVert) { - float32* cloudX = new float32[nVert]; - float32* cloudY = new float32[nVert]; - for (int32 i = 0; i < nVert; ++i) { - cloudX[i] = v[i].x; - cloudY[i] = v[i].y; - } - b2Polygon result = ConvexHull(cloudX, cloudY, nVert); - delete[] cloudX; - delete[] cloudY; - return result; -} - -b2Polygon ConvexHull(float32* cloudX, float32* cloudY, int32 nVert) { - b2Assert(nVert > 2); - int32* edgeList = new int32[nVert]; - int32 numEdges = 0; - - float32 minY = 1e10; - int32 minYIndex = nVert; - for (int32 i = 0; i < nVert; ++i) { - if (cloudY[i] < minY) { - minY = cloudY[i]; - minYIndex = i; - } - } - - int32 startIndex = minYIndex; - int32 winIndex = -1; - float32 dx = -1.0f; - float32 dy = 0.0f; - while (winIndex != minYIndex) { - float32 newdx = 0.0f; - float32 newdy = 0.0f; - float32 maxDot = -2.0f; - for (int32 i = 0; i < nVert; ++i) { - if (i == startIndex) - continue; - newdx = cloudX[i] - cloudX[startIndex]; - newdy = cloudY[i] - cloudY[startIndex]; - float32 nrm = sqrtf(newdx * newdx + newdy * newdy); - nrm = (nrm == 0.0f) ? 1.0f : nrm; - newdx /= nrm; - newdy /= nrm; - - //Cross and dot products act as proxy for angle - //without requiring inverse trig. - //FIXED: don't need cross test - //float32 newCross = newdx * dy - newdy * dx; - float32 newDot = newdx * dx + newdy * dy; - if (newDot > maxDot) {//newCross >= 0.0f && newDot > maxDot) { - maxDot = newDot; - winIndex = i; - } - } - edgeList[numEdges++] = winIndex; - dx = cloudX[winIndex] - cloudX[startIndex]; - dy = cloudY[winIndex] - cloudY[startIndex]; - float32 nrm = sqrtf(dx * dx + dy * dy); - nrm = (nrm == 0.0f) ? 1.0f : nrm; - dx /= nrm; - dy /= nrm; - startIndex = winIndex; - } - - float32* xres = new float32[numEdges]; - float32* yres = new float32[numEdges]; - for (int32 i = 0; i < numEdges; i++) { - xres[i] = cloudX[edgeList[i]]; - yres[i] = cloudY[edgeList[i]]; - //("%f, %f\n",xres[i],yres[i]); - } - - b2Polygon returnVal(xres, yres, numEdges); - - delete[] xres; - delete[] yres; - delete[] edgeList; - returnVal.MergeParallelEdges(b2_angularSlop); - return returnVal; -} - - -/* - * Given sines and cosines, tells if A's angle is less than B's on -Pi, Pi - * (in other words, is A "righter" than B) - */ -bool IsRighter(float32 sinA, float32 cosA, float32 sinB, float32 cosB){ - if (sinA < 0){ - if (sinB > 0 || cosA <= cosB) return true; - else return false; - } else { - if (sinB < 0 || cosA <= cosB) return false; - else return true; - } -} - -//Fix for obnoxious behavior for the % operator for negative numbers... -int32 remainder(int32 x, int32 modulus){ - int32 rem = x % modulus; - while (rem < 0){ - rem += modulus; - } - return rem; -} - -/* -Method: -Start at vertex with minimum y (pick maximum x one if there are two). -We aim our "lastDir" vector at (1.0, 0) -We look at the two rays going off from our start vertex, and follow whichever -has the smallest angle (in -Pi -> Pi) wrt lastDir ("rightest" turn) - -Loop until we hit starting vertex: - -We add our current vertex to the list. -We check the seg from current vertex to next vertex for intersections - - if no intersections, follow to next vertex and continue - - if intersections, pick one with minimum distance - - if more than one, pick one with "rightest" next point (two possibilities for each) - -*/ - -b2Polygon TraceEdge(b2Polygon* p){ - b2PolyNode* nodes = new b2PolyNode[p->nVertices*p->nVertices];//overkill, but sufficient (order of mag. is right) - int32 nNodes = 0; - - //Add base nodes (raw outline) - for (int32 i=0; i < p->nVertices; ++i){ - b2Vec2 pos(p->x[i],p->y[i]); - nodes[i].position = pos; - ++nNodes; - int32 iplus = (i==p->nVertices-1)?0:i+1; - int32 iminus = (i==0)?p->nVertices-1:i-1; - nodes[i].AddConnection(nodes[iplus]); - nodes[i].AddConnection(nodes[iminus]); - } - - //Process intersection nodes - horribly inefficient - bool dirty = true; - int counter = 0; - while (dirty){ - dirty = false; - for (int32 i=0; i < nNodes; ++i){ - for (int32 j=0; j < nodes[i].nConnected; ++j){ - for (int32 k=0; k < nNodes; ++k){ - if (k==i || &nodes[k] == nodes[i].connected[j]) continue; - for (int32 l=0; l < nodes[k].nConnected; ++l){ - - if ( nodes[k].connected[l] == nodes[i].connected[j] || - nodes[k].connected[l] == &nodes[i]) continue; - //Check intersection - b2Vec2 intersectPt; - //if (counter > 100) printf("checking intersection: %d, %d, %d, %d\n",i,j,k,l); - bool crosses = intersect(nodes[i].position,nodes[i].connected[j]->position, - nodes[k].position,nodes[k].connected[l]->position, - intersectPt); - if (crosses){ - /*if (counter > 100) { - printf("Found crossing at %f, %f\n",intersectPt.x, intersectPt.y); - printf("Locations: %f,%f - %f,%f | %f,%f - %f,%f\n", - nodes[i].position.x, nodes[i].position.y, - nodes[i].connected[j]->position.x, nodes[i].connected[j]->position.y, - nodes[k].position.x,nodes[k].position.y, - nodes[k].connected[l]->position.x,nodes[k].connected[l]->position.y); - printf("Memory addresses: %d, %d, %d, %d\n",(int)&nodes[i],(int)nodes[i].connected[j],(int)&nodes[k],(int)nodes[k].connected[l]); - }*/ - dirty = true; - //Destroy and re-hook connections at crossing point - b2PolyNode* connj = nodes[i].connected[j]; - b2PolyNode* connl = nodes[k].connected[l]; - nodes[i].connected[j]->RemoveConnection(nodes[i]); - nodes[i].RemoveConnection(*connj); - nodes[k].connected[l]->RemoveConnection(nodes[k]); - nodes[k].RemoveConnection(*connl); - nodes[nNodes] = b2PolyNode(intersectPt); - nodes[nNodes].AddConnection(nodes[i]); - nodes[i].AddConnection(nodes[nNodes]); - nodes[nNodes].AddConnection(nodes[k]); - nodes[k].AddConnection(nodes[nNodes]); - nodes[nNodes].AddConnection(*connj); - connj->AddConnection(nodes[nNodes]); - nodes[nNodes].AddConnection(*connl); - connl->AddConnection(nodes[nNodes]); - ++nNodes; - goto SkipOut; - } - } - } - } - } - SkipOut: - ++counter; - //if (counter > 100) printf("Counter: %d\n",counter); - } - - /* - // Debugging: check for connection consistency - for (int32 i=0; i<nNodes; ++i) { - int32 nConn = nodes[i].nConnected; - for (int32 j=0; j<nConn; ++j) { - if (nodes[i].connected[j]->nConnected == 0) b2Assert(false); - b2PolyNode* connect = nodes[i].connected[j]; - bool found = false; - for (int32 k=0; k<connect->nConnected; ++k) { - if (connect->connected[k] == &nodes[i]) found = true; - } - b2Assert(found); - } - }*/ - - //Collapse duplicate points - bool foundDupe = true; - int nActive = nNodes; - while (foundDupe){ - foundDupe = false; - for (int32 i=0; i < nNodes; ++i){ - if (nodes[i].nConnected == 0) continue; - for (int32 j=i+1; j < nNodes; ++j){ - if (nodes[j].nConnected == 0) continue; - b2Vec2 diff = nodes[i].position - nodes[j].position; - if (diff.LengthSquared() <= COLLAPSE_DIST_SQR){ - if (nActive <= 3) { - // -- GODOT start -- - delete[] nodes; - // -- GODOT end -- - return b2Polygon(); - } - //printf("Found dupe, %d left\n",nActive); - --nActive; - foundDupe = true; - b2PolyNode* inode = &nodes[i]; - b2PolyNode* jnode = &nodes[j]; - //Move all of j's connections to i, and orphan j - int32 njConn = jnode->nConnected; - for (int32 k=0; k < njConn; ++k){ - b2PolyNode* knode = jnode->connected[k]; - b2Assert(knode != jnode); - if (knode != inode) { - inode->AddConnection(*knode); - knode->AddConnection(*inode); - } - knode->RemoveConnection(*jnode); - //printf("knode %d on node %d now has %d connections\n",k,j,knode->nConnected); - //printf("Found duplicate point.\n"); - } - /* - printf("Orphaning node at address %d\n",(int)jnode); - for (int32 k=0; k<njConn; ++k) { - if (jnode->connected[k]->IsConnectedTo(*jnode)) printf("Problem!!!\n"); - } - for (int32 k=0; k < njConn; ++k){ - jnode->RemoveConnectionByIndex(k); - } - */ - jnode->nConnected = 0; - } - } - } - } - - /* - // Debugging: check for connection consistency - for (int32 i=0; i<nNodes; ++i) { - int32 nConn = nodes[i].nConnected; - printf("Node %d has %d connections\n",i,nConn); - for (int32 j=0; j<nConn; ++j) { - if (nodes[i].connected[j]->nConnected == 0) { - printf("Problem with node %d connection at address %d\n",i,(int)(nodes[i].connected[j])); - b2Assert(false); - } - b2PolyNode* connect = nodes[i].connected[j]; - bool found = false; - for (int32 k=0; k<connect->nConnected; ++k) { - if (connect->connected[k] == &nodes[i]) found = true; - } - if (!found) printf("Connection %d (of %d) on node %d (of %d) did not have reciprocal connection.\n",j,nConn,i,nNodes); - b2Assert(found); - } - }//*/ - - //Now walk the edge of the list - - //Find node with minimum y value (max x if equal) - float32 minY = 1e10; - float32 maxX = -1e10; - int32 minYIndex = -1; - for (int32 i = 0; i < nNodes; ++i) { - if (nodes[i].position.y < minY && nodes[i].nConnected > 1) { - minY = nodes[i].position.y; - minYIndex = i; - maxX = nodes[i].position.x; - } else if (nodes[i].position.y == minY && nodes[i].position.x > maxX && nodes[i].nConnected > 1) { - minYIndex = i; - maxX = nodes[i].position.x; - } - } - - b2Vec2 origDir(1.0f,0.0f); - b2Vec2* resultVecs = new b2Vec2[4*nNodes];// nodes may be visited more than once, unfortunately - change to growable array! - int32 nResultVecs = 0; - b2PolyNode* currentNode = &nodes[minYIndex]; - b2PolyNode* startNode = currentNode; - b2Assert(currentNode->nConnected > 0); - b2PolyNode* nextNode = currentNode->GetRightestConnection(origDir); - if (!nextNode) goto CleanUp; // Borked, clean up our mess and return - resultVecs[0] = startNode->position; - ++nResultVecs; - while (nextNode != startNode){ - if (nResultVecs > 4*nNodes){ - /* - printf("%d, %d, %d\n",(int)startNode,(int)currentNode,(int)nextNode); - printf("%f, %f -> %f, %f\n",currentNode->position.x,currentNode->position.y, nextNode->position.x, nextNode->position.y); - p->printFormatted(); - printf("Dumping connection graph: \n"); - for (int32 i=0; i<nNodes; ++i) { - printf("nodex[%d] = %f; nodey[%d] = %f;\n",i,nodes[i].position.x,i,nodes[i].position.y); - printf("//connected to\n"); - for (int32 j=0; j<nodes[i].nConnected; ++j) { - printf("connx[%d][%d] = %f; conny[%d][%d] = %f;\n",i,j,nodes[i].connected[j]->position.x, i,j,nodes[i].connected[j]->position.y); - } - } - printf("Dumping results thus far: \n"); - for (int32 i=0; i<nResultVecs; ++i) { - printf("x[%d]=map(%f,-3,3,0,width); y[%d] = map(%f,-3,3,height,0);\n",i,resultVecs[i].x,i,resultVecs[i].y); - } - //*/ - b2Assert(false); //nodes should never be visited four times apiece (proof?), so we've probably hit a loop...crap - } - resultVecs[nResultVecs++] = nextNode->position; - b2PolyNode* oldNode = currentNode; - currentNode = nextNode; - //printf("Old node connections = %d; address %d\n",oldNode->nConnected, (int)oldNode); - //printf("Current node connections = %d; address %d\n",currentNode->nConnected, (int)currentNode); - nextNode = currentNode->GetRightestConnection(oldNode); - if (!nextNode) goto CleanUp; // There was a problem, so jump out of the loop and use whatever garbage we've generated so far - //printf("nextNode address: %d\n",(int)nextNode); - } - - CleanUp: - - float32* xres = new float32[nResultVecs]; - float32* yres = new float32[nResultVecs]; - for (int32 i=0; i<nResultVecs; ++i){ - xres[i] = resultVecs[i].x; - yres[i] = resultVecs[i].y; - } - b2Polygon retval(xres,yres,nResultVecs); - delete[] resultVecs; - delete[] yres; - delete[] xres; - delete[] nodes; - return retval; -} - -b2PolyNode::b2PolyNode(){ - nConnected = 0; - visited = false; -} -b2PolyNode::b2PolyNode(b2Vec2& pos){ - position = pos; - nConnected = 0; - visited = false; -} - -void b2PolyNode::AddConnection(b2PolyNode& toMe){ - b2Assert(nConnected < MAX_CONNECTED); - // Ignore duplicate additions - for (int32 i=0; i<nConnected; ++i) { - if (connected[i] == &toMe) return; - } - connected[nConnected] = &toMe; - ++nConnected; -} - -void b2PolyNode::RemoveConnection(b2PolyNode& fromMe){ - bool isFound = false; - int32 foundIndex = -1; - for (int32 i=0; i<nConnected; ++i){ - if (&fromMe == connected[i]) {//.position == connected[i]->position){ - isFound = true; - foundIndex = i; - break; - } - } - b2Assert(isFound); - --nConnected; - //printf("nConnected: %d\n",nConnected); - for (int32 i=foundIndex; i < nConnected; ++i){ - connected[i] = connected[i+1]; - } -} -void b2PolyNode::RemoveConnectionByIndex(int32 index){ - --nConnected; - //printf("New nConnected = %d\n",nConnected); - for (int32 i=index; i < nConnected; ++i){ - connected[i] = connected[i+1]; - } -} -bool b2PolyNode::IsConnectedTo(b2PolyNode& me){ - bool isFound = false; - for (int32 i=0; i<nConnected; ++i){ - if (&me == connected[i]) {//.position == connected[i]->position){ - isFound = true; - break; - } - } - return isFound; -} -b2PolyNode* b2PolyNode::GetRightestConnection(b2PolyNode* incoming){ - if (nConnected == 0) b2Assert(false); // This means the connection graph is inconsistent - if (nConnected == 1) { - //b2Assert(false); - // Because of the possibility of collapsing nearby points, - // we may end up with "spider legs" dangling off of a region. - // The correct behavior here is to turn around. - return incoming; - } - b2Vec2 inDir = position - incoming->position; - float32 inLength = inDir.Normalize(); - b2Assert(inLength > CMP_EPSILON); - - b2PolyNode* result = NULL; - for (int32 i=0; i<nConnected; ++i){ - if (connected[i] == incoming) continue; - b2Vec2 testDir = connected[i]->position - position; - float32 testLengthSqr = testDir.LengthSquared(); - testDir.Normalize(); - /* - if (testLengthSqr < COLLAPSE_DIST_SQR) { - printf("Problem with connection %d\n",i); - printf("This node has %d connections\n",nConnected); - printf("That one has %d\n",connected[i]->nConnected); - if (this == connected[i]) printf("This points at itself.\n"); - }*/ - b2Assert (testLengthSqr >= COLLAPSE_DIST_SQR); - float32 myCos = b2Dot(inDir,testDir); - float32 mySin = b2Cross(inDir,testDir); - if (result){ - b2Vec2 resultDir = result->position - position; - resultDir.Normalize(); - float32 resCos = b2Dot(inDir,resultDir); - float32 resSin = b2Cross(inDir,resultDir); - if (IsRighter(mySin,myCos,resSin,resCos)){ - result = connected[i]; - } - } else{ - result = connected[i]; - } - } - if (B2_POLYGON_REPORT_ERRORS && !result) { - printf("nConnected = %d\n",nConnected); - for (int32 i=0; i<nConnected; ++i) { - printf("connected[%d] @ %d\n",i,0);//(int)connected[i]); - } - } - b2Assert(result); - - return result; -} - -b2PolyNode* b2PolyNode::GetRightestConnection(b2Vec2& incomingDir){ - b2Vec2 diff = position-incomingDir; - b2PolyNode temp(diff); - b2PolyNode* res = GetRightestConnection(&temp); - b2Assert(res); - return res; -} -} diff --git a/thirdparty/b2d_convexdecomp/b2Polygon.h b/thirdparty/b2d_convexdecomp/b2Polygon.h deleted file mode 100644 index c466e28f7e..0000000000 --- a/thirdparty/b2d_convexdecomp/b2Polygon.h +++ /dev/null @@ -1,133 +0,0 @@ -/* - * Copyright (c) 2007 Eric Jordan - * - * 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. - */ - -#ifndef B2_POLYGON_H -#define B2_POLYGON_H - -#include "b2Triangle.h" -#include "stdio.h" -#include <string.h> -#include <limits.h> -namespace b2ConvexDecomp { - -static bool B2_POLYGON_REPORT_ERRORS = false; - -class b2Polygon; - -int32 remainder(int32 x, int32 modulus); -int32 TriangulatePolygon(float32* xv, float32* yv, int32 vNum, b2Triangle* results); -bool IsEar(int32 i, float32* xv, float32* yv, int32 xvLength); //Not for external use -int32 PolygonizeTriangles(b2Triangle* triangulated, int32 triangulatedLength, b2Polygon* polys, int32 polysLength); -int32 DecomposeConvex(b2Polygon* p, b2Polygon* results, int32 maxPolys); -//void DecomposeConvexAndAddTo(b2Polygon* p, b2Body* bd, b2FixtureDef* prototype); - -void ReversePolygon(float32* x, float32* y, int n); - -b2Polygon TraceEdge(b2Polygon* p); //For use with self-intersecting polygons, finds outline - -class b2Polygon { - -public: - const static int32 maxVerticesPerPolygon = b2_maxPolygonVertices; - - float32* x; //vertex arrays - float32* y; - int32 nVertices; - - float32 area; - bool areaIsSet; - - b2Polygon(float32* _x, float32* _y, int32 nVert); - b2Polygon(b2Vec2* v, int32 nVert); - b2Polygon(); - ~b2Polygon(); - - float32 GetArea(); - - void MergeParallelEdges(float32 tolerance); - b2Vec2* GetVertexVecs(); - b2Polygon(b2Triangle& t); - void Set(const b2Polygon& p); - bool IsConvex(); - bool IsCCW(); - bool IsUsable(bool printError); - bool IsUsable(); - bool IsSimple(); - // void AddTo(b2FixtureDef& pd); - - b2Polygon* Add(b2Triangle& t); - - void print(){ - printFormatted(); - /* - for (int32 i=0; i<nVertices; ++i){ - printf("i: %d, x:%f, y:%f\n",i,x[i],y[i]); - } - */ - } - - void printFormatted(){ - printf("float xv[] = {"); - for (int32 i=0; i<nVertices; ++i){ - printf("%ff,",x[i]); - } - printf("};\nfloat yv[] = {"); - for (int32 i=0; i<nVertices; ++i){ - printf("%ff,",y[i]); - } - printf("};\n"); - } - - b2Polygon(const b2Polygon& p){ - nVertices = p.nVertices; - area = p.area; - areaIsSet = p.areaIsSet; - x = new float32[nVertices]; - y = new float32[nVertices]; - memcpy(x, p.x, nVertices * sizeof(float32)); - memcpy(y, p.y, nVertices * sizeof(float32)); - } - - -}; - -const int32 MAX_CONNECTED = 32; -const float32 COLLAPSE_DIST_SQR = CMP_EPSILON*CMP_EPSILON;//0.1f;//1000*CMP_EPSILON*1000*CMP_EPSILON; - -class b2PolyNode{ -public: - b2Vec2 position; - b2PolyNode* connected[MAX_CONNECTED]; - int32 nConnected; - bool visited; - - b2PolyNode(b2Vec2& pos); - b2PolyNode(); - void AddConnection(b2PolyNode& toMe); - void RemoveConnection(b2PolyNode& fromMe); - void RemoveConnectionByIndex(int32 index); - bool IsConnectedTo(b2PolyNode& me); - b2PolyNode* GetRightestConnection(b2PolyNode* incoming); - b2PolyNode* GetRightestConnection(b2Vec2& incomingDir); -}; - - -b2Polygon ConvexHull(b2Vec2* v, int nVert); -b2Polygon ConvexHull(float32* cloudX, float32* cloudY, int32 nVert); -} -#endif diff --git a/thirdparty/b2d_convexdecomp/b2Triangle.cpp b/thirdparty/b2d_convexdecomp/b2Triangle.cpp deleted file mode 100644 index a0a30b9407..0000000000 --- a/thirdparty/b2d_convexdecomp/b2Triangle.cpp +++ /dev/null @@ -1,82 +0,0 @@ -/* - * Copyright (c) 2007 Eric Jordan - * - * 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 "b2Triangle.h" - -namespace b2ConvexDecomp { - -//Constructor automatically fixes orientation to ccw -b2Triangle::b2Triangle(float32 x1, float32 y1, float32 x2, float32 y2, float32 x3, float32 y3){ - x = new float32[3]; - y = new float32[3]; - float32 dx1 = x2-x1; - float32 dx2 = x3-x1; - float32 dy1 = y2-y1; - float32 dy2 = y3-y1; - float32 cross = dx1*dy2-dx2*dy1; - bool ccw = (cross>0); - if (ccw){ - x[0] = x1; x[1] = x2; x[2] = x3; - y[0] = y1; y[1] = y2; y[2] = y3; - } else{ - x[0] = x1; x[1] = x3; x[2] = x2; - y[0] = y1; y[1] = y3; y[2] = y2; - } -} - -b2Triangle::b2Triangle(){ - x = new float32[3]; - y = new float32[3]; -} - -b2Triangle::~b2Triangle(){ - delete[] x; - delete[] y; -} - -void b2Triangle::Set(const b2Triangle& toMe) { - for (int32 i=0; i<3; ++i) { - x[i] = toMe.x[i]; - y[i] = toMe.y[i]; - } -} - -bool b2Triangle::IsInside(float32 _x, float32 _y){ - if (_x < x[0] && _x < x[1] && _x < x[2]) return false; - if (_x > x[0] && _x > x[1] && _x > x[2]) return false; - if (_y < y[0] && _y < y[1] && _y < y[2]) return false; - if (_y > y[0] && _y > y[1] && _y > y[2]) return false; - - float32 vx2 = _x-x[0]; float32 vy2 = _y-y[0]; - float32 vx1 = x[1]-x[0]; float32 vy1 = y[1]-y[0]; - float32 vx0 = x[2]-x[0]; float32 vy0 = y[2]-y[0]; - - float32 dot00 = vx0*vx0+vy0*vy0; - float32 dot01 = vx0*vx1+vy0*vy1; - float32 dot02 = vx0*vx2+vy0*vy2; - float32 dot11 = vx1*vx1+vy1*vy1; - float32 dot12 = vx1*vx2+vy1*vy2; - float32 invDenom = 1.0f / (dot00*dot11 - dot01*dot01); - float32 u = (dot11*dot02 - dot01*dot12)*invDenom; - float32 v = (dot00*dot12 - dot01*dot02)*invDenom; - - return ((u>=0)&&(v>=0)&&(u+v<=1)); -} - - -} diff --git a/thirdparty/b2d_convexdecomp/b2Triangle.h b/thirdparty/b2d_convexdecomp/b2Triangle.h deleted file mode 100644 index 99ab5cba69..0000000000 --- a/thirdparty/b2d_convexdecomp/b2Triangle.h +++ /dev/null @@ -1,41 +0,0 @@ -/* - * Copyright (c) 2007 Eric Jordan - * - * 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. - */ - -#ifndef B2_TRIANGLE_H -#define B2_TRIANGLE_H - -#include "b2Glue.h" - -namespace b2ConvexDecomp { - - - -class b2Triangle{ -public: - float* x; - float* y; - b2Triangle(); - b2Triangle(float32 x1, float32 y1, float32 x2, float32 y2, float32 x3, float32 y3); - ~b2Triangle(); - bool IsInside(float32 _x, float32 _y); - void Set(const b2Triangle& toMe); - -}; - -} -#endif diff --git a/thirdparty/bullet/Bullet3Common/b3Logging.h b/thirdparty/bullet/Bullet3Common/b3Logging.h index 9c92b12ebb..f61149de77 100644 --- a/thirdparty/bullet/Bullet3Common/b3Logging.h +++ b/thirdparty/bullet/Bullet3Common/b3Logging.h @@ -14,20 +14,8 @@ extern "C" //#define b3Printf b3OutputPrintfVarArgsInternal //#define b3Printf(...) printf(__VA_ARGS__) //#define b3Printf(...) - -#define b3Warning(...) \ - do \ - { \ - b3OutputWarningMessageVarArgsInternal("b3Warning[%s,%d]:\n", __FILE__, __LINE__); \ - b3OutputWarningMessageVarArgsInternal(__VA_ARGS__); \ - } while (0) -#define b3Error(...) \ - do \ - { \ - b3OutputErrorMessageVarArgsInternal("b3Error[%s,%d]:\n", __FILE__, __LINE__); \ - b3OutputErrorMessageVarArgsInternal(__VA_ARGS__); \ - } while (0) - +#define b3Warning(...) do{ b3OutputWarningMessageVarArgsInternal("b3Warning[%s,%d]:\n", __FILE__, __LINE__);b3OutputWarningMessageVarArgsInternal(__VA_ARGS__);} while (0) +#define b3Error(...)do {b3OutputErrorMessageVarArgsInternal("b3Error[%s,%d]:\n", __FILE__, __LINE__);b3OutputErrorMessageVarArgsInternal(__VA_ARGS__);} while (0) #ifndef B3_NO_PROFILE void b3EnterProfileZone(const char* name); diff --git a/thirdparty/bullet/Bullet3Common/b3Scalar.h b/thirdparty/bullet/Bullet3Common/b3Scalar.h index 0db5eb6f4f..eeb70ed632 100644 --- a/thirdparty/bullet/Bullet3Common/b3Scalar.h +++ b/thirdparty/bullet/Bullet3Common/b3Scalar.h @@ -40,8 +40,12 @@ inline int b3GetVersion() #ifdef _WIN32 -#if defined(__MINGW32__) || defined(__CYGWIN__) || (defined(_MSC_VER) && _MSC_VER < 1300) - +#if defined(__GNUC__) // it should handle both MINGW and CYGWIN +#define B3_FORCE_INLINE __inline__ __attribute__((always_inline)) +#define B3_ATTRIBUTE_ALIGNED16(a) a __attribute__((aligned(16))) +#define B3_ATTRIBUTE_ALIGNED64(a) a __attribute__((aligned(64))) +#define B3_ATTRIBUTE_ALIGNED128(a) a __attribute__((aligned(128))) +#elif ( defined(_MSC_VER) && _MSC_VER < 1300 ) #define B3_FORCE_INLINE inline #define B3_ATTRIBUTE_ALIGNED16(a) a #define B3_ATTRIBUTE_ALIGNED64(a) a @@ -67,7 +71,17 @@ inline int b3GetVersion() #if (defined(_WIN32) && (_MSC_VER) && _MSC_VER >= 1400) && (!defined(B3_USE_DOUBLE_PRECISION)) #if (defined(_M_IX86) || defined(_M_X64)) + + +#ifdef __clang__ +//#define B3_NO_SIMD_OPERATOR_OVERLOADS +#define B3_DISABLE_SSE +#endif //__clang__ + +#ifndef B3_DISABLE_SSE #define B3_USE_SSE +#endif //B3_DISABLE_SSE + #ifdef B3_USE_SSE //B3_USE_SSE_IN_API is disabled under Windows by default, because //it makes it harder to integrate Bullet into your application under Windows @@ -88,17 +102,7 @@ inline int b3GetVersion() #ifdef B3_DEBUG #ifdef _MSC_VER #include <stdio.h> -#define b3Assert(x) \ - { \ - if (!(x)) \ - { \ - b3Error( \ - "Assert "__FILE__ \ - ":%u (" #x ")\n", \ - __LINE__); \ - __debugbreak(); \ - } \ - } +#define b3Assert(x) { if(!(x)){b3Error("Assert " __FILE__ ":%u (%s)\n", __LINE__, #x);__debugbreak(); }} #else //_MSC_VER #include <assert.h> #define b3Assert assert @@ -293,7 +297,7 @@ static int b3NanMask = 0x7F800001; static int b3InfinityMask = 0x7F800000; #define B3_INFINITY_MASK (*(float *)&b3InfinityMask) #endif - +#ifndef B3_NO_SIMD_OPERATOR_OVERLOADS inline __m128 operator+(const __m128 A, const __m128 B) { return _mm_add_ps(A, B); @@ -308,7 +312,7 @@ inline __m128 operator*(const __m128 A, const __m128 B) { return _mm_mul_ps(A, B); } - +#endif //B3_NO_SIMD_OPERATOR_OVERLOADS #define b3CastfTo128i(a) (_mm_castps_si128(a)) #define b3CastfTo128d(a) (_mm_castps_pd(a)) #define b3CastiTo128f(a) (_mm_castsi128_ps(a)) diff --git a/thirdparty/bullet/Bullet3OpenCL/BroadphaseCollision/b3GpuParallelLinearBvh.cpp b/thirdparty/bullet/Bullet3OpenCL/BroadphaseCollision/b3GpuParallelLinearBvh.cpp index 0721928684..616fc34f3a 100644 --- a/thirdparty/bullet/Bullet3OpenCL/BroadphaseCollision/b3GpuParallelLinearBvh.cpp +++ b/thirdparty/bullet/Bullet3OpenCL/BroadphaseCollision/b3GpuParallelLinearBvh.cpp @@ -496,7 +496,7 @@ void b3GpuParallelLinearBvh::constructBinaryRadixTree() clFinish(m_queue); } - //Find the number of nodes seperating each internal node and the root node + //Find the number of nodes separating each internal node and the root node //so that the AABBs can be set using the next kernel. //Also determine the maximum number of nodes separating an internal node and the root node. { diff --git a/thirdparty/bullet/Bullet3OpenCL/NarrowphaseCollision/b3StridingMeshInterface.h b/thirdparty/bullet/Bullet3OpenCL/NarrowphaseCollision/b3StridingMeshInterface.h index 087b30f3e6..2b1e63be75 100644 --- a/thirdparty/bullet/Bullet3OpenCL/NarrowphaseCollision/b3StridingMeshInterface.h +++ b/thirdparty/bullet/Bullet3OpenCL/NarrowphaseCollision/b3StridingMeshInterface.h @@ -68,7 +68,7 @@ public: virtual void unLockReadOnlyVertexBase(int subpart) const = 0; - /// getNumSubParts returns the number of seperate subparts + /// getNumSubParts returns the number of separate subparts /// each subpart has a continuous array of vertices and indices virtual int getNumSubParts() const = 0; diff --git a/thirdparty/bullet/Bullet3OpenCL/NarrowphaseCollision/b3TriangleIndexVertexArray.h b/thirdparty/bullet/Bullet3OpenCL/NarrowphaseCollision/b3TriangleIndexVertexArray.h index b6ceb8df10..57cbf03dc2 100644 --- a/thirdparty/bullet/Bullet3OpenCL/NarrowphaseCollision/b3TriangleIndexVertexArray.h +++ b/thirdparty/bullet/Bullet3OpenCL/NarrowphaseCollision/b3TriangleIndexVertexArray.h @@ -100,7 +100,7 @@ public: virtual void unLockReadOnlyVertexBase(int subpart) const { (void)subpart; } - /// getNumSubParts returns the number of seperate subparts + /// getNumSubParts returns the number of separate subparts /// each subpart has a continuous array of vertices and indices virtual int getNumSubParts() const { diff --git a/thirdparty/bullet/Bullet3OpenCL/NarrowphaseCollision/b3VoronoiSimplexSolver.cpp b/thirdparty/bullet/Bullet3OpenCL/NarrowphaseCollision/b3VoronoiSimplexSolver.cpp index dae61d4581..8b0a834efe 100644 --- a/thirdparty/bullet/Bullet3OpenCL/NarrowphaseCollision/b3VoronoiSimplexSolver.cpp +++ b/thirdparty/bullet/Bullet3OpenCL/NarrowphaseCollision/b3VoronoiSimplexSolver.cpp @@ -183,9 +183,9 @@ bool b3VoronoiSimplexSolver::updateClosestVectorAndPoints() const b3Vector3& c = m_simplexVectorW[2]; const b3Vector3& d = m_simplexVectorW[3]; - bool hasSeperation = closestPtPointTetrahedron(p, a, b, c, d, m_cachedBC); + bool hasSeparation = closestPtPointTetrahedron(p, a, b, c, d, m_cachedBC); - if (hasSeperation) + if (hasSeparation) { m_cachedP1 = m_simplexPointsP[0] * m_cachedBC.m_barycentricCoords[0] + m_simplexPointsP[1] * m_cachedBC.m_barycentricCoords[1] + diff --git a/thirdparty/bullet/BulletCollision/BroadphaseCollision/btBroadphaseProxy.h b/thirdparty/bullet/BulletCollision/BroadphaseCollision/btBroadphaseProxy.h index 825caeef56..bc0742ad62 100644 --- a/thirdparty/bullet/BulletCollision/BroadphaseCollision/btBroadphaseProxy.h +++ b/thirdparty/bullet/BulletCollision/BroadphaseCollision/btBroadphaseProxy.h @@ -187,13 +187,6 @@ btBroadphasePair BT_DECLARE_ALIGNED_ALLOCATOR(); - btBroadphasePair(const btBroadphasePair& other) - : m_pProxy0(other.m_pProxy0), - m_pProxy1(other.m_pProxy1), - m_algorithm(other.m_algorithm), - m_internalInfo1(other.m_internalInfo1) - { - } btBroadphasePair(btBroadphaseProxy & proxy0, btBroadphaseProxy & proxy1) { //keep them sorted, so the std::set operations work diff --git a/thirdparty/bullet/BulletCollision/BroadphaseCollision/btDbvt.h b/thirdparty/bullet/BulletCollision/BroadphaseCollision/btDbvt.h index a316dbf207..980d19a754 100644 --- a/thirdparty/bullet/BulletCollision/BroadphaseCollision/btDbvt.h +++ b/thirdparty/bullet/BulletCollision/BroadphaseCollision/btDbvt.h @@ -21,7 +21,6 @@ subject to the following restrictions: #include "LinearMath/btVector3.h" #include "LinearMath/btTransform.h" #include "LinearMath/btAabbUtil2.h" - // // Compile time configuration // @@ -131,6 +130,7 @@ subject to the following restrictions: /* btDbvtAabbMm */ struct btDbvtAabbMm { + DBVT_INLINE btDbvtAabbMm(){} DBVT_INLINE btVector3 Center() const { return ((mi + mx) / 2); } DBVT_INLINE btVector3 Lengths() const { return (mx - mi); } DBVT_INLINE btVector3 Extents() const { return ((mx - mi) / 2); } @@ -190,6 +190,36 @@ struct btDbvtNode }; }; +/* btDbv(normal)tNode */ +struct btDbvntNode +{ + btDbvtVolume volume; + btVector3 normal; + btScalar angle; + DBVT_INLINE bool isleaf() const { return (childs[1] == 0); } + DBVT_INLINE bool isinternal() const { return (!isleaf()); } + btDbvntNode* childs[2]; + void* data; + + btDbvntNode(const btDbvtNode* n) + : volume(n->volume) + , angle(0) + , normal(0,0,0) + , data(n->data) + { + childs[0] = 0; + childs[1] = 0; + } + + ~btDbvntNode() + { + if (childs[0]) + delete childs[0]; + if (childs[1]) + delete childs[1]; + } +}; + typedef btAlignedObjectArray<const btDbvtNode*> btNodeStack; ///The btDbvt class implements a fast dynamic bounding volume tree based on axis aligned bounding boxes (aabb tree). @@ -225,6 +255,14 @@ struct btDbvt btDbvtNode* parent; sStkCLN(const btDbvtNode* n, btDbvtNode* p) : node(n), parent(p) {} }; + + struct sStknNN + { + const btDbvntNode* a; + const btDbvntNode* b; + sStknNN() {} + sStknNN(const btDbvntNode* na, const btDbvntNode* nb) : a(na), b(nb) {} + }; // Policies/Interfaces /* ICollide */ @@ -234,6 +272,7 @@ struct btDbvt DBVT_VIRTUAL void Process(const btDbvtNode*, const btDbvtNode*) {} DBVT_VIRTUAL void Process(const btDbvtNode*) {} DBVT_VIRTUAL void Process(const btDbvtNode* n, btScalar) { Process(n); } + DBVT_VIRTUAL void Process(const btDbvntNode*, const btDbvntNode*) {} DBVT_VIRTUAL bool Descent(const btDbvtNode*) { return (true); } DBVT_VIRTUAL bool AllLeaves(const btDbvtNode*) { return (true); } }; @@ -306,6 +345,12 @@ struct btDbvt void collideTT(const btDbvtNode* root0, const btDbvtNode* root1, DBVT_IPOLICY); + DBVT_PREFIX + void selfCollideT(const btDbvntNode* root, + DBVT_IPOLICY); + DBVT_PREFIX + void selfCollideTT(const btDbvtNode* root, + DBVT_IPOLICY); DBVT_PREFIX void collideTTpersistentStack(const btDbvtNode* root0, @@ -837,6 +882,135 @@ inline void btDbvt::collideTT(const btDbvtNode* root0, } } +// +DBVT_PREFIX +inline void btDbvt::selfCollideT(const btDbvntNode* root, + DBVT_IPOLICY) +{ + DBVT_CHECKTYPE + if (root) + { + int depth = 1; + int treshold = DOUBLE_STACKSIZE - 4; + btAlignedObjectArray<sStknNN> stkStack; + stkStack.resize(DOUBLE_STACKSIZE); + stkStack[0] = sStknNN(root, root); + do + { + sStknNN p = stkStack[--depth]; + if (depth > treshold) + { + stkStack.resize(stkStack.size() * 2); + treshold = stkStack.size() - 4; + } + if (p.a == p.b) + { + if (p.a->isinternal() && p.a->angle > SIMD_PI) + { + stkStack[depth++] = sStknNN(p.a->childs[0], p.a->childs[0]); + stkStack[depth++] = sStknNN(p.a->childs[1], p.a->childs[1]); + stkStack[depth++] = sStknNN(p.a->childs[0], p.a->childs[1]); + } + } + else if (Intersect(p.a->volume, p.b->volume)) + { + if (p.a->isinternal()) + { + if (p.b->isinternal()) + { + stkStack[depth++] = sStknNN(p.a->childs[0], p.b->childs[0]); + stkStack[depth++] = sStknNN(p.a->childs[1], p.b->childs[0]); + stkStack[depth++] = sStknNN(p.a->childs[0], p.b->childs[1]); + stkStack[depth++] = sStknNN(p.a->childs[1], p.b->childs[1]); + } + else + { + stkStack[depth++] = sStknNN(p.a->childs[0], p.b); + stkStack[depth++] = sStknNN(p.a->childs[1], p.b); + } + } + else + { + if (p.b->isinternal()) + { + stkStack[depth++] = sStknNN(p.a, p.b->childs[0]); + stkStack[depth++] = sStknNN(p.a, p.b->childs[1]); + } + else + { + policy.Process(p.a, p.b); + } + } + } + } while (depth); + } +} + +// +DBVT_PREFIX +inline void btDbvt::selfCollideTT(const btDbvtNode* root, + DBVT_IPOLICY) +{ + DBVT_CHECKTYPE + if (root) + { + int depth = 1; + int treshold = DOUBLE_STACKSIZE - 4; + btAlignedObjectArray<sStkNN> stkStack; + stkStack.resize(DOUBLE_STACKSIZE); + stkStack[0] = sStkNN(root, root); + do + { + sStkNN p = stkStack[--depth]; + if (depth > treshold) + { + stkStack.resize(stkStack.size() * 2); + treshold = stkStack.size() - 4; + } + if (p.a == p.b) + { + if (p.a->isinternal()) + { + stkStack[depth++] = sStkNN(p.a->childs[0], p.a->childs[0]); + stkStack[depth++] = sStkNN(p.a->childs[1], p.a->childs[1]); + stkStack[depth++] = sStkNN(p.a->childs[0], p.a->childs[1]); + } + } + else if (Intersect(p.a->volume, p.b->volume)) + { + if (p.a->isinternal()) + { + if (p.b->isinternal()) + { + stkStack[depth++] = sStkNN(p.a->childs[0], p.b->childs[0]); + stkStack[depth++] = sStkNN(p.a->childs[1], p.b->childs[0]); + stkStack[depth++] = sStkNN(p.a->childs[0], p.b->childs[1]); + stkStack[depth++] = sStkNN(p.a->childs[1], p.b->childs[1]); + } + else + { + stkStack[depth++] = sStkNN(p.a->childs[0], p.b); + stkStack[depth++] = sStkNN(p.a->childs[1], p.b); + } + } + else + { + if (p.b->isinternal()) + { + stkStack[depth++] = sStkNN(p.a, p.b->childs[0]); + stkStack[depth++] = sStkNN(p.a, p.b->childs[1]); + } + else + { + policy.Process(p.a, p.b); + } + } + } + } while (depth); + } +} + + DBVT_PREFIX inline void btDbvt::collideTTpersistentStack(const btDbvtNode* root0, const btDbvtNode* root1, diff --git a/thirdparty/bullet/BulletCollision/BroadphaseCollision/btOverlappingPairCache.h b/thirdparty/bullet/BulletCollision/BroadphaseCollision/btOverlappingPairCache.h index a85782bc8a..f4a2d5e368 100644 --- a/thirdparty/bullet/BulletCollision/BroadphaseCollision/btOverlappingPairCache.h +++ b/thirdparty/bullet/BulletCollision/BroadphaseCollision/btOverlappingPairCache.h @@ -68,7 +68,7 @@ public: virtual void processAllOverlappingPairs(btOverlapCallback*, btDispatcher* dispatcher) = 0; - virtual void processAllOverlappingPairs(btOverlapCallback* callback, btDispatcher* dispatcher, const struct btDispatcherInfo& dispatchInfo) + virtual void processAllOverlappingPairs(btOverlapCallback* callback, btDispatcher* dispatcher, const struct btDispatcherInfo& /*dispatchInfo*/) { processAllOverlappingPairs(callback, dispatcher); } diff --git a/thirdparty/bullet/BulletCollision/CollisionDispatch/btCollisionObjectWrapper.h b/thirdparty/bullet/BulletCollision/CollisionDispatch/btCollisionObjectWrapper.h index 1cc4a5ac5f..56341b7d29 100644 --- a/thirdparty/bullet/BulletCollision/CollisionDispatch/btCollisionObjectWrapper.h +++ b/thirdparty/bullet/BulletCollision/CollisionDispatch/btCollisionObjectWrapper.h @@ -27,13 +27,19 @@ public: const btCollisionShape* m_shape; const btCollisionObject* m_collisionObject; const btTransform& m_worldTransform; + const btTransform* m_preTransform; int m_partId; int m_index; btCollisionObjectWrapper(const btCollisionObjectWrapper* parent, const btCollisionShape* shape, const btCollisionObject* collisionObject, const btTransform& worldTransform, int partId, int index) - : m_parent(parent), m_shape(shape), m_collisionObject(collisionObject), m_worldTransform(worldTransform), m_partId(partId), m_index(index) + : m_parent(parent), m_shape(shape), m_collisionObject(collisionObject), m_worldTransform(worldTransform), m_preTransform(NULL), m_partId(partId), m_index(index) { } + + btCollisionObjectWrapper(const btCollisionObjectWrapper* parent, const btCollisionShape* shape, const btCollisionObject* collisionObject, const btTransform& worldTransform, const btTransform& preTransform, int partId, int index) + : m_parent(parent), m_shape(shape), m_collisionObject(collisionObject), m_worldTransform(worldTransform), m_preTransform(&preTransform), m_partId(partId), m_index(index) + { + } SIMD_FORCE_INLINE const btTransform& getWorldTransform() const { return m_worldTransform; } SIMD_FORCE_INLINE const btCollisionObject* getCollisionObject() const { return m_collisionObject; } diff --git a/thirdparty/bullet/BulletCollision/CollisionDispatch/btCollisionWorldImporter.cpp b/thirdparty/bullet/BulletCollision/CollisionDispatch/btCollisionWorldImporter.cpp index 9f422dc157..e56e73dcf5 100644 --- a/thirdparty/bullet/BulletCollision/CollisionDispatch/btCollisionWorldImporter.cpp +++ b/thirdparty/bullet/BulletCollision/CollisionDispatch/btCollisionWorldImporter.cpp @@ -292,8 +292,8 @@ btCollisionShape* btCollisionWorldImporter::convertCollisionShape(btCollisionSha } break; } -#endif //SUPPORT_GIMPACT_SHAPE_IMPORT \ - //The btCapsuleShape* API has issue passing the margin/scaling/halfextents unmodified through the API \ +#endif //SUPPORT_GIMPACT_SHAPE_IMPORT + //The btCapsuleShape* API has issue passing the margin/scaling/halfextents unmodified through the API //so deal with this case CAPSULE_SHAPE_PROXYTYPE: { diff --git a/thirdparty/bullet/BulletCollision/CollisionDispatch/btCompoundCollisionAlgorithm.cpp b/thirdparty/bullet/BulletCollision/CollisionDispatch/btCompoundCollisionAlgorithm.cpp index 633bee4825..1bb21104cb 100644 --- a/thirdparty/bullet/BulletCollision/CollisionDispatch/btCompoundCollisionAlgorithm.cpp +++ b/thirdparty/bullet/BulletCollision/CollisionDispatch/btCompoundCollisionAlgorithm.cpp @@ -139,7 +139,7 @@ public: if (TestAabbAgainstAabb2(aabbMin0, aabbMax0, aabbMin1, aabbMax1)) { - btCollisionObjectWrapper compoundWrap(this->m_compoundColObjWrap, childShape, m_compoundColObjWrap->getCollisionObject(), newChildWorldTrans, -1, index); + btCollisionObjectWrapper compoundWrap(this->m_compoundColObjWrap, childShape, m_compoundColObjWrap->getCollisionObject(), newChildWorldTrans, childTrans, -1, index); btCollisionAlgorithm* algo = 0; bool allocatedAlgorithm = false; diff --git a/thirdparty/bullet/BulletCollision/CollisionDispatch/btConvexConvexAlgorithm.cpp b/thirdparty/bullet/BulletCollision/CollisionDispatch/btConvexConvexAlgorithm.cpp index 44dd3c553e..b48d97f2b2 100644 --- a/thirdparty/bullet/BulletCollision/CollisionDispatch/btConvexConvexAlgorithm.cpp +++ b/thirdparty/bullet/BulletCollision/CollisionDispatch/btConvexConvexAlgorithm.cpp @@ -503,9 +503,9 @@ void btConvexConvexAlgorithm ::processCollision(const btCollisionObjectWrapper* gjkPairDetector.getClosestPoints(input, withoutMargin, dispatchInfo.m_debugDraw); //gjkPairDetector.getClosestPoints(input,dummy,dispatchInfo.m_debugDraw); -#endif //ZERO_MARGIN \ - //btScalar l2 = gjkPairDetector.getCachedSeparatingAxis().length2(); \ - //if (l2>SIMD_EPSILON) +#endif //ZERO_MARGIN + //btScalar l2 = gjkPairDetector.getCachedSeparatingAxis().length2(); + //if (l2>SIMD_EPSILON) { sepNormalWorldSpace = withoutMargin.m_reportedNormalOnWorld; //gjkPairDetector.getCachedSeparatingAxis()*(1.f/l2); //minDist = -1e30f;//gjkPairDetector.getCachedSeparatingDistance(); diff --git a/thirdparty/bullet/BulletCollision/CollisionDispatch/btInternalEdgeUtility.cpp b/thirdparty/bullet/BulletCollision/CollisionDispatch/btInternalEdgeUtility.cpp index e74c83f9f1..a4252c296a 100644 --- a/thirdparty/bullet/BulletCollision/CollisionDispatch/btInternalEdgeUtility.cpp +++ b/thirdparty/bullet/BulletCollision/CollisionDispatch/btInternalEdgeUtility.cpp @@ -1,6 +1,8 @@ #include "btInternalEdgeUtility.h" #include "BulletCollision/CollisionShapes/btBvhTriangleMeshShape.h" +#include "BulletCollision/CollisionShapes/btHeightfieldTerrainShape.h" + #include "BulletCollision/CollisionShapes/btScaledBvhTriangleMeshShape.h" #include "BulletCollision/CollisionShapes/btTriangleShape.h" #include "BulletCollision/CollisionDispatch/btCollisionObject.h" @@ -290,6 +292,39 @@ struct btConnectivityProcessor : public btTriangleCallback } } }; + + +struct b3ProcessAllTrianglesHeightfield: public btTriangleCallback +{ + btHeightfieldTerrainShape* m_heightfieldShape; + btTriangleInfoMap* m_triangleInfoMap; + + + b3ProcessAllTrianglesHeightfield(btHeightfieldTerrainShape* heightFieldShape, btTriangleInfoMap* triangleInfoMap) + :m_heightfieldShape(heightFieldShape), + m_triangleInfoMap(triangleInfoMap) + { + } + virtual void processTriangle(btVector3* triangle, int partId, int triangleIndex) + { + btConnectivityProcessor connectivityProcessor; + connectivityProcessor.m_partIdA = partId; + connectivityProcessor.m_triangleIndexA = triangleIndex; + connectivityProcessor.m_triangleVerticesA = triangle; + connectivityProcessor.m_triangleInfoMap = m_triangleInfoMap; + btVector3 aabbMin, aabbMax; + 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)); + aabbMin.setMin(triangle[0]); + aabbMax.setMax(triangle[0]); + aabbMin.setMin(triangle[1]); + aabbMax.setMax(triangle[1]); + aabbMin.setMin(triangle[2]); + aabbMax.setMax(triangle[2]); + + m_heightfieldShape->processAllTriangles(&connectivityProcessor, aabbMin, aabbMax); + } +}; ///////////////////////////////////////////////////////// ///////////////////////////////////////////////////////// @@ -361,6 +396,28 @@ void btGenerateInternalEdgeInfo(btBvhTriangleMeshShape* trimeshShape, btTriangle } } + +void btGenerateInternalEdgeInfo(btHeightfieldTerrainShape* heightfieldShape, btTriangleInfoMap* triangleInfoMap) +{ + + //the user pointer shouldn't already be used for other purposes, we intend to store connectivity info there! + if (heightfieldShape->getTriangleInfoMap()) + return; + + heightfieldShape->setTriangleInfoMap(triangleInfoMap); + + //get all the triangles of the heightfield + + btVector3 aabbMin, aabbMax; + + aabbMax.setValue(btScalar(BT_LARGE_FLOAT), btScalar(BT_LARGE_FLOAT), btScalar(BT_LARGE_FLOAT)); + aabbMin.setValue(btScalar(-BT_LARGE_FLOAT), btScalar(-BT_LARGE_FLOAT), btScalar(-BT_LARGE_FLOAT)); + + b3ProcessAllTrianglesHeightfield processHeightfield(heightfieldShape, triangleInfoMap); + heightfieldShape->processAllTriangles(&processHeightfield, aabbMin, aabbMax); + +} + // Given a point and a line segment (defined by two points), compute the closest point // in the line. Cap the point at the endpoints of the line segment. void btNearestPointInLineSegment(const btVector3& point, const btVector3& line0, const btVector3& line1, btVector3& nearestPoint) @@ -426,6 +483,32 @@ void btAdjustInternalEdgeContacts(btManifoldPoint& cp, const btCollisionObjectWr if (colObj0Wrap->getCollisionShape()->getShapeType() != TRIANGLE_SHAPE_PROXYTYPE) return; + + btTriangleInfoMap* triangleInfoMapPtr = 0; + + if (colObj0Wrap->getCollisionObject()->getCollisionShape()->getShapeType() == TERRAIN_SHAPE_PROXYTYPE) + { + btHeightfieldTerrainShape* heightfield = (btHeightfieldTerrainShape*)colObj0Wrap->getCollisionObject()->getCollisionShape(); + triangleInfoMapPtr = heightfield->getTriangleInfoMap(); + +//#define USE_HEIGHTFIELD_TRIANGLES +#ifdef USE_HEIGHTFIELD_TRIANGLES + btVector3 newNormal = btVector3(0, 0, 1); + + const btTriangleShape* tri_shape = static_cast<const btTriangleShape*>(colObj0Wrap->getCollisionShape()); + btVector3 tri_normal; + tri_shape->calcNormal(tri_normal); + newNormal = tri_normal; + // cp.m_distance1 = cp.m_distance1 * newNormal.dot(cp.m_normalWorldOnB); + cp.m_normalWorldOnB = newNormal; + // Reproject collision point along normal. (what about cp.m_distance1?) + cp.m_positionWorldOnB = cp.m_positionWorldOnA - cp.m_normalWorldOnB * cp.m_distance1; + cp.m_localPointB = colObj0Wrap->getWorldTransform().invXform(cp.m_positionWorldOnB); + return; +#endif + } + + btBvhTriangleMeshShape* trimesh = 0; if (colObj0Wrap->getCollisionObject()->getCollisionShape()->getShapeType() == SCALED_TRIANGLE_MESH_SHAPE_PROXYTYPE) @@ -439,10 +522,12 @@ void btAdjustInternalEdgeContacts(btManifoldPoint& cp, const btCollisionObjectWr trimesh = (btBvhTriangleMeshShape*)colObj0Wrap->getCollisionObject()->getCollisionShape(); } } - if (trimesh == 0) - return; - - btTriangleInfoMap* triangleInfoMapPtr = (btTriangleInfoMap*)trimesh->getTriangleInfoMap(); + if (trimesh) + { + triangleInfoMapPtr = (btTriangleInfoMap*)trimesh->getTriangleInfoMap(); + } + + if (!triangleInfoMapPtr) return; diff --git a/thirdparty/bullet/BulletCollision/CollisionDispatch/btInternalEdgeUtility.h b/thirdparty/bullet/BulletCollision/CollisionDispatch/btInternalEdgeUtility.h index 9d9cff040f..cc6d11c241 100644 --- a/thirdparty/bullet/BulletCollision/CollisionDispatch/btInternalEdgeUtility.h +++ b/thirdparty/bullet/BulletCollision/CollisionDispatch/btInternalEdgeUtility.h @@ -15,6 +15,7 @@ class btCollisionObject; struct btCollisionObjectWrapper; class btManifoldPoint; class btIDebugDraw; +class btHeightfieldTerrainShape; enum btInternalEdgeAdjustFlags { @@ -26,6 +27,8 @@ enum btInternalEdgeAdjustFlags ///Call btGenerateInternalEdgeInfo to create triangle info, store in the shape 'userInfo' void btGenerateInternalEdgeInfo(btBvhTriangleMeshShape* trimeshShape, btTriangleInfoMap* triangleInfoMap); +void btGenerateInternalEdgeInfo(btHeightfieldTerrainShape* trimeshShape, btTriangleInfoMap* triangleInfoMap); + ///Call the btFixMeshNormal to adjust the collision normal, using the triangle info map (generated using btGenerateInternalEdgeInfo) ///If this info map is missing, or the triangle is not store in this map, nothing will be done void btAdjustInternalEdgeContacts(btManifoldPoint& cp, const btCollisionObjectWrapper* trimeshColObj0Wrap, const btCollisionObjectWrapper* otherColObj1Wrap, int partId0, int index0, int normalAdjustFlags = 0); diff --git a/thirdparty/bullet/BulletCollision/CollisionDispatch/btSimulationIslandManager.cpp b/thirdparty/bullet/BulletCollision/CollisionDispatch/btSimulationIslandManager.cpp index e5097ccbbf..327b3f076a 100644 --- a/thirdparty/bullet/BulletCollision/CollisionDispatch/btSimulationIslandManager.cpp +++ b/thirdparty/bullet/BulletCollision/CollisionDispatch/btSimulationIslandManager.cpp @@ -233,7 +233,7 @@ void btSimulationIslandManager::buildIslands(btDispatcher* dispatcher, btCollisi // printf("error in island management\n"); } - btAssert((colObj0->getIslandTag() == islandId) || (colObj0->getIslandTag() == -1)); + btAssert((colObj0->getIslandTag() == islandId) || (colObj0->getIslandTag() == -1)); if (colObj0->getIslandTag() == islandId) { if (colObj0->getActivationState() == ACTIVE_TAG || @@ -257,7 +257,7 @@ void btSimulationIslandManager::buildIslands(btDispatcher* dispatcher, btCollisi // printf("error in island management\n"); } - btAssert((colObj0->getIslandTag() == islandId) || (colObj0->getIslandTag() == -1)); + btAssert((colObj0->getIslandTag() == islandId) || (colObj0->getIslandTag() == -1)); if (colObj0->getIslandTag() == islandId) { @@ -278,7 +278,8 @@ void btSimulationIslandManager::buildIslands(btDispatcher* dispatcher, btCollisi // printf("error in island management\n"); } - btAssert((colObj0->getIslandTag() == islandId) || (colObj0->getIslandTag() == -1)); + btAssert((colObj0->getIslandTag() == islandId) || (colObj0->getIslandTag() == -1)); + if (colObj0->getIslandTag() == islandId) { @@ -337,13 +338,17 @@ void btSimulationIslandManager::buildIslands(btDispatcher* dispatcher, btCollisi } } + ///@todo: this is random access, it can be walked 'cache friendly'! void btSimulationIslandManager::buildAndProcessIslands(btDispatcher* dispatcher, btCollisionWorld* collisionWorld, IslandCallback* callback) { - btCollisionObjectArray& collisionObjects = collisionWorld->getCollisionObjectArray(); - buildIslands(dispatcher, collisionWorld); + processIslands(dispatcher, collisionWorld, callback); +} +void btSimulationIslandManager::processIslands(btDispatcher* dispatcher, btCollisionWorld* collisionWorld, IslandCallback* callback) +{ + btCollisionObjectArray& collisionObjects = collisionWorld->getCollisionObjectArray(); int endIslandIndex = 1; int startIslandIndex; int numElem = getUnionFind().getNumElements(); diff --git a/thirdparty/bullet/BulletCollision/CollisionDispatch/btSimulationIslandManager.h b/thirdparty/bullet/BulletCollision/CollisionDispatch/btSimulationIslandManager.h index 6c2802141c..197bb457cf 100644 --- a/thirdparty/bullet/BulletCollision/CollisionDispatch/btSimulationIslandManager.h +++ b/thirdparty/bullet/BulletCollision/CollisionDispatch/btSimulationIslandManager.h @@ -57,9 +57,11 @@ public: }; void buildAndProcessIslands(btDispatcher* dispatcher, btCollisionWorld* collisionWorld, IslandCallback* callback); - + void buildIslands(btDispatcher* dispatcher, btCollisionWorld* colWorld); + void processIslands(btDispatcher* dispatcher, btCollisionWorld* collisionWorld, IslandCallback* callback); + bool getSplitIslands() { return m_splitIslands; diff --git a/thirdparty/bullet/BulletCollision/CollisionShapes/btHeightfieldTerrainShape.cpp b/thirdparty/bullet/BulletCollision/CollisionShapes/btHeightfieldTerrainShape.cpp index 34ec2d8c45..34e7926f17 100644 --- a/thirdparty/bullet/BulletCollision/CollisionShapes/btHeightfieldTerrainShape.cpp +++ b/thirdparty/bullet/BulletCollision/CollisionShapes/btHeightfieldTerrainShape.cpp @@ -21,6 +21,9 @@ btHeightfieldTerrainShape::btHeightfieldTerrainShape( int heightStickWidth, int heightStickLength, const void* heightfieldData, btScalar heightScale, btScalar minHeight, btScalar maxHeight, int upAxis, PHY_ScalarType hdt, bool flipQuadEdges) + :m_userIndex2(-1), + m_userValue3(0), + m_triangleInfoMap(0) { initialize(heightStickWidth, heightStickLength, heightfieldData, heightScale, minHeight, maxHeight, upAxis, hdt, @@ -28,6 +31,9 @@ btHeightfieldTerrainShape::btHeightfieldTerrainShape( } btHeightfieldTerrainShape::btHeightfieldTerrainShape(int heightStickWidth, int heightStickLength, const void* heightfieldData, btScalar maxHeight, int upAxis, bool useFloatData, bool flipQuadEdges) + :m_userIndex2(-1), + m_userValue3(0), + m_triangleInfoMap(0) { // legacy constructor: support only float or unsigned char, // and min height is zero @@ -349,12 +355,12 @@ void btHeightfieldTerrainShape::processAllTriangles(btTriangleCallback* callback getVertex(x, j, vertices[indices[0]]); getVertex(x, j + 1, vertices[indices[1]]); getVertex(x + 1, j + 1, vertices[indices[2]]); - callback->processTriangle(vertices, x, j); + callback->processTriangle(vertices, 2 * x, j); //second triangle // getVertex(x,j,vertices[0]);//already got this vertex before, thanks to Danny Chapman getVertex(x + 1, j + 1, vertices[indices[1]]); getVertex(x + 1, j, vertices[indices[2]]); - callback->processTriangle(vertices, x, j); + callback->processTriangle(vertices, 2 * x+1, j); } else { @@ -362,12 +368,12 @@ void btHeightfieldTerrainShape::processAllTriangles(btTriangleCallback* callback getVertex(x, j, vertices[indices[0]]); getVertex(x, j + 1, vertices[indices[1]]); getVertex(x + 1, j, vertices[indices[2]]); - callback->processTriangle(vertices, x, j); + callback->processTriangle(vertices, 2 * x, j); //second triangle getVertex(x + 1, j, vertices[indices[0]]); //getVertex(x,j+1,vertices[1]); getVertex(x + 1, j + 1, vertices[indices[2]]); - callback->processTriangle(vertices, x, j); + callback->processTriangle(vertices, 2 * x+1, j); } } } diff --git a/thirdparty/bullet/BulletCollision/CollisionShapes/btHeightfieldTerrainShape.h b/thirdparty/bullet/BulletCollision/CollisionShapes/btHeightfieldTerrainShape.h index 43e1d25e3d..8dea98fc6b 100644 --- a/thirdparty/bullet/BulletCollision/CollisionShapes/btHeightfieldTerrainShape.h +++ b/thirdparty/bullet/BulletCollision/CollisionShapes/btHeightfieldTerrainShape.h @@ -114,6 +114,11 @@ protected: int m_vboundsGridLength; int m_vboundsChunkSize; + int m_userIndex2; + btScalar m_userValue3; + + struct btTriangleInfoMap* m_triangleInfoMap; + virtual btScalar getRawHeightFieldValue(int x, int y) const; void quantizeWithClamp(int* out, const btVector3& point, int isMax) const; @@ -185,6 +190,40 @@ public: } //debugging virtual const char* getName() const { return "HEIGHTFIELD"; } + + + void setUserIndex2(int index) + { + m_userIndex2 = index; + } + int getUserIndex2() const + { + return m_userIndex2; + } + void setUserValue3(btScalar value) + { + m_userValue3 = value; + } + btScalar getUserValue3() const + { + return m_userValue3; + } + const struct btTriangleInfoMap* getTriangleInfoMap() const + { + return m_triangleInfoMap; + } + struct btTriangleInfoMap* getTriangleInfoMap() + { + return m_triangleInfoMap; + } + void setTriangleInfoMap(btTriangleInfoMap* map) + { + m_triangleInfoMap = map; + } + const unsigned char* getHeightfieldRawData() const + { + return m_heightfieldDataUnsignedChar; + } }; #endif //BT_HEIGHTFIELD_TERRAIN_SHAPE_H
\ No newline at end of file diff --git a/thirdparty/bullet/BulletCollision/CollisionShapes/btStridingMeshInterface.h b/thirdparty/bullet/BulletCollision/CollisionShapes/btStridingMeshInterface.h index 7d729ee0d7..68a41dfb45 100644 --- a/thirdparty/bullet/BulletCollision/CollisionShapes/btStridingMeshInterface.h +++ b/thirdparty/bullet/BulletCollision/CollisionShapes/btStridingMeshInterface.h @@ -58,7 +58,7 @@ public: virtual void unLockReadOnlyVertexBase(int subpart) const = 0; - /// getNumSubParts returns the number of seperate subparts + /// getNumSubParts returns the number of separate subparts /// each subpart has a continuous array of vertices and indices virtual int getNumSubParts() const = 0; diff --git a/thirdparty/bullet/BulletCollision/CollisionShapes/btTriangleIndexVertexArray.h b/thirdparty/bullet/BulletCollision/CollisionShapes/btTriangleIndexVertexArray.h index 8ebb22baae..556aa3fef4 100644 --- a/thirdparty/bullet/BulletCollision/CollisionShapes/btTriangleIndexVertexArray.h +++ b/thirdparty/bullet/BulletCollision/CollisionShapes/btTriangleIndexVertexArray.h @@ -100,7 +100,7 @@ public: virtual void unLockReadOnlyVertexBase(int subpart) const { (void)subpart; } - /// getNumSubParts returns the number of seperate subparts + /// getNumSubParts returns the number of separate subparts /// each subpart has a continuous array of vertices and indices virtual int getNumSubParts() const { diff --git a/thirdparty/bullet/BulletCollision/Gimpact/btGImpactShape.h b/thirdparty/bullet/BulletCollision/Gimpact/btGImpactShape.h index eb33ce05e2..5b85e87041 100644 --- a/thirdparty/bullet/BulletCollision/Gimpact/btGImpactShape.h +++ b/thirdparty/bullet/BulletCollision/Gimpact/btGImpactShape.h @@ -1,5 +1,5 @@ /*! \file btGImpactShape.h -\author Francisco Leon Najera +\author Francisco Len Nßjera */ /* This source file is part of GIMPACT Library. diff --git a/thirdparty/bullet/BulletCollision/NarrowPhaseCollision/btComputeGjkEpaPenetration.h b/thirdparty/bullet/BulletCollision/NarrowPhaseCollision/btComputeGjkEpaPenetration.h index c94391d816..3c82133037 100644 --- a/thirdparty/bullet/BulletCollision/NarrowPhaseCollision/btComputeGjkEpaPenetration.h +++ b/thirdparty/bullet/BulletCollision/NarrowPhaseCollision/btComputeGjkEpaPenetration.h @@ -95,11 +95,11 @@ int btComputeGjkEpaPenetration(const btConvexTemplate& a, const btConvexTemplate for (;;) //while (true) { - btVector3 seperatingAxisInA = (-m_cachedSeparatingAxis) * localTransA.getBasis(); - btVector3 seperatingAxisInB = m_cachedSeparatingAxis * localTransB.getBasis(); + btVector3 separatingAxisInA = (-m_cachedSeparatingAxis) * localTransA.getBasis(); + btVector3 separatingAxisInB = m_cachedSeparatingAxis * localTransB.getBasis(); - btVector3 pInA = a.getLocalSupportWithoutMargin(seperatingAxisInA); - btVector3 qInB = b.getLocalSupportWithoutMargin(seperatingAxisInB); + btVector3 pInA = a.getLocalSupportWithoutMargin(separatingAxisInA); + btVector3 qInB = b.getLocalSupportWithoutMargin(separatingAxisInB); btVector3 pWorld = localTransA(pInA); btVector3 qWorld = localTransB(qInB); diff --git a/thirdparty/bullet/BulletCollision/NarrowPhaseCollision/btGjkPairDetector.cpp b/thirdparty/bullet/BulletCollision/NarrowPhaseCollision/btGjkPairDetector.cpp index 4339b2ea75..5af93cb2fb 100644 --- a/thirdparty/bullet/BulletCollision/NarrowPhaseCollision/btGjkPairDetector.cpp +++ b/thirdparty/bullet/BulletCollision/NarrowPhaseCollision/btGjkPairDetector.cpp @@ -79,11 +79,11 @@ void btGjkPairDetector::getClosestPoints(const ClosestPointInput &input, Result static void btComputeSupport(const btConvexShape *convexA, const btTransform &localTransA, const btConvexShape *convexB, const btTransform &localTransB, const btVector3 &dir, bool check2d, btVector3 &supAworld, btVector3 &supBworld, btVector3 &aMinb) { - btVector3 seperatingAxisInA = (dir)*localTransA.getBasis(); - btVector3 seperatingAxisInB = (-dir) * localTransB.getBasis(); + btVector3 separatingAxisInA = (dir)*localTransA.getBasis(); + btVector3 separatingAxisInB = (-dir) * localTransB.getBasis(); - btVector3 pInANoMargin = convexA->localGetSupportVertexWithoutMarginNonVirtual(seperatingAxisInA); - btVector3 qInBNoMargin = convexB->localGetSupportVertexWithoutMarginNonVirtual(seperatingAxisInB); + btVector3 pInANoMargin = convexA->localGetSupportVertexWithoutMarginNonVirtual(separatingAxisInA); + btVector3 qInBNoMargin = convexB->localGetSupportVertexWithoutMarginNonVirtual(separatingAxisInB); btVector3 pInA = pInANoMargin; btVector3 qInB = qInBNoMargin; @@ -839,11 +839,11 @@ void btGjkPairDetector::getClosestPointsNonVirtual(const ClosestPointInput &inpu for (;;) //while (true) { - btVector3 seperatingAxisInA = (-m_cachedSeparatingAxis) * localTransA.getBasis(); - btVector3 seperatingAxisInB = m_cachedSeparatingAxis * localTransB.getBasis(); + btVector3 separatingAxisInA = (-m_cachedSeparatingAxis) * localTransA.getBasis(); + btVector3 separatingAxisInB = m_cachedSeparatingAxis * localTransB.getBasis(); - btVector3 pInA = m_minkowskiA->localGetSupportVertexWithoutMarginNonVirtual(seperatingAxisInA); - btVector3 qInB = m_minkowskiB->localGetSupportVertexWithoutMarginNonVirtual(seperatingAxisInB); + btVector3 pInA = m_minkowskiA->localGetSupportVertexWithoutMarginNonVirtual(separatingAxisInA); + btVector3 qInB = m_minkowskiB->localGetSupportVertexWithoutMarginNonVirtual(separatingAxisInB); btVector3 pWorld = localTransA(pInA); btVector3 qWorld = localTransB(qInB); @@ -1116,11 +1116,11 @@ void btGjkPairDetector::getClosestPointsNonVirtual(const ClosestPointInput &inpu btScalar d2 = 0.f; { - btVector3 seperatingAxisInA = (-orgNormalInB) * localTransA.getBasis(); - btVector3 seperatingAxisInB = orgNormalInB * localTransB.getBasis(); + btVector3 separatingAxisInA = (-orgNormalInB) * localTransA.getBasis(); + btVector3 separatingAxisInB = orgNormalInB * localTransB.getBasis(); - btVector3 pInA = m_minkowskiA->localGetSupportVertexWithoutMarginNonVirtual(seperatingAxisInA); - btVector3 qInB = m_minkowskiB->localGetSupportVertexWithoutMarginNonVirtual(seperatingAxisInB); + btVector3 pInA = m_minkowskiA->localGetSupportVertexWithoutMarginNonVirtual(separatingAxisInA); + btVector3 qInB = m_minkowskiB->localGetSupportVertexWithoutMarginNonVirtual(separatingAxisInB); btVector3 pWorld = localTransA(pInA); btVector3 qWorld = localTransB(qInB); @@ -1130,11 +1130,11 @@ void btGjkPairDetector::getClosestPointsNonVirtual(const ClosestPointInput &inpu btScalar d1 = 0; { - btVector3 seperatingAxisInA = (normalInB)*localTransA.getBasis(); - btVector3 seperatingAxisInB = -normalInB * localTransB.getBasis(); + btVector3 separatingAxisInA = (normalInB)*localTransA.getBasis(); + btVector3 separatingAxisInB = -normalInB * localTransB.getBasis(); - btVector3 pInA = m_minkowskiA->localGetSupportVertexWithoutMarginNonVirtual(seperatingAxisInA); - btVector3 qInB = m_minkowskiB->localGetSupportVertexWithoutMarginNonVirtual(seperatingAxisInB); + btVector3 pInA = m_minkowskiA->localGetSupportVertexWithoutMarginNonVirtual(separatingAxisInA); + btVector3 qInB = m_minkowskiB->localGetSupportVertexWithoutMarginNonVirtual(separatingAxisInB); btVector3 pWorld = localTransA(pInA); btVector3 qWorld = localTransB(qInB); @@ -1143,11 +1143,11 @@ void btGjkPairDetector::getClosestPointsNonVirtual(const ClosestPointInput &inpu } btScalar d0 = 0.f; { - btVector3 seperatingAxisInA = (-normalInB) * input.m_transformA.getBasis(); - btVector3 seperatingAxisInB = normalInB * input.m_transformB.getBasis(); + btVector3 separatingAxisInA = (-normalInB) * input.m_transformA.getBasis(); + btVector3 separatingAxisInB = normalInB * input.m_transformB.getBasis(); - btVector3 pInA = m_minkowskiA->localGetSupportVertexWithoutMarginNonVirtual(seperatingAxisInA); - btVector3 qInB = m_minkowskiB->localGetSupportVertexWithoutMarginNonVirtual(seperatingAxisInB); + btVector3 pInA = m_minkowskiA->localGetSupportVertexWithoutMarginNonVirtual(separatingAxisInA); + btVector3 qInB = m_minkowskiB->localGetSupportVertexWithoutMarginNonVirtual(separatingAxisInB); btVector3 pWorld = localTransA(pInA); btVector3 qWorld = localTransB(qInB); diff --git a/thirdparty/bullet/BulletCollision/NarrowPhaseCollision/btGjkPairDetector.h b/thirdparty/bullet/BulletCollision/NarrowPhaseCollision/btGjkPairDetector.h index 659b63551e..faa02287ca 100644 --- a/thirdparty/bullet/BulletCollision/NarrowPhaseCollision/btGjkPairDetector.h +++ b/thirdparty/bullet/BulletCollision/NarrowPhaseCollision/btGjkPairDetector.h @@ -64,9 +64,9 @@ public: { m_minkowskiB = minkB; } - void setCachedSeperatingAxis(const btVector3& seperatingAxis) + void setCachedSeparatingAxis(const btVector3& separatingAxis) { - m_cachedSeparatingAxis = seperatingAxis; + m_cachedSeparatingAxis = separatingAxis; } const btVector3& getCachedSeparatingAxis() const diff --git a/thirdparty/bullet/BulletCollision/NarrowPhaseCollision/btManifoldPoint.h b/thirdparty/bullet/BulletCollision/NarrowPhaseCollision/btManifoldPoint.h index 6d21f66202..573fc86bf9 100644 --- a/thirdparty/bullet/BulletCollision/NarrowPhaseCollision/btManifoldPoint.h +++ b/thirdparty/bullet/BulletCollision/NarrowPhaseCollision/btManifoldPoint.h @@ -55,6 +55,7 @@ public: : m_userPersistentData(0), m_contactPointFlags(0), m_appliedImpulse(0.f), + m_prevRHS(0.f), m_appliedImpulseLateral1(0.f), m_appliedImpulseLateral2(0.f), m_contactMotion1(0.f), @@ -79,6 +80,7 @@ public: m_userPersistentData(0), m_contactPointFlags(0), m_appliedImpulse(0.f), + m_prevRHS(0.f), m_appliedImpulseLateral1(0.f), m_appliedImpulseLateral2(0.f), m_contactMotion1(0.f), @@ -114,6 +116,7 @@ public: int m_contactPointFlags; btScalar m_appliedImpulse; + btScalar m_prevRHS; btScalar m_appliedImpulseLateral1; btScalar m_appliedImpulseLateral2; btScalar m_contactMotion1; diff --git a/thirdparty/bullet/BulletCollision/NarrowPhaseCollision/btMinkowskiPenetrationDepthSolver.cpp b/thirdparty/bullet/BulletCollision/NarrowPhaseCollision/btMinkowskiPenetrationDepthSolver.cpp index a77449812f..c042c24208 100644 --- a/thirdparty/bullet/BulletCollision/NarrowPhaseCollision/btMinkowskiPenetrationDepthSolver.cpp +++ b/thirdparty/bullet/BulletCollision/NarrowPhaseCollision/btMinkowskiPenetrationDepthSolver.cpp @@ -65,7 +65,7 @@ bool btMinkowskiPenetrationDepthSolver::calcPenDepth(btSimplexSolverInterface& s btScalar minProj = btScalar(BT_LARGE_FLOAT); btVector3 minNorm(btScalar(0.), btScalar(0.), btScalar(0.)); btVector3 minA, minB; - btVector3 seperatingAxisInA, seperatingAxisInB; + btVector3 separatingAxisInA, separatingAxisInB; btVector3 pInA, qInB, pWorld, qWorld, w; #ifndef __SPU__ @@ -75,8 +75,8 @@ bool btMinkowskiPenetrationDepthSolver::calcPenDepth(btSimplexSolverInterface& s btVector3 supportVerticesABatch[NUM_UNITSPHERE_POINTS + MAX_PREFERRED_PENETRATION_DIRECTIONS * 2]; btVector3 supportVerticesBBatch[NUM_UNITSPHERE_POINTS + MAX_PREFERRED_PENETRATION_DIRECTIONS * 2]; - btVector3 seperatingAxisInABatch[NUM_UNITSPHERE_POINTS + MAX_PREFERRED_PENETRATION_DIRECTIONS * 2]; - btVector3 seperatingAxisInBBatch[NUM_UNITSPHERE_POINTS + MAX_PREFERRED_PENETRATION_DIRECTIONS * 2]; + btVector3 separatingAxisInABatch[NUM_UNITSPHERE_POINTS + MAX_PREFERRED_PENETRATION_DIRECTIONS * 2]; + btVector3 separatingAxisInBBatch[NUM_UNITSPHERE_POINTS + MAX_PREFERRED_PENETRATION_DIRECTIONS * 2]; int i; int numSampleDirections = NUM_UNITSPHERE_POINTS; @@ -84,8 +84,8 @@ bool btMinkowskiPenetrationDepthSolver::calcPenDepth(btSimplexSolverInterface& s for (i = 0; i < numSampleDirections; i++) { btVector3 norm = getPenetrationDirections()[i]; - seperatingAxisInABatch[i] = (-norm) * transA.getBasis(); - seperatingAxisInBBatch[i] = norm * transB.getBasis(); + separatingAxisInABatch[i] = (-norm) * transA.getBasis(); + separatingAxisInBBatch[i] = norm * transB.getBasis(); } { @@ -98,8 +98,8 @@ bool btMinkowskiPenetrationDepthSolver::calcPenDepth(btSimplexSolverInterface& s convexA->getPreferredPenetrationDirection(i, norm); norm = transA.getBasis() * norm; getPenetrationDirections()[numSampleDirections] = norm; - seperatingAxisInABatch[numSampleDirections] = (-norm) * transA.getBasis(); - seperatingAxisInBBatch[numSampleDirections] = norm * transB.getBasis(); + separatingAxisInABatch[numSampleDirections] = (-norm) * transA.getBasis(); + separatingAxisInBBatch[numSampleDirections] = norm * transB.getBasis(); numSampleDirections++; } } @@ -115,15 +115,15 @@ bool btMinkowskiPenetrationDepthSolver::calcPenDepth(btSimplexSolverInterface& s convexB->getPreferredPenetrationDirection(i, norm); norm = transB.getBasis() * norm; getPenetrationDirections()[numSampleDirections] = norm; - seperatingAxisInABatch[numSampleDirections] = (-norm) * transA.getBasis(); - seperatingAxisInBBatch[numSampleDirections] = norm * transB.getBasis(); + separatingAxisInABatch[numSampleDirections] = (-norm) * transA.getBasis(); + separatingAxisInBBatch[numSampleDirections] = norm * transB.getBasis(); numSampleDirections++; } } } - convexA->batchedUnitVectorGetSupportingVertexWithoutMargin(seperatingAxisInABatch, supportVerticesABatch, numSampleDirections); - convexB->batchedUnitVectorGetSupportingVertexWithoutMargin(seperatingAxisInBBatch, supportVerticesBBatch, numSampleDirections); + convexA->batchedUnitVectorGetSupportingVertexWithoutMargin(separatingAxisInABatch, supportVerticesABatch, numSampleDirections); + convexB->batchedUnitVectorGetSupportingVertexWithoutMargin(separatingAxisInBBatch, supportVerticesBBatch, numSampleDirections); for (i = 0; i < numSampleDirections; i++) { @@ -134,8 +134,8 @@ bool btMinkowskiPenetrationDepthSolver::calcPenDepth(btSimplexSolverInterface& s } if (norm.length2() > 0.01) { - seperatingAxisInA = seperatingAxisInABatch[i]; - seperatingAxisInB = seperatingAxisInBBatch[i]; + separatingAxisInA = separatingAxisInABatch[i]; + separatingAxisInB = separatingAxisInBBatch[i]; pInA = supportVerticesABatch[i]; qInB = supportVerticesBBatch[i]; @@ -199,10 +199,10 @@ bool btMinkowskiPenetrationDepthSolver::calcPenDepth(btSimplexSolverInterface& s for (int i = 0; i < numSampleDirections; i++) { const btVector3& norm = getPenetrationDirections()[i]; - seperatingAxisInA = (-norm) * transA.getBasis(); - seperatingAxisInB = norm * transB.getBasis(); - pInA = convexA->localGetSupportVertexWithoutMarginNonVirtual(seperatingAxisInA); - qInB = convexB->localGetSupportVertexWithoutMarginNonVirtual(seperatingAxisInB); + separatingAxisInA = (-norm) * transA.getBasis(); + separatingAxisInB = norm * transB.getBasis(); + pInA = convexA->localGetSupportVertexWithoutMarginNonVirtual(separatingAxisInA); + qInB = convexB->localGetSupportVertexWithoutMarginNonVirtual(separatingAxisInB); pWorld = transA(pInA); qWorld = transB(qInB); w = qWorld - pWorld; @@ -259,7 +259,7 @@ bool btMinkowskiPenetrationDepthSolver::calcPenDepth(btSimplexSolverInterface& s input.m_maximumDistanceSquared = btScalar(BT_LARGE_FLOAT); //minProj; btIntermediateResult res; - gjkdet.setCachedSeperatingAxis(-minNorm); + gjkdet.setCachedSeparatingAxis(-minNorm); gjkdet.getClosestPoints(input, res, debugDraw); btScalar correctedMinNorm = minProj - res.m_depth; diff --git a/thirdparty/bullet/BulletCollision/NarrowPhaseCollision/btMprPenetration.h b/thirdparty/bullet/BulletCollision/NarrowPhaseCollision/btMprPenetration.h index 358bc95d81..534a66d3fa 100644 --- a/thirdparty/bullet/BulletCollision/NarrowPhaseCollision/btMprPenetration.h +++ b/thirdparty/bullet/BulletCollision/NarrowPhaseCollision/btMprPenetration.h @@ -309,11 +309,11 @@ inline void btMprSupport(const btConvexTemplate &a, const btConvexTemplate &b, const btMprCollisionDescription &colDesc, const btVector3 &dir, btMprSupport_t *supp) { - btVector3 seperatingAxisInA = dir * a.getWorldTransform().getBasis(); - btVector3 seperatingAxisInB = -dir * b.getWorldTransform().getBasis(); + btVector3 separatingAxisInA = dir * a.getWorldTransform().getBasis(); + btVector3 separatingAxisInB = -dir * b.getWorldTransform().getBasis(); - btVector3 pInA = a.getLocalSupportWithMargin(seperatingAxisInA); - btVector3 qInB = b.getLocalSupportWithMargin(seperatingAxisInB); + btVector3 pInA = a.getLocalSupportWithMargin(separatingAxisInA); + btVector3 qInB = b.getLocalSupportWithMargin(separatingAxisInB); supp->v1 = a.getWorldTransform()(pInA); supp->v2 = b.getWorldTransform()(qInB); @@ -467,7 +467,7 @@ static int btRefinePortal(const btConvexTemplate &a, const btConvexTemplate &b, for (int i = 0; i < BT_MPR_MAX_ITERATIONS; i++) //while (1) { - // compute direction outside the portal (from v0 throught v1,v2,v3 + // compute direction outside the portal (from v0 through v1,v2,v3 // face) btPortalDir(portal, &dir); diff --git a/thirdparty/bullet/BulletCollision/NarrowPhaseCollision/btPersistentManifold.cpp b/thirdparty/bullet/BulletCollision/NarrowPhaseCollision/btPersistentManifold.cpp index f1422cad4d..dca3e09267 100644 --- a/thirdparty/bullet/BulletCollision/NarrowPhaseCollision/btPersistentManifold.cpp +++ b/thirdparty/bullet/BulletCollision/NarrowPhaseCollision/btPersistentManifold.cpp @@ -325,6 +325,7 @@ const char* btPersistentManifold::serialize(const class btPersistentManifold* ma { const btManifoldPoint& pt = manifold->getContactPoint(i); dataOut->m_pointCacheAppliedImpulse[i] = pt.m_appliedImpulse; + dataOut->m_pointCachePrevRHS[i] = pt.m_prevRHS; dataOut->m_pointCacheAppliedImpulseLateral1[i] = pt.m_appliedImpulseLateral1; dataOut->m_pointCacheAppliedImpulseLateral2[i] = pt.m_appliedImpulseLateral2; pt.m_localPointA.serialize(dataOut->m_pointCacheLocalPointA[i]); @@ -371,6 +372,7 @@ void btPersistentManifold::deSerialize(const struct btPersistentManifoldDoubleDa btManifoldPoint& pt = m_pointCache[i]; pt.m_appliedImpulse = manifoldDataPtr->m_pointCacheAppliedImpulse[i]; + pt.m_prevRHS = manifoldDataPtr->m_pointCachePrevRHS[i]; pt.m_appliedImpulseLateral1 = manifoldDataPtr->m_pointCacheAppliedImpulseLateral1[i]; pt.m_appliedImpulseLateral2 = manifoldDataPtr->m_pointCacheAppliedImpulseLateral2[i]; pt.m_localPointA.deSerializeDouble(manifoldDataPtr->m_pointCacheLocalPointA[i]); @@ -416,6 +418,7 @@ void btPersistentManifold::deSerialize(const struct btPersistentManifoldFloatDat btManifoldPoint& pt = m_pointCache[i]; pt.m_appliedImpulse = manifoldDataPtr->m_pointCacheAppliedImpulse[i]; + pt.m_prevRHS = manifoldDataPtr->m_pointCachePrevRHS[i]; pt.m_appliedImpulseLateral1 = manifoldDataPtr->m_pointCacheAppliedImpulseLateral1[i]; pt.m_appliedImpulseLateral2 = manifoldDataPtr->m_pointCacheAppliedImpulseLateral2[i]; pt.m_localPointA.deSerialize(manifoldDataPtr->m_pointCacheLocalPointA[i]); @@ -444,4 +447,4 @@ void btPersistentManifold::deSerialize(const struct btPersistentManifoldFloatDat pt.m_contactMotion1 = manifoldDataPtr->m_pointCacheContactMotion1[i]; pt.m_contactMotion2 = manifoldDataPtr->m_pointCacheContactMotion2[i]; } -}
\ No newline at end of file +} diff --git a/thirdparty/bullet/BulletCollision/NarrowPhaseCollision/btPersistentManifold.h b/thirdparty/bullet/BulletCollision/NarrowPhaseCollision/btPersistentManifold.h index 8a9134c95c..0e26da0ebe 100644 --- a/thirdparty/bullet/BulletCollision/NarrowPhaseCollision/btPersistentManifold.h +++ b/thirdparty/bullet/BulletCollision/NarrowPhaseCollision/btPersistentManifold.h @@ -173,6 +173,7 @@ public: //get rid of duplicated userPersistentData pointer m_pointCache[lastUsedIndex].m_userPersistentData = 0; m_pointCache[lastUsedIndex].m_appliedImpulse = 0.f; + m_pointCache[lastUsedIndex].m_prevRHS = 0.f; m_pointCache[lastUsedIndex].m_contactPointFlags = 0; m_pointCache[lastUsedIndex].m_appliedImpulseLateral1 = 0.f; m_pointCache[lastUsedIndex].m_appliedImpulseLateral2 = 0.f; @@ -195,6 +196,7 @@ public: #ifdef MAINTAIN_PERSISTENCY int lifeTime = m_pointCache[insertIndex].getLifeTime(); btScalar appliedImpulse = m_pointCache[insertIndex].m_appliedImpulse; + btScalar prevRHS = m_pointCache[insertIndex].m_prevRHS; btScalar appliedLateralImpulse1 = m_pointCache[insertIndex].m_appliedImpulseLateral1; btScalar appliedLateralImpulse2 = m_pointCache[insertIndex].m_appliedImpulseLateral2; @@ -223,6 +225,7 @@ public: m_pointCache[insertIndex] = newPoint; m_pointCache[insertIndex].m_userPersistentData = cache; m_pointCache[insertIndex].m_appliedImpulse = appliedImpulse; + m_pointCache[insertIndex].m_prevRHS = prevRHS; m_pointCache[insertIndex].m_appliedImpulseLateral1 = appliedLateralImpulse1; m_pointCache[insertIndex].m_appliedImpulseLateral2 = appliedLateralImpulse2; } @@ -276,7 +279,8 @@ struct btPersistentManifoldDoubleData btVector3DoubleData m_pointCacheLateralFrictionDir2[4]; double m_pointCacheDistance[4]; double m_pointCacheAppliedImpulse[4]; - double m_pointCacheCombinedFriction[4]; + double m_pointCachePrevRHS[4]; + double m_pointCacheCombinedFriction[4]; double m_pointCacheCombinedRollingFriction[4]; double m_pointCacheCombinedSpinningFriction[4]; double m_pointCacheCombinedRestitution[4]; @@ -322,6 +326,7 @@ struct btPersistentManifoldFloatData btVector3FloatData m_pointCacheLateralFrictionDir2[4]; float m_pointCacheDistance[4]; float m_pointCacheAppliedImpulse[4]; + float m_pointCachePrevRHS[4]; float m_pointCacheCombinedFriction[4]; float m_pointCacheCombinedRollingFriction[4]; float m_pointCacheCombinedSpinningFriction[4]; diff --git a/thirdparty/bullet/BulletDynamics/ConstraintSolver/btBatchedConstraints.cpp b/thirdparty/bullet/BulletDynamics/ConstraintSolver/btBatchedConstraints.cpp index 2a5efc6495..27f76b8425 100644 --- a/thirdparty/bullet/BulletDynamics/ConstraintSolver/btBatchedConstraints.cpp +++ b/thirdparty/bullet/BulletDynamics/ConstraintSolver/btBatchedConstraints.cpp @@ -890,6 +890,8 @@ static void setupSpatialGridBatchesMt( btVector3 gridExtent = bboxMax - bboxMin; + gridExtent.setMax(btVector3(btScalar(1), btScalar(1), btScalar(1))); + btVector3 gridCellSize = consExtent; int gridDim[3]; gridDim[0] = int(1.0 + gridExtent.x() / gridCellSize.x()); diff --git a/thirdparty/bullet/BulletDynamics/ConstraintSolver/btContactSolverInfo.h b/thirdparty/bullet/BulletDynamics/ConstraintSolver/btContactSolverInfo.h index 63d7c98e16..e82d1b139e 100644 --- a/thirdparty/bullet/BulletDynamics/ConstraintSolver/btContactSolverInfo.h +++ b/thirdparty/bullet/BulletDynamics/ConstraintSolver/btContactSolverInfo.h @@ -30,7 +30,8 @@ enum btSolverMode SOLVER_SIMD = 256, SOLVER_INTERLEAVE_CONTACT_AND_FRICTION_CONSTRAINTS = 512, SOLVER_ALLOW_ZERO_LENGTH_FRICTION_DIRECTIONS = 1024, - SOLVER_DISABLE_IMPLICIT_CONE_FRICTION = 2048 + SOLVER_DISABLE_IMPLICIT_CONE_FRICTION = 2048, + SOLVER_USE_ARTICULATED_WARMSTARTING = 4096, }; struct btContactSolverInfoData @@ -45,6 +46,7 @@ struct btContactSolverInfoData btScalar m_sor; //successive over-relaxation term btScalar m_erp; //error reduction for non-contact constraints btScalar m_erp2; //error reduction for contact constraints + btScalar m_deformable_erp; //error reduction for deformable constraints btScalar m_globalCfm; //constraint force mixing for contacts and non-contacts btScalar m_frictionERP; //error reduction for friction constraints btScalar m_frictionCFM; //constraint force mixing for friction constraints @@ -54,7 +56,7 @@ struct btContactSolverInfoData btScalar m_splitImpulseTurnErp; btScalar m_linearSlop; btScalar m_warmstartingFactor; - + btScalar m_articulatedWarmstartingFactor; int m_solverMode; int m_restingContactRestitutionThreshold; int m_minimumSolverBatchSize; @@ -80,6 +82,7 @@ struct btContactSolverInfo : public btContactSolverInfoData m_numIterations = 10; m_erp = btScalar(0.2); m_erp2 = btScalar(0.2); + m_deformable_erp = btScalar(0.); m_globalCfm = btScalar(0.); m_frictionERP = btScalar(0.2); //positional friction 'anchors' are disabled by default m_frictionCFM = btScalar(0.); @@ -89,6 +92,7 @@ struct btContactSolverInfo : public btContactSolverInfoData m_splitImpulseTurnErp = 0.1f; m_linearSlop = btScalar(0.0); m_warmstartingFactor = btScalar(0.85); + m_articulatedWarmstartingFactor = btScalar(0.85); //m_solverMode = SOLVER_USE_WARMSTARTING | SOLVER_SIMD | SOLVER_DISABLE_VELOCITY_DEPENDENT_FRICTION_DIRECTION|SOLVER_USE_2_FRICTION_DIRECTIONS|SOLVER_ENABLE_FRICTION_DIRECTION_CACHING;// | SOLVER_RANDMIZE_ORDER; m_solverMode = SOLVER_USE_WARMSTARTING | SOLVER_SIMD; // | SOLVER_RANDMIZE_ORDER; m_restingContactRestitutionThreshold = 2; //unused as of 2.81 @@ -120,6 +124,7 @@ struct btContactSolverInfoDoubleData double m_splitImpulseTurnErp; double m_linearSlop; double m_warmstartingFactor; + double m_articulatedWarmstartingFactor; double m_maxGyroscopicForce; ///it is only used for 'explicit' version of gyroscopic force double m_singleAxisRollingFrictionThreshold; @@ -150,16 +155,17 @@ struct btContactSolverInfoFloatData float m_linearSlop; float m_warmstartingFactor; + float m_articulatedWarmstartingFactor; float m_maxGyroscopicForce; - float m_singleAxisRollingFrictionThreshold; + float m_singleAxisRollingFrictionThreshold; int m_numIterations; int m_solverMode; int m_restingContactRestitutionThreshold; - int m_minimumSolverBatchSize; + int m_minimumSolverBatchSize; int m_splitImpulse; - char m_padding[4]; + }; #endif //BT_CONTACT_SOLVER_INFO diff --git a/thirdparty/bullet/BulletDynamics/ConstraintSolver/btGeneric6DofSpring2Constraint.cpp b/thirdparty/bullet/BulletDynamics/ConstraintSolver/btGeneric6DofSpring2Constraint.cpp index 9a3b39e6f8..93626f18ff 100644 --- a/thirdparty/bullet/BulletDynamics/ConstraintSolver/btGeneric6DofSpring2Constraint.cpp +++ b/thirdparty/bullet/BulletDynamics/ConstraintSolver/btGeneric6DofSpring2Constraint.cpp @@ -32,7 +32,7 @@ Cons: /* 2007-09-09 -btGeneric6DofConstraint Refactored by Francisco Leon +btGeneric6DofConstraint Refactored by Francisco Le?n email: projectileman@yahoo.com http://gimpact.sf.net */ @@ -311,9 +311,9 @@ void btGeneric6DofSpring2Constraint::calculateAngleInfo() case RO_XYZ: { //Is this the "line of nodes" calculation choosing planes YZ (B coordinate system) and xy (A coordinate system)? (http://en.wikipedia.org/wiki/Euler_angles) - //The two planes are non-homologous, so this is a Tait-Bryan angle formalism and not a proper Euler + //The two planes are non-homologous, so this is a Tait Bryan angle formalism and not a proper Euler //Extrinsic rotations are equal to the reversed order intrinsic rotations so the above xyz extrinsic rotations (axes are fixed) are the same as the zy'x" intrinsic rotations (axes are refreshed after each rotation) - //that is why xy and YZ planes are chosen (this will describe a zy'x" intrinsic rotation) (see the figure on the left at http://en.wikipedia.org/wiki/Euler_angles under Tait-Bryan angles) + //that is why xy and YZ planes are chosen (this will describe a zy'x" intrinsic rotation) (see the figure on the left at http://en.wikipedia.org/wiki/Euler_angles under Tait Bryan angles) // x' = Nperp = N.cross(axis2) // y' = N = axis2.cross(axis0) // z' = z diff --git a/thirdparty/bullet/BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolver.cpp b/thirdparty/bullet/BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolver.cpp index d3b71e4583..e4da468299 100644 --- a/thirdparty/bullet/BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolver.cpp +++ b/thirdparty/bullet/BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolver.cpp @@ -394,18 +394,6 @@ btSingleConstraintRowSolver btSequentialImpulseConstraintSolver::getScalarConstr return gResolveSingleConstraintRowLowerLimit_scalar_reference; } -btSingleConstraintRowSolver btSequentialImpulseConstraintSolver::getScalarSplitPenetrationImpulseGeneric() -{ - return gResolveSplitPenetrationImpulse_scalar_reference; -} - -btSingleConstraintRowSolver btSequentialImpulseConstraintSolver::getSSE2SplitPenetrationImpulseGeneric() -{ - return gResolveSplitPenetrationImpulse_sse2; -} - - - #ifdef USE_SIMD btSingleConstraintRowSolver btSequentialImpulseConstraintSolver::getSSE2ConstraintRowSolverGeneric() { @@ -433,11 +421,6 @@ unsigned long btSequentialImpulseConstraintSolver::btRand2() return m_btSeed2; } -unsigned long btSequentialImpulseConstraintSolver::btRand2a(unsigned long& seed) -{ - seed = (1664525L * seed + 1013904223L) & 0xffffffff; - return seed; -} //See ODE: adam's all-int straightforward(?) dRandInt (0..n-1) int btSequentialImpulseConstraintSolver::btRandInt2(int n) { @@ -471,44 +454,42 @@ int btSequentialImpulseConstraintSolver::btRandInt2(int n) return (int)(r % un); } -int btSequentialImpulseConstraintSolver::btRandInt2a(int n, unsigned long& seed) +void btSequentialImpulseConstraintSolver::initSolverBody(btSolverBody* solverBody, btCollisionObject* collisionObject, btScalar timeStep) { - // seems good; xor-fold and modulus - const unsigned long un = static_cast<unsigned long>(n); - unsigned long r = btSequentialImpulseConstraintSolver::btRand2a(seed); + btRigidBody* rb = collisionObject ? btRigidBody::upcast(collisionObject) : 0; - // note: probably more aggressive than it needs to be -- might be - // able to get away without one or two of the innermost branches. - if (un <= 0x00010000UL) + solverBody->internalGetDeltaLinearVelocity().setValue(0.f, 0.f, 0.f); + solverBody->internalGetDeltaAngularVelocity().setValue(0.f, 0.f, 0.f); + solverBody->internalGetPushVelocity().setValue(0.f, 0.f, 0.f); + solverBody->internalGetTurnVelocity().setValue(0.f, 0.f, 0.f); + + if (rb) { - r ^= (r >> 16); - if (un <= 0x00000100UL) + solverBody->m_worldTransform = rb->getWorldTransform(); + solverBody->internalSetInvMass(btVector3(rb->getInvMass(), rb->getInvMass(), rb->getInvMass()) * rb->getLinearFactor()); + solverBody->m_originalBody = rb; + solverBody->m_angularFactor = rb->getAngularFactor(); + solverBody->m_linearFactor = rb->getLinearFactor(); + solverBody->m_linearVelocity = rb->getLinearVelocity(); + solverBody->m_angularVelocity = rb->getAngularVelocity(); + solverBody->m_externalForceImpulse = rb->getTotalForce() * rb->getInvMass() * timeStep; + solverBody->m_externalTorqueImpulse = rb->getTotalTorque() * rb->getInvInertiaTensorWorld() * timeStep; + } + else { - r ^= (r >> 8); - if (un <= 0x00000010UL) - { - r ^= (r >> 4); - if (un <= 0x00000004UL) - { - r ^= (r >> 2); - if (un <= 0x00000002UL) - { - r ^= (r >> 1); + solverBody->m_worldTransform.setIdentity(); + solverBody->internalSetInvMass(btVector3(0, 0, 0)); + solverBody->m_originalBody = 0; + solverBody->m_angularFactor.setValue(1, 1, 1); + solverBody->m_linearFactor.setValue(1, 1, 1); + solverBody->m_linearVelocity.setValue(0, 0, 0); + solverBody->m_angularVelocity.setValue(0, 0, 0); + solverBody->m_externalForceImpulse.setValue(0, 0, 0); + solverBody->m_externalTorqueImpulse.setValue(0, 0, 0); } } - } - } - } - return (int)(r % un); -} - -void btSequentialImpulseConstraintSolver::initSolverBody(btSolverBody* solverBody, btCollisionObject* collisionObject, btScalar timeStep) -{ - btSISolverSingleIterationData::initSolverBody(solverBody, collisionObject, timeStep); -} - -btScalar btSequentialImpulseConstraintSolver::restitutionCurveInternal(btScalar rel_vel, btScalar restitution, btScalar velocityThreshold) +btScalar btSequentialImpulseConstraintSolver::restitutionCurve(btScalar rel_vel, btScalar restitution, btScalar velocityThreshold) { //printf("rel_vel =%f\n", rel_vel); if (btFabs(rel_vel) < velocityThreshold) @@ -517,10 +498,6 @@ btScalar btSequentialImpulseConstraintSolver::restitutionCurveInternal(btScalar btScalar rest = restitution * -rel_vel; return rest; } -btScalar btSequentialImpulseConstraintSolver::restitutionCurve(btScalar rel_vel, btScalar restitution, btScalar velocityThreshold) -{ - return btSequentialImpulseConstraintSolver::restitutionCurveInternal(rel_vel, restitution, velocityThreshold); -} void btSequentialImpulseConstraintSolver::applyAnisotropicFriction(btCollisionObject* colObj, btVector3& frictionDirection, int frictionMode) { @@ -536,13 +513,13 @@ void btSequentialImpulseConstraintSolver::applyAnisotropicFriction(btCollisionOb } } -void btSequentialImpulseConstraintSolver::setupFrictionConstraintInternal(btAlignedObjectArray<btSolverBody>& tmpSolverBodyPool, btSolverConstraint& solverConstraint, const btVector3& normalAxis, int solverBodyIdA, int solverBodyIdB, btManifoldPoint& cp, const btVector3& rel_pos1, const btVector3& rel_pos2, btCollisionObject* colObj0, btCollisionObject* colObj1, btScalar relaxation, const btContactSolverInfo& infoGlobal, btScalar desiredVelocity, btScalar cfmSlip) +void btSequentialImpulseConstraintSolver::setupFrictionConstraint(btSolverConstraint& solverConstraint, const btVector3& normalAxis, int solverBodyIdA, int solverBodyIdB, btManifoldPoint& cp, const btVector3& rel_pos1, const btVector3& rel_pos2, btCollisionObject* colObj0, btCollisionObject* colObj1, btScalar relaxation, const btContactSolverInfo& infoGlobal, btScalar desiredVelocity, btScalar cfmSlip) { - btSolverBody& solverBodyA = tmpSolverBodyPool[solverBodyIdA]; - btSolverBody& solverBodyB = tmpSolverBodyPool[solverBodyIdB]; + btSolverBody& solverBodyA = m_tmpSolverBodyPool[solverBodyIdA]; + btSolverBody& solverBodyB = m_tmpSolverBodyPool[solverBodyIdB]; - btRigidBody* body0 = tmpSolverBodyPool[solverBodyIdA].m_originalBody; - btRigidBody* bodyA = tmpSolverBodyPool[solverBodyIdB].m_originalBody; + btRigidBody* body0 = m_tmpSolverBodyPool[solverBodyIdA].m_originalBody; + btRigidBody* bodyA = m_tmpSolverBodyPool[solverBodyIdB].m_originalBody; solverConstraint.m_solverBodyIdA = solverBodyIdA; solverConstraint.m_solverBodyIdB = solverBodyIdB; @@ -628,22 +605,6 @@ void btSequentialImpulseConstraintSolver::setupFrictionConstraintInternal(btAlig } } -void btSequentialImpulseConstraintSolver::setupFrictionConstraint(btSolverConstraint& solverConstraint, const btVector3& normalAxis, int solverBodyIdA, int solverBodyIdB, btManifoldPoint& cp, const btVector3& rel_pos1, const btVector3& rel_pos2, btCollisionObject* colObj0, btCollisionObject* colObj1, btScalar relaxation, const btContactSolverInfo& infoGlobal, btScalar desiredVelocity, btScalar cfmSlip) -{ - btSequentialImpulseConstraintSolver::setupFrictionConstraintInternal(m_tmpSolverBodyPool, solverConstraint, normalAxis, solverBodyIdA, solverBodyIdB, cp, rel_pos1, rel_pos2, colObj0, colObj1, relaxation, infoGlobal, desiredVelocity, cfmSlip); -} - -btSolverConstraint& btSequentialImpulseConstraintSolver::addFrictionConstraintInternal(btAlignedObjectArray<btSolverBody>& tmpSolverBodyPool, btConstraintArray& tmpSolverContactFrictionConstraintPool, const btVector3& normalAxis, int solverBodyIdA, int solverBodyIdB, int frictionIndex, btManifoldPoint& cp, const btVector3& rel_pos1, const btVector3& rel_pos2, btCollisionObject* colObj0, btCollisionObject* colObj1, btScalar relaxation, const btContactSolverInfo& infoGlobal, btScalar desiredVelocity, btScalar cfmSlip) -{ - btSolverConstraint& solverConstraint = tmpSolverContactFrictionConstraintPool.expandNonInitializing(); - solverConstraint.m_frictionIndex = frictionIndex; - setupFrictionConstraintInternal(tmpSolverBodyPool, solverConstraint, normalAxis, solverBodyIdA, solverBodyIdB, cp, rel_pos1, rel_pos2, - colObj0, colObj1, relaxation, infoGlobal, desiredVelocity, cfmSlip); - return solverConstraint; -} - - - btSolverConstraint& btSequentialImpulseConstraintSolver::addFrictionConstraint(const btVector3& normalAxis, int solverBodyIdA, int solverBodyIdB, int frictionIndex, btManifoldPoint& cp, const btVector3& rel_pos1, const btVector3& rel_pos2, btCollisionObject* colObj0, btCollisionObject* colObj1, btScalar relaxation, const btContactSolverInfo& infoGlobal, btScalar desiredVelocity, btScalar cfmSlip) { btSolverConstraint& solverConstraint = m_tmpSolverContactFrictionConstraintPool.expandNonInitializing(); @@ -653,8 +614,7 @@ btSolverConstraint& btSequentialImpulseConstraintSolver::addFrictionConstraint(c return solverConstraint; } - -void btSequentialImpulseConstraintSolver::setupTorsionalFrictionConstraintInternal(btAlignedObjectArray<btSolverBody>& tmpSolverBodyPool, btSolverConstraint& solverConstraint, const btVector3& normalAxis1, int solverBodyIdA, int solverBodyIdB, +void btSequentialImpulseConstraintSolver::setupTorsionalFrictionConstraint(btSolverConstraint& solverConstraint, const btVector3& normalAxis1, int solverBodyIdA, int solverBodyIdB, btManifoldPoint& cp, btScalar combinedTorsionalFriction, const btVector3& rel_pos1, const btVector3& rel_pos2, btCollisionObject* colObj0, btCollisionObject* colObj1, btScalar relaxation, btScalar desiredVelocity, btScalar cfmSlip) @@ -664,11 +624,11 @@ void btSequentialImpulseConstraintSolver::setupTorsionalFrictionConstraintIntern solverConstraint.m_contactNormal1 = normalAxis; solverConstraint.m_contactNormal2 = -normalAxis; - btSolverBody& solverBodyA = tmpSolverBodyPool[solverBodyIdA]; - btSolverBody& solverBodyB = tmpSolverBodyPool[solverBodyIdB]; + btSolverBody& solverBodyA = m_tmpSolverBodyPool[solverBodyIdA]; + btSolverBody& solverBodyB = m_tmpSolverBodyPool[solverBodyIdB]; - btRigidBody* body0 = tmpSolverBodyPool[solverBodyIdA].m_originalBody; - btRigidBody* bodyA = tmpSolverBodyPool[solverBodyIdB].m_originalBody; + btRigidBody* body0 = m_tmpSolverBodyPool[solverBodyIdA].m_originalBody; + btRigidBody* bodyA = m_tmpSolverBodyPool[solverBodyIdB].m_originalBody; solverConstraint.m_solverBodyIdA = solverBodyIdA; solverConstraint.m_solverBodyIdB = solverBodyIdB; @@ -717,30 +677,6 @@ void btSequentialImpulseConstraintSolver::setupTorsionalFrictionConstraintIntern } } - -void btSequentialImpulseConstraintSolver::setupTorsionalFrictionConstraint(btSolverConstraint& solverConstraint, const btVector3& normalAxis1, int solverBodyIdA, int solverBodyIdB, - btManifoldPoint& cp, btScalar combinedTorsionalFriction, const btVector3& rel_pos1, const btVector3& rel_pos2, - btCollisionObject* colObj0, btCollisionObject* colObj1, btScalar relaxation, - btScalar desiredVelocity, btScalar cfmSlip) - -{ - setupTorsionalFrictionConstraintInternal(m_tmpSolverBodyPool, solverConstraint, normalAxis1, solverBodyIdA, solverBodyIdB, - cp, combinedTorsionalFriction, rel_pos1, rel_pos2, - colObj0, colObj1, relaxation, - desiredVelocity, cfmSlip); - -} - -btSolverConstraint& btSequentialImpulseConstraintSolver::addTorsionalFrictionConstraintInternal(btAlignedObjectArray<btSolverBody>& tmpSolverBodyPool, btConstraintArray& tmpSolverContactRollingFrictionConstraintPool, const btVector3& normalAxis, int solverBodyIdA, int solverBodyIdB, int frictionIndex, btManifoldPoint& cp, btScalar combinedTorsionalFriction, const btVector3& rel_pos1, const btVector3& rel_pos2, btCollisionObject* colObj0, btCollisionObject* colObj1, btScalar relaxation, btScalar desiredVelocity, btScalar cfmSlip) -{ - btSolverConstraint& solverConstraint = tmpSolverContactRollingFrictionConstraintPool.expandNonInitializing(); - solverConstraint.m_frictionIndex = frictionIndex; - setupTorsionalFrictionConstraintInternal(tmpSolverBodyPool, solverConstraint, normalAxis, solverBodyIdA, solverBodyIdB, cp, combinedTorsionalFriction, rel_pos1, rel_pos2, - colObj0, colObj1, relaxation, desiredVelocity, cfmSlip); - return solverConstraint; -} - - btSolverConstraint& btSequentialImpulseConstraintSolver::addTorsionalFrictionConstraint(const btVector3& normalAxis, int solverBodyIdA, int solverBodyIdB, int frictionIndex, btManifoldPoint& cp, btScalar combinedTorsionalFriction, const btVector3& rel_pos1, const btVector3& rel_pos2, btCollisionObject* colObj0, btCollisionObject* colObj1, btScalar relaxation, btScalar desiredVelocity, btScalar cfmSlip) { btSolverConstraint& solverConstraint = m_tmpSolverContactRollingFrictionConstraintPool.expandNonInitializing(); @@ -750,217 +686,6 @@ btSolverConstraint& btSequentialImpulseConstraintSolver::addTorsionalFrictionCon return solverConstraint; } -int btSISolverSingleIterationData::getOrInitSolverBody(btCollisionObject & body, btScalar timeStep) -{ -#if BT_THREADSAFE - int solverBodyId = -1; - bool isRigidBodyType = btRigidBody::upcast(&body) != NULL; - if (isRigidBodyType && !body.isStaticOrKinematicObject()) - { - // dynamic body - // Dynamic bodies can only be in one island, so it's safe to write to the companionId - solverBodyId = body.getCompanionId(); - if (solverBodyId < 0) - { - solverBodyId = m_tmpSolverBodyPool.size(); - btSolverBody& solverBody = m_tmpSolverBodyPool.expand(); - initSolverBody(&solverBody, &body, timeStep); - body.setCompanionId(solverBodyId); - } - } - else if (isRigidBodyType && body.isKinematicObject()) - { - // - // NOTE: must test for kinematic before static because some kinematic objects also - // identify as "static" - // - // Kinematic bodies can be in multiple islands at once, so it is a - // race condition to write to them, so we use an alternate method - // to record the solverBodyId - int uniqueId = body.getWorldArrayIndex(); - const int INVALID_SOLVER_BODY_ID = -1; - if (uniqueId >= m_kinematicBodyUniqueIdToSolverBodyTable.size()) - { - m_kinematicBodyUniqueIdToSolverBodyTable.resize(uniqueId + 1, INVALID_SOLVER_BODY_ID); - } - solverBodyId = m_kinematicBodyUniqueIdToSolverBodyTable[uniqueId]; - // if no table entry yet, - if (solverBodyId == INVALID_SOLVER_BODY_ID) - { - // create a table entry for this body - solverBodyId = m_tmpSolverBodyPool.size(); - btSolverBody& solverBody = m_tmpSolverBodyPool.expand(); - initSolverBody(&solverBody, &body, timeStep); - m_kinematicBodyUniqueIdToSolverBodyTable[uniqueId] = solverBodyId; - } - } - else - { - bool isMultiBodyType = (body.getInternalType() & btCollisionObject::CO_FEATHERSTONE_LINK); - // Incorrectly set collision object flags can degrade performance in various ways. - if (!isMultiBodyType) - { - btAssert(body.isStaticOrKinematicObject()); - } - //it could be a multibody link collider - // all fixed bodies (inf mass) get mapped to a single solver id - if (m_fixedBodyId < 0) - { - m_fixedBodyId = m_tmpSolverBodyPool.size(); - btSolverBody& fixedBody = m_tmpSolverBodyPool.expand(); - initSolverBody(&fixedBody, 0, timeStep); - } - solverBodyId = m_fixedBodyId; - } - btAssert(solverBodyId >= 0 && solverBodyId < m_tmpSolverBodyPool.size()); - return solverBodyId; -#else // BT_THREADSAFE - - int solverBodyIdA = -1; - - if (body.getCompanionId() >= 0) - { - //body has already been converted - solverBodyIdA = body.getCompanionId(); - btAssert(solverBodyIdA < m_tmpSolverBodyPool.size()); - } - else - { - btRigidBody* rb = btRigidBody::upcast(&body); - //convert both active and kinematic objects (for their velocity) - if (rb && (rb->getInvMass() || rb->isKinematicObject())) - { - solverBodyIdA = m_tmpSolverBodyPool.size(); - btSolverBody& solverBody = m_tmpSolverBodyPool.expand(); - initSolverBody(&solverBody, &body, timeStep); - body.setCompanionId(solverBodyIdA); - } - else - { - if (m_fixedBodyId < 0) - { - m_fixedBodyId = m_tmpSolverBodyPool.size(); - btSolverBody& fixedBody = m_tmpSolverBodyPool.expand(); - initSolverBody(&fixedBody, 0, timeStep); - } - return m_fixedBodyId; - // return 0;//assume first one is a fixed solver body - } - } - - return solverBodyIdA; -#endif // BT_THREADSAFE -} -void btSISolverSingleIterationData::initSolverBody(btSolverBody * solverBody, btCollisionObject * collisionObject, btScalar timeStep) -{ - btRigidBody* rb = collisionObject ? btRigidBody::upcast(collisionObject) : 0; - - solverBody->internalGetDeltaLinearVelocity().setValue(0.f, 0.f, 0.f); - solverBody->internalGetDeltaAngularVelocity().setValue(0.f, 0.f, 0.f); - solverBody->internalGetPushVelocity().setValue(0.f, 0.f, 0.f); - solverBody->internalGetTurnVelocity().setValue(0.f, 0.f, 0.f); - - if (rb) - { - solverBody->m_worldTransform = rb->getWorldTransform(); - solverBody->internalSetInvMass(btVector3(rb->getInvMass(), rb->getInvMass(), rb->getInvMass()) * rb->getLinearFactor()); - solverBody->m_originalBody = rb; - solverBody->m_angularFactor = rb->getAngularFactor(); - solverBody->m_linearFactor = rb->getLinearFactor(); - solverBody->m_linearVelocity = rb->getLinearVelocity(); - solverBody->m_angularVelocity = rb->getAngularVelocity(); - solverBody->m_externalForceImpulse = rb->getTotalForce() * rb->getInvMass() * timeStep; - solverBody->m_externalTorqueImpulse = rb->getTotalTorque() * rb->getInvInertiaTensorWorld() * timeStep; - } - else - { - solverBody->m_worldTransform.setIdentity(); - solverBody->internalSetInvMass(btVector3(0, 0, 0)); - solverBody->m_originalBody = 0; - solverBody->m_angularFactor.setValue(1, 1, 1); - solverBody->m_linearFactor.setValue(1, 1, 1); - solverBody->m_linearVelocity.setValue(0, 0, 0); - solverBody->m_angularVelocity.setValue(0, 0, 0); - solverBody->m_externalForceImpulse.setValue(0, 0, 0); - solverBody->m_externalTorqueImpulse.setValue(0, 0, 0); - } -} - -int btSISolverSingleIterationData::getSolverBody(btCollisionObject& body) const -{ -#if BT_THREADSAFE - int solverBodyId = -1; - bool isRigidBodyType = btRigidBody::upcast(&body) != NULL; - if (isRigidBodyType && !body.isStaticOrKinematicObject()) - { - // dynamic body - // Dynamic bodies can only be in one island, so it's safe to write to the companionId - solverBodyId = body.getCompanionId(); - btAssert(solverBodyId >= 0); - } - else if (isRigidBodyType && body.isKinematicObject()) - { - // - // NOTE: must test for kinematic before static because some kinematic objects also - // identify as "static" - // - // Kinematic bodies can be in multiple islands at once, so it is a - // race condition to write to them, so we use an alternate method - // to record the solverBodyId - int uniqueId = body.getWorldArrayIndex(); - const int INVALID_SOLVER_BODY_ID = -1; - if (uniqueId >= m_kinematicBodyUniqueIdToSolverBodyTable.size()) - { - m_kinematicBodyUniqueIdToSolverBodyTable.resize(uniqueId + 1, INVALID_SOLVER_BODY_ID); - } - solverBodyId = m_kinematicBodyUniqueIdToSolverBodyTable[uniqueId]; - btAssert(solverBodyId != INVALID_SOLVER_BODY_ID); - } - else - { - bool isMultiBodyType = (body.getInternalType() & btCollisionObject::CO_FEATHERSTONE_LINK); - // Incorrectly set collision object flags can degrade performance in various ways. - if (!isMultiBodyType) - { - btAssert(body.isStaticOrKinematicObject()); - } - btAssert(m_fixedBodyId >= 0); - solverBodyId = m_fixedBodyId; - } - btAssert(solverBodyId >= 0 && solverBodyId < m_tmpSolverBodyPool.size()); - return solverBodyId; -#else // BT_THREADSAFE - int solverBodyIdA = -1; - - if (body.getCompanionId() >= 0) - { - //body has already been converted - solverBodyIdA = body.getCompanionId(); - btAssert(solverBodyIdA < m_tmpSolverBodyPool.size()); - } - else - { - btRigidBody* rb = btRigidBody::upcast(&body); - //convert both active and kinematic objects (for their velocity) - if (rb && (rb->getInvMass() || rb->isKinematicObject())) - { - btAssert(0); - } - else - { - if (m_fixedBodyId < 0) - { - btAssert(0); - } - return m_fixedBodyId; - // return 0;//assume first one is a fixed solver body - } - } - - return solverBodyIdA; -#endif // BT_THREADSAFE -} - int btSequentialImpulseConstraintSolver::getOrInitSolverBody(btCollisionObject& body, btScalar timeStep) { #if BT_THREADSAFE @@ -1064,10 +789,7 @@ int btSequentialImpulseConstraintSolver::getOrInitSolverBody(btCollisionObject& } #include <stdio.h> - - -void btSequentialImpulseConstraintSolver::setupContactConstraintInternal(btSISolverSingleIterationData& siData, - btSolverConstraint& solverConstraint, +void btSequentialImpulseConstraintSolver::setupContactConstraint(btSolverConstraint& solverConstraint, int solverBodyIdA, int solverBodyIdB, btManifoldPoint& cp, const btContactSolverInfo& infoGlobal, btScalar& relaxation, @@ -1076,8 +798,8 @@ void btSequentialImpulseConstraintSolver::setupContactConstraintInternal(btSISol // const btVector3& pos1 = cp.getPositionWorldOnA(); // const btVector3& pos2 = cp.getPositionWorldOnB(); - btSolverBody* bodyA = &siData.m_tmpSolverBodyPool[solverBodyIdA]; - btSolverBody* bodyB = &siData.m_tmpSolverBodyPool[solverBodyIdB]; + btSolverBody* bodyA = &m_tmpSolverBodyPool[solverBodyIdA]; + btSolverBody* bodyB = &m_tmpSolverBodyPool[solverBodyIdB]; btRigidBody* rb0 = bodyA->m_originalBody; btRigidBody* rb1 = bodyB->m_originalBody; @@ -1184,7 +906,7 @@ void btSequentialImpulseConstraintSolver::setupContactConstraintInternal(btSISol solverConstraint.m_friction = cp.m_combinedFriction; - restitution = btSequentialImpulseConstraintSolver::restitutionCurveInternal(rel_vel, cp.m_combinedRestitution, infoGlobal.m_restitutionVelocityThreshold); + restitution = restitutionCurve(rel_vel, cp.m_combinedRestitution, infoGlobal.m_restitutionVelocityThreshold); if (restitution <= btScalar(0.)) { restitution = 0.f; @@ -1252,109 +974,39 @@ void btSequentialImpulseConstraintSolver::setupContactConstraintInternal(btSISol } } -void btSequentialImpulseConstraintSolver::setupContactConstraint(btSolverConstraint& solverConstraint, - int solverBodyIdA, int solverBodyIdB, - btManifoldPoint& cp, const btContactSolverInfo& infoGlobal, - btScalar& relaxation, - const btVector3& rel_pos1, const btVector3& rel_pos2) -{ - btSISolverSingleIterationData siData(m_tmpSolverBodyPool, - m_tmpSolverContactConstraintPool, - m_tmpSolverNonContactConstraintPool, - m_tmpSolverContactFrictionConstraintPool, - m_tmpSolverContactRollingFrictionConstraintPool, - m_orderTmpConstraintPool, - m_orderNonContactConstraintPool, - m_orderFrictionConstraintPool, - m_tmpConstraintSizesPool, - m_resolveSingleConstraintRowGeneric, - m_resolveSingleConstraintRowLowerLimit, - m_resolveSplitPenetrationImpulse, - m_kinematicBodyUniqueIdToSolverBodyTable, - m_btSeed2, - m_fixedBodyId, - m_maxOverrideNumSolverIterations - ); - - - setupContactConstraintInternal(siData, solverConstraint, - solverBodyIdA, solverBodyIdB, - cp, infoGlobal, - relaxation, - rel_pos1, rel_pos2); -} - - -void btSequentialImpulseConstraintSolver::setFrictionConstraintImpulseInternal(btAlignedObjectArray<btSolverBody>& tmpSolverBodyPool, btConstraintArray& tmpSolverContactFrictionConstraintPool, - btSolverConstraint& solverConstraint, +void btSequentialImpulseConstraintSolver::setFrictionConstraintImpulse(btSolverConstraint& solverConstraint, int solverBodyIdA, int solverBodyIdB, btManifoldPoint& cp, const btContactSolverInfo& infoGlobal) { - btSolverBody* bodyA = &tmpSolverBodyPool[solverBodyIdA]; - btSolverBody* bodyB = &tmpSolverBodyPool[solverBodyIdB]; - - btRigidBody* rb0 = bodyA->m_originalBody; - btRigidBody* rb1 = bodyB->m_originalBody; - { - btSolverConstraint& frictionConstraint1 = tmpSolverContactFrictionConstraintPool[solverConstraint.m_frictionIndex]; - if (infoGlobal.m_solverMode & SOLVER_USE_WARMSTARTING) - { - frictionConstraint1.m_appliedImpulse = cp.m_appliedImpulseLateral1 * infoGlobal.m_warmstartingFactor; - if (rb0) - bodyA->internalApplyImpulse(frictionConstraint1.m_contactNormal1 * rb0->getInvMass(), frictionConstraint1.m_angularComponentA, frictionConstraint1.m_appliedImpulse); - if (rb1) - bodyB->internalApplyImpulse(-frictionConstraint1.m_contactNormal2 * rb1->getInvMass(), -frictionConstraint1.m_angularComponentB, -(btScalar)frictionConstraint1.m_appliedImpulse); - } - else - { - frictionConstraint1.m_appliedImpulse = 0.f; - } + btSolverConstraint& frictionConstraint1 = m_tmpSolverContactFrictionConstraintPool[solverConstraint.m_frictionIndex]; + + frictionConstraint1.m_appliedImpulse = 0.f; } if ((infoGlobal.m_solverMode & SOLVER_USE_2_FRICTION_DIRECTIONS)) { - btSolverConstraint& frictionConstraint2 = tmpSolverContactFrictionConstraintPool[solverConstraint.m_frictionIndex + 1]; - if (infoGlobal.m_solverMode & SOLVER_USE_WARMSTARTING) - { - frictionConstraint2.m_appliedImpulse = cp.m_appliedImpulseLateral2 * infoGlobal.m_warmstartingFactor; - if (rb0) - bodyA->internalApplyImpulse(frictionConstraint2.m_contactNormal1 * rb0->getInvMass(), frictionConstraint2.m_angularComponentA, frictionConstraint2.m_appliedImpulse); - if (rb1) - bodyB->internalApplyImpulse(-frictionConstraint2.m_contactNormal2 * rb1->getInvMass(), -frictionConstraint2.m_angularComponentB, -(btScalar)frictionConstraint2.m_appliedImpulse); - } - else - { - frictionConstraint2.m_appliedImpulse = 0.f; - } + btSolverConstraint& frictionConstraint2 = m_tmpSolverContactFrictionConstraintPool[solverConstraint.m_frictionIndex + 1]; + + frictionConstraint2.m_appliedImpulse = 0.f; } } -void btSequentialImpulseConstraintSolver::setFrictionConstraintImpulse(btSolverConstraint& solverConstraint, - int solverBodyIdA, int solverBodyIdB, - btManifoldPoint& cp, const btContactSolverInfo& infoGlobal) -{ - setFrictionConstraintImpulseInternal(m_tmpSolverBodyPool, m_tmpSolverContactFrictionConstraintPool, - solverConstraint, - solverBodyIdA, solverBodyIdB, - cp, infoGlobal); - -} -void btSequentialImpulseConstraintSolver::convertContactInternal(btSISolverSingleIterationData& siData, btPersistentManifold* manifold, const btContactSolverInfo& infoGlobal) +void btSequentialImpulseConstraintSolver::convertContact(btPersistentManifold* manifold, const btContactSolverInfo& infoGlobal) { btCollisionObject *colObj0 = 0, *colObj1 = 0; colObj0 = (btCollisionObject*)manifold->getBody0(); colObj1 = (btCollisionObject*)manifold->getBody1(); - int solverBodyIdA = siData.getOrInitSolverBody(*colObj0, infoGlobal.m_timeStep); - int solverBodyIdB = siData.getOrInitSolverBody(*colObj1, infoGlobal.m_timeStep); + int solverBodyIdA = getOrInitSolverBody(*colObj0, infoGlobal.m_timeStep); + int solverBodyIdB = getOrInitSolverBody(*colObj1, infoGlobal.m_timeStep); // btRigidBody* bodyA = btRigidBody::upcast(colObj0); // btRigidBody* bodyB = btRigidBody::upcast(colObj1); - btSolverBody* solverBodyA = &siData.m_tmpSolverBodyPool[solverBodyIdA]; - btSolverBody* solverBodyB = &siData.m_tmpSolverBodyPool[solverBodyIdB]; + btSolverBody* solverBodyA = &m_tmpSolverBodyPool[solverBodyIdA]; + btSolverBody* solverBodyB = &m_tmpSolverBodyPool[solverBodyIdB]; ///avoid collision response between two static objects if (!solverBodyA || (solverBodyA->m_invMass.fuzzyZero() && (!solverBodyB || solverBodyB->m_invMass.fuzzyZero()))) @@ -1371,8 +1023,8 @@ void btSequentialImpulseConstraintSolver::convertContactInternal(btSISolverSingl btVector3 rel_pos2; btScalar relaxation; - int frictionIndex = siData.m_tmpSolverContactConstraintPool.size(); - btSolverConstraint& solverConstraint = siData.m_tmpSolverContactConstraintPool.expandNonInitializing(); + int frictionIndex = m_tmpSolverContactConstraintPool.size(); + btSolverConstraint& solverConstraint = m_tmpSolverContactConstraintPool.expandNonInitializing(); solverConstraint.m_solverBodyIdA = solverBodyIdA; solverConstraint.m_solverBodyIdB = solverBodyIdB; @@ -1393,20 +1045,16 @@ void btSequentialImpulseConstraintSolver::convertContactInternal(btSISolverSingl btVector3 vel = vel1 - vel2; btScalar rel_vel = cp.m_normalWorldOnB.dot(vel); - setupContactConstraintInternal(siData, solverConstraint, solverBodyIdA, solverBodyIdB, cp, infoGlobal, relaxation, rel_pos1, rel_pos2); + setupContactConstraint(solverConstraint, solverBodyIdA, solverBodyIdB, cp, infoGlobal, relaxation, rel_pos1, rel_pos2); /////setup the friction constraints - solverConstraint.m_frictionIndex = siData.m_tmpSolverContactFrictionConstraintPool.size(); + solverConstraint.m_frictionIndex = m_tmpSolverContactFrictionConstraintPool.size(); if ((cp.m_combinedRollingFriction > 0.f) && (rollingFriction > 0)) { { - - btSequentialImpulseConstraintSolver::addTorsionalFrictionConstraintInternal(siData.m_tmpSolverBodyPool, - siData.m_tmpSolverContactRollingFrictionConstraintPool, - cp.m_normalWorldOnB, solverBodyIdA, solverBodyIdB, frictionIndex, cp, cp.m_combinedSpinningFriction, rel_pos1, rel_pos2, colObj0, colObj1, relaxation); - + addTorsionalFrictionConstraint(cp.m_normalWorldOnB, solverBodyIdA, solverBodyIdB, frictionIndex, cp, cp.m_combinedSpinningFriction, rel_pos1, rel_pos2, colObj0, colObj1, relaxation); btVector3 axis0, axis1; btPlaneSpace1(cp.m_normalWorldOnB, axis0, axis1); axis0.normalize(); @@ -1417,19 +1065,13 @@ void btSequentialImpulseConstraintSolver::convertContactInternal(btSISolverSingl applyAnisotropicFriction(colObj0, axis1, btCollisionObject::CF_ANISOTROPIC_ROLLING_FRICTION); applyAnisotropicFriction(colObj1, axis1, btCollisionObject::CF_ANISOTROPIC_ROLLING_FRICTION); if (axis0.length() > 0.001) - { - btSequentialImpulseConstraintSolver::addTorsionalFrictionConstraintInternal(siData.m_tmpSolverBodyPool, - siData.m_tmpSolverContactRollingFrictionConstraintPool, axis0, solverBodyIdA, solverBodyIdB, frictionIndex, cp, + addTorsionalFrictionConstraint(axis0, solverBodyIdA, solverBodyIdB, frictionIndex, cp, cp.m_combinedRollingFriction, rel_pos1, rel_pos2, colObj0, colObj1, relaxation); - } if (axis1.length() > 0.001) - { - btSequentialImpulseConstraintSolver::addTorsionalFrictionConstraintInternal(siData.m_tmpSolverBodyPool, - siData.m_tmpSolverContactRollingFrictionConstraintPool, axis1, solverBodyIdA, solverBodyIdB, frictionIndex, cp, + addTorsionalFrictionConstraint(axis1, solverBodyIdA, solverBodyIdB, frictionIndex, cp, cp.m_combinedRollingFriction, rel_pos1, rel_pos2, colObj0, colObj1, relaxation); } } - } ///Bullet has several options to set the friction directions ///By default, each contact has only a single friction direction that is recomputed automatically very frame @@ -1456,8 +1098,7 @@ void btSequentialImpulseConstraintSolver::convertContactInternal(btSISolverSingl cp.m_lateralFrictionDir1 *= 1.f / btSqrt(lat_rel_vel); applyAnisotropicFriction(colObj0, cp.m_lateralFrictionDir1, btCollisionObject::CF_ANISOTROPIC_FRICTION); applyAnisotropicFriction(colObj1, cp.m_lateralFrictionDir1, btCollisionObject::CF_ANISOTROPIC_FRICTION); - btSequentialImpulseConstraintSolver::addFrictionConstraintInternal(siData.m_tmpSolverBodyPool, siData.m_tmpSolverContactFrictionConstraintPool, - cp.m_lateralFrictionDir1, solverBodyIdA, solverBodyIdB, frictionIndex, cp, rel_pos1, rel_pos2, colObj0, colObj1, relaxation, infoGlobal); + addFrictionConstraint(cp.m_lateralFrictionDir1, solverBodyIdA, solverBodyIdB, frictionIndex, cp, rel_pos1, rel_pos2, colObj0, colObj1, relaxation, infoGlobal); if ((infoGlobal.m_solverMode & SOLVER_USE_2_FRICTION_DIRECTIONS)) { @@ -1465,8 +1106,7 @@ void btSequentialImpulseConstraintSolver::convertContactInternal(btSISolverSingl cp.m_lateralFrictionDir2.normalize(); //?? applyAnisotropicFriction(colObj0, cp.m_lateralFrictionDir2, btCollisionObject::CF_ANISOTROPIC_FRICTION); applyAnisotropicFriction(colObj1, cp.m_lateralFrictionDir2, btCollisionObject::CF_ANISOTROPIC_FRICTION); - btSequentialImpulseConstraintSolver::addFrictionConstraintInternal(siData.m_tmpSolverBodyPool, siData.m_tmpSolverContactFrictionConstraintPool, - cp.m_lateralFrictionDir2, solverBodyIdA, solverBodyIdB, frictionIndex, cp, rel_pos1, rel_pos2, colObj0, colObj1, relaxation, infoGlobal); + addFrictionConstraint(cp.m_lateralFrictionDir2, solverBodyIdA, solverBodyIdB, frictionIndex, cp, rel_pos1, rel_pos2, colObj0, colObj1, relaxation, infoGlobal); } } else @@ -1475,15 +1115,13 @@ void btSequentialImpulseConstraintSolver::convertContactInternal(btSISolverSingl applyAnisotropicFriction(colObj0, cp.m_lateralFrictionDir1, btCollisionObject::CF_ANISOTROPIC_FRICTION); applyAnisotropicFriction(colObj1, cp.m_lateralFrictionDir1, btCollisionObject::CF_ANISOTROPIC_FRICTION); - btSequentialImpulseConstraintSolver::addFrictionConstraintInternal(siData.m_tmpSolverBodyPool, siData.m_tmpSolverContactFrictionConstraintPool, - cp.m_lateralFrictionDir1, solverBodyIdA, solverBodyIdB, frictionIndex, cp, rel_pos1, rel_pos2, colObj0, colObj1, relaxation, infoGlobal); + addFrictionConstraint(cp.m_lateralFrictionDir1, solverBodyIdA, solverBodyIdB, frictionIndex, cp, rel_pos1, rel_pos2, colObj0, colObj1, relaxation, infoGlobal); if ((infoGlobal.m_solverMode & SOLVER_USE_2_FRICTION_DIRECTIONS)) { applyAnisotropicFriction(colObj0, cp.m_lateralFrictionDir2, btCollisionObject::CF_ANISOTROPIC_FRICTION); applyAnisotropicFriction(colObj1, cp.m_lateralFrictionDir2, btCollisionObject::CF_ANISOTROPIC_FRICTION); - btSequentialImpulseConstraintSolver::addFrictionConstraintInternal(siData.m_tmpSolverBodyPool, siData.m_tmpSolverContactFrictionConstraintPool, - cp.m_lateralFrictionDir2, solverBodyIdA, solverBodyIdB, frictionIndex, cp, rel_pos1, rel_pos2, colObj0, colObj1, relaxation, infoGlobal); + addFrictionConstraint(cp.m_lateralFrictionDir2, solverBodyIdA, solverBodyIdB, frictionIndex, cp, rel_pos1, rel_pos2, colObj0, colObj1, relaxation, infoGlobal); } if ((infoGlobal.m_solverMode & SOLVER_USE_2_FRICTION_DIRECTIONS) && (infoGlobal.m_solverMode & SOLVER_DISABLE_VELOCITY_DEPENDENT_FRICTION_DIRECTION)) @@ -1494,43 +1132,15 @@ void btSequentialImpulseConstraintSolver::convertContactInternal(btSISolverSingl } else { - btSequentialImpulseConstraintSolver::addFrictionConstraintInternal(siData.m_tmpSolverBodyPool, siData.m_tmpSolverContactFrictionConstraintPool, - cp.m_lateralFrictionDir1, solverBodyIdA, solverBodyIdB, frictionIndex, cp, rel_pos1, rel_pos2, colObj0, colObj1, relaxation, infoGlobal, cp.m_contactMotion1, cp.m_frictionCFM); + addFrictionConstraint(cp.m_lateralFrictionDir1, solverBodyIdA, solverBodyIdB, frictionIndex, cp, rel_pos1, rel_pos2, colObj0, colObj1, relaxation, infoGlobal, cp.m_contactMotion1, cp.m_frictionCFM); if ((infoGlobal.m_solverMode & SOLVER_USE_2_FRICTION_DIRECTIONS)) - { - btSequentialImpulseConstraintSolver::addFrictionConstraintInternal(siData.m_tmpSolverBodyPool, siData.m_tmpSolverContactFrictionConstraintPool, - cp.m_lateralFrictionDir2, solverBodyIdA, solverBodyIdB, frictionIndex, cp, rel_pos1, rel_pos2, colObj0, colObj1, relaxation, infoGlobal, cp.m_contactMotion2, cp.m_frictionCFM); + addFrictionConstraint(cp.m_lateralFrictionDir2, solverBodyIdA, solverBodyIdB, frictionIndex, cp, rel_pos1, rel_pos2, colObj0, colObj1, relaxation, infoGlobal, cp.m_contactMotion2, cp.m_frictionCFM); } + setFrictionConstraintImpulse(solverConstraint, solverBodyIdA, solverBodyIdB, cp, infoGlobal); } - btSequentialImpulseConstraintSolver::setFrictionConstraintImpulseInternal( - siData.m_tmpSolverBodyPool, siData.m_tmpSolverContactFrictionConstraintPool, - solverConstraint, solverBodyIdA, solverBodyIdB, cp, infoGlobal); } } -} - -void btSequentialImpulseConstraintSolver::convertContact(btPersistentManifold* manifold, const btContactSolverInfo& infoGlobal) -{ - btSISolverSingleIterationData siData(m_tmpSolverBodyPool, - m_tmpSolverContactConstraintPool, - m_tmpSolverNonContactConstraintPool, - m_tmpSolverContactFrictionConstraintPool, - m_tmpSolverContactRollingFrictionConstraintPool, - m_orderTmpConstraintPool, - m_orderNonContactConstraintPool, - m_orderFrictionConstraintPool, - m_tmpConstraintSizesPool, - m_resolveSingleConstraintRowGeneric, - m_resolveSingleConstraintRowLowerLimit, - m_resolveSplitPenetrationImpulse, - m_kinematicBodyUniqueIdToSolverBodyTable, - m_btSeed2, - m_fixedBodyId, - m_maxOverrideNumSolverIterations); - - btSequentialImpulseConstraintSolver::convertContactInternal(siData, manifold, infoGlobal); -} void btSequentialImpulseConstraintSolver::convertContacts(btPersistentManifold** manifoldPtr, int numManifolds, const btContactSolverInfo& infoGlobal) { @@ -1545,9 +1155,7 @@ void btSequentialImpulseConstraintSolver::convertContacts(btPersistentManifold** } } -void btSequentialImpulseConstraintSolver::convertJointInternal(btAlignedObjectArray<btSolverBody>& tmpSolverBodyPool, - int& maxOverrideNumSolverIterations, - btSolverConstraint* currentConstraintRow, +void btSequentialImpulseConstraintSolver::convertJoint(btSolverConstraint* currentConstraintRow, btTypedConstraint* constraint, const btTypedConstraint::btConstraintInfo1& info1, int solverBodyIdA, @@ -1557,12 +1165,12 @@ void btSequentialImpulseConstraintSolver::convertJointInternal(btAlignedObjectAr const btRigidBody& rbA = constraint->getRigidBodyA(); const btRigidBody& rbB = constraint->getRigidBodyB(); - const btSolverBody* bodyAPtr = &tmpSolverBodyPool[solverBodyIdA]; - const btSolverBody* bodyBPtr = &tmpSolverBodyPool[solverBodyIdB]; + const btSolverBody* bodyAPtr = &m_tmpSolverBodyPool[solverBodyIdA]; + const btSolverBody* bodyBPtr = &m_tmpSolverBodyPool[solverBodyIdB]; int overrideNumSolverIterations = constraint->getOverrideNumSolverIterations() > 0 ? constraint->getOverrideNumSolverIterations() : infoGlobal.m_numIterations; - if (overrideNumSolverIterations > maxOverrideNumSolverIterations) - maxOverrideNumSolverIterations = overrideNumSolverIterations; + if (overrideNumSolverIterations > m_maxOverrideNumSolverIterations) + m_maxOverrideNumSolverIterations = overrideNumSolverIterations; for (int j = 0; j < info1.m_numConstraintRows; j++) { @@ -1679,16 +1287,7 @@ void btSequentialImpulseConstraintSolver::convertJointInternal(btAlignedObjectAr } } -void btSequentialImpulseConstraintSolver::convertJoint(btSolverConstraint* currentConstraintRow, - btTypedConstraint* constraint, - const btTypedConstraint::btConstraintInfo1& info1, - int solverBodyIdA, - int solverBodyIdB, - const btContactSolverInfo& infoGlobal) -{ -} - -void btSequentialImpulseConstraintSolver::convertJointsInternal(btSISolverSingleIterationData& siData, btTypedConstraint** constraints, int numConstraints, const btContactSolverInfo& infoGlobal) +void btSequentialImpulseConstraintSolver::convertJoints(btTypedConstraint** constraints, int numConstraints, const btContactSolverInfo& infoGlobal) { BT_PROFILE("convertJoints"); for (int j = 0; j < numConstraints; j++) @@ -1700,11 +1299,11 @@ void btSequentialImpulseConstraintSolver::convertJointsInternal(btSISolverSingle int totalNumRows = 0; - siData.m_tmpConstraintSizesPool.resizeNoInitialize(numConstraints); + m_tmpConstraintSizesPool.resizeNoInitialize(numConstraints); //calculate the total number of contraint rows for (int i = 0; i < numConstraints; i++) { - btTypedConstraint::btConstraintInfo1& info1 = siData.m_tmpConstraintSizesPool[i]; + btTypedConstraint::btConstraintInfo1& info1 = m_tmpConstraintSizesPool[i]; btJointFeedback* fb = constraints[i]->getJointFeedback(); if (fb) { @@ -1725,58 +1324,34 @@ void btSequentialImpulseConstraintSolver::convertJointsInternal(btSISolverSingle } totalNumRows += info1.m_numConstraintRows; } - siData.m_tmpSolverNonContactConstraintPool.resizeNoInitialize(totalNumRows); + m_tmpSolverNonContactConstraintPool.resizeNoInitialize(totalNumRows); ///setup the btSolverConstraints int currentRow = 0; for (int i = 0; i < numConstraints; i++) { - const btTypedConstraint::btConstraintInfo1& info1 = siData.m_tmpConstraintSizesPool[i]; + const btTypedConstraint::btConstraintInfo1& info1 = m_tmpConstraintSizesPool[i]; if (info1.m_numConstraintRows) { btAssert(currentRow < totalNumRows); - btSolverConstraint* currentConstraintRow = &siData.m_tmpSolverNonContactConstraintPool[currentRow]; + btSolverConstraint* currentConstraintRow = &m_tmpSolverNonContactConstraintPool[currentRow]; btTypedConstraint* constraint = constraints[i]; btRigidBody& rbA = constraint->getRigidBodyA(); btRigidBody& rbB = constraint->getRigidBodyB(); - int solverBodyIdA = siData.getOrInitSolverBody(rbA, infoGlobal.m_timeStep); - int solverBodyIdB = siData.getOrInitSolverBody(rbB, infoGlobal.m_timeStep); + int solverBodyIdA = getOrInitSolverBody(rbA, infoGlobal.m_timeStep); + int solverBodyIdB = getOrInitSolverBody(rbB, infoGlobal.m_timeStep); - convertJointInternal(siData.m_tmpSolverBodyPool, siData.m_maxOverrideNumSolverIterations, - currentConstraintRow, constraint, info1, solverBodyIdA, solverBodyIdB, infoGlobal); + convertJoint(currentConstraintRow, constraint, info1, solverBodyIdA, solverBodyIdB, infoGlobal); } currentRow += info1.m_numConstraintRows; } } -void btSequentialImpulseConstraintSolver::convertJoints(btTypedConstraint** constraints, int numConstraints, const btContactSolverInfo& infoGlobal) -{ - btSISolverSingleIterationData siData(m_tmpSolverBodyPool, - m_tmpSolverContactConstraintPool, - m_tmpSolverNonContactConstraintPool, - m_tmpSolverContactFrictionConstraintPool, - m_tmpSolverContactRollingFrictionConstraintPool, - m_orderTmpConstraintPool, - m_orderNonContactConstraintPool, - m_orderFrictionConstraintPool, - m_tmpConstraintSizesPool, - m_resolveSingleConstraintRowGeneric, - m_resolveSingleConstraintRowLowerLimit, - m_resolveSplitPenetrationImpulse, - m_kinematicBodyUniqueIdToSolverBodyTable, - m_btSeed2, - m_fixedBodyId, - m_maxOverrideNumSolverIterations); - - convertJointsInternal(siData, constraints, numConstraints, infoGlobal); -} - - -void btSequentialImpulseConstraintSolver::convertBodiesInternal(btSISolverSingleIterationData& siData, btCollisionObject** bodies, int numBodies, const btContactSolverInfo& infoGlobal) +void btSequentialImpulseConstraintSolver::convertBodies(btCollisionObject** bodies, int numBodies, const btContactSolverInfo& infoGlobal) { BT_PROFILE("convertBodies"); for (int i = 0; i < numBodies; i++) @@ -1784,23 +1359,23 @@ void btSequentialImpulseConstraintSolver::convertBodiesInternal(btSISolverSingle bodies[i]->setCompanionId(-1); } #if BT_THREADSAFE - siData.m_kinematicBodyUniqueIdToSolverBodyTable.resize(0); + m_kinematicBodyUniqueIdToSolverBodyTable.resize(0); #endif // BT_THREADSAFE - siData.m_tmpSolverBodyPool.reserve(numBodies + 1); - siData.m_tmpSolverBodyPool.resize(0); + m_tmpSolverBodyPool.reserve(numBodies + 1); + m_tmpSolverBodyPool.resize(0); //btSolverBody& fixedBody = m_tmpSolverBodyPool.expand(); //initSolverBody(&fixedBody,0); for (int i = 0; i < numBodies; i++) { - int bodyId = siData.getOrInitSolverBody(*bodies[i], infoGlobal.m_timeStep); + int bodyId = getOrInitSolverBody(*bodies[i], infoGlobal.m_timeStep); btRigidBody* body = btRigidBody::upcast(bodies[i]); if (body && body->getInvMass()) { - btSolverBody& solverBody = siData.m_tmpSolverBodyPool[bodyId]; + btSolverBody& solverBody = m_tmpSolverBodyPool[bodyId]; btVector3 gyroForce(0, 0, 0); if (body->getFlags() & BT_ENABLE_GYROSCOPIC_FORCE_EXPLICIT) { @@ -1821,29 +1396,6 @@ void btSequentialImpulseConstraintSolver::convertBodiesInternal(btSISolverSingle } } - -void btSequentialImpulseConstraintSolver::convertBodies(btCollisionObject** bodies, int numBodies, const btContactSolverInfo& infoGlobal) -{ - btSISolverSingleIterationData siData(m_tmpSolverBodyPool, - m_tmpSolverContactConstraintPool, - m_tmpSolverNonContactConstraintPool, - m_tmpSolverContactFrictionConstraintPool, - m_tmpSolverContactRollingFrictionConstraintPool, - m_orderTmpConstraintPool, - m_orderNonContactConstraintPool, - m_orderFrictionConstraintPool, - m_tmpConstraintSizesPool, - m_resolveSingleConstraintRowGeneric, - m_resolveSingleConstraintRowLowerLimit, - m_resolveSplitPenetrationImpulse, - m_kinematicBodyUniqueIdToSolverBodyTable, - m_btSeed2, - m_fixedBodyId, - m_maxOverrideNumSolverIterations); - - convertBodiesInternal(siData, bodies, numBodies, infoGlobal); -} - btScalar btSequentialImpulseConstraintSolver::solveGroupCacheFriendlySetup(btCollisionObject** bodies, int numBodies, btPersistentManifold** manifoldPtr, int numManifolds, btTypedConstraint** constraints, int numConstraints, const btContactSolverInfo& infoGlobal, btIDebugDraw* debugDrawer) { m_fixedBodyId = -1; @@ -1967,14 +1519,14 @@ btScalar btSequentialImpulseConstraintSolver::solveGroupCacheFriendlySetup(btCol return 0.f; } -btScalar btSequentialImpulseConstraintSolver::solveSingleIterationInternal(btSISolverSingleIterationData& siData, int iteration, btTypedConstraint** constraints, int numConstraints, const btContactSolverInfo& infoGlobal) +btScalar btSequentialImpulseConstraintSolver::solveSingleIteration(int iteration, btCollisionObject** /*bodies */, int /*numBodies*/, btPersistentManifold** /*manifoldPtr*/, int /*numManifolds*/, btTypedConstraint** constraints, int numConstraints, const btContactSolverInfo& infoGlobal, btIDebugDraw* /*debugDrawer*/) { BT_PROFILE("solveSingleIteration"); btScalar leastSquaresResidual = 0.f; - int numNonContactPool = siData.m_tmpSolverNonContactConstraintPool.size(); - int numConstraintPool = siData.m_tmpSolverContactConstraintPool.size(); - int numFrictionPool = siData.m_tmpSolverContactFrictionConstraintPool.size(); + int numNonContactPool = m_tmpSolverNonContactConstraintPool.size(); + int numConstraintPool = m_tmpSolverContactConstraintPool.size(); + int numFrictionPool = m_tmpSolverContactFrictionConstraintPool.size(); if (infoGlobal.m_solverMode & SOLVER_RANDMIZE_ORDER) { @@ -1982,10 +1534,10 @@ btScalar btSequentialImpulseConstraintSolver::solveSingleIterationInternal(btSIS { for (int j = 0; j < numNonContactPool; ++j) { - int tmp = siData.m_orderNonContactConstraintPool[j]; - int swapi = btRandInt2a(j + 1, siData.m_seed); - siData.m_orderNonContactConstraintPool[j] = siData.m_orderNonContactConstraintPool[swapi]; - siData.m_orderNonContactConstraintPool[swapi] = tmp; + int tmp = m_orderNonContactConstraintPool[j]; + int swapi = btRandInt2(j + 1); + m_orderNonContactConstraintPool[j] = m_orderNonContactConstraintPool[swapi]; + m_orderNonContactConstraintPool[swapi] = tmp; } //contact/friction constraints are not solved more than @@ -1993,30 +1545,30 @@ btScalar btSequentialImpulseConstraintSolver::solveSingleIterationInternal(btSIS { for (int j = 0; j < numConstraintPool; ++j) { - int tmp = siData.m_orderTmpConstraintPool[j]; - int swapi = btRandInt2a(j + 1, siData.m_seed); - siData.m_orderTmpConstraintPool[j] = siData.m_orderTmpConstraintPool[swapi]; - siData.m_orderTmpConstraintPool[swapi] = tmp; + int tmp = m_orderTmpConstraintPool[j]; + int swapi = btRandInt2(j + 1); + m_orderTmpConstraintPool[j] = m_orderTmpConstraintPool[swapi]; + m_orderTmpConstraintPool[swapi] = tmp; } for (int j = 0; j < numFrictionPool; ++j) { - int tmp = siData.m_orderFrictionConstraintPool[j]; - int swapi = btRandInt2a(j + 1, siData.m_seed); - siData.m_orderFrictionConstraintPool[j] = siData.m_orderFrictionConstraintPool[swapi]; - siData.m_orderFrictionConstraintPool[swapi] = tmp; + int tmp = m_orderFrictionConstraintPool[j]; + int swapi = btRandInt2(j + 1); + m_orderFrictionConstraintPool[j] = m_orderFrictionConstraintPool[swapi]; + m_orderFrictionConstraintPool[swapi] = tmp; } } } } ///solve all joint constraints - for (int j = 0; j < siData.m_tmpSolverNonContactConstraintPool.size(); j++) + for (int j = 0; j < m_tmpSolverNonContactConstraintPool.size(); j++) { - btSolverConstraint& constraint = siData.m_tmpSolverNonContactConstraintPool[siData.m_orderNonContactConstraintPool[j]]; + btSolverConstraint& constraint = m_tmpSolverNonContactConstraintPool[m_orderNonContactConstraintPool[j]]; if (iteration < constraint.m_overrideNumSolverIterations) { - btScalar residual = siData.m_resolveSingleConstraintRowGeneric(siData.m_tmpSolverBodyPool[constraint.m_solverBodyIdA], siData.m_tmpSolverBodyPool[constraint.m_solverBodyIdB], constraint); + btScalar residual = resolveSingleConstraintRowGeneric(m_tmpSolverBodyPool[constraint.m_solverBodyIdA], m_tmpSolverBodyPool[constraint.m_solverBodyIdB], constraint); leastSquaresResidual = btMax(leastSquaresResidual, residual * residual); } } @@ -2027,10 +1579,10 @@ btScalar btSequentialImpulseConstraintSolver::solveSingleIterationInternal(btSIS { if (constraints[j]->isEnabled()) { - int bodyAid = siData.getSolverBody(constraints[j]->getRigidBodyA()); - int bodyBid = siData.getSolverBody(constraints[j]->getRigidBodyB()); - btSolverBody& bodyA = siData.m_tmpSolverBodyPool[bodyAid]; - btSolverBody& bodyB = siData.m_tmpSolverBodyPool[bodyBid]; + int bodyAid = getOrInitSolverBody(constraints[j]->getRigidBodyA(), infoGlobal.m_timeStep); + int bodyBid = getOrInitSolverBody(constraints[j]->getRigidBodyB(), infoGlobal.m_timeStep); + btSolverBody& bodyA = m_tmpSolverBodyPool[bodyAid]; + btSolverBody& bodyB = m_tmpSolverBodyPool[bodyBid]; constraints[j]->solveConstraintObsolete(bodyA, bodyB, infoGlobal.m_timeStep); } } @@ -2038,7 +1590,7 @@ btScalar btSequentialImpulseConstraintSolver::solveSingleIterationInternal(btSIS ///solve all contact constraints if (infoGlobal.m_solverMode & SOLVER_INTERLEAVE_CONTACT_AND_FRICTION_CONSTRAINTS) { - int numPoolConstraints = siData.m_tmpSolverContactConstraintPool.size(); + int numPoolConstraints = m_tmpSolverContactConstraintPool.size(); int multiplier = (infoGlobal.m_solverMode & SOLVER_USE_2_FRICTION_DIRECTIONS) ? 2 : 1; for (int c = 0; c < numPoolConstraints; c++) @@ -2046,8 +1598,8 @@ btScalar btSequentialImpulseConstraintSolver::solveSingleIterationInternal(btSIS btScalar totalImpulse = 0; { - const btSolverConstraint& solveManifold = siData.m_tmpSolverContactConstraintPool[siData.m_orderTmpConstraintPool[c]]; - btScalar residual = siData.m_resolveSingleConstraintRowLowerLimit(siData.m_tmpSolverBodyPool[solveManifold.m_solverBodyIdA], siData.m_tmpSolverBodyPool[solveManifold.m_solverBodyIdB], solveManifold); + const btSolverConstraint& solveManifold = m_tmpSolverContactConstraintPool[m_orderTmpConstraintPool[c]]; + btScalar residual = resolveSingleConstraintRowLowerLimit(m_tmpSolverBodyPool[solveManifold.m_solverBodyIdA], m_tmpSolverBodyPool[solveManifold.m_solverBodyIdB], solveManifold); leastSquaresResidual = btMax(leastSquaresResidual, residual * residual); totalImpulse = solveManifold.m_appliedImpulse; @@ -2056,28 +1608,28 @@ btScalar btSequentialImpulseConstraintSolver::solveSingleIterationInternal(btSIS if (applyFriction) { { - btSolverConstraint& solveManifold = siData.m_tmpSolverContactFrictionConstraintPool[siData.m_orderFrictionConstraintPool[c * multiplier]]; + btSolverConstraint& solveManifold = m_tmpSolverContactFrictionConstraintPool[m_orderFrictionConstraintPool[c * multiplier]]; if (totalImpulse > btScalar(0)) { solveManifold.m_lowerLimit = -(solveManifold.m_friction * totalImpulse); solveManifold.m_upperLimit = solveManifold.m_friction * totalImpulse; - btScalar residual = siData.m_resolveSingleConstraintRowGeneric(siData.m_tmpSolverBodyPool[solveManifold.m_solverBodyIdA], siData.m_tmpSolverBodyPool[solveManifold.m_solverBodyIdB], solveManifold); + btScalar residual = resolveSingleConstraintRowGeneric(m_tmpSolverBodyPool[solveManifold.m_solverBodyIdA], m_tmpSolverBodyPool[solveManifold.m_solverBodyIdB], solveManifold); leastSquaresResidual = btMax(leastSquaresResidual, residual * residual); } } if (infoGlobal.m_solverMode & SOLVER_USE_2_FRICTION_DIRECTIONS) { - btSolverConstraint& solveManifold = siData.m_tmpSolverContactFrictionConstraintPool[siData.m_orderFrictionConstraintPool[c * multiplier + 1]]; + btSolverConstraint& solveManifold = m_tmpSolverContactFrictionConstraintPool[m_orderFrictionConstraintPool[c * multiplier + 1]]; if (totalImpulse > btScalar(0)) { solveManifold.m_lowerLimit = -(solveManifold.m_friction * totalImpulse); solveManifold.m_upperLimit = solveManifold.m_friction * totalImpulse; - btScalar residual = siData.m_resolveSingleConstraintRowGeneric(siData.m_tmpSolverBodyPool[solveManifold.m_solverBodyIdA], siData.m_tmpSolverBodyPool[solveManifold.m_solverBodyIdB], solveManifold); + btScalar residual = resolveSingleConstraintRowGeneric(m_tmpSolverBodyPool[solveManifold.m_solverBodyIdA], m_tmpSolverBodyPool[solveManifold.m_solverBodyIdB], solveManifold); leastSquaresResidual = btMax(leastSquaresResidual, residual * residual); } } @@ -2087,40 +1639,40 @@ btScalar btSequentialImpulseConstraintSolver::solveSingleIterationInternal(btSIS else //SOLVER_INTERLEAVE_CONTACT_AND_FRICTION_CONSTRAINTS { //solve the friction constraints after all contact constraints, don't interleave them - int numPoolConstraints = siData.m_tmpSolverContactConstraintPool.size(); + int numPoolConstraints = m_tmpSolverContactConstraintPool.size(); int j; for (j = 0; j < numPoolConstraints; j++) { - const btSolverConstraint& solveManifold = siData.m_tmpSolverContactConstraintPool[siData.m_orderTmpConstraintPool[j]]; - btScalar residual = siData.m_resolveSingleConstraintRowLowerLimit(siData.m_tmpSolverBodyPool[solveManifold.m_solverBodyIdA], siData.m_tmpSolverBodyPool[solveManifold.m_solverBodyIdB], solveManifold); + const btSolverConstraint& solveManifold = m_tmpSolverContactConstraintPool[m_orderTmpConstraintPool[j]]; + btScalar residual = resolveSingleConstraintRowLowerLimit(m_tmpSolverBodyPool[solveManifold.m_solverBodyIdA], m_tmpSolverBodyPool[solveManifold.m_solverBodyIdB], solveManifold); leastSquaresResidual = btMax(leastSquaresResidual, residual * residual); } ///solve all friction constraints - int numFrictionPoolConstraints = siData.m_tmpSolverContactFrictionConstraintPool.size(); + int numFrictionPoolConstraints = m_tmpSolverContactFrictionConstraintPool.size(); for (j = 0; j < numFrictionPoolConstraints; j++) { - btSolverConstraint& solveManifold = siData.m_tmpSolverContactFrictionConstraintPool[siData.m_orderFrictionConstraintPool[j]]; - btScalar totalImpulse = siData.m_tmpSolverContactConstraintPool[solveManifold.m_frictionIndex].m_appliedImpulse; + btSolverConstraint& solveManifold = m_tmpSolverContactFrictionConstraintPool[m_orderFrictionConstraintPool[j]]; + btScalar totalImpulse = m_tmpSolverContactConstraintPool[solveManifold.m_frictionIndex].m_appliedImpulse; if (totalImpulse > btScalar(0)) { solveManifold.m_lowerLimit = -(solveManifold.m_friction * totalImpulse); solveManifold.m_upperLimit = solveManifold.m_friction * totalImpulse; - btScalar residual = siData.m_resolveSingleConstraintRowGeneric(siData.m_tmpSolverBodyPool[solveManifold.m_solverBodyIdA], siData.m_tmpSolverBodyPool[solveManifold.m_solverBodyIdB], solveManifold); + btScalar residual = resolveSingleConstraintRowGeneric(m_tmpSolverBodyPool[solveManifold.m_solverBodyIdA], m_tmpSolverBodyPool[solveManifold.m_solverBodyIdB], solveManifold); leastSquaresResidual = btMax(leastSquaresResidual, residual * residual); } } } - int numRollingFrictionPoolConstraints = siData.m_tmpSolverContactRollingFrictionConstraintPool.size(); + int numRollingFrictionPoolConstraints = m_tmpSolverContactRollingFrictionConstraintPool.size(); for (int j = 0; j < numRollingFrictionPoolConstraints; j++) { - btSolverConstraint& rollingFrictionConstraint = siData.m_tmpSolverContactRollingFrictionConstraintPool[j]; - btScalar totalImpulse = siData.m_tmpSolverContactConstraintPool[rollingFrictionConstraint.m_frictionIndex].m_appliedImpulse; + btSolverConstraint& rollingFrictionConstraint = m_tmpSolverContactRollingFrictionConstraintPool[j]; + btScalar totalImpulse = m_tmpSolverContactConstraintPool[rollingFrictionConstraint.m_frictionIndex].m_appliedImpulse; if (totalImpulse > btScalar(0)) { btScalar rollingFrictionMagnitude = rollingFrictionConstraint.m_friction * totalImpulse; @@ -2130,7 +1682,7 @@ btScalar btSequentialImpulseConstraintSolver::solveSingleIterationInternal(btSIS rollingFrictionConstraint.m_lowerLimit = -rollingFrictionMagnitude; rollingFrictionConstraint.m_upperLimit = rollingFrictionMagnitude; - btScalar residual = siData.m_resolveSingleConstraintRowGeneric(siData.m_tmpSolverBodyPool[rollingFrictionConstraint.m_solverBodyIdA], siData.m_tmpSolverBodyPool[rollingFrictionConstraint.m_solverBodyIdB], rollingFrictionConstraint); + btScalar residual = resolveSingleConstraintRowGeneric(m_tmpSolverBodyPool[rollingFrictionConstraint.m_solverBodyIdA], m_tmpSolverBodyPool[rollingFrictionConstraint.m_solverBodyIdB], rollingFrictionConstraint); leastSquaresResidual = btMax(leastSquaresResidual, residual * residual); } } @@ -2138,56 +1690,8 @@ btScalar btSequentialImpulseConstraintSolver::solveSingleIterationInternal(btSIS return leastSquaresResidual; } - -btScalar btSequentialImpulseConstraintSolver::solveSingleIteration(int iteration, btCollisionObject** /*bodies */, int /*numBodies*/, btPersistentManifold** /*manifoldPtr*/, int /*numManifolds*/, btTypedConstraint** constraints, int numConstraints, const btContactSolverInfo& infoGlobal, btIDebugDraw* /*debugDrawer*/) -{ - btSISolverSingleIterationData siData(m_tmpSolverBodyPool, - m_tmpSolverContactConstraintPool, - m_tmpSolverNonContactConstraintPool, - m_tmpSolverContactFrictionConstraintPool, - m_tmpSolverContactRollingFrictionConstraintPool, - m_orderTmpConstraintPool, - m_orderNonContactConstraintPool, - m_orderFrictionConstraintPool, - m_tmpConstraintSizesPool, - m_resolveSingleConstraintRowGeneric, - m_resolveSingleConstraintRowLowerLimit, - m_resolveSplitPenetrationImpulse, - m_kinematicBodyUniqueIdToSolverBodyTable, - m_btSeed2, - m_fixedBodyId, - m_maxOverrideNumSolverIterations); - - btScalar leastSquaresResidual = btSequentialImpulseConstraintSolver::solveSingleIterationInternal(siData, - iteration, constraints, numConstraints, infoGlobal); - return leastSquaresResidual; -} - void btSequentialImpulseConstraintSolver::solveGroupCacheFriendlySplitImpulseIterations(btCollisionObject** bodies, int numBodies, btPersistentManifold** manifoldPtr, int numManifolds, btTypedConstraint** constraints, int numConstraints, const btContactSolverInfo& infoGlobal, btIDebugDraw* debugDrawer) { - btSISolverSingleIterationData siData(m_tmpSolverBodyPool, - m_tmpSolverContactConstraintPool, - m_tmpSolverNonContactConstraintPool, - m_tmpSolverContactFrictionConstraintPool, - m_tmpSolverContactRollingFrictionConstraintPool, - m_orderTmpConstraintPool, - m_orderNonContactConstraintPool, - m_orderFrictionConstraintPool, - m_tmpConstraintSizesPool, - m_resolveSingleConstraintRowGeneric, - m_resolveSingleConstraintRowLowerLimit, - m_resolveSplitPenetrationImpulse, - m_kinematicBodyUniqueIdToSolverBodyTable, - m_btSeed2, - m_fixedBodyId, - m_maxOverrideNumSolverIterations); - - solveGroupCacheFriendlySplitImpulseIterationsInternal(siData, - bodies, numBodies, manifoldPtr, numManifolds, constraints, numConstraints, infoGlobal, debugDrawer); - -} -void btSequentialImpulseConstraintSolver::solveGroupCacheFriendlySplitImpulseIterationsInternal(btSISolverSingleIterationData& siData, btCollisionObject** bodies, int numBodies, btPersistentManifold** manifoldPtr, int numManifolds, btTypedConstraint** constraints, int numConstraints, const btContactSolverInfo& infoGlobal, btIDebugDraw* debugDrawer) -{ BT_PROFILE("solveGroupCacheFriendlySplitImpulseIterations"); int iteration; if (infoGlobal.m_splitImpulse) @@ -2197,13 +1701,13 @@ void btSequentialImpulseConstraintSolver::solveGroupCacheFriendlySplitImpulseIte { btScalar leastSquaresResidual = 0.f; { - int numPoolConstraints = siData.m_tmpSolverContactConstraintPool.size(); + int numPoolConstraints = m_tmpSolverContactConstraintPool.size(); int j; for (j = 0; j < numPoolConstraints; j++) { - const btSolverConstraint& solveManifold = siData.m_tmpSolverContactConstraintPool[siData.m_orderTmpConstraintPool[j]]; + const btSolverConstraint& solveManifold = m_tmpSolverContactConstraintPool[m_orderTmpConstraintPool[j]]; - btScalar residual = siData.m_resolveSplitPenetrationImpulse(siData.m_tmpSolverBodyPool[solveManifold.m_solverBodyIdA], siData.m_tmpSolverBodyPool[solveManifold.m_solverBodyIdB], solveManifold); + btScalar residual = resolveSplitPenetrationImpulse(m_tmpSolverBodyPool[solveManifold.m_solverBodyIdA], m_tmpSolverBodyPool[solveManifold.m_solverBodyIdB], solveManifold); leastSquaresResidual = btMax(leastSquaresResidual, residual * residual); } } @@ -2254,42 +1758,31 @@ btScalar btSequentialImpulseConstraintSolver::solveGroupCacheFriendlyIterations( return 0.f; } -void btSequentialImpulseConstraintSolver::writeBackContactsInternal(btConstraintArray& tmpSolverContactConstraintPool, btConstraintArray& tmpSolverContactFrictionConstraintPool, int iBegin, int iEnd, const btContactSolverInfo& infoGlobal) +void btSequentialImpulseConstraintSolver::writeBackContacts(int iBegin, int iEnd, const btContactSolverInfo& infoGlobal) { for (int j = iBegin; j < iEnd; j++) { - const btSolverConstraint& solveManifold = tmpSolverContactConstraintPool[j]; + const btSolverConstraint& solveManifold = m_tmpSolverContactConstraintPool[j]; btManifoldPoint* pt = (btManifoldPoint*)solveManifold.m_originalContactPoint; btAssert(pt); pt->m_appliedImpulse = solveManifold.m_appliedImpulse; // float f = m_tmpSolverContactFrictionConstraintPool[solveManifold.m_frictionIndex].m_appliedImpulse; // printf("pt->m_appliedImpulseLateral1 = %f\n", f); - pt->m_appliedImpulseLateral1 = tmpSolverContactFrictionConstraintPool[solveManifold.m_frictionIndex].m_appliedImpulse; + pt->m_appliedImpulseLateral1 = m_tmpSolverContactFrictionConstraintPool[solveManifold.m_frictionIndex].m_appliedImpulse; //printf("pt->m_appliedImpulseLateral1 = %f\n", pt->m_appliedImpulseLateral1); if ((infoGlobal.m_solverMode & SOLVER_USE_2_FRICTION_DIRECTIONS)) { - pt->m_appliedImpulseLateral2 = tmpSolverContactFrictionConstraintPool[solveManifold.m_frictionIndex + 1].m_appliedImpulse; + pt->m_appliedImpulseLateral2 = m_tmpSolverContactFrictionConstraintPool[solveManifold.m_frictionIndex + 1].m_appliedImpulse; } //do a callback here? } } -void btSequentialImpulseConstraintSolver::writeBackContacts(int iBegin, int iEnd, const btContactSolverInfo& infoGlobal) -{ - writeBackContactsInternal(m_tmpSolverContactConstraintPool, m_tmpSolverContactFrictionConstraintPool, iBegin, iEnd, infoGlobal); - -} - void btSequentialImpulseConstraintSolver::writeBackJoints(int iBegin, int iEnd, const btContactSolverInfo& infoGlobal) { - writeBackJointsInternal(m_tmpSolverNonContactConstraintPool, iBegin, iEnd, infoGlobal); -} - -void btSequentialImpulseConstraintSolver::writeBackJointsInternal(btConstraintArray& tmpSolverNonContactConstraintPool, int iBegin, int iEnd, const btContactSolverInfo& infoGlobal) -{ for (int j = iBegin; j < iEnd; j++) { - const btSolverConstraint& solverConstr = tmpSolverNonContactConstraintPool[j]; + const btSolverConstraint& solverConstr = m_tmpSolverNonContactConstraintPool[j]; btTypedConstraint* constr = (btTypedConstraint*)solverConstr.m_originalContactPoint; btJointFeedback* fb = constr->getJointFeedback(); if (fb) @@ -2310,79 +1803,53 @@ void btSequentialImpulseConstraintSolver::writeBackJointsInternal(btConstraintAr void btSequentialImpulseConstraintSolver::writeBackBodies(int iBegin, int iEnd, const btContactSolverInfo& infoGlobal) { - writeBackBodiesInternal(m_tmpSolverBodyPool, iBegin, iEnd, infoGlobal); -} -void btSequentialImpulseConstraintSolver::writeBackBodiesInternal(btAlignedObjectArray<btSolverBody>& tmpSolverBodyPool, int iBegin, int iEnd, const btContactSolverInfo& infoGlobal) -{ for (int i = iBegin; i < iEnd; i++) { - btRigidBody* body = tmpSolverBodyPool[i].m_originalBody; + btRigidBody* body = m_tmpSolverBodyPool[i].m_originalBody; if (body) { if (infoGlobal.m_splitImpulse) - tmpSolverBodyPool[i].writebackVelocityAndTransform(infoGlobal.m_timeStep, infoGlobal.m_splitImpulseTurnErp); + m_tmpSolverBodyPool[i].writebackVelocityAndTransform(infoGlobal.m_timeStep, infoGlobal.m_splitImpulseTurnErp); else - tmpSolverBodyPool[i].writebackVelocity(); + m_tmpSolverBodyPool[i].writebackVelocity(); - tmpSolverBodyPool[i].m_originalBody->setLinearVelocity( - tmpSolverBodyPool[i].m_linearVelocity + - tmpSolverBodyPool[i].m_externalForceImpulse); + m_tmpSolverBodyPool[i].m_originalBody->setLinearVelocity( + m_tmpSolverBodyPool[i].m_linearVelocity + + m_tmpSolverBodyPool[i].m_externalForceImpulse); - tmpSolverBodyPool[i].m_originalBody->setAngularVelocity( - tmpSolverBodyPool[i].m_angularVelocity + - tmpSolverBodyPool[i].m_externalTorqueImpulse); + m_tmpSolverBodyPool[i].m_originalBody->setAngularVelocity( + m_tmpSolverBodyPool[i].m_angularVelocity + + m_tmpSolverBodyPool[i].m_externalTorqueImpulse); if (infoGlobal.m_splitImpulse) - tmpSolverBodyPool[i].m_originalBody->setWorldTransform(tmpSolverBodyPool[i].m_worldTransform); + m_tmpSolverBodyPool[i].m_originalBody->setWorldTransform(m_tmpSolverBodyPool[i].m_worldTransform); - tmpSolverBodyPool[i].m_originalBody->setCompanionId(-1); + m_tmpSolverBodyPool[i].m_originalBody->setCompanionId(-1); } } } -btScalar btSequentialImpulseConstraintSolver::solveGroupCacheFriendlyFinishInternal(btSISolverSingleIterationData& siData, btCollisionObject** bodies, int numBodies, const btContactSolverInfo& infoGlobal) +btScalar btSequentialImpulseConstraintSolver::solveGroupCacheFriendlyFinish(btCollisionObject** bodies, int numBodies, const btContactSolverInfo& infoGlobal) { BT_PROFILE("solveGroupCacheFriendlyFinish"); if (infoGlobal.m_solverMode & SOLVER_USE_WARMSTARTING) { - writeBackContactsInternal(siData.m_tmpSolverContactConstraintPool, siData.m_tmpSolverContactFrictionConstraintPool, 0, siData.m_tmpSolverContactConstraintPool.size(), infoGlobal); + writeBackContacts(0, m_tmpSolverContactConstraintPool.size(), infoGlobal); } - writeBackJointsInternal(siData.m_tmpSolverNonContactConstraintPool, 0, siData.m_tmpSolverNonContactConstraintPool.size(), infoGlobal); - writeBackBodiesInternal(siData.m_tmpSolverBodyPool, 0, siData.m_tmpSolverBodyPool.size(), infoGlobal); + writeBackJoints(0, m_tmpSolverNonContactConstraintPool.size(), infoGlobal); + writeBackBodies(0, m_tmpSolverBodyPool.size(), infoGlobal); - siData.m_tmpSolverContactConstraintPool.resizeNoInitialize(0); - siData.m_tmpSolverNonContactConstraintPool.resizeNoInitialize(0); - siData.m_tmpSolverContactFrictionConstraintPool.resizeNoInitialize(0); - siData.m_tmpSolverContactRollingFrictionConstraintPool.resizeNoInitialize(0); + m_tmpSolverContactConstraintPool.resizeNoInitialize(0); + m_tmpSolverNonContactConstraintPool.resizeNoInitialize(0); + m_tmpSolverContactFrictionConstraintPool.resizeNoInitialize(0); + m_tmpSolverContactRollingFrictionConstraintPool.resizeNoInitialize(0); - siData.m_tmpSolverBodyPool.resizeNoInitialize(0); + m_tmpSolverBodyPool.resizeNoInitialize(0); return 0.f; } -btScalar btSequentialImpulseConstraintSolver::solveGroupCacheFriendlyFinish(btCollisionObject** bodies, int numBodies, const btContactSolverInfo& infoGlobal) -{ - btSISolverSingleIterationData siData(m_tmpSolverBodyPool, - m_tmpSolverContactConstraintPool, - m_tmpSolverNonContactConstraintPool, - m_tmpSolverContactFrictionConstraintPool, - m_tmpSolverContactRollingFrictionConstraintPool, - m_orderTmpConstraintPool, - m_orderNonContactConstraintPool, - m_orderFrictionConstraintPool, - m_tmpConstraintSizesPool, - m_resolveSingleConstraintRowGeneric, - m_resolveSingleConstraintRowLowerLimit, - m_resolveSplitPenetrationImpulse, - m_kinematicBodyUniqueIdToSolverBodyTable, - m_btSeed2, - m_fixedBodyId, - m_maxOverrideNumSolverIterations); - - return btSequentialImpulseConstraintSolver::solveGroupCacheFriendlyFinishInternal(siData, bodies, numBodies, infoGlobal); -} - /// btSequentialImpulseConstraintSolver Sequentially applies impulses btScalar btSequentialImpulseConstraintSolver::solveGroup(btCollisionObject** bodies, int numBodies, btPersistentManifold** manifoldPtr, int numManifolds, btTypedConstraint** constraints, int numConstraints, const btContactSolverInfo& infoGlobal, btIDebugDraw* debugDrawer, btDispatcher* /*dispatcher*/) { @@ -2401,4 +1868,4 @@ btScalar btSequentialImpulseConstraintSolver::solveGroup(btCollisionObject** bod void btSequentialImpulseConstraintSolver::reset() { m_btSeed2 = 0; -}
\ No newline at end of file +} diff --git a/thirdparty/bullet/BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolver.h b/thirdparty/bullet/BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolver.h index 2b88e25be7..f3ef02fccc 100644 --- a/thirdparty/bullet/BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolver.h +++ b/thirdparty/bullet/BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolver.h @@ -29,68 +29,6 @@ class btCollisionObject; typedef btScalar (*btSingleConstraintRowSolver)(btSolverBody&, btSolverBody&, const btSolverConstraint&); -struct btSISolverSingleIterationData -{ - btAlignedObjectArray<btSolverBody>& m_tmpSolverBodyPool; - btConstraintArray& m_tmpSolverContactConstraintPool; - btConstraintArray& m_tmpSolverNonContactConstraintPool; - btConstraintArray& m_tmpSolverContactFrictionConstraintPool; - btConstraintArray& m_tmpSolverContactRollingFrictionConstraintPool; - - btAlignedObjectArray<int>& m_orderTmpConstraintPool; - btAlignedObjectArray<int>& m_orderNonContactConstraintPool; - btAlignedObjectArray<int>& m_orderFrictionConstraintPool; - btAlignedObjectArray<btTypedConstraint::btConstraintInfo1>& m_tmpConstraintSizesPool; - unsigned long& m_seed; - - btSingleConstraintRowSolver& m_resolveSingleConstraintRowGeneric; - btSingleConstraintRowSolver& m_resolveSingleConstraintRowLowerLimit; - btSingleConstraintRowSolver& m_resolveSplitPenetrationImpulse; - btAlignedObjectArray<int>& m_kinematicBodyUniqueIdToSolverBodyTable; - int& m_fixedBodyId; - int& m_maxOverrideNumSolverIterations; - int getOrInitSolverBody(btCollisionObject & body, btScalar timeStep); - static void initSolverBody(btSolverBody * solverBody, btCollisionObject * collisionObject, btScalar timeStep); - int getSolverBody(btCollisionObject& body) const; - - - btSISolverSingleIterationData(btAlignedObjectArray<btSolverBody>& tmpSolverBodyPool, - btConstraintArray& tmpSolverContactConstraintPool, - btConstraintArray& tmpSolverNonContactConstraintPool, - btConstraintArray& tmpSolverContactFrictionConstraintPool, - btConstraintArray& tmpSolverContactRollingFrictionConstraintPool, - btAlignedObjectArray<int>& orderTmpConstraintPool, - btAlignedObjectArray<int>& orderNonContactConstraintPool, - btAlignedObjectArray<int>& orderFrictionConstraintPool, - btAlignedObjectArray<btTypedConstraint::btConstraintInfo1>& tmpConstraintSizesPool, - btSingleConstraintRowSolver& resolveSingleConstraintRowGeneric, - btSingleConstraintRowSolver& resolveSingleConstraintRowLowerLimit, - btSingleConstraintRowSolver& resolveSplitPenetrationImpulse, - btAlignedObjectArray<int>& kinematicBodyUniqueIdToSolverBodyTable, - unsigned long& seed, - int& fixedBodyId, - int& maxOverrideNumSolverIterations - ) - :m_tmpSolverBodyPool(tmpSolverBodyPool), - m_tmpSolverContactConstraintPool(tmpSolverContactConstraintPool), - m_tmpSolverNonContactConstraintPool(tmpSolverNonContactConstraintPool), - m_tmpSolverContactFrictionConstraintPool(tmpSolverContactFrictionConstraintPool), - m_tmpSolverContactRollingFrictionConstraintPool(tmpSolverContactRollingFrictionConstraintPool), - m_orderTmpConstraintPool(orderTmpConstraintPool), - m_orderNonContactConstraintPool(orderNonContactConstraintPool), - m_orderFrictionConstraintPool(orderFrictionConstraintPool), - m_tmpConstraintSizesPool(tmpConstraintSizesPool), - m_seed(seed), - m_resolveSingleConstraintRowGeneric(resolveSingleConstraintRowGeneric), - m_resolveSingleConstraintRowLowerLimit(resolveSingleConstraintRowLowerLimit), - m_resolveSplitPenetrationImpulse(resolveSplitPenetrationImpulse), - m_kinematicBodyUniqueIdToSolverBodyTable(kinematicBodyUniqueIdToSolverBodyTable), - m_fixedBodyId(fixedBodyId), - m_maxOverrideNumSolverIterations(maxOverrideNumSolverIterations) - { - } -}; - struct btSolverAnalyticsData { btSolverAnalyticsData() @@ -178,7 +116,6 @@ protected: virtual void convertJoints(btTypedConstraint * *constraints, int numConstraints, const btContactSolverInfo& infoGlobal); void convertJoint(btSolverConstraint * currentConstraintRow, btTypedConstraint * constraint, const btTypedConstraint::btConstraintInfo1& info1, int solverBodyIdA, int solverBodyIdB, const btContactSolverInfo& infoGlobal); - virtual void convertBodies(btCollisionObject * *bodies, int numBodies, const btContactSolverInfo& infoGlobal); btScalar resolveSplitPenetrationSIMD(btSolverBody & bodyA, btSolverBody & bodyB, const btSolverConstraint& contactConstraint) @@ -204,8 +141,7 @@ protected: return m_resolveSplitPenetrationImpulse(bodyA, bodyB, contactConstraint); } -public: - +protected: void writeBackContacts(int iBegin, int iEnd, const btContactSolverInfo& infoGlobal); void writeBackJoints(int iBegin, int iEnd, const btContactSolverInfo& infoGlobal); void writeBackBodies(int iBegin, int iEnd, const btContactSolverInfo& infoGlobal); @@ -213,7 +149,6 @@ public: virtual btScalar solveGroupCacheFriendlyFinish(btCollisionObject * *bodies, int numBodies, const btContactSolverInfo& infoGlobal); virtual btScalar solveSingleIteration(int iteration, btCollisionObject** bodies, int numBodies, btPersistentManifold** manifoldPtr, int numManifolds, btTypedConstraint** constraints, int numConstraints, const btContactSolverInfo& infoGlobal, btIDebugDraw* debugDrawer); - virtual btScalar solveGroupCacheFriendlySetup(btCollisionObject * *bodies, int numBodies, btPersistentManifold** manifoldPtr, int numManifolds, btTypedConstraint** constraints, int numConstraints, const btContactSolverInfo& infoGlobal, btIDebugDraw* debugDrawer); virtual btScalar solveGroupCacheFriendlyIterations(btCollisionObject * *bodies, int numBodies, btPersistentManifold** manifoldPtr, int numManifolds, btTypedConstraint** constraints, int numConstraints, const btContactSolverInfo& infoGlobal, btIDebugDraw* debugDrawer); @@ -225,51 +160,12 @@ public: virtual btScalar solveGroup(btCollisionObject * *bodies, int numBodies, btPersistentManifold** manifold, int numManifolds, btTypedConstraint** constraints, int numConstraints, const btContactSolverInfo& info, btIDebugDraw* debugDrawer, btDispatcher* dispatcher); - static btScalar solveSingleIterationInternal(btSISolverSingleIterationData& siData, int iteration, btTypedConstraint** constraints, int numConstraints, const btContactSolverInfo& infoGlobal); - static void convertBodiesInternal(btSISolverSingleIterationData& siData, btCollisionObject** bodies, int numBodies, const btContactSolverInfo& infoGlobal); - static void convertJointsInternal(btSISolverSingleIterationData& siData, btTypedConstraint** constraints, int numConstraints, const btContactSolverInfo& infoGlobal); - static void convertContactInternal(btSISolverSingleIterationData& siData, btPersistentManifold * manifold, const btContactSolverInfo& infoGlobal); - static void setupContactConstraintInternal(btSISolverSingleIterationData& siData, btSolverConstraint& solverConstraint, int solverBodyIdA, int solverBodyIdB, btManifoldPoint& cp, const btContactSolverInfo& infoGlobal, btScalar& relaxation, - const btVector3& rel_pos1, const btVector3& rel_pos2); - static btScalar restitutionCurveInternal(btScalar rel_vel, btScalar restitution, btScalar velocityThreshold); - static btSolverConstraint& addTorsionalFrictionConstraintInternal(btAlignedObjectArray<btSolverBody>& tmpSolverBodyPool, btConstraintArray& tmpSolverContactRollingFrictionConstraintPool, const btVector3& normalAxis, int solverBodyIdA, int solverBodyIdB, int frictionIndex, btManifoldPoint& cp, btScalar combinedTorsionalFriction, const btVector3& rel_pos1, const btVector3& rel_pos2, btCollisionObject* colObj0, btCollisionObject* colObj1, btScalar relaxation, btScalar desiredVelocity = 0, btScalar cfmSlip = 0.); - static void setupTorsionalFrictionConstraintInternal(btAlignedObjectArray<btSolverBody>& tmpSolverBodyPool, btSolverConstraint& solverConstraint, const btVector3& normalAxis1, int solverBodyIdA, int solverBodyIdB, - btManifoldPoint& cp, btScalar combinedTorsionalFriction, const btVector3& rel_pos1, const btVector3& rel_pos2, - btCollisionObject* colObj0, btCollisionObject* colObj1, btScalar relaxation, - btScalar desiredVelocity, btScalar cfmSlip); - static void setupFrictionConstraintInternal(btAlignedObjectArray<btSolverBody>& tmpSolverBodyPool, btSolverConstraint& solverConstraint, const btVector3& normalAxis, int solverBodyIdA, int solverBodyIdB, btManifoldPoint& cp, const btVector3& rel_pos1, const btVector3& rel_pos2, btCollisionObject* colObj0, btCollisionObject* colObj1, btScalar relaxation, const btContactSolverInfo& infoGlobal, btScalar desiredVelocity, btScalar cfmSlip); - static btSolverConstraint& addFrictionConstraintInternal(btAlignedObjectArray<btSolverBody>& tmpSolverBodyPool, btConstraintArray& tmpSolverContactFrictionConstraintPool, const btVector3& normalAxis, int solverBodyIdA, int solverBodyIdB, int frictionIndex, btManifoldPoint& cp, const btVector3& rel_pos1, const btVector3& rel_pos2, btCollisionObject* colObj0, btCollisionObject* colObj1, btScalar relaxation, const btContactSolverInfo& infoGlobal, btScalar desiredVelocity = 0., btScalar cfmSlip = 0.); - static void setFrictionConstraintImpulseInternal(btAlignedObjectArray<btSolverBody>& tmpSolverBodyPool, btConstraintArray& tmpSolverContactFrictionConstraintPool, - - btSolverConstraint& solverConstraint, - int solverBodyIdA, int solverBodyIdB, - btManifoldPoint& cp, const btContactSolverInfo& infoGlobal); - static void convertJointInternal(btAlignedObjectArray<btSolverBody>& tmpSolverBodyPool, - int& maxOverrideNumSolverIterations, - btSolverConstraint* currentConstraintRow, - btTypedConstraint* constraint, - const btTypedConstraint::btConstraintInfo1& info1, - int solverBodyIdA, - int solverBodyIdB, - const btContactSolverInfo& infoGlobal); - - static btScalar solveGroupCacheFriendlyFinishInternal(btSISolverSingleIterationData& siData, btCollisionObject** bodies, int numBodies, const btContactSolverInfo& infoGlobal); - - static void writeBackContactsInternal(btConstraintArray& tmpSolverContactConstraintPool, btConstraintArray& tmpSolverContactFrictionConstraintPool, int iBegin, int iEnd, const btContactSolverInfo& infoGlobal); - - static void writeBackJointsInternal(btConstraintArray& tmpSolverNonContactConstraintPool, int iBegin, int iEnd, const btContactSolverInfo& infoGlobal); - static void writeBackBodiesInternal(btAlignedObjectArray<btSolverBody>& tmpSolverBodyPool, int iBegin, int iEnd, const btContactSolverInfo& infoGlobal); - static void solveGroupCacheFriendlySplitImpulseIterationsInternal(btSISolverSingleIterationData& siData, btCollisionObject** bodies, int numBodies, btPersistentManifold** manifoldPtr, int numManifolds, btTypedConstraint** constraints, int numConstraints, const btContactSolverInfo& infoGlobal, btIDebugDraw* debugDrawer); - - ///clear internal cached data and reset random seed virtual void reset(); unsigned long btRand2(); - int btRandInt2(int n); - static unsigned long btRand2a(unsigned long& seed); - static int btRandInt2a(int n, unsigned long& seed); + int btRandInt2(int n); void setRandSeed(unsigned long seed) { @@ -305,18 +201,14 @@ public: ///Various implementations of solving a single constraint row using a generic equality constraint, using scalar reference, SSE2 or SSE4 - static btSingleConstraintRowSolver getScalarConstraintRowSolverGeneric(); - static btSingleConstraintRowSolver getSSE2ConstraintRowSolverGeneric(); - static btSingleConstraintRowSolver getSSE4_1ConstraintRowSolverGeneric(); + btSingleConstraintRowSolver getScalarConstraintRowSolverGeneric(); + btSingleConstraintRowSolver getSSE2ConstraintRowSolverGeneric(); + btSingleConstraintRowSolver getSSE4_1ConstraintRowSolverGeneric(); ///Various implementations of solving a single constraint row using an inequality (lower limit) constraint, using scalar reference, SSE2 or SSE4 - static btSingleConstraintRowSolver getScalarConstraintRowSolverLowerLimit(); - static btSingleConstraintRowSolver getSSE2ConstraintRowSolverLowerLimit(); - static btSingleConstraintRowSolver getSSE4_1ConstraintRowSolverLowerLimit(); - - static btSingleConstraintRowSolver getScalarSplitPenetrationImpulseGeneric(); - static btSingleConstraintRowSolver getSSE2SplitPenetrationImpulseGeneric(); - + btSingleConstraintRowSolver getScalarConstraintRowSolverLowerLimit(); + btSingleConstraintRowSolver getSSE2ConstraintRowSolverLowerLimit(); + btSingleConstraintRowSolver getSSE4_1ConstraintRowSolverLowerLimit(); btSolverAnalyticsData m_analyticsData; }; diff --git a/thirdparty/bullet/BulletDynamics/Dynamics/btDiscreteDynamicsWorld.cpp b/thirdparty/bullet/BulletDynamics/Dynamics/btDiscreteDynamicsWorld.cpp index dfbbdb154f..a3c9f42eb9 100644 --- a/thirdparty/bullet/BulletDynamics/Dynamics/btDiscreteDynamicsWorld.cpp +++ b/thirdparty/bullet/BulletDynamics/Dynamics/btDiscreteDynamicsWorld.cpp @@ -1436,9 +1436,7 @@ void btDiscreteDynamicsWorld::serializeDynamicsWorldInfo(btSerializer* serialize worldInfo->m_solverInfo.m_splitImpulse = getSolverInfo().m_splitImpulse; - // Fill padding with zeros to appease msan. - memset(worldInfo->m_solverInfo.m_padding, 0, sizeof(worldInfo->m_solverInfo.m_padding)); - + #ifdef BT_USE_DOUBLE_PRECISION const char* structType = "btDynamicsWorldDoubleData"; #else //BT_USE_DOUBLE_PRECISION diff --git a/thirdparty/bullet/BulletDynamics/Dynamics/btDiscreteDynamicsWorld.h b/thirdparty/bullet/BulletDynamics/Dynamics/btDiscreteDynamicsWorld.h index 7fe9619213..73607c61fd 100644 --- a/thirdparty/bullet/BulletDynamics/Dynamics/btDiscreteDynamicsWorld.h +++ b/thirdparty/bullet/BulletDynamics/Dynamics/btDiscreteDynamicsWorld.h @@ -17,7 +17,6 @@ subject to the following restrictions: #define BT_DISCRETE_DYNAMICS_WORLD_H #include "btDynamicsWorld.h" - class btDispatcher; class btOverlappingPairCache; class btConstraintSolver; @@ -26,6 +25,7 @@ class btTypedConstraint; class btActionInterface; class btPersistentManifold; class btIDebugDraw; + struct InplaceSolverIslandCallback; #include "LinearMath/btAlignedObjectArray.h" @@ -76,7 +76,7 @@ protected: virtual void calculateSimulationIslands(); - virtual void solveConstraints(btContactSolverInfo & solverInfo); + virtual void updateActivationState(btScalar timeStep); @@ -95,7 +95,7 @@ protected: void serializeRigidBodies(btSerializer * serializer); void serializeDynamicsWorldInfo(btSerializer * serializer); - + public: BT_DECLARE_ALIGNED_ALLOCATOR(); @@ -107,6 +107,8 @@ public: ///if maxSubSteps > 0, it will interpolate motion between fixedTimeStep's virtual int stepSimulation(btScalar timeStep, int maxSubSteps = 1, btScalar fixedTimeStep = btScalar(1.) / btScalar(60.)); + virtual void solveConstraints(btContactSolverInfo & solverInfo); + virtual void synchronizeMotionStates(); ///this can be useful to synchronize a single rigid body -> graphics object @@ -227,6 +229,16 @@ public: { return m_latencyMotionStateInterpolation; } + + btAlignedObjectArray<btRigidBody*>& getNonStaticRigidBodies() + { + return m_nonStaticRigidBodies; + } + + const btAlignedObjectArray<btRigidBody*>& getNonStaticRigidBodies() const + { + return m_nonStaticRigidBodies; + } }; #endif //BT_DISCRETE_DYNAMICS_WORLD_H diff --git a/thirdparty/bullet/BulletDynamics/Dynamics/btDynamicsWorld.h b/thirdparty/bullet/BulletDynamics/Dynamics/btDynamicsWorld.h index eadd8c12e7..3c55234a8a 100644 --- a/thirdparty/bullet/BulletDynamics/Dynamics/btDynamicsWorld.h +++ b/thirdparty/bullet/BulletDynamics/Dynamics/btDynamicsWorld.h @@ -34,7 +34,8 @@ enum btDynamicsWorldType BT_CONTINUOUS_DYNAMICS_WORLD = 3, BT_SOFT_RIGID_DYNAMICS_WORLD = 4, BT_GPU_DYNAMICS_WORLD = 5, - BT_SOFT_MULTIBODY_DYNAMICS_WORLD = 6 + BT_SOFT_MULTIBODY_DYNAMICS_WORLD = 6, + BT_DEFORMABLE_MULTIBODY_DYNAMICS_WORLD = 7 }; ///The btDynamicsWorld is the interface class for several dynamics implementation, basic, discrete, parallel, and continuous etc. diff --git a/thirdparty/bullet/BulletDynamics/Dynamics/btRigidBody.cpp b/thirdparty/bullet/BulletDynamics/Dynamics/btRigidBody.cpp index f4bcabada2..9e8705b001 100644 --- a/thirdparty/bullet/BulletDynamics/Dynamics/btRigidBody.cpp +++ b/thirdparty/bullet/BulletDynamics/Dynamics/btRigidBody.cpp @@ -206,6 +206,14 @@ void btRigidBody::applyGravity() applyCentralForce(m_gravity); } +void btRigidBody::clearGravity() +{ + if (isStaticOrKinematicObject()) + return; + + applyCentralForce(-m_gravity); +} + void btRigidBody::proceedToTransform(const btTransform& newTrans) { setCenterOfMassTransform(newTrans); diff --git a/thirdparty/bullet/BulletDynamics/Dynamics/btRigidBody.h b/thirdparty/bullet/BulletDynamics/Dynamics/btRigidBody.h index 05f270a4b8..39d47cbbda 100644 --- a/thirdparty/bullet/BulletDynamics/Dynamics/btRigidBody.h +++ b/thirdparty/bullet/BulletDynamics/Dynamics/btRigidBody.h @@ -205,6 +205,8 @@ public: void saveKinematicState(btScalar step); void applyGravity(); + + void clearGravity(); void setGravity(const btVector3& acceleration); @@ -259,6 +261,7 @@ public: m_invMass = m_linearFactor * m_inverseMass; } btScalar getInvMass() const { return m_inverseMass; } + btScalar getMass() const { return m_inverseMass == btScalar(0.) ? btScalar(0.) : btScalar(1.0) / m_inverseMass; } const btMatrix3x3& getInvInertiaTensorWorld() const { return m_invInertiaTensorWorld; @@ -331,6 +334,48 @@ public: } } } + + void applyPushImpulse(const btVector3& impulse, const btVector3& rel_pos) + { + if (m_inverseMass != btScalar(0.)) + { + applyCentralPushImpulse(impulse); + if (m_angularFactor) + { + applyTorqueTurnImpulse(rel_pos.cross(impulse * m_linearFactor)); + } + } + } + + btVector3 getPushVelocity() + { + return m_pushVelocity; + } + + btVector3 getTurnVelocity() + { + return m_turnVelocity; + } + + void setPushVelocity(const btVector3& v) + { + m_pushVelocity = v; + } + + void setTurnVelocity(const btVector3& v) + { + m_turnVelocity = v; + } + + void applyCentralPushImpulse(const btVector3& impulse) + { + m_pushVelocity += impulse * m_linearFactor * m_inverseMass; + } + + void applyTorqueTurnImpulse(const btVector3& torque) + { + m_turnVelocity += m_invInertiaTensorWorld * torque * m_angularFactor; + } void clearForces() { diff --git a/thirdparty/bullet/BulletDynamics/Featherstone/btMultiBody.cpp b/thirdparty/bullet/BulletDynamics/Featherstone/btMultiBody.cpp index 3e210d7520..bdaa473476 100644 --- a/thirdparty/bullet/BulletDynamics/Featherstone/btMultiBody.cpp +++ b/thirdparty/bullet/BulletDynamics/Featherstone/btMultiBody.cpp @@ -100,6 +100,8 @@ btMultiBody::btMultiBody(int n_links, m_baseName(0), m_basePos(0, 0, 0), m_baseQuat(0, 0, 0, 1), + m_basePos_interpolate(0, 0, 0), + m_baseQuat_interpolate(0, 0, 0, 1), m_baseMass(mass), m_baseInertia(inertia), @@ -449,6 +451,16 @@ const btQuaternion &btMultiBody::getParentToLocalRot(int i) const return m_links[i].m_cachedRotParentToThis; } +const btVector3 &btMultiBody::getInterpolateRVector(int i) const +{ + return m_links[i].m_cachedRVector_interpolate; +} + +const btQuaternion &btMultiBody::getInterpolateParentToLocalRot(int i) const +{ + return m_links[i].m_cachedRotParentToThis_interpolate; +} + btVector3 btMultiBody::localPosToWorld(int i, const btVector3 &local_pos) const { btAssert(i >= -1); @@ -1581,6 +1593,158 @@ void btMultiBody::calcAccelerationDeltasMultiDof(const btScalar *force, btScalar //printf("]\n"); ///////////////// } +void btMultiBody::predictPositionsMultiDof(btScalar dt) +{ + int num_links = getNumLinks(); + // step position by adding dt * velocity + //btVector3 v = getBaseVel(); + //m_basePos += dt * v; + // + btScalar *pBasePos; + btScalar *pBaseVel = &m_realBuf[3]; //note: the !pqd case assumes m_realBuf holds with base velocity at 3,4,5 (should be wrapped for safety) + + // reset to current position + for (int i = 0; i < 3; ++i) + { + m_basePos_interpolate[i] = m_basePos[i]; + } + pBasePos = m_basePos_interpolate; + + pBasePos[0] += dt * pBaseVel[0]; + pBasePos[1] += dt * pBaseVel[1]; + pBasePos[2] += dt * pBaseVel[2]; + + /////////////////////////////// + //local functor for quaternion integration (to avoid error prone redundancy) + struct + { + //"exponential map" based on btTransformUtil::integrateTransform(..) + void operator()(const btVector3 &omega, btQuaternion &quat, bool baseBody, btScalar dt) + { + //baseBody => quat is alias and omega is global coor + //!baseBody => quat is alibi and omega is local coor + + btVector3 axis; + btVector3 angvel; + + if (!baseBody) + angvel = quatRotate(quat, omega); //if quat is not m_baseQuat, it is alibi => ok + else + angvel = omega; + + btScalar fAngle = angvel.length(); + //limit the angular motion + if (fAngle * dt > ANGULAR_MOTION_THRESHOLD) + { + fAngle = btScalar(0.5) * SIMD_HALF_PI / dt; + } + + if (fAngle < btScalar(0.001)) + { + // use Taylor's expansions of sync function + axis = angvel * (btScalar(0.5) * dt - (dt * dt * dt) * (btScalar(0.020833333333)) * fAngle * fAngle); + } + else + { + // sync(fAngle) = sin(c*fAngle)/t + axis = angvel * (btSin(btScalar(0.5) * fAngle * dt) / fAngle); + } + + if (!baseBody) + quat = btQuaternion(axis.x(), axis.y(), axis.z(), btCos(fAngle * dt * btScalar(0.5))) * quat; + else + quat = quat * btQuaternion(-axis.x(), -axis.y(), -axis.z(), btCos(fAngle * dt * btScalar(0.5))); + //equivalent to: quat = (btQuaternion(axis.x(),axis.y(),axis.z(),btCos( fAngle*dt*btScalar(0.5) )) * quat.inverse()).inverse(); + + quat.normalize(); + } + } pQuatUpdateFun; + /////////////////////////////// + + //pQuatUpdateFun(getBaseOmega(), m_baseQuat, true, dt); + // + btScalar *pBaseQuat; + + // reset to current orientation + for (int i = 0; i < 4; ++i) + { + m_baseQuat_interpolate[i] = m_baseQuat[i]; + } + pBaseQuat = m_baseQuat_interpolate; + + btScalar *pBaseOmega = &m_realBuf[0]; //note: the !pqd case assumes m_realBuf starts with base omega (should be wrapped for safety) + // + btQuaternion baseQuat; + baseQuat.setValue(pBaseQuat[0], pBaseQuat[1], pBaseQuat[2], pBaseQuat[3]); + btVector3 baseOmega; + baseOmega.setValue(pBaseOmega[0], pBaseOmega[1], pBaseOmega[2]); + pQuatUpdateFun(baseOmega, baseQuat, true, dt); + pBaseQuat[0] = baseQuat.x(); + pBaseQuat[1] = baseQuat.y(); + pBaseQuat[2] = baseQuat.z(); + pBaseQuat[3] = baseQuat.w(); + + // Finally we can update m_jointPos for each of the m_links + for (int i = 0; i < num_links; ++i) + { + btScalar *pJointPos; + pJointPos = &m_links[i].m_jointPos_interpolate[0]; + + btScalar *pJointVel = getJointVelMultiDof(i); + + switch (m_links[i].m_jointType) + { + case btMultibodyLink::ePrismatic: + case btMultibodyLink::eRevolute: + { + //reset to current pos + pJointPos[0] = m_links[i].m_jointPos[0]; + btScalar jointVel = pJointVel[0]; + pJointPos[0] += dt * jointVel; + break; + } + case btMultibodyLink::eSpherical: + { + //reset to current pos + + for (int j = 0; j < 4; ++j) + { + pJointPos[j] = m_links[i].m_jointPos[j]; + } + + btVector3 jointVel; + jointVel.setValue(pJointVel[0], pJointVel[1], pJointVel[2]); + btQuaternion jointOri; + jointOri.setValue(pJointPos[0], pJointPos[1], pJointPos[2], pJointPos[3]); + pQuatUpdateFun(jointVel, jointOri, false, dt); + pJointPos[0] = jointOri.x(); + pJointPos[1] = jointOri.y(); + pJointPos[2] = jointOri.z(); + pJointPos[3] = jointOri.w(); + break; + } + case btMultibodyLink::ePlanar: + { + for (int j = 0; j < 3; ++j) + { + pJointPos[j] = m_links[i].m_jointPos[j]; + } + pJointPos[0] += dt * getJointVelMultiDof(i)[0]; + + btVector3 q0_coors_qd1qd2 = getJointVelMultiDof(i)[1] * m_links[i].getAxisBottom(1) + getJointVelMultiDof(i)[2] * m_links[i].getAxisBottom(2); + btVector3 no_q0_coors_qd1qd2 = quatRotate(btQuaternion(m_links[i].getAxisTop(0), pJointPos[0]), q0_coors_qd1qd2); + pJointPos[1] += m_links[i].getAxisBottom(1).dot(no_q0_coors_qd1qd2) * dt; + pJointPos[2] += m_links[i].getAxisBottom(2).dot(no_q0_coors_qd1qd2) * dt; + break; + } + default: + { + } + } + + m_links[i].updateInterpolationCacheMultiDof(); + } +} void btMultiBody::stepPositionsMultiDof(btScalar dt, btScalar *pq, btScalar *pqd) { @@ -1589,9 +1753,9 @@ void btMultiBody::stepPositionsMultiDof(btScalar dt, btScalar *pq, btScalar *pqd //btVector3 v = getBaseVel(); //m_basePos += dt * v; // - btScalar *pBasePos = (pq ? &pq[4] : m_basePos); - btScalar *pBaseVel = (pqd ? &pqd[3] : &m_realBuf[3]); //note: the !pqd case assumes m_realBuf holds with base velocity at 3,4,5 (should be wrapped for safety) - // + btScalar *pBasePos = (pq ? &pq[4] : m_basePos); + btScalar *pBaseVel = (pqd ? &pqd[3] : &m_realBuf[3]); //note: the !pqd case assumes m_realBuf holds with base velocity at 3,4,5 (should be wrapped for safety) + pBasePos[0] += dt * pBaseVel[0]; pBasePos[1] += dt * pBaseVel[1]; pBasePos[2] += dt * pBaseVel[2]; @@ -1645,7 +1809,7 @@ void btMultiBody::stepPositionsMultiDof(btScalar dt, btScalar *pq, btScalar *pqd //pQuatUpdateFun(getBaseOmega(), m_baseQuat, true, dt); // - btScalar *pBaseQuat = pq ? pq : m_baseQuat; + btScalar *pBaseQuat = pq ? pq : m_baseQuat; btScalar *pBaseOmega = pqd ? pqd : &m_realBuf[0]; //note: the !pqd case assumes m_realBuf starts with base omega (should be wrapped for safety) // btQuaternion baseQuat; @@ -1670,7 +1834,9 @@ void btMultiBody::stepPositionsMultiDof(btScalar dt, btScalar *pq, btScalar *pqd // Finally we can update m_jointPos for each of the m_links for (int i = 0; i < num_links; ++i) { - btScalar *pJointPos = (pq ? pq : &m_links[i].m_jointPos[0]); + btScalar *pJointPos; + pJointPos= (pq ? pq : &m_links[i].m_jointPos[0]); + btScalar *pJointVel = (pqd ? pqd : getJointVelMultiDof(i)); switch (m_links[i].m_jointType) @@ -1678,12 +1844,14 @@ void btMultiBody::stepPositionsMultiDof(btScalar dt, btScalar *pq, btScalar *pqd case btMultibodyLink::ePrismatic: case btMultibodyLink::eRevolute: { + //reset to current pos btScalar jointVel = pJointVel[0]; pJointPos[0] += dt * jointVel; break; } case btMultibodyLink::eSpherical: { + //reset to current pos btVector3 jointVel; jointVel.setValue(pJointVel[0], pJointVel[1], pJointVel[2]); btQuaternion jointOri; @@ -1974,6 +2142,7 @@ void btMultiBody::updateCollisionObjectWorldTransforms(btAlignedObjectArray<btQu tr.setRotation(btQuaternion(quat[0], quat[1], quat[2], quat[3])); getBaseCollider()->setWorldTransform(tr); + getBaseCollider()->setInterpolationWorldTransform(tr); } for (int k = 0; k < getNumLinks(); k++) @@ -2002,10 +2171,62 @@ void btMultiBody::updateCollisionObjectWorldTransforms(btAlignedObjectArray<btQu tr.setRotation(btQuaternion(quat[0], quat[1], quat[2], quat[3])); col->setWorldTransform(tr); + col->setInterpolationWorldTransform(tr); } } } +void btMultiBody::updateCollisionObjectInterpolationWorldTransforms(btAlignedObjectArray<btQuaternion> &world_to_local, btAlignedObjectArray<btVector3> &local_origin) +{ + world_to_local.resize(getNumLinks() + 1); + local_origin.resize(getNumLinks() + 1); + + world_to_local[0] = getInterpolateWorldToBaseRot(); + local_origin[0] = getInterpolateBasePos(); + + if (getBaseCollider()) + { + btVector3 posr = local_origin[0]; + // float pos[4]={posr.x(),posr.y(),posr.z(),1}; + btScalar quat[4] = {-world_to_local[0].x(), -world_to_local[0].y(), -world_to_local[0].z(), world_to_local[0].w()}; + btTransform tr; + tr.setIdentity(); + tr.setOrigin(posr); + tr.setRotation(btQuaternion(quat[0], quat[1], quat[2], quat[3])); + + getBaseCollider()->setInterpolationWorldTransform(tr); + } + + for (int k = 0; k < getNumLinks(); k++) + { + const int parent = getParent(k); + world_to_local[k + 1] = getInterpolateParentToLocalRot(k) * world_to_local[parent + 1]; + local_origin[k + 1] = local_origin[parent + 1] + (quatRotate(world_to_local[k + 1].inverse(), getInterpolateRVector(k))); + } + + for (int m = 0; m < getNumLinks(); m++) + { + btMultiBodyLinkCollider *col = getLink(m).m_collider; + if (col) + { + int link = col->m_link; + btAssert(link == m); + + int index = link + 1; + + btVector3 posr = local_origin[index]; + // float pos[4]={posr.x(),posr.y(),posr.z(),1}; + btScalar quat[4] = {-world_to_local[index].x(), -world_to_local[index].y(), -world_to_local[index].z(), world_to_local[index].w()}; + btTransform tr; + tr.setIdentity(); + tr.setOrigin(posr); + tr.setRotation(btQuaternion(quat[0], quat[1], quat[2], quat[3])); + + col->setInterpolationWorldTransform(tr); + } + } +} + int btMultiBody::calculateSerializeBufferSize() const { int sz = sizeof(btMultiBodyData); diff --git a/thirdparty/bullet/BulletDynamics/Featherstone/btMultiBody.h b/thirdparty/bullet/BulletDynamics/Featherstone/btMultiBody.h index c0b0d003be..afed669a7b 100644 --- a/thirdparty/bullet/BulletDynamics/Featherstone/btMultiBody.h +++ b/thirdparty/bullet/BulletDynamics/Featherstone/btMultiBody.h @@ -193,12 +193,24 @@ public: const btQuaternion &getWorldToBaseRot() const { return m_baseQuat; - } // rotates world vectors into base frame + } + + const btVector3 &getInterpolateBasePos() const + { + return m_basePos_interpolate; + } // in world frame + const btQuaternion &getInterpolateWorldToBaseRot() const + { + return m_baseQuat_interpolate; + } + + // rotates world vectors into base frame btVector3 getBaseOmega() const { return btVector3(m_realBuf[0], m_realBuf[1], m_realBuf[2]); } // in world frame void setBasePos(const btVector3 &pos) { m_basePos = pos; + m_basePos_interpolate = pos; } void setBaseWorldTransform(const btTransform &tr) @@ -224,6 +236,7 @@ public: void setWorldToBaseRot(const btQuaternion &rot) { m_baseQuat = rot; //m_baseQuat asumed to ba alias!? + m_baseQuat_interpolate = rot; } void setBaseOmega(const btVector3 &omega) { @@ -260,6 +273,11 @@ public: { return &m_realBuf[0]; } + + const btScalar *getDeltaVelocityVector() const + { + return &m_deltaV[0]; + } /* btScalar * getVelocityVector() { return &real_buf[0]; @@ -273,6 +291,8 @@ public: const btVector3 &getRVector(int i) const; // vector from COM(parent(i)) to COM(i), in frame i's coords const btQuaternion &getParentToLocalRot(int i) const; // rotates vectors in frame parent(i) to vectors in frame i. + const btVector3 &getInterpolateRVector(int i) const; // vector from COM(parent(i)) to COM(i), in frame i's coords + const btQuaternion &getInterpolateParentToLocalRot(int i) const; // rotates vectors in frame parent(i) to vectors in frame i. // // transform vectors in local frame of link i to world frame (or vice versa) @@ -421,6 +441,9 @@ public: // timestep the positions (given current velocities). void stepPositionsMultiDof(btScalar dt, btScalar *pq = 0, btScalar *pqd = 0); + + // predict the positions + void predictPositionsMultiDof(btScalar dt); // // contacts @@ -581,6 +604,7 @@ public: void compTreeLinkVelocities(btVector3 * omega, btVector3 * vel) const; void updateCollisionObjectWorldTransforms(btAlignedObjectArray<btQuaternion> & world_to_local, btAlignedObjectArray<btVector3> & local_origin); + void updateCollisionObjectInterpolationWorldTransforms(btAlignedObjectArray<btQuaternion> & world_to_local, btAlignedObjectArray<btVector3> & local_origin); virtual int calculateSerializeBufferSize() const; @@ -664,7 +688,9 @@ private: const char *m_baseName; //memory needs to be manager by user! btVector3 m_basePos; // position of COM of base (world frame) + btVector3 m_basePos_interpolate; // position of interpolated COM of base (world frame) btQuaternion m_baseQuat; // rotates world points into base frame + btQuaternion m_baseQuat_interpolate; btScalar m_baseMass; // mass of the base btVector3 m_baseInertia; // inertia of the base (in local frame; diagonal) diff --git a/thirdparty/bullet/BulletDynamics/Featherstone/btMultiBodyConstraint.cpp b/thirdparty/bullet/BulletDynamics/Featherstone/btMultiBodyConstraint.cpp index e17ab94d98..d7ed05ce57 100644 --- a/thirdparty/bullet/BulletDynamics/Featherstone/btMultiBodyConstraint.cpp +++ b/thirdparty/bullet/BulletDynamics/Featherstone/btMultiBodyConstraint.cpp @@ -342,40 +342,6 @@ btScalar btMultiBodyConstraint::fillMultiBodyConstraint(btMultiBodySolverConstra solverConstraint.m_friction = 0.f; //cp.m_combinedFriction; } - ///warm starting (or zero if disabled) - /* - if (infoGlobal.m_solverMode & SOLVER_USE_WARMSTARTING) - { - solverConstraint.m_appliedImpulse = isFriction ? 0 : cp.m_appliedImpulse * infoGlobal.m_warmstartingFactor; - - if (solverConstraint.m_appliedImpulse) - { - if (multiBodyA) - { - btScalar impulse = solverConstraint.m_appliedImpulse; - btScalar* deltaV = &data.m_deltaVelocitiesUnitImpulse[solverConstraint.m_jacAindex]; - multiBodyA->applyDeltaVee(deltaV,impulse); - applyDeltaVee(data,deltaV,impulse,solverConstraint.m_deltaVelAindex,ndofA); - } else - { - if (rb0) - bodyA->internalApplyImpulse(solverConstraint.m_contactNormal1*bodyA->internalGetInvMass()*rb0->getLinearFactor(),solverConstraint.m_angularComponentA,solverConstraint.m_appliedImpulse); - } - if (multiBodyB) - { - btScalar impulse = solverConstraint.m_appliedImpulse; - btScalar* deltaV = &data.m_deltaVelocitiesUnitImpulse[solverConstraint.m_jacBindex]; - multiBodyB->applyDeltaVee(deltaV,impulse); - applyDeltaVee(data,deltaV,impulse,solverConstraint.m_deltaVelBindex,ndofB); - } else - { - if (rb1) - bodyB->internalApplyImpulse(-solverConstraint.m_contactNormal2*bodyB->internalGetInvMass()*rb1->getLinearFactor(),-solverConstraint.m_angularComponentB,-(btScalar)solverConstraint.m_appliedImpulse); - } - } - } else - */ - solverConstraint.m_appliedImpulse = 0.f; solverConstraint.m_appliedPushImpulse = 0.f; diff --git a/thirdparty/bullet/BulletDynamics/Featherstone/btMultiBodyConstraintSolver.cpp b/thirdparty/bullet/BulletDynamics/Featherstone/btMultiBodyConstraintSolver.cpp index 23e163f0e8..ffae5300f0 100644 --- a/thirdparty/bullet/BulletDynamics/Featherstone/btMultiBodyConstraintSolver.cpp +++ b/thirdparty/bullet/BulletDynamics/Featherstone/btMultiBodyConstraintSolver.cpp @@ -22,6 +22,8 @@ subject to the following restrictions: #include "BulletDynamics/ConstraintSolver/btContactSolverInfo.h" #include "LinearMath/btQuickprof.h" +#include "BulletDynamics/Featherstone/btMultiBodySolverConstraint.h" +#include "LinearMath/btScalar.h" btScalar btMultiBodyConstraintSolver::solveSingleIteration(int iteration, btCollisionObject** bodies, int numBodies, btPersistentManifold** manifoldPtr, int numManifolds, btTypedConstraint** constraints, int numConstraints, const btContactSolverInfo& infoGlobal, btIDebugDraw* debugDrawer) { @@ -491,11 +493,7 @@ btScalar btMultiBodyConstraintSolver::resolveConeFrictionConstraintRows(const bt return deltaVel; } -void btMultiBodyConstraintSolver::setupMultiBodyContactConstraint(btMultiBodySolverConstraint& solverConstraint, - const btVector3& contactNormal, - btManifoldPoint& cp, const btContactSolverInfo& infoGlobal, - btScalar& relaxation, - bool isFriction, btScalar desiredVelocity, btScalar cfmSlip) +void btMultiBodyConstraintSolver::setupMultiBodyContactConstraint(btMultiBodySolverConstraint& solverConstraint, const btVector3& contactNormal, const btScalar& appliedImpulse, btManifoldPoint& cp, const btContactSolverInfo& infoGlobal, btScalar& relaxation, bool isFriction, btScalar desiredVelocity, btScalar cfmSlip) { BT_PROFILE("setupMultiBodyContactConstraint"); btVector3 rel_pos1; @@ -781,48 +779,6 @@ void btMultiBodyConstraintSolver::setupMultiBodyContactConstraint(btMultiBodySol } } - ///warm starting (or zero if disabled) - //disable warmstarting for btMultiBody, it has issues gaining energy (==explosion) - if (0) //infoGlobal.m_solverMode & SOLVER_USE_WARMSTARTING) - { - solverConstraint.m_appliedImpulse = isFriction ? 0 : cp.m_appliedImpulse * infoGlobal.m_warmstartingFactor; - - if (solverConstraint.m_appliedImpulse) - { - if (multiBodyA) - { - btScalar impulse = solverConstraint.m_appliedImpulse; - btScalar* deltaV = &m_data.m_deltaVelocitiesUnitImpulse[solverConstraint.m_jacAindex]; - multiBodyA->applyDeltaVeeMultiDof(deltaV, impulse); - - applyDeltaVee(deltaV, impulse, solverConstraint.m_deltaVelAindex, ndofA); - } - else - { - if (rb0) - bodyA->internalApplyImpulse(solverConstraint.m_contactNormal1 * bodyA->internalGetInvMass() * rb0->getLinearFactor(), solverConstraint.m_angularComponentA, solverConstraint.m_appliedImpulse); - } - if (multiBodyB) - { - btScalar impulse = solverConstraint.m_appliedImpulse; - btScalar* deltaV = &m_data.m_deltaVelocitiesUnitImpulse[solverConstraint.m_jacBindex]; - multiBodyB->applyDeltaVeeMultiDof(deltaV, impulse); - applyDeltaVee(deltaV, impulse, solverConstraint.m_deltaVelBindex, ndofB); - } - else - { - if (rb1) - bodyB->internalApplyImpulse(-solverConstraint.m_contactNormal2 * bodyB->internalGetInvMass() * rb1->getLinearFactor(), -solverConstraint.m_angularComponentB, -(btScalar)solverConstraint.m_appliedImpulse); - } - } - } - else - { - solverConstraint.m_appliedImpulse = 0.f; - } - - solverConstraint.m_appliedPushImpulse = 0.f; - { btScalar positionalError = 0.f; btScalar velocityError = restitution - rel_vel; // * damping; //note for friction restitution is always set to 0 (check above) so it is acutally velocityError = -rel_vel for friction @@ -874,6 +830,54 @@ void btMultiBodyConstraintSolver::setupMultiBodyContactConstraint(btMultiBodySol solverConstraint.m_cfm = cfm * solverConstraint.m_jacDiagABInv; } + + if (infoGlobal.m_solverMode & SOLVER_USE_ARTICULATED_WARMSTARTING) + { + if (btFabs(cp.m_prevRHS) > 1e-5 && cp.m_prevRHS < 2* solverConstraint.m_rhs && solverConstraint.m_rhs < 2*cp.m_prevRHS) + { + solverConstraint.m_appliedImpulse = isFriction ? 0 : cp.m_appliedImpulse / cp.m_prevRHS * solverConstraint.m_rhs * infoGlobal.m_articulatedWarmstartingFactor; + if (solverConstraint.m_appliedImpulse < 0) + solverConstraint.m_appliedImpulse = 0; + } + else + { + solverConstraint.m_appliedImpulse = 0.f; + } + + if (solverConstraint.m_appliedImpulse) + { + if (multiBodyA) + { + btScalar impulse = solverConstraint.m_appliedImpulse; + btScalar* deltaV = &m_data.m_deltaVelocitiesUnitImpulse[solverConstraint.m_jacAindex]; + multiBodyA->applyDeltaVeeMultiDof2(deltaV, impulse); + + applyDeltaVee(deltaV, impulse, solverConstraint.m_deltaVelAindex, ndofA); + } + else + { + if (rb0) + bodyA->internalApplyImpulse(solverConstraint.m_contactNormal1 * bodyA->internalGetInvMass() * rb0->getLinearFactor(), solverConstraint.m_angularComponentA, solverConstraint.m_appliedImpulse); + } + if (multiBodyB) + { + btScalar impulse = solverConstraint.m_appliedImpulse; + btScalar* deltaV = &m_data.m_deltaVelocitiesUnitImpulse[solverConstraint.m_jacBindex]; + multiBodyB->applyDeltaVeeMultiDof2(deltaV, impulse); + applyDeltaVee(deltaV, impulse, solverConstraint.m_deltaVelBindex, ndofB); + } + else + { + if (rb1) + bodyB->internalApplyImpulse(-solverConstraint.m_contactNormal2 * bodyB->internalGetInvMass() * rb1->getLinearFactor(), -solverConstraint.m_angularComponentB, -(btScalar)solverConstraint.m_appliedImpulse); + } + } + } + else + { + solverConstraint.m_appliedImpulse = 0.f; + solverConstraint.m_appliedPushImpulse = 0.f; + } } void btMultiBodyConstraintSolver::setupMultiBodyTorsionalFrictionConstraint(btMultiBodySolverConstraint& solverConstraint, @@ -944,13 +948,13 @@ void btMultiBodyConstraintSolver::setupMultiBodyTorsionalFrictionConstraint(btMu btScalar* delta = &m_data.m_deltaVelocitiesUnitImpulse[solverConstraint.m_jacAindex]; multiBodyA->calcAccelerationDeltasMultiDof(&m_data.m_jacobians[solverConstraint.m_jacAindex], delta, m_data.scratch_r, m_data.scratch_v); - btVector3 torqueAxis0 = -constraintNormal; + btVector3 torqueAxis0 = constraintNormal; solverConstraint.m_relpos1CrossNormal = torqueAxis0; solverConstraint.m_contactNormal1 = btVector3(0, 0, 0); } else { - btVector3 torqueAxis0 = -constraintNormal; + btVector3 torqueAxis0 = constraintNormal; solverConstraint.m_relpos1CrossNormal = torqueAxis0; solverConstraint.m_contactNormal1 = btVector3(0, 0, 0); solverConstraint.m_angularComponentA = rb0 ? rb0->getInvInertiaTensorWorld() * torqueAxis0 * rb0->getAngularFactor() : btVector3(0, 0, 0); @@ -986,13 +990,13 @@ void btMultiBodyConstraintSolver::setupMultiBodyTorsionalFrictionConstraint(btMu multiBodyB->fillConstraintJacobianMultiDof(solverConstraint.m_linkB, cp.getPositionWorldOnB(), -constraintNormal, btVector3(0, 0, 0), &m_data.m_jacobians[solverConstraint.m_jacBindex], m_data.scratch_r, m_data.scratch_v, m_data.scratch_m); multiBodyB->calcAccelerationDeltasMultiDof(&m_data.m_jacobians[solverConstraint.m_jacBindex], &m_data.m_deltaVelocitiesUnitImpulse[solverConstraint.m_jacBindex], m_data.scratch_r, m_data.scratch_v); - btVector3 torqueAxis1 = constraintNormal; + btVector3 torqueAxis1 = -constraintNormal; solverConstraint.m_relpos2CrossNormal = torqueAxis1; solverConstraint.m_contactNormal2 = -btVector3(0, 0, 0); } else { - btVector3 torqueAxis1 = constraintNormal; + btVector3 torqueAxis1 = -constraintNormal; solverConstraint.m_relpos2CrossNormal = torqueAxis1; solverConstraint.m_contactNormal2 = -btVector3(0, 0, 0); @@ -1130,7 +1134,7 @@ void btMultiBodyConstraintSolver::setupMultiBodyTorsionalFrictionConstraint(btMu } } -btMultiBodySolverConstraint& btMultiBodyConstraintSolver::addMultiBodyFrictionConstraint(const btVector3& normalAxis, btPersistentManifold* manifold, int frictionIndex, btManifoldPoint& cp, btCollisionObject* colObj0, btCollisionObject* colObj1, btScalar relaxation, const btContactSolverInfo& infoGlobal, btScalar desiredVelocity, btScalar cfmSlip) +btMultiBodySolverConstraint& btMultiBodyConstraintSolver::addMultiBodyFrictionConstraint(const btVector3& normalAxis, const btScalar& appliedImpulse, btPersistentManifold* manifold, int frictionIndex, btManifoldPoint& cp, btCollisionObject* colObj0, btCollisionObject* colObj1, btScalar relaxation, const btContactSolverInfo& infoGlobal, btScalar desiredVelocity, btScalar cfmSlip) { BT_PROFILE("addMultiBodyFrictionConstraint"); btMultiBodySolverConstraint& solverConstraint = m_multiBodyFrictionContactConstraints.expandNonInitializing(); @@ -1161,7 +1165,7 @@ btMultiBodySolverConstraint& btMultiBodyConstraintSolver::addMultiBodyFrictionCo solverConstraint.m_originalContactPoint = &cp; - setupMultiBodyContactConstraint(solverConstraint, normalAxis, cp, infoGlobal, relaxation, isFriction, desiredVelocity, cfmSlip); + setupMultiBodyContactConstraint(solverConstraint, normalAxis, 0, cp, infoGlobal, relaxation, isFriction, desiredVelocity, cfmSlip); return solverConstraint; } @@ -1297,7 +1301,7 @@ void btMultiBodyConstraintSolver::convertMultiBodyContact(btPersistentManifold* solverConstraint.m_originalContactPoint = &cp; bool isFriction = false; - setupMultiBodyContactConstraint(solverConstraint, cp.m_normalWorldOnB, cp, infoGlobal, relaxation, isFriction); + setupMultiBodyContactConstraint(solverConstraint, cp.m_normalWorldOnB, cp.m_appliedImpulse, cp, infoGlobal, relaxation, isFriction); // const btVector3& pos1 = cp.getPositionWorldOnA(); // const btVector3& pos2 = cp.getPositionWorldOnB(); @@ -1371,13 +1375,13 @@ void btMultiBodyConstraintSolver::convertMultiBodyContact(btPersistentManifold* { applyAnisotropicFriction(colObj0, cp.m_lateralFrictionDir1, btCollisionObject::CF_ANISOTROPIC_FRICTION); applyAnisotropicFriction(colObj1, cp.m_lateralFrictionDir1, btCollisionObject::CF_ANISOTROPIC_FRICTION); - addMultiBodyFrictionConstraint(cp.m_lateralFrictionDir1, manifold, frictionIndex, cp, colObj0, colObj1, relaxation, infoGlobal); + addMultiBodyFrictionConstraint(cp.m_lateralFrictionDir1, cp.m_appliedImpulseLateral1, manifold, frictionIndex, cp, colObj0, colObj1, relaxation, infoGlobal); if ((infoGlobal.m_solverMode & SOLVER_USE_2_FRICTION_DIRECTIONS)) { applyAnisotropicFriction(colObj0, cp.m_lateralFrictionDir2, btCollisionObject::CF_ANISOTROPIC_FRICTION); applyAnisotropicFriction(colObj1, cp.m_lateralFrictionDir2, btCollisionObject::CF_ANISOTROPIC_FRICTION); - addMultiBodyFrictionConstraint(cp.m_lateralFrictionDir2, manifold, frictionIndex, cp, colObj0, colObj1, relaxation, infoGlobal); + addMultiBodyFrictionConstraint(cp.m_lateralFrictionDir2, cp.m_appliedImpulseLateral2, manifold, frictionIndex, cp, colObj0, colObj1, relaxation, infoGlobal); } if ((infoGlobal.m_solverMode & SOLVER_USE_2_FRICTION_DIRECTIONS) && (infoGlobal.m_solverMode & SOLVER_DISABLE_VELOCITY_DEPENDENT_FRICTION_DIRECTION)) @@ -1388,26 +1392,27 @@ void btMultiBodyConstraintSolver::convertMultiBodyContact(btPersistentManifold* } else { - addMultiBodyFrictionConstraint(cp.m_lateralFrictionDir1, manifold, frictionIndex, cp, colObj0, colObj1, relaxation, infoGlobal, cp.m_contactMotion1, cp.m_frictionCFM); + addMultiBodyFrictionConstraint(cp.m_lateralFrictionDir1, cp.m_appliedImpulseLateral1, manifold, frictionIndex, cp, colObj0, colObj1, relaxation, infoGlobal, cp.m_contactMotion1, cp.m_frictionCFM); if ((infoGlobal.m_solverMode & SOLVER_USE_2_FRICTION_DIRECTIONS)) - addMultiBodyFrictionConstraint(cp.m_lateralFrictionDir2, manifold, frictionIndex, cp, colObj0, colObj1, relaxation, infoGlobal, cp.m_contactMotion2, cp.m_frictionCFM); - - //setMultiBodyFrictionConstraintImpulse( solverConstraint, solverBodyIdA, solverBodyIdB, cp, infoGlobal); - //todo: + addMultiBodyFrictionConstraint(cp.m_lateralFrictionDir2, cp.m_appliedImpulseLateral2, manifold, frictionIndex, cp, colObj0, colObj1, relaxation, infoGlobal, cp.m_contactMotion2, cp.m_frictionCFM); solverConstraint.m_appliedImpulse = 0.f; solverConstraint.m_appliedPushImpulse = 0.f; - } + } #endif //ENABLE_FRICTION } + else + { + // Reset quantities related to warmstart as 0. + cp.m_appliedImpulse = 0; + cp.m_prevRHS = 0; + } } } void btMultiBodyConstraintSolver::convertContacts(btPersistentManifold** manifoldPtr, int numManifolds, const btContactSolverInfo& infoGlobal) { - //btPersistentManifold* manifold = 0; - for (int i = 0; i < numManifolds; i++) { btPersistentManifold* manifold = manifoldPtr[i]; @@ -1434,6 +1439,51 @@ void btMultiBodyConstraintSolver::convertContacts(btPersistentManifold** manifol c->createConstraintRows(m_multiBodyNonContactConstraints, m_data, infoGlobal); } + + // Warmstart for noncontact constraints + if (infoGlobal.m_solverMode & SOLVER_USE_ARTICULATED_WARMSTARTING) + { + for (int i = 0; i < m_multiBodyNonContactConstraints.size(); i++) + { + btMultiBodySolverConstraint& solverConstraint = + m_multiBodyNonContactConstraints[i]; + solverConstraint.m_appliedImpulse = + solverConstraint.m_orgConstraint->getAppliedImpulse(solverConstraint.m_orgDofIndex) * + infoGlobal.m_articulatedWarmstartingFactor; + + btMultiBody* multiBodyA = solverConstraint.m_multiBodyA; + btMultiBody* multiBodyB = solverConstraint.m_multiBodyB; + if (solverConstraint.m_appliedImpulse) + { + if (multiBodyA) + { + int ndofA = multiBodyA->getNumDofs() + 6; + btScalar* deltaV = + &m_data.m_deltaVelocitiesUnitImpulse[solverConstraint.m_jacAindex]; + btScalar impulse = solverConstraint.m_appliedImpulse; + multiBodyA->applyDeltaVeeMultiDof2(deltaV, impulse); + applyDeltaVee(deltaV, impulse, solverConstraint.m_deltaVelAindex, ndofA); + } + if (multiBodyB) + { + int ndofB = multiBodyB->getNumDofs() + 6; + btScalar* deltaV = + &m_data.m_deltaVelocitiesUnitImpulse[solverConstraint.m_jacBindex]; + btScalar impulse = solverConstraint.m_appliedImpulse; + multiBodyB->applyDeltaVeeMultiDof2(deltaV, impulse); + applyDeltaVee(deltaV, impulse, solverConstraint.m_deltaVelBindex, ndofB); + } + } + } + } + else + { + for (int i = 0; i < m_multiBodyNonContactConstraints.size(); i++) + { + btMultiBodySolverConstraint& solverConstraint = m_multiBodyNonContactConstraints[i]; + solverConstraint.m_appliedImpulse = 0; + } + } } btScalar btMultiBodyConstraintSolver::solveGroup(btCollisionObject** bodies, int numBodies, btPersistentManifold** manifold, int numManifolds, btTypedConstraint** constraints, int numConstraints, const btContactSolverInfo& info, btIDebugDraw* debugDrawer, btDispatcher* dispatcher) @@ -1556,7 +1606,7 @@ btScalar btMultiBodyConstraintSolver::solveGroupCacheFriendlyFinish(btCollisionO writeBackSolverBodyToMultiBody(solverConstraint, infoGlobal.m_timeStep); } - if (infoGlobal.m_solverMode & SOLVER_USE_WARMSTARTING) + { BT_PROFILE("warm starting write back"); for (int j = 0; j < numPoolConstraints; j++) @@ -1565,6 +1615,7 @@ btScalar btMultiBodyConstraintSolver::solveGroupCacheFriendlyFinish(btCollisionO btManifoldPoint* pt = (btManifoldPoint*)solverConstraint.m_originalContactPoint; btAssert(pt); pt->m_appliedImpulse = solverConstraint.m_appliedImpulse; + pt->m_prevRHS = solverConstraint.m_rhs; pt->m_appliedImpulseLateral1 = m_multiBodyFrictionContactConstraints[solverConstraint.m_frictionIndex].m_appliedImpulse; //printf("pt->m_appliedImpulseLateral1 = %f\n", pt->m_appliedImpulseLateral1); @@ -1576,9 +1627,8 @@ btScalar btMultiBodyConstraintSolver::solveGroupCacheFriendlyFinish(btCollisionO pt->m_appliedImpulseLateral2 = 0; } } - - //do a callback here? } + #if 0 //multibody joint feedback { diff --git a/thirdparty/bullet/BulletDynamics/Featherstone/btMultiBodyConstraintSolver.h b/thirdparty/bullet/BulletDynamics/Featherstone/btMultiBodyConstraintSolver.h index abf5718839..f584360e2b 100644 --- a/thirdparty/bullet/BulletDynamics/Featherstone/btMultiBodyConstraintSolver.h +++ b/thirdparty/bullet/BulletDynamics/Featherstone/btMultiBodyConstraintSolver.h @@ -49,7 +49,7 @@ protected: void convertContacts(btPersistentManifold * *manifoldPtr, int numManifolds, const btContactSolverInfo& infoGlobal); - btMultiBodySolverConstraint& addMultiBodyFrictionConstraint(const btVector3& normalAxis, btPersistentManifold* manifold, int frictionIndex, btManifoldPoint& cp, btCollisionObject* colObj0, btCollisionObject* colObj1, btScalar relaxation, const btContactSolverInfo& infoGlobal, btScalar desiredVelocity = 0, btScalar cfmSlip = 0); + btMultiBodySolverConstraint& addMultiBodyFrictionConstraint(const btVector3& normalAxis, const btScalar& appliedImpulse, btPersistentManifold* manifold, int frictionIndex, btManifoldPoint& cp, btCollisionObject* colObj0, btCollisionObject* colObj1, btScalar relaxation, const btContactSolverInfo& infoGlobal, btScalar desiredVelocity = 0, btScalar cfmSlip = 0); btMultiBodySolverConstraint& addMultiBodyTorsionalFrictionConstraint(const btVector3& normalAxis, btPersistentManifold* manifold, int frictionIndex, btManifoldPoint& cp, btScalar combinedTorsionalFriction, @@ -66,7 +66,9 @@ protected: void setupMultiBodyContactConstraint(btMultiBodySolverConstraint & solverConstraint, const btVector3& contactNormal, - btManifoldPoint& cp, const btContactSolverInfo& infoGlobal, + const btScalar& appliedImpulse, + btManifoldPoint& cp, + const btContactSolverInfo& infoGlobal, btScalar& relaxation, bool isFriction, btScalar desiredVelocity = 0, btScalar cfmSlip = 0); @@ -82,7 +84,6 @@ protected: void convertMultiBodyContact(btPersistentManifold * manifold, const btContactSolverInfo& infoGlobal); virtual btScalar solveGroupCacheFriendlySetup(btCollisionObject * *bodies, int numBodies, btPersistentManifold** manifoldPtr, int numManifolds, btTypedConstraint** constraints, int numConstraints, const btContactSolverInfo& infoGlobal, btIDebugDraw* debugDrawer); // virtual btScalar solveGroupCacheFriendlyIterations(btCollisionObject** bodies,int numBodies,btPersistentManifold** manifoldPtr, int numManifolds,btTypedConstraint** constraints,int numConstraints,const btContactSolverInfo& infoGlobal,btIDebugDraw* debugDrawer); - virtual btScalar solveSingleIteration(int iteration, btCollisionObject** bodies, int numBodies, btPersistentManifold** manifoldPtr, int numManifolds, btTypedConstraint** constraints, int numConstraints, const btContactSolverInfo& infoGlobal, btIDebugDraw* debugDrawer); void applyDeltaVee(btScalar * deltaV, btScalar impulse, int velocityIndex, int ndof); void writeBackSolverBodyToMultiBody(btMultiBodySolverConstraint & constraint, btScalar deltaTime); diff --git a/thirdparty/bullet/BulletDynamics/Featherstone/btMultiBodyDynamicsWorld.cpp b/thirdparty/bullet/BulletDynamics/Featherstone/btMultiBodyDynamicsWorld.cpp index 1131e5378c..cd1bad089e 100644 --- a/thirdparty/bullet/BulletDynamics/Featherstone/btMultiBodyDynamicsWorld.cpp +++ b/thirdparty/bullet/BulletDynamics/Featherstone/btMultiBodyDynamicsWorld.cpp @@ -33,6 +33,12 @@ void btMultiBodyDynamicsWorld::removeMultiBody(btMultiBody* body) m_multiBodies.remove(body); } +void btMultiBodyDynamicsWorld::predictUnconstraintMotion(btScalar timeStep) +{ + btDiscreteDynamicsWorld::predictUnconstraintMotion(timeStep); + predictMultiBodyTransforms(timeStep); + +} void btMultiBodyDynamicsWorld::calculateSimulationIslands() { BT_PROFILE("calculateSimulationIslands"); @@ -163,218 +169,6 @@ void btMultiBodyDynamicsWorld::updateActivationState(btScalar timeStep) btDiscreteDynamicsWorld::updateActivationState(timeStep); } -SIMD_FORCE_INLINE int btGetConstraintIslandId2(const btTypedConstraint* lhs) -{ - int islandId; - - const btCollisionObject& rcolObj0 = lhs->getRigidBodyA(); - const btCollisionObject& rcolObj1 = lhs->getRigidBodyB(); - islandId = rcolObj0.getIslandTag() >= 0 ? rcolObj0.getIslandTag() : rcolObj1.getIslandTag(); - return islandId; -} - -class btSortConstraintOnIslandPredicate2 -{ -public: - bool operator()(const btTypedConstraint* lhs, const btTypedConstraint* rhs) const - { - int rIslandId0, lIslandId0; - rIslandId0 = btGetConstraintIslandId2(rhs); - lIslandId0 = btGetConstraintIslandId2(lhs); - return lIslandId0 < rIslandId0; - } -}; - -SIMD_FORCE_INLINE int btGetMultiBodyConstraintIslandId(const btMultiBodyConstraint* lhs) -{ - int islandId; - - int islandTagA = lhs->getIslandIdA(); - int islandTagB = lhs->getIslandIdB(); - islandId = islandTagA >= 0 ? islandTagA : islandTagB; - return islandId; -} - -class btSortMultiBodyConstraintOnIslandPredicate -{ -public: - bool operator()(const btMultiBodyConstraint* lhs, const btMultiBodyConstraint* rhs) const - { - int rIslandId0, lIslandId0; - rIslandId0 = btGetMultiBodyConstraintIslandId(rhs); - lIslandId0 = btGetMultiBodyConstraintIslandId(lhs); - return lIslandId0 < rIslandId0; - } -}; - - -struct MultiBodyInplaceSolverIslandCallback : public btSimulationIslandManager::IslandCallback -{ - btContactSolverInfo* m_solverInfo; - btMultiBodyConstraintSolver* m_solver; - btMultiBodyConstraint** m_multiBodySortedConstraints; - int m_numMultiBodyConstraints; - - btTypedConstraint** m_sortedConstraints; - int m_numConstraints; - btIDebugDraw* m_debugDrawer; - btDispatcher* m_dispatcher; - - btAlignedObjectArray<btCollisionObject*> m_bodies; - btAlignedObjectArray<btPersistentManifold*> m_manifolds; - btAlignedObjectArray<btTypedConstraint*> m_constraints; - btAlignedObjectArray<btMultiBodyConstraint*> m_multiBodyConstraints; - - btAlignedObjectArray<btSolverAnalyticsData> m_islandAnalyticsData; - - MultiBodyInplaceSolverIslandCallback(btMultiBodyConstraintSolver* solver, - btDispatcher* dispatcher) - : m_solverInfo(NULL), - m_solver(solver), - m_multiBodySortedConstraints(NULL), - m_numConstraints(0), - m_debugDrawer(NULL), - m_dispatcher(dispatcher) - { - } - - MultiBodyInplaceSolverIslandCallback& operator=(const MultiBodyInplaceSolverIslandCallback& other) - { - btAssert(0); - (void)other; - return *this; - } - - SIMD_FORCE_INLINE void setup(btContactSolverInfo* solverInfo, btTypedConstraint** sortedConstraints, int numConstraints, btMultiBodyConstraint** sortedMultiBodyConstraints, int numMultiBodyConstraints, btIDebugDraw* debugDrawer) - { - m_islandAnalyticsData.clear(); - btAssert(solverInfo); - m_solverInfo = solverInfo; - - m_multiBodySortedConstraints = sortedMultiBodyConstraints; - m_numMultiBodyConstraints = numMultiBodyConstraints; - m_sortedConstraints = sortedConstraints; - m_numConstraints = numConstraints; - - m_debugDrawer = debugDrawer; - m_bodies.resize(0); - m_manifolds.resize(0); - m_constraints.resize(0); - m_multiBodyConstraints.resize(0); - } - - void setMultiBodyConstraintSolver(btMultiBodyConstraintSolver* solver) - { - m_solver = solver; - } - - virtual void processIsland(btCollisionObject** bodies, int numBodies, btPersistentManifold** manifolds, int numManifolds, int islandId) - { - if (islandId < 0) - { - ///we don't split islands, so all constraints/contact manifolds/bodies are passed into the solver regardless the island id - m_solver->solveMultiBodyGroup(bodies, numBodies, manifolds, numManifolds, m_sortedConstraints, m_numConstraints, &m_multiBodySortedConstraints[0], m_numConstraints, *m_solverInfo, m_debugDrawer, m_dispatcher); - if (m_solverInfo->m_reportSolverAnalytics&1) - { - m_solver->m_analyticsData.m_islandId = islandId; - m_islandAnalyticsData.push_back(m_solver->m_analyticsData); - } - } - else - { - //also add all non-contact constraints/joints for this island - btTypedConstraint** startConstraint = 0; - btMultiBodyConstraint** startMultiBodyConstraint = 0; - - int numCurConstraints = 0; - int numCurMultiBodyConstraints = 0; - - int i; - - //find the first constraint for this island - - for (i = 0; i < m_numConstraints; i++) - { - if (btGetConstraintIslandId2(m_sortedConstraints[i]) == islandId) - { - startConstraint = &m_sortedConstraints[i]; - break; - } - } - //count the number of constraints in this island - for (; i < m_numConstraints; i++) - { - if (btGetConstraintIslandId2(m_sortedConstraints[i]) == islandId) - { - numCurConstraints++; - } - } - - for (i = 0; i < m_numMultiBodyConstraints; i++) - { - if (btGetMultiBodyConstraintIslandId(m_multiBodySortedConstraints[i]) == islandId) - { - startMultiBodyConstraint = &m_multiBodySortedConstraints[i]; - break; - } - } - //count the number of multi body constraints in this island - for (; i < m_numMultiBodyConstraints; i++) - { - if (btGetMultiBodyConstraintIslandId(m_multiBodySortedConstraints[i]) == islandId) - { - numCurMultiBodyConstraints++; - } - } - - //if (m_solverInfo->m_minimumSolverBatchSize<=1) - //{ - // m_solver->solveGroup( bodies,numBodies,manifolds, numManifolds,startConstraint,numCurConstraints,*m_solverInfo,m_debugDrawer,m_dispatcher); - //} else - { - for (i = 0; i < numBodies; i++) - m_bodies.push_back(bodies[i]); - for (i = 0; i < numManifolds; i++) - m_manifolds.push_back(manifolds[i]); - for (i = 0; i < numCurConstraints; i++) - m_constraints.push_back(startConstraint[i]); - - for (i = 0; i < numCurMultiBodyConstraints; i++) - m_multiBodyConstraints.push_back(startMultiBodyConstraint[i]); - - if ((m_multiBodyConstraints.size() + m_constraints.size() + m_manifolds.size()) > m_solverInfo->m_minimumSolverBatchSize) - { - processConstraints(islandId); - } - else - { - //printf("deferred\n"); - } - } - } - } - void processConstraints(int islandId=-1) - { - btCollisionObject** bodies = m_bodies.size() ? &m_bodies[0] : 0; - btPersistentManifold** manifold = m_manifolds.size() ? &m_manifolds[0] : 0; - btTypedConstraint** constraints = m_constraints.size() ? &m_constraints[0] : 0; - btMultiBodyConstraint** multiBodyConstraints = m_multiBodyConstraints.size() ? &m_multiBodyConstraints[0] : 0; - - //printf("mb contacts = %d, mb constraints = %d\n", mbContacts, m_multiBodyConstraints.size()); - - m_solver->solveMultiBodyGroup(bodies, m_bodies.size(), manifold, m_manifolds.size(), constraints, m_constraints.size(), multiBodyConstraints, m_multiBodyConstraints.size(), *m_solverInfo, m_debugDrawer, m_dispatcher); - if (m_bodies.size() && (m_solverInfo->m_reportSolverAnalytics&1)) - { - m_solver->m_analyticsData.m_islandId = islandId; - m_islandAnalyticsData.push_back(m_solver->m_analyticsData); - } - m_bodies.resize(0); - m_manifolds.resize(0); - m_constraints.resize(0); - m_multiBodyConstraints.resize(0); - } -}; - void btMultiBodyDynamicsWorld::getAnalyticsData(btAlignedObjectArray<btSolverAnalyticsData>& islandAnalyticsData) const { islandAnalyticsData = m_solverMultiBodyIslandCallback->m_islandAnalyticsData; @@ -421,350 +215,364 @@ void btMultiBodyDynamicsWorld::forwardKinematics() } void btMultiBodyDynamicsWorld::solveConstraints(btContactSolverInfo& solverInfo) { - forwardKinematics(); - - BT_PROFILE("solveConstraints"); - - clearMultiBodyConstraintForces(); - - m_sortedConstraints.resize(m_constraints.size()); - int i; - for (i = 0; i < getNumConstraints(); i++) - { - m_sortedConstraints[i] = m_constraints[i]; - } - m_sortedConstraints.quickSort(btSortConstraintOnIslandPredicate2()); - btTypedConstraint** constraintsPtr = getNumConstraints() ? &m_sortedConstraints[0] : 0; - - m_sortedMultiBodyConstraints.resize(m_multiBodyConstraints.size()); - for (i = 0; i < m_multiBodyConstraints.size(); i++) - { - m_sortedMultiBodyConstraints[i] = m_multiBodyConstraints[i]; - } - m_sortedMultiBodyConstraints.quickSort(btSortMultiBodyConstraintOnIslandPredicate()); + solveExternalForces(solverInfo); + buildIslands(); + solveInternalConstraints(solverInfo); +} - btMultiBodyConstraint** sortedMultiBodyConstraints = m_sortedMultiBodyConstraints.size() ? &m_sortedMultiBodyConstraints[0] : 0; +void btMultiBodyDynamicsWorld::buildIslands() +{ + m_islandManager->buildAndProcessIslands(getCollisionWorld()->getDispatcher(), getCollisionWorld(), m_solverMultiBodyIslandCallback); +} - m_solverMultiBodyIslandCallback->setup(&solverInfo, constraintsPtr, m_sortedConstraints.size(), sortedMultiBodyConstraints, m_sortedMultiBodyConstraints.size(), getDebugDrawer()); - m_constraintSolver->prepareSolve(getCollisionWorld()->getNumCollisionObjects(), getCollisionWorld()->getDispatcher()->getNumManifolds()); +void btMultiBodyDynamicsWorld::solveInternalConstraints(btContactSolverInfo& solverInfo) +{ + /// solve all the constraints for this island + m_solverMultiBodyIslandCallback->processConstraints(); + m_constraintSolver->allSolved(solverInfo, m_debugDrawer); + { + BT_PROFILE("btMultiBody stepVelocities"); + for (int i = 0; i < this->m_multiBodies.size(); i++) + { + btMultiBody* bod = m_multiBodies[i]; + + bool isSleeping = false; + + if (bod->getBaseCollider() && bod->getBaseCollider()->getActivationState() == ISLAND_SLEEPING) + { + isSleeping = true; + } + for (int b = 0; b < bod->getNumLinks(); b++) + { + if (bod->getLink(b).m_collider && bod->getLink(b).m_collider->getActivationState() == ISLAND_SLEEPING) + isSleeping = true; + } + + if (!isSleeping) + { + //useless? they get resized in stepVelocities once again (AND DIFFERENTLY) + m_scratch_r.resize(bod->getNumLinks() + 1); //multidof? ("Y"s use it and it is used to store qdd) + m_scratch_v.resize(bod->getNumLinks() + 1); + m_scratch_m.resize(bod->getNumLinks() + 1); + + if (bod->internalNeedsJointFeedback()) + { + if (!bod->isUsingRK4Integration()) + { + if (bod->internalNeedsJointFeedback()) + { + bool isConstraintPass = true; + bod->computeAccelerationsArticulatedBodyAlgorithmMultiDof(solverInfo.m_timeStep, m_scratch_r, m_scratch_v, m_scratch_m, isConstraintPass, + getSolverInfo().m_jointFeedbackInWorldSpace, + getSolverInfo().m_jointFeedbackInJointFrame); + } + } + } + } + } + } + for (int i = 0; i < this->m_multiBodies.size(); i++) + { + btMultiBody* bod = m_multiBodies[i]; + bod->processDeltaVeeMultiDof2(); + } +} +void btMultiBodyDynamicsWorld::solveExternalForces(btContactSolverInfo& solverInfo) +{ + forwardKinematics(); + + BT_PROFILE("solveConstraints"); + + clearMultiBodyConstraintForces(); + + m_sortedConstraints.resize(m_constraints.size()); + int i; + for (i = 0; i < getNumConstraints(); i++) + { + m_sortedConstraints[i] = m_constraints[i]; + } + m_sortedConstraints.quickSort(btSortConstraintOnIslandPredicate2()); + btTypedConstraint** constraintsPtr = getNumConstraints() ? &m_sortedConstraints[0] : 0; + + m_sortedMultiBodyConstraints.resize(m_multiBodyConstraints.size()); + for (i = 0; i < m_multiBodyConstraints.size(); i++) + { + m_sortedMultiBodyConstraints[i] = m_multiBodyConstraints[i]; + } + m_sortedMultiBodyConstraints.quickSort(btSortMultiBodyConstraintOnIslandPredicate()); + + btMultiBodyConstraint** sortedMultiBodyConstraints = m_sortedMultiBodyConstraints.size() ? &m_sortedMultiBodyConstraints[0] : 0; + + m_solverMultiBodyIslandCallback->setup(&solverInfo, constraintsPtr, m_sortedConstraints.size(), sortedMultiBodyConstraints, m_sortedMultiBodyConstraints.size(), getDebugDrawer()); + m_constraintSolver->prepareSolve(getCollisionWorld()->getNumCollisionObjects(), getCollisionWorld()->getDispatcher()->getNumManifolds()); + #ifndef BT_USE_VIRTUAL_CLEARFORCES_AND_GRAVITY - { - BT_PROFILE("btMultiBody addForce"); - for (int i = 0; i < this->m_multiBodies.size(); i++) - { - btMultiBody* bod = m_multiBodies[i]; - - bool isSleeping = false; - - if (bod->getBaseCollider() && bod->getBaseCollider()->getActivationState() == ISLAND_SLEEPING) - { - isSleeping = true; - } - for (int b = 0; b < bod->getNumLinks(); b++) - { - if (bod->getLink(b).m_collider && bod->getLink(b).m_collider->getActivationState() == ISLAND_SLEEPING) - isSleeping = true; - } - - if (!isSleeping) - { - //useless? they get resized in stepVelocities once again (AND DIFFERENTLY) - m_scratch_r.resize(bod->getNumLinks() + 1); //multidof? ("Y"s use it and it is used to store qdd) - m_scratch_v.resize(bod->getNumLinks() + 1); - m_scratch_m.resize(bod->getNumLinks() + 1); - - bod->addBaseForce(m_gravity * bod->getBaseMass()); - - for (int j = 0; j < bod->getNumLinks(); ++j) - { - bod->addLinkForce(j, m_gravity * bod->getLinkMass(j)); - } - } //if (!isSleeping) - } - } + { + BT_PROFILE("btMultiBody addForce"); + for (int i = 0; i < this->m_multiBodies.size(); i++) + { + btMultiBody* bod = m_multiBodies[i]; + + bool isSleeping = false; + + if (bod->getBaseCollider() && bod->getBaseCollider()->getActivationState() == ISLAND_SLEEPING) + { + isSleeping = true; + } + for (int b = 0; b < bod->getNumLinks(); b++) + { + if (bod->getLink(b).m_collider && bod->getLink(b).m_collider->getActivationState() == ISLAND_SLEEPING) + isSleeping = true; + } + + if (!isSleeping) + { + //useless? they get resized in stepVelocities once again (AND DIFFERENTLY) + m_scratch_r.resize(bod->getNumLinks() + 1); //multidof? ("Y"s use it and it is used to store qdd) + m_scratch_v.resize(bod->getNumLinks() + 1); + m_scratch_m.resize(bod->getNumLinks() + 1); + + bod->addBaseForce(m_gravity * bod->getBaseMass()); + + for (int j = 0; j < bod->getNumLinks(); ++j) + { + bod->addLinkForce(j, m_gravity * bod->getLinkMass(j)); + } + } //if (!isSleeping) + } + } #endif //BT_USE_VIRTUAL_CLEARFORCES_AND_GRAVITY - - { - BT_PROFILE("btMultiBody stepVelocities"); - for (int i = 0; i < this->m_multiBodies.size(); i++) - { - btMultiBody* bod = m_multiBodies[i]; - - bool isSleeping = false; - - if (bod->getBaseCollider() && bod->getBaseCollider()->getActivationState() == ISLAND_SLEEPING) - { - isSleeping = true; - } - for (int b = 0; b < bod->getNumLinks(); b++) - { - if (bod->getLink(b).m_collider && bod->getLink(b).m_collider->getActivationState() == ISLAND_SLEEPING) - isSleeping = true; - } - - if (!isSleeping) - { - //useless? they get resized in stepVelocities once again (AND DIFFERENTLY) - m_scratch_r.resize(bod->getNumLinks() + 1); //multidof? ("Y"s use it and it is used to store qdd) - m_scratch_v.resize(bod->getNumLinks() + 1); - m_scratch_m.resize(bod->getNumLinks() + 1); - bool doNotUpdatePos = false; + + { + BT_PROFILE("btMultiBody stepVelocities"); + for (int i = 0; i < this->m_multiBodies.size(); i++) + { + btMultiBody* bod = m_multiBodies[i]; + + bool isSleeping = false; + + if (bod->getBaseCollider() && bod->getBaseCollider()->getActivationState() == ISLAND_SLEEPING) + { + isSleeping = true; + } + for (int b = 0; b < bod->getNumLinks(); b++) + { + if (bod->getLink(b).m_collider && bod->getLink(b).m_collider->getActivationState() == ISLAND_SLEEPING) + isSleeping = true; + } + + if (!isSleeping) + { + //useless? they get resized in stepVelocities once again (AND DIFFERENTLY) + m_scratch_r.resize(bod->getNumLinks() + 1); //multidof? ("Y"s use it and it is used to store qdd) + m_scratch_v.resize(bod->getNumLinks() + 1); + m_scratch_m.resize(bod->getNumLinks() + 1); + bool doNotUpdatePos = false; bool isConstraintPass = false; - { - if (!bod->isUsingRK4Integration()) - { - bod->computeAccelerationsArticulatedBodyAlgorithmMultiDof(solverInfo.m_timeStep, - m_scratch_r, m_scratch_v, m_scratch_m,isConstraintPass, - getSolverInfo().m_jointFeedbackInWorldSpace, - getSolverInfo().m_jointFeedbackInJointFrame); - } - else - { - // - int numDofs = bod->getNumDofs() + 6; - int numPosVars = bod->getNumPosVars() + 7; - btAlignedObjectArray<btScalar> scratch_r2; - scratch_r2.resize(2 * numPosVars + 8 * numDofs); - //convenience - btScalar* pMem = &scratch_r2[0]; - btScalar* scratch_q0 = pMem; - pMem += numPosVars; - btScalar* scratch_qx = pMem; - pMem += numPosVars; - btScalar* scratch_qd0 = pMem; - pMem += numDofs; - btScalar* scratch_qd1 = pMem; - pMem += numDofs; - btScalar* scratch_qd2 = pMem; - pMem += numDofs; - btScalar* scratch_qd3 = pMem; - pMem += numDofs; - btScalar* scratch_qdd0 = pMem; - pMem += numDofs; - btScalar* scratch_qdd1 = pMem; - pMem += numDofs; - btScalar* scratch_qdd2 = pMem; - pMem += numDofs; - btScalar* scratch_qdd3 = pMem; - pMem += numDofs; - btAssert((pMem - (2 * numPosVars + 8 * numDofs)) == &scratch_r2[0]); - - ///// - //copy q0 to scratch_q0 and qd0 to scratch_qd0 - scratch_q0[0] = bod->getWorldToBaseRot().x(); - scratch_q0[1] = bod->getWorldToBaseRot().y(); - scratch_q0[2] = bod->getWorldToBaseRot().z(); - scratch_q0[3] = bod->getWorldToBaseRot().w(); - scratch_q0[4] = bod->getBasePos().x(); - scratch_q0[5] = bod->getBasePos().y(); - scratch_q0[6] = bod->getBasePos().z(); - // - for (int link = 0; link < bod->getNumLinks(); ++link) - { - for (int dof = 0; dof < bod->getLink(link).m_posVarCount; ++dof) - scratch_q0[7 + bod->getLink(link).m_cfgOffset + dof] = bod->getLink(link).m_jointPos[dof]; - } - // - for (int dof = 0; dof < numDofs; ++dof) - scratch_qd0[dof] = bod->getVelocityVector()[dof]; - //// - struct - { - btMultiBody* bod; - btScalar *scratch_qx, *scratch_q0; - - void operator()() - { - for (int dof = 0; dof < bod->getNumPosVars() + 7; ++dof) - scratch_qx[dof] = scratch_q0[dof]; - } - } pResetQx = {bod, scratch_qx, scratch_q0}; - // - struct - { - void operator()(btScalar dt, const btScalar* pDer, const btScalar* pCurVal, btScalar* pVal, int size) - { - for (int i = 0; i < size; ++i) - pVal[i] = pCurVal[i] + dt * pDer[i]; - } - - } pEulerIntegrate; - // - struct - { - void operator()(btMultiBody* pBody, const btScalar* pData) - { - btScalar* pVel = const_cast<btScalar*>(pBody->getVelocityVector()); - - for (int i = 0; i < pBody->getNumDofs() + 6; ++i) - pVel[i] = pData[i]; - } - } pCopyToVelocityVector; - // - struct - { - void operator()(const btScalar* pSrc, btScalar* pDst, int start, int size) - { - for (int i = 0; i < size; ++i) - pDst[i] = pSrc[start + i]; - } - } pCopy; - // - - btScalar h = solverInfo.m_timeStep; + { + if (!bod->isUsingRK4Integration()) + { + bod->computeAccelerationsArticulatedBodyAlgorithmMultiDof(solverInfo.m_timeStep, + m_scratch_r, m_scratch_v, m_scratch_m,isConstraintPass, + getSolverInfo().m_jointFeedbackInWorldSpace, + getSolverInfo().m_jointFeedbackInJointFrame); + } + else + { + // + int numDofs = bod->getNumDofs() + 6; + int numPosVars = bod->getNumPosVars() + 7; + btAlignedObjectArray<btScalar> scratch_r2; + scratch_r2.resize(2 * numPosVars + 8 * numDofs); + //convenience + btScalar* pMem = &scratch_r2[0]; + btScalar* scratch_q0 = pMem; + pMem += numPosVars; + btScalar* scratch_qx = pMem; + pMem += numPosVars; + btScalar* scratch_qd0 = pMem; + pMem += numDofs; + btScalar* scratch_qd1 = pMem; + pMem += numDofs; + btScalar* scratch_qd2 = pMem; + pMem += numDofs; + btScalar* scratch_qd3 = pMem; + pMem += numDofs; + btScalar* scratch_qdd0 = pMem; + pMem += numDofs; + btScalar* scratch_qdd1 = pMem; + pMem += numDofs; + btScalar* scratch_qdd2 = pMem; + pMem += numDofs; + btScalar* scratch_qdd3 = pMem; + pMem += numDofs; + btAssert((pMem - (2 * numPosVars + 8 * numDofs)) == &scratch_r2[0]); + + ///// + //copy q0 to scratch_q0 and qd0 to scratch_qd0 + scratch_q0[0] = bod->getWorldToBaseRot().x(); + scratch_q0[1] = bod->getWorldToBaseRot().y(); + scratch_q0[2] = bod->getWorldToBaseRot().z(); + scratch_q0[3] = bod->getWorldToBaseRot().w(); + scratch_q0[4] = bod->getBasePos().x(); + scratch_q0[5] = bod->getBasePos().y(); + scratch_q0[6] = bod->getBasePos().z(); + // + for (int link = 0; link < bod->getNumLinks(); ++link) + { + for (int dof = 0; dof < bod->getLink(link).m_posVarCount; ++dof) + scratch_q0[7 + bod->getLink(link).m_cfgOffset + dof] = bod->getLink(link).m_jointPos[dof]; + } + // + for (int dof = 0; dof < numDofs; ++dof) + scratch_qd0[dof] = bod->getVelocityVector()[dof]; + //// + struct + { + btMultiBody* bod; + btScalar *scratch_qx, *scratch_q0; + + void operator()() + { + for (int dof = 0; dof < bod->getNumPosVars() + 7; ++dof) + scratch_qx[dof] = scratch_q0[dof]; + } + } pResetQx = {bod, scratch_qx, scratch_q0}; + // + struct + { + void operator()(btScalar dt, const btScalar* pDer, const btScalar* pCurVal, btScalar* pVal, int size) + { + for (int i = 0; i < size; ++i) + pVal[i] = pCurVal[i] + dt * pDer[i]; + } + + } pEulerIntegrate; + // + struct + { + void operator()(btMultiBody* pBody, const btScalar* pData) + { + btScalar* pVel = const_cast<btScalar*>(pBody->getVelocityVector()); + + for (int i = 0; i < pBody->getNumDofs() + 6; ++i) + pVel[i] = pData[i]; + } + } pCopyToVelocityVector; + // + struct + { + void operator()(const btScalar* pSrc, btScalar* pDst, int start, int size) + { + for (int i = 0; i < size; ++i) + pDst[i] = pSrc[start + i]; + } + } pCopy; + // + + btScalar h = solverInfo.m_timeStep; #define output &m_scratch_r[bod->getNumDofs()] - //calc qdd0 from: q0 & qd0 - bod->computeAccelerationsArticulatedBodyAlgorithmMultiDof(0., m_scratch_r, m_scratch_v, m_scratch_m, - isConstraintPass,getSolverInfo().m_jointFeedbackInWorldSpace, - getSolverInfo().m_jointFeedbackInJointFrame); - pCopy(output, scratch_qdd0, 0, numDofs); - //calc q1 = q0 + h/2 * qd0 - pResetQx(); - bod->stepPositionsMultiDof(btScalar(.5) * h, scratch_qx, scratch_qd0); - //calc qd1 = qd0 + h/2 * qdd0 - pEulerIntegrate(btScalar(.5) * h, scratch_qdd0, scratch_qd0, scratch_qd1, numDofs); - // - //calc qdd1 from: q1 & qd1 - pCopyToVelocityVector(bod, scratch_qd1); - bod->computeAccelerationsArticulatedBodyAlgorithmMultiDof(0., m_scratch_r, m_scratch_v, m_scratch_m, - isConstraintPass,getSolverInfo().m_jointFeedbackInWorldSpace, - getSolverInfo().m_jointFeedbackInJointFrame); - pCopy(output, scratch_qdd1, 0, numDofs); - //calc q2 = q0 + h/2 * qd1 - pResetQx(); - bod->stepPositionsMultiDof(btScalar(.5) * h, scratch_qx, scratch_qd1); - //calc qd2 = qd0 + h/2 * qdd1 - pEulerIntegrate(btScalar(.5) * h, scratch_qdd1, scratch_qd0, scratch_qd2, numDofs); - // - //calc qdd2 from: q2 & qd2 - pCopyToVelocityVector(bod, scratch_qd2); - bod->computeAccelerationsArticulatedBodyAlgorithmMultiDof(0., m_scratch_r, m_scratch_v, m_scratch_m, - isConstraintPass,getSolverInfo().m_jointFeedbackInWorldSpace, - getSolverInfo().m_jointFeedbackInJointFrame); - pCopy(output, scratch_qdd2, 0, numDofs); - //calc q3 = q0 + h * qd2 - pResetQx(); - bod->stepPositionsMultiDof(h, scratch_qx, scratch_qd2); - //calc qd3 = qd0 + h * qdd2 - pEulerIntegrate(h, scratch_qdd2, scratch_qd0, scratch_qd3, numDofs); - // - //calc qdd3 from: q3 & qd3 - pCopyToVelocityVector(bod, scratch_qd3); - bod->computeAccelerationsArticulatedBodyAlgorithmMultiDof(0., m_scratch_r, m_scratch_v, m_scratch_m, - isConstraintPass,getSolverInfo().m_jointFeedbackInWorldSpace, - getSolverInfo().m_jointFeedbackInJointFrame); - pCopy(output, scratch_qdd3, 0, numDofs); - - // - //calc q = q0 + h/6(qd0 + 2*(qd1 + qd2) + qd3) - //calc qd = qd0 + h/6(qdd0 + 2*(qdd1 + qdd2) + qdd3) - btAlignedObjectArray<btScalar> delta_q; - delta_q.resize(numDofs); - btAlignedObjectArray<btScalar> delta_qd; - delta_qd.resize(numDofs); - for (int i = 0; i < numDofs; ++i) - { - delta_q[i] = h / btScalar(6.) * (scratch_qd0[i] + 2 * scratch_qd1[i] + 2 * scratch_qd2[i] + scratch_qd3[i]); - delta_qd[i] = h / btScalar(6.) * (scratch_qdd0[i] + 2 * scratch_qdd1[i] + 2 * scratch_qdd2[i] + scratch_qdd3[i]); - //delta_q[i] = h*scratch_qd0[i]; - //delta_qd[i] = h*scratch_qdd0[i]; - } - // - pCopyToVelocityVector(bod, scratch_qd0); - bod->applyDeltaVeeMultiDof(&delta_qd[0], 1); - // - if (!doNotUpdatePos) - { - btScalar* pRealBuf = const_cast<btScalar*>(bod->getVelocityVector()); - pRealBuf += 6 + bod->getNumDofs() + bod->getNumDofs() * bod->getNumDofs(); - - for (int i = 0; i < numDofs; ++i) - pRealBuf[i] = delta_q[i]; - - //bod->stepPositionsMultiDof(1, 0, &delta_q[0]); - bod->setPosUpdated(true); - } - - //ugly hack which resets the cached data to t0 (needed for constraint solver) - { - for (int link = 0; link < bod->getNumLinks(); ++link) - bod->getLink(link).updateCacheMultiDof(); - bod->computeAccelerationsArticulatedBodyAlgorithmMultiDof(0, m_scratch_r, m_scratch_v, m_scratch_m, - isConstraintPass,getSolverInfo().m_jointFeedbackInWorldSpace, - getSolverInfo().m_jointFeedbackInJointFrame); - } - } - } - + //calc qdd0 from: q0 & qd0 + bod->computeAccelerationsArticulatedBodyAlgorithmMultiDof(0., m_scratch_r, m_scratch_v, m_scratch_m, + isConstraintPass,getSolverInfo().m_jointFeedbackInWorldSpace, + getSolverInfo().m_jointFeedbackInJointFrame); + pCopy(output, scratch_qdd0, 0, numDofs); + //calc q1 = q0 + h/2 * qd0 + pResetQx(); + bod->stepPositionsMultiDof(btScalar(.5) * h, scratch_qx, scratch_qd0); + //calc qd1 = qd0 + h/2 * qdd0 + pEulerIntegrate(btScalar(.5) * h, scratch_qdd0, scratch_qd0, scratch_qd1, numDofs); + // + //calc qdd1 from: q1 & qd1 + pCopyToVelocityVector(bod, scratch_qd1); + bod->computeAccelerationsArticulatedBodyAlgorithmMultiDof(0., m_scratch_r, m_scratch_v, m_scratch_m, + isConstraintPass,getSolverInfo().m_jointFeedbackInWorldSpace, + getSolverInfo().m_jointFeedbackInJointFrame); + pCopy(output, scratch_qdd1, 0, numDofs); + //calc q2 = q0 + h/2 * qd1 + pResetQx(); + bod->stepPositionsMultiDof(btScalar(.5) * h, scratch_qx, scratch_qd1); + //calc qd2 = qd0 + h/2 * qdd1 + pEulerIntegrate(btScalar(.5) * h, scratch_qdd1, scratch_qd0, scratch_qd2, numDofs); + // + //calc qdd2 from: q2 & qd2 + pCopyToVelocityVector(bod, scratch_qd2); + bod->computeAccelerationsArticulatedBodyAlgorithmMultiDof(0., m_scratch_r, m_scratch_v, m_scratch_m, + isConstraintPass,getSolverInfo().m_jointFeedbackInWorldSpace, + getSolverInfo().m_jointFeedbackInJointFrame); + pCopy(output, scratch_qdd2, 0, numDofs); + //calc q3 = q0 + h * qd2 + pResetQx(); + bod->stepPositionsMultiDof(h, scratch_qx, scratch_qd2); + //calc qd3 = qd0 + h * qdd2 + pEulerIntegrate(h, scratch_qdd2, scratch_qd0, scratch_qd3, numDofs); + // + //calc qdd3 from: q3 & qd3 + pCopyToVelocityVector(bod, scratch_qd3); + bod->computeAccelerationsArticulatedBodyAlgorithmMultiDof(0., m_scratch_r, m_scratch_v, m_scratch_m, + isConstraintPass,getSolverInfo().m_jointFeedbackInWorldSpace, + getSolverInfo().m_jointFeedbackInJointFrame); + pCopy(output, scratch_qdd3, 0, numDofs); + + // + //calc q = q0 + h/6(qd0 + 2*(qd1 + qd2) + qd3) + //calc qd = qd0 + h/6(qdd0 + 2*(qdd1 + qdd2) + qdd3) + btAlignedObjectArray<btScalar> delta_q; + delta_q.resize(numDofs); + btAlignedObjectArray<btScalar> delta_qd; + delta_qd.resize(numDofs); + for (int i = 0; i < numDofs; ++i) + { + delta_q[i] = h / btScalar(6.) * (scratch_qd0[i] + 2 * scratch_qd1[i] + 2 * scratch_qd2[i] + scratch_qd3[i]); + delta_qd[i] = h / btScalar(6.) * (scratch_qdd0[i] + 2 * scratch_qdd1[i] + 2 * scratch_qdd2[i] + scratch_qdd3[i]); + //delta_q[i] = h*scratch_qd0[i]; + //delta_qd[i] = h*scratch_qdd0[i]; + } + // + pCopyToVelocityVector(bod, scratch_qd0); + bod->applyDeltaVeeMultiDof(&delta_qd[0], 1); + // + if (!doNotUpdatePos) + { + btScalar* pRealBuf = const_cast<btScalar*>(bod->getVelocityVector()); + pRealBuf += 6 + bod->getNumDofs() + bod->getNumDofs() * bod->getNumDofs(); + + for (int i = 0; i < numDofs; ++i) + pRealBuf[i] = delta_q[i]; + + //bod->stepPositionsMultiDof(1, 0, &delta_q[0]); + bod->setPosUpdated(true); + } + + //ugly hack which resets the cached data to t0 (needed for constraint solver) + { + for (int link = 0; link < bod->getNumLinks(); ++link) + bod->getLink(link).updateCacheMultiDof(); + bod->computeAccelerationsArticulatedBodyAlgorithmMultiDof(0, m_scratch_r, m_scratch_v, m_scratch_m, + isConstraintPass,getSolverInfo().m_jointFeedbackInWorldSpace, + getSolverInfo().m_jointFeedbackInJointFrame); + } + } + } + #ifndef BT_USE_VIRTUAL_CLEARFORCES_AND_GRAVITY - bod->clearForcesAndTorques(); + bod->clearForcesAndTorques(); #endif //BT_USE_VIRTUAL_CLEARFORCES_AND_GRAVITY - } //if (!isSleeping) - } - } - - /// solve all the constraints for this island - m_islandManager->buildAndProcessIslands(getCollisionWorld()->getDispatcher(), getCollisionWorld(), m_solverMultiBodyIslandCallback); - - m_solverMultiBodyIslandCallback->processConstraints(); - - m_constraintSolver->allSolved(solverInfo, m_debugDrawer); - - { - BT_PROFILE("btMultiBody stepVelocities"); - for (int i = 0; i < this->m_multiBodies.size(); i++) - { - btMultiBody* bod = m_multiBodies[i]; - - bool isSleeping = false; - - if (bod->getBaseCollider() && bod->getBaseCollider()->getActivationState() == ISLAND_SLEEPING) - { - isSleeping = true; - } - for (int b = 0; b < bod->getNumLinks(); b++) - { - if (bod->getLink(b).m_collider && bod->getLink(b).m_collider->getActivationState() == ISLAND_SLEEPING) - isSleeping = true; - } - - if (!isSleeping) - { - //useless? they get resized in stepVelocities once again (AND DIFFERENTLY) - m_scratch_r.resize(bod->getNumLinks() + 1); //multidof? ("Y"s use it and it is used to store qdd) - m_scratch_v.resize(bod->getNumLinks() + 1); - m_scratch_m.resize(bod->getNumLinks() + 1); - - if (bod->internalNeedsJointFeedback()) - { - if (!bod->isUsingRK4Integration()) - { - if (bod->internalNeedsJointFeedback()) - { - bool isConstraintPass = true; - bod->computeAccelerationsArticulatedBodyAlgorithmMultiDof(solverInfo.m_timeStep, m_scratch_r, m_scratch_v, m_scratch_m, isConstraintPass, - getSolverInfo().m_jointFeedbackInWorldSpace, - getSolverInfo().m_jointFeedbackInJointFrame); - } - } - } - } - } - } - - for (int i = 0; i < this->m_multiBodies.size(); i++) - { - btMultiBody* bod = m_multiBodies[i]; - bod->processDeltaVeeMultiDof2(); - } + } //if (!isSleeping) + } + } } + void btMultiBodyDynamicsWorld::integrateTransforms(btScalar timeStep) { btDiscreteDynamicsWorld::integrateTransforms(timeStep); + integrateMultiBodyTransforms(timeStep); +} - { +void btMultiBodyDynamicsWorld::integrateMultiBodyTransforms(btScalar timeStep) +{ BT_PROFILE("btMultiBody stepPositions"); //integrate and update the Featherstone hierarchies @@ -787,31 +595,61 @@ void btMultiBodyDynamicsWorld::integrateTransforms(btScalar timeStep) int nLinks = bod->getNumLinks(); ///base + num m_links + if (!bod->isPosUpdated()) + bod->stepPositionsMultiDof(timeStep); + else + { + btScalar* pRealBuf = const_cast<btScalar*>(bod->getVelocityVector()); + pRealBuf += 6 + bod->getNumDofs() + bod->getNumDofs() * bod->getNumDofs(); - { - if (!bod->isPosUpdated()) - bod->stepPositionsMultiDof(timeStep); - else - { - btScalar* pRealBuf = const_cast<btScalar*>(bod->getVelocityVector()); - pRealBuf += 6 + bod->getNumDofs() + bod->getNumDofs() * bod->getNumDofs(); + bod->stepPositionsMultiDof(1, 0, pRealBuf); + bod->setPosUpdated(false); + } - bod->stepPositionsMultiDof(1, 0, pRealBuf); - bod->setPosUpdated(false); - } - } m_scratch_world_to_local.resize(nLinks + 1); m_scratch_local_origin.resize(nLinks + 1); - - bod->updateCollisionObjectWorldTransforms(m_scratch_world_to_local, m_scratch_local_origin); + bod->updateCollisionObjectWorldTransforms(m_scratch_world_to_local, m_scratch_local_origin); } else { bod->clearVelocities(); } } - } +} + +void btMultiBodyDynamicsWorld::predictMultiBodyTransforms(btScalar timeStep) +{ + BT_PROFILE("btMultiBody stepPositions"); + //integrate and update the Featherstone hierarchies + + for (int b = 0; b < m_multiBodies.size(); b++) + { + btMultiBody* bod = m_multiBodies[b]; + bool isSleeping = false; + if (bod->getBaseCollider() && bod->getBaseCollider()->getActivationState() == ISLAND_SLEEPING) + { + isSleeping = true; + } + for (int b = 0; b < bod->getNumLinks(); b++) + { + if (bod->getLink(b).m_collider && bod->getLink(b).m_collider->getActivationState() == ISLAND_SLEEPING) + isSleeping = true; + } + + if (!isSleeping) + { + int nLinks = bod->getNumLinks(); + bod->predictPositionsMultiDof(timeStep); + m_scratch_world_to_local.resize(nLinks + 1); + m_scratch_local_origin.resize(nLinks + 1); + bod->updateCollisionObjectInterpolationWorldTransforms(m_scratch_world_to_local, m_scratch_local_origin); + } + else + { + bod->clearVelocities(); + } + } } void btMultiBodyDynamicsWorld::addMultiBodyConstraint(btMultiBodyConstraint* constraint) @@ -1029,3 +867,8 @@ void btMultiBodyDynamicsWorld::serializeMultiBodies(btSerializer* serializer) } } } +// +//void btMultiBodyDynamicsWorld::setSplitIslands(bool split) +//{ +// m_islandManager->setSplitIslands(split); +//} diff --git a/thirdparty/bullet/BulletDynamics/Featherstone/btMultiBodyDynamicsWorld.h b/thirdparty/bullet/BulletDynamics/Featherstone/btMultiBodyDynamicsWorld.h index e36c2f7aad..9ac46f4b64 100644 --- a/thirdparty/bullet/BulletDynamics/Featherstone/btMultiBodyDynamicsWorld.h +++ b/thirdparty/bullet/BulletDynamics/Featherstone/btMultiBodyDynamicsWorld.h @@ -17,6 +17,7 @@ subject to the following restrictions: #define BT_MULTIBODY_DYNAMICS_WORLD_H #include "BulletDynamics/Dynamics/btDiscreteDynamicsWorld.h" +#include "BulletDynamics/Featherstone/btMultiBodyInplaceSolverIslandCallback.h" #define BT_USE_VIRTUAL_CLEARFORCES_AND_GRAVITY @@ -47,7 +48,7 @@ protected: virtual void calculateSimulationIslands(); virtual void updateActivationState(btScalar timeStep); - virtual void solveConstraints(btContactSolverInfo& solverInfo); + virtual void serializeMultiBodies(btSerializer* serializer); @@ -55,7 +56,9 @@ public: btMultiBodyDynamicsWorld(btDispatcher* dispatcher, btBroadphaseInterface* pairCache, btMultiBodyConstraintSolver* constraintSolver, btCollisionConfiguration* collisionConfiguration); virtual ~btMultiBodyDynamicsWorld(); - + + virtual void solveConstraints(btContactSolverInfo& solverInfo); + virtual void addMultiBody(btMultiBody* body, int group = btBroadphaseProxy::DefaultFilter, int mask = btBroadphaseProxy::AllFilter); virtual void removeMultiBody(btMultiBody* body); @@ -95,7 +98,10 @@ public: virtual void removeMultiBodyConstraint(btMultiBodyConstraint* constraint); virtual void integrateTransforms(btScalar timeStep); - + void integrateMultiBodyTransforms(btScalar timeStep); + void predictMultiBodyTransforms(btScalar timeStep); + + virtual void predictUnconstraintMotion(btScalar timeStep); virtual void debugDrawWorld(); virtual void debugDrawMultiBodyConstraint(btMultiBodyConstraint* constraint); @@ -110,6 +116,9 @@ public: virtual void setMultiBodyConstraintSolver(btMultiBodyConstraintSolver* solver); virtual void setConstraintSolver(btConstraintSolver* solver); virtual void getAnalyticsData(btAlignedObjectArray<struct btSolverAnalyticsData>& m_islandAnalyticsData) const; - + + virtual void solveExternalForces(btContactSolverInfo& solverInfo); + virtual void solveInternalConstraints(btContactSolverInfo& solverInfo); + void buildIslands(); }; #endif //BT_MULTIBODY_DYNAMICS_WORLD_H diff --git a/thirdparty/bullet/BulletDynamics/Featherstone/btMultiBodyInplaceSolverIslandCallback.h b/thirdparty/bullet/BulletDynamics/Featherstone/btMultiBodyInplaceSolverIslandCallback.h new file mode 100644 index 0000000000..3169b86e61 --- /dev/null +++ b/thirdparty/bullet/BulletDynamics/Featherstone/btMultiBodyInplaceSolverIslandCallback.h @@ -0,0 +1,247 @@ +/* + Bullet Continuous Collision Detection and Physics Library + Copyright (c) 2019 Google Inc. 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. + */ + +#ifndef BT_MULTIBODY_INPLACE_SOLVER_ISLAND_CALLBACK_H +#define BT_MULTIBODY_INPLACE_SOLVER_ISLAND_CALLBACK_H + +#include "BulletDynamics/Featherstone/btMultiBodyConstraintSolver.h" +#include "BulletCollision/CollisionDispatch/btSimulationIslandManager.h" +#include "BulletDynamics/Featherstone/btMultiBodyDynamicsWorld.h" +#include "btMultiBodyConstraintSolver.h" + +SIMD_FORCE_INLINE int btGetConstraintIslandId2(const btTypedConstraint* lhs) +{ + int islandId; + + const btCollisionObject& rcolObj0 = lhs->getRigidBodyA(); + const btCollisionObject& rcolObj1 = lhs->getRigidBodyB(); + islandId = rcolObj0.getIslandTag() >= 0 ? rcolObj0.getIslandTag() : rcolObj1.getIslandTag(); + return islandId; +} +class btSortConstraintOnIslandPredicate2 +{ +public: + bool operator()(const btTypedConstraint* lhs, const btTypedConstraint* rhs) const + { + int rIslandId0, lIslandId0; + rIslandId0 = btGetConstraintIslandId2(rhs); + lIslandId0 = btGetConstraintIslandId2(lhs); + return lIslandId0 < rIslandId0; + } +}; + +SIMD_FORCE_INLINE int btGetMultiBodyConstraintIslandId(const btMultiBodyConstraint* lhs) +{ + int islandId; + + int islandTagA = lhs->getIslandIdA(); + int islandTagB = lhs->getIslandIdB(); + islandId = islandTagA >= 0 ? islandTagA : islandTagB; + return islandId; +} + +class btSortMultiBodyConstraintOnIslandPredicate +{ +public: + bool operator()(const btMultiBodyConstraint* lhs, const btMultiBodyConstraint* rhs) const + { + int rIslandId0, lIslandId0; + rIslandId0 = btGetMultiBodyConstraintIslandId(rhs); + lIslandId0 = btGetMultiBodyConstraintIslandId(lhs); + return lIslandId0 < rIslandId0; + } +}; + +struct MultiBodyInplaceSolverIslandCallback : public btSimulationIslandManager::IslandCallback +{ + + btContactSolverInfo* m_solverInfo; + btMultiBodyConstraintSolver* m_solver; + btMultiBodyConstraint** m_multiBodySortedConstraints; + int m_numMultiBodyConstraints; + + btTypedConstraint** m_sortedConstraints; + int m_numConstraints; + btIDebugDraw* m_debugDrawer; + btDispatcher* m_dispatcher; + + btAlignedObjectArray<btCollisionObject*> m_bodies; + btAlignedObjectArray<btCollisionObject*> m_softBodies; + btAlignedObjectArray<btPersistentManifold*> m_manifolds; + btAlignedObjectArray<btTypedConstraint*> m_constraints; + btAlignedObjectArray<btMultiBodyConstraint*> m_multiBodyConstraints; + + btAlignedObjectArray<btSolverAnalyticsData> m_islandAnalyticsData; + + MultiBodyInplaceSolverIslandCallback(btMultiBodyConstraintSolver* solver, + btDispatcher* dispatcher) + : m_solverInfo(NULL), + m_solver(solver), + m_multiBodySortedConstraints(NULL), + m_numConstraints(0), + m_debugDrawer(NULL), + m_dispatcher(dispatcher) + { + } + + MultiBodyInplaceSolverIslandCallback& operator=(const MultiBodyInplaceSolverIslandCallback& other) + { + btAssert(0); + (void)other; + return *this; + } + + SIMD_FORCE_INLINE virtual void setup(btContactSolverInfo* solverInfo, btTypedConstraint** sortedConstraints, int numConstraints, btMultiBodyConstraint** sortedMultiBodyConstraints, int numMultiBodyConstraints, btIDebugDraw* debugDrawer) + { + m_islandAnalyticsData.clear(); + btAssert(solverInfo); + m_solverInfo = solverInfo; + + m_multiBodySortedConstraints = sortedMultiBodyConstraints; + m_numMultiBodyConstraints = numMultiBodyConstraints; + m_sortedConstraints = sortedConstraints; + m_numConstraints = numConstraints; + + m_debugDrawer = debugDrawer; + m_bodies.resize(0); + m_manifolds.resize(0); + m_constraints.resize(0); + m_multiBodyConstraints.resize(0); + } + + void setMultiBodyConstraintSolver(btMultiBodyConstraintSolver* solver) + { + m_solver = solver; + } + + virtual void processIsland(btCollisionObject** bodies, int numBodies, btPersistentManifold** manifolds, int numManifolds, int islandId) + { + if (islandId < 0) + { + ///we don't split islands, so all constraints/contact manifolds/bodies are passed into the solver regardless the island id + m_solver->solveMultiBodyGroup(bodies, numBodies, manifolds, numManifolds, m_sortedConstraints, m_numConstraints, &m_multiBodySortedConstraints[0], m_numConstraints, *m_solverInfo, m_debugDrawer, m_dispatcher); + if (m_solverInfo->m_reportSolverAnalytics&1) + { + m_solver->m_analyticsData.m_islandId = islandId; + m_islandAnalyticsData.push_back(m_solver->m_analyticsData); + } + } + else + { + //also add all non-contact constraints/joints for this island + btTypedConstraint** startConstraint = 0; + btMultiBodyConstraint** startMultiBodyConstraint = 0; + + int numCurConstraints = 0; + int numCurMultiBodyConstraints = 0; + + int i; + + //find the first constraint for this island + + for (i = 0; i < m_numConstraints; i++) + { + if (btGetConstraintIslandId2(m_sortedConstraints[i]) == islandId) + { + startConstraint = &m_sortedConstraints[i]; + break; + } + } + //count the number of constraints in this island + for (; i < m_numConstraints; i++) + { + if (btGetConstraintIslandId2(m_sortedConstraints[i]) == islandId) + { + numCurConstraints++; + } + } + + for (i = 0; i < m_numMultiBodyConstraints; i++) + { + if (btGetMultiBodyConstraintIslandId(m_multiBodySortedConstraints[i]) == islandId) + { + startMultiBodyConstraint = &m_multiBodySortedConstraints[i]; + break; + } + } + //count the number of multi body constraints in this island + for (; i < m_numMultiBodyConstraints; i++) + { + if (btGetMultiBodyConstraintIslandId(m_multiBodySortedConstraints[i]) == islandId) + { + numCurMultiBodyConstraints++; + } + } + + //if (m_solverInfo->m_minimumSolverBatchSize<=1) + //{ + // m_solver->solveGroup( bodies,numBodies,manifolds, numManifolds,startConstraint,numCurConstraints,*m_solverInfo,m_debugDrawer,m_dispatcher); + //} else + { + for (i = 0; i < numBodies; i++) + { + bool isSoftBodyType = (bodies[i]->getInternalType() & btCollisionObject::CO_SOFT_BODY); + if (!isSoftBodyType) + { + m_bodies.push_back(bodies[i]); + } + else + { + m_softBodies.push_back(bodies[i]); + } + } + for (i = 0; i < numManifolds; i++) + m_manifolds.push_back(manifolds[i]); + for (i = 0; i < numCurConstraints; i++) + m_constraints.push_back(startConstraint[i]); + + for (i = 0; i < numCurMultiBodyConstraints; i++) + m_multiBodyConstraints.push_back(startMultiBodyConstraint[i]); + + if ((m_multiBodyConstraints.size() + m_constraints.size() + m_manifolds.size()) > m_solverInfo->m_minimumSolverBatchSize) + { + processConstraints(islandId); + } + else + { + //printf("deferred\n"); + } + } + } + } + + virtual void processConstraints(int islandId=-1) + { + btCollisionObject** bodies = m_bodies.size() ? &m_bodies[0] : 0; + btPersistentManifold** manifold = m_manifolds.size() ? &m_manifolds[0] : 0; + btTypedConstraint** constraints = m_constraints.size() ? &m_constraints[0] : 0; + btMultiBodyConstraint** multiBodyConstraints = m_multiBodyConstraints.size() ? &m_multiBodyConstraints[0] : 0; + + //printf("mb contacts = %d, mb constraints = %d\n", mbContacts, m_multiBodyConstraints.size()); + + m_solver->solveMultiBodyGroup(bodies, m_bodies.size(), manifold, m_manifolds.size(), constraints, m_constraints.size(), multiBodyConstraints, m_multiBodyConstraints.size(), *m_solverInfo, m_debugDrawer, m_dispatcher); + if (m_bodies.size() && (m_solverInfo->m_reportSolverAnalytics&1)) + { + m_solver->m_analyticsData.m_islandId = islandId; + m_islandAnalyticsData.push_back(m_solver->m_analyticsData); + } + m_bodies.resize(0); + m_softBodies.resize(0); + m_manifolds.resize(0); + m_constraints.resize(0); + m_multiBodyConstraints.resize(0); + } +}; + + +#endif /*BT_MULTIBODY_INPLACE_SOLVER_ISLAND_CALLBACK_H */ diff --git a/thirdparty/bullet/BulletDynamics/Featherstone/btMultiBodyLink.h b/thirdparty/bullet/BulletDynamics/Featherstone/btMultiBodyLink.h index 92d41dfac2..01d5583c2f 100644 --- a/thirdparty/bullet/BulletDynamics/Featherstone/btMultiBodyLink.h +++ b/thirdparty/bullet/BulletDynamics/Featherstone/btMultiBodyLink.h @@ -111,6 +111,10 @@ struct btMultibodyLink btQuaternion m_cachedRotParentToThis; // rotates vectors in parent frame to vectors in local frame btVector3 m_cachedRVector; // vector from COM of parent to COM of this link, in local frame. + + // predicted verstion + btQuaternion m_cachedRotParentToThis_interpolate; // rotates vectors in parent frame to vectors in local frame + btVector3 m_cachedRVector_interpolate; // vector from COM of parent to COM of this link, in local frame. btVector3 m_appliedForce; // In WORLD frame btVector3 m_appliedTorque; // In WORLD frame @@ -119,6 +123,7 @@ struct btMultibodyLink btVector3 m_appliedConstraintTorque; // In WORLD frame btScalar m_jointPos[7]; + btScalar m_jointPos_interpolate[7]; //m_jointTorque is the joint torque applied by the user using 'addJointTorque'. //It gets set to zero after each internal stepSimulation call @@ -152,6 +157,7 @@ struct btMultibodyLink m_parent(-1), m_zeroRotParentToThis(0, 0, 0, 1), m_cachedRotParentToThis(0, 0, 0, 1), + m_cachedRotParentToThis_interpolate(0, 0, 0, 1), m_collider(0), m_flags(0), m_dofCount(0), @@ -174,6 +180,7 @@ struct btMultibodyLink m_dVector.setValue(0, 0, 0); m_eVector.setValue(0, 0, 0); m_cachedRVector.setValue(0, 0, 0); + m_cachedRVector_interpolate.setValue(0, 0, 0); m_appliedForce.setValue(0, 0, 0); m_appliedTorque.setValue(0, 0, 0); m_appliedConstraintForce.setValue(0, 0, 0); @@ -188,42 +195,43 @@ struct btMultibodyLink // routine to update m_cachedRotParentToThis and m_cachedRVector void updateCacheMultiDof(btScalar *pq = 0) { - btScalar *pJointPos = (pq ? pq : &m_jointPos[0]); - + btScalar *pJointPos = (pq ? pq : &m_jointPos[0]); + btQuaternion& cachedRot = m_cachedRotParentToThis; + btVector3& cachedVector = m_cachedRVector; switch (m_jointType) { case eRevolute: { - m_cachedRotParentToThis = btQuaternion(getAxisTop(0), -pJointPos[0]) * m_zeroRotParentToThis; - m_cachedRVector = m_dVector + quatRotate(m_cachedRotParentToThis, m_eVector); + cachedRot = btQuaternion(getAxisTop(0), -pJointPos[0]) * m_zeroRotParentToThis; + cachedVector = m_dVector + quatRotate(m_cachedRotParentToThis, m_eVector); break; } case ePrismatic: { // m_cachedRotParentToThis never changes, so no need to update - m_cachedRVector = m_dVector + quatRotate(m_cachedRotParentToThis, m_eVector) + pJointPos[0] * getAxisBottom(0); + cachedVector = m_dVector + quatRotate(m_cachedRotParentToThis, m_eVector) + pJointPos[0] * getAxisBottom(0); break; } case eSpherical: { - m_cachedRotParentToThis = btQuaternion(pJointPos[0], pJointPos[1], pJointPos[2], -pJointPos[3]) * m_zeroRotParentToThis; - m_cachedRVector = m_dVector + quatRotate(m_cachedRotParentToThis, m_eVector); + cachedRot = btQuaternion(pJointPos[0], pJointPos[1], pJointPos[2], -pJointPos[3]) * m_zeroRotParentToThis; + cachedVector = m_dVector + quatRotate(cachedRot, m_eVector); break; } case ePlanar: { - m_cachedRotParentToThis = btQuaternion(getAxisTop(0), -pJointPos[0]) * m_zeroRotParentToThis; - m_cachedRVector = quatRotate(btQuaternion(getAxisTop(0), -pJointPos[0]), pJointPos[1] * getAxisBottom(1) + pJointPos[2] * getAxisBottom(2)) + quatRotate(m_cachedRotParentToThis, m_eVector); + cachedRot = btQuaternion(getAxisTop(0), -pJointPos[0]) * m_zeroRotParentToThis; + cachedVector = quatRotate(btQuaternion(getAxisTop(0), -pJointPos[0]), pJointPos[1] * getAxisBottom(1) + pJointPos[2] * getAxisBottom(2)) + quatRotate(cachedRot, m_eVector); break; } case eFixed: { - m_cachedRotParentToThis = m_zeroRotParentToThis; - m_cachedRVector = m_dVector + quatRotate(m_cachedRotParentToThis, m_eVector); + cachedRot = m_zeroRotParentToThis; + cachedVector = m_dVector + quatRotate(cachedRot, m_eVector); break; } @@ -233,7 +241,60 @@ struct btMultibodyLink btAssert(0); } } + m_cachedRotParentToThis_interpolate = m_cachedRotParentToThis; + m_cachedRVector_interpolate = m_cachedRVector; } + + void updateInterpolationCacheMultiDof() + { + btScalar *pJointPos = &m_jointPos_interpolate[0]; + + btQuaternion& cachedRot = m_cachedRotParentToThis_interpolate; + btVector3& cachedVector = m_cachedRVector_interpolate; + switch (m_jointType) + { + case eRevolute: + { + cachedRot = btQuaternion(getAxisTop(0), -pJointPos[0]) * m_zeroRotParentToThis; + cachedVector = m_dVector + quatRotate(m_cachedRotParentToThis, m_eVector); + + break; + } + case ePrismatic: + { + // m_cachedRotParentToThis never changes, so no need to update + cachedVector = m_dVector + quatRotate(m_cachedRotParentToThis, m_eVector) + pJointPos[0] * getAxisBottom(0); + + break; + } + case eSpherical: + { + cachedRot = btQuaternion(pJointPos[0], pJointPos[1], pJointPos[2], -pJointPos[3]) * m_zeroRotParentToThis; + cachedVector = m_dVector + quatRotate(cachedRot, m_eVector); + + break; + } + case ePlanar: + { + cachedRot = btQuaternion(getAxisTop(0), -pJointPos[0]) * m_zeroRotParentToThis; + cachedVector = quatRotate(btQuaternion(getAxisTop(0), -pJointPos[0]), pJointPos[1] * getAxisBottom(1) + pJointPos[2] * getAxisBottom(2)) + quatRotate(cachedRot, m_eVector); + + break; + } + case eFixed: + { + cachedRot = m_zeroRotParentToThis; + cachedVector = m_dVector + quatRotate(cachedRot, m_eVector); + + break; + } + default: + { + //invalid type + btAssert(0); + } + } + } }; #endif //BT_MULTIBODY_LINK_H diff --git a/thirdparty/bullet/BulletDynamics/MLCPSolvers/btLemkeSolver.h b/thirdparty/bullet/BulletDynamics/MLCPSolvers/btLemkeSolver.h index ac2fc46ab0..f18c4ea41b 100644 --- a/thirdparty/bullet/BulletDynamics/MLCPSolvers/btLemkeSolver.h +++ b/thirdparty/bullet/BulletDynamics/MLCPSolvers/btLemkeSolver.h @@ -20,7 +20,7 @@ subject to the following restrictions: #include "btMLCPSolverInterface.h" #include "btLemkeAlgorithm.h" -///The btLemkeSolver is based on "Fast Implementation of Lemke's Algorithm for Rigid Body Contact Simulation (John E. Lloyd) " +///The btLemkeSolver is based on "Fast Implementation of Lemke’s Algorithm for Rigid Body Contact Simulation (John E. Lloyd) " ///It is a slower but more accurate solver. Increase the m_maxLoops for better convergence, at the cost of more CPU time. ///The original implementation of the btLemkeAlgorithm was done by Kilian Grundl from the MBSim team class btLemkeSolver : public btMLCPSolverInterface diff --git a/thirdparty/bullet/BulletSoftBody/DeformableBodyInplaceSolverIslandCallback.h b/thirdparty/bullet/BulletSoftBody/DeformableBodyInplaceSolverIslandCallback.h new file mode 100644 index 0000000000..7b225701f6 --- /dev/null +++ b/thirdparty/bullet/BulletSoftBody/DeformableBodyInplaceSolverIslandCallback.h @@ -0,0 +1,46 @@ +// +// DeformableBodyInplaceSolverIslandCallback.h +// BulletSoftBody +// +// Created by Xuchen Han on 12/16/19. +// + +#ifndef DeformableBodyInplaceSolverIslandCallback_h +#define DeformableBodyInplaceSolverIslandCallback_h + +struct DeformableBodyInplaceSolverIslandCallback : public MultiBodyInplaceSolverIslandCallback +{ + btDeformableMultiBodyConstraintSolver* m_deformableSolver; + + DeformableBodyInplaceSolverIslandCallback(btDeformableMultiBodyConstraintSolver* solver, + btDispatcher* dispatcher) + : MultiBodyInplaceSolverIslandCallback(solver, dispatcher), m_deformableSolver(solver) + { + } + + + virtual void processConstraints(int islandId=-1) + { + btCollisionObject** bodies = m_bodies.size() ? &m_bodies[0] : 0; + btCollisionObject** softBodies = m_softBodies.size() ? &m_softBodies[0] : 0; + btPersistentManifold** manifold = m_manifolds.size() ? &m_manifolds[0] : 0; + btTypedConstraint** constraints = m_constraints.size() ? &m_constraints[0] : 0; + btMultiBodyConstraint** multiBodyConstraints = m_multiBodyConstraints.size() ? &m_multiBodyConstraints[0] : 0; + + //printf("mb contacts = %d, mb constraints = %d\n", mbContacts, m_multiBodyConstraints.size()); + + m_deformableSolver->solveDeformableBodyGroup(bodies, m_bodies.size(), softBodies, m_softBodies.size(), manifold, m_manifolds.size(), constraints, m_constraints.size(), multiBodyConstraints, m_multiBodyConstraints.size(), *m_solverInfo, m_debugDrawer, m_dispatcher); + if (m_bodies.size() && (m_solverInfo->m_reportSolverAnalytics&1)) + { + m_deformableSolver->m_analyticsData.m_islandId = islandId; + m_islandAnalyticsData.push_back(m_solver->m_analyticsData); + } + m_bodies.resize(0); + m_softBodies.resize(0); + m_manifolds.resize(0); + m_constraints.resize(0); + m_multiBodyConstraints.resize(0); + } +}; + +#endif /* DeformableBodyInplaceSolverIslandCallback_h */ diff --git a/thirdparty/bullet/BulletSoftBody/btCGProjection.h b/thirdparty/bullet/BulletSoftBody/btCGProjection.h new file mode 100644 index 0000000000..d047e6d3d9 --- /dev/null +++ b/thirdparty/bullet/BulletSoftBody/btCGProjection.h @@ -0,0 +1,106 @@ +/* + Written by Xuchen Han <xuchenhan2015@u.northwestern.edu> + + Bullet Continuous Collision Detection and Physics Library + Copyright (c) 2019 Google Inc. 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. + */ + +#ifndef BT_CG_PROJECTION_H +#define BT_CG_PROJECTION_H + +#include "btSoftBody.h" +#include "BulletDynamics/Featherstone/btMultiBodyLinkCollider.h" +#include "BulletDynamics/Featherstone/btMultiBodyConstraint.h" + +struct DeformableContactConstraint +{ + const btSoftBody::Node* m_node; + btAlignedObjectArray<const btSoftBody::RContact*> m_contact; + btAlignedObjectArray<btVector3> m_total_normal_dv; + btAlignedObjectArray<btVector3> m_total_tangent_dv; + btAlignedObjectArray<bool> m_static; + btAlignedObjectArray<bool> m_can_be_dynamic; + + DeformableContactConstraint(const btSoftBody::RContact& rcontact): m_node(rcontact.m_node) + { + append(rcontact); + } + + DeformableContactConstraint(): m_node(NULL) + { + m_contact.push_back(NULL); + } + + void append(const btSoftBody::RContact& rcontact) + { + m_contact.push_back(&rcontact); + m_total_normal_dv.push_back(btVector3(0,0,0)); + m_total_tangent_dv.push_back(btVector3(0,0,0)); + m_static.push_back(false); + m_can_be_dynamic.push_back(true); + } + + void replace(const btSoftBody::RContact& rcontact) + { + m_contact.clear(); + m_total_normal_dv.clear(); + m_total_tangent_dv.clear(); + m_static.clear(); + m_can_be_dynamic.clear(); + append(rcontact); + } + + ~DeformableContactConstraint() + { + } +}; + +class btCGProjection +{ +public: + typedef btAlignedObjectArray<btVector3> TVStack; + typedef btAlignedObjectArray<btAlignedObjectArray<btVector3> > TVArrayStack; + typedef btAlignedObjectArray<btAlignedObjectArray<btScalar> > TArrayStack; + btAlignedObjectArray<btSoftBody *>& m_softBodies; + const btScalar& m_dt; + // map from node indices to node pointers + const btAlignedObjectArray<btSoftBody::Node*>* m_nodes; + + btCGProjection(btAlignedObjectArray<btSoftBody *>& softBodies, const btScalar& dt) + : m_softBodies(softBodies) + , m_dt(dt) + { + } + + virtual ~btCGProjection() + { + } + + // apply the constraints + virtual void project(TVStack& x) = 0; + + virtual void setConstraints() = 0; + + // update the constraints + virtual btScalar update() = 0; + + virtual void reinitialize(bool nodeUpdated) + { + } + + virtual void setIndices(const btAlignedObjectArray<btSoftBody::Node*>* nodes) + { + m_nodes = nodes; + } +}; + + +#endif /* btCGProjection_h */ diff --git a/thirdparty/bullet/BulletSoftBody/btConjugateGradient.h b/thirdparty/bullet/BulletSoftBody/btConjugateGradient.h new file mode 100644 index 0000000000..bd51e584b9 --- /dev/null +++ b/thirdparty/bullet/BulletSoftBody/btConjugateGradient.h @@ -0,0 +1,158 @@ +/* + Written by Xuchen Han <xuchenhan2015@u.northwestern.edu> + + Bullet Continuous Collision Detection and Physics Library + Copyright (c) 2019 Google Inc. 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. + */ + +#ifndef BT_CONJUGATE_GRADIENT_H +#define BT_CONJUGATE_GRADIENT_H +#include <iostream> +#include <cmath> +#include <limits> +#include <LinearMath/btAlignedObjectArray.h> +#include <LinearMath/btVector3.h> +#include "LinearMath/btQuickprof.h" +template <class MatrixX> +class btConjugateGradient +{ + typedef btAlignedObjectArray<btVector3> TVStack; + TVStack r,p,z,temp; + int max_iterations; + btScalar tolerance_squared; +public: + btConjugateGradient(const int max_it_in) + : max_iterations(max_it_in) + { + tolerance_squared = 1e-5; + } + + virtual ~btConjugateGradient(){} + + // return the number of iterations taken + int solve(MatrixX& A, TVStack& x, const TVStack& b, bool verbose = false) + { + BT_PROFILE("CGSolve"); + btAssert(x.size() == b.size()); + reinitialize(b); + // r = b - A * x --with assigned dof zeroed out + A.multiply(x, temp); + r = sub(b, temp); + A.project(r); + // z = M^(-1) * r + A.precondition(r, z); + A.project(z); + btScalar r_dot_z = dot(z,r); + if (r_dot_z <= tolerance_squared) { + if (verbose) + { + std::cout << "Iteration = 0" << std::endl; + std::cout << "Two norm of the residual = " << r_dot_z << std::endl; + } + return 0; + } + p = z; + btScalar r_dot_z_new = r_dot_z; + for (int k = 1; k <= max_iterations; k++) { + // temp = A*p + A.multiply(p, temp); + A.project(temp); + if (dot(p,temp) < SIMD_EPSILON) + { + if (verbose) + std::cout << "Encountered negative direction in CG!" << std::endl; + if (k == 1) + { + x = b; + } + return k; + } + // alpha = r^T * z / (p^T * A * p) + btScalar alpha = r_dot_z_new / dot(p, temp); + // x += alpha * p; + multAndAddTo(alpha, p, x); + // r -= alpha * temp; + multAndAddTo(-alpha, temp, r); + // z = M^(-1) * r + A.precondition(r, z); + r_dot_z = r_dot_z_new; + r_dot_z_new = dot(r,z); + if (r_dot_z_new < tolerance_squared) { + if (verbose) + { + std::cout << "ConjugateGradient iterations " << k << std::endl; + } + return k; + } + + btScalar beta = r_dot_z_new/r_dot_z; + p = multAndAdd(beta, p, z); + } + if (verbose) + { + std::cout << "ConjugateGradient max iterations reached " << max_iterations << std::endl; + } + return max_iterations; + } + + void reinitialize(const TVStack& b) + { + r.resize(b.size()); + p.resize(b.size()); + z.resize(b.size()); + temp.resize(b.size()); + } + + TVStack sub(const TVStack& a, const TVStack& b) + { + // c = a-b + btAssert(a.size() == b.size()); + TVStack c; + c.resize(a.size()); + for (int i = 0; i < a.size(); ++i) + { + c[i] = a[i] - b[i]; + } + return c; + } + + btScalar squaredNorm(const TVStack& a) + { + return dot(a,a); + } + + btScalar dot(const TVStack& a, const TVStack& b) + { + btScalar ans(0); + for (int i = 0; i < a.size(); ++i) + ans += a[i].dot(b[i]); + return ans; + } + + void multAndAddTo(btScalar s, const TVStack& a, TVStack& result) + { +// result += s*a + btAssert(a.size() == result.size()); + for (int i = 0; i < a.size(); ++i) + result[i] += s * a[i]; + } + + TVStack multAndAdd(btScalar s, const TVStack& a, const TVStack& b) + { + // result = a*s + b + TVStack result; + result.resize(a.size()); + for (int i = 0; i < a.size(); ++i) + result[i] = s * a[i] + b[i]; + return result; + } +}; +#endif /* btConjugateGradient_h */ diff --git a/thirdparty/bullet/BulletSoftBody/btDefaultSoftBodySolver.cpp b/thirdparty/bullet/BulletSoftBody/btDefaultSoftBodySolver.cpp index 8b7ff9abcd..5a79ef86e2 100644 --- a/thirdparty/bullet/BulletSoftBody/btDefaultSoftBodySolver.cpp +++ b/thirdparty/bullet/BulletSoftBody/btDefaultSoftBodySolver.cpp @@ -60,7 +60,7 @@ bool btDefaultSoftBodySolver::checkInitialized() return true; } -void btDefaultSoftBodySolver::solveConstraints(float solverdt) +void btDefaultSoftBodySolver::solveConstraints(btScalar solverdt) { // Solve constraints for non-solver softbodies for (int i = 0; i < m_softBodySet.size(); ++i) @@ -132,7 +132,7 @@ void btDefaultSoftBodySolver::processCollision(btSoftBody *softBody, const btCol softBody->defaultCollisionHandler(collisionObjectWrap); } // btDefaultSoftBodySolver::processCollision -void btDefaultSoftBodySolver::predictMotion(float timeStep) +void btDefaultSoftBodySolver::predictMotion(btScalar timeStep) { for (int i = 0; i < m_softBodySet.size(); ++i) { diff --git a/thirdparty/bullet/BulletSoftBody/btDefaultSoftBodySolver.h b/thirdparty/bullet/BulletSoftBody/btDefaultSoftBodySolver.h index 50bd735165..3965b07c58 100644 --- a/thirdparty/bullet/BulletSoftBody/btDefaultSoftBodySolver.h +++ b/thirdparty/bullet/BulletSoftBody/btDefaultSoftBodySolver.h @@ -46,9 +46,9 @@ public: virtual void copyBackToSoftBodies(bool bMove = true); - virtual void solveConstraints(float solverdt); + virtual void solveConstraints(btScalar solverdt); - virtual void predictMotion(float solverdt); + virtual void predictMotion(btScalar solverdt); virtual void copySoftBodyToVertexBuffer(const btSoftBody *const softBody, btVertexBufferDescriptor *vertexBuffer); diff --git a/thirdparty/bullet/BulletSoftBody/btDeformableBackwardEulerObjective.cpp b/thirdparty/bullet/BulletSoftBody/btDeformableBackwardEulerObjective.cpp new file mode 100644 index 0000000000..1b247641aa --- /dev/null +++ b/thirdparty/bullet/BulletSoftBody/btDeformableBackwardEulerObjective.cpp @@ -0,0 +1,197 @@ +/* + Written by Xuchen Han <xuchenhan2015@u.northwestern.edu> + + Bullet Continuous Collision Detection and Physics Library + Copyright (c) 2019 Google Inc. 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 "btDeformableBackwardEulerObjective.h" +#include "btPreconditioner.h" +#include "LinearMath/btQuickprof.h" + +btDeformableBackwardEulerObjective::btDeformableBackwardEulerObjective(btAlignedObjectArray<btSoftBody *>& softBodies, const TVStack& backup_v) +: m_softBodies(softBodies) +, m_projection(softBodies) +, m_backupVelocity(backup_v) +, m_implicit(false) +{ + m_preconditioner = new MassPreconditioner(m_softBodies); +} + +btDeformableBackwardEulerObjective::~btDeformableBackwardEulerObjective() +{ + delete m_preconditioner; +} + +void btDeformableBackwardEulerObjective::reinitialize(bool nodeUpdated, btScalar dt) +{ + BT_PROFILE("reinitialize"); + if (dt > 0) + { + setDt(dt); + } + if(nodeUpdated) + { + updateId(); + } + for (int i = 0; i < m_lf.size(); ++i) + { + m_lf[i]->reinitialize(nodeUpdated); + } + m_projection.reinitialize(nodeUpdated); + m_preconditioner->reinitialize(nodeUpdated); +} + +void btDeformableBackwardEulerObjective::setDt(btScalar dt) +{ + m_dt = dt; +} + +void btDeformableBackwardEulerObjective::multiply(const TVStack& x, TVStack& b) const +{ + BT_PROFILE("multiply"); + // add in the mass term + size_t counter = 0; + for (int i = 0; i < m_softBodies.size(); ++i) + { + btSoftBody* psb = m_softBodies[i]; + for (int j = 0; j < psb->m_nodes.size(); ++j) + { + const btSoftBody::Node& node = psb->m_nodes[j]; + b[counter] = (node.m_im == 0) ? btVector3(0,0,0) : x[counter] / node.m_im; + ++counter; + } + } + + for (int i = 0; i < m_lf.size(); ++i) + { + // add damping matrix + m_lf[i]->addScaledDampingForceDifferential(-m_dt, x, b); + if (m_implicit) + { + m_lf[i]->addScaledElasticForceDifferential(-m_dt*m_dt, x, b); + } + } +} + +void btDeformableBackwardEulerObjective::updateVelocity(const TVStack& dv) +{ + for (int i = 0; i < m_softBodies.size(); ++i) + { + btSoftBody* psb = m_softBodies[i]; + for (int j = 0; j < psb->m_nodes.size(); ++j) + { + btSoftBody::Node& node = psb->m_nodes[j]; + node.m_v = m_backupVelocity[node.index] + dv[node.index]; + } + } +} + +void btDeformableBackwardEulerObjective::applyForce(TVStack& force, bool setZero) +{ + size_t counter = 0; + for (int i = 0; i < m_softBodies.size(); ++i) + { + btSoftBody* psb = m_softBodies[i]; + if (!psb->isActive()) + { + counter += psb->m_nodes.size(); + continue; + } + for (int j = 0; j < psb->m_nodes.size(); ++j) + { + btScalar one_over_mass = (psb->m_nodes[j].m_im == 0) ? 0 : psb->m_nodes[j].m_im; + psb->m_nodes[j].m_v += one_over_mass * force[counter++]; + } + } + if (setZero) + { + for (int i = 0; i < force.size(); ++i) + force[i].setZero(); + } +} + +void btDeformableBackwardEulerObjective::computeResidual(btScalar dt, TVStack &residual) +{ + BT_PROFILE("computeResidual"); + // add implicit force + for (int i = 0; i < m_lf.size(); ++i) + { + if (m_implicit) + { + m_lf[i]->addScaledForces(dt, residual); + } + else + { + m_lf[i]->addScaledDampingForce(dt, residual); + } + } + m_projection.project(residual); +} + +btScalar btDeformableBackwardEulerObjective::computeNorm(const TVStack& residual) const +{ + btScalar mag = 0; + for (int i = 0; i < residual.size(); ++i) + { + mag += residual[i].length2(); + } + return std::sqrt(mag); +} + +btScalar btDeformableBackwardEulerObjective::totalEnergy(btScalar dt) +{ + btScalar e = 0; + for (int i = 0; i < m_lf.size(); ++i) + { + e += m_lf[i]->totalEnergy(dt); + } + return e; +} + +void btDeformableBackwardEulerObjective::applyExplicitForce(TVStack& force) +{ + for (int i = 0; i < m_softBodies.size(); ++i) + { + m_softBodies[i]->advanceDeformation(); + } + + for (int i = 0; i < m_lf.size(); ++i) + { + m_lf[i]->addScaledExplicitForce(m_dt, force); + } + applyForce(force, true); +} + +void btDeformableBackwardEulerObjective::initialGuess(TVStack& dv, const TVStack& residual) +{ + size_t counter = 0; + for (int i = 0; i < m_softBodies.size(); ++i) + { + btSoftBody* psb = m_softBodies[i]; + for (int j = 0; j < psb->m_nodes.size(); ++j) + { + dv[counter] = psb->m_nodes[j].m_im * residual[counter]; + ++counter; + } + } +} + +//set constraints as projections +void btDeformableBackwardEulerObjective::setConstraints() +{ + m_projection.setConstraints(); +} + +void btDeformableBackwardEulerObjective::applyDynamicFriction(TVStack& r) +{ + m_projection.applyDynamicFriction(r); +} diff --git a/thirdparty/bullet/BulletSoftBody/btDeformableBackwardEulerObjective.h b/thirdparty/bullet/BulletSoftBody/btDeformableBackwardEulerObjective.h new file mode 100644 index 0000000000..05ab42ff0a --- /dev/null +++ b/thirdparty/bullet/BulletSoftBody/btDeformableBackwardEulerObjective.h @@ -0,0 +1,134 @@ +/* + Written by Xuchen Han <xuchenhan2015@u.northwestern.edu> + + Bullet Continuous Collision Detection and Physics Library + Copyright (c) 2019 Google Inc. 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. + */ + +#ifndef BT_BACKWARD_EULER_OBJECTIVE_H +#define BT_BACKWARD_EULER_OBJECTIVE_H +#include "btConjugateGradient.h" +#include "btDeformableLagrangianForce.h" +#include "btDeformableMassSpringForce.h" +#include "btDeformableGravityForce.h" +#include "btDeformableCorotatedForce.h" +#include "btDeformableLinearElasticityForce.h" +#include "btDeformableNeoHookeanForce.h" +#include "btDeformableContactProjection.h" +#include "btPreconditioner.h" +#include "btDeformableMultiBodyDynamicsWorld.h" +#include "LinearMath/btQuickprof.h" + +class btDeformableBackwardEulerObjective +{ +public: + typedef btAlignedObjectArray<btVector3> TVStack; + btScalar m_dt; + btAlignedObjectArray<btDeformableLagrangianForce*> m_lf; + btAlignedObjectArray<btSoftBody *>& m_softBodies; + Preconditioner* m_preconditioner; + btDeformableContactProjection m_projection; + const TVStack& m_backupVelocity; + btAlignedObjectArray<btSoftBody::Node* > m_nodes; + bool m_implicit; + + btDeformableBackwardEulerObjective(btAlignedObjectArray<btSoftBody *>& softBodies, const TVStack& backup_v); + + virtual ~btDeformableBackwardEulerObjective(); + + void initialize(){} + + // compute the rhs for CG solve, i.e, add the dt scaled implicit force to residual + void computeResidual(btScalar dt, TVStack& residual); + + // add explicit force to the velocity + void applyExplicitForce(TVStack& force); + + // apply force to velocity and optionally reset the force to zero + void applyForce(TVStack& force, bool setZero); + + // compute the norm of the residual + btScalar computeNorm(const TVStack& residual) const; + + // compute one step of the solve (there is only one solve if the system is linear) + void computeStep(TVStack& dv, const TVStack& residual, const btScalar& dt); + + // perform A*x = b + void multiply(const TVStack& x, TVStack& b) const; + + // set initial guess for CG solve + void initialGuess(TVStack& dv, const TVStack& residual); + + // reset data structure and reset dt + void reinitialize(bool nodeUpdated, btScalar dt); + + void setDt(btScalar dt); + + // add friction force to residual + void applyDynamicFriction(TVStack& r); + + // add dv to velocity + void updateVelocity(const TVStack& dv); + + //set constraints as projections + void setConstraints(); + + // update the projections and project the residual + void project(TVStack& r) + { + BT_PROFILE("project"); + m_projection.project(r); + } + + // perform precondition M^(-1) x = b + void precondition(const TVStack& x, TVStack& b) + { + m_preconditioner->operator()(x,b); + } + + // reindex all the vertices + virtual void updateId() + { + size_t node_id = 0; + size_t face_id = 0; + m_nodes.clear(); + for (int i = 0; i < m_softBodies.size(); ++i) + { + btSoftBody* psb = m_softBodies[i]; + for (int j = 0; j < psb->m_nodes.size(); ++j) + { + psb->m_nodes[j].index = node_id; + m_nodes.push_back(&psb->m_nodes[j]); + ++node_id; + } + for (int j = 0; j < psb->m_faces.size(); ++j) + { + psb->m_faces[j].m_index = face_id; + ++face_id; + } + } + } + + const btAlignedObjectArray<btSoftBody::Node*>* getIndices() const + { + return &m_nodes; + } + + void setImplicit(bool implicit) + { + m_implicit = implicit; + } + + // Calculate the total potential energy in the system + btScalar totalEnergy(btScalar dt); +}; + +#endif /* btBackwardEulerObjective_h */ diff --git a/thirdparty/bullet/BulletSoftBody/btDeformableBodySolver.cpp b/thirdparty/bullet/BulletSoftBody/btDeformableBodySolver.cpp new file mode 100644 index 0000000000..7724a8ec69 --- /dev/null +++ b/thirdparty/bullet/BulletSoftBody/btDeformableBodySolver.cpp @@ -0,0 +1,485 @@ +/* + Written by Xuchen Han <xuchenhan2015@u.northwestern.edu> + + Bullet Continuous Collision Detection and Physics Library + Copyright (c) 2019 Google Inc. 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 <stdio.h> +#include <limits> +#include "btDeformableBodySolver.h" +#include "btSoftBodyInternals.h" +#include "LinearMath/btQuickprof.h" +static const int kMaxConjugateGradientIterations = 50; +btDeformableBodySolver::btDeformableBodySolver() +: m_numNodes(0) +, m_cg(kMaxConjugateGradientIterations) +, m_maxNewtonIterations(5) +, m_newtonTolerance(1e-4) +, m_lineSearch(false) +{ + m_objective = new btDeformableBackwardEulerObjective(m_softBodies, m_backupVelocity); +} + +btDeformableBodySolver::~btDeformableBodySolver() +{ + delete m_objective; +} + +void btDeformableBodySolver::solveDeformableConstraints(btScalar solverdt) +{ + BT_PROFILE("solveDeformableConstraints"); + if (!m_implicit) + { + m_objective->computeResidual(solverdt, m_residual); + m_objective->applyDynamicFriction(m_residual); + computeStep(m_dv, m_residual); + updateVelocity(); + } + else + { + for (int i = 0; i < m_maxNewtonIterations; ++i) + { + updateState(); + // add the inertia term in the residual + int counter = 0; + for (int k = 0; k < m_softBodies.size(); ++k) + { + btSoftBody* psb = m_softBodies[k]; + for (int j = 0; j < psb->m_nodes.size(); ++j) + { + if (psb->m_nodes[j].m_im > 0) + { + m_residual[counter] = (-1./psb->m_nodes[j].m_im) * m_dv[counter]; + } + ++counter; + } + } + + m_objective->computeResidual(solverdt, m_residual); + if (m_objective->computeNorm(m_residual) < m_newtonTolerance && i > 0) + { + break; + } + // todo xuchenhan@: this really only needs to be calculated once + m_objective->applyDynamicFriction(m_residual); + if (m_lineSearch) + { + btScalar inner_product = computeDescentStep(m_ddv,m_residual); + btScalar alpha = 0.01, beta = 0.5; // Boyd & Vandenberghe suggested alpha between 0.01 and 0.3, beta between 0.1 to 0.8 + btScalar scale = 2; + btScalar f0 = m_objective->totalEnergy(solverdt)+kineticEnergy(), f1, f2; + backupDv(); + do { + scale *= beta; + if (scale < 1e-8) { + return; + } + updateEnergy(scale); + f1 = m_objective->totalEnergy(solverdt)+kineticEnergy(); + f2 = f0 - alpha * scale * inner_product; + } while (!(f1 < f2+SIMD_EPSILON)); // if anything here is nan then the search continues + revertDv(); + updateDv(scale); + } + else + { + computeStep(m_ddv, m_residual); + updateDv(); + } + for (int j = 0; j < m_numNodes; ++j) + { + m_ddv[j].setZero(); + m_residual[j].setZero(); + } + } + updateVelocity(); + } +} + +btScalar btDeformableBodySolver::kineticEnergy() +{ + btScalar ke = 0; + for (int i = 0; i < m_softBodies.size();++i) + { + btSoftBody* psb = m_softBodies[i]; + for (int j = 0; j < psb->m_nodes.size();++j) + { + btSoftBody::Node& node = psb->m_nodes[j]; + if (node.m_im > 0) + { + ke += m_dv[node.index].length2() * 0.5 / node.m_im; + } + } + } + return ke; +} + +void btDeformableBodySolver::backupDv() +{ + m_backup_dv.resize(m_dv.size()); + for (int i = 0; i<m_backup_dv.size(); ++i) + { + m_backup_dv[i] = m_dv[i]; + } +} + +void btDeformableBodySolver::revertDv() +{ + for (int i = 0; i<m_backup_dv.size(); ++i) + { + m_dv[i] = m_backup_dv[i]; + } +} + +void btDeformableBodySolver::updateEnergy(btScalar scale) +{ + for (int i = 0; i<m_dv.size(); ++i) + { + m_dv[i] = m_backup_dv[i] + scale * m_ddv[i]; + } + updateState(); +} + + +btScalar btDeformableBodySolver::computeDescentStep(TVStack& ddv, const TVStack& residual, bool verbose) +{ + m_cg.solve(*m_objective, ddv, residual, false); + btScalar inner_product = m_cg.dot(residual, m_ddv); + btScalar res_norm = m_objective->computeNorm(residual); + btScalar tol = 1e-5 * res_norm * m_objective->computeNorm(m_ddv); + if (inner_product < -tol) + { + if (verbose) + { + std::cout << "Looking backwards!" << std::endl; + } + for (int i = 0; i < m_ddv.size();++i) + { + m_ddv[i] = -m_ddv[i]; + } + inner_product = -inner_product; + } + else if (std::abs(inner_product) < tol) + { + if (verbose) + { + std::cout << "Gradient Descent!" << std::endl; + } + btScalar scale = m_objective->computeNorm(m_ddv) / res_norm; + for (int i = 0; i < m_ddv.size();++i) + { + m_ddv[i] = scale * residual[i]; + } + inner_product = scale * res_norm * res_norm; + } + return inner_product; +} + +void btDeformableBodySolver::updateState() +{ + updateVelocity(); + updateTempPosition(); +} + +void btDeformableBodySolver::updateDv(btScalar scale) +{ + for (int i = 0; i < m_numNodes; ++i) + { + m_dv[i] += scale * m_ddv[i]; + } +} + +void btDeformableBodySolver::computeStep(TVStack& ddv, const TVStack& residual) +{ + m_cg.solve(*m_objective, ddv, residual); +} + +void btDeformableBodySolver::reinitialize(const btAlignedObjectArray<btSoftBody *>& softBodies, btScalar dt) +{ + m_softBodies.copyFromArray(softBodies); + bool nodeUpdated = updateNodes(); + + if (nodeUpdated) + { + m_dv.resize(m_numNodes, btVector3(0,0,0)); + m_ddv.resize(m_numNodes, btVector3(0,0,0)); + m_residual.resize(m_numNodes, btVector3(0,0,0)); + m_backupVelocity.resize(m_numNodes, btVector3(0,0,0)); + } + + // need to setZero here as resize only set value for newly allocated items + for (int i = 0; i < m_numNodes; ++i) + { + m_dv[i].setZero(); + m_ddv[i].setZero(); + m_residual[i].setZero(); + } + + m_dt = dt; + m_objective->reinitialize(nodeUpdated, dt); +} + +void btDeformableBodySolver::setConstraints() +{ + BT_PROFILE("setConstraint"); + m_objective->setConstraints(); +} + +btScalar btDeformableBodySolver::solveContactConstraints(btCollisionObject** deformableBodies,int numDeformableBodies) +{ + BT_PROFILE("solveContactConstraints"); + btScalar maxSquaredResidual = m_objective->m_projection.update(deformableBodies,numDeformableBodies); + return maxSquaredResidual; +} + +btScalar btDeformableBodySolver::solveSplitImpulse(const btContactSolverInfo& infoGlobal) +{ + BT_PROFILE("solveSplitImpulse"); + return m_objective->m_projection.solveSplitImpulse(infoGlobal); +} + +void btDeformableBodySolver::splitImpulseSetup(const btContactSolverInfo& infoGlobal) +{ + m_objective->m_projection.splitImpulseSetup(infoGlobal); +} + +void btDeformableBodySolver::updateVelocity() +{ + int counter = 0; + for (int i = 0; i < m_softBodies.size(); ++i) + { + btSoftBody* psb = m_softBodies[i]; + psb->m_maxSpeedSquared = 0; + if (!psb->isActive()) + { + counter += psb->m_nodes.size(); + continue; + } + for (int j = 0; j < psb->m_nodes.size(); ++j) + { + // set NaN to zero; + if (m_dv[counter] != m_dv[counter]) + { + m_dv[counter].setZero(); + } + psb->m_nodes[j].m_v = m_backupVelocity[counter]+m_dv[counter]; + psb->m_maxSpeedSquared = btMax(psb->m_maxSpeedSquared, psb->m_nodes[j].m_v.length2()); + ++counter; + } + } +} + +void btDeformableBodySolver::updateTempPosition() +{ + int counter = 0; + for (int i = 0; i < m_softBodies.size(); ++i) + { + btSoftBody* psb = m_softBodies[i]; + if (!psb->isActive()) + { + counter += psb->m_nodes.size(); + continue; + } + for (int j = 0; j < psb->m_nodes.size(); ++j) + { + psb->m_nodes[j].m_q = psb->m_nodes[j].m_x + m_dt * psb->m_nodes[j].m_v; + ++counter; + } + psb->updateDeformation(); + } +} + +void btDeformableBodySolver::backupVelocity() +{ + int counter = 0; + for (int i = 0; i < m_softBodies.size(); ++i) + { + btSoftBody* psb = m_softBodies[i]; + for (int j = 0; j < psb->m_nodes.size(); ++j) + { + m_backupVelocity[counter++] = psb->m_nodes[j].m_v; + } + } +} + +void btDeformableBodySolver::setupDeformableSolve(bool implicit) +{ + int counter = 0; + for (int i = 0; i < m_softBodies.size(); ++i) + { + btSoftBody* psb = m_softBodies[i]; + if (!psb->isActive()) + { + counter += psb->m_nodes.size(); + continue; + } + for (int j = 0; j < psb->m_nodes.size(); ++j) + { + if (implicit) + { + if ((psb->m_nodes[j].m_v - m_backupVelocity[counter]).norm() < SIMD_EPSILON) + m_dv[counter] = psb->m_nodes[j].m_v - m_backupVelocity[counter]; + else + m_dv[counter] = psb->m_nodes[j].m_v - psb->m_nodes[j].m_vn; + m_backupVelocity[counter] = psb->m_nodes[j].m_vn; + } + else + m_dv[counter] = psb->m_nodes[j].m_v - m_backupVelocity[counter]; + psb->m_nodes[j].m_v = m_backupVelocity[counter] + psb->m_nodes[j].m_vsplit; + ++counter; + } + } +} + +void btDeformableBodySolver::revertVelocity() +{ + int counter = 0; + for (int i = 0; i < m_softBodies.size(); ++i) + { + btSoftBody* psb = m_softBodies[i]; + for (int j = 0; j < psb->m_nodes.size(); ++j) + { + psb->m_nodes[j].m_v = m_backupVelocity[counter++]; + } + } +} + +bool btDeformableBodySolver::updateNodes() +{ + int numNodes = 0; + for (int i = 0; i < m_softBodies.size(); ++i) + numNodes += m_softBodies[i]->m_nodes.size(); + if (numNodes != m_numNodes) + { + m_numNodes = numNodes; + return true; + } + return false; +} + + +void btDeformableBodySolver::predictMotion(btScalar solverdt) +{ + // apply explicit forces to velocity + m_objective->applyExplicitForce(m_residual); + for (int i = 0; i < m_softBodies.size(); ++i) + { + btSoftBody *psb = m_softBodies[i]; + + if (psb->isActive()) + { + // predict motion for collision detection + predictDeformableMotion(psb, solverdt); + } + } +} + +void btDeformableBodySolver::predictDeformableMotion(btSoftBody* psb, btScalar dt) +{ + int i, ni; + + /* Update */ + if (psb->m_bUpdateRtCst) + { + psb->m_bUpdateRtCst = false; + psb->updateConstants(); + psb->m_fdbvt.clear(); + if (psb->m_cfg.collisions & btSoftBody::fCollision::SDF_RD) + { + psb->initializeFaceTree(); + } + } + + /* Prepare */ + psb->m_sst.sdt = dt * psb->m_cfg.timescale; + psb->m_sst.isdt = 1 / psb->m_sst.sdt; + psb->m_sst.velmrg = psb->m_sst.sdt * 3; + psb->m_sst.radmrg = psb->getCollisionShape()->getMargin(); + psb->m_sst.updmrg = psb->m_sst.radmrg * (btScalar)0.25; + /* Bounds */ + psb->updateBounds(); + + /* Integrate */ + // do not allow particles to move more than the bounding box size + btScalar max_v = (psb->m_bounds[1]-psb->m_bounds[0]).norm() / dt; + for (i = 0, ni = psb->m_nodes.size(); i < ni; ++i) + { + btSoftBody::Node& n = psb->m_nodes[i]; + // apply drag + n.m_v *= (1 - psb->m_cfg.drag); + // scale velocity back + if (n.m_v.norm() > max_v) + { + n.m_v.safeNormalize(); + n.m_v *= max_v; + } + n.m_q = n.m_x + n.m_v * dt; + } + + /* Nodes */ + ATTRIBUTE_ALIGNED16(btDbvtVolume) + vol; + for (i = 0, ni = psb->m_nodes.size(); i < ni; ++i) + { + btSoftBody::Node& n = psb->m_nodes[i]; + btVector3 points[2] = {n.m_x, n.m_q}; + vol = btDbvtVolume::FromPoints(points, 2); + vol.Expand(btVector3(psb->m_sst.radmrg, psb->m_sst.radmrg, psb->m_sst.radmrg)); + psb->m_ndbvt.update(n.m_leaf, vol); + } + + if (!psb->m_fdbvt.empty()) + { + for (int i = 0; i < psb->m_faces.size(); ++i) + { + btSoftBody::Face& f = psb->m_faces[i]; + btVector3 points[6] = {f.m_n[0]->m_x, f.m_n[0]->m_q, + f.m_n[1]->m_x, f.m_n[1]->m_q, + f.m_n[2]->m_x, f.m_n[2]->m_q}; + vol = btDbvtVolume::FromPoints(points, 6); + vol.Expand(btVector3(psb->m_sst.radmrg, psb->m_sst.radmrg, psb->m_sst.radmrg)); + psb->m_fdbvt.update(f.m_leaf, vol); + } + } + /* Clear contacts */ + psb->m_nodeRigidContacts.resize(0); + psb->m_faceRigidContacts.resize(0); + psb->m_faceNodeContacts.resize(0); + /* Optimize dbvt's */ + psb->m_ndbvt.optimizeIncremental(1); + psb->m_fdbvt.optimizeIncremental(1); +} + + +void btDeformableBodySolver::updateSoftBodies() +{ + BT_PROFILE("updateSoftBodies"); + for (int i = 0; i < m_softBodies.size(); i++) + { + btSoftBody *psb = (btSoftBody *)m_softBodies[i]; + if (psb->isActive()) + { + psb->updateNormals(); + } + } +} + +void btDeformableBodySolver::setImplicit(bool implicit) +{ + m_implicit = implicit; + m_objective->setImplicit(implicit); +} + +void btDeformableBodySolver::setLineSearch(bool lineSearch) +{ + m_lineSearch = lineSearch; +} diff --git a/thirdparty/bullet/BulletSoftBody/btDeformableBodySolver.h b/thirdparty/bullet/BulletSoftBody/btDeformableBodySolver.h new file mode 100644 index 0000000000..f78a8f696b --- /dev/null +++ b/thirdparty/bullet/BulletSoftBody/btDeformableBodySolver.h @@ -0,0 +1,164 @@ +/* + Written by Xuchen Han <xuchenhan2015@u.northwestern.edu> + + Bullet Continuous Collision Detection and Physics Library + Copyright (c) 2019 Google Inc. 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. + */ + +#ifndef BT_DEFORMABLE_BODY_SOLVERS_H +#define BT_DEFORMABLE_BODY_SOLVERS_H + + +#include "btSoftBodySolvers.h" +#include "btDeformableBackwardEulerObjective.h" +#include "btDeformableMultiBodyDynamicsWorld.h" +#include "BulletDynamics/Featherstone/btMultiBodyLinkCollider.h" +#include "BulletDynamics/Featherstone/btMultiBodyConstraint.h" + +struct btCollisionObjectWrapper; +class btDeformableBackwardEulerObjective; +class btDeformableMultiBodyDynamicsWorld; + +class btDeformableBodySolver : public btSoftBodySolver +{ + typedef btAlignedObjectArray<btVector3> TVStack; +protected: + int m_numNodes; // total number of deformable body nodes + TVStack m_dv; // v_{n+1} - v_n + TVStack m_backup_dv; // backed up dv + TVStack m_ddv; // incremental dv + TVStack m_residual; // rhs of the linear solve + btAlignedObjectArray<btSoftBody *> m_softBodies; // all deformable bodies + TVStack m_backupVelocity; // backed up v, equals v_n for implicit, equals v_{n+1}^* for explicit + btScalar m_dt; // dt + btConjugateGradient<btDeformableBackwardEulerObjective> m_cg; // CG solver + bool m_implicit; // use implicit scheme if true, explicit scheme if false + int m_maxNewtonIterations; // max number of newton iterations + btScalar m_newtonTolerance; // stop newton iterations if f(x) < m_newtonTolerance + bool m_lineSearch; // If true, use newton's method with line search under implicit scheme + +public: + // handles data related to objective function + btDeformableBackwardEulerObjective* m_objective; + + btDeformableBodySolver(); + + virtual ~btDeformableBodySolver(); + + virtual SolverTypes getSolverType() const + { + return DEFORMABLE_SOLVER; + } + + // update soft body normals + virtual void updateSoftBodies(); + + // solve the momentum equation + virtual void solveDeformableConstraints(btScalar solverdt); + + // solve the contact between deformable and rigid as well as among deformables + btScalar solveContactConstraints(btCollisionObject** deformableBodies,int numDeformableBodies); + + // solve the position error between deformable and rigid as well as among deformables; + btScalar solveSplitImpulse(const btContactSolverInfo& infoGlobal); + + // set up the position error in split impulse + void splitImpulseSetup(const btContactSolverInfo& infoGlobal); + + // resize/clear data structures + void reinitialize(const btAlignedObjectArray<btSoftBody *>& softBodies, btScalar dt); + + // set up contact constraints + void setConstraints(); + + // add in elastic forces and gravity to obtain v_{n+1}^* and calls predictDeformableMotion + virtual void predictMotion(btScalar solverdt); + + // move to temporary position x_{n+1}^* = x_n + dt * v_{n+1}^* + // x_{n+1}^* is stored in m_q + void predictDeformableMotion(btSoftBody* psb, btScalar dt); + + // save the current velocity to m_backupVelocity + void backupVelocity(); + + // set m_dv and m_backupVelocity to desired value to prepare for momentum solve + void setupDeformableSolve(bool implicit); + + // set the current velocity to that backed up in m_backupVelocity + void revertVelocity(); + + // set velocity to m_dv + m_backupVelocity + void updateVelocity(); + + // update the node count + bool updateNodes(); + + // calculate the change in dv resulting from the momentum solve + void computeStep(TVStack& ddv, const TVStack& residual); + + // calculate the change in dv resulting from the momentum solve when line search is turned on + btScalar computeDescentStep(TVStack& ddv, const TVStack& residual, bool verbose=false); + + virtual void copySoftBodyToVertexBuffer(const btSoftBody *const softBody, btVertexBufferDescriptor *vertexBuffer) {} + + // process collision between deformable and rigid + virtual void processCollision(btSoftBody * softBody, const btCollisionObjectWrapper * collisionObjectWrap) + { + softBody->defaultCollisionHandler(collisionObjectWrap); + } + + // process collision between deformable and deformable + virtual void processCollision(btSoftBody * softBody, btSoftBody * otherSoftBody) { + softBody->defaultCollisionHandler(otherSoftBody); + } + + // If true, implicit time stepping scheme is used. + // Otherwise, explicit time stepping scheme is used + void setImplicit(bool implicit); + + // If true, newton's method with line search is used when implicit time stepping scheme is turned on + void setLineSearch(bool lineSearch); + + // set temporary position x^* = x_n + dt * v + // update the deformation gradient at position x^* + void updateState(); + + // set dv = dv + scale * ddv + void updateDv(btScalar scale = 1); + + // set temporary position x^* = x_n + dt * v^* + void updateTempPosition(); + + // save the current dv to m_backup_dv; + void backupDv(); + + // set dv to the backed-up value + void revertDv(); + + // set dv = dv + scale * ddv + // set v^* = v_n + dv + // set temporary position x^* = x_n + dt * v^* + // update the deformation gradient at position x^* + void updateEnergy(btScalar scale); + + // calculates the appropriately scaled kinetic energy in the system, which is + // 1/2 * dv^T * M * dv + // used in line search + btScalar kineticEnergy(); + + // unused functions + virtual void optimize(btAlignedObjectArray<btSoftBody *> &softBodies, bool forceUpdate = false){} + virtual void solveConstraints(btScalar dt){} + virtual bool checkInitialized(){return true;} + virtual void copyBackToSoftBodies(bool bMove = true) {} +}; + +#endif /* btDeformableBodySolver_h */ diff --git a/thirdparty/bullet/BulletSoftBody/btDeformableContactConstraint.cpp b/thirdparty/bullet/BulletSoftBody/btDeformableContactConstraint.cpp new file mode 100644 index 0000000000..e8219dc50e --- /dev/null +++ b/thirdparty/bullet/BulletSoftBody/btDeformableContactConstraint.cpp @@ -0,0 +1,591 @@ +/* + Written by Xuchen Han <xuchenhan2015@u.northwestern.edu> + + Bullet Continuous Collision Detection and Physics Library + Copyright (c) 2019 Google Inc. 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 "btDeformableContactConstraint.h" +/* ================ Deformable Node Anchor =================== */ +btDeformableNodeAnchorConstraint::btDeformableNodeAnchorConstraint(const btSoftBody::DeformableNodeRigidAnchor& a) +: m_anchor(&a) +, btDeformableContactConstraint(a.m_cti.m_normal) +{ +} + +btDeformableNodeAnchorConstraint::btDeformableNodeAnchorConstraint(const btDeformableNodeAnchorConstraint& other) +: m_anchor(other.m_anchor) +, btDeformableContactConstraint(other) +{ +} + +btVector3 btDeformableNodeAnchorConstraint::getVa() const +{ + const btSoftBody::sCti& cti = m_anchor->m_cti; + btVector3 va(0, 0, 0); + if (cti.m_colObj->hasContactResponse()) + { + btRigidBody* rigidCol = 0; + btMultiBodyLinkCollider* multibodyLinkCol = 0; + + // grab the velocity of the rigid body + if (cti.m_colObj->getInternalType() == btCollisionObject::CO_RIGID_BODY) + { + rigidCol = (btRigidBody*)btRigidBody::upcast(cti.m_colObj); + va = rigidCol ? (rigidCol->getVelocityInLocalPoint(m_anchor->m_c1)) : btVector3(0, 0, 0); + } + else if (cti.m_colObj->getInternalType() == btCollisionObject::CO_FEATHERSTONE_LINK) + { + multibodyLinkCol = (btMultiBodyLinkCollider*)btMultiBodyLinkCollider::upcast(cti.m_colObj); + if (multibodyLinkCol) + { + const int ndof = multibodyLinkCol->m_multiBody->getNumDofs() + 6; + const btScalar* J_n = &m_anchor->jacobianData_normal.m_jacobians[0]; + const btScalar* J_t1 = &m_anchor->jacobianData_t1.m_jacobians[0]; + const btScalar* J_t2 = &m_anchor->jacobianData_t2.m_jacobians[0]; + const btScalar* local_v = multibodyLinkCol->m_multiBody->getVelocityVector(); + const btScalar* local_dv = multibodyLinkCol->m_multiBody->getDeltaVelocityVector(); + // add in the normal component of the va + btScalar vel = 0.0; + for (int k = 0; k < ndof; ++k) + { + vel += (local_v[k]+local_dv[k]) * J_n[k]; + } + va = cti.m_normal * vel; + // add in the tangential components of the va + vel = 0.0; + for (int k = 0; k < ndof; ++k) + { + vel += (local_v[k]+local_dv[k]) * J_t1[k]; + } + va += m_anchor->t1 * vel; + vel = 0.0; + for (int k = 0; k < ndof; ++k) + { + vel += (local_v[k]+local_dv[k]) * J_t2[k]; + } + va += m_anchor->t2 * vel; + } + } + } + return va; +} + +btScalar btDeformableNodeAnchorConstraint::solveConstraint() +{ + const btSoftBody::sCti& cti = m_anchor->m_cti; + btVector3 va = getVa(); + btVector3 vb = getVb(); + btVector3 vr = (vb - va); + // + (m_anchor->m_node->m_x - cti.m_colObj->getWorldTransform() * m_anchor->m_local) * 10.0 + const btScalar dn = btDot(vr, cti.m_normal); + // dn is the normal component of velocity diffrerence. Approximates the residual. // todo xuchenhan@: this prob needs to be scaled by dt + btScalar residualSquare = dn*dn; + btVector3 impulse = m_anchor->m_c0 * vr; + // apply impulse to deformable nodes involved and change their velocities + applyImpulse(impulse); + + // apply impulse to the rigid/multibodies involved and change their velocities + if (cti.m_colObj->getInternalType() == btCollisionObject::CO_RIGID_BODY) + { + btRigidBody* rigidCol = 0; + rigidCol = (btRigidBody*)btRigidBody::upcast(cti.m_colObj); + if (rigidCol) + { + rigidCol->applyImpulse(impulse, m_anchor->m_c1); + } + } + else if (cti.m_colObj->getInternalType() == btCollisionObject::CO_FEATHERSTONE_LINK) + { + btMultiBodyLinkCollider* multibodyLinkCol = 0; + multibodyLinkCol = (btMultiBodyLinkCollider*)btMultiBodyLinkCollider::upcast(cti.m_colObj); + if (multibodyLinkCol) + { + const btScalar* deltaV_normal = &m_anchor->jacobianData_normal.m_deltaVelocitiesUnitImpulse[0]; + // apply normal component of the impulse + multibodyLinkCol->m_multiBody->applyDeltaVeeMultiDof2(deltaV_normal, impulse.dot(cti.m_normal)); + // apply tangential component of the impulse + const btScalar* deltaV_t1 = &m_anchor->jacobianData_t1.m_deltaVelocitiesUnitImpulse[0]; + multibodyLinkCol->m_multiBody->applyDeltaVeeMultiDof2(deltaV_t1, impulse.dot(m_anchor->t1)); + const btScalar* deltaV_t2 = &m_anchor->jacobianData_t2.m_deltaVelocitiesUnitImpulse[0]; + multibodyLinkCol->m_multiBody->applyDeltaVeeMultiDof2(deltaV_t2, impulse.dot(m_anchor->t2)); + } + } + return residualSquare; +} + +btVector3 btDeformableNodeAnchorConstraint::getVb() const +{ + return m_anchor->m_node->m_v; +} + +void btDeformableNodeAnchorConstraint::applyImpulse(const btVector3& impulse) +{ + btVector3 dv = impulse * m_anchor->m_c2; + m_anchor->m_node->m_v -= dv; +} + +/* ================ Deformable vs. Rigid =================== */ +btDeformableRigidContactConstraint::btDeformableRigidContactConstraint(const btSoftBody::DeformableRigidContact& c) +: m_contact(&c) +, btDeformableContactConstraint(c.m_cti.m_normal) +{ + m_total_normal_dv.setZero(); + m_total_tangent_dv.setZero(); + // penetration is non-positive. The magnitude of penetration is the depth of penetration. + m_penetration = btMin(btScalar(0), c.m_cti.m_offset); +} + +btDeformableRigidContactConstraint::btDeformableRigidContactConstraint(const btDeformableRigidContactConstraint& other) +: m_contact(other.m_contact) +, btDeformableContactConstraint(other) +, m_penetration(other.m_penetration) +{ + m_total_normal_dv = other.m_total_normal_dv; + m_total_tangent_dv = other.m_total_tangent_dv; +} + + +btVector3 btDeformableRigidContactConstraint::getVa() const +{ + const btSoftBody::sCti& cti = m_contact->m_cti; + btVector3 va(0, 0, 0); + if (cti.m_colObj->hasContactResponse()) + { + btRigidBody* rigidCol = 0; + btMultiBodyLinkCollider* multibodyLinkCol = 0; + + // grab the velocity of the rigid body + if (cti.m_colObj->getInternalType() == btCollisionObject::CO_RIGID_BODY) + { + rigidCol = (btRigidBody*)btRigidBody::upcast(cti.m_colObj); + va = rigidCol ? (rigidCol->getVelocityInLocalPoint(m_contact->m_c1)) : btVector3(0, 0, 0); + } + else if (cti.m_colObj->getInternalType() == btCollisionObject::CO_FEATHERSTONE_LINK) + { + multibodyLinkCol = (btMultiBodyLinkCollider*)btMultiBodyLinkCollider::upcast(cti.m_colObj); + if (multibodyLinkCol) + { + const int ndof = multibodyLinkCol->m_multiBody->getNumDofs() + 6; + const btScalar* J_n = &m_contact->jacobianData_normal.m_jacobians[0]; + const btScalar* J_t1 = &m_contact->jacobianData_t1.m_jacobians[0]; + const btScalar* J_t2 = &m_contact->jacobianData_t2.m_jacobians[0]; + const btScalar* local_v = multibodyLinkCol->m_multiBody->getVelocityVector(); + const btScalar* local_dv = multibodyLinkCol->m_multiBody->getDeltaVelocityVector(); + // add in the normal component of the va + btScalar vel = 0.0; + for (int k = 0; k < ndof; ++k) + { + vel += (local_v[k]+local_dv[k]) * J_n[k]; + } + va = cti.m_normal * vel; + // add in the tangential components of the va + vel = 0.0; + for (int k = 0; k < ndof; ++k) + { + vel += (local_v[k]+local_dv[k]) * J_t1[k]; + } + va += m_contact->t1 * vel; + vel = 0.0; + for (int k = 0; k < ndof; ++k) + { + vel += (local_v[k]+local_dv[k]) * J_t2[k]; + } + va += m_contact->t2 * vel; + } + } + } + return va; +} + +btScalar btDeformableRigidContactConstraint::solveConstraint() +{ + const btSoftBody::sCti& cti = m_contact->m_cti; + btVector3 va = getVa(); + btVector3 vb = getVb(); + btVector3 vr = vb - va; + const btScalar dn = btDot(vr, cti.m_normal); + // dn is the normal component of velocity diffrerence. Approximates the residual. // todo xuchenhan@: this prob needs to be scaled by dt + btScalar residualSquare = dn*dn; + btVector3 impulse = m_contact->m_c0 * vr; + const btVector3 impulse_normal = m_contact->m_c0 * (cti.m_normal * dn); + btVector3 impulse_tangent = impulse - impulse_normal; + btVector3 old_total_tangent_dv = m_total_tangent_dv; + // m_c2 is the inverse mass of the deformable node/face + m_total_normal_dv -= impulse_normal * m_contact->m_c2; + m_total_tangent_dv -= impulse_tangent * m_contact->m_c2; + + if (m_total_normal_dv.dot(cti.m_normal) < 0) + { + // separating in the normal direction + m_static = false; + m_total_tangent_dv = btVector3(0,0,0); + impulse_tangent.setZero(); + } + else + { + if (m_total_normal_dv.norm() * m_contact->m_c3 < m_total_tangent_dv.norm()) + { + // dynamic friction + // with dynamic friction, the impulse are still applied to the two objects colliding, however, it does not pose a constraint in the cg solve, hence the change to dv merely serves to update velocity in the contact iterations. + m_static = false; + if (m_total_tangent_dv.safeNorm() < SIMD_EPSILON) + { + m_total_tangent_dv = btVector3(0,0,0); + } + else + { + m_total_tangent_dv = m_total_tangent_dv.normalized() * m_total_normal_dv.safeNorm() * m_contact->m_c3; + } + impulse_tangent = -btScalar(1)/m_contact->m_c2 * (m_total_tangent_dv - old_total_tangent_dv); + } + else + { + // static friction + m_static = true; + } + } + impulse = impulse_normal + impulse_tangent; + // apply impulse to deformable nodes involved and change their velocities + applyImpulse(impulse); + // apply impulse to the rigid/multibodies involved and change their velocities + if (cti.m_colObj->getInternalType() == btCollisionObject::CO_RIGID_BODY) + { + btRigidBody* rigidCol = 0; + rigidCol = (btRigidBody*)btRigidBody::upcast(cti.m_colObj); + if (rigidCol) + { + rigidCol->applyImpulse(impulse, m_contact->m_c1); + } + } + else if (cti.m_colObj->getInternalType() == btCollisionObject::CO_FEATHERSTONE_LINK) + { + btMultiBodyLinkCollider* multibodyLinkCol = 0; + multibodyLinkCol = (btMultiBodyLinkCollider*)btMultiBodyLinkCollider::upcast(cti.m_colObj); + if (multibodyLinkCol) + { + const btScalar* deltaV_normal = &m_contact->jacobianData_normal.m_deltaVelocitiesUnitImpulse[0]; + // apply normal component of the impulse + multibodyLinkCol->m_multiBody->applyDeltaVeeMultiDof2(deltaV_normal, impulse.dot(cti.m_normal)); + if (impulse_tangent.norm() > SIMD_EPSILON) + { + // apply tangential component of the impulse + const btScalar* deltaV_t1 = &m_contact->jacobianData_t1.m_deltaVelocitiesUnitImpulse[0]; + multibodyLinkCol->m_multiBody->applyDeltaVeeMultiDof2(deltaV_t1, impulse.dot(m_contact->t1)); + const btScalar* deltaV_t2 = &m_contact->jacobianData_t2.m_deltaVelocitiesUnitImpulse[0]; + multibodyLinkCol->m_multiBody->applyDeltaVeeMultiDof2(deltaV_t2, impulse.dot(m_contact->t2)); + } + } + } + return residualSquare; +} + +btScalar btDeformableRigidContactConstraint::solveSplitImpulse(const btContactSolverInfo& infoGlobal) +{ + const btSoftBody::sCti& cti = m_contact->m_cti; + const btScalar dn = m_penetration; + if (dn != 0) + { + const btVector3 impulse = (m_contact->m_c0 * (cti.m_normal * dn / infoGlobal.m_timeStep)); + // one iteration of the position impulse corrects all the position error at this timestep + m_penetration -= dn; + // apply impulse to deformable nodes involved and change their position + applySplitImpulse(impulse); + // apply impulse to the rigid/multibodies involved and change their position + if (cti.m_colObj->getInternalType() == btCollisionObject::CO_RIGID_BODY) + { + btRigidBody* rigidCol = 0; + rigidCol = (btRigidBody*)btRigidBody::upcast(cti.m_colObj); + if (rigidCol) + { + rigidCol->applyPushImpulse(impulse, m_contact->m_c1); + } + } + else if (cti.m_colObj->getInternalType() == btCollisionObject::CO_FEATHERSTONE_LINK) + { + // todo xuchenhan@ + } + return (m_penetration/infoGlobal.m_timeStep) * (m_penetration/infoGlobal.m_timeStep); + } + return 0; +} + +/* ================ Node vs. Rigid =================== */ +btDeformableNodeRigidContactConstraint::btDeformableNodeRigidContactConstraint(const btSoftBody::DeformableNodeRigidContact& contact) + : m_node(contact.m_node) + , btDeformableRigidContactConstraint(contact) + { + } + +btDeformableNodeRigidContactConstraint::btDeformableNodeRigidContactConstraint(const btDeformableNodeRigidContactConstraint& other) +: m_node(other.m_node) +, btDeformableRigidContactConstraint(other) +{ +} + +btVector3 btDeformableNodeRigidContactConstraint::getVb() const +{ + return m_node->m_v; +} + + +btVector3 btDeformableNodeRigidContactConstraint::getDv(const btSoftBody::Node* node) const +{ + return m_total_normal_dv + m_total_tangent_dv; +} + +void btDeformableNodeRigidContactConstraint::applyImpulse(const btVector3& impulse) +{ + const btSoftBody::DeformableNodeRigidContact* contact = getContact(); + btVector3 dv = impulse * contact->m_c2; + contact->m_node->m_v -= dv; +} + +void btDeformableNodeRigidContactConstraint::applySplitImpulse(const btVector3& impulse) +{ + const btSoftBody::DeformableNodeRigidContact* contact = getContact(); + btVector3 dv = impulse * contact->m_c2; + contact->m_node->m_vsplit -= dv; +}; + +/* ================ Face vs. Rigid =================== */ +btDeformableFaceRigidContactConstraint::btDeformableFaceRigidContactConstraint(const btSoftBody::DeformableFaceRigidContact& contact) +: m_face(contact.m_face) +, btDeformableRigidContactConstraint(contact) +{ +} + +btDeformableFaceRigidContactConstraint::btDeformableFaceRigidContactConstraint(const btDeformableFaceRigidContactConstraint& other) +: m_face(other.m_face) +, btDeformableRigidContactConstraint(other) +{ +} + +btVector3 btDeformableFaceRigidContactConstraint::getVb() const +{ + const btSoftBody::DeformableFaceRigidContact* contact = getContact(); + btVector3 vb = m_face->m_n[0]->m_v * contact->m_bary[0] + m_face->m_n[1]->m_v * contact->m_bary[1] + m_face->m_n[2]->m_v * contact->m_bary[2]; + return vb; +} + + +btVector3 btDeformableFaceRigidContactConstraint::getDv(const btSoftBody::Node* node) const +{ + btVector3 face_dv = m_total_normal_dv + m_total_tangent_dv; + const btSoftBody::DeformableFaceRigidContact* contact = getContact(); + if (m_face->m_n[0] == node) + { + return face_dv * contact->m_weights[0]; + } + if (m_face->m_n[1] == node) + { + return face_dv * contact->m_weights[1]; + } + btAssert(node == m_face->m_n[2]); + return face_dv * contact->m_weights[2]; +} + +void btDeformableFaceRigidContactConstraint::applyImpulse(const btVector3& impulse) +{ + const btSoftBody::DeformableFaceRigidContact* contact = getContact(); + btVector3 dv = impulse * contact->m_c2; + btSoftBody::Face* face = contact->m_face; + + btVector3& v0 = face->m_n[0]->m_v; + btVector3& v1 = face->m_n[1]->m_v; + btVector3& v2 = face->m_n[2]->m_v; + const btScalar& im0 = face->m_n[0]->m_im; + const btScalar& im1 = face->m_n[1]->m_im; + const btScalar& im2 = face->m_n[2]->m_im; + if (im0 > 0) + v0 -= dv * contact->m_weights[0]; + if (im1 > 0) + v1 -= dv * contact->m_weights[1]; + if (im2 > 0) + v2 -= dv * contact->m_weights[2]; + + // apply strain limiting to prevent undamped modes + btScalar m01 = (btScalar(1)/(im0 + im1)); + btScalar m02 = (btScalar(1)/(im0 + im2)); + btScalar m12 = (btScalar(1)/(im1 + im2)); + + btVector3 dv0 = im0 * (m01 * (v1-v0) + m02 * (v2-v0)); + btVector3 dv1 = im1 * (m01 * (v0-v1) + m12 * (v2-v1)); + btVector3 dv2 = im2 * (m12 * (v1-v2) + m02 * (v0-v2)); + + v0 += dv0; + v1 += dv1; + v2 += dv2; +} + +void btDeformableFaceRigidContactConstraint::applySplitImpulse(const btVector3& impulse) +{ + const btSoftBody::DeformableFaceRigidContact* contact = getContact(); + btVector3 dv = impulse * contact->m_c2; + btSoftBody::Face* face = contact->m_face; + + btVector3& v0 = face->m_n[0]->m_vsplit; + btVector3& v1 = face->m_n[1]->m_vsplit; + btVector3& v2 = face->m_n[2]->m_vsplit; + const btScalar& im0 = face->m_n[0]->m_im; + const btScalar& im1 = face->m_n[1]->m_im; + const btScalar& im2 = face->m_n[2]->m_im; + if (im0 > 0) + v0 -= dv * contact->m_weights[0]; + if (im1 > 0) + v1 -= dv * contact->m_weights[1]; + if (im2 > 0) + v2 -= dv * contact->m_weights[2]; +} + +/* ================ Face vs. Node =================== */ +btDeformableFaceNodeContactConstraint::btDeformableFaceNodeContactConstraint(const btSoftBody::DeformableFaceNodeContact& contact) +: m_node(contact.m_node) +, m_face(contact.m_face) +, m_contact(&contact) +, btDeformableContactConstraint(contact.m_normal) +{ + m_total_normal_dv.setZero(); + m_total_tangent_dv.setZero(); +} + +btVector3 btDeformableFaceNodeContactConstraint::getVa() const +{ + return m_node->m_v; +} + +btVector3 btDeformableFaceNodeContactConstraint::getVb() const +{ + const btSoftBody::DeformableFaceNodeContact* contact = getContact(); + btVector3 vb = m_face->m_n[0]->m_v * contact->m_bary[0] + m_face->m_n[1]->m_v * contact->m_bary[1] + m_face->m_n[2]->m_v * contact->m_bary[2]; + return vb; +} + +btVector3 btDeformableFaceNodeContactConstraint::getDv(const btSoftBody::Node* n) const +{ + btVector3 dv = m_total_normal_dv + m_total_tangent_dv; + if (n == m_node) + return dv; + const btSoftBody::DeformableFaceNodeContact* contact = getContact(); + if (m_face->m_n[0] == n) + { + return dv * contact->m_weights[0]; + } + if (m_face->m_n[1] == n) + { + return dv * contact->m_weights[1]; + } + btAssert(n == m_face->m_n[2]); + return dv * contact->m_weights[2]; +} + +btScalar btDeformableFaceNodeContactConstraint::solveConstraint() +{ + btVector3 va = getVa(); + btVector3 vb = getVb(); + btVector3 vr = vb - va; + const btScalar dn = btDot(vr, m_contact->m_normal); + // dn is the normal component of velocity diffrerence. Approximates the residual. // todo xuchenhan@: this prob needs to be scaled by dt + btScalar residualSquare = dn*dn; + btVector3 impulse = m_contact->m_c0 * vr; + const btVector3 impulse_normal = m_contact->m_c0 * (m_contact->m_normal * dn); + btVector3 impulse_tangent = impulse - impulse_normal; + + btVector3 old_total_tangent_dv = m_total_tangent_dv; + // m_c2 is the inverse mass of the deformable node/face + if (m_node->m_im > 0) + { + m_total_normal_dv -= impulse_normal * m_node->m_im; + m_total_tangent_dv -= impulse_tangent * m_node->m_im; + } + else + { + m_total_normal_dv -= impulse_normal * m_contact->m_imf; + m_total_tangent_dv -= impulse_tangent * m_contact->m_imf; + } + + if (m_total_normal_dv.dot(m_contact->m_normal) > 0) + { + // separating in the normal direction + m_static = false; + m_total_tangent_dv = btVector3(0,0,0); + impulse_tangent.setZero(); + } + else + { + if (m_total_normal_dv.norm() * m_contact->m_friction < m_total_tangent_dv.norm()) + { + // dynamic friction + // with dynamic friction, the impulse are still applied to the two objects colliding, however, it does not pose a constraint in the cg solve, hence the change to dv merely serves to update velocity in the contact iterations. + m_static = false; + if (m_total_tangent_dv.safeNorm() < SIMD_EPSILON) + { + m_total_tangent_dv = btVector3(0,0,0); + } + else + { + m_total_tangent_dv = m_total_tangent_dv.normalized() * m_total_normal_dv.safeNorm() * m_contact->m_friction; + } + impulse_tangent = -btScalar(1)/m_node->m_im * (m_total_tangent_dv - old_total_tangent_dv); + } + else + { + // static friction + m_static = true; + } + } + impulse = impulse_normal + impulse_tangent; + // apply impulse to deformable nodes involved and change their velocities + applyImpulse(impulse); + return residualSquare; +} + +void btDeformableFaceNodeContactConstraint::applyImpulse(const btVector3& impulse) +{ + const btSoftBody::DeformableFaceNodeContact* contact = getContact(); + btVector3 dva = impulse * contact->m_node->m_im; + btVector3 dvb = impulse * contact->m_imf; + if (contact->m_node->m_im > 0) + { + contact->m_node->m_v += dva; + } + + btSoftBody::Face* face = contact->m_face; + btVector3& v0 = face->m_n[0]->m_v; + btVector3& v1 = face->m_n[1]->m_v; + btVector3& v2 = face->m_n[2]->m_v; + const btScalar& im0 = face->m_n[0]->m_im; + const btScalar& im1 = face->m_n[1]->m_im; + const btScalar& im2 = face->m_n[2]->m_im; + if (im0 > 0) + { + v0 -= dvb * contact->m_weights[0]; + } + if (im1 > 0) + { + v1 -= dvb * contact->m_weights[1]; + } + if (im2 > 0) + { + v2 -= dvb * contact->m_weights[2]; + } + // todo: Face node constraints needs more work +// btScalar m01 = (btScalar(1)/(im0 + im1)); +// btScalar m02 = (btScalar(1)/(im0 + im2)); +// btScalar m12 = (btScalar(1)/(im1 + im2)); +// +// btVector3 dv0 = im0 * (m01 * (v1-v0) + m02 * (v2-v0)); +// btVector3 dv1 = im1 * (m01 * (v0-v1) + m12 * (v2-v1)); +// btVector3 dv2 = im2 * (m12 * (v1-v2) + m02 * (v0-v2)); +// v0 += dv0; +// v1 += dv1; +// v2 += dv2; +} diff --git a/thirdparty/bullet/BulletSoftBody/btDeformableContactConstraint.h b/thirdparty/bullet/BulletSoftBody/btDeformableContactConstraint.h new file mode 100644 index 0000000000..912119e7c3 --- /dev/null +++ b/thirdparty/bullet/BulletSoftBody/btDeformableContactConstraint.h @@ -0,0 +1,302 @@ +/* + Written by Xuchen Han <xuchenhan2015@u.northwestern.edu> + + Bullet Continuous Collision Detection and Physics Library + Copyright (c) 2019 Google Inc. 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. + */ + +#ifndef BT_DEFORMABLE_CONTACT_CONSTRAINT_H +#define BT_DEFORMABLE_CONTACT_CONSTRAINT_H +#include "btSoftBody.h" + +// btDeformableContactConstraint is an abstract class specifying the method that each type of contact constraint needs to implement +class btDeformableContactConstraint +{ +public: + // True if the friction is static + // False if the friction is dynamic + bool m_static; + + // normal of the contact + btVector3 m_normal; + + btDeformableContactConstraint(const btVector3& normal): m_static(false), m_normal(normal) + { + } + + btDeformableContactConstraint(bool isStatic, const btVector3& normal): m_static(isStatic), m_normal(normal) + { + } + + btDeformableContactConstraint(const btDeformableContactConstraint& other) + : m_static(other.m_static) + , m_normal(other.m_normal) + { + + } + btDeformableContactConstraint(){} + + virtual ~btDeformableContactConstraint(){} + + // solve the constraint with inelastic impulse and return the error, which is the square of normal component of velocity diffrerence + // the constraint is solved by calculating the impulse between object A and B in the contact and apply the impulse to both objects involved in the contact + virtual btScalar solveConstraint() = 0; + + // solve the position error by applying an inelastic impulse that changes only the position (not velocity) + virtual btScalar solveSplitImpulse(const btContactSolverInfo& infoGlobal) = 0; + + // get the velocity of the object A in the contact + virtual btVector3 getVa() const = 0; + + // get the velocity of the object B in the contact + virtual btVector3 getVb() const = 0; + + // get the velocity change of the soft body node in the constraint + virtual btVector3 getDv(const btSoftBody::Node*) const = 0; + + // apply impulse to the soft body node and/or face involved + virtual void applyImpulse(const btVector3& impulse) = 0; + + // apply position based impulse to the soft body node and/or face involved + virtual void applySplitImpulse(const btVector3& impulse) = 0; + + // scale the penetration depth by erp + virtual void setPenetrationScale(btScalar scale) = 0; +}; + +// +// Constraint that a certain node in the deformable objects cannot move +class btDeformableStaticConstraint : public btDeformableContactConstraint +{ +public: + const btSoftBody::Node* m_node; + + btDeformableStaticConstraint(){} + + btDeformableStaticConstraint(const btSoftBody::Node* node): m_node(node), btDeformableContactConstraint(false, btVector3(0,0,0)) + { + } + + btDeformableStaticConstraint(const btDeformableStaticConstraint& other) + : m_node(other.m_node) + , btDeformableContactConstraint(other) + { + + } + + virtual ~btDeformableStaticConstraint(){} + + virtual btScalar solveConstraint() + { + return 0; + } + + virtual btScalar solveSplitImpulse(const btContactSolverInfo& infoGlobal) + { + return 0; + } + + virtual btVector3 getVa() const + { + return btVector3(0,0,0); + } + + virtual btVector3 getVb() const + { + return btVector3(0,0,0); + } + + virtual btVector3 getDv(const btSoftBody::Node* n) const + { + return btVector3(0,0,0); + } + + virtual void applyImpulse(const btVector3& impulse){} + virtual void applySplitImpulse(const btVector3& impulse){} + virtual void setPenetrationScale(btScalar scale){} +}; + +// +// Anchor Constraint between rigid and deformable node +class btDeformableNodeAnchorConstraint : public btDeformableContactConstraint +{ +public: + const btSoftBody::DeformableNodeRigidAnchor* m_anchor; + + btDeformableNodeAnchorConstraint(){} + btDeformableNodeAnchorConstraint(const btSoftBody::DeformableNodeRigidAnchor& c); + btDeformableNodeAnchorConstraint(const btDeformableNodeAnchorConstraint& other); + virtual ~btDeformableNodeAnchorConstraint() + { + } + virtual btScalar solveConstraint(); + virtual btScalar solveSplitImpulse(const btContactSolverInfo& infoGlobal) + { + // todo xuchenhan@ + return 0; + } + // object A is the rigid/multi body, and object B is the deformable node/face + virtual btVector3 getVa() const; + // get the velocity of the deformable node in contact + virtual btVector3 getVb() const; + virtual btVector3 getDv(const btSoftBody::Node* n) const + { + return btVector3(0,0,0); + } + virtual void applyImpulse(const btVector3& impulse); + virtual void applySplitImpulse(const btVector3& impulse) + { + // todo xuchenhan@ + }; + virtual void setPenetrationScale(btScalar scale){} +}; + + +// +// Constraint between rigid/multi body and deformable objects +class btDeformableRigidContactConstraint : public btDeformableContactConstraint +{ +public: + btVector3 m_total_normal_dv; + btVector3 m_total_tangent_dv; + btScalar m_penetration; + const btSoftBody::DeformableRigidContact* m_contact; + + btDeformableRigidContactConstraint(){} + btDeformableRigidContactConstraint(const btSoftBody::DeformableRigidContact& c); + btDeformableRigidContactConstraint(const btDeformableRigidContactConstraint& other); + virtual ~btDeformableRigidContactConstraint() + { + } + + // object A is the rigid/multi body, and object B is the deformable node/face + virtual btVector3 getVa() const; + + virtual btScalar solveConstraint(); + + virtual btScalar solveSplitImpulse(const btContactSolverInfo& infoGlobal); + + virtual void setPenetrationScale(btScalar scale) + { + m_penetration *= scale; + } +}; + +// +// Constraint between rigid/multi body and deformable objects nodes +class btDeformableNodeRigidContactConstraint : public btDeformableRigidContactConstraint +{ +public: + // the deformable node in contact + const btSoftBody::Node* m_node; + + btDeformableNodeRigidContactConstraint(){} + btDeformableNodeRigidContactConstraint(const btSoftBody::DeformableNodeRigidContact& contact); + btDeformableNodeRigidContactConstraint(const btDeformableNodeRigidContactConstraint& other); + + virtual ~btDeformableNodeRigidContactConstraint() + { + } + + // get the velocity of the deformable node in contact + virtual btVector3 getVb() const; + + // get the velocity change of the input soft body node in the constraint + virtual btVector3 getDv(const btSoftBody::Node*) const; + + // cast the contact to the desired type + const btSoftBody::DeformableNodeRigidContact* getContact() const + { + return static_cast<const btSoftBody::DeformableNodeRigidContact*>(m_contact); + } + + virtual void applyImpulse(const btVector3& impulse); + virtual void applySplitImpulse(const btVector3& impulse); +}; + +// +// Constraint between rigid/multi body and deformable objects faces +class btDeformableFaceRigidContactConstraint : public btDeformableRigidContactConstraint +{ +public: + const btSoftBody::Face* m_face; + btDeformableFaceRigidContactConstraint(){} + btDeformableFaceRigidContactConstraint(const btSoftBody::DeformableFaceRigidContact& contact); + btDeformableFaceRigidContactConstraint(const btDeformableFaceRigidContactConstraint& other); + + virtual ~btDeformableFaceRigidContactConstraint() + { + } + + // get the velocity of the deformable face at the contact point + virtual btVector3 getVb() const; + + // get the velocity change of the input soft body node in the constraint + virtual btVector3 getDv(const btSoftBody::Node*) const; + + // cast the contact to the desired type + const btSoftBody::DeformableFaceRigidContact* getContact() const + { + return static_cast<const btSoftBody::DeformableFaceRigidContact*>(m_contact); + } + + virtual void applyImpulse(const btVector3& impulse); + virtual void applySplitImpulse(const btVector3& impulse); +}; + +// +// Constraint between deformable objects faces and deformable objects nodes +class btDeformableFaceNodeContactConstraint : public btDeformableContactConstraint +{ +public: + btSoftBody::Node* m_node; + btSoftBody::Face* m_face; + const btSoftBody::DeformableFaceNodeContact* m_contact; + btVector3 m_total_normal_dv; + btVector3 m_total_tangent_dv; + + btDeformableFaceNodeContactConstraint(){} + + btDeformableFaceNodeContactConstraint(const btSoftBody::DeformableFaceNodeContact& contact); + + virtual ~btDeformableFaceNodeContactConstraint(){} + + virtual btScalar solveConstraint(); + + virtual btScalar solveSplitImpulse(const btContactSolverInfo& infoGlobal) + { + // todo: xuchenhan@ + return 0; + } + + // get the velocity of the object A in the contact + virtual btVector3 getVa() const; + + // get the velocity of the object B in the contact + virtual btVector3 getVb() const; + + // get the velocity change of the input soft body node in the constraint + virtual btVector3 getDv(const btSoftBody::Node*) const; + + // cast the contact to the desired type + const btSoftBody::DeformableFaceNodeContact* getContact() const + { + return static_cast<const btSoftBody::DeformableFaceNodeContact*>(m_contact); + } + + virtual void applyImpulse(const btVector3& impulse); + virtual void applySplitImpulse(const btVector3& impulse) + { + // todo xuchenhan@ + } + virtual void setPenetrationScale(btScalar scale){} +}; +#endif /* BT_DEFORMABLE_CONTACT_CONSTRAINT_H */ diff --git a/thirdparty/bullet/BulletSoftBody/btDeformableContactProjection.cpp b/thirdparty/bullet/BulletSoftBody/btDeformableContactProjection.cpp new file mode 100644 index 0000000000..5a4f3241b4 --- /dev/null +++ b/thirdparty/bullet/BulletSoftBody/btDeformableContactProjection.cpp @@ -0,0 +1,509 @@ +/* + Written by Xuchen Han <xuchenhan2015@u.northwestern.edu> + + Bullet Continuous Collision Detection and Physics Library + Copyright (c) 2019 Google Inc. 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 "btDeformableContactProjection.h" +#include "btDeformableMultiBodyDynamicsWorld.h" +#include <algorithm> +#include <cmath> +btScalar btDeformableContactProjection::update(btCollisionObject** deformableBodies,int numDeformableBodies) +{ + btScalar residualSquare = 0; + for (int i = 0; i < numDeformableBodies; ++i) + { + for (int j = 0; j < m_softBodies.size(); ++j) + { + btCollisionObject* psb = m_softBodies[j]; + if (psb != deformableBodies[i]) + { + continue; + } + for (int k = 0; k < m_nodeRigidConstraints[j].size(); ++k) + { + btDeformableNodeRigidContactConstraint& constraint = m_nodeRigidConstraints[j][k]; + btScalar localResidualSquare = constraint.solveConstraint(); + residualSquare = btMax(residualSquare, localResidualSquare); + } + for (int k = 0; k < m_nodeAnchorConstraints[j].size(); ++k) + { + btDeformableNodeAnchorConstraint& constraint = m_nodeAnchorConstraints[j][k]; + btScalar localResidualSquare = constraint.solveConstraint(); + residualSquare = btMax(residualSquare, localResidualSquare); + } + for (int k = 0; k < m_faceRigidConstraints[j].size(); ++k) + { + btDeformableFaceRigidContactConstraint& constraint = m_faceRigidConstraints[j][k]; + btScalar localResidualSquare = constraint.solveConstraint(); + residualSquare = btMax(residualSquare, localResidualSquare); + } + for (int k = 0; k < m_deformableConstraints[j].size(); ++k) + { + btDeformableFaceNodeContactConstraint& constraint = m_deformableConstraints[j][k]; + btScalar localResidualSquare = constraint.solveConstraint(); + residualSquare = btMax(residualSquare, localResidualSquare); + } + } + } + return residualSquare; +} + +void btDeformableContactProjection::splitImpulseSetup(const btContactSolverInfo& infoGlobal) +{ + for (int i = 0; i < m_softBodies.size(); ++i) + { + // node constraints + for (int j = 0; j < m_nodeRigidConstraints[i].size(); ++j) + { + btDeformableNodeRigidContactConstraint& constraint = m_nodeRigidConstraints[i][j]; + constraint.setPenetrationScale(infoGlobal.m_deformable_erp); + } + // face constraints + for (int j = 0; j < m_faceRigidConstraints[i].size(); ++j) + { + btDeformableFaceRigidContactConstraint& constraint = m_faceRigidConstraints[i][j]; + constraint.setPenetrationScale(infoGlobal.m_deformable_erp); + } + } +} + +btScalar btDeformableContactProjection::solveSplitImpulse(const btContactSolverInfo& infoGlobal) +{ + btScalar residualSquare = 0; + for (int i = 0; i < m_softBodies.size(); ++i) + { + // node constraints + for (int j = 0; j < m_nodeRigidConstraints[i].size(); ++j) + { + btDeformableNodeRigidContactConstraint& constraint = m_nodeRigidConstraints[i][j]; + btScalar localResidualSquare = constraint.solveSplitImpulse(infoGlobal); + residualSquare = btMax(residualSquare, localResidualSquare); + } + // anchor constraints + for (int j = 0; j < m_nodeAnchorConstraints[i].size(); ++j) + { + btDeformableNodeAnchorConstraint& constraint = m_nodeAnchorConstraints[i][j]; + btScalar localResidualSquare = constraint.solveSplitImpulse(infoGlobal); + residualSquare = btMax(residualSquare, localResidualSquare); + } + // face constraints + for (int j = 0; j < m_faceRigidConstraints[i].size(); ++j) + { + btDeformableFaceRigidContactConstraint& constraint = m_faceRigidConstraints[i][j]; + btScalar localResidualSquare = constraint.solveSplitImpulse(infoGlobal); + residualSquare = btMax(residualSquare, localResidualSquare); + } + + } + return residualSquare; +} + +void btDeformableContactProjection::setConstraints() +{ + BT_PROFILE("setConstraints"); + for (int i = 0; i < m_softBodies.size(); ++i) + { + btSoftBody* psb = m_softBodies[i]; + if (!psb->isActive()) + { + continue; + } + + // set Dirichlet constraint + for (int j = 0; j < psb->m_nodes.size(); ++j) + { + if (psb->m_nodes[j].m_im == 0) + { + btDeformableStaticConstraint static_constraint(&psb->m_nodes[j]); + m_staticConstraints[i].push_back(static_constraint); + } + } + + // set up deformable anchors + for (int j = 0; j < psb->m_deformableAnchors.size(); ++j) + { + btSoftBody::DeformableNodeRigidAnchor& anchor = psb->m_deformableAnchors[j]; + // skip fixed points + if (anchor.m_node->m_im == 0) + { + continue; + } + anchor.m_c1 = anchor.m_cti.m_colObj->getWorldTransform().getBasis() * anchor.m_local; + btDeformableNodeAnchorConstraint constraint(anchor); + m_nodeAnchorConstraints[i].push_back(constraint); + } + + // set Deformable Node vs. Rigid constraint + for (int j = 0; j < psb->m_nodeRigidContacts.size(); ++j) + { + const btSoftBody::DeformableNodeRigidContact& contact = psb->m_nodeRigidContacts[j]; + // skip fixed points + if (contact.m_node->m_im == 0) + { + continue; + } + btDeformableNodeRigidContactConstraint constraint(contact); + btVector3 va = constraint.getVa(); + btVector3 vb = constraint.getVb(); + const btVector3 vr = vb - va; + const btSoftBody::sCti& cti = contact.m_cti; + const btScalar dn = btDot(vr, cti.m_normal); + if (dn < SIMD_EPSILON) + { + m_nodeRigidConstraints[i].push_back(constraint); + } + } + + // set Deformable Face vs. Rigid constraint + for (int j = 0; j < psb->m_faceRigidContacts.size(); ++j) + { + const btSoftBody::DeformableFaceRigidContact& contact = psb->m_faceRigidContacts[j]; + // skip fixed faces + if (contact.m_c2 == 0) + { + continue; + } + btDeformableFaceRigidContactConstraint constraint(contact); + btVector3 va = constraint.getVa(); + btVector3 vb = constraint.getVb(); + const btVector3 vr = vb - va; + const btSoftBody::sCti& cti = contact.m_cti; + const btScalar dn = btDot(vr, cti.m_normal); + if (dn < SIMD_EPSILON) + { + m_faceRigidConstraints[i].push_back(constraint); + } + } + + // set Deformable Face vs. Deformable Node constraint + for (int j = 0; j < psb->m_faceNodeContacts.size(); ++j) + { + const btSoftBody::DeformableFaceNodeContact& contact = psb->m_faceNodeContacts[j]; + + btDeformableFaceNodeContactConstraint constraint(contact); + btVector3 va = constraint.getVa(); + btVector3 vb = constraint.getVb(); + const btVector3 vr = vb - va; + const btScalar dn = btDot(vr, contact.m_normal); + if (dn > -SIMD_EPSILON) + { + m_deformableConstraints[i].push_back(constraint); + } + } + } +} + +void btDeformableContactProjection::project(TVStack& x) +{ + const int dim = 3; + for (int index = 0; index < m_projectionsDict.size(); ++index) + { + btAlignedObjectArray<btVector3>& projectionDirs = *m_projectionsDict.getAtIndex(index); + size_t i = m_projectionsDict.getKeyAtIndex(index).getUid1(); + if (projectionDirs.size() >= dim) + { + // static node + x[i].setZero(); + continue; + } + else if (projectionDirs.size() == 2) + { + btVector3 dir0 = projectionDirs[0]; + btVector3 dir1 = projectionDirs[1]; + btVector3 free_dir = btCross(dir0, dir1); + if (free_dir.safeNorm() < SIMD_EPSILON) + { + x[i] -= x[i].dot(dir0) * dir0; + x[i] -= x[i].dot(dir1) * dir1; + } + else + { + free_dir.normalize(); + x[i] = x[i].dot(free_dir) * free_dir; + } + } + else + { + btAssert(projectionDirs.size() == 1); + btVector3 dir0 = projectionDirs[0]; + x[i] -= x[i].dot(dir0) * dir0; + } + } +} + +void btDeformableContactProjection::setProjection() +{ + btAlignedObjectArray<btVector3> units; + units.push_back(btVector3(1,0,0)); + units.push_back(btVector3(0,1,0)); + units.push_back(btVector3(0,0,1)); + for (int i = 0; i < m_softBodies.size(); ++i) + { + btSoftBody* psb = m_softBodies[i]; + if (!psb->isActive()) + { + continue; + } + for (int j = 0; j < m_staticConstraints[i].size(); ++j) + { + int index = m_staticConstraints[i][j].m_node->index; + if (m_projectionsDict.find(index) == NULL) + { + m_projectionsDict.insert(index, units); + } + else + { + btAlignedObjectArray<btVector3>& projections = *m_projectionsDict[index]; + for (int k = 0; k < 3; ++k) + { + projections.push_back(units[k]); + } + } + } + for (int j = 0; j < m_nodeAnchorConstraints[i].size(); ++j) + { + int index = m_nodeAnchorConstraints[i][j].m_anchor->m_node->index; + if (m_projectionsDict.find(index) == NULL) + { + m_projectionsDict.insert(index, units); + } + else + { + btAlignedObjectArray<btVector3>& projections = *m_projectionsDict[index]; + for (int k = 0; k < 3; ++k) + { + projections.push_back(units[k]); + } + } + } + for (int j = 0; j < m_nodeRigidConstraints[i].size(); ++j) + { + int index = m_nodeRigidConstraints[i][j].m_node->index; + if (m_nodeRigidConstraints[i][j].m_static) + { + if (m_projectionsDict.find(index) == NULL) + { + m_projectionsDict.insert(index, units); + } + else + { + btAlignedObjectArray<btVector3>& projections = *m_projectionsDict[index]; + for (int k = 0; k < 3; ++k) + { + projections.push_back(units[k]); + } + } + } + else + { + if (m_projectionsDict.find(index) == NULL) + { + btAlignedObjectArray<btVector3> projections; + projections.push_back(m_nodeRigidConstraints[i][j].m_normal); + m_projectionsDict.insert(index, projections); + } + else + { + btAlignedObjectArray<btVector3>& projections = *m_projectionsDict[index]; + projections.push_back(m_nodeRigidConstraints[i][j].m_normal); + } + } + } + for (int j = 0; j < m_faceRigidConstraints[i].size(); ++j) + { + const btSoftBody::Face* face = m_faceRigidConstraints[i][j].m_face; + for (int k = 0; k < 3; ++k) + { + const btSoftBody::Node* node = face->m_n[k]; + int index = node->index; + if (m_faceRigidConstraints[i][j].m_static) + { + if (m_projectionsDict.find(index) == NULL) + { + m_projectionsDict.insert(index, units); + } + else + { + btAlignedObjectArray<btVector3>& projections = *m_projectionsDict[index]; + for (int k = 0; k < 3; ++k) + { + projections.push_back(units[k]); + } + } + } + else + { + if (m_projectionsDict.find(index) == NULL) + { + btAlignedObjectArray<btVector3> projections; + projections.push_back(m_faceRigidConstraints[i][j].m_normal); + m_projectionsDict.insert(index, projections); + } + else + { + btAlignedObjectArray<btVector3>& projections = *m_projectionsDict[index]; + projections.push_back(m_faceRigidConstraints[i][j].m_normal); + } + } + } + } + for (int j = 0; j < m_deformableConstraints[i].size(); ++j) + { + const btSoftBody::Face* face = m_deformableConstraints[i][j].m_face; + for (int k = 0; k < 3; ++k) + { + const btSoftBody::Node* node = face->m_n[k]; + int index = node->index; + if (m_deformableConstraints[i][j].m_static) + { + if (m_projectionsDict.find(index) == NULL) + { + m_projectionsDict.insert(index, units); + } + else + { + btAlignedObjectArray<btVector3>& projections = *m_projectionsDict[index]; + for (int k = 0; k < 3; ++k) + { + projections.push_back(units[k]); + } + } + } + else + { + if (m_projectionsDict.find(index) == NULL) + { + btAlignedObjectArray<btVector3> projections; + projections.push_back(m_deformableConstraints[i][j].m_normal); + m_projectionsDict.insert(index, projections); + } + else + { + btAlignedObjectArray<btVector3>& projections = *m_projectionsDict[index]; + projections.push_back(m_deformableConstraints[i][j].m_normal); + } + } + } + + const btSoftBody::Node* node = m_deformableConstraints[i][j].m_node; + int index = node->index; + if (m_deformableConstraints[i][j].m_static) + { + if (m_projectionsDict.find(index) == NULL) + { + m_projectionsDict.insert(index, units); + } + else + { + btAlignedObjectArray<btVector3>& projections = *m_projectionsDict[index]; + for (int k = 0; k < 3; ++k) + { + projections.push_back(units[k]); + } + } + } + else + { + if (m_projectionsDict.find(index) == NULL) + { + btAlignedObjectArray<btVector3> projections; + projections.push_back(m_deformableConstraints[i][j].m_normal); + m_projectionsDict.insert(index, projections); + } + else + { + btAlignedObjectArray<btVector3>& projections = *m_projectionsDict[index]; + projections.push_back(m_deformableConstraints[i][j].m_normal); + } + } + } + } +} + + +void btDeformableContactProjection::applyDynamicFriction(TVStack& f) +{ + for (int i = 0; i < m_softBodies.size(); ++i) + { + for (int j = 0; j < m_nodeRigidConstraints[i].size(); ++j) + { + const btDeformableNodeRigidContactConstraint& constraint = m_nodeRigidConstraints[i][j]; + const btSoftBody::Node* node = constraint.m_node; + if (node->m_im != 0) + { + int index = node->index; + f[index] += constraint.getDv(node)* (1./node->m_im); + } + } + for (int j = 0; j < m_faceRigidConstraints[i].size(); ++j) + { + const btDeformableFaceRigidContactConstraint& constraint = m_faceRigidConstraints[i][j]; + const btSoftBody::Face* face = constraint.getContact()->m_face; + for (int k = 0; k < 3; ++k) + { + const btSoftBody::Node* node = face->m_n[k]; + if (node->m_im != 0) + { + int index = node->index; + f[index] += constraint.getDv(node)* (1./node->m_im); + } + } + } + for (int j = 0; j < m_deformableConstraints[i].size(); ++j) + { + const btDeformableFaceNodeContactConstraint& constraint = m_deformableConstraints[i][j]; + const btSoftBody::Face* face = constraint.getContact()->m_face; + const btSoftBody::Node* node = constraint.getContact()->m_node; + if (node->m_im != 0) + { + int index = node->index; + f[index] += constraint.getDv(node)* (1./node->m_im); + } + for (int k = 0; k < 3; ++k) + { + const btSoftBody::Node* node = face->m_n[k]; + if (node->m_im != 0) + { + int index = node->index; + f[index] += constraint.getDv(node)* (1./node->m_im); + } + } + } + } +} + +void btDeformableContactProjection::reinitialize(bool nodeUpdated) +{ + int N = m_softBodies.size(); + if (nodeUpdated) + { + m_staticConstraints.resize(N); + m_nodeAnchorConstraints.resize(N); + m_nodeRigidConstraints.resize(N); + m_faceRigidConstraints.resize(N); + m_deformableConstraints.resize(N); + + } + for (int i = 0 ; i < N; ++i) + { + m_staticConstraints[i].clear(); + m_nodeAnchorConstraints[i].clear(); + m_nodeRigidConstraints[i].clear(); + m_faceRigidConstraints[i].clear(); + m_deformableConstraints[i].clear(); + } + m_projectionsDict.clear(); +} + + + diff --git a/thirdparty/bullet/BulletSoftBody/btDeformableContactProjection.h b/thirdparty/bullet/BulletSoftBody/btDeformableContactProjection.h new file mode 100644 index 0000000000..3c4490765e --- /dev/null +++ b/thirdparty/bullet/BulletSoftBody/btDeformableContactProjection.h @@ -0,0 +1,90 @@ +/* + Written by Xuchen Han <xuchenhan2015@u.northwestern.edu> + + Bullet Continuous Collision Detection and Physics Library + Copyright (c) 2019 Google Inc. 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. + */ + +#ifndef BT_CONTACT_PROJECTION_H +#define BT_CONTACT_PROJECTION_H +#include "btCGProjection.h" +#include "btSoftBody.h" +#include "BulletDynamics/Featherstone/btMultiBodyLinkCollider.h" +#include "BulletDynamics/Featherstone/btMultiBodyConstraint.h" +#include "btDeformableContactConstraint.h" +#include "LinearMath/btHashMap.h" +#include <vector> +class btDeformableContactProjection +{ +public: + typedef btAlignedObjectArray<btVector3> TVStack; + btAlignedObjectArray<btSoftBody *>& m_softBodies; + +// // map from node index to static constraint +// btHashMap<btHashInt, btDeformableStaticConstraint> m_staticConstraints; +// // map from node index to node rigid constraint +// btHashMap<btHashInt, btAlignedObjectArray<btDeformableNodeRigidContactConstraint> > m_nodeRigidConstraints; +// // map from node index to face rigid constraint +// btHashMap<btHashInt, btAlignedObjectArray<btDeformableFaceRigidContactConstraint*> > m_faceRigidConstraints; +// // map from node index to deformable constraint +// btHashMap<btHashInt, btAlignedObjectArray<btDeformableFaceNodeContactConstraint*> > m_deformableConstraints; +// // map from node index to node anchor constraint +// btHashMap<btHashInt, btDeformableNodeAnchorConstraint> m_nodeAnchorConstraints; + + // all constraints involving face + btAlignedObjectArray<btDeformableContactConstraint*> m_allFaceConstraints; + + // map from node index to projection directions + btHashMap<btHashInt, btAlignedObjectArray<btVector3> > m_projectionsDict; + + // map from node index to static constraint + btAlignedObjectArray<btAlignedObjectArray<btDeformableStaticConstraint> > m_staticConstraints; + // map from node index to node rigid constraint + btAlignedObjectArray<btAlignedObjectArray<btDeformableNodeRigidContactConstraint> > m_nodeRigidConstraints; + // map from node index to face rigid constraint + btAlignedObjectArray<btAlignedObjectArray<btDeformableFaceRigidContactConstraint> > m_faceRigidConstraints; + // map from node index to deformable constraint + btAlignedObjectArray<btAlignedObjectArray<btDeformableFaceNodeContactConstraint> > m_deformableConstraints; + // map from node index to node anchor constraint + btAlignedObjectArray<btAlignedObjectArray<btDeformableNodeAnchorConstraint> > m_nodeAnchorConstraints; + + btDeformableContactProjection(btAlignedObjectArray<btSoftBody *>& softBodies) + : m_softBodies(softBodies) + { + } + + virtual ~btDeformableContactProjection() + { + } + + // apply the constraints to the rhs of the linear solve + virtual void project(TVStack& x); + + // add friction force to the rhs of the linear solve + virtual void applyDynamicFriction(TVStack& f); + + // update and solve the constraints + virtual btScalar update(btCollisionObject** deformableBodies,int numDeformableBodies); + + // solve the position error using split impulse + virtual btScalar solveSplitImpulse(const btContactSolverInfo& infoGlobal); + + // Add constraints to m_constraints. In addition, the constraints that each vertex own are recorded in m_constraintsDict. + virtual void setConstraints(); + + // Set up projections for each vertex by adding the projection direction to + virtual void setProjection(); + + virtual void reinitialize(bool nodeUpdated); + + virtual void splitImpulseSetup(const btContactSolverInfo& infoGlobal); +}; +#endif /* btDeformableContactProjection_h */ diff --git a/thirdparty/bullet/BulletSoftBody/btDeformableCorotatedForce.h b/thirdparty/bullet/BulletSoftBody/btDeformableCorotatedForce.h new file mode 100644 index 0000000000..c2a26338e7 --- /dev/null +++ b/thirdparty/bullet/BulletSoftBody/btDeformableCorotatedForce.h @@ -0,0 +1,125 @@ +/* + Written by Xuchen Han <xuchenhan2015@u.northwestern.edu> + + Bullet Continuous Collision Detection and Physics Library + Copyright (c) 2019 Google Inc. 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. + */ + +#ifndef BT_COROTATED_H +#define BT_COROTATED_H + +#include "btDeformableLagrangianForce.h" +#include "LinearMath/btPolarDecomposition.h" + +static inline int PolarDecomposition(const btMatrix3x3& m, btMatrix3x3& q, btMatrix3x3& s) +{ + static const btPolarDecomposition polar; + return polar.decompose(m, q, s); +} + +class btDeformableCorotatedForce : public btDeformableLagrangianForce +{ +public: + typedef btAlignedObjectArray<btVector3> TVStack; + btScalar m_mu, m_lambda; + btDeformableCorotatedForce(): m_mu(1), m_lambda(1) + { + + } + + btDeformableCorotatedForce(btScalar mu, btScalar lambda): m_mu(mu), m_lambda(lambda) + { + } + + virtual void addScaledForces(btScalar scale, TVStack& force) + { + addScaledElasticForce(scale, force); + } + + virtual void addScaledExplicitForce(btScalar scale, TVStack& force) + { + addScaledElasticForce(scale, force); + } + + virtual void addScaledDampingForce(btScalar scale, TVStack& force) + { + } + + virtual void addScaledElasticForce(btScalar scale, TVStack& force) + { + int numNodes = getNumNodes(); + btAssert(numNodes <= force.size()); + btVector3 grad_N_hat_1st_col = btVector3(-1,-1,-1); + for (int i = 0; i < m_softBodies.size(); ++i) + { + btSoftBody* psb = m_softBodies[i]; + for (int j = 0; j < psb->m_tetras.size(); ++j) + { + btSoftBody::Tetra& tetra = psb->m_tetras[j]; + btMatrix3x3 P; + firstPiola(tetra.m_F,P); + btVector3 force_on_node0 = P * (tetra.m_Dm_inverse.transpose()*grad_N_hat_1st_col); + btMatrix3x3 force_on_node123 = P * tetra.m_Dm_inverse.transpose(); + + btSoftBody::Node* node0 = tetra.m_n[0]; + btSoftBody::Node* node1 = tetra.m_n[1]; + btSoftBody::Node* node2 = tetra.m_n[2]; + btSoftBody::Node* node3 = tetra.m_n[3]; + size_t id0 = node0->index; + size_t id1 = node1->index; + size_t id2 = node2->index; + size_t id3 = node3->index; + + // elastic force + // explicit elastic force + btScalar scale1 = scale * tetra.m_element_measure; + force[id0] -= scale1 * force_on_node0; + force[id1] -= scale1 * force_on_node123.getColumn(0); + force[id2] -= scale1 * force_on_node123.getColumn(1); + force[id3] -= scale1 * force_on_node123.getColumn(2); + } + } + } + + void firstPiola(const btMatrix3x3& F, btMatrix3x3& P) + { + // btMatrix3x3 JFinvT = F.adjoint(); + btScalar J = F.determinant(); + P = F.adjoint().transpose() * (m_lambda * (J-1)); + if (m_mu > SIMD_EPSILON) + { + btMatrix3x3 R,S; + if (J < 1024 * SIMD_EPSILON) + R.setIdentity(); + else + PolarDecomposition(F, R, S); // this QR is not robust, consider using implicit shift svd + /*https://fuchuyuan.github.io/research/svd/paper.pdf*/ + P += (F-R) * 2 * m_mu; + } + } + + virtual void addScaledElasticForceDifferential(btScalar scale, const TVStack& dx, TVStack& df) + { + } + + virtual void addScaledDampingForceDifferential(btScalar scale, const TVStack& dv, TVStack& df) + { + } + + virtual btDeformableLagrangianForceType getForceType() + { + return BT_COROTATED_FORCE; + } + +}; + + +#endif /* btCorotated_h */ diff --git a/thirdparty/bullet/BulletSoftBody/btDeformableGravityForce.h b/thirdparty/bullet/BulletSoftBody/btDeformableGravityForce.h new file mode 100644 index 0000000000..33e5a8564a --- /dev/null +++ b/thirdparty/bullet/BulletSoftBody/btDeformableGravityForce.h @@ -0,0 +1,105 @@ +/* + Written by Xuchen Han <xuchenhan2015@u.northwestern.edu> + + Bullet Continuous Collision Detection and Physics Library + Copyright (c) 2019 Google Inc. 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. + */ + +#ifndef BT_DEFORMABLE_GRAVITY_FORCE_H +#define BT_DEFORMABLE_GRAVITY_FORCE_H + +#include "btDeformableLagrangianForce.h" + +class btDeformableGravityForce : public btDeformableLagrangianForce +{ +public: + typedef btAlignedObjectArray<btVector3> TVStack; + btVector3 m_gravity; + + btDeformableGravityForce(const btVector3& g) : m_gravity(g) + { + } + + virtual void addScaledForces(btScalar scale, TVStack& force) + { + addScaledGravityForce(scale, force); + } + + virtual void addScaledExplicitForce(btScalar scale, TVStack& force) + { + addScaledGravityForce(scale, force); + } + + virtual void addScaledDampingForce(btScalar scale, TVStack& force) + { + } + + virtual void addScaledElasticForceDifferential(btScalar scale, const TVStack& dx, TVStack& df) + { + } + + virtual void addScaledDampingForceDifferential(btScalar scale, const TVStack& dv, TVStack& df) + { + } + + virtual void addScaledGravityForce(btScalar scale, TVStack& force) + { + int numNodes = getNumNodes(); + btAssert(numNodes <= force.size()); + for (int i = 0; i < m_softBodies.size(); ++i) + { + btSoftBody* psb = m_softBodies[i]; + if (!psb->isActive()) + { + continue; + } + for (int j = 0; j < psb->m_nodes.size(); ++j) + { + btSoftBody::Node& n = psb->m_nodes[j]; + size_t id = n.index; + btScalar mass = (n.m_im == 0) ? 0 : 1. / n.m_im; + btVector3 scaled_force = scale * m_gravity * mass; + force[id] += scaled_force; + } + } + } + + virtual btDeformableLagrangianForceType getForceType() + { + return BT_GRAVITY_FORCE; + } + + // the gravitational potential energy + virtual double totalEnergy(btScalar dt) + { + double e = 0; + for (int i = 0; i<m_softBodies.size();++i) + { + btSoftBody* psb = m_softBodies[i]; + if (!psb->isActive()) + { + continue; + } + for (int j = 0; j < psb->m_nodes.size(); ++j) + { + const btSoftBody::Node& node = psb->m_nodes[j]; + if (node.m_im > 0) + { + e -= m_gravity.dot(node.m_q)/node.m_im; + } + } + } + return e; + } + + +}; +#endif /* BT_DEFORMABLE_GRAVITY_FORCE_H */ diff --git a/thirdparty/bullet/BulletSoftBody/btDeformableLagrangianForce.h b/thirdparty/bullet/BulletSoftBody/btDeformableLagrangianForce.h new file mode 100644 index 0000000000..64e80e23b3 --- /dev/null +++ b/thirdparty/bullet/BulletSoftBody/btDeformableLagrangianForce.h @@ -0,0 +1,364 @@ +/* + Written by Xuchen Han <xuchenhan2015@u.northwestern.edu> + + Bullet Continuous Collision Detection and Physics Library + Copyright (c) 2019 Google Inc. 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. + */ + +#ifndef BT_DEFORMABLE_LAGRANGIAN_FORCE_H +#define BT_DEFORMABLE_LAGRANGIAN_FORCE_H + +#include "btSoftBody.h" +#include <LinearMath/btHashMap.h> +#include <iostream> + +enum btDeformableLagrangianForceType +{ + BT_GRAVITY_FORCE = 1, + BT_MASSSPRING_FORCE = 2, + BT_COROTATED_FORCE = 3, + BT_NEOHOOKEAN_FORCE = 4, + BT_LINEAR_ELASTICITY_FORCE = 5 +}; + +static inline double randomDouble(double low, double high) +{ + return low + static_cast<double>(rand()) / RAND_MAX * (high - low); +} + +class btDeformableLagrangianForce +{ +public: + typedef btAlignedObjectArray<btVector3> TVStack; + btAlignedObjectArray<btSoftBody *> m_softBodies; + const btAlignedObjectArray<btSoftBody::Node*>* m_nodes; + + btDeformableLagrangianForce() + { + } + + virtual ~btDeformableLagrangianForce(){} + + // add all forces + virtual void addScaledForces(btScalar scale, TVStack& force) = 0; + + // add damping df + virtual void addScaledDampingForceDifferential(btScalar scale, const TVStack& dv, TVStack& df) = 0; + + // add elastic df + virtual void addScaledElasticForceDifferential(btScalar scale, const TVStack& dx, TVStack& df) = 0; + + // add all forces that are explicit in explicit solve + virtual void addScaledExplicitForce(btScalar scale, TVStack& force) = 0; + + // add all damping forces + virtual void addScaledDampingForce(btScalar scale, TVStack& force) = 0; + + virtual btDeformableLagrangianForceType getForceType() = 0; + + virtual void reinitialize(bool nodeUpdated) + { + } + + // get number of nodes that have the force + virtual int getNumNodes() + { + int numNodes = 0; + for (int i = 0; i < m_softBodies.size(); ++i) + { + numNodes += m_softBodies[i]->m_nodes.size(); + } + return numNodes; + } + + // add a soft body to be affected by the particular lagrangian force + virtual void addSoftBody(btSoftBody* psb) + { + m_softBodies.push_back(psb); + } + + virtual void setIndices(const btAlignedObjectArray<btSoftBody::Node*>* nodes) + { + m_nodes = nodes; + } + + // Calculate the incremental deformable generated from the input dx + virtual btMatrix3x3 Ds(int id0, int id1, int id2, int id3, const TVStack& dx) + { + btVector3 c1 = dx[id1] - dx[id0]; + btVector3 c2 = dx[id2] - dx[id0]; + btVector3 c3 = dx[id3] - dx[id0]; + return btMatrix3x3(c1,c2,c3).transpose(); + } + + // Calculate the incremental deformable generated from the current velocity + virtual btMatrix3x3 DsFromVelocity(const btSoftBody::Node* n0, const btSoftBody::Node* n1, const btSoftBody::Node* n2, const btSoftBody::Node* n3) + { + btVector3 c1 = n1->m_v - n0->m_v; + btVector3 c2 = n2->m_v - n0->m_v; + btVector3 c3 = n3->m_v - n0->m_v; + return btMatrix3x3(c1,c2,c3).transpose(); + } + + // test for addScaledElasticForce function + virtual void testDerivative() + { + for (int i = 0; i<m_softBodies.size();++i) + { + btSoftBody* psb = m_softBodies[i]; + for (int j = 0; j < psb->m_nodes.size(); ++j) + { + psb->m_nodes[j].m_q += btVector3(randomDouble(-.1, .1), randomDouble(-.1, .1), randomDouble(-.1, .1)); + } + psb->updateDeformation(); + } + + TVStack dx; + dx.resize(getNumNodes()); + TVStack dphi_dx; + dphi_dx.resize(dx.size()); + for (int i =0; i < dphi_dx.size();++i) + { + dphi_dx[i].setZero(); + } + addScaledForces(-1, dphi_dx); + + // write down the current position + TVStack x; + x.resize(dx.size()); + int counter = 0; + for (int i = 0; i<m_softBodies.size();++i) + { + btSoftBody* psb = m_softBodies[i]; + for (int j = 0; j < psb->m_nodes.size(); ++j) + { + x[counter] = psb->m_nodes[j].m_q; + counter++; + } + } + counter = 0; + + // populate dx with random vectors + for (int i = 0; i < dx.size(); ++i) + { + dx[i].setX(randomDouble(-1, 1)); + dx[i].setY(randomDouble(-1, 1)); + dx[i].setZ(randomDouble(-1, 1)); + } + + btAlignedObjectArray<double> errors; + for (int it = 0; it < 10; ++it) + { + for (int i = 0; i < dx.size(); ++i) + { + dx[i] *= 0.5; + } + + // get dphi/dx * dx + double dphi = 0; + for (int i = 0; i < dx.size(); ++i) + { + dphi += dphi_dx[i].dot(dx[i]); + } + + + for (int i = 0; i<m_softBodies.size();++i) + { + btSoftBody* psb = m_softBodies[i]; + for (int j = 0; j < psb->m_nodes.size(); ++j) + { + psb->m_nodes[j].m_q = x[counter] + dx[counter]; + counter++; + } + psb->updateDeformation(); + } + counter = 0; + double f1 = totalElasticEnergy(0); + + for (int i = 0; i<m_softBodies.size();++i) + { + btSoftBody* psb = m_softBodies[i]; + for (int j = 0; j < psb->m_nodes.size(); ++j) + { + psb->m_nodes[j].m_q = x[counter] - dx[counter]; + counter++; + } + psb->updateDeformation(); + } + counter = 0; + + double f2 = totalElasticEnergy(0); + + //restore m_q + for (int i = 0; i<m_softBodies.size();++i) + { + btSoftBody* psb = m_softBodies[i]; + for (int j = 0; j < psb->m_nodes.size(); ++j) + { + psb->m_nodes[j].m_q = x[counter]; + counter++; + } + psb->updateDeformation(); + } + counter = 0; + double error = f1-f2-2*dphi; + errors.push_back(error); + std::cout << "Iteration = " << it <<", f1 = " << f1 << ", f2 = " << f2 << ", error = " << error << std::endl; + } + for (int i = 1; i < errors.size(); ++i) + { + std::cout << "Iteration = " << i << ", ratio = " << errors[i-1]/errors[i] << std::endl; + } + } + + // test for addScaledElasticForce function + virtual void testHessian() + { + for (int i = 0; i<m_softBodies.size();++i) + { + btSoftBody* psb = m_softBodies[i]; + for (int j = 0; j < psb->m_nodes.size(); ++j) + { + psb->m_nodes[j].m_q += btVector3(randomDouble(-.1, .1), randomDouble(-.1, .1), randomDouble(-.1, .1)); + } + psb->updateDeformation(); + } + + + TVStack dx; + dx.resize(getNumNodes()); + TVStack df; + df.resize(dx.size()); + TVStack f1; + f1.resize(dx.size()); + TVStack f2; + f2.resize(dx.size()); + + + // write down the current position + TVStack x; + x.resize(dx.size()); + int counter = 0; + for (int i = 0; i<m_softBodies.size();++i) + { + btSoftBody* psb = m_softBodies[i]; + for (int j = 0; j < psb->m_nodes.size(); ++j) + { + x[counter] = psb->m_nodes[j].m_q; + counter++; + } + } + counter = 0; + + // populate dx with random vectors + for (int i = 0; i < dx.size(); ++i) + { + dx[i].setX(randomDouble(-1, 1)); + dx[i].setY(randomDouble(-1, 1)); + dx[i].setZ(randomDouble(-1, 1)); + } + + btAlignedObjectArray<double> errors; + for (int it = 0; it < 10; ++it) + { + for (int i = 0; i < dx.size(); ++i) + { + dx[i] *= 0.5; + } + + // get df + for (int i =0; i < df.size();++i) + { + df[i].setZero(); + f1[i].setZero(); + f2[i].setZero(); + } + + //set df + addScaledElasticForceDifferential(-1, dx, df); + + for (int i = 0; i<m_softBodies.size();++i) + { + btSoftBody* psb = m_softBodies[i]; + for (int j = 0; j < psb->m_nodes.size(); ++j) + { + psb->m_nodes[j].m_q = x[counter] + dx[counter]; + counter++; + } + psb->updateDeformation(); + } + counter = 0; + + //set f1 + addScaledForces(-1, f1); + + for (int i = 0; i<m_softBodies.size();++i) + { + btSoftBody* psb = m_softBodies[i]; + for (int j = 0; j < psb->m_nodes.size(); ++j) + { + psb->m_nodes[j].m_q = x[counter] - dx[counter]; + counter++; + } + psb->updateDeformation(); + } + counter = 0; + + //set f2 + addScaledForces(-1, f2); + + //restore m_q + for (int i = 0; i<m_softBodies.size();++i) + { + btSoftBody* psb = m_softBodies[i]; + for (int j = 0; j < psb->m_nodes.size(); ++j) + { + psb->m_nodes[j].m_q = x[counter]; + counter++; + } + psb->updateDeformation(); + } + counter = 0; + double error = 0; + for (int i = 0; i < df.size();++i) + { + btVector3 error_vector = f1[i]-f2[i]-2*df[i]; + error += error_vector.length2(); + } + error = btSqrt(error); + errors.push_back(error); + std::cout << "Iteration = " << it << ", error = " << error << std::endl; + } + for (int i = 1; i < errors.size(); ++i) + { + std::cout << "Iteration = " << i << ", ratio = " << errors[i-1]/errors[i] << std::endl; + } + } + + // + virtual double totalElasticEnergy(btScalar dt) + { + return 0; + } + + // + virtual double totalDampingEnergy(btScalar dt) + { + return 0; + } + + // total Energy takes dt as input because certain energies depend on dt + virtual double totalEnergy(btScalar dt) + { + return totalElasticEnergy(dt) + totalDampingEnergy(dt); + } +}; +#endif /* BT_DEFORMABLE_LAGRANGIAN_FORCE */ diff --git a/thirdparty/bullet/BulletSoftBody/btDeformableLinearElasticityForce.h b/thirdparty/bullet/BulletSoftBody/btDeformableLinearElasticityForce.h new file mode 100644 index 0000000000..106dc10ad6 --- /dev/null +++ b/thirdparty/bullet/BulletSoftBody/btDeformableLinearElasticityForce.h @@ -0,0 +1,340 @@ +/* + Written by Xuchen Han <xuchenhan2015@u.northwestern.edu> + + Bullet Continuous Collision Detection and Physics Library + Copyright (c) 2019 Google Inc. 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. + */ + +#ifndef BT_LINEAR_ELASTICITY_H +#define BT_LINEAR_ELASTICITY_H + +#include "btDeformableLagrangianForce.h" +#include "LinearMath/btQuickprof.h" +class btDeformableLinearElasticityForce : public btDeformableLagrangianForce +{ +public: + typedef btAlignedObjectArray<btVector3> TVStack; + btScalar m_mu, m_lambda; + btScalar m_mu_damp, m_lambda_damp; + btDeformableLinearElasticityForce(): m_mu(1), m_lambda(1) + { + btScalar damping = 0.05; + m_mu_damp = damping * m_mu; + m_lambda_damp = damping * m_lambda; + } + + btDeformableLinearElasticityForce(btScalar mu, btScalar lambda, btScalar damping = 0.05): m_mu(mu), m_lambda(lambda) + { + m_mu_damp = damping * m_mu; + m_lambda_damp = damping * m_lambda; + } + + virtual void addScaledForces(btScalar scale, TVStack& force) + { + addScaledDampingForce(scale, force); + addScaledElasticForce(scale, force); + } + + virtual void addScaledExplicitForce(btScalar scale, TVStack& force) + { + addScaledElasticForce(scale, force); + } + + // The damping matrix is calculated using the time n state as described in https://www.math.ucla.edu/~jteran/papers/GSSJT15.pdf to allow line search + virtual void addScaledDampingForce(btScalar scale, TVStack& force) + { + if (m_mu_damp == 0 && m_lambda_damp == 0) + return; + int numNodes = getNumNodes(); + btAssert(numNodes <= force.size()); + btVector3 grad_N_hat_1st_col = btVector3(-1,-1,-1); + for (int i = 0; i < m_softBodies.size(); ++i) + { + btSoftBody* psb = m_softBodies[i]; + if (!psb->isActive()) + { + continue; + } + for (int j = 0; j < psb->m_tetras.size(); ++j) + { + btSoftBody::Tetra& tetra = psb->m_tetras[j]; + btSoftBody::Node* node0 = tetra.m_n[0]; + btSoftBody::Node* node1 = tetra.m_n[1]; + btSoftBody::Node* node2 = tetra.m_n[2]; + btSoftBody::Node* node3 = tetra.m_n[3]; + size_t id0 = node0->index; + size_t id1 = node1->index; + size_t id2 = node2->index; + size_t id3 = node3->index; + btMatrix3x3 dF = DsFromVelocity(node0, node1, node2, node3) * tetra.m_Dm_inverse; + btMatrix3x3 I; + I.setIdentity(); + btMatrix3x3 dP = (dF + dF.transpose()) * m_mu_damp + I * (dF[0][0]+dF[1][1]+dF[2][2]) * m_lambda_damp; + // firstPiolaDampingDifferential(psb->m_tetraScratchesTn[j], dF, dP); + btVector3 df_on_node0 = dP * (tetra.m_Dm_inverse.transpose()*grad_N_hat_1st_col); + btMatrix3x3 df_on_node123 = dP * tetra.m_Dm_inverse.transpose(); + + // damping force differential + btScalar scale1 = scale * tetra.m_element_measure; + force[id0] -= scale1 * df_on_node0; + force[id1] -= scale1 * df_on_node123.getColumn(0); + force[id2] -= scale1 * df_on_node123.getColumn(1); + force[id3] -= scale1 * df_on_node123.getColumn(2); + } + } + } + + virtual double totalElasticEnergy(btScalar dt) + { + double energy = 0; + for (int i = 0; i < m_softBodies.size(); ++i) + { + btSoftBody* psb = m_softBodies[i]; + if (!psb->isActive()) + { + continue; + } + for (int j = 0; j < psb->m_tetraScratches.size(); ++j) + { + btSoftBody::Tetra& tetra = psb->m_tetras[j]; + btSoftBody::TetraScratch& s = psb->m_tetraScratches[j]; + energy += tetra.m_element_measure * elasticEnergyDensity(s); + } + } + return energy; + } + + // The damping energy is formulated as in https://www.math.ucla.edu/~jteran/papers/GSSJT15.pdf to allow line search + virtual double totalDampingEnergy(btScalar dt) + { + double energy = 0; + int sz = 0; + for (int i = 0; i < m_softBodies.size(); ++i) + { + btSoftBody* psb = m_softBodies[i]; + if (!psb->isActive()) + { + continue; + } + for (int j = 0; j < psb->m_nodes.size(); ++j) + { + sz = btMax(sz, psb->m_nodes[j].index); + } + } + TVStack dampingForce; + dampingForce.resize(sz+1); + for (int i = 0; i < dampingForce.size(); ++i) + dampingForce[i].setZero(); + addScaledDampingForce(0.5, dampingForce); + for (int i = 0; i < m_softBodies.size(); ++i) + { + btSoftBody* psb = m_softBodies[i]; + for (int j = 0; j < psb->m_nodes.size(); ++j) + { + const btSoftBody::Node& node = psb->m_nodes[j]; + energy -= dampingForce[node.index].dot(node.m_v) / dt; + } + } + return energy; + } + + double elasticEnergyDensity(const btSoftBody::TetraScratch& s) + { + double density = 0; + btMatrix3x3 epsilon = (s.m_F + s.m_F.transpose()) * 0.5 - btMatrix3x3::getIdentity(); + btScalar trace = epsilon[0][0] + epsilon[1][1] + epsilon[2][2]; + density += m_mu * (epsilon[0].length2() + epsilon[1].length2() + epsilon[2].length2()); + density += m_lambda * trace * trace * 0.5; + return density; + } + + virtual void addScaledElasticForce(btScalar scale, TVStack& force) + { + int numNodes = getNumNodes(); + btAssert(numNodes <= force.size()); + btVector3 grad_N_hat_1st_col = btVector3(-1,-1,-1); + for (int i = 0; i < m_softBodies.size(); ++i) + { + btSoftBody* psb = m_softBodies[i]; + if (!psb->isActive()) + { + continue; + } + btScalar max_p = psb->m_cfg.m_maxStress; + for (int j = 0; j < psb->m_tetras.size(); ++j) + { + btSoftBody::Tetra& tetra = psb->m_tetras[j]; + btMatrix3x3 P; + firstPiola(psb->m_tetraScratches[j],P); +#if USE_SVD + if (max_p > 0) + { + // since we want to clamp the principal stress to max_p, we only need to + // calculate SVD when sigma_0^2 + sigma_1^2 + sigma_2^2 > max_p * max_p + btScalar trPTP = (P[0].length2() + P[1].length2() + P[2].length2()); + if (trPTP > max_p * max_p) + { + btMatrix3x3 U, V; + btVector3 sigma; + singularValueDecomposition(P, U, sigma, V); + sigma[0] = btMin(sigma[0], max_p); + sigma[1] = btMin(sigma[1], max_p); + sigma[2] = btMin(sigma[2], max_p); + sigma[0] = btMax(sigma[0], -max_p); + sigma[1] = btMax(sigma[1], -max_p); + sigma[2] = btMax(sigma[2], -max_p); + btMatrix3x3 Sigma; + Sigma.setIdentity(); + Sigma[0][0] = sigma[0]; + Sigma[1][1] = sigma[1]; + Sigma[2][2] = sigma[2]; + P = U * Sigma * V.transpose(); + } + } +#endif + // btVector3 force_on_node0 = P * (tetra.m_Dm_inverse.transpose()*grad_N_hat_1st_col); + btMatrix3x3 force_on_node123 = P * tetra.m_Dm_inverse.transpose(); + btVector3 force_on_node0 = force_on_node123 * grad_N_hat_1st_col; + + btSoftBody::Node* node0 = tetra.m_n[0]; + btSoftBody::Node* node1 = tetra.m_n[1]; + btSoftBody::Node* node2 = tetra.m_n[2]; + btSoftBody::Node* node3 = tetra.m_n[3]; + size_t id0 = node0->index; + size_t id1 = node1->index; + size_t id2 = node2->index; + size_t id3 = node3->index; + + // elastic force + btScalar scale1 = scale * tetra.m_element_measure; + force[id0] -= scale1 * force_on_node0; + force[id1] -= scale1 * force_on_node123.getColumn(0); + force[id2] -= scale1 * force_on_node123.getColumn(1); + force[id3] -= scale1 * force_on_node123.getColumn(2); + } + } + } + + // The damping matrix is calculated using the time n state as described in https://www.math.ucla.edu/~jteran/papers/GSSJT15.pdf to allow line search + virtual void addScaledDampingForceDifferential(btScalar scale, const TVStack& dv, TVStack& df) + { + if (m_mu_damp == 0 && m_lambda_damp == 0) + return; + int numNodes = getNumNodes(); + btAssert(numNodes <= df.size()); + btVector3 grad_N_hat_1st_col = btVector3(-1,-1,-1); + for (int i = 0; i < m_softBodies.size(); ++i) + { + btSoftBody* psb = m_softBodies[i]; + if (!psb->isActive()) + { + continue; + } + for (int j = 0; j < psb->m_tetras.size(); ++j) + { + btSoftBody::Tetra& tetra = psb->m_tetras[j]; + btSoftBody::Node* node0 = tetra.m_n[0]; + btSoftBody::Node* node1 = tetra.m_n[1]; + btSoftBody::Node* node2 = tetra.m_n[2]; + btSoftBody::Node* node3 = tetra.m_n[3]; + size_t id0 = node0->index; + size_t id1 = node1->index; + size_t id2 = node2->index; + size_t id3 = node3->index; + btMatrix3x3 dF = Ds(id0, id1, id2, id3, dv) * tetra.m_Dm_inverse; + btMatrix3x3 I; + I.setIdentity(); + btMatrix3x3 dP = (dF + dF.transpose()) * m_mu_damp + I * (dF[0][0]+dF[1][1]+dF[2][2]) * m_lambda_damp; + // firstPiolaDampingDifferential(psb->m_tetraScratchesTn[j], dF, dP); + // btVector3 df_on_node0 = dP * (tetra.m_Dm_inverse.transpose()*grad_N_hat_1st_col); + btMatrix3x3 df_on_node123 = dP * tetra.m_Dm_inverse.transpose(); + btVector3 df_on_node0 = df_on_node123 * grad_N_hat_1st_col; + + // damping force differential + btScalar scale1 = scale * tetra.m_element_measure; + df[id0] -= scale1 * df_on_node0; + df[id1] -= scale1 * df_on_node123.getColumn(0); + df[id2] -= scale1 * df_on_node123.getColumn(1); + df[id3] -= scale1 * df_on_node123.getColumn(2); + } + } + } + + virtual void addScaledElasticForceDifferential(btScalar scale, const TVStack& dx, TVStack& df) + { + int numNodes = getNumNodes(); + btAssert(numNodes <= df.size()); + btVector3 grad_N_hat_1st_col = btVector3(-1,-1,-1); + for (int i = 0; i < m_softBodies.size(); ++i) + { + btSoftBody* psb = m_softBodies[i]; + if (!psb->isActive()) + { + continue; + } + for (int j = 0; j < psb->m_tetras.size(); ++j) + { + btSoftBody::Tetra& tetra = psb->m_tetras[j]; + btSoftBody::Node* node0 = tetra.m_n[0]; + btSoftBody::Node* node1 = tetra.m_n[1]; + btSoftBody::Node* node2 = tetra.m_n[2]; + btSoftBody::Node* node3 = tetra.m_n[3]; + size_t id0 = node0->index; + size_t id1 = node1->index; + size_t id2 = node2->index; + size_t id3 = node3->index; + btMatrix3x3 dF = Ds(id0, id1, id2, id3, dx) * tetra.m_Dm_inverse; + btMatrix3x3 dP; + firstPiolaDifferential(psb->m_tetraScratches[j], dF, dP); + // btVector3 df_on_node0 = dP * (tetra.m_Dm_inverse.transpose()*grad_N_hat_1st_col); + btMatrix3x3 df_on_node123 = dP * tetra.m_Dm_inverse.transpose(); + btVector3 df_on_node0 = df_on_node123 * grad_N_hat_1st_col; + + // elastic force differential + btScalar scale1 = scale * tetra.m_element_measure; + df[id0] -= scale1 * df_on_node0; + df[id1] -= scale1 * df_on_node123.getColumn(0); + df[id2] -= scale1 * df_on_node123.getColumn(1); + df[id3] -= scale1 * df_on_node123.getColumn(2); + } + } + } + + void firstPiola(const btSoftBody::TetraScratch& s, btMatrix3x3& P) + { + btMatrix3x3 epsilon = (s.m_F + s.m_F.transpose()) * 0.5 - btMatrix3x3::getIdentity(); + btScalar trace = epsilon[0][0] + epsilon[1][1] + epsilon[2][2]; + P = epsilon * btScalar(2) * m_mu + btMatrix3x3::getIdentity() * m_lambda * trace; + } + + // Let P be the first piola stress. + // This function calculates the dP = dP/dF * dF + void firstPiolaDifferential(const btSoftBody::TetraScratch& s, const btMatrix3x3& dF, btMatrix3x3& dP) + { + btScalar trace = (dF[0][0] + dF[1][1] + dF[2][2]); + dP = (dF + dF.transpose()) * m_mu + btMatrix3x3::getIdentity() * m_lambda * trace; + } + + // Let Q be the damping stress. + // This function calculates the dP = dQ/dF * dF + void firstPiolaDampingDifferential(const btSoftBody::TetraScratch& s, const btMatrix3x3& dF, btMatrix3x3& dP) + { + btScalar trace = (dF[0][0] + dF[1][1] + dF[2][2]); + dP = (dF + dF.transpose()) * m_mu_damp + btMatrix3x3::getIdentity() * m_lambda_damp * trace; + } + + virtual btDeformableLagrangianForceType getForceType() + { + return BT_LINEAR_ELASTICITY_FORCE; + } + +}; +#endif /* BT_LINEAR_ELASTICITY_H */ diff --git a/thirdparty/bullet/BulletSoftBody/btDeformableMassSpringForce.h b/thirdparty/bullet/BulletSoftBody/btDeformableMassSpringForce.h new file mode 100644 index 0000000000..54b4e4481d --- /dev/null +++ b/thirdparty/bullet/BulletSoftBody/btDeformableMassSpringForce.h @@ -0,0 +1,255 @@ +/* + Written by Xuchen Han <xuchenhan2015@u.northwestern.edu> + + Bullet Continuous Collision Detection and Physics Library + Copyright (c) 2019 Google Inc. 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. + */ + +#ifndef BT_MASS_SPRING_H +#define BT_MASS_SPRING_H + +#include "btDeformableLagrangianForce.h" + +class btDeformableMassSpringForce : public btDeformableLagrangianForce +{ + // If true, the damping force will be in the direction of the spring + // If false, the damping force will be in the direction of the velocity + bool m_momentum_conserving; + btScalar m_elasticStiffness, m_dampingStiffness, m_bendingStiffness; +public: + typedef btAlignedObjectArray<btVector3> TVStack; + btDeformableMassSpringForce() : m_momentum_conserving(false), m_elasticStiffness(1), m_dampingStiffness(0.05) + { + } + btDeformableMassSpringForce(btScalar k, btScalar d, bool conserve_angular = true, double bending_k = -1) : m_momentum_conserving(conserve_angular), m_elasticStiffness(k), m_dampingStiffness(d), m_bendingStiffness(bending_k) + { + if (m_bendingStiffness < btScalar(0)) + { + m_bendingStiffness = m_elasticStiffness; + } + } + + virtual void addScaledForces(btScalar scale, TVStack& force) + { + addScaledDampingForce(scale, force); + addScaledElasticForce(scale, force); + } + + virtual void addScaledExplicitForce(btScalar scale, TVStack& force) + { + addScaledElasticForce(scale, force); + } + + virtual void addScaledDampingForce(btScalar scale, TVStack& force) + { + int numNodes = getNumNodes(); + btAssert(numNodes <= force.size()); + for (int i = 0; i < m_softBodies.size(); ++i) + { + const btSoftBody* psb = m_softBodies[i]; + if (!psb->isActive()) + { + continue; + } + for (int j = 0; j < psb->m_links.size(); ++j) + { + const btSoftBody::Link& link = psb->m_links[j]; + btSoftBody::Node* node1 = link.m_n[0]; + btSoftBody::Node* node2 = link.m_n[1]; + size_t id1 = node1->index; + size_t id2 = node2->index; + + // damping force + btVector3 v_diff = (node2->m_v - node1->m_v); + btVector3 scaled_force = scale * m_dampingStiffness * v_diff; + if (m_momentum_conserving) + { + if ((node2->m_x - node1->m_x).norm() > SIMD_EPSILON) + { + btVector3 dir = (node2->m_x - node1->m_x).normalized(); + scaled_force = scale * m_dampingStiffness * v_diff.dot(dir) * dir; + } + } + force[id1] += scaled_force; + force[id2] -= scaled_force; + } + } + } + + virtual void addScaledElasticForce(btScalar scale, TVStack& force) + { + int numNodes = getNumNodes(); + btAssert(numNodes <= force.size()); + for (int i = 0; i < m_softBodies.size(); ++i) + { + const btSoftBody* psb = m_softBodies[i]; + if (!psb->isActive()) + { + continue; + } + for (int j = 0; j < psb->m_links.size(); ++j) + { + const btSoftBody::Link& link = psb->m_links[j]; + btSoftBody::Node* node1 = link.m_n[0]; + btSoftBody::Node* node2 = link.m_n[1]; + btScalar r = link.m_rl; + size_t id1 = node1->index; + size_t id2 = node2->index; + + // elastic force + btVector3 dir = (node2->m_q - node1->m_q); + btVector3 dir_normalized = (dir.norm() > SIMD_EPSILON) ? dir.normalized() : btVector3(0,0,0); + btScalar scaled_stiffness = scale * (link.m_bbending ? m_bendingStiffness : m_elasticStiffness); + btVector3 scaled_force = scaled_stiffness * (dir - dir_normalized * r); + force[id1] += scaled_force; + force[id2] -= scaled_force; + } + } + } + + virtual void addScaledDampingForceDifferential(btScalar scale, const TVStack& dv, TVStack& df) + { + // implicit damping force differential + for (int i = 0; i < m_softBodies.size(); ++i) + { + btSoftBody* psb = m_softBodies[i]; + if (!psb->isActive()) + { + continue; + } + btScalar scaled_k_damp = m_dampingStiffness * scale; + for (int j = 0; j < psb->m_links.size(); ++j) + { + const btSoftBody::Link& link = psb->m_links[j]; + btSoftBody::Node* node1 = link.m_n[0]; + btSoftBody::Node* node2 = link.m_n[1]; + size_t id1 = node1->index; + size_t id2 = node2->index; + + btVector3 local_scaled_df = scaled_k_damp * (dv[id2] - dv[id1]); + if (m_momentum_conserving) + { + if ((node2->m_x - node1->m_x).norm() > SIMD_EPSILON) + { + btVector3 dir = (node2->m_x - node1->m_x).normalized(); + local_scaled_df= scaled_k_damp * (dv[id2] - dv[id1]).dot(dir) * dir; + } + } + df[id1] += local_scaled_df; + df[id2] -= local_scaled_df; + } + } + } + + virtual double totalElasticEnergy(btScalar dt) + { + double energy = 0; + for (int i = 0; i < m_softBodies.size(); ++i) + { + const btSoftBody* psb = m_softBodies[i]; + if (!psb->isActive()) + { + continue; + } + for (int j = 0; j < psb->m_links.size(); ++j) + { + const btSoftBody::Link& link = psb->m_links[j]; + btSoftBody::Node* node1 = link.m_n[0]; + btSoftBody::Node* node2 = link.m_n[1]; + btScalar r = link.m_rl; + + // elastic force + btVector3 dir = (node2->m_q - node1->m_q); + energy += 0.5 * m_elasticStiffness * (dir.norm() - r) * (dir.norm() -r); + } + } + return energy; + } + + virtual double totalDampingEnergy(btScalar dt) + { + double energy = 0; + int sz = 0; + for (int i = 0; i < m_softBodies.size(); ++i) + { + btSoftBody* psb = m_softBodies[i]; + if (!psb->isActive()) + { + continue; + } + for (int j = 0; j < psb->m_nodes.size(); ++j) + { + sz = btMax(sz, psb->m_nodes[j].index); + } + } + TVStack dampingForce; + dampingForce.resize(sz+1); + for (int i = 0; i < dampingForce.size(); ++i) + dampingForce[i].setZero(); + addScaledDampingForce(0.5, dampingForce); + for (int i = 0; i < m_softBodies.size(); ++i) + { + btSoftBody* psb = m_softBodies[i]; + for (int j = 0; j < psb->m_nodes.size(); ++j) + { + const btSoftBody::Node& node = psb->m_nodes[j]; + energy -= dampingForce[node.index].dot(node.m_v) / dt; + } + } + return energy; + } + + virtual void addScaledElasticForceDifferential(btScalar scale, const TVStack& dx, TVStack& df) + { + // implicit damping force differential + for (int i = 0; i < m_softBodies.size(); ++i) + { + const btSoftBody* psb = m_softBodies[i]; + if (!psb->isActive()) + { + continue; + } + for (int j = 0; j < psb->m_links.size(); ++j) + { + const btSoftBody::Link& link = psb->m_links[j]; + btSoftBody::Node* node1 = link.m_n[0]; + btSoftBody::Node* node2 = link.m_n[1]; + size_t id1 = node1->index; + size_t id2 = node2->index; + btScalar r = link.m_rl; + + btVector3 dir = (node1->m_q - node2->m_q); + btScalar dir_norm = dir.norm(); + btVector3 dir_normalized = (dir_norm > SIMD_EPSILON) ? dir.normalized() : btVector3(0,0,0); + btVector3 dx_diff = dx[id1] - dx[id2]; + btVector3 scaled_df = btVector3(0,0,0); + btScalar scaled_k = scale * (link.m_bbending ? m_bendingStiffness : m_elasticStiffness); + if (dir_norm > SIMD_EPSILON) + { + scaled_df -= scaled_k * dir_normalized.dot(dx_diff) * dir_normalized; + scaled_df += scaled_k * dir_normalized.dot(dx_diff) * ((dir_norm-r)/dir_norm) * dir_normalized; + scaled_df -= scaled_k * ((dir_norm-r)/dir_norm) * dx_diff; + } + + df[id1] += scaled_df; + df[id2] -= scaled_df; + } + } + } + + virtual btDeformableLagrangianForceType getForceType() + { + return BT_MASSSPRING_FORCE; + } + +}; + +#endif /* btMassSpring_h */ diff --git a/thirdparty/bullet/BulletSoftBody/btDeformableMultiBodyConstraintSolver.cpp b/thirdparty/bullet/BulletSoftBody/btDeformableMultiBodyConstraintSolver.cpp new file mode 100644 index 0000000000..06f95d69f6 --- /dev/null +++ b/thirdparty/bullet/BulletSoftBody/btDeformableMultiBodyConstraintSolver.cpp @@ -0,0 +1,143 @@ +/* + Written by Xuchen Han <xuchenhan2015@u.northwestern.edu> + + Bullet Continuous Collision Detection and Physics Library + Copyright (c) 2019 Google Inc. 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 "btDeformableMultiBodyConstraintSolver.h" +#include <iostream> +// override the iterations method to include deformable/multibody contact +btScalar btDeformableMultiBodyConstraintSolver::solveDeformableGroupIterations(btCollisionObject** bodies,int numBodies,btCollisionObject** deformableBodies,int numDeformableBodies,btPersistentManifold** manifoldPtr, int numManifolds,btTypedConstraint** constraints,int numConstraints,const btContactSolverInfo& infoGlobal,btIDebugDraw* debugDrawer) +{ + { + ///this is a special step to resolve penetrations (just for contacts) + solveGroupCacheFriendlySplitImpulseIterations(bodies, numBodies, manifoldPtr, numManifolds, constraints, numConstraints, infoGlobal, debugDrawer); + + int maxIterations = m_maxOverrideNumSolverIterations > infoGlobal.m_numIterations ? m_maxOverrideNumSolverIterations : infoGlobal.m_numIterations; + for (int iteration = 0; iteration < maxIterations; iteration++) + { + // rigid bodies are solved using solver body velocity, but rigid/deformable contact directly uses the velocity of the actual rigid body. So we have to do the following: Solve one iteration of the rigid/rigid contact, get the updated velocity in the solver body and update the velocity of the underlying rigid body. Then solve the rigid/deformable contact. Finally, grab the (once again) updated rigid velocity and update the velocity of the wrapping solver body + + // solve rigid/rigid in solver body + m_leastSquaresResidual = solveSingleIteration(iteration, bodies, numBodies, manifoldPtr, numManifolds, constraints, numConstraints, infoGlobal, debugDrawer); + // solver body velocity -> rigid body velocity + solverBodyWriteBack(infoGlobal); + btScalar deformableResidual = m_deformableSolver->solveContactConstraints(deformableBodies,numDeformableBodies); + // update rigid body velocity in rigid/deformable contact + m_leastSquaresResidual = btMax(m_leastSquaresResidual, deformableResidual); + // solver body velocity <- rigid body velocity + writeToSolverBody(bodies, numBodies, infoGlobal); + + if (m_leastSquaresResidual <= infoGlobal.m_leastSquaresResidualThreshold || (iteration >= (maxIterations - 1))) + { +#ifdef VERBOSE_RESIDUAL_PRINTF + printf("residual = %f at iteration #%d\n", m_leastSquaresResidual, iteration); +#endif + m_analyticsData.m_numSolverCalls++; + m_analyticsData.m_numIterationsUsed = iteration+1; + m_analyticsData.m_islandId = -2; + if (numBodies>0) + m_analyticsData.m_islandId = bodies[0]->getCompanionId(); + m_analyticsData.m_numBodies = numBodies; + m_analyticsData.m_numContactManifolds = numManifolds; + m_analyticsData.m_remainingLeastSquaresResidual = m_leastSquaresResidual; + break; + } + } + } + return 0.f; +} + +void btDeformableMultiBodyConstraintSolver::solveDeformableBodyGroup(btCollisionObject * *bodies, int numBodies, btCollisionObject * *deformableBodies, int numDeformableBodies, btPersistentManifold** manifold, int numManifolds, btTypedConstraint** constraints, int numConstraints, btMultiBodyConstraint** multiBodyConstraints, int numMultiBodyConstraints, const btContactSolverInfo& info, btIDebugDraw* debugDrawer, btDispatcher* dispatcher) +{ + m_tmpMultiBodyConstraints = multiBodyConstraints; + m_tmpNumMultiBodyConstraints = numMultiBodyConstraints; + + // inherited from MultiBodyConstraintSolver + solveGroupCacheFriendlySetup(bodies, numBodies, manifold, numManifolds, constraints, numConstraints, info, debugDrawer); + + // overriden + solveDeformableGroupIterations(bodies, numBodies, deformableBodies, numDeformableBodies, manifold, numManifolds, constraints, numConstraints, info, debugDrawer); + + // inherited from MultiBodyConstraintSolver + solveGroupCacheFriendlyFinish(bodies, numBodies, info); + + m_tmpMultiBodyConstraints = 0; + m_tmpNumMultiBodyConstraints = 0; +} + +void btDeformableMultiBodyConstraintSolver::writeToSolverBody(btCollisionObject** bodies, int numBodies, const btContactSolverInfo& infoGlobal) +{ + for (int i = 0; i < numBodies; i++) + { + int bodyId = getOrInitSolverBody(*bodies[i], infoGlobal.m_timeStep); + + btRigidBody* body = btRigidBody::upcast(bodies[i]); + if (body && body->getInvMass()) + { + btSolverBody& solverBody = m_tmpSolverBodyPool[bodyId]; + solverBody.m_linearVelocity = body->getLinearVelocity() - solverBody.m_deltaLinearVelocity; + solverBody.m_angularVelocity = body->getAngularVelocity() - solverBody.m_deltaAngularVelocity; + } + } +} + +void btDeformableMultiBodyConstraintSolver::solverBodyWriteBack(const btContactSolverInfo& infoGlobal) +{ + for (int i = 0; i < m_tmpSolverBodyPool.size(); i++) + { + btRigidBody* body = m_tmpSolverBodyPool[i].m_originalBody; + if (body) + { + m_tmpSolverBodyPool[i].m_originalBody->setLinearVelocity(m_tmpSolverBodyPool[i].m_linearVelocity + m_tmpSolverBodyPool[i].m_deltaLinearVelocity); + m_tmpSolverBodyPool[i].m_originalBody->setAngularVelocity(m_tmpSolverBodyPool[i].m_angularVelocity+m_tmpSolverBodyPool[i].m_deltaAngularVelocity); + } + } +} + +void btDeformableMultiBodyConstraintSolver::solveGroupCacheFriendlySplitImpulseIterations(btCollisionObject** bodies, int numBodies, btPersistentManifold** manifoldPtr, int numManifolds, btTypedConstraint** constraints, int numConstraints, const btContactSolverInfo& infoGlobal, btIDebugDraw* debugDrawer) +{ + BT_PROFILE("solveGroupCacheFriendlySplitImpulseIterations"); + int iteration; + if (infoGlobal.m_splitImpulse) + { + { + m_deformableSolver->splitImpulseSetup(infoGlobal); + for (iteration = 0; iteration < infoGlobal.m_numIterations; iteration++) + { + btScalar leastSquaresResidual = 0.f; + { + int numPoolConstraints = m_tmpSolverContactConstraintPool.size(); + int j; + for (j = 0; j < numPoolConstraints; j++) + { + const btSolverConstraint& solveManifold = m_tmpSolverContactConstraintPool[m_orderTmpConstraintPool[j]]; + + btScalar residual = resolveSplitPenetrationImpulse(m_tmpSolverBodyPool[solveManifold.m_solverBodyIdA], m_tmpSolverBodyPool[solveManifold.m_solverBodyIdB], solveManifold); + leastSquaresResidual = btMax(leastSquaresResidual, residual * residual); + } + // solve the position correction between deformable and rigid/multibody + btScalar residual = m_deformableSolver->solveSplitImpulse(infoGlobal); + leastSquaresResidual = btMax(leastSquaresResidual, residual * residual); + } + if (leastSquaresResidual <= infoGlobal.m_leastSquaresResidualThreshold || iteration >= (infoGlobal.m_numIterations - 1)) + { +#ifdef VERBOSE_RESIDUAL_PRINTF + printf("residual = %f at iteration #%d\n", leastSquaresResidual, iteration); +#endif + break; + } + } + } + } +} diff --git a/thirdparty/bullet/BulletSoftBody/btDeformableMultiBodyConstraintSolver.h b/thirdparty/bullet/BulletSoftBody/btDeformableMultiBodyConstraintSolver.h new file mode 100644 index 0000000000..0c7cc26a83 --- /dev/null +++ b/thirdparty/bullet/BulletSoftBody/btDeformableMultiBodyConstraintSolver.h @@ -0,0 +1,61 @@ +/* + Written by Xuchen Han <xuchenhan2015@u.northwestern.edu> + + Bullet Continuous Collision Detection and Physics Library + Copyright (c) 2019 Google Inc. 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. + */ + + +#ifndef BT_DEFORMABLE_MULTIBODY_CONSTRAINT_SOLVER_H +#define BT_DEFORMABLE_MULTIBODY_CONSTRAINT_SOLVER_H + +#include "btDeformableBodySolver.h" +#include "BulletDynamics/Featherstone/btMultiBodyConstraintSolver.h" + +class btDeformableBodySolver; + +// btDeformableMultiBodyConstraintSolver extendsn btMultiBodyConstraintSolver to solve for the contact among rigid/multibody and deformable bodies. Notice that the following constraints +// 1. rigid/multibody against rigid/multibody +// 2. rigid/multibody against deforamble +// 3. deformable against deformable +// 4. deformable self collision +// 5. joint constraints +// are all coupled in this solve. +ATTRIBUTE_ALIGNED16(class) +btDeformableMultiBodyConstraintSolver : public btMultiBodyConstraintSolver +{ + btDeformableBodySolver* m_deformableSolver; + +protected: + // override the iterations method to include deformable/multibody contact +// virtual btScalar solveGroupCacheFriendlyIterations(btCollisionObject** bodies,int numBodies,btPersistentManifold** manifoldPtr, int numManifolds,btTypedConstraint** constraints,int numConstraints,const btContactSolverInfo& infoGlobal,btIDebugDraw* debugDrawer); + + // write the velocity of the the solver body to the underlying rigid body + void solverBodyWriteBack(const btContactSolverInfo& infoGlobal); + + // write the velocity of the underlying rigid body to the the the solver body + void writeToSolverBody(btCollisionObject** bodies, int numBodies, const btContactSolverInfo& infoGlobal); + + virtual void solveGroupCacheFriendlySplitImpulseIterations(btCollisionObject** bodies, int numBodies, btPersistentManifold** manifoldPtr, int numManifolds, btTypedConstraint** constraints, int numConstraints, const btContactSolverInfo& infoGlobal, btIDebugDraw* debugDrawer); + + virtual btScalar solveDeformableGroupIterations(btCollisionObject** bodies,int numBodies,btCollisionObject** deformableBodies,int numDeformableBodies,btPersistentManifold** manifoldPtr, int numManifolds,btTypedConstraint** constraints,int numConstraints,const btContactSolverInfo& infoGlobal,btIDebugDraw* debugDrawer); +public: + BT_DECLARE_ALIGNED_ALLOCATOR(); + + void setDeformableSolver(btDeformableBodySolver* deformableSolver) + { + m_deformableSolver = deformableSolver; + } + + virtual void solveDeformableBodyGroup(btCollisionObject * *bodies, int numBodies, btCollisionObject * *deformableBodies, int numDeformableBodies, btPersistentManifold** manifold, int numManifolds, btTypedConstraint** constraints, int numConstraints, btMultiBodyConstraint** multiBodyConstraints, int numMultiBodyConstraints, const btContactSolverInfo& info, btIDebugDraw* debugDrawer, btDispatcher* dispatcher); +}; + +#endif /* BT_DEFORMABLE_MULTIBODY_CONSTRAINT_SOLVER_H */ diff --git a/thirdparty/bullet/BulletSoftBody/btDeformableMultiBodyDynamicsWorld.cpp b/thirdparty/bullet/BulletSoftBody/btDeformableMultiBodyDynamicsWorld.cpp new file mode 100644 index 0000000000..618e5c0d7b --- /dev/null +++ b/thirdparty/bullet/BulletSoftBody/btDeformableMultiBodyDynamicsWorld.cpp @@ -0,0 +1,653 @@ +/* + Written by Xuchen Han <xuchenhan2015@u.northwestern.edu> + + Bullet Continuous Collision Detection and Physics Library + Copyright (c) 2019 Google Inc. 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. + */ + +/* ====== Overview of the Deformable Algorithm ====== */ + +/* +A single step of the deformable body simulation contains the following main components: +Call internalStepSimulation multiple times, to achieve 240Hz (4 steps of 60Hz). +1. Deformable maintaintenance of rest lengths and volume preservation. Forces only depend on position: Update velocity to a temporary state v_{n+1}^* = v_n + explicit_force * dt / mass, where explicit forces include gravity and elastic forces. +2. Detect discrete collisions between rigid and deformable bodies at position x_{n+1}^* = x_n + dt * v_{n+1}^*. + +3a. Solve all constraints, including LCP. Contact, position correction due to numerical drift, friction, and anchors for deformable. + TODO: add option for positional drift correction (using vel_target += erp * pos_error/dt + +3b. 5 Newton steps (multiple step). Conjugent Gradient solves linear system. Deformable Damping: Then velocities of deformable bodies v_{n+1} are solved in + M(v_{n+1} - v_{n+1}^*) = damping_force * dt / mass, + by a conjugate gradient solver, where the damping force is implicit and depends on v_{n+1}. + Make sure contact constraints are not violated in step b by performing velocity projections as in the paper by Baraff and Witkin https://www.cs.cmu.edu/~baraff/papers/sig98.pdf. Dynamic frictions are treated as a force and added to the rhs of the CG solve, whereas static frictions are treated as constraints similar to contact. +4. Position is updated via x_{n+1} = x_n + dt * v_{n+1}. + + +The algorithm also closely resembles the one in http://physbam.stanford.edu/~fedkiw/papers/stanford2008-03.pdf + */ + +#include <stdio.h> +#include "btDeformableMultiBodyDynamicsWorld.h" +#include "DeformableBodyInplaceSolverIslandCallback.h" +#include "btDeformableBodySolver.h" +#include "LinearMath/btQuickprof.h" +#include "btSoftBodyInternals.h" +btDeformableMultiBodyDynamicsWorld::btDeformableMultiBodyDynamicsWorld(btDispatcher* dispatcher, btBroadphaseInterface* pairCache, btDeformableMultiBodyConstraintSolver* constraintSolver, btCollisionConfiguration* collisionConfiguration, btDeformableBodySolver* deformableBodySolver) +: btMultiBodyDynamicsWorld(dispatcher, pairCache, (btMultiBodyConstraintSolver*)constraintSolver, collisionConfiguration), +m_deformableBodySolver(deformableBodySolver), m_solverCallback(0) +{ + m_drawFlags = fDrawFlags::Std; + m_drawNodeTree = true; + m_drawFaceTree = false; + m_drawClusterTree = false; + m_sbi.m_broadphase = pairCache; + m_sbi.m_dispatcher = dispatcher; + m_sbi.m_sparsesdf.Initialize(); + m_sbi.m_sparsesdf.setDefaultVoxelsz(0.005); + m_sbi.m_sparsesdf.Reset(); + + m_sbi.air_density = (btScalar)1.2; + m_sbi.water_density = 0; + m_sbi.water_offset = 0; + m_sbi.water_normal = btVector3(0, 0, 0); + m_sbi.m_gravity.setValue(0, -10, 0); + m_internalTime = 0.0; + m_implicit = false; + m_lineSearch = false; + m_selfCollision = true; + m_solverDeformableBodyIslandCallback = new DeformableBodyInplaceSolverIslandCallback(constraintSolver, dispatcher); +} + +void btDeformableMultiBodyDynamicsWorld::internalSingleStepSimulation(btScalar timeStep) +{ + BT_PROFILE("internalSingleStepSimulation"); + if (0 != m_internalPreTickCallback) + { + (*m_internalPreTickCallback)(this, timeStep); + } + reinitialize(timeStep); + // add gravity to velocity of rigid and multi bodys + applyRigidBodyGravity(timeStep); + + ///apply gravity and explicit force to velocity, predict motion + predictUnconstraintMotion(timeStep); + + ///perform collision detection + btMultiBodyDynamicsWorld::performDiscreteCollisionDetection(); + + if (m_selfCollision) + { + softBodySelfCollision(); + } + + btMultiBodyDynamicsWorld::calculateSimulationIslands(); + + beforeSolverCallbacks(timeStep); + + ///solve contact constraints and then deformable bodies momemtum equation + solveConstraints(timeStep); + + afterSolverCallbacks(timeStep); + + integrateTransforms(timeStep); + + ///update vehicle simulation + btMultiBodyDynamicsWorld::updateActions(timeStep); + + updateActivationState(timeStep); + // End solver-wise simulation step + // /////////////////////////////// +} + +void btDeformableMultiBodyDynamicsWorld::updateActivationState(btScalar timeStep) +{ + for (int i = 0; i < m_softBodies.size(); i++) + { + btSoftBody* psb = m_softBodies[i]; + psb->updateDeactivation(timeStep); + if (psb->wantsSleeping()) + { + if (psb->getActivationState() == ACTIVE_TAG) + psb->setActivationState(WANTS_DEACTIVATION); + if (psb->getActivationState() == ISLAND_SLEEPING) + { + psb->setZeroVelocity(); + } + } + else + { + if (psb->getActivationState() != DISABLE_DEACTIVATION) + psb->setActivationState(ACTIVE_TAG); + } + } + btMultiBodyDynamicsWorld::updateActivationState(timeStep); +} + + +void btDeformableMultiBodyDynamicsWorld::softBodySelfCollision() +{ + m_deformableBodySolver->updateSoftBodies(); + for (int i = 0; i < m_softBodies.size(); i++) + { + btSoftBody* psb = m_softBodies[i]; + if (psb->isActive()) + { + psb->defaultCollisionHandler(psb); + } + } +} + +void btDeformableMultiBodyDynamicsWorld::positionCorrection(btScalar timeStep) +{ + // correct the position of rigid bodies with temporary velocity generated from split impulse + btContactSolverInfo infoGlobal; + btVector3 zero(0,0,0); + for (int i = 0; i < m_nonStaticRigidBodies.size(); ++i) + { + btRigidBody* rb = m_nonStaticRigidBodies[i]; + //correct the position/orientation based on push/turn recovery + btTransform newTransform; + btVector3 pushVelocity = rb->getPushVelocity(); + btVector3 turnVelocity = rb->getTurnVelocity(); + if (pushVelocity[0] != 0.f || pushVelocity[1] != 0 || pushVelocity[2] != 0 || turnVelocity[0] != 0.f || turnVelocity[1] != 0 || turnVelocity[2] != 0) + { + btTransformUtil::integrateTransform(rb->getWorldTransform(), pushVelocity, turnVelocity * infoGlobal.m_splitImpulseTurnErp, timeStep, newTransform); + rb->setWorldTransform(newTransform); + rb->setPushVelocity(zero); + rb->setTurnVelocity(zero); + } + } +} + +void btDeformableMultiBodyDynamicsWorld::integrateTransforms(btScalar timeStep) +{ + BT_PROFILE("integrateTransforms"); + positionCorrection(timeStep); + btMultiBodyDynamicsWorld::integrateTransforms(timeStep); + for (int i = 0; i < m_softBodies.size(); ++i) + { + btSoftBody* psb = m_softBodies[i]; + for (int j = 0; j < psb->m_nodes.size(); ++j) + { + btSoftBody::Node& node = psb->m_nodes[j]; + btScalar maxDisplacement = psb->getWorldInfo()->m_maxDisplacement; + btScalar clampDeltaV = maxDisplacement / timeStep; + for (int c = 0; c < 3; c++) + { + if (node.m_v[c] > clampDeltaV) + { + node.m_v[c] = clampDeltaV; + } + if (node.m_v[c] < -clampDeltaV) + { + node.m_v[c] = -clampDeltaV; + } + } + node.m_x = node.m_x + timeStep * node.m_v; + node.m_v -= node.m_vsplit; + node.m_vsplit.setZero(); + node.m_q = node.m_x; + node.m_vn = node.m_v; + } + // enforce anchor constraints + for (int j = 0; j < psb->m_deformableAnchors.size();++j) + { + btSoftBody::DeformableNodeRigidAnchor& a = psb->m_deformableAnchors[j]; + btSoftBody::Node* n = a.m_node; + n->m_x = a.m_cti.m_colObj->getWorldTransform() * a.m_local; + + // update multibody anchor info + if (a.m_cti.m_colObj->getInternalType() == btCollisionObject::CO_FEATHERSTONE_LINK) + { + btMultiBodyLinkCollider* multibodyLinkCol = (btMultiBodyLinkCollider*)btMultiBodyLinkCollider::upcast(a.m_cti.m_colObj); + if (multibodyLinkCol) + { + btVector3 nrm; + const btCollisionShape* shp = multibodyLinkCol->getCollisionShape(); + const btTransform& wtr = multibodyLinkCol->getWorldTransform(); + psb->m_worldInfo->m_sparsesdf.Evaluate( + wtr.invXform(n->m_x), + shp, + nrm, + 0); + a.m_cti.m_normal = wtr.getBasis() * nrm; + btVector3 normal = a.m_cti.m_normal; + btVector3 t1 = generateUnitOrthogonalVector(normal); + btVector3 t2 = btCross(normal, t1); + btMultiBodyJacobianData jacobianData_normal, jacobianData_t1, jacobianData_t2; + findJacobian(multibodyLinkCol, jacobianData_normal, a.m_node->m_x, normal); + findJacobian(multibodyLinkCol, jacobianData_t1, a.m_node->m_x, t1); + findJacobian(multibodyLinkCol, jacobianData_t2, a.m_node->m_x, t2); + + btScalar* J_n = &jacobianData_normal.m_jacobians[0]; + btScalar* J_t1 = &jacobianData_t1.m_jacobians[0]; + btScalar* J_t2 = &jacobianData_t2.m_jacobians[0]; + + btScalar* u_n = &jacobianData_normal.m_deltaVelocitiesUnitImpulse[0]; + btScalar* u_t1 = &jacobianData_t1.m_deltaVelocitiesUnitImpulse[0]; + btScalar* u_t2 = &jacobianData_t2.m_deltaVelocitiesUnitImpulse[0]; + + btMatrix3x3 rot(normal.getX(), normal.getY(), normal.getZ(), + t1.getX(), t1.getY(), t1.getZ(), + t2.getX(), t2.getY(), t2.getZ()); // world frame to local frame + const int ndof = multibodyLinkCol->m_multiBody->getNumDofs() + 6; + btMatrix3x3 local_impulse_matrix = (Diagonal(n->m_im) + OuterProduct(J_n, J_t1, J_t2, u_n, u_t1, u_t2, ndof)).inverse(); + a.m_c0 = rot.transpose() * local_impulse_matrix * rot; + a.jacobianData_normal = jacobianData_normal; + a.jacobianData_t1 = jacobianData_t1; + a.jacobianData_t2 = jacobianData_t2; + a.t1 = t1; + a.t2 = t2; + } + } + } + psb->interpolateRenderMesh(); + } +} + +void btDeformableMultiBodyDynamicsWorld::solveConstraints(btScalar timeStep) +{ + // save v_{n+1}^* velocity after explicit forces + m_deformableBodySolver->backupVelocity(); + + // set up constraints among multibodies and between multibodies and deformable bodies + setupConstraints(); + + // solve contact constraints + solveContactConstraints(); + + // set up the directions in which the velocity does not change in the momentum solve + m_deformableBodySolver->m_objective->m_projection.setProjection(); + + // for explicit scheme, m_backupVelocity = v_{n+1}^* + // for implicit scheme, m_backupVelocity = v_n + // Here, set dv = v_{n+1} - v_n for nodes in contact + m_deformableBodySolver->setupDeformableSolve(m_implicit); + + // At this point, dv should be golden for nodes in contact + // proceed to solve deformable momentum equation + m_deformableBodySolver->solveDeformableConstraints(timeStep); +} + +void btDeformableMultiBodyDynamicsWorld::setupConstraints() +{ + // set up constraints between multibody and deformable bodies + m_deformableBodySolver->setConstraints(); + + // set up constraints among multibodies + { + sortConstraints(); + // setup the solver callback + btMultiBodyConstraint** sortedMultiBodyConstraints = m_sortedMultiBodyConstraints.size() ? &m_sortedMultiBodyConstraints[0] : 0; + btTypedConstraint** constraintsPtr = getNumConstraints() ? &m_sortedConstraints[0] : 0; + m_solverDeformableBodyIslandCallback->setup(&m_solverInfo, constraintsPtr, m_sortedConstraints.size(), sortedMultiBodyConstraints, m_sortedMultiBodyConstraints.size(), getDebugDrawer()); + + // build islands + m_islandManager->buildIslands(getCollisionWorld()->getDispatcher(), getCollisionWorld()); + } +} + +void btDeformableMultiBodyDynamicsWorld::sortConstraints() +{ + m_sortedConstraints.resize(m_constraints.size()); + int i; + for (i = 0; i < getNumConstraints(); i++) + { + m_sortedConstraints[i] = m_constraints[i]; + } + m_sortedConstraints.quickSort(btSortConstraintOnIslandPredicate2()); + + m_sortedMultiBodyConstraints.resize(m_multiBodyConstraints.size()); + for (i = 0; i < m_multiBodyConstraints.size(); i++) + { + m_sortedMultiBodyConstraints[i] = m_multiBodyConstraints[i]; + } + m_sortedMultiBodyConstraints.quickSort(btSortMultiBodyConstraintOnIslandPredicate()); +} + + +void btDeformableMultiBodyDynamicsWorld::solveContactConstraints() +{ + // process constraints on each island + m_islandManager->processIslands(getCollisionWorld()->getDispatcher(), getCollisionWorld(), m_solverDeformableBodyIslandCallback); + + // process deferred + m_solverDeformableBodyIslandCallback->processConstraints(); + m_constraintSolver->allSolved(m_solverInfo, m_debugDrawer); + + // write joint feedback + { + for (int i = 0; i < this->m_multiBodies.size(); i++) + { + btMultiBody* bod = m_multiBodies[i]; + + bool isSleeping = false; + + if (bod->getBaseCollider() && bod->getBaseCollider()->getActivationState() == ISLAND_SLEEPING) + { + isSleeping = true; + } + for (int b = 0; b < bod->getNumLinks(); b++) + { + if (bod->getLink(b).m_collider && bod->getLink(b).m_collider->getActivationState() == ISLAND_SLEEPING) + isSleeping = true; + } + + if (!isSleeping) + { + //useless? they get resized in stepVelocities once again (AND DIFFERENTLY) + m_scratch_r.resize(bod->getNumLinks() + 1); //multidof? ("Y"s use it and it is used to store qdd) + m_scratch_v.resize(bod->getNumLinks() + 1); + m_scratch_m.resize(bod->getNumLinks() + 1); + + if (bod->internalNeedsJointFeedback()) + { + if (!bod->isUsingRK4Integration()) + { + if (bod->internalNeedsJointFeedback()) + { + bool isConstraintPass = true; + bod->computeAccelerationsArticulatedBodyAlgorithmMultiDof(m_solverInfo.m_timeStep, m_scratch_r, m_scratch_v, m_scratch_m, isConstraintPass, + getSolverInfo().m_jointFeedbackInWorldSpace, + getSolverInfo().m_jointFeedbackInJointFrame); + } + } + } + } + } + } + + for (int i = 0; i < this->m_multiBodies.size(); i++) + { + btMultiBody* bod = m_multiBodies[i]; + bod->processDeltaVeeMultiDof2(); + } +} + +void btDeformableMultiBodyDynamicsWorld::addSoftBody(btSoftBody* body, int collisionFilterGroup, int collisionFilterMask) +{ + m_softBodies.push_back(body); + + // Set the soft body solver that will deal with this body + // to be the world's solver + body->setSoftBodySolver(m_deformableBodySolver); + + btCollisionWorld::addCollisionObject(body, + collisionFilterGroup, + collisionFilterMask); +} + +void btDeformableMultiBodyDynamicsWorld::predictUnconstraintMotion(btScalar timeStep) +{ + BT_PROFILE("predictUnconstraintMotion"); + btMultiBodyDynamicsWorld::predictUnconstraintMotion(timeStep); + m_deformableBodySolver->predictMotion(timeStep); +} + +void btDeformableMultiBodyDynamicsWorld::reinitialize(btScalar timeStep) +{ + m_internalTime += timeStep; + m_deformableBodySolver->setImplicit(m_implicit); + m_deformableBodySolver->setLineSearch(m_lineSearch); + m_deformableBodySolver->reinitialize(m_softBodies, timeStep); + btDispatcherInfo& dispatchInfo = btMultiBodyDynamicsWorld::getDispatchInfo(); + dispatchInfo.m_timeStep = timeStep; + dispatchInfo.m_stepCount = 0; + dispatchInfo.m_debugDraw = btMultiBodyDynamicsWorld::getDebugDrawer(); + btMultiBodyDynamicsWorld::getSolverInfo().m_timeStep = timeStep; +} + + +void btDeformableMultiBodyDynamicsWorld::debugDrawWorld() +{ + + btMultiBodyDynamicsWorld::debugDrawWorld(); + + for (int i = 0; i < getSoftBodyArray().size(); i++) + { + btSoftBody* psb = (btSoftBody*)getSoftBodyArray()[i]; + { + btSoftBodyHelpers::DrawFrame(psb, getDebugDrawer()); + btSoftBodyHelpers::Draw(psb, getDebugDrawer(), getDrawFlags()); + } + } + + +} + +void btDeformableMultiBodyDynamicsWorld::applyRigidBodyGravity(btScalar timeStep) +{ + // Gravity is applied in stepSimulation and then cleared here and then applied here and then cleared here again + // so that 1) gravity is applied to velocity before constraint solve and 2) gravity is applied in each substep + // when there are multiple substeps + btMultiBodyDynamicsWorld::applyGravity(); + // integrate rigid body gravity + for (int i = 0; i < m_nonStaticRigidBodies.size(); ++i) + { + btRigidBody* rb = m_nonStaticRigidBodies[i]; + rb->integrateVelocities(timeStep); + } + + // integrate multibody gravity + { + forwardKinematics(); + clearMultiBodyConstraintForces(); + { + for (int i = 0; i < this->m_multiBodies.size(); i++) + { + btMultiBody* bod = m_multiBodies[i]; + + bool isSleeping = false; + + if (bod->getBaseCollider() && bod->getBaseCollider()->getActivationState() == ISLAND_SLEEPING) + { + isSleeping = true; + } + for (int b = 0; b < bod->getNumLinks(); b++) + { + if (bod->getLink(b).m_collider && bod->getLink(b).m_collider->getActivationState() == ISLAND_SLEEPING) + isSleeping = true; + } + + if (!isSleeping) + { + m_scratch_r.resize(bod->getNumLinks() + 1); + m_scratch_v.resize(bod->getNumLinks() + 1); + m_scratch_m.resize(bod->getNumLinks() + 1); + bool isConstraintPass = false; + { + if (!bod->isUsingRK4Integration()) + { + bod->computeAccelerationsArticulatedBodyAlgorithmMultiDof(m_solverInfo.m_timeStep, + m_scratch_r, m_scratch_v, m_scratch_m,isConstraintPass, + getSolverInfo().m_jointFeedbackInWorldSpace, + getSolverInfo().m_jointFeedbackInJointFrame); + } + else + { + btAssert(" RK4Integration is not supported" ); + } + } + } + } + } + } + clearGravity(); +} + +void btDeformableMultiBodyDynamicsWorld::clearGravity() +{ + BT_PROFILE("btMultiBody clearGravity"); + // clear rigid body gravity + for (int i = 0; i < m_nonStaticRigidBodies.size(); i++) + { + btRigidBody* body = m_nonStaticRigidBodies[i]; + if (body->isActive()) + { + body->clearGravity(); + } + } + // clear multibody gravity + for (int i = 0; i < this->m_multiBodies.size(); i++) + { + btMultiBody* bod = m_multiBodies[i]; + + bool isSleeping = false; + + if (bod->getBaseCollider() && bod->getBaseCollider()->getActivationState() == ISLAND_SLEEPING) + { + isSleeping = true; + } + for (int b = 0; b < bod->getNumLinks(); b++) + { + if (bod->getLink(b).m_collider && bod->getLink(b).m_collider->getActivationState() == ISLAND_SLEEPING) + isSleeping = true; + } + + if (!isSleeping) + { + bod->addBaseForce(-m_gravity * bod->getBaseMass()); + + for (int j = 0; j < bod->getNumLinks(); ++j) + { + bod->addLinkForce(j, -m_gravity * bod->getLinkMass(j)); + } + } + } +} + +void btDeformableMultiBodyDynamicsWorld::beforeSolverCallbacks(btScalar timeStep) +{ + if (0 != m_internalTickCallback) + { + (*m_internalTickCallback)(this, timeStep); + } + + if (0 != m_solverCallback) + { + (*m_solverCallback)(m_internalTime, this); + } +} + +void btDeformableMultiBodyDynamicsWorld::afterSolverCallbacks(btScalar timeStep) +{ + if (0 != m_solverCallback) + { + (*m_solverCallback)(m_internalTime, this); + } +} + +void btDeformableMultiBodyDynamicsWorld::addForce(btSoftBody* psb, btDeformableLagrangianForce* force) +{ + btAlignedObjectArray<btDeformableLagrangianForce*>& forces = m_deformableBodySolver->m_objective->m_lf; + bool added = false; + for (int i = 0; i < forces.size(); ++i) + { + if (forces[i]->getForceType() == force->getForceType()) + { + forces[i]->addSoftBody(psb); + added = true; + break; + } + } + if (!added) + { + force->addSoftBody(psb); + force->setIndices(m_deformableBodySolver->m_objective->getIndices()); + forces.push_back(force); + } +} + +void btDeformableMultiBodyDynamicsWorld::removeSoftBody(btSoftBody* body) +{ + m_softBodies.remove(body); + btCollisionWorld::removeCollisionObject(body); + // force a reinitialize so that node indices get updated. + m_deformableBodySolver->reinitialize(m_softBodies, btScalar(-1)); +} + +void btDeformableMultiBodyDynamicsWorld::removeCollisionObject(btCollisionObject* collisionObject) +{ + btSoftBody* body = btSoftBody::upcast(collisionObject); + if (body) + removeSoftBody(body); + else + btDiscreteDynamicsWorld::removeCollisionObject(collisionObject); +} + + +int btDeformableMultiBodyDynamicsWorld::stepSimulation(btScalar timeStep, int maxSubSteps, btScalar fixedTimeStep) +{ + startProfiling(timeStep); + + int numSimulationSubSteps = 0; + + if (maxSubSteps) + { + //fixed timestep with interpolation + m_fixedTimeStep = fixedTimeStep; + m_localTime += timeStep; + if (m_localTime >= fixedTimeStep) + { + numSimulationSubSteps = int(m_localTime / fixedTimeStep); + m_localTime -= numSimulationSubSteps * fixedTimeStep; + } + } + else + { + //variable timestep + fixedTimeStep = timeStep; + m_localTime = m_latencyMotionStateInterpolation ? 0 : timeStep; + m_fixedTimeStep = 0; + if (btFuzzyZero(timeStep)) + { + numSimulationSubSteps = 0; + maxSubSteps = 0; + } + else + { + numSimulationSubSteps = 1; + maxSubSteps = 1; + } + } + + //process some debugging flags + if (getDebugDrawer()) + { + btIDebugDraw* debugDrawer = getDebugDrawer(); + gDisableDeactivation = (debugDrawer->getDebugMode() & btIDebugDraw::DBG_NoDeactivation) != 0; + } + if (numSimulationSubSteps) + { + //clamp the number of substeps, to prevent simulation grinding spiralling down to a halt + int clampedSimulationSteps = (numSimulationSubSteps > maxSubSteps) ? maxSubSteps : numSimulationSubSteps; + + saveKinematicState(fixedTimeStep * clampedSimulationSteps); + + for (int i = 0; i < clampedSimulationSteps; i++) + { + internalSingleStepSimulation(fixedTimeStep); + synchronizeMotionStates(); + } + } + else + { + synchronizeMotionStates(); + } + + clearForces(); + +#ifndef BT_NO_PROFILE + CProfileManager::Increment_Frame_Counter(); +#endif //BT_NO_PROFILE + + return numSimulationSubSteps; +} diff --git a/thirdparty/bullet/BulletSoftBody/btDeformableMultiBodyDynamicsWorld.h b/thirdparty/bullet/BulletSoftBody/btDeformableMultiBodyDynamicsWorld.h new file mode 100644 index 0000000000..7630385767 --- /dev/null +++ b/thirdparty/bullet/BulletSoftBody/btDeformableMultiBodyDynamicsWorld.h @@ -0,0 +1,165 @@ +/* + Written by Xuchen Han <xuchenhan2015@u.northwestern.edu> + + Bullet Continuous Collision Detection and Physics Library + Copyright (c) 2019 Google Inc. 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. + */ + +#ifndef BT_DEFORMABLE_MULTIBODY_DYNAMICS_WORLD_H +#define BT_DEFORMABLE_MULTIBODY_DYNAMICS_WORLD_H + +#include "btSoftMultiBodyDynamicsWorld.h" +#include "btDeformableLagrangianForce.h" +#include "btDeformableMassSpringForce.h" +#include "btDeformableBodySolver.h" +#include "btDeformableMultiBodyConstraintSolver.h" +#include "btSoftBodyHelpers.h" +#include "BulletCollision/CollisionDispatch/btSimulationIslandManager.h" +#include <functional> +typedef btAlignedObjectArray<btSoftBody*> btSoftBodyArray; + +class btDeformableBodySolver; +class btDeformableLagrangianForce; +struct MultiBodyInplaceSolverIslandCallback; +struct DeformableBodyInplaceSolverIslandCallback; +class btDeformableMultiBodyConstraintSolver; + +typedef btAlignedObjectArray<btSoftBody*> btSoftBodyArray; + +class btDeformableMultiBodyDynamicsWorld : public btMultiBodyDynamicsWorld +{ + typedef btAlignedObjectArray<btVector3> TVStack; + ///Solver classes that encapsulate multiple deformable bodies for solving + btDeformableBodySolver* m_deformableBodySolver; + btSoftBodyArray m_softBodies; + int m_drawFlags; + bool m_drawNodeTree; + bool m_drawFaceTree; + bool m_drawClusterTree; + btSoftBodyWorldInfo m_sbi; + btScalar m_internalTime; + int m_contact_iterations; + bool m_implicit; + bool m_lineSearch; + bool m_selfCollision; + DeformableBodyInplaceSolverIslandCallback* m_solverDeformableBodyIslandCallback; + + typedef void (*btSolverCallback)(btScalar time, btDeformableMultiBodyDynamicsWorld* world); + btSolverCallback m_solverCallback; + +protected: + virtual void internalSingleStepSimulation(btScalar timeStep); + + virtual void integrateTransforms(btScalar timeStep); + + void positionCorrection(btScalar timeStep); + + void solveConstraints(btScalar timeStep); + + void updateActivationState(btScalar timeStep); + + void clearGravity(); + +public: + btDeformableMultiBodyDynamicsWorld(btDispatcher* dispatcher, btBroadphaseInterface* pairCache, btDeformableMultiBodyConstraintSolver* constraintSolver, btCollisionConfiguration* collisionConfiguration, btDeformableBodySolver* deformableBodySolver = 0); + + virtual int stepSimulation(btScalar timeStep, int maxSubSteps = 1, btScalar fixedTimeStep = btScalar(1.) / btScalar(60.)); + + virtual void debugDrawWorld(); + + void setSolverCallback(btSolverCallback cb) + { + m_solverCallback = cb; + } + + virtual ~btDeformableMultiBodyDynamicsWorld() + { + } + + virtual btMultiBodyDynamicsWorld* getMultiBodyDynamicsWorld() + { + return (btMultiBodyDynamicsWorld*)(this); + } + + virtual const btMultiBodyDynamicsWorld* getMultiBodyDynamicsWorld() const + { + return (const btMultiBodyDynamicsWorld*)(this); + } + + virtual btDynamicsWorldType getWorldType() const + { + return BT_DEFORMABLE_MULTIBODY_DYNAMICS_WORLD; + } + + virtual void predictUnconstraintMotion(btScalar timeStep); + + virtual void addSoftBody(btSoftBody* body, int collisionFilterGroup = btBroadphaseProxy::DefaultFilter, int collisionFilterMask = btBroadphaseProxy::AllFilter); + + btSoftBodyArray& getSoftBodyArray() + { + return m_softBodies; + } + + const btSoftBodyArray& getSoftBodyArray() const + { + return m_softBodies; + } + + btSoftBodyWorldInfo& getWorldInfo() + { + return m_sbi; + } + + const btSoftBodyWorldInfo& getWorldInfo() const + { + return m_sbi; + } + + void reinitialize(btScalar timeStep); + + void applyRigidBodyGravity(btScalar timeStep); + + void beforeSolverCallbacks(btScalar timeStep); + + void afterSolverCallbacks(btScalar timeStep); + + void addForce(btSoftBody* psb, btDeformableLagrangianForce* force); + + void removeSoftBody(btSoftBody* body); + + void removeCollisionObject(btCollisionObject* collisionObject); + + int getDrawFlags() const { return (m_drawFlags); } + void setDrawFlags(int f) { m_drawFlags = f; } + + void setupConstraints(); + + void solveMultiBodyConstraints(); + + void solveContactConstraints(); + + void sortConstraints(); + + void softBodySelfCollision(); + + void setImplicit(bool implicit) + { + m_implicit = implicit; + } + + void setLineSearch(bool lineSearch) + { + m_lineSearch = lineSearch; + } + +}; + +#endif //BT_DEFORMABLE_MULTIBODY_DYNAMICS_WORLD_H diff --git a/thirdparty/bullet/BulletSoftBody/btDeformableNeoHookeanForce.h b/thirdparty/bullet/BulletSoftBody/btDeformableNeoHookeanForce.h new file mode 100644 index 0000000000..3d06e304d2 --- /dev/null +++ b/thirdparty/bullet/BulletSoftBody/btDeformableNeoHookeanForce.h @@ -0,0 +1,375 @@ +/* +Written by Xuchen Han <xuchenhan2015@u.northwestern.edu> + +Bullet Continuous Collision Detection and Physics Library +Copyright (c) 2019 Google Inc. 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. +*/ + +#ifndef BT_NEOHOOKEAN_H +#define BT_NEOHOOKEAN_H + +#include "btDeformableLagrangianForce.h" +#include "LinearMath/btQuickprof.h" +#include "LinearMath/btImplicitQRSVD.h" +// This energy is as described in https://graphics.pixar.com/library/StableElasticity/paper.pdf +class btDeformableNeoHookeanForce : public btDeformableLagrangianForce +{ +public: + typedef btAlignedObjectArray<btVector3> TVStack; + btScalar m_mu, m_lambda; + btScalar m_mu_damp, m_lambda_damp; + btDeformableNeoHookeanForce(): m_mu(1), m_lambda(1) + { + btScalar damping = 0.05; + m_mu_damp = damping * m_mu; + m_lambda_damp = damping * m_lambda; + } + + btDeformableNeoHookeanForce(btScalar mu, btScalar lambda, btScalar damping = 0.05): m_mu(mu), m_lambda(lambda) + { + m_mu_damp = damping * m_mu; + m_lambda_damp = damping * m_lambda; + } + + virtual void addScaledForces(btScalar scale, TVStack& force) + { + addScaledDampingForce(scale, force); + addScaledElasticForce(scale, force); + } + + virtual void addScaledExplicitForce(btScalar scale, TVStack& force) + { + addScaledElasticForce(scale, force); + } + + // The damping matrix is calculated using the time n state as described in https://www.math.ucla.edu/~jteran/papers/GSSJT15.pdf to allow line search + virtual void addScaledDampingForce(btScalar scale, TVStack& force) + { + if (m_mu_damp == 0 && m_lambda_damp == 0) + return; + int numNodes = getNumNodes(); + btAssert(numNodes <= force.size()); + btVector3 grad_N_hat_1st_col = btVector3(-1,-1,-1); + for (int i = 0; i < m_softBodies.size(); ++i) + { + btSoftBody* psb = m_softBodies[i]; + if (!psb->isActive()) + { + continue; + } + for (int j = 0; j < psb->m_tetras.size(); ++j) + { + btSoftBody::Tetra& tetra = psb->m_tetras[j]; + btSoftBody::Node* node0 = tetra.m_n[0]; + btSoftBody::Node* node1 = tetra.m_n[1]; + btSoftBody::Node* node2 = tetra.m_n[2]; + btSoftBody::Node* node3 = tetra.m_n[3]; + size_t id0 = node0->index; + size_t id1 = node1->index; + size_t id2 = node2->index; + size_t id3 = node3->index; + btMatrix3x3 dF = DsFromVelocity(node0, node1, node2, node3) * tetra.m_Dm_inverse; + btMatrix3x3 I; + I.setIdentity(); + btMatrix3x3 dP = (dF + dF.transpose()) * m_mu_damp + I * (dF[0][0]+dF[1][1]+dF[2][2]) * m_lambda_damp; +// firstPiolaDampingDifferential(psb->m_tetraScratchesTn[j], dF, dP); + btVector3 df_on_node0 = dP * (tetra.m_Dm_inverse.transpose()*grad_N_hat_1st_col); + btMatrix3x3 df_on_node123 = dP * tetra.m_Dm_inverse.transpose(); + + // damping force differential + btScalar scale1 = scale * tetra.m_element_measure; + force[id0] -= scale1 * df_on_node0; + force[id1] -= scale1 * df_on_node123.getColumn(0); + force[id2] -= scale1 * df_on_node123.getColumn(1); + force[id3] -= scale1 * df_on_node123.getColumn(2); + } + } + } + + virtual double totalElasticEnergy(btScalar dt) + { + double energy = 0; + for (int i = 0; i < m_softBodies.size(); ++i) + { + btSoftBody* psb = m_softBodies[i]; + if (!psb->isActive()) + { + continue; + } + for (int j = 0; j < psb->m_tetraScratches.size(); ++j) + { + btSoftBody::Tetra& tetra = psb->m_tetras[j]; + btSoftBody::TetraScratch& s = psb->m_tetraScratches[j]; + energy += tetra.m_element_measure * elasticEnergyDensity(s); + } + } + return energy; + } + + // The damping energy is formulated as in https://www.math.ucla.edu/~jteran/papers/GSSJT15.pdf to allow line search + virtual double totalDampingEnergy(btScalar dt) + { + double energy = 0; + int sz = 0; + for (int i = 0; i < m_softBodies.size(); ++i) + { + btSoftBody* psb = m_softBodies[i]; + if (!psb->isActive()) + { + continue; + } + for (int j = 0; j < psb->m_nodes.size(); ++j) + { + sz = btMax(sz, psb->m_nodes[j].index); + } + } + TVStack dampingForce; + dampingForce.resize(sz+1); + for (int i = 0; i < dampingForce.size(); ++i) + dampingForce[i].setZero(); + addScaledDampingForce(0.5, dampingForce); + for (int i = 0; i < m_softBodies.size(); ++i) + { + btSoftBody* psb = m_softBodies[i]; + for (int j = 0; j < psb->m_nodes.size(); ++j) + { + const btSoftBody::Node& node = psb->m_nodes[j]; + energy -= dampingForce[node.index].dot(node.m_v) / dt; + } + } + return energy; + } + + double elasticEnergyDensity(const btSoftBody::TetraScratch& s) + { + double density = 0; + density += m_mu * 0.5 * (s.m_trace - 3.); + density += m_lambda * 0.5 * (s.m_J - 1. - 0.75 * m_mu / m_lambda)* (s.m_J - 1. - 0.75 * m_mu / m_lambda); + density -= m_mu * 0.5 * log(s.m_trace+1); + return density; + } + + virtual void addScaledElasticForce(btScalar scale, TVStack& force) + { + int numNodes = getNumNodes(); + btAssert(numNodes <= force.size()); + btVector3 grad_N_hat_1st_col = btVector3(-1,-1,-1); + for (int i = 0; i < m_softBodies.size(); ++i) + { + btSoftBody* psb = m_softBodies[i]; + if (!psb->isActive()) + { + continue; + } + btScalar max_p = psb->m_cfg.m_maxStress; + for (int j = 0; j < psb->m_tetras.size(); ++j) + { + btSoftBody::Tetra& tetra = psb->m_tetras[j]; + btMatrix3x3 P; + firstPiola(psb->m_tetraScratches[j],P); +#ifdef USE_SVD + if (max_p > 0) + { + // since we want to clamp the principal stress to max_p, we only need to + // calculate SVD when sigma_0^2 + sigma_1^2 + sigma_2^2 > max_p * max_p + btScalar trPTP = (P[0].length2() + P[1].length2() + P[2].length2()); + if (trPTP > max_p * max_p) + { + btMatrix3x3 U, V; + btVector3 sigma; + singularValueDecomposition(P, U, sigma, V); + sigma[0] = btMin(sigma[0], max_p); + sigma[1] = btMin(sigma[1], max_p); + sigma[2] = btMin(sigma[2], max_p); + sigma[0] = btMax(sigma[0], -max_p); + sigma[1] = btMax(sigma[1], -max_p); + sigma[2] = btMax(sigma[2], -max_p); + btMatrix3x3 Sigma; + Sigma.setIdentity(); + Sigma[0][0] = sigma[0]; + Sigma[1][1] = sigma[1]; + Sigma[2][2] = sigma[2]; + P = U * Sigma * V.transpose(); + } + } +#endif +// btVector3 force_on_node0 = P * (tetra.m_Dm_inverse.transpose()*grad_N_hat_1st_col); + btMatrix3x3 force_on_node123 = P * tetra.m_Dm_inverse.transpose(); + btVector3 force_on_node0 = force_on_node123 * grad_N_hat_1st_col; + + btSoftBody::Node* node0 = tetra.m_n[0]; + btSoftBody::Node* node1 = tetra.m_n[1]; + btSoftBody::Node* node2 = tetra.m_n[2]; + btSoftBody::Node* node3 = tetra.m_n[3]; + size_t id0 = node0->index; + size_t id1 = node1->index; + size_t id2 = node2->index; + size_t id3 = node3->index; + + // elastic force + btScalar scale1 = scale * tetra.m_element_measure; + force[id0] -= scale1 * force_on_node0; + force[id1] -= scale1 * force_on_node123.getColumn(0); + force[id2] -= scale1 * force_on_node123.getColumn(1); + force[id3] -= scale1 * force_on_node123.getColumn(2); + } + } + } + + // The damping matrix is calculated using the time n state as described in https://www.math.ucla.edu/~jteran/papers/GSSJT15.pdf to allow line search + virtual void addScaledDampingForceDifferential(btScalar scale, const TVStack& dv, TVStack& df) + { + if (m_mu_damp == 0 && m_lambda_damp == 0) + return; + int numNodes = getNumNodes(); + btAssert(numNodes <= df.size()); + btVector3 grad_N_hat_1st_col = btVector3(-1,-1,-1); + for (int i = 0; i < m_softBodies.size(); ++i) + { + btSoftBody* psb = m_softBodies[i]; + if (!psb->isActive()) + { + continue; + } + for (int j = 0; j < psb->m_tetras.size(); ++j) + { + btSoftBody::Tetra& tetra = psb->m_tetras[j]; + btSoftBody::Node* node0 = tetra.m_n[0]; + btSoftBody::Node* node1 = tetra.m_n[1]; + btSoftBody::Node* node2 = tetra.m_n[2]; + btSoftBody::Node* node3 = tetra.m_n[3]; + size_t id0 = node0->index; + size_t id1 = node1->index; + size_t id2 = node2->index; + size_t id3 = node3->index; + btMatrix3x3 dF = Ds(id0, id1, id2, id3, dv) * tetra.m_Dm_inverse; + btMatrix3x3 I; + I.setIdentity(); + btMatrix3x3 dP = (dF + dF.transpose()) * m_mu_damp + I * (dF[0][0]+dF[1][1]+dF[2][2]) * m_lambda_damp; +// firstPiolaDampingDifferential(psb->m_tetraScratchesTn[j], dF, dP); +// btVector3 df_on_node0 = dP * (tetra.m_Dm_inverse.transpose()*grad_N_hat_1st_col); + btMatrix3x3 df_on_node123 = dP * tetra.m_Dm_inverse.transpose(); + btVector3 df_on_node0 = df_on_node123 * grad_N_hat_1st_col; + + // damping force differential + btScalar scale1 = scale * tetra.m_element_measure; + df[id0] -= scale1 * df_on_node0; + df[id1] -= scale1 * df_on_node123.getColumn(0); + df[id2] -= scale1 * df_on_node123.getColumn(1); + df[id3] -= scale1 * df_on_node123.getColumn(2); + } + } + } + + virtual void addScaledElasticForceDifferential(btScalar scale, const TVStack& dx, TVStack& df) + { + int numNodes = getNumNodes(); + btAssert(numNodes <= df.size()); + btVector3 grad_N_hat_1st_col = btVector3(-1,-1,-1); + for (int i = 0; i < m_softBodies.size(); ++i) + { + btSoftBody* psb = m_softBodies[i]; + if (!psb->isActive()) + { + continue; + } + for (int j = 0; j < psb->m_tetras.size(); ++j) + { + btSoftBody::Tetra& tetra = psb->m_tetras[j]; + btSoftBody::Node* node0 = tetra.m_n[0]; + btSoftBody::Node* node1 = tetra.m_n[1]; + btSoftBody::Node* node2 = tetra.m_n[2]; + btSoftBody::Node* node3 = tetra.m_n[3]; + size_t id0 = node0->index; + size_t id1 = node1->index; + size_t id2 = node2->index; + size_t id3 = node3->index; + btMatrix3x3 dF = Ds(id0, id1, id2, id3, dx) * tetra.m_Dm_inverse; + btMatrix3x3 dP; + firstPiolaDifferential(psb->m_tetraScratches[j], dF, dP); +// btVector3 df_on_node0 = dP * (tetra.m_Dm_inverse.transpose()*grad_N_hat_1st_col); + btMatrix3x3 df_on_node123 = dP * tetra.m_Dm_inverse.transpose(); + btVector3 df_on_node0 = df_on_node123 * grad_N_hat_1st_col; + + // elastic force differential + btScalar scale1 = scale * tetra.m_element_measure; + df[id0] -= scale1 * df_on_node0; + df[id1] -= scale1 * df_on_node123.getColumn(0); + df[id2] -= scale1 * df_on_node123.getColumn(1); + df[id3] -= scale1 * df_on_node123.getColumn(2); + } + } + } + + void firstPiola(const btSoftBody::TetraScratch& s, btMatrix3x3& P) + { + btScalar c1 = (m_mu * ( 1. - 1. / (s.m_trace + 1.))); + btScalar c2 = (m_lambda * (s.m_J - 1.) - 0.75 * m_mu); + P = s.m_F * c1 + s.m_cofF * c2; + } + + // Let P be the first piola stress. + // This function calculates the dP = dP/dF * dF + void firstPiolaDifferential(const btSoftBody::TetraScratch& s, const btMatrix3x3& dF, btMatrix3x3& dP) + { + btScalar c1 = m_mu * ( 1. - 1. / (s.m_trace + 1.)); + btScalar c2 = (2.*m_mu) * DotProduct(s.m_F, dF) * (1./((1.+s.m_trace)*(1.+s.m_trace))); + btScalar c3 = (m_lambda * DotProduct(s.m_cofF, dF)); + dP = dF * c1 + s.m_F * c2; + addScaledCofactorMatrixDifferential(s.m_F, dF, m_lambda*(s.m_J-1.) - 0.75*m_mu, dP); + dP += s.m_cofF * c3; + } + + // Let Q be the damping stress. + // This function calculates the dP = dQ/dF * dF + void firstPiolaDampingDifferential(const btSoftBody::TetraScratch& s, const btMatrix3x3& dF, btMatrix3x3& dP) + { + btScalar c1 = (m_mu_damp * ( 1. - 1. / (s.m_trace + 1.))); + btScalar c2 = ((2.*m_mu_damp) * DotProduct(s.m_F, dF) *(1./((1.+s.m_trace)*(1.+s.m_trace)))); + btScalar c3 = (m_lambda_damp * DotProduct(s.m_cofF, dF)); + dP = dF * c1 + s.m_F * c2; + addScaledCofactorMatrixDifferential(s.m_F, dF, m_lambda_damp*(s.m_J-1.) - 0.75*m_mu_damp, dP); + dP += s.m_cofF * c3; + } + + btScalar DotProduct(const btMatrix3x3& A, const btMatrix3x3& B) + { + btScalar ans = 0; + for (int i = 0; i < 3; ++i) + { + ans += A[i].dot(B[i]); + } + return ans; + } + + // Let C(A) be the cofactor of the matrix A + // Let H = the derivative of C(A) with respect to A evaluated at F = A + // This function calculates H*dF + void addScaledCofactorMatrixDifferential(const btMatrix3x3& F, const btMatrix3x3& dF, btScalar scale, btMatrix3x3& M) + { + M[0][0] += scale * (dF[1][1] * F[2][2] + F[1][1] * dF[2][2] - dF[2][1] * F[1][2] - F[2][1] * dF[1][2]); + M[1][0] += scale * (dF[2][1] * F[0][2] + F[2][1] * dF[0][2] - dF[0][1] * F[2][2] - F[0][1] * dF[2][2]); + M[2][0] += scale * (dF[0][1] * F[1][2] + F[0][1] * dF[1][2] - dF[1][1] * F[0][2] - F[1][1] * dF[0][2]); + M[0][1] += scale * (dF[2][0] * F[1][2] + F[2][0] * dF[1][2] - dF[1][0] * F[2][2] - F[1][0] * dF[2][2]); + M[1][1] += scale * (dF[0][0] * F[2][2] + F[0][0] * dF[2][2] - dF[2][0] * F[0][2] - F[2][0] * dF[0][2]); + M[2][1] += scale * (dF[1][0] * F[0][2] + F[1][0] * dF[0][2] - dF[0][0] * F[1][2] - F[0][0] * dF[1][2]); + M[0][2] += scale * (dF[1][0] * F[2][1] + F[1][0] * dF[2][1] - dF[2][0] * F[1][1] - F[2][0] * dF[1][1]); + M[1][2] += scale * (dF[2][0] * F[0][1] + F[2][0] * dF[0][1] - dF[0][0] * F[2][1] - F[0][0] * dF[2][1]); + M[2][2] += scale * (dF[0][0] * F[1][1] + F[0][0] * dF[1][1] - dF[1][0] * F[0][1] - F[1][0] * dF[0][1]); + } + + virtual btDeformableLagrangianForceType getForceType() + { + return BT_NEOHOOKEAN_FORCE; + } + +}; +#endif /* BT_NEOHOOKEAN_H */ diff --git a/thirdparty/bullet/BulletSoftBody/btPreconditioner.h b/thirdparty/bullet/BulletSoftBody/btPreconditioner.h new file mode 100644 index 0000000000..d712420381 --- /dev/null +++ b/thirdparty/bullet/BulletSoftBody/btPreconditioner.h @@ -0,0 +1,79 @@ +/* + Written by Xuchen Han <xuchenhan2015@u.northwestern.edu> + + Bullet Continuous Collision Detection and Physics Library + Copyright (c) 2019 Google Inc. 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. + */ + +#ifndef BT_PRECONDITIONER_H +#define BT_PRECONDITIONER_H + +class Preconditioner +{ +public: + typedef btAlignedObjectArray<btVector3> TVStack; + virtual void operator()(const TVStack& x, TVStack& b) = 0; + virtual void reinitialize(bool nodeUpdated) = 0; + virtual ~Preconditioner(){} +}; + +class DefaultPreconditioner : public Preconditioner +{ +public: + virtual void operator()(const TVStack& x, TVStack& b) + { + btAssert(b.size() == x.size()); + for (int i = 0; i < b.size(); ++i) + b[i] = x[i]; + } + virtual void reinitialize(bool nodeUpdated) + { + } + + virtual ~DefaultPreconditioner(){} +}; + +class MassPreconditioner : public Preconditioner +{ + btAlignedObjectArray<btScalar> m_inv_mass; + const btAlignedObjectArray<btSoftBody *>& m_softBodies; +public: + MassPreconditioner(const btAlignedObjectArray<btSoftBody *>& softBodies) + : m_softBodies(softBodies) + { + } + + virtual void reinitialize(bool nodeUpdated) + { + if (nodeUpdated) + { + m_inv_mass.clear(); + for (int i = 0; i < m_softBodies.size(); ++i) + { + btSoftBody* psb = m_softBodies[i]; + for (int j = 0; j < psb->m_nodes.size(); ++j) + m_inv_mass.push_back(psb->m_nodes[j].m_im); + } + } + } + + virtual void operator()(const TVStack& x, TVStack& b) + { + btAssert(b.size() == x.size()); + btAssert(m_inv_mass.size() == x.size()); + for (int i = 0; i < b.size(); ++i) + { + b[i] = x[i] * m_inv_mass[i]; + } + } +}; + +#endif /* BT_PRECONDITIONER_H */ diff --git a/thirdparty/bullet/BulletSoftBody/btSoftBody.cpp b/thirdparty/bullet/BulletSoftBody/btSoftBody.cpp index 7463bdc019..2a458b1d80 100644 --- a/thirdparty/bullet/BulletSoftBody/btSoftBody.cpp +++ b/thirdparty/bullet/BulletSoftBody/btSoftBody.cpp @@ -18,9 +18,12 @@ subject to the following restrictions: #include "BulletSoftBody/btSoftBodySolvers.h" #include "btSoftBodyData.h" #include "LinearMath/btSerializer.h" +#include "LinearMath/btAlignedAllocator.h" #include "BulletDynamics/Featherstone/btMultiBodyLinkCollider.h" #include "BulletDynamics/Featherstone/btMultiBodyConstraint.h" - +#include "BulletCollision/NarrowPhaseCollision/btGjkEpa2.h" +#include "BulletCollision/CollisionShapes/btTriangleShape.h" +#include <iostream> // btSoftBody::btSoftBody(btSoftBodyWorldInfo* worldInfo, int node_count, const btVector3* x, const btScalar* m) : m_softBodySolver(0), m_worldInfo(worldInfo) @@ -86,6 +89,8 @@ void btSoftBody::initDefaults() m_cfg.piterations = 1; m_cfg.diterations = 0; m_cfg.citerations = 4; + m_cfg.drag = 0; + m_cfg.m_maxStress = 0; m_cfg.collisions = fCollision::Default; m_pose.m_bvolume = false; m_pose.m_bframe = false; @@ -110,6 +115,11 @@ void btSoftBody::initDefaults() m_windVelocity = btVector3(0, 0, 0); m_restLengthScale = btScalar(1.0); + m_dampingCoefficient = 1; + m_sleepingThreshold = 0.1; + m_useFaceContact = true; + m_useSelfCollision = false; + m_collisionFlags = 0; } // @@ -315,7 +325,7 @@ void btSoftBody::appendFace(int model, Material* mat) ZeroInitialize(f); f.m_material = mat ? mat : m_materials[0]; } - m_faces.push_back(f); + m_faces.push_back(f); } // @@ -402,6 +412,98 @@ void btSoftBody::appendAnchor(int node, btRigidBody* body, const btVector3& loca } // +void btSoftBody::appendDeformableAnchor(int node, btRigidBody* body) +{ + DeformableNodeRigidAnchor c; + btSoftBody::Node& n = m_nodes[node]; + const btScalar ima = n.m_im; + const btScalar imb = body->getInvMass(); + btVector3 nrm; + const btCollisionShape* shp = body->getCollisionShape(); + const btTransform& wtr = body->getWorldTransform(); + btScalar dst = + m_worldInfo->m_sparsesdf.Evaluate( + wtr.invXform(m_nodes[node].m_x), + shp, + nrm, + 0); + + c.m_cti.m_colObj = body; + c.m_cti.m_normal = wtr.getBasis() * nrm; + c.m_cti.m_offset = dst; + c.m_node = &m_nodes[node]; + const btScalar fc = m_cfg.kDF * body->getFriction(); + c.m_c2 = ima; + c.m_c3 = fc; + c.m_c4 = body->isStaticOrKinematicObject() ? m_cfg.kKHR : m_cfg.kCHR; + static const btMatrix3x3 iwiStatic(0, 0, 0, 0, 0, 0, 0, 0, 0); + const btMatrix3x3& iwi = body->getInvInertiaTensorWorld(); + const btVector3 ra = n.m_x - wtr.getOrigin(); + + c.m_c0 = ImpulseMatrix(1, ima, imb, iwi, ra); + c.m_c1 = ra; + c.m_local = body->getWorldTransform().inverse() * m_nodes[node].m_x; + c.m_node->m_battach = 1; + m_deformableAnchors.push_back(c); +} + +// +void btSoftBody::appendDeformableAnchor(int node, btMultiBodyLinkCollider* link) +{ + DeformableNodeRigidAnchor c; + btSoftBody::Node& n = m_nodes[node]; + const btScalar ima = n.m_im; + btVector3 nrm; + const btCollisionShape* shp = link->getCollisionShape(); + const btTransform& wtr = link->getWorldTransform(); + btScalar dst = + m_worldInfo->m_sparsesdf.Evaluate( + wtr.invXform(m_nodes[node].m_x), + shp, + nrm, + 0); + c.m_cti.m_colObj = link; + c.m_cti.m_normal = wtr.getBasis() * nrm; + c.m_cti.m_offset = dst; + c.m_node = &m_nodes[node]; + const btScalar fc = m_cfg.kDF * link->getFriction(); + c.m_c2 = ima; + c.m_c3 = fc; + c.m_c4 = link->isStaticOrKinematicObject() ? m_cfg.kKHR : m_cfg.kCHR; + btVector3 normal = c.m_cti.m_normal; + btVector3 t1 = generateUnitOrthogonalVector(normal); + btVector3 t2 = btCross(normal, t1); + btMultiBodyJacobianData jacobianData_normal, jacobianData_t1, jacobianData_t2; + findJacobian(link, jacobianData_normal, c.m_node->m_x, normal); + findJacobian(link, jacobianData_t1, c.m_node->m_x, t1); + findJacobian(link, jacobianData_t2, c.m_node->m_x, t2); + + btScalar* J_n = &jacobianData_normal.m_jacobians[0]; + btScalar* J_t1 = &jacobianData_t1.m_jacobians[0]; + btScalar* J_t2 = &jacobianData_t2.m_jacobians[0]; + + btScalar* u_n = &jacobianData_normal.m_deltaVelocitiesUnitImpulse[0]; + btScalar* u_t1 = &jacobianData_t1.m_deltaVelocitiesUnitImpulse[0]; + btScalar* u_t2 = &jacobianData_t2.m_deltaVelocitiesUnitImpulse[0]; + + btMatrix3x3 rot(normal.getX(), normal.getY(), normal.getZ(), + t1.getX(), t1.getY(), t1.getZ(), + t2.getX(), t2.getY(), t2.getZ()); // world frame to local frame + const int ndof = link->m_multiBody->getNumDofs() + 6; + btMatrix3x3 local_impulse_matrix = (Diagonal(n.m_im) + OuterProduct(J_n, J_t1, J_t2, u_n, u_t1, u_t2, ndof)).inverse(); + c.m_c0 = rot.transpose() * local_impulse_matrix * rot; + c.jacobianData_normal = jacobianData_normal; + c.jacobianData_t1 = jacobianData_t1; + c.jacobianData_t2 = jacobianData_t2; + c.t1 = t1; + c.t2 = t2; + const btVector3 ra = n.m_x - wtr.getOrigin(); + c.m_c1 = ra; + c.m_local = link->getWorldTransform().inverse() * m_nodes[node].m_x; + c.m_node->m_battach = 1; + m_deformableAnchors.push_back(c); +} +// void btSoftBody::appendLinearJoint(const LJoint::Specs& specs, Cluster* body0, Body body1) { LJoint* pj = new (btAlignedAlloc(sizeof(LJoint), 16)) LJoint(); @@ -518,7 +620,7 @@ void btSoftBody::addAeroForceToNode(const btVector3& windVelocity, int nodeIndex fDrag = 0.5f * kDG * medium.m_density * rel_v2 * tri_area * n_dot_v * (-rel_v_nrm); // Check angle of attack - // cos(10°) = 0.98480 + // cos(10º) = 0.98480 if (0 < n_dot_v && n_dot_v < 0.98480f) fLift = 0.5f * kLF * medium.m_density * rel_v_len * tri_area * btSqrt(1.0f - n_dot_v * n_dot_v) * (nrm.cross(rel_v_nrm).cross(rel_v_nrm)); @@ -604,7 +706,7 @@ void btSoftBody::addAeroForceToFace(const btVector3& windVelocity, int faceIndex fDrag = 0.5f * kDG * medium.m_density * rel_v2 * tri_area * n_dot_v * (-rel_v_nrm); // Check angle of attack - // cos(10°) = 0.98480 + // cos(10º) = 0.98480 if (0 < n_dot_v && n_dot_v < 0.98480f) fLift = 0.5f * kLF * medium.m_density * rel_v_len * tri_area * btSqrt(1.0f - n_dot_v * n_dot_v) * (nrm.cross(rel_v_nrm).cross(rel_v_nrm)); @@ -853,6 +955,7 @@ void btSoftBody::scale(const btVector3& scl) updateNormals(); updateBounds(); updateConstants(); + initializeDmInverse(); } // @@ -1757,115 +1860,115 @@ void btSoftBody::setSolver(eSolverPresets::_ preset) } } -// void btSoftBody::predictMotion(btScalar dt) { - int i, ni; - - /* Update */ - if (m_bUpdateRtCst) - { - m_bUpdateRtCst = false; - updateConstants(); - m_fdbvt.clear(); - if (m_cfg.collisions & fCollision::VF_SS) - { - initializeFaceTree(); - } - } - - /* Prepare */ - m_sst.sdt = dt * m_cfg.timescale; - m_sst.isdt = 1 / m_sst.sdt; - m_sst.velmrg = m_sst.sdt * 3; - m_sst.radmrg = getCollisionShape()->getMargin(); - m_sst.updmrg = m_sst.radmrg * (btScalar)0.25; - /* Forces */ - addVelocity(m_worldInfo->m_gravity * m_sst.sdt); - applyForces(); - /* Integrate */ - for (i = 0, ni = m_nodes.size(); i < ni; ++i) - { - Node& n = m_nodes[i]; - n.m_q = n.m_x; - btVector3 deltaV = n.m_f * n.m_im * m_sst.sdt; - { - btScalar maxDisplacement = m_worldInfo->m_maxDisplacement; - btScalar clampDeltaV = maxDisplacement / m_sst.sdt; - for (int c = 0; c < 3; c++) - { - if (deltaV[c] > clampDeltaV) - { - deltaV[c] = clampDeltaV; - } - if (deltaV[c] < -clampDeltaV) - { - deltaV[c] = -clampDeltaV; - } - } - } - n.m_v += deltaV; - n.m_x += n.m_v * m_sst.sdt; - n.m_f = btVector3(0, 0, 0); - } - /* Clusters */ - updateClusters(); - /* Bounds */ - updateBounds(); - /* Nodes */ - ATTRIBUTE_ALIGNED16(btDbvtVolume) - vol; - for (i = 0, ni = m_nodes.size(); i < ni; ++i) - { - Node& n = m_nodes[i]; - vol = btDbvtVolume::FromCR(n.m_x, m_sst.radmrg); - m_ndbvt.update(n.m_leaf, - vol, - n.m_v * m_sst.velmrg, - m_sst.updmrg); - } - /* Faces */ - if (!m_fdbvt.empty()) - { - for (int i = 0; i < m_faces.size(); ++i) - { - Face& f = m_faces[i]; - const btVector3 v = (f.m_n[0]->m_v + - f.m_n[1]->m_v + - f.m_n[2]->m_v) / - 3; - vol = VolumeOf(f, m_sst.radmrg); - m_fdbvt.update(f.m_leaf, - vol, - v * m_sst.velmrg, - m_sst.updmrg); - } - } - /* Pose */ - updatePose(); - /* Match */ - if (m_pose.m_bframe && (m_cfg.kMT > 0)) - { - const btMatrix3x3 posetrs = m_pose.m_rot; - for (int i = 0, ni = m_nodes.size(); i < ni; ++i) - { - Node& n = m_nodes[i]; - if (n.m_im > 0) - { - const btVector3 x = posetrs * m_pose.m_pos[i] + m_pose.m_com; - n.m_x = Lerp(n.m_x, x, m_cfg.kMT); - } - } - } - /* Clear contacts */ - m_rcontacts.resize(0); - m_scontacts.resize(0); - /* Optimize dbvt's */ - m_ndbvt.optimizeIncremental(1); - m_fdbvt.optimizeIncremental(1); - m_cdbvt.optimizeIncremental(1); + int i, ni; + + /* Update */ + if (m_bUpdateRtCst) + { + m_bUpdateRtCst = false; + updateConstants(); + m_fdbvt.clear(); + if (m_cfg.collisions & fCollision::VF_SS) + { + initializeFaceTree(); + } + } + + /* Prepare */ + m_sst.sdt = dt * m_cfg.timescale; + m_sst.isdt = 1 / m_sst.sdt; + m_sst.velmrg = m_sst.sdt * 3; + m_sst.radmrg = getCollisionShape()->getMargin(); + m_sst.updmrg = m_sst.radmrg * (btScalar)0.25; + /* Forces */ + addVelocity(m_worldInfo->m_gravity * m_sst.sdt); + applyForces(); + /* Integrate */ + for (i = 0, ni = m_nodes.size(); i < ni; ++i) + { + Node& n = m_nodes[i]; + n.m_q = n.m_x; + btVector3 deltaV = n.m_f * n.m_im * m_sst.sdt; + { + btScalar maxDisplacement = m_worldInfo->m_maxDisplacement; + btScalar clampDeltaV = maxDisplacement / m_sst.sdt; + for (int c = 0; c < 3; c++) + { + if (deltaV[c] > clampDeltaV) + { + deltaV[c] = clampDeltaV; + } + if (deltaV[c] < -clampDeltaV) + { + deltaV[c] = -clampDeltaV; + } + } + } + n.m_v += deltaV; + n.m_x += n.m_v * m_sst.sdt; + n.m_f = btVector3(0, 0, 0); + } + /* Clusters */ + updateClusters(); + /* Bounds */ + updateBounds(); + /* Nodes */ + ATTRIBUTE_ALIGNED16(btDbvtVolume) + vol; + for (i = 0, ni = m_nodes.size(); i < ni; ++i) + { + Node& n = m_nodes[i]; + vol = btDbvtVolume::FromCR(n.m_x, m_sst.radmrg); + m_ndbvt.update(n.m_leaf, + vol, + n.m_v * m_sst.velmrg, + m_sst.updmrg); + } + /* Faces */ + if (!m_fdbvt.empty()) + { + for (int i = 0; i < m_faces.size(); ++i) + { + Face& f = m_faces[i]; + const btVector3 v = (f.m_n[0]->m_v + + f.m_n[1]->m_v + + f.m_n[2]->m_v) / + 3; + vol = VolumeOf(f, m_sst.radmrg); + m_fdbvt.update(f.m_leaf, + vol, + v * m_sst.velmrg, + m_sst.updmrg); + } + } + /* Pose */ + updatePose(); + /* Match */ + if (m_pose.m_bframe && (m_cfg.kMT > 0)) + { + const btMatrix3x3 posetrs = m_pose.m_rot; + for (int i = 0, ni = m_nodes.size(); i < ni; ++i) + { + Node& n = m_nodes[i]; + if (n.m_im > 0) + { + const btVector3 x = posetrs * m_pose.m_pos[i] + m_pose.m_com; + n.m_x = Lerp(n.m_x, x, m_cfg.kMT); + } + } + } + /* Clear contacts */ + m_rcontacts.resize(0); + m_scontacts.resize(0); + /* Optimize dbvt's */ + m_ndbvt.optimizeIncremental(1); + m_fdbvt.optimizeIncremental(1); + m_cdbvt.optimizeIncremental(1); } + // void btSoftBody::solveConstraints() { @@ -2261,36 +2364,195 @@ btVector3 btSoftBody::evaluateCom() const return (com); } -// bool btSoftBody::checkContact(const btCollisionObjectWrapper* colObjWrap, + const btVector3& x, + btScalar margin, + btSoftBody::sCti& cti) const +{ + btVector3 nrm; + const btCollisionShape* shp = colObjWrap->getCollisionShape(); + // const btRigidBody *tmpRigid = btRigidBody::upcast(colObjWrap->getCollisionObject()); + //const btTransform &wtr = tmpRigid ? tmpRigid->getWorldTransform() : colObjWrap->getWorldTransform(); + const btTransform& wtr = colObjWrap->getWorldTransform(); + //todo: check which transform is needed here + + btScalar dst = + m_worldInfo->m_sparsesdf.Evaluate( + wtr.invXform(x), + shp, + nrm, + margin); + if (dst < 0) + { + cti.m_colObj = colObjWrap->getCollisionObject(); + cti.m_normal = wtr.getBasis() * nrm; + cti.m_offset = -btDot(cti.m_normal, x - cti.m_normal * dst); + return (true); + } + return (false); +} + +// +bool btSoftBody::checkDeformableContact(const btCollisionObjectWrapper* colObjWrap, const btVector3& x, btScalar margin, - btSoftBody::sCti& cti) const + btSoftBody::sCti& cti, bool predict) const { btVector3 nrm; const btCollisionShape* shp = colObjWrap->getCollisionShape(); - // const btRigidBody *tmpRigid = btRigidBody::upcast(colObjWrap->getCollisionObject()); - //const btTransform &wtr = tmpRigid ? tmpRigid->getWorldTransform() : colObjWrap->getWorldTransform(); - const btTransform& wtr = colObjWrap->getWorldTransform(); - //todo: check which transform is needed here - + const btCollisionObject* tmpCollisionObj = colObjWrap->getCollisionObject(); + // use the position x_{n+1}^* = x_n + dt * v_{n+1}^* where v_{n+1}^* = v_n + dtg for collision detect + // but resolve contact at x_n +// btTransform wtr = (predict) ? +// (colObjWrap->m_preTransform != NULL ? tmpCollisionObj->getInterpolationWorldTransform()*(*colObjWrap->m_preTransform) : tmpCollisionObj->getInterpolationWorldTransform()) +// : colObjWrap->getWorldTransform(); + const btTransform& wtr = colObjWrap->getWorldTransform(); btScalar dst = m_worldInfo->m_sparsesdf.Evaluate( wtr.invXform(x), shp, nrm, margin); - if (dst < 0) + if (!predict) { cti.m_colObj = colObjWrap->getCollisionObject(); cti.m_normal = wtr.getBasis() * nrm; - cti.m_offset = -btDot(cti.m_normal, x - cti.m_normal * dst); - return (true); + cti.m_offset = dst; } + if (dst < 0) + return true; return (false); } // +// Compute barycentric coordinates (u, v, w) for +// point p with respect to triangle (a, b, c) +static void getBarycentric(const btVector3& p, btVector3& a, btVector3& b, btVector3& c, btVector3& bary) +{ + btVector3 v0 = b - a, v1 = c - a, v2 = p - a; + btScalar d00 = v0.dot(v0); + btScalar d01 = v0.dot(v1); + btScalar d11 = v1.dot(v1); + btScalar d20 = v2.dot(v0); + btScalar d21 = v2.dot(v1); + btScalar denom = d00 * d11 - d01 * d01; + bary.setY((d11 * d20 - d01 * d21) / denom); + bary.setZ((d00 * d21 - d01 * d20) / denom); + bary.setX(btScalar(1) - bary.getY() - bary.getZ()); +} + +// +bool btSoftBody::checkDeformableFaceContact(const btCollisionObjectWrapper* colObjWrap, + Face& f, + btVector3& contact_point, + btVector3& bary, + btScalar margin, + btSoftBody::sCti& cti, bool predict) const +{ + btVector3 nrm; + const btCollisionShape* shp = colObjWrap->getCollisionShape(); + const btCollisionObject* tmpCollisionObj = colObjWrap->getCollisionObject(); + // use the position x_{n+1}^* = x_n + dt * v_{n+1}^* where v_{n+1}^* = v_n + dtg for collision detect + // but resolve contact at x_n + btTransform wtr = (predict) ? + (colObjWrap->m_preTransform != NULL ? tmpCollisionObj->getInterpolationWorldTransform()*(*colObjWrap->m_preTransform) : tmpCollisionObj->getInterpolationWorldTransform()) + : colObjWrap->getWorldTransform(); +// const btTransform& wtr = colObjWrap->getWorldTransform(); + btScalar dst; + +//#define USE_QUADRATURE 1 +//#define CACHE_PREV_COLLISION + + // use the contact position of the previous collision +#ifdef CACHE_PREV_COLLISION + if (f.m_pcontact[3] != 0) + { + for (int i = 0; i < 3; ++i) + bary[i] = f.m_pcontact[i]; + contact_point = BaryEval(f.m_n[0]->m_x, f.m_n[1]->m_x, f.m_n[2]->m_x, bary); + dst = m_worldInfo->m_sparsesdf.Evaluate( + wtr.invXform(contact_point), + shp, + nrm, + margin); + nrm = wtr.getBasis() * nrm; + // use cached contact point + } + else + { + btGjkEpaSolver2::sResults results; + btTransform triangle_transform; + triangle_transform.setIdentity(); + triangle_transform.setOrigin(f.m_n[0]->m_x); + btTriangleShape triangle(btVector3(0,0,0), f.m_n[1]->m_x-f.m_n[0]->m_x, f.m_n[2]->m_x-f.m_n[0]->m_x); + btVector3 guess(0,0,0); + const btConvexShape* csh = static_cast<const btConvexShape*>(shp); + btGjkEpaSolver2::SignedDistance(&triangle, triangle_transform, csh, wtr, guess, results); + dst = results.distance - margin; + contact_point = results.witnesses[0]; + getBarycentric(contact_point, f.m_n[0]->m_x, f.m_n[1]->m_x, f.m_n[2]->m_x, bary); + nrm = results.normal; + for (int i = 0; i < 3; ++i) + f.m_pcontact[i] = bary[i]; + } + +#endif + + // use collision quadrature point +#ifdef USE_QUADRATURE + { + dst = SIMD_INFINITY; + btVector3 local_nrm; + for (int q = 0; q < m_quads.size(); ++q) + { + btVector3 p = BaryEval(f.m_n[0]->m_x, f.m_n[1]->m_x, f.m_n[2]->m_x, m_quads[q]); + btScalar local_dst = m_worldInfo->m_sparsesdf.Evaluate( + wtr.invXform(p), + shp, + local_nrm, + margin); + if (local_dst < dst) + { + dst = local_dst; + contact_point = p; + bary = m_quads[q]; + nrm = wtr.getBasis() * local_nrm; + } + } + } +#endif + + // regular face contact + { + btGjkEpaSolver2::sResults results; + btTransform triangle_transform; + triangle_transform.setIdentity(); + triangle_transform.setOrigin(f.m_n[0]->m_x); + btTriangleShape triangle(btVector3(0,0,0), f.m_n[1]->m_x-f.m_n[0]->m_x, f.m_n[2]->m_x-f.m_n[0]->m_x); + btVector3 guess(0,0,0); + const btConvexShape* csh = static_cast<const btConvexShape*>(shp); + btGjkEpaSolver2::SignedDistance(&triangle, triangle_transform, csh, wtr, guess, results); + dst = results.distance - margin; + contact_point = results.witnesses[0]; + getBarycentric(contact_point, f.m_n[0]->m_x, f.m_n[1]->m_x, f.m_n[2]->m_x, bary); + nrm = results.normal; + for (int i = 0; i < 3; ++i) + f.m_pcontact[i] = bary[i]; + } + + if (!predict) + { + cti.m_colObj = colObjWrap->getCollisionObject(); + cti.m_normal = nrm; + cti.m_offset = dst; + } + + if (dst < 0) + return true; + return (false); +} + +// void btSoftBody::updateNormals() { const btVector3 zv(0, 0, 0); @@ -2305,7 +2567,8 @@ void btSoftBody::updateNormals() btSoftBody::Face& f = m_faces[i]; const btVector3 n = btCross(f.m_n[1]->m_x - f.m_n[0]->m_x, f.m_n[2]->m_x - f.m_n[0]->m_x); - f.m_normal = n.normalized(); + f.m_normal = n; + f.m_normal.safeNormalize(); f.m_n[0]->m_n += n; f.m_n[1]->m_n += n; f.m_n[2]->m_n += n; @@ -2333,31 +2596,63 @@ void btSoftBody::updateBounds() m_bounds[1] = btVector3(1000, 1000, 1000); } else {*/ - if (m_ndbvt.m_root) - { - const btVector3& mins = m_ndbvt.m_root->volume.Mins(); - const btVector3& maxs = m_ndbvt.m_root->volume.Maxs(); - const btScalar csm = getCollisionShape()->getMargin(); - const btVector3 mrg = btVector3(csm, - csm, - csm) * - 1; // ??? to investigate... - m_bounds[0] = mins - mrg; - m_bounds[1] = maxs + mrg; - if (0 != getBroadphaseHandle()) - { - m_worldInfo->m_broadphase->setAabb(getBroadphaseHandle(), - m_bounds[0], - m_bounds[1], - m_worldInfo->m_dispatcher); - } - } - else - { - m_bounds[0] = - m_bounds[1] = btVector3(0, 0, 0); - } - //} +// if (m_ndbvt.m_root) +// { +// const btVector3& mins = m_ndbvt.m_root->volume.Mins(); +// const btVector3& maxs = m_ndbvt.m_root->volume.Maxs(); +// const btScalar csm = getCollisionShape()->getMargin(); +// const btVector3 mrg = btVector3(csm, +// csm, +// csm) * +// 1; // ??? to investigate... +// m_bounds[0] = mins - mrg; +// m_bounds[1] = maxs + mrg; +// if (0 != getBroadphaseHandle()) +// { +// m_worldInfo->m_broadphase->setAabb(getBroadphaseHandle(), +// m_bounds[0], +// m_bounds[1], +// m_worldInfo->m_dispatcher); +// } +// } +// else +// { +// m_bounds[0] = +// m_bounds[1] = btVector3(0, 0, 0); +// } + if (m_nodes.size()) + { + btVector3 mins = m_nodes[0].m_x; + btVector3 maxs = m_nodes[0].m_x; + for (int i = 1; i < m_nodes.size(); ++i) + { + for (int d = 0; d < 3; ++d) + { + if (m_nodes[i].m_x[d] > maxs[d]) + maxs[d] = m_nodes[i].m_x[d]; + if (m_nodes[i].m_x[d] < mins[d]) + mins[d] = m_nodes[i].m_x[d]; + } + } + const btScalar csm = getCollisionShape()->getMargin(); + const btVector3 mrg = btVector3(csm, + csm, + csm); + m_bounds[0] = mins - mrg; + m_bounds[1] = maxs + mrg; + if (0 != getBroadphaseHandle()) + { + m_worldInfo->m_broadphase->setAabb(getBroadphaseHandle(), + m_bounds[0], + m_bounds[1], + m_worldInfo->m_dispatcher); + } + } + else + { + m_bounds[0] = + m_bounds[1] = btVector3(0, 0, 0); + } } // @@ -2774,6 +3069,62 @@ void btSoftBody::dampClusters() } } +void btSoftBody::setSpringStiffness(btScalar k) +{ + for (int i = 0; i < m_links.size(); ++i) + { + m_links[i].Feature::m_material->m_kLST = k; + } +} + +void btSoftBody::initializeDmInverse() +{ + btScalar unit_simplex_measure = 1./6.; + + for (int i = 0; i < m_tetras.size(); ++i) + { + Tetra &t = m_tetras[i]; + btVector3 c1 = t.m_n[1]->m_x - t.m_n[0]->m_x; + btVector3 c2 = t.m_n[2]->m_x - t.m_n[0]->m_x; + btVector3 c3 = t.m_n[3]->m_x - t.m_n[0]->m_x; + btMatrix3x3 Dm(c1.getX(), c2.getX(), c3.getX(), + c1.getY(), c2.getY(), c3.getY(), + c1.getZ(), c2.getZ(), c3.getZ()); + t.m_element_measure = Dm.determinant() * unit_simplex_measure; + t.m_Dm_inverse = Dm.inverse(); + } +} + +void btSoftBody::updateDeformation() +{ + for (int i = 0; i < m_tetras.size(); ++i) + { + btSoftBody::Tetra& t = m_tetras[i]; + btVector3 c1 = t.m_n[1]->m_q - t.m_n[0]->m_q; + btVector3 c2 = t.m_n[2]->m_q - t.m_n[0]->m_q; + btVector3 c3 = t.m_n[3]->m_q - t.m_n[0]->m_q; + btMatrix3x3 Ds(c1.getX(), c2.getX(), c3.getX(), + c1.getY(), c2.getY(), c3.getY(), + c1.getZ(), c2.getZ(), c3.getZ()); + t.m_F = Ds * t.m_Dm_inverse; + + btSoftBody::TetraScratch& s = m_tetraScratches[i]; + s.m_F = t.m_F; + s.m_J = t.m_F.determinant(); + btMatrix3x3 C = t.m_F.transpose()*t.m_F; + s.m_trace = C[0].getX() + C[1].getY() + C[2].getZ(); + s.m_cofF = t.m_F.adjoint().transpose(); + } +} + +void btSoftBody::advanceDeformation() +{ + updateDeformation(); + for (int i = 0; i < m_tetras.size(); ++i) + { + m_tetraScratchesTn[i] = m_tetraScratches[i]; + } +} // void btSoftBody::Joint::Prepare(btScalar dt, int) { @@ -3013,6 +3364,40 @@ void btSoftBody::applyForces() } // +void btSoftBody::setMaxStress(btScalar maxStress) +{ + m_cfg.m_maxStress = maxStress; +} + +// +void btSoftBody::interpolateRenderMesh() +{ + for (int i = 0; i < m_renderNodes.size(); ++i) + { + Node& n = m_renderNodes[i]; + n.m_x.setZero(); + for (int j = 0; j < 4; ++j) + { + if (m_renderNodesParents[i].size()) + { + n.m_x += m_renderNodesParents[i][j]->m_x * m_renderNodesInterpolationWeights[i][j]; + } + } + } +} + +void btSoftBody::setCollisionQuadrature(int N) +{ + for (int i = 0; i <= N; ++i) + { + for (int j = 0; i+j <= N; ++j) + { + m_quads.push_back(btVector3(btScalar(i)/btScalar(N), btScalar(j)/btScalar(N), btScalar(N-i-j)/btScalar(N))); + } + } +} + +// void btSoftBody::PSolve_Anchors(btSoftBody* psb, btScalar kst, btScalar ti) { BT_PROFILE("PSolve_Anchors"); @@ -3214,6 +3599,16 @@ btSoftBody::vsolver_t btSoftBody::getSolver(eVSolver::_ solver) return (0); } +void btSoftBody::setSelfCollision(bool useSelfCollision) +{ + m_useSelfCollision = useSelfCollision; +} + +bool btSoftBody::useSelfCollision() +{ + return m_useSelfCollision; +} + // void btSoftBody::defaultCollisionHandler(const btCollisionObjectWrapper* pcoWrap) { @@ -3252,12 +3647,99 @@ void btSoftBody::defaultCollisionHandler(const btCollisionObjectWrapper* pcoWrap collider.ProcessColObj(this, pcoWrap); } break; + case fCollision::SDF_RD: + { + + btRigidBody* prb1 = (btRigidBody*)btRigidBody::upcast(pcoWrap->getCollisionObject()); + if (pcoWrap->getCollisionObject()->isActive() || this->isActive()) + { + const btTransform wtr = pcoWrap->getWorldTransform(); +// const btTransform ctr = pcoWrap->getWorldTransform(); +// const btScalar timemargin = (wtr.getOrigin() - ctr.getOrigin()).length(); + const btScalar timemargin = 0; + const btScalar basemargin = getCollisionShape()->getMargin(); + btVector3 mins; + btVector3 maxs; + ATTRIBUTE_ALIGNED16(btDbvtVolume) + volume; + pcoWrap->getCollisionShape()->getAabb(wtr, + mins, + maxs); + volume = btDbvtVolume::FromMM(mins, maxs); + volume.Expand(btVector3(basemargin, basemargin, basemargin)); + btSoftColliders::CollideSDF_RD docollideNode; + docollideNode.psb = this; + docollideNode.m_colObj1Wrap = pcoWrap; + docollideNode.m_rigidBody = prb1; + docollideNode.dynmargin = basemargin + timemargin; + docollideNode.stamargin = basemargin; + m_ndbvt.collideTV(m_ndbvt.m_root, volume, docollideNode); + + if (this->m_useFaceContact) + { + btSoftColliders::CollideSDF_RDF docollideFace; + docollideFace.psb = this; + docollideFace.m_colObj1Wrap = pcoWrap; + docollideFace.m_rigidBody = prb1; + docollideFace.dynmargin = basemargin + timemargin; + docollideFace.stamargin = basemargin; + m_fdbvt.collideTV(m_fdbvt.m_root, volume, docollideFace); + } + } + } + break; } } +static inline btDbvntNode* copyToDbvnt(const btDbvtNode* n) +{ + if (n == 0) + return 0; + btDbvntNode* root = new btDbvntNode(n); + if (n->isinternal()) + { + btDbvntNode* c0 = copyToDbvnt(n->childs[0]); + root->childs[0] = c0; + btDbvntNode* c1 = copyToDbvnt(n->childs[1]); + root->childs[1] = c1; + } + return root; +} + +static inline void calculateNormalCone(btDbvntNode* root) +{ + if (!root) + return; + if (root->isleaf()) + { + const btSoftBody::Face* face = (btSoftBody::Face*)root->data; + root->normal = face->m_normal; + root->angle = 0; + } + else + { + btVector3 n0(0,0,0), n1(0,0,0); + btScalar a0 = 0, a1 = 0; + if (root->childs[0]) + { + calculateNormalCone(root->childs[0]); + n0 = root->childs[0]->normal; + a0 = root->childs[0]->angle; + } + if (root->childs[1]) + { + calculateNormalCone(root->childs[1]); + n1 = root->childs[1]->normal; + a1 = root->childs[1]->angle; + } + root->normal = (n0+n1).safeNormalize(); + root->angle = btMax(a0,a1) + btAngle(n0, n1)*0.5; + } +} // void btSoftBody::defaultCollisionHandler(btSoftBody* psb) { + BT_PROFILE("Deformable Collision"); const int cf = m_cfg.collisions & psb->m_cfg.collisions; switch (cf & fCollision::SVSmask) { @@ -3295,6 +3777,60 @@ void btSoftBody::defaultCollisionHandler(btSoftBody* psb) } } break; + case fCollision::VF_DD: + { + if (psb->isActive() || this->isActive()) + { + if (this != psb) + { + btSoftColliders::CollideVF_DD docollide; + /* common */ + docollide.mrg = getCollisionShape()->getMargin() + + psb->getCollisionShape()->getMargin(); + /* psb0 nodes vs psb1 faces */ + if (psb->m_tetras.size() > 0) + docollide.useFaceNormal = true; + else + docollide.useFaceNormal = false; + docollide.psb[0] = this; + docollide.psb[1] = psb; + docollide.psb[0]->m_ndbvt.collideTT(docollide.psb[0]->m_ndbvt.m_root, + docollide.psb[1]->m_fdbvt.m_root, + docollide); + /* psb1 nodes vs psb0 faces */ + if (this->m_tetras.size() > 0) + docollide.useFaceNormal = true; + else + docollide.useFaceNormal = false; + docollide.psb[0] = psb; + docollide.psb[1] = this; + docollide.psb[0]->m_ndbvt.collideTT(docollide.psb[0]->m_ndbvt.m_root, + docollide.psb[1]->m_fdbvt.m_root, + docollide); + } + else + { + if (psb->useSelfCollision()) + { + btSoftColliders::CollideFF_DD docollide; + docollide.mrg = getCollisionShape()->getMargin() + + psb->getCollisionShape()->getMargin(); + docollide.psb[0] = this; + docollide.psb[1] = psb; + if (this->m_tetras.size() > 0) + docollide.useFaceNormal = true; + else + docollide.useFaceNormal = false; + /* psb0 faces vs psb0 faces */ + btDbvntNode* root = copyToDbvnt(this->m_fdbvt.m_root); + calculateNormalCone(root); + this->m_fdbvt.selfCollideT(root,docollide); + delete root; + } + } + } + } + break; default: { } @@ -3434,7 +3970,7 @@ const char* btSoftBody::serialize(void* dataBuffer, class btSerializer* serializ for (int j = 0; j < 4; j++) { m_tetras[i].m_c0[j].serializeFloat(memPtr->m_c0[j]); - memPtr->m_nodeIndices[j] = m_tetras[j].m_n[j] ? m_tetras[j].m_n[j] - &m_nodes[0] : -1; + memPtr->m_nodeIndices[j] = m_tetras[i].m_n[j] ? m_tetras[i].m_n[j] - &m_nodes[0] : -1; } memPtr->m_c1 = m_tetras[i].m_c1; memPtr->m_c2 = m_tetras[i].m_c2; @@ -3697,3 +4233,47 @@ const char* btSoftBody::serialize(void* dataBuffer, class btSerializer* serializ return btSoftBodyDataName; } + +void btSoftBody::updateDeactivation(btScalar timeStep) +{ + if ((getActivationState() == ISLAND_SLEEPING) || (getActivationState() == DISABLE_DEACTIVATION)) + return; + + if (m_maxSpeedSquared < m_sleepingThreshold * m_sleepingThreshold) + { + m_deactivationTime += timeStep; + } + else + { + m_deactivationTime = btScalar(0.); + setActivationState(0); + } +} + + +void btSoftBody::setZeroVelocity() +{ + for (int i = 0; i < m_nodes.size(); ++i) + { + m_nodes[i].m_v.setZero(); + } +} + +bool btSoftBody::wantsSleeping() +{ + if (getActivationState() == DISABLE_DEACTIVATION) + return false; + + //disable deactivation + if (gDisableDeactivation || (gDeactivationTime == btScalar(0.))) + return false; + + if ((getActivationState() == ISLAND_SLEEPING) || (getActivationState() == WANTS_DEACTIVATION)) + return true; + + if (m_deactivationTime > gDeactivationTime) + { + return true; + } + return false; +} diff --git a/thirdparty/bullet/BulletSoftBody/btSoftBody.h b/thirdparty/bullet/BulletSoftBody/btSoftBody.h index 9b35b799d8..2b048c1118 100644 --- a/thirdparty/bullet/BulletSoftBody/btSoftBody.h +++ b/thirdparty/bullet/BulletSoftBody/btSoftBody.h @@ -20,13 +20,15 @@ subject to the following restrictions: #include "LinearMath/btAlignedObjectArray.h" #include "LinearMath/btTransform.h" #include "LinearMath/btIDebugDraw.h" +#include "LinearMath/btVector3.h" #include "BulletDynamics/Dynamics/btRigidBody.h" #include "BulletCollision/CollisionShapes/btConcaveShape.h" #include "BulletCollision/CollisionDispatch/btCollisionCreateFunc.h" #include "btSparseSDF.h" #include "BulletCollision/BroadphaseCollision/btDbvt.h" - +#include "BulletDynamics/Featherstone/btMultiBodyLinkCollider.h" +#include "BulletDynamics/Featherstone/btMultiBodyConstraint.h" //#ifdef BT_USE_DOUBLE_PRECISION //#define btRigidBodyData btRigidBodyDoubleData //#define btRigidBodyDataName "btRigidBodyDoubleData" @@ -159,11 +161,14 @@ public: RVSmask = 0x000f, ///Rigid versus soft mask SDF_RS = 0x0001, ///SDF based rigid vs soft CL_RS = 0x0002, ///Cluster vs convex rigid vs soft + SDF_RD = 0x0003, ///DF based rigid vs deformable + SDF_RDF = 0x0004, ///DF based rigid vs deformable faces - SVSmask = 0x0030, ///Rigid versus soft mask + SVSmask = 0x00F0, ///Rigid versus soft mask VF_SS = 0x0010, ///Vertex vs face soft vs soft handling CL_SS = 0x0020, ///Cluster vs cluster soft vs soft handling CL_SELF = 0x0040, ///Cluster soft body self collision + VF_DD = 0x0050, ///Vertex vs face soft vs soft handling /* presets */ Default = SDF_RS, END @@ -215,6 +220,7 @@ public: const btCollisionObject* m_colObj; /* Rigid body */ btVector3 m_normal; /* Outward normal */ btScalar m_offset; /* Offset from origin */ + btVector3 m_bary; /* Barycentric weights for faces */ }; /* sMedium */ @@ -249,14 +255,17 @@ public: struct Node : Feature { btVector3 m_x; // Position - btVector3 m_q; // Previous step position + btVector3 m_q; // Previous step position/Test position btVector3 m_v; // Velocity + btVector3 m_vsplit; // Temporary Velocity in addintion to velocity used in split impulse + btVector3 m_vn; // Previous step velocity btVector3 m_f; // Force accumulator btVector3 m_n; // Normal btScalar m_im; // 1/mass btScalar m_area; // Area btDbvtNode* m_leaf; // Leaf data int m_battach : 1; // Attached + int index; }; /* Link */ ATTRIBUTE_ALIGNED16(struct) @@ -279,6 +288,8 @@ public: btVector3 m_normal; // Normal btScalar m_ra; // Rest area btDbvtNode* m_leaf; // Leaf data + btVector4 m_pcontact; // barycentric weights of the persistent contact + int m_index; }; /* Tetra */ struct Tetra : Feature @@ -289,7 +300,20 @@ public: btVector3 m_c0[4]; // gradients btScalar m_c1; // (4*kVST)/(im0+im1+im2+im3) btScalar m_c2; // m_c1/sum(|g0..3|^2) + btMatrix3x3 m_Dm_inverse; // rest Dm^-1 + btMatrix3x3 m_F; + btScalar m_element_measure; }; + + /* TetraScratch */ + struct TetraScratch + { + btMatrix3x3 m_F; // deformation gradient F + btScalar m_trace; // trace of F^T * F + btScalar m_J; // det(F) + btMatrix3x3 m_cofF; // cofactor of F + }; + /* RContact */ struct RContact { @@ -300,7 +324,67 @@ public: btScalar m_c2; // ima*dt btScalar m_c3; // Friction btScalar m_c4; // Hardness + + // jacobians and unit impulse responses for multibody + btMultiBodyJacobianData jacobianData_normal; + btMultiBodyJacobianData jacobianData_t1; + btMultiBodyJacobianData jacobianData_t2; + btVector3 t1; + btVector3 t2; }; + + class DeformableRigidContact + { + public: + sCti m_cti; // Contact infos + btMatrix3x3 m_c0; // Impulse matrix + btVector3 m_c1; // Relative anchor + btScalar m_c2; // inverse mass of node/face + btScalar m_c3; // Friction + btScalar m_c4; // Hardness + + // jacobians and unit impulse responses for multibody + btMultiBodyJacobianData jacobianData_normal; + btMultiBodyJacobianData jacobianData_t1; + btMultiBodyJacobianData jacobianData_t2; + btVector3 t1; + btVector3 t2; + }; + + class DeformableNodeRigidContact : public DeformableRigidContact + { + public: + Node* m_node; // Owner node + }; + + class DeformableNodeRigidAnchor : public DeformableNodeRigidContact + { + public: + btVector3 m_local; // Anchor position in body space + }; + + class DeformableFaceRigidContact : public DeformableRigidContact + { + public: + Face* m_face; // Owner face + btVector3 m_contactPoint; // Contact point + btVector3 m_bary; // Barycentric weights + btVector3 m_weights; // v_contactPoint * m_weights[i] = m_face->m_node[i]->m_v; + }; + + struct DeformableFaceNodeContact + { + Node* m_node; // Node + Face* m_face; // Face + btVector3 m_bary; // Barycentric weights + btVector3 m_weights; // v_contactPoint * m_weights[i] = m_face->m_node[i]->m_v; + btVector3 m_normal; // Normal + btScalar m_margin; // Margin + btScalar m_friction; // Friction + btScalar m_imf; // inverse mass of the face at contact point + btScalar m_c0; // scale of the impulse matrix; + }; + /* SContact */ struct SContact { @@ -627,6 +711,8 @@ public: tVSolverArray m_vsequence; // Velocity solvers sequence tPSolverArray m_psequence; // Position solvers sequence tPSolverArray m_dsequence; // Drift solvers sequence + btScalar drag; // deformable air drag + btScalar m_maxStress; // Maximum principle first Piola stress }; /* SolverState */ struct SolverState @@ -689,11 +775,19 @@ public: btSoftBodyWorldInfo* m_worldInfo; // World info tNoteArray m_notes; // Notes tNodeArray m_nodes; // Nodes + tNodeArray m_renderNodes; // Nodes tLinkArray m_links; // Links tFaceArray m_faces; // Faces + tFaceArray m_renderFaces; // Faces tTetraArray m_tetras; // Tetras + btAlignedObjectArray<TetraScratch> m_tetraScratches; + btAlignedObjectArray<TetraScratch> m_tetraScratchesTn; tAnchorArray m_anchors; // Anchors + btAlignedObjectArray<DeformableNodeRigidAnchor> m_deformableAnchors; tRContactArray m_rcontacts; // Rigid contacts + btAlignedObjectArray<DeformableNodeRigidContact> m_nodeRigidContacts; + btAlignedObjectArray<DeformableFaceNodeContact> m_faceNodeContacts; + btAlignedObjectArray<DeformableFaceRigidContact> m_faceRigidContacts; tSContactArray m_scontacts; // Soft contacts tJointArray m_joints; // Joints tMaterialArray m_materials; // Materials @@ -704,6 +798,15 @@ public: btDbvt m_fdbvt; // Faces tree btDbvt m_cdbvt; // Clusters tree tClusterArray m_clusters; // Clusters + btScalar m_dampingCoefficient; // Damping Coefficient + btScalar m_sleepingThreshold; + btScalar m_maxSpeedSquared; + bool m_useFaceContact; + btAlignedObjectArray<btVector3> m_quads; // quadrature points for collision detection + + btAlignedObjectArray<btVector4> m_renderNodesInterpolationWeights; + btAlignedObjectArray<btAlignedObjectArray<const btSoftBody::Node*> > m_renderNodesParents; + bool m_useSelfCollision; btAlignedObjectArray<bool> m_clusterConnectivity; //cluster connectivity, for self-collision @@ -735,6 +838,16 @@ public: { return m_worldInfo; } + + void setDampingCoefficient(btScalar damping_coeff) + { + m_dampingCoefficient = damping_coeff; + } + + void setUseFaceContact(bool useFaceContact) + { + m_useFaceContact = false; + } ///@todo: avoid internal softbody shape hack and move collision code to collision library virtual void setCollisionShape(btCollisionShape* collisionShape) @@ -795,7 +908,9 @@ public: Material* mat = 0); /* Append anchor */ - void appendAnchor(int node, + void appendDeformableAnchor(int node, btRigidBody* body); + void appendDeformableAnchor(int node, btMultiBodyLinkCollider* link); + void appendAnchor(int node, btRigidBody* body, bool disableCollisionBetweenLinkedBodies = false, btScalar influence = 1); void appendAnchor(int node, btRigidBody* body, const btVector3& localPivot, bool disableCollisionBetweenLinkedBodies = false, btScalar influence = 1); /* Append linear joint */ @@ -862,6 +977,16 @@ public: /* Return the volume */ btScalar getVolume() const; /* Cluster count */ + btVector3 getCenterOfMass() const + { + btVector3 com(0, 0, 0); + for (int i = 0; i < m_nodes.size(); i++) + { + com += (m_nodes[i].m_x * this->getMass(i)); + } + com /= this->getTotalMass(); + return com; + } int clusterCount() const; /* Cluster center of mass */ static btVector3 clusterCom(const Cluster* cluster); @@ -915,6 +1040,11 @@ public: /* defaultCollisionHandlers */ void defaultCollisionHandler(const btCollisionObjectWrapper* pcoWrap); void defaultCollisionHandler(btSoftBody* psb); + void setSelfCollision(bool useSelfCollision); + bool useSelfCollision(); + void updateDeactivation(btScalar timeStep); + void setZeroVelocity(); + bool wantsSleeping(); // // Functionality to deal with new accelerated solvers. @@ -991,7 +1121,9 @@ public: btScalar& mint, eFeature::_& feature, int& index, bool bcountonly) const; void initializeFaceTree(); btVector3 evaluateCom() const; - bool checkContact(const btCollisionObjectWrapper* colObjWrap, const btVector3& x, btScalar margin, btSoftBody::sCti& cti) const; + bool checkDeformableContact(const btCollisionObjectWrapper* colObjWrap, const btVector3& x, btScalar margin, btSoftBody::sCti& cti, bool predict = false) const; + bool checkDeformableFaceContact(const btCollisionObjectWrapper* colObjWrap, Face& f, btVector3& contact_point, btVector3& bary, btScalar margin, btSoftBody::sCti& cti, bool predict = false) const; + bool checkContact(const btCollisionObjectWrapper* colObjWrap, const btVector3& x, btScalar margin, btSoftBody::sCti& cti) const; void updateNormals(); void updateBounds(); void updatePose(); @@ -1005,7 +1137,14 @@ public: void solveClusters(btScalar sor); void applyClusters(bool drift); void dampClusters(); + void setSpringStiffness(btScalar k); + void initializeDmInverse(); + void updateDeformation(); + void advanceDeformation(); void applyForces(); + void setMaxStress(btScalar maxStress); + void interpolateRenderMesh(); + void setCollisionQuadrature(int N); static void PSolve_Anchors(btSoftBody* psb, btScalar kst, btScalar ti); static void PSolve_RContacts(btSoftBody* psb, btScalar kst, btScalar ti); static void PSolve_SContacts(btSoftBody* psb, btScalar, btScalar ti); @@ -1015,11 +1154,9 @@ public: static vsolver_t getSolver(eVSolver::_ solver); virtual int calculateSerializeBufferSize() const; - + ///fills the dataBuffer and returns the struct name (and 0 on failure) virtual const char* serialize(void* dataBuffer, class btSerializer* serializer) const; - - //virtual void serializeSingleObject(class btSerializer* serializer) const; }; #endif //_BT_SOFT_BODY_H diff --git a/thirdparty/bullet/BulletSoftBody/btSoftBodyHelpers.cpp b/thirdparty/bullet/BulletSoftBody/btSoftBodyHelpers.cpp index d0a9921d89..649d6f58cf 100644 --- a/thirdparty/bullet/BulletSoftBody/btSoftBodyHelpers.cpp +++ b/thirdparty/bullet/BulletSoftBody/btSoftBodyHelpers.cpp @@ -16,12 +16,17 @@ subject to the following restrictions: #include "btSoftBodyInternals.h" #include <stdio.h> +#include <string> +#include <iostream> +#include <sstream> #include <string.h> +#include <algorithm> #include "btSoftBodyHelpers.h" #include "LinearMath/btConvexHull.h" #include "LinearMath/btConvexHullComputer.h" +#include <map> +#include <vector> -// static void drawVertex(btIDebugDraw* idraw, const btVector3& x, btScalar s, const btVector3& c) { @@ -721,7 +726,8 @@ btSoftBody* btSoftBodyHelpers::CreatePatch(btSoftBodyWorldInfo& worldInfo, const int resx, int resy, int fixeds, - bool gendiags) + bool gendiags, + btScalar perturbation) { #define IDX(_x_, _y_) ((_y_)*rx + (_x_)) /* Create nodes */ @@ -741,7 +747,13 @@ btSoftBody* btSoftBodyHelpers::CreatePatch(btSoftBodyWorldInfo& worldInfo, const for (int ix = 0; ix < rx; ++ix) { const btScalar tx = ix / (btScalar)(rx - 1); - x[IDX(ix, iy)] = lerp(py0, py1, tx); + btScalar pert = perturbation * btScalar(rand())/RAND_MAX; + btVector3 temp1 = py1; + temp1.setY(py1.getY() + pert); + btVector3 temp = py0; + pert = perturbation * btScalar(rand())/RAND_MAX; + temp.setY(py0.getY() + pert); + x[IDX(ix, iy)] = lerp(temp, temp1, tx); m[IDX(ix, iy)] = 1; } } @@ -1221,9 +1233,314 @@ if(face&&face[0]) } } } + psb->initializeDmInverse(); + psb->m_tetraScratches.resize(psb->m_tetras.size()); + psb->m_tetraScratchesTn.resize(psb->m_tetras.size()); printf("Nodes: %u\r\n", psb->m_nodes.size()); printf("Links: %u\r\n", psb->m_links.size()); printf("Faces: %u\r\n", psb->m_faces.size()); printf("Tetras: %u\r\n", psb->m_tetras.size()); return (psb); } + +btSoftBody* btSoftBodyHelpers::CreateFromVtkFile(btSoftBodyWorldInfo& worldInfo, const char* vtk_file) +{ + std::ifstream fs; + fs.open(vtk_file); + btAssert(fs); + + typedef btAlignedObjectArray<int> Index; + std::string line; + btAlignedObjectArray<btVector3> X; + btVector3 position; + btAlignedObjectArray<Index> indices; + bool reading_points = false; + bool reading_tets = false; + size_t n_points = 0; + size_t n_tets = 0; + size_t x_count = 0; + size_t indices_count = 0; + while (std::getline(fs, line)) + { + std::stringstream ss(line); + if (line.size() == (size_t)(0)) + { + } + else if (line.substr(0, 6) == "POINTS") + { + reading_points = true; + reading_tets = false; + ss.ignore(128, ' '); // ignore "POINTS" + ss >> n_points; + X.resize(n_points); + } + else if (line.substr(0, 5) == "CELLS") + { + reading_points = false; + reading_tets = true; + ss.ignore(128, ' '); // ignore "CELLS" + ss >> n_tets; + indices.resize(n_tets); + } + else if (line.substr(0, 10) == "CELL_TYPES") + { + reading_points = false; + reading_tets = false; + } + else if (reading_points) + { + btScalar p; + ss >> p; + position.setX(p); + ss >> p; + position.setY(p); + ss >> p; + position.setZ(p); + X[x_count++] = position; + } + else if (reading_tets) + { + ss.ignore(128, ' '); // ignore "4" + Index tet; + tet.resize(4); + for (size_t i = 0; i < 4; i++) + { + ss >> tet[i]; + } + indices[indices_count++] = tet; + } + } + btSoftBody* psb = new btSoftBody(&worldInfo, n_points, &X[0], 0); + + for (int i = 0; i < n_tets; ++i) + { + const Index& ni = indices[i]; + psb->appendTetra(ni[0], ni[1], ni[2], ni[3]); + { + psb->appendLink(ni[0], ni[1], 0, true); + psb->appendLink(ni[1], ni[2], 0, true); + psb->appendLink(ni[2], ni[0], 0, true); + psb->appendLink(ni[0], ni[3], 0, true); + psb->appendLink(ni[1], ni[3], 0, true); + psb->appendLink(ni[2], ni[3], 0, true); + } + } + + + generateBoundaryFaces(psb); + psb->initializeDmInverse(); + psb->m_tetraScratches.resize(psb->m_tetras.size()); + psb->m_tetraScratchesTn.resize(psb->m_tetras.size()); + printf("Nodes: %u\r\n", psb->m_nodes.size()); + printf("Links: %u\r\n", psb->m_links.size()); + printf("Faces: %u\r\n", psb->m_faces.size()); + printf("Tetras: %u\r\n", psb->m_tetras.size()); + + fs.close(); + return psb; +} + +void btSoftBodyHelpers::generateBoundaryFaces(btSoftBody* psb) +{ + int counter = 0; + for (int i = 0; i < psb->m_nodes.size(); ++i) + { + psb->m_nodes[i].index = counter++; + } + typedef btAlignedObjectArray<int> Index; + btAlignedObjectArray<Index> indices; + indices.resize(psb->m_tetras.size()); + for (int i = 0; i < indices.size(); ++i) + { + Index index; + index.push_back(psb->m_tetras[i].m_n[0]->index); + index.push_back(psb->m_tetras[i].m_n[1]->index); + index.push_back(psb->m_tetras[i].m_n[2]->index); + index.push_back(psb->m_tetras[i].m_n[3]->index); + indices[i] = index; + } + + std::map<std::vector<int>, std::vector<int> > dict; + for (int i = 0; i < indices.size(); ++i) + { + for (int j = 0; j < 4; ++j) + { + std::vector<int> f; + if (j == 0) + { + f.push_back(indices[i][1]); + f.push_back(indices[i][0]); + f.push_back(indices[i][2]); + } + if (j == 1) + { + f.push_back(indices[i][3]); + f.push_back(indices[i][0]); + f.push_back(indices[i][1]); + } + if (j == 2) + { + f.push_back(indices[i][3]); + f.push_back(indices[i][1]); + f.push_back(indices[i][2]); + } + if (j == 3) + { + f.push_back(indices[i][2]); + f.push_back(indices[i][0]); + f.push_back(indices[i][3]); + } + std::vector<int> f_sorted = f; + std::sort(f_sorted.begin(), f_sorted.end()); + if (dict.find(f_sorted) != dict.end()) + { + dict.erase(f_sorted); + } + else + { + dict.insert(std::make_pair(f_sorted, f)); + } + } + } + + for (std::map<std::vector<int>, std::vector<int> >::iterator it = dict.begin(); it != dict.end(); ++it) + { + std::vector<int> f = it->second; + psb->appendFace(f[0], f[1], f[2]); + } +} + +void btSoftBodyHelpers::writeObj(const char* filename, const btSoftBody* psb) +{ + std::ofstream fs; + fs.open(filename); + btAssert(fs); + for (int i = 0; i < psb->m_nodes.size(); ++i) + { + fs << "v"; + for (int d = 0; d < 3; d++) + { + fs << " " << psb->m_nodes[i].m_x[d]; + } + fs << "\n"; + } + + for (int i = 0; i < psb->m_faces.size(); ++i) + { + fs << "f"; + for (int n = 0; n < 3; n++) + { + fs << " " << psb->m_faces[i].m_n[n]->index + 1; + } + fs << "\n"; + } + fs.close(); +} + +void btSoftBodyHelpers::duplicateFaces(const char* filename, const btSoftBody* psb) +{ + std::ifstream fs_read; + fs_read.open(filename); + std::string line; + btVector3 pos; + btAlignedObjectArray<btAlignedObjectArray<int> > additional_faces; + while (std::getline(fs_read, line)) + { + std::stringstream ss(line); + if (line[0] == 'v') + { + } + else if (line[0] == 'f') + { + ss.ignore(); + int id0, id1, id2; + ss >> id0; + ss >> id1; + ss >> id2; + btAlignedObjectArray<int> new_face; + new_face.push_back(id1); + new_face.push_back(id0); + new_face.push_back(id2); + additional_faces.push_back(new_face); + } + } + fs_read.close(); + + std::ofstream fs_write; + fs_write.open(filename, std::ios_base::app); + for (int i = 0; i < additional_faces.size(); ++i) + { + fs_write << "f"; + for (int n = 0; n < 3; n++) + { + fs_write << " " << additional_faces[i][n]; + } + fs_write << "\n"; + } + fs_write.close(); +} + +// Given a simplex with vertices a,b,c,d, find the barycentric weights of p in this simplex +void btSoftBodyHelpers::getBarycentricWeights(const btVector3& a, const btVector3& b, const btVector3& c, const btVector3& d, const btVector3& p, btVector4& bary) +{ + btVector3 vap = p - a; + btVector3 vbp = p - b; + + btVector3 vab = b - a; + btVector3 vac = c - a; + btVector3 vad = d - a; + + btVector3 vbc = c - b; + btVector3 vbd = d - b; + btScalar va6 = (vbp.cross(vbd)).dot(vbc); + btScalar vb6 = (vap.cross(vac)).dot(vad); + btScalar vc6 = (vap.cross(vad)).dot(vab); + btScalar vd6 = (vap.cross(vab)).dot(vac); + btScalar v6 = btScalar(1) / (vab.cross(vac).dot(vad)); + bary = btVector4(va6*v6, vb6*v6, vc6*v6, vd6*v6); +} + +// Iterate through all render nodes to find the simulation tetrahedron that contains the render node and record the barycentric weights +// If the node is not inside any tetrahedron, assign it to the tetrahedron in which the node has the least negative barycentric weight +void btSoftBodyHelpers::interpolateBarycentricWeights(btSoftBody* psb) +{ + psb->m_renderNodesInterpolationWeights.resize(psb->m_renderNodes.size()); + psb->m_renderNodesParents.resize(psb->m_renderNodes.size()); + for (int i = 0; i < psb->m_renderNodes.size(); ++i) + { + const btVector3& p = psb->m_renderNodes[i].m_x; + btVector4 bary; + btVector4 optimal_bary; + btScalar min_bary_weight = -1e3; + btAlignedObjectArray<const btSoftBody::Node*> optimal_parents; + bool found = false; + for (int j = 0; j < psb->m_tetras.size(); ++j) + { + const btSoftBody::Tetra& t = psb->m_tetras[j]; + getBarycentricWeights(t.m_n[0]->m_x, t.m_n[1]->m_x, t.m_n[2]->m_x, t.m_n[3]->m_x, p, bary); + btScalar new_min_bary_weight = bary[0]; + for (int k = 1; k < 4; ++k) + { + new_min_bary_weight = btMin(new_min_bary_weight, bary[k]); + } + if (new_min_bary_weight > min_bary_weight) + { + btAlignedObjectArray<const btSoftBody::Node*> parents; + parents.push_back(t.m_n[0]); + parents.push_back(t.m_n[1]); + parents.push_back(t.m_n[2]); + parents.push_back(t.m_n[3]); + optimal_parents = parents; + optimal_bary = bary; + min_bary_weight = new_min_bary_weight; + // stop searching if p is inside the tetrahedron at hand + if (bary[0]>=0. && bary[1]>=0. && bary[2]>=0. && bary[3]>=0.) + { + break; + } + } + } + psb->m_renderNodesInterpolationWeights[i] = optimal_bary; + psb->m_renderNodesParents[i] = optimal_parents; + } +} diff --git a/thirdparty/bullet/BulletSoftBody/btSoftBodyHelpers.h b/thirdparty/bullet/BulletSoftBody/btSoftBodyHelpers.h index e433558c18..b20f2f6d62 100644 --- a/thirdparty/bullet/BulletSoftBody/btSoftBodyHelpers.h +++ b/thirdparty/bullet/BulletSoftBody/btSoftBodyHelpers.h @@ -17,7 +17,8 @@ subject to the following restrictions: #define BT_SOFT_BODY_HELPERS_H #include "btSoftBody.h" - +#include <fstream> +#include <string> // // Helpers // @@ -91,7 +92,8 @@ struct btSoftBodyHelpers int resx, int resy, int fixeds, - bool gendiags); + bool gendiags, + btScalar perturbation = 0.); /* Create a patch with UV Texture Coordinates */ static btSoftBody* CreatePatchUV(btSoftBodyWorldInfo& worldInfo, const btVector3& corner00, @@ -140,7 +142,17 @@ struct btSoftBodyHelpers bool bfacelinks, bool btetralinks, bool bfacesfromtetras); + static btSoftBody* CreateFromVtkFile(btSoftBodyWorldInfo& worldInfo, const char* vtk_file); + static void writeObj(const char* file, const btSoftBody* psb); + + static void getBarycentricWeights(const btVector3& a, const btVector3& b, const btVector3& c, const btVector3& d, const btVector3& p, btVector4& bary); + + static void interpolateBarycentricWeights(btSoftBody* psb); + + static void generateBoundaryFaces(btSoftBody* psb); + + static void duplicateFaces(const char* filename, const btSoftBody* psb); /// Sort the list of links to move link calculations that are dependent upon earlier /// ones as far as possible away from the calculation of those values /// This tends to make adjacent loop iterations not dependent upon one another, diff --git a/thirdparty/bullet/BulletSoftBody/btSoftBodyInternals.h b/thirdparty/bullet/BulletSoftBody/btSoftBodyInternals.h index 7efe514f38..cde4746d58 100644 --- a/thirdparty/bullet/BulletSoftBody/btSoftBodyInternals.h +++ b/thirdparty/bullet/BulletSoftBody/btSoftBodyInternals.h @@ -25,7 +25,43 @@ subject to the following restrictions: #include "BulletCollision/CollisionDispatch/btCollisionDispatcher.h" #include "BulletCollision/CollisionShapes/btConvexInternalShape.h" #include "BulletCollision/NarrowPhaseCollision/btGjkEpa2.h" +#include "BulletDynamics/Featherstone/btMultiBodyLinkCollider.h" +#include "BulletDynamics/Featherstone/btMultiBodyConstraint.h" #include <string.h> //for memset +#include <cmath> + +// Given a multibody link, a contact point and a contact direction, fill in the jacobian data needed to calculate the velocity change given an impulse in the contact direction +static void findJacobian(const btMultiBodyLinkCollider* multibodyLinkCol, + btMultiBodyJacobianData& jacobianData, + const btVector3& contact_point, + const btVector3& dir) +{ + const int ndof = multibodyLinkCol->m_multiBody->getNumDofs() + 6; + jacobianData.m_jacobians.resize(ndof); + jacobianData.m_deltaVelocitiesUnitImpulse.resize(ndof); + btScalar* jac = &jacobianData.m_jacobians[0]; + + multibodyLinkCol->m_multiBody->fillContactJacobianMultiDof(multibodyLinkCol->m_link, contact_point, dir, jac, jacobianData.scratch_r, jacobianData.scratch_v, jacobianData.scratch_m); + multibodyLinkCol->m_multiBody->calcAccelerationDeltasMultiDof(&jacobianData.m_jacobians[0], &jacobianData.m_deltaVelocitiesUnitImpulse[0], jacobianData.scratch_r, jacobianData.scratch_v); +} +static btVector3 generateUnitOrthogonalVector(const btVector3& u) +{ + btScalar ux = u.getX(); + btScalar uy = u.getY(); + btScalar uz = u.getZ(); + btScalar ax = std::abs(ux); + btScalar ay = std::abs(uy); + btScalar az = std::abs(uz); + btVector3 v; + if (ax <= ay && ax <= az) + v = btVector3(0, -uz, uy); + else if (ay <= ax && ay <= az) + v = btVector3(-uz, 0, ux); + else + v = btVector3(-uy, ux, 0); + v.normalize(); + return v; +} // // btSymMatrix // @@ -298,6 +334,46 @@ static inline btMatrix3x3 Diagonal(btScalar x) m[2] = btVector3(0, 0, x); return (m); } + +static inline btMatrix3x3 Diagonal(const btVector3& v) +{ + btMatrix3x3 m; + m[0] = btVector3(v.getX(), 0, 0); + m[1] = btVector3(0, v.getY(), 0); + m[2] = btVector3(0, 0, v.getZ()); + return (m); +} + +static inline btScalar Dot(const btScalar* a,const btScalar* b, int ndof) +{ + btScalar result = 0; + for (int i = 0; i < ndof; ++i) + result += a[i] * b[i]; + return result; +} + +static inline btMatrix3x3 OuterProduct(const btScalar* v1,const btScalar* v2,const btScalar* v3, + const btScalar* u1, const btScalar* u2, const btScalar* u3, int ndof) +{ + btMatrix3x3 m; + btScalar a11 = Dot(v1,u1,ndof); + btScalar a12 = Dot(v1,u2,ndof); + btScalar a13 = Dot(v1,u3,ndof); + + btScalar a21 = Dot(v2,u1,ndof); + btScalar a22 = Dot(v2,u2,ndof); + btScalar a23 = Dot(v2,u3,ndof); + + btScalar a31 = Dot(v3,u1,ndof); + btScalar a32 = Dot(v3,u2,ndof); + btScalar a33 = Dot(v3,u3,ndof); + m[0] = btVector3(a11, a12, a13); + m[1] = btVector3(a21, a22, a23); + m[2] = btVector3(a31, a32, a33); + return (m); +} + + // static inline btMatrix3x3 Add(const btMatrix3x3& a, const btMatrix3x3& b) @@ -428,6 +504,77 @@ static inline void ProjectOrigin(const btVector3& a, } // +static inline bool rayIntersectsTriangle(const btVector3& origin, const btVector3& dir, const btVector3& v0, const btVector3& v1, const btVector3& v2, btScalar& t) +{ + btScalar a, f, u, v; + + btVector3 e1 = v1 - v0; + btVector3 e2 = v2 - v0; + btVector3 h = dir.cross(e2); + a = e1.dot(h); + + if (a > -0.00001 && a < 0.00001) + return (false); + + f = btScalar(1) / a; + btVector3 s = origin - v0; + u = f * s.dot(h); + + if (u < 0.0 || u > 1.0) + return (false); + + btVector3 q = s.cross(e1); + v = f * dir.dot(q); + if (v < 0.0 || u + v > 1.0) + return (false); + // at this stage we can compute t to find out where + // the intersection point is on the line + t = f * e2.dot(q); + if (t > 0) // ray intersection + return (true); + else // this means that there is a line intersection + // but not a ray intersection + return (false); +} + +static inline bool lineIntersectsTriangle(const btVector3& rayStart, const btVector3& rayEnd, const btVector3& p1, const btVector3& p2, const btVector3& p3, btVector3& sect, btVector3& normal) +{ + btVector3 dir = rayEnd - rayStart; + btScalar dir_norm = dir.norm(); + if (dir_norm < SIMD_EPSILON) + return false; + dir.normalize(); + + btScalar t; + + bool ret = rayIntersectsTriangle(rayStart, dir, p1, p2, p3, t); + + if (ret) + { + if (t <= dir_norm) + { + sect = rayStart + dir * t; + } + else + { + ret = false; + } + } + + if (ret) + { + btVector3 n = (p3-p1).cross(p2-p1); + n.safeNormalize(); + if (n.dot(dir) < 0) + normal = n; + else + normal = -n; + } + return ret; +} + + +// template <typename T> static inline T BaryEval(const T& a, const T& b, @@ -854,10 +1001,62 @@ struct btSoftColliders psa->m_cdbvt.collideTT(psa->m_cdbvt.m_root, psb->m_cdbvt.m_root, *this); } }; + // + // CollideSDF_RS + // + struct CollideSDF_RS : btDbvt::ICollide + { + void Process(const btDbvtNode* leaf) + { + btSoftBody::Node* node = (btSoftBody::Node*)leaf->data; + DoNode(*node); + } + void DoNode(btSoftBody::Node& n) const + { + const btScalar m = n.m_im > 0 ? dynmargin : stamargin; + btSoftBody::RContact c; + + if ((!n.m_battach) && + psb->checkContact(m_colObj1Wrap, n.m_x, m, c.m_cti)) + { + const btScalar ima = n.m_im; + const btScalar imb = m_rigidBody ? m_rigidBody->getInvMass() : 0.f; + const btScalar ms = ima + imb; + if (ms > 0) + { + const btTransform& wtr = m_rigidBody ? m_rigidBody->getWorldTransform() : m_colObj1Wrap->getCollisionObject()->getWorldTransform(); + static const btMatrix3x3 iwiStatic(0, 0, 0, 0, 0, 0, 0, 0, 0); + const btMatrix3x3& iwi = m_rigidBody ? m_rigidBody->getInvInertiaTensorWorld() : iwiStatic; + const btVector3 ra = n.m_x - wtr.getOrigin(); + const btVector3 va = m_rigidBody ? m_rigidBody->getVelocityInLocalPoint(ra) * psb->m_sst.sdt : btVector3(0, 0, 0); + const btVector3 vb = n.m_x - n.m_q; + const btVector3 vr = vb - va; + const btScalar dn = btDot(vr, c.m_cti.m_normal); + const btVector3 fv = vr - c.m_cti.m_normal * dn; + const btScalar fc = psb->m_cfg.kDF * m_colObj1Wrap->getCollisionObject()->getFriction(); + c.m_node = &n; + c.m_c0 = ImpulseMatrix(psb->m_sst.sdt, ima, imb, iwi, ra); + c.m_c1 = ra; + c.m_c2 = ima * psb->m_sst.sdt; + c.m_c3 = fv.length2() < (dn * fc * dn * fc) ? 0 : 1 - fc; + c.m_c4 = m_colObj1Wrap->getCollisionObject()->isStaticOrKinematicObject() ? psb->m_cfg.kKHR : psb->m_cfg.kCHR; + psb->m_rcontacts.push_back(c); + if (m_rigidBody) + m_rigidBody->activate(); + } + } + } + btSoftBody* psb; + const btCollisionObjectWrapper* m_colObj1Wrap; + btRigidBody* m_rigidBody; + btScalar dynmargin; + btScalar stamargin; + }; + // - // CollideSDF_RS + // CollideSDF_RD // - struct CollideSDF_RS : btDbvt::ICollide + struct CollideSDF_RD : btDbvt::ICollide { void Process(const btDbvtNode* leaf) { @@ -867,36 +1066,75 @@ struct btSoftColliders void DoNode(btSoftBody::Node& n) const { const btScalar m = n.m_im > 0 ? dynmargin : stamargin; - btSoftBody::RContact c; + btSoftBody::DeformableNodeRigidContact c; - if ((!n.m_battach) && - psb->checkContact(m_colObj1Wrap, n.m_x, m, c.m_cti)) - { - const btScalar ima = n.m_im; - const btScalar imb = m_rigidBody ? m_rigidBody->getInvMass() : 0.f; - const btScalar ms = ima + imb; - if (ms > 0) - { - const btTransform& wtr = m_rigidBody ? m_rigidBody->getWorldTransform() : m_colObj1Wrap->getCollisionObject()->getWorldTransform(); - static const btMatrix3x3 iwiStatic(0, 0, 0, 0, 0, 0, 0, 0, 0); - const btMatrix3x3& iwi = m_rigidBody ? m_rigidBody->getInvInertiaTensorWorld() : iwiStatic; - const btVector3 ra = n.m_x - wtr.getOrigin(); - const btVector3 va = m_rigidBody ? m_rigidBody->getVelocityInLocalPoint(ra) * psb->m_sst.sdt : btVector3(0, 0, 0); - const btVector3 vb = n.m_x - n.m_q; - const btVector3 vr = vb - va; - const btScalar dn = btDot(vr, c.m_cti.m_normal); - const btVector3 fv = vr - c.m_cti.m_normal * dn; - const btScalar fc = psb->m_cfg.kDF * m_colObj1Wrap->getCollisionObject()->getFriction(); - c.m_node = &n; - c.m_c0 = ImpulseMatrix(psb->m_sst.sdt, ima, imb, iwi, ra); - c.m_c1 = ra; - c.m_c2 = ima * psb->m_sst.sdt; - c.m_c3 = fv.length2() < (dn * fc * dn * fc) ? 0 : 1 - fc; - c.m_c4 = m_colObj1Wrap->getCollisionObject()->isStaticOrKinematicObject() ? psb->m_cfg.kKHR : psb->m_cfg.kCHR; - psb->m_rcontacts.push_back(c); - if (m_rigidBody) - m_rigidBody->activate(); - } + if (!n.m_battach) + { + // check for collision at x_{n+1}^* as well at x_n + if (psb->checkDeformableContact(m_colObj1Wrap, n.m_x, m, c.m_cti, /*predict = */ true) || psb->checkDeformableContact(m_colObj1Wrap, n.m_q, m, c.m_cti, /*predict = */ true)) + { + const btScalar ima = n.m_im; + // todo: collision between multibody and fixed deformable node will be missed. + const btScalar imb = m_rigidBody ? m_rigidBody->getInvMass() : 0.f; + const btScalar ms = ima + imb; + if (ms > 0) + { + // resolve contact at x_n + psb->checkDeformableContact(m_colObj1Wrap, n.m_x, m, c.m_cti, /*predict = */ false); + btSoftBody::sCti& cti = c.m_cti; + c.m_node = &n; + const btScalar fc = psb->m_cfg.kDF * m_colObj1Wrap->getCollisionObject()->getFriction(); + c.m_c2 = ima; + c.m_c3 = fc; + c.m_c4 = m_colObj1Wrap->getCollisionObject()->isStaticOrKinematicObject() ? psb->m_cfg.kKHR : psb->m_cfg.kCHR; + + if (cti.m_colObj->getInternalType() == btCollisionObject::CO_RIGID_BODY) + { + const btTransform& wtr = m_rigidBody ? m_rigidBody->getWorldTransform() : m_colObj1Wrap->getCollisionObject()->getWorldTransform(); + static const btMatrix3x3 iwiStatic(0, 0, 0, 0, 0, 0, 0, 0, 0); + const btMatrix3x3& iwi = m_rigidBody ? m_rigidBody->getInvInertiaTensorWorld() : iwiStatic; + const btVector3 ra = n.m_x - wtr.getOrigin(); + + c.m_c0 = ImpulseMatrix(1, ima, imb, iwi, ra); + c.m_c1 = ra; + } + else if (cti.m_colObj->getInternalType() == btCollisionObject::CO_FEATHERSTONE_LINK) + { + btMultiBodyLinkCollider* multibodyLinkCol = (btMultiBodyLinkCollider*)btMultiBodyLinkCollider::upcast(cti.m_colObj); + if (multibodyLinkCol) + { + btVector3 normal = cti.m_normal; + btVector3 t1 = generateUnitOrthogonalVector(normal); + btVector3 t2 = btCross(normal, t1); + btMultiBodyJacobianData jacobianData_normal, jacobianData_t1, jacobianData_t2; + findJacobian(multibodyLinkCol, jacobianData_normal, c.m_node->m_x, normal); + findJacobian(multibodyLinkCol, jacobianData_t1, c.m_node->m_x, t1); + findJacobian(multibodyLinkCol, jacobianData_t2, c.m_node->m_x, t2); + + btScalar* J_n = &jacobianData_normal.m_jacobians[0]; + btScalar* J_t1 = &jacobianData_t1.m_jacobians[0]; + btScalar* J_t2 = &jacobianData_t2.m_jacobians[0]; + + btScalar* u_n = &jacobianData_normal.m_deltaVelocitiesUnitImpulse[0]; + btScalar* u_t1 = &jacobianData_t1.m_deltaVelocitiesUnitImpulse[0]; + btScalar* u_t2 = &jacobianData_t2.m_deltaVelocitiesUnitImpulse[0]; + + btMatrix3x3 rot(normal.getX(), normal.getY(), normal.getZ(), + t1.getX(), t1.getY(), t1.getZ(), + t2.getX(), t2.getY(), t2.getZ()); // world frame to local frame + const int ndof = multibodyLinkCol->m_multiBody->getNumDofs() + 6; + btMatrix3x3 local_impulse_matrix = (Diagonal(n.m_im) + OuterProduct(J_n, J_t1, J_t2, u_n, u_t1, u_t2, ndof)).inverse(); + c.m_c0 = rot.transpose() * local_impulse_matrix * rot; + c.jacobianData_normal = jacobianData_normal; + c.jacobianData_t1 = jacobianData_t1; + c.jacobianData_t2 = jacobianData_t2; + c.t1 = t1; + c.t2 = t2; + } + } + psb->m_nodeRigidContacts.push_back(c); + } + } } } btSoftBody* psb; @@ -905,6 +1143,112 @@ struct btSoftColliders btScalar dynmargin; btScalar stamargin; }; + + // + // CollideSDF_RDF + // + struct CollideSDF_RDF : btDbvt::ICollide + { + void Process(const btDbvtNode* leaf) + { + btSoftBody::Face* face = (btSoftBody::Face*)leaf->data; + DoNode(*face); + } + void DoNode(btSoftBody::Face& f) const + { + btSoftBody::Node* n0 = f.m_n[0]; + btSoftBody::Node* n1 = f.m_n[1]; + btSoftBody::Node* n2 = f.m_n[2]; + + const btScalar m = (n0->m_im > 0 && n1->m_im > 0 && n2->m_im > 0 )? dynmargin : stamargin; + btSoftBody::DeformableFaceRigidContact c; + btVector3 contact_point; + btVector3 bary; + if (psb->checkDeformableFaceContact(m_colObj1Wrap, f, contact_point, bary, m, c.m_cti, true)) + { + f.m_pcontact[3] = 1; + btScalar ima = n0->m_im + n1->m_im + n2->m_im; + const btScalar imb = m_rigidBody ? m_rigidBody->getInvMass() : 0.f; + // todo: collision between multibody and fixed deformable face will be missed. + const btScalar ms = ima + imb; + if (ms > 0) + { + // resolve contact at x_n + psb->checkDeformableFaceContact(m_colObj1Wrap, f, contact_point, bary, m, c.m_cti, /*predict = */ false); + btSoftBody::sCti& cti = c.m_cti; + c.m_contactPoint = contact_point; + c.m_bary = bary; + // todo xuchenhan@: this is assuming mass of all vertices are the same. Need to modify if mass are different for distinct vertices + c.m_weights = btScalar(2)/(btScalar(1) + bary.length2()) * bary; + c.m_face = &f; + const btScalar fc = psb->m_cfg.kDF * m_colObj1Wrap->getCollisionObject()->getFriction(); + + // the effective inverse mass of the face as in https://graphics.stanford.edu/papers/cloth-sig02/cloth.pdf + ima = bary.getX()*c.m_weights.getX() * n0->m_im + bary.getY()*c.m_weights.getY() * n1->m_im + bary.getZ()*c.m_weights.getZ() * n2->m_im; + + c.m_c2 = ima; + c.m_c3 = fc; + c.m_c4 = m_colObj1Wrap->getCollisionObject()->isStaticOrKinematicObject() ? psb->m_cfg.kKHR : psb->m_cfg.kCHR; + if (cti.m_colObj->getInternalType() == btCollisionObject::CO_RIGID_BODY) + { + const btTransform& wtr = m_rigidBody ? m_rigidBody->getWorldTransform() : m_colObj1Wrap->getCollisionObject()->getWorldTransform(); + static const btMatrix3x3 iwiStatic(0, 0, 0, 0, 0, 0, 0, 0, 0); + const btMatrix3x3& iwi = m_rigidBody ? m_rigidBody->getInvInertiaTensorWorld() : iwiStatic; + const btVector3 ra = contact_point - wtr.getOrigin(); + + // we do not scale the impulse matrix by dt + c.m_c0 = ImpulseMatrix(1, ima, imb, iwi, ra); + c.m_c1 = ra; + } + else if (cti.m_colObj->getInternalType() == btCollisionObject::CO_FEATHERSTONE_LINK) + { + btMultiBodyLinkCollider* multibodyLinkCol = (btMultiBodyLinkCollider*)btMultiBodyLinkCollider::upcast(cti.m_colObj); + if (multibodyLinkCol) + { + btVector3 normal = cti.m_normal; + btVector3 t1 = generateUnitOrthogonalVector(normal); + btVector3 t2 = btCross(normal, t1); + btMultiBodyJacobianData jacobianData_normal, jacobianData_t1, jacobianData_t2; + findJacobian(multibodyLinkCol, jacobianData_normal, contact_point, normal); + findJacobian(multibodyLinkCol, jacobianData_t1, contact_point, t1); + findJacobian(multibodyLinkCol, jacobianData_t2, contact_point, t2); + + btScalar* J_n = &jacobianData_normal.m_jacobians[0]; + btScalar* J_t1 = &jacobianData_t1.m_jacobians[0]; + btScalar* J_t2 = &jacobianData_t2.m_jacobians[0]; + + btScalar* u_n = &jacobianData_normal.m_deltaVelocitiesUnitImpulse[0]; + btScalar* u_t1 = &jacobianData_t1.m_deltaVelocitiesUnitImpulse[0]; + btScalar* u_t2 = &jacobianData_t2.m_deltaVelocitiesUnitImpulse[0]; + + btMatrix3x3 rot(normal.getX(), normal.getY(), normal.getZ(), + t1.getX(), t1.getY(), t1.getZ(), + t2.getX(), t2.getY(), t2.getZ()); // world frame to local frame + const int ndof = multibodyLinkCol->m_multiBody->getNumDofs() + 6; + btMatrix3x3 local_impulse_matrix = (Diagonal(ima) + OuterProduct(J_n, J_t1, J_t2, u_n, u_t1, u_t2, ndof)).inverse(); + c.m_c0 = rot.transpose() * local_impulse_matrix * rot; + c.jacobianData_normal = jacobianData_normal; + c.jacobianData_t1 = jacobianData_t1; + c.jacobianData_t2 = jacobianData_t2; + c.t1 = t1; + c.t2 = t2; + } + } + psb->m_faceRigidContacts.push_back(c); + } + } + else + { + f.m_pcontact[3] = 0; + } + } + btSoftBody* psb; + const btCollisionObjectWrapper* m_colObj1Wrap; + btRigidBody* m_rigidBody; + btScalar dynmargin; + btScalar stamargin; + }; + // // CollideVF_SS // @@ -915,6 +1259,12 @@ struct btSoftColliders { btSoftBody::Node* node = (btSoftBody::Node*)lnode->data; btSoftBody::Face* face = (btSoftBody::Face*)lface->data; + for (int i = 0; i < 3; ++i) + { + if (face->m_n[i] == node) + continue; + } + btVector3 o = node->m_x; btVector3 p; btScalar d = SIMD_INFINITY; @@ -944,7 +1294,7 @@ struct btSoftColliders c.m_node = node; c.m_face = face; c.m_weights = w; - c.m_friction = btMax(psb[0]->m_cfg.kDF, psb[1]->m_cfg.kDF); + c.m_friction = btMax (psb[0]->m_cfg.kDF, psb[1]->m_cfg.kDF); c.m_cfm[0] = ma / ms * psb[0]->m_cfg.kSHR; c.m_cfm[1] = mb / ms * psb[1]->m_cfg.kSHR; psb[0]->m_scontacts.push_back(c); @@ -954,6 +1304,137 @@ struct btSoftColliders btSoftBody* psb[2]; btScalar mrg; }; + + + // + // CollideVF_DD + // + struct CollideVF_DD : btDbvt::ICollide + { + void Process(const btDbvtNode* lnode, + const btDbvtNode* lface) + { + btSoftBody::Node* node = (btSoftBody::Node*)lnode->data; + btSoftBody::Face* face = (btSoftBody::Face*)lface->data; + + btVector3 o = node->m_x; + btVector3 p; + btScalar d = SIMD_INFINITY; + ProjectOrigin(face->m_n[0]->m_x - o, + face->m_n[1]->m_x - o, + face->m_n[2]->m_x - o, + p, d); + const btScalar m = mrg + (o - node->m_q).safeNorm() * 2; + if (d < (m * m)) + { + const btSoftBody::Node* n[] = {face->m_n[0], face->m_n[1], face->m_n[2]}; + const btVector3 w = BaryCoord(n[0]->m_x, n[1]->m_x, n[2]->m_x, p + o); + const btScalar ma = node->m_im; + btScalar mb = BaryEval(n[0]->m_im, n[1]->m_im, n[2]->m_im, w); + if ((n[0]->m_im <= 0) || + (n[1]->m_im <= 0) || + (n[2]->m_im <= 0)) + { + mb = 0; + } + const btScalar ms = ma + mb; + if (ms > 0) + { + btSoftBody::DeformableFaceNodeContact c; + if (useFaceNormal) + c.m_normal = face->m_normal; + else + c.m_normal = p / -btSqrt(d); + c.m_margin = mrg; + c.m_node = node; + c.m_face = face; + c.m_bary = w; + // todo xuchenhan@: this is assuming mass of all vertices are the same. Need to modify if mass are different for distinct vertices + c.m_weights = btScalar(2)/(btScalar(1) + w.length2()) * w; + c.m_friction = psb[0]->m_cfg.kDF * psb[1]->m_cfg.kDF; + // the effective inverse mass of the face as in https://graphics.stanford.edu/papers/cloth-sig02/cloth.pdf + c.m_imf = c.m_bary[0]*c.m_weights[0] * n[0]->m_im + c.m_bary[1]*c.m_weights[1] * n[1]->m_im + c.m_bary[2]*c.m_weights[2] * n[2]->m_im; + c.m_c0 = btScalar(1)/(ma + c.m_imf); + psb[0]->m_faceNodeContacts.push_back(c); + } + } + } + btSoftBody* psb[2]; + btScalar mrg; + bool useFaceNormal; + }; + + // + // CollideFF_DD + // + struct CollideFF_DD : btDbvt::ICollide + { + void Process(const btDbvntNode* lface1, + const btDbvntNode* lface2) + { + btSoftBody::Face* f = (btSoftBody::Face*)lface1->data; + btSoftBody::Face* face = (btSoftBody::Face*)lface2->data; + for (int node_id = 0; node_id < 3; ++node_id) + { + btSoftBody::Node* node = f->m_n[node_id]; + bool skip = false; + for (int i = 0; i < 3; ++i) + { + if (face->m_n[i] == node) + { + skip = true; + break; + } + } + if (skip) + continue; + btVector3 o = node->m_x; + btVector3 p; + btScalar d = SIMD_INFINITY; + ProjectOrigin(face->m_n[0]->m_x - o, + face->m_n[1]->m_x - o, + face->m_n[2]->m_x - o, + p, d); + const btScalar m = mrg + (o - node->m_q).safeNorm() * 2; + if (d < (m * m)) + { + const btSoftBody::Node* n[] = {face->m_n[0], face->m_n[1], face->m_n[2]}; + const btVector3 w = BaryCoord(n[0]->m_x, n[1]->m_x, n[2]->m_x, p + o); + const btScalar ma = node->m_im; + btScalar mb = BaryEval(n[0]->m_im, n[1]->m_im, n[2]->m_im, w); + if ((n[0]->m_im <= 0) || + (n[1]->m_im <= 0) || + (n[2]->m_im <= 0)) + { + mb = 0; + } + const btScalar ms = ma + mb; + if (ms > 0) + { + btSoftBody::DeformableFaceNodeContact c; + if (useFaceNormal) + c.m_normal = face->m_normal; + else + c.m_normal = p / -btSqrt(d); + c.m_margin = mrg; + c.m_node = node; + c.m_face = face; + c.m_bary = w; + // todo xuchenhan@: this is assuming mass of all vertices are the same. Need to modify if mass are different for distinct vertices + c.m_weights = btScalar(2)/(btScalar(1) + w.length2()) * w; + c.m_friction = psb[0]->m_cfg.kDF * psb[1]->m_cfg.kDF; + // the effective inverse mass of the face as in https://graphics.stanford.edu/papers/cloth-sig02/cloth.pdf + c.m_imf = c.m_bary[0]*c.m_weights[0] * n[0]->m_im + c.m_bary[1]*c.m_weights[1] * n[1]->m_im + c.m_bary[2]*c.m_weights[2] * n[2]->m_im; + c.m_c0 = btScalar(1)/(ma + c.m_imf); + psb[0]->m_faceNodeContacts.push_back(c); + } + } + } + } + btSoftBody* psb[2]; + btScalar mrg; + bool useFaceNormal; + }; }; #endif //_BT_SOFT_BODY_INTERNALS_H diff --git a/thirdparty/bullet/BulletSoftBody/btSoftBodySolvers.h b/thirdparty/bullet/BulletSoftBody/btSoftBodySolvers.h index dcf5082650..c4ac4141aa 100644 --- a/thirdparty/bullet/BulletSoftBody/btSoftBodySolvers.h +++ b/thirdparty/bullet/BulletSoftBody/btSoftBodySolvers.h @@ -35,7 +35,8 @@ public: CL_SOLVER, CL_SIMD_SOLVER, DX_SOLVER, - DX_SIMD_SOLVER + DX_SIMD_SOLVER, + DEFORMABLE_SOLVER }; protected: @@ -71,10 +72,10 @@ public: virtual void copyBackToSoftBodies(bool bMove = true) = 0; /** Predict motion of soft bodies into next timestep */ - virtual void predictMotion(float solverdt) = 0; + virtual void predictMotion(btScalar solverdt) = 0; /** Solve constraints for a set of soft bodies */ - virtual void solveConstraints(float solverdt) = 0; + virtual void solveConstraints(btScalar solverdt) = 0; /** Perform necessary per-step updates of soft bodies such as recomputing normals and bounding boxes */ virtual void updateSoftBodies() = 0; diff --git a/thirdparty/bullet/BulletSoftBody/btSparseSDF.h b/thirdparty/bullet/BulletSoftBody/btSparseSDF.h index a52b2cb1cc..eb290a1dbd 100644 --- a/thirdparty/bullet/BulletSoftBody/btSparseSDF.h +++ b/thirdparty/bullet/BulletSoftBody/btSparseSDF.h @@ -20,27 +20,38 @@ subject to the following restrictions: #include "BulletCollision/CollisionDispatch/btCollisionObject.h" #include "BulletCollision/NarrowPhaseCollision/btGjkEpa2.h" -// Modified Paul Hsieh hash -template <const int DWORDLEN> -unsigned int HsiehHash(const void* pdata) -{ - const unsigned short* data = (const unsigned short*)pdata; - unsigned hash = DWORDLEN << 2, tmp; - for (int i = 0; i < DWORDLEN; ++i) - { - hash += data[0]; - tmp = (data[1] << 11) ^ hash; - hash = (hash << 16) ^ tmp; - data += 2; - hash += hash >> 11; - } - hash ^= hash << 3; - hash += hash >> 5; - hash ^= hash << 4; - hash += hash >> 17; - hash ^= hash << 25; - hash += hash >> 6; - return (hash); +// Fast Hash + +#if !defined (get16bits) +#define get16bits(d) ((((unsigned int)(((const unsigned char *)(d))[1])) << 8)\ ++(unsigned int)(((const unsigned char *)(d))[0]) ) +#endif +// +// super hash function by Paul Hsieh +// +inline unsigned int HsiehHash (const char * data, int len) { + unsigned int hash = len, tmp; + len>>=2; + + /* Main loop */ + for (;len > 0; len--) { + hash += get16bits (data); + tmp = (get16bits (data+2) << 11) ^ hash; + hash = (hash << 16) ^ tmp; + data += 2*sizeof (unsigned short); + hash += hash >> 11; + } + + + /* Force "avalanching" of final 127 bits */ + hash ^= hash << 3; + hash += hash >> 5; + hash ^= hash << 4; + hash += hash >> 17; + hash ^= hash << 25; + hash += hash >> 6; + + return hash; } template <const int CELLSIZE> @@ -70,12 +81,17 @@ struct btSparseSdf btAlignedObjectArray<Cell*> cells; btScalar voxelsz; + btScalar m_defaultVoxelsz; int puid; int ncells; int m_clampCells; int nprobes; int nqueries; + ~btSparseSdf() + { + Reset(); + } // // Methods // @@ -87,9 +103,16 @@ struct btSparseSdf //if this limit is reached, the SDF is reset (at the cost of some performance during the reset) m_clampCells = clampCells; cells.resize(hashsize, 0); + m_defaultVoxelsz = 0.25; Reset(); } // + + void setDefaultVoxelsz(btScalar sz) + { + m_defaultVoxelsz = sz; + } + void Reset() { for (int i = 0, ni = cells.size(); i < ni; ++i) @@ -103,7 +126,7 @@ struct btSparseSdf pc = pn; } } - voxelsz = 0.25; + voxelsz = m_defaultVoxelsz; puid = 0; ncells = 0; nprobes = 1; @@ -197,6 +220,9 @@ struct btSparseSdf } else { + // printf("c->hash/c[0][1][2]=%d,%d,%d,%d\n", c->hash, c->c[0], c->c[1],c->c[2]); + //printf("h,ixb,iyb,izb=%d,%d,%d,%d\n", h,ix.b, iy.b, iz.b); + c = c->next; } } @@ -248,7 +274,7 @@ struct btSparseSdf Lerp(gy[2], gy[3], ix.f), iz.f)); normal.setZ(Lerp(Lerp(gz[0], gz[1], ix.f), Lerp(gz[2], gz[3], ix.f), iy.f)); - normal = normal.normalized(); + normal.safeNormalize(); #else normal = btVector3(d[1] - d[0], d[3] - d[0], d[4] - d[0]).normalized(); #endif @@ -322,19 +348,22 @@ struct btSparseSdf { struct btS { - int x, y, z; + int x, y, z, w; void* p; }; btS myset; + //memset may be needed in case of additional (uninitialized) padding! + //memset(&myset, 0, sizeof(btS)); myset.x = x; myset.y = y; myset.z = z; + myset.w = 0; myset.p = (void*)shape; - const void* ptr = &myset; + const char* ptr = (const char*)&myset; - unsigned int result = HsiehHash<sizeof(btS) / 4>(ptr); + unsigned int result = HsiehHash(ptr, sizeof(btS) ); return result; } diff --git a/thirdparty/bullet/LinearMath/btImplicitQRSVD.h b/thirdparty/bullet/LinearMath/btImplicitQRSVD.h new file mode 100644 index 0000000000..7b4cfaf21e --- /dev/null +++ b/thirdparty/bullet/LinearMath/btImplicitQRSVD.h @@ -0,0 +1,916 @@ +/** + Bullet Continuous Collision Detection and Physics Library + Copyright (c) 2019 Google Inc. 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. + + Copyright (c) 2016 Theodore Gast, Chuyuan Fu, Chenfanfu Jiang, Joseph Teran + + Permission is hereby granted, free of charge, to any person obtaining a copy of + this software and associated documentation files (the "Software"), to deal in + the Software without restriction, including without limitation the rights to + use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies + of the Software, and to permit persons to whom the Software is furnished to do + so, subject to the following conditions: + + The above copyright notice and this permission notice shall be included in all + copies or substantial portions of the Software. + + If the code is used in an article, the following paper shall be cited: + @techreport{qrsvd:2016, + title={Implicit-shifted Symmetric QR Singular Value Decomposition of 3x3 Matrices}, + author={Gast, Theodore and Fu, Chuyuan and Jiang, Chenfanfu and Teran, Joseph}, + year={2016}, + institution={University of California Los Angeles} + } + + THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR + IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, + FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE + AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER + LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, + OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE + SOFTWARE. +**/ + +#ifndef btImplicitQRSVD_h +#define btImplicitQRSVD_h + +#include "btMatrix3x3.h" +class btMatrix2x2 +{ +public: + btScalar m_00, m_01, m_10, m_11; + btMatrix2x2(): m_00(0), m_10(0), m_01(0), m_11(0) + { + } + btMatrix2x2(const btMatrix2x2& other): m_00(other.m_00),m_01(other.m_01),m_10(other.m_10),m_11(other.m_11) + {} + btScalar& operator()(int i, int j) + { + if (i == 0 && j == 0) + return m_00; + if (i == 1 && j == 0) + return m_10; + if (i == 0 && j == 1) + return m_01; + if (i == 1 && j == 1) + return m_11; + btAssert(false); + return m_00; + } + const btScalar& operator()(int i, int j) const + { + if (i == 0 && j == 0) + return m_00; + if (i == 1 && j == 0) + return m_10; + if (i == 0 && j == 1) + return m_01; + if (i == 1 && j == 1) + return m_11; + btAssert(false); + return m_00; + } + void setIdentity() + { + m_00 = 1; + m_11 = 1; + m_01 = 0; + m_10 = 0; + } +}; + +static inline btScalar copySign(btScalar x, btScalar y) { + if ((x < 0 && y > 0) || (x > 0 && y < 0)) + return -x; + return x; +} + +/** + Class for givens rotation. + Row rotation G*A corresponds to something like + c -s 0 + ( s c 0 ) A + 0 0 1 + Column rotation A G' corresponds to something like + c -s 0 + A ( s c 0 ) + 0 0 1 + + c and s are always computed so that + ( c -s ) ( a ) = ( * ) + s c b ( 0 ) + + Assume rowi<rowk. + */ + +class GivensRotation { +public: + int rowi; + int rowk; + btScalar c; + btScalar s; + + inline GivensRotation(int rowi_in, int rowk_in) + : rowi(rowi_in) + , rowk(rowk_in) + , c(1) + , s(0) + { + } + + inline GivensRotation(btScalar a, btScalar b, int rowi_in, int rowk_in) + : rowi(rowi_in) + , rowk(rowk_in) + { + compute(a, b); + } + + ~GivensRotation() {} + + inline void transposeInPlace() + { + s = -s; + } + + /** + Compute c and s from a and b so that + ( c -s ) ( a ) = ( * ) + s c b ( 0 ) + */ + inline void compute(const btScalar a, const btScalar b) + { + btScalar d = a * a + b * b; + c = 1; + s = 0; + if (d > SIMD_EPSILON) { + btScalar sqrtd = btSqrt(d); + if (sqrtd>SIMD_EPSILON) + { + btScalar t = btScalar(1.0)/sqrtd; + c = a * t; + s = -b * t; + } + } + } + + /** + This function computes c and s so that + ( c -s ) ( a ) = ( 0 ) + s c b ( * ) + */ + inline void computeUnconventional(const btScalar a, const btScalar b) + { + btScalar d = a * a + b * b; + c = 0; + s = 1; + if (d > SIMD_EPSILON) { + btScalar t = btScalar(1.0)/btSqrt(d); + s = a * t; + c = b * t; + } + } + /** + Fill the R with the entries of this rotation + */ + inline void fill(const btMatrix3x3& R) const + { + btMatrix3x3& A = const_cast<btMatrix3x3&>(R); + A.setIdentity(); + A[rowi][rowi] = c; + A[rowk][rowi] = -s; + A[rowi][rowk] = s; + A[rowk][rowk] = c; + } + + inline void fill(const btMatrix2x2& R) const + { + btMatrix2x2& A = const_cast<btMatrix2x2&>(R); + A(rowi,rowi) = c; + A(rowk,rowi) = -s; + A(rowi,rowk) = s; + A(rowk,rowk) = c; + } + + /** + This function does something like + c -s 0 + ( s c 0 ) A -> A + 0 0 1 + It only affects row i and row k of A. + */ + inline void rowRotation(btMatrix3x3& A) const + { + for (int j = 0; j < 3; j++) { + btScalar tau1 = A[rowi][j]; + btScalar tau2 = A[rowk][j]; + A[rowi][j] = c * tau1 - s * tau2; + A[rowk][j] = s * tau1 + c * tau2; + } + } + inline void rowRotation(btMatrix2x2& A) const + { + for (int j = 0; j < 2; j++) { + btScalar tau1 = A(rowi,j); + btScalar tau2 = A(rowk,j); + A(rowi,j) = c * tau1 - s * tau2; + A(rowk,j) = s * tau1 + c * tau2; + } + } + + /** + This function does something like + c s 0 + A ( -s c 0 ) -> A + 0 0 1 + It only affects column i and column k of A. + */ + inline void columnRotation(btMatrix3x3& A) const + { + for (int j = 0; j < 3; j++) { + btScalar tau1 = A[j][rowi]; + btScalar tau2 = A[j][rowk]; + A[j][rowi] = c * tau1 - s * tau2; + A[j][rowk] = s * tau1 + c * tau2; + } + } + inline void columnRotation(btMatrix2x2& A) const + { + for (int j = 0; j < 2; j++) { + btScalar tau1 = A(j,rowi); + btScalar tau2 = A(j,rowk); + A(j,rowi) = c * tau1 - s * tau2; + A(j,rowk) = s * tau1 + c * tau2; + } + } + + /** + Multiply givens must be for same row and column + **/ + inline void operator*=(const GivensRotation& A) + { + btScalar new_c = c * A.c - s * A.s; + btScalar new_s = s * A.c + c * A.s; + c = new_c; + s = new_s; + } + + /** + Multiply givens must be for same row and column + **/ + inline GivensRotation operator*(const GivensRotation& A) const + { + GivensRotation r(*this); + r *= A; + return r; + } +}; + +/** + \brief zero chasing the 3X3 matrix to bidiagonal form + original form of H: x x 0 + x x x + 0 0 x + after zero chase: + x x 0 + 0 x x + 0 0 x + */ +inline void zeroChase(btMatrix3x3& H, btMatrix3x3& U, btMatrix3x3& V) +{ + + /** + Reduce H to of form + x x + + 0 x x + 0 0 x + */ + GivensRotation r1(H[0][0], H[1][0], 0, 1); + /** + Reduce H to of form + x x 0 + 0 x x + 0 + x + Can calculate r2 without multiplying by r1 since both entries are in first two + rows thus no need to divide by sqrt(a^2+b^2) + */ + GivensRotation r2(1, 2); + if (H[1][0] != 0) + r2.compute(H[0][0] * H[0][1] + H[1][0] * H[1][1], H[0][0] * H[0][2] + H[1][0] * H[1][2]); + else + r2.compute(H[0][1], H[0][2]); + + r1.rowRotation(H); + + /* GivensRotation<T> r2(H(0, 1), H(0, 2), 1, 2); */ + r2.columnRotation(H); + r2.columnRotation(V); + + /** + Reduce H to of form + x x 0 + 0 x x + 0 0 x + */ + GivensRotation r3(H[1][1], H[2][1], 1, 2); + r3.rowRotation(H); + + // Save this till end for better cache coherency + // r1.rowRotation(u_transpose); + // r3.rowRotation(u_transpose); + r1.columnRotation(U); + r3.columnRotation(U); +} + +/** + \brief make a 3X3 matrix to upper bidiagonal form + original form of H: x x x + x x x + x x x + after zero chase: + x x 0 + 0 x x + 0 0 x + */ +inline void makeUpperBidiag(btMatrix3x3& H, btMatrix3x3& U, btMatrix3x3& V) +{ + U.setIdentity(); + V.setIdentity(); + + /** + Reduce H to of form + x x x + x x x + 0 x x + */ + + GivensRotation r(H[1][0], H[2][0], 1, 2); + r.rowRotation(H); + // r.rowRotation(u_transpose); + r.columnRotation(U); + // zeroChase(H, u_transpose, V); + zeroChase(H, U, V); +} + +/** + \brief make a 3X3 matrix to lambda shape + original form of H: x x x + * x x x + * x x x + after : + * x 0 0 + * x x 0 + * x 0 x + */ +inline void makeLambdaShape(btMatrix3x3& H, btMatrix3x3& U, btMatrix3x3& V) +{ + U.setIdentity(); + V.setIdentity(); + + /** + Reduce H to of form + * x x 0 + * x x x + * x x x + */ + + GivensRotation r1(H[0][1], H[0][2], 1, 2); + r1.columnRotation(H); + r1.columnRotation(V); + + /** + Reduce H to of form + * x x 0 + * x x 0 + * x x x + */ + + r1.computeUnconventional(H[1][2], H[2][2]); + r1.rowRotation(H); + r1.columnRotation(U); + + /** + Reduce H to of form + * x x 0 + * x x 0 + * x 0 x + */ + + GivensRotation r2(H[2][0], H[2][1], 0, 1); + r2.columnRotation(H); + r2.columnRotation(V); + + /** + Reduce H to of form + * x 0 0 + * x x 0 + * x 0 x + */ + r2.computeUnconventional(H[0][1], H[1][1]); + r2.rowRotation(H); + r2.columnRotation(U); +} + +/** + \brief 2x2 polar decomposition. + \param[in] A matrix. + \param[out] R Robustly a rotation matrix. + \param[out] S_Sym Symmetric. Whole matrix is stored + + Polar guarantees negative sign is on the small magnitude singular value. + S is guaranteed to be the closest one to identity. + R is guaranteed to be the closest rotation to A. + */ +inline void polarDecomposition(const btMatrix2x2& A, + GivensRotation& R, + const btMatrix2x2& S_Sym) +{ + btScalar a = (A(0, 0) + A(1, 1)), b = (A(1, 0) - A(0, 1)); + btScalar denominator = btSqrt(a*a+b*b); + R.c = (btScalar)1; + R.s = (btScalar)0; + if (denominator > SIMD_EPSILON) { + /* + No need to use a tolerance here because x(0) and x(1) always have + smaller magnitude then denominator, therefore overflow never happens. + In Bullet, we use a tolerance anyway. + */ + R.c = a / denominator; + R.s = -b / denominator; + } + btMatrix2x2& S = const_cast<btMatrix2x2&>(S_Sym); + S = A; + R.rowRotation(S); +} + +inline void polarDecomposition(const btMatrix2x2& A, + const btMatrix2x2& R, + const btMatrix2x2& S_Sym) +{ + GivensRotation r(0, 1); + polarDecomposition(A, r, S_Sym); + r.fill(R); +} + +/** + \brief 2x2 SVD (singular value decomposition) A=USV' + \param[in] A Input matrix. + \param[out] U Robustly a rotation matrix in Givens form + \param[out] Sigma matrix of singular values sorted with decreasing magnitude. The second one can be negative. + \param[out] V Robustly a rotation matrix in Givens form + */ +inline void singularValueDecomposition( + const btMatrix2x2& A, + GivensRotation& U, + const btMatrix2x2& Sigma, + GivensRotation& V, + const btScalar tol = 64 * std::numeric_limits<btScalar>::epsilon()) +{ + btMatrix2x2& sigma = const_cast<btMatrix2x2&>(Sigma); + sigma.setIdentity(); + btMatrix2x2 S_Sym; + polarDecomposition(A, U, S_Sym); + btScalar cosine, sine; + btScalar x = S_Sym(0, 0); + btScalar y = S_Sym(0, 1); + btScalar z = S_Sym(1, 1); + if (y == 0) { + // S is already diagonal + cosine = 1; + sine = 0; + sigma(0,0) = x; + sigma(1,1) = z; + } + else { + btScalar tau = 0.5 * (x - z); + btScalar val = tau * tau + y * y; + if (val > SIMD_EPSILON) + { + btScalar w = btSqrt(val); + // w > y > 0 + btScalar t; + if (tau > 0) { + // tau + w > w > y > 0 ==> division is safe + t = y / (tau + w); + } + else { + // tau - w < -w < -y < 0 ==> division is safe + t = y / (tau - w); + } + cosine = btScalar(1) / btSqrt(t * t + btScalar(1)); + sine = -t * cosine; + /* + V = [cosine -sine; sine cosine] + Sigma = V'SV. Only compute the diagonals for efficiency. + Also utilize symmetry of S and don't form V yet. + */ + btScalar c2 = cosine * cosine; + btScalar csy = 2 * cosine * sine * y; + btScalar s2 = sine * sine; + sigma(0,0) = c2 * x - csy + s2 * z; + sigma(1,1) = s2 * x + csy + c2 * z; + } else + { + cosine = 1; + sine = 0; + sigma(0,0) = x; + sigma(1,1) = z; + } + } + + // Sorting + // Polar already guarantees negative sign is on the small magnitude singular value. + if (sigma(0,0) < sigma(1,1)) { + std::swap(sigma(0,0), sigma(1,1)); + V.c = -sine; + V.s = cosine; + } + else { + V.c = cosine; + V.s = sine; + } + U *= V; +} + +/** + \brief 2x2 SVD (singular value decomposition) A=USV' + \param[in] A Input matrix. + \param[out] U Robustly a rotation matrix. + \param[out] Sigma Vector of singular values sorted with decreasing magnitude. The second one can be negative. + \param[out] V Robustly a rotation matrix. + */ +inline void singularValueDecomposition( + const btMatrix2x2& A, + const btMatrix2x2& U, + const btMatrix2x2& Sigma, + const btMatrix2x2& V, + const btScalar tol = 64 * std::numeric_limits<btScalar>::epsilon()) +{ + GivensRotation gv(0, 1); + GivensRotation gu(0, 1); + singularValueDecomposition(A, gu, Sigma, gv); + + gu.fill(U); + gv.fill(V); +} + +/** + \brief compute wilkinsonShift of the block + a1 b1 + b1 a2 + based on the wilkinsonShift formula + mu = c + d - sign (d) \ sqrt (d*d + b*b), where d = (a-c)/2 + + */ +inline btScalar wilkinsonShift(const btScalar a1, const btScalar b1, const btScalar a2) +{ + btScalar d = (btScalar)0.5 * (a1 - a2); + btScalar bs = b1 * b1; + btScalar val = d * d + bs; + if (val>SIMD_EPSILON) + { + btScalar denom = btFabs(d) + btSqrt(val); + + btScalar mu = a2 - copySign(bs / (denom), d); + // T mu = a2 - bs / ( d + sign_d*sqrt (d*d + bs)); + return mu; + } + return a2; +} + +/** + \brief Helper function of 3X3 SVD for processing 2X2 SVD + */ +template <int t> +inline void process(btMatrix3x3& B, btMatrix3x3& U, btVector3& sigma, btMatrix3x3& V) +{ + int other = (t == 1) ? 0 : 2; + GivensRotation u(0, 1); + GivensRotation v(0, 1); + sigma[other] = B[other][other]; + + btMatrix2x2 B_sub, sigma_sub; + if (t == 0) + { + B_sub.m_00 = B[0][0]; + B_sub.m_10 = B[1][0]; + B_sub.m_01 = B[0][1]; + B_sub.m_11 = B[1][1]; + sigma_sub.m_00 = sigma[0]; + sigma_sub.m_11 = sigma[1]; +// singularValueDecomposition(B.template block<2, 2>(t, t), u, sigma.template block<2, 1>(t, 0), v); + singularValueDecomposition(B_sub, u, sigma_sub, v); + B[0][0] = B_sub.m_00; + B[1][0] = B_sub.m_10; + B[0][1] = B_sub.m_01; + B[1][1] = B_sub.m_11; + sigma[0] = sigma_sub.m_00; + sigma[1] = sigma_sub.m_11; + } + else + { + B_sub.m_00 = B[1][1]; + B_sub.m_10 = B[2][1]; + B_sub.m_01 = B[1][2]; + B_sub.m_11 = B[2][2]; + sigma_sub.m_00 = sigma[1]; + sigma_sub.m_11 = sigma[2]; + // singularValueDecomposition(B.template block<2, 2>(t, t), u, sigma.template block<2, 1>(t, 0), v); + singularValueDecomposition(B_sub, u, sigma_sub, v); + B[1][1] = B_sub.m_00; + B[2][1] = B_sub.m_10; + B[1][2] = B_sub.m_01; + B[2][2] = B_sub.m_11; + sigma[1] = sigma_sub.m_00; + sigma[2] = sigma_sub.m_11; + } + u.rowi += t; + u.rowk += t; + v.rowi += t; + v.rowk += t; + u.columnRotation(U); + v.columnRotation(V); +} + +/** + \brief Helper function of 3X3 SVD for flipping signs due to flipping signs of sigma + */ +inline void flipSign(int i, btMatrix3x3& U, btVector3& sigma) +{ + sigma[i] = -sigma[i]; + U[0][i] = -U[0][i]; + U[1][i] = -U[1][i]; + U[2][i] = -U[2][i]; +} + +inline void flipSign(int i, btMatrix3x3& U) +{ + U[0][i] = -U[0][i]; + U[1][i] = -U[1][i]; + U[2][i] = -U[2][i]; +} + +inline void swapCol(btMatrix3x3& A, int i, int j) +{ + for (int d = 0; d < 3; ++d) + std::swap(A[d][i], A[d][j]); +} +/** + \brief Helper function of 3X3 SVD for sorting singular values + */ +inline void sort(btMatrix3x3& U, btVector3& sigma, btMatrix3x3& V, int t) +{ + if (t == 0) + { + // Case: sigma(0) > |sigma(1)| >= |sigma(2)| + if (btFabs(sigma[1]) >= btFabs(sigma[2])) { + if (sigma[1] < 0) { + flipSign(1, U, sigma); + flipSign(2, U, sigma); + } + return; + } + + //fix sign of sigma for both cases + if (sigma[2] < 0) { + flipSign(1, U, sigma); + flipSign(2, U, sigma); + } + + //swap sigma(1) and sigma(2) for both cases + std::swap(sigma[1], sigma[2]); + // swap the col 1 and col 2 for U,V + swapCol(U,1,2); + swapCol(V,1,2); + + // Case: |sigma(2)| >= sigma(0) > |simga(1)| + if (sigma[1] > sigma[0]) { + std::swap(sigma[0], sigma[1]); + swapCol(U,0,1); + swapCol(V,0,1); + } + + // Case: sigma(0) >= |sigma(2)| > |simga(1)| + else { + flipSign(2, U); + flipSign(2, V); + } + } + else if (t == 1) + { + // Case: |sigma(0)| >= sigma(1) > |sigma(2)| + if (btFabs(sigma[0]) >= sigma[1]) { + if (sigma[0] < 0) { + flipSign(0, U, sigma); + flipSign(2, U, sigma); + } + return; + } + + //swap sigma(0) and sigma(1) for both cases + std::swap(sigma[0], sigma[1]); + swapCol(U, 0, 1); + swapCol(V, 0, 1); + + // Case: sigma(1) > |sigma(2)| >= |sigma(0)| + if (btFabs(sigma[1]) < btFabs(sigma[2])) { + std::swap(sigma[1], sigma[2]); + swapCol(U, 1, 2); + swapCol(V, 1, 2); + } + + // Case: sigma(1) >= |sigma(0)| > |sigma(2)| + else { + flipSign(1, U); + flipSign(1, V); + } + + // fix sign for both cases + if (sigma[1] < 0) { + flipSign(1, U, sigma); + flipSign(2, U, sigma); + } + } +} + +/** + \brief 3X3 SVD (singular value decomposition) A=USV' + \param[in] A Input matrix. + \param[out] U is a rotation matrix. + \param[out] sigma Diagonal matrix, sorted with decreasing magnitude. The third one can be negative. + \param[out] V is a rotation matrix. + */ +inline int singularValueDecomposition(const btMatrix3x3& A, + btMatrix3x3& U, + btVector3& sigma, + btMatrix3x3& V, + btScalar tol = 128*std::numeric_limits<btScalar>::epsilon()) +{ + using std::fabs; + btMatrix3x3 B = A; + U.setIdentity(); + V.setIdentity(); + + makeUpperBidiag(B, U, V); + + int count = 0; + btScalar mu = (btScalar)0; + GivensRotation r(0, 1); + + btScalar alpha_1 = B[0][0]; + btScalar beta_1 = B[0][1]; + btScalar alpha_2 = B[1][1]; + btScalar alpha_3 = B[2][2]; + btScalar beta_2 = B[1][2]; + btScalar gamma_1 = alpha_1 * beta_1; + btScalar gamma_2 = alpha_2 * beta_2; + btScalar val = alpha_1 * alpha_1 + alpha_2 * alpha_2 + alpha_3 * alpha_3 + beta_1 * beta_1 + beta_2 * beta_2; + if (val > SIMD_EPSILON) + { + tol *= btMax((btScalar)0.5 * btSqrt(val), (btScalar)1); + } + /** + Do implicit shift QR until A^T A is block diagonal + */ + int max_count = 100; + + while (btFabs(beta_2) > tol && btFabs(beta_1) > tol + && btFabs(alpha_1) > tol && btFabs(alpha_2) > tol + && btFabs(alpha_3) > tol + && count < max_count) { + mu = wilkinsonShift(alpha_2 * alpha_2 + beta_1 * beta_1, gamma_2, alpha_3 * alpha_3 + beta_2 * beta_2); + + r.compute(alpha_1 * alpha_1 - mu, gamma_1); + r.columnRotation(B); + + r.columnRotation(V); + zeroChase(B, U, V); + + alpha_1 = B[0][0]; + beta_1 = B[0][1]; + alpha_2 = B[1][1]; + alpha_3 = B[2][2]; + beta_2 = B[1][2]; + gamma_1 = alpha_1 * beta_1; + gamma_2 = alpha_2 * beta_2; + count++; + } + /** + Handle the cases of one of the alphas and betas being 0 + Sorted by ease of handling and then frequency + of occurrence + + If B is of form + x x 0 + 0 x 0 + 0 0 x + */ + if (btFabs(beta_2) <= tol) { + process<0>(B, U, sigma, V); + sort(U, sigma, V,0); + } + /** + If B is of form + x 0 0 + 0 x x + 0 0 x + */ + else if (btFabs(beta_1) <= tol) { + process<1>(B, U, sigma, V); + sort(U, sigma, V,1); + } + /** + If B is of form + x x 0 + 0 0 x + 0 0 x + */ + else if (btFabs(alpha_2) <= tol) { + /** + Reduce B to + x x 0 + 0 0 0 + 0 0 x + */ + GivensRotation r1(1, 2); + r1.computeUnconventional(B[1][2], B[2][2]); + r1.rowRotation(B); + r1.columnRotation(U); + + process<0>(B, U, sigma, V); + sort(U, sigma, V, 0); + } + /** + If B is of form + x x 0 + 0 x x + 0 0 0 + */ + else if (btFabs(alpha_3) <= tol) { + /** + Reduce B to + x x + + 0 x 0 + 0 0 0 + */ + GivensRotation r1(1, 2); + r1.compute(B[1][1], B[1][2]); + r1.columnRotation(B); + r1.columnRotation(V); + /** + Reduce B to + x x 0 + + x 0 + 0 0 0 + */ + GivensRotation r2(0, 2); + r2.compute(B[0][0], B[0][2]); + r2.columnRotation(B); + r2.columnRotation(V); + + process<0>(B, U, sigma, V); + sort(U, sigma, V, 0); + } + /** + If B is of form + 0 x 0 + 0 x x + 0 0 x + */ + else if (btFabs(alpha_1) <= tol) { + /** + Reduce B to + 0 0 + + 0 x x + 0 0 x + */ + GivensRotation r1(0, 1); + r1.computeUnconventional(B[0][1], B[1][1]); + r1.rowRotation(B); + r1.columnRotation(U); + + /** + Reduce B to + 0 0 0 + 0 x x + 0 + x + */ + GivensRotation r2(0, 2); + r2.computeUnconventional(B[0][2], B[2][2]); + r2.rowRotation(B); + r2.columnRotation(U); + + process<1>(B, U, sigma, V); + sort(U, sigma, V, 1); + } + + return count; +} +#endif /* btImplicitQRSVD_h */ diff --git a/thirdparty/bullet/LinearMath/btMatrix3x3.h b/thirdparty/bullet/LinearMath/btMatrix3x3.h index 0a08ae409a..cc33a68664 100644 --- a/thirdparty/bullet/LinearMath/btMatrix3x3.h +++ b/thirdparty/bullet/LinearMath/btMatrix3x3.h @@ -125,6 +125,13 @@ public: m_el[2] = other.m_el[2]; return *this; } + + SIMD_FORCE_INLINE btMatrix3x3(const btVector3& v0, const btVector3& v1, const btVector3& v2) + { + m_el[0] = v0; + m_el[1] = v1; + m_el[2] = v2; + } #endif diff --git a/thirdparty/bullet/LinearMath/btMatrixX.h b/thirdparty/bullet/LinearMath/btMatrixX.h index 388c57c2d7..961c94dc63 100644 --- a/thirdparty/bullet/LinearMath/btMatrixX.h +++ b/thirdparty/bullet/LinearMath/btMatrixX.h @@ -338,24 +338,23 @@ struct btMatrixX btMatrixX res(rows(), other.cols()); res.setZero(); // BT_PROFILE("btMatrixX mul"); - for (int j = 0; j < res.cols(); ++j) + for (int i = 0; i < rows(); ++i) { { - for (int i = 0; i < res.rows(); ++i) + for (int j = 0; j < other.cols(); ++j) { T dotProd = 0; - // T dotProd2=0; - //int waste=0,waste2=0; - { - // bool useOtherCol = true; { - for (int v = 0; v < rows(); v++) + int r = rows(); + int c = cols(); + + for (int k = 0; k < cols(); k++) { - T w = (*this)(i, v); - if (other(v, j) != 0.f) + T w = (*this)(i, k); + if (other(k, j) != 0.f) { - dotProd += w * other(v, j); + dotProd += w * other(k, j); } } } diff --git a/thirdparty/bullet/LinearMath/btScalar.h b/thirdparty/bullet/LinearMath/btScalar.h index ba49d6700b..86d94e8974 100644 --- a/thirdparty/bullet/LinearMath/btScalar.h +++ b/thirdparty/bullet/LinearMath/btScalar.h @@ -25,13 +25,23 @@ subject to the following restrictions: #include <float.h> /* SVN $Revision$ on $Date$ from http://bullet.googlecode.com*/ -#define BT_BULLET_VERSION 288 +#define BT_BULLET_VERSION 289 inline int btGetVersion() { return BT_BULLET_VERSION; } +inline int btIsDoublePrecision() +{ + #ifdef BT_USE_DOUBLE_PRECISION + return true; + #else + return false; + #endif +} + + // The following macro "BT_NOT_EMPTY_FILE" can be put into a file // in order suppress the MS Visual C++ Linker warning 4221 // @@ -63,7 +73,12 @@ inline int btGetVersion() #endif #ifdef _WIN32 - #if defined(__MINGW32__) || defined(__CYGWIN__) || (defined (_MSC_VER) && _MSC_VER < 1300) + #if defined(__GNUC__) // it should handle both MINGW and CYGWIN + #define SIMD_FORCE_INLINE __inline__ __attribute__((always_inline)) + #define ATTRIBUTE_ALIGNED16(a) a __attribute__((aligned(16))) + #define ATTRIBUTE_ALIGNED64(a) a __attribute__((aligned(64))) + #define ATTRIBUTE_ALIGNED128(a) a __attribute__((aligned(128))) + #elif ( defined(_MSC_VER) && _MSC_VER < 1300 ) #define SIMD_FORCE_INLINE inline #define ATTRIBUTE_ALIGNED16(a) a #define ATTRIBUTE_ALIGNED64(a) a @@ -95,11 +110,16 @@ inline int btGetVersion() #if defined (_M_ARM) //Do not turn SSE on for ARM (may want to turn on BT_USE_NEON however) #elif (defined (_WIN32) && (_MSC_VER) && _MSC_VER >= 1400) && (!defined (BT_USE_DOUBLE_PRECISION)) + +#ifdef __clang__ +#define __BT_DISABLE_SSE__ +#endif +#ifndef __BT_DISABLE_SSE__ #if _MSC_VER>1400 #define BT_USE_SIMD_VECTOR3 #endif - #define BT_USE_SSE +#endif//__BT_DISABLE_SSE__ #ifdef BT_USE_SSE #if (_MSC_FULL_VER >= 170050727)//Visual Studio 2012 can compile SSE4/FMA3 (but SSE4/FMA3 is not enabled by default) diff --git a/thirdparty/bullet/LinearMath/btSerializer.cpp b/thirdparty/bullet/LinearMath/btSerializer.cpp index 18683c8fa7..068836f2c4 100644 --- a/thirdparty/bullet/LinearMath/btSerializer.cpp +++ b/thirdparty/bullet/LinearMath/btSerializer.cpp @@ -1,6 +1,5 @@ -// clang-format off char sBulletDNAstr[]= { -char(83),char(68),char(78),char(65),char(78),char(65),char(77),char(69),char(-76),char(1),char(0),char(0),char(109),char(95),char(115),char(105),char(122),char(101),char(0),char(109), +char(83),char(68),char(78),char(65),char(78),char(65),char(77),char(69),char(-74),char(1),char(0),char(0),char(109),char(95),char(115),char(105),char(122),char(101),char(0),char(109), char(95),char(99),char(97),char(112),char(97),char(99),char(105),char(116),char(121),char(0),char(42),char(109),char(95),char(100),char(97),char(116),char(97),char(0),char(109),char(95), char(99),char(111),char(108),char(108),char(105),char(115),char(105),char(111),char(110),char(83),char(104),char(97),char(112),char(101),char(115),char(0),char(109),char(95),char(99),char(111), char(108),char(108),char(105),char(115),char(105),char(111),char(110),char(79),char(98),char(106),char(101),char(99),char(116),char(115),char(0),char(109),char(95),char(99),char(111),char(110), @@ -87,606 +86,607 @@ 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+char(13),char(0),char(123),char(1),char(4),char(0),char(124),char(1),char(4),char(0),char(125),char(1),char(4),char(0),char(126),char(1),char(4),char(0),char(53),char(0), +char(92),char(0),char(19),char(0),char(50),char(0),char(-68),char(0),char(89),char(0),char(127),char(1),char(82),char(0),char(-128),char(1),char(83),char(0),char(-127),char(1), +char(84),char(0),char(-126),char(1),char(85),char(0),char(-125),char(1),char(86),char(0),char(-124),char(1),char(87),char(0),char(-123),char(1),char(90),char(0),char(-122),char(1), +char(91),char(0),char(-121),char(1),char(4),char(0),char(-120),char(1),char(4),char(0),char(102),char(1),char(4),char(0),char(-119),char(1),char(4),char(0),char(-118),char(1), +char(4),char(0),char(-117),char(1),char(4),char(0),char(-116),char(1),char(4),char(0),char(-115),char(1),char(4),char(0),char(-114),char(1),char(88),char(0),char(-113),char(1), 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+char(0),char(0),char(-89),char(1),char(0),char(0),char(-88),char(1),char(48),char(0),char(-87),char(1),char(0),char(0),char(-86),char(1),char(94),char(0),char(28),char(0), +char(15),char(0),char(-112),char(1),char(13),char(0),char(-111),char(1),char(13),char(0),char(-110),char(1),char(13),char(0),char(-109),char(1),char(13),char(0),char(-108),char(1), +char(13),char(0),char(-107),char(1),char(13),char(0),char(-106),char(1),char(13),char(0),char(-105),char(1),char(13),char(0),char(-104),char(1),char(13),char(0),char(-103),char(1), +char(4),char(0),char(-100),char(1),char(7),char(0),char(-102),char(1),char(4),char(0),char(-101),char(1),char(4),char(0),char(126),char(1),char(7),char(0),char(-98),char(1), +char(7),char(0),char(-97),char(1),char(7),char(0),char(-96),char(1),char(4),char(0),char(-99),char(1),char(7),char(0),char(-95),char(1),char(7),char(0),char(-94),char(1), +char(7),char(0),char(-93),char(1),char(7),char(0),char(-92),char(1),char(7),char(0),char(-91),char(1),char(7),char(0),char(-90),char(1),char(0),char(0),char(-89),char(1), +char(0),char(0),char(-88),char(1),char(50),char(0),char(-87),char(1),char(0),char(0),char(-86),char(1),char(95),char(0),char(11),char(0),char(14),char(0),char(-85),char(1), +char(16),char(0),char(-84),char(1),char(14),char(0),char(-83),char(1),char(14),char(0),char(-82),char(1),char(14),char(0),char(-81),char(1),char(8),char(0),char(-80),char(1), +char(4),char(0),char(-119),char(1),char(0),char(0),char(37),char(0),char(0),char(0),char(-79),char(1),char(93),char(0),char(-126),char(1),char(48),char(0),char(-78),char(1), +char(96),char(0),char(10),char(0),char(13),char(0),char(-85),char(1),char(15),char(0),char(-84),char(1),char(13),char(0),char(-83),char(1),char(13),char(0),char(-82),char(1), +char(13),char(0),char(-81),char(1),char(7),char(0),char(-80),char(1),char(4),char(0),char(-119),char(1),char(0),char(0),char(-79),char(1),char(94),char(0),char(-126),char(1), +char(50),char(0),char(-78),char(1),char(97),char(0),char(4),char(0),char(50),char(0),char(-77),char(1),char(96),char(0),char(-76),char(1),char(4),char(0),char(-75),char(1), +char(0),char(0),char(37),char(0),char(98),char(0),char(4),char(0),char(48),char(0),char(-77),char(1),char(95),char(0),char(-76),char(1),char(4),char(0),char(-75),char(1), +char(0),char(0),char(37),char(0),}; int sBulletDNAlen= sizeof(sBulletDNAstr); - -// clang-format on diff --git a/thirdparty/bullet/LinearMath/btSerializer.h b/thirdparty/bullet/LinearMath/btSerializer.h index ba34441615..2ee712047f 100644 --- a/thirdparty/bullet/LinearMath/btSerializer.h +++ b/thirdparty/bullet/LinearMath/btSerializer.h @@ -481,7 +481,7 @@ public: buffer[9] = '2'; buffer[10] = '8'; - buffer[11] = '8'; + buffer[11] = '9'; } virtual void startSerialization() diff --git a/thirdparty/bullet/LinearMath/btSerializer64.cpp b/thirdparty/bullet/LinearMath/btSerializer64.cpp index cf281cdb36..6c4bc7031f 100644 --- a/thirdparty/bullet/LinearMath/btSerializer64.cpp +++ b/thirdparty/bullet/LinearMath/btSerializer64.cpp @@ -1,6 +1,5 @@ -// clang-format off char sBulletDNAstr64[]= { -char(83),char(68),char(78),char(65),char(78),char(65),char(77),char(69),char(-76),char(1),char(0),char(0),char(109),char(95),char(115),char(105),char(122),char(101),char(0),char(109), +char(83),char(68),char(78),char(65),char(78),char(65),char(77),char(69),char(-74),char(1),char(0),char(0),char(109),char(95),char(115),char(105),char(122),char(101),char(0),char(109), char(95),char(99),char(97),char(112),char(97),char(99),char(105),char(116),char(121),char(0),char(42),char(109),char(95),char(100),char(97),char(116),char(97),char(0),char(109),char(95), char(99),char(111),char(108),char(108),char(105),char(115),char(105),char(111),char(110),char(83),char(104),char(97),char(112),char(101),char(115),char(0),char(109),char(95),char(99),char(111), char(108),char(108),char(105),char(115),char(105),char(111),char(110),char(79),char(98),char(106),char(101),char(99),char(116),char(115),char(0),char(109),char(95),char(99),char(111),char(110), @@ -87,605 +86,607 @@ char(101),char(76),char(97),char(116),char(101),char(114),char(97),char(108),cha char(91),char(52),char(93),char(0),char(109),char(95),char(112),char(111),char(105),char(110),char(116),char(67),char(97),char(99),char(104),char(101),char(68),char(105),char(115),char(116), char(97),char(110),char(99),char(101),char(91),char(52),char(93),char(0),char(109),char(95),char(112),char(111),char(105),char(110),char(116),char(67),char(97),char(99),char(104),char(101), 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+char(7),char(0),char(61),char(1),char(7),char(0),char(62),char(1),char(7),char(0),char(63),char(1),char(7),char(0),char(64),char(1),char(7),char(0),char(65),char(1), +char(7),char(0),char(66),char(1),char(7),char(0),char(67),char(1),char(7),char(0),char(68),char(1),char(7),char(0),char(69),char(1),char(7),char(0),char(70),char(1), +char(7),char(0),char(71),char(1),char(7),char(0),char(72),char(1),char(7),char(0),char(73),char(1),char(7),char(0),char(74),char(1),char(7),char(0),char(75),char(1), +char(7),char(0),char(76),char(1),char(4),char(0),char(77),char(1),char(4),char(0),char(78),char(1),char(4),char(0),char(79),char(1),char(4),char(0),char(80),char(1), +char(4),char(0),char(-99),char(0),char(89),char(0),char(12),char(0),char(17),char(0),char(81),char(1),char(17),char(0),char(82),char(1),char(17),char(0),char(83),char(1), +char(13),char(0),char(84),char(1),char(13),char(0),char(85),char(1),char(7),char(0),char(86),char(1),char(4),char(0),char(87),char(1),char(4),char(0),char(88),char(1), +char(4),char(0),char(89),char(1),char(4),char(0),char(90),char(1),char(7),char(0),char(50),char(1),char(4),char(0),char(53),char(0),char(90),char(0),char(27),char(0), +char(19),char(0),char(91),char(1),char(17),char(0),char(92),char(1),char(17),char(0),char(93),char(1),char(13),char(0),char(84),char(1),char(13),char(0),char(94),char(1), +char(13),char(0),char(95),char(1),char(13),char(0),char(96),char(1),char(13),char(0),char(97),char(1),char(13),char(0),char(98),char(1),char(4),char(0),char(99),char(1), +char(7),char(0),char(100),char(1),char(4),char(0),char(101),char(1),char(4),char(0),char(102),char(1),char(4),char(0),char(103),char(1),char(7),char(0),char(104),char(1), +char(7),char(0),char(105),char(1),char(4),char(0),char(106),char(1),char(4),char(0),char(107),char(1),char(7),char(0),char(108),char(1),char(7),char(0),char(109),char(1), +char(7),char(0),char(110),char(1),char(7),char(0),char(111),char(1),char(7),char(0),char(112),char(1),char(7),char(0),char(113),char(1),char(4),char(0),char(114),char(1), +char(4),char(0),char(115),char(1),char(4),char(0),char(116),char(1),char(91),char(0),char(12),char(0),char(9),char(0),char(117),char(1),char(9),char(0),char(118),char(1), +char(13),char(0),char(119),char(1),char(7),char(0),char(120),char(1),char(7),char(0),char(-85),char(0),char(7),char(0),char(121),char(1),char(4),char(0),char(122),char(1), +char(13),char(0),char(123),char(1),char(4),char(0),char(124),char(1),char(4),char(0),char(125),char(1),char(4),char(0),char(126),char(1),char(4),char(0),char(53),char(0), +char(92),char(0),char(19),char(0),char(50),char(0),char(-68),char(0),char(89),char(0),char(127),char(1),char(82),char(0),char(-128),char(1),char(83),char(0),char(-127),char(1), +char(84),char(0),char(-126),char(1),char(85),char(0),char(-125),char(1),char(86),char(0),char(-124),char(1),char(87),char(0),char(-123),char(1),char(90),char(0),char(-122),char(1), +char(91),char(0),char(-121),char(1),char(4),char(0),char(-120),char(1),char(4),char(0),char(102),char(1),char(4),char(0),char(-119),char(1),char(4),char(0),char(-118),char(1), +char(4),char(0),char(-117),char(1),char(4),char(0),char(-116),char(1),char(4),char(0),char(-115),char(1),char(4),char(0),char(-114),char(1),char(88),char(0),char(-113),char(1), +char(93),char(0),char(28),char(0),char(16),char(0),char(-112),char(1),char(14),char(0),char(-111),char(1),char(14),char(0),char(-110),char(1),char(14),char(0),char(-109),char(1), +char(14),char(0),char(-108),char(1),char(14),char(0),char(-107),char(1),char(14),char(0),char(-106),char(1),char(14),char(0),char(-105),char(1),char(14),char(0),char(-104),char(1), +char(14),char(0),char(-103),char(1),char(8),char(0),char(-102),char(1),char(4),char(0),char(-101),char(1),char(4),char(0),char(126),char(1),char(4),char(0),char(-100),char(1), +char(4),char(0),char(-99),char(1),char(8),char(0),char(-98),char(1),char(8),char(0),char(-97),char(1),char(8),char(0),char(-96),char(1),char(8),char(0),char(-95),char(1), +char(8),char(0),char(-94),char(1),char(8),char(0),char(-93),char(1),char(8),char(0),char(-92),char(1),char(8),char(0),char(-91),char(1),char(8),char(0),char(-90),char(1), +char(0),char(0),char(-89),char(1),char(0),char(0),char(-88),char(1),char(48),char(0),char(-87),char(1),char(0),char(0),char(-86),char(1),char(94),char(0),char(28),char(0), +char(15),char(0),char(-112),char(1),char(13),char(0),char(-111),char(1),char(13),char(0),char(-110),char(1),char(13),char(0),char(-109),char(1),char(13),char(0),char(-108),char(1), +char(13),char(0),char(-107),char(1),char(13),char(0),char(-106),char(1),char(13),char(0),char(-105),char(1),char(13),char(0),char(-104),char(1),char(13),char(0),char(-103),char(1), +char(4),char(0),char(-100),char(1),char(7),char(0),char(-102),char(1),char(4),char(0),char(-101),char(1),char(4),char(0),char(126),char(1),char(7),char(0),char(-98),char(1), +char(7),char(0),char(-97),char(1),char(7),char(0),char(-96),char(1),char(4),char(0),char(-99),char(1),char(7),char(0),char(-95),char(1),char(7),char(0),char(-94),char(1), +char(7),char(0),char(-93),char(1),char(7),char(0),char(-92),char(1),char(7),char(0),char(-91),char(1),char(7),char(0),char(-90),char(1),char(0),char(0),char(-89),char(1), +char(0),char(0),char(-88),char(1),char(50),char(0),char(-87),char(1),char(0),char(0),char(-86),char(1),char(95),char(0),char(11),char(0),char(14),char(0),char(-85),char(1), +char(16),char(0),char(-84),char(1),char(14),char(0),char(-83),char(1),char(14),char(0),char(-82),char(1),char(14),char(0),char(-81),char(1),char(8),char(0),char(-80),char(1), +char(4),char(0),char(-119),char(1),char(0),char(0),char(37),char(0),char(0),char(0),char(-79),char(1),char(93),char(0),char(-126),char(1),char(48),char(0),char(-78),char(1), +char(96),char(0),char(10),char(0),char(13),char(0),char(-85),char(1),char(15),char(0),char(-84),char(1),char(13),char(0),char(-83),char(1),char(13),char(0),char(-82),char(1), +char(13),char(0),char(-81),char(1),char(7),char(0),char(-80),char(1),char(4),char(0),char(-119),char(1),char(0),char(0),char(-79),char(1),char(94),char(0),char(-126),char(1), +char(50),char(0),char(-78),char(1),char(97),char(0),char(4),char(0),char(50),char(0),char(-77),char(1),char(96),char(0),char(-76),char(1),char(4),char(0),char(-75),char(1), +char(0),char(0),char(37),char(0),char(98),char(0),char(4),char(0),char(48),char(0),char(-77),char(1),char(95),char(0),char(-76),char(1),char(4),char(0),char(-75),char(1), +char(0),char(0),char(37),char(0),}; int sBulletDNAlen64= sizeof(sBulletDNAstr64); -// clang-format on diff --git a/thirdparty/enet/LICENSE b/thirdparty/enet/LICENSE index 39af84a8f6..78d9dcf613 100644 --- a/thirdparty/enet/LICENSE +++ b/thirdparty/enet/LICENSE @@ -1,4 +1,4 @@ -Copyright (c) 2002-2016 Lee Salzman +Copyright (c) 2002-2019 Lee Salzman Permission is hereby granted, free of charge, to any person obtaining a copy of this software and associated documentation files (the "Software"), to deal in the Software without restriction, including without limitation the rights to use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of the Software, and to permit persons to whom the Software is furnished to do so, subject to the following conditions: diff --git a/thirdparty/enet/enet/enet.h b/thirdparty/enet/enet/enet.h index 246cbb0a62..966e3a465d 100644 --- a/thirdparty/enet/enet/enet.h +++ b/thirdparty/enet/enet/enet.h @@ -22,7 +22,7 @@ extern "C" #define ENET_VERSION_MAJOR 1 #define ENET_VERSION_MINOR 3 -#define ENET_VERSION_PATCH 13 +#define ENET_VERSION_PATCH 14 #define ENET_VERSION_CREATE(major, minor, patch) (((major)<<16) | ((minor)<<8) | (patch)) #define ENET_VERSION_GET_MAJOR(version) (((version)>>16)&0xFF) #define ENET_VERSION_GET_MINOR(version) (((version)>>8)&0xFF) @@ -507,6 +507,17 @@ ENET_API int enet_socketset_select (ENetSocket, ENetSocketSet *, ENetSock /** @defgroup Address ENet address functions @{ */ + +/** Attempts to parse the printable form of the IP address in the parameter hostName + and sets the host field in the address parameter if successful. + @param address destination to store the parsed IP address + @param hostName IP address to parse + @retval 0 on success + @retval < 0 on failure + @returns the address of the given hostName in address on success +*/ +ENET_API int enet_address_set_host_ip (ENetAddress * address, const char * hostName); + /** Attempts to resolve the host named by the parameter hostName and sets the host field in the address parameter if successful. @param address destination to store resolved address diff --git a/thirdparty/enet/enet/godot.h b/thirdparty/enet/enet/godot.h index 9230af428b..4f25ea9c7b 100644 --- a/thirdparty/enet/enet/godot.h +++ b/thirdparty/enet/enet/godot.h @@ -5,8 +5,8 @@ /* GODOT ENGINE */ /* https://godotengine.org */ /*************************************************************************/ -/* Copyright (c) 2007-2019 Juan Linietsky, Ariel Manzur. */ -/* Copyright (c) 2014-2019 Godot Engine contributors (cf. AUTHORS.md) */ +/* Copyright (c) 2007-2020 Juan Linietsky, Ariel Manzur. */ +/* Copyright (c) 2014-2020 Godot Engine contributors (cf. AUTHORS.md). */ /* */ /* Permission is hereby granted, free of charge, to any person obtaining */ /* a copy of this software and associated documentation files (the */ diff --git a/thirdparty/enet/godot.cpp b/thirdparty/enet/godot.cpp index 822a294781..63580b6d1a 100644 --- a/thirdparty/enet/godot.cpp +++ b/thirdparty/enet/godot.cpp @@ -5,8 +5,8 @@ /* GODOT ENGINE */ /* https://godotengine.org */ /*************************************************************************/ -/* Copyright (c) 2007-2019 Juan Linietsky, Ariel Manzur. */ -/* Copyright (c) 2014-2019 Godot Engine contributors (cf. AUTHORS.md) */ +/* Copyright (c) 2007-2020 Juan Linietsky, Ariel Manzur. */ +/* Copyright (c) 2014-2020 Godot Engine contributors (cf. AUTHORS.md). */ /* */ /* Permission is hereby granted, free of charge, to any person obtaining */ /* a copy of this software and associated documentation files (the */ diff --git a/thirdparty/enet/patches/ipv6_support.patch b/thirdparty/enet/patches/ipv6_support.patch new file mode 100644 index 0000000000..1f79863645 --- /dev/null +++ b/thirdparty/enet/patches/ipv6_support.patch @@ -0,0 +1,105 @@ +diff --git a/thirdparty/enet/enet/enet.h b/thirdparty/enet/enet/enet.h +index 650b199ee5..246cbb0a62 100644 +--- a/thirdparty/enet/enet/enet.h ++++ b/thirdparty/enet/enet/enet.h +@@ -10,13 +10,10 @@ extern "C" + { + #endif + ++#include <stdint.h> + #include <stdlib.h> + +-#ifdef _WIN32 +-#include "enet/win32.h" +-#else +-#include "enet/unix.h" +-#endif ++#include "enet/godot.h" + + #include "enet/types.h" + #include "enet/protocol.h" +@@ -72,7 +69,6 @@ typedef enum _ENetSocketShutdown + ENET_SOCKET_SHUTDOWN_READ_WRITE = 2 + } ENetSocketShutdown; + +-#define ENET_HOST_ANY 0 + #define ENET_HOST_BROADCAST 0xFFFFFFFFU + #define ENET_PORT_ANY 0 + +@@ -88,9 +84,11 @@ typedef enum _ENetSocketShutdown + */ + typedef struct _ENetAddress + { +- enet_uint32 host; ++ uint8_t host[16]; + enet_uint16 port; ++ uint8_t wildcard; + } ENetAddress; ++#define enet_host_equal(host_a, host_b) (memcmp(&host_a, &host_b,16) == 0) + + /** + * Packet flag bit constants. +@@ -519,6 +517,16 @@ ENET_API int enet_socketset_select (ENetSocket, ENetSocketSet *, ENetSock + */ + ENET_API int enet_address_set_host (ENetAddress * address, const char * hostName); + ++/** Sets the host field in the address parameter from ip struct. ++ @param address destination to store resolved address ++ @param ip the ip struct to read from ++ @param size the size of the ip struct. ++ @retval 0 on success ++ @retval != 0 on failure ++ @returns the address of the given ip in address on success. ++*/ ++ENET_API void enet_address_set_ip(ENetAddress * address, const uint8_t * ip, size_t size); ++ + /** Gives the printable form of the IP address specified in the address parameter. + @param address address printed + @param hostName destination for name, must not be NULL +diff --git a/thirdparty/enet/host.c b/thirdparty/enet/host.c +index 3be6c0922c..fc4da4ca67 100644 +--- a/thirdparty/enet/host.c ++++ b/thirdparty/enet/host.c +@@ -87,7 +87,7 @@ enet_host_create (const ENetAddress * address, size_t peerCount, size_t channelL + host -> commandCount = 0; + host -> bufferCount = 0; + host -> checksum = NULL; +- host -> receivedAddress.host = ENET_HOST_ANY; ++ memset(host -> receivedAddress.host, 0, 16); + host -> receivedAddress.port = 0; + host -> receivedData = NULL; + host -> receivedDataLength = 0; +diff --git a/thirdparty/enet/protocol.c b/thirdparty/enet/protocol.c +index 29d648732d..ab26886de4 100644 +--- a/thirdparty/enet/protocol.c ++++ b/thirdparty/enet/protocol.c +@@ -298,7 +298,7 @@ enet_protocol_handle_connect (ENetHost * host, ENetProtocolHeader * header, ENet + } + else + if (currentPeer -> state != ENET_PEER_STATE_CONNECTING && +- currentPeer -> address.host == host -> receivedAddress.host) ++ enet_host_equal(currentPeer -> address.host, host -> receivedAddress.host)) + { + if (currentPeer -> address.port == host -> receivedAddress.port && + currentPeer -> connectID == command -> connect.connectID) +@@ -1010,9 +1010,8 @@ enet_protocol_handle_incoming_commands (ENetHost * host, ENetEvent * event) + + if (peer -> state == ENET_PEER_STATE_DISCONNECTED || + peer -> state == ENET_PEER_STATE_ZOMBIE || +- ((host -> receivedAddress.host != peer -> address.host || +- host -> receivedAddress.port != peer -> address.port) && +- peer -> address.host != ENET_HOST_BROADCAST) || ++ (!enet_host_equal(host -> receivedAddress.host, peer -> address.host) || ++ host -> receivedAddress.port != peer -> address.port) || + (peer -> outgoingPeerID < ENET_PROTOCOL_MAXIMUM_PEER_ID && + sessionID != peer -> incomingSessionID)) + return 0; +@@ -1054,7 +1053,7 @@ enet_protocol_handle_incoming_commands (ENetHost * host, ENetEvent * event) + + if (peer != NULL) + { +- peer -> address.host = host -> receivedAddress.host; ++ enet_address_set_ip(&(peer -> address), host -> receivedAddress.host, 16); + peer -> address.port = host -> receivedAddress.port; + peer -> incomingDataTotal += host -> receivedDataLength; + } diff --git a/thirdparty/enet/protocol.c b/thirdparty/enet/protocol.c index cbeea1a763..28ad5fc41c 100644 --- a/thirdparty/enet/protocol.c +++ b/thirdparty/enet/protocol.c @@ -9,7 +9,6 @@ #include "enet/time.h" #include "enet/enet.h" - static size_t commandSizes [ENET_PROTOCOL_COMMAND_COUNT] = { 0, @@ -164,7 +163,10 @@ enet_protocol_remove_sent_unreliable_commands (ENetPeer * peer) { ENetOutgoingCommand * outgoingCommand; - while (! enet_list_empty (& peer -> sentUnreliableCommands)) + if (enet_list_empty (& peer -> sentUnreliableCommands)) + return; + + do { outgoingCommand = (ENetOutgoingCommand *) enet_list_front (& peer -> sentUnreliableCommands); @@ -183,7 +185,13 @@ enet_protocol_remove_sent_unreliable_commands (ENetPeer * peer) } enet_free (outgoingCommand); - } + } while (! enet_list_empty (& peer -> sentUnreliableCommands)); + + if (peer -> state == ENET_PEER_STATE_DISCONNECT_LATER && + enet_list_empty (& peer -> outgoingReliableCommands) && + enet_list_empty (& peer -> outgoingUnreliableCommands) && + enet_list_empty (& peer -> sentReliableCommands)) + enet_peer_disconnect (peer, peer -> eventData); } static ENetProtocolCommand @@ -1406,7 +1414,8 @@ enet_protocol_send_unreliable_outgoing_commands (ENetHost * host, ENetPeer * pee if (peer -> state == ENET_PEER_STATE_DISCONNECT_LATER && enet_list_empty (& peer -> outgoingReliableCommands) && enet_list_empty (& peer -> outgoingUnreliableCommands) && - enet_list_empty (& peer -> sentReliableCommands)) + enet_list_empty (& peer -> sentReliableCommands) && + enet_list_empty (& peer -> sentUnreliableCommands)) enet_peer_disconnect (peer, peer -> eventData); } @@ -1691,7 +1700,7 @@ enet_protocol_send_outgoing_commands (ENetHost * host, ENetEvent * event, int ch & host -> buffers [1], host -> bufferCount - 1, originalSize, host -> packetData [1], - originalSize); + originalSize); if (compressedSize > 0 && compressedSize < originalSize) { host -> headerFlags |= ENET_PROTOCOL_HEADER_FLAG_COMPRESSED; diff --git a/thirdparty/glad/glad.c b/thirdparty/glad/glad.c index 08c9c7e228..a1fe4d25ef 100644 --- a/thirdparty/glad/glad.c +++ b/thirdparty/glad/glad.c @@ -1,6 +1,6 @@ /* - OpenGL loader generated by glad 0.1.31 on Thu Jul 11 10:09:18 2019. + OpenGL loader generated by glad 0.1.33 on Tue Nov 12 08:44:22 2019. Language/Generator: C/C++ Specification: gl @@ -31,6 +31,9 @@ static void* get_proc(const char *namez); #if defined(_WIN32) || defined(__CYGWIN__) +#ifndef _WINDOWS_ +#undef APIENTRY +#endif #include <windows.h> static HMODULE libGL; diff --git a/thirdparty/glad/glad/glad.h b/thirdparty/glad/glad/glad.h index acf96d8cd9..fae71a865e 100644 --- a/thirdparty/glad/glad/glad.h +++ b/thirdparty/glad/glad/glad.h @@ -1,6 +1,6 @@ /* - OpenGL loader generated by glad 0.1.31 on Thu Jul 11 10:09:18 2019. + OpenGL loader generated by glad 0.1.33 on Tue Nov 12 08:44:22 2019. Language/Generator: C/C++ Specification: gl @@ -3404,7 +3404,7 @@ GLAPI PFNGLWAITSYNCPROC glad_glWaitSync; typedef void (APIENTRYP PFNGLGETINTEGER64VPROC)(GLenum pname, GLint64 *data); GLAPI PFNGLGETINTEGER64VPROC glad_glGetInteger64v; #define glGetInteger64v glad_glGetInteger64v -typedef void (APIENTRYP PFNGLGETSYNCIVPROC)(GLsync sync, GLenum pname, GLsizei bufSize, GLsizei *length, GLint *values); +typedef void (APIENTRYP PFNGLGETSYNCIVPROC)(GLsync sync, GLenum pname, GLsizei count, GLsizei *length, GLint *values); GLAPI PFNGLGETSYNCIVPROC glad_glGetSynciv; #define glGetSynciv glad_glGetSynciv typedef void (APIENTRYP PFNGLGETINTEGER64I_VPROC)(GLenum target, GLuint index, GLint64 *data); diff --git a/thirdparty/libogg/bitwise.c b/thirdparty/libogg/bitwise.c index fa2b572029..f5ef79122e 100644 --- a/thirdparty/libogg/bitwise.c +++ b/thirdparty/libogg/bitwise.c @@ -11,7 +11,6 @@ ******************************************************************** function: packing variable sized words into an octet stream - last mod: $Id$ ********************************************************************/ @@ -890,7 +889,7 @@ int main(void){ for(i=0;i<test2size;i++){ if(oggpack_look(&r,32)==-1)report("out of data. failed!"); if(oggpack_look(&r,32)!=large[i]){ - fprintf(stderr,"%ld != %ld (%lx!=%lx):",oggpack_look(&r,32),large[i], + fprintf(stderr,"%ld != %lu (%lx!=%lx):",oggpack_look(&r,32),large[i], oggpack_look(&r,32),large[i]); report("read incorrect value!\n"); } @@ -1000,7 +999,7 @@ int main(void){ for(i=0;i<test2size;i++){ if(oggpackB_look(&r,32)==-1)report("out of data. failed!"); if(oggpackB_look(&r,32)!=large[i]){ - fprintf(stderr,"%ld != %ld (%lx!=%lx):",oggpackB_look(&r,32),large[i], + fprintf(stderr,"%ld != %lu (%lx!=%lx):",oggpackB_look(&r,32),large[i], oggpackB_look(&r,32),large[i]); report("read incorrect value!\n"); } diff --git a/thirdparty/libogg/crctable.h b/thirdparty/libogg/crctable.h new file mode 100644 index 0000000000..dcc378b309 --- /dev/null +++ b/thirdparty/libogg/crctable.h @@ -0,0 +1,278 @@ +/******************************************************************** + * * + * THIS FILE IS PART OF THE Ogg CONTAINER SOURCE CODE. * + * USE, DISTRIBUTION AND REPRODUCTION OF THIS LIBRARY SOURCE IS * + * GOVERNED BY A BSD-STYLE SOURCE LICENSE INCLUDED WITH THIS SOURCE * + * IN 'COPYING'. PLEASE READ THESE TERMS BEFORE DISTRIBUTING. * + * * + * THE OggVorbis SOURCE CODE IS (C) COPYRIGHT 1994-2018 * + * by the Xiph.Org Foundation http://www.xiph.org/ * + * * + ********************************************************************/ + +#include <ogg/os_types.h> + +static const ogg_uint32_t crc_lookup[8][256]={ +{0x00000000,0x04c11db7,0x09823b6e,0x0d4326d9,0x130476dc,0x17c56b6b,0x1a864db2,0x1e475005, + 0x2608edb8,0x22c9f00f,0x2f8ad6d6,0x2b4bcb61,0x350c9b64,0x31cd86d3,0x3c8ea00a,0x384fbdbd, + 0x4c11db70,0x48d0c6c7,0x4593e01e,0x4152fda9,0x5f15adac,0x5bd4b01b,0x569796c2,0x52568b75, + 0x6a1936c8,0x6ed82b7f,0x639b0da6,0x675a1011,0x791d4014,0x7ddc5da3,0x709f7b7a,0x745e66cd, + 0x9823b6e0,0x9ce2ab57,0x91a18d8e,0x95609039,0x8b27c03c,0x8fe6dd8b,0x82a5fb52,0x8664e6e5, + 0xbe2b5b58,0xbaea46ef,0xb7a96036,0xb3687d81,0xad2f2d84,0xa9ee3033,0xa4ad16ea,0xa06c0b5d, + 0xd4326d90,0xd0f37027,0xddb056fe,0xd9714b49,0xc7361b4c,0xc3f706fb,0xceb42022,0xca753d95, + 0xf23a8028,0xf6fb9d9f,0xfbb8bb46,0xff79a6f1,0xe13ef6f4,0xe5ffeb43,0xe8bccd9a,0xec7dd02d, + 0x34867077,0x30476dc0,0x3d044b19,0x39c556ae,0x278206ab,0x23431b1c,0x2e003dc5,0x2ac12072, + 0x128e9dcf,0x164f8078,0x1b0ca6a1,0x1fcdbb16,0x018aeb13,0x054bf6a4,0x0808d07d,0x0cc9cdca, + 0x7897ab07,0x7c56b6b0,0x71159069,0x75d48dde,0x6b93dddb,0x6f52c06c,0x6211e6b5,0x66d0fb02, + 0x5e9f46bf,0x5a5e5b08,0x571d7dd1,0x53dc6066,0x4d9b3063,0x495a2dd4,0x44190b0d,0x40d816ba, + 0xaca5c697,0xa864db20,0xa527fdf9,0xa1e6e04e,0xbfa1b04b,0xbb60adfc,0xb6238b25,0xb2e29692, + 0x8aad2b2f,0x8e6c3698,0x832f1041,0x87ee0df6,0x99a95df3,0x9d684044,0x902b669d,0x94ea7b2a, + 0xe0b41de7,0xe4750050,0xe9362689,0xedf73b3e,0xf3b06b3b,0xf771768c,0xfa325055,0xfef34de2, + 0xc6bcf05f,0xc27dede8,0xcf3ecb31,0xcbffd686,0xd5b88683,0xd1799b34,0xdc3abded,0xd8fba05a, + 0x690ce0ee,0x6dcdfd59,0x608edb80,0x644fc637,0x7a089632,0x7ec98b85,0x738aad5c,0x774bb0eb, + 0x4f040d56,0x4bc510e1,0x46863638,0x42472b8f,0x5c007b8a,0x58c1663d,0x558240e4,0x51435d53, + 0x251d3b9e,0x21dc2629,0x2c9f00f0,0x285e1d47,0x36194d42,0x32d850f5,0x3f9b762c,0x3b5a6b9b, + 0x0315d626,0x07d4cb91,0x0a97ed48,0x0e56f0ff,0x1011a0fa,0x14d0bd4d,0x19939b94,0x1d528623, + 0xf12f560e,0xf5ee4bb9,0xf8ad6d60,0xfc6c70d7,0xe22b20d2,0xe6ea3d65,0xeba91bbc,0xef68060b, + 0xd727bbb6,0xd3e6a601,0xdea580d8,0xda649d6f,0xc423cd6a,0xc0e2d0dd,0xcda1f604,0xc960ebb3, + 0xbd3e8d7e,0xb9ff90c9,0xb4bcb610,0xb07daba7,0xae3afba2,0xaafbe615,0xa7b8c0cc,0xa379dd7b, + 0x9b3660c6,0x9ff77d71,0x92b45ba8,0x9675461f,0x8832161a,0x8cf30bad,0x81b02d74,0x857130c3, + 0x5d8a9099,0x594b8d2e,0x5408abf7,0x50c9b640,0x4e8ee645,0x4a4ffbf2,0x470cdd2b,0x43cdc09c, + 0x7b827d21,0x7f436096,0x7200464f,0x76c15bf8,0x68860bfd,0x6c47164a,0x61043093,0x65c52d24, + 0x119b4be9,0x155a565e,0x18197087,0x1cd86d30,0x029f3d35,0x065e2082,0x0b1d065b,0x0fdc1bec, + 0x3793a651,0x3352bbe6,0x3e119d3f,0x3ad08088,0x2497d08d,0x2056cd3a,0x2d15ebe3,0x29d4f654, + 0xc5a92679,0xc1683bce,0xcc2b1d17,0xc8ea00a0,0xd6ad50a5,0xd26c4d12,0xdf2f6bcb,0xdbee767c, + 0xe3a1cbc1,0xe760d676,0xea23f0af,0xeee2ed18,0xf0a5bd1d,0xf464a0aa,0xf9278673,0xfde69bc4, + 0x89b8fd09,0x8d79e0be,0x803ac667,0x84fbdbd0,0x9abc8bd5,0x9e7d9662,0x933eb0bb,0x97ffad0c, + 0xafb010b1,0xab710d06,0xa6322bdf,0xa2f33668,0xbcb4666d,0xb8757bda,0xb5365d03,0xb1f740b4}, + +{0x00000000,0xd219c1dc,0xa0f29e0f,0x72eb5fd3,0x452421a9,0x973de075,0xe5d6bfa6,0x37cf7e7a, + 0x8a484352,0x5851828e,0x2abadd5d,0xf8a31c81,0xcf6c62fb,0x1d75a327,0x6f9efcf4,0xbd873d28, + 0x10519b13,0xc2485acf,0xb0a3051c,0x62bac4c0,0x5575baba,0x876c7b66,0xf58724b5,0x279ee569, + 0x9a19d841,0x4800199d,0x3aeb464e,0xe8f28792,0xdf3df9e8,0x0d243834,0x7fcf67e7,0xadd6a63b, + 0x20a33626,0xf2baf7fa,0x8051a829,0x524869f5,0x6587178f,0xb79ed653,0xc5758980,0x176c485c, + 0xaaeb7574,0x78f2b4a8,0x0a19eb7b,0xd8002aa7,0xefcf54dd,0x3dd69501,0x4f3dcad2,0x9d240b0e, + 0x30f2ad35,0xe2eb6ce9,0x9000333a,0x4219f2e6,0x75d68c9c,0xa7cf4d40,0xd5241293,0x073dd34f, + 0xbabaee67,0x68a32fbb,0x1a487068,0xc851b1b4,0xff9ecfce,0x2d870e12,0x5f6c51c1,0x8d75901d, + 0x41466c4c,0x935fad90,0xe1b4f243,0x33ad339f,0x04624de5,0xd67b8c39,0xa490d3ea,0x76891236, + 0xcb0e2f1e,0x1917eec2,0x6bfcb111,0xb9e570cd,0x8e2a0eb7,0x5c33cf6b,0x2ed890b8,0xfcc15164, + 0x5117f75f,0x830e3683,0xf1e56950,0x23fca88c,0x1433d6f6,0xc62a172a,0xb4c148f9,0x66d88925, + 0xdb5fb40d,0x094675d1,0x7bad2a02,0xa9b4ebde,0x9e7b95a4,0x4c625478,0x3e890bab,0xec90ca77, + 0x61e55a6a,0xb3fc9bb6,0xc117c465,0x130e05b9,0x24c17bc3,0xf6d8ba1f,0x8433e5cc,0x562a2410, + 0xebad1938,0x39b4d8e4,0x4b5f8737,0x994646eb,0xae893891,0x7c90f94d,0x0e7ba69e,0xdc626742, + 0x71b4c179,0xa3ad00a5,0xd1465f76,0x035f9eaa,0x3490e0d0,0xe689210c,0x94627edf,0x467bbf03, + 0xfbfc822b,0x29e543f7,0x5b0e1c24,0x8917ddf8,0xbed8a382,0x6cc1625e,0x1e2a3d8d,0xcc33fc51, + 0x828cd898,0x50951944,0x227e4697,0xf067874b,0xc7a8f931,0x15b138ed,0x675a673e,0xb543a6e2, + 0x08c49bca,0xdadd5a16,0xa83605c5,0x7a2fc419,0x4de0ba63,0x9ff97bbf,0xed12246c,0x3f0be5b0, + 0x92dd438b,0x40c48257,0x322fdd84,0xe0361c58,0xd7f96222,0x05e0a3fe,0x770bfc2d,0xa5123df1, + 0x189500d9,0xca8cc105,0xb8679ed6,0x6a7e5f0a,0x5db12170,0x8fa8e0ac,0xfd43bf7f,0x2f5a7ea3, + 0xa22feebe,0x70362f62,0x02dd70b1,0xd0c4b16d,0xe70bcf17,0x35120ecb,0x47f95118,0x95e090c4, + 0x2867adec,0xfa7e6c30,0x889533e3,0x5a8cf23f,0x6d438c45,0xbf5a4d99,0xcdb1124a,0x1fa8d396, + 0xb27e75ad,0x6067b471,0x128ceba2,0xc0952a7e,0xf75a5404,0x254395d8,0x57a8ca0b,0x85b10bd7, + 0x383636ff,0xea2ff723,0x98c4a8f0,0x4add692c,0x7d121756,0xaf0bd68a,0xdde08959,0x0ff94885, + 0xc3cab4d4,0x11d37508,0x63382adb,0xb121eb07,0x86ee957d,0x54f754a1,0x261c0b72,0xf405caae, + 0x4982f786,0x9b9b365a,0xe9706989,0x3b69a855,0x0ca6d62f,0xdebf17f3,0xac544820,0x7e4d89fc, + 0xd39b2fc7,0x0182ee1b,0x7369b1c8,0xa1707014,0x96bf0e6e,0x44a6cfb2,0x364d9061,0xe45451bd, + 0x59d36c95,0x8bcaad49,0xf921f29a,0x2b383346,0x1cf74d3c,0xceee8ce0,0xbc05d333,0x6e1c12ef, + 0xe36982f2,0x3170432e,0x439b1cfd,0x9182dd21,0xa64da35b,0x74546287,0x06bf3d54,0xd4a6fc88, + 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0x49d2034b,0x00df64c6,0xdbc8cc51,0x92c5abdc,0x692680c8,0x202be745,0xfb3c4fd2,0xb231285f, + 0x8be90a41,0xc2e46dcc,0x19f3c55b,0x50fea2d6,0xab1d89c2,0xe210ee4f,0x390746d8,0x700a2155, + 0xca000d47,0x830d6aca,0x581ac25d,0x1117a5d0,0xeaf48ec4,0xa3f9e949,0x78ee41de,0x31e32653}, + +{0x00000000,0x1b280d78,0x36501af0,0x2d781788,0x6ca035e0,0x77883898,0x5af02f10,0x41d82268, + 0xd9406bc0,0xc26866b8,0xef107130,0xf4387c48,0xb5e05e20,0xaec85358,0x83b044d0,0x989849a8, + 0xb641ca37,0xad69c74f,0x8011d0c7,0x9b39ddbf,0xdae1ffd7,0xc1c9f2af,0xecb1e527,0xf799e85f, + 0x6f01a1f7,0x7429ac8f,0x5951bb07,0x4279b67f,0x03a19417,0x1889996f,0x35f18ee7,0x2ed9839f, + 0x684289d9,0x736a84a1,0x5e129329,0x453a9e51,0x04e2bc39,0x1fcab141,0x32b2a6c9,0x299aabb1, + 0xb102e219,0xaa2aef61,0x8752f8e9,0x9c7af591,0xdda2d7f9,0xc68ada81,0xebf2cd09,0xf0dac071, + 0xde0343ee,0xc52b4e96,0xe853591e,0xf37b5466,0xb2a3760e,0xa98b7b76,0x84f36cfe,0x9fdb6186, + 0x0743282e,0x1c6b2556,0x311332de,0x2a3b3fa6,0x6be31dce,0x70cb10b6,0x5db3073e,0x469b0a46, + 0xd08513b2,0xcbad1eca,0xe6d50942,0xfdfd043a,0xbc252652,0xa70d2b2a,0x8a753ca2,0x915d31da, + 0x09c57872,0x12ed750a,0x3f956282,0x24bd6ffa,0x65654d92,0x7e4d40ea,0x53355762,0x481d5a1a, + 0x66c4d985,0x7decd4fd,0x5094c375,0x4bbcce0d,0x0a64ec65,0x114ce11d,0x3c34f695,0x271cfbed, + 0xbf84b245,0xa4acbf3d,0x89d4a8b5,0x92fca5cd,0xd32487a5,0xc80c8add,0xe5749d55,0xfe5c902d, + 0xb8c79a6b,0xa3ef9713,0x8e97809b,0x95bf8de3,0xd467af8b,0xcf4fa2f3,0xe237b57b,0xf91fb803, + 0x6187f1ab,0x7aaffcd3,0x57d7eb5b,0x4cffe623,0x0d27c44b,0x160fc933,0x3b77debb,0x205fd3c3, + 0x0e86505c,0x15ae5d24,0x38d64aac,0x23fe47d4,0x622665bc,0x790e68c4,0x54767f4c,0x4f5e7234, + 0xd7c63b9c,0xccee36e4,0xe196216c,0xfabe2c14,0xbb660e7c,0xa04e0304,0x8d36148c,0x961e19f4, + 0xa5cb3ad3,0xbee337ab,0x939b2023,0x88b32d5b,0xc96b0f33,0xd243024b,0xff3b15c3,0xe41318bb, + 0x7c8b5113,0x67a35c6b,0x4adb4be3,0x51f3469b,0x102b64f3,0x0b03698b,0x267b7e03,0x3d53737b, + 0x138af0e4,0x08a2fd9c,0x25daea14,0x3ef2e76c,0x7f2ac504,0x6402c87c,0x497adff4,0x5252d28c, + 0xcaca9b24,0xd1e2965c,0xfc9a81d4,0xe7b28cac,0xa66aaec4,0xbd42a3bc,0x903ab434,0x8b12b94c, + 0xcd89b30a,0xd6a1be72,0xfbd9a9fa,0xe0f1a482,0xa12986ea,0xba018b92,0x97799c1a,0x8c519162, + 0x14c9d8ca,0x0fe1d5b2,0x2299c23a,0x39b1cf42,0x7869ed2a,0x6341e052,0x4e39f7da,0x5511faa2, + 0x7bc8793d,0x60e07445,0x4d9863cd,0x56b06eb5,0x17684cdd,0x0c4041a5,0x2138562d,0x3a105b55, + 0xa28812fd,0xb9a01f85,0x94d8080d,0x8ff00575,0xce28271d,0xd5002a65,0xf8783ded,0xe3503095, + 0x754e2961,0x6e662419,0x431e3391,0x58363ee9,0x19ee1c81,0x02c611f9,0x2fbe0671,0x34960b09, + 0xac0e42a1,0xb7264fd9,0x9a5e5851,0x81765529,0xc0ae7741,0xdb867a39,0xf6fe6db1,0xedd660c9, + 0xc30fe356,0xd827ee2e,0xf55ff9a6,0xee77f4de,0xafafd6b6,0xb487dbce,0x99ffcc46,0x82d7c13e, + 0x1a4f8896,0x016785ee,0x2c1f9266,0x37379f1e,0x76efbd76,0x6dc7b00e,0x40bfa786,0x5b97aafe, + 0x1d0ca0b8,0x0624adc0,0x2b5cba48,0x3074b730,0x71ac9558,0x6a849820,0x47fc8fa8,0x5cd482d0, + 0xc44ccb78,0xdf64c600,0xf21cd188,0xe934dcf0,0xa8ecfe98,0xb3c4f3e0,0x9ebce468,0x8594e910, + 0xab4d6a8f,0xb06567f7,0x9d1d707f,0x86357d07,0xc7ed5f6f,0xdcc55217,0xf1bd459f,0xea9548e7, + 0x720d014f,0x69250c37,0x445d1bbf,0x5f7516c7,0x1ead34af,0x058539d7,0x28fd2e5f,0x33d52327}, + +{0x00000000,0x4f576811,0x9eaed022,0xd1f9b833,0x399cbdf3,0x76cbd5e2,0xa7326dd1,0xe86505c0, + 0x73397be6,0x3c6e13f7,0xed97abc4,0xa2c0c3d5,0x4aa5c615,0x05f2ae04,0xd40b1637,0x9b5c7e26, + 0xe672f7cc,0xa9259fdd,0x78dc27ee,0x378b4fff,0xdfee4a3f,0x90b9222e,0x41409a1d,0x0e17f20c, + 0x954b8c2a,0xda1ce43b,0x0be55c08,0x44b23419,0xacd731d9,0xe38059c8,0x3279e1fb,0x7d2e89ea, + 0xc824f22f,0x87739a3e,0x568a220d,0x19dd4a1c,0xf1b84fdc,0xbeef27cd,0x6f169ffe,0x2041f7ef, + 0xbb1d89c9,0xf44ae1d8,0x25b359eb,0x6ae431fa,0x8281343a,0xcdd65c2b,0x1c2fe418,0x53788c09, + 0x2e5605e3,0x61016df2,0xb0f8d5c1,0xffafbdd0,0x17cab810,0x589dd001,0x89646832,0xc6330023, + 0x5d6f7e05,0x12381614,0xc3c1ae27,0x8c96c636,0x64f3c3f6,0x2ba4abe7,0xfa5d13d4,0xb50a7bc5, + 0x9488f9e9,0xdbdf91f8,0x0a2629cb,0x457141da,0xad14441a,0xe2432c0b,0x33ba9438,0x7cedfc29, + 0xe7b1820f,0xa8e6ea1e,0x791f522d,0x36483a3c,0xde2d3ffc,0x917a57ed,0x4083efde,0x0fd487cf, + 0x72fa0e25,0x3dad6634,0xec54de07,0xa303b616,0x4b66b3d6,0x0431dbc7,0xd5c863f4,0x9a9f0be5, + 0x01c375c3,0x4e941dd2,0x9f6da5e1,0xd03acdf0,0x385fc830,0x7708a021,0xa6f11812,0xe9a67003, + 0x5cac0bc6,0x13fb63d7,0xc202dbe4,0x8d55b3f5,0x6530b635,0x2a67de24,0xfb9e6617,0xb4c90e06, + 0x2f957020,0x60c21831,0xb13ba002,0xfe6cc813,0x1609cdd3,0x595ea5c2,0x88a71df1,0xc7f075e0, + 0xbadefc0a,0xf589941b,0x24702c28,0x6b274439,0x834241f9,0xcc1529e8,0x1dec91db,0x52bbf9ca, + 0xc9e787ec,0x86b0effd,0x574957ce,0x181e3fdf,0xf07b3a1f,0xbf2c520e,0x6ed5ea3d,0x2182822c, + 0x2dd0ee65,0x62878674,0xb37e3e47,0xfc295656,0x144c5396,0x5b1b3b87,0x8ae283b4,0xc5b5eba5, + 0x5ee99583,0x11befd92,0xc04745a1,0x8f102db0,0x67752870,0x28224061,0xf9dbf852,0xb68c9043, + 0xcba219a9,0x84f571b8,0x550cc98b,0x1a5ba19a,0xf23ea45a,0xbd69cc4b,0x6c907478,0x23c71c69, + 0xb89b624f,0xf7cc0a5e,0x2635b26d,0x6962da7c,0x8107dfbc,0xce50b7ad,0x1fa90f9e,0x50fe678f, + 0xe5f41c4a,0xaaa3745b,0x7b5acc68,0x340da479,0xdc68a1b9,0x933fc9a8,0x42c6719b,0x0d91198a, + 0x96cd67ac,0xd99a0fbd,0x0863b78e,0x4734df9f,0xaf51da5f,0xe006b24e,0x31ff0a7d,0x7ea8626c, + 0x0386eb86,0x4cd18397,0x9d283ba4,0xd27f53b5,0x3a1a5675,0x754d3e64,0xa4b48657,0xebe3ee46, + 0x70bf9060,0x3fe8f871,0xee114042,0xa1462853,0x49232d93,0x06744582,0xd78dfdb1,0x98da95a0, + 0xb958178c,0xf60f7f9d,0x27f6c7ae,0x68a1afbf,0x80c4aa7f,0xcf93c26e,0x1e6a7a5d,0x513d124c, + 0xca616c6a,0x8536047b,0x54cfbc48,0x1b98d459,0xf3fdd199,0xbcaab988,0x6d5301bb,0x220469aa, + 0x5f2ae040,0x107d8851,0xc1843062,0x8ed35873,0x66b65db3,0x29e135a2,0xf8188d91,0xb74fe580, + 0x2c139ba6,0x6344f3b7,0xb2bd4b84,0xfdea2395,0x158f2655,0x5ad84e44,0x8b21f677,0xc4769e66, + 0x717ce5a3,0x3e2b8db2,0xefd23581,0xa0855d90,0x48e05850,0x07b73041,0xd64e8872,0x9919e063, + 0x02459e45,0x4d12f654,0x9ceb4e67,0xd3bc2676,0x3bd923b6,0x748e4ba7,0xa577f394,0xea209b85, + 0x970e126f,0xd8597a7e,0x09a0c24d,0x46f7aa5c,0xae92af9c,0xe1c5c78d,0x303c7fbe,0x7f6b17af, + 0xe4376989,0xab600198,0x7a99b9ab,0x35ced1ba,0xddabd47a,0x92fcbc6b,0x43050458,0x0c526c49}, + +{0x00000000,0x5ba1dcca,0xb743b994,0xece2655e,0x6a466e9f,0x31e7b255,0xdd05d70b,0x86a40bc1, + 0xd48cdd3e,0x8f2d01f4,0x63cf64aa,0x386eb860,0xbecab3a1,0xe56b6f6b,0x09890a35,0x5228d6ff, + 0xadd8a7cb,0xf6797b01,0x1a9b1e5f,0x413ac295,0xc79ec954,0x9c3f159e,0x70dd70c0,0x2b7cac0a, + 0x79547af5,0x22f5a63f,0xce17c361,0x95b61fab,0x1312146a,0x48b3c8a0,0xa451adfe,0xfff07134, + 0x5f705221,0x04d18eeb,0xe833ebb5,0xb392377f,0x35363cbe,0x6e97e074,0x8275852a,0xd9d459e0, + 0x8bfc8f1f,0xd05d53d5,0x3cbf368b,0x671eea41,0xe1bae180,0xba1b3d4a,0x56f95814,0x0d5884de, + 0xf2a8f5ea,0xa9092920,0x45eb4c7e,0x1e4a90b4,0x98ee9b75,0xc34f47bf,0x2fad22e1,0x740cfe2b, + 0x262428d4,0x7d85f41e,0x91679140,0xcac64d8a,0x4c62464b,0x17c39a81,0xfb21ffdf,0xa0802315, + 0xbee0a442,0xe5417888,0x09a31dd6,0x5202c11c,0xd4a6cadd,0x8f071617,0x63e57349,0x3844af83, + 0x6a6c797c,0x31cda5b6,0xdd2fc0e8,0x868e1c22,0x002a17e3,0x5b8bcb29,0xb769ae77,0xecc872bd, + 0x13380389,0x4899df43,0xa47bba1d,0xffda66d7,0x797e6d16,0x22dfb1dc,0xce3dd482,0x959c0848, + 0xc7b4deb7,0x9c15027d,0x70f76723,0x2b56bbe9,0xadf2b028,0xf6536ce2,0x1ab109bc,0x4110d576, + 0xe190f663,0xba312aa9,0x56d34ff7,0x0d72933d,0x8bd698fc,0xd0774436,0x3c952168,0x6734fda2, + 0x351c2b5d,0x6ebdf797,0x825f92c9,0xd9fe4e03,0x5f5a45c2,0x04fb9908,0xe819fc56,0xb3b8209c, + 0x4c4851a8,0x17e98d62,0xfb0be83c,0xa0aa34f6,0x260e3f37,0x7dafe3fd,0x914d86a3,0xcaec5a69, + 0x98c48c96,0xc365505c,0x2f873502,0x7426e9c8,0xf282e209,0xa9233ec3,0x45c15b9d,0x1e608757, + 0x79005533,0x22a189f9,0xce43eca7,0x95e2306d,0x13463bac,0x48e7e766,0xa4058238,0xffa45ef2, + 0xad8c880d,0xf62d54c7,0x1acf3199,0x416eed53,0xc7cae692,0x9c6b3a58,0x70895f06,0x2b2883cc, + 0xd4d8f2f8,0x8f792e32,0x639b4b6c,0x383a97a6,0xbe9e9c67,0xe53f40ad,0x09dd25f3,0x527cf939, + 0x00542fc6,0x5bf5f30c,0xb7179652,0xecb64a98,0x6a124159,0x31b39d93,0xdd51f8cd,0x86f02407, + 0x26700712,0x7dd1dbd8,0x9133be86,0xca92624c,0x4c36698d,0x1797b547,0xfb75d019,0xa0d40cd3, + 0xf2fcda2c,0xa95d06e6,0x45bf63b8,0x1e1ebf72,0x98bab4b3,0xc31b6879,0x2ff90d27,0x7458d1ed, + 0x8ba8a0d9,0xd0097c13,0x3ceb194d,0x674ac587,0xe1eece46,0xba4f128c,0x56ad77d2,0x0d0cab18, + 0x5f247de7,0x0485a12d,0xe867c473,0xb3c618b9,0x35621378,0x6ec3cfb2,0x8221aaec,0xd9807626, + 0xc7e0f171,0x9c412dbb,0x70a348e5,0x2b02942f,0xada69fee,0xf6074324,0x1ae5267a,0x4144fab0, + 0x136c2c4f,0x48cdf085,0xa42f95db,0xff8e4911,0x792a42d0,0x228b9e1a,0xce69fb44,0x95c8278e, + 0x6a3856ba,0x31998a70,0xdd7bef2e,0x86da33e4,0x007e3825,0x5bdfe4ef,0xb73d81b1,0xec9c5d7b, + 0xbeb48b84,0xe515574e,0x09f73210,0x5256eeda,0xd4f2e51b,0x8f5339d1,0x63b15c8f,0x38108045, + 0x9890a350,0xc3317f9a,0x2fd31ac4,0x7472c60e,0xf2d6cdcf,0xa9771105,0x4595745b,0x1e34a891, + 0x4c1c7e6e,0x17bda2a4,0xfb5fc7fa,0xa0fe1b30,0x265a10f1,0x7dfbcc3b,0x9119a965,0xcab875af, + 0x3548049b,0x6ee9d851,0x820bbd0f,0xd9aa61c5,0x5f0e6a04,0x04afb6ce,0xe84dd390,0xb3ec0f5a, + 0xe1c4d9a5,0xba65056f,0x56876031,0x0d26bcfb,0x8b82b73a,0xd0236bf0,0x3cc10eae,0x6760d264}}; diff --git a/thirdparty/libogg/framing.c b/thirdparty/libogg/framing.c index 79fc715c8c..83601199ad 100644 --- a/thirdparty/libogg/framing.c +++ b/thirdparty/libogg/framing.c @@ -5,14 +5,13 @@ * GOVERNED BY A BSD-STYLE SOURCE LICENSE INCLUDED WITH THIS SOURCE * * IN 'COPYING'. PLEASE READ THESE TERMS BEFORE DISTRIBUTING. * * * - * THE OggVorbis SOURCE CODE IS (C) COPYRIGHT 1994-2010 * + * THE OggVorbis SOURCE CODE IS (C) COPYRIGHT 1994-2018 * * by the Xiph.Org Foundation http://www.xiph.org/ * * * ******************************************************************** function: code raw packets into framed OggSquish stream and decode Ogg streams back into raw packets - last mod: $Id$ note: The CRC code is directly derived from public domain code by Ross Williams (ross@guest.adelaide.edu.au). See docs/framing.html @@ -20,6 +19,10 @@ ********************************************************************/ +#ifdef HAVE_CONFIG_H +#include "config.h" +#endif + #include <stdlib.h> #include <limits.h> #include <string.h> @@ -45,7 +48,7 @@ int ogg_page_eos(const ogg_page *og){ ogg_int64_t ogg_page_granulepos(const ogg_page *og){ unsigned char *page=og->header; - ogg_int64_t granulepos=page[13]&(0xff); + ogg_uint64_t granulepos=page[13]&(0xff); granulepos= (granulepos<<8)|(page[12]&0xff); granulepos= (granulepos<<8)|(page[11]&0xff); granulepos= (granulepos<<8)|(page[10]&0xff); @@ -53,21 +56,21 @@ ogg_int64_t ogg_page_granulepos(const ogg_page *og){ granulepos= (granulepos<<8)|(page[8]&0xff); granulepos= (granulepos<<8)|(page[7]&0xff); granulepos= (granulepos<<8)|(page[6]&0xff); - return(granulepos); + return((ogg_int64_t)granulepos); } int ogg_page_serialno(const ogg_page *og){ - return(og->header[14] | - (og->header[15]<<8) | - (og->header[16]<<16) | - (og->header[17]<<24)); + return((int)((ogg_uint32_t)og->header[14]) | + ((ogg_uint32_t)og->header[15]<<8) | + ((ogg_uint32_t)og->header[16]<<16) | + ((ogg_uint32_t)og->header[17]<<24)); } long ogg_page_pageno(const ogg_page *og){ - return(og->header[18] | - (og->header[19]<<8) | - (og->header[20]<<16) | - (og->header[21]<<24)); + return((long)((ogg_uint32_t)og->header[18]) | + ((ogg_uint32_t)og->header[19]<<8) | + ((ogg_uint32_t)og->header[20]<<16) | + ((ogg_uint32_t)og->header[21]<<24)); } @@ -99,90 +102,31 @@ int ogg_page_packets(const ogg_page *og){ #if 0 /* helper to initialize lookup for direct-table CRC (illustrative; we - use the static init below) */ - -static ogg_uint32_t _ogg_crc_entry(unsigned long index){ - int i; - unsigned long r; - - r = index << 24; - for (i=0; i<8; i++) - if (r & 0x80000000UL) - r = (r << 1) ^ 0x04c11db7; /* The same as the ethernet generator - polynomial, although we use an - unreflected alg and an init/final - of 0, not 0xffffffff */ - else - r<<=1; - return (r & 0xffffffffUL); + use the static init in crctable.h) */ + +static void _ogg_crc_init(){ + int i, j; + ogg_uint32_t polynomial, crc; + polynomial = 0x04c11db7; /* The same as the ethernet generator + polynomial, although we use an + unreflected alg and an init/final + of 0, not 0xffffffff */ + for (i = 0; i <= 0xFF; i++){ + crc = i << 24; + + for (j = 0; j < 8; j++) + crc = (crc << 1) ^ (crc & (1 << 31) ? polynomial : 0); + + crc_lookup[0][i] = crc; + } + + for (i = 0; i <= 0xFF; i++) + for (j = 1; j < 8; j++) + crc_lookup[j][i] = crc_lookup[0][(crc_lookup[j - 1][i] >> 24) & 0xFF] ^ (crc_lookup[j - 1][i] << 8); } #endif -static const ogg_uint32_t crc_lookup[256]={ - 0x00000000,0x04c11db7,0x09823b6e,0x0d4326d9, - 0x130476dc,0x17c56b6b,0x1a864db2,0x1e475005, - 0x2608edb8,0x22c9f00f,0x2f8ad6d6,0x2b4bcb61, - 0x350c9b64,0x31cd86d3,0x3c8ea00a,0x384fbdbd, - 0x4c11db70,0x48d0c6c7,0x4593e01e,0x4152fda9, - 0x5f15adac,0x5bd4b01b,0x569796c2,0x52568b75, - 0x6a1936c8,0x6ed82b7f,0x639b0da6,0x675a1011, - 0x791d4014,0x7ddc5da3,0x709f7b7a,0x745e66cd, - 0x9823b6e0,0x9ce2ab57,0x91a18d8e,0x95609039, - 0x8b27c03c,0x8fe6dd8b,0x82a5fb52,0x8664e6e5, - 0xbe2b5b58,0xbaea46ef,0xb7a96036,0xb3687d81, - 0xad2f2d84,0xa9ee3033,0xa4ad16ea,0xa06c0b5d, - 0xd4326d90,0xd0f37027,0xddb056fe,0xd9714b49, - 0xc7361b4c,0xc3f706fb,0xceb42022,0xca753d95, - 0xf23a8028,0xf6fb9d9f,0xfbb8bb46,0xff79a6f1, - 0xe13ef6f4,0xe5ffeb43,0xe8bccd9a,0xec7dd02d, - 0x34867077,0x30476dc0,0x3d044b19,0x39c556ae, - 0x278206ab,0x23431b1c,0x2e003dc5,0x2ac12072, - 0x128e9dcf,0x164f8078,0x1b0ca6a1,0x1fcdbb16, - 0x018aeb13,0x054bf6a4,0x0808d07d,0x0cc9cdca, - 0x7897ab07,0x7c56b6b0,0x71159069,0x75d48dde, - 0x6b93dddb,0x6f52c06c,0x6211e6b5,0x66d0fb02, - 0x5e9f46bf,0x5a5e5b08,0x571d7dd1,0x53dc6066, - 0x4d9b3063,0x495a2dd4,0x44190b0d,0x40d816ba, - 0xaca5c697,0xa864db20,0xa527fdf9,0xa1e6e04e, - 0xbfa1b04b,0xbb60adfc,0xb6238b25,0xb2e29692, - 0x8aad2b2f,0x8e6c3698,0x832f1041,0x87ee0df6, - 0x99a95df3,0x9d684044,0x902b669d,0x94ea7b2a, - 0xe0b41de7,0xe4750050,0xe9362689,0xedf73b3e, - 0xf3b06b3b,0xf771768c,0xfa325055,0xfef34de2, - 0xc6bcf05f,0xc27dede8,0xcf3ecb31,0xcbffd686, - 0xd5b88683,0xd1799b34,0xdc3abded,0xd8fba05a, - 0x690ce0ee,0x6dcdfd59,0x608edb80,0x644fc637, - 0x7a089632,0x7ec98b85,0x738aad5c,0x774bb0eb, - 0x4f040d56,0x4bc510e1,0x46863638,0x42472b8f, - 0x5c007b8a,0x58c1663d,0x558240e4,0x51435d53, - 0x251d3b9e,0x21dc2629,0x2c9f00f0,0x285e1d47, - 0x36194d42,0x32d850f5,0x3f9b762c,0x3b5a6b9b, - 0x0315d626,0x07d4cb91,0x0a97ed48,0x0e56f0ff, - 0x1011a0fa,0x14d0bd4d,0x19939b94,0x1d528623, - 0xf12f560e,0xf5ee4bb9,0xf8ad6d60,0xfc6c70d7, - 0xe22b20d2,0xe6ea3d65,0xeba91bbc,0xef68060b, - 0xd727bbb6,0xd3e6a601,0xdea580d8,0xda649d6f, - 0xc423cd6a,0xc0e2d0dd,0xcda1f604,0xc960ebb3, - 0xbd3e8d7e,0xb9ff90c9,0xb4bcb610,0xb07daba7, - 0xae3afba2,0xaafbe615,0xa7b8c0cc,0xa379dd7b, - 0x9b3660c6,0x9ff77d71,0x92b45ba8,0x9675461f, - 0x8832161a,0x8cf30bad,0x81b02d74,0x857130c3, - 0x5d8a9099,0x594b8d2e,0x5408abf7,0x50c9b640, - 0x4e8ee645,0x4a4ffbf2,0x470cdd2b,0x43cdc09c, - 0x7b827d21,0x7f436096,0x7200464f,0x76c15bf8, - 0x68860bfd,0x6c47164a,0x61043093,0x65c52d24, - 0x119b4be9,0x155a565e,0x18197087,0x1cd86d30, - 0x029f3d35,0x065e2082,0x0b1d065b,0x0fdc1bec, - 0x3793a651,0x3352bbe6,0x3e119d3f,0x3ad08088, - 0x2497d08d,0x2056cd3a,0x2d15ebe3,0x29d4f654, - 0xc5a92679,0xc1683bce,0xcc2b1d17,0xc8ea00a0, - 0xd6ad50a5,0xd26c4d12,0xdf2f6bcb,0xdbee767c, - 0xe3a1cbc1,0xe760d676,0xea23f0af,0xeee2ed18, - 0xf0a5bd1d,0xf464a0aa,0xf9278673,0xfde69bc4, - 0x89b8fd09,0x8d79e0be,0x803ac667,0x84fbdbd0, - 0x9abc8bd5,0x9e7d9662,0x933eb0bb,0x97ffad0c, - 0xafb010b1,0xab710d06,0xa6322bdf,0xa2f33668, - 0xbcb4666d,0xb8757bda,0xb5365d03,0xb1f740b4}; +#include "crctable.h" /* init the encode/decode logical stream state */ @@ -290,10 +234,27 @@ static int _os_lacing_expand(ogg_stream_state *os,long needed){ /* Direct table CRC; note that this will be faster in the future if we perform the checksum simultaneously with other copies */ +static ogg_uint32_t _os_update_crc(ogg_uint32_t crc, unsigned char *buffer, int size){ + while (size>=8){ + crc^=((ogg_uint32_t)buffer[0]<<24)|((ogg_uint32_t)buffer[1]<<16)|((ogg_uint32_t)buffer[2]<<8)|((ogg_uint32_t)buffer[3]); + + crc=crc_lookup[7][ crc>>24 ]^crc_lookup[6][(crc>>16)&0xFF]^ + crc_lookup[5][(crc>> 8)&0xFF]^crc_lookup[4][ crc &0xFF]^ + crc_lookup[3][buffer[4] ]^crc_lookup[2][buffer[5] ]^ + crc_lookup[1][buffer[6] ]^crc_lookup[0][buffer[7] ]; + + buffer+=8; + size-=8; + } + + while (size--) + crc=(crc<<8)^crc_lookup[0][((crc >> 24)&0xff)^*buffer++]; + return crc; +} + void ogg_page_checksum_set(ogg_page *og){ if(og){ ogg_uint32_t crc_reg=0; - int i; /* safety; needed for API behavior, but not framing code */ og->header[22]=0; @@ -301,10 +262,8 @@ void ogg_page_checksum_set(ogg_page *og){ og->header[24]=0; og->header[25]=0; - for(i=0;i<og->header_len;i++) - crc_reg=(crc_reg<<8)^crc_lookup[((crc_reg >> 24)&0xff)^og->header[i]]; - for(i=0;i<og->body_len;i++) - crc_reg=(crc_reg<<8)^crc_lookup[((crc_reg >> 24)&0xff)^og->body[i]]; + crc_reg=_os_update_crc(crc_reg,og->header,og->header_len); + crc_reg=_os_update_crc(crc_reg,og->body,og->body_len); og->header[22]=(unsigned char)(crc_reg&0xff); og->header[23]=(unsigned char)((crc_reg>>8)&0xff); @@ -414,9 +373,9 @@ static int ogg_stream_flush_i(ogg_stream_state *os,ogg_page *og, int force, int }else{ /* The extra packets_done, packet_just_done logic here attempts to do two things: - 1) Don't unneccessarily span pages. + 1) Don't unnecessarily span pages. 2) Unless necessary, don't flush pages if there are less than four packets on - them; this expands page size to reduce unneccessary overhead if incoming packets + them; this expands page size to reduce unnecessary overhead if incoming packets are large. These are not necessary behaviors, just 'always better than naive flushing' without requiring an application to explicitly request a specific optimized @@ -723,16 +682,15 @@ long ogg_sync_pageseek(ogg_sync_state *oy,ogg_page *og){ /* replace the computed checksum with the one actually read in */ memcpy(page+22,chksum,4); +#ifndef DISABLE_CRC /* Bad checksum. Lose sync */ goto sync_fail; +#endif } } /* yes, have a whole page all ready to go */ { - unsigned char *page=oy->data+oy->returned; - long bytes; - if(og){ og->header=page; og->header_len=oy->headerbytes; @@ -1814,6 +1772,7 @@ int main(void){ test_pack(packets,headret,0,0,0); } +#ifndef DISABLE_CRC { /* test for the libogg 1.1.1 resync in large continuation bug found by Josh Coalson) */ @@ -1823,6 +1782,9 @@ int main(void){ fprintf(stderr,"testing continuation resync in very large packets... "); test_pack(packets,headret,100,2,3); } +#else + fprintf(stderr,"Skipping continuation resync test due to --disable-crc\n"); +#endif { /* term only page. why not? */ @@ -2084,6 +2046,7 @@ int main(void){ fprintf(stderr,"ok.\n"); } +#ifndef DISABLE_CRC /* Test recapture: page + garbage + page */ { ogg_page og_de; @@ -2125,6 +2088,9 @@ int main(void){ fprintf(stderr,"ok.\n"); } +#else + fprintf(stderr,"Skipping recapture test due to --disable-crc\n"); +#endif /* Free page data that was previously copied */ { @@ -2133,6 +2099,9 @@ int main(void){ } } } + ogg_sync_clear(&oy); + ogg_stream_clear(&os_en); + ogg_stream_clear(&os_de); return(0); } diff --git a/thirdparty/libogg/ogg/config_types.h b/thirdparty/libogg/ogg/config_types.h index e630657547..3574a8ad44 100644 --- a/thirdparty/libogg/ogg/config_types.h +++ b/thirdparty/libogg/ogg/config_types.h @@ -8,5 +8,6 @@ typedef uint16_t ogg_uint16_t; typedef int32_t ogg_int32_t; typedef uint32_t ogg_uint32_t; typedef int64_t ogg_int64_t; +typedef uint64_t ogg_uint64_t; #endif diff --git a/thirdparty/libogg/ogg/ogg.h b/thirdparty/libogg/ogg/ogg.h index 7609fc24d6..c4325aa76d 100644 --- a/thirdparty/libogg/ogg/ogg.h +++ b/thirdparty/libogg/ogg/ogg.h @@ -11,7 +11,6 @@ ******************************************************************** function: toplevel libogg include - last mod: $Id$ ********************************************************************/ #ifndef _OGG_H diff --git a/thirdparty/libogg/ogg/os_types.h b/thirdparty/libogg/ogg/os_types.h index b8f56308b5..e655a1d628 100644 --- a/thirdparty/libogg/ogg/os_types.h +++ b/thirdparty/libogg/ogg/os_types.h @@ -10,8 +10,7 @@ * * ******************************************************************** - function: #ifdef jail to whip a few platforms into the UNIX ideal. - last mod: $Id$ + function: Define a consistent set of types on each platform. ********************************************************************/ #ifndef _OS_TYPES_H @@ -44,6 +43,7 @@ typedef unsigned long long ogg_uint64_t; # elif defined(__MWERKS__) typedef long long ogg_int64_t; + typedef unsigned long long ogg_uint64_t; typedef int ogg_int32_t; typedef unsigned int ogg_uint32_t; typedef short ogg_int16_t; @@ -62,6 +62,7 @@ typedef __int64 ogg_int64_t; typedef __int32 ogg_int32_t; typedef unsigned __int32 ogg_uint32_t; + typedef unsigned __int64 ogg_uint64_t; typedef __int16 ogg_int16_t; typedef unsigned __int16 ogg_uint16_t; # endif @@ -69,12 +70,13 @@ #elif (defined(__APPLE__) && defined(__MACH__)) /* MacOS X Framework build */ -# include <inttypes.h> +# include <sys/types.h> typedef int16_t ogg_int16_t; - typedef uint16_t ogg_uint16_t; + typedef u_int16_t ogg_uint16_t; typedef int32_t ogg_int32_t; - typedef uint32_t ogg_uint32_t; + typedef u_int32_t ogg_uint32_t; typedef int64_t ogg_int64_t; + typedef u_int64_t ogg_uint64_t; #elif defined(__HAIKU__) @@ -85,6 +87,7 @@ typedef int ogg_int32_t; typedef unsigned int ogg_uint32_t; typedef long long ogg_int64_t; + typedef unsigned long long ogg_uint64_t; #elif defined(__BEOS__) @@ -95,6 +98,7 @@ typedef int32_t ogg_int32_t; typedef uint32_t ogg_uint32_t; typedef int64_t ogg_int64_t; + typedef uint64_t ogg_uint64_t; #elif defined (__EMX__) @@ -104,6 +108,8 @@ typedef int ogg_int32_t; typedef unsigned int ogg_uint32_t; typedef long long ogg_int64_t; + typedef unsigned long long ogg_uint64_t; + #elif defined (DJGPP) @@ -112,11 +118,13 @@ typedef int ogg_int32_t; typedef unsigned int ogg_uint32_t; typedef long long ogg_int64_t; + typedef unsigned long long ogg_uint64_t; #elif defined(R5900) /* PS2 EE */ typedef long ogg_int64_t; + typedef unsigned long ogg_uint64_t; typedef int ogg_int32_t; typedef unsigned ogg_uint32_t; typedef short ogg_int16_t; @@ -129,6 +137,7 @@ typedef signed int ogg_int32_t; typedef unsigned int ogg_uint32_t; typedef long long int ogg_int64_t; + typedef unsigned long long int ogg_uint64_t; #elif defined(__TMS320C6X__) @@ -138,6 +147,7 @@ typedef signed int ogg_int32_t; typedef unsigned int ogg_uint32_t; typedef long long int ogg_int64_t; + typedef unsigned long long int ogg_uint64_t; #else diff --git a/thirdparty/libwebp/src/dec/frame_dec.c b/thirdparty/libwebp/src/dec/frame_dec.c index bda9e1a6f6..04609a8e56 100644 --- a/thirdparty/libwebp/src/dec/frame_dec.c +++ b/thirdparty/libwebp/src/dec/frame_dec.c @@ -732,7 +732,7 @@ static int AllocateMemory(VP8Decoder* const dec) { mem += f_info_size; dec->thread_ctx_.id_ = 0; dec->thread_ctx_.f_info_ = dec->f_info_; - if (dec->mt_method_ > 0) { + if (dec->filter_type_ > 0 && dec->mt_method_ > 0) { // secondary cache line. The deblocking process need to make use of the // filtering strength from previous macroblock row, while the new ones // are being decoded in parallel. We'll just swap the pointers. diff --git a/thirdparty/libwebp/src/dec/idec_dec.c b/thirdparty/libwebp/src/dec/idec_dec.c index 9bc9166808..9035df5659 100644 --- a/thirdparty/libwebp/src/dec/idec_dec.c +++ b/thirdparty/libwebp/src/dec/idec_dec.c @@ -166,9 +166,11 @@ static int AppendToMemBuffer(WebPIDecoder* const idec, VP8Decoder* const dec = (VP8Decoder*)idec->dec_; MemBuffer* const mem = &idec->mem_; const int need_compressed_alpha = NeedCompressedAlpha(idec); - const uint8_t* const old_start = mem->buf_ + mem->start_; + const uint8_t* const old_start = + (mem->buf_ == NULL) ? NULL : mem->buf_ + mem->start_; const uint8_t* const old_base = need_compressed_alpha ? dec->alpha_data_ : old_start; + assert(mem->buf_ != NULL || mem->start_ == 0); assert(mem->mode_ == MEM_MODE_APPEND); if (data_size > MAX_CHUNK_PAYLOAD) { // security safeguard: trying to allocate more than what the format @@ -184,7 +186,7 @@ static int AppendToMemBuffer(WebPIDecoder* const idec, uint8_t* const new_buf = (uint8_t*)WebPSafeMalloc(extra_size, sizeof(*new_buf)); if (new_buf == NULL) return 0; - memcpy(new_buf, old_base, current_size); + if (old_base != NULL) memcpy(new_buf, old_base, current_size); WebPSafeFree(mem->buf_); mem->buf_ = new_buf; mem->buf_size_ = (size_t)extra_size; @@ -192,6 +194,7 @@ static int AppendToMemBuffer(WebPIDecoder* const idec, mem->end_ = current_size; } + assert(mem->buf_ != NULL); memcpy(mem->buf_ + mem->end_, data, data_size); mem->end_ += data_size; assert(mem->end_ <= mem->buf_size_); @@ -204,7 +207,9 @@ static int RemapMemBuffer(WebPIDecoder* const idec, const uint8_t* const data, size_t data_size) { MemBuffer* const mem = &idec->mem_; const uint8_t* const old_buf = mem->buf_; - const uint8_t* const old_start = old_buf + mem->start_; + const uint8_t* const old_start = + (old_buf == NULL) ? NULL : old_buf + mem->start_; + assert(old_buf != NULL || mem->start_ == 0); assert(mem->mode_ == MEM_MODE_MAP); if (data_size < mem->buf_size_) return 0; // can't remap to a shorter buffer! diff --git a/thirdparty/libwebp/src/dec/quant_dec.c b/thirdparty/libwebp/src/dec/quant_dec.c index f07212ad73..a0ac018b0f 100644 --- a/thirdparty/libwebp/src/dec/quant_dec.c +++ b/thirdparty/libwebp/src/dec/quant_dec.c @@ -61,12 +61,17 @@ static const uint16_t kAcTable[128] = { void VP8ParseQuant(VP8Decoder* const dec) { VP8BitReader* const br = &dec->br_; - const int base_q0 = VP8GetValue(br, 7); - const int dqy1_dc = VP8Get(br) ? VP8GetSignedValue(br, 4) : 0; - const int dqy2_dc = VP8Get(br) ? VP8GetSignedValue(br, 4) : 0; - const int dqy2_ac = VP8Get(br) ? VP8GetSignedValue(br, 4) : 0; - const int dquv_dc = VP8Get(br) ? VP8GetSignedValue(br, 4) : 0; - const int dquv_ac = VP8Get(br) ? VP8GetSignedValue(br, 4) : 0; + const int base_q0 = VP8GetValue(br, 7, "global-header"); + const int dqy1_dc = VP8Get(br, "global-header") ? + VP8GetSignedValue(br, 4, "global-header") : 0; + const int dqy2_dc = VP8Get(br, "global-header") ? + VP8GetSignedValue(br, 4, "global-header") : 0; + const int dqy2_ac = VP8Get(br, "global-header") ? + VP8GetSignedValue(br, 4, "global-header") : 0; + const int dquv_dc = VP8Get(br, "global-header") ? + VP8GetSignedValue(br, 4, "global-header") : 0; + const int dquv_ac = VP8Get(br, "global-header") ? + VP8GetSignedValue(br, 4, "global-header") : 0; const VP8SegmentHeader* const hdr = &dec->segment_hdr_; int i; diff --git a/thirdparty/libwebp/src/dec/tree_dec.c b/thirdparty/libwebp/src/dec/tree_dec.c index 3f5a957d32..1c6fdea27c 100644 --- a/thirdparty/libwebp/src/dec/tree_dec.c +++ b/thirdparty/libwebp/src/dec/tree_dec.c @@ -296,20 +296,21 @@ static void ParseIntraMode(VP8BitReader* const br, // to decode more than 1 keyframe. if (dec->segment_hdr_.update_map_) { // Hardcoded tree parsing - block->segment_ = !VP8GetBit(br, dec->proba_.segments_[0]) - ? VP8GetBit(br, dec->proba_.segments_[1]) - : 2 + VP8GetBit(br, dec->proba_.segments_[2]); + block->segment_ = !VP8GetBit(br, dec->proba_.segments_[0], "segments") + ? VP8GetBit(br, dec->proba_.segments_[1], "segments") + : VP8GetBit(br, dec->proba_.segments_[2], "segments") + 2; } else { block->segment_ = 0; // default for intra } - if (dec->use_skip_proba_) block->skip_ = VP8GetBit(br, dec->skip_p_); + if (dec->use_skip_proba_) block->skip_ = VP8GetBit(br, dec->skip_p_, "skip"); - block->is_i4x4_ = !VP8GetBit(br, 145); // decide for B_PRED first + block->is_i4x4_ = !VP8GetBit(br, 145, "block-size"); if (!block->is_i4x4_) { // Hardcoded 16x16 intra-mode decision tree. const int ymode = - VP8GetBit(br, 156) ? (VP8GetBit(br, 128) ? TM_PRED : H_PRED) - : (VP8GetBit(br, 163) ? V_PRED : DC_PRED); + VP8GetBit(br, 156, "pred-modes") ? + (VP8GetBit(br, 128, "pred-modes") ? TM_PRED : H_PRED) : + (VP8GetBit(br, 163, "pred-modes") ? V_PRED : DC_PRED); block->imodes_[0] = ymode; memset(top, ymode, 4 * sizeof(*top)); memset(left, ymode, 4 * sizeof(*left)); @@ -323,22 +324,25 @@ static void ParseIntraMode(VP8BitReader* const br, const uint8_t* const prob = kBModesProba[top[x]][ymode]; #if (USE_GENERIC_TREE == 1) // Generic tree-parsing - int i = kYModesIntra4[VP8GetBit(br, prob[0])]; + int i = kYModesIntra4[VP8GetBit(br, prob[0], "pred-modes")]; while (i > 0) { - i = kYModesIntra4[2 * i + VP8GetBit(br, prob[i])]; + i = kYModesIntra4[2 * i + VP8GetBit(br, prob[i], "pred-modes")]; } ymode = -i; #else // Hardcoded tree parsing - ymode = !VP8GetBit(br, prob[0]) ? B_DC_PRED : - !VP8GetBit(br, prob[1]) ? B_TM_PRED : - !VP8GetBit(br, prob[2]) ? B_VE_PRED : - !VP8GetBit(br, prob[3]) ? - (!VP8GetBit(br, prob[4]) ? B_HE_PRED : - (!VP8GetBit(br, prob[5]) ? B_RD_PRED : B_VR_PRED)) : - (!VP8GetBit(br, prob[6]) ? B_LD_PRED : - (!VP8GetBit(br, prob[7]) ? B_VL_PRED : - (!VP8GetBit(br, prob[8]) ? B_HD_PRED : B_HU_PRED))); + ymode = !VP8GetBit(br, prob[0], "pred-modes") ? B_DC_PRED : + !VP8GetBit(br, prob[1], "pred-modes") ? B_TM_PRED : + !VP8GetBit(br, prob[2], "pred-modes") ? B_VE_PRED : + !VP8GetBit(br, prob[3], "pred-modes") ? + (!VP8GetBit(br, prob[4], "pred-modes") ? B_HE_PRED : + (!VP8GetBit(br, prob[5], "pred-modes") ? B_RD_PRED + : B_VR_PRED)) : + (!VP8GetBit(br, prob[6], "pred-modes") ? B_LD_PRED : + (!VP8GetBit(br, prob[7], "pred-modes") ? B_VL_PRED : + (!VP8GetBit(br, prob[8], "pred-modes") ? B_HD_PRED + : B_HU_PRED)) + ); #endif // USE_GENERIC_TREE top[x] = ymode; } @@ -348,9 +352,9 @@ static void ParseIntraMode(VP8BitReader* const br, } } // Hardcoded UVMode decision tree - block->uvmode_ = !VP8GetBit(br, 142) ? DC_PRED - : !VP8GetBit(br, 114) ? V_PRED - : VP8GetBit(br, 183) ? TM_PRED : H_PRED; + block->uvmode_ = !VP8GetBit(br, 142, "pred-modes-uv") ? DC_PRED + : !VP8GetBit(br, 114, "pred-modes-uv") ? V_PRED + : VP8GetBit(br, 183, "pred-modes-uv") ? TM_PRED : H_PRED; } int VP8ParseIntraModeRow(VP8BitReader* const br, VP8Decoder* const dec) { @@ -514,8 +518,10 @@ void VP8ParseProba(VP8BitReader* const br, VP8Decoder* const dec) { for (b = 0; b < NUM_BANDS; ++b) { for (c = 0; c < NUM_CTX; ++c) { for (p = 0; p < NUM_PROBAS; ++p) { - const int v = VP8GetBit(br, CoeffsUpdateProba[t][b][c][p]) ? - VP8GetValue(br, 8) : CoeffsProba0[t][b][c][p]; + const int v = + VP8GetBit(br, CoeffsUpdateProba[t][b][c][p], "global-header") ? + VP8GetValue(br, 8, "global-header") : + CoeffsProba0[t][b][c][p]; proba->bands_[t][b].probas_[c][p] = v; } } @@ -524,9 +530,8 @@ void VP8ParseProba(VP8BitReader* const br, VP8Decoder* const dec) { proba->bands_ptr_[t][b] = &proba->bands_[t][kBands[b]]; } } - dec->use_skip_proba_ = VP8Get(br); + dec->use_skip_proba_ = VP8Get(br, "global-header"); if (dec->use_skip_proba_) { - dec->skip_p_ = VP8GetValue(br, 8); + dec->skip_p_ = VP8GetValue(br, 8, "global-header"); } } - diff --git a/thirdparty/libwebp/src/dec/vp8_dec.c b/thirdparty/libwebp/src/dec/vp8_dec.c index c904b529f6..57efb69041 100644 --- a/thirdparty/libwebp/src/dec/vp8_dec.c +++ b/thirdparty/libwebp/src/dec/vp8_dec.c @@ -161,23 +161,26 @@ static int ParseSegmentHeader(VP8BitReader* br, VP8SegmentHeader* hdr, VP8Proba* proba) { assert(br != NULL); assert(hdr != NULL); - hdr->use_segment_ = VP8Get(br); + hdr->use_segment_ = VP8Get(br, "global-header"); if (hdr->use_segment_) { - hdr->update_map_ = VP8Get(br); - if (VP8Get(br)) { // update data + hdr->update_map_ = VP8Get(br, "global-header"); + if (VP8Get(br, "global-header")) { // update data int s; - hdr->absolute_delta_ = VP8Get(br); + hdr->absolute_delta_ = VP8Get(br, "global-header"); for (s = 0; s < NUM_MB_SEGMENTS; ++s) { - hdr->quantizer_[s] = VP8Get(br) ? VP8GetSignedValue(br, 7) : 0; + hdr->quantizer_[s] = VP8Get(br, "global-header") ? + VP8GetSignedValue(br, 7, "global-header") : 0; } for (s = 0; s < NUM_MB_SEGMENTS; ++s) { - hdr->filter_strength_[s] = VP8Get(br) ? VP8GetSignedValue(br, 6) : 0; + hdr->filter_strength_[s] = VP8Get(br, "global-header") ? + VP8GetSignedValue(br, 6, "global-header") : 0; } } if (hdr->update_map_) { int s; for (s = 0; s < MB_FEATURE_TREE_PROBS; ++s) { - proba->segments_[s] = VP8Get(br) ? VP8GetValue(br, 8) : 255u; + proba->segments_[s] = VP8Get(br, "global-header") ? + VP8GetValue(br, 8, "global-header") : 255u; } } } else { @@ -205,7 +208,7 @@ static VP8StatusCode ParsePartitions(VP8Decoder* const dec, size_t last_part; size_t p; - dec->num_parts_minus_one_ = (1 << VP8GetValue(br, 2)) - 1; + dec->num_parts_minus_one_ = (1 << VP8GetValue(br, 2, "global-header")) - 1; last_part = dec->num_parts_minus_one_; if (size < 3 * last_part) { // we can't even read the sizes with sz[]! That's a failure. @@ -229,21 +232,21 @@ static VP8StatusCode ParsePartitions(VP8Decoder* const dec, // Paragraph 9.4 static int ParseFilterHeader(VP8BitReader* br, VP8Decoder* const dec) { VP8FilterHeader* const hdr = &dec->filter_hdr_; - hdr->simple_ = VP8Get(br); - hdr->level_ = VP8GetValue(br, 6); - hdr->sharpness_ = VP8GetValue(br, 3); - hdr->use_lf_delta_ = VP8Get(br); + hdr->simple_ = VP8Get(br, "global-header"); + hdr->level_ = VP8GetValue(br, 6, "global-header"); + hdr->sharpness_ = VP8GetValue(br, 3, "global-header"); + hdr->use_lf_delta_ = VP8Get(br, "global-header"); if (hdr->use_lf_delta_) { - if (VP8Get(br)) { // update lf-delta? + if (VP8Get(br, "global-header")) { // update lf-delta? int i; for (i = 0; i < NUM_REF_LF_DELTAS; ++i) { - if (VP8Get(br)) { - hdr->ref_lf_delta_[i] = VP8GetSignedValue(br, 6); + if (VP8Get(br, "global-header")) { + hdr->ref_lf_delta_[i] = VP8GetSignedValue(br, 6, "global-header"); } } for (i = 0; i < NUM_MODE_LF_DELTAS; ++i) { - if (VP8Get(br)) { - hdr->mode_lf_delta_[i] = VP8GetSignedValue(br, 6); + if (VP8Get(br, "global-header")) { + hdr->mode_lf_delta_[i] = VP8GetSignedValue(br, 6, "global-header"); } } } @@ -352,8 +355,8 @@ int VP8GetHeaders(VP8Decoder* const dec, VP8Io* const io) { buf_size -= frm_hdr->partition_length_; if (frm_hdr->key_frame_) { - pic_hdr->colorspace_ = VP8Get(br); - pic_hdr->clamp_type_ = VP8Get(br); + pic_hdr->colorspace_ = VP8Get(br, "global-header"); + pic_hdr->clamp_type_ = VP8Get(br, "global-header"); } if (!ParseSegmentHeader(br, &dec->segment_hdr_, &dec->proba_)) { return VP8SetError(dec, VP8_STATUS_BITSTREAM_ERROR, @@ -378,7 +381,7 @@ int VP8GetHeaders(VP8Decoder* const dec, VP8Io* const io) { "Not a key frame."); } - VP8Get(br); // ignore the value of update_proba_ + VP8Get(br, "global-header"); // ignore the value of update_proba_ VP8ParseProba(br, dec); @@ -403,28 +406,28 @@ static const uint8_t kZigzag[16] = { // See section 13-2: http://tools.ietf.org/html/rfc6386#section-13.2 static int GetLargeValue(VP8BitReader* const br, const uint8_t* const p) { int v; - if (!VP8GetBit(br, p[3])) { - if (!VP8GetBit(br, p[4])) { + if (!VP8GetBit(br, p[3], "coeffs")) { + if (!VP8GetBit(br, p[4], "coeffs")) { v = 2; } else { - v = 3 + VP8GetBit(br, p[5]); + v = 3 + VP8GetBit(br, p[5], "coeffs"); } } else { - if (!VP8GetBit(br, p[6])) { - if (!VP8GetBit(br, p[7])) { - v = 5 + VP8GetBit(br, 159); + if (!VP8GetBit(br, p[6], "coeffs")) { + if (!VP8GetBit(br, p[7], "coeffs")) { + v = 5 + VP8GetBit(br, 159, "coeffs"); } else { - v = 7 + 2 * VP8GetBit(br, 165); - v += VP8GetBit(br, 145); + v = 7 + 2 * VP8GetBit(br, 165, "coeffs"); + v += VP8GetBit(br, 145, "coeffs"); } } else { const uint8_t* tab; - const int bit1 = VP8GetBit(br, p[8]); - const int bit0 = VP8GetBit(br, p[9 + bit1]); + const int bit1 = VP8GetBit(br, p[8], "coeffs"); + const int bit0 = VP8GetBit(br, p[9 + bit1], "coeffs"); const int cat = 2 * bit1 + bit0; v = 0; for (tab = kCat3456[cat]; *tab; ++tab) { - v += v + VP8GetBit(br, *tab); + v += v + VP8GetBit(br, *tab, "coeffs"); } v += 3 + (8 << cat); } @@ -438,24 +441,24 @@ static int GetCoeffsFast(VP8BitReader* const br, int ctx, const quant_t dq, int n, int16_t* out) { const uint8_t* p = prob[n]->probas_[ctx]; for (; n < 16; ++n) { - if (!VP8GetBit(br, p[0])) { + if (!VP8GetBit(br, p[0], "coeffs")) { return n; // previous coeff was last non-zero coeff } - while (!VP8GetBit(br, p[1])) { // sequence of zero coeffs + while (!VP8GetBit(br, p[1], "coeffs")) { // sequence of zero coeffs p = prob[++n]->probas_[0]; if (n == 16) return 16; } { // non zero coeff const VP8ProbaArray* const p_ctx = &prob[n + 1]->probas_[0]; int v; - if (!VP8GetBit(br, p[2])) { + if (!VP8GetBit(br, p[2], "coeffs")) { v = 1; p = p_ctx[1]; } else { v = GetLargeValue(br, p); p = p_ctx[2]; } - out[kZigzag[n]] = VP8GetSigned(br, v) * dq[n > 0]; + out[kZigzag[n]] = VP8GetSigned(br, v, "coeffs") * dq[n > 0]; } } return 16; @@ -468,24 +471,24 @@ static int GetCoeffsAlt(VP8BitReader* const br, int ctx, const quant_t dq, int n, int16_t* out) { const uint8_t* p = prob[n]->probas_[ctx]; for (; n < 16; ++n) { - if (!VP8GetBitAlt(br, p[0])) { + if (!VP8GetBitAlt(br, p[0], "coeffs")) { return n; // previous coeff was last non-zero coeff } - while (!VP8GetBitAlt(br, p[1])) { // sequence of zero coeffs + while (!VP8GetBitAlt(br, p[1], "coeffs")) { // sequence of zero coeffs p = prob[++n]->probas_[0]; if (n == 16) return 16; } { // non zero coeff const VP8ProbaArray* const p_ctx = &prob[n + 1]->probas_[0]; int v; - if (!VP8GetBitAlt(br, p[2])) { + if (!VP8GetBitAlt(br, p[2], "coeffs")) { v = 1; p = p_ctx[1]; } else { v = GetLargeValue(br, p); p = p_ctx[2]; } - out[kZigzag[n]] = VP8GetSigned(br, v) * dq[n > 0]; + out[kZigzag[n]] = VP8GetSigned(br, v, "coeffs") * dq[n > 0]; } } return 16; diff --git a/thirdparty/libwebp/src/dec/vp8i_dec.h b/thirdparty/libwebp/src/dec/vp8i_dec.h index 2d7900aae1..600a684410 100644 --- a/thirdparty/libwebp/src/dec/vp8i_dec.h +++ b/thirdparty/libwebp/src/dec/vp8i_dec.h @@ -31,8 +31,8 @@ extern "C" { // version numbers #define DEC_MAJ_VERSION 1 -#define DEC_MIN_VERSION 0 -#define DEC_REV_VERSION 2 +#define DEC_MIN_VERSION 1 +#define DEC_REV_VERSION 0 // YUV-cache parameters. Cache is 32-bytes wide (= one cacheline). // Constraints are: We need to store one 16x16 block of luma samples (y), diff --git a/thirdparty/libwebp/src/dec/vp8l_dec.c b/thirdparty/libwebp/src/dec/vp8l_dec.c index 333bb3e80d..93615d4ed2 100644 --- a/thirdparty/libwebp/src/dec/vp8l_dec.c +++ b/thirdparty/libwebp/src/dec/vp8l_dec.c @@ -362,12 +362,8 @@ static int ReadHuffmanCodes(VP8LDecoder* const dec, int xsize, int ysize, VP8LMetadata* const hdr = &dec->hdr_; uint32_t* huffman_image = NULL; HTreeGroup* htree_groups = NULL; - // When reading htrees, some might be unused, as the format allows it. - // We will still read them but put them in this htree_group_bogus. - HTreeGroup htree_group_bogus; HuffmanCode* huffman_tables = NULL; - HuffmanCode* huffman_tables_bogus = NULL; - HuffmanCode* next = NULL; + HuffmanCode* huffman_table = NULL; int num_htree_groups = 1; int num_htree_groups_max = 1; int max_alphabet_size = 0; @@ -418,12 +414,6 @@ static int ReadHuffmanCodes(VP8LDecoder* const dec, int xsize, int ysize, if (*mapped_group == -1) *mapped_group = num_htree_groups++; huffman_image[i] = *mapped_group; } - huffman_tables_bogus = (HuffmanCode*)WebPSafeMalloc( - table_size, sizeof(*huffman_tables_bogus)); - if (huffman_tables_bogus == NULL) { - dec->status_ = VP8_STATUS_OUT_OF_MEMORY; - goto Error; - } } else { num_htree_groups = num_htree_groups_max; } @@ -453,63 +443,71 @@ static int ReadHuffmanCodes(VP8LDecoder* const dec, int xsize, int ysize, goto Error; } - next = huffman_tables; + huffman_table = huffman_tables; for (i = 0; i < num_htree_groups_max; ++i) { - // If the index "i" is unused in the Huffman image, read the coefficients - // but store them to a bogus htree_group. - const int is_bogus = (mapping != NULL && mapping[i] == -1); - HTreeGroup* const htree_group = - is_bogus ? &htree_group_bogus : - &htree_groups[(mapping == NULL) ? i : mapping[i]]; - HuffmanCode** const htrees = htree_group->htrees; - HuffmanCode* huffman_tables_i = is_bogus ? huffman_tables_bogus : next; - int size; - int total_size = 0; - int is_trivial_literal = 1; - int max_bits = 0; - for (j = 0; j < HUFFMAN_CODES_PER_META_CODE; ++j) { - int alphabet_size = kAlphabetSize[j]; - htrees[j] = huffman_tables_i; - if (j == 0 && color_cache_bits > 0) { - alphabet_size += 1 << color_cache_bits; - } - size = - ReadHuffmanCode(alphabet_size, dec, code_lengths, huffman_tables_i); - if (size == 0) { - goto Error; - } - if (is_trivial_literal && kLiteralMap[j] == 1) { - is_trivial_literal = (huffman_tables_i->bits == 0); + // If the index "i" is unused in the Huffman image, just make sure the + // coefficients are valid but do not store them. + if (mapping != NULL && mapping[i] == -1) { + for (j = 0; j < HUFFMAN_CODES_PER_META_CODE; ++j) { + int alphabet_size = kAlphabetSize[j]; + if (j == 0 && color_cache_bits > 0) { + alphabet_size += (1 << color_cache_bits); + } + // Passing in NULL so that nothing gets filled. + if (!ReadHuffmanCode(alphabet_size, dec, code_lengths, NULL)) { + goto Error; + } } - total_size += huffman_tables_i->bits; - huffman_tables_i += size; - if (j <= ALPHA) { - int local_max_bits = code_lengths[0]; - int k; - for (k = 1; k < alphabet_size; ++k) { - if (code_lengths[k] > local_max_bits) { - local_max_bits = code_lengths[k]; + } else { + HTreeGroup* const htree_group = + &htree_groups[(mapping == NULL) ? i : mapping[i]]; + HuffmanCode** const htrees = htree_group->htrees; + int size; + int total_size = 0; + int is_trivial_literal = 1; + int max_bits = 0; + for (j = 0; j < HUFFMAN_CODES_PER_META_CODE; ++j) { + int alphabet_size = kAlphabetSize[j]; + htrees[j] = huffman_table; + if (j == 0 && color_cache_bits > 0) { + alphabet_size += (1 << color_cache_bits); + } + size = ReadHuffmanCode(alphabet_size, dec, code_lengths, huffman_table); + if (size == 0) { + goto Error; + } + if (is_trivial_literal && kLiteralMap[j] == 1) { + is_trivial_literal = (huffman_table->bits == 0); + } + total_size += huffman_table->bits; + huffman_table += size; + if (j <= ALPHA) { + int local_max_bits = code_lengths[0]; + int k; + for (k = 1; k < alphabet_size; ++k) { + if (code_lengths[k] > local_max_bits) { + local_max_bits = code_lengths[k]; + } } + max_bits += local_max_bits; } - max_bits += local_max_bits; } - } - if (!is_bogus) next = huffman_tables_i; - htree_group->is_trivial_literal = is_trivial_literal; - htree_group->is_trivial_code = 0; - if (is_trivial_literal) { - const int red = htrees[RED][0].value; - const int blue = htrees[BLUE][0].value; - const int alpha = htrees[ALPHA][0].value; - htree_group->literal_arb = ((uint32_t)alpha << 24) | (red << 16) | blue; - if (total_size == 0 && htrees[GREEN][0].value < NUM_LITERAL_CODES) { - htree_group->is_trivial_code = 1; - htree_group->literal_arb |= htrees[GREEN][0].value << 8; + htree_group->is_trivial_literal = is_trivial_literal; + htree_group->is_trivial_code = 0; + if (is_trivial_literal) { + const int red = htrees[RED][0].value; + const int blue = htrees[BLUE][0].value; + const int alpha = htrees[ALPHA][0].value; + htree_group->literal_arb = ((uint32_t)alpha << 24) | (red << 16) | blue; + if (total_size == 0 && htrees[GREEN][0].value < NUM_LITERAL_CODES) { + htree_group->is_trivial_code = 1; + htree_group->literal_arb |= htrees[GREEN][0].value << 8; + } } + htree_group->use_packed_table = + !htree_group->is_trivial_code && (max_bits < HUFFMAN_PACKED_BITS); + if (htree_group->use_packed_table) BuildPackedTable(htree_group); } - htree_group->use_packed_table = - !htree_group->is_trivial_code && (max_bits < HUFFMAN_PACKED_BITS); - if (htree_group->use_packed_table) BuildPackedTable(htree_group); } ok = 1; @@ -521,7 +519,6 @@ static int ReadHuffmanCodes(VP8LDecoder* const dec, int xsize, int ysize, Error: WebPSafeFree(code_lengths); - WebPSafeFree(huffman_tables_bogus); WebPSafeFree(mapping); if (!ok) { WebPSafeFree(huffman_image); @@ -757,11 +754,11 @@ static WEBP_INLINE HTreeGroup* GetHtreeGroupForPos(VP8LMetadata* const hdr, typedef void (*ProcessRowsFunc)(VP8LDecoder* const dec, int row); -static void ApplyInverseTransforms(VP8LDecoder* const dec, int num_rows, +static void ApplyInverseTransforms(VP8LDecoder* const dec, + int start_row, int num_rows, const uint32_t* const rows) { int n = dec->next_transform_; const int cache_pixs = dec->width_ * num_rows; - const int start_row = dec->last_row_; const int end_row = start_row + num_rows; const uint32_t* rows_in = rows; uint32_t* const rows_out = dec->argb_cache_; @@ -792,8 +789,7 @@ static void ProcessRows(VP8LDecoder* const dec, int row) { VP8Io* const io = dec->io_; uint8_t* rows_data = (uint8_t*)dec->argb_cache_; const int in_stride = io->width * sizeof(uint32_t); // in unit of RGBA - - ApplyInverseTransforms(dec, num_rows, rows); + ApplyInverseTransforms(dec, dec->last_row_, num_rows, rows); if (!SetCropWindow(io, dec->last_row_, row, &rows_data, in_stride)) { // Nothing to output (this time). } else { @@ -1196,6 +1192,7 @@ static int DecodeImageData(VP8LDecoder* const dec, uint32_t* const data, VP8LFillBitWindow(br); dist_code = GetCopyDistance(dist_symbol, br); dist = PlaneCodeToDistance(width, dist_code); + if (VP8LIsEndOfStream(br)) break; if (src - data < (ptrdiff_t)dist || src_end - src < (ptrdiff_t)length) { goto Error; @@ -1556,7 +1553,7 @@ static void ExtractAlphaRows(VP8LDecoder* const dec, int last_row) { const int cache_pixs = width * num_rows_to_process; uint8_t* const dst = output + width * cur_row; const uint32_t* const src = dec->argb_cache_; - ApplyInverseTransforms(dec, num_rows_to_process, in); + ApplyInverseTransforms(dec, cur_row, num_rows_to_process, in); WebPExtractGreen(src, dst, cache_pixs); AlphaApplyFilter(alph_dec, cur_row, cur_row + num_rows_to_process, dst, width); diff --git a/thirdparty/libwebp/src/dec/vp8li_dec.h b/thirdparty/libwebp/src/dec/vp8li_dec.h index 0a4d613f99..72b2e86120 100644 --- a/thirdparty/libwebp/src/dec/vp8li_dec.h +++ b/thirdparty/libwebp/src/dec/vp8li_dec.h @@ -37,7 +37,7 @@ struct VP8LTransform { int bits_; // subsampling bits defining transform window. int xsize_; // transform window X index. int ysize_; // transform window Y index. - uint32_t *data_; // transform data. + uint32_t* data_; // transform data. }; typedef struct { @@ -48,23 +48,23 @@ typedef struct { int huffman_mask_; int huffman_subsample_bits_; int huffman_xsize_; - uint32_t *huffman_image_; + uint32_t* huffman_image_; int num_htree_groups_; - HTreeGroup *htree_groups_; - HuffmanCode *huffman_tables_; + HTreeGroup* htree_groups_; + HuffmanCode* huffman_tables_; } VP8LMetadata; typedef struct VP8LDecoder VP8LDecoder; struct VP8LDecoder { VP8StatusCode status_; VP8LDecodeState state_; - VP8Io *io_; + VP8Io* io_; - const WebPDecBuffer *output_; // shortcut to io->opaque->output + const WebPDecBuffer* output_; // shortcut to io->opaque->output - uint32_t *pixels_; // Internal data: either uint8_t* for alpha + uint32_t* pixels_; // Internal data: either uint8_t* for alpha // or uint32_t* for BGRA. - uint32_t *argb_cache_; // Scratch buffer for temporary BGRA storage. + uint32_t* argb_cache_; // Scratch buffer for temporary BGRA storage. VP8LBitReader br_; int incremental_; // if true, incremental decoding is expected @@ -86,8 +86,8 @@ struct VP8LDecoder { // or'd bitset storing the transforms types. uint32_t transforms_seen_; - uint8_t *rescaler_memory; // Working memory for rescaling work. - WebPRescaler *rescaler; // Common rescaler for all channels. + uint8_t* rescaler_memory; // Working memory for rescaling work. + WebPRescaler* rescaler; // Common rescaler for all channels. }; //------------------------------------------------------------------------------ diff --git a/thirdparty/libwebp/src/demux/demux.c b/thirdparty/libwebp/src/demux/demux.c index d8f7a40a56..1b3cc2e0a8 100644 --- a/thirdparty/libwebp/src/demux/demux.c +++ b/thirdparty/libwebp/src/demux/demux.c @@ -24,8 +24,8 @@ #include "src/webp/format_constants.h" #define DMUX_MAJ_VERSION 1 -#define DMUX_MIN_VERSION 0 -#define DMUX_REV_VERSION 2 +#define DMUX_MIN_VERSION 1 +#define DMUX_REV_VERSION 0 typedef struct { size_t start_; // start location of the data diff --git a/thirdparty/libwebp/src/dsp/alpha_processing_sse2.c b/thirdparty/libwebp/src/dsp/alpha_processing_sse2.c index 76587006a1..2871c56d84 100644 --- a/thirdparty/libwebp/src/dsp/alpha_processing_sse2.c +++ b/thirdparty/libwebp/src/dsp/alpha_processing_sse2.c @@ -214,7 +214,7 @@ static void ApplyAlphaMultiply_SSE2(uint8_t* rgba, int alpha_first, // Alpha detection static int HasAlpha8b_SSE2(const uint8_t* src, int length) { - const __m128i all_0xff = _mm_set1_epi8(0xff); + const __m128i all_0xff = _mm_set1_epi8((char)0xff); int i = 0; for (; i + 16 <= length; i += 16) { const __m128i v = _mm_loadu_si128((const __m128i*)(src + i)); @@ -228,7 +228,7 @@ static int HasAlpha8b_SSE2(const uint8_t* src, int length) { static int HasAlpha32b_SSE2(const uint8_t* src, int length) { const __m128i alpha_mask = _mm_set1_epi32(0xff); - const __m128i all_0xff = _mm_set1_epi8(0xff); + const __m128i all_0xff = _mm_set1_epi8((char)0xff); int i = 0; // We don't know if we can access the last 3 bytes after the last alpha // value 'src[4 * length - 4]' (because we don't know if alpha is the first diff --git a/thirdparty/libwebp/src/dsp/cpu.c b/thirdparty/libwebp/src/dsp/cpu.c index 8b40feed29..0fa5b6a5ce 100644 --- a/thirdparty/libwebp/src/dsp/cpu.c +++ b/thirdparty/libwebp/src/dsp/cpu.c @@ -173,8 +173,8 @@ static int AndroidCPUInfo(CPUFeature feature) { const AndroidCpuFamily cpu_family = android_getCpuFamily(); const uint64_t cpu_features = android_getCpuFeatures(); if (feature == kNEON) { - return (cpu_family == ANDROID_CPU_FAMILY_ARM && - 0 != (cpu_features & ANDROID_CPU_ARM_FEATURE_NEON)); + return cpu_family == ANDROID_CPU_FAMILY_ARM && + (cpu_features & ANDROID_CPU_ARM_FEATURE_NEON) != 0; } return 0; } diff --git a/thirdparty/libwebp/src/dsp/dec_neon.c b/thirdparty/libwebp/src/dsp/dec_neon.c index ffa697fcf9..239ec4167e 100644 --- a/thirdparty/libwebp/src/dsp/dec_neon.c +++ b/thirdparty/libwebp/src/dsp/dec_neon.c @@ -1361,7 +1361,8 @@ static void RD4_NEON(uint8_t* dst) { // Down-right const uint32_t J = dst[-1 + 1 * BPS]; const uint32_t K = dst[-1 + 2 * BPS]; const uint32_t L = dst[-1 + 3 * BPS]; - const uint64x1_t LKJI____ = vcreate_u64(L | (K << 8) | (J << 16) | (I << 24)); + const uint64x1_t LKJI____ = + vcreate_u64((uint64_t)L | (K << 8) | (J << 16) | (I << 24)); const uint64x1_t LKJIXABC = vorr_u64(LKJI____, ____XABC); const uint8x8_t KJIXABC_ = vreinterpret_u8_u64(vshr_n_u64(LKJIXABC, 8)); const uint8x8_t JIXABC__ = vreinterpret_u8_u64(vshr_n_u64(LKJIXABC, 16)); @@ -1427,10 +1428,16 @@ static WEBP_INLINE void DC8_NEON(uint8_t* dst, int do_top, int do_left) { if (do_top) { const uint8x8_t A = vld1_u8(dst - BPS); // top row +#if defined(__aarch64__) + const uint16x8_t B = vmovl_u8(A); + const uint16_t p2 = vaddvq_u16(B); + sum_top = vdupq_n_u16(p2); +#else const uint16x4_t p0 = vpaddl_u8(A); // cascading summation of the top const uint16x4_t p1 = vpadd_u16(p0, p0); const uint16x4_t p2 = vpadd_u16(p1, p1); sum_top = vcombine_u16(p2, p2); +#endif } if (do_left) { diff --git a/thirdparty/libwebp/src/dsp/dec_sse2.c b/thirdparty/libwebp/src/dsp/dec_sse2.c index b3840faf3a..873aa59e8a 100644 --- a/thirdparty/libwebp/src/dsp/dec_sse2.c +++ b/thirdparty/libwebp/src/dsp/dec_sse2.c @@ -326,7 +326,7 @@ static WEBP_INLINE void Update2Pixels_SSE2(__m128i* const pi, __m128i* const qi, const __m128i a1_lo = _mm_srai_epi16(*a0_lo, 7); const __m128i a1_hi = _mm_srai_epi16(*a0_hi, 7); const __m128i delta = _mm_packs_epi16(a1_lo, a1_hi); - const __m128i sign_bit = _mm_set1_epi8(0x80); + const __m128i sign_bit = _mm_set1_epi8((char)0x80); *pi = _mm_adds_epi8(*pi, delta); *qi = _mm_subs_epi8(*qi, delta); FLIP_SIGN_BIT2(*pi, *qi); @@ -338,9 +338,9 @@ static WEBP_INLINE void NeedsFilter_SSE2(const __m128i* const p1, const __m128i* const q0, const __m128i* const q1, int thresh, __m128i* const mask) { - const __m128i m_thresh = _mm_set1_epi8(thresh); + const __m128i m_thresh = _mm_set1_epi8((char)thresh); const __m128i t1 = MM_ABS(*p1, *q1); // abs(p1 - q1) - const __m128i kFE = _mm_set1_epi8(0xFE); + const __m128i kFE = _mm_set1_epi8((char)0xFE); const __m128i t2 = _mm_and_si128(t1, kFE); // set lsb of each byte to zero const __m128i t3 = _mm_srli_epi16(t2, 1); // abs(p1 - q1) / 2 @@ -360,7 +360,7 @@ static WEBP_INLINE void DoFilter2_SSE2(__m128i* const p1, __m128i* const p0, __m128i* const q0, __m128i* const q1, int thresh) { __m128i a, mask; - const __m128i sign_bit = _mm_set1_epi8(0x80); + const __m128i sign_bit = _mm_set1_epi8((char)0x80); // convert p1/q1 to int8_t (for GetBaseDelta_SSE2) const __m128i p1s = _mm_xor_si128(*p1, sign_bit); const __m128i q1s = _mm_xor_si128(*q1, sign_bit); @@ -380,7 +380,7 @@ static WEBP_INLINE void DoFilter4_SSE2(__m128i* const p1, __m128i* const p0, const __m128i* const mask, int hev_thresh) { const __m128i zero = _mm_setzero_si128(); - const __m128i sign_bit = _mm_set1_epi8(0x80); + const __m128i sign_bit = _mm_set1_epi8((char)0x80); const __m128i k64 = _mm_set1_epi8(64); const __m128i k3 = _mm_set1_epi8(3); const __m128i k4 = _mm_set1_epi8(4); @@ -427,7 +427,7 @@ static WEBP_INLINE void DoFilter6_SSE2(__m128i* const p2, __m128i* const p1, const __m128i* const mask, int hev_thresh) { const __m128i zero = _mm_setzero_si128(); - const __m128i sign_bit = _mm_set1_epi8(0x80); + const __m128i sign_bit = _mm_set1_epi8((char)0x80); __m128i a, not_hev; // compute hev mask @@ -941,7 +941,7 @@ static void VR4_SSE2(uint8_t* dst) { // Vertical-Right const __m128i ABCD0 = _mm_srli_si128(XABCD, 1); const __m128i abcd = _mm_avg_epu8(XABCD, ABCD0); const __m128i _XABCD = _mm_slli_si128(XABCD, 1); - const __m128i IXABCD = _mm_insert_epi16(_XABCD, I | (X << 8), 0); + const __m128i IXABCD = _mm_insert_epi16(_XABCD, (short)(I | (X << 8)), 0); const __m128i avg1 = _mm_avg_epu8(IXABCD, ABCD0); const __m128i lsb = _mm_and_si128(_mm_xor_si128(IXABCD, ABCD0), one); const __m128i avg2 = _mm_subs_epu8(avg1, lsb); diff --git a/thirdparty/libwebp/src/dsp/dsp.h b/thirdparty/libwebp/src/dsp/dsp.h index fafc2d05d3..a784de334a 100644 --- a/thirdparty/libwebp/src/dsp/dsp.h +++ b/thirdparty/libwebp/src/dsp/dsp.h @@ -246,9 +246,9 @@ extern VP8Fdct VP8FTransform2; // performs two transforms at a time extern VP8WHT VP8FTransformWHT; // Predictions // *dst is the destination block. *top and *left can be NULL. -typedef void (*VP8IntraPreds)(uint8_t *dst, const uint8_t* left, +typedef void (*VP8IntraPreds)(uint8_t* dst, const uint8_t* left, const uint8_t* top); -typedef void (*VP8Intra4Preds)(uint8_t *dst, const uint8_t* top); +typedef void (*VP8Intra4Preds)(uint8_t* dst, const uint8_t* top); extern VP8Intra4Preds VP8EncPredLuma4; extern VP8IntraPreds VP8EncPredLuma16; extern VP8IntraPreds VP8EncPredChroma8; diff --git a/thirdparty/libwebp/src/dsp/enc_sse2.c b/thirdparty/libwebp/src/dsp/enc_sse2.c index 7b3f142c31..b2e78ed941 100644 --- a/thirdparty/libwebp/src/dsp/enc_sse2.c +++ b/thirdparty/libwebp/src/dsp/enc_sse2.c @@ -777,7 +777,7 @@ static WEBP_INLINE void VR4_SSE2(uint8_t* dst, const __m128i ABCD0 = _mm_srli_si128(XABCD, 1); const __m128i abcd = _mm_avg_epu8(XABCD, ABCD0); const __m128i _XABCD = _mm_slli_si128(XABCD, 1); - const __m128i IXABCD = _mm_insert_epi16(_XABCD, I | (X << 8), 0); + const __m128i IXABCD = _mm_insert_epi16(_XABCD, (short)(I | (X << 8)), 0); const __m128i avg1 = _mm_avg_epu8(IXABCD, ABCD0); const __m128i lsb = _mm_and_si128(_mm_xor_si128(IXABCD, ABCD0), one); const __m128i avg2 = _mm_subs_epu8(avg1, lsb); diff --git a/thirdparty/libwebp/src/dsp/filters.c b/thirdparty/libwebp/src/dsp/filters.c index 069a22eaef..9e910d99c9 100644 --- a/thirdparty/libwebp/src/dsp/filters.c +++ b/thirdparty/libwebp/src/dsp/filters.c @@ -33,9 +33,9 @@ static WEBP_INLINE void PredictLine_C(const uint8_t* src, const uint8_t* pred, uint8_t* dst, int length, int inverse) { int i; if (inverse) { - for (i = 0; i < length; ++i) dst[i] = src[i] + pred[i]; + for (i = 0; i < length; ++i) dst[i] = (uint8_t)(src[i] + pred[i]); } else { - for (i = 0; i < length; ++i) dst[i] = src[i] - pred[i]; + for (i = 0; i < length; ++i) dst[i] = (uint8_t)(src[i] - pred[i]); } } @@ -155,7 +155,7 @@ static WEBP_INLINE void DoGradientFilter_C(const uint8_t* in, const int pred = GradientPredictor_C(preds[w - 1], preds[w - stride], preds[w - stride - 1]); - out[w] = in[w] + (inverse ? pred : -pred); + out[w] = (uint8_t)(in[w] + (inverse ? pred : -pred)); } ++row; preds += stride; @@ -194,7 +194,7 @@ static void HorizontalUnfilter_C(const uint8_t* prev, const uint8_t* in, uint8_t pred = (prev == NULL) ? 0 : prev[0]; int i; for (i = 0; i < width; ++i) { - out[i] = pred + in[i]; + out[i] = (uint8_t)(pred + in[i]); pred = out[i]; } } @@ -206,7 +206,7 @@ static void VerticalUnfilter_C(const uint8_t* prev, const uint8_t* in, HorizontalUnfilter_C(NULL, in, out, width); } else { int i; - for (i = 0; i < width; ++i) out[i] = prev[i] + in[i]; + for (i = 0; i < width; ++i) out[i] = (uint8_t)(prev[i] + in[i]); } } #endif // !WEBP_NEON_OMIT_C_CODE @@ -220,7 +220,7 @@ static void GradientUnfilter_C(const uint8_t* prev, const uint8_t* in, int i; for (i = 0; i < width; ++i) { top = prev[i]; // need to read this first, in case prev==out - left = in[i] + GradientPredictor_C(left, top, top_left); + left = (uint8_t)(in[i] + GradientPredictor_C(left, top, top_left)); top_left = top; out[i] = left; } diff --git a/thirdparty/libwebp/src/dsp/filters_sse2.c b/thirdparty/libwebp/src/dsp/filters_sse2.c index 5a18895676..4b3f2d020f 100644 --- a/thirdparty/libwebp/src/dsp/filters_sse2.c +++ b/thirdparty/libwebp/src/dsp/filters_sse2.c @@ -163,7 +163,8 @@ static void GradientPredictDirect_SSE2(const uint8_t* const row, _mm_storel_epi64((__m128i*)(out + i), H); } for (; i < length; ++i) { - out[i] = row[i] - GradientPredictor_SSE2(row[i - 1], top[i], top[i - 1]); + const int delta = GradientPredictor_SSE2(row[i - 1], top[i], top[i - 1]); + out[i] = (uint8_t)(row[i] - delta); } } @@ -188,7 +189,7 @@ static WEBP_INLINE void DoGradientFilter_SSE2(const uint8_t* in, // Filter line-by-line. while (row < last_row) { - out[0] = in[0] - in[-stride]; + out[0] = (uint8_t)(in[0] - in[-stride]); GradientPredictDirect_SSE2(in + 1, in + 1 - stride, out + 1, width - 1); ++row; in += stride; @@ -223,7 +224,7 @@ static void HorizontalUnfilter_SSE2(const uint8_t* prev, const uint8_t* in, uint8_t* out, int width) { int i; __m128i last; - out[0] = in[0] + (prev == NULL ? 0 : prev[0]); + out[0] = (uint8_t)(in[0] + (prev == NULL ? 0 : prev[0])); if (width <= 1) return; last = _mm_set_epi32(0, 0, 0, out[0]); for (i = 1; i + 8 <= width; i += 8) { @@ -238,7 +239,7 @@ static void HorizontalUnfilter_SSE2(const uint8_t* prev, const uint8_t* in, _mm_storel_epi64((__m128i*)(out + i), A7); last = _mm_srli_epi64(A7, 56); } - for (; i < width; ++i) out[i] = in[i] + out[i - 1]; + for (; i < width; ++i) out[i] = (uint8_t)(in[i] + out[i - 1]); } static void VerticalUnfilter_SSE2(const uint8_t* prev, const uint8_t* in, @@ -259,7 +260,7 @@ static void VerticalUnfilter_SSE2(const uint8_t* prev, const uint8_t* in, _mm_storeu_si128((__m128i*)&out[i + 0], C0); _mm_storeu_si128((__m128i*)&out[i + 16], C1); } - for (; i < width; ++i) out[i] = in[i] + prev[i]; + for (; i < width; ++i) out[i] = (uint8_t)(in[i] + prev[i]); } } @@ -296,7 +297,8 @@ static void GradientPredictInverse_SSE2(const uint8_t* const in, _mm_storel_epi64((__m128i*)&row[i], out); } for (; i < length; ++i) { - row[i] = in[i] + GradientPredictor_SSE2(row[i - 1], top[i], top[i - 1]); + const int delta = GradientPredictor_SSE2(row[i - 1], top[i], top[i - 1]); + row[i] = (uint8_t)(in[i] + delta); } } } @@ -306,7 +308,7 @@ static void GradientUnfilter_SSE2(const uint8_t* prev, const uint8_t* in, if (prev == NULL) { HorizontalUnfilter_SSE2(NULL, in, out, width); } else { - out[0] = in[0] + prev[0]; // predict from above + out[0] = (uint8_t)(in[0] + prev[0]); // predict from above GradientPredictInverse_SSE2(in + 1, prev + 1, out + 1, width - 1); } } diff --git a/thirdparty/libwebp/src/dsp/lossless.c b/thirdparty/libwebp/src/dsp/lossless.c index d21aa6a0a0..aad5f43ec9 100644 --- a/thirdparty/libwebp/src/dsp/lossless.c +++ b/thirdparty/libwebp/src/dsp/lossless.c @@ -81,7 +81,7 @@ static WEBP_INLINE uint32_t ClampedAddSubtractHalf(uint32_t c0, uint32_t c1, // gcc <= 4.9 on ARM generates incorrect code in Select() when Sub3() is // inlined. -#if defined(__arm__) && LOCAL_GCC_VERSION <= 0x409 +#if defined(__arm__) && defined(__GNUC__) && LOCAL_GCC_VERSION <= 0x409 # define LOCAL_INLINE __attribute__ ((noinline)) #else # define LOCAL_INLINE WEBP_INLINE @@ -167,15 +167,20 @@ static uint32_t Predictor13_C(uint32_t left, const uint32_t* const top) { return pred; } -GENERATE_PREDICTOR_ADD(Predictor0_C, PredictorAdd0_C) +static void PredictorAdd0_C(const uint32_t* in, const uint32_t* upper, + int num_pixels, uint32_t* out) { + int x; + (void)upper; + for (x = 0; x < num_pixels; ++x) out[x] = VP8LAddPixels(in[x], ARGB_BLACK); +} static void PredictorAdd1_C(const uint32_t* in, const uint32_t* upper, int num_pixels, uint32_t* out) { int i; uint32_t left = out[-1]; + (void)upper; for (i = 0; i < num_pixels; ++i) { out[i] = left = VP8LAddPixels(in[i], left); } - (void)upper; } GENERATE_PREDICTOR_ADD(Predictor2_C, PredictorAdd2_C) GENERATE_PREDICTOR_ADD(Predictor3_C, PredictorAdd3_C) @@ -270,14 +275,14 @@ void VP8LTransformColorInverse_C(const VP8LMultipliers* const m, int i; for (i = 0; i < num_pixels; ++i) { const uint32_t argb = src[i]; - const uint32_t green = argb >> 8; + const int8_t green = (int8_t)(argb >> 8); const uint32_t red = argb >> 16; int new_red = red & 0xff; int new_blue = argb & 0xff; new_red += ColorTransformDelta(m->green_to_red_, green); new_red &= 0xff; new_blue += ColorTransformDelta(m->green_to_blue_, green); - new_blue += ColorTransformDelta(m->red_to_blue_, new_red); + new_blue += ColorTransformDelta(m->red_to_blue_, (int8_t)new_red); new_blue &= 0xff; dst[i] = (argb & 0xff00ff00u) | (new_red << 16) | (new_blue); } diff --git a/thirdparty/libwebp/src/dsp/lossless_common.h b/thirdparty/libwebp/src/dsp/lossless_common.h index a2648d1737..9c2ebe6809 100644 --- a/thirdparty/libwebp/src/dsp/lossless_common.h +++ b/thirdparty/libwebp/src/dsp/lossless_common.h @@ -177,6 +177,7 @@ uint32_t VP8LSubPixels(uint32_t a, uint32_t b) { static void PREDICTOR_ADD(const uint32_t* in, const uint32_t* upper, \ int num_pixels, uint32_t* out) { \ int x; \ + assert(upper != NULL); \ for (x = 0; x < num_pixels; ++x) { \ const uint32_t pred = (PREDICTOR)(out[x - 1], upper + x); \ out[x] = VP8LAddPixels(in[x], pred); \ @@ -189,6 +190,7 @@ static void PREDICTOR_ADD(const uint32_t* in, const uint32_t* upper, \ static void PREDICTOR_SUB(const uint32_t* in, const uint32_t* upper, \ int num_pixels, uint32_t* out) { \ int x; \ + assert(upper != NULL); \ for (x = 0; x < num_pixels; ++x) { \ const uint32_t pred = (PREDICTOR)(in[x - 1], upper + x); \ out[x] = VP8LSubPixels(in[x], pred); \ diff --git a/thirdparty/libwebp/src/dsp/lossless_enc.c b/thirdparty/libwebp/src/dsp/lossless_enc.c index 1408fbf580..9c36055afc 100644 --- a/thirdparty/libwebp/src/dsp/lossless_enc.c +++ b/thirdparty/libwebp/src/dsp/lossless_enc.c @@ -515,13 +515,17 @@ static WEBP_INLINE int ColorTransformDelta(int8_t color_pred, int8_t color) { return ((int)color_pred * color) >> 5; } +static WEBP_INLINE int8_t U32ToS8(uint32_t v) { + return (int8_t)(v & 0xff); +} + void VP8LTransformColor_C(const VP8LMultipliers* const m, uint32_t* data, int num_pixels) { int i; for (i = 0; i < num_pixels; ++i) { const uint32_t argb = data[i]; - const uint32_t green = argb >> 8; - const uint32_t red = argb >> 16; + const int8_t green = U32ToS8(argb >> 8); + const int8_t red = U32ToS8(argb >> 16); int new_red = red & 0xff; int new_blue = argb & 0xff; new_red -= ColorTransformDelta(m->green_to_red_, green); @@ -535,7 +539,7 @@ void VP8LTransformColor_C(const VP8LMultipliers* const m, uint32_t* data, static WEBP_INLINE uint8_t TransformColorRed(uint8_t green_to_red, uint32_t argb) { - const uint32_t green = argb >> 8; + const int8_t green = U32ToS8(argb >> 8); int new_red = argb >> 16; new_red -= ColorTransformDelta(green_to_red, green); return (new_red & 0xff); @@ -544,9 +548,9 @@ static WEBP_INLINE uint8_t TransformColorRed(uint8_t green_to_red, static WEBP_INLINE uint8_t TransformColorBlue(uint8_t green_to_blue, uint8_t red_to_blue, uint32_t argb) { - const uint32_t green = argb >> 8; - const uint32_t red = argb >> 16; - uint8_t new_blue = argb; + const int8_t green = U32ToS8(argb >> 8); + const int8_t red = U32ToS8(argb >> 16); + uint8_t new_blue = argb & 0xff; new_blue -= ColorTransformDelta(green_to_blue, green); new_blue -= ColorTransformDelta(red_to_blue, red); return (new_blue & 0xff); @@ -558,7 +562,7 @@ void VP8LCollectColorRedTransforms_C(const uint32_t* argb, int stride, while (tile_height-- > 0) { int x; for (x = 0; x < tile_width; ++x) { - ++histo[TransformColorRed(green_to_red, argb[x])]; + ++histo[TransformColorRed((uint8_t)green_to_red, argb[x])]; } argb += stride; } @@ -571,7 +575,8 @@ void VP8LCollectColorBlueTransforms_C(const uint32_t* argb, int stride, while (tile_height-- > 0) { int x; for (x = 0; x < tile_width; ++x) { - ++histo[TransformColorBlue(green_to_blue, red_to_blue, argb[x])]; + ++histo[TransformColorBlue((uint8_t)green_to_blue, (uint8_t)red_to_blue, + argb[x])]; } argb += stride; } diff --git a/thirdparty/libwebp/src/dsp/lossless_enc_sse2.c b/thirdparty/libwebp/src/dsp/lossless_enc_sse2.c index 36478c4912..e676f6fdc9 100644 --- a/thirdparty/libwebp/src/dsp/lossless_enc_sse2.c +++ b/thirdparty/libwebp/src/dsp/lossless_enc_sse2.c @@ -363,7 +363,7 @@ static void BundleColorMap_SSE2(const uint8_t* const row, int width, int xbits, assert(xbits <= 3); switch (xbits) { case 0: { - const __m128i ff = _mm_set1_epi16(0xff00); + const __m128i ff = _mm_set1_epi16((short)0xff00); const __m128i zero = _mm_setzero_si128(); // Store 0xff000000 | (row[x] << 8). for (x = 0; x + 16 <= width; x += 16, dst += 16) { @@ -382,7 +382,7 @@ static void BundleColorMap_SSE2(const uint8_t* const row, int width, int xbits, break; } case 1: { - const __m128i ff = _mm_set1_epi16(0xff00); + const __m128i ff = _mm_set1_epi16((short)0xff00); const __m128i mul = _mm_set1_epi16(0x110); for (x = 0; x + 16 <= width; x += 16, dst += 8) { // 0a0b | (where a/b are 4 bits). @@ -455,8 +455,9 @@ static void PredictorSub0_SSE2(const uint32_t* in, const uint32_t* upper, _mm_storeu_si128((__m128i*)&out[i], res); } if (i != num_pixels) { - VP8LPredictorsSub_C[0](in + i, upper + i, num_pixels - i, out + i); + VP8LPredictorsSub_C[0](in + i, NULL, num_pixels - i, out + i); } + (void)upper; } #define GENERATE_PREDICTOR_1(X, IN) \ diff --git a/thirdparty/libwebp/src/dsp/lossless_enc_sse41.c b/thirdparty/libwebp/src/dsp/lossless_enc_sse41.c index 2e12a712eb..719d8ed25e 100644 --- a/thirdparty/libwebp/src/dsp/lossless_enc_sse41.c +++ b/thirdparty/libwebp/src/dsp/lossless_enc_sse41.c @@ -51,9 +51,9 @@ static void CollectColorBlueTransforms_SSE41(const uint32_t* argb, int stride, int histo[]) { const __m128i mults_r = _mm_set1_epi16(CST_5b(red_to_blue)); const __m128i mults_g = _mm_set1_epi16(CST_5b(green_to_blue)); - const __m128i mask_g = _mm_set1_epi16(0xff00); // green mask - const __m128i mask_gb = _mm_set1_epi32(0xffff); // green/blue mask - const __m128i mask_b = _mm_set1_epi16(0x00ff); // blue mask + const __m128i mask_g = _mm_set1_epi16((short)0xff00); // green mask + const __m128i mask_gb = _mm_set1_epi32(0xffff); // green/blue mask + const __m128i mask_b = _mm_set1_epi16(0x00ff); // blue mask const __m128i shuffler_lo = _mm_setr_epi8(-1, 2, -1, 6, -1, 10, -1, 14, -1, -1, -1, -1, -1, -1, -1, -1); const __m128i shuffler_hi = _mm_setr_epi8(-1, -1, -1, -1, -1, -1, -1, -1, -1, diff --git a/thirdparty/libwebp/src/dsp/lossless_sse2.c b/thirdparty/libwebp/src/dsp/lossless_sse2.c index 17d7576419..aef0cee1b3 100644 --- a/thirdparty/libwebp/src/dsp/lossless_sse2.c +++ b/thirdparty/libwebp/src/dsp/lossless_sse2.c @@ -191,8 +191,9 @@ static void PredictorAdd0_SSE2(const uint32_t* in, const uint32_t* upper, _mm_storeu_si128((__m128i*)&out[i], res); } if (i != num_pixels) { - VP8LPredictorsAdd_C[0](in + i, upper + i, num_pixels - i, out + i); + VP8LPredictorsAdd_C[0](in + i, NULL, num_pixels - i, out + i); } + (void)upper; } // Predictor1: left. diff --git a/thirdparty/libwebp/src/dsp/quant.h b/thirdparty/libwebp/src/dsp/quant.h index 5ba6f9c377..5e8dba8d19 100644 --- a/thirdparty/libwebp/src/dsp/quant.h +++ b/thirdparty/libwebp/src/dsp/quant.h @@ -10,6 +10,8 @@ #ifndef WEBP_DSP_QUANT_H_ #define WEBP_DSP_QUANT_H_ +#include <string.h> + #include "src/dsp/dsp.h" #include "src/webp/types.h" @@ -67,4 +69,17 @@ static WEBP_INLINE int IsFlat(const int16_t* levels, int num_blocks, #endif // defined(WEBP_USE_NEON) && !defined(WEBP_ANDROID_NEON) && // !defined(WEBP_HAVE_NEON_RTCD) +static WEBP_INLINE int IsFlatSource16(const uint8_t* src) { + const uint32_t v = src[0] * 0x01010101u; + int i; + for (i = 0; i < 16; ++i) { + if (memcmp(src + 0, &v, 4) || memcmp(src + 4, &v, 4) || + memcmp(src + 8, &v, 4) || memcmp(src + 12, &v, 4)) { + return 0; + } + src += BPS; + } + return 1; +} + #endif // WEBP_DSP_QUANT_H_ diff --git a/thirdparty/libwebp/src/dsp/rescaler.c b/thirdparty/libwebp/src/dsp/rescaler.c index 753f84fcf4..c5a01e82df 100644 --- a/thirdparty/libwebp/src/dsp/rescaler.c +++ b/thirdparty/libwebp/src/dsp/rescaler.c @@ -109,8 +109,7 @@ void WebPRescalerExportRowExpand_C(WebPRescaler* const wrk) { for (x_out = 0; x_out < x_out_max; ++x_out) { const uint32_t J = frow[x_out]; const int v = (int)MULT_FIX(J, wrk->fy_scale); - assert(v >= 0 && v <= 255); - dst[x_out] = v; + dst[x_out] = (v > 255) ? 255u : (uint8_t)v; } } else { const uint32_t B = WEBP_RESCALER_FRAC(-wrk->y_accum, wrk->y_sub); @@ -120,8 +119,7 @@ void WebPRescalerExportRowExpand_C(WebPRescaler* const wrk) { + (uint64_t)B * irow[x_out]; const uint32_t J = (uint32_t)((I + ROUNDER) >> WEBP_RESCALER_RFIX); const int v = (int)MULT_FIX(J, wrk->fy_scale); - assert(v >= 0 && v <= 255); - dst[x_out] = v; + dst[x_out] = (v > 255) ? 255u : (uint8_t)v; } } } @@ -138,17 +136,15 @@ void WebPRescalerExportRowShrink_C(WebPRescaler* const wrk) { assert(!wrk->y_expand); if (yscale) { for (x_out = 0; x_out < x_out_max; ++x_out) { - const uint32_t frac = (uint32_t)MULT_FIX(frow[x_out], yscale); - const int v = (int)MULT_FIX_FLOOR(irow[x_out] - frac, wrk->fxy_scale); - assert(v >= 0 && v <= 255); - dst[x_out] = v; + const uint32_t frac = (uint32_t)MULT_FIX_FLOOR(frow[x_out], yscale); + const int v = (int)MULT_FIX(irow[x_out] - frac, wrk->fxy_scale); + dst[x_out] = (v > 255) ? 255u : (uint8_t)v; irow[x_out] = frac; // new fractional start } } else { for (x_out = 0; x_out < x_out_max; ++x_out) { const int v = (int)MULT_FIX(irow[x_out], wrk->fxy_scale); - assert(v >= 0 && v <= 255); - dst[x_out] = v; + dst[x_out] = (v > 255) ? 255u : (uint8_t)v; irow[x_out] = 0; } } diff --git a/thirdparty/libwebp/src/dsp/rescaler_mips_dsp_r2.c b/thirdparty/libwebp/src/dsp/rescaler_mips_dsp_r2.c index ce9e64862e..419b741fa5 100644 --- a/thirdparty/libwebp/src/dsp/rescaler_mips_dsp_r2.c +++ b/thirdparty/libwebp/src/dsp/rescaler_mips_dsp_r2.c @@ -107,10 +107,9 @@ static void ExportRowShrink_MIPSdspR2(WebPRescaler* const wrk) { ); } for (i = 0; i < (x_out_max & 0x3); ++i) { - const uint32_t frac = (uint32_t)MULT_FIX(*frow++, yscale); - const int v = (int)MULT_FIX_FLOOR(*irow - frac, wrk->fxy_scale); - assert(v >= 0 && v <= 255); - *dst++ = v; + const uint32_t frac = (uint32_t)MULT_FIX_FLOOR(*frow++, yscale); + const int v = (int)MULT_FIX(*irow - frac, wrk->fxy_scale); + *dst++ = (v > 255) ? 255u : (uint8_t)v; *irow++ = frac; // new fractional start } } else { @@ -157,8 +156,7 @@ static void ExportRowShrink_MIPSdspR2(WebPRescaler* const wrk) { } for (i = 0; i < (x_out_max & 0x3); ++i) { const int v = (int)MULT_FIX_FLOOR(*irow, wrk->fxy_scale); - assert(v >= 0 && v <= 255); - *dst++ = v; + *dst++ = (v > 255) ? 255u : (uint8_t)v; *irow++ = 0; } } @@ -219,8 +217,7 @@ static void ExportRowExpand_MIPSdspR2(WebPRescaler* const wrk) { for (i = 0; i < (x_out_max & 0x3); ++i) { const uint32_t J = *frow++; const int v = (int)MULT_FIX(J, wrk->fy_scale); - assert(v >= 0 && v <= 255); - *dst++ = v; + *dst++ = (v > 255) ? 255u : (uint8_t)v; } } else { const uint32_t B = WEBP_RESCALER_FRAC(-wrk->y_accum, wrk->y_sub); @@ -291,8 +288,7 @@ static void ExportRowExpand_MIPSdspR2(WebPRescaler* const wrk) { + (uint64_t)B * *irow++; const uint32_t J = (uint32_t)((I + ROUNDER) >> WEBP_RESCALER_RFIX); const int v = (int)MULT_FIX(J, wrk->fy_scale); - assert(v >= 0 && v <= 255); - *dst++ = v; + *dst++ = (v > 255) ? 255u : (uint8_t)v; } } } diff --git a/thirdparty/libwebp/src/dsp/rescaler_msa.c b/thirdparty/libwebp/src/dsp/rescaler_msa.c index c559254836..256dbdd437 100644 --- a/thirdparty/libwebp/src/dsp/rescaler_msa.c +++ b/thirdparty/libwebp/src/dsp/rescaler_msa.c @@ -166,8 +166,7 @@ static WEBP_INLINE void ExportRowExpand_0(const uint32_t* frow, uint8_t* dst, for (x_out = 0; x_out < length; ++x_out) { const uint32_t J = frow[x_out]; const int v = (int)MULT_FIX(J, wrk->fy_scale); - assert(v >= 0 && v <= 255); - dst[x_out] = v; + dst[x_out] = (v > 255) ? 255u : (uint8_t)v; } } } @@ -241,8 +240,7 @@ static WEBP_INLINE void ExportRowExpand_1(const uint32_t* frow, uint32_t* irow, + (uint64_t)B * irow[x_out]; const uint32_t J = (uint32_t)((I + ROUNDER) >> WEBP_RESCALER_RFIX); const int v = (int)MULT_FIX(J, wrk->fy_scale); - assert(v >= 0 && v <= 255); - dst[x_out] = v; + dst[x_out] = (v > 255) ? 255u : (uint8_t)v; } } } @@ -342,10 +340,9 @@ static WEBP_INLINE void ExportRowShrink_0(const uint32_t* frow, uint32_t* irow, length -= 4; } for (x_out = 0; x_out < length; ++x_out) { - const uint32_t frac = (uint32_t)MULT_FIX(frow[x_out], yscale); - const int v = (int)MULT_FIX_FLOOR(irow[x_out] - frac, wrk->fxy_scale); - assert(v >= 0 && v <= 255); - dst[x_out] = v; + const uint32_t frac = (uint32_t)MULT_FIX_FLOOR(frow[x_out], yscale); + const int v = (int)MULT_FIX(irow[x_out] - frac, wrk->fxy_scale); + dst[x_out] = (v > 255) ? 255u : (uint8_t)v; irow[x_out] = frac; } } @@ -406,8 +403,7 @@ static WEBP_INLINE void ExportRowShrink_1(uint32_t* irow, uint8_t* dst, } for (x_out = 0; x_out < length; ++x_out) { const int v = (int)MULT_FIX(irow[x_out], wrk->fxy_scale); - assert(v >= 0 && v <= 255); - dst[x_out] = v; + dst[x_out] = (v > 255) ? 255u : (uint8_t)v; irow[x_out] = 0; } } diff --git a/thirdparty/libwebp/src/dsp/rescaler_neon.c b/thirdparty/libwebp/src/dsp/rescaler_neon.c index a553f06f79..b976a852cf 100644 --- a/thirdparty/libwebp/src/dsp/rescaler_neon.c +++ b/thirdparty/libwebp/src/dsp/rescaler_neon.c @@ -81,14 +81,13 @@ static void RescalerExportRowExpand_NEON(WebPRescaler* const wrk) { const uint32x4_t B1 = MULT_FIX(A1, fy_scale_half); const uint16x4_t C0 = vmovn_u32(B0); const uint16x4_t C1 = vmovn_u32(B1); - const uint8x8_t D = vmovn_u16(vcombine_u16(C0, C1)); + const uint8x8_t D = vqmovn_u16(vcombine_u16(C0, C1)); vst1_u8(dst + x_out, D); } for (; x_out < x_out_max; ++x_out) { const uint32_t J = frow[x_out]; const int v = (int)MULT_FIX_C(J, fy_scale); - assert(v >= 0 && v <= 255); - dst[x_out] = v; + dst[x_out] = (v > 255) ? 255u : (uint8_t)v; } } else { const uint32_t B = WEBP_RESCALER_FRAC(-wrk->y_accum, wrk->y_sub); @@ -102,7 +101,7 @@ static void RescalerExportRowExpand_NEON(WebPRescaler* const wrk) { const uint32x4_t D1 = MULT_FIX(C1, fy_scale_half); const uint16x4_t E0 = vmovn_u32(D0); const uint16x4_t E1 = vmovn_u32(D1); - const uint8x8_t F = vmovn_u16(vcombine_u16(E0, E1)); + const uint8x8_t F = vqmovn_u16(vcombine_u16(E0, E1)); vst1_u8(dst + x_out, F); } for (; x_out < x_out_max; ++x_out) { @@ -110,8 +109,7 @@ static void RescalerExportRowExpand_NEON(WebPRescaler* const wrk) { + (uint64_t)B * irow[x_out]; const uint32_t J = (uint32_t)((I + ROUNDER) >> WEBP_RESCALER_RFIX); const int v = (int)MULT_FIX_C(J, fy_scale); - assert(v >= 0 && v <= 255); - dst[x_out] = v; + dst[x_out] = (v > 255) ? 255u : (uint8_t)v; } } } @@ -135,23 +133,22 @@ static void RescalerExportRowShrink_NEON(WebPRescaler* const wrk) { for (x_out = 0; x_out < max_span; x_out += 8) { LOAD_32x8(frow + x_out, in0, in1); LOAD_32x8(irow + x_out, in2, in3); - const uint32x4_t A0 = MULT_FIX(in0, yscale_half); - const uint32x4_t A1 = MULT_FIX(in1, yscale_half); + const uint32x4_t A0 = MULT_FIX_FLOOR(in0, yscale_half); + const uint32x4_t A1 = MULT_FIX_FLOOR(in1, yscale_half); const uint32x4_t B0 = vqsubq_u32(in2, A0); const uint32x4_t B1 = vqsubq_u32(in3, A1); - const uint32x4_t C0 = MULT_FIX_FLOOR(B0, fxy_scale_half); - const uint32x4_t C1 = MULT_FIX_FLOOR(B1, fxy_scale_half); + const uint32x4_t C0 = MULT_FIX(B0, fxy_scale_half); + const uint32x4_t C1 = MULT_FIX(B1, fxy_scale_half); const uint16x4_t D0 = vmovn_u32(C0); const uint16x4_t D1 = vmovn_u32(C1); - const uint8x8_t E = vmovn_u16(vcombine_u16(D0, D1)); + const uint8x8_t E = vqmovn_u16(vcombine_u16(D0, D1)); vst1_u8(dst + x_out, E); STORE_32x8(A0, A1, irow + x_out); } for (; x_out < x_out_max; ++x_out) { - const uint32_t frac = (uint32_t)MULT_FIX_C(frow[x_out], yscale); - const int v = (int)MULT_FIX_FLOOR_C(irow[x_out] - frac, fxy_scale); - assert(v >= 0 && v <= 255); - dst[x_out] = v; + const uint32_t frac = (uint32_t)MULT_FIX_FLOOR_C(frow[x_out], yscale); + const int v = (int)MULT_FIX_C(irow[x_out] - frac, fxy_scale); + dst[x_out] = (v > 255) ? 255u : (uint8_t)v; irow[x_out] = frac; // new fractional start } } else { @@ -161,14 +158,13 @@ static void RescalerExportRowShrink_NEON(WebPRescaler* const wrk) { const uint32x4_t A1 = MULT_FIX(in1, fxy_scale_half); const uint16x4_t B0 = vmovn_u32(A0); const uint16x4_t B1 = vmovn_u32(A1); - const uint8x8_t C = vmovn_u16(vcombine_u16(B0, B1)); + const uint8x8_t C = vqmovn_u16(vcombine_u16(B0, B1)); vst1_u8(dst + x_out, C); STORE_32x8(zero, zero, irow + x_out); } for (; x_out < x_out_max; ++x_out) { const int v = (int)MULT_FIX_C(irow[x_out], fxy_scale); - assert(v >= 0 && v <= 255); - dst[x_out] = v; + dst[x_out] = (v > 255) ? 255u : (uint8_t)v; irow[x_out] = 0; } } diff --git a/thirdparty/libwebp/src/dsp/rescaler_sse2.c b/thirdparty/libwebp/src/dsp/rescaler_sse2.c index f7461a452c..d7effea16e 100644 --- a/thirdparty/libwebp/src/dsp/rescaler_sse2.c +++ b/thirdparty/libwebp/src/dsp/rescaler_sse2.c @@ -225,35 +225,6 @@ static WEBP_INLINE void ProcessRow_SSE2(const __m128i* const A0, _mm_storel_epi64((__m128i*)dst, G); } -static WEBP_INLINE void ProcessRow_Floor_SSE2(const __m128i* const A0, - const __m128i* const A1, - const __m128i* const A2, - const __m128i* const A3, - const __m128i* const mult, - uint8_t* const dst) { - const __m128i mask = _mm_set_epi32(0xffffffffu, 0, 0xffffffffu, 0); - const __m128i B0 = _mm_mul_epu32(*A0, *mult); - const __m128i B1 = _mm_mul_epu32(*A1, *mult); - const __m128i B2 = _mm_mul_epu32(*A2, *mult); - const __m128i B3 = _mm_mul_epu32(*A3, *mult); - const __m128i D0 = _mm_srli_epi64(B0, WEBP_RESCALER_RFIX); - const __m128i D1 = _mm_srli_epi64(B1, WEBP_RESCALER_RFIX); -#if (WEBP_RESCALER_RFIX < 32) - const __m128i D2 = - _mm_and_si128(_mm_slli_epi64(B2, 32 - WEBP_RESCALER_RFIX), mask); - const __m128i D3 = - _mm_and_si128(_mm_slli_epi64(B3, 32 - WEBP_RESCALER_RFIX), mask); -#else - const __m128i D2 = _mm_and_si128(B2, mask); - const __m128i D3 = _mm_and_si128(B3, mask); -#endif - const __m128i E0 = _mm_or_si128(D0, D2); - const __m128i E1 = _mm_or_si128(D1, D3); - const __m128i F = _mm_packs_epi32(E0, E1); - const __m128i G = _mm_packus_epi16(F, F); - _mm_storel_epi64((__m128i*)dst, G); -} - static void RescalerExportRowExpand_SSE2(WebPRescaler* const wrk) { int x_out; uint8_t* const dst = wrk->dst; @@ -274,8 +245,7 @@ static void RescalerExportRowExpand_SSE2(WebPRescaler* const wrk) { for (; x_out < x_out_max; ++x_out) { const uint32_t J = frow[x_out]; const int v = (int)MULT_FIX(J, wrk->fy_scale); - assert(v >= 0 && v <= 255); - dst[x_out] = v; + dst[x_out] = (v > 255) ? 255u : (uint8_t)v; } } else { const uint32_t B = WEBP_RESCALER_FRAC(-wrk->y_accum, wrk->y_sub); @@ -308,8 +278,7 @@ static void RescalerExportRowExpand_SSE2(WebPRescaler* const wrk) { + (uint64_t)B * irow[x_out]; const uint32_t J = (uint32_t)((I + ROUNDER) >> WEBP_RESCALER_RFIX); const int v = (int)MULT_FIX(J, wrk->fy_scale); - assert(v >= 0 && v <= 255); - dst[x_out] = v; + dst[x_out] = (v > 255) ? 255u : (uint8_t)v; } } } @@ -328,20 +297,15 @@ static void RescalerExportRowShrink_SSE2(WebPRescaler* const wrk) { const int scale_xy = wrk->fxy_scale; const __m128i mult_xy = _mm_set_epi32(0, scale_xy, 0, scale_xy); const __m128i mult_y = _mm_set_epi32(0, yscale, 0, yscale); - const __m128i rounder = _mm_set_epi32(0, ROUNDER, 0, ROUNDER); for (x_out = 0; x_out + 8 <= x_out_max; x_out += 8) { __m128i A0, A1, A2, A3, B0, B1, B2, B3; LoadDispatchAndMult_SSE2(irow + x_out, NULL, &A0, &A1, &A2, &A3); LoadDispatchAndMult_SSE2(frow + x_out, &mult_y, &B0, &B1, &B2, &B3); { - const __m128i C0 = _mm_add_epi64(B0, rounder); - const __m128i C1 = _mm_add_epi64(B1, rounder); - const __m128i C2 = _mm_add_epi64(B2, rounder); - const __m128i C3 = _mm_add_epi64(B3, rounder); - const __m128i D0 = _mm_srli_epi64(C0, WEBP_RESCALER_RFIX); // = frac - const __m128i D1 = _mm_srli_epi64(C1, WEBP_RESCALER_RFIX); - const __m128i D2 = _mm_srli_epi64(C2, WEBP_RESCALER_RFIX); - const __m128i D3 = _mm_srli_epi64(C3, WEBP_RESCALER_RFIX); + const __m128i D0 = _mm_srli_epi64(B0, WEBP_RESCALER_RFIX); // = frac + const __m128i D1 = _mm_srli_epi64(B1, WEBP_RESCALER_RFIX); + const __m128i D2 = _mm_srli_epi64(B2, WEBP_RESCALER_RFIX); + const __m128i D3 = _mm_srli_epi64(B3, WEBP_RESCALER_RFIX); const __m128i E0 = _mm_sub_epi64(A0, D0); // irow[x] - frac const __m128i E1 = _mm_sub_epi64(A1, D1); const __m128i E2 = _mm_sub_epi64(A2, D2); @@ -352,14 +316,13 @@ static void RescalerExportRowShrink_SSE2(WebPRescaler* const wrk) { const __m128i G1 = _mm_or_si128(D1, F3); _mm_storeu_si128((__m128i*)(irow + x_out + 0), G0); _mm_storeu_si128((__m128i*)(irow + x_out + 4), G1); - ProcessRow_Floor_SSE2(&E0, &E1, &E2, &E3, &mult_xy, dst + x_out); + ProcessRow_SSE2(&E0, &E1, &E2, &E3, &mult_xy, dst + x_out); } } for (; x_out < x_out_max; ++x_out) { - const uint32_t frac = (int)MULT_FIX(frow[x_out], yscale); - const int v = (int)MULT_FIX_FLOOR(irow[x_out] - frac, wrk->fxy_scale); - assert(v >= 0 && v <= 255); - dst[x_out] = v; + const uint32_t frac = (int)MULT_FIX_FLOOR(frow[x_out], yscale); + const int v = (int)MULT_FIX(irow[x_out] - frac, wrk->fxy_scale); + dst[x_out] = (v > 255) ? 255u : (uint8_t)v; irow[x_out] = frac; // new fractional start } } else { @@ -375,8 +338,7 @@ static void RescalerExportRowShrink_SSE2(WebPRescaler* const wrk) { } for (; x_out < x_out_max; ++x_out) { const int v = (int)MULT_FIX(irow[x_out], scale); - assert(v >= 0 && v <= 255); - dst[x_out] = v; + dst[x_out] = (v > 255) ? 255u : (uint8_t)v; irow[x_out] = 0; } } diff --git a/thirdparty/libwebp/src/dsp/upsampling_msa.c b/thirdparty/libwebp/src/dsp/upsampling_msa.c index 99eea70e7d..f2e03e85e9 100644 --- a/thirdparty/libwebp/src/dsp/upsampling_msa.c +++ b/thirdparty/libwebp/src/dsp/upsampling_msa.c @@ -576,9 +576,9 @@ static void FUNC_NAME(const uint8_t* top_y, const uint8_t* bot_y, \ const uint32_t l_uv = ((cur_u[0]) | ((cur_v[0]) << 16)); \ const uint32_t uv0 = (3 * tl_uv + l_uv + 0x00020002u) >> 2; \ const uint8_t* ptop_y = &top_y[1]; \ - uint8_t *ptop_dst = top_dst + XSTEP; \ + uint8_t* ptop_dst = top_dst + XSTEP; \ const uint8_t* pbot_y = &bot_y[1]; \ - uint8_t *pbot_dst = bot_dst + XSTEP; \ + uint8_t* pbot_dst = bot_dst + XSTEP; \ \ FUNC(top_y[0], uv0 & 0xff, (uv0 >> 16), top_dst); \ if (bot_y != NULL) { \ diff --git a/thirdparty/libwebp/src/dsp/upsampling_neon.c b/thirdparty/libwebp/src/dsp/upsampling_neon.c index 17cbc9f911..6ba71a7de5 100644 --- a/thirdparty/libwebp/src/dsp/upsampling_neon.c +++ b/thirdparty/libwebp/src/dsp/upsampling_neon.c @@ -58,8 +58,8 @@ } while (0) // Turn the macro into a function for reducing code-size when non-critical -static void Upsample16Pixels_NEON(const uint8_t *r1, const uint8_t *r2, - uint8_t *out) { +static void Upsample16Pixels_NEON(const uint8_t* r1, const uint8_t* r2, + uint8_t* out) { UPSAMPLE_16PIXELS(r1, r2, out); } @@ -190,14 +190,14 @@ static const int16_t kCoeffs1[4] = { 19077, 26149, 6419, 13320 }; } #define NEON_UPSAMPLE_FUNC(FUNC_NAME, FMT, XSTEP) \ -static void FUNC_NAME(const uint8_t *top_y, const uint8_t *bottom_y, \ - const uint8_t *top_u, const uint8_t *top_v, \ - const uint8_t *cur_u, const uint8_t *cur_v, \ - uint8_t *top_dst, uint8_t *bottom_dst, int len) { \ +static void FUNC_NAME(const uint8_t* top_y, const uint8_t* bottom_y, \ + const uint8_t* top_u, const uint8_t* top_v, \ + const uint8_t* cur_u, const uint8_t* cur_v, \ + uint8_t* top_dst, uint8_t* bottom_dst, int len) { \ int block; \ /* 16 byte aligned array to cache reconstructed u and v */ \ uint8_t uv_buf[2 * 32 + 15]; \ - uint8_t *const r_uv = (uint8_t*)((uintptr_t)(uv_buf + 15) & ~15); \ + uint8_t* const r_uv = (uint8_t*)((uintptr_t)(uv_buf + 15) & ~15); \ const int uv_len = (len + 1) >> 1; \ /* 9 pixels must be read-able for each block */ \ const int num_blocks = (uv_len - 1) >> 3; \ diff --git a/thirdparty/libwebp/src/enc/backward_references_enc.c b/thirdparty/libwebp/src/enc/backward_references_enc.c index 3ab7b0ac7d..d445b40fc5 100644 --- a/thirdparty/libwebp/src/enc/backward_references_enc.c +++ b/thirdparty/libwebp/src/enc/backward_references_enc.c @@ -191,13 +191,14 @@ void VP8LHashChainClear(VP8LHashChain* const p) { // ----------------------------------------------------------------------------- -#define HASH_MULTIPLIER_HI (0xc6a4a793ULL) -#define HASH_MULTIPLIER_LO (0x5bd1e996ULL) +static const uint32_t kHashMultiplierHi = 0xc6a4a793u; +static const uint32_t kHashMultiplierLo = 0x5bd1e996u; -static WEBP_INLINE uint32_t GetPixPairHash64(const uint32_t* const argb) { +static WEBP_UBSAN_IGNORE_UNSIGNED_OVERFLOW WEBP_INLINE +uint32_t GetPixPairHash64(const uint32_t* const argb) { uint32_t key; - key = (argb[1] * HASH_MULTIPLIER_HI) & 0xffffffffu; - key += (argb[0] * HASH_MULTIPLIER_LO) & 0xffffffffu; + key = argb[1] * kHashMultiplierHi; + key += argb[0] * kHashMultiplierLo; key = key >> (32 - HASH_BITS); return key; } diff --git a/thirdparty/libwebp/src/enc/histogram_enc.c b/thirdparty/libwebp/src/enc/histogram_enc.c index 8ac6fa8e02..a4e6bf3a98 100644 --- a/thirdparty/libwebp/src/enc/histogram_enc.c +++ b/thirdparty/libwebp/src/enc/histogram_enc.c @@ -641,7 +641,7 @@ static void HistogramAnalyzeEntropyBin(VP8LHistogramSet* const image_histo, // Merges some histograms with same bin_id together if it's advantageous. // Sets the remaining histograms to NULL. static void HistogramCombineEntropyBin(VP8LHistogramSet* const image_histo, - int *num_used, + int* num_used, const uint16_t* const clusters, uint16_t* const cluster_mappings, VP8LHistogram* cur_combo, @@ -929,9 +929,8 @@ static int HistogramCombineStochastic(VP8LHistogramSet* const image_histo, } mappings = (int*) WebPSafeMalloc(*num_used, sizeof(*mappings)); - if (mappings == NULL || !HistoQueueInit(&histo_queue, kHistoQueueSize)) { - goto End; - } + if (mappings == NULL) return 0; + if (!HistoQueueInit(&histo_queue, kHistoQueueSize)) goto End; // Fill the initial mapping. for (j = 0, iter = 0; iter < image_histo->size; ++iter) { if (histograms[iter] == NULL) continue; diff --git a/thirdparty/libwebp/src/enc/picture_csp_enc.c b/thirdparty/libwebp/src/enc/picture_csp_enc.c index 02d9df76d5..718e014ed2 100644 --- a/thirdparty/libwebp/src/enc/picture_csp_enc.c +++ b/thirdparty/libwebp/src/enc/picture_csp_enc.c @@ -29,11 +29,15 @@ #define USE_INVERSE_ALPHA_TABLE #ifdef WORDS_BIGENDIAN -#define ALPHA_OFFSET 0 // uint32_t 0xff000000 is 0xff,00,00,00 in memory +// uint32_t 0xff000000 is 0xff,00,00,00 in memory +#define CHANNEL_OFFSET(i) (i) #else -#define ALPHA_OFFSET 3 // uint32_t 0xff000000 is 0x00,00,00,ff in memory +// uint32_t 0xff000000 is 0x00,00,00,ff in memory +#define CHANNEL_OFFSET(i) (3-(i)) #endif +#define ALPHA_OFFSET CHANNEL_OFFSET(0) + //------------------------------------------------------------------------------ // Detection of non-trivial transparency @@ -997,10 +1001,10 @@ static int PictureARGBToYUVA(WebPPicture* picture, WebPEncCSP colorspace, return WebPEncodingSetError(picture, VP8_ENC_ERROR_INVALID_CONFIGURATION); } else { const uint8_t* const argb = (const uint8_t*)picture->argb; - const uint8_t* const a = argb + (0 ^ ALPHA_OFFSET); - const uint8_t* const r = argb + (1 ^ ALPHA_OFFSET); - const uint8_t* const g = argb + (2 ^ ALPHA_OFFSET); - const uint8_t* const b = argb + (3 ^ ALPHA_OFFSET); + const uint8_t* const a = argb + CHANNEL_OFFSET(0); + const uint8_t* const r = argb + CHANNEL_OFFSET(1); + const uint8_t* const g = argb + CHANNEL_OFFSET(2); + const uint8_t* const b = argb + CHANNEL_OFFSET(3); picture->colorspace = WEBP_YUV420; return ImportYUVAFromRGBA(r, g, b, a, 4, 4 * picture->argb_stride, @@ -1050,7 +1054,7 @@ int WebPPictureYUVAToARGB(WebPPicture* picture) { const int height = picture->height; const int argb_stride = 4 * picture->argb_stride; uint8_t* dst = (uint8_t*)picture->argb; - const uint8_t *cur_u = picture->u, *cur_v = picture->v, *cur_y = picture->y; + const uint8_t* cur_u = picture->u, *cur_v = picture->v, *cur_y = picture->y; WebPUpsampleLinePairFunc upsample = WebPGetLinePairConverter(ALPHA_OFFSET > 0); diff --git a/thirdparty/libwebp/src/enc/predictor_enc.c b/thirdparty/libwebp/src/enc/predictor_enc.c index 802e89693e..2e6762ea0d 100644 --- a/thirdparty/libwebp/src/enc/predictor_enc.c +++ b/thirdparty/libwebp/src/enc/predictor_enc.c @@ -202,7 +202,7 @@ static uint32_t NearLossless(uint32_t value, uint32_t predict, } if ((value >> 24) == 0 || (value >> 24) == 0xff) { // Preserve transparency of fully transparent or fully opaque pixels. - a = NearLosslessDiff(value >> 24, predict >> 24); + a = NearLosslessDiff((value >> 24) & 0xff, (predict >> 24) & 0xff); } else { a = NearLosslessComponent(value >> 24, predict >> 24, 0xff, quantization); } @@ -215,12 +215,12 @@ static uint32_t NearLossless(uint32_t value, uint32_t predict, // The amount by which green has been adjusted during quantization. It is // subtracted from red and blue for compensation, to avoid accumulating two // quantization errors in them. - green_diff = NearLosslessDiff(new_green, value >> 8); + green_diff = NearLosslessDiff(new_green, (value >> 8) & 0xff); } - r = NearLosslessComponent(NearLosslessDiff(value >> 16, green_diff), + r = NearLosslessComponent(NearLosslessDiff((value >> 16) & 0xff, green_diff), (predict >> 16) & 0xff, 0xff - new_green, quantization); - b = NearLosslessComponent(NearLosslessDiff(value, green_diff), + b = NearLosslessComponent(NearLosslessDiff(value & 0xff, green_diff), predict & 0xff, 0xff - new_green, quantization); return ((uint32_t)a << 24) | ((uint32_t)r << 16) | ((uint32_t)g << 8) | b; } @@ -587,7 +587,7 @@ static void GetBestGreenToRed( } } } - best_tx->green_to_red_ = green_to_red_best; + best_tx->green_to_red_ = (green_to_red_best & 0xff); } static float GetPredictionCostCrossColorBlue( @@ -666,8 +666,8 @@ static void GetBestGreenRedToBlue( break; // out of iter-loop. } } - best_tx->green_to_blue_ = green_to_blue_best; - best_tx->red_to_blue_ = red_to_blue_best; + best_tx->green_to_blue_ = green_to_blue_best & 0xff; + best_tx->red_to_blue_ = red_to_blue_best & 0xff; } #undef kGreenRedToBlueMaxIters #undef kGreenRedToBlueNumAxis diff --git a/thirdparty/libwebp/src/enc/quant_enc.c b/thirdparty/libwebp/src/enc/quant_enc.c index 03c682e3ae..01eb565c7f 100644 --- a/thirdparty/libwebp/src/enc/quant_enc.c +++ b/thirdparty/libwebp/src/enc/quant_enc.c @@ -33,7 +33,7 @@ // number of non-zero coeffs below which we consider the block very flat // (and apply a penalty to complex predictions) -#define FLATNESS_LIMIT_I16 10 // I16 mode +#define FLATNESS_LIMIT_I16 0 // I16 mode (special case) #define FLATNESS_LIMIT_I4 3 // I4 mode #define FLATNESS_LIMIT_UV 2 // UV mode #define FLATNESS_PENALTY 140 // roughly ~1bit per block @@ -988,6 +988,7 @@ static void PickBestIntra16(VP8EncIterator* const it, VP8ModeScore* rd) { VP8ModeScore* rd_cur = &rd_tmp; VP8ModeScore* rd_best = rd; int mode; + int is_flat = IsFlatSource16(it->yuv_in_ + Y_OFF_ENC); rd->mode_i16 = -1; for (mode = 0; mode < NUM_PRED_MODES; ++mode) { @@ -1003,10 +1004,14 @@ static void PickBestIntra16(VP8EncIterator* const it, VP8ModeScore* rd) { tlambda ? MULT_8B(tlambda, VP8TDisto16x16(src, tmp_dst, kWeightY)) : 0; rd_cur->H = VP8FixedCostsI16[mode]; rd_cur->R = VP8GetCostLuma16(it, rd_cur); - if (mode > 0 && - IsFlat(rd_cur->y_ac_levels[0], kNumBlocks, FLATNESS_LIMIT_I16)) { - // penalty to avoid flat area to be mispredicted by complex mode - rd_cur->R += FLATNESS_PENALTY * kNumBlocks; + if (is_flat) { + // refine the first impression (which was in pixel space) + is_flat = IsFlat(rd_cur->y_ac_levels[0], kNumBlocks, FLATNESS_LIMIT_I16); + if (is_flat) { + // Block is very flat. We put emphasis on the distortion being very low! + rd_cur->D *= 2; + rd_cur->SD *= 2; + } } // Since we always examine Intra16 first, we can overwrite *rd directly. @@ -1087,7 +1092,8 @@ static int PickBestIntra4(VP8EncIterator* const it, VP8ModeScore* const rd) { : 0; rd_tmp.H = mode_costs[mode]; - // Add flatness penalty + // Add flatness penalty, to avoid flat area to be mispredicted + // by a complex mode. if (mode > 0 && IsFlat(tmp_levels, kNumBlocks, FLATNESS_LIMIT_I4)) { rd_tmp.R = FLATNESS_PENALTY * kNumBlocks; } else { @@ -1242,11 +1248,19 @@ static void RefineUsingDistortion(VP8EncIterator* const it, if (mode > 0 && VP8FixedCostsI16[mode] > bit_limit) { continue; } + if (score < best_score) { best_mode = mode; best_score = score; } } + if (it->x_ == 0 || it->y_ == 0) { + // avoid starting a checkerboard resonance from the border. See bug #432. + if (IsFlatSource16(src)) { + best_mode = (it->x_ == 0) ? 0 : 2; + try_both_modes = 0; // stick to i16 + } + } VP8SetIntra16Mode(it, best_mode); // we'll reconstruct later, if i16 mode actually gets selected } diff --git a/thirdparty/libwebp/src/enc/vp8i_enc.h b/thirdparty/libwebp/src/enc/vp8i_enc.h index 3a1967da88..fedcaeea27 100644 --- a/thirdparty/libwebp/src/enc/vp8i_enc.h +++ b/thirdparty/libwebp/src/enc/vp8i_enc.h @@ -31,8 +31,8 @@ extern "C" { // version numbers #define ENC_MAJ_VERSION 1 -#define ENC_MIN_VERSION 0 -#define ENC_REV_VERSION 2 +#define ENC_MIN_VERSION 1 +#define ENC_REV_VERSION 0 enum { MAX_LF_LEVELS = 64, // Maximum loop filter level MAX_VARIABLE_LEVEL = 67, // last (inclusive) level with variable cost @@ -249,7 +249,7 @@ typedef struct { int percent0_; // saved initial progress percent DError left_derr_; // left error diffusion (u/v) - DError *top_derr_; // top diffusion error - NULL if disabled + DError* top_derr_; // top diffusion error - NULL if disabled uint8_t* y_left_; // left luma samples (addressable from index -1 to 15). uint8_t* u_left_; // left u samples (addressable from index -1 to 7) diff --git a/thirdparty/libwebp/src/mux/muxi.h b/thirdparty/libwebp/src/mux/muxi.h index 3e9d8c48d8..ad3e1bdb97 100644 --- a/thirdparty/libwebp/src/mux/muxi.h +++ b/thirdparty/libwebp/src/mux/muxi.h @@ -28,8 +28,8 @@ extern "C" { // Defines and constants. #define MUX_MAJ_VERSION 1 -#define MUX_MIN_VERSION 0 -#define MUX_REV_VERSION 2 +#define MUX_MIN_VERSION 1 +#define MUX_REV_VERSION 0 // Chunk object. typedef struct WebPChunk WebPChunk; diff --git a/thirdparty/libwebp/src/mux/muxread.c b/thirdparty/libwebp/src/mux/muxread.c index 268f6acb53..ae3b876bc5 100644 --- a/thirdparty/libwebp/src/mux/muxread.c +++ b/thirdparty/libwebp/src/mux/muxread.c @@ -100,7 +100,7 @@ static int MuxImageParse(const WebPChunk* const chunk, int copy_data, WebPMuxImage* const wpi) { const uint8_t* bytes = chunk->data_.bytes; size_t size = chunk->data_.size; - const uint8_t* const last = bytes + size; + const uint8_t* const last = (bytes == NULL) ? NULL : bytes + size; WebPChunk subchunk; size_t subchunk_size; WebPChunk** unknown_chunk_list = &wpi->unknown_; diff --git a/thirdparty/libwebp/src/utils/bit_reader_inl_utils.h b/thirdparty/libwebp/src/utils/bit_reader_inl_utils.h index 7e607f370a..46b3880706 100644 --- a/thirdparty/libwebp/src/utils/bit_reader_inl_utils.h +++ b/thirdparty/libwebp/src/utils/bit_reader_inl_utils.h @@ -104,7 +104,8 @@ void VP8LoadNewBytes(VP8BitReader* const br) { } // Read a bit with proba 'prob'. Speed-critical function! -static WEBP_INLINE int VP8GetBit(VP8BitReader* const br, int prob) { +static WEBP_INLINE int VP8GetBit(VP8BitReader* const br, + int prob, const char label[]) { // Don't move this declaration! It makes a big speed difference to store // 'range' *before* calling VP8LoadNewBytes(), even if this function doesn't // alter br->range_ value. @@ -129,13 +130,14 @@ static WEBP_INLINE int VP8GetBit(VP8BitReader* const br, int prob) { br->bits_ -= shift; } br->range_ = range - 1; + BT_TRACK(br); return bit; } } // simplified version of VP8GetBit() for prob=0x80 (note shift is always 1 here) static WEBP_UBSAN_IGNORE_UNSIGNED_OVERFLOW WEBP_INLINE -int VP8GetSigned(VP8BitReader* const br, int v) { +int VP8GetSigned(VP8BitReader* const br, int v, const char label[]) { if (br->bits_ < 0) { VP8LoadNewBytes(br); } @@ -148,11 +150,13 @@ int VP8GetSigned(VP8BitReader* const br, int v) { br->range_ += mask; br->range_ |= 1; br->value_ -= (bit_t)((split + 1) & mask) << pos; + BT_TRACK(br); return (v ^ mask) - mask; } } -static WEBP_INLINE int VP8GetBitAlt(VP8BitReader* const br, int prob) { +static WEBP_INLINE int VP8GetBitAlt(VP8BitReader* const br, + int prob, const char label[]) { // Don't move this declaration! It makes a big speed difference to store // 'range' *before* calling VP8LoadNewBytes(), even if this function doesn't // alter br->range_ value. @@ -179,6 +183,7 @@ static WEBP_INLINE int VP8GetBitAlt(VP8BitReader* const br, int prob) { br->bits_ -= shift; } br->range_ = range; + BT_TRACK(br); return bit; } } diff --git a/thirdparty/libwebp/src/utils/bit_reader_utils.c b/thirdparty/libwebp/src/utils/bit_reader_utils.c index 5fa3ae7795..60271c0ae0 100644 --- a/thirdparty/libwebp/src/utils/bit_reader_utils.c +++ b/thirdparty/libwebp/src/utils/bit_reader_utils.c @@ -109,17 +109,18 @@ void VP8LoadFinalBytes(VP8BitReader* const br) { //------------------------------------------------------------------------------ // Higher-level calls -uint32_t VP8GetValue(VP8BitReader* const br, int bits) { +uint32_t VP8GetValue(VP8BitReader* const br, int bits, const char label[]) { uint32_t v = 0; while (bits-- > 0) { - v |= VP8GetBit(br, 0x80) << bits; + v |= VP8GetBit(br, 0x80, label) << bits; } return v; } -int32_t VP8GetSignedValue(VP8BitReader* const br, int bits) { - const int value = VP8GetValue(br, bits); - return VP8Get(br) ? -value : value; +int32_t VP8GetSignedValue(VP8BitReader* const br, int bits, + const char label[]) { + const int value = VP8GetValue(br, bits, label); + return VP8Get(br, label) ? -value : value; } //------------------------------------------------------------------------------ @@ -227,3 +228,78 @@ uint32_t VP8LReadBits(VP8LBitReader* const br, int n_bits) { } //------------------------------------------------------------------------------ +// Bit-tracing tool + +#if (BITTRACE > 0) + +#include <stdlib.h> // for atexit() +#include <stdio.h> +#include <string.h> + +#define MAX_NUM_LABELS 32 +static struct { + const char* label; + int size; + int count; +} kLabels[MAX_NUM_LABELS]; + +static int last_label = 0; +static int last_pos = 0; +static const uint8_t* buf_start = NULL; +static int init_done = 0; + +static void PrintBitTraces(void) { + int i; + int scale = 1; + int total = 0; + const char* units = "bits"; +#if (BITTRACE == 2) + scale = 8; + units = "bytes"; +#endif + for (i = 0; i < last_label; ++i) total += kLabels[i].size; + if (total < 1) total = 1; // avoid rounding errors + printf("=== Bit traces ===\n"); + for (i = 0; i < last_label; ++i) { + const int skip = 16 - (int)strlen(kLabels[i].label); + const int value = (kLabels[i].size + scale - 1) / scale; + assert(skip > 0); + printf("%s \%*s: %6d %s \t[%5.2f%%] [count: %7d]\n", + kLabels[i].label, skip, "", value, units, + 100.f * kLabels[i].size / total, + kLabels[i].count); + } + total = (total + scale - 1) / scale; + printf("Total: %d %s\n", total, units); +} + +void BitTrace(const struct VP8BitReader* const br, const char label[]) { + int i, pos; + if (!init_done) { + memset(kLabels, 0, sizeof(kLabels)); + atexit(PrintBitTraces); + buf_start = br->buf_; + init_done = 1; + } + pos = (int)(br->buf_ - buf_start) * 8 - br->bits_; + // if there's a too large jump, we've changed partition -> reset counter + if (abs(pos - last_pos) > 32) { + buf_start = br->buf_; + pos = 0; + last_pos = 0; + } + if (br->range_ >= 0x7f) pos += kVP8Log2Range[br->range_ - 0x7f]; + for (i = 0; i < last_label; ++i) { + if (!strcmp(label, kLabels[i].label)) break; + } + if (i == MAX_NUM_LABELS) abort(); // overflow! + kLabels[i].label = label; + kLabels[i].size += pos - last_pos; + kLabels[i].count += 1; + if (i == last_label) ++last_label; + last_pos = pos; +} + +#endif // BITTRACE > 0 + +//------------------------------------------------------------------------------ diff --git a/thirdparty/libwebp/src/utils/bit_reader_utils.h b/thirdparty/libwebp/src/utils/bit_reader_utils.h index de810d402a..199dacf224 100644 --- a/thirdparty/libwebp/src/utils/bit_reader_utils.h +++ b/thirdparty/libwebp/src/utils/bit_reader_utils.h @@ -21,6 +21,27 @@ #endif #include "src/webp/types.h" +// Warning! This macro triggers quite some MACRO wizardry around func signature! +#if !defined(BITTRACE) +#define BITTRACE 0 // 0 = off, 1 = print bits, 2 = print bytes +#endif + +#if (BITTRACE > 0) +struct VP8BitReader; +extern void BitTrace(const struct VP8BitReader* const br, const char label[]); +#define BT_TRACK(br) BitTrace(br, label) +#define VP8Get(BR, L) VP8GetValue(BR, 1, L) +#else +#define BT_TRACK(br) +// We'll REMOVE the 'const char label[]' from all signatures and calls (!!): +#define VP8GetValue(BR, N, L) VP8GetValue(BR, N) +#define VP8Get(BR, L) VP8GetValue(BR, 1, L) +#define VP8GetSignedValue(BR, N, L) VP8GetSignedValue(BR, N) +#define VP8GetBit(BR, P, L) VP8GetBit(BR, P) +#define VP8GetBitAlt(BR, P, L) VP8GetBitAlt(BR, P) +#define VP8GetSigned(BR, V, L) VP8GetSigned(BR, V) +#endif + #ifdef __cplusplus extern "C" { #endif @@ -102,17 +123,15 @@ void VP8BitReaderSetBuffer(VP8BitReader* const br, void VP8RemapBitReader(VP8BitReader* const br, ptrdiff_t offset); // return the next value made of 'num_bits' bits -uint32_t VP8GetValue(VP8BitReader* const br, int num_bits); -static WEBP_INLINE uint32_t VP8Get(VP8BitReader* const br) { - return VP8GetValue(br, 1); -} +uint32_t VP8GetValue(VP8BitReader* const br, int num_bits, const char label[]); // return the next value with sign-extension. -int32_t VP8GetSignedValue(VP8BitReader* const br, int num_bits); +int32_t VP8GetSignedValue(VP8BitReader* const br, int num_bits, + const char label[]); // bit_reader_inl.h will implement the following methods: -// static WEBP_INLINE int VP8GetBit(VP8BitReader* const br, int prob) -// static WEBP_INLINE int VP8GetSigned(VP8BitReader* const br, int v) +// static WEBP_INLINE int VP8GetBit(VP8BitReader* const br, int prob, ...) +// static WEBP_INLINE int VP8GetSigned(VP8BitReader* const br, int v, ...) // and should be included by the .c files that actually need them. // This is to avoid recompiling the whole library whenever this file is touched, // and also allowing platform-specific ad-hoc hacks. diff --git a/thirdparty/libwebp/src/utils/bit_writer_utils.c b/thirdparty/libwebp/src/utils/bit_writer_utils.c index 7f83b4c8a2..bef0e31ca5 100644 --- a/thirdparty/libwebp/src/utils/bit_writer_utils.c +++ b/thirdparty/libwebp/src/utils/bit_writer_utils.c @@ -70,7 +70,7 @@ static void Flush(VP8BitWriter* const bw) { const int value = (bits & 0x100) ? 0x00 : 0xff; for (; bw->run_ > 0; --bw->run_) bw->buf_[pos++] = value; } - bw->buf_[pos++] = bits; + bw->buf_[pos++] = bits & 0xff; bw->pos_ = pos; } else { bw->run_++; // delay writing of bytes 0xff, pending eventual carry. diff --git a/thirdparty/libwebp/src/utils/color_cache_utils.h b/thirdparty/libwebp/src/utils/color_cache_utils.h index 20b7be11c9..b45d47c2d5 100644 --- a/thirdparty/libwebp/src/utils/color_cache_utils.h +++ b/thirdparty/libwebp/src/utils/color_cache_utils.h @@ -17,6 +17,7 @@ #include <assert.h> +#include "src/dsp/dsp.h" #include "src/webp/types.h" #ifdef __cplusplus @@ -25,15 +26,16 @@ extern "C" { // Main color cache struct. typedef struct { - uint32_t *colors_; // color entries + uint32_t* colors_; // color entries int hash_shift_; // Hash shift: 32 - hash_bits_. int hash_bits_; } VP8LColorCache; -static const uint64_t kHashMul = 0x1e35a7bdull; +static const uint32_t kHashMul = 0x1e35a7bdu; -static WEBP_INLINE int VP8LHashPix(uint32_t argb, int shift) { - return (int)(((argb * kHashMul) & 0xffffffffu) >> shift); +static WEBP_UBSAN_IGNORE_UNSIGNED_OVERFLOW WEBP_INLINE +int VP8LHashPix(uint32_t argb, int shift) { + return (int)((argb * kHashMul) >> shift); } static WEBP_INLINE uint32_t VP8LColorCacheLookup( diff --git a/thirdparty/libwebp/src/utils/huffman_utils.c b/thirdparty/libwebp/src/utils/huffman_utils.c index 7a69963c3e..0cba0fbb7d 100644 --- a/thirdparty/libwebp/src/utils/huffman_utils.c +++ b/thirdparty/libwebp/src/utils/huffman_utils.c @@ -91,7 +91,8 @@ static int BuildHuffmanTable(HuffmanCode* const root_table, int root_bits, assert(code_lengths_size != 0); assert(code_lengths != NULL); - assert(root_table != NULL); + assert((root_table != NULL && sorted != NULL) || + (root_table == NULL && sorted == NULL)); assert(root_bits > 0); // Build histogram of code lengths. @@ -120,16 +121,22 @@ static int BuildHuffmanTable(HuffmanCode* const root_table, int root_bits, for (symbol = 0; symbol < code_lengths_size; ++symbol) { const int symbol_code_length = code_lengths[symbol]; if (code_lengths[symbol] > 0) { - sorted[offset[symbol_code_length]++] = symbol; + if (sorted != NULL) { + sorted[offset[symbol_code_length]++] = symbol; + } else { + offset[symbol_code_length]++; + } } } // Special case code with only one value. if (offset[MAX_ALLOWED_CODE_LENGTH] == 1) { - HuffmanCode code; - code.bits = 0; - code.value = (uint16_t)sorted[0]; - ReplicateValue(table, 1, total_size, code); + if (sorted != NULL) { + HuffmanCode code; + code.bits = 0; + code.value = (uint16_t)sorted[0]; + ReplicateValue(table, 1, total_size, code); + } return total_size; } @@ -151,6 +158,7 @@ static int BuildHuffmanTable(HuffmanCode* const root_table, int root_bits, if (num_open < 0) { return 0; } + if (root_table == NULL) continue; for (; count[len] > 0; --count[len]) { HuffmanCode code; code.bits = (uint8_t)len; @@ -169,6 +177,7 @@ static int BuildHuffmanTable(HuffmanCode* const root_table, int root_bits, if (num_open < 0) { return 0; } + if (root_table == NULL) continue; for (; count[len] > 0; --count[len]) { HuffmanCode code; if ((key & mask) != low) { @@ -206,7 +215,10 @@ int VP8LBuildHuffmanTable(HuffmanCode* const root_table, int root_bits, const int code_lengths[], int code_lengths_size) { int total_size; assert(code_lengths_size <= MAX_CODE_LENGTHS_SIZE); - if (code_lengths_size <= SORTED_SIZE_CUTOFF) { + if (root_table == NULL) { + total_size = BuildHuffmanTable(NULL, root_bits, + code_lengths, code_lengths_size, NULL); + } else if (code_lengths_size <= SORTED_SIZE_CUTOFF) { // use local stack-allocated array. uint16_t sorted[SORTED_SIZE_CUTOFF]; total_size = BuildHuffmanTable(root_table, root_bits, diff --git a/thirdparty/libwebp/src/utils/huffman_utils.h b/thirdparty/libwebp/src/utils/huffman_utils.h index ff7ef17f3b..13b7ad1ac4 100644 --- a/thirdparty/libwebp/src/utils/huffman_utils.h +++ b/thirdparty/libwebp/src/utils/huffman_utils.h @@ -78,6 +78,8 @@ void VP8LHtreeGroupsFree(HTreeGroup* const htree_groups); // the huffman table. // Returns built table size or 0 in case of error (invalid tree or // memory error). +// If root_table is NULL, it returns 0 if a lookup cannot be built, something +// > 0 otherwise (but not the table size). int VP8LBuildHuffmanTable(HuffmanCode* const root_table, int root_bits, const int code_lengths[], int code_lengths_size); diff --git a/thirdparty/libwebp/src/utils/rescaler_utils.c b/thirdparty/libwebp/src/utils/rescaler_utils.c index 90e2ea76a1..4bcae24af5 100644 --- a/thirdparty/libwebp/src/utils/rescaler_utils.c +++ b/thirdparty/libwebp/src/utils/rescaler_utils.c @@ -84,14 +84,14 @@ int WebPRescalerGetScaledDimensions(int src_width, int src_height, int height = *scaled_height; // if width is unspecified, scale original proportionally to height ratio. - if (width == 0) { + if (width == 0 && src_height > 0) { width = - (int)(((uint64_t)src_width * height + src_height / 2) / src_height); + (int)(((uint64_t)src_width * height + src_height - 1) / src_height); } // if height is unspecified, scale original proportionally to width ratio. - if (height == 0) { + if (height == 0 && src_width > 0) { height = - (int)(((uint64_t)src_height * width + src_width / 2) / src_width); + (int)(((uint64_t)src_height * width + src_width - 1) / src_width); } // Check if the overall dimensions still make sense. if (width <= 0 || height <= 0) { diff --git a/thirdparty/libwebp/src/utils/thread_utils.c b/thirdparty/libwebp/src/utils/thread_utils.c index 2052b6b006..4e470e17ac 100644 --- a/thirdparty/libwebp/src/utils/thread_utils.c +++ b/thirdparty/libwebp/src/utils/thread_utils.c @@ -73,7 +73,7 @@ typedef struct { #endif static int pthread_create(pthread_t* const thread, const void* attr, - unsigned int (__stdcall *start)(void*), void* arg) { + unsigned int (__stdcall* start)(void*), void* arg) { (void)attr; #ifdef USE_CREATE_THREAD *thread = CreateThread(NULL, /* lpThreadAttributes */ @@ -217,8 +217,12 @@ static THREADFN ThreadLoop(void* ptr) { done = 1; } // signal to the main thread that we're done (for Sync()) - pthread_cond_signal(&impl->condition_); + // Note the associated mutex does not need to be held when signaling the + // condition. Unlocking the mutex first may improve performance in some + // implementations, avoiding the case where the waiting thread can't + // reacquire the mutex when woken. pthread_mutex_unlock(&impl->mutex_); + pthread_cond_signal(&impl->condition_); } return THREAD_RETURN(NULL); // Thread is finished } @@ -240,7 +244,13 @@ static void ChangeState(WebPWorker* const worker, WebPWorkerStatus new_status) { // assign new status and release the working thread if needed if (new_status != OK) { worker->status_ = new_status; + // Note the associated mutex does not need to be held when signaling the + // condition. Unlocking the mutex first may improve performance in some + // implementations, avoiding the case where the waiting thread can't + // reacquire the mutex when woken. + pthread_mutex_unlock(&impl->mutex_); pthread_cond_signal(&impl->condition_); + return; } } pthread_mutex_unlock(&impl->mutex_); diff --git a/thirdparty/libwebp/src/utils/utils.c b/thirdparty/libwebp/src/utils/utils.c index 44d5c14f01..764f752b82 100644 --- a/thirdparty/libwebp/src/utils/utils.c +++ b/thirdparty/libwebp/src/utils/utils.c @@ -216,9 +216,14 @@ void WebPSafeFree(void* const ptr) { free(ptr); } -// Public API function. +// Public API functions. + +void* WebPMalloc(size_t size) { + return WebPSafeMalloc(1, size); +} + void WebPFree(void* ptr) { - free(ptr); + WebPSafeFree(ptr); } //------------------------------------------------------------------------------ diff --git a/thirdparty/libwebp/src/utils/utils.h b/thirdparty/libwebp/src/utils/utils.h index c7620f91ec..2a3ec92678 100644 --- a/thirdparty/libwebp/src/utils/utils.h +++ b/thirdparty/libwebp/src/utils/utils.h @@ -92,14 +92,14 @@ static WEBP_INLINE uint32_t GetLE32(const uint8_t* const data) { // Store 16, 24 or 32 bits in little-endian order. static WEBP_INLINE void PutLE16(uint8_t* const data, int val) { assert(val < (1 << 16)); - data[0] = (val >> 0); - data[1] = (val >> 8); + data[0] = (val >> 0) & 0xff; + data[1] = (val >> 8) & 0xff; } static WEBP_INLINE void PutLE24(uint8_t* const data, int val) { assert(val < (1 << 24)); PutLE16(data, val & 0xffff); - data[2] = (val >> 16); + data[2] = (val >> 16) & 0xff; } static WEBP_INLINE void PutLE32(uint8_t* const data, uint32_t val) { diff --git a/thirdparty/libwebp/src/webp/decode.h b/thirdparty/libwebp/src/webp/decode.h index ae8bfe840e..80dd0ef0cc 100644 --- a/thirdparty/libwebp/src/webp/decode.h +++ b/thirdparty/libwebp/src/webp/decode.h @@ -20,7 +20,7 @@ extern "C" { #endif -#define WEBP_DECODER_ABI_VERSION 0x0208 // MAJOR(8b) + MINOR(8b) +#define WEBP_DECODER_ABI_VERSION 0x0209 // MAJOR(8b) + MINOR(8b) // Note: forward declaring enumerations is not allowed in (strict) C and C++, // the types are left here for reference. @@ -91,9 +91,6 @@ WEBP_EXTERN uint8_t* WebPDecodeYUV(const uint8_t* data, size_t data_size, uint8_t** u, uint8_t** v, int* stride, int* uv_stride); -// Releases memory returned by the WebPDecode*() functions above. -WEBP_EXTERN void WebPFree(void* ptr); - // These five functions are variants of the above ones, that decode the image // directly into a pre-allocated buffer 'output_buffer'. The maximum storage // available in this buffer is indicated by 'output_buffer_size'. If this diff --git a/thirdparty/libwebp/src/webp/encode.h b/thirdparty/libwebp/src/webp/encode.h index 549cf07730..655166e7d4 100644 --- a/thirdparty/libwebp/src/webp/encode.h +++ b/thirdparty/libwebp/src/webp/encode.h @@ -20,7 +20,7 @@ extern "C" { #endif -#define WEBP_ENCODER_ABI_VERSION 0x020e // MAJOR(8b) + MINOR(8b) +#define WEBP_ENCODER_ABI_VERSION 0x020f // MAJOR(8b) + MINOR(8b) // Note: forward declaring enumerations is not allowed in (strict) C and C++, // the types are left here for reference. @@ -62,6 +62,10 @@ WEBP_EXTERN size_t WebPEncodeBGRA(const uint8_t* bgra, // These functions are the equivalent of the above, but compressing in a // lossless manner. Files are usually larger than lossy format, but will // not suffer any compression loss. +// Note these functions, like the lossy versions, use the library's default +// settings. For lossless this means 'exact' is disabled. RGB values in +// transparent areas will be modified to improve compression. To avoid this, +// use WebPEncode() and set WebPConfig::exact to 1. WEBP_EXTERN size_t WebPEncodeLosslessRGB(const uint8_t* rgb, int width, int height, int stride, uint8_t** output); @@ -75,9 +79,6 @@ WEBP_EXTERN size_t WebPEncodeLosslessBGRA(const uint8_t* bgra, int width, int height, int stride, uint8_t** output); -// Releases memory returned by the WebPEncode*() functions above. -WEBP_EXTERN void WebPFree(void* ptr); - //------------------------------------------------------------------------------ // Coding parameters @@ -302,7 +303,7 @@ struct WebPPicture { // YUV input (mostly used for input to lossy compression) WebPEncCSP colorspace; // colorspace: should be YUV420 for now (=Y'CbCr). int width, height; // dimensions (less or equal to WEBP_MAX_DIMENSION) - uint8_t *y, *u, *v; // pointers to luma/chroma planes. + uint8_t* y, *u, *v; // pointers to luma/chroma planes. int y_stride, uv_stride; // luma/chroma strides. uint8_t* a; // pointer to the alpha plane int a_stride; // stride of the alpha plane @@ -346,7 +347,7 @@ struct WebPPicture { uint32_t pad3[3]; // padding for later use // Unused for now - uint8_t *pad4, *pad5; + uint8_t* pad4, *pad5; uint32_t pad6[8]; // padding for later use // PRIVATE FIELDS diff --git a/thirdparty/libwebp/src/webp/mux.h b/thirdparty/libwebp/src/webp/mux.h index 66096a92e0..7d27489a40 100644 --- a/thirdparty/libwebp/src/webp/mux.h +++ b/thirdparty/libwebp/src/webp/mux.h @@ -57,7 +57,7 @@ extern "C" { WebPMuxGetChunk(mux, "ICCP", &icc_profile); // ... (Consume icc_data). WebPMuxDelete(mux); - free(data); + WebPFree(data); */ // Note: forward declaring enumerations is not allowed in (strict) C and C++, @@ -245,7 +245,7 @@ WEBP_EXTERN WebPMuxError WebPMuxPushFrame( WebPMux* mux, const WebPMuxFrameInfo* frame, int copy_data); // Gets the nth frame from the mux object. -// The content of 'frame->bitstream' is allocated using malloc(), and NOT +// The content of 'frame->bitstream' is allocated using WebPMalloc(), and NOT // owned by the 'mux' object. It MUST be deallocated by the caller by calling // WebPDataClear(). // nth=0 has a special meaning - last position. @@ -376,10 +376,10 @@ WEBP_EXTERN WebPMuxError WebPMuxNumChunks(const WebPMux* mux, // Assembles all chunks in WebP RIFF format and returns in 'assembled_data'. // This function also validates the mux object. // Note: The content of 'assembled_data' will be ignored and overwritten. -// Also, the content of 'assembled_data' is allocated using malloc(), and NOT -// owned by the 'mux' object. It MUST be deallocated by the caller by calling -// WebPDataClear(). It's always safe to call WebPDataClear() upon return, -// even in case of error. +// Also, the content of 'assembled_data' is allocated using WebPMalloc(), and +// NOT owned by the 'mux' object. It MUST be deallocated by the caller by +// calling WebPDataClear(). It's always safe to call WebPDataClear() upon +// return, even in case of error. // Parameters: // mux - (in/out) object whose chunks are to be assembled // assembled_data - (out) assembled WebP data diff --git a/thirdparty/libwebp/src/webp/mux_types.h b/thirdparty/libwebp/src/webp/mux_types.h index ceea77dfc6..2fe8195839 100644 --- a/thirdparty/libwebp/src/webp/mux_types.h +++ b/thirdparty/libwebp/src/webp/mux_types.h @@ -14,7 +14,6 @@ #ifndef WEBP_WEBP_MUX_TYPES_H_ #define WEBP_WEBP_MUX_TYPES_H_ -#include <stdlib.h> // free() #include <string.h> // memset() #include "./types.h" @@ -56,6 +55,7 @@ typedef enum WebPMuxAnimBlend { // Data type used to describe 'raw' data, e.g., chunk data // (ICC profile, metadata) and WebP compressed image data. +// 'bytes' memory must be allocated using WebPMalloc() and such. struct WebPData { const uint8_t* bytes; size_t size; @@ -68,11 +68,11 @@ static WEBP_INLINE void WebPDataInit(WebPData* webp_data) { } } -// Clears the contents of the 'webp_data' object by calling free(). Does not -// deallocate the object itself. +// Clears the contents of the 'webp_data' object by calling WebPFree(). +// Does not deallocate the object itself. static WEBP_INLINE void WebPDataClear(WebPData* webp_data) { if (webp_data != NULL) { - free((void*)webp_data->bytes); + WebPFree((void*)webp_data->bytes); WebPDataInit(webp_data); } } @@ -83,7 +83,7 @@ static WEBP_INLINE int WebPDataCopy(const WebPData* src, WebPData* dst) { if (src == NULL || dst == NULL) return 0; WebPDataInit(dst); if (src->bytes != NULL && src->size != 0) { - dst->bytes = (uint8_t*)malloc(src->size); + dst->bytes = (uint8_t*)WebPMalloc(src->size); if (dst->bytes == NULL) return 0; memcpy((void*)dst->bytes, src->bytes, src->size); dst->size = src->size; diff --git a/thirdparty/libwebp/src/webp/types.h b/thirdparty/libwebp/src/webp/types.h index 0ce2622e41..47f7f2b007 100644 --- a/thirdparty/libwebp/src/webp/types.h +++ b/thirdparty/libwebp/src/webp/types.h @@ -7,7 +7,7 @@ // be found in the AUTHORS file in the root of the source tree. // ----------------------------------------------------------------------------- // -// Common types +// Common types + memory wrappers // // Author: Skal (pascal.massimino@gmail.com) @@ -49,4 +49,20 @@ typedef long long int int64_t; // Macro to check ABI compatibility (same major revision number) #define WEBP_ABI_IS_INCOMPATIBLE(a, b) (((a) >> 8) != ((b) >> 8)) +#ifdef __cplusplus +extern "C" { +#endif + +// Allocates 'size' bytes of memory. Returns NULL upon error. Memory +// must be deallocated by calling WebPFree(). This function is made available +// by the core 'libwebp' library. +WEBP_EXTERN void* WebPMalloc(size_t size); + +// Releases memory returned by the WebPDecode*() functions (from decode.h). +WEBP_EXTERN void WebPFree(void* ptr); + +#ifdef __cplusplus +} // extern "C" +#endif + #endif // WEBP_WEBP_TYPES_H_ diff --git a/thirdparty/mbedtls/include/mbedtls/bignum.h b/thirdparty/mbedtls/include/mbedtls/bignum.h index 1c8607264f..22b373113e 100644 --- a/thirdparty/mbedtls/include/mbedtls/bignum.h +++ b/thirdparty/mbedtls/include/mbedtls/bignum.h @@ -184,7 +184,7 @@ extern "C" { */ typedef struct mbedtls_mpi { - int s; /*!< integer sign */ + int s; /*!< Sign: -1 if the mpi is negative, 1 otherwise */ size_t n; /*!< total # of limbs */ mbedtls_mpi_uint *p; /*!< pointer to limbs */ } @@ -560,6 +560,24 @@ int mbedtls_mpi_cmp_abs( const mbedtls_mpi *X, const mbedtls_mpi *Y ); int mbedtls_mpi_cmp_mpi( const mbedtls_mpi *X, const mbedtls_mpi *Y ); /** + * \brief Check if an MPI is less than the other in constant time. + * + * \param X The left-hand MPI. This must point to an initialized MPI + * with the same allocated length as Y. + * \param Y The right-hand MPI. This must point to an initialized MPI + * with the same allocated length as X. + * \param ret The result of the comparison: + * \c 1 if \p X is less than \p Y. + * \c 0 if \p X is greater than or equal to \p Y. + * + * \return 0 on success. + * \return MBEDTLS_ERR_MPI_BAD_INPUT_DATA if the allocated length of + * the two input MPIs is not the same. + */ +int mbedtls_mpi_lt_mpi_ct( const mbedtls_mpi *X, const mbedtls_mpi *Y, + unsigned *ret ); + +/** * \brief Compare an MPI with an integer. * * \param X The left-hand MPI. This must point to an initialized MPI. diff --git a/thirdparty/mbedtls/include/mbedtls/bn_mul.h b/thirdparty/mbedtls/include/mbedtls/bn_mul.h index c33bd8d4ab..748975ea51 100644 --- a/thirdparty/mbedtls/include/mbedtls/bn_mul.h +++ b/thirdparty/mbedtls/include/mbedtls/bn_mul.h @@ -642,7 +642,8 @@ "r6", "r7", "r8", "r9", "cc" \ ); -#elif defined (__ARM_FEATURE_DSP) && (__ARM_FEATURE_DSP == 1) +#elif (__ARM_ARCH >= 6) && \ + defined (__ARM_FEATURE_DSP) && (__ARM_FEATURE_DSP == 1) #define MULADDC_INIT \ asm( diff --git a/thirdparty/mbedtls/include/mbedtls/check_config.h b/thirdparty/mbedtls/include/mbedtls/check_config.h index b86e5807e0..d076c2352f 100644 --- a/thirdparty/mbedtls/include/mbedtls/check_config.h +++ b/thirdparty/mbedtls/include/mbedtls/check_config.h @@ -123,7 +123,7 @@ #error "MBEDTLS_ECDSA_DETERMINISTIC defined, but not all prerequisites" #endif -#if defined(MBEDTLS_ECP_C) && ( !defined(MBEDTLS_BIGNUM_C) || ( \ +#if defined(MBEDTLS_ECP_C) && ( !defined(MBEDTLS_BIGNUM_C) || ( \ !defined(MBEDTLS_ECP_DP_SECP192R1_ENABLED) && \ !defined(MBEDTLS_ECP_DP_SECP224R1_ENABLED) && \ !defined(MBEDTLS_ECP_DP_SECP256R1_ENABLED) && \ @@ -134,7 +134,9 @@ !defined(MBEDTLS_ECP_DP_BP512R1_ENABLED) && \ !defined(MBEDTLS_ECP_DP_SECP192K1_ENABLED) && \ !defined(MBEDTLS_ECP_DP_SECP224K1_ENABLED) && \ - !defined(MBEDTLS_ECP_DP_SECP256K1_ENABLED) ) ) + !defined(MBEDTLS_ECP_DP_SECP256K1_ENABLED) && \ + !defined(MBEDTLS_ECP_DP_CURVE25519_ENABLED) && \ + !defined(MBEDTLS_ECP_DP_CURVE448_ENABLED) ) ) #error "MBEDTLS_ECP_C defined, but not all prerequisites" #endif @@ -279,6 +281,14 @@ #error "MBEDTLS_MEMORY_BUFFER_ALLOC_C defined, but not all prerequisites" #endif +#if defined(MBEDTLS_MEMORY_BACKTRACE) && !defined(MBEDTLS_MEMORY_BUFFER_ALLOC_C) +#error "MBEDTLS_MEMORY_BACKTRACE defined, but not all prerequesites" +#endif + +#if defined(MBEDTLS_MEMORY_DEBUG) && !defined(MBEDTLS_MEMORY_BUFFER_ALLOC_C) +#error "MBEDTLS_MEMORY_DEBUG defined, but not all prerequesites" +#endif + #if defined(MBEDTLS_PADLOCK_C) && !defined(MBEDTLS_HAVE_ASM) #error "MBEDTLS_PADLOCK_C defined, but not all prerequisites" #endif @@ -691,7 +701,7 @@ /* * Avoid warning from -pedantic. This is a convenient place for this * workaround since this is included by every single file before the - * #if defined(MBEDTLS_xxx_C) that results in emtpy translation units. + * #if defined(MBEDTLS_xxx_C) that results in empty translation units. */ typedef int mbedtls_iso_c_forbids_empty_translation_units; diff --git a/thirdparty/mbedtls/include/mbedtls/config.h b/thirdparty/mbedtls/include/mbedtls/config.h index e16e1e53d3..8d9c31a504 100644 --- a/thirdparty/mbedtls/include/mbedtls/config.h +++ b/thirdparty/mbedtls/include/mbedtls/config.h @@ -139,7 +139,7 @@ * * System has time.h, time(), and an implementation for * mbedtls_platform_gmtime_r() (see below). - * The time needs to be correct (not necesarily very accurate, but at least + * The time needs to be correct (not necessarily very accurate, but at least * the date should be correct). This is used to verify the validity period of * X.509 certificates. * @@ -276,28 +276,52 @@ * For example, when a function accepts as input a pointer to a buffer that may * contain untrusted data, and its documentation mentions that this pointer * must not be NULL: - * - the pointer is checked to be non-NULL only if this option is enabled - * - the content of the buffer is always validated + * - The pointer is checked to be non-NULL only if this option is enabled. + * - The content of the buffer is always validated. * * When this flag is defined, if a library function receives a parameter that - * is invalid, it will: - * - invoke the macro MBEDTLS_PARAM_FAILED() which by default expands to a - * call to the function mbedtls_param_failed() - * - immediately return (with a specific error code unless the function - * returns void and can't communicate an error). - * - * When defining this flag, you also need to: - * - either provide a definition of the function mbedtls_param_failed() in - * your application (see platform_util.h for its prototype) as the library - * calls that function, but does not provide a default definition for it, - * - or provide a different definition of the macro MBEDTLS_PARAM_FAILED() - * below if the above mechanism is not flexible enough to suit your needs. - * See the documentation of this macro later in this file. + * is invalid: + * 1. The function will invoke the macro MBEDTLS_PARAM_FAILED(). + * 2. If MBEDTLS_PARAM_FAILED() did not terminate the program, the function + * will immediately return. If the function returns an Mbed TLS error code, + * the error code in this case is MBEDTLS_ERR_xxx_BAD_INPUT_DATA. + * + * When defining this flag, you also need to arrange a definition for + * MBEDTLS_PARAM_FAILED(). You can do this by any of the following methods: + * - By default, the library defines MBEDTLS_PARAM_FAILED() to call a + * function mbedtls_param_failed(), but the library does not define this + * function. If you do not make any other arrangements, you must provide + * the function mbedtls_param_failed() in your application. + * See `platform_util.h` for its prototype. + * - If you enable the macro #MBEDTLS_CHECK_PARAMS_ASSERT, then the + * library defines #MBEDTLS_PARAM_FAILED(\c cond) to be `assert(cond)`. + * You can still supply an alternative definition of + * MBEDTLS_PARAM_FAILED(), which may call `assert`. + * - If you define a macro MBEDTLS_PARAM_FAILED() before including `config.h` + * or you uncomment the definition of MBEDTLS_PARAM_FAILED() in `config.h`, + * the library will call the macro that you defined and will not supply + * its own version. Note that if MBEDTLS_PARAM_FAILED() calls `assert`, + * you need to enable #MBEDTLS_CHECK_PARAMS_ASSERT so that library source + * files include `<assert.h>`. * * Uncomment to enable validation of application-controlled parameters. */ //#define MBEDTLS_CHECK_PARAMS +/** + * \def MBEDTLS_CHECK_PARAMS_ASSERT + * + * Allow MBEDTLS_PARAM_FAILED() to call `assert`, and make it default to + * `assert`. This macro is only used if #MBEDTLS_CHECK_PARAMS is defined. + * + * If this macro is not defined, then MBEDTLS_PARAM_FAILED() defaults to + * calling a function mbedtls_param_failed(). See the documentation of + * #MBEDTLS_CHECK_PARAMS for details. + * + * Uncomment to allow MBEDTLS_PARAM_FAILED() to call `assert`. + */ +//#define MBEDTLS_CHECK_PARAMS_ASSERT + /* \} name SECTION: System support */ /** @@ -401,7 +425,7 @@ * \note Because of a signature change, the core AES encryption and decryption routines are * currently named mbedtls_aes_internal_encrypt and mbedtls_aes_internal_decrypt, * respectively. When setting up alternative implementations, these functions should - * be overriden, but the wrapper functions mbedtls_aes_decrypt and mbedtls_aes_encrypt + * be overridden, but the wrapper functions mbedtls_aes_decrypt and mbedtls_aes_encrypt * must stay untouched. * * \note If you use the AES_xxx_ALT macros, then is is recommended to also set @@ -416,6 +440,16 @@ * dependencies on them, and considering stronger message digests * and ciphers instead. * + * \warning If both MBEDTLS_ECDSA_SIGN_ALT and MBEDTLS_ECDSA_DETERMINISTIC are + * enabled, then the deterministic ECDH signature functions pass the + * the static HMAC-DRBG as RNG to mbedtls_ecdsa_sign(). Therefore + * alternative implementations should use the RNG only for generating + * the ephemeral key and nothing else. If this is not possible, then + * MBEDTLS_ECDSA_DETERMINISTIC should be disabled and an alternative + * implementation should be provided for mbedtls_ecdsa_sign_det_ext() + * (and for mbedtls_ecdsa_sign_det() too if backward compatibility is + * desirable). + * */ //#define MBEDTLS_MD2_PROCESS_ALT //#define MBEDTLS_MD4_PROCESS_ALT @@ -655,6 +689,13 @@ #define MBEDTLS_CIPHER_PADDING_ZEROS_AND_LEN #define MBEDTLS_CIPHER_PADDING_ZEROS +/** \def MBEDTLS_CTR_DRBG_USE_128_BIT_KEY + * + * Uncomment this macro to use a 128-bit key in the CTR_DRBG module. + * By default, CTR_DRBG uses a 256-bit key. + */ +//#define MBEDTLS_CTR_DRBG_USE_128_BIT_KEY + /** * \def MBEDTLS_ENABLE_WEAK_CIPHERSUITES * @@ -1558,7 +1599,7 @@ * \def MBEDTLS_SSL_SESSION_TICKETS * * Enable support for RFC 5077 session tickets in SSL. - * Client-side, provides full support for session tickets (maintainance of a + * Client-side, provides full support for session tickets (maintenance of a * session store remains the responsibility of the application, though). * Server-side, you also need to provide callbacks for writing and parsing * tickets, including authenticated encryption and key management. Example @@ -1642,9 +1683,7 @@ * * Uncomment this to enable pthread mutexes. */ -// -- GODOT start -- //#define MBEDTLS_THREADING_PTHREAD -// -- GODOT end -- /** * \def MBEDTLS_VERSION_FEATURES @@ -1726,7 +1765,7 @@ * * \warning TLS-level compression MAY REDUCE SECURITY! See for example the * CRIME attack. Before enabling this option, you should examine with care if - * CRIME or similar exploits may be a applicable to your use case. + * CRIME or similar exploits may be applicable to your use case. * * \note Currently compression can't be used with DTLS. * @@ -2117,7 +2156,11 @@ * * Enable the CTR_DRBG AES-based random generator. * The CTR_DRBG generator uses AES-256 by default. - * To use AES-128 instead, enable MBEDTLS_CTR_DRBG_USE_128_BIT_KEY below. + * To use AES-128 instead, enable \c MBEDTLS_CTR_DRBG_USE_128_BIT_KEY above. + * + * \note To achieve a 256-bit security strength with CTR_DRBG, + * you must use AES-256 *and* use sufficient entropy. + * See ctr_drbg.h for more details. * * Module: library/ctr_drbg.c * Caller: @@ -2838,9 +2881,7 @@ * * Enable this layer to allow use of mutexes within mbed TLS */ -// -- GODOT start -- //#define MBEDTLS_THREADING_C -// -- GODOT end -- /** * \def MBEDTLS_TIMING_C @@ -3013,7 +3054,6 @@ //#define MBEDTLS_CTR_DRBG_MAX_INPUT 256 /**< Maximum number of additional input bytes */ //#define MBEDTLS_CTR_DRBG_MAX_REQUEST 1024 /**< Maximum number of requested bytes per call */ //#define MBEDTLS_CTR_DRBG_MAX_SEED_INPUT 384 /**< Maximum size of (re)seed buffer */ -//#define MBEDTLS_CTR_DRBG_USE_128_BIT_KEY /**< Use 128-bit key for CTR_DRBG - may reduce security (see ctr_drbg.h) */ /* HMAC_DRBG options */ //#define MBEDTLS_HMAC_DRBG_RESEED_INTERVAL 10000 /**< Interval before reseed is performed by default */ @@ -3042,7 +3082,7 @@ //#define MBEDTLS_PLATFORM_STD_TIME time /**< Default time to use, can be undefined. MBEDTLS_HAVE_TIME must be enabled */ //#define MBEDTLS_PLATFORM_STD_FPRINTF fprintf /**< Default fprintf to use, can be undefined */ //#define MBEDTLS_PLATFORM_STD_PRINTF printf /**< Default printf to use, can be undefined */ -/* Note: your snprintf must correclty zero-terminate the buffer! */ +/* Note: your snprintf must correctly zero-terminate the buffer! */ //#define MBEDTLS_PLATFORM_STD_SNPRINTF snprintf /**< Default snprintf to use, can be undefined */ //#define MBEDTLS_PLATFORM_STD_EXIT_SUCCESS 0 /**< Default exit value to use, can be undefined */ //#define MBEDTLS_PLATFORM_STD_EXIT_FAILURE 1 /**< Default exit value to use, can be undefined */ @@ -3059,20 +3099,23 @@ //#define MBEDTLS_PLATFORM_TIME_TYPE_MACRO time_t /**< Default time macro to use, can be undefined. MBEDTLS_HAVE_TIME must be enabled */ //#define MBEDTLS_PLATFORM_FPRINTF_MACRO fprintf /**< Default fprintf macro to use, can be undefined */ //#define MBEDTLS_PLATFORM_PRINTF_MACRO printf /**< Default printf macro to use, can be undefined */ -/* Note: your snprintf must correclty zero-terminate the buffer! */ +/* Note: your snprintf must correctly zero-terminate the buffer! */ //#define MBEDTLS_PLATFORM_SNPRINTF_MACRO snprintf /**< Default snprintf macro to use, can be undefined */ //#define MBEDTLS_PLATFORM_NV_SEED_READ_MACRO mbedtls_platform_std_nv_seed_read /**< Default nv_seed_read function to use, can be undefined */ //#define MBEDTLS_PLATFORM_NV_SEED_WRITE_MACRO mbedtls_platform_std_nv_seed_write /**< Default nv_seed_write function to use, can be undefined */ /** * \brief This macro is invoked by the library when an invalid parameter - * is detected that is only checked with MBEDTLS_CHECK_PARAMS + * is detected that is only checked with #MBEDTLS_CHECK_PARAMS * (see the documentation of that option for context). * - * When you leave this undefined here, a default definition is - * provided that invokes the function mbedtls_param_failed(), - * which is declared in platform_util.h for the benefit of the - * library, but that you need to define in your application. + * When you leave this undefined here, the library provides + * a default definition. If the macro #MBEDTLS_CHECK_PARAMS_ASSERT + * is defined, the default definition is `assert(cond)`, + * otherwise the default definition calls a function + * mbedtls_param_failed(). This function is declared in + * `platform_util.h` for the benefit of the library, but + * you need to define in your application. * * When you define this here, this replaces the default * definition in platform_util.h (which no longer declares the @@ -3081,6 +3124,9 @@ * particular, that all the necessary declarations are visible * from within the library - you can ensure that by providing * them in this file next to the macro definition). + * If you define this macro to call `assert`, also define + * #MBEDTLS_CHECK_PARAMS_ASSERT so that library source files + * include `<assert.h>`. * * Note that you may define this macro to expand to nothing, in * which case you don't have to worry about declarations or diff --git a/thirdparty/mbedtls/include/mbedtls/ctr_drbg.h b/thirdparty/mbedtls/include/mbedtls/ctr_drbg.h index cc3df7b113..e0b5ed9c93 100644 --- a/thirdparty/mbedtls/include/mbedtls/ctr_drbg.h +++ b/thirdparty/mbedtls/include/mbedtls/ctr_drbg.h @@ -1,7 +1,8 @@ /** * \file ctr_drbg.h * - * \brief This file contains CTR_DRBG definitions and functions. + * \brief This file contains definitions and functions for the + * CTR_DRBG pseudorandom generator. * * CTR_DRBG is a standardized way of building a PRNG from a block-cipher * in counter mode operation, as defined in <em>NIST SP 800-90A: @@ -9,13 +10,35 @@ * Bit Generators</em>. * * The Mbed TLS implementation of CTR_DRBG uses AES-256 (default) or AES-128 - * as the underlying block cipher. - * - * \warning Using 128-bit keys for CTR_DRBG limits the security of generated - * keys and operations that use random values generated to 128-bit security. + * (if \c MBEDTLS_CTR_DRBG_USE_128_BIT_KEY is enabled at compile time) + * as the underlying block cipher, with a derivation function. + * The initial seeding grabs #MBEDTLS_CTR_DRBG_ENTROPY_LEN bytes of entropy. + * See the documentation of mbedtls_ctr_drbg_seed() for more details. + * + * Based on NIST SP 800-90A §10.2.1 table 3 and NIST SP 800-57 part 1 table 2, + * here are the security strengths achieved in typical configuration: + * - 256 bits under the default configuration of the library, with AES-256 + * and with #MBEDTLS_CTR_DRBG_ENTROPY_LEN set to 48 or more. + * - 256 bits if AES-256 is used, #MBEDTLS_CTR_DRBG_ENTROPY_LEN is set + * to 32 or more, and the DRBG is initialized with an explicit + * nonce in the \c custom parameter to mbedtls_ctr_drbg_seed(). + * - 128 bits if AES-256 is used but #MBEDTLS_CTR_DRBG_ENTROPY_LEN is + * between 24 and 47 and the DRBG is not initialized with an explicit + * nonce (see mbedtls_ctr_drbg_seed()). + * - 128 bits if AES-128 is used (\c MBEDTLS_CTR_DRBG_USE_128_BIT_KEY enabled) + * and #MBEDTLS_CTR_DRBG_ENTROPY_LEN is set to 24 or more (which is + * always the case unless it is explicitly set to a different value + * in config.h). + * + * Note that the value of #MBEDTLS_CTR_DRBG_ENTROPY_LEN defaults to: + * - \c 48 if the module \c MBEDTLS_SHA512_C is enabled and the symbol + * \c MBEDTLS_ENTROPY_FORCE_SHA256 is disabled at compile time. + * This is the default configuration of the library. + * - \c 32 if the module \c MBEDTLS_SHA512_C is disabled at compile time. + * - \c 32 if \c MBEDTLS_ENTROPY_FORCE_SHA256 is enabled at compile time. */ /* - * Copyright (C) 2006-2018, Arm Limited (or its affiliates), All Rights Reserved + * Copyright (C) 2006-2019, Arm Limited (or its affiliates), All Rights Reserved * SPDX-License-Identifier: Apache-2.0 * * Licensed under the Apache License, Version 2.0 (the "License"); you may @@ -56,9 +79,19 @@ #define MBEDTLS_CTR_DRBG_BLOCKSIZE 16 /**< The block size used by the cipher. */ #if defined(MBEDTLS_CTR_DRBG_USE_128_BIT_KEY) -#define MBEDTLS_CTR_DRBG_KEYSIZE 16 /**< The key size used by the cipher (compile-time choice: 128 bits). */ +#define MBEDTLS_CTR_DRBG_KEYSIZE 16 +/**< The key size in bytes used by the cipher. + * + * Compile-time choice: 16 bytes (128 bits) + * because #MBEDTLS_CTR_DRBG_USE_128_BIT_KEY is enabled. + */ #else -#define MBEDTLS_CTR_DRBG_KEYSIZE 32 /**< The key size used by the cipher (compile-time choice: 256 bits). */ +#define MBEDTLS_CTR_DRBG_KEYSIZE 32 +/**< The key size in bytes used by the cipher. + * + * Compile-time choice: 32 bytes (256 bits) + * because \c MBEDTLS_CTR_DRBG_USE_128_BIT_KEY is disabled. + */ #endif #define MBEDTLS_CTR_DRBG_KEYBITS ( MBEDTLS_CTR_DRBG_KEYSIZE * 8 ) /**< The key size for the DRBG operation, in bits. */ @@ -73,21 +106,31 @@ * \{ */ +/** \def MBEDTLS_CTR_DRBG_ENTROPY_LEN + * + * \brief The amount of entropy used per seed by default, in bytes. + */ #if !defined(MBEDTLS_CTR_DRBG_ENTROPY_LEN) #if defined(MBEDTLS_SHA512_C) && !defined(MBEDTLS_ENTROPY_FORCE_SHA256) +/** This is 48 bytes because the entropy module uses SHA-512 + * (\c MBEDTLS_ENTROPY_FORCE_SHA256 is disabled). + */ #define MBEDTLS_CTR_DRBG_ENTROPY_LEN 48 -/**< The amount of entropy used per seed by default: - * <ul><li>48 with SHA-512.</li> - * <li>32 with SHA-256.</li></ul> + +#else /* defined(MBEDTLS_SHA512_C) && !defined(MBEDTLS_ENTROPY_FORCE_SHA256) */ + +/** This is 32 bytes because the entropy module uses SHA-256 + * (the SHA512 module is disabled or + * \c MBEDTLS_ENTROPY_FORCE_SHA256 is enabled). */ -#else -#define MBEDTLS_CTR_DRBG_ENTROPY_LEN 32 -/**< Amount of entropy used per seed by default: - * <ul><li>48 with SHA-512.</li> - * <li>32 with SHA-256.</li></ul> +#if !defined(MBEDTLS_CTR_DRBG_USE_128_BIT_KEY) +/** \warning To achieve a 256-bit security strength, you must pass a nonce + * to mbedtls_ctr_drbg_seed(). */ -#endif -#endif +#endif /* !defined(MBEDTLS_CTR_DRBG_USE_128_BIT_KEY) */ +#define MBEDTLS_CTR_DRBG_ENTROPY_LEN 32 +#endif /* defined(MBEDTLS_SHA512_C) && !defined(MBEDTLS_ENTROPY_FORCE_SHA256) */ +#endif /* !defined(MBEDTLS_CTR_DRBG_ENTROPY_LEN) */ #if !defined(MBEDTLS_CTR_DRBG_RESEED_INTERVAL) #define MBEDTLS_CTR_DRBG_RESEED_INTERVAL 10000 @@ -106,7 +149,7 @@ #if !defined(MBEDTLS_CTR_DRBG_MAX_SEED_INPUT) #define MBEDTLS_CTR_DRBG_MAX_SEED_INPUT 384 -/**< The maximum size of seed or reseed buffer. */ +/**< The maximum size of seed or reseed buffer in bytes. */ #endif /* \} name SECTION: Module settings */ @@ -164,17 +207,68 @@ void mbedtls_ctr_drbg_init( mbedtls_ctr_drbg_context *ctx ); * \brief This function seeds and sets up the CTR_DRBG * entropy source for future reseeds. * - * \note Personalization data can be provided in addition to the more generic - * entropy source, to make this instantiation as unique as possible. - * + * A typical choice for the \p f_entropy and \p p_entropy parameters is + * to use the entropy module: + * - \p f_entropy is mbedtls_entropy_func(); + * - \p p_entropy is an instance of ::mbedtls_entropy_context initialized + * with mbedtls_entropy_init() (which registers the platform's default + * entropy sources). + * + * The entropy length is #MBEDTLS_CTR_DRBG_ENTROPY_LEN by default. + * You can override it by calling mbedtls_ctr_drbg_set_entropy_len(). + * + * You can provide a personalization string in addition to the + * entropy source, to make this instantiation as unique as possible. + * + * \note The _seed_material_ value passed to the derivation + * function in the CTR_DRBG Instantiate Process + * described in NIST SP 800-90A §10.2.1.3.2 + * is the concatenation of the string obtained from + * calling \p f_entropy and the \p custom string. + * The origin of the nonce depends on the value of + * the entropy length relative to the security strength. + * - If the entropy length is at least 1.5 times the + * security strength then the nonce is taken from the + * string obtained with \p f_entropy. + * - If the entropy length is less than the security + * strength, then the nonce is taken from \p custom. + * In this case, for compliance with SP 800-90A, + * you must pass a unique value of \p custom at + * each invocation. See SP 800-90A §8.6.7 for more + * details. + */ +#if MBEDTLS_CTR_DRBG_ENTROPY_LEN < MBEDTLS_CTR_DRBG_KEYSIZE * 3 / 2 +/** \warning When #MBEDTLS_CTR_DRBG_ENTROPY_LEN is less than + * #MBEDTLS_CTR_DRBG_KEYSIZE * 3 / 2, to achieve the + * maximum security strength permitted by CTR_DRBG, + * you must pass a value of \p custom that is a nonce: + * this value must never be repeated in subsequent + * runs of the same application or on a different + * device. + */ +#endif +/** * \param ctx The CTR_DRBG context to seed. + * It must have been initialized with + * mbedtls_ctr_drbg_init(). + * After a successful call to mbedtls_ctr_drbg_seed(), + * you may not call mbedtls_ctr_drbg_seed() again on + * the same context unless you call + * mbedtls_ctr_drbg_free() and mbedtls_ctr_drbg_init() + * again first. * \param f_entropy The entropy callback, taking as arguments the * \p p_entropy context, the buffer to fill, and the - length of the buffer. - * \param p_entropy The entropy context. - * \param custom Personalization data, that is device-specific - identifiers. Can be NULL. - * \param len The length of the personalization data. + * length of the buffer. + * \p f_entropy is always called with a buffer size + * equal to the entropy length. + * \param p_entropy The entropy context to pass to \p f_entropy. + * \param custom The personalization string. + * This can be \c NULL, in which case the personalization + * string is empty regardless of the value of \p len. + * \param len The length of the personalization string. + * This must be at most + * #MBEDTLS_CTR_DRBG_MAX_SEED_INPUT + * - #MBEDTLS_CTR_DRBG_ENTROPY_LEN. * * \return \c 0 on success. * \return #MBEDTLS_ERR_CTR_DRBG_ENTROPY_SOURCE_FAILED on failure. @@ -197,7 +291,8 @@ void mbedtls_ctr_drbg_free( mbedtls_ctr_drbg_context *ctx ); * The default value is off. * * \note If enabled, entropy is gathered at the beginning of - * every call to mbedtls_ctr_drbg_random_with_add(). + * every call to mbedtls_ctr_drbg_random_with_add() + * or mbedtls_ctr_drbg_random(). * Only use this if your entropy source has sufficient * throughput. * @@ -209,18 +304,37 @@ void mbedtls_ctr_drbg_set_prediction_resistance( mbedtls_ctr_drbg_context *ctx, /** * \brief This function sets the amount of entropy grabbed on each - * seed or reseed. The default value is - * #MBEDTLS_CTR_DRBG_ENTROPY_LEN. + * seed or reseed. + * + * The default value is #MBEDTLS_CTR_DRBG_ENTROPY_LEN. + * + * \note The security strength of CTR_DRBG is bounded by the + * entropy length. Thus: + * - When using AES-256 + * (\c MBEDTLS_CTR_DRBG_USE_128_BIT_KEY is disabled, + * which is the default), + * \p len must be at least 32 (in bytes) + * to achieve a 256-bit strength. + * - When using AES-128 + * (\c MBEDTLS_CTR_DRBG_USE_128_BIT_KEY is enabled) + * \p len must be at least 16 (in bytes) + * to achieve a 128-bit strength. * * \param ctx The CTR_DRBG context. - * \param len The amount of entropy to grab. + * \param len The amount of entropy to grab, in bytes. + * This must be at most #MBEDTLS_CTR_DRBG_MAX_SEED_INPUT. */ void mbedtls_ctr_drbg_set_entropy_len( mbedtls_ctr_drbg_context *ctx, size_t len ); /** * \brief This function sets the reseed interval. - * The default value is #MBEDTLS_CTR_DRBG_RESEED_INTERVAL. + * + * The reseed interval is the number of calls to mbedtls_ctr_drbg_random() + * or mbedtls_ctr_drbg_random_with_add() after which the entropy function + * is called again. + * + * The default value is #MBEDTLS_CTR_DRBG_RESEED_INTERVAL. * * \param ctx The CTR_DRBG context. * \param interval The reseed interval. @@ -233,8 +347,12 @@ void mbedtls_ctr_drbg_set_reseed_interval( mbedtls_ctr_drbg_context *ctx, * extracts data from the entropy source. * * \param ctx The CTR_DRBG context. - * \param additional Additional data to add to the state. Can be NULL. + * \param additional Additional data to add to the state. Can be \c NULL. * \param len The length of the additional data. + * This must be less than + * #MBEDTLS_CTR_DRBG_MAX_SEED_INPUT - \c entropy_len + * where \c entropy_len is the entropy length + * configured for the context. * * \return \c 0 on success. * \return #MBEDTLS_ERR_CTR_DRBG_ENTROPY_SOURCE_FAILED on failure. @@ -246,7 +364,8 @@ int mbedtls_ctr_drbg_reseed( mbedtls_ctr_drbg_context *ctx, * \brief This function updates the state of the CTR_DRBG context. * * \param ctx The CTR_DRBG context. - * \param additional The data to update the state with. + * \param additional The data to update the state with. This must not be + * \c NULL unless \p add_len is \c 0. * \param add_len Length of \p additional in bytes. This must be at * most #MBEDTLS_CTR_DRBG_MAX_SEED_INPUT. * @@ -264,14 +383,23 @@ int mbedtls_ctr_drbg_update_ret( mbedtls_ctr_drbg_context *ctx, * \brief This function updates a CTR_DRBG instance with additional * data and uses it to generate random data. * - * \note The function automatically reseeds if the reseed counter is exceeded. + * This function automatically reseeds if the reseed counter is exceeded + * or prediction resistance is enabled. * * \param p_rng The CTR_DRBG context. This must be a pointer to a * #mbedtls_ctr_drbg_context structure. * \param output The buffer to fill. - * \param output_len The length of the buffer. - * \param additional Additional data to update. Can be NULL. - * \param add_len The length of the additional data. + * \param output_len The length of the buffer in bytes. + * \param additional Additional data to update. Can be \c NULL, in which + * case the additional data is empty regardless of + * the value of \p add_len. + * \param add_len The length of the additional data + * if \p additional is not \c NULL. + * This must be less than #MBEDTLS_CTR_DRBG_MAX_INPUT + * and less than + * #MBEDTLS_CTR_DRBG_MAX_SEED_INPUT - \c entropy_len + * where \c entropy_len is the entropy length + * configured for the context. * * \return \c 0 on success. * \return #MBEDTLS_ERR_CTR_DRBG_ENTROPY_SOURCE_FAILED or @@ -284,12 +412,14 @@ int mbedtls_ctr_drbg_random_with_add( void *p_rng, /** * \brief This function uses CTR_DRBG to generate random data. * - * \note The function automatically reseeds if the reseed counter is exceeded. + * This function automatically reseeds if the reseed counter is exceeded + * or prediction resistance is enabled. + * * * \param p_rng The CTR_DRBG context. This must be a pointer to a * #mbedtls_ctr_drbg_context structure. * \param output The buffer to fill. - * \param output_len The length of the buffer. + * \param output_len The length of the buffer in bytes. * * \return \c 0 on success. * \return #MBEDTLS_ERR_CTR_DRBG_ENTROPY_SOURCE_FAILED or @@ -336,7 +466,7 @@ MBEDTLS_DEPRECATED void mbedtls_ctr_drbg_update( * * \return \c 0 on success. * \return #MBEDTLS_ERR_CTR_DRBG_FILE_IO_ERROR on file error. - * \return #MBEDTLS_ERR_CTR_DRBG_ENTROPY_SOURCE_FAILED on + * \return #MBEDTLS_ERR_CTR_DRBG_ENTROPY_SOURCE_FAILED on reseed * failure. */ int mbedtls_ctr_drbg_write_seed_file( mbedtls_ctr_drbg_context *ctx, const char *path ); @@ -350,8 +480,10 @@ int mbedtls_ctr_drbg_write_seed_file( mbedtls_ctr_drbg_context *ctx, const char * * \return \c 0 on success. * \return #MBEDTLS_ERR_CTR_DRBG_FILE_IO_ERROR on file error. - * \return #MBEDTLS_ERR_CTR_DRBG_ENTROPY_SOURCE_FAILED or - * #MBEDTLS_ERR_CTR_DRBG_INPUT_TOO_BIG on failure. + * \return #MBEDTLS_ERR_CTR_DRBG_ENTROPY_SOURCE_FAILED on + * reseed failure. + * \return #MBEDTLS_ERR_CTR_DRBG_INPUT_TOO_BIG if the existing + * seed file is too large. */ int mbedtls_ctr_drbg_update_seed_file( mbedtls_ctr_drbg_context *ctx, const char *path ); #endif /* MBEDTLS_FS_IO */ diff --git a/thirdparty/mbedtls/include/mbedtls/ecdsa.h b/thirdparty/mbedtls/include/mbedtls/ecdsa.h index f8b28507c2..932acc6d14 100644 --- a/thirdparty/mbedtls/include/mbedtls/ecdsa.h +++ b/thirdparty/mbedtls/include/mbedtls/ecdsa.h @@ -175,6 +175,19 @@ int mbedtls_ecdsa_sign( mbedtls_ecp_group *grp, mbedtls_mpi *r, mbedtls_mpi *s, * (SECG): SEC1 Elliptic Curve Cryptography</em>, section * 4.1.3, step 5. * + * \warning Since the output of the internal RNG is always the same for + * the same key and message, this limits the efficiency of + * blinding and leaks information through side channels. For + * secure behavior use mbedtls_ecdsa_sign_det_ext() instead. + * + * (Optimally the blinding is a random value that is different + * on every execution. In this case the blinding is still + * random from the attackers perspective, but is the same on + * each execution. This means that this blinding does not + * prevent attackers from recovering secrets by combining + * several measurement traces, but may prevent some attacks + * that exploit relationships between secret data.) + * * \see ecp.h * * \param grp The context for the elliptic curve to use. @@ -200,6 +213,52 @@ int mbedtls_ecdsa_sign_det( mbedtls_ecp_group *grp, mbedtls_mpi *r, mbedtls_mpi *s, const mbedtls_mpi *d, const unsigned char *buf, size_t blen, mbedtls_md_type_t md_alg ); +/** + * \brief This function computes the ECDSA signature of a + * previously-hashed message, deterministic version. + * + * For more information, see <em>RFC-6979: Deterministic + * Usage of the Digital Signature Algorithm (DSA) and Elliptic + * Curve Digital Signature Algorithm (ECDSA)</em>. + * + * \note If the bitlength of the message hash is larger than the + * bitlength of the group order, then the hash is truncated as + * defined in <em>Standards for Efficient Cryptography Group + * (SECG): SEC1 Elliptic Curve Cryptography</em>, section + * 4.1.3, step 5. + * + * \see ecp.h + * + * \param grp The context for the elliptic curve to use. + * This must be initialized and have group parameters + * set, for example through mbedtls_ecp_group_load(). + * \param r The MPI context in which to store the first part + * the signature. This must be initialized. + * \param s The MPI context in which to store the second part + * the signature. This must be initialized. + * \param d The private signing key. This must be initialized + * and setup, for example through mbedtls_ecp_gen_privkey(). + * \param buf The hashed content to be signed. This must be a readable + * buffer of length \p blen Bytes. It may be \c NULL if + * \p blen is zero. + * \param blen The length of \p buf in Bytes. + * \param md_alg The hash algorithm used to hash the original data. + * \param f_rng_blind The RNG function used for blinding. This must not be + * \c NULL. + * \param p_rng_blind The RNG context to be passed to \p f_rng. This may be + * \c NULL if \p f_rng doesn't need a context parameter. + * + * \return \c 0 on success. + * \return An \c MBEDTLS_ERR_ECP_XXX or \c MBEDTLS_MPI_XXX + * error code on failure. + */ +int mbedtls_ecdsa_sign_det_ext( mbedtls_ecp_group *grp, mbedtls_mpi *r, + mbedtls_mpi *s, const mbedtls_mpi *d, + const unsigned char *buf, size_t blen, + mbedtls_md_type_t md_alg, + int (*f_rng_blind)(void *, unsigned char *, + size_t), + void *p_rng_blind ); #endif /* MBEDTLS_ECDSA_DETERMINISTIC */ /** diff --git a/thirdparty/mbedtls/include/mbedtls/hkdf.h b/thirdparty/mbedtls/include/mbedtls/hkdf.h index 40ee64eb03..bcafe42513 100644 --- a/thirdparty/mbedtls/include/mbedtls/hkdf.h +++ b/thirdparty/mbedtls/include/mbedtls/hkdf.h @@ -7,22 +7,22 @@ * specified by RFC 5869. */ /* - * Copyright (C) 2016-2018, ARM Limited, All Rights Reserved - * SPDX-License-Identifier: Apache-2.0 + * Copyright (C) 2016-2019, ARM Limited, All Rights Reserved + * SPDX-License-Identifier: Apache-2.0 * - * Licensed under the Apache License, Version 2.0 (the "License"); you may - * not use this file except in compliance with the License. - * You may obtain a copy of the License at + * Licensed under the Apache License, Version 2.0 (the "License"); you may + * not use this file except in compliance with the License. + * You may obtain a copy of the License at * - * http://www.apache.org/licenses/LICENSE-2.0 + * http://www.apache.org/licenses/LICENSE-2.0 * - * Unless required by applicable law or agreed to in writing, software - * distributed under the License is distributed on an "AS IS" BASIS, WITHOUT - * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. - * See the License for the specific language governing permissions and - * limitations under the License. + * Unless required by applicable law or agreed to in writing, software + * distributed under the License is distributed on an "AS IS" BASIS, WITHOUT + * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + * See the License for the specific language governing permissions and + * limitations under the License. * - * This file is part of mbed TLS (https://tls.mbed.org) + * This file is part of mbed TLS (https://tls.mbed.org) */ #ifndef MBEDTLS_HKDF_H #define MBEDTLS_HKDF_H diff --git a/thirdparty/mbedtls/include/mbedtls/hmac_drbg.h b/thirdparty/mbedtls/include/mbedtls/hmac_drbg.h index 7eae32bbd6..7931c2281c 100644 --- a/thirdparty/mbedtls/include/mbedtls/hmac_drbg.h +++ b/thirdparty/mbedtls/include/mbedtls/hmac_drbg.h @@ -1,10 +1,14 @@ /** * \file hmac_drbg.h * - * \brief HMAC_DRBG (NIST SP 800-90A) + * \brief The HMAC_DRBG pseudorandom generator. + * + * This module implements the HMAC_DRBG pseudorandom generator described + * in <em>NIST SP 800-90A: Recommendation for Random Number Generation Using + * Deterministic Random Bit Generators</em>. */ /* - * Copyright (C) 2006-2015, ARM Limited, All Rights Reserved + * Copyright (C) 2006-2019, ARM Limited, All Rights Reserved * SPDX-License-Identifier: Apache-2.0 * * Licensed under the Apache License, Version 2.0 (the "License"); you may @@ -82,7 +86,7 @@ extern "C" { */ typedef struct mbedtls_hmac_drbg_context { - /* Working state: the key K is not stored explicitely, + /* Working state: the key K is not stored explicitly, * but is implied by the HMAC context */ mbedtls_md_context_t md_ctx; /*!< HMAC context (inc. K) */ unsigned char V[MBEDTLS_MD_MAX_SIZE]; /*!< V in the spec */ @@ -104,38 +108,72 @@ typedef struct mbedtls_hmac_drbg_context } mbedtls_hmac_drbg_context; /** - * \brief HMAC_DRBG context initialization - * Makes the context ready for mbedtls_hmac_drbg_seed(), - * mbedtls_hmac_drbg_seed_buf() or - * mbedtls_hmac_drbg_free(). + * \brief HMAC_DRBG context initialization. + * + * This function makes the context ready for mbedtls_hmac_drbg_seed(), + * mbedtls_hmac_drbg_seed_buf() or mbedtls_hmac_drbg_free(). * - * \param ctx HMAC_DRBG context to be initialized + * \param ctx HMAC_DRBG context to be initialized. */ void mbedtls_hmac_drbg_init( mbedtls_hmac_drbg_context *ctx ); /** - * \brief HMAC_DRBG initial seeding - * Seed and setup entropy source for future reseeds. - * - * \param ctx HMAC_DRBG context to be seeded - * \param md_info MD algorithm to use for HMAC_DRBG - * \param f_entropy Entropy callback (p_entropy, buffer to fill, buffer - * length) - * \param p_entropy Entropy context - * \param custom Personalization data (Device specific identifiers) - * (Can be NULL) - * \param len Length of personalization data - * - * \note The "security strength" as defined by NIST is set to: - * 128 bits if md_alg is SHA-1, - * 192 bits if md_alg is SHA-224, - * 256 bits if md_alg is SHA-256 or higher. - * Note that SHA-256 is just as efficient as SHA-224. + * \brief HMAC_DRBG initial seeding. + * + * Set the initial seed and set up the entropy source for future reseeds. + * + * A typical choice for the \p f_entropy and \p p_entropy parameters is + * to use the entropy module: + * - \p f_entropy is mbedtls_entropy_func(); + * - \p p_entropy is an instance of ::mbedtls_entropy_context initialized + * with mbedtls_entropy_init() (which registers the platform's default + * entropy sources). + * + * You can provide a personalization string in addition to the + * entropy source, to make this instantiation as unique as possible. * - * \return 0 if successful, or - * MBEDTLS_ERR_MD_BAD_INPUT_DATA, or - * MBEDTLS_ERR_MD_ALLOC_FAILED, or - * MBEDTLS_ERR_HMAC_DRBG_ENTROPY_SOURCE_FAILED. + * \note By default, the security strength as defined by NIST is: + * - 128 bits if \p md_info is SHA-1; + * - 192 bits if \p md_info is SHA-224; + * - 256 bits if \p md_info is SHA-256, SHA-384 or SHA-512. + * Note that SHA-256 is just as efficient as SHA-224. + * The security strength can be reduced if a smaller + * entropy length is set with + * mbedtls_hmac_drbg_set_entropy_len(). + * + * \note The default entropy length is the security strength + * (converted from bits to bytes). You can override + * it by calling mbedtls_hmac_drbg_set_entropy_len(). + * + * \note During the initial seeding, this function calls + * the entropy source to obtain a nonce + * whose length is half the entropy length. + * + * \param ctx HMAC_DRBG context to be seeded. + * \param md_info MD algorithm to use for HMAC_DRBG. + * \param f_entropy The entropy callback, taking as arguments the + * \p p_entropy context, the buffer to fill, and the + * length of the buffer. + * \p f_entropy is always called with a length that is + * less than or equal to the entropy length. + * \param p_entropy The entropy context to pass to \p f_entropy. + * \param custom The personalization string. + * This can be \c NULL, in which case the personalization + * string is empty regardless of the value of \p len. + * \param len The length of the personalization string. + * This must be at most #MBEDTLS_HMAC_DRBG_MAX_INPUT + * and also at most + * #MBEDTLS_HMAC_DRBG_MAX_SEED_INPUT - \p entropy_len * 3 / 2 + * where \p entropy_len is the entropy length + * described above. + * + * \return \c 0 if successful. + * \return #MBEDTLS_ERR_MD_BAD_INPUT_DATA if \p md_info is + * invalid. + * \return #MBEDTLS_ERR_MD_ALLOC_FAILED if there was not enough + * memory to allocate context data. + * \return #MBEDTLS_ERR_HMAC_DRBG_ENTROPY_SOURCE_FAILED + * if the call to \p f_entropy failed. */ int mbedtls_hmac_drbg_seed( mbedtls_hmac_drbg_context *ctx, const mbedtls_md_info_t * md_info, @@ -146,98 +184,131 @@ int mbedtls_hmac_drbg_seed( mbedtls_hmac_drbg_context *ctx, /** * \brief Initilisation of simpified HMAC_DRBG (never reseeds). - * (For use with deterministic ECDSA.) * - * \param ctx HMAC_DRBG context to be initialised - * \param md_info MD algorithm to use for HMAC_DRBG - * \param data Concatenation of entropy string and additional data - * \param data_len Length of data in bytes + * This function is meant for use in algorithms that need a pseudorandom + * input such as deterministic ECDSA. + * + * \param ctx HMAC_DRBG context to be initialised. + * \param md_info MD algorithm to use for HMAC_DRBG. + * \param data Concatenation of the initial entropy string and + * the additional data. + * \param data_len Length of \p data in bytes. * - * \return 0 if successful, or - * MBEDTLS_ERR_MD_BAD_INPUT_DATA, or - * MBEDTLS_ERR_MD_ALLOC_FAILED. + * \return \c 0 if successful. or + * \return #MBEDTLS_ERR_MD_BAD_INPUT_DATA if \p md_info is + * invalid. + * \return #MBEDTLS_ERR_MD_ALLOC_FAILED if there was not enough + * memory to allocate context data. */ int mbedtls_hmac_drbg_seed_buf( mbedtls_hmac_drbg_context *ctx, const mbedtls_md_info_t * md_info, const unsigned char *data, size_t data_len ); /** - * \brief Enable / disable prediction resistance (Default: Off) + * \brief This function turns prediction resistance on or off. + * The default value is off. * - * Note: If enabled, entropy is used for ctx->entropy_len before each call! - * Only use this if you have ample supply of good entropy! + * \note If enabled, entropy is gathered at the beginning of + * every call to mbedtls_hmac_drbg_random_with_add() + * or mbedtls_hmac_drbg_random(). + * Only use this if your entropy source has sufficient + * throughput. * - * \param ctx HMAC_DRBG context - * \param resistance MBEDTLS_HMAC_DRBG_PR_ON or MBEDTLS_HMAC_DRBG_PR_OFF + * \param ctx The HMAC_DRBG context. + * \param resistance #MBEDTLS_HMAC_DRBG_PR_ON or #MBEDTLS_HMAC_DRBG_PR_OFF. */ void mbedtls_hmac_drbg_set_prediction_resistance( mbedtls_hmac_drbg_context *ctx, int resistance ); /** - * \brief Set the amount of entropy grabbed on each reseed - * (Default: given by the security strength, which - * depends on the hash used, see \c mbedtls_hmac_drbg_init() ) + * \brief This function sets the amount of entropy grabbed on each + * seed or reseed. + * + * See the documentation of mbedtls_hmac_drbg_seed() for the default value. * - * \param ctx HMAC_DRBG context - * \param len Amount of entropy to grab, in bytes + * \param ctx The HMAC_DRBG context. + * \param len The amount of entropy to grab, in bytes. */ void mbedtls_hmac_drbg_set_entropy_len( mbedtls_hmac_drbg_context *ctx, size_t len ); /** - * \brief Set the reseed interval - * (Default: MBEDTLS_HMAC_DRBG_RESEED_INTERVAL) + * \brief Set the reseed interval. * - * \param ctx HMAC_DRBG context - * \param interval Reseed interval + * The reseed interval is the number of calls to mbedtls_hmac_drbg_random() + * or mbedtls_hmac_drbg_random_with_add() after which the entropy function + * is called again. + * + * The default value is #MBEDTLS_HMAC_DRBG_RESEED_INTERVAL. + * + * \param ctx The HMAC_DRBG context. + * \param interval The reseed interval. */ void mbedtls_hmac_drbg_set_reseed_interval( mbedtls_hmac_drbg_context *ctx, int interval ); /** - * \brief HMAC_DRBG update state + * \brief This function updates the state of the HMAC_DRBG context. * - * \param ctx HMAC_DRBG context - * \param additional Additional data to update state with, or NULL - * \param add_len Length of additional data, or 0 + * \param ctx The HMAC_DRBG context. + * \param additional The data to update the state with. + * If this is \c NULL, there is no additional data. + * \param add_len Length of \p additional in bytes. + * Unused if \p additional is \c NULL. * * \return \c 0 on success, or an error from the underlying * hash calculation. - * - * \note Additional data is optional, pass NULL and 0 as second - * third argument if no additional data is being used. */ int mbedtls_hmac_drbg_update_ret( mbedtls_hmac_drbg_context *ctx, const unsigned char *additional, size_t add_len ); /** - * \brief HMAC_DRBG reseeding (extracts data from entropy source) - * - * \param ctx HMAC_DRBG context - * \param additional Additional data to add to state (Can be NULL) - * \param len Length of additional data - * - * \return 0 if successful, or - * MBEDTLS_ERR_HMAC_DRBG_ENTROPY_SOURCE_FAILED + * \brief This function reseeds the HMAC_DRBG context, that is + * extracts data from the entropy source. + * + * \param ctx The HMAC_DRBG context. + * \param additional Additional data to add to the state. + * If this is \c NULL, there is no additional data + * and \p len should be \c 0. + * \param len The length of the additional data. + * This must be at most #MBEDTLS_HMAC_DRBG_MAX_INPUT + * and also at most + * #MBEDTLS_HMAC_DRBG_MAX_SEED_INPUT - \p entropy_len + * where \p entropy_len is the entropy length + * (see mbedtls_hmac_drbg_set_entropy_len()). + * + * \return \c 0 if successful. + * \return #MBEDTLS_ERR_HMAC_DRBG_ENTROPY_SOURCE_FAILED + * if a call to the entropy function failed. */ int mbedtls_hmac_drbg_reseed( mbedtls_hmac_drbg_context *ctx, const unsigned char *additional, size_t len ); /** - * \brief HMAC_DRBG generate random with additional update input - * - * Note: Automatically reseeds if reseed_counter is reached or PR is enabled. - * - * \param p_rng HMAC_DRBG context - * \param output Buffer to fill - * \param output_len Length of the buffer - * \param additional Additional data to update with (can be NULL) - * \param add_len Length of additional data (can be 0) - * - * \return 0 if successful, or - * MBEDTLS_ERR_HMAC_DRBG_ENTROPY_SOURCE_FAILED, or - * MBEDTLS_ERR_HMAC_DRBG_REQUEST_TOO_BIG, or - * MBEDTLS_ERR_HMAC_DRBG_INPUT_TOO_BIG. + * \brief This function updates an HMAC_DRBG instance with additional + * data and uses it to generate random data. + * + * This function automatically reseeds if the reseed counter is exceeded + * or prediction resistance is enabled. + * + * \param p_rng The HMAC_DRBG context. This must be a pointer to a + * #mbedtls_hmac_drbg_context structure. + * \param output The buffer to fill. + * \param output_len The length of the buffer in bytes. + * This must be at most #MBEDTLS_HMAC_DRBG_MAX_REQUEST. + * \param additional Additional data to update with. + * If this is \c NULL, there is no additional data + * and \p add_len should be \c 0. + * \param add_len The length of the additional data. + * This must be at most #MBEDTLS_HMAC_DRBG_MAX_INPUT. + * + * \return \c 0 if successful. + * \return #MBEDTLS_ERR_HMAC_DRBG_ENTROPY_SOURCE_FAILED + * if a call to the entropy source failed. + * \return #MBEDTLS_ERR_HMAC_DRBG_REQUEST_TOO_BIG if + * \p output_len > #MBEDTLS_HMAC_DRBG_MAX_REQUEST. + * \return #MBEDTLS_ERR_HMAC_DRBG_INPUT_TOO_BIG if + * \p add_len > #MBEDTLS_HMAC_DRBG_MAX_INPUT. */ int mbedtls_hmac_drbg_random_with_add( void *p_rng, unsigned char *output, size_t output_len, @@ -245,24 +316,29 @@ int mbedtls_hmac_drbg_random_with_add( void *p_rng, size_t add_len ); /** - * \brief HMAC_DRBG generate random - * - * Note: Automatically reseeds if reseed_counter is reached or PR is enabled. - * - * \param p_rng HMAC_DRBG context - * \param output Buffer to fill - * \param out_len Length of the buffer - * - * \return 0 if successful, or - * MBEDTLS_ERR_HMAC_DRBG_ENTROPY_SOURCE_FAILED, or - * MBEDTLS_ERR_HMAC_DRBG_REQUEST_TOO_BIG + * \brief This function uses HMAC_DRBG to generate random data. + * + * This function automatically reseeds if the reseed counter is exceeded + * or prediction resistance is enabled. + * + * \param p_rng The HMAC_DRBG context. This must be a pointer to a + * #mbedtls_hmac_drbg_context structure. + * \param output The buffer to fill. + * \param out_len The length of the buffer in bytes. + * This must be at most #MBEDTLS_HMAC_DRBG_MAX_REQUEST. + * + * \return \c 0 if successful. + * \return #MBEDTLS_ERR_HMAC_DRBG_ENTROPY_SOURCE_FAILED + * if a call to the entropy source failed. + * \return #MBEDTLS_ERR_HMAC_DRBG_REQUEST_TOO_BIG if + * \p out_len > #MBEDTLS_HMAC_DRBG_MAX_REQUEST. */ int mbedtls_hmac_drbg_random( void *p_rng, unsigned char *output, size_t out_len ); /** * \brief Free an HMAC_DRBG context * - * \param ctx HMAC_DRBG context to free. + * \param ctx The HMAC_DRBG context to free. */ void mbedtls_hmac_drbg_free( mbedtls_hmac_drbg_context *ctx ); @@ -273,17 +349,16 @@ void mbedtls_hmac_drbg_free( mbedtls_hmac_drbg_context *ctx ); #define MBEDTLS_DEPRECATED #endif /** - * \brief HMAC_DRBG update state + * \brief This function updates the state of the HMAC_DRBG context. * * \deprecated Superseded by mbedtls_hmac_drbg_update_ret() * in 2.16.0. * - * \param ctx HMAC_DRBG context - * \param additional Additional data to update state with, or NULL - * \param add_len Length of additional data, or 0 - * - * \note Additional data is optional, pass NULL and 0 as second - * third argument if no additional data is being used. + * \param ctx The HMAC_DRBG context. + * \param additional The data to update the state with. + * If this is \c NULL, there is no additional data. + * \param add_len Length of \p additional in bytes. + * Unused if \p additional is \c NULL. */ MBEDTLS_DEPRECATED void mbedtls_hmac_drbg_update( mbedtls_hmac_drbg_context *ctx, @@ -293,26 +368,31 @@ MBEDTLS_DEPRECATED void mbedtls_hmac_drbg_update( #if defined(MBEDTLS_FS_IO) /** - * \brief Write a seed file + * \brief This function writes a seed file. * - * \param ctx HMAC_DRBG context - * \param path Name of the file + * \param ctx The HMAC_DRBG context. + * \param path The name of the file. * - * \return 0 if successful, 1 on file error, or - * MBEDTLS_ERR_HMAC_DRBG_ENTROPY_SOURCE_FAILED + * \return \c 0 on success. + * \return #MBEDTLS_ERR_HMAC_DRBG_FILE_IO_ERROR on file error. + * \return #MBEDTLS_ERR_HMAC_DRBG_ENTROPY_SOURCE_FAILED on reseed + * failure. */ int mbedtls_hmac_drbg_write_seed_file( mbedtls_hmac_drbg_context *ctx, const char *path ); /** - * \brief Read and update a seed file. Seed is added to this - * instance - * - * \param ctx HMAC_DRBG context - * \param path Name of the file - * - * \return 0 if successful, 1 on file error, - * MBEDTLS_ERR_HMAC_DRBG_ENTROPY_SOURCE_FAILED or - * MBEDTLS_ERR_HMAC_DRBG_INPUT_TOO_BIG + * \brief This function reads and updates a seed file. The seed + * is added to this instance. + * + * \param ctx The HMAC_DRBG context. + * \param path The name of the file. + * + * \return \c 0 on success. + * \return #MBEDTLS_ERR_HMAC_DRBG_FILE_IO_ERROR on file error. + * \return #MBEDTLS_ERR_HMAC_DRBG_ENTROPY_SOURCE_FAILED on + * reseed failure. + * \return #MBEDTLS_ERR_HMAC_DRBG_INPUT_TOO_BIG if the existing + * seed file is too large. */ int mbedtls_hmac_drbg_update_seed_file( mbedtls_hmac_drbg_context *ctx, const char *path ); #endif /* MBEDTLS_FS_IO */ @@ -320,9 +400,10 @@ int mbedtls_hmac_drbg_update_seed_file( mbedtls_hmac_drbg_context *ctx, const ch #if defined(MBEDTLS_SELF_TEST) /** - * \brief Checkup routine + * \brief The HMAC_DRBG Checkup routine. * - * \return 0 if successful, or 1 if the test failed + * \return \c 0 if successful. + * \return \c 1 if the test failed. */ int mbedtls_hmac_drbg_self_test( int verbose ); #endif diff --git a/thirdparty/mbedtls/include/mbedtls/pk.h b/thirdparty/mbedtls/include/mbedtls/pk.h index 91950f9407..136427503a 100644 --- a/thirdparty/mbedtls/include/mbedtls/pk.h +++ b/thirdparty/mbedtls/include/mbedtls/pk.h @@ -416,6 +416,10 @@ int mbedtls_pk_verify_ext( mbedtls_pk_type_t type, const void *options, * * \note For RSA, md_alg may be MBEDTLS_MD_NONE if hash_len != 0. * For ECDSA, md_alg may never be MBEDTLS_MD_NONE. + * + * \note In order to ensure enough space for the signature, the + * \p sig buffer size must be of at least + * `max(MBEDTLS_ECDSA_MAX_LEN, MBEDTLS_MPI_MAX_SIZE)` bytes. */ int mbedtls_pk_sign( mbedtls_pk_context *ctx, mbedtls_md_type_t md_alg, const unsigned char *hash, size_t hash_len, @@ -430,6 +434,10 @@ int mbedtls_pk_sign( mbedtls_pk_context *ctx, mbedtls_md_type_t md_alg, * \c mbedtls_ecp_set_max_ops() to reduce blocking for ECC * operations. For RSA, same as \c mbedtls_pk_sign(). * + * \note In order to ensure enough space for the signature, the + * \p sig buffer size must be of at least + * `max(MBEDTLS_ECDSA_MAX_LEN, MBEDTLS_MPI_MAX_SIZE)` bytes. + * * \param ctx The PK context to use. It must have been set up * with a private key. * \param md_alg Hash algorithm used (see notes) diff --git a/thirdparty/mbedtls/include/mbedtls/platform_util.h b/thirdparty/mbedtls/include/mbedtls/platform_util.h index dba6d45982..09d0965182 100644 --- a/thirdparty/mbedtls/include/mbedtls/platform_util.h +++ b/thirdparty/mbedtls/include/mbedtls/platform_util.h @@ -43,6 +43,12 @@ extern "C" { #if defined(MBEDTLS_CHECK_PARAMS) +#if defined(MBEDTLS_CHECK_PARAMS_ASSERT) +/* Allow the user to define MBEDTLS_PARAM_FAILED to something like assert + * (which is what our config.h suggests). */ +#include <assert.h> +#endif /* MBEDTLS_CHECK_PARAMS_ASSERT */ + #if defined(MBEDTLS_PARAM_FAILED) /** An alternative definition of MBEDTLS_PARAM_FAILED has been set in config.h. * @@ -50,6 +56,11 @@ extern "C" { * MBEDTLS_PARAM_FAILED() will expand to a call to mbedtls_param_failed(). */ #define MBEDTLS_PARAM_FAILED_ALT + +#elif defined(MBEDTLS_CHECK_PARAMS_ASSERT) +#define MBEDTLS_PARAM_FAILED( cond ) assert( cond ) +#define MBEDTLS_PARAM_FAILED_ALT + #else /* MBEDTLS_PARAM_FAILED */ #define MBEDTLS_PARAM_FAILED( cond ) \ mbedtls_param_failed( #cond, __FILE__, __LINE__ ) diff --git a/thirdparty/mbedtls/include/mbedtls/rsa.h b/thirdparty/mbedtls/include/mbedtls/rsa.h index 906c427332..35bacd8763 100644 --- a/thirdparty/mbedtls/include/mbedtls/rsa.h +++ b/thirdparty/mbedtls/include/mbedtls/rsa.h @@ -150,13 +150,13 @@ mbedtls_rsa_context; * \note The choice of padding mode is strictly enforced for private key * operations, since there might be security concerns in * mixing padding modes. For public key operations it is - * a default value, which can be overriden by calling specific + * a default value, which can be overridden by calling specific * \c rsa_rsaes_xxx or \c rsa_rsassa_xxx functions. * * \note The hash selected in \p hash_id is always used for OEAP * encryption. For PSS signatures, it is always used for - * making signatures, but can be overriden for verifying them. - * If set to #MBEDTLS_MD_NONE, it is always overriden. + * making signatures, but can be overridden for verifying them. + * If set to #MBEDTLS_MD_NONE, it is always overridden. * * \param ctx The RSA context to initialize. This must not be \c NULL. * \param padding The padding mode to use. This must be either @@ -904,7 +904,8 @@ int mbedtls_rsa_rsaes_oaep_decrypt( mbedtls_rsa_context *ctx, * the size of the hash corresponding to \p md_alg. * \param sig The buffer to hold the signature. This must be a writable * buffer of length \c ctx->len Bytes. For example, \c 256 Bytes - * for an 2048-bit RSA modulus. + * for an 2048-bit RSA modulus. A buffer length of + * #MBEDTLS_MPI_MAX_SIZE is always safe. * * \return \c 0 if the signing operation was successful. * \return An \c MBEDTLS_ERR_RSA_XXX error code on failure. @@ -951,7 +952,8 @@ int mbedtls_rsa_pkcs1_sign( mbedtls_rsa_context *ctx, * the size of the hash corresponding to \p md_alg. * \param sig The buffer to hold the signature. This must be a writable * buffer of length \c ctx->len Bytes. For example, \c 256 Bytes - * for an 2048-bit RSA modulus. + * for an 2048-bit RSA modulus. A buffer length of + * #MBEDTLS_MPI_MAX_SIZE is always safe. * * \return \c 0 if the signing operation was successful. * \return An \c MBEDTLS_ERR_RSA_XXX error code on failure. @@ -1012,7 +1014,8 @@ int mbedtls_rsa_rsassa_pkcs1_v15_sign( mbedtls_rsa_context *ctx, * the size of the hash corresponding to \p md_alg. * \param sig The buffer to hold the signature. This must be a writable * buffer of length \c ctx->len Bytes. For example, \c 256 Bytes - * for an 2048-bit RSA modulus. + * for an 2048-bit RSA modulus. A buffer length of + * #MBEDTLS_MPI_MAX_SIZE is always safe. * * \return \c 0 if the signing operation was successful. * \return An \c MBEDTLS_ERR_RSA_XXX error code on failure. diff --git a/thirdparty/mbedtls/include/mbedtls/ssl.h b/thirdparty/mbedtls/include/mbedtls/ssl.h index d31f6cdd56..1adf9608cc 100644 --- a/thirdparty/mbedtls/include/mbedtls/ssl.h +++ b/thirdparty/mbedtls/include/mbedtls/ssl.h @@ -2033,7 +2033,7 @@ void mbedtls_ssl_conf_ca_chain( mbedtls_ssl_config *conf, * provision more than one cert/key pair (eg one ECDSA, one * RSA with SHA-256, one RSA with SHA-1). An adequate * certificate will be selected according to the client's - * advertised capabilities. In case mutliple certificates are + * advertised capabilities. In case multiple certificates are * adequate, preference is given to the one set by the first * call to this function, then second, etc. * @@ -3206,7 +3206,7 @@ void mbedtls_ssl_free( mbedtls_ssl_context *ssl ); * mbedtls_ssl_config_defaults() or mbedtls_ssl_config_free(). * * \note You need to call mbedtls_ssl_config_defaults() unless you - * manually set all of the relevent fields yourself. + * manually set all of the relevant fields yourself. * * \param conf SSL configuration context */ diff --git a/thirdparty/mbedtls/include/mbedtls/ssl_ticket.h b/thirdparty/mbedtls/include/mbedtls/ssl_ticket.h index a84e7816e4..774a007a9f 100644 --- a/thirdparty/mbedtls/include/mbedtls/ssl_ticket.h +++ b/thirdparty/mbedtls/include/mbedtls/ssl_ticket.h @@ -117,14 +117,14 @@ int mbedtls_ssl_ticket_setup( mbedtls_ssl_ticket_context *ctx, /** * \brief Implementation of the ticket write callback * - * \note See \c mbedlts_ssl_ticket_write_t for description + * \note See \c mbedtls_ssl_ticket_write_t for description */ mbedtls_ssl_ticket_write_t mbedtls_ssl_ticket_write; /** * \brief Implementation of the ticket parse callback * - * \note See \c mbedlts_ssl_ticket_parse_t for description + * \note See \c mbedtls_ssl_ticket_parse_t for description */ mbedtls_ssl_ticket_parse_t mbedtls_ssl_ticket_parse; diff --git a/thirdparty/mbedtls/include/mbedtls/version.h b/thirdparty/mbedtls/include/mbedtls/version.h index ef8e4c1f4f..aeffb16699 100644 --- a/thirdparty/mbedtls/include/mbedtls/version.h +++ b/thirdparty/mbedtls/include/mbedtls/version.h @@ -40,16 +40,16 @@ */ #define MBEDTLS_VERSION_MAJOR 2 #define MBEDTLS_VERSION_MINOR 16 -#define MBEDTLS_VERSION_PATCH 2 +#define MBEDTLS_VERSION_PATCH 4 /** * The single version number has the following structure: * MMNNPP00 * Major version | Minor version | Patch version */ -#define MBEDTLS_VERSION_NUMBER 0x02100200 -#define MBEDTLS_VERSION_STRING "2.16.2" -#define MBEDTLS_VERSION_STRING_FULL "mbed TLS 2.16.2" +#define MBEDTLS_VERSION_NUMBER 0x02100400 +#define MBEDTLS_VERSION_STRING "2.16.4" +#define MBEDTLS_VERSION_STRING_FULL "mbed TLS 2.16.4" #if defined(MBEDTLS_VERSION_C) diff --git a/thirdparty/mbedtls/include/mbedtls/x509.h b/thirdparty/mbedtls/include/mbedtls/x509.h index 9ae825c183..63aae32d87 100644 --- a/thirdparty/mbedtls/include/mbedtls/x509.h +++ b/thirdparty/mbedtls/include/mbedtls/x509.h @@ -77,7 +77,7 @@ #define MBEDTLS_ERR_X509_ALLOC_FAILED -0x2880 /**< Allocation of memory failed. */ #define MBEDTLS_ERR_X509_FILE_IO_ERROR -0x2900 /**< Read/write of file failed. */ #define MBEDTLS_ERR_X509_BUFFER_TOO_SMALL -0x2980 /**< Destination buffer is too small. */ -#define MBEDTLS_ERR_X509_FATAL_ERROR -0x3000 /**< A fatal error occured, eg the chain is too long or the vrfy callback failed. */ +#define MBEDTLS_ERR_X509_FATAL_ERROR -0x3000 /**< A fatal error occurred, eg the chain is too long or the vrfy callback failed. */ /* \} name */ /** @@ -250,7 +250,7 @@ int mbedtls_x509_serial_gets( char *buf, size_t size, const mbedtls_x509_buf *se * * \param to mbedtls_x509_time to check * - * \return 1 if the given time is in the past or an error occured, + * \return 1 if the given time is in the past or an error occurred, * 0 otherwise. */ int mbedtls_x509_time_is_past( const mbedtls_x509_time *to ); @@ -264,7 +264,7 @@ int mbedtls_x509_time_is_past( const mbedtls_x509_time *to ); * * \param from mbedtls_x509_time to check * - * \return 1 if the given time is in the future or an error occured, + * \return 1 if the given time is in the future or an error occurred, * 0 otherwise. */ int mbedtls_x509_time_is_future( const mbedtls_x509_time *from ); diff --git a/thirdparty/mbedtls/include/mbedtls/x509_crl.h b/thirdparty/mbedtls/include/mbedtls/x509_crl.h index 08a4283a67..fa838d68cb 100644 --- a/thirdparty/mbedtls/include/mbedtls/x509_crl.h +++ b/thirdparty/mbedtls/include/mbedtls/x509_crl.h @@ -111,7 +111,7 @@ int mbedtls_x509_crl_parse_der( mbedtls_x509_crl *chain, /** * \brief Parse one or more CRLs and append them to the chained list * - * \note Mutliple CRLs are accepted only if using PEM format + * \note Multiple CRLs are accepted only if using PEM format * * \param chain points to the start of the chain * \param buf buffer holding the CRL data in PEM or DER format @@ -126,7 +126,7 @@ int mbedtls_x509_crl_parse( mbedtls_x509_crl *chain, const unsigned char *buf, s /** * \brief Load one or more CRLs and append them to the chained list * - * \note Mutliple CRLs are accepted only if using PEM format + * \note Multiple CRLs are accepted only if using PEM format * * \param chain points to the start of the chain * \param path filename to read the CRLs from (in PEM or DER encoding) diff --git a/thirdparty/mbedtls/library/aes.c b/thirdparty/mbedtls/library/aes.c index aff0a9939a..02a7986b59 100644 --- a/thirdparty/mbedtls/library/aes.c +++ b/thirdparty/mbedtls/library/aes.c @@ -918,6 +918,18 @@ int mbedtls_internal_aes_encrypt( mbedtls_aes_context *ctx, PUT_UINT32_LE( X2, output, 8 ); PUT_UINT32_LE( X3, output, 12 ); + mbedtls_platform_zeroize( &X0, sizeof( X0 ) ); + mbedtls_platform_zeroize( &X1, sizeof( X1 ) ); + mbedtls_platform_zeroize( &X2, sizeof( X2 ) ); + mbedtls_platform_zeroize( &X3, sizeof( X3 ) ); + + mbedtls_platform_zeroize( &Y0, sizeof( Y0 ) ); + mbedtls_platform_zeroize( &Y1, sizeof( Y1 ) ); + mbedtls_platform_zeroize( &Y2, sizeof( Y2 ) ); + mbedtls_platform_zeroize( &Y3, sizeof( Y3 ) ); + + mbedtls_platform_zeroize( &RK, sizeof( RK ) ); + return( 0 ); } #endif /* !MBEDTLS_AES_ENCRYPT_ALT */ @@ -986,6 +998,18 @@ int mbedtls_internal_aes_decrypt( mbedtls_aes_context *ctx, PUT_UINT32_LE( X2, output, 8 ); PUT_UINT32_LE( X3, output, 12 ); + mbedtls_platform_zeroize( &X0, sizeof( X0 ) ); + mbedtls_platform_zeroize( &X1, sizeof( X1 ) ); + mbedtls_platform_zeroize( &X2, sizeof( X2 ) ); + mbedtls_platform_zeroize( &X3, sizeof( X3 ) ); + + mbedtls_platform_zeroize( &Y0, sizeof( Y0 ) ); + mbedtls_platform_zeroize( &Y1, sizeof( Y1 ) ); + mbedtls_platform_zeroize( &Y2, sizeof( Y2 ) ); + mbedtls_platform_zeroize( &Y3, sizeof( Y3 ) ); + + mbedtls_platform_zeroize( &RK, sizeof( RK ) ); + return( 0 ); } #endif /* !MBEDTLS_AES_DECRYPT_ALT */ diff --git a/thirdparty/mbedtls/library/bignum.c b/thirdparty/mbedtls/library/bignum.c index 41946183c5..6713bcbf6f 100644 --- a/thirdparty/mbedtls/library/bignum.c +++ b/thirdparty/mbedtls/library/bignum.c @@ -742,10 +742,15 @@ cleanup: static mbedtls_mpi_uint mpi_uint_bigendian_to_host_c( mbedtls_mpi_uint x ) { uint8_t i; + unsigned char *x_ptr; mbedtls_mpi_uint tmp = 0; - /* This works regardless of the endianness. */ - for( i = 0; i < ciL; i++, x >>= 8 ) - tmp |= ( x & 0xFF ) << ( ( ciL - 1 - i ) << 3 ); + + for( i = 0, x_ptr = (unsigned char*) &x; i < ciL; i++, x_ptr++ ) + { + tmp <<= CHAR_BIT; + tmp |= (mbedtls_mpi_uint) *x_ptr; + } + return( tmp ); } @@ -1066,6 +1071,107 @@ int mbedtls_mpi_cmp_mpi( const mbedtls_mpi *X, const mbedtls_mpi *Y ) return( 0 ); } +/** Decide if an integer is less than the other, without branches. + * + * \param x First integer. + * \param y Second integer. + * + * \return 1 if \p x is less than \p y, 0 otherwise + */ +static unsigned ct_lt_mpi_uint( const mbedtls_mpi_uint x, + const mbedtls_mpi_uint y ) +{ + mbedtls_mpi_uint ret; + mbedtls_mpi_uint cond; + + /* + * Check if the most significant bits (MSB) of the operands are different. + */ + cond = ( x ^ y ); + /* + * If the MSB are the same then the difference x-y will be negative (and + * have its MSB set to 1 during conversion to unsigned) if and only if x<y. + */ + ret = ( x - y ) & ~cond; + /* + * If the MSB are different, then the operand with the MSB of 1 is the + * bigger. (That is if y has MSB of 1, then x<y is true and it is false if + * the MSB of y is 0.) + */ + ret |= y & cond; + + + ret = ret >> ( biL - 1 ); + + return (unsigned) ret; +} + +/* + * Compare signed values in constant time + */ +int mbedtls_mpi_lt_mpi_ct( const mbedtls_mpi *X, const mbedtls_mpi *Y, + unsigned *ret ) +{ + size_t i; + /* The value of any of these variables is either 0 or 1 at all times. */ + unsigned cond, done, X_is_negative, Y_is_negative; + + MPI_VALIDATE_RET( X != NULL ); + MPI_VALIDATE_RET( Y != NULL ); + MPI_VALIDATE_RET( ret != NULL ); + + if( X->n != Y->n ) + return MBEDTLS_ERR_MPI_BAD_INPUT_DATA; + + /* + * Set sign_N to 1 if N >= 0, 0 if N < 0. + * We know that N->s == 1 if N >= 0 and N->s == -1 if N < 0. + */ + X_is_negative = ( X->s & 2 ) >> 1; + Y_is_negative = ( Y->s & 2 ) >> 1; + + /* + * If the signs are different, then the positive operand is the bigger. + * That is if X is negative (X_is_negative == 1), then X < Y is true and it + * is false if X is positive (X_is_negative == 0). + */ + cond = ( X_is_negative ^ Y_is_negative ); + *ret = cond & X_is_negative; + + /* + * This is a constant-time function. We might have the result, but we still + * need to go through the loop. Record if we have the result already. + */ + done = cond; + + for( i = X->n; i > 0; i-- ) + { + /* + * If Y->p[i - 1] < X->p[i - 1] then X < Y is true if and only if both + * X and Y are negative. + * + * Again even if we can make a decision, we just mark the result and + * the fact that we are done and continue looping. + */ + cond = ct_lt_mpi_uint( Y->p[i - 1], X->p[i - 1] ); + *ret |= cond & ( 1 - done ) & X_is_negative; + done |= cond; + + /* + * If X->p[i - 1] < Y->p[i - 1] then X < Y is true if and only if both + * X and Y are positive. + * + * Again even if we can make a decision, we just mark the result and + * the fact that we are done and continue looping. + */ + cond = ct_lt_mpi_uint( X->p[i - 1], Y->p[i - 1] ); + *ret |= cond & ( 1 - done ) & ( 1 - X_is_negative ); + done |= cond; + } + + return( 0 ); +} + /* * Compare signed values */ @@ -2333,8 +2439,6 @@ static int mpi_miller_rabin( const mbedtls_mpi *X, size_t rounds, MBEDTLS_MPI_CHK( mbedtls_mpi_copy( &R, &W ) ); MBEDTLS_MPI_CHK( mbedtls_mpi_shift_r( &R, s ) ); - i = mbedtls_mpi_bitlen( X ); - for( i = 0; i < rounds; i++ ) { /* @@ -2351,7 +2455,8 @@ static int mpi_miller_rabin( const mbedtls_mpi *X, size_t rounds, } if (count++ > 30) { - return MBEDTLS_ERR_MPI_NOT_ACCEPTABLE; + ret = MBEDTLS_ERR_MPI_NOT_ACCEPTABLE; + goto cleanup; } } while ( mbedtls_mpi_cmp_mpi( &A, &W ) >= 0 || diff --git a/thirdparty/mbedtls/library/certs.c b/thirdparty/mbedtls/library/certs.c index b07fd8a3a1..80ab0b9d6c 100644 --- a/thirdparty/mbedtls/library/certs.c +++ b/thirdparty/mbedtls/library/certs.c @@ -46,75 +46,67 @@ /* BEGIN FILE string macro TEST_CA_CRT_EC_PEM tests/data_files/test-ca2.crt */ #define TEST_CA_CRT_EC_PEM \ "-----BEGIN CERTIFICATE-----\r\n" \ - "MIICUjCCAdegAwIBAgIJAMFD4n5iQ8zoMAoGCCqGSM49BAMCMD4xCzAJBgNVBAYT\r\n" \ - "Ak5MMREwDwYDVQQKEwhQb2xhclNTTDEcMBoGA1UEAxMTUG9sYXJzc2wgVGVzdCBF\r\n" \ - "QyBDQTAeFw0xMzA5MjQxNTQ5NDhaFw0yMzA5MjIxNTQ5NDhaMD4xCzAJBgNVBAYT\r\n" \ - "Ak5MMREwDwYDVQQKEwhQb2xhclNTTDEcMBoGA1UEAxMTUG9sYXJzc2wgVGVzdCBF\r\n" \ - "QyBDQTB2MBAGByqGSM49AgEGBSuBBAAiA2IABMPaKzRBN1gvh1b+/Im6KUNLTuBu\r\n" \ - "ww5XUzM5WNRStJGVOQsj318XJGJI/BqVKc4sLYfCiFKAr9ZqqyHduNMcbli4yuiy\r\n" \ - "aY7zQa0pw7RfdadHb9UZKVVpmlM7ILRmFmAzHqOBoDCBnTAdBgNVHQ4EFgQUnW0g\r\n" \ - "JEkBPyvLeLUZvH4kydv7NnwwbgYDVR0jBGcwZYAUnW0gJEkBPyvLeLUZvH4kydv7\r\n" \ - "NnyhQqRAMD4xCzAJBgNVBAYTAk5MMREwDwYDVQQKEwhQb2xhclNTTDEcMBoGA1UE\r\n" \ - "AxMTUG9sYXJzc2wgVGVzdCBFQyBDQYIJAMFD4n5iQ8zoMAwGA1UdEwQFMAMBAf8w\r\n" \ - "CgYIKoZIzj0EAwIDaQAwZgIxAMO0YnNWKJUAfXgSJtJxexn4ipg+kv4znuR50v56\r\n" \ - "t4d0PCu412mUC6Nnd7izvtE2MgIxAP1nnJQjZ8BWukszFQDG48wxCCyci9qpdSMv\r\n" \ - "uCjn8pwUOkABXK8Mss90fzCfCEOtIA==\r\n" \ + "MIICBDCCAYigAwIBAgIJAMFD4n5iQ8zoMAwGCCqGSM49BAMCBQAwPjELMAkGA1UE\r\n" \ + "BhMCTkwxETAPBgNVBAoMCFBvbGFyU1NMMRwwGgYDVQQDDBNQb2xhcnNzbCBUZXN0\r\n" \ + "IEVDIENBMB4XDTE5MDIxMDE0NDQwMFoXDTI5MDIxMDE0NDQwMFowPjELMAkGA1UE\r\n" \ + "BhMCTkwxETAPBgNVBAoMCFBvbGFyU1NMMRwwGgYDVQQDDBNQb2xhcnNzbCBUZXN0\r\n" \ + "IEVDIENBMHYwEAYHKoZIzj0CAQYFK4EEACIDYgAEw9orNEE3WC+HVv78ibopQ0tO\r\n" \ + "4G7DDldTMzlY1FK0kZU5CyPfXxckYkj8GpUpziwth8KIUoCv1mqrId240xxuWLjK\r\n" \ + "6LJpjvNBrSnDtF91p0dv1RkpVWmaUzsgtGYWYDMeo1AwTjAMBgNVHRMEBTADAQH/\r\n" \ + "MB0GA1UdDgQWBBSdbSAkSQE/K8t4tRm8fiTJ2/s2fDAfBgNVHSMEGDAWgBSdbSAk\r\n" \ + "SQE/K8t4tRm8fiTJ2/s2fDAMBggqhkjOPQQDAgUAA2gAMGUCMFHKrjAPpHB0BN1a\r\n" \ + "LH8TwcJ3vh0AxeKZj30mRdOKBmg/jLS3rU3g8VQBHpn8sOTTBwIxANxPO5AerimZ\r\n" \ + "hCjMe0d4CTHf1gFZMF70+IqEP+o5VHsIp2Cqvflb0VGWFC5l9a4cQg==\r\n" \ "-----END CERTIFICATE-----\r\n" /* END FILE */ /* This is generated from tests/data_files/test-ca2.crt.der using `xxd -i`. */ /* BEGIN FILE binary macro TEST_CA_CRT_EC_DER tests/data_files/test-ca2.crt.der */ #define TEST_CA_CRT_EC_DER { \ - 0x30, 0x82, 0x02, 0x52, 0x30, 0x82, 0x01, 0xd7, 0xa0, 0x03, 0x02, 0x01, \ - 0x02, 0x02, 0x09, 0x00, 0xc1, 0x43, 0xe2, 0x7e, 0x62, 0x43, 0xcc, 0xe8, \ - 0x30, 0x0a, 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0x22, 0x03, 0x62, 0x00, 0x04, 0xc3, 0xda, 0x2b, 0x34, 0x41, 0x37, \ + 0x58, 0x2f, 0x87, 0x56, 0xfe, 0xfc, 0x89, 0xba, 0x29, 0x43, 0x4b, 0x4e, \ + 0xe0, 0x6e, 0xc3, 0x0e, 0x57, 0x53, 0x33, 0x39, 0x58, 0xd4, 0x52, 0xb4, \ + 0x91, 0x95, 0x39, 0x0b, 0x23, 0xdf, 0x5f, 0x17, 0x24, 0x62, 0x48, 0xfc, \ + 0x1a, 0x95, 0x29, 0xce, 0x2c, 0x2d, 0x87, 0xc2, 0x88, 0x52, 0x80, 0xaf, \ + 0xd6, 0x6a, 0xab, 0x21, 0xdd, 0xb8, 0xd3, 0x1c, 0x6e, 0x58, 0xb8, 0xca, \ + 0xe8, 0xb2, 0x69, 0x8e, 0xf3, 0x41, 0xad, 0x29, 0xc3, 0xb4, 0x5f, 0x75, \ + 0xa7, 0x47, 0x6f, 0xd5, 0x19, 0x29, 0x55, 0x69, 0x9a, 0x53, 0x3b, 0x20, \ + 0xb4, 0x66, 0x16, 0x60, 0x33, 0x1e, 0xa3, 0x50, 0x30, 0x4e, 0x30, 0x0c, \ + 0x06, 0x03, 0x55, 0x1d, 0x13, 0x04, 0x05, 0x30, 0x03, 0x01, 0x01, 0xff, \ + 0x30, 0x1d, 0x06, 0x03, 0x55, 0x1d, 0x0e, 0x04, 0x16, 0x04, 0x14, 0x9d, \ + 0x6d, 0x20, 0x24, 0x49, 0x01, 0x3f, 0x2b, 0xcb, 0x78, 0xb5, 0x19, 0xbc, \ + 0x7e, 0x24, 0xc9, 0xdb, 0xfb, 0x36, 0x7c, 0x30, 0x1f, 0x06, 0x03, 0x55, \ + 0x1d, 0x23, 0x04, 0x18, 0x30, 0x16, 0x80, 0x14, 0x9d, 0x6d, 0x20, 0x24, \ + 0x49, 0x01, 0x3f, 0x2b, 0xcb, 0x78, 0xb5, 0x19, 0xbc, 0x7e, 0x24, 0xc9, \ + 0xdb, 0xfb, 0x36, 0x7c, 0x30, 0x0c, 0x06, 0x08, 0x2a, 0x86, 0x48, 0xce, \ + 0x3d, 0x04, 0x03, 0x02, 0x05, 0x00, 0x03, 0x68, 0x00, 0x30, 0x65, 0x02, \ + 0x30, 0x51, 0xca, 0xae, 0x30, 0x0f, 0xa4, 0x70, 0x74, 0x04, 0xdd, 0x5a, \ + 0x2c, 0x7f, 0x13, 0xc1, 0xc2, 0x77, 0xbe, 0x1d, 0x00, 0xc5, 0xe2, 0x99, \ + 0x8f, 0x7d, 0x26, 0x45, 0xd3, 0x8a, 0x06, 0x68, 0x3f, 0x8c, 0xb4, 0xb7, \ + 0xad, 0x4d, 0xe0, 0xf1, 0x54, 0x01, 0x1e, 0x99, 0xfc, 0xb0, 0xe4, 0xd3, \ + 0x07, 0x02, 0x31, 0x00, 0xdc, 0x4f, 0x3b, 0x90, 0x1e, 0xae, 0x29, 0x99, \ + 0x84, 0x28, 0xcc, 0x7b, 0x47, 0x78, 0x09, 0x31, 0xdf, 0xd6, 0x01, 0x59, \ + 0x30, 0x5e, 0xf4, 0xf8, 0x8a, 0x84, 0x3f, 0xea, 0x39, 0x54, 0x7b, 0x08, \ + 0xa7, 0x60, 0xaa, 0xbd, 0xf9, 0x5b, 0xd1, 0x51, 0x96, 0x14, 0x2e, 0x65, \ + 0xf5, 0xae, 0x1c, 0x42 \ } /* END FILE */ @@ -160,7 +152,7 @@ "-----BEGIN CERTIFICATE-----\r\n" \ "MIIDQTCCAimgAwIBAgIBAzANBgkqhkiG9w0BAQsFADA7MQswCQYDVQQGEwJOTDER\r\n" \ "MA8GA1UECgwIUG9sYXJTU0wxGTAXBgNVBAMMEFBvbGFyU1NMIFRlc3QgQ0EwHhcN\r\n" \ - "MTEwMjEyMTQ0NDAwWhcNMjEwMjEyMTQ0NDAwWjA7MQswCQYDVQQGEwJOTDERMA8G\r\n" \ + "MTkwMjEwMTQ0NDAwWhcNMjkwMjEwMTQ0NDAwWjA7MQswCQYDVQQGEwJOTDERMA8G\r\n" \ "A1UECgwIUG9sYXJTU0wxGTAXBgNVBAMMEFBvbGFyU1NMIFRlc3QgQ0EwggEiMA0G\r\n" \ "CSqGSIb3DQEBAQUAA4IBDwAwggEKAoIBAQDA3zf8F7vglp0/ht6WMn1EpRagzSHx\r\n" \ "mdTs6st8GFgIlKXsm8WL3xoemTiZhx57wI053zhdcHgH057Zk+i5clHFzqMwUqny\r\n" \ @@ -170,12 +162,12 @@ "KNF+AksjoBXyOGVkCeoMbo4bF6BxyLObyavpw/LPh5aPgAIynplYb6LVAgMBAAGj\r\n" \ "UDBOMAwGA1UdEwQFMAMBAf8wHQYDVR0OBBYEFLRa5KWz3tJS9rnVppUP6z68x/3/\r\n" \ "MB8GA1UdIwQYMBaAFLRa5KWz3tJS9rnVppUP6z68x/3/MA0GCSqGSIb3DQEBCwUA\r\n" \ - "A4IBAQB2W2dIy4q4KysbrTL4HIaOqu62RceGuQ/KhyiI6O0ndCtQ/PgCBqHHTP8u\r\n" \ - "8F1X2ivb60ynHV6baMLPI4Kf1k4MONtLSf/++1qh0Gdycd3A8IDAfy0YnC1F3OPK\r\n" \ - "vWO/cZGitKoTbEpP4y4Rng3sFCDndRCWIRIDOEEW/H3lCcfL7sOQojdLl85ajFkh\r\n" \ - "YvcDqjmnTcspUnuq9Y00C7porXJthZwz1S18qVjcFNk0zEhVMUbupSrdXVmKtOJW\r\n" \ - "MWZjgcA+OXzcnb2hSKWbhjykH/u6/PqkuHPkD723rwXbmHdxRVS9CW57kDkn5ezJ\r\n" \ - "5pE6Sam4qFsCNFJNBV9FRf3ZBMFi\r\n" \ + "A4IBAQA4qFSCth2q22uJIdE4KGHJsJjVEfw2/xn+MkTvCMfxVrvmRvqCtjE4tKDl\r\n" \ + "oK4MxFOek07oDZwvtAT9ijn1hHftTNS7RH9zd/fxNpfcHnMZXVC4w4DNA1fSANtW\r\n" \ + "5sY1JB5Je9jScrsLSS+mAjyv0Ow3Hb2Bix8wu7xNNrV5fIf7Ubm+wt6SqEBxu3Kb\r\n" \ + "+EfObAT4huf3czznhH3C17ed6NSbXwoXfby7stWUDeRJv08RaFOykf/Aae7bY5PL\r\n" \ + "yTVrkAnikMntJ9YI+hNNYt3inqq11A5cN0+rVTst8UKCxzQ4GpvroSwPKTFkbMw4\r\n" \ + "/anT1dVxr/BtwJfiESoK3/4CeXR1\r\n" \ "-----END CERTIFICATE-----\r\n" /* END FILE */ @@ -183,76 +175,76 @@ * using `xxd -i`. */ /* BEGIN FILE binary macro TEST_CA_CRT_RSA_SHA256_DER tests/data_files/test-ca-sha256.crt.der */ #define TEST_CA_CRT_RSA_SHA256_DER { \ - 0x30, 0x82, 0x03, 0x41, 0x30, 0x82, 0x02, 0x29, 0xa0, 0x03, 0x02, 0x01, \ - 0x02, 0x02, 0x01, 0x03, 0x30, 0x0d, 0x06, 0x09, 0x2a, 0x86, 0x48, 0x86, \ - 0xf7, 0x0d, 0x01, 0x01, 0x0b, 0x05, 0x00, 0x30, 0x3b, 0x31, 0x0b, 0x30, \ - 0x09, 0x06, 0x03, 0x55, 0x04, 0x06, 0x13, 0x02, 0x4e, 0x4c, 0x31, 0x11, \ - 0x30, 0x0f, 0x06, 0x03, 0x55, 0x04, 0x0a, 0x0c, 0x08, 0x50, 0x6f, 0x6c, \ - 0x61, 0x72, 0x53, 0x53, 0x4c, 0x31, 0x19, 0x30, 0x17, 0x06, 0x03, 0x55, \ - 0x04, 0x03, 0x0c, 0x10, 0x50, 0x6f, 0x6c, 0x61, 0x72, 0x53, 0x53, 0x4c, \ - 0x20, 0x54, 0x65, 0x73, 0x74, 0x20, 0x43, 0x41, 0x30, 0x1e, 0x17, 0x0d, \ - 0x31, 0x31, 0x30, 0x32, 0x31, 0x32, 0x31, 0x34, 0x34, 0x34, 0x30, 0x30, \ - 0x5a, 0x17, 0x0d, 0x32, 0x31, 0x30, 0x32, 0x31, 0x32, 0x31, 0x34, 0x34, \ - 0x34, 0x30, 0x30, 0x5a, 0x30, 0x3b, 0x31, 0x0b, 0x30, 0x09, 0x06, 0x03, \ - 0x55, 0x04, 0x06, 0x13, 0x02, 0x4e, 0x4c, 0x31, 0x11, 0x30, 0x0f, 0x06, \ - 0x03, 0x55, 0x04, 0x0a, 0x0c, 0x08, 0x50, 0x6f, 0x6c, 0x61, 0x72, 0x53, \ - 0x53, 0x4c, 0x31, 0x19, 0x30, 0x17, 0x06, 0x03, 0x55, 0x04, 0x03, 0x0c, \ - 0x10, 0x50, 0x6f, 0x6c, 0x61, 0x72, 0x53, 0x53, 0x4c, 0x20, 0x54, 0x65, \ - 0x73, 0x74, 0x20, 0x43, 0x41, 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0xc8, 0xb3, 0x9b, \ + 0xc9, 0xab, 0xe9, 0xc3, 0xf2, 0xcf, 0x87, 0x96, 0x8f, 0x80, 0x02, 0x32, \ + 0x9e, 0x99, 0x58, 0x6f, 0xa2, 0xd5, 0x02, 0x03, 0x01, 0x00, 0x01, 0xa3, \ + 0x50, 0x30, 0x4e, 0x30, 0x0c, 0x06, 0x03, 0x55, 0x1d, 0x13, 0x04, 0x05, \ + 0x30, 0x03, 0x01, 0x01, 0xff, 0x30, 0x1d, 0x06, 0x03, 0x55, 0x1d, 0x0e, \ + 0x04, 0x16, 0x04, 0x14, 0xb4, 0x5a, 0xe4, 0xa5, 0xb3, 0xde, 0xd2, 0x52, \ + 0xf6, 0xb9, 0xd5, 0xa6, 0x95, 0x0f, 0xeb, 0x3e, 0xbc, 0xc7, 0xfd, 0xff, \ + 0x30, 0x1f, 0x06, 0x03, 0x55, 0x1d, 0x23, 0x04, 0x18, 0x30, 0x16, 0x80, \ + 0x14, 0xb4, 0x5a, 0xe4, 0xa5, 0xb3, 0xde, 0xd2, 0x52, 0xf6, 0xb9, 0xd5, \ + 0xa6, 0x95, 0x0f, 0xeb, 0x3e, 0xbc, 0xc7, 0xfd, 0xff, 0x30, 0x0d, 0x06, \ + 0x09, 0x2a, 0x86, 0x48, 0x86, 0xf7, 0x0d, 0x01, 0x01, 0x0b, 0x05, 0x00, \ + 0x03, 0x82, 0x01, 0x01, 0x00, 0x38, 0xa8, 0x54, 0x82, 0xb6, 0x1d, 0xaa, \ + 0xdb, 0x6b, 0x89, 0x21, 0xd1, 0x38, 0x28, 0x61, 0xc9, 0xb0, 0x98, 0xd5, \ + 0x11, 0xfc, 0x36, 0xff, 0x19, 0xfe, 0x32, 0x44, 0xef, 0x08, 0xc7, 0xf1, \ + 0x56, 0xbb, 0xe6, 0x46, 0xfa, 0x82, 0xb6, 0x31, 0x38, 0xb4, 0xa0, 0xe5, \ + 0xa0, 0xae, 0x0c, 0xc4, 0x53, 0x9e, 0x93, 0x4e, 0xe8, 0x0d, 0x9c, 0x2f, \ + 0xb4, 0x04, 0xfd, 0x8a, 0x39, 0xf5, 0x84, 0x77, 0xed, 0x4c, 0xd4, 0xbb, \ + 0x44, 0x7f, 0x73, 0x77, 0xf7, 0xf1, 0x36, 0x97, 0xdc, 0x1e, 0x73, 0x19, \ + 0x5d, 0x50, 0xb8, 0xc3, 0x80, 0xcd, 0x03, 0x57, 0xd2, 0x00, 0xdb, 0x56, \ + 0xe6, 0xc6, 0x35, 0x24, 0x1e, 0x49, 0x7b, 0xd8, 0xd2, 0x72, 0xbb, 0x0b, \ + 0x49, 0x2f, 0xa6, 0x02, 0x3c, 0xaf, 0xd0, 0xec, 0x37, 0x1d, 0xbd, 0x81, \ + 0x8b, 0x1f, 0x30, 0xbb, 0xbc, 0x4d, 0x36, 0xb5, 0x79, 0x7c, 0x87, 0xfb, \ + 0x51, 0xb9, 0xbe, 0xc2, 0xde, 0x92, 0xa8, 0x40, 0x71, 0xbb, 0x72, 0x9b, \ + 0xf8, 0x47, 0xce, 0x6c, 0x04, 0xf8, 0x86, 0xe7, 0xf7, 0x73, 0x3c, 0xe7, \ + 0x84, 0x7d, 0xc2, 0xd7, 0xb7, 0x9d, 0xe8, 0xd4, 0x9b, 0x5f, 0x0a, 0x17, \ + 0x7d, 0xbc, 0xbb, 0xb2, 0xd5, 0x94, 0x0d, 0xe4, 0x49, 0xbf, 0x4f, 0x11, \ + 0x68, 0x53, 0xb2, 0x91, 0xff, 0xc0, 0x69, 0xee, 0xdb, 0x63, 0x93, 0xcb, \ + 0xc9, 0x35, 0x6b, 0x90, 0x09, 0xe2, 0x90, 0xc9, 0xed, 0x27, 0xd6, 0x08, \ + 0xfa, 0x13, 0x4d, 0x62, 0xdd, 0xe2, 0x9e, 0xaa, 0xb5, 0xd4, 0x0e, 0x5c, \ + 0x37, 0x4f, 0xab, 0x55, 0x3b, 0x2d, 0xf1, 0x42, 0x82, 0xc7, 0x34, 0x38, \ + 0x1a, 0x9b, 0xeb, 0xa1, 0x2c, 0x0f, 0x29, 0x31, 0x64, 0x6c, 0xcc, 0x38, \ + 0xfd, 0xa9, 0xd3, 0xd5, 0xd5, 0x71, 0xaf, 0xf0, 0x6d, 0xc0, 0x97, 0xe2, \ + 0x11, 0x2a, 0x0a, 0xdf, 0xfe, 0x02, 0x79, 0x74, 0x75 \ } /* END FILE */ @@ -262,7 +254,7 @@ "-----BEGIN CERTIFICATE-----\r\n" \ "MIIDQTCCAimgAwIBAgIBAzANBgkqhkiG9w0BAQUFADA7MQswCQYDVQQGEwJOTDER\r\n" \ "MA8GA1UECgwIUG9sYXJTU0wxGTAXBgNVBAMMEFBvbGFyU1NMIFRlc3QgQ0EwHhcN\r\n" \ - "MTEwMjEyMTQ0NDAwWhcNMjEwMjEyMTQ0NDAwWjA7MQswCQYDVQQGEwJOTDERMA8G\r\n" \ + "MTkwMjEwMTQ0NDAwWhcNMjkwMjEwMTQ0NDAwWjA7MQswCQYDVQQGEwJOTDERMA8G\r\n" \ "A1UECgwIUG9sYXJTU0wxGTAXBgNVBAMMEFBvbGFyU1NMIFRlc3QgQ0EwggEiMA0G\r\n" \ "CSqGSIb3DQEBAQUAA4IBDwAwggEKAoIBAQDA3zf8F7vglp0/ht6WMn1EpRagzSHx\r\n" \ "mdTs6st8GFgIlKXsm8WL3xoemTiZhx57wI053zhdcHgH057Zk+i5clHFzqMwUqny\r\n" \ @@ -272,88 +264,88 @@ "KNF+AksjoBXyOGVkCeoMbo4bF6BxyLObyavpw/LPh5aPgAIynplYb6LVAgMBAAGj\r\n" \ "UDBOMAwGA1UdEwQFMAMBAf8wHQYDVR0OBBYEFLRa5KWz3tJS9rnVppUP6z68x/3/\r\n" \ "MB8GA1UdIwQYMBaAFLRa5KWz3tJS9rnVppUP6z68x/3/MA0GCSqGSIb3DQEBBQUA\r\n" \ - "A4IBAQABE3OEPfEd/bcJW5ZdU3/VgPNS4tMzh8gnJP/V2FcvFtGylMpQq6YnEBYI\r\n" \ - "yBHAL4DRvlMY5rnXGBp3ODR8MpqHC6AquRTCLzjS57iYff//4QFQqW9n92zctspv\r\n" \ - "czkaPKgjqo1No3Uq0Xaz10rcxyTUPrf5wNVRZ2V0KvllvAAVSzbI4mpdUXztjhST\r\n" \ - "S5A2BeWQAAOr0zq1F7TSRVJpJs7jmB2ai/igkh1IAjcuwV6VwlP+sbw0gjQ0NpGM\r\n" \ - "iHpnlzRAi/tIbtOvMIGOBU2TIfax/5jq1agUx5aPmT5TWAiJPOOP6l5xXnDwxeYS\r\n" \ - "NWqiX9GyusBZjezaCaHabjDLU0qQ\r\n" \ + "A4IBAQB0ZiNRFdia6kskaPnhrqejIRq8YMEGAf2oIPnyZ78xoyERgc35lHGyMtsL\r\n" \ + "hWicNjP4d/hS9As4j5KA2gdNGi5ETA1X7SowWOGsryivSpMSHVy1+HdfWlsYQOzm\r\n" \ + "8o+faQNUm8XzPVmttfAVspxeHSxJZ36Oo+QWZ5wZlCIEyjEdLUId+Tm4Bz3B5jRD\r\n" \ + "zZa/SaqDokq66N2zpbgKKAl3GU2O++fBqP2dSkdQykmTxhLLWRN8FJqhYATyQntZ\r\n" \ + "0QSi3W9HfSZPnFTcPIXeoiPd2pLlxt1hZu8dws2LTXE63uP6MM4LHvWxiuJaWkP/\r\n" \ + "mtxyUALj2pQxRitopORFQdn7AOY5\r\n" \ "-----END CERTIFICATE-----\r\n" /* END FILE */ /* This is taken from tests/data_files/test-ca-sha1.crt.der. */ /* BEGIN FILE binary macro TEST_CA_CRT_RSA_SHA1_DER tests/data_files/test-ca-sha1.crt.der */ #define TEST_CA_CRT_RSA_SHA1_DER { \ - 0x30, 0x82, 0x03, 0x41, 0x30, 0x82, 0x02, 0x29, 0xa0, 0x03, 0x02, 0x01, \ - 0x02, 0x02, 0x01, 0x03, 0x30, 0x0d, 0x06, 0x09, 0x2a, 0x86, 0x48, 0x86, \ - 0xf7, 0x0d, 0x01, 0x01, 0x05, 0x05, 0x00, 0x30, 0x3b, 0x31, 0x0b, 0x30, \ - 0x09, 0x06, 0x03, 0x55, 0x04, 0x06, 0x13, 0x02, 0x4e, 0x4c, 0x31, 0x11, \ - 0x30, 0x0f, 0x06, 0x03, 0x55, 0x04, 0x0a, 0x0c, 0x08, 0x50, 0x6f, 0x6c, \ - 0x61, 0x72, 0x53, 0x53, 0x4c, 0x31, 0x19, 0x30, 0x17, 0x06, 0x03, 0x55, \ - 0x04, 0x03, 0x0c, 0x10, 0x50, 0x6f, 0x6c, 0x61, 0x72, 0x53, 0x53, 0x4c, \ - 0x20, 0x54, 0x65, 0x73, 0x74, 0x20, 0x43, 0x41, 0x30, 0x1e, 0x17, 0x0d, \ - 0x31, 0x31, 0x30, 0x32, 0x31, 0x32, 0x31, 0x34, 0x34, 0x34, 0x30, 0x30, \ - 0x5a, 0x17, 0x0d, 0x32, 0x31, 0x30, 0x32, 0x31, 0x32, 0x31, 0x34, 0x34, \ - 0x34, 0x30, 0x30, 0x5a, 0x30, 0x3b, 0x31, 0x0b, 0x30, 0x09, 0x06, 0x03, \ - 0x55, 0x04, 0x06, 0x13, 0x02, 0x4e, 0x4c, 0x31, 0x11, 0x30, 0x0f, 0x06, \ - 0x03, 0x55, 0x04, 0x0a, 0x0c, 0x08, 0x50, 0x6f, 0x6c, 0x61, 0x72, 0x53, \ - 0x53, 0x4c, 0x31, 0x19, 0x30, 0x17, 0x06, 0x03, 0x55, 0x04, 0x03, 0x0c, \ - 0x10, 0x50, 0x6f, 0x6c, 0x61, 0x72, 0x53, 0x53, 0x4c, 0x20, 0x54, 0x65, \ - 0x73, 0x74, 0x20, 0x43, 0x41, 0x30, 0x82, 0x01, 0x22, 0x30, 0x0d, 0x06, \ - 0x09, 0x2a, 0x86, 0x48, 0x86, 0xf7, 0x0d, 0x01, 0x01, 0x01, 0x05, 0x00, \ - 0x03, 0x82, 0x01, 0x0f, 0x00, 0x30, 0x82, 0x01, 0x0a, 0x02, 0x82, 0x01, \ - 0x01, 0x00, 0xc0, 0xdf, 0x37, 0xfc, 0x17, 0xbb, 0xe0, 0x96, 0x9d, 0x3f, \ - 0x86, 0xde, 0x96, 0x32, 0x7d, 0x44, 0xa5, 0x16, 0xa0, 0xcd, 0x21, 0xf1, \ - 0x99, 0xd4, 0xec, 0xea, 0xcb, 0x7c, 0x18, 0x58, 0x08, 0x94, 0xa5, 0xec, \ - 0x9b, 0xc5, 0x8b, 0xdf, 0x1a, 0x1e, 0x99, 0x38, 0x99, 0x87, 0x1e, 0x7b, \ - 0xc0, 0x8d, 0x39, 0xdf, 0x38, 0x5d, 0x70, 0x78, 0x07, 0xd3, 0x9e, 0xd9, \ - 0x93, 0xe8, 0xb9, 0x72, 0x51, 0xc5, 0xce, 0xa3, 0x30, 0x52, 0xa9, 0xf2, \ - 0xe7, 0x40, 0x70, 0x14, 0xcb, 0x44, 0xa2, 0x72, 0x0b, 0xc2, 0xe5, 0x40, \ - 0xf9, 0x3e, 0xe5, 0xa6, 0x0e, 0xb3, 0xf9, 0xec, 0x4a, 0x63, 0xc0, 0xb8, \ - 0x29, 0x00, 0x74, 0x9c, 0x57, 0x3b, 0xa8, 0xa5, 0x04, 0x90, 0x71, 0xf1, \ - 0xbd, 0x83, 0xd9, 0x3f, 0xd6, 0xa5, 0xe2, 0x3c, 0x2a, 0x8f, 0xef, 0x27, \ - 0x60, 0xc3, 0xc6, 0x9f, 0xcb, 0xba, 0xec, 0x60, 0x7d, 0xb7, 0xe6, 0x84, \ - 0x32, 0xbe, 0x4f, 0xfb, 0x58, 0x26, 0x22, 0x03, 0x5b, 0xd4, 0xb4, 0xd5, \ - 0xfb, 0xf5, 0xe3, 0x96, 0x2e, 0x70, 0xc0, 0xe4, 0x2e, 0xbd, 0xfc, 0x2e, \ - 0xee, 0xe2, 0x41, 0x55, 0xc0, 0x34, 0x2e, 0x7d, 0x24, 0x72, 0x69, 0xcb, \ - 0x47, 0xb1, 0x14, 0x40, 0x83, 0x7d, 0x67, 0xf4, 0x86, 0xf6, 0x31, 0xab, \ - 0xf1, 0x79, 0xa4, 0xb2, 0xb5, 0x2e, 0x12, 0xf9, 0x84, 0x17, 0xf0, 0x62, \ - 0x6f, 0x27, 0x3e, 0x13, 0x58, 0xb1, 0x54, 0x0d, 0x21, 0x9a, 0x73, 0x37, \ - 0xa1, 0x30, 0xcf, 0x6f, 0x92, 0xdc, 0xf6, 0xe9, 0xfc, 0xac, 0xdb, 0x2e, \ - 0x28, 0xd1, 0x7e, 0x02, 0x4b, 0x23, 0xa0, 0x15, 0xf2, 0x38, 0x65, 0x64, \ - 0x09, 0xea, 0x0c, 0x6e, 0x8e, 0x1b, 0x17, 0xa0, 0x71, 0xc8, 0xb3, 0x9b, \ - 0xc9, 0xab, 0xe9, 0xc3, 0xf2, 0xcf, 0x87, 0x96, 0x8f, 0x80, 0x02, 0x32, \ - 0x9e, 0x99, 0x58, 0x6f, 0xa2, 0xd5, 0x02, 0x03, 0x01, 0x00, 0x01, 0xa3, \ - 0x50, 0x30, 0x4e, 0x30, 0x0c, 0x06, 0x03, 0x55, 0x1d, 0x13, 0x04, 0x05, \ - 0x30, 0x03, 0x01, 0x01, 0xff, 0x30, 0x1d, 0x06, 0x03, 0x55, 0x1d, 0x0e, \ - 0x04, 0x16, 0x04, 0x14, 0xb4, 0x5a, 0xe4, 0xa5, 0xb3, 0xde, 0xd2, 0x52, \ - 0xf6, 0xb9, 0xd5, 0xa6, 0x95, 0x0f, 0xeb, 0x3e, 0xbc, 0xc7, 0xfd, 0xff, \ - 0x30, 0x1f, 0x06, 0x03, 0x55, 0x1d, 0x23, 0x04, 0x18, 0x30, 0x16, 0x80, \ - 0x14, 0xb4, 0x5a, 0xe4, 0xa5, 0xb3, 0xde, 0xd2, 0x52, 0xf6, 0xb9, 0xd5, \ - 0xa6, 0x95, 0x0f, 0xeb, 0x3e, 0xbc, 0xc7, 0xfd, 0xff, 0x30, 0x0d, 0x06, \ - 0x09, 0x2a, 0x86, 0x48, 0x86, 0xf7, 0x0d, 0x01, 0x01, 0x05, 0x05, 0x00, \ - 0x03, 0x82, 0x01, 0x01, 0x00, 0x01, 0x13, 0x73, 0x84, 0x3d, 0xf1, 0x1d, \ - 0xfd, 0xb7, 0x09, 0x5b, 0x96, 0x5d, 0x53, 0x7f, 0xd5, 0x80, 0xf3, 0x52, \ - 0xe2, 0xd3, 0x33, 0x87, 0xc8, 0x27, 0x24, 0xff, 0xd5, 0xd8, 0x57, 0x2f, \ - 0x16, 0xd1, 0xb2, 0x94, 0xca, 0x50, 0xab, 0xa6, 0x27, 0x10, 0x16, 0x08, \ - 0xc8, 0x11, 0xc0, 0x2f, 0x80, 0xd1, 0xbe, 0x53, 0x18, 0xe6, 0xb9, 0xd7, \ - 0x18, 0x1a, 0x77, 0x38, 0x34, 0x7c, 0x32, 0x9a, 0x87, 0x0b, 0xa0, 0x2a, \ - 0xb9, 0x14, 0xc2, 0x2f, 0x38, 0xd2, 0xe7, 0xb8, 0x98, 0x7d, 0xff, 0xff, \ - 0xe1, 0x01, 0x50, 0xa9, 0x6f, 0x67, 0xf7, 0x6c, 0xdc, 0xb6, 0xca, 0x6f, \ - 0x73, 0x39, 0x1a, 0x3c, 0xa8, 0x23, 0xaa, 0x8d, 0x4d, 0xa3, 0x75, 0x2a, \ - 0xd1, 0x76, 0xb3, 0xd7, 0x4a, 0xdc, 0xc7, 0x24, 0xd4, 0x3e, 0xb7, 0xf9, \ - 0xc0, 0xd5, 0x51, 0x67, 0x65, 0x74, 0x2a, 0xf9, 0x65, 0xbc, 0x00, 0x15, \ - 0x4b, 0x36, 0xc8, 0xe2, 0x6a, 0x5d, 0x51, 0x7c, 0xed, 0x8e, 0x14, 0x93, \ - 0x4b, 0x90, 0x36, 0x05, 0xe5, 0x90, 0x00, 0x03, 0xab, 0xd3, 0x3a, 0xb5, \ - 0x17, 0xb4, 0xd2, 0x45, 0x52, 0x69, 0x26, 0xce, 0xe3, 0x98, 0x1d, 0x9a, \ - 0x8b, 0xf8, 0xa0, 0x92, 0x1d, 0x48, 0x02, 0x37, 0x2e, 0xc1, 0x5e, 0x95, \ - 0xc2, 0x53, 0xfe, 0xb1, 0xbc, 0x34, 0x82, 0x34, 0x34, 0x36, 0x91, 0x8c, \ - 0x88, 0x7a, 0x67, 0x97, 0x34, 0x40, 0x8b, 0xfb, 0x48, 0x6e, 0xd3, 0xaf, \ - 0x30, 0x81, 0x8e, 0x05, 0x4d, 0x93, 0x21, 0xf6, 0xb1, 0xff, 0x98, 0xea, \ - 0xd5, 0xa8, 0x14, 0xc7, 0x96, 0x8f, 0x99, 0x3e, 0x53, 0x58, 0x08, 0x89, \ - 0x3c, 0xe3, 0x8f, 0xea, 0x5e, 0x71, 0x5e, 0x70, 0xf0, 0xc5, 0xe6, 0x12, \ - 0x35, 0x6a, 0xa2, 0x5f, 0xd1, 0xb2, 0xba, 0xc0, 0x59, 0x8d, 0xec, 0xda, \ - 0x09, 0xa1, 0xda, 0x6e, 0x30, 0xcb, 0x53, 0x4a, 0x90 \ + 0x30, 0x82, 0x03, 0x41, 0x30, 0x82, 0x02, 0x29, 0xa0, 0x03, 0x02, 0x01, \ + 0x02, 0x02, 0x01, 0x03, 0x30, 0x0d, 0x06, 0x09, 0x2a, 0x86, 0x48, 0x86, \ + 0xf7, 0x0d, 0x01, 0x01, 0x05, 0x05, 0x00, 0x30, 0x3b, 0x31, 0x0b, 0x30, \ + 0x09, 0x06, 0x03, 0x55, 0x04, 0x06, 0x13, 0x02, 0x4e, 0x4c, 0x31, 0x11, \ + 0x30, 0x0f, 0x06, 0x03, 0x55, 0x04, 0x0a, 0x0c, 0x08, 0x50, 0x6f, 0x6c, \ + 0x61, 0x72, 0x53, 0x53, 0x4c, 0x31, 0x19, 0x30, 0x17, 0x06, 0x03, 0x55, \ + 0x04, 0x03, 0x0c, 0x10, 0x50, 0x6f, 0x6c, 0x61, 0x72, 0x53, 0x53, 0x4c, \ + 0x20, 0x54, 0x65, 0x73, 0x74, 0x20, 0x43, 0x41, 0x30, 0x1e, 0x17, 0x0d, \ + 0x31, 0x39, 0x30, 0x32, 0x31, 0x30, 0x31, 0x34, 0x34, 0x34, 0x30, 0x30, \ + 0x5a, 0x17, 0x0d, 0x32, 0x39, 0x30, 0x32, 0x31, 0x30, 0x31, 0x34, 0x34, \ + 0x34, 0x30, 0x30, 0x5a, 0x30, 0x3b, 0x31, 0x0b, 0x30, 0x09, 0x06, 0x03, \ + 0x55, 0x04, 0x06, 0x13, 0x02, 0x4e, 0x4c, 0x31, 0x11, 0x30, 0x0f, 0x06, \ + 0x03, 0x55, 0x04, 0x0a, 0x0c, 0x08, 0x50, 0x6f, 0x6c, 0x61, 0x72, 0x53, \ + 0x53, 0x4c, 0x31, 0x19, 0x30, 0x17, 0x06, 0x03, 0x55, 0x04, 0x03, 0x0c, \ + 0x10, 0x50, 0x6f, 0x6c, 0x61, 0x72, 0x53, 0x53, 0x4c, 0x20, 0x54, 0x65, \ + 0x73, 0x74, 0x20, 0x43, 0x41, 0x30, 0x82, 0x01, 0x22, 0x30, 0x0d, 0x06, \ + 0x09, 0x2a, 0x86, 0x48, 0x86, 0xf7, 0x0d, 0x01, 0x01, 0x01, 0x05, 0x00, \ + 0x03, 0x82, 0x01, 0x0f, 0x00, 0x30, 0x82, 0x01, 0x0a, 0x02, 0x82, 0x01, \ + 0x01, 0x00, 0xc0, 0xdf, 0x37, 0xfc, 0x17, 0xbb, 0xe0, 0x96, 0x9d, 0x3f, \ + 0x86, 0xde, 0x96, 0x32, 0x7d, 0x44, 0xa5, 0x16, 0xa0, 0xcd, 0x21, 0xf1, \ + 0x99, 0xd4, 0xec, 0xea, 0xcb, 0x7c, 0x18, 0x58, 0x08, 0x94, 0xa5, 0xec, \ + 0x9b, 0xc5, 0x8b, 0xdf, 0x1a, 0x1e, 0x99, 0x38, 0x99, 0x87, 0x1e, 0x7b, \ + 0xc0, 0x8d, 0x39, 0xdf, 0x38, 0x5d, 0x70, 0x78, 0x07, 0xd3, 0x9e, 0xd9, \ + 0x93, 0xe8, 0xb9, 0x72, 0x51, 0xc5, 0xce, 0xa3, 0x30, 0x52, 0xa9, 0xf2, \ + 0xe7, 0x40, 0x70, 0x14, 0xcb, 0x44, 0xa2, 0x72, 0x0b, 0xc2, 0xe5, 0x40, \ + 0xf9, 0x3e, 0xe5, 0xa6, 0x0e, 0xb3, 0xf9, 0xec, 0x4a, 0x63, 0xc0, 0xb8, \ + 0x29, 0x00, 0x74, 0x9c, 0x57, 0x3b, 0xa8, 0xa5, 0x04, 0x90, 0x71, 0xf1, \ + 0xbd, 0x83, 0xd9, 0x3f, 0xd6, 0xa5, 0xe2, 0x3c, 0x2a, 0x8f, 0xef, 0x27, \ + 0x60, 0xc3, 0xc6, 0x9f, 0xcb, 0xba, 0xec, 0x60, 0x7d, 0xb7, 0xe6, 0x84, \ + 0x32, 0xbe, 0x4f, 0xfb, 0x58, 0x26, 0x22, 0x03, 0x5b, 0xd4, 0xb4, 0xd5, \ + 0xfb, 0xf5, 0xe3, 0x96, 0x2e, 0x70, 0xc0, 0xe4, 0x2e, 0xbd, 0xfc, 0x2e, \ + 0xee, 0xe2, 0x41, 0x55, 0xc0, 0x34, 0x2e, 0x7d, 0x24, 0x72, 0x69, 0xcb, \ + 0x47, 0xb1, 0x14, 0x40, 0x83, 0x7d, 0x67, 0xf4, 0x86, 0xf6, 0x31, 0xab, \ + 0xf1, 0x79, 0xa4, 0xb2, 0xb5, 0x2e, 0x12, 0xf9, 0x84, 0x17, 0xf0, 0x62, \ + 0x6f, 0x27, 0x3e, 0x13, 0x58, 0xb1, 0x54, 0x0d, 0x21, 0x9a, 0x73, 0x37, \ + 0xa1, 0x30, 0xcf, 0x6f, 0x92, 0xdc, 0xf6, 0xe9, 0xfc, 0xac, 0xdb, 0x2e, \ + 0x28, 0xd1, 0x7e, 0x02, 0x4b, 0x23, 0xa0, 0x15, 0xf2, 0x38, 0x65, 0x64, \ + 0x09, 0xea, 0x0c, 0x6e, 0x8e, 0x1b, 0x17, 0xa0, 0x71, 0xc8, 0xb3, 0x9b, \ + 0xc9, 0xab, 0xe9, 0xc3, 0xf2, 0xcf, 0x87, 0x96, 0x8f, 0x80, 0x02, 0x32, \ + 0x9e, 0x99, 0x58, 0x6f, 0xa2, 0xd5, 0x02, 0x03, 0x01, 0x00, 0x01, 0xa3, \ + 0x50, 0x30, 0x4e, 0x30, 0x0c, 0x06, 0x03, 0x55, 0x1d, 0x13, 0x04, 0x05, \ + 0x30, 0x03, 0x01, 0x01, 0xff, 0x30, 0x1d, 0x06, 0x03, 0x55, 0x1d, 0x0e, \ + 0x04, 0x16, 0x04, 0x14, 0xb4, 0x5a, 0xe4, 0xa5, 0xb3, 0xde, 0xd2, 0x52, \ + 0xf6, 0xb9, 0xd5, 0xa6, 0x95, 0x0f, 0xeb, 0x3e, 0xbc, 0xc7, 0xfd, 0xff, \ + 0x30, 0x1f, 0x06, 0x03, 0x55, 0x1d, 0x23, 0x04, 0x18, 0x30, 0x16, 0x80, \ + 0x14, 0xb4, 0x5a, 0xe4, 0xa5, 0xb3, 0xde, 0xd2, 0x52, 0xf6, 0xb9, 0xd5, \ + 0xa6, 0x95, 0x0f, 0xeb, 0x3e, 0xbc, 0xc7, 0xfd, 0xff, 0x30, 0x0d, 0x06, \ + 0x09, 0x2a, 0x86, 0x48, 0x86, 0xf7, 0x0d, 0x01, 0x01, 0x05, 0x05, 0x00, \ + 0x03, 0x82, 0x01, 0x01, 0x00, 0x74, 0x66, 0x23, 0x51, 0x15, 0xd8, 0x9a, \ + 0xea, 0x4b, 0x24, 0x68, 0xf9, 0xe1, 0xae, 0xa7, 0xa3, 0x21, 0x1a, 0xbc, \ + 0x60, 0xc1, 0x06, 0x01, 0xfd, 0xa8, 0x20, 0xf9, 0xf2, 0x67, 0xbf, 0x31, \ + 0xa3, 0x21, 0x11, 0x81, 0xcd, 0xf9, 0x94, 0x71, 0xb2, 0x32, 0xdb, 0x0b, \ + 0x85, 0x68, 0x9c, 0x36, 0x33, 0xf8, 0x77, 0xf8, 0x52, 0xf4, 0x0b, 0x38, \ + 0x8f, 0x92, 0x80, 0xda, 0x07, 0x4d, 0x1a, 0x2e, 0x44, 0x4c, 0x0d, 0x57, \ + 0xed, 0x2a, 0x30, 0x58, 0xe1, 0xac, 0xaf, 0x28, 0xaf, 0x4a, 0x93, 0x12, \ + 0x1d, 0x5c, 0xb5, 0xf8, 0x77, 0x5f, 0x5a, 0x5b, 0x18, 0x40, 0xec, 0xe6, \ + 0xf2, 0x8f, 0x9f, 0x69, 0x03, 0x54, 0x9b, 0xc5, 0xf3, 0x3d, 0x59, 0xad, \ + 0xb5, 0xf0, 0x15, 0xb2, 0x9c, 0x5e, 0x1d, 0x2c, 0x49, 0x67, 0x7e, 0x8e, \ + 0xa3, 0xe4, 0x16, 0x67, 0x9c, 0x19, 0x94, 0x22, 0x04, 0xca, 0x31, 0x1d, \ + 0x2d, 0x42, 0x1d, 0xf9, 0x39, 0xb8, 0x07, 0x3d, 0xc1, 0xe6, 0x34, 0x43, \ + 0xcd, 0x96, 0xbf, 0x49, 0xaa, 0x83, 0xa2, 0x4a, 0xba, 0xe8, 0xdd, 0xb3, \ + 0xa5, 0xb8, 0x0a, 0x28, 0x09, 0x77, 0x19, 0x4d, 0x8e, 0xfb, 0xe7, 0xc1, \ + 0xa8, 0xfd, 0x9d, 0x4a, 0x47, 0x50, 0xca, 0x49, 0x93, 0xc6, 0x12, 0xcb, \ + 0x59, 0x13, 0x7c, 0x14, 0x9a, 0xa1, 0x60, 0x04, 0xf2, 0x42, 0x7b, 0x59, \ + 0xd1, 0x04, 0xa2, 0xdd, 0x6f, 0x47, 0x7d, 0x26, 0x4f, 0x9c, 0x54, 0xdc, \ + 0x3c, 0x85, 0xde, 0xa2, 0x23, 0xdd, 0xda, 0x92, 0xe5, 0xc6, 0xdd, 0x61, \ + 0x66, 0xef, 0x1d, 0xc2, 0xcd, 0x8b, 0x4d, 0x71, 0x3a, 0xde, 0xe3, 0xfa, \ + 0x30, 0xce, 0x0b, 0x1e, 0xf5, 0xb1, 0x8a, 0xe2, 0x5a, 0x5a, 0x43, 0xff, \ + 0x9a, 0xdc, 0x72, 0x50, 0x02, 0xe3, 0xda, 0x94, 0x31, 0x46, 0x2b, 0x68, \ + 0xa4, 0xe4, 0x45, 0x41, 0xd9, 0xfb, 0x00, 0xe6, 0x39 \ } /* END FILE */ @@ -617,7 +609,7 @@ "-----BEGIN CERTIFICATE-----\r\n" \ "MIIDNzCCAh+gAwIBAgIBAjANBgkqhkiG9w0BAQsFADA7MQswCQYDVQQGEwJOTDER\r\n" \ "MA8GA1UECgwIUG9sYXJTU0wxGTAXBgNVBAMMEFBvbGFyU1NMIFRlc3QgQ0EwHhcN\r\n" \ - "MTEwMjEyMTQ0NDA2WhcNMjEwMjEyMTQ0NDA2WjA0MQswCQYDVQQGEwJOTDERMA8G\r\n" \ + "MTkwMjEwMTQ0NDA2WhcNMjkwMjEwMTQ0NDA2WjA0MQswCQYDVQQGEwJOTDERMA8G\r\n" \ "A1UECgwIUG9sYXJTU0wxEjAQBgNVBAMMCWxvY2FsaG9zdDCCASIwDQYJKoZIhvcN\r\n" \ "AQEBBQADggEPADCCAQoCggEBAMFNo93nzR3RBNdJcriZrA545Do8Ss86ExbQWuTN\r\n" \ "owCIp+4ea5anUrSQ7y1yej4kmvy2NKwk9XfgJmSMnLAofaHa6ozmyRyWvP7BBFKz\r\n" \ @@ -626,88 +618,88 @@ "hYvai0Re4hjGYi/HZo36Xdh98yeJKQHFkA4/J/EwyEoO79bex8cna8cFPXrEAjya\r\n" \ "HT4P6DSYW8tzS1KW2BGiLICIaTla0w+w3lkvEcf36hIBMJcCAwEAAaNNMEswCQYD\r\n" \ "VR0TBAIwADAdBgNVHQ4EFgQUpQXoZLjc32APUBJNYKhkr02LQ5MwHwYDVR0jBBgw\r\n" \ - "FoAUtFrkpbPe0lL2udWmlQ/rPrzH/f8wDQYJKoZIhvcNAQELBQADggEBAGGEshT5\r\n" \ - "kvnRmLVScVeUEdwIrvW7ezbGbUvJ8VxeJ79/HSjlLiGbMc4uUathwtzEdi9R/4C5\r\n" \ - "DXBNeEPTkbB+fhG1W06iHYj/Dp8+aaG7fuDxKVKHVZSqBnmQLn73ymyclZNHii5A\r\n" \ - "3nTS8WUaHAzxN/rajOtoM7aH1P9tULpHrl+7HOeLMpxUnwI12ZqZaLIzxbcdJVcr\r\n" \ - "ra2F00aXCGkYVLvyvbZIq7LC+yVysej5gCeQYD7VFOEks0jhFjrS06gP0/XnWv6v\r\n" \ - "eBoPez9d+CCjkrhseiWzXOiriIMICX48EloO/DrsMRAtvlwq7EDz4QhILz6ffndm\r\n" \ - "e4K1cVANRPN2o9Y=\r\n" \ + "FoAUtFrkpbPe0lL2udWmlQ/rPrzH/f8wDQYJKoZIhvcNAQELBQADggEBAC465FJh\r\n" \ + "Pqel7zJngHIHJrqj/wVAxGAFOTF396XKATGAp+HRCqJ81Ry60CNK1jDzk8dv6M6U\r\n" \ + "HoS7RIFiM/9rXQCbJfiPD5xMTejZp5n5UYHAmxsxDaazfA5FuBhkfokKK6jD4Eq9\r\n" \ + "1C94xGKb6X4/VkaPF7cqoBBw/bHxawXc0UEPjqayiBpCYU/rJoVZgLqFVP7Px3sv\r\n" \ + "a1nOrNx8rPPI1hJ+ZOg8maiPTxHZnBVLakSSLQy/sWeWyazO1RnrbxjrbgQtYKz0\r\n" \ + "e3nwGpu1w13vfckFmUSBhHXH7AAS/HpKC4IH7G2GAk3+n8iSSN71sZzpxonQwVbo\r\n" \ + "pMZqLmbBm/7WPLc=\r\n" \ "-----END CERTIFICATE-----\r\n" /* END FILE */ /* This is taken from tests/data_files/server2-sha256.crt.der. */ /* BEGIN FILE binary macro TEST_SRV_CRT_RSA_SHA256_DER tests/data_files/server2-sha256.crt.der */ #define TEST_SRV_CRT_RSA_SHA256_DER { \ - 0x30, 0x82, 0x03, 0x37, 0x30, 0x82, 0x02, 0x1f, 0xa0, 0x03, 0x02, 0x01, \ - 0x02, 0x02, 0x01, 0x02, 0x30, 0x0d, 0x06, 0x09, 0x2a, 0x86, 0x48, 0x86, \ - 0xf7, 0x0d, 0x01, 0x01, 0x0b, 0x05, 0x00, 0x30, 0x3b, 0x31, 0x0b, 0x30, \ - 0x09, 0x06, 0x03, 0x55, 0x04, 0x06, 0x13, 0x02, 0x4e, 0x4c, 0x31, 0x11, \ - 0x30, 0x0f, 0x06, 0x03, 0x55, 0x04, 0x0a, 0x0c, 0x08, 0x50, 0x6f, 0x6c, \ - 0x61, 0x72, 0x53, 0x53, 0x4c, 0x31, 0x19, 0x30, 0x17, 0x06, 0x03, 0x55, \ - 0x04, 0x03, 0x0c, 0x10, 0x50, 0x6f, 0x6c, 0x61, 0x72, 0x53, 0x53, 0x4c, \ - 0x20, 0x54, 0x65, 0x73, 0x74, 0x20, 0x43, 0x41, 0x30, 0x1e, 0x17, 0x0d, \ - 0x31, 0x31, 0x30, 0x32, 0x31, 0x32, 0x31, 0x34, 0x34, 0x34, 0x30, 0x36, \ - 0x5a, 0x17, 0x0d, 0x32, 0x31, 0x30, 0x32, 0x31, 0x32, 0x31, 0x34, 0x34, \ - 0x34, 0x30, 0x36, 0x5a, 0x30, 0x34, 0x31, 0x0b, 0x30, 0x09, 0x06, 0x03, \ - 0x55, 0x04, 0x06, 0x13, 0x02, 0x4e, 0x4c, 0x31, 0x11, 0x30, 0x0f, 0x06, \ - 0x03, 0x55, 0x04, 0x0a, 0x0c, 0x08, 0x50, 0x6f, 0x6c, 0x61, 0x72, 0x53, \ - 0x53, 0x4c, 0x31, 0x12, 0x30, 0x10, 0x06, 0x03, 0x55, 0x04, 0x03, 0x0c, \ - 0x09, 0x6c, 0x6f, 0x63, 0x61, 0x6c, 0x68, 0x6f, 0x73, 0x74, 0x30, 0x82, \ - 0x01, 0x22, 0x30, 0x0d, 0x06, 0x09, 0x2a, 0x86, 0x48, 0x86, 0xf7, 0x0d, \ - 0x01, 0x01, 0x01, 0x05, 0x00, 0x03, 0x82, 0x01, 0x0f, 0x00, 0x30, 0x82, \ - 0x01, 0x0a, 0x02, 0x82, 0x01, 0x01, 0x00, 0xc1, 0x4d, 0xa3, 0xdd, 0xe7, \ - 0xcd, 0x1d, 0xd1, 0x04, 0xd7, 0x49, 0x72, 0xb8, 0x99, 0xac, 0x0e, 0x78, \ - 0xe4, 0x3a, 0x3c, 0x4a, 0xcf, 0x3a, 0x13, 0x16, 0xd0, 0x5a, 0xe4, 0xcd, \ - 0xa3, 0x00, 0x88, 0xa7, 0xee, 0x1e, 0x6b, 0x96, 0xa7, 0x52, 0xb4, 0x90, \ - 0xef, 0x2d, 0x72, 0x7a, 0x3e, 0x24, 0x9a, 0xfc, 0xb6, 0x34, 0xac, 0x24, \ - 0xf5, 0x77, 0xe0, 0x26, 0x64, 0x8c, 0x9c, 0xb0, 0x28, 0x7d, 0xa1, 0xda, \ - 0xea, 0x8c, 0xe6, 0xc9, 0x1c, 0x96, 0xbc, 0xfe, 0xc1, 0x04, 0x52, 0xb3, \ - 0x36, 0xd4, 0xa3, 0xfa, 0xe1, 0xb1, 0x76, 0xd8, 0x90, 0xc1, 0x61, 0xb4, \ - 0x66, 0x52, 0x36, 0xa2, 0x26, 0x53, 0xaa, 0xab, 0x74, 0x5e, 0x07, 0x7d, \ - 0x19, 0x82, 0xdb, 0x2a, 0xd8, 0x1f, 0xa0, 0xd9, 0x0d, 0x1c, 0x2d, 0x49, \ - 0x66, 0xf7, 0x5b, 0x25, 0x73, 0x46, 0xe8, 0x0b, 0x8a, 0x4f, 0x69, 0x0c, \ - 0xb5, 0x00, 0x90, 0xe1, 0xda, 0x82, 0x10, 0x66, 0x7d, 0xae, 0x54, 0x2b, \ - 0x8b, 0x65, 0x79, 0x91, 0xa1, 0xe2, 0x61, 0xc3, 0xcd, 0x40, 0x49, 0x08, \ - 0xee, 0x68, 0x0c, 0xf1, 0x8b, 0x86, 0xd2, 0x46, 0xbf, 0xd0, 0xb8, 0xaa, \ - 0x11, 0x03, 0x1e, 0x7f, 0x56, 0xa8, 0x1a, 0x1e, 0x44, 0x18, 0x0f, 0x0f, \ - 0x85, 0x8b, 0xda, 0x8b, 0x44, 0x5e, 0xe2, 0x18, 0xc6, 0x62, 0x2f, 0xc7, \ - 0x66, 0x8d, 0xfa, 0x5d, 0xd8, 0x7d, 0xf3, 0x27, 0x89, 0x29, 0x01, 0xc5, \ - 0x90, 0x0e, 0x3f, 0x27, 0xf1, 0x30, 0xc8, 0x4a, 0x0e, 0xef, 0xd6, 0xde, \ - 0xc7, 0xc7, 0x27, 0x6b, 0xc7, 0x05, 0x3d, 0x7a, 0xc4, 0x02, 0x3c, 0x9a, \ - 0x1d, 0x3e, 0x0f, 0xe8, 0x34, 0x98, 0x5b, 0xcb, 0x73, 0x4b, 0x52, 0x96, \ - 0xd8, 0x11, 0xa2, 0x2c, 0x80, 0x88, 0x69, 0x39, 0x5a, 0xd3, 0x0f, 0xb0, \ - 0xde, 0x59, 0x2f, 0x11, 0xc7, 0xf7, 0xea, 0x12, 0x01, 0x30, 0x97, 0x02, \ - 0x03, 0x01, 0x00, 0x01, 0xa3, 0x4d, 0x30, 0x4b, 0x30, 0x09, 0x06, 0x03, \ - 0x55, 0x1d, 0x13, 0x04, 0x02, 0x30, 0x00, 0x30, 0x1d, 0x06, 0x03, 0x55, \ - 0x1d, 0x0e, 0x04, 0x16, 0x04, 0x14, 0xa5, 0x05, 0xe8, 0x64, 0xb8, 0xdc, \ - 0xdf, 0x60, 0x0f, 0x50, 0x12, 0x4d, 0x60, 0xa8, 0x64, 0xaf, 0x4d, 0x8b, \ - 0x43, 0x93, 0x30, 0x1f, 0x06, 0x03, 0x55, 0x1d, 0x23, 0x04, 0x18, 0x30, \ - 0x16, 0x80, 0x14, 0xb4, 0x5a, 0xe4, 0xa5, 0xb3, 0xde, 0xd2, 0x52, 0xf6, \ - 0xb9, 0xd5, 0xa6, 0x95, 0x0f, 0xeb, 0x3e, 0xbc, 0xc7, 0xfd, 0xff, 0x30, \ - 0x0d, 0x06, 0x09, 0x2a, 0x86, 0x48, 0x86, 0xf7, 0x0d, 0x01, 0x01, 0x0b, \ - 0x05, 0x00, 0x03, 0x82, 0x01, 0x01, 0x00, 0x61, 0x84, 0xb2, 0x14, 0xf9, \ - 0x92, 0xf9, 0xd1, 0x98, 0xb5, 0x52, 0x71, 0x57, 0x94, 0x11, 0xdc, 0x08, \ - 0xae, 0xf5, 0xbb, 0x7b, 0x36, 0xc6, 0x6d, 0x4b, 0xc9, 0xf1, 0x5c, 0x5e, \ - 0x27, 0xbf, 0x7f, 0x1d, 0x28, 0xe5, 0x2e, 0x21, 0x9b, 0x31, 0xce, 0x2e, \ - 0x51, 0xab, 0x61, 0xc2, 0xdc, 0xc4, 0x76, 0x2f, 0x51, 0xff, 0x80, 0xb9, \ - 0x0d, 0x70, 0x4d, 0x78, 0x43, 0xd3, 0x91, 0xb0, 0x7e, 0x7e, 0x11, 0xb5, \ - 0x5b, 0x4e, 0xa2, 0x1d, 0x88, 0xff, 0x0e, 0x9f, 0x3e, 0x69, 0xa1, 0xbb, \ - 0x7e, 0xe0, 0xf1, 0x29, 0x52, 0x87, 0x55, 0x94, 0xaa, 0x06, 0x79, 0x90, \ - 0x2e, 0x7e, 0xf7, 0xca, 0x6c, 0x9c, 0x95, 0x93, 0x47, 0x8a, 0x2e, 0x40, \ - 0xde, 0x74, 0xd2, 0xf1, 0x65, 0x1a, 0x1c, 0x0c, 0xf1, 0x37, 0xfa, 0xda, \ - 0x8c, 0xeb, 0x68, 0x33, 0xb6, 0x87, 0xd4, 0xff, 0x6d, 0x50, 0xba, 0x47, \ - 0xae, 0x5f, 0xbb, 0x1c, 0xe7, 0x8b, 0x32, 0x9c, 0x54, 0x9f, 0x02, 0x35, \ - 0xd9, 0x9a, 0x99, 0x68, 0xb2, 0x33, 0xc5, 0xb7, 0x1d, 0x25, 0x57, 0x2b, \ - 0xad, 0xad, 0x85, 0xd3, 0x46, 0x97, 0x08, 0x69, 0x18, 0x54, 0xbb, 0xf2, \ - 0xbd, 0xb6, 0x48, 0xab, 0xb2, 0xc2, 0xfb, 0x25, 0x72, 0xb1, 0xe8, 0xf9, \ - 0x80, 0x27, 0x90, 0x60, 0x3e, 0xd5, 0x14, 0xe1, 0x24, 0xb3, 0x48, 0xe1, \ - 0x16, 0x3a, 0xd2, 0xd3, 0xa8, 0x0f, 0xd3, 0xf5, 0xe7, 0x5a, 0xfe, 0xaf, \ - 0x78, 0x1a, 0x0f, 0x7b, 0x3f, 0x5d, 0xf8, 0x20, 0xa3, 0x92, 0xb8, 0x6c, \ - 0x7a, 0x25, 0xb3, 0x5c, 0xe8, 0xab, 0x88, 0x83, 0x08, 0x09, 0x7e, 0x3c, \ - 0x12, 0x5a, 0x0e, 0xfc, 0x3a, 0xec, 0x31, 0x10, 0x2d, 0xbe, 0x5c, 0x2a, \ - 0xec, 0x40, 0xf3, 0xe1, 0x08, 0x48, 0x2f, 0x3e, 0x9f, 0x7e, 0x77, 0x66, \ - 0x7b, 0x82, 0xb5, 0x71, 0x50, 0x0d, 0x44, 0xf3, 0x76, 0xa3, 0xd6 \ + 0x30, 0x82, 0x03, 0x37, 0x30, 0x82, 0x02, 0x1f, 0xa0, 0x03, 0x02, 0x01, \ + 0x02, 0x02, 0x01, 0x02, 0x30, 0x0d, 0x06, 0x09, 0x2a, 0x86, 0x48, 0x86, \ + 0xf7, 0x0d, 0x01, 0x01, 0x0b, 0x05, 0x00, 0x30, 0x3b, 0x31, 0x0b, 0x30, \ + 0x09, 0x06, 0x03, 0x55, 0x04, 0x06, 0x13, 0x02, 0x4e, 0x4c, 0x31, 0x11, \ + 0x30, 0x0f, 0x06, 0x03, 0x55, 0x04, 0x0a, 0x0c, 0x08, 0x50, 0x6f, 0x6c, \ + 0x61, 0x72, 0x53, 0x53, 0x4c, 0x31, 0x19, 0x30, 0x17, 0x06, 0x03, 0x55, \ + 0x04, 0x03, 0x0c, 0x10, 0x50, 0x6f, 0x6c, 0x61, 0x72, 0x53, 0x53, 0x4c, \ + 0x20, 0x54, 0x65, 0x73, 0x74, 0x20, 0x43, 0x41, 0x30, 0x1e, 0x17, 0x0d, \ + 0x31, 0x39, 0x30, 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0xe4, 0x52, 0x61, \ + 0x3e, 0xa7, 0xa5, 0xef, 0x32, 0x67, 0x80, 0x72, 0x07, 0x26, 0xba, 0xa3, \ + 0xff, 0x05, 0x40, 0xc4, 0x60, 0x05, 0x39, 0x31, 0x77, 0xf7, 0xa5, 0xca, \ + 0x01, 0x31, 0x80, 0xa7, 0xe1, 0xd1, 0x0a, 0xa2, 0x7c, 0xd5, 0x1c, 0xba, \ + 0xd0, 0x23, 0x4a, 0xd6, 0x30, 0xf3, 0x93, 0xc7, 0x6f, 0xe8, 0xce, 0x94, \ + 0x1e, 0x84, 0xbb, 0x44, 0x81, 0x62, 0x33, 0xff, 0x6b, 0x5d, 0x00, 0x9b, \ + 0x25, 0xf8, 0x8f, 0x0f, 0x9c, 0x4c, 0x4d, 0xe8, 0xd9, 0xa7, 0x99, 0xf9, \ + 0x51, 0x81, 0xc0, 0x9b, 0x1b, 0x31, 0x0d, 0xa6, 0xb3, 0x7c, 0x0e, 0x45, \ + 0xb8, 0x18, 0x64, 0x7e, 0x89, 0x0a, 0x2b, 0xa8, 0xc3, 0xe0, 0x4a, 0xbd, \ + 0xd4, 0x2f, 0x78, 0xc4, 0x62, 0x9b, 0xe9, 0x7e, 0x3f, 0x56, 0x46, 0x8f, \ + 0x17, 0xb7, 0x2a, 0xa0, 0x10, 0x70, 0xfd, 0xb1, 0xf1, 0x6b, 0x05, 0xdc, \ + 0xd1, 0x41, 0x0f, 0x8e, 0xa6, 0xb2, 0x88, 0x1a, 0x42, 0x61, 0x4f, 0xeb, \ + 0x26, 0x85, 0x59, 0x80, 0xba, 0x85, 0x54, 0xfe, 0xcf, 0xc7, 0x7b, 0x2f, \ + 0x6b, 0x59, 0xce, 0xac, 0xdc, 0x7c, 0xac, 0xf3, 0xc8, 0xd6, 0x12, 0x7e, \ + 0x64, 0xe8, 0x3c, 0x99, 0xa8, 0x8f, 0x4f, 0x11, 0xd9, 0x9c, 0x15, 0x4b, \ + 0x6a, 0x44, 0x92, 0x2d, 0x0c, 0xbf, 0xb1, 0x67, 0x96, 0xc9, 0xac, 0xce, \ + 0xd5, 0x19, 0xeb, 0x6f, 0x18, 0xeb, 0x6e, 0x04, 0x2d, 0x60, 0xac, 0xf4, \ + 0x7b, 0x79, 0xf0, 0x1a, 0x9b, 0xb5, 0xc3, 0x5d, 0xef, 0x7d, 0xc9, 0x05, \ + 0x99, 0x44, 0x81, 0x84, 0x75, 0xc7, 0xec, 0x00, 0x12, 0xfc, 0x7a, 0x4a, \ + 0x0b, 0x82, 0x07, 0xec, 0x6d, 0x86, 0x02, 0x4d, 0xfe, 0x9f, 0xc8, 0x92, \ + 0x48, 0xde, 0xf5, 0xb1, 0x9c, 0xe9, 0xc6, 0x89, 0xd0, 0xc1, 0x56, 0xe8, \ + 0xa4, 0xc6, 0x6a, 0x2e, 0x66, 0xc1, 0x9b, 0xfe, 0xd6, 0x3c, 0xb7 \ } /* END FILE */ @@ -717,7 +709,7 @@ "-----BEGIN CERTIFICATE-----\r\n" \ "MIIDNzCCAh+gAwIBAgIBAjANBgkqhkiG9w0BAQUFADA7MQswCQYDVQQGEwJOTDER\r\n" \ "MA8GA1UECgwIUG9sYXJTU0wxGTAXBgNVBAMMEFBvbGFyU1NMIFRlc3QgQ0EwHhcN\r\n" \ - "MTEwMjEyMTQ0NDA2WhcNMjEwMjEyMTQ0NDA2WjA0MQswCQYDVQQGEwJOTDERMA8G\r\n" \ + "MTkwMjEwMTQ0NDA2WhcNMjkwMjEwMTQ0NDA2WjA0MQswCQYDVQQGEwJOTDERMA8G\r\n" \ "A1UECgwIUG9sYXJTU0wxEjAQBgNVBAMMCWxvY2FsaG9zdDCCASIwDQYJKoZIhvcN\r\n" \ "AQEBBQADggEPADCCAQoCggEBAMFNo93nzR3RBNdJcriZrA545Do8Ss86ExbQWuTN\r\n" \ "owCIp+4ea5anUrSQ7y1yej4kmvy2NKwk9XfgJmSMnLAofaHa6ozmyRyWvP7BBFKz\r\n" \ @@ -726,88 +718,88 @@ "hYvai0Re4hjGYi/HZo36Xdh98yeJKQHFkA4/J/EwyEoO79bex8cna8cFPXrEAjya\r\n" \ "HT4P6DSYW8tzS1KW2BGiLICIaTla0w+w3lkvEcf36hIBMJcCAwEAAaNNMEswCQYD\r\n" \ "VR0TBAIwADAdBgNVHQ4EFgQUpQXoZLjc32APUBJNYKhkr02LQ5MwHwYDVR0jBBgw\r\n" \ - "FoAUtFrkpbPe0lL2udWmlQ/rPrzH/f8wDQYJKoZIhvcNAQEFBQADggEBAAFzC0rF\r\n" \ - "y6De8WMcdgQrEw3AhBHFjzqnxZw1ene4IBSC7lTw8rBSy3jOWQdPUWn+0y/pCeeF\r\n" \ - "kti6sevFdl1hLemGtd4q+T9TKEKGg3ND4ARfB5AUZZ9uEHq8WBkiwus5clGS17Qd\r\n" \ - "dS/TOisB59tQruLx1E1bPLtBKyqk4koC5WAULJwfpswGSyWJTpYwIpxcWE3D2tBu\r\n" \ - "UB6MZfXZFzWmWEOyKbeoXjXe8GBCGgHLywvYDsGQ36HSGtEsAvR2QaTLSxWYcfk1\r\n" \ - "fbDn4jSWkb4yZy1r01UEigFQtONieGwRFaUqEcFJHJvEEGVgh9keaVlOj2vrwf5r\r\n" \ - "4mN4lW7gLdenN6g=\r\n" \ + "FoAUtFrkpbPe0lL2udWmlQ/rPrzH/f8wDQYJKoZIhvcNAQEFBQADggEBAJklg3Q4\r\n" \ + "cB7v7BzsxM/vLyKccO6op0/gZzM4ghuLq2Y32kl0sM6kSNUUmduuq3u/+GmUZN2A\r\n" \ + "O/7c+Hw7hDFEIvZk98aBGjCLqn3DmgHIv8ToQ67nellQxx2Uj309PdgjNi/r9HOc\r\n" \ + "KNAYPbBcg6MJGWWj2TI6vNaceios/DhOYx5V0j5nfqSJ/pnU0g9Ign2LAhgYpGJE\r\n" \ + "iEM9wW7hEMkwmk0h/sqZsrJsGH5YsF/VThSq/JVO1e2mZH2vruyZKJVBq+8tDNYp\r\n" \ + "HkK6tSyVYQhzIt3StMJWKMl/o5k2AYz6tSC164+1oG+ML3LWg8XrGKa91H4UOKap\r\n" \ + "Awgk0+4m0T25cNs=\r\n" \ "-----END CERTIFICATE-----\r\n" /* END FILE */ /* This is taken from tests/data_files/server2.crt.der. */ /* BEGIN FILE binary macro TEST_SRV_CRT_RSA_SHA1_DER tests/data_files/server2.crt.der */ #define TEST_SRV_CRT_RSA_SHA1_DER { \ - 0x30, 0x82, 0x03, 0x37, 0x30, 0x82, 0x02, 0x1f, 0xa0, 0x03, 0x02, 0x01, \ - 0x02, 0x02, 0x01, 0x02, 0x30, 0x0d, 0x06, 0x09, 0x2a, 0x86, 0x48, 0x86, \ - 0xf7, 0x0d, 0x01, 0x01, 0x05, 0x05, 0x00, 0x30, 0x3b, 0x31, 0x0b, 0x30, \ - 0x09, 0x06, 0x03, 0x55, 0x04, 0x06, 0x13, 0x02, 0x4e, 0x4c, 0x31, 0x11, \ - 0x30, 0x0f, 0x06, 0x03, 0x55, 0x04, 0x0a, 0x0c, 0x08, 0x50, 0x6f, 0x6c, \ - 0x61, 0x72, 0x53, 0x53, 0x4c, 0x31, 0x19, 0x30, 0x17, 0x06, 0x03, 0x55, \ - 0x04, 0x03, 0x0c, 0x10, 0x50, 0x6f, 0x6c, 0x61, 0x72, 0x53, 0x53, 0x4c, \ - 0x20, 0x54, 0x65, 0x73, 0x74, 0x20, 0x43, 0x41, 0x30, 0x1e, 0x17, 0x0d, \ - 0x31, 0x31, 0x30, 0x32, 0x31, 0x32, 0x31, 0x34, 0x34, 0x34, 0x30, 0x36, \ - 0x5a, 0x17, 0x0d, 0x32, 0x31, 0x30, 0x32, 0x31, 0x32, 0x31, 0x34, 0x34, \ - 0x34, 0x30, 0x36, 0x5a, 0x30, 0x34, 0x31, 0x0b, 0x30, 0x09, 0x06, 0x03, \ - 0x55, 0x04, 0x06, 0x13, 0x02, 0x4e, 0x4c, 0x31, 0x11, 0x30, 0x0f, 0x06, \ - 0x03, 0x55, 0x04, 0x0a, 0x0c, 0x08, 0x50, 0x6f, 0x6c, 0x61, 0x72, 0x53, \ - 0x53, 0x4c, 0x31, 0x12, 0x30, 0x10, 0x06, 0x03, 0x55, 0x04, 0x03, 0x0c, \ - 0x09, 0x6c, 0x6f, 0x63, 0x61, 0x6c, 0x68, 0x6f, 0x73, 0x74, 0x30, 0x82, \ - 0x01, 0x22, 0x30, 0x0d, 0x06, 0x09, 0x2a, 0x86, 0x48, 0x86, 0xf7, 0x0d, \ - 0x01, 0x01, 0x01, 0x05, 0x00, 0x03, 0x82, 0x01, 0x0f, 0x00, 0x30, 0x82, 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0xb5, 0xa0, 0x6f, 0x8c, 0x2f, 0x72, 0xd6, \ + 0x83, 0xc5, 0xeb, 0x18, 0xa6, 0xbd, 0xd4, 0x7e, 0x14, 0x38, 0xa6, 0xa9, \ + 0x03, 0x08, 0x24, 0xd3, 0xee, 0x26, 0xd1, 0x3d, 0xb9, 0x70, 0xdb \ } /* END FILE */ @@ -966,71 +958,64 @@ /* BEGIN FILE string macro TEST_CLI_CRT_EC_PEM tests/data_files/cli2.crt */ #define TEST_CLI_CRT_EC_PEM \ "-----BEGIN CERTIFICATE-----\r\n" \ - "MIICLDCCAbKgAwIBAgIBDTAKBggqhkjOPQQDAjA+MQswCQYDVQQGEwJOTDERMA8G\r\n" \ - "A1UEChMIUG9sYXJTU0wxHDAaBgNVBAMTE1BvbGFyc3NsIFRlc3QgRUMgQ0EwHhcN\r\n" \ - "MTMwOTI0MTU1MjA0WhcNMjMwOTIyMTU1MjA0WjBBMQswCQYDVQQGEwJOTDERMA8G\r\n" \ - "A1UEChMIUG9sYXJTU0wxHzAdBgNVBAMTFlBvbGFyU1NMIFRlc3QgQ2xpZW50IDIw\r\n" \ - "WTATBgcqhkjOPQIBBggqhkjOPQMBBwNCAARX5a6xc9/TrLuTuIH/Eq7u5lOszlVT\r\n" \ - "9jQOzC7jYyUL35ji81xgNpbA1RgUcOV/n9VLRRjlsGzVXPiWj4dwo+THo4GdMIGa\r\n" \ - "MAkGA1UdEwQCMAAwHQYDVR0OBBYEFHoAX4Zk/OBd5REQO7LmO8QmP8/iMG4GA1Ud\r\n" \ - "IwRnMGWAFJ1tICRJAT8ry3i1Gbx+JMnb+zZ8oUKkQDA+MQswCQYDVQQGEwJOTDER\r\n" \ - "MA8GA1UEChMIUG9sYXJTU0wxHDAaBgNVBAMTE1BvbGFyc3NsIFRlc3QgRUMgQ0GC\r\n" \ - "CQDBQ+J+YkPM6DAKBggqhkjOPQQDAgNoADBlAjBKZQ17IIOimbmoD/yN7o89u3BM\r\n" \ - "lgOsjnhw3fIOoLIWy2WOGsk/LGF++DzvrRzuNiACMQCd8iem1XS4JK7haj8xocpU\r\n" \ - "LwjQje5PDGHfd3h9tP38Qknu5bJqws0md2KOKHyeV0U=\r\n" \ + "MIIB3zCCAWOgAwIBAgIBDTAMBggqhkjOPQQDAgUAMD4xCzAJBgNVBAYTAk5MMREw\r\n" \ + "DwYDVQQKDAhQb2xhclNTTDEcMBoGA1UEAwwTUG9sYXJTU0wgVGVzdCBFQyBDQTAe\r\n" \ + "Fw0xOTAyMTAxNDQ0MDBaFw0yOTAyMTAxNDQ0MDBaMEExCzAJBgNVBAYTAk5MMREw\r\n" \ + "DwYDVQQKDAhQb2xhclNTTDEfMB0GA1UEAwwWUG9sYXJTU0wgVGVzdCBDbGllbnQg\r\n" \ + "MjBZMBMGByqGSM49AgEGCCqGSM49AwEHA0IABFflrrFz39Osu5O4gf8Sru7mU6zO\r\n" \ + "VVP2NA7MLuNjJQvfmOLzXGA2lsDVGBRw5X+f1UtFGOWwbNVc+JaPh3Cj5MejTTBL\r\n" \ + "MAkGA1UdEwQCMAAwHQYDVR0OBBYEFHoAX4Zk/OBd5REQO7LmO8QmP8/iMB8GA1Ud\r\n" \ + "IwQYMBaAFJ1tICRJAT8ry3i1Gbx+JMnb+zZ8MAwGCCqGSM49BAMCBQADaAAwZQIx\r\n" \ + "AMqme4DKMldUlplDET9Q6Eptre7uUWKhsLOF+zPkKDlfzpIkJYEFgcloDHGYw80u\r\n" \ + "IgIwNftyPXsabTqMM7iEHgVpX/GRozKklY9yQI/5eoA6gGW7Y+imuGR/oao5ySOb\r\n" \ + "a9Vk\r\n" \ "-----END CERTIFICATE-----\r\n" /* END FILE */ /* This is generated from tests/data_files/cli2.crt.der using `xxd -i`. */ /* BEGIN FILE binary macro TEST_CLI_CRT_EC_DER tests/data_files/cli2.crt.der */ #define TEST_CLI_CRT_EC_DER { \ - 0x30, 0x82, 0x02, 0x2c, 0x30, 0x82, 0x01, 0xb2, 0xa0, 0x03, 0x02, 0x01, \ - 0x02, 0x02, 0x01, 0x0d, 0x30, 0x0a, 0x06, 0x08, 0x2a, 0x86, 0x48, 0xce, \ - 0x3d, 0x04, 0x03, 0x02, 0x30, 0x3e, 0x31, 0x0b, 0x30, 0x09, 0x06, 0x03, \ - 0x55, 0x04, 0x06, 0x13, 0x02, 0x4e, 0x4c, 0x31, 0x11, 0x30, 0x0f, 0x06, \ - 0x03, 0x55, 0x04, 0x0a, 0x13, 0x08, 0x50, 0x6f, 0x6c, 0x61, 0x72, 0x53, \ - 0x53, 0x4c, 0x31, 0x1c, 0x30, 0x1a, 0x06, 0x03, 0x55, 0x04, 0x03, 0x13, \ - 0x13, 0x50, 0x6f, 0x6c, 0x61, 0x72, 0x73, 0x73, 0x6c, 0x20, 0x54, 0x65, \ - 0x73, 0x74, 0x20, 0x45, 0x43, 0x20, 0x43, 0x41, 0x30, 0x1e, 0x17, 0x0d, \ - 0x31, 0x33, 0x30, 0x39, 0x32, 0x34, 0x31, 0x35, 0x35, 0x32, 0x30, 0x34, \ - 0x5a, 0x17, 0x0d, 0x32, 0x33, 0x30, 0x39, 0x32, 0x32, 0x31, 0x35, 0x35, \ - 0x32, 0x30, 0x34, 0x5a, 0x30, 0x41, 0x31, 0x0b, 0x30, 0x09, 0x06, 0x03, \ - 0x55, 0x04, 0x06, 0x13, 0x02, 0x4e, 0x4c, 0x31, 0x11, 0x30, 0x0f, 0x06, \ - 0x03, 0x55, 0x04, 0x0a, 0x13, 0x08, 0x50, 0x6f, 0x6c, 0x61, 0x72, 0x53, \ - 0x53, 0x4c, 0x31, 0x1f, 0x30, 0x1d, 0x06, 0x03, 0x55, 0x04, 0x03, 0x13, \ - 0x16, 0x50, 0x6f, 0x6c, 0x61, 0x72, 0x53, 0x53, 0x4c, 0x20, 0x54, 0x65, \ - 0x73, 0x74, 0x20, 0x43, 0x6c, 0x69, 0x65, 0x6e, 0x74, 0x20, 0x32, 0x30, \ - 0x59, 0x30, 0x13, 0x06, 0x07, 0x2a, 0x86, 0x48, 0xce, 0x3d, 0x02, 0x01, \ - 0x06, 0x08, 0x2a, 0x86, 0x48, 0xce, 0x3d, 0x03, 0x01, 0x07, 0x03, 0x42, \ - 0x00, 0x04, 0x57, 0xe5, 0xae, 0xb1, 0x73, 0xdf, 0xd3, 0xac, 0xbb, 0x93, \ - 0xb8, 0x81, 0xff, 0x12, 0xae, 0xee, 0xe6, 0x53, 0xac, 0xce, 0x55, 0x53, \ - 0xf6, 0x34, 0x0e, 0xcc, 0x2e, 0xe3, 0x63, 0x25, 0x0b, 0xdf, 0x98, 0xe2, \ - 0xf3, 0x5c, 0x60, 0x36, 0x96, 0xc0, 0xd5, 0x18, 0x14, 0x70, 0xe5, 0x7f, \ - 0x9f, 0xd5, 0x4b, 0x45, 0x18, 0xe5, 0xb0, 0x6c, 0xd5, 0x5c, 0xf8, 0x96, \ - 0x8f, 0x87, 0x70, 0xa3, 0xe4, 0xc7, 0xa3, 0x81, 0x9d, 0x30, 0x81, 0x9a, \ - 0x30, 0x09, 0x06, 0x03, 0x55, 0x1d, 0x13, 0x04, 0x02, 0x30, 0x00, 0x30, \ - 0x1d, 0x06, 0x03, 0x55, 0x1d, 0x0e, 0x04, 0x16, 0x04, 0x14, 0x7a, 0x00, \ - 0x5f, 0x86, 0x64, 0xfc, 0xe0, 0x5d, 0xe5, 0x11, 0x10, 0x3b, 0xb2, 0xe6, \ - 0x3b, 0xc4, 0x26, 0x3f, 0xcf, 0xe2, 0x30, 0x6e, 0x06, 0x03, 0x55, 0x1d, \ - 0x23, 0x04, 0x67, 0x30, 0x65, 0x80, 0x14, 0x9d, 0x6d, 0x20, 0x24, 0x49, \ - 0x01, 0x3f, 0x2b, 0xcb, 0x78, 0xb5, 0x19, 0xbc, 0x7e, 0x24, 0xc9, 0xdb, \ - 0xfb, 0x36, 0x7c, 0xa1, 0x42, 0xa4, 0x40, 0x30, 0x3e, 0x31, 0x0b, 0x30, \ - 0x09, 0x06, 0x03, 0x55, 0x04, 0x06, 0x13, 0x02, 0x4e, 0x4c, 0x31, 0x11, \ - 0x30, 0x0f, 0x06, 0x03, 0x55, 0x04, 0x0a, 0x13, 0x08, 0x50, 0x6f, 0x6c, \ - 0x61, 0x72, 0x53, 0x53, 0x4c, 0x31, 0x1c, 0x30, 0x1a, 0x06, 0x03, 0x55, \ - 0x04, 0x03, 0x13, 0x13, 0x50, 0x6f, 0x6c, 0x61, 0x72, 0x73, 0x73, 0x6c, \ - 0x20, 0x54, 0x65, 0x73, 0x74, 0x20, 0x45, 0x43, 0x20, 0x43, 0x41, 0x82, \ - 0x09, 0x00, 0xc1, 0x43, 0xe2, 0x7e, 0x62, 0x43, 0xcc, 0xe8, 0x30, 0x0a, \ - 0x06, 0x08, 0x2a, 0x86, 0x48, 0xce, 0x3d, 0x04, 0x03, 0x02, 0x03, 0x68, \ - 0x00, 0x30, 0x65, 0x02, 0x30, 0x4a, 0x65, 0x0d, 0x7b, 0x20, 0x83, 0xa2, \ - 0x99, 0xb9, 0xa8, 0x0f, 0xfc, 0x8d, 0xee, 0x8f, 0x3d, 0xbb, 0x70, 0x4c, \ - 0x96, 0x03, 0xac, 0x8e, 0x78, 0x70, 0xdd, 0xf2, 0x0e, 0xa0, 0xb2, 0x16, \ - 0xcb, 0x65, 0x8e, 0x1a, 0xc9, 0x3f, 0x2c, 0x61, 0x7e, 0xf8, 0x3c, 0xef, \ - 0xad, 0x1c, 0xee, 0x36, 0x20, 0x02, 0x31, 0x00, 0x9d, 0xf2, 0x27, 0xa6, \ - 0xd5, 0x74, 0xb8, 0x24, 0xae, 0xe1, 0x6a, 0x3f, 0x31, 0xa1, 0xca, 0x54, \ - 0x2f, 0x08, 0xd0, 0x8d, 0xee, 0x4f, 0x0c, 0x61, 0xdf, 0x77, 0x78, 0x7d, \ - 0xb4, 0xfd, 0xfc, 0x42, 0x49, 0xee, 0xe5, 0xb2, 0x6a, 0xc2, 0xcd, 0x26, \ - 0x77, 0x62, 0x8e, 0x28, 0x7c, 0x9e, 0x57, 0x45 \ + 0x30, 0x82, 0x01, 0xdf, 0x30, 0x82, 0x01, 0x63, 0xa0, 0x03, 0x02, 0x01, \ + 0x02, 0x02, 0x01, 0x0d, 0x30, 0x0c, 0x06, 0x08, 0x2a, 0x86, 0x48, 0xce, \ + 0x3d, 0x04, 0x03, 0x02, 0x05, 0x00, 0x30, 0x3e, 0x31, 0x0b, 0x30, 0x09, \ + 0x06, 0x03, 0x55, 0x04, 0x06, 0x13, 0x02, 0x4e, 0x4c, 0x31, 0x11, 0x30, \ + 0x0f, 0x06, 0x03, 0x55, 0x04, 0x0a, 0x0c, 0x08, 0x50, 0x6f, 0x6c, 0x61, \ + 0x72, 0x53, 0x53, 0x4c, 0x31, 0x1c, 0x30, 0x1a, 0x06, 0x03, 0x55, 0x04, \ + 0x03, 0x0c, 0x13, 0x50, 0x6f, 0x6c, 0x61, 0x72, 0x53, 0x53, 0x4c, 0x20, \ + 0x54, 0x65, 0x73, 0x74, 0x20, 0x45, 0x43, 0x20, 0x43, 0x41, 0x30, 0x1e, \ + 0x17, 0x0d, 0x31, 0x39, 0x30, 0x32, 0x31, 0x30, 0x31, 0x34, 0x34, 0x34, \ + 0x30, 0x30, 0x5a, 0x17, 0x0d, 0x32, 0x39, 0x30, 0x32, 0x31, 0x30, 0x31, \ + 0x34, 0x34, 0x34, 0x30, 0x30, 0x5a, 0x30, 0x41, 0x31, 0x0b, 0x30, 0x09, \ + 0x06, 0x03, 0x55, 0x04, 0x06, 0x13, 0x02, 0x4e, 0x4c, 0x31, 0x11, 0x30, \ + 0x0f, 0x06, 0x03, 0x55, 0x04, 0x0a, 0x0c, 0x08, 0x50, 0x6f, 0x6c, 0x61, \ + 0x72, 0x53, 0x53, 0x4c, 0x31, 0x1f, 0x30, 0x1d, 0x06, 0x03, 0x55, 0x04, \ + 0x03, 0x0c, 0x16, 0x50, 0x6f, 0x6c, 0x61, 0x72, 0x53, 0x53, 0x4c, 0x20, \ + 0x54, 0x65, 0x73, 0x74, 0x20, 0x43, 0x6c, 0x69, 0x65, 0x6e, 0x74, 0x20, \ + 0x32, 0x30, 0x59, 0x30, 0x13, 0x06, 0x07, 0x2a, 0x86, 0x48, 0xce, 0x3d, \ + 0x02, 0x01, 0x06, 0x08, 0x2a, 0x86, 0x48, 0xce, 0x3d, 0x03, 0x01, 0x07, \ + 0x03, 0x42, 0x00, 0x04, 0x57, 0xe5, 0xae, 0xb1, 0x73, 0xdf, 0xd3, 0xac, \ + 0xbb, 0x93, 0xb8, 0x81, 0xff, 0x12, 0xae, 0xee, 0xe6, 0x53, 0xac, 0xce, \ + 0x55, 0x53, 0xf6, 0x34, 0x0e, 0xcc, 0x2e, 0xe3, 0x63, 0x25, 0x0b, 0xdf, \ + 0x98, 0xe2, 0xf3, 0x5c, 0x60, 0x36, 0x96, 0xc0, 0xd5, 0x18, 0x14, 0x70, \ + 0xe5, 0x7f, 0x9f, 0xd5, 0x4b, 0x45, 0x18, 0xe5, 0xb0, 0x6c, 0xd5, 0x5c, \ + 0xf8, 0x96, 0x8f, 0x87, 0x70, 0xa3, 0xe4, 0xc7, 0xa3, 0x4d, 0x30, 0x4b, \ + 0x30, 0x09, 0x06, 0x03, 0x55, 0x1d, 0x13, 0x04, 0x02, 0x30, 0x00, 0x30, \ + 0x1d, 0x06, 0x03, 0x55, 0x1d, 0x0e, 0x04, 0x16, 0x04, 0x14, 0x7a, 0x00, \ + 0x5f, 0x86, 0x64, 0xfc, 0xe0, 0x5d, 0xe5, 0x11, 0x10, 0x3b, 0xb2, 0xe6, \ + 0x3b, 0xc4, 0x26, 0x3f, 0xcf, 0xe2, 0x30, 0x1f, 0x06, 0x03, 0x55, 0x1d, \ + 0x23, 0x04, 0x18, 0x30, 0x16, 0x80, 0x14, 0x9d, 0x6d, 0x20, 0x24, 0x49, \ + 0x01, 0x3f, 0x2b, 0xcb, 0x78, 0xb5, 0x19, 0xbc, 0x7e, 0x24, 0xc9, 0xdb, \ + 0xfb, 0x36, 0x7c, 0x30, 0x0c, 0x06, 0x08, 0x2a, 0x86, 0x48, 0xce, 0x3d, \ + 0x04, 0x03, 0x02, 0x05, 0x00, 0x03, 0x68, 0x00, 0x30, 0x65, 0x02, 0x31, \ + 0x00, 0xca, 0xa6, 0x7b, 0x80, 0xca, 0x32, 0x57, 0x54, 0x96, 0x99, 0x43, \ + 0x11, 0x3f, 0x50, 0xe8, 0x4a, 0x6d, 0xad, 0xee, 0xee, 0x51, 0x62, 0xa1, \ + 0xb0, 0xb3, 0x85, 0xfb, 0x33, 0xe4, 0x28, 0x39, 0x5f, 0xce, 0x92, 0x24, \ + 0x25, 0x81, 0x05, 0x81, 0xc9, 0x68, 0x0c, 0x71, 0x98, 0xc3, 0xcd, 0x2e, \ + 0x22, 0x02, 0x30, 0x35, 0xfb, 0x72, 0x3d, 0x7b, 0x1a, 0x6d, 0x3a, 0x8c, \ + 0x33, 0xb8, 0x84, 0x1e, 0x05, 0x69, 0x5f, 0xf1, 0x91, 0xa3, 0x32, 0xa4, \ + 0x95, 0x8f, 0x72, 0x40, 0x8f, 0xf9, 0x7a, 0x80, 0x3a, 0x80, 0x65, 0xbb, \ + 0x63, 0xe8, 0xa6, 0xb8, 0x64, 0x7f, 0xa1, 0xaa, 0x39, 0xc9, 0x23, 0x9b, \ + 0x6b, 0xd5, 0x64 \ } /* END FILE */ @@ -1067,7 +1052,7 @@ "-----BEGIN CERTIFICATE-----\r\n" \ "MIIDPzCCAiegAwIBAgIBBDANBgkqhkiG9w0BAQsFADA7MQswCQYDVQQGEwJOTDER\r\n" \ "MA8GA1UECgwIUG9sYXJTU0wxGTAXBgNVBAMMEFBvbGFyU1NMIFRlc3QgQ0EwHhcN\r\n" \ - "MTEwMjEyMTQ0NDA2WhcNMjEwMjEyMTQ0NDA2WjA8MQswCQYDVQQGEwJOTDERMA8G\r\n" \ + "MTkwMjEwMTQ0NDA2WhcNMjkwMjEwMTQ0NDA2WjA8MQswCQYDVQQGEwJOTDERMA8G\r\n" \ "A1UECgwIUG9sYXJTU0wxGjAYBgNVBAMMEVBvbGFyU1NMIENsaWVudCAyMIIBIjAN\r\n" \ "BgkqhkiG9w0BAQEFAAOCAQ8AMIIBCgKCAQEAyHTEzLn5tXnpRdkUYLB9u5Pyax6f\r\n" \ "M60Nj4o8VmXl3ETZzGaFB9X4J7BKNdBjngpuG7fa8H6r7gwQk4ZJGDTzqCrSV/Uu\r\n" \ @@ -1077,12 +1062,12 @@ "/DZrtenNLQNiTrM9AM+vdqBpVoNq0qjU51Bx5rU2BXcFbXvI5MT9TNUhXwIDAQAB\r\n" \ "o00wSzAJBgNVHRMEAjAAMB0GA1UdDgQWBBRxoQBzckAvVHZeM/xSj7zx3WtGITAf\r\n" \ "BgNVHSMEGDAWgBS0WuSls97SUva51aaVD+s+vMf9/zANBgkqhkiG9w0BAQsFAAOC\r\n" \ - "AQEAlHabem2Tu69VUN7EipwnQn1dIHdgvT5i+iQHpSxY1crPnBbAeSdAXwsVEqLQ\r\n" \ - "gOOIAQD5VIITNuoGgo4i+4OpNh9u7ZkpRHla+/swsfrFWRRbBNP5Bcu74AGLstwU\r\n" \ - "zM8gIkBiyfM1Q1qDQISV9trlCG6O8vh8dp/rbI3rfzo99BOHXgFCrzXjCuW4vDsF\r\n" \ - "r+Dao26bX3sJ6UnEWg1H3o2x6PpUcvQ36h71/bz4TEbbUUEpe02V4QWuL+wrhHJL\r\n" \ - "U7o3SVE3Og7jPF8sat0a50YUWhwEFI256m02KAXLg89ueUyYKEr6rNwhcvXJpvU9\r\n" \ - "giIVvd0Sbjjnn7NC4VDbcXV8vw==\r\n" \ + "AQEAXidv1d4pLlBiKWED95rMycBdgDcgyNqJxakFkRfRyA2y1mlyTn7uBXRkNLY5\r\n" \ + "ZFzK82GCjk2Q2OD4RZSCPAJJqLpHHU34t71ciffvy2KK81YvrxczRhMAE64i+qna\r\n" \ + "yP3Td2XuWJR05PVPoSemsNELs9gWttdnYy3ce+EY2Y0n7Rsi7982EeLIAA7H6ca4\r\n" \ + "2Es/NUH//JZJT32OP0doMxeDRA+vplkKqTLLWf7dX26LIriBkBaRCgR5Yv9LBPFc\r\n" \ + "NOtpzu/LbrY7QFXKJMI+JXDudCsOn8KCmiA4d6Emisqfh3V3485l7HEQNcvLTxlD\r\n" \ + "6zDQyi0/ykYUYZkwQTK1N2Nvlw==\r\n" \ "-----END CERTIFICATE-----\r\n" /* END FILE */ @@ -1090,76 +1075,76 @@ using `xxd -i.` */ /* BEGIN FILE binary macro TEST_CLI_CRT_RSA_DER tests/data_files/cli-rsa-sha256.crt.der */ #define TEST_CLI_CRT_RSA_DER { \ - 0x30, 0x82, 0x03, 0x3f, 0x30, 0x82, 0x02, 0x27, 0xa0, 0x03, 0x02, 0x01, \ - 0x02, 0x02, 0x01, 0x04, 0x30, 0x0d, 0x06, 0x09, 0x2a, 0x86, 0x48, 0x86, \ - 0xf7, 0x0d, 0x01, 0x01, 0x0b, 0x05, 0x00, 0x30, 0x3b, 0x31, 0x0b, 0x30, \ - 0x09, 0x06, 0x03, 0x55, 0x04, 0x06, 0x13, 0x02, 0x4e, 0x4c, 0x31, 0x11, \ - 0x30, 0x0f, 0x06, 0x03, 0x55, 0x04, 0x0a, 0x0c, 0x08, 0x50, 0x6f, 0x6c, \ - 0x61, 0x72, 0x53, 0x53, 0x4c, 0x31, 0x19, 0x30, 0x17, 0x06, 0x03, 0x55, \ - 0x04, 0x03, 0x0c, 0x10, 0x50, 0x6f, 0x6c, 0x61, 0x72, 0x53, 0x53, 0x4c, \ - 0x20, 0x54, 0x65, 0x73, 0x74, 0x20, 0x43, 0x41, 0x30, 0x1e, 0x17, 0x0d, \ - 0x31, 0x31, 0x30, 0x32, 0x31, 0x32, 0x31, 0x34, 0x34, 0x34, 0x30, 0x36, \ - 0x5a, 0x17, 0x0d, 0x32, 0x31, 0x30, 0x32, 0x31, 0x32, 0x31, 0x34, 0x34, \ - 0x34, 0x30, 0x36, 0x5a, 0x30, 0x3c, 0x31, 0x0b, 0x30, 0x09, 0x06, 0x03, \ - 0x55, 0x04, 0x06, 0x13, 0x02, 0x4e, 0x4c, 0x31, 0x11, 0x30, 0x0f, 0x06, \ - 0x03, 0x55, 0x04, 0x0a, 0x0c, 0x08, 0x50, 0x6f, 0x6c, 0x61, 0x72, 0x53, \ - 0x53, 0x4c, 0x31, 0x1a, 0x30, 0x18, 0x06, 0x03, 0x55, 0x04, 0x03, 0x0c, \ - 0x11, 0x50, 0x6f, 0x6c, 0x61, 0x72, 0x53, 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0x04, 0x79, 0x62, 0xff, 0x4b, 0x04, 0xf1, 0x5c, \ + 0x34, 0xeb, 0x69, 0xce, 0xef, 0xcb, 0x6e, 0xb6, 0x3b, 0x40, 0x55, 0xca, \ + 0x24, 0xc2, 0x3e, 0x25, 0x70, 0xee, 0x74, 0x2b, 0x0e, 0x9f, 0xc2, 0x82, \ + 0x9a, 0x20, 0x38, 0x77, 0xa1, 0x26, 0x8a, 0xca, 0x9f, 0x87, 0x75, 0x77, \ + 0xe3, 0xce, 0x65, 0xec, 0x71, 0x10, 0x35, 0xcb, 0xcb, 0x4f, 0x19, 0x43, \ + 0xeb, 0x30, 0xd0, 0xca, 0x2d, 0x3f, 0xca, 0x46, 0x14, 0x61, 0x99, 0x30, \ + 0x41, 0x32, 0xb5, 0x37, 0x63, 0x6f, 0x97 \ } /* END FILE */ diff --git a/thirdparty/mbedtls/library/ctr_drbg.c b/thirdparty/mbedtls/library/ctr_drbg.c index fb121575bb..ad0a1936d1 100644 --- a/thirdparty/mbedtls/library/ctr_drbg.c +++ b/thirdparty/mbedtls/library/ctr_drbg.c @@ -62,68 +62,6 @@ void mbedtls_ctr_drbg_init( mbedtls_ctr_drbg_context *ctx ) #endif } -/* - * Non-public function wrapped by mbedtls_ctr_drbg_seed(). Necessary to allow - * NIST tests to succeed (which require known length fixed entropy) - */ -/* CTR_DRBG_Instantiate with derivation function (SP 800-90A §10.2.1.3.2) - * mbedtls_ctr_drbg_seed_entropy_len(ctx, f_entropy, p_entropy, - * custom, len, entropy_len) - * implements - * CTR_DRBG_Instantiate(entropy_input, nonce, personalization_string, - * security_strength) -> initial_working_state - * with inputs - * custom[:len] = nonce || personalization_string - * where entropy_input comes from f_entropy for entropy_len bytes - * and with outputs - * ctx = initial_working_state - */ -int mbedtls_ctr_drbg_seed_entropy_len( - mbedtls_ctr_drbg_context *ctx, - int (*f_entropy)(void *, unsigned char *, size_t), - void *p_entropy, - const unsigned char *custom, - size_t len, - size_t entropy_len ) -{ - int ret; - unsigned char key[MBEDTLS_CTR_DRBG_KEYSIZE]; - - memset( key, 0, MBEDTLS_CTR_DRBG_KEYSIZE ); - - mbedtls_aes_init( &ctx->aes_ctx ); - - ctx->f_entropy = f_entropy; - ctx->p_entropy = p_entropy; - - ctx->entropy_len = entropy_len; - ctx->reseed_interval = MBEDTLS_CTR_DRBG_RESEED_INTERVAL; - - /* - * Initialize with an empty key - */ - if( ( ret = mbedtls_aes_setkey_enc( &ctx->aes_ctx, key, MBEDTLS_CTR_DRBG_KEYBITS ) ) != 0 ) - { - return( ret ); - } - - if( ( ret = mbedtls_ctr_drbg_reseed( ctx, custom, len ) ) != 0 ) - { - return( ret ); - } - return( 0 ); -} - -int mbedtls_ctr_drbg_seed( mbedtls_ctr_drbg_context *ctx, - int (*f_entropy)(void *, unsigned char *, size_t), - void *p_entropy, - const unsigned char *custom, - size_t len ) -{ - return( mbedtls_ctr_drbg_seed_entropy_len( ctx, f_entropy, p_entropy, custom, len, - MBEDTLS_CTR_DRBG_ENTROPY_LEN ) ); -} - void mbedtls_ctr_drbg_free( mbedtls_ctr_drbg_context *ctx ) { if( ctx == NULL ) @@ -427,6 +365,63 @@ exit: return( ret ); } +/* CTR_DRBG_Instantiate with derivation function (SP 800-90A §10.2.1.3.2) + * mbedtls_ctr_drbg_seed(ctx, f_entropy, p_entropy, custom, len) + * implements + * CTR_DRBG_Instantiate(entropy_input, nonce, personalization_string, + * security_strength) -> initial_working_state + * with inputs + * custom[:len] = nonce || personalization_string + * where entropy_input comes from f_entropy for ctx->entropy_len bytes + * and with outputs + * ctx = initial_working_state + */ +int mbedtls_ctr_drbg_seed( mbedtls_ctr_drbg_context *ctx, + int (*f_entropy)(void *, unsigned char *, size_t), + void *p_entropy, + const unsigned char *custom, + size_t len ) +{ + int ret; + unsigned char key[MBEDTLS_CTR_DRBG_KEYSIZE]; + + memset( key, 0, MBEDTLS_CTR_DRBG_KEYSIZE ); + + mbedtls_aes_init( &ctx->aes_ctx ); + + ctx->f_entropy = f_entropy; + ctx->p_entropy = p_entropy; + + if( ctx->entropy_len == 0 ) + ctx->entropy_len = MBEDTLS_CTR_DRBG_ENTROPY_LEN; + ctx->reseed_interval = MBEDTLS_CTR_DRBG_RESEED_INTERVAL; + + /* + * Initialize with an empty key + */ + if( ( ret = mbedtls_aes_setkey_enc( &ctx->aes_ctx, key, MBEDTLS_CTR_DRBG_KEYBITS ) ) != 0 ) + { + return( ret ); + } + + if( ( ret = mbedtls_ctr_drbg_reseed( ctx, custom, len ) ) != 0 ) + { + return( ret ); + } + return( 0 ); +} + +/* Backward compatibility wrapper */ +int mbedtls_ctr_drbg_seed_entropy_len( + mbedtls_ctr_drbg_context *ctx, + int (*f_entropy)(void *, unsigned char *, size_t), void *p_entropy, + const unsigned char *custom, size_t len, + size_t entropy_len ) +{ + mbedtls_ctr_drbg_set_entropy_len( ctx, entropy_len ); + return( mbedtls_ctr_drbg_seed( ctx, f_entropy, p_entropy, custom, len ) ); +} + /* CTR_DRBG_Generate with derivation function (SP 800-90A §10.2.1.5.2) * mbedtls_ctr_drbg_random_with_add(ctx, output, output_len, additional, add_len) * implements @@ -517,7 +512,7 @@ int mbedtls_ctr_drbg_random_with_add( void *p_rng, exit: mbedtls_platform_zeroize( add_input, sizeof( add_input ) ); mbedtls_platform_zeroize( tmp, sizeof( tmp ) ); - return( 0 ); + return( ret ); } int mbedtls_ctr_drbg_random( void *p_rng, unsigned char *output, size_t output_len ) @@ -678,8 +673,11 @@ int mbedtls_ctr_drbg_self_test( int verbose ) mbedtls_printf( " CTR_DRBG (PR = TRUE) : " ); test_offset = 0; - CHK( mbedtls_ctr_drbg_seed_entropy_len( &ctx, ctr_drbg_self_test_entropy, - (void *) entropy_source_pr, nonce_pers_pr, 16, 32 ) ); + mbedtls_ctr_drbg_set_entropy_len( &ctx, 32 ); + CHK( mbedtls_ctr_drbg_seed( &ctx, + ctr_drbg_self_test_entropy, + (void *) entropy_source_pr, + nonce_pers_pr, 16 ) ); mbedtls_ctr_drbg_set_prediction_resistance( &ctx, MBEDTLS_CTR_DRBG_PR_ON ); CHK( mbedtls_ctr_drbg_random( &ctx, buf, MBEDTLS_CTR_DRBG_BLOCKSIZE ) ); CHK( mbedtls_ctr_drbg_random( &ctx, buf, MBEDTLS_CTR_DRBG_BLOCKSIZE ) ); @@ -699,8 +697,11 @@ int mbedtls_ctr_drbg_self_test( int verbose ) mbedtls_ctr_drbg_init( &ctx ); test_offset = 0; - CHK( mbedtls_ctr_drbg_seed_entropy_len( &ctx, ctr_drbg_self_test_entropy, - (void *) entropy_source_nopr, nonce_pers_nopr, 16, 32 ) ); + mbedtls_ctr_drbg_set_entropy_len( &ctx, 32 ); + CHK( mbedtls_ctr_drbg_seed( &ctx, + ctr_drbg_self_test_entropy, + (void *) entropy_source_nopr, + nonce_pers_nopr, 16 ) ); CHK( mbedtls_ctr_drbg_random( &ctx, buf, 16 ) ); CHK( mbedtls_ctr_drbg_reseed( &ctx, NULL, 0 ) ); CHK( mbedtls_ctr_drbg_random( &ctx, buf, 16 ) ); diff --git a/thirdparty/mbedtls/library/ecdsa.c b/thirdparty/mbedtls/library/ecdsa.c index dc19384d61..3cf3d7cc4f 100644 --- a/thirdparty/mbedtls/library/ecdsa.c +++ b/thirdparty/mbedtls/library/ecdsa.c @@ -172,11 +172,11 @@ static void ecdsa_restart_det_free( mbedtls_ecdsa_restart_det_ctx *ctx ) } #endif /* MBEDTLS_ECDSA_DETERMINISTIC */ -#define ECDSA_RS_ECP &rs_ctx->ecp +#define ECDSA_RS_ECP ( rs_ctx == NULL ? NULL : &rs_ctx->ecp ) /* Utility macro for checking and updating ops budget */ #define ECDSA_BUDGET( ops ) \ - MBEDTLS_MPI_CHK( mbedtls_ecp_check_budget( grp, &rs_ctx->ecp, ops ) ); + MBEDTLS_MPI_CHK( mbedtls_ecp_check_budget( grp, ECDSA_RS_ECP, ops ) ); /* Call this when entering a function that needs its own sub-context */ #define ECDSA_RS_ENTER( SUB ) do { \ @@ -254,6 +254,8 @@ static int ecdsa_sign_restartable( mbedtls_ecp_group *grp, mbedtls_mpi *r, mbedtls_mpi *s, const mbedtls_mpi *d, const unsigned char *buf, size_t blen, int (*f_rng)(void *, unsigned char *, size_t), void *p_rng, + int (*f_rng_blind)(void *, unsigned char *, size_t), + void *p_rng_blind, mbedtls_ecdsa_restart_ctx *rs_ctx ) { int ret, key_tries, sign_tries; @@ -323,7 +325,9 @@ static int ecdsa_sign_restartable( mbedtls_ecp_group *grp, mul: #endif MBEDTLS_MPI_CHK( mbedtls_ecp_mul_restartable( grp, &R, pk, &grp->G, - f_rng, p_rng, ECDSA_RS_ECP ) ); + f_rng_blind, + p_rng_blind, + ECDSA_RS_ECP ) ); MBEDTLS_MPI_CHK( mbedtls_mpi_mod_mpi( pr, &R.X, &grp->N ) ); } while( mbedtls_mpi_cmp_int( pr, 0 ) == 0 ); @@ -349,7 +353,8 @@ modn: * Generate a random value to blind inv_mod in next step, * avoiding a potential timing leak. */ - MBEDTLS_MPI_CHK( mbedtls_ecp_gen_privkey( grp, &t, f_rng, p_rng ) ); + MBEDTLS_MPI_CHK( mbedtls_ecp_gen_privkey( grp, &t, f_rng_blind, + p_rng_blind ) ); /* * Step 6: compute s = (e + r * d) / k = t (e + rd) / (kt) mod n @@ -358,6 +363,7 @@ modn: MBEDTLS_MPI_CHK( mbedtls_mpi_add_mpi( &e, &e, s ) ); MBEDTLS_MPI_CHK( mbedtls_mpi_mul_mpi( &e, &e, &t ) ); MBEDTLS_MPI_CHK( mbedtls_mpi_mul_mpi( pk, pk, &t ) ); + MBEDTLS_MPI_CHK( mbedtls_mpi_mod_mpi( pk, pk, &grp->N ) ); MBEDTLS_MPI_CHK( mbedtls_mpi_inv_mod( s, pk, &grp->N ) ); MBEDTLS_MPI_CHK( mbedtls_mpi_mul_mpi( s, s, &e ) ); MBEDTLS_MPI_CHK( mbedtls_mpi_mod_mpi( s, s, &grp->N ) ); @@ -392,8 +398,9 @@ int mbedtls_ecdsa_sign( mbedtls_ecp_group *grp, mbedtls_mpi *r, mbedtls_mpi *s, ECDSA_VALIDATE_RET( f_rng != NULL ); ECDSA_VALIDATE_RET( buf != NULL || blen == 0 ); + /* Use the same RNG for both blinding and ephemeral key generation */ return( ecdsa_sign_restartable( grp, r, s, d, buf, blen, - f_rng, p_rng, NULL ) ); + f_rng, p_rng, f_rng, p_rng, NULL ) ); } #endif /* !MBEDTLS_ECDSA_SIGN_ALT */ @@ -405,6 +412,8 @@ static int ecdsa_sign_det_restartable( mbedtls_ecp_group *grp, mbedtls_mpi *r, mbedtls_mpi *s, const mbedtls_mpi *d, const unsigned char *buf, size_t blen, mbedtls_md_type_t md_alg, + int (*f_rng_blind)(void *, unsigned char *, size_t), + void *p_rng_blind, mbedtls_ecdsa_restart_ctx *rs_ctx ) { int ret; @@ -451,8 +460,70 @@ sign: ret = mbedtls_ecdsa_sign( grp, r, s, d, buf, blen, mbedtls_hmac_drbg_random, p_rng ); #else - ret = ecdsa_sign_restartable( grp, r, s, d, buf, blen, - mbedtls_hmac_drbg_random, p_rng, rs_ctx ); + if( f_rng_blind != NULL ) + ret = ecdsa_sign_restartable( grp, r, s, d, buf, blen, + mbedtls_hmac_drbg_random, p_rng, + f_rng_blind, p_rng_blind, rs_ctx ); + else + { + mbedtls_hmac_drbg_context *p_rng_blind_det; + +#if !defined(MBEDTLS_ECP_RESTARTABLE) + /* + * To avoid reusing rng_ctx and risking incorrect behavior we seed a + * second HMAC-DRBG with the same seed. We also apply a label to avoid + * reusing the bits of the ephemeral key for blinding and eliminate the + * risk that they leak this way. + */ + const char* blind_label = "BLINDING CONTEXT"; + mbedtls_hmac_drbg_context rng_ctx_blind; + + mbedtls_hmac_drbg_init( &rng_ctx_blind ); + p_rng_blind_det = &rng_ctx_blind; + + mbedtls_hmac_drbg_seed_buf( p_rng_blind_det, md_info, + data, 2 * grp_len ); + ret = mbedtls_hmac_drbg_update_ret( p_rng_blind_det, + (const unsigned char*) blind_label, + strlen( blind_label ) ); + if( ret != 0 ) + { + mbedtls_hmac_drbg_free( &rng_ctx_blind ); + goto cleanup; + } +#else + /* + * In the case of restartable computations we would either need to store + * the second RNG in the restart context too or set it up at every + * restart. The first option would penalize the correct application of + * the function and the second would defeat the purpose of the + * restartable feature. + * + * Therefore in this case we reuse the original RNG. This comes with the + * price that the resulting signature might not be a valid deterministic + * ECDSA signature with a very low probability (same magnitude as + * successfully guessing the private key). However even then it is still + * a valid ECDSA signature. + */ + p_rng_blind_det = p_rng; +#endif /* MBEDTLS_ECP_RESTARTABLE */ + + /* + * Since the output of the RNGs is always the same for the same key and + * message, this limits the efficiency of blinding and leaks information + * through side channels. After mbedtls_ecdsa_sign_det() is removed NULL + * won't be a valid value for f_rng_blind anymore. Therefore it should + * be checked by the caller and this branch and check can be removed. + */ + ret = ecdsa_sign_restartable( grp, r, s, d, buf, blen, + mbedtls_hmac_drbg_random, p_rng, + mbedtls_hmac_drbg_random, p_rng_blind_det, + rs_ctx ); + +#if !defined(MBEDTLS_ECP_RESTARTABLE) + mbedtls_hmac_drbg_free( &rng_ctx_blind ); +#endif + } #endif /* MBEDTLS_ECDSA_SIGN_ALT */ cleanup: @@ -465,19 +536,40 @@ cleanup: } /* - * Deterministic signature wrapper + * Deterministic signature wrappers */ -int mbedtls_ecdsa_sign_det( mbedtls_ecp_group *grp, mbedtls_mpi *r, mbedtls_mpi *s, - const mbedtls_mpi *d, const unsigned char *buf, size_t blen, - mbedtls_md_type_t md_alg ) +int mbedtls_ecdsa_sign_det( mbedtls_ecp_group *grp, mbedtls_mpi *r, + mbedtls_mpi *s, const mbedtls_mpi *d, + const unsigned char *buf, size_t blen, + mbedtls_md_type_t md_alg ) +{ + ECDSA_VALIDATE_RET( grp != NULL ); + ECDSA_VALIDATE_RET( r != NULL ); + ECDSA_VALIDATE_RET( s != NULL ); + ECDSA_VALIDATE_RET( d != NULL ); + ECDSA_VALIDATE_RET( buf != NULL || blen == 0 ); + + return( ecdsa_sign_det_restartable( grp, r, s, d, buf, blen, md_alg, + NULL, NULL, NULL ) ); +} + +int mbedtls_ecdsa_sign_det_ext( mbedtls_ecp_group *grp, mbedtls_mpi *r, + mbedtls_mpi *s, const mbedtls_mpi *d, + const unsigned char *buf, size_t blen, + mbedtls_md_type_t md_alg, + int (*f_rng_blind)(void *, unsigned char *, + size_t), + void *p_rng_blind ) { ECDSA_VALIDATE_RET( grp != NULL ); ECDSA_VALIDATE_RET( r != NULL ); ECDSA_VALIDATE_RET( s != NULL ); ECDSA_VALIDATE_RET( d != NULL ); ECDSA_VALIDATE_RET( buf != NULL || blen == 0 ); + ECDSA_VALIDATE_RET( f_rng_blind != NULL ); - return( ecdsa_sign_det_restartable( grp, r, s, d, buf, blen, md_alg, NULL ) ); + return( ecdsa_sign_det_restartable( grp, r, s, d, buf, blen, md_alg, + f_rng_blind, p_rng_blind, NULL ) ); } #endif /* MBEDTLS_ECDSA_DETERMINISTIC */ @@ -656,11 +748,9 @@ int mbedtls_ecdsa_write_signature_restartable( mbedtls_ecdsa_context *ctx, mbedtls_mpi_init( &s ); #if defined(MBEDTLS_ECDSA_DETERMINISTIC) - (void) f_rng; - (void) p_rng; - MBEDTLS_MPI_CHK( ecdsa_sign_det_restartable( &ctx->grp, &r, &s, &ctx->d, - hash, hlen, md_alg, rs_ctx ) ); + hash, hlen, md_alg, f_rng, + p_rng, rs_ctx ) ); #else (void) md_alg; @@ -668,8 +758,10 @@ int mbedtls_ecdsa_write_signature_restartable( mbedtls_ecdsa_context *ctx, MBEDTLS_MPI_CHK( mbedtls_ecdsa_sign( &ctx->grp, &r, &s, &ctx->d, hash, hlen, f_rng, p_rng ) ); #else + /* Use the same RNG for both blinding and ephemeral key generation */ MBEDTLS_MPI_CHK( ecdsa_sign_restartable( &ctx->grp, &r, &s, &ctx->d, - hash, hlen, f_rng, p_rng, rs_ctx ) ); + hash, hlen, f_rng, p_rng, f_rng, + p_rng, rs_ctx ) ); #endif /* MBEDTLS_ECDSA_SIGN_ALT */ #endif /* MBEDTLS_ECDSA_DETERMINISTIC */ diff --git a/thirdparty/mbedtls/library/ecjpake.c b/thirdparty/mbedtls/library/ecjpake.c index be941b14b1..1845c936ab 100644 --- a/thirdparty/mbedtls/library/ecjpake.c +++ b/thirdparty/mbedtls/library/ecjpake.c @@ -226,7 +226,7 @@ static int ecjpake_hash( const mbedtls_md_info_t *md_info, p += id_len; /* Compute hash */ - mbedtls_md( md_info, buf, p - buf, hash ); + MBEDTLS_MPI_CHK( mbedtls_md( md_info, buf, p - buf, hash ) ); /* Turn it into an integer mod n */ MBEDTLS_MPI_CHK( mbedtls_mpi_read_binary( h, hash, @@ -951,7 +951,7 @@ static const unsigned char ecjpake_test_pms[] = { 0xb4, 0x38, 0xf7, 0x19, 0xd3, 0xc4, 0xf3, 0x51 }; -/* Load my private keys and generate the correponding public keys */ +/* Load my private keys and generate the corresponding public keys */ static int ecjpake_test_load( mbedtls_ecjpake_context *ctx, const unsigned char *xm1, size_t len1, const unsigned char *xm2, size_t len2 ) diff --git a/thirdparty/mbedtls/library/ecp.c b/thirdparty/mbedtls/library/ecp.c index db36191b9b..040c20bd38 100644 --- a/thirdparty/mbedtls/library/ecp.c +++ b/thirdparty/mbedtls/library/ecp.c @@ -2724,6 +2724,7 @@ int mbedtls_ecp_gen_privkey( const mbedtls_ecp_group *grp, { /* SEC1 3.2.1: Generate d such that 1 <= n < N */ int count = 0; + unsigned cmp = 0; /* * Match the procedure given in RFC 6979 (deterministic ECDSA): @@ -2748,9 +2749,14 @@ int mbedtls_ecp_gen_privkey( const mbedtls_ecp_group *grp, */ if( ++count > 30 ) return( MBEDTLS_ERR_ECP_RANDOM_FAILED ); + + ret = mbedtls_mpi_lt_mpi_ct( d, &grp->N, &cmp ); + if( ret != 0 ) + { + goto cleanup; + } } - while( mbedtls_mpi_cmp_int( d, 1 ) < 0 || - mbedtls_mpi_cmp_mpi( d, &grp->N ) >= 0 ); + while( mbedtls_mpi_cmp_int( d, 1 ) < 0 || cmp != 1 ); } #endif /* ECP_SHORTWEIERSTRASS */ diff --git a/thirdparty/mbedtls/library/entropy_poll.c b/thirdparty/mbedtls/library/entropy_poll.c index 4556f88a55..ba56b70f77 100644 --- a/thirdparty/mbedtls/library/entropy_poll.c +++ b/thirdparty/mbedtls/library/entropy_poll.c @@ -61,28 +61,43 @@ #define _WIN32_WINNT 0x0400 #endif #include <windows.h> -#include <wincrypt.h> +#include <bcrypt.h> +#if defined(_MSC_VER) && _MSC_VER <= 1600 +/* Visual Studio 2010 and earlier issue a warning when both <stdint.h> and + * <intsafe.h> are included, as they redefine a number of <TYPE>_MAX constants. + * These constants are guaranteed to be the same, though, so we suppress the + * warning when including intsafe.h. + */ +#pragma warning( push ) +#pragma warning( disable : 4005 ) +#endif +#include <intsafe.h> +#if defined(_MSC_VER) && _MSC_VER <= 1600 +#pragma warning( pop ) +#endif int mbedtls_platform_entropy_poll( void *data, unsigned char *output, size_t len, size_t *olen ) { - HCRYPTPROV provider; + ULONG len_as_ulong = 0; ((void) data); *olen = 0; - if( CryptAcquireContext( &provider, NULL, NULL, - PROV_RSA_FULL, CRYPT_VERIFYCONTEXT ) == FALSE ) + /* + * BCryptGenRandom takes ULONG for size, which is smaller than size_t on + * 64-bit Windows platforms. Ensure len's value can be safely converted into + * a ULONG. + */ + if ( FAILED( SizeTToULong( len, &len_as_ulong ) ) ) { return( MBEDTLS_ERR_ENTROPY_SOURCE_FAILED ); } - if( CryptGenRandom( provider, (DWORD) len, output ) == FALSE ) + if ( !BCRYPT_SUCCESS( BCryptGenRandom( NULL, output, len_as_ulong, BCRYPT_USE_SYSTEM_PREFERRED_RNG ) ) ) { - CryptReleaseContext( provider, 0 ); return( MBEDTLS_ERR_ENTROPY_SOURCE_FAILED ); } - CryptReleaseContext( provider, 0 ); *olen = len; return( 0 ); diff --git a/thirdparty/mbedtls/library/error.c b/thirdparty/mbedtls/library/error.c index 12312a0562..c596f0bcc5 100644 --- a/thirdparty/mbedtls/library/error.c +++ b/thirdparty/mbedtls/library/error.c @@ -567,7 +567,7 @@ void mbedtls_strerror( int ret, char *buf, size_t buflen ) if( use_ret == -(MBEDTLS_ERR_X509_BUFFER_TOO_SMALL) ) mbedtls_snprintf( buf, buflen, "X509 - Destination buffer is too small" ); if( use_ret == -(MBEDTLS_ERR_X509_FATAL_ERROR) ) - mbedtls_snprintf( buf, buflen, "X509 - A fatal error occured, eg the chain is too long or the vrfy callback failed" ); + mbedtls_snprintf( buf, buflen, "X509 - A fatal error occurred, eg the chain is too long or the vrfy callback failed" ); #endif /* MBEDTLS_X509_USE_C || MBEDTLS_X509_CREATE_C */ // END generated code diff --git a/thirdparty/mbedtls/library/havege.c b/thirdparty/mbedtls/library/havege.c index 54f897c6e7..c139e1db03 100644 --- a/thirdparty/mbedtls/library/havege.c +++ b/thirdparty/mbedtls/library/havege.c @@ -38,8 +38,19 @@ #include "mbedtls/timing.h" #include "mbedtls/platform_util.h" +#include <limits.h> #include <string.h> +/* If int isn't capable of storing 2^32 distinct values, the code of this + * module may cause a processor trap or a miscalculation. If int is more + * than 32 bits, the code may not calculate the intended values. */ +#if INT_MIN + 1 != -0x7fffffff +#error "The HAVEGE module requires int to be exactly 32 bits, with INT_MIN = -2^31." +#endif +#if UINT_MAX != 0xffffffff +#error "The HAVEGE module requires unsigned to be exactly 32 bits." +#endif + /* ------------------------------------------------------------------------ * On average, one iteration accesses two 8-word blocks in the havege WALK * table, and generates 16 words in the RES array. @@ -54,7 +65,7 @@ * ------------------------------------------------------------------------ */ -#define SWAP(X,Y) { int *T = (X); (X) = (Y); (Y) = T; } +#define SWAP(X,Y) { unsigned *T = (X); (X) = (Y); (Y) = T; } #define TST1_ENTER if( PTEST & 1 ) { PTEST ^= 3; PTEST >>= 1; #define TST2_ENTER if( PTEST & 1 ) { PTEST ^= 3; PTEST >>= 1; @@ -77,7 +88,7 @@ PTX = (PT1 >> 18) & 7; \ PT1 &= 0x1FFF; \ PT2 &= 0x1FFF; \ - CLK = (int) mbedtls_timing_hardclock(); \ + CLK = (unsigned) mbedtls_timing_hardclock(); \ \ i = 0; \ A = &WALK[PT1 ]; RES[i++] ^= *A; \ @@ -100,7 +111,7 @@ \ IN = (*A >> (5)) ^ (*A << (27)) ^ CLK; \ *A = (*B >> (6)) ^ (*B << (26)) ^ CLK; \ - *B = IN; CLK = (int) mbedtls_timing_hardclock(); \ + *B = IN; CLK = (unsigned) mbedtls_timing_hardclock(); \ *C = (*C >> (7)) ^ (*C << (25)) ^ CLK; \ *D = (*D >> (8)) ^ (*D << (24)) ^ CLK; \ \ @@ -151,19 +162,20 @@ PT1 ^= (PT2 ^ 0x10) & 0x10; \ \ for( n++, i = 0; i < 16; i++ ) \ - hs->pool[n % MBEDTLS_HAVEGE_COLLECT_SIZE] ^= RES[i]; + POOL[n % MBEDTLS_HAVEGE_COLLECT_SIZE] ^= RES[i]; /* * Entropy gathering function */ static void havege_fill( mbedtls_havege_state *hs ) { - int i, n = 0; - int U1, U2, *A, *B, *C, *D; - int PT1, PT2, *WALK, RES[16]; - int PTX, PTY, CLK, PTEST, IN; + unsigned i, n = 0; + unsigned U1, U2, *A, *B, *C, *D; + unsigned PT1, PT2, *WALK, *POOL, RES[16]; + unsigned PTX, PTY, CLK, PTEST, IN; - WALK = hs->WALK; + WALK = (unsigned *) hs->WALK; + POOL = (unsigned *) hs->pool; PT1 = hs->PT1; PT2 = hs->PT2; diff --git a/thirdparty/mbedtls/library/hmac_drbg.c b/thirdparty/mbedtls/library/hmac_drbg.c index c50330e7d8..284c9b4e96 100644 --- a/thirdparty/mbedtls/library/hmac_drbg.c +++ b/thirdparty/mbedtls/library/hmac_drbg.c @@ -149,20 +149,32 @@ int mbedtls_hmac_drbg_seed_buf( mbedtls_hmac_drbg_context *ctx, } /* - * HMAC_DRBG reseeding: 10.1.2.4 (arabic) + 9.2 (Roman) + * Internal function used both for seeding and reseeding the DRBG. + * Comments starting with arabic numbers refer to section 10.1.2.4 + * of SP800-90A, while roman numbers refer to section 9.2. */ -int mbedtls_hmac_drbg_reseed( mbedtls_hmac_drbg_context *ctx, - const unsigned char *additional, size_t len ) +static int hmac_drbg_reseed_core( mbedtls_hmac_drbg_context *ctx, + const unsigned char *additional, size_t len, + int use_nonce ) { unsigned char seed[MBEDTLS_HMAC_DRBG_MAX_SEED_INPUT]; - size_t seedlen; + size_t seedlen = 0; int ret; - /* III. Check input length */ - if( len > MBEDTLS_HMAC_DRBG_MAX_INPUT || - ctx->entropy_len + len > MBEDTLS_HMAC_DRBG_MAX_SEED_INPUT ) { - return( MBEDTLS_ERR_HMAC_DRBG_INPUT_TOO_BIG ); + size_t total_entropy_len; + + if( use_nonce == 0 ) + total_entropy_len = ctx->entropy_len; + else + total_entropy_len = ctx->entropy_len * 3 / 2; + + /* III. Check input length */ + if( len > MBEDTLS_HMAC_DRBG_MAX_INPUT || + total_entropy_len + len > MBEDTLS_HMAC_DRBG_MAX_SEED_INPUT ) + { + return( MBEDTLS_ERR_HMAC_DRBG_INPUT_TOO_BIG ); + } } memset( seed, 0, MBEDTLS_HMAC_DRBG_MAX_SEED_INPUT ); @@ -170,9 +182,32 @@ int mbedtls_hmac_drbg_reseed( mbedtls_hmac_drbg_context *ctx, /* IV. Gather entropy_len bytes of entropy for the seed */ if( ( ret = ctx->f_entropy( ctx->p_entropy, seed, ctx->entropy_len ) ) != 0 ) + { return( MBEDTLS_ERR_HMAC_DRBG_ENTROPY_SOURCE_FAILED ); + } + seedlen += ctx->entropy_len; + + /* For initial seeding, allow adding of nonce generated + * from the entropy source. See Sect 8.6.7 in SP800-90A. */ + if( use_nonce ) + { + /* Note: We don't merge the two calls to f_entropy() in order + * to avoid requesting too much entropy from f_entropy() + * at once. Specifically, if the underlying digest is not + * SHA-1, 3 / 2 * entropy_len is at least 36 Bytes, which + * is larger than the maximum of 32 Bytes that our own + * entropy source implementation can emit in a single + * call in configurations disabling SHA-512. */ + if( ( ret = ctx->f_entropy( ctx->p_entropy, + seed + seedlen, + ctx->entropy_len / 2 ) ) != 0 ) + { + return( MBEDTLS_ERR_HMAC_DRBG_ENTROPY_SOURCE_FAILED ); + } + + seedlen += ctx->entropy_len / 2; + } - seedlen = ctx->entropy_len; /* 1. Concatenate entropy and additional data if any */ if( additional != NULL && len != 0 ) @@ -195,7 +230,19 @@ exit: } /* + * HMAC_DRBG reseeding: 10.1.2.4 + 9.2 + */ +int mbedtls_hmac_drbg_reseed( mbedtls_hmac_drbg_context *ctx, + const unsigned char *additional, size_t len ) +{ + return( hmac_drbg_reseed_core( ctx, additional, len, 0 ) ); +} + +/* * HMAC_DRBG initialisation (10.1.2.3 + 9.1) + * + * The nonce is not passed as a separate parameter but extracted + * from the entropy source as suggested in 8.6.7. */ int mbedtls_hmac_drbg_seed( mbedtls_hmac_drbg_context *ctx, const mbedtls_md_info_t * md_info, @@ -205,7 +252,7 @@ int mbedtls_hmac_drbg_seed( mbedtls_hmac_drbg_context *ctx, size_t len ) { int ret; - size_t entropy_len, md_size; + size_t md_size; if( ( ret = mbedtls_md_setup( &ctx->md_ctx, md_info, 1 ) ) != 0 ) return( ret ); @@ -226,27 +273,25 @@ int mbedtls_hmac_drbg_seed( mbedtls_hmac_drbg_context *ctx, ctx->reseed_interval = MBEDTLS_HMAC_DRBG_RESEED_INTERVAL; - /* - * See SP800-57 5.6.1 (p. 65-66) for the security strength provided by - * each hash function, then according to SP800-90A rev1 10.1 table 2, - * min_entropy_len (in bits) is security_strength. - * - * (This also matches the sizes used in the NIST test vectors.) - */ - entropy_len = md_size <= 20 ? 16 : /* 160-bits hash -> 128 bits */ - md_size <= 28 ? 24 : /* 224-bits hash -> 192 bits */ - 32; /* better (256+) -> 256 bits */ - - /* - * For initialisation, use more entropy to emulate a nonce - * (Again, matches test vectors.) - */ - ctx->entropy_len = entropy_len * 3 / 2; + if( ctx->entropy_len == 0 ) + { + /* + * See SP800-57 5.6.1 (p. 65-66) for the security strength provided by + * each hash function, then according to SP800-90A rev1 10.1 table 2, + * min_entropy_len (in bits) is security_strength. + * + * (This also matches the sizes used in the NIST test vectors.) + */ + ctx->entropy_len = md_size <= 20 ? 16 : /* 160-bits hash -> 128 bits */ + md_size <= 28 ? 24 : /* 224-bits hash -> 192 bits */ + 32; /* better (256+) -> 256 bits */ + } - if( ( ret = mbedtls_hmac_drbg_reseed( ctx, custom, len ) ) != 0 ) + if( ( ret = hmac_drbg_reseed_core( ctx, custom, len, + 1 /* add nonce */ ) ) != 0 ) + { return( ret ); - - ctx->entropy_len = entropy_len; + } return( 0 ); } @@ -261,7 +306,7 @@ void mbedtls_hmac_drbg_set_prediction_resistance( mbedtls_hmac_drbg_context *ctx } /* - * Set entropy length grabbed for reseeds + * Set entropy length grabbed for seeding */ void mbedtls_hmac_drbg_set_entropy_len( mbedtls_hmac_drbg_context *ctx, size_t len ) { diff --git a/thirdparty/mbedtls/library/net_sockets.c b/thirdparty/mbedtls/library/net_sockets.c index 816b1303df..5d538bfd56 100644 --- a/thirdparty/mbedtls/library/net_sockets.c +++ b/thirdparty/mbedtls/library/net_sockets.c @@ -284,7 +284,7 @@ static int net_would_block( const mbedtls_net_context *ctx ) int err = errno; /* - * Never return 'WOULD BLOCK' on a non-blocking socket + * Never return 'WOULD BLOCK' on a blocking socket */ if( ( fcntl( ctx->fd, F_GETFL ) & O_NONBLOCK ) != O_NONBLOCK ) { diff --git a/thirdparty/mbedtls/library/pkwrite.c b/thirdparty/mbedtls/library/pkwrite.c index 8d1da2f757..03d14f2ff9 100644 --- a/thirdparty/mbedtls/library/pkwrite.c +++ b/thirdparty/mbedtls/library/pkwrite.c @@ -38,7 +38,9 @@ #include "mbedtls/rsa.h" #endif #if defined(MBEDTLS_ECP_C) +#include "mbedtls/bignum.h" #include "mbedtls/ecp.h" +#include "mbedtls/platform_util.h" #endif #if defined(MBEDTLS_ECDSA_C) #include "mbedtls/ecdsa.h" @@ -150,6 +152,26 @@ static int pk_write_ec_param( unsigned char **p, unsigned char *start, return( (int) len ); } + +/* + * privateKey OCTET STRING -- always of length ceil(log2(n)/8) + */ +static int pk_write_ec_private( unsigned char **p, unsigned char *start, + mbedtls_ecp_keypair *ec ) +{ + int ret; + size_t byte_length = ( ec->grp.pbits + 7 ) / 8; + unsigned char tmp[MBEDTLS_ECP_MAX_BYTES]; + + ret = mbedtls_mpi_write_binary( &ec->d, tmp, byte_length ); + if( ret != 0 ) + goto exit; + ret = mbedtls_asn1_write_octet_string( p, start, tmp, byte_length ); + +exit: + mbedtls_platform_zeroize( tmp, byte_length ); + return( ret ); +} #endif /* MBEDTLS_ECP_C */ int mbedtls_pk_write_pubkey( unsigned char **p, unsigned char *start, @@ -364,9 +386,8 @@ int mbedtls_pk_write_key_der( mbedtls_pk_context *key, unsigned char *buf, size_ MBEDTLS_ASN1_CONTEXT_SPECIFIC | MBEDTLS_ASN1_CONSTRUCTED | 0 ) ); len += par_len; - /* privateKey: write as MPI then fix tag */ - MBEDTLS_ASN1_CHK_ADD( len, mbedtls_asn1_write_mpi( &c, buf, &ec->d ) ); - *c = MBEDTLS_ASN1_OCTET_STRING; + /* privateKey */ + MBEDTLS_ASN1_CHK_ADD( len, pk_write_ec_private( &c, buf, ec ) ); /* version */ MBEDTLS_ASN1_CHK_ADD( len, mbedtls_asn1_write_int( &c, buf, 1 ) ); diff --git a/thirdparty/mbedtls/library/platform_util.c b/thirdparty/mbedtls/library/platform_util.c index 756e22679a..b1f745097c 100644 --- a/thirdparty/mbedtls/library/platform_util.c +++ b/thirdparty/mbedtls/library/platform_util.c @@ -72,7 +72,10 @@ static void * (* const volatile memset_func)( void *, int, size_t ) = memset; void mbedtls_platform_zeroize( void *buf, size_t len ) { - memset_func( buf, 0, len ); + MBEDTLS_INTERNAL_VALIDATE( len == 0 || buf != NULL ); + + if( len > 0 ) + memset_func( buf, 0, len ); } #endif /* MBEDTLS_PLATFORM_ZEROIZE_ALT */ diff --git a/thirdparty/mbedtls/library/ssl_srv.c b/thirdparty/mbedtls/library/ssl_srv.c index bc77f80203..5825970c43 100644 --- a/thirdparty/mbedtls/library/ssl_srv.c +++ b/thirdparty/mbedtls/library/ssl_srv.c @@ -1449,7 +1449,7 @@ read_record_header: */ /* - * Minimal length (with everything empty and extensions ommitted) is + * Minimal length (with everything empty and extensions omitted) is * 2 + 32 + 1 + 2 + 1 = 38 bytes. Check that first, so that we can * read at least up to session id length without worrying. */ diff --git a/thirdparty/mbedtls/library/ssl_tls.c b/thirdparty/mbedtls/library/ssl_tls.c index 38690fa664..b8f35fec5d 100644 --- a/thirdparty/mbedtls/library/ssl_tls.c +++ b/thirdparty/mbedtls/library/ssl_tls.c @@ -2606,7 +2606,7 @@ int mbedtls_ssl_fetch_input( mbedtls_ssl_context *ssl, size_t nb_want ) } /* - * A record can't be split accross datagrams. If we need to read but + * A record can't be split across datagrams. If we need to read but * are not at the beginning of a new record, the caller did something * wrong. */ @@ -9043,8 +9043,12 @@ static int ssl_preset_suiteb_hashes[] = { #if defined(MBEDTLS_ECP_C) static mbedtls_ecp_group_id ssl_preset_suiteb_curves[] = { +#if defined(MBEDTLS_ECP_DP_SECP256R1_ENABLED) MBEDTLS_ECP_DP_SECP256R1, +#endif +#if defined(MBEDTLS_ECP_DP_SECP384R1_ENABLED) MBEDTLS_ECP_DP_SECP384R1, +#endif MBEDTLS_ECP_DP_NONE }; #endif diff --git a/thirdparty/mbedtls/library/timing.c b/thirdparty/mbedtls/library/timing.c index 413d133fb6..009516a6e3 100644 --- a/thirdparty/mbedtls/library/timing.c +++ b/thirdparty/mbedtls/library/timing.c @@ -51,7 +51,6 @@ #if defined(_WIN32) && !defined(EFIX64) && !defined(EFI32) #include <windows.h> -#include <winbase.h> #include <process.h> struct _hr_time diff --git a/thirdparty/mbedtls/library/version_features.c b/thirdparty/mbedtls/library/version_features.c index 24143d052c..3b67b2be85 100644 --- a/thirdparty/mbedtls/library/version_features.c +++ b/thirdparty/mbedtls/library/version_features.c @@ -87,6 +87,9 @@ static const char *features[] = { #if defined(MBEDTLS_CHECK_PARAMS) "MBEDTLS_CHECK_PARAMS", #endif /* MBEDTLS_CHECK_PARAMS */ +#if defined(MBEDTLS_CHECK_PARAMS_ASSERT) + "MBEDTLS_CHECK_PARAMS_ASSERT", +#endif /* MBEDTLS_CHECK_PARAMS_ASSERT */ #if defined(MBEDTLS_TIMING_ALT) "MBEDTLS_TIMING_ALT", #endif /* MBEDTLS_TIMING_ALT */ @@ -294,6 +297,9 @@ static const char *features[] = { #if defined(MBEDTLS_CIPHER_PADDING_ZEROS) "MBEDTLS_CIPHER_PADDING_ZEROS", #endif /* MBEDTLS_CIPHER_PADDING_ZEROS */ +#if defined(MBEDTLS_CTR_DRBG_USE_128_BIT_KEY) + "MBEDTLS_CTR_DRBG_USE_128_BIT_KEY", +#endif /* MBEDTLS_CTR_DRBG_USE_128_BIT_KEY */ #if defined(MBEDTLS_ENABLE_WEAK_CIPHERSUITES) "MBEDTLS_ENABLE_WEAK_CIPHERSUITES", #endif /* MBEDTLS_ENABLE_WEAK_CIPHERSUITES */ diff --git a/thirdparty/mbedtls/library/x509.c b/thirdparty/mbedtls/library/x509.c index a562df7ca3..2e0b0e8f6c 100644 --- a/thirdparty/mbedtls/library/x509.c +++ b/thirdparty/mbedtls/library/x509.c @@ -123,7 +123,7 @@ int mbedtls_x509_get_alg_null( unsigned char **p, const unsigned char *end, } /* - * Parse an algorithm identifier with (optional) paramaters + * Parse an algorithm identifier with (optional) parameters */ int mbedtls_x509_get_alg( unsigned char **p, const unsigned char *end, mbedtls_x509_buf *alg, mbedtls_x509_buf *params ) diff --git a/thirdparty/mbedtls/library/x509_crt.c b/thirdparty/mbedtls/library/x509_crt.c index 97e1d72e3c..a3697f13f9 100644 --- a/thirdparty/mbedtls/library/x509_crt.c +++ b/thirdparty/mbedtls/library/x509_crt.c @@ -65,6 +65,19 @@ #if defined(_WIN32) && !defined(EFIX64) && !defined(EFI32) #include <windows.h> +#if defined(_MSC_VER) && _MSC_VER <= 1600 +/* Visual Studio 2010 and earlier issue a warning when both <stdint.h> and + * <intsafe.h> are included, as they redefine a number of <TYPE>_MAX constants. + * These constants are guaranteed to be the same, though, so we suppress the + * warning when including intsafe.h. + */ +#pragma warning( push ) +#pragma warning( disable : 4005 ) +#endif +#include <intsafe.h> +#if defined(_MSC_VER) && _MSC_VER <= 1600 +#pragma warning( pop ) +#endif #else #include <time.h> #endif @@ -1277,6 +1290,7 @@ int mbedtls_x509_crt_parse_path( mbedtls_x509_crt *chain, const char *path ) char filename[MAX_PATH]; char *p; size_t len = strlen( path ); + int lengthAsInt = 0; WIN32_FIND_DATAW file_data; HANDLE hFind; @@ -1291,7 +1305,18 @@ int mbedtls_x509_crt_parse_path( mbedtls_x509_crt *chain, const char *path ) p = filename + len; filename[len++] = '*'; - w_ret = MultiByteToWideChar( CP_ACP, 0, filename, (int)len, szDir, + if ( FAILED ( SizeTToInt( len, &lengthAsInt ) ) ) + return( MBEDTLS_ERR_X509_FILE_IO_ERROR ); + + /* + * Note this function uses the code page CP_ACP, and assumes the incoming + * string is encoded in ANSI, before translating it into Unicode. If the + * incoming string were changed to be UTF-8, then the length check needs to + * change to check the number of characters, not the number of bytes, in the + * incoming string are less than MAX_PATH to avoid a buffer overrun with + * MultiByteToWideChar(). + */ + w_ret = MultiByteToWideChar( CP_ACP, 0, filename, lengthAsInt, szDir, MAX_PATH - 3 ); if( w_ret == 0 ) return( MBEDTLS_ERR_X509_BAD_INPUT_DATA ); @@ -1308,8 +1333,11 @@ int mbedtls_x509_crt_parse_path( mbedtls_x509_crt *chain, const char *path ) if( file_data.dwFileAttributes & FILE_ATTRIBUTE_DIRECTORY ) continue; + if ( FAILED( SizeTToInt( wcslen( file_data.cFileName ), &lengthAsInt ) ) ) + return( MBEDTLS_ERR_X509_FILE_IO_ERROR ); + w_ret = WideCharToMultiByte( CP_ACP, 0, file_data.cFileName, - lstrlenW( file_data.cFileName ), + lengthAsInt, p, (int) len - 1, NULL, NULL ); if( w_ret == 0 ) @@ -2087,15 +2115,13 @@ check_signature: continue; } - break; - } - - if( parent != NULL ) - { *r_parent = parent; *r_signature_is_good = signature_is_good; + + break; } - else + + if( parent == NULL ) { *r_parent = fallback_parent; *r_signature_is_good = fallback_signature_is_good; @@ -2236,7 +2262,7 @@ static int x509_crt_check_ee_locally_trusted( * Tests for (aspects of) this function should include at least: * - trusted EE * - EE -> trusted root - * - EE -> intermedate CA -> trusted root + * - EE -> intermediate CA -> trusted root * - if relevant: EE untrusted * - if relevant: EE -> intermediate, untrusted * with the aspect under test checked at each relevant level (EE, int, root). diff --git a/thirdparty/mbedtls/library/x509write_crt.c b/thirdparty/mbedtls/library/x509write_crt.c index 10497e752b..61d7ba44a0 100644 --- a/thirdparty/mbedtls/library/x509write_crt.c +++ b/thirdparty/mbedtls/library/x509write_crt.c @@ -45,6 +45,16 @@ #include "mbedtls/pem.h" #endif /* MBEDTLS_PEM_WRITE_C */ +/* + * For the currently used signature algorithms the buffer to store any signature + * must be at least of size MAX(MBEDTLS_ECDSA_MAX_LEN, MBEDTLS_MPI_MAX_SIZE) + */ +#if MBEDTLS_ECDSA_MAX_LEN > MBEDTLS_MPI_MAX_SIZE +#define SIGNATURE_MAX_SIZE MBEDTLS_ECDSA_MAX_LEN +#else +#define SIGNATURE_MAX_SIZE MBEDTLS_MPI_MAX_SIZE +#endif + void mbedtls_x509write_crt_init( mbedtls_x509write_cert *ctx ) { memset( ctx, 0, sizeof( mbedtls_x509write_cert ) ); @@ -334,7 +344,7 @@ int mbedtls_x509write_crt_der( mbedtls_x509write_cert *ctx, unsigned char *buf, size_t sig_oid_len = 0; unsigned char *c, *c2; unsigned char hash[64]; - unsigned char sig[MBEDTLS_MPI_MAX_SIZE]; + unsigned char sig[SIGNATURE_MAX_SIZE]; unsigned char tmp_buf[2048]; size_t sub_len = 0, pub_len = 0, sig_and_oid_len = 0, sig_len; size_t len = 0; diff --git a/thirdparty/mbedtls/library/x509write_csr.c b/thirdparty/mbedtls/library/x509write_csr.c index d70ba0ed92..b65a11c6aa 100644 --- a/thirdparty/mbedtls/library/x509write_csr.c +++ b/thirdparty/mbedtls/library/x509write_csr.c @@ -44,6 +44,16 @@ #include "mbedtls/pem.h" #endif +/* + * For the currently used signature algorithms the buffer to store any signature + * must be at least of size MAX(MBEDTLS_ECDSA_MAX_LEN, MBEDTLS_MPI_MAX_SIZE) + */ +#if MBEDTLS_ECDSA_MAX_LEN > MBEDTLS_MPI_MAX_SIZE +#define SIGNATURE_MAX_SIZE MBEDTLS_ECDSA_MAX_LEN +#else +#define SIGNATURE_MAX_SIZE MBEDTLS_MPI_MAX_SIZE +#endif + void mbedtls_x509write_csr_init( mbedtls_x509write_csr *ctx ) { memset( ctx, 0, sizeof( mbedtls_x509write_csr ) ); @@ -159,7 +169,7 @@ int mbedtls_x509write_csr_der( mbedtls_x509write_csr *ctx, unsigned char *buf, s size_t sig_oid_len = 0; unsigned char *c, *c2; unsigned char hash[64]; - unsigned char sig[MBEDTLS_MPI_MAX_SIZE]; + unsigned char sig[SIGNATURE_MAX_SIZE]; unsigned char tmp_buf[2048]; size_t pub_len = 0, sig_and_oid_len = 0, sig_len; size_t len = 0; diff --git a/thirdparty/mbedtls/1453.diff b/thirdparty/mbedtls/patches/1453.diff index b1c9c43ed2..b1c9c43ed2 100644 --- a/thirdparty/mbedtls/1453.diff +++ b/thirdparty/mbedtls/patches/1453.diff diff --git a/thirdparty/mbedtls/padlock.diff b/thirdparty/mbedtls/patches/padlock.diff index 6ace48891c..6ace48891c 100644 --- a/thirdparty/mbedtls/padlock.diff +++ b/thirdparty/mbedtls/patches/padlock.diff diff --git a/thirdparty/miniupnpc/LICENSE b/thirdparty/miniupnpc/LICENSE index 39e0345f8a..1460310752 100644 --- a/thirdparty/miniupnpc/LICENSE +++ b/thirdparty/miniupnpc/LICENSE @@ -24,4 +24,3 @@ INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. - diff --git a/thirdparty/miniupnpc/miniupnpc/connecthostport.c b/thirdparty/miniupnpc/miniupnpc/connecthostport.c index a59dc82437..f3982e1a77 100644 --- a/thirdparty/miniupnpc/miniupnpc/connecthostport.c +++ b/thirdparty/miniupnpc/miniupnpc/connecthostport.c @@ -1,4 +1,4 @@ -/* $Id: connecthostport.c,v 1.21 2019/04/23 12:11:08 nanard Exp $ */ +/* $Id: connecthostport.c,v 1.22 2019/10/13 17:22:08 nanard Exp $ */ /* vim: tabstop=4 shiftwidth=4 noexpandtab * Project : miniupnp * Author : Thomas Bernard @@ -195,6 +195,10 @@ SOCKET connecthostport(const char * host, unsigned short port, { if(!ISINVALID(s)) closesocket(s); +#ifdef DEBUG + printf("ai_family=%d ai_socktype=%d ai_protocol=%d (PF_INET=%d, PF_INET6=%d)\n", + p->ai_family, p->ai_socktype, p->ai_protocol, PF_INET, PF_INET6); +#endif s = socket(p->ai_family, p->ai_socktype, p->ai_protocol); if(ISINVALID(s)) continue; diff --git a/thirdparty/miniupnpc/miniupnpc/miniupnpc.c b/thirdparty/miniupnpc/miniupnpc/miniupnpc.c index 3181d10eb6..95ab6cf56b 100644 --- a/thirdparty/miniupnpc/miniupnpc/miniupnpc.c +++ b/thirdparty/miniupnpc/miniupnpc/miniupnpc.c @@ -564,6 +564,7 @@ UPNP_GetValidIGD(struct UPNPDev * devlist, char * lanaddr, int lanaddrlen) { struct xml_desc { + char lanaddr[40]; char * xml; int size; int is_igd; @@ -573,7 +574,6 @@ UPNP_GetValidIGD(struct UPNPDev * devlist, int i; int state = -1; /* state 1 : IGD connected. State 2 : IGD. State 3 : anything */ char extIpAddr[16]; - char myLanAddr[40]; int status_code = -1; if(!devlist) @@ -596,7 +596,7 @@ UPNP_GetValidIGD(struct UPNPDev * devlist, /* we should choose an internet gateway device. * with st == urn:schemas-upnp-org:device:InternetGatewayDevice:1 */ desc[i].xml = miniwget_getaddr(dev->descURL, &(desc[i].size), - myLanAddr, sizeof(myLanAddr), + desc[i].lanaddr, sizeof(desc[i].lanaddr), dev->scope_id, &status_code); #ifdef DEBUG if(!desc[i].xml) @@ -613,8 +613,6 @@ UPNP_GetValidIGD(struct UPNPDev * devlist, "urn:schemas-upnp-org:service:WANCommonInterfaceConfig:")) { desc[i].is_igd = 1; - if(lanaddr) - strncpy(lanaddr, myLanAddr, lanaddrlen); } } } @@ -680,6 +678,8 @@ UPNP_GetValidIGD(struct UPNPDev * devlist, } state = 0; free_and_return: + if (lanaddr != NULL && state >= 1 && state <= 3 && i < ndev) + strncpy(lanaddr, desc[i].lanaddr, lanaddrlen); for(i = 0; i < ndev; i++) free(desc[i].xml); free(desc); @@ -713,4 +713,3 @@ UPNP_GetIGDFromUrl(const char * rootdescurl, return 0; } } - diff --git a/thirdparty/miniupnpc/miniupnpc/upnpc.c b/thirdparty/miniupnpc/miniupnpc/upnpc.c index 674c89beb0..4325658bee 100644 --- a/thirdparty/miniupnpc/miniupnpc/upnpc.c +++ b/thirdparty/miniupnpc/miniupnpc/upnpc.c @@ -250,6 +250,7 @@ static int SetRedirectAndTest(struct UPNPUrls * urls, const char * eport, const char * proto, const char * leaseDuration, + const char * remoteHost, const char * description, int addAny) { @@ -283,7 +284,7 @@ static int SetRedirectAndTest(struct UPNPUrls * urls, if (addAny) { r = UPNP_AddAnyPortMapping(urls->controlURL, data->first.servicetype, eport, iport, iaddr, description, - proto, 0, leaseDuration, reservedPort); + proto, remoteHost, leaseDuration, reservedPort); if(r==UPNPCOMMAND_SUCCESS) eport = reservedPort; else @@ -292,7 +293,7 @@ static int SetRedirectAndTest(struct UPNPUrls * urls, } else { r = UPNP_AddPortMapping(urls->controlURL, data->first.servicetype, eport, iport, iaddr, description, - proto, 0, leaseDuration); + proto, remoteHost, leaseDuration); if(r!=UPNPCOMMAND_SUCCESS) { printf("AddPortMapping(%s, %s, %s) failed with code %d (%s)\n", eport, iport, iaddr, r, strupnperror(r)); @@ -302,7 +303,7 @@ static int SetRedirectAndTest(struct UPNPUrls * urls, r = UPNP_GetSpecificPortMappingEntry(urls->controlURL, data->first.servicetype, - eport, proto, NULL/*remoteHost*/, + eport, proto, remoteHost, intClient, intPort, NULL/*desc*/, NULL/*enabled*/, duration); if(r!=UPNPCOMMAND_SUCCESS) { @@ -642,12 +643,12 @@ int main(int argc, char ** argv) || (command == 'U' && commandargc<2) || (command == 'D' && commandargc<1)) { - fprintf(stderr, "Usage :\t%s [options] -a ip port external_port protocol [duration]\n\t\tAdd port redirection\n", argv[0]); - fprintf(stderr, " \t%s [options] -d external_port protocol <remote host>\n\t\tDelete port redirection\n", argv[0]); + fprintf(stderr, "Usage :\t%s [options] -a ip port external_port protocol [duration] [remote host]\n\t\tAdd port redirection\n", argv[0]); + fprintf(stderr, " \t%s [options] -d external_port protocol [remote host]\n\t\tDelete port redirection\n", argv[0]); fprintf(stderr, " \t%s [options] -s\n\t\tGet Connection status\n", argv[0]); fprintf(stderr, " \t%s [options] -l\n\t\tList redirections\n", argv[0]); fprintf(stderr, " \t%s [options] -L\n\t\tList redirections (using GetListOfPortMappings (for IGD:2 only)\n", argv[0]); - fprintf(stderr, " \t%s [options] -n ip port external_port protocol [duration]\n\t\tAdd (any) port redirection allowing IGD to use alternative external_port (for IGD:2 only)\n", argv[0]); + fprintf(stderr, " \t%s [options] -n ip port external_port protocol [duration] [remote host]\n\t\tAdd (any) port redirection allowing IGD to use alternative external_port (for IGD:2 only)\n", argv[0]); fprintf(stderr, " \t%s [options] -N external_port_start external_port_end protocol [manage]\n\t\tDelete range of port redirections (for IGD:2 only)\n", argv[0]); fprintf(stderr, " \t%s [options] -r port1 [external_port1] protocol1 [port2 [external_port2] protocol2] [...]\n\t\tAdd all redirections to the current host\n", argv[0]); fprintf(stderr, " \t%s [options] -A remote_ip remote_port internal_ip internal_port protocol lease_time\n\t\tAdd Pinhole (for IGD:2 only)\n", argv[0]); @@ -734,7 +735,8 @@ int main(int argc, char ** argv) if (SetRedirectAndTest(&urls, &data, commandargv[0], commandargv[1], commandargv[2], commandargv[3], - (commandargc > 4)?commandargv[4]:"0", + (commandargc > 4)&is_int(commandargv[4])?commandargv[4]:"0", + (commandargc > 4)&!is_int(commandargv[4])?commandargv[4]:(commandargc > 5)?commandargv[5]:NULL, description, 0) < 0) retcode = 2; break; @@ -747,7 +749,8 @@ int main(int argc, char ** argv) if (SetRedirectAndTest(&urls, &data, commandargv[0], commandargv[1], commandargv[2], commandargv[3], - (commandargc > 4)?commandargv[4]:"0", + (commandargc > 4)&is_int(commandargv[4])?commandargv[4]:"0", + (commandargc > 4)&!is_int(commandargv[4])?commandargv[4]:(commandargc > 5)?commandargv[5]:NULL, description, 1) < 0) retcode = 2; break; @@ -775,7 +778,7 @@ int main(int argc, char ** argv) /* 2nd parameter is an integer : <port> <external_port> <protocol> */ if (SetRedirectAndTest(&urls, &data, lanaddr, commandargv[i], - commandargv[i+1], commandargv[i+2], "0", + commandargv[i+1], commandargv[i+2], "0", NULL, description, 0) < 0) retcode = 2; i+=3; /* 3 parameters parsed */ @@ -783,7 +786,7 @@ int main(int argc, char ** argv) /* 2nd parameter not an integer : <port> <protocol> */ if (SetRedirectAndTest(&urls, &data, lanaddr, commandargv[i], - commandargv[i], commandargv[i+1], "0", + commandargv[i], commandargv[i+1], "0", NULL, description, 0) < 0) retcode = 2; i+=2; /* 2 parameters parsed */ diff --git a/thirdparty/miniupnpc/miniupnpc/upnperrors.c b/thirdparty/miniupnpc/miniupnpc/upnperrors.c index 650af42557..4496e8622c 100644 --- a/thirdparty/miniupnpc/miniupnpc/upnperrors.c +++ b/thirdparty/miniupnpc/miniupnpc/upnperrors.c @@ -1,9 +1,10 @@ -/* $Id: upnperrors.c,v 1.9 2019/06/25 21:15:46 nanard Exp $ */ -/* Project : miniupnp +/* $Id: upnperrors.c,v 1.10 2019/08/24 08:49:53 nanard Exp $ */ +/* vim: tabstop=4 shiftwidth=4 noexpandtab + * Project : miniupnp * Author : Thomas BERNARD * copyright (c) 2007-2019 Thomas Bernard * All Right reserved. - * http://miniupnp.free.fr/ or http://miniupnp.tuxfamily.org/ + * http://miniupnp.free.fr/ or https://miniupnp.tuxfamily.org/ * This software is subjet to the conditions detailed in the * provided LICENCE file. */ #include <string.h> @@ -71,7 +72,7 @@ const char * strupnperror(int err) s = "ProtocolWildcardingNotAllowed"; break; case 708: - s = "WildcardNotPermittedInSrcIP"; + s = "InvalidLayer2Address"; break; case 709: s = "NoPacketSent"; diff --git a/thirdparty/misc/ifaddrs-android.h b/thirdparty/misc/ifaddrs-android.h index 6e204af26f..8de94324b8 100644 --- a/thirdparty/misc/ifaddrs-android.h +++ b/thirdparty/misc/ifaddrs-android.h @@ -32,6 +32,11 @@ // Fills out a list of ifaddr structs (see below) which contain information // about every network interface available on the host. // See 'man getifaddrs' on Linux or OS X (nb: it is not a POSIX function). +// -- GODOT start -- +#ifdef __cplusplus +extern "C" { +#endif +// -- GODOT end -- struct ifaddrs { struct ifaddrs* ifa_next; char* ifa_name; @@ -40,7 +45,21 @@ struct ifaddrs { struct sockaddr* ifa_netmask; // Real ifaddrs has broadcast, point to point and data members. // We don't need them (yet?). + // -- GODOT start -- + // We never initialize the following members. We only define them to match the ifaddrs struct. + union + { + struct sockaddr *ifu_broadaddr; + struct sockaddr *ifu_dstaddr; + } ifa_ifu; + void *ifa_data; + // -- GODOT end -- }; +// -- GODOT start -- +#ifdef __cplusplus +} +#endif +// -- GODOT end -- int getifaddrs(struct ifaddrs** result); void freeifaddrs(struct ifaddrs* addrs); #endif // TALK_BASE_IFADDRS_ANDROID_H_ diff --git a/thirdparty/misc/stb_vorbis.c b/thirdparty/misc/stb_vorbis.c index 71af404dae..4ab8880d5d 100644 --- a/thirdparty/misc/stb_vorbis.c +++ b/thirdparty/misc/stb_vorbis.c @@ -1,4 +1,4 @@ -// Ogg Vorbis audio decoder - v1.16 - public domain +// Ogg Vorbis audio decoder - v1.17 - public domain // http://nothings.org/stb_vorbis/ // // Original version written by Sean Barrett in 2007. @@ -30,9 +30,10 @@ // Tom Beaumont Ingo Leitgeb Nicolas Guillemot // Phillip Bennefall Rohit Thiago Goulart // manxorist@github saga musix github:infatum -// Timur Gagiev +// Timur Gagiev Maxwell Koo // // Partial history: +// 1.17 - 2019-07-08 - fix CVE-2019-13217..CVE-2019-13223 (by ForAllSecure) // 1.16 - 2019-03-04 - fix warnings // 1.15 - 2019-02-07 - explicit failure if Ogg Skeleton data is found // 1.14 - 2018-02-11 - delete bogus dealloca usage @@ -1202,8 +1203,10 @@ static int lookup1_values(int entries, int dim) int r = (int) floor(exp((float) log((float) entries) / dim)); if ((int) floor(pow((float) r+1, dim)) <= entries) // (int) cast for MinGW warning; ++r; // floor() to avoid _ftol() when non-CRT - assert(pow((float) r+1, dim) > entries); - assert((int) floor(pow((float) r, dim)) <= entries); // (int),floor() as above + if (pow((float) r+1, dim) <= entries) + return -1; + if ((int) floor(pow((float) r, dim)) > entries) + return -1; return r; } @@ -2013,7 +2016,7 @@ static __forceinline void draw_line(float *output, int x0, int y0, int x1, int y ady -= abs(base) * adx; if (x1 > n) x1 = n; if (x < x1) { - LINE_OP(output[x], inverse_db_table[y]); + LINE_OP(output[x], inverse_db_table[y&255]); for (++x; x < x1; ++x) { err += ady; if (err >= adx) { @@ -2021,7 +2024,7 @@ static __forceinline void draw_line(float *output, int x0, int y0, int x1, int y y += sy; } else y += base; - LINE_OP(output[x], inverse_db_table[y]); + LINE_OP(output[x], inverse_db_table[y&255]); } } } @@ -3048,7 +3051,6 @@ static float *get_window(vorb *f, int len) len <<= 1; if (len == f->blocksize_0) return f->window[0]; if (len == f->blocksize_1) return f->window[1]; - assert(0); return NULL; } @@ -3454,6 +3456,7 @@ static int vorbis_finish_frame(stb_vorbis *f, int len, int left, int right) if (f->previous_length) { int i,j, n = f->previous_length; float *w = get_window(f, n); + if (w == NULL) return 0; for (i=0; i < f->channels; ++i) { for (j=0; j < n; ++j) f->channel_buffers[i][left+j] = @@ -3695,6 +3698,7 @@ static int start_decoder(vorb *f) while (current_entry < c->entries) { int limit = c->entries - current_entry; int n = get_bits(f, ilog(limit)); + if (current_length >= 32) return error(f, VORBIS_invalid_setup); if (current_entry + n > (int) c->entries) { return error(f, VORBIS_invalid_setup); } memset(lengths + current_entry, current_length, n); current_entry += n; @@ -3798,7 +3802,9 @@ static int start_decoder(vorb *f) c->value_bits = get_bits(f, 4)+1; c->sequence_p = get_bits(f,1); if (c->lookup_type == 1) { - c->lookup_values = lookup1_values(c->entries, c->dimensions); + int values = lookup1_values(c->entries, c->dimensions); + if (values < 0) return error(f, VORBIS_invalid_setup); + c->lookup_values = (uint32) values; } else { c->lookup_values = c->entries * c->dimensions; } @@ -3934,6 +3940,9 @@ static int start_decoder(vorb *f) p[j].id = j; } qsort(p, g->values, sizeof(p[0]), point_compare); + for (j=0; j < g->values-1; ++j) + if (p[j].x == p[j+1].x) + return error(f, VORBIS_invalid_setup); for (j=0; j < g->values; ++j) g->sorted_order[j] = (uint8) p[j].id; // precompute the neighbors @@ -4020,6 +4029,7 @@ static int start_decoder(vorb *f) max_submaps = m->submaps; if (get_bits(f,1)) { m->coupling_steps = get_bits(f,8)+1; + if (m->coupling_steps > f->channels) return error(f, VORBIS_invalid_setup); for (k=0; k < m->coupling_steps; ++k) { m->chan[k].magnitude = get_bits(f, ilog(f->channels-1)); m->chan[k].angle = get_bits(f, ilog(f->channels-1)); @@ -5386,6 +5396,12 @@ int stb_vorbis_get_samples_float(stb_vorbis *f, int channels, float **buffer, in #endif // STB_VORBIS_NO_PULLDATA_API /* Version history + 1.17 - 2019-07-08 - fix CVE-2019-13217, -13218, -13219, -13220, -13221, -13222, -13223 + found with Mayhem by ForAllSecure + 1.16 - 2019-03-04 - fix warnings + 1.15 - 2019-02-07 - explicit failure if Ogg Skeleton data is found + 1.14 - 2018-02-11 - delete bogus dealloca usage + 1.13 - 2018-01-29 - fix truncation of last frame (hopefully) 1.12 - 2017-11-21 - limit residue begin/end to blocksize/2 to avoid large temp allocs in bad/corrupt files 1.11 - 2017-07-23 - fix MinGW compilation 1.10 - 2017-03-03 - more robust seeking; fix negative ilog(); clear error in open_memory diff --git a/thirdparty/nanosvg/nanosvg.h b/thirdparty/nanosvg/nanosvg.h index 8c8b061cd1..e5f6900614 100644 --- a/thirdparty/nanosvg/nanosvg.h +++ b/thirdparty/nanosvg/nanosvg.h @@ -1102,7 +1102,7 @@ static double nsvg__atof(const char* s) // Parse integer part if (nsvg__isdigit(*cur)) { // Parse digit sequence - intPart = (double)strtoll(cur, &end, 10); + intPart = strtoll(cur, &end, 10); if (cur != end) { res = (double)intPart; hasIntPart = 1; @@ -1130,7 +1130,7 @@ static double nsvg__atof(const char* s) // Parse optional exponent if (*cur == 'e' || *cur == 'E') { - int expPart = 0; + long expPart = 0; cur++; // skip 'E' expPart = strtol(cur, &end, 10); // Parse digit sequence with sign if (cur != end) { @@ -1168,7 +1168,7 @@ static const char* nsvg__parseNumber(const char* s, char* it, const int size) } } // exponent - if (*s == 'e' || *s == 'E') { + if ((*s == 'e' || *s == 'E') && (s[1] != 'm' && s[1] != 'x')) { if (i < last) it[i++] = *s; s++; if (*s == '-' || *s == '+') { diff --git a/thirdparty/tinyexr/tinyexr.h b/thirdparty/tinyexr/tinyexr.h index f22163738f..bfc52b51a5 100644 --- a/thirdparty/tinyexr/tinyexr.h +++ b/thirdparty/tinyexr/tinyexr.h @@ -111,13 +111,13 @@ extern "C" { #define TINYEXR_ERROR_INVALID_ARGUMENT (-3) #define TINYEXR_ERROR_INVALID_DATA (-4) #define TINYEXR_ERROR_INVALID_FILE (-5) -#define TINYEXR_ERROR_INVALID_PARAMETER (-5) -#define TINYEXR_ERROR_CANT_OPEN_FILE (-6) -#define TINYEXR_ERROR_UNSUPPORTED_FORMAT (-7) -#define TINYEXR_ERROR_INVALID_HEADER (-8) -#define TINYEXR_ERROR_UNSUPPORTED_FEATURE (-9) -#define TINYEXR_ERROR_CANT_WRITE_FILE (-10) -#define TINYEXR_ERROR_SERIALZATION_FAILED (-11) +#define TINYEXR_ERROR_INVALID_PARAMETER (-6) +#define TINYEXR_ERROR_CANT_OPEN_FILE (-7) +#define TINYEXR_ERROR_UNSUPPORTED_FORMAT (-8) +#define TINYEXR_ERROR_INVALID_HEADER (-9) +#define TINYEXR_ERROR_UNSUPPORTED_FEATURE (-10) +#define TINYEXR_ERROR_CANT_WRITE_FILE (-11) +#define TINYEXR_ERROR_SERIALZATION_FAILED (-12) // @note { OpenEXR file format: http://www.openexr.com/openexrfilelayout.pdf } @@ -554,6 +554,10 @@ namespace miniz { #pragma clang diagnostic ignored "-Wtautological-constant-compare" #endif +#if __has_warning("-Wextra-semi-stmt") +#pragma clang diagnostic ignored "-Wextra-semi-stmt" +#endif + #endif /* miniz.c v1.15 - public domain deflate/inflate, zlib-subset, ZIP @@ -7625,6 +7629,9 @@ static bool DecompressZip(unsigned char *dst, #ifdef __clang__ #pragma clang diagnostic push #pragma clang diagnostic ignored "-Wsign-conversion" +#if __has_warning("-Wextra-semi-stmt") +#pragma clang diagnostic ignored "-Wextra-semi-stmt" +#endif #endif #ifdef _MSC_VER @@ -7886,6 +7893,10 @@ static bool DecompressRle(unsigned char *dst, #pragma clang diagnostic ignored "-Wcast-qual" #endif +#if __has_warning("-Wextra-semi-stmt") +#pragma clang diagnostic ignored "-Wextra-semi-stmt" +#endif + #endif // diff --git a/thirdparty/vhacd/0003-fix-musl-build.patch b/thirdparty/vhacd/0003-fix-musl-build.patch new file mode 100644 index 0000000000..67af8546f3 --- /dev/null +++ b/thirdparty/vhacd/0003-fix-musl-build.patch @@ -0,0 +1,15 @@ +diff --git a/thirdparty/vhacd/inc/vhacdMutex.h b/thirdparty/vhacd/inc/vhacdMutex.h +index 6b09259200..d587dd6387 100644 +--- a/thirdparty/vhacd/inc/vhacdMutex.h ++++ b/thirdparty/vhacd/inc/vhacdMutex.h +@@ -71,7 +71,9 @@ + #include <pthread.h> + #endif + +-#if defined(__APPLE__) ++// -- GODOT start -- ++#if defined(__APPLE__) || !defined(__GLIBC__) ++// -- GODOT end -- + #define PTHREAD_MUTEX_RECURSIVE_NP PTHREAD_MUTEX_RECURSIVE + #endif + diff --git a/thirdparty/vhacd/0004-fix-uwp-arm-build.patch b/thirdparty/vhacd/0004-fix-uwp-arm-build.patch new file mode 100644 index 0000000000..a5bba3fd7d --- /dev/null +++ b/thirdparty/vhacd/0004-fix-uwp-arm-build.patch @@ -0,0 +1,16 @@ +diff --git a/thirdparty/vhacd/inc/btScalar.h b/thirdparty/vhacd/inc/btScalar.h +index 3999a71521..4c9e0cf7ab 100644 +--- a/thirdparty/vhacd/inc/btScalar.h ++++ b/thirdparty/vhacd/inc/btScalar.h +@@ -72,7 +72,10 @@ inline int32_t btGetVersion() + #define btFsel(a, b, c) __fsel((a), (b), (c)) + #else + +-#if (defined(_WIN32) && (_MSC_VER) && _MSC_VER >= 1400) && (!defined(BT_USE_DOUBLE_PRECISION)) ++// -- GODOT start -- ++//#if (defined(_WIN32) && (_MSC_VER) && _MSC_VER >= 1400) && (!defined(BT_USE_DOUBLE_PRECISION)) ++#if (defined(_WIN32) && (_MSC_VER) && _MSC_VER >= 1400) && (!defined(BT_USE_DOUBLE_PRECISION)) && (!defined(_M_ARM)) ++// -- GODOT end -- + #define BT_USE_SSE + #include <emmintrin.h> + #endif diff --git a/thirdparty/vhacd/inc/btScalar.h b/thirdparty/vhacd/inc/btScalar.h index 3999a71521..4c9e0cf7ab 100644 --- a/thirdparty/vhacd/inc/btScalar.h +++ b/thirdparty/vhacd/inc/btScalar.h @@ -72,7 +72,10 @@ inline int32_t btGetVersion() #define btFsel(a, b, c) __fsel((a), (b), (c)) #else -#if (defined(_WIN32) && (_MSC_VER) && _MSC_VER >= 1400) && (!defined(BT_USE_DOUBLE_PRECISION)) +// -- GODOT start -- +//#if (defined(_WIN32) && (_MSC_VER) && _MSC_VER >= 1400) && (!defined(BT_USE_DOUBLE_PRECISION)) +#if (defined(_WIN32) && (_MSC_VER) && _MSC_VER >= 1400) && (!defined(BT_USE_DOUBLE_PRECISION)) && (!defined(_M_ARM)) +// -- GODOT end -- #define BT_USE_SSE #include <emmintrin.h> #endif diff --git a/thirdparty/vhacd/inc/vhacdMutex.h b/thirdparty/vhacd/inc/vhacdMutex.h index 6b09259200..d587dd6387 100644 --- a/thirdparty/vhacd/inc/vhacdMutex.h +++ b/thirdparty/vhacd/inc/vhacdMutex.h @@ -71,7 +71,9 @@ #include <pthread.h> #endif -#if defined(__APPLE__) +// -- GODOT start -- +#if defined(__APPLE__) || !defined(__GLIBC__) +// -- GODOT end -- #define PTHREAD_MUTEX_RECURSIVE_NP PTHREAD_MUTEX_RECURSIVE #endif diff --git a/thirdparty/vhacd/src/FloatMath.inl b/thirdparty/vhacd/src/FloatMath.inl index ce529e6f71..a30deba45d 100644 --- a/thirdparty/vhacd/src/FloatMath.inl +++ b/thirdparty/vhacd/src/FloatMath.inl @@ -7,6 +7,10 @@ // a quaternion is a 'float *' to 4 floats representing a quaternion x,y,z,w // +#ifdef _MSC_VER +#pragma warning(disable:4996) +#endif + namespace FLOAT_MATH { diff --git a/thirdparty/xatlas/LICENSE b/thirdparty/xatlas/LICENSE index 94d0c60485..9e61e15fb7 100644 --- a/thirdparty/xatlas/LICENSE +++ b/thirdparty/xatlas/LICENSE @@ -1,14 +1,21 @@ -xatlas -https://github.com/jpcy/xatlas -Copyright (c) 2018 Jonathan Young +MIT License -thekla_atlas -https://github.com/Thekla/thekla_atlas -Copyright (c) 2013 Thekla, Inc -Copyright NVIDIA Corporation 2006 -- Ignacio Castano <icastano@nvidia.com> +Copyright (c) 2018-2019 Jonathan Young -Permission is hereby granted, free of charge, to any person obtaining a copy of this software and associated documentation files (the "Software"), to deal in the Software without restriction, including without limitation the rights to use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of the Software, and to permit persons to whom the Software is furnished to do so, subject to the following conditions: +Permission is hereby granted, free of charge, to any person obtaining a copy +of this software and associated documentation files (the "Software"), to deal +in the Software without restriction, including without limitation the rights +to use, copy, modify, merge, publish, distribute, sublicense, and/or sell +copies of the Software, and to permit persons to whom the Software is +furnished to do so, subject to the following conditions: -The above copyright notice and this permission notice shall be included in all copies or substantial portions of the Software. +The above copyright notice and this permission notice shall be included in all +copies or substantial portions of the Software. -THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. +THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR +IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, +FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE +AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER +LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, +OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE +SOFTWARE.
\ No newline at end of file diff --git a/thirdparty/xatlas/xatlas.cpp b/thirdparty/xatlas/xatlas.cpp index 56794211a6..80cacf9746 100644 --- a/thirdparty/xatlas/xatlas.cpp +++ b/thirdparty/xatlas/xatlas.cpp @@ -33,7 +33,6 @@ https://github.com/brandonpelfrey/Fast-BVH MIT License Copyright (c) 2012 Brandon Pelfrey */ -#include <algorithm> #include <atomic> #include <condition_variable> #include <mutex> @@ -114,22 +113,25 @@ Copyright (c) 2012 Brandon Pelfrey #define XA_UNUSED(a) ((void)(a)) -#define XA_GROW_CHARTS_COPLANAR 1 #define XA_MERGE_CHARTS 1 #define XA_MERGE_CHARTS_MIN_NORMAL_DEVIATION 0.5f #define XA_RECOMPUTE_CHARTS 1 -#define XA_SKIP_PARAMETERIZATION 0 // Use the orthogonal parameterization from segment::Atlas #define XA_CLOSE_HOLES_CHECK_EDGE_INTERSECTION 0 +#define XA_FIX_INTERNAL_BOUNDARY_LOOPS 1 +#define XA_PRINT_CHART_WARNINGS 0 #define XA_DEBUG_HEAP 0 #define XA_DEBUG_SINGLE_CHART 0 #define XA_DEBUG_EXPORT_ATLAS_IMAGES 0 +#define XA_DEBUG_EXPORT_ATLAS_IMAGES_PER_CHART 0 // Export an atlas image after each chart is added. +#define XA_DEBUG_EXPORT_BOUNDARY_GRID 0 +#define XA_DEBUG_EXPORT_TGA (XA_DEBUG_EXPORT_ATLAS_IMAGES || XA_DEBUG_EXPORT_BOUNDARY_GRID) #define XA_DEBUG_EXPORT_OBJ_SOURCE_MESHES 0 #define XA_DEBUG_EXPORT_OBJ_CHART_GROUPS 0 +#define XA_DEBUG_EXPORT_OBJ_PLANAR_REGIONS 0 #define XA_DEBUG_EXPORT_OBJ_CHARTS 0 #define XA_DEBUG_EXPORT_OBJ_BEFORE_FIX_TJUNCTION 0 #define XA_DEBUG_EXPORT_OBJ_CLOSE_HOLES_ERROR 0 -#define XA_DEBUG_EXPORT_OBJ_NOT_DISK 0 #define XA_DEBUG_EXPORT_OBJ_CHARTS_AFTER_PARAMETERIZATION 0 #define XA_DEBUG_EXPORT_OBJ_INVALID_PARAMETERIZATION 0 #define XA_DEBUG_EXPORT_OBJ_RECOMPUTED_CHARTS 0 @@ -137,10 +139,10 @@ Copyright (c) 2012 Brandon Pelfrey #define XA_DEBUG_EXPORT_OBJ (0 \ || XA_DEBUG_EXPORT_OBJ_SOURCE_MESHES \ || XA_DEBUG_EXPORT_OBJ_CHART_GROUPS \ + || XA_DEBUG_EXPORT_OBJ_PLANAR_REGIONS \ || XA_DEBUG_EXPORT_OBJ_CHARTS \ || XA_DEBUG_EXPORT_OBJ_BEFORE_FIX_TJUNCTION \ || XA_DEBUG_EXPORT_OBJ_CLOSE_HOLES_ERROR \ - || XA_DEBUG_EXPORT_OBJ_NOT_DISK \ || XA_DEBUG_EXPORT_OBJ_CHARTS_AFTER_PARAMETERIZATION \ || XA_DEBUG_EXPORT_OBJ_INVALID_PARAMETERIZATION \ || XA_DEBUG_EXPORT_OBJ_RECOMPUTED_CHARTS) @@ -166,6 +168,10 @@ struct MemTag enum { Default, + BitImage, + BVH, + FullVector, + Matrix, Mesh, MeshBoundaries, MeshColocals, @@ -174,6 +180,10 @@ struct MemTag MeshNormals, MeshPositions, MeshTexcoords, + SegmentAtlasChartCandidates, + SegmentAtlasChartFaces, + SegmentAtlasMeshData, + SegmentAtlasPlanarRegions, Count }; }; @@ -192,7 +202,7 @@ struct AllocHeader static std::mutex s_allocMutex; static AllocHeader *s_allocRoot = nullptr; -static size_t s_allocTotalSize = 0, s_allocPeakSize = 0, s_allocTotalTagSize[MemTag::Count] = { 0 }, s_allocPeakTagSize[MemTag::Count] = { 0 }; +static size_t s_allocTotalCount = 0, s_allocTotalSize = 0, s_allocPeakSize = 0, s_allocCount[MemTag::Count] = { 0 }, s_allocTotalTagSize[MemTag::Count] = { 0 }, s_allocPeakTagSize[MemTag::Count] = { 0 }; static uint32_t s_allocId =0 ; static constexpr uint32_t kAllocRedzone = 0x12345678; @@ -245,9 +255,11 @@ static void *Realloc(void *ptr, size_t size, int tag, const char *file, int line s_allocRoot = header; header->next->prev = header; } + s_allocTotalCount++; s_allocTotalSize += size; if (s_allocTotalSize > s_allocPeakSize) s_allocPeakSize = s_allocTotalSize; + s_allocCount[tag]++; s_allocTotalTagSize[tag] += size; if (s_allocTotalTagSize[tag] > s_allocPeakTagSize[tag]) s_allocPeakTagSize[tag] = s_allocTotalTagSize[tag]; @@ -287,9 +299,14 @@ static void ReportLeaks() static void PrintMemoryUsage() { + XA_PRINT("Total allocations: %zu\n", s_allocTotalCount); XA_PRINT("Memory usage: %0.2fMB current, %0.2fMB peak\n", internal::s_allocTotalSize / 1024.0f / 1024.0f, internal::s_allocPeakSize / 1024.0f / 1024.0f); static const char *labels[] = { // Sync with MemTag "Default", + "BitImage", + "BVH", + "FullVector", + "Matrix", "Mesh", "MeshBoundaries", "MeshColocals", @@ -297,10 +314,14 @@ static void PrintMemoryUsage() "MeshIndices", "MeshNormals", "MeshPositions", - "MeshTexcoords" + "MeshTexcoords", + "SegmentAtlasChartCandidates", + "SegmentAtlasChartFaces", + "SegmentAtlasMeshData", + "SegmentAtlasPlanarRegions" }; for (int i = 0; i < MemTag::Count; i++) { - XA_PRINT(" %s: %0.2fMB current, %0.2fMB peak\n", labels[i], internal::s_allocTotalTagSize[i] / 1024.0f / 1024.0f, internal::s_allocPeakTagSize[i] / 1024.0f / 1024.0f); + XA_PRINT(" %s: %zu allocations, %0.2fMB current, %0.2fMB peak\n", labels[i], internal::s_allocCount[i], internal::s_allocTotalTagSize[i] / 1024.0f / 1024.0f, internal::s_allocPeakTagSize[i] / 1024.0f / 1024.0f); } } @@ -308,7 +329,9 @@ static void PrintMemoryUsage() #else static void *Realloc(void *ptr, size_t size, int /*tag*/, const char * /*file*/, int /*line*/) { - if (ptr && size == 0 && s_free) { + if (size == 0 && !ptr) + return nullptr; + if (size == 0 && s_free) { s_free(ptr); return nullptr; } @@ -333,7 +356,6 @@ struct ProfileData std::atomic<clock_t> addMeshThread; std::atomic<clock_t> addMeshCreateColocals; std::atomic<clock_t> addMeshCreateFaceGroups; - std::atomic<clock_t> addMeshCreateBoundaries; std::atomic<clock_t> addMeshCreateChartGroupsReal; std::atomic<clock_t> addMeshCreateChartGroupsThread; clock_t computeChartsReal; @@ -362,7 +384,6 @@ struct ProfileData clock_t packChartsRasterize; clock_t packChartsDilate; clock_t packChartsFindLocation; - std::atomic<clock_t> packChartsFindLocationThread; clock_t packChartsBlit; clock_t buildOutputMeshes; }; @@ -386,6 +407,7 @@ static double clockToSeconds(clock_t c) static constexpr float kPi = 3.14159265358979323846f; static constexpr float kPi2 = 6.28318530717958647692f; +static constexpr float kPi4 = 12.56637061435917295384f; static constexpr float kEpsilon = 0.0001f; static constexpr float kAreaEpsilon = FLT_EPSILON; static constexpr float kNormalEpsilon = 0.001f; @@ -430,11 +452,9 @@ static T clamp(const T &x, const T &a, const T &b) template <typename T> static void swap(T &a, T &b) { - T temp; - temp = a; + T temp = a; a = b; b = temp; - temp = T(); } union FloatUint32 @@ -620,6 +640,14 @@ static Vector2 normalize(const Vector2 &v, float epsilon) return n; } +static Vector2 normalizeSafe(const Vector2 &v, const Vector2 &fallback, float epsilon) +{ + float l = length(v); + if (isZero(l, epsilon)) + return fallback; + return v * (1.0f / l); +} + static bool equal(const Vector2 &v1, const Vector2 &v2, float epsilon) { return equal(v1.x, v2.x, epsilon) && equal(v1.y, v2.y, epsilon); @@ -640,23 +668,19 @@ static bool isFinite(const Vector2 &v) return isFinite(v.x) && isFinite(v.y); } -// Note, this is the area scaled by 2! -static float triangleArea(const Vector2 &v0, const Vector2 &v1) -{ - return (v0.x * v1.y - v0.y * v1.x); // * 0.5f; -} - static float triangleArea(const Vector2 &a, const Vector2 &b, const Vector2 &c) { // IC: While it may be appealing to use the following expression: - //return (c.x * a.y + a.x * b.y + b.x * c.y - b.x * a.y - c.x * b.y - a.x * c.y); // * 0.5f; + //return (c.x * a.y + a.x * b.y + b.x * c.y - b.x * a.y - c.x * b.y - a.x * c.y) * 0.5f; // That's actually a terrible idea. Small triangles far from the origin can end up producing fairly large floating point // numbers and the results becomes very unstable and dependent on the order of the factors. // Instead, it's preferable to subtract the vertices first, and multiply the resulting small values together. The result // in this case is always much more accurate (as long as the triangle is small) and less dependent of the location of // the triangle. - //return ((a.x - c.x) * (b.y - c.y) - (a.y - c.y) * (b.x - c.x)); // * 0.5f; - return triangleArea(a - c, b - c); + //return ((a.x - c.x) * (b.y - c.y) - (a.y - c.y) * (b.x - c.x)) * 0.5f; + const Vector2 v0 = a - c; + const Vector2 v1 = b - c; + return (v0.x * v1.y - v0.y * v1.x) * 0.5f; } static bool linesIntersect(const Vector2 &a1, const Vector2 &a2, const Vector2 &b1, const Vector2 &b2, float epsilon) @@ -746,11 +770,6 @@ public: float x, y, z; }; -static bool operator!=(const Vector3 &a, const Vector3 &b) -{ - return a.x != b.x || a.y != b.y || a.z != b.z; -} - static Vector3 operator+(const Vector3 &a, const Vector3 &b) { return Vector3(a.x + b.x, a.y + b.y, a.z + b.z); @@ -837,6 +856,33 @@ bool isFinite(const Vector3 &v) } #endif +struct Extents2 +{ + Vector2 min, max; + + void reset() + { + min.x = min.y = FLT_MAX; + max.x = max.y = -FLT_MAX; + } + + void add(Vector2 p) + { + min = xatlas::internal::min(min, p); + max = xatlas::internal::max(max, p); + } + + Vector2 midpoint() const + { + return Vector2(min.x + (max.x - min.x) * 0.5f, min.y + (max.y - min.y) * 0.5f); + } + + static bool intersect(Extents2 e1, Extents2 e2) + { + return e1.min.x <= e2.max.x && e1.max.x >= e2.min.x && e1.min.y <= e2.max.y && e1.max.y >= e2.min.y; + } +}; + struct Plane { Plane() = default; @@ -979,7 +1025,14 @@ struct AABB struct ArrayBase { - ArrayBase(uint32_t elementSize, int memTag = MemTag::Default) : buffer(nullptr), elementSize(elementSize), size(0), capacity(0), memTag(memTag) {} + ArrayBase(uint32_t elementSize, int memTag = MemTag::Default) : buffer(nullptr), elementSize(elementSize), size(0), capacity(0) + { +#if XA_DEBUG_HEAP + this->memTag = memTag; +#else + XA_UNUSED(memTag); +#endif + } ~ArrayBase() { @@ -991,6 +1044,12 @@ struct ArrayBase size = 0; } + void copyFrom(const uint8_t *data, uint32_t length) + { + resize(length, true); + memcpy(buffer, data, length * elementSize); + } + void copyTo(ArrayBase &other) const { XA_DEBUG_ASSERT(elementSize == other.elementSize); @@ -1025,7 +1084,9 @@ struct ArrayBase other.elementSize = elementSize; other.size = size; other.capacity = capacity; +#if XA_DEBUG_HEAP other.memTag = memTag; +#endif buffer = nullptr; elementSize = size = capacity = 0; } @@ -1043,6 +1104,16 @@ struct ArrayBase memcpy(&buffer[(size - 1) * elementSize], value, elementSize); } + void push_back(const ArrayBase &other) + { + XA_DEBUG_ASSERT(elementSize == other.elementSize); + if (other.size == 0) + return; + const uint32_t oldSize = size; + resize(size + other.size, false); + memcpy(buffer + oldSize * elementSize, other.buffer, other.size * other.elementSize); + } + // Remove the element at the given index. This is an expensive operation! void removeAt(uint32_t index) { @@ -1083,16 +1154,29 @@ struct ArrayBase } } else { // realloc the buffer +#if XA_DEBUG_HEAP buffer = XA_REALLOC_SIZE(memTag, buffer, newCapacity * elementSize); +#else + buffer = XA_REALLOC_SIZE(MemTag::Default, buffer, newCapacity * elementSize); +#endif } capacity = newCapacity; } +#if XA_DEBUG_HEAP + void setMemTag(int memTag) + { + this->memTag = memTag; + } +#endif + uint8_t *buffer; uint32_t elementSize; uint32_t size; uint32_t capacity; +#if XA_DEBUG_HEAP int memTag; +#endif }; template<typename T> @@ -1101,7 +1185,7 @@ class Array public: Array(int memTag = MemTag::Default) : m_base(sizeof(T), memTag) {} Array(const Array&) = delete; - const Array &operator=(const Array &) = delete; + Array &operator=(const Array &) = delete; XA_INLINE const T &operator[](uint32_t index) const { @@ -1123,6 +1207,17 @@ public: XA_INLINE T *begin() { return (T *)m_base.buffer; } XA_INLINE void clear() { m_base.clear(); } + + bool contains(const T &value) const + { + for (uint32_t i = 0; i < m_base.size; i++) { + if (((const T *)m_base.buffer)[i] == value) + return true; + } + return false; + } + + void copyFrom(const T *data, uint32_t length) { m_base.copyFrom((const uint8_t *)data, length); } void copyTo(Array &other) const { m_base.copyTo(other.m_base); } XA_INLINE const T *data() const { return (const T *)m_base.buffer; } XA_INLINE T *data() { return (T *)m_base.buffer; } @@ -1131,11 +1226,24 @@ public: void insertAt(uint32_t index, const T &value) { m_base.insertAt(index, (const uint8_t *)&value); } void moveTo(Array &other) { m_base.moveTo(other.m_base); } void push_back(const T &value) { m_base.push_back((const uint8_t *)&value); } + void push_back(const Array &other) { m_base.push_back(other.m_base); } void pop_back() { m_base.pop_back(); } void removeAt(uint32_t index) { m_base.removeAt(index); } void reserve(uint32_t desiredSize) { m_base.reserve(desiredSize); } void resize(uint32_t newSize) { m_base.resize(newSize, true); } + void runCtors() + { + for (uint32_t i = 0; i < m_base.size; i++) + new (&((T *)m_base.buffer)[i]) T; + } + + void runDtors() + { + for (uint32_t i = 0; i < m_base.size; i++) + ((T *)m_base.buffer)[i].~T(); + } + void setAll(const T &value) { auto buffer = (T *)m_base.buffer; @@ -1143,6 +1251,10 @@ public: buffer[i] = value; } +#if XA_DEBUG_HEAP + void setMemTag(int memTag) { m_base.setMemTag(memTag); } +#endif + XA_INLINE uint32_t size() const { return m_base.size; } XA_INLINE void zeroOutMemory() { memset(m_base.buffer, 0, m_base.elementSize * m_base.size); } @@ -1150,6 +1262,28 @@ private: ArrayBase m_base; }; +template<typename T> +struct ArrayView +{ + ArrayView(Array<T> &a) : data(a.data()), length(a.size()) {} + ArrayView(T *data, uint32_t length) : data(data), length(length) {} + ArrayView &operator=(Array<T> &a) { data = a.data(); length = a.size(); return *this; } + XA_INLINE const T &operator[](uint32_t index) const { XA_DEBUG_ASSERT(index < length); return data[index]; } + T *data; + uint32_t length; +}; + +template<typename T> +struct ConstArrayView +{ + ConstArrayView(const Array<T> &a) : data(a.data()), length(a.size()) {} + ConstArrayView(const T *data, uint32_t length) : data(data), length(length) {} + ConstArrayView &operator=(const Array<T> &a) { data = a.data(); length = a.size(); return *this; } + XA_INLINE const T &operator[](uint32_t index) const { XA_DEBUG_ASSERT(index < length); return data[index]; } + const T *data; + uint32_t length; +}; + /// Basis class to compute tangent space basis, ortogonalizations and to transform vectors from one space to another. struct Basis { @@ -1197,40 +1331,34 @@ public: m_wordArray.resize((m_size + 31) >> 5); } - /// Get bit. - bool bitAt(uint32_t b) const + bool get(uint32_t index) const { - XA_DEBUG_ASSERT( b < m_size ); - return (m_wordArray[b >> 5] & (1 << (b & 31))) != 0; + XA_DEBUG_ASSERT(index < m_size); + return (m_wordArray[index >> 5] & (1 << (index & 31))) != 0; } - // Set a bit. - void setBitAt(uint32_t idx) + void set(uint32_t index) { - XA_DEBUG_ASSERT(idx < m_size); - m_wordArray[idx >> 5] |= (1 << (idx & 31)); + XA_DEBUG_ASSERT(index < m_size); + m_wordArray[index >> 5] |= (1 << (index & 31)); } - // Clear all the bits. - void clearAll() + void zeroOutMemory() { - memset(m_wordArray.data(), 0, m_wordArray.size() * sizeof(uint32_t)); + m_wordArray.zeroOutMemory(); } private: - // Number of bits stored. - uint32_t m_size; - - // Array of bits. + uint32_t m_size; // Number of bits stored. Array<uint32_t> m_wordArray; }; class BitImage { public: - BitImage() : m_width(0), m_height(0), m_rowStride(0) {} + BitImage() : m_width(0), m_height(0), m_rowStride(0), m_data(MemTag::BitImage) {} - BitImage(uint32_t w, uint32_t h) : m_width(w), m_height(h) + BitImage(uint32_t w, uint32_t h) : m_width(w), m_height(h), m_data(MemTag::BitImage) { m_rowStride = (m_width + 63) >> 6; m_data.resize(m_rowStride * m_height); @@ -1238,7 +1366,7 @@ public: } BitImage(const BitImage &other) = delete; - const BitImage &operator=(const BitImage &other) = delete; + BitImage &operator=(const BitImage &other) = delete; uint32_t width() const { return m_width; } uint32_t height() const { return m_height; } @@ -1275,22 +1403,22 @@ public: m_rowStride = rowStride; } - bool bitAt(uint32_t x, uint32_t y) const + bool get(uint32_t x, uint32_t y) const { XA_DEBUG_ASSERT(x < m_width && y < m_height); const uint32_t index = (x >> 6) + y * m_rowStride; return (m_data[index] & (UINT64_C(1) << (uint64_t(x) & UINT64_C(63)))) != 0; } - void setBitAt(uint32_t x, uint32_t y) + void set(uint32_t x, uint32_t y) { XA_DEBUG_ASSERT(x < m_width && y < m_height); const uint32_t index = (x >> 6) + y * m_rowStride; m_data[index] |= UINT64_C(1) << (uint64_t(x) & UINT64_C(63)); - XA_DEBUG_ASSERT(bitAt(x, y)); + XA_DEBUG_ASSERT(get(x, y)); } - void clearAll() + void zeroOutMemory() { m_data.zeroOutMemory(); } @@ -1324,26 +1452,26 @@ public: { BitImage tmp(m_width, m_height); for (uint32_t p = 0; p < padding; p++) { - tmp.clearAll(); + tmp.zeroOutMemory(); for (uint32_t y = 0; y < m_height; y++) { for (uint32_t x = 0; x < m_width; x++) { - bool b = bitAt(x, y); + bool b = get(x, y); if (!b) { if (x > 0) { - b |= bitAt(x - 1, y); - if (y > 0) b |= bitAt(x - 1, y - 1); - if (y < m_height - 1) b |= bitAt(x - 1, y + 1); + b |= get(x - 1, y); + if (y > 0) b |= get(x - 1, y - 1); + if (y < m_height - 1) b |= get(x - 1, y + 1); } - if (y > 0) b |= bitAt(x, y - 1); - if (y < m_height - 1) b |= bitAt(x, y + 1); + if (y > 0) b |= get(x, y - 1); + if (y < m_height - 1) b |= get(x, y + 1); if (x < m_width - 1) { - b |= bitAt(x + 1, y); - if (y > 0) b |= bitAt(x + 1, y - 1); - if (y < m_height - 1) b |= bitAt(x + 1, y + 1); + b |= get(x + 1, y); + if (y > 0) b |= get(x + 1, y - 1); + if (y < m_height - 1) b |= get(x + 1, y + 1); } } if (b) - tmp.setBitAt(x, y); + tmp.set(x, y); } } tmp.m_data.copyTo(m_data); @@ -1361,7 +1489,7 @@ private: class BVH { public: - BVH(const Array<AABB> &objectAabbs, uint32_t leafSize = 4) + BVH(const Array<AABB> &objectAabbs, uint32_t leafSize = 4) : m_objectIds(MemTag::BVH), m_nodes(MemTag::BVH) { m_objectAabbs = &objectAabbs; if (m_objectAabbs->isEmpty()) @@ -1494,9 +1622,118 @@ private: Array<Node> m_nodes; }; -class Fit +struct Fit { -public: + static bool computeBasis(const Vector3 *points, uint32_t pointsCount, Basis *basis) + { + if (computeLeastSquaresNormal(points, pointsCount, &basis->normal)) { + basis->tangent = Basis::computeTangent(basis->normal); + basis->bitangent = Basis::computeBitangent(basis->normal, basis->tangent); + return true; + } + return computeEigen(points, pointsCount, basis); + } + +private: + // Fit a plane to a collection of points. + // Fast, and accurate to within a few degrees. + // Returns None if the points do not span a plane. + // https://www.ilikebigbits.com/2015_03_04_plane_from_points.html + static bool computeLeastSquaresNormal(const Vector3 *points, uint32_t pointsCount, Vector3 *normal) + { + XA_DEBUG_ASSERT(pointsCount >= 3); + if (pointsCount == 3) { + *normal = normalize(cross(points[2] - points[0], points[1] - points[0]), kEpsilon); + return true; + } + const float invN = 1.0f / float(pointsCount); + Vector3 centroid(0.0f); + for (uint32_t i = 0; i < pointsCount; i++) + centroid += points[i]; + centroid *= invN; + // Calculate full 3x3 covariance matrix, excluding symmetries: + float xx = 0.0f, xy = 0.0f, xz = 0.0f, yy = 0.0f, yz = 0.0f, zz = 0.0f; + for (uint32_t i = 0; i < pointsCount; i++) { + Vector3 r = points[i] - centroid; + xx += r.x * r.x; + xy += r.x * r.y; + xz += r.x * r.z; + yy += r.y * r.y; + yz += r.y * r.z; + zz += r.z * r.z; + } +#if 0 + xx *= invN; + xy *= invN; + xz *= invN; + yy *= invN; + yz *= invN; + zz *= invN; + Vector3 weighted_dir(0.0f); + { + float det_x = yy * zz - yz * yz; + const Vector3 axis_dir(det_x, xz * yz - xy * zz, xy * yz - xz * yy); + float weight = det_x * det_x; + if (dot(weighted_dir, axis_dir) < 0.0f) + weight = -weight; + weighted_dir += axis_dir * weight; + } + { + float det_y = xx * zz - xz * xz; + const Vector3 axis_dir(xz * yz - xy * zz, det_y, xy * xz - yz * xx); + float weight = det_y * det_y; + if (dot(weighted_dir, axis_dir) < 0.0f) + weight = -weight; + weighted_dir += axis_dir * weight; + } + { + float det_z = xx * yy - xy * xy; + const Vector3 axis_dir(xy * yz - xz * yy, xy * xz - yz * xx, det_z); + float weight = det_z * det_z; + if (dot(weighted_dir, axis_dir) < 0.0f) + weight = -weight; + weighted_dir += axis_dir * weight; + } + *normal = normalize(weighted_dir, kEpsilon); +#else + const float det_x = yy * zz - yz * yz; + const float det_y = xx * zz - xz * xz; + const float det_z = xx * yy - xy * xy; + const float det_max = max(det_x, max(det_y, det_z)); + if (det_max <= 0.0f) + return false; // The points don't span a plane + // Pick path with best conditioning: + Vector3 dir(0.0f); + if (det_max == det_x) + dir = Vector3(det_x,xz * yz - xy * zz,xy * yz - xz * yy); + else if (det_max == det_y) + dir = Vector3(xz * yz - xy * zz, det_y, xy * xz - yz * xx); + else if (det_max == det_z) + dir = Vector3(xy * yz - xz * yy, xy * xz - yz * xx, det_z); + const float len = length(dir); + if (isZero(len, kEpsilon)) + return false; + *normal = dir * (1.0f / len); +#endif + return isNormalized(*normal); + } + + static bool computeEigen(const Vector3 *points, uint32_t pointsCount, Basis *basis) + { + float matrix[6]; + computeCovariance(pointsCount, points, matrix); + if (matrix[0] == 0 && matrix[3] == 0 && matrix[5] == 0) + return false; + float eigenValues[3]; + Vector3 eigenVectors[3]; + if (!eigenSolveSymmetric3(matrix, eigenValues, eigenVectors)) + return false; + basis->normal = normalize(eigenVectors[2], kEpsilon); + basis->tangent = normalize(eigenVectors[0], kEpsilon); + basis->bitangent = normalize(eigenVectors[1], kEpsilon); + return true; + } + static Vector3 computeCentroid(int n, const Vector3 * points) { Vector3 centroid(0.0f); @@ -1694,9 +1931,9 @@ private: class FullVector { public: - FullVector(uint32_t dim) { m_array.resize(dim); } - FullVector(const FullVector &v) { v.m_array.copyTo(m_array); } - const FullVector &operator=(const FullVector &v) = delete; + FullVector(uint32_t dim) : m_array(MemTag::FullVector) { m_array.resize(dim); } + FullVector(const FullVector &v) : m_array(MemTag::FullVector) { v.m_array.copyTo(m_array); } + FullVector &operator=(const FullVector &v) = delete; XA_INLINE uint32_t dimension() const { return m_array.size(); } XA_INLINE const float &operator[](uint32_t index) const { return m_array[index]; } XA_INLINE float &operator[](uint32_t index) { return m_array[index]; } @@ -1767,7 +2004,10 @@ private: void alloc() { XA_DEBUG_ASSERT(m_size > 0); - m_numSlots = (uint32_t)(m_size * 1.3); + m_numSlots = nextPowerOfTwo(m_size); + auto minNumSlots = uint32_t(m_size * 1.3); + if (m_numSlots < minNumSlots) + m_numSlots = nextPowerOfTwo(minNumSlots); m_slots = XA_ALLOC_ARRAY(m_memTag, uint32_t, m_numSlots); for (uint32_t i = 0; i < m_numSlots; i++) m_slots[i] = UINT32_MAX; @@ -1778,7 +2018,7 @@ private: uint32_t computeHash(const Key &key) const { H hash; - return hash(key) % m_numSlots; + return hash(key) & (m_numSlots - 1); } int m_memTag; @@ -1806,6 +2046,16 @@ static void insertionSort(T *data, uint32_t length) class KISSRng { public: + KISSRng() { reset(); } + + void reset() + { + x = 123456789; + y = 362436000; + z = 521288629; + c = 7654321; + } + uint32_t getRange(uint32_t range) { if (range == 0) @@ -1820,7 +2070,7 @@ public: } private: - uint32_t x = 123456789, y = 362436000, z = 521288629, c = 7654321; + uint32_t x, y, z, c; }; // Based on Pierre Terdiman's and Michael Herf's source code. @@ -2009,15 +2259,27 @@ private: class BoundingBox2D { public: - Vector2 majorAxis() const { return m_majorAxis; } - Vector2 minorAxis() const { return m_minorAxis; } - Vector2 minCorner() const { return m_minCorner; } - Vector2 maxCorner() const { return m_maxCorner; } + Vector2 majorAxis, minorAxis, minCorner, maxCorner; + + void clear() + { + m_boundaryVertices.clear(); + } + + void appendBoundaryVertex(Vector2 v) + { + m_boundaryVertices.push_back(v); + } // This should compute convex hull and use rotating calipers to find the best box. Currently it uses a brute force method. - void compute(const Vector2 *boundaryVertices, uint32_t boundaryVertexCount, const Vector2 *vertices, uint32_t vertexCount) + // If vertices is null or vertexCount is 0, the boundary vertices are used. + void compute(const Vector2 *vertices = nullptr, uint32_t vertexCount = 0) { - convexHull(boundaryVertices, boundaryVertexCount, m_hull, 0.00001f); + if (!vertices || vertexCount == 0) { + vertices = m_boundaryVertices.data(); + vertexCount = m_boundaryVertices.size(); + } + convexHull(m_boundaryVertices.data(), m_boundaryVertices.size(), m_hull, 0.00001f); // @@ Ideally I should use rotating calipers to find the best box. Using brute force for now. float best_area = FLT_MAX; Vector2 best_min(0); @@ -2051,11 +2313,11 @@ public: best_axis = axis; } } - m_majorAxis = best_axis; - m_minorAxis = Vector2(-best_axis.y, best_axis.x); - m_minCorner = best_min; - m_maxCorner = best_max; - XA_ASSERT(isFinite(m_majorAxis) && isFinite(m_minorAxis) && isFinite(m_minCorner)); + majorAxis = best_axis; + minorAxis = Vector2(-best_axis.y, best_axis.x); + minCorner = best_min; + maxCorner = best_max; + XA_ASSERT(isFinite(majorAxis) && isFinite(minorAxis) && isFinite(minCorner)); } private: @@ -2088,6 +2350,7 @@ private: } // Filter top list. output.clear(); + XA_DEBUG_ASSERT(m_top.size() >= 2); output.push_back(m_top[0]); output.push_back(m_top[1]); for (uint32_t i = 2; i < m_top.size(); ) { @@ -2103,6 +2366,7 @@ private: } } uint32_t top_count = output.size(); + XA_DEBUG_ASSERT(m_bottom.size() >= 2); output.push_back(m_bottom[1]); // Filter bottom list. for (uint32_t i = 2; i < m_bottom.size(); ) { @@ -2122,9 +2386,9 @@ private: output.pop_back(); } + Array<Vector2> m_boundaryVertices; Array<float> m_coords; Array<Vector2> m_top, m_bottom, m_hull; - Vector2 m_majorAxis, m_minorAxis, m_minCorner, m_maxCorner; }; static uint32_t meshEdgeFace(uint32_t edge) { return edge / 3; } @@ -2152,7 +2416,7 @@ static void meshGetBoundaryLoops(const Mesh &mesh, Array<uint32_t> &boundaryLoop class Mesh { public: - Mesh(float epsilon, uint32_t approxVertexCount, uint32_t approxFaceCount, uint32_t flags = 0, uint32_t id = UINT32_MAX) : m_epsilon(epsilon), m_flags(flags), m_id(id), m_faceIgnore(MemTag::Mesh), m_faceGroups(MemTag::Mesh), m_indices(MemTag::MeshIndices), m_positions(MemTag::MeshPositions), m_normals(MemTag::MeshNormals), m_texcoords(MemTag::MeshTexcoords), m_colocalVertexCount(0), m_nextColocalVertex(MemTag::MeshColocals), m_boundaryVertices(MemTag::MeshBoundaries), m_oppositeEdges(MemTag::MeshBoundaries), m_nextBoundaryEdges(MemTag::MeshBoundaries), m_edgeMap(MemTag::MeshEdgeMap, approxFaceCount * 3) + Mesh(float epsilon, uint32_t approxVertexCount, uint32_t approxFaceCount, uint32_t flags = 0, uint32_t id = UINT32_MAX) : m_epsilon(epsilon), m_flags(flags), m_id(id), m_faceIgnore(MemTag::Mesh), m_ignoredFaceCount(0), m_indices(MemTag::MeshIndices), m_positions(MemTag::MeshPositions), m_normals(MemTag::MeshNormals), m_texcoords(MemTag::MeshTexcoords), m_faceGroups(MemTag::Mesh), m_faceGroupFirstFace(MemTag::Mesh), m_faceGroupNextFace(MemTag::Mesh), m_faceGroupFaceCounts(MemTag::Mesh), m_colocalVertexCount(0), m_nextColocalVertex(MemTag::MeshColocals), m_boundaryEdges(MemTag::MeshBoundaries), m_oppositeEdges(MemTag::MeshBoundaries), m_nextBoundaryEdges(MemTag::MeshBoundaries), m_edgeMap(MemTag::MeshEdgeMap, approxFaceCount * 3) { m_indices.reserve(approxFaceCount * 3); m_positions.reserve(approxVertexCount); @@ -2165,6 +2429,7 @@ public: m_normals.reserve(approxVertexCount); } + static constexpr uint16_t kInvalidFaceGroup = UINT16_MAX; uint32_t flags() const { return m_flags; } uint32_t id() const { return m_id; } @@ -2199,9 +2464,12 @@ public: { AddFaceResult::Enum result = AddFaceResult::OK; if (m_flags & MeshFlags::HasFaceGroups) - m_faceGroups.push_back(UINT32_MAX); - if (m_flags & MeshFlags::HasIgnoredFaces) + m_faceGroups.push_back(kInvalidFaceGroup); + if (m_flags & MeshFlags::HasIgnoredFaces) { m_faceIgnore.push_back(ignore); + if (ignore) + m_ignoredFaceCount++; + } const uint32_t firstIndex = m_indices.size(); for (uint32_t i = 0; i < 3; i++) m_indices.push_back(indices[i]); @@ -2221,13 +2489,13 @@ public: void createColocals() { const uint32_t vertexCount = m_positions.size(); - Array<AABB> aabbs; + Array<AABB> aabbs(MemTag::BVH); aabbs.resize(vertexCount); for (uint32_t i = 0; i < m_positions.size(); i++) aabbs[i] = AABB(m_positions[i], m_epsilon); BVH bvh(aabbs); - Array<uint32_t> colocals; - Array<uint32_t> potential; + Array<uint32_t> colocals(MemTag::MeshColocals); + Array<uint32_t> potential(MemTag::MeshColocals); m_colocalVertexCount = 0; m_nextColocalVertex.resize(vertexCount); for (uint32_t i = 0; i < vertexCount; i++) @@ -2259,7 +2527,7 @@ public: } // Check if the face duplicates any edges of any face already in the group. - bool faceDuplicatesGroupEdge(uint32_t group, uint32_t face) const + bool faceDuplicatesGroupEdge(uint16_t group, uint32_t face) const { for (FaceEdgeIterator edgeIt(this, face); !edgeIt.isDone(); edgeIt.advance()) { for (ColocalEdgeIterator colocalEdgeIt(this, edgeIt.vertex0(), edgeIt.vertex1()); !colocalEdgeIt.isDone(); colocalEdgeIt.advance()) { @@ -2270,55 +2538,31 @@ public: return false; } - // Check if the face mirrors any face already in the group. - // i.e. don't want two-sided faces in the same group. - // A face mirrors another face if all edges match with opposite winding. - bool faceMirrorsGroupFace(uint32_t group, uint32_t face) const - { - FaceEdgeIterator edgeIt(this, face); - for (ColocalEdgeIterator colocalEdgeIt(this, edgeIt.vertex1(), edgeIt.vertex0()); !colocalEdgeIt.isDone(); colocalEdgeIt.advance()) { - const uint32_t candidateFace = meshEdgeFace(colocalEdgeIt.edge()); - if (m_faceGroups[candidateFace] == group) { - // Found a match for mirrored first edge, try the other edges. - bool match = false; - for (; !edgeIt.isDone(); edgeIt.advance()) { - match = false; - for (ColocalEdgeIterator colocalEdgeIt2(this, edgeIt.vertex1(), edgeIt.vertex0()); !colocalEdgeIt2.isDone(); colocalEdgeIt2.advance()) { - if (meshEdgeFace(colocalEdgeIt2.edge()) == candidateFace) { - match = true; - break; - } - } - if (!match) - break; - } - if (match) - return true; // All edges are mirrored in this face. - // Try the next face. - edgeIt = FaceEdgeIterator(this, candidateFace); - } - } - return false; - } - void createFaceGroups() { - uint32_t group = 0; + uint32_t firstUnassignedFace = 0; + uint16_t group = 0; Array<uint32_t> growFaces; + const uint32_t n = faceCount(); + m_faceGroupNextFace.resize(n); for (;;) { // Find an unassigned face. uint32_t face = UINT32_MAX; - for (uint32_t f = 0; f < faceCount(); f++) { - if (m_faceGroups[f] == UINT32_MAX && !isFaceIgnored(f)) { + for (uint32_t f = firstUnassignedFace; f < n; f++) { + if (m_faceGroups[f] == kInvalidFaceGroup && !isFaceIgnored(f)) { face = f; + firstUnassignedFace = f + 1; break; } } if (face == UINT32_MAX) break; // All faces assigned to a group (except ignored faces). m_faceGroups[face] = group; + m_faceGroupNextFace[face] = UINT32_MAX; + m_faceGroupFirstFace.push_back(face); growFaces.clear(); growFaces.push_back(face); + uint32_t prevFace = face, groupFaceCount = 1; // Find faces connected to the face and assign them to the same group as the face, unless they are already assigned to another group. for (;;) { if (growFaces.isEmpty()) @@ -2340,24 +2584,38 @@ public: alreadyAssignedToThisGroup = true; break; } - if (m_faceGroups[oppositeFace] != UINT32_MAX) + if (m_faceGroups[oppositeFace] != kInvalidFaceGroup) continue; // Connected face is already assigned to another group. if (faceDuplicatesGroupEdge(group, oppositeFace)) continue; // Don't want duplicate edges in a group. - if (faceMirrorsGroupFace(group, oppositeFace)) - continue; // Don't want two-sided faces in a group. const uint32_t oppositeVertex0 = m_indices[meshEdgeIndex0(oppositeEdge)]; const uint32_t oppositeVertex1 = m_indices[meshEdgeIndex1(oppositeEdge)]; if (bestConnectedFace == UINT32_MAX || (oppositeVertex0 == edgeIt.vertex1() && oppositeVertex1 == edgeIt.vertex0())) bestConnectedFace = oppositeFace; +#if 0 + else { + // Choose the opposite face with the smallest dihedral angle. + const float d1 = 1.0f - dot(computeFaceNormal(f), computeFaceNormal(bestConnectedFace)); + const float d2 = 1.0f - dot(computeFaceNormal(f), computeFaceNormal(oppositeFace)); + if (d2 < d1) + bestConnectedFace = oppositeFace; + } +#endif } if (!alreadyAssignedToThisGroup && bestConnectedFace != UINT32_MAX) { m_faceGroups[bestConnectedFace] = group; + m_faceGroupNextFace[bestConnectedFace] = UINT32_MAX; + if (prevFace != UINT32_MAX) + m_faceGroupNextFace[prevFace] = bestConnectedFace; + prevFace = bestConnectedFace; + groupFaceCount++; growFaces.push_back(bestConnectedFace); } } } + m_faceGroupFaceCounts.push_back(groupFaceCount); group++; + XA_ASSERT(group < kInvalidFaceGroup); } } @@ -2366,29 +2624,27 @@ public: const uint32_t edgeCount = m_indices.size(); const uint32_t vertexCount = m_positions.size(); m_oppositeEdges.resize(edgeCount); - m_boundaryVertices.resize(vertexCount); + m_boundaryEdges.reserve(uint32_t(edgeCount * 0.1f)); + m_isBoundaryVertex.resize(vertexCount); + m_isBoundaryVertex.zeroOutMemory(); for (uint32_t i = 0; i < edgeCount; i++) m_oppositeEdges[i] = UINT32_MAX; - for (uint32_t i = 0; i < vertexCount; i++) - m_boundaryVertices[i] = false; - const bool hasFaceGroups = m_flags & MeshFlags::HasFaceGroups; - for (uint32_t i = 0; i < faceCount(); i++) { + const uint32_t faceCount = m_indices.size() / 3; + for (uint32_t i = 0; i < faceCount; i++) { if (isFaceIgnored(i)) continue; for (uint32_t j = 0; j < 3; j++) { - const uint32_t vertex0 = m_indices[i * 3 + j]; + const uint32_t edge = i * 3 + j; + const uint32_t vertex0 = m_indices[edge]; const uint32_t vertex1 = m_indices[i * 3 + (j + 1) % 3]; // If there is an edge with opposite winding to this one, the edge isn't on a boundary. - const uint32_t oppositeEdge = findEdge(hasFaceGroups ? m_faceGroups[i] : UINT32_MAX, vertex1, vertex0); + const uint32_t oppositeEdge = findEdge(vertex1, vertex0); if (oppositeEdge != UINT32_MAX) { -#if XA_DEBUG - if (hasFaceGroups) - XA_DEBUG_ASSERT(m_faceGroups[meshEdgeFace(oppositeEdge)] == m_faceGroups[i]); -#endif - XA_DEBUG_ASSERT(!isFaceIgnored(meshEdgeFace(oppositeEdge))); - m_oppositeEdges[i * 3 + j] = oppositeEdge; + m_oppositeEdges[edge] = oppositeEdge; } else { - m_boundaryVertices[vertex0] = m_boundaryVertices[vertex1] = true; + m_boundaryEdges.push_back(edge); + m_isBoundaryVertex.set(vertex0); + m_isBoundaryVertex.set(vertex1); } } } @@ -2407,12 +2663,12 @@ public: m_nextBoundaryEdges[i] = UINT32_MAX; uint32_t numBoundaryLoops = 0, numUnclosedBoundaries = 0; BitArray linkedEdges(edgeCount); - linkedEdges.clearAll(); + linkedEdges.zeroOutMemory(); for (;;) { // Find the first boundary edge that hasn't been linked yet. uint32_t firstEdge = UINT32_MAX; for (uint32_t i = 0; i < edgeCount; i++) { - if (m_oppositeEdges[i] == UINT32_MAX && !linkedEdges.bitAt(i)) { + if (m_oppositeEdges[i] == UINT32_MAX && !linkedEdges.get(i)) { firstEdge = i; break; } @@ -2430,12 +2686,8 @@ public: const uint32_t otherEdge = mapIndex / 2; // Two vertices added per edge. if (m_oppositeEdges[otherEdge] != UINT32_MAX) goto next; // Not a boundary edge. - if (linkedEdges.bitAt(otherEdge)) + if (linkedEdges.get(otherEdge)) goto next; // Already linked. - if (m_flags & MeshFlags::HasFaceGroups && m_faceGroups[meshEdgeFace(currentEdge)] != m_faceGroups[meshEdgeFace(otherEdge)]) - goto next; // Don't cross face groups. - if (isFaceIgnored(meshEdgeFace(otherEdge))) - goto next; // Face is ignored. if (m_indices[meshEdgeIndex0(otherEdge)] != it.vertex()) goto next; // Edge contains the vertex, but it's the wrong one. // First edge (closing the boundary loop) has the highest priority. @@ -2449,11 +2701,11 @@ public: if (bestNextEdge == UINT32_MAX) { numUnclosedBoundaries++; if (currentEdge == firstEdge) - linkedEdges.setBitAt(firstEdge); // Only 1 edge in this boundary "loop". + linkedEdges.set(firstEdge); // Only 1 edge in this boundary "loop". break; // Can't find a next edge. } m_nextBoundaryEdges[currentEdge] = bestNextEdge; - linkedEdges.setBitAt(bestNextEdge); + linkedEdges.set(bestNextEdge); currentEdge = bestNextEdge; if (currentEdge == firstEdge) { numBoundaryLoops++; @@ -2461,6 +2713,7 @@ public: } } } +#if XA_FIX_INTERNAL_BOUNDARY_LOOPS // Find internal boundary loops and separate them. // Detect by finding two edges in a boundary loop that have a colocal end vertex. // Fix by swapping their next boundary edge. @@ -2469,28 +2722,29 @@ public: fixInternalBoundary: meshGetBoundaryLoops(*this, boundaryLoops); for (uint32_t loop = 0; loop < boundaryLoops.size(); loop++) { - linkedEdges.clearAll(); - for (Mesh::BoundaryEdgeIterator it1(this, boundaryLoops[loop]); !it1.isDone(); it1.advance()) { + linkedEdges.zeroOutMemory(); + for (Mesh::BoundaryLoopEdgeIterator it1(this, boundaryLoops[loop]); !it1.isDone(); it1.advance()) { const uint32_t e1 = it1.edge(); - if (linkedEdges.bitAt(e1)) + if (linkedEdges.get(e1)) continue; - for (Mesh::BoundaryEdgeIterator it2(this, boundaryLoops[loop]); !it2.isDone(); it2.advance()) { + for (Mesh::BoundaryLoopEdgeIterator it2(this, boundaryLoops[loop]); !it2.isDone(); it2.advance()) { const uint32_t e2 = it2.edge(); - if (e1 == e2 || !isBoundaryEdge(e2) || linkedEdges.bitAt(e2)) + if (e1 == e2 || !isBoundaryEdge(e2) || linkedEdges.get(e2)) continue; if (!areColocal(m_indices[meshEdgeIndex1(e1)], m_indices[meshEdgeIndex1(e2)])) continue; swap(m_nextBoundaryEdges[e1], m_nextBoundaryEdges[e2]); - linkedEdges.setBitAt(e1); - linkedEdges.setBitAt(e2); + linkedEdges.set(e1); + linkedEdges.set(e2); goto fixInternalBoundary; // start over } } } +#endif } /// Find edge, test all colocals. - uint32_t findEdge(uint32_t faceGroup, uint32_t vertex0, uint32_t vertex1) const + uint32_t findEdge(uint32_t vertex0, uint32_t vertex1) const { uint32_t result = UINT32_MAX; if (m_nextColocalVertex.isEmpty()) { @@ -2498,7 +2752,7 @@ public: uint32_t edge = m_edgeMap.get(key); while (edge != UINT32_MAX) { // Don't find edges of ignored faces. - if ((faceGroup == UINT32_MAX || m_faceGroups[meshEdgeFace(edge)] == faceGroup) && !isFaceIgnored(meshEdgeFace(edge))) { + if (!isFaceIgnored(meshEdgeFace(edge))) { //XA_DEBUG_ASSERT(m_id != UINT32_MAX || (m_id == UINT32_MAX && result == UINT32_MAX)); // duplicate edge - ignore on initial meshes result = edge; #if !XA_DEBUG @@ -2514,7 +2768,7 @@ public: uint32_t edge = m_edgeMap.get(key); while (edge != UINT32_MAX) { // Don't find edges of ignored faces. - if ((faceGroup == UINT32_MAX || m_faceGroups[meshEdgeFace(edge)] == faceGroup) && !isFaceIgnored(meshEdgeFace(edge))) { + if (!isFaceIgnored(meshEdgeFace(edge))) { XA_DEBUG_ASSERT(m_id != UINT32_MAX || (m_id == UINT32_MAX && result == UINT32_MAX)); // duplicate edge - ignore on initial meshes result = edge; #if !XA_DEBUG @@ -2607,7 +2861,7 @@ public: { float area = 0; for (uint32_t f = 0; f < faceCount(); f++) - area += faceArea(f); + area += computeFaceArea(f); XA_DEBUG_ASSERT(area >= 0); return area; } @@ -2616,11 +2870,11 @@ public: { float area = 0; for (uint32_t f = 0; f < faceCount(); f++) - area += faceParametricArea(f); + area += computeFaceParametricArea(f); return fabsf(area); // May be negative, depends on texcoord winding. } - float faceArea(uint32_t face) const + float computeFaceArea(uint32_t face) const { const Vector3 &p0 = m_positions[m_indices[face * 3 + 0]]; const Vector3 &p1 = m_positions[m_indices[face * 3 + 1]]; @@ -2628,7 +2882,7 @@ public: return length(cross(p1 - p0, p2 - p0)) * 0.5f; } - Vector3 faceCentroid(uint32_t face) const + Vector3 computeFaceCentroid(uint32_t face) const { Vector3 sum(0.0f); for (uint32_t i = 0; i < 3; i++) @@ -2636,22 +2890,9 @@ public: return sum / 3.0f; } - Vector3 calculateFaceNormal(uint32_t face) const - { - return normalizeSafe(triangleNormalAreaScaled(face), Vector3(0, 0, 1), 0.0f); - } - - float faceParametricArea(uint32_t face) const - { - const Vector2 &t0 = m_texcoords[m_indices[face * 3 + 0]]; - const Vector2 &t1 = m_texcoords[m_indices[face * 3 + 1]]; - const Vector2 &t2 = m_texcoords[m_indices[face * 3 + 2]]; - return triangleArea(t0, t1, t2) * 0.5f; - } - // Average of the edge midpoints weighted by the edge length. // I want a point inside the triangle, but closer to the cirumcenter. - Vector3 triangleCenter(uint32_t face) const + Vector3 computeFaceCenter(uint32_t face) const { const Vector3 &p0 = m_positions[m_indices[face * 3 + 0]]; const Vector3 &p1 = m_positions[m_indices[face * 3 + 1]]; @@ -2665,22 +2906,25 @@ public: return m0 + m1 + m2; } - // Unnormalized face normal assuming it's a triangle. - Vector3 triangleNormal(uint32_t face) const - { - return normalizeSafe(triangleNormalAreaScaled(face), Vector3(0), 0.0f); - } - - Vector3 triangleNormalAreaScaled(uint32_t face) const + Vector3 computeFaceNormal(uint32_t face) const { const Vector3 &p0 = m_positions[m_indices[face * 3 + 0]]; const Vector3 &p1 = m_positions[m_indices[face * 3 + 1]]; const Vector3 &p2 = m_positions[m_indices[face * 3 + 2]]; const Vector3 e0 = p2 - p0; const Vector3 e1 = p1 - p0; - return cross(e0, e1); + const Vector3 normalAreaScaled = cross(e0, e1); + return normalizeSafe(normalAreaScaled, Vector3(0, 0, 1), 0.0f); } + float computeFaceParametricArea(uint32_t face) const + { + const Vector2 &t0 = m_texcoords[m_indices[face * 3 + 0]]; + const Vector2 &t1 = m_texcoords[m_indices[face * 3 + 1]]; + const Vector2 &t2 = m_texcoords[m_indices[face * 3 + 2]]; + return triangleArea(t0, t1, t2); + } + // @@ This is not exactly accurate, we should compare the texture coordinates... bool isSeam(uint32_t edge) const { @@ -2732,7 +2976,8 @@ public: XA_INLINE uint32_t edgeCount() const { return m_indices.size(); } XA_INLINE uint32_t oppositeEdge(uint32_t edge) const { return m_oppositeEdges[edge]; } XA_INLINE bool isBoundaryEdge(uint32_t edge) const { return m_oppositeEdges[edge] == UINT32_MAX; } - XA_INLINE bool isBoundaryVertex(uint32_t vertex) const { return m_boundaryVertices[vertex]; } + XA_INLINE const Array<uint32_t> &boundaryEdges() const { return m_boundaryEdges; } + XA_INLINE bool isBoundaryVertex(uint32_t vertex) const { return m_isBoundaryVertex.get(vertex); } XA_INLINE uint32_t colocalVertexCount() const { return m_colocalVertexCount; } XA_INLINE uint32_t vertexCount() const { return m_positions.size(); } XA_INLINE uint32_t vertexAt(uint32_t i) const { return m_indices[i]; } @@ -2740,10 +2985,14 @@ public: XA_INLINE const Vector3 &normal(uint32_t vertex) const { XA_DEBUG_ASSERT(m_flags & MeshFlags::HasNormals); return m_normals[vertex]; } XA_INLINE const Vector2 &texcoord(uint32_t vertex) const { return m_texcoords[vertex]; } XA_INLINE Vector2 &texcoord(uint32_t vertex) { return m_texcoords[vertex]; } + XA_INLINE const Vector2 *texcoords() const { return m_texcoords.data(); } XA_INLINE Vector2 *texcoords() { return m_texcoords.data(); } + XA_INLINE uint32_t ignoredFaceCount() const { return m_ignoredFaceCount; } XA_INLINE uint32_t faceCount() const { return m_indices.size() / 3; } - XA_INLINE uint32_t faceGroupCount() const { XA_DEBUG_ASSERT(m_flags & MeshFlags::HasFaceGroups); return m_faceGroups.size(); } - XA_INLINE uint32_t faceGroupAt(uint32_t face) const { XA_DEBUG_ASSERT(m_flags & MeshFlags::HasFaceGroups); return m_faceGroups[face]; } + XA_INLINE uint16_t faceGroupAt(uint32_t face) const { XA_DEBUG_ASSERT(m_flags & MeshFlags::HasFaceGroups); return m_faceGroups[face]; } + XA_INLINE uint32_t faceGroupCount() const { XA_DEBUG_ASSERT(m_flags & MeshFlags::HasFaceGroups); return m_faceGroupFaceCounts.size(); } + XA_INLINE uint32_t faceGroupNextFace(uint32_t face) const { XA_DEBUG_ASSERT(m_flags & MeshFlags::HasFaceGroups); return m_faceGroupNextFace[face]; } + XA_INLINE uint32_t faceGroupFaceCount(uint32_t group) const { XA_DEBUG_ASSERT(m_flags & MeshFlags::HasFaceGroups); return m_faceGroupFaceCounts[group]; } XA_INLINE const uint32_t *indices() const { return m_indices.data(); } XA_INLINE uint32_t indexCount() const { return m_indices.size(); } @@ -2754,18 +3003,25 @@ private: uint32_t m_flags; uint32_t m_id; Array<bool> m_faceIgnore; - Array<uint32_t> m_faceGroups; + uint32_t m_ignoredFaceCount; Array<uint32_t> m_indices; Array<Vector3> m_positions; Array<Vector3> m_normals; Array<Vector2> m_texcoords; + // Populated by createFaceGroups + Array<uint16_t> m_faceGroups; + Array<uint32_t> m_faceGroupFirstFace; + Array<uint32_t> m_faceGroupNextFace; // In: face. Out: the next face in the same group. + Array<uint32_t> m_faceGroupFaceCounts; // In: face group. Out: number of faces in the group. + // Populated by createColocals uint32_t m_colocalVertexCount; Array<uint32_t> m_nextColocalVertex; // In: vertex index. Out: the vertex index of the next colocal position. // Populated by createBoundaries - Array<bool> m_boundaryVertices; + BitArray m_isBoundaryVertex; + Array<uint32_t> m_boundaryEdges; Array<uint32_t> m_oppositeEdges; // In: edge index. Out: the index of the opposite edge (i.e. wound the opposite direction). UINT32_MAX if the input edge is a boundary edge. // Populated by linkBoundaries @@ -2776,28 +3032,24 @@ private: EdgeKey() {} EdgeKey(const EdgeKey &k) : v0(k.v0), v1(k.v1) {} EdgeKey(uint32_t v0, uint32_t v1) : v0(v0), v1(v1) {} - - void operator=(const EdgeKey &k) - { - v0 = k.v0; - v1 = k.v1; - } - bool operator==(const EdgeKey &k) const - { - return v0 == k.v0 && v1 == k.v1; - } + bool operator==(const EdgeKey &k) const { return v0 == k.v0 && v1 == k.v1; } uint32_t v0; uint32_t v1; }; - HashMap<EdgeKey> m_edgeMap; + struct EdgeHash + { + uint32_t operator()(const EdgeKey &k) const { return k.v0 * 32768u + k.v1; } + }; + + HashMap<EdgeKey, EdgeHash> m_edgeMap; public: - class BoundaryEdgeIterator + class BoundaryLoopEdgeIterator { public: - BoundaryEdgeIterator(const Mesh *mesh, uint32_t edge) : m_mesh(mesh), m_first(UINT32_MAX), m_current(edge) {} + BoundaryLoopEdgeIterator(const Mesh *mesh, uint32_t edge) : m_mesh(mesh), m_first(UINT32_MAX), m_current(edge) {} void advance() { @@ -2866,7 +3118,14 @@ public: public: ColocalEdgeIterator(const Mesh *mesh, uint32_t vertex0, uint32_t vertex1) : m_mesh(mesh), m_vertex0It(mesh, vertex0), m_vertex1It(mesh, vertex1), m_vertex1(vertex1) { - resetElement(); + do { + if (!resetElement()) { + advanceVertex1(); + } + else { + break; + } + } while (!isDone()); } void advance() @@ -2885,7 +3144,7 @@ public: } private: - void resetElement() + bool resetElement() { m_edge = m_mesh->m_edgeMap.get(Mesh::EdgeKey(m_vertex0It.vertex(), m_vertex1It.vertex())); while (m_edge != UINT32_MAX) { @@ -2893,8 +3152,10 @@ public: break; m_edge = m_mesh->m_edgeMap.getNext(m_edge); } - if (m_edge == UINT32_MAX) - advanceVertex1(); + if (m_edge == UINT32_MAX) { + return false; + } + return true; } void advanceElement() @@ -2910,22 +3171,22 @@ public: advanceVertex1(); } - void advanceVertex0() - { - m_vertex0It.advance(); - if (m_vertex0It.isDone()) - return; - m_vertex1It = ColocalVertexIterator(m_mesh, m_vertex1); - resetElement(); - } - void advanceVertex1() { - m_vertex1It.advance(); - if (m_vertex1It.isDone()) - advanceVertex0(); - else - resetElement(); + auto successful = false; + while (!successful) { + m_vertex1It.advance(); + if (m_vertex1It.isDone()) { + if (!m_vertex0It.isDone()) { + m_vertex0It.advance(); + m_vertex1It = ColocalVertexIterator(m_mesh, m_vertex1); + } + else { + return; + } + } + successful = resetElement(); + } } bool isIgnoredFace() const @@ -2976,16 +3237,8 @@ public: return meshEdgeFace(oedge); } - uint32_t vertex0() const - { - return m_mesh->m_indices[m_face * 3 + m_relativeEdge]; - } - - uint32_t vertex1() const - { - return m_mesh->m_indices[m_face * 3 + (m_relativeEdge + 1) % 3]; - } - + uint32_t vertex0() const { return m_mesh->m_indices[m_face * 3 + m_relativeEdge]; } + uint32_t vertex1() const { return m_mesh->m_indices[m_face * 3 + (m_relativeEdge + 1) % 3]; } const Vector3 &position0() const { return m_mesh->m_positions[vertex0()]; } const Vector3 &position1() const { return m_mesh->m_positions[vertex1()]; } const Vector3 &normal0() const { return m_mesh->m_normals[vertex0()]; } @@ -2999,8 +3252,39 @@ public: uint32_t m_edge; uint32_t m_relativeEdge; }; + + class GroupFaceIterator + { + public: + GroupFaceIterator(const Mesh *mesh, uint32_t group) : m_mesh(mesh) + { + XA_DEBUG_ASSERT(group != UINT32_MAX); + m_current = mesh->m_faceGroupFirstFace[group]; + } + + void advance() + { + m_current = m_mesh->m_faceGroupNextFace[m_current]; + } + + bool isDone() const + { + return m_current == UINT32_MAX; + } + + uint32_t face() const + { + return m_current; + } + + private: + const Mesh *m_mesh; + uint32_t m_current; + }; }; +constexpr uint16_t Mesh::kInvalidFaceGroup; + static bool meshCloseHole(Mesh *mesh, const Array<uint32_t> &holeVertices, const Vector3 &normal) { #if XA_CLOSE_HOLES_CHECK_EDGE_INTERSECTION @@ -3027,15 +3311,15 @@ static bool meshCloseHole(Mesh *mesh, const Array<uint32_t> &holeVertices, const const uint32_t i3 = (i + 1) % frontCount; const Vector3 edge1 = frontPoints[i1] - frontPoints[i2]; const Vector3 edge2 = frontPoints[i3] - frontPoints[i2]; - frontAngles[i] = acosf(dot(edge1, edge2) / (length(edge1) * length(edge2))); + frontAngles[i] = atan2f(length(cross(edge1, edge2)), dot(edge1, edge2)); if (frontAngles[i] >= smallestAngle || isNan(frontAngles[i])) continue; // Don't duplicate edges. - if (mesh->findEdge(UINT32_MAX, frontVertices[i1], frontVertices[i2]) != UINT32_MAX) + if (mesh->findEdge(frontVertices[i1], frontVertices[i2]) != UINT32_MAX) continue; - if (mesh->findEdge(UINT32_MAX, frontVertices[i2], frontVertices[i3]) != UINT32_MAX) + if (mesh->findEdge(frontVertices[i2], frontVertices[i3]) != UINT32_MAX) continue; - if (mesh->findEdge(UINT32_MAX, frontVertices[i3], frontVertices[i1]) != UINT32_MAX) + if (mesh->findEdge(frontVertices[i3], frontVertices[i1]) != UINT32_MAX) continue; /* Make sure he new edge that would be formed by (i3, i1) doesn't intersect any vertices. This often happens when fixing t-junctions. @@ -3128,9 +3412,10 @@ static bool meshCloseHole(Mesh *mesh, const Array<uint32_t> &holeVertices, const return true; } -static bool meshCloseHoles(Mesh *mesh, const Array<uint32_t> &boundaryLoops, const Vector3 &normal, Array<uint32_t> &holeFaceCounts) +static bool meshCloseHoles(Mesh *mesh, const Array<uint32_t> &boundaryLoops, const Vector3 &normal, uint32_t *holeCount, Array<uint32_t> *holeFaceCounts) { - holeFaceCounts.clear(); + if (holeFaceCounts) + holeFaceCounts->clear(); // Compute lengths. const uint32_t boundaryCount = boundaryLoops.size(); Array<float> boundaryLengths; @@ -3139,7 +3424,7 @@ static bool meshCloseHoles(Mesh *mesh, const Array<uint32_t> &boundaryLoops, con for (uint32_t i = 0; i < boundaryCount; i++) { float boundaryLength = 0.0f; boundaryEdgeCounts[i] = 0; - for (Mesh::BoundaryEdgeIterator it(mesh, boundaryLoops[i]); !it.isDone(); it.advance()) { + for (Mesh::BoundaryLoopEdgeIterator it(mesh, boundaryLoops[i]); !it.isDone(); it.advance()) { const Vector3 &t0 = mesh->position(mesh->vertexAt(meshEdgeIndex0(it.edge()))); const Vector3 &t1 = mesh->position(mesh->vertexAt(meshEdgeIndex1(it.edge()))); boundaryLength += length(t1 - t0); @@ -3167,7 +3452,7 @@ static bool meshCloseHoles(Mesh *mesh, const Array<uint32_t> &boundaryLoops, con holePoints.resize(boundaryEdgeCounts[i]); // Winding is backwards for internal boundaries. uint32_t e = 0; - for (Mesh::BoundaryEdgeIterator it(mesh, boundaryLoops[i]); !it.isDone(); it.advance()) { + for (Mesh::BoundaryLoopEdgeIterator it(mesh, boundaryLoops[i]); !it.isDone(); it.advance()) { const uint32_t vertex = mesh->vertexAt(meshEdgeIndex0(it.edge())); holeVertices[boundaryEdgeCounts[i] - 1 - e] = vertex; holePoints[boundaryEdgeCounts[i] - 1 - e] = mesh->position(vertex); @@ -3176,7 +3461,10 @@ static bool meshCloseHoles(Mesh *mesh, const Array<uint32_t> &boundaryLoops, con const uint32_t oldFaceCount = mesh->faceCount(); if (!meshCloseHole(mesh, holeVertices, normal)) result = false; // Return false if any hole failed to close, but keep trying to close other holes. - holeFaceCounts.push_back(mesh->faceCount() - oldFaceCount); + if (holeCount) + (*holeCount)++; + if (holeFaceCounts) + holeFaceCounts->push_back(mesh->faceCount() - oldFaceCount); } return result; } @@ -3307,104 +3595,18 @@ static void meshGetBoundaryLoops(const Mesh &mesh, Array<uint32_t> &boundaryLoop { const uint32_t edgeCount = mesh.edgeCount(); BitArray bitFlags(edgeCount); - bitFlags.clearAll(); + bitFlags.zeroOutMemory(); boundaryLoops.clear(); // Search for boundary edges. Mark all the edges that belong to the same boundary. for (uint32_t e = 0; e < edgeCount; e++) { - if (bitFlags.bitAt(e) || !mesh.isBoundaryEdge(e)) + if (bitFlags.get(e) || !mesh.isBoundaryEdge(e)) continue; - for (Mesh::BoundaryEdgeIterator it(&mesh, e); !it.isDone(); it.advance()) - bitFlags.setBitAt(it.edge()); + for (Mesh::BoundaryLoopEdgeIterator it(&mesh, e); !it.isDone(); it.advance()) + bitFlags.set(it.edge()); boundaryLoops.push_back(e); } } -class MeshTopology -{ -public: - MeshTopology(const Mesh *mesh) - { - const uint32_t vertexCount = mesh->colocalVertexCount(); - const uint32_t faceCount = mesh->faceCount(); - const uint32_t edgeCount = mesh->edgeCount(); - Array<uint32_t> stack(MemTag::Default); - stack.reserve(faceCount); - BitArray bitFlags(faceCount); - bitFlags.clearAll(); - // Compute connectivity. - m_connectedCount = 0; - for (uint32_t f = 0; f < faceCount; f++ ) { - if (bitFlags.bitAt(f) == false) { - m_connectedCount++; - stack.push_back(f); - while (!stack.isEmpty()) { - const uint32_t top = stack.back(); - XA_ASSERT(top != uint32_t(~0)); - stack.pop_back(); - if (bitFlags.bitAt(top) == false) { - bitFlags.setBitAt(top); - for (Mesh::FaceEdgeIterator it(mesh, top); !it.isDone(); it.advance()) { - const uint32_t oppositeFace = it.oppositeFace(); - if (oppositeFace != UINT32_MAX) - stack.push_back(oppositeFace); - } - } - } - } - } - XA_ASSERT(stack.isEmpty()); - // Count boundary loops. - m_boundaryCount = 0; - bitFlags.resize(edgeCount); - bitFlags.clearAll(); - // Don't forget to link the boundary otherwise this won't work. - for (uint32_t e = 0; e < edgeCount; e++) { - if (bitFlags.bitAt(e) || !mesh->isBoundaryEdge(e)) - continue; - m_boundaryCount++; - for (Mesh::BoundaryEdgeIterator it(mesh, e); !it.isDone(); it.advance()) - bitFlags.setBitAt(it.edge()); - } - // Compute euler number. - m_eulerNumber = vertexCount - edgeCount + faceCount; - // Compute genus. (only valid on closed connected surfaces) - m_genus = -1; - if (isClosed() && isConnected()) - m_genus = (2 - m_eulerNumber) / 2; - } - - /// Determine if the mesh is connected. - bool isConnected() const - { - return m_connectedCount == 1; - } - - /// Determine if the mesh is closed. (Each edge is shared by two faces) - bool isClosed() const - { - return m_boundaryCount == 0; - } - - /// Return true if the mesh has the topology of a disk. - bool isDisk() const - { - return isConnected() && m_boundaryCount == 1/* && m_eulerNumber == 1*/; - } - -private: - ///< Number of boundary loops. - int m_boundaryCount; - - ///< Number of connected components. - int m_connectedCount; - - ///< Euler number. - int m_eulerNumber; - - /// Mesh genus. - int m_genus; -}; - struct Progress { Progress(ProgressCategory::Enum category, ProgressFunc func, void *userData, uint32_t maxValue) : value(0), cancel(false), m_category(category), m_func(func), m_userData(userData), m_maxValue(maxValue), m_progress(0) @@ -3482,6 +3684,7 @@ class TaskScheduler public: TaskScheduler() : m_shutdown(false) { + m_threadIndex = 0; // Max with current task scheduler usage is 1 per thread + 1 deep nesting, but allow for some slop. m_maxGroups = std::thread::hardware_concurrency() * 4; m_groups = XA_ALLOC_ARRAY(MemTag::Default, TaskGroup, m_maxGroups); @@ -3494,7 +3697,7 @@ public: for (uint32_t i = 0; i < m_workers.size(); i++) { new (&m_workers[i]) Worker(); m_workers[i].wakeup = false; - m_workers[i].thread = XA_NEW_ARGS(MemTag::Default, std::thread, workerThread, this, &m_workers[i]); + m_workers[i].thread = XA_NEW_ARGS(MemTag::Default, std::thread, workerThread, this, &m_workers[i], i + 1); } } @@ -3517,6 +3720,11 @@ public: XA_FREE(m_groups); } + uint32_t threadCount() const + { + return max(1u, std::thread::hardware_concurrency()); // Including the main thread. + } + TaskGroupHandle createTaskGroup(uint32_t reserveSize = 0) { // Claim the first free group. @@ -3581,6 +3789,8 @@ public: handle->value = UINT32_MAX; } + static uint32_t currentThreadIndex() { return m_threadIndex; } + private: struct TaskGroup { @@ -3603,9 +3813,11 @@ private: uint32_t m_maxGroups; Array<Worker> m_workers; std::atomic<bool> m_shutdown; + static thread_local uint32_t m_threadIndex; - static void workerThread(TaskScheduler *scheduler, Worker *worker) + static void workerThread(TaskScheduler *scheduler, Worker *worker, uint32_t threadIndex) { + m_threadIndex = threadIndex; std::unique_lock<std::mutex> lock(worker->mutex); for (;;) { worker->cv.wait(lock, [=]{ return worker->wakeup.load(); }); @@ -3636,6 +3848,8 @@ private: } } }; + +thread_local uint32_t TaskScheduler::m_threadIndex; #else class TaskScheduler { @@ -3646,6 +3860,11 @@ public: destroyGroup({ i }); } + uint32_t threadCount() const + { + return 1; + } + TaskGroupHandle createTaskGroup(uint32_t reserveSize = 0) { TaskGroup *group = XA_NEW(MemTag::Default, TaskGroup); @@ -3675,6 +3894,8 @@ public: handle->value = UINT32_MAX; } + static uint32_t currentThreadIndex() { return 0; } + private: void destroyGroup(TaskGroupHandle handle) { @@ -3695,6 +3916,369 @@ private: }; #endif +#if XA_DEBUG_EXPORT_TGA +const uint8_t TGA_TYPE_RGB = 2; +const uint8_t TGA_ORIGIN_UPPER = 0x20; + +#pragma pack(push, 1) +struct TgaHeader +{ + uint8_t id_length; + uint8_t colormap_type; + uint8_t image_type; + uint16_t colormap_index; + uint16_t colormap_length; + uint8_t colormap_size; + uint16_t x_origin; + uint16_t y_origin; + uint16_t width; + uint16_t height; + uint8_t pixel_size; + uint8_t flags; + enum { Size = 18 }; +}; +#pragma pack(pop) + +static void WriteTga(const char *filename, const uint8_t *data, uint32_t width, uint32_t height) +{ + XA_DEBUG_ASSERT(sizeof(TgaHeader) == TgaHeader::Size); + FILE *f; + XA_FOPEN(f, filename, "wb"); + if (!f) + return; + TgaHeader tga; + tga.id_length = 0; + tga.colormap_type = 0; + tga.image_type = TGA_TYPE_RGB; + tga.colormap_index = 0; + tga.colormap_length = 0; + tga.colormap_size = 0; + tga.x_origin = 0; + tga.y_origin = 0; + tga.width = (uint16_t)width; + tga.height = (uint16_t)height; + tga.pixel_size = 24; + tga.flags = TGA_ORIGIN_UPPER; + fwrite(&tga, sizeof(TgaHeader), 1, f); + fwrite(data, sizeof(uint8_t), width * height * 3, f); + fclose(f); +} +#endif + +template<typename T> +class ThreadLocal +{ +public: + ThreadLocal() + { +#if XA_MULTITHREADED + const uint32_t n = std::thread::hardware_concurrency(); +#else + const uint32_t n = 1; +#endif + m_array = XA_ALLOC_ARRAY(MemTag::Default, T, n); + for (uint32_t i = 0; i < n; i++) + new (&m_array[i]) T; + } + + ~ThreadLocal() + { +#if XA_MULTITHREADED + const uint32_t n = std::thread::hardware_concurrency(); +#else + const uint32_t n = 1; +#endif + for (uint32_t i = 0; i < n; i++) + m_array[i].~T(); + XA_FREE(m_array); + } + + T &get() const + { + return m_array[TaskScheduler::currentThreadIndex()]; + } + +private: + T *m_array; +}; + +class UniformGrid2 +{ +public: + void reset(const Vector2 *positions, const uint32_t *indices = nullptr, uint32_t reserveEdgeCount = 0) + { + m_edges.clear(); + if (reserveEdgeCount > 0) + m_edges.reserve(reserveEdgeCount); + m_positions = positions; + m_indices = indices; + m_cellDataOffsets.clear(); + } + + void append(uint32_t edge) + { + XA_DEBUG_ASSERT(m_cellDataOffsets.isEmpty()); + m_edges.push_back(edge); + } + + bool intersect(Vector2 v1, Vector2 v2, float epsilon) + { + const uint32_t edgeCount = m_edges.size(); + bool bruteForce = edgeCount <= 64; + if (!bruteForce && m_cellDataOffsets.isEmpty()) + bruteForce = !createGrid(); + if (bruteForce) { + for (uint32_t j = 0; j < edgeCount; j++) { + const uint32_t edge = m_edges[j]; + if (linesIntersect(v1, v2, edgePosition0(edge), edgePosition1(edge), epsilon)) + return true; + } + } else { + computePotentialEdges(v1, v2); + uint32_t prevEdge = UINT32_MAX; + for (uint32_t j = 0; j < m_potentialEdges.size(); j++) { + const uint32_t edge = m_potentialEdges[j]; + if (edge == prevEdge) + continue; + if (linesIntersect(v1, v2, edgePosition0(edge), edgePosition1(edge), epsilon)) + return true; + prevEdge = edge; + } + } + return false; + } + + bool intersectSelf(float epsilon) + { + const uint32_t edgeCount = m_edges.size(); + bool bruteForce = edgeCount <= 64; + if (!bruteForce && m_cellDataOffsets.isEmpty()) + bruteForce = !createGrid(); + for (uint32_t i = 0; i < edgeCount; i++) { + const uint32_t edge1 = m_edges[i]; + if (bruteForce) { + for (uint32_t j = 0; j < edgeCount; j++) { + const uint32_t edge2 = m_edges[j]; + if (edgesIntersect(edge1, edge2, epsilon)) + return true; + } + } else { + computePotentialEdges(edgePosition0(edge1), edgePosition1(edge1)); + uint32_t prevEdge = UINT32_MAX; + for (uint32_t j = 0; j < m_potentialEdges.size(); j++) { + const uint32_t edge2 = m_potentialEdges[j]; + if (edge2 == prevEdge) + continue; + if (edgesIntersect(edge1, edge2, epsilon)) + return true; + prevEdge = edge2; + } + } + } + return false; + } + +#if XA_DEBUG_EXPORT_BOUNDARY_GRID + void debugExport(const char *filename) + { + Array<uint8_t> image; + image.resize(m_gridWidth * m_gridHeight * 3); + for (uint32_t y = 0; y < m_gridHeight; y++) { + for (uint32_t x = 0; x < m_gridWidth; x++) { + uint8_t *bgr = &image[(x + y * m_gridWidth) * 3]; + bgr[0] = bgr[1] = bgr[2] = 32; + uint32_t offset = m_cellDataOffsets[x + y * m_gridWidth]; + while (offset != UINT32_MAX) { + const uint32_t edge2 = m_cellData[offset]; + srand(edge2); + for (uint32_t i = 0; i < 3; i++) + bgr[i] = uint8_t(bgr[i] * 0.5f + (rand() % 255) * 0.5f); + offset = m_cellData[offset + 1]; + } + } + } + WriteTga(filename, image.data(), m_gridWidth, m_gridHeight); + } +#endif + +private: + bool createGrid() + { + // Compute edge extents. Min will be the grid origin. + const uint32_t edgeCount = m_edges.size(); + Extents2 edgeExtents; + edgeExtents.reset(); + for (uint32_t i = 0; i < edgeCount; i++) { + const uint32_t edge = m_edges[i]; + edgeExtents.add(edgePosition0(edge)); + edgeExtents.add(edgePosition1(edge)); + } + m_gridOrigin = edgeExtents.min; + // Size grid to approximately one edge per cell. + const Vector2 extentsSize(edgeExtents.max - edgeExtents.min); + m_cellSize = min(extentsSize.x, extentsSize.y) / sqrtf((float)edgeCount); + if (m_cellSize <= 0.0f) + return false; + m_gridWidth = uint32_t(ceilf(extentsSize.x / m_cellSize)); + m_gridHeight = uint32_t(ceilf(extentsSize.y / m_cellSize)); + if (m_gridWidth == 0 || m_gridHeight == 0) + return false; + // Insert edges into cells. + m_cellDataOffsets.resize(m_gridWidth * m_gridHeight); + for (uint32_t i = 0; i < m_cellDataOffsets.size(); i++) + m_cellDataOffsets[i] = UINT32_MAX; + m_cellData.clear(); + m_cellData.reserve(edgeCount * 2); + for (uint32_t i = 0; i < edgeCount; i++) { + const uint32_t edge = m_edges[i]; + traverse(edgePosition0(edge), edgePosition1(edge)); + XA_DEBUG_ASSERT(!m_traversedCellOffsets.isEmpty()); + for (uint32_t j = 0; j < m_traversedCellOffsets.size(); j++) { + const uint32_t cell = m_traversedCellOffsets[j]; + uint32_t offset = m_cellDataOffsets[cell]; + if (offset == UINT32_MAX) + m_cellDataOffsets[cell] = m_cellData.size(); + else { + for (;;) { + uint32_t &nextOffset = m_cellData[offset + 1]; + if (nextOffset == UINT32_MAX) { + nextOffset = m_cellData.size(); + break; + } + offset = nextOffset; + } + } + m_cellData.push_back(edge); + m_cellData.push_back(UINT32_MAX); + } + } + return true; + } + + void computePotentialEdges(Vector2 p1, Vector2 p2) + { + m_potentialEdges.clear(); + traverse(p1, p2); + for (uint32_t j = 0; j < m_traversedCellOffsets.size(); j++) { + const uint32_t cell = m_traversedCellOffsets[j]; + uint32_t offset = m_cellDataOffsets[cell]; + while (offset != UINT32_MAX) { + const uint32_t edge2 = m_cellData[offset]; + m_potentialEdges.push_back(edge2); + offset = m_cellData[offset + 1]; + } + } + if (m_potentialEdges.isEmpty()) + return; + insertionSort(m_potentialEdges.data(), m_potentialEdges.size()); + } + + // "A Fast Voxel Traversal Algorithm for Ray Tracing" + void traverse(Vector2 p1, Vector2 p2) + { + const Vector2 dir = p2 - p1; + const Vector2 normal = normalizeSafe(dir, Vector2(0.0f), kEpsilon); + const int stepX = dir.x >= 0 ? 1 : -1; + const int stepY = dir.y >= 0 ? 1 : -1; + const uint32_t firstCell[2] = { cellX(p1.x), cellY(p1.y) }; + const uint32_t lastCell[2] = { cellX(p2.x), cellY(p2.y) }; + float distToNextCellX; + if (stepX == 1) + distToNextCellX = (firstCell[0] + 1) * m_cellSize - (p1.x - m_gridOrigin.x); + else + distToNextCellX = (p1.x - m_gridOrigin.x) - firstCell[0] * m_cellSize; + float distToNextCellY; + if (stepY == 1) + distToNextCellY = (firstCell[1] + 1) * m_cellSize - (p1.y - m_gridOrigin.y); + else + distToNextCellY = (p1.y - m_gridOrigin.y) - firstCell[1] * m_cellSize; + float tMaxX, tMaxY, tDeltaX, tDeltaY; + if (normal.x > kEpsilon || normal.x < -kEpsilon) { + tMaxX = (distToNextCellX * stepX) / normal.x; + tDeltaX = (m_cellSize * stepX) / normal.x; + } + else + tMaxX = tDeltaX = FLT_MAX; + if (normal.y > kEpsilon || normal.y < -kEpsilon) { + tMaxY = (distToNextCellY * stepY) / normal.y; + tDeltaY = (m_cellSize * stepY) / normal.y; + } + else + tMaxY = tDeltaY = FLT_MAX; + m_traversedCellOffsets.clear(); + m_traversedCellOffsets.push_back(firstCell[0] + firstCell[1] * m_gridWidth); + uint32_t currentCell[2] = { firstCell[0], firstCell[1] }; + while (!(currentCell[0] == lastCell[0] && currentCell[1] == lastCell[1])) { + if (tMaxX < tMaxY) { + tMaxX += tDeltaX; + currentCell[0] += stepX; + } else { + tMaxY += tDeltaY; + currentCell[1] += stepY; + } + if (currentCell[0] >= m_gridWidth || currentCell[1] >= m_gridHeight) + break; + if (stepX == 0 && currentCell[0] < lastCell[0]) + break; + if (stepX == 1 && currentCell[0] > lastCell[0]) + break; + if (stepY == 0 && currentCell[1] < lastCell[1]) + break; + if (stepY == 1 && currentCell[1] > lastCell[1]) + break; + m_traversedCellOffsets.push_back(currentCell[0] + currentCell[1] * m_gridWidth); + } + } + + bool edgesIntersect(uint32_t edge1, uint32_t edge2, float epsilon) const + { + if (edge1 == edge2) + return false; + const uint32_t ai[2] = { vertexAt(meshEdgeIndex0(edge1)), vertexAt(meshEdgeIndex1(edge1)) }; + const uint32_t bi[2] = { vertexAt(meshEdgeIndex0(edge2)), vertexAt(meshEdgeIndex1(edge2)) }; + // Ignore connected edges, since they can't intersect (only overlap), and may be detected as false positives. + if (ai[0] == bi[0] || ai[0] == bi[1] || ai[1] == bi[0] || ai[1] == bi[1]) + return false; + return linesIntersect(m_positions[ai[0]], m_positions[ai[1]], m_positions[bi[0]], m_positions[bi[1]], epsilon); + } + + uint32_t cellX(float x) const + { + return min((uint32_t)max(0.0f, (x - m_gridOrigin.x) / m_cellSize), m_gridWidth - 1u); + } + + uint32_t cellY(float y) const + { + return min((uint32_t)max(0.0f, (y - m_gridOrigin.y) / m_cellSize), m_gridHeight - 1u); + } + + Vector2 edgePosition0(uint32_t edge) const + { + return m_positions[vertexAt(meshEdgeIndex0(edge))]; + } + + Vector2 edgePosition1(uint32_t edge) const + { + return m_positions[vertexAt(meshEdgeIndex1(edge))]; + } + + uint32_t vertexAt(uint32_t index) const + { + return m_indices ? m_indices[index] : index; + } + + Array<uint32_t> m_edges; + const Vector2 *m_positions; + const uint32_t *m_indices; // Optional + float m_cellSize; + Vector2 m_gridOrigin; + uint32_t m_gridWidth, m_gridHeight; // in cells + Array<uint32_t> m_cellDataOffsets; + Array<uint32_t> m_cellData; + Array<uint32_t> m_potentialEdges; + Array<uint32_t> m_traversedCellOffsets; +}; + struct UvMeshChart { Array<uint32_t> faces; @@ -3834,15 +4418,16 @@ struct Triangle // make sure every triangle is front facing. flipBackface(); // Compute deltas. - computeUnitInwardNormals(); + if (isValid()) + computeUnitInwardNormals(); } bool isValid() { const Vector2 e0 = v3 - v1; const Vector2 e1 = v2 - v1; - const float denom = 1.0f / (e0.y * e1.x - e1.y * e0.x); - return isFinite(denom); + const float area = e0.y * e1.x - e1.y * e0.x; + return area != 0.0f; } // extents has to be multiple of BK_SIZE!! @@ -3926,6 +4511,7 @@ struct Triangle return true; } +private: void flipBackface() { // check if triangle is backfacing, if so, swap two vertices @@ -3941,13 +4527,13 @@ struct Triangle { n1 = v1 - v2; n1 = Vector2(-n1.y, n1.x); - n1 = n1 * (1.0f / sqrtf(n1.x * n1.x + n1.y * n1.y)); + n1 = n1 * (1.0f / sqrtf(dot(n1, n1))); n2 = v2 - v3; n2 = Vector2(-n2.y, n2.x); - n2 = n2 * (1.0f / sqrtf(n2.x * n2.x + n2.y * n2.y)); + n2 = n2 * (1.0f / sqrtf(dot(n2, n2))); n3 = v3 - v1; n3 = Vector2(-n3.y, n3.x); - n3 = n3 * (1.0f / sqrtf(n3.x * n3.x + n3.y * n3.y)); + n3 = n3 * (1.0f / sqrtf(dot(n3, n3))); } // Vertices. @@ -3990,28 +4576,33 @@ public: float v; // value }; - Matrix(uint32_t d) : m_width(d) + Matrix(uint32_t d) : m_width(d), m_array(MemTag::Matrix) { m_array.resize(d); - for (uint32_t i = 0; i < m_array.size(); i++) - new (&m_array[i]) Array<Coefficient>(); + m_array.runCtors(); +#if XA_DEBUG_HEAP + for (uint32_t i = 0; i < d; i++) + m_array[i].setMemTag(MemTag::Matrix); +#endif } - Matrix(uint32_t w, uint32_t h) : m_width(w) + Matrix(uint32_t w, uint32_t h) : m_width(w), m_array(MemTag::Matrix) { m_array.resize(h); - for (uint32_t i = 0; i < m_array.size(); i++) - new (&m_array[i]) Array<Coefficient>(); + m_array.runCtors(); +#if XA_DEBUG_HEAP + for (uint32_t i = 0; i < h; i++) + m_array[i].setMemTag(MemTag::Matrix); +#endif } ~Matrix() { - for (uint32_t i = 0; i < m_array.size(); i++) - m_array[i].~Array(); + m_array.runDtors(); } Matrix(const Matrix &m) = delete; - const Matrix &operator=(const Matrix &m) = delete; + Matrix &operator=(const Matrix &m) = delete; uint32_t width() const { return m_width; } uint32_t height() const { return m_array.size(); } bool isSquare() const { return width() == height(); } @@ -4211,164 +4802,164 @@ static void mult(const Matrix &A, const Matrix &B, Matrix &C) namespace segment { -// Dummy implementation of a priority queue using sort at insertion. // - Insertion is o(n) // - Smallest element goes at the end, so that popping it is o(1). -// - Resorting is n*log(n) -// @@ Number of elements in the queue is usually small, and we'd have to rebalance often. I'm not sure it's worth implementing a heap. -// @@ Searcing at removal would remove the need for sorting when priorities change. -struct PriorityQueue +struct CostQueue { - PriorityQueue(uint32_t size = UINT32_MAX) : maxSize(size) {} + CostQueue(uint32_t size = UINT32_MAX) : m_maxSize(size), m_pairs(MemTag::SegmentAtlasChartCandidates) {} - void push(float priority, uint32_t face) + float peekCost() const { - uint32_t i = 0; - const uint32_t count = pairs.size(); - for (; i < count; i++) { - if (pairs[i].priority > priority) break; - } - Pair p = { priority, face }; - pairs.insertAt(i, p); - if (pairs.size() > maxSize) - pairs.removeAt(0); + return m_pairs.back().cost; } - // push face out of order, to be sorted later. - void push(uint32_t face) + uint32_t peekFace() const { - Pair p = { 0.0f, face }; - pairs.push_back(p); + return m_pairs.back().face; } - uint32_t pop() + void push(float cost, uint32_t face) { - XA_DEBUG_ASSERT(!pairs.isEmpty()); - uint32_t f = pairs.back().face; - pairs.pop_back(); - return f; + const Pair p = { cost, face }; + if (m_pairs.isEmpty() || cost < peekCost()) + m_pairs.push_back(p); + else { + uint32_t i = 0; + const uint32_t count = m_pairs.size(); + for (; i < count; i++) { + if (m_pairs[i].cost < cost) + break; + } + m_pairs.insertAt(i, p); + if (m_pairs.size() > m_maxSize) + m_pairs.removeAt(0); + } } - void sort() + uint32_t pop() { - //sort(pairs); // @@ My intro sort appears to be much slower than it should! - std::sort(pairs.begin(), pairs.end()); + XA_DEBUG_ASSERT(!m_pairs.isEmpty()); + uint32_t f = m_pairs.back().face; + m_pairs.pop_back(); + return f; } XA_INLINE void clear() { - pairs.clear(); + m_pairs.clear(); } XA_INLINE uint32_t count() const { - return pairs.size(); + return m_pairs.size(); } - float firstPriority() const - { - return pairs.back().priority; - } - - const uint32_t maxSize; +private: + const uint32_t m_maxSize; struct Pair { - bool operator<(const Pair &p) const - { - return priority > p.priority; // !! Sort in inverse priority order! - } - - float priority; + float cost; uint32_t face; }; - Array<Pair> pairs; + Array<Pair> m_pairs; }; struct Chart { + Chart() : faces(MemTag::SegmentAtlasChartFaces) {} + int id = -1; - Vector3 averageNormal = Vector3(0.0f); + Basis basis; // Best fit normal. float area = 0.0f; float boundaryLength = 0.0f; - Vector3 normalSum = Vector3(0.0f); Vector3 centroidSum = Vector3(0.0f); // Sum of chart face centroids. Vector3 centroid = Vector3(0.0f); // Average centroid of chart faces. Array<uint32_t> seeds; Array<uint32_t> faces; - PriorityQueue candidates; - Basis basis; // Of first face. + Array<uint32_t> failedPlanarRegions; + CostQueue candidates; }; struct Atlas { - // @@ Hardcoded to 10? - Atlas(const Mesh *mesh, Array<uint32_t> *meshFaces, const ChartOptions &options) : m_mesh(mesh), m_meshFaces(meshFaces), m_facesLeft(mesh->faceCount()), m_bestTriangles(10), m_options(options) + Atlas() : m_edgeLengths(MemTag::SegmentAtlasMeshData), m_faceAreas(MemTag::SegmentAtlasMeshData), m_faceNormals(MemTag::SegmentAtlasMeshData), m_texcoords(MemTag::SegmentAtlasMeshData), m_bestTriangles(10), m_nextPlanarRegionFace(MemTag::SegmentAtlasPlanarRegions), m_facePlanarRegionId(MemTag::SegmentAtlasPlanarRegions) {} + + ~Atlas() + { + const uint32_t chartCount = m_charts.size(); + for (uint32_t i = 0; i < chartCount; i++) { + m_charts[i]->~Chart(); + XA_FREE(m_charts[i]); + } + } + + uint32_t facesLeft() const { return m_facesLeft; } + uint32_t chartCount() const { return m_charts.size(); } + const Array<uint32_t> &chartFaces(uint32_t i) const { return m_charts[i]->faces; } + const Basis &chartBasis(uint32_t chartIndex) const { return m_charts[chartIndex]->basis; } + + void reset(uint32_t meshId, uint32_t chartGroupId, const Mesh *mesh, const ChartOptions &options) { + XA_UNUSED(meshId); + XA_UNUSED(chartGroupId); XA_PROFILE_START(buildAtlasInit) + m_mesh = mesh; const uint32_t faceCount = m_mesh->faceCount(); - if (meshFaces) { - m_ignoreFaces.resize(faceCount); - m_ignoreFaces.setAll(true); - for (uint32_t f = 0; f < meshFaces->size(); f++) - m_ignoreFaces[(*meshFaces)[f]] = false; - m_facesLeft = meshFaces->size(); - } else { - m_ignoreFaces.resize(faceCount); - m_ignoreFaces.setAll(false); + m_facesLeft = faceCount; + m_options = options; + m_rand.reset(); + const uint32_t chartCount = m_charts.size(); + for (uint32_t i = 0; i < chartCount; i++) { + m_charts[i]->~Chart(); + XA_FREE(m_charts[i]); } - m_faceChartArray.resize(faceCount); - m_faceChartArray.setAll(-1); - m_faceCandidateCharts.resize(faceCount); - m_faceCandidateCosts.resize(faceCount); + m_charts.clear(); + m_faceCharts.resize(faceCount); + m_faceCharts.setAll(-1); m_texcoords.resize(faceCount * 3); - // @@ Floyd for the whole mesh is too slow. We could compute floyd progressively per patch as the patch grows. We need a better solution to compute most central faces. - //computeShortestPaths(); // Precompute edge lengths and face areas. const uint32_t edgeCount = m_mesh->edgeCount(); m_edgeLengths.resize(edgeCount); - m_edgeLengths.zeroOutMemory(); m_faceAreas.resize(faceCount); - m_faceAreas.zeroOutMemory(); m_faceNormals.resize(faceCount); - m_faceTangents.resize(faceCount); - m_faceBitangents.resize(faceCount); for (uint32_t f = 0; f < faceCount; f++) { - if (m_ignoreFaces[f]) - continue; - for (Mesh::FaceEdgeIterator it(m_mesh, f); !it.isDone(); it.advance()) { - m_edgeLengths[it.edge()] = internal::length(it.position1() - it.position0()); - XA_DEBUG_ASSERT(m_edgeLengths[it.edge()] > 0.0f); + for (uint32_t i = 0; i < 3; i++) { + const uint32_t edge = f * 3 + i; + const Vector3 &p0 = mesh->position(m_mesh->vertexAt(meshEdgeIndex0(edge))); + const Vector3 &p1 = mesh->position(m_mesh->vertexAt(meshEdgeIndex1(edge))); + m_edgeLengths[edge] = length(p1 - p0); + XA_DEBUG_ASSERT(m_edgeLengths[edge] > 0.0f); } - m_faceAreas[f] = mesh->faceArea(f); + m_faceAreas[f] = m_mesh->computeFaceArea(f); XA_DEBUG_ASSERT(m_faceAreas[f] > 0.0f); - m_faceNormals[f] = m_mesh->triangleNormal(f); - m_faceTangents[f] = Basis::computeTangent(m_faceNormals[f]); - m_faceBitangents[f] = Basis::computeBitangent(m_faceNormals[f], m_faceTangents[f]); + m_faceNormals[f] = m_mesh->computeFaceNormal(f); } -#if XA_GROW_CHARTS_COPLANAR // Precompute regions of coplanar incident faces. m_nextPlanarRegionFace.resize(faceCount); - for (uint32_t f = 0; f < faceCount; f++) + m_facePlanarRegionId.resize(faceCount); + for (uint32_t f = 0; f < faceCount; f++) { m_nextPlanarRegionFace[f] = f; + m_facePlanarRegionId[f] = UINT32_MAX; + } Array<uint32_t> faceStack; faceStack.reserve(min(faceCount, 16u)); + uint32_t planarRegionCount = 0; for (uint32_t f = 0; f < faceCount; f++) { if (m_nextPlanarRegionFace[f] != f) continue; // Already assigned. - if (m_ignoreFaces[f]) - continue; faceStack.clear(); faceStack.push_back(f); for (;;) { if (faceStack.isEmpty()) break; const uint32_t face = faceStack.back(); + m_facePlanarRegionId[face] = planarRegionCount; faceStack.pop_back(); for (Mesh::FaceEdgeIterator it(m_mesh, face); !it.isDone(); it.advance()) { const uint32_t oface = it.oppositeFace(); - if (it.isBoundary() || m_ignoreFaces[oface]) + if (it.isBoundary()) continue; if (m_nextPlanarRegionFace[oface] != oface) continue; // Already assigned. @@ -4377,29 +4968,33 @@ struct Atlas const uint32_t next = m_nextPlanarRegionFace[face]; m_nextPlanarRegionFace[face] = oface; m_nextPlanarRegionFace[oface] = next; + m_facePlanarRegionId[oface] = planarRegionCount; faceStack.push_back(oface); } } + planarRegionCount++; + } +#if XA_DEBUG_EXPORT_OBJ_PLANAR_REGIONS + char filename[256]; + XA_SPRINTF(filename, sizeof(filename), "debug_mesh_%03u_chartgroup_%03u_planar_regions.obj", meshId, chartGroupId); + FILE *file; + XA_FOPEN(file, filename, "w"); + if (file) { + m_mesh->writeObjVertices(file); + fprintf(file, "s off\n"); + for (uint32_t i = 0; i < planarRegionCount; i++) { + fprintf(file, "o region%u\n", i); + for (uint32_t j = 0; j < faceCount; j++) { + if (m_facePlanarRegionId[j] == i) + m_mesh->writeObjFace(file, j); + } + } + fclose(file); } #endif XA_PROFILE_END(buildAtlasInit) } - ~Atlas() - { - const uint32_t chartCount = m_chartArray.size(); - for (uint32_t i = 0; i < chartCount; i++) { - m_chartArray[i]->~Chart(); - XA_FREE(m_chartArray[i]); - } - } - - uint32_t facesLeft() const { return m_facesLeft; } - uint32_t chartCount() const { return m_chartArray.size(); } - const Array<uint32_t> &chartFaces(uint32_t i) const { return m_chartArray[i]->faces; } - const Basis &chartBasis(uint32_t chartIndex) const { return m_chartArray[chartIndex]->basis; } - const Vector2 *faceTexcoords(uint32_t face) const { return &m_texcoords[face * 3]; } - void placeSeeds(float threshold) { XA_PROFILE_START(buildAtlasPlaceSeeds) @@ -4415,28 +5010,51 @@ struct Atlas } // Returns true if any of the charts can grow more. - bool growCharts(float threshold) + void growCharts(float threshold) { XA_PROFILE_START(buildAtlasGrowCharts) - // Build global candidate list. - m_faceCandidateCharts.zeroOutMemory(); - for (uint32_t i = 0; i < m_chartArray.size(); i++) - addChartCandidateToGlobalCandidates(m_chartArray[i]); - // Add one candidate face per chart (threshold permitting). - const uint32_t faceCount = m_mesh->faceCount(); - bool canAddAny = false; - for (uint32_t f = 0; f < faceCount; f++) { - Chart *chart = m_faceCandidateCharts[f]; - if (!chart || m_faceCandidateCosts[f] > threshold) - continue; - createFaceTexcoords(chart, f); - if (!canAddFaceToChart(chart, f)) - continue; - addFaceToChart(chart, f); - canAddAny = true; + for (;;) { + if (m_facesLeft == 0) + break; + // Get the single best candidate out of the chart best candidates. + uint32_t bestFace = UINT32_MAX, bestChart = UINT32_MAX; + float lowestCost = FLT_MAX; + for (uint32_t i = 0; i < m_charts.size(); i++) { + Chart *chart = m_charts[i]; + // Get the best candidate from the chart. + // Cleanup any best candidates that have been claimed by another chart. + uint32_t face = UINT32_MAX; + float cost = FLT_MAX; + for (;;) { + if (chart->candidates.count() == 0) + break; + cost = chart->candidates.peekCost(); + face = chart->candidates.peekFace(); + if (m_faceCharts[face] == -1) + break; + else { + // Face belongs to another chart. Pop from queue so the next best candidate can be retrieved. + chart->candidates.pop(); + face = UINT32_MAX; + } + } + if (face == UINT32_MAX) + continue; // No candidates for this chart. + // See if best candidate overall. + if (cost < lowestCost) { + lowestCost = cost; + bestFace = face; + bestChart = i; + } + } + if (bestFace == UINT32_MAX || lowestCost > threshold) + break; + Chart *chart = m_charts[bestChart]; + chart->candidates.pop(); // Pop the selected candidate from the queue. + if (!addFaceToChart(chart, bestFace)) + chart->failedPlanarRegions.push_back(m_facePlanarRegionId[bestFace]); } XA_PROFILE_END(buildAtlasGrowCharts) - return canAddAny && m_facesLeft != 0; // Can continue growing. } void resetCharts() @@ -4444,53 +5062,34 @@ struct Atlas XA_PROFILE_START(buildAtlasResetCharts) const uint32_t faceCount = m_mesh->faceCount(); for (uint32_t i = 0; i < faceCount; i++) - m_faceChartArray[i] = -1; - m_facesLeft = m_meshFaces ? m_meshFaces->size() : faceCount; - const uint32_t chartCount = m_chartArray.size(); + m_faceCharts[i] = -1; + m_facesLeft = faceCount; + const uint32_t chartCount = m_charts.size(); for (uint32_t i = 0; i < chartCount; i++) { - Chart *chart = m_chartArray[i]; + Chart *chart = m_charts[i]; const uint32_t seed = chart->seeds.back(); chart->area = 0.0f; chart->boundaryLength = 0.0f; - chart->normalSum = Vector3(0.0f); + chart->basis.normal = Vector3(0.0f); + chart->basis.tangent = Vector3(0.0f); + chart->basis.bitangent = Vector3(0.0f); chart->centroidSum = Vector3(0.0f); chart->centroid = Vector3(0.0f); chart->faces.clear(); chart->candidates.clear(); + chart->failedPlanarRegions.clear(); addFaceToChart(chart, seed); } -#if XA_GROW_CHARTS_COPLANAR - for (uint32_t i = 0; i < chartCount; i++) { - Chart *chart = m_chartArray[i]; - growChartCoplanar(chart); - } -#endif XA_PROFILE_END(buildAtlasResetCharts) } - void updateChartCandidates(Chart *chart, uint32_t f) - { - // Traverse neighboring faces, add the ones that do not belong to any chart yet. - for (Mesh::FaceEdgeIterator it(m_mesh, f); !it.isDone(); it.advance()) { - if (!it.isBoundary() && !m_ignoreFaces[it.oppositeFace()] && m_faceChartArray[it.oppositeFace()] == -1) - chart->candidates.push(it.oppositeFace()); - } - // Re-evaluate all candidate priorities. - uint32_t candidateCount = chart->candidates.count(); - for (uint32_t i = 0; i < candidateCount; i++) { - PriorityQueue::Pair &pair = chart->candidates.pairs[i]; - pair.priority = evaluateCost(chart, pair.face); - } - chart->candidates.sort(); - } - bool relocateSeeds() { XA_PROFILE_START(buildAtlasRelocateSeeds) bool anySeedChanged = false; - const uint32_t chartCount = m_chartArray.size(); + const uint32_t chartCount = m_charts.size(); for (uint32_t i = 0; i < chartCount; i++) { - if (relocateSeed(m_chartArray[i])) { + if (relocateSeed(m_charts[i])) { anySeedChanged = true; } } @@ -4510,45 +5109,38 @@ struct Atlas void mergeCharts() { XA_PROFILE_START(buildAtlasMergeCharts) - Array<float> sharedBoundaryLengths; - Array<float> sharedBoundaryLengthsNoSeams; - Array<uint32_t> sharedBoundaryEdgeCountNoSeams; - Array<Vector2> tempTexcoords; - const uint32_t chartCount = m_chartArray.size(); + const uint32_t chartCount = m_charts.size(); // Merge charts progressively until there's none left to merge. for (;;) { bool merged = false; for (int c = chartCount - 1; c >= 0; c--) { - Chart *chart = m_chartArray[c]; + Chart *chart = m_charts[c]; if (chart == nullptr) continue; float externalBoundaryLength = 0.0f; - sharedBoundaryLengths.clear(); - sharedBoundaryLengths.resize(chartCount); - sharedBoundaryLengths.zeroOutMemory(); - sharedBoundaryLengthsNoSeams.clear(); - sharedBoundaryLengthsNoSeams.resize(chartCount); - sharedBoundaryLengthsNoSeams.zeroOutMemory(); - sharedBoundaryEdgeCountNoSeams.clear(); - sharedBoundaryEdgeCountNoSeams.resize(chartCount); - sharedBoundaryEdgeCountNoSeams.zeroOutMemory(); + m_sharedBoundaryLengths.resize(chartCount); + m_sharedBoundaryLengths.zeroOutMemory(); + m_sharedBoundaryLengthsNoSeams.resize(chartCount); + m_sharedBoundaryLengthsNoSeams.zeroOutMemory(); + m_sharedBoundaryEdgeCountNoSeams.resize(chartCount); + m_sharedBoundaryEdgeCountNoSeams.zeroOutMemory(); const uint32_t faceCount = chart->faces.size(); for (uint32_t i = 0; i < faceCount; i++) { const uint32_t f = chart->faces[i]; for (Mesh::FaceEdgeIterator it(m_mesh, f); !it.isDone(); it.advance()) { const float l = m_edgeLengths[it.edge()]; - if (it.isBoundary() || m_ignoreFaces[it.oppositeFace()]) { + if (it.isBoundary()) { externalBoundaryLength += l; } else { - const int neighborChart = m_faceChartArray[it.oppositeFace()]; - if (m_chartArray[neighborChart] != chart) { + const int neighborChart = m_faceCharts[it.oppositeFace()]; + if (m_charts[neighborChart] != chart) { if ((it.isSeam() && (isNormalSeam(it.edge()) || it.isTextureSeam()))) { externalBoundaryLength += l; } else { - sharedBoundaryLengths[neighborChart] += l; + m_sharedBoundaryLengths[neighborChart] += l; } - sharedBoundaryLengthsNoSeams[neighborChart] += l; - sharedBoundaryEdgeCountNoSeams[neighborChart]++; + m_sharedBoundaryLengthsNoSeams[neighborChart] += l; + m_sharedBoundaryEdgeCountNoSeams[neighborChart]++; } } } @@ -4556,50 +5148,38 @@ struct Atlas for (int cc = chartCount - 1; cc >= 0; cc--) { if (cc == c) continue; - Chart *chart2 = m_chartArray[cc]; + Chart *chart2 = m_charts[cc]; if (chart2 == nullptr) continue; + // Must share a boundary. + if (m_sharedBoundaryLengths[cc] <= 0.0f) + continue; // Compare proxies. - if (dot(chart2->averageNormal, chart->averageNormal) < XA_MERGE_CHARTS_MIN_NORMAL_DEVIATION) + if (dot(chart2->basis.normal, chart->basis.normal) < XA_MERGE_CHARTS_MIN_NORMAL_DEVIATION) continue; // Obey max chart area and boundary length. if (m_options.maxChartArea > 0.0f && chart->area + chart2->area > m_options.maxChartArea) continue; - if (m_options.maxBoundaryLength > 0.0f && chart->boundaryLength + chart2->boundaryLength - sharedBoundaryLengthsNoSeams[cc] > m_options.maxBoundaryLength) + if (m_options.maxBoundaryLength > 0.0f && chart->boundaryLength + chart2->boundaryLength - m_sharedBoundaryLengthsNoSeams[cc] > m_options.maxBoundaryLength) continue; // Merge if chart2 has a single face. // chart1 must have more than 1 face. // chart2 area must be <= 10% of chart1 area. - if (sharedBoundaryLengthsNoSeams[cc] > 0.0f && chart->faces.size() > 1 && chart2->faces.size() == 1 && chart2->area <= chart->area * 0.1f) + if (m_sharedBoundaryLengthsNoSeams[cc] > 0.0f && chart->faces.size() > 1 && chart2->faces.size() == 1 && chart2->area <= chart->area * 0.1f) goto merge; // Merge if chart2 has two faces (probably a quad), and chart1 bounds at least 2 of its edges. - if (chart2->faces.size() == 2 && sharedBoundaryEdgeCountNoSeams[cc] >= 2) + if (chart2->faces.size() == 2 && m_sharedBoundaryEdgeCountNoSeams[cc] >= 2) goto merge; // Merge if chart2 is wholely inside chart1, ignoring seams. - if (sharedBoundaryLengthsNoSeams[cc] > 0.0f && equal(sharedBoundaryLengthsNoSeams[cc], chart2->boundaryLength, kEpsilon)) + if (m_sharedBoundaryLengthsNoSeams[cc] > 0.0f && equal(m_sharedBoundaryLengthsNoSeams[cc], chart2->boundaryLength, kEpsilon)) goto merge; - if (sharedBoundaryLengths[cc] > 0.2f * max(0.0f, chart->boundaryLength - externalBoundaryLength) || - sharedBoundaryLengths[cc] > 0.75f * chart2->boundaryLength) + if (m_sharedBoundaryLengths[cc] > 0.2f * max(0.0f, chart->boundaryLength - externalBoundaryLength) || + m_sharedBoundaryLengths[cc] > 0.75f * chart2->boundaryLength) goto merge; continue; merge: - // Create texcoords for chart 2 using chart 1 basis. Backup chart 2 texcoords for restoration if charts cannot be merged. - tempTexcoords.resize(chart2->faces.size() * 3); - for (uint32_t i = 0; i < chart2->faces.size(); i++) { - const uint32_t face = chart2->faces[i]; - for (uint32_t j = 0; j < 3; j++) - tempTexcoords[i * 3 + j] = m_texcoords[face * 3 + j]; - createFaceTexcoords(chart, face); - } - if (!canMergeCharts(chart, chart2)) { - // Restore chart 2 texcoords. - for (uint32_t i = 0; i < chart2->faces.size(); i++) { - for (uint32_t j = 0; j < 3; j++) - m_texcoords[chart2->faces[i] * 3 + j] = tempTexcoords[i * 3 + j]; - } + if (!mergeChart(chart, chart2, m_sharedBoundaryLengthsNoSeams[cc])) continue; - } - mergeChart(chart, chart2, sharedBoundaryLengthsNoSeams[cc]); merged = true; break; } @@ -4610,20 +5190,20 @@ struct Atlas break; } // Remove deleted charts. - for (int c = 0; c < int32_t(m_chartArray.size()); /*do not increment if removed*/) { - if (m_chartArray[c] == nullptr) { - m_chartArray.removeAt(c); - // Update m_faceChartArray. - const uint32_t faceCount = m_faceChartArray.size(); + for (int c = 0; c < int32_t(m_charts.size()); /*do not increment if removed*/) { + if (m_charts[c] == nullptr) { + m_charts.removeAt(c); + // Update m_faceCharts. + const uint32_t faceCount = m_faceCharts.size(); for (uint32_t i = 0; i < faceCount; i++) { - XA_DEBUG_ASSERT(m_faceChartArray[i] != c); - XA_DEBUG_ASSERT(m_faceChartArray[i] <= int32_t(m_chartArray.size())); - if (m_faceChartArray[i] > c) { - m_faceChartArray[i]--; + XA_DEBUG_ASSERT(m_faceCharts[i] != c); + XA_DEBUG_ASSERT(m_faceCharts[i] <= int32_t(m_charts.size())); + if (m_faceCharts[i] > c) { + m_faceCharts[i]--; } } } else { - m_chartArray[c]->id = c; + m_charts[c]->id = c; c++; } } @@ -4635,264 +5215,204 @@ private: void createRandomChart(float threshold) { Chart *chart = XA_NEW(MemTag::Default, Chart); - chart->id = (int)m_chartArray.size(); - m_chartArray.push_back(chart); + chart->id = (int)m_charts.size(); + m_charts.push_back(chart); // Pick random face that is not used by any chart yet. uint32_t face = m_rand.getRange(m_mesh->faceCount() - 1); - while (m_ignoreFaces[face] || m_faceChartArray[face] != -1) { + while (m_faceCharts[face] != -1) { if (++face >= m_mesh->faceCount()) face = 0; } chart->seeds.push_back(face); addFaceToChart(chart, face); -#if XA_GROW_CHARTS_COPLANAR - growChartCoplanar(chart); -#endif // Grow the chart as much as possible within the given threshold. - for (uint32_t i = 0; i < m_facesLeft; ) { - if (chart->candidates.count() == 0 || chart->candidates.firstPriority() > threshold) + for (;;) { + if (chart->candidates.count() == 0 || chart->candidates.peekCost() > threshold) break; const uint32_t f = chart->candidates.pop(); - if (m_faceChartArray[f] != -1) + if (m_faceCharts[f] != -1) continue; - createFaceTexcoords(chart, f); - if (!canAddFaceToChart(chart, f)) + if (!addFaceToChart(chart, f)) { + chart->failedPlanarRegions.push_back(m_facePlanarRegionId[f]); continue; - addFaceToChart(chart, f); - i++; - } - } - - void addChartCandidateToGlobalCandidates(Chart *chart) - { - if (chart->candidates.count() == 0) - return; - const float cost = chart->candidates.firstPriority(); - const uint32_t face = chart->candidates.pop(); - if (m_faceChartArray[face] != -1) { - addChartCandidateToGlobalCandidates(chart); - } else if (!m_faceCandidateCharts[face]) { - // No candidate assigned to this face yet. - m_faceCandidateCharts[face] = chart; - m_faceCandidateCosts[face] = cost; - } else { - if (cost < m_faceCandidateCosts[face]) { - // This is a better candidate for this face (lower cost). The other chart can choose another candidate. - Chart *otherChart = m_faceCandidateCharts[face]; - m_faceCandidateCharts[face] = chart; - m_faceCandidateCosts[face] = cost; - addChartCandidateToGlobalCandidates(otherChart); - } else { - // Existing candidate is better. This chart can choose another candidate. - addChartCandidateToGlobalCandidates(chart); } } } - void createFaceTexcoords(Chart *chart, uint32_t face) - { - for (uint32_t i = 0; i < 3; i++) { - const Vector3 &pos = m_mesh->position(m_mesh->vertexAt(face * 3 + i)); - m_texcoords[face * 3 + i] = Vector2(dot(chart->basis.tangent, pos), dot(chart->basis.bitangent, pos)); - } - } - bool isChartBoundaryEdge(const Chart *chart, uint32_t edge) const { const uint32_t oppositeEdge = m_mesh->oppositeEdge(edge); const uint32_t oppositeFace = meshEdgeFace(oppositeEdge); - return oppositeEdge == UINT32_MAX || m_ignoreFaces[oppositeFace] || m_faceChartArray[oppositeFace] != chart->id; + return oppositeEdge == UINT32_MAX || m_faceCharts[oppositeFace] != chart->id; } - bool edgeArraysIntersect(const uint32_t *edges1, uint32_t edges1Count, const uint32_t *edges2, uint32_t edges2Count) + bool computeChartBasis(Chart *chart, Basis *basis) { - for (uint32_t i = 0; i < edges1Count; i++) { - const uint32_t edge1 = edges1[i]; - for (uint32_t j = 0; j < edges2Count; j++) { - const uint32_t edge2 = edges2[j]; - const Vector2 &a1 = m_texcoords[meshEdgeIndex0(edge1)]; - const Vector2 &a2 = m_texcoords[meshEdgeIndex1(edge1)]; - const Vector2 &b1 = m_texcoords[meshEdgeIndex0(edge2)]; - const Vector2 &b2 = m_texcoords[meshEdgeIndex1(edge2)]; - if (linesIntersect(a1, a2, b1, b2, m_mesh->epsilon())) - return true; - } + const uint32_t faceCount = chart->faces.size(); + m_tempPoints.resize(chart->faces.size() * 3); + for (uint32_t i = 0; i < faceCount; i++) { + const uint32_t f = chart->faces[i]; + for (uint32_t j = 0; j < 3; j++) + m_tempPoints[i * 3 + j] = m_mesh->position(m_mesh->vertexAt(f * 3 + j)); } - return false; + return Fit::computeBasis(m_tempPoints.data(), m_tempPoints.size(), basis); } bool isFaceFlipped(uint32_t face) const { - const float t1 = m_texcoords[face * 3 + 0].x; - const float s1 = m_texcoords[face * 3 + 0].y; - const float t2 = m_texcoords[face * 3 + 1].x; - const float s2 = m_texcoords[face * 3 + 1].y; - const float t3 = m_texcoords[face * 3 + 2].x; - const float s3 = m_texcoords[face * 3 + 2].y; - const float parametricArea = ((s2 - s1) * (t3 - t1) - (s3 - s1) * (t2 - t1)) / 2; + const Vector2 &v1 = m_texcoords[face * 3 + 0]; + const Vector2 &v2 = m_texcoords[face * 3 + 1]; + const Vector2 &v3 = m_texcoords[face * 3 + 2]; + const float parametricArea = ((v2.x - v1.x) * (v3.y - v1.y) - (v3.x - v1.x) * (v2.y - v1.y)) * 0.5f; return parametricArea < 0.0f; } - void computeChartBoundaryEdges(const Chart *chart, Array<uint32_t> *dest) const + void parameterizeChart(const Chart *chart) { - dest->clear(); - for (uint32_t f = 0; f < chart->faces.size(); f++) { - const uint32_t face = chart->faces[f]; - for (uint32_t i = 0; i < 3; i++) { - const uint32_t edge = face * 3 + i; - if (isChartBoundaryEdge(chart, edge)) - dest->push_back(edge); + const uint32_t faceCount = chart->faces.size(); + for (uint32_t i = 0; i < faceCount; i++) { + const uint32_t face = chart->faces[i]; + for (uint32_t j = 0; j < 3; j++) { + const uint32_t offset = face * 3 + j; + const Vector3 &pos = m_mesh->position(m_mesh->vertexAt(offset)); + m_texcoords[offset] = Vector2(dot(chart->basis.tangent, pos), dot(chart->basis.bitangent, pos)); } } } - bool canAddFaceToChart(Chart *chart, uint32_t face) + // m_faceCharts for the chart faces must be set to the chart ID. Needed to compute boundary edges. + bool isChartParameterizationValid(const Chart *chart) { - // Check for flipped triangles. - if (isFaceFlipped(face)) + const uint32_t faceCount = chart->faces.size(); + // Check for flipped faces in the parameterization. OK if all are flipped. + uint32_t flippedFaceCount = 0; + for (uint32_t i = 0; i < faceCount; i++) { + if (isFaceFlipped(chart->faces[i])) + flippedFaceCount++; + } + if (flippedFaceCount != 0 && flippedFaceCount != faceCount) return false; - // Find face edges that don't border this chart. - m_tempEdges1.clear(); - for (uint32_t i = 0; i < 3; i++) { - const uint32_t edge = face * 3 + i; - if (isChartBoundaryEdge(chart, edge)) - m_tempEdges1.push_back(edge); - } - if (m_tempEdges1.isEmpty()) - return true; // This can happen if the face is surrounded by the chart. - // Get chart boundary edges, except those that border the face. - m_tempEdges2.clear(); - for (uint32_t i = 0; i < chart->faces.size(); i++) { - const uint32_t chartFace = chart->faces[i]; + // Check for boundary intersection in the parameterization. + m_boundaryGrid.reset(m_texcoords.data()); + for (uint32_t i = 0; i < faceCount; i++) { + const uint32_t f = chart->faces[i]; for (uint32_t j = 0; j < 3; j++) { - const uint32_t chartEdge = chartFace * 3 + j; - if (!isChartBoundaryEdge(chart, chartEdge)) - continue; - // Don't check chart boundary edges that border the face. - const uint32_t oppositeChartEdge = m_mesh->oppositeEdge(chartEdge); - if (meshEdgeFace(oppositeChartEdge) == face) - continue; - m_tempEdges2.push_back(chartEdge); - } - } - const bool intersect = edgeArraysIntersect(m_tempEdges1.data(), m_tempEdges1.size(), m_tempEdges2.data(), m_tempEdges2.size()); -#if 0 - if (intersect) { - static std::atomic<uint32_t> count = 0; - char filename[256]; - XA_SPRINTF(filename, sizeof(filename), "intersect%04u.obj", count.fetch_add(1)); - FILE *file; - XA_FOPEN(file, filename, "w"); - if (file) { - for (uint32_t i = 0; i < m_texcoords.size(); i++) - fprintf(file, "v %g %g 0.0\n", m_texcoords[i].x, m_texcoords[i].y); - fprintf(file, "s off\n"); - fprintf(file, "o face\n"); - { - fprintf(file, "f "); - for (uint32_t j = 0; j < 3; j++) { - const uint32_t index = face * 3 + j + 1; // 1-indexed - fprintf(file, "%d/%d/%d%c", index, index, index, j == 2 ? '\n' : ' '); - } - } - fprintf(file, "s off\n"); - fprintf(file, "o chart\n"); - for (uint32_t i = 0; i < chart->faces.size(); i++) { - const uint32_t chartFace = chart->faces[i]; - fprintf(file, "f "); - for (uint32_t j = 0; j < 3; j++) { - const uint32_t index = chartFace * 3 + j + 1; // 1-indexed - fprintf(file, "%d/%d/%d%c", index, index, index, j == 2 ? '\n' : ' '); - } - } - fclose(file); + const uint32_t edge = f * 3 + j; + if (isChartBoundaryEdge(chart, edge)) + m_boundaryGrid.append(edge); } } -#endif - return !intersect; + if (m_boundaryGrid.intersectSelf(m_mesh->epsilon())) + return false; + return true; } - bool canMergeCharts(Chart *chart1, Chart *chart2) + bool addFaceToChart(Chart *chart, uint32_t face) { - for (uint32_t i = 0; i < chart2->faces.size(); i++) { - if (isFaceFlipped(chart2->faces[i])) - return false; + XA_DEBUG_ASSERT(m_faceCharts[face] == -1); + const uint32_t oldFaceCount = chart->faces.size(); + const bool firstFace = oldFaceCount == 0; + // Append the face and any coplanar connected faces to the chart faces array. + chart->faces.push_back(face); + uint32_t coplanarFace = m_nextPlanarRegionFace[face]; + while (coplanarFace != face) { + XA_DEBUG_ASSERT(m_faceCharts[coplanarFace] == -1); + chart->faces.push_back(coplanarFace); + coplanarFace = m_nextPlanarRegionFace[coplanarFace]; } - computeChartBoundaryEdges(chart1, &m_tempEdges1); - computeChartBoundaryEdges(chart2, &m_tempEdges2); - return !edgeArraysIntersect(m_tempEdges1.data(), m_tempEdges1.size(), m_tempEdges2.data(), m_tempEdges2.size()); - } - - void addFaceToChart(Chart *chart, uint32_t f) - { - const bool firstFace = chart->faces.isEmpty(); - // Use the first face normal as the chart basis. + const uint32_t faceCount = chart->faces.size(); + // Compute basis. + Basis basis; if (firstFace) { - chart->basis.normal = m_faceNormals[f]; - chart->basis.tangent = m_faceTangents[f]; - chart->basis.bitangent = m_faceBitangents[f]; - createFaceTexcoords(chart, f); - } - // Add face to chart. - chart->faces.push_back(f); - XA_DEBUG_ASSERT(m_faceChartArray[f] == -1); - m_faceChartArray[f] = chart->id; - m_facesLeft--; - // Update area and boundary length. - chart->area = chart->area + m_faceAreas[f]; - chart->boundaryLength = computeBoundaryLength(chart, f); - chart->normalSum += m_mesh->triangleNormalAreaScaled(f); - chart->averageNormal = normalizeSafe(chart->normalSum, Vector3(0), 0.0f); - chart->centroidSum += m_mesh->triangleCenter(f); + // Use the first face normal. + // Use any edge as the tangent vector. + basis.normal = m_faceNormals[face]; + basis.tangent = normalize(m_mesh->position(m_mesh->vertexAt(face * 3 + 0)) - m_mesh->position(m_mesh->vertexAt(face * 3 + 1)), kEpsilon); + basis.bitangent = cross(basis.normal, basis.tangent); + } else { + // Use best fit normal. + if (!computeChartBasis(chart, &basis)) { + chart->faces.resize(oldFaceCount); + return false; + } + if (dot(basis.normal, m_faceNormals[face]) < 0.0f) // Flip normal if oriented in the wrong direction. + basis.normal = -basis.normal; + } + if (!firstFace) { + // Compute orthogonal parameterization and check that it is valid. + parameterizeChart(chart); + for (uint32_t i = oldFaceCount; i < faceCount; i++) + m_faceCharts[chart->faces[i]] = chart->id; + if (!isChartParameterizationValid(chart)) { + for (uint32_t i = oldFaceCount; i < faceCount; i++) + m_faceCharts[chart->faces[i]] = -1; + chart->faces.resize(oldFaceCount); + return false; + } + } + // Add face(s) to chart. + chart->basis = basis; + chart->area = computeArea(chart, face); + chart->boundaryLength = computeBoundaryLength(chart, face); + for (uint32_t i = oldFaceCount; i < faceCount; i++) { + const uint32_t f = chart->faces[i]; + m_faceCharts[f] = chart->id; + m_facesLeft--; + chart->centroidSum += m_mesh->computeFaceCenter(f); + } chart->centroid = chart->centroidSum / float(chart->faces.size()); - // Update candidates. - updateChartCandidates(chart, f); - } - -#if XA_GROW_CHARTS_COPLANAR - void growChartCoplanar(Chart *chart) - { - XA_DEBUG_ASSERT(!chart->faces.isEmpty()); - for (uint32_t i = 0; i < chart->faces.size(); i++) { - const uint32_t chartFace = chart->faces[i]; - uint32_t face = m_nextPlanarRegionFace[chartFace]; - while (face != chartFace) { - // Not assigned to a chart? - if (m_faceChartArray[face] == -1) { - createFaceTexcoords(chart, face); - addFaceToChart(chart, face); - } - face = m_nextPlanarRegionFace[face]; + // Refresh candidates. + chart->candidates.clear(); + for (uint32_t i = 0; i < faceCount; i++) { + // Traverse neighboring faces, add the ones that do not belong to any chart yet. + const uint32_t f = chart->faces[i]; + for (uint32_t j = 0; j < 3; j++) { + const uint32_t edge = f * 3 + j; + const uint32_t oedge = m_mesh->oppositeEdge(edge); + if (oedge == UINT32_MAX) + continue; // Boundary edge. + const uint32_t oface = meshEdgeFace(oedge); + if (m_faceCharts[oface] != -1) + continue; // Face belongs to another chart. + if (chart->failedPlanarRegions.contains(m_facePlanarRegionId[oface])) + continue; // Failed to add this faces planar region to the chart before. + const float cost = evaluateCost(chart, oface); + if (cost < FLT_MAX) + chart->candidates.push(cost, oface); } } + return true; } -#endif + // Returns true if the seed has changed. bool relocateSeed(Chart *chart) { // Find the first N triangles that fit the proxy best. const uint32_t faceCount = chart->faces.size(); m_bestTriangles.clear(); for (uint32_t i = 0; i < faceCount; i++) { - float priority = evaluateProxyFitMetric(chart, chart->faces[i]); - m_bestTriangles.push(priority, chart->faces[i]); + const float cost = evaluateProxyFitMetric(chart, chart->faces[i]); + m_bestTriangles.push(cost, chart->faces[i]); } // Of those, choose the least central triangle. uint32_t leastCentral = 0; float maxDistance = -1; - const uint32_t bestCount = m_bestTriangles.count(); - for (uint32_t i = 0; i < bestCount; i++) { - Vector3 faceCentroid = m_mesh->triangleCenter(m_bestTriangles.pairs[i].face); - float distance = length(chart->centroid - faceCentroid); + for (;;) { + if (m_bestTriangles.count() == 0) + break; + const uint32_t face = m_bestTriangles.pop(); + Vector3 faceCentroid = m_mesh->computeFaceCenter(face); + const float distance = length(chart->centroid - faceCentroid); if (distance > maxDistance) { maxDistance = distance; - leastCentral = m_bestTriangles.pairs[i].face; + leastCentral = face; } } XA_DEBUG_ASSERT(maxDistance >= 0); // In order to prevent k-means cyles we record all the previously chosen seeds. for (uint32_t i = 0; i < chart->seeds.size(); i++) { - if (chart->seeds[i] == leastCentral) { + // Treat seeds belong to the same planar region as equal. + if (chart->seeds[i] == leastCentral || m_facePlanarRegionId[chart->seeds[i]] == m_facePlanarRegionId[leastCentral]) { // Move new seed to the end of the seed array. uint32_t last = chart->seeds.size() - 1; swap(chart->seeds[i], chart->seeds[last]); @@ -4907,26 +5427,32 @@ private: // Evaluate combined metric. float evaluateCost(Chart *chart, uint32_t face) const { + if (dot(m_faceNormals[face], chart->basis.normal) <= 0.26f) // ~75 degrees + return FLT_MAX; // Estimate boundary length and area: - const float newChartArea = chart->area + m_faceAreas[face]; - const float newBoundaryLength = computeBoundaryLength(chart, face); + float newChartArea = 0.0f, newBoundaryLength = 0.0f; + if (m_options.maxChartArea > 0.0f || m_options.roundnessMetricWeight > 0.0f) + newChartArea = computeArea(chart, face); + if (m_options.maxBoundaryLength > 0.0f || m_options.roundnessMetricWeight > 0.0f) + newBoundaryLength = computeBoundaryLength(chart, face); // Enforce limits strictly: if (m_options.maxChartArea > 0.0f && newChartArea > m_options.maxChartArea) return FLT_MAX; if (m_options.maxBoundaryLength > 0.0f && newBoundaryLength > m_options.maxBoundaryLength) return FLT_MAX; - if (dot(m_faceNormals[face], chart->averageNormal) < 0.5f) - return FLT_MAX; - // Penalize faces that cross seams, reward faces that close seams or reach boundaries. - // Make sure normal seams are fully respected: - const float N = evaluateNormalSeamMetric(chart, face); - if (m_options.normalSeamMetricWeight >= 1000.0f && N > 0.0f) - return FLT_MAX; - float cost = m_options.normalSeamMetricWeight * N; + float cost = 0.0f; + if (m_options.normalSeamMetricWeight > 0.0f) { + // Penalize faces that cross seams, reward faces that close seams or reach boundaries. + // Make sure normal seams are fully respected: + const float N = evaluateNormalSeamMetric(chart, face); + if (m_options.normalSeamMetricWeight >= 1000.0f && N > 0.0f) + return FLT_MAX; + cost += m_options.normalSeamMetricWeight * N; + } if (m_options.proxyFitMetricWeight > 0.0f) cost += m_options.proxyFitMetricWeight * evaluateProxyFitMetric(chart, face); if (m_options.roundnessMetricWeight > 0.0f) - cost += m_options.roundnessMetricWeight * evaluateRoundnessMetric(chart, face, newBoundaryLength, newChartArea); + cost += m_options.roundnessMetricWeight * evaluateRoundnessMetric(chart, newBoundaryLength, newChartArea); if (m_options.straightnessMetricWeight > 0.0f) cost += m_options.straightnessMetricWeight * evaluateStraightnessMetric(chart, face); if (m_options.textureSeamMetricWeight > 0.0f) @@ -4941,40 +5467,45 @@ private: } // Returns a value in [0-1]. - float evaluateProxyFitMetric(Chart *chart, uint32_t f) const + float evaluateProxyFitMetric(Chart *chart, uint32_t face) const { - const Vector3 faceNormal = m_faceNormals[f]; + // All faces in coplanar regions have the same normal, can use any face. + const Vector3 faceNormal = m_faceNormals[face]; // Use plane fitting metric for now: - return 1 - dot(faceNormal, chart->averageNormal); // @@ normal deviations should be weighted by face area + return 1 - dot(faceNormal, chart->basis.normal); // @@ normal deviations should be weighted by face area } - float evaluateRoundnessMetric(Chart *chart, uint32_t /*face*/, float newBoundaryLength, float newChartArea) const + float evaluateRoundnessMetric(Chart *chart, float newBoundaryLength, float newChartArea) const { - float roundness = square(chart->boundaryLength) / chart->area; - float newRoundness = square(newBoundaryLength) / newChartArea; - if (newRoundness > roundness) { - return square(newBoundaryLength) / (newChartArea * 4.0f * kPi); - } else { - // Offer no impedance to faces that improve roundness. - return 0; - } + const float roundness = square(chart->boundaryLength) / chart->area; + const float newBoundaryLengthSq = square(newBoundaryLength); + const float newRoundness = newBoundaryLengthSq / newChartArea; + if (newRoundness > roundness) + return newBoundaryLengthSq / (newChartArea * kPi4); + // Offer no impedance to faces that improve roundness. + return 0; } - float evaluateStraightnessMetric(Chart *chart, uint32_t f) const + float evaluateStraightnessMetric(Chart *chart, uint32_t firstFace) const { - float l_out = 0.0f; - float l_in = 0.0f; - for (Mesh::FaceEdgeIterator it(m_mesh, f); !it.isDone(); it.advance()) { - float l = m_edgeLengths[it.edge()]; - if (it.isBoundary() || m_ignoreFaces[it.oppositeFace()]) { - l_out += l; - } else { - if (m_faceChartArray[it.oppositeFace()] != chart->id) { + float l_out = 0.0f, l_in = 0.0f; + const uint32_t planarRegionId = m_facePlanarRegionId[firstFace]; + uint32_t face = firstFace; + for (;;) { + for (Mesh::FaceEdgeIterator it(m_mesh, face); !it.isDone(); it.advance()) { + const float l = m_edgeLengths[it.edge()]; + if (it.isBoundary()) { l_out += l; - } else { - l_in += l; + } else if (m_facePlanarRegionId[it.oppositeFace()] != planarRegionId) { + if (m_faceCharts[it.oppositeFace()] != chart->id) + l_out += l; + else + l_in += l; } } + face = m_nextPlanarRegionFace[face]; + if (face == firstFace) + break; } XA_DEBUG_ASSERT(l_in != 0.0f); // Candidate face must be adjacent to chart. @@ This is not true if the input mesh has zero-length edges. float ratio = (l_out - l_in) / (l_out + l_in); @@ -4991,128 +5522,184 @@ private: const uint32_t v1 = m_mesh->vertexAt(meshEdgeIndex1(edge)); const uint32_t ov0 = m_mesh->vertexAt(meshEdgeIndex0(oppositeEdge)); const uint32_t ov1 = m_mesh->vertexAt(meshEdgeIndex1(oppositeEdge)); - return m_mesh->normal(v0) != m_mesh->normal(ov1) || m_mesh->normal(v1) != m_mesh->normal(ov0); + if (v0 == ov1 && v1 == ov0) + return false; + return !equal(m_mesh->normal(v0), m_mesh->normal(ov1), kNormalEpsilon) || !equal(m_mesh->normal(v1), m_mesh->normal(ov0), kNormalEpsilon); } - return m_faceNormals[meshEdgeFace(edge)] != m_faceNormals[meshEdgeFace(oppositeEdge)]; + const uint32_t f0 = meshEdgeFace(edge); + const uint32_t f1 = meshEdgeFace(oppositeEdge); + if (m_facePlanarRegionId[f0] == m_facePlanarRegionId[f1]) + return false; + return !equal(m_faceNormals[f0], m_faceNormals[f1], kNormalEpsilon); } - float evaluateNormalSeamMetric(Chart *chart, uint32_t f) const + float evaluateNormalSeamMetric(Chart *chart, uint32_t firstFace) const { - float seamFactor = 0.0f; - float totalLength = 0.0f; - for (Mesh::FaceEdgeIterator it(m_mesh, f); !it.isDone(); it.advance()) { - if (it.isBoundary() || m_ignoreFaces[it.oppositeFace()]) - continue; - if (m_faceChartArray[it.oppositeFace()] != chart->id) - continue; - float l = m_edgeLengths[it.edge()]; - totalLength += l; - if (!it.isSeam()) - continue; - // Make sure it's a normal seam. - if (isNormalSeam(it.edge())) { - float d; - if (m_mesh->flags() & MeshFlags::HasNormals) { - const Vector3 &n0 = m_mesh->normal(it.vertex0()); - const Vector3 &n1 = m_mesh->normal(it.vertex1()); - const Vector3 &on0 = m_mesh->normal(m_mesh->vertexAt(meshEdgeIndex0(it.oppositeEdge()))); - const Vector3 &on1 = m_mesh->normal(m_mesh->vertexAt(meshEdgeIndex1(it.oppositeEdge()))); - const float d0 = clamp(dot(n0, on1), 0.0f, 1.0f); - const float d1 = clamp(dot(n1, on0), 0.0f, 1.0f); - d = (d0 + d1) * 0.5f; - } else { - d = clamp(dot(m_faceNormals[f], m_faceNormals[meshEdgeFace(it.oppositeEdge())]), 0.0f, 1.0f); + float seamFactor = 0.0f, totalLength = 0.0f; + uint32_t face = firstFace; + for (;;) { + for (Mesh::FaceEdgeIterator it(m_mesh, face); !it.isDone(); it.advance()) { + if (it.isBoundary()) + continue; + if (m_faceCharts[it.oppositeFace()] != chart->id) + continue; + float l = m_edgeLengths[it.edge()]; + totalLength += l; + if (!it.isSeam()) + continue; + // Make sure it's a normal seam. + if (isNormalSeam(it.edge())) { + float d; + if (m_mesh->flags() & MeshFlags::HasNormals) { + const Vector3 &n0 = m_mesh->normal(it.vertex0()); + const Vector3 &n1 = m_mesh->normal(it.vertex1()); + const Vector3 &on0 = m_mesh->normal(m_mesh->vertexAt(meshEdgeIndex0(it.oppositeEdge()))); + const Vector3 &on1 = m_mesh->normal(m_mesh->vertexAt(meshEdgeIndex1(it.oppositeEdge()))); + const float d0 = clamp(dot(n0, on1), 0.0f, 1.0f); + const float d1 = clamp(dot(n1, on0), 0.0f, 1.0f); + d = (d0 + d1) * 0.5f; + } else { + d = clamp(dot(m_faceNormals[face], m_faceNormals[meshEdgeFace(it.oppositeEdge())]), 0.0f, 1.0f); + } + l *= 1 - d; + seamFactor += l; } - l *= 1 - d; - seamFactor += l; } + face = m_nextPlanarRegionFace[face]; + if (face == firstFace) + break; } if (seamFactor <= 0.0f) return 0.0f; return seamFactor / totalLength; } - float evaluateTextureSeamMetric(Chart *chart, uint32_t f) const + float evaluateTextureSeamMetric(Chart *chart, uint32_t firstFace) const { - float seamLength = 0.0f; - float totalLength = 0.0f; - for (Mesh::FaceEdgeIterator it(m_mesh, f); !it.isDone(); it.advance()) { - if (it.isBoundary() || m_ignoreFaces[it.oppositeFace()]) - continue; - if (m_faceChartArray[it.oppositeFace()] != chart->id) - continue; - float l = m_edgeLengths[it.edge()]; - totalLength += l; - if (!it.isSeam()) - continue; - // Make sure it's a texture seam. - if (it.isTextureSeam()) - seamLength += l; + float seamLength = 0.0f, totalLength = 0.0f; + uint32_t face = firstFace; + for (;;) { + for (Mesh::FaceEdgeIterator it(m_mesh, face); !it.isDone(); it.advance()) { + if (it.isBoundary()) + continue; + if (m_faceCharts[it.oppositeFace()] != chart->id) + continue; + float l = m_edgeLengths[it.edge()]; + totalLength += l; + if (!it.isSeam()) + continue; + // Make sure it's a texture seam. + if (it.isTextureSeam()) + seamLength += l; + } + face = m_nextPlanarRegionFace[face]; + if (face == firstFace) + break; } - if (seamLength == 0.0f) + if (seamLength <= 0.0f) return 0.0f; // Avoid division by zero. return seamLength / totalLength; } - float computeBoundaryLength(Chart *chart, uint32_t f) const + float computeArea(Chart *chart, uint32_t firstFace) const + { + float area = chart->area; + uint32_t face = firstFace; + for (;;) { + area += m_faceAreas[face]; + face = m_nextPlanarRegionFace[face]; + if (face == firstFace) + break; + } + return area; + } + + float computeBoundaryLength(Chart *chart, uint32_t firstFace) const { float boundaryLength = chart->boundaryLength; // Add new edges, subtract edges shared with the chart. - for (Mesh::FaceEdgeIterator it(m_mesh, f); !it.isDone(); it.advance()) { - const float edgeLength = m_edgeLengths[it.edge()]; - if (it.isBoundary() || m_ignoreFaces[it.oppositeFace()]) { - boundaryLength += edgeLength; - } else { - if (m_faceChartArray[it.oppositeFace()] != chart->id) + const uint32_t planarRegionId = m_facePlanarRegionId[firstFace]; + uint32_t face = firstFace; + for (;;) { + for (Mesh::FaceEdgeIterator it(m_mesh, face); !it.isDone(); it.advance()) { + const float edgeLength = m_edgeLengths[it.edge()]; + if (it.isBoundary()) { boundaryLength += edgeLength; - else - boundaryLength -= edgeLength; + } else if (m_facePlanarRegionId[it.oppositeFace()] != planarRegionId) { + if (m_faceCharts[it.oppositeFace()] != chart->id) + boundaryLength += edgeLength; + else + boundaryLength -= edgeLength; + } } + face = m_nextPlanarRegionFace[face]; + if (face == firstFace) + break; } return max(0.0f, boundaryLength); // @@ Hack! } - void mergeChart(Chart *owner, Chart *chart, float sharedBoundaryLength) + bool mergeChart(Chart *owner, Chart *chart, float sharedBoundaryLength) { - const uint32_t faceCount = chart->faces.size(); - for (uint32_t i = 0; i < faceCount; i++) { - uint32_t f = chart->faces[i]; - XA_DEBUG_ASSERT(m_faceChartArray[f] == chart->id); - m_faceChartArray[f] = owner->id; - owner->faces.push_back(f); + const uint32_t oldOwnerFaceCount = owner->faces.size(); + const uint32_t chartFaceCount = chart->faces.size(); + owner->faces.push_back(chart->faces); + for (uint32_t i = 0; i < chartFaceCount; i++) { + XA_DEBUG_ASSERT(m_faceCharts[chart->faces[i]] == chart->id); + m_faceCharts[chart->faces[i]] = owner->id; + } + // Compute basis using best fit normal. + Basis basis; + if (!computeChartBasis(owner, &basis)) { + owner->faces.resize(oldOwnerFaceCount); + for (uint32_t i = 0; i < chartFaceCount; i++) + m_faceCharts[chart->faces[i]] = chart->id; + return false; + } + if (dot(basis.normal, m_faceNormals[owner->faces[0]]) < 0.0f) // Flip normal if oriented in the wrong direction. + basis.normal = -basis.normal; + // Compute orthogonal parameterization and check that it is valid. + parameterizeChart(owner); + if (!isChartParameterizationValid(owner)) { + owner->faces.resize(oldOwnerFaceCount); + for (uint32_t i = 0; i < chartFaceCount; i++) + m_faceCharts[chart->faces[i]] = chart->id; + return false; } + // Merge chart. + owner->basis = basis; + owner->failedPlanarRegions.push_back(chart->failedPlanarRegions); // Update adjacencies? owner->area += chart->area; owner->boundaryLength += chart->boundaryLength - sharedBoundaryLength; - owner->normalSum += chart->normalSum; - owner->averageNormal = normalizeSafe(owner->normalSum, Vector3(0), 0.0f); // Delete chart. - m_chartArray[chart->id] = nullptr; + m_charts[chart->id] = nullptr; chart->~Chart(); XA_FREE(chart); + return true; } const Mesh *m_mesh; - const Array<uint32_t> *m_meshFaces; - Array<bool> m_ignoreFaces; Array<float> m_edgeLengths; Array<float> m_faceAreas; Array<Vector3> m_faceNormals; - Array<Vector3> m_faceTangents; - Array<Vector3> m_faceBitangents; Array<Vector2> m_texcoords; uint32_t m_facesLeft; - Array<int> m_faceChartArray; - Array<Chart *> m_chartArray; - PriorityQueue m_bestTriangles; + Array<int> m_faceCharts; + Array<Chart *> m_charts; + CostQueue m_bestTriangles; KISSRng m_rand; ChartOptions m_options; - Array<Chart *> m_faceCandidateCharts; - Array<float> m_faceCandidateCosts; -#if XA_GROW_CHARTS_COPLANAR Array<uint32_t> m_nextPlanarRegionFace; + Array<uint32_t> m_facePlanarRegionId; + Array<Vector3> m_tempPoints; + UniformGrid2 m_boundaryGrid; +#if XA_MERGE_CHARTS + // mergeCharts + Array<float> m_sharedBoundaryLengths; + Array<float> m_sharedBoundaryLengthsNoSeams; + Array<uint32_t> m_sharedBoundaryEdgeCountNoSeams; #endif - Array<uint32_t> m_tempEdges1, m_tempEdges2; }; } // namespace segment @@ -5301,7 +5888,11 @@ private: // q = A·p sparse::mult(A, p, q); // alpha = delta_new / p·q - alpha = delta_new / sparse::dot(p, q); + const float pdotq = sparse::dot(p, q); + if (!isFinite(pdotq) || isNan(pdotq)) + alpha = 0.0f; + else + alpha = delta_new / pdotq; // x = alfa·p + x sparse::saxpy(alpha, p, x); if ((i & 31) == 0) { // recompute r after 32 steps @@ -5514,186 +6105,518 @@ static bool computeLeastSquaresConformalMap(Mesh *mesh) // Solve Solver::LeastSquaresSolver(A, b, x, lockedParameters, 4, 0.000001f); // Map x back to texcoords: - for (uint32_t v = 0; v < vertexCount; v++) + for (uint32_t v = 0; v < vertexCount; v++) { mesh->texcoord(v) = Vector2(x[2 * v + 0], x[2 * v + 1]); + XA_DEBUG_ASSERT(!isNan(mesh->texcoord(v).x)); + XA_DEBUG_ASSERT(!isNan(mesh->texcoord(v).y)); + } return true; } -static bool computeOrthogonalProjectionMap(Mesh *mesh) +#if XA_RECOMPUTE_CHARTS +struct PiecewiseParam { - uint32_t vertexCount = mesh->vertexCount(); - // Avoid redundant computations. - float matrix[6]; - Fit::computeCovariance(vertexCount, &mesh->position(0), matrix); - if (matrix[0] == 0 && matrix[3] == 0 && matrix[5] == 0) - return false; - float eigenValues[3]; - Vector3 eigenVectors[3]; - if (!Fit::eigenSolveSymmetric3(matrix, eigenValues, eigenVectors)) - return false; - Vector3 axis[2]; - axis[0] = normalize(eigenVectors[0], kEpsilon); - axis[1] = normalize(eigenVectors[1], kEpsilon); - // Project vertices to plane. - for (uint32_t i = 0; i < vertexCount; i++) - mesh->texcoord(i) = Vector2(dot(axis[0], mesh->position(i)), dot(axis[1], mesh->position(i))); - return true; -} + void reset(const Mesh *mesh, uint32_t faceCount) + { + m_mesh = mesh; + m_faceCount = faceCount; + const uint32_t vertexCount = m_mesh->vertexCount(); + m_texcoords.resize(vertexCount); + m_patch.reserve(m_faceCount); + m_faceAssigned.resize(m_faceCount); + m_faceAssigned.zeroOutMemory(); + m_faceInvalid.resize(m_faceCount); + m_faceInPatch.resize(m_faceCount); + m_vertexInPatch.resize(vertexCount); + m_faceInCandidates.resize(m_faceCount); + } + + ConstArrayView<uint32_t> chartFaces() const { return m_patch; } + const Vector2 *texcoords() const { return m_texcoords.data(); } + + bool computeChart() + { + m_patch.clear(); + m_faceInvalid.zeroOutMemory(); + m_faceInPatch.zeroOutMemory(); + m_vertexInPatch.zeroOutMemory(); + // Add the seed face (first unassigned face) to the patch. + uint32_t seed = UINT32_MAX; + for (uint32_t f = 0; f < m_faceCount; f++) { + if (m_faceAssigned.get(f)) + continue; + seed = f; + m_patch.push_back(seed); + m_faceInPatch.set(seed); + m_faceAssigned.set(seed); + Vector2 texcoords[3]; + orthoProjectFace(seed, texcoords); + for (uint32_t i = 0; i < 3; i++) { + const uint32_t vertex = m_mesh->vertexAt(seed * 3 + i); + m_vertexInPatch.set(vertex); + m_texcoords[vertex] = texcoords[i]; + } + break; + } + if (seed == UINT32_MAX) + return false; + for (;;) { + findCandidates(); + if (m_candidates.isEmpty()) + break; + for (;;) { + // Find the candidate with the lowest cost. + float lowestCost = FLT_MAX; + uint32_t bestCandidate = UINT32_MAX; + for (uint32_t i = 0; i < m_candidates.size(); i++) { + const Candidate &candidate = m_candidates[i]; + if (m_faceInvalid.get(candidate.face)) // A candidate face may be invalidated after is was added. + continue; + if (candidate.maxCost < lowestCost) { + lowestCost = candidate.maxCost; + bestCandidate = i; + } + } + if (bestCandidate == UINT32_MAX) + break; + // Compute the position by averaging linked candidates (candidates that share the same free vertex). + Vector2 position(0.0f); + uint32_t n = 0; + for (CandidateIterator it(m_candidates, bestCandidate); !it.isDone(); it.advance()) { + position += it.current().position; + n++; + } + position *= 1.0f / (float)n; + const uint32_t freeVertex = m_candidates[bestCandidate].vertex; + XA_DEBUG_ASSERT(!isNan(position.x)); + XA_DEBUG_ASSERT(!isNan(position.y)); + m_texcoords[freeVertex] = position; + // Check for flipped faces. This is also done when candidates are first added, but the averaged position of the free vertex is different now, so check again. + bool invalid = false; + for (CandidateIterator it(m_candidates, bestCandidate); !it.isDone(); it.advance()) { + const uint32_t vertex0 = m_mesh->vertexAt(meshEdgeIndex0(it.current().patchEdge)); + const uint32_t vertex1 = m_mesh->vertexAt(meshEdgeIndex1(it.current().patchEdge)); + const float freeVertexOrient = orientToEdge(m_texcoords[vertex0], m_texcoords[vertex1], position); + if ((it.current().patchVertexOrient < 0.0f && freeVertexOrient < 0.0f) || (it.current().patchVertexOrient > 0.0f && freeVertexOrient > 0.0f)) { + invalid = true; + break; + } + } + // Check for boundary intersection. + if (!invalid) { + m_boundaryGrid.reset(m_texcoords.data(), m_mesh->indices()); + // Add edges on the patch boundary to the grid. + // Temporarily adding candidate faces to the patch makes it simpler to detect which edges are on the boundary. + const uint32_t oldPatchSize = m_patch.size(); + for (CandidateIterator it(m_candidates, bestCandidate); !it.isDone(); it.advance()) + m_patch.push_back(it.current().face); + for (uint32_t i = 0; i < m_patch.size(); i++) { + for (Mesh::FaceEdgeIterator it(m_mesh, m_patch[i]); !it.isDone(); it.advance()) { + const uint32_t oface = it.oppositeFace(); + if (oface == UINT32_MAX || oface >= m_faceCount || !m_faceInPatch.get(oface)) + m_boundaryGrid.append(it.edge()); + } + } + invalid = m_boundaryGrid.intersectSelf(m_mesh->epsilon()); + m_patch.resize(oldPatchSize); + } + if (invalid) { + // Mark all faces of linked candidates as invalid. + for (CandidateIterator it(m_candidates, bestCandidate); !it.isDone(); it.advance()) + m_faceInvalid.set(it.current().face); + continue; + } + // Add faces to the patch. + for (CandidateIterator it(m_candidates, bestCandidate); !it.isDone(); it.advance()) { + m_patch.push_back(it.current().face); + m_faceInPatch.set(it.current().face); + m_faceAssigned.set(it.current().face); + } + // Add vertex to the patch. + m_vertexInPatch.set(freeVertex); + // Successfully added candidate face(s) to patch. + break; + } + } + return true; + } + +private: + struct Candidate + { + uint32_t face, vertex; + uint32_t next; // The next candidate with the same vertex. + Vector2 position; + float cost; + float maxCost; // Of all linked candidates. + uint32_t patchEdge; + float patchVertexOrient; + }; + + struct CandidateIterator + { + CandidateIterator(Array<Candidate> &candidates, uint32_t first) : m_candidates(candidates), m_current(first) {} + void advance() { if (m_current != UINT32_MAX) m_current = m_candidates[m_current].next; } + bool isDone() const { return m_current == UINT32_MAX; } + Candidate ¤t() { return m_candidates[m_current]; } + + private: + Array<Candidate> &m_candidates; + uint32_t m_current; + }; + + const Mesh *m_mesh; + uint32_t m_faceCount; + Array<Vector2> m_texcoords; + Array<Candidate> m_candidates; + BitArray m_faceInCandidates; + Array<uint32_t> m_patch; + BitArray m_faceAssigned; // Face is assigned to a previous chart or the current patch. + BitArray m_faceInPatch, m_vertexInPatch; + BitArray m_faceInvalid; // Face cannot be added to the patch - flipped, cost too high or causes boundary intersection. + UniformGrid2 m_boundaryGrid; + + // Find candidate faces on the patch front. + void findCandidates() + { + m_candidates.clear(); + m_faceInCandidates.zeroOutMemory(); + for (uint32_t i = 0; i < m_patch.size(); i++) { + for (Mesh::FaceEdgeIterator it(m_mesh, m_patch[i]); !it.isDone(); it.advance()) { + const uint32_t oface = it.oppositeFace(); + if (oface == UINT32_MAX || oface >= m_faceCount || m_faceAssigned.get(oface) || m_faceInCandidates.get(oface)) + continue; + // Found an active edge on the patch front. + // Find the free vertex (the vertex that isn't on the active edge). + // Compute the orientation of the other patch face vertex to the active edge. + uint32_t freeVertex = UINT32_MAX; + float orient = 0.0f; + for (uint32_t j = 0; j < 3; j++) { + const uint32_t vertex = m_mesh->vertexAt(oface * 3 + j); + if (vertex != it.vertex0() && vertex != it.vertex1()) { + freeVertex = vertex; + orient = orientToEdge(m_texcoords[it.vertex0()], m_texcoords[it.vertex1()], m_texcoords[m_mesh->vertexAt(m_patch[i] * 3 + j)]); + break; + } + } + XA_DEBUG_ASSERT(freeVertex != UINT32_MAX); + // If the free vertex is already in the patch, the face is enclosed by the patch. Add the face to the patch - don't need to assign texcoords. + if (m_vertexInPatch.get(freeVertex)) { + freeVertex = UINT32_MAX; + m_patch.push_back(oface); + m_faceAssigned.set(oface); + continue; + } + // Check this here rather than above so faces enclosed by the patch are always added. + if (m_faceInvalid.get(oface)) + continue; + addCandidateFace(it.edge(), orient, oface, it.oppositeEdge(), freeVertex); + } + } + // Link candidates that share the same vertex. + for (uint32_t i = 0; i < m_candidates.size(); i++) { + if (m_candidates[i].next != UINT32_MAX) + continue; + uint32_t current = i; + for (uint32_t j = i + 1; j < m_candidates.size(); j++) { + if (m_candidates[j].vertex == m_candidates[current].vertex) { + m_candidates[current].next = j; + current = j; + } + } + } + // Set max cost for linked candidates. + for (uint32_t i = 0; i < m_candidates.size(); i++) { + float maxCost = 0.0f; + for (CandidateIterator it(m_candidates, i); !it.isDone(); it.advance()) + maxCost = max(maxCost, it.current().cost); + for (CandidateIterator it(m_candidates, i); !it.isDone(); it.advance()) + it.current().maxCost = maxCost; + } + } + + void addCandidateFace(uint32_t patchEdge, float patchVertexOrient, uint32_t face, uint32_t edge, uint32_t freeVertex) + { + Vector2 texcoords[3]; + orthoProjectFace(face, texcoords); + // Find corresponding vertices between the patch edge and candidate edge. + const uint32_t vertex0 = m_mesh->vertexAt(meshEdgeIndex0(patchEdge)); + const uint32_t vertex1 = m_mesh->vertexAt(meshEdgeIndex1(patchEdge)); + uint32_t localVertex0 = UINT32_MAX, localVertex1 = UINT32_MAX, localFreeVertex = UINT32_MAX; + for (uint32_t i = 0; i < 3; i++) { + const uint32_t vertex = m_mesh->vertexAt(face * 3 + i); + if (vertex == m_mesh->vertexAt(meshEdgeIndex1(edge))) + localVertex0 = i; + else if (vertex == m_mesh->vertexAt(meshEdgeIndex0(edge))) + localVertex1 = i; + else + localFreeVertex = i; + } + // Scale orthogonal projection to match the patch edge. + const Vector2 patchEdgeVec = m_texcoords[vertex1] - m_texcoords[vertex0]; + const Vector2 localEdgeVec = texcoords[localVertex1] - texcoords[localVertex0]; + const float len1 = length(patchEdgeVec); + const float len2 = length(localEdgeVec); + const float scale = len1 / len2; + XA_ASSERT(scale > 0.0f); + for (uint32_t i = 0; i < 3; i++) + texcoords[i] *= scale; + // Translate to the first vertex on the patch edge. + const Vector2 translate = m_texcoords[vertex0] - texcoords[localVertex0]; + for (uint32_t i = 0; i < 3; i++) + texcoords[i] += translate; + // Compute the angle between the patch edge and the corresponding local edge. + const float angle = atan2f(patchEdgeVec.y, patchEdgeVec.x) - atan2f(localEdgeVec.y, localEdgeVec.x); + // Rotate so the patch edge and the corresponding local edge occupy the same space. + for (uint32_t i = 0; i < 3; i++) { + if (i == localVertex0) + continue; + Vector2 &uv = texcoords[i]; + uv -= texcoords[localVertex0]; // Rotate around the first vertex. + const float c = cosf(angle); + const float s = sinf(angle); + const float x = uv.x * c - uv.y * s; + const float y = uv.y * c + uv.x * s; + uv.x = x + texcoords[localVertex0].x; + uv.y = y + texcoords[localVertex0].y; + } + // Check for local overlap (flipped triangle). + // The patch face vertex that isn't on the active edge and the free vertex should be oriented on opposite sides to the active edge. + const float freeVertexOrient = orientToEdge(m_texcoords[vertex0], m_texcoords[vertex1], texcoords[localFreeVertex]); + if ((patchVertexOrient < 0.0f && freeVertexOrient < 0.0f) || (patchVertexOrient > 0.0f && freeVertexOrient > 0.0f)) { + m_faceInvalid.set(face); + return; + } + const float stretch = computeStretch(m_mesh->position(vertex0), m_mesh->position(vertex1), m_mesh->position(freeVertex), texcoords[0], texcoords[1], texcoords[2]); + if (stretch >= FLT_MAX) { + m_faceInvalid.set(face); + return; + } + const float cost = fabsf(stretch - 1.0f); +#if 0 + if (cost > 0.25f) { + m_faceInvalid.set(face); + return; + } +#endif + // Add the candidate. + Candidate candidate; + candidate.face = face; + candidate.vertex = freeVertex; + candidate.position = texcoords[localFreeVertex]; + candidate.next = UINT32_MAX; + candidate.cost = cost; + candidate.patchEdge = patchEdge; + candidate.patchVertexOrient = patchVertexOrient; + m_candidates.push_back(candidate); + m_faceInCandidates.set(face); + } + + void orthoProjectFace(uint32_t face, Vector2 *texcoords) const + { + const Vector3 normal = m_mesh->computeFaceNormal(face); + const Vector3 tangent = normalize(m_mesh->position(m_mesh->vertexAt(face * 3 + 1)) - m_mesh->position(m_mesh->vertexAt(face * 3 + 0)), kEpsilon); + const Vector3 bitangent = cross(normal, tangent); + for (uint32_t i = 0; i < 3; i++) { + const Vector3 &pos = m_mesh->position(m_mesh->vertexAt(face * 3 + i)); + texcoords[i] = Vector2(dot(tangent, pos), dot(bitangent, pos)); + } + } + + float parametricArea(const Vector2 *texcoords) const + { + const Vector2 &v1 = texcoords[0]; + const Vector2 &v2 = texcoords[1]; + const Vector2 &v3 = texcoords[2]; + return ((v2.x - v1.x) * (v3.y - v1.y) - (v3.x - v1.x) * (v2.y - v1.y)) * 0.5f; + } + + float computeStretch(Vector3 p1, Vector3 p2, Vector3 p3, Vector2 t1, Vector2 t2, Vector2 t3) const + { + float parametricArea = ((t2.y - t1.y) * (t3.x - t1.x) - (t3.y - t1.y) * (t2.x - t1.x)) * 0.5f; + if (isZero(parametricArea, kAreaEpsilon)) + return FLT_MAX; + if (parametricArea < 0.0f) + parametricArea = fabsf(parametricArea); + const float geometricArea = length(cross(p2 - p1, p3 - p1)) * 0.5f; + if (parametricArea <= geometricArea) + return parametricArea / geometricArea; + else + return geometricArea / parametricArea; + } + + // Return value is positive if the point is one side of the edge, negative if on the other side. + float orientToEdge(Vector2 edgeVertex0, Vector2 edgeVertex1, Vector2 point) const + { + return (edgeVertex0.x - point.x) * (edgeVertex1.y - point.y) - (edgeVertex0.y - point.y) * (edgeVertex1.x - point.x); + } +}; +#endif // Estimate quality of existing parameterization. -struct ParameterizationQuality +struct Quality { + // computeBoundaryIntersection + bool boundaryIntersection = false; + + // computeFlippedFaces uint32_t totalTriangleCount = 0; uint32_t flippedTriangleCount = 0; uint32_t zeroAreaTriangleCount = 0; - float parametricArea = 0.0f; - float geometricArea = 0.0f; + + // computeMetrics + float totalParametricArea = 0.0f; + float totalGeometricArea = 0.0f; float stretchMetric = 0.0f; float maxStretchMetric = 0.0f; float conformalMetric = 0.0f; float authalicMetric = 0.0f; - bool boundaryIntersection = false; -}; -static ParameterizationQuality calculateParameterizationQuality(const Mesh *mesh, uint32_t faceCount, Array<uint32_t> *flippedFaces) -{ - XA_DEBUG_ASSERT(mesh != nullptr); - ParameterizationQuality quality; - uint32_t firstBoundaryEdge = UINT32_MAX; - for (uint32_t e = 0; e < mesh->edgeCount(); e++) { - if (mesh->isBoundaryEdge(e)) { - firstBoundaryEdge = e; - break; - } + void computeBoundaryIntersection(const Mesh *mesh, UniformGrid2 &boundaryGrid) + { + const Array<uint32_t> &boundaryEdges = mesh->boundaryEdges(); + const uint32_t boundaryEdgeCount = boundaryEdges.size(); + boundaryGrid.reset(mesh->texcoords(), mesh->indices(), boundaryEdgeCount); + for (uint32_t i = 0; i < boundaryEdgeCount; i++) + boundaryGrid.append(boundaryEdges[i]); + boundaryIntersection = boundaryGrid.intersectSelf(mesh->epsilon()); +#if XA_DEBUG_EXPORT_BOUNDARY_GRID + static int exportIndex = 0; + char filename[256]; + XA_SPRINTF(filename, sizeof(filename), "debug_boundary_grid_%03d.tga", exportIndex); + boundaryGrid.debugExport(filename); + exportIndex++; +#endif } - XA_DEBUG_ASSERT(firstBoundaryEdge != UINT32_MAX); - for (Mesh::BoundaryEdgeIterator it1(mesh, firstBoundaryEdge); !it1.isDone(); it1.advance()) { - const uint32_t edge1 = it1.edge(); - for (Mesh::BoundaryEdgeIterator it2(mesh, firstBoundaryEdge); !it2.isDone(); it2.advance()) { - const uint32_t edge2 = it2.edge(); - // Skip self and edges directly connected to edge1. - if (edge1 == edge2 || it1.nextEdge() == edge2 || it2.nextEdge() == edge1) + + void computeFlippedFaces(const Mesh *mesh, uint32_t faceCount, Array<uint32_t> *flippedFaces) + { + totalTriangleCount = flippedTriangleCount = zeroAreaTriangleCount = 0; + if (flippedFaces) + flippedFaces->clear(); + for (uint32_t f = 0; f < faceCount; f++) { + Vector2 texcoord[3]; + for (int i = 0; i < 3; i++) { + const uint32_t v = mesh->vertexAt(f * 3 + i); + texcoord[i] = mesh->texcoord(v); + } + totalTriangleCount++; + const float t1 = texcoord[0].x; + const float s1 = texcoord[0].y; + const float t2 = texcoord[1].x; + const float s2 = texcoord[1].y; + const float t3 = texcoord[2].x; + const float s3 = texcoord[2].y; + const float parametricArea = ((s2 - s1) * (t3 - t1) - (s3 - s1) * (t2 - t1)) * 0.5f; + if (isZero(parametricArea, kAreaEpsilon)) { + zeroAreaTriangleCount++; continue; - const Vector2 &a1 = mesh->texcoord(mesh->vertexAt(meshEdgeIndex0(edge1))); - const Vector2 &a2 = mesh->texcoord(mesh->vertexAt(meshEdgeIndex1(edge1))); - const Vector2 &b1 = mesh->texcoord(mesh->vertexAt(meshEdgeIndex0(edge2))); - const Vector2 &b2 = mesh->texcoord(mesh->vertexAt(meshEdgeIndex1(edge2))); - if (linesIntersect(a1, a2, b1, b2, mesh->epsilon())) { - quality.boundaryIntersection = true; - break; + } + if (parametricArea < 0.0f) { + // Count flipped triangles. + flippedTriangleCount++; + if (flippedFaces) + flippedFaces->push_back(f); } } - if (quality.boundaryIntersection) - break; - } - if (flippedFaces) - flippedFaces->clear(); - for (uint32_t f = 0; f < faceCount; f++) { - Vector3 pos[3]; - Vector2 texcoord[3]; - for (int i = 0; i < 3; i++) { - const uint32_t v = mesh->vertexAt(f * 3 + i); - pos[i] = mesh->position(v); - texcoord[i] = mesh->texcoord(v); - } - quality.totalTriangleCount++; - // Evaluate texture stretch metric. See: - // - "Texture Mapping Progressive Meshes", Sander, Snyder, Gortler & Hoppe - // - "Mesh Parameterization: Theory and Practice", Siggraph'07 Course Notes, Hormann, Levy & Sheffer. - const float t1 = texcoord[0].x; - const float s1 = texcoord[0].y; - const float t2 = texcoord[1].x; - const float s2 = texcoord[1].y; - const float t3 = texcoord[2].x; - const float s3 = texcoord[2].y; - float parametricArea = ((s2 - s1) * (t3 - t1) - (s3 - s1) * (t2 - t1)) / 2; - if (isZero(parametricArea, kAreaEpsilon)) { - quality.zeroAreaTriangleCount++; - continue; - } - if (parametricArea < 0.0f) { - // Count flipped triangles. - quality.flippedTriangleCount++; + if (flippedTriangleCount + zeroAreaTriangleCount == totalTriangleCount) { + // If all triangles are flipped, then none are. if (flippedFaces) - flippedFaces->push_back(f); - parametricArea = fabsf(parametricArea); + flippedFaces->clear(); + flippedTriangleCount = 0; } - const float geometricArea = length(cross(pos[1] - pos[0], pos[2] - pos[0])) / 2; - const Vector3 Ss = (pos[0] * (t2 - t3) + pos[1] * (t3 - t1) + pos[2] * (t1 - t2)) / (2 * parametricArea); - const Vector3 St = (pos[0] * (s3 - s2) + pos[1] * (s1 - s3) + pos[2] * (s2 - s1)) / (2 * parametricArea); - const float a = dot(Ss, Ss); // E - const float b = dot(Ss, St); // F - const float c = dot(St, St); // G - // Compute eigen-values of the first fundamental form: - const float sigma1 = sqrtf(0.5f * max(0.0f, a + c - sqrtf(square(a - c) + 4 * square(b)))); // gamma uppercase, min eigenvalue. - const float sigma2 = sqrtf(0.5f * max(0.0f, a + c + sqrtf(square(a - c) + 4 * square(b)))); // gamma lowercase, max eigenvalue. - XA_ASSERT(sigma2 > sigma1 || equal(sigma1, sigma2, kEpsilon)); - // isometric: sigma1 = sigma2 = 1 - // conformal: sigma1 / sigma2 = 1 - // authalic: sigma1 * sigma2 = 1 - const float rmsStretch = sqrtf((a + c) * 0.5f); - const float rmsStretch2 = sqrtf((square(sigma1) + square(sigma2)) * 0.5f); - XA_DEBUG_ASSERT(equal(rmsStretch, rmsStretch2, 0.01f)); - XA_UNUSED(rmsStretch2); - quality.stretchMetric += square(rmsStretch) * geometricArea; - quality.maxStretchMetric = max(quality.maxStretchMetric, sigma2); - if (!isZero(sigma1, 0.000001f)) { - // sigma1 is zero when geometricArea is zero. - quality.conformalMetric += (sigma2 / sigma1) * geometricArea; - } - quality.authalicMetric += (sigma1 * sigma2) * geometricArea; - // Accumulate total areas. - quality.geometricArea += geometricArea; - quality.parametricArea += parametricArea; - //triangleConformalEnergy(q, p); - } - if (quality.flippedTriangleCount + quality.zeroAreaTriangleCount == quality.totalTriangleCount) { - // If all triangles are flipped, then none are. - if (flippedFaces) - flippedFaces->clear(); - quality.flippedTriangleCount = 0; - } - if (quality.flippedTriangleCount > quality.totalTriangleCount / 2) - { - // If more than half the triangles are flipped, reverse the flipped / not flipped classification. - quality.flippedTriangleCount = quality.totalTriangleCount - quality.flippedTriangleCount; - if (flippedFaces) { - Array<uint32_t> temp; - flippedFaces->copyTo(temp); - flippedFaces->clear(); - for (uint32_t f = 0; f < faceCount; f++) { - bool match = false; - for (uint32_t ff = 0; ff < temp.size(); ff++) { - if (temp[ff] == f) { - match = true; - break; + if (flippedTriangleCount > totalTriangleCount / 2) + { + // If more than half the triangles are flipped, reverse the flipped / not flipped classification. + flippedTriangleCount = totalTriangleCount - flippedTriangleCount; + if (flippedFaces) { + Array<uint32_t> temp; + flippedFaces->copyTo(temp); + flippedFaces->clear(); + for (uint32_t f = 0; f < faceCount; f++) { + bool match = false; + for (uint32_t ff = 0; ff < temp.size(); ff++) { + if (temp[ff] == f) { + match = true; + break; + } } + if (!match) + flippedFaces->push_back(f); } - if (!match) - flippedFaces->push_back(f); } } } - XA_DEBUG_ASSERT(isFinite(quality.parametricArea) && quality.parametricArea >= 0); - XA_DEBUG_ASSERT(isFinite(quality.geometricArea) && quality.geometricArea >= 0); - XA_DEBUG_ASSERT(isFinite(quality.stretchMetric)); - XA_DEBUG_ASSERT(isFinite(quality.maxStretchMetric)); - XA_DEBUG_ASSERT(isFinite(quality.conformalMetric)); - XA_DEBUG_ASSERT(isFinite(quality.authalicMetric)); - if (quality.geometricArea <= 0.0f) { - quality.stretchMetric = 0.0f; - quality.maxStretchMetric = 0.0f; - quality.conformalMetric = 0.0f; - quality.authalicMetric = 0.0f; - } else { - const float normFactor = sqrtf(quality.parametricArea / quality.geometricArea); - quality.stretchMetric = sqrtf(quality.stretchMetric / quality.geometricArea) * normFactor; - quality.maxStretchMetric *= normFactor; - quality.conformalMetric = sqrtf(quality.conformalMetric / quality.geometricArea); - quality.authalicMetric = sqrtf(quality.authalicMetric / quality.geometricArea); + + void computeMetrics(const Mesh *mesh, uint32_t faceCount) + { + totalGeometricArea = totalParametricArea = 0.0f; + stretchMetric = maxStretchMetric = conformalMetric = authalicMetric = 0.0f; + for (uint32_t f = 0; f < faceCount; f++) { + Vector3 pos[3]; + Vector2 texcoord[3]; + for (int i = 0; i < 3; i++) { + const uint32_t v = mesh->vertexAt(f * 3 + i); + pos[i] = mesh->position(v); + texcoord[i] = mesh->texcoord(v); + } + // Evaluate texture stretch metric. See: + // - "Texture Mapping Progressive Meshes", Sander, Snyder, Gortler & Hoppe + // - "Mesh Parameterization: Theory and Practice", Siggraph'07 Course Notes, Hormann, Levy & Sheffer. + const float t1 = texcoord[0].x; + const float s1 = texcoord[0].y; + const float t2 = texcoord[1].x; + const float s2 = texcoord[1].y; + const float t3 = texcoord[2].x; + const float s3 = texcoord[2].y; + float parametricArea = ((s2 - s1) * (t3 - t1) - (s3 - s1) * (t2 - t1)) * 0.5f; + if (isZero(parametricArea, kAreaEpsilon)) + continue; + if (parametricArea < 0.0f) + parametricArea = fabsf(parametricArea); + const float geometricArea = length(cross(pos[1] - pos[0], pos[2] - pos[0])) / 2; + const Vector3 Ss = (pos[0] * (t2 - t3) + pos[1] * (t3 - t1) + pos[2] * (t1 - t2)) / (2 * parametricArea); + const Vector3 St = (pos[0] * (s3 - s2) + pos[1] * (s1 - s3) + pos[2] * (s2 - s1)) / (2 * parametricArea); + const float a = dot(Ss, Ss); // E + const float b = dot(Ss, St); // F + const float c = dot(St, St); // G + // Compute eigen-values of the first fundamental form: + const float sigma1 = sqrtf(0.5f * max(0.0f, a + c - sqrtf(square(a - c) + 4 * square(b)))); // gamma uppercase, min eigenvalue. + const float sigma2 = sqrtf(0.5f * max(0.0f, a + c + sqrtf(square(a - c) + 4 * square(b)))); // gamma lowercase, max eigenvalue. + XA_ASSERT(sigma2 > sigma1 || equal(sigma1, sigma2, kEpsilon)); + // isometric: sigma1 = sigma2 = 1 + // conformal: sigma1 / sigma2 = 1 + // authalic: sigma1 * sigma2 = 1 + const float rmsStretch = sqrtf((a + c) * 0.5f); + const float rmsStretch2 = sqrtf((square(sigma1) + square(sigma2)) * 0.5f); + XA_DEBUG_ASSERT(equal(rmsStretch, rmsStretch2, 0.01f)); + XA_UNUSED(rmsStretch2); + stretchMetric += square(rmsStretch) * geometricArea; + maxStretchMetric = max(maxStretchMetric, sigma2); + if (!isZero(sigma1, 0.000001f)) { + // sigma1 is zero when geometricArea is zero. + conformalMetric += (sigma2 / sigma1) * geometricArea; + } + authalicMetric += (sigma1 * sigma2) * geometricArea; + // Accumulate total areas. + totalGeometricArea += geometricArea; + totalParametricArea += parametricArea; + } + XA_DEBUG_ASSERT(isFinite(totalParametricArea) && totalParametricArea >= 0); + XA_DEBUG_ASSERT(isFinite(totalGeometricArea) && totalGeometricArea >= 0); + XA_DEBUG_ASSERT(isFinite(stretchMetric)); + XA_DEBUG_ASSERT(isFinite(maxStretchMetric)); + XA_DEBUG_ASSERT(isFinite(conformalMetric)); + XA_DEBUG_ASSERT(isFinite(authalicMetric)); + if (totalGeometricArea > 0.0f) { + const float normFactor = sqrtf(totalParametricArea / totalGeometricArea); + stretchMetric = sqrtf(stretchMetric / totalGeometricArea) * normFactor; + maxStretchMetric *= normFactor; + conformalMetric = sqrtf(conformalMetric / totalGeometricArea); + authalicMetric = sqrtf(authalicMetric / totalGeometricArea); + } } - return quality; -} +}; struct ChartWarningFlags { @@ -5706,24 +6629,30 @@ struct ChartWarningFlags }; }; +struct ChartCtorBuffers +{ + Array<uint32_t> chartMeshIndices; + Array<uint32_t> unifiedMeshIndices; + Array<uint32_t> boundaryLoops; +}; + /// A chart is a connected set of faces with a certain topology (usually a disk). class Chart { public: - Chart(const segment::Atlas *atlas, const Mesh *originalMesh, uint32_t chartIndex, uint32_t meshId, uint32_t chartGroupId, uint32_t chartId) : m_mesh(nullptr), m_unifiedMesh(nullptr), m_isDisk(false), m_isOrtho(false), m_isPlanar(false), m_warningFlags(0), m_closedHolesCount(0), m_fixedTJunctionsCount(0) + Chart(ChartCtorBuffers &buffers, const Basis &basis, ConstArrayView<uint32_t> faces, const Mesh *originalMesh, uint32_t meshId, uint32_t chartGroupId, uint32_t chartId) : m_basis(basis), m_mesh(nullptr), m_unifiedMesh(nullptr), m_unmodifiedUnifiedMesh(nullptr), m_type(ChartType::LSCM), m_warningFlags(0), m_closedHolesCount(0), m_fixedTJunctionsCount(0) { XA_UNUSED(meshId); XA_UNUSED(chartGroupId); XA_UNUSED(chartId); - m_basis = atlas->chartBasis(chartIndex); - atlas->chartFaces(chartIndex).copyTo(m_faceArray); + m_faceArray.copyFrom(faces.data, faces.length); // Copy face indices. m_mesh = XA_NEW_ARGS(MemTag::Mesh, Mesh, originalMesh->epsilon(), m_faceArray.size() * 3, m_faceArray.size()); m_unifiedMesh = XA_NEW_ARGS(MemTag::Mesh, Mesh, originalMesh->epsilon(), m_faceArray.size() * 3, m_faceArray.size()); - Array<uint32_t> chartMeshIndices; + Array<uint32_t> &chartMeshIndices = buffers.chartMeshIndices; chartMeshIndices.resize(originalMesh->vertexCount()); chartMeshIndices.setAll(UINT32_MAX); - Array<uint32_t> unifiedMeshIndices; + Array<uint32_t> &unifiedMeshIndices = buffers.unifiedMeshIndices; unifiedMeshIndices.resize(originalMesh->vertexCount()); unifiedMeshIndices.setAll(UINT32_MAX); // Add vertices. @@ -5735,11 +6664,7 @@ public: if (unifiedMeshIndices[unifiedVertex] == (uint32_t)~0) { unifiedMeshIndices[unifiedVertex] = m_unifiedMesh->vertexCount(); XA_DEBUG_ASSERT(equal(originalMesh->position(vertex), originalMesh->position(unifiedVertex), originalMesh->epsilon())); -#if XA_SKIP_PARAMETERIZATION - m_unifiedMesh->addVertex(originalMesh->position(vertex), Vector3(0.0f), atlas->faceTexcoords(m_faceArray[f])[i]); -#else m_unifiedMesh->addVertex(originalMesh->position(vertex)); -#endif } if (chartMeshIndices[vertex] == (uint32_t)~0) { chartMeshIndices[vertex] = m_mesh->vertexCount(); @@ -5774,11 +6699,10 @@ public: } m_mesh->createBoundaries(); // For AtlasPacker::computeBoundingBox m_unifiedMesh->createBoundaries(); - m_unifiedMesh->linkBoundaries(); - m_isPlanar = meshIsPlanar(*m_unifiedMesh); - if (m_isPlanar) { - m_isDisk = true; - } else { + if (meshIsPlanar(*m_unifiedMesh)) + m_type = ChartType::Planar; + else { + m_unifiedMesh->linkBoundaries(); #if XA_DEBUG_EXPORT_OBJ_BEFORE_FIX_TJUNCTION m_unifiedMesh->writeObjFile("debug_before_fix_tjunction.obj"); #endif @@ -5791,15 +6715,14 @@ public: m_warningFlags |= ChartWarningFlags::FixTJunctionsDuplicatedEdge; if (failed) m_warningFlags |= ChartWarningFlags::FixTJunctionsFailed; - m_unifiedMesh->~Mesh(); - XA_FREE(m_unifiedMesh); + m_unmodifiedUnifiedMesh = m_unifiedMesh; m_unifiedMesh = fixedUnifiedMesh; m_unifiedMesh->createBoundaries(); m_unifiedMesh->linkBoundaries(); m_initialFaceCount = m_unifiedMesh->faceCount(); // Fixing t-junctions rewrites faces. } // See if there are any holes that need closing. - Array<uint32_t> boundaryLoops; + Array<uint32_t> &boundaryLoops = buffers.boundaryLoops; meshGetBoundaryLoops(*m_unifiedMesh, boundaryLoops); if (boundaryLoops.size() > 1) { #if XA_DEBUG_EXPORT_OBJ_CLOSE_HOLES_ERROR @@ -5810,16 +6733,21 @@ public: // - Find cuts that reduce genus. // - Find cuts to connect holes. // - Use minimal spanning trees or seamster. - Array<uint32_t> holeFaceCounts; XA_PROFILE_START(closeChartMeshHoles) - failed = !meshCloseHoles(m_unifiedMesh, boundaryLoops, m_basis.normal, holeFaceCounts); + uint32_t holeCount = 0; +#if XA_DEBUG_EXPORT_OBJ_CLOSE_HOLES_ERROR + Array<uint32_t> holeFaceCounts; + failed = !meshCloseHoles(m_unifiedMesh, boundaryLoops, m_basis.normal, &holeFaceCounts); +#else + failed = !meshCloseHoles(m_unifiedMesh, boundaryLoops, m_basis.normal, &holeCount, nullptr); +#endif XA_PROFILE_END(closeChartMeshHoles) m_unifiedMesh->createBoundaries(); m_unifiedMesh->linkBoundaries(); meshGetBoundaryLoops(*m_unifiedMesh, boundaryLoops); if (failed || boundaryLoops.size() > 1) m_warningFlags |= ChartWarningFlags::CloseHolesFailed; - m_closedHolesCount = holeFaceCounts.size(); + m_closedHolesCount = holeCount; #if XA_DEBUG_EXPORT_OBJ_CLOSE_HOLES_ERROR if (m_warningFlags & ChartWarningFlags::CloseHolesFailed) { char filename[256]; @@ -5848,18 +6776,75 @@ public: } #endif } - // Note: MeshTopology needs linked boundaries. - MeshTopology topology(m_unifiedMesh); - m_isDisk = topology.isDisk(); -#if XA_DEBUG_EXPORT_OBJ_NOT_DISK - if (!m_isDisk) { - char filename[256]; - XA_SPRINTF(filename, sizeof(filename), "debug_mesh_%03u_chartgroup_%03u_chart_%03u_not_disk.obj", meshId, chartGroupId, chartId); - m_unifiedMesh->writeObjFile(filename); + } + } + +#if XA_RECOMPUTE_CHARTS + Chart(ChartCtorBuffers &buffers, const Chart *parent, const Mesh *parentMesh, ConstArrayView<uint32_t> faces, const Vector2 *texcoords, const Mesh *originalMesh, uint32_t meshId, uint32_t chartGroupId, uint32_t chartId) : m_mesh(nullptr), m_unifiedMesh(nullptr), m_unmodifiedUnifiedMesh(nullptr), m_type(ChartType::Piecewise), m_warningFlags(0), m_closedHolesCount(0), m_fixedTJunctionsCount(0) + { + XA_UNUSED(meshId); + XA_UNUSED(chartGroupId); + XA_UNUSED(chartId); + const uint32_t faceCount = m_initialFaceCount = faces.length; + m_faceArray.resize(faceCount); + for (uint32_t i = 0; i < faceCount; i++) + m_faceArray[i] = parent->m_faceArray[faces[i]]; // Map faces to parent chart original mesh. + // Copy face indices. + m_mesh = XA_NEW_ARGS(MemTag::Mesh, Mesh, originalMesh->epsilon(), m_faceArray.size() * 3, m_faceArray.size()); + m_unifiedMesh = XA_NEW_ARGS(MemTag::Mesh, Mesh, originalMesh->epsilon(), m_faceArray.size() * 3, m_faceArray.size()); + Array<uint32_t> &chartMeshIndices = buffers.chartMeshIndices; + chartMeshIndices.resize(originalMesh->vertexCount()); + chartMeshIndices.setAll(UINT32_MAX); + Array<uint32_t> &unifiedMeshIndices = buffers.unifiedMeshIndices; + unifiedMeshIndices.resize(originalMesh->vertexCount()); + unifiedMeshIndices.setAll(UINT32_MAX); + // Add vertices. + for (uint32_t f = 0; f < faceCount; f++) { + for (uint32_t i = 0; i < 3; i++) { + const uint32_t vertex = originalMesh->vertexAt(m_faceArray[f] * 3 + i); + const uint32_t unifiedVertex = originalMesh->firstColocal(vertex); + const uint32_t parentVertex = parentMesh->vertexAt(faces[f] * 3 + i); + if (unifiedMeshIndices[unifiedVertex] == (uint32_t)~0) { + unifiedMeshIndices[unifiedVertex] = m_unifiedMesh->vertexCount(); + XA_DEBUG_ASSERT(equal(originalMesh->position(vertex), originalMesh->position(unifiedVertex), originalMesh->epsilon())); + m_unifiedMesh->addVertex(originalMesh->position(vertex), Vector3(0.0f), texcoords[parentVertex]); + } + if (chartMeshIndices[vertex] == (uint32_t)~0) { + chartMeshIndices[vertex] = m_mesh->vertexCount(); + m_chartToOriginalMap.push_back(vertex); + m_chartToUnifiedMap.push_back(unifiedMeshIndices[unifiedVertex]); + m_mesh->addVertex(originalMesh->position(vertex), Vector3(0.0f), texcoords[parentVertex]); + } + } + } + // Add faces. + for (uint32_t f = 0; f < faceCount; f++) { + uint32_t indices[3], unifiedIndices[3]; + for (uint32_t i = 0; i < 3; i++) { + const uint32_t vertex = originalMesh->vertexAt(m_faceArray[f] * 3 + i); + indices[i] = chartMeshIndices[vertex]; + unifiedIndices[i] = unifiedMeshIndices[originalMesh->firstColocal(vertex)]; + } + Mesh::AddFaceResult::Enum result = m_mesh->addFace(indices); + XA_UNUSED(result); + XA_DEBUG_ASSERT(result == Mesh::AddFaceResult::OK); +#if XA_DEBUG + // Unifying colocals may create degenerate edges. e.g. if two triangle vertices are colocal. + for (int i = 0; i < 3; i++) { + const uint32_t index1 = unifiedIndices[i]; + const uint32_t index2 = unifiedIndices[(i + 1) % 3]; + XA_DEBUG_ASSERT(index1 != index2); } #endif + result = m_unifiedMesh->addFace(unifiedIndices); + XA_UNUSED(result); + XA_DEBUG_ASSERT(result == Mesh::AddFaceResult::OK); } + m_mesh->createBoundaries(); // For AtlasPacker::computeBoundingBox + m_unifiedMesh->createBoundaries(); + m_unifiedMesh->linkBoundaries(); } +#endif ~Chart() { @@ -5871,16 +6856,19 @@ public: m_unifiedMesh->~Mesh(); XA_FREE(m_unifiedMesh); } + if (m_unmodifiedUnifiedMesh) { + m_unmodifiedUnifiedMesh->~Mesh(); + XA_FREE(m_unmodifiedUnifiedMesh); + } } const Basis &basis() const { return m_basis; } - bool isDisk() const { return m_isDisk; } - bool isOrtho() const { return m_isOrtho; } - bool isPlanar() const { return m_isPlanar; } + ChartType::Enum type() const { return m_type; } uint32_t warningFlags() const { return m_warningFlags; } uint32_t closedHolesCount() const { return m_closedHolesCount; } uint32_t fixedTJunctionsCount() const { return m_fixedTJunctionsCount; } - const ParameterizationQuality ¶mQuality() const { return m_paramQuality; } + const Quality &quality() const { return m_quality; } + uint32_t initialFaceCount() const { return m_initialFaceCount; } #if XA_DEBUG_EXPORT_OBJ_INVALID_PARAMETERIZATION const Array<uint32_t> ¶mFlippedFaces() const { return m_paramFlippedFaces; } #endif @@ -5889,26 +6877,31 @@ public: Mesh *mesh() { return m_mesh; } const Mesh *unifiedMesh() const { return m_unifiedMesh; } Mesh *unifiedMesh() { return m_unifiedMesh; } + const Mesh *unmodifiedUnifiedMesh() const { return m_unmodifiedUnifiedMesh; } uint32_t mapChartVertexToOriginalVertex(uint32_t i) const { return m_chartToOriginalMap[i]; } - void evaluateOrthoParameterizationQuality() + void evaluateOrthoQuality(UniformGrid2 &boundaryGrid) { XA_PROFILE_START(parameterizeChartsEvaluateQuality) - m_paramQuality = calculateParameterizationQuality(m_unifiedMesh, m_initialFaceCount, nullptr); + m_quality.computeBoundaryIntersection(m_unifiedMesh, boundaryGrid); + m_quality.computeFlippedFaces(m_unifiedMesh, m_initialFaceCount, nullptr); + m_quality.computeMetrics(m_unifiedMesh, m_initialFaceCount); XA_PROFILE_END(parameterizeChartsEvaluateQuality) // Use orthogonal parameterization if quality is acceptable. - if (!m_paramQuality.boundaryIntersection && m_paramQuality.geometricArea > 0.0f && m_paramQuality.stretchMetric <= 1.1f && m_paramQuality.maxStretchMetric <= 1.25f) - m_isOrtho = true; + if (!m_quality.boundaryIntersection && m_quality.totalGeometricArea > 0.0f && m_quality.stretchMetric <= 1.1f && m_quality.maxStretchMetric <= 1.25f) + m_type = ChartType::Ortho; } - void evaluateParameterizationQuality() + void evaluateQuality(UniformGrid2 &boundaryGrid) { XA_PROFILE_START(parameterizeChartsEvaluateQuality) + m_quality.computeBoundaryIntersection(m_unifiedMesh, boundaryGrid); #if XA_DEBUG_EXPORT_OBJ_INVALID_PARAMETERIZATION - m_paramQuality = calculateParameterizationQuality(m_unifiedMesh, m_initialFaceCount, &m_paramFlippedFaces); + m_quality.computeFlippedFaces(m_unifiedMesh, m_initialFaceCount, &m_paramFlippedFaces); #else - m_paramQuality = calculateParameterizationQuality(m_unifiedMesh, m_initialFaceCount, nullptr); + m_quality.computeFlippedFaces(m_unifiedMesh, m_initialFaceCount, nullptr); #endif + // Don't need to call computeMetrics here, that's only used in evaluateOrthoQuality to determine if quality is acceptable enough to use ortho projection. XA_PROFILE_END(parameterizeChartsEvaluateQuality) } @@ -5920,16 +6913,6 @@ public: m_mesh->texcoord(v) = m_unifiedMesh->texcoord(m_chartToUnifiedMap[v]); } - float computeSurfaceArea() const - { - return m_mesh->computeSurfaceArea(); - } - - float computeParametricArea() const - { - return m_mesh->computeParametricArea(); - } - Vector2 computeParametricBounds() const { Vector2 minCorner(FLT_MAX, FLT_MAX); @@ -5946,7 +6929,8 @@ private: Basis m_basis; Mesh *m_mesh; Mesh *m_unifiedMesh; - bool m_isDisk, m_isOrtho, m_isPlanar; + Mesh *m_unmodifiedUnifiedMesh; // Unified mesh before fixing t-junctions. Null if no t-junctions were fixed + ChartType::Enum m_type; uint32_t m_warningFlags; uint32_t m_initialFaceCount; // Before fixing T-junctions and/or closing holes. uint32_t m_closedHolesCount, m_fixedTJunctionsCount; @@ -5959,7 +6943,7 @@ private: Array<uint32_t> m_chartToUnifiedMap; - ParameterizationQuality m_paramQuality; + Quality m_quality; #if XA_DEBUG_EXPORT_OBJ_INVALID_PARAMETERIZATION Array<uint32_t> m_paramFlippedFaces; #endif @@ -5967,12 +6951,13 @@ private: struct CreateChartTaskArgs { - const segment::Atlas *atlas; const Mesh *mesh; - uint32_t chartIndex; // In the atlas. + const Basis *basis; + ConstArrayView<uint32_t> faces; uint32_t meshId; uint32_t chartGroupId; uint32_t chartId; + ThreadLocal<ChartCtorBuffers> *chartBuffers; Chart **chart; }; @@ -5980,7 +6965,7 @@ static void runCreateChartTask(void *userData) { XA_PROFILE_START(createChartMeshesThread) auto args = (CreateChartTaskArgs *)userData; - *(args->chart) = XA_NEW_ARGS(MemTag::Default, Chart, args->atlas, args->mesh, args->chartIndex, args->meshId, args->chartGroupId, args->chartId); + *(args->chart) = XA_NEW_ARGS(MemTag::Default, Chart, args->chartBuffers->get(), *(args->basis), args->faces, args->mesh, args->meshId, args->chartGroupId, args->chartId); XA_PROFILE_END(createChartMeshesThread) } @@ -5988,6 +6973,7 @@ struct ParameterizeChartTaskArgs { Chart *chart; ParameterizeFunc func; + ThreadLocal<UniformGrid2> *boundaryGrid; }; static void runParameterizeChartTask(void *userData) @@ -5995,24 +6981,26 @@ static void runParameterizeChartTask(void *userData) auto args = (ParameterizeChartTaskArgs *)userData; Mesh *mesh = args->chart->unifiedMesh(); XA_PROFILE_START(parameterizeChartsOrthogonal) -#if 1 - computeOrthogonalProjectionMap(mesh); -#else - for (uint32_t i = 0; i < vertexCount; i++) - mesh->texcoord(i) = Vector2(dot(args->chart->basis().tangent, mesh->position(i)), dot(args->chart->basis().bitangent, mesh->position(i))); -#endif + { + // Project vertices to plane. + const uint32_t vertexCount = mesh->vertexCount(); + const Basis &basis = args->chart->basis(); + for (uint32_t i = 0; i < vertexCount; i++) + mesh->texcoord(i) = Vector2(dot(basis.tangent, mesh->position(i)), dot(basis.bitangent, mesh->position(i))); + } XA_PROFILE_END(parameterizeChartsOrthogonal) - args->chart->evaluateOrthoParameterizationQuality(); - if (!args->chart->isOrtho() && !args->chart->isPlanar()) { + // Computing charts checks for flipped triangles and boundary intersection. Don't need to do that again here if chart is planar. + if (args->chart->type() != ChartType::Planar) + args->chart->evaluateOrthoQuality(args->boundaryGrid->get()); + if (args->chart->type() == ChartType::LSCM) { XA_PROFILE_START(parameterizeChartsLSCM) if (args->func) args->func(&mesh->position(0).x, &mesh->texcoord(0).x, mesh->vertexCount(), mesh->indices(), mesh->indexCount()); - else if (args->chart->isDisk()) + else computeLeastSquaresConformalMap(mesh); XA_PROFILE_END(parameterizeChartsLSCM) - args->chart->evaluateParameterizationQuality(); + args->chart->evaluateQuality(args->boundaryGrid->get()); } - // @@ Check that parameterization quality is above a certain threshold. // Transfer parameterization from unified mesh to chart mesh. args->chart->transferParameterization(); } @@ -6021,27 +7009,33 @@ static void runParameterizeChartTask(void *userData) class ChartGroup { public: - ChartGroup(uint32_t id, const Mesh *sourceMesh, uint32_t faceGroup) : m_sourceId(sourceMesh->id()), m_id(id), m_isVertexMap(faceGroup == UINT32_MAX), m_paramAddedChartsCount(0), m_paramDeletedChartsCount(0) + ChartGroup(uint32_t id, const Mesh *sourceMesh, uint16_t faceGroup) : m_sourceId(sourceMesh->id()), m_id(id), m_isVertexMap(faceGroup == Mesh::kInvalidFaceGroup), m_paramAddedChartsCount(0), m_paramDeletedChartsCount(0) { // Create new mesh from the source mesh, using faces that belong to this group. const uint32_t sourceFaceCount = sourceMesh->faceCount(); - for (uint32_t f = 0; f < sourceFaceCount; f++) { - if (sourceMesh->faceGroupAt(f) == faceGroup) - m_faceToSourceFaceMap.push_back(f); + if (!m_isVertexMap) { + m_faceToSourceFaceMap.reserve(sourceMesh->faceGroupFaceCount(faceGroup)); + for (Mesh::GroupFaceIterator it(sourceMesh, faceGroup); !it.isDone(); it.advance()) + m_faceToSourceFaceMap.push_back(it.face()); + } else { + for (uint32_t f = 0; f < sourceFaceCount; f++) { + if (sourceMesh->faceGroupAt(f) == faceGroup) + m_faceToSourceFaceMap.push_back(f); + } } // Only initial meshes have face groups and ignored faces. The only flag we care about is HasNormals. const uint32_t faceCount = m_faceToSourceFaceMap.size(); - m_mesh = XA_NEW_ARGS(MemTag::Mesh, Mesh, sourceMesh->epsilon(), faceCount * 3, faceCount, sourceMesh->flags() & MeshFlags::HasNormals); XA_DEBUG_ASSERT(faceCount > 0); - Array<uint32_t> meshIndices; - meshIndices.resize(sourceMesh->vertexCount()); - meshIndices.setAll((uint32_t)~0); + const uint32_t approxVertexCount = faceCount * 3; + m_mesh = XA_NEW_ARGS(MemTag::Mesh, Mesh, sourceMesh->epsilon(), approxVertexCount, faceCount, sourceMesh->flags() & MeshFlags::HasNormals); + m_vertexToSourceVertexMap.reserve(approxVertexCount); + HashMap<uint32_t> sourceVertexToVertexMap(MemTag::Mesh, approxVertexCount); for (uint32_t f = 0; f < faceCount; f++) { const uint32_t face = m_faceToSourceFaceMap[f]; for (uint32_t i = 0; i < 3; i++) { const uint32_t vertex = sourceMesh->vertexAt(face * 3 + i); - if (meshIndices[vertex] == (uint32_t)~0) { - meshIndices[vertex] = m_mesh->vertexCount(); + if (sourceVertexToVertexMap.get(vertex) == UINT32_MAX) { + sourceVertexToVertexMap.add(vertex); m_vertexToSourceVertexMap.push_back(vertex); Vector3 normal(0.0f); if (sourceMesh->flags() & MeshFlags::HasNormals) @@ -6056,8 +7050,8 @@ public: uint32_t indices[3]; for (uint32_t i = 0; i < 3; i++) { const uint32_t vertex = sourceMesh->vertexAt(face * 3 + i); - XA_DEBUG_ASSERT(meshIndices[vertex] != (uint32_t)~0); - indices[i] = meshIndices[vertex]; + indices[i] = sourceVertexToVertexMap.get(vertex); + XA_DEBUG_ASSERT(indices[i] != UINT32_MAX); } // Don't copy flags, it doesn't matter if a face is ignored after this point. All ignored faces get their own vertex map (m_isVertexMap) ChartGroup. // Don't hash edges if m_isVertexMap, they may be degenerate. @@ -6068,7 +7062,6 @@ public: if (!m_isVertexMap) { m_mesh->createColocals(); m_mesh->createBoundaries(); - m_mesh->linkBoundaries(); } #if XA_DEBUG_EXPORT_OBJ_CHART_GROUPS char filename[256]; @@ -6083,14 +7076,14 @@ public: { m_mesh->~Mesh(); XA_FREE(m_mesh); - for (uint32_t i = 0; i < m_chartArray.size(); i++) { - m_chartArray[i]->~Chart(); - XA_FREE(m_chartArray[i]); + for (uint32_t i = 0; i < m_charts.size(); i++) { + m_charts[i]->~Chart(); + XA_FREE(m_charts[i]); } } - uint32_t chartCount() const { return m_chartArray.size(); } - Chart *chartAt(uint32_t i) const { return m_chartArray[i]; } + uint32_t chartCount() const { return m_charts.size(); } + Chart *chartAt(uint32_t i) const { return m_charts[i]; } uint32_t paramAddedChartsCount() const { return m_paramAddedChartsCount; } uint32_t paramDeletedChartsCount() const { return m_paramDeletedChartsCount; } bool isVertexMap() const { return m_isVertexMap; } @@ -6158,40 +7151,41 @@ public: - emphasize roundness metrics to prevent those cases. - If interior self-overlaps: preserve boundary parameterization and use mean-value map. */ - void computeCharts(TaskScheduler *taskScheduler, const ChartOptions &options) + void computeCharts(TaskScheduler *taskScheduler, const ChartOptions &options, segment::Atlas &atlas, ThreadLocal<ChartCtorBuffers> *chartBuffers) { m_chartOptions = options; // This function may be called multiple times, so destroy existing charts. - for (uint32_t i = 0; i < m_chartArray.size(); i++) { - m_chartArray[i]->~Chart(); - XA_FREE(m_chartArray[i]); + for (uint32_t i = 0; i < m_charts.size(); i++) { + m_charts[i]->~Chart(); + XA_FREE(m_charts[i]); } - m_chartArray.clear(); + m_charts.clear(); #if XA_DEBUG_SINGLE_CHART Array<uint32_t> chartFaces; chartFaces.resize(m_mesh->faceCount()); for (uint32_t i = 0; i < chartFaces.size(); i++) chartFaces[i] = i; Chart *chart = XA_NEW_ARGS(MemTag::Default, Chart, m_mesh, chartFaces, m_sourceId, m_id, 0); - m_chartArray.push_back(chart); + m_charts.push_back(chart); #else XA_PROFILE_START(buildAtlas) - segment::Atlas atlas(m_mesh, nullptr, options); + atlas.reset(m_sourceId, m_id, m_mesh, options); buildAtlas(atlas, options); XA_PROFILE_END(buildAtlas) const uint32_t chartCount = atlas.chartCount(); - m_chartArray.resize(chartCount); + m_charts.resize(chartCount); Array<CreateChartTaskArgs> taskArgs; taskArgs.resize(chartCount); for (uint32_t i = 0; i < chartCount; i++) { CreateChartTaskArgs &args = taskArgs[i]; - args.atlas = &atlas; + args.basis = &atlas.chartBasis(i); + args.faces = atlas.chartFaces(i); args.mesh = m_mesh; - args.chartIndex = i; args.meshId = m_sourceId; args.chartGroupId = m_id; args.chartId = i; - args.chart = &m_chartArray[i]; + args.chartBuffers = chartBuffers; + args.chart = &m_charts[i]; } XA_PROFILE_START(createChartMeshesReal) TaskGroupHandle taskGroup = taskScheduler->createTaskGroup(chartCount); @@ -6225,26 +7219,22 @@ public: #endif } - void parameterizeCharts(TaskScheduler *taskScheduler, ParameterizeFunc func) - { - const uint32_t chartCount = m_chartArray.size(); -#if XA_SKIP_PARAMETERIZATION - XA_UNUSED(taskScheduler); - XA_UNUSED(func); - for (uint32_t i = 0; i < chartCount; i++) { - Chart *chart = m_chartArray[i]; - chart->evaluateOrthoParameterizationQuality(); - chart->evaluateParameterizationQuality(); - chart->transferParameterization(); - } +#if XA_RECOMPUTE_CHARTS + void parameterizeCharts(TaskScheduler *taskScheduler, ParameterizeFunc func, ThreadLocal<UniformGrid2> *boundaryGrid, ThreadLocal<ChartCtorBuffers> *chartBuffers, ThreadLocal<PiecewiseParam> *piecewiseParam) #else + void parameterizeCharts(TaskScheduler* taskScheduler, ParameterizeFunc func, ThreadLocal<UniformGrid2>* boundaryGrid, ThreadLocal<ChartCtorBuffers>* /*chartBuffers*/) +#endif + { + m_paramAddedChartsCount = 0; + const uint32_t chartCount = m_charts.size(); Array<ParameterizeChartTaskArgs> taskArgs; taskArgs.resize(chartCount); TaskGroupHandle taskGroup = taskScheduler->createTaskGroup(chartCount); for (uint32_t i = 0; i < chartCount; i++) { ParameterizeChartTaskArgs &args = taskArgs[i]; - args.chart = m_chartArray[i]; + args.chart = m_charts[i]; args.func = func; + args.boundaryGrid = boundaryGrid; Task task; task.userData = &args; task.func = runParameterizeChartTask; @@ -6255,67 +7245,65 @@ public: // Find charts with invalid parameterizations. Array<Chart *> invalidCharts; for (uint32_t i = 0; i < chartCount; i++) { - Chart *chart = m_chartArray[i]; - const ParameterizationQuality &quality = chart->paramQuality(); + Chart *chart = m_charts[i]; + const Quality &quality = chart->quality(); if (quality.boundaryIntersection || quality.flippedTriangleCount > 0) invalidCharts.push_back(chart); } if (invalidCharts.isEmpty()) return; // Recompute charts with invalid parameterizations. - Array<uint32_t> meshFaces; + PiecewiseParam &pp = piecewiseParam->get(); for (uint32_t i = 0; i < invalidCharts.size(); i++) { Chart *invalidChart = invalidCharts[i]; - const Mesh *invalidMesh = invalidChart->mesh(); - const uint32_t faceCount = invalidMesh->faceCount(); - meshFaces.resize(faceCount); - float invalidChartArea = 0.0f; - for (uint32_t j = 0; j < faceCount; j++) { - meshFaces[j] = invalidChart->mapFaceToSourceFace(j); - invalidChartArea += invalidMesh->faceArea(j); - } - ChartOptions options = m_chartOptions; - options.maxChartArea = invalidChartArea * 0.2f; - options.maxThreshold = 0.25f; - options.maxIterations = 3; - segment::Atlas atlas(m_mesh, &meshFaces, options); - buildAtlas(atlas, options); - for (uint32_t j = 0; j < atlas.chartCount(); j++) { - Chart *chart = XA_NEW_ARGS(MemTag::Default, Chart, &atlas, m_mesh, j, m_sourceId, m_id, m_chartArray.size()); - m_chartArray.push_back(chart); - m_paramAddedChartsCount++; + // Fixing t-junctions rewrites unified mesh faces, and we need to map faces back to input mesh. So use the unmodified unified mesh. + const Mesh *invalidMesh = invalidChart->unmodifiedUnifiedMesh(); + uint32_t faceCount = 0; + if (invalidMesh) { + faceCount = invalidMesh->faceCount(); + } else { + invalidMesh = invalidChart->unifiedMesh(); + faceCount = invalidChart->initialFaceCount(); // Not invalidMesh->faceCount(). Don't want faces added by hole closing. } + pp.reset(invalidMesh, faceCount); #if XA_DEBUG_EXPORT_OBJ_RECOMPUTED_CHARTS char filename[256]; - XA_SPRINTF(filename, sizeof(filename), "debug_mesh_%03u_chartgroup_%03u_recomputed_chart_%u.obj", m_sourceId, m_id, i); + XA_SPRINTF(filename, sizeof(filename), "debug_mesh_%03u_chartgroup_%03u_recomputed_chart_%03u.obj", m_sourceId, m_id, m_paramAddedChartsCount); FILE *file; XA_FOPEN(file, filename, "w"); - if (file) { - m_mesh->writeObjVertices(file); - for (uint32_t j = 0; j < builder.chartCount(); j++) { - fprintf(file, "o chart_%04d\n", j); + uint32_t subChartIndex = 0; +#endif + for (;;) { + if (!pp.computeChart()) + break; + Chart *chart = XA_NEW_ARGS(MemTag::Default, Chart, chartBuffers->get(), invalidChart, invalidMesh, pp.chartFaces(), pp.texcoords(), m_mesh, m_sourceId, m_id, m_charts.size()); + m_charts.push_back(chart); +#if XA_DEBUG_EXPORT_OBJ_RECOMPUTED_CHARTS + if (file) { + for (uint32_t j = 0; j < invalidMesh->vertexCount(); j++) { + fprintf(file, "v %g %g %g\n", invalidMesh->position(j).x, invalidMesh->position(j).y, invalidMesh->position(j).z); + fprintf(file, "vt %g %g\n", pp.texcoords()[j].x, pp.texcoords()[j].y); + } + fprintf(file, "o chart%03u\n", subChartIndex); fprintf(file, "s off\n"); - const Array<uint32_t> &faces = builder.chartFaces(j); - for (uint32_t f = 0; f < faces.size(); f++) - m_mesh->writeObjFace(file, faces[f]); + for (uint32_t f = 0; f < pp.chartFaces().length; f++) { + fprintf(file, "f "); + const uint32_t face = pp.chartFaces()[f]; + for (uint32_t j = 0; j < 3; j++) { + const uint32_t index = invalidMesh->vertexCount() * subChartIndex + invalidMesh->vertexAt(face * 3 + j) + 1; // 1-indexed + fprintf(file, "%d/%d/%c", index, index, j == 2 ? '\n' : ' '); + } + } } - fclose(file); + subChartIndex++; +#endif + m_paramAddedChartsCount++; } +#if XA_DEBUG_EXPORT_OBJ_RECOMPUTED_CHARTS + if (file) + fclose(file); #endif } - // Parameterize the new charts. - taskGroup = taskScheduler->createTaskGroup(m_chartArray.size() - chartCount); - taskArgs.resize(m_chartArray.size() - chartCount); - for (uint32_t i = chartCount; i < m_chartArray.size(); i++) { - ParameterizeChartTaskArgs &args = taskArgs[i - chartCount]; - args.chart = m_chartArray[i]; - args.func = func; - Task task; - task.userData = &args; - task.func = runParameterizeChartTask; - taskScheduler->run(taskGroup, task); - } - taskScheduler->wait(&taskGroup); // Remove and delete the invalid charts. for (uint32_t i = 0; i < invalidCharts.size(); i++) { Chart *chart = invalidCharts[i]; @@ -6325,7 +7313,6 @@ public: m_paramDeletedChartsCount++; } #endif // XA_RECOMPUTE_CHARTS -#endif // XA_SKIP_PARAMETERIZATION } private: @@ -6343,19 +7330,18 @@ private: atlas.resetCharts(); // Restart process growing charts in parallel. uint32_t iteration = 0; - while (true) { - if (!atlas.growCharts(options.maxThreshold)) { - // If charts cannot grow more: fill holes, merge charts, relocate seeds and start new iteration. - atlas.fillHoles(options.maxThreshold * 0.5f); + for (;;) { + atlas.growCharts(options.maxThreshold); + // When charts cannot grow more: fill holes, merge charts, relocate seeds and start new iteration. + atlas.fillHoles(options.maxThreshold * 0.5f); #if XA_MERGE_CHARTS - atlas.mergeCharts(); + atlas.mergeCharts(); #endif - if (++iteration == options.maxIterations) - break; - if (!atlas.relocateSeeds()) - break; - atlas.resetCharts(); - } + if (++iteration == options.maxIterations) + break; + if (!atlas.relocateSeeds()) + break; + atlas.resetCharts(); } // Make sure no holes are left! XA_DEBUG_ASSERT(atlas.facesLeft() == 0); @@ -6363,9 +7349,9 @@ private: void removeChart(const Chart *chart) { - for (uint32_t i = 0; i < m_chartArray.size(); i++) { - if (m_chartArray[i] == chart) { - m_chartArray.removeAt(i); + for (uint32_t i = 0; i < m_charts.size(); i++) { + if (m_charts[i] == chart) { + m_charts.removeAt(i); return; } } @@ -6376,7 +7362,7 @@ private: Mesh *m_mesh; Array<uint32_t> m_faceToSourceFaceMap; // List of faces of the source mesh that belong to this chart group. Array<uint32_t> m_vertexToSourceVertexMap; // Map vertices of the mesh to vertices of the source mesh. - Array<Chart *> m_chartArray; + Array<Chart *> m_charts; ChartOptions m_chartOptions; uint32_t m_paramAddedChartsCount; // Number of new charts added by recomputing charts with invalid parameterizations. uint32_t m_paramDeletedChartsCount; // Number of charts with invalid parameterizations that were deleted, after charts were recomputed. @@ -6384,7 +7370,7 @@ private: struct CreateChartGroupTaskArgs { - uint32_t faceGroup; + uint16_t faceGroup; uint32_t groupId; const Mesh *mesh; ChartGroup **chartGroup; @@ -6402,6 +7388,8 @@ struct ComputeChartsTaskArgs { TaskScheduler *taskScheduler; ChartGroup *chartGroup; + ThreadLocal<segment::Atlas> *atlas; + ThreadLocal<ChartCtorBuffers> *chartBuffers; const ChartOptions *options; Progress *progress; }; @@ -6412,7 +7400,7 @@ static void runComputeChartsJob(void *userData) if (args->progress->cancel) return; XA_PROFILE_START(computeChartsThread) - args->chartGroup->computeCharts(args->taskScheduler, *args->options); + args->chartGroup->computeCharts(args->taskScheduler, *args->options, args->atlas->get(), args->chartBuffers); XA_PROFILE_END(computeChartsThread) args->progress->value++; args->progress->update(); @@ -6423,6 +7411,11 @@ struct ParameterizeChartsTaskArgs TaskScheduler *taskScheduler; ChartGroup *chartGroup; ParameterizeFunc func; + ThreadLocal<UniformGrid2> *boundaryGrid; + ThreadLocal<ChartCtorBuffers> *chartBuffers; +#if XA_RECOMPUTE_CHARTS + ThreadLocal<PiecewiseParam> *piecewiseParam; +#endif Progress *progress; }; @@ -6432,7 +7425,11 @@ static void runParameterizeChartsJob(void *userData) if (args->progress->cancel) return; XA_PROFILE_START(parameterizeChartsThread) - args->chartGroup->parameterizeCharts(args->taskScheduler, args->func); +#if XA_RECOMPUTE_CHARTS + args->chartGroup->parameterizeCharts(args->taskScheduler, args->func, args->boundaryGrid, args->chartBuffers, args->piecewiseParam); +#else + args->chartGroup->parameterizeCharts(args->taskScheduler, args->func, args->boundaryGrid, args->chartBuffers); +#endif XA_PROFILE_END(parameterizeChartsThread) args->progress->value++; args->progress->update(); @@ -6482,31 +7479,17 @@ public: // This function is thread safe. void addMesh(TaskScheduler *taskScheduler, const Mesh *mesh) { - // Get list of face groups. - const uint32_t faceCount = mesh->faceCount(); - Array<uint32_t> faceGroups; - for (uint32_t f = 0; f < faceCount; f++) { - const uint32_t group = mesh->faceGroupAt(f); - bool exists = false; - for (uint32_t g = 0; g < faceGroups.size(); g++) { - if (faceGroups[g] == group) { - exists = true; - break; - } - } - if (!exists) - faceGroups.push_back(group); - } // Create one chart group per face group. + // If there's any ignored faces in the mesh, create an extra face group for that (vertex map). // Chart group creation is slow since it copies a chunk of the source mesh, so use tasks. Array<ChartGroup *> chartGroups; - chartGroups.resize(faceGroups.size()); + chartGroups.resize(mesh->faceGroupCount() + (mesh->ignoredFaceCount() > 0 ? 1 : 0)); Array<CreateChartGroupTaskArgs> taskArgs; taskArgs.resize(chartGroups.size()); for (uint32_t g = 0; g < chartGroups.size(); g++) { CreateChartGroupTaskArgs &args = taskArgs[g]; args.chartGroup = &chartGroups[g]; - args.faceGroup = faceGroups[g]; + args.faceGroup = uint16_t(g < mesh->faceGroupCount() ? g : Mesh::kInvalidFaceGroup); args.groupId = g; args.mesh = mesh; } @@ -6561,6 +7544,8 @@ public: chartGroupCount++; } Progress progress(ProgressCategory::ComputeCharts, progressFunc, progressUserData, chartGroupCount); + ThreadLocal<segment::Atlas> atlas; + ThreadLocal<ChartCtorBuffers> chartBuffers; Array<ComputeChartsTaskArgs> taskArgs; taskArgs.reserve(chartGroupCount); for (uint32_t i = 0; i < m_chartGroups.size(); i++) { @@ -6568,6 +7553,8 @@ public: ComputeChartsTaskArgs args; args.taskScheduler = taskScheduler; args.chartGroup = m_chartGroups[i]; + args.atlas = &atlas; + args.chartBuffers = &chartBuffers; args.options = &options; args.progress = &progress; taskArgs.push_back(args); @@ -6605,6 +7592,11 @@ public: chartGroupCount++; } Progress progress(ProgressCategory::ParameterizeCharts, progressFunc, progressUserData, chartGroupCount); + ThreadLocal<UniformGrid2> boundaryGrid; // For Quality boundary intersection. + ThreadLocal<ChartCtorBuffers> chartBuffers; +#if XA_RECOMPUTE_CHARTS + ThreadLocal<PiecewiseParam> piecewiseParam; +#endif Array<ParameterizeChartsTaskArgs> taskArgs; taskArgs.reserve(chartGroupCount); for (uint32_t i = 0; i < m_chartGroups.size(); i++) { @@ -6613,6 +7605,11 @@ public: args.taskScheduler = taskScheduler; args.chartGroup = m_chartGroups[i]; args.func = func; + args.boundaryGrid = &boundaryGrid; + args.chartBuffers = &chartBuffers; +#if XA_RECOMPUTE_CHARTS + args.piecewiseParam = &piecewiseParam; +#endif args.progress = &progress; taskArgs.push_back(args); } @@ -6646,55 +7643,6 @@ private: namespace pack { -#if XA_DEBUG_EXPORT_ATLAS_IMAGES -const uint8_t TGA_TYPE_RGB = 2; -const uint8_t TGA_ORIGIN_UPPER = 0x20; - -#pragma pack(push, 1) -struct TgaHeader -{ - uint8_t id_length; - uint8_t colormap_type; - uint8_t image_type; - uint16_t colormap_index; - uint16_t colormap_length; - uint8_t colormap_size; - uint16_t x_origin; - uint16_t y_origin; - uint16_t width; - uint16_t height; - uint8_t pixel_size; - uint8_t flags; - enum { Size = 18 }; -}; -#pragma pack(pop) - -static void WriteTga(const char *filename, const uint8_t *data, uint32_t width, uint32_t height) -{ - XA_DEBUG_ASSERT(sizeof(TgaHeader) == TgaHeader::Size); - FILE *f; - XA_FOPEN(f, filename, "wb"); - if (!f) - return; - TgaHeader tga; - tga.id_length = 0; - tga.colormap_type = 0; - tga.image_type = TGA_TYPE_RGB; - tga.colormap_index = 0; - tga.colormap_length = 0; - tga.colormap_size = 0; - tga.x_origin = 0; - tga.y_origin = 0; - tga.width = (uint16_t)width; - tga.height = (uint16_t)height; - tga.pixel_size = 24; - tga.flags = TGA_ORIGIN_UPPER; - fwrite(&tga, sizeof(TgaHeader), 1, f); - fwrite(data, sizeof(uint8_t), width * height * 3, f); - fclose(f); -} -#endif - class AtlasImage { public: @@ -6728,13 +7676,13 @@ public: const int xx = x + offset_x; if (xx >= 0 && xx < atlas_w && yy < atlas_h) { const uint32_t dataOffset = xx + yy * m_width; - if (image->bitAt(x, y)) { + if (image->get(x, y)) { XA_DEBUG_ASSERT(m_data[dataOffset] == 0); m_data[dataOffset] = chartIndex | kImageHasChartIndexBit; - } else if (imageBilinear && imageBilinear->bitAt(x, y)) { + } else if (imageBilinear && imageBilinear->get(x, y)) { XA_DEBUG_ASSERT(m_data[dataOffset] == 0); m_data[dataOffset] = chartIndex | kImageHasChartIndexBit | kImageIsBilinearBit; - } else if (imagePadding && imagePadding->bitAt(x, y)) { + } else if (imagePadding && imagePadding->get(x, y)) { XA_DEBUG_ASSERT(m_data[dataOffset] == 0); m_data[dataOffset] = chartIndex | kImageHasChartIndexBit | kImageIsPaddingBit; } @@ -6807,6 +7755,8 @@ struct Chart bool allowRotate; // bounding box Vector2 majorAxis, minorAxis, minCorner, maxCorner; + // Mesh only + const Array<uint32_t> *boundaryEdges; // UvMeshChart only Array<uint32_t> faces; @@ -6816,6 +7766,7 @@ struct Chart struct AddChartTaskArgs { + ThreadLocal<BoundingBox2D> *boundingBox; param::Chart *paramChart; Chart *chart; // out }; @@ -6834,102 +7785,32 @@ static void runAddChartTask(void *userData) chart->material = 0; chart->indexCount = mesh->indexCount(); chart->indices = mesh->indices(); - chart->parametricArea = paramChart->computeParametricArea(); + chart->parametricArea = mesh->computeParametricArea(); if (chart->parametricArea < kAreaEpsilon) { // When the parametric area is too small we use a rough approximation to prevent divisions by very small numbers. const Vector2 bounds = paramChart->computeParametricBounds(); chart->parametricArea = bounds.x * bounds.y; } - chart->surfaceArea = paramChart->computeSurfaceArea(); + chart->surfaceArea = mesh->computeSurfaceArea(); chart->vertices = mesh->texcoords(); chart->vertexCount = mesh->vertexCount(); chart->allowRotate = true; - // Compute list of boundary vertices. - Array<Vector2> boundary; - boundary.reserve(16); + chart->boundaryEdges = &mesh->boundaryEdges(); + // Compute bounding box of chart. + BoundingBox2D &bb = args->boundingBox->get(); + bb.clear(); for (uint32_t v = 0; v < chart->vertexCount; v++) { if (mesh->isBoundaryVertex(v)) - boundary.push_back(mesh->texcoord(v)); + bb.appendBoundaryVertex(mesh->texcoord(v)); } - XA_DEBUG_ASSERT(boundary.size() > 0); - // Compute bounding box of chart. - static thread_local BoundingBox2D boundingBox; - boundingBox.compute(boundary.data(), boundary.size(), mesh->texcoords(), mesh->vertexCount()); - chart->majorAxis = boundingBox.majorAxis(); - chart->minorAxis = boundingBox.minorAxis(); - chart->minCorner = boundingBox.minCorner(); - chart->maxCorner = boundingBox.maxCorner(); + bb.compute(mesh->texcoords(), mesh->vertexCount()); + chart->majorAxis = bb.majorAxis; + chart->minorAxis = bb.minorAxis; + chart->minCorner = bb.minCorner; + chart->maxCorner = bb.maxCorner; XA_PROFILE_END(packChartsAddChartsThread) } -struct FindChartLocationBruteForceTaskArgs -{ - std::atomic<bool> *finished; // One of the tasks found a location that doesn't expand the atlas. - Vector2i startPosition; - const BitImage *atlasBitImage; - const BitImage *chartBitImage; - const BitImage *chartBitImageRotated; - int w, h; - bool blockAligned, allowRotate; - uint32_t maxResolution; - // out - bool best_insideAtlas; - int best_metric, best_x, best_y, best_w, best_h, best_r; -}; - -static void runFindChartLocationBruteForceTask(void *userData) -{ - XA_PROFILE_START(packChartsFindLocationThread) - auto args = (FindChartLocationBruteForceTaskArgs *)userData; - args->best_metric = INT_MAX; - if (args->finished->load()) - return; - // Try two different orientations. - for (int r = 0; r < 2; r++) { - if (args->finished->load()) - break; - int cw = args->chartBitImage->width(); - int ch = args->chartBitImage->height(); - if (r == 1) { - if (args->allowRotate) - swap(cw, ch); - else - break; - } - const int y = args->startPosition.y; - const int stepSize = args->blockAligned ? 4 : 1; - for (int x = args->startPosition.x; x <= args->w + stepSize; x += stepSize) { - if (args->maxResolution > 0 && (x > (int)args->maxResolution - cw || y > (int)args->maxResolution - ch)) - continue; - if (args->finished->load()) - break; - // Early out if metric not better. - const int area = max(args->w, x + cw) * max(args->h, y + ch); - const int extents = max(max(args->w, x + cw), max(args->h, y + ch)); - const int metric = extents * extents + area; - if (metric > args->best_metric) - continue; - // If metric is the same, pick the one closest to the origin. - if (metric == args->best_metric && max(x, y) >= max(args->best_x, args->best_y)) - continue; - if (!args->atlasBitImage->canBlit(r == 1 ? *(args->chartBitImageRotated) : *(args->chartBitImage), x, y)) - continue; - args->best_metric = metric; - args->best_insideAtlas = area == args->w * args->h; - args->best_x = x; - args->best_y = y; - args->best_w = cw; - args->best_h = ch; - args->best_r = r; - if (args->best_insideAtlas) { - args->finished->store(true); - break; - } - } - } - XA_PROFILE_END(packChartsFindLocationThread) -} - struct Atlas { ~Atlas() @@ -6975,6 +7856,7 @@ struct Atlas taskArgs.resize(chartCount); TaskGroupHandle taskGroup = taskScheduler->createTaskGroup(chartCount); uint32_t chartIndex = 0; + ThreadLocal<BoundingBox2D> boundingBox; for (uint32_t i = 0; i < chartGroupsCount; i++) { const param::ChartGroup *chartGroup = paramAtlas->chartGroupAt(i); if (chartGroup->isVertexMap()) @@ -6982,6 +7864,7 @@ struct Atlas const uint32_t count = chartGroup->chartCount(); for (uint32_t j = 0; j < count; j++) { AddChartTaskArgs &args = taskArgs[chartIndex]; + args.boundingBox = &boundingBox; args.paramChart = chartGroup->chartAt(j); Task task; task.userData = &taskArgs[chartIndex]; @@ -7000,8 +7883,6 @@ struct Atlas void addUvMeshCharts(UvMeshInstance *mesh) { BitArray vertexUsed(mesh->texcoords.size()); - Array<Vector2> boundary; - boundary.reserve(16); BoundingBox2D boundingBox; for (uint32_t c = 0; c < mesh->mesh->charts.size(); c++) { UvMeshChart *uvChart = mesh->mesh->charts[c]; @@ -7013,14 +7894,15 @@ struct Atlas chart->vertices = mesh->texcoords.data(); chart->vertexCount = mesh->texcoords.size(); chart->allowRotate = mesh->rotateCharts; + chart->boundaryEdges = nullptr; chart->faces.resize(uvChart->faces.size()); memcpy(chart->faces.data(), uvChart->faces.data(), sizeof(uint32_t) * uvChart->faces.size()); // Find unique vertices. - vertexUsed.clearAll(); + vertexUsed.zeroOutMemory(); for (uint32_t i = 0; i < chart->indexCount; i++) { const uint32_t vertex = chart->indices[i]; - if (!vertexUsed.bitAt(vertex)) { - vertexUsed.setBitAt(vertex); + if (!vertexUsed.get(vertex)) { + vertexUsed.set(vertex); chart->uniqueVertices.push_back(vertex); } } @@ -7045,24 +7927,22 @@ struct Atlas const Vector2 bounds = (maxCorner - minCorner) * 0.5f; chart->parametricArea = bounds.x * bounds.y; } - // Compute list of boundary vertices. + // Compute bounding box of chart. // Using all unique vertices for simplicity, can compute real boundaries if this is too slow. - boundary.clear(); + boundingBox.clear(); for (uint32_t v = 0; v < chart->uniqueVertexCount(); v++) - boundary.push_back(chart->uniqueVertexAt(v)); - XA_DEBUG_ASSERT(boundary.size() > 0); - // Compute bounding box of chart. - boundingBox.compute(boundary.data(), boundary.size(), boundary.data(), boundary.size()); - chart->majorAxis = boundingBox.majorAxis(); - chart->minorAxis = boundingBox.minorAxis(); - chart->minCorner = boundingBox.minCorner(); - chart->maxCorner = boundingBox.maxCorner(); + boundingBox.appendBoundaryVertex(chart->uniqueVertexAt(v)); + boundingBox.compute(); + chart->majorAxis = boundingBox.majorAxis; + chart->minorAxis = boundingBox.minorAxis; + chart->minCorner = boundingBox.minCorner; + chart->maxCorner = boundingBox.maxCorner; m_charts.push_back(chart); } } // Pack charts in the smallest possible rectangle. - bool packCharts(TaskScheduler *taskScheduler, const PackOptions &options, ProgressFunc progressFunc, void *progressUserData) + bool packCharts(const PackOptions &options, ProgressFunc progressFunc, void *progressUserData) { if (progressFunc) { if (!progressFunc(ProgressCategory::PackCharts, 0, progressUserData)) @@ -7107,10 +7987,11 @@ struct Atlas for (uint32_t c = 0; c < chartCount; c++) { Chart *chart = m_charts[c]; // Compute chart scale - float scale = (chart->surfaceArea / chart->parametricArea) * m_texelsPerUnit; - if (chart->parametricArea == 0.0f) - scale = 0; - XA_ASSERT(isFinite(scale)); + float scale = 1.0f; + if (chart->parametricArea != 0.0f) { + scale = (chart->surfaceArea / chart->parametricArea) * m_texelsPerUnit; + XA_ASSERT(isFinite(scale)); + } // Translate, rotate and scale vertices. Compute extents. Vector2 minCorner(FLT_MAX, FLT_MAX); if (!chart->allowRotate) { @@ -7181,6 +8062,8 @@ struct Atlas texcoord.y += 0.5f + options.padding; extents = max(extents, texcoord); } + if (extents.x > resolution || extents.y > resolution) + XA_PRINT(" Chart %u extents are large (%gx%g)\n", c, extents.x, extents.y); chartExtents[c] = extents; chartOrderArray[c] = extents.x + extents.y; // Use perimeter for chart sort key. minChartPerimeter = min(minChartPerimeter, chartOrderArray[c]); @@ -7207,6 +8090,7 @@ struct Atlas // Rotated versions swap x and y. BitImage chartImage, chartImageBilinear, chartImagePadding; BitImage chartImageRotated, chartImageBilinearRotated, chartImagePaddingRotated; + UniformGrid2 boundaryEdgeGrid; Array<Vector2i> atlasSizes; atlasSizes.push_back(Vector2i(0, 0)); int progress = 0; @@ -7249,7 +8133,7 @@ struct Atlas } // Expand chart by pixels sampled by bilinear interpolation. if (options.bilinear) - bilinearExpand(chart, &chartImage, &chartImageBilinear, chart->allowRotate ? &chartImageBilinearRotated : nullptr); + bilinearExpand(chart, &chartImage, &chartImageBilinear, chart->allowRotate ? &chartImageBilinearRotated : nullptr, boundaryEdgeGrid); // Expand chart by padding pixels (dilation). if (options.padding > 0) { // Copy into the same BitImage instances for every chart to avoid reallocating BitImage buffers (largest chart is packed first). @@ -7310,7 +8194,7 @@ struct Atlas chartStartPositions.push_back(Vector2i(0, 0)); } XA_PROFILE_START(packChartsFindLocation) - const bool foundLocation = findChartLocation(taskScheduler, chartStartPositions[currentAtlas], options.bruteForce, m_bitImages[currentAtlas], chartImageToPack, chartImageToPackRotated, atlasSizes[currentAtlas].x, atlasSizes[currentAtlas].y, &best_x, &best_y, &best_cw, &best_ch, &best_r, options.blockAlign, maxResolution, chart->allowRotate); + const bool foundLocation = findChartLocation(chartStartPositions[currentAtlas], options.bruteForce, m_bitImages[currentAtlas], chartImageToPack, chartImageToPackRotated, atlasSizes[currentAtlas].x, atlasSizes[currentAtlas].y, &best_x, &best_y, &best_cw, &best_ch, &best_r, options.blockAlign, maxResolution, chart->allowRotate); XA_PROFILE_END(packChartsFindLocation) XA_DEBUG_ASSERT(!(firstChartInBitImage && !foundLocation)); // Chart doesn't fit in an empty, newly allocated bitImage. Shouldn't happen, since charts are resized if they are too big to fit in the atlas. if (maxResolution == 0) { @@ -7359,6 +8243,13 @@ struct Atlas } else { m_atlasImages[currentAtlas]->addChart(c, &chartImageRotated, options.bilinear ? &chartImageBilinearRotated : nullptr, options.padding > 0 ? &chartImagePaddingRotated : nullptr, atlasSizes[currentAtlas].x, atlasSizes[currentAtlas].y, best_x, best_y); } +#if XA_DEBUG_EXPORT_ATLAS_IMAGES && XA_DEBUG_EXPORT_ATLAS_IMAGES_PER_CHART + for (uint32_t j = 0; j < m_atlasImages.size(); j++) { + char filename[256]; + XA_SPRINTF(filename, sizeof(filename), "debug_atlas_image%02u_chart%04u.tga", j, i); + m_atlasImages[j]->writeTga(filename, (uint32_t)atlasSizes[j].x, (uint32_t)atlasSizes[j].y); + } +#endif } chart->atlasIndex = (int32_t)currentAtlas; // Modify texture coordinates: @@ -7415,7 +8306,7 @@ struct Atlas uint32_t count = 0; for (uint32_t y = 0; y < m_height; y++) { for (uint32_t x = 0; x < m_width; x++) - count += m_bitImages[i]->bitAt(x, y); + count += m_bitImages[i]->get(x, y); } m_utilization[i] = float(count) / (m_width * m_height); } @@ -7445,70 +8336,56 @@ private: // is occupied at this point. At the end we have many small charts and a large atlas with sparse holes. Finding those holes randomly is slow. A better approach would be to // start stacking large charts as if they were tetris pieces. Once charts get small try to place them randomly. It may be interesting to try a intermediate strategy, first try // along one axis and then try exhaustively along that axis. - bool findChartLocation(TaskScheduler *taskScheduler, const Vector2i &startPosition, bool bruteForce, const BitImage *atlasBitImage, const BitImage *chartBitImage, const BitImage *chartBitImageRotated, int w, int h, int *best_x, int *best_y, int *best_w, int *best_h, int *best_r, bool blockAligned, uint32_t maxResolution, bool allowRotate) + bool findChartLocation(const Vector2i &startPosition, bool bruteForce, const BitImage *atlasBitImage, const BitImage *chartBitImage, const BitImage *chartBitImageRotated, int w, int h, int *best_x, int *best_y, int *best_w, int *best_h, int *best_r, bool blockAligned, uint32_t maxResolution, bool allowRotate) { const int attempts = 4096; if (bruteForce || attempts >= w * h) - return findChartLocation_bruteForce(taskScheduler, startPosition, atlasBitImage, chartBitImage, chartBitImageRotated, w, h, best_x, best_y, best_w, best_h, best_r, blockAligned, maxResolution, allowRotate); + return findChartLocation_bruteForce(startPosition, atlasBitImage, chartBitImage, chartBitImageRotated, w, h, best_x, best_y, best_w, best_h, best_r, blockAligned, maxResolution, allowRotate); return findChartLocation_random(atlasBitImage, chartBitImage, chartBitImageRotated, w, h, best_x, best_y, best_w, best_h, best_r, attempts, blockAligned, maxResolution, allowRotate); } - bool findChartLocation_bruteForce(TaskScheduler *taskScheduler, const Vector2i &startPosition, const BitImage *atlasBitImage, const BitImage *chartBitImage, const BitImage *chartBitImageRotated, int w, int h, int *best_x, int *best_y, int *best_w, int *best_h, int *best_r, bool blockAligned, uint32_t maxResolution, bool allowRotate) + bool findChartLocation_bruteForce(const Vector2i &startPosition, const BitImage *atlasBitImage, const BitImage *chartBitImage, const BitImage *chartBitImageRotated, int w, int h, int *best_x, int *best_y, int *best_w, int *best_h, int *best_r, bool blockAligned, uint32_t maxResolution, bool allowRotate) { const int stepSize = blockAligned ? 4 : 1; - const int chartMinHeight = min(chartBitImage->height(), chartBitImageRotated->height()); - uint32_t taskCount = 0; - for (int y = startPosition.y; y <= h + stepSize; y += stepSize) { - if (maxResolution > 0 && y > (int)maxResolution - chartMinHeight) - break; - taskCount++; - } - m_bruteForceTaskArgs.clear(); - m_bruteForceTaskArgs.resize(taskCount); - TaskGroupHandle taskGroup = taskScheduler->createTaskGroup(taskCount); - std::atomic<bool> finished(false); // One of the tasks found a location that doesn't expand the atlas. - uint32_t i = 0; - for (int y = startPosition.y; y <= h + stepSize; y += stepSize) { - if (maxResolution > 0 && y > (int)maxResolution - chartMinHeight) - break; - FindChartLocationBruteForceTaskArgs &args = m_bruteForceTaskArgs[i]; - args.finished = &finished; - args.startPosition = Vector2i(y == startPosition.y ? startPosition.x : 0, y); - args.atlasBitImage = atlasBitImage; - args.chartBitImage = chartBitImage; - args.chartBitImageRotated = chartBitImageRotated; - args.w = w; - args.h = h; - args.blockAligned = blockAligned; - args.allowRotate = allowRotate; - args.maxResolution = maxResolution; - Task task; - task.userData = &m_bruteForceTaskArgs[i]; - task.func = runFindChartLocationBruteForceTask; - taskScheduler->run(taskGroup, task); - i++; - } - taskScheduler->wait(&taskGroup); - // Find the task result with the best metric. int best_metric = INT_MAX; - bool best_insideAtlas = false; - for (i = 0; i < taskCount; i++) { - FindChartLocationBruteForceTaskArgs &args = m_bruteForceTaskArgs[i]; - if (args.best_metric > best_metric) - continue; - // A location that doesn't expand the atlas is always preferred. - if (!args.best_insideAtlas && best_insideAtlas) - continue; - // If metric is the same, pick the one closest to the origin. - if (args.best_insideAtlas == best_insideAtlas && args.best_metric == best_metric && max(args.best_x, args.best_y) >= max(*best_x, *best_y)) - continue; - best_metric = args.best_metric; - best_insideAtlas = args.best_insideAtlas; - *best_x = args.best_x; - *best_y = args.best_y; - *best_w = args.best_w; - *best_h = args.best_h; - *best_r = args.best_r; + // Try two different orientations. + for (int r = 0; r < 2; r++) { + int cw = chartBitImage->width(); + int ch = chartBitImage->height(); + if (r == 1) { + if (allowRotate) + swap(cw, ch); + else + break; + } + for (int y = startPosition.y; y <= h + stepSize; y += stepSize) { + if (maxResolution > 0 && y > (int)maxResolution - ch) + break; + for (int x = (y == startPosition.y ? startPosition.x : 0); x <= w + stepSize; x += stepSize) { + if (maxResolution > 0 && x > (int)maxResolution - cw) + break; + // Early out if metric is not better. + const int extentX = max(w, x + cw), extentY = max(h, y + ch); + const int area = extentX * extentY; + const int extents = max(extentX, extentY); + const int metric = extents * extents + area; + if (metric > best_metric) + continue; + // If metric is the same, pick the one closest to the origin. + if (metric == best_metric && max(x, y) >= max(*best_x, *best_y)) + continue; + if (!atlasBitImage->canBlit(r == 1 ? *chartBitImageRotated : *chartBitImage, x, y)) + continue; + best_metric = metric; + *best_x = x; + *best_y = y; + *best_w = cw; + *best_h = ch; + *best_r = r; + if (area == w * h) + return true; // Chart is completely inside, do not look at any other location. + } + } } return best_metric != INT_MAX; } @@ -7581,10 +8458,10 @@ private: for (int x = 0; x < w; x++) { int xx = x + offset_x; if (xx >= 0) { - if (image->bitAt(x, y)) { + if (image->get(x, y)) { if (xx < atlas_w && yy < atlas_h) { - XA_DEBUG_ASSERT(atlasBitImage->bitAt(xx, yy) == false); - atlasBitImage->setBitAt(xx, yy); + XA_DEBUG_ASSERT(atlasBitImage->get(xx, yy) == false); + atlasBitImage->set(xx, yy); } } } @@ -7593,14 +8470,23 @@ private: } } - void bilinearExpand(const Chart *chart, BitImage *source, BitImage *dest, BitImage *destRotated) const + void bilinearExpand(const Chart *chart, BitImage *source, BitImage *dest, BitImage *destRotated, UniformGrid2 &boundaryEdgeGrid) const { + boundaryEdgeGrid.reset(chart->vertices, chart->indices); + if (chart->boundaryEdges) { + const uint32_t edgeCount = chart->boundaryEdges->size(); + for (uint32_t i = 0; i < edgeCount; i++) + boundaryEdgeGrid.append((*chart->boundaryEdges)[i]); + } else { + for (uint32_t i = 0; i < chart->indexCount; i++) + boundaryEdgeGrid.append(i); + } const int xOffsets[] = { -1, 0, 1, -1, 1, -1, 0, 1 }; const int yOffsets[] = { -1, -1, -1, 0, 0, 1, 1, 1 }; for (uint32_t y = 0; y < source->height(); y++) { for (uint32_t x = 0; x < source->width(); x++) { // Copy pixels from source. - if (source->bitAt(x, y)) + if (source->get(x, y)) goto setPixel; // Empty pixel. If none of of the surrounding pixels are set, this pixel can't be sampled by bilinear interpolation. { @@ -7610,44 +8496,32 @@ private: const int sy = (int)y + yOffsets[s]; if (sx < 0 || sy < 0 || sx >= (int)source->width() || sy >= (int)source->height()) continue; - if (source->bitAt((uint32_t)sx, (uint32_t)sy)) + if (source->get((uint32_t)sx, (uint32_t)sy)) break; } if (s == 8) continue; } - // If a 2x2 square centered on the pixels centroid intersects the triangle, this pixel will be sampled by bilinear interpolation. - // See "Precomputed Global Illumination in Frostbite (GDC 2018)" page 95 - for (uint32_t f = 0; f < chart->indexCount / 3; f++) { + { + // If a 2x2 square centered on the pixels centroid intersects the triangle, this pixel will be sampled by bilinear interpolation. + // See "Precomputed Global Illumination in Frostbite (GDC 2018)" page 95 const Vector2 centroid((float)x + 0.5f, (float)y + 0.5f); - Vector2 vertices[3]; - for (uint32_t i = 0; i < 3; i++) - vertices[i] = chart->vertices[chart->indices[f * 3 + i]]; - // Test for triangle vertex in square bounds. - for (uint32_t i = 0; i < 3; i++) { - const Vector2 &v = vertices[i]; - if (v.x > centroid.x - 1.0f && v.x < centroid.x + 1.0f && v.y > centroid.y - 1.0f && v.y < centroid.y + 1.0f) - goto setPixel; - } - // Test for triangle edge intersection with square edge. const Vector2 squareVertices[4] = { Vector2(centroid.x - 1.0f, centroid.y - 1.0f), Vector2(centroid.x + 1.0f, centroid.y - 1.0f), Vector2(centroid.x + 1.0f, centroid.y + 1.0f), Vector2(centroid.x - 1.0f, centroid.y + 1.0f) }; - for (uint32_t i = 0; i < 3; i++) { - for (uint32_t j = 0; j < 4; j++) { - if (linesIntersect(vertices[i], vertices[(i + 1) % 3], squareVertices[j], squareVertices[(j + 1) % 4], 0.0f)) - goto setPixel; - } + for (uint32_t j = 0; j < 4; j++) { + if (boundaryEdgeGrid.intersect(squareVertices[j], squareVertices[(j + 1) % 4], 0.0f)) + goto setPixel; } } continue; setPixel: - dest->setBitAt(x, y); + dest->set(x, y); if (destRotated) - destRotated->setBitAt(y, x); + destRotated->set(y, x); } } } @@ -7660,9 +8534,9 @@ private: static bool drawTriangleCallback(void *param, int x, int y) { auto args = (DrawTriangleCallbackArgs *)param; - args->chartBitImage->setBitAt(x, y); + args->chartBitImage->set(x, y); if (args->chartBitImageRotated) - args->chartBitImageRotated->setBitAt(y, x); + args->chartBitImageRotated->set(y, x); return true; } @@ -7670,7 +8544,6 @@ private: Array<float> m_utilization; Array<BitImage *> m_bitImages; Array<Chart *> m_charts; - Array<FindChartLocationBruteForceTaskArgs> m_bruteForceTaskArgs; RadixSort m_radix; uint32_t m_width = 0; uint32_t m_height = 0; @@ -7789,13 +8662,6 @@ static void runAddMeshTask(void *userData) } if (progress->cancel) goto cleanup; - { - XA_PROFILE_START(addMeshCreateBoundaries) - mesh->createBoundaries(); - XA_PROFILE_END(addMeshCreateBoundaries) - } - if (progress->cancel) - goto cleanup; #if XA_DEBUG_EXPORT_OBJ_SOURCE_MESHES char filename[256]; XA_SPRINTF(filename, sizeof(filename), "debug_mesh_%03u.obj", mesh->id()); @@ -7805,22 +8671,22 @@ static void runAddMeshTask(void *userData) mesh->writeObjVertices(file); // groups uint32_t numGroups = 0; - for (uint32_t i = 0; i < mesh->faceGroupCount(); i++) { - if (mesh->faceGroupAt(i) != UINT32_MAX) + for (uint32_t i = 0; i < mesh->faceCount(); i++) { + if (mesh->faceGroupAt(i) != Mesh::kInvalidFaceGroup) numGroups = internal::max(numGroups, mesh->faceGroupAt(i) + 1); } for (uint32_t i = 0; i < numGroups; i++) { fprintf(file, "o group_%04d\n", i); fprintf(file, "s off\n"); - for (uint32_t f = 0; f < mesh->faceGroupCount(); f++) { + for (uint32_t f = 0; f < mesh->faceCount(); f++) { if (mesh->faceGroupAt(f) == i) mesh->writeObjFace(file, f); } } fprintf(file, "o group_ignored\n"); fprintf(file, "s off\n"); - for (uint32_t f = 0; f < mesh->faceGroupCount(); f++) { - if (mesh->faceGroupAt(f) == UINT32_MAX) + for (uint32_t f = 0; f < mesh->faceCount(); f++) { + if (mesh->faceGroupAt(f) == Mesh::kInvalidFaceGroup) mesh->writeObjFace(file, f); } mesh->writeObjBoundaryEges(file); @@ -8033,7 +8899,6 @@ void AddMeshJoin(Atlas *atlas) XA_PROFILE_PRINT_AND_RESET(" Total (thread): ", addMeshThread) XA_PROFILE_PRINT_AND_RESET(" Create colocals: ", addMeshCreateColocals) XA_PROFILE_PRINT_AND_RESET(" Create face groups: ", addMeshCreateFaceGroups) - XA_PROFILE_PRINT_AND_RESET(" Create boundaries: ", addMeshCreateBoundaries) XA_PROFILE_PRINT_AND_RESET(" Create chart groups (real): ", addMeshCreateChartGroupsReal) XA_PROFILE_PRINT_AND_RESET(" Create chart groups (thread): ", addMeshCreateChartGroupsThread) XA_PRINT_MEM_USAGE @@ -8044,16 +8909,7 @@ struct EdgeKey EdgeKey() {} EdgeKey(const EdgeKey &k) : v0(k.v0), v1(k.v1) {} EdgeKey(uint32_t v0, uint32_t v1) : v0(v0), v1(v1) {} - - void operator=(const EdgeKey &k) - { - v0 = k.v0; - v1 = k.v1; - } - bool operator==(const EdgeKey &k) const - { - return v0 == k.v0 && v1 == k.v1; - } + bool operator==(const EdgeKey &k) const { return v0 == k.v0 && v1 == k.v1; } uint32_t v0; uint32_t v1; @@ -8119,15 +8975,15 @@ AddMeshError::Enum AddUvMesh(Atlas *atlas, const UvMeshDecl &decl) for (uint32_t i = 0; i < indexCount; i++) vertexToFaceMap.add(meshInstance->texcoords[mesh->indices[i]]); internal::BitArray faceAssigned(faceCount); - faceAssigned.clearAll(); + faceAssigned.zeroOutMemory(); for (uint32_t f = 0; f < faceCount; f++) { - if (faceAssigned.bitAt(f)) + if (faceAssigned.get(f)) continue; // Found an unassigned face, create a new chart. internal::UvMeshChart *chart = XA_NEW(internal::MemTag::Default, internal::UvMeshChart); chart->material = decl.faceMaterialData ? decl.faceMaterialData[f] : 0; // Walk incident faces and assign them to the chart. - faceAssigned.setBitAt(f); + faceAssigned.set(f); chart->faces.push_back(f); for (;;) { bool newFaceAssigned = false; @@ -8140,8 +8996,8 @@ AddMeshError::Enum AddUvMesh(Atlas *atlas, const UvMeshDecl &decl) while (mapIndex != UINT32_MAX) { const uint32_t face2 = mapIndex / 3; // 3 vertices added per face. // Materials must match. - if (!faceAssigned.bitAt(face2) && (!decl.faceMaterialData || decl.faceMaterialData[face] == decl.faceMaterialData[face2])) { - faceAssigned.setBitAt(face2); + if (!faceAssigned.get(face2) && (!decl.faceMaterialData || decl.faceMaterialData[face] == decl.faceMaterialData[face2])) { + faceAssigned.set(face2); chart->faces.push_back(face2); newFaceAssigned = true; } @@ -8202,6 +9058,7 @@ void ComputeCharts(Atlas *atlas, ChartOptions chartOptions) continue; for (uint32_t k = 0; k < chartGroup->chartCount(); k++) { const internal::param::Chart *chart = chartGroup->chartAt(k); +#if XA_PRINT_CHART_WARNINGS if (chart->warningFlags() & internal::param::ChartWarningFlags::CloseHolesFailed) XA_PRINT_WARNING(" Chart %u (mesh %u, group %u, id %u): failed to close holes\n", chartCount, i, j, k); if (chart->warningFlags() & internal::param::ChartWarningFlags::FixTJunctionsDuplicatedEdge) @@ -8210,8 +9067,7 @@ void ComputeCharts(Atlas *atlas, ChartOptions chartOptions) XA_PRINT_WARNING(" Chart %u (mesh %u, group %u, id %u): fixing t-junctions failed\n", chartCount, i, j, k); if (chart->warningFlags() & internal::param::ChartWarningFlags::TriangulateDuplicatedEdge) XA_PRINT_WARNING(" Chart %u (mesh %u, group %u, id %u): triangulation created non-manifold geometry\n", chartCount, i, j, k); - if (!chart->isDisk()) - XA_PRINT_WARNING(" Chart %u (mesh %u, group %u, id %u): doesn't have disk topology\n", chartCount, i, j, k); +#endif holesCount += chart->closedHolesCount(); if (chart->closedHolesCount() > 0) chartsWithHolesCount++; @@ -8279,7 +9135,7 @@ void ParameterizeCharts(Atlas *atlas, ParameterizeFunc func) return; } XA_PROFILE_END(parameterizeChartsReal) - uint32_t chartCount = 0, orthoChartsCount = 0, planarChartsCount = 0, chartsAddedCount = 0, chartsDeletedCount = 0; + uint32_t chartCount = 0, orthoChartsCount = 0, planarChartsCount = 0, lscmChartsCount = 0, piecewiseChartsCount = 0, chartsAddedCount = 0, chartsDeletedCount = 0; for (uint32_t i = 0; i < ctx->meshCount; i++) { for (uint32_t j = 0; j < ctx->paramAtlas.chartGroupCount(i); j++) { const internal::param::ChartGroup *chartGroup = ctx->paramAtlas.chartGroupAt(i, j); @@ -8287,19 +9143,23 @@ void ParameterizeCharts(Atlas *atlas, ParameterizeFunc func) continue; for (uint32_t k = 0; k < chartGroup->chartCount(); k++) { const internal::param::Chart *chart = chartGroup->chartAt(k); - if (chart->isPlanar()) + if (chart->type() == ChartType::Planar) planarChartsCount++; - else if (chart->isOrtho()) + else if (chart->type() == ChartType::Ortho) orthoChartsCount++; + else if (chart->type() == ChartType::LSCM) + lscmChartsCount++; + else if (chart->type() == ChartType::Piecewise) + piecewiseChartsCount++; } chartCount += chartGroup->chartCount(); chartsAddedCount += chartGroup->paramAddedChartsCount(); chartsDeletedCount += chartGroup->paramDeletedChartsCount(); } } - XA_PRINT(" %u planar charts, %u ortho charts, %u other\n", planarChartsCount, orthoChartsCount, chartCount - (planarChartsCount + orthoChartsCount)); + XA_PRINT(" %u planar charts, %u ortho charts, %u LSCM charts, %u piecewise charts\n", planarChartsCount, orthoChartsCount, lscmChartsCount, piecewiseChartsCount); if (chartsDeletedCount > 0) { - XA_PRINT(" %u charts deleted due to invalid parameterizations, %u new charts added\n", chartsDeletedCount, chartsAddedCount); + XA_PRINT(" %u charts with invalid parameterizations replaced with %u new charts\n", chartsDeletedCount, chartsAddedCount); XA_PRINT(" %u charts\n", chartCount); } uint32_t chartIndex = 0, invalidParamCount = 0; @@ -8310,7 +9170,7 @@ void ParameterizeCharts(Atlas *atlas, ParameterizeFunc func) continue; for (uint32_t k = 0; k < chartGroup->chartCount(); k++) { const internal::param::Chart *chart = chartGroup->chartAt(k); - const internal::param::ParameterizationQuality &quality = chart->paramQuality(); + const internal::param::Quality &quality = chart->quality(); #if XA_DEBUG_EXPORT_OBJ_CHARTS_AFTER_PARAMETERIZATION { char filename[256]; @@ -8319,13 +9179,20 @@ void ParameterizeCharts(Atlas *atlas, ParameterizeFunc func) } #endif bool invalid = false; + const char *type = "LSCM"; + if (chart->type() == ChartType::Planar) + type = "planar"; + else if (chart->type() == ChartType::Ortho) + type = "ortho"; + else if (chart->type() == ChartType::Piecewise) + type = "piecewise"; if (quality.boundaryIntersection) { invalid = true; - XA_PRINT_WARNING(" Chart %u (mesh %u, group %u, id %u) (%s): invalid parameterization, self-intersecting boundary.\n", chartIndex, i, j, k, chart->isPlanar() ? "planar" : chart->isOrtho() ? "ortho" : "other"); + XA_PRINT_WARNING(" Chart %u (mesh %u, group %u, id %u) (%s): invalid parameterization, self-intersecting boundary.\n", chartIndex, i, j, k, type); } if (quality.flippedTriangleCount > 0) { invalid = true; - XA_PRINT_WARNING(" Chart %u (mesh %u, group %u, id %u) (%s): invalid parameterization, %u / %u flipped triangles.\n", chartIndex, i, j, k, chart->isPlanar() ? "planar" : chart->isOrtho() ? "ortho" : "other", quality.flippedTriangleCount, quality.totalTriangleCount); + XA_PRINT_WARNING(" Chart %u (mesh %u, group %u, id %u) (%s): invalid parameterization, %u / %u flipped triangles.\n", chartIndex, i, j, k, type, quality.flippedTriangleCount, quality.totalTriangleCount); } if (invalid) invalidParamCount++; @@ -8415,7 +9282,7 @@ void PackCharts(Atlas *atlas, PackOptions packOptions) packAtlas.addCharts(ctx->taskScheduler, &ctx->paramAtlas); XA_PROFILE_END(packChartsAddCharts) XA_PROFILE_START(packCharts) - if (!packAtlas.packCharts(ctx->taskScheduler, packOptions, ctx->progressFunc, ctx->progressUserData)) + if (!packAtlas.packCharts(packOptions, ctx->progressFunc, ctx->progressUserData)) return; XA_PROFILE_END(packCharts) // Populate atlas object with pack results. @@ -8440,8 +9307,7 @@ void PackCharts(Atlas *atlas, PackOptions packOptions) XA_PROFILE_PRINT_AND_RESET(" Restore texcoords: ", packChartsAddChartsRestoreTexcoords) XA_PROFILE_PRINT_AND_RESET(" Rasterize: ", packChartsRasterize) XA_PROFILE_PRINT_AND_RESET(" Dilate (padding): ", packChartsDilate) - XA_PROFILE_PRINT_AND_RESET(" Find location (real): ", packChartsFindLocation) - XA_PROFILE_PRINT_AND_RESET(" Find location (thread): ", packChartsFindLocationThread) + XA_PROFILE_PRINT_AND_RESET(" Find location: ", packChartsFindLocation) XA_PROFILE_PRINT_AND_RESET(" Blit: ", packChartsBlit) XA_PRINT_MEM_USAGE XA_PRINT("Building output meshes\n"); @@ -8527,9 +9393,7 @@ void PackCharts(Atlas *atlas, PackOptions packOptions) const int32_t atlasIndex = packAtlas.getChart(chartIndex)->atlasIndex; XA_DEBUG_ASSERT(atlasIndex >= 0); outputChart->atlasIndex = (uint32_t)atlasIndex; - outputChart->flags = 0; - if (chart->paramQuality().boundaryIntersection || chart->paramQuality().flippedTriangleCount > 0) - outputChart->flags |= ChartFlags::Invalid; + outputChart->type = chart->type(); outputChart->faceCount = mesh->faceCount(); outputChart->faceArray = XA_ALLOC_ARRAY(internal::MemTag::Default, uint32_t, outputChart->faceCount); for (uint32_t f = 0; f < outputChart->faceCount; f++) diff --git a/thirdparty/xatlas/xatlas.h b/thirdparty/xatlas/xatlas.h index 7be165e7e5..e59f493287 100644 --- a/thirdparty/xatlas/xatlas.h +++ b/thirdparty/xatlas/xatlas.h @@ -35,11 +35,14 @@ Copyright NVIDIA Corporation 2006 -- Ignacio Castano <icastano@nvidia.com> namespace xatlas { -struct ChartFlags +struct ChartType { - enum + enum Enum { - Invalid = 1 << 0 + Planar, + Ortho, + LSCM, + Piecewise }; }; @@ -47,10 +50,10 @@ struct ChartFlags struct Chart { uint32_t atlasIndex; // Sub-atlas index. - uint32_t flags; uint32_t *faceArray; uint32_t faceCount; uint32_t material; + ChartType::Enum type; }; // Output vertex. diff --git a/thirdparty/zstd/common/bitstream.h b/thirdparty/zstd/common/bitstream.h index d955bd677b..1c294b80d1 100644 --- a/thirdparty/zstd/common/bitstream.h +++ b/thirdparty/zstd/common/bitstream.h @@ -57,6 +57,8 @@ extern "C" { =========================================*/ #if defined(__BMI__) && defined(__GNUC__) # include <immintrin.h> /* support for bextr (experimental) */ +#elif defined(__ICCARM__) +# include <intrinsics.h> #endif #define STREAM_ACCUMULATOR_MIN_32 25 @@ -162,7 +164,9 @@ MEM_STATIC unsigned BIT_highbit32 (U32 val) _BitScanReverse ( &r, val ); return (unsigned) r; # elif defined(__GNUC__) && (__GNUC__ >= 3) /* Use GCC Intrinsic */ - return 31 - __builtin_clz (val); + return __builtin_clz (val) ^ 31; +# elif defined(__ICCARM__) /* IAR Intrinsic */ + return 31 - __CLZ(val); # else /* Software version */ static const unsigned DeBruijnClz[32] = { 0, 9, 1, 10, 13, 21, 2, 29, 11, 14, 16, 18, 22, 25, 3, 30, @@ -240,9 +244,9 @@ MEM_STATIC void BIT_flushBitsFast(BIT_CStream_t* bitC) { size_t const nbBytes = bitC->bitPos >> 3; assert(bitC->bitPos < sizeof(bitC->bitContainer) * 8); + assert(bitC->ptr <= bitC->endPtr); MEM_writeLEST(bitC->ptr, bitC->bitContainer); bitC->ptr += nbBytes; - assert(bitC->ptr <= bitC->endPtr); bitC->bitPos &= 7; bitC->bitContainer >>= nbBytes*8; } @@ -256,6 +260,7 @@ MEM_STATIC void BIT_flushBits(BIT_CStream_t* bitC) { size_t const nbBytes = bitC->bitPos >> 3; assert(bitC->bitPos < sizeof(bitC->bitContainer) * 8); + assert(bitC->ptr <= bitC->endPtr); MEM_writeLEST(bitC->ptr, bitC->bitContainer); bitC->ptr += nbBytes; if (bitC->ptr > bitC->endPtr) bitC->ptr = bitC->endPtr; diff --git a/thirdparty/zstd/common/compiler.h b/thirdparty/zstd/common/compiler.h index 87bf51ae8c..1877a0c1d9 100644 --- a/thirdparty/zstd/common/compiler.h +++ b/thirdparty/zstd/common/compiler.h @@ -23,7 +23,7 @@ # define INLINE_KEYWORD #endif -#if defined(__GNUC__) +#if defined(__GNUC__) || defined(__ICCARM__) # define FORCE_INLINE_ATTR __attribute__((always_inline)) #elif defined(_MSC_VER) # define FORCE_INLINE_ATTR __forceinline @@ -61,11 +61,18 @@ # define HINT_INLINE static INLINE_KEYWORD FORCE_INLINE_ATTR #endif +/* UNUSED_ATTR tells the compiler it is okay if the function is unused. */ +#if defined(__GNUC__) +# define UNUSED_ATTR __attribute__((unused)) +#else +# define UNUSED_ATTR +#endif + /* force no inlining */ #ifdef _MSC_VER # define FORCE_NOINLINE static __declspec(noinline) #else -# ifdef __GNUC__ +# if defined(__GNUC__) || defined(__ICCARM__) # define FORCE_NOINLINE static __attribute__((__noinline__)) # else # define FORCE_NOINLINE static @@ -76,7 +83,7 @@ #ifndef __has_attribute #define __has_attribute(x) 0 /* Compatibility with non-clang compilers. */ #endif -#if defined(__GNUC__) +#if defined(__GNUC__) || defined(__ICCARM__) # define TARGET_ATTRIBUTE(target) __attribute__((__target__(target))) #else # define TARGET_ATTRIBUTE(target) @@ -127,9 +134,14 @@ } \ } -/* vectorization */ +/* vectorization + * older GCC (pre gcc-4.3 picked as the cutoff) uses a different syntax */ #if !defined(__clang__) && defined(__GNUC__) -# define DONT_VECTORIZE __attribute__((optimize("no-tree-vectorize"))) +# if (__GNUC__ == 4 && __GNUC_MINOR__ > 3) || (__GNUC__ >= 5) +# define DONT_VECTORIZE __attribute__((optimize("no-tree-vectorize"))) +# else +# define DONT_VECTORIZE _Pragma("GCC optimize(\"no-tree-vectorize\")") +# endif #else # define DONT_VECTORIZE #endif diff --git a/thirdparty/zstd/common/fse.h b/thirdparty/zstd/common/fse.h index 811c670bdd..a7553e3721 100644 --- a/thirdparty/zstd/common/fse.h +++ b/thirdparty/zstd/common/fse.h @@ -308,7 +308,7 @@ If there is an error, the function will return an error code, which can be teste *******************************************/ /* FSE buffer bounds */ #define FSE_NCOUNTBOUND 512 -#define FSE_BLOCKBOUND(size) (size + (size>>7)) +#define FSE_BLOCKBOUND(size) (size + (size>>7) + 4 /* fse states */ + sizeof(size_t) /* bitContainer */) #define FSE_COMPRESSBOUND(size) (FSE_NCOUNTBOUND + FSE_BLOCKBOUND(size)) /* Macro version, useful for static allocation */ /* It is possible to statically allocate FSE CTable/DTable as a table of FSE_CTable/FSE_DTable using below macros */ diff --git a/thirdparty/zstd/common/fse_decompress.c b/thirdparty/zstd/common/fse_decompress.c index 72bbead5be..4f07378982 100644 --- a/thirdparty/zstd/common/fse_decompress.c +++ b/thirdparty/zstd/common/fse_decompress.c @@ -52,7 +52,9 @@ #define FSE_STATIC_ASSERT(c) DEBUG_STATIC_ASSERT(c) /* use only *after* variable declarations */ /* check and forward error code */ +#ifndef CHECK_F #define CHECK_F(f) { size_t const e = f; if (FSE_isError(e)) return e; } +#endif /* ************************************************************** diff --git a/thirdparty/zstd/common/mem.h b/thirdparty/zstd/common/mem.h index 5da248756f..530d30c8f7 100644 --- a/thirdparty/zstd/common/mem.h +++ b/thirdparty/zstd/common/mem.h @@ -47,6 +47,79 @@ extern "C" { #define MEM_STATIC_ASSERT(c) { enum { MEM_static_assert = 1/(int)(!!(c)) }; } MEM_STATIC void MEM_check(void) { MEM_STATIC_ASSERT((sizeof(size_t)==4) || (sizeof(size_t)==8)); } +/* detects whether we are being compiled under msan */ +#if defined (__has_feature) +# if __has_feature(memory_sanitizer) +# define MEMORY_SANITIZER 1 +# endif +#endif + +#if defined (MEMORY_SANITIZER) +/* Not all platforms that support msan provide sanitizers/msan_interface.h. + * We therefore declare the functions we need ourselves, rather than trying to + * include the header file... */ + +#include <stdint.h> /* intptr_t */ + +/* Make memory region fully initialized (without changing its contents). */ +void __msan_unpoison(const volatile void *a, size_t size); + +/* Make memory region fully uninitialized (without changing its contents). + This is a legacy interface that does not update origin information. Use + __msan_allocated_memory() instead. */ +void __msan_poison(const volatile void *a, size_t size); + +/* Returns the offset of the first (at least partially) poisoned byte in the + memory range, or -1 if the whole range is good. */ +intptr_t __msan_test_shadow(const volatile void *x, size_t size); +#endif + +/* detects whether we are being compiled under asan */ +#if defined (__has_feature) +# if __has_feature(address_sanitizer) +# define ADDRESS_SANITIZER 1 +# endif +#elif defined(__SANITIZE_ADDRESS__) +# define ADDRESS_SANITIZER 1 +#endif + +#if defined (ADDRESS_SANITIZER) +/* Not all platforms that support asan provide sanitizers/asan_interface.h. + * We therefore declare the functions we need ourselves, rather than trying to + * include the header file... */ + +/** + * Marks a memory region (<c>[addr, addr+size)</c>) as unaddressable. + * + * This memory must be previously allocated by your program. Instrumented + * code is forbidden from accessing addresses in this region until it is + * unpoisoned. This function is not guaranteed to poison the entire region - + * it could poison only a subregion of <c>[addr, addr+size)</c> due to ASan + * alignment restrictions. + * + * \note This function is not thread-safe because no two threads can poison or + * unpoison memory in the same memory region simultaneously. + * + * \param addr Start of memory region. + * \param size Size of memory region. */ +void __asan_poison_memory_region(void const volatile *addr, size_t size); + +/** + * Marks a memory region (<c>[addr, addr+size)</c>) as addressable. + * + * This memory must be previously allocated by your program. Accessing + * addresses in this region is allowed until this region is poisoned again. + * This function could unpoison a super-region of <c>[addr, addr+size)</c> due + * to ASan alignment restrictions. + * + * \note This function is not thread-safe because no two threads can + * poison or unpoison memory in the same memory region simultaneously. + * + * \param addr Start of memory region. + * \param size Size of memory region. */ +void __asan_unpoison_memory_region(void const volatile *addr, size_t size); +#endif + /*-************************************************************** * Basic Types @@ -102,7 +175,7 @@ MEM_STATIC void MEM_check(void) { MEM_STATIC_ASSERT((sizeof(size_t)==4) || (size #ifndef MEM_FORCE_MEMORY_ACCESS /* can be defined externally, on command line for example */ # if defined(__GNUC__) && ( defined(__ARM_ARCH_6__) || defined(__ARM_ARCH_6J__) || defined(__ARM_ARCH_6K__) || defined(__ARM_ARCH_6Z__) || defined(__ARM_ARCH_6ZK__) || defined(__ARM_ARCH_6T2__) ) # define MEM_FORCE_MEMORY_ACCESS 2 -# elif defined(__INTEL_COMPILER) || defined(__GNUC__) +# elif defined(__INTEL_COMPILER) || defined(__GNUC__) || defined(__ICCARM__) # define MEM_FORCE_MEMORY_ACCESS 1 # endif #endif diff --git a/thirdparty/zstd/common/pool.c b/thirdparty/zstd/common/pool.c index 7a82945432..f575935076 100644 --- a/thirdparty/zstd/common/pool.c +++ b/thirdparty/zstd/common/pool.c @@ -127,9 +127,13 @@ POOL_ctx* POOL_create_advanced(size_t numThreads, size_t queueSize, ctx->queueTail = 0; ctx->numThreadsBusy = 0; ctx->queueEmpty = 1; - (void)ZSTD_pthread_mutex_init(&ctx->queueMutex, NULL); - (void)ZSTD_pthread_cond_init(&ctx->queuePushCond, NULL); - (void)ZSTD_pthread_cond_init(&ctx->queuePopCond, NULL); + { + int error = 0; + error |= ZSTD_pthread_mutex_init(&ctx->queueMutex, NULL); + error |= ZSTD_pthread_cond_init(&ctx->queuePushCond, NULL); + error |= ZSTD_pthread_cond_init(&ctx->queuePopCond, NULL); + if (error) { POOL_free(ctx); return NULL; } + } ctx->shutdown = 0; /* Allocate space for the thread handles */ ctx->threads = (ZSTD_pthread_t*)ZSTD_malloc(numThreads * sizeof(ZSTD_pthread_t), customMem); diff --git a/thirdparty/zstd/common/threading.c b/thirdparty/zstd/common/threading.c index f3d4fa8418..482664bd9a 100644 --- a/thirdparty/zstd/common/threading.c +++ b/thirdparty/zstd/common/threading.c @@ -14,6 +14,8 @@ * This file will hold wrapper for systems, which do not support pthreads */ +#include "threading.h" + /* create fake symbol to avoid empty translation unit warning */ int g_ZSTD_threading_useless_symbol; @@ -28,7 +30,6 @@ int g_ZSTD_threading_useless_symbol; /* === Dependencies === */ #include <process.h> #include <errno.h> -#include "threading.h" /* === Implementation === */ @@ -73,3 +74,47 @@ int ZSTD_pthread_join(ZSTD_pthread_t thread, void **value_ptr) } #endif /* ZSTD_MULTITHREAD */ + +#if defined(ZSTD_MULTITHREAD) && DEBUGLEVEL >= 1 && !defined(_WIN32) + +#include <stdlib.h> + +int ZSTD_pthread_mutex_init(ZSTD_pthread_mutex_t* mutex, pthread_mutexattr_t const* attr) +{ + *mutex = (pthread_mutex_t*)malloc(sizeof(pthread_mutex_t)); + if (!*mutex) + return 1; + return pthread_mutex_init(*mutex, attr); +} + +int ZSTD_pthread_mutex_destroy(ZSTD_pthread_mutex_t* mutex) +{ + if (!*mutex) + return 0; + { + int const ret = pthread_mutex_destroy(*mutex); + free(*mutex); + return ret; + } +} + +int ZSTD_pthread_cond_init(ZSTD_pthread_cond_t* cond, pthread_condattr_t const* attr) +{ + *cond = (pthread_cond_t*)malloc(sizeof(pthread_cond_t)); + if (!*cond) + return 1; + return pthread_cond_init(*cond, attr); +} + +int ZSTD_pthread_cond_destroy(ZSTD_pthread_cond_t* cond) +{ + if (!*cond) + return 0; + { + int const ret = pthread_cond_destroy(*cond); + free(*cond); + return ret; + } +} + +#endif diff --git a/thirdparty/zstd/common/threading.h b/thirdparty/zstd/common/threading.h index d806c89d01..3193ca7db8 100644 --- a/thirdparty/zstd/common/threading.h +++ b/thirdparty/zstd/common/threading.h @@ -13,6 +13,8 @@ #ifndef THREADING_H_938743 #define THREADING_H_938743 +#include "debug.h" + #if defined (__cplusplus) extern "C" { #endif @@ -75,10 +77,12 @@ int ZSTD_pthread_join(ZSTD_pthread_t thread, void** value_ptr); */ -#elif defined(ZSTD_MULTITHREAD) /* posix assumed ; need a better detection method */ +#elif defined(ZSTD_MULTITHREAD) /* posix assumed ; need a better detection method */ /* === POSIX Systems === */ # include <pthread.h> +#if DEBUGLEVEL < 1 + #define ZSTD_pthread_mutex_t pthread_mutex_t #define ZSTD_pthread_mutex_init(a, b) pthread_mutex_init((a), (b)) #define ZSTD_pthread_mutex_destroy(a) pthread_mutex_destroy((a)) @@ -96,6 +100,33 @@ int ZSTD_pthread_join(ZSTD_pthread_t thread, void** value_ptr); #define ZSTD_pthread_create(a, b, c, d) pthread_create((a), (b), (c), (d)) #define ZSTD_pthread_join(a, b) pthread_join((a),(b)) +#else /* DEBUGLEVEL >= 1 */ + +/* Debug implementation of threading. + * In this implementation we use pointers for mutexes and condition variables. + * This way, if we forget to init/destroy them the program will crash or ASAN + * will report leaks. + */ + +#define ZSTD_pthread_mutex_t pthread_mutex_t* +int ZSTD_pthread_mutex_init(ZSTD_pthread_mutex_t* mutex, pthread_mutexattr_t const* attr); +int ZSTD_pthread_mutex_destroy(ZSTD_pthread_mutex_t* mutex); +#define ZSTD_pthread_mutex_lock(a) pthread_mutex_lock(*(a)) +#define ZSTD_pthread_mutex_unlock(a) pthread_mutex_unlock(*(a)) + +#define ZSTD_pthread_cond_t pthread_cond_t* +int ZSTD_pthread_cond_init(ZSTD_pthread_cond_t* cond, pthread_condattr_t const* attr); +int ZSTD_pthread_cond_destroy(ZSTD_pthread_cond_t* cond); +#define ZSTD_pthread_cond_wait(a, b) pthread_cond_wait(*(a), *(b)) +#define ZSTD_pthread_cond_signal(a) pthread_cond_signal(*(a)) +#define ZSTD_pthread_cond_broadcast(a) pthread_cond_broadcast(*(a)) + +#define ZSTD_pthread_t pthread_t +#define ZSTD_pthread_create(a, b, c, d) pthread_create((a), (b), (c), (d)) +#define ZSTD_pthread_join(a, b) pthread_join((a),(b)) + +#endif + #else /* ZSTD_MULTITHREAD not defined */ /* No multithreading support */ diff --git a/thirdparty/zstd/common/xxhash.c b/thirdparty/zstd/common/xxhash.c index 30599aaae4..99d2459621 100644 --- a/thirdparty/zstd/common/xxhash.c +++ b/thirdparty/zstd/common/xxhash.c @@ -53,7 +53,8 @@ # if defined(__GNUC__) && ( defined(__ARM_ARCH_6__) || defined(__ARM_ARCH_6J__) || defined(__ARM_ARCH_6K__) || defined(__ARM_ARCH_6Z__) || defined(__ARM_ARCH_6ZK__) || defined(__ARM_ARCH_6T2__) ) # define XXH_FORCE_MEMORY_ACCESS 2 # elif (defined(__INTEL_COMPILER) && !defined(WIN32)) || \ - (defined(__GNUC__) && ( defined(__ARM_ARCH_7__) || defined(__ARM_ARCH_7A__) || defined(__ARM_ARCH_7R__) || defined(__ARM_ARCH_7M__) || defined(__ARM_ARCH_7S__) )) + (defined(__GNUC__) && ( defined(__ARM_ARCH_7__) || defined(__ARM_ARCH_7A__) || defined(__ARM_ARCH_7R__) || defined(__ARM_ARCH_7M__) || defined(__ARM_ARCH_7S__) )) || \ + defined(__ICCARM__) # define XXH_FORCE_MEMORY_ACCESS 1 # endif #endif @@ -120,7 +121,7 @@ static void* XXH_memcpy(void* dest, const void* src, size_t size) { return memcp # define INLINE_KEYWORD #endif -#if defined(__GNUC__) +#if defined(__GNUC__) || defined(__ICCARM__) # define FORCE_INLINE_ATTR __attribute__((always_inline)) #elif defined(_MSC_VER) # define FORCE_INLINE_ATTR __forceinline @@ -206,7 +207,12 @@ static U64 XXH_read64(const void* memPtr) # define XXH_rotl32(x,r) _rotl(x,r) # define XXH_rotl64(x,r) _rotl64(x,r) #else +#if defined(__ICCARM__) +# include <intrinsics.h> +# define XXH_rotl32(x,r) __ROR(x,(32 - r)) +#else # define XXH_rotl32(x,r) ((x << r) | (x >> (32 - r))) +#endif # define XXH_rotl64(x,r) ((x << r) | (x >> (64 - r))) #endif diff --git a/thirdparty/zstd/common/zstd_internal.h b/thirdparty/zstd/common/zstd_internal.h index 81b16eac2e..dcdcbdb81c 100644 --- a/thirdparty/zstd/common/zstd_internal.h +++ b/thirdparty/zstd/common/zstd_internal.h @@ -56,9 +56,9 @@ extern "C" { /** * Return the specified error if the condition evaluates to true. * - * In debug modes, prints additional information. In order to do that - * (particularly, printing the conditional that failed), this can't just wrap - * RETURN_ERROR(). + * In debug modes, prints additional information. + * In order to do that (particularly, printing the conditional that failed), + * this can't just wrap RETURN_ERROR(). */ #define RETURN_ERROR_IF(cond, err, ...) \ if (cond) { \ @@ -197,79 +197,56 @@ static void ZSTD_copy8(void* dst, const void* src) { memcpy(dst, src, 8); } static void ZSTD_copy16(void* dst, const void* src) { memcpy(dst, src, 16); } #define COPY16(d,s) { ZSTD_copy16(d,s); d+=16; s+=16; } -#define WILDCOPY_OVERLENGTH 8 -#define VECLEN 16 +#define WILDCOPY_OVERLENGTH 32 +#define WILDCOPY_VECLEN 16 typedef enum { ZSTD_no_overlap, - ZSTD_overlap_src_before_dst, + ZSTD_overlap_src_before_dst /* ZSTD_overlap_dst_before_src, */ } ZSTD_overlap_e; /*! ZSTD_wildcopy() : - * custom version of memcpy(), can overwrite up to WILDCOPY_OVERLENGTH bytes (if length==0) */ + * Custom version of memcpy(), can over read/write up to WILDCOPY_OVERLENGTH bytes (if length==0) + * @param ovtype controls the overlap detection + * - ZSTD_no_overlap: The source and destination are guaranteed to be at least WILDCOPY_VECLEN bytes apart. + * - ZSTD_overlap_src_before_dst: The src and dst may overlap, but they MUST be at least 8 bytes apart. + * The src buffer must be before the dst buffer. + */ MEM_STATIC FORCE_INLINE_ATTR DONT_VECTORIZE -void ZSTD_wildcopy(void* dst, const void* src, ptrdiff_t length, ZSTD_overlap_e ovtype) +void ZSTD_wildcopy(void* dst, const void* src, ptrdiff_t length, ZSTD_overlap_e const ovtype) { ptrdiff_t diff = (BYTE*)dst - (const BYTE*)src; const BYTE* ip = (const BYTE*)src; BYTE* op = (BYTE*)dst; BYTE* const oend = op + length; - assert(diff >= 8 || (ovtype == ZSTD_no_overlap && diff < -8)); - if (length < VECLEN || (ovtype == ZSTD_overlap_src_before_dst && diff < VECLEN)) { - do - COPY8(op, ip) - while (op < oend); - } - else { - if ((length & 8) == 0) - COPY8(op, ip); - do { + assert(diff >= 8 || (ovtype == ZSTD_no_overlap && diff <= -WILDCOPY_VECLEN)); + + if (ovtype == ZSTD_overlap_src_before_dst && diff < WILDCOPY_VECLEN) { + /* Handle short offset copies. */ + do { + COPY8(op, ip) + } while (op < oend); + } else { + assert(diff >= WILDCOPY_VECLEN || diff <= -WILDCOPY_VECLEN); + /* Separate out the first two COPY16() calls because the copy length is + * almost certain to be short, so the branches have different + * probabilities. + * On gcc-9 unrolling once is +1.6%, twice is +2%, thrice is +1.8%. + * On clang-8 unrolling once is +1.4%, twice is +3.3%, thrice is +3%. + */ COPY16(op, ip); - } - while (op < oend); - } -} - -/*! ZSTD_wildcopy_16min() : - * same semantics as ZSTD_wilcopy() except guaranteed to be able to copy 16 bytes at the start */ -MEM_STATIC FORCE_INLINE_ATTR DONT_VECTORIZE -void ZSTD_wildcopy_16min(void* dst, const void* src, ptrdiff_t length, ZSTD_overlap_e ovtype) -{ - ptrdiff_t diff = (BYTE*)dst - (const BYTE*)src; - const BYTE* ip = (const BYTE*)src; - BYTE* op = (BYTE*)dst; - BYTE* const oend = op + length; - - assert(length >= 8); - assert(diff >= 8 || (ovtype == ZSTD_no_overlap && diff < -8)); - - if (ovtype == ZSTD_overlap_src_before_dst && diff < VECLEN) { - do - COPY8(op, ip) - while (op < oend); - } - else { - if ((length & 8) == 0) - COPY8(op, ip); - do { COPY16(op, ip); - } - while (op < oend); + if (op >= oend) return; + do { + COPY16(op, ip); + COPY16(op, ip); + } + while (op < oend); } } -MEM_STATIC void ZSTD_wildcopy_e(void* dst, const void* src, void* dstEnd) /* should be faster for decoding, but strangely, not verified on all platform */ -{ - const BYTE* ip = (const BYTE*)src; - BYTE* op = (BYTE*)dst; - BYTE* const oend = (BYTE*)dstEnd; - do - COPY8(op, ip) - while (op < oend); -} - /*-******************************************* * Private declarations @@ -323,7 +300,9 @@ MEM_STATIC U32 ZSTD_highbit32(U32 val) /* compress, dictBuilder, decodeCorpus _BitScanReverse(&r, val); return (unsigned)r; # elif defined(__GNUC__) && (__GNUC__ >= 3) /* GCC Intrinsic */ - return 31 - __builtin_clz(val); + return __builtin_clz (val) ^ 31; +# elif defined(__ICCARM__) /* IAR Intrinsic */ + return 31 - __CLZ(val); # else /* Software version */ static const U32 DeBruijnClz[32] = { 0, 9, 1, 10, 13, 21, 2, 29, 11, 14, 16, 18, 22, 25, 3, 30, 8, 12, 20, 28, 15, 17, 24, 7, 19, 27, 23, 6, 26, 5, 4, 31 }; U32 v = val; diff --git a/thirdparty/zstd/compress/zstd_compress.c b/thirdparty/zstd/compress/zstd_compress.c index 1476512580..35346b92cb 100644 --- a/thirdparty/zstd/compress/zstd_compress.c +++ b/thirdparty/zstd/compress/zstd_compress.c @@ -21,6 +21,8 @@ #define HUF_STATIC_LINKING_ONLY #include "huf.h" #include "zstd_compress_internal.h" +#include "zstd_compress_sequences.h" +#include "zstd_compress_literals.h" #include "zstd_fast.h" #include "zstd_double_fast.h" #include "zstd_lazy.h" @@ -40,15 +42,15 @@ size_t ZSTD_compressBound(size_t srcSize) { * Context memory management ***************************************/ struct ZSTD_CDict_s { - void* dictBuffer; const void* dictContent; size_t dictContentSize; - void* workspace; - size_t workspaceSize; + U32* entropyWorkspace; /* entropy workspace of HUF_WORKSPACE_SIZE bytes */ + ZSTD_cwksp workspace; ZSTD_matchState_t matchState; ZSTD_compressedBlockState_t cBlockState; ZSTD_customMem customMem; U32 dictID; + int compressionLevel; /* 0 indicates that advanced API was used to select CDict params */ }; /* typedef'd to ZSTD_CDict within "zstd.h" */ ZSTD_CCtx* ZSTD_createCCtx(void) @@ -82,23 +84,26 @@ ZSTD_CCtx* ZSTD_createCCtx_advanced(ZSTD_customMem customMem) ZSTD_CCtx* ZSTD_initStaticCCtx(void *workspace, size_t workspaceSize) { - ZSTD_CCtx* const cctx = (ZSTD_CCtx*) workspace; + ZSTD_cwksp ws; + ZSTD_CCtx* cctx; if (workspaceSize <= sizeof(ZSTD_CCtx)) return NULL; /* minimum size */ if ((size_t)workspace & 7) return NULL; /* must be 8-aligned */ - memset(workspace, 0, workspaceSize); /* may be a bit generous, could memset be smaller ? */ + ZSTD_cwksp_init(&ws, workspace, workspaceSize); + + cctx = (ZSTD_CCtx*)ZSTD_cwksp_reserve_object(&ws, sizeof(ZSTD_CCtx)); + if (cctx == NULL) { + return NULL; + } + memset(cctx, 0, sizeof(ZSTD_CCtx)); + ZSTD_cwksp_move(&cctx->workspace, &ws); cctx->staticSize = workspaceSize; - cctx->workSpace = (void*)(cctx+1); - cctx->workSpaceSize = workspaceSize - sizeof(ZSTD_CCtx); /* statically sized space. entropyWorkspace never moves (but prev/next block swap places) */ - if (cctx->workSpaceSize < HUF_WORKSPACE_SIZE + 2 * sizeof(ZSTD_compressedBlockState_t)) return NULL; - assert(((size_t)cctx->workSpace & (sizeof(void*)-1)) == 0); /* ensure correct alignment */ - cctx->blockState.prevCBlock = (ZSTD_compressedBlockState_t*)cctx->workSpace; - cctx->blockState.nextCBlock = cctx->blockState.prevCBlock + 1; - { - void* const ptr = cctx->blockState.nextCBlock + 1; - cctx->entropyWorkspace = (U32*)ptr; - } + if (!ZSTD_cwksp_check_available(&cctx->workspace, HUF_WORKSPACE_SIZE + 2 * sizeof(ZSTD_compressedBlockState_t))) return NULL; + cctx->blockState.prevCBlock = (ZSTD_compressedBlockState_t*)ZSTD_cwksp_reserve_object(&cctx->workspace, sizeof(ZSTD_compressedBlockState_t)); + cctx->blockState.nextCBlock = (ZSTD_compressedBlockState_t*)ZSTD_cwksp_reserve_object(&cctx->workspace, sizeof(ZSTD_compressedBlockState_t)); + cctx->entropyWorkspace = (U32*)ZSTD_cwksp_reserve_object( + &cctx->workspace, HUF_WORKSPACE_SIZE); cctx->bmi2 = ZSTD_cpuid_bmi2(ZSTD_cpuid()); return cctx; } @@ -126,11 +131,11 @@ static void ZSTD_freeCCtxContent(ZSTD_CCtx* cctx) { assert(cctx != NULL); assert(cctx->staticSize == 0); - ZSTD_free(cctx->workSpace, cctx->customMem); cctx->workSpace = NULL; ZSTD_clearAllDicts(cctx); #ifdef ZSTD_MULTITHREAD ZSTDMT_freeCCtx(cctx->mtctx); cctx->mtctx = NULL; #endif + ZSTD_cwksp_free(&cctx->workspace, cctx->customMem); } size_t ZSTD_freeCCtx(ZSTD_CCtx* cctx) @@ -138,8 +143,13 @@ size_t ZSTD_freeCCtx(ZSTD_CCtx* cctx) if (cctx==NULL) return 0; /* support free on NULL */ RETURN_ERROR_IF(cctx->staticSize, memory_allocation, "not compatible with static CCtx"); - ZSTD_freeCCtxContent(cctx); - ZSTD_free(cctx, cctx->customMem); + { + int cctxInWorkspace = ZSTD_cwksp_owns_buffer(&cctx->workspace, cctx); + ZSTD_freeCCtxContent(cctx); + if (!cctxInWorkspace) { + ZSTD_free(cctx, cctx->customMem); + } + } return 0; } @@ -158,7 +168,9 @@ static size_t ZSTD_sizeof_mtctx(const ZSTD_CCtx* cctx) size_t ZSTD_sizeof_CCtx(const ZSTD_CCtx* cctx) { if (cctx==NULL) return 0; /* support sizeof on NULL */ - return sizeof(*cctx) + cctx->workSpaceSize + /* cctx may be in the workspace */ + return (cctx->workspace.workspace == cctx ? 0 : sizeof(*cctx)) + + ZSTD_cwksp_sizeof(&cctx->workspace) + ZSTD_sizeof_localDict(cctx->localDict) + ZSTD_sizeof_mtctx(cctx); } @@ -227,23 +239,23 @@ size_t ZSTD_CCtxParams_init_advanced(ZSTD_CCtx_params* cctxParams, ZSTD_paramete RETURN_ERROR_IF(!cctxParams, GENERIC); FORWARD_IF_ERROR( ZSTD_checkCParams(params.cParams) ); memset(cctxParams, 0, sizeof(*cctxParams)); + assert(!ZSTD_checkCParams(params.cParams)); cctxParams->cParams = params.cParams; cctxParams->fParams = params.fParams; cctxParams->compressionLevel = ZSTD_CLEVEL_DEFAULT; /* should not matter, as all cParams are presumed properly defined */ - assert(!ZSTD_checkCParams(params.cParams)); return 0; } /* ZSTD_assignParamsToCCtxParams() : * params is presumed valid at this stage */ static ZSTD_CCtx_params ZSTD_assignParamsToCCtxParams( - ZSTD_CCtx_params cctxParams, ZSTD_parameters params) + const ZSTD_CCtx_params* cctxParams, ZSTD_parameters params) { - ZSTD_CCtx_params ret = cctxParams; + ZSTD_CCtx_params ret = *cctxParams; + assert(!ZSTD_checkCParams(params.cParams)); ret.cParams = params.cParams; ret.fParams = params.fParams; ret.compressionLevel = ZSTD_CLEVEL_DEFAULT; /* should not matter, as all cParams are presumed properly defined */ - assert(!ZSTD_checkCParams(params.cParams)); return ret; } @@ -376,7 +388,7 @@ ZSTD_bounds ZSTD_cParam_getBounds(ZSTD_cParameter param) case ZSTD_c_forceAttachDict: ZSTD_STATIC_ASSERT(ZSTD_dictDefaultAttach < ZSTD_dictForceCopy); bounds.lowerBound = ZSTD_dictDefaultAttach; - bounds.upperBound = ZSTD_dictForceCopy; /* note : how to ensure at compile time that this is the highest value enum ? */ + bounds.upperBound = ZSTD_dictForceLoad; /* note : how to ensure at compile time that this is the highest value enum ? */ return bounds; case ZSTD_c_literalCompressionMode: @@ -390,6 +402,11 @@ ZSTD_bounds ZSTD_cParam_getBounds(ZSTD_cParameter param) bounds.upperBound = ZSTD_TARGETCBLOCKSIZE_MAX; return bounds; + case ZSTD_c_srcSizeHint: + bounds.lowerBound = ZSTD_SRCSIZEHINT_MIN; + bounds.upperBound = ZSTD_SRCSIZEHINT_MAX; + return bounds; + default: { ZSTD_bounds const boundError = { ERROR(parameter_unsupported), 0, 0 }; return boundError; @@ -397,18 +414,6 @@ ZSTD_bounds ZSTD_cParam_getBounds(ZSTD_cParameter param) } } -/* ZSTD_cParam_withinBounds: - * @return 1 if value is within cParam bounds, - * 0 otherwise */ -static int ZSTD_cParam_withinBounds(ZSTD_cParameter cParam, int value) -{ - ZSTD_bounds const bounds = ZSTD_cParam_getBounds(cParam); - if (ZSTD_isError(bounds.error)) return 0; - if (value < bounds.lowerBound) return 0; - if (value > bounds.upperBound) return 0; - return 1; -} - /* ZSTD_cParam_clampBounds: * Clamps the value into the bounded range. */ @@ -458,6 +463,7 @@ static int ZSTD_isUpdateAuthorized(ZSTD_cParameter param) case ZSTD_c_forceAttachDict: case ZSTD_c_literalCompressionMode: case ZSTD_c_targetCBlockSize: + case ZSTD_c_srcSizeHint: default: return 0; } @@ -504,6 +510,7 @@ size_t ZSTD_CCtx_setParameter(ZSTD_CCtx* cctx, ZSTD_cParameter param, int value) case ZSTD_c_ldmMinMatch: case ZSTD_c_ldmBucketSizeLog: case ZSTD_c_targetCBlockSize: + case ZSTD_c_srcSizeHint: break; default: RETURN_ERROR(parameter_unsupported); @@ -527,33 +534,33 @@ size_t ZSTD_CCtxParams_setParameter(ZSTD_CCtx_params* CCtxParams, if (value) { /* 0 : does not change current level */ CCtxParams->compressionLevel = value; } - if (CCtxParams->compressionLevel >= 0) return CCtxParams->compressionLevel; + if (CCtxParams->compressionLevel >= 0) return (size_t)CCtxParams->compressionLevel; return 0; /* return type (size_t) cannot represent negative values */ } case ZSTD_c_windowLog : if (value!=0) /* 0 => use default */ BOUNDCHECK(ZSTD_c_windowLog, value); - CCtxParams->cParams.windowLog = value; + CCtxParams->cParams.windowLog = (U32)value; return CCtxParams->cParams.windowLog; case ZSTD_c_hashLog : if (value!=0) /* 0 => use default */ BOUNDCHECK(ZSTD_c_hashLog, value); - CCtxParams->cParams.hashLog = value; + CCtxParams->cParams.hashLog = (U32)value; return CCtxParams->cParams.hashLog; case ZSTD_c_chainLog : if (value!=0) /* 0 => use default */ BOUNDCHECK(ZSTD_c_chainLog, value); - CCtxParams->cParams.chainLog = value; + CCtxParams->cParams.chainLog = (U32)value; return CCtxParams->cParams.chainLog; case ZSTD_c_searchLog : if (value!=0) /* 0 => use default */ BOUNDCHECK(ZSTD_c_searchLog, value); - CCtxParams->cParams.searchLog = value; - return value; + CCtxParams->cParams.searchLog = (U32)value; + return (size_t)value; case ZSTD_c_minMatch : if (value!=0) /* 0 => use default */ @@ -684,6 +691,12 @@ size_t ZSTD_CCtxParams_setParameter(ZSTD_CCtx_params* CCtxParams, CCtxParams->targetCBlockSize = value; return CCtxParams->targetCBlockSize; + case ZSTD_c_srcSizeHint : + if (value!=0) /* 0 ==> default */ + BOUNDCHECK(ZSTD_c_srcSizeHint, value); + CCtxParams->srcSizeHint = value; + return CCtxParams->srcSizeHint; + default: RETURN_ERROR(parameter_unsupported, "unknown parameter"); } } @@ -789,6 +802,9 @@ size_t ZSTD_CCtxParams_getParameter( case ZSTD_c_targetCBlockSize : *value = (int)CCtxParams->targetCBlockSize; break; + case ZSTD_c_srcSizeHint : + *value = (int)CCtxParams->srcSizeHint; + break; default: RETURN_ERROR(parameter_unsupported, "unknown parameter"); } return 0; @@ -1039,7 +1055,11 @@ ZSTD_adjustCParams(ZSTD_compressionParameters cPar, ZSTD_compressionParameters ZSTD_getCParamsFromCCtxParams( const ZSTD_CCtx_params* CCtxParams, U64 srcSizeHint, size_t dictSize) { - ZSTD_compressionParameters cParams = ZSTD_getCParams(CCtxParams->compressionLevel, srcSizeHint, dictSize); + ZSTD_compressionParameters cParams; + if (srcSizeHint == ZSTD_CONTENTSIZE_UNKNOWN && CCtxParams->srcSizeHint > 0) { + srcSizeHint = CCtxParams->srcSizeHint; + } + cParams = ZSTD_getCParams(CCtxParams->compressionLevel, srcSizeHint, dictSize); if (CCtxParams->ldmParams.enableLdm) cParams.windowLog = ZSTD_LDM_DEFAULT_WINDOW_LOG; if (CCtxParams->cParams.windowLog) cParams.windowLog = CCtxParams->cParams.windowLog; if (CCtxParams->cParams.hashLog) cParams.hashLog = CCtxParams->cParams.hashLog; @@ -1059,10 +1079,19 @@ ZSTD_sizeof_matchState(const ZSTD_compressionParameters* const cParams, size_t const chainSize = (cParams->strategy == ZSTD_fast) ? 0 : ((size_t)1 << cParams->chainLog); size_t const hSize = ((size_t)1) << cParams->hashLog; U32 const hashLog3 = (forCCtx && cParams->minMatch==3) ? MIN(ZSTD_HASHLOG3_MAX, cParams->windowLog) : 0; - size_t const h3Size = ((size_t)1) << hashLog3; - size_t const tableSpace = (chainSize + hSize + h3Size) * sizeof(U32); - size_t const optPotentialSpace = ((MaxML+1) + (MaxLL+1) + (MaxOff+1) + (1<<Litbits)) * sizeof(U32) - + (ZSTD_OPT_NUM+1) * (sizeof(ZSTD_match_t)+sizeof(ZSTD_optimal_t)); + size_t const h3Size = hashLog3 ? ((size_t)1) << hashLog3 : 0; + /* We don't use ZSTD_cwksp_alloc_size() here because the tables aren't + * surrounded by redzones in ASAN. */ + size_t const tableSpace = chainSize * sizeof(U32) + + hSize * sizeof(U32) + + h3Size * sizeof(U32); + size_t const optPotentialSpace = + ZSTD_cwksp_alloc_size((MaxML+1) * sizeof(U32)) + + ZSTD_cwksp_alloc_size((MaxLL+1) * sizeof(U32)) + + ZSTD_cwksp_alloc_size((MaxOff+1) * sizeof(U32)) + + ZSTD_cwksp_alloc_size((1<<Litbits) * sizeof(U32)) + + ZSTD_cwksp_alloc_size((ZSTD_OPT_NUM+1) * sizeof(ZSTD_match_t)) + + ZSTD_cwksp_alloc_size((ZSTD_OPT_NUM+1) * sizeof(ZSTD_optimal_t)); size_t const optSpace = (forCCtx && (cParams->strategy >= ZSTD_btopt)) ? optPotentialSpace : 0; @@ -1079,20 +1108,23 @@ size_t ZSTD_estimateCCtxSize_usingCCtxParams(const ZSTD_CCtx_params* params) size_t const blockSize = MIN(ZSTD_BLOCKSIZE_MAX, (size_t)1 << cParams.windowLog); U32 const divider = (cParams.minMatch==3) ? 3 : 4; size_t const maxNbSeq = blockSize / divider; - size_t const tokenSpace = WILDCOPY_OVERLENGTH + blockSize + 11*maxNbSeq; - size_t const entropySpace = HUF_WORKSPACE_SIZE; - size_t const blockStateSpace = 2 * sizeof(ZSTD_compressedBlockState_t); + size_t const tokenSpace = ZSTD_cwksp_alloc_size(WILDCOPY_OVERLENGTH + blockSize) + + ZSTD_cwksp_alloc_size(maxNbSeq * sizeof(seqDef)) + + 3 * ZSTD_cwksp_alloc_size(maxNbSeq * sizeof(BYTE)); + size_t const entropySpace = ZSTD_cwksp_alloc_size(HUF_WORKSPACE_SIZE); + size_t const blockStateSpace = 2 * ZSTD_cwksp_alloc_size(sizeof(ZSTD_compressedBlockState_t)); size_t const matchStateSize = ZSTD_sizeof_matchState(&cParams, /* forCCtx */ 1); size_t const ldmSpace = ZSTD_ldm_getTableSize(params->ldmParams); - size_t const ldmSeqSpace = ZSTD_ldm_getMaxNbSeq(params->ldmParams, blockSize) * sizeof(rawSeq); + size_t const ldmSeqSpace = ZSTD_cwksp_alloc_size(ZSTD_ldm_getMaxNbSeq(params->ldmParams, blockSize) * sizeof(rawSeq)); size_t const neededSpace = entropySpace + blockStateSpace + tokenSpace + matchStateSize + ldmSpace + ldmSeqSpace; + size_t const cctxSpace = ZSTD_cwksp_alloc_size(sizeof(ZSTD_CCtx)); - DEBUGLOG(5, "sizeof(ZSTD_CCtx) : %u", (U32)sizeof(ZSTD_CCtx)); - DEBUGLOG(5, "estimate workSpace : %u", (U32)neededSpace); - return sizeof(ZSTD_CCtx) + neededSpace; + DEBUGLOG(5, "sizeof(ZSTD_CCtx) : %u", (U32)cctxSpace); + DEBUGLOG(5, "estimate workspace : %u", (U32)neededSpace); + return cctxSpace + neededSpace; } } @@ -1128,7 +1160,8 @@ size_t ZSTD_estimateCStreamSize_usingCCtxParams(const ZSTD_CCtx_params* params) size_t const blockSize = MIN(ZSTD_BLOCKSIZE_MAX, (size_t)1 << cParams.windowLog); size_t const inBuffSize = ((size_t)1 << cParams.windowLog) + blockSize; size_t const outBuffSize = ZSTD_compressBound(blockSize) + 1; - size_t const streamingSize = inBuffSize + outBuffSize; + size_t const streamingSize = ZSTD_cwksp_alloc_size(inBuffSize) + + ZSTD_cwksp_alloc_size(outBuffSize); return CCtxSize + streamingSize; } @@ -1196,17 +1229,6 @@ size_t ZSTD_toFlushNow(ZSTD_CCtx* cctx) return 0; /* over-simplification; could also check if context is currently running in streaming mode, and in which case, report how many bytes are left to be flushed within output buffer */ } - - -static U32 ZSTD_equivalentCParams(ZSTD_compressionParameters cParams1, - ZSTD_compressionParameters cParams2) -{ - return (cParams1.hashLog == cParams2.hashLog) - & (cParams1.chainLog == cParams2.chainLog) - & (cParams1.strategy == cParams2.strategy) /* opt parser space */ - & ((cParams1.minMatch==3) == (cParams2.minMatch==3)); /* hashlog3 space */ -} - static void ZSTD_assertEqualCParams(ZSTD_compressionParameters cParams1, ZSTD_compressionParameters cParams2) { @@ -1221,71 +1243,6 @@ static void ZSTD_assertEqualCParams(ZSTD_compressionParameters cParams1, assert(cParams1.strategy == cParams2.strategy); } -/** The parameters are equivalent if ldm is not enabled in both sets or - * all the parameters are equivalent. */ -static U32 ZSTD_equivalentLdmParams(ldmParams_t ldmParams1, - ldmParams_t ldmParams2) -{ - return (!ldmParams1.enableLdm && !ldmParams2.enableLdm) || - (ldmParams1.enableLdm == ldmParams2.enableLdm && - ldmParams1.hashLog == ldmParams2.hashLog && - ldmParams1.bucketSizeLog == ldmParams2.bucketSizeLog && - ldmParams1.minMatchLength == ldmParams2.minMatchLength && - ldmParams1.hashRateLog == ldmParams2.hashRateLog); -} - -typedef enum { ZSTDb_not_buffered, ZSTDb_buffered } ZSTD_buffered_policy_e; - -/* ZSTD_sufficientBuff() : - * check internal buffers exist for streaming if buffPol == ZSTDb_buffered . - * Note : they are assumed to be correctly sized if ZSTD_equivalentCParams()==1 */ -static U32 ZSTD_sufficientBuff(size_t bufferSize1, size_t maxNbSeq1, - size_t maxNbLit1, - ZSTD_buffered_policy_e buffPol2, - ZSTD_compressionParameters cParams2, - U64 pledgedSrcSize) -{ - size_t const windowSize2 = MAX(1, (size_t)MIN(((U64)1 << cParams2.windowLog), pledgedSrcSize)); - size_t const blockSize2 = MIN(ZSTD_BLOCKSIZE_MAX, windowSize2); - size_t const maxNbSeq2 = blockSize2 / ((cParams2.minMatch == 3) ? 3 : 4); - size_t const maxNbLit2 = blockSize2; - size_t const neededBufferSize2 = (buffPol2==ZSTDb_buffered) ? windowSize2 + blockSize2 : 0; - DEBUGLOG(4, "ZSTD_sufficientBuff: is neededBufferSize2=%u <= bufferSize1=%u", - (U32)neededBufferSize2, (U32)bufferSize1); - DEBUGLOG(4, "ZSTD_sufficientBuff: is maxNbSeq2=%u <= maxNbSeq1=%u", - (U32)maxNbSeq2, (U32)maxNbSeq1); - DEBUGLOG(4, "ZSTD_sufficientBuff: is maxNbLit2=%u <= maxNbLit1=%u", - (U32)maxNbLit2, (U32)maxNbLit1); - return (maxNbLit2 <= maxNbLit1) - & (maxNbSeq2 <= maxNbSeq1) - & (neededBufferSize2 <= bufferSize1); -} - -/** Equivalence for resetCCtx purposes */ -static U32 ZSTD_equivalentParams(ZSTD_CCtx_params params1, - ZSTD_CCtx_params params2, - size_t buffSize1, - size_t maxNbSeq1, size_t maxNbLit1, - ZSTD_buffered_policy_e buffPol2, - U64 pledgedSrcSize) -{ - DEBUGLOG(4, "ZSTD_equivalentParams: pledgedSrcSize=%u", (U32)pledgedSrcSize); - if (!ZSTD_equivalentCParams(params1.cParams, params2.cParams)) { - DEBUGLOG(4, "ZSTD_equivalentCParams() == 0"); - return 0; - } - if (!ZSTD_equivalentLdmParams(params1.ldmParams, params2.ldmParams)) { - DEBUGLOG(4, "ZSTD_equivalentLdmParams() == 0"); - return 0; - } - if (!ZSTD_sufficientBuff(buffSize1, maxNbSeq1, maxNbLit1, buffPol2, - params2.cParams, pledgedSrcSize)) { - DEBUGLOG(4, "ZSTD_sufficientBuff() == 0"); - return 0; - } - return 1; -} - static void ZSTD_reset_compressedBlockState(ZSTD_compressedBlockState_t* bs) { int i; @@ -1311,87 +1268,104 @@ static void ZSTD_invalidateMatchState(ZSTD_matchState_t* ms) ms->dictMatchState = NULL; } -/*! ZSTD_continueCCtx() : - * reuse CCtx without reset (note : requires no dictionary) */ -static size_t ZSTD_continueCCtx(ZSTD_CCtx* cctx, ZSTD_CCtx_params params, U64 pledgedSrcSize) -{ - size_t const windowSize = MAX(1, (size_t)MIN(((U64)1 << params.cParams.windowLog), pledgedSrcSize)); - size_t const blockSize = MIN(ZSTD_BLOCKSIZE_MAX, windowSize); - DEBUGLOG(4, "ZSTD_continueCCtx: re-use context in place"); +/** + * Indicates whether this compression proceeds directly from user-provided + * source buffer to user-provided destination buffer (ZSTDb_not_buffered), or + * whether the context needs to buffer the input/output (ZSTDb_buffered). + */ +typedef enum { + ZSTDb_not_buffered, + ZSTDb_buffered +} ZSTD_buffered_policy_e; - cctx->blockSize = blockSize; /* previous block size could be different even for same windowLog, due to pledgedSrcSize */ - cctx->appliedParams = params; - cctx->blockState.matchState.cParams = params.cParams; - cctx->pledgedSrcSizePlusOne = pledgedSrcSize+1; - cctx->consumedSrcSize = 0; - cctx->producedCSize = 0; - if (pledgedSrcSize == ZSTD_CONTENTSIZE_UNKNOWN) - cctx->appliedParams.fParams.contentSizeFlag = 0; - DEBUGLOG(4, "pledged content size : %u ; flag : %u", - (U32)pledgedSrcSize, cctx->appliedParams.fParams.contentSizeFlag); - cctx->stage = ZSTDcs_init; - cctx->dictID = 0; - if (params.ldmParams.enableLdm) - ZSTD_window_clear(&cctx->ldmState.window); - ZSTD_referenceExternalSequences(cctx, NULL, 0); - ZSTD_invalidateMatchState(&cctx->blockState.matchState); - ZSTD_reset_compressedBlockState(cctx->blockState.prevCBlock); - XXH64_reset(&cctx->xxhState, 0); - return 0; -} +/** + * Controls, for this matchState reset, whether the tables need to be cleared / + * prepared for the coming compression (ZSTDcrp_makeClean), or whether the + * tables can be left unclean (ZSTDcrp_leaveDirty), because we know that a + * subsequent operation will overwrite the table space anyways (e.g., copying + * the matchState contents in from a CDict). + */ +typedef enum { + ZSTDcrp_makeClean, + ZSTDcrp_leaveDirty +} ZSTD_compResetPolicy_e; -typedef enum { ZSTDcrp_continue, ZSTDcrp_noMemset } ZSTD_compResetPolicy_e; +/** + * Controls, for this matchState reset, whether indexing can continue where it + * left off (ZSTDirp_continue), or whether it needs to be restarted from zero + * (ZSTDirp_reset). + */ +typedef enum { + ZSTDirp_continue, + ZSTDirp_reset +} ZSTD_indexResetPolicy_e; -typedef enum { ZSTD_resetTarget_CDict, ZSTD_resetTarget_CCtx } ZSTD_resetTarget_e; +typedef enum { + ZSTD_resetTarget_CDict, + ZSTD_resetTarget_CCtx +} ZSTD_resetTarget_e; -static void* +static size_t ZSTD_reset_matchState(ZSTD_matchState_t* ms, - void* ptr, + ZSTD_cwksp* ws, const ZSTD_compressionParameters* cParams, - ZSTD_compResetPolicy_e const crp, ZSTD_resetTarget_e const forWho) + const ZSTD_compResetPolicy_e crp, + const ZSTD_indexResetPolicy_e forceResetIndex, + const ZSTD_resetTarget_e forWho) { size_t const chainSize = (cParams->strategy == ZSTD_fast) ? 0 : ((size_t)1 << cParams->chainLog); size_t const hSize = ((size_t)1) << cParams->hashLog; U32 const hashLog3 = ((forWho == ZSTD_resetTarget_CCtx) && cParams->minMatch==3) ? MIN(ZSTD_HASHLOG3_MAX, cParams->windowLog) : 0; - size_t const h3Size = ((size_t)1) << hashLog3; - size_t const tableSpace = (chainSize + hSize + h3Size) * sizeof(U32); - - assert(((size_t)ptr & 3) == 0); + size_t const h3Size = hashLog3 ? ((size_t)1) << hashLog3 : 0; + + DEBUGLOG(4, "reset indices : %u", forceResetIndex == ZSTDirp_reset); + if (forceResetIndex == ZSTDirp_reset) { + memset(&ms->window, 0, sizeof(ms->window)); + ms->window.dictLimit = 1; /* start from 1, so that 1st position is valid */ + ms->window.lowLimit = 1; /* it ensures first and later CCtx usages compress the same */ + ms->window.nextSrc = ms->window.base + 1; /* see issue #1241 */ + ZSTD_cwksp_mark_tables_dirty(ws); + } ms->hashLog3 = hashLog3; - memset(&ms->window, 0, sizeof(ms->window)); - ms->window.dictLimit = 1; /* start from 1, so that 1st position is valid */ - ms->window.lowLimit = 1; /* it ensures first and later CCtx usages compress the same */ - ms->window.nextSrc = ms->window.base + 1; /* see issue #1241 */ + ZSTD_invalidateMatchState(ms); + assert(!ZSTD_cwksp_reserve_failed(ws)); /* check that allocation hasn't already failed */ + + ZSTD_cwksp_clear_tables(ws); + + DEBUGLOG(5, "reserving table space"); + /* table Space */ + ms->hashTable = (U32*)ZSTD_cwksp_reserve_table(ws, hSize * sizeof(U32)); + ms->chainTable = (U32*)ZSTD_cwksp_reserve_table(ws, chainSize * sizeof(U32)); + ms->hashTable3 = (U32*)ZSTD_cwksp_reserve_table(ws, h3Size * sizeof(U32)); + RETURN_ERROR_IF(ZSTD_cwksp_reserve_failed(ws), memory_allocation, + "failed a workspace allocation in ZSTD_reset_matchState"); + + DEBUGLOG(4, "reset table : %u", crp!=ZSTDcrp_leaveDirty); + if (crp!=ZSTDcrp_leaveDirty) { + /* reset tables only */ + ZSTD_cwksp_clean_tables(ws); + } + /* opt parser space */ if ((forWho == ZSTD_resetTarget_CCtx) && (cParams->strategy >= ZSTD_btopt)) { DEBUGLOG(4, "reserving optimal parser space"); - ms->opt.litFreq = (unsigned*)ptr; - ms->opt.litLengthFreq = ms->opt.litFreq + (1<<Litbits); - ms->opt.matchLengthFreq = ms->opt.litLengthFreq + (MaxLL+1); - ms->opt.offCodeFreq = ms->opt.matchLengthFreq + (MaxML+1); - ptr = ms->opt.offCodeFreq + (MaxOff+1); - ms->opt.matchTable = (ZSTD_match_t*)ptr; - ptr = ms->opt.matchTable + ZSTD_OPT_NUM+1; - ms->opt.priceTable = (ZSTD_optimal_t*)ptr; - ptr = ms->opt.priceTable + ZSTD_OPT_NUM+1; + ms->opt.litFreq = (unsigned*)ZSTD_cwksp_reserve_aligned(ws, (1<<Litbits) * sizeof(unsigned)); + ms->opt.litLengthFreq = (unsigned*)ZSTD_cwksp_reserve_aligned(ws, (MaxLL+1) * sizeof(unsigned)); + ms->opt.matchLengthFreq = (unsigned*)ZSTD_cwksp_reserve_aligned(ws, (MaxML+1) * sizeof(unsigned)); + ms->opt.offCodeFreq = (unsigned*)ZSTD_cwksp_reserve_aligned(ws, (MaxOff+1) * sizeof(unsigned)); + ms->opt.matchTable = (ZSTD_match_t*)ZSTD_cwksp_reserve_aligned(ws, (ZSTD_OPT_NUM+1) * sizeof(ZSTD_match_t)); + ms->opt.priceTable = (ZSTD_optimal_t*)ZSTD_cwksp_reserve_aligned(ws, (ZSTD_OPT_NUM+1) * sizeof(ZSTD_optimal_t)); } - /* table Space */ - DEBUGLOG(4, "reset table : %u", crp!=ZSTDcrp_noMemset); - assert(((size_t)ptr & 3) == 0); /* ensure ptr is properly aligned */ - if (crp!=ZSTDcrp_noMemset) memset(ptr, 0, tableSpace); /* reset tables only */ - ms->hashTable = (U32*)(ptr); - ms->chainTable = ms->hashTable + hSize; - ms->hashTable3 = ms->chainTable + chainSize; - ptr = ms->hashTable3 + h3Size; - ms->cParams = *cParams; - assert(((size_t)ptr & 3) == 0); - return ptr; + RETURN_ERROR_IF(ZSTD_cwksp_reserve_failed(ws), memory_allocation, + "failed a workspace allocation in ZSTD_reset_matchState"); + + return 0; } /* ZSTD_indexTooCloseToMax() : @@ -1407,13 +1381,6 @@ static int ZSTD_indexTooCloseToMax(ZSTD_window_t w) return (size_t)(w.nextSrc - w.base) > (ZSTD_CURRENT_MAX - ZSTD_INDEXOVERFLOW_MARGIN); } -#define ZSTD_WORKSPACETOOLARGE_FACTOR 3 /* define "workspace is too large" as this number of times larger than needed */ -#define ZSTD_WORKSPACETOOLARGE_MAXDURATION 128 /* when workspace is continuously too large - * during at least this number of times, - * context's memory usage is considered wasteful, - * because it's sized to handle a worst case scenario which rarely happens. - * In which case, resize it down to free some memory */ - /*! ZSTD_resetCCtx_internal() : note : `params` are assumed fully validated at this stage */ static size_t ZSTD_resetCCtx_internal(ZSTD_CCtx* zc, @@ -1422,30 +1389,12 @@ static size_t ZSTD_resetCCtx_internal(ZSTD_CCtx* zc, ZSTD_compResetPolicy_e const crp, ZSTD_buffered_policy_e const zbuff) { + ZSTD_cwksp* const ws = &zc->workspace; DEBUGLOG(4, "ZSTD_resetCCtx_internal: pledgedSrcSize=%u, wlog=%u", (U32)pledgedSrcSize, params.cParams.windowLog); assert(!ZSTD_isError(ZSTD_checkCParams(params.cParams))); - if (crp == ZSTDcrp_continue) { - if (ZSTD_equivalentParams(zc->appliedParams, params, - zc->inBuffSize, - zc->seqStore.maxNbSeq, zc->seqStore.maxNbLit, - zbuff, pledgedSrcSize) ) { - DEBUGLOG(4, "ZSTD_equivalentParams()==1 -> consider continue mode"); - zc->workSpaceOversizedDuration += (zc->workSpaceOversizedDuration > 0); /* if it was too large, it still is */ - if (zc->workSpaceOversizedDuration <= ZSTD_WORKSPACETOOLARGE_MAXDURATION) { - DEBUGLOG(4, "continue mode confirmed (wLog1=%u, blockSize1=%zu)", - zc->appliedParams.cParams.windowLog, zc->blockSize); - if (ZSTD_indexTooCloseToMax(zc->blockState.matchState.window)) { - /* prefer a reset, faster than a rescale */ - ZSTD_reset_matchState(&zc->blockState.matchState, - zc->entropyWorkspace + HUF_WORKSPACE_SIZE_U32, - ¶ms.cParams, - crp, ZSTD_resetTarget_CCtx); - } - return ZSTD_continueCCtx(zc, params, pledgedSrcSize); - } } } - DEBUGLOG(4, "ZSTD_equivalentParams()==0 -> reset CCtx"); + zc->isFirstBlock = 1; if (params.ldmParams.enableLdm) { /* Adjust long distance matching parameters */ @@ -1459,58 +1408,74 @@ static size_t ZSTD_resetCCtx_internal(ZSTD_CCtx* zc, size_t const blockSize = MIN(ZSTD_BLOCKSIZE_MAX, windowSize); U32 const divider = (params.cParams.minMatch==3) ? 3 : 4; size_t const maxNbSeq = blockSize / divider; - size_t const tokenSpace = WILDCOPY_OVERLENGTH + blockSize + 11*maxNbSeq; + size_t const tokenSpace = ZSTD_cwksp_alloc_size(WILDCOPY_OVERLENGTH + blockSize) + + ZSTD_cwksp_alloc_size(maxNbSeq * sizeof(seqDef)) + + 3 * ZSTD_cwksp_alloc_size(maxNbSeq * sizeof(BYTE)); size_t const buffOutSize = (zbuff==ZSTDb_buffered) ? ZSTD_compressBound(blockSize)+1 : 0; size_t const buffInSize = (zbuff==ZSTDb_buffered) ? windowSize + blockSize : 0; size_t const matchStateSize = ZSTD_sizeof_matchState(¶ms.cParams, /* forCCtx */ 1); size_t const maxNbLdmSeq = ZSTD_ldm_getMaxNbSeq(params.ldmParams, blockSize); - void* ptr; /* used to partition workSpace */ - /* Check if workSpace is large enough, alloc a new one if needed */ - { size_t const entropySpace = HUF_WORKSPACE_SIZE; - size_t const blockStateSpace = 2 * sizeof(ZSTD_compressedBlockState_t); - size_t const bufferSpace = buffInSize + buffOutSize; + ZSTD_indexResetPolicy_e needsIndexReset = ZSTDirp_continue; + + if (ZSTD_indexTooCloseToMax(zc->blockState.matchState.window)) { + needsIndexReset = ZSTDirp_reset; + } + + ZSTD_cwksp_bump_oversized_duration(ws, 0); + + /* Check if workspace is large enough, alloc a new one if needed */ + { size_t const cctxSpace = zc->staticSize ? ZSTD_cwksp_alloc_size(sizeof(ZSTD_CCtx)) : 0; + size_t const entropySpace = ZSTD_cwksp_alloc_size(HUF_WORKSPACE_SIZE); + size_t const blockStateSpace = 2 * ZSTD_cwksp_alloc_size(sizeof(ZSTD_compressedBlockState_t)); + size_t const bufferSpace = ZSTD_cwksp_alloc_size(buffInSize) + ZSTD_cwksp_alloc_size(buffOutSize); size_t const ldmSpace = ZSTD_ldm_getTableSize(params.ldmParams); - size_t const ldmSeqSpace = maxNbLdmSeq * sizeof(rawSeq); + size_t const ldmSeqSpace = ZSTD_cwksp_alloc_size(maxNbLdmSeq * sizeof(rawSeq)); - size_t const neededSpace = entropySpace + blockStateSpace + ldmSpace + - ldmSeqSpace + matchStateSize + tokenSpace + - bufferSpace; + size_t const neededSpace = + cctxSpace + + entropySpace + + blockStateSpace + + ldmSpace + + ldmSeqSpace + + matchStateSize + + tokenSpace + + bufferSpace; - int const workSpaceTooSmall = zc->workSpaceSize < neededSpace; - int const workSpaceTooLarge = zc->workSpaceSize > ZSTD_WORKSPACETOOLARGE_FACTOR * neededSpace; - int const workSpaceWasteful = workSpaceTooLarge && (zc->workSpaceOversizedDuration > ZSTD_WORKSPACETOOLARGE_MAXDURATION); - zc->workSpaceOversizedDuration = workSpaceTooLarge ? zc->workSpaceOversizedDuration+1 : 0; + int const workspaceTooSmall = ZSTD_cwksp_sizeof(ws) < neededSpace; + int const workspaceWasteful = ZSTD_cwksp_check_wasteful(ws, neededSpace); DEBUGLOG(4, "Need %zuKB workspace, including %zuKB for match state, and %zuKB for buffers", neededSpace>>10, matchStateSize>>10, bufferSpace>>10); DEBUGLOG(4, "windowSize: %zu - blockSize: %zu", windowSize, blockSize); - if (workSpaceTooSmall || workSpaceWasteful) { - DEBUGLOG(4, "Resize workSpaceSize from %zuKB to %zuKB", - zc->workSpaceSize >> 10, + if (workspaceTooSmall || workspaceWasteful) { + DEBUGLOG(4, "Resize workspaceSize from %zuKB to %zuKB", + ZSTD_cwksp_sizeof(ws) >> 10, neededSpace >> 10); RETURN_ERROR_IF(zc->staticSize, memory_allocation, "static cctx : no resize"); - zc->workSpaceSize = 0; - ZSTD_free(zc->workSpace, zc->customMem); - zc->workSpace = ZSTD_malloc(neededSpace, zc->customMem); - RETURN_ERROR_IF(zc->workSpace == NULL, memory_allocation); - zc->workSpaceSize = neededSpace; - zc->workSpaceOversizedDuration = 0; + needsIndexReset = ZSTDirp_reset; + + ZSTD_cwksp_free(ws, zc->customMem); + FORWARD_IF_ERROR(ZSTD_cwksp_create(ws, neededSpace, zc->customMem)); + DEBUGLOG(5, "reserving object space"); /* Statically sized space. * entropyWorkspace never moves, * though prev/next block swap places */ - assert(((size_t)zc->workSpace & 3) == 0); /* ensure correct alignment */ - assert(zc->workSpaceSize >= 2 * sizeof(ZSTD_compressedBlockState_t)); - zc->blockState.prevCBlock = (ZSTD_compressedBlockState_t*)zc->workSpace; - zc->blockState.nextCBlock = zc->blockState.prevCBlock + 1; - ptr = zc->blockState.nextCBlock + 1; - zc->entropyWorkspace = (U32*)ptr; + assert(ZSTD_cwksp_check_available(ws, 2 * sizeof(ZSTD_compressedBlockState_t))); + zc->blockState.prevCBlock = (ZSTD_compressedBlockState_t*) ZSTD_cwksp_reserve_object(ws, sizeof(ZSTD_compressedBlockState_t)); + RETURN_ERROR_IF(zc->blockState.prevCBlock == NULL, memory_allocation, "couldn't allocate prevCBlock"); + zc->blockState.nextCBlock = (ZSTD_compressedBlockState_t*) ZSTD_cwksp_reserve_object(ws, sizeof(ZSTD_compressedBlockState_t)); + RETURN_ERROR_IF(zc->blockState.nextCBlock == NULL, memory_allocation, "couldn't allocate nextCBlock"); + zc->entropyWorkspace = (U32*) ZSTD_cwksp_reserve_object(ws, HUF_WORKSPACE_SIZE); + RETURN_ERROR_IF(zc->blockState.nextCBlock == NULL, memory_allocation, "couldn't allocate entropyWorkspace"); } } + ZSTD_cwksp_clear(ws); + /* init params */ zc->appliedParams = params; zc->blockState.matchState.cParams = params.cParams; @@ -1529,58 +1494,58 @@ static size_t ZSTD_resetCCtx_internal(ZSTD_CCtx* zc, ZSTD_reset_compressedBlockState(zc->blockState.prevCBlock); - ptr = ZSTD_reset_matchState(&zc->blockState.matchState, - zc->entropyWorkspace + HUF_WORKSPACE_SIZE_U32, - ¶ms.cParams, - crp, ZSTD_resetTarget_CCtx); - - /* ldm hash table */ - /* initialize bucketOffsets table later for pointer alignment */ - if (params.ldmParams.enableLdm) { - size_t const ldmHSize = ((size_t)1) << params.ldmParams.hashLog; - memset(ptr, 0, ldmHSize * sizeof(ldmEntry_t)); - assert(((size_t)ptr & 3) == 0); /* ensure ptr is properly aligned */ - zc->ldmState.hashTable = (ldmEntry_t*)ptr; - ptr = zc->ldmState.hashTable + ldmHSize; - zc->ldmSequences = (rawSeq*)ptr; - ptr = zc->ldmSequences + maxNbLdmSeq; - zc->maxNbLdmSequences = maxNbLdmSeq; - - memset(&zc->ldmState.window, 0, sizeof(zc->ldmState.window)); - } - assert(((size_t)ptr & 3) == 0); /* ensure ptr is properly aligned */ - - /* sequences storage */ - zc->seqStore.maxNbSeq = maxNbSeq; - zc->seqStore.sequencesStart = (seqDef*)ptr; - ptr = zc->seqStore.sequencesStart + maxNbSeq; - zc->seqStore.llCode = (BYTE*) ptr; - zc->seqStore.mlCode = zc->seqStore.llCode + maxNbSeq; - zc->seqStore.ofCode = zc->seqStore.mlCode + maxNbSeq; - zc->seqStore.litStart = zc->seqStore.ofCode + maxNbSeq; /* ZSTD_wildcopy() is used to copy into the literals buffer, * so we have to oversize the buffer by WILDCOPY_OVERLENGTH bytes. */ + zc->seqStore.litStart = ZSTD_cwksp_reserve_buffer(ws, blockSize + WILDCOPY_OVERLENGTH); zc->seqStore.maxNbLit = blockSize; - ptr = zc->seqStore.litStart + blockSize + WILDCOPY_OVERLENGTH; + + /* buffers */ + zc->inBuffSize = buffInSize; + zc->inBuff = (char*)ZSTD_cwksp_reserve_buffer(ws, buffInSize); + zc->outBuffSize = buffOutSize; + zc->outBuff = (char*)ZSTD_cwksp_reserve_buffer(ws, buffOutSize); /* ldm bucketOffsets table */ if (params.ldmParams.enableLdm) { + /* TODO: avoid memset? */ size_t const ldmBucketSize = ((size_t)1) << (params.ldmParams.hashLog - params.ldmParams.bucketSizeLog); - memset(ptr, 0, ldmBucketSize); - zc->ldmState.bucketOffsets = (BYTE*)ptr; - ptr = zc->ldmState.bucketOffsets + ldmBucketSize; - ZSTD_window_clear(&zc->ldmState.window); + zc->ldmState.bucketOffsets = ZSTD_cwksp_reserve_buffer(ws, ldmBucketSize); + memset(zc->ldmState.bucketOffsets, 0, ldmBucketSize); } + + /* sequences storage */ ZSTD_referenceExternalSequences(zc, NULL, 0); + zc->seqStore.maxNbSeq = maxNbSeq; + zc->seqStore.llCode = ZSTD_cwksp_reserve_buffer(ws, maxNbSeq * sizeof(BYTE)); + zc->seqStore.mlCode = ZSTD_cwksp_reserve_buffer(ws, maxNbSeq * sizeof(BYTE)); + zc->seqStore.ofCode = ZSTD_cwksp_reserve_buffer(ws, maxNbSeq * sizeof(BYTE)); + zc->seqStore.sequencesStart = (seqDef*)ZSTD_cwksp_reserve_aligned(ws, maxNbSeq * sizeof(seqDef)); + + FORWARD_IF_ERROR(ZSTD_reset_matchState( + &zc->blockState.matchState, + ws, + ¶ms.cParams, + crp, + needsIndexReset, + ZSTD_resetTarget_CCtx)); - /* buffers */ - zc->inBuffSize = buffInSize; - zc->inBuff = (char*)ptr; - zc->outBuffSize = buffOutSize; - zc->outBuff = zc->inBuff + buffInSize; + /* ldm hash table */ + if (params.ldmParams.enableLdm) { + /* TODO: avoid memset? */ + size_t const ldmHSize = ((size_t)1) << params.ldmParams.hashLog; + zc->ldmState.hashTable = (ldmEntry_t*)ZSTD_cwksp_reserve_aligned(ws, ldmHSize * sizeof(ldmEntry_t)); + memset(zc->ldmState.hashTable, 0, ldmHSize * sizeof(ldmEntry_t)); + zc->ldmSequences = (rawSeq*)ZSTD_cwksp_reserve_aligned(ws, maxNbLdmSeq * sizeof(rawSeq)); + zc->maxNbLdmSequences = maxNbLdmSeq; + + memset(&zc->ldmState.window, 0, sizeof(zc->ldmState.window)); + ZSTD_window_clear(&zc->ldmState.window); + } + + DEBUGLOG(3, "wksp: finished allocating, %zd bytes remain available", ZSTD_cwksp_available_space(ws)); return 0; } @@ -1614,15 +1579,15 @@ static const size_t attachDictSizeCutoffs[ZSTD_STRATEGY_MAX+1] = { }; static int ZSTD_shouldAttachDict(const ZSTD_CDict* cdict, - ZSTD_CCtx_params params, + const ZSTD_CCtx_params* params, U64 pledgedSrcSize) { size_t cutoff = attachDictSizeCutoffs[cdict->matchState.cParams.strategy]; return ( pledgedSrcSize <= cutoff || pledgedSrcSize == ZSTD_CONTENTSIZE_UNKNOWN - || params.attachDictPref == ZSTD_dictForceAttach ) - && params.attachDictPref != ZSTD_dictForceCopy - && !params.forceWindow; /* dictMatchState isn't correctly + || params->attachDictPref == ZSTD_dictForceAttach ) + && params->attachDictPref != ZSTD_dictForceCopy + && !params->forceWindow; /* dictMatchState isn't correctly * handled in _enforceMaxDist */ } @@ -1640,8 +1605,8 @@ ZSTD_resetCCtx_byAttachingCDict(ZSTD_CCtx* cctx, * has its own tables. */ params.cParams = ZSTD_adjustCParams_internal(*cdict_cParams, pledgedSrcSize, 0); params.cParams.windowLog = windowLog; - ZSTD_resetCCtx_internal(cctx, params, pledgedSrcSize, - ZSTDcrp_continue, zbuff); + FORWARD_IF_ERROR(ZSTD_resetCCtx_internal(cctx, params, pledgedSrcSize, + ZSTDcrp_makeClean, zbuff)); assert(cctx->appliedParams.cParams.strategy == cdict_cParams->strategy); } @@ -1689,30 +1654,36 @@ static size_t ZSTD_resetCCtx_byCopyingCDict(ZSTD_CCtx* cctx, /* Copy only compression parameters related to tables. */ params.cParams = *cdict_cParams; params.cParams.windowLog = windowLog; - ZSTD_resetCCtx_internal(cctx, params, pledgedSrcSize, - ZSTDcrp_noMemset, zbuff); + FORWARD_IF_ERROR(ZSTD_resetCCtx_internal(cctx, params, pledgedSrcSize, + ZSTDcrp_leaveDirty, zbuff)); assert(cctx->appliedParams.cParams.strategy == cdict_cParams->strategy); assert(cctx->appliedParams.cParams.hashLog == cdict_cParams->hashLog); assert(cctx->appliedParams.cParams.chainLog == cdict_cParams->chainLog); } + ZSTD_cwksp_mark_tables_dirty(&cctx->workspace); + /* copy tables */ { size_t const chainSize = (cdict_cParams->strategy == ZSTD_fast) ? 0 : ((size_t)1 << cdict_cParams->chainLog); size_t const hSize = (size_t)1 << cdict_cParams->hashLog; - size_t const tableSpace = (chainSize + hSize) * sizeof(U32); - assert((U32*)cctx->blockState.matchState.chainTable == (U32*)cctx->blockState.matchState.hashTable + hSize); /* chainTable must follow hashTable */ - assert((U32*)cctx->blockState.matchState.hashTable3 == (U32*)cctx->blockState.matchState.chainTable + chainSize); - assert((U32*)cdict->matchState.chainTable == (U32*)cdict->matchState.hashTable + hSize); /* chainTable must follow hashTable */ - assert((U32*)cdict->matchState.hashTable3 == (U32*)cdict->matchState.chainTable + chainSize); - memcpy(cctx->blockState.matchState.hashTable, cdict->matchState.hashTable, tableSpace); /* presumes all tables follow each other */ + + memcpy(cctx->blockState.matchState.hashTable, + cdict->matchState.hashTable, + hSize * sizeof(U32)); + memcpy(cctx->blockState.matchState.chainTable, + cdict->matchState.chainTable, + chainSize * sizeof(U32)); } /* Zero the hashTable3, since the cdict never fills it */ - { size_t const h3Size = (size_t)1 << cctx->blockState.matchState.hashLog3; + { int const h3log = cctx->blockState.matchState.hashLog3; + size_t const h3Size = h3log ? ((size_t)1 << h3log) : 0; assert(cdict->matchState.hashLog3 == 0); memset(cctx->blockState.matchState.hashTable3, 0, h3Size * sizeof(U32)); } + ZSTD_cwksp_mark_tables_clean(&cctx->workspace); + /* copy dictionary offsets */ { ZSTD_matchState_t const* srcMatchState = &cdict->matchState; ZSTD_matchState_t* dstMatchState = &cctx->blockState.matchState; @@ -1734,7 +1705,7 @@ static size_t ZSTD_resetCCtx_byCopyingCDict(ZSTD_CCtx* cctx, * in-place. We decide here which strategy to use. */ static size_t ZSTD_resetCCtx_usingCDict(ZSTD_CCtx* cctx, const ZSTD_CDict* cdict, - ZSTD_CCtx_params params, + const ZSTD_CCtx_params* params, U64 pledgedSrcSize, ZSTD_buffered_policy_e zbuff) { @@ -1744,10 +1715,10 @@ static size_t ZSTD_resetCCtx_usingCDict(ZSTD_CCtx* cctx, if (ZSTD_shouldAttachDict(cdict, params, pledgedSrcSize)) { return ZSTD_resetCCtx_byAttachingCDict( - cctx, cdict, params, pledgedSrcSize, zbuff); + cctx, cdict, *params, pledgedSrcSize, zbuff); } else { return ZSTD_resetCCtx_byCopyingCDict( - cctx, cdict, params, pledgedSrcSize, zbuff); + cctx, cdict, *params, pledgedSrcSize, zbuff); } } @@ -1773,7 +1744,7 @@ static size_t ZSTD_copyCCtx_internal(ZSTD_CCtx* dstCCtx, params.cParams = srcCCtx->appliedParams.cParams; params.fParams = fParams; ZSTD_resetCCtx_internal(dstCCtx, params, pledgedSrcSize, - ZSTDcrp_noMemset, zbuff); + ZSTDcrp_leaveDirty, zbuff); assert(dstCCtx->appliedParams.cParams.windowLog == srcCCtx->appliedParams.cParams.windowLog); assert(dstCCtx->appliedParams.cParams.strategy == srcCCtx->appliedParams.cParams.strategy); assert(dstCCtx->appliedParams.cParams.hashLog == srcCCtx->appliedParams.cParams.hashLog); @@ -1781,16 +1752,27 @@ static size_t ZSTD_copyCCtx_internal(ZSTD_CCtx* dstCCtx, assert(dstCCtx->blockState.matchState.hashLog3 == srcCCtx->blockState.matchState.hashLog3); } + ZSTD_cwksp_mark_tables_dirty(&dstCCtx->workspace); + /* copy tables */ { size_t const chainSize = (srcCCtx->appliedParams.cParams.strategy == ZSTD_fast) ? 0 : ((size_t)1 << srcCCtx->appliedParams.cParams.chainLog); size_t const hSize = (size_t)1 << srcCCtx->appliedParams.cParams.hashLog; - size_t const h3Size = (size_t)1 << srcCCtx->blockState.matchState.hashLog3; - size_t const tableSpace = (chainSize + hSize + h3Size) * sizeof(U32); - assert((U32*)dstCCtx->blockState.matchState.chainTable == (U32*)dstCCtx->blockState.matchState.hashTable + hSize); /* chainTable must follow hashTable */ - assert((U32*)dstCCtx->blockState.matchState.hashTable3 == (U32*)dstCCtx->blockState.matchState.chainTable + chainSize); - memcpy(dstCCtx->blockState.matchState.hashTable, srcCCtx->blockState.matchState.hashTable, tableSpace); /* presumes all tables follow each other */ + int const h3log = srcCCtx->blockState.matchState.hashLog3; + size_t const h3Size = h3log ? ((size_t)1 << h3log) : 0; + + memcpy(dstCCtx->blockState.matchState.hashTable, + srcCCtx->blockState.matchState.hashTable, + hSize * sizeof(U32)); + memcpy(dstCCtx->blockState.matchState.chainTable, + srcCCtx->blockState.matchState.chainTable, + chainSize * sizeof(U32)); + memcpy(dstCCtx->blockState.matchState.hashTable3, + srcCCtx->blockState.matchState.hashTable3, + h3Size * sizeof(U32)); } + ZSTD_cwksp_mark_tables_clean(&dstCCtx->workspace); + /* copy dictionary offsets */ { const ZSTD_matchState_t* srcMatchState = &srcCCtx->blockState.matchState; @@ -1841,6 +1823,20 @@ ZSTD_reduceTable_internal (U32* const table, U32 const size, U32 const reducerVa int rowNb; assert((size & (ZSTD_ROWSIZE-1)) == 0); /* multiple of ZSTD_ROWSIZE */ assert(size < (1U<<31)); /* can be casted to int */ + +#if defined (MEMORY_SANITIZER) && !defined (ZSTD_MSAN_DONT_POISON_WORKSPACE) + /* To validate that the table re-use logic is sound, and that we don't + * access table space that we haven't cleaned, we re-"poison" the table + * space every time we mark it dirty. + * + * This function however is intended to operate on those dirty tables and + * re-clean them. So when this function is used correctly, we can unpoison + * the memory it operated on. This introduces a blind spot though, since + * if we now try to operate on __actually__ poisoned memory, we will not + * detect that. */ + __msan_unpoison(table, size * sizeof(U32)); +#endif + for (rowNb=0 ; rowNb < nbRows ; rowNb++) { int column; for (column=0; column<ZSTD_ROWSIZE; column++) { @@ -1903,155 +1899,6 @@ static size_t ZSTD_noCompressBlock (void* dst, size_t dstCapacity, const void* s return ZSTD_blockHeaderSize + srcSize; } -static size_t ZSTD_noCompressLiterals (void* dst, size_t dstCapacity, const void* src, size_t srcSize) -{ - BYTE* const ostart = (BYTE* const)dst; - U32 const flSize = 1 + (srcSize>31) + (srcSize>4095); - - RETURN_ERROR_IF(srcSize + flSize > dstCapacity, dstSize_tooSmall); - - switch(flSize) - { - case 1: /* 2 - 1 - 5 */ - ostart[0] = (BYTE)((U32)set_basic + (srcSize<<3)); - break; - case 2: /* 2 - 2 - 12 */ - MEM_writeLE16(ostart, (U16)((U32)set_basic + (1<<2) + (srcSize<<4))); - break; - case 3: /* 2 - 2 - 20 */ - MEM_writeLE32(ostart, (U32)((U32)set_basic + (3<<2) + (srcSize<<4))); - break; - default: /* not necessary : flSize is {1,2,3} */ - assert(0); - } - - memcpy(ostart + flSize, src, srcSize); - return srcSize + flSize; -} - -static size_t ZSTD_compressRleLiteralsBlock (void* dst, size_t dstCapacity, const void* src, size_t srcSize) -{ - BYTE* const ostart = (BYTE* const)dst; - U32 const flSize = 1 + (srcSize>31) + (srcSize>4095); - - (void)dstCapacity; /* dstCapacity already guaranteed to be >=4, hence large enough */ - - switch(flSize) - { - case 1: /* 2 - 1 - 5 */ - ostart[0] = (BYTE)((U32)set_rle + (srcSize<<3)); - break; - case 2: /* 2 - 2 - 12 */ - MEM_writeLE16(ostart, (U16)((U32)set_rle + (1<<2) + (srcSize<<4))); - break; - case 3: /* 2 - 2 - 20 */ - MEM_writeLE32(ostart, (U32)((U32)set_rle + (3<<2) + (srcSize<<4))); - break; - default: /* not necessary : flSize is {1,2,3} */ - assert(0); - } - - ostart[flSize] = *(const BYTE*)src; - return flSize+1; -} - - -/* ZSTD_minGain() : - * minimum compression required - * to generate a compress block or a compressed literals section. - * note : use same formula for both situations */ -static size_t ZSTD_minGain(size_t srcSize, ZSTD_strategy strat) -{ - U32 const minlog = (strat>=ZSTD_btultra) ? (U32)(strat) - 1 : 6; - ZSTD_STATIC_ASSERT(ZSTD_btultra == 8); - assert(ZSTD_cParam_withinBounds(ZSTD_c_strategy, strat)); - return (srcSize >> minlog) + 2; -} - -static size_t ZSTD_compressLiterals (ZSTD_hufCTables_t const* prevHuf, - ZSTD_hufCTables_t* nextHuf, - ZSTD_strategy strategy, int disableLiteralCompression, - void* dst, size_t dstCapacity, - const void* src, size_t srcSize, - void* workspace, size_t wkspSize, - const int bmi2) -{ - size_t const minGain = ZSTD_minGain(srcSize, strategy); - size_t const lhSize = 3 + (srcSize >= 1 KB) + (srcSize >= 16 KB); - BYTE* const ostart = (BYTE*)dst; - U32 singleStream = srcSize < 256; - symbolEncodingType_e hType = set_compressed; - size_t cLitSize; - - DEBUGLOG(5,"ZSTD_compressLiterals (disableLiteralCompression=%i)", - disableLiteralCompression); - - /* Prepare nextEntropy assuming reusing the existing table */ - memcpy(nextHuf, prevHuf, sizeof(*prevHuf)); - - if (disableLiteralCompression) - return ZSTD_noCompressLiterals(dst, dstCapacity, src, srcSize); - - /* small ? don't even attempt compression (speed opt) */ -# define COMPRESS_LITERALS_SIZE_MIN 63 - { size_t const minLitSize = (prevHuf->repeatMode == HUF_repeat_valid) ? 6 : COMPRESS_LITERALS_SIZE_MIN; - if (srcSize <= minLitSize) return ZSTD_noCompressLiterals(dst, dstCapacity, src, srcSize); - } - - RETURN_ERROR_IF(dstCapacity < lhSize+1, dstSize_tooSmall, "not enough space for compression"); - { HUF_repeat repeat = prevHuf->repeatMode; - int const preferRepeat = strategy < ZSTD_lazy ? srcSize <= 1024 : 0; - if (repeat == HUF_repeat_valid && lhSize == 3) singleStream = 1; - cLitSize = singleStream ? HUF_compress1X_repeat(ostart+lhSize, dstCapacity-lhSize, src, srcSize, 255, 11, - workspace, wkspSize, (HUF_CElt*)nextHuf->CTable, &repeat, preferRepeat, bmi2) - : HUF_compress4X_repeat(ostart+lhSize, dstCapacity-lhSize, src, srcSize, 255, 11, - workspace, wkspSize, (HUF_CElt*)nextHuf->CTable, &repeat, preferRepeat, bmi2); - if (repeat != HUF_repeat_none) { - /* reused the existing table */ - hType = set_repeat; - } - } - - if ((cLitSize==0) | (cLitSize >= srcSize - minGain) | ERR_isError(cLitSize)) { - memcpy(nextHuf, prevHuf, sizeof(*prevHuf)); - return ZSTD_noCompressLiterals(dst, dstCapacity, src, srcSize); - } - if (cLitSize==1) { - memcpy(nextHuf, prevHuf, sizeof(*prevHuf)); - return ZSTD_compressRleLiteralsBlock(dst, dstCapacity, src, srcSize); - } - - if (hType == set_compressed) { - /* using a newly constructed table */ - nextHuf->repeatMode = HUF_repeat_check; - } - - /* Build header */ - switch(lhSize) - { - case 3: /* 2 - 2 - 10 - 10 */ - { U32 const lhc = hType + ((!singleStream) << 2) + ((U32)srcSize<<4) + ((U32)cLitSize<<14); - MEM_writeLE24(ostart, lhc); - break; - } - case 4: /* 2 - 2 - 14 - 14 */ - { U32 const lhc = hType + (2 << 2) + ((U32)srcSize<<4) + ((U32)cLitSize<<18); - MEM_writeLE32(ostart, lhc); - break; - } - case 5: /* 2 - 2 - 18 - 18 */ - { U32 const lhc = hType + (3 << 2) + ((U32)srcSize<<4) + ((U32)cLitSize<<22); - MEM_writeLE32(ostart, lhc); - ostart[4] = (BYTE)(cLitSize >> 10); - break; - } - default: /* not possible : lhSize is {3,4,5} */ - assert(0); - } - return lhSize+cLitSize; -} - - void ZSTD_seqToCodes(const seqStore_t* seqStorePtr) { const seqDef* const sequences = seqStorePtr->sequencesStart; @@ -2074,418 +1921,6 @@ void ZSTD_seqToCodes(const seqStore_t* seqStorePtr) mlCodeTable[seqStorePtr->longLengthPos] = MaxML; } - -/** - * -log2(x / 256) lookup table for x in [0, 256). - * If x == 0: Return 0 - * Else: Return floor(-log2(x / 256) * 256) - */ -static unsigned const kInverseProbabilityLog256[256] = { - 0, 2048, 1792, 1642, 1536, 1453, 1386, 1329, 1280, 1236, 1197, 1162, - 1130, 1100, 1073, 1047, 1024, 1001, 980, 960, 941, 923, 906, 889, - 874, 859, 844, 830, 817, 804, 791, 779, 768, 756, 745, 734, - 724, 714, 704, 694, 685, 676, 667, 658, 650, 642, 633, 626, - 618, 610, 603, 595, 588, 581, 574, 567, 561, 554, 548, 542, - 535, 529, 523, 517, 512, 506, 500, 495, 489, 484, 478, 473, - 468, 463, 458, 453, 448, 443, 438, 434, 429, 424, 420, 415, - 411, 407, 402, 398, 394, 390, 386, 382, 377, 373, 370, 366, - 362, 358, 354, 350, 347, 343, 339, 336, 332, 329, 325, 322, - 318, 315, 311, 308, 305, 302, 298, 295, 292, 289, 286, 282, - 279, 276, 273, 270, 267, 264, 261, 258, 256, 253, 250, 247, - 244, 241, 239, 236, 233, 230, 228, 225, 222, 220, 217, 215, - 212, 209, 207, 204, 202, 199, 197, 194, 192, 190, 187, 185, - 182, 180, 178, 175, 173, 171, 168, 166, 164, 162, 159, 157, - 155, 153, 151, 149, 146, 144, 142, 140, 138, 136, 134, 132, - 130, 128, 126, 123, 121, 119, 117, 115, 114, 112, 110, 108, - 106, 104, 102, 100, 98, 96, 94, 93, 91, 89, 87, 85, - 83, 82, 80, 78, 76, 74, 73, 71, 69, 67, 66, 64, - 62, 61, 59, 57, 55, 54, 52, 50, 49, 47, 46, 44, - 42, 41, 39, 37, 36, 34, 33, 31, 30, 28, 26, 25, - 23, 22, 20, 19, 17, 16, 14, 13, 11, 10, 8, 7, - 5, 4, 2, 1, -}; - - -/** - * Returns the cost in bits of encoding the distribution described by count - * using the entropy bound. - */ -static size_t ZSTD_entropyCost(unsigned const* count, unsigned const max, size_t const total) -{ - unsigned cost = 0; - unsigned s; - for (s = 0; s <= max; ++s) { - unsigned norm = (unsigned)((256 * count[s]) / total); - if (count[s] != 0 && norm == 0) - norm = 1; - assert(count[s] < total); - cost += count[s] * kInverseProbabilityLog256[norm]; - } - return cost >> 8; -} - - -/** - * Returns the cost in bits of encoding the distribution in count using the - * table described by norm. The max symbol support by norm is assumed >= max. - * norm must be valid for every symbol with non-zero probability in count. - */ -static size_t ZSTD_crossEntropyCost(short const* norm, unsigned accuracyLog, - unsigned const* count, unsigned const max) -{ - unsigned const shift = 8 - accuracyLog; - size_t cost = 0; - unsigned s; - assert(accuracyLog <= 8); - for (s = 0; s <= max; ++s) { - unsigned const normAcc = norm[s] != -1 ? norm[s] : 1; - unsigned const norm256 = normAcc << shift; - assert(norm256 > 0); - assert(norm256 < 256); - cost += count[s] * kInverseProbabilityLog256[norm256]; - } - return cost >> 8; -} - - -static unsigned ZSTD_getFSEMaxSymbolValue(FSE_CTable const* ctable) { - void const* ptr = ctable; - U16 const* u16ptr = (U16 const*)ptr; - U32 const maxSymbolValue = MEM_read16(u16ptr + 1); - return maxSymbolValue; -} - - -/** - * Returns the cost in bits of encoding the distribution in count using ctable. - * Returns an error if ctable cannot represent all the symbols in count. - */ -static size_t ZSTD_fseBitCost( - FSE_CTable const* ctable, - unsigned const* count, - unsigned const max) -{ - unsigned const kAccuracyLog = 8; - size_t cost = 0; - unsigned s; - FSE_CState_t cstate; - FSE_initCState(&cstate, ctable); - RETURN_ERROR_IF(ZSTD_getFSEMaxSymbolValue(ctable) < max, GENERIC, - "Repeat FSE_CTable has maxSymbolValue %u < %u", - ZSTD_getFSEMaxSymbolValue(ctable), max); - for (s = 0; s <= max; ++s) { - unsigned const tableLog = cstate.stateLog; - unsigned const badCost = (tableLog + 1) << kAccuracyLog; - unsigned const bitCost = FSE_bitCost(cstate.symbolTT, tableLog, s, kAccuracyLog); - if (count[s] == 0) - continue; - RETURN_ERROR_IF(bitCost >= badCost, GENERIC, - "Repeat FSE_CTable has Prob[%u] == 0", s); - cost += count[s] * bitCost; - } - return cost >> kAccuracyLog; -} - -/** - * Returns the cost in bytes of encoding the normalized count header. - * Returns an error if any of the helper functions return an error. - */ -static size_t ZSTD_NCountCost(unsigned const* count, unsigned const max, - size_t const nbSeq, unsigned const FSELog) -{ - BYTE wksp[FSE_NCOUNTBOUND]; - S16 norm[MaxSeq + 1]; - const U32 tableLog = FSE_optimalTableLog(FSELog, nbSeq, max); - FORWARD_IF_ERROR(FSE_normalizeCount(norm, tableLog, count, nbSeq, max)); - return FSE_writeNCount(wksp, sizeof(wksp), norm, max, tableLog); -} - - -typedef enum { - ZSTD_defaultDisallowed = 0, - ZSTD_defaultAllowed = 1 -} ZSTD_defaultPolicy_e; - -MEM_STATIC symbolEncodingType_e -ZSTD_selectEncodingType( - FSE_repeat* repeatMode, unsigned const* count, unsigned const max, - size_t const mostFrequent, size_t nbSeq, unsigned const FSELog, - FSE_CTable const* prevCTable, - short const* defaultNorm, U32 defaultNormLog, - ZSTD_defaultPolicy_e const isDefaultAllowed, - ZSTD_strategy const strategy) -{ - ZSTD_STATIC_ASSERT(ZSTD_defaultDisallowed == 0 && ZSTD_defaultAllowed != 0); - if (mostFrequent == nbSeq) { - *repeatMode = FSE_repeat_none; - if (isDefaultAllowed && nbSeq <= 2) { - /* Prefer set_basic over set_rle when there are 2 or less symbols, - * since RLE uses 1 byte, but set_basic uses 5-6 bits per symbol. - * If basic encoding isn't possible, always choose RLE. - */ - DEBUGLOG(5, "Selected set_basic"); - return set_basic; - } - DEBUGLOG(5, "Selected set_rle"); - return set_rle; - } - if (strategy < ZSTD_lazy) { - if (isDefaultAllowed) { - size_t const staticFse_nbSeq_max = 1000; - size_t const mult = 10 - strategy; - size_t const baseLog = 3; - size_t const dynamicFse_nbSeq_min = (((size_t)1 << defaultNormLog) * mult) >> baseLog; /* 28-36 for offset, 56-72 for lengths */ - assert(defaultNormLog >= 5 && defaultNormLog <= 6); /* xx_DEFAULTNORMLOG */ - assert(mult <= 9 && mult >= 7); - if ( (*repeatMode == FSE_repeat_valid) - && (nbSeq < staticFse_nbSeq_max) ) { - DEBUGLOG(5, "Selected set_repeat"); - return set_repeat; - } - if ( (nbSeq < dynamicFse_nbSeq_min) - || (mostFrequent < (nbSeq >> (defaultNormLog-1))) ) { - DEBUGLOG(5, "Selected set_basic"); - /* The format allows default tables to be repeated, but it isn't useful. - * When using simple heuristics to select encoding type, we don't want - * to confuse these tables with dictionaries. When running more careful - * analysis, we don't need to waste time checking both repeating tables - * and default tables. - */ - *repeatMode = FSE_repeat_none; - return set_basic; - } - } - } else { - size_t const basicCost = isDefaultAllowed ? ZSTD_crossEntropyCost(defaultNorm, defaultNormLog, count, max) : ERROR(GENERIC); - size_t const repeatCost = *repeatMode != FSE_repeat_none ? ZSTD_fseBitCost(prevCTable, count, max) : ERROR(GENERIC); - size_t const NCountCost = ZSTD_NCountCost(count, max, nbSeq, FSELog); - size_t const compressedCost = (NCountCost << 3) + ZSTD_entropyCost(count, max, nbSeq); - - if (isDefaultAllowed) { - assert(!ZSTD_isError(basicCost)); - assert(!(*repeatMode == FSE_repeat_valid && ZSTD_isError(repeatCost))); - } - assert(!ZSTD_isError(NCountCost)); - assert(compressedCost < ERROR(maxCode)); - DEBUGLOG(5, "Estimated bit costs: basic=%u\trepeat=%u\tcompressed=%u", - (unsigned)basicCost, (unsigned)repeatCost, (unsigned)compressedCost); - if (basicCost <= repeatCost && basicCost <= compressedCost) { - DEBUGLOG(5, "Selected set_basic"); - assert(isDefaultAllowed); - *repeatMode = FSE_repeat_none; - return set_basic; - } - if (repeatCost <= compressedCost) { - DEBUGLOG(5, "Selected set_repeat"); - assert(!ZSTD_isError(repeatCost)); - return set_repeat; - } - assert(compressedCost < basicCost && compressedCost < repeatCost); - } - DEBUGLOG(5, "Selected set_compressed"); - *repeatMode = FSE_repeat_check; - return set_compressed; -} - -MEM_STATIC size_t -ZSTD_buildCTable(void* dst, size_t dstCapacity, - FSE_CTable* nextCTable, U32 FSELog, symbolEncodingType_e type, - unsigned* count, U32 max, - const BYTE* codeTable, size_t nbSeq, - const S16* defaultNorm, U32 defaultNormLog, U32 defaultMax, - const FSE_CTable* prevCTable, size_t prevCTableSize, - void* workspace, size_t workspaceSize) -{ - BYTE* op = (BYTE*)dst; - const BYTE* const oend = op + dstCapacity; - DEBUGLOG(6, "ZSTD_buildCTable (dstCapacity=%u)", (unsigned)dstCapacity); - - switch (type) { - case set_rle: - FORWARD_IF_ERROR(FSE_buildCTable_rle(nextCTable, (BYTE)max)); - RETURN_ERROR_IF(dstCapacity==0, dstSize_tooSmall); - *op = codeTable[0]; - return 1; - case set_repeat: - memcpy(nextCTable, prevCTable, prevCTableSize); - return 0; - case set_basic: - FORWARD_IF_ERROR(FSE_buildCTable_wksp(nextCTable, defaultNorm, defaultMax, defaultNormLog, workspace, workspaceSize)); /* note : could be pre-calculated */ - return 0; - case set_compressed: { - S16 norm[MaxSeq + 1]; - size_t nbSeq_1 = nbSeq; - const U32 tableLog = FSE_optimalTableLog(FSELog, nbSeq, max); - if (count[codeTable[nbSeq-1]] > 1) { - count[codeTable[nbSeq-1]]--; - nbSeq_1--; - } - assert(nbSeq_1 > 1); - FORWARD_IF_ERROR(FSE_normalizeCount(norm, tableLog, count, nbSeq_1, max)); - { size_t const NCountSize = FSE_writeNCount(op, oend - op, norm, max, tableLog); /* overflow protected */ - FORWARD_IF_ERROR(NCountSize); - FORWARD_IF_ERROR(FSE_buildCTable_wksp(nextCTable, norm, max, tableLog, workspace, workspaceSize)); - return NCountSize; - } - } - default: assert(0); RETURN_ERROR(GENERIC); - } -} - -FORCE_INLINE_TEMPLATE size_t -ZSTD_encodeSequences_body( - void* dst, size_t dstCapacity, - FSE_CTable const* CTable_MatchLength, BYTE const* mlCodeTable, - FSE_CTable const* CTable_OffsetBits, BYTE const* ofCodeTable, - FSE_CTable const* CTable_LitLength, BYTE const* llCodeTable, - seqDef const* sequences, size_t nbSeq, int longOffsets) -{ - BIT_CStream_t blockStream; - FSE_CState_t stateMatchLength; - FSE_CState_t stateOffsetBits; - FSE_CState_t stateLitLength; - - RETURN_ERROR_IF( - ERR_isError(BIT_initCStream(&blockStream, dst, dstCapacity)), - dstSize_tooSmall, "not enough space remaining"); - DEBUGLOG(6, "available space for bitstream : %i (dstCapacity=%u)", - (int)(blockStream.endPtr - blockStream.startPtr), - (unsigned)dstCapacity); - - /* first symbols */ - FSE_initCState2(&stateMatchLength, CTable_MatchLength, mlCodeTable[nbSeq-1]); - FSE_initCState2(&stateOffsetBits, CTable_OffsetBits, ofCodeTable[nbSeq-1]); - FSE_initCState2(&stateLitLength, CTable_LitLength, llCodeTable[nbSeq-1]); - BIT_addBits(&blockStream, sequences[nbSeq-1].litLength, LL_bits[llCodeTable[nbSeq-1]]); - if (MEM_32bits()) BIT_flushBits(&blockStream); - BIT_addBits(&blockStream, sequences[nbSeq-1].matchLength, ML_bits[mlCodeTable[nbSeq-1]]); - if (MEM_32bits()) BIT_flushBits(&blockStream); - if (longOffsets) { - U32 const ofBits = ofCodeTable[nbSeq-1]; - int const extraBits = ofBits - MIN(ofBits, STREAM_ACCUMULATOR_MIN-1); - if (extraBits) { - BIT_addBits(&blockStream, sequences[nbSeq-1].offset, extraBits); - BIT_flushBits(&blockStream); - } - BIT_addBits(&blockStream, sequences[nbSeq-1].offset >> extraBits, - ofBits - extraBits); - } else { - BIT_addBits(&blockStream, sequences[nbSeq-1].offset, ofCodeTable[nbSeq-1]); - } - BIT_flushBits(&blockStream); - - { size_t n; - for (n=nbSeq-2 ; n<nbSeq ; n--) { /* intentional underflow */ - BYTE const llCode = llCodeTable[n]; - BYTE const ofCode = ofCodeTable[n]; - BYTE const mlCode = mlCodeTable[n]; - U32 const llBits = LL_bits[llCode]; - U32 const ofBits = ofCode; - U32 const mlBits = ML_bits[mlCode]; - DEBUGLOG(6, "encoding: litlen:%2u - matchlen:%2u - offCode:%7u", - (unsigned)sequences[n].litLength, - (unsigned)sequences[n].matchLength + MINMATCH, - (unsigned)sequences[n].offset); - /* 32b*/ /* 64b*/ - /* (7)*/ /* (7)*/ - FSE_encodeSymbol(&blockStream, &stateOffsetBits, ofCode); /* 15 */ /* 15 */ - FSE_encodeSymbol(&blockStream, &stateMatchLength, mlCode); /* 24 */ /* 24 */ - if (MEM_32bits()) BIT_flushBits(&blockStream); /* (7)*/ - FSE_encodeSymbol(&blockStream, &stateLitLength, llCode); /* 16 */ /* 33 */ - if (MEM_32bits() || (ofBits+mlBits+llBits >= 64-7-(LLFSELog+MLFSELog+OffFSELog))) - BIT_flushBits(&blockStream); /* (7)*/ - BIT_addBits(&blockStream, sequences[n].litLength, llBits); - if (MEM_32bits() && ((llBits+mlBits)>24)) BIT_flushBits(&blockStream); - BIT_addBits(&blockStream, sequences[n].matchLength, mlBits); - if (MEM_32bits() || (ofBits+mlBits+llBits > 56)) BIT_flushBits(&blockStream); - if (longOffsets) { - int const extraBits = ofBits - MIN(ofBits, STREAM_ACCUMULATOR_MIN-1); - if (extraBits) { - BIT_addBits(&blockStream, sequences[n].offset, extraBits); - BIT_flushBits(&blockStream); /* (7)*/ - } - BIT_addBits(&blockStream, sequences[n].offset >> extraBits, - ofBits - extraBits); /* 31 */ - } else { - BIT_addBits(&blockStream, sequences[n].offset, ofBits); /* 31 */ - } - BIT_flushBits(&blockStream); /* (7)*/ - DEBUGLOG(7, "remaining space : %i", (int)(blockStream.endPtr - blockStream.ptr)); - } } - - DEBUGLOG(6, "ZSTD_encodeSequences: flushing ML state with %u bits", stateMatchLength.stateLog); - FSE_flushCState(&blockStream, &stateMatchLength); - DEBUGLOG(6, "ZSTD_encodeSequences: flushing Off state with %u bits", stateOffsetBits.stateLog); - FSE_flushCState(&blockStream, &stateOffsetBits); - DEBUGLOG(6, "ZSTD_encodeSequences: flushing LL state with %u bits", stateLitLength.stateLog); - FSE_flushCState(&blockStream, &stateLitLength); - - { size_t const streamSize = BIT_closeCStream(&blockStream); - RETURN_ERROR_IF(streamSize==0, dstSize_tooSmall, "not enough space"); - return streamSize; - } -} - -static size_t -ZSTD_encodeSequences_default( - void* dst, size_t dstCapacity, - FSE_CTable const* CTable_MatchLength, BYTE const* mlCodeTable, - FSE_CTable const* CTable_OffsetBits, BYTE const* ofCodeTable, - FSE_CTable const* CTable_LitLength, BYTE const* llCodeTable, - seqDef const* sequences, size_t nbSeq, int longOffsets) -{ - return ZSTD_encodeSequences_body(dst, dstCapacity, - CTable_MatchLength, mlCodeTable, - CTable_OffsetBits, ofCodeTable, - CTable_LitLength, llCodeTable, - sequences, nbSeq, longOffsets); -} - - -#if DYNAMIC_BMI2 - -static TARGET_ATTRIBUTE("bmi2") size_t -ZSTD_encodeSequences_bmi2( - void* dst, size_t dstCapacity, - FSE_CTable const* CTable_MatchLength, BYTE const* mlCodeTable, - FSE_CTable const* CTable_OffsetBits, BYTE const* ofCodeTable, - FSE_CTable const* CTable_LitLength, BYTE const* llCodeTable, - seqDef const* sequences, size_t nbSeq, int longOffsets) -{ - return ZSTD_encodeSequences_body(dst, dstCapacity, - CTable_MatchLength, mlCodeTable, - CTable_OffsetBits, ofCodeTable, - CTable_LitLength, llCodeTable, - sequences, nbSeq, longOffsets); -} - -#endif - -static size_t ZSTD_encodeSequences( - void* dst, size_t dstCapacity, - FSE_CTable const* CTable_MatchLength, BYTE const* mlCodeTable, - FSE_CTable const* CTable_OffsetBits, BYTE const* ofCodeTable, - FSE_CTable const* CTable_LitLength, BYTE const* llCodeTable, - seqDef const* sequences, size_t nbSeq, int longOffsets, int bmi2) -{ - DEBUGLOG(5, "ZSTD_encodeSequences: dstCapacity = %u", (unsigned)dstCapacity); -#if DYNAMIC_BMI2 - if (bmi2) { - return ZSTD_encodeSequences_bmi2(dst, dstCapacity, - CTable_MatchLength, mlCodeTable, - CTable_OffsetBits, ofCodeTable, - CTable_LitLength, llCodeTable, - sequences, nbSeq, longOffsets); - } -#endif - (void)bmi2; - return ZSTD_encodeSequences_default(dst, dstCapacity, - CTable_MatchLength, mlCodeTable, - CTable_OffsetBits, ofCodeTable, - CTable_LitLength, llCodeTable, - sequences, nbSeq, longOffsets); -} - static int ZSTD_disableLiteralsCompression(const ZSTD_CCtx_params* cctxParams) { switch (cctxParams->literalCompressionMode) { @@ -2509,7 +1944,7 @@ ZSTD_compressSequences_internal(seqStore_t* seqStorePtr, ZSTD_entropyCTables_t* nextEntropy, const ZSTD_CCtx_params* cctxParams, void* dst, size_t dstCapacity, - void* workspace, size_t wkspSize, + void* entropyWorkspace, size_t entropyWkspSize, const int bmi2) { const int longOffsets = cctxParams->cParams.windowLog > STREAM_ACCUMULATOR_MIN; @@ -2526,23 +1961,23 @@ ZSTD_compressSequences_internal(seqStore_t* seqStorePtr, BYTE* const ostart = (BYTE*)dst; BYTE* const oend = ostart + dstCapacity; BYTE* op = ostart; - size_t const nbSeq = seqStorePtr->sequences - seqStorePtr->sequencesStart; + size_t const nbSeq = (size_t)(seqStorePtr->sequences - seqStorePtr->sequencesStart); BYTE* seqHead; BYTE* lastNCount = NULL; + DEBUGLOG(5, "ZSTD_compressSequences_internal (nbSeq=%zu)", nbSeq); ZSTD_STATIC_ASSERT(HUF_WORKSPACE_SIZE >= (1<<MAX(MLFSELog,LLFSELog))); - DEBUGLOG(5, "ZSTD_compressSequences_internal"); /* Compress literals */ { const BYTE* const literals = seqStorePtr->litStart; - size_t const litSize = seqStorePtr->lit - literals; + size_t const litSize = (size_t)(seqStorePtr->lit - literals); size_t const cSize = ZSTD_compressLiterals( &prevEntropy->huf, &nextEntropy->huf, cctxParams->cParams.strategy, ZSTD_disableLiteralsCompression(cctxParams), op, dstCapacity, literals, litSize, - workspace, wkspSize, + entropyWorkspace, entropyWkspSize, bmi2); FORWARD_IF_ERROR(cSize); assert(cSize <= dstCapacity); @@ -2552,17 +1987,22 @@ ZSTD_compressSequences_internal(seqStore_t* seqStorePtr, /* Sequences Header */ RETURN_ERROR_IF((oend-op) < 3 /*max nbSeq Size*/ + 1 /*seqHead*/, dstSize_tooSmall); - if (nbSeq < 0x7F) + if (nbSeq < 128) { *op++ = (BYTE)nbSeq; - else if (nbSeq < LONGNBSEQ) - op[0] = (BYTE)((nbSeq>>8) + 0x80), op[1] = (BYTE)nbSeq, op+=2; - else - op[0]=0xFF, MEM_writeLE16(op+1, (U16)(nbSeq - LONGNBSEQ)), op+=3; + } else if (nbSeq < LONGNBSEQ) { + op[0] = (BYTE)((nbSeq>>8) + 0x80); + op[1] = (BYTE)nbSeq; + op+=2; + } else { + op[0]=0xFF; + MEM_writeLE16(op+1, (U16)(nbSeq - LONGNBSEQ)); + op+=3; + } assert(op <= oend); if (nbSeq==0) { /* Copy the old tables over as if we repeated them */ memcpy(&nextEntropy->fse, &prevEntropy->fse, sizeof(prevEntropy->fse)); - return op - ostart; + return (size_t)(op - ostart); } /* seqHead : flags for FSE encoding type */ @@ -2573,7 +2013,7 @@ ZSTD_compressSequences_internal(seqStore_t* seqStorePtr, ZSTD_seqToCodes(seqStorePtr); /* build CTable for Literal Lengths */ { unsigned max = MaxLL; - size_t const mostFrequent = HIST_countFast_wksp(count, &max, llCodeTable, nbSeq, workspace, wkspSize); /* can't fail */ + size_t const mostFrequent = HIST_countFast_wksp(count, &max, llCodeTable, nbSeq, entropyWorkspace, entropyWkspSize); /* can't fail */ DEBUGLOG(5, "Building LL table"); nextEntropy->fse.litlength_repeatMode = prevEntropy->fse.litlength_repeatMode; LLtype = ZSTD_selectEncodingType(&nextEntropy->fse.litlength_repeatMode, @@ -2583,10 +2023,14 @@ ZSTD_compressSequences_internal(seqStore_t* seqStorePtr, ZSTD_defaultAllowed, strategy); assert(set_basic < set_compressed && set_rle < set_compressed); assert(!(LLtype < set_compressed && nextEntropy->fse.litlength_repeatMode != FSE_repeat_none)); /* We don't copy tables */ - { size_t const countSize = ZSTD_buildCTable(op, oend - op, CTable_LitLength, LLFSELog, (symbolEncodingType_e)LLtype, - count, max, llCodeTable, nbSeq, LL_defaultNorm, LL_defaultNormLog, MaxLL, - prevEntropy->fse.litlengthCTable, sizeof(prevEntropy->fse.litlengthCTable), - workspace, wkspSize); + { size_t const countSize = ZSTD_buildCTable( + op, (size_t)(oend - op), + CTable_LitLength, LLFSELog, (symbolEncodingType_e)LLtype, + count, max, llCodeTable, nbSeq, + LL_defaultNorm, LL_defaultNormLog, MaxLL, + prevEntropy->fse.litlengthCTable, + sizeof(prevEntropy->fse.litlengthCTable), + entropyWorkspace, entropyWkspSize); FORWARD_IF_ERROR(countSize); if (LLtype == set_compressed) lastNCount = op; @@ -2595,7 +2039,8 @@ ZSTD_compressSequences_internal(seqStore_t* seqStorePtr, } } /* build CTable for Offsets */ { unsigned max = MaxOff; - size_t const mostFrequent = HIST_countFast_wksp(count, &max, ofCodeTable, nbSeq, workspace, wkspSize); /* can't fail */ + size_t const mostFrequent = HIST_countFast_wksp( + count, &max, ofCodeTable, nbSeq, entropyWorkspace, entropyWkspSize); /* can't fail */ /* We can only use the basic table if max <= DefaultMaxOff, otherwise the offsets are too large */ ZSTD_defaultPolicy_e const defaultPolicy = (max <= DefaultMaxOff) ? ZSTD_defaultAllowed : ZSTD_defaultDisallowed; DEBUGLOG(5, "Building OF table"); @@ -2606,10 +2051,14 @@ ZSTD_compressSequences_internal(seqStore_t* seqStorePtr, OF_defaultNorm, OF_defaultNormLog, defaultPolicy, strategy); assert(!(Offtype < set_compressed && nextEntropy->fse.offcode_repeatMode != FSE_repeat_none)); /* We don't copy tables */ - { size_t const countSize = ZSTD_buildCTable(op, oend - op, CTable_OffsetBits, OffFSELog, (symbolEncodingType_e)Offtype, - count, max, ofCodeTable, nbSeq, OF_defaultNorm, OF_defaultNormLog, DefaultMaxOff, - prevEntropy->fse.offcodeCTable, sizeof(prevEntropy->fse.offcodeCTable), - workspace, wkspSize); + { size_t const countSize = ZSTD_buildCTable( + op, (size_t)(oend - op), + CTable_OffsetBits, OffFSELog, (symbolEncodingType_e)Offtype, + count, max, ofCodeTable, nbSeq, + OF_defaultNorm, OF_defaultNormLog, DefaultMaxOff, + prevEntropy->fse.offcodeCTable, + sizeof(prevEntropy->fse.offcodeCTable), + entropyWorkspace, entropyWkspSize); FORWARD_IF_ERROR(countSize); if (Offtype == set_compressed) lastNCount = op; @@ -2618,7 +2067,8 @@ ZSTD_compressSequences_internal(seqStore_t* seqStorePtr, } } /* build CTable for MatchLengths */ { unsigned max = MaxML; - size_t const mostFrequent = HIST_countFast_wksp(count, &max, mlCodeTable, nbSeq, workspace, wkspSize); /* can't fail */ + size_t const mostFrequent = HIST_countFast_wksp( + count, &max, mlCodeTable, nbSeq, entropyWorkspace, entropyWkspSize); /* can't fail */ DEBUGLOG(5, "Building ML table (remaining space : %i)", (int)(oend-op)); nextEntropy->fse.matchlength_repeatMode = prevEntropy->fse.matchlength_repeatMode; MLtype = ZSTD_selectEncodingType(&nextEntropy->fse.matchlength_repeatMode, @@ -2627,10 +2077,14 @@ ZSTD_compressSequences_internal(seqStore_t* seqStorePtr, ML_defaultNorm, ML_defaultNormLog, ZSTD_defaultAllowed, strategy); assert(!(MLtype < set_compressed && nextEntropy->fse.matchlength_repeatMode != FSE_repeat_none)); /* We don't copy tables */ - { size_t const countSize = ZSTD_buildCTable(op, oend - op, CTable_MatchLength, MLFSELog, (symbolEncodingType_e)MLtype, - count, max, mlCodeTable, nbSeq, ML_defaultNorm, ML_defaultNormLog, MaxML, - prevEntropy->fse.matchlengthCTable, sizeof(prevEntropy->fse.matchlengthCTable), - workspace, wkspSize); + { size_t const countSize = ZSTD_buildCTable( + op, (size_t)(oend - op), + CTable_MatchLength, MLFSELog, (symbolEncodingType_e)MLtype, + count, max, mlCodeTable, nbSeq, + ML_defaultNorm, ML_defaultNormLog, MaxML, + prevEntropy->fse.matchlengthCTable, + sizeof(prevEntropy->fse.matchlengthCTable), + entropyWorkspace, entropyWkspSize); FORWARD_IF_ERROR(countSize); if (MLtype == set_compressed) lastNCount = op; @@ -2641,7 +2095,7 @@ ZSTD_compressSequences_internal(seqStore_t* seqStorePtr, *seqHead = (BYTE)((LLtype<<6) + (Offtype<<4) + (MLtype<<2)); { size_t const bitstreamSize = ZSTD_encodeSequences( - op, oend - op, + op, (size_t)(oend - op), CTable_MatchLength, mlCodeTable, CTable_OffsetBits, ofCodeTable, CTable_LitLength, llCodeTable, @@ -2668,7 +2122,7 @@ ZSTD_compressSequences_internal(seqStore_t* seqStorePtr, } DEBUGLOG(5, "compressed block size : %u", (unsigned)(op - ostart)); - return op - ostart; + return (size_t)(op - ostart); } MEM_STATIC size_t @@ -2678,13 +2132,13 @@ ZSTD_compressSequences(seqStore_t* seqStorePtr, const ZSTD_CCtx_params* cctxParams, void* dst, size_t dstCapacity, size_t srcSize, - void* workspace, size_t wkspSize, + void* entropyWorkspace, size_t entropyWkspSize, int bmi2) { size_t const cSize = ZSTD_compressSequences_internal( seqStorePtr, prevEntropy, nextEntropy, cctxParams, dst, dstCapacity, - workspace, wkspSize, bmi2); + entropyWorkspace, entropyWkspSize, bmi2); if (cSize == 0) return 0; /* When srcSize <= dstCapacity, there is enough space to write a raw uncompressed block. * Since we ran out of space, block must be not compressible, so fall back to raw uncompressed block. @@ -2835,19 +2289,113 @@ static size_t ZSTD_buildSeqStore(ZSTD_CCtx* zc, const void* src, size_t srcSize) return ZSTDbss_compress; } +static void ZSTD_copyBlockSequences(ZSTD_CCtx* zc) +{ + const seqStore_t* seqStore = ZSTD_getSeqStore(zc); + const seqDef* seqs = seqStore->sequencesStart; + size_t seqsSize = seqStore->sequences - seqs; + + ZSTD_Sequence* outSeqs = &zc->seqCollector.seqStart[zc->seqCollector.seqIndex]; + size_t i; size_t position; int repIdx; + + assert(zc->seqCollector.seqIndex + 1 < zc->seqCollector.maxSequences); + for (i = 0, position = 0; i < seqsSize; ++i) { + outSeqs[i].offset = seqs[i].offset; + outSeqs[i].litLength = seqs[i].litLength; + outSeqs[i].matchLength = seqs[i].matchLength + MINMATCH; + + if (i == seqStore->longLengthPos) { + if (seqStore->longLengthID == 1) { + outSeqs[i].litLength += 0x10000; + } else if (seqStore->longLengthID == 2) { + outSeqs[i].matchLength += 0x10000; + } + } + + if (outSeqs[i].offset <= ZSTD_REP_NUM) { + outSeqs[i].rep = outSeqs[i].offset; + repIdx = (unsigned int)i - outSeqs[i].offset; + + if (outSeqs[i].litLength == 0) { + if (outSeqs[i].offset < 3) { + --repIdx; + } else { + repIdx = (unsigned int)i - 1; + } + ++outSeqs[i].rep; + } + assert(repIdx >= -3); + outSeqs[i].offset = repIdx >= 0 ? outSeqs[repIdx].offset : repStartValue[-repIdx - 1]; + if (outSeqs[i].rep == 4) { + --outSeqs[i].offset; + } + } else { + outSeqs[i].offset -= ZSTD_REP_NUM; + } + + position += outSeqs[i].litLength; + outSeqs[i].matchPos = (unsigned int)position; + position += outSeqs[i].matchLength; + } + zc->seqCollector.seqIndex += seqsSize; +} + +size_t ZSTD_getSequences(ZSTD_CCtx* zc, ZSTD_Sequence* outSeqs, + size_t outSeqsSize, const void* src, size_t srcSize) +{ + const size_t dstCapacity = ZSTD_compressBound(srcSize); + void* dst = ZSTD_malloc(dstCapacity, ZSTD_defaultCMem); + SeqCollector seqCollector; + + RETURN_ERROR_IF(dst == NULL, memory_allocation); + + seqCollector.collectSequences = 1; + seqCollector.seqStart = outSeqs; + seqCollector.seqIndex = 0; + seqCollector.maxSequences = outSeqsSize; + zc->seqCollector = seqCollector; + + ZSTD_compress2(zc, dst, dstCapacity, src, srcSize); + ZSTD_free(dst, ZSTD_defaultCMem); + return zc->seqCollector.seqIndex; +} + +/* Returns true if the given block is a RLE block */ +static int ZSTD_isRLE(const BYTE *ip, size_t length) { + size_t i; + if (length < 2) return 1; + for (i = 1; i < length; ++i) { + if (ip[0] != ip[i]) return 0; + } + return 1; +} + static size_t ZSTD_compressBlock_internal(ZSTD_CCtx* zc, void* dst, size_t dstCapacity, - const void* src, size_t srcSize) + const void* src, size_t srcSize, U32 frame) { + /* This the upper bound for the length of an rle block. + * This isn't the actual upper bound. Finding the real threshold + * needs further investigation. + */ + const U32 rleMaxLength = 25; size_t cSize; + const BYTE* ip = (const BYTE*)src; + BYTE* op = (BYTE*)dst; DEBUGLOG(5, "ZSTD_compressBlock_internal (dstCapacity=%u, dictLimit=%u, nextToUpdate=%u)", - (unsigned)dstCapacity, (unsigned)zc->blockState.matchState.window.dictLimit, (unsigned)zc->blockState.matchState.nextToUpdate); + (unsigned)dstCapacity, (unsigned)zc->blockState.matchState.window.dictLimit, + (unsigned)zc->blockState.matchState.nextToUpdate); { const size_t bss = ZSTD_buildSeqStore(zc, src, srcSize); FORWARD_IF_ERROR(bss); if (bss == ZSTDbss_noCompress) { cSize = 0; goto out; } } + if (zc->seqCollector.collectSequences) { + ZSTD_copyBlockSequences(zc); + return 0; + } + /* encode sequences and literals */ cSize = ZSTD_compressSequences(&zc->seqStore, &zc->blockState.prevCBlock->entropy, &zc->blockState.nextCBlock->entropy, @@ -2857,8 +2405,21 @@ static size_t ZSTD_compressBlock_internal(ZSTD_CCtx* zc, zc->entropyWorkspace, HUF_WORKSPACE_SIZE /* statically allocated in resetCCtx */, zc->bmi2); + if (frame && + /* We don't want to emit our first block as a RLE even if it qualifies because + * doing so will cause the decoder (cli only) to throw a "should consume all input error." + * This is only an issue for zstd <= v1.4.3 + */ + !zc->isFirstBlock && + cSize < rleMaxLength && + ZSTD_isRLE(ip, srcSize)) + { + cSize = 1; + op[0] = ip[0]; + } + out: - if (!ZSTD_isError(cSize) && cSize != 0) { + if (!ZSTD_isError(cSize) && cSize > 1) { /* confirm repcodes and entropy tables when emitting a compressed block */ ZSTD_compressedBlockState_t* const tmp = zc->blockState.prevCBlock; zc->blockState.prevCBlock = zc->blockState.nextCBlock; @@ -2875,7 +2436,11 @@ out: } -static void ZSTD_overflowCorrectIfNeeded(ZSTD_matchState_t* ms, ZSTD_CCtx_params const* params, void const* ip, void const* iend) +static void ZSTD_overflowCorrectIfNeeded(ZSTD_matchState_t* ms, + ZSTD_cwksp* ws, + ZSTD_CCtx_params const* params, + void const* ip, + void const* iend) { if (ZSTD_window_needOverflowCorrection(ms->window, iend)) { U32 const maxDist = (U32)1 << params->cParams.windowLog; @@ -2884,7 +2449,9 @@ static void ZSTD_overflowCorrectIfNeeded(ZSTD_matchState_t* ms, ZSTD_CCtx_params ZSTD_STATIC_ASSERT(ZSTD_CHAINLOG_MAX <= 30); ZSTD_STATIC_ASSERT(ZSTD_WINDOWLOG_MAX_32 <= 30); ZSTD_STATIC_ASSERT(ZSTD_WINDOWLOG_MAX <= 31); + ZSTD_cwksp_mark_tables_dirty(ws); ZSTD_reduceIndex(ms, params, correction); + ZSTD_cwksp_mark_tables_clean(ws); if (ms->nextToUpdate < correction) ms->nextToUpdate = 0; else ms->nextToUpdate -= correction; /* invalidate dictionaries on overflow correction */ @@ -2893,7 +2460,6 @@ static void ZSTD_overflowCorrectIfNeeded(ZSTD_matchState_t* ms, ZSTD_CCtx_params } } - /*! ZSTD_compress_frameChunk() : * Compress a chunk of data into one or multiple blocks. * All blocks will be terminated, all input will be consumed. @@ -2927,7 +2493,8 @@ static size_t ZSTD_compress_frameChunk (ZSTD_CCtx* cctx, "not enough space to store compressed block"); if (remaining < blockSize) blockSize = remaining; - ZSTD_overflowCorrectIfNeeded(ms, &cctx->appliedParams, ip, ip + blockSize); + ZSTD_overflowCorrectIfNeeded( + ms, &cctx->workspace, &cctx->appliedParams, ip, ip + blockSize); ZSTD_checkDictValidity(&ms->window, ip + blockSize, maxDist, &ms->loadedDictEnd, &ms->dictMatchState); /* Ensure hash/chain table insertion resumes no sooner than lowlimit */ @@ -2935,15 +2502,16 @@ static size_t ZSTD_compress_frameChunk (ZSTD_CCtx* cctx, { size_t cSize = ZSTD_compressBlock_internal(cctx, op+ZSTD_blockHeaderSize, dstCapacity-ZSTD_blockHeaderSize, - ip, blockSize); + ip, blockSize, 1 /* frame */); FORWARD_IF_ERROR(cSize); - if (cSize == 0) { /* block is not compressible */ cSize = ZSTD_noCompressBlock(op, dstCapacity, ip, blockSize, lastBlock); FORWARD_IF_ERROR(cSize); } else { - U32 const cBlockHeader24 = lastBlock + (((U32)bt_compressed)<<1) + (U32)(cSize << 3); - MEM_writeLE24(op, cBlockHeader24); + const U32 cBlockHeader = cSize == 1 ? + lastBlock + (((U32)bt_rle)<<1) + (U32)(blockSize << 3) : + lastBlock + (((U32)bt_compressed)<<1) + (U32)(cSize << 3); + MEM_writeLE24(op, cBlockHeader); cSize += ZSTD_blockHeaderSize; } @@ -2953,6 +2521,7 @@ static size_t ZSTD_compress_frameChunk (ZSTD_CCtx* cctx, op += cSize; assert(dstCapacity >= cSize); dstCapacity -= cSize; + cctx->isFirstBlock = 0; DEBUGLOG(5, "ZSTD_compress_frameChunk: adding a block of size %u", (unsigned)cSize); } } @@ -2963,25 +2532,25 @@ static size_t ZSTD_compress_frameChunk (ZSTD_CCtx* cctx, static size_t ZSTD_writeFrameHeader(void* dst, size_t dstCapacity, - ZSTD_CCtx_params params, U64 pledgedSrcSize, U32 dictID) + const ZSTD_CCtx_params* params, U64 pledgedSrcSize, U32 dictID) { BYTE* const op = (BYTE*)dst; U32 const dictIDSizeCodeLength = (dictID>0) + (dictID>=256) + (dictID>=65536); /* 0-3 */ - U32 const dictIDSizeCode = params.fParams.noDictIDFlag ? 0 : dictIDSizeCodeLength; /* 0-3 */ - U32 const checksumFlag = params.fParams.checksumFlag>0; - U32 const windowSize = (U32)1 << params.cParams.windowLog; - U32 const singleSegment = params.fParams.contentSizeFlag && (windowSize >= pledgedSrcSize); - BYTE const windowLogByte = (BYTE)((params.cParams.windowLog - ZSTD_WINDOWLOG_ABSOLUTEMIN) << 3); - U32 const fcsCode = params.fParams.contentSizeFlag ? + U32 const dictIDSizeCode = params->fParams.noDictIDFlag ? 0 : dictIDSizeCodeLength; /* 0-3 */ + U32 const checksumFlag = params->fParams.checksumFlag>0; + U32 const windowSize = (U32)1 << params->cParams.windowLog; + U32 const singleSegment = params->fParams.contentSizeFlag && (windowSize >= pledgedSrcSize); + BYTE const windowLogByte = (BYTE)((params->cParams.windowLog - ZSTD_WINDOWLOG_ABSOLUTEMIN) << 3); + U32 const fcsCode = params->fParams.contentSizeFlag ? (pledgedSrcSize>=256) + (pledgedSrcSize>=65536+256) + (pledgedSrcSize>=0xFFFFFFFFU) : 0; /* 0-3 */ BYTE const frameHeaderDescriptionByte = (BYTE)(dictIDSizeCode + (checksumFlag<<2) + (singleSegment<<5) + (fcsCode<<6) ); size_t pos=0; - assert(!(params.fParams.contentSizeFlag && pledgedSrcSize == ZSTD_CONTENTSIZE_UNKNOWN)); + assert(!(params->fParams.contentSizeFlag && pledgedSrcSize == ZSTD_CONTENTSIZE_UNKNOWN)); RETURN_ERROR_IF(dstCapacity < ZSTD_FRAMEHEADERSIZE_MAX, dstSize_tooSmall); DEBUGLOG(4, "ZSTD_writeFrameHeader : dictIDFlag : %u ; dictID : %u ; dictIDSizeCode : %u", - !params.fParams.noDictIDFlag, (unsigned)dictID, (unsigned)dictIDSizeCode); + !params->fParams.noDictIDFlag, (unsigned)dictID, (unsigned)dictIDSizeCode); - if (params.format == ZSTD_f_zstd1) { + if (params->format == ZSTD_f_zstd1) { MEM_writeLE32(dst, ZSTD_MAGICNUMBER); pos = 4; } @@ -3047,7 +2616,7 @@ static size_t ZSTD_compressContinue_internal (ZSTD_CCtx* cctx, "missing init (ZSTD_compressBegin)"); if (frame && (cctx->stage==ZSTDcs_init)) { - fhSize = ZSTD_writeFrameHeader(dst, dstCapacity, cctx->appliedParams, + fhSize = ZSTD_writeFrameHeader(dst, dstCapacity, &cctx->appliedParams, cctx->pledgedSrcSizePlusOne-1, cctx->dictID); FORWARD_IF_ERROR(fhSize); assert(fhSize <= dstCapacity); @@ -3067,13 +2636,15 @@ static size_t ZSTD_compressContinue_internal (ZSTD_CCtx* cctx, if (!frame) { /* overflow check and correction for block mode */ - ZSTD_overflowCorrectIfNeeded(ms, &cctx->appliedParams, src, (BYTE const*)src + srcSize); + ZSTD_overflowCorrectIfNeeded( + ms, &cctx->workspace, &cctx->appliedParams, + src, (BYTE const*)src + srcSize); } DEBUGLOG(5, "ZSTD_compressContinue_internal (blockSize=%u)", (unsigned)cctx->blockSize); { size_t const cSize = frame ? ZSTD_compress_frameChunk (cctx, dst, dstCapacity, src, srcSize, lastFrameChunk) : - ZSTD_compressBlock_internal (cctx, dst, dstCapacity, src, srcSize); + ZSTD_compressBlock_internal (cctx, dst, dstCapacity, src, srcSize, 0 /* frame */); FORWARD_IF_ERROR(cSize); cctx->consumedSrcSize += srcSize; cctx->producedCSize += (cSize + fhSize); @@ -3109,8 +2680,9 @@ size_t ZSTD_getBlockSize(const ZSTD_CCtx* cctx) size_t ZSTD_compressBlock(ZSTD_CCtx* cctx, void* dst, size_t dstCapacity, const void* src, size_t srcSize) { - size_t const blockSizeMax = ZSTD_getBlockSize(cctx); - RETURN_ERROR_IF(srcSize > blockSizeMax, srcSize_wrong); + DEBUGLOG(5, "ZSTD_compressBlock: srcSize = %u", (unsigned)srcSize); + { size_t const blockSizeMax = ZSTD_getBlockSize(cctx); + RETURN_ERROR_IF(srcSize > blockSizeMax, srcSize_wrong); } return ZSTD_compressContinue_internal(cctx, dst, dstCapacity, src, srcSize, 0 /* frame mode */, 0 /* last chunk */); } @@ -3119,6 +2691,7 @@ size_t ZSTD_compressBlock(ZSTD_CCtx* cctx, void* dst, size_t dstCapacity, const * @return : 0, or an error code */ static size_t ZSTD_loadDictionaryContent(ZSTD_matchState_t* ms, + ZSTD_cwksp* ws, ZSTD_CCtx_params const* params, const void* src, size_t srcSize, ZSTD_dictTableLoadMethod_e dtlm) @@ -3135,11 +2708,11 @@ static size_t ZSTD_loadDictionaryContent(ZSTD_matchState_t* ms, if (srcSize <= HASH_READ_SIZE) return 0; while (iend - ip > HASH_READ_SIZE) { - size_t const remaining = iend - ip; + size_t const remaining = (size_t)(iend - ip); size_t const chunk = MIN(remaining, ZSTD_CHUNKSIZE_MAX); const BYTE* const ichunk = ip + chunk; - ZSTD_overflowCorrectIfNeeded(ms, params, ip, ichunk); + ZSTD_overflowCorrectIfNeeded(ms, ws, params, ip, ichunk); switch(params->cParams.strategy) { @@ -3198,10 +2771,11 @@ static size_t ZSTD_checkDictNCount(short* normalizedCounter, unsigned dictMaxSym /*! ZSTD_loadZstdDictionary() : * @return : dictID, or an error code * assumptions : magic number supposed already checked - * dictSize supposed > 8 + * dictSize supposed >= 8 */ static size_t ZSTD_loadZstdDictionary(ZSTD_compressedBlockState_t* bs, ZSTD_matchState_t* ms, + ZSTD_cwksp* ws, ZSTD_CCtx_params const* params, const void* dict, size_t dictSize, ZSTD_dictTableLoadMethod_e dtlm, @@ -3214,7 +2788,7 @@ static size_t ZSTD_loadZstdDictionary(ZSTD_compressedBlockState_t* bs, size_t dictID; ZSTD_STATIC_ASSERT(HUF_WORKSPACE_SIZE >= (1<<MAX(MLFSELog,LLFSELog))); - assert(dictSize > 8); + assert(dictSize >= 8); assert(MEM_readLE32(dictPtr) == ZSTD_MAGIC_DICTIONARY); dictPtr += 4; /* skip magic number */ @@ -3297,7 +2871,8 @@ static size_t ZSTD_loadZstdDictionary(ZSTD_compressedBlockState_t* bs, bs->entropy.fse.offcode_repeatMode = FSE_repeat_valid; bs->entropy.fse.matchlength_repeatMode = FSE_repeat_valid; bs->entropy.fse.litlength_repeatMode = FSE_repeat_valid; - FORWARD_IF_ERROR(ZSTD_loadDictionaryContent(ms, params, dictPtr, dictContentSize, dtlm)); + FORWARD_IF_ERROR(ZSTD_loadDictionaryContent( + ms, ws, params, dictPtr, dictContentSize, dtlm)); return dictID; } } @@ -3307,6 +2882,7 @@ static size_t ZSTD_loadZstdDictionary(ZSTD_compressedBlockState_t* bs, static size_t ZSTD_compress_insertDictionary(ZSTD_compressedBlockState_t* bs, ZSTD_matchState_t* ms, + ZSTD_cwksp* ws, const ZSTD_CCtx_params* params, const void* dict, size_t dictSize, ZSTD_dictContentType_e dictContentType, @@ -3314,27 +2890,35 @@ ZSTD_compress_insertDictionary(ZSTD_compressedBlockState_t* bs, void* workspace) { DEBUGLOG(4, "ZSTD_compress_insertDictionary (dictSize=%u)", (U32)dictSize); - if ((dict==NULL) || (dictSize<=8)) return 0; + if ((dict==NULL) || (dictSize<8)) { + RETURN_ERROR_IF(dictContentType == ZSTD_dct_fullDict, dictionary_wrong); + return 0; + } ZSTD_reset_compressedBlockState(bs); /* dict restricted modes */ if (dictContentType == ZSTD_dct_rawContent) - return ZSTD_loadDictionaryContent(ms, params, dict, dictSize, dtlm); + return ZSTD_loadDictionaryContent(ms, ws, params, dict, dictSize, dtlm); if (MEM_readLE32(dict) != ZSTD_MAGIC_DICTIONARY) { if (dictContentType == ZSTD_dct_auto) { DEBUGLOG(4, "raw content dictionary detected"); - return ZSTD_loadDictionaryContent(ms, params, dict, dictSize, dtlm); + return ZSTD_loadDictionaryContent( + ms, ws, params, dict, dictSize, dtlm); } RETURN_ERROR_IF(dictContentType == ZSTD_dct_fullDict, dictionary_wrong); assert(0); /* impossible */ } /* dict as full zstd dictionary */ - return ZSTD_loadZstdDictionary(bs, ms, params, dict, dictSize, dtlm, workspace); + return ZSTD_loadZstdDictionary( + bs, ms, ws, params, dict, dictSize, dtlm, workspace); } +#define ZSTD_USE_CDICT_PARAMS_SRCSIZE_CUTOFF (128 KB) +#define ZSTD_USE_CDICT_PARAMS_DICTSIZE_MULTIPLIER (6) + /*! ZSTD_compressBegin_internal() : * @return : 0, or an error code */ static size_t ZSTD_compressBegin_internal(ZSTD_CCtx* cctx, @@ -3342,23 +2926,34 @@ static size_t ZSTD_compressBegin_internal(ZSTD_CCtx* cctx, ZSTD_dictContentType_e dictContentType, ZSTD_dictTableLoadMethod_e dtlm, const ZSTD_CDict* cdict, - ZSTD_CCtx_params params, U64 pledgedSrcSize, + const ZSTD_CCtx_params* params, U64 pledgedSrcSize, ZSTD_buffered_policy_e zbuff) { - DEBUGLOG(4, "ZSTD_compressBegin_internal: wlog=%u", params.cParams.windowLog); + DEBUGLOG(4, "ZSTD_compressBegin_internal: wlog=%u", params->cParams.windowLog); /* params are supposed to be fully validated at this point */ - assert(!ZSTD_isError(ZSTD_checkCParams(params.cParams))); + assert(!ZSTD_isError(ZSTD_checkCParams(params->cParams))); assert(!((dict) && (cdict))); /* either dict or cdict, not both */ - - if (cdict && cdict->dictContentSize>0) { + if ( (cdict) + && (cdict->dictContentSize > 0) + && ( pledgedSrcSize < ZSTD_USE_CDICT_PARAMS_SRCSIZE_CUTOFF + || pledgedSrcSize < cdict->dictContentSize * ZSTD_USE_CDICT_PARAMS_DICTSIZE_MULTIPLIER + || pledgedSrcSize == ZSTD_CONTENTSIZE_UNKNOWN + || cdict->compressionLevel == 0) + && (params->attachDictPref != ZSTD_dictForceLoad) ) { return ZSTD_resetCCtx_usingCDict(cctx, cdict, params, pledgedSrcSize, zbuff); } - FORWARD_IF_ERROR( ZSTD_resetCCtx_internal(cctx, params, pledgedSrcSize, - ZSTDcrp_continue, zbuff) ); - { size_t const dictID = ZSTD_compress_insertDictionary( - cctx->blockState.prevCBlock, &cctx->blockState.matchState, - ¶ms, dict, dictSize, dictContentType, dtlm, cctx->entropyWorkspace); + FORWARD_IF_ERROR( ZSTD_resetCCtx_internal(cctx, *params, pledgedSrcSize, + ZSTDcrp_makeClean, zbuff) ); + { size_t const dictID = cdict ? + ZSTD_compress_insertDictionary( + cctx->blockState.prevCBlock, &cctx->blockState.matchState, + &cctx->workspace, params, cdict->dictContent, cdict->dictContentSize, + dictContentType, dtlm, cctx->entropyWorkspace) + : ZSTD_compress_insertDictionary( + cctx->blockState.prevCBlock, &cctx->blockState.matchState, + &cctx->workspace, params, dict, dictSize, + dictContentType, dtlm, cctx->entropyWorkspace); FORWARD_IF_ERROR(dictID); assert(dictID <= UINT_MAX); cctx->dictID = (U32)dictID; @@ -3371,12 +2966,12 @@ size_t ZSTD_compressBegin_advanced_internal(ZSTD_CCtx* cctx, ZSTD_dictContentType_e dictContentType, ZSTD_dictTableLoadMethod_e dtlm, const ZSTD_CDict* cdict, - ZSTD_CCtx_params params, + const ZSTD_CCtx_params* params, unsigned long long pledgedSrcSize) { - DEBUGLOG(4, "ZSTD_compressBegin_advanced_internal: wlog=%u", params.cParams.windowLog); + DEBUGLOG(4, "ZSTD_compressBegin_advanced_internal: wlog=%u", params->cParams.windowLog); /* compression parameters verification and optimization */ - FORWARD_IF_ERROR( ZSTD_checkCParams(params.cParams) ); + FORWARD_IF_ERROR( ZSTD_checkCParams(params->cParams) ); return ZSTD_compressBegin_internal(cctx, dict, dictSize, dictContentType, dtlm, cdict, @@ -3391,21 +2986,21 @@ size_t ZSTD_compressBegin_advanced(ZSTD_CCtx* cctx, ZSTD_parameters params, unsigned long long pledgedSrcSize) { ZSTD_CCtx_params const cctxParams = - ZSTD_assignParamsToCCtxParams(cctx->requestedParams, params); + ZSTD_assignParamsToCCtxParams(&cctx->requestedParams, params); return ZSTD_compressBegin_advanced_internal(cctx, dict, dictSize, ZSTD_dct_auto, ZSTD_dtlm_fast, NULL /*cdict*/, - cctxParams, pledgedSrcSize); + &cctxParams, pledgedSrcSize); } size_t ZSTD_compressBegin_usingDict(ZSTD_CCtx* cctx, const void* dict, size_t dictSize, int compressionLevel) { ZSTD_parameters const params = ZSTD_getParams(compressionLevel, ZSTD_CONTENTSIZE_UNKNOWN, dictSize); ZSTD_CCtx_params const cctxParams = - ZSTD_assignParamsToCCtxParams(cctx->requestedParams, params); + ZSTD_assignParamsToCCtxParams(&cctx->requestedParams, params); DEBUGLOG(4, "ZSTD_compressBegin_usingDict (dictSize=%u)", (unsigned)dictSize); return ZSTD_compressBegin_internal(cctx, dict, dictSize, ZSTD_dct_auto, ZSTD_dtlm_fast, NULL, - cctxParams, ZSTD_CONTENTSIZE_UNKNOWN, ZSTDb_not_buffered); + &cctxParams, ZSTD_CONTENTSIZE_UNKNOWN, ZSTDb_not_buffered); } size_t ZSTD_compressBegin(ZSTD_CCtx* cctx, int compressionLevel) @@ -3428,7 +3023,7 @@ static size_t ZSTD_writeEpilogue(ZSTD_CCtx* cctx, void* dst, size_t dstCapacity) /* special case : empty frame */ if (cctx->stage == ZSTDcs_init) { - fhSize = ZSTD_writeFrameHeader(dst, dstCapacity, cctx->appliedParams, 0, 0); + fhSize = ZSTD_writeFrameHeader(dst, dstCapacity, &cctx->appliedParams, 0, 0); FORWARD_IF_ERROR(fhSize); dstCapacity -= fhSize; op += fhSize; @@ -3489,13 +3084,13 @@ static size_t ZSTD_compress_internal (ZSTD_CCtx* cctx, ZSTD_parameters params) { ZSTD_CCtx_params const cctxParams = - ZSTD_assignParamsToCCtxParams(cctx->requestedParams, params); + ZSTD_assignParamsToCCtxParams(&cctx->requestedParams, params); DEBUGLOG(4, "ZSTD_compress_internal"); return ZSTD_compress_advanced_internal(cctx, dst, dstCapacity, src, srcSize, dict, dictSize, - cctxParams); + &cctxParams); } size_t ZSTD_compress_advanced (ZSTD_CCtx* cctx, @@ -3519,7 +3114,7 @@ size_t ZSTD_compress_advanced_internal( void* dst, size_t dstCapacity, const void* src, size_t srcSize, const void* dict,size_t dictSize, - ZSTD_CCtx_params params) + const ZSTD_CCtx_params* params) { DEBUGLOG(4, "ZSTD_compress_advanced_internal (srcSize:%u)", (unsigned)srcSize); FORWARD_IF_ERROR( ZSTD_compressBegin_internal(cctx, @@ -3535,9 +3130,9 @@ size_t ZSTD_compress_usingDict(ZSTD_CCtx* cctx, int compressionLevel) { ZSTD_parameters const params = ZSTD_getParams(compressionLevel, srcSize + (!srcSize), dict ? dictSize : 0); - ZSTD_CCtx_params cctxParams = ZSTD_assignParamsToCCtxParams(cctx->requestedParams, params); + ZSTD_CCtx_params cctxParams = ZSTD_assignParamsToCCtxParams(&cctx->requestedParams, params); assert(params.fParams.contentSizeFlag == 1); - return ZSTD_compress_advanced_internal(cctx, dst, dstCapacity, src, srcSize, dict, dictSize, cctxParams); + return ZSTD_compress_advanced_internal(cctx, dst, dstCapacity, src, srcSize, dict, dictSize, &cctxParams); } size_t ZSTD_compressCCtx(ZSTD_CCtx* cctx, @@ -3572,8 +3167,11 @@ size_t ZSTD_estimateCDictSize_advanced( ZSTD_dictLoadMethod_e dictLoadMethod) { DEBUGLOG(5, "sizeof(ZSTD_CDict) : %u", (unsigned)sizeof(ZSTD_CDict)); - return sizeof(ZSTD_CDict) + HUF_WORKSPACE_SIZE + ZSTD_sizeof_matchState(&cParams, /* forCCtx */ 0) - + (dictLoadMethod == ZSTD_dlm_byRef ? 0 : dictSize); + return ZSTD_cwksp_alloc_size(sizeof(ZSTD_CDict)) + + ZSTD_cwksp_alloc_size(HUF_WORKSPACE_SIZE) + + ZSTD_sizeof_matchState(&cParams, /* forCCtx */ 0) + + (dictLoadMethod == ZSTD_dlm_byRef ? 0 + : ZSTD_cwksp_alloc_size(ZSTD_cwksp_align(dictSize, sizeof(void *)))); } size_t ZSTD_estimateCDictSize(size_t dictSize, int compressionLevel) @@ -3586,7 +3184,9 @@ size_t ZSTD_sizeof_CDict(const ZSTD_CDict* cdict) { if (cdict==NULL) return 0; /* support sizeof on NULL */ DEBUGLOG(5, "sizeof(*cdict) : %u", (unsigned)sizeof(*cdict)); - return cdict->workspaceSize + (cdict->dictBuffer ? cdict->dictContentSize : 0) + sizeof(*cdict); + /* cdict may be in the workspace */ + return (cdict->workspace.workspace == cdict ? 0 : sizeof(*cdict)) + + ZSTD_cwksp_sizeof(&cdict->workspace); } static size_t ZSTD_initCDict_internal( @@ -3600,28 +3200,29 @@ static size_t ZSTD_initCDict_internal( assert(!ZSTD_checkCParams(cParams)); cdict->matchState.cParams = cParams; if ((dictLoadMethod == ZSTD_dlm_byRef) || (!dictBuffer) || (!dictSize)) { - cdict->dictBuffer = NULL; cdict->dictContent = dictBuffer; } else { - void* const internalBuffer = ZSTD_malloc(dictSize, cdict->customMem); - cdict->dictBuffer = internalBuffer; - cdict->dictContent = internalBuffer; + void *internalBuffer = ZSTD_cwksp_reserve_object(&cdict->workspace, ZSTD_cwksp_align(dictSize, sizeof(void*))); RETURN_ERROR_IF(!internalBuffer, memory_allocation); + cdict->dictContent = internalBuffer; memcpy(internalBuffer, dictBuffer, dictSize); } cdict->dictContentSize = dictSize; + cdict->entropyWorkspace = (U32*)ZSTD_cwksp_reserve_object(&cdict->workspace, HUF_WORKSPACE_SIZE); + + /* Reset the state to no dictionary */ ZSTD_reset_compressedBlockState(&cdict->cBlockState); - { void* const end = ZSTD_reset_matchState(&cdict->matchState, - (U32*)cdict->workspace + HUF_WORKSPACE_SIZE_U32, - &cParams, - ZSTDcrp_continue, ZSTD_resetTarget_CDict); - assert(end == (char*)cdict->workspace + cdict->workspaceSize); - (void)end; - } + FORWARD_IF_ERROR(ZSTD_reset_matchState( + &cdict->matchState, + &cdict->workspace, + &cParams, + ZSTDcrp_makeClean, + ZSTDirp_reset, + ZSTD_resetTarget_CDict)); /* (Maybe) load the dictionary - * Skips loading the dictionary if it is <= 8 bytes. + * Skips loading the dictionary if it is < 8 bytes. */ { ZSTD_CCtx_params params; memset(¶ms, 0, sizeof(params)); @@ -3629,9 +3230,9 @@ static size_t ZSTD_initCDict_internal( params.fParams.contentSizeFlag = 1; params.cParams = cParams; { size_t const dictID = ZSTD_compress_insertDictionary( - &cdict->cBlockState, &cdict->matchState, ¶ms, - cdict->dictContent, cdict->dictContentSize, - dictContentType, ZSTD_dtlm_full, cdict->workspace); + &cdict->cBlockState, &cdict->matchState, &cdict->workspace, + ¶ms, cdict->dictContent, cdict->dictContentSize, + dictContentType, ZSTD_dtlm_full, cdict->entropyWorkspace); FORWARD_IF_ERROR(dictID); assert(dictID <= (size_t)(U32)-1); cdict->dictID = (U32)dictID; @@ -3649,18 +3250,29 @@ ZSTD_CDict* ZSTD_createCDict_advanced(const void* dictBuffer, size_t dictSize, DEBUGLOG(3, "ZSTD_createCDict_advanced, mode %u", (unsigned)dictContentType); if (!customMem.customAlloc ^ !customMem.customFree) return NULL; - { ZSTD_CDict* const cdict = (ZSTD_CDict*)ZSTD_malloc(sizeof(ZSTD_CDict), customMem); - size_t const workspaceSize = HUF_WORKSPACE_SIZE + ZSTD_sizeof_matchState(&cParams, /* forCCtx */ 0); + { size_t const workspaceSize = + ZSTD_cwksp_alloc_size(sizeof(ZSTD_CDict)) + + ZSTD_cwksp_alloc_size(HUF_WORKSPACE_SIZE) + + ZSTD_sizeof_matchState(&cParams, /* forCCtx */ 0) + + (dictLoadMethod == ZSTD_dlm_byRef ? 0 + : ZSTD_cwksp_alloc_size(ZSTD_cwksp_align(dictSize, sizeof(void*)))); void* const workspace = ZSTD_malloc(workspaceSize, customMem); + ZSTD_cwksp ws; + ZSTD_CDict* cdict; - if (!cdict || !workspace) { - ZSTD_free(cdict, customMem); + if (!workspace) { ZSTD_free(workspace, customMem); return NULL; } + + ZSTD_cwksp_init(&ws, workspace, workspaceSize); + + cdict = (ZSTD_CDict*)ZSTD_cwksp_reserve_object(&ws, sizeof(ZSTD_CDict)); + assert(cdict != NULL); + ZSTD_cwksp_move(&cdict->workspace, &ws); cdict->customMem = customMem; - cdict->workspace = workspace; - cdict->workspaceSize = workspaceSize; + cdict->compressionLevel = 0; /* signals advanced API usage */ + if (ZSTD_isError( ZSTD_initCDict_internal(cdict, dictBuffer, dictSize, dictLoadMethod, dictContentType, @@ -3676,9 +3288,12 @@ ZSTD_CDict* ZSTD_createCDict_advanced(const void* dictBuffer, size_t dictSize, ZSTD_CDict* ZSTD_createCDict(const void* dict, size_t dictSize, int compressionLevel) { ZSTD_compressionParameters cParams = ZSTD_getCParams(compressionLevel, 0, dictSize); - return ZSTD_createCDict_advanced(dict, dictSize, - ZSTD_dlm_byCopy, ZSTD_dct_auto, - cParams, ZSTD_defaultCMem); + ZSTD_CDict* cdict = ZSTD_createCDict_advanced(dict, dictSize, + ZSTD_dlm_byCopy, ZSTD_dct_auto, + cParams, ZSTD_defaultCMem); + if (cdict) + cdict->compressionLevel = compressionLevel == 0 ? ZSTD_CLEVEL_DEFAULT : compressionLevel; + return cdict; } ZSTD_CDict* ZSTD_createCDict_byReference(const void* dict, size_t dictSize, int compressionLevel) @@ -3693,9 +3308,11 @@ size_t ZSTD_freeCDict(ZSTD_CDict* cdict) { if (cdict==NULL) return 0; /* support free on NULL */ { ZSTD_customMem const cMem = cdict->customMem; - ZSTD_free(cdict->workspace, cMem); - ZSTD_free(cdict->dictBuffer, cMem); - ZSTD_free(cdict, cMem); + int cdictInWorkspace = ZSTD_cwksp_owns_buffer(&cdict->workspace, cdict); + ZSTD_cwksp_free(&cdict->workspace, cMem); + if (!cdictInWorkspace) { + ZSTD_free(cdict, cMem); + } return 0; } } @@ -3721,28 +3338,30 @@ const ZSTD_CDict* ZSTD_initStaticCDict( ZSTD_compressionParameters cParams) { size_t const matchStateSize = ZSTD_sizeof_matchState(&cParams, /* forCCtx */ 0); - size_t const neededSize = sizeof(ZSTD_CDict) + (dictLoadMethod == ZSTD_dlm_byRef ? 0 : dictSize) - + HUF_WORKSPACE_SIZE + matchStateSize; - ZSTD_CDict* const cdict = (ZSTD_CDict*) workspace; - void* ptr; + size_t const neededSize = ZSTD_cwksp_alloc_size(sizeof(ZSTD_CDict)) + + (dictLoadMethod == ZSTD_dlm_byRef ? 0 + : ZSTD_cwksp_alloc_size(ZSTD_cwksp_align(dictSize, sizeof(void*)))) + + ZSTD_cwksp_alloc_size(HUF_WORKSPACE_SIZE) + + matchStateSize; + ZSTD_CDict* cdict; + if ((size_t)workspace & 7) return NULL; /* 8-aligned */ + + { + ZSTD_cwksp ws; + ZSTD_cwksp_init(&ws, workspace, workspaceSize); + cdict = (ZSTD_CDict*)ZSTD_cwksp_reserve_object(&ws, sizeof(ZSTD_CDict)); + if (cdict == NULL) return NULL; + ZSTD_cwksp_move(&cdict->workspace, &ws); + } + DEBUGLOG(4, "(workspaceSize < neededSize) : (%u < %u) => %u", (unsigned)workspaceSize, (unsigned)neededSize, (unsigned)(workspaceSize < neededSize)); if (workspaceSize < neededSize) return NULL; - if (dictLoadMethod == ZSTD_dlm_byCopy) { - memcpy(cdict+1, dict, dictSize); - dict = cdict+1; - ptr = (char*)workspace + sizeof(ZSTD_CDict) + dictSize; - } else { - ptr = cdict+1; - } - cdict->workspace = ptr; - cdict->workspaceSize = HUF_WORKSPACE_SIZE + matchStateSize; - if (ZSTD_isError( ZSTD_initCDict_internal(cdict, dict, dictSize, - ZSTD_dlm_byRef, dictContentType, + dictLoadMethod, dictContentType, cParams) )) return NULL; @@ -3764,7 +3383,15 @@ size_t ZSTD_compressBegin_usingCDict_advanced( DEBUGLOG(4, "ZSTD_compressBegin_usingCDict_advanced"); RETURN_ERROR_IF(cdict==NULL, dictionary_wrong); { ZSTD_CCtx_params params = cctx->requestedParams; - params.cParams = ZSTD_getCParamsFromCDict(cdict); + params.cParams = ( pledgedSrcSize < ZSTD_USE_CDICT_PARAMS_SRCSIZE_CUTOFF + || pledgedSrcSize < cdict->dictContentSize * ZSTD_USE_CDICT_PARAMS_DICTSIZE_MULTIPLIER + || pledgedSrcSize == ZSTD_CONTENTSIZE_UNKNOWN + || cdict->compressionLevel == 0 ) + && (params.attachDictPref != ZSTD_dictForceLoad) ? + ZSTD_getCParamsFromCDict(cdict) + : ZSTD_getCParams(cdict->compressionLevel, + pledgedSrcSize, + cdict->dictContentSize); /* Increase window log to fit the entire dictionary and source if the * source size is known. Limit the increase to 19, which is the * window log for compression level 1 with the largest source size. @@ -3778,7 +3405,7 @@ size_t ZSTD_compressBegin_usingCDict_advanced( return ZSTD_compressBegin_internal(cctx, NULL, 0, ZSTD_dct_auto, ZSTD_dtlm_fast, cdict, - params, pledgedSrcSize, + ¶ms, pledgedSrcSize, ZSTDb_not_buffered); } } @@ -3869,7 +3496,7 @@ static size_t ZSTD_resetCStream_internal(ZSTD_CStream* cctx, FORWARD_IF_ERROR( ZSTD_compressBegin_internal(cctx, dict, dictSize, dictContentType, ZSTD_dtlm_fast, cdict, - params, pledgedSrcSize, + ¶ms, pledgedSrcSize, ZSTDb_buffered) ); cctx->inToCompress = 0; @@ -3903,13 +3530,14 @@ size_t ZSTD_resetCStream(ZSTD_CStream* zcs, unsigned long long pss) * Assumption 2 : either dict, or cdict, is defined, not both */ size_t ZSTD_initCStream_internal(ZSTD_CStream* zcs, const void* dict, size_t dictSize, const ZSTD_CDict* cdict, - ZSTD_CCtx_params params, unsigned long long pledgedSrcSize) + const ZSTD_CCtx_params* params, + unsigned long long pledgedSrcSize) { DEBUGLOG(4, "ZSTD_initCStream_internal"); FORWARD_IF_ERROR( ZSTD_CCtx_reset(zcs, ZSTD_reset_session_only) ); FORWARD_IF_ERROR( ZSTD_CCtx_setPledgedSrcSize(zcs, pledgedSrcSize) ); - assert(!ZSTD_isError(ZSTD_checkCParams(params.cParams))); - zcs->requestedParams = params; + assert(!ZSTD_isError(ZSTD_checkCParams(params->cParams))); + zcs->requestedParams = *params; assert(!((dict) && (cdict))); /* either dict or cdict, not both */ if (dict) { FORWARD_IF_ERROR( ZSTD_CCtx_loadDictionary(zcs, dict, dictSize) ); @@ -3948,7 +3576,7 @@ size_t ZSTD_initCStream_usingCDict(ZSTD_CStream* zcs, const ZSTD_CDict* cdict) /* ZSTD_initCStream_advanced() : * pledgedSrcSize must be exact. * if srcSize is not known at init time, use value ZSTD_CONTENTSIZE_UNKNOWN. - * dict is loaded with default parameters ZSTD_dm_auto and ZSTD_dlm_byCopy. */ + * dict is loaded with default parameters ZSTD_dct_auto and ZSTD_dlm_byCopy. */ size_t ZSTD_initCStream_advanced(ZSTD_CStream* zcs, const void* dict, size_t dictSize, ZSTD_parameters params, unsigned long long pss) @@ -3962,7 +3590,7 @@ size_t ZSTD_initCStream_advanced(ZSTD_CStream* zcs, FORWARD_IF_ERROR( ZSTD_CCtx_reset(zcs, ZSTD_reset_session_only) ); FORWARD_IF_ERROR( ZSTD_CCtx_setPledgedSrcSize(zcs, pledgedSrcSize) ); FORWARD_IF_ERROR( ZSTD_checkCParams(params.cParams) ); - zcs->requestedParams = ZSTD_assignParamsToCCtxParams(zcs->requestedParams, params); + zcs->requestedParams = ZSTD_assignParamsToCCtxParams(&zcs->requestedParams, params); FORWARD_IF_ERROR( ZSTD_CCtx_loadDictionary(zcs, dict, dictSize) ); return 0; } @@ -4212,7 +3840,7 @@ size_t ZSTD_compressStream2( ZSTD_CCtx* cctx, if (cctx->mtctx == NULL) { DEBUGLOG(4, "ZSTD_compressStream2: creating new mtctx for nbWorkers=%u", params.nbWorkers); - cctx->mtctx = ZSTDMT_createCCtx_advanced(params.nbWorkers, cctx->customMem); + cctx->mtctx = ZSTDMT_createCCtx_advanced((U32)params.nbWorkers, cctx->customMem); RETURN_ERROR_IF(cctx->mtctx == NULL, memory_allocation); } /* mt compression */ @@ -4340,8 +3968,8 @@ static const ZSTD_compressionParameters ZSTD_defaultCParameters[4][ZSTD_MAX_CLEV { 19, 12, 13, 1, 6, 1, ZSTD_fast }, /* base for negative levels */ { 19, 13, 14, 1, 7, 0, ZSTD_fast }, /* level 1 */ { 20, 15, 16, 1, 6, 0, ZSTD_fast }, /* level 2 */ - { 21, 16, 17, 1, 5, 1, ZSTD_dfast }, /* level 3 */ - { 21, 18, 18, 1, 5, 1, ZSTD_dfast }, /* level 4 */ + { 21, 16, 17, 1, 5, 0, ZSTD_dfast }, /* level 3 */ + { 21, 18, 18, 1, 5, 0, ZSTD_dfast }, /* level 4 */ { 21, 18, 19, 2, 5, 2, ZSTD_greedy }, /* level 5 */ { 21, 19, 19, 3, 5, 4, ZSTD_greedy }, /* level 6 */ { 21, 19, 19, 3, 5, 8, ZSTD_lazy }, /* level 7 */ @@ -4365,8 +3993,8 @@ static const ZSTD_compressionParameters ZSTD_defaultCParameters[4][ZSTD_MAX_CLEV /* W, C, H, S, L, T, strat */ { 18, 12, 13, 1, 5, 1, ZSTD_fast }, /* base for negative levels */ { 18, 13, 14, 1, 6, 0, ZSTD_fast }, /* level 1 */ - { 18, 14, 14, 1, 5, 1, ZSTD_dfast }, /* level 2 */ - { 18, 16, 16, 1, 4, 1, ZSTD_dfast }, /* level 3 */ + { 18, 14, 14, 1, 5, 0, ZSTD_dfast }, /* level 2 */ + { 18, 16, 16, 1, 4, 0, ZSTD_dfast }, /* level 3 */ { 18, 16, 17, 2, 5, 2, ZSTD_greedy }, /* level 4.*/ { 18, 18, 18, 3, 5, 2, ZSTD_greedy }, /* level 5.*/ { 18, 18, 19, 3, 5, 4, ZSTD_lazy }, /* level 6.*/ @@ -4392,8 +4020,8 @@ static const ZSTD_compressionParameters ZSTD_defaultCParameters[4][ZSTD_MAX_CLEV { 17, 12, 12, 1, 5, 1, ZSTD_fast }, /* base for negative levels */ { 17, 12, 13, 1, 6, 0, ZSTD_fast }, /* level 1 */ { 17, 13, 15, 1, 5, 0, ZSTD_fast }, /* level 2 */ - { 17, 15, 16, 2, 5, 1, ZSTD_dfast }, /* level 3 */ - { 17, 17, 17, 2, 4, 1, ZSTD_dfast }, /* level 4 */ + { 17, 15, 16, 2, 5, 0, ZSTD_dfast }, /* level 3 */ + { 17, 17, 17, 2, 4, 0, ZSTD_dfast }, /* level 4 */ { 17, 16, 17, 3, 4, 2, ZSTD_greedy }, /* level 5 */ { 17, 17, 17, 3, 4, 4, ZSTD_lazy }, /* level 6 */ { 17, 17, 17, 3, 4, 8, ZSTD_lazy2 }, /* level 7 */ @@ -4418,7 +4046,7 @@ static const ZSTD_compressionParameters ZSTD_defaultCParameters[4][ZSTD_MAX_CLEV { 14, 12, 13, 1, 5, 1, ZSTD_fast }, /* base for negative levels */ { 14, 14, 15, 1, 5, 0, ZSTD_fast }, /* level 1 */ { 14, 14, 15, 1, 4, 0, ZSTD_fast }, /* level 2 */ - { 14, 14, 15, 2, 4, 1, ZSTD_dfast }, /* level 3 */ + { 14, 14, 15, 2, 4, 0, ZSTD_dfast }, /* level 3 */ { 14, 14, 14, 4, 4, 2, ZSTD_greedy }, /* level 4 */ { 14, 14, 14, 3, 4, 4, ZSTD_lazy }, /* level 5.*/ { 14, 14, 14, 4, 4, 8, ZSTD_lazy2 }, /* level 6 */ diff --git a/thirdparty/zstd/compress/zstd_compress_internal.h b/thirdparty/zstd/compress/zstd_compress_internal.h index 5495899be3..14036f873f 100644 --- a/thirdparty/zstd/compress/zstd_compress_internal.h +++ b/thirdparty/zstd/compress/zstd_compress_internal.h @@ -19,6 +19,7 @@ * Dependencies ***************************************/ #include "zstd_internal.h" +#include "zstd_cwksp.h" #ifdef ZSTD_MULTITHREAD # include "zstdmt_compress.h" #endif @@ -134,9 +135,15 @@ typedef struct { typedef struct ZSTD_matchState_t ZSTD_matchState_t; struct ZSTD_matchState_t { ZSTD_window_t window; /* State for window round buffer management */ - U32 loadedDictEnd; /* index of end of dictionary, within context's referential. When dict referential is copied into active context (i.e. not attached), effectively same value as dictSize, since referential starts from zero */ + U32 loadedDictEnd; /* index of end of dictionary, within context's referential. + * When loadedDictEnd != 0, a dictionary is in use, and still valid. + * This relies on a mechanism to set loadedDictEnd=0 when dictionary is no longer within distance. + * Such mechanism is provided within ZSTD_window_enforceMaxDist() and ZSTD_checkDictValidity(). + * When dict referential is copied into active context (i.e. not attached), + * loadedDictEnd == dictSize, since referential starts from zero. + */ U32 nextToUpdate; /* index from which to continue table update */ - U32 hashLog3; /* dispatch table : larger == faster, more memory */ + U32 hashLog3; /* dispatch table for matches of len==3 : larger == faster, more memory */ U32* hashTable; U32* hashTable3; U32* chainTable; @@ -186,6 +193,13 @@ typedef struct { size_t capacity; /* The capacity starting from `seq` pointer */ } rawSeqStore_t; +typedef struct { + int collectSequences; + ZSTD_Sequence* seqStart; + size_t seqIndex; + size_t maxSequences; +} SeqCollector; + struct ZSTD_CCtx_params_s { ZSTD_format_e format; ZSTD_compressionParameters cParams; @@ -197,6 +211,9 @@ struct ZSTD_CCtx_params_s { size_t targetCBlockSize; /* Tries to fit compressed block size to be around targetCBlockSize. * No target when targetCBlockSize == 0. * There is no guarantee on compressed block size */ + int srcSizeHint; /* User's best guess of source size. + * Hint is not valid when srcSizeHint == 0. + * There is no guarantee that hint is close to actual source size */ ZSTD_dictAttachPref_e attachDictPref; ZSTD_literalCompressionMode_e literalCompressionMode; @@ -222,9 +239,7 @@ struct ZSTD_CCtx_s { ZSTD_CCtx_params appliedParams; U32 dictID; - int workSpaceOversizedDuration; - void* workSpace; - size_t workSpaceSize; + ZSTD_cwksp workspace; /* manages buffer for dynamic allocations */ size_t blockSize; unsigned long long pledgedSrcSizePlusOne; /* this way, 0 (default) == unknown */ unsigned long long consumedSrcSize; @@ -232,6 +247,8 @@ struct ZSTD_CCtx_s { XXH64_state_t xxhState; ZSTD_customMem customMem; size_t staticSize; + SeqCollector seqCollector; + int isFirstBlock; seqStore_t seqStore; /* sequences storage ptrs */ ldmState_t ldmState; /* long distance matching state */ @@ -307,26 +324,81 @@ MEM_STATIC U32 ZSTD_MLcode(U32 mlBase) return (mlBase > 127) ? ZSTD_highbit32(mlBase) + ML_deltaCode : ML_Code[mlBase]; } +/* ZSTD_cParam_withinBounds: + * @return 1 if value is within cParam bounds, + * 0 otherwise */ +MEM_STATIC int ZSTD_cParam_withinBounds(ZSTD_cParameter cParam, int value) +{ + ZSTD_bounds const bounds = ZSTD_cParam_getBounds(cParam); + if (ZSTD_isError(bounds.error)) return 0; + if (value < bounds.lowerBound) return 0; + if (value > bounds.upperBound) return 0; + return 1; +} + +/* ZSTD_minGain() : + * minimum compression required + * to generate a compress block or a compressed literals section. + * note : use same formula for both situations */ +MEM_STATIC size_t ZSTD_minGain(size_t srcSize, ZSTD_strategy strat) +{ + U32 const minlog = (strat>=ZSTD_btultra) ? (U32)(strat) - 1 : 6; + ZSTD_STATIC_ASSERT(ZSTD_btultra == 8); + assert(ZSTD_cParam_withinBounds(ZSTD_c_strategy, strat)); + return (srcSize >> minlog) + 2; +} + +/*! ZSTD_safecopyLiterals() : + * memcpy() function that won't read beyond more than WILDCOPY_OVERLENGTH bytes past ilimit_w. + * Only called when the sequence ends past ilimit_w, so it only needs to be optimized for single + * large copies. + */ +static void ZSTD_safecopyLiterals(BYTE* op, BYTE const* ip, BYTE const* const iend, BYTE const* ilimit_w) { + assert(iend > ilimit_w); + if (ip <= ilimit_w) { + ZSTD_wildcopy(op, ip, ilimit_w - ip, ZSTD_no_overlap); + op += ilimit_w - ip; + ip = ilimit_w; + } + while (ip < iend) *op++ = *ip++; +} + /*! ZSTD_storeSeq() : - * Store a sequence (literal length, literals, offset code and match length code) into seqStore_t. - * `offsetCode` : distance to match + 3 (values 1-3 are repCodes). + * Store a sequence (litlen, litPtr, offCode and mlBase) into seqStore_t. + * `offCode` : distance to match + ZSTD_REP_MOVE (values <= ZSTD_REP_MOVE are repCodes). * `mlBase` : matchLength - MINMATCH + * Allowed to overread literals up to litLimit. */ -MEM_STATIC void ZSTD_storeSeq(seqStore_t* seqStorePtr, size_t litLength, const void* literals, U32 offsetCode, size_t mlBase) +HINT_INLINE UNUSED_ATTR +void ZSTD_storeSeq(seqStore_t* seqStorePtr, size_t litLength, const BYTE* literals, const BYTE* litLimit, U32 offCode, size_t mlBase) { + BYTE const* const litLimit_w = litLimit - WILDCOPY_OVERLENGTH; + BYTE const* const litEnd = literals + litLength; #if defined(DEBUGLEVEL) && (DEBUGLEVEL >= 6) static const BYTE* g_start = NULL; if (g_start==NULL) g_start = (const BYTE*)literals; /* note : index only works for compression within a single segment */ { U32 const pos = (U32)((const BYTE*)literals - g_start); DEBUGLOG(6, "Cpos%7u :%3u literals, match%4u bytes at offCode%7u", - pos, (U32)litLength, (U32)mlBase+MINMATCH, (U32)offsetCode); + pos, (U32)litLength, (U32)mlBase+MINMATCH, (U32)offCode); } #endif assert((size_t)(seqStorePtr->sequences - seqStorePtr->sequencesStart) < seqStorePtr->maxNbSeq); /* copy Literals */ assert(seqStorePtr->maxNbLit <= 128 KB); assert(seqStorePtr->lit + litLength <= seqStorePtr->litStart + seqStorePtr->maxNbLit); - ZSTD_wildcopy(seqStorePtr->lit, literals, litLength, ZSTD_no_overlap); + assert(literals + litLength <= litLimit); + if (litEnd <= litLimit_w) { + /* Common case we can use wildcopy. + * First copy 16 bytes, because literals are likely short. + */ + assert(WILDCOPY_OVERLENGTH >= 16); + ZSTD_copy16(seqStorePtr->lit, literals); + if (litLength > 16) { + ZSTD_wildcopy(seqStorePtr->lit+16, literals+16, (ptrdiff_t)litLength-16, ZSTD_no_overlap); + } + } else { + ZSTD_safecopyLiterals(seqStorePtr->lit, literals, litEnd, litLimit_w); + } seqStorePtr->lit += litLength; /* literal Length */ @@ -338,7 +410,7 @@ MEM_STATIC void ZSTD_storeSeq(seqStore_t* seqStorePtr, size_t litLength, const v seqStorePtr->sequences[0].litLength = (U16)litLength; /* match offset */ - seqStorePtr->sequences[0].offset = offsetCode + 1; + seqStorePtr->sequences[0].offset = offCode + 1; /* match Length */ if (mlBase>0xFFFF) { @@ -739,24 +811,37 @@ ZSTD_window_enforceMaxDist(ZSTD_window_t* window, /* Similar to ZSTD_window_enforceMaxDist(), * but only invalidates dictionary - * when input progresses beyond window size. */ + * when input progresses beyond window size. + * assumption : loadedDictEndPtr and dictMatchStatePtr are valid (non NULL) + * loadedDictEnd uses same referential as window->base + * maxDist is the window size */ MEM_STATIC void -ZSTD_checkDictValidity(ZSTD_window_t* window, +ZSTD_checkDictValidity(const ZSTD_window_t* window, const void* blockEnd, U32 maxDist, U32* loadedDictEndPtr, const ZSTD_matchState_t** dictMatchStatePtr) { - U32 const blockEndIdx = (U32)((BYTE const*)blockEnd - window->base); - U32 const loadedDictEnd = (loadedDictEndPtr != NULL) ? *loadedDictEndPtr : 0; - DEBUGLOG(5, "ZSTD_checkDictValidity: blockEndIdx=%u, maxDist=%u, loadedDictEnd=%u", - (unsigned)blockEndIdx, (unsigned)maxDist, (unsigned)loadedDictEnd); - - if (loadedDictEnd && (blockEndIdx > maxDist + loadedDictEnd)) { - /* On reaching window size, dictionaries are invalidated */ - if (loadedDictEndPtr) *loadedDictEndPtr = 0; - if (dictMatchStatePtr) *dictMatchStatePtr = NULL; - } + assert(loadedDictEndPtr != NULL); + assert(dictMatchStatePtr != NULL); + { U32 const blockEndIdx = (U32)((BYTE const*)blockEnd - window->base); + U32 const loadedDictEnd = *loadedDictEndPtr; + DEBUGLOG(5, "ZSTD_checkDictValidity: blockEndIdx=%u, maxDist=%u, loadedDictEnd=%u", + (unsigned)blockEndIdx, (unsigned)maxDist, (unsigned)loadedDictEnd); + assert(blockEndIdx >= loadedDictEnd); + + if (blockEndIdx > loadedDictEnd + maxDist) { + /* On reaching window size, dictionaries are invalidated. + * For simplification, if window size is reached anywhere within next block, + * the dictionary is invalidated for the full block. + */ + DEBUGLOG(6, "invalidating dictionary for current block (distance > windowSize)"); + *loadedDictEndPtr = 0; + *dictMatchStatePtr = NULL; + } else { + if (*loadedDictEndPtr != 0) { + DEBUGLOG(6, "dictionary considered valid for current block"); + } } } } /** @@ -798,6 +883,17 @@ MEM_STATIC U32 ZSTD_window_update(ZSTD_window_t* window, return contiguous; } +MEM_STATIC U32 ZSTD_getLowestMatchIndex(const ZSTD_matchState_t* ms, U32 current, unsigned windowLog) +{ + U32 const maxDistance = 1U << windowLog; + U32 const lowestValid = ms->window.lowLimit; + U32 const withinWindow = (current - lowestValid > maxDistance) ? current - maxDistance : lowestValid; + U32 const isDictionary = (ms->loadedDictEnd != 0); + U32 const matchLowest = isDictionary ? lowestValid : withinWindow; + return matchLowest; +} + + /* debug functions */ #if (DEBUGLEVEL>=2) @@ -856,7 +952,7 @@ ZSTD_compressionParameters ZSTD_getCParamsFromCCtxParams( size_t ZSTD_initCStream_internal(ZSTD_CStream* zcs, const void* dict, size_t dictSize, const ZSTD_CDict* cdict, - ZSTD_CCtx_params params, unsigned long long pledgedSrcSize); + const ZSTD_CCtx_params* params, unsigned long long pledgedSrcSize); void ZSTD_resetSeqStore(seqStore_t* ssPtr); @@ -871,7 +967,7 @@ size_t ZSTD_compressBegin_advanced_internal(ZSTD_CCtx* cctx, ZSTD_dictContentType_e dictContentType, ZSTD_dictTableLoadMethod_e dtlm, const ZSTD_CDict* cdict, - ZSTD_CCtx_params params, + const ZSTD_CCtx_params* params, unsigned long long pledgedSrcSize); /* ZSTD_compress_advanced_internal() : @@ -880,7 +976,7 @@ size_t ZSTD_compress_advanced_internal(ZSTD_CCtx* cctx, void* dst, size_t dstCapacity, const void* src, size_t srcSize, const void* dict,size_t dictSize, - ZSTD_CCtx_params params); + const ZSTD_CCtx_params* params); /* ZSTD_writeLastEmptyBlock() : diff --git a/thirdparty/zstd/compress/zstd_compress_literals.c b/thirdparty/zstd/compress/zstd_compress_literals.c new file mode 100644 index 0000000000..6c13331182 --- /dev/null +++ b/thirdparty/zstd/compress/zstd_compress_literals.c @@ -0,0 +1,154 @@ +/* + * Copyright (c) 2016-present, Yann Collet, Facebook, Inc. + * All rights reserved. + * + * This source code is licensed under both the BSD-style license (found in the + * LICENSE file in the root directory of this source tree) and the GPLv2 (found + * in the COPYING file in the root directory of this source tree). + * You may select, at your option, one of the above-listed licenses. + */ + + /*-************************************* + * Dependencies + ***************************************/ +#include "zstd_compress_literals.h" + +size_t ZSTD_noCompressLiterals (void* dst, size_t dstCapacity, const void* src, size_t srcSize) +{ + BYTE* const ostart = (BYTE* const)dst; + U32 const flSize = 1 + (srcSize>31) + (srcSize>4095); + + RETURN_ERROR_IF(srcSize + flSize > dstCapacity, dstSize_tooSmall); + + switch(flSize) + { + case 1: /* 2 - 1 - 5 */ + ostart[0] = (BYTE)((U32)set_basic + (srcSize<<3)); + break; + case 2: /* 2 - 2 - 12 */ + MEM_writeLE16(ostart, (U16)((U32)set_basic + (1<<2) + (srcSize<<4))); + break; + case 3: /* 2 - 2 - 20 */ + MEM_writeLE32(ostart, (U32)((U32)set_basic + (3<<2) + (srcSize<<4))); + break; + default: /* not necessary : flSize is {1,2,3} */ + assert(0); + } + + memcpy(ostart + flSize, src, srcSize); + return srcSize + flSize; +} + +size_t ZSTD_compressRleLiteralsBlock (void* dst, size_t dstCapacity, const void* src, size_t srcSize) +{ + BYTE* const ostart = (BYTE* const)dst; + U32 const flSize = 1 + (srcSize>31) + (srcSize>4095); + + (void)dstCapacity; /* dstCapacity already guaranteed to be >=4, hence large enough */ + + switch(flSize) + { + case 1: /* 2 - 1 - 5 */ + ostart[0] = (BYTE)((U32)set_rle + (srcSize<<3)); + break; + case 2: /* 2 - 2 - 12 */ + MEM_writeLE16(ostart, (U16)((U32)set_rle + (1<<2) + (srcSize<<4))); + break; + case 3: /* 2 - 2 - 20 */ + MEM_writeLE32(ostart, (U32)((U32)set_rle + (3<<2) + (srcSize<<4))); + break; + default: /* not necessary : flSize is {1,2,3} */ + assert(0); + } + + ostart[flSize] = *(const BYTE*)src; + return flSize+1; +} + +size_t ZSTD_compressLiterals (ZSTD_hufCTables_t const* prevHuf, + ZSTD_hufCTables_t* nextHuf, + ZSTD_strategy strategy, int disableLiteralCompression, + void* dst, size_t dstCapacity, + const void* src, size_t srcSize, + void* entropyWorkspace, size_t entropyWorkspaceSize, + const int bmi2) +{ + size_t const minGain = ZSTD_minGain(srcSize, strategy); + size_t const lhSize = 3 + (srcSize >= 1 KB) + (srcSize >= 16 KB); + BYTE* const ostart = (BYTE*)dst; + U32 singleStream = srcSize < 256; + symbolEncodingType_e hType = set_compressed; + size_t cLitSize; + + DEBUGLOG(5,"ZSTD_compressLiterals (disableLiteralCompression=%i)", + disableLiteralCompression); + + /* Prepare nextEntropy assuming reusing the existing table */ + memcpy(nextHuf, prevHuf, sizeof(*prevHuf)); + + if (disableLiteralCompression) + return ZSTD_noCompressLiterals(dst, dstCapacity, src, srcSize); + + /* small ? don't even attempt compression (speed opt) */ +# define COMPRESS_LITERALS_SIZE_MIN 63 + { size_t const minLitSize = (prevHuf->repeatMode == HUF_repeat_valid) ? 6 : COMPRESS_LITERALS_SIZE_MIN; + if (srcSize <= minLitSize) return ZSTD_noCompressLiterals(dst, dstCapacity, src, srcSize); + } + + RETURN_ERROR_IF(dstCapacity < lhSize+1, dstSize_tooSmall, "not enough space for compression"); + { HUF_repeat repeat = prevHuf->repeatMode; + int const preferRepeat = strategy < ZSTD_lazy ? srcSize <= 1024 : 0; + if (repeat == HUF_repeat_valid && lhSize == 3) singleStream = 1; + cLitSize = singleStream ? + HUF_compress1X_repeat( + ostart+lhSize, dstCapacity-lhSize, src, srcSize, + 255, 11, entropyWorkspace, entropyWorkspaceSize, + (HUF_CElt*)nextHuf->CTable, &repeat, preferRepeat, bmi2) : + HUF_compress4X_repeat( + ostart+lhSize, dstCapacity-lhSize, src, srcSize, + 255, 11, entropyWorkspace, entropyWorkspaceSize, + (HUF_CElt*)nextHuf->CTable, &repeat, preferRepeat, bmi2); + if (repeat != HUF_repeat_none) { + /* reused the existing table */ + hType = set_repeat; + } + } + + if ((cLitSize==0) | (cLitSize >= srcSize - minGain) | ERR_isError(cLitSize)) { + memcpy(nextHuf, prevHuf, sizeof(*prevHuf)); + return ZSTD_noCompressLiterals(dst, dstCapacity, src, srcSize); + } + if (cLitSize==1) { + memcpy(nextHuf, prevHuf, sizeof(*prevHuf)); + return ZSTD_compressRleLiteralsBlock(dst, dstCapacity, src, srcSize); + } + + if (hType == set_compressed) { + /* using a newly constructed table */ + nextHuf->repeatMode = HUF_repeat_check; + } + + /* Build header */ + switch(lhSize) + { + case 3: /* 2 - 2 - 10 - 10 */ + { U32 const lhc = hType + ((!singleStream) << 2) + ((U32)srcSize<<4) + ((U32)cLitSize<<14); + MEM_writeLE24(ostart, lhc); + break; + } + case 4: /* 2 - 2 - 14 - 14 */ + { U32 const lhc = hType + (2 << 2) + ((U32)srcSize<<4) + ((U32)cLitSize<<18); + MEM_writeLE32(ostart, lhc); + break; + } + case 5: /* 2 - 2 - 18 - 18 */ + { U32 const lhc = hType + (3 << 2) + ((U32)srcSize<<4) + ((U32)cLitSize<<22); + MEM_writeLE32(ostart, lhc); + ostart[4] = (BYTE)(cLitSize >> 10); + break; + } + default: /* not possible : lhSize is {3,4,5} */ + assert(0); + } + return lhSize+cLitSize; +} diff --git a/thirdparty/zstd/compress/zstd_compress_literals.h b/thirdparty/zstd/compress/zstd_compress_literals.h new file mode 100644 index 0000000000..97273d7cfd --- /dev/null +++ b/thirdparty/zstd/compress/zstd_compress_literals.h @@ -0,0 +1,29 @@ +/* + * Copyright (c) 2016-present, Yann Collet, Facebook, Inc. + * All rights reserved. + * + * This source code is licensed under both the BSD-style license (found in the + * LICENSE file in the root directory of this source tree) and the GPLv2 (found + * in the COPYING file in the root directory of this source tree). + * You may select, at your option, one of the above-listed licenses. + */ + +#ifndef ZSTD_COMPRESS_LITERALS_H +#define ZSTD_COMPRESS_LITERALS_H + +#include "zstd_compress_internal.h" /* ZSTD_hufCTables_t, ZSTD_minGain() */ + + +size_t ZSTD_noCompressLiterals (void* dst, size_t dstCapacity, const void* src, size_t srcSize); + +size_t ZSTD_compressRleLiteralsBlock (void* dst, size_t dstCapacity, const void* src, size_t srcSize); + +size_t ZSTD_compressLiterals (ZSTD_hufCTables_t const* prevHuf, + ZSTD_hufCTables_t* nextHuf, + ZSTD_strategy strategy, int disableLiteralCompression, + void* dst, size_t dstCapacity, + const void* src, size_t srcSize, + void* entropyWorkspace, size_t entropyWorkspaceSize, + const int bmi2); + +#endif /* ZSTD_COMPRESS_LITERALS_H */ diff --git a/thirdparty/zstd/compress/zstd_compress_sequences.c b/thirdparty/zstd/compress/zstd_compress_sequences.c new file mode 100644 index 0000000000..0ff7a26823 --- /dev/null +++ b/thirdparty/zstd/compress/zstd_compress_sequences.c @@ -0,0 +1,415 @@ +/* + * Copyright (c) 2016-present, Yann Collet, Facebook, Inc. + * All rights reserved. + * + * This source code is licensed under both the BSD-style license (found in the + * LICENSE file in the root directory of this source tree) and the GPLv2 (found + * in the COPYING file in the root directory of this source tree). + * You may select, at your option, one of the above-listed licenses. + */ + + /*-************************************* + * Dependencies + ***************************************/ +#include "zstd_compress_sequences.h" + +/** + * -log2(x / 256) lookup table for x in [0, 256). + * If x == 0: Return 0 + * Else: Return floor(-log2(x / 256) * 256) + */ +static unsigned const kInverseProbabilityLog256[256] = { + 0, 2048, 1792, 1642, 1536, 1453, 1386, 1329, 1280, 1236, 1197, 1162, + 1130, 1100, 1073, 1047, 1024, 1001, 980, 960, 941, 923, 906, 889, + 874, 859, 844, 830, 817, 804, 791, 779, 768, 756, 745, 734, + 724, 714, 704, 694, 685, 676, 667, 658, 650, 642, 633, 626, + 618, 610, 603, 595, 588, 581, 574, 567, 561, 554, 548, 542, + 535, 529, 523, 517, 512, 506, 500, 495, 489, 484, 478, 473, + 468, 463, 458, 453, 448, 443, 438, 434, 429, 424, 420, 415, + 411, 407, 402, 398, 394, 390, 386, 382, 377, 373, 370, 366, + 362, 358, 354, 350, 347, 343, 339, 336, 332, 329, 325, 322, + 318, 315, 311, 308, 305, 302, 298, 295, 292, 289, 286, 282, + 279, 276, 273, 270, 267, 264, 261, 258, 256, 253, 250, 247, + 244, 241, 239, 236, 233, 230, 228, 225, 222, 220, 217, 215, + 212, 209, 207, 204, 202, 199, 197, 194, 192, 190, 187, 185, + 182, 180, 178, 175, 173, 171, 168, 166, 164, 162, 159, 157, + 155, 153, 151, 149, 146, 144, 142, 140, 138, 136, 134, 132, + 130, 128, 126, 123, 121, 119, 117, 115, 114, 112, 110, 108, + 106, 104, 102, 100, 98, 96, 94, 93, 91, 89, 87, 85, + 83, 82, 80, 78, 76, 74, 73, 71, 69, 67, 66, 64, + 62, 61, 59, 57, 55, 54, 52, 50, 49, 47, 46, 44, + 42, 41, 39, 37, 36, 34, 33, 31, 30, 28, 26, 25, + 23, 22, 20, 19, 17, 16, 14, 13, 11, 10, 8, 7, + 5, 4, 2, 1, +}; + +static unsigned ZSTD_getFSEMaxSymbolValue(FSE_CTable const* ctable) { + void const* ptr = ctable; + U16 const* u16ptr = (U16 const*)ptr; + U32 const maxSymbolValue = MEM_read16(u16ptr + 1); + return maxSymbolValue; +} + +/** + * Returns the cost in bytes of encoding the normalized count header. + * Returns an error if any of the helper functions return an error. + */ +static size_t ZSTD_NCountCost(unsigned const* count, unsigned const max, + size_t const nbSeq, unsigned const FSELog) +{ + BYTE wksp[FSE_NCOUNTBOUND]; + S16 norm[MaxSeq + 1]; + const U32 tableLog = FSE_optimalTableLog(FSELog, nbSeq, max); + FORWARD_IF_ERROR(FSE_normalizeCount(norm, tableLog, count, nbSeq, max)); + return FSE_writeNCount(wksp, sizeof(wksp), norm, max, tableLog); +} + +/** + * Returns the cost in bits of encoding the distribution described by count + * using the entropy bound. + */ +static size_t ZSTD_entropyCost(unsigned const* count, unsigned const max, size_t const total) +{ + unsigned cost = 0; + unsigned s; + for (s = 0; s <= max; ++s) { + unsigned norm = (unsigned)((256 * count[s]) / total); + if (count[s] != 0 && norm == 0) + norm = 1; + assert(count[s] < total); + cost += count[s] * kInverseProbabilityLog256[norm]; + } + return cost >> 8; +} + +/** + * Returns the cost in bits of encoding the distribution in count using ctable. + * Returns an error if ctable cannot represent all the symbols in count. + */ +static size_t ZSTD_fseBitCost( + FSE_CTable const* ctable, + unsigned const* count, + unsigned const max) +{ + unsigned const kAccuracyLog = 8; + size_t cost = 0; + unsigned s; + FSE_CState_t cstate; + FSE_initCState(&cstate, ctable); + RETURN_ERROR_IF(ZSTD_getFSEMaxSymbolValue(ctable) < max, GENERIC, + "Repeat FSE_CTable has maxSymbolValue %u < %u", + ZSTD_getFSEMaxSymbolValue(ctable), max); + for (s = 0; s <= max; ++s) { + unsigned const tableLog = cstate.stateLog; + unsigned const badCost = (tableLog + 1) << kAccuracyLog; + unsigned const bitCost = FSE_bitCost(cstate.symbolTT, tableLog, s, kAccuracyLog); + if (count[s] == 0) + continue; + RETURN_ERROR_IF(bitCost >= badCost, GENERIC, + "Repeat FSE_CTable has Prob[%u] == 0", s); + cost += count[s] * bitCost; + } + return cost >> kAccuracyLog; +} + +/** + * Returns the cost in bits of encoding the distribution in count using the + * table described by norm. The max symbol support by norm is assumed >= max. + * norm must be valid for every symbol with non-zero probability in count. + */ +static size_t ZSTD_crossEntropyCost(short const* norm, unsigned accuracyLog, + unsigned const* count, unsigned const max) +{ + unsigned const shift = 8 - accuracyLog; + size_t cost = 0; + unsigned s; + assert(accuracyLog <= 8); + for (s = 0; s <= max; ++s) { + unsigned const normAcc = norm[s] != -1 ? norm[s] : 1; + unsigned const norm256 = normAcc << shift; + assert(norm256 > 0); + assert(norm256 < 256); + cost += count[s] * kInverseProbabilityLog256[norm256]; + } + return cost >> 8; +} + +symbolEncodingType_e +ZSTD_selectEncodingType( + FSE_repeat* repeatMode, unsigned const* count, unsigned const max, + size_t const mostFrequent, size_t nbSeq, unsigned const FSELog, + FSE_CTable const* prevCTable, + short const* defaultNorm, U32 defaultNormLog, + ZSTD_defaultPolicy_e const isDefaultAllowed, + ZSTD_strategy const strategy) +{ + ZSTD_STATIC_ASSERT(ZSTD_defaultDisallowed == 0 && ZSTD_defaultAllowed != 0); + if (mostFrequent == nbSeq) { + *repeatMode = FSE_repeat_none; + if (isDefaultAllowed && nbSeq <= 2) { + /* Prefer set_basic over set_rle when there are 2 or less symbols, + * since RLE uses 1 byte, but set_basic uses 5-6 bits per symbol. + * If basic encoding isn't possible, always choose RLE. + */ + DEBUGLOG(5, "Selected set_basic"); + return set_basic; + } + DEBUGLOG(5, "Selected set_rle"); + return set_rle; + } + if (strategy < ZSTD_lazy) { + if (isDefaultAllowed) { + size_t const staticFse_nbSeq_max = 1000; + size_t const mult = 10 - strategy; + size_t const baseLog = 3; + size_t const dynamicFse_nbSeq_min = (((size_t)1 << defaultNormLog) * mult) >> baseLog; /* 28-36 for offset, 56-72 for lengths */ + assert(defaultNormLog >= 5 && defaultNormLog <= 6); /* xx_DEFAULTNORMLOG */ + assert(mult <= 9 && mult >= 7); + if ( (*repeatMode == FSE_repeat_valid) + && (nbSeq < staticFse_nbSeq_max) ) { + DEBUGLOG(5, "Selected set_repeat"); + return set_repeat; + } + if ( (nbSeq < dynamicFse_nbSeq_min) + || (mostFrequent < (nbSeq >> (defaultNormLog-1))) ) { + DEBUGLOG(5, "Selected set_basic"); + /* The format allows default tables to be repeated, but it isn't useful. + * When using simple heuristics to select encoding type, we don't want + * to confuse these tables with dictionaries. When running more careful + * analysis, we don't need to waste time checking both repeating tables + * and default tables. + */ + *repeatMode = FSE_repeat_none; + return set_basic; + } + } + } else { + size_t const basicCost = isDefaultAllowed ? ZSTD_crossEntropyCost(defaultNorm, defaultNormLog, count, max) : ERROR(GENERIC); + size_t const repeatCost = *repeatMode != FSE_repeat_none ? ZSTD_fseBitCost(prevCTable, count, max) : ERROR(GENERIC); + size_t const NCountCost = ZSTD_NCountCost(count, max, nbSeq, FSELog); + size_t const compressedCost = (NCountCost << 3) + ZSTD_entropyCost(count, max, nbSeq); + + if (isDefaultAllowed) { + assert(!ZSTD_isError(basicCost)); + assert(!(*repeatMode == FSE_repeat_valid && ZSTD_isError(repeatCost))); + } + assert(!ZSTD_isError(NCountCost)); + assert(compressedCost < ERROR(maxCode)); + DEBUGLOG(5, "Estimated bit costs: basic=%u\trepeat=%u\tcompressed=%u", + (unsigned)basicCost, (unsigned)repeatCost, (unsigned)compressedCost); + if (basicCost <= repeatCost && basicCost <= compressedCost) { + DEBUGLOG(5, "Selected set_basic"); + assert(isDefaultAllowed); + *repeatMode = FSE_repeat_none; + return set_basic; + } + if (repeatCost <= compressedCost) { + DEBUGLOG(5, "Selected set_repeat"); + assert(!ZSTD_isError(repeatCost)); + return set_repeat; + } + assert(compressedCost < basicCost && compressedCost < repeatCost); + } + DEBUGLOG(5, "Selected set_compressed"); + *repeatMode = FSE_repeat_check; + return set_compressed; +} + +size_t +ZSTD_buildCTable(void* dst, size_t dstCapacity, + FSE_CTable* nextCTable, U32 FSELog, symbolEncodingType_e type, + unsigned* count, U32 max, + const BYTE* codeTable, size_t nbSeq, + const S16* defaultNorm, U32 defaultNormLog, U32 defaultMax, + const FSE_CTable* prevCTable, size_t prevCTableSize, + void* entropyWorkspace, size_t entropyWorkspaceSize) +{ + BYTE* op = (BYTE*)dst; + const BYTE* const oend = op + dstCapacity; + DEBUGLOG(6, "ZSTD_buildCTable (dstCapacity=%u)", (unsigned)dstCapacity); + + switch (type) { + case set_rle: + FORWARD_IF_ERROR(FSE_buildCTable_rle(nextCTable, (BYTE)max)); + RETURN_ERROR_IF(dstCapacity==0, dstSize_tooSmall); + *op = codeTable[0]; + return 1; + case set_repeat: + memcpy(nextCTable, prevCTable, prevCTableSize); + return 0; + case set_basic: + FORWARD_IF_ERROR(FSE_buildCTable_wksp(nextCTable, defaultNorm, defaultMax, defaultNormLog, entropyWorkspace, entropyWorkspaceSize)); /* note : could be pre-calculated */ + return 0; + case set_compressed: { + S16 norm[MaxSeq + 1]; + size_t nbSeq_1 = nbSeq; + const U32 tableLog = FSE_optimalTableLog(FSELog, nbSeq, max); + if (count[codeTable[nbSeq-1]] > 1) { + count[codeTable[nbSeq-1]]--; + nbSeq_1--; + } + assert(nbSeq_1 > 1); + FORWARD_IF_ERROR(FSE_normalizeCount(norm, tableLog, count, nbSeq_1, max)); + { size_t const NCountSize = FSE_writeNCount(op, oend - op, norm, max, tableLog); /* overflow protected */ + FORWARD_IF_ERROR(NCountSize); + FORWARD_IF_ERROR(FSE_buildCTable_wksp(nextCTable, norm, max, tableLog, entropyWorkspace, entropyWorkspaceSize)); + return NCountSize; + } + } + default: assert(0); RETURN_ERROR(GENERIC); + } +} + +FORCE_INLINE_TEMPLATE size_t +ZSTD_encodeSequences_body( + void* dst, size_t dstCapacity, + FSE_CTable const* CTable_MatchLength, BYTE const* mlCodeTable, + FSE_CTable const* CTable_OffsetBits, BYTE const* ofCodeTable, + FSE_CTable const* CTable_LitLength, BYTE const* llCodeTable, + seqDef const* sequences, size_t nbSeq, int longOffsets) +{ + BIT_CStream_t blockStream; + FSE_CState_t stateMatchLength; + FSE_CState_t stateOffsetBits; + FSE_CState_t stateLitLength; + + RETURN_ERROR_IF( + ERR_isError(BIT_initCStream(&blockStream, dst, dstCapacity)), + dstSize_tooSmall, "not enough space remaining"); + DEBUGLOG(6, "available space for bitstream : %i (dstCapacity=%u)", + (int)(blockStream.endPtr - blockStream.startPtr), + (unsigned)dstCapacity); + + /* first symbols */ + FSE_initCState2(&stateMatchLength, CTable_MatchLength, mlCodeTable[nbSeq-1]); + FSE_initCState2(&stateOffsetBits, CTable_OffsetBits, ofCodeTable[nbSeq-1]); + FSE_initCState2(&stateLitLength, CTable_LitLength, llCodeTable[nbSeq-1]); + BIT_addBits(&blockStream, sequences[nbSeq-1].litLength, LL_bits[llCodeTable[nbSeq-1]]); + if (MEM_32bits()) BIT_flushBits(&blockStream); + BIT_addBits(&blockStream, sequences[nbSeq-1].matchLength, ML_bits[mlCodeTable[nbSeq-1]]); + if (MEM_32bits()) BIT_flushBits(&blockStream); + if (longOffsets) { + U32 const ofBits = ofCodeTable[nbSeq-1]; + int const extraBits = ofBits - MIN(ofBits, STREAM_ACCUMULATOR_MIN-1); + if (extraBits) { + BIT_addBits(&blockStream, sequences[nbSeq-1].offset, extraBits); + BIT_flushBits(&blockStream); + } + BIT_addBits(&blockStream, sequences[nbSeq-1].offset >> extraBits, + ofBits - extraBits); + } else { + BIT_addBits(&blockStream, sequences[nbSeq-1].offset, ofCodeTable[nbSeq-1]); + } + BIT_flushBits(&blockStream); + + { size_t n; + for (n=nbSeq-2 ; n<nbSeq ; n--) { /* intentional underflow */ + BYTE const llCode = llCodeTable[n]; + BYTE const ofCode = ofCodeTable[n]; + BYTE const mlCode = mlCodeTable[n]; + U32 const llBits = LL_bits[llCode]; + U32 const ofBits = ofCode; + U32 const mlBits = ML_bits[mlCode]; + DEBUGLOG(6, "encoding: litlen:%2u - matchlen:%2u - offCode:%7u", + (unsigned)sequences[n].litLength, + (unsigned)sequences[n].matchLength + MINMATCH, + (unsigned)sequences[n].offset); + /* 32b*/ /* 64b*/ + /* (7)*/ /* (7)*/ + FSE_encodeSymbol(&blockStream, &stateOffsetBits, ofCode); /* 15 */ /* 15 */ + FSE_encodeSymbol(&blockStream, &stateMatchLength, mlCode); /* 24 */ /* 24 */ + if (MEM_32bits()) BIT_flushBits(&blockStream); /* (7)*/ + FSE_encodeSymbol(&blockStream, &stateLitLength, llCode); /* 16 */ /* 33 */ + if (MEM_32bits() || (ofBits+mlBits+llBits >= 64-7-(LLFSELog+MLFSELog+OffFSELog))) + BIT_flushBits(&blockStream); /* (7)*/ + BIT_addBits(&blockStream, sequences[n].litLength, llBits); + if (MEM_32bits() && ((llBits+mlBits)>24)) BIT_flushBits(&blockStream); + BIT_addBits(&blockStream, sequences[n].matchLength, mlBits); + if (MEM_32bits() || (ofBits+mlBits+llBits > 56)) BIT_flushBits(&blockStream); + if (longOffsets) { + int const extraBits = ofBits - MIN(ofBits, STREAM_ACCUMULATOR_MIN-1); + if (extraBits) { + BIT_addBits(&blockStream, sequences[n].offset, extraBits); + BIT_flushBits(&blockStream); /* (7)*/ + } + BIT_addBits(&blockStream, sequences[n].offset >> extraBits, + ofBits - extraBits); /* 31 */ + } else { + BIT_addBits(&blockStream, sequences[n].offset, ofBits); /* 31 */ + } + BIT_flushBits(&blockStream); /* (7)*/ + DEBUGLOG(7, "remaining space : %i", (int)(blockStream.endPtr - blockStream.ptr)); + } } + + DEBUGLOG(6, "ZSTD_encodeSequences: flushing ML state with %u bits", stateMatchLength.stateLog); + FSE_flushCState(&blockStream, &stateMatchLength); + DEBUGLOG(6, "ZSTD_encodeSequences: flushing Off state with %u bits", stateOffsetBits.stateLog); + FSE_flushCState(&blockStream, &stateOffsetBits); + DEBUGLOG(6, "ZSTD_encodeSequences: flushing LL state with %u bits", stateLitLength.stateLog); + FSE_flushCState(&blockStream, &stateLitLength); + + { size_t const streamSize = BIT_closeCStream(&blockStream); + RETURN_ERROR_IF(streamSize==0, dstSize_tooSmall, "not enough space"); + return streamSize; + } +} + +static size_t +ZSTD_encodeSequences_default( + void* dst, size_t dstCapacity, + FSE_CTable const* CTable_MatchLength, BYTE const* mlCodeTable, + FSE_CTable const* CTable_OffsetBits, BYTE const* ofCodeTable, + FSE_CTable const* CTable_LitLength, BYTE const* llCodeTable, + seqDef const* sequences, size_t nbSeq, int longOffsets) +{ + return ZSTD_encodeSequences_body(dst, dstCapacity, + CTable_MatchLength, mlCodeTable, + CTable_OffsetBits, ofCodeTable, + CTable_LitLength, llCodeTable, + sequences, nbSeq, longOffsets); +} + + +#if DYNAMIC_BMI2 + +static TARGET_ATTRIBUTE("bmi2") size_t +ZSTD_encodeSequences_bmi2( + void* dst, size_t dstCapacity, + FSE_CTable const* CTable_MatchLength, BYTE const* mlCodeTable, + FSE_CTable const* CTable_OffsetBits, BYTE const* ofCodeTable, + FSE_CTable const* CTable_LitLength, BYTE const* llCodeTable, + seqDef const* sequences, size_t nbSeq, int longOffsets) +{ + return ZSTD_encodeSequences_body(dst, dstCapacity, + CTable_MatchLength, mlCodeTable, + CTable_OffsetBits, ofCodeTable, + CTable_LitLength, llCodeTable, + sequences, nbSeq, longOffsets); +} + +#endif + +size_t ZSTD_encodeSequences( + void* dst, size_t dstCapacity, + FSE_CTable const* CTable_MatchLength, BYTE const* mlCodeTable, + FSE_CTable const* CTable_OffsetBits, BYTE const* ofCodeTable, + FSE_CTable const* CTable_LitLength, BYTE const* llCodeTable, + seqDef const* sequences, size_t nbSeq, int longOffsets, int bmi2) +{ + DEBUGLOG(5, "ZSTD_encodeSequences: dstCapacity = %u", (unsigned)dstCapacity); +#if DYNAMIC_BMI2 + if (bmi2) { + return ZSTD_encodeSequences_bmi2(dst, dstCapacity, + CTable_MatchLength, mlCodeTable, + CTable_OffsetBits, ofCodeTable, + CTable_LitLength, llCodeTable, + sequences, nbSeq, longOffsets); + } +#endif + (void)bmi2; + return ZSTD_encodeSequences_default(dst, dstCapacity, + CTable_MatchLength, mlCodeTable, + CTable_OffsetBits, ofCodeTable, + CTable_LitLength, llCodeTable, + sequences, nbSeq, longOffsets); +} diff --git a/thirdparty/zstd/compress/zstd_compress_sequences.h b/thirdparty/zstd/compress/zstd_compress_sequences.h new file mode 100644 index 0000000000..57e8e367b0 --- /dev/null +++ b/thirdparty/zstd/compress/zstd_compress_sequences.h @@ -0,0 +1,47 @@ +/* + * Copyright (c) 2016-present, Yann Collet, Facebook, Inc. + * All rights reserved. + * + * This source code is licensed under both the BSD-style license (found in the + * LICENSE file in the root directory of this source tree) and the GPLv2 (found + * in the COPYING file in the root directory of this source tree). + * You may select, at your option, one of the above-listed licenses. + */ + +#ifndef ZSTD_COMPRESS_SEQUENCES_H +#define ZSTD_COMPRESS_SEQUENCES_H + +#include "fse.h" /* FSE_repeat, FSE_CTable */ +#include "zstd_internal.h" /* symbolEncodingType_e, ZSTD_strategy */ + +typedef enum { + ZSTD_defaultDisallowed = 0, + ZSTD_defaultAllowed = 1 +} ZSTD_defaultPolicy_e; + +symbolEncodingType_e +ZSTD_selectEncodingType( + FSE_repeat* repeatMode, unsigned const* count, unsigned const max, + size_t const mostFrequent, size_t nbSeq, unsigned const FSELog, + FSE_CTable const* prevCTable, + short const* defaultNorm, U32 defaultNormLog, + ZSTD_defaultPolicy_e const isDefaultAllowed, + ZSTD_strategy const strategy); + +size_t +ZSTD_buildCTable(void* dst, size_t dstCapacity, + FSE_CTable* nextCTable, U32 FSELog, symbolEncodingType_e type, + unsigned* count, U32 max, + const BYTE* codeTable, size_t nbSeq, + const S16* defaultNorm, U32 defaultNormLog, U32 defaultMax, + const FSE_CTable* prevCTable, size_t prevCTableSize, + void* entropyWorkspace, size_t entropyWorkspaceSize); + +size_t ZSTD_encodeSequences( + void* dst, size_t dstCapacity, + FSE_CTable const* CTable_MatchLength, BYTE const* mlCodeTable, + FSE_CTable const* CTable_OffsetBits, BYTE const* ofCodeTable, + FSE_CTable const* CTable_LitLength, BYTE const* llCodeTable, + seqDef const* sequences, size_t nbSeq, int longOffsets, int bmi2); + +#endif /* ZSTD_COMPRESS_SEQUENCES_H */ diff --git a/thirdparty/zstd/compress/zstd_cwksp.h b/thirdparty/zstd/compress/zstd_cwksp.h new file mode 100644 index 0000000000..fc9765bd3f --- /dev/null +++ b/thirdparty/zstd/compress/zstd_cwksp.h @@ -0,0 +1,535 @@ +/* + * Copyright (c) 2016-present, Yann Collet, Facebook, Inc. + * All rights reserved. + * + * This source code is licensed under both the BSD-style license (found in the + * LICENSE file in the root directory of this source tree) and the GPLv2 (found + * in the COPYING file in the root directory of this source tree). + * You may select, at your option, one of the above-listed licenses. + */ + +#ifndef ZSTD_CWKSP_H +#define ZSTD_CWKSP_H + +/*-************************************* +* Dependencies +***************************************/ +#include "zstd_internal.h" + +#if defined (__cplusplus) +extern "C" { +#endif + +/*-************************************* +* Constants +***************************************/ + +/* define "workspace is too large" as this number of times larger than needed */ +#define ZSTD_WORKSPACETOOLARGE_FACTOR 3 + +/* when workspace is continuously too large + * during at least this number of times, + * context's memory usage is considered wasteful, + * because it's sized to handle a worst case scenario which rarely happens. + * In which case, resize it down to free some memory */ +#define ZSTD_WORKSPACETOOLARGE_MAXDURATION 128 + +/* Since the workspace is effectively its own little malloc implementation / + * arena, when we run under ASAN, we should similarly insert redzones between + * each internal element of the workspace, so ASAN will catch overruns that + * reach outside an object but that stay inside the workspace. + * + * This defines the size of that redzone. + */ +#ifndef ZSTD_CWKSP_ASAN_REDZONE_SIZE +#define ZSTD_CWKSP_ASAN_REDZONE_SIZE 128 +#endif + +/*-************************************* +* Structures +***************************************/ +typedef enum { + ZSTD_cwksp_alloc_objects, + ZSTD_cwksp_alloc_buffers, + ZSTD_cwksp_alloc_aligned +} ZSTD_cwksp_alloc_phase_e; + +/** + * Zstd fits all its internal datastructures into a single continuous buffer, + * so that it only needs to perform a single OS allocation (or so that a buffer + * can be provided to it and it can perform no allocations at all). This buffer + * is called the workspace. + * + * Several optimizations complicate that process of allocating memory ranges + * from this workspace for each internal datastructure: + * + * - These different internal datastructures have different setup requirements: + * + * - The static objects need to be cleared once and can then be trivially + * reused for each compression. + * + * - Various buffers don't need to be initialized at all--they are always + * written into before they're read. + * + * - The matchstate tables have a unique requirement that they don't need + * their memory to be totally cleared, but they do need the memory to have + * some bound, i.e., a guarantee that all values in the memory they've been + * allocated is less than some maximum value (which is the starting value + * for the indices that they will then use for compression). When this + * guarantee is provided to them, they can use the memory without any setup + * work. When it can't, they have to clear the area. + * + * - These buffers also have different alignment requirements. + * + * - We would like to reuse the objects in the workspace for multiple + * compressions without having to perform any expensive reallocation or + * reinitialization work. + * + * - We would like to be able to efficiently reuse the workspace across + * multiple compressions **even when the compression parameters change** and + * we need to resize some of the objects (where possible). + * + * To attempt to manage this buffer, given these constraints, the ZSTD_cwksp + * abstraction was created. It works as follows: + * + * Workspace Layout: + * + * [ ... workspace ... ] + * [objects][tables ... ->] free space [<- ... aligned][<- ... buffers] + * + * The various objects that live in the workspace are divided into the + * following categories, and are allocated separately: + * + * - Static objects: this is optionally the enclosing ZSTD_CCtx or ZSTD_CDict, + * so that literally everything fits in a single buffer. Note: if present, + * this must be the first object in the workspace, since ZSTD_free{CCtx, + * CDict}() rely on a pointer comparison to see whether one or two frees are + * required. + * + * - Fixed size objects: these are fixed-size, fixed-count objects that are + * nonetheless "dynamically" allocated in the workspace so that we can + * control how they're initialized separately from the broader ZSTD_CCtx. + * Examples: + * - Entropy Workspace + * - 2 x ZSTD_compressedBlockState_t + * - CDict dictionary contents + * + * - Tables: these are any of several different datastructures (hash tables, + * chain tables, binary trees) that all respect a common format: they are + * uint32_t arrays, all of whose values are between 0 and (nextSrc - base). + * Their sizes depend on the cparams. + * + * - Aligned: these buffers are used for various purposes that require 4 byte + * alignment, but don't require any initialization before they're used. + * + * - Buffers: these buffers are used for various purposes that don't require + * any alignment or initialization before they're used. This means they can + * be moved around at no cost for a new compression. + * + * Allocating Memory: + * + * The various types of objects must be allocated in order, so they can be + * correctly packed into the workspace buffer. That order is: + * + * 1. Objects + * 2. Buffers + * 3. Aligned + * 4. Tables + * + * Attempts to reserve objects of different types out of order will fail. + */ +typedef struct { + void* workspace; + void* workspaceEnd; + + void* objectEnd; + void* tableEnd; + void* tableValidEnd; + void* allocStart; + + int allocFailed; + int workspaceOversizedDuration; + ZSTD_cwksp_alloc_phase_e phase; +} ZSTD_cwksp; + +/*-************************************* +* Functions +***************************************/ + +MEM_STATIC size_t ZSTD_cwksp_available_space(ZSTD_cwksp* ws); + +MEM_STATIC void ZSTD_cwksp_assert_internal_consistency(ZSTD_cwksp* ws) { + (void)ws; + assert(ws->workspace <= ws->objectEnd); + assert(ws->objectEnd <= ws->tableEnd); + assert(ws->objectEnd <= ws->tableValidEnd); + assert(ws->tableEnd <= ws->allocStart); + assert(ws->tableValidEnd <= ws->allocStart); + assert(ws->allocStart <= ws->workspaceEnd); +} + +/** + * Align must be a power of 2. + */ +MEM_STATIC size_t ZSTD_cwksp_align(size_t size, size_t const align) { + size_t const mask = align - 1; + assert((align & mask) == 0); + return (size + mask) & ~mask; +} + +/** + * Use this to determine how much space in the workspace we will consume to + * allocate this object. (Normally it should be exactly the size of the object, + * but under special conditions, like ASAN, where we pad each object, it might + * be larger.) + * + * Since tables aren't currently redzoned, you don't need to call through this + * to figure out how much space you need for the matchState tables. Everything + * else is though. + */ +MEM_STATIC size_t ZSTD_cwksp_alloc_size(size_t size) { +#if defined (ADDRESS_SANITIZER) && !defined (ZSTD_ASAN_DONT_POISON_WORKSPACE) + return size + 2 * ZSTD_CWKSP_ASAN_REDZONE_SIZE; +#else + return size; +#endif +} + +MEM_STATIC void ZSTD_cwksp_internal_advance_phase( + ZSTD_cwksp* ws, ZSTD_cwksp_alloc_phase_e phase) { + assert(phase >= ws->phase); + if (phase > ws->phase) { + if (ws->phase < ZSTD_cwksp_alloc_buffers && + phase >= ZSTD_cwksp_alloc_buffers) { + ws->tableValidEnd = ws->objectEnd; + } + if (ws->phase < ZSTD_cwksp_alloc_aligned && + phase >= ZSTD_cwksp_alloc_aligned) { + /* If unaligned allocations down from a too-large top have left us + * unaligned, we need to realign our alloc ptr. Technically, this + * can consume space that is unaccounted for in the neededSpace + * calculation. However, I believe this can only happen when the + * workspace is too large, and specifically when it is too large + * by a larger margin than the space that will be consumed. */ + /* TODO: cleaner, compiler warning friendly way to do this??? */ + ws->allocStart = (BYTE*)ws->allocStart - ((size_t)ws->allocStart & (sizeof(U32)-1)); + if (ws->allocStart < ws->tableValidEnd) { + ws->tableValidEnd = ws->allocStart; + } + } + ws->phase = phase; + } +} + +/** + * Returns whether this object/buffer/etc was allocated in this workspace. + */ +MEM_STATIC int ZSTD_cwksp_owns_buffer(const ZSTD_cwksp* ws, const void* ptr) { + return (ptr != NULL) && (ws->workspace <= ptr) && (ptr <= ws->workspaceEnd); +} + +/** + * Internal function. Do not use directly. + */ +MEM_STATIC void* ZSTD_cwksp_reserve_internal( + ZSTD_cwksp* ws, size_t bytes, ZSTD_cwksp_alloc_phase_e phase) { + void* alloc; + void* bottom = ws->tableEnd; + ZSTD_cwksp_internal_advance_phase(ws, phase); + alloc = (BYTE *)ws->allocStart - bytes; + +#if defined (ADDRESS_SANITIZER) && !defined (ZSTD_ASAN_DONT_POISON_WORKSPACE) + /* over-reserve space */ + alloc = (BYTE *)alloc - 2 * ZSTD_CWKSP_ASAN_REDZONE_SIZE; +#endif + + DEBUGLOG(5, "cwksp: reserving %p %zd bytes, %zd bytes remaining", + alloc, bytes, ZSTD_cwksp_available_space(ws) - bytes); + ZSTD_cwksp_assert_internal_consistency(ws); + assert(alloc >= bottom); + if (alloc < bottom) { + DEBUGLOG(4, "cwksp: alloc failed!"); + ws->allocFailed = 1; + return NULL; + } + if (alloc < ws->tableValidEnd) { + ws->tableValidEnd = alloc; + } + ws->allocStart = alloc; + +#if defined (ADDRESS_SANITIZER) && !defined (ZSTD_ASAN_DONT_POISON_WORKSPACE) + /* Move alloc so there's ZSTD_CWKSP_ASAN_REDZONE_SIZE unused space on + * either size. */ + alloc = (BYTE *)alloc + ZSTD_CWKSP_ASAN_REDZONE_SIZE; + __asan_unpoison_memory_region(alloc, bytes); +#endif + + return alloc; +} + +/** + * Reserves and returns unaligned memory. + */ +MEM_STATIC BYTE* ZSTD_cwksp_reserve_buffer(ZSTD_cwksp* ws, size_t bytes) { + return (BYTE*)ZSTD_cwksp_reserve_internal(ws, bytes, ZSTD_cwksp_alloc_buffers); +} + +/** + * Reserves and returns memory sized on and aligned on sizeof(unsigned). + */ +MEM_STATIC void* ZSTD_cwksp_reserve_aligned(ZSTD_cwksp* ws, size_t bytes) { + assert((bytes & (sizeof(U32)-1)) == 0); + return ZSTD_cwksp_reserve_internal(ws, ZSTD_cwksp_align(bytes, sizeof(U32)), ZSTD_cwksp_alloc_aligned); +} + +/** + * Aligned on sizeof(unsigned). These buffers have the special property that + * their values remain constrained, allowing us to re-use them without + * memset()-ing them. + */ +MEM_STATIC void* ZSTD_cwksp_reserve_table(ZSTD_cwksp* ws, size_t bytes) { + const ZSTD_cwksp_alloc_phase_e phase = ZSTD_cwksp_alloc_aligned; + void* alloc = ws->tableEnd; + void* end = (BYTE *)alloc + bytes; + void* top = ws->allocStart; + + DEBUGLOG(5, "cwksp: reserving %p table %zd bytes, %zd bytes remaining", + alloc, bytes, ZSTD_cwksp_available_space(ws) - bytes); + assert((bytes & (sizeof(U32)-1)) == 0); + ZSTD_cwksp_internal_advance_phase(ws, phase); + ZSTD_cwksp_assert_internal_consistency(ws); + assert(end <= top); + if (end > top) { + DEBUGLOG(4, "cwksp: table alloc failed!"); + ws->allocFailed = 1; + return NULL; + } + ws->tableEnd = end; + +#if defined (ADDRESS_SANITIZER) && !defined (ZSTD_ASAN_DONT_POISON_WORKSPACE) + __asan_unpoison_memory_region(alloc, bytes); +#endif + + return alloc; +} + +/** + * Aligned on sizeof(void*). + */ +MEM_STATIC void* ZSTD_cwksp_reserve_object(ZSTD_cwksp* ws, size_t bytes) { + size_t roundedBytes = ZSTD_cwksp_align(bytes, sizeof(void*)); + void* alloc = ws->objectEnd; + void* end = (BYTE*)alloc + roundedBytes; + +#if defined (ADDRESS_SANITIZER) && !defined (ZSTD_ASAN_DONT_POISON_WORKSPACE) + /* over-reserve space */ + end = (BYTE *)end + 2 * ZSTD_CWKSP_ASAN_REDZONE_SIZE; +#endif + + DEBUGLOG(5, + "cwksp: reserving %p object %zd bytes (rounded to %zd), %zd bytes remaining", + alloc, bytes, roundedBytes, ZSTD_cwksp_available_space(ws) - roundedBytes); + assert(((size_t)alloc & (sizeof(void*)-1)) == 0); + assert((bytes & (sizeof(void*)-1)) == 0); + ZSTD_cwksp_assert_internal_consistency(ws); + /* we must be in the first phase, no advance is possible */ + if (ws->phase != ZSTD_cwksp_alloc_objects || end > ws->workspaceEnd) { + DEBUGLOG(4, "cwksp: object alloc failed!"); + ws->allocFailed = 1; + return NULL; + } + ws->objectEnd = end; + ws->tableEnd = end; + ws->tableValidEnd = end; + +#if defined (ADDRESS_SANITIZER) && !defined (ZSTD_ASAN_DONT_POISON_WORKSPACE) + /* Move alloc so there's ZSTD_CWKSP_ASAN_REDZONE_SIZE unused space on + * either size. */ + alloc = (BYTE *)alloc + ZSTD_CWKSP_ASAN_REDZONE_SIZE; + __asan_unpoison_memory_region(alloc, bytes); +#endif + + return alloc; +} + +MEM_STATIC void ZSTD_cwksp_mark_tables_dirty(ZSTD_cwksp* ws) { + DEBUGLOG(4, "cwksp: ZSTD_cwksp_mark_tables_dirty"); + +#if defined (MEMORY_SANITIZER) && !defined (ZSTD_MSAN_DONT_POISON_WORKSPACE) + /* To validate that the table re-use logic is sound, and that we don't + * access table space that we haven't cleaned, we re-"poison" the table + * space every time we mark it dirty. */ + { + size_t size = (BYTE*)ws->tableValidEnd - (BYTE*)ws->objectEnd; + assert(__msan_test_shadow(ws->objectEnd, size) == -1); + __msan_poison(ws->objectEnd, size); + } +#endif + + assert(ws->tableValidEnd >= ws->objectEnd); + assert(ws->tableValidEnd <= ws->allocStart); + ws->tableValidEnd = ws->objectEnd; + ZSTD_cwksp_assert_internal_consistency(ws); +} + +MEM_STATIC void ZSTD_cwksp_mark_tables_clean(ZSTD_cwksp* ws) { + DEBUGLOG(4, "cwksp: ZSTD_cwksp_mark_tables_clean"); + assert(ws->tableValidEnd >= ws->objectEnd); + assert(ws->tableValidEnd <= ws->allocStart); + if (ws->tableValidEnd < ws->tableEnd) { + ws->tableValidEnd = ws->tableEnd; + } + ZSTD_cwksp_assert_internal_consistency(ws); +} + +/** + * Zero the part of the allocated tables not already marked clean. + */ +MEM_STATIC void ZSTD_cwksp_clean_tables(ZSTD_cwksp* ws) { + DEBUGLOG(4, "cwksp: ZSTD_cwksp_clean_tables"); + assert(ws->tableValidEnd >= ws->objectEnd); + assert(ws->tableValidEnd <= ws->allocStart); + if (ws->tableValidEnd < ws->tableEnd) { + memset(ws->tableValidEnd, 0, (BYTE*)ws->tableEnd - (BYTE*)ws->tableValidEnd); + } + ZSTD_cwksp_mark_tables_clean(ws); +} + +/** + * Invalidates table allocations. + * All other allocations remain valid. + */ +MEM_STATIC void ZSTD_cwksp_clear_tables(ZSTD_cwksp* ws) { + DEBUGLOG(4, "cwksp: clearing tables!"); + +#if defined (ADDRESS_SANITIZER) && !defined (ZSTD_ASAN_DONT_POISON_WORKSPACE) + { + size_t size = (BYTE*)ws->tableValidEnd - (BYTE*)ws->objectEnd; + __asan_poison_memory_region(ws->objectEnd, size); + } +#endif + + ws->tableEnd = ws->objectEnd; + ZSTD_cwksp_assert_internal_consistency(ws); +} + +/** + * Invalidates all buffer, aligned, and table allocations. + * Object allocations remain valid. + */ +MEM_STATIC void ZSTD_cwksp_clear(ZSTD_cwksp* ws) { + DEBUGLOG(4, "cwksp: clearing!"); + +#if defined (MEMORY_SANITIZER) && !defined (ZSTD_MSAN_DONT_POISON_WORKSPACE) + /* To validate that the context re-use logic is sound, and that we don't + * access stuff that this compression hasn't initialized, we re-"poison" + * the workspace (or at least the non-static, non-table parts of it) + * every time we start a new compression. */ + { + size_t size = (BYTE*)ws->workspaceEnd - (BYTE*)ws->tableValidEnd; + __msan_poison(ws->tableValidEnd, size); + } +#endif + +#if defined (ADDRESS_SANITIZER) && !defined (ZSTD_ASAN_DONT_POISON_WORKSPACE) + { + size_t size = (BYTE*)ws->workspaceEnd - (BYTE*)ws->objectEnd; + __asan_poison_memory_region(ws->objectEnd, size); + } +#endif + + ws->tableEnd = ws->objectEnd; + ws->allocStart = ws->workspaceEnd; + ws->allocFailed = 0; + if (ws->phase > ZSTD_cwksp_alloc_buffers) { + ws->phase = ZSTD_cwksp_alloc_buffers; + } + ZSTD_cwksp_assert_internal_consistency(ws); +} + +/** + * The provided workspace takes ownership of the buffer [start, start+size). + * Any existing values in the workspace are ignored (the previously managed + * buffer, if present, must be separately freed). + */ +MEM_STATIC void ZSTD_cwksp_init(ZSTD_cwksp* ws, void* start, size_t size) { + DEBUGLOG(4, "cwksp: init'ing workspace with %zd bytes", size); + assert(((size_t)start & (sizeof(void*)-1)) == 0); /* ensure correct alignment */ + ws->workspace = start; + ws->workspaceEnd = (BYTE*)start + size; + ws->objectEnd = ws->workspace; + ws->tableValidEnd = ws->objectEnd; + ws->phase = ZSTD_cwksp_alloc_objects; + ZSTD_cwksp_clear(ws); + ws->workspaceOversizedDuration = 0; + ZSTD_cwksp_assert_internal_consistency(ws); +} + +MEM_STATIC size_t ZSTD_cwksp_create(ZSTD_cwksp* ws, size_t size, ZSTD_customMem customMem) { + void* workspace = ZSTD_malloc(size, customMem); + DEBUGLOG(4, "cwksp: creating new workspace with %zd bytes", size); + RETURN_ERROR_IF(workspace == NULL, memory_allocation); + ZSTD_cwksp_init(ws, workspace, size); + return 0; +} + +MEM_STATIC void ZSTD_cwksp_free(ZSTD_cwksp* ws, ZSTD_customMem customMem) { + void *ptr = ws->workspace; + DEBUGLOG(4, "cwksp: freeing workspace"); + memset(ws, 0, sizeof(ZSTD_cwksp)); + ZSTD_free(ptr, customMem); +} + +/** + * Moves the management of a workspace from one cwksp to another. The src cwksp + * is left in an invalid state (src must be re-init()'ed before its used again). + */ +MEM_STATIC void ZSTD_cwksp_move(ZSTD_cwksp* dst, ZSTD_cwksp* src) { + *dst = *src; + memset(src, 0, sizeof(ZSTD_cwksp)); +} + +MEM_STATIC size_t ZSTD_cwksp_sizeof(const ZSTD_cwksp* ws) { + return (size_t)((BYTE*)ws->workspaceEnd - (BYTE*)ws->workspace); +} + +MEM_STATIC int ZSTD_cwksp_reserve_failed(const ZSTD_cwksp* ws) { + return ws->allocFailed; +} + +/*-************************************* +* Functions Checking Free Space +***************************************/ + +MEM_STATIC size_t ZSTD_cwksp_available_space(ZSTD_cwksp* ws) { + return (size_t)((BYTE*)ws->allocStart - (BYTE*)ws->tableEnd); +} + +MEM_STATIC int ZSTD_cwksp_check_available(ZSTD_cwksp* ws, size_t additionalNeededSpace) { + return ZSTD_cwksp_available_space(ws) >= additionalNeededSpace; +} + +MEM_STATIC int ZSTD_cwksp_check_too_large(ZSTD_cwksp* ws, size_t additionalNeededSpace) { + return ZSTD_cwksp_check_available( + ws, additionalNeededSpace * ZSTD_WORKSPACETOOLARGE_FACTOR); +} + +MEM_STATIC int ZSTD_cwksp_check_wasteful(ZSTD_cwksp* ws, size_t additionalNeededSpace) { + return ZSTD_cwksp_check_too_large(ws, additionalNeededSpace) + && ws->workspaceOversizedDuration > ZSTD_WORKSPACETOOLARGE_MAXDURATION; +} + +MEM_STATIC void ZSTD_cwksp_bump_oversized_duration( + ZSTD_cwksp* ws, size_t additionalNeededSpace) { + if (ZSTD_cwksp_check_too_large(ws, additionalNeededSpace)) { + ws->workspaceOversizedDuration++; + } else { + ws->workspaceOversizedDuration = 0; + } +} + +#if defined (__cplusplus) +} +#endif + +#endif /* ZSTD_CWKSP_H */ diff --git a/thirdparty/zstd/compress/zstd_double_fast.c b/thirdparty/zstd/compress/zstd_double_fast.c index 5957255d90..a661a48534 100644 --- a/thirdparty/zstd/compress/zstd_double_fast.c +++ b/thirdparty/zstd/compress/zstd_double_fast.c @@ -65,6 +65,7 @@ size_t ZSTD_compressBlock_doubleFast_generic( const U32 endIndex = (U32)((size_t)(istart - base) + srcSize); const U32 lowestValid = ms->window.dictLimit; const U32 maxDistance = 1U << cParams->windowLog; + /* presumes that, if there is a dictionary, it must be using Attach mode */ const U32 prefixLowestIndex = (endIndex - lowestValid > maxDistance) ? endIndex - maxDistance : lowestValid; const BYTE* const prefixLowest = base + prefixLowestIndex; const BYTE* const iend = istart + srcSize; @@ -147,7 +148,7 @@ size_t ZSTD_compressBlock_doubleFast_generic( const BYTE* repMatchEnd = repIndex < prefixLowestIndex ? dictEnd : iend; mLength = ZSTD_count_2segments(ip+1+4, repMatch+4, iend, repMatchEnd, prefixLowest) + 4; ip++; - ZSTD_storeSeq(seqStore, (size_t)(ip-anchor), anchor, 0, mLength-MINMATCH); + ZSTD_storeSeq(seqStore, (size_t)(ip-anchor), anchor, iend, 0, mLength-MINMATCH); goto _match_stored; } @@ -156,7 +157,7 @@ size_t ZSTD_compressBlock_doubleFast_generic( && ((offset_1 > 0) & (MEM_read32(ip+1-offset_1) == MEM_read32(ip+1)))) { mLength = ZSTD_count(ip+1+4, ip+1+4-offset_1, iend) + 4; ip++; - ZSTD_storeSeq(seqStore, (size_t)(ip-anchor), anchor, 0, mLength-MINMATCH); + ZSTD_storeSeq(seqStore, (size_t)(ip-anchor), anchor, iend, 0, mLength-MINMATCH); goto _match_stored; } @@ -246,7 +247,7 @@ _match_found: offset_2 = offset_1; offset_1 = offset; - ZSTD_storeSeq(seqStore, (size_t)(ip-anchor), anchor, offset + ZSTD_REP_MOVE, mLength-MINMATCH); + ZSTD_storeSeq(seqStore, (size_t)(ip-anchor), anchor, iend, offset + ZSTD_REP_MOVE, mLength-MINMATCH); _match_stored: /* match found */ @@ -277,7 +278,7 @@ _match_stored: const BYTE* const repEnd2 = repIndex2 < prefixLowestIndex ? dictEnd : iend; size_t const repLength2 = ZSTD_count_2segments(ip+4, repMatch2+4, iend, repEnd2, prefixLowest) + 4; U32 tmpOffset = offset_2; offset_2 = offset_1; offset_1 = tmpOffset; /* swap offset_2 <=> offset_1 */ - ZSTD_storeSeq(seqStore, 0, anchor, 0, repLength2-MINMATCH); + ZSTD_storeSeq(seqStore, 0, anchor, iend, 0, repLength2-MINMATCH); hashSmall[ZSTD_hashPtr(ip, hBitsS, mls)] = current2; hashLong[ZSTD_hashPtr(ip, hBitsL, 8)] = current2; ip += repLength2; @@ -296,7 +297,7 @@ _match_stored: U32 const tmpOff = offset_2; offset_2 = offset_1; offset_1 = tmpOff; /* swap offset_2 <=> offset_1 */ hashSmall[ZSTD_hashPtr(ip, hBitsS, mls)] = (U32)(ip-base); hashLong[ZSTD_hashPtr(ip, hBitsL, 8)] = (U32)(ip-base); - ZSTD_storeSeq(seqStore, 0, anchor, 0, rLength-MINMATCH); + ZSTD_storeSeq(seqStore, 0, anchor, iend, 0, rLength-MINMATCH); ip += rLength; anchor = ip; continue; /* faster when present ... (?) */ @@ -369,9 +370,7 @@ static size_t ZSTD_compressBlock_doubleFast_extDict_generic( const BYTE* const ilimit = iend - 8; const BYTE* const base = ms->window.base; const U32 endIndex = (U32)((size_t)(istart - base) + srcSize); - const U32 maxDistance = 1U << cParams->windowLog; - const U32 lowestValid = ms->window.lowLimit; - const U32 lowLimit = (endIndex - lowestValid > maxDistance) ? endIndex - maxDistance : lowestValid; + const U32 lowLimit = ZSTD_getLowestMatchIndex(ms, endIndex, cParams->windowLog); const U32 dictStartIndex = lowLimit; const U32 dictLimit = ms->window.dictLimit; const U32 prefixStartIndex = (dictLimit > lowLimit) ? dictLimit : lowLimit; @@ -412,7 +411,7 @@ static size_t ZSTD_compressBlock_doubleFast_extDict_generic( const BYTE* repMatchEnd = repIndex < prefixStartIndex ? dictEnd : iend; mLength = ZSTD_count_2segments(ip+1+4, repMatch+4, iend, repMatchEnd, prefixStart) + 4; ip++; - ZSTD_storeSeq(seqStore, (size_t)(ip-anchor), anchor, 0, mLength-MINMATCH); + ZSTD_storeSeq(seqStore, (size_t)(ip-anchor), anchor, iend, 0, mLength-MINMATCH); } else { if ((matchLongIndex > dictStartIndex) && (MEM_read64(matchLong) == MEM_read64(ip))) { const BYTE* const matchEnd = matchLongIndex < prefixStartIndex ? dictEnd : iend; @@ -423,7 +422,7 @@ static size_t ZSTD_compressBlock_doubleFast_extDict_generic( while (((ip>anchor) & (matchLong>lowMatchPtr)) && (ip[-1] == matchLong[-1])) { ip--; matchLong--; mLength++; } /* catch up */ offset_2 = offset_1; offset_1 = offset; - ZSTD_storeSeq(seqStore, (size_t)(ip-anchor), anchor, offset + ZSTD_REP_MOVE, mLength-MINMATCH); + ZSTD_storeSeq(seqStore, (size_t)(ip-anchor), anchor, iend, offset + ZSTD_REP_MOVE, mLength-MINMATCH); } else if ((matchIndex > dictStartIndex) && (MEM_read32(match) == MEM_read32(ip))) { size_t const h3 = ZSTD_hashPtr(ip+1, hBitsL, 8); @@ -448,7 +447,7 @@ static size_t ZSTD_compressBlock_doubleFast_extDict_generic( } offset_2 = offset_1; offset_1 = offset; - ZSTD_storeSeq(seqStore, (size_t)(ip-anchor), anchor, offset + ZSTD_REP_MOVE, mLength-MINMATCH); + ZSTD_storeSeq(seqStore, (size_t)(ip-anchor), anchor, iend, offset + ZSTD_REP_MOVE, mLength-MINMATCH); } else { ip += ((ip-anchor) >> kSearchStrength) + 1; @@ -480,7 +479,7 @@ static size_t ZSTD_compressBlock_doubleFast_extDict_generic( const BYTE* const repEnd2 = repIndex2 < prefixStartIndex ? dictEnd : iend; size_t const repLength2 = ZSTD_count_2segments(ip+4, repMatch2+4, iend, repEnd2, prefixStart) + 4; U32 const tmpOffset = offset_2; offset_2 = offset_1; offset_1 = tmpOffset; /* swap offset_2 <=> offset_1 */ - ZSTD_storeSeq(seqStore, 0, anchor, 0, repLength2-MINMATCH); + ZSTD_storeSeq(seqStore, 0, anchor, iend, 0, repLength2-MINMATCH); hashSmall[ZSTD_hashPtr(ip, hBitsS, mls)] = current2; hashLong[ZSTD_hashPtr(ip, hBitsL, 8)] = current2; ip += repLength2; diff --git a/thirdparty/zstd/compress/zstd_fast.c b/thirdparty/zstd/compress/zstd_fast.c index a05b8a47f1..6dbefee6b7 100644 --- a/thirdparty/zstd/compress/zstd_fast.c +++ b/thirdparty/zstd/compress/zstd_fast.c @@ -8,7 +8,7 @@ * You may select, at your option, one of the above-listed licenses. */ -#include "zstd_compress_internal.h" +#include "zstd_compress_internal.h" /* ZSTD_hashPtr, ZSTD_count, ZSTD_storeSeq */ #include "zstd_fast.h" @@ -43,8 +43,8 @@ void ZSTD_fillHashTable(ZSTD_matchState_t* ms, } -FORCE_INLINE_TEMPLATE -size_t ZSTD_compressBlock_fast_generic( +FORCE_INLINE_TEMPLATE size_t +ZSTD_compressBlock_fast_generic( ZSTD_matchState_t* ms, seqStore_t* seqStore, U32 rep[ZSTD_REP_NUM], void const* src, size_t srcSize, U32 const mls) @@ -71,10 +71,10 @@ size_t ZSTD_compressBlock_fast_generic( U32 offsetSaved = 0; /* init */ + DEBUGLOG(5, "ZSTD_compressBlock_fast_generic"); ip0 += (ip0 == prefixStart); ip1 = ip0 + 1; - { - U32 const maxRep = (U32)(ip0 - prefixStart); + { U32 const maxRep = (U32)(ip0 - prefixStart); if (offset_2 > maxRep) offsetSaved = offset_2, offset_2 = 0; if (offset_1 > maxRep) offsetSaved = offset_1, offset_1 = 0; } @@ -117,8 +117,7 @@ size_t ZSTD_compressBlock_fast_generic( match0 = match1; goto _offset; } - { - size_t const step = ((ip0-anchor) >> (kSearchStrength - 1)) + stepSize; + { size_t const step = ((size_t)(ip0-anchor) >> (kSearchStrength - 1)) + stepSize; assert(step >= 2); ip0 += step; ip1 += step; @@ -137,7 +136,7 @@ _offset: /* Requires: ip0, match0 */ _match: /* Requires: ip0, match0, offcode */ /* Count the forward length */ mLength += ZSTD_count(ip0+mLength+4, match0+mLength+4, iend) + 4; - ZSTD_storeSeq(seqStore, ip0-anchor, anchor, offcode, mLength-MINMATCH); + ZSTD_storeSeq(seqStore, (size_t)(ip0-anchor), anchor, iend, offcode, mLength-MINMATCH); /* match found */ ip0 += mLength; anchor = ip0; @@ -149,16 +148,15 @@ _match: /* Requires: ip0, match0, offcode */ hashTable[ZSTD_hashPtr(base+current0+2, hlog, mls)] = current0+2; /* here because current+2 could be > iend-8 */ hashTable[ZSTD_hashPtr(ip0-2, hlog, mls)] = (U32)(ip0-2-base); - while ( (ip0 <= ilimit) - && ( (offset_2>0) - & (MEM_read32(ip0) == MEM_read32(ip0 - offset_2)) )) { + while ( ((ip0 <= ilimit) & (offset_2>0)) /* offset_2==0 means offset_2 is invalidated */ + && (MEM_read32(ip0) == MEM_read32(ip0 - offset_2)) ) { /* store sequence */ size_t const rLength = ZSTD_count(ip0+4, ip0+4-offset_2, iend) + 4; - U32 const tmpOff = offset_2; offset_2 = offset_1; offset_1 = tmpOff; /* swap offset_2 <=> offset_1 */ + { U32 const tmpOff = offset_2; offset_2 = offset_1; offset_1 = tmpOff; } /* swap offset_2 <=> offset_1 */ hashTable[ZSTD_hashPtr(ip0, hlog, mls)] = (U32)(ip0-base); ip0 += rLength; ip1 = ip0 + 1; - ZSTD_storeSeq(seqStore, 0, anchor, 0, rLength-MINMATCH); + ZSTD_storeSeq(seqStore, 0 /*litLen*/, anchor, iend, 0 /*offCode*/, rLength-MINMATCH); anchor = ip0; continue; /* faster when present (confirmed on gcc-8) ... (?) */ } @@ -178,8 +176,7 @@ size_t ZSTD_compressBlock_fast( ZSTD_matchState_t* ms, seqStore_t* seqStore, U32 rep[ZSTD_REP_NUM], void const* src, size_t srcSize) { - ZSTD_compressionParameters const* cParams = &ms->cParams; - U32 const mls = cParams->minMatch; + U32 const mls = ms->cParams.minMatch; assert(ms->dictMatchState == NULL); switch(mls) { @@ -239,6 +236,7 @@ size_t ZSTD_compressBlock_fast_dictMatchState_generic( assert(prefixStartIndex >= (U32)(dictEnd - dictBase)); /* init */ + DEBUGLOG(5, "ZSTD_compressBlock_fast_dictMatchState_generic"); ip += (dictAndPrefixLength == 0); /* dictMatchState repCode checks don't currently handle repCode == 0 * disabling. */ @@ -263,7 +261,7 @@ size_t ZSTD_compressBlock_fast_dictMatchState_generic( const BYTE* const repMatchEnd = repIndex < prefixStartIndex ? dictEnd : iend; mLength = ZSTD_count_2segments(ip+1+4, repMatch+4, iend, repMatchEnd, prefixStart) + 4; ip++; - ZSTD_storeSeq(seqStore, (size_t)(ip-anchor), anchor, 0, mLength-MINMATCH); + ZSTD_storeSeq(seqStore, (size_t)(ip-anchor), anchor, iend, 0, mLength-MINMATCH); } else if ( (matchIndex <= prefixStartIndex) ) { size_t const dictHash = ZSTD_hashPtr(ip, dictHLog, mls); U32 const dictMatchIndex = dictHashTable[dictHash]; @@ -283,7 +281,7 @@ size_t ZSTD_compressBlock_fast_dictMatchState_generic( } /* catch up */ offset_2 = offset_1; offset_1 = offset; - ZSTD_storeSeq(seqStore, (size_t)(ip-anchor), anchor, offset + ZSTD_REP_MOVE, mLength-MINMATCH); + ZSTD_storeSeq(seqStore, (size_t)(ip-anchor), anchor, iend, offset + ZSTD_REP_MOVE, mLength-MINMATCH); } } else if (MEM_read32(match) != MEM_read32(ip)) { /* it's not a match, and we're not going to check the dictionary */ @@ -298,7 +296,7 @@ size_t ZSTD_compressBlock_fast_dictMatchState_generic( && (ip[-1] == match[-1])) { ip--; match--; mLength++; } /* catch up */ offset_2 = offset_1; offset_1 = offset; - ZSTD_storeSeq(seqStore, (size_t)(ip-anchor), anchor, offset + ZSTD_REP_MOVE, mLength-MINMATCH); + ZSTD_storeSeq(seqStore, (size_t)(ip-anchor), anchor, iend, offset + ZSTD_REP_MOVE, mLength-MINMATCH); } /* match found */ @@ -323,7 +321,7 @@ size_t ZSTD_compressBlock_fast_dictMatchState_generic( const BYTE* const repEnd2 = repIndex2 < prefixStartIndex ? dictEnd : iend; size_t const repLength2 = ZSTD_count_2segments(ip+4, repMatch2+4, iend, repEnd2, prefixStart) + 4; U32 tmpOffset = offset_2; offset_2 = offset_1; offset_1 = tmpOffset; /* swap offset_2 <=> offset_1 */ - ZSTD_storeSeq(seqStore, 0, anchor, 0, repLength2-MINMATCH); + ZSTD_storeSeq(seqStore, 0, anchor, iend, 0, repLength2-MINMATCH); hashTable[ZSTD_hashPtr(ip, hlog, mls)] = current2; ip += repLength2; anchor = ip; @@ -346,8 +344,7 @@ size_t ZSTD_compressBlock_fast_dictMatchState( ZSTD_matchState_t* ms, seqStore_t* seqStore, U32 rep[ZSTD_REP_NUM], void const* src, size_t srcSize) { - ZSTD_compressionParameters const* cParams = &ms->cParams; - U32 const mls = cParams->minMatch; + U32 const mls = ms->cParams.minMatch; assert(ms->dictMatchState != NULL); switch(mls) { @@ -379,9 +376,7 @@ static size_t ZSTD_compressBlock_fast_extDict_generic( const BYTE* ip = istart; const BYTE* anchor = istart; const U32 endIndex = (U32)((size_t)(istart - base) + srcSize); - const U32 maxDistance = 1U << cParams->windowLog; - const U32 validLow = ms->window.lowLimit; - const U32 lowLimit = (endIndex - validLow > maxDistance) ? endIndex - maxDistance : validLow; + const U32 lowLimit = ZSTD_getLowestMatchIndex(ms, endIndex, cParams->windowLog); const U32 dictStartIndex = lowLimit; const BYTE* const dictStart = dictBase + dictStartIndex; const U32 dictLimit = ms->window.dictLimit; @@ -392,6 +387,8 @@ static size_t ZSTD_compressBlock_fast_extDict_generic( const BYTE* const ilimit = iend - 8; U32 offset_1=rep[0], offset_2=rep[1]; + DEBUGLOG(5, "ZSTD_compressBlock_fast_extDict_generic"); + /* switch to "regular" variant if extDict is invalidated due to maxDistance */ if (prefixStartIndex == dictStartIndex) return ZSTD_compressBlock_fast_generic(ms, seqStore, rep, src, srcSize, mls); @@ -406,16 +403,17 @@ static size_t ZSTD_compressBlock_fast_extDict_generic( const U32 repIndex = current + 1 - offset_1; const BYTE* const repBase = repIndex < prefixStartIndex ? dictBase : base; const BYTE* const repMatch = repBase + repIndex; - size_t mLength; hashTable[h] = current; /* update hash table */ assert(offset_1 <= current +1); /* check repIndex */ if ( (((U32)((prefixStartIndex-1) - repIndex) >= 3) /* intentional underflow */ & (repIndex > dictStartIndex)) && (MEM_read32(repMatch) == MEM_read32(ip+1)) ) { - const BYTE* repMatchEnd = repIndex < prefixStartIndex ? dictEnd : iend; - mLength = ZSTD_count_2segments(ip+1+4, repMatch+4, iend, repMatchEnd, prefixStart) + 4; + const BYTE* const repMatchEnd = repIndex < prefixStartIndex ? dictEnd : iend; + size_t const rLength = ZSTD_count_2segments(ip+1 +4, repMatch +4, iend, repMatchEnd, prefixStart) + 4; ip++; - ZSTD_storeSeq(seqStore, (size_t)(ip-anchor), anchor, 0, mLength-MINMATCH); + ZSTD_storeSeq(seqStore, (size_t)(ip-anchor), anchor, iend, 0, rLength-MINMATCH); + ip += rLength; + anchor = ip; } else { if ( (matchIndex < dictStartIndex) || (MEM_read32(match) != MEM_read32(ip)) ) { @@ -423,21 +421,17 @@ static size_t ZSTD_compressBlock_fast_extDict_generic( ip += ((ip-anchor) >> kSearchStrength) + stepSize; continue; } - { const BYTE* matchEnd = matchIndex < prefixStartIndex ? dictEnd : iend; - const BYTE* lowMatchPtr = matchIndex < prefixStartIndex ? dictStart : prefixStart; - U32 offset; - mLength = ZSTD_count_2segments(ip+4, match+4, iend, matchEnd, prefixStart) + 4; + { const BYTE* const matchEnd = matchIndex < prefixStartIndex ? dictEnd : iend; + const BYTE* const lowMatchPtr = matchIndex < prefixStartIndex ? dictStart : prefixStart; + U32 const offset = current - matchIndex; + size_t mLength = ZSTD_count_2segments(ip+4, match+4, iend, matchEnd, prefixStart) + 4; while (((ip>anchor) & (match>lowMatchPtr)) && (ip[-1] == match[-1])) { ip--; match--; mLength++; } /* catch up */ - offset = current - matchIndex; - offset_2 = offset_1; - offset_1 = offset; - ZSTD_storeSeq(seqStore, (size_t)(ip-anchor), anchor, offset + ZSTD_REP_MOVE, mLength-MINMATCH); + offset_2 = offset_1; offset_1 = offset; /* update offset history */ + ZSTD_storeSeq(seqStore, (size_t)(ip-anchor), anchor, iend, offset + ZSTD_REP_MOVE, mLength-MINMATCH); + ip += mLength; + anchor = ip; } } - /* found a match : store it */ - ip += mLength; - anchor = ip; - if (ip <= ilimit) { /* Fill Table */ hashTable[ZSTD_hashPtr(base+current+2, hlog, mls)] = current+2; @@ -446,13 +440,13 @@ static size_t ZSTD_compressBlock_fast_extDict_generic( while (ip <= ilimit) { U32 const current2 = (U32)(ip-base); U32 const repIndex2 = current2 - offset_2; - const BYTE* repMatch2 = repIndex2 < prefixStartIndex ? dictBase + repIndex2 : base + repIndex2; + const BYTE* const repMatch2 = repIndex2 < prefixStartIndex ? dictBase + repIndex2 : base + repIndex2; if ( (((U32)((prefixStartIndex-1) - repIndex2) >= 3) & (repIndex2 > dictStartIndex)) /* intentional overflow */ && (MEM_read32(repMatch2) == MEM_read32(ip)) ) { const BYTE* const repEnd2 = repIndex2 < prefixStartIndex ? dictEnd : iend; size_t const repLength2 = ZSTD_count_2segments(ip+4, repMatch2+4, iend, repEnd2, prefixStart) + 4; - U32 tmpOffset = offset_2; offset_2 = offset_1; offset_1 = tmpOffset; /* swap offset_2 <=> offset_1 */ - ZSTD_storeSeq(seqStore, 0, anchor, 0, repLength2-MINMATCH); + { U32 const tmpOffset = offset_2; offset_2 = offset_1; offset_1 = tmpOffset; } /* swap offset_2 <=> offset_1 */ + ZSTD_storeSeq(seqStore, 0 /*litlen*/, anchor, iend, 0 /*offcode*/, repLength2-MINMATCH); hashTable[ZSTD_hashPtr(ip, hlog, mls)] = current2; ip += repLength2; anchor = ip; @@ -474,8 +468,7 @@ size_t ZSTD_compressBlock_fast_extDict( ZSTD_matchState_t* ms, seqStore_t* seqStore, U32 rep[ZSTD_REP_NUM], void const* src, size_t srcSize) { - ZSTD_compressionParameters const* cParams = &ms->cParams; - U32 const mls = cParams->minMatch; + U32 const mls = ms->cParams.minMatch; switch(mls) { default: /* includes case 3 */ diff --git a/thirdparty/zstd/compress/zstd_lazy.c b/thirdparty/zstd/compress/zstd_lazy.c index 94d906c01f..9ad7e03b54 100644 --- a/thirdparty/zstd/compress/zstd_lazy.c +++ b/thirdparty/zstd/compress/zstd_lazy.c @@ -242,9 +242,7 @@ ZSTD_DUBT_findBestMatch(ZSTD_matchState_t* ms, const BYTE* const base = ms->window.base; U32 const current = (U32)(ip-base); - U32 const maxDistance = 1U << cParams->windowLog; - U32 const windowValid = ms->window.lowLimit; - U32 const windowLow = (current - windowValid > maxDistance) ? current - maxDistance : windowValid; + U32 const windowLow = ZSTD_getLowestMatchIndex(ms, current, cParams->windowLog); U32* const bt = ms->chainTable; U32 const btLog = cParams->chainLog - 1; @@ -497,8 +495,10 @@ size_t ZSTD_HcFindBestMatch_generic ( const BYTE* const dictEnd = dictBase + dictLimit; const U32 current = (U32)(ip-base); const U32 maxDistance = 1U << cParams->windowLog; - const U32 lowValid = ms->window.lowLimit; - const U32 lowLimit = (current - lowValid > maxDistance) ? current - maxDistance : lowValid; + const U32 lowestValid = ms->window.lowLimit; + const U32 withinMaxDistance = (current - lowestValid > maxDistance) ? current - maxDistance : lowestValid; + const U32 isDictionary = (ms->loadedDictEnd != 0); + const U32 lowLimit = isDictionary ? lowestValid : withinMaxDistance; const U32 minChain = current > chainSize ? current - chainSize : 0; U32 nbAttempts = 1U << cParams->searchLog; size_t ml=4-1; @@ -619,12 +619,14 @@ FORCE_INLINE_TEMPLATE size_t ZSTD_HcFindBestMatch_extDict_selectMLS ( /* ******************************* * Common parser - lazy strategy *********************************/ -FORCE_INLINE_TEMPLATE -size_t ZSTD_compressBlock_lazy_generic( +typedef enum { search_hashChain, search_binaryTree } searchMethod_e; + +FORCE_INLINE_TEMPLATE size_t +ZSTD_compressBlock_lazy_generic( ZSTD_matchState_t* ms, seqStore_t* seqStore, U32 rep[ZSTD_REP_NUM], const void* src, size_t srcSize, - const U32 searchMethod, const U32 depth, + const searchMethod_e searchMethod, const U32 depth, ZSTD_dictMode_e const dictMode) { const BYTE* const istart = (const BYTE*)src; @@ -640,8 +642,10 @@ size_t ZSTD_compressBlock_lazy_generic( ZSTD_matchState_t* ms, const BYTE* ip, const BYTE* iLimit, size_t* offsetPtr); searchMax_f const searchMax = dictMode == ZSTD_dictMatchState ? - (searchMethod ? ZSTD_BtFindBestMatch_dictMatchState_selectMLS : ZSTD_HcFindBestMatch_dictMatchState_selectMLS) : - (searchMethod ? ZSTD_BtFindBestMatch_selectMLS : ZSTD_HcFindBestMatch_selectMLS); + (searchMethod==search_binaryTree ? ZSTD_BtFindBestMatch_dictMatchState_selectMLS + : ZSTD_HcFindBestMatch_dictMatchState_selectMLS) : + (searchMethod==search_binaryTree ? ZSTD_BtFindBestMatch_selectMLS + : ZSTD_HcFindBestMatch_selectMLS); U32 offset_1 = rep[0], offset_2 = rep[1], savedOffset=0; const ZSTD_matchState_t* const dms = ms->dictMatchState; @@ -806,7 +810,7 @@ size_t ZSTD_compressBlock_lazy_generic( /* store sequence */ _storeSequence: { size_t const litLength = start - anchor; - ZSTD_storeSeq(seqStore, litLength, anchor, (U32)offset, matchLength-MINMATCH); + ZSTD_storeSeq(seqStore, litLength, anchor, iend, (U32)offset, matchLength-MINMATCH); anchor = ip = start + matchLength; } @@ -824,7 +828,7 @@ _storeSequence: const BYTE* const repEnd2 = repIndex < prefixLowestIndex ? dictEnd : iend; matchLength = ZSTD_count_2segments(ip+4, repMatch+4, iend, repEnd2, prefixLowest) + 4; offset = offset_2; offset_2 = offset_1; offset_1 = (U32)offset; /* swap offset_2 <=> offset_1 */ - ZSTD_storeSeq(seqStore, 0, anchor, 0, matchLength-MINMATCH); + ZSTD_storeSeq(seqStore, 0, anchor, iend, 0, matchLength-MINMATCH); ip += matchLength; anchor = ip; continue; @@ -839,7 +843,7 @@ _storeSequence: /* store sequence */ matchLength = ZSTD_count(ip+4, ip+4-offset_2, iend) + 4; offset = offset_2; offset_2 = offset_1; offset_1 = (U32)offset; /* swap repcodes */ - ZSTD_storeSeq(seqStore, 0, anchor, 0, matchLength-MINMATCH); + ZSTD_storeSeq(seqStore, 0, anchor, iend, 0, matchLength-MINMATCH); ip += matchLength; anchor = ip; continue; /* faster when present ... (?) */ @@ -850,7 +854,7 @@ _storeSequence: rep[1] = offset_2 ? offset_2 : savedOffset; /* Return the last literals size */ - return iend - anchor; + return (size_t)(iend - anchor); } @@ -858,56 +862,56 @@ size_t ZSTD_compressBlock_btlazy2( ZSTD_matchState_t* ms, seqStore_t* seqStore, U32 rep[ZSTD_REP_NUM], void const* src, size_t srcSize) { - return ZSTD_compressBlock_lazy_generic(ms, seqStore, rep, src, srcSize, 1, 2, ZSTD_noDict); + return ZSTD_compressBlock_lazy_generic(ms, seqStore, rep, src, srcSize, search_binaryTree, 2, ZSTD_noDict); } size_t ZSTD_compressBlock_lazy2( ZSTD_matchState_t* ms, seqStore_t* seqStore, U32 rep[ZSTD_REP_NUM], void const* src, size_t srcSize) { - return ZSTD_compressBlock_lazy_generic(ms, seqStore, rep, src, srcSize, 0, 2, ZSTD_noDict); + return ZSTD_compressBlock_lazy_generic(ms, seqStore, rep, src, srcSize, search_hashChain, 2, ZSTD_noDict); } size_t ZSTD_compressBlock_lazy( ZSTD_matchState_t* ms, seqStore_t* seqStore, U32 rep[ZSTD_REP_NUM], void const* src, size_t srcSize) { - return ZSTD_compressBlock_lazy_generic(ms, seqStore, rep, src, srcSize, 0, 1, ZSTD_noDict); + return ZSTD_compressBlock_lazy_generic(ms, seqStore, rep, src, srcSize, search_hashChain, 1, ZSTD_noDict); } size_t ZSTD_compressBlock_greedy( ZSTD_matchState_t* ms, seqStore_t* seqStore, U32 rep[ZSTD_REP_NUM], void const* src, size_t srcSize) { - return ZSTD_compressBlock_lazy_generic(ms, seqStore, rep, src, srcSize, 0, 0, ZSTD_noDict); + return ZSTD_compressBlock_lazy_generic(ms, seqStore, rep, src, srcSize, search_hashChain, 0, ZSTD_noDict); } size_t ZSTD_compressBlock_btlazy2_dictMatchState( ZSTD_matchState_t* ms, seqStore_t* seqStore, U32 rep[ZSTD_REP_NUM], void const* src, size_t srcSize) { - return ZSTD_compressBlock_lazy_generic(ms, seqStore, rep, src, srcSize, 1, 2, ZSTD_dictMatchState); + return ZSTD_compressBlock_lazy_generic(ms, seqStore, rep, src, srcSize, search_binaryTree, 2, ZSTD_dictMatchState); } size_t ZSTD_compressBlock_lazy2_dictMatchState( ZSTD_matchState_t* ms, seqStore_t* seqStore, U32 rep[ZSTD_REP_NUM], void const* src, size_t srcSize) { - return ZSTD_compressBlock_lazy_generic(ms, seqStore, rep, src, srcSize, 0, 2, ZSTD_dictMatchState); + return ZSTD_compressBlock_lazy_generic(ms, seqStore, rep, src, srcSize, search_hashChain, 2, ZSTD_dictMatchState); } size_t ZSTD_compressBlock_lazy_dictMatchState( ZSTD_matchState_t* ms, seqStore_t* seqStore, U32 rep[ZSTD_REP_NUM], void const* src, size_t srcSize) { - return ZSTD_compressBlock_lazy_generic(ms, seqStore, rep, src, srcSize, 0, 1, ZSTD_dictMatchState); + return ZSTD_compressBlock_lazy_generic(ms, seqStore, rep, src, srcSize, search_hashChain, 1, ZSTD_dictMatchState); } size_t ZSTD_compressBlock_greedy_dictMatchState( ZSTD_matchState_t* ms, seqStore_t* seqStore, U32 rep[ZSTD_REP_NUM], void const* src, size_t srcSize) { - return ZSTD_compressBlock_lazy_generic(ms, seqStore, rep, src, srcSize, 0, 0, ZSTD_dictMatchState); + return ZSTD_compressBlock_lazy_generic(ms, seqStore, rep, src, srcSize, search_hashChain, 0, ZSTD_dictMatchState); } @@ -916,7 +920,7 @@ size_t ZSTD_compressBlock_lazy_extDict_generic( ZSTD_matchState_t* ms, seqStore_t* seqStore, U32 rep[ZSTD_REP_NUM], const void* src, size_t srcSize, - const U32 searchMethod, const U32 depth) + const searchMethod_e searchMethod, const U32 depth) { const BYTE* const istart = (const BYTE*)src; const BYTE* ip = istart; @@ -934,7 +938,7 @@ size_t ZSTD_compressBlock_lazy_extDict_generic( typedef size_t (*searchMax_f)( ZSTD_matchState_t* ms, const BYTE* ip, const BYTE* iLimit, size_t* offsetPtr); - searchMax_f searchMax = searchMethod ? ZSTD_BtFindBestMatch_extDict_selectMLS : ZSTD_HcFindBestMatch_extDict_selectMLS; + searchMax_f searchMax = searchMethod==search_binaryTree ? ZSTD_BtFindBestMatch_extDict_selectMLS : ZSTD_HcFindBestMatch_extDict_selectMLS; U32 offset_1 = rep[0], offset_2 = rep[1]; @@ -1047,7 +1051,7 @@ size_t ZSTD_compressBlock_lazy_extDict_generic( /* store sequence */ _storeSequence: { size_t const litLength = start - anchor; - ZSTD_storeSeq(seqStore, litLength, anchor, (U32)offset, matchLength-MINMATCH); + ZSTD_storeSeq(seqStore, litLength, anchor, iend, (U32)offset, matchLength-MINMATCH); anchor = ip = start + matchLength; } @@ -1062,7 +1066,7 @@ _storeSequence: const BYTE* const repEnd = repIndex < dictLimit ? dictEnd : iend; matchLength = ZSTD_count_2segments(ip+4, repMatch+4, iend, repEnd, prefixStart) + 4; offset = offset_2; offset_2 = offset_1; offset_1 = (U32)offset; /* swap offset history */ - ZSTD_storeSeq(seqStore, 0, anchor, 0, matchLength-MINMATCH); + ZSTD_storeSeq(seqStore, 0, anchor, iend, 0, matchLength-MINMATCH); ip += matchLength; anchor = ip; continue; /* faster when present ... (?) */ @@ -1075,7 +1079,7 @@ _storeSequence: rep[1] = offset_2; /* Return the last literals size */ - return iend - anchor; + return (size_t)(iend - anchor); } @@ -1083,7 +1087,7 @@ size_t ZSTD_compressBlock_greedy_extDict( ZSTD_matchState_t* ms, seqStore_t* seqStore, U32 rep[ZSTD_REP_NUM], void const* src, size_t srcSize) { - return ZSTD_compressBlock_lazy_extDict_generic(ms, seqStore, rep, src, srcSize, 0, 0); + return ZSTD_compressBlock_lazy_extDict_generic(ms, seqStore, rep, src, srcSize, search_hashChain, 0); } size_t ZSTD_compressBlock_lazy_extDict( @@ -1091,7 +1095,7 @@ size_t ZSTD_compressBlock_lazy_extDict( void const* src, size_t srcSize) { - return ZSTD_compressBlock_lazy_extDict_generic(ms, seqStore, rep, src, srcSize, 0, 1); + return ZSTD_compressBlock_lazy_extDict_generic(ms, seqStore, rep, src, srcSize, search_hashChain, 1); } size_t ZSTD_compressBlock_lazy2_extDict( @@ -1099,7 +1103,7 @@ size_t ZSTD_compressBlock_lazy2_extDict( void const* src, size_t srcSize) { - return ZSTD_compressBlock_lazy_extDict_generic(ms, seqStore, rep, src, srcSize, 0, 2); + return ZSTD_compressBlock_lazy_extDict_generic(ms, seqStore, rep, src, srcSize, search_hashChain, 2); } size_t ZSTD_compressBlock_btlazy2_extDict( @@ -1107,5 +1111,5 @@ size_t ZSTD_compressBlock_btlazy2_extDict( void const* src, size_t srcSize) { - return ZSTD_compressBlock_lazy_extDict_generic(ms, seqStore, rep, src, srcSize, 1, 2); + return ZSTD_compressBlock_lazy_extDict_generic(ms, seqStore, rep, src, srcSize, search_binaryTree, 2); } diff --git a/thirdparty/zstd/compress/zstd_ldm.c b/thirdparty/zstd/compress/zstd_ldm.c index 3dcf86e6e8..c3312ad3e3 100644 --- a/thirdparty/zstd/compress/zstd_ldm.c +++ b/thirdparty/zstd/compress/zstd_ldm.c @@ -49,9 +49,9 @@ size_t ZSTD_ldm_getTableSize(ldmParams_t params) { size_t const ldmHSize = ((size_t)1) << params.hashLog; size_t const ldmBucketSizeLog = MIN(params.bucketSizeLog, params.hashLog); - size_t const ldmBucketSize = - ((size_t)1) << (params.hashLog - ldmBucketSizeLog); - size_t const totalSize = ldmBucketSize + ldmHSize * sizeof(ldmEntry_t); + size_t const ldmBucketSize = ((size_t)1) << (params.hashLog - ldmBucketSizeLog); + size_t const totalSize = ZSTD_cwksp_alloc_size(ldmBucketSize) + + ZSTD_cwksp_alloc_size(ldmHSize * sizeof(ldmEntry_t)); return params.enableLdm ? totalSize : 0; } @@ -583,7 +583,7 @@ size_t ZSTD_ldm_blockCompress(rawSeqStore_t* rawSeqStore, rep[i] = rep[i-1]; rep[0] = sequence.offset; /* Store the sequence */ - ZSTD_storeSeq(seqStore, newLitLength, ip - newLitLength, + ZSTD_storeSeq(seqStore, newLitLength, ip - newLitLength, iend, sequence.offset + ZSTD_REP_MOVE, sequence.matchLength - MINMATCH); ip += sequence.matchLength; diff --git a/thirdparty/zstd/compress/zstd_opt.c b/thirdparty/zstd/compress/zstd_opt.c index e32e542e02..2e50fca6ff 100644 --- a/thirdparty/zstd/compress/zstd_opt.c +++ b/thirdparty/zstd/compress/zstd_opt.c @@ -552,7 +552,6 @@ U32 ZSTD_insertBtAndGetAllMatches ( { const ZSTD_compressionParameters* const cParams = &ms->cParams; U32 const sufficient_len = MIN(cParams->targetLength, ZSTD_OPT_NUM -1); - U32 const maxDistance = 1U << cParams->windowLog; const BYTE* const base = ms->window.base; U32 const current = (U32)(ip-base); U32 const hashLog = cParams->hashLog; @@ -569,8 +568,7 @@ U32 ZSTD_insertBtAndGetAllMatches ( const BYTE* const dictEnd = dictBase + dictLimit; const BYTE* const prefixStart = base + dictLimit; U32 const btLow = (btMask >= current) ? 0 : current - btMask; - U32 const windowValid = ms->window.lowLimit; - U32 const windowLow = ((current - windowValid) > maxDistance) ? current - maxDistance : windowValid; + U32 const windowLow = ZSTD_getLowestMatchIndex(ms, current, cParams->windowLog); U32 const matchLow = windowLow ? windowLow : 1; U32* smallerPtr = bt + 2*(current&btMask); U32* largerPtr = bt + 2*(current&btMask) + 1; @@ -674,19 +672,21 @@ U32 ZSTD_insertBtAndGetAllMatches ( while (nbCompares-- && (matchIndex >= matchLow)) { U32* const nextPtr = bt + 2*(matchIndex & btMask); - size_t matchLength = MIN(commonLengthSmaller, commonLengthLarger); /* guaranteed minimum nb of common bytes */ const BYTE* match; + size_t matchLength = MIN(commonLengthSmaller, commonLengthLarger); /* guaranteed minimum nb of common bytes */ assert(current > matchIndex); if ((dictMode == ZSTD_noDict) || (dictMode == ZSTD_dictMatchState) || (matchIndex+matchLength >= dictLimit)) { assert(matchIndex+matchLength >= dictLimit); /* ensure the condition is correct when !extDict */ match = base + matchIndex; + if (matchIndex >= dictLimit) assert(memcmp(match, ip, matchLength) == 0); /* ensure early section of match is equal as expected */ matchLength += ZSTD_count(ip+matchLength, match+matchLength, iLimit); } else { match = dictBase + matchIndex; + assert(memcmp(match, ip, matchLength) == 0); /* ensure early section of match is equal as expected */ matchLength += ZSTD_count_2segments(ip+matchLength, match+matchLength, iLimit, dictEnd, prefixStart); if (matchIndex+matchLength >= dictLimit) - match = base + matchIndex; /* prepare for match[matchLength] */ + match = base + matchIndex; /* prepare for match[matchLength] read */ } if (matchLength > bestLength) { @@ -1098,7 +1098,7 @@ _shortestPath: /* cur, last_pos, best_mlen, best_off have to be set */ assert(anchor + llen <= iend); ZSTD_updateStats(optStatePtr, llen, anchor, offCode, mlen); - ZSTD_storeSeq(seqStore, llen, anchor, offCode, mlen-MINMATCH); + ZSTD_storeSeq(seqStore, llen, anchor, iend, offCode, mlen-MINMATCH); anchor += advance; ip = anchor; } } diff --git a/thirdparty/zstd/compress/zstdmt_compress.c b/thirdparty/zstd/compress/zstdmt_compress.c index 9e537b8848..bc3062b530 100644 --- a/thirdparty/zstd/compress/zstdmt_compress.c +++ b/thirdparty/zstd/compress/zstdmt_compress.c @@ -668,7 +668,7 @@ static void ZSTDMT_compressionJob(void* jobDescription) /* init */ if (job->cdict) { - size_t const initError = ZSTD_compressBegin_advanced_internal(cctx, NULL, 0, ZSTD_dct_auto, ZSTD_dtlm_fast, job->cdict, jobParams, job->fullFrameSize); + size_t const initError = ZSTD_compressBegin_advanced_internal(cctx, NULL, 0, ZSTD_dct_auto, ZSTD_dtlm_fast, job->cdict, &jobParams, job->fullFrameSize); assert(job->firstJob); /* only allowed for first job */ if (ZSTD_isError(initError)) JOB_ERROR(initError); } else { /* srcStart points at reloaded section */ @@ -680,7 +680,7 @@ static void ZSTDMT_compressionJob(void* jobDescription) job->prefix.start, job->prefix.size, ZSTD_dct_rawContent, /* load dictionary in "content-only" mode (no header analysis) */ ZSTD_dtlm_fast, NULL, /*cdict*/ - jobParams, pledgedSrcSize); + &jobParams, pledgedSrcSize); if (ZSTD_isError(initError)) JOB_ERROR(initError); } } @@ -927,12 +927,18 @@ static void ZSTDMT_releaseAllJobResources(ZSTDMT_CCtx* mtctx) unsigned jobID; DEBUGLOG(3, "ZSTDMT_releaseAllJobResources"); for (jobID=0; jobID <= mtctx->jobIDMask; jobID++) { + /* Copy the mutex/cond out */ + ZSTD_pthread_mutex_t const mutex = mtctx->jobs[jobID].job_mutex; + ZSTD_pthread_cond_t const cond = mtctx->jobs[jobID].job_cond; + DEBUGLOG(4, "job%02u: release dst address %08X", jobID, (U32)(size_t)mtctx->jobs[jobID].dstBuff.start); ZSTDMT_releaseBuffer(mtctx->bufPool, mtctx->jobs[jobID].dstBuff); - mtctx->jobs[jobID].dstBuff = g_nullBuffer; - mtctx->jobs[jobID].cSize = 0; + + /* Clear the job description, but keep the mutex/cond */ + memset(&mtctx->jobs[jobID], 0, sizeof(mtctx->jobs[jobID])); + mtctx->jobs[jobID].job_mutex = mutex; + mtctx->jobs[jobID].job_cond = cond; } - memset(mtctx->jobs, 0, (mtctx->jobIDMask+1)*sizeof(ZSTDMT_jobDescription)); mtctx->inBuff.buffer = g_nullBuffer; mtctx->inBuff.filled = 0; mtctx->allJobsCompleted = 1; @@ -1028,9 +1034,9 @@ size_t ZSTDMT_getMTCtxParameter(ZSTDMT_CCtx* mtctx, ZSTDMT_parameter parameter, /* Sets parameters relevant to the compression job, * initializing others to default values. */ -static ZSTD_CCtx_params ZSTDMT_initJobCCtxParams(ZSTD_CCtx_params const params) +static ZSTD_CCtx_params ZSTDMT_initJobCCtxParams(const ZSTD_CCtx_params* params) { - ZSTD_CCtx_params jobParams = params; + ZSTD_CCtx_params jobParams = *params; /* Clear parameters related to multithreading */ jobParams.forceWindow = 0; jobParams.nbWorkers = 0; @@ -1151,16 +1157,16 @@ size_t ZSTDMT_toFlushNow(ZSTDMT_CCtx* mtctx) /* ===== Multi-threaded compression ===== */ /* ------------------------------------------ */ -static unsigned ZSTDMT_computeTargetJobLog(ZSTD_CCtx_params const params) +static unsigned ZSTDMT_computeTargetJobLog(const ZSTD_CCtx_params* params) { unsigned jobLog; - if (params.ldmParams.enableLdm) { + if (params->ldmParams.enableLdm) { /* In Long Range Mode, the windowLog is typically oversized. * In which case, it's preferable to determine the jobSize * based on chainLog instead. */ - jobLog = MAX(21, params.cParams.chainLog + 4); + jobLog = MAX(21, params->cParams.chainLog + 4); } else { - jobLog = MAX(20, params.cParams.windowLog + 2); + jobLog = MAX(20, params->cParams.windowLog + 2); } return MIN(jobLog, (unsigned)ZSTDMT_JOBLOG_MAX); } @@ -1193,27 +1199,27 @@ static int ZSTDMT_overlapLog(int ovlog, ZSTD_strategy strat) return ovlog; } -static size_t ZSTDMT_computeOverlapSize(ZSTD_CCtx_params const params) +static size_t ZSTDMT_computeOverlapSize(const ZSTD_CCtx_params* params) { - int const overlapRLog = 9 - ZSTDMT_overlapLog(params.overlapLog, params.cParams.strategy); - int ovLog = (overlapRLog >= 8) ? 0 : (params.cParams.windowLog - overlapRLog); + int const overlapRLog = 9 - ZSTDMT_overlapLog(params->overlapLog, params->cParams.strategy); + int ovLog = (overlapRLog >= 8) ? 0 : (params->cParams.windowLog - overlapRLog); assert(0 <= overlapRLog && overlapRLog <= 8); - if (params.ldmParams.enableLdm) { + if (params->ldmParams.enableLdm) { /* In Long Range Mode, the windowLog is typically oversized. * In which case, it's preferable to determine the jobSize * based on chainLog instead. * Then, ovLog becomes a fraction of the jobSize, rather than windowSize */ - ovLog = MIN(params.cParams.windowLog, ZSTDMT_computeTargetJobLog(params) - 2) + ovLog = MIN(params->cParams.windowLog, ZSTDMT_computeTargetJobLog(params) - 2) - overlapRLog; } assert(0 <= ovLog && ovLog <= ZSTD_WINDOWLOG_MAX); - DEBUGLOG(4, "overlapLog : %i", params.overlapLog); + DEBUGLOG(4, "overlapLog : %i", params->overlapLog); DEBUGLOG(4, "overlap size : %i", 1 << ovLog); return (ovLog==0) ? 0 : (size_t)1 << ovLog; } static unsigned -ZSTDMT_computeNbJobs(ZSTD_CCtx_params params, size_t srcSize, unsigned nbWorkers) +ZSTDMT_computeNbJobs(const ZSTD_CCtx_params* params, size_t srcSize, unsigned nbWorkers) { assert(nbWorkers>0); { size_t const jobSizeTarget = (size_t)1 << ZSTDMT_computeTargetJobLog(params); @@ -1236,9 +1242,9 @@ static size_t ZSTDMT_compress_advanced_internal( const ZSTD_CDict* cdict, ZSTD_CCtx_params params) { - ZSTD_CCtx_params const jobParams = ZSTDMT_initJobCCtxParams(params); - size_t const overlapSize = ZSTDMT_computeOverlapSize(params); - unsigned const nbJobs = ZSTDMT_computeNbJobs(params, srcSize, params.nbWorkers); + ZSTD_CCtx_params const jobParams = ZSTDMT_initJobCCtxParams(¶ms); + size_t const overlapSize = ZSTDMT_computeOverlapSize(¶ms); + unsigned const nbJobs = ZSTDMT_computeNbJobs(¶ms, srcSize, params.nbWorkers); size_t const proposedJobSize = (srcSize + (nbJobs-1)) / nbJobs; size_t const avgJobSize = (((proposedJobSize-1) & 0x1FFFF) < 0x7FFF) ? proposedJobSize + 0xFFFF : proposedJobSize; /* avoid too small last block */ const char* const srcStart = (const char*)src; @@ -1256,7 +1262,7 @@ static size_t ZSTDMT_compress_advanced_internal( ZSTD_CCtx* const cctx = mtctx->cctxPool->cctx[0]; DEBUGLOG(4, "ZSTDMT_compress_advanced_internal: fallback to single-thread mode"); if (cdict) return ZSTD_compress_usingCDict_advanced(cctx, dst, dstCapacity, src, srcSize, cdict, jobParams.fParams); - return ZSTD_compress_advanced_internal(cctx, dst, dstCapacity, src, srcSize, NULL, 0, jobParams); + return ZSTD_compress_advanced_internal(cctx, dst, dstCapacity, src, srcSize, NULL, 0, &jobParams); } assert(avgJobSize >= 256 KB); /* condition for ZSTD_compressBound(A) + ZSTD_compressBound(B) <= ZSTD_compressBound(A+B), required to compress directly into Dst (no additional buffer) */ @@ -1404,12 +1410,12 @@ size_t ZSTDMT_initCStream_internal( mtctx->singleBlockingThread = (pledgedSrcSize <= ZSTDMT_JOBSIZE_MIN); /* do not trigger multi-threading when srcSize is too small */ if (mtctx->singleBlockingThread) { - ZSTD_CCtx_params const singleThreadParams = ZSTDMT_initJobCCtxParams(params); + ZSTD_CCtx_params const singleThreadParams = ZSTDMT_initJobCCtxParams(¶ms); DEBUGLOG(5, "ZSTDMT_initCStream_internal: switch to single blocking thread mode"); assert(singleThreadParams.nbWorkers == 0); return ZSTD_initCStream_internal(mtctx->cctxPool->cctx[0], dict, dictSize, cdict, - singleThreadParams, pledgedSrcSize); + &singleThreadParams, pledgedSrcSize); } DEBUGLOG(4, "ZSTDMT_initCStream_internal: %u workers", params.nbWorkers); @@ -1435,11 +1441,11 @@ size_t ZSTDMT_initCStream_internal( mtctx->cdict = cdict; } - mtctx->targetPrefixSize = ZSTDMT_computeOverlapSize(params); + mtctx->targetPrefixSize = ZSTDMT_computeOverlapSize(¶ms); DEBUGLOG(4, "overlapLog=%i => %u KB", params.overlapLog, (U32)(mtctx->targetPrefixSize>>10)); mtctx->targetSectionSize = params.jobSize; if (mtctx->targetSectionSize == 0) { - mtctx->targetSectionSize = 1ULL << ZSTDMT_computeTargetJobLog(params); + mtctx->targetSectionSize = 1ULL << ZSTDMT_computeTargetJobLog(¶ms); } assert(mtctx->targetSectionSize <= (size_t)ZSTDMT_JOBSIZE_MAX); diff --git a/thirdparty/zstd/decompress/huf_decompress.c b/thirdparty/zstd/decompress/huf_decompress.c index 3f8bd29732..bb2d0a96bc 100644 --- a/thirdparty/zstd/decompress/huf_decompress.c +++ b/thirdparty/zstd/decompress/huf_decompress.c @@ -61,7 +61,9 @@ * Error Management ****************************************************************/ #define HUF_isError ERR_isError +#ifndef CHECK_F #define CHECK_F(f) { size_t const err_ = (f); if (HUF_isError(err_)) return err_; } +#endif /* ************************************************************** diff --git a/thirdparty/zstd/decompress/zstd_decompress.c b/thirdparty/zstd/decompress/zstd_decompress.c index e42872ad96..dd4591b7be 100644 --- a/thirdparty/zstd/decompress/zstd_decompress.c +++ b/thirdparty/zstd/decompress/zstd_decompress.c @@ -88,10 +88,7 @@ size_t ZSTD_estimateDCtxSize(void) { return sizeof(ZSTD_DCtx); } static size_t ZSTD_startingInputLength(ZSTD_format_e format) { - size_t const startingInputLength = (format==ZSTD_f_zstd1_magicless) ? - ZSTD_FRAMEHEADERSIZE_PREFIX - ZSTD_FRAMEIDSIZE : - ZSTD_FRAMEHEADERSIZE_PREFIX; - ZSTD_STATIC_ASSERT(ZSTD_FRAMEHEADERSIZE_PREFIX >= ZSTD_FRAMEIDSIZE); + size_t const startingInputLength = ZSTD_FRAMEHEADERSIZE_PREFIX(format); /* only supports formats ZSTD_f_zstd1 and ZSTD_f_zstd1_magicless */ assert( (format == ZSTD_f_zstd1) || (format == ZSTD_f_zstd1_magicless) ); return startingInputLength; @@ -376,7 +373,7 @@ unsigned long long ZSTD_findDecompressedSize(const void* src, size_t srcSize) { unsigned long long totalDstSize = 0; - while (srcSize >= ZSTD_FRAMEHEADERSIZE_PREFIX) { + while (srcSize >= ZSTD_startingInputLength(ZSTD_f_zstd1)) { U32 const magicNumber = MEM_readLE32(src); if ((magicNumber & ZSTD_MAGIC_SKIPPABLE_MASK) == ZSTD_MAGIC_SKIPPABLE_START) { @@ -574,9 +571,10 @@ void ZSTD_checkContinuity(ZSTD_DCtx* dctx, const void* dst) } /** ZSTD_insertBlock() : - insert `src` block into `dctx` history. Useful to track uncompressed blocks. */ + * insert `src` block into `dctx` history. Useful to track uncompressed blocks. */ size_t ZSTD_insertBlock(ZSTD_DCtx* dctx, const void* blockStart, size_t blockSize) { + DEBUGLOG(5, "ZSTD_insertBlock: %u bytes", (unsigned)blockSize); ZSTD_checkContinuity(dctx, blockStart); dctx->previousDstEnd = (const char*)blockStart + blockSize; return blockSize; @@ -628,11 +626,12 @@ static size_t ZSTD_decompressFrame(ZSTD_DCtx* dctx, /* check */ RETURN_ERROR_IF( - remainingSrcSize < ZSTD_FRAMEHEADERSIZE_MIN+ZSTD_blockHeaderSize, + remainingSrcSize < ZSTD_FRAMEHEADERSIZE_MIN(dctx->format)+ZSTD_blockHeaderSize, srcSize_wrong); /* Frame Header */ - { size_t const frameHeaderSize = ZSTD_frameHeaderSize(ip, ZSTD_FRAMEHEADERSIZE_PREFIX); + { size_t const frameHeaderSize = ZSTD_frameHeaderSize_internal( + ip, ZSTD_FRAMEHEADERSIZE_PREFIX(dctx->format), dctx->format); if (ZSTD_isError(frameHeaderSize)) return frameHeaderSize; RETURN_ERROR_IF(remainingSrcSize < frameHeaderSize+ZSTD_blockHeaderSize, srcSize_wrong); @@ -713,7 +712,7 @@ static size_t ZSTD_decompressMultiFrame(ZSTD_DCtx* dctx, dictSize = ZSTD_DDict_dictSize(ddict); } - while (srcSize >= ZSTD_FRAMEHEADERSIZE_PREFIX) { + while (srcSize >= ZSTD_startingInputLength(dctx->format)) { #if defined(ZSTD_LEGACY_SUPPORT) && (ZSTD_LEGACY_SUPPORT >= 1) if (ZSTD_isLegacy(src, srcSize)) { @@ -909,6 +908,7 @@ size_t ZSTD_decompressContinue(ZSTD_DCtx* dctx, void* dst, size_t dstCapacity, c { blockProperties_t bp; size_t const cBlockSize = ZSTD_getcBlockSize(src, ZSTD_blockHeaderSize, &bp); if (ZSTD_isError(cBlockSize)) return cBlockSize; + RETURN_ERROR_IF(cBlockSize > dctx->fParams.blockSizeMax, corruption_detected, "Block Size Exceeds Maximum"); dctx->expected = cBlockSize; dctx->bType = bp.blockType; dctx->rleSize = bp.origSize; @@ -953,6 +953,7 @@ size_t ZSTD_decompressContinue(ZSTD_DCtx* dctx, void* dst, size_t dstCapacity, c RETURN_ERROR(corruption_detected); } if (ZSTD_isError(rSize)) return rSize; + RETURN_ERROR_IF(rSize > dctx->fParams.blockSizeMax, corruption_detected, "Decompressed Block Size Exceeds Maximum"); DEBUGLOG(5, "ZSTD_decompressContinue: decoded size from block : %u", (unsigned)rSize); dctx->decodedSize += rSize; if (dctx->fParams.checksumFlag) XXH64_update(&dctx->xxhState, dst, rSize); @@ -1095,7 +1096,7 @@ ZSTD_loadDEntropy(ZSTD_entropyDTables_t* entropy, size_t const dictContentSize = (size_t)(dictEnd - (dictPtr+12)); for (i=0; i<3; i++) { U32 const rep = MEM_readLE32(dictPtr); dictPtr += 4; - RETURN_ERROR_IF(rep==0 || rep >= dictContentSize, + RETURN_ERROR_IF(rep==0 || rep > dictContentSize, dictionary_corrupted); entropy->rep[i] = rep; } } @@ -1264,7 +1265,7 @@ size_t ZSTD_DCtx_loadDictionary_advanced(ZSTD_DCtx* dctx, { RETURN_ERROR_IF(dctx->streamStage != zdss_init, stage_wrong); ZSTD_clearDict(dctx); - if (dict && dictSize >= 8) { + if (dict && dictSize != 0) { dctx->ddictLocal = ZSTD_createDDict_advanced(dict, dictSize, dictLoadMethod, dictContentType, dctx->customMem); RETURN_ERROR_IF(dctx->ddictLocal == NULL, memory_allocation); dctx->ddict = dctx->ddictLocal; @@ -1297,14 +1298,14 @@ size_t ZSTD_DCtx_refPrefix(ZSTD_DCtx* dctx, const void* prefix, size_t prefixSiz /* ZSTD_initDStream_usingDict() : - * return : expected size, aka ZSTD_FRAMEHEADERSIZE_PREFIX. + * return : expected size, aka ZSTD_startingInputLength(). * this function cannot fail */ size_t ZSTD_initDStream_usingDict(ZSTD_DStream* zds, const void* dict, size_t dictSize) { DEBUGLOG(4, "ZSTD_initDStream_usingDict"); FORWARD_IF_ERROR( ZSTD_DCtx_reset(zds, ZSTD_reset_session_only) ); FORWARD_IF_ERROR( ZSTD_DCtx_loadDictionary(zds, dict, dictSize) ); - return ZSTD_FRAMEHEADERSIZE_PREFIX; + return ZSTD_startingInputLength(zds->format); } /* note : this variant can't fail */ @@ -1321,16 +1322,16 @@ size_t ZSTD_initDStream_usingDDict(ZSTD_DStream* dctx, const ZSTD_DDict* ddict) { FORWARD_IF_ERROR( ZSTD_DCtx_reset(dctx, ZSTD_reset_session_only) ); FORWARD_IF_ERROR( ZSTD_DCtx_refDDict(dctx, ddict) ); - return ZSTD_FRAMEHEADERSIZE_PREFIX; + return ZSTD_startingInputLength(dctx->format); } /* ZSTD_resetDStream() : - * return : expected size, aka ZSTD_FRAMEHEADERSIZE_PREFIX. + * return : expected size, aka ZSTD_startingInputLength(). * this function cannot fail */ size_t ZSTD_resetDStream(ZSTD_DStream* dctx) { FORWARD_IF_ERROR(ZSTD_DCtx_reset(dctx, ZSTD_reset_session_only)); - return ZSTD_FRAMEHEADERSIZE_PREFIX; + return ZSTD_startingInputLength(dctx->format); } @@ -1561,7 +1562,7 @@ size_t ZSTD_decompressStream(ZSTD_DStream* zds, ZSTD_outBuffer* output, ZSTD_inB zds->lhSize += remainingInput; } input->pos = input->size; - return (MAX(ZSTD_FRAMEHEADERSIZE_MIN, hSize) - zds->lhSize) + ZSTD_blockHeaderSize; /* remaining header bytes + next block header */ + return (MAX((size_t)ZSTD_FRAMEHEADERSIZE_MIN(zds->format), hSize) - zds->lhSize) + ZSTD_blockHeaderSize; /* remaining header bytes + next block header */ } assert(ip != NULL); memcpy(zds->headerBuffer + zds->lhSize, ip, toLoad); zds->lhSize = hSize; ip += toLoad; diff --git a/thirdparty/zstd/decompress/zstd_decompress_block.c b/thirdparty/zstd/decompress/zstd_decompress_block.c index 24f4859c56..767e5f9a0b 100644 --- a/thirdparty/zstd/decompress/zstd_decompress_block.c +++ b/thirdparty/zstd/decompress/zstd_decompress_block.c @@ -79,6 +79,7 @@ size_t ZSTD_decodeLiteralsBlock(ZSTD_DCtx* dctx, size_t ZSTD_decodeLiteralsBlock(ZSTD_DCtx* dctx, const void* src, size_t srcSize) /* note : srcSize < BLOCKSIZE */ { + DEBUGLOG(5, "ZSTD_decodeLiteralsBlock"); RETURN_ERROR_IF(srcSize < MIN_CBLOCK_SIZE, corruption_detected); { const BYTE* const istart = (const BYTE*) src; @@ -87,6 +88,7 @@ size_t ZSTD_decodeLiteralsBlock(ZSTD_DCtx* dctx, switch(litEncType) { case set_repeat: + DEBUGLOG(5, "set_repeat flag : re-using stats from previous compressed literals block"); RETURN_ERROR_IF(dctx->litEntropy==0, dictionary_corrupted); /* fall-through */ @@ -116,7 +118,7 @@ size_t ZSTD_decodeLiteralsBlock(ZSTD_DCtx* dctx, /* 2 - 2 - 18 - 18 */ lhSize = 5; litSize = (lhc >> 4) & 0x3FFFF; - litCSize = (lhc >> 22) + (istart[4] << 10); + litCSize = (lhc >> 22) + ((size_t)istart[4] << 10); break; } RETURN_ERROR_IF(litSize > ZSTD_BLOCKSIZE_MAX, corruption_detected); @@ -391,7 +393,8 @@ ZSTD_buildFSETable(ZSTD_seqSymbol* dt, symbolNext[s] = 1; } else { if (normalizedCounter[s] >= largeLimit) DTableH.fastMode=0; - symbolNext[s] = normalizedCounter[s]; + assert(normalizedCounter[s]>=0); + symbolNext[s] = (U16)normalizedCounter[s]; } } } memcpy(dt, &DTableH, sizeof(DTableH)); } @@ -570,38 +573,118 @@ typedef struct { size_t pos; } seqState_t; +/*! ZSTD_overlapCopy8() : + * Copies 8 bytes from ip to op and updates op and ip where ip <= op. + * If the offset is < 8 then the offset is spread to at least 8 bytes. + * + * Precondition: *ip <= *op + * Postcondition: *op - *op >= 8 + */ +static void ZSTD_overlapCopy8(BYTE** op, BYTE const** ip, size_t offset) { + assert(*ip <= *op); + if (offset < 8) { + /* close range match, overlap */ + static const U32 dec32table[] = { 0, 1, 2, 1, 4, 4, 4, 4 }; /* added */ + static const int dec64table[] = { 8, 8, 8, 7, 8, 9,10,11 }; /* subtracted */ + int const sub2 = dec64table[offset]; + (*op)[0] = (*ip)[0]; + (*op)[1] = (*ip)[1]; + (*op)[2] = (*ip)[2]; + (*op)[3] = (*ip)[3]; + *ip += dec32table[offset]; + ZSTD_copy4(*op+4, *ip); + *ip -= sub2; + } else { + ZSTD_copy8(*op, *ip); + } + *ip += 8; + *op += 8; + assert(*op - *ip >= 8); +} + +/*! ZSTD_safecopy() : + * Specialized version of memcpy() that is allowed to READ up to WILDCOPY_OVERLENGTH past the input buffer + * and write up to 16 bytes past oend_w (op >= oend_w is allowed). + * This function is only called in the uncommon case where the sequence is near the end of the block. It + * should be fast for a single long sequence, but can be slow for several short sequences. + * + * @param ovtype controls the overlap detection + * - ZSTD_no_overlap: The source and destination are guaranteed to be at least WILDCOPY_VECLEN bytes apart. + * - ZSTD_overlap_src_before_dst: The src and dst may overlap and may be any distance apart. + * The src buffer must be before the dst buffer. + */ +static void ZSTD_safecopy(BYTE* op, BYTE* const oend_w, BYTE const* ip, ptrdiff_t length, ZSTD_overlap_e ovtype) { + ptrdiff_t const diff = op - ip; + BYTE* const oend = op + length; -/* ZSTD_execSequenceLast7(): - * exceptional case : decompress a match starting within last 7 bytes of output buffer. - * requires more careful checks, to ensure there is no overflow. - * performance does not matter though. - * note : this case is supposed to be never generated "naturally" by reference encoder, - * since in most cases it needs at least 8 bytes to look for a match. - * but it's allowed by the specification. */ + assert((ovtype == ZSTD_no_overlap && (diff <= -8 || diff >= 8 || op >= oend_w)) || + (ovtype == ZSTD_overlap_src_before_dst && diff >= 0)); + + if (length < 8) { + /* Handle short lengths. */ + while (op < oend) *op++ = *ip++; + return; + } + if (ovtype == ZSTD_overlap_src_before_dst) { + /* Copy 8 bytes and ensure the offset >= 8 when there can be overlap. */ + assert(length >= 8); + ZSTD_overlapCopy8(&op, &ip, diff); + assert(op - ip >= 8); + assert(op <= oend); + } + + if (oend <= oend_w) { + /* No risk of overwrite. */ + ZSTD_wildcopy(op, ip, length, ovtype); + return; + } + if (op <= oend_w) { + /* Wildcopy until we get close to the end. */ + assert(oend > oend_w); + ZSTD_wildcopy(op, ip, oend_w - op, ovtype); + ip += oend_w - op; + op = oend_w; + } + /* Handle the leftovers. */ + while (op < oend) *op++ = *ip++; +} + +/* ZSTD_execSequenceEnd(): + * This version handles cases that are near the end of the output buffer. It requires + * more careful checks to make sure there is no overflow. By separating out these hard + * and unlikely cases, we can speed up the common cases. + * + * NOTE: This function needs to be fast for a single long sequence, but doesn't need + * to be optimized for many small sequences, since those fall into ZSTD_execSequence(). + */ FORCE_NOINLINE -size_t ZSTD_execSequenceLast7(BYTE* op, - BYTE* const oend, seq_t sequence, - const BYTE** litPtr, const BYTE* const litLimit, - const BYTE* const base, const BYTE* const vBase, const BYTE* const dictEnd) +size_t ZSTD_execSequenceEnd(BYTE* op, + BYTE* const oend, seq_t sequence, + const BYTE** litPtr, const BYTE* const litLimit, + const BYTE* const prefixStart, const BYTE* const virtualStart, const BYTE* const dictEnd) { BYTE* const oLitEnd = op + sequence.litLength; size_t const sequenceLength = sequence.litLength + sequence.matchLength; BYTE* const oMatchEnd = op + sequenceLength; /* risk : address space overflow (32-bits) */ const BYTE* const iLitEnd = *litPtr + sequence.litLength; const BYTE* match = oLitEnd - sequence.offset; + BYTE* const oend_w = oend - WILDCOPY_OVERLENGTH; - /* check */ - RETURN_ERROR_IF(oMatchEnd>oend, dstSize_tooSmall, "last match must fit within dstBuffer"); + /* bounds checks */ + assert(oLitEnd < oMatchEnd); + RETURN_ERROR_IF(oMatchEnd > oend, dstSize_tooSmall, "last match must fit within dstBuffer"); RETURN_ERROR_IF(iLitEnd > litLimit, corruption_detected, "try to read beyond literal buffer"); /* copy literals */ - while (op < oLitEnd) *op++ = *(*litPtr)++; + ZSTD_safecopy(op, oend_w, *litPtr, sequence.litLength, ZSTD_no_overlap); + op = oLitEnd; + *litPtr = iLitEnd; /* copy Match */ - if (sequence.offset > (size_t)(oLitEnd - base)) { + if (sequence.offset > (size_t)(oLitEnd - prefixStart)) { /* offset beyond prefix */ - RETURN_ERROR_IF(sequence.offset > (size_t)(oLitEnd - vBase),corruption_detected); - match = dictEnd - (base-match); + RETURN_ERROR_IF(sequence.offset > (size_t)(oLitEnd - virtualStart), corruption_detected); + match = dictEnd - (prefixStart-match); if (match + sequence.matchLength <= dictEnd) { memmove(oLitEnd, match, sequence.matchLength); return sequenceLength; @@ -611,13 +694,12 @@ size_t ZSTD_execSequenceLast7(BYTE* op, memmove(oLitEnd, match, length1); op = oLitEnd + length1; sequence.matchLength -= length1; - match = base; + match = prefixStart; } } - while (op < oMatchEnd) *op++ = *match++; + ZSTD_safecopy(op, oend_w, match, sequence.matchLength, ZSTD_overlap_src_before_dst); return sequenceLength; } - HINT_INLINE size_t ZSTD_execSequence(BYTE* op, BYTE* const oend, seq_t sequence, @@ -631,20 +713,29 @@ size_t ZSTD_execSequence(BYTE* op, const BYTE* const iLitEnd = *litPtr + sequence.litLength; const BYTE* match = oLitEnd - sequence.offset; - /* check */ - RETURN_ERROR_IF(oMatchEnd>oend, dstSize_tooSmall, "last match must start at a minimum distance of WILDCOPY_OVERLENGTH from oend"); - RETURN_ERROR_IF(iLitEnd > litLimit, corruption_detected, "over-read beyond lit buffer"); - if (oLitEnd>oend_w) return ZSTD_execSequenceLast7(op, oend, sequence, litPtr, litLimit, prefixStart, virtualStart, dictEnd); - - /* copy Literals */ - if (sequence.litLength > 8) - ZSTD_wildcopy_16min(op, (*litPtr), sequence.litLength, ZSTD_no_overlap); /* note : since oLitEnd <= oend-WILDCOPY_OVERLENGTH, no risk of overwrite beyond oend */ - else - ZSTD_copy8(op, *litPtr); + /* Errors and uncommon cases handled here. */ + assert(oLitEnd < oMatchEnd); + if (iLitEnd > litLimit || oMatchEnd > oend_w) + return ZSTD_execSequenceEnd(op, oend, sequence, litPtr, litLimit, prefixStart, virtualStart, dictEnd); + + /* Assumptions (everything else goes into ZSTD_execSequenceEnd()) */ + assert(iLitEnd <= litLimit /* Literal length is in bounds */); + assert(oLitEnd <= oend_w /* Can wildcopy literals */); + assert(oMatchEnd <= oend_w /* Can wildcopy matches */); + + /* Copy Literals: + * Split out litLength <= 16 since it is nearly always true. +1.6% on gcc-9. + * We likely don't need the full 32-byte wildcopy. + */ + assert(WILDCOPY_OVERLENGTH >= 16); + ZSTD_copy16(op, (*litPtr)); + if (sequence.litLength > 16) { + ZSTD_wildcopy(op+16, (*litPtr)+16, sequence.litLength-16, ZSTD_no_overlap); + } op = oLitEnd; *litPtr = iLitEnd; /* update for next sequence */ - /* copy Match */ + /* Copy Match */ if (sequence.offset > (size_t)(oLitEnd - prefixStart)) { /* offset beyond prefix -> go into extDict */ RETURN_ERROR_IF(sequence.offset > (size_t)(oLitEnd - virtualStart), corruption_detected); @@ -659,123 +750,33 @@ size_t ZSTD_execSequence(BYTE* op, op = oLitEnd + length1; sequence.matchLength -= length1; match = prefixStart; - if (op > oend_w || sequence.matchLength < MINMATCH) { - U32 i; - for (i = 0; i < sequence.matchLength; ++i) op[i] = match[i]; - return sequenceLength; - } } } - /* Requirement: op <= oend_w && sequence.matchLength >= MINMATCH */ - - /* match within prefix */ - if (sequence.offset < 8) { - /* close range match, overlap */ - static const U32 dec32table[] = { 0, 1, 2, 1, 4, 4, 4, 4 }; /* added */ - static const int dec64table[] = { 8, 8, 8, 7, 8, 9,10,11 }; /* subtracted */ - int const sub2 = dec64table[sequence.offset]; - op[0] = match[0]; - op[1] = match[1]; - op[2] = match[2]; - op[3] = match[3]; - match += dec32table[sequence.offset]; - ZSTD_copy4(op+4, match); - match -= sub2; - } else { - ZSTD_copy8(op, match); - } - op += 8; match += 8; - - if (oMatchEnd > oend-(16-MINMATCH)) { - if (op < oend_w) { - ZSTD_wildcopy(op, match, oend_w - op, ZSTD_overlap_src_before_dst); - match += oend_w - op; - op = oend_w; - } - while (op < oMatchEnd) *op++ = *match++; - } else { - ZSTD_wildcopy(op, match, (ptrdiff_t)sequence.matchLength-8, ZSTD_overlap_src_before_dst); /* works even if matchLength < 8 */ + /* Match within prefix of 1 or more bytes */ + assert(op <= oMatchEnd); + assert(oMatchEnd <= oend_w); + assert(match >= prefixStart); + assert(sequence.matchLength >= 1); + + /* Nearly all offsets are >= WILDCOPY_VECLEN bytes, which means we can use wildcopy + * without overlap checking. + */ + if (sequence.offset >= WILDCOPY_VECLEN) { + /* We bet on a full wildcopy for matches, since we expect matches to be + * longer than literals (in general). In silesia, ~10% of matches are longer + * than 16 bytes. + */ + ZSTD_wildcopy(op, match, (ptrdiff_t)sequence.matchLength, ZSTD_no_overlap); + return sequenceLength; } - return sequenceLength; -} - - -HINT_INLINE -size_t ZSTD_execSequenceLong(BYTE* op, - BYTE* const oend, seq_t sequence, - const BYTE** litPtr, const BYTE* const litLimit, - const BYTE* const prefixStart, const BYTE* const dictStart, const BYTE* const dictEnd) -{ - BYTE* const oLitEnd = op + sequence.litLength; - size_t const sequenceLength = sequence.litLength + sequence.matchLength; - BYTE* const oMatchEnd = op + sequenceLength; /* risk : address space overflow (32-bits) */ - BYTE* const oend_w = oend - WILDCOPY_OVERLENGTH; - const BYTE* const iLitEnd = *litPtr + sequence.litLength; - const BYTE* match = sequence.match; + assert(sequence.offset < WILDCOPY_VECLEN); - /* check */ - RETURN_ERROR_IF(oMatchEnd > oend, dstSize_tooSmall, "last match must start at a minimum distance of WILDCOPY_OVERLENGTH from oend"); - RETURN_ERROR_IF(iLitEnd > litLimit, corruption_detected, "over-read beyond lit buffer"); - if (oLitEnd > oend_w) return ZSTD_execSequenceLast7(op, oend, sequence, litPtr, litLimit, prefixStart, dictStart, dictEnd); - - /* copy Literals */ - if (sequence.litLength > 8) - ZSTD_wildcopy_16min(op, *litPtr, sequence.litLength, ZSTD_no_overlap); /* note : since oLitEnd <= oend-WILDCOPY_OVERLENGTH, no risk of overwrite beyond oend */ - else - ZSTD_copy8(op, *litPtr); /* note : op <= oLitEnd <= oend_w == oend - 8 */ + /* Copy 8 bytes and spread the offset to be >= 8. */ + ZSTD_overlapCopy8(&op, &match, sequence.offset); - op = oLitEnd; - *litPtr = iLitEnd; /* update for next sequence */ - - /* copy Match */ - if (sequence.offset > (size_t)(oLitEnd - prefixStart)) { - /* offset beyond prefix */ - RETURN_ERROR_IF(sequence.offset > (size_t)(oLitEnd - dictStart), corruption_detected); - if (match + sequence.matchLength <= dictEnd) { - memmove(oLitEnd, match, sequence.matchLength); - return sequenceLength; - } - /* span extDict & currentPrefixSegment */ - { size_t const length1 = dictEnd - match; - memmove(oLitEnd, match, length1); - op = oLitEnd + length1; - sequence.matchLength -= length1; - match = prefixStart; - if (op > oend_w || sequence.matchLength < MINMATCH) { - U32 i; - for (i = 0; i < sequence.matchLength; ++i) op[i] = match[i]; - return sequenceLength; - } - } } - assert(op <= oend_w); - assert(sequence.matchLength >= MINMATCH); - - /* match within prefix */ - if (sequence.offset < 8) { - /* close range match, overlap */ - static const U32 dec32table[] = { 0, 1, 2, 1, 4, 4, 4, 4 }; /* added */ - static const int dec64table[] = { 8, 8, 8, 7, 8, 9,10,11 }; /* subtracted */ - int const sub2 = dec64table[sequence.offset]; - op[0] = match[0]; - op[1] = match[1]; - op[2] = match[2]; - op[3] = match[3]; - match += dec32table[sequence.offset]; - ZSTD_copy4(op+4, match); - match -= sub2; - } else { - ZSTD_copy8(op, match); - } - op += 8; match += 8; - - if (oMatchEnd > oend-(16-MINMATCH)) { - if (op < oend_w) { - ZSTD_wildcopy(op, match, oend_w - op, ZSTD_overlap_src_before_dst); - match += oend_w - op; - op = oend_w; - } - while (op < oMatchEnd) *op++ = *match++; - } else { - ZSTD_wildcopy(op, match, (ptrdiff_t)sequence.matchLength-8, ZSTD_overlap_src_before_dst); /* works even if matchLength < 8 */ + /* If the match length is > 8 bytes, then continue with the wildcopy. */ + if (sequence.matchLength > 8) { + assert(op < oMatchEnd); + ZSTD_wildcopy(op, match, (ptrdiff_t)sequence.matchLength-8, ZSTD_overlap_src_before_dst); } return sequenceLength; } @@ -1095,7 +1096,7 @@ ZSTD_decompressSequencesLong_body( /* decode and decompress */ for ( ; (BIT_reloadDStream(&(seqState.DStream)) <= BIT_DStream_completed) && (seqNb<nbSeq) ; seqNb++) { seq_t const sequence = ZSTD_decodeSequenceLong(&seqState, isLongOffset); - size_t const oneSeqSize = ZSTD_execSequenceLong(op, oend, sequences[(seqNb-ADVANCED_SEQS) & STORED_SEQS_MASK], &litPtr, litEnd, prefixStart, dictStart, dictEnd); + size_t const oneSeqSize = ZSTD_execSequence(op, oend, sequences[(seqNb-ADVANCED_SEQS) & STORED_SEQS_MASK], &litPtr, litEnd, prefixStart, dictStart, dictEnd); if (ZSTD_isError(oneSeqSize)) return oneSeqSize; PREFETCH_L1(sequence.match); PREFETCH_L1(sequence.match + sequence.matchLength - 1); /* note : it's safe to invoke PREFETCH() on any memory address, including invalid ones */ sequences[seqNb & STORED_SEQS_MASK] = sequence; @@ -1106,7 +1107,7 @@ ZSTD_decompressSequencesLong_body( /* finish queue */ seqNb -= seqAdvance; for ( ; seqNb<nbSeq ; seqNb++) { - size_t const oneSeqSize = ZSTD_execSequenceLong(op, oend, sequences[seqNb&STORED_SEQS_MASK], &litPtr, litEnd, prefixStart, dictStart, dictEnd); + size_t const oneSeqSize = ZSTD_execSequence(op, oend, sequences[seqNb&STORED_SEQS_MASK], &litPtr, litEnd, prefixStart, dictStart, dictEnd); if (ZSTD_isError(oneSeqSize)) return oneSeqSize; op += oneSeqSize; } diff --git a/thirdparty/zstd/zstd.h b/thirdparty/zstd/zstd.h index a1910ee223..72080ea87e 100644 --- a/thirdparty/zstd/zstd.h +++ b/thirdparty/zstd/zstd.h @@ -15,6 +15,7 @@ extern "C" { #define ZSTD_H_235446 /* ====== Dependency ======*/ +#include <limits.h> /* INT_MAX */ #include <stddef.h> /* size_t */ @@ -71,7 +72,7 @@ extern "C" { /*------ Version ------*/ #define ZSTD_VERSION_MAJOR 1 #define ZSTD_VERSION_MINOR 4 -#define ZSTD_VERSION_RELEASE 1 +#define ZSTD_VERSION_RELEASE 4 #define ZSTD_VERSION_NUMBER (ZSTD_VERSION_MAJOR *100*100 + ZSTD_VERSION_MINOR *100 + ZSTD_VERSION_RELEASE) ZSTDLIB_API unsigned ZSTD_versionNumber(void); /**< to check runtime library version */ @@ -196,9 +197,13 @@ ZSTDLIB_API ZSTD_CCtx* ZSTD_createCCtx(void); ZSTDLIB_API size_t ZSTD_freeCCtx(ZSTD_CCtx* cctx); /*! ZSTD_compressCCtx() : - * Same as ZSTD_compress(), using an explicit ZSTD_CCtx - * The function will compress at requested compression level, - * ignoring any other parameter */ + * Same as ZSTD_compress(), using an explicit ZSTD_CCtx. + * Important : in order to behave similarly to `ZSTD_compress()`, + * this function compresses at requested compression level, + * __ignoring any other parameter__ . + * If any advanced parameter was set using the advanced API, + * they will all be reset. Only `compressionLevel` remains. + */ ZSTDLIB_API size_t ZSTD_compressCCtx(ZSTD_CCtx* cctx, void* dst, size_t dstCapacity, const void* src, size_t srcSize, @@ -233,7 +238,7 @@ ZSTDLIB_API size_t ZSTD_decompressDCtx(ZSTD_DCtx* dctx, * using ZSTD_CCtx_set*() functions. * Pushed parameters are sticky : they are valid for next compressed frame, and any subsequent frame. * "sticky" parameters are applicable to `ZSTD_compress2()` and `ZSTD_compressStream*()` ! - * They do not apply to "simple" one-shot variants such as ZSTD_compressCCtx() + * __They do not apply to "simple" one-shot variants such as ZSTD_compressCCtx()__ . * * It's possible to reset all parameters to "default" using ZSTD_CCtx_reset(). * @@ -261,18 +266,26 @@ typedef enum { /* compression parameters * Note: When compressing with a ZSTD_CDict these parameters are superseded - * by the parameters used to construct the ZSTD_CDict. See ZSTD_CCtx_refCDict() - * for more info (superseded-by-cdict). */ - ZSTD_c_compressionLevel=100, /* Update all compression parameters according to pre-defined cLevel table + * by the parameters used to construct the ZSTD_CDict. + * See ZSTD_CCtx_refCDict() for more info (superseded-by-cdict). */ + ZSTD_c_compressionLevel=100, /* Set compression parameters according to pre-defined cLevel table. + * Note that exact compression parameters are dynamically determined, + * depending on both compression level and srcSize (when known). * Default level is ZSTD_CLEVEL_DEFAULT==3. * Special: value 0 means default, which is controlled by ZSTD_CLEVEL_DEFAULT. * Note 1 : it's possible to pass a negative compression level. - * Note 2 : setting a level sets all default values of other compression parameters */ + * Note 2 : setting a level resets all other compression parameters to default */ + /* Advanced compression parameters : + * It's possible to pin down compression parameters to some specific values. + * In which case, these values are no longer dynamically selected by the compressor */ ZSTD_c_windowLog=101, /* Maximum allowed back-reference distance, expressed as power of 2. + * This will set a memory budget for streaming decompression, + * with larger values requiring more memory + * and typically compressing more. * Must be clamped between ZSTD_WINDOWLOG_MIN and ZSTD_WINDOWLOG_MAX. * Special: value 0 means "use default windowLog". * Note: Using a windowLog greater than ZSTD_WINDOWLOG_LIMIT_DEFAULT - * requires explicitly allowing such window size at decompression stage if using streaming. */ + * requires explicitly allowing such size at streaming decompression stage. */ ZSTD_c_hashLog=102, /* Size of the initial probe table, as a power of 2. * Resulting memory usage is (1 << (hashLog+2)). * Must be clamped between ZSTD_HASHLOG_MIN and ZSTD_HASHLOG_MAX. @@ -283,13 +296,13 @@ typedef enum { * Resulting memory usage is (1 << (chainLog+2)). * Must be clamped between ZSTD_CHAINLOG_MIN and ZSTD_CHAINLOG_MAX. * Larger tables result in better and slower compression. - * This parameter is useless when using "fast" strategy. + * This parameter is useless for "fast" strategy. * It's still useful when using "dfast" strategy, * in which case it defines a secondary probe table. * Special: value 0 means "use default chainLog". */ ZSTD_c_searchLog=104, /* Number of search attempts, as a power of 2. * More attempts result in better and slower compression. - * This parameter is useless when using "fast" and "dFast" strategies. + * This parameter is useless for "fast" and "dFast" strategies. * Special: value 0 means "use default searchLog". */ ZSTD_c_minMatch=105, /* Minimum size of searched matches. * Note that Zstandard can still find matches of smaller size, @@ -344,7 +357,7 @@ typedef enum { ZSTD_c_contentSizeFlag=200, /* Content size will be written into frame header _whenever known_ (default:1) * Content size must be known at the beginning of compression. * This is automatically the case when using ZSTD_compress2(), - * For streaming variants, content size must be provided with ZSTD_CCtx_setPledgedSrcSize() */ + * For streaming scenarios, content size must be provided with ZSTD_CCtx_setPledgedSrcSize() */ ZSTD_c_checksumFlag=201, /* A 32-bits checksum of content is written at end of frame (default:0) */ ZSTD_c_dictIDFlag=202, /* When applicable, dictionary's ID is written into frame header (default:1) */ @@ -363,7 +376,7 @@ typedef enum { * Each compression job is completed in parallel, so this value can indirectly impact the nb of active threads. * 0 means default, which is dynamically determined based on compression parameters. * Job size must be a minimum of overlap size, or 1 MB, whichever is largest. - * The minimum size is automatically and transparently enforced */ + * The minimum size is automatically and transparently enforced. */ ZSTD_c_overlapLog=402, /* Control the overlap size, as a fraction of window size. * The overlap size is an amount of data reloaded from previous job at the beginning of a new job. * It helps preserve compression ratio, while each job is compressed in parallel. @@ -386,6 +399,7 @@ typedef enum { * ZSTD_c_forceAttachDict * ZSTD_c_literalCompressionMode * ZSTD_c_targetCBlockSize + * ZSTD_c_srcSizeHint * Because they are not stable, it's necessary to define ZSTD_STATIC_LINKING_ONLY to access them. * note : never ever use experimentalParam? names directly; * also, the enums values themselves are unstable and can still change. @@ -396,6 +410,7 @@ typedef enum { ZSTD_c_experimentalParam4=1001, ZSTD_c_experimentalParam5=1002, ZSTD_c_experimentalParam6=1003, + ZSTD_c_experimentalParam7=1004 } ZSTD_cParameter; typedef struct { @@ -793,12 +808,17 @@ ZSTDLIB_API size_t ZSTD_decompress_usingDict(ZSTD_DCtx* dctx, typedef struct ZSTD_CDict_s ZSTD_CDict; /*! ZSTD_createCDict() : - * When compressing multiple messages / blocks using the same dictionary, it's recommended to load it only once. - * ZSTD_createCDict() will create a digested dictionary, ready to start future compression operations without startup cost. + * When compressing multiple messages or blocks using the same dictionary, + * it's recommended to digest the dictionary only once, since it's a costly operation. + * ZSTD_createCDict() will create a state from digesting a dictionary. + * The resulting state can be used for future compression operations with very limited startup cost. * ZSTD_CDict can be created once and shared by multiple threads concurrently, since its usage is read-only. - * `dictBuffer` can be released after ZSTD_CDict creation, because its content is copied within CDict. - * Consider experimental function `ZSTD_createCDict_byReference()` if you prefer to not duplicate `dictBuffer` content. - * Note : A ZSTD_CDict can be created from an empty dictBuffer, but it is inefficient when used to compress small data. */ + * @dictBuffer can be released after ZSTD_CDict creation, because its content is copied within CDict. + * Note 1 : Consider experimental function `ZSTD_createCDict_byReference()` if you prefer to not duplicate @dictBuffer content. + * Note 2 : A ZSTD_CDict can be created from an empty @dictBuffer, + * in which case the only thing that it transports is the @compressionLevel. + * This can be useful in a pipeline featuring ZSTD_compress_usingCDict() exclusively, + * expecting a ZSTD_CDict parameter with any data, including those without a known dictionary. */ ZSTDLIB_API ZSTD_CDict* ZSTD_createCDict(const void* dictBuffer, size_t dictSize, int compressionLevel); @@ -925,7 +945,7 @@ ZSTDLIB_API size_t ZSTD_CCtx_refCDict(ZSTD_CCtx* cctx, const ZSTD_CDict* cdict); * Note 3 : Referencing a prefix involves building tables, which are dependent on compression parameters. * It's a CPU consuming operation, with non-negligible impact on latency. * If there is a need to use the same prefix multiple times, consider loadDictionary instead. - * Note 4 : By default, the prefix is interpreted as raw content (ZSTD_dm_rawContent). + * Note 4 : By default, the prefix is interpreted as raw content (ZSTD_dct_rawContent). * Use experimental ZSTD_CCtx_refPrefix_advanced() to alter dictionary interpretation. */ ZSTDLIB_API size_t ZSTD_CCtx_refPrefix(ZSTD_CCtx* cctx, const void* prefix, size_t prefixSize); @@ -969,7 +989,7 @@ ZSTDLIB_API size_t ZSTD_DCtx_refDDict(ZSTD_DCtx* dctx, const ZSTD_DDict* ddict); * Note 2 : Prefix buffer is referenced. It **must** outlive decompression. * Prefix buffer must remain unmodified up to the end of frame, * reached when ZSTD_decompressStream() returns 0. - * Note 3 : By default, the prefix is treated as raw content (ZSTD_dm_rawContent). + * Note 3 : By default, the prefix is treated as raw content (ZSTD_dct_rawContent). * Use ZSTD_CCtx_refPrefix_advanced() to alter dictMode (Experimental section) * Note 4 : Referencing a raw content prefix has almost no cpu nor memory cost. * A full dictionary is more costly, as it requires building tables. @@ -1014,8 +1034,8 @@ ZSTDLIB_API size_t ZSTD_sizeof_DDict(const ZSTD_DDict* ddict); * Some of them might be removed in the future (especially when redundant with existing stable functions) * ***************************************************************************************/ -#define ZSTD_FRAMEHEADERSIZE_PREFIX 5 /* minimum input size required to query frame header size */ -#define ZSTD_FRAMEHEADERSIZE_MIN 6 +#define ZSTD_FRAMEHEADERSIZE_PREFIX(format) ((format) == ZSTD_f_zstd1 ? 5 : 1) /* minimum input size required to query frame header size */ +#define ZSTD_FRAMEHEADERSIZE_MIN(format) ((format) == ZSTD_f_zstd1 ? 6 : 2) #define ZSTD_FRAMEHEADERSIZE_MAX 18 /* can be useful for static allocation */ #define ZSTD_SKIPPABLEHEADERSIZE 8 @@ -1063,6 +1083,8 @@ ZSTDLIB_API size_t ZSTD_sizeof_DDict(const ZSTD_DDict* ddict); /* Advanced parameter bounds */ #define ZSTD_TARGETCBLOCKSIZE_MIN 64 #define ZSTD_TARGETCBLOCKSIZE_MAX ZSTD_BLOCKSIZE_MAX +#define ZSTD_SRCSIZEHINT_MIN 0 +#define ZSTD_SRCSIZEHINT_MAX INT_MAX /* internal */ #define ZSTD_HASHLOG3_MAX 17 @@ -1073,6 +1095,24 @@ ZSTDLIB_API size_t ZSTD_sizeof_DDict(const ZSTD_DDict* ddict); typedef struct ZSTD_CCtx_params_s ZSTD_CCtx_params; typedef struct { + unsigned int matchPos; /* Match pos in dst */ + /* If seqDef.offset > 3, then this is seqDef.offset - 3 + * If seqDef.offset < 3, then this is the corresponding repeat offset + * But if seqDef.offset < 3 and litLength == 0, this is the + * repeat offset before the corresponding repeat offset + * And if seqDef.offset == 3 and litLength == 0, this is the + * most recent repeat offset - 1 + */ + unsigned int offset; + unsigned int litLength; /* Literal length */ + unsigned int matchLength; /* Match length */ + /* 0 when seq not rep and seqDef.offset otherwise + * when litLength == 0 this will be <= 4, otherwise <= 3 like normal + */ + unsigned int rep; +} ZSTD_Sequence; + +typedef struct { unsigned windowLog; /**< largest match distance : larger == more compression, more memory needed during decompression */ unsigned chainLog; /**< fully searched segment : larger == more compression, slower, more memory (useless for fast) */ unsigned hashLog; /**< dispatch table : larger == faster, more memory */ @@ -1101,21 +1141,12 @@ typedef enum { typedef enum { ZSTD_dlm_byCopy = 0, /**< Copy dictionary content internally */ - ZSTD_dlm_byRef = 1, /**< Reference dictionary content -- the dictionary buffer must outlive its users. */ + ZSTD_dlm_byRef = 1 /**< Reference dictionary content -- the dictionary buffer must outlive its users. */ } ZSTD_dictLoadMethod_e; typedef enum { - /* Opened question : should we have a format ZSTD_f_auto ? - * Today, it would mean exactly the same as ZSTD_f_zstd1. - * But, in the future, should several formats become supported, - * on the compression side, it would mean "default format". - * On the decompression side, it would mean "automatic format detection", - * so that ZSTD_f_zstd1 would mean "accept *only* zstd frames". - * Since meaning is a little different, another option could be to define different enums for compression and decompression. - * This question could be kept for later, when there are actually multiple formats to support, - * but there is also the question of pinning enum values, and pinning value `0` is especially important */ ZSTD_f_zstd1 = 0, /* zstd frame format, specified in zstd_compression_format.md (default) */ - ZSTD_f_zstd1_magicless = 1, /* Variant of zstd frame format, without initial 4-bytes magic number. + ZSTD_f_zstd1_magicless = 1 /* Variant of zstd frame format, without initial 4-bytes magic number. * Useful to save 4 bytes per generated frame. * Decoder cannot recognise automatically this format, requiring this instruction. */ } ZSTD_format_e; @@ -1126,7 +1157,7 @@ typedef enum { * to evolve and should be considered only in the context of extremely * advanced performance tuning. * - * Zstd currently supports the use of a CDict in two ways: + * Zstd currently supports the use of a CDict in three ways: * * - The contents of the CDict can be copied into the working context. This * means that the compression can search both the dictionary and input @@ -1142,6 +1173,12 @@ typedef enum { * working context's tables can be reused). For small inputs, this can be * faster than copying the CDict's tables. * + * - The CDict's tables are not used at all, and instead we use the working + * context alone to reload the dictionary and use params based on the source + * size. See ZSTD_compress_insertDictionary() and ZSTD_compress_usingDict(). + * This method is effective when the dictionary sizes are very small relative + * to the input size, and the input size is fairly large to begin with. + * * Zstd has a simple internal heuristic that selects which strategy to use * at the beginning of a compression. However, if experimentation shows that * Zstd is making poor choices, it is possible to override that choice with @@ -1150,6 +1187,7 @@ typedef enum { ZSTD_dictDefaultAttach = 0, /* Use the default heuristic. */ ZSTD_dictForceAttach = 1, /* Never copy the dictionary. */ ZSTD_dictForceCopy = 2, /* Always copy the dictionary. */ + ZSTD_dictForceLoad = 3 /* Always reload the dictionary */ } ZSTD_dictAttachPref_e; typedef enum { @@ -1158,7 +1196,7 @@ typedef enum { * levels will be compressed. */ ZSTD_lcm_huffman = 1, /**< Always attempt Huffman compression. Uncompressed literals will still be * emitted if Huffman compression is not profitable. */ - ZSTD_lcm_uncompressed = 2, /**< Always emit uncompressed literals. */ + ZSTD_lcm_uncompressed = 2 /**< Always emit uncompressed literals. */ } ZSTD_literalCompressionMode_e; @@ -1210,20 +1248,38 @@ ZSTDLIB_API unsigned long long ZSTD_decompressBound(const void* src, size_t srcS * or an error code (if srcSize is too small) */ ZSTDLIB_API size_t ZSTD_frameHeaderSize(const void* src, size_t srcSize); +/*! ZSTD_getSequences() : + * Extract sequences from the sequence store + * zc can be used to insert custom compression params. + * This function invokes ZSTD_compress2 + * @return : number of sequences extracted + */ +ZSTDLIB_API size_t ZSTD_getSequences(ZSTD_CCtx* zc, ZSTD_Sequence* outSeqs, + size_t outSeqsSize, const void* src, size_t srcSize); + /*************************************** * Memory management ***************************************/ /*! ZSTD_estimate*() : - * These functions make it possible to estimate memory usage - * of a future {D,C}Ctx, before its creation. - * ZSTD_estimateCCtxSize() will provide a budget large enough for any compression level up to selected one. - * It will also consider src size to be arbitrarily "large", which is worst case. - * If srcSize is known to always be small, ZSTD_estimateCCtxSize_usingCParams() can provide a tighter estimation. - * ZSTD_estimateCCtxSize_usingCParams() can be used in tandem with ZSTD_getCParams() to create cParams from compressionLevel. - * ZSTD_estimateCCtxSize_usingCCtxParams() can be used in tandem with ZSTD_CCtxParams_setParameter(). Only single-threaded compression is supported. This function will return an error code if ZSTD_c_nbWorkers is >= 1. - * Note : CCtx size estimation is only correct for single-threaded compression. */ + * These functions make it possible to estimate memory usage of a future + * {D,C}Ctx, before its creation. + * + * ZSTD_estimateCCtxSize() will provide a budget large enough for any + * compression level up to selected one. Unlike ZSTD_estimateCStreamSize*(), + * this estimate does not include space for a window buffer, so this estimate + * is guaranteed to be enough for single-shot compressions, but not streaming + * compressions. It will however assume the input may be arbitrarily large, + * which is the worst case. If srcSize is known to always be small, + * ZSTD_estimateCCtxSize_usingCParams() can provide a tighter estimation. + * ZSTD_estimateCCtxSize_usingCParams() can be used in tandem with + * ZSTD_getCParams() to create cParams from compressionLevel. + * ZSTD_estimateCCtxSize_usingCCtxParams() can be used in tandem with + * ZSTD_CCtxParams_setParameter(). + * + * Note: only single-threaded compression is supported. This function will + * return an error code if ZSTD_c_nbWorkers is >= 1. */ ZSTDLIB_API size_t ZSTD_estimateCCtxSize(int compressionLevel); ZSTDLIB_API size_t ZSTD_estimateCCtxSize_usingCParams(ZSTD_compressionParameters cParams); ZSTDLIB_API size_t ZSTD_estimateCCtxSize_usingCCtxParams(const ZSTD_CCtx_params* params); @@ -1334,7 +1390,8 @@ ZSTDLIB_API ZSTD_DDict* ZSTD_createDDict_advanced(const void* dict, size_t dictS * Create a digested dictionary for compression * Dictionary content is just referenced, not duplicated. * As a consequence, `dictBuffer` **must** outlive CDict, - * and its content must remain unmodified throughout the lifetime of CDict. */ + * and its content must remain unmodified throughout the lifetime of CDict. + * note: equivalent to ZSTD_createCDict_advanced(), with dictLoadMethod==ZSTD_dlm_byRef */ ZSTDLIB_API ZSTD_CDict* ZSTD_createCDict_byReference(const void* dictBuffer, size_t dictSize, int compressionLevel); /*! ZSTD_getCParams() : @@ -1361,7 +1418,9 @@ ZSTDLIB_API size_t ZSTD_checkCParams(ZSTD_compressionParameters params); ZSTDLIB_API ZSTD_compressionParameters ZSTD_adjustCParams(ZSTD_compressionParameters cPar, unsigned long long srcSize, size_t dictSize); /*! ZSTD_compress_advanced() : - * Same as ZSTD_compress_usingDict(), with fine-tune control over compression parameters (by structure) */ + * Note : this function is now DEPRECATED. + * It can be replaced by ZSTD_compress2(), in combination with ZSTD_CCtx_setParameter() and other parameter setters. + * This prototype will be marked as deprecated and generate compilation warning on reaching v1.5.x */ ZSTDLIB_API size_t ZSTD_compress_advanced(ZSTD_CCtx* cctx, void* dst, size_t dstCapacity, const void* src, size_t srcSize, @@ -1369,7 +1428,9 @@ ZSTDLIB_API size_t ZSTD_compress_advanced(ZSTD_CCtx* cctx, ZSTD_parameters params); /*! ZSTD_compress_usingCDict_advanced() : - * Same as ZSTD_compress_usingCDict(), with fine-tune control over frame parameters */ + * Note : this function is now REDUNDANT. + * It can be replaced by ZSTD_compress2(), in combination with ZSTD_CCtx_loadDictionary() and other parameter setters. + * This prototype will be marked as deprecated and generate compilation warning in some future version */ ZSTDLIB_API size_t ZSTD_compress_usingCDict_advanced(ZSTD_CCtx* cctx, void* dst, size_t dstCapacity, const void* src, size_t srcSize, @@ -1441,6 +1502,12 @@ ZSTDLIB_API size_t ZSTD_CCtx_refPrefix_advanced(ZSTD_CCtx* cctx, const void* pre * There is no guarantee on compressed block size (default:0) */ #define ZSTD_c_targetCBlockSize ZSTD_c_experimentalParam6 +/* User's best guess of source size. + * Hint is not valid when srcSizeHint == 0. + * There is no guarantee that hint is close to actual source size, + * but compression ratio may regress significantly if guess considerably underestimates */ +#define ZSTD_c_srcSizeHint ZSTD_c_experimentalParam7 + /*! ZSTD_CCtx_getParameter() : * Get the requested compression parameter value, selected by enum ZSTD_cParameter, * and store it into int* value. @@ -1613,8 +1680,13 @@ ZSTDLIB_API size_t ZSTD_decompressStream_simpleArgs ( * pledgedSrcSize must be correct. If it is not known at init time, use * ZSTD_CONTENTSIZE_UNKNOWN. Note that, for compatibility with older programs, * "0" also disables frame content size field. It may be enabled in the future. + * Note : this prototype will be marked as deprecated and generate compilation warnings on reaching v1.5.x */ -ZSTDLIB_API size_t ZSTD_initCStream_srcSize(ZSTD_CStream* zcs, int compressionLevel, unsigned long long pledgedSrcSize); +ZSTDLIB_API size_t +ZSTD_initCStream_srcSize(ZSTD_CStream* zcs, + int compressionLevel, + unsigned long long pledgedSrcSize); + /**! ZSTD_initCStream_usingDict() : * This function is deprecated, and is equivalent to: * ZSTD_CCtx_reset(zcs, ZSTD_reset_session_only); @@ -1623,42 +1695,66 @@ ZSTDLIB_API size_t ZSTD_initCStream_srcSize(ZSTD_CStream* zcs, int compressionLe * * Creates of an internal CDict (incompatible with static CCtx), except if * dict == NULL or dictSize < 8, in which case no dict is used. - * Note: dict is loaded with ZSTD_dm_auto (treated as a full zstd dictionary if + * Note: dict is loaded with ZSTD_dct_auto (treated as a full zstd dictionary if * it begins with ZSTD_MAGIC_DICTIONARY, else as raw content) and ZSTD_dlm_byCopy. + * Note : this prototype will be marked as deprecated and generate compilation warnings on reaching v1.5.x */ -ZSTDLIB_API size_t ZSTD_initCStream_usingDict(ZSTD_CStream* zcs, const void* dict, size_t dictSize, int compressionLevel); +ZSTDLIB_API size_t +ZSTD_initCStream_usingDict(ZSTD_CStream* zcs, + const void* dict, size_t dictSize, + int compressionLevel); + /**! ZSTD_initCStream_advanced() : * This function is deprecated, and is approximately equivalent to: * ZSTD_CCtx_reset(zcs, ZSTD_reset_session_only); - * ZSTD_CCtx_setZstdParams(zcs, params); // Set the zstd params and leave the rest as-is + * // Pseudocode: Set each zstd parameter and leave the rest as-is. + * for ((param, value) : params) { + * ZSTD_CCtx_setParameter(zcs, param, value); + * } * ZSTD_CCtx_setPledgedSrcSize(zcs, pledgedSrcSize); * ZSTD_CCtx_loadDictionary(zcs, dict, dictSize); * - * pledgedSrcSize must be correct. If srcSize is not known at init time, use - * value ZSTD_CONTENTSIZE_UNKNOWN. dict is loaded with ZSTD_dm_auto and ZSTD_dlm_byCopy. + * dict is loaded with ZSTD_dct_auto and ZSTD_dlm_byCopy. + * pledgedSrcSize must be correct. + * If srcSize is not known at init time, use value ZSTD_CONTENTSIZE_UNKNOWN. + * Note : this prototype will be marked as deprecated and generate compilation warnings on reaching v1.5.x */ -ZSTDLIB_API size_t ZSTD_initCStream_advanced(ZSTD_CStream* zcs, const void* dict, size_t dictSize, - ZSTD_parameters params, unsigned long long pledgedSrcSize); +ZSTDLIB_API size_t +ZSTD_initCStream_advanced(ZSTD_CStream* zcs, + const void* dict, size_t dictSize, + ZSTD_parameters params, + unsigned long long pledgedSrcSize); + /**! ZSTD_initCStream_usingCDict() : * This function is deprecated, and equivalent to: * ZSTD_CCtx_reset(zcs, ZSTD_reset_session_only); * ZSTD_CCtx_refCDict(zcs, cdict); * * note : cdict will just be referenced, and must outlive compression session + * Note : this prototype will be marked as deprecated and generate compilation warnings on reaching v1.5.x */ ZSTDLIB_API size_t ZSTD_initCStream_usingCDict(ZSTD_CStream* zcs, const ZSTD_CDict* cdict); + /**! ZSTD_initCStream_usingCDict_advanced() : - * This function is deprecated, and is approximately equivalent to: + * This function is DEPRECATED, and is approximately equivalent to: * ZSTD_CCtx_reset(zcs, ZSTD_reset_session_only); - * ZSTD_CCtx_setZstdFrameParams(zcs, fParams); // Set the zstd frame params and leave the rest as-is + * // Pseudocode: Set each zstd frame parameter and leave the rest as-is. + * for ((fParam, value) : fParams) { + * ZSTD_CCtx_setParameter(zcs, fParam, value); + * } * ZSTD_CCtx_setPledgedSrcSize(zcs, pledgedSrcSize); * ZSTD_CCtx_refCDict(zcs, cdict); * * same as ZSTD_initCStream_usingCDict(), with control over frame parameters. * pledgedSrcSize must be correct. If srcSize is not known at init time, use * value ZSTD_CONTENTSIZE_UNKNOWN. + * Note : this prototype will be marked as deprecated and generate compilation warnings on reaching v1.5.x */ -ZSTDLIB_API size_t ZSTD_initCStream_usingCDict_advanced(ZSTD_CStream* zcs, const ZSTD_CDict* cdict, ZSTD_frameParameters fParams, unsigned long long pledgedSrcSize); +ZSTDLIB_API size_t +ZSTD_initCStream_usingCDict_advanced(ZSTD_CStream* zcs, + const ZSTD_CDict* cdict, + ZSTD_frameParameters fParams, + unsigned long long pledgedSrcSize); /*! ZSTD_resetCStream() : * This function is deprecated, and is equivalent to: @@ -1673,6 +1769,7 @@ ZSTDLIB_API size_t ZSTD_initCStream_usingCDict_advanced(ZSTD_CStream* zcs, const * For the time being, pledgedSrcSize==0 is interpreted as "srcSize unknown" for compatibility with older programs, * but it will change to mean "empty" in future version, so use macro ZSTD_CONTENTSIZE_UNKNOWN instead. * @return : 0, or an error code (which can be tested using ZSTD_isError()) + * Note : this prototype will be marked as deprecated and generate compilation warnings on reaching v1.5.x */ ZSTDLIB_API size_t ZSTD_resetCStream(ZSTD_CStream* zcs, unsigned long long pledgedSrcSize); @@ -1718,8 +1815,10 @@ ZSTDLIB_API size_t ZSTD_toFlushNow(ZSTD_CCtx* cctx); * ZSTD_DCtx_loadDictionary(zds, dict, dictSize); * * note: no dictionary will be used if dict == NULL or dictSize < 8 + * Note : this prototype will be marked as deprecated and generate compilation warnings on reaching v1.5.x */ ZSTDLIB_API size_t ZSTD_initDStream_usingDict(ZSTD_DStream* zds, const void* dict, size_t dictSize); + /** * This function is deprecated, and is equivalent to: * @@ -1727,14 +1826,17 @@ ZSTDLIB_API size_t ZSTD_initDStream_usingDict(ZSTD_DStream* zds, const void* dic * ZSTD_DCtx_refDDict(zds, ddict); * * note : ddict is referenced, it must outlive decompression session + * Note : this prototype will be marked as deprecated and generate compilation warnings on reaching v1.5.x */ ZSTDLIB_API size_t ZSTD_initDStream_usingDDict(ZSTD_DStream* zds, const ZSTD_DDict* ddict); + /** * This function is deprecated, and is equivalent to: * * ZSTD_DCtx_reset(zds, ZSTD_reset_session_only); * * re-use decompression parameters from previous init; saves dictionary loading + * Note : this prototype will be marked as deprecated and generate compilation warnings on reaching v1.5.x */ ZSTDLIB_API size_t ZSTD_resetDStream(ZSTD_DStream* zds); @@ -1908,8 +2010,8 @@ ZSTDLIB_API ZSTD_nextInputType_e ZSTD_nextInputType(ZSTD_DCtx* dctx); /*! Block functions produce and decode raw zstd blocks, without frame metadata. - Frame metadata cost is typically ~18 bytes, which can be non-negligible for very small blocks (< 100 bytes). - User will have to take in charge required information to regenerate data, such as compressed and content sizes. + Frame metadata cost is typically ~12 bytes, which can be non-negligible for very small blocks (< 100 bytes). + But users will have to take in charge needed metadata to regenerate data, such as compressed and content sizes. A few rules to respect : - Compressing and decompressing require a context structure @@ -1920,12 +2022,14 @@ ZSTDLIB_API ZSTD_nextInputType_e ZSTD_nextInputType(ZSTD_DCtx* dctx); + copyCCtx() and copyDCtx() can be used too - Block size is limited, it must be <= ZSTD_getBlockSize() <= ZSTD_BLOCKSIZE_MAX == 128 KB + If input is larger than a block size, it's necessary to split input data into multiple blocks - + For inputs larger than a single block, really consider using regular ZSTD_compress() instead. - Frame metadata is not that costly, and quickly becomes negligible as source size grows larger. - - When a block is considered not compressible enough, ZSTD_compressBlock() result will be zero. - In which case, nothing is produced into `dst` ! - + User must test for such outcome and deal directly with uncompressed data - + ZSTD_decompressBlock() doesn't accept uncompressed data as input !!! + + For inputs larger than a single block, consider using regular ZSTD_compress() instead. + Frame metadata is not that costly, and quickly becomes negligible as source size grows larger than a block. + - When a block is considered not compressible enough, ZSTD_compressBlock() result will be 0 (zero) ! + ===> In which case, nothing is produced into `dst` ! + + User __must__ test for such outcome and deal directly with uncompressed data + + A block cannot be declared incompressible if ZSTD_compressBlock() return value was != 0. + Doing so would mess up with statistics history, leading to potential data corruption. + + ZSTD_decompressBlock() _doesn't accept uncompressed data as input_ !! + In case of multiple successive blocks, should some of them be uncompressed, decoder must be informed of their existence in order to follow proper history. Use ZSTD_insertBlock() for such a case. |