174 lines
5.4 KiB
C++
174 lines
5.4 KiB
C++
/*
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Bullet Continuous Collision Detection and Physics Library
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Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
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This software is provided 'as-is', without any express or implied warranty.
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In no event will the authors be held liable for any damages arising from the use of this software.
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Permission is granted to anyone to use this software for any purpose,
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including commercial applications, and to alter it and redistribute it freely,
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subject to the following restrictions:
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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.
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2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
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3. This notice may not be removed or altered from any source distribution.
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*/
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//#define DISABLE_BVH
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#include "BulletCollision/CollisionShapes/btBvhTriangleMeshShape.h"
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#include "BulletCollision/CollisionShapes/btOptimizedBvh.h"
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///Bvh Concave triangle mesh is a static-triangle mesh shape with Bounding Volume Hierarchy optimization.
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///Uses an interface to access the triangles to allow for sharing graphics/physics triangles.
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btBvhTriangleMeshShape::btBvhTriangleMeshShape(btStridingMeshInterface* meshInterface, bool useQuantizedAabbCompression)
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:btTriangleMeshShape(meshInterface),m_useQuantizedAabbCompression(useQuantizedAabbCompression)
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{
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//construct bvh from meshInterface
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#ifndef DISABLE_BVH
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m_bvh = new btOptimizedBvh();
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btVector3 bvhAabbMin,bvhAabbMax;
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meshInterface->calculateAabbBruteForce(bvhAabbMin,bvhAabbMax);
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m_bvh->build(meshInterface,m_useQuantizedAabbCompression,bvhAabbMin,bvhAabbMax);
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#endif //DISABLE_BVH
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}
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btBvhTriangleMeshShape::btBvhTriangleMeshShape(btStridingMeshInterface* meshInterface, bool useQuantizedAabbCompression,const btVector3& bvhAabbMin,const btVector3& bvhAabbMax)
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:btTriangleMeshShape(meshInterface),m_useQuantizedAabbCompression(useQuantizedAabbCompression)
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{
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//construct bvh from meshInterface
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#ifndef DISABLE_BVH
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m_bvh = new btOptimizedBvh();
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m_bvh->build(meshInterface,m_useQuantizedAabbCompression,bvhAabbMin,bvhAabbMax);
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#endif //DISABLE_BVH
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}
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void btBvhTriangleMeshShape::partialRefitTree(const btVector3& aabbMin,const btVector3& aabbMax)
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{
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m_bvh->refitPartial( m_meshInterface,aabbMin,aabbMax );
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m_localAabbMin.setMin(aabbMin);
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m_localAabbMax.setMax(aabbMax);
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}
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void btBvhTriangleMeshShape::refitTree()
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{
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m_bvh->refit( m_meshInterface );
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recalcLocalAabb();
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}
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btBvhTriangleMeshShape::~btBvhTriangleMeshShape()
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{
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delete m_bvh;
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}
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//perform bvh tree traversal and report overlapping triangles to 'callback'
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void btBvhTriangleMeshShape::processAllTriangles(btTriangleCallback* callback,const btVector3& aabbMin,const btVector3& aabbMax) const
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{
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#ifdef DISABLE_BVH
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//brute force traverse all triangles
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btTriangleMeshShape::processAllTriangles(callback,aabbMin,aabbMax);
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#else
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//first get all the nodes
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struct MyNodeOverlapCallback : public btNodeOverlapCallback
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{
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btStridingMeshInterface* m_meshInterface;
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btTriangleCallback* m_callback;
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btVector3 m_triangle[3];
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MyNodeOverlapCallback(btTriangleCallback* callback,btStridingMeshInterface* meshInterface)
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:m_meshInterface(meshInterface),
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m_callback(callback)
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{
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}
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virtual void processNode(int nodeSubPart, int nodeTriangleIndex)
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{
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const unsigned char *vertexbase;
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int numverts;
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PHY_ScalarType type;
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int stride;
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const unsigned char *indexbase;
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int indexstride;
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int numfaces;
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PHY_ScalarType indicestype;
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m_meshInterface->getLockedReadOnlyVertexIndexBase(
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&vertexbase,
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numverts,
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type,
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stride,
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&indexbase,
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indexstride,
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numfaces,
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indicestype,
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nodeSubPart);
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int* gfxbase = (int*)(indexbase+nodeTriangleIndex*indexstride);
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const btVector3& meshScaling = m_meshInterface->getScaling();
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for (int j=2;j>=0;j--)
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{
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int graphicsindex = gfxbase[j];
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#ifdef DEBUG_TRIANGLE_MESH
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printf("%d ,",graphicsindex);
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#endif //DEBUG_TRIANGLE_MESH
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btScalar* graphicsbase = (btScalar*)(vertexbase+graphicsindex*stride);
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m_triangle[j] = btVector3(
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graphicsbase[0]*meshScaling.getX(),
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graphicsbase[1]*meshScaling.getY(),
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graphicsbase[2]*meshScaling.getZ());
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#ifdef DEBUG_TRIANGLE_MESH
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printf("triangle vertices:%f,%f,%f\n",triangle[j].x(),triangle[j].y(),triangle[j].z());
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#endif //DEBUG_TRIANGLE_MESH
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}
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m_callback->processTriangle(m_triangle,nodeSubPart,nodeTriangleIndex);
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m_meshInterface->unLockReadOnlyVertexBase(nodeSubPart);
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}
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};
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MyNodeOverlapCallback myNodeCallback(callback,m_meshInterface);
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m_bvh->reportAabbOverlappingNodex(&myNodeCallback,aabbMin,aabbMax);
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#endif//DISABLE_BVH
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}
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void btBvhTriangleMeshShape::setLocalScaling(const btVector3& scaling)
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{
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if ((getLocalScaling() -scaling).length2() > SIMD_EPSILON)
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{
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btTriangleMeshShape::setLocalScaling(scaling);
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delete m_bvh;
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///m_localAabbMin/m_localAabbMax is already re-calculated in btTriangleMeshShape. We could just scale aabb, but this needs some more work
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m_bvh = new btOptimizedBvh();
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//rebuild the bvh...
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m_bvh->build(m_meshInterface,m_useQuantizedAabbCompression,m_localAabbMin,m_localAabbMax);
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}
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}
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