207 lines
5.2 KiB
C++
207 lines
5.2 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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#include "btConvexTriangleMeshShape.h"
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#include "BulletCollision/CollisionShapes/btCollisionMargin.h"
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#include "LinearMath/btQuaternion.h"
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#include "BulletCollision/CollisionShapes/btStridingMeshInterface.h"
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btConvexTriangleMeshShape ::btConvexTriangleMeshShape (btStridingMeshInterface* meshInterface)
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:m_stridingMesh(meshInterface)
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{
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recalcLocalAabb();
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}
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///It's not nice to have all this virtual function overhead, so perhaps we can also gather the points once
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///but then we are duplicating
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class LocalSupportVertexCallback: public btInternalTriangleIndexCallback
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{
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btVector3 m_supportVertexLocal;
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public:
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btScalar m_maxDot;
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btVector3 m_supportVecLocal;
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LocalSupportVertexCallback(const btVector3& supportVecLocal)
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: m_supportVertexLocal(btScalar(0.),btScalar(0.),btScalar(0.)),
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m_maxDot(btScalar(-1e30)),
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m_supportVecLocal(supportVecLocal)
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{
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}
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virtual void internalProcessTriangleIndex(btVector3* triangle,int partId,int triangleIndex)
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{
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(void)triangleIndex;
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(void)partId;
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for (int i=0;i<3;i++)
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{
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btScalar dot = m_supportVecLocal.dot(triangle[i]);
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if (dot > m_maxDot)
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{
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m_maxDot = dot;
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m_supportVertexLocal = triangle[i];
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}
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}
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}
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btVector3 GetSupportVertexLocal()
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{
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return m_supportVertexLocal;
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}
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};
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btVector3 btConvexTriangleMeshShape::localGetSupportingVertexWithoutMargin(const btVector3& vec0)const
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{
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btVector3 supVec(btScalar(0.),btScalar(0.),btScalar(0.));
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btVector3 vec = vec0;
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btScalar lenSqr = vec.length2();
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if (lenSqr < btScalar(0.0001))
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{
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vec.setValue(1,0,0);
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} else
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{
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btScalar rlen = btScalar(1.) / btSqrt(lenSqr );
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vec *= rlen;
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}
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LocalSupportVertexCallback supportCallback(vec);
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btVector3 aabbMax(btScalar(1e30),btScalar(1e30),btScalar(1e30));
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m_stridingMesh->InternalProcessAllTriangles(&supportCallback,-aabbMax,aabbMax);
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supVec = supportCallback.GetSupportVertexLocal();
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return supVec;
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}
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void btConvexTriangleMeshShape::batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3* vectors,btVector3* supportVerticesOut,int numVectors) const
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{
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//use 'w' component of supportVerticesOut?
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{
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for (int i=0;i<numVectors;i++)
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{
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supportVerticesOut[i][3] = btScalar(-1e30);
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}
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}
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//todo: could do the batch inside the callback!
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for (int j=0;j<numVectors;j++)
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{
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const btVector3& vec = vectors[j];
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LocalSupportVertexCallback supportCallback(vec);
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btVector3 aabbMax(btScalar(1e30),btScalar(1e30),btScalar(1e30));
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m_stridingMesh->InternalProcessAllTriangles(&supportCallback,-aabbMax,aabbMax);
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supportVerticesOut[j] = supportCallback.GetSupportVertexLocal();
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}
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}
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btVector3 btConvexTriangleMeshShape::localGetSupportingVertex(const btVector3& vec)const
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{
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btVector3 supVertex = localGetSupportingVertexWithoutMargin(vec);
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if ( getMargin()!=btScalar(0.) )
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{
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btVector3 vecnorm = vec;
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if (vecnorm .length2() < (SIMD_EPSILON*SIMD_EPSILON))
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{
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vecnorm.setValue(btScalar(-1.),btScalar(-1.),btScalar(-1.));
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}
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vecnorm.normalize();
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supVertex+= getMargin() * vecnorm;
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}
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return supVertex;
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}
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//currently just for debugging (drawing), perhaps future support for algebraic continuous collision detection
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//Please note that you can debug-draw btConvexTriangleMeshShape with the Raytracer Demo
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int btConvexTriangleMeshShape::getNumVertices() const
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{
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//cache this?
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return 0;
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}
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int btConvexTriangleMeshShape::getNumEdges() const
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{
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return 0;
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}
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void btConvexTriangleMeshShape::getEdge(int ,btPoint3& ,btPoint3& ) const
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{
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btAssert(0);
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}
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void btConvexTriangleMeshShape::getVertex(int ,btPoint3& ) const
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{
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btAssert(0);
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}
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int btConvexTriangleMeshShape::getNumPlanes() const
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{
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return 0;
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}
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void btConvexTriangleMeshShape::getPlane(btVector3& ,btPoint3& ,int ) const
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{
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btAssert(0);
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}
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//not yet
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bool btConvexTriangleMeshShape::isInside(const btPoint3& ,btScalar ) const
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{
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btAssert(0);
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return false;
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}
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void btConvexTriangleMeshShape::setLocalScaling(const btVector3& scaling)
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{
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m_stridingMesh->setScaling(scaling);
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recalcLocalAabb();
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}
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const btVector3& btConvexTriangleMeshShape::getLocalScaling() const
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{
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return m_stridingMesh->getScaling();
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}
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