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source: code/branches/kicklib/src/external/bullet/BulletCollision/CollisionShapes/btTriangleMesh.cpp @ 7983

Last change on this file since 7983 was 7983, checked in by rgrieder, 14 years ago

Updated Bullet Physics Engine from v2.74 to v2.77

  • Property svn:eol-style set to native
File size: 4.3 KB
Line 
1/*
2Bullet Continuous Collision Detection and Physics Library
3Copyright (c) 2003-2009 Erwin Coumans  http://bulletphysics.org
4
5This software is provided 'as-is', without any express or implied warranty.
6In no event will the authors be held liable for any damages arising from the use of this software.
7Permission is granted to anyone to use this software for any purpose,
8including commercial applications, and to alter it and redistribute it freely,
9subject to the following restrictions:
10
111. 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.
122. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
133. This notice may not be removed or altered from any source distribution.
14*/
15
16
17#include "btTriangleMesh.h"
18
19
20
21btTriangleMesh::btTriangleMesh (bool use32bitIndices,bool use4componentVertices)
22:m_use32bitIndices(use32bitIndices),
23m_use4componentVertices(use4componentVertices),
24m_weldingThreshold(0.0)
25{
26        btIndexedMesh meshIndex;
27        meshIndex.m_numTriangles = 0;
28        meshIndex.m_numVertices = 0;
29        meshIndex.m_indexType = PHY_INTEGER;
30        meshIndex.m_triangleIndexBase = 0;
31        meshIndex.m_triangleIndexStride = 3*sizeof(int);
32        meshIndex.m_vertexBase = 0;
33        meshIndex.m_vertexStride = sizeof(btVector3);
34        m_indexedMeshes.push_back(meshIndex);
35
36        if (m_use32bitIndices)
37        {
38                m_indexedMeshes[0].m_numTriangles = m_32bitIndices.size()/3;
39                m_indexedMeshes[0].m_triangleIndexBase = 0;
40                m_indexedMeshes[0].m_indexType = PHY_INTEGER;
41                m_indexedMeshes[0].m_triangleIndexStride = 3*sizeof(int);
42        } else
43        {
44                m_indexedMeshes[0].m_numTriangles = m_16bitIndices.size()/3;
45                m_indexedMeshes[0].m_triangleIndexBase = 0;
46                m_indexedMeshes[0].m_indexType = PHY_SHORT;
47                m_indexedMeshes[0].m_triangleIndexStride = 3*sizeof(short int);
48        }
49
50        if (m_use4componentVertices)
51        {
52                m_indexedMeshes[0].m_numVertices = m_4componentVertices.size();
53                m_indexedMeshes[0].m_vertexBase = 0;
54                m_indexedMeshes[0].m_vertexStride = sizeof(btVector3);
55        } else
56        {
57                m_indexedMeshes[0].m_numVertices = m_3componentVertices.size()/3;
58                m_indexedMeshes[0].m_vertexBase = 0;
59                m_indexedMeshes[0].m_vertexStride = 3*sizeof(btScalar);
60        }
61
62
63}
64
65void    btTriangleMesh::addIndex(int index)
66{
67        if (m_use32bitIndices)
68        {
69                m_32bitIndices.push_back(index);
70                m_indexedMeshes[0].m_triangleIndexBase = (unsigned char*) &m_32bitIndices[0];
71        } else
72        {
73                m_16bitIndices.push_back(index);
74                m_indexedMeshes[0].m_triangleIndexBase = (unsigned char*) &m_16bitIndices[0];
75        }
76}
77
78
79int     btTriangleMesh::findOrAddVertex(const btVector3& vertex, bool removeDuplicateVertices)
80{
81        //return index of new/existing vertex
82        ///@todo: could use acceleration structure for this
83        if (m_use4componentVertices)
84        {
85                if (removeDuplicateVertices)
86                        {
87                        for (int i=0;i< m_4componentVertices.size();i++)
88                        {
89                                if ((m_4componentVertices[i]-vertex).length2() <= m_weldingThreshold)
90                                {
91                                        return i;
92                                }
93                        }
94                }
95                m_indexedMeshes[0].m_numVertices++;
96                m_4componentVertices.push_back(vertex);
97                m_indexedMeshes[0].m_vertexBase = (unsigned char*)&m_4componentVertices[0];
98
99                return m_4componentVertices.size()-1;
100               
101        } else
102        {
103               
104                if (removeDuplicateVertices)
105                {
106                        for (int i=0;i< m_3componentVertices.size();i+=3)
107                        {
108                                btVector3 vtx(m_3componentVertices[i],m_3componentVertices[i+1],m_3componentVertices[i+2]);
109                                if ((vtx-vertex).length2() <= m_weldingThreshold)
110                                {
111                                        return i/3;
112                                }
113                        }
114        }
115                m_3componentVertices.push_back((float)vertex.getX());
116                m_3componentVertices.push_back((float)vertex.getY());
117                m_3componentVertices.push_back((float)vertex.getZ());
118                m_indexedMeshes[0].m_numVertices++;
119                m_indexedMeshes[0].m_vertexBase = (unsigned char*)&m_3componentVertices[0];
120                return (m_3componentVertices.size()/3)-1;
121        }
122
123}
124               
125void    btTriangleMesh::addTriangle(const btVector3& vertex0,const btVector3& vertex1,const btVector3& vertex2,bool removeDuplicateVertices)
126{
127        m_indexedMeshes[0].m_numTriangles++;
128        addIndex(findOrAddVertex(vertex0,removeDuplicateVertices));
129        addIndex(findOrAddVertex(vertex1,removeDuplicateVertices));
130        addIndex(findOrAddVertex(vertex2,removeDuplicateVertices));
131}
132
133int btTriangleMesh::getNumTriangles() const
134{
135        if (m_use32bitIndices)
136        {
137                return m_32bitIndices.size() / 3;
138        }
139        return m_16bitIndices.size() / 3;
140}
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