| 1 | /* |
|---|
| 2 | Bullet Continuous Collision Detection and Physics Library |
|---|
| 3 | Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/ |
|---|
| 4 | |
|---|
| 5 | This software is provided 'as-is', without any express or implied warranty. |
|---|
| 6 | In no event will the authors be held liable for any damages arising from the use of this software. |
|---|
| 7 | Permission is granted to anyone to use this software for any purpose, |
|---|
| 8 | including commercial applications, and to alter it and redistribute it freely, |
|---|
| 9 | subject to the following restrictions: |
|---|
| 10 | |
|---|
| 11 | 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. |
|---|
| 12 | 2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software. |
|---|
| 13 | 3. This notice may not be removed or altered from any source distribution. |
|---|
| 14 | */ |
|---|
| 15 | ///btSparseSdf implementation by Nathanael Presson |
|---|
| 16 | |
|---|
| 17 | #ifndef _14F9D17F_EAE8_4aba_B41C_292DB2AA70F3_ |
|---|
| 18 | #define _14F9D17F_EAE8_4aba_B41C_292DB2AA70F3_ |
|---|
| 19 | |
|---|
| 20 | #include "BulletCollision/CollisionDispatch/btCollisionObject.h" |
|---|
| 21 | #include "BulletCollision/NarrowPhaseCollision/btGjkEpa2.h" |
|---|
| 22 | |
|---|
| 23 | // Modified Paul Hsieh hash |
|---|
| 24 | template <const int DWORDLEN> |
|---|
| 25 | unsigned int HsiehHash(const void* pdata) |
|---|
| 26 | { |
|---|
| 27 | const unsigned short* data=(const unsigned short*)pdata; |
|---|
| 28 | unsigned hash=DWORDLEN<<2,tmp; |
|---|
| 29 | for(int i=0;i<DWORDLEN;++i) |
|---|
| 30 | { |
|---|
| 31 | hash += data[0]; |
|---|
| 32 | tmp = (data[1]<<11)^hash; |
|---|
| 33 | hash = (hash<<16)^tmp; |
|---|
| 34 | data += 2; |
|---|
| 35 | hash += hash>>11; |
|---|
| 36 | } |
|---|
| 37 | hash^=hash<<3;hash+=hash>>5; |
|---|
| 38 | hash^=hash<<4;hash+=hash>>17; |
|---|
| 39 | hash^=hash<<25;hash+=hash>>6; |
|---|
| 40 | return(hash); |
|---|
| 41 | } |
|---|
| 42 | |
|---|
| 43 | template <const int CELLSIZE> |
|---|
| 44 | struct btSparseSdf |
|---|
| 45 | { |
|---|
| 46 | // |
|---|
| 47 | // Inner types |
|---|
| 48 | // |
|---|
| 49 | struct IntFrac |
|---|
| 50 | { |
|---|
| 51 | int b; |
|---|
| 52 | int i; |
|---|
| 53 | btScalar f; |
|---|
| 54 | }; |
|---|
| 55 | struct Cell |
|---|
| 56 | { |
|---|
| 57 | btScalar d[CELLSIZE+1][CELLSIZE+1][CELLSIZE+1]; |
|---|
| 58 | int c[3]; |
|---|
| 59 | int puid; |
|---|
| 60 | unsigned hash; |
|---|
| 61 | btCollisionShape* pclient; |
|---|
| 62 | Cell* next; |
|---|
| 63 | }; |
|---|
| 64 | // |
|---|
| 65 | // Fields |
|---|
| 66 | // |
|---|
| 67 | |
|---|
| 68 | btAlignedObjectArray<Cell*> cells; |
|---|
| 69 | btScalar voxelsz; |
|---|
| 70 | int puid; |
|---|
| 71 | int ncells; |
|---|
| 72 | int nprobes; |
|---|
| 73 | int nqueries; |
|---|
| 74 | |
|---|
| 75 | // |
|---|
| 76 | // Methods |
|---|
| 77 | // |
|---|
| 78 | |
|---|
| 79 | // |
|---|
| 80 | void Initialize(int hashsize=2383) |
|---|
| 81 | { |
|---|
| 82 | cells.resize(hashsize,0); |
|---|
| 83 | Reset(); |
|---|
| 84 | } |
|---|
| 85 | // |
|---|
| 86 | void Reset() |
|---|
| 87 | { |
|---|
| 88 | for(int i=0,ni=cells.size();i<ni;++i) |
|---|
| 89 | { |
|---|
| 90 | Cell* pc=cells[i]; |
|---|
| 91 | cells[i]=0; |
|---|
| 92 | while(pc) |
|---|
| 93 | { |
|---|
| 94 | Cell* pn=pc->next; |
|---|
| 95 | delete pc; |
|---|
| 96 | pc=pn; |
|---|
| 97 | } |
|---|
| 98 | } |
|---|
| 99 | voxelsz =0.25; |
|---|
| 100 | puid =0; |
|---|
| 101 | ncells =0; |
|---|
| 102 | nprobes =1; |
|---|
| 103 | nqueries =1; |
|---|
| 104 | } |
|---|
| 105 | // |
|---|
| 106 | void GarbageCollect(int lifetime=256) |
|---|
| 107 | { |
|---|
| 108 | const int life=puid-lifetime; |
|---|
| 109 | for(int i=0;i<cells.size();++i) |
|---|
| 110 | { |
|---|
| 111 | Cell*& root=cells[i]; |
|---|
| 112 | Cell* pp=0; |
|---|
| 113 | Cell* pc=root; |
|---|
| 114 | while(pc) |
|---|
| 115 | { |
|---|
| 116 | Cell* pn=pc->next; |
|---|
| 117 | if(pc->puid<life) |
|---|
| 118 | { |
|---|
| 119 | if(pp) pp->next=pn; else root=pn; |
|---|
| 120 | delete pc;pc=pp;--ncells; |
|---|
| 121 | } |
|---|
| 122 | pp=pc;pc=pn; |
|---|
| 123 | } |
|---|
| 124 | } |
|---|
| 125 | //printf("GC[%d]: %d cells, PpQ: %f\r\n",puid,ncells,nprobes/(btScalar)nqueries); |
|---|
| 126 | nqueries=1; |
|---|
| 127 | nprobes=1; |
|---|
| 128 | ++puid; /* TODO: Reset puid's when int range limit is reached */ |
|---|
| 129 | /* else setup a priority list... */ |
|---|
| 130 | } |
|---|
| 131 | // |
|---|
| 132 | int RemoveReferences(btCollisionShape* pcs) |
|---|
| 133 | { |
|---|
| 134 | int refcount=0; |
|---|
| 135 | for(int i=0;i<cells.size();++i) |
|---|
| 136 | { |
|---|
| 137 | Cell*& root=cells[i]; |
|---|
| 138 | Cell* pp=0; |
|---|
| 139 | Cell* pc=root; |
|---|
| 140 | while(pc) |
|---|
| 141 | { |
|---|
| 142 | Cell* pn=pc->next; |
|---|
| 143 | if(pc->pclient==pcs) |
|---|
| 144 | { |
|---|
| 145 | if(pp) pp->next=pn; else root=pn; |
|---|
| 146 | delete pc;pc=pp;++refcount; |
|---|
| 147 | } |
|---|
| 148 | pp=pc;pc=pn; |
|---|
| 149 | } |
|---|
| 150 | } |
|---|
| 151 | return(refcount); |
|---|
| 152 | } |
|---|
| 153 | // |
|---|
| 154 | btScalar Evaluate( const btVector3& x, |
|---|
| 155 | btCollisionShape* shape, |
|---|
| 156 | btVector3& normal, |
|---|
| 157 | btScalar margin) |
|---|
| 158 | { |
|---|
| 159 | /* Lookup cell */ |
|---|
| 160 | const btVector3 scx=x/voxelsz; |
|---|
| 161 | const IntFrac ix=Decompose(scx.x()); |
|---|
| 162 | const IntFrac iy=Decompose(scx.y()); |
|---|
| 163 | const IntFrac iz=Decompose(scx.z()); |
|---|
| 164 | const unsigned h=Hash(ix.b,iy.b,iz.b,shape); |
|---|
| 165 | Cell*& root=cells[static_cast<int>(h%cells.size())]; |
|---|
| 166 | Cell* c=root; |
|---|
| 167 | ++nqueries; |
|---|
| 168 | while(c) |
|---|
| 169 | { |
|---|
| 170 | ++nprobes; |
|---|
| 171 | if( (c->hash==h) && |
|---|
| 172 | (c->c[0]==ix.b) && |
|---|
| 173 | (c->c[1]==iy.b) && |
|---|
| 174 | (c->c[2]==iz.b) && |
|---|
| 175 | (c->pclient==shape)) |
|---|
| 176 | { break; } |
|---|
| 177 | else |
|---|
| 178 | { c=c->next; } |
|---|
| 179 | } |
|---|
| 180 | if(!c) |
|---|
| 181 | { |
|---|
| 182 | ++nprobes; |
|---|
| 183 | ++ncells; |
|---|
| 184 | c=new Cell(); |
|---|
| 185 | c->next=root;root=c; |
|---|
| 186 | c->pclient=shape; |
|---|
| 187 | c->hash=h; |
|---|
| 188 | c->c[0]=ix.b;c->c[1]=iy.b;c->c[2]=iz.b; |
|---|
| 189 | BuildCell(*c); |
|---|
| 190 | } |
|---|
| 191 | c->puid=puid; |
|---|
| 192 | /* Extract infos */ |
|---|
| 193 | const int o[]={ ix.i,iy.i,iz.i}; |
|---|
| 194 | const btScalar d[]={ c->d[o[0]+0][o[1]+0][o[2]+0], |
|---|
| 195 | c->d[o[0]+1][o[1]+0][o[2]+0], |
|---|
| 196 | c->d[o[0]+1][o[1]+1][o[2]+0], |
|---|
| 197 | c->d[o[0]+0][o[1]+1][o[2]+0], |
|---|
| 198 | c->d[o[0]+0][o[1]+0][o[2]+1], |
|---|
| 199 | c->d[o[0]+1][o[1]+0][o[2]+1], |
|---|
| 200 | c->d[o[0]+1][o[1]+1][o[2]+1], |
|---|
| 201 | c->d[o[0]+0][o[1]+1][o[2]+1]}; |
|---|
| 202 | /* Normal */ |
|---|
| 203 | #if 1 |
|---|
| 204 | const btScalar gx[]={ d[1]-d[0],d[2]-d[3], |
|---|
| 205 | d[5]-d[4],d[6]-d[7]}; |
|---|
| 206 | const btScalar gy[]={ d[3]-d[0],d[2]-d[1], |
|---|
| 207 | d[7]-d[4],d[6]-d[5]}; |
|---|
| 208 | const btScalar gz[]={ d[4]-d[0],d[5]-d[1], |
|---|
| 209 | d[7]-d[3],d[6]-d[2]}; |
|---|
| 210 | normal.setX(Lerp( Lerp(gx[0],gx[1],iy.f), |
|---|
| 211 | Lerp(gx[2],gx[3],iy.f),iz.f)); |
|---|
| 212 | normal.setY(Lerp( Lerp(gy[0],gy[1],ix.f), |
|---|
| 213 | Lerp(gy[2],gy[3],ix.f),iz.f)); |
|---|
| 214 | normal.setZ(Lerp( Lerp(gz[0],gz[1],ix.f), |
|---|
| 215 | Lerp(gz[2],gz[3],ix.f),iy.f)); |
|---|
| 216 | normal = normal.normalized(); |
|---|
| 217 | #else |
|---|
| 218 | normal = btVector3(d[1]-d[0],d[3]-d[0],d[4]-d[0]).normalized(); |
|---|
| 219 | #endif |
|---|
| 220 | /* Distance */ |
|---|
| 221 | const btScalar d0=Lerp(Lerp(d[0],d[1],ix.f), |
|---|
| 222 | Lerp(d[3],d[2],ix.f),iy.f); |
|---|
| 223 | const btScalar d1=Lerp(Lerp(d[4],d[5],ix.f), |
|---|
| 224 | Lerp(d[7],d[6],ix.f),iy.f); |
|---|
| 225 | return(Lerp(d0,d1,iz.f)-margin); |
|---|
| 226 | } |
|---|
| 227 | // |
|---|
| 228 | void BuildCell(Cell& c) |
|---|
| 229 | { |
|---|
| 230 | const btVector3 org=btVector3( (btScalar)c.c[0], |
|---|
| 231 | (btScalar)c.c[1], |
|---|
| 232 | (btScalar)c.c[2]) * |
|---|
| 233 | CELLSIZE*voxelsz; |
|---|
| 234 | for(int k=0;k<=CELLSIZE;++k) |
|---|
| 235 | { |
|---|
| 236 | const btScalar z=voxelsz*k+org.z(); |
|---|
| 237 | for(int j=0;j<=CELLSIZE;++j) |
|---|
| 238 | { |
|---|
| 239 | const btScalar y=voxelsz*j+org.y(); |
|---|
| 240 | for(int i=0;i<=CELLSIZE;++i) |
|---|
| 241 | { |
|---|
| 242 | const btScalar x=voxelsz*i+org.x(); |
|---|
| 243 | c.d[i][j][k]=DistanceToShape( btVector3(x,y,z), |
|---|
| 244 | c.pclient); |
|---|
| 245 | } |
|---|
| 246 | } |
|---|
| 247 | } |
|---|
| 248 | } |
|---|
| 249 | // |
|---|
| 250 | static inline btScalar DistanceToShape(const btVector3& x, |
|---|
| 251 | btCollisionShape* shape) |
|---|
| 252 | { |
|---|
| 253 | btTransform unit; |
|---|
| 254 | unit.setIdentity(); |
|---|
| 255 | if(shape->isConvex()) |
|---|
| 256 | { |
|---|
| 257 | btGjkEpaSolver2::sResults res; |
|---|
| 258 | btConvexShape* csh=static_cast<btConvexShape*>(shape); |
|---|
| 259 | return(btGjkEpaSolver2::SignedDistance(x,0,csh,unit,res)); |
|---|
| 260 | } |
|---|
| 261 | return(0); |
|---|
| 262 | } |
|---|
| 263 | // |
|---|
| 264 | static inline IntFrac Decompose(btScalar x) |
|---|
| 265 | { |
|---|
| 266 | /* That one need a lot of improvements... */ |
|---|
| 267 | /* Remove test, faster floor... */ |
|---|
| 268 | IntFrac r; |
|---|
| 269 | x/=CELLSIZE; |
|---|
| 270 | const int o=x<0?(int)(-x+1):0; |
|---|
| 271 | x+=o;r.b=(int)x; |
|---|
| 272 | const btScalar k=(x-r.b)*CELLSIZE; |
|---|
| 273 | r.i=(int)k;r.f=k-r.i;r.b-=o; |
|---|
| 274 | return(r); |
|---|
| 275 | } |
|---|
| 276 | // |
|---|
| 277 | static inline btScalar Lerp(btScalar a,btScalar b,btScalar t) |
|---|
| 278 | { |
|---|
| 279 | return(a+(b-a)*t); |
|---|
| 280 | } |
|---|
| 281 | |
|---|
| 282 | |
|---|
| 283 | |
|---|
| 284 | // |
|---|
| 285 | static inline unsigned int Hash(int x,int y,int z,btCollisionShape* shape) |
|---|
| 286 | { |
|---|
| 287 | struct btS |
|---|
| 288 | { |
|---|
| 289 | int x,y,z; |
|---|
| 290 | void* p; |
|---|
| 291 | }; |
|---|
| 292 | |
|---|
| 293 | btS myset; |
|---|
| 294 | |
|---|
| 295 | myset.x=x;myset.y=y;myset.z=z;myset.p=shape; |
|---|
| 296 | const void* ptr = &myset; |
|---|
| 297 | |
|---|
| 298 | unsigned int result = HsiehHash<sizeof(btS)/4> (ptr); |
|---|
| 299 | |
|---|
| 300 | |
|---|
| 301 | return result; |
|---|
| 302 | } |
|---|
| 303 | }; |
|---|
| 304 | |
|---|
| 305 | |
|---|
| 306 | #endif |
|---|
