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source: code/trunk/src/external/bullet/BulletCollision/CollisionShapes/btStridingMeshInterface.cpp @ 9857

Last change on this file since 9857 was 8393, checked in by rgrieder, 14 years ago

Updated Bullet from v2.77 to v2.78.
(I'm not going to make a branch for that since the update from 2.74 to 2.77 hasn't been tested that much either).

You will HAVE to do a complete RECOMPILE! I tested with MSVC and MinGW and they both threw linker errors at me.

Property svn:eol-style set to native

File size: 14.9 KB

Rev	Line
[1963]	1	/*
	2	Bullet Continuous Collision Detection and Physics Library
[8351]	3	Copyright (c) 2003-2009 Erwin Coumans http://bulletphysics.org
[1963]	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
	16	#include "btStridingMeshInterface.h"
[8351]	17	#include "LinearMath/btSerializer.h"
[1963]	18
	19	btStridingMeshInterface::~btStridingMeshInterface()
	20	{
	21
	22	}
	23
	24
	25	void btStridingMeshInterface::InternalProcessAllTriangles(btInternalTriangleIndexCallback* callback,const btVector3& aabbMin,const btVector3& aabbMax) const
	26	{
	27	(void)aabbMin;
	28	(void)aabbMax;
	29	int numtotalphysicsverts = 0;
	30	int part,graphicssubparts = getNumSubParts();
	31	const unsigned char * vertexbase;
	32	const unsigned char * indexbase;
	33	int indexstride;
	34	PHY_ScalarType type;
	35	PHY_ScalarType gfxindextype;
	36	int stride,numverts,numtriangles;
	37	int gfxindex;
	38	btVector3 triangle[3];
	39
	40	btVector3 meshScaling = getScaling();
	41
	42	///if the number of parts is big, the performance might drop due to the innerloop switch on indextype
	43	for (part=0;part<graphicssubparts ;part++)
	44	{
	45	getLockedReadOnlyVertexIndexBase(&vertexbase,numverts,type,stride,&indexbase,indexstride,numtriangles,gfxindextype,part);
	46	numtotalphysicsverts+=numtriangles*3; //upper bound
	47
[8351]	48	///unlike that developers want to pass in double-precision meshes in single-precision Bullet build
	49	///so disable this feature by default
	50	///see patch http://code.google.com/p/bullet/issues/detail?id=213
	51
	52	switch (type)
[1963]	53	{
[8351]	54	case PHY_FLOAT:
	55	{
	56
	57	float* graphicsbase;
	58
	59	switch (gfxindextype)
	60	{
	61	case PHY_INTEGER:
	62	{
	63	for (gfxindex=0;gfxindex<numtriangles;gfxindex++)
	64	{
	65	unsigned int* tri_indices= (unsigned int)(indexbase+gfxindexindexstride);
	66	graphicsbase = (float)(vertexbase+tri_indices[0]stride);
	67	triangle[0].setValue(graphicsbase[0]meshScaling.getX(),graphicsbase[1]meshScaling.getY(),graphicsbase[2]*meshScaling.getZ());
	68	graphicsbase = (float)(vertexbase+tri_indices[1]stride);
	69	triangle[1].setValue(graphicsbase[0]meshScaling.getX(),graphicsbase[1]meshScaling.getY(), graphicsbase[2]*meshScaling.getZ());
	70	graphicsbase = (float)(vertexbase+tri_indices[2]stride);
	71	triangle[2].setValue(graphicsbase[0]meshScaling.getX(),graphicsbase[1]meshScaling.getY(), graphicsbase[2]*meshScaling.getZ());
	72	callback->internalProcessTriangleIndex(triangle,part,gfxindex);
	73	}
	74	break;
	75	}
	76	case PHY_SHORT:
	77	{
	78	for (gfxindex=0;gfxindex<numtriangles;gfxindex++)
	79	{
	80	unsigned short int* tri_indices= (unsigned short int)(indexbase+gfxindexindexstride);
	81	graphicsbase = (float)(vertexbase+tri_indices[0]stride);
	82	triangle[0].setValue(graphicsbase[0]meshScaling.getX(),graphicsbase[1]meshScaling.getY(),graphicsbase[2]*meshScaling.getZ());
	83	graphicsbase = (float)(vertexbase+tri_indices[1]stride);
	84	triangle[1].setValue(graphicsbase[0]meshScaling.getX(),graphicsbase[1]meshScaling.getY(), graphicsbase[2]*meshScaling.getZ());
	85	graphicsbase = (float)(vertexbase+tri_indices[2]stride);
	86	triangle[2].setValue(graphicsbase[0]meshScaling.getX(),graphicsbase[1]meshScaling.getY(), graphicsbase[2]*meshScaling.getZ());
	87	callback->internalProcessTriangleIndex(triangle,part,gfxindex);
	88	}
	89	break;
	90	}
[8393]	91	case PHY_UCHAR:
	92	{
	93	for (gfxindex=0;gfxindex<numtriangles;gfxindex++)
	94	{
	95	unsigned char* tri_indices= (unsigned char)(indexbase+gfxindexindexstride);
	96	graphicsbase = (float)(vertexbase+tri_indices[0]stride);
	97	triangle[0].setValue(graphicsbase[0]meshScaling.getX(),graphicsbase[1]meshScaling.getY(),graphicsbase[2]*meshScaling.getZ());
	98	graphicsbase = (float)(vertexbase+tri_indices[1]stride);
	99	triangle[1].setValue(graphicsbase[0]meshScaling.getX(),graphicsbase[1]meshScaling.getY(), graphicsbase[2]*meshScaling.getZ());
	100	graphicsbase = (float)(vertexbase+tri_indices[2]stride);
	101	triangle[2].setValue(graphicsbase[0]meshScaling.getX(),graphicsbase[1]meshScaling.getY(), graphicsbase[2]*meshScaling.getZ());
	102	callback->internalProcessTriangleIndex(triangle,part,gfxindex);
	103	}
	104	break;
	105	}
[8351]	106	default:
	107	btAssert((gfxindextype == PHY_INTEGER) \|\| (gfxindextype == PHY_SHORT));
	108	}
	109	break;
	110	}
	111
	112	case PHY_DOUBLE:
[1963]	113	{
[8351]	114	double* graphicsbase;
	115
	116	switch (gfxindextype)
[1963]	117	{
[8351]	118	case PHY_INTEGER:
	119	{
	120	for (gfxindex=0;gfxindex<numtriangles;gfxindex++)
	121	{
	122	unsigned int* tri_indices= (unsigned int)(indexbase+gfxindexindexstride);
	123	graphicsbase = (double)(vertexbase+tri_indices[0]stride);
	124	triangle[0].setValue((btScalar)graphicsbase[0]meshScaling.getX(),(btScalar)graphicsbase[1]meshScaling.getY(),(btScalar)graphicsbase[2]*meshScaling.getZ());
	125	graphicsbase = (double)(vertexbase+tri_indices[1]stride);
	126	triangle[1].setValue((btScalar)graphicsbase[0]meshScaling.getX(),(btScalar)graphicsbase[1]meshScaling.getY(), (btScalar)graphicsbase[2]*meshScaling.getZ());
	127	graphicsbase = (double)(vertexbase+tri_indices[2]stride);
	128	triangle[2].setValue((btScalar)graphicsbase[0]meshScaling.getX(),(btScalar)graphicsbase[1]meshScaling.getY(), (btScalar)graphicsbase[2]*meshScaling.getZ());
	129	callback->internalProcessTriangleIndex(triangle,part,gfxindex);
	130	}
	131	break;
	132	}
	133	case PHY_SHORT:
	134	{
	135	for (gfxindex=0;gfxindex<numtriangles;gfxindex++)
	136	{
	137	unsigned short int* tri_indices= (unsigned short int)(indexbase+gfxindexindexstride);
	138	graphicsbase = (double)(vertexbase+tri_indices[0]stride);
	139	triangle[0].setValue((btScalar)graphicsbase[0]meshScaling.getX(),(btScalar)graphicsbase[1]meshScaling.getY(),(btScalar)graphicsbase[2]*meshScaling.getZ());
	140	graphicsbase = (double)(vertexbase+tri_indices[1]stride);
	141	triangle[1].setValue((btScalar)graphicsbase[0]meshScaling.getX(),(btScalar)graphicsbase[1]meshScaling.getY(), (btScalar)graphicsbase[2]*meshScaling.getZ());
	142	graphicsbase = (double)(vertexbase+tri_indices[2]stride);
	143	triangle[2].setValue((btScalar)graphicsbase[0]meshScaling.getX(),(btScalar)graphicsbase[1]meshScaling.getY(), (btScalar)graphicsbase[2]*meshScaling.getZ());
	144	callback->internalProcessTriangleIndex(triangle,part,gfxindex);
	145	}
	146	break;
	147	}
[8393]	148	case PHY_UCHAR:
	149	{
	150	for (gfxindex=0;gfxindex<numtriangles;gfxindex++)
	151	{
	152	unsigned char* tri_indices= (unsigned char)(indexbase+gfxindexindexstride);
	153	graphicsbase = (double)(vertexbase+tri_indices[0]stride);
	154	triangle[0].setValue((btScalar)graphicsbase[0]meshScaling.getX(),(btScalar)graphicsbase[1]meshScaling.getY(),(btScalar)graphicsbase[2]*meshScaling.getZ());
	155	graphicsbase = (double)(vertexbase+tri_indices[1]stride);
	156	triangle[1].setValue((btScalar)graphicsbase[0]meshScaling.getX(),(btScalar)graphicsbase[1]meshScaling.getY(), (btScalar)graphicsbase[2]*meshScaling.getZ());
	157	graphicsbase = (double)(vertexbase+tri_indices[2]stride);
	158	triangle[2].setValue((btScalar)graphicsbase[0]meshScaling.getX(),(btScalar)graphicsbase[1]meshScaling.getY(), (btScalar)graphicsbase[2]*meshScaling.getZ());
	159	callback->internalProcessTriangleIndex(triangle,part,gfxindex);
	160	}
	161	break;
	162	}
[8351]	163	default:
	164	btAssert((gfxindextype == PHY_INTEGER) \|\| (gfxindextype == PHY_SHORT));
[1963]	165	}
	166	break;
	167	}
	168	default:
[8351]	169	btAssert((type == PHY_FLOAT) \|\| (type == PHY_DOUBLE));
[1963]	170	}
	171
	172	unLockReadOnlyVertexBase(part);
	173	}
	174	}
	175
	176	void btStridingMeshInterface::calculateAabbBruteForce(btVector3& aabbMin,btVector3& aabbMax)
	177	{
	178
	179	struct AabbCalculationCallback : public btInternalTriangleIndexCallback
	180	{
	181	btVector3 m_aabbMin;
	182	btVector3 m_aabbMax;
	183
	184	AabbCalculationCallback()
	185	{
[8351]	186	m_aabbMin.setValue(btScalar(BT_LARGE_FLOAT),btScalar(BT_LARGE_FLOAT),btScalar(BT_LARGE_FLOAT));
	187	m_aabbMax.setValue(btScalar(-BT_LARGE_FLOAT),btScalar(-BT_LARGE_FLOAT),btScalar(-BT_LARGE_FLOAT));
[1963]	188	}
	189
	190	virtual void internalProcessTriangleIndex(btVector3* triangle,int partId,int triangleIndex)
	191	{
	192	(void)partId;
	193	(void)triangleIndex;
	194
	195	m_aabbMin.setMin(triangle[0]);
	196	m_aabbMax.setMax(triangle[0]);
	197	m_aabbMin.setMin(triangle[1]);
	198	m_aabbMax.setMax(triangle[1]);
	199	m_aabbMin.setMin(triangle[2]);
	200	m_aabbMax.setMax(triangle[2]);
	201	}
	202	};
	203
[8351]	204	//first calculate the total aabb for all triangles
[1963]	205	AabbCalculationCallback aabbCallback;
[8351]	206	aabbMin.setValue(btScalar(-BT_LARGE_FLOAT),btScalar(-BT_LARGE_FLOAT),btScalar(-BT_LARGE_FLOAT));
	207	aabbMax.setValue(btScalar(BT_LARGE_FLOAT),btScalar(BT_LARGE_FLOAT),btScalar(BT_LARGE_FLOAT));
[1963]	208	InternalProcessAllTriangles(&aabbCallback,aabbMin,aabbMax);
	209
	210	aabbMin = aabbCallback.m_aabbMin;
	211	aabbMax = aabbCallback.m_aabbMax;
	212	}
[8351]	213
	214
	215
	216	///fills the dataBuffer and returns the struct name (and 0 on failure)
	217	const char* btStridingMeshInterface::serialize(void* dataBuffer, btSerializer* serializer) const
	218	{
	219	btStridingMeshInterfaceData* trimeshData = (btStridingMeshInterfaceData*) dataBuffer;
	220
	221	trimeshData->m_numMeshParts = getNumSubParts();
	222
	223	//void* uniquePtr = 0;
	224
	225	trimeshData->m_meshPartsPtr = 0;
	226
	227	if (trimeshData->m_numMeshParts)
	228	{
	229	btChunk* chunk = serializer->allocate(sizeof(btMeshPartData),trimeshData->m_numMeshParts);
	230	btMeshPartData* memPtr = (btMeshPartData*)chunk->m_oldPtr;
	231	trimeshData->m_meshPartsPtr = (btMeshPartData *)serializer->getUniquePointer(memPtr);
	232
	233
	234	// int numtotalphysicsverts = 0;
	235	int part,graphicssubparts = getNumSubParts();
	236	const unsigned char * vertexbase;
	237	const unsigned char * indexbase;
	238	int indexstride;
	239	PHY_ScalarType type;
	240	PHY_ScalarType gfxindextype;
	241	int stride,numverts,numtriangles;
	242	int gfxindex;
	243	// btVector3 triangle[3];
	244
	245	btVector3 meshScaling = getScaling();
	246
	247	///if the number of parts is big, the performance might drop due to the innerloop switch on indextype
	248	for (part=0;part<graphicssubparts ;part++,memPtr++)
	249	{
	250	getLockedReadOnlyVertexIndexBase(&vertexbase,numverts,type,stride,&indexbase,indexstride,numtriangles,gfxindextype,part);
	251	memPtr->m_numTriangles = numtriangles;//indices = 3*numtriangles
	252	memPtr->m_numVertices = numverts;
	253	memPtr->m_indices16 = 0;
	254	memPtr->m_indices32 = 0;
	255	memPtr->m_3indices16 = 0;
	256	memPtr->m_vertices3f = 0;
	257	memPtr->m_vertices3d = 0;
	258
	259	switch (gfxindextype)
	260	{
	261	case PHY_INTEGER:
	262	{
	263	int numindices = numtriangles*3;
	264
	265	if (numindices)
	266	{
	267	btChunk* chunk = serializer->allocate(sizeof(btIntIndexData),numindices);
	268	btIntIndexData* tmpIndices = (btIntIndexData*)chunk->m_oldPtr;
	269	memPtr->m_indices32 = (btIntIndexData*)serializer->getUniquePointer(tmpIndices);
	270	for (gfxindex=0;gfxindex<numtriangles;gfxindex++)
	271	{
	272	unsigned int* tri_indices= (unsigned int)(indexbase+gfxindexindexstride);
	273	tmpIndices[gfxindex*3].m_value = tri_indices[0];
	274	tmpIndices[gfxindex*3+1].m_value = tri_indices[1];
	275	tmpIndices[gfxindex*3+2].m_value = tri_indices[2];
	276	}
	277	serializer->finalizeChunk(chunk,"btIntIndexData",BT_ARRAY_CODE,(void*)chunk->m_oldPtr);
	278	}
	279	break;
	280	}
	281	case PHY_SHORT:
	282	{
	283	if (numtriangles)
	284	{
	285	btChunk* chunk = serializer->allocate(sizeof(btShortIntIndexTripletData),numtriangles);
	286	btShortIntIndexTripletData* tmpIndices = (btShortIntIndexTripletData*)chunk->m_oldPtr;
	287	memPtr->m_3indices16 = (btShortIntIndexTripletData*) serializer->getUniquePointer(tmpIndices);
	288	for (gfxindex=0;gfxindex<numtriangles;gfxindex++)
	289	{
	290	unsigned short int* tri_indices= (unsigned short int)(indexbase+gfxindexindexstride);
	291	tmpIndices[gfxindex].m_values[0] = tri_indices[0];
	292	tmpIndices[gfxindex].m_values[1] = tri_indices[1];
	293	tmpIndices[gfxindex].m_values[2] = tri_indices[2];
	294	}
	295	serializer->finalizeChunk(chunk,"btShortIntIndexTripletData",BT_ARRAY_CODE,(void*)chunk->m_oldPtr);
	296	}
	297	break;
	298	}
[8393]	299	case PHY_UCHAR:
	300	{
	301	if (numtriangles)
	302	{
	303	btChunk* chunk = serializer->allocate(sizeof(btCharIndexTripletData),numtriangles);
	304	btCharIndexTripletData* tmpIndices = (btCharIndexTripletData*)chunk->m_oldPtr;
	305	memPtr->m_3indices8 = (btCharIndexTripletData*) serializer->getUniquePointer(tmpIndices);
	306	for (gfxindex=0;gfxindex<numtriangles;gfxindex++)
	307	{
	308	unsigned char* tri_indices= (unsigned char)(indexbase+gfxindexindexstride);
	309	tmpIndices[gfxindex].m_values[0] = tri_indices[0];
	310	tmpIndices[gfxindex].m_values[1] = tri_indices[1];
	311	tmpIndices[gfxindex].m_values[2] = tri_indices[2];
	312	}
	313	serializer->finalizeChunk(chunk,"btCharIndexTripletData",BT_ARRAY_CODE,(void*)chunk->m_oldPtr);
	314	}
	315	break;
	316	}
[8351]	317	default:
	318	{
	319	btAssert(0);
	320	//unknown index type
	321	}
	322	}
	323
	324	switch (type)
	325	{
	326	case PHY_FLOAT:
	327	{
	328	float* graphicsbase;
	329
	330	if (numverts)
	331	{
	332	btChunk* chunk = serializer->allocate(sizeof(btVector3FloatData),numverts);
	333	btVector3FloatData* tmpVertices = (btVector3FloatData*) chunk->m_oldPtr;
	334	memPtr->m_vertices3f = (btVector3FloatData *)serializer->getUniquePointer(tmpVertices);
	335	for (int i=0;i<numverts;i++)
	336	{
	337	graphicsbase = (float)(vertexbase+istride);
	338	tmpVertices[i].m_floats[0] = graphicsbase[0];
	339	tmpVertices[i].m_floats[1] = graphicsbase[1];
	340	tmpVertices[i].m_floats[2] = graphicsbase[2];
	341	}
	342	serializer->finalizeChunk(chunk,"btVector3FloatData",BT_ARRAY_CODE,(void*)chunk->m_oldPtr);
	343	}
	344	break;
	345	}
	346
	347	case PHY_DOUBLE:
	348	{
	349	if (numverts)
	350	{
	351	btChunk* chunk = serializer->allocate(sizeof(btVector3DoubleData),numverts);
	352	btVector3DoubleData* tmpVertices = (btVector3DoubleData*) chunk->m_oldPtr;
	353	memPtr->m_vertices3d = (btVector3DoubleData *) serializer->getUniquePointer(tmpVertices);
	354	for (int i=0;i<numverts;i++)
	355	{
	356	double* graphicsbase = (double)(vertexbase+istride);//for now convert to float, might leave it at double
	357	tmpVertices[i].m_floats[0] = graphicsbase[0];
	358	tmpVertices[i].m_floats[1] = graphicsbase[1];
	359	tmpVertices[i].m_floats[2] = graphicsbase[2];
	360	}
	361	serializer->finalizeChunk(chunk,"btVector3DoubleData",BT_ARRAY_CODE,(void*)chunk->m_oldPtr);
	362	}
	363	break;
	364	}
	365
	366	default:
	367	btAssert((type == PHY_FLOAT) \|\| (type == PHY_DOUBLE));
	368	}
	369
	370	unLockReadOnlyVertexBase(part);
	371	}
	372
	373	serializer->finalizeChunk(chunk,"btMeshPartData",BT_ARRAY_CODE,chunk->m_oldPtr);
	374	}
	375
	376
	377	m_scaling.serializeFloat(trimeshData->m_scaling);
	378	return "btStridingMeshInterfaceData";
	379	}

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