471 lines
14 KiB
C++
471 lines
14 KiB
C++
/*
|
|
Bullet Continuous Collision Detection and Physics Library
|
|
Copyright (c) 2003-2009 Erwin Coumans http://bulletphysics.org
|
|
|
|
This software is provided 'as-is', without any express or implied warranty.
|
|
In no event will the authors be held liable for any damages arising from the use of this software.
|
|
Permission is granted to anyone to use this software for any purpose,
|
|
including commercial applications, and to alter it and redistribute it freely,
|
|
subject to the following restrictions:
|
|
|
|
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.
|
|
2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
|
|
3. This notice may not be removed or altered from any source distribution.
|
|
*/
|
|
|
|
//#define DISABLE_BVH
|
|
|
|
#include "BulletCollision/CollisionShapes/btBvhTriangleMeshShape.h"
|
|
#include "BulletCollision/CollisionShapes/btOptimizedBvh.h"
|
|
#include "LinearMath/btSerializer.h"
|
|
|
|
///Bvh Concave triangle mesh is a static-triangle mesh shape with Bounding Volume Hierarchy optimization.
|
|
///Uses an interface to access the triangles to allow for sharing graphics/physics triangles.
|
|
btBvhTriangleMeshShape::btBvhTriangleMeshShape(btStridingMeshInterface* meshInterface, bool useQuantizedAabbCompression, bool buildBvh)
|
|
:btTriangleMeshShape(meshInterface),
|
|
m_bvh(0),
|
|
m_triangleInfoMap(0),
|
|
m_useQuantizedAabbCompression(useQuantizedAabbCompression),
|
|
m_ownsBvh(false)
|
|
{
|
|
m_shapeType = TRIANGLE_MESH_SHAPE_PROXYTYPE;
|
|
//construct bvh from meshInterface
|
|
#ifndef DISABLE_BVH
|
|
|
|
if (buildBvh)
|
|
{
|
|
buildOptimizedBvh();
|
|
}
|
|
|
|
#endif //DISABLE_BVH
|
|
|
|
}
|
|
|
|
btBvhTriangleMeshShape::btBvhTriangleMeshShape(btStridingMeshInterface* meshInterface, bool useQuantizedAabbCompression,const btVector3& bvhAabbMin,const btVector3& bvhAabbMax,bool buildBvh)
|
|
:btTriangleMeshShape(meshInterface),
|
|
m_bvh(0),
|
|
m_triangleInfoMap(0),
|
|
m_useQuantizedAabbCompression(useQuantizedAabbCompression),
|
|
m_ownsBvh(false)
|
|
{
|
|
m_shapeType = TRIANGLE_MESH_SHAPE_PROXYTYPE;
|
|
//construct bvh from meshInterface
|
|
#ifndef DISABLE_BVH
|
|
|
|
if (buildBvh)
|
|
{
|
|
void* mem = btAlignedAlloc(sizeof(btOptimizedBvh),16);
|
|
m_bvh = new (mem) btOptimizedBvh();
|
|
|
|
m_bvh->build(meshInterface,m_useQuantizedAabbCompression,bvhAabbMin,bvhAabbMax);
|
|
m_ownsBvh = true;
|
|
}
|
|
|
|
#endif //DISABLE_BVH
|
|
|
|
}
|
|
|
|
void btBvhTriangleMeshShape::partialRefitTree(const btVector3& aabbMin,const btVector3& aabbMax)
|
|
{
|
|
m_bvh->refitPartial( m_meshInterface,aabbMin,aabbMax );
|
|
|
|
m_localAabbMin.setMin(aabbMin);
|
|
m_localAabbMax.setMax(aabbMax);
|
|
}
|
|
|
|
|
|
void btBvhTriangleMeshShape::refitTree(const btVector3& aabbMin,const btVector3& aabbMax)
|
|
{
|
|
m_bvh->refit( m_meshInterface, aabbMin,aabbMax );
|
|
|
|
recalcLocalAabb();
|
|
}
|
|
|
|
btBvhTriangleMeshShape::~btBvhTriangleMeshShape()
|
|
{
|
|
if (m_ownsBvh)
|
|
{
|
|
m_bvh->~btOptimizedBvh();
|
|
btAlignedFree(m_bvh);
|
|
}
|
|
}
|
|
|
|
void btBvhTriangleMeshShape::performRaycast (btTriangleCallback* callback, const btVector3& raySource, const btVector3& rayTarget)
|
|
{
|
|
struct MyNodeOverlapCallback : public btNodeOverlapCallback
|
|
{
|
|
btStridingMeshInterface* m_meshInterface;
|
|
btTriangleCallback* m_callback;
|
|
|
|
MyNodeOverlapCallback(btTriangleCallback* callback,btStridingMeshInterface* meshInterface)
|
|
:m_meshInterface(meshInterface),
|
|
m_callback(callback)
|
|
{
|
|
}
|
|
|
|
virtual void processNode(int nodeSubPart, int nodeTriangleIndex)
|
|
{
|
|
btVector3 m_triangle[3];
|
|
const unsigned char *vertexbase;
|
|
int numverts;
|
|
PHY_ScalarType type;
|
|
int stride;
|
|
const unsigned char *indexbase;
|
|
int indexstride;
|
|
int numfaces;
|
|
PHY_ScalarType indicestype;
|
|
|
|
m_meshInterface->getLockedReadOnlyVertexIndexBase(
|
|
&vertexbase,
|
|
numverts,
|
|
type,
|
|
stride,
|
|
&indexbase,
|
|
indexstride,
|
|
numfaces,
|
|
indicestype,
|
|
nodeSubPart);
|
|
|
|
unsigned int* gfxbase = (unsigned int*)(indexbase+nodeTriangleIndex*indexstride);
|
|
btAssert(indicestype==PHY_INTEGER||indicestype==PHY_SHORT);
|
|
|
|
const btVector3& meshScaling = m_meshInterface->getScaling();
|
|
for (int j=2;j>=0;j--)
|
|
{
|
|
int graphicsindex = indicestype==PHY_SHORT?((unsigned short*)gfxbase)[j]:gfxbase[j];
|
|
|
|
if (type == PHY_FLOAT)
|
|
{
|
|
float* graphicsbase = (float*)(vertexbase+graphicsindex*stride);
|
|
|
|
m_triangle[j] = btVector3(graphicsbase[0]*meshScaling.getX(),graphicsbase[1]*meshScaling.getY(),graphicsbase[2]*meshScaling.getZ());
|
|
}
|
|
else
|
|
{
|
|
double* graphicsbase = (double*)(vertexbase+graphicsindex*stride);
|
|
|
|
m_triangle[j] = btVector3(btScalar(graphicsbase[0])*meshScaling.getX(),btScalar(graphicsbase[1])*meshScaling.getY(),btScalar(graphicsbase[2])*meshScaling.getZ());
|
|
}
|
|
}
|
|
|
|
/* Perform ray vs. triangle collision here */
|
|
m_callback->processTriangle(m_triangle,nodeSubPart,nodeTriangleIndex);
|
|
m_meshInterface->unLockReadOnlyVertexBase(nodeSubPart);
|
|
}
|
|
};
|
|
|
|
MyNodeOverlapCallback myNodeCallback(callback,m_meshInterface);
|
|
|
|
m_bvh->reportRayOverlappingNodex(&myNodeCallback,raySource,rayTarget);
|
|
}
|
|
|
|
void btBvhTriangleMeshShape::performConvexcast (btTriangleCallback* callback, const btVector3& raySource, const btVector3& rayTarget, const btVector3& aabbMin, const btVector3& aabbMax)
|
|
{
|
|
struct MyNodeOverlapCallback : public btNodeOverlapCallback
|
|
{
|
|
btStridingMeshInterface* m_meshInterface;
|
|
btTriangleCallback* m_callback;
|
|
|
|
MyNodeOverlapCallback(btTriangleCallback* callback,btStridingMeshInterface* meshInterface)
|
|
:m_meshInterface(meshInterface),
|
|
m_callback(callback)
|
|
{
|
|
}
|
|
|
|
virtual void processNode(int nodeSubPart, int nodeTriangleIndex)
|
|
{
|
|
btVector3 m_triangle[3];
|
|
const unsigned char *vertexbase;
|
|
int numverts;
|
|
PHY_ScalarType type;
|
|
int stride;
|
|
const unsigned char *indexbase;
|
|
int indexstride;
|
|
int numfaces;
|
|
PHY_ScalarType indicestype;
|
|
|
|
m_meshInterface->getLockedReadOnlyVertexIndexBase(
|
|
&vertexbase,
|
|
numverts,
|
|
type,
|
|
stride,
|
|
&indexbase,
|
|
indexstride,
|
|
numfaces,
|
|
indicestype,
|
|
nodeSubPart);
|
|
|
|
unsigned int* gfxbase = (unsigned int*)(indexbase+nodeTriangleIndex*indexstride);
|
|
btAssert(indicestype==PHY_INTEGER||indicestype==PHY_SHORT);
|
|
|
|
const btVector3& meshScaling = m_meshInterface->getScaling();
|
|
for (int j=2;j>=0;j--)
|
|
{
|
|
int graphicsindex = indicestype==PHY_SHORT?((unsigned short*)gfxbase)[j]:gfxbase[j];
|
|
|
|
if (type == PHY_FLOAT)
|
|
{
|
|
float* graphicsbase = (float*)(vertexbase+graphicsindex*stride);
|
|
|
|
m_triangle[j] = btVector3(graphicsbase[0]*meshScaling.getX(),graphicsbase[1]*meshScaling.getY(),graphicsbase[2]*meshScaling.getZ());
|
|
}
|
|
else
|
|
{
|
|
double* graphicsbase = (double*)(vertexbase+graphicsindex*stride);
|
|
|
|
m_triangle[j] = btVector3(btScalar(graphicsbase[0])*meshScaling.getX(),btScalar(graphicsbase[1])*meshScaling.getY(),btScalar(graphicsbase[2])*meshScaling.getZ());
|
|
}
|
|
}
|
|
|
|
/* Perform ray vs. triangle collision here */
|
|
m_callback->processTriangle(m_triangle,nodeSubPart,nodeTriangleIndex);
|
|
m_meshInterface->unLockReadOnlyVertexBase(nodeSubPart);
|
|
}
|
|
};
|
|
|
|
MyNodeOverlapCallback myNodeCallback(callback,m_meshInterface);
|
|
|
|
m_bvh->reportBoxCastOverlappingNodex (&myNodeCallback, raySource, rayTarget, aabbMin, aabbMax);
|
|
}
|
|
|
|
//perform bvh tree traversal and report overlapping triangles to 'callback'
|
|
void btBvhTriangleMeshShape::processAllTriangles(btTriangleCallback* callback,const btVector3& aabbMin,const btVector3& aabbMax) const
|
|
{
|
|
|
|
#ifdef DISABLE_BVH
|
|
//brute force traverse all triangles
|
|
btTriangleMeshShape::processAllTriangles(callback,aabbMin,aabbMax);
|
|
#else
|
|
|
|
//first get all the nodes
|
|
|
|
|
|
struct MyNodeOverlapCallback : public btNodeOverlapCallback
|
|
{
|
|
btStridingMeshInterface* m_meshInterface;
|
|
btTriangleCallback* m_callback;
|
|
btVector3 m_triangle[3];
|
|
int m_numOverlap;
|
|
|
|
MyNodeOverlapCallback(btTriangleCallback* callback,btStridingMeshInterface* meshInterface)
|
|
:m_meshInterface(meshInterface),
|
|
m_callback(callback),
|
|
m_numOverlap(0)
|
|
{
|
|
}
|
|
|
|
virtual void processNode(int nodeSubPart, int nodeTriangleIndex)
|
|
{
|
|
m_numOverlap++;
|
|
const unsigned char *vertexbase;
|
|
int numverts;
|
|
PHY_ScalarType type;
|
|
int stride;
|
|
const unsigned char *indexbase;
|
|
int indexstride;
|
|
int numfaces;
|
|
PHY_ScalarType indicestype;
|
|
|
|
|
|
m_meshInterface->getLockedReadOnlyVertexIndexBase(
|
|
&vertexbase,
|
|
numverts,
|
|
type,
|
|
stride,
|
|
&indexbase,
|
|
indexstride,
|
|
numfaces,
|
|
indicestype,
|
|
nodeSubPart);
|
|
|
|
unsigned int* gfxbase = (unsigned int*)(indexbase+nodeTriangleIndex*indexstride);
|
|
btAssert(indicestype==PHY_INTEGER||indicestype==PHY_SHORT||indicestype==PHY_UCHAR);
|
|
|
|
const btVector3& meshScaling = m_meshInterface->getScaling();
|
|
for (int j=2;j>=0;j--)
|
|
{
|
|
|
|
int graphicsindex = indicestype==PHY_SHORT?((unsigned short*)gfxbase)[j]:indicestype==PHY_INTEGER?gfxbase[j]:((unsigned char*)gfxbase)[j];
|
|
|
|
|
|
#ifdef DEBUG_TRIANGLE_MESH
|
|
printf("%d ,",graphicsindex);
|
|
#endif //DEBUG_TRIANGLE_MESH
|
|
if (type == PHY_FLOAT)
|
|
{
|
|
float* graphicsbase = (float*)(vertexbase+graphicsindex*stride);
|
|
|
|
m_triangle[j] = btVector3(
|
|
graphicsbase[0]*meshScaling.getX(),
|
|
graphicsbase[1]*meshScaling.getY(),
|
|
graphicsbase[2]*meshScaling.getZ());
|
|
}
|
|
else
|
|
{
|
|
double* graphicsbase = (double*)(vertexbase+graphicsindex*stride);
|
|
|
|
m_triangle[j] = btVector3(
|
|
btScalar(graphicsbase[0])*meshScaling.getX(),
|
|
btScalar(graphicsbase[1])*meshScaling.getY(),
|
|
btScalar(graphicsbase[2])*meshScaling.getZ());
|
|
}
|
|
#ifdef DEBUG_TRIANGLE_MESH
|
|
printf("triangle vertices:%f,%f,%f\n",triangle[j].x(),triangle[j].y(),triangle[j].z());
|
|
#endif //DEBUG_TRIANGLE_MESH
|
|
}
|
|
|
|
m_callback->processTriangle(m_triangle,nodeSubPart,nodeTriangleIndex);
|
|
m_meshInterface->unLockReadOnlyVertexBase(nodeSubPart);
|
|
}
|
|
|
|
};
|
|
|
|
MyNodeOverlapCallback myNodeCallback(callback,m_meshInterface);
|
|
|
|
m_bvh->reportAabbOverlappingNodex(&myNodeCallback,aabbMin,aabbMax);
|
|
|
|
#endif//DISABLE_BVH
|
|
|
|
|
|
}
|
|
|
|
void btBvhTriangleMeshShape::setLocalScaling(const btVector3& scaling)
|
|
{
|
|
if ((getLocalScaling() -scaling).length2() > SIMD_EPSILON)
|
|
{
|
|
btTriangleMeshShape::setLocalScaling(scaling);
|
|
buildOptimizedBvh();
|
|
}
|
|
}
|
|
|
|
void btBvhTriangleMeshShape::buildOptimizedBvh()
|
|
{
|
|
if (m_ownsBvh)
|
|
{
|
|
m_bvh->~btOptimizedBvh();
|
|
btAlignedFree(m_bvh);
|
|
}
|
|
///m_localAabbMin/m_localAabbMax is already re-calculated in btTriangleMeshShape. We could just scale aabb, but this needs some more work
|
|
void* mem = btAlignedAlloc(sizeof(btOptimizedBvh),16);
|
|
m_bvh = new(mem) btOptimizedBvh();
|
|
//rebuild the bvh...
|
|
m_bvh->build(m_meshInterface,m_useQuantizedAabbCompression,m_localAabbMin,m_localAabbMax);
|
|
m_ownsBvh = true;
|
|
}
|
|
|
|
void btBvhTriangleMeshShape::setOptimizedBvh(btOptimizedBvh* bvh, const btVector3& scaling)
|
|
{
|
|
btAssert(!m_bvh);
|
|
btAssert(!m_ownsBvh);
|
|
|
|
m_bvh = bvh;
|
|
m_ownsBvh = false;
|
|
// update the scaling without rebuilding the bvh
|
|
if ((getLocalScaling() -scaling).length2() > SIMD_EPSILON)
|
|
{
|
|
btTriangleMeshShape::setLocalScaling(scaling);
|
|
}
|
|
}
|
|
|
|
|
|
|
|
///fills the dataBuffer and returns the struct name (and 0 on failure)
|
|
const char* btBvhTriangleMeshShape::serialize(void* dataBuffer, btSerializer* serializer) const
|
|
{
|
|
btTriangleMeshShapeData* trimeshData = (btTriangleMeshShapeData*) dataBuffer;
|
|
|
|
btCollisionShape::serialize(&trimeshData->m_collisionShapeData,serializer);
|
|
|
|
m_meshInterface->serialize(&trimeshData->m_meshInterface, serializer);
|
|
|
|
trimeshData->m_collisionMargin = float(m_collisionMargin);
|
|
|
|
|
|
|
|
if (m_bvh && !(serializer->getSerializationFlags()&BT_SERIALIZE_NO_BVH))
|
|
{
|
|
void* chunk = serializer->findPointer(m_bvh);
|
|
if (chunk)
|
|
{
|
|
#ifdef BT_USE_DOUBLE_PRECISION
|
|
trimeshData->m_quantizedDoubleBvh = (btQuantizedBvhData*)chunk;
|
|
trimeshData->m_quantizedFloatBvh = 0;
|
|
#else
|
|
trimeshData->m_quantizedFloatBvh = (btQuantizedBvhData*)chunk;
|
|
trimeshData->m_quantizedDoubleBvh= 0;
|
|
#endif //BT_USE_DOUBLE_PRECISION
|
|
} else
|
|
{
|
|
|
|
#ifdef BT_USE_DOUBLE_PRECISION
|
|
trimeshData->m_quantizedDoubleBvh = (btQuantizedBvhData*)serializer->getUniquePointer(m_bvh);
|
|
trimeshData->m_quantizedFloatBvh = 0;
|
|
#else
|
|
trimeshData->m_quantizedFloatBvh = (btQuantizedBvhData*)serializer->getUniquePointer(m_bvh);
|
|
trimeshData->m_quantizedDoubleBvh= 0;
|
|
#endif //BT_USE_DOUBLE_PRECISION
|
|
|
|
int sz = m_bvh->calculateSerializeBufferSizeNew();
|
|
btChunk* chunk = serializer->allocate(sz,1);
|
|
const char* structType = m_bvh->serialize(chunk->m_oldPtr, serializer);
|
|
serializer->finalizeChunk(chunk,structType,BT_QUANTIZED_BVH_CODE,m_bvh);
|
|
}
|
|
} else
|
|
{
|
|
trimeshData->m_quantizedFloatBvh = 0;
|
|
trimeshData->m_quantizedDoubleBvh = 0;
|
|
}
|
|
|
|
|
|
|
|
if (m_triangleInfoMap && !(serializer->getSerializationFlags()&BT_SERIALIZE_NO_TRIANGLEINFOMAP))
|
|
{
|
|
void* chunk = serializer->findPointer(m_triangleInfoMap);
|
|
if (chunk)
|
|
{
|
|
trimeshData->m_triangleInfoMap = (btTriangleInfoMapData*)chunk;
|
|
} else
|
|
{
|
|
trimeshData->m_triangleInfoMap = (btTriangleInfoMapData*)serializer->getUniquePointer(m_triangleInfoMap);
|
|
int sz = m_triangleInfoMap->calculateSerializeBufferSize();
|
|
btChunk* chunk = serializer->allocate(sz,1);
|
|
const char* structType = m_triangleInfoMap->serialize(chunk->m_oldPtr, serializer);
|
|
serializer->finalizeChunk(chunk,structType,BT_TRIANLGE_INFO_MAP,m_triangleInfoMap);
|
|
}
|
|
} else
|
|
{
|
|
trimeshData->m_triangleInfoMap = 0;
|
|
}
|
|
|
|
// Fill padding with zeros to appease msan.
|
|
memset(trimeshData->m_pad3, 0, sizeof(trimeshData->m_pad3));
|
|
|
|
return "btTriangleMeshShapeData";
|
|
}
|
|
|
|
void btBvhTriangleMeshShape::serializeSingleBvh(btSerializer* serializer) const
|
|
{
|
|
if (m_bvh)
|
|
{
|
|
int len = m_bvh->calculateSerializeBufferSizeNew(); //make sure not to use calculateSerializeBufferSize because it is used for in-place
|
|
btChunk* chunk = serializer->allocate(len,1);
|
|
const char* structType = m_bvh->serialize(chunk->m_oldPtr, serializer);
|
|
serializer->finalizeChunk(chunk,structType,BT_QUANTIZED_BVH_CODE,(void*)m_bvh);
|
|
}
|
|
}
|
|
|
|
void btBvhTriangleMeshShape::serializeSingleTriangleInfoMap(btSerializer* serializer) const
|
|
{
|
|
if (m_triangleInfoMap)
|
|
{
|
|
int len = m_triangleInfoMap->calculateSerializeBufferSize();
|
|
btChunk* chunk = serializer->allocate(len,1);
|
|
const char* structType = m_triangleInfoMap->serialize(chunk->m_oldPtr, serializer);
|
|
serializer->finalizeChunk(chunk,structType,BT_TRIANLGE_INFO_MAP,(void*)m_triangleInfoMap);
|
|
}
|
|
}
|
|
|
|
|
|
|
|
|