e12c89e8c9
Document version and how to extract sources in thirdparty/README.md. Drop unnecessary CMake and Premake files. Simplify SCsub, drop unused one.
470 lines
14 KiB
C++
470 lines
14 KiB
C++
/*
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Bullet Continuous Collision Detection and Physics Library
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Copyright (c) 2003-2009 Erwin Coumans http://bulletphysics.org
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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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//#define DISABLE_BVH
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#include "BulletCollision/CollisionShapes/btBvhTriangleMeshShape.h"
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#include "BulletCollision/CollisionShapes/btOptimizedBvh.h"
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#include "LinearMath/btSerializer.h"
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///Bvh Concave triangle mesh is a static-triangle mesh shape with Bounding Volume Hierarchy optimization.
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///Uses an interface to access the triangles to allow for sharing graphics/physics triangles.
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btBvhTriangleMeshShape::btBvhTriangleMeshShape(btStridingMeshInterface* meshInterface, bool useQuantizedAabbCompression, bool buildBvh)
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:btTriangleMeshShape(meshInterface),
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m_bvh(0),
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m_triangleInfoMap(0),
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m_useQuantizedAabbCompression(useQuantizedAabbCompression),
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m_ownsBvh(false)
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{
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m_shapeType = TRIANGLE_MESH_SHAPE_PROXYTYPE;
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//construct bvh from meshInterface
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#ifndef DISABLE_BVH
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if (buildBvh)
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{
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buildOptimizedBvh();
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}
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#endif //DISABLE_BVH
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}
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btBvhTriangleMeshShape::btBvhTriangleMeshShape(btStridingMeshInterface* meshInterface, bool useQuantizedAabbCompression,const btVector3& bvhAabbMin,const btVector3& bvhAabbMax,bool buildBvh)
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:btTriangleMeshShape(meshInterface),
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m_bvh(0),
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m_triangleInfoMap(0),
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m_useQuantizedAabbCompression(useQuantizedAabbCompression),
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m_ownsBvh(false)
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{
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m_shapeType = TRIANGLE_MESH_SHAPE_PROXYTYPE;
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//construct bvh from meshInterface
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#ifndef DISABLE_BVH
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if (buildBvh)
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{
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void* mem = btAlignedAlloc(sizeof(btOptimizedBvh),16);
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m_bvh = new (mem) btOptimizedBvh();
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m_bvh->build(meshInterface,m_useQuantizedAabbCompression,bvhAabbMin,bvhAabbMax);
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m_ownsBvh = true;
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}
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#endif //DISABLE_BVH
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}
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void btBvhTriangleMeshShape::partialRefitTree(const btVector3& aabbMin,const btVector3& aabbMax)
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{
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m_bvh->refitPartial( m_meshInterface,aabbMin,aabbMax );
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m_localAabbMin.setMin(aabbMin);
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m_localAabbMax.setMax(aabbMax);
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}
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void btBvhTriangleMeshShape::refitTree(const btVector3& aabbMin,const btVector3& aabbMax)
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{
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m_bvh->refit( m_meshInterface, aabbMin,aabbMax );
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recalcLocalAabb();
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}
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btBvhTriangleMeshShape::~btBvhTriangleMeshShape()
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{
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if (m_ownsBvh)
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{
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m_bvh->~btOptimizedBvh();
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btAlignedFree(m_bvh);
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}
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}
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void btBvhTriangleMeshShape::performRaycast (btTriangleCallback* callback, const btVector3& raySource, const btVector3& rayTarget)
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{
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struct MyNodeOverlapCallback : public btNodeOverlapCallback
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{
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btStridingMeshInterface* m_meshInterface;
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btTriangleCallback* m_callback;
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MyNodeOverlapCallback(btTriangleCallback* callback,btStridingMeshInterface* meshInterface)
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:m_meshInterface(meshInterface),
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m_callback(callback)
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{
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}
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virtual void processNode(int nodeSubPart, int nodeTriangleIndex)
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{
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btVector3 m_triangle[3];
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const unsigned char *vertexbase;
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int numverts;
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PHY_ScalarType type;
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int stride;
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const unsigned char *indexbase;
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int indexstride;
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int numfaces;
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PHY_ScalarType indicestype;
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m_meshInterface->getLockedReadOnlyVertexIndexBase(
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&vertexbase,
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numverts,
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type,
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stride,
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&indexbase,
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indexstride,
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numfaces,
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indicestype,
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nodeSubPart);
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unsigned int* gfxbase = (unsigned int*)(indexbase+nodeTriangleIndex*indexstride);
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btAssert(indicestype==PHY_INTEGER||indicestype==PHY_SHORT);
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const btVector3& meshScaling = m_meshInterface->getScaling();
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for (int j=2;j>=0;j--)
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{
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int graphicsindex = indicestype==PHY_SHORT?((unsigned short*)gfxbase)[j]:gfxbase[j];
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if (type == PHY_FLOAT)
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{
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float* graphicsbase = (float*)(vertexbase+graphicsindex*stride);
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m_triangle[j] = btVector3(graphicsbase[0]*meshScaling.getX(),graphicsbase[1]*meshScaling.getY(),graphicsbase[2]*meshScaling.getZ());
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}
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else
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{
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double* graphicsbase = (double*)(vertexbase+graphicsindex*stride);
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m_triangle[j] = btVector3(btScalar(graphicsbase[0])*meshScaling.getX(),btScalar(graphicsbase[1])*meshScaling.getY(),btScalar(graphicsbase[2])*meshScaling.getZ());
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}
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}
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/* Perform ray vs. triangle collision here */
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m_callback->processTriangle(m_triangle,nodeSubPart,nodeTriangleIndex);
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m_meshInterface->unLockReadOnlyVertexBase(nodeSubPart);
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}
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};
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MyNodeOverlapCallback myNodeCallback(callback,m_meshInterface);
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m_bvh->reportRayOverlappingNodex(&myNodeCallback,raySource,rayTarget);
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}
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void btBvhTriangleMeshShape::performConvexcast (btTriangleCallback* callback, const btVector3& raySource, const btVector3& rayTarget, const btVector3& aabbMin, const btVector3& aabbMax)
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{
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struct MyNodeOverlapCallback : public btNodeOverlapCallback
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{
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btStridingMeshInterface* m_meshInterface;
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btTriangleCallback* m_callback;
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MyNodeOverlapCallback(btTriangleCallback* callback,btStridingMeshInterface* meshInterface)
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:m_meshInterface(meshInterface),
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m_callback(callback)
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{
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}
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virtual void processNode(int nodeSubPart, int nodeTriangleIndex)
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{
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btVector3 m_triangle[3];
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const unsigned char *vertexbase;
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int numverts;
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PHY_ScalarType type;
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int stride;
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const unsigned char *indexbase;
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int indexstride;
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int numfaces;
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PHY_ScalarType indicestype;
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m_meshInterface->getLockedReadOnlyVertexIndexBase(
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&vertexbase,
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numverts,
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type,
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stride,
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&indexbase,
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indexstride,
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numfaces,
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indicestype,
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nodeSubPart);
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unsigned int* gfxbase = (unsigned int*)(indexbase+nodeTriangleIndex*indexstride);
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btAssert(indicestype==PHY_INTEGER||indicestype==PHY_SHORT);
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const btVector3& meshScaling = m_meshInterface->getScaling();
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for (int j=2;j>=0;j--)
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{
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int graphicsindex = indicestype==PHY_SHORT?((unsigned short*)gfxbase)[j]:gfxbase[j];
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if (type == PHY_FLOAT)
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{
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float* graphicsbase = (float*)(vertexbase+graphicsindex*stride);
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m_triangle[j] = btVector3(graphicsbase[0]*meshScaling.getX(),graphicsbase[1]*meshScaling.getY(),graphicsbase[2]*meshScaling.getZ());
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}
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else
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{
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double* graphicsbase = (double*)(vertexbase+graphicsindex*stride);
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m_triangle[j] = btVector3(btScalar(graphicsbase[0])*meshScaling.getX(),btScalar(graphicsbase[1])*meshScaling.getY(),btScalar(graphicsbase[2])*meshScaling.getZ());
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}
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}
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/* Perform ray vs. triangle collision here */
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m_callback->processTriangle(m_triangle,nodeSubPart,nodeTriangleIndex);
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m_meshInterface->unLockReadOnlyVertexBase(nodeSubPart);
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}
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};
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MyNodeOverlapCallback myNodeCallback(callback,m_meshInterface);
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m_bvh->reportBoxCastOverlappingNodex (&myNodeCallback, raySource, rayTarget, aabbMin, aabbMax);
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}
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//perform bvh tree traversal and report overlapping triangles to 'callback'
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void btBvhTriangleMeshShape::processAllTriangles(btTriangleCallback* callback,const btVector3& aabbMin,const btVector3& aabbMax) const
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{
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#ifdef DISABLE_BVH
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//brute force traverse all triangles
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btTriangleMeshShape::processAllTriangles(callback,aabbMin,aabbMax);
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#else
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//first get all the nodes
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struct MyNodeOverlapCallback : public btNodeOverlapCallback
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{
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btStridingMeshInterface* m_meshInterface;
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btTriangleCallback* m_callback;
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btVector3 m_triangle[3];
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int m_numOverlap;
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MyNodeOverlapCallback(btTriangleCallback* callback,btStridingMeshInterface* meshInterface)
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:m_meshInterface(meshInterface),
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m_callback(callback),
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m_numOverlap(0)
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{
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}
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virtual void processNode(int nodeSubPart, int nodeTriangleIndex)
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{
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m_numOverlap++;
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const unsigned char *vertexbase;
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int numverts;
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PHY_ScalarType type;
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int stride;
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const unsigned char *indexbase;
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int indexstride;
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int numfaces;
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PHY_ScalarType indicestype;
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m_meshInterface->getLockedReadOnlyVertexIndexBase(
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&vertexbase,
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numverts,
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type,
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stride,
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&indexbase,
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indexstride,
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numfaces,
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indicestype,
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nodeSubPart);
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unsigned int* gfxbase = (unsigned int*)(indexbase+nodeTriangleIndex*indexstride);
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btAssert(indicestype==PHY_INTEGER||indicestype==PHY_SHORT||indicestype==PHY_UCHAR);
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const btVector3& meshScaling = m_meshInterface->getScaling();
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for (int j=2;j>=0;j--)
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{
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int graphicsindex = indicestype==PHY_SHORT?((unsigned short*)gfxbase)[j]:indicestype==PHY_INTEGER?gfxbase[j]:((unsigned char*)gfxbase)[j];
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#ifdef DEBUG_TRIANGLE_MESH
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printf("%d ,",graphicsindex);
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#endif //DEBUG_TRIANGLE_MESH
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if (type == PHY_FLOAT)
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{
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float* graphicsbase = (float*)(vertexbase+graphicsindex*stride);
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m_triangle[j] = btVector3(
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graphicsbase[0]*meshScaling.getX(),
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graphicsbase[1]*meshScaling.getY(),
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graphicsbase[2]*meshScaling.getZ());
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}
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else
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{
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double* graphicsbase = (double*)(vertexbase+graphicsindex*stride);
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m_triangle[j] = btVector3(
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btScalar(graphicsbase[0])*meshScaling.getX(),
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btScalar(graphicsbase[1])*meshScaling.getY(),
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btScalar(graphicsbase[2])*meshScaling.getZ());
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}
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#ifdef DEBUG_TRIANGLE_MESH
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printf("triangle vertices:%f,%f,%f\n",triangle[j].x(),triangle[j].y(),triangle[j].z());
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#endif //DEBUG_TRIANGLE_MESH
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}
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m_callback->processTriangle(m_triangle,nodeSubPart,nodeTriangleIndex);
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m_meshInterface->unLockReadOnlyVertexBase(nodeSubPart);
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}
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};
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MyNodeOverlapCallback myNodeCallback(callback,m_meshInterface);
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m_bvh->reportAabbOverlappingNodex(&myNodeCallback,aabbMin,aabbMax);
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#endif//DISABLE_BVH
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}
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void btBvhTriangleMeshShape::setLocalScaling(const btVector3& scaling)
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{
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if ((getLocalScaling() -scaling).length2() > SIMD_EPSILON)
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{
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btTriangleMeshShape::setLocalScaling(scaling);
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buildOptimizedBvh();
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}
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}
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void btBvhTriangleMeshShape::buildOptimizedBvh()
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{
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if (m_ownsBvh)
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{
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m_bvh->~btOptimizedBvh();
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btAlignedFree(m_bvh);
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}
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///m_localAabbMin/m_localAabbMax is already re-calculated in btTriangleMeshShape. We could just scale aabb, but this needs some more work
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void* mem = btAlignedAlloc(sizeof(btOptimizedBvh),16);
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m_bvh = new(mem) btOptimizedBvh();
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//rebuild the bvh...
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m_bvh->build(m_meshInterface,m_useQuantizedAabbCompression,m_localAabbMin,m_localAabbMax);
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m_ownsBvh = true;
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}
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void btBvhTriangleMeshShape::setOptimizedBvh(btOptimizedBvh* bvh, const btVector3& scaling)
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{
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btAssert(!m_bvh);
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btAssert(!m_ownsBvh);
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m_bvh = bvh;
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m_ownsBvh = false;
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// update the scaling without rebuilding the bvh
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if ((getLocalScaling() -scaling).length2() > SIMD_EPSILON)
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{
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btTriangleMeshShape::setLocalScaling(scaling);
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}
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}
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///fills the dataBuffer and returns the struct name (and 0 on failure)
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const char* btBvhTriangleMeshShape::serialize(void* dataBuffer, btSerializer* serializer) const
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{
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btTriangleMeshShapeData* trimeshData = (btTriangleMeshShapeData*) dataBuffer;
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btCollisionShape::serialize(&trimeshData->m_collisionShapeData,serializer);
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m_meshInterface->serialize(&trimeshData->m_meshInterface, serializer);
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trimeshData->m_collisionMargin = float(m_collisionMargin);
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if (m_bvh && !(serializer->getSerializationFlags()&BT_SERIALIZE_NO_BVH))
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{
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void* chunk = serializer->findPointer(m_bvh);
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if (chunk)
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{
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#ifdef BT_USE_DOUBLE_PRECISION
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trimeshData->m_quantizedDoubleBvh = (btQuantizedBvhData*)chunk;
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trimeshData->m_quantizedFloatBvh = 0;
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#else
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trimeshData->m_quantizedFloatBvh = (btQuantizedBvhData*)chunk;
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trimeshData->m_quantizedDoubleBvh= 0;
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#endif //BT_USE_DOUBLE_PRECISION
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} else
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{
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#ifdef BT_USE_DOUBLE_PRECISION
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trimeshData->m_quantizedDoubleBvh = (btQuantizedBvhData*)serializer->getUniquePointer(m_bvh);
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trimeshData->m_quantizedFloatBvh = 0;
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#else
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trimeshData->m_quantizedFloatBvh = (btQuantizedBvhData*)serializer->getUniquePointer(m_bvh);
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trimeshData->m_quantizedDoubleBvh= 0;
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#endif //BT_USE_DOUBLE_PRECISION
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int sz = m_bvh->calculateSerializeBufferSizeNew();
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btChunk* chunk = serializer->allocate(sz,1);
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const char* structType = m_bvh->serialize(chunk->m_oldPtr, serializer);
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serializer->finalizeChunk(chunk,structType,BT_QUANTIZED_BVH_CODE,m_bvh);
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}
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} else
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{
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trimeshData->m_quantizedFloatBvh = 0;
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trimeshData->m_quantizedDoubleBvh = 0;
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}
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if (m_triangleInfoMap && !(serializer->getSerializationFlags()&BT_SERIALIZE_NO_TRIANGLEINFOMAP))
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{
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void* chunk = serializer->findPointer(m_triangleInfoMap);
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if (chunk)
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{
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trimeshData->m_triangleInfoMap = (btTriangleInfoMapData*)chunk;
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} else
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{
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trimeshData->m_triangleInfoMap = (btTriangleInfoMapData*)serializer->getUniquePointer(m_triangleInfoMap);
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int sz = m_triangleInfoMap->calculateSerializeBufferSize();
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btChunk* chunk = serializer->allocate(sz,1);
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const char* structType = m_triangleInfoMap->serialize(chunk->m_oldPtr, serializer);
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serializer->finalizeChunk(chunk,structType,BT_TRIANLGE_INFO_MAP,m_triangleInfoMap);
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}
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} else
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{
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trimeshData->m_triangleInfoMap = 0;
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}
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// Fill padding with zeros to appease msan.
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memset(trimeshData->m_pad3, 0, sizeof(trimeshData->m_pad3));
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return "btTriangleMeshShapeData";
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}
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void btBvhTriangleMeshShape::serializeSingleBvh(btSerializer* serializer) const
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{
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if (m_bvh)
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{
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int len = m_bvh->calculateSerializeBufferSizeNew(); //make sure not to use calculateSerializeBufferSize because it is used for in-place
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btChunk* chunk = serializer->allocate(len,1);
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const char* structType = m_bvh->serialize(chunk->m_oldPtr, serializer);
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serializer->finalizeChunk(chunk,structType,BT_QUANTIZED_BVH_CODE,(void*)m_bvh);
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}
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}
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void btBvhTriangleMeshShape::serializeSingleTriangleInfoMap(btSerializer* serializer) const
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{
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if (m_triangleInfoMap)
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{
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int len = m_triangleInfoMap->calculateSerializeBufferSize();
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btChunk* chunk = serializer->allocate(len,1);
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const char* structType = m_triangleInfoMap->serialize(chunk->m_oldPtr, serializer);
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serializer->finalizeChunk(chunk,structType,BT_TRIANLGE_INFO_MAP,(void*)m_triangleInfoMap);
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}
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}
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