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extern/bullet2/src/BulletCollision/CollisionShapes/btTriangleMesh.cpp
| /* | /* | ||||
| Bullet Continuous Collision Detection and Physics Library | Bullet Continuous Collision Detection and Physics Library | ||||
| Copyright (c) 2003-2009 Erwin Coumans http://bulletphysics.org | Copyright (c) 2003-2009 Erwin Coumans http://bulletphysics.org | ||||
| This software is provided 'as-is', without any express or implied warranty. | 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. | 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, | Permission is granted to anyone to use this software for any purpose, | ||||
| including commercial applications, and to alter it and redistribute it freely, | including commercial applications, and to alter it and redistribute it freely, | ||||
| subject to the following restrictions: | 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. | 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. | 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. | 3. This notice may not be removed or altered from any source distribution. | ||||
| */ | */ | ||||
| #include "btTriangleMesh.h" | #include "btTriangleMesh.h" | ||||
| btTriangleMesh::btTriangleMesh (bool use32bitIndices,bool use4componentVertices) | btTriangleMesh::btTriangleMesh(bool use32bitIndices, bool use4componentVertices) | ||||
| :m_use32bitIndices(use32bitIndices), | : m_use32bitIndices(use32bitIndices), | ||||
| m_use4componentVertices(use4componentVertices), | m_use4componentVertices(use4componentVertices), | ||||
| m_weldingThreshold(0.0) | m_weldingThreshold(0.0) | ||||
| { | { | ||||
| btIndexedMesh meshIndex; | btIndexedMesh meshIndex; | ||||
| meshIndex.m_numTriangles = 0; | meshIndex.m_numTriangles = 0; | ||||
| meshIndex.m_numVertices = 0; | meshIndex.m_numVertices = 0; | ||||
| meshIndex.m_indexType = PHY_INTEGER; | meshIndex.m_indexType = PHY_INTEGER; | ||||
| meshIndex.m_triangleIndexBase = 0; | meshIndex.m_triangleIndexBase = 0; | ||||
| meshIndex.m_triangleIndexStride = 3*sizeof(int); | meshIndex.m_triangleIndexStride = 3 * sizeof(int); | ||||
| meshIndex.m_vertexBase = 0; | meshIndex.m_vertexBase = 0; | ||||
| meshIndex.m_vertexStride = sizeof(btVector3); | meshIndex.m_vertexStride = sizeof(btVector3); | ||||
| m_indexedMeshes.push_back(meshIndex); | m_indexedMeshes.push_back(meshIndex); | ||||
| if (m_use32bitIndices) | if (m_use32bitIndices) | ||||
| { | { | ||||
| m_indexedMeshes[0].m_numTriangles = m_32bitIndices.size()/3; | m_indexedMeshes[0].m_numTriangles = m_32bitIndices.size() / 3; | ||||
| m_indexedMeshes[0].m_triangleIndexBase = 0; | m_indexedMeshes[0].m_triangleIndexBase = 0; | ||||
| m_indexedMeshes[0].m_indexType = PHY_INTEGER; | m_indexedMeshes[0].m_indexType = PHY_INTEGER; | ||||
| m_indexedMeshes[0].m_triangleIndexStride = 3*sizeof(int); | m_indexedMeshes[0].m_triangleIndexStride = 3 * sizeof(int); | ||||
| } else | } | ||||
| else | |||||
| { | { | ||||
| m_indexedMeshes[0].m_numTriangles = m_16bitIndices.size()/3; | m_indexedMeshes[0].m_numTriangles = m_16bitIndices.size() / 3; | ||||
| m_indexedMeshes[0].m_triangleIndexBase = 0; | m_indexedMeshes[0].m_triangleIndexBase = 0; | ||||
| m_indexedMeshes[0].m_indexType = PHY_SHORT; | m_indexedMeshes[0].m_indexType = PHY_SHORT; | ||||
| m_indexedMeshes[0].m_triangleIndexStride = 3*sizeof(short int); | m_indexedMeshes[0].m_triangleIndexStride = 3 * sizeof(short int); | ||||
| } | } | ||||
| if (m_use4componentVertices) | if (m_use4componentVertices) | ||||
| { | { | ||||
| m_indexedMeshes[0].m_numVertices = m_4componentVertices.size(); | m_indexedMeshes[0].m_numVertices = m_4componentVertices.size(); | ||||
| m_indexedMeshes[0].m_vertexBase = 0; | m_indexedMeshes[0].m_vertexBase = 0; | ||||
| m_indexedMeshes[0].m_vertexStride = sizeof(btVector3); | m_indexedMeshes[0].m_vertexStride = sizeof(btVector3); | ||||
| } else | } | ||||
| else | |||||
| { | { | ||||
| m_indexedMeshes[0].m_numVertices = m_3componentVertices.size()/3; | m_indexedMeshes[0].m_numVertices = m_3componentVertices.size() / 3; | ||||
| m_indexedMeshes[0].m_vertexBase = 0; | m_indexedMeshes[0].m_vertexBase = 0; | ||||
| m_indexedMeshes[0].m_vertexStride = 3*sizeof(btScalar); | m_indexedMeshes[0].m_vertexStride = 3 * sizeof(btScalar); | ||||
| } | } | ||||
| } | } | ||||
| void btTriangleMesh::addIndex(int index) | void btTriangleMesh::addIndex(int index) | ||||
| { | { | ||||
| if (m_use32bitIndices) | if (m_use32bitIndices) | ||||
| { | { | ||||
| m_32bitIndices.push_back(index); | m_32bitIndices.push_back(index); | ||||
| m_indexedMeshes[0].m_triangleIndexBase = (unsigned char*) &m_32bitIndices[0]; | m_indexedMeshes[0].m_triangleIndexBase = (unsigned char*)&m_32bitIndices[0]; | ||||
| } else | } | ||||
| else | |||||
| { | { | ||||
| m_16bitIndices.push_back(index); | m_16bitIndices.push_back(index); | ||||
| m_indexedMeshes[0].m_triangleIndexBase = (unsigned char*) &m_16bitIndices[0]; | m_indexedMeshes[0].m_triangleIndexBase = (unsigned char*)&m_16bitIndices[0]; | ||||
| } | } | ||||
| } | } | ||||
| void btTriangleMesh::addTriangleIndices(int index1, int index2, int index3 ) | void btTriangleMesh::addTriangleIndices(int index1, int index2, int index3) | ||||
| { | { | ||||
| m_indexedMeshes[0].m_numTriangles++; | m_indexedMeshes[0].m_numTriangles++; | ||||
| addIndex( index1 ); | addIndex(index1); | ||||
| addIndex( index2 ); | addIndex(index2); | ||||
| addIndex( index3 ); | addIndex(index3); | ||||
| } | } | ||||
| int btTriangleMesh::findOrAddVertex(const btVector3& vertex, bool removeDuplicateVertices) | int btTriangleMesh::findOrAddVertex(const btVector3& vertex, bool removeDuplicateVertices) | ||||
| { | { | ||||
| //return index of new/existing vertex | //return index of new/existing vertex | ||||
| ///@todo: could use acceleration structure for this | ///@todo: could use acceleration structure for this | ||||
| if (m_use4componentVertices) | if (m_use4componentVertices) | ||||
| { | { | ||||
| if (removeDuplicateVertices) | if (removeDuplicateVertices) | ||||
| { | { | ||||
| for (int i=0;i< m_4componentVertices.size();i++) | for (int i = 0; i < m_4componentVertices.size(); i++) | ||||
| { | { | ||||
| if ((m_4componentVertices[i]-vertex).length2() <= m_weldingThreshold) | if ((m_4componentVertices[i] - vertex).length2() <= m_weldingThreshold) | ||||
| { | { | ||||
| return i; | return i; | ||||
| } | } | ||||
| } | } | ||||
| } | } | ||||
| m_indexedMeshes[0].m_numVertices++; | m_indexedMeshes[0].m_numVertices++; | ||||
| m_4componentVertices.push_back(vertex); | m_4componentVertices.push_back(vertex); | ||||
| m_indexedMeshes[0].m_vertexBase = (unsigned char*)&m_4componentVertices[0]; | m_indexedMeshes[0].m_vertexBase = (unsigned char*)&m_4componentVertices[0]; | ||||
| return m_4componentVertices.size()-1; | return m_4componentVertices.size() - 1; | ||||
| } | |||||
| } else | else | ||||
| { | { | ||||
| if (removeDuplicateVertices) | if (removeDuplicateVertices) | ||||
| { | { | ||||
| for (int i=0;i< m_3componentVertices.size();i+=3) | for (int i = 0; i < m_3componentVertices.size(); i += 3) | ||||
| { | { | ||||
| btVector3 vtx(m_3componentVertices[i],m_3componentVertices[i+1],m_3componentVertices[i+2]); | btVector3 vtx(m_3componentVertices[i], m_3componentVertices[i + 1], m_3componentVertices[i + 2]); | ||||
| if ((vtx-vertex).length2() <= m_weldingThreshold) | if ((vtx - vertex).length2() <= m_weldingThreshold) | ||||
| { | { | ||||
| return i/3; | return i / 3; | ||||
| } | } | ||||
| } | } | ||||
| } | } | ||||
| m_3componentVertices.push_back(vertex.getX()); | m_3componentVertices.push_back(vertex.getX()); | ||||
| m_3componentVertices.push_back(vertex.getY()); | m_3componentVertices.push_back(vertex.getY()); | ||||
| m_3componentVertices.push_back(vertex.getZ()); | m_3componentVertices.push_back(vertex.getZ()); | ||||
| m_indexedMeshes[0].m_numVertices++; | m_indexedMeshes[0].m_numVertices++; | ||||
| m_indexedMeshes[0].m_vertexBase = (unsigned char*)&m_3componentVertices[0]; | m_indexedMeshes[0].m_vertexBase = (unsigned char*)&m_3componentVertices[0]; | ||||
| return (m_3componentVertices.size()/3)-1; | return (m_3componentVertices.size() / 3) - 1; | ||||
| } | } | ||||
| } | } | ||||
| void btTriangleMesh::addTriangle(const btVector3& vertex0,const btVector3& vertex1,const btVector3& vertex2,bool removeDuplicateVertices) | void btTriangleMesh::addTriangle(const btVector3& vertex0, const btVector3& vertex1, const btVector3& vertex2, bool removeDuplicateVertices) | ||||
| { | { | ||||
| m_indexedMeshes[0].m_numTriangles++; | m_indexedMeshes[0].m_numTriangles++; | ||||
| addIndex(findOrAddVertex(vertex0,removeDuplicateVertices)); | addIndex(findOrAddVertex(vertex0, removeDuplicateVertices)); | ||||
| addIndex(findOrAddVertex(vertex1,removeDuplicateVertices)); | addIndex(findOrAddVertex(vertex1, removeDuplicateVertices)); | ||||
| addIndex(findOrAddVertex(vertex2,removeDuplicateVertices)); | addIndex(findOrAddVertex(vertex2, removeDuplicateVertices)); | ||||
| } | } | ||||
| int btTriangleMesh::getNumTriangles() const | int btTriangleMesh::getNumTriangles() const | ||||
| { | { | ||||
| if (m_use32bitIndices) | if (m_use32bitIndices) | ||||
| { | { | ||||
| return m_32bitIndices.size() / 3; | return m_32bitIndices.size() / 3; | ||||
| } | } | ||||
| return m_16bitIndices.size() / 3; | return m_16bitIndices.size() / 3; | ||||
| } | } | ||||
| void btTriangleMesh::preallocateVertices(int numverts) | void btTriangleMesh::preallocateVertices(int numverts) | ||||
| { | { | ||||
| if (m_use4componentVertices) | if (m_use4componentVertices) | ||||
| { | { | ||||
| m_4componentVertices.reserve(numverts); | m_4componentVertices.reserve(numverts); | ||||
| } else | } | ||||
| else | |||||
| { | { | ||||
| m_3componentVertices.reserve(numverts); | m_3componentVertices.reserve(numverts); | ||||
| } | } | ||||
| } | } | ||||
| void btTriangleMesh::preallocateIndices(int numindices) | void btTriangleMesh::preallocateIndices(int numindices) | ||||
| { | { | ||||
| if (m_use32bitIndices) | if (m_use32bitIndices) | ||||
| { | { | ||||
| m_32bitIndices.reserve(numindices); | m_32bitIndices.reserve(numindices); | ||||
| } else | } | ||||
| else | |||||
| { | { | ||||
| m_16bitIndices.reserve(numindices); | m_16bitIndices.reserve(numindices); | ||||
| } | } | ||||
| } | } | ||||