Page MenuHome
Differential D8762 Diff 28333 extern/bullet2/src/BulletCollision/CollisionShapes/btTriangleMeshShape.cpp

Changeset View

Standalone View

View Options

extern/bullet2/src/BulletCollision/CollisionShapes/btTriangleMeshShape.cpp

Show All 14 Lines
#include "btTriangleMeshShape.h" #include "btTriangleMeshShape.h"
#include "LinearMath/btVector3.h" #include "LinearMath/btVector3.h"
#include "LinearMath/btQuaternion.h" #include "LinearMath/btQuaternion.h"
#include "btStridingMeshInterface.h" #include "btStridingMeshInterface.h"
#include "LinearMath/btAabbUtil2.h" #include "LinearMath/btAabbUtil2.h"
#include "BulletCollision/CollisionShapes/btCollisionMargin.h" #include "BulletCollision/CollisionShapes/btCollisionMargin.h"
btTriangleMeshShape::btTriangleMeshShape(btStridingMeshInterface* meshInterface) btTriangleMeshShape::btTriangleMeshShape(btStridingMeshInterface* meshInterface)
: btConcaveShape (), m_meshInterface(meshInterface) : btConcaveShape(), m_meshInterface(meshInterface)
{ {
m_shapeType = TRIANGLE_MESH_SHAPE_PROXYTYPE; m_shapeType = TRIANGLE_MESH_SHAPE_PROXYTYPE;
if(meshInterface->hasPremadeAabb()) if (meshInterface->hasPremadeAabb())
{ {
meshInterface->getPremadeAabb(&m_localAabbMin, &m_localAabbMax); meshInterface->getPremadeAabb(&m_localAabbMin, &m_localAabbMax);
} }
else else
{ {
recalcLocalAabb(); recalcLocalAabb();
} }
} }
btTriangleMeshShape::~btTriangleMeshShape() btTriangleMeshShape::~btTriangleMeshShape()
{ {
} }
void btTriangleMeshShape::getAabb(const btTransform& trans,btVector3& aabbMin,btVector3& aabbMax) const void btTriangleMeshShape::getAabb(const btTransform& trans, btVector3& aabbMin, btVector3& aabbMax) const
{ {
btVector3 localHalfExtents = btScalar(0.5)*(m_localAabbMax-m_localAabbMin); btVector3 localHalfExtents = btScalar(0.5) * (m_localAabbMax - m_localAabbMin);
localHalfExtents += btVector3(getMargin(),getMargin(),getMargin()); localHalfExtents += btVector3(getMargin(), getMargin(), getMargin());
btVector3 localCenter = btScalar(0.5)*(m_localAabbMax+m_localAabbMin); btVector3 localCenter = btScalar(0.5) * (m_localAabbMax + m_localAabbMin);
btMatrix3x3 abs_b = trans.getBasis().absolute(); btMatrix3x3 abs_b = trans.getBasis().absolute();
btVector3 center = trans(localCenter); btVector3 center = trans(localCenter);
btVector3 extent = localHalfExtents.dot3(abs_b[0], abs_b[1], abs_b[2]); btVector3 extent = localHalfExtents.dot3(abs_b[0], abs_b[1], abs_b[2]);
aabbMin = center - extent; aabbMin = center - extent;
aabbMax = center + extent; aabbMax = center + extent;
} }
void btTriangleMeshShape::recalcLocalAabb() void btTriangleMeshShape::recalcLocalAabb()
{ {
for (int i=0;i<3;i++) for (int i = 0; i < 3; i++)
{ {
btVector3 vec(btScalar(0.),btScalar(0.),btScalar(0.)); btVector3 vec(btScalar(0.), btScalar(0.), btScalar(0.));
vec[i] = btScalar(1.); vec[i] = btScalar(1.);
btVector3 tmp = localGetSupportingVertex(vec); btVector3 tmp = localGetSupportingVertex(vec);
m_localAabbMax[i] = tmp[i]+m_collisionMargin; m_localAabbMax[i] = tmp[i] + m_collisionMargin;
vec[i] = btScalar(-1.); vec[i] = btScalar(-1.);
tmp = localGetSupportingVertex(vec); tmp = localGetSupportingVertex(vec);
m_localAabbMin[i] = tmp[i]-m_collisionMargin; m_localAabbMin[i] = tmp[i] - m_collisionMargin;
} }
} }
class SupportVertexCallback : public btTriangleCallback class SupportVertexCallback : public btTriangleCallback
{ {
btVector3 m_supportVertexLocal; btVector3 m_supportVertexLocal;
public:
public:
btTransform m_worldTrans; btTransform m_worldTrans;
btScalar m_maxDot; btScalar m_maxDot;
btVector3 m_supportVecLocal; btVector3 m_supportVecLocal;
SupportVertexCallback(const btVector3& supportVecWorld,const btTransform& trans) SupportVertexCallback(const btVector3& supportVecWorld, const btTransform& trans)
: m_supportVertexLocal(btScalar(0.),btScalar(0.),btScalar(0.)), m_worldTrans(trans) ,m_maxDot(btScalar(-BT_LARGE_FLOAT)) : m_supportVertexLocal(btScalar(0.), btScalar(0.), btScalar(0.)), m_worldTrans(trans), m_maxDot(btScalar(-BT_LARGE_FLOAT))
{ {
m_supportVecLocal = supportVecWorld * m_worldTrans.getBasis(); m_supportVecLocal = supportVecWorld * m_worldTrans.getBasis();
} }
virtual void processTriangle( btVector3* triangle,int partId, int triangleIndex) virtual void processTriangle(btVector3* triangle, int partId, int triangleIndex)
{ {
(void)partId; (void)partId;
(void)triangleIndex; (void)triangleIndex;
for (int i=0;i<3;i++) for (int i = 0; i < 3; i++)
{ {
btScalar dot = m_supportVecLocal.dot(triangle[i]); btScalar dot = m_supportVecLocal.dot(triangle[i]);
if (dot > m_maxDot) if (dot > m_maxDot)
{ {
m_maxDot = dot; m_maxDot = dot;
m_supportVertexLocal = triangle[i]; m_supportVertexLocal = triangle[i];
} }
} }
} }
btVector3 GetSupportVertexWorldSpace() btVector3 GetSupportVertexWorldSpace()
{ {
return m_worldTrans(m_supportVertexLocal); return m_worldTrans(m_supportVertexLocal);
} }
btVector3 GetSupportVertexLocal() btVector3 GetSupportVertexLocal()
{ {
return m_supportVertexLocal; return m_supportVertexLocal;
} }
}; };
void btTriangleMeshShape::setLocalScaling(const btVector3& scaling) void btTriangleMeshShape::setLocalScaling(const btVector3& scaling)
{ {
m_meshInterface->setScaling(scaling); m_meshInterface->setScaling(scaling);
recalcLocalAabb(); recalcLocalAabb();
} }
const btVector3& btTriangleMeshShape::getLocalScaling() const const btVector3& btTriangleMeshShape::getLocalScaling() const
{ {
return m_meshInterface->getScaling(); return m_meshInterface->getScaling();
} }
//#define DEBUG_TRIANGLE_MESH //#define DEBUG_TRIANGLE_MESH
void btTriangleMeshShape::processAllTriangles(btTriangleCallback* callback,const btVector3& aabbMin,const btVector3& aabbMax) const void btTriangleMeshShape::processAllTriangles(btTriangleCallback* callback, const btVector3& aabbMin, const btVector3& aabbMax) const
{ {
struct FilteredCallback : public btInternalTriangleIndexCallback struct FilteredCallback : public btInternalTriangleIndexCallback
{ {
btTriangleCallback* m_callback; btTriangleCallback* m_callback;
btVector3 m_aabbMin; btVector3 m_aabbMin;
btVector3 m_aabbMax; btVector3 m_aabbMax;
FilteredCallback(btTriangleCallback* callback,const btVector3& aabbMin,const btVector3& aabbMax) FilteredCallback(btTriangleCallback* callback, const btVector3& aabbMin, const btVector3& aabbMax)
:m_callback(callback), : m_callback(callback),
m_aabbMin(aabbMin), m_aabbMin(aabbMin),
m_aabbMax(aabbMax) m_aabbMax(aabbMax)
{ {
} }
virtual void internalProcessTriangleIndex(btVector3* triangle,int partId,int triangleIndex) virtual void internalProcessTriangleIndex(btVector3* triangle, int partId, int triangleIndex)
{ {
if (TestTriangleAgainstAabb2(&triangle[0],m_aabbMin,m_aabbMax)) if (TestTriangleAgainstAabb2(&triangle[0], m_aabbMin, m_aabbMax))
{ {
//check aabb in triangle-space, before doing this //check aabb in triangle-space, before doing this
m_callback->processTriangle(triangle,partId,triangleIndex); m_callback->processTriangle(triangle, partId, triangleIndex);
} }
} }
}; };
FilteredCallback filterCallback(callback,aabbMin,aabbMax); FilteredCallback filterCallback(callback, aabbMin, aabbMax);
m_meshInterface->InternalProcessAllTriangles(&filterCallback,aabbMin,aabbMax); m_meshInterface->InternalProcessAllTriangles(&filterCallback, aabbMin, aabbMax);
} }
void btTriangleMeshShape::calculateLocalInertia(btScalar mass,btVector3& inertia) const void btTriangleMeshShape::calculateLocalInertia(btScalar mass, btVector3& inertia) const
{ {
(void)mass; (void)mass;
//moving concave objects not supported //moving concave objects not supported
btAssert(0); btAssert(0);
inertia.setValue(btScalar(0.),btScalar(0.),btScalar(0.)); inertia.setValue(btScalar(0.), btScalar(0.), btScalar(0.));
} }
btVector3 btTriangleMeshShape::localGetSupportingVertex(const btVector3& vec) const btVector3 btTriangleMeshShape::localGetSupportingVertex(const btVector3& vec) const
{ {
btVector3 supportVertex; btVector3 supportVertex;
btTransform ident; btTransform ident;
ident.setIdentity(); ident.setIdentity();
SupportVertexCallback supportCallback(vec,ident); SupportVertexCallback supportCallback(vec, ident);
btVector3 aabbMax(btScalar(BT_LARGE_FLOAT),btScalar(BT_LARGE_FLOAT),btScalar(BT_LARGE_FLOAT)); btVector3 aabbMax(btScalar(BT_LARGE_FLOAT), btScalar(BT_LARGE_FLOAT), btScalar(BT_LARGE_FLOAT));
processAllTriangles(&supportCallback,-aabbMax,aabbMax); processAllTriangles(&supportCallback, -aabbMax, aabbMax);
supportVertex = supportCallback.GetSupportVertexLocal(); supportVertex = supportCallback.GetSupportVertexLocal();
return supportVertex; return supportVertex;
} }