Differential D8762 Diff 28333 extern/bullet2/src/BulletCollision/Gimpact/btGImpactShape.cpp

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extern/bullet2/src/BulletCollision/Gimpact/btGImpactShape.cpp

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	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 "btGImpactShape.h"			#include "btGImpactShape.h"
	#include "btGImpactMassUtil.h"			#include "btGImpactMassUtil.h"

				btGImpactMeshShapePart::btGImpactMeshShapePart(btStridingMeshInterface* meshInterface, int part)
				{
				// moved from .h to .cpp because of conditional compilation
				// (The setting of BT_THREADSAFE may differ between various cpp files, so it is best to
				// avoid using it in h files)
				m_primitive_manager.m_meshInterface = meshInterface;
				m_primitive_manager.m_part = part;
				m_box_set.setPrimitiveManager(&m_primitive_manager);
				#if BT_THREADSAFE
				// If threadsafe is requested, this object uses a different lock/unlock
				// model with the btStridingMeshInterface -- lock once when the object is constructed
				// and unlock once in the destructor.
				// The other way of locking and unlocking for each collision check in the narrowphase
				// is not threadsafe. Note these are not thread-locks, they are calls to the meshInterface's
				// getLockedReadOnlyVertexIndexBase virtual function, which by default just returns a couple of
				// pointers. In theory a client could override the lock function to do all sorts of
				// things like reading data from GPU memory, or decompressing data on the fly, but such things
				// do not seem all that likely or useful, given the performance cost.
				m_primitive_manager.lock();
				#endif
				}

	#define CALC_EXACT_INERTIA 1			btGImpactMeshShapePart::~btGImpactMeshShapePart()
				{
				// moved from .h to .cpp because of conditional compilation
				#if BT_THREADSAFE
				m_primitive_manager.unlock();
				#endif
				}

				void btGImpactMeshShapePart::lockChildShapes() const
				{
				// moved from .h to .cpp because of conditional compilation
				#if !BT_THREADSAFE
				// called in the narrowphase -- not threadsafe!
				void* dummy = (void*)(m_box_set.getPrimitiveManager());
				TrimeshPrimitiveManager* dummymanager = static_cast<TrimeshPrimitiveManager*>(dummy);
				dummymanager->lock();
				#endif
				}

				void btGImpactMeshShapePart::unlockChildShapes() const
				{
				// moved from .h to .cpp because of conditional compilation
				#if !BT_THREADSAFE
				// called in the narrowphase -- not threadsafe!
				void* dummy = (void*)(m_box_set.getPrimitiveManager());
				TrimeshPrimitiveManager* dummymanager = static_cast<TrimeshPrimitiveManager*>(dummy);
				dummymanager->unlock();
				#endif
				}

				#define CALC_EXACT_INERTIA 1

	void btGImpactCompoundShape::calculateLocalInertia(btScalar mass,btVector3& inertia) const			void btGImpactCompoundShape::calculateLocalInertia(btScalar mass, btVector3& inertia) const
	{			{
	lockChildShapes();			lockChildShapes();
	#ifdef CALC_EXACT_INERTIA			#ifdef CALC_EXACT_INERTIA
	inertia.setValue(0.f,0.f,0.f);			inertia.setValue(0.f, 0.f, 0.f);

	int i = this->getNumChildShapes();			int i = this->getNumChildShapes();
	btScalar shapemass = mass/btScalar(i);			btScalar shapemass = mass / btScalar(i);

	while(i--)			while (i--)
	{			{
	btVector3 temp_inertia;			btVector3 temp_inertia;
	m_childShapes[i]->calculateLocalInertia(shapemass,temp_inertia);			m_childShapes[i]->calculateLocalInertia(shapemass, temp_inertia);
	if(childrenHasTransform())			if (childrenHasTransform())
	{			{
	inertia = gim_inertia_add_transformed( inertia,temp_inertia,m_childTransforms[i]);			inertia = gim_inertia_add_transformed(inertia, temp_inertia, m_childTransforms[i]);
	}			}
	else			else
	{			{
	inertia = gim_inertia_add_transformed( inertia,temp_inertia,btTransform::getIdentity());			inertia = gim_inertia_add_transformed(inertia, temp_inertia, btTransform::getIdentity());
	}			}

	}			}

	#else			#else

	// Calc box inertia			// Calc box inertia

	btScalar lx= m_localAABB.m_max[0] - m_localAABB.m_min[0];			btScalar lx = m_localAABB.m_max[0] - m_localAABB.m_min[0];
	btScalar ly= m_localAABB.m_max[1] - m_localAABB.m_min[1];			btScalar ly = m_localAABB.m_max[1] - m_localAABB.m_min[1];
	btScalar lz= m_localAABB.m_max[2] - m_localAABB.m_min[2];			btScalar lz = m_localAABB.m_max[2] - m_localAABB.m_min[2];
	const btScalar x2 = lx*lx;			const btScalar x2 = lx * lx;
	const btScalar y2 = ly*ly;			const btScalar y2 = ly * ly;
	const btScalar z2 = lz*lz;			const btScalar z2 = lz * lz;
	const btScalar scaledmass = mass * btScalar(0.08333333);			const btScalar scaledmass = mass * btScalar(0.08333333);

	inertia = scaledmass * (btVector3(y2+z2,x2+z2,x2+y2));			inertia = scaledmass * (btVector3(y2 + z2, x2 + z2, x2 + y2));

	#endif			#endif
	unlockChildShapes();			unlockChildShapes();
	}			}



	void btGImpactMeshShapePart::calculateLocalInertia(btScalar mass,btVector3& inertia) const			void btGImpactMeshShapePart::calculateLocalInertia(btScalar mass, btVector3& inertia) const
	{			{
	lockChildShapes();			lockChildShapes();


	#ifdef CALC_EXACT_INERTIA			#ifdef CALC_EXACT_INERTIA
	inertia.setValue(0.f,0.f,0.f);			inertia.setValue(0.f, 0.f, 0.f);

	int i = this->getVertexCount();			int i = this->getVertexCount();
	btScalar pointmass = mass/btScalar(i);			btScalar pointmass = mass / btScalar(i);

	while(i--)			while (i--)
	{			{
	btVector3 pointintertia;			btVector3 pointintertia;
	this->getVertex(i,pointintertia);			this->getVertex(i, pointintertia);
	pointintertia = gim_get_point_inertia(pointintertia,pointmass);			pointintertia = gim_get_point_inertia(pointintertia, pointmass);
	inertia+=pointintertia;			inertia += pointintertia;
	}			}

	#else			#else

	// Calc box inertia			// Calc box inertia

	btScalar lx= m_localAABB.m_max[0] - m_localAABB.m_min[0];			btScalar lx = m_localAABB.m_max[0] - m_localAABB.m_min[0];
	btScalar ly= m_localAABB.m_max[1] - m_localAABB.m_min[1];			btScalar ly = m_localAABB.m_max[1] - m_localAABB.m_min[1];
	btScalar lz= m_localAABB.m_max[2] - m_localAABB.m_min[2];			btScalar lz = m_localAABB.m_max[2] - m_localAABB.m_min[2];
	const btScalar x2 = lx*lx;			const btScalar x2 = lx * lx;
	const btScalar y2 = ly*ly;			const btScalar y2 = ly * ly;
	const btScalar z2 = lz*lz;			const btScalar z2 = lz * lz;
	const btScalar scaledmass = mass * btScalar(0.08333333);			const btScalar scaledmass = mass * btScalar(0.08333333);

	inertia = scaledmass * (btVector3(y2+z2,x2+z2,x2+y2));			inertia = scaledmass * (btVector3(y2 + z2, x2 + z2, x2 + y2));

	#endif			#endif

	unlockChildShapes();			unlockChildShapes();
	}			}

	void btGImpactMeshShape::calculateLocalInertia(btScalar mass,btVector3& inertia) const			void btGImpactMeshShape::calculateLocalInertia(btScalar mass, btVector3& inertia) const
	{			{

	#ifdef CALC_EXACT_INERTIA			#ifdef CALC_EXACT_INERTIA
	inertia.setValue(0.f,0.f,0.f);			inertia.setValue(0.f, 0.f, 0.f);

	int i = this->getMeshPartCount();			int i = this->getMeshPartCount();
	btScalar partmass = mass/btScalar(i);			btScalar partmass = mass / btScalar(i);

	while(i--)			while (i--)
	{			{
	btVector3 partinertia;			btVector3 partinertia;
	getMeshPart(i)->calculateLocalInertia(partmass,partinertia);			getMeshPart(i)->calculateLocalInertia(partmass, partinertia);
	inertia+=partinertia;			inertia += partinertia;
	}			}

	#else			#else

	// Calc box inertia			// Calc box inertia

	btScalar lx= m_localAABB.m_max[0] - m_localAABB.m_min[0];			btScalar lx = m_localAABB.m_max[0] - m_localAABB.m_min[0];
	btScalar ly= m_localAABB.m_max[1] - m_localAABB.m_min[1];			btScalar ly = m_localAABB.m_max[1] - m_localAABB.m_min[1];
	btScalar lz= m_localAABB.m_max[2] - m_localAABB.m_min[2];			btScalar lz = m_localAABB.m_max[2] - m_localAABB.m_min[2];
	const btScalar x2 = lx*lx;			const btScalar x2 = lx * lx;
	const btScalar y2 = ly*ly;			const btScalar y2 = ly * ly;
	const btScalar z2 = lz*lz;			const btScalar z2 = lz * lz;
	const btScalar scaledmass = mass * btScalar(0.08333333);			const btScalar scaledmass = mass * btScalar(0.08333333);

	inertia = scaledmass * (btVector3(y2+z2,x2+z2,x2+y2));			inertia = scaledmass * (btVector3(y2 + z2, x2 + z2, x2 + y2));

	#endif			#endif
	}			}

	void btGImpactMeshShape::rayTest(const btVector3& rayFrom, const btVector3& rayTo, btCollisionWorld::RayResultCallback& resultCallback) const			void btGImpactMeshShape::rayTest(const btVector3& rayFrom, const btVector3& rayTo, btCollisionWorld::RayResultCallback& resultCallback) const
	{			{
	}			}

	void btGImpactMeshShapePart::processAllTrianglesRay(btTriangleCallback* callback,const btVector3& rayFrom, const btVector3& rayTo) const			void btGImpactMeshShapePart::processAllTrianglesRay(btTriangleCallback* callback, const btVector3& rayFrom, const btVector3& rayTo) const
	{			{
	lockChildShapes();			lockChildShapes();

	btAlignedObjectArray<int> collided;			btAlignedObjectArray<int> collided;
	btVector3 rayDir(rayTo - rayFrom);			btVector3 rayDir(rayTo - rayFrom);
	rayDir.normalize();			rayDir.normalize();
	m_box_set.rayQuery(rayDir, rayFrom, collided);			m_box_set.rayQuery(rayDir, rayFrom, collided);

	if(collided.size()==0)			if (collided.size() == 0)
	{			{
	unlockChildShapes();			unlockChildShapes();
	return;			return;
	}			}

	int part = (int)getPart();			int part = (int)getPart();
	btPrimitiveTriangle triangle;			btPrimitiveTriangle triangle;
	int i = collided.size();			int i = collided.size();
	while(i--)			while (i--)
	{			{
	getPrimitiveTriangle(collided[i],triangle);			getPrimitiveTriangle(collided[i], triangle);
	callback->processTriangle(triangle.m_vertices,part,collided[i]);			callback->processTriangle(triangle.m_vertices, part, collided[i]);
	}			}
	unlockChildShapes();			unlockChildShapes();
	}			}

	void btGImpactMeshShapePart::processAllTriangles(btTriangleCallback* callback,const btVector3& aabbMin,const btVector3& aabbMax) const			void btGImpactMeshShapePart::processAllTriangles(btTriangleCallback* callback, const btVector3& aabbMin, const btVector3& aabbMax) const
	{			{
	lockChildShapes();			lockChildShapes();
	btAABB box;			btAABB box;
	box.m_min = aabbMin;			box.m_min = aabbMin;
	box.m_max = aabbMax;			box.m_max = aabbMax;

	btAlignedObjectArray<int> collided;			btAlignedObjectArray<int> collided;
	m_box_set.boxQuery(box,collided);			m_box_set.boxQuery(box, collided);

	if(collided.size()==0)			if (collided.size() == 0)
	{			{
	unlockChildShapes();			unlockChildShapes();
	return;			return;
	}			}

	int part = (int)getPart();			int part = (int)getPart();
	btPrimitiveTriangle triangle;			btPrimitiveTriangle triangle;
	int i = collided.size();			int i = collided.size();
	while(i--)			while (i--)
	{			{
	this->getPrimitiveTriangle(collided[i],triangle);			this->getPrimitiveTriangle(collided[i], triangle);
	callback->processTriangle(triangle.m_vertices,part,collided[i]);			callback->processTriangle(triangle.m_vertices, part, collided[i]);
	}			}
	unlockChildShapes();			unlockChildShapes();

	}			}

	void btGImpactMeshShape::processAllTriangles(btTriangleCallback* callback,const btVector3& aabbMin,const btVector3& aabbMax) const			void btGImpactMeshShape::processAllTriangles(btTriangleCallback* callback, const btVector3& aabbMin, const btVector3& aabbMax) const
	{			{
	int i = m_mesh_parts.size();			int i = m_mesh_parts.size();
	while(i--)			while (i--)
	{			{
	m_mesh_parts[i]->processAllTriangles(callback,aabbMin,aabbMax);			m_mesh_parts[i]->processAllTriangles(callback, aabbMin, aabbMax);
	}			}
	}			}

	void btGImpactMeshShape::processAllTrianglesRay(btTriangleCallback* callback,const btVector3& rayFrom, const btVector3& rayTo) const			void btGImpactMeshShape::processAllTrianglesRay(btTriangleCallback* callback, const btVector3& rayFrom, const btVector3& rayTo) const
	{			{
	int i = m_mesh_parts.size();			int i = m_mesh_parts.size();
	while(i--)			while (i--)
	{			{
	m_mesh_parts[i]->processAllTrianglesRay(callback, rayFrom, rayTo);			m_mesh_parts[i]->processAllTrianglesRay(callback, rayFrom, rayTo);
	}			}
	}			}


	///fills the dataBuffer and returns the struct name (and 0 on failure)			///fills the dataBuffer and returns the struct name (and 0 on failure)
	const char* btGImpactMeshShape::serialize(void* dataBuffer, btSerializer* serializer) const			const char* btGImpactMeshShape::serialize(void* dataBuffer, btSerializer* serializer) const
	{			{
	btGImpactMeshShapeData* trimeshData = (btGImpactMeshShapeData*) dataBuffer;			btGImpactMeshShapeData* trimeshData = (btGImpactMeshShapeData*)dataBuffer;

	btCollisionShape::serialize(&trimeshData->m_collisionShapeData,serializer);			btCollisionShape::serialize(&trimeshData->m_collisionShapeData, serializer);

	m_meshInterface->serialize(&trimeshData->m_meshInterface, serializer);			m_meshInterface->serialize(&trimeshData->m_meshInterface, serializer);

	trimeshData->m_collisionMargin = float(m_collisionMargin);			trimeshData->m_collisionMargin = float(m_collisionMargin);

	localScaling.serializeFloat(trimeshData->m_localScaling);			localScaling.serializeFloat(trimeshData->m_localScaling);

	trimeshData->m_gimpactSubType = int(getGImpactShapeType());			trimeshData->m_gimpactSubType = int(getGImpactShapeType());

	return "btGImpactMeshShapeData";			return "btGImpactMeshShapeData";
	}			}