diff options
author | Erwin Coumans <blender@erwincoumans.com> | 2008-09-03 06:27:16 +0400 |
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committer | Erwin Coumans <blender@erwincoumans.com> | 2008-09-03 06:27:16 +0400 |
commit | 1926e846500212d11061c23cacdbd08d88e375da (patch) | |
tree | ad72fe64632cfc22a4878e065578b66d52de218d /extern/bullet2/src/BulletCollision/CollisionShapes/btBvhTriangleMeshShape.cpp | |
parent | 33ac84e888ee3e3217f15f955e1b389a9c4bb230 (diff) |
Finally upgraded to latest Bullet subversion, about to release 2.71. Some recent changes in extern/bullet2 need to be re-applied, will check with Benoit. Ray tests in 0_FPS_Template.blend is broken, didn't figure out why yet.
HELP BUILD SYSTEM MAINTAINERS: Please help with updating all build systems: the newly added files need to be added. Note that the src/SoftBody has been added for future extension of real-time soft bodies.
Diffstat (limited to 'extern/bullet2/src/BulletCollision/CollisionShapes/btBvhTriangleMeshShape.cpp')
-rw-r--r-- | extern/bullet2/src/BulletCollision/CollisionShapes/btBvhTriangleMeshShape.cpp | 221 |
1 files changed, 195 insertions, 26 deletions
diff --git a/extern/bullet2/src/BulletCollision/CollisionShapes/btBvhTriangleMeshShape.cpp b/extern/bullet2/src/BulletCollision/CollisionShapes/btBvhTriangleMeshShape.cpp index 8da554ef14d..819f6f7f97d 100644 --- a/extern/bullet2/src/BulletCollision/CollisionShapes/btBvhTriangleMeshShape.cpp +++ b/extern/bullet2/src/BulletCollision/CollisionShapes/btBvhTriangleMeshShape.cpp @@ -18,32 +18,56 @@ subject to the following restrictions: #include "BulletCollision/CollisionShapes/btBvhTriangleMeshShape.h" #include "BulletCollision/CollisionShapes/btOptimizedBvh.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) -:btTriangleMeshShape(meshInterface),m_useQuantizedAabbCompression(useQuantizedAabbCompression) +btBvhTriangleMeshShape::btBvhTriangleMeshShape(btStridingMeshInterface* meshInterface, bool useQuantizedAabbCompression, bool buildBvh) +:btTriangleMeshShape(meshInterface), +m_bvh(0), +m_useQuantizedAabbCompression(useQuantizedAabbCompression), +m_ownsBvh(false) { //construct bvh from meshInterface #ifndef DISABLE_BVH - m_bvh = new btOptimizedBvh(); btVector3 bvhAabbMin,bvhAabbMax; - meshInterface->calculateAabbBruteForce(bvhAabbMin,bvhAabbMax); - m_bvh->build(meshInterface,m_useQuantizedAabbCompression,bvhAabbMin,bvhAabbMax); + if(meshInterface->hasPremadeAabb()) + { + meshInterface->getPremadeAabb(&bvhAabbMin, &bvhAabbMax); + } + else + { + meshInterface->calculateAabbBruteForce(bvhAabbMin,bvhAabbMax); + } + + 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 } -btBvhTriangleMeshShape::btBvhTriangleMeshShape(btStridingMeshInterface* meshInterface, bool useQuantizedAabbCompression,const btVector3& bvhAabbMin,const btVector3& bvhAabbMax) -:btTriangleMeshShape(meshInterface),m_useQuantizedAabbCompression(useQuantizedAabbCompression) +btBvhTriangleMeshShape::btBvhTriangleMeshShape(btStridingMeshInterface* meshInterface, bool useQuantizedAabbCompression,const btVector3& bvhAabbMin,const btVector3& bvhAabbMax,bool buildBvh) +:btTriangleMeshShape(meshInterface), +m_bvh(0), +m_useQuantizedAabbCompression(useQuantizedAabbCompression), +m_ownsBvh(false) { //construct bvh from meshInterface #ifndef DISABLE_BVH - m_bvh = new btOptimizedBvh(); - m_bvh->build(meshInterface,m_useQuantizedAabbCompression,bvhAabbMin,bvhAabbMax); + 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 @@ -58,16 +82,140 @@ void btBvhTriangleMeshShape::partialRefitTree(const btVector3& aabbMin,const btV } -void btBvhTriangleMeshShape::refitTree() +void btBvhTriangleMeshShape::refitTree(const btVector3& aabbMin,const btVector3& aabbMax) { - m_bvh->refit( m_meshInterface ); + m_bvh->refit( m_meshInterface, aabbMin,aabbMax ); recalcLocalAabb(); } btBvhTriangleMeshShape::~btBvhTriangleMeshShape() { - delete m_bvh; + 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]; + + btScalar* graphicsbase = (btScalar*)(vertexbase+graphicsindex*stride); + + m_triangle[j] = btVector3(graphicsbase[0]*meshScaling.getX(),graphicsbase[1]*meshScaling.getY(),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]; + + btScalar* graphicsbase = (btScalar*)(vertexbase+graphicsindex*stride); + + m_triangle[j] = btVector3(graphicsbase[0]*meshScaling.getX(),graphicsbase[1]*meshScaling.getY(),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' @@ -118,13 +266,14 @@ void btBvhTriangleMeshShape::processAllTriangles(btTriangleCallback* callback,co indicestype, nodeSubPart); - int* gfxbase = (int*)(indexbase+nodeTriangleIndex*indexstride); + 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 = gfxbase[j]; + int graphicsindex = indicestype==PHY_SHORT?((unsigned short*)gfxbase)[j]:gfxbase[j]; #ifdef DEBUG_TRIANGLE_MESH @@ -157,17 +306,37 @@ void btBvhTriangleMeshShape::processAllTriangles(btTriangleCallback* callback,co } - -void btBvhTriangleMeshShape::setLocalScaling(const btVector3& scaling) +void btBvhTriangleMeshShape::setLocalScaling(const btVector3& scaling) { - if ((getLocalScaling() -scaling).length2() > SIMD_EPSILON) - { - btTriangleMeshShape::setLocalScaling(scaling); - delete m_bvh; - ///m_localAabbMin/m_localAabbMax is already re-calculated in btTriangleMeshShape. We could just scale aabb, but this needs some more work - m_bvh = new btOptimizedBvh(); - //rebuild the bvh... - m_bvh->build(m_meshInterface,m_useQuantizedAabbCompression,m_localAabbMin,m_localAabbMax); + if ((getLocalScaling() -scaling).length2() > SIMD_EPSILON) + { + btTriangleMeshShape::setLocalScaling(scaling); + 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); + } } + + |