diff options
author | Erwin Coumans <blender@erwincoumans.com> | 2008-09-13 11:06:43 +0400 |
---|---|---|
committer | Erwin Coumans <blender@erwincoumans.com> | 2008-09-13 11:06:43 +0400 |
commit | 7f293488d12b5d5076b4bbf3d6c9248867c447a0 (patch) | |
tree | 977ac9f1063de48615e8f294bfbcadb2a3b645f6 /extern/bullet2/src/BulletCollision/CollisionShapes | |
parent | 206cfe7955683ac166201e417977e933fd98f7b3 (diff) |
Upgrade to latest Bullet trunk, that is in sync with Blender/extern/bullet2. (except for one define 'WIN32_AVOID_SSE_WHEN_EMBEDDED_INSIDE_BLENDER')
In case someone reads those SVN logs: you can enable some extra broadphase SSE optimizations by replacing WIN32_AVOID_SSE_WHEN_EMBEDDED_INSIDE_BLENDER by WIN32 in extern/bullet2/src/BulletCollision/BroadphaseCollision/btDbvt.h
Thanks to Benoit Bolsee for the upstream patch/contribution.
Removed some obsolete files, they were just intended for comparison/testing.
Diffstat (limited to 'extern/bullet2/src/BulletCollision/CollisionShapes')
13 files changed, 459 insertions, 116 deletions
diff --git a/extern/bullet2/src/BulletCollision/CollisionShapes/btBoxShape.cpp b/extern/bullet2/src/BulletCollision/CollisionShapes/btBoxShape.cpp index adac455bbcb..8bc2cfa6ffa 100644 --- a/extern/bullet2/src/BulletCollision/CollisionShapes/btBoxShape.cpp +++ b/extern/bullet2/src/BulletCollision/CollisionShapes/btBoxShape.cpp @@ -21,19 +21,7 @@ subject to the following restrictions: void btBoxShape::getAabb(const btTransform& t,btVector3& aabbMin,btVector3& aabbMax) const { - const btVector3& halfExtents = getHalfExtentsWithoutMargin(); - - btMatrix3x3 abs_b = t.getBasis().absolute(); - btPoint3 center = t.getOrigin(); - btVector3 extent = btVector3(abs_b[0].dot(halfExtents), - abs_b[1].dot(halfExtents), - abs_b[2].dot(halfExtents)); - extent += btVector3(getMargin(),getMargin(),getMargin()); - - aabbMin = center - extent; - aabbMax = center + extent; - - + btTransformAabb(getHalfExtentsWithoutMargin(),getMargin(),t,aabbMin,aabbMax); } diff --git a/extern/bullet2/src/BulletCollision/CollisionShapes/btCapsuleShape.h b/extern/bullet2/src/BulletCollision/CollisionShapes/btCapsuleShape.h index 92bcce55119..d4b046d40c9 100644 --- a/extern/bullet2/src/BulletCollision/CollisionShapes/btCapsuleShape.h +++ b/extern/bullet2/src/BulletCollision/CollisionShapes/btCapsuleShape.h @@ -49,10 +49,11 @@ public: { btVector3 halfExtents(getRadius(),getRadius(),getRadius()); halfExtents[m_upAxis] = getRadius() + getHalfHeight(); + halfExtents += btVector3(getMargin(),getMargin(),getMargin()); btMatrix3x3 abs_b = t.getBasis().absolute(); btPoint3 center = t.getOrigin(); btVector3 extent = btVector3(abs_b[0].dot(halfExtents),abs_b[1].dot(halfExtents),abs_b[2].dot(halfExtents)); - extent += btVector3(getMargin(),getMargin(),getMargin()); + aabbMin = center - extent; aabbMax = center + extent; } diff --git a/extern/bullet2/src/BulletCollision/CollisionShapes/btCompoundShape.cpp b/extern/bullet2/src/BulletCollision/CollisionShapes/btCompoundShape.cpp index 740f1783630..f08b810eadb 100644 --- a/extern/bullet2/src/BulletCollision/CollisionShapes/btCompoundShape.cpp +++ b/extern/bullet2/src/BulletCollision/CollisionShapes/btCompoundShape.cpp @@ -14,23 +14,29 @@ subject to the following restrictions: */ #include "btCompoundShape.h" - - #include "btCollisionShape.h" - +#include "BulletCollision/BroadphaseCollision/btDbvt.h" btCompoundShape::btCompoundShape() :m_localAabbMin(btScalar(1e30),btScalar(1e30),btScalar(1e30)), m_localAabbMax(btScalar(-1e30),btScalar(-1e30),btScalar(-1e30)), -m_aabbTree(0), m_collisionMargin(btScalar(0.)), -m_localScaling(btScalar(1.),btScalar(1.),btScalar(1.)) +m_localScaling(btScalar(1.),btScalar(1.),btScalar(1.)), +m_dynamicAabbTree(0) { + void* mem = btAlignedAlloc(sizeof(btDbvt),16); + m_dynamicAabbTree = new(mem) btDbvt(); + btAssert(mem==m_dynamicAabbTree); } btCompoundShape::~btCompoundShape() { + if (m_dynamicAabbTree) + { + m_dynamicAabbTree->~btDbvt(); + btAlignedFree(m_dynamicAabbTree); + } } void btCompoundShape::addChildShape(const btTransform& localTransform,btCollisionShape* shape) @@ -60,71 +66,88 @@ void btCompoundShape::addChildShape(const btTransform& localTransform,btCollisio } } + if (m_dynamicAabbTree) + { + const btDbvtVolume bounds=btDbvtVolume::FromMM(localAabbMin,localAabbMax); + int index = m_children.size()-1; + child.m_node = m_dynamicAabbTree->insert(bounds,(void*)index); + } + +} + +void btCompoundShape::removeChildShapeByIndex(int childShapeIndex) +{ + btAssert(childShapeIndex >=0 && childShapeIndex < m_children.size()); + if (m_dynamicAabbTree) + { + m_dynamicAabbTree->remove(m_children[childShapeIndex].m_node); + } + m_children.swap(childShapeIndex,m_children.size()-1); + m_children.pop_back(); + } void btCompoundShape::removeChildShape(btCollisionShape* shape) { - bool done_removing; - - // Find the children containing the shape specified, and remove those children. - do - { - done_removing = true; - - for(int i = 0; i < m_children.size(); i++) - { - if(m_children[i].m_childShape == shape) - { - m_children.remove(m_children[i]); - done_removing = false; // Do another iteration pass after removing from the vector - break; - } - } - } - while (!done_removing); - - recalculateLocalAabb(); + // Find the children containing the shape specified, and remove those children. + //note: there might be multiple children using the same shape! + for(int i = m_children.size()-1; i >= 0 ; i--) + { + if(m_children[i].m_childShape == shape) + { + m_children.swap(i,m_children.size()-1); + m_children.pop_back(); + //remove it from the m_dynamicAabbTree too + //m_dynamicAabbTree->remove(m_aabbProxies[i]); + //m_aabbProxies.swap(i,m_children.size()-1); + //m_aabbProxies.pop_back(); + } + } + + + + recalculateLocalAabb(); } void btCompoundShape::recalculateLocalAabb() { - // Recalculate the local aabb - // Brute force, it iterates over all the shapes left. - m_localAabbMin = btVector3(btScalar(1e30),btScalar(1e30),btScalar(1e30)); - m_localAabbMax = btVector3(btScalar(-1e30),btScalar(-1e30),btScalar(-1e30)); - - //extend the local aabbMin/aabbMax - for (int j = 0; j < m_children.size(); j++) - { - btVector3 localAabbMin,localAabbMax; - m_children[j].m_childShape->getAabb(m_children[j].m_transform, localAabbMin, localAabbMax); - for (int i=0;i<3;i++) - { - if (m_localAabbMin[i] > localAabbMin[i]) - m_localAabbMin[i] = localAabbMin[i]; - if (m_localAabbMax[i] < localAabbMax[i]) - m_localAabbMax[i] = localAabbMax[i]; - } - } + // Recalculate the local aabb + // Brute force, it iterates over all the shapes left. + m_localAabbMin = btVector3(btScalar(1e30),btScalar(1e30),btScalar(1e30)); + m_localAabbMax = btVector3(btScalar(-1e30),btScalar(-1e30),btScalar(-1e30)); + + //extend the local aabbMin/aabbMax + for (int j = 0; j < m_children.size(); j++) + { + btVector3 localAabbMin,localAabbMax; + m_children[j].m_childShape->getAabb(m_children[j].m_transform, localAabbMin, localAabbMax); + for (int i=0;i<3;i++) + { + if (m_localAabbMin[i] > localAabbMin[i]) + m_localAabbMin[i] = localAabbMin[i]; + if (m_localAabbMax[i] < localAabbMax[i]) + m_localAabbMax[i] = localAabbMax[i]; + } + } } - - ///getAabb's default implementation is brute force, expected derived classes to implement a fast dedicated version + +///getAabb's default implementation is brute force, expected derived classes to implement a fast dedicated version void btCompoundShape::getAabb(const btTransform& trans,btVector3& aabbMin,btVector3& aabbMax) const { btVector3 localHalfExtents = btScalar(0.5)*(m_localAabbMax-m_localAabbMin); + localHalfExtents += btVector3(getMargin(),getMargin(),getMargin()); btVector3 localCenter = btScalar(0.5)*(m_localAabbMax+m_localAabbMin); - + btMatrix3x3 abs_b = trans.getBasis().absolute(); btPoint3 center = trans(localCenter); btVector3 extent = btVector3(abs_b[0].dot(localHalfExtents), - abs_b[1].dot(localHalfExtents), - abs_b[2].dot(localHalfExtents)); - extent += btVector3(getMargin(),getMargin(),getMargin()); + abs_b[1].dot(localHalfExtents), + abs_b[2].dot(localHalfExtents)); + aabbMin = center-extent; + aabbMax = center+extent; - aabbMin = center - extent; - aabbMax = center + extent; } void btCompoundShape::calculateLocalInertia(btScalar mass,btVector3& inertia) const @@ -134,9 +157,9 @@ void btCompoundShape::calculateLocalInertia(btScalar mass,btVector3& inertia) co ident.setIdentity(); btVector3 aabbMin,aabbMax; getAabb(ident,aabbMin,aabbMax); - + btVector3 halfExtents = (aabbMax-aabbMin)*btScalar(0.5); - + btScalar lx=btScalar(2.)*(halfExtents.x()); btScalar ly=btScalar(2.)*(halfExtents.y()); btScalar lz=btScalar(2.)*(halfExtents.z()); @@ -147,5 +170,62 @@ void btCompoundShape::calculateLocalInertia(btScalar mass,btVector3& inertia) co } - - + + + +void btCompoundShape::calculatePrincipalAxisTransform(btScalar* masses, btTransform& principal, btVector3& inertia) const +{ + int n = m_children.size(); + + btScalar totalMass = 0; + btVector3 center(0, 0, 0); + for (int k = 0; k < n; k++) + { + center += m_children[k].m_transform.getOrigin() * masses[k]; + totalMass += masses[k]; + } + center /= totalMass; + principal.setOrigin(center); + + btMatrix3x3 tensor(0, 0, 0, 0, 0, 0, 0, 0, 0); + for (int k = 0; k < n; k++) + { + btVector3 i; + m_children[k].m_childShape->calculateLocalInertia(masses[k], i); + + const btTransform& t = m_children[k].m_transform; + btVector3 o = t.getOrigin() - center; + + //compute inertia tensor in coordinate system of compound shape + btMatrix3x3 j = t.getBasis().transpose(); + j[0] *= i[0]; + j[1] *= i[1]; + j[2] *= i[2]; + j = t.getBasis() * j; + + //add inertia tensor + tensor[0] += j[0]; + tensor[1] += j[1]; + tensor[2] += j[2]; + + //compute inertia tensor of pointmass at o + btScalar o2 = o.length2(); + j[0].setValue(o2, 0, 0); + j[1].setValue(0, o2, 0); + j[2].setValue(0, 0, o2); + j[0] += o * -o.x(); + j[1] += o * -o.y(); + j[2] += o * -o.z(); + + //add inertia tensor of pointmass + tensor[0] += masses[k] * j[0]; + tensor[1] += masses[k] * j[1]; + tensor[2] += masses[k] * j[2]; + } + + tensor.diagonalize(principal.getBasis(), btScalar(0.00001), 20); + inertia.setValue(tensor[0][0], tensor[1][1], tensor[2][2]); +} + + + diff --git a/extern/bullet2/src/BulletCollision/CollisionShapes/btCompoundShape.h b/extern/bullet2/src/BulletCollision/CollisionShapes/btCompoundShape.h index f77e4b59558..3624749f768 100644 --- a/extern/bullet2/src/BulletCollision/CollisionShapes/btCompoundShape.h +++ b/extern/bullet2/src/BulletCollision/CollisionShapes/btCompoundShape.h @@ -24,8 +24,8 @@ subject to the following restrictions: #include "btCollisionMargin.h" #include "LinearMath/btAlignedObjectArray.h" -class btOptimizedBvh; - +//class btOptimizedBvh; +struct btDbvt; ATTRIBUTE_ALIGNED16(struct) btCompoundShapeChild { @@ -35,14 +35,15 @@ ATTRIBUTE_ALIGNED16(struct) btCompoundShapeChild btCollisionShape* m_childShape; int m_childShapeType; btScalar m_childMargin; + struct btDbvtNode* m_node; }; SIMD_FORCE_INLINE bool operator==(const btCompoundShapeChild& c1, const btCompoundShapeChild& c2) { - return ( c1.m_transform == c2.m_transform && - c1.m_childShape == c2.m_childShape && - c1.m_childShapeType == c2.m_childShapeType && - c1.m_childMargin == c2.m_childMargin ); + return ( c1.m_transform == c2.m_transform && + c1.m_childShape == c2.m_childShape && + c1.m_childShapeType == c2.m_childShapeType && + c1.m_childMargin == c2.m_childMargin ); } /// btCompoundShape allows to store multiple other btCollisionShapes @@ -55,7 +56,8 @@ ATTRIBUTE_ALIGNED16(class) btCompoundShape : public btCollisionShape btVector3 m_localAabbMin; btVector3 m_localAabbMax; - btOptimizedBvh* m_aabbTree; + //btOptimizedBvh* m_aabbTree; + btDbvt* m_dynamicAabbTree; public: BT_DECLARE_ALIGNED_ALLOCATOR(); @@ -66,11 +68,11 @@ public: void addChildShape(const btTransform& localTransform,btCollisionShape* shape); - /** Remove all children shapes that contain the specified shape. */ + /// Remove all children shapes that contain the specified shape virtual void removeChildShape(btCollisionShape* shape); - - + void removeChildShapeByIndex(int childShapeindex); + int getNumChildShapes() const { @@ -103,9 +105,9 @@ public: ///getAabb's default implementation is brute force, expected derived classes to implement a fast dedicated version virtual void getAabb(const btTransform& t,btVector3& aabbMin,btVector3& aabbMax) const; - - /** Re-calculate the local Aabb. Is called at the end of removeChildShapes. - Use this yourself if you modify the children or their transforms. */ + + /** Re-calculate the local Aabb. Is called at the end of removeChildShapes. + Use this yourself if you modify the children or their transforms. */ virtual void recalculateLocalAabb(); virtual void setLocalScaling(const btVector3& scaling) @@ -118,7 +120,7 @@ public: } virtual void calculateLocalInertia(btScalar mass,btVector3& inertia) const; - + virtual int getShapeType() const { return COMPOUND_SHAPE_PROXYTYPE;} virtual void setMargin(btScalar margin) @@ -137,11 +139,19 @@ public: //this is optional, but should make collision queries faster, by culling non-overlapping nodes void createAabbTreeFromChildren(); - const btOptimizedBvh* getAabbTree() const + btDbvt* getDynamicAabbTree() { - return m_aabbTree; + return m_dynamicAabbTree; } + ///computes the exact moment of inertia and the transform from the coordinate system defined by the principal axes of the moment of inertia + ///and the center of mass to the current coordinate system. "masses" points to an array of masses of the children. The resulting transform + ///"principal" has to be applied inversely to all children transforms in order for the local coordinate system of the compound + ///shape to be centered at the center of mass and to coincide with the principal axes. This also necessitates a correction of the world transform + ///of the collision object by the principal transform. + void calculatePrincipalAxisTransform(btScalar* masses, btTransform& principal, btVector3& inertia) const; + + private: btScalar m_collisionMargin; protected: diff --git a/extern/bullet2/src/BulletCollision/CollisionShapes/btConvexTriangleMeshShape.cpp b/extern/bullet2/src/BulletCollision/CollisionShapes/btConvexTriangleMeshShape.cpp index f1682aaf65b..02a293e82ba 100644 --- a/extern/bullet2/src/BulletCollision/CollisionShapes/btConvexTriangleMeshShape.cpp +++ b/extern/bullet2/src/BulletCollision/CollisionShapes/btConvexTriangleMeshShape.cpp @@ -204,3 +204,113 @@ const btVector3& btConvexTriangleMeshShape::getLocalScaling() const { return m_stridingMesh->getScaling(); } + +void btConvexTriangleMeshShape::calculatePrincipalAxisTransform(btTransform& principal, btVector3& inertia, btScalar& volume) const +{ + class CenterCallback: public btInternalTriangleIndexCallback + { + bool first; + btVector3 ref; + btVector3 sum; + btScalar volume; + + public: + + CenterCallback() : first(true), ref(0, 0, 0), sum(0, 0, 0), volume(0) + { + } + + virtual void internalProcessTriangleIndex(btVector3* triangle, int partId, int triangleIndex) + { + (void) triangleIndex; + (void) partId; + if (first) + { + ref = triangle[0]; + first = false; + } + else + { + btScalar vol = btFabs((triangle[0] - ref).triple(triangle[1] - ref, triangle[2] - ref)); + sum += (btScalar(0.25) * vol) * ((triangle[0] + triangle[1] + triangle[2] + ref)); + volume += vol; + } + } + + btVector3 getCenter() + { + return (volume > 0) ? sum / volume : ref; + } + + btScalar getVolume() + { + return volume * btScalar(1. / 6); + } + + }; + + class InertiaCallback: public btInternalTriangleIndexCallback + { + btMatrix3x3 sum; + btVector3 center; + + public: + + InertiaCallback(btVector3& center) : sum(0, 0, 0, 0, 0, 0, 0, 0, 0), center(center) + { + } + + virtual void internalProcessTriangleIndex(btVector3* triangle, int partId, int triangleIndex) + { + (void) triangleIndex; + (void) partId; + btMatrix3x3 i; + btVector3 a = triangle[0] - center; + btVector3 b = triangle[1] - center; + btVector3 c = triangle[2] - center; + btVector3 abc = a + b + c; + btScalar volNeg = -btFabs(a.triple(b, c)) * btScalar(1. / 6); + for (int j = 0; j < 3; j++) + { + for (int k = 0; k <= j; k++) + { + i[j][k] = i[k][j] = volNeg * (center[j] * center[k] + + btScalar(0.25) * (center[j] * abc[k] + center[k] * abc[j]) + + btScalar(0.1) * (a[j] * a[k] + b[j] * b[k] + c[j] * c[k]) + + btScalar(0.05) * (a[j] * b[k] + a[k] * b[j] + a[j] * c[k] + a[k] * c[j] + b[j] * c[k] + b[k] * c[j])); + } + } + btScalar i00 = -i[0][0]; + btScalar i11 = -i[1][1]; + btScalar i22 = -i[2][2]; + i[0][0] = i11 + i22; + i[1][1] = i22 + i00; + i[2][2] = i00 + i11; + sum[0] += i[0]; + sum[1] += i[1]; + sum[2] += i[2]; + } + + btMatrix3x3& getInertia() + { + return sum; + } + + }; + + CenterCallback centerCallback; + btVector3 aabbMax(btScalar(1e30),btScalar(1e30),btScalar(1e30)); + m_stridingMesh->InternalProcessAllTriangles(¢erCallback, -aabbMax, aabbMax); + btVector3 center = centerCallback.getCenter(); + principal.setOrigin(center); + volume = centerCallback.getVolume(); + + InertiaCallback inertiaCallback(center); + m_stridingMesh->InternalProcessAllTriangles(&inertiaCallback, -aabbMax, aabbMax); + + btMatrix3x3& i = inertiaCallback.getInertia(); + i.diagonalize(principal.getBasis(), btScalar(0.00001), 20); + inertia.setValue(i[0][0], i[1][1], i[2][2]); + inertia /= volume; +} + diff --git a/extern/bullet2/src/BulletCollision/CollisionShapes/btConvexTriangleMeshShape.h b/extern/bullet2/src/BulletCollision/CollisionShapes/btConvexTriangleMeshShape.h index 01eecf27811..6ff0bf5d43b 100644 --- a/extern/bullet2/src/BulletCollision/CollisionShapes/btConvexTriangleMeshShape.h +++ b/extern/bullet2/src/BulletCollision/CollisionShapes/btConvexTriangleMeshShape.h @@ -46,6 +46,13 @@ public: virtual void setLocalScaling(const btVector3& scaling); virtual const btVector3& getLocalScaling() const; + ///computes the exact moment of inertia and the transform from the coordinate system defined by the principal axes of the moment of inertia + ///and the center of mass to the current coordinate system. A mass of 1 is assumed, for other masses just multiply the computed "inertia" + ///by the mass. The resulting transform "principal" has to be applied inversely to the mesh in order for the local coordinate system of the + ///shape to be centered at the center of mass and to coincide with the principal axes. This also necessitates a correction of the world transform + ///of the collision object by the principal transform. This method also computes the volume of the convex mesh. + void calculatePrincipalAxisTransform(btTransform& principal, btVector3& inertia, btScalar& volume) const; + }; diff --git a/extern/bullet2/src/BulletCollision/CollisionShapes/btHeightfieldTerrainShape.cpp b/extern/bullet2/src/BulletCollision/CollisionShapes/btHeightfieldTerrainShape.cpp index 9e4800a46fe..a291d6b7ce7 100644 --- a/extern/bullet2/src/BulletCollision/CollisionShapes/btHeightfieldTerrainShape.cpp +++ b/extern/bullet2/src/BulletCollision/CollisionShapes/btHeightfieldTerrainShape.cpp @@ -91,19 +91,15 @@ btHeightfieldTerrainShape::~btHeightfieldTerrainShape() void btHeightfieldTerrainShape::getAabb(const btTransform& t,btVector3& aabbMin,btVector3& aabbMax) const { -/* - aabbMin.setValue(-1e30f,-1e30f,-1e30f); - aabbMax.setValue(1e30f,1e30f,1e30f); -*/ - btVector3 halfExtents = (m_localAabbMax-m_localAabbMin)* m_localScaling * btScalar(0.5); + halfExtents += btVector3(getMargin(),getMargin(),getMargin()); btMatrix3x3 abs_b = t.getBasis().absolute(); btPoint3 center = t.getOrigin(); btVector3 extent = btVector3(abs_b[0].dot(halfExtents), abs_b[1].dot(halfExtents), abs_b[2].dot(halfExtents)); - extent += btVector3(getMargin(),getMargin(),getMargin()); + aabbMin = center - extent; aabbMax = center + extent; diff --git a/extern/bullet2/src/BulletCollision/CollisionShapes/btOptimizedBvh.cpp b/extern/bullet2/src/BulletCollision/CollisionShapes/btOptimizedBvh.cpp index 9b78fc0f7c2..a248c55b571 100644 --- a/extern/bullet2/src/BulletCollision/CollisionShapes/btOptimizedBvh.cpp +++ b/extern/bullet2/src/BulletCollision/CollisionShapes/btOptimizedBvh.cpp @@ -306,6 +306,8 @@ void btOptimizedBvh::updateBvhNodes(btStridingMeshInterface* meshInterface,int f if (curNodeSubPart >= 0) meshInterface->unLockReadOnlyVertexBase(curNodeSubPart); meshInterface->getLockedReadOnlyVertexIndexBase(&vertexbase,numverts, type,stride,&indexbase,indexstride,numfaces,indicestype,nodeSubPart); + + curNodeSubPart = nodeSubPart; btAssert(indicestype==PHY_INTEGER||indicestype==PHY_SHORT); } //triangles->getLockedReadOnlyVertexIndexBase(vertexBase,numVerts, diff --git a/extern/bullet2/src/BulletCollision/CollisionShapes/btPolyhedralConvexShape.h b/extern/bullet2/src/BulletCollision/CollisionShapes/btPolyhedralConvexShape.h index 0d55e4fe92c..4c4ce7feaa7 100644 --- a/extern/bullet2/src/BulletCollision/CollisionShapes/btPolyhedralConvexShape.h +++ b/extern/bullet2/src/BulletCollision/CollisionShapes/btPolyhedralConvexShape.h @@ -18,6 +18,7 @@ subject to the following restrictions: #include "LinearMath/btPoint3.h" #include "LinearMath/btMatrix3x3.h" +#include "LinearMath/btAabbUtil2.h" #include "btConvexInternalShape.h" @@ -46,28 +47,7 @@ public: //lazy evaluation of local aabb btAssert(m_isLocalAabbValid); - - btAssert(m_localAabbMin.getX() <= m_localAabbMax.getX()); - btAssert(m_localAabbMin.getY() <= m_localAabbMax.getY()); - btAssert(m_localAabbMin.getZ() <= m_localAabbMax.getZ()); - - - btVector3 localHalfExtents = btScalar(0.5)*(m_localAabbMax-m_localAabbMin); - btVector3 localCenter = btScalar(0.5)*(m_localAabbMax+m_localAabbMin); - - btMatrix3x3 abs_b = trans.getBasis().absolute(); - - btPoint3 center = trans(localCenter); - - btVector3 extent = btVector3(abs_b[0].dot(localHalfExtents), - abs_b[1].dot(localHalfExtents), - abs_b[2].dot(localHalfExtents)); - extent += btVector3(margin,margin,margin); - - aabbMin = center - extent; - aabbMax = center + extent; - - + btTransformAabb(m_localAabbMin,m_localAabbMax,margin,trans,aabbMin,aabbMax); } diff --git a/extern/bullet2/src/BulletCollision/CollisionShapes/btScaledBvhTriangleMeshShape.cpp b/extern/bullet2/src/BulletCollision/CollisionShapes/btScaledBvhTriangleMeshShape.cpp new file mode 100644 index 00000000000..5a17b4e2df0 --- /dev/null +++ b/extern/bullet2/src/BulletCollision/CollisionShapes/btScaledBvhTriangleMeshShape.cpp @@ -0,0 +1,103 @@ +/* +Bullet Continuous Collision Detection and Physics Library +Copyright (c) 2003-2008 Erwin Coumans http://continuousphysics.com/Bullet/ + +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. +Permission is granted to anyone to use this software for any purpose, +including commercial applications, and to alter it and redistribute it freely, +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. +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. +*/ + +#include "btScaledBvhTriangleMeshShape.h" + +btScaledBvhTriangleMeshShape::btScaledBvhTriangleMeshShape(btBvhTriangleMeshShape* childShape,btVector3 localScaling) +:m_bvhTriMeshShape(childShape), +m_localScaling(localScaling) +{ + +} + +btScaledBvhTriangleMeshShape::~btScaledBvhTriangleMeshShape() +{ +} + + +class btScaledTriangleCallback : public btTriangleCallback +{ + btTriangleCallback* m_originalCallback; + + btVector3 m_localScaling; + +public: + + btScaledTriangleCallback(btTriangleCallback* originalCallback,btVector3 localScaling) + :m_originalCallback(originalCallback), + m_localScaling(localScaling) + { + } + + virtual void processTriangle(btVector3* triangle, int partId, int triangleIndex) + { + btVector3 newTriangle[3]; + newTriangle[0] = triangle[0]*m_localScaling; + newTriangle[1] = triangle[1]*m_localScaling; + newTriangle[2] = triangle[2]*m_localScaling; + m_originalCallback->processTriangle(&newTriangle[0],partId,triangleIndex); + } +}; + +void btScaledBvhTriangleMeshShape::processAllTriangles(btTriangleCallback* callback,const btVector3& aabbMin,const btVector3& aabbMax) const +{ + btScaledTriangleCallback scaledCallback(callback,m_localScaling); + + btVector3 invLocalScaling(1.f/m_localScaling.getX(),1.f/m_localScaling.getY(),1.f/m_localScaling.getZ()); + btVector3 scaledAabbMin = aabbMin * invLocalScaling; + btVector3 scaledAabbMax = aabbMax * invLocalScaling; + m_bvhTriMeshShape->processAllTriangles(&scaledCallback,scaledAabbMin,scaledAabbMax); +} + + +void btScaledBvhTriangleMeshShape::getAabb(const btTransform& trans,btVector3& aabbMin,btVector3& aabbMax) const +{ + btVector3 localAabbMin = m_bvhTriMeshShape->getLocalAabbMin(); + btVector3 localAabbMax = m_bvhTriMeshShape->getLocalAabbMax(); + localAabbMin *= m_localScaling; + localAabbMax *= m_localScaling; + + btVector3 localHalfExtents = btScalar(0.5)*(localAabbMax-localAabbMin); + btScalar margin = m_bvhTriMeshShape->getMargin(); + localHalfExtents += btVector3(margin,margin,margin); + btVector3 localCenter = btScalar(0.5)*(localAabbMax+localAabbMin); + + btMatrix3x3 abs_b = trans.getBasis().absolute(); + + btPoint3 center = trans(localCenter); + + btVector3 extent = btVector3(abs_b[0].dot(localHalfExtents), + abs_b[1].dot(localHalfExtents), + abs_b[2].dot(localHalfExtents)); + aabbMin = center - extent; + aabbMax = center + extent; + +} + +void btScaledBvhTriangleMeshShape::setLocalScaling(const btVector3& scaling) +{ + m_localScaling = scaling; +} + +const btVector3& btScaledBvhTriangleMeshShape::getLocalScaling() const +{ + return m_localScaling; +} + +void btScaledBvhTriangleMeshShape::calculateLocalInertia(btScalar mass,btVector3& inertia) const +{ + ///don't make this a movable object! + btAssert(0); +} diff --git a/extern/bullet2/src/BulletCollision/CollisionShapes/btScaledBvhTriangleMeshShape.h b/extern/bullet2/src/BulletCollision/CollisionShapes/btScaledBvhTriangleMeshShape.h new file mode 100644 index 00000000000..8e1d29fc005 --- /dev/null +++ b/extern/bullet2/src/BulletCollision/CollisionShapes/btScaledBvhTriangleMeshShape.h @@ -0,0 +1,57 @@ +/* +Bullet Continuous Collision Detection and Physics Library +Copyright (c) 2003-2008 Erwin Coumans http://continuousphysics.com/Bullet/ + +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. +Permission is granted to anyone to use this software for any purpose, +including commercial applications, and to alter it and redistribute it freely, +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. +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. +*/ + +#ifndef SCALED_BVH_TRIANGLE_MESH_SHAPE_H +#define SCALED_BVH_TRIANGLE_MESH_SHAPE_H + +#include "BulletCollision/CollisionShapes/btBvhTriangleMeshShape.h" + + +///The btScaledBvhTriangleMeshShape allows to instance a scaled version of an existing btBvhTriangleMeshShape. +///Note that each btBvhTriangleMeshShape still can have its own local scaling, independent from this btScaledBvhTriangleMeshShape 'localScaling' +ATTRIBUTE_ALIGNED16(class) btScaledBvhTriangleMeshShape : public btConcaveShape +{ + + + btVector3 m_localScaling; + + btBvhTriangleMeshShape* m_bvhTriMeshShape; + +public: + + + btScaledBvhTriangleMeshShape(btBvhTriangleMeshShape* childShape,btVector3 localScaling); + + virtual ~btScaledBvhTriangleMeshShape(); + + virtual int getShapeType() const + { + //use un-used 'FAST_CONCAVE_MESH_PROXYTYPE' for now, later add SCALED_TRIANGLE_MESH_SHAPE_PROXYTYPE to btBroadphaseProxy.h + return FAST_CONCAVE_MESH_PROXYTYPE; + } + + virtual void getAabb(const btTransform& t,btVector3& aabbMin,btVector3& aabbMax) const; + virtual void setLocalScaling(const btVector3& scaling); + virtual const btVector3& getLocalScaling() const; + virtual void calculateLocalInertia(btScalar mass,btVector3& inertia) const; + + virtual void processAllTriangles(btTriangleCallback* callback,const btVector3& aabbMin,const btVector3& aabbMax) const; + + //debugging + virtual const char* getName()const {return "SCALEDBVHTRIANGLEMESH";} + +}; + +#endif //BVH_TRIANGLE_MESH_SHAPE_H diff --git a/extern/bullet2/src/BulletCollision/CollisionShapes/btTriangleMeshShape.cpp b/extern/bullet2/src/BulletCollision/CollisionShapes/btTriangleMeshShape.cpp index cd0a00bbd6f..0a2c77096d1 100644 --- a/extern/bullet2/src/BulletCollision/CollisionShapes/btTriangleMeshShape.cpp +++ b/extern/bullet2/src/BulletCollision/CollisionShapes/btTriangleMeshShape.cpp @@ -47,6 +47,7 @@ void btTriangleMeshShape::getAabb(const btTransform& trans,btVector3& aabbMin,bt { btVector3 localHalfExtents = btScalar(0.5)*(m_localAabbMax-m_localAabbMin); + localHalfExtents += btVector3(getMargin(),getMargin(),getMargin()); btVector3 localCenter = btScalar(0.5)*(m_localAabbMax+m_localAabbMin); btMatrix3x3 abs_b = trans.getBasis().absolute(); @@ -56,12 +57,10 @@ void btTriangleMeshShape::getAabb(const btTransform& trans,btVector3& aabbMin,bt btVector3 extent = btVector3(abs_b[0].dot(localHalfExtents), abs_b[1].dot(localHalfExtents), abs_b[2].dot(localHalfExtents)); - extent += btVector3(getMargin(),getMargin(),getMargin()); - aabbMin = center - extent; aabbMax = center + extent; - + } void btTriangleMeshShape::recalcLocalAabb() diff --git a/extern/bullet2/src/BulletCollision/CollisionShapes/btTriangleMeshShape.h b/extern/bullet2/src/BulletCollision/CollisionShapes/btTriangleMeshShape.h index 9fba77cb547..c9eabafe290 100644 --- a/extern/bullet2/src/BulletCollision/CollisionShapes/btTriangleMeshShape.h +++ b/extern/bullet2/src/BulletCollision/CollisionShapes/btTriangleMeshShape.h @@ -65,6 +65,16 @@ public: return m_meshInterface; } + const btVector3& getLocalAabbMin() const + { + return m_localAabbMin; + } + const btVector3& getLocalAabbMax() const + { + return m_localAabbMax; + } + + //debugging virtual const char* getName()const {return "TRIANGLEMESH";} |