diff options
Diffstat (limited to 'extern/bullet/Bullet/CollisionShapes/TriangleMeshShape.cpp')
| -rw-r--r-- | extern/bullet/Bullet/CollisionShapes/TriangleMeshShape.cpp | 101 |
1 files changed, 53 insertions, 48 deletions
diff --git a/extern/bullet/Bullet/CollisionShapes/TriangleMeshShape.cpp b/extern/bullet/Bullet/CollisionShapes/TriangleMeshShape.cpp index 0c20f78c1df..743e413307e 100644 --- a/extern/bullet/Bullet/CollisionShapes/TriangleMeshShape.cpp +++ b/extern/bullet/Bullet/CollisionShapes/TriangleMeshShape.cpp @@ -13,7 +13,7 @@ #include "SimdQuaternion.h" #include "StridingMeshInterface.h" #include "AabbUtil2.h" -#include "NarrowPhaseCollision/CollisionMargin.h" +#include "CollisionShapes/CollisionMargin.h" #include "stdio.h" @@ -21,8 +21,10 @@ TriangleMeshShape::TriangleMeshShape(StridingMeshInterface* meshInterface) : m_meshInterface(meshInterface), m_collisionMargin(CONVEX_DISTANCE_MARGIN) { + RecalcLocalAabb(); } + TriangleMeshShape::~TriangleMeshShape() { @@ -34,23 +36,39 @@ TriangleMeshShape::~TriangleMeshShape() void TriangleMeshShape::GetAabb(const SimdTransform& trans,SimdVector3& aabbMin,SimdVector3& aabbMax) const { + SimdVector3 localHalfExtents = 0.5f*(m_localAabbMax-m_localAabbMin); + SimdVector3 localCenter = 0.5f*(m_localAabbMax+m_localAabbMin); + + SimdMatrix3x3 abs_b = trans.getBasis().absolute(); + + SimdPoint3 center = trans(localCenter); + + SimdVector3 extent = SimdVector3(abs_b[0].dot(localHalfExtents), + abs_b[1].dot(localHalfExtents), + abs_b[2].dot(localHalfExtents)); + extent += SimdVector3(GetMargin(),GetMargin(),GetMargin()); + + aabbMin = center - extent; + aabbMax = center + extent; + + +} + +void TriangleMeshShape::RecalcLocalAabb() +{ for (int i=0;i<3;i++) { SimdVector3 vec(0.f,0.f,0.f); vec[i] = 1.f; - SimdVector3 tmp = trans(LocalGetSupportingVertex(vec*trans.getBasis())); - aabbMax[i] = tmp[i]+m_collisionMargin; + SimdVector3 tmp = LocalGetSupportingVertex(vec); + m_localAabbMax[i] = tmp[i]+m_collisionMargin; vec[i] = -1.f; - tmp = trans(LocalGetSupportingVertex(vec*trans.getBasis())); - aabbMin[i] = tmp[i]-m_collisionMargin; + tmp = LocalGetSupportingVertex(vec); + m_localAabbMin[i] = tmp[i]-m_collisionMargin; } } -TriangleCallback::~TriangleCallback() -{ - -} class SupportVertexCallback : public TriangleCallback { @@ -98,6 +116,7 @@ public: void TriangleMeshShape::setLocalScaling(const SimdVector3& scaling) { m_meshInterface->setScaling(scaling); + RecalcLocalAabb(); } const SimdVector3& TriangleMeshShape::getLocalScaling() const @@ -107,57 +126,43 @@ const SimdVector3& TriangleMeshShape::getLocalScaling() const + + + +//#define DEBUG_TRIANGLE_MESH + + void TriangleMeshShape::ProcessAllTriangles(TriangleCallback* callback,const SimdVector3& aabbMin,const SimdVector3& aabbMax) const { - SimdVector3 meshScaling = m_meshInterface->getScaling(); - int numtotalphysicsverts = 0; - int part,graphicssubparts = m_meshInterface->getNumSubParts(); - for (part=0;part<graphicssubparts ;part++) + struct FilteredCallback : public InternalTriangleIndexCallback { - unsigned char * vertexbase; - unsigned char * indexbase; - int indexstride; - PHY_ScalarType type; - PHY_ScalarType gfxindextype; - int stride,numverts,numtriangles; - m_meshInterface->getLockedVertexIndexBase(&vertexbase,numverts,type,stride,&indexbase,indexstride,numtriangles,gfxindextype,part); - numtotalphysicsverts+=numtriangles*3; //upper bound - - - int gfxindex; - SimdVector3 triangle[3]; - - for (gfxindex=0;gfxindex<numtriangles;gfxindex++) + TriangleCallback* m_callback; + SimdVector3 m_aabbMin; + SimdVector3 m_aabbMax; + + FilteredCallback(TriangleCallback* callback,const SimdVector3& aabbMin,const SimdVector3& aabbMax) + :m_callback(callback), + m_aabbMin(aabbMin), + m_aabbMax(aabbMax) { - - int graphicsindex=0; - - for (int j=2;j>=0;j--) - { - ASSERT(gfxindextype == PHY_INTEGER); - int* gfxbase = (int*)(indexbase+gfxindex*indexstride); - graphicsindex = gfxbase[j]; - float* graphicsbase = (float*)(vertexbase+graphicsindex*stride); - - triangle[j] = SimdVector3( - graphicsbase[0]*meshScaling.getX(), - graphicsbase[1]*meshScaling.getY(), - graphicsbase[2]*meshScaling.getZ()); - } + } - if (TestTriangleAgainstAabb2(&triangle[0],aabbMin,aabbMax)) + virtual void InternalProcessTriangleIndex(SimdVector3* triangle,int partId,int triangleIndex) + { + if (TestTriangleAgainstAabb2(&triangle[0],m_aabbMin,m_aabbMax)) { //check aabb in triangle-space, before doing this - callback->ProcessTriangle(triangle); - + m_callback->ProcessTriangle(triangle); } } - - m_meshInterface->unLockVertexBase(part); - } + }; + + FilteredCallback filterCallback(callback,aabbMin,aabbMax); + + m_meshInterface->InternalProcessAllTriangles(&filterCallback,aabbMin,aabbMax); } |