diff options
Diffstat (limited to 'extern/bullet2/BulletSoftBody/btSparseSDF.h')
| -rw-r--r-- | extern/bullet2/BulletSoftBody/btSparseSDF.h | 306 |
1 files changed, 0 insertions, 306 deletions
diff --git a/extern/bullet2/BulletSoftBody/btSparseSDF.h b/extern/bullet2/BulletSoftBody/btSparseSDF.h deleted file mode 100644 index cc4266732ae..00000000000 --- a/extern/bullet2/BulletSoftBody/btSparseSDF.h +++ /dev/null @@ -1,306 +0,0 @@ -/* -Bullet Continuous Collision Detection and Physics Library -Copyright (c) 2003-2006 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. -*/ -///btSparseSdf implementation by Nathanael Presson - -#ifndef _14F9D17F_EAE8_4aba_B41C_292DB2AA70F3_ -#define _14F9D17F_EAE8_4aba_B41C_292DB2AA70F3_ - -#include "BulletCollision/CollisionDispatch/btCollisionObject.h" -#include "BulletCollision/NarrowPhaseCollision/btGjkEpa2.h" - -// Modified Paul Hsieh hash -template <const int DWORDLEN> -unsigned int HsiehHash(const void* pdata) -{ - const unsigned short* data=(const unsigned short*)pdata; - unsigned hash=DWORDLEN<<2,tmp; - for(int i=0;i<DWORDLEN;++i) - { - hash += data[0]; - tmp = (data[1]<<11)^hash; - hash = (hash<<16)^tmp; - data += 2; - hash += hash>>11; - } - hash^=hash<<3;hash+=hash>>5; - hash^=hash<<4;hash+=hash>>17; - hash^=hash<<25;hash+=hash>>6; - return(hash); -} - -template <const int CELLSIZE> -struct btSparseSdf -{ - // - // Inner types - // - struct IntFrac - { - int b; - int i; - btScalar f; - }; - struct Cell - { - btScalar d[CELLSIZE+1][CELLSIZE+1][CELLSIZE+1]; - int c[3]; - int puid; - unsigned hash; - btCollisionShape* pclient; - Cell* next; - }; - // - // Fields - // - - btAlignedObjectArray<Cell*> cells; - btScalar voxelsz; - int puid; - int ncells; - int nprobes; - int nqueries; - - // - // Methods - // - - // - void Initialize(int hashsize=2383) - { - cells.resize(hashsize,0); - Reset(); - } - // - void Reset() - { - for(int i=0,ni=cells.size();i<ni;++i) - { - Cell* pc=cells[i]; - cells[i]=0; - while(pc) - { - Cell* pn=pc->next; - delete pc; - pc=pn; - } - } - voxelsz =0.25; - puid =0; - ncells =0; - nprobes =1; - nqueries =1; - } - // - void GarbageCollect(int lifetime=256) - { - const int life=puid-lifetime; - for(int i=0;i<cells.size();++i) - { - Cell*& root=cells[i]; - Cell* pp=0; - Cell* pc=root; - while(pc) - { - Cell* pn=pc->next; - if(pc->puid<life) - { - if(pp) pp->next=pn; else root=pn; - delete pc;pc=pp;--ncells; - } - pp=pc;pc=pn; - } - } - //printf("GC[%d]: %d cells, PpQ: %f\r\n",puid,ncells,nprobes/(btScalar)nqueries); - nqueries=1; - nprobes=1; - ++puid; ///@todo: Reset puid's when int range limit is reached */ - /* else setup a priority list... */ - } - // - int RemoveReferences(btCollisionShape* pcs) - { - int refcount=0; - for(int i=0;i<cells.size();++i) - { - Cell*& root=cells[i]; - Cell* pp=0; - Cell* pc=root; - while(pc) - { - Cell* pn=pc->next; - if(pc->pclient==pcs) - { - if(pp) pp->next=pn; else root=pn; - delete pc;pc=pp;++refcount; - } - pp=pc;pc=pn; - } - } - return(refcount); - } - // - btScalar Evaluate( const btVector3& x, - btCollisionShape* shape, - btVector3& normal, - btScalar margin) - { - /* Lookup cell */ - const btVector3 scx=x/voxelsz; - const IntFrac ix=Decompose(scx.x()); - const IntFrac iy=Decompose(scx.y()); - const IntFrac iz=Decompose(scx.z()); - const unsigned h=Hash(ix.b,iy.b,iz.b,shape); - Cell*& root=cells[static_cast<int>(h%cells.size())]; - Cell* c=root; - ++nqueries; - while(c) - { - ++nprobes; - if( (c->hash==h) && - (c->c[0]==ix.b) && - (c->c[1]==iy.b) && - (c->c[2]==iz.b) && - (c->pclient==shape)) - { break; } - else - { c=c->next; } - } - if(!c) - { - ++nprobes; - ++ncells; - c=new Cell(); - c->next=root;root=c; - c->pclient=shape; - c->hash=h; - c->c[0]=ix.b;c->c[1]=iy.b;c->c[2]=iz.b; - BuildCell(*c); - } - c->puid=puid; - /* Extract infos */ - const int o[]={ ix.i,iy.i,iz.i}; - const btScalar d[]={ c->d[o[0]+0][o[1]+0][o[2]+0], - c->d[o[0]+1][o[1]+0][o[2]+0], - c->d[o[0]+1][o[1]+1][o[2]+0], - c->d[o[0]+0][o[1]+1][o[2]+0], - c->d[o[0]+0][o[1]+0][o[2]+1], - c->d[o[0]+1][o[1]+0][o[2]+1], - c->d[o[0]+1][o[1]+1][o[2]+1], - c->d[o[0]+0][o[1]+1][o[2]+1]}; - /* Normal */ -#if 1 - const btScalar gx[]={ d[1]-d[0],d[2]-d[3], - d[5]-d[4],d[6]-d[7]}; - const btScalar gy[]={ d[3]-d[0],d[2]-d[1], - d[7]-d[4],d[6]-d[5]}; - const btScalar gz[]={ d[4]-d[0],d[5]-d[1], - d[7]-d[3],d[6]-d[2]}; - normal.setX(Lerp( Lerp(gx[0],gx[1],iy.f), - Lerp(gx[2],gx[3],iy.f),iz.f)); - normal.setY(Lerp( Lerp(gy[0],gy[1],ix.f), - Lerp(gy[2],gy[3],ix.f),iz.f)); - normal.setZ(Lerp( Lerp(gz[0],gz[1],ix.f), - Lerp(gz[2],gz[3],ix.f),iy.f)); - normal = normal.normalized(); -#else - normal = btVector3(d[1]-d[0],d[3]-d[0],d[4]-d[0]).normalized(); -#endif - /* Distance */ - const btScalar d0=Lerp(Lerp(d[0],d[1],ix.f), - Lerp(d[3],d[2],ix.f),iy.f); - const btScalar d1=Lerp(Lerp(d[4],d[5],ix.f), - Lerp(d[7],d[6],ix.f),iy.f); - return(Lerp(d0,d1,iz.f)-margin); - } - // - void BuildCell(Cell& c) - { - const btVector3 org=btVector3( (btScalar)c.c[0], - (btScalar)c.c[1], - (btScalar)c.c[2]) * - CELLSIZE*voxelsz; - for(int k=0;k<=CELLSIZE;++k) - { - const btScalar z=voxelsz*k+org.z(); - for(int j=0;j<=CELLSIZE;++j) - { - const btScalar y=voxelsz*j+org.y(); - for(int i=0;i<=CELLSIZE;++i) - { - const btScalar x=voxelsz*i+org.x(); - c.d[i][j][k]=DistanceToShape( btVector3(x,y,z), - c.pclient); - } - } - } - } - // - static inline btScalar DistanceToShape(const btVector3& x, - btCollisionShape* shape) - { - btTransform unit; - unit.setIdentity(); - if(shape->isConvex()) - { - btGjkEpaSolver2::sResults res; - btConvexShape* csh=static_cast<btConvexShape*>(shape); - return(btGjkEpaSolver2::SignedDistance(x,0,csh,unit,res)); - } - return(0); - } - // - static inline IntFrac Decompose(btScalar x) - { - /* That one need a lot of improvements... */ - /* Remove test, faster floor... */ - IntFrac r; - x/=CELLSIZE; - const int o=x<0?(int)(-x+1):0; - x+=o;r.b=(int)x; - const btScalar k=(x-r.b)*CELLSIZE; - r.i=(int)k;r.f=k-r.i;r.b-=o; - return(r); - } - // - static inline btScalar Lerp(btScalar a,btScalar b,btScalar t) - { - return(a+(b-a)*t); - } - - - - // - static inline unsigned int Hash(int x,int y,int z,btCollisionShape* shape) - { - struct btS - { - int x,y,z; - void* p; - }; - - btS myset; - - myset.x=x;myset.y=y;myset.z=z;myset.p=shape; - const void* ptr = &myset; - - unsigned int result = HsiehHash<sizeof(btS)/4> (ptr); - - - return result; - } -}; - - -#endif |