diff options
Diffstat (limited to 'extern')
252 files changed, 37221 insertions, 5249 deletions
diff --git a/extern/Makefile b/extern/Makefile index 26ee25b608f..51213698ebb 100644 --- a/extern/Makefile +++ b/extern/Makefile @@ -57,10 +57,7 @@ ifeq ($(WITH_BINRELOC), true) DIRS += binreloc endif -TARGET = -ifneq ($(OS),irix) - TARGET=solid -endif +TARGET = solid all:: @[ -d $(OCGDIR)/extern ] || mkdir -p $(OCGDIR)/extern diff --git a/extern/SConscript b/extern/SConscript index 6612d38f4cf..4c892e1956d 100644 --- a/extern/SConscript +++ b/extern/SConscript @@ -31,3 +31,6 @@ if env['WITH_BF_REDCODE'] and env['BF_REDCODE_LIB'] == '': if env['OURPLATFORM'] == 'linux2': SConscript(['binreloc/SConscript']); + +# FFTW not needed atm - dg +# SConscript(['fftw/SConscript']) diff --git a/extern/bFTGL/SConscript b/extern/bFTGL/SConscript index c03992631e6..f377c61f01d 100644 --- a/extern/bFTGL/SConscript +++ b/extern/bFTGL/SConscript @@ -4,24 +4,6 @@ import os Import('env') -# Import the C flags set in the SConstruct file -#Import ('cflags') -#Import ('defines') -#Import ('user_options_dict') - -#if sys.platform=='linux2' or sys.platform=='linux-i386': -# ftgl_env.Append (CCFLAGS = ['-O2', '-ansi']) -#elif sys.platform=='win32': - #ftgl_env.Append (CCFLAGS = ['/O2']) -#elif sys.platform=='sunos': -# ftgl_env.Append (CCFLAGS = ['Xc', '-v', '-fast']) -#elif sys.platform=='darwin': -# ftgl_env.Append (CCFLAGS = ['-O2', '-pipe', '-fPIC', '-funsigned-char', '-ffast-math']) -#else: -# ftgl_env.Append (CCFLAGS = cflags) - -#ftgl_env.Append (CPPDEFINES = defines) - incs = 'include src ' + env['BF_FREETYPE_INC'] + ' ' + env['BF_OPENGL_INC'] defs = '' diff --git a/extern/bFTGL/make/msvc_9_0/ftgl_static_lib.vcproj b/extern/bFTGL/make/msvc_9_0/ftgl_static_lib.vcproj new file mode 100644 index 00000000000..eefbecb3653 --- /dev/null +++ b/extern/bFTGL/make/msvc_9_0/ftgl_static_lib.vcproj @@ -0,0 +1,537 @@ +<?xml version="1.0" encoding="Windows-1252"?>
+<VisualStudioProject
+ ProjectType="Visual C++"
+ Version="9,00"
+ Name="EXT_ftgl_static_lib"
+ ProjectGUID="{F9850C15-FF0A-429E-9D47-89FB433C9BD8}"
+ RootNamespace="ftgl_static_lib"
+ TargetFrameworkVersion="131072"
+ >
+ <Platforms>
+ <Platform
+ Name="Win32"
+ />
+ </Platforms>
+ <ToolFiles>
+ </ToolFiles>
+ <Configurations>
+ <Configuration
+ Name="Blender Debug|Win32"
+ OutputDirectory="..\..\..\..\..\build\msvc_9\extern\ftgl\debug"
+ IntermediateDirectory="..\..\..\..\..\build\msvc_9\extern\ftgl\debug"
+ ConfigurationType="4"
+ InheritedPropertySheets="$(VCInstallDir)VCProjectDefaults\UpgradeFromVC71.vsprops"
+ UseOfMFC="0"
+ ATLMinimizesCRunTimeLibraryUsage="false"
+ CharacterSet="2"
+ >
+ <Tool
+ Name="VCPreBuildEventTool"
+ />
+ <Tool
+ Name="VCCustomBuildTool"
+ />
+ <Tool
+ Name="VCXMLDataGeneratorTool"
+ />
+ <Tool
+ Name="VCWebServiceProxyGeneratorTool"
+ />
+ <Tool
+ Name="VCMIDLTool"
+ />
+ <Tool
+ Name="VCCLCompilerTool"
+ Optimization="0"
+ AdditionalIncludeDirectories="..\..\include;..\..\..\..\..\lib\windows\freetype\include"
+ PreprocessorDefinitions="_DEBUG;WIN32;_LIB;FTGL_LIBRARY_STATIC"
+ BasicRuntimeChecks="3"
+ RuntimeLibrary="1"
+ UsePrecompiledHeader="0"
+ PrecompiledHeaderFile="..\..\..\..\..\build\msvc_9\extern\ftgl\debug\ftgl_static_lib.pch"
+ AssemblerListingLocation="..\..\..\..\..\build\msvc_9\extern\ftgl\debug\"
+ ObjectFile="..\..\..\..\..\build\msvc_9\extern\ftgl\debug\"
+ ProgramDataBaseFileName="..\..\..\..\..\build\msvc_9\extern\ftgl\debug\"
+ WarningLevel="2"
+ SuppressStartupBanner="true"
+ DebugInformationFormat="3"
+ CompileAs="0"
+ />
+ <Tool
+ Name="VCManagedResourceCompilerTool"
+ />
+ <Tool
+ Name="VCResourceCompilerTool"
+ PreprocessorDefinitions="_DEBUG"
+ Culture="1033"
+ />
+ <Tool
+ Name="VCPreLinkEventTool"
+ />
+ <Tool
+ Name="VCLibrarianTool"
+ OutputFile="..\..\..\..\..\build\msvc_9\libs\extern\debug\ftgl_static.lib"
+ SuppressStartupBanner="true"
+ />
+ <Tool
+ Name="VCALinkTool"
+ />
+ <Tool
+ Name="VCXDCMakeTool"
+ />
+ <Tool
+ Name="VCBscMakeTool"
+ />
+ <Tool
+ Name="VCFxCopTool"
+ />
+ <Tool
+ Name="VCPostBuildEventTool"
+ Description="Copying FTGL files library (debug target) to lib tree."
+ CommandLine="ECHO Copying header files
IF NOT EXIST ..\..\..\..\..\build\msvc_9\extern\ftgl\include\ MKDIR ..\..\..\..\..\build\msvc_9\extern\ftgl\include
XCOPY /Y ..\..\include\*.h ..\..\..\..\..\build\msvc_9\extern\ftgl\include
ECHO Done
"
+ />
+ </Configuration>
+ <Configuration
+ Name="Blender Release|Win32"
+ OutputDirectory="..\..\..\..\..\build\msvc_9\extern\ftgl"
+ IntermediateDirectory="..\..\..\..\..\build\msvc_9\extern\ftgl"
+ ConfigurationType="4"
+ InheritedPropertySheets="$(VCInstallDir)VCProjectDefaults\UpgradeFromVC71.vsprops"
+ UseOfMFC="0"
+ ATLMinimizesCRunTimeLibraryUsage="false"
+ CharacterSet="2"
+ >
+ <Tool
+ Name="VCPreBuildEventTool"
+ />
+ <Tool
+ Name="VCCustomBuildTool"
+ />
+ <Tool
+ Name="VCXMLDataGeneratorTool"
+ />
+ <Tool
+ Name="VCWebServiceProxyGeneratorTool"
+ />
+ <Tool
+ Name="VCMIDLTool"
+ />
+ <Tool
+ Name="VCCLCompilerTool"
+ Optimization="2"
+ InlineFunctionExpansion="1"
+ AdditionalIncludeDirectories="..\..\include;..\..\..\..\..\lib\windows\freetype\include"
+ PreprocessorDefinitions="NDEBUG;WIN32;_LIB;FTGL_LIBRARY_STATIC"
+ StringPooling="true"
+ RuntimeLibrary="0"
+ EnableFunctionLevelLinking="true"
+ UsePrecompiledHeader="0"
+ PrecompiledHeaderFile="..\..\..\..\..\build\msvc_9\extern\ftgl\ftgl_static_lib.pch"
+ AssemblerListingLocation="..\..\..\..\..\build\msvc_9\extern\ftgl\"
+ ObjectFile="..\..\..\..\..\build\msvc_9\extern\ftgl\"
+ ProgramDataBaseFileName="..\..\..\..\..\build\msvc_9\extern\ftgl\"
+ WarningLevel="2"
+ SuppressStartupBanner="true"
+ CompileAs="0"
+ />
+ <Tool
+ Name="VCManagedResourceCompilerTool"
+ />
+ <Tool
+ Name="VCResourceCompilerTool"
+ PreprocessorDefinitions="NDEBUG"
+ Culture="1033"
+ />
+ <Tool
+ Name="VCPreLinkEventTool"
+ />
+ <Tool
+ Name="VCLibrarianTool"
+ OutputFile="..\..\..\..\..\build\msvc_9\libs\extern\ftgl_static.lib"
+ SuppressStartupBanner="true"
+ />
+ <Tool
+ Name="VCALinkTool"
+ />
+ <Tool
+ Name="VCXDCMakeTool"
+ />
+ <Tool
+ Name="VCBscMakeTool"
+ />
+ <Tool
+ Name="VCFxCopTool"
+ />
+ <Tool
+ Name="VCPostBuildEventTool"
+ Description="Copying FTGL files library to lib tree."
+ CommandLine="ECHO Copying header files
IF NOT EXIST ..\..\..\..\..\build\msvc_9\extern\ftgl\include\ MKDIR ..\..\..\..\..\build\msvc_9\extern\ftgl\include
XCOPY /Y ..\..\include\*.h ..\..\..\..\..\build\msvc_9\extern\ftgl\include
ECHO Done
"
+ />
+ </Configuration>
+ <Configuration
+ Name="3D Plugin Release|Win32"
+ OutputDirectory="..\..\..\..\..\build\msvc_9\extern\ftgl\mtdll"
+ IntermediateDirectory="..\..\..\..\..\build\msvc_9\extern\ftgl\mtdll"
+ ConfigurationType="4"
+ InheritedPropertySheets="$(VCInstallDir)VCProjectDefaults\UpgradeFromVC71.vsprops"
+ UseOfMFC="0"
+ ATLMinimizesCRunTimeLibraryUsage="false"
+ CharacterSet="2"
+ >
+ <Tool
+ Name="VCPreBuildEventTool"
+ />
+ <Tool
+ Name="VCCustomBuildTool"
+ />
+ <Tool
+ Name="VCXMLDataGeneratorTool"
+ />
+ <Tool
+ Name="VCWebServiceProxyGeneratorTool"
+ />
+ <Tool
+ Name="VCMIDLTool"
+ />
+ <Tool
+ Name="VCCLCompilerTool"
+ Optimization="2"
+ InlineFunctionExpansion="1"
+ AdditionalIncludeDirectories="..\..\include;..\..\..\..\..\lib\windows\freetype\include"
+ PreprocessorDefinitions="NDEBUG;WIN32;_LIB;FTGL_LIBRARY_STATIC"
+ StringPooling="true"
+ RuntimeLibrary="2"
+ EnableFunctionLevelLinking="true"
+ UsePrecompiledHeader="0"
+ PrecompiledHeaderFile="..\..\..\..\..\build\msvc_9\extern\ftgl\mtdll\ftgl_static_lib.pch"
+ AssemblerListingLocation="..\..\..\..\..\build\msvc_9\extern\ftgl\mtdll\"
+ ObjectFile="..\..\..\..\..\build\msvc_9\extern\ftgl\mtdll\"
+ ProgramDataBaseFileName="..\..\..\..\..\build\msvc_9\extern\ftgl\mtdll\"
+ WarningLevel="2"
+ SuppressStartupBanner="true"
+ CompileAs="0"
+ />
+ <Tool
+ Name="VCManagedResourceCompilerTool"
+ />
+ <Tool
+ Name="VCResourceCompilerTool"
+ PreprocessorDefinitions="NDEBUG"
+ Culture="1033"
+ />
+ <Tool
+ Name="VCPreLinkEventTool"
+ />
+ <Tool
+ Name="VCLibrarianTool"
+ OutputFile="..\..\..\..\..\build\msvc_9\libs\extern\mtdll\ftgl_static.lib"
+ SuppressStartupBanner="true"
+ />
+ <Tool
+ Name="VCALinkTool"
+ />
+ <Tool
+ Name="VCXDCMakeTool"
+ />
+ <Tool
+ Name="VCBscMakeTool"
+ />
+ <Tool
+ Name="VCFxCopTool"
+ />
+ <Tool
+ Name="VCPostBuildEventTool"
+ Description="Copying FTGL files library to lib tree."
+ CommandLine="ECHO Copying header files
IF NOT EXIST ..\..\..\..\..\build\msvc_9\extern\ftgl\include\ MKDIR ..\..\..\..\..\build\msvc_9\extern\ftgl\include
XCOPY /Y ..\..\include\*.h ..\..\..\..\..\build\msvc_9\extern\ftgl\include
ECHO Done
"
+ />
+ </Configuration>
+ <Configuration
+ Name="3D Plugin Debug|Win32"
+ OutputDirectory="..\..\..\..\..\build\msvc_9\extern\ftgl\mtdll\debug"
+ IntermediateDirectory="..\..\..\..\..\build\msvc_9\extern\ftgl\mtdll\debug"
+ ConfigurationType="4"
+ InheritedPropertySheets="$(VCInstallDir)VCProjectDefaults\UpgradeFromVC71.vsprops"
+ UseOfMFC="0"
+ ATLMinimizesCRunTimeLibraryUsage="false"
+ CharacterSet="2"
+ >
+ <Tool
+ Name="VCPreBuildEventTool"
+ />
+ <Tool
+ Name="VCCustomBuildTool"
+ />
+ <Tool
+ Name="VCXMLDataGeneratorTool"
+ />
+ <Tool
+ Name="VCWebServiceProxyGeneratorTool"
+ />
+ <Tool
+ Name="VCMIDLTool"
+ />
+ <Tool
+ Name="VCCLCompilerTool"
+ Optimization="0"
+ AdditionalIncludeDirectories="..\..\include;..\..\..\..\..\lib\windows\freetype\include"
+ PreprocessorDefinitions="_DEBUG;WIN32;_LIB;FTGL_LIBRARY_STATIC"
+ BasicRuntimeChecks="3"
+ RuntimeLibrary="3"
+ UsePrecompiledHeader="0"
+ PrecompiledHeaderFile="..\..\..\..\..\build\msvc_9\extern\ftgl\mtdll\debug\ftgl_static_lib.pch"
+ AssemblerListingLocation="..\..\..\..\..\build\msvc_9\extern\ftgl\mtdll\debug\"
+ ObjectFile="..\..\..\..\..\build\msvc_9\extern\ftgl\mtdll\debug\"
+ ProgramDataBaseFileName="..\..\..\..\..\build\msvc_9\extern\ftgl\mtdll\debug\"
+ WarningLevel="2"
+ SuppressStartupBanner="true"
+ DebugInformationFormat="3"
+ CompileAs="0"
+ />
+ <Tool
+ Name="VCManagedResourceCompilerTool"
+ />
+ <Tool
+ Name="VCResourceCompilerTool"
+ PreprocessorDefinitions="_DEBUG"
+ Culture="1033"
+ />
+ <Tool
+ Name="VCPreLinkEventTool"
+ />
+ <Tool
+ Name="VCLibrarianTool"
+ OutputFile="..\..\..\..\..\build\msvc_9\libs\extern\mtdll\debug\ftgl_static.lib"
+ SuppressStartupBanner="true"
+ />
+ <Tool
+ Name="VCALinkTool"
+ />
+ <Tool
+ Name="VCXDCMakeTool"
+ />
+ <Tool
+ Name="VCBscMakeTool"
+ />
+ <Tool
+ Name="VCFxCopTool"
+ />
+ <Tool
+ Name="VCPostBuildEventTool"
+ Description="Copying FTGL files library (debug target) to lib tree."
+ CommandLine="ECHO Copying header files
IF NOT EXIST ..\..\..\..\..\build\msvc_9\extern\ftgl\include\ MKDIR ..\..\..\..\..\build\msvc_9\extern\ftgl\include
XCOPY /Y ..\..\include\*.h ..\..\..\..\..\build\msvc_9\extern\ftgl\include
ECHO Done
"
+ />
+ </Configuration>
+ </Configurations>
+ <References>
+ </References>
+ <Files>
+ <Filter
+ Name="Source Files"
+ Filter="cpp;c;cxx;rc;def;r;odl;idl;hpj;bat"
+ >
+ <File
+ RelativePath="..\..\src\FTBitmapGlyph.cpp"
+ >
+ </File>
+ <File
+ RelativePath="..\..\src\FTCharmap.cpp"
+ >
+ </File>
+ <File
+ RelativePath="..\..\src\FTContour.cpp"
+ >
+ </File>
+ <File
+ RelativePath="..\..\src\FTExtrdGlyph.cpp"
+ >
+ </File>
+ <File
+ RelativePath="..\..\src\FTFace.cpp"
+ >
+ </File>
+ <File
+ RelativePath="..\..\src\FTFont.cpp"
+ >
+ </File>
+ <File
+ RelativePath="..\..\src\FTGLBitmapFont.cpp"
+ >
+ </File>
+ <File
+ RelativePath="..\..\src\FTGLExtrdFont.cpp"
+ >
+ </File>
+ <File
+ RelativePath="..\..\src\FTGLOutlineFont.cpp"
+ >
+ </File>
+ <File
+ RelativePath="..\..\src\FTGLPixmapFont.cpp"
+ >
+ </File>
+ <File
+ RelativePath="..\..\src\FTGLPolygonFont.cpp"
+ >
+ </File>
+ <File
+ RelativePath="..\..\src\FTGLTextureFont.cpp"
+ >
+ </File>
+ <File
+ RelativePath="..\..\src\FTGlyph.cpp"
+ >
+ </File>
+ <File
+ RelativePath="..\..\src\FTGlyphContainer.cpp"
+ >
+ </File>
+ <File
+ RelativePath="..\..\src\FTLibrary.cpp"
+ >
+ </File>
+ <File
+ RelativePath="..\..\src\FTOutlineGlyph.cpp"
+ >
+ </File>
+ <File
+ RelativePath="..\..\src\FTPixmapGlyph.cpp"
+ >
+ </File>
+ <File
+ RelativePath="..\..\src\FTPoint.cpp"
+ >
+ </File>
+ <File
+ RelativePath="..\..\src\FTPolyGlyph.cpp"
+ >
+ </File>
+ <File
+ RelativePath="..\..\src\FTSize.cpp"
+ >
+ </File>
+ <File
+ RelativePath="..\..\src\FTTextureGlyph.cpp"
+ >
+ </File>
+ <File
+ RelativePath="..\..\src\FTVectoriser.cpp"
+ >
+ </File>
+ </Filter>
+ <Filter
+ Name="Header Files"
+ Filter="h;hpp;hxx;hm;inl"
+ >
+ <File
+ RelativePath="..\..\include\FTBBox.h"
+ >
+ </File>
+ <File
+ RelativePath="..\..\include\FTBitmapGlyph.h"
+ >
+ </File>
+ <File
+ RelativePath="..\..\include\FTCharmap.h"
+ >
+ </File>
+ <File
+ RelativePath="..\..\include\FTCharToGlyphIndexMap.h"
+ >
+ </File>
+ <File
+ RelativePath="..\..\include\FTContour.h"
+ >
+ </File>
+ <File
+ RelativePath="..\..\include\FTExtrdGlyph.h"
+ >
+ </File>
+ <File
+ RelativePath="..\..\include\FTFace.h"
+ >
+ </File>
+ <File
+ RelativePath="..\..\include\FTFont.h"
+ >
+ </File>
+ <File
+ RelativePath="..\..\include\FTGL.h"
+ >
+ </File>
+ <File
+ RelativePath="..\..\include\FTGLBitmapFont.h"
+ >
+ </File>
+ <File
+ RelativePath="..\..\include\FTGLExtrdFont.h"
+ >
+ </File>
+ <File
+ RelativePath="..\..\include\FTGLOutlineFont.h"
+ >
+ </File>
+ <File
+ RelativePath="..\..\include\FTGLPixmapFont.h"
+ >
+ </File>
+ <File
+ RelativePath="..\..\include\FTGLPolygonFont.h"
+ >
+ </File>
+ <File
+ RelativePath="..\..\include\FTGLTextureFont.h"
+ >
+ </File>
+ <File
+ RelativePath="..\..\include\FTGlyph.h"
+ >
+ </File>
+ <File
+ RelativePath="..\..\include\FTGlyphContainer.h"
+ >
+ </File>
+ <File
+ RelativePath="..\..\include\FTLibrary.h"
+ >
+ </File>
+ <File
+ RelativePath="..\..\include\FTList.h"
+ >
+ </File>
+ <File
+ RelativePath="..\..\include\FTOutlineGlyph.h"
+ >
+ </File>
+ <File
+ RelativePath="..\..\include\FTPixmapGlyph.h"
+ >
+ </File>
+ <File
+ RelativePath="..\..\include\FTPoint.h"
+ >
+ </File>
+ <File
+ RelativePath="..\..\include\FTPolyGlyph.h"
+ >
+ </File>
+ <File
+ RelativePath="..\..\include\FTSize.h"
+ >
+ </File>
+ <File
+ RelativePath="..\..\include\FTTextureGlyph.h"
+ >
+ </File>
+ <File
+ RelativePath="..\..\include\FTVector.h"
+ >
+ </File>
+ <File
+ RelativePath="..\..\include\FTVectoriser.h"
+ >
+ </File>
+ </Filter>
+ </Files>
+ <Globals>
+ </Globals>
+</VisualStudioProject>
diff --git a/extern/bullet2/CMakeLists.txt b/extern/bullet2/CMakeLists.txt index c5495fdf92b..edb6b9c525f 100644 --- a/extern/bullet2/CMakeLists.txt +++ b/extern/bullet2/CMakeLists.txt @@ -31,10 +31,12 @@ FILE(GLOB SRC src/BulletCollision/BroadphaseCollision/*.cpp src/BulletCollision/CollisionShapes/*.cpp src/BulletCollision/NarrowPhaseCollision/*.cpp + src/BulletCollision/Gimpact/*.cpp src/BulletCollision//CollisionDispatch/*.cpp src/BulletDynamics/ConstraintSolver/*.cpp src/BulletDynamics/Vehicle/*.cpp src/BulletDynamics/Dynamics/*.cpp + src/BulletSoftBody/*.cpp ) ADD_DEFINITIONS(-D_LIB) diff --git a/extern/bullet2/Makefile b/extern/bullet2/Makefile index e05d441a6be..f3abb86e404 100644 --- a/extern/bullet2/Makefile +++ b/extern/bullet2/Makefile @@ -37,10 +37,12 @@ LinearMath \ BulletCollision/BroadphaseCollision \ BulletCollision/CollisionShapes \ BulletCollision/NarrowPhaseCollision \ +BulletCollision/Gimpact \ BulletCollision//CollisionDispatch \ BulletDynamics/ConstraintSolver \ BulletDynamics/Vehicle \ -BulletDynamics/Dynamics +BulletDynamics/Dynamics \ +BulletSoftBody include nan_subdirs.mk diff --git a/extern/bullet2/make/msvc_7_0/Bullet_vc7.vcproj b/extern/bullet2/make/msvc_7_0/Bullet_vc7.vcproj index 6de2fd3a2bd..a97f8acb7bb 100644 --- a/extern/bullet2/make/msvc_7_0/Bullet_vc7.vcproj +++ b/extern/bullet2/make/msvc_7_0/Bullet_vc7.vcproj @@ -53,19 +53,23 @@ IF NOT EXIST ..\..\..\..\..\build\msvc_7\extern\bullet2\include\BulletCollision\ IF NOT EXIST ..\..\..\..\..\build\msvc_7\extern\bullet2\include\BulletCollision\NarrowPhaseCollision MKDIR ..\..\..\..\..\build\msvc_7\extern\bullet\include\BulletCollision\NarrowPhaseCollision IF NOT EXIST ..\..\..\..\..\build\msvc_7\extern\bullet2\include\BulletCollision\CollisionDispatch MKDIR ..\..\..\..\..\build\msvc_7\extern\bullet\include\BulletCollision\CollisionDispatch IF NOT EXIST ..\..\..\..\..\build\msvc_7\extern\bullet2\include\BulletCollision\CollisionShapes MKDIR ..\..\..\..\..\build\msvc_7\extern\bullet\include\BulletCollision\CollisionShapes +IF NOT EXIST ..\..\..\..\..\build\msvc_7\extern\bullet2\include\BulletCollision\Gimpact MKDIR ..\..\..\..\..\build\msvc_7\extern\bullet\include\BulletCollision\Gimpact IF NOT EXIST ..\..\..\..\..\build\msvc_7\extern\bullet2\include\BulletDynamics MKDIR ..\..\..\..\..\build\msvc_7\extern\bullet\include\BulletDynamics IF NOT EXIST ..\..\..\..\..\build\msvc_7\extern\bullet2\include\BulletDynamics\ConstraintSolver MKDIR ..\..\..\..\..\build\msvc_7\extern\bullet\include\BulletDynamics\ConstraintSolver IF NOT EXIST ..\..\..\..\..\build\msvc_7\extern\bullet2\include\BulletDynamics\Dynamics MKDIR ..\..\..\..\..\build\msvc_7\extern\bullet\include\BulletDynamics\Dynamics IF NOT EXIST ..\..\..\..\..\build\msvc_7\extern\bullet2\include\BulletDynamics\Vehicle MKDIR ..\..\..\..\..\build\msvc_7\extern\bullet\include\BulletDynamics\Vehicle IF NOT EXIST ..\..\..\..\..\build\msvc_7\extern\bullet2\include\LinearMath MKDIR ..\..\..\..\..\build\msvc_7\extern\bullet\include\LinearMath +IF NOT EXIST ..\..\..\..\..\build\msvc_7\extern\bullet2\include\BulletSoftBody MKDIR ..\..\..\..\..\build\msvc_7\extern\bullet\include\BulletSoftBody XCOPY /Y ..\..\src\*.h ..\..\..\..\..\build\msvc_7\extern\bullet\include +XCOPY /Y ..\..\src\BulletSoftBody\*.h ..\..\..\..\..\build\msvc_7\extern\bullet\include\BulletSoftBody XCOPY /Y ..\..\src\LinearMath\*.h ..\..\..\..\..\build\msvc_7\extern\bullet\include\LinearMath XCOPY /Y ..\..\src\BulletCollision\BroadphaseCollision\*.h ..\..\..\..\..\build\msvc_7\extern\bullet\include\BulletCollision\BroadphaseCollision XCOPY /Y ..\..\src\BulletCollision\NarrowPhaseCollision\*.h ..\..\..\..\..\build\msvc_7\extern\bullet\include\BulletCollision\NarrowPhaseCollision XCOPY /Y ..\..\src\BulletCollision\NarrowPhaseCollision\*.h ..\..\..\..\..\build\msvc_7\extern\bullet\include\BulletCollision\NarrowPhaseCollision XCOPY /Y ..\..\src\BulletCollision\CollisionDispatch\*.h ..\..\..\..\..\build\msvc_7\extern\bullet\include\BulletCollision\CollisionDispatch XCOPY /Y ..\..\src\BulletCollision\CollisionShapes\*.h ..\..\..\..\..\build\msvc_7\extern\bullet\include\BulletCollision\CollisionShapes +XCOPY /Y ..\..\src\BulletCollision\Gimpact\*.h ..\..\..\..\..\build\msvc_7\extern\bullet\include\BulletCollision\Gimpact XCOPY /Y ..\..\src\BulletDynamics\ConstraintSolver\*.h ..\..\..\..\..\build\msvc_7\extern\bullet\include\BulletDynamics\ConstraintSolver XCOPY /Y ..\..\src\BulletDynamics\Dynamics\*.h ..\..\..\..\..\build\msvc_7\extern\bullet\include\BulletDynamics\Dynamics XCOPY /Y ..\..\src\BulletDynamics\Vehicle\*.h ..\..\..\..\..\build\msvc_7\extern\bullet\include\BulletDynamics\Vehicle @@ -133,19 +137,23 @@ IF NOT EXIST ..\..\..\..\..\build\msvc_7\extern\bullet2\include\BulletCollision\ IF NOT EXIST ..\..\..\..\..\build\msvc_7\extern\bullet2\include\BulletCollision\NarrowPhaseCollision MKDIR ..\..\..\..\..\build\msvc_7\extern\bullet\include\BulletCollision\NarrowPhaseCollision IF NOT EXIST ..\..\..\..\..\build\msvc_7\extern\bullet2\include\BulletCollision\CollisionDispatch MKDIR ..\..\..\..\..\build\msvc_7\extern\bullet\include\BulletCollision\CollisionDispatch IF NOT EXIST ..\..\..\..\..\build\msvc_7\extern\bullet2\include\BulletCollision\CollisionShapes MKDIR ..\..\..\..\..\build\msvc_7\extern\bullet\include\BulletCollision\CollisionShapes +IF NOT EXIST ..\..\..\..\..\build\msvc_7\extern\bullet2\include\BulletCollision\Gimpact MKDIR ..\..\..\..\..\build\msvc_7\extern\bullet\include\BulletCollision\Gimpact IF NOT EXIST ..\..\..\..\..\build\msvc_7\extern\bullet2\include\BulletDynamics MKDIR ..\..\..\..\..\build\msvc_7\extern\bullet\include\BulletDynamics IF NOT EXIST ..\..\..\..\..\build\msvc_7\extern\bullet2\include\BulletDynamics\ConstraintSolver MKDIR ..\..\..\..\..\build\msvc_7\extern\bullet\include\BulletDynamics\ConstraintSolver IF NOT EXIST ..\..\..\..\..\build\msvc_7\extern\bullet2\include\BulletDynamics\Dynamics MKDIR ..\..\..\..\..\build\msvc_7\extern\bullet\include\BulletDynamics\Dynamics IF NOT EXIST ..\..\..\..\..\build\msvc_7\extern\bullet2\include\BulletDynamics\Vehicle MKDIR ..\..\..\..\..\build\msvc_7\extern\bullet\include\BulletDynamics\Vehicle IF NOT EXIST ..\..\..\..\..\build\msvc_7\extern\bullet2\include\LinearMath MKDIR ..\..\..\..\..\build\msvc_7\extern\bullet\include\LinearMath +IF NOT EXIST ..\..\..\..\..\build\msvc_7\extern\bullet2\include\BulletSoftBody MKDIR ..\..\..\..\..\build\msvc_7\extern\bullet\include\BulletSoftBody XCOPY /Y ..\..\src\*.h ..\..\..\..\..\build\msvc_7\extern\bullet\include +XCOPY /Y ..\..\src\BulletSoftBody\*.h ..\..\..\..\..\build\msvc_7\extern\bullet\include\BulletSoftBody XCOPY /Y ..\..\src\LinearMath\*.h ..\..\..\..\..\build\msvc_7\extern\bullet\include\LinearMath XCOPY /Y ..\..\src\BulletCollision\BroadphaseCollision\*.h ..\..\..\..\..\build\msvc_7\extern\bullet\include\BulletCollision\BroadphaseCollision XCOPY /Y ..\..\src\BulletCollision\NarrowPhaseCollision\*.h ..\..\..\..\..\build\msvc_7\extern\bullet\include\BulletCollision\NarrowPhaseCollision XCOPY /Y ..\..\src\BulletCollision\NarrowPhaseCollision\*.h ..\..\..\..\..\build\msvc_7\extern\bullet\include\BulletCollision\NarrowPhaseCollision XCOPY /Y ..\..\src\BulletCollision\CollisionDispatch\*.h ..\..\..\..\..\build\msvc_7\extern\bullet\include\BulletCollision\CollisionDispatch XCOPY /Y ..\..\src\BulletCollision\CollisionShapes\*.h ..\..\..\..\..\build\msvc_7\extern\bullet\include\BulletCollision\CollisionShapes +XCOPY /Y ..\..\src\BulletCollision\Gimpact\*.h ..\..\..\..\..\build\msvc_7\extern\bullet\include\BulletCollision\Gimpact XCOPY /Y ..\..\src\BulletDynamics\ConstraintSolver\*.h ..\..\..\..\..\build\msvc_7\extern\bullet\include\BulletDynamics\ConstraintSolver XCOPY /Y ..\..\src\BulletDynamics\Dynamics\*.h ..\..\..\..\..\build\msvc_7\extern\bullet\include\BulletDynamics\Dynamics XCOPY /Y ..\..\src\BulletDynamics\Vehicle\*.h ..\..\..\..\..\build\msvc_7\extern\bullet\include\BulletDynamics\Vehicle @@ -211,19 +219,23 @@ IF NOT EXIST ..\..\..\..\..\build\msvc_7\extern\bullet2\include\BulletCollision\ IF NOT EXIST ..\..\..\..\..\build\msvc_7\extern\bullet2\include\BulletCollision\NarrowPhaseCollision MKDIR ..\..\..\..\..\build\msvc_7\extern\bullet\include\BulletCollision\NarrowPhaseCollision IF NOT EXIST ..\..\..\..\..\build\msvc_7\extern\bullet2\include\BulletCollision\CollisionDispatch MKDIR ..\..\..\..\..\build\msvc_7\extern\bullet\include\BulletCollision\CollisionDispatch IF NOT EXIST ..\..\..\..\..\build\msvc_7\extern\bullet2\include\BulletCollision\CollisionShapes MKDIR ..\..\..\..\..\build\msvc_7\extern\bullet\include\BulletCollision\CollisionShapes +IF NOT EXIST ..\..\..\..\..\build\msvc_7\extern\bullet2\include\BulletCollision\Gimpact MKDIR ..\..\..\..\..\build\msvc_7\extern\bullet\include\BulletCollision\Gimpact IF NOT EXIST ..\..\..\..\..\build\msvc_7\extern\bullet2\include\BulletDynamics MKDIR ..\..\..\..\..\build\msvc_7\extern\bullet\include\BulletDynamics IF NOT EXIST ..\..\..\..\..\build\msvc_7\extern\bullet2\include\BulletDynamics\ConstraintSolver MKDIR ..\..\..\..\..\build\msvc_7\extern\bullet\include\BulletDynamics\ConstraintSolver IF NOT EXIST ..\..\..\..\..\build\msvc_7\extern\bullet2\include\BulletDynamics\Dynamics MKDIR ..\..\..\..\..\build\msvc_7\extern\bullet\include\BulletDynamics\Dynamics IF NOT EXIST ..\..\..\..\..\build\msvc_7\extern\bullet2\include\BulletDynamics\Vehicle MKDIR ..\..\..\..\..\build\msvc_7\extern\bullet\include\BulletDynamics\Vehicle IF NOT EXIST ..\..\..\..\..\build\msvc_7\extern\bullet2\include\LinearMath MKDIR ..\..\..\..\..\build\msvc_7\extern\bullet\include\LinearMath +IF NOT EXIST ..\..\..\..\..\build\msvc_7\extern\bullet2\include\BulletSoftBody MKDIR ..\..\..\..\..\build\msvc_7\extern\bullet\include\BulletSoftBody XCOPY /Y ..\..\src\*.h ..\..\..\..\..\build\msvc_7\extern\bullet\include +XCOPY /Y ..\..\src\BulletSoftBody\*.h ..\..\..\..\..\build\msvc_7\extern\bullet\include\BulletSoftBody XCOPY /Y ..\..\src\LinearMath\*.h ..\..\..\..\..\build\msvc_7\extern\bullet\include\LinearMath XCOPY /Y ..\..\src\BulletCollision\BroadphaseCollision\*.h ..\..\..\..\..\build\msvc_7\extern\bullet\include\BulletCollision\BroadphaseCollision XCOPY /Y ..\..\src\BulletCollision\NarrowPhaseCollision\*.h ..\..\..\..\..\build\msvc_7\extern\bullet\include\BulletCollision\NarrowPhaseCollision XCOPY /Y ..\..\src\BulletCollision\NarrowPhaseCollision\*.h ..\..\..\..\..\build\msvc_7\extern\bullet\include\BulletCollision\NarrowPhaseCollision XCOPY /Y ..\..\src\BulletCollision\CollisionDispatch\*.h ..\..\..\..\..\build\msvc_7\extern\bullet\include\BulletCollision\CollisionDispatch XCOPY /Y ..\..\src\BulletCollision\CollisionShapes\*.h ..\..\..\..\..\build\msvc_7\extern\bullet\include\BulletCollision\CollisionShapes +XCOPY /Y ..\..\src\BulletCollision\Gimpact\*.h ..\..\..\..\..\build\msvc_7\extern\bullet\include\BulletCollision\Gimpact XCOPY /Y ..\..\src\BulletDynamics\ConstraintSolver\*.h ..\..\..\..\..\build\msvc_7\extern\bullet\include\BulletDynamics\ConstraintSolver XCOPY /Y ..\..\src\BulletDynamics\Dynamics\*.h ..\..\..\..\..\build\msvc_7\extern\bullet\include\BulletDynamics\Dynamics XCOPY /Y ..\..\src\BulletDynamics\Vehicle\*.h ..\..\..\..\..\build\msvc_7\extern\bullet\include\BulletDynamics\Vehicle @@ -291,19 +303,23 @@ IF NOT EXIST ..\..\..\..\..\build\msvc_7\extern\bullet2\include\BulletCollision\ IF NOT EXIST ..\..\..\..\..\build\msvc_7\extern\bullet2\include\BulletCollision\NarrowPhaseCollision MKDIR ..\..\..\..\..\build\msvc_7\extern\bullet\include\BulletCollision\NarrowPhaseCollision IF NOT EXIST ..\..\..\..\..\build\msvc_7\extern\bullet2\include\BulletCollision\CollisionDispatch MKDIR ..\..\..\..\..\build\msvc_7\extern\bullet\include\BulletCollision\CollisionDispatch IF NOT EXIST ..\..\..\..\..\build\msvc_7\extern\bullet2\include\BulletCollision\CollisionShapes MKDIR ..\..\..\..\..\build\msvc_7\extern\bullet\include\BulletCollision\CollisionShapes +IF NOT EXIST ..\..\..\..\..\build\msvc_7\extern\bullet2\include\BulletCollision\Gimpact MKDIR ..\..\..\..\..\build\msvc_7\extern\bullet\include\BulletCollision\Gimpact IF NOT EXIST ..\..\..\..\..\build\msvc_7\extern\bullet2\include\BulletDynamics MKDIR ..\..\..\..\..\build\msvc_7\extern\bullet\include\BulletDynamics IF NOT EXIST ..\..\..\..\..\build\msvc_7\extern\bullet2\include\BulletDynamics\ConstraintSolver MKDIR ..\..\..\..\..\build\msvc_7\extern\bullet\include\BulletDynamics\ConstraintSolver IF NOT EXIST ..\..\..\..\..\build\msvc_7\extern\bullet2\include\BulletDynamics\Dynamics MKDIR ..\..\..\..\..\build\msvc_7\extern\bullet\include\BulletDynamics\Dynamics IF NOT EXIST ..\..\..\..\..\build\msvc_7\extern\bullet2\include\BulletDynamics\Vehicle MKDIR ..\..\..\..\..\build\msvc_7\extern\bullet\include\BulletDynamics\Vehicle IF NOT EXIST ..\..\..\..\..\build\msvc_7\extern\bullet2\include\LinearMath MKDIR ..\..\..\..\..\build\msvc_7\extern\bullet\include\LinearMath +IF NOT EXIST ..\..\..\..\..\build\msvc_7\extern\bullet2\include\BulletSoftBody MKDIR ..\..\..\..\..\build\msvc_7\extern\bullet\include\BulletSoftBody XCOPY /Y ..\..\src\*.h ..\..\..\..\..\build\msvc_7\extern\bullet\include +XCOPY /Y ..\..\src\BulletSoftBody\*.h ..\..\..\..\..\build\msvc_7\extern\bullet\include\BulletSoftBody XCOPY /Y ..\..\src\LinearMath\*.h ..\..\..\..\..\build\msvc_7\extern\bullet\include\LinearMath XCOPY /Y ..\..\src\BulletCollision\BroadphaseCollision\*.h ..\..\..\..\..\build\msvc_7\extern\bullet\include\BulletCollision\BroadphaseCollision XCOPY /Y ..\..\src\BulletCollision\NarrowPhaseCollision\*.h ..\..\..\..\..\build\msvc_7\extern\bullet\include\BulletCollision\NarrowPhaseCollision XCOPY /Y ..\..\src\BulletCollision\NarrowPhaseCollision\*.h ..\..\..\..\..\build\msvc_7\extern\bullet\include\BulletCollision\NarrowPhaseCollision XCOPY /Y ..\..\src\BulletCollision\CollisionDispatch\*.h ..\..\..\..\..\build\msvc_7\extern\bullet\include\BulletCollision\CollisionDispatch XCOPY /Y ..\..\src\BulletCollision\CollisionShapes\*.h ..\..\..\..\..\build\msvc_7\extern\bullet\include\BulletCollision\CollisionShapes +XCOPY /Y ..\..\src\BulletCollision\Gimpact\*.h ..\..\..\..\..\build\msvc_7\extern\bullet\include\BulletCollision\Gimpact XCOPY /Y ..\..\src\BulletDynamics\ConstraintSolver\*.h ..\..\..\..\..\build\msvc_7\extern\bullet\include\BulletDynamics\ConstraintSolver XCOPY /Y ..\..\src\BulletDynamics\Dynamics\*.h ..\..\..\..\..\build\msvc_7\extern\bullet\include\BulletDynamics\Dynamics XCOPY /Y ..\..\src\BulletDynamics\Vehicle\*.h ..\..\..\..\..\build\msvc_7\extern\bullet\include\BulletDynamics\Vehicle @@ -395,12 +411,24 @@ ECHO Done RelativePath="..\..\src\BulletDynamics\ConstraintSolver\btSequentialImpulseConstraintSolver.h"> </File> <File + RelativePath="..\..\src\BulletDynamics\ConstraintSolver\btSliderConstraint.cpp"> + </File> + <File + RelativePath="..\..\src\BulletDynamics\ConstraintSolver\btSliderConstraint.h"> + </File> + <File RelativePath="..\..\src\BulletDynamics\ConstraintSolver\btSolve2LinearConstraint.cpp"> </File> <File RelativePath="..\..\src\BulletDynamics\ConstraintSolver\btSolve2LinearConstraint.h"> </File> <File + RelativePath="..\..\src\BulletDynamics\ConstraintSolver\btSolverBody.h"> + </File> + <File + RelativePath="..\..\src\BulletDynamics\ConstraintSolver\btSolverConstraint.h"> + </File> + <File RelativePath="..\..\src\BulletDynamics\ConstraintSolver\btTypedConstraint.cpp"> </File> <File @@ -411,6 +439,12 @@ ECHO Done Name="Dynamics" Filter=""> <File + RelativePath="..\..\src\BulletDynamics\Dynamics\btContinuousDynamicsWorld.cpp"> + </File> + <File + RelativePath="..\..\src\BulletDynamics\Dynamics\btContinuousDynamicsWorld.h"> + </File> + <File RelativePath="..\..\src\BulletDynamics\Dynamics\btDiscreteDynamicsWorld.cpp"> </File> <File @@ -483,18 +517,45 @@ ECHO Done RelativePath="..\..\src\BulletCollision\BroadphaseCollision\btCollisionAlgorithm.h"> </File> <File + RelativePath="..\..\src\BulletCollision\BroadphaseCollision\btDbvt.cpp"> + </File> + <File + RelativePath="..\..\src\BulletCollision\BroadphaseCollision\btDbvt.h"> + </File> + <File + RelativePath="..\..\src\BulletCollision\BroadphaseCollision\btDbvtBroadphase.cpp"> + </File> + <File + RelativePath="..\..\src\BulletCollision\BroadphaseCollision\btDbvtBroadphase.h"> + </File> + <File RelativePath="..\..\src\BulletCollision\BroadphaseCollision\btDispatcher.cpp"> </File> <File RelativePath="..\..\src\BulletCollision\BroadphaseCollision\btDispatcher.h"> </File> <File + RelativePath="..\..\src\BulletCollision\BroadphaseCollision\btMultiSapBroadphase.cpp"> + </File> + <File + RelativePath="..\..\src\BulletCollision\BroadphaseCollision\btMultiSapBroadphase.h"> + </File> + <File RelativePath="..\..\src\BulletCollision\BroadphaseCollision\btOverlappingPairCache.cpp"> </File> <File RelativePath="..\..\src\BulletCollision\BroadphaseCollision\btOverlappingPairCache.h"> </File> <File + RelativePath="..\..\src\BulletCollision\BroadphaseCollision\btOverlappingPairCallback.h"> + </File> + <File + RelativePath="..\..\src\BulletCollision\BroadphaseCollision\btQuantizedBvh.cpp"> + </File> + <File + RelativePath="..\..\src\BulletCollision\BroadphaseCollision\btQuantizedBvh.h"> + </File> + <File RelativePath="..\..\src\BulletCollision\BroadphaseCollision\btSimpleBroadphase.cpp"> </File> <File @@ -535,6 +596,12 @@ ECHO Done RelativePath="..\..\src\BulletCollision\NarrowPhaseCollision\btGjkEpa.h"> </File> <File + RelativePath="..\..\src\BulletCollision\NarrowPhaseCollision\btGjkEpa2.cpp"> + </File> + <File + RelativePath="..\..\src\BulletCollision\NarrowPhaseCollision\btGjkEpa2.h"> + </File> + <File RelativePath="..\..\src\BulletCollision\NarrowPhaseCollision\btGjkEpaPenetrationDepthSolver.cpp"> </File> <File @@ -590,6 +657,21 @@ ECHO Done Name="CollisionDispatch" Filter=""> <File + RelativePath="..\..\src\BulletCollision\CollisionDispatch\btBoxBoxCollisionAlgorithm.cpp"> + </File> + <File + RelativePath="..\..\src\BulletCollision\CollisionDispatch\btBoxBoxCollisionAlgorithm.h"> + </File> + <File + RelativePath="..\..\src\BulletCollision\CollisionDispatch\btBoxBoxDetector.cpp"> + </File> + <File + RelativePath="..\..\src\BulletCollision\CollisionDispatch\btBoxBoxDetector.h"> + </File> + <File + RelativePath="..\..\src\BulletCollision\CollisionDispatch\btCollisionConfiguration.h"> + </File> + <File RelativePath="..\..\src\BulletCollision\CollisionDispatch\btCollisionCreateFunc.h"> </File> <File @@ -629,6 +711,18 @@ ECHO Done RelativePath="..\..\src\BulletCollision\CollisionDispatch\btConvexConvexAlgorithm.h"> </File> <File + RelativePath="..\..\src\BulletCollision\CollisionDispatch\btConvexPlaneCollisionAlgorithm.cpp"> + </File> + <File + RelativePath="..\..\src\BulletCollision\CollisionDispatch\btConvexPlaneCollisionAlgorithm.h"> + </File> + <File + RelativePath="..\..\src\BulletCollision\CollisionDispatch\btDefaultCollisionConfiguration.cpp"> + </File> + <File + RelativePath="..\..\src\BulletCollision\CollisionDispatch\btDefaultCollisionConfiguration.h"> + </File> + <File RelativePath="..\..\src\BulletCollision\CollisionDispatch\btEmptyCollisionAlgorithm.cpp"> </File> <File @@ -732,6 +826,12 @@ ECHO Done RelativePath="..\..\src\BulletCollision\CollisionShapes\btConvexHullShape.h"> </File> <File + RelativePath="..\..\src\BulletCollision\CollisionShapes\btConvexInternalShape.cpp"> + </File> + <File + RelativePath="..\..\src\BulletCollision\CollisionShapes\btConvexInternalShape.h"> + </File> + <File RelativePath="..\..\src\BulletCollision\CollisionShapes\btConvexShape.cpp"> </File> <File @@ -762,12 +862,21 @@ ECHO Done RelativePath="..\..\src\BulletCollision\CollisionShapes\btHeightfieldTerrainShape.h"> </File> <File + RelativePath="..\..\src\BulletCollision\CollisionShapes\btMaterial.h"> + </File> + <File RelativePath="..\..\src\BulletCollision\CollisionShapes\btMinkowskiSumShape.cpp"> </File> <File RelativePath="..\..\src\BulletCollision\CollisionShapes\btMinkowskiSumShape.h"> </File> <File + RelativePath="..\..\src\BulletCollision\CollisionShapes\btMultimaterialTriangleMeshShape.cpp"> + </File> + <File + RelativePath="..\..\src\BulletCollision\CollisionShapes\btMultimaterialTriangleMeshShape.h"> + </File> + <File RelativePath="..\..\src\BulletCollision\CollisionShapes\btMultiSphereShape.cpp"> </File> <File @@ -786,6 +895,18 @@ ECHO Done RelativePath="..\..\src\BulletCollision\CollisionShapes\btPolyhedralConvexShape.h"> </File> <File + RelativePath="..\..\src\BulletCollision\CollisionShapes\btScaledBvhTriangleMeshShape.cpp"> + </File> + <File + RelativePath="..\..\src\BulletCollision\CollisionShapes\btScaledBvhTriangleMeshShape.h"> + </File> + <File + RelativePath="..\..\src\BulletCollision\CollisionShapes\btShapeHull.cpp"> + </File> + <File + RelativePath="..\..\src\BulletCollision\CollisionShapes\btShapeHull.h"> + </File> + <File RelativePath="..\..\src\BulletCollision\CollisionShapes\btSphereShape.cpp"> </File> <File @@ -828,6 +949,12 @@ ECHO Done RelativePath="..\..\src\BulletCollision\CollisionShapes\btTriangleIndexVertexArray.h"> </File> <File + RelativePath="..\..\src\BulletCollision\CollisionShapes\btTriangleIndexVertexMaterialArray.cpp"> + </File> + <File + RelativePath="..\..\src\BulletCollision\CollisionShapes\btTriangleIndexVertexMaterialArray.h"> + </File> + <File RelativePath="..\..\src\BulletCollision\CollisionShapes\btTriangleMesh.cpp"> </File> <File @@ -842,6 +969,130 @@ ECHO Done <File RelativePath="..\..\src\BulletCollision\CollisionShapes\btTriangleShape.h"> </File> + <File + RelativePath="..\..\src\BulletCollision\CollisionShapes\btUniformScalingShape.cpp"> + </File> + <File + RelativePath="..\..\src\BulletCollision\CollisionShapes\btUniformScalingShape.h"> + </File> + </Filter> + <Filter + Name="Gimpact" + Filter=""> + <File + RelativePath="..\..\src\BulletCollision\Gimpact\btBoxCollision.h"> + </File> + <File + RelativePath="..\..\src\BulletCollision\Gimpact\btClipPolygon.h"> + </File> + <File + RelativePath="..\..\src\BulletCollision\Gimpact\btContactProcessing.cpp"> + </File> + <File + RelativePath="..\..\src\BulletCollision\Gimpact\btContactProcessing.h"> + </File> + <File + RelativePath="..\..\src\BulletCollision\Gimpact\btGenericPoolAllocator.cpp"> + </File> + <File + RelativePath="..\..\src\BulletCollision\Gimpact\btGenericPoolAllocator.h"> + </File> + <File + RelativePath="..\..\src\BulletCollision\Gimpact\btGeometryOperations.h"> + </File> + <File + RelativePath="..\..\src\BulletCollision\Gimpact\btGImpactBvh.cpp"> + </File> + <File + RelativePath="..\..\src\BulletCollision\Gimpact\btGImpactBvh.h"> + </File> + <File + RelativePath="..\..\src\BulletCollision\Gimpact\btGImpactCollisionAlgorithm.cpp"> + </File> + <File + RelativePath="..\..\src\BulletCollision\Gimpact\btGImpactCollisionAlgorithm.h"> + </File> + <File + RelativePath="..\..\src\BulletCollision\Gimpact\btGImpactMassUtil.h"> + </File> + <File + RelativePath="..\..\src\BulletCollision\Gimpact\btGImpactQuantizedBvh.cpp"> + </File> + <File + RelativePath="..\..\src\BulletCollision\Gimpact\btGImpactQuantizedBvh.h"> + </File> + <File + RelativePath="..\..\src\BulletCollision\Gimpact\btGImpactShape.cpp"> + </File> + <File + RelativePath="..\..\src\BulletCollision\Gimpact\btGImpactShape.h"> + </File> + <File + RelativePath="..\..\src\BulletCollision\Gimpact\btQuantization.h"> + </File> + <File + RelativePath="..\..\src\BulletCollision\Gimpact\btTriangleShapeEx.cpp"> + </File> + <File + RelativePath="..\..\src\BulletCollision\Gimpact\btTriangleShapeEx.h"> + </File> + <File + RelativePath="..\..\src\BulletCollision\Gimpact\gim_array.h"> + </File> + <File + RelativePath="..\..\src\BulletCollision\Gimpact\gim_basic_geometry_operations.h"> + </File> + <File + RelativePath="..\..\src\BulletCollision\Gimpact\gim_bitset.h"> + </File> + <File + RelativePath="..\..\src\BulletCollision\Gimpact\gim_box_collision.h"> + </File> + <File + RelativePath="..\..\src\BulletCollision\Gimpact\gim_box_set.cpp"> + </File> + <File + RelativePath="..\..\src\BulletCollision\Gimpact\gim_box_set.h"> + </File> + <File + RelativePath="..\..\src\BulletCollision\Gimpact\gim_clip_polygon.h"> + </File> + <File + RelativePath="..\..\src\BulletCollision\Gimpact\gim_contact.cpp"> + </File> + <File + RelativePath="..\..\src\BulletCollision\Gimpact\gim_contact.h"> + </File> + <File + RelativePath="..\..\src\BulletCollision\Gimpact\gim_geom_types.h"> + </File> + <File + RelativePath="..\..\src\BulletCollision\Gimpact\gim_geometry.h"> + </File> + <File + RelativePath="..\..\src\BulletCollision\Gimpact\gim_hash_table.h"> + </File> + <File + RelativePath="..\..\src\BulletCollision\Gimpact\gim_linear_math.h"> + </File> + <File + RelativePath="..\..\src\BulletCollision\Gimpact\gim_math.h"> + </File> + <File + RelativePath="..\..\src\BulletCollision\Gimpact\gim_memory.cpp"> + </File> + <File + RelativePath="..\..\src\BulletCollision\Gimpact\gim_memory.h"> + </File> + <File + RelativePath="..\..\src\BulletCollision\Gimpact\gim_radixsort.h"> + </File> + <File + RelativePath="..\..\src\BulletCollision\Gimpact\gim_tri_collision.cpp"> + </File> + <File + RelativePath="..\..\src\BulletCollision\Gimpact\gim_tri_collision.h"> + </File> </Filter> </Filter> <Filter @@ -860,6 +1111,12 @@ ECHO Done RelativePath="..\..\src\LinearMath\btAlignedObjectArray.h"> </File> <File + RelativePath="..\..\src\LinearMath\btConvexHull.cpp"> + </File> + <File + RelativePath="..\..\src\LinearMath\btConvexHull.h"> + </File> + <File RelativePath="..\..\src\LinearMath\btDefaultMotionState.h"> </File> <File @@ -869,6 +1126,9 @@ ECHO Done RelativePath="..\..\src\LinearMath\btGeometryUtil.h"> </File> <File + RelativePath="..\..\src\LinearMath\btHashMap.h"> + </File> + <File RelativePath="..\..\src\LinearMath\btIDebugDraw.h"> </File> <File @@ -887,6 +1147,9 @@ ECHO Done RelativePath="..\..\src\LinearMath\btPoint3.h"> </File> <File + RelativePath="..\..\src\LinearMath\btPoolAllocator.h"> + </File> + <File RelativePath="..\..\src\LinearMath\btQuadWord.h"> </File> <File @@ -905,9 +1168,6 @@ ECHO Done RelativePath="..\..\src\LinearMath\btScalar.h"> </File> <File - RelativePath="..\..\src\LinearMath\btSimdMinMax.h"> - </File> - <File RelativePath="..\..\src\LinearMath\btStackAlloc.h"> </File> <File @@ -920,6 +1180,58 @@ ECHO Done RelativePath="..\..\src\LinearMath\btVector3.h"> </File> </Filter> + <Filter + Name="BulletSoftBody" + Filter=""> + <File + RelativePath="..\..\src\BulletSoftBody\btSoftBody.cpp"> + </File> + <File + RelativePath="..\..\src\BulletSoftBody\btSoftBody.h"> + </File> + <File + RelativePath="..\..\src\BulletSoftBody\btSoftBodyConcaveCollisionAlgorithm.cpp"> + </File> + <File + RelativePath="..\..\src\BulletSoftBody\btSoftBodyConcaveCollisionAlgorithm.h"> + </File> + <File + RelativePath="..\..\src\BulletSoftBody\btSoftBodyHelpers.cpp"> + </File> + <File + RelativePath="..\..\src\BulletSoftBody\btSoftBodyHelpers.h"> + </File> + <File + RelativePath="..\..\src\BulletSoftBody\btSoftBodyInternals.h"> + </File> + <File + RelativePath="..\..\src\BulletSoftBody\btSoftBodyRigidBodyCollisionConfiguration.cpp"> + </File> + <File + RelativePath="..\..\src\BulletSoftBody\btSoftBodyRigidBodyCollisionConfiguration.h"> + </File> + <File + RelativePath="..\..\src\BulletSoftBody\btSoftRigidCollisionAlgorithm.cpp"> + </File> + <File + RelativePath="..\..\src\BulletSoftBody\btSoftRigidCollisionAlgorithm.h"> + </File> + <File + RelativePath="..\..\src\BulletSoftBody\btSoftRigidDynamicsWorld.cpp"> + </File> + <File + RelativePath="..\..\src\BulletSoftBody\btSoftRigidDynamicsWorld.h"> + </File> + <File + RelativePath="..\..\src\BulletSoftBody\btSoftSoftCollisionAlgorithm.cpp"> + </File> + <File + RelativePath="..\..\src\BulletSoftBody\btSoftSoftCollisionAlgorithm.h"> + </File> + <File + RelativePath="..\..\src\BulletSoftBody\btSparseSDF.h"> + </File> + </Filter> </Filter> </Files> <Globals> diff --git a/extern/bullet2/make/msvc_9_0/Bullet.vcproj b/extern/bullet2/make/msvc_9_0/Bullet.vcproj new file mode 100644 index 00000000000..d22b98efade --- /dev/null +++ b/extern/bullet2/make/msvc_9_0/Bullet.vcproj @@ -0,0 +1,1497 @@ +<?xml version="1.0" encoding="Windows-1252"?>
+<VisualStudioProject
+ ProjectType="Visual C++"
+ Version="9,00"
+ Name="EXT_bullet2"
+ ProjectGUID="{FFD3C64A-30E2-4BC7-BC8F-51818C320400}"
+ RootNamespace="bullet2"
+ TargetFrameworkVersion="131072"
+ >
+ <Platforms>
+ <Platform
+ Name="Win32"
+ />
+ </Platforms>
+ <ToolFiles>
+ </ToolFiles>
+ <Configurations>
+ <Configuration
+ Name="Blender Debug|Win32"
+ OutputDirectory="..\..\..\..\..\build\msvc_9\extern\bullet\debug"
+ IntermediateDirectory="..\..\..\..\..\build\msvc_9\extern\bullet\debug"
+ ConfigurationType="4"
+ InheritedPropertySheets="$(VCInstallDir)VCProjectDefaults\UpgradeFromVC71.vsprops"
+ UseOfMFC="0"
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IF NOT EXIST ..\..\..\..\..\build\msvc_9\extern\bullet2\include\BulletCollision\BroadphaseCollision MKDIR ..\..\..\..\..\build\msvc_9\extern\bullet\include\BulletCollision\BroadphaseCollision
IF NOT EXIST ..\..\..\..\..\build\msvc_9\extern\bullet2\include\BulletCollision\NarrowPhaseCollision MKDIR ..\..\..\..\..\build\msvc_9\extern\bullet\include\BulletCollision\NarrowPhaseCollision
IF NOT EXIST ..\..\..\..\..\build\msvc_9\extern\bullet2\include\BulletCollision\CollisionDispatch MKDIR ..\..\..\..\..\build\msvc_9\extern\bullet\include\BulletCollision\CollisionDispatch
IF NOT EXIST ..\..\..\..\..\build\msvc_9\extern\bullet2\include\BulletCollision\CollisionShapes MKDIR ..\..\..\..\..\build\msvc_9\extern\bullet\include\BulletCollision\CollisionShapes
IF NOT EXIST ..\..\..\..\..\build\msvc_9\extern\bullet2\include\BulletCollision\Gimpact MKDIR ..\..\..\..\..\build\msvc_9\extern\bullet\include\BulletCollision\Gimpact
IF NOT EXIST ..\..\..\..\..\build\msvc_9\extern\bullet2\include\BulletDynamics MKDIR ..\..\..\..\..\build\msvc_9\extern\bullet\include\BulletDynamics
IF NOT EXIST ..\..\..\..\..\build\msvc_9\extern\bullet2\include\BulletDynamics\ConstraintSolver MKDIR ..\..\..\..\..\build\msvc_9\extern\bullet\include\BulletDynamics\ConstraintSolver
IF NOT EXIST ..\..\..\..\..\build\msvc_9\extern\bullet2\include\BulletDynamics\Dynamics MKDIR ..\..\..\..\..\build\msvc_9\extern\bullet\include\BulletDynamics\Dynamics
IF NOT EXIST ..\..\..\..\..\build\msvc_9\extern\bullet2\include\BulletDynamics\Vehicle MKDIR ..\..\..\..\..\build\msvc_9\extern\bullet\include\BulletDynamics\Vehicle
IF NOT EXIST ..\..\..\..\..\build\msvc_9\extern\bullet2\include\LinearMath MKDIR ..\..\..\..\..\build\msvc_9\extern\bullet\include\LinearMath
IF NOT EXIST ..\..\..\..\..\build\msvc_9\extern\bullet2\include\BulletSoftBody MKDIR ..\..\..\..\..\build\msvc_9\extern\bullet\include\BulletSoftBody

XCOPY /Y ..\..\src\*.h ..\..\..\..\..\build\msvc_9\extern\bullet\include
XCOPY /Y ..\..\src\BulletSoftBody\*.h ..\..\..\..\..\build\msvc_9\extern\bullet\include\BulletSoftBody
XCOPY /Y ..\..\src\LinearMath\*.h ..\..\..\..\..\build\msvc_9\extern\bullet\include\LinearMath
XCOPY /Y ..\..\src\BulletCollision\BroadphaseCollision\*.h ..\..\..\..\..\build\msvc_9\extern\bullet\include\BulletCollision\BroadphaseCollision
XCOPY /Y ..\..\src\BulletCollision\NarrowPhaseCollision\*.h ..\..\..\..\..\build\msvc_9\extern\bullet\include\BulletCollision\NarrowPhaseCollision
XCOPY /Y ..\..\src\BulletCollision\NarrowPhaseCollision\*.h ..\..\..\..\..\build\msvc_9\extern\bullet\include\BulletCollision\NarrowPhaseCollision
XCOPY /Y ..\..\src\BulletCollision\CollisionDispatch\*.h ..\..\..\..\..\build\msvc_9\extern\bullet\include\BulletCollision\CollisionDispatch
XCOPY /Y ..\..\src\BulletCollision\CollisionShapes\*.h ..\..\..\..\..\build\msvc_9\extern\bullet\include\BulletCollision\CollisionShapes
XCOPY /Y ..\..\src\BulletCollision\Gimpact\*.h ..\..\..\..\..\build\msvc_9\extern\bullet\include\BulletCollision\Gimpact
XCOPY /Y ..\..\src\BulletDynamics\ConstraintSolver\*.h ..\..\..\..\..\build\msvc_9\extern\bullet\include\BulletDynamics\ConstraintSolver
XCOPY /Y ..\..\src\BulletDynamics\Dynamics\*.h ..\..\..\..\..\build\msvc_9\extern\bullet\include\BulletDynamics\Dynamics
XCOPY /Y ..\..\src\BulletDynamics\Vehicle\*.h ..\..\..\..\..\build\msvc_9\extern\bullet\include\BulletDynamics\Vehicle

ECHO Done
"
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IF NOT EXIST ..\..\..\..\..\build\msvc_9\extern\bullet2\include\BulletCollision\CollisionShapes MKDIR ..\..\..\..\..\build\msvc_9\extern\bullet\include\BulletCollision\CollisionShapes
IF NOT EXIST ..\..\..\..\..\build\msvc_9\extern\bullet2\include\BulletCollision\Gimpact MKDIR ..\..\..\..\..\build\msvc_9\extern\bullet\include\BulletCollision\Gimpact
IF NOT EXIST ..\..\..\..\..\build\msvc_9\extern\bullet2\include\BulletDynamics MKDIR ..\..\..\..\..\build\msvc_9\extern\bullet\include\BulletDynamics
IF NOT EXIST ..\..\..\..\..\build\msvc_9\extern\bullet2\include\BulletDynamics\ConstraintSolver MKDIR ..\..\..\..\..\build\msvc_9\extern\bullet\include\BulletDynamics\ConstraintSolver
IF NOT EXIST ..\..\..\..\..\build\msvc_9\extern\bullet2\include\BulletDynamics\Dynamics MKDIR ..\..\..\..\..\build\msvc_9\extern\bullet\include\BulletDynamics\Dynamics
IF NOT EXIST ..\..\..\..\..\build\msvc_9\extern\bullet2\include\BulletDynamics\Vehicle MKDIR ..\..\..\..\..\build\msvc_9\extern\bullet\include\BulletDynamics\Vehicle
IF NOT EXIST ..\..\..\..\..\build\msvc_9\extern\bullet2\include\LinearMath MKDIR ..\..\..\..\..\build\msvc_9\extern\bullet\include\LinearMath
IF NOT EXIST ..\..\..\..\..\build\msvc_9\extern\bullet2\include\BulletSoftBody MKDIR ..\..\..\..\..\build\msvc_9\extern\bullet\include\BulletSoftBody

XCOPY /Y ..\..\src\*.h ..\..\..\..\..\build\msvc_9\extern\bullet\include
XCOPY /Y ..\..\src\BulletSoftBody\*.h ..\..\..\..\..\build\msvc_9\extern\bullet\include\BulletSoftBody
XCOPY /Y ..\..\src\LinearMath\*.h ..\..\..\..\..\build\msvc_9\extern\bullet\include\LinearMath
XCOPY /Y ..\..\src\BulletCollision\BroadphaseCollision\*.h ..\..\..\..\..\build\msvc_9\extern\bullet\include\BulletCollision\BroadphaseCollision
XCOPY /Y ..\..\src\BulletCollision\NarrowPhaseCollision\*.h ..\..\..\..\..\build\msvc_9\extern\bullet\include\BulletCollision\NarrowPhaseCollision
XCOPY /Y ..\..\src\BulletCollision\NarrowPhaseCollision\*.h ..\..\..\..\..\build\msvc_9\extern\bullet\include\BulletCollision\NarrowPhaseCollision
XCOPY /Y ..\..\src\BulletCollision\CollisionDispatch\*.h ..\..\..\..\..\build\msvc_9\extern\bullet\include\BulletCollision\CollisionDispatch
XCOPY /Y ..\..\src\BulletCollision\CollisionShapes\*.h ..\..\..\..\..\build\msvc_9\extern\bullet\include\BulletCollision\CollisionShapes
XCOPY /Y ..\..\src\BulletCollision\Gimpact\*.h ..\..\..\..\..\build\msvc_9\extern\bullet\include\BulletCollision\Gimpact
XCOPY /Y ..\..\src\BulletDynamics\ConstraintSolver\*.h ..\..\..\..\..\build\msvc_9\extern\bullet\include\BulletDynamics\ConstraintSolver
XCOPY /Y ..\..\src\BulletDynamics\Dynamics\*.h ..\..\..\..\..\build\msvc_9\extern\bullet\include\BulletDynamics\Dynamics
XCOPY /Y ..\..\src\BulletDynamics\Vehicle\*.h ..\..\..\..\..\build\msvc_9\extern\bullet\include\BulletDynamics\Vehicle

ECHO Done
"
+ />
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IF NOT EXIST ..\..\..\..\..\build\msvc_9\extern\bullet2\include MKDIR ..\..\..\..\..\build\msvc_9\extern\bullet\include
IF NOT EXIST ..\..\..\..\..\build\msvc_9\extern\bullet2\include\BulletCollision MKDIR ..\..\..\..\..\build\msvc_9\extern\bullet\include\BulletCollision
IF NOT EXIST ..\..\..\..\..\build\msvc_9\extern\bullet2\include\BulletCollision\BroadphaseCollision MKDIR ..\..\..\..\..\build\msvc_9\extern\bullet\include\BulletCollision\BroadphaseCollision
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IF NOT EXIST ..\..\..\..\..\build\msvc_9\extern\bullet2\include\BulletCollision\CollisionDispatch MKDIR ..\..\..\..\..\build\msvc_9\extern\bullet\include\BulletCollision\CollisionDispatch
IF NOT EXIST ..\..\..\..\..\build\msvc_9\extern\bullet2\include\BulletCollision\CollisionShapes MKDIR ..\..\..\..\..\build\msvc_9\extern\bullet\include\BulletCollision\CollisionShapes
IF NOT EXIST ..\..\..\..\..\build\msvc_9\extern\bullet2\include\BulletCollision\Gimpact MKDIR ..\..\..\..\..\build\msvc_9\extern\bullet\include\BulletCollision\Gimpact
IF NOT EXIST ..\..\..\..\..\build\msvc_9\extern\bullet2\include\BulletDynamics MKDIR ..\..\..\..\..\build\msvc_9\extern\bullet\include\BulletDynamics
IF NOT EXIST ..\..\..\..\..\build\msvc_9\extern\bullet2\include\BulletDynamics\ConstraintSolver MKDIR ..\..\..\..\..\build\msvc_9\extern\bullet\include\BulletDynamics\ConstraintSolver
IF NOT EXIST ..\..\..\..\..\build\msvc_9\extern\bullet2\include\BulletDynamics\Dynamics MKDIR ..\..\..\..\..\build\msvc_9\extern\bullet\include\BulletDynamics\Dynamics
IF NOT EXIST ..\..\..\..\..\build\msvc_9\extern\bullet2\include\BulletDynamics\Vehicle MKDIR ..\..\..\..\..\build\msvc_9\extern\bullet\include\BulletDynamics\Vehicle
IF NOT EXIST ..\..\..\..\..\build\msvc_9\extern\bullet2\include\LinearMath MKDIR ..\..\..\..\..\build\msvc_9\extern\bullet\include\LinearMath
IF NOT EXIST ..\..\..\..\..\build\msvc_9\extern\bullet2\include\BulletSoftBody MKDIR ..\..\..\..\..\build\msvc_9\extern\bullet\include\BulletSoftBody

XCOPY /Y ..\..\src\*.h ..\..\..\..\..\build\msvc_9\extern\bullet\include
XCOPY /Y ..\..\src\BulletSoftBody\*.h ..\..\..\..\..\build\msvc_9\extern\bullet\include\BulletSoftBody
XCOPY /Y ..\..\src\LinearMath\*.h ..\..\..\..\..\build\msvc_9\extern\bullet\include\LinearMath
XCOPY /Y ..\..\src\BulletCollision\BroadphaseCollision\*.h ..\..\..\..\..\build\msvc_9\extern\bullet\include\BulletCollision\BroadphaseCollision
XCOPY /Y ..\..\src\BulletCollision\NarrowPhaseCollision\*.h ..\..\..\..\..\build\msvc_9\extern\bullet\include\BulletCollision\NarrowPhaseCollision
XCOPY /Y ..\..\src\BulletCollision\NarrowPhaseCollision\*.h ..\..\..\..\..\build\msvc_9\extern\bullet\include\BulletCollision\NarrowPhaseCollision
XCOPY /Y ..\..\src\BulletCollision\CollisionDispatch\*.h ..\..\..\..\..\build\msvc_9\extern\bullet\include\BulletCollision\CollisionDispatch
XCOPY /Y ..\..\src\BulletCollision\CollisionShapes\*.h ..\..\..\..\..\build\msvc_9\extern\bullet\include\BulletCollision\CollisionShapes
XCOPY /Y ..\..\src\BulletCollision\Gimpact\*.h ..\..\..\..\..\build\msvc_9\extern\bullet\include\BulletCollision\Gimpact
XCOPY /Y ..\..\src\BulletDynamics\ConstraintSolver\*.h ..\..\..\..\..\build\msvc_9\extern\bullet\include\BulletDynamics\ConstraintSolver
XCOPY /Y ..\..\src\BulletDynamics\Dynamics\*.h ..\..\..\..\..\build\msvc_9\extern\bullet\include\BulletDynamics\Dynamics
XCOPY /Y ..\..\src\BulletDynamics\Vehicle\*.h ..\..\..\..\..\build\msvc_9\extern\bullet\include\BulletDynamics\Vehicle

ECHO Done
"
+ />
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IF NOT EXIST ..\..\..\..\..\build\msvc_9\extern\bullet2\include MKDIR ..\..\..\..\..\build\msvc_9\extern\bullet\include
IF NOT EXIST ..\..\..\..\..\build\msvc_9\extern\bullet2\include\BulletCollision MKDIR ..\..\..\..\..\build\msvc_9\extern\bullet\include\BulletCollision
IF NOT EXIST ..\..\..\..\..\build\msvc_9\extern\bullet2\include\BulletCollision\BroadphaseCollision MKDIR ..\..\..\..\..\build\msvc_9\extern\bullet\include\BulletCollision\BroadphaseCollision
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IF NOT EXIST ..\..\..\..\..\build\msvc_9\extern\bullet2\include\BulletCollision\CollisionDispatch MKDIR ..\..\..\..\..\build\msvc_9\extern\bullet\include\BulletCollision\CollisionDispatch
IF NOT EXIST ..\..\..\..\..\build\msvc_9\extern\bullet2\include\BulletCollision\CollisionShapes MKDIR ..\..\..\..\..\build\msvc_9\extern\bullet\include\BulletCollision\CollisionShapes
IF NOT EXIST ..\..\..\..\..\build\msvc_9\extern\bullet2\include\BulletCollision\Gimpact MKDIR ..\..\..\..\..\build\msvc_9\extern\bullet\include\BulletCollision\Gimpact
IF NOT EXIST ..\..\..\..\..\build\msvc_9\extern\bullet2\include\BulletDynamics MKDIR ..\..\..\..\..\build\msvc_9\extern\bullet\include\BulletDynamics
IF NOT EXIST ..\..\..\..\..\build\msvc_9\extern\bullet2\include\BulletDynamics\ConstraintSolver MKDIR ..\..\..\..\..\build\msvc_9\extern\bullet\include\BulletDynamics\ConstraintSolver
IF NOT EXIST ..\..\..\..\..\build\msvc_9\extern\bullet2\include\BulletDynamics\Dynamics MKDIR ..\..\..\..\..\build\msvc_9\extern\bullet\include\BulletDynamics\Dynamics
IF NOT EXIST ..\..\..\..\..\build\msvc_9\extern\bullet2\include\BulletDynamics\Vehicle MKDIR ..\..\..\..\..\build\msvc_9\extern\bullet\include\BulletDynamics\Vehicle
IF NOT EXIST ..\..\..\..\..\build\msvc_9\extern\bullet2\include\LinearMath MKDIR ..\..\..\..\..\build\msvc_9\extern\bullet\include\LinearMath
IF NOT EXIST ..\..\..\..\..\build\msvc_9\extern\bullet2\include\BulletSoftBody MKDIR ..\..\..\..\..\build\msvc_9\extern\bullet\include\BulletSoftBody

XCOPY /Y ..\..\src\*.h ..\..\..\..\..\build\msvc_9\extern\bullet\include
XCOPY /Y ..\..\src\BulletSoftBody\*.h ..\..\..\..\..\build\msvc_9\extern\bullet\include\BulletSoftBody
XCOPY /Y ..\..\src\LinearMath\*.h ..\..\..\..\..\build\msvc_9\extern\bullet\include\LinearMath
XCOPY /Y ..\..\src\BulletCollision\BroadphaseCollision\*.h ..\..\..\..\..\build\msvc_9\extern\bullet\include\BulletCollision\BroadphaseCollision
XCOPY /Y ..\..\src\BulletCollision\NarrowPhaseCollision\*.h ..\..\..\..\..\build\msvc_9\extern\bullet\include\BulletCollision\NarrowPhaseCollision
XCOPY /Y ..\..\src\BulletCollision\NarrowPhaseCollision\*.h ..\..\..\..\..\build\msvc_9\extern\bullet\include\BulletCollision\NarrowPhaseCollision
XCOPY /Y ..\..\src\BulletCollision\CollisionDispatch\*.h ..\..\..\..\..\build\msvc_9\extern\bullet\include\BulletCollision\CollisionDispatch
XCOPY /Y ..\..\src\BulletCollision\CollisionShapes\*.h ..\..\..\..\..\build\msvc_9\extern\bullet\include\BulletCollision\CollisionShapes
XCOPY /Y ..\..\src\BulletCollision\Gimpact\*.h ..\..\..\..\..\build\msvc_9\extern\bullet\include\BulletCollision\Gimpact
XCOPY /Y ..\..\src\BulletDynamics\ConstraintSolver\*.h ..\..\..\..\..\build\msvc_9\extern\bullet\include\BulletDynamics\ConstraintSolver
XCOPY /Y ..\..\src\BulletDynamics\Dynamics\*.h ..\..\..\..\..\build\msvc_9\extern\bullet\include\BulletDynamics\Dynamics
XCOPY /Y ..\..\src\BulletDynamics\Vehicle\*.h ..\..\..\..\..\build\msvc_9\extern\bullet\include\BulletDynamics\Vehicle

ECHO Done
"
+ />
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+ <Files>
+ <Filter
+ Name="src"
+ >
+ <File
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+ >
+ </File>
+ <File
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+ >
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+ >
+ </File>
+ <Filter
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+ >
+ <Filter
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diff --git a/extern/bullet2/readme.txt b/extern/bullet2/readme.txt index 4d1a4c11706..02430cb5c0e 100644 --- a/extern/bullet2/readme.txt +++ b/extern/bullet2/readme.txt @@ -1,3 +1,8 @@ +*** +Apply bullet_compound_raycast.patch if not already applied in Bullet source +This patch is needed to return correct raycast results on compound shape. +/ben + *** These files in extern/bullet2 are NOT part of the Blender build yet *** diff --git a/extern/bullet2/src/Bullet-C-Api.h b/extern/bullet2/src/Bullet-C-Api.h index 078dcae63bb..8074aed3038 100644 --- a/extern/bullet2/src/Bullet-C-Api.h +++ b/extern/bullet2/src/Bullet-C-Api.h @@ -23,15 +23,153 @@ subject to the following restrictions: #ifndef BULLET_C_API_H #define BULLET_C_API_H +#define PL_DECLARE_HANDLE(name) typedef struct name##__ { int unused; } *name + +#ifdef BT_USE_DOUBLE_PRECISION +typedef double plReal; +#else +typedef float plReal; +#endif + +typedef plReal plVector3[3]; +typedef plReal plQuaternion[4]; + #ifdef __cplusplus extern "C" { #endif -double plNearestPoints(float p1[3], float p2[3], float p3[3], float q1[3], float q2[3], float q3[3], float *pa, float *pb, float normal[3]); +/* Particular physics SDK */ + PL_DECLARE_HANDLE(plPhysicsSdkHandle); + +/* Dynamics world, belonging to some physics SDK */ + PL_DECLARE_HANDLE(plDynamicsWorldHandle); + +/* Rigid Body that can be part of a Dynamics World */ + PL_DECLARE_HANDLE(plRigidBodyHandle); + +/* Collision Shape/Geometry, property of a Rigid Body */ + PL_DECLARE_HANDLE(plCollisionShapeHandle); + +/* Constraint for Rigid Bodies */ + PL_DECLARE_HANDLE(plConstraintHandle); + +/* Triangle Mesh interface */ + PL_DECLARE_HANDLE(plMeshInterfaceHandle); + +/* Broadphase Scene/Proxy Handles */ + PL_DECLARE_HANDLE(plCollisionBroadphaseHandle); + PL_DECLARE_HANDLE(plBroadphaseProxyHandle); + PL_DECLARE_HANDLE(plCollisionWorldHandle); + +/* + Create and Delete a Physics SDK +*/ + + extern plPhysicsSdkHandle plNewBulletSdk(); //this could be also another sdk, like ODE, PhysX etc. + extern void plDeletePhysicsSdk(plPhysicsSdkHandle physicsSdk); + +/* Collision World, not strictly necessary, you can also just create a Dynamics World with Rigid Bodies which internally manages the Collision World with Collision Objects */ + + typedef void(*btBroadphaseCallback)(void* clientData, void* object1,void* object2); + + extern plCollisionBroadphaseHandle plCreateSapBroadphase(btBroadphaseCallback beginCallback,btBroadphaseCallback endCallback); + + extern void plDestroyBroadphase(plCollisionBroadphaseHandle bp); + + extern plBroadphaseProxyHandle plCreateProxy(plCollisionBroadphaseHandle bp, void* clientData, plReal minX,plReal minY,plReal minZ, plReal maxX,plReal maxY, plReal maxZ); + + extern void plDestroyProxy(plCollisionBroadphaseHandle bp, plBroadphaseProxyHandle proxyHandle); + + extern void plSetBoundingBox(plBroadphaseProxyHandle proxyHandle, plReal minX,plReal minY,plReal minZ, plReal maxX,plReal maxY, plReal maxZ); + +/* todo: add pair cache support with queries like add/remove/find pair */ + + extern plCollisionWorldHandle plCreateCollisionWorld(plPhysicsSdkHandle physicsSdk); + +/* todo: add/remove objects */ + + +/* Dynamics World */ + + extern plDynamicsWorldHandle plCreateDynamicsWorld(plPhysicsSdkHandle physicsSdk); + + extern void plDeleteDynamicsWorld(plDynamicsWorldHandle world); + + extern void plStepSimulation(plDynamicsWorldHandle, plReal timeStep); + + extern void plAddRigidBody(plDynamicsWorldHandle world, plRigidBodyHandle object); + + extern void plRemoveRigidBody(plDynamicsWorldHandle world, plRigidBodyHandle object); + + +/* Rigid Body */ + + extern plRigidBodyHandle plCreateRigidBody( void* user_data, float mass, plCollisionShapeHandle cshape ); + + extern void plDeleteRigidBody(plRigidBodyHandle body); + + +/* Collision Shape definition */ + + extern plCollisionShapeHandle plNewSphereShape(plReal radius); + extern plCollisionShapeHandle plNewBoxShape(plReal x, plReal y, plReal z); + extern plCollisionShapeHandle plNewCapsuleShape(plReal radius, plReal height); + extern plCollisionShapeHandle plNewConeShape(plReal radius, plReal height); + extern plCollisionShapeHandle plNewCylinderShape(plReal radius, plReal height); + extern plCollisionShapeHandle plNewCompoundShape(); + extern void plAddChildShape(plCollisionShapeHandle compoundShape,plCollisionShapeHandle childShape, plVector3 childPos,plQuaternion childOrn); + + extern void plDeleteShape(plCollisionShapeHandle shape); + + /* Convex Meshes */ + extern plCollisionShapeHandle plNewConvexHullShape(); + extern void plAddVertex(plCollisionShapeHandle convexHull, plReal x,plReal y,plReal z); +/* Concave static triangle meshes */ + extern plMeshInterfaceHandle plNewMeshInterface(); + extern void plAddTriangle(plMeshInterfaceHandle meshHandle, plVector3 v0,plVector3 v1,plVector3 v2); + extern plCollisionShapeHandle plNewStaticTriangleMeshShape(plMeshInterfaceHandle); + + extern void plSetScaling(plCollisionShapeHandle shape, plVector3 scaling); + +/* SOLID has Response Callback/Table/Management */ +/* PhysX has Triggers, User Callbacks and filtering */ +/* ODE has the typedef void dNearCallback (void *data, dGeomID o1, dGeomID o2); */ + +/* typedef void plUpdatedPositionCallback(void* userData, plRigidBodyHandle rbHandle, plVector3 pos); */ +/* typedef void plUpdatedOrientationCallback(void* userData, plRigidBodyHandle rbHandle, plQuaternion orientation); */ + + /* get world transform */ + extern void plGetOpenGLMatrix(plRigidBodyHandle object, plReal* matrix); + extern void plGetPosition(plRigidBodyHandle object,plVector3 position); + extern void plGetOrientation(plRigidBodyHandle object,plQuaternion orientation); + + /* set world transform (position/orientation) */ + extern void plSetPosition(plRigidBodyHandle object, const plVector3 position); + extern void plSetOrientation(plRigidBodyHandle object, const plQuaternion orientation); + extern void plSetEuler(plReal yaw,plReal pitch,plReal roll, plQuaternion orient); + + typedef struct plRayCastResult { + plRigidBodyHandle m_body; + plCollisionShapeHandle m_shape; + plVector3 m_positionWorld; + plVector3 m_normalWorld; + } plRayCastResult; + + extern int plRayCast(plDynamicsWorldHandle world, const plVector3 rayStart, const plVector3 rayEnd, plRayCastResult res); + + /* Sweep API */ + + /* extern plRigidBodyHandle plObjectCast(plDynamicsWorldHandle world, const plVector3 rayStart, const plVector3 rayEnd, plVector3 hitpoint, plVector3 normal); */ + + /* Continuous Collision Detection API */ + + // needed for source/blender/blenkernel/intern/collision.c + double plNearestPoints(float p1[3], float p2[3], float p3[3], float q1[3], float q2[3], float q3[3], float *pa, float *pb, float normal[3]); #ifdef __cplusplus } #endif + #endif //BULLET_C_API_H diff --git a/extern/bullet2/src/BulletCollision/BroadphaseCollision/btAxisSweep3.cpp b/extern/bullet2/src/BulletCollision/BroadphaseCollision/btAxisSweep3.cpp index be4a11506df..d7eea33ea41 100644 --- a/extern/bullet2/src/BulletCollision/BroadphaseCollision/btAxisSweep3.cpp +++ b/extern/bullet2/src/BulletCollision/BroadphaseCollision/btAxisSweep3.cpp @@ -21,640 +21,18 @@ #include <assert.h> -#ifdef DEBUG_BROADPHASE -#include <stdio.h> -void btAxisSweep3::debugPrintAxis(int axis, bool checkCardinality) +btAxisSweep3::btAxisSweep3(const btPoint3& worldAabbMin,const btPoint3& worldAabbMax, unsigned short int maxHandles, btOverlappingPairCache* pairCache) +:btAxisSweep3Internal<unsigned short int>(worldAabbMin,worldAabbMax,0xfffe,0xffff,maxHandles,pairCache) { - int numEdges = m_pHandles[0].m_maxEdges[axis]; - printf("SAP Axis %d, numEdges=%d\n",axis,numEdges); - - int i; - for (i=0;i<numEdges+1;i++) - { - Edge* pEdge = m_pEdges[axis] + i; - Handle* pHandlePrev = getHandle(pEdge->m_handle); - int handleIndex = pEdge->IsMax()? pHandlePrev->m_maxEdges[axis] : pHandlePrev->m_minEdges[axis]; - char beginOrEnd; - beginOrEnd=pEdge->IsMax()?'E':'B'; - printf(" [%c,h=%d,p=%x,i=%d]\n",beginOrEnd,pEdge->m_handle,pEdge->m_pos,handleIndex); - } - - if (checkCardinality) - assert(numEdges == m_numHandles*2+1); -} -#endif //DEBUG_BROADPHASE - - -btBroadphaseProxy* btAxisSweep3::createProxy( const btVector3& min, const btVector3& max,int shapeType,void* userPtr,short int collisionFilterGroup,short int collisionFilterMask) -{ - (void)shapeType; - BP_FP_INT_TYPE handleId = addHandle(min,max, userPtr,collisionFilterGroup,collisionFilterMask); - - Handle* handle = getHandle(handleId); - - return handle; -} - -void btAxisSweep3::destroyProxy(btBroadphaseProxy* proxy) -{ - Handle* handle = static_cast<Handle*>(proxy); - removeHandle(handle->m_handleId); -} - -void btAxisSweep3::setAabb(btBroadphaseProxy* proxy,const btVector3& aabbMin,const btVector3& aabbMax) -{ - Handle* handle = static_cast<Handle*>(proxy); - updateHandle(handle->m_handleId,aabbMin,aabbMax); - -} - - - - - - -btAxisSweep3::btAxisSweep3(const btPoint3& worldAabbMin,const btPoint3& worldAabbMax, int maxHandles) -:btOverlappingPairCache() -{ - m_invalidPair = 0; - //assert(bounds.HasVolume()); - // 1 handle is reserved as sentinel - btAssert(maxHandles > 1 && maxHandles < BP_MAX_HANDLES); - - // init bounds - m_worldAabbMin = worldAabbMin; - m_worldAabbMax = worldAabbMax; - - btVector3 aabbSize = m_worldAabbMax - m_worldAabbMin; - - BP_FP_INT_TYPE maxInt = BP_HANDLE_SENTINEL; - - m_quantize = btVector3(btScalar(maxInt),btScalar(maxInt),btScalar(maxInt)) / aabbSize; - - // allocate handles buffer and put all handles on free list - m_pHandles = new Handle[maxHandles]; - m_maxHandles = maxHandles; - m_numHandles = 0; - - // handle 0 is reserved as the null index, and is also used as the sentinel - m_firstFreeHandle = 1; - { - for (BP_FP_INT_TYPE i = m_firstFreeHandle; i < maxHandles; i++) - m_pHandles[i].SetNextFree(i + 1); - m_pHandles[maxHandles - 1].SetNextFree(0); - } - - { - // allocate edge buffers - for (int i = 0; i < 3; i++) - m_pEdges[i] = new Edge[maxHandles * 2]; - } - //removed overlap management - - // make boundary sentinels - - m_pHandles[0].m_clientObject = 0; - - for (int axis = 0; axis < 3; axis++) - { - m_pHandles[0].m_minEdges[axis] = 0; - m_pHandles[0].m_maxEdges[axis] = 1; - - m_pEdges[axis][0].m_pos = 0; - m_pEdges[axis][0].m_handle = 0; - m_pEdges[axis][1].m_pos = BP_HANDLE_SENTINEL; - m_pEdges[axis][1].m_handle = 0; -#ifdef DEBUG_BROADPHASE - debugPrintAxis(axis); -#endif //DEBUG_BROADPHASE - - } - -} - -btAxisSweep3::~btAxisSweep3() -{ - - for (int i = 2; i >= 0; i--) - delete[] m_pEdges[i]; - delete[] m_pHandles; -} - -void btAxisSweep3::quantize(BP_FP_INT_TYPE* out, const btPoint3& point, int isMax) const -{ - btPoint3 clampedPoint(point); - - - - clampedPoint.setMax(m_worldAabbMin); - clampedPoint.setMin(m_worldAabbMax); - - btVector3 v = (clampedPoint - m_worldAabbMin) * m_quantize; - out[0] = (BP_FP_INT_TYPE)(((BP_FP_INT_TYPE)v.getX() & BP_HANDLE_MASK) | isMax); - out[1] = (BP_FP_INT_TYPE)(((BP_FP_INT_TYPE)v.getY() & BP_HANDLE_MASK) | isMax); - out[2] = (BP_FP_INT_TYPE)(((BP_FP_INT_TYPE)v.getZ() & BP_HANDLE_MASK) | isMax); - -} - - - -BP_FP_INT_TYPE btAxisSweep3::allocHandle() -{ - assert(m_firstFreeHandle); - - BP_FP_INT_TYPE handle = m_firstFreeHandle; - m_firstFreeHandle = getHandle(handle)->GetNextFree(); - m_numHandles++; - - return handle; -} - -void btAxisSweep3::freeHandle(BP_FP_INT_TYPE handle) -{ - assert(handle > 0 && handle < m_maxHandles); - - getHandle(handle)->SetNextFree(m_firstFreeHandle); - m_firstFreeHandle = handle; - - m_numHandles--; -} - - - -BP_FP_INT_TYPE btAxisSweep3::addHandle(const btPoint3& aabbMin,const btPoint3& aabbMax, void* pOwner,short int collisionFilterGroup,short int collisionFilterMask) -{ - // quantize the bounds - BP_FP_INT_TYPE min[3], max[3]; - quantize(min, aabbMin, 0); - quantize(max, aabbMax, 1); - - // allocate a handle - BP_FP_INT_TYPE handle = allocHandle(); - assert(handle!= 0xcdcd); - - Handle* pHandle = getHandle(handle); - - pHandle->m_handleId = handle; - //pHandle->m_pOverlaps = 0; - pHandle->m_clientObject = pOwner; - pHandle->m_collisionFilterGroup = collisionFilterGroup; - pHandle->m_collisionFilterMask = collisionFilterMask; - - // compute current limit of edge arrays - BP_FP_INT_TYPE limit = m_numHandles * 2; - - - // insert new edges just inside the max boundary edge - for (BP_FP_INT_TYPE axis = 0; axis < 3; axis++) - { - - m_pHandles[0].m_maxEdges[axis] += 2; - - m_pEdges[axis][limit + 1] = m_pEdges[axis][limit - 1]; - - m_pEdges[axis][limit - 1].m_pos = min[axis]; - m_pEdges[axis][limit - 1].m_handle = handle; - - m_pEdges[axis][limit].m_pos = max[axis]; - m_pEdges[axis][limit].m_handle = handle; - - pHandle->m_minEdges[axis] = limit - 1; - pHandle->m_maxEdges[axis] = limit; - } - - // now sort the new edges to their correct position - sortMinDown(0, pHandle->m_minEdges[0], false); - sortMaxDown(0, pHandle->m_maxEdges[0], false); - sortMinDown(1, pHandle->m_minEdges[1], false); - sortMaxDown(1, pHandle->m_maxEdges[1], false); - sortMinDown(2, pHandle->m_minEdges[2], true); - sortMaxDown(2, pHandle->m_maxEdges[2], true); - - - return handle; -} - - -void btAxisSweep3::removeHandle(BP_FP_INT_TYPE handle) -{ - - Handle* pHandle = getHandle(handle); - - //explicitly remove the pairs containing the proxy - //we could do it also in the sortMinUp (passing true) - //todo: compare performance - removeOverlappingPairsContainingProxy(pHandle); - - - // compute current limit of edge arrays - int limit = m_numHandles * 2; - - int axis; - - for (axis = 0;axis<3;axis++) - { - m_pHandles[0].m_maxEdges[axis] -= 2; - } - - // remove the edges by sorting them up to the end of the list - for ( axis = 0; axis < 3; axis++) - { - Edge* pEdges = m_pEdges[axis]; - BP_FP_INT_TYPE max = pHandle->m_maxEdges[axis]; - pEdges[max].m_pos = BP_HANDLE_SENTINEL; - - sortMaxUp(axis,max,false); - - - BP_FP_INT_TYPE i = pHandle->m_minEdges[axis]; - pEdges[i].m_pos = BP_HANDLE_SENTINEL; - - - sortMinUp(axis,i,false); - - pEdges[limit-1].m_handle = 0; - pEdges[limit-1].m_pos = BP_HANDLE_SENTINEL; - -#ifdef DEBUG_BROADPHASE - debugPrintAxis(axis,false); -#endif //DEBUG_BROADPHASE - - - } - - - // free the handle - freeHandle(handle); - - -} - -extern int gOverlappingPairs; - - -void btAxisSweep3::refreshOverlappingPairs() -{ - -} -void btAxisSweep3::processAllOverlappingPairs(btOverlapCallback* callback) -{ - - //perform a sort, to find duplicates and to sort 'invalid' pairs to the end - m_overlappingPairArray.heapSort(btBroadphasePairSortPredicate()); - - //remove the 'invalid' ones -#ifdef USE_POPBACK_REMOVAL - while (m_invalidPair>0) - { - m_invalidPair--; - m_overlappingPairArray.pop_back(); - } -#else - m_overlappingPairArray.resize(m_overlappingPairArray.size() - m_invalidPair); - m_invalidPair = 0; -#endif - - - int i; - - btBroadphasePair previousPair; - previousPair.m_pProxy0 = 0; - previousPair.m_pProxy1 = 0; - previousPair.m_algorithm = 0; - - - for (i=0;i<m_overlappingPairArray.size();i++) - { - - btBroadphasePair& pair = m_overlappingPairArray[i]; - - bool isDuplicate = (pair == previousPair); - - previousPair = pair; - - bool needsRemoval = false; - - if (!isDuplicate) - { - bool hasOverlap = testOverlap(pair.m_pProxy0,pair.m_pProxy1); - - if (hasOverlap) - { - needsRemoval = callback->processOverlap(pair); - } else - { - needsRemoval = true; - } - } else - { - //remove duplicate - needsRemoval = true; - //should have no algorithm - btAssert(!pair.m_algorithm); - } - - if (needsRemoval) - { - cleanOverlappingPair(pair); - - // m_overlappingPairArray.swap(i,m_overlappingPairArray.size()-1); - // m_overlappingPairArray.pop_back(); - pair.m_pProxy0 = 0; - pair.m_pProxy1 = 0; - m_invalidPair++; - gOverlappingPairs--; - } - - } -} - - -bool btAxisSweep3::testOverlap(btBroadphaseProxy* proxy0,btBroadphaseProxy* proxy1) -{ - const Handle* pHandleA = static_cast<Handle*>(proxy0); - const Handle* pHandleB = static_cast<Handle*>(proxy1); - - //optimization 1: check the array index (memory address), instead of the m_pos - - for (int axis = 0; axis < 3; axis++) - { - if (pHandleA->m_maxEdges[axis] < pHandleB->m_minEdges[axis] || - pHandleB->m_maxEdges[axis] < pHandleA->m_minEdges[axis]) - { - return false; - } - } - return true; -} - -bool btAxisSweep3::testOverlap(int ignoreAxis,const Handle* pHandleA, const Handle* pHandleB) -{ - //optimization 1: check the array index (memory address), instead of the m_pos - - for (int axis = 0; axis < 3; axis++) - { - if (axis != ignoreAxis) - { - if (pHandleA->m_maxEdges[axis] < pHandleB->m_minEdges[axis] || - pHandleB->m_maxEdges[axis] < pHandleA->m_minEdges[axis]) - { - return false; - } - } - } - - //optimization 2: only 2 axis need to be tested (conflicts with 'delayed removal' optimization) - - /*for (int axis = 0; axis < 3; axis++) - { - if (m_pEdges[axis][pHandleA->m_maxEdges[axis]].m_pos < m_pEdges[axis][pHandleB->m_minEdges[axis]].m_pos || - m_pEdges[axis][pHandleB->m_maxEdges[axis]].m_pos < m_pEdges[axis][pHandleA->m_minEdges[axis]].m_pos) - { - return false; - } - } - */ - - return true; -} - -void btAxisSweep3::updateHandle(BP_FP_INT_TYPE handle, const btPoint3& aabbMin,const btPoint3& aabbMax) -{ -// assert(bounds.IsFinite()); - //assert(bounds.HasVolume()); - - Handle* pHandle = getHandle(handle); - - // quantize the new bounds - BP_FP_INT_TYPE min[3], max[3]; - quantize(min, aabbMin, 0); - quantize(max, aabbMax, 1); - - // update changed edges - for (int axis = 0; axis < 3; axis++) - { - BP_FP_INT_TYPE emin = pHandle->m_minEdges[axis]; - BP_FP_INT_TYPE emax = pHandle->m_maxEdges[axis]; - - int dmin = (int)min[axis] - (int)m_pEdges[axis][emin].m_pos; - int dmax = (int)max[axis] - (int)m_pEdges[axis][emax].m_pos; - - m_pEdges[axis][emin].m_pos = min[axis]; - m_pEdges[axis][emax].m_pos = max[axis]; - - // expand (only adds overlaps) - if (dmin < 0) - sortMinDown(axis, emin); - - if (dmax > 0) - sortMaxUp(axis, emax); - - // shrink (only removes overlaps) - if (dmin > 0) - sortMinUp(axis, emin); - - if (dmax < 0) - sortMaxDown(axis, emax); - -#ifdef DEBUG_BROADPHASE - debugPrintAxis(axis); -#endif //DEBUG_BROADPHASE - } - - -} - - - - -// sorting a min edge downwards can only ever *add* overlaps -void btAxisSweep3::sortMinDown(int axis, BP_FP_INT_TYPE edge, bool updateOverlaps) -{ - - Edge* pEdge = m_pEdges[axis] + edge; - Edge* pPrev = pEdge - 1; - Handle* pHandleEdge = getHandle(pEdge->m_handle); - - while (pEdge->m_pos < pPrev->m_pos) - { - Handle* pHandlePrev = getHandle(pPrev->m_handle); - - if (pPrev->IsMax()) - { - // if previous edge is a maximum check the bounds and add an overlap if necessary - if (updateOverlaps && testOverlap(axis,pHandleEdge, pHandlePrev)) - { - addOverlappingPair(pHandleEdge,pHandlePrev); - - //AddOverlap(pEdge->m_handle, pPrev->m_handle); - - } - - // update edge reference in other handle - pHandlePrev->m_maxEdges[axis]++; - } - else - pHandlePrev->m_minEdges[axis]++; - - pHandleEdge->m_minEdges[axis]--; - - // swap the edges - Edge swap = *pEdge; - *pEdge = *pPrev; - *pPrev = swap; - - // decrement - pEdge--; - pPrev--; - } - -#ifdef DEBUG_BROADPHASE - debugPrintAxis(axis); -#endif //DEBUG_BROADPHASE - -} - -// sorting a min edge upwards can only ever *remove* overlaps -void btAxisSweep3::sortMinUp(int axis, BP_FP_INT_TYPE edge, bool updateOverlaps) -{ - Edge* pEdge = m_pEdges[axis] + edge; - Edge* pNext = pEdge + 1; - Handle* pHandleEdge = getHandle(pEdge->m_handle); - - while (pNext->m_handle && (pEdge->m_pos >= pNext->m_pos)) - { - Handle* pHandleNext = getHandle(pNext->m_handle); - - if (pNext->IsMax()) - { - // if next edge is maximum remove any overlap between the two handles - if (updateOverlaps) - { - /* - Handle* handle0 = getHandle(pEdge->m_handle); - Handle* handle1 = getHandle(pNext->m_handle); - btBroadphasePair tmpPair(*handle0,*handle1); - removeOverlappingPair(tmpPair); - */ - - } - - // update edge reference in other handle - pHandleNext->m_maxEdges[axis]--; - } - else - pHandleNext->m_minEdges[axis]--; - - pHandleEdge->m_minEdges[axis]++; - - // swap the edges - Edge swap = *pEdge; - *pEdge = *pNext; - *pNext = swap; - - // increment - pEdge++; - pNext++; - } - + btAssert(maxHandles > 1 && maxHandles < 32767); } -// sorting a max edge downwards can only ever *remove* overlaps -void btAxisSweep3::sortMaxDown(int axis, BP_FP_INT_TYPE edge, bool updateOverlaps) -{ - - Edge* pEdge = m_pEdges[axis] + edge; - Edge* pPrev = pEdge - 1; - Handle* pHandleEdge = getHandle(pEdge->m_handle); - - while (pEdge->m_pos < pPrev->m_pos) - { - Handle* pHandlePrev = getHandle(pPrev->m_handle); - - if (!pPrev->IsMax()) - { - // if previous edge was a minimum remove any overlap between the two handles - if (updateOverlaps) - { - //this is done during the overlappingpairarray iteration/narrowphase collision - /* - Handle* handle0 = getHandle(pEdge->m_handle); - Handle* handle1 = getHandle(pPrev->m_handle); - btBroadphasePair* pair = findPair(handle0,handle1); - //assert(pair); - - if (pair) - { - removeOverlappingPair(*pair); - } - */ - - } - - // update edge reference in other handle - pHandlePrev->m_minEdges[axis]++;; - } - else - pHandlePrev->m_maxEdges[axis]++; - - pHandleEdge->m_maxEdges[axis]--; - - // swap the edges - Edge swap = *pEdge; - *pEdge = *pPrev; - *pPrev = swap; - // decrement - pEdge--; - pPrev--; - } - - -#ifdef DEBUG_BROADPHASE - debugPrintAxis(axis); -#endif //DEBUG_BROADPHASE - -} - -// sorting a max edge upwards can only ever *add* overlaps -void btAxisSweep3::sortMaxUp(int axis, BP_FP_INT_TYPE edge, bool updateOverlaps) +bt32BitAxisSweep3::bt32BitAxisSweep3(const btPoint3& worldAabbMin,const btPoint3& worldAabbMax, unsigned int maxHandles , btOverlappingPairCache* pairCache ) +:btAxisSweep3Internal<unsigned int>(worldAabbMin,worldAabbMax,0xfffffffe,0x7fffffff,maxHandles,pairCache) { - Edge* pEdge = m_pEdges[axis] + edge; - Edge* pNext = pEdge + 1; - Handle* pHandleEdge = getHandle(pEdge->m_handle); - - while (pNext->m_handle && (pEdge->m_pos >= pNext->m_pos)) - { - Handle* pHandleNext = getHandle(pNext->m_handle); - - if (!pNext->IsMax()) - { - // if next edge is a minimum check the bounds and add an overlap if necessary - if (updateOverlaps && testOverlap(axis, pHandleEdge, pHandleNext)) - { - Handle* handle0 = getHandle(pEdge->m_handle); - Handle* handle1 = getHandle(pNext->m_handle); - addOverlappingPair(handle0,handle1); - } - - // update edge reference in other handle - pHandleNext->m_minEdges[axis]--; - } - else - pHandleNext->m_maxEdges[axis]--; - - pHandleEdge->m_maxEdges[axis]++; - - // swap the edges - Edge swap = *pEdge; - *pEdge = *pNext; - *pNext = swap; - - // increment - pEdge++; - pNext++; - } - + // 1 handle is reserved as sentinel + btAssert(maxHandles > 1 && maxHandles < 2147483647); } diff --git a/extern/bullet2/src/BulletCollision/BroadphaseCollision/btAxisSweep3.h b/extern/bullet2/src/BulletCollision/BroadphaseCollision/btAxisSweep3.h index 57bbb368672..d0ad09a385a 100644 --- a/extern/bullet2/src/BulletCollision/BroadphaseCollision/btAxisSweep3.h +++ b/extern/bullet2/src/BulletCollision/BroadphaseCollision/btAxisSweep3.h @@ -19,34 +19,26 @@ #ifndef AXIS_SWEEP_3_H #define AXIS_SWEEP_3_H -#include "../../LinearMath/btPoint3.h" -#include "../../LinearMath/btVector3.h" +#include "LinearMath/btPoint3.h" +#include "LinearMath/btVector3.h" #include "btOverlappingPairCache.h" +#include "btBroadphaseInterface.h" #include "btBroadphaseProxy.h" - - -//Enable BP_USE_FIXEDPOINT_INT_32 if you need more then 32767 objects -//#define BP_USE_FIXEDPOINT_INT_32 1 - -#ifdef BP_USE_FIXEDPOINT_INT_32 - #define BP_FP_INT_TYPE unsigned int - #define BP_MAX_HANDLES 1500000 //arbitrary maximum number of handles - #define BP_HANDLE_SENTINEL 0x7fffffff - #define BP_HANDLE_MASK 0xfffffffe -#else - #define BP_FP_INT_TYPE unsigned short int - #define BP_MAX_HANDLES 32767 - #define BP_HANDLE_SENTINEL 0xffff - #define BP_HANDLE_MASK 0xfffe -#endif //BP_USE_FIXEDPOINT_INT_32 +#include "btOverlappingPairCallback.h" //#define DEBUG_BROADPHASE 1 +#define USE_OVERLAP_TEST_ON_REMOVES 1 -/// btAxisSweep3 is an efficient implementation of the 3d axis sweep and prune broadphase. -/// It uses arrays rather then lists for storage of the 3 axis. Also it operates using integer coordinates instead of floats. -/// The testOverlap check is optimized to check the array index, rather then the actual AABB coordinates/pos -class btAxisSweep3 : public btOverlappingPairCache +/// The internal templace class btAxisSweep3Internal implements the sweep and prune broadphase. +/// It uses quantized integers to represent the begin and end points for each of the 3 axis. +/// Dont use this class directly, use btAxisSweep3 or bt32BitAxisSweep3 instead. +template <typename BP_FP_INT_TYPE> +class btAxisSweep3Internal : public btBroadphaseInterface { +protected: + + BP_FP_INT_TYPE m_bpHandleMask; + BP_FP_INT_TYPE m_handleSentinel; public: @@ -57,47 +49,57 @@ public: BP_FP_INT_TYPE m_pos; // low bit is min/max BP_FP_INT_TYPE m_handle; - BP_FP_INT_TYPE IsMax() const {return m_pos & 1;} + BP_FP_INT_TYPE IsMax() const {return static_cast<BP_FP_INT_TYPE>(m_pos & 1);} }; public: - class Handle : public btBroadphaseProxy + class Handle : public btBroadphaseProxy { public: - + BT_DECLARE_ALIGNED_ALLOCATOR(); + // indexes into the edge arrays BP_FP_INT_TYPE m_minEdges[3], m_maxEdges[3]; // 6 * 2 = 12 - BP_FP_INT_TYPE m_handleId; +// BP_FP_INT_TYPE m_uniqueId; BP_FP_INT_TYPE m_pad; //void* m_pOwner; this is now in btBroadphaseProxy.m_clientObject - inline void SetNextFree(BP_FP_INT_TYPE next) {m_minEdges[0] = next;} - inline BP_FP_INT_TYPE GetNextFree() const {return m_minEdges[0];} + SIMD_FORCE_INLINE void SetNextFree(BP_FP_INT_TYPE next) {m_minEdges[0] = next;} + SIMD_FORCE_INLINE BP_FP_INT_TYPE GetNextFree() const {return m_minEdges[0];} }; // 24 bytes + 24 for Edge structures = 44 bytes total per entry -private: +protected: btPoint3 m_worldAabbMin; // overall system bounds btPoint3 m_worldAabbMax; // overall system bounds btVector3 m_quantize; // scaling factor for quantization BP_FP_INT_TYPE m_numHandles; // number of active handles - int m_maxHandles; // max number of handles + BP_FP_INT_TYPE m_maxHandles; // max number of handles Handle* m_pHandles; // handles pool + BP_FP_INT_TYPE m_firstFreeHandle; // free handles list Edge* m_pEdges[3]; // edge arrays for the 3 axes (each array has m_maxHandles * 2 + 2 sentinel entries) + void* m_pEdgesRawPtr[3]; + + btOverlappingPairCache* m_pairCache; + + ///btOverlappingPairCallback is an additional optional user callback for adding/removing overlapping pairs, similar interface to btOverlappingPairCache. + btOverlappingPairCallback* m_userPairCallback; + + bool m_ownsPairCache; - int m_invalidPair; + int m_invalidPair; // allocation/deallocation BP_FP_INT_TYPE allocHandle(); void freeHandle(BP_FP_INT_TYPE handle); - bool testOverlap(int ignoreAxis,const Handle* pHandleA, const Handle* pHandleB); + bool testOverlap2D(const Handle* pHandleA, const Handle* pHandleB,int axis0,int axis1); #ifdef DEBUG_BROADPHASE void debugPrintAxis(int axis,bool checkCardinality=true); @@ -108,29 +110,803 @@ private: void quantize(BP_FP_INT_TYPE* out, const btPoint3& point, int isMax) const; - void sortMinDown(int axis, BP_FP_INT_TYPE edge, bool updateOverlaps = true); - void sortMinUp(int axis, BP_FP_INT_TYPE edge, bool updateOverlaps = true); - void sortMaxDown(int axis, BP_FP_INT_TYPE edge, bool updateOverlaps = true); - void sortMaxUp(int axis, BP_FP_INT_TYPE edge, bool updateOverlaps = true); + void sortMinDown(int axis, BP_FP_INT_TYPE edge, btDispatcher* dispatcher, bool updateOverlaps ); + void sortMinUp(int axis, BP_FP_INT_TYPE edge, btDispatcher* dispatcher, bool updateOverlaps ); + void sortMaxDown(int axis, BP_FP_INT_TYPE edge, btDispatcher* dispatcher, bool updateOverlaps ); + void sortMaxUp(int axis, BP_FP_INT_TYPE edge, btDispatcher* dispatcher, bool updateOverlaps ); public: - btAxisSweep3(const btPoint3& worldAabbMin,const btPoint3& worldAabbMax, int maxHandles = 16384); - virtual ~btAxisSweep3(); - virtual void refreshOverlappingPairs(); + btAxisSweep3Internal(const btPoint3& worldAabbMin,const btPoint3& worldAabbMax, BP_FP_INT_TYPE handleMask, BP_FP_INT_TYPE handleSentinel, BP_FP_INT_TYPE maxHandles = 16384, btOverlappingPairCache* pairCache=0); + + virtual ~btAxisSweep3Internal(); + + BP_FP_INT_TYPE getNumHandles() const + { + return m_numHandles; + } + + virtual void calculateOverlappingPairs(btDispatcher* dispatcher); - BP_FP_INT_TYPE addHandle(const btPoint3& aabbMin,const btPoint3& aabbMax, void* pOwner,short int collisionFilterGroup,short int collisionFilterMask); - void removeHandle(BP_FP_INT_TYPE handle); - void updateHandle(BP_FP_INT_TYPE handle, const btPoint3& aabbMin,const btPoint3& aabbMax); - inline Handle* getHandle(BP_FP_INT_TYPE index) const {return m_pHandles + index;} + BP_FP_INT_TYPE addHandle(const btPoint3& aabbMin,const btPoint3& aabbMax, void* pOwner,short int collisionFilterGroup,short int collisionFilterMask,btDispatcher* dispatcher,void* multiSapProxy); + void removeHandle(BP_FP_INT_TYPE handle,btDispatcher* dispatcher); + void updateHandle(BP_FP_INT_TYPE handle, const btPoint3& aabbMin,const btPoint3& aabbMax,btDispatcher* dispatcher); + SIMD_FORCE_INLINE Handle* getHandle(BP_FP_INT_TYPE index) const {return m_pHandles + index;} void processAllOverlappingPairs(btOverlapCallback* callback); //Broadphase Interface - virtual btBroadphaseProxy* createProxy( const btVector3& min, const btVector3& max,int shapeType,void* userPtr ,short int collisionFilterGroup,short int collisionFilterMask); - virtual void destroyProxy(btBroadphaseProxy* proxy); - virtual void setAabb(btBroadphaseProxy* proxy,const btVector3& aabbMin,const btVector3& aabbMax); - bool testOverlap(btBroadphaseProxy* proxy0,btBroadphaseProxy* proxy1); + virtual btBroadphaseProxy* createProxy( const btVector3& aabbMin, const btVector3& aabbMax,int shapeType,void* userPtr ,short int collisionFilterGroup,short int collisionFilterMask,btDispatcher* dispatcher,void* multiSapProxy); + virtual void destroyProxy(btBroadphaseProxy* proxy,btDispatcher* dispatcher); + virtual void setAabb(btBroadphaseProxy* proxy,const btVector3& aabbMin,const btVector3& aabbMax,btDispatcher* dispatcher); + + bool testAabbOverlap(btBroadphaseProxy* proxy0,btBroadphaseProxy* proxy1); + + btOverlappingPairCache* getOverlappingPairCache() + { + return m_pairCache; + } + const btOverlappingPairCache* getOverlappingPairCache() const + { + return m_pairCache; + } + + void setOverlappingPairUserCallback(btOverlappingPairCallback* pairCallback) + { + m_userPairCallback = pairCallback; + } + const btOverlappingPairCallback* getOverlappingPairUserCallback() const + { + return m_userPairCallback; + } + + ///getAabb returns the axis aligned bounding box in the 'global' coordinate frame + ///will add some transform later + virtual void getBroadphaseAabb(btVector3& aabbMin,btVector3& aabbMax) const + { + aabbMin = m_worldAabbMin; + aabbMax = m_worldAabbMax; + } + + virtual void printStats() + { +/* printf("btAxisSweep3.h\n"); + printf("numHandles = %d, maxHandles = %d\n",m_numHandles,m_maxHandles); + printf("aabbMin=%f,%f,%f,aabbMax=%f,%f,%f\n",m_worldAabbMin.getX(),m_worldAabbMin.getY(),m_worldAabbMin.getZ(), + m_worldAabbMax.getX(),m_worldAabbMax.getY(),m_worldAabbMax.getZ()); + */ + + } + +}; + +//////////////////////////////////////////////////////////////////// + + + + +#ifdef DEBUG_BROADPHASE +#include <stdio.h> + +template <typename BP_FP_INT_TYPE> +void btAxisSweep3<BP_FP_INT_TYPE>::debugPrintAxis(int axis, bool checkCardinality) +{ + int numEdges = m_pHandles[0].m_maxEdges[axis]; + printf("SAP Axis %d, numEdges=%d\n",axis,numEdges); + + int i; + for (i=0;i<numEdges+1;i++) + { + Edge* pEdge = m_pEdges[axis] + i; + Handle* pHandlePrev = getHandle(pEdge->m_handle); + int handleIndex = pEdge->IsMax()? pHandlePrev->m_maxEdges[axis] : pHandlePrev->m_minEdges[axis]; + char beginOrEnd; + beginOrEnd=pEdge->IsMax()?'E':'B'; + printf(" [%c,h=%d,p=%x,i=%d]\n",beginOrEnd,pEdge->m_handle,pEdge->m_pos,handleIndex); + } + + if (checkCardinality) + assert(numEdges == m_numHandles*2+1); +} +#endif //DEBUG_BROADPHASE + +template <typename BP_FP_INT_TYPE> +btBroadphaseProxy* btAxisSweep3Internal<BP_FP_INT_TYPE>::createProxy( const btVector3& aabbMin, const btVector3& aabbMax,int shapeType,void* userPtr,short int collisionFilterGroup,short int collisionFilterMask,btDispatcher* dispatcher,void* multiSapProxy) +{ + (void)shapeType; + BP_FP_INT_TYPE handleId = addHandle(aabbMin,aabbMax, userPtr,collisionFilterGroup,collisionFilterMask,dispatcher,multiSapProxy); + + Handle* handle = getHandle(handleId); + + return handle; +} + + + +template <typename BP_FP_INT_TYPE> +void btAxisSweep3Internal<BP_FP_INT_TYPE>::destroyProxy(btBroadphaseProxy* proxy,btDispatcher* dispatcher) +{ + Handle* handle = static_cast<Handle*>(proxy); + removeHandle(static_cast<BP_FP_INT_TYPE>(handle->m_uniqueId), dispatcher); +} + +template <typename BP_FP_INT_TYPE> +void btAxisSweep3Internal<BP_FP_INT_TYPE>::setAabb(btBroadphaseProxy* proxy,const btVector3& aabbMin,const btVector3& aabbMax,btDispatcher* dispatcher) +{ + Handle* handle = static_cast<Handle*>(proxy); + updateHandle(static_cast<BP_FP_INT_TYPE>(handle->m_uniqueId), aabbMin, aabbMax,dispatcher); + +} + + + + + +template <typename BP_FP_INT_TYPE> +btAxisSweep3Internal<BP_FP_INT_TYPE>::btAxisSweep3Internal(const btPoint3& worldAabbMin,const btPoint3& worldAabbMax, BP_FP_INT_TYPE handleMask, BP_FP_INT_TYPE handleSentinel,BP_FP_INT_TYPE userMaxHandles, btOverlappingPairCache* pairCache ) +:m_bpHandleMask(handleMask), +m_handleSentinel(handleSentinel), +m_pairCache(pairCache), +m_userPairCallback(0), +m_ownsPairCache(false), +m_invalidPair(0) +{ + BP_FP_INT_TYPE maxHandles = static_cast<BP_FP_INT_TYPE>(userMaxHandles+1);//need to add one sentinel handle + + if (!m_pairCache) + { + void* ptr = btAlignedAlloc(sizeof(btHashedOverlappingPairCache),16); + m_pairCache = new(ptr) btHashedOverlappingPairCache(); + m_ownsPairCache = true; + } + + //assert(bounds.HasVolume()); + + // init bounds + m_worldAabbMin = worldAabbMin; + m_worldAabbMax = worldAabbMax; + + btVector3 aabbSize = m_worldAabbMax - m_worldAabbMin; + + BP_FP_INT_TYPE maxInt = m_handleSentinel; + + m_quantize = btVector3(btScalar(maxInt),btScalar(maxInt),btScalar(maxInt)) / aabbSize; + + // allocate handles buffer, using btAlignedAlloc, and put all handles on free list + m_pHandles = new Handle[maxHandles]; + + m_maxHandles = maxHandles; + m_numHandles = 0; + + // handle 0 is reserved as the null index, and is also used as the sentinel + m_firstFreeHandle = 1; + { + for (BP_FP_INT_TYPE i = m_firstFreeHandle; i < maxHandles; i++) + m_pHandles[i].SetNextFree(static_cast<BP_FP_INT_TYPE>(i + 1)); + m_pHandles[maxHandles - 1].SetNextFree(0); + } + + { + // allocate edge buffers + for (int i = 0; i < 3; i++) + { + m_pEdgesRawPtr[i] = btAlignedAlloc(sizeof(Edge)*maxHandles*2,16); + m_pEdges[i] = new(m_pEdgesRawPtr[i]) Edge[maxHandles * 2]; + } + } + //removed overlap management + + // make boundary sentinels + + m_pHandles[0].m_clientObject = 0; + + for (int axis = 0; axis < 3; axis++) + { + m_pHandles[0].m_minEdges[axis] = 0; + m_pHandles[0].m_maxEdges[axis] = 1; + + m_pEdges[axis][0].m_pos = 0; + m_pEdges[axis][0].m_handle = 0; + m_pEdges[axis][1].m_pos = m_handleSentinel; + m_pEdges[axis][1].m_handle = 0; +#ifdef DEBUG_BROADPHASE + debugPrintAxis(axis); +#endif //DEBUG_BROADPHASE + + } + +} + +template <typename BP_FP_INT_TYPE> +btAxisSweep3Internal<BP_FP_INT_TYPE>::~btAxisSweep3Internal() +{ + + for (int i = 2; i >= 0; i--) + { + btAlignedFree(m_pEdgesRawPtr[i]); + } + delete [] m_pHandles; + + if (m_ownsPairCache) + { + m_pairCache->~btOverlappingPairCache(); + btAlignedFree(m_pairCache); + } +} + +template <typename BP_FP_INT_TYPE> +void btAxisSweep3Internal<BP_FP_INT_TYPE>::quantize(BP_FP_INT_TYPE* out, const btPoint3& point, int isMax) const +{ + btPoint3 clampedPoint(point); + + + + clampedPoint.setMax(m_worldAabbMin); + clampedPoint.setMin(m_worldAabbMax); + + btVector3 v = (clampedPoint - m_worldAabbMin) * m_quantize; + out[0] = (BP_FP_INT_TYPE)(((BP_FP_INT_TYPE)v.getX() & m_bpHandleMask) | isMax); + out[1] = (BP_FP_INT_TYPE)(((BP_FP_INT_TYPE)v.getY() & m_bpHandleMask) | isMax); + out[2] = (BP_FP_INT_TYPE)(((BP_FP_INT_TYPE)v.getZ() & m_bpHandleMask) | isMax); + +} + + +template <typename BP_FP_INT_TYPE> +BP_FP_INT_TYPE btAxisSweep3Internal<BP_FP_INT_TYPE>::allocHandle() +{ + assert(m_firstFreeHandle); + + BP_FP_INT_TYPE handle = m_firstFreeHandle; + m_firstFreeHandle = getHandle(handle)->GetNextFree(); + m_numHandles++; + + return handle; +} + +template <typename BP_FP_INT_TYPE> +void btAxisSweep3Internal<BP_FP_INT_TYPE>::freeHandle(BP_FP_INT_TYPE handle) +{ + assert(handle > 0 && handle < m_maxHandles); + + getHandle(handle)->SetNextFree(m_firstFreeHandle); + m_firstFreeHandle = handle; + + m_numHandles--; +} + + +template <typename BP_FP_INT_TYPE> +BP_FP_INT_TYPE btAxisSweep3Internal<BP_FP_INT_TYPE>::addHandle(const btPoint3& aabbMin,const btPoint3& aabbMax, void* pOwner,short int collisionFilterGroup,short int collisionFilterMask,btDispatcher* dispatcher,void* multiSapProxy) +{ + // quantize the bounds + BP_FP_INT_TYPE min[3], max[3]; + quantize(min, aabbMin, 0); + quantize(max, aabbMax, 1); + + // allocate a handle + BP_FP_INT_TYPE handle = allocHandle(); + + + Handle* pHandle = getHandle(handle); + + pHandle->m_uniqueId = static_cast<int>(handle); + //pHandle->m_pOverlaps = 0; + pHandle->m_clientObject = pOwner; + pHandle->m_collisionFilterGroup = collisionFilterGroup; + pHandle->m_collisionFilterMask = collisionFilterMask; + pHandle->m_multiSapParentProxy = multiSapProxy; + + // compute current limit of edge arrays + BP_FP_INT_TYPE limit = static_cast<BP_FP_INT_TYPE>(m_numHandles * 2); + + + // insert new edges just inside the max boundary edge + for (BP_FP_INT_TYPE axis = 0; axis < 3; axis++) + { + + m_pHandles[0].m_maxEdges[axis] += 2; + + m_pEdges[axis][limit + 1] = m_pEdges[axis][limit - 1]; + + m_pEdges[axis][limit - 1].m_pos = min[axis]; + m_pEdges[axis][limit - 1].m_handle = handle; + + m_pEdges[axis][limit].m_pos = max[axis]; + m_pEdges[axis][limit].m_handle = handle; + + pHandle->m_minEdges[axis] = static_cast<BP_FP_INT_TYPE>(limit - 1); + pHandle->m_maxEdges[axis] = limit; + } + + // now sort the new edges to their correct position + sortMinDown(0, pHandle->m_minEdges[0], dispatcher,false); + sortMaxDown(0, pHandle->m_maxEdges[0], dispatcher,false); + sortMinDown(1, pHandle->m_minEdges[1], dispatcher,false); + sortMaxDown(1, pHandle->m_maxEdges[1], dispatcher,false); + sortMinDown(2, pHandle->m_minEdges[2], dispatcher,true); + sortMaxDown(2, pHandle->m_maxEdges[2], dispatcher,true); + + + return handle; +} + + +template <typename BP_FP_INT_TYPE> +void btAxisSweep3Internal<BP_FP_INT_TYPE>::removeHandle(BP_FP_INT_TYPE handle,btDispatcher* dispatcher) +{ + + Handle* pHandle = getHandle(handle); + + //explicitly remove the pairs containing the proxy + //we could do it also in the sortMinUp (passing true) + //todo: compare performance + if (!m_pairCache->hasDeferredRemoval()) + { + m_pairCache->removeOverlappingPairsContainingProxy(pHandle,dispatcher); + } + + // compute current limit of edge arrays + int limit = static_cast<int>(m_numHandles * 2); + + int axis; + + for (axis = 0;axis<3;axis++) + { + m_pHandles[0].m_maxEdges[axis] -= 2; + } + + // remove the edges by sorting them up to the end of the list + for ( axis = 0; axis < 3; axis++) + { + Edge* pEdges = m_pEdges[axis]; + BP_FP_INT_TYPE max = pHandle->m_maxEdges[axis]; + pEdges[max].m_pos = m_handleSentinel; + + sortMaxUp(axis,max,dispatcher,false); + + + BP_FP_INT_TYPE i = pHandle->m_minEdges[axis]; + pEdges[i].m_pos = m_handleSentinel; + + + sortMinUp(axis,i,dispatcher,false); + + pEdges[limit-1].m_handle = 0; + pEdges[limit-1].m_pos = m_handleSentinel; + +#ifdef DEBUG_BROADPHASE + debugPrintAxis(axis,false); +#endif //DEBUG_BROADPHASE + + + } + + + // free the handle + freeHandle(handle); + + +} + +extern int gOverlappingPairs; +//#include <stdio.h> + +template <typename BP_FP_INT_TYPE> +void btAxisSweep3Internal<BP_FP_INT_TYPE>::calculateOverlappingPairs(btDispatcher* dispatcher) +{ + + if (m_pairCache->hasDeferredRemoval()) + { + + btBroadphasePairArray& overlappingPairArray = m_pairCache->getOverlappingPairArray(); + + //perform a sort, to find duplicates and to sort 'invalid' pairs to the end + overlappingPairArray.quickSort(btBroadphasePairSortPredicate()); + + overlappingPairArray.resize(overlappingPairArray.size() - m_invalidPair); + m_invalidPair = 0; + + + int i; + + btBroadphasePair previousPair; + previousPair.m_pProxy0 = 0; + previousPair.m_pProxy1 = 0; + previousPair.m_algorithm = 0; + + + for (i=0;i<overlappingPairArray.size();i++) + { + + btBroadphasePair& pair = overlappingPairArray[i]; + + bool isDuplicate = (pair == previousPair); + + previousPair = pair; + + bool needsRemoval = false; + + if (!isDuplicate) + { + bool hasOverlap = testAabbOverlap(pair.m_pProxy0,pair.m_pProxy1); + + if (hasOverlap) + { + needsRemoval = false;//callback->processOverlap(pair); + } else + { + needsRemoval = true; + } + } else + { + //remove duplicate + needsRemoval = true; + //should have no algorithm + btAssert(!pair.m_algorithm); + } + + if (needsRemoval) + { + m_pairCache->cleanOverlappingPair(pair,dispatcher); + + // m_overlappingPairArray.swap(i,m_overlappingPairArray.size()-1); + // m_overlappingPairArray.pop_back(); + pair.m_pProxy0 = 0; + pair.m_pProxy1 = 0; + m_invalidPair++; + gOverlappingPairs--; + } + + } + + ///if you don't like to skip the invalid pairs in the array, execute following code: + #define CLEAN_INVALID_PAIRS 1 + #ifdef CLEAN_INVALID_PAIRS + + //perform a sort, to sort 'invalid' pairs to the end + overlappingPairArray.quickSort(btBroadphasePairSortPredicate()); + + overlappingPairArray.resize(overlappingPairArray.size() - m_invalidPair); + m_invalidPair = 0; + #endif//CLEAN_INVALID_PAIRS + + //printf("overlappingPairArray.size()=%d\n",overlappingPairArray.size()); + } + + + + + +} + + +template <typename BP_FP_INT_TYPE> +bool btAxisSweep3Internal<BP_FP_INT_TYPE>::testAabbOverlap(btBroadphaseProxy* proxy0,btBroadphaseProxy* proxy1) +{ + const Handle* pHandleA = static_cast<Handle*>(proxy0); + const Handle* pHandleB = static_cast<Handle*>(proxy1); + + //optimization 1: check the array index (memory address), instead of the m_pos + + for (int axis = 0; axis < 3; axis++) + { + if (pHandleA->m_maxEdges[axis] < pHandleB->m_minEdges[axis] || + pHandleB->m_maxEdges[axis] < pHandleA->m_minEdges[axis]) + { + return false; + } + } + return true; +} + +template <typename BP_FP_INT_TYPE> +bool btAxisSweep3Internal<BP_FP_INT_TYPE>::testOverlap2D(const Handle* pHandleA, const Handle* pHandleB,int axis0,int axis1) +{ + //optimization 1: check the array index (memory address), instead of the m_pos + + if (pHandleA->m_maxEdges[axis0] < pHandleB->m_minEdges[axis0] || + pHandleB->m_maxEdges[axis0] < pHandleA->m_minEdges[axis0] || + pHandleA->m_maxEdges[axis1] < pHandleB->m_minEdges[axis1] || + pHandleB->m_maxEdges[axis1] < pHandleA->m_minEdges[axis1]) + { + return false; + } + return true; +} + +template <typename BP_FP_INT_TYPE> +void btAxisSweep3Internal<BP_FP_INT_TYPE>::updateHandle(BP_FP_INT_TYPE handle, const btPoint3& aabbMin,const btPoint3& aabbMax,btDispatcher* dispatcher) +{ +// assert(bounds.IsFinite()); + //assert(bounds.HasVolume()); + + Handle* pHandle = getHandle(handle); + + // quantize the new bounds + BP_FP_INT_TYPE min[3], max[3]; + quantize(min, aabbMin, 0); + quantize(max, aabbMax, 1); + + // update changed edges + for (int axis = 0; axis < 3; axis++) + { + BP_FP_INT_TYPE emin = pHandle->m_minEdges[axis]; + BP_FP_INT_TYPE emax = pHandle->m_maxEdges[axis]; + + int dmin = (int)min[axis] - (int)m_pEdges[axis][emin].m_pos; + int dmax = (int)max[axis] - (int)m_pEdges[axis][emax].m_pos; + + m_pEdges[axis][emin].m_pos = min[axis]; + m_pEdges[axis][emax].m_pos = max[axis]; + + // expand (only adds overlaps) + if (dmin < 0) + sortMinDown(axis, emin,dispatcher,true); + + if (dmax > 0) + sortMaxUp(axis, emax,dispatcher,true); + + // shrink (only removes overlaps) + if (dmin > 0) + sortMinUp(axis, emin,dispatcher,true); + + if (dmax < 0) + sortMaxDown(axis, emax,dispatcher,true); + +#ifdef DEBUG_BROADPHASE + debugPrintAxis(axis); +#endif //DEBUG_BROADPHASE + } + + +} + + + + +// sorting a min edge downwards can only ever *add* overlaps +template <typename BP_FP_INT_TYPE> +void btAxisSweep3Internal<BP_FP_INT_TYPE>::sortMinDown(int axis, BP_FP_INT_TYPE edge, btDispatcher* /* dispatcher */, bool updateOverlaps) +{ + + Edge* pEdge = m_pEdges[axis] + edge; + Edge* pPrev = pEdge - 1; + Handle* pHandleEdge = getHandle(pEdge->m_handle); + + while (pEdge->m_pos < pPrev->m_pos) + { + Handle* pHandlePrev = getHandle(pPrev->m_handle); + + if (pPrev->IsMax()) + { + // if previous edge is a maximum check the bounds and add an overlap if necessary + const int axis1 = (1 << axis) & 3; + const int axis2 = (1 << axis1) & 3; + if (updateOverlaps && testOverlap2D(pHandleEdge, pHandlePrev,axis1,axis2)) + { + m_pairCache->addOverlappingPair(pHandleEdge,pHandlePrev); + if (m_userPairCallback) + m_userPairCallback->addOverlappingPair(pHandleEdge,pHandlePrev); + + //AddOverlap(pEdge->m_handle, pPrev->m_handle); + + } + + // update edge reference in other handle + pHandlePrev->m_maxEdges[axis]++; + } + else + pHandlePrev->m_minEdges[axis]++; + + pHandleEdge->m_minEdges[axis]--; + + // swap the edges + Edge swap = *pEdge; + *pEdge = *pPrev; + *pPrev = swap; + + // decrement + pEdge--; + pPrev--; + } + +#ifdef DEBUG_BROADPHASE + debugPrintAxis(axis); +#endif //DEBUG_BROADPHASE + +} + +// sorting a min edge upwards can only ever *remove* overlaps +template <typename BP_FP_INT_TYPE> +void btAxisSweep3Internal<BP_FP_INT_TYPE>::sortMinUp(int axis, BP_FP_INT_TYPE edge, btDispatcher* dispatcher, bool updateOverlaps) +{ + Edge* pEdge = m_pEdges[axis] + edge; + Edge* pNext = pEdge + 1; + Handle* pHandleEdge = getHandle(pEdge->m_handle); + + while (pNext->m_handle && (pEdge->m_pos >= pNext->m_pos)) + { + Handle* pHandleNext = getHandle(pNext->m_handle); + + if (pNext->IsMax()) + { + Handle* handle0 = getHandle(pEdge->m_handle); + Handle* handle1 = getHandle(pNext->m_handle); + const int axis1 = (1 << axis) & 3; + const int axis2 = (1 << axis1) & 3; + + // if next edge is maximum remove any overlap between the two handles + if (updateOverlaps +#ifdef USE_OVERLAP_TEST_ON_REMOVES + && testOverlap2D(handle0,handle1,axis1,axis2) +#endif //USE_OVERLAP_TEST_ON_REMOVES + ) + { + + + m_pairCache->removeOverlappingPair(handle0,handle1,dispatcher); + if (m_userPairCallback) + m_userPairCallback->removeOverlappingPair(handle0,handle1,dispatcher); + + } + + + // update edge reference in other handle + pHandleNext->m_maxEdges[axis]--; + } + else + pHandleNext->m_minEdges[axis]--; + + pHandleEdge->m_minEdges[axis]++; + + // swap the edges + Edge swap = *pEdge; + *pEdge = *pNext; + *pNext = swap; + + // increment + pEdge++; + pNext++; + } + + +} + +// sorting a max edge downwards can only ever *remove* overlaps +template <typename BP_FP_INT_TYPE> +void btAxisSweep3Internal<BP_FP_INT_TYPE>::sortMaxDown(int axis, BP_FP_INT_TYPE edge, btDispatcher* dispatcher, bool updateOverlaps) +{ + + Edge* pEdge = m_pEdges[axis] + edge; + Edge* pPrev = pEdge - 1; + Handle* pHandleEdge = getHandle(pEdge->m_handle); + + while (pEdge->m_pos < pPrev->m_pos) + { + Handle* pHandlePrev = getHandle(pPrev->m_handle); + + if (!pPrev->IsMax()) + { + // if previous edge was a minimum remove any overlap between the two handles + Handle* handle0 = getHandle(pEdge->m_handle); + Handle* handle1 = getHandle(pPrev->m_handle); + const int axis1 = (1 << axis) & 3; + const int axis2 = (1 << axis1) & 3; + + if (updateOverlaps +#ifdef USE_OVERLAP_TEST_ON_REMOVES + && testOverlap2D(handle0,handle1,axis1,axis2) +#endif //USE_OVERLAP_TEST_ON_REMOVES + ) + { + //this is done during the overlappingpairarray iteration/narrowphase collision + + + m_pairCache->removeOverlappingPair(handle0,handle1,dispatcher); + if (m_userPairCallback) + m_userPairCallback->removeOverlappingPair(handle0,handle1,dispatcher); + + + + } + + // update edge reference in other handle + pHandlePrev->m_minEdges[axis]++;; + } + else + pHandlePrev->m_maxEdges[axis]++; + + pHandleEdge->m_maxEdges[axis]--; + + // swap the edges + Edge swap = *pEdge; + *pEdge = *pPrev; + *pPrev = swap; + + // decrement + pEdge--; + pPrev--; + } + + +#ifdef DEBUG_BROADPHASE + debugPrintAxis(axis); +#endif //DEBUG_BROADPHASE + +} + +// sorting a max edge upwards can only ever *add* overlaps +template <typename BP_FP_INT_TYPE> +void btAxisSweep3Internal<BP_FP_INT_TYPE>::sortMaxUp(int axis, BP_FP_INT_TYPE edge, btDispatcher* /* dispatcher */, bool updateOverlaps) +{ + Edge* pEdge = m_pEdges[axis] + edge; + Edge* pNext = pEdge + 1; + Handle* pHandleEdge = getHandle(pEdge->m_handle); + + while (pNext->m_handle && (pEdge->m_pos >= pNext->m_pos)) + { + Handle* pHandleNext = getHandle(pNext->m_handle); + + const int axis1 = (1 << axis) & 3; + const int axis2 = (1 << axis1) & 3; + + if (!pNext->IsMax()) + { + // if next edge is a minimum check the bounds and add an overlap if necessary + if (updateOverlaps && testOverlap2D(pHandleEdge, pHandleNext,axis1,axis2)) + { + Handle* handle0 = getHandle(pEdge->m_handle); + Handle* handle1 = getHandle(pNext->m_handle); + m_pairCache->addOverlappingPair(handle0,handle1); + if (m_userPairCallback) + m_userPairCallback->addOverlappingPair(handle0,handle1); + } + + // update edge reference in other handle + pHandleNext->m_minEdges[axis]--; + } + else + pHandleNext->m_maxEdges[axis]--; + + pHandleEdge->m_maxEdges[axis]++; + + // swap the edges + Edge swap = *pEdge; + *pEdge = *pNext; + *pNext = swap; + + // increment + pEdge++; + pNext++; + } + +} + + + +//////////////////////////////////////////////////////////////////// + + +/// The btAxisSweep3 is an efficient implementation of the 3d axis sweep and prune broadphase. +/// It uses arrays rather then lists for storage of the 3 axis. Also it operates using 16 bit integer coordinates instead of floats. +/// For large worlds and many objects, use bt32BitAxisSweep3 or btDbvtBroadphase instead. bt32BitAxisSweep3 has higher precision and allows more then 16384 objects at the cost of more memory and bit of performance. +class btAxisSweep3 : public btAxisSweep3Internal<unsigned short int> +{ +public: + + btAxisSweep3(const btPoint3& worldAabbMin,const btPoint3& worldAabbMax, unsigned short int maxHandles = 16384, btOverlappingPairCache* pairCache = 0); + +}; + +/// The bt32BitAxisSweep3 allows higher precision quantization and more objects compared to the btAxisSweep3 sweep and prune. +/// This comes at the cost of more memory per handle, and a bit slower performance. +/// It uses arrays rather then lists for storage of the 3 axis. +class bt32BitAxisSweep3 : public btAxisSweep3Internal<unsigned int> +{ +public: + + bt32BitAxisSweep3(const btPoint3& worldAabbMin,const btPoint3& worldAabbMax, unsigned int maxHandles = 1500000, btOverlappingPairCache* pairCache = 0); }; diff --git a/extern/bullet2/src/BulletCollision/BroadphaseCollision/btBroadphaseInterface.h b/extern/bullet2/src/BulletCollision/BroadphaseCollision/btBroadphaseInterface.h index b6ace03c07a..200ac365329 100644 --- a/extern/bullet2/src/BulletCollision/BroadphaseCollision/btBroadphaseInterface.h +++ b/extern/bullet2/src/BulletCollision/BroadphaseCollision/btBroadphaseInterface.h @@ -20,20 +20,34 @@ subject to the following restrictions: struct btDispatcherInfo; class btDispatcher; -struct btBroadphaseProxy; -#include "../../LinearMath/btVector3.h" +#include "btBroadphaseProxy.h" +class btOverlappingPairCache; -///BroadphaseInterface for aabb-overlapping object pairs +#include "LinearMath/btVector3.h" + +///The btBroadphaseInterface class provides an interface to detect aabb-overlapping object pairs. +///Some implementations for this broadphase interface include btAxisSweep3, bt32BitAxisSweep3 and btDbvtBroadphase. +///The actual overlapping pair management, storage, adding and removing of pairs is dealt by the btOverlappingPairCache class. class btBroadphaseInterface { public: virtual ~btBroadphaseInterface() {} - virtual btBroadphaseProxy* createProxy( const btVector3& min, const btVector3& max,int shapeType,void* userPtr, short int collisionFilterGroup,short int collisionFilterMask) =0; - virtual void destroyProxy(btBroadphaseProxy* proxy)=0; - virtual void setAabb(btBroadphaseProxy* proxy,const btVector3& aabbMin,const btVector3& aabbMax)=0; - virtual void cleanProxyFromPairs(btBroadphaseProxy* proxy)=0; + virtual btBroadphaseProxy* createProxy( const btVector3& aabbMin, const btVector3& aabbMax,int shapeType,void* userPtr, short int collisionFilterGroup,short int collisionFilterMask, btDispatcher* dispatcher,void* multiSapProxy) =0; + virtual void destroyProxy(btBroadphaseProxy* proxy,btDispatcher* dispatcher)=0; + virtual void setAabb(btBroadphaseProxy* proxy,const btVector3& aabbMin,const btVector3& aabbMax, btDispatcher* dispatcher)=0; + ///calculateOverlappingPairs is optional: incremental algorithms (sweep and prune) might do it during the set aabb + virtual void calculateOverlappingPairs(btDispatcher* dispatcher)=0; + + virtual btOverlappingPairCache* getOverlappingPairCache()=0; + virtual const btOverlappingPairCache* getOverlappingPairCache() const =0; + + ///getAabb returns the axis aligned bounding box in the 'global' coordinate frame + ///will add some transform later + virtual void getBroadphaseAabb(btVector3& aabbMin,btVector3& aabbMax) const =0; + + virtual void printStats() = 0; }; diff --git a/extern/bullet2/src/BulletCollision/BroadphaseCollision/btBroadphaseProxy.h b/extern/bullet2/src/BulletCollision/BroadphaseCollision/btBroadphaseProxy.h index 40d9748ffa9..a074a0b150b 100644 --- a/extern/bullet2/src/BulletCollision/BroadphaseCollision/btBroadphaseProxy.h +++ b/extern/bullet2/src/BulletCollision/BroadphaseCollision/btBroadphaseProxy.h @@ -16,7 +16,8 @@ subject to the following restrictions: #ifndef BROADPHASE_PROXY_H #define BROADPHASE_PROXY_H -#include "../../LinearMath/btScalar.h" //for SIMD_FORCE_INLINE +#include "LinearMath/btScalar.h" //for SIMD_FORCE_INLINE +#include "LinearMath/btAlignedAllocator.h" /// btDispatcher uses these types @@ -38,18 +39,22 @@ IMPLICIT_CONVEX_SHAPES_START_HERE, CONE_SHAPE_PROXYTYPE, CONVEX_SHAPE_PROXYTYPE, CYLINDER_SHAPE_PROXYTYPE, + UNIFORM_SCALING_SHAPE_PROXYTYPE, MINKOWSKI_SUM_SHAPE_PROXYTYPE, MINKOWSKI_DIFFERENCE_SHAPE_PROXYTYPE, //concave shapes CONCAVE_SHAPES_START_HERE, //keep all the convex shapetype below here, for the check IsConvexShape in broadphase proxy! TRIANGLE_MESH_SHAPE_PROXYTYPE, + SCALED_TRIANGLE_MESH_SHAPE_PROXYTYPE, ///used for demo integration FAST/Swift collision library and Bullet FAST_CONCAVE_MESH_PROXYTYPE, //terrain TERRAIN_SHAPE_PROXYTYPE, ///Used for GIMPACT Trimesh integration GIMPACT_SHAPE_PROXYTYPE, +///Multimaterial mesh + MULTIMATERIAL_TRIANGLE_MESH_PROXYTYPE, EMPTY_SHAPE_PROXYTYPE, STATIC_PLANE_PROXYTYPE, @@ -57,13 +62,18 @@ CONCAVE_SHAPES_END_HERE, COMPOUND_SHAPE_PROXYTYPE, + SOFTBODY_SHAPE_PROXYTYPE, + MAX_BROADPHASE_COLLISION_TYPES }; -///btBroadphaseProxy -struct btBroadphaseProxy +///The btBroadphaseProxy is the main class that can be used with the Bullet broadphases. +///It stores collision shape type information, collision filter information and a client object, typically a btCollisionObject or btRigidBody. +ATTRIBUTE_ALIGNED16(struct) btBroadphaseProxy { + +BT_DECLARE_ALIGNED_ALLOCATOR(); ///optional filtering to cull potential collisions enum CollisionFilterGroups @@ -73,44 +83,60 @@ struct btBroadphaseProxy KinematicFilter = 4, DebrisFilter = 8, SensorTrigger = 16, - AllFilter = DefaultFilter | StaticFilter | KinematicFilter | DebrisFilter | SensorTrigger + AllFilter = -1 //all bits sets: DefaultFilter | StaticFilter | KinematicFilter | DebrisFilter | SensorTrigger }; //Usually the client btCollisionObject or Rigidbody class void* m_clientObject; + short int m_collisionFilterGroup; short int m_collisionFilterMask; + void* m_multiSapParentProxy; + + + int m_uniqueId;//m_uniqueId is introduced for paircache. could get rid of this, by calculating the address offset etc. + + SIMD_FORCE_INLINE int getUid() const + { + return m_uniqueId; + } + //used for memory pools - btBroadphaseProxy() :m_clientObject(0){} + btBroadphaseProxy() :m_clientObject(0),m_multiSapParentProxy(0) + { + } - btBroadphaseProxy(void* userPtr,short int collisionFilterGroup, short int collisionFilterMask) + btBroadphaseProxy(void* userPtr,short int collisionFilterGroup, short int collisionFilterMask,void* multiSapParentProxy=0) :m_clientObject(userPtr), m_collisionFilterGroup(collisionFilterGroup), m_collisionFilterMask(collisionFilterMask) { + m_multiSapParentProxy = multiSapParentProxy; } - static inline bool isPolyhedral(int proxyType) + + + static SIMD_FORCE_INLINE bool isPolyhedral(int proxyType) { return (proxyType < IMPLICIT_CONVEX_SHAPES_START_HERE); } - static inline bool isConvex(int proxyType) + static SIMD_FORCE_INLINE bool isConvex(int proxyType) { return (proxyType < CONCAVE_SHAPES_START_HERE); } - static inline bool isConcave(int proxyType) + static SIMD_FORCE_INLINE bool isConcave(int proxyType) { return ((proxyType > CONCAVE_SHAPES_START_HERE) && (proxyType < CONCAVE_SHAPES_END_HERE)); } - static inline bool isCompound(int proxyType) + static SIMD_FORCE_INLINE bool isCompound(int proxyType) { return (proxyType == COMPOUND_SHAPE_PROXYTYPE); } - static inline bool isInfinite(int proxyType) + static SIMD_FORCE_INLINE bool isInfinite(int proxyType) { return (proxyType == STATIC_PLANE_PROXYTYPE); } @@ -124,8 +150,9 @@ struct btBroadphaseProxy; -/// contains a pair of aabb-overlapping objects -struct btBroadphasePair +///The btBroadphasePair class contains a pair of aabb-overlapping objects. +///A btDispatcher can search a btCollisionAlgorithm that performs exact/narrowphase collision detection on the actual collision shapes. +ATTRIBUTE_ALIGNED16(struct) btBroadphasePair { btBroadphasePair () : @@ -136,6 +163,8 @@ struct btBroadphasePair { } +BT_DECLARE_ALIGNED_ALLOCATOR(); + btBroadphasePair(const btBroadphasePair& other) : m_pProxy0(other.m_pProxy0), m_pProxy1(other.m_pProxy1), @@ -181,6 +210,7 @@ SIMD_FORCE_INLINE bool operator<(const btBroadphasePair& a, const btBroadphasePa */ + class btBroadphasePairSortPredicate { public: diff --git a/extern/bullet2/src/BulletCollision/BroadphaseCollision/btCollisionAlgorithm.cpp b/extern/bullet2/src/BulletCollision/BroadphaseCollision/btCollisionAlgorithm.cpp index 2ad0c86d8a2..c95d1be0f2c 100644 --- a/extern/bullet2/src/BulletCollision/BroadphaseCollision/btCollisionAlgorithm.cpp +++ b/extern/bullet2/src/BulletCollision/BroadphaseCollision/btCollisionAlgorithm.cpp @@ -18,6 +18,6 @@ subject to the following restrictions: btCollisionAlgorithm::btCollisionAlgorithm(const btCollisionAlgorithmConstructionInfo& ci) { - m_dispatcher = ci.m_dispatcher; + m_dispatcher = ci.m_dispatcher1; } diff --git a/extern/bullet2/src/BulletCollision/BroadphaseCollision/btCollisionAlgorithm.h b/extern/bullet2/src/BulletCollision/BroadphaseCollision/btCollisionAlgorithm.h index 55cec386a7b..1618ad9fdd3 100644 --- a/extern/bullet2/src/BulletCollision/BroadphaseCollision/btCollisionAlgorithm.h +++ b/extern/bullet2/src/BulletCollision/BroadphaseCollision/btCollisionAlgorithm.h @@ -16,7 +16,8 @@ subject to the following restrictions: #ifndef COLLISION_ALGORITHM_H #define COLLISION_ALGORITHM_H -#include "../../LinearMath/btScalar.h" +#include "LinearMath/btScalar.h" +#include "LinearMath/btAlignedObjectArray.h" struct btBroadphaseProxy; class btDispatcher; @@ -25,21 +26,22 @@ class btCollisionObject; struct btDispatcherInfo; class btPersistentManifold; +typedef btAlignedObjectArray<btPersistentManifold*> btManifoldArray; struct btCollisionAlgorithmConstructionInfo { btCollisionAlgorithmConstructionInfo() - :m_dispatcher(0), + :m_dispatcher1(0), m_manifold(0) { } btCollisionAlgorithmConstructionInfo(btDispatcher* dispatcher,int temp) - :m_dispatcher(dispatcher) + :m_dispatcher1(dispatcher) { (void)temp; } - btDispatcher* m_dispatcher; + btDispatcher* m_dispatcher1; btPersistentManifold* m_manifold; int getDispatcherId(); @@ -71,6 +73,7 @@ public: virtual btScalar calculateTimeOfImpact(btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut) = 0; + virtual void getAllContactManifolds(btManifoldArray& manifoldArray) = 0; }; diff --git a/extern/bullet2/src/BulletCollision/BroadphaseCollision/btDispatcher.h b/extern/bullet2/src/BulletCollision/BroadphaseCollision/btDispatcher.h index 3d958cc8fef..6db71a0170e 100644 --- a/extern/bullet2/src/BulletCollision/BroadphaseCollision/btDispatcher.h +++ b/extern/bullet2/src/BulletCollision/BroadphaseCollision/btDispatcher.h @@ -16,7 +16,7 @@ subject to the following restrictions: #ifndef _DISPATCHER_H #define _DISPATCHER_H -#include "../../LinearMath/btScalar.h" +#include "LinearMath/btScalar.h" class btCollisionAlgorithm; struct btBroadphaseProxy; @@ -43,7 +43,9 @@ struct btDispatcherInfo m_useContinuous(false), m_debugDraw(0), m_enableSatConvex(false), - m_enableSPU(false), + m_enableSPU(true), + m_useEpa(true), + m_allowedCcdPenetration(btScalar(0.04)), m_stackAllocator(0) { @@ -51,17 +53,19 @@ struct btDispatcherInfo btScalar m_timeStep; int m_stepCount; int m_dispatchFunc; - btScalar m_timeOfImpact; + mutable btScalar m_timeOfImpact; bool m_useContinuous; class btIDebugDraw* m_debugDraw; bool m_enableSatConvex; bool m_enableSPU; + bool m_useEpa; + btScalar m_allowedCcdPenetration; btStackAlloc* m_stackAllocator; }; -/// btDispatcher can be used in combination with broadphase to dispatch overlapping pairs. -/// For example for pairwise collision detection or user callbacks (game logic). +///The btDispatcher interface class can be used in combination with broadphase to dispatch calculations for overlapping pairs. +///For example for pairwise collision detection, calculating contact points stored in btPersistentManifold or user callbacks (game logic). class btDispatcher { @@ -81,12 +85,18 @@ public: virtual bool needsResponse(btCollisionObject* body0,btCollisionObject* body1)=0; - virtual void dispatchAllCollisionPairs(btOverlappingPairCache* pairCache,btDispatcherInfo& dispatchInfo)=0; + virtual void dispatchAllCollisionPairs(btOverlappingPairCache* pairCache,const btDispatcherInfo& dispatchInfo,btDispatcher* dispatcher) =0; virtual int getNumManifolds() const = 0; virtual btPersistentManifold* getManifoldByIndexInternal(int index) = 0; + virtual btPersistentManifold** getInternalManifoldPointer() = 0; + + virtual void* allocateCollisionAlgorithm(int size) = 0; + + virtual void freeCollisionAlgorithm(void* ptr) = 0; + }; diff --git a/extern/bullet2/src/BulletCollision/BroadphaseCollision/btOverlappingPairCache.cpp b/extern/bullet2/src/BulletCollision/BroadphaseCollision/btOverlappingPairCache.cpp index 60f0a41a9d7..ff65cdde79f 100644 --- a/extern/bullet2/src/BulletCollision/BroadphaseCollision/btOverlappingPairCache.cpp +++ b/extern/bullet2/src/BulletCollision/BroadphaseCollision/btOverlappingPairCache.cpp @@ -1,4 +1,3 @@ - /* Bullet Continuous Collision Detection and Physics Library Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/ @@ -21,66 +20,415 @@ subject to the following restrictions: #include "btDispatcher.h" #include "btCollisionAlgorithm.h" +#include <stdio.h> + int gOverlappingPairs = 0; -btOverlappingPairCache::btOverlappingPairCache(): -m_blockedForChanges(false), -m_overlapFilterCallback(0) -//m_NumOverlapBroadphasePair(0) +int gRemovePairs =0; +int gAddedPairs =0; +int gFindPairs =0; + + + + +btHashedOverlappingPairCache::btHashedOverlappingPairCache(): + m_overlapFilterCallback(0), + m_blockedForChanges(false) { + int initialAllocatedSize= 2; + m_overlappingPairArray.reserve(initialAllocatedSize); + growTables(); } -btOverlappingPairCache::~btOverlappingPairCache() + + +btHashedOverlappingPairCache::~btHashedOverlappingPairCache() { //todo/test: show we erase/delete data, or is it automatic } -void btOverlappingPairCache::removeOverlappingPair(btBroadphasePair& findPair) + +void btHashedOverlappingPairCache::cleanOverlappingPair(btBroadphasePair& pair,btDispatcher* dispatcher) { - - int findIndex = m_overlappingPairArray.findLinearSearch(findPair); - if (findIndex < m_overlappingPairArray.size()) + if (pair.m_algorithm) + { + { + pair.m_algorithm->~btCollisionAlgorithm(); + dispatcher->freeCollisionAlgorithm(pair.m_algorithm); + pair.m_algorithm=0; + } + } +} + + + + +void btHashedOverlappingPairCache::cleanProxyFromPairs(btBroadphaseProxy* proxy,btDispatcher* dispatcher) +{ + + class CleanPairCallback : public btOverlapCallback + { + btBroadphaseProxy* m_cleanProxy; + btOverlappingPairCache* m_pairCache; + btDispatcher* m_dispatcher; + + public: + CleanPairCallback(btBroadphaseProxy* cleanProxy,btOverlappingPairCache* pairCache,btDispatcher* dispatcher) + :m_cleanProxy(cleanProxy), + m_pairCache(pairCache), + m_dispatcher(dispatcher) + { + } + virtual bool processOverlap(btBroadphasePair& pair) + { + if ((pair.m_pProxy0 == m_cleanProxy) || + (pair.m_pProxy1 == m_cleanProxy)) + { + m_pairCache->cleanOverlappingPair(pair,m_dispatcher); + } + return false; + } + + }; + + CleanPairCallback cleanPairs(proxy,this,dispatcher); + + processAllOverlappingPairs(&cleanPairs,dispatcher); + +} + + + + +void btHashedOverlappingPairCache::removeOverlappingPairsContainingProxy(btBroadphaseProxy* proxy,btDispatcher* dispatcher) +{ + + class RemovePairCallback : public btOverlapCallback { - gOverlappingPairs--; - btBroadphasePair& pair = m_overlappingPairArray[findIndex]; - cleanOverlappingPair(pair); + btBroadphaseProxy* m_obsoleteProxy; + + public: + RemovePairCallback(btBroadphaseProxy* obsoleteProxy) + :m_obsoleteProxy(obsoleteProxy) + { + } + virtual bool processOverlap(btBroadphasePair& pair) + { + return ((pair.m_pProxy0 == m_obsoleteProxy) || + (pair.m_pProxy1 == m_obsoleteProxy)); + } - m_overlappingPairArray.swap(findIndex,m_overlappingPairArray.size()-1); + }; + + + RemovePairCallback removeCallback(proxy); + + processAllOverlappingPairs(&removeCallback,dispatcher); +} + + + + + +btBroadphasePair* btHashedOverlappingPairCache::findPair(btBroadphaseProxy* proxy0, btBroadphaseProxy* proxy1) +{ + gFindPairs++; + if(proxy0>proxy1) btSwap(proxy0,proxy1); + int proxyId1 = proxy0->getUid(); + int proxyId2 = proxy1->getUid(); + + /*if (proxyId1 > proxyId2) + btSwap(proxyId1, proxyId2);*/ + + int hash = static_cast<int>(getHash(static_cast<unsigned int>(proxyId1), static_cast<unsigned int>(proxyId2)) & (m_overlappingPairArray.capacity()-1)); + + if (hash >= m_hashTable.size()) + { + return NULL; + } + + int index = m_hashTable[hash]; + while (index != BT_NULL_PAIR && equalsPair(m_overlappingPairArray[index], proxyId1, proxyId2) == false) + { + index = m_next[index]; + } + + if (index == BT_NULL_PAIR) + { + return NULL; + } + + btAssert(index < m_overlappingPairArray.size()); + + return &m_overlappingPairArray[index]; +} + +//#include <stdio.h> + +void btHashedOverlappingPairCache::growTables() +{ + + int newCapacity = m_overlappingPairArray.capacity(); + + if (m_hashTable.size() < newCapacity) + { + //grow hashtable and next table + int curHashtableSize = m_hashTable.size(); + + m_hashTable.resize(newCapacity); + m_next.resize(newCapacity); + + + int i; + + for (i= 0; i < newCapacity; ++i) + { + m_hashTable[i] = BT_NULL_PAIR; + } + for (i = 0; i < newCapacity; ++i) + { + m_next[i] = BT_NULL_PAIR; + } + + for(i=0;i<curHashtableSize;i++) + { + + const btBroadphasePair& pair = m_overlappingPairArray[i]; + int proxyId1 = pair.m_pProxy0->getUid(); + int proxyId2 = pair.m_pProxy1->getUid(); + /*if (proxyId1 > proxyId2) + btSwap(proxyId1, proxyId2);*/ + int hashValue = static_cast<int>(getHash(static_cast<unsigned int>(proxyId1),static_cast<unsigned int>(proxyId2)) & (m_overlappingPairArray.capacity()-1)); // New hash value with new mask + m_next[i] = m_hashTable[hashValue]; + m_hashTable[hashValue] = i; + } + + + } +} + +btBroadphasePair* btHashedOverlappingPairCache::internalAddPair(btBroadphaseProxy* proxy0, btBroadphaseProxy* proxy1) +{ + if(proxy0>proxy1) btSwap(proxy0,proxy1); + int proxyId1 = proxy0->getUid(); + int proxyId2 = proxy1->getUid(); + + /*if (proxyId1 > proxyId2) + btSwap(proxyId1, proxyId2);*/ + + int hash = static_cast<int>(getHash(static_cast<unsigned int>(proxyId1),static_cast<unsigned int>(proxyId2)) & (m_overlappingPairArray.capacity()-1)); // New hash value with new mask + + + btBroadphasePair* pair = internalFindPair(proxy0, proxy1, hash); + if (pair != NULL) + { + return pair; + } + /*for(int i=0;i<m_overlappingPairArray.size();++i) + { + if( (m_overlappingPairArray[i].m_pProxy0==proxy0)&& + (m_overlappingPairArray[i].m_pProxy1==proxy1)) + { + printf("Adding duplicated %u<>%u\r\n",proxyId1,proxyId2); + internalFindPair(proxy0, proxy1, hash); + } + }*/ + int count = m_overlappingPairArray.size(); + int oldCapacity = m_overlappingPairArray.capacity(); + void* mem = &m_overlappingPairArray.expand(); + int newCapacity = m_overlappingPairArray.capacity(); + + if (oldCapacity < newCapacity) + { + growTables(); + //hash with new capacity + hash = static_cast<int>(getHash(static_cast<unsigned int>(proxyId1),static_cast<unsigned int>(proxyId2)) & (m_overlappingPairArray.capacity()-1)); + } + + pair = new (mem) btBroadphasePair(*proxy0,*proxy1); +// pair->m_pProxy0 = proxy0; +// pair->m_pProxy1 = proxy1; + pair->m_algorithm = 0; + pair->m_userInfo = 0; + + + m_next[count] = m_hashTable[hash]; + m_hashTable[hash] = count; + + return pair; +} + + + +void* btHashedOverlappingPairCache::removeOverlappingPair(btBroadphaseProxy* proxy0, btBroadphaseProxy* proxy1,btDispatcher* dispatcher) +{ + gRemovePairs++; + if(proxy0>proxy1) btSwap(proxy0,proxy1); + int proxyId1 = proxy0->getUid(); + int proxyId2 = proxy1->getUid(); + + /*if (proxyId1 > proxyId2) + btSwap(proxyId1, proxyId2);*/ + + int hash = static_cast<int>(getHash(static_cast<unsigned int>(proxyId1),static_cast<unsigned int>(proxyId2)) & (m_overlappingPairArray.capacity()-1)); + + btBroadphasePair* pair = internalFindPair(proxy0, proxy1, hash); + if (pair == NULL) + { + return 0; + } + + cleanOverlappingPair(*pair,dispatcher); + + void* userData = pair->m_userInfo; + + btAssert(pair->m_pProxy0->getUid() == proxyId1); + btAssert(pair->m_pProxy1->getUid() == proxyId2); + + int pairIndex = int(pair - &m_overlappingPairArray[0]); + btAssert(pairIndex < m_overlappingPairArray.size()); + + // Remove the pair from the hash table. + int index = m_hashTable[hash]; + btAssert(index != BT_NULL_PAIR); + + int previous = BT_NULL_PAIR; + while (index != pairIndex) + { + previous = index; + index = m_next[index]; + } + + if (previous != BT_NULL_PAIR) + { + btAssert(m_next[previous] == pairIndex); + m_next[previous] = m_next[pairIndex]; + } + else + { + m_hashTable[hash] = m_next[pairIndex]; + } + + // We now move the last pair into spot of the + // pair being removed. We need to fix the hash + // table indices to support the move. + + int lastPairIndex = m_overlappingPairArray.size() - 1; + + // If the removed pair is the last pair, we are done. + if (lastPairIndex == pairIndex) + { m_overlappingPairArray.pop_back(); + return userData; + } + + // Remove the last pair from the hash table. + const btBroadphasePair* last = &m_overlappingPairArray[lastPairIndex]; + /* missing swap here too, Nat. */ + int lastHash = static_cast<int>(getHash(static_cast<unsigned int>(last->m_pProxy0->getUid()), static_cast<unsigned int>(last->m_pProxy1->getUid())) & (m_overlappingPairArray.capacity()-1)); + + index = m_hashTable[lastHash]; + btAssert(index != BT_NULL_PAIR); + + previous = BT_NULL_PAIR; + while (index != lastPairIndex) + { + previous = index; + index = m_next[index]; + } + + if (previous != BT_NULL_PAIR) + { + btAssert(m_next[previous] == lastPairIndex); + m_next[previous] = m_next[lastPairIndex]; + } + else + { + m_hashTable[lastHash] = m_next[lastPairIndex]; + } + + // Copy the last pair into the remove pair's spot. + m_overlappingPairArray[pairIndex] = m_overlappingPairArray[lastPairIndex]; + + // Insert the last pair into the hash table + m_next[pairIndex] = m_hashTable[lastHash]; + m_hashTable[lastHash] = pairIndex; + + m_overlappingPairArray.pop_back(); + + return userData; +} +//#include <stdio.h> + +void btHashedOverlappingPairCache::processAllOverlappingPairs(btOverlapCallback* callback,btDispatcher* dispatcher) +{ + + int i; + +// printf("m_overlappingPairArray.size()=%d\n",m_overlappingPairArray.size()); + for (i=0;i<m_overlappingPairArray.size();) + { + + btBroadphasePair* pair = &m_overlappingPairArray[i]; + if (callback->processOverlap(*pair)) + { + removeOverlappingPair(pair->m_pProxy0,pair->m_pProxy1,dispatcher); + + gOverlappingPairs--; + } else + { + i++; + } } } -void btOverlappingPairCache::cleanOverlappingPair(btBroadphasePair& pair) + +void* btSortedOverlappingPairCache::removeOverlappingPair(btBroadphaseProxy* proxy0,btBroadphaseProxy* proxy1, btDispatcher* dispatcher ) { - if (pair.m_algorithm) + if (!hasDeferredRemoval()) { + btBroadphasePair findPair(*proxy0,*proxy1); + + int findIndex = m_overlappingPairArray.findLinearSearch(findPair); + if (findIndex < m_overlappingPairArray.size()) { - delete pair.m_algorithm;; - pair.m_algorithm=0; + gOverlappingPairs--; + btBroadphasePair& pair = m_overlappingPairArray[findIndex]; + void* userData = pair.m_userInfo; + cleanOverlappingPair(pair,dispatcher); + + m_overlappingPairArray.swap(findIndex,m_overlappingPairArray.capacity()-1); + m_overlappingPairArray.pop_back(); + return userData; } } + + return 0; } -void btOverlappingPairCache::addOverlappingPair(btBroadphaseProxy* proxy0,btBroadphaseProxy* proxy1) + + + +btBroadphasePair* btSortedOverlappingPairCache::addOverlappingPair(btBroadphaseProxy* proxy0,btBroadphaseProxy* proxy1) { //don't add overlap with own assert(proxy0 != proxy1); if (!needsBroadphaseCollision(proxy0,proxy1)) - return; - - - btBroadphasePair pair(*proxy0,*proxy1); + return 0; - m_overlappingPairArray.push_back(pair); + void* mem = &m_overlappingPairArray.expand(); + btBroadphasePair* pair = new (mem) btBroadphasePair(*proxy0,*proxy1); gOverlappingPairs++; + gAddedPairs++; + return pair; } @@ -88,7 +436,7 @@ void btOverlappingPairCache::addOverlappingPair(btBroadphaseProxy* proxy0,btBroa ///use a different solution. It is mainly used for Removing overlapping pairs. Removal could be delayed. ///we could keep a linked list in each proxy, and store pair in one of the proxies (with lowest memory address) ///Also we can use a 2D bitmap, which can be useful for a future GPU implementation - btBroadphasePair* btOverlappingPairCache::findPair(btBroadphaseProxy* proxy0,btBroadphaseProxy* proxy1) + btBroadphasePair* btSortedOverlappingPairCache::findPair(btBroadphaseProxy* proxy0,btBroadphaseProxy* proxy1) { if (!needsBroadphaseCollision(proxy0,proxy1)) return 0; @@ -109,18 +457,81 @@ void btOverlappingPairCache::addOverlappingPair(btBroadphaseProxy* proxy0,btBroa -void btOverlappingPairCache::cleanProxyFromPairs(btBroadphaseProxy* proxy) + + + + + +//#include <stdio.h> + +void btSortedOverlappingPairCache::processAllOverlappingPairs(btOverlapCallback* callback,btDispatcher* dispatcher) +{ + + int i; + + for (i=0;i<m_overlappingPairArray.size();) + { + + btBroadphasePair* pair = &m_overlappingPairArray[i]; + if (callback->processOverlap(*pair)) + { + cleanOverlappingPair(*pair,dispatcher); + + m_overlappingPairArray.swap(i,m_overlappingPairArray.capacity()-1); + m_overlappingPairArray.pop_back(); + gOverlappingPairs--; + } else + { + i++; + } + } +} + + + + +btSortedOverlappingPairCache::btSortedOverlappingPairCache(): + m_blockedForChanges(false), + m_hasDeferredRemoval(true), + m_overlapFilterCallback(0) +{ + int initialAllocatedSize= 2; + m_overlappingPairArray.reserve(initialAllocatedSize); +} + +btSortedOverlappingPairCache::~btSortedOverlappingPairCache() +{ + //todo/test: show we erase/delete data, or is it automatic +} + +void btSortedOverlappingPairCache::cleanOverlappingPair(btBroadphasePair& pair,btDispatcher* dispatcher) +{ + if (pair.m_algorithm) + { + { + pair.m_algorithm->~btCollisionAlgorithm(); + dispatcher->freeCollisionAlgorithm(pair.m_algorithm); + pair.m_algorithm=0; + gRemovePairs--; + } + } +} + + +void btSortedOverlappingPairCache::cleanProxyFromPairs(btBroadphaseProxy* proxy,btDispatcher* dispatcher) { class CleanPairCallback : public btOverlapCallback { btBroadphaseProxy* m_cleanProxy; btOverlappingPairCache* m_pairCache; + btDispatcher* m_dispatcher; public: - CleanPairCallback(btBroadphaseProxy* cleanProxy,btOverlappingPairCache* pairCache) + CleanPairCallback(btBroadphaseProxy* cleanProxy,btOverlappingPairCache* pairCache,btDispatcher* dispatcher) :m_cleanProxy(cleanProxy), - m_pairCache(pairCache) + m_pairCache(pairCache), + m_dispatcher(dispatcher) { } virtual bool processOverlap(btBroadphasePair& pair) @@ -128,22 +539,21 @@ void btOverlappingPairCache::cleanProxyFromPairs(btBroadphaseProxy* proxy) if ((pair.m_pProxy0 == m_cleanProxy) || (pair.m_pProxy1 == m_cleanProxy)) { - m_pairCache->cleanOverlappingPair(pair); + m_pairCache->cleanOverlappingPair(pair,m_dispatcher); } return false; } }; - CleanPairCallback cleanPairs(proxy,this); + CleanPairCallback cleanPairs(proxy,this,dispatcher); - processAllOverlappingPairs(&cleanPairs); + processAllOverlappingPairs(&cleanPairs,dispatcher); } - -void btOverlappingPairCache::removeOverlappingPairsContainingProxy(btBroadphaseProxy* proxy) +void btSortedOverlappingPairCache::removeOverlappingPairsContainingProxy(btBroadphaseProxy* proxy,btDispatcher* dispatcher) { class RemovePairCallback : public btOverlapCallback @@ -163,34 +573,7 @@ void btOverlappingPairCache::removeOverlappingPairsContainingProxy(btBroadphaseP }; - RemovePairCallback removeCallback(proxy); - processAllOverlappingPairs(&removeCallback); -} - - - -void btOverlappingPairCache::processAllOverlappingPairs(btOverlapCallback* callback) -{ - - int i; - - for (i=0;i<m_overlappingPairArray.size();) - { - - btBroadphasePair* pair = &m_overlappingPairArray[i]; - if (callback->processOverlap(*pair)) - { - cleanOverlappingPair(*pair); - - m_overlappingPairArray.swap(i,m_overlappingPairArray.size()-1); - m_overlappingPairArray.pop_back(); - gOverlappingPairs--; - } else - { - i++; - } - } + processAllOverlappingPairs(&removeCallback,dispatcher); } - diff --git a/extern/bullet2/src/BulletCollision/BroadphaseCollision/btOverlappingPairCache.h b/extern/bullet2/src/BulletCollision/BroadphaseCollision/btOverlappingPairCache.h index a81fe3264df..66679bd218a 100644 --- a/extern/bullet2/src/BulletCollision/BroadphaseCollision/btOverlappingPairCache.h +++ b/extern/bullet2/src/BulletCollision/BroadphaseCollision/btOverlappingPairCache.h @@ -1,4 +1,3 @@ - /* Bullet Continuous Collision Detection and Physics Library Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/ @@ -20,9 +19,13 @@ subject to the following restrictions: #include "btBroadphaseInterface.h" #include "btBroadphaseProxy.h" -#include "../../LinearMath/btPoint3.h" -#include "../../LinearMath/btAlignedObjectArray.h" +#include "btOverlappingPairCallback.h" + +#include "LinearMath/btPoint3.h" +#include "LinearMath/btAlignedObjectArray.h" +class btDispatcher; +typedef btAlignedObjectArray<btBroadphasePair> btBroadphasePairArray; struct btOverlapCallback { @@ -30,6 +33,7 @@ struct btOverlapCallback {} //return true for deletion of the pair virtual bool processOverlap(btBroadphasePair& pair) = 0; + }; struct btOverlapFilterCallback @@ -40,38 +44,261 @@ struct btOverlapFilterCallback virtual bool needBroadphaseCollision(btBroadphaseProxy* proxy0,btBroadphaseProxy* proxy1) const = 0; }; -///btOverlappingPairCache maintains the objects with overlapping AABB + + + + + + +extern int gRemovePairs; +extern int gAddedPairs; +extern int gFindPairs; + +const int BT_NULL_PAIR=0xffffffff; + +///The btOverlappingPairCache provides an interface for overlapping pair management (add, remove, storage), used by the btBroadphaseInterface broadphases. +///The btHashedOverlappingPairCache and btSortedOverlappingPairCache classes are two implementations. +class btOverlappingPairCache : public btOverlappingPairCallback +{ +public: + virtual ~btOverlappingPairCache() {} // this is needed so we can get to the derived class destructor + + virtual btBroadphasePair* getOverlappingPairArrayPtr() = 0; + + virtual const btBroadphasePair* getOverlappingPairArrayPtr() const = 0; + + virtual btBroadphasePairArray& getOverlappingPairArray() = 0; + + virtual void cleanOverlappingPair(btBroadphasePair& pair,btDispatcher* dispatcher) = 0; + + virtual int getNumOverlappingPairs() const = 0; + + virtual void cleanProxyFromPairs(btBroadphaseProxy* proxy,btDispatcher* dispatcher) = 0; + + virtual void setOverlapFilterCallback(btOverlapFilterCallback* callback) = 0; + + virtual void processAllOverlappingPairs(btOverlapCallback*,btDispatcher* dispatcher) = 0; + + virtual btBroadphasePair* findPair(btBroadphaseProxy* proxy0, btBroadphaseProxy* proxy1) = 0; + + virtual bool hasDeferredRemoval() = 0; + +}; + +/// Hash-space based Pair Cache, thanks to Erin Catto, Box2D, http://www.box2d.org, and Pierre Terdiman, Codercorner, http://codercorner.com +class btHashedOverlappingPairCache : public btOverlappingPairCache +{ + btBroadphasePairArray m_overlappingPairArray; + btOverlapFilterCallback* m_overlapFilterCallback; + bool m_blockedForChanges; + + +public: + btHashedOverlappingPairCache(); + virtual ~btHashedOverlappingPairCache(); + + + void removeOverlappingPairsContainingProxy(btBroadphaseProxy* proxy,btDispatcher* dispatcher); + + virtual void* removeOverlappingPair(btBroadphaseProxy* proxy0,btBroadphaseProxy* proxy1,btDispatcher* dispatcher); + + SIMD_FORCE_INLINE bool needsBroadphaseCollision(btBroadphaseProxy* proxy0,btBroadphaseProxy* proxy1) const + { + if (m_overlapFilterCallback) + return m_overlapFilterCallback->needBroadphaseCollision(proxy0,proxy1); + + bool collides = (proxy0->m_collisionFilterGroup & proxy1->m_collisionFilterMask) != 0; + collides = collides && (proxy1->m_collisionFilterGroup & proxy0->m_collisionFilterMask); + + return collides; + } + + // Add a pair and return the new pair. If the pair already exists, + // no new pair is created and the old one is returned. + virtual btBroadphasePair* addOverlappingPair(btBroadphaseProxy* proxy0,btBroadphaseProxy* proxy1) + { + gAddedPairs++; + + if (!needsBroadphaseCollision(proxy0,proxy1)) + return 0; + + return internalAddPair(proxy0,proxy1); + } + + + + void cleanProxyFromPairs(btBroadphaseProxy* proxy,btDispatcher* dispatcher); + + + virtual void processAllOverlappingPairs(btOverlapCallback*,btDispatcher* dispatcher); + + virtual btBroadphasePair* getOverlappingPairArrayPtr() + { + return &m_overlappingPairArray[0]; + } + + const btBroadphasePair* getOverlappingPairArrayPtr() const + { + return &m_overlappingPairArray[0]; + } + + btBroadphasePairArray& getOverlappingPairArray() + { + return m_overlappingPairArray; + } + + const btBroadphasePairArray& getOverlappingPairArray() const + { + return m_overlappingPairArray; + } + + void cleanOverlappingPair(btBroadphasePair& pair,btDispatcher* dispatcher); + + + + btBroadphasePair* findPair(btBroadphaseProxy* proxy0, btBroadphaseProxy* proxy1); + + int GetCount() const { return m_overlappingPairArray.size(); } +// btBroadphasePair* GetPairs() { return m_pairs; } + + btOverlapFilterCallback* getOverlapFilterCallback() + { + return m_overlapFilterCallback; + } + + void setOverlapFilterCallback(btOverlapFilterCallback* callback) + { + m_overlapFilterCallback = callback; + } + + int getNumOverlappingPairs() const + { + return m_overlappingPairArray.size(); + } +private: + + btBroadphasePair* internalAddPair(btBroadphaseProxy* proxy0,btBroadphaseProxy* proxy1); + + void growTables(); + + SIMD_FORCE_INLINE bool equalsPair(const btBroadphasePair& pair, int proxyId1, int proxyId2) + { + return pair.m_pProxy0->getUid() == proxyId1 && pair.m_pProxy1->getUid() == proxyId2; + } + + /* + // Thomas Wang's hash, see: http://www.concentric.net/~Ttwang/tech/inthash.htm + // This assumes proxyId1 and proxyId2 are 16-bit. + SIMD_FORCE_INLINE int getHash(int proxyId1, int proxyId2) + { + int key = (proxyId2 << 16) | proxyId1; + key = ~key + (key << 15); + key = key ^ (key >> 12); + key = key + (key << 2); + key = key ^ (key >> 4); + key = key * 2057; + key = key ^ (key >> 16); + return key; + } + */ + + + + SIMD_FORCE_INLINE unsigned int getHash(unsigned int proxyId1, unsigned int proxyId2) + { + int key = static_cast<int>(((unsigned int)proxyId1) | (((unsigned int)proxyId2) <<16)); + // Thomas Wang's hash + + key += ~(key << 15); + key ^= (key >> 10); + key += (key << 3); + key ^= (key >> 6); + key += ~(key << 11); + key ^= (key >> 16); + return static_cast<unsigned int>(key); + } + + + + + + SIMD_FORCE_INLINE btBroadphasePair* internalFindPair(btBroadphaseProxy* proxy0, btBroadphaseProxy* proxy1, int hash) + { + int proxyId1 = proxy0->getUid(); + int proxyId2 = proxy1->getUid(); + #if 0 // wrong, 'equalsPair' use unsorted uids, copy-past devil striked again. Nat. + if (proxyId1 > proxyId2) + btSwap(proxyId1, proxyId2); + #endif + + int index = m_hashTable[hash]; + + while( index != BT_NULL_PAIR && equalsPair(m_overlappingPairArray[index], proxyId1, proxyId2) == false) + { + index = m_next[index]; + } + + if ( index == BT_NULL_PAIR ) + { + return NULL; + } + + btAssert(index < m_overlappingPairArray.size()); + + return &m_overlappingPairArray[index]; + } + + virtual bool hasDeferredRemoval() + { + return false; + } + +public: + + btAlignedObjectArray<int> m_hashTable; + btAlignedObjectArray<int> m_next; + +}; + + + + +///btSortedOverlappingPairCache maintains the objects with overlapping AABB ///Typically managed by the Broadphase, Axis3Sweep or btSimpleBroadphase -class btOverlappingPairCache : public btBroadphaseInterface +class btSortedOverlappingPairCache : public btOverlappingPairCache { protected: //avoid brute-force finding all the time - btAlignedObjectArray<btBroadphasePair> m_overlappingPairArray; - + btBroadphasePairArray m_overlappingPairArray; + //during the dispatch, check that user doesn't destroy/create proxy bool m_blockedForChanges; + + ///by default, do the removal during the pair traversal + bool m_hasDeferredRemoval; //if set, use the callback instead of the built in filter in needBroadphaseCollision btOverlapFilterCallback* m_overlapFilterCallback; + public: - btOverlappingPairCache(); - virtual ~btOverlappingPairCache(); + btSortedOverlappingPairCache(); + virtual ~btSortedOverlappingPairCache(); - virtual void processAllOverlappingPairs(btOverlapCallback*); + virtual void processAllOverlappingPairs(btOverlapCallback*,btDispatcher* dispatcher); - void removeOverlappingPair(btBroadphasePair& pair); + void* removeOverlappingPair(btBroadphaseProxy* proxy0,btBroadphaseProxy* proxy1,btDispatcher* dispatcher); - void cleanOverlappingPair(btBroadphasePair& pair); + void cleanOverlappingPair(btBroadphasePair& pair,btDispatcher* dispatcher); - void addOverlappingPair(btBroadphaseProxy* proxy0,btBroadphaseProxy* proxy1); + btBroadphasePair* addOverlappingPair(btBroadphaseProxy* proxy0,btBroadphaseProxy* proxy1); btBroadphasePair* findPair(btBroadphaseProxy* proxy0,btBroadphaseProxy* proxy1); - void cleanProxyFromPairs(btBroadphaseProxy* proxy); + void cleanProxyFromPairs(btBroadphaseProxy* proxy,btDispatcher* dispatcher); - void removeOverlappingPairsContainingProxy(btBroadphaseProxy* proxy); + void removeOverlappingPairsContainingProxy(btBroadphaseProxy* proxy,btDispatcher* dispatcher); inline bool needsBroadphaseCollision(btBroadphaseProxy* proxy0,btBroadphaseProxy* proxy1) const @@ -84,10 +311,19 @@ class btOverlappingPairCache : public btBroadphaseInterface return collides; } - + + btBroadphasePairArray& getOverlappingPairArray() + { + return m_overlappingPairArray; + } + + const btBroadphasePairArray& getOverlappingPairArray() const + { + return m_overlappingPairArray; + } + - virtual void refreshOverlappingPairs() =0; btBroadphasePair* getOverlappingPairArrayPtr() { @@ -114,7 +350,88 @@ class btOverlappingPairCache : public btBroadphaseInterface m_overlapFilterCallback = callback; } + virtual bool hasDeferredRemoval() + { + return m_hasDeferredRemoval; + } + + +}; + + + +///btNullPairCache skips add/removal of overlapping pairs. Userful for benchmarking and testing. +class btNullPairCache : public btOverlappingPairCache +{ + + btBroadphasePairArray m_overlappingPairArray; + +public: + + virtual btBroadphasePair* getOverlappingPairArrayPtr() + { + return &m_overlappingPairArray[0]; + } + const btBroadphasePair* getOverlappingPairArrayPtr() const + { + return &m_overlappingPairArray[0]; + } + btBroadphasePairArray& getOverlappingPairArray() + { + return m_overlappingPairArray; + } + + virtual void cleanOverlappingPair(btBroadphasePair& /*pair*/,btDispatcher* /*dispatcher*/) + { + + } + + virtual int getNumOverlappingPairs() const + { + return 0; + } + + virtual void cleanProxyFromPairs(btBroadphaseProxy* /*proxy*/,btDispatcher* /*dispatcher*/) + { + + } + + virtual void setOverlapFilterCallback(btOverlapFilterCallback* /*callback*/) + { + } + + virtual void processAllOverlappingPairs(btOverlapCallback*,btDispatcher* /*dispatcher*/) + { + } + + virtual btBroadphasePair* findPair(btBroadphaseProxy* /*proxy0*/, btBroadphaseProxy* /*proxy1*/) + { + return 0; + } + + virtual bool hasDeferredRemoval() + { + return true; + } + + virtual btBroadphasePair* addOverlappingPair(btBroadphaseProxy* /*proxy0*/,btBroadphaseProxy* /*proxy1*/) + { + return 0; + } + + virtual void* removeOverlappingPair(btBroadphaseProxy* /*proxy0*/,btBroadphaseProxy* /*proxy1*/,btDispatcher* /*dispatcher*/) + { + return 0; + } + + virtual void removeOverlappingPairsContainingProxy(btBroadphaseProxy* /*proxy0*/,btDispatcher* /*dispatcher*/) + { + } + + }; + + #endif //OVERLAPPING_PAIR_CACHE_H diff --git a/extern/bullet2/src/BulletCollision/BroadphaseCollision/btSimpleBroadphase.cpp b/extern/bullet2/src/BulletCollision/BroadphaseCollision/btSimpleBroadphase.cpp index 30bcbe0c5f1..a57952ffa06 100644 --- a/extern/bullet2/src/BulletCollision/BroadphaseCollision/btSimpleBroadphase.cpp +++ b/extern/bullet2/src/BulletCollision/BroadphaseCollision/btSimpleBroadphase.cpp @@ -14,83 +14,84 @@ subject to the following restrictions: */ #include "btSimpleBroadphase.h" -#include <BulletCollision/BroadphaseCollision/btDispatcher.h> -#include <BulletCollision/BroadphaseCollision/btCollisionAlgorithm.h> +#include "BulletCollision/BroadphaseCollision/btDispatcher.h" +#include "BulletCollision/BroadphaseCollision/btCollisionAlgorithm.h" #include "LinearMath/btVector3.h" #include "LinearMath/btTransform.h" #include "LinearMath/btMatrix3x3.h" #include <new> +extern int gOverlappingPairs; void btSimpleBroadphase::validate() { - for (int i=0;i<m_numProxies;i++) + for (int i=0;i<m_numHandles;i++) { - for (int j=i+1;j<m_numProxies;j++) + for (int j=i+1;j<m_numHandles;j++) { - assert(m_pProxies[i] != m_pProxies[j]); + btAssert(&m_pHandles[i] != &m_pHandles[j]); } } } -btSimpleBroadphase::btSimpleBroadphase(int maxProxies) - :btOverlappingPairCache(), - m_firstFreeProxy(0), - m_numProxies(0), - m_maxProxies(maxProxies) +btSimpleBroadphase::btSimpleBroadphase(int maxProxies, btOverlappingPairCache* overlappingPairCache) + :m_pairCache(overlappingPairCache), + m_ownsPairCache(false), + m_invalidPair(0) { - m_proxies = new btSimpleBroadphaseProxy[maxProxies]; - m_freeProxies = new int[maxProxies]; - m_pProxies = new btSimpleBroadphaseProxy*[maxProxies]; + if (!overlappingPairCache) + { + void* mem = btAlignedAlloc(sizeof(btHashedOverlappingPairCache),16); + m_pairCache = new (mem)btHashedOverlappingPairCache(); + m_ownsPairCache = true; + } + + // allocate handles buffer and put all handles on free list + m_pHandlesRawPtr = btAlignedAlloc(sizeof(btSimpleBroadphaseProxy)*maxProxies,16); + m_pHandles = new(m_pHandlesRawPtr) btSimpleBroadphaseProxy[maxProxies]; + m_maxHandles = maxProxies; + m_numHandles = 0; + m_firstFreeHandle = 0; - int i; - for (i=0;i<m_maxProxies;i++) { - m_freeProxies[i] = i; + for (int i = m_firstFreeHandle; i < maxProxies; i++) + { + m_pHandles[i].SetNextFree(i + 1); + m_pHandles[i].m_uniqueId = i+2;//any UID will do, we just avoid too trivial values (0,1) for debugging purposes + } + m_pHandles[maxProxies - 1].SetNextFree(0); + } + } btSimpleBroadphase::~btSimpleBroadphase() { - delete[] m_proxies; - delete []m_freeProxies; - delete [] m_pProxies; + btAlignedFree(m_pHandlesRawPtr); - /*int i; - for (i=m_numProxies-1;i>=0;i--) + if (m_ownsPairCache) { - BP_Proxy* proxy = m_pProxies[i]; - destroyProxy(proxy); + m_pairCache->~btOverlappingPairCache(); + btAlignedFree(m_pairCache); } - */ } -btBroadphaseProxy* btSimpleBroadphase::createProxy( const btVector3& min, const btVector3& max,int shapeType,void* userPtr ,short int collisionFilterGroup,short int collisionFilterMask) +btBroadphaseProxy* btSimpleBroadphase::createProxy( const btVector3& aabbMin, const btVector3& aabbMax,int shapeType,void* userPtr ,short int collisionFilterGroup,short int collisionFilterMask, btDispatcher* /*dispatcher*/,void* multiSapProxy) { - if (m_numProxies >= m_maxProxies) + if (m_numHandles >= m_maxHandles) { - assert(0); + btAssert(0); return 0; //should never happen, but don't let the game crash ;-) } - assert(min[0]<= max[0] && min[1]<= max[1] && min[2]<= max[2]); - - int freeIndex= m_freeProxies[m_firstFreeProxy]; - btSimpleBroadphaseProxy* proxy = new (&m_proxies[freeIndex])btSimpleBroadphaseProxy(min,max,shapeType,userPtr,collisionFilterGroup,collisionFilterMask); - m_firstFreeProxy++; - - btSimpleBroadphaseProxy* proxy1 = &m_proxies[0]; - - int index = int(proxy - proxy1); - btAssert(index == freeIndex); + assert(aabbMin[0]<= aabbMax[0] && aabbMin[1]<= aabbMax[1] && aabbMin[2]<= aabbMax[2]); - m_pProxies[m_numProxies] = proxy; - m_numProxies++; - //validate(); + int newHandleIndex = allocHandle(); + btSimpleBroadphaseProxy* proxy = new (&m_pHandles[newHandleIndex])btSimpleBroadphaseProxy(aabbMin,aabbMax,shapeType,userPtr,collisionFilterGroup,collisionFilterMask,multiSapProxy); return proxy; } @@ -124,34 +125,19 @@ protected: }; }; -void btSimpleBroadphase::destroyProxy(btBroadphaseProxy* proxyOrg) +void btSimpleBroadphase::destroyProxy(btBroadphaseProxy* proxyOrg,btDispatcher* dispatcher) { - int i; - btSimpleBroadphaseProxy* proxy0 = static_cast<btSimpleBroadphaseProxy*>(proxyOrg); - btSimpleBroadphaseProxy* proxy1 = &m_proxies[0]; - - int index = int(proxy0 - proxy1); - btAssert (index < m_maxProxies); - m_freeProxies[--m_firstFreeProxy] = index; + freeHandle(proxy0); + + m_pairCache->removeOverlappingPairsContainingProxy(proxyOrg,dispatcher); - removeOverlappingPairsContainingProxy(proxyOrg); - - for (i=0;i<m_numProxies;i++) - { - if (m_pProxies[i] == proxyOrg) - { - m_pProxies[i] = m_pProxies[m_numProxies-1]; - break; - } - } - m_numProxies--; //validate(); } -void btSimpleBroadphase::setAabb(btBroadphaseProxy* proxy,const btVector3& aabbMin,const btVector3& aabbMax) +void btSimpleBroadphase::setAabb(btBroadphaseProxy* proxy,const btVector3& aabbMin,const btVector3& aabbMax, btDispatcher* /*dispatcher*/) { btSimpleBroadphaseProxy* sbp = getSimpleProxyFromProxy(proxy); sbp->m_min = aabbMin; @@ -186,37 +172,129 @@ public: } }; -void btSimpleBroadphase::refreshOverlappingPairs() +void btSimpleBroadphase::calculateOverlappingPairs(btDispatcher* dispatcher) { //first check for new overlapping pairs int i,j; - for (i=0;i<m_numProxies;i++) + if (m_numHandles >= 0) { - btBroadphaseProxy* proxy0 = m_pProxies[i]; - for (j=i+1;j<m_numProxies;j++) + + for (i=0;i<m_numHandles;i++) { - btBroadphaseProxy* proxy1 = m_pProxies[j]; - btSimpleBroadphaseProxy* p0 = getSimpleProxyFromProxy(proxy0); - btSimpleBroadphaseProxy* p1 = getSimpleProxyFromProxy(proxy1); + btSimpleBroadphaseProxy* proxy0 = &m_pHandles[i]; - if (aabbOverlap(p0,p1)) + for (j=i+1;j<m_numHandles;j++) { - if ( !findPair(proxy0,proxy1)) + btSimpleBroadphaseProxy* proxy1 = &m_pHandles[j]; + btAssert(proxy0 != proxy1); + + btSimpleBroadphaseProxy* p0 = getSimpleProxyFromProxy(proxy0); + btSimpleBroadphaseProxy* p1 = getSimpleProxyFromProxy(proxy1); + + if (aabbOverlap(p0,p1)) + { + if ( !m_pairCache->findPair(proxy0,proxy1)) + { + m_pairCache->addOverlappingPair(proxy0,proxy1); + } + } else { - addOverlappingPair(proxy0,proxy1); + if (!m_pairCache->hasDeferredRemoval()) + { + if ( m_pairCache->findPair(proxy0,proxy1)) + { + m_pairCache->removeOverlappingPair(proxy0,proxy1,dispatcher); + } + } } } - } - } + if (m_ownsPairCache && m_pairCache->hasDeferredRemoval()) + { + + btBroadphasePairArray& overlappingPairArray = m_pairCache->getOverlappingPairArray(); - CheckOverlapCallback checkOverlap; + //perform a sort, to find duplicates and to sort 'invalid' pairs to the end + overlappingPairArray.quickSort(btBroadphasePairSortPredicate()); - processAllOverlappingPairs(&checkOverlap); + overlappingPairArray.resize(overlappingPairArray.size() - m_invalidPair); + m_invalidPair = 0; + btBroadphasePair previousPair; + previousPair.m_pProxy0 = 0; + previousPair.m_pProxy1 = 0; + previousPair.m_algorithm = 0; + + + for (i=0;i<overlappingPairArray.size();i++) + { + + btBroadphasePair& pair = overlappingPairArray[i]; + + bool isDuplicate = (pair == previousPair); + + previousPair = pair; + + bool needsRemoval = false; + + if (!isDuplicate) + { + bool hasOverlap = testAabbOverlap(pair.m_pProxy0,pair.m_pProxy1); + + if (hasOverlap) + { + needsRemoval = false;//callback->processOverlap(pair); + } else + { + needsRemoval = true; + } + } else + { + //remove duplicate + needsRemoval = true; + //should have no algorithm + btAssert(!pair.m_algorithm); + } + + if (needsRemoval) + { + m_pairCache->cleanOverlappingPair(pair,dispatcher); + + // m_overlappingPairArray.swap(i,m_overlappingPairArray.size()-1); + // m_overlappingPairArray.pop_back(); + pair.m_pProxy0 = 0; + pair.m_pProxy1 = 0; + m_invalidPair++; + gOverlappingPairs--; + } + + } + + ///if you don't like to skip the invalid pairs in the array, execute following code: +#define CLEAN_INVALID_PAIRS 1 +#ifdef CLEAN_INVALID_PAIRS + + //perform a sort, to sort 'invalid' pairs to the end + overlappingPairArray.quickSort(btBroadphasePairSortPredicate()); + + overlappingPairArray.resize(overlappingPairArray.size() - m_invalidPair); + m_invalidPair = 0; +#endif//CLEAN_INVALID_PAIRS + + } + } +} + + +bool btSimpleBroadphase::testAabbOverlap(btBroadphaseProxy* proxy0,btBroadphaseProxy* proxy1) +{ + btSimpleBroadphaseProxy* p0 = getSimpleProxyFromProxy(proxy0); + btSimpleBroadphaseProxy* p1 = getSimpleProxyFromProxy(proxy1); + return aabbOverlap(p0,p1); } + diff --git a/extern/bullet2/src/BulletCollision/BroadphaseCollision/btSimpleBroadphase.h b/extern/bullet2/src/BulletCollision/BroadphaseCollision/btSimpleBroadphase.h index fb155e7047c..e2ebb825725 100644 --- a/extern/bullet2/src/BulletCollision/BroadphaseCollision/btSimpleBroadphase.h +++ b/extern/bullet2/src/BulletCollision/BroadphaseCollision/btSimpleBroadphase.h @@ -24,35 +24,69 @@ struct btSimpleBroadphaseProxy : public btBroadphaseProxy { btVector3 m_min; btVector3 m_max; + int m_nextFree; + +// int m_handleId; + btSimpleBroadphaseProxy() {}; - btSimpleBroadphaseProxy(const btPoint3& minpt,const btPoint3& maxpt,int shapeType,void* userPtr,short int collisionFilterGroup,short int collisionFilterMask) - :btBroadphaseProxy(userPtr,collisionFilterGroup,collisionFilterMask), + btSimpleBroadphaseProxy(const btPoint3& minpt,const btPoint3& maxpt,int shapeType,void* userPtr,short int collisionFilterGroup,short int collisionFilterMask,void* multiSapProxy) + :btBroadphaseProxy(userPtr,collisionFilterGroup,collisionFilterMask,multiSapProxy), m_min(minpt),m_max(maxpt) { (void)shapeType; } + + SIMD_FORCE_INLINE void SetNextFree(int next) {m_nextFree = next;} + SIMD_FORCE_INLINE int GetNextFree() const {return m_nextFree;} + + + }; -///SimpleBroadphase is a brute force aabb culling broadphase based on O(n^2) aabb checks -class btSimpleBroadphase : public btOverlappingPairCache +///The SimpleBroadphase is just a unit-test for btAxisSweep3, bt32BitAxisSweep3, or btDbvtBroadphase, so use those classes instead. +///It is a brute force aabb culling broadphase based on O(n^2) aabb checks +class btSimpleBroadphase : public btBroadphaseInterface { protected: - btSimpleBroadphaseProxy* m_proxies; - int* m_freeProxies; - int m_firstFreeProxy; - - btSimpleBroadphaseProxy** m_pProxies; - int m_numProxies; + int m_numHandles; // number of active handles + int m_maxHandles; // max number of handles + + btSimpleBroadphaseProxy* m_pHandles; // handles pool + void* m_pHandlesRawPtr; + int m_firstFreeHandle; // free handles list + int allocHandle() + { + btAssert(m_numHandles < m_maxHandles); + int freeHandle = m_firstFreeHandle; + m_firstFreeHandle = m_pHandles[freeHandle].GetNextFree(); + m_numHandles++; + return freeHandle; + } + + void freeHandle(btSimpleBroadphaseProxy* proxy) + { + int handle = int(proxy-m_pHandles); + btAssert(handle >= 0 && handle < m_maxHandles); + + proxy->SetNextFree(m_firstFreeHandle); + m_firstFreeHandle = handle; + + m_numHandles--; + } + + btOverlappingPairCache* m_pairCache; + bool m_ownsPairCache; + + int m_invalidPair; - int m_maxProxies; inline btSimpleBroadphaseProxy* getSimpleProxyFromProxy(btBroadphaseProxy* proxy) @@ -67,26 +101,48 @@ protected: protected: - virtual void refreshOverlappingPairs(); + + public: - btSimpleBroadphase(int maxProxies=16384); + btSimpleBroadphase(int maxProxies=16384,btOverlappingPairCache* overlappingPairCache=0); virtual ~btSimpleBroadphase(); static bool aabbOverlap(btSimpleBroadphaseProxy* proxy0,btSimpleBroadphaseProxy* proxy1); - virtual btBroadphaseProxy* createProxy( const btVector3& min, const btVector3& max,int shapeType,void* userPtr ,short int collisionFilterGroup,short int collisionFilterMask); + virtual btBroadphaseProxy* createProxy( const btVector3& aabbMin, const btVector3& aabbMax,int shapeType,void* userPtr ,short int collisionFilterGroup,short int collisionFilterMask, btDispatcher* dispatcher,void* multiSapProxy); + virtual void calculateOverlappingPairs(btDispatcher* dispatcher); - virtual void destroyProxy(btBroadphaseProxy* proxy); - virtual void setAabb(btBroadphaseProxy* proxy,const btVector3& aabbMin,const btVector3& aabbMax); + virtual void destroyProxy(btBroadphaseProxy* proxy,btDispatcher* dispatcher); + virtual void setAabb(btBroadphaseProxy* proxy,const btVector3& aabbMin,const btVector3& aabbMax, btDispatcher* dispatcher); - - + btOverlappingPairCache* getOverlappingPairCache() + { + return m_pairCache; + } + const btOverlappingPairCache* getOverlappingPairCache() const + { + return m_pairCache; + } + bool testAabbOverlap(btBroadphaseProxy* proxy0,btBroadphaseProxy* proxy1); + ///getAabb returns the axis aligned bounding box in the 'global' coordinate frame + ///will add some transform later + virtual void getBroadphaseAabb(btVector3& aabbMin,btVector3& aabbMax) const + { + aabbMin.setValue(-1e30f,-1e30f,-1e30f); + aabbMax.setValue(1e30f,1e30f,1e30f); + } + + virtual void printStats() + { +// printf("btSimpleBroadphase.h\n"); +// printf("numHandles = %d, maxHandles = %d\n",m_numHandles,m_maxHandles); + } }; diff --git a/extern/bullet2/src/BulletCollision/CMakeLists.txt b/extern/bullet2/src/BulletCollision/CMakeLists.txt index e565bf7edea..d77ca6444c7 100644 --- a/extern/bullet2/src/BulletCollision/CMakeLists.txt +++ b/extern/bullet2/src/BulletCollision/CMakeLists.txt @@ -5,56 +5,149 @@ ${BULLET_PHYSICS_SOURCE_DIR}/src } ADD_LIBRARY(LibBulletCollision BroadphaseCollision/btAxisSweep3.cpp + BroadphaseCollision/btAxisSweep3.h BroadphaseCollision/btBroadphaseProxy.cpp + BroadphaseCollision/btBroadphaseProxy.h BroadphaseCollision/btCollisionAlgorithm.cpp + BroadphaseCollision/btCollisionAlgorithm.h BroadphaseCollision/btDispatcher.cpp + BroadphaseCollision/btDispatcher.h + BroadphaseCollision/btDbvtBroadphase.cpp + BroadphaseCollision/btDbvtBroadphase.h + BroadphaseCollision/btDbvt.cpp + BroadphaseCollision/btDbvt.h + BroadphaseCollision/btMultiSapBroadphase.cpp + BroadphaseCollision/btMultiSapBroadphase.h BroadphaseCollision/btOverlappingPairCache.cpp + BroadphaseCollision/btOverlappingPairCache.h + BroadphaseCollision/btOverlappingPairCallback.h + BroadphaseCollision/btQuantizedBvh.cpp + BroadphaseCollision/btQuantizedBvh.h BroadphaseCollision/btSimpleBroadphase.cpp + BroadphaseCollision/btSimpleBroadphase.h CollisionDispatch/btCollisionDispatcher.cpp + CollisionDispatch/btCollisionDispatcher.h CollisionDispatch/btCollisionObject.cpp + CollisionDispatch/btCollisionObject.h CollisionDispatch/btCollisionWorld.cpp + CollisionDispatch/btCollisionWorld.h CollisionDispatch/btCompoundCollisionAlgorithm.cpp + CollisionDispatch/btCompoundCollisionAlgorithm.h CollisionDispatch/btConvexConcaveCollisionAlgorithm.cpp + CollisionDispatch/btConvexConcaveCollisionAlgorithm.h + CollisionDispatch/btDefaultCollisionConfiguration.cpp + CollisionDispatch/btDefaultCollisionConfiguration.h CollisionDispatch/btSphereSphereCollisionAlgorithm.cpp + CollisionDispatch/btSphereSphereCollisionAlgorithm.h + CollisionDispatch/btBoxBoxCollisionAlgorithm.cpp + CollisionDispatch/btBoxBoxCollisionAlgorithm.h + CollisionDispatch/btBoxBoxDetector.cpp + CollisionDispatch/btBoxBoxDetector.h CollisionDispatch/btSphereBoxCollisionAlgorithm.cpp + CollisionDispatch/btSphereBoxCollisionAlgorithm.h + CollisionDispatch/btConvexPlaneCollisionAlgorithm.cpp + CollisionDispatch/btConvexPlaneCollisionAlgorithm.h + CollisionDispatch/btSphereTriangleCollisionAlgorithm.cpp + CollisionDispatch/btSphereTriangleCollisionAlgorithm.h CollisionDispatch/btConvexConvexAlgorithm.cpp + CollisionDispatch/btConvexConvexAlgorithm.h CollisionDispatch/btEmptyCollisionAlgorithm.cpp + CollisionDispatch/btEmptyCollisionAlgorithm.h CollisionDispatch/btManifoldResult.cpp + CollisionDispatch/btManifoldResult.h CollisionDispatch/btSimulationIslandManager.cpp + CollisionDispatch/btSimulationIslandManager.h CollisionDispatch/btUnionFind.cpp + CollisionDispatch/btUnionFind.h + CollisionDispatch/SphereTriangleDetector.cpp + CollisionDispatch/SphereTriangleDetector.h CollisionShapes/btBoxShape.cpp + CollisionShapes/btBoxShape.h CollisionShapes/btBvhTriangleMeshShape.cpp + CollisionShapes/btBvhTriangleMeshShape.h + CollisionShapes/btCapsuleShape.cpp + CollisionShapes/btCapsuleShape.h CollisionShapes/btCollisionShape.cpp + CollisionShapes/btCollisionShape.h CollisionShapes/btCompoundShape.cpp + CollisionShapes/btCompoundShape.h CollisionShapes/btConcaveShape.cpp + CollisionShapes/btConcaveShape.h CollisionShapes/btConeShape.cpp + CollisionShapes/btConeShape.h CollisionShapes/btConvexHullShape.cpp + CollisionShapes/btConvexHullShape.h CollisionShapes/btConvexShape.cpp + CollisionShapes/btConvexShape.h + CollisionShapes/btConvexInternalShape.cpp + CollisionShapes/btConvexInternalShape.h CollisionShapes/btConvexTriangleMeshShape.cpp + CollisionShapes/btConvexTriangleMeshShape.h CollisionShapes/btCylinderShape.cpp + CollisionShapes/btCylinderShape.h CollisionShapes/btEmptyShape.cpp + CollisionShapes/btEmptyShape.h + CollisionShapes/btHeightfieldTerrainShape.cpp + CollisionShapes/btHeightfieldTerrainShape.h CollisionShapes/btMinkowskiSumShape.cpp + CollisionShapes/btMinkowskiSumShape.h + CollisionShapes/btMaterial.h + CollisionShapes/btMultimaterialTriangleMeshShape.cpp + CollisionShapes/btMultimaterialTriangleMeshShape.h CollisionShapes/btMultiSphereShape.cpp + CollisionShapes/btMultiSphereShape.h CollisionShapes/btOptimizedBvh.cpp + CollisionShapes/btOptimizedBvh.h CollisionShapes/btPolyhedralConvexShape.cpp + CollisionShapes/btPolyhedralConvexShape.h + CollisionShapes/btScaledBvhTriangleMeshShape.cpp + CollisionShapes/btScaledBvhTriangleMeshShape.h CollisionShapes/btTetrahedronShape.cpp + CollisionShapes/btTetrahedronShape.h CollisionShapes/btSphereShape.cpp + CollisionShapes/btSphereShape.h + CollisionShapes/btShapeHull.h + CollisionShapes/btShapeHull.cpp CollisionShapes/btStaticPlaneShape.cpp + CollisionShapes/btStaticPlaneShape.h CollisionShapes/btStridingMeshInterface.cpp + CollisionShapes/btStridingMeshInterface.h CollisionShapes/btTriangleCallback.cpp + CollisionShapes/btTriangleCallback.h CollisionShapes/btTriangleBuffer.cpp + CollisionShapes/btTriangleBuffer.h CollisionShapes/btTriangleIndexVertexArray.cpp + CollisionShapes/btTriangleIndexVertexArray.h + CollisionShapes/btTriangleIndexVertexMaterialArray.h + CollisionShapes/btTriangleIndexVertexMaterialArray.cpp CollisionShapes/btTriangleMesh.cpp + CollisionShapes/btTriangleMesh.h CollisionShapes/btTriangleMeshShape.cpp + CollisionShapes/btTriangleMeshShape.h + CollisionShapes/btUniformScalingShape.cpp + CollisionShapes/btUniformScalingShape.h NarrowPhaseCollision/btContinuousConvexCollision.cpp + NarrowPhaseCollision/btContinuousConvexCollision.h NarrowPhaseCollision/btGjkEpa.cpp + NarrowPhaseCollision/btGjkEpa.h + NarrowPhaseCollision/btGjkEpa2.cpp + NarrowPhaseCollision/btGjkEpa2.h NarrowPhaseCollision/btGjkEpaPenetrationDepthSolver.cpp + NarrowPhaseCollision/btGjkEpaPenetrationDepthSolver.h NarrowPhaseCollision/btConvexCast.cpp + NarrowPhaseCollision/btConvexCast.h NarrowPhaseCollision/btGjkConvexCast.cpp + NarrowPhaseCollision/btGjkConvexCast.h NarrowPhaseCollision/btGjkPairDetector.cpp + NarrowPhaseCollision/btGjkPairDetector.h NarrowPhaseCollision/btMinkowskiPenetrationDepthSolver.cpp + NarrowPhaseCollision/btMinkowskiPenetrationDepthSolver.h NarrowPhaseCollision/btPersistentManifold.cpp + NarrowPhaseCollision/btPersistentManifold.h NarrowPhaseCollision/btRaycastCallback.cpp + NarrowPhaseCollision/btRaycastCallback.h NarrowPhaseCollision/btSubSimplexConvexCast.cpp + NarrowPhaseCollision/btSubSimplexConvexCast.h NarrowPhaseCollision/btVoronoiSimplexSolver.cpp + NarrowPhaseCollision/btVoronoiSimplexSolver.h ) diff --git a/extern/bullet2/src/BulletCollision/CollisionDispatch/SphereTriangleDetector.cpp b/extern/bullet2/src/BulletCollision/CollisionDispatch/SphereTriangleDetector.cpp index 81133670f0c..f6c1e32ac7c 100644 --- a/extern/bullet2/src/BulletCollision/CollisionDispatch/SphereTriangleDetector.cpp +++ b/extern/bullet2/src/BulletCollision/CollisionDispatch/SphereTriangleDetector.cpp @@ -26,7 +26,7 @@ m_triangle(triangle) } -void SphereTriangleDetector::getClosestPoints(const ClosestPointInput& input,Result& output,class btIDebugDraw* debugDraw) +void SphereTriangleDetector::getClosestPoints(const ClosestPointInput& input,Result& output,class btIDebugDraw* debugDraw,bool swapResults) { (void)debugDraw; @@ -42,7 +42,16 @@ void SphereTriangleDetector::getClosestPoints(const ClosestPointInput& input,Res if (collide(sphereInTr.getOrigin(),point,normal,depth,timeOfImpact)) { - output.addContactPoint(transformB.getBasis()*normal,transformB*point,depth); + if (swapResults) + { + btVector3 normalOnB = transformB.getBasis()*normal; + btVector3 normalOnA = -normalOnB; + btVector3 pointOnA = transformB*point+normalOnB*depth; + output.addContactPoint(normalOnA,pointOnA,depth); + } else + { + output.addContactPoint(transformB.getBasis()*normal,transformB*point,depth); + } } } @@ -53,6 +62,8 @@ void SphereTriangleDetector::getClosestPoints(const ClosestPointInput& input,Res // See also geometrictools.com // Basic idea: D = |p - (lo + t0*lv)| where t0 = lv . (p - lo) / lv . lv +btScalar SegmentSqrDistance(const btVector3& from, const btVector3& to,const btVector3 &p, btVector3 &nearest); + btScalar SegmentSqrDistance(const btVector3& from, const btVector3& to,const btVector3 &p, btVector3 &nearest) { btVector3 diff = p - from; btVector3 v = to - from; diff --git a/extern/bullet2/src/BulletCollision/CollisionDispatch/SphereTriangleDetector.h b/extern/bullet2/src/BulletCollision/CollisionDispatch/SphereTriangleDetector.h index b32806a6846..26dabaa480e 100644 --- a/extern/bullet2/src/BulletCollision/CollisionDispatch/SphereTriangleDetector.h +++ b/extern/bullet2/src/BulletCollision/CollisionDispatch/SphereTriangleDetector.h @@ -16,8 +16,8 @@ subject to the following restrictions: #ifndef SPHERE_TRIANGLE_DETECTOR_H #define SPHERE_TRIANGLE_DETECTOR_H -#include "../NarrowPhaseCollision/btDiscreteCollisionDetectorInterface.h" -#include "../../LinearMath/btPoint3.h" +#include "BulletCollision/NarrowPhaseCollision/btDiscreteCollisionDetectorInterface.h" +#include "LinearMath/btPoint3.h" class btSphereShape; @@ -28,7 +28,7 @@ class btTriangleShape; /// sphere-triangle to match the btDiscreteCollisionDetectorInterface struct SphereTriangleDetector : public btDiscreteCollisionDetectorInterface { - virtual void getClosestPoints(const ClosestPointInput& input,Result& output,class btIDebugDraw* debugDraw); + virtual void getClosestPoints(const ClosestPointInput& input,Result& output,class btIDebugDraw* debugDraw,bool swapResults=false); SphereTriangleDetector(btSphereShape* sphere,btTriangleShape* triangle); diff --git a/extern/bullet2/src/BulletCollision/CollisionDispatch/btCollisionCreateFunc.h b/extern/bullet2/src/BulletCollision/CollisionDispatch/btCollisionCreateFunc.h index d51a59af7f0..c6728918d16 100644 --- a/extern/bullet2/src/BulletCollision/CollisionDispatch/btCollisionCreateFunc.h +++ b/extern/bullet2/src/BulletCollision/CollisionDispatch/btCollisionCreateFunc.h @@ -16,7 +16,7 @@ subject to the following restrictions: #ifndef COLLISION_CREATE_FUNC #define COLLISION_CREATE_FUNC -#include "../../LinearMath/btAlignedObjectArray.h" +#include "LinearMath/btAlignedObjectArray.h" typedef btAlignedObjectArray<class btCollisionObject*> btCollisionObjectArray; class btCollisionAlgorithm; class btCollisionObject; diff --git a/extern/bullet2/src/BulletCollision/CollisionDispatch/btCollisionDispatcher.cpp b/extern/bullet2/src/BulletCollision/CollisionDispatch/btCollisionDispatcher.cpp index b535fac6563..a031a9f9784 100644 --- a/extern/bullet2/src/BulletCollision/CollisionDispatch/btCollisionDispatcher.cpp +++ b/extern/bullet2/src/BulletCollision/CollisionDispatch/btCollisionDispatcher.cpp @@ -19,69 +19,39 @@ subject to the following restrictions: #include "BulletCollision/BroadphaseCollision/btCollisionAlgorithm.h" -#include "BulletCollision/CollisionDispatch/btConvexConvexAlgorithm.h" -#include "BulletCollision/CollisionDispatch/btEmptyCollisionAlgorithm.h" -#include "BulletCollision/CollisionDispatch/btConvexConcaveCollisionAlgorithm.h" -#include "BulletCollision/CollisionDispatch/btCompoundCollisionAlgorithm.h" + #include "BulletCollision/CollisionShapes/btCollisionShape.h" #include "BulletCollision/CollisionDispatch/btCollisionObject.h" #include "BulletCollision/BroadphaseCollision/btOverlappingPairCache.h" +#include "LinearMath/btPoolAllocator.h" +#include "BulletCollision/CollisionDispatch/btCollisionConfiguration.h" int gNumManifold = 0; +#ifdef BT_DEBUG #include <stdio.h> +#endif - -btCollisionDispatcher::btCollisionDispatcher(bool noDefaultAlgorithms): -m_count(0), -m_useIslands(true), -m_convexConvexCreateFunc(0), -m_convexConcaveCreateFunc(0), -m_swappedConvexConcaveCreateFunc(0), -m_compoundCreateFunc(0), -m_swappedCompoundCreateFunc(0), -m_emptyCreateFunc(0) -{ - (void)noDefaultAlgorithms; - int i; - - setNearCallback(defaultNearCallback); - m_emptyCreateFunc = new btEmptyAlgorithm::CreateFunc; - for (i=0;i<MAX_BROADPHASE_COLLISION_TYPES;i++) - { - for (int j=0;j<MAX_BROADPHASE_COLLISION_TYPES;j++) - { - m_doubleDispatch[i][j] = m_emptyCreateFunc; - } - } -} -//if you want to not link with the default collision algorithms, you can -//define BT_EXCLUDE_DEFAULT_COLLISIONALGORITHM_REGISTRATION -//in your Bullet library build system -#ifndef BT_EXCLUDE_DEFAULT_COLLISIONALGORITHM_REGISTRATION - -btCollisionDispatcher::btCollisionDispatcher (): +btCollisionDispatcher::btCollisionDispatcher (btCollisionConfiguration* collisionConfiguration): m_count(0), - m_useIslands(true) + m_useIslands(true), + m_staticWarningReported(false), + m_collisionConfiguration(collisionConfiguration) { int i; setNearCallback(defaultNearCallback); - //default CreationFunctions, filling the m_doubleDispatch table - m_convexConvexCreateFunc = new btConvexConvexAlgorithm::CreateFunc; - m_convexConcaveCreateFunc = new btConvexConcaveCollisionAlgorithm::CreateFunc; - m_swappedConvexConcaveCreateFunc = new btConvexConcaveCollisionAlgorithm::SwappedCreateFunc; - m_compoundCreateFunc = new btCompoundCollisionAlgorithm::CreateFunc; - m_swappedCompoundCreateFunc = new btCompoundCollisionAlgorithm::SwappedCreateFunc; - m_emptyCreateFunc = new btEmptyAlgorithm::CreateFunc; + m_collisionAlgorithmPoolAllocator = collisionConfiguration->getCollisionAlgorithmPool(); + + m_persistentManifoldPoolAllocator = collisionConfiguration->getPersistentManifoldPool(); for (i=0;i<MAX_BROADPHASE_COLLISION_TYPES;i++) { for (int j=0;j<MAX_BROADPHASE_COLLISION_TYPES;j++) { - m_doubleDispatch[i][j] = internalFindCreateFunc(i,j); + m_doubleDispatch[i][j] = m_collisionConfiguration->getCollisionAlgorithmCreateFunc(i,j); assert(m_doubleDispatch[i][j]); } } @@ -89,8 +59,6 @@ btCollisionDispatcher::btCollisionDispatcher (): }; -#endif //BT_EXCLUDE_DEFAULT_COLLISIONALGORITHM_REGISTRATION - void btCollisionDispatcher::registerCollisionCreateFunc(int proxyType0, int proxyType1, btCollisionAlgorithmCreateFunc *createFunc) { @@ -99,12 +67,6 @@ void btCollisionDispatcher::registerCollisionCreateFunc(int proxyType0, int prox btCollisionDispatcher::~btCollisionDispatcher() { - delete m_convexConvexCreateFunc; - delete m_convexConcaveCreateFunc; - delete m_swappedConvexConcaveCreateFunc; - delete m_compoundCreateFunc; - delete m_swappedCompoundCreateFunc; - delete m_emptyCreateFunc; } btPersistentManifold* btCollisionDispatcher::getNewManifold(void* b0,void* b1) @@ -117,7 +79,18 @@ btPersistentManifold* btCollisionDispatcher::getNewManifold(void* b0,void* b1) btCollisionObject* body0 = (btCollisionObject*)b0; btCollisionObject* body1 = (btCollisionObject*)b1; - btPersistentManifold* manifold = new btPersistentManifold (body0,body1); + void* mem = 0; + + if (m_persistentManifoldPoolAllocator->getFreeCount()) + { + mem = m_persistentManifoldPoolAllocator->allocate(sizeof(btPersistentManifold)); + } else + { + mem = btAlignedAlloc(sizeof(btPersistentManifold),16); + + } + btPersistentManifold* manifold = new(mem) btPersistentManifold (body0,body1,0); + manifold->m_index1a = m_manifoldsPtr.size(); m_manifoldsPtr.push_back(manifold); return manifold; @@ -137,13 +110,19 @@ void btCollisionDispatcher::releaseManifold(btPersistentManifold* manifold) //printf("releaseManifold: gNumManifold %d\n",gNumManifold); clearManifold(manifold); - ///todo: this can be improved a lot, linear search might be slow part! - int findIndex = m_manifoldsPtr.findLinearSearch(manifold); - if (findIndex < m_manifoldsPtr.size()) + int findIndex = manifold->m_index1a; + btAssert(findIndex < m_manifoldsPtr.size()); + m_manifoldsPtr.swap(findIndex,m_manifoldsPtr.size()-1); + m_manifoldsPtr[findIndex]->m_index1a = findIndex; + m_manifoldsPtr.pop_back(); + + manifold->~btPersistentManifold(); + if (m_persistentManifoldPoolAllocator->validPtr(manifold)) { - m_manifoldsPtr.swap(findIndex,m_manifoldsPtr.size()-1); - m_manifoldsPtr.pop_back(); - delete manifold; + m_persistentManifoldPoolAllocator->freeMemory(manifold); + } else + { + btAlignedFree(manifold); } } @@ -152,99 +131,19 @@ void btCollisionDispatcher::releaseManifold(btPersistentManifold* manifold) btCollisionAlgorithm* btCollisionDispatcher::findAlgorithm(btCollisionObject* body0,btCollisionObject* body1,btPersistentManifold* sharedManifold) { - -#ifdef USE_DISPATCH_REGISTRY_ARRAY btCollisionAlgorithmConstructionInfo ci; - ci.m_dispatcher = this; - ci.m_manifold = sharedManifold; - btCollisionAlgorithm* algo = m_doubleDispatch[body0->getCollisionShape()->getShapeType()][body1->getCollisionShape()->getShapeType()] - ->CreateCollisionAlgorithm(ci,body0,body1); -#else - btCollisionAlgorithm* algo = internalFindAlgorithm(body0,body1); -#endif //USE_DISPATCH_REGISTRY_ARRAY - return algo; -} + ci.m_dispatcher1 = this; + ci.m_manifold = sharedManifold; + btCollisionAlgorithm* algo = m_doubleDispatch[body0->getCollisionShape()->getShapeType()][body1->getCollisionShape()->getShapeType()]->CreateCollisionAlgorithm(ci,body0,body1); -#ifndef BT_EXCLUDE_DEFAULT_COLLISIONALGORITHM_REGISTRATION - -btCollisionAlgorithmCreateFunc* btCollisionDispatcher::internalFindCreateFunc(int proxyType0,int proxyType1) -{ - - if (btBroadphaseProxy::isConvex(proxyType0) && btBroadphaseProxy::isConvex(proxyType1)) - { - return m_convexConvexCreateFunc; - } - - if (btBroadphaseProxy::isConvex(proxyType0) && btBroadphaseProxy::isConcave(proxyType1)) - { - return m_convexConcaveCreateFunc; - } - - if (btBroadphaseProxy::isConvex(proxyType1) && btBroadphaseProxy::isConcave(proxyType0)) - { - return m_swappedConvexConcaveCreateFunc; - } - - if (btBroadphaseProxy::isCompound(proxyType0)) - { - return m_compoundCreateFunc; - } else - { - if (btBroadphaseProxy::isCompound(proxyType1)) - { - return m_swappedCompoundCreateFunc; - } - } - - //failed to find an algorithm - return m_emptyCreateFunc; + return algo; } -#endif //BT_EXCLUDE_DEFAULT_COLLISIONALGORITHM_REGISTRATION - -#ifndef USE_DISPATCH_REGISTRY_ARRAY -btCollisionAlgorithm* btCollisionDispatcher::internalFindAlgorithm(btCollisionObject* body0,btCollisionObject* body1,btPersistentManifold* sharedManifold) -{ - m_count++; - - btCollisionAlgorithmConstructionInfo ci; - ci.m_dispatcher = this; - - if (body0->getCollisionShape()->isConvex() && body1->getCollisionShape()->isConvex() ) - { - return new btConvexConvexAlgorithm(sharedManifold,ci,body0,body1); - } - if (body0->getCollisionShape()->isConvex() && body1->getCollisionShape()->isConcave()) - { - return new btConvexConcaveCollisionAlgorithm(ci,body0,body1,false); - } - - if (body1->getCollisionShape()->isConvex() && body0->getCollisionShape()->isConcave()) - { - return new btConvexConcaveCollisionAlgorithm(ci,body0,body1,true); - } - - if (body0->getCollisionShape()->isCompound()) - { - return new btCompoundCollisionAlgorithm(ci,body0,body1,false); - } else - { - if (body1->getCollisionShape()->isCompound()) - { - return new btCompoundCollisionAlgorithm(ci,body0,body1,true); - } - } - - //failed to find an algorithm - return new btEmptyAlgorithm(ci); - -} -#endif //USE_DISPATCH_REGISTRY_ARRAY bool btCollisionDispatcher::needsResponse(btCollisionObject* body0,btCollisionObject* body1) { @@ -264,13 +163,19 @@ bool btCollisionDispatcher::needsCollision(btCollisionObject* body0,btCollisionO bool needsCollision = true; - //broadphase filtering already deals with this - if ((body0->isStaticObject() || body0->isKinematicObject()) && - (body1->isStaticObject() || body1->isKinematicObject())) +#ifdef BT_DEBUG + if (!m_staticWarningReported) { - printf("warning btCollisionDispatcher::needsCollision: static-static collision!\n"); + //broadphase filtering already deals with this + if ((body0->isStaticObject() || body0->isKinematicObject()) && + (body1->isStaticObject() || body1->isKinematicObject())) + { + m_staticWarningReported = true; + printf("warning btCollisionDispatcher::needsCollision: static-static collision!\n"); + } } - +#endif //BT_DEBUG + if ((!body0->isActive()) && (!body1->isActive())) needsCollision = false; else if (!body0->checkCollideWith(body1)) @@ -286,23 +191,25 @@ bool btCollisionDispatcher::needsCollision(btCollisionObject* body0,btCollisionO ///this is useful for the collision dispatcher. class btCollisionPairCallback : public btOverlapCallback { - btDispatcherInfo& m_dispatchInfo; + const btDispatcherInfo& m_dispatchInfo; btCollisionDispatcher* m_dispatcher; public: - btCollisionPairCallback(btDispatcherInfo& dispatchInfo,btCollisionDispatcher* dispatcher) + btCollisionPairCallback(const btDispatcherInfo& dispatchInfo,btCollisionDispatcher* dispatcher) :m_dispatchInfo(dispatchInfo), m_dispatcher(dispatcher) { } - btCollisionPairCallback& operator=(btCollisionPairCallback& other) + /*btCollisionPairCallback& operator=(btCollisionPairCallback& other) { m_dispatchInfo = other.m_dispatchInfo; m_dispatcher = other.m_dispatcher; return *this; } + */ + virtual ~btCollisionPairCallback() {} @@ -316,13 +223,14 @@ public: }; -void btCollisionDispatcher::dispatchAllCollisionPairs(btOverlappingPairCache* pairCache,btDispatcherInfo& dispatchInfo) + +void btCollisionDispatcher::dispatchAllCollisionPairs(btOverlappingPairCache* pairCache,const btDispatcherInfo& dispatchInfo,btDispatcher* dispatcher) { //m_blockedForChanges = true; btCollisionPairCallback collisionCallback(dispatchInfo,this); - pairCache->processAllOverlappingPairs(&collisionCallback); + pairCache->processAllOverlappingPairs(&collisionCallback,dispatcher); //m_blockedForChanges = false; @@ -332,7 +240,7 @@ void btCollisionDispatcher::dispatchAllCollisionPairs(btOverlappingPairCache* pa //by default, Bullet will use this near callback -void btCollisionDispatcher::defaultNearCallback(btBroadphasePair& collisionPair, btCollisionDispatcher& dispatcher, btDispatcherInfo& dispatchInfo) +void btCollisionDispatcher::defaultNearCallback(btBroadphasePair& collisionPair, btCollisionDispatcher& dispatcher, const btDispatcherInfo& dispatchInfo) { btCollisionObject* colObj0 = (btCollisionObject*)collisionPair.m_pProxy0->m_clientObject; btCollisionObject* colObj1 = (btCollisionObject*)collisionPair.m_pProxy1->m_clientObject; @@ -365,3 +273,26 @@ void btCollisionDispatcher::defaultNearCallback(btBroadphasePair& collisionPair, } } + + +void* btCollisionDispatcher::allocateCollisionAlgorithm(int size) +{ + if (m_collisionAlgorithmPoolAllocator->getFreeCount()) + { + return m_collisionAlgorithmPoolAllocator->allocate(size); + } + + //warn user for overflow? + return btAlignedAlloc(static_cast<size_t>(size), 16); +} + +void btCollisionDispatcher::freeCollisionAlgorithm(void* ptr) +{ + if (m_collisionAlgorithmPoolAllocator->validPtr(ptr)) + { + m_collisionAlgorithmPoolAllocator->freeMemory(ptr); + } else + { + btAlignedFree(ptr); + } +} diff --git a/extern/bullet2/src/BulletCollision/CollisionDispatch/btCollisionDispatcher.h b/extern/bullet2/src/BulletCollision/CollisionDispatch/btCollisionDispatcher.h index ca5aba8f01c..a9c9cd414c1 100644 --- a/extern/bullet2/src/BulletCollision/CollisionDispatch/btCollisionDispatcher.h +++ b/extern/bullet2/src/BulletCollision/CollisionDispatch/btCollisionDispatcher.h @@ -16,17 +16,18 @@ subject to the following restrictions: #ifndef COLLISION__DISPATCHER_H #define COLLISION__DISPATCHER_H -#include "../BroadphaseCollision/btDispatcher.h" -#include "../NarrowPhaseCollision/btPersistentManifold.h" +#include "BulletCollision/BroadphaseCollision/btDispatcher.h" +#include "BulletCollision/NarrowPhaseCollision/btPersistentManifold.h" -#include "../CollisionDispatch/btManifoldResult.h" +#include "BulletCollision/CollisionDispatch/btManifoldResult.h" -#include "../BroadphaseCollision/btBroadphaseProxy.h" -#include "../../LinearMath/btAlignedObjectArray.h" +#include "BulletCollision/BroadphaseCollision/btBroadphaseProxy.h" +#include "LinearMath/btAlignedObjectArray.h" class btIDebugDraw; class btOverlappingPairCache; - +class btPoolAllocator; +class btCollisionConfiguration; #include "btCollisionCreateFunc.h" @@ -34,7 +35,7 @@ class btOverlappingPairCache; class btCollisionDispatcher; ///user can override this nearcallback for collision filtering and more finegrained control over collision detection -typedef void (*btNearCallback)(btBroadphasePair& collisionPair, btCollisionDispatcher& dispatcher, btDispatcherInfo& dispatchInfo); +typedef void (*btNearCallback)(btBroadphasePair& collisionPair, btCollisionDispatcher& dispatcher, const btDispatcherInfo& dispatchInfo); ///btCollisionDispatcher supports algorithms that handle ConvexConvex and ConvexConcave collision pairs. @@ -46,26 +47,22 @@ class btCollisionDispatcher : public btDispatcher btAlignedObjectArray<btPersistentManifold*> m_manifoldsPtr; bool m_useIslands; + + bool m_staticWarningReported; btManifoldResult m_defaultManifoldResult; btNearCallback m_nearCallback; + btPoolAllocator* m_collisionAlgorithmPoolAllocator; + + btPoolAllocator* m_persistentManifoldPoolAllocator; + btCollisionAlgorithmCreateFunc* m_doubleDispatch[MAX_BROADPHASE_COLLISION_TYPES][MAX_BROADPHASE_COLLISION_TYPES]; - btCollisionAlgorithmCreateFunc* internalFindCreateFunc(int proxyType0,int proxyType1); - //default CreationFunctions, filling the m_doubleDispatch table - btCollisionAlgorithmCreateFunc* m_convexConvexCreateFunc; - btCollisionAlgorithmCreateFunc* m_convexConcaveCreateFunc; - btCollisionAlgorithmCreateFunc* m_swappedConvexConcaveCreateFunc; - btCollisionAlgorithmCreateFunc* m_compoundCreateFunc; - btCollisionAlgorithmCreateFunc* m_swappedCompoundCreateFunc; - btCollisionAlgorithmCreateFunc* m_emptyCreateFunc; + btCollisionConfiguration* m_collisionConfiguration; -#ifndef USE_DISPATCH_REGISTRY_ARRAY - btCollisionAlgorithm* internalFindAlgorithm(btCollisionObject* body0,btCollisionObject* body1,btPersistentManifold* sharedManifold = 0); -#endif //USE_DISPATCH_REGISTRY_ARRAY public: @@ -92,11 +89,7 @@ public: return m_manifoldsPtr[index]; } - ///the default constructor creates/register default collision algorithms, for convex, compound and concave shape support - btCollisionDispatcher (); - - ///a special constructor that doesn't create/register the default collision algorithms - btCollisionDispatcher(bool noDefaultAlgorithms); + btCollisionDispatcher (btCollisionConfiguration* collisionConfiguration); virtual ~btCollisionDispatcher(); @@ -114,7 +107,7 @@ public: virtual bool needsResponse(btCollisionObject* body0,btCollisionObject* body1); - virtual void dispatchAllCollisionPairs(btOverlappingPairCache* pairCache,btDispatcherInfo& dispatchInfo); + virtual void dispatchAllCollisionPairs(btOverlappingPairCache* pairCache,const btDispatcherInfo& dispatchInfo,btDispatcher* dispatcher) ; void setNearCallback(btNearCallback nearCallback) { @@ -127,7 +120,26 @@ public: } //by default, Bullet will use this near callback - static void defaultNearCallback(btBroadphasePair& collisionPair, btCollisionDispatcher& dispatcher, btDispatcherInfo& dispatchInfo); + static void defaultNearCallback(btBroadphasePair& collisionPair, btCollisionDispatcher& dispatcher, const btDispatcherInfo& dispatchInfo); + + virtual void* allocateCollisionAlgorithm(int size); + + virtual void freeCollisionAlgorithm(void* ptr); + + btCollisionConfiguration* getCollisionConfiguration() + { + return m_collisionConfiguration; + } + + const btCollisionConfiguration* getCollisionConfiguration() const + { + return m_collisionConfiguration; + } + + void setCollisionConfiguration(btCollisionConfiguration* config) + { + m_collisionConfiguration = config; + } }; diff --git a/extern/bullet2/src/BulletCollision/CollisionDispatch/btCollisionObject.cpp b/extern/bullet2/src/BulletCollision/CollisionDispatch/btCollisionObject.cpp index d4c0a4e8cb3..846c9b9b989 100644 --- a/extern/bullet2/src/BulletCollision/CollisionDispatch/btCollisionObject.cpp +++ b/extern/bullet2/src/BulletCollision/CollisionDispatch/btCollisionObject.cpp @@ -13,18 +13,27 @@ subject to the following restrictions: 3. This notice may not be removed or altered from any source distribution. */ + #include "btCollisionObject.h" btCollisionObject::btCollisionObject() - : m_broadphaseHandle(0), + : m_anisotropicFriction(1.f,1.f,1.f), + m_hasAnisotropicFriction(false), + m_broadphaseHandle(0), m_collisionShape(0), - m_collisionFlags(0), + m_rootCollisionShape(0), + m_collisionFlags(btCollisionObject::CF_STATIC_OBJECT), + m_islandTag1(-1), + m_companionId(-1), m_activationState1(1), m_deactivationTime(btScalar(0.)), + m_friction(btScalar(0.5)), + m_restitution(btScalar(0.)), m_userObjectPointer(0), + m_internalType(CO_COLLISION_OBJECT), m_hitFraction(btScalar(1.)), m_ccdSweptSphereRadius(btScalar(0.)), - m_ccdSquareMotionThreshold(btScalar(0.)), + m_ccdMotionThreshold(btScalar(0.)), m_checkCollideWith(false) { @@ -55,3 +64,4 @@ void btCollisionObject::activate(bool forceActivation) } + diff --git a/extern/bullet2/src/BulletCollision/CollisionDispatch/btCollisionObject.h b/extern/bullet2/src/BulletCollision/CollisionDispatch/btCollisionObject.h index 9fb6a67c4a3..8442868cf89 100644 --- a/extern/bullet2/src/BulletCollision/CollisionDispatch/btCollisionObject.h +++ b/extern/bullet2/src/BulletCollision/CollisionDispatch/btCollisionObject.h @@ -16,7 +16,7 @@ subject to the following restrictions: #ifndef COLLISION_OBJECT_H #define COLLISION_OBJECT_H -#include "../../LinearMath/btTransform.h" +#include "LinearMath/btTransform.h" //island management, m_activationState1 #define ACTIVE_TAG 1 @@ -27,7 +27,8 @@ subject to the following restrictions: struct btBroadphaseProxy; class btCollisionShape; -#include "../../LinearMath/btMotionState.h" +#include "LinearMath/btMotionState.h" +#include "LinearMath/btAlignedAllocator.h" @@ -48,8 +49,16 @@ protected: //without destroying the continuous interpolated motion (which uses this interpolation velocities) btVector3 m_interpolationLinearVelocity; btVector3 m_interpolationAngularVelocity; + btVector3 m_anisotropicFriction; + bool m_hasAnisotropicFriction; + btBroadphaseProxy* m_broadphaseHandle; btCollisionShape* m_collisionShape; + + ///m_rootCollisionShape is temporarily used to store the original collision shape + ///The m_collisionShape might be temporarily replaced by a child collision shape during collision detection purposes + ///If it is NULL, the m_collisionShape is not temporarily replaced. + btCollisionShape* m_rootCollisionShape; int m_collisionFlags; @@ -65,8 +74,9 @@ protected: ///users can point to their objects, m_userPointer is not used by Bullet, see setUserPointer/getUserPointer void* m_userObjectPointer; - ///m_internalOwner is reserved to point to Bullet's btRigidBody. Don't use this, use m_userObjectPointer instead. - void* m_internalOwner; + ///m_internalType is reserved to distinguish Bullet's btCollisionObject, btRigidBody, btSoftBody etc. + ///do not assign your own m_internalType unless you write a new dynamics object class. + int m_internalType; ///time of impact calculation btScalar m_hitFraction; @@ -74,21 +84,23 @@ protected: ///Swept sphere radius (0.0 by default), see btConvexConvexAlgorithm:: btScalar m_ccdSweptSphereRadius; - /// Don't do continuous collision detection if square motion (in one step) is less then m_ccdSquareMotionThreshold - btScalar m_ccdSquareMotionThreshold; + /// Don't do continuous collision detection if the motion (in one step) is less then m_ccdMotionThreshold + btScalar m_ccdMotionThreshold; /// If some object should have elaborate collision filtering by sub-classes bool m_checkCollideWith; char m_pad[7]; - virtual bool checkCollideWithOverride(btCollisionObject* co) + virtual bool checkCollideWithOverride(btCollisionObject* /* co */) { return true; } public: + BT_DECLARE_ALIGNED_ALLOCATOR(); + enum CollisionFlags { CF_STATIC_OBJECT= 1, @@ -97,29 +109,49 @@ public: CF_CUSTOM_MATERIAL_CALLBACK = 8//this allows per-triangle material (friction/restitution) }; + enum CollisionObjectTypes + { + CO_COLLISION_OBJECT =1, + CO_RIGID_BODY, + CO_SOFT_BODY + }; - inline bool mergesSimulationIslands() const + SIMD_FORCE_INLINE bool mergesSimulationIslands() const { ///static objects, kinematic and object without contact response don't merge islands return ((m_collisionFlags & (CF_STATIC_OBJECT | CF_KINEMATIC_OBJECT | CF_NO_CONTACT_RESPONSE) )==0); } + const btVector3& getAnisotropicFriction() const + { + return m_anisotropicFriction; + } + void setAnisotropicFriction(const btVector3& anisotropicFriction) + { + m_anisotropicFriction = anisotropicFriction; + m_hasAnisotropicFriction = (anisotropicFriction[0]!=1.f) || (anisotropicFriction[1]!=1.f) || (anisotropicFriction[2]!=1.f); + } + bool hasAnisotropicFriction() const + { + return m_hasAnisotropicFriction; + } + - inline bool isStaticObject() const { + SIMD_FORCE_INLINE bool isStaticObject() const { return (m_collisionFlags & CF_STATIC_OBJECT) != 0; } - inline bool isKinematicObject() const + SIMD_FORCE_INLINE bool isKinematicObject() const { return (m_collisionFlags & CF_KINEMATIC_OBJECT) != 0; } - inline bool isStaticOrKinematicObject() const + SIMD_FORCE_INLINE bool isStaticOrKinematicObject() const { return (m_collisionFlags & (CF_KINEMATIC_OBJECT | CF_STATIC_OBJECT)) != 0 ; } - inline bool hasContactResponse() const { + SIMD_FORCE_INLINE bool hasContactResponse() const { return (m_collisionFlags & CF_NO_CONTACT_RESPONSE)==0; } @@ -128,23 +160,38 @@ public: virtual ~btCollisionObject(); - void setCollisionShape(btCollisionShape* collisionShape) + virtual void setCollisionShape(btCollisionShape* collisionShape) { m_collisionShape = collisionShape; + m_rootCollisionShape = collisionShape; } - const btCollisionShape* getCollisionShape() const + SIMD_FORCE_INLINE const btCollisionShape* getCollisionShape() const { return m_collisionShape; } - btCollisionShape* getCollisionShape() + SIMD_FORCE_INLINE btCollisionShape* getCollisionShape() { return m_collisionShape; } - + SIMD_FORCE_INLINE const btCollisionShape* getRootCollisionShape() const + { + return m_rootCollisionShape; + } + + SIMD_FORCE_INLINE btCollisionShape* getRootCollisionShape() + { + return m_rootCollisionShape; + } + ///Avoid using this internal API call + ///internalSetTemporaryCollisionShape is used to temporary replace the actual collision shape by a child collision shape. + void internalSetTemporaryCollisionShape(btCollisionShape* collisionShape) + { + m_collisionShape = collisionShape; + } int getActivationState() const { return m_activationState1;} @@ -186,14 +233,9 @@ public: } ///reserved for Bullet internal usage - void* getInternalOwner() + int getInternalType() const { - return m_internalOwner; - } - - const void* getInternalOwner() const - { - return m_internalOwner; + return m_internalType; } btTransform& getWorldTransform() @@ -243,6 +285,15 @@ public: m_interpolationWorldTransform = trans; } + void setInterpolationLinearVelocity(const btVector3& linvel) + { + m_interpolationLinearVelocity = linvel; + } + + void setInterpolationAngularVelocity(const btVector3& angvel) + { + m_interpolationAngularVelocity = angvel; + } const btVector3& getInterpolationLinearVelocity() const { @@ -307,16 +358,22 @@ public: m_ccdSweptSphereRadius = radius; } + btScalar getCcdMotionThreshold() const + { + return m_ccdMotionThreshold; + } + btScalar getCcdSquareMotionThreshold() const { - return m_ccdSquareMotionThreshold; + return m_ccdMotionThreshold*m_ccdMotionThreshold; } - /// Don't do continuous collision detection if square motion (in one step) is less then m_ccdSquareMotionThreshold - void setCcdSquareMotionThreshold(btScalar ccdSquareMotionThreshold) + + /// Don't do continuous collision detection if the motion (in one step) is less then m_ccdMotionThreshold + void setCcdMotionThreshold(btScalar ccdMotionThreshold) { - m_ccdSquareMotionThreshold = ccdSquareMotionThreshold; + m_ccdMotionThreshold = ccdMotionThreshold*ccdMotionThreshold; } ///users can point to their objects, userPointer is not used by Bullet @@ -331,6 +388,7 @@ public: m_userObjectPointer = userPointer; } + inline bool checkCollideWith(btCollisionObject* co) { if (m_checkCollideWith) @@ -338,9 +396,6 @@ public: return true; } - - -} -; +}; #endif //COLLISION_OBJECT_H diff --git a/extern/bullet2/src/BulletCollision/CollisionDispatch/btCollisionWorld.cpp b/extern/bullet2/src/BulletCollision/CollisionDispatch/btCollisionWorld.cpp index b49036a5b50..d8674a320a7 100644 --- a/extern/bullet2/src/BulletCollision/CollisionDispatch/btCollisionWorld.cpp +++ b/extern/bullet2/src/BulletCollision/CollisionDispatch/btCollisionWorld.cpp @@ -4,8 +4,8 @@ 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, +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. @@ -18,59 +18,57 @@ subject to the following restrictions: #include "BulletCollision/CollisionDispatch/btCollisionObject.h" #include "BulletCollision/CollisionShapes/btCollisionShape.h" #include "BulletCollision/CollisionShapes/btConvexShape.h" - +#include "BulletCollision/NarrowPhaseCollision/btGjkEpaPenetrationDepthSolver.h" #include "BulletCollision/CollisionShapes/btSphereShape.h" //for raycasting -#include "BulletCollision/CollisionShapes/btTriangleMeshShape.h" //for raycasting +#include "BulletCollision/CollisionShapes/btBvhTriangleMeshShape.h" //for raycasting #include "BulletCollision/NarrowPhaseCollision/btRaycastCallback.h" #include "BulletCollision/CollisionShapes/btCompoundShape.h" #include "BulletCollision/NarrowPhaseCollision/btSubSimplexConvexCast.h" +#include "BulletCollision/NarrowPhaseCollision/btGjkConvexCast.h" +#include "BulletCollision/NarrowPhaseCollision/btContinuousConvexCollision.h" + #include "BulletCollision/BroadphaseCollision/btBroadphaseInterface.h" #include "LinearMath/btAabbUtil2.h" #include "LinearMath/btQuickprof.h" #include "LinearMath/btStackAlloc.h" + //When the user doesn't provide dispatcher or broadphase, create basic versions (and delete them in destructor) #include "BulletCollision/CollisionDispatch/btCollisionDispatcher.h" #include "BulletCollision/BroadphaseCollision/btSimpleBroadphase.h" +#include "BulletCollision/CollisionDispatch/btCollisionConfiguration.h" -btCollisionWorld::btCollisionWorld(btDispatcher* dispatcher,btOverlappingPairCache* pairCache, int stackSize) +btCollisionWorld::btCollisionWorld(btDispatcher* dispatcher,btBroadphaseInterface* pairCache, btCollisionConfiguration* collisionConfiguration) :m_dispatcher1(dispatcher), m_broadphasePairCache(pairCache), -m_ownsDispatcher(false), -m_ownsBroadphasePairCache(false) +m_debugDrawer(0) { - m_stackAlloc = new btStackAlloc(stackSize); + m_stackAlloc = collisionConfiguration->getStackAllocator(); m_dispatchInfo.m_stackAllocator = m_stackAlloc; } btCollisionWorld::~btCollisionWorld() { - m_stackAlloc->destroy(); - delete m_stackAlloc; //clean up remaining objects int i; for (i=0;i<m_collisionObjects.size();i++) { btCollisionObject* collisionObject= m_collisionObjects[i]; - + btBroadphaseProxy* bp = collisionObject->getBroadphaseHandle(); if (bp) { // // only clear the cached algorithms // - getBroadphase()->cleanProxyFromPairs(bp); - getBroadphase()->destroyProxy(bp); + getBroadphase()->getOverlappingPairCache()->cleanProxyFromPairs(bp,m_dispatcher1); + getBroadphase()->destroyProxy(bp,m_dispatcher1); } } - if (m_ownsDispatcher) - delete m_dispatcher1; - if (m_ownsBroadphasePairCache) - delete m_broadphasePairCache; } @@ -105,66 +103,105 @@ void btCollisionWorld::addCollisionObject(btCollisionObject* collisionObject,sho type, collisionObject, collisionFilterGroup, - collisionFilterMask + collisionFilterMask, + m_dispatcher1,0 )) ; - + } +void btCollisionWorld::updateAabbs() +{ + BT_PROFILE("updateAabbs"); + + btTransform predictedTrans; + for ( int i=0;i<m_collisionObjects.size();i++) + { + btCollisionObject* colObj = m_collisionObjects[i]; + + //only update aabb of active objects + if (colObj->isActive()) + { + btPoint3 minAabb,maxAabb; + colObj->getCollisionShape()->getAabb(colObj->getWorldTransform(), minAabb,maxAabb); + //need to increase the aabb for contact thresholds + btVector3 contactThreshold(gContactBreakingThreshold,gContactBreakingThreshold,gContactBreakingThreshold); + minAabb -= contactThreshold; + maxAabb += contactThreshold; + + btBroadphaseInterface* bp = (btBroadphaseInterface*)m_broadphasePairCache; + + //moving objects should be moderately sized, probably something wrong if not + if ( colObj->isStaticObject() || ((maxAabb-minAabb).length2() < btScalar(1e12))) + { + bp->setAabb(colObj->getBroadphaseHandle(),minAabb,maxAabb, m_dispatcher1); + } else + { + //something went wrong, investigate + //this assert is unwanted in 3D modelers (danger of loosing work) + colObj->setActivationState(DISABLE_SIMULATION); + + static bool reportMe = true; + if (reportMe && m_debugDrawer) + { + reportMe = false; + m_debugDrawer->reportErrorWarning("Overflow in AABB, object removed from simulation"); + m_debugDrawer->reportErrorWarning("If you can reproduce this, please email bugs@continuousphysics.com\n"); + m_debugDrawer->reportErrorWarning("Please include above information, your Platform, version of OS.\n"); + m_debugDrawer->reportErrorWarning("Thanks.\n"); + } + } + } + } + +} void btCollisionWorld::performDiscreteCollisionDetection() { - btDispatcherInfo& dispatchInfo = getDispatchInfo(); - - BEGIN_PROFILE("perform Broadphase Collision Detection"); + BT_PROFILE("performDiscreteCollisionDetection"); + btDispatcherInfo& dispatchInfo = getDispatchInfo(); - //update aabb (of all moved objects) + updateAabbs(); - btVector3 aabbMin,aabbMax; - for (int i=0;i<m_collisionObjects.size();i++) { - m_collisionObjects[i]->getCollisionShape()->getAabb(m_collisionObjects[i]->getWorldTransform(),aabbMin,aabbMax); - m_broadphasePairCache->setAabb(m_collisionObjects[i]->getBroadphaseHandle(),aabbMin,aabbMax); + BT_PROFILE("calculateOverlappingPairs"); + m_broadphasePairCache->calculateOverlappingPairs(m_dispatcher1); } - m_broadphasePairCache->refreshOverlappingPairs(); - - - END_PROFILE("perform Broadphase Collision Detection"); - - BEGIN_PROFILE("performDiscreteCollisionDetection"); btDispatcher* dispatcher = getDispatcher(); - if (dispatcher) - dispatcher->dispatchAllCollisionPairs(m_broadphasePairCache,dispatchInfo); - - END_PROFILE("performDiscreteCollisionDetection"); + { + BT_PROFILE("dispatchAllCollisionPairs"); + if (dispatcher) + dispatcher->dispatchAllCollisionPairs(m_broadphasePairCache->getOverlappingPairCache(),dispatchInfo,m_dispatcher1); + } } + void btCollisionWorld::removeCollisionObject(btCollisionObject* collisionObject) { - - + + //bool removeFromBroadphase = false; - + { - + btBroadphaseProxy* bp = collisionObject->getBroadphaseHandle(); if (bp) { // // only clear the cached algorithms // - getBroadphase()->cleanProxyFromPairs(bp); - getBroadphase()->destroyProxy(bp); + getBroadphase()->getOverlappingPairCache()->cleanProxyFromPairs(bp,m_dispatcher1); + getBroadphase()->destroyProxy(bp,m_dispatcher1); collisionObject->setBroadphaseHandle(0); } } @@ -181,172 +218,412 @@ void btCollisionWorld::rayTestSingle(const btTransform& rayFromTrans,const btTra btCollisionObject* collisionObject, const btCollisionShape* collisionShape, const btTransform& colObjWorldTransform, - RayResultCallback& resultCallback,short int collisionFilterMask) + RayResultCallback& resultCallback) { - btSphereShape pointShape(btScalar(0.0)); pointShape.setMargin(0.f); + const btConvexShape* castShape = &pointShape; + + if (collisionShape->isConvex()) + { + btConvexCast::CastResult castResult; + castResult.m_fraction = resultCallback.m_closestHitFraction; + + btConvexShape* convexShape = (btConvexShape*) collisionShape; + btVoronoiSimplexSolver simplexSolver; +#define USE_SUBSIMPLEX_CONVEX_CAST 1 +#ifdef USE_SUBSIMPLEX_CONVEX_CAST + btSubsimplexConvexCast convexCaster(castShape,convexShape,&simplexSolver); +#else + //btGjkConvexCast convexCaster(castShape,convexShape,&simplexSolver); + //btContinuousConvexCollision convexCaster(castShape,convexShape,&simplexSolver,0); +#endif //#USE_SUBSIMPLEX_CONVEX_CAST + + if (convexCaster.calcTimeOfImpact(rayFromTrans,rayToTrans,colObjWorldTransform,colObjWorldTransform,castResult)) + { + //add hit + if (castResult.m_normal.length2() > btScalar(0.0001)) + { + if (castResult.m_fraction < resultCallback.m_closestHitFraction) + { +#ifdef USE_SUBSIMPLEX_CONVEX_CAST + //rotate normal into worldspace + castResult.m_normal = rayFromTrans.getBasis() * castResult.m_normal; +#endif //USE_SUBSIMPLEX_CONVEX_CAST + + castResult.m_normal.normalize(); + btCollisionWorld::LocalRayResult localRayResult + ( + collisionObject, + 0, + castResult.m_normal, + castResult.m_fraction + ); + + bool normalInWorldSpace = true; + resultCallback.addSingleResult(localRayResult, normalInWorldSpace); + + } + } + } + } else { + if (collisionShape->isConcave()) + { + if (collisionShape->getShapeType()==TRIANGLE_MESH_SHAPE_PROXYTYPE) + { + ///optimized version for btBvhTriangleMeshShape + btBvhTriangleMeshShape* triangleMesh = (btBvhTriangleMeshShape*)collisionShape; + btTransform worldTocollisionObject = colObjWorldTransform.inverse(); + btVector3 rayFromLocal = worldTocollisionObject * rayFromTrans.getOrigin(); + btVector3 rayToLocal = worldTocollisionObject * rayToTrans.getOrigin(); + + //ConvexCast::CastResult + struct BridgeTriangleRaycastCallback : public btTriangleRaycastCallback + { + btCollisionWorld::RayResultCallback* m_resultCallback; + btCollisionObject* m_collisionObject; + btTriangleMeshShape* m_triangleMesh; + + BridgeTriangleRaycastCallback( const btVector3& from,const btVector3& to, + btCollisionWorld::RayResultCallback* resultCallback, btCollisionObject* collisionObject,btTriangleMeshShape* triangleMesh): + btTriangleRaycastCallback(from,to), + m_resultCallback(resultCallback), + m_collisionObject(collisionObject), + m_triangleMesh(triangleMesh) + { + } + + + virtual btScalar reportHit(const btVector3& hitNormalLocal, btScalar hitFraction, int partId, int triangleIndex ) + { + btCollisionWorld::LocalShapeInfo shapeInfo; + shapeInfo.m_shapePart = partId; + shapeInfo.m_triangleIndex = triangleIndex; + + btCollisionWorld::LocalRayResult rayResult + (m_collisionObject, + &shapeInfo, + hitNormalLocal, + hitFraction); + + bool normalInWorldSpace = false; + return m_resultCallback->addSingleResult(rayResult,normalInWorldSpace); + } + + }; + + BridgeTriangleRaycastCallback rcb(rayFromLocal,rayToLocal,&resultCallback,collisionObject,triangleMesh); + rcb.m_hitFraction = resultCallback.m_closestHitFraction; + triangleMesh->performRaycast(&rcb,rayFromLocal,rayToLocal); + } else + { + btTriangleMeshShape* triangleMesh = (btTriangleMeshShape*)collisionShape; + + btTransform worldTocollisionObject = colObjWorldTransform.inverse(); + + btVector3 rayFromLocal = worldTocollisionObject * rayFromTrans.getOrigin(); + btVector3 rayToLocal = worldTocollisionObject * rayToTrans.getOrigin(); + + //ConvexCast::CastResult + + struct BridgeTriangleRaycastCallback : public btTriangleRaycastCallback + { + btCollisionWorld::RayResultCallback* m_resultCallback; + btCollisionObject* m_collisionObject; + btTriangleMeshShape* m_triangleMesh; + + BridgeTriangleRaycastCallback( const btVector3& from,const btVector3& to, + btCollisionWorld::RayResultCallback* resultCallback, btCollisionObject* collisionObject,btTriangleMeshShape* triangleMesh): + btTriangleRaycastCallback(from,to), + m_resultCallback(resultCallback), + m_collisionObject(collisionObject), + m_triangleMesh(triangleMesh) + { + } + + + virtual btScalar reportHit(const btVector3& hitNormalLocal, btScalar hitFraction, int partId, int triangleIndex ) + { + btCollisionWorld::LocalShapeInfo shapeInfo; + shapeInfo.m_shapePart = partId; + shapeInfo.m_triangleIndex = triangleIndex; + + btCollisionWorld::LocalRayResult rayResult + (m_collisionObject, + &shapeInfo, + hitNormalLocal, + hitFraction); + + bool normalInWorldSpace = false; + return m_resultCallback->addSingleResult(rayResult,normalInWorldSpace); + + + } + + }; + + + BridgeTriangleRaycastCallback rcb(rayFromLocal,rayToLocal,&resultCallback,collisionObject,triangleMesh); + rcb.m_hitFraction = resultCallback.m_closestHitFraction; + + btVector3 rayAabbMinLocal = rayFromLocal; + rayAabbMinLocal.setMin(rayToLocal); + btVector3 rayAabbMaxLocal = rayFromLocal; + rayAabbMaxLocal.setMax(rayToLocal); - objectQuerySingle(&pointShape,rayFromTrans,rayToTrans, - collisionObject, - collisionShape, - colObjWorldTransform, - resultCallback,collisionFilterMask); + triangleMesh->processAllTriangles(&rcb,rayAabbMinLocal,rayAabbMaxLocal); + } + } else { + //todo: use AABB tree or other BVH acceleration structure! + if (collisionShape->isCompound()) + { + const btCompoundShape* compoundShape = static_cast<const btCompoundShape*>(collisionShape); + int i=0; + for (i=0;i<compoundShape->getNumChildShapes();i++) + { + btTransform childTrans = compoundShape->getChildTransform(i); + const btCollisionShape* childCollisionShape = compoundShape->getChildShape(i); + btTransform childWorldTrans = colObjWorldTransform * childTrans; + // replace collision shape so that callback can determine the triangle + btCollisionShape* saveCollisionShape = collisionObject->getCollisionShape(); + collisionObject->internalSetTemporaryCollisionShape((btCollisionShape*)childCollisionShape); + rayTestSingle(rayFromTrans,rayToTrans, + collisionObject, + childCollisionShape, + childWorldTrans, + resultCallback); + // restore + collisionObject->internalSetTemporaryCollisionShape(saveCollisionShape); + } + } + } + } } -void btCollisionWorld::objectQuerySingle(const btConvexShape* castShape,const btTransform& rayFromTrans,const btTransform& rayToTrans, +void btCollisionWorld::objectQuerySingle(const btConvexShape* castShape,const btTransform& convexFromTrans,const btTransform& convexToTrans, btCollisionObject* collisionObject, const btCollisionShape* collisionShape, const btTransform& colObjWorldTransform, - RayResultCallback& resultCallback,short int collisionFilterMask) + ConvexResultCallback& resultCallback, btScalar allowedPenetration) { - - if (collisionShape->isConvex()) + { + btConvexCast::CastResult castResult; + castResult.m_allowedPenetration = allowedPenetration; + castResult.m_fraction = btScalar(1.);//?? + + btConvexShape* convexShape = (btConvexShape*) collisionShape; + btVoronoiSimplexSolver simplexSolver; + btGjkEpaPenetrationDepthSolver gjkEpaPenetrationSolver; + + btContinuousConvexCollision convexCaster1(castShape,convexShape,&simplexSolver,&gjkEpaPenetrationSolver); + //btGjkConvexCast convexCaster2(castShape,convexShape,&simplexSolver); + //btSubsimplexConvexCast convexCaster3(castShape,convexShape,&simplexSolver); + + btConvexCast* castPtr = &convexCaster1; + + + + if (castPtr->calcTimeOfImpact(convexFromTrans,convexToTrans,colObjWorldTransform,colObjWorldTransform,castResult)) + { + //add hit + if (castResult.m_normal.length2() > btScalar(0.0001)) { - btConvexCast::CastResult castResult; - castResult.m_fraction = btScalar(1.);//?? - - btConvexShape* convexShape = (btConvexShape*) collisionShape; - btVoronoiSimplexSolver simplexSolver; - btSubsimplexConvexCast convexCaster(castShape,convexShape,&simplexSolver); - //GjkConvexCast convexCaster(castShape,convexShape,&simplexSolver); - //ContinuousConvexCollision convexCaster(castShape,convexShape,&simplexSolver,0); - - if (convexCaster.calcTimeOfImpact(rayFromTrans,rayToTrans,colObjWorldTransform,colObjWorldTransform,castResult)) + if (castResult.m_fraction < resultCallback.m_closestHitFraction) { - //add hit - if (castResult.m_normal.length2() > btScalar(0.0001)) - { - castResult.m_normal.normalize(); - if (castResult.m_fraction < resultCallback.m_closestHitFraction) - { - - btCollisionWorld::LocalRayResult localRayResult + castResult.m_normal.normalize(); + btCollisionWorld::LocalConvexResult localConvexResult ( - collisionObject, + collisionObject, 0, castResult.m_normal, + castResult.m_hitPoint, castResult.m_fraction ); - resultCallback.AddSingleResult(localRayResult); + bool normalInWorldSpace = true; + resultCallback.addSingleResult(localConvexResult, normalInWorldSpace); - } - } } } - else + } + } else { + if (collisionShape->isConcave()) + { + if (collisionShape->getShapeType()==TRIANGLE_MESH_SHAPE_PROXYTYPE) { - - if (collisionShape->isConcave()) + btBvhTriangleMeshShape* triangleMesh = (btBvhTriangleMeshShape*)collisionShape; + btTransform worldTocollisionObject = colObjWorldTransform.inverse(); + btVector3 convexFromLocal = worldTocollisionObject * convexFromTrans.getOrigin(); + btVector3 convexToLocal = worldTocollisionObject * convexToTrans.getOrigin(); + // rotation of box in local mesh space = MeshRotation^-1 * ConvexToRotation + btTransform rotationXform = btTransform(worldTocollisionObject.getBasis() * convexToTrans.getBasis()); + + //ConvexCast::CastResult + struct BridgeTriangleConvexcastCallback : public btTriangleConvexcastCallback + { + btCollisionWorld::ConvexResultCallback* m_resultCallback; + btCollisionObject* m_collisionObject; + btTriangleMeshShape* m_triangleMesh; + + BridgeTriangleConvexcastCallback(const btConvexShape* castShape, const btTransform& from,const btTransform& to, + btCollisionWorld::ConvexResultCallback* resultCallback, btCollisionObject* collisionObject,btTriangleMeshShape* triangleMesh, const btTransform& triangleToWorld): + btTriangleConvexcastCallback(castShape, from,to, triangleToWorld, triangleMesh->getMargin()), + m_resultCallback(resultCallback), + m_collisionObject(collisionObject), + m_triangleMesh(triangleMesh) + { + } + + + virtual btScalar reportHit(const btVector3& hitNormalLocal, const btVector3& hitPointLocal, btScalar hitFraction, int partId, int triangleIndex ) { + btCollisionWorld::LocalShapeInfo shapeInfo; + shapeInfo.m_shapePart = partId; + shapeInfo.m_triangleIndex = triangleIndex; + if (hitFraction <= m_resultCallback->m_closestHitFraction) + { - btTriangleMeshShape* triangleMesh = (btTriangleMeshShape*)collisionShape; - - btTransform worldTocollisionObject = colObjWorldTransform.inverse(); + btCollisionWorld::LocalConvexResult convexResult + (m_collisionObject, + &shapeInfo, + hitNormalLocal, + hitPointLocal, + hitFraction); - btVector3 rayFromLocal = worldTocollisionObject * rayFromTrans.getOrigin(); - btVector3 rayToLocal = worldTocollisionObject * rayToTrans.getOrigin(); + bool normalInWorldSpace = true; - //ConvexCast::CastResult - struct BridgeTriangleRaycastCallback : public btTriangleRaycastCallback - { - btCollisionWorld::RayResultCallback* m_resultCallback; - btCollisionObject* m_collisionObject; - btTriangleMeshShape* m_triangleMesh; - - BridgeTriangleRaycastCallback( const btVector3& from,const btVector3& to, - btCollisionWorld::RayResultCallback* resultCallback, btCollisionObject* collisionObject,btTriangleMeshShape* triangleMesh): - btTriangleRaycastCallback(from,to), - m_resultCallback(resultCallback), - m_collisionObject(collisionObject), - m_triangleMesh(triangleMesh) - { - } - - - virtual btScalar reportHit(const btVector3& hitNormalLocal, btScalar hitFraction, int partId, int triangleIndex ) - { - btCollisionWorld::LocalShapeInfo shapeInfo; - shapeInfo.m_shapePart = partId; - shapeInfo.m_triangleIndex = triangleIndex; - - btCollisionWorld::LocalRayResult rayResult - (m_collisionObject, - &shapeInfo, - hitNormalLocal, - hitFraction); - - return m_resultCallback->AddSingleResult(rayResult); - - - } - - }; + return m_resultCallback->addSingleResult(convexResult,normalInWorldSpace); + } + return hitFraction; + } + }; - BridgeTriangleRaycastCallback rcb(rayFromLocal,rayToLocal,&resultCallback,collisionObject,triangleMesh); - rcb.m_hitFraction = resultCallback.m_closestHitFraction; + BridgeTriangleConvexcastCallback tccb(castShape, convexFromTrans,convexToTrans,&resultCallback,collisionObject,triangleMesh, colObjWorldTransform); + tccb.m_hitFraction = resultCallback.m_closestHitFraction; + btVector3 boxMinLocal, boxMaxLocal; + castShape->getAabb(rotationXform, boxMinLocal, boxMaxLocal); + triangleMesh->performConvexcast(&tccb,convexFromLocal,convexToLocal,boxMinLocal, boxMaxLocal); + } else + { + btBvhTriangleMeshShape* triangleMesh = (btBvhTriangleMeshShape*)collisionShape; + btTransform worldTocollisionObject = colObjWorldTransform.inverse(); + btVector3 convexFromLocal = worldTocollisionObject * convexFromTrans.getOrigin(); + btVector3 convexToLocal = worldTocollisionObject * convexToTrans.getOrigin(); + // rotation of box in local mesh space = MeshRotation^-1 * ConvexToRotation + btTransform rotationXform = btTransform(worldTocollisionObject.getBasis() * convexToTrans.getBasis()); + + //ConvexCast::CastResult + struct BridgeTriangleConvexcastCallback : public btTriangleConvexcastCallback + { + btCollisionWorld::ConvexResultCallback* m_resultCallback; + btCollisionObject* m_collisionObject; + btTriangleMeshShape* m_triangleMesh; + + BridgeTriangleConvexcastCallback(const btConvexShape* castShape, const btTransform& from,const btTransform& to, + btCollisionWorld::ConvexResultCallback* resultCallback, btCollisionObject* collisionObject,btTriangleMeshShape* triangleMesh, const btTransform& triangleToWorld): + btTriangleConvexcastCallback(castShape, from,to, triangleToWorld, triangleMesh->getMargin()), + m_resultCallback(resultCallback), + m_collisionObject(collisionObject), + m_triangleMesh(triangleMesh) + { + } - btVector3 rayAabbMinLocal = rayFromLocal; - rayAabbMinLocal.setMin(rayToLocal); - btVector3 rayAabbMaxLocal = rayFromLocal; - rayAabbMaxLocal.setMax(rayToLocal); - triangleMesh->processAllTriangles(&rcb,rayAabbMinLocal,rayAabbMaxLocal); - - } else + virtual btScalar reportHit(const btVector3& hitNormalLocal, const btVector3& hitPointLocal, btScalar hitFraction, int partId, int triangleIndex ) { - //todo: use AABB tree or other BVH acceleration structure! - if (collisionShape->isCompound()) + btCollisionWorld::LocalShapeInfo shapeInfo; + shapeInfo.m_shapePart = partId; + shapeInfo.m_triangleIndex = triangleIndex; + if (hitFraction <= m_resultCallback->m_closestHitFraction) { - const btCompoundShape* compoundShape = static_cast<const btCompoundShape*>(collisionShape); - int i=0; - for (i=0;i<compoundShape->getNumChildShapes();i++) - { - btTransform childTrans = compoundShape->getChildTransform(i); - const btCollisionShape* childCollisionShape = compoundShape->getChildShape(i); - btTransform childWorldTrans = colObjWorldTransform * childTrans; - objectQuerySingle(castShape, rayFromTrans,rayToTrans, - collisionObject, - childCollisionShape, - childWorldTrans, - resultCallback, collisionFilterMask); - } + btCollisionWorld::LocalConvexResult convexResult + (m_collisionObject, + &shapeInfo, + hitNormalLocal, + hitPointLocal, + hitFraction); + bool normalInWorldSpace = false; + return m_resultCallback->addSingleResult(convexResult,normalInWorldSpace); } + return hitFraction; } + + }; + + BridgeTriangleConvexcastCallback tccb(castShape, convexFromTrans,convexToTrans,&resultCallback,collisionObject,triangleMesh, colObjWorldTransform); + tccb.m_hitFraction = resultCallback.m_closestHitFraction; + btVector3 boxMinLocal, boxMaxLocal; + castShape->getAabb(rotationXform, boxMinLocal, boxMaxLocal); + + btVector3 rayAabbMinLocal = convexFromLocal; + rayAabbMinLocal.setMin(convexToLocal); + btVector3 rayAabbMaxLocal = convexFromLocal; + rayAabbMaxLocal.setMax(convexToLocal); + rayAabbMinLocal += boxMinLocal; + rayAabbMaxLocal += boxMaxLocal; + triangleMesh->processAllTriangles(&tccb,rayAabbMinLocal,rayAabbMaxLocal); + } + } else { + //todo: use AABB tree or other BVH acceleration structure! + if (collisionShape->isCompound()) + { + const btCompoundShape* compoundShape = static_cast<const btCompoundShape*>(collisionShape); + int i=0; + for (i=0;i<compoundShape->getNumChildShapes();i++) + { + btTransform childTrans = compoundShape->getChildTransform(i); + const btCollisionShape* childCollisionShape = compoundShape->getChildShape(i); + btTransform childWorldTrans = colObjWorldTransform * childTrans; + // replace collision shape so that callback can determine the triangle + btCollisionShape* saveCollisionShape = collisionObject->getCollisionShape(); + collisionObject->internalSetTemporaryCollisionShape((btCollisionShape*)childCollisionShape); + objectQuerySingle(castShape, convexFromTrans,convexToTrans, + collisionObject, + childCollisionShape, + childWorldTrans, + resultCallback, allowedPenetration); + // restore + collisionObject->internalSetTemporaryCollisionShape(saveCollisionShape); + } } + } + } } -void btCollisionWorld::rayTest(const btVector3& rayFromWorld, const btVector3& rayToWorld, RayResultCallback& resultCallback,short int collisionFilterMask) +void btCollisionWorld::rayTest(const btVector3& rayFromWorld, const btVector3& rayToWorld, RayResultCallback& resultCallback) const { - + btTransform rayFromTrans,rayToTrans; rayFromTrans.setIdentity(); rayFromTrans.setOrigin(rayFromWorld); rayToTrans.setIdentity(); - + rayToTrans.setOrigin(rayToWorld); /// go over all objects, and if the ray intersects their aabb, do a ray-shape query using convexCaster (CCD) - + int i; for (i=0;i<m_collisionObjects.size();i++) { + ///terminate further ray tests, once the closestHitFraction reached zero + if (resultCallback.m_closestHitFraction == btScalar(0.f)) + break; + btCollisionObject* collisionObject= m_collisionObjects[i]; //only perform raycast if filterMask matches - if(collisionObject->getBroadphaseHandle()->m_collisionFilterGroup & collisionFilterMask) { + if(resultCallback.needsCollision(collisionObject->getBroadphaseHandle())) { //RigidcollisionObject* collisionObject = ctrl->GetRigidcollisionObject(); btVector3 collisionObjectAabbMin,collisionObjectAabbMax; collisionObject->getCollisionShape()->getAabb(collisionObject->getWorldTransform(),collisionObjectAabbMin,collisionObjectAabbMax); - btScalar hitLambda = btScalar(1.); //could use resultCallback.m_closestHitFraction, but needs testing + btScalar hitLambda = resultCallback.m_closestHitFraction; btVector3 hitNormal; if (btRayAabb(rayFromWorld,rayToWorld,collisionObjectAabbMin,collisionObjectAabbMax,hitLambda,hitNormal)) { @@ -355,7 +632,52 @@ void btCollisionWorld::rayTest(const btVector3& rayFromWorld, const btVector3& r collisionObject->getCollisionShape(), collisionObject->getWorldTransform(), resultCallback); - } + } + } + + } + +} + +void btCollisionWorld::convexSweepTest(const btConvexShape* castShape, const btTransform& convexFromWorld, const btTransform& convexToWorld, ConvexResultCallback& resultCallback) const +{ + btTransform convexFromTrans,convexToTrans; + convexFromTrans = convexFromWorld; + convexToTrans = convexToWorld; + btVector3 castShapeAabbMin, castShapeAabbMax; + /* Compute AABB that encompasses angular movement */ + { + btVector3 linVel, angVel; + btTransformUtil::calculateVelocity (convexFromTrans, convexToTrans, 1.0, linVel, angVel); + btTransform R; + R.setIdentity (); + R.setRotation (convexFromTrans.getRotation()); + castShape->calculateTemporalAabb (R, linVel, angVel, 1.0, castShapeAabbMin, castShapeAabbMax); + } + + /// go over all objects, and if the ray intersects their aabb + cast shape aabb, + // do a ray-shape query using convexCaster (CCD) + int i; + for (i=0;i<m_collisionObjects.size();i++) + { + btCollisionObject* collisionObject= m_collisionObjects[i]; + //only perform raycast if filterMask matches + if(resultCallback.needsCollision(collisionObject->getBroadphaseHandle())) { + //RigidcollisionObject* collisionObject = ctrl->GetRigidcollisionObject(); + btVector3 collisionObjectAabbMin,collisionObjectAabbMax; + collisionObject->getCollisionShape()->getAabb(collisionObject->getWorldTransform(),collisionObjectAabbMin,collisionObjectAabbMax); + AabbExpand (collisionObjectAabbMin, collisionObjectAabbMax, castShapeAabbMin, castShapeAabbMax); + btScalar hitLambda = btScalar(1.); //could use resultCallback.m_closestHitFraction, but needs testing + btVector3 hitNormal; + if (btRayAabb(convexFromWorld.getOrigin(),convexToWorld.getOrigin(),collisionObjectAabbMin,collisionObjectAabbMax,hitLambda,hitNormal)) + { + objectQuerySingle(castShape, convexFromTrans,convexToTrans, + collisionObject, + collisionObject->getCollisionShape(), + collisionObject->getWorldTransform(), + resultCallback, + getDispatchInfo().m_allowedCcdPenetration); + } } } diff --git a/extern/bullet2/src/BulletCollision/CollisionDispatch/btCollisionWorld.h b/extern/bullet2/src/BulletCollision/CollisionDispatch/btCollisionWorld.h index b6d80233ab7..7557691a9a9 100644 --- a/extern/bullet2/src/BulletCollision/CollisionDispatch/btCollisionWorld.h +++ b/extern/bullet2/src/BulletCollision/CollisionDispatch/btCollisionWorld.h @@ -68,12 +68,12 @@ class btStackAlloc; class btCollisionShape; class btConvexShape; class btBroadphaseInterface; -#include "../../LinearMath/btVector3.h" -#include "../../LinearMath/btTransform.h" +#include "LinearMath/btVector3.h" +#include "LinearMath/btTransform.h" #include "btCollisionObject.h" #include "btCollisionDispatcher.h" //for definition of btCollisionObjectArray -#include "../BroadphaseCollision/btOverlappingPairCache.h" -#include "../../LinearMath/btAlignedObjectArray.h" +#include "BulletCollision/BroadphaseCollision/btOverlappingPairCache.h" +#include "LinearMath/btAlignedObjectArray.h" ///CollisionWorld is interface and container for the collision detection class btCollisionWorld @@ -90,18 +90,22 @@ protected: btStackAlloc* m_stackAlloc; - btOverlappingPairCache* m_broadphasePairCache; - - bool m_ownsDispatcher; - bool m_ownsBroadphasePairCache; + btBroadphaseInterface* m_broadphasePairCache; + + btIDebugDraw* m_debugDrawer; + public: //this constructor doesn't own the dispatcher and paircache/broadphase - btCollisionWorld(btDispatcher* dispatcher,btOverlappingPairCache* pairCache, int stackSize = 2*1024*1024); + btCollisionWorld(btDispatcher* dispatcher,btBroadphaseInterface* broadphasePairCache, btCollisionConfiguration* collisionConfiguration); virtual ~btCollisionWorld(); + void setBroadphase(btBroadphaseInterface* pairCache) + { + m_broadphasePairCache = pairCache; + } btBroadphaseInterface* getBroadphase() { @@ -110,7 +114,7 @@ public: btOverlappingPairCache* getPairCache() { - return m_broadphasePairCache; + return m_broadphasePairCache->getOverlappingPairCache(); } @@ -119,6 +123,24 @@ public: return m_dispatcher1; } + const btDispatcher* getDispatcher() const + { + return m_dispatcher1; + } + + virtual void updateAabbs(); + + virtual void setDebugDrawer(btIDebugDraw* debugDrawer) + { + m_debugDrawer = debugDrawer; + } + + virtual btIDebugDraw* getDebugDrawer() + { + return m_debugDrawer; + } + + ///LocalShapeInfo gives extra information for complex shapes ///Currently, only btTriangleMeshShape is available, so it just contains triangleIndex and subpart struct LocalShapeInfo @@ -153,28 +175,43 @@ public: ///RayResultCallback is used to report new raycast results struct RayResultCallback { + btScalar m_closestHitFraction; + btCollisionObject* m_collisionObject; + short int m_collisionFilterGroup; + short int m_collisionFilterMask; + virtual ~RayResultCallback() { } - btScalar m_closestHitFraction; - bool HasHit() + bool hasHit() const { - return (m_closestHitFraction < btScalar(1.)); + return (m_collisionObject != 0); } RayResultCallback() - :m_closestHitFraction(btScalar(1.)) + :m_closestHitFraction(btScalar(1.)), + m_collisionObject(0), + m_collisionFilterGroup(btBroadphaseProxy::DefaultFilter), + m_collisionFilterMask(btBroadphaseProxy::AllFilter) + { + } + + virtual bool needsCollision(btBroadphaseProxy* proxy0) const { + bool collides = (proxy0->m_collisionFilterGroup & m_collisionFilterMask) != 0; + collides = collides && (m_collisionFilterGroup & proxy0->m_collisionFilterMask); + return collides; } - virtual btScalar AddSingleResult(LocalRayResult& rayResult) = 0; + + + virtual btScalar addSingleResult(LocalRayResult& rayResult,bool normalInWorldSpace) = 0; }; struct ClosestRayResultCallback : public RayResultCallback { ClosestRayResultCallback(const btVector3& rayFromWorld,const btVector3& rayToWorld) :m_rayFromWorld(rayFromWorld), - m_rayToWorld(rayToWorld), - m_collisionObject(0) + m_rayToWorld(rayToWorld) { } @@ -183,24 +220,121 @@ public: btVector3 m_hitNormalWorld; btVector3 m_hitPointWorld; - btCollisionObject* m_collisionObject; - - virtual btScalar AddSingleResult(LocalRayResult& rayResult) + + virtual btScalar addSingleResult(LocalRayResult& rayResult,bool normalInWorldSpace) { - -//caller already does the filter on the m_closestHitFraction - assert(rayResult.m_hitFraction <= m_closestHitFraction); + //caller already does the filter on the m_closestHitFraction + btAssert(rayResult.m_hitFraction <= m_closestHitFraction); m_closestHitFraction = rayResult.m_hitFraction; m_collisionObject = rayResult.m_collisionObject; - m_hitNormalWorld = m_collisionObject->getWorldTransform().getBasis()*rayResult.m_hitNormalLocal; + if (normalInWorldSpace) + { + m_hitNormalWorld = rayResult.m_hitNormalLocal; + } else + { + ///need to transform normal into worldspace + m_hitNormalWorld = m_collisionObject->getWorldTransform().getBasis()*rayResult.m_hitNormalLocal; + } m_hitPointWorld.setInterpolate3(m_rayFromWorld,m_rayToWorld,rayResult.m_hitFraction); return rayResult.m_hitFraction; } }; - + struct LocalConvexResult + { + LocalConvexResult(btCollisionObject* hitCollisionObject, + LocalShapeInfo* localShapeInfo, + const btVector3& hitNormalLocal, + const btVector3& hitPointLocal, + btScalar hitFraction + ) + :m_hitCollisionObject(hitCollisionObject), + m_localShapeInfo(localShapeInfo), + m_hitNormalLocal(hitNormalLocal), + m_hitPointLocal(hitPointLocal), + m_hitFraction(hitFraction) + { + } + + btCollisionObject* m_hitCollisionObject; + LocalShapeInfo* m_localShapeInfo; + btVector3 m_hitNormalLocal; + btVector3 m_hitPointLocal; + btScalar m_hitFraction; + }; + + ///RayResultCallback is used to report new raycast results + struct ConvexResultCallback + { + btScalar m_closestHitFraction; + short int m_collisionFilterGroup; + short int m_collisionFilterMask; + + ConvexResultCallback() + :m_closestHitFraction(btScalar(1.)), + m_collisionFilterGroup(btBroadphaseProxy::DefaultFilter), + m_collisionFilterMask(btBroadphaseProxy::AllFilter) + { + } + + virtual ~ConvexResultCallback() + { + } + + bool hasHit() const + { + return (m_closestHitFraction < btScalar(1.)); + } + + + + virtual bool needsCollision(btBroadphaseProxy* proxy0) const + { + bool collides = (proxy0->m_collisionFilterGroup & m_collisionFilterMask) != 0; + collides = collides && (m_collisionFilterGroup & proxy0->m_collisionFilterMask); + return collides; + } + + virtual btScalar addSingleResult(LocalConvexResult& convexResult,bool normalInWorldSpace) = 0; + }; + + struct ClosestConvexResultCallback : public ConvexResultCallback + { + ClosestConvexResultCallback(const btVector3& convexFromWorld,const btVector3& convexToWorld) + :m_convexFromWorld(convexFromWorld), + m_convexToWorld(convexToWorld), + m_hitCollisionObject(0) + { + } + + btVector3 m_convexFromWorld;//used to calculate hitPointWorld from hitFraction + btVector3 m_convexToWorld; + + btVector3 m_hitNormalWorld; + btVector3 m_hitPointWorld; + btCollisionObject* m_hitCollisionObject; + + virtual btScalar addSingleResult(LocalConvexResult& convexResult,bool normalInWorldSpace) + { +//caller already does the filter on the m_closestHitFraction + btAssert(convexResult.m_hitFraction <= m_closestHitFraction); + + m_closestHitFraction = convexResult.m_hitFraction; + m_hitCollisionObject = convexResult.m_hitCollisionObject; + if (normalInWorldSpace) + { + m_hitNormalWorld = convexResult.m_hitNormalLocal; + } else + { + ///need to transform normal into worldspace + m_hitNormalWorld = m_hitCollisionObject->getWorldTransform().getBasis()*convexResult.m_hitNormalLocal; + } + m_hitPointWorld = convexResult.m_hitPointLocal; + return convexResult.m_hitFraction; + } + }; int getNumCollisionObjects() const { @@ -209,7 +343,12 @@ public: /// rayTest performs a raycast on all objects in the btCollisionWorld, and calls the resultCallback /// This allows for several queries: first hit, all hits, any hit, dependent on the value returned by the callback. - void rayTest(const btVector3& rayFromWorld, const btVector3& rayToWorld, RayResultCallback& resultCallback, short int collisionFilterMask=-1); + void rayTest(const btVector3& rayFromWorld, const btVector3& rayToWorld, RayResultCallback& resultCallback) const; + + // convexTest performs a swept convex cast on all objects in the btCollisionWorld, and calls the resultCallback + // This allows for several queries: first hit, all hits, any hit, dependent on the value return by the callback. + void convexSweepTest (const btConvexShape* castShape, const btTransform& from, const btTransform& to, ConvexResultCallback& resultCallback) const; + /// rayTestSingle performs a raycast call and calls the resultCallback. It is used internally by rayTest. /// In a future implementation, we consider moving the ray test as a virtual method in btCollisionShape. @@ -218,16 +357,16 @@ public: btCollisionObject* collisionObject, const btCollisionShape* collisionShape, const btTransform& colObjWorldTransform, - RayResultCallback& resultCallback, short int collisionFilterMask=-1); + RayResultCallback& resultCallback); /// objectQuerySingle performs a collision detection query and calls the resultCallback. It is used internally by rayTest. static void objectQuerySingle(const btConvexShape* castShape, const btTransform& rayFromTrans,const btTransform& rayToTrans, btCollisionObject* collisionObject, const btCollisionShape* collisionShape, const btTransform& colObjWorldTransform, - RayResultCallback& resultCallback, short int collisionFilterMask=-1); + ConvexResultCallback& resultCallback, btScalar allowedPenetration); - void addCollisionObject(btCollisionObject* collisionObject,short int collisionFilterGroup=1,short int collisionFilterMask=1); + void addCollisionObject(btCollisionObject* collisionObject,short int collisionFilterGroup=btBroadphaseProxy::DefaultFilter,short int collisionFilterMask=btBroadphaseProxy::AllFilter); btCollisionObjectArray& getCollisionObjectArray() { @@ -249,6 +388,11 @@ public: return m_dispatchInfo; } + const btDispatcherInfo& getDispatchInfo() const + { + return m_dispatchInfo; + } + }; diff --git a/extern/bullet2/src/BulletCollision/CollisionDispatch/btCompoundCollisionAlgorithm.cpp b/extern/bullet2/src/BulletCollision/CollisionDispatch/btCompoundCollisionAlgorithm.cpp index 92f4c8b28a6..535b61992b0 100644 --- a/extern/bullet2/src/BulletCollision/CollisionDispatch/btCompoundCollisionAlgorithm.cpp +++ b/extern/bullet2/src/BulletCollision/CollisionDispatch/btCompoundCollisionAlgorithm.cpp @@ -16,11 +16,17 @@ subject to the following restrictions: #include "BulletCollision/CollisionDispatch/btCompoundCollisionAlgorithm.h" #include "BulletCollision/CollisionDispatch/btCollisionObject.h" #include "BulletCollision/CollisionShapes/btCompoundShape.h" - +#include "BulletCollision/BroadphaseCollision/btDbvt.h" +#include "LinearMath/btIDebugDraw.h" +#include "LinearMath/btAabbUtil2.h" btCompoundCollisionAlgorithm::btCompoundCollisionAlgorithm( const btCollisionAlgorithmConstructionInfo& ci,btCollisionObject* body0,btCollisionObject* body1,bool isSwapped) -:m_isSwapped(isSwapped) +:btCollisionAlgorithm(ci), +m_isSwapped(isSwapped), +m_sharedManifold(ci.m_manifold) { + m_ownsManifold = false; + btCollisionObject* colObj = m_isSwapped? body1 : body0; btCollisionObject* otherObj = m_isSwapped? body0 : body1; assert (colObj->getCollisionShape()->isCompound()); @@ -32,11 +38,17 @@ btCompoundCollisionAlgorithm::btCompoundCollisionAlgorithm( const btCollisionAlg m_childCollisionAlgorithms.resize(numChildren); for (i=0;i<numChildren;i++) { - btCollisionShape* childShape = compoundShape->getChildShape(i); - btCollisionShape* orgShape = colObj->getCollisionShape(); - colObj->setCollisionShape( childShape ); - m_childCollisionAlgorithms[i] = ci.m_dispatcher->findAlgorithm(colObj,otherObj); - colObj->setCollisionShape( orgShape ); + if (compoundShape->getDynamicAabbTree()) + { + m_childCollisionAlgorithms[i] = 0; + } else + { + btCollisionShape* tmpShape = colObj->getCollisionShape(); + btCollisionShape* childShape = compoundShape->getChildShape(i); + colObj->internalSetTemporaryCollisionShape( childShape ); + m_childCollisionAlgorithms[i] = ci.m_dispatcher1->findAlgorithm(colObj,otherObj,m_sharedManifold); + colObj->internalSetTemporaryCollisionShape( tmpShape ); + } } } @@ -47,10 +59,109 @@ btCompoundCollisionAlgorithm::~btCompoundCollisionAlgorithm() int i; for (i=0;i<numChildren;i++) { - delete m_childCollisionAlgorithms[i]; + if (m_childCollisionAlgorithms[i]) + { + m_childCollisionAlgorithms[i]->~btCollisionAlgorithm(); + m_dispatcher->freeCollisionAlgorithm(m_childCollisionAlgorithms[i]); + } } } + + + +struct btCompoundLeafCallback : btDbvt::ICollide +{ + +public: + + btCollisionObject* m_compoundColObj; + btCollisionObject* m_otherObj; + btDispatcher* m_dispatcher; + const btDispatcherInfo& m_dispatchInfo; + btManifoldResult* m_resultOut; + btCollisionAlgorithm** m_childCollisionAlgorithms; + btPersistentManifold* m_sharedManifold; + + + + + btCompoundLeafCallback (btCollisionObject* compoundObj,btCollisionObject* otherObj,btDispatcher* dispatcher,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut,btCollisionAlgorithm** childCollisionAlgorithms,btPersistentManifold* sharedManifold) + :m_compoundColObj(compoundObj),m_otherObj(otherObj),m_dispatcher(dispatcher),m_dispatchInfo(dispatchInfo),m_resultOut(resultOut), + m_childCollisionAlgorithms(childCollisionAlgorithms), + m_sharedManifold(sharedManifold) + { + + } + + + void ProcessChildShape(btCollisionShape* childShape,int index) + { + + btCompoundShape* compoundShape = static_cast<btCompoundShape*>(m_compoundColObj->getCollisionShape()); + + + //backup + btTransform orgTrans = m_compoundColObj->getWorldTransform(); + btTransform orgInterpolationTrans = m_compoundColObj->getInterpolationWorldTransform(); + const btTransform& childTrans = compoundShape->getChildTransform(index); + btTransform newChildWorldTrans = orgTrans*childTrans ; + + //perform an AABB check first + btVector3 aabbMin0,aabbMax0,aabbMin1,aabbMax1; + childShape->getAabb(newChildWorldTrans,aabbMin0,aabbMax0); + m_otherObj->getCollisionShape()->getAabb(m_otherObj->getWorldTransform(),aabbMin1,aabbMax1); + + if (TestAabbAgainstAabb2(aabbMin0,aabbMax0,aabbMin1,aabbMax1)) + { + + m_compoundColObj->setWorldTransform( newChildWorldTrans); + m_compoundColObj->setInterpolationWorldTransform(newChildWorldTrans); + + //the contactpoint is still projected back using the original inverted worldtrans + btCollisionShape* tmpShape = m_compoundColObj->getCollisionShape(); + m_compoundColObj->internalSetTemporaryCollisionShape( childShape ); + + if (!m_childCollisionAlgorithms[index]) + m_childCollisionAlgorithms[index] = m_dispatcher->findAlgorithm(m_compoundColObj,m_otherObj,m_sharedManifold); + + m_childCollisionAlgorithms[index]->processCollision(m_compoundColObj,m_otherObj,m_dispatchInfo,m_resultOut); + if (m_dispatchInfo.m_debugDraw && (m_dispatchInfo.m_debugDraw->getDebugMode() & btIDebugDraw::DBG_DrawAabb)) + { + btVector3 worldAabbMin,worldAabbMax; + m_dispatchInfo.m_debugDraw->drawAabb(aabbMin0,aabbMax0,btVector3(1,1,1)); + m_dispatchInfo.m_debugDraw->drawAabb(aabbMin1,aabbMax1,btVector3(1,1,1)); + } + + //revert back transform + m_compoundColObj->internalSetTemporaryCollisionShape( tmpShape); + m_compoundColObj->setWorldTransform( orgTrans ); + m_compoundColObj->setInterpolationWorldTransform(orgInterpolationTrans); + } + } + void Process(const btDbvtNode* leaf) + { + int index = leaf->dataAsInt; + + btCompoundShape* compoundShape = static_cast<btCompoundShape*>(m_compoundColObj->getCollisionShape()); + btCollisionShape* childShape = compoundShape->getChildShape(index); + if (m_dispatchInfo.m_debugDraw && (m_dispatchInfo.m_debugDraw->getDebugMode() & btIDebugDraw::DBG_DrawAabb)) + { + btVector3 worldAabbMin,worldAabbMax; + btTransform orgTrans = m_compoundColObj->getWorldTransform(); + btTransformAabb(leaf->volume.Mins(),leaf->volume.Maxs(),0.,orgTrans,worldAabbMin,worldAabbMax); + m_dispatchInfo.m_debugDraw->drawAabb(worldAabbMin,worldAabbMax,btVector3(1,0,0)); + } + ProcessChildShape(childShape,index); + + } +}; + + + + + + void btCompoundCollisionAlgorithm::processCollision (btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut) { btCollisionObject* colObj = m_isSwapped? body1 : body0; @@ -59,33 +170,69 @@ void btCompoundCollisionAlgorithm::processCollision (btCollisionObject* body0,bt assert (colObj->getCollisionShape()->isCompound()); btCompoundShape* compoundShape = static_cast<btCompoundShape*>(colObj->getCollisionShape()); - //We will use the OptimizedBVH, AABB tree to cull potential child-overlaps - //If both proxies are Compound, we will deal with that directly, by performing sequential/parallel tree traversals - //given Proxy0 and Proxy1, if both have a tree, Tree0 and Tree1, this means: - //determine overlapping nodes of Proxy1 using Proxy0 AABB against Tree1 - //then use each overlapping node AABB against Tree0 - //and vise versa. + btDbvt* tree = compoundShape->getDynamicAabbTree(); + //use a dynamic aabb tree to cull potential child-overlaps + btCompoundLeafCallback callback(colObj,otherObj,m_dispatcher,dispatchInfo,resultOut,&m_childCollisionAlgorithms[0],m_sharedManifold); - int numChildren = m_childCollisionAlgorithms.size(); - int i; - for (i=0;i<numChildren;i++) + + if (tree) { - //temporarily exchange parent btCollisionShape with childShape, and recurse - btCollisionShape* childShape = compoundShape->getChildShape(i); - //backup - btTransform orgTrans = colObj->getWorldTransform(); - btCollisionShape* orgShape = colObj->getCollisionShape(); + btVector3 localAabbMin,localAabbMax; + btTransform otherInCompoundSpace; + otherInCompoundSpace = colObj->getWorldTransform().inverse() * otherObj->getWorldTransform(); + otherObj->getCollisionShape()->getAabb(otherInCompoundSpace,localAabbMin,localAabbMax); + + const ATTRIBUTE_ALIGNED16(btDbvtVolume) bounds=btDbvtVolume::FromMM(localAabbMin,localAabbMax); + //process all children, that overlap with the given AABB bounds + tree->collideTV(tree->m_root,bounds,callback); + + } else + { + //iterate over all children, perform an AABB check inside ProcessChildShape + int numChildren = m_childCollisionAlgorithms.size(); + int i; + for (i=0;i<numChildren;i++) + { + callback.ProcessChildShape(compoundShape->getChildShape(i),i); + } + } + + { + //iterate over all children, perform an AABB check inside ProcessChildShape + int numChildren = m_childCollisionAlgorithms.size(); + int i; + btManifoldArray manifoldArray; + + for (i=0;i<numChildren;i++) + { + if (m_childCollisionAlgorithms[i]) + { + btCollisionShape* childShape = compoundShape->getChildShape(i); + //if not longer overlapping, remove the algorithm + btTransform orgTrans = colObj->getWorldTransform(); + btTransform orgInterpolationTrans = colObj->getInterpolationWorldTransform(); + const btTransform& childTrans = compoundShape->getChildTransform(i); + btTransform newChildWorldTrans = orgTrans*childTrans ; + + //perform an AABB check first + btVector3 aabbMin0,aabbMax0,aabbMin1,aabbMax1; + childShape->getAabb(newChildWorldTrans,aabbMin0,aabbMax0); + otherObj->getCollisionShape()->getAabb(otherObj->getWorldTransform(),aabbMin1,aabbMax1); + + if (!TestAabbAgainstAabb2(aabbMin0,aabbMax0,aabbMin1,aabbMax1)) + { + m_childCollisionAlgorithms[i]->~btCollisionAlgorithm(); + m_dispatcher->freeCollisionAlgorithm(m_childCollisionAlgorithms[i]); + m_childCollisionAlgorithms[i] = 0; + } + + } + + } + + - const btTransform& childTrans = compoundShape->getChildTransform(i); - //btTransform newChildWorldTrans = orgTrans*childTrans ; - colObj->setWorldTransform( orgTrans*childTrans ); - //the contactpoint is still projected back using the original inverted worldtrans - colObj->setCollisionShape( childShape ); - m_childCollisionAlgorithms[i]->processCollision(colObj,otherObj,dispatchInfo,resultOut); - //revert back - colObj->setCollisionShape( orgShape); - colObj->setWorldTransform( orgTrans ); } } @@ -117,20 +264,20 @@ btScalar btCompoundCollisionAlgorithm::calculateTimeOfImpact(btCollisionObject* //backup btTransform orgTrans = colObj->getWorldTransform(); - btCollisionShape* orgShape = colObj->getCollisionShape(); - + const btTransform& childTrans = compoundShape->getChildTransform(i); //btTransform newChildWorldTrans = orgTrans*childTrans ; colObj->setWorldTransform( orgTrans*childTrans ); - colObj->setCollisionShape( childShape ); + btCollisionShape* tmpShape = colObj->getCollisionShape(); + colObj->internalSetTemporaryCollisionShape( childShape ); btScalar frac = m_childCollisionAlgorithms[i]->calculateTimeOfImpact(colObj,otherObj,dispatchInfo,resultOut); if (frac<hitFraction) { hitFraction = frac; } //revert back - colObj->setCollisionShape( orgShape); + colObj->internalSetTemporaryCollisionShape( tmpShape); colObj->setWorldTransform( orgTrans); } return hitFraction; diff --git a/extern/bullet2/src/BulletCollision/CollisionDispatch/btCompoundCollisionAlgorithm.h b/extern/bullet2/src/BulletCollision/CollisionDispatch/btCompoundCollisionAlgorithm.h index 7091b233b46..624a3cf10f5 100644 --- a/extern/bullet2/src/BulletCollision/CollisionDispatch/btCompoundCollisionAlgorithm.h +++ b/extern/bullet2/src/BulletCollision/CollisionDispatch/btCompoundCollisionAlgorithm.h @@ -16,22 +16,25 @@ subject to the following restrictions: #ifndef COMPOUND_COLLISION_ALGORITHM_H #define COMPOUND_COLLISION_ALGORITHM_H -#include "../BroadphaseCollision/btCollisionAlgorithm.h" -#include "../BroadphaseCollision/btDispatcher.h" -#include "../BroadphaseCollision/btBroadphaseInterface.h" +#include "BulletCollision/BroadphaseCollision/btCollisionAlgorithm.h" +#include "BulletCollision/BroadphaseCollision/btDispatcher.h" +#include "BulletCollision/BroadphaseCollision/btBroadphaseInterface.h" -#include "../NarrowPhaseCollision/btPersistentManifold.h" +#include "BulletCollision/NarrowPhaseCollision/btPersistentManifold.h" class btDispatcher; -#include "../BroadphaseCollision/btBroadphaseProxy.h" +#include "BulletCollision/BroadphaseCollision/btBroadphaseProxy.h" #include "btCollisionCreateFunc.h" -#include "../../LinearMath/btAlignedObjectArray.h" +#include "LinearMath/btAlignedObjectArray.h" +class btDispatcher; /// btCompoundCollisionAlgorithm supports collision between CompoundCollisionShapes and other collision shapes -/// Place holder, not fully implemented yet class btCompoundCollisionAlgorithm : public btCollisionAlgorithm { btAlignedObjectArray<btCollisionAlgorithm*> m_childCollisionAlgorithms; bool m_isSwapped; + + class btPersistentManifold* m_sharedManifold; + bool m_ownsManifold; public: @@ -43,11 +46,22 @@ public: btScalar calculateTimeOfImpact(btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut); + virtual void getAllContactManifolds(btManifoldArray& manifoldArray) + { + int i; + for (i=0;i<m_childCollisionAlgorithms.size();i++) + { + if (m_childCollisionAlgorithms[i]) + m_childCollisionAlgorithms[i]->getAllContactManifolds(manifoldArray); + } + } + struct CreateFunc :public btCollisionAlgorithmCreateFunc { virtual btCollisionAlgorithm* CreateCollisionAlgorithm(btCollisionAlgorithmConstructionInfo& ci, btCollisionObject* body0,btCollisionObject* body1) { - return new btCompoundCollisionAlgorithm(ci,body0,body1,false); + void* mem = ci.m_dispatcher1->allocateCollisionAlgorithm(sizeof(btCompoundCollisionAlgorithm)); + return new(mem) btCompoundCollisionAlgorithm(ci,body0,body1,false); } }; @@ -55,7 +69,8 @@ public: { virtual btCollisionAlgorithm* CreateCollisionAlgorithm(btCollisionAlgorithmConstructionInfo& ci, btCollisionObject* body0,btCollisionObject* body1) { - return new btCompoundCollisionAlgorithm(ci,body0,body1,true); + void* mem = ci.m_dispatcher1->allocateCollisionAlgorithm(sizeof(btCompoundCollisionAlgorithm)); + return new(mem) btCompoundCollisionAlgorithm(ci,body0,body1,true); } }; diff --git a/extern/bullet2/src/BulletCollision/CollisionDispatch/btConvexConcaveCollisionAlgorithm.cpp b/extern/bullet2/src/BulletCollision/CollisionDispatch/btConvexConcaveCollisionAlgorithm.cpp index 24ceacfd40d..6d28904cb03 100644 --- a/extern/bullet2/src/BulletCollision/CollisionDispatch/btConvexConcaveCollisionAlgorithm.cpp +++ b/extern/bullet2/src/BulletCollision/CollisionDispatch/btConvexConcaveCollisionAlgorithm.cpp @@ -29,7 +29,7 @@ subject to the following restrictions: btConvexConcaveCollisionAlgorithm::btConvexConcaveCollisionAlgorithm( const btCollisionAlgorithmConstructionInfo& ci, btCollisionObject* body0,btCollisionObject* body1,bool isSwapped) : btCollisionAlgorithm(ci), m_isSwapped(isSwapped), -m_btConvexTriangleCallback(ci.m_dispatcher,body0,body1,isSwapped) +m_btConvexTriangleCallback(ci.m_dispatcher1,body0,body1,isSwapped) { } @@ -37,6 +37,13 @@ btConvexConcaveCollisionAlgorithm::~btConvexConcaveCollisionAlgorithm() { } +void btConvexConcaveCollisionAlgorithm::getAllContactManifolds(btManifoldArray& manifoldArray) +{ + if (m_btConvexTriangleCallback.m_manifoldPtr) + { + manifoldArray.push_back(m_btConvexTriangleCallback.m_manifoldPtr); + } +} btConvexTriangleCallback::btConvexTriangleCallback(btDispatcher* dispatcher,btCollisionObject* body0,btCollisionObject* body1,bool isSwapped): @@ -79,7 +86,7 @@ void btConvexTriangleCallback::processTriangle(btVector3* triangle,int partId, i //aabb filter is already applied! btCollisionAlgorithmConstructionInfo ci; - ci.m_dispatcher = m_dispatcher; + ci.m_dispatcher1 = m_dispatcher; btCollisionObject* ob = static_cast<btCollisionObject*>(m_triBody); @@ -109,13 +116,11 @@ void btConvexTriangleCallback::processTriangle(btVector3* triangle,int partId, i { btTriangleShape tm(triangle[0],triangle[1],triangle[2]); tm.setMargin(m_collisionMarginTriangle); - btCollisionShape* tmpShape = ob->getCollisionShape(); - ob->setCollisionShape( &tm ); + ob->internalSetTemporaryCollisionShape( &tm ); - - btCollisionAlgorithm* colAlgo = ci.m_dispatcher->findAlgorithm(m_convexBody,m_triBody,m_manifoldPtr); + btCollisionAlgorithm* colAlgo = ci.m_dispatcher1->findAlgorithm(m_convexBody,m_triBody,m_manifoldPtr); ///this should use the btDispatcher, so the actual registered algorithm is used // btConvexConvexAlgorithm cvxcvxalgo(m_manifoldPtr,ci,m_convexBody,m_triBody); @@ -123,12 +128,11 @@ void btConvexTriangleCallback::processTriangle(btVector3* triangle,int partId, i // cvxcvxalgo.setShapeIdentifiers(-1,-1,partId,triangleIndex); // cvxcvxalgo.processCollision(m_convexBody,m_triBody,*m_dispatchInfoPtr,m_resultOut); colAlgo->processCollision(m_convexBody,m_triBody,*m_dispatchInfoPtr,m_resultOut); - delete colAlgo; - ob->setCollisionShape( tmpShape ); - + colAlgo->~btCollisionAlgorithm(); + ci.m_dispatcher1->freeCollisionAlgorithm(colAlgo); + ob->internalSetTemporaryCollisionShape( tmpShape); } - } @@ -188,9 +192,10 @@ void btConvexConcaveCollisionAlgorithm::processCollision (btCollisionObject* bod concaveShape->processAllTriangles( &m_btConvexTriangleCallback,m_btConvexTriangleCallback.getAabbMin(),m_btConvexTriangleCallback.getAabbMax()); + resultOut->refreshContactPoints(); } - + } } diff --git a/extern/bullet2/src/BulletCollision/CollisionDispatch/btConvexConcaveCollisionAlgorithm.h b/extern/bullet2/src/BulletCollision/CollisionDispatch/btConvexConcaveCollisionAlgorithm.h index 4915b6c20c8..34b9a107be9 100644 --- a/extern/bullet2/src/BulletCollision/CollisionDispatch/btConvexConcaveCollisionAlgorithm.h +++ b/extern/bullet2/src/BulletCollision/CollisionDispatch/btConvexConcaveCollisionAlgorithm.h @@ -16,13 +16,13 @@ subject to the following restrictions: #ifndef CONVEX_CONCAVE_COLLISION_ALGORITHM_H #define CONVEX_CONCAVE_COLLISION_ALGORITHM_H -#include "../BroadphaseCollision/btCollisionAlgorithm.h" -#include "../BroadphaseCollision/btDispatcher.h" -#include "../BroadphaseCollision/btBroadphaseInterface.h" -#include "../CollisionShapes/btTriangleCallback.h" -#include "../NarrowPhaseCollision/btPersistentManifold.h" +#include "BulletCollision/BroadphaseCollision/btCollisionAlgorithm.h" +#include "BulletCollision/BroadphaseCollision/btDispatcher.h" +#include "BulletCollision/BroadphaseCollision/btBroadphaseInterface.h" +#include "BulletCollision/CollisionShapes/btTriangleCallback.h" +#include "BulletCollision/NarrowPhaseCollision/btPersistentManifold.h" class btDispatcher; -#include "../BroadphaseCollision/btBroadphaseProxy.h" +#include "BulletCollision/BroadphaseCollision/btBroadphaseProxy.h" #include "btCollisionCreateFunc.h" ///For each triangle in the concave mesh that overlaps with the AABB of a convex (m_convexProxy), processTriangle is called. @@ -55,11 +55,11 @@ int m_triangleCount; void clearCache(); - inline const btVector3& getAabbMin() const + SIMD_FORCE_INLINE const btVector3& getAabbMin() const { return m_aabbMin; } - inline const btVector3& getAabbMax() const + SIMD_FORCE_INLINE const btVector3& getAabbMax() const { return m_aabbMax; } @@ -88,13 +88,16 @@ public: btScalar calculateTimeOfImpact(btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut); + virtual void getAllContactManifolds(btManifoldArray& manifoldArray); + void clearCache(); struct CreateFunc :public btCollisionAlgorithmCreateFunc { virtual btCollisionAlgorithm* CreateCollisionAlgorithm(btCollisionAlgorithmConstructionInfo& ci, btCollisionObject* body0,btCollisionObject* body1) { - return new btConvexConcaveCollisionAlgorithm(ci,body0,body1,false); + void* mem = ci.m_dispatcher1->allocateCollisionAlgorithm(sizeof(btConvexConcaveCollisionAlgorithm)); + return new(mem) btConvexConcaveCollisionAlgorithm(ci,body0,body1,false); } }; @@ -102,7 +105,8 @@ public: { virtual btCollisionAlgorithm* CreateCollisionAlgorithm(btCollisionAlgorithmConstructionInfo& ci, btCollisionObject* body0,btCollisionObject* body1) { - return new btConvexConcaveCollisionAlgorithm(ci,body0,body1,true); + void* mem = ci.m_dispatcher1->allocateCollisionAlgorithm(sizeof(btConvexConcaveCollisionAlgorithm)); + return new(mem) btConvexConcaveCollisionAlgorithm(ci,body0,body1,true); } }; diff --git a/extern/bullet2/src/BulletCollision/CollisionDispatch/btConvexConvexAlgorithm.cpp b/extern/bullet2/src/BulletCollision/CollisionDispatch/btConvexConvexAlgorithm.cpp index 9105fe20b49..cb830f889be 100644 --- a/extern/bullet2/src/BulletCollision/CollisionDispatch/btConvexConvexAlgorithm.cpp +++ b/extern/bullet2/src/BulletCollision/CollisionDispatch/btConvexConvexAlgorithm.cpp @@ -15,7 +15,7 @@ subject to the following restrictions: #include "btConvexConvexAlgorithm.h" -#include <stdio.h> +//#include <stdio.h> #include "BulletCollision/NarrowPhaseCollision/btDiscreteCollisionDetectorInterface.h" #include "BulletCollision/BroadphaseCollision/btBroadphaseInterface.h" #include "BulletCollision/CollisionDispatch/btCollisionObject.h" @@ -33,7 +33,6 @@ subject to the following restrictions: -#include "BulletCollision/CollisionShapes/btMinkowskiSumShape.h" #include "BulletCollision/NarrowPhaseCollision/btVoronoiSimplexSolver.h" #include "BulletCollision/CollisionShapes/btSphereShape.h" @@ -48,26 +47,16 @@ subject to the following restrictions: -btConvexConvexAlgorithm::CreateFunc::CreateFunc() -{ - m_ownsSolvers = true; - m_simplexSolver = new btVoronoiSimplexSolver(); - m_pdSolver = new btGjkEpaPenetrationDepthSolver; -} + btConvexConvexAlgorithm::CreateFunc::CreateFunc(btSimplexSolverInterface* simplexSolver, btConvexPenetrationDepthSolver* pdSolver) { - m_ownsSolvers = false; m_simplexSolver = simplexSolver; m_pdSolver = pdSolver; } btConvexConvexAlgorithm::CreateFunc::~CreateFunc() { - if (m_ownsSolvers){ - delete m_simplexSolver; - delete m_pdSolver; - } } btConvexConvexAlgorithm::btConvexConvexAlgorithm(btPersistentManifold* mf,const btCollisionAlgorithmConstructionInfo& ci,btCollisionObject* body0,btCollisionObject* body1,btSimplexSolverInterface* simplexSolver, btConvexPenetrationDepthSolver* pdSolver) @@ -152,6 +141,11 @@ void btConvexConvexAlgorithm ::processCollision (btCollisionObject* body0,btColl m_gjkPairDetector.getClosestPoints(input,*resultOut,dispatchInfo.m_debugDraw); #endif + if (m_ownManifold) + { + resultOut->refreshContactPoints(); + } + } diff --git a/extern/bullet2/src/BulletCollision/CollisionDispatch/btConvexConvexAlgorithm.h b/extern/bullet2/src/BulletCollision/CollisionDispatch/btConvexConvexAlgorithm.h index cbea9a92b75..a0030e6793d 100644 --- a/extern/bullet2/src/BulletCollision/CollisionDispatch/btConvexConvexAlgorithm.h +++ b/extern/bullet2/src/BulletCollision/CollisionDispatch/btConvexConvexAlgorithm.h @@ -16,12 +16,13 @@ subject to the following restrictions: #ifndef CONVEX_CONVEX_ALGORITHM_H #define CONVEX_CONVEX_ALGORITHM_H -#include "../BroadphaseCollision/btCollisionAlgorithm.h" -#include "../NarrowPhaseCollision/btGjkPairDetector.h" -#include "../NarrowPhaseCollision/btPersistentManifold.h" -#include "../BroadphaseCollision/btBroadphaseProxy.h" -#include "../NarrowPhaseCollision/btVoronoiSimplexSolver.h" +#include "BulletCollision/BroadphaseCollision/btCollisionAlgorithm.h" +#include "BulletCollision/NarrowPhaseCollision/btGjkPairDetector.h" +#include "BulletCollision/NarrowPhaseCollision/btPersistentManifold.h" +#include "BulletCollision/BroadphaseCollision/btBroadphaseProxy.h" +#include "BulletCollision/NarrowPhaseCollision/btVoronoiSimplexSolver.h" #include "btCollisionCreateFunc.h" +#include "btCollisionDispatcher.h" class btConvexPenetrationDepthSolver; @@ -46,6 +47,14 @@ public: virtual btScalar calculateTimeOfImpact(btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut); + virtual void getAllContactManifolds(btManifoldArray& manifoldArray) + { + ///should we use m_ownManifold to avoid adding duplicates? + if (m_manifoldPtr && m_ownManifold) + manifoldArray.push_back(m_manifoldPtr); + } + + void setLowLevelOfDetail(bool useLowLevel); @@ -58,15 +67,15 @@ public: { btConvexPenetrationDepthSolver* m_pdSolver; btSimplexSolverInterface* m_simplexSolver; - bool m_ownsSolvers; CreateFunc(btSimplexSolverInterface* simplexSolver, btConvexPenetrationDepthSolver* pdSolver); - CreateFunc(); + virtual ~CreateFunc(); virtual btCollisionAlgorithm* CreateCollisionAlgorithm(btCollisionAlgorithmConstructionInfo& ci, btCollisionObject* body0,btCollisionObject* body1) { - return new btConvexConvexAlgorithm(ci.m_manifold,ci,body0,body1,m_simplexSolver,m_pdSolver); + void* mem = ci.m_dispatcher1->allocateCollisionAlgorithm(sizeof(btConvexConvexAlgorithm)); + return new(mem) btConvexConvexAlgorithm(ci.m_manifold,ci,body0,body1,m_simplexSolver,m_pdSolver); } }; diff --git a/extern/bullet2/src/BulletCollision/CollisionDispatch/btEmptyCollisionAlgorithm.h b/extern/bullet2/src/BulletCollision/CollisionDispatch/btEmptyCollisionAlgorithm.h index b1a193d2cfd..e54721dec21 100644 --- a/extern/bullet2/src/BulletCollision/CollisionDispatch/btEmptyCollisionAlgorithm.h +++ b/extern/bullet2/src/BulletCollision/CollisionDispatch/btEmptyCollisionAlgorithm.h @@ -15,8 +15,9 @@ subject to the following restrictions: #ifndef EMPTY_ALGORITH #define EMPTY_ALGORITH -#include "../BroadphaseCollision/btCollisionAlgorithm.h" +#include "BulletCollision/BroadphaseCollision/btCollisionAlgorithm.h" #include "btCollisionCreateFunc.h" +#include "btCollisionDispatcher.h" #define ATTRIBUTE_ALIGNED(a) @@ -33,13 +34,18 @@ public: virtual btScalar calculateTimeOfImpact(btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut); + virtual void getAllContactManifolds(btManifoldArray& manifoldArray) + { + } + struct CreateFunc :public btCollisionAlgorithmCreateFunc { virtual btCollisionAlgorithm* CreateCollisionAlgorithm(btCollisionAlgorithmConstructionInfo& ci, btCollisionObject* body0,btCollisionObject* body1) { (void)body0; (void)body1; - return new btEmptyAlgorithm(ci); + void* mem = ci.m_dispatcher1->allocateCollisionAlgorithm(sizeof(btEmptyAlgorithm)); + return new(mem) btEmptyAlgorithm(ci); } }; diff --git a/extern/bullet2/src/BulletCollision/CollisionDispatch/btManifoldResult.cpp b/extern/bullet2/src/BulletCollision/CollisionDispatch/btManifoldResult.cpp index 490acc0b611..d5b12598be2 100644 --- a/extern/bullet2/src/BulletCollision/CollisionDispatch/btManifoldResult.cpp +++ b/extern/bullet2/src/BulletCollision/CollisionDispatch/btManifoldResult.cpp @@ -79,12 +79,30 @@ void btManifoldResult::addContactPoint(const btVector3& normalOnBInWorld,const b } btManifoldPoint newPt(localA,localB,normalOnBInWorld,depth); - + newPt.m_positionWorldOnA = pointA; + newPt.m_positionWorldOnB = pointInWorld; + int insertIndex = m_manifoldPtr->getCacheEntry(newPt); newPt.m_combinedFriction = calculateCombinedFriction(m_body0,m_body1); newPt.m_combinedRestitution = calculateCombinedRestitution(m_body0,m_body1); + //BP mod, store contact triangles. + newPt.m_partId0 = m_partId0; + newPt.m_partId1 = m_partId1; + newPt.m_index0 = m_index0; + newPt.m_index1 = m_index1; + + ///todo, check this for any side effects + if (insertIndex >= 0) + { + //const btManifoldPoint& oldPoint = m_manifoldPtr->getContactPoint(insertIndex); + m_manifoldPtr->replaceContactPoint(newPt,insertIndex); + } else + { + insertIndex = m_manifoldPtr->addManifoldPoint(newPt); + } + //User can override friction and/or restitution if (gContactAddedCallback && //and if either of the two bodies requires custom material @@ -94,16 +112,8 @@ void btManifoldResult::addContactPoint(const btVector3& normalOnBInWorld,const b //experimental feature info, for per-triangle material etc. btCollisionObject* obj0 = isSwapped? m_body1 : m_body0; btCollisionObject* obj1 = isSwapped? m_body0 : m_body1; - (*gContactAddedCallback)(newPt,obj0,m_partId0,m_index0,obj1,m_partId1,m_index1); + (*gContactAddedCallback)(m_manifoldPtr->getContactPoint(insertIndex),obj0,m_partId0,m_index0,obj1,m_partId1,m_index1); } - if (insertIndex >= 0) - { - //const btManifoldPoint& oldPoint = m_manifoldPtr->getContactPoint(insertIndex); - m_manifoldPtr->replaceContactPoint(newPt,insertIndex); - } else - { - m_manifoldPtr->AddManifoldPoint(newPt); - } } diff --git a/extern/bullet2/src/BulletCollision/CollisionDispatch/btManifoldResult.h b/extern/bullet2/src/BulletCollision/CollisionDispatch/btManifoldResult.h index 77192625513..5aac9a46f6a 100644 --- a/extern/bullet2/src/BulletCollision/CollisionDispatch/btManifoldResult.h +++ b/extern/bullet2/src/BulletCollision/CollisionDispatch/btManifoldResult.h @@ -18,12 +18,12 @@ subject to the following restrictions: #define MANIFOLD_RESULT_H class btCollisionObject; -class btPersistentManifold; +#include "BulletCollision/NarrowPhaseCollision/btPersistentManifold.h" class btManifoldPoint; #include "BulletCollision/NarrowPhaseCollision/btDiscreteCollisionDetectorInterface.h" -#include "../../LinearMath/btTransform.h" +#include "LinearMath/btTransform.h" typedef bool (*ContactAddedCallback)(btManifoldPoint& cp, const btCollisionObject* colObj0,int partId0,int index0,const btCollisionObject* colObj1,int partId1,int index1); extern ContactAddedCallback gContactAddedCallback; @@ -60,6 +60,15 @@ public: m_manifoldPtr = manifoldPtr; } + const btPersistentManifold* getPersistentManifold() const + { + return m_manifoldPtr; + } + btPersistentManifold* getPersistentManifold() + { + return m_manifoldPtr; + } + virtual void setShapeIdentifiers(int partId0,int index0, int partId1,int index1) { m_partId0=partId0; @@ -70,6 +79,22 @@ public: virtual void addContactPoint(const btVector3& normalOnBInWorld,const btVector3& pointInWorld,btScalar depth); + SIMD_FORCE_INLINE void refreshContactPoints() + { + btAssert(m_manifoldPtr); + if (!m_manifoldPtr->getNumContacts()) + return; + + bool isSwapped = m_manifoldPtr->getBody0() != m_body0; + + if (isSwapped) + { + m_manifoldPtr->refreshContactPoints(m_rootTransB,m_rootTransA); + } else + { + m_manifoldPtr->refreshContactPoints(m_rootTransA,m_rootTransB); + } + } }; diff --git a/extern/bullet2/src/BulletCollision/CollisionDispatch/btSimulationIslandManager.cpp b/extern/bullet2/src/BulletCollision/CollisionDispatch/btSimulationIslandManager.cpp index ac2e8554c3a..9f8e27a4407 100644 --- a/extern/bullet2/src/BulletCollision/CollisionDispatch/btSimulationIslandManager.cpp +++ b/extern/bullet2/src/BulletCollision/CollisionDispatch/btSimulationIslandManager.cpp @@ -1,3 +1,17 @@ +/* +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. +*/ #include "LinearMath/btScalar.h" @@ -7,7 +21,7 @@ #include "BulletCollision/CollisionDispatch/btCollisionObject.h" #include "BulletCollision/CollisionDispatch/btCollisionWorld.h" -#include <stdio.h> +//#include <stdio.h> #include "LinearMath/btQuickprof.h" btSimulationIslandManager::btSimulationIslandManager() @@ -25,17 +39,17 @@ void btSimulationIslandManager::initUnionFind(int n) } -void btSimulationIslandManager::findUnions(btDispatcher* dispatcher) +void btSimulationIslandManager::findUnions(btDispatcher* /* dispatcher */,btCollisionWorld* colWorld) { { - for (int i=0;i<dispatcher->getNumManifolds();i++) - { - const btPersistentManifold* manifold = dispatcher->getManifoldByIndexInternal(i); - //static objects (invmass btScalar(0.)) don't merge ! + btBroadphasePair* pairPtr = colWorld->getPairCache()->getOverlappingPairArrayPtr(); - const btCollisionObject* colObj0 = static_cast<const btCollisionObject*>(manifold->getBody0()); - const btCollisionObject* colObj1 = static_cast<const btCollisionObject*>(manifold->getBody1()); + for (int i=0;i<colWorld->getPairCache()->getNumOverlappingPairs();i++) + { + const btBroadphasePair& collisionPair = pairPtr[i]; + btCollisionObject* colObj0 = (btCollisionObject*)collisionPair.m_pProxy0->m_clientObject; + btCollisionObject* colObj1 = (btCollisionObject*)collisionPair.m_pProxy1->m_clientObject; if (((colObj0) && ((colObj0)->mergesSimulationIslands())) && ((colObj1) && ((colObj1)->mergesSimulationIslands()))) @@ -71,7 +85,7 @@ void btSimulationIslandManager::updateActivationState(btCollisionWorld* colWorld } // do the union find - findUnions(dispatcher); + findUnions(dispatcher,colWorld); @@ -91,7 +105,7 @@ void btSimulationIslandManager::storeIslandActivationState(btCollisionWorld* col for (i=0;i<colWorld->getCollisionObjectArray().size();i++) { btCollisionObject* collisionObject= colWorld->getCollisionObjectArray()[i]; - if (collisionObject->mergesSimulationIslands()) + if (!collisionObject->isStaticOrKinematicObject()) { collisionObject->setIslandTag( m_unionFind.find(index) ); collisionObject->setCompanionId(-1); @@ -129,30 +143,13 @@ class btPersistentManifoldSortPredicate }; - - - -// -// todo: this is random access, it can be walked 'cache friendly'! -// -void btSimulationIslandManager::buildAndProcessIslands(btDispatcher* dispatcher,btCollisionObjectArray& collisionObjects, IslandCallback* callback) +void btSimulationIslandManager::buildIslands(btDispatcher* dispatcher,btCollisionObjectArray& collisionObjects) { + BT_PROFILE("islandUnionFindAndQuickSort"); - - /*if (0) - { - int maxNumManifolds = dispatcher->getNumManifolds(); - btCollisionDispatcher* colDis = (btCollisionDispatcher*)dispatcher; - btPersistentManifold** manifold = colDis->getInternalManifoldPointer(); - callback->ProcessIsland(&collisionObjects[0],collisionObjects.size(),manifold,maxNumManifolds, 0); - return; - } - */ + m_islandmanifold.resize(0); - - BEGIN_PROFILE("islandUnionFindAndHeapSort"); - //we are going to sort the unionfind array, and store the element id in the size //afterwards, we clean unionfind, to make sure no-one uses it anymore @@ -183,7 +180,7 @@ void btSimulationIslandManager::buildAndProcessIslands(btDispatcher* dispatcher, btCollisionObject* colObj0 = collisionObjects[i]; if ((colObj0->getIslandTag() != islandId) && (colObj0->getIslandTag() != -1)) { - printf("error in island management\n"); +// printf("error in island management\n"); } assert((colObj0->getIslandTag() == islandId) || (colObj0->getIslandTag() == -1)); @@ -210,7 +207,7 @@ void btSimulationIslandManager::buildAndProcessIslands(btDispatcher* dispatcher, btCollisionObject* colObj0 = collisionObjects[i]; if ((colObj0->getIslandTag() != islandId) && (colObj0->getIslandTag() != -1)) { - printf("error in island management\n"); +// printf("error in island management\n"); } assert((colObj0->getIslandTag() == islandId) || (colObj0->getIslandTag() == -1)); @@ -231,7 +228,7 @@ void btSimulationIslandManager::buildAndProcessIslands(btDispatcher* dispatcher, btCollisionObject* colObj0 = collisionObjects[i]; if ((colObj0->getIslandTag() != islandId) && (colObj0->getIslandTag() != -1)) { - printf("error in island management\n"); +// printf("error in island management\n"); } assert((colObj0->getIslandTag() == islandId) || (colObj0->getIslandTag() == -1)); @@ -247,11 +244,17 @@ void btSimulationIslandManager::buildAndProcessIslands(btDispatcher* dispatcher, } } - btAlignedObjectArray<btPersistentManifold*> islandmanifold; + int i; int maxNumManifolds = dispatcher->getNumManifolds(); - islandmanifold.reserve(maxNumManifolds); +#define SPLIT_ISLANDS 1 +#ifdef SPLIT_ISLANDS + + +#endif //SPLIT_ISLANDS + + for (i=0;i<maxNumManifolds ;i++) { btPersistentManifold* manifold = dispatcher->getManifoldByIndexInternal(i); @@ -265,29 +268,52 @@ void btSimulationIslandManager::buildAndProcessIslands(btDispatcher* dispatcher, { //kinematic objects don't merge islands, but wake up all connected objects - if (colObj0->isStaticOrKinematicObject() && colObj0->getActivationState() != ISLAND_SLEEPING) + if (colObj0->isKinematicObject() && colObj0->getActivationState() != ISLAND_SLEEPING) { colObj1->activate(); } - if (colObj1->isStaticOrKinematicObject() && colObj1->getActivationState() != ISLAND_SLEEPING) + if (colObj1->isKinematicObject() && colObj1->getActivationState() != ISLAND_SLEEPING) { colObj0->activate(); } - - //filtering for response +#ifdef SPLIT_ISLANDS + // //filtering for response if (dispatcher->needsResponse(colObj0,colObj1)) - islandmanifold.push_back(manifold); + m_islandmanifold.push_back(manifold); +#endif //SPLIT_ISLANDS } } +} + - int numManifolds = int (islandmanifold.size()); +// +// todo: this is random access, it can be walked 'cache friendly'! +// +void btSimulationIslandManager::buildAndProcessIslands(btDispatcher* dispatcher,btCollisionObjectArray& collisionObjects, IslandCallback* callback) +{ + + buildIslands(dispatcher,collisionObjects); + + int endIslandIndex=1; + int startIslandIndex; + int numElem = getUnionFind().getNumElements(); + + BT_PROFILE("processIslands"); + +#ifndef SPLIT_ISLANDS + btPersistentManifold** manifold = dispatcher->getInternalManifoldPointer(); + + callback->ProcessIsland(&collisionObjects[0],collisionObjects.size(),manifold,maxNumManifolds, -1); +#else // Sort manifolds, based on islands // Sort the vector using predicate and std::sort //std::sort(islandmanifold.begin(), islandmanifold.end(), btPersistentManifoldSortPredicate); + int numManifolds = int (m_islandmanifold.size()); + //we should do radix sort, it it much faster (O(n) instead of O (n log2(n)) - islandmanifold.heapSort(btPersistentManifoldSortPredicate()); + m_islandmanifold.quickSort(btPersistentManifoldSortPredicate()); //now process all active islands (sets of manifolds for now) @@ -296,10 +322,9 @@ void btSimulationIslandManager::buildAndProcessIslands(btDispatcher* dispatcher, //int islandId; - END_PROFILE("islandUnionFindAndHeapSort"); - - btAlignedObjectArray<btCollisionObject*> islandBodies; + +// printf("Start Islands\n"); //traverse the simulation islands, and call the solver, unless all objects are sleeping/deactivated for ( startIslandIndex=0;startIslandIndex<numElem;startIslandIndex = endIslandIndex) @@ -313,7 +338,7 @@ void btSimulationIslandManager::buildAndProcessIslands(btDispatcher* dispatcher, { int i = getUnionFind().getElement(endIslandIndex).m_sz; btCollisionObject* colObj0 = collisionObjects[i]; - islandBodies.push_back(colObj0); + m_islandBodies.push_back(colObj0); if (!colObj0->isActive()) islandSleeping = true; } @@ -325,12 +350,12 @@ void btSimulationIslandManager::buildAndProcessIslands(btDispatcher* dispatcher, if (startManifoldIndex<numManifolds) { - int curIslandId = getIslandId(islandmanifold[startManifoldIndex]); + int curIslandId = getIslandId(m_islandmanifold[startManifoldIndex]); if (curIslandId == islandId) { - startManifold = &islandmanifold[startManifoldIndex]; + startManifold = &m_islandmanifold[startManifoldIndex]; - for (endManifoldIndex = startManifoldIndex+1;(endManifoldIndex<numManifolds) && (islandId == getIslandId(islandmanifold[endManifoldIndex]));endManifoldIndex++) + for (endManifoldIndex = startManifoldIndex+1;(endManifoldIndex<numManifolds) && (islandId == getIslandId(m_islandmanifold[endManifoldIndex]));endManifoldIndex++) { } @@ -342,7 +367,8 @@ void btSimulationIslandManager::buildAndProcessIslands(btDispatcher* dispatcher, if (!islandSleeping) { - callback->ProcessIsland(&islandBodies[0],islandBodies.size(),startManifold,numIslandManifolds, islandId); + callback->ProcessIsland(&m_islandBodies[0],m_islandBodies.size(),startManifold,numIslandManifolds, islandId); +// printf("Island callback of size:%d bodies, %d manifolds\n",islandBodies.size(),numIslandManifolds); } if (numIslandManifolds) @@ -350,8 +376,9 @@ void btSimulationIslandManager::buildAndProcessIslands(btDispatcher* dispatcher, startManifoldIndex = endManifoldIndex; } - islandBodies.resize(0); + m_islandBodies.resize(0); } +#endif //SPLIT_ISLANDS + - } diff --git a/extern/bullet2/src/BulletCollision/CollisionDispatch/btSimulationIslandManager.h b/extern/bullet2/src/BulletCollision/CollisionDispatch/btSimulationIslandManager.h index d91ed1c20eb..5f4d54cd803 100644 --- a/extern/bullet2/src/BulletCollision/CollisionDispatch/btSimulationIslandManager.h +++ b/extern/bullet2/src/BulletCollision/CollisionDispatch/btSimulationIslandManager.h @@ -16,18 +16,26 @@ subject to the following restrictions: #ifndef SIMULATION_ISLAND_MANAGER_H #define SIMULATION_ISLAND_MANAGER_H -#include "../CollisionDispatch/btUnionFind.h" +#include "BulletCollision/CollisionDispatch/btUnionFind.h" #include "btCollisionCreateFunc.h" +#include "LinearMath/btAlignedObjectArray.h" + class btCollisionObject; class btCollisionWorld; class btDispatcher; +class btPersistentManifold; + ///SimulationIslandManager creates and handles simulation islands, using btUnionFind class btSimulationIslandManager { btUnionFind m_unionFind; + btAlignedObjectArray<btPersistentManifold*> m_islandmanifold; + btAlignedObjectArray<btCollisionObject* > m_islandBodies; + + public: btSimulationIslandManager(); virtual ~btSimulationIslandManager(); @@ -42,7 +50,7 @@ public: virtual void storeIslandActivationState(btCollisionWorld* world); - void findUnions(btDispatcher* dispatcher); + void findUnions(btDispatcher* dispatcher,btCollisionWorld* colWorld); @@ -55,6 +63,8 @@ public: void buildAndProcessIslands(btDispatcher* dispatcher,btCollisionObjectArray& collisionObjects, IslandCallback* callback); + void buildIslands(btDispatcher* dispatcher,btCollisionObjectArray& collisionObjects); + }; #endif //SIMULATION_ISLAND_MANAGER_H diff --git a/extern/bullet2/src/BulletCollision/CollisionDispatch/btSphereBoxCollisionAlgorithm.cpp b/extern/bullet2/src/BulletCollision/CollisionDispatch/btSphereBoxCollisionAlgorithm.cpp index 05556bd34e2..1e4bbce451d 100644 --- a/extern/bullet2/src/BulletCollision/CollisionDispatch/btSphereBoxCollisionAlgorithm.cpp +++ b/extern/bullet2/src/BulletCollision/CollisionDispatch/btSphereBoxCollisionAlgorithm.cpp @@ -68,18 +68,25 @@ void btSphereBoxCollisionAlgorithm::processCollision (btCollisionObject* body0,b btScalar dist = getSphereDistance(boxObj,pOnBox,pOnSphere,sphereCenter,radius); + resultOut->setPersistentManifold(m_manifoldPtr); + if (dist < SIMD_EPSILON) { btVector3 normalOnSurfaceB = (pOnBox- pOnSphere).normalize(); /// report a contact. internally this will be kept persistent, and contact reduction is done - resultOut->setPersistentManifold(m_manifoldPtr); resultOut->addContactPoint(normalOnSurfaceB,pOnBox,dist); } - + if (m_ownManifold) + { + if (m_manifoldPtr->getNumContacts()) + { + resultOut->refreshContactPoints(); + } + } } @@ -102,8 +109,8 @@ btScalar btSphereBoxCollisionAlgorithm::getSphereDistance(btCollisionObject* box btVector3 bounds[2]; btBoxShape* boxShape= (btBoxShape*)boxObj->getCollisionShape(); - bounds[0] = -boxShape->getHalfExtents(); - bounds[1] = boxShape->getHalfExtents(); + bounds[0] = -boxShape->getHalfExtentsWithoutMargin(); + bounds[1] = boxShape->getHalfExtentsWithoutMargin(); margins = boxShape->getMargin();//also add sphereShape margin? @@ -209,6 +216,10 @@ btScalar btSphereBoxCollisionAlgorithm::getSpherePenetration( btCollisionObject* btVector3 p0, tmp, prel, n[6], normal; btScalar fSep = btScalar(-10000000.0), fSepThis; + // set p0 and normal to a default value to shup up GCC + p0.setValue(btScalar(0.), btScalar(0.), btScalar(0.)); + normal.setValue(btScalar(0.), btScalar(0.), btScalar(0.)); + n[0].setValue( btScalar(-1.0), btScalar(0.0), btScalar(0.0) ); n[1].setValue( btScalar(0.0), btScalar(-1.0), btScalar(0.0) ); n[2].setValue( btScalar(0.0), btScalar(0.0), btScalar(-1.0) ); diff --git a/extern/bullet2/src/BulletCollision/CollisionDispatch/btSphereBoxCollisionAlgorithm.h b/extern/bullet2/src/BulletCollision/CollisionDispatch/btSphereBoxCollisionAlgorithm.h index 07592909200..158f0ffcc74 100644 --- a/extern/bullet2/src/BulletCollision/CollisionDispatch/btSphereBoxCollisionAlgorithm.h +++ b/extern/bullet2/src/BulletCollision/CollisionDispatch/btSphereBoxCollisionAlgorithm.h @@ -16,11 +16,13 @@ subject to the following restrictions: #ifndef SPHERE_BOX_COLLISION_ALGORITHM_H #define SPHERE_BOX_COLLISION_ALGORITHM_H -#include "../BroadphaseCollision/btCollisionAlgorithm.h" -#include "../BroadphaseCollision/btBroadphaseProxy.h" -#include "../CollisionDispatch/btCollisionCreateFunc.h" +#include "BulletCollision/BroadphaseCollision/btCollisionAlgorithm.h" +#include "BulletCollision/BroadphaseCollision/btBroadphaseProxy.h" +#include "BulletCollision/CollisionDispatch/btCollisionCreateFunc.h" class btPersistentManifold; -#include "../../LinearMath/btVector3.h" +#include "btCollisionDispatcher.h" + +#include "LinearMath/btVector3.h" /// btSphereBoxCollisionAlgorithm provides sphere-box collision detection. /// Other features are frame-coherency (persistent data) and collision response. @@ -40,6 +42,14 @@ public: virtual btScalar calculateTimeOfImpact(btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut); + virtual void getAllContactManifolds(btManifoldArray& manifoldArray) + { + if (m_manifoldPtr && m_ownManifold) + { + manifoldArray.push_back(m_manifoldPtr); + } + } + btScalar getSphereDistance( btCollisionObject* boxObj,btVector3& v3PointOnBox, btVector3& v3PointOnSphere, const btVector3& v3SphereCenter, btScalar fRadius ); btScalar getSpherePenetration( btCollisionObject* boxObj, btVector3& v3PointOnBox, btVector3& v3PointOnSphere, const btVector3& v3SphereCenter, btScalar fRadius, const btVector3& aabbMin, const btVector3& aabbMax); @@ -48,12 +58,13 @@ public: { virtual btCollisionAlgorithm* CreateCollisionAlgorithm(btCollisionAlgorithmConstructionInfo& ci, btCollisionObject* body0,btCollisionObject* body1) { + void* mem = ci.m_dispatcher1->allocateCollisionAlgorithm(sizeof(btSphereBoxCollisionAlgorithm)); if (!m_swapped) { - return new btSphereBoxCollisionAlgorithm(0,ci,body0,body1,false); + return new(mem) btSphereBoxCollisionAlgorithm(0,ci,body0,body1,false); } else { - return new btSphereBoxCollisionAlgorithm(0,ci,body0,body1,true); + return new(mem) btSphereBoxCollisionAlgorithm(0,ci,body0,body1,true); } } }; diff --git a/extern/bullet2/src/BulletCollision/CollisionDispatch/btSphereSphereCollisionAlgorithm.cpp b/extern/bullet2/src/BulletCollision/CollisionDispatch/btSphereSphereCollisionAlgorithm.cpp index 424ff432f84..c2b13f5903f 100644 --- a/extern/bullet2/src/BulletCollision/CollisionDispatch/btSphereSphereCollisionAlgorithm.cpp +++ b/extern/bullet2/src/BulletCollision/CollisionDispatch/btSphereSphereCollisionAlgorithm.cpp @@ -46,6 +46,8 @@ void btSphereSphereCollisionAlgorithm::processCollision (btCollisionObject* col0 if (!m_manifoldPtr) return; + resultOut->setPersistentManifold(m_manifoldPtr); + btSphereShape* sphere0 = (btSphereShape*)col0->getCollisionShape(); btSphereShape* sphere1 = (btSphereShape*)col1->getCollisionShape(); @@ -54,23 +56,41 @@ void btSphereSphereCollisionAlgorithm::processCollision (btCollisionObject* col0 btScalar radius0 = sphere0->getRadius(); btScalar radius1 = sphere1->getRadius(); +#ifdef CLEAR_MANIFOLD + m_manifoldPtr->clearManifold(); //don't do this, it disables warmstarting +#endif + ///iff distance positive, don't generate a new contact if ( len > (radius0+radius1)) + { +#ifndef CLEAR_MANIFOLD + resultOut->refreshContactPoints(); +#endif //CLEAR_MANIFOLD return; - + } ///distance (negative means penetration) btScalar dist = len - (radius0+radius1); - btVector3 normalOnSurfaceB = diff / len; + btVector3 normalOnSurfaceB(1,0,0); + if (len > SIMD_EPSILON) + { + normalOnSurfaceB = diff / len; + } + ///point on A (worldspace) btVector3 pos0 = col0->getWorldTransform().getOrigin() - radius0 * normalOnSurfaceB; ///point on B (worldspace) btVector3 pos1 = col1->getWorldTransform().getOrigin() + radius1* normalOnSurfaceB; /// report a contact. internally this will be kept persistent, and contact reduction is done - resultOut->setPersistentManifold(m_manifoldPtr); + + resultOut->addContactPoint(normalOnSurfaceB,pos1,dist); +#ifndef CLEAR_MANIFOLD + resultOut->refreshContactPoints(); +#endif //CLEAR_MANIFOLD + } btScalar btSphereSphereCollisionAlgorithm::calculateTimeOfImpact(btCollisionObject* col0,btCollisionObject* col1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut) diff --git a/extern/bullet2/src/BulletCollision/CollisionDispatch/btSphereSphereCollisionAlgorithm.h b/extern/bullet2/src/BulletCollision/CollisionDispatch/btSphereSphereCollisionAlgorithm.h index 7a19ff31edf..afdc2ee7fa0 100644 --- a/extern/bullet2/src/BulletCollision/CollisionDispatch/btSphereSphereCollisionAlgorithm.h +++ b/extern/bullet2/src/BulletCollision/CollisionDispatch/btSphereSphereCollisionAlgorithm.h @@ -16,9 +16,11 @@ subject to the following restrictions: #ifndef SPHERE_SPHERE_COLLISION_ALGORITHM_H #define SPHERE_SPHERE_COLLISION_ALGORITHM_H -#include "../BroadphaseCollision/btCollisionAlgorithm.h" -#include "../BroadphaseCollision/btBroadphaseProxy.h" -#include "../CollisionDispatch/btCollisionCreateFunc.h" +#include "BulletCollision/BroadphaseCollision/btCollisionAlgorithm.h" +#include "BulletCollision/BroadphaseCollision/btBroadphaseProxy.h" +#include "BulletCollision/CollisionDispatch/btCollisionCreateFunc.h" +#include "btCollisionDispatcher.h" + class btPersistentManifold; /// btSphereSphereCollisionAlgorithm provides sphere-sphere collision detection. @@ -39,6 +41,13 @@ public: virtual btScalar calculateTimeOfImpact(btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut); + virtual void getAllContactManifolds(btManifoldArray& manifoldArray) + { + if (m_manifoldPtr && m_ownManifold) + { + manifoldArray.push_back(m_manifoldPtr); + } + } virtual ~btSphereSphereCollisionAlgorithm(); @@ -46,7 +55,8 @@ public: { virtual btCollisionAlgorithm* CreateCollisionAlgorithm(btCollisionAlgorithmConstructionInfo& ci, btCollisionObject* body0,btCollisionObject* body1) { - return new btSphereSphereCollisionAlgorithm(0,ci,body0,body1); + void* mem = ci.m_dispatcher1->allocateCollisionAlgorithm(sizeof(btSphereSphereCollisionAlgorithm)); + return new(mem) btSphereSphereCollisionAlgorithm(0,ci,body0,body1); } }; diff --git a/extern/bullet2/src/BulletCollision/CollisionDispatch/btSphereTriangleCollisionAlgorithm.cpp b/extern/bullet2/src/BulletCollision/CollisionDispatch/btSphereTriangleCollisionAlgorithm.cpp index b011b707e3f..fdbd4abef27 100644 --- a/extern/bullet2/src/BulletCollision/CollisionDispatch/btSphereTriangleCollisionAlgorithm.cpp +++ b/extern/bullet2/src/BulletCollision/CollisionDispatch/btSphereTriangleCollisionAlgorithm.cpp @@ -48,8 +48,11 @@ void btSphereTriangleCollisionAlgorithm::processCollision (btCollisionObject* co if (!m_manifoldPtr) return; - btSphereShape* sphere = (btSphereShape*)col0->getCollisionShape(); - btTriangleShape* triangle = (btTriangleShape*)col1->getCollisionShape(); + btCollisionObject* sphereObj = m_swapped? col1 : col0; + btCollisionObject* triObj = m_swapped? col0 : col1; + + btSphereShape* sphere = (btSphereShape*)sphereObj->getCollisionShape(); + btTriangleShape* triangle = (btTriangleShape*)triObj->getCollisionShape(); /// report a contact. internally this will be kept persistent, and contact reduction is done resultOut->setPersistentManifold(m_manifoldPtr); @@ -57,11 +60,16 @@ void btSphereTriangleCollisionAlgorithm::processCollision (btCollisionObject* co btDiscreteCollisionDetectorInterface::ClosestPointInput input; input.m_maximumDistanceSquared = btScalar(1e30);//todo: tighter bounds - input.m_transformA = col0->getWorldTransform(); - input.m_transformB = col1->getWorldTransform(); + input.m_transformA = sphereObj->getWorldTransform(); + input.m_transformB = triObj->getWorldTransform(); + + bool swapResults = m_swapped; - detector.getClosestPoints(input,*resultOut,dispatchInfo.m_debugDraw); + detector.getClosestPoints(input,*resultOut,dispatchInfo.m_debugDraw,swapResults); + if (m_ownManifold) + resultOut->refreshContactPoints(); + } btScalar btSphereTriangleCollisionAlgorithm::calculateTimeOfImpact(btCollisionObject* col0,btCollisionObject* col1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut) diff --git a/extern/bullet2/src/BulletCollision/CollisionDispatch/btSphereTriangleCollisionAlgorithm.h b/extern/bullet2/src/BulletCollision/CollisionDispatch/btSphereTriangleCollisionAlgorithm.h index 57c6e6af619..bbaf228c44c 100644 --- a/extern/bullet2/src/BulletCollision/CollisionDispatch/btSphereTriangleCollisionAlgorithm.h +++ b/extern/bullet2/src/BulletCollision/CollisionDispatch/btSphereTriangleCollisionAlgorithm.h @@ -16,10 +16,11 @@ subject to the following restrictions: #ifndef SPHERE_TRIANGLE_COLLISION_ALGORITHM_H #define SPHERE_TRIANGLE_COLLISION_ALGORITHM_H -#include "../BroadphaseCollision/btCollisionAlgorithm.h" -#include "../BroadphaseCollision/btBroadphaseProxy.h" -#include "../CollisionDispatch/btCollisionCreateFunc.h" +#include "BulletCollision/BroadphaseCollision/btCollisionAlgorithm.h" +#include "BulletCollision/BroadphaseCollision/btBroadphaseProxy.h" +#include "BulletCollision/CollisionDispatch/btCollisionCreateFunc.h" class btPersistentManifold; +#include "btCollisionDispatcher.h" /// btSphereSphereCollisionAlgorithm provides sphere-sphere collision detection. /// Other features are frame-coherency (persistent data) and collision response. @@ -40,6 +41,13 @@ public: virtual btScalar calculateTimeOfImpact(btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut); + virtual void getAllContactManifolds(btManifoldArray& manifoldArray) + { + if (m_manifoldPtr && m_ownManifold) + { + manifoldArray.push_back(m_manifoldPtr); + } + } virtual ~btSphereTriangleCollisionAlgorithm(); @@ -49,7 +57,9 @@ public: virtual btCollisionAlgorithm* CreateCollisionAlgorithm(btCollisionAlgorithmConstructionInfo& ci, btCollisionObject* body0,btCollisionObject* body1) { - return new btSphereTriangleCollisionAlgorithm(ci.m_manifold,ci,body0,body1,m_swapped); + void* mem = ci.m_dispatcher1->allocateCollisionAlgorithm(sizeof(btSphereTriangleCollisionAlgorithm)); + + return new(mem) btSphereTriangleCollisionAlgorithm(ci.m_manifold,ci,body0,body1,m_swapped); } }; diff --git a/extern/bullet2/src/BulletCollision/CollisionDispatch/btUnionFind.cpp b/extern/bullet2/src/BulletCollision/CollisionDispatch/btUnionFind.cpp index 62254335796..bb01b60fa85 100644 --- a/extern/bullet2/src/BulletCollision/CollisionDispatch/btUnionFind.cpp +++ b/extern/bullet2/src/BulletCollision/CollisionDispatch/btUnionFind.cpp @@ -18,6 +18,7 @@ subject to the following restrictions: + btUnionFind::~btUnionFind() { Free(); @@ -76,8 +77,7 @@ void btUnionFind::sortIslands() // Sort the vector using predicate and std::sort //std::sort(m_elements.begin(), m_elements.end(), btUnionFindElementSortPredicate); - //perhaps use radix sort? - m_elements.heapSort(btUnionFindElementSortPredicate()); + m_elements.quickSort(btUnionFindElementSortPredicate()); } diff --git a/extern/bullet2/src/BulletCollision/CollisionDispatch/btUnionFind.h b/extern/bullet2/src/BulletCollision/CollisionDispatch/btUnionFind.h index 236cc33b94f..820c8bc858e 100644 --- a/extern/bullet2/src/BulletCollision/CollisionDispatch/btUnionFind.h +++ b/extern/bullet2/src/BulletCollision/CollisionDispatch/btUnionFind.h @@ -16,7 +16,7 @@ subject to the following restrictions: #ifndef UNION_FIND_H #define UNION_FIND_H -#include "../../LinearMath/btAlignedObjectArray.h" +#include "LinearMath/btAlignedObjectArray.h" #define USE_PATH_COMPRESSION 1 @@ -46,11 +46,11 @@ class btUnionFind void reset(int N); - inline int getNumElements() const + SIMD_FORCE_INLINE int getNumElements() const { return int(m_elements.size()); } - inline bool isRoot(int x) const + SIMD_FORCE_INLINE bool isRoot(int x) const { return (x == m_elements[x].m_id); } diff --git a/extern/bullet2/src/BulletCollision/CollisionShapes/btBoxShape.cpp b/extern/bullet2/src/BulletCollision/CollisionShapes/btBoxShape.cpp index 636b0046c13..8bc2cfa6ffa 100644 --- a/extern/bullet2/src/BulletCollision/CollisionShapes/btBoxShape.cpp +++ b/extern/bullet2/src/BulletCollision/CollisionShapes/btBoxShape.cpp @@ -15,35 +15,20 @@ subject to the following restrictions: #include "btBoxShape.h" -btVector3 btBoxShape::getHalfExtents() const -{ - return m_implicitShapeDimensions * m_localScaling; -} + //{ void btBoxShape::getAabb(const btTransform& t,btVector3& aabbMin,btVector3& aabbMax) const { - btVector3 halfExtents = getHalfExtents(); - - 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); } -void btBoxShape::calculateLocalInertia(btScalar mass,btVector3& inertia) +void btBoxShape::calculateLocalInertia(btScalar mass,btVector3& inertia) const { //btScalar margin = btScalar(0.); - btVector3 halfExtents = getHalfExtents(); + btVector3 halfExtents = getHalfExtentsWithMargin(); btScalar lx=btScalar(2.)*(halfExtents.x()); btScalar ly=btScalar(2.)*(halfExtents.y()); diff --git a/extern/bullet2/src/BulletCollision/CollisionShapes/btBoxShape.h b/extern/bullet2/src/BulletCollision/CollisionShapes/btBoxShape.h index bc42f146c7c..4d4fbefea37 100644 --- a/extern/bullet2/src/BulletCollision/CollisionShapes/btBoxShape.h +++ b/extern/bullet2/src/BulletCollision/CollisionShapes/btBoxShape.h @@ -18,11 +18,11 @@ subject to the following restrictions: #include "btPolyhedralConvexShape.h" #include "btCollisionMargin.h" -#include "../BroadphaseCollision/btBroadphaseProxy.h" -#include "../../LinearMath/btPoint3.h" -#include "../../LinearMath/btSimdMinMax.h" +#include "BulletCollision/BroadphaseCollision/btBroadphaseProxy.h" +#include "LinearMath/btPoint3.h" +#include "LinearMath/btMinMax.h" -///btBoxShape implements both a feature based (vertex/edge/plane) and implicit (getSupportingVertex) Box +///The btBoxShape is a box primitive around the origin, its sides axis aligned with length specified by half extents, in local shape coordinates. When used as part of a btCollisionObject or btRigidBody it will be an oriented box in world space. class btBoxShape: public btPolyhedralConvexShape { @@ -31,47 +31,52 @@ class btBoxShape: public btPolyhedralConvexShape public: - btVector3 getHalfExtents() const; - + btVector3 getHalfExtentsWithMargin() const + { + btVector3 halfExtents = getHalfExtentsWithoutMargin(); + btVector3 margin(getMargin(),getMargin(),getMargin()); + halfExtents += margin; + return halfExtents; + } + + const btVector3& getHalfExtentsWithoutMargin() const + { + return m_implicitShapeDimensions;//changed in Bullet 2.63: assume the scaling and margin are included + } + + virtual int getShapeType() const { return BOX_SHAPE_PROXYTYPE;} virtual btVector3 localGetSupportingVertex(const btVector3& vec) const { + btVector3 halfExtents = getHalfExtentsWithoutMargin(); + btVector3 margin(getMargin(),getMargin(),getMargin()); + halfExtents += margin; - btVector3 halfExtents = getHalfExtents(); - - btVector3 supVertex; - supVertex = btPoint3(vec.x() < btScalar(0.0) ? -halfExtents.x() : halfExtents.x(), - vec.y() < btScalar(0.0) ? -halfExtents.y() : halfExtents.y(), - vec.z() < btScalar(0.0) ? -halfExtents.z() : halfExtents.z()); - - return supVertex; + return btVector3(btFsels(vec.x(), halfExtents.x(), -halfExtents.x()), + btFsels(vec.y(), halfExtents.y(), -halfExtents.y()), + btFsels(vec.z(), halfExtents.z(), -halfExtents.z())); } - virtual inline btVector3 localGetSupportingVertexWithoutMargin(const btVector3& vec)const + SIMD_FORCE_INLINE btVector3 localGetSupportingVertexWithoutMargin(const btVector3& vec)const { - btVector3 halfExtents = getHalfExtents(); - btVector3 margin(getMargin(),getMargin(),getMargin()); - halfExtents -= margin; - - return btVector3(vec.x() < btScalar(0.0) ? -halfExtents.x() : halfExtents.x(), - vec.y() < btScalar(0.0) ? -halfExtents.y() : halfExtents.y(), - vec.z() < btScalar(0.0) ? -halfExtents.z() : halfExtents.z()); + const btVector3& halfExtents = getHalfExtentsWithoutMargin(); + + return btVector3(btFsels(vec.x(), halfExtents.x(), -halfExtents.x()), + btFsels(vec.y(), halfExtents.y(), -halfExtents.y()), + btFsels(vec.z(), halfExtents.z(), -halfExtents.z())); } virtual void batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3* vectors,btVector3* supportVerticesOut,int numVectors) const { - btVector3 halfExtents = getHalfExtents(); - btVector3 margin(getMargin(),getMargin(),getMargin()); - halfExtents -= margin; - - + const btVector3& halfExtents = getHalfExtentsWithoutMargin(); + for (int i=0;i<numVectors;i++) { const btVector3& vec = vectors[i]; - supportVerticesOut[i].setValue(vec.x() < btScalar(0.0) ? -halfExtents.x() : halfExtents.x(), - vec.y() < btScalar(0.0) ? -halfExtents.y() : halfExtents.y(), - vec.z() < btScalar(0.0) ? -halfExtents.z() : halfExtents.z()); + supportVerticesOut[i].setValue(btFsels(vec.x(), halfExtents.x(), -halfExtents.x()), + btFsels(vec.y(), halfExtents.y(), -halfExtents.y()), + btFsels(vec.z(), halfExtents.z(), -halfExtents.z())); } } @@ -79,14 +84,38 @@ public: btBoxShape( const btVector3& boxHalfExtents) { - m_implicitShapeDimensions = boxHalfExtents; + btVector3 margin(getMargin(),getMargin(),getMargin()); + m_implicitShapeDimensions = (boxHalfExtents * m_localScaling) - margin; }; - + + virtual void setMargin(btScalar collisionMargin) + { + //correct the m_implicitShapeDimensions for the margin + btVector3 oldMargin(getMargin(),getMargin(),getMargin()); + btVector3 implicitShapeDimensionsWithMargin = m_implicitShapeDimensions+oldMargin; + + btConvexInternalShape::setMargin(collisionMargin); + btVector3 newMargin(getMargin(),getMargin(),getMargin()); + m_implicitShapeDimensions = implicitShapeDimensionsWithMargin - newMargin; + + } + virtual void setLocalScaling(const btVector3& scaling) + { + btVector3 oldMargin(getMargin(),getMargin(),getMargin()); + btVector3 implicitShapeDimensionsWithMargin = m_implicitShapeDimensions+oldMargin; + btVector3 unScaledImplicitShapeDimensionsWithMargin = implicitShapeDimensionsWithMargin / m_localScaling; + + btConvexInternalShape::setLocalScaling(scaling); + + m_implicitShapeDimensions = (unScaledImplicitShapeDimensionsWithMargin * m_localScaling) - oldMargin; + + } + virtual void getAabb(const btTransform& t,btVector3& aabbMin,btVector3& aabbMax) const; - virtual void calculateLocalInertia(btScalar mass,btVector3& inertia); + virtual void calculateLocalInertia(btScalar mass,btVector3& inertia) const; virtual void getPlane(btVector3& planeNormal,btPoint3& planeSupport,int i ) const { @@ -116,7 +145,7 @@ public: virtual void getVertex(int i,btVector3& vtx) const { - btVector3 halfExtents = getHalfExtents(); + btVector3 halfExtents = getHalfExtentsWithoutMargin(); vtx = btVector3( halfExtents.x() * (1-(i&1)) - halfExtents.x() * (i&1), @@ -127,7 +156,7 @@ public: virtual void getPlaneEquation(btVector4& plane,int i) const { - btVector3 halfExtents = getHalfExtents(); + btVector3 halfExtents = getHalfExtentsWithoutMargin(); switch (i) { @@ -234,7 +263,7 @@ public: virtual bool isInside(const btPoint3& pt,btScalar tolerance) const { - btVector3 halfExtents = getHalfExtents(); + btVector3 halfExtents = getHalfExtentsWithoutMargin(); //btScalar minDist = 2*tolerance; @@ -250,7 +279,7 @@ public: //debugging - virtual char* getName()const + virtual const char* getName()const { return "Box"; } @@ -291,3 +320,4 @@ public: #endif //OBB_BOX_MINKOWSKI_H + 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); + } } + + diff --git a/extern/bullet2/src/BulletCollision/CollisionShapes/btBvhTriangleMeshShape.h b/extern/bullet2/src/BulletCollision/CollisionShapes/btBvhTriangleMeshShape.h index 4914d9f959c..6e587340dc1 100644 --- a/extern/bullet2/src/BulletCollision/CollisionShapes/btBvhTriangleMeshShape.h +++ b/extern/bullet2/src/BulletCollision/CollisionShapes/btBvhTriangleMeshShape.h @@ -18,45 +18,55 @@ subject to the following restrictions: #include "btTriangleMeshShape.h" #include "btOptimizedBvh.h" +#include "LinearMath/btAlignedAllocator.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. + +///The btBvhTriangleMeshShape is a static-triangle mesh shape with several optimizations, such as bounding volume hierarchy and cache friendly traversal for PlayStation 3 Cell SPU. It is recommended to enable useQuantizedAabbCompression for better memory usage. +///It takes a triangle mesh as input, for example a btTriangleMesh or btTriangleIndexVertexArray. The btBvhTriangleMeshShape class allows for triangle mesh deformations by a refit or partialRefit method. +///Instead of building the bounding volume hierarchy acceleration structure, it is also possible to serialize (save) and deserialize (load) the structure from disk. +///See Demos\ConcaveDemo\ConcavePhysicsDemo.cpp for an example. ATTRIBUTE_ALIGNED16(class) btBvhTriangleMeshShape : public btTriangleMeshShape { btOptimizedBvh* m_bvh; bool m_useQuantizedAabbCompression; - bool m_pad[12];////need padding due to alignment + bool m_ownsBvh; + bool m_pad[11];////need padding due to alignment public: - btBvhTriangleMeshShape() :btTriangleMeshShape(0) {}; - btBvhTriangleMeshShape(btStridingMeshInterface* meshInterface, bool useQuantizedAabbCompression); + BT_DECLARE_ALIGNED_ALLOCATOR(); + + btBvhTriangleMeshShape() :btTriangleMeshShape(0),m_bvh(0),m_ownsBvh(false) {}; + btBvhTriangleMeshShape(btStridingMeshInterface* meshInterface, bool useQuantizedAabbCompression, bool buildBvh = true); ///optionally pass in a larger bvh aabb, used for quantization. This allows for deformations within this aabb - btBvhTriangleMeshShape(btStridingMeshInterface* meshInterface, bool useQuantizedAabbCompression,const btVector3& bvhAabbMin,const btVector3& bvhAabbMax); + btBvhTriangleMeshShape(btStridingMeshInterface* meshInterface, bool useQuantizedAabbCompression,const btVector3& bvhAabbMin,const btVector3& bvhAabbMax, bool buildBvh = true); virtual ~btBvhTriangleMeshShape(); - - /* + bool getOwnsBvh () const + { + return m_ownsBvh; + } + virtual int getShapeType() const { return TRIANGLE_MESH_SHAPE_PROXYTYPE; } - */ - - + + void performRaycast (btTriangleCallback* callback, const btVector3& raySource, const btVector3& rayTarget); + void performConvexcast (btTriangleCallback* callback, const btVector3& boxSource, const btVector3& boxTarget, const btVector3& boxMin, const btVector3& boxMax); virtual void processAllTriangles(btTriangleCallback* callback,const btVector3& aabbMin,const btVector3& aabbMax) const; - void refitTree(); + void refitTree(const btVector3& aabbMin,const btVector3& aabbMax); ///for a fast incremental refit of parts of the tree. Note: the entire AABB of the tree will become more conservative, it never shrinks void partialRefitTree(const btVector3& aabbMin,const btVector3& aabbMax); //debugging - virtual char* getName()const {return "BVHTRIANGLEMESH";} + virtual const char* getName()const {return "BVHTRIANGLEMESH";} virtual void setLocalScaling(const btVector3& scaling); @@ -65,6 +75,10 @@ public: { return m_bvh; } + + + void setOptimizedBvh(btOptimizedBvh* bvh, const btVector3& localScaling=btVector3(1,1,1)); + bool usesQuantizedAabbCompression() const { return m_useQuantizedAabbCompression; diff --git a/extern/bullet2/src/BulletCollision/CollisionShapes/btCapsuleShape.cpp b/extern/bullet2/src/BulletCollision/CollisionShapes/btCapsuleShape.cpp index b7e15172da2..26ba276b900 100644 --- a/extern/bullet2/src/BulletCollision/CollisionShapes/btCapsuleShape.cpp +++ b/extern/bullet2/src/BulletCollision/CollisionShapes/btCapsuleShape.cpp @@ -21,6 +21,7 @@ subject to the following restrictions: btCapsuleShape::btCapsuleShape(btScalar radius, btScalar height) { + m_upAxis = 1; m_implicitShapeDimensions.setValue(radius,0.5f*height,radius); } @@ -50,7 +51,9 @@ btCapsuleShape::btCapsuleShape(btScalar radius, btScalar height) { - btVector3 pos(0,getHalfHeight(),0); + btVector3 pos(0,0,0); + pos[getUpAxis()] = getHalfHeight(); + vtx = pos +vec*m_localScaling*(radius) - vec * getMargin(); newDot = vec.dot(vtx); if (newDot > maxDot) @@ -60,7 +63,9 @@ btCapsuleShape::btCapsuleShape(btScalar radius, btScalar height) } } { - btVector3 pos(0,-getHalfHeight(),0); + btVector3 pos(0,0,0); + pos[getUpAxis()] = -getHalfHeight(); + vtx = pos +vec*m_localScaling*(radius) - vec * getMargin(); newDot = vec.dot(vtx); if (newDot > maxDot) @@ -88,7 +93,8 @@ btCapsuleShape::btCapsuleShape(btScalar radius, btScalar height) btVector3 vtx; btScalar newDot; { - btVector3 pos(0,getHalfHeight(),0); + btVector3 pos(0,0,0); + pos[getUpAxis()] = getHalfHeight(); vtx = pos +vec*m_localScaling*(radius) - vec * getMargin(); newDot = vec.dot(vtx); if (newDot > maxDot) @@ -98,7 +104,8 @@ btCapsuleShape::btCapsuleShape(btScalar radius, btScalar height) } } { - btVector3 pos(0,-getHalfHeight(),0); + btVector3 pos(0,0,0); + pos[getUpAxis()] = -getHalfHeight(); vtx = pos +vec*m_localScaling*(radius) - vec * getMargin(); newDot = vec.dot(vtx); if (newDot > maxDot) @@ -112,7 +119,7 @@ btCapsuleShape::btCapsuleShape(btScalar radius, btScalar height) } -void btCapsuleShape::calculateLocalInertia(btScalar mass,btVector3& inertia) +void btCapsuleShape::calculateLocalInertia(btScalar mass,btVector3& inertia) const { //as an approximation, take the inertia of the box that bounds the spheres @@ -122,7 +129,8 @@ void btCapsuleShape::calculateLocalInertia(btScalar mass,btVector3& inertia) btScalar radius = getRadius(); - btVector3 halfExtents(radius,radius+getHalfHeight(),radius); + btVector3 halfExtents(radius,radius,radius); + halfExtents[getUpAxis()]+=getHalfHeight(); btScalar margin = CONVEX_DISTANCE_MARGIN; @@ -140,6 +148,22 @@ void btCapsuleShape::calculateLocalInertia(btScalar mass,btVector3& inertia) } +btCapsuleShapeX::btCapsuleShapeX(btScalar radius,btScalar height) +{ + m_upAxis = 0; + m_implicitShapeDimensions.setValue(0.5f*height, radius,radius); +} + + + + + + +btCapsuleShapeZ::btCapsuleShapeZ(btScalar radius,btScalar height) +{ + m_upAxis = 2; + m_implicitShapeDimensions.setValue(radius,radius,0.5f*height); +} diff --git a/extern/bullet2/src/BulletCollision/CollisionShapes/btCapsuleShape.h b/extern/bullet2/src/BulletCollision/CollisionShapes/btCapsuleShape.h index 27da8adefa5..d4b046d40c9 100644 --- a/extern/bullet2/src/BulletCollision/CollisionShapes/btCapsuleShape.h +++ b/extern/bullet2/src/BulletCollision/CollisionShapes/btCapsuleShape.h @@ -16,20 +16,27 @@ subject to the following restrictions: #ifndef BT_CAPSULE_SHAPE_H #define BT_CAPSULE_SHAPE_H -#include "btConvexShape.h" -#include "../BroadphaseCollision/btBroadphaseProxy.h" // for the types +#include "btConvexInternalShape.h" +#include "BulletCollision/BroadphaseCollision/btBroadphaseProxy.h" // for the types -///btCapsuleShape represents a capsule around the Y axis -///A more general solution that can represent capsules is the btMultiSphereShape -class btCapsuleShape : public btConvexShape +///The btCapsuleShape represents a capsule around the Y axis, there is also the btCapsuleShapeX aligned around the X axis and btCapsuleShapeZ around the Z axis. +///The total height is height+2*radius, so the height is just the height between the center of each 'sphere' of the capsule caps. +///The btCapsuleShape is a convex hull of two spheres. The btMultiSphereShape is a more general collision shape that takes the convex hull of multiple sphere, so it can also represent a capsule when just using two spheres. +class btCapsuleShape : public btConvexInternalShape { +protected: + int m_upAxis; + +protected: + ///only used for btCapsuleShapeZ and btCapsuleShapeX subclasses. + btCapsuleShape() {}; public: btCapsuleShape(btScalar radius,btScalar height); ///CollisionShape Interface - virtual void calculateLocalInertia(btScalar mass,btVector3& inertia); + virtual void calculateLocalInertia(btScalar mass,btVector3& inertia) const; /// btConvexShape Interface virtual btVector3 localGetSupportingVertexWithoutMargin(const btVector3& vec)const; @@ -38,21 +45,74 @@ public: virtual int getShapeType() const { return CAPSULE_SHAPE_PROXYTYPE; } - virtual char* getName()const + virtual void getAabb (const btTransform& t, btVector3& aabbMin, btVector3& aabbMax) const + { + 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)); + + aabbMin = center - extent; + aabbMax = center + extent; + } + + virtual const char* getName()const { return "CapsuleShape"; } + int getUpAxis() const + { + return m_upAxis; + } + btScalar getRadius() const { - return m_implicitShapeDimensions.getX(); + int radiusAxis = (m_upAxis+2)%3; + return m_implicitShapeDimensions[radiusAxis]; } btScalar getHalfHeight() const { - return m_implicitShapeDimensions.getY(); + return m_implicitShapeDimensions[m_upAxis]; + } + +}; + +///btCapsuleShapeX represents a capsule around the Z axis +///the total height is height+2*radius, so the height is just the height between the center of each 'sphere' of the capsule caps. +class btCapsuleShapeX : public btCapsuleShape +{ +public: + + btCapsuleShapeX(btScalar radius,btScalar height); + + //debugging + virtual const char* getName()const + { + return "CapsuleX"; } + + +}; + +///btCapsuleShapeZ represents a capsule around the Z axis +///the total height is height+2*radius, so the height is just the height between the center of each 'sphere' of the capsule caps. +class btCapsuleShapeZ : public btCapsuleShape +{ +public: + btCapsuleShapeZ(btScalar radius,btScalar height); + + //debugging + virtual const char* getName()const + { + return "CapsuleZ"; + } + + }; diff --git a/extern/bullet2/src/BulletCollision/CollisionShapes/btCollisionShape.cpp b/extern/bullet2/src/BulletCollision/CollisionShapes/btCollisionShape.cpp index 81d82428f4c..39e621aa946 100644 --- a/extern/bullet2/src/BulletCollision/CollisionShapes/btCollisionShape.cpp +++ b/extern/bullet2/src/BulletCollision/CollisionShapes/btCollisionShape.cpp @@ -21,7 +21,12 @@ subject to the following restrictions: can be used by probes that are checking whether the library is actually installed. */ -extern "C" void btBulletCollisionProbe () {} +extern "C" +{ +void btBulletCollisionProbe (); + +void btBulletCollisionProbe () {} +} @@ -46,7 +51,7 @@ btScalar btCollisionShape::getAngularMotionDisc() const return disc; } -void btCollisionShape::calculateTemporalAabb(const btTransform& curTrans,const btVector3& linvel,const btVector3& angvel,btScalar timeStep, btVector3& temporalAabbMin,btVector3& temporalAabbMax) +void btCollisionShape::calculateTemporalAabb(const btTransform& curTrans,const btVector3& linvel,const btVector3& angvel,btScalar timeStep, btVector3& temporalAabbMin,btVector3& temporalAabbMax) const { //start with static aabb getAabb(curTrans,temporalAabbMin,temporalAabbMax); diff --git a/extern/bullet2/src/BulletCollision/CollisionShapes/btCollisionShape.h b/extern/bullet2/src/BulletCollision/CollisionShapes/btCollisionShape.h index 96268734a83..3a352b90777 100644 --- a/extern/bullet2/src/BulletCollision/CollisionShapes/btCollisionShape.h +++ b/extern/bullet2/src/BulletCollision/CollisionShapes/btCollisionShape.h @@ -16,18 +16,21 @@ subject to the following restrictions: #ifndef COLLISION_SHAPE_H #define COLLISION_SHAPE_H -#include "../../LinearMath/btTransform.h" -#include "../../LinearMath/btVector3.h" -#include "../../LinearMath/btMatrix3x3.h" -#include "../../LinearMath/btPoint3.h" -#include "../BroadphaseCollision/btBroadphaseProxy.h" //for the shape types +#include "LinearMath/btTransform.h" +#include "LinearMath/btVector3.h" +#include "LinearMath/btMatrix3x3.h" +#include "LinearMath/btPoint3.h" +#include "BulletCollision/BroadphaseCollision/btBroadphaseProxy.h" //for the shape types -///btCollisionShape provides interface for collision shapes that can be shared among btCollisionObjects. +///The btCollisionShape class provides an interface for collision shapes that can be shared among btCollisionObjects. class btCollisionShape { + + void* m_userPointer; + public: - btCollisionShape() + btCollisionShape() : m_userPointer(0) { } virtual ~btCollisionShape() @@ -45,30 +48,30 @@ public: ///calculateTemporalAabb calculates the enclosing aabb for the moving object over interval [0..timeStep) ///result is conservative - void calculateTemporalAabb(const btTransform& curTrans,const btVector3& linvel,const btVector3& angvel,btScalar timeStep, btVector3& temporalAabbMin,btVector3& temporalAabbMax); + void calculateTemporalAabb(const btTransform& curTrans,const btVector3& linvel,const btVector3& angvel,btScalar timeStep, btVector3& temporalAabbMin,btVector3& temporalAabbMax) const; #ifndef __SPU__ - inline bool isPolyhedral() const + SIMD_FORCE_INLINE bool isPolyhedral() const { return btBroadphaseProxy::isPolyhedral(getShapeType()); } - inline bool isConvex() const + SIMD_FORCE_INLINE bool isConvex() const { return btBroadphaseProxy::isConvex(getShapeType()); } - inline bool isConcave() const + SIMD_FORCE_INLINE bool isConcave() const { return btBroadphaseProxy::isConcave(getShapeType()); } - inline bool isCompound() const + SIMD_FORCE_INLINE bool isCompound() const { return btBroadphaseProxy::isCompound(getShapeType()); } ///isInfinite is used to catch simulation error (aabb check) - inline bool isInfinite() const + SIMD_FORCE_INLINE bool isInfinite() const { return btBroadphaseProxy::isInfinite(getShapeType()); } @@ -76,11 +79,11 @@ public: virtual int getShapeType() const=0; virtual void setLocalScaling(const btVector3& scaling) =0; virtual const btVector3& getLocalScaling() const =0; - virtual void calculateLocalInertia(btScalar mass,btVector3& inertia) = 0; + virtual void calculateLocalInertia(btScalar mass,btVector3& inertia) const = 0; //debugging support - virtual char* getName()const =0 ; + virtual const char* getName()const =0 ; #endif //__SPU__ @@ -88,6 +91,18 @@ public: virtual void setMargin(btScalar margin) = 0; virtual btScalar getMargin() const = 0; + + ///optional user data pointer + void setUserPointer(void* userPtr) + { + m_userPointer = userPtr; + } + + void* getUserPointer() const + { + return m_userPointer; + } + }; #endif //COLLISION_SHAPE_H diff --git a/extern/bullet2/src/BulletCollision/CollisionShapes/btCompoundShape.cpp b/extern/bullet2/src/BulletCollision/CollisionShapes/btCompoundShape.cpp index a4712b3e925..f08b810eadb 100644 --- a/extern/bullet2/src/BulletCollision/CollisionShapes/btCompoundShape.cpp +++ b/extern/bullet2/src/BulletCollision/CollisionShapes/btCompoundShape.cpp @@ -14,29 +14,42 @@ 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) { - m_childTransforms.push_back(localTransform); - m_childShapes.push_back(shape); + //m_childTransforms.push_back(localTransform); + //m_childShapes.push_back(shape); + btCompoundShapeChild child; + child.m_transform = localTransform; + child.m_childShape = shape; + child.m_childShapeType = shape->getShapeType(); + child.m_childMargin = shape->getMargin(); + + m_children.push_back(child); //extend the local aabbMin/aabbMax btVector3 localAabbMin,localAabbMax; @@ -53,39 +66,100 @@ 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) +{ + // 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]; + } + } +} - ///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) +void btCompoundShape::calculateLocalInertia(btScalar mass,btVector3& inertia) const { //approximation: take the inertia from the aabb for now btTransform ident; 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()); @@ -96,5 +170,62 @@ void btCompoundShape::calculateLocalInertia(btScalar mass,btVector3& inertia) } - - + + + +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 86dc1f80947..3624749f768 100644 --- a/extern/bullet2/src/BulletCollision/CollisionShapes/btCompoundShape.h +++ b/extern/bullet2/src/BulletCollision/CollisionShapes/btCompoundShape.h @@ -18,58 +18,97 @@ subject to the following restrictions: #include "btCollisionShape.h" -#include "../../LinearMath/btVector3.h" -#include "../../LinearMath/btTransform.h" -#include "../../LinearMath/btMatrix3x3.h" +#include "LinearMath/btVector3.h" +#include "LinearMath/btTransform.h" +#include "LinearMath/btMatrix3x3.h" #include "btCollisionMargin.h" -#include "../../LinearMath/btAlignedObjectArray.h" +#include "LinearMath/btAlignedObjectArray.h" -class btOptimizedBvh; +//class btOptimizedBvh; +struct btDbvt; + +ATTRIBUTE_ALIGNED16(struct) btCompoundShapeChild +{ + BT_DECLARE_ALIGNED_ALLOCATOR(); + + btTransform m_transform; + 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 ); +} /// btCompoundShape allows to store multiple other btCollisionShapes -/// This allows for concave collision objects. This is more general then the Static Concave btTriangleMeshShape. -class btCompoundShape : public btCollisionShape +/// This allows for moving concave collision objects. This is more general then the static concave btBvhTriangleMeshShape. +ATTRIBUTE_ALIGNED16(class) btCompoundShape : public btCollisionShape { - btAlignedObjectArray<btTransform> m_childTransforms; - btAlignedObjectArray<btCollisionShape*> m_childShapes; + //btAlignedObjectArray<btTransform> m_childTransforms; + //btAlignedObjectArray<btCollisionShape*> m_childShapes; + btAlignedObjectArray<btCompoundShapeChild> m_children; btVector3 m_localAabbMin; btVector3 m_localAabbMax; - btOptimizedBvh* m_aabbTree; + //btOptimizedBvh* m_aabbTree; + btDbvt* m_dynamicAabbTree; public: + BT_DECLARE_ALIGNED_ALLOCATOR(); + btCompoundShape(); virtual ~btCompoundShape(); void addChildShape(const btTransform& localTransform,btCollisionShape* shape); + /// Remove all children shapes that contain the specified shape + virtual void removeChildShape(btCollisionShape* shape); + + void removeChildShapeByIndex(int childShapeindex); + + int getNumChildShapes() const { - return int (m_childShapes.size()); + return int (m_children.size()); } btCollisionShape* getChildShape(int index) { - return m_childShapes[index]; + return m_children[index].m_childShape; } const btCollisionShape* getChildShape(int index) const { - return m_childShapes[index]; + return m_children[index].m_childShape; } - btTransform& getChildTransform(int index) + btTransform getChildTransform(int index) + { + return m_children[index].m_transform; + } + const btTransform getChildTransform(int index) const { - return m_childTransforms[index]; + return m_children[index].m_transform; } - const btTransform& getChildTransform(int index) const + + + btCompoundShapeChild* getChildList() { - return m_childTransforms[index]; + return &m_children[0]; } ///getAabb's default implementation is brute force, expected derived classes to implement a fast dedicated version - void getAabb(const btTransform& t,btVector3& aabbMin,btVector3& aabbMax) const; + 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. */ + virtual void recalculateLocalAabb(); virtual void setLocalScaling(const btVector3& scaling) { @@ -80,8 +119,8 @@ public: return m_localScaling; } - virtual void calculateLocalInertia(btScalar mass,btVector3& inertia); - + virtual void calculateLocalInertia(btScalar mass,btVector3& inertia) const; + virtual int getShapeType() const { return COMPOUND_SHAPE_PROXYTYPE;} virtual void setMargin(btScalar margin) @@ -92,7 +131,7 @@ public: { return m_collisionMargin; } - virtual char* getName()const + virtual const char* getName()const { return "Compound"; } @@ -100,11 +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/btConcaveShape.h b/extern/bullet2/src/BulletCollision/CollisionShapes/btConcaveShape.h index 73f974e4ee9..f3f57206ab7 100644 --- a/extern/bullet2/src/BulletCollision/CollisionShapes/btConcaveShape.h +++ b/extern/bullet2/src/BulletCollision/CollisionShapes/btConcaveShape.h @@ -17,12 +17,12 @@ subject to the following restrictions: #define CONCAVE_SHAPE_H #include "btCollisionShape.h" -#include "../BroadphaseCollision/btBroadphaseProxy.h" // for the types +#include "BulletCollision/BroadphaseCollision/btBroadphaseProxy.h" // for the types #include "btTriangleCallback.h" -///Concave shape proves an interface concave shapes that can produce triangles that overlapping a given AABB. -///Static triangle mesh, infinite plane, height field/landscapes are example that implement this interface. +///The btConcaveShape class provides an interface for non-moving (static) concave shapes. +///It has been implemented by the btStaticPlaneShape, btBvhTriangleMeshShape and btHeightfieldTerrainShape. class btConcaveShape : public btCollisionShape { protected: diff --git a/extern/bullet2/src/BulletCollision/CollisionShapes/btConeShape.h b/extern/bullet2/src/BulletCollision/CollisionShapes/btConeShape.h index 3ccda5b12c6..685369742e4 100644 --- a/extern/bullet2/src/BulletCollision/CollisionShapes/btConeShape.h +++ b/extern/bullet2/src/BulletCollision/CollisionShapes/btConeShape.h @@ -16,11 +16,11 @@ subject to the following restrictions: #ifndef CONE_MINKOWSKI_H #define CONE_MINKOWSKI_H -#include "btConvexShape.h" -#include "../BroadphaseCollision/btBroadphaseProxy.h" // for the types +#include "btConvexInternalShape.h" +#include "BulletCollision/BroadphaseCollision/btBroadphaseProxy.h" // for the types -///btConeShape implements a Cone shape, around the Y axis -class btConeShape : public btConvexShape +///The btConeShape implements a cone shape primitive, centered around the origin and aligned with the Y axis. The btConeShapeX is aligned around the X axis and btConeShapeZ around the Z axis. +class btConeShape : public btConvexInternalShape { @@ -42,7 +42,7 @@ public: btScalar getHeight() const { return m_height;} - virtual void calculateLocalInertia(btScalar mass,btVector3& inertia) + virtual void calculateLocalInertia(btScalar mass,btVector3& inertia) const { btTransform identity; identity.setIdentity(); @@ -72,7 +72,7 @@ public: virtual int getShapeType() const { return CONE_SHAPE_PROXYTYPE; } - virtual char* getName()const + virtual const char* getName()const { return "Cone"; } diff --git a/extern/bullet2/src/BulletCollision/CollisionShapes/btConvexHullShape.cpp b/extern/bullet2/src/BulletCollision/CollisionShapes/btConvexHullShape.cpp index deb3954b5c3..2596858bc3a 100644 --- a/extern/bullet2/src/BulletCollision/CollisionShapes/btConvexHullShape.cpp +++ b/extern/bullet2/src/BulletCollision/CollisionShapes/btConvexHullShape.cpp @@ -36,6 +36,13 @@ btConvexHullShape ::btConvexHullShape (const btScalar* points,int numPoints,int } + +void btConvexHullShape::setLocalScaling(const btVector3& scaling) +{ + m_localScaling = scaling; + recalcLocalAabb(); +} + void btConvexHullShape::addPoint(const btPoint3& point) { m_points.push_back(point); diff --git a/extern/bullet2/src/BulletCollision/CollisionShapes/btConvexHullShape.h b/extern/bullet2/src/BulletCollision/CollisionShapes/btConvexHullShape.h index 3fd5e382525..4773de2dc51 100644 --- a/extern/bullet2/src/BulletCollision/CollisionShapes/btConvexHullShape.h +++ b/extern/bullet2/src/BulletCollision/CollisionShapes/btConvexHullShape.h @@ -17,18 +17,17 @@ subject to the following restrictions: #define CONVEX_HULL_SHAPE_H #include "btPolyhedralConvexShape.h" -#include "../BroadphaseCollision/btBroadphaseProxy.h" // for the types -#include "../../LinearMath/btAlignedObjectArray.h" +#include "BulletCollision/BroadphaseCollision/btBroadphaseProxy.h" // for the types +#include "LinearMath/btAlignedObjectArray.h" -///ConvexHullShape implements an implicit (getSupportingVertex) Convex Hull of a Point Cloud (vertices) -///No connectivity is needed. localGetSupportingVertex iterates linearly though all vertices. -///on modern hardware, due to cache coherency this isn't that bad. Complex algorithms tend to trash the cash. -///(memory is much slower then the cpu) +///The btConvexHullShape implements an implicit convex hull of an array of vertices. +///Bullet provides a general and fast collision detector for convex shapes based on GJK and EPA using localGetSupportingVertex. ATTRIBUTE_ALIGNED16(class) btConvexHullShape : public btPolyhedralConvexShape { btAlignedObjectArray<btPoint3> m_points; public: + BT_DECLARE_ALIGNED_ALLOCATOR(); ///this constructor optionally takes in a pointer to points. Each point is assumed to be 3 consecutive btScalar (x,y,z), the striding defines the number of bytes between each point, in memory. @@ -43,7 +42,12 @@ public: return &m_points[0]; } - int getNumPoints() + const btPoint3* getPoints() const + { + return &m_points[0]; + } + + int getNumPoints() const { return m_points.size(); } @@ -56,7 +60,7 @@ public: virtual int getShapeType()const { return CONVEX_HULL_SHAPE_PROXYTYPE; } //debugging - virtual char* getName()const {return "Convex";} + virtual const char* getName()const {return "Convex";} virtual int getNumVertices() const; @@ -67,7 +71,8 @@ public: virtual void getPlane(btVector3& planeNormal,btPoint3& planeSupport,int i ) const; virtual bool isInside(const btPoint3& pt,btScalar tolerance) const; - + ///in case we receive negative scaling + virtual void setLocalScaling(const btVector3& scaling); }; diff --git a/extern/bullet2/src/BulletCollision/CollisionShapes/btConvexShape.cpp b/extern/bullet2/src/BulletCollision/CollisionShapes/btConvexShape.cpp index 7edf1ea6db8..7afcccf8b03 100644 --- a/extern/bullet2/src/BulletCollision/CollisionShapes/btConvexShape.cpp +++ b/extern/bullet2/src/BulletCollision/CollisionShapes/btConvexShape.cpp @@ -16,62 +16,3 @@ subject to the following restrictions: #include "btConvexShape.h" -btConvexShape::btConvexShape() -: m_localScaling(btScalar(1.),btScalar(1.),btScalar(1.)), -m_collisionMargin(CONVEX_DISTANCE_MARGIN) -{ -} - - -void btConvexShape::setLocalScaling(const btVector3& scaling) -{ - m_localScaling = scaling; -} - - - -void btConvexShape::getAabbSlow(const btTransform& trans,btVector3&minAabb,btVector3&maxAabb) const -{ - - btScalar margin = getMargin(); - for (int i=0;i<3;i++) - { - btVector3 vec(btScalar(0.),btScalar(0.),btScalar(0.)); - vec[i] = btScalar(1.); - - btVector3 sv = localGetSupportingVertex(vec*trans.getBasis()); - - btVector3 tmp = trans(sv); - maxAabb[i] = tmp[i]+margin; - vec[i] = btScalar(-1.); - tmp = trans(localGetSupportingVertex(vec*trans.getBasis())); - minAabb[i] = tmp[i]-margin; - } -}; - - -btVector3 btConvexShape::localGetSupportingVertex(const btVector3& vec)const -{ -#ifndef __SPU__ - - btVector3 supVertex = localGetSupportingVertexWithoutMargin(vec); - - if ( getMargin()!=btScalar(0.) ) - { - btVector3 vecnorm = vec; - if (vecnorm .length2() < (SIMD_EPSILON*SIMD_EPSILON)) - { - vecnorm.setValue(btScalar(-1.),btScalar(-1.),btScalar(-1.)); - } - vecnorm.normalize(); - supVertex+= getMargin() * vecnorm; - } - return supVertex; - -#else - return btVector3(0,0,0); -#endif //__SPU__ - - } - - diff --git a/extern/bullet2/src/BulletCollision/CollisionShapes/btConvexShape.h b/extern/bullet2/src/BulletCollision/CollisionShapes/btConvexShape.h index 746f383dfc7..e4eb7f6dbf6 100644 --- a/extern/bullet2/src/BulletCollision/CollisionShapes/btConvexShape.h +++ b/extern/bullet2/src/BulletCollision/CollisionShapes/btConvexShape.h @@ -18,37 +18,25 @@ subject to the following restrictions: #include "btCollisionShape.h" -#include "../../LinearMath/btVector3.h" -#include "../../LinearMath/btTransform.h" -#include "../../LinearMath/btMatrix3x3.h" +#include "LinearMath/btVector3.h" +#include "LinearMath/btTransform.h" +#include "LinearMath/btMatrix3x3.h" #include "btCollisionMargin.h" +#include "LinearMath/btAlignedAllocator.h" //todo: get rid of this btConvexCastResult thing! struct btConvexCastResult; #define MAX_PREFERRED_PENETRATION_DIRECTIONS 10 -/// btConvexShape is an abstract shape interface. -/// The explicit part provides plane-equations, the implicit part provides GetClosestPoint interface. -/// used in combination with GJK or btConvexCast +/// The btConvexShape is an abstract shape interface, implemented by all convex shapes such as btBoxShape, btConvexHullShape etc. +/// It describes general convex shapes using the localGetSupportingVertex interface, used by collision detectors such as btGjkPairDetector. ATTRIBUTE_ALIGNED16(class) btConvexShape : public btCollisionShape { -protected: - - //local scaling. collisionMargin is not scaled ! - btVector3 m_localScaling; - - btVector3 m_implicitShapeDimensions; - - btScalar m_collisionMargin; - - btScalar m_padding[2]; - - - public: - btConvexShape(); + + BT_DECLARE_ALIGNED_ALLOCATOR(); virtual ~btConvexShape() { @@ -56,7 +44,7 @@ public: } - virtual btVector3 localGetSupportingVertex(const btVector3& vec)const; + virtual btVector3 localGetSupportingVertex(const btVector3& vec)const =0; #ifndef __SPU__ virtual btVector3 localGetSupportingVertexWithoutMargin(const btVector3& vec) const= 0; @@ -64,63 +52,24 @@ public: virtual void batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3* vectors,btVector3* supportVerticesOut,int numVectors) const= 0; #endif //#ifndef __SPU__ - const btVector3& getImplicitShapeDimensions() const - { - return m_implicitShapeDimensions; - } ///getAabb's default implementation is brute force, expected derived classes to implement a fast dedicated version - void getAabb(const btTransform& t,btVector3& aabbMin,btVector3& aabbMax) const - { - getAabbSlow(t,aabbMin,aabbMax); - } - - - - virtual void getAabbSlow(const btTransform& t,btVector3& aabbMin,btVector3& aabbMax) const; - + void getAabb(const btTransform& t,btVector3& aabbMin,btVector3& aabbMax) const =0; - virtual void setLocalScaling(const btVector3& scaling); - virtual const btVector3& getLocalScaling() const - { - return m_localScaling; - } + virtual void getAabbSlow(const btTransform& t,btVector3& aabbMin,btVector3& aabbMax) const =0; - const btVector3& getLocalScalingNV() const - { - return m_localScaling; - } + virtual void setLocalScaling(const btVector3& scaling) =0; + virtual const btVector3& getLocalScaling() const =0; - virtual void setMargin(btScalar margin) - { - m_collisionMargin = margin; - } - virtual btScalar getMargin() const - { - return m_collisionMargin; - } + virtual void setMargin(btScalar margin)=0; - btScalar getMarginNV() const - { - return m_collisionMargin; - } + virtual btScalar getMargin() const=0; - virtual int getNumPreferredPenetrationDirections() const - { - return 0; - } + virtual int getNumPreferredPenetrationDirections() const=0; - virtual void getPreferredPenetrationDirection(int index, btVector3& penetrationVector) const - { - (void)penetrationVector; - (void)index; - btAssert(0); - } - - + virtual void getPreferredPenetrationDirection(int index, btVector3& penetrationVector) const=0; -} -; +}; diff --git a/extern/bullet2/src/BulletCollision/CollisionShapes/btConvexTriangleMeshShape.cpp b/extern/bullet2/src/BulletCollision/CollisionShapes/btConvexTriangleMeshShape.cpp index 6941030b15f..02a293e82ba 100644 --- a/extern/bullet2/src/BulletCollision/CollisionShapes/btConvexTriangleMeshShape.cpp +++ b/extern/bullet2/src/BulletCollision/CollisionShapes/btConvexTriangleMeshShape.cpp @@ -19,10 +19,11 @@ subject to the following restrictions: #include "BulletCollision/CollisionShapes/btStridingMeshInterface.h" -btConvexTriangleMeshShape ::btConvexTriangleMeshShape (btStridingMeshInterface* meshInterface) +btConvexTriangleMeshShape ::btConvexTriangleMeshShape (btStridingMeshInterface* meshInterface, bool calcAabb) :m_stridingMesh(meshInterface) { - recalcLocalAabb(); + if ( calcAabb ) + recalcLocalAabb(); } @@ -203,3 +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 34ee7af744c..6ff0bf5d43b 100644 --- a/extern/bullet2/src/BulletCollision/CollisionShapes/btConvexTriangleMeshShape.h +++ b/extern/bullet2/src/BulletCollision/CollisionShapes/btConvexTriangleMeshShape.h @@ -3,20 +3,24 @@ #include "btPolyhedralConvexShape.h" -#include "../BroadphaseCollision/btBroadphaseProxy.h" // for the types +#include "BulletCollision/BroadphaseCollision/btBroadphaseProxy.h" // for the types -/// btConvexTriangleMeshShape is a convex hull of a triangle mesh. If you just have a point cloud, you can use btConvexHullShape instead. -/// It uses the btStridingMeshInterface instead of a point cloud. This can avoid the duplication of the triangle mesh data. +/// The btConvexTriangleMeshShape is a convex hull of a triangle mesh, but the performance is not as good as btConvexHullShape. +/// A small benefit of this class is that it uses the btStridingMeshInterface, so you can avoid the duplication of the triangle mesh data. Nevertheless, most users should use the much better performing btConvexHullShape instead. class btConvexTriangleMeshShape : public btPolyhedralConvexShape { class btStridingMeshInterface* m_stridingMesh; public: - btConvexTriangleMeshShape(btStridingMeshInterface* meshInterface); + btConvexTriangleMeshShape(btStridingMeshInterface* meshInterface, bool calcAabb = true); - class btStridingMeshInterface* getStridingMesh() + class btStridingMeshInterface* getMeshInterface() + { + return m_stridingMesh; + } + const class btStridingMeshInterface* getMeshInterface() const { return m_stridingMesh; } @@ -28,7 +32,7 @@ public: virtual int getShapeType()const { return CONVEX_TRIANGLEMESH_SHAPE_PROXYTYPE; } //debugging - virtual char* getName()const {return "ConvexTrimesh";} + virtual const char* getName()const {return "ConvexTrimesh";} virtual int getNumVertices() const; virtual int getNumEdges() const; @@ -42,6 +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; + }; @@ -49,3 +60,4 @@ public: #endif //CONVEX_TRIANGLEMESH_SHAPE_H + diff --git a/extern/bullet2/src/BulletCollision/CollisionShapes/btCylinderShape.cpp b/extern/bullet2/src/BulletCollision/CollisionShapes/btCylinderShape.cpp index 1666afb3b88..3afef1c7550 100644 --- a/extern/bullet2/src/BulletCollision/CollisionShapes/btCylinderShape.cpp +++ b/extern/bullet2/src/BulletCollision/CollisionShapes/btCylinderShape.cpp @@ -45,7 +45,7 @@ void btCylinderShape::getAabb(const btTransform& t,btVector3& aabbMin,btVector3& } -inline btVector3 CylinderLocalSupportX(const btVector3& halfExtents,const btVector3& v) +SIMD_FORCE_INLINE btVector3 CylinderLocalSupportX(const btVector3& halfExtents,const btVector3& v) { const int cylinderUpAxis = 0; const int XX = 1; @@ -163,24 +163,24 @@ const int ZZ = 1; btVector3 btCylinderShapeX::localGetSupportingVertexWithoutMargin(const btVector3& vec)const { - return CylinderLocalSupportX(getHalfExtents(),vec); + return CylinderLocalSupportX(getHalfExtentsWithoutMargin(),vec); } btVector3 btCylinderShapeZ::localGetSupportingVertexWithoutMargin(const btVector3& vec)const { - return CylinderLocalSupportZ(getHalfExtents(),vec); + return CylinderLocalSupportZ(getHalfExtentsWithoutMargin(),vec); } btVector3 btCylinderShape::localGetSupportingVertexWithoutMargin(const btVector3& vec)const { - return CylinderLocalSupportY(getHalfExtents(),vec); + return CylinderLocalSupportY(getHalfExtentsWithoutMargin(),vec); } void btCylinderShape::batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3* vectors,btVector3* supportVerticesOut,int numVectors) const { for (int i=0;i<numVectors;i++) { - supportVerticesOut[i] = CylinderLocalSupportY(getHalfExtents(),vectors[i]); + supportVerticesOut[i] = CylinderLocalSupportY(getHalfExtentsWithoutMargin(),vectors[i]); } } @@ -188,7 +188,7 @@ void btCylinderShapeZ::batchedUnitVectorGetSupportingVertexWithoutMargin(const b { for (int i=0;i<numVectors;i++) { - supportVerticesOut[i] = CylinderLocalSupportZ(getHalfExtents(),vectors[i]); + supportVerticesOut[i] = CylinderLocalSupportZ(getHalfExtentsWithoutMargin(),vectors[i]); } } @@ -199,7 +199,7 @@ void btCylinderShapeX::batchedUnitVectorGetSupportingVertexWithoutMargin(const b { for (int i=0;i<numVectors;i++) { - supportVerticesOut[i] = CylinderLocalSupportX(getHalfExtents(),vectors[i]); + supportVerticesOut[i] = CylinderLocalSupportX(getHalfExtentsWithoutMargin(),vectors[i]); } } diff --git a/extern/bullet2/src/BulletCollision/CollisionShapes/btCylinderShape.h b/extern/bullet2/src/BulletCollision/CollisionShapes/btCylinderShape.h index c78890c887a..30938acf7c7 100644 --- a/extern/bullet2/src/BulletCollision/CollisionShapes/btCylinderShape.h +++ b/extern/bullet2/src/BulletCollision/CollisionShapes/btCylinderShape.h @@ -17,10 +17,10 @@ subject to the following restrictions: #define CYLINDER_MINKOWSKI_H #include "btBoxShape.h" -#include "../BroadphaseCollision/btBroadphaseProxy.h" // for the types -#include "../../LinearMath/btVector3.h" +#include "BulletCollision/BroadphaseCollision/btBroadphaseProxy.h" // for the types +#include "LinearMath/btVector3.h" -/// implements cylinder shape interface +/// The btCylinderShape class implements a cylinder shape primitive, centered around the origin. Its central axis aligned with the Y axis. btCylinderShapeX is aligned with the X axis and btCylinderShapeZ around the Z axis. class btCylinderShape : public btBoxShape { @@ -60,7 +60,7 @@ public: //use box inertia - // virtual void calculateLocalInertia(btScalar mass,btVector3& inertia); + // virtual void calculateLocalInertia(btScalar mass,btVector3& inertia) const; virtual int getShapeType() const { @@ -74,11 +74,11 @@ public: virtual btScalar getRadius() const { - return getHalfExtents().getX(); + return getHalfExtentsWithMargin().getX(); } //debugging - virtual char* getName()const + virtual const char* getName()const { return "CylinderY"; } @@ -96,14 +96,14 @@ public: virtual void batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3* vectors,btVector3* supportVerticesOut,int numVectors) const; //debugging - virtual char* getName()const + virtual const char* getName()const { return "CylinderX"; } virtual btScalar getRadius() const { - return getHalfExtents().getY(); + return getHalfExtentsWithMargin().getY(); } }; @@ -121,14 +121,14 @@ public: return 2; } //debugging - virtual char* getName()const + virtual const char* getName()const { return "CylinderZ"; } virtual btScalar getRadius() const { - return getHalfExtents().getX(); + return getHalfExtentsWithMargin().getX(); } }; diff --git a/extern/bullet2/src/BulletCollision/CollisionShapes/btEmptyShape.cpp b/extern/bullet2/src/BulletCollision/CollisionShapes/btEmptyShape.cpp index dcc486f194b..6954aad7917 100644 --- a/extern/bullet2/src/BulletCollision/CollisionShapes/btEmptyShape.cpp +++ b/extern/bullet2/src/BulletCollision/CollisionShapes/btEmptyShape.cpp @@ -40,7 +40,7 @@ void btEmptyShape::getAabb(const btTransform& t,btVector3& aabbMin,btVector3& aa } -void btEmptyShape::calculateLocalInertia(btScalar ,btVector3& ) +void btEmptyShape::calculateLocalInertia(btScalar ,btVector3& ) const { btAssert(0); } diff --git a/extern/bullet2/src/BulletCollision/CollisionShapes/btEmptyShape.h b/extern/bullet2/src/BulletCollision/CollisionShapes/btEmptyShape.h index 8ec53444976..d7d78407b61 100644 --- a/extern/bullet2/src/BulletCollision/CollisionShapes/btEmptyShape.h +++ b/extern/bullet2/src/BulletCollision/CollisionShapes/btEmptyShape.h @@ -18,16 +18,16 @@ subject to the following restrictions: #include "btConcaveShape.h" -#include "../../LinearMath/btVector3.h" -#include "../../LinearMath/btTransform.h" -#include "../../LinearMath/btMatrix3x3.h" +#include "LinearMath/btVector3.h" +#include "LinearMath/btTransform.h" +#include "LinearMath/btMatrix3x3.h" #include "btCollisionMargin.h" -/// btEmptyShape is a collision shape without actual collision detection. -///It can be replaced by another shape during runtime +/// The btEmptyShape is a collision shape without actual collision detection shape, so most users should ignore this class. +/// It can be replaced by another shape during runtime, but the inertia tensor should be recomputed. class btEmptyShape : public btConcaveShape { public: @@ -49,12 +49,12 @@ public: return m_localScaling; } - virtual void calculateLocalInertia(btScalar mass,btVector3& inertia); + virtual void calculateLocalInertia(btScalar mass,btVector3& inertia) const; virtual int getShapeType() const { return EMPTY_SHAPE_PROXYTYPE;} - virtual char* getName()const + virtual const char* getName()const { return "Empty"; } diff --git a/extern/bullet2/src/BulletCollision/CollisionShapes/btHeightfieldTerrainShape.cpp b/extern/bullet2/src/BulletCollision/CollisionShapes/btHeightfieldTerrainShape.cpp index 94be43c88e2..a291d6b7ce7 100644 --- a/extern/bullet2/src/BulletCollision/CollisionShapes/btHeightfieldTerrainShape.cpp +++ b/extern/bullet2/src/BulletCollision/CollisionShapes/btHeightfieldTerrainShape.cpp @@ -18,16 +18,18 @@ subject to the following restrictions: #include "LinearMath/btTransformUtil.h" -btHeightfieldTerrainShape::btHeightfieldTerrainShape(int width,int length,void* heightfieldData,btScalar maxHeight,int upAxis,bool useFloatData,bool flipQuadEdges) -:m_localScaling(btScalar(1.),btScalar(1.),btScalar(1.)), -m_width(width), -m_length(length), -m_heightfieldDataUnknown(heightfieldData), +btHeightfieldTerrainShape::btHeightfieldTerrainShape(int heightStickWidth, int heightStickLength,void* heightfieldData,btScalar maxHeight,int upAxis,bool useFloatData,bool flipQuadEdges) +: m_heightStickWidth(heightStickWidth), +m_heightStickLength(heightStickLength), m_maxHeight(maxHeight), -m_upAxis(upAxis), +m_width((btScalar)heightStickWidth-1), +m_length((btScalar)heightStickLength-1), +m_heightfieldDataUnknown(heightfieldData), m_useFloatData(useFloatData), m_flipQuadEdges(flipQuadEdges), -m_useDiamondSubdivision(false) +m_useDiamondSubdivision(false), +m_upAxis(upAxis), +m_localScaling(btScalar(1.),btScalar(1.),btScalar(1.)) { @@ -43,25 +45,25 @@ m_useDiamondSubdivision(false) case 0: { halfExtents.setValue( - m_maxHeight, - m_width, - m_length); + btScalar(m_maxHeight), + btScalar(m_width), //?? don't know if this should change + btScalar(m_length)); break; } case 1: { halfExtents.setValue( - m_width, - m_maxHeight, - m_length); + btScalar(m_width), + btScalar(m_maxHeight), + btScalar(m_length)); break; }; case 2: { halfExtents.setValue( - m_width, - m_length, - m_maxHeight + btScalar(m_width), + btScalar(m_length), + btScalar(m_maxHeight) ); break; } @@ -89,19 +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; @@ -114,11 +112,11 @@ btScalar btHeightfieldTerrainShape::getHeightFieldValue(int x,int y) const btScalar val = 0.f; if (m_useFloatData) { - val = m_heightfieldDataFloat[(y*m_width)+x]; + val = m_heightfieldDataFloat[(y*m_heightStickWidth)+x]; } else { //assume unsigned short int - unsigned char heightFieldValue = m_heightfieldDataUnsignedChar[(y*m_width)+x]; + unsigned char heightFieldValue = m_heightfieldDataUnsignedChar[(y*m_heightStickWidth)+x]; val = heightFieldValue* (m_maxHeight/btScalar(65535)); } return val; @@ -133,8 +131,8 @@ void btHeightfieldTerrainShape::getVertex(int x,int y,btVector3& vertex) const btAssert(x>=0); btAssert(y>=0); - btAssert(x<m_width); - btAssert(y<m_length); + btAssert(x<m_heightStickWidth); + btAssert(y<m_heightStickLength); btScalar height = getHeightFieldValue(x,y); @@ -145,25 +143,25 @@ void btHeightfieldTerrainShape::getVertex(int x,int y,btVector3& vertex) const { vertex.setValue( height, - (-m_width/2 ) + x, - (-m_length/2 ) + y + (-m_width/btScalar(2.0)) + x, + (-m_length/btScalar(2.0) ) + y ); break; } case 1: { vertex.setValue( - (-m_width/2 ) + x, + (-m_width/btScalar(2.0)) + x, height, - (-m_length/2 ) + y + (-m_length/btScalar(2.0)) + y ); break; }; case 2: { vertex.setValue( - (-m_width/2 ) + x, - (-m_length/2 ) + y, + (-m_width/btScalar(2.0)) + x, + (-m_length/btScalar(2.0)) + y, height ); break; @@ -180,21 +178,20 @@ void btHeightfieldTerrainShape::getVertex(int x,int y,btVector3& vertex) const } -void btHeightfieldTerrainShape::quantizeWithClamp(int* out, const btVector3& point) const +void btHeightfieldTerrainShape::quantizeWithClamp(int* out, const btVector3& point,int /*isMax*/) const { - - btVector3 clampedPoint(point); clampedPoint.setMax(m_localAabbMin); clampedPoint.setMin(m_localAabbMax); - btVector3 v = (clampedPoint );// * m_quantization; - - out[0] = (int)(v.getX()); - out[1] = (int)(v.getY()); - out[2] = (int)(v.getZ()); - //correct for + btVector3 v = (clampedPoint);// - m_bvhAabbMin) * m_bvhQuantization; + //TODO: optimization: check out how to removed this btFabs + + out[0] = (int)(v.getX() + v.getX() / btFabs(v.getX())* btScalar(0.5) ); + out[1] = (int)(v.getY() + v.getY() / btFabs(v.getY())* btScalar(0.5) ); + out[2] = (int)(v.getZ() + v.getZ() / btFabs(v.getZ())* btScalar(0.5) ); + } @@ -212,24 +209,24 @@ void btHeightfieldTerrainShape::processAllTriangles(btTriangleCallback* callback btVector3 localAabbMin = aabbMin*btVector3(1.f/m_localScaling[0],1.f/m_localScaling[1],1.f/m_localScaling[2]); btVector3 localAabbMax = aabbMax*btVector3(1.f/m_localScaling[0],1.f/m_localScaling[1],1.f/m_localScaling[2]); - quantizeWithClamp(quantizedAabbMin, localAabbMin); - quantizeWithClamp(quantizedAabbMax, localAabbMax); + quantizeWithClamp(quantizedAabbMin, localAabbMin,0); + quantizeWithClamp(quantizedAabbMax, localAabbMax,1); int startX=0; - int endX=m_width-1; + int endX=m_heightStickWidth-1; int startJ=0; - int endJ=m_length-1; + int endJ=m_heightStickLength-1; switch (m_upAxis) { case 0: { - quantizedAabbMin[1]+=m_width/2-1; - quantizedAabbMax[1]+=m_width/2+1; - quantizedAabbMin[2]+=m_length/2-1; - quantizedAabbMax[2]+=m_length/2+1; + quantizedAabbMin[1]+=m_heightStickWidth/2-1; + quantizedAabbMax[1]+=m_heightStickWidth/2+1; + quantizedAabbMin[2]+=m_heightStickLength/2-1; + quantizedAabbMax[2]+=m_heightStickLength/2+1; if (quantizedAabbMin[1]>startX) startX = quantizedAabbMin[1]; @@ -243,10 +240,10 @@ void btHeightfieldTerrainShape::processAllTriangles(btTriangleCallback* callback } case 1: { - quantizedAabbMin[0]+=m_width/2-1; - quantizedAabbMax[0]+=m_width/2+1; - quantizedAabbMin[2]+=m_length/2-1; - quantizedAabbMax[2]+=m_length/2+1; + quantizedAabbMin[0]+=m_heightStickWidth/2-1; + quantizedAabbMax[0]+=m_heightStickWidth/2+1; + quantizedAabbMin[2]+=m_heightStickLength/2-1; + quantizedAabbMax[2]+=m_heightStickLength/2+1; if (quantizedAabbMin[0]>startX) startX = quantizedAabbMin[0]; @@ -260,10 +257,10 @@ void btHeightfieldTerrainShape::processAllTriangles(btTriangleCallback* callback }; case 2: { - quantizedAabbMin[0]+=m_width/2-1; - quantizedAabbMax[0]+=m_width/2+1; - quantizedAabbMin[1]+=m_length/2-1; - quantizedAabbMax[1]+=m_length/2+1; + quantizedAabbMin[0]+=m_heightStickWidth/2-1; + quantizedAabbMax[0]+=m_heightStickWidth/2+1; + quantizedAabbMin[1]+=m_heightStickLength/2-1; + quantizedAabbMax[1]+=m_heightStickLength/2+1; if (quantizedAabbMin[0]>startX) startX = quantizedAabbMin[0]; @@ -290,7 +287,7 @@ void btHeightfieldTerrainShape::processAllTriangles(btTriangleCallback* callback for(int x=startX; x<endX; x++) { btVector3 vertices[3]; - if (m_flipQuadEdges || (m_useDiamondSubdivision && ((j+x) & 1))) + if (m_flipQuadEdges || (m_useDiamondSubdivision && !((j+x) & 1))) { //first triangle getVertex(x,j,vertices[0]); @@ -322,7 +319,7 @@ void btHeightfieldTerrainShape::processAllTriangles(btTriangleCallback* callback } -void btHeightfieldTerrainShape::calculateLocalInertia(btScalar ,btVector3& inertia) +void btHeightfieldTerrainShape::calculateLocalInertia(btScalar ,btVector3& inertia) const { //moving concave objects not supported diff --git a/extern/bullet2/src/BulletCollision/CollisionShapes/btHeightfieldTerrainShape.h b/extern/bullet2/src/BulletCollision/CollisionShapes/btHeightfieldTerrainShape.h index 49f3e106733..d6890fe6b97 100644 --- a/extern/bullet2/src/BulletCollision/CollisionShapes/btHeightfieldTerrainShape.h +++ b/extern/bullet2/src/BulletCollision/CollisionShapes/btHeightfieldTerrainShape.h @@ -18,7 +18,8 @@ subject to the following restrictions: #include "btConcaveShape.h" -///btHeightfieldTerrainShape simulates a 2D heightfield terrain +///The btHeightfieldTerrainShape simulates a 2D heightfield terrain collision shape. You can also use the more general btBvhTriangleMeshShape instead. +///An example implementation of btHeightfieldTerrainShape is provided in Demos/VehicleDemo/VehicleDemo.cpp class btHeightfieldTerrainShape : public btConcaveShape { protected: @@ -26,9 +27,11 @@ protected: btVector3 m_localAabbMax; ///terrain data - int m_width; - int m_length; + int m_heightStickWidth; + int m_heightStickLength; btScalar m_maxHeight; + btScalar m_width; + btScalar m_length; union { unsigned char* m_heightfieldDataUnsignedChar; @@ -45,7 +48,7 @@ protected: btVector3 m_localScaling; virtual btScalar getHeightFieldValue(int x,int y) const; - void quantizeWithClamp(int* out, const btVector3& point) const; + void quantizeWithClamp(int* out, const btVector3& point,int isMax) const; void getVertex(int x,int y,btVector3& vertex) const; inline bool testQuantizedAabbAgainstQuantizedAabb(int* aabbMin1, int* aabbMax1,const int* aabbMin2,const int* aabbMax2) const @@ -58,7 +61,7 @@ protected: } public: - btHeightfieldTerrainShape(int width,int height,void* heightfieldData, btScalar maxHeight,int upAxis,bool useFloatData,bool flipQuadEdges); + btHeightfieldTerrainShape(int heightStickWidth,int heightStickHeight,void* heightfieldData, btScalar maxHeight,int upAxis,bool useFloatData,bool flipQuadEdges); virtual ~btHeightfieldTerrainShape(); @@ -74,14 +77,14 @@ public: virtual void processAllTriangles(btTriangleCallback* callback,const btVector3& aabbMin,const btVector3& aabbMax) const; - virtual void calculateLocalInertia(btScalar mass,btVector3& inertia); + virtual void calculateLocalInertia(btScalar mass,btVector3& inertia) const; virtual void setLocalScaling(const btVector3& scaling); virtual const btVector3& getLocalScaling() const; //debugging - virtual char* getName()const {return "HEIGHTFIELD";} + virtual const char* getName()const {return "HEIGHTFIELD";} }; diff --git a/extern/bullet2/src/BulletCollision/CollisionShapes/btMinkowskiSumShape.cpp b/extern/bullet2/src/BulletCollision/CollisionShapes/btMinkowskiSumShape.cpp index 015314bc09f..8f893ac98aa 100644 --- a/extern/bullet2/src/BulletCollision/CollisionShapes/btMinkowskiSumShape.cpp +++ b/extern/bullet2/src/BulletCollision/CollisionShapes/btMinkowskiSumShape.cpp @@ -26,9 +26,9 @@ m_shapeB(shapeB) btVector3 btMinkowskiSumShape::localGetSupportingVertexWithoutMargin(const btVector3& vec)const { - btVector3 supVertexA = m_transA(m_shapeA->localGetSupportingVertexWithoutMargin(vec*m_transA.getBasis())); + btVector3 supVertexA = m_transA(m_shapeA->localGetSupportingVertexWithoutMargin(-vec*m_transA.getBasis())); btVector3 supVertexB = m_transB(m_shapeB->localGetSupportingVertexWithoutMargin(vec*m_transB.getBasis())); - return supVertexA + supVertexB; + return supVertexA - supVertexB; } void btMinkowskiSumShape::batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3* vectors,btVector3* supportVerticesOut,int numVectors) const @@ -49,7 +49,7 @@ btScalar btMinkowskiSumShape::getMargin() const } -void btMinkowskiSumShape::calculateLocalInertia(btScalar mass,btVector3& inertia) +void btMinkowskiSumShape::calculateLocalInertia(btScalar mass,btVector3& inertia) const { (void)mass; btAssert(0); diff --git a/extern/bullet2/src/BulletCollision/CollisionShapes/btMinkowskiSumShape.h b/extern/bullet2/src/BulletCollision/CollisionShapes/btMinkowskiSumShape.h index 198faaff9f9..f9c8427c2f3 100644 --- a/extern/bullet2/src/BulletCollision/CollisionShapes/btMinkowskiSumShape.h +++ b/extern/bullet2/src/BulletCollision/CollisionShapes/btMinkowskiSumShape.h @@ -16,11 +16,11 @@ subject to the following restrictions: #ifndef MINKOWSKI_SUM_SHAPE_H #define MINKOWSKI_SUM_SHAPE_H -#include "btConvexShape.h" -#include "../BroadphaseCollision/btBroadphaseProxy.h" // for the types +#include "btConvexInternalShape.h" +#include "BulletCollision/BroadphaseCollision/btBroadphaseProxy.h" // for the types -/// btMinkowskiSumShape represents implicit (getSupportingVertex) based minkowski sum of two convex implicit shapes. -class btMinkowskiSumShape : public btConvexShape +/// The btMinkowskiSumShape is only for advanced users. This shape represents implicit based minkowski sum of two convex implicit shapes. +class btMinkowskiSumShape : public btConvexInternalShape { btTransform m_transA; @@ -37,7 +37,7 @@ public: virtual void batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3* vectors,btVector3* supportVerticesOut,int numVectors) const; - virtual void calculateLocalInertia(btScalar mass,btVector3& inertia); + virtual void calculateLocalInertia(btScalar mass,btVector3& inertia) const; void setTransformA(const btTransform& transA) { m_transA = transA;} void setTransformB(const btTransform& transB) { m_transB = transB;} @@ -53,7 +53,7 @@ public: const btConvexShape* getShapeA() const { return m_shapeA;} const btConvexShape* getShapeB() const { return m_shapeB;} - virtual char* getName()const + virtual const char* getName()const { return "MinkowskiSum"; } diff --git a/extern/bullet2/src/BulletCollision/CollisionShapes/btMultiSphereShape.cpp b/extern/bullet2/src/BulletCollision/CollisionShapes/btMultiSphereShape.cpp index 6015a618082..c709205efc2 100644 --- a/extern/bullet2/src/BulletCollision/CollisionShapes/btMultiSphereShape.cpp +++ b/extern/bullet2/src/BulletCollision/CollisionShapes/btMultiSphereShape.cpp @@ -47,7 +47,7 @@ btMultiSphereShape::btMultiSphereShape (const btVector3& inertiaHalfExtents,cons btVector3 vec = vec0; btScalar lenSqr = vec.length2(); - if (lenSqr < btScalar(0.0001)) + if (lenSqr < (SIMD_EPSILON*SIMD_EPSILON)) { vec.setValue(1,0,0); } else @@ -116,7 +116,7 @@ btMultiSphereShape::btMultiSphereShape (const btVector3& inertiaHalfExtents,cons -void btMultiSphereShape::calculateLocalInertia(btScalar mass,btVector3& inertia) +void btMultiSphereShape::calculateLocalInertia(btScalar mass,btVector3& inertia) const { //as an approximation, take the inertia of the box that bounds the spheres diff --git a/extern/bullet2/src/BulletCollision/CollisionShapes/btMultiSphereShape.h b/extern/bullet2/src/BulletCollision/CollisionShapes/btMultiSphereShape.h index 1897b474057..45968f3947f 100644 --- a/extern/bullet2/src/BulletCollision/CollisionShapes/btMultiSphereShape.h +++ b/extern/bullet2/src/BulletCollision/CollisionShapes/btMultiSphereShape.h @@ -16,13 +16,14 @@ subject to the following restrictions: #ifndef MULTI_SPHERE_MINKOWSKI_H #define MULTI_SPHERE_MINKOWSKI_H -#include "btConvexShape.h" -#include "../BroadphaseCollision/btBroadphaseProxy.h" // for the types +#include "btConvexInternalShape.h" +#include "BulletCollision/BroadphaseCollision/btBroadphaseProxy.h" // for the types #define MAX_NUM_SPHERES 5 -///btMultiSphereShape represents implicit convex hull of a collection of spheres (using getSupportingVertex) -class btMultiSphereShape : public btConvexShape +///The btMultiSphereShape represents the convex hull of a collection of spheres. You can create special capsules or other smooth volumes. +///It is possible to animate the spheres for deformation. +class btMultiSphereShape : public btConvexInternalShape { @@ -39,7 +40,7 @@ public: btMultiSphereShape (const btVector3& inertiaHalfExtents,const btVector3* positions,const btScalar* radi,int numSpheres); ///CollisionShape Interface - virtual void calculateLocalInertia(btScalar mass,btVector3& inertia); + virtual void calculateLocalInertia(btScalar mass,btVector3& inertia) const; /// btConvexShape Interface virtual btVector3 localGetSupportingVertexWithoutMargin(const btVector3& vec)const; @@ -63,7 +64,7 @@ public: virtual int getShapeType() const { return MULTI_SPHERE_SHAPE_PROXYTYPE; } - virtual char* getName()const + virtual const char* getName()const { return "MultiSphere"; } diff --git a/extern/bullet2/src/BulletCollision/CollisionShapes/btOptimizedBvh.cpp b/extern/bullet2/src/BulletCollision/CollisionShapes/btOptimizedBvh.cpp index 44438a24455..a248c55b571 100644 --- a/extern/bullet2/src/BulletCollision/CollisionShapes/btOptimizedBvh.cpp +++ b/extern/bullet2/src/BulletCollision/CollisionShapes/btOptimizedBvh.cpp @@ -19,13 +19,12 @@ subject to the following restrictions: #include "LinearMath/btIDebugDraw.h" - -btOptimizedBvh::btOptimizedBvh() : m_useQuantization(false), - m_traversalMode(TRAVERSAL_STACKLESS_CACHE_FRIENDLY) - //m_traversalMode(TRAVERSAL_STACKLESS) - //m_traversalMode(TRAVERSAL_RECURSIVE) +btOptimizedBvh::btOptimizedBvh() { +} +btOptimizedBvh::~btOptimizedBvh() +{ } @@ -80,7 +79,7 @@ void btOptimizedBvh::build(btStridingMeshInterface* triangles, bool useQuantized struct QuantizedNodeTriangleCallback : public btInternalTriangleIndexCallback { QuantizedNodeArray& m_triangleNodes; - const btOptimizedBvh* m_optimizedTree; // for quantization + const btQuantizedBvh* m_optimizedTree; // for quantization QuantizedNodeTriangleCallback& operator=(QuantizedNodeTriangleCallback& other) { @@ -89,14 +88,16 @@ void btOptimizedBvh::build(btStridingMeshInterface* triangles, bool useQuantized return *this; } - QuantizedNodeTriangleCallback(QuantizedNodeArray& triangleNodes,const btOptimizedBvh* tree) + QuantizedNodeTriangleCallback(QuantizedNodeArray& triangleNodes,const btQuantizedBvh* tree) :m_triangleNodes(triangleNodes),m_optimizedTree(tree) { } virtual void internalProcessTriangleIndex(btVector3* triangle,int partId,int triangleIndex) { - btAssert(partId==0); + // The partId and triangle index must fit in the same (positive) integer + btAssert(partId < (1<<MAX_NUM_PARTS_IN_BITS)); + btAssert(triangleIndex < (1<<(31-MAX_NUM_PARTS_IN_BITS))); //negative indices are reserved for escapeIndex btAssert(triangleIndex>=0); @@ -111,10 +112,29 @@ void btOptimizedBvh::build(btStridingMeshInterface* triangles, bool useQuantized aabbMin.setMin(triangle[2]); aabbMax.setMax(triangle[2]); - m_optimizedTree->quantizeWithClamp(&node.m_quantizedAabbMin[0],aabbMin); - m_optimizedTree->quantizeWithClamp(&node.m_quantizedAabbMax[0],aabbMax); + //PCK: add these checks for zero dimensions of aabb + const btScalar MIN_AABB_DIMENSION = btScalar(0.002); + const btScalar MIN_AABB_HALF_DIMENSION = btScalar(0.001); + if (aabbMax.x() - aabbMin.x() < MIN_AABB_DIMENSION) + { + aabbMax.setX(aabbMax.x() + MIN_AABB_HALF_DIMENSION); + aabbMin.setX(aabbMin.x() - MIN_AABB_HALF_DIMENSION); + } + if (aabbMax.y() - aabbMin.y() < MIN_AABB_DIMENSION) + { + aabbMax.setY(aabbMax.y() + MIN_AABB_HALF_DIMENSION); + aabbMin.setY(aabbMin.y() - MIN_AABB_HALF_DIMENSION); + } + if (aabbMax.z() - aabbMin.z() < MIN_AABB_DIMENSION) + { + aabbMax.setZ(aabbMax.z() + MIN_AABB_HALF_DIMENSION); + aabbMin.setZ(aabbMin.z() - MIN_AABB_HALF_DIMENSION); + } - node.m_escapeIndexOrTriangleIndex = triangleIndex; + m_optimizedTree->quantize(&node.m_quantizedAabbMin[0],aabbMin,0); + m_optimizedTree->quantize(&node.m_quantizedAabbMax[0],aabbMax,1); + + node.m_escapeIndexOrTriangleIndex = (partId<<(31-MAX_NUM_PARTS_IN_BITS)) | triangleIndex; m_triangleNodes.push_back(node); } @@ -170,10 +190,45 @@ void btOptimizedBvh::build(btStridingMeshInterface* triangles, bool useQuantized subtree.m_rootNodeIndex = 0; subtree.m_subtreeSize = m_quantizedContiguousNodes[0].isLeafNode() ? 1 : m_quantizedContiguousNodes[0].getEscapeIndex(); } + + //PCK: update the copy of the size + m_subtreeHeaderCount = m_SubtreeHeaders.size(); + + //PCK: clear m_quantizedLeafNodes and m_leafNodes, they are temporary + m_quantizedLeafNodes.clear(); + m_leafNodes.clear(); +} + + + + +void btOptimizedBvh::refit(btStridingMeshInterface* meshInterface,const btVector3& aabbMin,const btVector3& aabbMax) +{ + if (m_useQuantization) + { + + setQuantizationValues(aabbMin,aabbMax); + + updateBvhNodes(meshInterface,0,m_curNodeIndex,0); + + ///now update all subtree headers + + int i; + for (i=0;i<m_SubtreeHeaders.size();i++) + { + btBvhSubtreeInfo& subtree = m_SubtreeHeaders[i]; + subtree.setAabbFromQuantizeNode(m_quantizedContiguousNodes[subtree.m_rootNodeIndex]); + } + + } else + { + + } } + void btOptimizedBvh::refitPartial(btStridingMeshInterface* meshInterface,const btVector3& aabbMin,const btVector3& aabbMax) { //incrementally initialize quantization values @@ -193,16 +248,17 @@ void btOptimizedBvh::refitPartial(btStridingMeshInterface* meshInterface,const b unsigned short quantizedQueryAabbMin[3]; unsigned short quantizedQueryAabbMax[3]; - quantizeWithClamp(&quantizedQueryAabbMin[0],aabbMin); - quantizeWithClamp(&quantizedQueryAabbMax[0],aabbMax); + quantize(&quantizedQueryAabbMin[0],aabbMin,0); + quantize(&quantizedQueryAabbMax[0],aabbMax,1); int i; for (i=0;i<this->m_SubtreeHeaders.size();i++) { btBvhSubtreeInfo& subtree = m_SubtreeHeaders[i]; - bool overlap = testQuantizedAabbAgainstQuantizedAabb(quantizedQueryAabbMin,quantizedQueryAabbMax,subtree.m_quantizedAabbMin,subtree.m_quantizedAabbMax); - if (overlap) + //PCK: unsigned instead of bool + unsigned overlap = testQuantizedAabbAgainstQuantizedAabb(quantizedQueryAabbMin,quantizedQueryAabbMax,subtree.m_quantizedAabbMin,subtree.m_quantizedAabbMax); + if (overlap != 0) { updateBvhNodes(meshInterface,subtree.m_rootNodeIndex,subtree.m_rootNodeIndex+subtree.m_subtreeSize,i); @@ -212,36 +268,23 @@ void btOptimizedBvh::refitPartial(btStridingMeshInterface* meshInterface,const b } -///just for debugging, to visualize the individual patches/subtrees -#ifdef DEBUG_PATCH_COLORS -btVector3 color[4]= -{ - btVector3(255,0,0), - btVector3(0,255,0), - btVector3(0,0,255), - btVector3(0,255,255) -}; -#endif //DEBUG_PATCH_COLORS - - void btOptimizedBvh::updateBvhNodes(btStridingMeshInterface* meshInterface,int firstNode,int endNode,int index) { (void)index; btAssert(m_useQuantization); - int nodeSubPart=0; + int curNodeSubPart=-1; //get access info to trianglemesh data - const unsigned char *vertexbase; - int numverts; - PHY_ScalarType type; - int stride; - const unsigned char *indexbase; - int indexstride; - int numfaces; - PHY_ScalarType indicestype; - meshInterface->getLockedReadOnlyVertexIndexBase(&vertexbase,numverts, type,stride,&indexbase,indexstride,numfaces,indicestype,nodeSubPart); + const unsigned char *vertexbase = 0; + int numverts = 0; + PHY_ScalarType type = PHY_INTEGER; + int stride = 0; + const unsigned char *indexbase = 0; + int indexstride = 0; + int numfaces = 0; + PHY_ScalarType indicestype = PHY_INTEGER; btVector3 triangleVerts[3]; btVector3 aabbMin,aabbMax; @@ -256,16 +299,26 @@ void btOptimizedBvh::updateBvhNodes(btStridingMeshInterface* meshInterface,int f if (curNode.isLeafNode()) { //recalc aabb from triangle data + int nodeSubPart = curNode.getPartId(); int nodeTriangleIndex = curNode.getTriangleIndex(); + if (nodeSubPart != curNodeSubPart) + { + 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, - int* gfxbase = (int*)(indexbase+nodeTriangleIndex*indexstride); + unsigned int* gfxbase = (unsigned int*)(indexbase+nodeTriangleIndex*indexstride); for (int j=2;j>=0;j--) { - int graphicsindex = gfxbase[j]; + int graphicsindex = indicestype==PHY_SHORT?((unsigned short*)gfxbase)[j]:gfxbase[j]; btScalar* graphicsbase = (btScalar*)(vertexbase+graphicsindex*stride); #ifdef DEBUG_PATCH_COLORS btVector3 mycolor = color[index&3]; @@ -292,8 +345,8 @@ void btOptimizedBvh::updateBvhNodes(btStridingMeshInterface* meshInterface,int f aabbMin.setMin(triangleVerts[2]); aabbMax.setMax(triangleVerts[2]); - quantizeWithClamp(&curNode.m_quantizedAabbMin[0],aabbMin); - quantizeWithClamp(&curNode.m_quantizedAabbMax[0],aabbMax); + quantize(&curNode.m_quantizedAabbMin[0],aabbMin,0); + quantize(&curNode.m_quantizedAabbMax[0],aabbMax,1); } else { @@ -321,525 +374,17 @@ void btOptimizedBvh::updateBvhNodes(btStridingMeshInterface* meshInterface,int f } - meshInterface->unLockReadOnlyVertexBase(nodeSubPart); - - -} - -void btOptimizedBvh::setQuantizationValues(const btVector3& bvhAabbMin,const btVector3& bvhAabbMax,btScalar quantizationMargin) -{ - //enlarge the AABB to avoid division by zero when initializing the quantization values - btVector3 clampValue(quantizationMargin,quantizationMargin,quantizationMargin); - m_bvhAabbMin = bvhAabbMin - clampValue; - m_bvhAabbMax = bvhAabbMax + clampValue; - btVector3 aabbSize = m_bvhAabbMax - m_bvhAabbMin; - m_bvhQuantization = btVector3(btScalar(65535.0),btScalar(65535.0),btScalar(65535.0)) / aabbSize; -} - - -void btOptimizedBvh::refit(btStridingMeshInterface* meshInterface) -{ - if (m_useQuantization) - { - //calculate new aabb - btVector3 aabbMin,aabbMax; - meshInterface->calculateAabbBruteForce(aabbMin,aabbMax); - - setQuantizationValues(aabbMin,aabbMax); - - updateBvhNodes(meshInterface,0,m_curNodeIndex,0); - - ///now update all subtree headers - - int i; - for (i=0;i<m_SubtreeHeaders.size();i++) - { - btBvhSubtreeInfo& subtree = m_SubtreeHeaders[i]; - subtree.setAabbFromQuantizeNode(m_quantizedContiguousNodes[subtree.m_rootNodeIndex]); - } - - } else - { - - } -} - - - -btOptimizedBvh::~btOptimizedBvh() -{ -} - -#ifdef DEBUG_TREE_BUILDING -int gStackDepth = 0; -int gMaxStackDepth = 0; -#endif //DEBUG_TREE_BUILDING - -void btOptimizedBvh::buildTree (int startIndex,int endIndex) -{ -#ifdef DEBUG_TREE_BUILDING - gStackDepth++; - if (gStackDepth > gMaxStackDepth) - gMaxStackDepth = gStackDepth; -#endif //DEBUG_TREE_BUILDING - - - int splitAxis, splitIndex, i; - int numIndices =endIndex-startIndex; - int curIndex = m_curNodeIndex; - - assert(numIndices>0); - - if (numIndices==1) - { -#ifdef DEBUG_TREE_BUILDING - gStackDepth--; -#endif //DEBUG_TREE_BUILDING - - assignInternalNodeFromLeafNode(m_curNodeIndex,startIndex); - - m_curNodeIndex++; - return; - } - //calculate Best Splitting Axis and where to split it. Sort the incoming 'leafNodes' array within range 'startIndex/endIndex'. - - splitAxis = calcSplittingAxis(startIndex,endIndex); - - splitIndex = sortAndCalcSplittingIndex(startIndex,endIndex,splitAxis); - - int internalNodeIndex = m_curNodeIndex; - - setInternalNodeAabbMax(m_curNodeIndex,btVector3(btScalar(-1e30),btScalar(-1e30),btScalar(-1e30))); - setInternalNodeAabbMin(m_curNodeIndex,btVector3(btScalar(1e30),btScalar(1e30),btScalar(1e30))); - - for (i=startIndex;i<endIndex;i++) - { - mergeInternalNodeAabb(m_curNodeIndex,getAabbMin(i),getAabbMax(i)); - } - - m_curNodeIndex++; - - - //internalNode->m_escapeIndex; - - int leftChildNodexIndex = m_curNodeIndex; - - //build left child tree - buildTree(startIndex,splitIndex); - - int rightChildNodexIndex = m_curNodeIndex; - //build right child tree - buildTree(splitIndex,endIndex); - -#ifdef DEBUG_TREE_BUILDING - gStackDepth--; -#endif //DEBUG_TREE_BUILDING - - int escapeIndex = m_curNodeIndex - curIndex; - - if (m_useQuantization) - { - //escapeIndex is the number of nodes of this subtree - const int sizeQuantizedNode =sizeof(btQuantizedBvhNode); - const int treeSizeInBytes = escapeIndex * sizeQuantizedNode; - if (treeSizeInBytes > MAX_SUBTREE_SIZE_IN_BYTES) - { - updateSubtreeHeaders(leftChildNodexIndex,rightChildNodexIndex); - } - } - - setInternalNodeEscapeIndex(internalNodeIndex,escapeIndex); - -} - -void btOptimizedBvh::updateSubtreeHeaders(int leftChildNodexIndex,int rightChildNodexIndex) -{ - btAssert(m_useQuantization); - - btQuantizedBvhNode& leftChildNode = m_quantizedContiguousNodes[leftChildNodexIndex]; - int leftSubTreeSize = leftChildNode.isLeafNode() ? 1 : leftChildNode.getEscapeIndex(); - int leftSubTreeSizeInBytes = leftSubTreeSize * sizeof(btQuantizedBvhNode); - - btQuantizedBvhNode& rightChildNode = m_quantizedContiguousNodes[rightChildNodexIndex]; - int rightSubTreeSize = rightChildNode.isLeafNode() ? 1 : rightChildNode.getEscapeIndex(); - int rightSubTreeSizeInBytes = rightSubTreeSize * sizeof(btQuantizedBvhNode); - - if(leftSubTreeSizeInBytes <= MAX_SUBTREE_SIZE_IN_BYTES) - { - btBvhSubtreeInfo& subtree = m_SubtreeHeaders.expand(); - subtree.setAabbFromQuantizeNode(leftChildNode); - subtree.m_rootNodeIndex = leftChildNodexIndex; - subtree.m_subtreeSize = leftSubTreeSize; - } - - if(rightSubTreeSizeInBytes <= MAX_SUBTREE_SIZE_IN_BYTES) - { - btBvhSubtreeInfo& subtree = m_SubtreeHeaders.expand(); - subtree.setAabbFromQuantizeNode(rightChildNode); - subtree.m_rootNodeIndex = rightChildNodexIndex; - subtree.m_subtreeSize = rightSubTreeSize; - } -} - - -int btOptimizedBvh::sortAndCalcSplittingIndex(int startIndex,int endIndex,int splitAxis) -{ - int i; - int splitIndex =startIndex; - int numIndices = endIndex - startIndex; - btScalar splitValue; - - btVector3 means(btScalar(0.),btScalar(0.),btScalar(0.)); - for (i=startIndex;i<endIndex;i++) - { - btVector3 center = btScalar(0.5)*(getAabbMax(i)+getAabbMin(i)); - means+=center; - } - means *= (btScalar(1.)/(btScalar)numIndices); - - splitValue = means[splitAxis]; - - //sort leafNodes so all values larger then splitValue comes first, and smaller values start from 'splitIndex'. - for (i=startIndex;i<endIndex;i++) - { - btVector3 center = btScalar(0.5)*(getAabbMax(i)+getAabbMin(i)); - if (center[splitAxis] > splitValue) - { - //swap - swapLeafNodes(i,splitIndex); - splitIndex++; - } - } - - //if the splitIndex causes unbalanced trees, fix this by using the center in between startIndex and endIndex - //otherwise the tree-building might fail due to stack-overflows in certain cases. - //unbalanced1 is unsafe: it can cause stack overflows - //bool unbalanced1 = ((splitIndex==startIndex) || (splitIndex == (endIndex-1))); - - //unbalanced2 should work too: always use center (perfect balanced trees) - //bool unbalanced2 = true; - - //this should be safe too: - int rangeBalancedIndices = numIndices/3; - bool unbalanced = ((splitIndex<=(startIndex+rangeBalancedIndices)) || (splitIndex >=(endIndex-1-rangeBalancedIndices))); - - if (unbalanced) - { - splitIndex = startIndex+ (numIndices>>1); - } - - bool unbal = (splitIndex==startIndex) || (splitIndex == (endIndex)); - btAssert(!unbal); - - return splitIndex; -} - - -int btOptimizedBvh::calcSplittingAxis(int startIndex,int endIndex) -{ - int i; - - btVector3 means(btScalar(0.),btScalar(0.),btScalar(0.)); - btVector3 variance(btScalar(0.),btScalar(0.),btScalar(0.)); - int numIndices = endIndex-startIndex; - - for (i=startIndex;i<endIndex;i++) - { - btVector3 center = btScalar(0.5)*(getAabbMax(i)+getAabbMin(i)); - means+=center; - } - means *= (btScalar(1.)/(btScalar)numIndices); - - for (i=startIndex;i<endIndex;i++) - { - btVector3 center = btScalar(0.5)*(getAabbMax(i)+getAabbMin(i)); - btVector3 diff2 = center-means; - diff2 = diff2 * diff2; - variance += diff2; - } - variance *= (btScalar(1.)/ ((btScalar)numIndices-1) ); - - return variance.maxAxis(); -} - - - -void btOptimizedBvh::reportAabbOverlappingNodex(btNodeOverlapCallback* nodeCallback,const btVector3& aabbMin,const btVector3& aabbMax) const -{ - //either choose recursive traversal (walkTree) or stackless (walkStacklessTree) - - - if (m_useQuantization) - { - ///quantize query AABB - unsigned short int quantizedQueryAabbMin[3]; - unsigned short int quantizedQueryAabbMax[3]; - quantizeWithClamp(quantizedQueryAabbMin,aabbMin); - quantizeWithClamp(quantizedQueryAabbMax,aabbMax); - - switch (m_traversalMode) - { - case TRAVERSAL_STACKLESS: - walkStacklessQuantizedTree(nodeCallback,quantizedQueryAabbMin,quantizedQueryAabbMax,0,m_curNodeIndex); - break; - case TRAVERSAL_STACKLESS_CACHE_FRIENDLY: - walkStacklessQuantizedTreeCacheFriendly(nodeCallback,quantizedQueryAabbMin,quantizedQueryAabbMax); - break; - case TRAVERSAL_RECURSIVE: - { - const btQuantizedBvhNode* rootNode = &m_quantizedContiguousNodes[0]; - walkRecursiveQuantizedTreeAgainstQueryAabb(rootNode,nodeCallback,quantizedQueryAabbMin,quantizedQueryAabbMax); - } - break; - default: - //unsupported - btAssert(0); - } - } else - { - walkStacklessTree(nodeCallback,aabbMin,aabbMax); - } -} - - -int maxIterations = 0; - -void btOptimizedBvh::walkStacklessTree(btNodeOverlapCallback* nodeCallback,const btVector3& aabbMin,const btVector3& aabbMax) const -{ - btAssert(!m_useQuantization); - - const btOptimizedBvhNode* rootNode = &m_contiguousNodes[0]; - int escapeIndex, curIndex = 0; - int walkIterations = 0; - bool aabbOverlap, isLeafNode; - - while (curIndex < m_curNodeIndex) - { - //catch bugs in tree data - assert (walkIterations < m_curNodeIndex); - - walkIterations++; - aabbOverlap = TestAabbAgainstAabb2(aabbMin,aabbMax,rootNode->m_aabbMinOrg,rootNode->m_aabbMaxOrg); - isLeafNode = rootNode->m_escapeIndex == -1; - - if (isLeafNode && aabbOverlap) - { - nodeCallback->processNode(rootNode->m_subPart,rootNode->m_triangleIndex); - } - - if (aabbOverlap || isLeafNode) - { - rootNode++; - curIndex++; - } else - { - escapeIndex = rootNode->m_escapeIndex; - rootNode += escapeIndex; - curIndex += escapeIndex; - } - } - if (maxIterations < walkIterations) - maxIterations = walkIterations; - -} + if (curNodeSubPart >= 0) + meshInterface->unLockReadOnlyVertexBase(curNodeSubPart); -/* -///this was the original recursive traversal, before we optimized towards stackless traversal -void btOptimizedBvh::walkTree(btOptimizedBvhNode* rootNode,btNodeOverlapCallback* nodeCallback,const btVector3& aabbMin,const btVector3& aabbMax) const -{ - bool isLeafNode, aabbOverlap = TestAabbAgainstAabb2(aabbMin,aabbMax,rootNode->m_aabbMin,rootNode->m_aabbMax); - if (aabbOverlap) - { - isLeafNode = (!rootNode->m_leftChild && !rootNode->m_rightChild); - if (isLeafNode) - { - nodeCallback->processNode(rootNode); - } else - { - walkTree(rootNode->m_leftChild,nodeCallback,aabbMin,aabbMax); - walkTree(rootNode->m_rightChild,nodeCallback,aabbMin,aabbMax); - } - } - -} -*/ - -void btOptimizedBvh::walkRecursiveQuantizedTreeAgainstQueryAabb(const btQuantizedBvhNode* currentNode,btNodeOverlapCallback* nodeCallback,unsigned short int* quantizedQueryAabbMin,unsigned short int* quantizedQueryAabbMax) const -{ - btAssert(m_useQuantization); - - bool aabbOverlap, isLeafNode; - - aabbOverlap = testQuantizedAabbAgainstQuantizedAabb(quantizedQueryAabbMin,quantizedQueryAabbMax,currentNode->m_quantizedAabbMin,currentNode->m_quantizedAabbMax); - isLeafNode = currentNode->isLeafNode(); - if (aabbOverlap) - { - if (isLeafNode) - { - nodeCallback->processNode(0,currentNode->getTriangleIndex()); - } else - { - //process left and right children - const btQuantizedBvhNode* leftChildNode = currentNode+1; - walkRecursiveQuantizedTreeAgainstQueryAabb(leftChildNode,nodeCallback,quantizedQueryAabbMin,quantizedQueryAabbMax); - - const btQuantizedBvhNode* rightChildNode = leftChildNode->isLeafNode() ? leftChildNode+1:leftChildNode+leftChildNode->getEscapeIndex(); - walkRecursiveQuantizedTreeAgainstQueryAabb(rightChildNode,nodeCallback,quantizedQueryAabbMin,quantizedQueryAabbMax); - } - } } - - - - - - -void btOptimizedBvh::walkStacklessQuantizedTree(btNodeOverlapCallback* nodeCallback,unsigned short int* quantizedQueryAabbMin,unsigned short int* quantizedQueryAabbMax,int startNodeIndex,int endNodeIndex) const +///deSerializeInPlace loads and initializes a BVH from a buffer in memory 'in place' +btOptimizedBvh* btOptimizedBvh::deSerializeInPlace(void *i_alignedDataBuffer, unsigned int i_dataBufferSize, bool i_swapEndian) { - btAssert(m_useQuantization); - - int curIndex = startNodeIndex; - int walkIterations = 0; - int subTreeSize = endNodeIndex - startNodeIndex; - - const btQuantizedBvhNode* rootNode = &m_quantizedContiguousNodes[startNodeIndex]; - int escapeIndex; + btQuantizedBvh* bvh = btQuantizedBvh::deSerializeInPlace(i_alignedDataBuffer,i_dataBufferSize,i_swapEndian); - bool aabbOverlap, isLeafNode; - - while (curIndex < endNodeIndex) - { - -//#define VISUALLY_ANALYZE_BVH 1 -#ifdef VISUALLY_ANALYZE_BVH - //some code snippet to debugDraw aabb, to visually analyze bvh structure - static int drawPatch = 0; - //need some global access to a debugDrawer - extern btIDebugDraw* debugDrawerPtr; - if (curIndex==drawPatch) - { - btVector3 aabbMin,aabbMax; - aabbMin = unQuantize(rootNode->m_quantizedAabbMin); - aabbMax = unQuantize(rootNode->m_quantizedAabbMax); - btVector3 color(1,0,0); - debugDrawerPtr->drawAabb(aabbMin,aabbMax,color); - } -#endif//VISUALLY_ANALYZE_BVH - - //catch bugs in tree data - assert (walkIterations < subTreeSize); - - walkIterations++; - aabbOverlap = testQuantizedAabbAgainstQuantizedAabb(quantizedQueryAabbMin,quantizedQueryAabbMax,rootNode->m_quantizedAabbMin,rootNode->m_quantizedAabbMax); - isLeafNode = rootNode->isLeafNode(); - - if (isLeafNode && aabbOverlap) - { - nodeCallback->processNode(0,rootNode->getTriangleIndex()); - } - - if (aabbOverlap || isLeafNode) - { - rootNode++; - curIndex++; - } else - { - escapeIndex = rootNode->getEscapeIndex(); - rootNode += escapeIndex; - curIndex += escapeIndex; - } - } - if (maxIterations < walkIterations) - maxIterations = walkIterations; - -} - -//This traversal can be called from Playstation 3 SPU -void btOptimizedBvh::walkStacklessQuantizedTreeCacheFriendly(btNodeOverlapCallback* nodeCallback,unsigned short int* quantizedQueryAabbMin,unsigned short int* quantizedQueryAabbMax) const -{ - btAssert(m_useQuantization); - - int i; - - - for (i=0;i<this->m_SubtreeHeaders.size();i++) - { - const btBvhSubtreeInfo& subtree = m_SubtreeHeaders[i]; - - bool overlap = testQuantizedAabbAgainstQuantizedAabb(quantizedQueryAabbMin,quantizedQueryAabbMax,subtree.m_quantizedAabbMin,subtree.m_quantizedAabbMax); - if (overlap) - { - walkStacklessQuantizedTree(nodeCallback,quantizedQueryAabbMin,quantizedQueryAabbMax, - subtree.m_rootNodeIndex, - subtree.m_rootNodeIndex+subtree.m_subtreeSize); - } - } -} - - - - -void btOptimizedBvh::reportSphereOverlappingNodex(btNodeOverlapCallback* nodeCallback,const btVector3& aabbMin,const btVector3& aabbMax) const -{ - (void)nodeCallback; - (void)aabbMin; - (void)aabbMax; - //not yet, please use aabb - btAssert(0); -} - - -void btOptimizedBvh::quantizeWithClamp(unsigned short* out, const btVector3& point) const -{ - - btAssert(m_useQuantization); - - btVector3 clampedPoint(point); - clampedPoint.setMax(m_bvhAabbMin); - clampedPoint.setMin(m_bvhAabbMax); - - btVector3 v = (clampedPoint - m_bvhAabbMin) * m_bvhQuantization; - out[0] = (unsigned short)(v.getX()+0.5f); - out[1] = (unsigned short)(v.getY()+0.5f); - out[2] = (unsigned short)(v.getZ()+0.5f); -} - -btVector3 btOptimizedBvh::unQuantize(const unsigned short* vecIn) const -{ - btVector3 vecOut; - vecOut.setValue( - (btScalar)(vecIn[0]) / (m_bvhQuantization.getX()), - (btScalar)(vecIn[1]) / (m_bvhQuantization.getY()), - (btScalar)(vecIn[2]) / (m_bvhQuantization.getZ())); - vecOut += m_bvhAabbMin; - return vecOut; -} - - -void btOptimizedBvh::swapLeafNodes(int i,int splitIndex) -{ - if (m_useQuantization) - { - btQuantizedBvhNode tmp = m_quantizedLeafNodes[i]; - m_quantizedLeafNodes[i] = m_quantizedLeafNodes[splitIndex]; - m_quantizedLeafNodes[splitIndex] = tmp; - } else - { - btOptimizedBvhNode tmp = m_leafNodes[i]; - m_leafNodes[i] = m_leafNodes[splitIndex]; - m_leafNodes[splitIndex] = tmp; - } -} - -void btOptimizedBvh::assignInternalNodeFromLeafNode(int internalNode,int leafNodeIndex) -{ - if (m_useQuantization) - { - m_quantizedContiguousNodes[internalNode] = m_quantizedLeafNodes[leafNodeIndex]; - } else - { - m_contiguousNodes[internalNode] = m_leafNodes[leafNodeIndex]; - } + //we don't add additional data so just do a static upcast + return static_cast<btOptimizedBvh*>(bvh); } diff --git a/extern/bullet2/src/BulletCollision/CollisionShapes/btOptimizedBvh.h b/extern/bullet2/src/BulletCollision/CollisionShapes/btOptimizedBvh.h index d5159586344..d7536417d7e 100644 --- a/extern/bullet2/src/BulletCollision/CollisionShapes/btOptimizedBvh.h +++ b/extern/bullet2/src/BulletCollision/CollisionShapes/btOptimizedBvh.h @@ -16,315 +16,48 @@ subject to the following restrictions: #ifndef OPTIMIZED_BVH_H #define OPTIMIZED_BVH_H - -#include "../../LinearMath/btVector3.h" - - -//http://msdn.microsoft.com/library/default.asp?url=/library/en-us/vclang/html/vclrf__m128.asp - - +#include "BulletCollision/BroadphaseCollision/btQuantizedBvh.h" class btStridingMeshInterface; -//Note: currently we have 16 bytes per quantized node -#define MAX_SUBTREE_SIZE_IN_BYTES 2048 - -///btQuantizedBvhNode is a compressed aabb node, 16 bytes. -///Node can be used for leafnode or internal node. Leafnodes can point to 32-bit triangle index (non-negative range). -ATTRIBUTE_ALIGNED16 (struct) btQuantizedBvhNode +///The btOptimizedBvh extends the btQuantizedBvh to create AABB tree for triangle meshes, through the btStridingMeshInterface. +ATTRIBUTE_ALIGNED16(class) btOptimizedBvh : public btQuantizedBvh { - //12 bytes - unsigned short int m_quantizedAabbMin[3]; - unsigned short int m_quantizedAabbMax[3]; - //4 bytes - int m_escapeIndexOrTriangleIndex; - - bool isLeafNode() const - { - //skipindex is negative (internal node), triangleindex >=0 (leafnode) - return (m_escapeIndexOrTriangleIndex >= 0); - } - int getEscapeIndex() const - { - btAssert(!isLeafNode()); - return -m_escapeIndexOrTriangleIndex; - } - int getTriangleIndex() const - { - btAssert(isLeafNode()); - return m_escapeIndexOrTriangleIndex; - } -} -; - -/// btOptimizedBvhNode contains both internal and leaf node information. -/// Total node size is 44 bytes / node. You can use the compressed version of 16 bytes. -ATTRIBUTE_ALIGNED16 (struct) btOptimizedBvhNode -{ - //32 bytes - btVector3 m_aabbMinOrg; - btVector3 m_aabbMaxOrg; - - //4 - int m_escapeIndex; - - //8 - //for child nodes - int m_subPart; - int m_triangleIndex; - int m_padding[5];//bad, due to alignment - - -}; - - -///btBvhSubtreeInfo provides info to gather a subtree of limited size -ATTRIBUTE_ALIGNED16(class) btBvhSubtreeInfo -{ public: - //12 bytes - unsigned short int m_quantizedAabbMin[3]; - unsigned short int m_quantizedAabbMax[3]; - //4 bytes, points to the root of the subtree - int m_rootNodeIndex; - //4 bytes - int m_subtreeSize; - int m_padding[3]; - - - void setAabbFromQuantizeNode(const btQuantizedBvhNode& quantizedNode) - { - m_quantizedAabbMin[0] = quantizedNode.m_quantizedAabbMin[0]; - m_quantizedAabbMin[1] = quantizedNode.m_quantizedAabbMin[1]; - m_quantizedAabbMin[2] = quantizedNode.m_quantizedAabbMin[2]; - m_quantizedAabbMax[0] = quantizedNode.m_quantizedAabbMax[0]; - m_quantizedAabbMax[1] = quantizedNode.m_quantizedAabbMax[1]; - m_quantizedAabbMax[2] = quantizedNode.m_quantizedAabbMax[2]; - } -} -; - - -class btNodeOverlapCallback -{ -public: - virtual ~btNodeOverlapCallback() {}; - - virtual void processNode(int subPart, int triangleIndex) = 0; -}; - -#include "../../LinearMath/btAlignedAllocator.h" -#include "../../LinearMath/btAlignedObjectArray.h" - - - -///for code readability: -typedef btAlignedObjectArray<btOptimizedBvhNode> NodeArray; -typedef btAlignedObjectArray<btQuantizedBvhNode> QuantizedNodeArray; -typedef btAlignedObjectArray<btBvhSubtreeInfo> BvhSubtreeInfoArray; - - -///OptimizedBvh store an AABB tree that can be quickly traversed on CPU (and SPU,GPU in future) -ATTRIBUTE_ALIGNED16(class) btOptimizedBvh -{ - NodeArray m_leafNodes; - NodeArray m_contiguousNodes; - - QuantizedNodeArray m_quantizedLeafNodes; - - QuantizedNodeArray m_quantizedContiguousNodes; - - int m_curNodeIndex; - - - //quantization data - bool m_useQuantization; - btVector3 m_bvhAabbMin; - btVector3 m_bvhAabbMax; - btVector3 m_bvhQuantization; - - enum btTraversalMode - { - TRAVERSAL_STACKLESS = 0, - TRAVERSAL_STACKLESS_CACHE_FRIENDLY, - TRAVERSAL_RECURSIVE - }; - - btTraversalMode m_traversalMode; - - - - - BvhSubtreeInfoArray m_SubtreeHeaders; - - - ///two versions, one for quantized and normal nodes. This allows code-reuse while maintaining readability (no template/macro!) - ///this might be refactored into a virtual, it is usually not calculated at run-time - void setInternalNodeAabbMin(int nodeIndex, const btVector3& aabbMin) - { - if (m_useQuantization) - { - quantizeWithClamp(&m_quantizedContiguousNodes[nodeIndex].m_quantizedAabbMin[0] ,aabbMin); - } else - { - m_contiguousNodes[nodeIndex].m_aabbMinOrg = aabbMin; - - } - } - void setInternalNodeAabbMax(int nodeIndex,const btVector3& aabbMax) - { - if (m_useQuantization) - { - quantizeWithClamp(&m_quantizedContiguousNodes[nodeIndex].m_quantizedAabbMax[0],aabbMax); - } else - { - m_contiguousNodes[nodeIndex].m_aabbMaxOrg = aabbMax; - } - } - - btVector3 getAabbMin(int nodeIndex) const - { - if (m_useQuantization) - { - return unQuantize(&m_quantizedLeafNodes[nodeIndex].m_quantizedAabbMin[0]); - } - //non-quantized - return m_leafNodes[nodeIndex].m_aabbMinOrg; - - } - btVector3 getAabbMax(int nodeIndex) const - { - if (m_useQuantization) - { - return unQuantize(&m_quantizedLeafNodes[nodeIndex].m_quantizedAabbMax[0]); - } - //non-quantized - return m_leafNodes[nodeIndex].m_aabbMaxOrg; - - } - - void setQuantizationValues(const btVector3& bvhAabbMin,const btVector3& bvhAabbMax,btScalar quantizationMargin=btScalar(1.0)); - - void setInternalNodeEscapeIndex(int nodeIndex, int escapeIndex) - { - if (m_useQuantization) - { - m_quantizedContiguousNodes[nodeIndex].m_escapeIndexOrTriangleIndex = -escapeIndex; - } - else - { - m_contiguousNodes[nodeIndex].m_escapeIndex = escapeIndex; - } - - } - - void mergeInternalNodeAabb(int nodeIndex,const btVector3& newAabbMin,const btVector3& newAabbMax) - { - if (m_useQuantization) - { - unsigned short int quantizedAabbMin[3]; - unsigned short int quantizedAabbMax[3]; - quantizeWithClamp(quantizedAabbMin,newAabbMin); - quantizeWithClamp(quantizedAabbMax,newAabbMax); - for (int i=0;i<3;i++) - { - if (m_quantizedContiguousNodes[nodeIndex].m_quantizedAabbMin[i] > quantizedAabbMin[i]) - m_quantizedContiguousNodes[nodeIndex].m_quantizedAabbMin[i] = quantizedAabbMin[i]; - - if (m_quantizedContiguousNodes[nodeIndex].m_quantizedAabbMax[i] < quantizedAabbMax[i]) - m_quantizedContiguousNodes[nodeIndex].m_quantizedAabbMax[i] = quantizedAabbMax[i]; - - } - } else - { - //non-quantized - m_contiguousNodes[nodeIndex].m_aabbMinOrg.setMin(newAabbMin); - m_contiguousNodes[nodeIndex].m_aabbMaxOrg.setMax(newAabbMax); - } - } - - void swapLeafNodes(int firstIndex,int secondIndex); - - void assignInternalNodeFromLeafNode(int internalNode,int leafNodeIndex); + BT_DECLARE_ALIGNED_ALLOCATOR(); protected: - - - void buildTree (int startIndex,int endIndex); - - int calcSplittingAxis(int startIndex,int endIndex); - - int sortAndCalcSplittingIndex(int startIndex,int endIndex,int splitAxis); - - void walkStacklessTree(btNodeOverlapCallback* nodeCallback,const btVector3& aabbMin,const btVector3& aabbMax) const; - - void walkStacklessQuantizedTree(btNodeOverlapCallback* nodeCallback,unsigned short int* quantizedQueryAabbMin,unsigned short int* quantizedQueryAabbMax,int startNodeIndex,int endNodeIndex) const; - - ///tree traversal designed for small-memory processors like PS3 SPU - void walkStacklessQuantizedTreeCacheFriendly(btNodeOverlapCallback* nodeCallback,unsigned short int* quantizedQueryAabbMin,unsigned short int* quantizedQueryAabbMax) const; - - ///use the 16-byte stackless 'skipindex' node tree to do a recursive traversal - void walkRecursiveQuantizedTreeAgainstQueryAabb(const btQuantizedBvhNode* currentNode,btNodeOverlapCallback* nodeCallback,unsigned short int* quantizedQueryAabbMin,unsigned short int* quantizedQueryAabbMax) const; - - ///use the 16-byte stackless 'skipindex' node tree to do a recursive traversal - void walkRecursiveQuantizedTreeAgainstQuantizedTree(const btQuantizedBvhNode* treeNodeA,const btQuantizedBvhNode* treeNodeB,btNodeOverlapCallback* nodeCallback) const; - - - inline bool testQuantizedAabbAgainstQuantizedAabb(unsigned short int* aabbMin1,unsigned short int* aabbMax1,const unsigned short int* aabbMin2,const unsigned short int* aabbMax2) const - { - bool overlap = true; - overlap = (aabbMin1[0] > aabbMax2[0] || aabbMax1[0] < aabbMin2[0]) ? false : overlap; - overlap = (aabbMin1[2] > aabbMax2[2] || aabbMax1[2] < aabbMin2[2]) ? false : overlap; - overlap = (aabbMin1[1] > aabbMax2[1] || aabbMax1[1] < aabbMin2[1]) ? false : overlap; - return overlap; - } - - void updateSubtreeHeaders(int leftChildNodexIndex,int rightChildNodexIndex); - public: + btOptimizedBvh(); virtual ~btOptimizedBvh(); void build(btStridingMeshInterface* triangles,bool useQuantizedAabbCompression, const btVector3& bvhAabbMin, const btVector3& bvhAabbMax); - void reportAabbOverlappingNodex(btNodeOverlapCallback* nodeCallback,const btVector3& aabbMin,const btVector3& aabbMax) const; - - void reportSphereOverlappingNodex(btNodeOverlapCallback* nodeCallback,const btVector3& aabbMin,const btVector3& aabbMax) const; - - void quantizeWithClamp(unsigned short* out, const btVector3& point) const; - - btVector3 unQuantize(const unsigned short* vecIn) const; - - ///setTraversalMode let's you choose between stackless, recursive or stackless cache friendly tree traversal. Note this is only implemented for quantized trees. - void setTraversalMode(btTraversalMode traversalMode) - { - m_traversalMode = traversalMode; - } - - void refit(btStridingMeshInterface* triangles); + void refit(btStridingMeshInterface* triangles,const btVector3& aabbMin,const btVector3& aabbMax); void refitPartial(btStridingMeshInterface* triangles,const btVector3& aabbMin, const btVector3& aabbMax); void updateBvhNodes(btStridingMeshInterface* meshInterface,int firstNode,int endNode,int index); + /// Data buffer MUST be 16 byte aligned + virtual bool serialize(void *o_alignedDataBuffer, unsigned i_dataBufferSize, bool i_swapEndian) + { + return btQuantizedBvh::serialize(o_alignedDataBuffer,i_dataBufferSize,i_swapEndian); - QuantizedNodeArray& getQuantizedNodeArray() - { - return m_quantizedContiguousNodes; } - BvhSubtreeInfoArray& getSubtreeInfoArray() - { - return m_SubtreeHeaders; - } + ///deSerializeInPlace loads and initializes a BVH from a buffer in memory 'in place' + static btOptimizedBvh *deSerializeInPlace(void *i_alignedDataBuffer, unsigned int i_dataBufferSize, bool i_swapEndian); -} -; + +}; #endif //OPTIMIZED_BVH_H + diff --git a/extern/bullet2/src/BulletCollision/CollisionShapes/btPolyhedralConvexShape.cpp b/extern/bullet2/src/BulletCollision/CollisionShapes/btPolyhedralConvexShape.cpp index bbc4ba62af6..71c3af38a02 100644 --- a/extern/bullet2/src/BulletCollision/CollisionShapes/btPolyhedralConvexShape.cpp +++ b/extern/bullet2/src/BulletCollision/CollisionShapes/btPolyhedralConvexShape.cpp @@ -13,7 +13,7 @@ subject to the following restrictions: 3. This notice may not be removed or altered from any source distribution. */ -#include <BulletCollision/CollisionShapes/btPolyhedralConvexShape.h> +#include "BulletCollision/CollisionShapes/btPolyhedralConvexShape.h" btPolyhedralConvexShape::btPolyhedralConvexShape() :m_localAabbMin(1,1,1), @@ -95,7 +95,7 @@ void btPolyhedralConvexShape::batchedUnitVectorGetSupportingVertexWithoutMargin( -void btPolyhedralConvexShape::calculateLocalInertia(btScalar mass,btVector3& inertia) +void btPolyhedralConvexShape::calculateLocalInertia(btScalar mass,btVector3& inertia) const { //not yet, return box inertia @@ -128,10 +128,46 @@ void btPolyhedralConvexShape::getAabb(const btTransform& trans,btVector3& aabbMi +void btPolyhedralConvexShape::setLocalScaling(const btVector3& scaling) +{ + btConvexInternalShape::setLocalScaling(scaling); + recalcLocalAabb(); +} void btPolyhedralConvexShape::recalcLocalAabb() { m_isLocalAabbValid = true; + + #if 1 + static const btVector3 _directions[] = + { + btVector3( 1., 0., 0.), + btVector3( 0., 1., 0.), + btVector3( 0., 0., 1.), + btVector3( -1., 0., 0.), + btVector3( 0., -1., 0.), + btVector3( 0., 0., -1.) + }; + + btVector3 _supporting[] = + { + btVector3( 0., 0., 0.), + btVector3( 0., 0., 0.), + btVector3( 0., 0., 0.), + btVector3( 0., 0., 0.), + btVector3( 0., 0., 0.), + btVector3( 0., 0., 0.) + }; + + batchedUnitVectorGetSupportingVertexWithoutMargin(_directions, _supporting, 6); + + for ( int i = 0; i < 3; ++i ) + { + m_localAabbMax[i] = _supporting[i][i] + m_collisionMargin; + m_localAabbMin[i] = _supporting[i + 3][i] - m_collisionMargin; + } + + #else for (int i=0;i<3;i++) { @@ -143,6 +179,8 @@ void btPolyhedralConvexShape::recalcLocalAabb() tmp = localGetSupportingVertex(vec); m_localAabbMin[i] = tmp[i]-m_collisionMargin; } + #endif } + diff --git a/extern/bullet2/src/BulletCollision/CollisionShapes/btPolyhedralConvexShape.h b/extern/bullet2/src/BulletCollision/CollisionShapes/btPolyhedralConvexShape.h index c35f7512663..4c4ce7feaa7 100644 --- a/extern/bullet2/src/BulletCollision/CollisionShapes/btPolyhedralConvexShape.h +++ b/extern/bullet2/src/BulletCollision/CollisionShapes/btPolyhedralConvexShape.h @@ -16,13 +16,14 @@ subject to the following restrictions: #ifndef BU_SHAPE #define BU_SHAPE -#include "../../LinearMath/btPoint3.h" -#include "../../LinearMath/btMatrix3x3.h" -#include "btConvexShape.h" +#include "LinearMath/btPoint3.h" +#include "LinearMath/btMatrix3x3.h" +#include "LinearMath/btAabbUtil2.h" +#include "btConvexInternalShape.h" -///PolyhedralConvexShape is an interface class for feature based (vertex/edge/face) convex shapes. -class btPolyhedralConvexShape : public btConvexShape +///The btPolyhedralConvexShape is an internal interface class for polyhedral convex shapes. +class btPolyhedralConvexShape : public btConvexInternalShape { protected: @@ -38,7 +39,7 @@ public: virtual btVector3 localGetSupportingVertexWithoutMargin(const btVector3& vec)const; virtual void batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3* vectors,btVector3* supportVerticesOut,int numVectors) const; - virtual void calculateLocalInertia(btScalar mass,btVector3& inertia); + virtual void calculateLocalInertia(btScalar mass,btVector3& inertia) const; inline void getNonvirtualAabb(const btTransform& trans,btVector3& aabbMin,btVector3& aabbMax, btScalar margin) const @@ -46,33 +47,14 @@ 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); } virtual void getAabb(const btTransform& t,btVector3& aabbMin,btVector3& aabbMax) const; + virtual void setLocalScaling(const btVector3& scaling); + void recalcLocalAabb(); virtual int getNumVertices() const = 0 ; diff --git a/extern/bullet2/src/BulletCollision/CollisionShapes/btSphereShape.cpp b/extern/bullet2/src/BulletCollision/CollisionShapes/btSphereShape.cpp index ca65dd03f3e..15cfe432e27 100644 --- a/extern/bullet2/src/BulletCollision/CollisionShapes/btSphereShape.cpp +++ b/extern/bullet2/src/BulletCollision/CollisionShapes/btSphereShape.cpp @@ -68,7 +68,7 @@ void btSphereShape::getAabb(const btTransform& t,btVector3& aabbMin,btVector3& a -void btSphereShape::calculateLocalInertia(btScalar mass,btVector3& inertia) +void btSphereShape::calculateLocalInertia(btScalar mass,btVector3& inertia) const { btScalar elem = btScalar(0.4) * mass * getMargin()*getMargin(); inertia.setValue(elem,elem,elem); diff --git a/extern/bullet2/src/BulletCollision/CollisionShapes/btSphereShape.h b/extern/bullet2/src/BulletCollision/CollisionShapes/btSphereShape.h index 66521664087..a6d01cdca9d 100644 --- a/extern/bullet2/src/BulletCollision/CollisionShapes/btSphereShape.h +++ b/extern/bullet2/src/BulletCollision/CollisionShapes/btSphereShape.h @@ -16,15 +16,17 @@ subject to the following restrictions: #ifndef SPHERE_MINKOWSKI_H #define SPHERE_MINKOWSKI_H -#include "btConvexShape.h" -#include "../BroadphaseCollision/btBroadphaseProxy.h" // for the types +#include "btConvexInternalShape.h" +#include "BulletCollision/BroadphaseCollision/btBroadphaseProxy.h" // for the types -///btSphereShape implements an implicit (getSupportingVertex) Sphere -ATTRIBUTE_ALIGNED16(class) btSphereShape : public btConvexShape +///The btSphereShape implements an implicit sphere, centered around a local origin with radius. +ATTRIBUTE_ALIGNED16(class) btSphereShape : public btConvexInternalShape { public: + BT_DECLARE_ALIGNED_ALLOCATOR(); + btSphereShape (btScalar radius); @@ -34,26 +36,32 @@ public: virtual void batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3* vectors,btVector3* supportVerticesOut,int numVectors) const; - virtual void calculateLocalInertia(btScalar mass,btVector3& inertia); + virtual void calculateLocalInertia(btScalar mass,btVector3& inertia) const; virtual void getAabb(const btTransform& t,btVector3& aabbMin,btVector3& aabbMax) const; virtual int getShapeType() const { return SPHERE_SHAPE_PROXYTYPE; } - btScalar getRadius() const { return m_implicitShapeDimensions.getX();} + btScalar getRadius() const { return m_implicitShapeDimensions.getX() * m_localScaling.getX();} + + void setUnscaledRadius(btScalar radius) + { + m_implicitShapeDimensions.setX(radius); + btConvexInternalShape::setMargin(radius); + } //debugging - virtual char* getName()const {return "SPHERE";} + virtual const char* getName()const {return "SPHERE";} virtual void setMargin(btScalar margin) { - btConvexShape::setMargin(margin); + btConvexInternalShape::setMargin(margin); } virtual btScalar getMargin() const { //to improve gjk behaviour, use radius+margin as the full margin, so never get into the penetration case //this means, non-uniform scaling is not supported anymore - return m_localScaling.getX() * getRadius() + btConvexShape::getMargin(); + return getRadius(); } diff --git a/extern/bullet2/src/BulletCollision/CollisionShapes/btStaticPlaneShape.cpp b/extern/bullet2/src/BulletCollision/CollisionShapes/btStaticPlaneShape.cpp index 4fbaafa1b93..3c98ca08ddc 100644 --- a/extern/bullet2/src/BulletCollision/CollisionShapes/btStaticPlaneShape.cpp +++ b/extern/bullet2/src/BulletCollision/CollisionShapes/btStaticPlaneShape.cpp @@ -19,10 +19,11 @@ subject to the following restrictions: btStaticPlaneShape::btStaticPlaneShape(const btVector3& planeNormal,btScalar planeConstant) -:m_planeNormal(planeNormal), +:m_planeNormal(planeNormal.normalized()), m_planeConstant(planeConstant), m_localScaling(btScalar(0.),btScalar(0.),btScalar(0.)) { + // btAssert( btFuzzyZero(m_planeNormal.length() - btScalar(1.)) ); } @@ -86,7 +87,7 @@ void btStaticPlaneShape::processAllTriangles(btTriangleCallback* callback,const } -void btStaticPlaneShape::calculateLocalInertia(btScalar mass,btVector3& inertia) +void btStaticPlaneShape::calculateLocalInertia(btScalar mass,btVector3& inertia) const { (void)mass; diff --git a/extern/bullet2/src/BulletCollision/CollisionShapes/btStaticPlaneShape.h b/extern/bullet2/src/BulletCollision/CollisionShapes/btStaticPlaneShape.h index f59cc0c3347..ddebca73dea 100644 --- a/extern/bullet2/src/BulletCollision/CollisionShapes/btStaticPlaneShape.h +++ b/extern/bullet2/src/BulletCollision/CollisionShapes/btStaticPlaneShape.h @@ -19,8 +19,7 @@ subject to the following restrictions: #include "btConcaveShape.h" -///StaticPlaneShape simulates an 'infinite' plane by dynamically reporting triangles approximated by intersection of the plane with the AABB. -///Assumed is that the other objects is not also infinite, so a reasonable sized AABB. +///The btStaticPlaneShape simulates an infinite non-moving (static) collision plane. class btStaticPlaneShape : public btConcaveShape { protected: @@ -46,14 +45,23 @@ public: virtual void processAllTriangles(btTriangleCallback* callback,const btVector3& aabbMin,const btVector3& aabbMax) const; - virtual void calculateLocalInertia(btScalar mass,btVector3& inertia); + virtual void calculateLocalInertia(btScalar mass,btVector3& inertia) const; virtual void setLocalScaling(const btVector3& scaling); virtual const btVector3& getLocalScaling() const; + const btVector3& getPlaneNormal() const + { + return m_planeNormal; + } + + const btScalar& getPlaneConstant() const + { + return m_planeConstant; + } //debugging - virtual char* getName()const {return "STATICPLANE";} + virtual const char* getName()const {return "STATICPLANE";} }; diff --git a/extern/bullet2/src/BulletCollision/CollisionShapes/btStridingMeshInterface.cpp b/extern/bullet2/src/BulletCollision/CollisionShapes/btStridingMeshInterface.cpp index 03ca1ae7736..752a5fc1dfa 100644 --- a/extern/bullet2/src/BulletCollision/CollisionShapes/btStridingMeshInterface.cpp +++ b/extern/bullet2/src/BulletCollision/CollisionShapes/btStridingMeshInterface.cpp @@ -51,7 +51,7 @@ void btStridingMeshInterface::InternalProcessAllTriangles(btInternalTriangleInde { for (gfxindex=0;gfxindex<numtriangles;gfxindex++) { - int* tri_indices= (int*)(indexbase+gfxindex*indexstride); + unsigned int* tri_indices= (unsigned int*)(indexbase+gfxindex*indexstride); graphicsbase = (btScalar*)(vertexbase+tri_indices[0]*stride); triangle[0].setValue(graphicsbase[0]*meshScaling.getX(),graphicsbase[1]*meshScaling.getY(),graphicsbase[2]*meshScaling.getZ()); graphicsbase = (btScalar*)(vertexbase+tri_indices[1]*stride); @@ -66,7 +66,7 @@ void btStridingMeshInterface::InternalProcessAllTriangles(btInternalTriangleInde { for (gfxindex=0;gfxindex<numtriangles;gfxindex++) { - short int* tri_indices= (short int*)(indexbase+gfxindex*indexstride); + unsigned short int* tri_indices= (unsigned short int*)(indexbase+gfxindex*indexstride); graphicsbase = (btScalar*)(vertexbase+tri_indices[0]*stride); triangle[0].setValue(graphicsbase[0]*meshScaling.getX(),graphicsbase[1]*meshScaling.getY(),graphicsbase[2]*meshScaling.getZ()); graphicsbase = (btScalar*)(vertexbase+tri_indices[1]*stride); @@ -121,4 +121,4 @@ void btStridingMeshInterface::calculateAabbBruteForce(btVector3& aabbMin,btVecto aabbMin = aabbCallback.m_aabbMin; aabbMax = aabbCallback.m_aabbMax; -}
\ No newline at end of file +} diff --git a/extern/bullet2/src/BulletCollision/CollisionShapes/btStridingMeshInterface.h b/extern/bullet2/src/BulletCollision/CollisionShapes/btStridingMeshInterface.h index d7b354b7855..85020dd3f58 100644 --- a/extern/bullet2/src/BulletCollision/CollisionShapes/btStridingMeshInterface.h +++ b/extern/bullet2/src/BulletCollision/CollisionShapes/btStridingMeshInterface.h @@ -16,7 +16,7 @@ subject to the following restrictions: #ifndef STRIDING_MESHINTERFACE_H #define STRIDING_MESHINTERFACE_H -#include "../../LinearMath/btVector3.h" +#include "LinearMath/btVector3.h" #include "btTriangleCallback.h" /// PHY_ScalarType enumerates possible scalar types. @@ -29,7 +29,8 @@ typedef enum PHY_ScalarType { PHY_FIXEDPOINT88 } PHY_ScalarType; -/// btStridingMeshInterface is the interface class for high performance access to triangle meshes +/// The btStridingMeshInterface is the interface class for high performance generic access to triangle meshes, used in combination with btBvhTriangleMeshShape and some other collision shapes. +/// Using index striding of 3*sizeof(integer) it can use triangle arrays, using index striding of 1*sizeof(integer) it can handle triangle strips. /// It allows for sharing graphics and collision meshes. Also it provides locking/unlocking of graphics meshes that are in gpu memory. class btStridingMeshInterface { @@ -47,7 +48,7 @@ class btStridingMeshInterface - void InternalProcessAllTriangles(btInternalTriangleIndexCallback* callback,const btVector3& aabbMin,const btVector3& aabbMax) const; + virtual void InternalProcessAllTriangles(btInternalTriangleIndexCallback* callback,const btVector3& aabbMin,const btVector3& aabbMax) const; ///brute force method to calculate aabb void calculateAabbBruteForce(btVector3& aabbMin,btVector3& aabbMax); @@ -75,6 +76,10 @@ class btStridingMeshInterface virtual void preallocateVertices(int numverts)=0; virtual void preallocateIndices(int numindices)=0; + virtual bool hasPremadeAabb() const { return false; } + virtual void setPremadeAabb(const btVector3& aabbMin, const btVector3& aabbMax ) const {} + virtual void getPremadeAabb(btVector3* aabbMin, btVector3* aabbMax ) const {} + const btVector3& getScaling() const { return m_scaling; } @@ -83,6 +88,7 @@ class btStridingMeshInterface m_scaling = scaling; } + }; diff --git a/extern/bullet2/src/BulletCollision/CollisionShapes/btTetrahedronShape.h b/extern/bullet2/src/BulletCollision/CollisionShapes/btTetrahedronShape.h index 94bc4ec0fa5..09272d61dc2 100644 --- a/extern/bullet2/src/BulletCollision/CollisionShapes/btTetrahedronShape.h +++ b/extern/bullet2/src/BulletCollision/CollisionShapes/btTetrahedronShape.h @@ -18,10 +18,10 @@ subject to the following restrictions: #include "btPolyhedralConvexShape.h" -#include "../BroadphaseCollision/btBroadphaseProxy.h" +#include "BulletCollision/BroadphaseCollision/btBroadphaseProxy.h" -///BU_Simplex1to4 implements feature based and implicit simplex of up to 4 vertices (tetrahedron, triangle, line, vertex). +///The btBU_Simplex1to4 implements tetrahedron, triangle, line, vertex collision shapes. In most cases it is better to use btConvexHullShape instead. class btBU_Simplex1to4 : public btPolyhedralConvexShape { protected: @@ -68,7 +68,7 @@ public: ///getName is for debugging - virtual char* getName()const { return "btBU_Simplex1to4";} + virtual const char* getName()const { return "btBU_Simplex1to4";} }; diff --git a/extern/bullet2/src/BulletCollision/CollisionShapes/btTriangleBuffer.cpp b/extern/bullet2/src/BulletCollision/CollisionShapes/btTriangleBuffer.cpp index 54864c32f3a..5194219f256 100644 --- a/extern/bullet2/src/BulletCollision/CollisionShapes/btTriangleBuffer.cpp +++ b/extern/bullet2/src/BulletCollision/CollisionShapes/btTriangleBuffer.cpp @@ -16,14 +16,7 @@ subject to the following restrictions: #include "btTriangleBuffer.h" -///example usage of this class: -// btTriangleBuffer triBuf; -// concaveShape->processAllTriangles(&triBuf,aabbMin, aabbMax); -// for (int i=0;i<triBuf.getNumTriangles();i++) -// { -// const btTriangle& tri = triBuf.getTriangle(i); -// //do something useful here with the triangle -// } + diff --git a/extern/bullet2/src/BulletCollision/CollisionShapes/btTriangleBuffer.h b/extern/bullet2/src/BulletCollision/CollisionShapes/btTriangleBuffer.h index 3805c519d22..c739fc11e8f 100644 --- a/extern/bullet2/src/BulletCollision/CollisionShapes/btTriangleBuffer.h +++ b/extern/bullet2/src/BulletCollision/CollisionShapes/btTriangleBuffer.h @@ -17,7 +17,7 @@ subject to the following restrictions: #define BT_TRIANGLE_BUFFER_H #include "btTriangleCallback.h" -#include "../../LinearMath/btAlignedObjectArray.h" +#include "LinearMath/btAlignedObjectArray.h" struct btTriangle { @@ -29,6 +29,14 @@ struct btTriangle }; ///btTriangleBuffer can be useful to collect and store overlapping triangles between AABB and concave objects that support 'processAllTriangles' +///Example usage of this class: +/// btTriangleBuffer triBuf; +/// concaveShape->processAllTriangles(&triBuf,aabbMin, aabbMax); +/// for (int i=0;i<triBuf.getNumTriangles();i++) +/// { +/// const btTriangle& tri = triBuf.getTriangle(i); +/// //do something useful here with the triangle +/// } class btTriangleBuffer : public btTriangleCallback { diff --git a/extern/bullet2/src/BulletCollision/CollisionShapes/btTriangleCallback.h b/extern/bullet2/src/BulletCollision/CollisionShapes/btTriangleCallback.h index fbb87bc4fd8..cb760be80ca 100644 --- a/extern/bullet2/src/BulletCollision/CollisionShapes/btTriangleCallback.h +++ b/extern/bullet2/src/BulletCollision/CollisionShapes/btTriangleCallback.h @@ -16,9 +16,11 @@ subject to the following restrictions: #ifndef TRIANGLE_CALLBACK_H #define TRIANGLE_CALLBACK_H -#include "../../LinearMath/btVector3.h" +#include "LinearMath/btVector3.h" +///The btTriangleCallback provides a callback for each overlapping triangle when calling processAllTriangles. +///This callback is called by processAllTriangles for all btConcaveShape derived class, such as btBvhTriangleMeshShape, btStaticPlaneShape and btHeightfieldTerrainShape. class btTriangleCallback { public: diff --git a/extern/bullet2/src/BulletCollision/CollisionShapes/btTriangleIndexVertexArray.cpp b/extern/bullet2/src/BulletCollision/CollisionShapes/btTriangleIndexVertexArray.cpp index 00847861cf1..b962829041a 100644 --- a/extern/bullet2/src/BulletCollision/CollisionShapes/btTriangleIndexVertexArray.cpp +++ b/extern/bullet2/src/BulletCollision/CollisionShapes/btTriangleIndexVertexArray.cpp @@ -4,8 +4,8 @@ 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, +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. @@ -16,36 +16,46 @@ subject to the following restrictions: #include "btTriangleIndexVertexArray.h" btTriangleIndexVertexArray::btTriangleIndexVertexArray(int numTriangles,int* triangleIndexBase,int triangleIndexStride,int numVertices,btScalar* vertexBase,int vertexStride) +: m_hasAabb(0) { btIndexedMesh mesh; - + mesh.m_numTriangles = numTriangles; mesh.m_triangleIndexBase = (const unsigned char *)triangleIndexBase; mesh.m_triangleIndexStride = triangleIndexStride; mesh.m_numVertices = numVertices; mesh.m_vertexBase = (const unsigned char *)vertexBase; mesh.m_vertexStride = vertexStride; - + addIndexedMesh(mesh); } +btTriangleIndexVertexArray::~btTriangleIndexVertexArray() +{ + +} + void btTriangleIndexVertexArray::getLockedVertexIndexBase(unsigned char **vertexbase, int& numverts,PHY_ScalarType& type, int& vertexStride,unsigned char **indexbase,int & indexstride,int& numfaces,PHY_ScalarType& indicestype,int subpart) { btAssert(subpart< getNumSubParts() ); - + btIndexedMesh& mesh = m_indexedMeshes[subpart]; numverts = mesh.m_numVertices; (*vertexbase) = (unsigned char *) mesh.m_vertexBase; + #ifdef BT_USE_DOUBLE_PRECISION + type = PHY_DOUBLE; + #else type = PHY_FLOAT; + #endif vertexStride = mesh.m_vertexStride; numfaces = mesh.m_numTriangles; (*indexbase) = (unsigned char *)mesh.m_triangleIndexBase; indexstride = mesh.m_triangleIndexStride; - indicestype = PHY_INTEGER; + indicestype = mesh.m_indexType; } void btTriangleIndexVertexArray::getLockedReadOnlyVertexIndexBase(const unsigned char **vertexbase, int& numverts,PHY_ScalarType& type, int& vertexStride,const unsigned char **indexbase,int & indexstride,int& numfaces,PHY_ScalarType& indicestype,int subpart) const @@ -54,12 +64,34 @@ void btTriangleIndexVertexArray::getLockedReadOnlyVertexIndexBase(const unsigned numverts = mesh.m_numVertices; (*vertexbase) = (const unsigned char *)mesh.m_vertexBase; + #ifdef BT_USE_DOUBLE_PRECISION + type = PHY_DOUBLE; + #else type = PHY_FLOAT; + #endif vertexStride = mesh.m_vertexStride; numfaces = mesh.m_numTriangles; (*indexbase) = (const unsigned char *)mesh.m_triangleIndexBase; indexstride = mesh.m_triangleIndexStride; - indicestype = PHY_INTEGER; + indicestype = mesh.m_indexType; +} + +bool btTriangleIndexVertexArray::hasPremadeAabb() const +{ + return (m_hasAabb == 1); +} + +void btTriangleIndexVertexArray::setPremadeAabb(const btVector3& aabbMin, const btVector3& aabbMax ) +{ + m_aabbMin = aabbMin; + m_aabbMax = aabbMax; + m_hasAabb = 1; // this is intentionally an int see notes in header +} + +void btTriangleIndexVertexArray::getPremadeAabb(btVector3* aabbMin, btVector3* aabbMax ) const +{ + *aabbMin = m_aabbMin; + *aabbMax = m_aabbMax; } diff --git a/extern/bullet2/src/BulletCollision/CollisionShapes/btTriangleIndexVertexArray.h b/extern/bullet2/src/BulletCollision/CollisionShapes/btTriangleIndexVertexArray.h index 6ab6a762b39..e546675f802 100644 --- a/extern/bullet2/src/BulletCollision/CollisionShapes/btTriangleIndexVertexArray.h +++ b/extern/bullet2/src/BulletCollision/CollisionShapes/btTriangleIndexVertexArray.h @@ -17,48 +17,62 @@ subject to the following restrictions: #define BT_TRIANGLE_INDEX_VERTEX_ARRAY_H #include "btStridingMeshInterface.h" -#include "../../LinearMath/btAlignedObjectArray.h" +#include "LinearMath/btAlignedObjectArray.h" +#include "LinearMath/btScalar.h" -///IndexedMesh indexes into existing vertex and index arrays, in a similar way OpenGL glDrawElements -///instead of the number of indices, we pass the number of triangles -///todo: explain with pictures + +///The btIndexedMesh indexes a single vertex and index array. Multiple btIndexedMesh objects can be passed into a btTriangleIndexVertexArray using addIndexedMesh. +///Instead of the number of indices, we pass the number of triangles. ATTRIBUTE_ALIGNED16( struct) btIndexedMesh { + BT_DECLARE_ALIGNED_ALLOCATOR(); + int m_numTriangles; const unsigned char * m_triangleIndexBase; int m_triangleIndexStride; int m_numVertices; const unsigned char * m_vertexBase; int m_vertexStride; - int pad[2]; + // The index type is set when adding an indexed mesh to the + // btTriangleIndexVertexArray, do not set it manually + PHY_ScalarType m_indexType; + int pad; } ; typedef btAlignedObjectArray<btIndexedMesh> IndexedMeshArray; -///TriangleIndexVertexArray allows to use multiple meshes, by indexing into existing triangle/index arrays. +///The btTriangleIndexVertexArray allows to access multiple triangle meshes, by indexing into existing triangle/index arrays. ///Additional meshes can be added using addIndexedMesh ///No duplcate is made of the vertex/index data, it only indexes into external vertex/index arrays. ///So keep those arrays around during the lifetime of this btTriangleIndexVertexArray. ATTRIBUTE_ALIGNED16( class) btTriangleIndexVertexArray : public btStridingMeshInterface { +protected: IndexedMeshArray m_indexedMeshes; - int m_pad[3]; + int m_pad[2]; + int m_hasAabb; // using int instead of bool to maintain alignment + btVector3 m_aabbMin; + btVector3 m_aabbMax; - public: - btTriangleIndexVertexArray() + BT_DECLARE_ALIGNED_ALLOCATOR(); + + btTriangleIndexVertexArray() : m_hasAabb(0) { } + virtual ~btTriangleIndexVertexArray(); + //just to be backwards compatible - btTriangleIndexVertexArray(int numTriangleIndices,int* triangleIndexBase,int triangleIndexStride,int numVertices,btScalar* vertexBase,int vertexStride); + btTriangleIndexVertexArray(int numTriangles,int* triangleIndexBase,int triangleIndexStride,int numVertices,btScalar* vertexBase,int vertexStride); - void addIndexedMesh(const btIndexedMesh& mesh) + void addIndexedMesh(const btIndexedMesh& mesh, PHY_ScalarType indexType = PHY_INTEGER) { m_indexedMeshes.push_back(mesh); + m_indexedMeshes[m_indexedMeshes.size()-1].m_indexType = indexType; } @@ -91,6 +105,10 @@ public: virtual void preallocateVertices(int numverts){(void) numverts;} virtual void preallocateIndices(int numindices){(void) numindices;} + virtual bool hasPremadeAabb() const; + virtual void setPremadeAabb(const btVector3& aabbMin, const btVector3& aabbMax ); + virtual void getPremadeAabb(btVector3* aabbMin, btVector3* aabbMax ) const; + } ; diff --git a/extern/bullet2/src/BulletCollision/CollisionShapes/btTriangleMesh.cpp b/extern/bullet2/src/BulletCollision/CollisionShapes/btTriangleMesh.cpp index 98c54ef45f8..29d26316316 100644 --- a/extern/bullet2/src/BulletCollision/CollisionShapes/btTriangleMesh.cpp +++ b/extern/bullet2/src/BulletCollision/CollisionShapes/btTriangleMesh.cpp @@ -14,47 +14,120 @@ subject to the following restrictions: */ #include "btTriangleMesh.h" -#include <assert.h> -btTriangleMesh::btTriangleMesh () + +btTriangleMesh::btTriangleMesh (bool use32bitIndices,bool use4componentVertices) +:m_use32bitIndices(use32bitIndices), +m_use4componentVertices(use4componentVertices), +m_weldingThreshold(0.0) { + btIndexedMesh meshIndex; + meshIndex.m_numTriangles = 0; + meshIndex.m_numVertices = 0; + meshIndex.m_indexType = PHY_INTEGER; + meshIndex.m_triangleIndexBase = 0; + meshIndex.m_triangleIndexStride = 3*sizeof(int); + meshIndex.m_vertexBase = 0; + meshIndex.m_vertexStride = sizeof(btVector3); + m_indexedMeshes.push_back(meshIndex); -} + if (m_use32bitIndices) + { + m_indexedMeshes[0].m_numTriangles = m_32bitIndices.size()/3; + m_indexedMeshes[0].m_triangleIndexBase = (unsigned char*) &m_32bitIndices[0]; + m_indexedMeshes[0].m_indexType = PHY_INTEGER; + m_indexedMeshes[0].m_triangleIndexStride = 3*sizeof(int); + } else + { + m_indexedMeshes[0].m_numTriangles = m_16bitIndices.size()/3; + m_indexedMeshes[0].m_triangleIndexBase = (unsigned char*) &m_16bitIndices[0]; + m_indexedMeshes[0].m_indexType = PHY_SHORT; + m_indexedMeshes[0].m_triangleIndexStride = 3*sizeof(short int); + } -void btTriangleMesh::getLockedVertexIndexBase(unsigned char **vertexbase, int& numverts,PHY_ScalarType& type, int& stride,unsigned char **indexbase,int & indexstride,int& numfaces,PHY_ScalarType& indicestype,int subpart) -{ - (void)subpart; - numverts = m_vertices.size(); - *vertexbase = (unsigned char*)&m_vertices[0]; - type = PHY_FLOAT; - stride = sizeof(btVector3); + if (m_use4componentVertices) + { + m_indexedMeshes[0].m_numVertices = m_4componentVertices.size(); + m_indexedMeshes[0].m_vertexBase = (unsigned char*)&m_4componentVertices[0]; + m_indexedMeshes[0].m_vertexStride = sizeof(btVector3); + } else + { + m_indexedMeshes[0].m_numVertices = m_3componentVertices.size()/3; + m_indexedMeshes[0].m_vertexBase = (unsigned char*)&m_3componentVertices[0]; + m_indexedMeshes[0].m_vertexStride = 3*sizeof(btScalar); + } - numfaces = m_indices.size()/3; - *indexbase = (unsigned char*) &m_indices[0]; - indicestype = PHY_INTEGER; - indexstride = 3*sizeof(int); } -void btTriangleMesh::getLockedReadOnlyVertexIndexBase(const unsigned char **vertexbase, int& numverts,PHY_ScalarType& type, int& stride,const unsigned char **indexbase,int & indexstride,int& numfaces,PHY_ScalarType& indicestype,int subpart) const +void btTriangleMesh::addIndex(int index) { - (void)subpart; - numverts = m_vertices.size(); - *vertexbase = (unsigned char*)&m_vertices[0]; - type = PHY_FLOAT; - stride = sizeof(btVector3); - - numfaces = m_indices.size()/3; - *indexbase = (unsigned char*) &m_indices[0]; - indicestype = PHY_INTEGER; - indexstride = 3*sizeof(int); - + if (m_use32bitIndices) + { + m_32bitIndices.push_back(index); + m_indexedMeshes[0].m_triangleIndexBase = (unsigned char*) &m_32bitIndices[0]; + } else + { + m_16bitIndices.push_back(index); + m_indexedMeshes[0].m_triangleIndexBase = (unsigned char*) &m_16bitIndices[0]; + } } +int btTriangleMesh::findOrAddVertex(const btVector3& vertex) +{ + //return index of new/existing vertex + //todo: could use acceleration structure for this + if (m_use4componentVertices) + { + for (int i=0;i< m_4componentVertices.size();i++) + { + if ((m_4componentVertices[i]-vertex).length2() <= m_weldingThreshold) + { + return i; + } + } + m_indexedMeshes[0].m_numVertices++; + m_4componentVertices.push_back(vertex); + m_indexedMeshes[0].m_vertexBase = (unsigned char*)&m_4componentVertices[0]; + + return m_4componentVertices.size()-1; + + } else + { + + for (int i=0;i< m_3componentVertices.size();i+=3) + { + btVector3 vtx(m_3componentVertices[i],m_3componentVertices[i+1],m_3componentVertices[i+2]); + if ((vtx-vertex).length2() <= m_weldingThreshold) + { + return i/3; + } + } + m_3componentVertices.push_back(vertex.getX()); + m_3componentVertices.push_back(vertex.getY()); + m_3componentVertices.push_back(vertex.getZ()); + m_indexedMeshes[0].m_numVertices++; + m_indexedMeshes[0].m_vertexBase = (unsigned char*)&m_3componentVertices[0]; + return (m_3componentVertices.size()/3)-1; + } +} + +void btTriangleMesh::addTriangle(const btVector3& vertex0,const btVector3& vertex1,const btVector3& vertex2) +{ + m_indexedMeshes[0].m_numTriangles++; + + addIndex(findOrAddVertex(vertex0)); + addIndex(findOrAddVertex(vertex1)); + addIndex(findOrAddVertex(vertex2)); +} -int btTriangleMesh::getNumSubParts() const +int btTriangleMesh::getNumTriangles() const { - return 1; + if (m_use32bitIndices) + { + return m_32bitIndices.size() / 3; + } + return m_16bitIndices.size() / 3; } diff --git a/extern/bullet2/src/BulletCollision/CollisionShapes/btTriangleMesh.h b/extern/bullet2/src/BulletCollision/CollisionShapes/btTriangleMesh.h index 525f5336b48..1f51b2f2c87 100644 --- a/extern/bullet2/src/BulletCollision/CollisionShapes/btTriangleMesh.h +++ b/extern/bullet2/src/BulletCollision/CollisionShapes/btTriangleMesh.h @@ -17,54 +17,48 @@ subject to the following restrictions: #ifndef TRIANGLE_MESH_H #define TRIANGLE_MESH_H -#include "btStridingMeshInterface.h" -#include "../../LinearMath/btVector3.h" -#include "../../LinearMath/btAlignedObjectArray.h" - -///TriangleMesh provides storage for a concave triangle mesh. It can be used as data for the btTriangleMeshShape. -class btTriangleMesh : public btStridingMeshInterface +#include "btTriangleIndexVertexArray.h" +#include "LinearMath/btVector3.h" +#include "LinearMath/btAlignedObjectArray.h" + +///The btTriangleMesh class is a convenience class derived from btTriangleIndexVertexArray, that provides storage for a concave triangle mesh. It can be used as data for the btBvhTriangleMeshShape. +///It allows either 32bit or 16bit indices, and 4 (x-y-z-w) or 3 (x-y-z) component vertices. +///If you want to share triangle/index data between graphics mesh and collision mesh (btBvhTriangleMeshShape), you can directly use btTriangleIndexVertexArray or derive your own class from btStridingMeshInterface. +///Performance of btTriangleMesh and btTriangleIndexVertexArray used in a btBvhTriangleMeshShape is the same. +///It has a brute-force option to weld together closeby vertices. +class btTriangleMesh : public btTriangleIndexVertexArray { - btAlignedObjectArray<btVector3> m_vertices; - btAlignedObjectArray<int> m_indices; + btAlignedObjectArray<btVector3> m_4componentVertices; + btAlignedObjectArray<float> m_3componentVertices; + + btAlignedObjectArray<unsigned int> m_32bitIndices; + btAlignedObjectArray<unsigned short int> m_16bitIndices; + bool m_use32bitIndices; + bool m_use4componentVertices; + public: - btTriangleMesh (); + btScalar m_weldingThreshold; + + btTriangleMesh (bool use32bitIndices=true,bool use4componentVertices=true); - void addTriangle(const btVector3& vertex0,const btVector3& vertex1,const btVector3& vertex2) + int findOrAddVertex(const btVector3& vertex); + void addIndex(int index); + + bool getUse32bitIndices() const { - int curIndex = m_indices.size(); - m_vertices.push_back(vertex0); - m_vertices.push_back(vertex1); - m_vertices.push_back(vertex2); - - m_indices.push_back(curIndex++); - m_indices.push_back(curIndex++); - m_indices.push_back(curIndex++); + return m_use32bitIndices; } - int getNumTriangles() const + bool getUse4componentVertices() const { - return m_indices.size() / 3; + return m_use4componentVertices; } - - -//StridingMeshInterface interface implementation - - virtual void getLockedVertexIndexBase(unsigned char **vertexbase, int& numverts,PHY_ScalarType& type, int& stride,unsigned char **indexbase,int & indexstride,int& numfaces,PHY_ScalarType& indicestype,int subpart=0); - - virtual void getLockedReadOnlyVertexIndexBase(const unsigned char **vertexbase, int& numverts,PHY_ScalarType& type, int& stride,const unsigned char **indexbase,int & indexstride,int& numfaces,PHY_ScalarType& indicestype,int subpart=0) const; - - /// unLockVertexBase finishes the access to a subpart of the triangle mesh - /// make a call to unLockVertexBase when the read and write access (using getLockedVertexIndexBase) is finished - virtual void unLockVertexBase(int subpart) {(void) subpart;} - - virtual void unLockReadOnlyVertexBase(int subpart) const { (void) subpart;} - - /// getNumSubParts returns the number of seperate subparts - /// each subpart has a continuous array of vertices and indices - virtual int getNumSubParts() const; + void addTriangle(const btVector3& vertex0,const btVector3& vertex1,const btVector3& vertex2); + int getNumTriangles() const; + virtual void preallocateVertices(int numverts){(void) numverts;} virtual void preallocateIndices(int numindices){(void) numindices;} diff --git a/extern/bullet2/src/BulletCollision/CollisionShapes/btTriangleMeshShape.cpp b/extern/bullet2/src/BulletCollision/CollisionShapes/btTriangleMeshShape.cpp index ed81897b515..0a2c77096d1 100644 --- a/extern/bullet2/src/BulletCollision/CollisionShapes/btTriangleMeshShape.cpp +++ b/extern/bullet2/src/BulletCollision/CollisionShapes/btTriangleMeshShape.cpp @@ -20,12 +20,18 @@ subject to the following restrictions: #include "LinearMath/btAabbUtil2.h" #include "BulletCollision/CollisionShapes/btCollisionMargin.h" -#include "stdio.h" btTriangleMeshShape::btTriangleMeshShape(btStridingMeshInterface* meshInterface) : m_meshInterface(meshInterface) { - recalcLocalAabb(); + if(meshInterface->hasPremadeAabb()) + { + meshInterface->getPremadeAabb(&m_localAabbMin, &m_localAabbMax); + } + else + { + recalcLocalAabb(); + } } @@ -41,6 +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(); @@ -50,12 +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() @@ -138,6 +143,7 @@ const btVector3& btTriangleMeshShape::getLocalScaling() const //#define DEBUG_TRIANGLE_MESH + void btTriangleMeshShape::processAllTriangles(btTriangleCallback* callback,const btVector3& aabbMin,const btVector3& aabbMax) const { struct FilteredCallback : public btInternalTriangleIndexCallback @@ -174,8 +180,7 @@ void btTriangleMeshShape::processAllTriangles(btTriangleCallback* callback,const - -void btTriangleMeshShape::calculateLocalInertia(btScalar mass,btVector3& inertia) +void btTriangleMeshShape::calculateLocalInertia(btScalar mass,btVector3& inertia) const { (void)mass; //moving concave objects not supported diff --git a/extern/bullet2/src/BulletCollision/CollisionShapes/btTriangleMeshShape.h b/extern/bullet2/src/BulletCollision/CollisionShapes/btTriangleMeshShape.h index e6173e47640..c9eabafe290 100644 --- a/extern/bullet2/src/BulletCollision/CollisionShapes/btTriangleMeshShape.h +++ b/extern/bullet2/src/BulletCollision/CollisionShapes/btTriangleMeshShape.h @@ -20,18 +20,20 @@ subject to the following restrictions: #include "btStridingMeshInterface.h" -///Concave triangle mesh. Uses an interface to access the triangles to allow for sharing graphics/physics triangles. +///The btTriangleMeshShape is an internal concave triangle mesh interface. Don't use this class directly, use btBvhTriangleMeshShape instead. class btTriangleMeshShape : public btConcaveShape { protected: btVector3 m_localAabbMin; btVector3 m_localAabbMax; btStridingMeshInterface* m_meshInterface; - -public: + ///btTriangleMeshShape constructor has been disabled/protected, so that users will not mistakenly use this class. + ///Don't use btTriangleMeshShape but use btBvhTriangleMeshShape instead! btTriangleMeshShape(btStridingMeshInterface* meshInterface); +public: + virtual ~btTriangleMeshShape(); virtual btVector3 localGetSupportingVertex(const btVector3& vec) const; @@ -44,16 +46,11 @@ public: void recalcLocalAabb(); - virtual int getShapeType() const - { - return TRIANGLE_MESH_SHAPE_PROXYTYPE; - } - virtual void getAabb(const btTransform& t,btVector3& aabbMin,btVector3& aabbMax) const; virtual void processAllTriangles(btTriangleCallback* callback,const btVector3& aabbMin,const btVector3& aabbMax) const; - virtual void calculateLocalInertia(btScalar mass,btVector3& inertia); + virtual void calculateLocalInertia(btScalar mass,btVector3& inertia) const; virtual void setLocalScaling(const btVector3& scaling); virtual const btVector3& getLocalScaling() const; @@ -68,9 +65,19 @@ public: return m_meshInterface; } + const btVector3& getLocalAabbMin() const + { + return m_localAabbMin; + } + const btVector3& getLocalAabbMax() const + { + return m_localAabbMax; + } + + //debugging - virtual char* getName()const {return "TRIANGLEMESH";} + virtual const char* getName()const {return "TRIANGLEMESH";} }; diff --git a/extern/bullet2/src/BulletCollision/CollisionShapes/btTriangleShape.h b/extern/bullet2/src/BulletCollision/CollisionShapes/btTriangleShape.h index c2e240c051c..ba7aa0c32a0 100644 --- a/extern/bullet2/src/BulletCollision/CollisionShapes/btTriangleShape.h +++ b/extern/bullet2/src/BulletCollision/CollisionShapes/btTriangleShape.h @@ -27,7 +27,6 @@ public: btVector3 m_vertices1[3]; - virtual int getNumVertices() const { return 3; @@ -84,14 +83,13 @@ public: - btTriangleShape(const btVector3& p0,const btVector3& p1,const btVector3& p2) - { - m_vertices1[0] = p0; - m_vertices1[1] = p1; - m_vertices1[2] = p2; - } + btTriangleShape(const btVector3& p0,const btVector3& p1,const btVector3& p2) + { + m_vertices1[0] = p0; + m_vertices1[1] = p1; + m_vertices1[2] = p2; + } - virtual void getPlane(btVector3& planeNormal,btPoint3& planeSupport,int i) const { @@ -116,7 +114,7 @@ public: planeSupport = m_vertices1[0]; } - virtual void calculateLocalInertia(btScalar mass,btVector3& inertia) + virtual void calculateLocalInertia(btScalar mass,btVector3& inertia) const { (void)mass; btAssert(0); @@ -155,7 +153,7 @@ public: return false; } //debugging - virtual char* getName()const + virtual const char* getName()const { return "Triangle"; } diff --git a/extern/bullet2/src/BulletCollision/Gimpact/btBoxCollision.h b/extern/bullet2/src/BulletCollision/Gimpact/btBoxCollision.h new file mode 100644 index 00000000000..cf43f487e24 --- /dev/null +++ b/extern/bullet2/src/BulletCollision/Gimpact/btBoxCollision.h @@ -0,0 +1,651 @@ +#ifndef BT_BOX_COLLISION_H_INCLUDED +#define BT_BOX_COLLISION_H_INCLUDED + +/*! \file gim_box_collision.h +\author Francisco Len Nßjera +*/ +/* +This source file is part of GIMPACT Library. + +For the latest info, see http://gimpact.sourceforge.net/ + +Copyright (c) 2007 Francisco Leon Najera. C.C. 80087371. +email: projectileman@yahoo.com + + +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 "LinearMath/btTransform.h" + +/*! \defgroup BOUND_AABB_OPERATIONS +*/ +//! @{ + +///Swap numbers +#define BT_SWAP_NUMBERS(a,b){ \ + a = a+b; \ + b = a-b; \ + a = a-b; \ +}\ + + +#define BT_MAX(a,b) (a<b?b:a) +#define BT_MIN(a,b) (a>b?b:a) + +#define BT_GREATER(x, y) fabsf(x) > (y) + +#define BT_MAX3(a,b,c) BT_MAX(a,BT_MAX(b,c)) +#define BT_MIN3(a,b,c) BT_MIN(a,BT_MIN(b,c)) + + + + + + +enum eBT_PLANE_INTERSECTION_TYPE +{ + BT_CONST_BACK_PLANE = 0, + BT_CONST_COLLIDE_PLANE, + BT_CONST_FRONT_PLANE +}; + +//SIMD_FORCE_INLINE bool test_cross_edge_box( +// const btVector3 & edge, +// const btVector3 & absolute_edge, +// const btVector3 & pointa, +// const btVector3 & pointb, const btVector3 & extend, +// int dir_index0, +// int dir_index1 +// int component_index0, +// int component_index1) +//{ +// // dir coords are -z and y +// +// const btScalar dir0 = -edge[dir_index0]; +// const btScalar dir1 = edge[dir_index1]; +// btScalar pmin = pointa[component_index0]*dir0 + pointa[component_index1]*dir1; +// btScalar pmax = pointb[component_index0]*dir0 + pointb[component_index1]*dir1; +// //find minmax +// if(pmin>pmax) +// { +// BT_SWAP_NUMBERS(pmin,pmax); +// } +// //find extends +// const btScalar rad = extend[component_index0] * absolute_edge[dir_index0] + +// extend[component_index1] * absolute_edge[dir_index1]; +// +// if(pmin>rad || -rad>pmax) return false; +// return true; +//} +// +//SIMD_FORCE_INLINE bool test_cross_edge_box_X_axis( +// const btVector3 & edge, +// const btVector3 & absolute_edge, +// const btVector3 & pointa, +// const btVector3 & pointb, btVector3 & extend) +//{ +// +// return test_cross_edge_box(edge,absolute_edge,pointa,pointb,extend,2,1,1,2); +//} +// +// +//SIMD_FORCE_INLINE bool test_cross_edge_box_Y_axis( +// const btVector3 & edge, +// const btVector3 & absolute_edge, +// const btVector3 & pointa, +// const btVector3 & pointb, btVector3 & extend) +//{ +// +// return test_cross_edge_box(edge,absolute_edge,pointa,pointb,extend,0,2,2,0); +//} +// +//SIMD_FORCE_INLINE bool test_cross_edge_box_Z_axis( +// const btVector3 & edge, +// const btVector3 & absolute_edge, +// const btVector3 & pointa, +// const btVector3 & pointb, btVector3 & extend) +//{ +// +// return test_cross_edge_box(edge,absolute_edge,pointa,pointb,extend,1,0,0,1); +//} + + +#define TEST_CROSS_EDGE_BOX_MCR(edge,absolute_edge,pointa,pointb,_extend,i_dir_0,i_dir_1,i_comp_0,i_comp_1)\ +{\ + const btScalar dir0 = -edge[i_dir_0];\ + const btScalar dir1 = edge[i_dir_1];\ + btScalar pmin = pointa[i_comp_0]*dir0 + pointa[i_comp_1]*dir1;\ + btScalar pmax = pointb[i_comp_0]*dir0 + pointb[i_comp_1]*dir1;\ + if(pmin>pmax)\ + {\ + BT_SWAP_NUMBERS(pmin,pmax); \ + }\ + const btScalar abs_dir0 = absolute_edge[i_dir_0];\ + const btScalar abs_dir1 = absolute_edge[i_dir_1];\ + const btScalar rad = _extend[i_comp_0] * abs_dir0 + _extend[i_comp_1] * abs_dir1;\ + if(pmin>rad || -rad>pmax) return false;\ +}\ + + +#define TEST_CROSS_EDGE_BOX_X_AXIS_MCR(edge,absolute_edge,pointa,pointb,_extend)\ +{\ + TEST_CROSS_EDGE_BOX_MCR(edge,absolute_edge,pointa,pointb,_extend,2,1,1,2);\ +}\ + +#define TEST_CROSS_EDGE_BOX_Y_AXIS_MCR(edge,absolute_edge,pointa,pointb,_extend)\ +{\ + TEST_CROSS_EDGE_BOX_MCR(edge,absolute_edge,pointa,pointb,_extend,0,2,2,0);\ +}\ + +#define TEST_CROSS_EDGE_BOX_Z_AXIS_MCR(edge,absolute_edge,pointa,pointb,_extend)\ +{\ + TEST_CROSS_EDGE_BOX_MCR(edge,absolute_edge,pointa,pointb,_extend,1,0,0,1);\ +}\ + + +//! Returns the dot product between a vec3f and the col of a matrix +SIMD_FORCE_INLINE btScalar bt_mat3_dot_col( +const btMatrix3x3 & mat, const btVector3 & vec3, int colindex) +{ + return vec3[0]*mat[0][colindex] + vec3[1]*mat[1][colindex] + vec3[2]*mat[2][colindex]; +} + + +//! Class for transforming a model1 to the space of model0 +ATTRIBUTE_ALIGNED16 (class) BT_BOX_BOX_TRANSFORM_CACHE +{ +public: + btVector3 m_T1to0;//!< Transforms translation of model1 to model 0 + btMatrix3x3 m_R1to0;//!< Transforms Rotation of model1 to model 0, equal to R0' * R1 + btMatrix3x3 m_AR;//!< Absolute value of m_R1to0 + + SIMD_FORCE_INLINE void calc_absolute_matrix() + { +// static const btVector3 vepsi(1e-6f,1e-6f,1e-6f); +// m_AR[0] = vepsi + m_R1to0[0].absolute(); +// m_AR[1] = vepsi + m_R1to0[1].absolute(); +// m_AR[2] = vepsi + m_R1to0[2].absolute(); + + int i,j; + + for(i=0;i<3;i++) + { + for(j=0;j<3;j++ ) + { + m_AR[i][j] = 1e-6f + fabsf(m_R1to0[i][j]); + } + } + + } + + BT_BOX_BOX_TRANSFORM_CACHE() + { + } + + + + //! Calc the transformation relative 1 to 0. Inverts matrics by transposing + SIMD_FORCE_INLINE void calc_from_homogenic(const btTransform & trans0,const btTransform & trans1) + { + + btTransform temp_trans = trans0.inverse(); + temp_trans = temp_trans * trans1; + + m_T1to0 = temp_trans.getOrigin(); + m_R1to0 = temp_trans.getBasis(); + + + calc_absolute_matrix(); + } + + //! Calcs the full invertion of the matrices. Useful for scaling matrices + SIMD_FORCE_INLINE void calc_from_full_invert(const btTransform & trans0,const btTransform & trans1) + { + m_R1to0 = trans0.getBasis().inverse(); + m_T1to0 = m_R1to0 * (-trans0.getOrigin()); + + m_T1to0 += m_R1to0*trans1.getOrigin(); + m_R1to0 *= trans1.getBasis(); + + calc_absolute_matrix(); + } + + SIMD_FORCE_INLINE btVector3 transform(const btVector3 & point) const + { + return btVector3(m_R1to0[0].dot(point) + m_T1to0.x(), + m_R1to0[1].dot(point) + m_T1to0.y(), + m_R1to0[2].dot(point) + m_T1to0.z()); + } +}; + + +#define BOX_PLANE_EPSILON 0.000001f + +//! Axis aligned box +ATTRIBUTE_ALIGNED16 (class) btAABB +{ +public: + btVector3 m_min; + btVector3 m_max; + + btAABB() + {} + + + btAABB(const btVector3 & V1, + const btVector3 & V2, + const btVector3 & V3) + { + m_min[0] = BT_MIN3(V1[0],V2[0],V3[0]); + m_min[1] = BT_MIN3(V1[1],V2[1],V3[1]); + m_min[2] = BT_MIN3(V1[2],V2[2],V3[2]); + + m_max[0] = BT_MAX3(V1[0],V2[0],V3[0]); + m_max[1] = BT_MAX3(V1[1],V2[1],V3[1]); + m_max[2] = BT_MAX3(V1[2],V2[2],V3[2]); + } + + btAABB(const btVector3 & V1, + const btVector3 & V2, + const btVector3 & V3, + btScalar margin) + { + m_min[0] = BT_MIN3(V1[0],V2[0],V3[0]); + m_min[1] = BT_MIN3(V1[1],V2[1],V3[1]); + m_min[2] = BT_MIN3(V1[2],V2[2],V3[2]); + + m_max[0] = BT_MAX3(V1[0],V2[0],V3[0]); + m_max[1] = BT_MAX3(V1[1],V2[1],V3[1]); + m_max[2] = BT_MAX3(V1[2],V2[2],V3[2]); + + m_min[0] -= margin; + m_min[1] -= margin; + m_min[2] -= margin; + m_max[0] += margin; + m_max[1] += margin; + m_max[2] += margin; + } + + btAABB(const btAABB &other): + m_min(other.m_min),m_max(other.m_max) + { + } + + btAABB(const btAABB &other,btScalar margin ): + m_min(other.m_min),m_max(other.m_max) + { + m_min[0] -= margin; + m_min[1] -= margin; + m_min[2] -= margin; + m_max[0] += margin; + m_max[1] += margin; + m_max[2] += margin; + } + + SIMD_FORCE_INLINE void invalidate() + { + m_min[0] = SIMD_INFINITY; + m_min[1] = SIMD_INFINITY; + m_min[2] = SIMD_INFINITY; + m_max[0] = -SIMD_INFINITY; + m_max[1] = -SIMD_INFINITY; + m_max[2] = -SIMD_INFINITY; + } + + SIMD_FORCE_INLINE void increment_margin(btScalar margin) + { + m_min[0] -= margin; + m_min[1] -= margin; + m_min[2] -= margin; + m_max[0] += margin; + m_max[1] += margin; + m_max[2] += margin; + } + + SIMD_FORCE_INLINE void copy_with_margin(const btAABB &other, btScalar margin) + { + m_min[0] = other.m_min[0] - margin; + m_min[1] = other.m_min[1] - margin; + m_min[2] = other.m_min[2] - margin; + + m_max[0] = other.m_max[0] + margin; + m_max[1] = other.m_max[1] + margin; + m_max[2] = other.m_max[2] + margin; + } + + template<typename CLASS_POINT> + SIMD_FORCE_INLINE void calc_from_triangle( + const CLASS_POINT & V1, + const CLASS_POINT & V2, + const CLASS_POINT & V3) + { + m_min[0] = BT_MIN3(V1[0],V2[0],V3[0]); + m_min[1] = BT_MIN3(V1[1],V2[1],V3[1]); + m_min[2] = BT_MIN3(V1[2],V2[2],V3[2]); + + m_max[0] = BT_MAX3(V1[0],V2[0],V3[0]); + m_max[1] = BT_MAX3(V1[1],V2[1],V3[1]); + m_max[2] = BT_MAX3(V1[2],V2[2],V3[2]); + } + + template<typename CLASS_POINT> + SIMD_FORCE_INLINE void calc_from_triangle_margin( + const CLASS_POINT & V1, + const CLASS_POINT & V2, + const CLASS_POINT & V3, btScalar margin) + { + m_min[0] = BT_MIN3(V1[0],V2[0],V3[0]); + m_min[1] = BT_MIN3(V1[1],V2[1],V3[1]); + m_min[2] = BT_MIN3(V1[2],V2[2],V3[2]); + + m_max[0] = BT_MAX3(V1[0],V2[0],V3[0]); + m_max[1] = BT_MAX3(V1[1],V2[1],V3[1]); + m_max[2] = BT_MAX3(V1[2],V2[2],V3[2]); + + m_min[0] -= margin; + m_min[1] -= margin; + m_min[2] -= margin; + m_max[0] += margin; + m_max[1] += margin; + m_max[2] += margin; + } + + //! Apply a transform to an AABB + SIMD_FORCE_INLINE void appy_transform(const btTransform & trans) + { + btVector3 center = (m_max+m_min)*0.5f; + btVector3 extends = m_max - center; + // Compute new center + center = trans(center); + + btVector3 textends(extends.dot(trans.getBasis().getRow(0).absolute()), + extends.dot(trans.getBasis().getRow(1).absolute()), + extends.dot(trans.getBasis().getRow(2).absolute())); + + m_min = center - textends; + m_max = center + textends; + } + + + //! Apply a transform to an AABB + SIMD_FORCE_INLINE void appy_transform_trans_cache(const BT_BOX_BOX_TRANSFORM_CACHE & trans) + { + btVector3 center = (m_max+m_min)*0.5f; + btVector3 extends = m_max - center; + // Compute new center + center = trans.transform(center); + + btVector3 textends(extends.dot(trans.m_R1to0.getRow(0).absolute()), + extends.dot(trans.m_R1to0.getRow(1).absolute()), + extends.dot(trans.m_R1to0.getRow(2).absolute())); + + m_min = center - textends; + m_max = center + textends; + } + + //! Merges a Box + SIMD_FORCE_INLINE void merge(const btAABB & box) + { + m_min[0] = BT_MIN(m_min[0],box.m_min[0]); + m_min[1] = BT_MIN(m_min[1],box.m_min[1]); + m_min[2] = BT_MIN(m_min[2],box.m_min[2]); + + m_max[0] = BT_MAX(m_max[0],box.m_max[0]); + m_max[1] = BT_MAX(m_max[1],box.m_max[1]); + m_max[2] = BT_MAX(m_max[2],box.m_max[2]); + } + + //! Merges a point + template<typename CLASS_POINT> + SIMD_FORCE_INLINE void merge_point(const CLASS_POINT & point) + { + m_min[0] = BT_MIN(m_min[0],point[0]); + m_min[1] = BT_MIN(m_min[1],point[1]); + m_min[2] = BT_MIN(m_min[2],point[2]); + + m_max[0] = BT_MAX(m_max[0],point[0]); + m_max[1] = BT_MAX(m_max[1],point[1]); + m_max[2] = BT_MAX(m_max[2],point[2]); + } + + //! Gets the extend and center + SIMD_FORCE_INLINE void get_center_extend(btVector3 & center,btVector3 & extend) const + { + center = (m_max+m_min)*0.5f; + extend = m_max - center; + } + + //! Finds the intersecting box between this box and the other. + SIMD_FORCE_INLINE void find_intersection(const btAABB & other, btAABB & intersection) const + { + intersection.m_min[0] = BT_MAX(other.m_min[0],m_min[0]); + intersection.m_min[1] = BT_MAX(other.m_min[1],m_min[1]); + intersection.m_min[2] = BT_MAX(other.m_min[2],m_min[2]); + + intersection.m_max[0] = BT_MIN(other.m_max[0],m_max[0]); + intersection.m_max[1] = BT_MIN(other.m_max[1],m_max[1]); + intersection.m_max[2] = BT_MIN(other.m_max[2],m_max[2]); + } + + + SIMD_FORCE_INLINE bool has_collision(const btAABB & other) const + { + if(m_min[0] > other.m_max[0] || + m_max[0] < other.m_min[0] || + m_min[1] > other.m_max[1] || + m_max[1] < other.m_min[1] || + m_min[2] > other.m_max[2] || + m_max[2] < other.m_min[2]) + { + return false; + } + return true; + } + + /*! \brief Finds the Ray intersection parameter. + \param aabb Aligned box + \param vorigin A vec3f with the origin of the ray + \param vdir A vec3f with the direction of the ray + */ + SIMD_FORCE_INLINE bool collide_ray(const btVector3 & vorigin,const btVector3 & vdir) const + { + btVector3 extents,center; + this->get_center_extend(center,extents);; + + btScalar Dx = vorigin[0] - center[0]; + if(BT_GREATER(Dx, extents[0]) && Dx*vdir[0]>=0.0f) return false; + btScalar Dy = vorigin[1] - center[1]; + if(BT_GREATER(Dy, extents[1]) && Dy*vdir[1]>=0.0f) return false; + btScalar Dz = vorigin[2] - center[2]; + if(BT_GREATER(Dz, extents[2]) && Dz*vdir[2]>=0.0f) return false; + + + btScalar f = vdir[1] * Dz - vdir[2] * Dy; + if(btFabs(f) > extents[1]*btFabs(vdir[2]) + extents[2]*btFabs(vdir[1])) return false; + f = vdir[2] * Dx - vdir[0] * Dz; + if(btFabs(f) > extents[0]*btFabs(vdir[2]) + extents[2]*btFabs(vdir[0]))return false; + f = vdir[0] * Dy - vdir[1] * Dx; + if(btFabs(f) > extents[0]*btFabs(vdir[1]) + extents[1]*btFabs(vdir[0]))return false; + return true; + } + + + SIMD_FORCE_INLINE void projection_interval(const btVector3 & direction, btScalar &vmin, btScalar &vmax) const + { + btVector3 center = (m_max+m_min)*0.5f; + btVector3 extend = m_max-center; + + btScalar _fOrigin = direction.dot(center); + btScalar _fMaximumExtent = extend.dot(direction.absolute()); + vmin = _fOrigin - _fMaximumExtent; + vmax = _fOrigin + _fMaximumExtent; + } + + SIMD_FORCE_INLINE eBT_PLANE_INTERSECTION_TYPE plane_classify(const btVector4 &plane) const + { + btScalar _fmin,_fmax; + this->projection_interval(plane,_fmin,_fmax); + + if(plane[3] > _fmax + BOX_PLANE_EPSILON) + { + return BT_CONST_BACK_PLANE; // 0 + } + + if(plane[3]+BOX_PLANE_EPSILON >=_fmin) + { + return BT_CONST_COLLIDE_PLANE; //1 + } + return BT_CONST_FRONT_PLANE;//2 + } + + SIMD_FORCE_INLINE bool overlapping_trans_conservative(const btAABB & box, btTransform & trans1_to_0) const + { + btAABB tbox = box; + tbox.appy_transform(trans1_to_0); + return has_collision(tbox); + } + + SIMD_FORCE_INLINE bool overlapping_trans_conservative2(const btAABB & box, + const BT_BOX_BOX_TRANSFORM_CACHE & trans1_to_0) const + { + btAABB tbox = box; + tbox.appy_transform_trans_cache(trans1_to_0); + return has_collision(tbox); + } + + //! transcache is the transformation cache from box to this AABB + SIMD_FORCE_INLINE bool overlapping_trans_cache( + const btAABB & box,const BT_BOX_BOX_TRANSFORM_CACHE & transcache, bool fulltest) const + { + + //Taken from OPCODE + btVector3 ea,eb;//extends + btVector3 ca,cb;//extends + get_center_extend(ca,ea); + box.get_center_extend(cb,eb); + + + btVector3 T; + btScalar t,t2; + int i; + + // Class I : A's basis vectors + for(i=0;i<3;i++) + { + T[i] = transcache.m_R1to0[i].dot(cb) + transcache.m_T1to0[i] - ca[i]; + t = transcache.m_AR[i].dot(eb) + ea[i]; + if(BT_GREATER(T[i], t)) return false; + } + // Class II : B's basis vectors + for(i=0;i<3;i++) + { + t = bt_mat3_dot_col(transcache.m_R1to0,T,i); + t2 = bt_mat3_dot_col(transcache.m_AR,ea,i) + eb[i]; + if(BT_GREATER(t,t2)) return false; + } + // Class III : 9 cross products + if(fulltest) + { + int j,m,n,o,p,q,r; + for(i=0;i<3;i++) + { + m = (i+1)%3; + n = (i+2)%3; + o = i==0?1:0; + p = i==2?1:2; + for(j=0;j<3;j++) + { + q = j==2?1:2; + r = j==0?1:0; + t = T[n]*transcache.m_R1to0[m][j] - T[m]*transcache.m_R1to0[n][j]; + t2 = ea[o]*transcache.m_AR[p][j] + ea[p]*transcache.m_AR[o][j] + + eb[r]*transcache.m_AR[i][q] + eb[q]*transcache.m_AR[i][r]; + if(BT_GREATER(t,t2)) return false; + } + } + } + return true; + } + + //! Simple test for planes. + SIMD_FORCE_INLINE bool collide_plane( + const btVector4 & plane) const + { + eBT_PLANE_INTERSECTION_TYPE classify = plane_classify(plane); + return (classify == BT_CONST_COLLIDE_PLANE); + } + + //! test for a triangle, with edges + SIMD_FORCE_INLINE bool collide_triangle_exact( + const btVector3 & p1, + const btVector3 & p2, + const btVector3 & p3, + const btVector4 & triangle_plane) const + { + if(!collide_plane(triangle_plane)) return false; + + btVector3 center,extends; + this->get_center_extend(center,extends); + + const btVector3 v1(p1 - center); + const btVector3 v2(p2 - center); + const btVector3 v3(p3 - center); + + //First axis + btVector3 diff(v2 - v1); + btVector3 abs_diff = diff.absolute(); + //Test With X axis + TEST_CROSS_EDGE_BOX_X_AXIS_MCR(diff,abs_diff,v1,v3,extends); + //Test With Y axis + TEST_CROSS_EDGE_BOX_Y_AXIS_MCR(diff,abs_diff,v1,v3,extends); + //Test With Z axis + TEST_CROSS_EDGE_BOX_Z_AXIS_MCR(diff,abs_diff,v1,v3,extends); + + + diff = v3 - v2; + abs_diff = diff.absolute(); + //Test With X axis + TEST_CROSS_EDGE_BOX_X_AXIS_MCR(diff,abs_diff,v2,v1,extends); + //Test With Y axis + TEST_CROSS_EDGE_BOX_Y_AXIS_MCR(diff,abs_diff,v2,v1,extends); + //Test With Z axis + TEST_CROSS_EDGE_BOX_Z_AXIS_MCR(diff,abs_diff,v2,v1,extends); + + diff = v1 - v3; + abs_diff = diff.absolute(); + //Test With X axis + TEST_CROSS_EDGE_BOX_X_AXIS_MCR(diff,abs_diff,v3,v2,extends); + //Test With Y axis + TEST_CROSS_EDGE_BOX_Y_AXIS_MCR(diff,abs_diff,v3,v2,extends); + //Test With Z axis + TEST_CROSS_EDGE_BOX_Z_AXIS_MCR(diff,abs_diff,v3,v2,extends); + + return true; + } +}; + + +//! Compairison of transformation objects +SIMD_FORCE_INLINE bool btCompareTransformsEqual(const btTransform & t1,const btTransform & t2) +{ + if(!(t1.getOrigin() == t2.getOrigin()) ) return false; + + if(!(t1.getBasis().getRow(0) == t2.getBasis().getRow(0)) ) return false; + if(!(t1.getBasis().getRow(1) == t2.getBasis().getRow(1)) ) return false; + if(!(t1.getBasis().getRow(2) == t2.getBasis().getRow(2)) ) return false; + return true; +} + + +//! @} + +#endif // GIM_BOX_COLLISION_H_INCLUDED diff --git a/extern/bullet2/src/BulletCollision/Gimpact/btClipPolygon.h b/extern/bullet2/src/BulletCollision/Gimpact/btClipPolygon.h new file mode 100644 index 00000000000..28c03b7e039 --- /dev/null +++ b/extern/bullet2/src/BulletCollision/Gimpact/btClipPolygon.h @@ -0,0 +1,186 @@ +#ifndef BT_CLIP_POLYGON_H_INCLUDED +#define BT_CLIP_POLYGON_H_INCLUDED + +/*! \file btClipPolygon.h +\author Francisco Len Nßjera +*/ +/* +This source file is part of GIMPACT Library. + +For the latest info, see http://gimpact.sourceforge.net/ + +Copyright (c) 2007 Francisco Leon Najera. C.C. 80087371. +email: projectileman@yahoo.com + + +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 "LinearMath/btTransform.h" +#include "LinearMath/btGeometryUtil.h" + +/*! \addtogroup GEOMETRIC_OPERATIONS +*/ +//! @{ + +SIMD_FORCE_INLINE btScalar bt_distance_point_plane(const btVector4 & plane,const btVector3 &point) +{ + return point.dot(plane) - plane[3]; +} + +/*! Vector blending +Takes two vectors a, b, blends them together*/ +SIMD_FORCE_INLINE void bt_vec_blend(btVector3 &vr, const btVector3 &va,const btVector3 &vb, btScalar blend_factor) +{ + vr = (1-blend_factor)*va + blend_factor*vb; +} + +//! This function calcs the distance from a 3D plane +SIMD_FORCE_INLINE void bt_plane_clip_polygon_collect( + const btVector3 & point0, + const btVector3 & point1, + btScalar dist0, + btScalar dist1, + btVector3 * clipped, + int & clipped_count) +{ + bool _prevclassif = (dist0>SIMD_EPSILON); + bool _classif = (dist1>SIMD_EPSILON); + if(_classif!=_prevclassif) + { + btScalar blendfactor = -dist0/(dist1-dist0); + bt_vec_blend(clipped[clipped_count],point0,point1,blendfactor); + clipped_count++; + } + if(!_classif) + { + clipped[clipped_count] = point1; + clipped_count++; + } +} + + +//! Clips a polygon by a plane +/*! +*\return The count of the clipped counts +*/ +SIMD_FORCE_INLINE int bt_plane_clip_polygon( + const btVector4 & plane, + const btVector3 * polygon_points, + int polygon_point_count, + btVector3 * clipped) +{ + int clipped_count = 0; + + + //clip first point + btScalar firstdist = bt_distance_point_plane(plane,polygon_points[0]);; + if(!(firstdist>SIMD_EPSILON)) + { + clipped[clipped_count] = polygon_points[0]; + clipped_count++; + } + + btScalar olddist = firstdist; + for(int i=1;i<polygon_point_count;i++) + { + btScalar dist = bt_distance_point_plane(plane,polygon_points[i]); + + bt_plane_clip_polygon_collect( + polygon_points[i-1],polygon_points[i], + olddist, + dist, + clipped, + clipped_count); + + + olddist = dist; + } + + //RETURN TO FIRST point + + bt_plane_clip_polygon_collect( + polygon_points[polygon_point_count-1],polygon_points[0], + olddist, + firstdist, + clipped, + clipped_count); + + return clipped_count; +} + +//! Clips a polygon by a plane +/*! +*\param clipped must be an array of 16 points. +*\return The count of the clipped counts +*/ +SIMD_FORCE_INLINE int bt_plane_clip_triangle( + const btVector4 & plane, + const btVector3 & point0, + const btVector3 & point1, + const btVector3& point2, + btVector3 * clipped // an allocated array of 16 points at least + ) +{ + int clipped_count = 0; + + //clip first point0 + btScalar firstdist = bt_distance_point_plane(plane,point0);; + if(!(firstdist>SIMD_EPSILON)) + { + clipped[clipped_count] = point0; + clipped_count++; + } + + // point 1 + btScalar olddist = firstdist; + btScalar dist = bt_distance_point_plane(plane,point1); + + bt_plane_clip_polygon_collect( + point0,point1, + olddist, + dist, + clipped, + clipped_count); + + olddist = dist; + + + // point 2 + dist = bt_distance_point_plane(plane,point2); + + bt_plane_clip_polygon_collect( + point1,point2, + olddist, + dist, + clipped, + clipped_count); + olddist = dist; + + + + //RETURN TO FIRST point0 + bt_plane_clip_polygon_collect( + point2,point0, + olddist, + firstdist, + clipped, + clipped_count); + + return clipped_count; +} + + + + +//! @} + +#endif // GIM_TRI_COLLISION_H_INCLUDED diff --git a/extern/bullet2/src/BulletCollision/Gimpact/btContactProcessing.cpp b/extern/bullet2/src/BulletCollision/Gimpact/btContactProcessing.cpp new file mode 100644 index 00000000000..faba2d8a542 --- /dev/null +++ b/extern/bullet2/src/BulletCollision/Gimpact/btContactProcessing.cpp @@ -0,0 +1,181 @@ + +/* +This source file is part of GIMPACT Library. + +For the latest info, see http://gimpact.sourceforge.net/ + +Copyright (c) 2007 Francisco Leon Najera. C.C. 80087371. +email: projectileman@yahoo.com + + +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 "btContactProcessing.h" + +#define MAX_COINCIDENT 8 + +struct CONTACT_KEY_TOKEN +{ + unsigned int m_key; + int m_value; + CONTACT_KEY_TOKEN() + { + } + + CONTACT_KEY_TOKEN(unsigned int key,int token) + { + m_key = key; + m_value = token; + } + + CONTACT_KEY_TOKEN(const CONTACT_KEY_TOKEN& rtoken) + { + m_key = rtoken.m_key; + m_value = rtoken.m_value; + } + + inline bool operator <(const CONTACT_KEY_TOKEN& other) const + { + return (m_key < other.m_key); + } + + inline bool operator >(const CONTACT_KEY_TOKEN& other) const + { + return (m_key > other.m_key); + } + +}; + +class CONTACT_KEY_TOKEN_COMP +{ + public: + + bool operator() ( const CONTACT_KEY_TOKEN& a, const CONTACT_KEY_TOKEN& b ) + { + return ( a < b ); + } +}; + + +void btContactArray::merge_contacts( + const btContactArray & contacts, bool normal_contact_average) +{ + clear(); + + int i; + if(contacts.size()==0) return; + + + if(contacts.size()==1) + { + push_back(contacts[0]); + return; + } + + btAlignedObjectArray<CONTACT_KEY_TOKEN> keycontacts; + + keycontacts.reserve(contacts.size()); + + //fill key contacts + + for ( i = 0;i<contacts.size() ;i++ ) + { + keycontacts.push_back(CONTACT_KEY_TOKEN(contacts[i].calc_key_contact(),i)); + } + + //sort keys + keycontacts.quickSort(CONTACT_KEY_TOKEN_COMP()); + + // Merge contacts + int coincident_count=0; + btVector3 coincident_normals[MAX_COINCIDENT]; + + unsigned int last_key = keycontacts[0].m_key; + unsigned int key = 0; + + push_back(contacts[keycontacts[0].m_value]); + + BT_CONTACT * pcontact = &(*this)[0]; + + for( i=1;i<keycontacts.size();i++) + { + key = keycontacts[i].m_key; + const BT_CONTACT * scontact = &contacts[keycontacts[i].m_value]; + + if(last_key == key)//same points + { + //merge contact + if(pcontact->m_depth - CONTACT_DIFF_EPSILON > scontact->m_depth)//) + { + *pcontact = *scontact; + coincident_count = 0; + } + else if(normal_contact_average) + { + if(btFabs(pcontact->m_depth - scontact->m_depth)<CONTACT_DIFF_EPSILON) + { + if(coincident_count<MAX_COINCIDENT) + { + coincident_normals[coincident_count] = scontact->m_normal; + coincident_count++; + } + } + } + } + else + {//add new contact + + if(normal_contact_average && coincident_count>0) + { + pcontact->interpolate_normals(coincident_normals,coincident_count); + coincident_count = 0; + } + + push_back(*scontact); + pcontact = &(*this)[this->size()-1]; + } + last_key = key; + } +} + +void btContactArray::merge_contacts_unique(const btContactArray & contacts) +{ + clear(); + + if(contacts.size()==0) return; + + if(contacts.size()==1) + { + push_back(contacts[0]); + return; + } + + BT_CONTACT average_contact = contacts[0]; + + for (int i=1;i<contacts.size() ;i++ ) + { + average_contact.m_point += contacts[i].m_point; + average_contact.m_normal += contacts[i].m_normal * contacts[i].m_depth; + } + + //divide + btScalar divide_average = 1.0f/((btScalar)contacts.size()); + + average_contact.m_point *= divide_average; + + average_contact.m_normal *= divide_average; + + average_contact.m_depth = average_contact.m_normal.length(); + + average_contact.m_normal /= average_contact.m_depth; + +} + diff --git a/extern/bullet2/src/BulletCollision/Gimpact/btContactProcessing.h b/extern/bullet2/src/BulletCollision/Gimpact/btContactProcessing.h new file mode 100644 index 00000000000..0cfd013b962 --- /dev/null +++ b/extern/bullet2/src/BulletCollision/Gimpact/btContactProcessing.h @@ -0,0 +1,149 @@ +#ifndef BT_CONTACT_H_INCLUDED +#define BT_CONTACT_H_INCLUDED + +/*! \file gim_contact.h +\author Francisco Len Nßjera +*/ +/* +This source file is part of GIMPACT Library. + +For the latest info, see http://gimpact.sourceforge.net/ + +Copyright (c) 2007 Francisco Leon Najera. C.C. 80087371. +email: projectileman@yahoo.com + + +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 "LinearMath/btTransform.h" +#include "LinearMath/btAlignedObjectArray.h" +#include "btTriangleShapeEx.h" + + +/*! \defgroup CONTACTS +\brief +Functions for managing and sorting contacts resulting from a collision query. +*/ +//! @{ + +/** +Configuration var for applying interpolation of contact normals +*/ +#define NORMAL_CONTACT_AVERAGE 1 + +#define CONTACT_DIFF_EPSILON 0.00001f + +/// Structure for collision results +class BT_CONTACT +{ +public: + btVector3 m_point; + btVector3 m_normal; + btScalar m_depth;//Positive value indicates interpenetration + btScalar m_distance;//Padding not for use + int m_feature1;//Face number + int m_feature2;//Face number +public: + BT_CONTACT() + { + } + + BT_CONTACT(const BT_CONTACT & contact): + m_point(contact.m_point), + m_normal(contact.m_normal), + m_depth(contact.m_depth), + m_feature1(contact.m_feature1), + m_feature2(contact.m_feature2) + { + } + + BT_CONTACT(const btVector3 &point,const btVector3 & normal, + btScalar depth, int feature1, int feature2): + m_point(point), + m_normal(normal), + m_depth(depth), + m_feature1(feature1), + m_feature2(feature2) + { + } + + //! Calcs key for coord classification + SIMD_FORCE_INLINE unsigned int calc_key_contact() const + { + int _coords[] = { + (int)(m_point[0]*1000.0f+1.0f), + (int)(m_point[1]*1333.0f), + (int)(m_point[2]*2133.0f+3.0f)}; + unsigned int _hash=0; + unsigned int *_uitmp = (unsigned int *)(&_coords[0]); + _hash = *_uitmp; + _uitmp++; + _hash += (*_uitmp)<<4; + _uitmp++; + _hash += (*_uitmp)<<8; + return _hash; + } + + SIMD_FORCE_INLINE void interpolate_normals( btVector3 * normals,int normal_count) + { + btVector3 vec_sum(m_normal); + for(int i=0;i<normal_count;i++) + { + vec_sum += normals[i]; + } + + btScalar vec_sum_len = vec_sum.length2(); + if(vec_sum_len <CONTACT_DIFF_EPSILON) return; + + //GIM_INV_SQRT(vec_sum_len,vec_sum_len); // 1/sqrt(vec_sum_len) + + m_normal = vec_sum/btSqrt(vec_sum_len); + } + +}; + + +class btContactArray:public btAlignedObjectArray<BT_CONTACT> +{ +public: + btContactArray() + { + reserve(64); + } + + SIMD_FORCE_INLINE void push_contact( + const btVector3 &point,const btVector3 & normal, + btScalar depth, int feature1, int feature2) + { + push_back( BT_CONTACT(point,normal,depth,feature1,feature2) ); + } + + SIMD_FORCE_INLINE void push_triangle_contacts( + const BT_TRIANGLE_CONTACT & tricontact, + int feature1,int feature2) + { + for(int i = 0;i<tricontact.m_point_count ;i++ ) + { + push_contact( + tricontact.m_points[i], + tricontact.m_separating_normal, + tricontact.m_penetration_depth,feature1,feature2); + } + } + + void merge_contacts(const btContactArray & contacts, bool normal_contact_average = true); + + void merge_contacts_unique(const btContactArray & contacts); +}; + +//! @} +#endif // GIM_CONTACT_H_INCLUDED diff --git a/extern/bullet2/src/BulletCollision/Gimpact/btGImpactBvh.cpp b/extern/bullet2/src/BulletCollision/Gimpact/btGImpactBvh.cpp new file mode 100644 index 00000000000..b07926c30dc --- /dev/null +++ b/extern/bullet2/src/BulletCollision/Gimpact/btGImpactBvh.cpp @@ -0,0 +1,499 @@ +/*! \file gim_box_set.h +\author Francisco Len Nßjera +*/ +/* +This source file is part of GIMPACT Library. + +For the latest info, see http://gimpact.sourceforge.net/ + +Copyright (c) 2007 Francisco Leon Najera. C.C. 80087371. +email: projectileman@yahoo.com + + +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 "btGImpactBvh.h" +#include "LinearMath/btQuickprof.h" + +#ifdef TRI_COLLISION_PROFILING + +btClock g_tree_clock; + +float g_accum_tree_collision_time = 0; +int g_count_traversing = 0; + + +void bt_begin_gim02_tree_time() +{ + g_tree_clock.reset(); +} + +void bt_end_gim02_tree_time() +{ + g_accum_tree_collision_time += g_tree_clock.getTimeMicroseconds(); + g_count_traversing++; +} + +//! Gets the average time in miliseconds of tree collisions +float btGImpactBvh::getAverageTreeCollisionTime() +{ + if(g_count_traversing == 0) return 0; + + float avgtime = g_accum_tree_collision_time; + avgtime /= (float)g_count_traversing; + + g_accum_tree_collision_time = 0; + g_count_traversing = 0; + return avgtime; + +// float avgtime = g_count_traversing; +// g_count_traversing = 0; +// return avgtime; + +} + +#endif //TRI_COLLISION_PROFILING + +/////////////////////// btBvhTree ///////////////////////////////// + +int btBvhTree::_calc_splitting_axis( + BT_BVH_DATA_ARRAY & primitive_boxes, int startIndex, int endIndex) +{ + + int i; + + btVector3 means(btScalar(0.),btScalar(0.),btScalar(0.)); + btVector3 variance(btScalar(0.),btScalar(0.),btScalar(0.)); + int numIndices = endIndex-startIndex; + + for (i=startIndex;i<endIndex;i++) + { + btVector3 center = btScalar(0.5)*(primitive_boxes[i].m_bound.m_max + + primitive_boxes[i].m_bound.m_min); + means+=center; + } + means *= (btScalar(1.)/(btScalar)numIndices); + + for (i=startIndex;i<endIndex;i++) + { + btVector3 center = btScalar(0.5)*(primitive_boxes[i].m_bound.m_max + + primitive_boxes[i].m_bound.m_min); + btVector3 diff2 = center-means; + diff2 = diff2 * diff2; + variance += diff2; + } + variance *= (btScalar(1.)/ ((btScalar)numIndices-1) ); + + return variance.maxAxis(); +} + + +int btBvhTree::_sort_and_calc_splitting_index( + BT_BVH_DATA_ARRAY & primitive_boxes, int startIndex, + int endIndex, int splitAxis) +{ + int i; + int splitIndex =startIndex; + int numIndices = endIndex - startIndex; + + // average of centers + btScalar splitValue = 0.0f; + + btVector3 means(btScalar(0.),btScalar(0.),btScalar(0.)); + for (i=startIndex;i<endIndex;i++) + { + btVector3 center = btScalar(0.5)*(primitive_boxes[i].m_bound.m_max + + primitive_boxes[i].m_bound.m_min); + means+=center; + } + means *= (btScalar(1.)/(btScalar)numIndices); + + splitValue = means[splitAxis]; + + + //sort leafNodes so all values larger then splitValue comes first, and smaller values start from 'splitIndex'. + for (i=startIndex;i<endIndex;i++) + { + btVector3 center = btScalar(0.5)*(primitive_boxes[i].m_bound.m_max + + primitive_boxes[i].m_bound.m_min); + if (center[splitAxis] > splitValue) + { + //swap + primitive_boxes.swap(i,splitIndex); + //swapLeafNodes(i,splitIndex); + splitIndex++; + } + } + + //if the splitIndex causes unbalanced trees, fix this by using the center in between startIndex and endIndex + //otherwise the tree-building might fail due to stack-overflows in certain cases. + //unbalanced1 is unsafe: it can cause stack overflows + //bool unbalanced1 = ((splitIndex==startIndex) || (splitIndex == (endIndex-1))); + + //unbalanced2 should work too: always use center (perfect balanced trees) + //bool unbalanced2 = true; + + //this should be safe too: + int rangeBalancedIndices = numIndices/3; + bool unbalanced = ((splitIndex<=(startIndex+rangeBalancedIndices)) || (splitIndex >=(endIndex-1-rangeBalancedIndices))); + + if (unbalanced) + { + splitIndex = startIndex+ (numIndices>>1); + } + + bool unbal = (splitIndex==startIndex) || (splitIndex == (endIndex)); + btAssert(!unbal); + + return splitIndex; + +} + + +void btBvhTree::_build_sub_tree(BT_BVH_DATA_ARRAY & primitive_boxes, int startIndex, int endIndex) +{ + int curIndex = m_num_nodes; + m_num_nodes++; + + btAssert((endIndex-startIndex)>0); + + if ((endIndex-startIndex)==1) + { + //We have a leaf node + setNodeBound(curIndex,primitive_boxes[startIndex].m_bound); + m_node_array[curIndex].setDataIndex(primitive_boxes[startIndex].m_data); + + return; + } + //calculate Best Splitting Axis and where to split it. Sort the incoming 'leafNodes' array within range 'startIndex/endIndex'. + + //split axis + int splitIndex = _calc_splitting_axis(primitive_boxes,startIndex,endIndex); + + splitIndex = _sort_and_calc_splitting_index( + primitive_boxes,startIndex,endIndex, + splitIndex//split axis + ); + + + //calc this node bounding box + + btAABB node_bound; + node_bound.invalidate(); + + for (int i=startIndex;i<endIndex;i++) + { + node_bound.merge(primitive_boxes[i].m_bound); + } + + setNodeBound(curIndex,node_bound); + + + //build left branch + _build_sub_tree(primitive_boxes, startIndex, splitIndex ); + + + //build right branch + _build_sub_tree(primitive_boxes, splitIndex ,endIndex); + + m_node_array[curIndex].setEscapeIndex(m_num_nodes - curIndex); + + +} + +//! stackless build tree +void btBvhTree::build_tree( + BT_BVH_DATA_ARRAY & primitive_boxes) +{ + // initialize node count to 0 + m_num_nodes = 0; + // allocate nodes + m_node_array.resize(primitive_boxes.size()*2); + + _build_sub_tree(primitive_boxes, 0, primitive_boxes.size()); +} + +////////////////////////////////////class btGImpactBvh + +void btGImpactBvh::refit() +{ + int nodecount = getNodeCount(); + while(nodecount--) + { + if(isLeafNode(nodecount)) + { + btAABB leafbox; + m_primitive_manager->get_primitive_box(getNodeData(nodecount),leafbox); + setNodeBound(nodecount,leafbox); + } + else + { + //const BT_BVH_TREE_NODE * nodepointer = get_node_pointer(nodecount); + //get left bound + btAABB bound; + bound.invalidate(); + + btAABB temp_box; + + int child_node = getLeftNode(nodecount); + if(child_node) + { + getNodeBound(child_node,temp_box); + bound.merge(temp_box); + } + + child_node = getRightNode(nodecount); + if(child_node) + { + getNodeBound(child_node,temp_box); + bound.merge(temp_box); + } + + setNodeBound(nodecount,bound); + } + } +} + +//! this rebuild the entire set +void btGImpactBvh::buildSet() +{ + //obtain primitive boxes + BT_BVH_DATA_ARRAY primitive_boxes; + primitive_boxes.resize(m_primitive_manager->get_primitive_count()); + + for (int i = 0;i<primitive_boxes.size() ;i++ ) + { + m_primitive_manager->get_primitive_box(i,primitive_boxes[i].m_bound); + primitive_boxes[i].m_data = i; + } + + m_box_tree.build_tree(primitive_boxes); +} + +//! returns the indices of the primitives in the m_primitive_manager +bool btGImpactBvh::boxQuery(const btAABB & box, btAlignedObjectArray<int> & collided_results) const +{ + int curIndex = 0; + int numNodes = getNodeCount(); + + while (curIndex < numNodes) + { + btAABB bound; + getNodeBound(curIndex,bound); + + //catch bugs in tree data + + bool aabbOverlap = bound.has_collision(box); + bool isleafnode = isLeafNode(curIndex); + + if (isleafnode && aabbOverlap) + { + collided_results.push_back(getNodeData(curIndex)); + } + + if (aabbOverlap || isleafnode) + { + //next subnode + curIndex++; + } + else + { + //skip node + curIndex+= getEscapeNodeIndex(curIndex); + } + } + if(collided_results.size()>0) return true; + return false; +} + + + +//! returns the indices of the primitives in the m_primitive_manager +bool btGImpactBvh::rayQuery( + const btVector3 & ray_dir,const btVector3 & ray_origin , + btAlignedObjectArray<int> & collided_results) const +{ + int curIndex = 0; + int numNodes = getNodeCount(); + + while (curIndex < numNodes) + { + btAABB bound; + getNodeBound(curIndex,bound); + + //catch bugs in tree data + + bool aabbOverlap = bound.collide_ray(ray_origin,ray_dir); + bool isleafnode = isLeafNode(curIndex); + + if (isleafnode && aabbOverlap) + { + collided_results.push_back(getNodeData( curIndex)); + } + + if (aabbOverlap || isleafnode) + { + //next subnode + curIndex++; + } + else + { + //skip node + curIndex+= getEscapeNodeIndex(curIndex); + } + } + if(collided_results.size()>0) return true; + return false; +} + + +SIMD_FORCE_INLINE bool _node_collision( + btGImpactBvh * boxset0, btGImpactBvh * boxset1, + const BT_BOX_BOX_TRANSFORM_CACHE & trans_cache_1to0, + int node0 ,int node1, bool complete_primitive_tests) +{ + btAABB box0; + boxset0->getNodeBound(node0,box0); + btAABB box1; + boxset1->getNodeBound(node1,box1); + + return box0.overlapping_trans_cache(box1,trans_cache_1to0,complete_primitive_tests ); +// box1.appy_transform_trans_cache(trans_cache_1to0); +// return box0.has_collision(box1); + +} + + +//stackless recursive collision routine +static void _find_collision_pairs_recursive( + btGImpactBvh * boxset0, btGImpactBvh * boxset1, + btPairSet * collision_pairs, + const BT_BOX_BOX_TRANSFORM_CACHE & trans_cache_1to0, + int node0, int node1, bool complete_primitive_tests) +{ + + + + if( _node_collision( + boxset0,boxset1,trans_cache_1to0, + node0,node1,complete_primitive_tests) ==false) return;//avoid colliding internal nodes + + if(boxset0->isLeafNode(node0)) + { + if(boxset1->isLeafNode(node1)) + { + // collision result + collision_pairs->push_pair( + boxset0->getNodeData(node0),boxset1->getNodeData(node1)); + return; + } + else + { + + //collide left recursive + + _find_collision_pairs_recursive( + boxset0,boxset1, + collision_pairs,trans_cache_1to0, + node0,boxset1->getLeftNode(node1),false); + + //collide right recursive + _find_collision_pairs_recursive( + boxset0,boxset1, + collision_pairs,trans_cache_1to0, + node0,boxset1->getRightNode(node1),false); + + + } + } + else + { + if(boxset1->isLeafNode(node1)) + { + + //collide left recursive + _find_collision_pairs_recursive( + boxset0,boxset1, + collision_pairs,trans_cache_1to0, + boxset0->getLeftNode(node0),node1,false); + + + //collide right recursive + + _find_collision_pairs_recursive( + boxset0,boxset1, + collision_pairs,trans_cache_1to0, + boxset0->getRightNode(node0),node1,false); + + + } + else + { + //collide left0 left1 + + + + _find_collision_pairs_recursive( + boxset0,boxset1, + collision_pairs,trans_cache_1to0, + boxset0->getLeftNode(node0),boxset1->getLeftNode(node1),false); + + //collide left0 right1 + + _find_collision_pairs_recursive( + boxset0,boxset1, + collision_pairs,trans_cache_1to0, + boxset0->getLeftNode(node0),boxset1->getRightNode(node1),false); + + + //collide right0 left1 + + _find_collision_pairs_recursive( + boxset0,boxset1, + collision_pairs,trans_cache_1to0, + boxset0->getRightNode(node0),boxset1->getLeftNode(node1),false); + + //collide right0 right1 + + _find_collision_pairs_recursive( + boxset0,boxset1, + collision_pairs,trans_cache_1to0, + boxset0->getRightNode(node0),boxset1->getRightNode(node1),false); + + }// else if node1 is not a leaf + }// else if node0 is not a leaf +} + + +void btGImpactBvh::find_collision(btGImpactBvh * boxset0, const btTransform & trans0, + btGImpactBvh * boxset1, const btTransform & trans1, + btPairSet & collision_pairs) +{ + + if(boxset0->getNodeCount()==0 || boxset1->getNodeCount()==0 ) return; + + BT_BOX_BOX_TRANSFORM_CACHE trans_cache_1to0; + + trans_cache_1to0.calc_from_homogenic(trans0,trans1); + +#ifdef TRI_COLLISION_PROFILING + bt_begin_gim02_tree_time(); +#endif //TRI_COLLISION_PROFILING + + _find_collision_pairs_recursive( + boxset0,boxset1, + &collision_pairs,trans_cache_1to0,0,0,true); +#ifdef TRI_COLLISION_PROFILING + bt_end_gim02_tree_time(); +#endif //TRI_COLLISION_PROFILING + +} + diff --git a/extern/bullet2/src/BulletCollision/Gimpact/btGImpactBvh.h b/extern/bullet2/src/BulletCollision/Gimpact/btGImpactBvh.h new file mode 100644 index 00000000000..1907efc2463 --- /dev/null +++ b/extern/bullet2/src/BulletCollision/Gimpact/btGImpactBvh.h @@ -0,0 +1,401 @@ +#ifndef GIM_BOX_SET_H_INCLUDED +#define GIM_BOX_SET_H_INCLUDED + +/*! \file gim_box_set.h +\author Francisco Len Nßjera +*/ +/* +This source file is part of GIMPACT Library. + +For the latest info, see http://gimpact.sourceforge.net/ + +Copyright (c) 2007 Francisco Leon Najera. C.C. 80087371. +email: projectileman@yahoo.com + + +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 "LinearMath/btAlignedObjectArray.h" + +#include "btBoxCollision.h" +#include "btTriangleShapeEx.h" + + + +/*! \defgroup BOX_TREES + + + +*/ +//! @{ + + +//! Overlapping pair +struct BT_PAIR +{ + int m_index1; + int m_index2; + BT_PAIR() + {} + + BT_PAIR(const BT_PAIR & p) + { + m_index1 = p.m_index1; + m_index2 = p.m_index2; + } + + BT_PAIR(int index1, int index2) + { + m_index1 = index1; + m_index2 = index2; + } +}; + +//! A pairset array +class btPairSet: public btAlignedObjectArray<BT_PAIR> +{ +public: + btPairSet() + { + reserve(32); + } + inline void push_pair(int index1,int index2) + { + push_back(BT_PAIR(index1,index2)); + } + + inline void push_pair_inv(int index1,int index2) + { + push_back(BT_PAIR(index2,index1)); + } +}; + + + +struct BT_BVH_DATA +{ + btAABB m_bound; + int m_data; +}; + +//! Node Structure for trees +class BT_BVH_TREE_NODE +{ +public: + btAABB m_bound; +protected: + int m_escapeIndexOrDataIndex; +public: + BT_BVH_TREE_NODE() + { + m_escapeIndexOrDataIndex = 0; + } + + SIMD_FORCE_INLINE bool isLeafNode() const + { + //skipindex is negative (internal node), triangleindex >=0 (leafnode) + return (m_escapeIndexOrDataIndex>=0); + } + + SIMD_FORCE_INLINE int getEscapeIndex() const + { + //btAssert(m_escapeIndexOrDataIndex < 0); + return -m_escapeIndexOrDataIndex; + } + + SIMD_FORCE_INLINE void setEscapeIndex(int index) + { + m_escapeIndexOrDataIndex = -index; + } + + SIMD_FORCE_INLINE int getDataIndex() const + { + //btAssert(m_escapeIndexOrDataIndex >= 0); + + return m_escapeIndexOrDataIndex; + } + + SIMD_FORCE_INLINE void setDataIndex(int index) + { + m_escapeIndexOrDataIndex = index; + } + +}; + + +class BT_BVH_DATA_ARRAY:public btAlignedObjectArray<BT_BVH_DATA> +{ +}; + + +class BT_BVH_TREE_NODE_ARRAY:public btAlignedObjectArray<BT_BVH_TREE_NODE> +{ +}; + + + + +//! Basic Box tree structure +class btBvhTree +{ +protected: + int m_num_nodes; + BT_BVH_TREE_NODE_ARRAY m_node_array; +protected: + int _sort_and_calc_splitting_index( + BT_BVH_DATA_ARRAY & primitive_boxes, + int startIndex, int endIndex, int splitAxis); + + int _calc_splitting_axis(BT_BVH_DATA_ARRAY & primitive_boxes, int startIndex, int endIndex); + + void _build_sub_tree(BT_BVH_DATA_ARRAY & primitive_boxes, int startIndex, int endIndex); +public: + btBvhTree() + { + m_num_nodes = 0; + } + + //! prototype functions for box tree management + //!@{ + void build_tree(BT_BVH_DATA_ARRAY & primitive_boxes); + + SIMD_FORCE_INLINE void clearNodes() + { + m_node_array.clear(); + m_num_nodes = 0; + } + + //! node count + SIMD_FORCE_INLINE int getNodeCount() const + { + return m_num_nodes; + } + + //! tells if the node is a leaf + SIMD_FORCE_INLINE bool isLeafNode(int nodeindex) const + { + return m_node_array[nodeindex].isLeafNode(); + } + + SIMD_FORCE_INLINE int getNodeData(int nodeindex) const + { + return m_node_array[nodeindex].getDataIndex(); + } + + SIMD_FORCE_INLINE void getNodeBound(int nodeindex, btAABB & bound) const + { + bound = m_node_array[nodeindex].m_bound; + } + + SIMD_FORCE_INLINE void setNodeBound(int nodeindex, const btAABB & bound) + { + m_node_array[nodeindex].m_bound = bound; + } + + SIMD_FORCE_INLINE int getLeftNode(int nodeindex) const + { + return nodeindex+1; + } + + SIMD_FORCE_INLINE int getRightNode(int nodeindex) const + { + if(m_node_array[nodeindex+1].isLeafNode()) return nodeindex+2; + return nodeindex+1 + m_node_array[nodeindex+1].getEscapeIndex(); + } + + SIMD_FORCE_INLINE int getEscapeNodeIndex(int nodeindex) const + { + return m_node_array[nodeindex].getEscapeIndex(); + } + + SIMD_FORCE_INLINE const BT_BVH_TREE_NODE * get_node_pointer(int index = 0) const + { + return &m_node_array[index]; + } + + //!@} +}; + + +//! Prototype Base class for primitive classification +/*! +This class is a wrapper for primitive collections. +This tells relevant info for the Bounding Box set classes, which take care of space classification. +This class can manage Compound shapes and trimeshes, and if it is managing trimesh then the Hierarchy Bounding Box classes will take advantage of primitive Vs Box overlapping tests for getting optimal results and less Per Box compairisons. +*/ +class btPrimitiveManagerBase +{ +public: + + //! determines if this manager consist on only triangles, which special case will be optimized + virtual bool is_trimesh() const = 0; + virtual int get_primitive_count() const = 0; + virtual void get_primitive_box(int prim_index ,btAABB & primbox) const = 0; + //! retrieves only the points of the triangle, and the collision margin + virtual void get_primitive_triangle(int prim_index,btPrimitiveTriangle & triangle) const= 0; +}; + + +//! Structure for containing Boxes +/*! +This class offers an structure for managing a box tree of primitives. +Requires a Primitive prototype (like btPrimitiveManagerBase ) +*/ +class btGImpactBvh +{ +protected: + btBvhTree m_box_tree; + btPrimitiveManagerBase * m_primitive_manager; + +protected: + //stackless refit + void refit(); +public: + + //! this constructor doesn't build the tree. you must call buildSet + btGImpactBvh() + { + m_primitive_manager = NULL; + } + + //! this constructor doesn't build the tree. you must call buildSet + btGImpactBvh(btPrimitiveManagerBase * primitive_manager) + { + m_primitive_manager = primitive_manager; + } + + SIMD_FORCE_INLINE btAABB getGlobalBox() const + { + btAABB totalbox; + getNodeBound(0, totalbox); + return totalbox; + } + + SIMD_FORCE_INLINE void setPrimitiveManager(btPrimitiveManagerBase * primitive_manager) + { + m_primitive_manager = primitive_manager; + } + + SIMD_FORCE_INLINE btPrimitiveManagerBase * getPrimitiveManager() const + { + return m_primitive_manager; + } + + +//! node manager prototype functions +///@{ + + //! this attemps to refit the box set. + SIMD_FORCE_INLINE void update() + { + refit(); + } + + //! this rebuild the entire set + void buildSet(); + + //! returns the indices of the primitives in the m_primitive_manager + bool boxQuery(const btAABB & box, btAlignedObjectArray<int> & collided_results) const; + + //! returns the indices of the primitives in the m_primitive_manager + SIMD_FORCE_INLINE bool boxQueryTrans(const btAABB & box, + const btTransform & transform, btAlignedObjectArray<int> & collided_results) const + { + btAABB transbox=box; + transbox.appy_transform(transform); + return boxQuery(transbox,collided_results); + } + + //! returns the indices of the primitives in the m_primitive_manager + bool rayQuery( + const btVector3 & ray_dir,const btVector3 & ray_origin , + btAlignedObjectArray<int> & collided_results) const; + + //! tells if this set has hierarcht + SIMD_FORCE_INLINE bool hasHierarchy() const + { + return true; + } + + //! tells if this set is a trimesh + SIMD_FORCE_INLINE bool isTrimesh() const + { + return m_primitive_manager->is_trimesh(); + } + + //! node count + SIMD_FORCE_INLINE int getNodeCount() const + { + return m_box_tree.getNodeCount(); + } + + //! tells if the node is a leaf + SIMD_FORCE_INLINE bool isLeafNode(int nodeindex) const + { + return m_box_tree.isLeafNode(nodeindex); + } + + SIMD_FORCE_INLINE int getNodeData(int nodeindex) const + { + return m_box_tree.getNodeData(nodeindex); + } + + SIMD_FORCE_INLINE void getNodeBound(int nodeindex, btAABB & bound) const + { + m_box_tree.getNodeBound(nodeindex, bound); + } + + SIMD_FORCE_INLINE void setNodeBound(int nodeindex, const btAABB & bound) + { + m_box_tree.setNodeBound(nodeindex, bound); + } + + + SIMD_FORCE_INLINE int getLeftNode(int nodeindex) const + { + return m_box_tree.getLeftNode(nodeindex); + } + + SIMD_FORCE_INLINE int getRightNode(int nodeindex) const + { + return m_box_tree.getRightNode(nodeindex); + } + + SIMD_FORCE_INLINE int getEscapeNodeIndex(int nodeindex) const + { + return m_box_tree.getEscapeNodeIndex(nodeindex); + } + + SIMD_FORCE_INLINE void getNodeTriangle(int nodeindex,btPrimitiveTriangle & triangle) const + { + m_primitive_manager->get_primitive_triangle(getNodeData(nodeindex),triangle); + } + + + SIMD_FORCE_INLINE const BT_BVH_TREE_NODE * get_node_pointer(int index = 0) const + { + return m_box_tree.get_node_pointer(index); + } + +//! @} + + static float getAverageTreeCollisionTime(); + + + static void find_collision(btGImpactBvh * boxset1, const btTransform & trans1, + btGImpactBvh * boxset2, const btTransform & trans2, + btPairSet & collision_pairs); +}; + + +#endif // GIM_BOXPRUNING_H_INCLUDED diff --git a/extern/bullet2/src/BulletCollision/Gimpact/btGImpactCollisionAlgorithm.cpp b/extern/bullet2/src/BulletCollision/Gimpact/btGImpactCollisionAlgorithm.cpp new file mode 100644 index 00000000000..28ad18fbde2 --- /dev/null +++ b/extern/bullet2/src/BulletCollision/Gimpact/btGImpactCollisionAlgorithm.cpp @@ -0,0 +1,896 @@ +/* +This source file is part of GIMPACT Library. + +For the latest info, see http://gimpact.sourceforge.net/ + +Copyright (c) 2007 Francisco Leon Najera. C.C. 80087371. +email: projectileman@yahoo.com + + +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. +*/ +/* +Author: Francisco Len Nßjera +Concave-Concave Collision + +*/ + +#include "BulletCollision/CollisionDispatch/btManifoldResult.h" +#include "LinearMath/btIDebugDraw.h" +#include "BulletCollision/CollisionDispatch/btCollisionObject.h" +#include "BulletCollision/CollisionShapes/btBoxShape.h" +#include "btGImpactCollisionAlgorithm.h" +#include "btContactProcessing.h" +#include "LinearMath/btQuickprof.h" + + +//! Class for accessing the plane equation +class btPlaneShape : public btStaticPlaneShape +{ +public: + + btPlaneShape(const btVector3& v, float f) + :btStaticPlaneShape(v,f) + { + } + + void get_plane_equation(btVector4 &equation) + { + equation[0] = m_planeNormal[0]; + equation[1] = m_planeNormal[1]; + equation[2] = m_planeNormal[2]; + equation[3] = m_planeConstant; + } + + + void get_plane_equation_transformed(const btTransform & trans,btVector4 &equation) + { + equation[0] = trans.getBasis().getRow(0).dot(m_planeNormal); + equation[1] = trans.getBasis().getRow(1).dot(m_planeNormal); + equation[2] = trans.getBasis().getRow(2).dot(m_planeNormal); + equation[3] = trans.getOrigin().dot(m_planeNormal) + m_planeConstant; + } +}; + + + +////////////////////////////////////////////////////////////////////////////////////////////// +#ifdef TRI_COLLISION_PROFILING + +btClock g_triangle_clock; + +float g_accum_triangle_collision_time = 0; +int g_count_triangle_collision = 0; + +void bt_begin_gim02_tri_time() +{ + g_triangle_clock.reset(); +} + +void bt_end_gim02_tri_time() +{ + g_accum_triangle_collision_time += g_triangle_clock.getTimeMicroseconds(); + g_count_triangle_collision++; +} +#endif //TRI_COLLISION_PROFILING +//! Retrieving shapes shapes +/*! +Declared here due of insuficent space on Pool allocators +*/ +//!@{ +class GIM_ShapeRetriever +{ +public: + btGImpactShapeInterface * m_gim_shape; + btTriangleShapeEx m_trishape; + btTetrahedronShapeEx m_tetrashape; + +public: + class ChildShapeRetriever + { + public: + GIM_ShapeRetriever * m_parent; + virtual btCollisionShape * getChildShape(int index) + { + return m_parent->m_gim_shape->getChildShape(index); + } + }; + + class TriangleShapeRetriever:public ChildShapeRetriever + { + public: + + virtual btCollisionShape * getChildShape(int index) + { + m_parent->m_gim_shape->getBulletTriangle(index,m_parent->m_trishape); + return &m_parent->m_trishape; + } + }; + + class TetraShapeRetriever:public ChildShapeRetriever + { + public: + + virtual btCollisionShape * getChildShape(int index) + { + m_parent->m_gim_shape->getBulletTetrahedron(index,m_parent->m_tetrashape); + return &m_parent->m_tetrashape; + } + }; +public: + ChildShapeRetriever m_child_retriever; + TriangleShapeRetriever m_tri_retriever; + TetraShapeRetriever m_tetra_retriever; + ChildShapeRetriever * m_current_retriever; + + GIM_ShapeRetriever(btGImpactShapeInterface * gim_shape) + { + m_gim_shape = gim_shape; + //select retriever + if(m_gim_shape->needsRetrieveTriangles()) + { + m_current_retriever = &m_tri_retriever; + } + else if(m_gim_shape->needsRetrieveTetrahedrons()) + { + m_current_retriever = &m_tetra_retriever; + } + else + { + m_current_retriever = &m_child_retriever; + } + + m_current_retriever->m_parent = this; + } + + btCollisionShape * getChildShape(int index) + { + return m_current_retriever->getChildShape(index); + } + + +}; + + + +//!@} + + +#ifdef TRI_COLLISION_PROFILING + +//! Gets the average time in miliseconds of tree collisions +float btGImpactCollisionAlgorithm::getAverageTreeCollisionTime() +{ + return btGImpactBoxSet::getAverageTreeCollisionTime(); + +} + +//! Gets the average time in miliseconds of triangle collisions +float btGImpactCollisionAlgorithm::getAverageTriangleCollisionTime() +{ + if(g_count_triangle_collision == 0) return 0; + + float avgtime = g_accum_triangle_collision_time; + avgtime /= (float)g_count_triangle_collision; + + g_accum_triangle_collision_time = 0; + g_count_triangle_collision = 0; + + return avgtime; +} + +#endif //TRI_COLLISION_PROFILING + + + +btGImpactCollisionAlgorithm::btGImpactCollisionAlgorithm( const btCollisionAlgorithmConstructionInfo& ci, btCollisionObject* body0,btCollisionObject* body1) +: btCollisionAlgorithm(ci) +{ + m_manifoldPtr = NULL; + m_convex_algorithm = NULL; +} + +btGImpactCollisionAlgorithm::~btGImpactCollisionAlgorithm() +{ + clearCache(); +} + + + + + +void btGImpactCollisionAlgorithm::addContactPoint(btCollisionObject * body0, + btCollisionObject * body1, + const btVector3 & point, + const btVector3 & normal, + btScalar distance) +{ + m_resultOut->setShapeIdentifiers(m_part0,m_triface0,m_part1,m_triface1); + checkManifold(body0,body1); + m_resultOut->addContactPoint(normal,point,distance); +} + + +void btGImpactCollisionAlgorithm::shape_vs_shape_collision( + btCollisionObject * body0, + btCollisionObject * body1, + btCollisionShape * shape0, + btCollisionShape * shape1) +{ + + btCollisionShape* tmpShape0 = body0->getCollisionShape(); + btCollisionShape* tmpShape1 = body1->getCollisionShape(); + + body0->internalSetTemporaryCollisionShape(shape0); + body1->internalSetTemporaryCollisionShape(shape1); + + { + btCollisionAlgorithm* algor = newAlgorithm(body0,body1); + // post : checkManifold is called + + m_resultOut->setShapeIdentifiers(m_part0,m_triface0,m_part1,m_triface1); + + algor->processCollision(body0,body1,*m_dispatchInfo,m_resultOut); + + algor->~btCollisionAlgorithm(); + m_dispatcher->freeCollisionAlgorithm(algor); + } + + body0->internalSetTemporaryCollisionShape(tmpShape0); + body1->internalSetTemporaryCollisionShape(tmpShape1); +} + +void btGImpactCollisionAlgorithm::convex_vs_convex_collision( + btCollisionObject * body0, + btCollisionObject * body1, + btCollisionShape * shape0, + btCollisionShape * shape1) +{ + + btCollisionShape* tmpShape0 = body0->getCollisionShape(); + btCollisionShape* tmpShape1 = body1->getCollisionShape(); + + body0->internalSetTemporaryCollisionShape(shape0); + body1->internalSetTemporaryCollisionShape(shape1); + + + m_resultOut->setShapeIdentifiers(m_part0,m_triface0,m_part1,m_triface1); + + checkConvexAlgorithm(body0,body1); + m_convex_algorithm->processCollision(body0,body1,*m_dispatchInfo,m_resultOut); + + body0->internalSetTemporaryCollisionShape(tmpShape0); + body1->internalSetTemporaryCollisionShape(tmpShape1); + +} + + + + +void btGImpactCollisionAlgorithm::gimpact_vs_gimpact_find_pairs( + const btTransform & trans0, + const btTransform & trans1, + btGImpactShapeInterface * shape0, + btGImpactShapeInterface * shape1,btPairSet & pairset) +{ + if(shape0->hasBoxSet() && shape1->hasBoxSet()) + { + btGImpactBoxSet::find_collision(shape0->getBoxSet(),trans0,shape1->getBoxSet(),trans1,pairset); + } + else + { + btAABB boxshape0; + btAABB boxshape1; + int i = shape0->getNumChildShapes(); + + while(i--) + { + shape0->getChildAabb(i,trans0,boxshape0.m_min,boxshape0.m_max); + + int j = shape1->getNumChildShapes(); + while(j--) + { + shape1->getChildAabb(i,trans1,boxshape1.m_min,boxshape1.m_max); + + if(boxshape1.has_collision(boxshape0)) + { + pairset.push_pair(i,j); + } + } + } + } + + +} + + +void btGImpactCollisionAlgorithm::gimpact_vs_shape_find_pairs( + const btTransform & trans0, + const btTransform & trans1, + btGImpactShapeInterface * shape0, + btCollisionShape * shape1, + btAlignedObjectArray<int> & collided_primitives) +{ + + btAABB boxshape; + + + if(shape0->hasBoxSet()) + { + btTransform trans1to0 = trans0.inverse(); + trans1to0 *= trans1; + + shape1->getAabb(trans1to0,boxshape.m_min,boxshape.m_max); + + shape0->getBoxSet()->boxQuery(boxshape, collided_primitives); + } + else + { + shape1->getAabb(trans1,boxshape.m_min,boxshape.m_max); + + btAABB boxshape0; + int i = shape0->getNumChildShapes(); + + while(i--) + { + shape0->getChildAabb(i,trans0,boxshape0.m_min,boxshape0.m_max); + + if(boxshape.has_collision(boxshape0)) + { + collided_primitives.push_back(i); + } + } + + } + +} + + +void btGImpactCollisionAlgorithm::collide_gjk_triangles(btCollisionObject * body0, + btCollisionObject * body1, + btGImpactMeshShapePart * shape0, + btGImpactMeshShapePart * shape1, + const int * pairs, int pair_count) +{ + btTriangleShapeEx tri0; + btTriangleShapeEx tri1; + + shape0->lockChildShapes(); + shape1->lockChildShapes(); + + const int * pair_pointer = pairs; + + while(pair_count--) + { + + m_triface0 = *(pair_pointer); + m_triface1 = *(pair_pointer+1); + pair_pointer+=2; + + + + shape0->getBulletTriangle(m_triface0,tri0); + shape1->getBulletTriangle(m_triface1,tri1); + + + //collide two convex shapes + if(tri0.overlap_test_conservative(tri1)) + { + convex_vs_convex_collision(body0,body1,&tri0,&tri1); + } + + } + + shape0->unlockChildShapes(); + shape1->unlockChildShapes(); +} + +void btGImpactCollisionAlgorithm::collide_sat_triangles(btCollisionObject * body0, + btCollisionObject * body1, + btGImpactMeshShapePart * shape0, + btGImpactMeshShapePart * shape1, + const int * pairs, int pair_count) +{ + btTransform orgtrans0 = body0->getWorldTransform(); + btTransform orgtrans1 = body1->getWorldTransform(); + + btPrimitiveTriangle ptri0; + btPrimitiveTriangle ptri1; + BT_TRIANGLE_CONTACT contact_data; + + shape0->lockChildShapes(); + shape1->lockChildShapes(); + + const int * pair_pointer = pairs; + + while(pair_count--) + { + + m_triface0 = *(pair_pointer); + m_triface1 = *(pair_pointer+1); + pair_pointer+=2; + + + shape0->getPrimitiveTriangle(m_triface0,ptri0); + shape1->getPrimitiveTriangle(m_triface1,ptri1); + + #ifdef TRI_COLLISION_PROFILING + bt_begin_gim02_tri_time(); + #endif + + ptri0.applyTransform(orgtrans0); + ptri1.applyTransform(orgtrans1); + + + //build planes + ptri0.buildTriPlane(); + ptri1.buildTriPlane(); + // test conservative + + + + if(ptri0.overlap_test_conservative(ptri1)) + { + if(ptri0.find_triangle_collision_clip_method(ptri1,contact_data)) + { + + int j = contact_data.m_point_count; + while(j--) + { + + addContactPoint(body0, body1, + contact_data.m_points[j], + contact_data.m_separating_normal, + -contact_data.m_penetration_depth); + } + } + } + + #ifdef TRI_COLLISION_PROFILING + bt_end_gim02_tri_time(); + #endif + + } + + shape0->unlockChildShapes(); + shape1->unlockChildShapes(); + +} + + +void btGImpactCollisionAlgorithm::gimpact_vs_gimpact( + btCollisionObject * body0, + btCollisionObject * body1, + btGImpactShapeInterface * shape0, + btGImpactShapeInterface * shape1) +{ + + if(shape0->getGImpactShapeType()==CONST_GIMPACT_TRIMESH_SHAPE) + { + btGImpactMeshShape * meshshape0 = static_cast<btGImpactMeshShape *>(shape0); + m_part0 = meshshape0->getMeshPartCount(); + + while(m_part0--) + { + gimpact_vs_gimpact(body0,body1,meshshape0->getMeshPart(m_part0),shape1); + } + + return; + } + + if(shape1->getGImpactShapeType()==CONST_GIMPACT_TRIMESH_SHAPE) + { + btGImpactMeshShape * meshshape1 = static_cast<btGImpactMeshShape *>(shape1); + m_part1 = meshshape1->getMeshPartCount(); + + while(m_part1--) + { + + gimpact_vs_gimpact(body0,body1,shape0,meshshape1->getMeshPart(m_part1)); + + } + + return; + } + + + btTransform orgtrans0 = body0->getWorldTransform(); + btTransform orgtrans1 = body1->getWorldTransform(); + + btPairSet pairset; + + gimpact_vs_gimpact_find_pairs(orgtrans0,orgtrans1,shape0,shape1,pairset); + + if(pairset.size()== 0) return; + + if(shape0->getGImpactShapeType() == CONST_GIMPACT_TRIMESH_SHAPE_PART && + shape1->getGImpactShapeType() == CONST_GIMPACT_TRIMESH_SHAPE_PART) + { + btGImpactMeshShapePart * shapepart0 = static_cast<btGImpactMeshShapePart * >(shape0); + btGImpactMeshShapePart * shapepart1 = static_cast<btGImpactMeshShapePart * >(shape1); + //specialized function + #ifdef BULLET_TRIANGLE_COLLISION + collide_gjk_triangles(body0,body1,shapepart0,shapepart1,&pairset[0].m_index1,pairset.size()); + #else + collide_sat_triangles(body0,body1,shapepart0,shapepart1,&pairset[0].m_index1,pairset.size()); + #endif + + return; + } + + //general function + + shape0->lockChildShapes(); + shape1->lockChildShapes(); + + GIM_ShapeRetriever retriever0(shape0); + GIM_ShapeRetriever retriever1(shape1); + + bool child_has_transform0 = shape0->childrenHasTransform(); + bool child_has_transform1 = shape1->childrenHasTransform(); + + int i = pairset.size(); + while(i--) + { + BT_PAIR * pair = &pairset[i]; + m_triface0 = pair->m_index1; + m_triface1 = pair->m_index2; + btCollisionShape * colshape0 = retriever0.getChildShape(m_triface0); + btCollisionShape * colshape1 = retriever1.getChildShape(m_triface1); + + if(child_has_transform0) + { + body0->setWorldTransform(orgtrans0*shape0->getChildTransform(m_triface0)); + } + + if(child_has_transform1) + { + body1->setWorldTransform(orgtrans1*shape1->getChildTransform(m_triface1)); + } + + //collide two convex shapes + convex_vs_convex_collision(body0,body1,colshape0,colshape1); + + + if(child_has_transform0) + { + body0->setWorldTransform(orgtrans0); + } + + if(child_has_transform1) + { + body1->setWorldTransform(orgtrans1); + } + + } + + shape0->unlockChildShapes(); + shape1->unlockChildShapes(); +} + +void btGImpactCollisionAlgorithm::gimpact_vs_shape(btCollisionObject * body0, + btCollisionObject * body1, + btGImpactShapeInterface * shape0, + btCollisionShape * shape1,bool swapped) +{ + if(shape0->getGImpactShapeType()==CONST_GIMPACT_TRIMESH_SHAPE) + { + btGImpactMeshShape * meshshape0 = static_cast<btGImpactMeshShape *>(shape0); + m_part0 = meshshape0->getMeshPartCount(); + + while(m_part0--) + { + + gimpact_vs_shape(body0, + body1, + meshshape0->getMeshPart(m_part0), + shape1,swapped); + + } + + return; + } + + #ifdef GIMPACT_VS_PLANE_COLLISION + if(shape0->getGImpactShapeType() == CONST_GIMPACT_TRIMESH_SHAPE_PART && + shape1->getShapeType() == STATIC_PLANE_PROXYTYPE) + { + btGImpactMeshShapePart * shapepart = static_cast<btGImpactMeshShapePart *>(shape0); + btStaticPlaneShape * planeshape = static_cast<btStaticPlaneShape * >(shape1); + gimpacttrimeshpart_vs_plane_collision(body0,body1,shapepart,planeshape,swapped); + return; + } + + #endif + + + + if(shape1->isCompound()) + { + btCompoundShape * compoundshape = static_cast<btCompoundShape *>(shape1); + gimpact_vs_compoundshape(body0,body1,shape0,compoundshape,swapped); + return; + } + else if(shape1->isConcave()) + { + btConcaveShape * concaveshape = static_cast<btConcaveShape *>(shape1); + gimpact_vs_concave(body0,body1,shape0,concaveshape,swapped); + return; + } + + + btTransform orgtrans0 = body0->getWorldTransform(); + + btTransform orgtrans1 = body1->getWorldTransform(); + + btAlignedObjectArray<int> collided_results; + + gimpact_vs_shape_find_pairs(orgtrans0,orgtrans1,shape0,shape1,collided_results); + + if(collided_results.size() == 0) return; + + + shape0->lockChildShapes(); + + GIM_ShapeRetriever retriever0(shape0); + + + bool child_has_transform0 = shape0->childrenHasTransform(); + + + int i = collided_results.size(); + + while(i--) + { + int child_index = collided_results[i]; + if(swapped) + m_triface1 = child_index; + else + m_triface0 = child_index; + + btCollisionShape * colshape0 = retriever0.getChildShape(child_index); + + if(child_has_transform0) + { + body0->setWorldTransform(orgtrans0*shape0->getChildTransform(child_index)); + } + + //collide two shapes + if(swapped) + { + shape_vs_shape_collision(body1,body0,shape1,colshape0); + } + else + { + shape_vs_shape_collision(body0,body1,colshape0,shape1); + } + + //restore transforms + if(child_has_transform0) + { + body0->setWorldTransform(orgtrans0); + } + + } + + shape0->unlockChildShapes(); + +} + +void btGImpactCollisionAlgorithm::gimpact_vs_compoundshape(btCollisionObject * body0, + btCollisionObject * body1, + btGImpactShapeInterface * shape0, + btCompoundShape * shape1,bool swapped) +{ + btTransform orgtrans1 = body1->getWorldTransform(); + + int i = shape1->getNumChildShapes(); + while(i--) + { + + btCollisionShape * colshape1 = shape1->getChildShape(i); + btTransform childtrans1 = orgtrans1*shape1->getChildTransform(i); + + body1->setWorldTransform(childtrans1); + + //collide child shape + gimpact_vs_shape(body0, body1, + shape0,colshape1,swapped); + + + //restore transforms + body1->setWorldTransform(orgtrans1); + } +} + +void btGImpactCollisionAlgorithm::gimpacttrimeshpart_vs_plane_collision( + btCollisionObject * body0, + btCollisionObject * body1, + btGImpactMeshShapePart * shape0, + btStaticPlaneShape * shape1,bool swapped) +{ + + + btTransform orgtrans0 = body0->getWorldTransform(); + btTransform orgtrans1 = body1->getWorldTransform(); + + btPlaneShape * planeshape = static_cast<btPlaneShape *>(shape1); + btVector4 plane; + planeshape->get_plane_equation_transformed(orgtrans1,plane); + + //test box against plane + + btAABB tribox; + shape0->getAabb(orgtrans0,tribox.m_min,tribox.m_max); + tribox.increment_margin(planeshape->getMargin()); + + if( tribox.plane_classify(plane)!= BT_CONST_COLLIDE_PLANE) return; + + shape0->lockChildShapes(); + + btScalar margin = shape0->getMargin() + planeshape->getMargin(); + + btVector3 vertex; + int vi = shape0->getVertexCount(); + while(vi--) + { + shape0->getVertex(vi,vertex); + vertex = orgtrans0(vertex); + + btScalar distance = vertex.dot(plane) - plane[3] - margin; + + if(distance<0.0)//add contact + { + if(swapped) + { + addContactPoint(body1, body0, + vertex, + -plane, + distance); + } + else + { + addContactPoint(body0, body1, + vertex, + plane, + distance); + } + } + } + + shape0->unlockChildShapes(); +} + + + + +class btGImpactTriangleCallback: public btTriangleCallback +{ +public: + btGImpactCollisionAlgorithm * algorithm; + btCollisionObject * body0; + btCollisionObject * body1; + btGImpactShapeInterface * gimpactshape0; + bool swapped; + btScalar margin; + + virtual void processTriangle(btVector3* triangle, int partId, int triangleIndex) + { + btTriangleShapeEx tri1(triangle[0],triangle[1],triangle[2]); + tri1.setMargin(margin); + if(swapped) + { + algorithm->setPart0(partId); + algorithm->setFace0(triangleIndex); + } + else + { + algorithm->setPart1(partId); + algorithm->setFace1(triangleIndex); + } + algorithm->gimpact_vs_shape( + body0,body1,gimpactshape0,&tri1,swapped); + } +}; + + + + +void btGImpactCollisionAlgorithm::gimpact_vs_concave( + btCollisionObject * body0, + btCollisionObject * body1, + btGImpactShapeInterface * shape0, + btConcaveShape * shape1,bool swapped) +{ + //create the callback + btGImpactTriangleCallback tricallback; + tricallback.algorithm = this; + tricallback.body0 = body0; + tricallback.body1 = body1; + tricallback.gimpactshape0 = shape0; + tricallback.swapped = swapped; + tricallback.margin = shape1->getMargin(); + + //getting the trimesh AABB + btTransform gimpactInConcaveSpace; + + gimpactInConcaveSpace = body1->getWorldTransform().inverse() * body0->getWorldTransform(); + + btVector3 minAABB,maxAABB; + shape0->getAabb(gimpactInConcaveSpace,minAABB,maxAABB); + + shape1->processAllTriangles(&tricallback,minAABB,maxAABB); + +} + + + +void btGImpactCollisionAlgorithm::processCollision (btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut) +{ + clearCache(); + + m_resultOut = resultOut; + m_dispatchInfo = &dispatchInfo; + btGImpactShapeInterface * gimpactshape0; + btGImpactShapeInterface * gimpactshape1; + + if (body0->getCollisionShape()->getShapeType()==GIMPACT_SHAPE_PROXYTYPE) + { + gimpactshape0 = static_cast<btGImpactShapeInterface *>(body0->getCollisionShape()); + + if( body1->getCollisionShape()->getShapeType()==GIMPACT_SHAPE_PROXYTYPE ) + { + gimpactshape1 = static_cast<btGImpactShapeInterface *>(body1->getCollisionShape()); + + gimpact_vs_gimpact(body0,body1,gimpactshape0,gimpactshape1); + } + else + { + gimpact_vs_shape(body0,body1,gimpactshape0,body1->getCollisionShape(),false); + } + + } + else if (body1->getCollisionShape()->getShapeType()==GIMPACT_SHAPE_PROXYTYPE ) + { + gimpactshape1 = static_cast<btGImpactShapeInterface *>(body1->getCollisionShape()); + + gimpact_vs_shape(body1,body0,gimpactshape1,body0->getCollisionShape(),true); + } +} + + +btScalar btGImpactCollisionAlgorithm::calculateTimeOfImpact(btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut) +{ + return 1.f; + +} + +///////////////////////////////////// REGISTERING ALGORITHM ////////////////////////////////////////////// + +btGImpactCollisionAlgorithm::CreateFunc g_gimpact_cf; + +//! Use this function for register the algorithm externally +void btGImpactCollisionAlgorithm::registerAlgorithm(btCollisionDispatcher * dispatcher) +{ + + int i; + + for ( i = 0;i < MAX_BROADPHASE_COLLISION_TYPES ;i++ ) + { + dispatcher->registerCollisionCreateFunc(GIMPACT_SHAPE_PROXYTYPE,i ,&g_gimpact_cf); + } + + for ( i = 0;i < MAX_BROADPHASE_COLLISION_TYPES ;i++ ) + { + dispatcher->registerCollisionCreateFunc(i,GIMPACT_SHAPE_PROXYTYPE ,&g_gimpact_cf); + } + +} diff --git a/extern/bullet2/src/BulletCollision/Gimpact/btGImpactCollisionAlgorithm.h b/extern/bullet2/src/BulletCollision/Gimpact/btGImpactCollisionAlgorithm.h new file mode 100644 index 00000000000..c745b7ed5d8 --- /dev/null +++ b/extern/bullet2/src/BulletCollision/Gimpact/btGImpactCollisionAlgorithm.h @@ -0,0 +1,306 @@ +/*! \file btGImpactShape.h +\author Francisco Len Nßjera +*/ +/* +This source file is part of GIMPACT Library. + +For the latest info, see http://gimpact.sourceforge.net/ + +Copyright (c) 2007 Francisco Leon Najera. C.C. 80087371. +email: projectileman@yahoo.com + + +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 BVH_CONCAVE_COLLISION_ALGORITHM_H +#define BVH_CONCAVE_COLLISION_ALGORITHM_H + +#include "BulletCollision/BroadphaseCollision/btCollisionAlgorithm.h" +#include "BulletCollision/BroadphaseCollision/btDispatcher.h" +#include "BulletCollision/BroadphaseCollision/btBroadphaseInterface.h" +#include "BulletCollision/NarrowPhaseCollision/btPersistentManifold.h" +class btDispatcher; +#include "BulletCollision/BroadphaseCollision/btBroadphaseProxy.h" +#include "BulletCollision/CollisionDispatch/btCollisionCreateFunc.h" +#include "BulletCollision/CollisionDispatch/btCollisionDispatcher.h" + +#include "LinearMath/btAlignedObjectArray.h" + +#include "btGImpactShape.h" +#include "BulletCollision/CollisionShapes/btStaticPlaneShape.h" +#include "BulletCollision/CollisionShapes/btCompoundShape.h" +#include "BulletCollision/CollisionDispatch/btConvexConvexAlgorithm.h" +#include "LinearMath/btIDebugDraw.h" + + + +//! Collision Algorithm for GImpact Shapes +/*! +For register this algorithm in Bullet, proceed as following: + \code +btCollisionDispatcher * dispatcher = static_cast<btCollisionDispatcher *>(m_dynamicsWorld ->getDispatcher()); +btGImpactCollisionAlgorithm::registerAlgorithm(dispatcher); + \endcode +*/ +class btGImpactCollisionAlgorithm : public btCollisionAlgorithm +{ +protected: + btCollisionAlgorithm * m_convex_algorithm; + btPersistentManifold * m_manifoldPtr; + btManifoldResult* m_resultOut; + const btDispatcherInfo * m_dispatchInfo; + int m_triface0; + int m_part0; + int m_triface1; + int m_part1; + + + //! Creates a new contact point + SIMD_FORCE_INLINE btPersistentManifold* newContactManifold(btCollisionObject* body0,btCollisionObject* body1) + { + m_manifoldPtr = m_dispatcher->getNewManifold(body0,body1); + return m_manifoldPtr; + } + + SIMD_FORCE_INLINE void destroyConvexAlgorithm() + { + if(m_convex_algorithm) + { + m_convex_algorithm->~btCollisionAlgorithm(); + m_dispatcher->freeCollisionAlgorithm( m_convex_algorithm); + m_convex_algorithm = NULL; + } + } + + SIMD_FORCE_INLINE void destroyContactManifolds() + { + if(m_manifoldPtr == NULL) return; + m_dispatcher->releaseManifold(m_manifoldPtr); + m_manifoldPtr = NULL; + } + + SIMD_FORCE_INLINE void clearCache() + { + destroyContactManifolds(); + destroyConvexAlgorithm(); + + m_triface0 = -1; + m_part0 = -1; + m_triface1 = -1; + m_part1 = -1; + } + + SIMD_FORCE_INLINE btPersistentManifold* getLastManifold() + { + return m_manifoldPtr; + } + + + // Call before process collision + SIMD_FORCE_INLINE void checkManifold(btCollisionObject* body0,btCollisionObject* body1) + { + if(getLastManifold() == 0) + { + newContactManifold(body0,body1); + } + + m_resultOut->setPersistentManifold(getLastManifold()); + } + + // Call before process collision + SIMD_FORCE_INLINE btCollisionAlgorithm * newAlgorithm(btCollisionObject* body0,btCollisionObject* body1) + { + checkManifold(body0,body1); + + btCollisionAlgorithm * convex_algorithm = m_dispatcher->findAlgorithm( + body0,body1,getLastManifold()); + return convex_algorithm ; + } + + // Call before process collision + SIMD_FORCE_INLINE void checkConvexAlgorithm(btCollisionObject* body0,btCollisionObject* body1) + { + if(m_convex_algorithm) return; + m_convex_algorithm = newAlgorithm(body0,body1); + } + + + + + void addContactPoint(btCollisionObject * body0, + btCollisionObject * body1, + const btVector3 & point, + const btVector3 & normal, + btScalar distance); + +//! Collision routines +//!@{ + + void collide_gjk_triangles(btCollisionObject * body0, + btCollisionObject * body1, + btGImpactMeshShapePart * shape0, + btGImpactMeshShapePart * shape1, + const int * pairs, int pair_count); + + void collide_sat_triangles(btCollisionObject * body0, + btCollisionObject * body1, + btGImpactMeshShapePart * shape0, + btGImpactMeshShapePart * shape1, + const int * pairs, int pair_count); + + + + + void shape_vs_shape_collision( + btCollisionObject * body0, + btCollisionObject * body1, + btCollisionShape * shape0, + btCollisionShape * shape1); + + void convex_vs_convex_collision(btCollisionObject * body0, + btCollisionObject * body1, + btCollisionShape * shape0, + btCollisionShape * shape1); + + + + void gimpact_vs_gimpact_find_pairs( + const btTransform & trans0, + const btTransform & trans1, + btGImpactShapeInterface * shape0, + btGImpactShapeInterface * shape1,btPairSet & pairset); + + void gimpact_vs_shape_find_pairs( + const btTransform & trans0, + const btTransform & trans1, + btGImpactShapeInterface * shape0, + btCollisionShape * shape1, + btAlignedObjectArray<int> & collided_primitives); + + + void gimpacttrimeshpart_vs_plane_collision( + btCollisionObject * body0, + btCollisionObject * body1, + btGImpactMeshShapePart * shape0, + btStaticPlaneShape * shape1,bool swapped); + + +public: + + btGImpactCollisionAlgorithm( const btCollisionAlgorithmConstructionInfo& ci,btCollisionObject* body0,btCollisionObject* body1); + + virtual ~btGImpactCollisionAlgorithm(); + + virtual void processCollision (btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut); + + btScalar calculateTimeOfImpact(btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut); + + virtual void getAllContactManifolds(btManifoldArray& manifoldArray) + { + if (m_manifoldPtr) + manifoldArray.push_back(m_manifoldPtr); + } + + + struct CreateFunc :public btCollisionAlgorithmCreateFunc + { + virtual btCollisionAlgorithm* CreateCollisionAlgorithm(btCollisionAlgorithmConstructionInfo& ci, btCollisionObject* body0,btCollisionObject* body1) + { + void* mem = ci.m_dispatcher1->allocateCollisionAlgorithm(sizeof(btGImpactCollisionAlgorithm)); + return new(mem) btGImpactCollisionAlgorithm(ci,body0,body1); + } + }; + + //! Use this function for register the algorithm externally + static void registerAlgorithm(btCollisionDispatcher * dispatcher); + + //! Gets the average time in miliseconds of tree collisions + static float getAverageTreeCollisionTime(); + + //! Gets the average time in miliseconds of triangle collisions + static float getAverageTriangleCollisionTime(); + + + //! Collides two gimpact shapes + /*! + \pre shape0 and shape1 couldn't be btGImpactMeshShape objects + */ + + + void gimpact_vs_gimpact(btCollisionObject * body0, + btCollisionObject * body1, + btGImpactShapeInterface * shape0, + btGImpactShapeInterface * shape1); + + void gimpact_vs_shape(btCollisionObject * body0, + btCollisionObject * body1, + btGImpactShapeInterface * shape0, + btCollisionShape * shape1,bool swapped); + + void gimpact_vs_compoundshape(btCollisionObject * body0, + btCollisionObject * body1, + btGImpactShapeInterface * shape0, + btCompoundShape * shape1,bool swapped); + + void gimpact_vs_concave( + btCollisionObject * body0, + btCollisionObject * body1, + btGImpactShapeInterface * shape0, + btConcaveShape * shape1,bool swapped); + + + + + /// Accessor/Mutator pairs for Part and triangleID + void setFace0(int value) + { + m_triface0 = value; + } + int getFace0() + { + return m_triface0; + } + void setFace1(int value) + { + m_triface1 = value; + } + int getFace1() + { + return m_triface1; + } + void setPart0(int value) + { + m_part0 = value; + } + int getPart0() + { + return m_part0; + } + void setPart1(int value) + { + m_part1 = value; + } + int getPart1() + { + return m_part1; + } + +}; + + +//algorithm details +//#define BULLET_TRIANGLE_COLLISION 1 +#define GIMPACT_VS_PLANE_COLLISION 1 + + + +#endif //BVH_CONCAVE_COLLISION_ALGORITHM_H diff --git a/extern/bullet2/src/BulletCollision/Gimpact/btGImpactMassUtil.h b/extern/bullet2/src/BulletCollision/Gimpact/btGImpactMassUtil.h new file mode 100644 index 00000000000..0a10f3cdb7b --- /dev/null +++ b/extern/bullet2/src/BulletCollision/Gimpact/btGImpactMassUtil.h @@ -0,0 +1,60 @@ +/*! \file btGImpactMassUtil.h +\author Francisco Len Nßjera +*/ +/* +This source file is part of GIMPACT Library. + +For the latest info, see http://gimpact.sourceforge.net/ + +Copyright (c) 2007 Francisco Leon Najera. C.C. 80087371. +email: projectileman@yahoo.com + + +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 GIMPACT_MASS_UTIL_H +#define GIMPACT_MASS_UTIL_H + +#include "LinearMath/btTransform.h" + + + +SIMD_FORCE_INLINE btVector3 gim_inertia_add_transformed( + const btVector3 & source_inertia, const btVector3 & added_inertia, const btTransform & transform) +{ + btMatrix3x3 rotatedTensor = transform.getBasis().scaled(added_inertia) * transform.getBasis().transpose(); + + btScalar x2 = transform.getOrigin()[0]; + x2*= x2; + btScalar y2 = transform.getOrigin()[1]; + y2*= y2; + btScalar z2 = transform.getOrigin()[2]; + z2*= z2; + + btScalar ix = rotatedTensor[0][0]*(y2+z2); + btScalar iy = rotatedTensor[1][1]*(x2+z2); + btScalar iz = rotatedTensor[2][2]*(x2+y2); + + return btVector3(source_inertia[0]+ix,source_inertia[1]+iy,source_inertia[2] + iz); +} + +SIMD_FORCE_INLINE btVector3 gim_get_point_inertia(const btVector3 & point, btScalar mass) +{ + btScalar x2 = point[0]*point[0]; + btScalar y2 = point[1]*point[1]; + btScalar z2 = point[2]*point[2]; + return btVector3(mass*(y2+z2),mass*(x2+z2),mass*(x2+y2)); +} + + +#endif //GIMPACT_MESH_SHAPE_H diff --git a/extern/bullet2/src/BulletCollision/Gimpact/btGImpactQuantizedBvh.cpp b/extern/bullet2/src/BulletCollision/Gimpact/btGImpactQuantizedBvh.cpp new file mode 100644 index 00000000000..0b1ef6acd83 --- /dev/null +++ b/extern/bullet2/src/BulletCollision/Gimpact/btGImpactQuantizedBvh.cpp @@ -0,0 +1,529 @@ +/*! \file gim_box_set.h +\author Francisco Len Nßjera +*/ +/* +This source file is part of GIMPACT Library. + +For the latest info, see http://gimpact.sourceforge.net/ + +Copyright (c) 2007 Francisco Leon Najera. C.C. 80087371. +email: projectileman@yahoo.com + + +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 "btGImpactQuantizedBvh.h" +#include "LinearMath/btQuickprof.h" + +#ifdef TRI_COLLISION_PROFILING +btClock g_q_tree_clock; + + +float g_q_accum_tree_collision_time = 0; +int g_q_count_traversing = 0; + + +void bt_begin_gim02_q_tree_time() +{ + g_q_tree_clock.reset(); +} + +void bt_end_gim02_q_tree_time() +{ + g_q_accum_tree_collision_time += g_q_tree_clock.getTimeMicroseconds(); + g_q_count_traversing++; +} + + +//! Gets the average time in miliseconds of tree collisions +float btGImpactQuantizedBvh::getAverageTreeCollisionTime() +{ + if(g_q_count_traversing == 0) return 0; + + float avgtime = g_q_accum_tree_collision_time; + avgtime /= (float)g_q_count_traversing; + + g_q_accum_tree_collision_time = 0; + g_q_count_traversing = 0; + return avgtime; + +// float avgtime = g_q_count_traversing; +// g_q_count_traversing = 0; +// return avgtime; + +} + +#endif //TRI_COLLISION_PROFILING + +/////////////////////// btQuantizedBvhTree ///////////////////////////////// + +void btQuantizedBvhTree::calc_quantization( + BT_BVH_DATA_ARRAY & primitive_boxes, btScalar boundMargin) +{ + //calc globa box + btAABB global_bound; + global_bound.invalidate(); + + for (int i=0;i<primitive_boxes.size() ;i++ ) + { + global_bound.merge(primitive_boxes[i].m_bound); + } + + bt_calc_quantization_parameters( + m_global_bound.m_min,m_global_bound.m_max,m_bvhQuantization,global_bound.m_min,global_bound.m_max,boundMargin); + +} + + + +int btQuantizedBvhTree::_calc_splitting_axis( + BT_BVH_DATA_ARRAY & primitive_boxes, int startIndex, int endIndex) +{ + + int i; + + btVector3 means(btScalar(0.),btScalar(0.),btScalar(0.)); + btVector3 variance(btScalar(0.),btScalar(0.),btScalar(0.)); + int numIndices = endIndex-startIndex; + + for (i=startIndex;i<endIndex;i++) + { + btVector3 center = btScalar(0.5)*(primitive_boxes[i].m_bound.m_max + + primitive_boxes[i].m_bound.m_min); + means+=center; + } + means *= (btScalar(1.)/(btScalar)numIndices); + + for (i=startIndex;i<endIndex;i++) + { + btVector3 center = btScalar(0.5)*(primitive_boxes[i].m_bound.m_max + + primitive_boxes[i].m_bound.m_min); + btVector3 diff2 = center-means; + diff2 = diff2 * diff2; + variance += diff2; + } + variance *= (btScalar(1.)/ ((btScalar)numIndices-1) ); + + return variance.maxAxis(); +} + + +int btQuantizedBvhTree::_sort_and_calc_splitting_index( + BT_BVH_DATA_ARRAY & primitive_boxes, int startIndex, + int endIndex, int splitAxis) +{ + int i; + int splitIndex =startIndex; + int numIndices = endIndex - startIndex; + + // average of centers + btScalar splitValue = 0.0f; + + btVector3 means(btScalar(0.),btScalar(0.),btScalar(0.)); + for (i=startIndex;i<endIndex;i++) + { + btVector3 center = btScalar(0.5)*(primitive_boxes[i].m_bound.m_max + + primitive_boxes[i].m_bound.m_min); + means+=center; + } + means *= (btScalar(1.)/(btScalar)numIndices); + + splitValue = means[splitAxis]; + + + //sort leafNodes so all values larger then splitValue comes first, and smaller values start from 'splitIndex'. + for (i=startIndex;i<endIndex;i++) + { + btVector3 center = btScalar(0.5)*(primitive_boxes[i].m_bound.m_max + + primitive_boxes[i].m_bound.m_min); + if (center[splitAxis] > splitValue) + { + //swap + primitive_boxes.swap(i,splitIndex); + //swapLeafNodes(i,splitIndex); + splitIndex++; + } + } + + //if the splitIndex causes unbalanced trees, fix this by using the center in between startIndex and endIndex + //otherwise the tree-building might fail due to stack-overflows in certain cases. + //unbalanced1 is unsafe: it can cause stack overflows + //bool unbalanced1 = ((splitIndex==startIndex) || (splitIndex == (endIndex-1))); + + //unbalanced2 should work too: always use center (perfect balanced trees) + //bool unbalanced2 = true; + + //this should be safe too: + int rangeBalancedIndices = numIndices/3; + bool unbalanced = ((splitIndex<=(startIndex+rangeBalancedIndices)) || (splitIndex >=(endIndex-1-rangeBalancedIndices))); + + if (unbalanced) + { + splitIndex = startIndex+ (numIndices>>1); + } + + bool unbal = (splitIndex==startIndex) || (splitIndex == (endIndex)); + btAssert(!unbal); + + return splitIndex; + +} + + +void btQuantizedBvhTree::_build_sub_tree(BT_BVH_DATA_ARRAY & primitive_boxes, int startIndex, int endIndex) +{ + int curIndex = m_num_nodes; + m_num_nodes++; + + btAssert((endIndex-startIndex)>0); + + if ((endIndex-startIndex)==1) + { + //We have a leaf node + setNodeBound(curIndex,primitive_boxes[startIndex].m_bound); + m_node_array[curIndex].setDataIndex(primitive_boxes[startIndex].m_data); + + return; + } + //calculate Best Splitting Axis and where to split it. Sort the incoming 'leafNodes' array within range 'startIndex/endIndex'. + + //split axis + int splitIndex = _calc_splitting_axis(primitive_boxes,startIndex,endIndex); + + splitIndex = _sort_and_calc_splitting_index( + primitive_boxes,startIndex,endIndex, + splitIndex//split axis + ); + + + //calc this node bounding box + + btAABB node_bound; + node_bound.invalidate(); + + for (int i=startIndex;i<endIndex;i++) + { + node_bound.merge(primitive_boxes[i].m_bound); + } + + setNodeBound(curIndex,node_bound); + + + //build left branch + _build_sub_tree(primitive_boxes, startIndex, splitIndex ); + + + //build right branch + _build_sub_tree(primitive_boxes, splitIndex ,endIndex); + + m_node_array[curIndex].setEscapeIndex(m_num_nodes - curIndex); + + +} + +//! stackless build tree +void btQuantizedBvhTree::build_tree( + BT_BVH_DATA_ARRAY & primitive_boxes) +{ + calc_quantization(primitive_boxes); + // initialize node count to 0 + m_num_nodes = 0; + // allocate nodes + m_node_array.resize(primitive_boxes.size()*2); + + _build_sub_tree(primitive_boxes, 0, primitive_boxes.size()); +} + +////////////////////////////////////class btGImpactQuantizedBvh + +void btGImpactQuantizedBvh::refit() +{ + int nodecount = getNodeCount(); + while(nodecount--) + { + if(isLeafNode(nodecount)) + { + btAABB leafbox; + m_primitive_manager->get_primitive_box(getNodeData(nodecount),leafbox); + setNodeBound(nodecount,leafbox); + } + else + { + //const BT_BVH_TREE_NODE * nodepointer = get_node_pointer(nodecount); + //get left bound + btAABB bound; + bound.invalidate(); + + btAABB temp_box; + + int child_node = getLeftNode(nodecount); + if(child_node) + { + getNodeBound(child_node,temp_box); + bound.merge(temp_box); + } + + child_node = getRightNode(nodecount); + if(child_node) + { + getNodeBound(child_node,temp_box); + bound.merge(temp_box); + } + + setNodeBound(nodecount,bound); + } + } +} + +//! this rebuild the entire set +void btGImpactQuantizedBvh::buildSet() +{ + //obtain primitive boxes + BT_BVH_DATA_ARRAY primitive_boxes; + primitive_boxes.resize(m_primitive_manager->get_primitive_count()); + + for (int i = 0;i<primitive_boxes.size() ;i++ ) + { + m_primitive_manager->get_primitive_box(i,primitive_boxes[i].m_bound); + primitive_boxes[i].m_data = i; + } + + m_box_tree.build_tree(primitive_boxes); +} + +//! returns the indices of the primitives in the m_primitive_manager +bool btGImpactQuantizedBvh::boxQuery(const btAABB & box, btAlignedObjectArray<int> & collided_results) const +{ + int curIndex = 0; + int numNodes = getNodeCount(); + + //quantize box + + unsigned short quantizedMin[3]; + unsigned short quantizedMax[3]; + + m_box_tree.quantizePoint(quantizedMin,box.m_min); + m_box_tree.quantizePoint(quantizedMax,box.m_max); + + + while (curIndex < numNodes) + { + + //catch bugs in tree data + + bool aabbOverlap = m_box_tree.testQuantizedBoxOverlapp(curIndex, quantizedMin,quantizedMax); + bool isleafnode = isLeafNode(curIndex); + + if (isleafnode && aabbOverlap) + { + collided_results.push_back(getNodeData(curIndex)); + } + + if (aabbOverlap || isleafnode) + { + //next subnode + curIndex++; + } + else + { + //skip node + curIndex+= getEscapeNodeIndex(curIndex); + } + } + if(collided_results.size()>0) return true; + return false; +} + + + +//! returns the indices of the primitives in the m_primitive_manager +bool btGImpactQuantizedBvh::rayQuery( + const btVector3 & ray_dir,const btVector3 & ray_origin , + btAlignedObjectArray<int> & collided_results) const +{ + int curIndex = 0; + int numNodes = getNodeCount(); + + while (curIndex < numNodes) + { + btAABB bound; + getNodeBound(curIndex,bound); + + //catch bugs in tree data + + bool aabbOverlap = bound.collide_ray(ray_origin,ray_dir); + bool isleafnode = isLeafNode(curIndex); + + if (isleafnode && aabbOverlap) + { + collided_results.push_back(getNodeData( curIndex)); + } + + if (aabbOverlap || isleafnode) + { + //next subnode + curIndex++; + } + else + { + //skip node + curIndex+= getEscapeNodeIndex(curIndex); + } + } + if(collided_results.size()>0) return true; + return false; +} + + +SIMD_FORCE_INLINE bool _quantized_node_collision( + btGImpactQuantizedBvh * boxset0, btGImpactQuantizedBvh * boxset1, + const BT_BOX_BOX_TRANSFORM_CACHE & trans_cache_1to0, + int node0 ,int node1, bool complete_primitive_tests) +{ + btAABB box0; + boxset0->getNodeBound(node0,box0); + btAABB box1; + boxset1->getNodeBound(node1,box1); + + return box0.overlapping_trans_cache(box1,trans_cache_1to0,complete_primitive_tests ); +// box1.appy_transform_trans_cache(trans_cache_1to0); +// return box0.has_collision(box1); + +} + + +//stackless recursive collision routine +static void _find_quantized_collision_pairs_recursive( + btGImpactQuantizedBvh * boxset0, btGImpactQuantizedBvh * boxset1, + btPairSet * collision_pairs, + const BT_BOX_BOX_TRANSFORM_CACHE & trans_cache_1to0, + int node0, int node1, bool complete_primitive_tests) +{ + + + + if( _quantized_node_collision( + boxset0,boxset1,trans_cache_1to0, + node0,node1,complete_primitive_tests) ==false) return;//avoid colliding internal nodes + + if(boxset0->isLeafNode(node0)) + { + if(boxset1->isLeafNode(node1)) + { + // collision result + collision_pairs->push_pair( + boxset0->getNodeData(node0),boxset1->getNodeData(node1)); + return; + } + else + { + + //collide left recursive + + _find_quantized_collision_pairs_recursive( + boxset0,boxset1, + collision_pairs,trans_cache_1to0, + node0,boxset1->getLeftNode(node1),false); + + //collide right recursive + _find_quantized_collision_pairs_recursive( + boxset0,boxset1, + collision_pairs,trans_cache_1to0, + node0,boxset1->getRightNode(node1),false); + + + } + } + else + { + if(boxset1->isLeafNode(node1)) + { + + //collide left recursive + _find_quantized_collision_pairs_recursive( + boxset0,boxset1, + collision_pairs,trans_cache_1to0, + boxset0->getLeftNode(node0),node1,false); + + + //collide right recursive + + _find_quantized_collision_pairs_recursive( + boxset0,boxset1, + collision_pairs,trans_cache_1to0, + boxset0->getRightNode(node0),node1,false); + + + } + else + { + //collide left0 left1 + + + + _find_quantized_collision_pairs_recursive( + boxset0,boxset1, + collision_pairs,trans_cache_1to0, + boxset0->getLeftNode(node0),boxset1->getLeftNode(node1),false); + + //collide left0 right1 + + _find_quantized_collision_pairs_recursive( + boxset0,boxset1, + collision_pairs,trans_cache_1to0, + boxset0->getLeftNode(node0),boxset1->getRightNode(node1),false); + + + //collide right0 left1 + + _find_quantized_collision_pairs_recursive( + boxset0,boxset1, + collision_pairs,trans_cache_1to0, + boxset0->getRightNode(node0),boxset1->getLeftNode(node1),false); + + //collide right0 right1 + + _find_quantized_collision_pairs_recursive( + boxset0,boxset1, + collision_pairs,trans_cache_1to0, + boxset0->getRightNode(node0),boxset1->getRightNode(node1),false); + + }// else if node1 is not a leaf + }// else if node0 is not a leaf +} + + +void btGImpactQuantizedBvh::find_collision(btGImpactQuantizedBvh * boxset0, const btTransform & trans0, + btGImpactQuantizedBvh * boxset1, const btTransform & trans1, + btPairSet & collision_pairs) +{ + + if(boxset0->getNodeCount()==0 || boxset1->getNodeCount()==0 ) return; + + BT_BOX_BOX_TRANSFORM_CACHE trans_cache_1to0; + + trans_cache_1to0.calc_from_homogenic(trans0,trans1); + +#ifdef TRI_COLLISION_PROFILING + bt_begin_gim02_q_tree_time(); +#endif //TRI_COLLISION_PROFILING + + _find_quantized_collision_pairs_recursive( + boxset0,boxset1, + &collision_pairs,trans_cache_1to0,0,0,true); +#ifdef TRI_COLLISION_PROFILING + bt_end_gim02_q_tree_time(); +#endif //TRI_COLLISION_PROFILING + +} + + diff --git a/extern/bullet2/src/BulletCollision/Gimpact/btGImpactQuantizedBvh.h b/extern/bullet2/src/BulletCollision/Gimpact/btGImpactQuantizedBvh.h new file mode 100644 index 00000000000..3a4774b849d --- /dev/null +++ b/extern/bullet2/src/BulletCollision/Gimpact/btGImpactQuantizedBvh.h @@ -0,0 +1,379 @@ +#ifndef GIM_QUANTIZED_SET_H_INCLUDED +#define GIM_QUANTIZED_SET_H_INCLUDED + +/*! \file btGImpactQuantizedBvh.h +\author Francisco Len Nßjera +*/ +/* +This source file is part of GIMPACT Library. + +For the latest info, see http://gimpact.sourceforge.net/ + +Copyright (c) 2007 Francisco Leon Najera. C.C. 80087371. +email: projectileman@yahoo.com + + +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 "btGImpactBvh.h" +#include "btQuantization.h" + + + +/*! \defgroup BOX_TREES + + + +*/ +//! @{ + + +///btQuantizedBvhNode is a compressed aabb node, 16 bytes. +///Node can be used for leafnode or internal node. Leafnodes can point to 32-bit triangle index (non-negative range). +ATTRIBUTE_ALIGNED16 (struct) BT_QUANTIZED_BVH_NODE +{ + //12 bytes + unsigned short int m_quantizedAabbMin[3]; + unsigned short int m_quantizedAabbMax[3]; + //4 bytes + int m_escapeIndexOrDataIndex; + + BT_QUANTIZED_BVH_NODE() + { + m_escapeIndexOrDataIndex = 0; + } + + SIMD_FORCE_INLINE bool isLeafNode() const + { + //skipindex is negative (internal node), triangleindex >=0 (leafnode) + return (m_escapeIndexOrDataIndex>=0); + } + + SIMD_FORCE_INLINE int getEscapeIndex() const + { + //btAssert(m_escapeIndexOrDataIndex < 0); + return -m_escapeIndexOrDataIndex; + } + + SIMD_FORCE_INLINE void setEscapeIndex(int index) + { + m_escapeIndexOrDataIndex = -index; + } + + SIMD_FORCE_INLINE int getDataIndex() const + { + //btAssert(m_escapeIndexOrDataIndex >= 0); + + return m_escapeIndexOrDataIndex; + } + + SIMD_FORCE_INLINE void setDataIndex(int index) + { + m_escapeIndexOrDataIndex = index; + } + + SIMD_FORCE_INLINE bool testQuantizedBoxOverlapp( + unsigned short * quantizedMin,unsigned short * quantizedMax) const + { + if(m_quantizedAabbMin[0] > quantizedMax[0] || + m_quantizedAabbMax[0] < quantizedMin[0] || + m_quantizedAabbMin[1] > quantizedMax[1] || + m_quantizedAabbMax[1] < quantizedMin[1] || + m_quantizedAabbMin[2] > quantizedMax[2] || + m_quantizedAabbMax[2] < quantizedMin[2]) + { + return false; + } + return true; + } + +}; + + + +class BT_QUANTIZED_BVH_NODE_ARRAY:public btAlignedObjectArray<BT_QUANTIZED_BVH_NODE> +{ +}; + + + + +//! Basic Box tree structure +class btQuantizedBvhTree +{ +protected: + int m_num_nodes; + BT_QUANTIZED_BVH_NODE_ARRAY m_node_array; + btAABB m_global_bound; + btVector3 m_bvhQuantization; +protected: + void calc_quantization(BT_BVH_DATA_ARRAY & primitive_boxes, btScalar boundMargin = btScalar(1.0) ); + + int _sort_and_calc_splitting_index( + BT_BVH_DATA_ARRAY & primitive_boxes, + int startIndex, int endIndex, int splitAxis); + + int _calc_splitting_axis(BT_BVH_DATA_ARRAY & primitive_boxes, int startIndex, int endIndex); + + void _build_sub_tree(BT_BVH_DATA_ARRAY & primitive_boxes, int startIndex, int endIndex); +public: + btQuantizedBvhTree() + { + m_num_nodes = 0; + } + + //! prototype functions for box tree management + //!@{ + void build_tree(BT_BVH_DATA_ARRAY & primitive_boxes); + + SIMD_FORCE_INLINE void quantizePoint( + unsigned short * quantizedpoint, const btVector3 & point) const + { + bt_quantize_clamp(quantizedpoint,point,m_global_bound.m_min,m_global_bound.m_max,m_bvhQuantization); + } + + + SIMD_FORCE_INLINE bool testQuantizedBoxOverlapp( + int node_index, + unsigned short * quantizedMin,unsigned short * quantizedMax) const + { + return m_node_array[node_index].testQuantizedBoxOverlapp(quantizedMin,quantizedMax); + } + + SIMD_FORCE_INLINE void clearNodes() + { + m_node_array.clear(); + m_num_nodes = 0; + } + + //! node count + SIMD_FORCE_INLINE int getNodeCount() const + { + return m_num_nodes; + } + + //! tells if the node is a leaf + SIMD_FORCE_INLINE bool isLeafNode(int nodeindex) const + { + return m_node_array[nodeindex].isLeafNode(); + } + + SIMD_FORCE_INLINE int getNodeData(int nodeindex) const + { + return m_node_array[nodeindex].getDataIndex(); + } + + SIMD_FORCE_INLINE void getNodeBound(int nodeindex, btAABB & bound) const + { + bound.m_min = bt_unquantize( + m_node_array[nodeindex].m_quantizedAabbMin, + m_global_bound.m_min,m_bvhQuantization); + + bound.m_max = bt_unquantize( + m_node_array[nodeindex].m_quantizedAabbMax, + m_global_bound.m_min,m_bvhQuantization); + } + + SIMD_FORCE_INLINE void setNodeBound(int nodeindex, const btAABB & bound) + { + bt_quantize_clamp( m_node_array[nodeindex].m_quantizedAabbMin, + bound.m_min, + m_global_bound.m_min, + m_global_bound.m_max, + m_bvhQuantization); + + bt_quantize_clamp( m_node_array[nodeindex].m_quantizedAabbMax, + bound.m_max, + m_global_bound.m_min, + m_global_bound.m_max, + m_bvhQuantization); + } + + SIMD_FORCE_INLINE int getLeftNode(int nodeindex) const + { + return nodeindex+1; + } + + SIMD_FORCE_INLINE int getRightNode(int nodeindex) const + { + if(m_node_array[nodeindex+1].isLeafNode()) return nodeindex+2; + return nodeindex+1 + m_node_array[nodeindex+1].getEscapeIndex(); + } + + SIMD_FORCE_INLINE int getEscapeNodeIndex(int nodeindex) const + { + return m_node_array[nodeindex].getEscapeIndex(); + } + + SIMD_FORCE_INLINE const BT_QUANTIZED_BVH_NODE * get_node_pointer(int index = 0) const + { + return &m_node_array[index]; + } + + //!@} +}; + + + +//! Structure for containing Boxes +/*! +This class offers an structure for managing a box tree of primitives. +Requires a Primitive prototype (like btPrimitiveManagerBase ) +*/ +class btGImpactQuantizedBvh +{ +protected: + btQuantizedBvhTree m_box_tree; + btPrimitiveManagerBase * m_primitive_manager; + +protected: + //stackless refit + void refit(); +public: + + //! this constructor doesn't build the tree. you must call buildSet + btGImpactQuantizedBvh() + { + m_primitive_manager = NULL; + } + + //! this constructor doesn't build the tree. you must call buildSet + btGImpactQuantizedBvh(btPrimitiveManagerBase * primitive_manager) + { + m_primitive_manager = primitive_manager; + } + + SIMD_FORCE_INLINE btAABB getGlobalBox() const + { + btAABB totalbox; + getNodeBound(0, totalbox); + return totalbox; + } + + SIMD_FORCE_INLINE void setPrimitiveManager(btPrimitiveManagerBase * primitive_manager) + { + m_primitive_manager = primitive_manager; + } + + SIMD_FORCE_INLINE btPrimitiveManagerBase * getPrimitiveManager() const + { + return m_primitive_manager; + } + + +//! node manager prototype functions +///@{ + + //! this attemps to refit the box set. + SIMD_FORCE_INLINE void update() + { + refit(); + } + + //! this rebuild the entire set + void buildSet(); + + //! returns the indices of the primitives in the m_primitive_manager + bool boxQuery(const btAABB & box, btAlignedObjectArray<int> & collided_results) const; + + //! returns the indices of the primitives in the m_primitive_manager + SIMD_FORCE_INLINE bool boxQueryTrans(const btAABB & box, + const btTransform & transform, btAlignedObjectArray<int> & collided_results) const + { + btAABB transbox=box; + transbox.appy_transform(transform); + return boxQuery(transbox,collided_results); + } + + //! returns the indices of the primitives in the m_primitive_manager + bool rayQuery( + const btVector3 & ray_dir,const btVector3 & ray_origin , + btAlignedObjectArray<int> & collided_results) const; + + //! tells if this set has hierarcht + SIMD_FORCE_INLINE bool hasHierarchy() const + { + return true; + } + + //! tells if this set is a trimesh + SIMD_FORCE_INLINE bool isTrimesh() const + { + return m_primitive_manager->is_trimesh(); + } + + //! node count + SIMD_FORCE_INLINE int getNodeCount() const + { + return m_box_tree.getNodeCount(); + } + + //! tells if the node is a leaf + SIMD_FORCE_INLINE bool isLeafNode(int nodeindex) const + { + return m_box_tree.isLeafNode(nodeindex); + } + + SIMD_FORCE_INLINE int getNodeData(int nodeindex) const + { + return m_box_tree.getNodeData(nodeindex); + } + + SIMD_FORCE_INLINE void getNodeBound(int nodeindex, btAABB & bound) const + { + m_box_tree.getNodeBound(nodeindex, bound); + } + + SIMD_FORCE_INLINE void setNodeBound(int nodeindex, const btAABB & bound) + { + m_box_tree.setNodeBound(nodeindex, bound); + } + + + SIMD_FORCE_INLINE int getLeftNode(int nodeindex) const + { + return m_box_tree.getLeftNode(nodeindex); + } + + SIMD_FORCE_INLINE int getRightNode(int nodeindex) const + { + return m_box_tree.getRightNode(nodeindex); + } + + SIMD_FORCE_INLINE int getEscapeNodeIndex(int nodeindex) const + { + return m_box_tree.getEscapeNodeIndex(nodeindex); + } + + SIMD_FORCE_INLINE void getNodeTriangle(int nodeindex,btPrimitiveTriangle & triangle) const + { + m_primitive_manager->get_primitive_triangle(getNodeData(nodeindex),triangle); + } + + + SIMD_FORCE_INLINE const BT_QUANTIZED_BVH_NODE * get_node_pointer(int index = 0) const + { + return m_box_tree.get_node_pointer(index); + } + +//! @} + + static float getAverageTreeCollisionTime(); + + + static void find_collision(btGImpactQuantizedBvh * boxset1, const btTransform & trans1, + btGImpactQuantizedBvh * boxset2, const btTransform & trans2, + btPairSet & collision_pairs); +}; + + +#endif // GIM_BOXPRUNING_H_INCLUDED diff --git a/extern/bullet2/src/BulletCollision/Gimpact/btGImpactShape.cpp b/extern/bullet2/src/BulletCollision/Gimpact/btGImpactShape.cpp new file mode 100644 index 00000000000..da6a4dbfc28 --- /dev/null +++ b/extern/bullet2/src/BulletCollision/Gimpact/btGImpactShape.cpp @@ -0,0 +1,183 @@ +/* +This source file is part of GIMPACT Library. + +For the latest info, see http://gimpact.sourceforge.net/ + +Copyright (c) 2007 Francisco Leon Najera. C.C. 80087371. +email: projectileman@yahoo.com + + +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 "btGImpactShape.h" +#include "btGImpactMassUtil.h" + + +#define CALC_EXACT_INERTIA 1 + +void btGImpactCompoundShape::calculateLocalInertia(btScalar mass,btVector3& inertia) const +{ + lockChildShapes(); +#ifdef CALC_EXACT_INERTIA + inertia.setValue(0.f,0.f,0.f); + + int i = this->getNumChildShapes(); + btScalar shapemass = mass/btScalar(i); + + while(i--) + { + btVector3 temp_inertia; + m_childShapes[i]->calculateLocalInertia(shapemass,temp_inertia); + if(childrenHasTransform()) + { + inertia = gim_inertia_add_transformed( inertia,temp_inertia,m_childTransforms[i]); + } + else + { + inertia = gim_inertia_add_transformed( inertia,temp_inertia,btTransform::getIdentity()); + } + + } + +#else + + // Calc box inertia + + 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 lz= m_localAABB.m_max[2] - m_localAABB.m_min[2]; + const btScalar x2 = lx*lx; + const btScalar y2 = ly*ly; + const btScalar z2 = lz*lz; + const btScalar scaledmass = mass * btScalar(0.08333333); + + inertia = scaledmass * (btVector3(y2+z2,x2+z2,x2+y2)); + +#endif + unlockChildShapes(); +} + + + +void btGImpactMeshShapePart::calculateLocalInertia(btScalar mass,btVector3& inertia) const +{ + lockChildShapes(); + + +#ifdef CALC_EXACT_INERTIA + inertia.setValue(0.f,0.f,0.f); + + int i = this->getVertexCount(); + btScalar pointmass = mass/btScalar(i); + + while(i--) + { + btVector3 pointintertia; + this->getVertex(i,pointintertia); + pointintertia = gim_get_point_inertia(pointintertia,pointmass); + inertia+=pointintertia; + } + +#else + + // Calc box inertia + + 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 lz= m_localAABB.m_max[2] - m_localAABB.m_min[2]; + const btScalar x2 = lx*lx; + const btScalar y2 = ly*ly; + const btScalar z2 = lz*lz; + const btScalar scaledmass = mass * btScalar(0.08333333); + + inertia = scaledmass * (btVector3(y2+z2,x2+z2,x2+y2)); + +#endif + + unlockChildShapes(); +} + +void btGImpactMeshShape::calculateLocalInertia(btScalar mass,btVector3& inertia) const +{ + +#ifdef CALC_EXACT_INERTIA + inertia.setValue(0.f,0.f,0.f); + + int i = this->getMeshPartCount(); + btScalar partmass = mass/btScalar(i); + + while(i--) + { + btVector3 partinertia; + getMeshPart(i)->calculateLocalInertia(partmass,partinertia); + inertia+=partinertia; + } + +#else + + // Calc box inertia + + 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 lz= m_localAABB.m_max[2] - m_localAABB.m_min[2]; + const btScalar x2 = lx*lx; + const btScalar y2 = ly*ly; + const btScalar z2 = lz*lz; + const btScalar scaledmass = mass * btScalar(0.08333333); + + inertia = scaledmass * (btVector3(y2+z2,x2+z2,x2+y2)); + +#endif +} + +void btGImpactMeshShape::rayTest(const btVector3& rayFrom, const btVector3& rayTo, btCollisionWorld::RayResultCallback& resultCallback) const +{ +} + + +void btGImpactMeshShapePart::processAllTriangles(btTriangleCallback* callback,const btVector3& aabbMin,const btVector3& aabbMax) const +{ + lockChildShapes(); + btAABB box; + box.m_min = aabbMin; + box.m_max = aabbMax; + + btAlignedObjectArray<int> collided; + m_box_set.boxQuery(box,collided); + + if(collided.size()==0) + { + unlockChildShapes(); + return; + } + + int part = (int)getPart(); + btPrimitiveTriangle triangle; + int i = collided.size(); + while(i--) + { + this->getPrimitiveTriangle(collided[i],triangle); + callback->processTriangle(triangle.m_vertices,part,collided[i]); + } + unlockChildShapes(); + +} + +void btGImpactMeshShape::processAllTriangles(btTriangleCallback* callback,const btVector3& aabbMin,const btVector3& aabbMax) const +{ + int i = m_mesh_parts.size(); + while(i--) + { + m_mesh_parts[i]->processAllTriangles(callback,aabbMin,aabbMax); + } +} diff --git a/extern/bullet2/src/BulletCollision/Gimpact/btGImpactShape.h b/extern/bullet2/src/BulletCollision/Gimpact/btGImpactShape.h new file mode 100644 index 00000000000..43f32bea5a1 --- /dev/null +++ b/extern/bullet2/src/BulletCollision/Gimpact/btGImpactShape.h @@ -0,0 +1,1109 @@ +/*! \file btGImpactShape.h +\author Francisco Len Nßjera +*/ +/* +This source file is part of GIMPACT Library. + +For the latest info, see http://gimpact.sourceforge.net/ + +Copyright (c) 2007 Francisco Leon Najera. C.C. 80087371. +email: projectileman@yahoo.com + + +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 GIMPACT_SHAPE_H +#define GIMPACT_SHAPE_H + +#include "BulletCollision/CollisionShapes/btCollisionShape.h" +#include "BulletCollision/CollisionShapes/btTriangleShape.h" +#include "BulletCollision/CollisionShapes/btStridingMeshInterface.h" +#include "BulletCollision/CollisionShapes/btCollisionMargin.h" +#include "BulletCollision/CollisionDispatch/btCollisionWorld.h" +#include "BulletCollision/CollisionShapes/btConcaveShape.h" +#include "BulletCollision/CollisionShapes/btTetrahedronShape.h" +#include "LinearMath/btVector3.h" +#include "LinearMath/btTransform.h" +#include "LinearMath/btMatrix3x3.h" +#include "LinearMath/btAlignedObjectArray.h" + +#include "btGImpactQuantizedBvh.h" // box tree class + + +//! declare Quantized trees, (you can change to float based trees) +typedef btGImpactQuantizedBvh btGImpactBoxSet; + +enum eGIMPACT_SHAPE_TYPE +{ + CONST_GIMPACT_COMPOUND_SHAPE = 0, + CONST_GIMPACT_TRIMESH_SHAPE_PART, + CONST_GIMPACT_TRIMESH_SHAPE +}; + + +//! Helper class for tetrahedrons +class btTetrahedronShapeEx:public btBU_Simplex1to4 +{ +public: + btTetrahedronShapeEx() + { + m_numVertices = 4; + } + + + SIMD_FORCE_INLINE void setVertices( + const btVector3 & v0,const btVector3 & v1, + const btVector3 & v2,const btVector3 & v3) + { + m_vertices[0] = v0; + m_vertices[1] = v1; + m_vertices[2] = v2; + m_vertices[3] = v3; + recalcLocalAabb(); + } +}; + + +//! Base class for gimpact shapes +class btGImpactShapeInterface : public btConcaveShape +{ +protected: + btAABB m_localAABB; + bool m_needs_update; + btVector3 localScaling; + btGImpactBoxSet m_box_set;// optionally boxset + + //! use this function for perfofm refit in bounding boxes + //! use this function for perfofm refit in bounding boxes + virtual void calcLocalAABB() + { + lockChildShapes(); + if(m_box_set.getNodeCount() == 0) + { + m_box_set.buildSet(); + } + else + { + m_box_set.update(); + } + unlockChildShapes(); + + m_localAABB = m_box_set.getGlobalBox(); + } + + +public: + btGImpactShapeInterface() + { + m_localAABB.invalidate(); + m_needs_update = true; + localScaling.setValue(1.f,1.f,1.f); + } + + + //! performs refit operation + /*! + Updates the entire Box set of this shape. + \pre postUpdate() must be called for attemps to calculating the box set, else this function + will does nothing. + \post if m_needs_update == true, then it calls calcLocalAABB(); + */ + SIMD_FORCE_INLINE void updateBound() + { + if(!m_needs_update) return; + calcLocalAABB(); + m_needs_update = false; + } + + //! If the Bounding box is not updated, then this class attemps to calculate it. + /*! + \post Calls updateBound() for update the box set. + */ + void getAabb(const btTransform& t,btVector3& aabbMin,btVector3& aabbMax) const + { + btAABB transformedbox = m_localAABB; + transformedbox.appy_transform(t); + aabbMin = transformedbox.m_min; + aabbMax = transformedbox.m_max; + } + + //! Tells to this object that is needed to refit the box set + virtual void postUpdate() + { + m_needs_update = true; + } + + //! Obtains the local box, which is the global calculated box of the total of subshapes + SIMD_FORCE_INLINE const btAABB & getLocalBox() + { + return m_localAABB; + } + + + virtual int getShapeType() const + { + return GIMPACT_SHAPE_PROXYTYPE; + } + + /*! + \post You must call updateBound() for update the box set. + */ + virtual void setLocalScaling(const btVector3& scaling) + { + localScaling = scaling; + postUpdate(); + } + + virtual const btVector3& getLocalScaling() const + { + return localScaling; + } + + + virtual void setMargin(btScalar margin) + { + m_collisionMargin = margin; + int i = getNumChildShapes(); + while(i--) + { + btCollisionShape* child = getChildShape(i); + child->setMargin(margin); + } + + m_needs_update = true; + } + + + //! Subshape member functions + //!@{ + + //! Base method for determinig which kind of GIMPACT shape we get + virtual eGIMPACT_SHAPE_TYPE getGImpactShapeType() = 0; + + //! gets boxset + SIMD_FORCE_INLINE btGImpactBoxSet * getBoxSet() + { + return &m_box_set; + } + + //! Determines if this class has a hierarchy structure for sorting its primitives + SIMD_FORCE_INLINE bool hasBoxSet() const + { + if(m_box_set.getNodeCount() == 0) return false; + return true; + } + + //! Obtains the primitive manager + virtual const btPrimitiveManagerBase * getPrimitiveManager() const = 0; + + + //! Gets the number of children + virtual int getNumChildShapes() const = 0; + + //! if true, then its children must get transforms. + virtual bool childrenHasTransform() const = 0; + + //! Determines if this shape has triangles + virtual bool needsRetrieveTriangles() const = 0; + + //! Determines if this shape has tetrahedrons + virtual bool needsRetrieveTetrahedrons() const = 0; + + virtual void getBulletTriangle(int prim_index,btTriangleShapeEx & triangle) const = 0; + + virtual void getBulletTetrahedron(int prim_index,btTetrahedronShapeEx & tetrahedron) const = 0; + + + + //! call when reading child shapes + virtual void lockChildShapes() const + { + } + + virtual void unlockChildShapes() const + { + } + + //! if this trimesh + SIMD_FORCE_INLINE void getPrimitiveTriangle(int index,btPrimitiveTriangle & triangle) const + { + getPrimitiveManager()->get_primitive_triangle(index,triangle); + } + + + //! Retrieves the bound from a child + /*! + */ + virtual void getChildAabb(int child_index,const btTransform& t,btVector3& aabbMin,btVector3& aabbMax) const + { + btAABB child_aabb; + getPrimitiveManager()->get_primitive_box(child_index,child_aabb); + child_aabb.appy_transform(t); + aabbMin = child_aabb.m_min; + aabbMax = child_aabb.m_max; + } + + //! Gets the children + virtual btCollisionShape* getChildShape(int index) = 0; + + + //! Gets the child + virtual const btCollisionShape* getChildShape(int index) const = 0; + + //! Gets the children transform + virtual btTransform getChildTransform(int index) const = 0; + + //! Sets the children transform + /*! + \post You must call updateBound() for update the box set. + */ + virtual void setChildTransform(int index, const btTransform & transform) = 0; + + //!@} + + + //! virtual method for ray collision + virtual void rayTest(const btVector3& rayFrom, const btVector3& rayTo, btCollisionWorld::RayResultCallback& resultCallback) const + { + } + + //! Function for retrieve triangles. + /*! + It gives the triangles in local space + */ + virtual void processAllTriangles(btTriangleCallback* callback,const btVector3& aabbMin,const btVector3& aabbMax) const + { + } + + //!@} + +}; + + +//! btGImpactCompoundShape allows to handle multiple btCollisionShape objects at once +/*! +This class only can manage Convex subshapes +*/ +class btGImpactCompoundShape : public btGImpactShapeInterface +{ +public: + //! compound primitive manager + class CompoundPrimitiveManager:public btPrimitiveManagerBase + { + public: + btGImpactCompoundShape * m_compoundShape; + + + CompoundPrimitiveManager(const CompoundPrimitiveManager& compound) + { + m_compoundShape = compound.m_compoundShape; + } + + CompoundPrimitiveManager(btGImpactCompoundShape * compoundShape) + { + m_compoundShape = compoundShape; + } + + CompoundPrimitiveManager() + { + m_compoundShape = NULL; + } + + virtual bool is_trimesh() const + { + return false; + } + + virtual int get_primitive_count() const + { + return (int )m_compoundShape->getNumChildShapes(); + } + + virtual void get_primitive_box(int prim_index ,btAABB & primbox) const + { + btTransform prim_trans; + if(m_compoundShape->childrenHasTransform()) + { + prim_trans = m_compoundShape->getChildTransform(prim_index); + } + else + { + prim_trans.setIdentity(); + } + const btCollisionShape* shape = m_compoundShape->getChildShape(prim_index); + shape->getAabb(prim_trans,primbox.m_min,primbox.m_max); + } + + virtual void get_primitive_triangle(int prim_index,btPrimitiveTriangle & triangle) const + { + btAssert(0); + } + + }; + + + +protected: + CompoundPrimitiveManager m_primitive_manager; + btAlignedObjectArray<btTransform> m_childTransforms; + btAlignedObjectArray<btCollisionShape*> m_childShapes; + + +public: + + btGImpactCompoundShape(bool children_has_transform = true) + { + m_primitive_manager.m_compoundShape = this; + m_box_set.setPrimitiveManager(&m_primitive_manager); + } + + virtual ~btGImpactCompoundShape() + { + } + + + //! if true, then its children must get transforms. + virtual bool childrenHasTransform() const + { + if(m_childTransforms.size()==0) return false; + return true; + } + + + //! Obtains the primitive manager + virtual const btPrimitiveManagerBase * getPrimitiveManager() const + { + return &m_primitive_manager; + } + + //! Obtains the compopund primitive manager + SIMD_FORCE_INLINE CompoundPrimitiveManager * getCompoundPrimitiveManager() + { + return &m_primitive_manager; + } + + //! Gets the number of children + virtual int getNumChildShapes() const + { + return m_childShapes.size(); + } + + + //! Use this method for adding children. Only Convex shapes are allowed. + void addChildShape(const btTransform& localTransform,btCollisionShape* shape) + { + btAssert(shape->isConvex()); + m_childTransforms.push_back(localTransform); + m_childShapes.push_back(shape); + } + + //! Use this method for adding children. Only Convex shapes are allowed. + void addChildShape(btCollisionShape* shape) + { + btAssert(shape->isConvex()); + m_childShapes.push_back(shape); + } + + //! Gets the children + virtual btCollisionShape* getChildShape(int index) + { + return m_childShapes[index]; + } + + //! Gets the children + virtual const btCollisionShape* getChildShape(int index) const + { + return m_childShapes[index]; + } + + //! Retrieves the bound from a child + /*! + */ + virtual void getChildAabb(int child_index,const btTransform& t,btVector3& aabbMin,btVector3& aabbMax) const + { + + if(childrenHasTransform()) + { + m_childShapes[child_index]->getAabb(t*m_childTransforms[child_index],aabbMin,aabbMax); + } + else + { + m_childShapes[child_index]->getAabb(t,aabbMin,aabbMax); + } + } + + + //! Gets the children transform + virtual btTransform getChildTransform(int index) const + { + btAssert(m_childTransforms.size() == m_childShapes.size()); + return m_childTransforms[index]; + } + + //! Sets the children transform + /*! + \post You must call updateBound() for update the box set. + */ + virtual void setChildTransform(int index, const btTransform & transform) + { + btAssert(m_childTransforms.size() == m_childShapes.size()); + m_childTransforms[index] = transform; + postUpdate(); + } + + //! Determines if this shape has triangles + virtual bool needsRetrieveTriangles() const + { + return false; + } + + //! Determines if this shape has tetrahedrons + virtual bool needsRetrieveTetrahedrons() const + { + return false; + } + + + virtual void getBulletTriangle(int prim_index,btTriangleShapeEx & triangle) const + { + btAssert(0); + } + + virtual void getBulletTetrahedron(int prim_index,btTetrahedronShapeEx & tetrahedron) const + { + btAssert(0); + } + + + //! Calculates the exact inertia tensor for this shape + virtual void calculateLocalInertia(btScalar mass,btVector3& inertia) const; + + virtual const char* getName()const + { + return "GImpactCompound"; + } + + virtual eGIMPACT_SHAPE_TYPE getGImpactShapeType() + { + return CONST_GIMPACT_COMPOUND_SHAPE; + } + +}; + + + +//! This class manages a sub part of a mesh supplied by the btStridingMeshInterface interface. +/*! +- Simply create this shape by passing the btStridingMeshInterface to the constructor btGImpactMeshShapePart, then you must call updateBound() after creating the mesh +- When making operations with this shape, you must call <b>lock</b> before accessing to the trimesh primitives, and then call <b>unlock</b> +- You can handle deformable meshes with this shape, by calling postUpdate() every time when changing the mesh vertices. + +*/ +class btGImpactMeshShapePart : public btGImpactShapeInterface +{ +public: + //! Trimesh primitive manager + /*! + Manages the info from btStridingMeshInterface object and controls the Lock/Unlock mechanism + */ + class TrimeshPrimitiveManager:public btPrimitiveManagerBase + { + public: + btScalar m_margin; + btStridingMeshInterface * m_meshInterface; + btVector3 m_scale; + int m_part; + int m_lock_count; + const unsigned char *vertexbase; + int numverts; + PHY_ScalarType type; + int stride; + const unsigned char *indexbase; + int indexstride; + int numfaces; + PHY_ScalarType indicestype; + + TrimeshPrimitiveManager() + { + m_meshInterface = NULL; + m_part = 0; + m_margin = 0.01f; + m_scale = btVector3(1.f,1.f,1.f); + m_lock_count = 0; + vertexbase = 0; + numverts = 0; + stride = 0; + indexbase = 0; + indexstride = 0; + numfaces = 0; + } + + TrimeshPrimitiveManager(const TrimeshPrimitiveManager & manager) + { + m_meshInterface = manager.m_meshInterface; + m_part = manager.m_part; + m_margin = manager.m_margin; + m_scale = manager.m_scale; + m_lock_count = 0; + vertexbase = 0; + numverts = 0; + stride = 0; + indexbase = 0; + indexstride = 0; + numfaces = 0; + + } + + TrimeshPrimitiveManager( + btStridingMeshInterface * meshInterface, int part) + { + m_meshInterface = meshInterface; + m_part = part; + m_scale = m_meshInterface->getScaling(); + m_margin = 0.1f; + m_lock_count = 0; + vertexbase = 0; + numverts = 0; + stride = 0; + indexbase = 0; + indexstride = 0; + numfaces = 0; + + } + + + void lock() + { + if(m_lock_count>0) + { + m_lock_count++; + return; + } + m_meshInterface->getLockedReadOnlyVertexIndexBase( + &vertexbase,numverts, + type, stride,&indexbase, indexstride, numfaces,indicestype,m_part); + + m_lock_count = 1; + } + + void unlock() + { + if(m_lock_count == 0) return; + if(m_lock_count>1) + { + --m_lock_count; + return; + } + m_meshInterface->unLockReadOnlyVertexBase(m_part); + vertexbase = NULL; + m_lock_count = 0; + } + + virtual bool is_trimesh() const + { + return true; + } + + virtual int get_primitive_count() const + { + return (int )numfaces; + } + + SIMD_FORCE_INLINE int get_vertex_count() const + { + return (int )numverts; + } + + SIMD_FORCE_INLINE void get_indices(int face_index,int &i0,int &i1,int &i2) const + { + if(indicestype == PHY_SHORT) + { + short * s_indices = (short *)(indexbase + face_index*indexstride); + i0 = s_indices[0]; + i1 = s_indices[1]; + i2 = s_indices[2]; + } + else + { + int * i_indices = (int *)(indexbase + face_index*indexstride); + i0 = i_indices[0]; + i1 = i_indices[1]; + i2 = i_indices[2]; + } + } + + SIMD_FORCE_INLINE void get_vertex(int vertex_index, btVector3 & vertex) const + { + if(type == PHY_DOUBLE) + { + double * dvertices = (double *)(vertexbase + vertex_index*stride); + vertex[0] = btScalar(dvertices[0]*m_scale[0]); + vertex[1] = btScalar(dvertices[1]*m_scale[1]); + vertex[2] = btScalar(dvertices[2]*m_scale[2]); + } + else + { + float * svertices = (float *)(vertexbase + vertex_index*stride); + vertex[0] = svertices[0]*m_scale[0]; + vertex[1] = svertices[1]*m_scale[1]; + vertex[2] = svertices[2]*m_scale[2]; + } + } + + virtual void get_primitive_box(int prim_index ,btAABB & primbox) const + { + btPrimitiveTriangle triangle; + get_primitive_triangle(prim_index,triangle); + primbox.calc_from_triangle_margin( + triangle.m_vertices[0], + triangle.m_vertices[1],triangle.m_vertices[2],triangle.m_margin); + } + + virtual void get_primitive_triangle(int prim_index,btPrimitiveTriangle & triangle) const + { + int indices[3]; + get_indices(prim_index,indices[0],indices[1],indices[2]); + get_vertex(indices[0],triangle.m_vertices[0]); + get_vertex(indices[1],triangle.m_vertices[1]); + get_vertex(indices[2],triangle.m_vertices[2]); + triangle.m_margin = m_margin; + } + + SIMD_FORCE_INLINE void get_bullet_triangle(int prim_index,btTriangleShapeEx & triangle) const + { + int indices[3]; + get_indices(prim_index,indices[0],indices[1],indices[2]); + get_vertex(indices[0],triangle.m_vertices1[0]); + get_vertex(indices[1],triangle.m_vertices1[1]); + get_vertex(indices[2],triangle.m_vertices1[2]); + triangle.setMargin(m_margin); + } + + }; + + +protected: + TrimeshPrimitiveManager m_primitive_manager; +public: + + btGImpactMeshShapePart() + { + m_box_set.setPrimitiveManager(&m_primitive_manager); + } + + + btGImpactMeshShapePart(btStridingMeshInterface * meshInterface, int part) + { + m_primitive_manager.m_meshInterface = meshInterface; + m_primitive_manager.m_part = part; + m_box_set.setPrimitiveManager(&m_primitive_manager); + } + + virtual ~btGImpactMeshShapePart() + { + } + + //! if true, then its children must get transforms. + virtual bool childrenHasTransform() const + { + return false; + } + + + //! call when reading child shapes + virtual void lockChildShapes() const + { + void * dummy = (void*)(m_box_set.getPrimitiveManager()); + TrimeshPrimitiveManager * dummymanager = static_cast<TrimeshPrimitiveManager *>(dummy); + dummymanager->lock(); + } + + virtual void unlockChildShapes() const + { + void * dummy = (void*)(m_box_set.getPrimitiveManager()); + TrimeshPrimitiveManager * dummymanager = static_cast<TrimeshPrimitiveManager *>(dummy); + dummymanager->unlock(); + } + + //! Gets the number of children + virtual int getNumChildShapes() const + { + return m_primitive_manager.get_primitive_count(); + } + + + //! Gets the children + virtual btCollisionShape* getChildShape(int index) + { + btAssert(0); + return NULL; + } + + + + //! Gets the child + virtual const btCollisionShape* getChildShape(int index) const + { + btAssert(0); + return NULL; + } + + //! Gets the children transform + virtual btTransform getChildTransform(int index) const + { + btAssert(0); + return btTransform(); + } + + //! Sets the children transform + /*! + \post You must call updateBound() for update the box set. + */ + virtual void setChildTransform(int index, const btTransform & transform) + { + btAssert(0); + } + + + //! Obtains the primitive manager + virtual const btPrimitiveManagerBase * getPrimitiveManager() const + { + return &m_primitive_manager; + } + + SIMD_FORCE_INLINE TrimeshPrimitiveManager * getTrimeshPrimitiveManager() + { + return &m_primitive_manager; + } + + + + + + virtual void calculateLocalInertia(btScalar mass,btVector3& inertia) const; + + + + + virtual const char* getName()const + { + return "GImpactMeshShapePart"; + } + + virtual eGIMPACT_SHAPE_TYPE getGImpactShapeType() + { + return CONST_GIMPACT_TRIMESH_SHAPE_PART; + } + + //! Determines if this shape has triangles + virtual bool needsRetrieveTriangles() const + { + return true; + } + + //! Determines if this shape has tetrahedrons + virtual bool needsRetrieveTetrahedrons() const + { + return false; + } + + virtual void getBulletTriangle(int prim_index,btTriangleShapeEx & triangle) const + { + m_primitive_manager.get_bullet_triangle(prim_index,triangle); + } + + virtual void getBulletTetrahedron(int prim_index,btTetrahedronShapeEx & tetrahedron) const + { + btAssert(0); + } + + + + SIMD_FORCE_INLINE int getVertexCount() const + { + return m_primitive_manager.get_vertex_count(); + } + + SIMD_FORCE_INLINE void getVertex(int vertex_index, btVector3 & vertex) const + { + m_primitive_manager.get_vertex(vertex_index,vertex); + } + + SIMD_FORCE_INLINE void setMargin(btScalar margin) + { + m_primitive_manager.m_margin = margin; + postUpdate(); + } + + SIMD_FORCE_INLINE btScalar getMargin() const + { + return m_primitive_manager.m_margin; + } + + virtual void setLocalScaling(const btVector3& scaling) + { + m_primitive_manager.m_scale = scaling; + postUpdate(); + } + + virtual const btVector3& getLocalScaling() const + { + return m_primitive_manager.m_scale; + } + + SIMD_FORCE_INLINE int getPart() const + { + return (int)m_primitive_manager.m_part; + } + + virtual void processAllTriangles(btTriangleCallback* callback,const btVector3& aabbMin,const btVector3& aabbMax) const; +}; + + +//! This class manages a mesh supplied by the btStridingMeshInterface interface. +/*! +Set of btGImpactMeshShapePart parts +- Simply create this shape by passing the btStridingMeshInterface to the constructor btGImpactMeshShape, then you must call updateBound() after creating the mesh + +- You can handle deformable meshes with this shape, by calling postUpdate() every time when changing the mesh vertices. + +*/ +class btGImpactMeshShape : public btGImpactShapeInterface +{ +protected: + btAlignedObjectArray<btGImpactMeshShapePart*> m_mesh_parts; + void buildMeshParts(btStridingMeshInterface * meshInterface) + { + for (int i=0;i<meshInterface->getNumSubParts() ;++i ) + { + btGImpactMeshShapePart * newpart = new btGImpactMeshShapePart(meshInterface,i); + m_mesh_parts.push_back(newpart); + } + } + + //! use this function for perfofm refit in bounding boxes + virtual void calcLocalAABB() + { + m_localAABB.invalidate(); + int i = m_mesh_parts.size(); + while(i--) + { + m_mesh_parts[i]->updateBound(); + m_localAABB.merge(m_mesh_parts[i]->getLocalBox()); + } + } + +public: + btGImpactMeshShape(btStridingMeshInterface * meshInterface) + { + buildMeshParts(meshInterface); + } + + virtual ~btGImpactMeshShape() + { + int i = m_mesh_parts.size(); + while(i--) + { + btGImpactMeshShapePart * part = m_mesh_parts[i]; + delete part; + } + m_mesh_parts.clear(); + } + + + + int getMeshPartCount() const + { + return m_mesh_parts.size(); + } + + btGImpactMeshShapePart * getMeshPart(int index) + { + return m_mesh_parts[index]; + } + + + + const btGImpactMeshShapePart * getMeshPart(int index) const + { + return m_mesh_parts[index]; + } + + + virtual void setLocalScaling(const btVector3& scaling) + { + localScaling = scaling; + + int i = m_mesh_parts.size(); + while(i--) + { + btGImpactMeshShapePart * part = m_mesh_parts[i]; + part->setLocalScaling(scaling); + } + + m_needs_update = true; + } + + virtual void setMargin(btScalar margin) + { + m_collisionMargin = margin; + + int i = m_mesh_parts.size(); + while(i--) + { + btGImpactMeshShapePart * part = m_mesh_parts[i]; + part->setMargin(margin); + } + + m_needs_update = true; + } + + //! Tells to this object that is needed to refit all the meshes + virtual void postUpdate() + { + int i = m_mesh_parts.size(); + while(i--) + { + btGImpactMeshShapePart * part = m_mesh_parts[i]; + part->postUpdate(); + } + + m_needs_update = true; + } + + virtual void calculateLocalInertia(btScalar mass,btVector3& inertia) const; + + + //! Obtains the primitive manager + virtual const btPrimitiveManagerBase * getPrimitiveManager() const + { + btAssert(0); + return NULL; + } + + + //! Gets the number of children + virtual int getNumChildShapes() const + { + btAssert(0); + return 0; + } + + + //! if true, then its children must get transforms. + virtual bool childrenHasTransform() const + { + btAssert(0); + return false; + } + + //! Determines if this shape has triangles + virtual bool needsRetrieveTriangles() const + { + btAssert(0); + return false; + } + + //! Determines if this shape has tetrahedrons + virtual bool needsRetrieveTetrahedrons() const + { + btAssert(0); + return false; + } + + virtual void getBulletTriangle(int prim_index,btTriangleShapeEx & triangle) const + { + btAssert(0); + } + + virtual void getBulletTetrahedron(int prim_index,btTetrahedronShapeEx & tetrahedron) const + { + btAssert(0); + } + + //! call when reading child shapes + virtual void lockChildShapes() + { + btAssert(0); + } + + virtual void unlockChildShapes() + { + btAssert(0); + } + + + + + //! Retrieves the bound from a child + /*! + */ + virtual void getChildAabb(int child_index,const btTransform& t,btVector3& aabbMin,btVector3& aabbMax) const + { + btAssert(0); + } + + //! Gets the children + virtual btCollisionShape* getChildShape(int index) + { + btAssert(0); + return NULL; + } + + + //! Gets the child + virtual const btCollisionShape* getChildShape(int index) const + { + btAssert(0); + return NULL; + } + + //! Gets the children transform + virtual btTransform getChildTransform(int index) const + { + btAssert(0); + return btTransform(); + } + + //! Sets the children transform + /*! + \post You must call updateBound() for update the box set. + */ + virtual void setChildTransform(int index, const btTransform & transform) + { + btAssert(0); + } + + + virtual eGIMPACT_SHAPE_TYPE getGImpactShapeType() + { + return CONST_GIMPACT_TRIMESH_SHAPE; + } + + + virtual const char* getName()const + { + return "GImpactMesh"; + } + + virtual void rayTest(const btVector3& rayFrom, const btVector3& rayTo, btCollisionWorld::RayResultCallback& resultCallback) const; + + //! Function for retrieve triangles. + /*! + It gives the triangles in local space + */ + virtual void processAllTriangles(btTriangleCallback* callback,const btVector3& aabbMin,const btVector3& aabbMax) const; +}; + + +#endif //GIMPACT_MESH_SHAPE_H diff --git a/extern/bullet2/src/BulletCollision/Gimpact/btGenericPoolAllocator.cpp b/extern/bullet2/src/BulletCollision/Gimpact/btGenericPoolAllocator.cpp new file mode 100644 index 00000000000..4b4b5e20dd3 --- /dev/null +++ b/extern/bullet2/src/BulletCollision/Gimpact/btGenericPoolAllocator.cpp @@ -0,0 +1,283 @@ +/*! \file btGenericPoolAllocator.cpp +\author Francisco Len Nßjera. email projectileman@yahoo.com + +General purpose allocator class +*/ +/* +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. +*/ + +#include "btGenericPoolAllocator.h" + + + +/// *************** btGenericMemoryPool ******************/////////// + +size_t btGenericMemoryPool::allocate_from_free_nodes(size_t num_elements) +{ + size_t ptr = BT_UINT_MAX; + + if(m_free_nodes_count == 0) return BT_UINT_MAX; + // find an avaliable free node with the correct size + size_t revindex = m_free_nodes_count; + + while(revindex-- && ptr == BT_UINT_MAX) + { + if(m_allocated_sizes[m_free_nodes[revindex]]>=num_elements) + { + ptr = revindex; + } + } + if(ptr == BT_UINT_MAX) return BT_UINT_MAX; // not found + + + revindex = ptr; + ptr = m_free_nodes[revindex]; + // post: ptr contains the node index, and revindex the index in m_free_nodes + + size_t finalsize = m_allocated_sizes[ptr]; + finalsize -= num_elements; + + m_allocated_sizes[ptr] = num_elements; + + // post: finalsize>=0, m_allocated_sizes[ptr] has the requested size + + if(finalsize>0) // preserve free node, there are some free memory + { + m_free_nodes[revindex] = ptr + num_elements; + m_allocated_sizes[ptr + num_elements] = finalsize; + } + else // delete free node + { + // swap with end + m_free_nodes[revindex] = m_free_nodes[m_free_nodes_count-1]; + m_free_nodes_count--; + } + + return ptr; +} + +size_t btGenericMemoryPool::allocate_from_pool(size_t num_elements) +{ + if(m_allocated_count+num_elements>m_max_element_count) return BT_UINT_MAX; + + size_t ptr = m_allocated_count; + + m_allocated_sizes[m_allocated_count] = num_elements; + m_allocated_count+=num_elements; + + return ptr; +} + + +void btGenericMemoryPool::init_pool(size_t element_size, size_t element_count) +{ + m_allocated_count = 0; + m_free_nodes_count = 0; + + m_element_size = element_size; + m_max_element_count = element_count; + + + + + m_pool = (unsigned char *) btAlignedAlloc(m_element_size*m_max_element_count,16); + m_free_nodes = (size_t *) btAlignedAlloc(sizeof(size_t)*m_max_element_count,16); + m_allocated_sizes = (size_t *) btAlignedAlloc(sizeof(size_t)*m_max_element_count,16); + + for (size_t i = 0;i< m_max_element_count;i++ ) + { + m_allocated_sizes[i] = 0; + } +} + +void btGenericMemoryPool::end_pool() +{ + btAlignedFree(m_pool); + btAlignedFree(m_free_nodes); + btAlignedFree(m_allocated_sizes); + m_allocated_count = 0; + m_free_nodes_count = 0; +} + + +//! Allocates memory in pool +/*! +\param size_bytes size in bytes of the buffer +*/ +void * btGenericMemoryPool::allocate(size_t size_bytes) +{ + + size_t module = size_bytes%m_element_size; + size_t element_count = size_bytes/m_element_size; + if(module>0) element_count++; + + size_t alloc_pos = allocate_from_free_nodes(element_count); + // a free node is found + if(alloc_pos != BT_UINT_MAX) + { + return get_element_data(alloc_pos); + } + // allocate directly on pool + alloc_pos = allocate_from_pool(element_count); + + if(alloc_pos == BT_UINT_MAX) return NULL; // not space + return get_element_data(alloc_pos); +} + +bool btGenericMemoryPool::freeMemory(void * pointer) +{ + unsigned char * pointer_pos = (unsigned char *)pointer; + unsigned char * pool_pos = (unsigned char *)m_pool; + // calc offset + if(pointer_pos<pool_pos) return false;//other pool + size_t offset = size_t(pointer_pos - pool_pos); + if(offset>=get_pool_capacity()) return false;// far away + + // find free position + m_free_nodes[m_free_nodes_count] = offset/m_element_size; + m_free_nodes_count++; + return true; +} + + +/// *******************! btGenericPoolAllocator *******************!/// + + +btGenericPoolAllocator::~btGenericPoolAllocator() +{ + // destroy pools + size_t i; + for (i=0;i<m_pool_count;i++) + { + m_pools[i]->end_pool(); + btAlignedFree(m_pools[i]); + } +} + + +// creates a pool +btGenericMemoryPool * btGenericPoolAllocator::push_new_pool() +{ + if(m_pool_count >= BT_DEFAULT_MAX_POOLS) return NULL; + + btGenericMemoryPool * newptr = (btGenericMemoryPool *)btAlignedAlloc(sizeof(btGenericMemoryPool),16); + + m_pools[m_pool_count] = newptr; + + m_pools[m_pool_count]->init_pool(m_pool_element_size,m_pool_element_count); + + m_pool_count++; + return newptr; +} + +void * btGenericPoolAllocator::failback_alloc(size_t size_bytes) +{ + + btGenericMemoryPool * pool = NULL; + + + if(size_bytes<=get_pool_capacity()) + { + pool = push_new_pool(); + } + + if(pool==NULL) // failback + { + return btAlignedAlloc(size_bytes,16); + } + + return pool->allocate(size_bytes); +} + +bool btGenericPoolAllocator::failback_free(void * pointer) +{ + btAlignedFree(pointer); + return true; +} + + +//! Allocates memory in pool +/*! +\param size_bytes size in bytes of the buffer +*/ +void * btGenericPoolAllocator::allocate(size_t size_bytes) +{ + void * ptr = NULL; + + size_t i = 0; + while(i<m_pool_count && ptr == NULL) + { + ptr = m_pools[i]->allocate(size_bytes); + ++i; + } + + if(ptr) return ptr; + + return failback_alloc(size_bytes); +} + +bool btGenericPoolAllocator::freeMemory(void * pointer) +{ + bool result = false; + + size_t i = 0; + while(i<m_pool_count && result == false) + { + result = m_pools[i]->freeMemory(pointer); + ++i; + } + + if(result) return true; + + return failback_free(pointer); +} + +/// ************** STANDARD ALLOCATOR ***************************/// + + +#define BT_DEFAULT_POOL_SIZE 32768 +#define BT_DEFAULT_POOL_ELEMENT_SIZE 8 + +// main allocator +class BT_STANDARD_ALLOCATOR: public btGenericPoolAllocator +{ +public: + BT_STANDARD_ALLOCATOR():btGenericPoolAllocator(BT_DEFAULT_POOL_ELEMENT_SIZE,BT_DEFAULT_POOL_SIZE) + { + } +}; + +// global allocator +BT_STANDARD_ALLOCATOR g_main_allocator; + + +void * btPoolAlloc(size_t size) +{ + return g_main_allocator.allocate(size); +} + +void * btPoolRealloc(void *ptr, size_t oldsize, size_t newsize) +{ + void * newptr = btPoolAlloc(newsize); + size_t copysize = oldsize<newsize?oldsize:newsize; + memcpy(newptr,ptr,copysize); + btPoolFree(ptr); + return newptr; +} + +void btPoolFree(void *ptr) +{ + g_main_allocator.freeMemory(ptr); +} diff --git a/extern/bullet2/src/BulletCollision/Gimpact/btGenericPoolAllocator.h b/extern/bullet2/src/BulletCollision/Gimpact/btGenericPoolAllocator.h new file mode 100644 index 00000000000..05b79a82516 --- /dev/null +++ b/extern/bullet2/src/BulletCollision/Gimpact/btGenericPoolAllocator.h @@ -0,0 +1,168 @@ +/*! \file btGenericPoolAllocator.h +\author Francisco Len Nßjera. email projectileman@yahoo.com + +General purpose allocator class +*/ +/* +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. +*/ + +#ifndef BT_GENERIC_POOL_ALLOCATOR_H +#define BT_GENERIC_POOL_ALLOCATOR_H + +#include <limits.h> +#include <stdio.h> +#include <memory.h> +#include "LinearMath/btAlignedAllocator.h" + +#define BT_UINT_MAX UINT_MAX +#define BT_DEFAULT_MAX_POOLS 16 + + +//! Generic Pool class +class btGenericMemoryPool +{ +public: + unsigned char * m_pool; //[m_element_size*m_max_element_count]; + size_t * m_free_nodes; //[m_max_element_count];//! free nodes + size_t * m_allocated_sizes;//[m_max_element_count];//! Number of elements allocated per node + size_t m_allocated_count; + size_t m_free_nodes_count; +protected: + size_t m_element_size; + size_t m_max_element_count; + + size_t allocate_from_free_nodes(size_t num_elements); + size_t allocate_from_pool(size_t num_elements); + +public: + + void init_pool(size_t element_size, size_t element_count); + + void end_pool(); + + + btGenericMemoryPool(size_t element_size, size_t element_count) + { + init_pool(element_size, element_count); + } + + ~btGenericMemoryPool() + { + end_pool(); + } + + + inline size_t get_pool_capacity() + { + return m_element_size*m_max_element_count; + } + + inline size_t gem_element_size() + { + return m_element_size; + } + + inline size_t get_max_element_count() + { + return m_max_element_count; + } + + inline size_t get_allocated_count() + { + return m_allocated_count; + } + + inline size_t get_free_positions_count() + { + return m_free_nodes_count; + } + + inline void * get_element_data(size_t element_index) + { + return &m_pool[element_index*m_element_size]; + } + + //! Allocates memory in pool + /*! + \param size_bytes size in bytes of the buffer + */ + void * allocate(size_t size_bytes); + + bool freeMemory(void * pointer); +}; + + + + +//! Generic Allocator with pools +/*! +General purpose Allocator which can create Memory Pools dynamiacally as needed. +*/ +class btGenericPoolAllocator +{ +protected: + size_t m_pool_element_size; + size_t m_pool_element_count; +public: + btGenericMemoryPool * m_pools[BT_DEFAULT_MAX_POOLS]; + size_t m_pool_count; + + + inline size_t get_pool_capacity() + { + return m_pool_element_size*m_pool_element_count; + } + + +protected: + // creates a pool + btGenericMemoryPool * push_new_pool(); + + void * failback_alloc(size_t size_bytes); + + bool failback_free(void * pointer); +public: + + btGenericPoolAllocator(size_t pool_element_size, size_t pool_element_count) + { + m_pool_count = 0; + m_pool_element_size = pool_element_size; + m_pool_element_count = pool_element_count; + } + + virtual ~btGenericPoolAllocator(); + + //! Allocates memory in pool + /*! + \param size_bytes size in bytes of the buffer + */ + void * allocate(size_t size_bytes); + + bool freeMemory(void * pointer); +}; + + + +/*! \defgroup POOL_MEMORY_FUNCTIONS +standar managed Memory functions. Memory pools are used. +*/ +//! @{ +void * btPoolAlloc(size_t size); +void * btPoolRealloc(void *ptr, size_t oldsize, size_t newsize); +void btPoolFree(void *ptr); +//! @} + + +#endif diff --git a/extern/bullet2/src/BulletCollision/Gimpact/btGeometryOperations.h b/extern/bullet2/src/BulletCollision/Gimpact/btGeometryOperations.h new file mode 100644 index 00000000000..f5800716a96 --- /dev/null +++ b/extern/bullet2/src/BulletCollision/Gimpact/btGeometryOperations.h @@ -0,0 +1,216 @@ +#ifndef BT_BASIC_GEOMETRY_OPERATIONS_H_INCLUDED +#define BT_BASIC_GEOMETRY_OPERATIONS_H_INCLUDED + +/*! \file btGeometryOperations.h +*\author Francisco Len Nßjera + +*/ +/* +This source file is part of GIMPACT Library. + +For the latest info, see http://gimpact.sourceforge.net/ + +Copyright (c) 2007 Francisco Leon Najera. C.C. 80087371. +email: projectileman@yahoo.com + + +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 "btBoxCollision.h" + + + +/*! \defgroup GEOMETRIC_OPERATIONS +*/ +//! @{ + + +#define PLANEDIREPSILON 0.0000001f +#define PARALELENORMALS 0.000001f + + +#define BT_CLAMP(number,minval,maxval) (number<minval?minval:(number>maxval?maxval:number)) + +/// Calc a plane from a triangle edge an a normal. plane is a vec4f +SIMD_FORCE_INLINE void bt_edge_plane(const btVector3 & e1,const btVector3 & e2, const btVector3 & normal,btVector4 & plane) +{ + btVector3 planenormal = (e2-e1).cross(normal); + planenormal.normalize(); + plane.setValue(planenormal[0],planenormal[1],planenormal[2],e2.dot(planenormal)); +} + + + +//***************** SEGMENT and LINE FUNCTIONS **********************************/// + +/*! Finds the closest point(cp) to (v) on a segment (e1,e2) + */ +SIMD_FORCE_INLINE void bt_closest_point_on_segment( + btVector3 & cp, const btVector3 & v, + const btVector3 &e1,const btVector3 &e2) +{ + btVector3 n = e2-e1; + cp = v - e1; + btScalar _scalar = cp.dot(n)/n.dot(n); + if(_scalar <0.0f) + { + cp = e1; + } + else if(_scalar >1.0f) + { + cp = e2; + } + else + { + cp = _scalar*n + e1; + } +} + + +//! line plane collision +/*! +*\return + -0 if the ray never intersects + -1 if the ray collides in front + -2 if the ray collides in back +*/ + +SIMD_FORCE_INLINE int bt_line_plane_collision( + const btVector4 & plane, + const btVector3 & vDir, + const btVector3 & vPoint, + btVector3 & pout, + btScalar &tparam, + btScalar tmin, btScalar tmax) +{ + + btScalar _dotdir = vDir.dot(plane); + + if(btFabs(_dotdir)<PLANEDIREPSILON) + { + tparam = tmax; + return 0; + } + + btScalar _dis = bt_distance_point_plane(plane,vPoint); + char returnvalue = _dis<0.0f? 2:1; + tparam = -_dis/_dotdir; + + if(tparam<tmin) + { + returnvalue = 0; + tparam = tmin; + } + else if(tparam>tmax) + { + returnvalue = 0; + tparam = tmax; + } + pout = tparam*vDir + vPoint; + return returnvalue; +} + + +//! Find closest points on segments +SIMD_FORCE_INLINE void bt_segment_collision( + const btVector3 & vA1, + const btVector3 & vA2, + const btVector3 & vB1, + const btVector3 & vB2, + btVector3 & vPointA, + btVector3 & vPointB) +{ + btVector3 AD = vA2 - vA1; + btVector3 BD = vB2 - vB1; + btVector3 N = AD.cross(BD); + btScalar tp = N.length2(); + + btVector4 _M;//plane + + if(tp<SIMD_EPSILON)//ARE PARALELE + { + //project B over A + bool invert_b_order = false; + _M[0] = vB1.dot(AD); + _M[1] = vB2.dot(AD); + + if(_M[0]>_M[1]) + { + invert_b_order = true; + BT_SWAP_NUMBERS(_M[0],_M[1]); + } + _M[2] = vA1.dot(AD); + _M[3] = vA2.dot(AD); + //mid points + N[0] = (_M[0]+_M[1])*0.5f; + N[1] = (_M[2]+_M[3])*0.5f; + + if(N[0]<N[1]) + { + if(_M[1]<_M[2]) + { + vPointB = invert_b_order?vB1:vB2; + vPointA = vA1; + } + else if(_M[1]<_M[3]) + { + vPointB = invert_b_order?vB1:vB2; + bt_closest_point_on_segment(vPointA,vPointB,vA1,vA2); + } + else + { + vPointA = vA2; + bt_closest_point_on_segment(vPointB,vPointA,vB1,vB2); + } + } + else + { + if(_M[3]<_M[0]) + { + vPointB = invert_b_order?vB2:vB1; + vPointA = vA2; + } + else if(_M[3]<_M[1]) + { + vPointA = vA2; + bt_closest_point_on_segment(vPointB,vPointA,vB1,vB2); + } + else + { + vPointB = invert_b_order?vB1:vB2; + bt_closest_point_on_segment(vPointA,vPointB,vA1,vA2); + } + } + return; + } + + N = N.cross(BD); + _M.setValue(N[0],N[1],N[2],vB1.dot(N)); + + // get point A as the plane collision point + bt_line_plane_collision(_M,AD,vA1,vPointA,tp,btScalar(0), btScalar(1)); + + /*Closest point on segment*/ + vPointB = vPointA - vB1; + tp = vPointB.dot(BD); + tp/= BD.dot(BD); + tp = BT_CLAMP(tp,0.0f,1.0f); + + vPointB = tp*BD + vB1; +} + + + +//! @} + + +#endif // GIM_VECTOR_H_INCLUDED diff --git a/extern/bullet2/src/BulletCollision/Gimpact/btQuantization.h b/extern/bullet2/src/BulletCollision/Gimpact/btQuantization.h new file mode 100644 index 00000000000..e9e6ad3d805 --- /dev/null +++ b/extern/bullet2/src/BulletCollision/Gimpact/btQuantization.h @@ -0,0 +1,92 @@ +#ifndef BT_QUANTIZATION_H_INCLUDED +#define BT_QUANTIZATION_H_INCLUDED + +/*! \file btQuantization.h +*\author Francisco Len Nßjera + +*/ +/* +This source file is part of GIMPACT Library. + +For the latest info, see http://gimpact.sourceforge.net/ + +Copyright (c) 2007 Francisco Leon Najera. C.C. 80087371. +email: projectileman@yahoo.com + + +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 "LinearMath/btTransform.h" + + + +/*! \defgroup GEOMETRIC_OPERATIONS +*/ +//! @{ + + + +SIMD_FORCE_INLINE void bt_calc_quantization_parameters( + btVector3 & outMinBound, + btVector3 & outMaxBound, + btVector3 & bvhQuantization, + const btVector3& srcMinBound,const btVector3& srcMaxBound, + btScalar quantizationMargin) +{ + //enlarge the AABB to avoid division by zero when initializing the quantization values + btVector3 clampValue(quantizationMargin,quantizationMargin,quantizationMargin); + outMinBound = srcMinBound - clampValue; + outMaxBound = srcMaxBound + clampValue; + btVector3 aabbSize = outMaxBound - outMinBound; + bvhQuantization = btVector3(btScalar(65535.0), + btScalar(65535.0), + btScalar(65535.0)) / aabbSize; +} + + +SIMD_FORCE_INLINE void bt_quantize_clamp( + unsigned short* out, + const btVector3& point, + const btVector3 & min_bound, + const btVector3 & max_bound, + const btVector3 & bvhQuantization) +{ + + btVector3 clampedPoint(point); + clampedPoint.setMax(min_bound); + clampedPoint.setMin(max_bound); + + btVector3 v = (clampedPoint - min_bound) * bvhQuantization; + out[0] = (unsigned short)(v.getX()+0.5f); + out[1] = (unsigned short)(v.getY()+0.5f); + out[2] = (unsigned short)(v.getZ()+0.5f); +} + + +SIMD_FORCE_INLINE btVector3 bt_unquantize( + const unsigned short* vecIn, + const btVector3 & offset, + const btVector3 & bvhQuantization) +{ + btVector3 vecOut; + vecOut.setValue( + (btScalar)(vecIn[0]) / (bvhQuantization.getX()), + (btScalar)(vecIn[1]) / (bvhQuantization.getY()), + (btScalar)(vecIn[2]) / (bvhQuantization.getZ())); + vecOut += offset; + return vecOut; +} + +//! @} + + +#endif // GIM_VECTOR_H_INCLUDED diff --git a/extern/bullet2/src/BulletCollision/Gimpact/btTriangleShapeEx.cpp b/extern/bullet2/src/BulletCollision/Gimpact/btTriangleShapeEx.cpp new file mode 100644 index 00000000000..0267f7e67c7 --- /dev/null +++ b/extern/bullet2/src/BulletCollision/Gimpact/btTriangleShapeEx.cpp @@ -0,0 +1,218 @@ +/*! \file btGImpactTriangleShape.h +\author Francisco Len Nßjera +*/ +/* +This source file is part of GIMPACT Library. + +For the latest info, see http://gimpact.sourceforge.net/ + +Copyright (c) 2007 Francisco Leon Najera. C.C. 80087371. +email: projectileman@yahoo.com + + +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 "btTriangleShapeEx.h" + + + +void BT_TRIANGLE_CONTACT::merge_points(const btVector4 & plane, + btScalar margin, const btVector3 * points, int point_count) +{ + m_point_count = 0; + m_penetration_depth= -1000.0f; + + int point_indices[MAX_TRI_CLIPPING]; + + int _k; + + for ( _k=0;_k<point_count;_k++) + { + btScalar _dist = - bt_distance_point_plane(plane,points[_k]) + margin; + + if (_dist>=0.0f) + { + if (_dist>m_penetration_depth) + { + m_penetration_depth = _dist; + point_indices[0] = _k; + m_point_count=1; + } + else if ((_dist+SIMD_EPSILON)>=m_penetration_depth) + { + point_indices[m_point_count] = _k; + m_point_count++; + } + } + } + + for ( _k=0;_k<m_point_count;_k++) + { + m_points[_k] = points[point_indices[_k]]; + } +} + +///class btPrimitiveTriangle +bool btPrimitiveTriangle::overlap_test_conservative(const btPrimitiveTriangle& other) +{ + btScalar total_margin = m_margin + other.m_margin; + // classify points on other triangle + btScalar dis0 = bt_distance_point_plane(m_plane,other.m_vertices[0]) - total_margin; + + btScalar dis1 = bt_distance_point_plane(m_plane,other.m_vertices[1]) - total_margin; + + btScalar dis2 = bt_distance_point_plane(m_plane,other.m_vertices[2]) - total_margin; + + if (dis0>0.0f&&dis1>0.0f&&dis2>0.0f) return false; + + // classify points on this triangle + dis0 = bt_distance_point_plane(other.m_plane,m_vertices[0]) - total_margin; + + dis1 = bt_distance_point_plane(other.m_plane,m_vertices[1]) - total_margin; + + dis2 = bt_distance_point_plane(other.m_plane,m_vertices[2]) - total_margin; + + if (dis0>0.0f&&dis1>0.0f&&dis2>0.0f) return false; + + return true; +} + +int btPrimitiveTriangle::clip_triangle(btPrimitiveTriangle & other, btVector3 * clipped_points ) +{ + // edge 0 + + btVector3 temp_points[MAX_TRI_CLIPPING]; + + + btVector4 edgeplane; + + get_edge_plane(0,edgeplane); + + + int clipped_count = bt_plane_clip_triangle( + edgeplane,other.m_vertices[0],other.m_vertices[1],other.m_vertices[2],temp_points); + + if (clipped_count == 0) return 0; + + btVector3 temp_points1[MAX_TRI_CLIPPING]; + + + // edge 1 + get_edge_plane(1,edgeplane); + + + clipped_count = bt_plane_clip_polygon(edgeplane,temp_points,clipped_count,temp_points1); + + if (clipped_count == 0) return 0; + + // edge 2 + get_edge_plane(2,edgeplane); + + clipped_count = bt_plane_clip_polygon( + edgeplane,temp_points1,clipped_count,clipped_points); + + return clipped_count; +} + +bool btPrimitiveTriangle::find_triangle_collision_clip_method(btPrimitiveTriangle & other, BT_TRIANGLE_CONTACT & contacts) +{ + btScalar margin = m_margin + other.m_margin; + + btVector3 clipped_points[MAX_TRI_CLIPPING]; + int clipped_count; + //create planes + // plane v vs U points + + BT_TRIANGLE_CONTACT contacts1; + + contacts1.m_separating_normal = m_plane; + + + clipped_count = clip_triangle(other,clipped_points); + + if (clipped_count == 0 ) + { + return false;//Reject + } + + //find most deep interval face1 + contacts1.merge_points(contacts1.m_separating_normal,margin,clipped_points,clipped_count); + if (contacts1.m_point_count == 0) return false; // too far + //Normal pointing to this triangle + contacts1.m_separating_normal *= -1.f; + + + //Clip tri1 by tri2 edges + BT_TRIANGLE_CONTACT contacts2; + contacts2.m_separating_normal = other.m_plane; + + clipped_count = other.clip_triangle(*this,clipped_points); + + if (clipped_count == 0 ) + { + return false;//Reject + } + + //find most deep interval face1 + contacts2.merge_points(contacts2.m_separating_normal,margin,clipped_points,clipped_count); + if (contacts2.m_point_count == 0) return false; // too far + + + + + ////check most dir for contacts + if (contacts2.m_penetration_depth<contacts1.m_penetration_depth) + { + contacts.copy_from(contacts2); + } + else + { + contacts.copy_from(contacts1); + } + return true; +} + + + +///class btTriangleShapeEx: public btTriangleShape + +bool btTriangleShapeEx::overlap_test_conservative(const btTriangleShapeEx& other) +{ + btScalar total_margin = getMargin() + other.getMargin(); + + btVector4 plane0; + buildTriPlane(plane0); + btVector4 plane1; + other.buildTriPlane(plane1); + + // classify points on other triangle + btScalar dis0 = bt_distance_point_plane(plane0,other.m_vertices1[0]) - total_margin; + + btScalar dis1 = bt_distance_point_plane(plane0,other.m_vertices1[1]) - total_margin; + + btScalar dis2 = bt_distance_point_plane(plane0,other.m_vertices1[2]) - total_margin; + + if (dis0>0.0f&&dis1>0.0f&&dis2>0.0f) return false; + + // classify points on this triangle + dis0 = bt_distance_point_plane(plane1,m_vertices1[0]) - total_margin; + + dis1 = bt_distance_point_plane(plane1,m_vertices1[1]) - total_margin; + + dis2 = bt_distance_point_plane(plane1,m_vertices1[2]) - total_margin; + + if (dis0>0.0f&&dis1>0.0f&&dis2>0.0f) return false; + + return true; +} + + diff --git a/extern/bullet2/src/BulletCollision/Gimpact/btTriangleShapeEx.h b/extern/bullet2/src/BulletCollision/Gimpact/btTriangleShapeEx.h new file mode 100644 index 00000000000..bdaa323d564 --- /dev/null +++ b/extern/bullet2/src/BulletCollision/Gimpact/btTriangleShapeEx.h @@ -0,0 +1,180 @@ +/*! \file btGImpactShape.h +\author Francisco Len Nßjera +*/ +/* +This source file is part of GIMPACT Library. + +For the latest info, see http://gimpact.sourceforge.net/ + +Copyright (c) 2007 Francisco Leon Najera. C.C. 80087371. +email: projectileman@yahoo.com + + +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 TRIANGLE_SHAPE_EX_H +#define TRIANGLE_SHAPE_EX_H + +#include "BulletCollision/CollisionShapes/btCollisionShape.h" +#include "BulletCollision/CollisionShapes/btTriangleShape.h" +#include "btBoxCollision.h" +#include "btClipPolygon.h" +#include "btGeometryOperations.h" + + +#define MAX_TRI_CLIPPING 16 + +//! Structure for collision +struct BT_TRIANGLE_CONTACT +{ + btScalar m_penetration_depth; + int m_point_count; + btVector4 m_separating_normal; + btVector3 m_points[MAX_TRI_CLIPPING]; + + SIMD_FORCE_INLINE void copy_from(const BT_TRIANGLE_CONTACT& other) + { + m_penetration_depth = other.m_penetration_depth; + m_separating_normal = other.m_separating_normal; + m_point_count = other.m_point_count; + int i = m_point_count; + while(i--) + { + m_points[i] = other.m_points[i]; + } + } + + BT_TRIANGLE_CONTACT() + { + } + + BT_TRIANGLE_CONTACT(const BT_TRIANGLE_CONTACT& other) + { + copy_from(other); + } + + //! classify points that are closer + void merge_points(const btVector4 & plane, + btScalar margin, const btVector3 * points, int point_count); + +}; + + + +class btPrimitiveTriangle +{ +public: + btVector3 m_vertices[3]; + btVector4 m_plane; + btScalar m_margin; + btScalar m_dummy; + btPrimitiveTriangle():m_margin(0.01f) + { + + } + + + SIMD_FORCE_INLINE void buildTriPlane() + { + btVector3 normal = (m_vertices[1]-m_vertices[0]).cross(m_vertices[2]-m_vertices[0]); + normal.normalize(); + m_plane.setValue(normal[0],normal[1],normal[2],m_vertices[0].dot(normal)); + } + + //! Test if triangles could collide + bool overlap_test_conservative(const btPrimitiveTriangle& other); + + //! Calcs the plane which is paralele to the edge and perpendicular to the triangle plane + /*! + \pre this triangle must have its plane calculated. + */ + SIMD_FORCE_INLINE void get_edge_plane(int edge_index, btVector4 &plane) const + { + const btVector3 & e0 = m_vertices[edge_index]; + const btVector3 & e1 = m_vertices[(edge_index+1)%3]; + bt_edge_plane(e0,e1,m_plane,plane); + } + + void applyTransform(const btTransform& t) + { + m_vertices[0] = t(m_vertices[0]); + m_vertices[1] = t(m_vertices[1]); + m_vertices[2] = t(m_vertices[2]); + } + + //! Clips the triangle against this + /*! + \pre clipped_points must have MAX_TRI_CLIPPING size, and this triangle must have its plane calculated. + \return the number of clipped points + */ + int clip_triangle(btPrimitiveTriangle & other, btVector3 * clipped_points ); + + //! Find collision using the clipping method + /*! + \pre this triangle and other must have their triangles calculated + */ + bool find_triangle_collision_clip_method(btPrimitiveTriangle & other, BT_TRIANGLE_CONTACT & contacts); +}; + + + +//! Helper class for colliding Bullet Triangle Shapes +/*! +This class implements a better getAabb method than the previous btTriangleShape class +*/ +class btTriangleShapeEx: public btTriangleShape +{ +public: + + btTriangleShapeEx():btTriangleShape(btVector3(0,0,0),btVector3(0,0,0),btVector3(0,0,0)) + { + } + + btTriangleShapeEx(const btVector3& p0,const btVector3& p1,const btVector3& p2): btTriangleShape(p0,p1,p2) + { + } + + btTriangleShapeEx(const btTriangleShapeEx & other): btTriangleShape(other.m_vertices1[0],other.m_vertices1[1],other.m_vertices1[2]) + { + } + + virtual void getAabb(const btTransform& t,btVector3& aabbMin,btVector3& aabbMax)const + { + btVector3 tv0 = t(m_vertices1[0]); + btVector3 tv1 = t(m_vertices1[1]); + btVector3 tv2 = t(m_vertices1[2]); + + btAABB trianglebox(tv0,tv1,tv2,m_collisionMargin); + aabbMin = trianglebox.m_min; + aabbMax = trianglebox.m_max; + } + + void applyTransform(const btTransform& t) + { + m_vertices1[0] = t(m_vertices1[0]); + m_vertices1[1] = t(m_vertices1[1]); + m_vertices1[2] = t(m_vertices1[2]); + } + + SIMD_FORCE_INLINE void buildTriPlane(btVector4 & plane) const + { + btVector3 normal = (m_vertices1[1]-m_vertices1[0]).cross(m_vertices1[2]-m_vertices1[0]); + normal.normalize(); + plane.setValue(normal[0],normal[1],normal[2],m_vertices1[0].dot(normal)); + } + + bool overlap_test_conservative(const btTriangleShapeEx& other); +}; + + +#endif //TRIANGLE_MESH_SHAPE_H diff --git a/extern/bullet2/src/BulletCollision/Gimpact/gim_array.h b/extern/bullet2/src/BulletCollision/Gimpact/gim_array.h new file mode 100644 index 00000000000..89fbb5ab0a5 --- /dev/null +++ b/extern/bullet2/src/BulletCollision/Gimpact/gim_array.h @@ -0,0 +1,332 @@ +#ifndef GIM_ARRAY_H_INCLUDED +#define GIM_ARRAY_H_INCLUDED +/*! \file gim_array.h +\author Francisco Len Nßjera +*/ +/* +----------------------------------------------------------------------------- +This source file is part of GIMPACT Library. + +For the latest info, see http://gimpact.sourceforge.net/ + +Copyright (c) 2006 Francisco Leon Najera. C.C. 80087371. +email: projectileman@yahoo.com + + This library is free software; you can redistribute it and/or + modify it under the terms of EITHER: + (1) The GNU Lesser General Public License as published by the Free + Software Foundation; either version 2.1 of the License, or (at + your option) any later version. The text of the GNU Lesser + General Public License is included with this library in the + file GIMPACT-LICENSE-LGPL.TXT. + (2) The BSD-style license that is included with this library in + the file GIMPACT-LICENSE-BSD.TXT. + (3) The zlib/libpng license that is included with this library in + the file GIMPACT-LICENSE-ZLIB.TXT. + + This library is distributed in the hope that it will be useful, + but WITHOUT ANY WARRANTY; without even the implied warranty of + MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the files + GIMPACT-LICENSE-LGPL.TXT, GIMPACT-LICENSE-ZLIB.TXT and GIMPACT-LICENSE-BSD.TXT for more details. + +----------------------------------------------------------------------------- +*/ + +#include "gim_memory.h" + +/*! \addtogroup CONTAINERS +\brief +Abstract class for template containers +*/ +//! @{ + +#define GIM_ARRAY_GROW_INCREMENT 2 +#define GIM_ARRAY_GROW_FACTOR 2 + +//! Very simple array container with fast access and simd memory +template<typename T> +class gim_array +{ +public: +//! properties +//!@{ + T *m_data; + GUINT m_size; + GUINT m_allocated_size; +//!@} +//! protected operations +//!@{ + + inline void destroyData() + { + m_allocated_size = 0; + if(m_data==NULL) return; + gim_free(m_data); + m_data = NULL; + } + + inline bool resizeData(GUINT newsize) + { + if(newsize==0) + { + destroyData(); + return true; + } + + if(m_size>0) + { + m_data = (T*)gim_realloc(m_data,m_size*sizeof(T),newsize*sizeof(T)); + } + else + { + m_data = (T*)gim_alloc(newsize*sizeof(T)); + } + m_allocated_size = newsize; + return true; + } + + inline bool growingCheck() + { + if(m_allocated_size<=m_size) + { + GUINT requestsize = m_size; + m_size = m_allocated_size; + if(resizeData((requestsize+GIM_ARRAY_GROW_INCREMENT)*GIM_ARRAY_GROW_FACTOR)==false) return false; + } + return true; + } + +//!@} +//! public operations +//!@{ + inline bool reserve(GUINT size) + { + if(m_allocated_size>=size) return false; + return resizeData(size); + } + + inline void clear_range(GUINT start_range) + { + while(m_size>start_range) + { + m_data[--m_size].~T(); + } + } + + inline void clear() + { + if(m_size==0)return; + clear_range(0); + } + + inline void clear_memory() + { + clear(); + destroyData(); + } + + gim_array() + { + m_data = 0; + m_size = 0; + m_allocated_size = 0; + } + + gim_array(GUINT reservesize) + { + m_data = 0; + m_size = 0; + + m_allocated_size = 0; + reserve(reservesize); + } + + ~gim_array() + { + clear_memory(); + } + + inline GUINT size() const + { + return m_size; + } + + inline GUINT max_size() const + { + return m_allocated_size; + } + + inline T & operator[](size_t i) + { + return m_data[i]; + } + inline const T & operator[](size_t i) const + { + return m_data[i]; + } + + inline T * pointer(){ return m_data;} + inline const T * pointer() const + { return m_data;} + + + inline T * get_pointer_at(GUINT i) + { + return m_data + i; + } + + inline const T * get_pointer_at(GUINT i) const + { + return m_data + i; + } + + inline T & at(GUINT i) + { + return m_data[i]; + } + + inline const T & at(GUINT i) const + { + return m_data[i]; + } + + inline T & front() + { + return *m_data; + } + + inline const T & front() const + { + return *m_data; + } + + inline T & back() + { + return m_data[m_size-1]; + } + + inline const T & back() const + { + return m_data[m_size-1]; + } + + + inline void swap(GUINT i, GUINT j) + { + gim_swap_elements(m_data,i,j); + } + + inline void push_back(const T & obj) + { + this->growingCheck(); + m_data[m_size] = obj; + m_size++; + } + + //!Simply increase the m_size, doesn't call the new element constructor + inline void push_back_mem() + { + this->growingCheck(); + m_size++; + } + + inline void push_back_memcpy(const T & obj) + { + this->growingCheck(); + irr_simd_memcpy(&m_data[m_size],&obj,sizeof(T)); + m_size++; + } + + inline void pop_back() + { + m_size--; + m_data[m_size].~T(); + } + + //!Simply decrease the m_size, doesn't call the deleted element destructor + inline void pop_back_mem() + { + m_size--; + } + + //! fast erase + inline void erase(GUINT index) + { + if(index<m_size-1) + { + swap(index,m_size-1); + } + pop_back(); + } + + inline void erase_sorted_mem(GUINT index) + { + m_size--; + for(GUINT i = index;i<m_size;i++) + { + gim_simd_memcpy(m_data+i,m_data+i+1,sizeof(T)); + } + } + + inline void erase_sorted(GUINT index) + { + m_data[index].~T(); + erase_sorted_mem(index); + } + + inline void insert_mem(GUINT index) + { + this->growingCheck(); + for(GUINT i = m_size;i>index;i--) + { + gim_simd_memcpy(m_data+i,m_data+i-1,sizeof(T)); + } + m_size++; + } + + inline void insert(const T & obj,GUINT index) + { + insert_mem(index); + m_data[index] = obj; + } + + inline void resize(GUINT size, bool call_constructor = true) + { + + if(size>m_size) + { + reserve(size); + if(call_constructor) + { + T obj; + while(m_size<size) + { + m_data[m_size] = obj; + m_size++; + } + } + else + { + m_size = size; + } + } + else if(size<m_size) + { + if(call_constructor) clear_range(size); + m_size = size; + } + } + + inline void refit() + { + resizeData(m_size); + } +//!@} +}; + + +//! @} + + + +#endif // GIM_CONTAINERS_H_INCLUDED diff --git a/extern/bullet2/src/BulletCollision/Gimpact/gim_basic_geometry_operations.h b/extern/bullet2/src/BulletCollision/Gimpact/gim_basic_geometry_operations.h new file mode 100644 index 00000000000..d4cbce04b5e --- /dev/null +++ b/extern/bullet2/src/BulletCollision/Gimpact/gim_basic_geometry_operations.h @@ -0,0 +1,547 @@ +#ifndef GIM_BASIC_GEOMETRY_OPERATIONS_H_INCLUDED +#define GIM_BASIC_GEOMETRY_OPERATIONS_H_INCLUDED + +/*! \file gim_basic_geometry_operations.h +*\author Francisco Len Nßjera +type independant geometry routines + +*/ +/* +----------------------------------------------------------------------------- +This source file is part of GIMPACT Library. + +For the latest info, see http://gimpact.sourceforge.net/ + +Copyright (c) 2006 Francisco Leon Najera. C.C. 80087371. +email: projectileman@yahoo.com + + This library is free software; you can redistribute it and/or + modify it under the terms of EITHER: + (1) The GNU Lesser General Public License as published by the Free + Software Foundation; either version 2.1 of the License, or (at + your option) any later version. The text of the GNU Lesser + General Public License is included with this library in the + file GIMPACT-LICENSE-LGPL.TXT. + (2) The BSD-style license that is included with this library in + the file GIMPACT-LICENSE-BSD.TXT. + (3) The zlib/libpng license that is included with this library in + the file GIMPACT-LICENSE-ZLIB.TXT. + + This library is distributed in the hope that it will be useful, + but WITHOUT ANY WARRANTY; without even the implied warranty of + MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the files + GIMPACT-LICENSE-LGPL.TXT, GIMPACT-LICENSE-ZLIB.TXT and GIMPACT-LICENSE-BSD.TXT for more details. + +----------------------------------------------------------------------------- +*/ + + +#include "gim_linear_math.h" + + + +/*! \defgroup GEOMETRIC_OPERATIONS +*/ +//! @{ + + +#define PLANEDIREPSILON 0.0000001f +#define PARALELENORMALS 0.000001f + + +#define TRIANGLE_NORMAL(v1,v2,v3,n)\ +{\ + vec3f _dif1,_dif2;\ + VEC_DIFF(_dif1,v2,v1);\ + VEC_DIFF(_dif2,v3,v1);\ + VEC_CROSS(n,_dif1,_dif2);\ + VEC_NORMALIZE(n);\ +}\ + +#define TRIANGLE_NORMAL_FAST(v1,v2,v3,n){\ + vec3f _dif1,_dif2; \ + VEC_DIFF(_dif1,v2,v1); \ + VEC_DIFF(_dif2,v3,v1); \ + VEC_CROSS(n,_dif1,_dif2); \ +}\ + +/// plane is a vec4f +#define TRIANGLE_PLANE(v1,v2,v3,plane) {\ + TRIANGLE_NORMAL(v1,v2,v3,plane);\ + plane[3] = VEC_DOT(v1,plane);\ +}\ + +/// plane is a vec4f +#define TRIANGLE_PLANE_FAST(v1,v2,v3,plane) {\ + TRIANGLE_NORMAL_FAST(v1,v2,v3,plane);\ + plane[3] = VEC_DOT(v1,plane);\ +}\ + +/// Calc a plane from an edge an a normal. plane is a vec4f +#define EDGE_PLANE(e1,e2,n,plane) {\ + vec3f _dif; \ + VEC_DIFF(_dif,e2,e1); \ + VEC_CROSS(plane,_dif,n); \ + VEC_NORMALIZE(plane); \ + plane[3] = VEC_DOT(e1,plane);\ +}\ + +#define DISTANCE_PLANE_POINT(plane,point) (VEC_DOT(plane,point) - plane[3]) + +#define PROJECT_POINT_PLANE(point,plane,projected) {\ + GREAL _dis;\ + _dis = DISTANCE_PLANE_POINT(plane,point);\ + VEC_SCALE(projected,-_dis,plane);\ + VEC_SUM(projected,projected,point); \ +}\ + +//! Verifies if a point is in the plane hull +template<typename CLASS_POINT,typename CLASS_PLANE> +SIMD_FORCE_INLINE bool POINT_IN_HULL( + const CLASS_POINT& point,const CLASS_PLANE * planes,GUINT plane_count) +{ + GREAL _dis; + for (GUINT _i = 0;_i< plane_count;++_i) + { + _dis = DISTANCE_PLANE_POINT(planes[_i],point); + if(_dis>0.0f) return false; + } + return true; +} + +template<typename CLASS_POINT,typename CLASS_PLANE> +SIMD_FORCE_INLINE void PLANE_CLIP_SEGMENT( + const CLASS_POINT& s1, + const CLASS_POINT &s2,const CLASS_PLANE &plane,CLASS_POINT &clipped) +{ + GREAL _dis1,_dis2; + _dis1 = DISTANCE_PLANE_POINT(plane,s1); + VEC_DIFF(clipped,s2,s1); + _dis2 = VEC_DOT(clipped,plane); + VEC_SCALE(clipped,-_dis1/_dis2,clipped); + VEC_SUM(clipped,clipped,s1); +} + +enum ePLANE_INTERSECTION_TYPE +{ + G_BACK_PLANE = 0, + G_COLLIDE_PLANE, + G_FRONT_PLANE +}; + +enum eLINE_PLANE_INTERSECTION_TYPE +{ + G_FRONT_PLANE_S1 = 0, + G_FRONT_PLANE_S2, + G_BACK_PLANE_S1, + G_BACK_PLANE_S2, + G_COLLIDE_PLANE_S1, + G_COLLIDE_PLANE_S2 +}; + +//! Confirms if the plane intersect the edge or nor +/*! +intersection type must have the following values +<ul> +<li> 0 : Segment in front of plane, s1 closest +<li> 1 : Segment in front of plane, s2 closest +<li> 2 : Segment in back of plane, s1 closest +<li> 3 : Segment in back of plane, s2 closest +<li> 4 : Segment collides plane, s1 in back +<li> 5 : Segment collides plane, s2 in back +</ul> +*/ + +template<typename CLASS_POINT,typename CLASS_PLANE> +SIMD_FORCE_INLINE eLINE_PLANE_INTERSECTION_TYPE PLANE_CLIP_SEGMENT2( + const CLASS_POINT& s1, + const CLASS_POINT &s2, + const CLASS_PLANE &plane,CLASS_POINT &clipped) +{ + GREAL _dis1 = DISTANCE_PLANE_POINT(plane,s1); + GREAL _dis2 = DISTANCE_PLANE_POINT(plane,s2); + if(_dis1 >-G_EPSILON && _dis2 >-G_EPSILON) + { + if(_dis1<_dis2) return G_FRONT_PLANE_S1; + return G_FRONT_PLANE_S2; + } + else if(_dis1 <G_EPSILON && _dis2 <G_EPSILON) + { + if(_dis1>_dis2) return G_BACK_PLANE_S1; + return G_BACK_PLANE_S2; + } + + VEC_DIFF(clipped,s2,s1); + _dis2 = VEC_DOT(clipped,plane); + VEC_SCALE(clipped,-_dis1/_dis2,clipped); + VEC_SUM(clipped,clipped,s1); + if(_dis1<_dis2) return G_COLLIDE_PLANE_S1; + return G_COLLIDE_PLANE_S2; +} + +//! Confirms if the plane intersect the edge or not +/*! +clipped1 and clipped2 are the vertices behind the plane. +clipped1 is the closest + +intersection_type must have the following values +<ul> +<li> 0 : Segment in front of plane, s1 closest +<li> 1 : Segment in front of plane, s2 closest +<li> 2 : Segment in back of plane, s1 closest +<li> 3 : Segment in back of plane, s2 closest +<li> 4 : Segment collides plane, s1 in back +<li> 5 : Segment collides plane, s2 in back +</ul> +*/ +template<typename CLASS_POINT,typename CLASS_PLANE> +SIMD_FORCE_INLINE eLINE_PLANE_INTERSECTION_TYPE PLANE_CLIP_SEGMENT_CLOSEST( + const CLASS_POINT& s1, + const CLASS_POINT &s2, + const CLASS_PLANE &plane, + CLASS_POINT &clipped1,CLASS_POINT &clipped2) +{ + eLINE_PLANE_INTERSECTION_TYPE intersection_type = PLANE_CLIP_SEGMENT2(s1,s2,plane,clipped1); + switch(intersection_type) + { + case G_FRONT_PLANE_S1: + VEC_COPY(clipped1,s1); + VEC_COPY(clipped2,s2); + break; + case G_FRONT_PLANE_S2: + VEC_COPY(clipped1,s2); + VEC_COPY(clipped2,s1); + break; + case G_BACK_PLANE_S1: + VEC_COPY(clipped1,s1); + VEC_COPY(clipped2,s2); + break; + case G_BACK_PLANE_S2: + VEC_COPY(clipped1,s2); + VEC_COPY(clipped2,s1); + break; + case G_COLLIDE_PLANE_S1: + VEC_COPY(clipped2,s1); + break; + case G_COLLIDE_PLANE_S2: + VEC_COPY(clipped2,s2); + break; + } + return intersection_type; +} + + +//! Finds the 2 smallest cartesian coordinates of a plane normal +#define PLANE_MINOR_AXES(plane, i0, i1) VEC_MINOR_AXES(plane, i0, i1) + +//! Ray plane collision in one way +/*! +Intersects plane in one way only. The ray must face the plane (normals must be in opossite directions).<br/> +It uses the PLANEDIREPSILON constant. +*/ +template<typename T,typename CLASS_POINT,typename CLASS_PLANE> +SIMD_FORCE_INLINE bool RAY_PLANE_COLLISION( + const CLASS_PLANE & plane, + const CLASS_POINT & vDir, + const CLASS_POINT & vPoint, + CLASS_POINT & pout,T &tparam) +{ + GREAL _dis,_dotdir; + _dotdir = VEC_DOT(plane,vDir); + if(_dotdir<PLANEDIREPSILON) + { + return false; + } + _dis = DISTANCE_PLANE_POINT(plane,vPoint); + tparam = -_dis/_dotdir; + VEC_SCALE(pout,tparam,vDir); + VEC_SUM(pout,vPoint,pout); + return true; +} + +//! line collision +/*! +*\return + -0 if the ray never intersects + -1 if the ray collides in front + -2 if the ray collides in back +*/ +template<typename T,typename CLASS_POINT,typename CLASS_PLANE> +SIMD_FORCE_INLINE GUINT LINE_PLANE_COLLISION( + const CLASS_PLANE & plane, + const CLASS_POINT & vDir, + const CLASS_POINT & vPoint, + CLASS_POINT & pout, + T &tparam, + T tmin, T tmax) +{ + GREAL _dis,_dotdir; + _dotdir = VEC_DOT(plane,vDir); + if(btFabs(_dotdir)<PLANEDIREPSILON) + { + tparam = tmax; + return 0; + } + _dis = DISTANCE_PLANE_POINT(plane,vPoint); + char returnvalue = _dis<0.0f?2:1; + tparam = -_dis/_dotdir; + + if(tparam<tmin) + { + returnvalue = 0; + tparam = tmin; + } + else if(tparam>tmax) + { + returnvalue = 0; + tparam = tmax; + } + + VEC_SCALE(pout,tparam,vDir); + VEC_SUM(pout,vPoint,pout); + return returnvalue; +} + +/*! \brief Returns the Ray on which 2 planes intersect if they do. + Written by Rodrigo Hernandez on ODE convex collision + + \param p1 Plane 1 + \param p2 Plane 2 + \param p Contains the origin of the ray upon returning if planes intersect + \param d Contains the direction of the ray upon returning if planes intersect + \return true if the planes intersect, 0 if paralell. + +*/ +template<typename CLASS_POINT,typename CLASS_PLANE> +SIMD_FORCE_INLINE bool INTERSECT_PLANES( + const CLASS_PLANE &p1, + const CLASS_PLANE &p2, + CLASS_POINT &p, + CLASS_POINT &d) +{ + VEC_CROSS(d,p1,p2); + GREAL denom = VEC_DOT(d, d); + if(GIM_IS_ZERO(denom)) return false; + vec3f _n; + _n[0]=p1[3]*p2[0] - p2[3]*p1[0]; + _n[1]=p1[3]*p2[1] - p2[3]*p1[1]; + _n[2]=p1[3]*p2[2] - p2[3]*p1[2]; + VEC_CROSS(p,_n,d); + p[0]/=denom; + p[1]/=denom; + p[2]/=denom; + return true; +} + +//***************** SEGMENT and LINE FUNCTIONS **********************************/// + +/*! Finds the closest point(cp) to (v) on a segment (e1,e2) + */ +template<typename CLASS_POINT> +SIMD_FORCE_INLINE void CLOSEST_POINT_ON_SEGMENT( + CLASS_POINT & cp, const CLASS_POINT & v, + const CLASS_POINT &e1,const CLASS_POINT &e2) +{ + vec3f _n; + VEC_DIFF(_n,e2,e1); + VEC_DIFF(cp,v,e1); + GREAL _scalar = VEC_DOT(cp, _n); + _scalar/= VEC_DOT(_n, _n); + if(_scalar <0.0f) + { + VEC_COPY(cp,e1); + } + else if(_scalar >1.0f) + { + VEC_COPY(cp,e2); + } + else + { + VEC_SCALE(cp,_scalar,_n); + VEC_SUM(cp,cp,e1); + } +} + + +/*! \brief Finds the line params where these lines intersect. + +\param dir1 Direction of line 1 +\param point1 Point of line 1 +\param dir2 Direction of line 2 +\param point2 Point of line 2 +\param t1 Result Parameter for line 1 +\param t2 Result Parameter for line 2 +\param dointersect 0 if the lines won't intersect, else 1 + +*/ +template<typename T,typename CLASS_POINT> +SIMD_FORCE_INLINE bool LINE_INTERSECTION_PARAMS( + const CLASS_POINT & dir1, + CLASS_POINT & point1, + const CLASS_POINT & dir2, + CLASS_POINT & point2, + T& t1,T& t2) +{ + GREAL det; + GREAL e1e1 = VEC_DOT(dir1,dir1); + GREAL e1e2 = VEC_DOT(dir1,dir2); + GREAL e2e2 = VEC_DOT(dir2,dir2); + vec3f p1p2; + VEC_DIFF(p1p2,point1,point2); + GREAL p1p2e1 = VEC_DOT(p1p2,dir1); + GREAL p1p2e2 = VEC_DOT(p1p2,dir2); + det = e1e2*e1e2 - e1e1*e2e2; + if(GIM_IS_ZERO(det)) return false; + t1 = (e1e2*p1p2e2 - e2e2*p1p2e1)/det; + t2 = (e1e1*p1p2e2 - e1e2*p1p2e1)/det; + return true; +} + +//! Find closest points on segments +template<typename CLASS_POINT> +SIMD_FORCE_INLINE void SEGMENT_COLLISION( + const CLASS_POINT & vA1, + const CLASS_POINT & vA2, + const CLASS_POINT & vB1, + const CLASS_POINT & vB2, + CLASS_POINT & vPointA, + CLASS_POINT & vPointB) +{ + CLASS_POINT _AD,_BD,_N; + vec4f _M;//plane + VEC_DIFF(_AD,vA2,vA1); + VEC_DIFF(_BD,vB2,vB1); + VEC_CROSS(_N,_AD,_BD); + GREAL _tp = VEC_DOT(_N,_N); + if(_tp<G_EPSILON)//ARE PARALELE + { + //project B over A + bool invert_b_order = false; + _M[0] = VEC_DOT(vB1,_AD); + _M[1] = VEC_DOT(vB2,_AD); + if(_M[0]>_M[1]) + { + invert_b_order = true; + GIM_SWAP_NUMBERS(_M[0],_M[1]); + } + _M[2] = VEC_DOT(vA1,_AD); + _M[3] = VEC_DOT(vA2,_AD); + //mid points + _N[0] = (_M[0]+_M[1])*0.5f; + _N[1] = (_M[2]+_M[3])*0.5f; + + if(_N[0]<_N[1]) + { + if(_M[1]<_M[2]) + { + vPointB = invert_b_order?vB1:vB2; + vPointA = vA1; + } + else if(_M[1]<_M[3]) + { + vPointB = invert_b_order?vB1:vB2; + CLOSEST_POINT_ON_SEGMENT(vPointA,vPointB,vA1,vA2); + } + else + { + vPointA = vA2; + CLOSEST_POINT_ON_SEGMENT(vPointB,vPointA,vB1,vB2); + } + } + else + { + if(_M[3]<_M[0]) + { + vPointB = invert_b_order?vB2:vB1; + vPointA = vA2; + } + else if(_M[3]<_M[1]) + { + vPointA = vA2; + CLOSEST_POINT_ON_SEGMENT(vPointB,vPointA,vB1,vB2); + } + else + { + vPointB = invert_b_order?vB1:vB2; + CLOSEST_POINT_ON_SEGMENT(vPointA,vPointB,vA1,vA2); + } + } + return; + } + + + VEC_CROSS(_M,_N,_BD); + _M[3] = VEC_DOT(_M,vB1); + + LINE_PLANE_COLLISION(_M,_AD,vA1,vPointA,_tp,btScalar(0), btScalar(1)); + /*Closest point on segment*/ + VEC_DIFF(vPointB,vPointA,vB1); + _tp = VEC_DOT(vPointB, _BD); + _tp/= VEC_DOT(_BD, _BD); + _tp = GIM_CLAMP(_tp,0.0f,1.0f); + VEC_SCALE(vPointB,_tp,_BD); + VEC_SUM(vPointB,vPointB,vB1); +} + + + + +//! Line box intersection in one dimension +/*! + +*\param pos Position of the ray +*\param dir Projection of the Direction of the ray +*\param bmin Minimum bound of the box +*\param bmax Maximum bound of the box +*\param tfirst the minimum projection. Assign to 0 at first. +*\param tlast the maximum projection. Assign to INFINITY at first. +*\return true if there is an intersection. +*/ +template<typename T> +SIMD_FORCE_INLINE bool BOX_AXIS_INTERSECT(T pos, T dir,T bmin, T bmax, T & tfirst, T & tlast) +{ + if(GIM_IS_ZERO(dir)) + { + return !(pos < bmin || pos > bmax); + } + GREAL a0 = (bmin - pos) / dir; + GREAL a1 = (bmax - pos) / dir; + if(a0 > a1) GIM_SWAP_NUMBERS(a0, a1); + tfirst = GIM_MAX(a0, tfirst); + tlast = GIM_MIN(a1, tlast); + if (tlast < tfirst) return false; + return true; +} + + +//! Sorts 3 componets +template<typename T> +SIMD_FORCE_INLINE void SORT_3_INDICES( + const T * values, + GUINT * order_indices) +{ + //get minimum + order_indices[0] = values[0] < values[1] ? (values[0] < values[2] ? 0 : 2) : (values[1] < values[2] ? 1 : 2); + + //get second and third + GUINT i0 = (order_indices[0] + 1)%3; + GUINT i1 = (i0 + 1)%3; + + if(values[i0] < values[i1]) + { + order_indices[1] = i0; + order_indices[2] = i1; + } + else + { + order_indices[1] = i1; + order_indices[2] = i0; + } +} + + + +//! @} + + +#endif // GIM_VECTOR_H_INCLUDED diff --git a/extern/bullet2/src/BulletCollision/Gimpact/gim_bitset.h b/extern/bullet2/src/BulletCollision/Gimpact/gim_bitset.h new file mode 100644 index 00000000000..7784aeff140 --- /dev/null +++ b/extern/bullet2/src/BulletCollision/Gimpact/gim_bitset.h @@ -0,0 +1,129 @@ +#ifndef GIM_BITSET_H_INCLUDED +#define GIM_BITSET_H_INCLUDED +/*! \file gim_bitset.h +\author Francisco Len Nßjera +*/ +/* +----------------------------------------------------------------------------- +This source file is part of GIMPACT Library. + +For the latest info, see http://gimpact.sourceforge.net/ + +Copyright (c) 2006 Francisco Leon Najera. C.C. 80087371. +email: projectileman@yahoo.com + + This library is free software; you can redistribute it and/or + modify it under the terms of EITHER: + (1) The GNU Lesser General Public License as published by the Free + Software Foundation; either version 2.1 of the License, or (at + your option) any later version. The text of the GNU Lesser + General Public License is included with this library in the + file GIMPACT-LICENSE-LGPL.TXT. + (2) The BSD-style license that is included with this library in + the file GIMPACT-LICENSE-BSD.TXT. + (3) The zlib/libpng license that is included with this library in + the file GIMPACT-LICENSE-ZLIB.TXT. + + This library is distributed in the hope that it will be useful, + but WITHOUT ANY WARRANTY; without even the implied warranty of + MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the files + GIMPACT-LICENSE-LGPL.TXT, GIMPACT-LICENSE-ZLIB.TXT and GIMPACT-LICENSE-BSD.TXT for more details. + +----------------------------------------------------------------------------- +*/ + +#include "gim_array.h" + +/*! \addtogroup CONTAINERS +\brief +Abstract class for template containers +*/ +//! @{ + +#define GUINT_BIT_COUNT 32 +#define GUINT_EXPONENT 5 + +class gim_bitset +{ +public: + gim_array<GUINT> m_container; + + gim_bitset() + { + + } + + gim_bitset(GUINT bits_count) + { + resize(bits_count); + } + + ~gim_bitset() + { + } + + inline bool resize(GUINT newsize) + { + GUINT oldsize = m_container.size(); + m_container.resize(newsize/GUINT_BIT_COUNT + 1,false); + while(oldsize<m_container.size()) + { + m_container[oldsize] = 0; + } + return true; + } + + inline GUINT size() + { + return m_container.size()*GUINT_BIT_COUNT; + } + + inline void set_all() + { + for(GUINT i = 0;i<m_container.size();++i) + { + m_container[i] = 0xffffffff; + } + } + + inline void clear_all() + { + for(GUINT i = 0;i<m_container.size();++i) + { + m_container[i] = 0; + } + } + + inline void set(GUINT bit_index) + { + if(bit_index>=size()) + { + resize(bit_index); + } + m_container[bit_index >> GUINT_EXPONENT] |= (1 << (bit_index & (GUINT_BIT_COUNT-1))); + } + + ///Return 0 or 1 + inline char get(GUINT bit_index) + { + if(bit_index>=size()) + { + return 0; + } + char value = m_container[bit_index >> GUINT_EXPONENT] & + (1 << (bit_index & (GUINT_BIT_COUNT-1))); + return value; + } + + inline void clear(GUINT bit_index) + { + m_container[bit_index >> GUINT_EXPONENT] &= ~(1 << (bit_index & (GUINT_BIT_COUNT-1))); + } +}; + + +//! @} + + + +#endif // GIM_CONTAINERS_H_INCLUDED diff --git a/extern/bullet2/src/BulletCollision/Gimpact/gim_box_collision.h b/extern/bullet2/src/BulletCollision/Gimpact/gim_box_collision.h new file mode 100644 index 00000000000..c9bb83e3653 --- /dev/null +++ b/extern/bullet2/src/BulletCollision/Gimpact/gim_box_collision.h @@ -0,0 +1,594 @@ +#ifndef GIM_BOX_COLLISION_H_INCLUDED +#define GIM_BOX_COLLISION_H_INCLUDED + +/*! \file gim_box_collision.h +\author Francisco Len Nßjera +*/ +/* +----------------------------------------------------------------------------- +This source file is part of GIMPACT Library. + +For the latest info, see http://gimpact.sourceforge.net/ + +Copyright (c) 2006 Francisco Leon Najera. C.C. 80087371. +email: projectileman@yahoo.com + + This library is free software; you can redistribute it and/or + modify it under the terms of EITHER: + (1) The GNU Lesser General Public License as published by the Free + Software Foundation; either version 2.1 of the License, or (at + your option) any later version. The text of the GNU Lesser + General Public License is included with this library in the + file GIMPACT-LICENSE-LGPL.TXT. + (2) The BSD-style license that is included with this library in + the file GIMPACT-LICENSE-BSD.TXT. + (3) The zlib/libpng license that is included with this library in + the file GIMPACT-LICENSE-ZLIB.TXT. + + This library is distributed in the hope that it will be useful, + but WITHOUT ANY WARRANTY; without even the implied warranty of + MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the files + GIMPACT-LICENSE-LGPL.TXT, GIMPACT-LICENSE-ZLIB.TXT and GIMPACT-LICENSE-BSD.TXT for more details. + +----------------------------------------------------------------------------- +*/ +#include "gim_basic_geometry_operations.h" +#include "LinearMath/btTransform.h" + +/*! \defgroup BOUND_AABB_OPERATIONS +*/ +//! @{ + + +//SIMD_FORCE_INLINE bool test_cross_edge_box( +// const btVector3 & edge, +// const btVector3 & absolute_edge, +// const btVector3 & pointa, +// const btVector3 & pointb, const btVector3 & extend, +// int dir_index0, +// int dir_index1 +// int component_index0, +// int component_index1) +//{ +// // dir coords are -z and y +// +// const btScalar dir0 = -edge[dir_index0]; +// const btScalar dir1 = edge[dir_index1]; +// btScalar pmin = pointa[component_index0]*dir0 + pointa[component_index1]*dir1; +// btScalar pmax = pointb[component_index0]*dir0 + pointb[component_index1]*dir1; +// //find minmax +// if(pmin>pmax) +// { +// GIM_SWAP_NUMBERS(pmin,pmax); +// } +// //find extends +// const btScalar rad = extend[component_index0] * absolute_edge[dir_index0] + +// extend[component_index1] * absolute_edge[dir_index1]; +// +// if(pmin>rad || -rad>pmax) return false; +// return true; +//} +// +//SIMD_FORCE_INLINE bool test_cross_edge_box_X_axis( +// const btVector3 & edge, +// const btVector3 & absolute_edge, +// const btVector3 & pointa, +// const btVector3 & pointb, btVector3 & extend) +//{ +// +// return test_cross_edge_box(edge,absolute_edge,pointa,pointb,extend,2,1,1,2); +//} +// +// +//SIMD_FORCE_INLINE bool test_cross_edge_box_Y_axis( +// const btVector3 & edge, +// const btVector3 & absolute_edge, +// const btVector3 & pointa, +// const btVector3 & pointb, btVector3 & extend) +//{ +// +// return test_cross_edge_box(edge,absolute_edge,pointa,pointb,extend,0,2,2,0); +//} +// +//SIMD_FORCE_INLINE bool test_cross_edge_box_Z_axis( +// const btVector3 & edge, +// const btVector3 & absolute_edge, +// const btVector3 & pointa, +// const btVector3 & pointb, btVector3 & extend) +//{ +// +// return test_cross_edge_box(edge,absolute_edge,pointa,pointb,extend,1,0,0,1); +//} + +#define TEST_CROSS_EDGE_BOX_MCR(edge,absolute_edge,pointa,pointb,_extend,i_dir_0,i_dir_1,i_comp_0,i_comp_1)\ +{\ + const btScalar dir0 = -edge[i_dir_0];\ + const btScalar dir1 = edge[i_dir_1];\ + btScalar pmin = pointa[i_comp_0]*dir0 + pointa[i_comp_1]*dir1;\ + btScalar pmax = pointb[i_comp_0]*dir0 + pointb[i_comp_1]*dir1;\ + if(pmin>pmax)\ + {\ + GIM_SWAP_NUMBERS(pmin,pmax); \ + }\ + const btScalar abs_dir0 = absolute_edge[i_dir_0];\ + const btScalar abs_dir1 = absolute_edge[i_dir_1];\ + const btScalar rad = _extend[i_comp_0] * abs_dir0 + _extend[i_comp_1] * abs_dir1;\ + if(pmin>rad || -rad>pmax) return false;\ +}\ + + +#define TEST_CROSS_EDGE_BOX_X_AXIS_MCR(edge,absolute_edge,pointa,pointb,_extend)\ +{\ + TEST_CROSS_EDGE_BOX_MCR(edge,absolute_edge,pointa,pointb,_extend,2,1,1,2);\ +}\ + +#define TEST_CROSS_EDGE_BOX_Y_AXIS_MCR(edge,absolute_edge,pointa,pointb,_extend)\ +{\ + TEST_CROSS_EDGE_BOX_MCR(edge,absolute_edge,pointa,pointb,_extend,0,2,2,0);\ +}\ + +#define TEST_CROSS_EDGE_BOX_Z_AXIS_MCR(edge,absolute_edge,pointa,pointb,_extend)\ +{\ + TEST_CROSS_EDGE_BOX_MCR(edge,absolute_edge,pointa,pointb,_extend,1,0,0,1);\ +}\ + + + +//! Class for transforming a model1 to the space of model0 +class GIM_BOX_BOX_TRANSFORM_CACHE +{ +public: + btVector3 m_T1to0;//!< Transforms translation of model1 to model 0 + btMatrix3x3 m_R1to0;//!< Transforms Rotation of model1 to model 0, equal to R0' * R1 + btMatrix3x3 m_AR;//!< Absolute value of m_R1to0 + + SIMD_FORCE_INLINE void calc_absolute_matrix() + { + static const btVector3 vepsi(1e-6f,1e-6f,1e-6f); + m_AR[0] = vepsi + m_R1to0[0].absolute(); + m_AR[1] = vepsi + m_R1to0[1].absolute(); + m_AR[2] = vepsi + m_R1to0[2].absolute(); + } + + GIM_BOX_BOX_TRANSFORM_CACHE() + { + } + + + GIM_BOX_BOX_TRANSFORM_CACHE(mat4f trans1_to_0) + { + COPY_MATRIX_3X3(m_R1to0,trans1_to_0) + MAT_GET_TRANSLATION(trans1_to_0,m_T1to0) + calc_absolute_matrix(); + } + + //! Calc the transformation relative 1 to 0. Inverts matrics by transposing + SIMD_FORCE_INLINE void calc_from_homogenic(const btTransform & trans0,const btTransform & trans1) + { + + m_R1to0 = trans0.getBasis().transpose(); + m_T1to0 = m_R1to0 * (-trans0.getOrigin()); + + m_T1to0 += m_R1to0*trans1.getOrigin(); + m_R1to0 *= trans1.getBasis(); + + calc_absolute_matrix(); + } + + //! Calcs the full invertion of the matrices. Useful for scaling matrices + SIMD_FORCE_INLINE void calc_from_full_invert(const btTransform & trans0,const btTransform & trans1) + { + m_R1to0 = trans0.getBasis().inverse(); + m_T1to0 = m_R1to0 * (-trans0.getOrigin()); + + m_T1to0 += m_R1to0*trans1.getOrigin(); + m_R1to0 *= trans1.getBasis(); + + calc_absolute_matrix(); + } + + SIMD_FORCE_INLINE btVector3 transform(const btVector3 & point) + { + return btVector3(m_R1to0[0].dot(point) + m_T1to0.x(), + m_R1to0[1].dot(point) + m_T1to0.y(), + m_R1to0[2].dot(point) + m_T1to0.z()); + } +}; + + +#define BOX_PLANE_EPSILON 0.000001f + +//! Axis aligned box +class GIM_AABB +{ +public: + btVector3 m_min; + btVector3 m_max; + + GIM_AABB() + {} + + + GIM_AABB(const btVector3 & V1, + const btVector3 & V2, + const btVector3 & V3) + { + m_min[0] = GIM_MIN3(V1[0],V2[0],V3[0]); + m_min[1] = GIM_MIN3(V1[1],V2[1],V3[1]); + m_min[2] = GIM_MIN3(V1[2],V2[2],V3[2]); + + m_max[0] = GIM_MAX3(V1[0],V2[0],V3[0]); + m_max[1] = GIM_MAX3(V1[1],V2[1],V3[1]); + m_max[2] = GIM_MAX3(V1[2],V2[2],V3[2]); + } + + GIM_AABB(const btVector3 & V1, + const btVector3 & V2, + const btVector3 & V3, + GREAL margin) + { + m_min[0] = GIM_MIN3(V1[0],V2[0],V3[0]); + m_min[1] = GIM_MIN3(V1[1],V2[1],V3[1]); + m_min[2] = GIM_MIN3(V1[2],V2[2],V3[2]); + + m_max[0] = GIM_MAX3(V1[0],V2[0],V3[0]); + m_max[1] = GIM_MAX3(V1[1],V2[1],V3[1]); + m_max[2] = GIM_MAX3(V1[2],V2[2],V3[2]); + + m_min[0] -= margin; + m_min[1] -= margin; + m_min[2] -= margin; + m_max[0] += margin; + m_max[1] += margin; + m_max[2] += margin; + } + + GIM_AABB(const GIM_AABB &other): + m_min(other.m_min),m_max(other.m_max) + { + } + + GIM_AABB(const GIM_AABB &other,btScalar margin ): + m_min(other.m_min),m_max(other.m_max) + { + m_min[0] -= margin; + m_min[1] -= margin; + m_min[2] -= margin; + m_max[0] += margin; + m_max[1] += margin; + m_max[2] += margin; + } + + SIMD_FORCE_INLINE void invalidate() + { + m_min[0] = G_REAL_INFINITY; + m_min[1] = G_REAL_INFINITY; + m_min[2] = G_REAL_INFINITY; + m_max[0] = -G_REAL_INFINITY; + m_max[1] = -G_REAL_INFINITY; + m_max[2] = -G_REAL_INFINITY; + } + + SIMD_FORCE_INLINE void increment_margin(btScalar margin) + { + m_min[0] -= margin; + m_min[1] -= margin; + m_min[2] -= margin; + m_max[0] += margin; + m_max[1] += margin; + m_max[2] += margin; + } + + SIMD_FORCE_INLINE void copy_with_margin(const GIM_AABB &other, btScalar margin) + { + m_min[0] = other.m_min[0] - margin; + m_min[1] = other.m_min[1] - margin; + m_min[2] = other.m_min[2] - margin; + + m_max[0] = other.m_max[0] + margin; + m_max[1] = other.m_max[1] + margin; + m_max[2] = other.m_max[2] + margin; + } + + template<typename CLASS_POINT> + SIMD_FORCE_INLINE void calc_from_triangle( + const CLASS_POINT & V1, + const CLASS_POINT & V2, + const CLASS_POINT & V3) + { + m_min[0] = GIM_MIN3(V1[0],V2[0],V3[0]); + m_min[1] = GIM_MIN3(V1[1],V2[1],V3[1]); + m_min[2] = GIM_MIN3(V1[2],V2[2],V3[2]); + + m_max[0] = GIM_MAX3(V1[0],V2[0],V3[0]); + m_max[1] = GIM_MAX3(V1[1],V2[1],V3[1]); + m_max[2] = GIM_MAX3(V1[2],V2[2],V3[2]); + } + + template<typename CLASS_POINT> + SIMD_FORCE_INLINE void calc_from_triangle_margin( + const CLASS_POINT & V1, + const CLASS_POINT & V2, + const CLASS_POINT & V3, btScalar margin) + { + m_min[0] = GIM_MIN3(V1[0],V2[0],V3[0]); + m_min[1] = GIM_MIN3(V1[1],V2[1],V3[1]); + m_min[2] = GIM_MIN3(V1[2],V2[2],V3[2]); + + m_max[0] = GIM_MAX3(V1[0],V2[0],V3[0]); + m_max[1] = GIM_MAX3(V1[1],V2[1],V3[1]); + m_max[2] = GIM_MAX3(V1[2],V2[2],V3[2]); + + m_min[0] -= margin; + m_min[1] -= margin; + m_min[2] -= margin; + m_max[0] += margin; + m_max[1] += margin; + m_max[2] += margin; + } + + //! Apply a transform to an AABB + SIMD_FORCE_INLINE void appy_transform(const btTransform & trans) + { + btVector3 center = (m_max+m_min)*0.5f; + btVector3 extends = m_max - center; + // Compute new center + center = trans(center); + + btVector3 textends(extends.dot(trans.getBasis().getRow(0).absolute()), + extends.dot(trans.getBasis().getRow(1).absolute()), + extends.dot(trans.getBasis().getRow(2).absolute())); + + m_min = center - textends; + m_max = center + textends; + } + + //! Merges a Box + SIMD_FORCE_INLINE void merge(const GIM_AABB & box) + { + m_min[0] = GIM_MIN(m_min[0],box.m_min[0]); + m_min[1] = GIM_MIN(m_min[1],box.m_min[1]); + m_min[2] = GIM_MIN(m_min[2],box.m_min[2]); + + m_max[0] = GIM_MAX(m_max[0],box.m_max[0]); + m_max[1] = GIM_MAX(m_max[1],box.m_max[1]); + m_max[2] = GIM_MAX(m_max[2],box.m_max[2]); + } + + //! Merges a point + template<typename CLASS_POINT> + SIMD_FORCE_INLINE void merge_point(const CLASS_POINT & point) + { + m_min[0] = GIM_MIN(m_min[0],point[0]); + m_min[1] = GIM_MIN(m_min[1],point[1]); + m_min[2] = GIM_MIN(m_min[2],point[2]); + + m_max[0] = GIM_MAX(m_max[0],point[0]); + m_max[1] = GIM_MAX(m_max[1],point[1]); + m_max[2] = GIM_MAX(m_max[2],point[2]); + } + + //! Gets the extend and center + SIMD_FORCE_INLINE void get_center_extend(btVector3 & center,btVector3 & extend) const + { + center = (m_max+m_min)*0.5f; + extend = m_max - center; + } + + //! Finds the intersecting box between this box and the other. + SIMD_FORCE_INLINE void find_intersection(const GIM_AABB & other, GIM_AABB & intersection) const + { + intersection.m_min[0] = GIM_MAX(other.m_min[0],m_min[0]); + intersection.m_min[1] = GIM_MAX(other.m_min[1],m_min[1]); + intersection.m_min[2] = GIM_MAX(other.m_min[2],m_min[2]); + + intersection.m_max[0] = GIM_MIN(other.m_max[0],m_max[0]); + intersection.m_max[1] = GIM_MIN(other.m_max[1],m_max[1]); + intersection.m_max[2] = GIM_MIN(other.m_max[2],m_max[2]); + } + + + SIMD_FORCE_INLINE bool has_collision(const GIM_AABB & other) const + { + if(m_min[0] > other.m_max[0] || + m_max[0] < other.m_min[0] || + m_min[1] > other.m_max[1] || + m_max[1] < other.m_min[1] || + m_min[2] > other.m_max[2] || + m_max[2] < other.m_min[2]) + { + return false; + } + return true; + } + + /*! \brief Finds the Ray intersection parameter. + \param aabb Aligned box + \param vorigin A vec3f with the origin of the ray + \param vdir A vec3f with the direction of the ray + */ + SIMD_FORCE_INLINE bool collide_ray(const btVector3 & vorigin,const btVector3 & vdir) + { + btVector3 extents,center; + this->get_center_extend(center,extents);; + + btScalar Dx = vorigin[0] - center[0]; + if(GIM_GREATER(Dx, extents[0]) && Dx*vdir[0]>=0.0f) return false; + btScalar Dy = vorigin[1] - center[1]; + if(GIM_GREATER(Dy, extents[1]) && Dy*vdir[1]>=0.0f) return false; + btScalar Dz = vorigin[2] - center[2]; + if(GIM_GREATER(Dz, extents[2]) && Dz*vdir[2]>=0.0f) return false; + + + btScalar f = vdir[1] * Dz - vdir[2] * Dy; + if(btFabs(f) > extents[1]*btFabs(vdir[2]) + extents[2]*btFabs(vdir[1])) return false; + f = vdir[2] * Dx - vdir[0] * Dz; + if(btFabs(f) > extents[0]*btFabs(vdir[2]) + extents[2]*btFabs(vdir[0]))return false; + f = vdir[0] * Dy - vdir[1] * Dx; + if(btFabs(f) > extents[0]*btFabs(vdir[1]) + extents[1]*btFabs(vdir[0]))return false; + return true; + } + + + SIMD_FORCE_INLINE void projection_interval(const btVector3 & direction, btScalar &vmin, btScalar &vmax) const + { + btVector3 center = (m_max+m_min)*0.5f; + btVector3 extend = m_max-center; + + btScalar _fOrigin = direction.dot(center); + btScalar _fMaximumExtent = extend.dot(direction.absolute()); + vmin = _fOrigin - _fMaximumExtent; + vmax = _fOrigin + _fMaximumExtent; + } + + SIMD_FORCE_INLINE ePLANE_INTERSECTION_TYPE plane_classify(const btVector4 &plane) const + { + btScalar _fmin,_fmax; + this->projection_interval(plane,_fmin,_fmax); + + if(plane[3] > _fmax + BOX_PLANE_EPSILON) + { + return G_BACK_PLANE; // 0 + } + + if(plane[3]+BOX_PLANE_EPSILON >=_fmin) + { + return G_COLLIDE_PLANE; //1 + } + return G_FRONT_PLANE;//2 + } + + SIMD_FORCE_INLINE bool overlapping_trans_conservative(const GIM_AABB & box, btTransform & trans1_to_0) + { + GIM_AABB tbox = box; + tbox.appy_transform(trans1_to_0); + return has_collision(tbox); + } + + //! transcache is the transformation cache from box to this AABB + SIMD_FORCE_INLINE bool overlapping_trans_cache( + const GIM_AABB & box,const GIM_BOX_BOX_TRANSFORM_CACHE & transcache, bool fulltest) + { + + //Taken from OPCODE + btVector3 ea,eb;//extends + btVector3 ca,cb;//extends + get_center_extend(ca,ea); + box.get_center_extend(cb,eb); + + + btVector3 T; + btScalar t,t2; + int i; + + // Class I : A's basis vectors + for(i=0;i<3;i++) + { + T[i] = transcache.m_R1to0[i].dot(cb) + transcache.m_T1to0[i] - ca[i]; + t = transcache.m_AR[i].dot(eb) + ea[i]; + if(GIM_GREATER(T[i], t)) return false; + } + // Class II : B's basis vectors + for(i=0;i<3;i++) + { + t = MAT_DOT_COL(transcache.m_R1to0,T,i); + t2 = MAT_DOT_COL(transcache.m_AR,ea,i) + eb[i]; + if(GIM_GREATER(t,t2)) return false; + } + // Class III : 9 cross products + if(fulltest) + { + int j,m,n,o,p,q,r; + for(i=0;i<3;i++) + { + m = (i+1)%3; + n = (i+2)%3; + o = i==0?1:0; + p = i==2?1:2; + for(j=0;j<3;j++) + { + q = j==2?1:2; + r = j==0?1:0; + t = T[n]*transcache.m_R1to0[m][j] - T[m]*transcache.m_R1to0[n][j]; + t2 = ea[o]*transcache.m_AR[p][j] + ea[p]*transcache.m_AR[o][j] + + eb[r]*transcache.m_AR[i][q] + eb[q]*transcache.m_AR[i][r]; + if(GIM_GREATER(t,t2)) return false; + } + } + } + return true; + } + + //! Simple test for planes. + SIMD_FORCE_INLINE bool collide_plane( + const btVector4 & plane) + { + ePLANE_INTERSECTION_TYPE classify = plane_classify(plane); + return (classify == G_COLLIDE_PLANE); + } + + //! test for a triangle, with edges + SIMD_FORCE_INLINE bool collide_triangle_exact( + const btVector3 & p1, + const btVector3 & p2, + const btVector3 & p3, + const btVector4 & triangle_plane) + { + if(!collide_plane(triangle_plane)) return false; + + btVector3 center,extends; + this->get_center_extend(center,extends); + + const btVector3 v1(p1 - center); + const btVector3 v2(p2 - center); + const btVector3 v3(p3 - center); + + //First axis + btVector3 diff(v2 - v1); + btVector3 abs_diff = diff.absolute(); + //Test With X axis + TEST_CROSS_EDGE_BOX_X_AXIS_MCR(diff,abs_diff,v1,v3,extends); + //Test With Y axis + TEST_CROSS_EDGE_BOX_Y_AXIS_MCR(diff,abs_diff,v1,v3,extends); + //Test With Z axis + TEST_CROSS_EDGE_BOX_Z_AXIS_MCR(diff,abs_diff,v1,v3,extends); + + + diff = v3 - v2; + abs_diff = diff.absolute(); + //Test With X axis + TEST_CROSS_EDGE_BOX_X_AXIS_MCR(diff,abs_diff,v2,v1,extends); + //Test With Y axis + TEST_CROSS_EDGE_BOX_Y_AXIS_MCR(diff,abs_diff,v2,v1,extends); + //Test With Z axis + TEST_CROSS_EDGE_BOX_Z_AXIS_MCR(diff,abs_diff,v2,v1,extends); + + diff = v1 - v3; + abs_diff = diff.absolute(); + //Test With X axis + TEST_CROSS_EDGE_BOX_X_AXIS_MCR(diff,abs_diff,v3,v2,extends); + //Test With Y axis + TEST_CROSS_EDGE_BOX_Y_AXIS_MCR(diff,abs_diff,v3,v2,extends); + //Test With Z axis + TEST_CROSS_EDGE_BOX_Z_AXIS_MCR(diff,abs_diff,v3,v2,extends); + + return true; + } +}; + + +//! Compairison of transformation objects +SIMD_FORCE_INLINE bool btCompareTransformsEqual(const btTransform & t1,const btTransform & t2) +{ + if(!(t1.getOrigin() == t2.getOrigin()) ) return false; + + if(!(t1.getBasis().getRow(0) == t2.getBasis().getRow(0)) ) return false; + if(!(t1.getBasis().getRow(1) == t2.getBasis().getRow(1)) ) return false; + if(!(t1.getBasis().getRow(2) == t2.getBasis().getRow(2)) ) return false; + return true; +} + + +//! @} + +#endif // GIM_BOX_COLLISION_H_INCLUDED diff --git a/extern/bullet2/src/BulletCollision/Gimpact/gim_box_set.cpp b/extern/bullet2/src/BulletCollision/Gimpact/gim_box_set.cpp new file mode 100644 index 00000000000..1ffc2bbad78 --- /dev/null +++ b/extern/bullet2/src/BulletCollision/Gimpact/gim_box_set.cpp @@ -0,0 +1,182 @@ + +/* +----------------------------------------------------------------------------- +This source file is part of GIMPACT Library. + +For the latest info, see http://gimpact.sourceforge.net/ + +Copyright (c) 2006 Francisco Leon Najera. C.C. 80087371. +email: projectileman@yahoo.com + + This library is free software; you can redistribute it and/or + modify it under the terms of EITHER: + (1) The GNU Lesser General Public License as published by the Free + Software Foundation; either version 2.1 of the License, or (at + your option) any later version. The text of the GNU Lesser + General Public License is included with this library in the + file GIMPACT-LICENSE-LGPL.TXT. + (2) The BSD-style license that is included with this library in + the file GIMPACT-LICENSE-BSD.TXT. + (3) The zlib/libpng license that is included with this library in + the file GIMPACT-LICENSE-ZLIB.TXT. + + This library is distributed in the hope that it will be useful, + but WITHOUT ANY WARRANTY; without even the implied warranty of + MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the files + GIMPACT-LICENSE-LGPL.TXT, GIMPACT-LICENSE-ZLIB.TXT and GIMPACT-LICENSE-BSD.TXT for more details. + +----------------------------------------------------------------------------- +*/ + + +#include "gim_box_set.h" + + +GUINT GIM_BOX_TREE::_calc_splitting_axis( + gim_array<GIM_AABB_DATA> & primitive_boxes, GUINT startIndex, GUINT endIndex) +{ + GUINT i; + + btVector3 means(btScalar(0.),btScalar(0.),btScalar(0.)); + btVector3 variance(btScalar(0.),btScalar(0.),btScalar(0.)); + GUINT numIndices = endIndex-startIndex; + + for (i=startIndex;i<endIndex;i++) + { + btVector3 center = btScalar(0.5)*(primitive_boxes[i].m_bound.m_max + + primitive_boxes[i].m_bound.m_min); + means+=center; + } + means *= (btScalar(1.)/(btScalar)numIndices); + + for (i=startIndex;i<endIndex;i++) + { + btVector3 center = btScalar(0.5)*(primitive_boxes[i].m_bound.m_max + + primitive_boxes[i].m_bound.m_min); + btVector3 diff2 = center-means; + diff2 = diff2 * diff2; + variance += diff2; + } + variance *= (btScalar(1.)/ ((btScalar)numIndices-1) ); + + return variance.maxAxis(); +} + + +GUINT GIM_BOX_TREE::_sort_and_calc_splitting_index( + gim_array<GIM_AABB_DATA> & primitive_boxes, GUINT startIndex, + GUINT endIndex, GUINT splitAxis) +{ + GUINT i; + GUINT splitIndex =startIndex; + GUINT numIndices = endIndex - startIndex; + + // average of centers + btScalar splitValue = 0.0f; + for (i=startIndex;i<endIndex;i++) + { + splitValue+= 0.5f*(primitive_boxes[i].m_bound.m_max[splitAxis] + + primitive_boxes[i].m_bound.m_min[splitAxis]); + } + splitValue /= (btScalar)numIndices; + + //sort leafNodes so all values larger then splitValue comes first, and smaller values start from 'splitIndex'. + for (i=startIndex;i<endIndex;i++) + { + btScalar center = 0.5f*(primitive_boxes[i].m_bound.m_max[splitAxis] + + primitive_boxes[i].m_bound.m_min[splitAxis]); + if (center > splitValue) + { + //swap + primitive_boxes.swap(i,splitIndex); + splitIndex++; + } + } + + //if the splitIndex causes unbalanced trees, fix this by using the center in between startIndex and endIndex + //otherwise the tree-building might fail due to stack-overflows in certain cases. + //unbalanced1 is unsafe: it can cause stack overflows + //bool unbalanced1 = ((splitIndex==startIndex) || (splitIndex == (endIndex-1))); + + //unbalanced2 should work too: always use center (perfect balanced trees) + //bool unbalanced2 = true; + + //this should be safe too: + GUINT rangeBalancedIndices = numIndices/3; + bool unbalanced = ((splitIndex<=(startIndex+rangeBalancedIndices)) || (splitIndex >=(endIndex-1-rangeBalancedIndices))); + + if (unbalanced) + { + splitIndex = startIndex+ (numIndices>>1); + } + + bool unbal = (splitIndex==startIndex) || (splitIndex == (endIndex)); + btAssert(!unbal); + + return splitIndex; +} + + +void GIM_BOX_TREE::_build_sub_tree(gim_array<GIM_AABB_DATA> & primitive_boxes, GUINT startIndex, GUINT endIndex) +{ + GUINT current_index = m_num_nodes++; + + btAssert((endIndex-startIndex)>0); + + if((endIndex-startIndex) == 1) //we got a leaf + { + m_node_array[current_index].m_left = 0; + m_node_array[current_index].m_right = 0; + m_node_array[current_index].m_escapeIndex = 0; + + m_node_array[current_index].m_bound = primitive_boxes[startIndex].m_bound; + m_node_array[current_index].m_data = primitive_boxes[startIndex].m_data; + return; + } + + //configure inner node + + GUINT splitIndex; + + //calc this node bounding box + m_node_array[current_index].m_bound.invalidate(); + for (splitIndex=startIndex;splitIndex<endIndex;splitIndex++) + { + m_node_array[current_index].m_bound.merge(primitive_boxes[splitIndex].m_bound); + } + + //calculate Best Splitting Axis and where to split it. Sort the incoming 'leafNodes' array within range 'startIndex/endIndex'. + + //split axis + splitIndex = _calc_splitting_axis(primitive_boxes,startIndex,endIndex); + + splitIndex = _sort_and_calc_splitting_index( + primitive_boxes,startIndex,endIndex,splitIndex); + + //configure this inner node : the left node index + m_node_array[current_index].m_left = m_num_nodes; + //build left child tree + _build_sub_tree(primitive_boxes, startIndex, splitIndex ); + + //configure this inner node : the right node index + m_node_array[current_index].m_right = m_num_nodes; + + //build right child tree + _build_sub_tree(primitive_boxes, splitIndex ,endIndex); + + //configure this inner node : the escape index + m_node_array[current_index].m_escapeIndex = m_num_nodes - current_index; +} + +//! stackless build tree +void GIM_BOX_TREE::build_tree( + gim_array<GIM_AABB_DATA> & primitive_boxes) +{ + // initialize node count to 0 + m_num_nodes = 0; + // allocate nodes + m_node_array.resize(primitive_boxes.size()*2); + + _build_sub_tree(primitive_boxes, 0, primitive_boxes.size()); +} + diff --git a/extern/bullet2/src/BulletCollision/Gimpact/gim_box_set.h b/extern/bullet2/src/BulletCollision/Gimpact/gim_box_set.h new file mode 100644 index 00000000000..ece5936de6b --- /dev/null +++ b/extern/bullet2/src/BulletCollision/Gimpact/gim_box_set.h @@ -0,0 +1,678 @@ +#ifndef GIM_BOX_SET_H_INCLUDED +#define GIM_BOX_SET_H_INCLUDED + +/*! \file gim_box_set.h +\author Francisco Len Nßjera +*/ +/* +----------------------------------------------------------------------------- +This source file is part of GIMPACT Library. + +For the latest info, see http://gimpact.sourceforge.net/ + +Copyright (c) 2006 Francisco Leon Najera. C.C. 80087371. +email: projectileman@yahoo.com + + This library is free software; you can redistribute it and/or + modify it under the terms of EITHER: + (1) The GNU Lesser General Public License as published by the Free + Software Foundation; either version 2.1 of the License, or (at + your option) any later version. The text of the GNU Lesser + General Public License is included with this library in the + file GIMPACT-LICENSE-LGPL.TXT. + (2) The BSD-style license that is included with this library in + the file GIMPACT-LICENSE-BSD.TXT. + (3) The zlib/libpng license that is included with this library in + the file GIMPACT-LICENSE-ZLIB.TXT. + + This library is distributed in the hope that it will be useful, + but WITHOUT ANY WARRANTY; without even the implied warranty of + MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the files + GIMPACT-LICENSE-LGPL.TXT, GIMPACT-LICENSE-ZLIB.TXT and GIMPACT-LICENSE-BSD.TXT for more details. + +----------------------------------------------------------------------------- +*/ + + +#include "gim_array.h" +#include "gim_radixsort.h" +#include "gim_box_collision.h" +#include "gim_tri_collision.h" + + +/*! \defgroup BOX_PRUNNING + + + +*/ +//! @{ + +//! Overlapping pair +struct GIM_PAIR +{ + GUINT m_index1; + GUINT m_index2; + GIM_PAIR() + {} + + GIM_PAIR(const GIM_PAIR & p) + { + m_index1 = p.m_index1; + m_index2 = p.m_index2; + } + + GIM_PAIR(GUINT index1, GUINT index2) + { + m_index1 = index1; + m_index2 = index2; + } +}; + +//! A pairset array +class gim_pair_set: public gim_array<GIM_PAIR> +{ +public: + gim_pair_set():gim_array<GIM_PAIR>(32) + { + } + inline void push_pair(GUINT index1,GUINT index2) + { + push_back(GIM_PAIR(index1,index2)); + } + + inline void push_pair_inv(GUINT index1,GUINT index2) + { + push_back(GIM_PAIR(index2,index1)); + } +}; + + +//! Prototype Base class for primitive classification +/*! +This class is a wrapper for primitive collections. +This tells relevant info for the Bounding Box set classes, which take care of space classification. +This class can manage Compound shapes and trimeshes, and if it is managing trimesh then the Hierarchy Bounding Box classes will take advantage of primitive Vs Box overlapping tests for getting optimal results and less Per Box compairisons. +*/ +class GIM_PRIMITIVE_MANAGER_PROTOTYPE +{ +public: + + //! determines if this manager consist on only triangles, which special case will be optimized + virtual bool is_trimesh() = 0; + virtual GUINT get_primitive_count() = 0; + virtual void get_primitive_box(GUINT prim_index ,GIM_AABB & primbox) = 0; + virtual void get_primitive_triangle(GUINT prim_index,GIM_TRIANGLE & triangle) = 0; +}; + + +struct GIM_AABB_DATA +{ + GIM_AABB m_bound; + GUINT m_data; +}; + +//! Node Structure for trees +struct GIM_BOX_TREE_NODE +{ + GIM_AABB m_bound; + GUINT m_left;//!< Left subtree + GUINT m_right;//!< Right subtree + GUINT m_escapeIndex;//!< Scape index for traversing + GUINT m_data;//!< primitive index if apply + + GIM_BOX_TREE_NODE() + { + m_left = 0; + m_right = 0; + m_escapeIndex = 0; + m_data = 0; + } + + SIMD_FORCE_INLINE bool is_leaf_node() const + { + return (!m_left && !m_right); + } +}; + +//! Basic Box tree structure +class GIM_BOX_TREE +{ +protected: + GUINT m_num_nodes; + gim_array<GIM_BOX_TREE_NODE> m_node_array; +protected: + GUINT _sort_and_calc_splitting_index( + gim_array<GIM_AABB_DATA> & primitive_boxes, + GUINT startIndex, GUINT endIndex, GUINT splitAxis); + + GUINT _calc_splitting_axis(gim_array<GIM_AABB_DATA> & primitive_boxes, GUINT startIndex, GUINT endIndex); + + void _build_sub_tree(gim_array<GIM_AABB_DATA> & primitive_boxes, GUINT startIndex, GUINT endIndex); +public: + GIM_BOX_TREE() + { + m_num_nodes = 0; + } + + //! prototype functions for box tree management + //!@{ + void build_tree(gim_array<GIM_AABB_DATA> & primitive_boxes); + + SIMD_FORCE_INLINE void clearNodes() + { + m_node_array.clear(); + m_num_nodes = 0; + } + + //! node count + SIMD_FORCE_INLINE GUINT getNodeCount() const + { + return m_num_nodes; + } + + //! tells if the node is a leaf + SIMD_FORCE_INLINE bool isLeafNode(GUINT nodeindex) const + { + return m_node_array[nodeindex].is_leaf_node(); + } + + SIMD_FORCE_INLINE GUINT getNodeData(GUINT nodeindex) const + { + return m_node_array[nodeindex].m_data; + } + + SIMD_FORCE_INLINE void getNodeBound(GUINT nodeindex, GIM_AABB & bound) const + { + bound = m_node_array[nodeindex].m_bound; + } + + SIMD_FORCE_INLINE void setNodeBound(GUINT nodeindex, const GIM_AABB & bound) + { + m_node_array[nodeindex].m_bound = bound; + } + + SIMD_FORCE_INLINE GUINT getLeftNodeIndex(GUINT nodeindex) const + { + return m_node_array[nodeindex].m_left; + } + + SIMD_FORCE_INLINE GUINT getRightNodeIndex(GUINT nodeindex) const + { + return m_node_array[nodeindex].m_right; + } + + SIMD_FORCE_INLINE GUINT getScapeNodeIndex(GUINT nodeindex) const + { + return m_node_array[nodeindex].m_escapeIndex; + } + + //!@} +}; + + +//! Generic Box Tree Template +/*! +This class offers an structure for managing a box tree of primitives. +Requires a Primitive prototype (like GIM_PRIMITIVE_MANAGER_PROTOTYPE ) and +a Box tree structure ( like GIM_BOX_TREE). +*/ +template<typename _GIM_PRIMITIVE_MANAGER_PROTOTYPE, typename _GIM_BOX_TREE_PROTOTYPE> +class GIM_BOX_TREE_TEMPLATE_SET +{ +protected: + _GIM_PRIMITIVE_MANAGER_PROTOTYPE m_primitive_manager; + _GIM_BOX_TREE_PROTOTYPE m_box_tree; +protected: + //stackless refit + SIMD_FORCE_INLINE void refit() + { + GUINT nodecount = getNodeCount(); + while(nodecount--) + { + if(isLeafNode(nodecount)) + { + GIM_AABB leafbox; + m_primitive_manager.get_primitive_box(getNodeData(nodecount),leafbox); + setNodeBound(nodecount,leafbox); + } + else + { + //get left bound + GUINT childindex = getLeftNodeIndex(nodecount); + GIM_AABB bound; + getNodeBound(childindex,bound); + //get right bound + childindex = getRightNodeIndex(nodecount); + GIM_AABB bound2; + getNodeBound(childindex,bound2); + bound.merge(bound2); + + setNodeBound(nodecount,bound); + } + } + } +public: + + GIM_BOX_TREE_TEMPLATE_SET() + { + } + + SIMD_FORCE_INLINE GIM_AABB getGlobalBox() const + { + GIM_AABB totalbox; + getNodeBound(0, totalbox); + return totalbox; + } + + SIMD_FORCE_INLINE void setPrimitiveManager(const _GIM_PRIMITIVE_MANAGER_PROTOTYPE & primitive_manager) + { + m_primitive_manager = primitive_manager; + } + + const _GIM_PRIMITIVE_MANAGER_PROTOTYPE & getPrimitiveManager() const + { + return m_primitive_manager; + } + + _GIM_PRIMITIVE_MANAGER_PROTOTYPE & getPrimitiveManager() + { + return m_primitive_manager; + } + +//! node manager prototype functions +///@{ + + //! this attemps to refit the box set. + SIMD_FORCE_INLINE void update() + { + refit(); + } + + //! this rebuild the entire set + SIMD_FORCE_INLINE void buildSet() + { + //obtain primitive boxes + gim_array<GIM_AABB_DATA> primitive_boxes; + primitive_boxes.resize(m_primitive_manager.get_primitive_count(),false); + + for (GUINT i = 0;i<primitive_boxes.size() ;i++ ) + { + m_primitive_manager.get_primitive_box(i,primitive_boxes[i].m_bound); + primitive_boxes[i].m_data = i; + } + + m_box_tree.build_tree(primitive_boxes); + } + + //! returns the indices of the primitives in the m_primitive_manager + SIMD_FORCE_INLINE bool boxQuery(const GIM_AABB & box, gim_array<GUINT> & collided_results) const + { + GUINT curIndex = 0; + GUINT numNodes = getNodeCount(); + + while (curIndex < numNodes) + { + GIM_AABB bound; + getNodeBound(curIndex,bound); + + //catch bugs in tree data + + bool aabbOverlap = bound.has_collision(box); + bool isleafnode = isLeafNode(curIndex); + + if (isleafnode && aabbOverlap) + { + collided_results.push_back(getNodeData(curIndex)); + } + + if (aabbOverlap || isleafnode) + { + //next subnode + curIndex++; + } + else + { + //skip node + curIndex+= getScapeNodeIndex(curIndex); + } + } + if(collided_results.size()>0) return true; + return false; + } + + //! returns the indices of the primitives in the m_primitive_manager + SIMD_FORCE_INLINE bool boxQueryTrans(const GIM_AABB & box, + const btTransform & transform, gim_array<GUINT> & collided_results) const + { + GIM_AABB transbox=box; + transbox.appy_transform(transform); + return boxQuery(transbox,collided_results); + } + + //! returns the indices of the primitives in the m_primitive_manager + SIMD_FORCE_INLINE bool rayQuery( + const btVector3 & ray_dir,const btVector3 & ray_origin , + gim_array<GUINT> & collided_results) const + { + GUINT curIndex = 0; + GUINT numNodes = getNodeCount(); + + while (curIndex < numNodes) + { + GIM_AABB bound; + getNodeBound(curIndex,bound); + + //catch bugs in tree data + + bool aabbOverlap = bound.collide_ray(ray_origin,ray_dir); + bool isleafnode = isLeafNode(curIndex); + + if (isleafnode && aabbOverlap) + { + collided_results.push_back(getNodeData( curIndex)); + } + + if (aabbOverlap || isleafnode) + { + //next subnode + curIndex++; + } + else + { + //skip node + curIndex+= getScapeNodeIndex(curIndex); + } + } + if(collided_results.size()>0) return true; + return false; + } + + //! tells if this set has hierarcht + SIMD_FORCE_INLINE bool hasHierarchy() const + { + return true; + } + + //! tells if this set is a trimesh + SIMD_FORCE_INLINE bool isTrimesh() const + { + return m_primitive_manager.is_trimesh(); + } + + //! node count + SIMD_FORCE_INLINE GUINT getNodeCount() const + { + return m_box_tree.getNodeCount(); + } + + //! tells if the node is a leaf + SIMD_FORCE_INLINE bool isLeafNode(GUINT nodeindex) const + { + return m_box_tree.isLeafNode(nodeindex); + } + + SIMD_FORCE_INLINE GUINT getNodeData(GUINT nodeindex) const + { + return m_box_tree.getNodeData(nodeindex); + } + + SIMD_FORCE_INLINE void getNodeBound(GUINT nodeindex, GIM_AABB & bound) const + { + m_box_tree.getNodeBound(nodeindex, bound); + } + + SIMD_FORCE_INLINE void setNodeBound(GUINT nodeindex, const GIM_AABB & bound) + { + m_box_tree.setNodeBound(nodeindex, bound); + } + + SIMD_FORCE_INLINE GUINT getLeftNodeIndex(GUINT nodeindex) const + { + return m_box_tree.getLeftNodeIndex(nodeindex); + } + + SIMD_FORCE_INLINE GUINT getRightNodeIndex(GUINT nodeindex) const + { + return m_box_tree.getRightNodeIndex(nodeindex); + } + + SIMD_FORCE_INLINE GUINT getScapeNodeIndex(GUINT nodeindex) const + { + return m_box_tree.getScapeNodeIndex(nodeindex); + } + + SIMD_FORCE_INLINE void getNodeTriangle(GUINT nodeindex,GIM_TRIANGLE & triangle) const + { + m_primitive_manager.get_primitive_triangle(getNodeData(nodeindex),triangle); + } + +//! @} +}; + +//! Class for Box Tree Sets +/*! +this has the GIM_BOX_TREE implementation for bounding boxes. +*/ +template<typename _GIM_PRIMITIVE_MANAGER_PROTOTYPE> +class GIM_BOX_TREE_SET: public GIM_BOX_TREE_TEMPLATE_SET< _GIM_PRIMITIVE_MANAGER_PROTOTYPE, GIM_BOX_TREE> +{ +public: + +}; + + + + + +/// GIM_BOX_SET collision methods +template<typename BOX_SET_CLASS0,typename BOX_SET_CLASS1> +class GIM_TREE_TREE_COLLIDER +{ +public: + gim_pair_set * m_collision_pairs; + BOX_SET_CLASS0 * m_boxset0; + BOX_SET_CLASS1 * m_boxset1; + GUINT current_node0; + GUINT current_node1; + bool node0_is_leaf; + bool node1_is_leaf; + bool t0_is_trimesh; + bool t1_is_trimesh; + bool node0_has_triangle; + bool node1_has_triangle; + GIM_AABB m_box0; + GIM_AABB m_box1; + GIM_BOX_BOX_TRANSFORM_CACHE trans_cache_1to0; + btTransform trans_cache_0to1; + GIM_TRIANGLE m_tri0; + btVector4 m_tri0_plane; + GIM_TRIANGLE m_tri1; + btVector4 m_tri1_plane; + + +public: + GIM_TREE_TREE_COLLIDER() + { + current_node0 = G_UINT_INFINITY; + current_node1 = G_UINT_INFINITY; + } +protected: + SIMD_FORCE_INLINE void retrieve_node0_triangle(GUINT node0) + { + if(node0_has_triangle) return; + m_boxset0->getNodeTriangle(node0,m_tri0); + //transform triangle + m_tri0.m_vertices[0] = trans_cache_0to1(m_tri0.m_vertices[0]); + m_tri0.m_vertices[1] = trans_cache_0to1(m_tri0.m_vertices[1]); + m_tri0.m_vertices[2] = trans_cache_0to1(m_tri0.m_vertices[2]); + m_tri0.get_plane(m_tri0_plane); + + node0_has_triangle = true; + } + + SIMD_FORCE_INLINE void retrieve_node1_triangle(GUINT node1) + { + if(node1_has_triangle) return; + m_boxset1->getNodeTriangle(node1,m_tri1); + //transform triangle + m_tri1.m_vertices[0] = trans_cache_1to0.transform(m_tri1.m_vertices[0]); + m_tri1.m_vertices[1] = trans_cache_1to0.transform(m_tri1.m_vertices[1]); + m_tri1.m_vertices[2] = trans_cache_1to0.transform(m_tri1.m_vertices[2]); + m_tri1.get_plane(m_tri1_plane); + + node1_has_triangle = true; + } + + SIMD_FORCE_INLINE void retrieve_node0_info(GUINT node0) + { + if(node0 == current_node0) return; + m_boxset0->getNodeBound(node0,m_box0); + node0_is_leaf = m_boxset0->isLeafNode(node0); + node0_has_triangle = false; + current_node0 = node0; + } + + SIMD_FORCE_INLINE void retrieve_node1_info(GUINT node1) + { + if(node1 == current_node1) return; + m_boxset1->getNodeBound(node1,m_box1); + node1_is_leaf = m_boxset1->isLeafNode(node1); + node1_has_triangle = false; + current_node1 = node1; + } + + SIMD_FORCE_INLINE bool node_collision(GUINT node0 ,GUINT node1) + { + retrieve_node0_info(node0); + retrieve_node1_info(node1); + bool result = m_box0.overlapping_trans_cache(m_box1,trans_cache_1to0,true); + if(!result) return false; + + if(t0_is_trimesh && node0_is_leaf) + { + //perform primitive vs box collision + retrieve_node0_triangle(node0); + //do triangle vs box collision + m_box1.increment_margin(m_tri0.m_margin); + + result = m_box1.collide_triangle_exact( + m_tri0.m_vertices[0],m_tri0.m_vertices[1],m_tri0.m_vertices[2],m_tri0_plane); + + m_box1.increment_margin(-m_tri0.m_margin); + + if(!result) return false; + return true; + } + else if(t1_is_trimesh && node1_is_leaf) + { + //perform primitive vs box collision + retrieve_node1_triangle(node1); + //do triangle vs box collision + m_box0.increment_margin(m_tri1.m_margin); + + result = m_box0.collide_triangle_exact( + m_tri1.m_vertices[0],m_tri1.m_vertices[1],m_tri1.m_vertices[2],m_tri1_plane); + + m_box0.increment_margin(-m_tri1.m_margin); + + if(!result) return false; + return true; + } + return true; + } + + //stackless collision routine + void find_collision_pairs() + { + gim_pair_set stack_collisions; + stack_collisions.reserve(32); + + //add the first pair + stack_collisions.push_pair(0,0); + + + while(stack_collisions.size()) + { + //retrieve the last pair and pop + GUINT node0 = stack_collisions.back().m_index1; + GUINT node1 = stack_collisions.back().m_index2; + stack_collisions.pop_back(); + if(node_collision(node0,node1)) // a collision is found + { + if(node0_is_leaf) + { + if(node1_is_leaf) + { + m_collision_pairs->push_pair(m_boxset0->getNodeData(node0),m_boxset1->getNodeData(node1)); + } + else + { + //collide left + stack_collisions.push_pair(node0,m_boxset1->getLeftNodeIndex(node1)); + + //collide right + stack_collisions.push_pair(node0,m_boxset1->getRightNodeIndex(node1)); + } + } + else + { + if(node1_is_leaf) + { + //collide left + stack_collisions.push_pair(m_boxset0->getLeftNodeIndex(node0),node1); + //collide right + stack_collisions.push_pair(m_boxset0->getRightNodeIndex(node0),node1); + } + else + { + GUINT left0 = m_boxset0->getLeftNodeIndex(node0); + GUINT right0 = m_boxset0->getRightNodeIndex(node0); + GUINT left1 = m_boxset1->getLeftNodeIndex(node1); + GUINT right1 = m_boxset1->getRightNodeIndex(node1); + //collide left + stack_collisions.push_pair(left0,left1); + //collide right + stack_collisions.push_pair(left0,right1); + //collide left + stack_collisions.push_pair(right0,left1); + //collide right + stack_collisions.push_pair(right0,right1); + + }// else if node1 is not a leaf + }// else if node0 is not a leaf + + }// if(node_collision(node0,node1)) + }//while(stack_collisions.size()) + } +public: + void find_collision(BOX_SET_CLASS0 * boxset1, const btTransform & trans1, + BOX_SET_CLASS1 * boxset2, const btTransform & trans2, + gim_pair_set & collision_pairs, bool complete_primitive_tests = true) + { + m_collision_pairs = &collision_pairs; + m_boxset0 = boxset1; + m_boxset1 = boxset2; + + trans_cache_1to0.calc_from_homogenic(trans1,trans2); + + trans_cache_0to1 = trans2.inverse(); + trans_cache_0to1 *= trans1; + + + if(complete_primitive_tests) + { + t0_is_trimesh = boxset1->getPrimitiveManager().is_trimesh(); + t1_is_trimesh = boxset2->getPrimitiveManager().is_trimesh(); + } + else + { + t0_is_trimesh = false; + t1_is_trimesh = false; + } + + find_collision_pairs(); + } +}; + + +#endif // GIM_BOXPRUNING_H_INCLUDED diff --git a/extern/bullet2/src/BulletCollision/Gimpact/gim_clip_polygon.h b/extern/bullet2/src/BulletCollision/Gimpact/gim_clip_polygon.h new file mode 100644 index 00000000000..62151cb97b7 --- /dev/null +++ b/extern/bullet2/src/BulletCollision/Gimpact/gim_clip_polygon.h @@ -0,0 +1,214 @@ +#ifndef GIM_CLIP_POLYGON_H_INCLUDED +#define GIM_CLIP_POLYGON_H_INCLUDED + +/*! \file gim_tri_collision.h +\author Francisco Len Nßjera +*/ +/* +----------------------------------------------------------------------------- +This source file is part of GIMPACT Library. + +For the latest info, see http://gimpact.sourceforge.net/ + +Copyright (c) 2006 Francisco Leon Najera. C.C. 80087371. +email: projectileman@yahoo.com + + This library is free software; you can redistribute it and/or + modify it under the terms of EITHER: + (1) The GNU Lesser General Public License as published by the Free + Software Foundation; either version 2.1 of the License, or (at + your option) any later version. The text of the GNU Lesser + General Public License is included with this library in the + file GIMPACT-LICENSE-LGPL.TXT. + (2) The BSD-style license that is included with this library in + the file GIMPACT-LICENSE-BSD.TXT. + (3) The zlib/libpng license that is included with this library in + the file GIMPACT-LICENSE-ZLIB.TXT. + + This library is distributed in the hope that it will be useful, + but WITHOUT ANY WARRANTY; without even the implied warranty of + MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the files + GIMPACT-LICENSE-LGPL.TXT, GIMPACT-LICENSE-ZLIB.TXT and GIMPACT-LICENSE-BSD.TXT for more details. + +----------------------------------------------------------------------------- +*/ + +/*! \addtogroup GEOMETRIC_OPERATIONS +*/ +//! @{ + +//! This function calcs the distance from a 3D plane +class DISTANCE_PLANE_3D_FUNC +{ +public: + template<typename CLASS_POINT,typename CLASS_PLANE> + inline GREAL operator()(const CLASS_PLANE & plane, const CLASS_POINT & point) + { + return DISTANCE_PLANE_POINT(plane, point); + } +}; + + + +template<typename CLASS_POINT> +SIMD_FORCE_INLINE void PLANE_CLIP_POLYGON_COLLECT( + const CLASS_POINT & point0, + const CLASS_POINT & point1, + GREAL dist0, + GREAL dist1, + CLASS_POINT * clipped, + GUINT & clipped_count) +{ + GUINT _prevclassif = (dist0>G_EPSILON); + GUINT _classif = (dist1>G_EPSILON); + if(_classif!=_prevclassif) + { + GREAL blendfactor = -dist0/(dist1-dist0); + VEC_BLEND(clipped[clipped_count],point0,point1,blendfactor); + clipped_count++; + } + if(!_classif) + { + VEC_COPY(clipped[clipped_count],point1); + clipped_count++; + } +} + + +//! Clips a polygon by a plane +/*! +*\return The count of the clipped counts +*/ +template<typename CLASS_POINT,typename CLASS_PLANE, typename DISTANCE_PLANE_FUNC> +SIMD_FORCE_INLINE GUINT PLANE_CLIP_POLYGON_GENERIC( + const CLASS_PLANE & plane, + const CLASS_POINT * polygon_points, + GUINT polygon_point_count, + CLASS_POINT * clipped,DISTANCE_PLANE_FUNC distance_func) +{ + GUINT clipped_count = 0; + + + //clip first point + GREAL firstdist = distance_func(plane,polygon_points[0]);; + if(!(firstdist>G_EPSILON)) + { + VEC_COPY(clipped[clipped_count],polygon_points[0]); + clipped_count++; + } + + GREAL olddist = firstdist; + for(GUINT _i=1;_i<polygon_point_count;_i++) + { + GREAL dist = distance_func(plane,polygon_points[_i]); + + PLANE_CLIP_POLYGON_COLLECT( + polygon_points[_i-1],polygon_points[_i], + olddist, + dist, + clipped, + clipped_count); + + + olddist = dist; + } + + //RETURN TO FIRST point + + PLANE_CLIP_POLYGON_COLLECT( + polygon_points[polygon_point_count-1],polygon_points[0], + olddist, + firstdist, + clipped, + clipped_count); + + return clipped_count; +} + +//! Clips a polygon by a plane +/*! +*\return The count of the clipped counts +*/ +template<typename CLASS_POINT,typename CLASS_PLANE, typename DISTANCE_PLANE_FUNC> +SIMD_FORCE_INLINE GUINT PLANE_CLIP_TRIANGLE_GENERIC( + const CLASS_PLANE & plane, + const CLASS_POINT & point0, + const CLASS_POINT & point1, + const CLASS_POINT & point2, + CLASS_POINT * clipped,DISTANCE_PLANE_FUNC distance_func) +{ + GUINT clipped_count = 0; + + //clip first point + GREAL firstdist = distance_func(plane,point0);; + if(!(firstdist>G_EPSILON)) + { + VEC_COPY(clipped[clipped_count],point0); + clipped_count++; + } + + // point 1 + GREAL olddist = firstdist; + GREAL dist = distance_func(plane,point1); + + PLANE_CLIP_POLYGON_COLLECT( + point0,point1, + olddist, + dist, + clipped, + clipped_count); + + olddist = dist; + + + // point 2 + dist = distance_func(plane,point2); + + PLANE_CLIP_POLYGON_COLLECT( + point1,point2, + olddist, + dist, + clipped, + clipped_count); + olddist = dist; + + + + //RETURN TO FIRST point + PLANE_CLIP_POLYGON_COLLECT( + point2,point0, + olddist, + firstdist, + clipped, + clipped_count); + + return clipped_count; +} + + +template<typename CLASS_POINT,typename CLASS_PLANE> +SIMD_FORCE_INLINE GUINT PLANE_CLIP_POLYGON3D( + const CLASS_PLANE & plane, + const CLASS_POINT * polygon_points, + GUINT polygon_point_count, + CLASS_POINT * clipped) +{ + return PLANE_CLIP_POLYGON_GENERIC<CLASS_POINT,CLASS_PLANE>(plane,polygon_points,polygon_point_count,clipped,DISTANCE_PLANE_3D_FUNC()); +} + + +template<typename CLASS_POINT,typename CLASS_PLANE> +SIMD_FORCE_INLINE GUINT PLANE_CLIP_TRIANGLE3D( + const CLASS_PLANE & plane, + const CLASS_POINT & point0, + const CLASS_POINT & point1, + const CLASS_POINT & point2, + CLASS_POINT * clipped) +{ + return PLANE_CLIP_TRIANGLE_GENERIC<CLASS_POINT,CLASS_PLANE>(plane,point0,point1,point2,clipped,DISTANCE_PLANE_3D_FUNC()); +} + + +//! @} + +#endif // GIM_TRI_COLLISION_H_INCLUDED diff --git a/extern/bullet2/src/BulletCollision/Gimpact/gim_contact.cpp b/extern/bullet2/src/BulletCollision/Gimpact/gim_contact.cpp new file mode 100644 index 00000000000..20e41de089f --- /dev/null +++ b/extern/bullet2/src/BulletCollision/Gimpact/gim_contact.cpp @@ -0,0 +1,146 @@ + +/* +----------------------------------------------------------------------------- +This source file is part of GIMPACT Library. + +For the latest info, see http://gimpact.sourceforge.net/ + +Copyright (c) 2006 Francisco Leon Najera. C.C. 80087371. +email: projectileman@yahoo.com + + This library is free software; you can redistribute it and/or + modify it under the terms of EITHER: + (1) The GNU Lesser General Public License as published by the Free + Software Foundation; either version 2.1 of the License, or (at + your option) any later version. The text of the GNU Lesser + General Public License is included with this library in the + file GIMPACT-LICENSE-LGPL.TXT. + (2) The BSD-style license that is included with this library in + the file GIMPACT-LICENSE-BSD.TXT. + (3) The zlib/libpng license that is included with this library in + the file GIMPACT-LICENSE-ZLIB.TXT. + + This library is distributed in the hope that it will be useful, + but WITHOUT ANY WARRANTY; without even the implied warranty of + MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the files + GIMPACT-LICENSE-LGPL.TXT, GIMPACT-LICENSE-ZLIB.TXT and GIMPACT-LICENSE-BSD.TXT for more details. + +----------------------------------------------------------------------------- +*/ + +#include "gim_contact.h" + +#define MAX_COINCIDENT 8 + +void gim_contact_array::merge_contacts( + const gim_contact_array & contacts, bool normal_contact_average) +{ + clear(); + + if(contacts.size()==1) + { + push_back(contacts.back()); + return; + } + + gim_array<GIM_RSORT_TOKEN> keycontacts(contacts.size()); + keycontacts.resize(contacts.size(),false); + + //fill key contacts + + GUINT i; + + for (i = 0;i<contacts.size() ;i++ ) + { + keycontacts[i].m_key = contacts[i].calc_key_contact(); + keycontacts[i].m_value = i; + } + + //sort keys + gim_heap_sort(keycontacts.pointer(),keycontacts.size(),GIM_RSORT_TOKEN_COMPARATOR()); + + // Merge contacts + + GUINT coincident_count=0; + btVector3 coincident_normals[MAX_COINCIDENT]; + + GUINT last_key = keycontacts[0].m_key; + GUINT key = 0; + + push_back(contacts[keycontacts[0].m_value]); + GIM_CONTACT * pcontact = &back(); + + + + for( i=1;i<keycontacts.size();i++) + { + key = keycontacts[i].m_key; + const GIM_CONTACT * scontact = &contacts[keycontacts[i].m_value]; + + if(last_key == key)//same points + { + //merge contact + if(pcontact->m_depth - CONTACT_DIFF_EPSILON > scontact->m_depth)//) + { + *pcontact = *scontact; + coincident_count = 0; + } + else if(normal_contact_average) + { + if(btFabs(pcontact->m_depth - scontact->m_depth)<CONTACT_DIFF_EPSILON) + { + if(coincident_count<MAX_COINCIDENT) + { + coincident_normals[coincident_count] = scontact->m_normal; + coincident_count++; + } + } + } + } + else + {//add new contact + + if(normal_contact_average && coincident_count>0) + { + pcontact->interpolate_normals(coincident_normals,coincident_count); + coincident_count = 0; + } + + push_back(*scontact); + pcontact = &back(); + } + last_key = key; + } +} + +void gim_contact_array::merge_contacts_unique(const gim_contact_array & contacts) +{ + clear(); + + if(contacts.size()==1) + { + push_back(contacts.back()); + return; + } + + GIM_CONTACT average_contact = contacts.back(); + + for (GUINT i=1;i<contacts.size() ;i++ ) + { + average_contact.m_point += contacts[i].m_point; + average_contact.m_normal += contacts[i].m_normal * contacts[i].m_depth; + } + + //divide + GREAL divide_average = 1.0f/((GREAL)contacts.size()); + + average_contact.m_point *= divide_average; + + average_contact.m_normal *= divide_average; + + average_contact.m_depth = average_contact.m_normal.length(); + + average_contact.m_normal /= average_contact.m_depth; + +} + diff --git a/extern/bullet2/src/BulletCollision/Gimpact/gim_contact.h b/extern/bullet2/src/BulletCollision/Gimpact/gim_contact.h new file mode 100644 index 00000000000..62df51b782f --- /dev/null +++ b/extern/bullet2/src/BulletCollision/Gimpact/gim_contact.h @@ -0,0 +1,172 @@ +#ifndef GIM_CONTACT_H_INCLUDED +#define GIM_CONTACT_H_INCLUDED + +/*! \file gim_contact.h +\author Francisco Len Nßjera +*/ +/* +----------------------------------------------------------------------------- +This source file is part of GIMPACT Library. + +For the latest info, see http://gimpact.sourceforge.net/ + +Copyright (c) 2006 Francisco Leon Najera. C.C. 80087371. +email: projectileman@yahoo.com + + This library is free software; you can redistribute it and/or + modify it under the terms of EITHER: + (1) The GNU Lesser General Public License as published by the Free + Software Foundation; either version 2.1 of the License, or (at + your option) any later version. The text of the GNU Lesser + General Public License is included with this library in the + file GIMPACT-LICENSE-LGPL.TXT. + (2) The BSD-style license that is included with this library in + the file GIMPACT-LICENSE-BSD.TXT. + (3) The zlib/libpng license that is included with this library in + the file GIMPACT-LICENSE-ZLIB.TXT. + + This library is distributed in the hope that it will be useful, + but WITHOUT ANY WARRANTY; without even the implied warranty of + MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the files + GIMPACT-LICENSE-LGPL.TXT, GIMPACT-LICENSE-ZLIB.TXT and GIMPACT-LICENSE-BSD.TXT for more details. + +----------------------------------------------------------------------------- +*/ +#include "gim_geometry.h" +#include "gim_radixsort.h" +#include "gim_array.h" + +/*! \defgroup CONTACTS +\brief +Functions for managing and sorting contacts resulting from a collision query. +<ul> +<li> Contact lists must be create by calling \ref GIM_CREATE_CONTACT_LIST +<li> After querys, contact lists must be destroy by calling \ref GIM_DYNARRAY_DESTROY +<li> Contacts can be merge for avoid duplicate results by calling \ref gim_merge_contacts +</ul> + +*/ +//! @{ + +/** +Configuration var for applying interpolation of contact normals +*/ +#define NORMAL_CONTACT_AVERAGE 1 +#define CONTACT_DIFF_EPSILON 0.00001f + +/// Structure for collision results +class GIM_CONTACT +{ +public: + btVector3 m_point; + btVector3 m_normal; + GREAL m_depth;//Positive value indicates interpenetration + GREAL m_distance;//Padding not for use + GUINT m_feature1;//Face number + GUINT m_feature2;//Face number +public: + GIM_CONTACT() + { + } + + GIM_CONTACT(const GIM_CONTACT & contact): + m_point(contact.m_point), + m_normal(contact.m_normal), + m_depth(contact.m_depth), + m_feature1(contact.m_feature1), + m_feature2(contact.m_feature2) + { + m_point = contact.m_point; + m_normal = contact.m_normal; + m_depth = contact.m_depth; + m_feature1 = contact.m_feature1; + m_feature2 = contact.m_feature2; + } + + GIM_CONTACT(const btVector3 &point,const btVector3 & normal, + GREAL depth, GUINT feature1, GUINT feature2): + m_point(point), + m_normal(normal), + m_depth(depth), + m_feature1(feature1), + m_feature2(feature2) + { + } + + //! Calcs key for coord classification + SIMD_FORCE_INLINE GUINT calc_key_contact() const + { + GINT _coords[] = { + (GINT)(m_point[0]*1000.0f+1.0f), + (GINT)(m_point[1]*1333.0f), + (GINT)(m_point[2]*2133.0f+3.0f)}; + GUINT _hash=0; + GUINT *_uitmp = (GUINT *)(&_coords[0]); + _hash = *_uitmp; + _uitmp++; + _hash += (*_uitmp)<<4; + _uitmp++; + _hash += (*_uitmp)<<8; + return _hash; + } + + SIMD_FORCE_INLINE void interpolate_normals( btVector3 * normals,GUINT normal_count) + { + btVector3 vec_sum(m_normal); + for(GUINT i=0;i<normal_count;i++) + { + vec_sum += normals[i]; + } + + GREAL vec_sum_len = vec_sum.length2(); + if(vec_sum_len <CONTACT_DIFF_EPSILON) return; + + GIM_INV_SQRT(vec_sum_len,vec_sum_len); // 1/sqrt(vec_sum_len) + + m_normal = vec_sum*vec_sum_len; + } + +}; + + +class gim_contact_array:public gim_array<GIM_CONTACT> +{ +public: + gim_contact_array():gim_array<GIM_CONTACT>(64) + { + } + + SIMD_FORCE_INLINE void push_contact(const btVector3 &point,const btVector3 & normal, + GREAL depth, GUINT feature1, GUINT feature2) + { + push_back_mem(); + GIM_CONTACT & newele = back(); + newele.m_point = point; + newele.m_normal = normal; + newele.m_depth = depth; + newele.m_feature1 = feature1; + newele.m_feature2 = feature2; + } + + SIMD_FORCE_INLINE void push_triangle_contacts( + const GIM_TRIANGLE_CONTACT_DATA & tricontact, + GUINT feature1,GUINT feature2) + { + for(GUINT i = 0;i<tricontact.m_point_count ;i++ ) + { + push_back_mem(); + GIM_CONTACT & newele = back(); + newele.m_point = tricontact.m_points[i]; + newele.m_normal = tricontact.m_separating_normal; + newele.m_depth = tricontact.m_penetration_depth; + newele.m_feature1 = feature1; + newele.m_feature2 = feature2; + } + } + + void merge_contacts(const gim_contact_array & contacts, bool normal_contact_average = true); + void merge_contacts_unique(const gim_contact_array & contacts); +}; + +//! @} +#endif // GIM_CONTACT_H_INCLUDED diff --git a/extern/bullet2/src/BulletCollision/Gimpact/gim_geom_types.h b/extern/bullet2/src/BulletCollision/Gimpact/gim_geom_types.h new file mode 100644 index 00000000000..cd3e53dcc0c --- /dev/null +++ b/extern/bullet2/src/BulletCollision/Gimpact/gim_geom_types.h @@ -0,0 +1,102 @@ +#ifndef GIM_GEOM_TYPES_H_INCLUDED +#define GIM_GEOM_TYPES_H_INCLUDED + +/*! \file gim_geom_types.h +\author Francisco Len Nßjera +*/ +/* +----------------------------------------------------------------------------- +This source file is part of GIMPACT Library. + +For the latest info, see http://gimpact.sourceforge.net/ + +Copyright (c) 2006 Francisco Leon Najera. C.C. 80087371. +email: projectileman@yahoo.com + + This library is free software; you can redistribute it and/or + modify it under the terms of EITHER: + (1) The GNU Lesser General Public License as published by the Free + Software Foundation; either version 2.1 of the License, or (at + your option) any later version. The text of the GNU Lesser + General Public License is included with this library in the + file GIMPACT-LICENSE-LGPL.TXT. + (2) The BSD-style license that is included with this library in + the file GIMPACT-LICENSE-BSD.TXT. + (3) The zlib/libpng license that is included with this library in + the file GIMPACT-LICENSE-ZLIB.TXT. + + This library is distributed in the hope that it will be useful, + but WITHOUT ANY WARRANTY; without even the implied warranty of + MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the files + GIMPACT-LICENSE-LGPL.TXT, GIMPACT-LICENSE-ZLIB.TXT and GIMPACT-LICENSE-BSD.TXT for more details. + +----------------------------------------------------------------------------- +*/ + + +#include "gim_math.h" + +/*! \defgroup GEOMETRIC_TYPES +\brief +Basic types and constants for geometry +*/ +//! @{ + +//! Short Integer vector 2D +typedef GSHORT vec2s[2]; +//! Integer vector 3D +typedef GSHORT vec3s[3]; +//! Integer vector 4D +typedef GSHORT vec4s[4]; + +//! Short Integer vector 2D +typedef GUSHORT vec2us[2]; +//! Integer vector 3D +typedef GUSHORT vec3us[3]; +//! Integer vector 4D +typedef GUSHORT vec4us[4]; + +//! Integer vector 2D +typedef GINT vec2i[2]; +//! Integer vector 3D +typedef GINT vec3i[3]; +//! Integer vector 4D +typedef GINT vec4i[4]; + +//! Unsigned Integer vector 2D +typedef GUINT vec2ui[2]; +//! Unsigned Integer vector 3D +typedef GUINT vec3ui[3]; +//! Unsigned Integer vector 4D +typedef GUINT vec4ui[4]; + +//! Float vector 2D +typedef GREAL vec2f[2]; +//! Float vector 3D +typedef GREAL vec3f[3]; +//! Float vector 4D +typedef GREAL vec4f[4]; + +//! Double vector 2D +typedef GREAL2 vec2d[2]; +//! Float vector 3D +typedef GREAL2 vec3d[3]; +//! Float vector 4D +typedef GREAL2 vec4d[4]; + +//! Matrix 2D, row ordered +typedef GREAL mat2f[2][2]; +//! Matrix 3D, row ordered +typedef GREAL mat3f[3][3]; +//! Matrix 4D, row ordered +typedef GREAL mat4f[4][4]; + +//! Quaternion +typedef GREAL quatf[4]; + +//typedef struct _aabb3f aabb3f; +//! @} + + + +#endif // GIM_GEOM_TYPES_H_INCLUDED diff --git a/extern/bullet2/src/BulletCollision/Gimpact/gim_geometry.h b/extern/bullet2/src/BulletCollision/Gimpact/gim_geometry.h new file mode 100644 index 00000000000..6cc41672101 --- /dev/null +++ b/extern/bullet2/src/BulletCollision/Gimpact/gim_geometry.h @@ -0,0 +1,42 @@ +#ifndef GIM_GEOMETRY_H_INCLUDED +#define GIM_GEOMETRY_H_INCLUDED + +/*! \file gim_geometry.h +\author Francisco Len Nßjera +*/ +/* +----------------------------------------------------------------------------- +This source file is part of GIMPACT Library. + +For the latest info, see http://gimpact.sourceforge.net/ + +Copyright (c) 2006 Francisco Leon Najera. C.C. 80087371. +email: projectileman@yahoo.com + + This library is free software; you can redistribute it and/or + modify it under the terms of EITHER: + (1) The GNU Lesser General Public License as published by the Free + Software Foundation; either version 2.1 of the License, or (at + your option) any later version. The text of the GNU Lesser + General Public License is included with this library in the + file GIMPACT-LICENSE-LGPL.TXT. + (2) The BSD-style license that is included with this library in + the file GIMPACT-LICENSE-BSD.TXT. + (3) The zlib/libpng license that is included with this library in + the file GIMPACT-LICENSE-ZLIB.TXT. + + This library is distributed in the hope that it will be useful, + but WITHOUT ANY WARRANTY; without even the implied warranty of + MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the files + GIMPACT-LICENSE-LGPL.TXT, GIMPACT-LICENSE-ZLIB.TXT and GIMPACT-LICENSE-BSD.TXT for more details. + +----------------------------------------------------------------------------- +*/ + +///Additional Headers for Collision +#include "gim_basic_geometry_operations.h" +#include "gim_clip_polygon.h" +#include "gim_box_collision.h" +#include "gim_tri_collision.h" + +#endif // GIM_VECTOR_H_INCLUDED diff --git a/extern/bullet2/src/BulletCollision/Gimpact/gim_hash_table.h b/extern/bullet2/src/BulletCollision/Gimpact/gim_hash_table.h new file mode 100644 index 00000000000..fd980dff5fa --- /dev/null +++ b/extern/bullet2/src/BulletCollision/Gimpact/gim_hash_table.h @@ -0,0 +1,920 @@ +#ifndef GIM_HASH_TABLE_H_INCLUDED +#define GIM_HASH_TABLE_H_INCLUDED +/*! \file gim_trimesh_data.h +\author Francisco Len Nßjera +*/ +/* +----------------------------------------------------------------------------- +This source file is part of GIMPACT Library. + +For the latest info, see http://gimpact.sourceforge.net/ + +Copyright (c) 2006 Francisco Leon Najera. C.C. 80087371. +email: projectileman@yahoo.com + + This library is free software; you can redistribute it and/or + modify it under the terms of EITHER: + (1) The GNU Lesser General Public License as published by the Free + Software Foundation; either version 2.1 of the License, or (at + your option) any later version. The text of the GNU Lesser + General Public License is included with this library in the + file GIMPACT-LICENSE-LGPL.TXT. + (2) The BSD-style license that is included with this library in + the file GIMPACT-LICENSE-BSD.TXT. + (3) The zlib/libpng license that is included with this library in + the file GIMPACT-LICENSE-ZLIB.TXT. + + This library is distributed in the hope that it will be useful, + but WITHOUT ANY WARRANTY; without even the implied warranty of + MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the files + GIMPACT-LICENSE-LGPL.TXT, GIMPACT-LICENSE-ZLIB.TXT and GIMPACT-LICENSE-BSD.TXT for more details. + +----------------------------------------------------------------------------- +*/ + +#include "gim_radixsort.h" + +/*! \addtogroup CONTAINERS +\brief +Abstract class for collision objects +*/ +//! @{ + +#define GIM_INVALID_HASH 0xffffffff //!< A very very high value +#define GIM_DEFAULT_HASH_TABLE_SIZE 380 +#define GIM_DEFAULT_HASH_TABLE_NODE_SIZE 4 +#define GIM_HASH_TABLE_GROW_FACTOR 2 + +#define GIM_MIN_RADIX_SORT_SIZE 860 //!< calibrated on a PIII + +template<typename T> +struct GIM_HASH_TABLE_NODE +{ + GUINT m_key; + T m_data; + GIM_HASH_TABLE_NODE() + { + } + + GIM_HASH_TABLE_NODE(const GIM_HASH_TABLE_NODE & value) + { + m_key = value.m_key; + m_data = value.m_data; + } + + GIM_HASH_TABLE_NODE(GUINT key, const T & data) + { + m_key = key; + m_data = data; + } + + bool operator <(const GIM_HASH_TABLE_NODE<T> & other) const + { + ///inverse order, further objects are first + if(m_key < other.m_key) return true; + return false; + } + + bool operator >(const GIM_HASH_TABLE_NODE<T> & other) const + { + ///inverse order, further objects are first + if(m_key > other.m_key) return true; + return false; + } + + bool operator ==(const GIM_HASH_TABLE_NODE<T> & other) const + { + ///inverse order, further objects are first + if(m_key == other.m_key) return true; + return false; + } +}; + +///Macro for getting the key +class GIM_HASH_NODE_GET_KEY +{ +public: + template<class T> + inline GUINT operator()( const T& a) + { + return a.m_key; + } +}; + + + +///Macro for comparing the key and the element +class GIM_HASH_NODE_CMP_KEY_MACRO +{ +public: + template<class T> + inline int operator() ( const T& a, GUINT key) + { + return ((int)(a.m_key - key)); + } +}; + +///Macro for comparing Hash nodes +class GIM_HASH_NODE_CMP_MACRO +{ +public: + template<class T> + inline int operator() ( const T& a, const T& b ) + { + return ((int)(a.m_key - b.m_key)); + } +}; + + + + + +//! Sorting for hash table +/*! +switch automatically between quicksort and radixsort +*/ +template<typename T> +void gim_sort_hash_node_array(T * array, GUINT array_count) +{ + if(array_count<GIM_MIN_RADIX_SORT_SIZE) + { + gim_heap_sort(array,array_count,GIM_HASH_NODE_CMP_MACRO()); + } + else + { + memcopy_elements_func cmpfunc; + gim_radix_sort(array,array_count,GIM_HASH_NODE_GET_KEY(),cmpfunc); + } +} + + + + + + +// Note: assumes long is at least 32 bits. +#define GIM_NUM_PRIME 28 + +static const GUINT gim_prime_list[GIM_NUM_PRIME] = +{ + 53ul, 97ul, 193ul, 389ul, 769ul, + 1543ul, 3079ul, 6151ul, 12289ul, 24593ul, + 49157ul, 98317ul, 196613ul, 393241ul, 786433ul, + 1572869ul, 3145739ul, 6291469ul, 12582917ul, 25165843ul, + 50331653ul, 100663319ul, 201326611ul, 402653189ul, 805306457ul, + 1610612741ul, 3221225473ul, 4294967291ul +}; + +inline GUINT gim_next_prime(GUINT number) +{ + //Find nearest upper prime + GUINT result_ind = 0; + gim_binary_search(gim_prime_list,0,(GIM_NUM_PRIME-2),number,result_ind); + + // inv: result_ind < 28 + return gim_prime_list[result_ind]; +} + + + +//! A compact hash table implementation +/*! +A memory aligned compact hash table that coud be treated as an array. +It could be a simple sorted array without the overhead of the hash key bucked, or could +be a formely hash table with an array of keys. +You can use switch_to_hashtable() and switch_to_sorted_array for saving space or increase speed. +</br> + +<ul> +<li> if node_size = 0, then this container becomes a simple sorted array allocator. reserve_size is used for reserve memory in m_nodes. +When the array size reaches the size equivalent to 'min_hash_table_size', then it becomes a hash table by calling check_for_switching_to_hashtable. +<li> If node_size != 0, then this container becomes a hash table for ever +</ul> + +*/ +template<class T> +class gim_hash_table +{ +protected: + typedef GIM_HASH_TABLE_NODE<T> _node_type; + + //!The nodes + //array< _node_type, SuperAllocator<_node_type> > m_nodes; + gim_array< _node_type > m_nodes; + //SuperBufferedArray< _node_type > m_nodes; + bool m_sorted; + + /*! \defgroup HASH_TABLE_STRUCTURES + \brief + Hash table data management. The hash table has the indices to the corresponding m_nodes array + */ + //! @{ + + GUINT * m_hash_table;//!< + GUINT m_table_size;//!< + GUINT m_node_size;//!< + GUINT m_min_hash_table_size; + + + + //! Returns the cell index + inline GUINT _find_cell(GUINT hashkey) + { + _node_type * nodesptr = m_nodes.pointer(); + GUINT start_index = (hashkey%m_table_size)*m_node_size; + GUINT end_index = start_index + m_node_size; + + while(start_index<end_index) + { + GUINT value = m_hash_table[start_index]; + if(value != GIM_INVALID_HASH) + { + if(nodesptr[value].m_key == hashkey) return start_index; + } + start_index++; + } + return GIM_INVALID_HASH; + } + + //! Find the avaliable cell for the hashkey, and return an existing cell if it has the same hash key + inline GUINT _find_avaliable_cell(GUINT hashkey) + { + _node_type * nodesptr = m_nodes.pointer(); + GUINT avaliable_index = GIM_INVALID_HASH; + GUINT start_index = (hashkey%m_table_size)*m_node_size; + GUINT end_index = start_index + m_node_size; + + while(start_index<end_index) + { + GUINT value = m_hash_table[start_index]; + if(value == GIM_INVALID_HASH) + { + if(avaliable_index==GIM_INVALID_HASH) + { + avaliable_index = start_index; + } + } + else if(nodesptr[value].m_key == hashkey) + { + return start_index; + } + start_index++; + } + return avaliable_index; + } + + + + //! reserves the memory for the hash table. + /*! + \pre hash table must be empty + \post reserves the memory for the hash table, an initializes all elements to GIM_INVALID_HASH. + */ + inline void _reserve_table_memory(GUINT newtablesize) + { + if(newtablesize==0) return; + if(m_node_size==0) return; + + //Get a Prime size + + m_table_size = gim_next_prime(newtablesize); + + GUINT datasize = m_table_size*m_node_size; + //Alloc the data buffer + m_hash_table = (GUINT *)gim_alloc(datasize*sizeof(GUINT)); + } + + inline void _invalidate_keys() + { + GUINT datasize = m_table_size*m_node_size; + for(GUINT i=0;i<datasize;i++) + { + m_hash_table[i] = GIM_INVALID_HASH;// invalidate keys + } + } + + //! Clear all memory for the hash table + inline void _clear_table_memory() + { + if(m_hash_table==NULL) return; + gim_free(m_hash_table); + m_hash_table = NULL; + m_table_size = 0; + } + + //! Invalidates the keys (Assigning GIM_INVALID_HASH to all) Reorders the hash keys + inline void _rehash() + { + _invalidate_keys(); + + _node_type * nodesptr = m_nodes.pointer(); + for(GUINT i=0;i<(GUINT)m_nodes.size();i++) + { + GUINT nodekey = nodesptr[i].m_key; + if(nodekey != GIM_INVALID_HASH) + { + //Search for the avaliable cell in buffer + GUINT index = _find_avaliable_cell(nodekey); + + + if(m_hash_table[index]!=GIM_INVALID_HASH) + {//The new index is alreade used... discard this new incomming object, repeated key + btAssert(m_hash_table[index]==nodekey); + nodesptr[i].m_key = GIM_INVALID_HASH; + } + else + { + //; + //Assign the value for alloc + m_hash_table[index] = i; + } + } + } + } + + //! Resize hash table indices + inline void _resize_table(GUINT newsize) + { + //Clear memory + _clear_table_memory(); + //Alloc the data + _reserve_table_memory(newsize); + //Invalidate keys and rehash + _rehash(); + } + + //! Destroy hash table memory + inline void _destroy() + { + if(m_hash_table==NULL) return; + _clear_table_memory(); + } + + //! Finds an avaliable hash table cell, and resizes the table if there isn't space + inline GUINT _assign_hash_table_cell(GUINT hashkey) + { + GUINT cell_index = _find_avaliable_cell(hashkey); + + if(cell_index==GIM_INVALID_HASH) + { + //rehashing + _resize_table(m_table_size+1); + GUINT cell_index = _find_avaliable_cell(hashkey); + btAssert(cell_index!=GIM_INVALID_HASH); + } + return cell_index; + } + + //! erase by index in hash table + inline bool _erase_by_index_hash_table(GUINT index) + { + if(index >= m_nodes.size()) return false; + if(m_nodes[index].m_key != GIM_INVALID_HASH) + { + //Search for the avaliable cell in buffer + GUINT cell_index = _find_cell(m_nodes[index].m_key); + + btAssert(cell_index!=GIM_INVALID_HASH); + btAssert(m_hash_table[cell_index]==index); + + m_hash_table[cell_index] = GIM_INVALID_HASH; + } + + return this->_erase_unsorted(index); + } + + //! erase by key in hash table + inline bool _erase_hash_table(GUINT hashkey) + { + if(hashkey == GIM_INVALID_HASH) return false; + + //Search for the avaliable cell in buffer + GUINT cell_index = _find_cell(hashkey); + if(cell_index ==GIM_INVALID_HASH) return false; + + GUINT index = m_hash_table[cell_index]; + m_hash_table[cell_index] = GIM_INVALID_HASH; + + return this->_erase_unsorted(index); + } + + + + //! insert an element in hash table + /*! + If the element exists, this won't insert the element + \return the index in the array of the existing element,or GIM_INVALID_HASH if the element has been inserted + If so, the element has been inserted at the last position of the array. + */ + inline GUINT _insert_hash_table(GUINT hashkey, const T & value) + { + if(hashkey==GIM_INVALID_HASH) + { + //Insert anyway + _insert_unsorted(hashkey,value); + return GIM_INVALID_HASH; + } + + GUINT cell_index = _assign_hash_table_cell(hashkey); + + GUINT value_key = m_hash_table[cell_index]; + + if(value_key!= GIM_INVALID_HASH) return value_key;// Not overrited + + m_hash_table[cell_index] = m_nodes.size(); + + _insert_unsorted(hashkey,value); + return GIM_INVALID_HASH; + } + + //! insert an element in hash table. + /*! + If the element exists, this replaces the element. + \return the index in the array of the existing element,or GIM_INVALID_HASH if the element has been inserted + If so, the element has been inserted at the last position of the array. + */ + inline GUINT _insert_hash_table_replace(GUINT hashkey, const T & value) + { + if(hashkey==GIM_INVALID_HASH) + { + //Insert anyway + _insert_unsorted(hashkey,value); + return GIM_INVALID_HASH; + } + + GUINT cell_index = _assign_hash_table_cell(hashkey); + + GUINT value_key = m_hash_table[cell_index]; + + if(value_key!= GIM_INVALID_HASH) + {//replaces the existing + m_nodes[value_key] = _node_type(hashkey,value); + return value_key;// index of the replaced element + } + + m_hash_table[cell_index] = m_nodes.size(); + + _insert_unsorted(hashkey,value); + return GIM_INVALID_HASH; + + } + + //! @} + + /*! \defgroup SORTED_ARRAY_STRUCTURES + \brief + Sorted array data management. The hash table has the indices to the corresponding m_nodes array + */ + //! @{ + inline bool _erase_sorted(GUINT index) + { + if(index>=(GUINT)m_nodes.size()) return false; + m_nodes.erase_sorted(index); + if(m_nodes.size()<2) m_sorted = false; + return true; + } + + //! faster, but unsorted + inline bool _erase_unsorted(GUINT index) + { + if(index>=m_nodes.size()) return false; + + GUINT lastindex = m_nodes.size()-1; + if(index<lastindex && m_hash_table!=0) + { + GUINT hashkey = m_nodes[lastindex].m_key; + if(hashkey!=GIM_INVALID_HASH) + { + //update the new position of the last element + GUINT cell_index = _find_cell(hashkey); + btAssert(cell_index!=GIM_INVALID_HASH); + //new position of the last element which will be swaped + m_hash_table[cell_index] = index; + } + } + m_nodes.erase(index); + m_sorted = false; + return true; + } + + //! Insert in position ordered + /*! + Also checks if it is needed to transform this container to a hash table, by calling check_for_switching_to_hashtable + */ + inline void _insert_in_pos(GUINT hashkey, const T & value, GUINT pos) + { + m_nodes.insert(_node_type(hashkey,value),pos); + this->check_for_switching_to_hashtable(); + } + + //! Insert an element in an ordered array + inline GUINT _insert_sorted(GUINT hashkey, const T & value) + { + if(hashkey==GIM_INVALID_HASH || size()==0) + { + m_nodes.push_back(_node_type(hashkey,value)); + return GIM_INVALID_HASH; + } + //Insert at last position + //Sort element + + + GUINT result_ind=0; + GUINT last_index = m_nodes.size()-1; + _node_type * ptr = m_nodes.pointer(); + + bool found = gim_binary_search_ex( + ptr,0,last_index,result_ind,hashkey,GIM_HASH_NODE_CMP_KEY_MACRO()); + + + //Insert before found index + if(found) + { + return result_ind; + } + else + { + _insert_in_pos(hashkey, value, result_ind); + } + return GIM_INVALID_HASH; + } + + inline GUINT _insert_sorted_replace(GUINT hashkey, const T & value) + { + if(hashkey==GIM_INVALID_HASH || size()==0) + { + m_nodes.push_back(_node_type(hashkey,value)); + return GIM_INVALID_HASH; + } + //Insert at last position + //Sort element + GUINT result_ind; + GUINT last_index = m_nodes.size()-1; + _node_type * ptr = m_nodes.pointer(); + + bool found = gim_binary_search_ex( + ptr,0,last_index,result_ind,hashkey,GIM_HASH_NODE_CMP_KEY_MACRO()); + + //Insert before found index + if(found) + { + m_nodes[result_ind] = _node_type(hashkey,value); + } + else + { + _insert_in_pos(hashkey, value, result_ind); + } + return result_ind; + } + + //! Fast insertion in m_nodes array + inline GUINT _insert_unsorted(GUINT hashkey, const T & value) + { + m_nodes.push_back(_node_type(hashkey,value)); + m_sorted = false; + return GIM_INVALID_HASH; + } + + //! @} + + +public: + + /*! + <li> if node_size = 0, then this container becomes a simple sorted array allocator. reserve_size is used for reserve memory in m_nodes. + When the array size reaches the size equivalent to 'min_hash_table_size', then it becomes a hash table by calling check_for_switching_to_hashtable. + <li> If node_size != 0, then this container becomes a hash table for ever + </ul> + */ + gim_hash_table(GUINT reserve_size = GIM_DEFAULT_HASH_TABLE_SIZE, + GUINT node_size = GIM_DEFAULT_HASH_TABLE_NODE_SIZE, + GUINT min_hash_table_size = GIM_INVALID_HASH) + { + m_hash_table = NULL; + m_table_size = 0; + m_sorted = false; + m_node_size = node_size; + m_min_hash_table_size = min_hash_table_size; + + if(m_node_size!=0) + { + if(reserve_size!=0) + { + m_nodes.reserve(reserve_size); + _reserve_table_memory(reserve_size); + _invalidate_keys(); + } + else + { + m_nodes.reserve(GIM_DEFAULT_HASH_TABLE_SIZE); + _reserve_table_memory(GIM_DEFAULT_HASH_TABLE_SIZE); + _invalidate_keys(); + } + } + else if(reserve_size!=0) + { + m_nodes.reserve(reserve_size); + } + + } + + ~gim_hash_table() + { + _destroy(); + } + + inline bool is_hash_table() + { + if(m_hash_table) return true; + return false; + } + + inline bool is_sorted() + { + if(size()<2) return true; + return m_sorted; + } + + bool sort() + { + if(is_sorted()) return true; + if(m_nodes.size()<2) return false; + + + _node_type * ptr = m_nodes.pointer(); + GUINT siz = m_nodes.size(); + gim_sort_hash_node_array(ptr,siz); + m_sorted=true; + + + + if(m_hash_table) + { + _rehash(); + } + return true; + } + + bool switch_to_hashtable() + { + if(m_hash_table) return false; + if(m_node_size==0) m_node_size = GIM_DEFAULT_HASH_TABLE_NODE_SIZE; + if(m_nodes.size()<GIM_DEFAULT_HASH_TABLE_SIZE) + { + _resize_table(GIM_DEFAULT_HASH_TABLE_SIZE); + } + else + { + _resize_table(m_nodes.size()+1); + } + + return true; + } + + bool switch_to_sorted_array() + { + if(m_hash_table==NULL) return true; + _clear_table_memory(); + return sort(); + } + + //!If the container reaches the + bool check_for_switching_to_hashtable() + { + if(this->m_hash_table) return true; + + if(!(m_nodes.size()< m_min_hash_table_size)) + { + if(m_node_size == 0) + { + m_node_size = GIM_DEFAULT_HASH_TABLE_NODE_SIZE; + } + + _resize_table(m_nodes.size()+1); + return true; + } + return false; + } + + inline void set_sorted(bool value) + { + m_sorted = value; + } + + //! Retrieves the amount of keys. + inline GUINT size() const + { + return m_nodes.size(); + } + + //! Retrieves the hash key. + inline GUINT get_key(GUINT index) const + { + return m_nodes[index].m_key; + } + + //! Retrieves the value by index + /*! + */ + inline T * get_value_by_index(GUINT index) + { + return &m_nodes[index].m_data; + } + + inline const T& operator[](GUINT index) const + { + return m_nodes[index].m_data; + } + + inline T& operator[](GUINT index) + { + return m_nodes[index].m_data; + } + + //! Finds the index of the element with the key + /*! + \return the index in the array of the existing element,or GIM_INVALID_HASH if the element has been inserted + If so, the element has been inserted at the last position of the array. + */ + inline GUINT find(GUINT hashkey) + { + if(m_hash_table) + { + GUINT cell_index = _find_cell(hashkey); + if(cell_index==GIM_INVALID_HASH) return GIM_INVALID_HASH; + return m_hash_table[cell_index]; + } + GUINT last_index = m_nodes.size(); + if(last_index<2) + { + if(last_index==0) return GIM_INVALID_HASH; + if(m_nodes[0].m_key == hashkey) return 0; + return GIM_INVALID_HASH; + } + else if(m_sorted) + { + //Binary search + GUINT result_ind = 0; + last_index--; + _node_type * ptr = m_nodes.pointer(); + + bool found = gim_binary_search_ex(ptr,0,last_index,result_ind,hashkey,GIM_HASH_NODE_CMP_KEY_MACRO()); + + + if(found) return result_ind; + } + return GIM_INVALID_HASH; + } + + //! Retrieves the value associated with the index + /*! + \return the found element, or null + */ + inline T * get_value(GUINT hashkey) + { + GUINT index = find(hashkey); + if(index == GIM_INVALID_HASH) return NULL; + return &m_nodes[index].m_data; + } + + + /*! + */ + inline bool erase_by_index(GUINT index) + { + if(index > m_nodes.size()) return false; + + if(m_hash_table == NULL) + { + if(is_sorted()) + { + return this->_erase_sorted(index); + } + else + { + return this->_erase_unsorted(index); + } + } + else + { + return this->_erase_by_index_hash_table(index); + } + return false; + } + + + + inline bool erase_by_index_unsorted(GUINT index) + { + if(index > m_nodes.size()) return false; + + if(m_hash_table == NULL) + { + return this->_erase_unsorted(index); + } + else + { + return this->_erase_by_index_hash_table(index); + } + return false; + } + + + + /*! + + */ + inline bool erase_by_key(GUINT hashkey) + { + if(size()==0) return false; + + if(m_hash_table) + { + return this->_erase_hash_table(hashkey); + } + //Binary search + + if(is_sorted()==false) return false; + + GUINT result_ind = find(hashkey); + if(result_ind!= GIM_INVALID_HASH) + { + return this->_erase_sorted(result_ind); + } + return false; + } + + void clear() + { + m_nodes.clear(); + + if(m_hash_table==NULL) return; + GUINT datasize = m_table_size*m_node_size; + //Initialize the hashkeys. + GUINT i; + for(i=0;i<datasize;i++) + { + m_hash_table[i] = GIM_INVALID_HASH;// invalidate keys + } + m_sorted = false; + } + + //! Insert an element into the hash + /*! + \return If GIM_INVALID_HASH, the object has been inserted succesfully. Else it returns the position + of the existing element. + */ + inline GUINT insert(GUINT hashkey, const T & element) + { + if(m_hash_table) + { + return this->_insert_hash_table(hashkey,element); + } + if(this->is_sorted()) + { + return this->_insert_sorted(hashkey,element); + } + return this->_insert_unsorted(hashkey,element); + } + + //! Insert an element into the hash, and could overrite an existing object with the same hash. + /*! + \return If GIM_INVALID_HASH, the object has been inserted succesfully. Else it returns the position + of the replaced element. + */ + inline GUINT insert_override(GUINT hashkey, const T & element) + { + if(m_hash_table) + { + return this->_insert_hash_table_replace(hashkey,element); + } + if(this->is_sorted()) + { + return this->_insert_sorted_replace(hashkey,element); + } + this->_insert_unsorted(hashkey,element); + return m_nodes.size(); + } + + + + //! Insert an element into the hash,But if this container is a sorted array, this inserts it unsorted + /*! + */ + inline GUINT insert_unsorted(GUINT hashkey,const T & element) + { + if(m_hash_table) + { + return this->_insert_hash_table(hashkey,element); + } + return this->_insert_unsorted(hashkey,element); + } + + +}; + +//! @} + + + +#endif // GIM_CONTAINERS_H_INCLUDED diff --git a/extern/bullet2/src/BulletCollision/Gimpact/gim_linear_math.h b/extern/bullet2/src/BulletCollision/Gimpact/gim_linear_math.h new file mode 100644 index 00000000000..adf1c1c2ddf --- /dev/null +++ b/extern/bullet2/src/BulletCollision/Gimpact/gim_linear_math.h @@ -0,0 +1,1584 @@ +#ifndef GIM_LINEAR_H_INCLUDED +#define GIM_LINEAR_H_INCLUDED + +/*! \file gim_linear_math.h +*\author Francisco Len Nßjera +Type Independant Vector and matrix operations. +*/ +/* +----------------------------------------------------------------------------- +This source file is part of GIMPACT Library. + +For the latest info, see http://gimpact.sourceforge.net/ + +Copyright (c) 2006 Francisco Leon Najera. C.C. 80087371. +email: projectileman@yahoo.com + + This library is free software; you can redistribute it and/or + modify it under the terms of EITHER: + (1) The GNU Lesser General Public License as published by the Free + Software Foundation; either version 2.1 of the License, or (at + your option) any later version. The text of the GNU Lesser + General Public License is included with this library in the + file GIMPACT-LICENSE-LGPL.TXT. + (2) The BSD-style license that is included with this library in + the file GIMPACT-LICENSE-BSD.TXT. + (3) The zlib/libpng license that is included with this library in + the file GIMPACT-LICENSE-ZLIB.TXT. + + This library is distributed in the hope that it will be useful, + but WITHOUT ANY WARRANTY; without even the implied warranty of + MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the files + GIMPACT-LICENSE-LGPL.TXT, GIMPACT-LICENSE-ZLIB.TXT and GIMPACT-LICENSE-BSD.TXT for more details. + +----------------------------------------------------------------------------- +*/ + + +#include "gim_math.h" +#include "gim_geom_types.h" + + + +/*! \defgroup VECTOR_OPERATIONS +T +Operations for vectors : vec2f,vec3f and vec4f +*/ +//! @{ + +//! Zero out a 2D vector +#define VEC_ZERO_2(a) \ +{ \ + (a)[0] = (a)[1] = 0.0f; \ +}\ + + +//! Zero out a 3D vector +#define VEC_ZERO(a) \ +{ \ + (a)[0] = (a)[1] = (a)[2] = 0.0f; \ +}\ + + +/// Zero out a 4D vector +#define VEC_ZERO_4(a) \ +{ \ + (a)[0] = (a)[1] = (a)[2] = (a)[3] = 0.0f; \ +}\ + + +/// Vector copy +#define VEC_COPY_2(b,a) \ +{ \ + (b)[0] = (a)[0]; \ + (b)[1] = (a)[1]; \ +}\ + + +/// Copy 3D vector +#define VEC_COPY(b,a) \ +{ \ + (b)[0] = (a)[0]; \ + (b)[1] = (a)[1]; \ + (b)[2] = (a)[2]; \ +}\ + + +/// Copy 4D vector +#define VEC_COPY_4(b,a) \ +{ \ + (b)[0] = (a)[0]; \ + (b)[1] = (a)[1]; \ + (b)[2] = (a)[2]; \ + (b)[3] = (a)[3]; \ +}\ + +/// VECTOR SWAP +#define VEC_SWAP(b,a) \ +{ \ + GIM_SWAP_NUMBERS((b)[0],(a)[0]);\ + GIM_SWAP_NUMBERS((b)[1],(a)[1]);\ + GIM_SWAP_NUMBERS((b)[2],(a)[2]);\ +}\ + +/// Vector difference +#define VEC_DIFF_2(v21,v2,v1) \ +{ \ + (v21)[0] = (v2)[0] - (v1)[0]; \ + (v21)[1] = (v2)[1] - (v1)[1]; \ +}\ + + +/// Vector difference +#define VEC_DIFF(v21,v2,v1) \ +{ \ + (v21)[0] = (v2)[0] - (v1)[0]; \ + (v21)[1] = (v2)[1] - (v1)[1]; \ + (v21)[2] = (v2)[2] - (v1)[2]; \ +}\ + + +/// Vector difference +#define VEC_DIFF_4(v21,v2,v1) \ +{ \ + (v21)[0] = (v2)[0] - (v1)[0]; \ + (v21)[1] = (v2)[1] - (v1)[1]; \ + (v21)[2] = (v2)[2] - (v1)[2]; \ + (v21)[3] = (v2)[3] - (v1)[3]; \ +}\ + + +/// Vector sum +#define VEC_SUM_2(v21,v2,v1) \ +{ \ + (v21)[0] = (v2)[0] + (v1)[0]; \ + (v21)[1] = (v2)[1] + (v1)[1]; \ +}\ + + +/// Vector sum +#define VEC_SUM(v21,v2,v1) \ +{ \ + (v21)[0] = (v2)[0] + (v1)[0]; \ + (v21)[1] = (v2)[1] + (v1)[1]; \ + (v21)[2] = (v2)[2] + (v1)[2]; \ +}\ + + +/// Vector sum +#define VEC_SUM_4(v21,v2,v1) \ +{ \ + (v21)[0] = (v2)[0] + (v1)[0]; \ + (v21)[1] = (v2)[1] + (v1)[1]; \ + (v21)[2] = (v2)[2] + (v1)[2]; \ + (v21)[3] = (v2)[3] + (v1)[3]; \ +}\ + + +/// scalar times vector +#define VEC_SCALE_2(c,a,b) \ +{ \ + (c)[0] = (a)*(b)[0]; \ + (c)[1] = (a)*(b)[1]; \ +}\ + + +/// scalar times vector +#define VEC_SCALE(c,a,b) \ +{ \ + (c)[0] = (a)*(b)[0]; \ + (c)[1] = (a)*(b)[1]; \ + (c)[2] = (a)*(b)[2]; \ +}\ + + +/// scalar times vector +#define VEC_SCALE_4(c,a,b) \ +{ \ + (c)[0] = (a)*(b)[0]; \ + (c)[1] = (a)*(b)[1]; \ + (c)[2] = (a)*(b)[2]; \ + (c)[3] = (a)*(b)[3]; \ +}\ + + +/// accumulate scaled vector +#define VEC_ACCUM_2(c,a,b) \ +{ \ + (c)[0] += (a)*(b)[0]; \ + (c)[1] += (a)*(b)[1]; \ +}\ + + +/// accumulate scaled vector +#define VEC_ACCUM(c,a,b) \ +{ \ + (c)[0] += (a)*(b)[0]; \ + (c)[1] += (a)*(b)[1]; \ + (c)[2] += (a)*(b)[2]; \ +}\ + + +/// accumulate scaled vector +#define VEC_ACCUM_4(c,a,b) \ +{ \ + (c)[0] += (a)*(b)[0]; \ + (c)[1] += (a)*(b)[1]; \ + (c)[2] += (a)*(b)[2]; \ + (c)[3] += (a)*(b)[3]; \ +}\ + + +/// Vector dot product +#define VEC_DOT_2(a,b) ((a)[0]*(b)[0] + (a)[1]*(b)[1]) + + +/// Vector dot product +#define VEC_DOT(a,b) ((a)[0]*(b)[0] + (a)[1]*(b)[1] + (a)[2]*(b)[2]) + +/// Vector dot product +#define VEC_DOT_4(a,b) ((a)[0]*(b)[0] + (a)[1]*(b)[1] + (a)[2]*(b)[2] + (a)[3]*(b)[3]) + +/// vector impact parameter (squared) +#define VEC_IMPACT_SQ(bsq,direction,position) {\ + GREAL _llel_ = VEC_DOT(direction, position);\ + bsq = VEC_DOT(position, position) - _llel_*_llel_;\ +}\ + + +/// vector impact parameter +#define VEC_IMPACT(bsq,direction,position) {\ + VEC_IMPACT_SQ(bsq,direction,position); \ + GIM_SQRT(bsq,bsq); \ +}\ + +/// Vector length +#define VEC_LENGTH_2(a,l)\ +{\ + GREAL _pp = VEC_DOT_2(a,a);\ + GIM_SQRT(_pp,l);\ +}\ + + +/// Vector length +#define VEC_LENGTH(a,l)\ +{\ + GREAL _pp = VEC_DOT(a,a);\ + GIM_SQRT(_pp,l);\ +}\ + + +/// Vector length +#define VEC_LENGTH_4(a,l)\ +{\ + GREAL _pp = VEC_DOT_4(a,a);\ + GIM_SQRT(_pp,l);\ +}\ + +/// Vector inv length +#define VEC_INV_LENGTH_2(a,l)\ +{\ + GREAL _pp = VEC_DOT_2(a,a);\ + GIM_INV_SQRT(_pp,l);\ +}\ + + +/// Vector inv length +#define VEC_INV_LENGTH(a,l)\ +{\ + GREAL _pp = VEC_DOT(a,a);\ + GIM_INV_SQRT(_pp,l);\ +}\ + + +/// Vector inv length +#define VEC_INV_LENGTH_4(a,l)\ +{\ + GREAL _pp = VEC_DOT_4(a,a);\ + GIM_INV_SQRT(_pp,l);\ +}\ + + + +/// distance between two points +#define VEC_DISTANCE(_len,_va,_vb) {\ + vec3f _tmp_; \ + VEC_DIFF(_tmp_, _vb, _va); \ + VEC_LENGTH(_tmp_,_len); \ +}\ + + +/// Vector length +#define VEC_CONJUGATE_LENGTH(a,l)\ +{\ + GREAL _pp = 1.0 - a[0]*a[0] - a[1]*a[1] - a[2]*a[2];\ + GIM_SQRT(_pp,l);\ +}\ + + +/// Vector length +#define VEC_NORMALIZE(a) { \ + GREAL len;\ + VEC_INV_LENGTH(a,len); \ + if(len<G_REAL_INFINITY)\ + {\ + a[0] *= len; \ + a[1] *= len; \ + a[2] *= len; \ + } \ +}\ + +/// Set Vector size +#define VEC_RENORMALIZE(a,newlen) { \ + GREAL len;\ + VEC_INV_LENGTH(a,len); \ + if(len<G_REAL_INFINITY)\ + {\ + len *= newlen;\ + a[0] *= len; \ + a[1] *= len; \ + a[2] *= len; \ + } \ +}\ + +/// Vector cross +#define VEC_CROSS(c,a,b) \ +{ \ + c[0] = (a)[1] * (b)[2] - (a)[2] * (b)[1]; \ + c[1] = (a)[2] * (b)[0] - (a)[0] * (b)[2]; \ + c[2] = (a)[0] * (b)[1] - (a)[1] * (b)[0]; \ +}\ + + +/*! Vector perp -- assumes that n is of unit length + * accepts vector v, subtracts out any component parallel to n */ +#define VEC_PERPENDICULAR(vp,v,n) \ +{ \ + GREAL dot = VEC_DOT(v, n); \ + vp[0] = (v)[0] - dot*(n)[0]; \ + vp[1] = (v)[1] - dot*(n)[1]; \ + vp[2] = (v)[2] - dot*(n)[2]; \ +}\ + + +/*! Vector parallel -- assumes that n is of unit length */ +#define VEC_PARALLEL(vp,v,n) \ +{ \ + GREAL dot = VEC_DOT(v, n); \ + vp[0] = (dot) * (n)[0]; \ + vp[1] = (dot) * (n)[1]; \ + vp[2] = (dot) * (n)[2]; \ +}\ + +/*! Same as Vector parallel -- n can have any length + * accepts vector v, subtracts out any component perpendicular to n */ +#define VEC_PROJECT(vp,v,n) \ +{ \ + GREAL scalar = VEC_DOT(v, n); \ + scalar/= VEC_DOT(n, n); \ + vp[0] = (scalar) * (n)[0]; \ + vp[1] = (scalar) * (n)[1]; \ + vp[2] = (scalar) * (n)[2]; \ +}\ + + +/*! accepts vector v*/ +#define VEC_UNPROJECT(vp,v,n) \ +{ \ + GREAL scalar = VEC_DOT(v, n); \ + scalar = VEC_DOT(n, n)/scalar; \ + vp[0] = (scalar) * (n)[0]; \ + vp[1] = (scalar) * (n)[1]; \ + vp[2] = (scalar) * (n)[2]; \ +}\ + + +/*! Vector reflection -- assumes n is of unit length + Takes vector v, reflects it against reflector n, and returns vr */ +#define VEC_REFLECT(vr,v,n) \ +{ \ + GREAL dot = VEC_DOT(v, n); \ + vr[0] = (v)[0] - 2.0 * (dot) * (n)[0]; \ + vr[1] = (v)[1] - 2.0 * (dot) * (n)[1]; \ + vr[2] = (v)[2] - 2.0 * (dot) * (n)[2]; \ +}\ + + +/*! Vector blending +Takes two vectors a, b, blends them together with two scalars */ +#define VEC_BLEND_AB(vr,sa,a,sb,b) \ +{ \ + vr[0] = (sa) * (a)[0] + (sb) * (b)[0]; \ + vr[1] = (sa) * (a)[1] + (sb) * (b)[1]; \ + vr[2] = (sa) * (a)[2] + (sb) * (b)[2]; \ +}\ + +/*! Vector blending +Takes two vectors a, b, blends them together with s <=1 */ +#define VEC_BLEND(vr,a,b,s) VEC_BLEND_AB(vr,(1-s),a,s,b) + +#define VEC_SET3(a,b,op,c) a[0]=b[0] op c[0]; a[1]=b[1] op c[1]; a[2]=b[2] op c[2]; + +//! Finds the bigger cartesian coordinate from a vector +#define VEC_MAYOR_COORD(vec, maxc)\ +{\ + GREAL A[] = {fabs(vec[0]),fabs(vec[1]),fabs(vec[2])};\ + maxc = A[0]>A[1]?(A[0]>A[2]?0:2):(A[1]>A[2]?1:2);\ +}\ + +//! Finds the 2 smallest cartesian coordinates from a vector +#define VEC_MINOR_AXES(vec, i0, i1)\ +{\ + VEC_MAYOR_COORD(vec,i0);\ + i0 = (i0+1)%3;\ + i1 = (i0+1)%3;\ +}\ + + + + +#define VEC_EQUAL(v1,v2) (v1[0]==v2[0]&&v1[1]==v2[1]&&v1[2]==v2[2]) + +#define VEC_NEAR_EQUAL(v1,v2) (GIM_NEAR_EQUAL(v1[0],v2[0])&&GIM_NEAR_EQUAL(v1[1],v2[1])&&GIM_NEAR_EQUAL(v1[2],v2[2])) + + +/// Vector cross +#define X_AXIS_CROSS_VEC(dst,src)\ +{ \ + dst[0] = 0.0f; \ + dst[1] = -src[2]; \ + dst[2] = src[1]; \ +}\ + +#define Y_AXIS_CROSS_VEC(dst,src)\ +{ \ + dst[0] = src[2]; \ + dst[1] = 0.0f; \ + dst[2] = -src[0]; \ +}\ + +#define Z_AXIS_CROSS_VEC(dst,src)\ +{ \ + dst[0] = -src[1]; \ + dst[1] = src[0]; \ + dst[2] = 0.0f; \ +}\ + + + +//! @} + + +/*! \defgroup MATRIX_OPERATIONS +Operations for matrices : mat2f, mat3f and mat4f +*/ +//! @{ + +/// initialize matrix +#define IDENTIFY_MATRIX_3X3(m) \ +{ \ + m[0][0] = 1.0; \ + m[0][1] = 0.0; \ + m[0][2] = 0.0; \ + \ + m[1][0] = 0.0; \ + m[1][1] = 1.0; \ + m[1][2] = 0.0; \ + \ + m[2][0] = 0.0; \ + m[2][1] = 0.0; \ + m[2][2] = 1.0; \ +}\ + +/*! initialize matrix */ +#define IDENTIFY_MATRIX_4X4(m) \ +{ \ + m[0][0] = 1.0; \ + m[0][1] = 0.0; \ + m[0][2] = 0.0; \ + m[0][3] = 0.0; \ + \ + m[1][0] = 0.0; \ + m[1][1] = 1.0; \ + m[1][2] = 0.0; \ + m[1][3] = 0.0; \ + \ + m[2][0] = 0.0; \ + m[2][1] = 0.0; \ + m[2][2] = 1.0; \ + m[2][3] = 0.0; \ + \ + m[3][0] = 0.0; \ + m[3][1] = 0.0; \ + m[3][2] = 0.0; \ + m[3][3] = 1.0; \ +}\ + +/*! initialize matrix */ +#define ZERO_MATRIX_4X4(m) \ +{ \ + m[0][0] = 0.0; \ + m[0][1] = 0.0; \ + m[0][2] = 0.0; \ + m[0][3] = 0.0; \ + \ + m[1][0] = 0.0; \ + m[1][1] = 0.0; \ + m[1][2] = 0.0; \ + m[1][3] = 0.0; \ + \ + m[2][0] = 0.0; \ + m[2][1] = 0.0; \ + m[2][2] = 0.0; \ + m[2][3] = 0.0; \ + \ + m[3][0] = 0.0; \ + m[3][1] = 0.0; \ + m[3][2] = 0.0; \ + m[3][3] = 0.0; \ +}\ + +/*! matrix rotation X */ +#define ROTX_CS(m,cosine,sine) \ +{ \ + /* rotation about the x-axis */ \ + \ + m[0][0] = 1.0; \ + m[0][1] = 0.0; \ + m[0][2] = 0.0; \ + m[0][3] = 0.0; \ + \ + m[1][0] = 0.0; \ + m[1][1] = (cosine); \ + m[1][2] = (sine); \ + m[1][3] = 0.0; \ + \ + m[2][0] = 0.0; \ + m[2][1] = -(sine); \ + m[2][2] = (cosine); \ + m[2][3] = 0.0; \ + \ + m[3][0] = 0.0; \ + m[3][1] = 0.0; \ + m[3][2] = 0.0; \ + m[3][3] = 1.0; \ +}\ + +/*! matrix rotation Y */ +#define ROTY_CS(m,cosine,sine) \ +{ \ + /* rotation about the y-axis */ \ + \ + m[0][0] = (cosine); \ + m[0][1] = 0.0; \ + m[0][2] = -(sine); \ + m[0][3] = 0.0; \ + \ + m[1][0] = 0.0; \ + m[1][1] = 1.0; \ + m[1][2] = 0.0; \ + m[1][3] = 0.0; \ + \ + m[2][0] = (sine); \ + m[2][1] = 0.0; \ + m[2][2] = (cosine); \ + m[2][3] = 0.0; \ + \ + m[3][0] = 0.0; \ + m[3][1] = 0.0; \ + m[3][2] = 0.0; \ + m[3][3] = 1.0; \ +}\ + +/*! matrix rotation Z */ +#define ROTZ_CS(m,cosine,sine) \ +{ \ + /* rotation about the z-axis */ \ + \ + m[0][0] = (cosine); \ + m[0][1] = (sine); \ + m[0][2] = 0.0; \ + m[0][3] = 0.0; \ + \ + m[1][0] = -(sine); \ + m[1][1] = (cosine); \ + m[1][2] = 0.0; \ + m[1][3] = 0.0; \ + \ + m[2][0] = 0.0; \ + m[2][1] = 0.0; \ + m[2][2] = 1.0; \ + m[2][3] = 0.0; \ + \ + m[3][0] = 0.0; \ + m[3][1] = 0.0; \ + m[3][2] = 0.0; \ + m[3][3] = 1.0; \ +}\ + +/*! matrix copy */ +#define COPY_MATRIX_2X2(b,a) \ +{ \ + b[0][0] = a[0][0]; \ + b[0][1] = a[0][1]; \ + \ + b[1][0] = a[1][0]; \ + b[1][1] = a[1][1]; \ + \ +}\ + + +/*! matrix copy */ +#define COPY_MATRIX_2X3(b,a) \ +{ \ + b[0][0] = a[0][0]; \ + b[0][1] = a[0][1]; \ + b[0][2] = a[0][2]; \ + \ + b[1][0] = a[1][0]; \ + b[1][1] = a[1][1]; \ + b[1][2] = a[1][2]; \ +}\ + + +/*! matrix copy */ +#define COPY_MATRIX_3X3(b,a) \ +{ \ + b[0][0] = a[0][0]; \ + b[0][1] = a[0][1]; \ + b[0][2] = a[0][2]; \ + \ + b[1][0] = a[1][0]; \ + b[1][1] = a[1][1]; \ + b[1][2] = a[1][2]; \ + \ + b[2][0] = a[2][0]; \ + b[2][1] = a[2][1]; \ + b[2][2] = a[2][2]; \ +}\ + + +/*! matrix copy */ +#define COPY_MATRIX_4X4(b,a) \ +{ \ + b[0][0] = a[0][0]; \ + b[0][1] = a[0][1]; \ + b[0][2] = a[0][2]; \ + b[0][3] = a[0][3]; \ + \ + b[1][0] = a[1][0]; \ + b[1][1] = a[1][1]; \ + b[1][2] = a[1][2]; \ + b[1][3] = a[1][3]; \ + \ + b[2][0] = a[2][0]; \ + b[2][1] = a[2][1]; \ + b[2][2] = a[2][2]; \ + b[2][3] = a[2][3]; \ + \ + b[3][0] = a[3][0]; \ + b[3][1] = a[3][1]; \ + b[3][2] = a[3][2]; \ + b[3][3] = a[3][3]; \ +}\ + + +/*! matrix transpose */ +#define TRANSPOSE_MATRIX_2X2(b,a) \ +{ \ + b[0][0] = a[0][0]; \ + b[0][1] = a[1][0]; \ + \ + b[1][0] = a[0][1]; \ + b[1][1] = a[1][1]; \ +}\ + + +/*! matrix transpose */ +#define TRANSPOSE_MATRIX_3X3(b,a) \ +{ \ + b[0][0] = a[0][0]; \ + b[0][1] = a[1][0]; \ + b[0][2] = a[2][0]; \ + \ + b[1][0] = a[0][1]; \ + b[1][1] = a[1][1]; \ + b[1][2] = a[2][1]; \ + \ + b[2][0] = a[0][2]; \ + b[2][1] = a[1][2]; \ + b[2][2] = a[2][2]; \ +}\ + + +/*! matrix transpose */ +#define TRANSPOSE_MATRIX_4X4(b,a) \ +{ \ + b[0][0] = a[0][0]; \ + b[0][1] = a[1][0]; \ + b[0][2] = a[2][0]; \ + b[0][3] = a[3][0]; \ + \ + b[1][0] = a[0][1]; \ + b[1][1] = a[1][1]; \ + b[1][2] = a[2][1]; \ + b[1][3] = a[3][1]; \ + \ + b[2][0] = a[0][2]; \ + b[2][1] = a[1][2]; \ + b[2][2] = a[2][2]; \ + b[2][3] = a[3][2]; \ + \ + b[3][0] = a[0][3]; \ + b[3][1] = a[1][3]; \ + b[3][2] = a[2][3]; \ + b[3][3] = a[3][3]; \ +}\ + + +/*! multiply matrix by scalar */ +#define SCALE_MATRIX_2X2(b,s,a) \ +{ \ + b[0][0] = (s) * a[0][0]; \ + b[0][1] = (s) * a[0][1]; \ + \ + b[1][0] = (s) * a[1][0]; \ + b[1][1] = (s) * a[1][1]; \ +}\ + + +/*! multiply matrix by scalar */ +#define SCALE_MATRIX_3X3(b,s,a) \ +{ \ + b[0][0] = (s) * a[0][0]; \ + b[0][1] = (s) * a[0][1]; \ + b[0][2] = (s) * a[0][2]; \ + \ + b[1][0] = (s) * a[1][0]; \ + b[1][1] = (s) * a[1][1]; \ + b[1][2] = (s) * a[1][2]; \ + \ + b[2][0] = (s) * a[2][0]; \ + b[2][1] = (s) * a[2][1]; \ + b[2][2] = (s) * a[2][2]; \ +}\ + + +/*! multiply matrix by scalar */ +#define SCALE_MATRIX_4X4(b,s,a) \ +{ \ + b[0][0] = (s) * a[0][0]; \ + b[0][1] = (s) * a[0][1]; \ + b[0][2] = (s) * a[0][2]; \ + b[0][3] = (s) * a[0][3]; \ + \ + b[1][0] = (s) * a[1][0]; \ + b[1][1] = (s) * a[1][1]; \ + b[1][2] = (s) * a[1][2]; \ + b[1][3] = (s) * a[1][3]; \ + \ + b[2][0] = (s) * a[2][0]; \ + b[2][1] = (s) * a[2][1]; \ + b[2][2] = (s) * a[2][2]; \ + b[2][3] = (s) * a[2][3]; \ + \ + b[3][0] = s * a[3][0]; \ + b[3][1] = s * a[3][1]; \ + b[3][2] = s * a[3][2]; \ + b[3][3] = s * a[3][3]; \ +}\ + + +/*! multiply matrix by scalar */ +#define SCALE_VEC_MATRIX_2X2(b,svec,a) \ +{ \ + b[0][0] = svec[0] * a[0][0]; \ + b[1][0] = svec[0] * a[1][0]; \ + \ + b[0][1] = svec[1] * a[0][1]; \ + b[1][1] = svec[1] * a[1][1]; \ +}\ + + +/*! multiply matrix by scalar. Each columns is scaled by each scalar vector component */ +#define SCALE_VEC_MATRIX_3X3(b,svec,a) \ +{ \ + b[0][0] = svec[0] * a[0][0]; \ + b[1][0] = svec[0] * a[1][0]; \ + b[2][0] = svec[0] * a[2][0]; \ + \ + b[0][1] = svec[1] * a[0][1]; \ + b[1][1] = svec[1] * a[1][1]; \ + b[2][1] = svec[1] * a[2][1]; \ + \ + b[0][2] = svec[2] * a[0][2]; \ + b[1][2] = svec[2] * a[1][2]; \ + b[2][2] = svec[2] * a[2][2]; \ +}\ + + +/*! multiply matrix by scalar */ +#define SCALE_VEC_MATRIX_4X4(b,svec,a) \ +{ \ + b[0][0] = svec[0] * a[0][0]; \ + b[1][0] = svec[0] * a[1][0]; \ + b[2][0] = svec[0] * a[2][0]; \ + b[3][0] = svec[0] * a[3][0]; \ + \ + b[0][1] = svec[1] * a[0][1]; \ + b[1][1] = svec[1] * a[1][1]; \ + b[2][1] = svec[1] * a[2][1]; \ + b[3][1] = svec[1] * a[3][1]; \ + \ + b[0][2] = svec[2] * a[0][2]; \ + b[1][2] = svec[2] * a[1][2]; \ + b[2][2] = svec[2] * a[2][2]; \ + b[3][2] = svec[2] * a[3][2]; \ + \ + b[0][3] = svec[3] * a[0][3]; \ + b[1][3] = svec[3] * a[1][3]; \ + b[2][3] = svec[3] * a[2][3]; \ + b[3][3] = svec[3] * a[3][3]; \ +}\ + + +/*! multiply matrix by scalar */ +#define ACCUM_SCALE_MATRIX_2X2(b,s,a) \ +{ \ + b[0][0] += (s) * a[0][0]; \ + b[0][1] += (s) * a[0][1]; \ + \ + b[1][0] += (s) * a[1][0]; \ + b[1][1] += (s) * a[1][1]; \ +}\ + + +/*! multiply matrix by scalar */ +#define ACCUM_SCALE_MATRIX_3X3(b,s,a) \ +{ \ + b[0][0] += (s) * a[0][0]; \ + b[0][1] += (s) * a[0][1]; \ + b[0][2] += (s) * a[0][2]; \ + \ + b[1][0] += (s) * a[1][0]; \ + b[1][1] += (s) * a[1][1]; \ + b[1][2] += (s) * a[1][2]; \ + \ + b[2][0] += (s) * a[2][0]; \ + b[2][1] += (s) * a[2][1]; \ + b[2][2] += (s) * a[2][2]; \ +}\ + + +/*! multiply matrix by scalar */ +#define ACCUM_SCALE_MATRIX_4X4(b,s,a) \ +{ \ + b[0][0] += (s) * a[0][0]; \ + b[0][1] += (s) * a[0][1]; \ + b[0][2] += (s) * a[0][2]; \ + b[0][3] += (s) * a[0][3]; \ + \ + b[1][0] += (s) * a[1][0]; \ + b[1][1] += (s) * a[1][1]; \ + b[1][2] += (s) * a[1][2]; \ + b[1][3] += (s) * a[1][3]; \ + \ + b[2][0] += (s) * a[2][0]; \ + b[2][1] += (s) * a[2][1]; \ + b[2][2] += (s) * a[2][2]; \ + b[2][3] += (s) * a[2][3]; \ + \ + b[3][0] += (s) * a[3][0]; \ + b[3][1] += (s) * a[3][1]; \ + b[3][2] += (s) * a[3][2]; \ + b[3][3] += (s) * a[3][3]; \ +}\ + +/*! matrix product */ +/*! c[x][y] = a[x][0]*b[0][y]+a[x][1]*b[1][y]+a[x][2]*b[2][y]+a[x][3]*b[3][y];*/ +#define MATRIX_PRODUCT_2X2(c,a,b) \ +{ \ + c[0][0] = a[0][0]*b[0][0]+a[0][1]*b[1][0]; \ + c[0][1] = a[0][0]*b[0][1]+a[0][1]*b[1][1]; \ + \ + c[1][0] = a[1][0]*b[0][0]+a[1][1]*b[1][0]; \ + c[1][1] = a[1][0]*b[0][1]+a[1][1]*b[1][1]; \ + \ +}\ + +/*! matrix product */ +/*! c[x][y] = a[x][0]*b[0][y]+a[x][1]*b[1][y]+a[x][2]*b[2][y]+a[x][3]*b[3][y];*/ +#define MATRIX_PRODUCT_3X3(c,a,b) \ +{ \ + c[0][0] = a[0][0]*b[0][0]+a[0][1]*b[1][0]+a[0][2]*b[2][0]; \ + c[0][1] = a[0][0]*b[0][1]+a[0][1]*b[1][1]+a[0][2]*b[2][1]; \ + c[0][2] = a[0][0]*b[0][2]+a[0][1]*b[1][2]+a[0][2]*b[2][2]; \ + \ + c[1][0] = a[1][0]*b[0][0]+a[1][1]*b[1][0]+a[1][2]*b[2][0]; \ + c[1][1] = a[1][0]*b[0][1]+a[1][1]*b[1][1]+a[1][2]*b[2][1]; \ + c[1][2] = a[1][0]*b[0][2]+a[1][1]*b[1][2]+a[1][2]*b[2][2]; \ + \ + c[2][0] = a[2][0]*b[0][0]+a[2][1]*b[1][0]+a[2][2]*b[2][0]; \ + c[2][1] = a[2][0]*b[0][1]+a[2][1]*b[1][1]+a[2][2]*b[2][1]; \ + c[2][2] = a[2][0]*b[0][2]+a[2][1]*b[1][2]+a[2][2]*b[2][2]; \ +}\ + + +/*! matrix product */ +/*! c[x][y] = a[x][0]*b[0][y]+a[x][1]*b[1][y]+a[x][2]*b[2][y]+a[x][3]*b[3][y];*/ +#define MATRIX_PRODUCT_4X4(c,a,b) \ +{ \ + c[0][0] = a[0][0]*b[0][0]+a[0][1]*b[1][0]+a[0][2]*b[2][0]+a[0][3]*b[3][0];\ + c[0][1] = a[0][0]*b[0][1]+a[0][1]*b[1][1]+a[0][2]*b[2][1]+a[0][3]*b[3][1];\ + c[0][2] = a[0][0]*b[0][2]+a[0][1]*b[1][2]+a[0][2]*b[2][2]+a[0][3]*b[3][2];\ + c[0][3] = a[0][0]*b[0][3]+a[0][1]*b[1][3]+a[0][2]*b[2][3]+a[0][3]*b[3][3];\ + \ + c[1][0] = a[1][0]*b[0][0]+a[1][1]*b[1][0]+a[1][2]*b[2][0]+a[1][3]*b[3][0];\ + c[1][1] = a[1][0]*b[0][1]+a[1][1]*b[1][1]+a[1][2]*b[2][1]+a[1][3]*b[3][1];\ + c[1][2] = a[1][0]*b[0][2]+a[1][1]*b[1][2]+a[1][2]*b[2][2]+a[1][3]*b[3][2];\ + c[1][3] = a[1][0]*b[0][3]+a[1][1]*b[1][3]+a[1][2]*b[2][3]+a[1][3]*b[3][3];\ + \ + c[2][0] = a[2][0]*b[0][0]+a[2][1]*b[1][0]+a[2][2]*b[2][0]+a[2][3]*b[3][0];\ + c[2][1] = a[2][0]*b[0][1]+a[2][1]*b[1][1]+a[2][2]*b[2][1]+a[2][3]*b[3][1];\ + c[2][2] = a[2][0]*b[0][2]+a[2][1]*b[1][2]+a[2][2]*b[2][2]+a[2][3]*b[3][2];\ + c[2][3] = a[2][0]*b[0][3]+a[2][1]*b[1][3]+a[2][2]*b[2][3]+a[2][3]*b[3][3];\ + \ + c[3][0] = a[3][0]*b[0][0]+a[3][1]*b[1][0]+a[3][2]*b[2][0]+a[3][3]*b[3][0];\ + c[3][1] = a[3][0]*b[0][1]+a[3][1]*b[1][1]+a[3][2]*b[2][1]+a[3][3]*b[3][1];\ + c[3][2] = a[3][0]*b[0][2]+a[3][1]*b[1][2]+a[3][2]*b[2][2]+a[3][3]*b[3][2];\ + c[3][3] = a[3][0]*b[0][3]+a[3][1]*b[1][3]+a[3][2]*b[2][3]+a[3][3]*b[3][3];\ +}\ + + +/*! matrix times vector */ +#define MAT_DOT_VEC_2X2(p,m,v) \ +{ \ + p[0] = m[0][0]*v[0] + m[0][1]*v[1]; \ + p[1] = m[1][0]*v[0] + m[1][1]*v[1]; \ +}\ + + +/*! matrix times vector */ +#define MAT_DOT_VEC_3X3(p,m,v) \ +{ \ + p[0] = m[0][0]*v[0] + m[0][1]*v[1] + m[0][2]*v[2]; \ + p[1] = m[1][0]*v[0] + m[1][1]*v[1] + m[1][2]*v[2]; \ + p[2] = m[2][0]*v[0] + m[2][1]*v[1] + m[2][2]*v[2]; \ +}\ + + +/*! matrix times vector +v is a vec4f +*/ +#define MAT_DOT_VEC_4X4(p,m,v) \ +{ \ + p[0] = m[0][0]*v[0] + m[0][1]*v[1] + m[0][2]*v[2] + m[0][3]*v[3]; \ + p[1] = m[1][0]*v[0] + m[1][1]*v[1] + m[1][2]*v[2] + m[1][3]*v[3]; \ + p[2] = m[2][0]*v[0] + m[2][1]*v[1] + m[2][2]*v[2] + m[2][3]*v[3]; \ + p[3] = m[3][0]*v[0] + m[3][1]*v[1] + m[3][2]*v[2] + m[3][3]*v[3]; \ +}\ + +/*! matrix times vector +v is a vec3f +and m is a mat4f<br> +Last column is added as the position +*/ +#define MAT_DOT_VEC_3X4(p,m,v) \ +{ \ + p[0] = m[0][0]*v[0] + m[0][1]*v[1] + m[0][2]*v[2] + m[0][3]; \ + p[1] = m[1][0]*v[0] + m[1][1]*v[1] + m[1][2]*v[2] + m[1][3]; \ + p[2] = m[2][0]*v[0] + m[2][1]*v[1] + m[2][2]*v[2] + m[2][3]; \ +}\ + + +/*! vector transpose times matrix */ +/*! p[j] = v[0]*m[0][j] + v[1]*m[1][j] + v[2]*m[2][j]; */ +#define VEC_DOT_MAT_3X3(p,v,m) \ +{ \ + p[0] = v[0]*m[0][0] + v[1]*m[1][0] + v[2]*m[2][0]; \ + p[1] = v[0]*m[0][1] + v[1]*m[1][1] + v[2]*m[2][1]; \ + p[2] = v[0]*m[0][2] + v[1]*m[1][2] + v[2]*m[2][2]; \ +}\ + + +/*! affine matrix times vector */ +/** The matrix is assumed to be an affine matrix, with last two + * entries representing a translation */ +#define MAT_DOT_VEC_2X3(p,m,v) \ +{ \ + p[0] = m[0][0]*v[0] + m[0][1]*v[1] + m[0][2]; \ + p[1] = m[1][0]*v[0] + m[1][1]*v[1] + m[1][2]; \ +}\ + +//! Transform a plane +#define MAT_TRANSFORM_PLANE_4X4(pout,m,plane)\ +{ \ + pout[0] = m[0][0]*plane[0] + m[0][1]*plane[1] + m[0][2]*plane[2];\ + pout[1] = m[1][0]*plane[0] + m[1][1]*plane[1] + m[1][2]*plane[2];\ + pout[2] = m[2][0]*plane[0] + m[2][1]*plane[1] + m[2][2]*plane[2];\ + pout[3] = m[0][3]*pout[0] + m[1][3]*pout[1] + m[2][3]*pout[2] + plane[3];\ +}\ + + + +/** inverse transpose of matrix times vector + * + * This macro computes inverse transpose of matrix m, + * and multiplies vector v into it, to yeild vector p + * + * DANGER !!! Do Not use this on normal vectors!!! + * It will leave normals the wrong length !!! + * See macro below for use on normals. + */ +#define INV_TRANSP_MAT_DOT_VEC_2X2(p,m,v) \ +{ \ + GREAL det; \ + \ + det = m[0][0]*m[1][1] - m[0][1]*m[1][0]; \ + p[0] = m[1][1]*v[0] - m[1][0]*v[1]; \ + p[1] = - m[0][1]*v[0] + m[0][0]*v[1]; \ + \ + /* if matrix not singular, and not orthonormal, then renormalize */ \ + if ((det!=1.0f) && (det != 0.0f)) { \ + det = 1.0f / det; \ + p[0] *= det; \ + p[1] *= det; \ + } \ +}\ + + +/** transform normal vector by inverse transpose of matrix + * and then renormalize the vector + * + * This macro computes inverse transpose of matrix m, + * and multiplies vector v into it, to yeild vector p + * Vector p is then normalized. + */ +#define NORM_XFORM_2X2(p,m,v) \ +{ \ + GREAL len; \ + \ + /* do nothing if off-diagonals are zero and diagonals are \ + * equal */ \ + if ((m[0][1] != 0.0) || (m[1][0] != 0.0) || (m[0][0] != m[1][1])) { \ + p[0] = m[1][1]*v[0] - m[1][0]*v[1]; \ + p[1] = - m[0][1]*v[0] + m[0][0]*v[1]; \ + \ + len = p[0]*p[0] + p[1]*p[1]; \ + GIM_INV_SQRT(len,len); \ + p[0] *= len; \ + p[1] *= len; \ + } else { \ + VEC_COPY_2 (p, v); \ + } \ +}\ + + +/** outer product of vector times vector transpose + * + * The outer product of vector v and vector transpose t yeilds + * dyadic matrix m. + */ +#define OUTER_PRODUCT_2X2(m,v,t) \ +{ \ + m[0][0] = v[0] * t[0]; \ + m[0][1] = v[0] * t[1]; \ + \ + m[1][0] = v[1] * t[0]; \ + m[1][1] = v[1] * t[1]; \ +}\ + + +/** outer product of vector times vector transpose + * + * The outer product of vector v and vector transpose t yeilds + * dyadic matrix m. + */ +#define OUTER_PRODUCT_3X3(m,v,t) \ +{ \ + m[0][0] = v[0] * t[0]; \ + m[0][1] = v[0] * t[1]; \ + m[0][2] = v[0] * t[2]; \ + \ + m[1][0] = v[1] * t[0]; \ + m[1][1] = v[1] * t[1]; \ + m[1][2] = v[1] * t[2]; \ + \ + m[2][0] = v[2] * t[0]; \ + m[2][1] = v[2] * t[1]; \ + m[2][2] = v[2] * t[2]; \ +}\ + + +/** outer product of vector times vector transpose + * + * The outer product of vector v and vector transpose t yeilds + * dyadic matrix m. + */ +#define OUTER_PRODUCT_4X4(m,v,t) \ +{ \ + m[0][0] = v[0] * t[0]; \ + m[0][1] = v[0] * t[1]; \ + m[0][2] = v[0] * t[2]; \ + m[0][3] = v[0] * t[3]; \ + \ + m[1][0] = v[1] * t[0]; \ + m[1][1] = v[1] * t[1]; \ + m[1][2] = v[1] * t[2]; \ + m[1][3] = v[1] * t[3]; \ + \ + m[2][0] = v[2] * t[0]; \ + m[2][1] = v[2] * t[1]; \ + m[2][2] = v[2] * t[2]; \ + m[2][3] = v[2] * t[3]; \ + \ + m[3][0] = v[3] * t[0]; \ + m[3][1] = v[3] * t[1]; \ + m[3][2] = v[3] * t[2]; \ + m[3][3] = v[3] * t[3]; \ +}\ + + +/** outer product of vector times vector transpose + * + * The outer product of vector v and vector transpose t yeilds + * dyadic matrix m. + */ +#define ACCUM_OUTER_PRODUCT_2X2(m,v,t) \ +{ \ + m[0][0] += v[0] * t[0]; \ + m[0][1] += v[0] * t[1]; \ + \ + m[1][0] += v[1] * t[0]; \ + m[1][1] += v[1] * t[1]; \ +}\ + + +/** outer product of vector times vector transpose + * + * The outer product of vector v and vector transpose t yeilds + * dyadic matrix m. + */ +#define ACCUM_OUTER_PRODUCT_3X3(m,v,t) \ +{ \ + m[0][0] += v[0] * t[0]; \ + m[0][1] += v[0] * t[1]; \ + m[0][2] += v[0] * t[2]; \ + \ + m[1][0] += v[1] * t[0]; \ + m[1][1] += v[1] * t[1]; \ + m[1][2] += v[1] * t[2]; \ + \ + m[2][0] += v[2] * t[0]; \ + m[2][1] += v[2] * t[1]; \ + m[2][2] += v[2] * t[2]; \ +}\ + + +/** outer product of vector times vector transpose + * + * The outer product of vector v and vector transpose t yeilds + * dyadic matrix m. + */ +#define ACCUM_OUTER_PRODUCT_4X4(m,v,t) \ +{ \ + m[0][0] += v[0] * t[0]; \ + m[0][1] += v[0] * t[1]; \ + m[0][2] += v[0] * t[2]; \ + m[0][3] += v[0] * t[3]; \ + \ + m[1][0] += v[1] * t[0]; \ + m[1][1] += v[1] * t[1]; \ + m[1][2] += v[1] * t[2]; \ + m[1][3] += v[1] * t[3]; \ + \ + m[2][0] += v[2] * t[0]; \ + m[2][1] += v[2] * t[1]; \ + m[2][2] += v[2] * t[2]; \ + m[2][3] += v[2] * t[3]; \ + \ + m[3][0] += v[3] * t[0]; \ + m[3][1] += v[3] * t[1]; \ + m[3][2] += v[3] * t[2]; \ + m[3][3] += v[3] * t[3]; \ +}\ + + +/** determinant of matrix + * + * Computes determinant of matrix m, returning d + */ +#define DETERMINANT_2X2(d,m) \ +{ \ + d = m[0][0] * m[1][1] - m[0][1] * m[1][0]; \ +}\ + + +/** determinant of matrix + * + * Computes determinant of matrix m, returning d + */ +#define DETERMINANT_3X3(d,m) \ +{ \ + d = m[0][0] * (m[1][1]*m[2][2] - m[1][2] * m[2][1]); \ + d -= m[0][1] * (m[1][0]*m[2][2] - m[1][2] * m[2][0]); \ + d += m[0][2] * (m[1][0]*m[2][1] - m[1][1] * m[2][0]); \ +}\ + + +/** i,j,th cofactor of a 4x4 matrix + * + */ +#define COFACTOR_4X4_IJ(fac,m,i,j) \ +{ \ + GUINT __ii[4], __jj[4], __k; \ + \ + for (__k=0; __k<i; __k++) __ii[__k] = __k; \ + for (__k=i; __k<3; __k++) __ii[__k] = __k+1; \ + for (__k=0; __k<j; __k++) __jj[__k] = __k; \ + for (__k=j; __k<3; __k++) __jj[__k] = __k+1; \ + \ + (fac) = m[__ii[0]][__jj[0]] * (m[__ii[1]][__jj[1]]*m[__ii[2]][__jj[2]] \ + - m[__ii[1]][__jj[2]]*m[__ii[2]][__jj[1]]); \ + (fac) -= m[__ii[0]][__jj[1]] * (m[__ii[1]][__jj[0]]*m[__ii[2]][__jj[2]] \ + - m[__ii[1]][__jj[2]]*m[__ii[2]][__jj[0]]);\ + (fac) += m[__ii[0]][__jj[2]] * (m[__ii[1]][__jj[0]]*m[__ii[2]][__jj[1]] \ + - m[__ii[1]][__jj[1]]*m[__ii[2]][__jj[0]]);\ + \ + __k = i+j; \ + if ( __k != (__k/2)*2) { \ + (fac) = -(fac); \ + } \ +}\ + + +/** determinant of matrix + * + * Computes determinant of matrix m, returning d + */ +#define DETERMINANT_4X4(d,m) \ +{ \ + GREAL cofac; \ + COFACTOR_4X4_IJ (cofac, m, 0, 0); \ + d = m[0][0] * cofac; \ + COFACTOR_4X4_IJ (cofac, m, 0, 1); \ + d += m[0][1] * cofac; \ + COFACTOR_4X4_IJ (cofac, m, 0, 2); \ + d += m[0][2] * cofac; \ + COFACTOR_4X4_IJ (cofac, m, 0, 3); \ + d += m[0][3] * cofac; \ +}\ + + +/** cofactor of matrix + * + * Computes cofactor of matrix m, returning a + */ +#define COFACTOR_2X2(a,m) \ +{ \ + a[0][0] = (m)[1][1]; \ + a[0][1] = - (m)[1][0]; \ + a[1][0] = - (m)[0][1]; \ + a[1][1] = (m)[0][0]; \ +}\ + + +/** cofactor of matrix + * + * Computes cofactor of matrix m, returning a + */ +#define COFACTOR_3X3(a,m) \ +{ \ + a[0][0] = m[1][1]*m[2][2] - m[1][2]*m[2][1]; \ + a[0][1] = - (m[1][0]*m[2][2] - m[2][0]*m[1][2]); \ + a[0][2] = m[1][0]*m[2][1] - m[1][1]*m[2][0]; \ + a[1][0] = - (m[0][1]*m[2][2] - m[0][2]*m[2][1]); \ + a[1][1] = m[0][0]*m[2][2] - m[0][2]*m[2][0]; \ + a[1][2] = - (m[0][0]*m[2][1] - m[0][1]*m[2][0]); \ + a[2][0] = m[0][1]*m[1][2] - m[0][2]*m[1][1]; \ + a[2][1] = - (m[0][0]*m[1][2] - m[0][2]*m[1][0]); \ + a[2][2] = m[0][0]*m[1][1] - m[0][1]*m[1][0]); \ +}\ + + +/** cofactor of matrix + * + * Computes cofactor of matrix m, returning a + */ +#define COFACTOR_4X4(a,m) \ +{ \ + int i,j; \ + \ + for (i=0; i<4; i++) { \ + for (j=0; j<4; j++) { \ + COFACTOR_4X4_IJ (a[i][j], m, i, j); \ + } \ + } \ +}\ + + +/** adjoint of matrix + * + * Computes adjoint of matrix m, returning a + * (Note that adjoint is just the transpose of the cofactor matrix) + */ +#define ADJOINT_2X2(a,m) \ +{ \ + a[0][0] = (m)[1][1]; \ + a[1][0] = - (m)[1][0]; \ + a[0][1] = - (m)[0][1]; \ + a[1][1] = (m)[0][0]; \ +}\ + + +/** adjoint of matrix + * + * Computes adjoint of matrix m, returning a + * (Note that adjoint is just the transpose of the cofactor matrix) + */ +#define ADJOINT_3X3(a,m) \ +{ \ + a[0][0] = m[1][1]*m[2][2] - m[1][2]*m[2][1]; \ + a[1][0] = - (m[1][0]*m[2][2] - m[2][0]*m[1][2]); \ + a[2][0] = m[1][0]*m[2][1] - m[1][1]*m[2][0]; \ + a[0][1] = - (m[0][1]*m[2][2] - m[0][2]*m[2][1]); \ + a[1][1] = m[0][0]*m[2][2] - m[0][2]*m[2][0]; \ + a[2][1] = - (m[0][0]*m[2][1] - m[0][1]*m[2][0]); \ + a[0][2] = m[0][1]*m[1][2] - m[0][2]*m[1][1]; \ + a[1][2] = - (m[0][0]*m[1][2] - m[0][2]*m[1][0]); \ + a[2][2] = m[0][0]*m[1][1] - m[0][1]*m[1][0]); \ +}\ + + +/** adjoint of matrix + * + * Computes adjoint of matrix m, returning a + * (Note that adjoint is just the transpose of the cofactor matrix) + */ +#define ADJOINT_4X4(a,m) \ +{ \ + char _i_,_j_; \ + \ + for (_i_=0; _i_<4; _i_++) { \ + for (_j_=0; _j_<4; _j_++) { \ + COFACTOR_4X4_IJ (a[_j_][_i_], m, _i_, _j_); \ + } \ + } \ +}\ + + +/** compute adjoint of matrix and scale + * + * Computes adjoint of matrix m, scales it by s, returning a + */ +#define SCALE_ADJOINT_2X2(a,s,m) \ +{ \ + a[0][0] = (s) * m[1][1]; \ + a[1][0] = - (s) * m[1][0]; \ + a[0][1] = - (s) * m[0][1]; \ + a[1][1] = (s) * m[0][0]; \ +}\ + + +/** compute adjoint of matrix and scale + * + * Computes adjoint of matrix m, scales it by s, returning a + */ +#define SCALE_ADJOINT_3X3(a,s,m) \ +{ \ + a[0][0] = (s) * (m[1][1] * m[2][2] - m[1][2] * m[2][1]); \ + a[1][0] = (s) * (m[1][2] * m[2][0] - m[1][0] * m[2][2]); \ + a[2][0] = (s) * (m[1][0] * m[2][1] - m[1][1] * m[2][0]); \ + \ + a[0][1] = (s) * (m[0][2] * m[2][1] - m[0][1] * m[2][2]); \ + a[1][1] = (s) * (m[0][0] * m[2][2] - m[0][2] * m[2][0]); \ + a[2][1] = (s) * (m[0][1] * m[2][0] - m[0][0] * m[2][1]); \ + \ + a[0][2] = (s) * (m[0][1] * m[1][2] - m[0][2] * m[1][1]); \ + a[1][2] = (s) * (m[0][2] * m[1][0] - m[0][0] * m[1][2]); \ + a[2][2] = (s) * (m[0][0] * m[1][1] - m[0][1] * m[1][0]); \ +}\ + + +/** compute adjoint of matrix and scale + * + * Computes adjoint of matrix m, scales it by s, returning a + */ +#define SCALE_ADJOINT_4X4(a,s,m) \ +{ \ + char _i_,_j_; \ + for (_i_=0; _i_<4; _i_++) { \ + for (_j_=0; _j_<4; _j_++) { \ + COFACTOR_4X4_IJ (a[_j_][_i_], m, _i_, _j_); \ + a[_j_][_i_] *= s; \ + } \ + } \ +}\ + +/** inverse of matrix + * + * Compute inverse of matrix a, returning determinant m and + * inverse b + */ +#define INVERT_2X2(b,det,a) \ +{ \ + GREAL _tmp_; \ + DETERMINANT_2X2 (det, a); \ + _tmp_ = 1.0 / (det); \ + SCALE_ADJOINT_2X2 (b, _tmp_, a); \ +}\ + + +/** inverse of matrix + * + * Compute inverse of matrix a, returning determinant m and + * inverse b + */ +#define INVERT_3X3(b,det,a) \ +{ \ + GREAL _tmp_; \ + DETERMINANT_3X3 (det, a); \ + _tmp_ = 1.0 / (det); \ + SCALE_ADJOINT_3X3 (b, _tmp_, a); \ +}\ + + +/** inverse of matrix + * + * Compute inverse of matrix a, returning determinant m and + * inverse b + */ +#define INVERT_4X4(b,det,a) \ +{ \ + GREAL _tmp_; \ + DETERMINANT_4X4 (det, a); \ + _tmp_ = 1.0 / (det); \ + SCALE_ADJOINT_4X4 (b, _tmp_, a); \ +}\ + +//! Get the triple(3) row of a transform matrix +#define MAT_GET_ROW(mat,vec3,rowindex)\ +{\ + vec3[0] = mat[rowindex][0];\ + vec3[1] = mat[rowindex][1];\ + vec3[2] = mat[rowindex][2]; \ +}\ + +//! Get the tuple(2) row of a transform matrix +#define MAT_GET_ROW2(mat,vec2,rowindex)\ +{\ + vec2[0] = mat[rowindex][0];\ + vec2[1] = mat[rowindex][1];\ +}\ + + +//! Get the quad (4) row of a transform matrix +#define MAT_GET_ROW4(mat,vec4,rowindex)\ +{\ + vec4[0] = mat[rowindex][0];\ + vec4[1] = mat[rowindex][1];\ + vec4[2] = mat[rowindex][2];\ + vec4[3] = mat[rowindex][3];\ +}\ + +//! Get the triple(3) col of a transform matrix +#define MAT_GET_COL(mat,vec3,colindex)\ +{\ + vec3[0] = mat[0][colindex];\ + vec3[1] = mat[1][colindex];\ + vec3[2] = mat[2][colindex]; \ +}\ + +//! Get the tuple(2) col of a transform matrix +#define MAT_GET_COL2(mat,vec2,colindex)\ +{\ + vec2[0] = mat[0][colindex];\ + vec2[1] = mat[1][colindex];\ +}\ + + +//! Get the quad (4) col of a transform matrix +#define MAT_GET_COL4(mat,vec4,colindex)\ +{\ + vec4[0] = mat[0][colindex];\ + vec4[1] = mat[1][colindex];\ + vec4[2] = mat[2][colindex];\ + vec4[3] = mat[3][colindex];\ +}\ + +//! Get the triple(3) col of a transform matrix +#define MAT_GET_X(mat,vec3)\ +{\ + MAT_GET_COL(mat,vec3,0);\ +}\ + +//! Get the triple(3) col of a transform matrix +#define MAT_GET_Y(mat,vec3)\ +{\ + MAT_GET_COL(mat,vec3,1);\ +}\ + +//! Get the triple(3) col of a transform matrix +#define MAT_GET_Z(mat,vec3)\ +{\ + MAT_GET_COL(mat,vec3,2);\ +}\ + + +//! Get the triple(3) col of a transform matrix +#define MAT_SET_X(mat,vec3)\ +{\ + mat[0][0] = vec3[0];\ + mat[1][0] = vec3[1];\ + mat[2][0] = vec3[2];\ +}\ + +//! Get the triple(3) col of a transform matrix +#define MAT_SET_Y(mat,vec3)\ +{\ + mat[0][1] = vec3[0];\ + mat[1][1] = vec3[1];\ + mat[2][1] = vec3[2];\ +}\ + +//! Get the triple(3) col of a transform matrix +#define MAT_SET_Z(mat,vec3)\ +{\ + mat[0][2] = vec3[0];\ + mat[1][2] = vec3[1];\ + mat[2][2] = vec3[2];\ +}\ + + +//! Get the triple(3) col of a transform matrix +#define MAT_GET_TRANSLATION(mat,vec3)\ +{\ + vec3[0] = mat[0][3];\ + vec3[1] = mat[1][3];\ + vec3[2] = mat[2][3]; \ +}\ + +//! Set the triple(3) col of a transform matrix +#define MAT_SET_TRANSLATION(mat,vec3)\ +{\ + mat[0][3] = vec3[0];\ + mat[1][3] = vec3[1];\ + mat[2][3] = vec3[2]; \ +}\ + + + +//! Returns the dot product between a vec3f and the row of a matrix +#define MAT_DOT_ROW(mat,vec3,rowindex) (vec3[0]*mat[rowindex][0] + vec3[1]*mat[rowindex][1] + vec3[2]*mat[rowindex][2]) + +//! Returns the dot product between a vec2f and the row of a matrix +#define MAT_DOT_ROW2(mat,vec2,rowindex) (vec2[0]*mat[rowindex][0] + vec2[1]*mat[rowindex][1]) + +//! Returns the dot product between a vec4f and the row of a matrix +#define MAT_DOT_ROW4(mat,vec4,rowindex) (vec4[0]*mat[rowindex][0] + vec4[1]*mat[rowindex][1] + vec4[2]*mat[rowindex][2] + vec4[3]*mat[rowindex][3]) + + +//! Returns the dot product between a vec3f and the col of a matrix +#define MAT_DOT_COL(mat,vec3,colindex) (vec3[0]*mat[0][colindex] + vec3[1]*mat[1][colindex] + vec3[2]*mat[2][colindex]) + +//! Returns the dot product between a vec2f and the col of a matrix +#define MAT_DOT_COL2(mat,vec2,colindex) (vec2[0]*mat[0][colindex] + vec2[1]*mat[1][colindex]) + +//! Returns the dot product between a vec4f and the col of a matrix +#define MAT_DOT_COL4(mat,vec4,colindex) (vec4[0]*mat[0][colindex] + vec4[1]*mat[1][colindex] + vec4[2]*mat[2][colindex] + vec4[3]*mat[3][colindex]) + +/*!Transpose matrix times vector +v is a vec3f +and m is a mat4f<br> +*/ +#define INV_MAT_DOT_VEC_3X3(p,m,v) \ +{ \ + p[0] = MAT_DOT_COL(m,v,0); \ + p[1] = MAT_DOT_COL(m,v,1); \ + p[2] = MAT_DOT_COL(m,v,2); \ +}\ + + +//! @} + +#endif // GIM_VECTOR_H_INCLUDED diff --git a/extern/bullet2/src/BulletCollision/Gimpact/gim_math.h b/extern/bullet2/src/BulletCollision/Gimpact/gim_math.h new file mode 100644 index 00000000000..25ad1e21c7f --- /dev/null +++ b/extern/bullet2/src/BulletCollision/Gimpact/gim_math.h @@ -0,0 +1,181 @@ +#ifndef GIM_MATH_H_INCLUDED +#define GIM_MATH_H_INCLUDED +/*! \file gim_math.h +\author Francisco Len Nßjera +*/ +/* +----------------------------------------------------------------------------- +This source file is part of GIMPACT Library. + +For the latest info, see http://gimpact.sourceforge.net/ + +Copyright (c) 2006 Francisco Leon Najera. C.C. 80087371. +email: projectileman@yahoo.com + + This library is free software; you can redistribute it and/or + modify it under the terms of EITHER: + (1) The GNU Lesser General Public License as published by the Free + Software Foundation; either version 2.1 of the License, or (at + your option) any later version. The text of the GNU Lesser + General Public License is included with this library in the + file GIMPACT-LICENSE-LGPL.TXT. + (2) The BSD-style license that is included with this library in + the file GIMPACT-LICENSE-BSD.TXT. + (3) The zlib/libpng license that is included with this library in + the file GIMPACT-LICENSE-ZLIB.TXT. + + This library is distributed in the hope that it will be useful, + but WITHOUT ANY WARRANTY; without even the implied warranty of + MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the files + GIMPACT-LICENSE-LGPL.TXT, GIMPACT-LICENSE-ZLIB.TXT and GIMPACT-LICENSE-BSD.TXT for more details. + +----------------------------------------------------------------------------- +*/ + +#include "LinearMath/btScalar.h" + + +/*! \defgroup BASIC_TYPES +Basic types and constants +Conventions: +Types starting with G +Constants starting with G_ +*/ +//! @{ + +#define GREAL btScalar +#define GREAL2 double +#define GINT int +#define GUINT unsigned int +#define GSHORT short +#define GUSHORT unsigned short +#define GINT64 long long +#define GUINT64 unsigned long long + +//! @} + +/*! \defgroup BASIC_CONSTANTS +Basic constants +Conventions: +Types starting with G +Constants starting with G_ +*/ +//! @{ + +#define G_PI 3.14159265358979f +#define G_HALF_PI 1.5707963f +//267948966 +#define G_TWO_PI 6.28318530f +//71795864 +#define G_ROOT3 1.73205f +#define G_ROOT2 1.41421f +#define G_UINT_INFINITY 0xffffffff //!< A very very high value +#define G_REAL_INFINITY FLT_MAX +#define G_SIGN_BITMASK 0x80000000 +#define G_EPSILON SIMD_EPSILON +//! @} + + +/*! \defgroup SCALAR_TYPES +\brief +Precision type constants +*/ +//! @{ +enum GIM_SCALAR_TYPES +{ + G_STYPE_REAL =0, + G_STYPE_REAL2, + G_STYPE_SHORT, + G_STYPE_USHORT, + G_STYPE_INT, + G_STYPE_UINT, + G_STYPE_INT64, + G_STYPE_UINT64 +}; +//! @} + +/*! \defgroup MATH_FUNCTIONS +mathematical functions +*/ +//! @{ + +#define G_DEGTORAD(X) ((X)*3.1415926f/180.0f) +#define G_RADTODEG(X) ((X)*180.0f/3.1415926f) + +//! Integer representation of a floating-point value. +#define GIM_IR(x) ((GUINT&)(x)) + +//! Signed integer representation of a floating-point value. +#define GIM_SIR(x) ((GINT&)(x)) + +//! Absolute integer representation of a floating-point value +#define GIM_AIR(x) (GIM_IR(x)&0x7fffffff) + +//! Floating-point representation of an integer value. +#define GIM_FR(x) ((GREAL&)(x)) + +#define GIM_MAX(a,b) (a<b?b:a) +#define GIM_MIN(a,b) (a>b?b:a) + +#define GIM_MAX3(a,b,c) GIM_MAX(a,GIM_MAX(b,c)) +#define GIM_MIN3(a,b,c) GIM_MIN(a,GIM_MIN(b,c)) + +#define GIM_IS_ZERO(value) (value < G_EPSILON && value > -G_EPSILON) + +#define GIM_IS_NEGATIVE(value) (value <= -G_EPSILON) + +#define GIM_IS_POSISITVE(value) (value >= G_EPSILON) + +#define GIM_NEAR_EQUAL(v1,v2) GIM_IS_ZERO((v1-v2)) + +///returns a clamped number +#define GIM_CLAMP(number,minval,maxval) (number<minval?minval:(number>maxval?maxval:number)) + +#define GIM_GREATER(x, y) fabsf(x) > (y) + +///Swap numbers +#define GIM_SWAP_NUMBERS(a,b){ \ + a = a+b; \ + b = a-b; \ + a = a-b; \ +}\ + +#define GIM_INV_SQRT(va,isva)\ +{\ + if(va<=0.0000001f)\ + {\ + isva = G_REAL_INFINITY;\ + }\ + else\ + {\ + GREAL _x = va * 0.5f;\ + GUINT _y = 0x5f3759df - ( GIM_IR(va) >> 1);\ + isva = GIM_FR(_y);\ + isva = isva * ( 1.5f - ( _x * isva * isva ) );\ + }\ +}\ + +#define GIM_SQRT(va,sva)\ +{\ + GIM_INV_SQRT(va,sva);\ + sva = 1.0f/sva;\ +}\ + +//! Computes 1.0f / sqrtf(x). Comes from Quake3. See http://www.magic-software.com/3DGEDInvSqrt.html +inline GREAL gim_inv_sqrt(GREAL f) +{ + GREAL r; + GIM_INV_SQRT(f,r); + return r; +} + +inline GREAL gim_sqrt(GREAL f) +{ + GREAL r; + GIM_SQRT(f,r); + return r; +} + +//! @} + +#endif // GIM_MATH_H_INCLUDED diff --git a/extern/bullet2/src/BulletCollision/Gimpact/gim_memory.cpp b/extern/bullet2/src/BulletCollision/Gimpact/gim_memory.cpp new file mode 100644 index 00000000000..1636eb7867c --- /dev/null +++ b/extern/bullet2/src/BulletCollision/Gimpact/gim_memory.cpp @@ -0,0 +1,135 @@ +/* +----------------------------------------------------------------------------- +This source file is part of GIMPACT Library. + +For the latest info, see http://gimpact.sourceforge.net/ + +Copyright (c) 2006 Francisco Leon Najera. C.C. 80087371. +email: projectileman@yahoo.com + + This library is free software; you can redistribute it and/or + modify it under the terms of EITHER: + (1) The GNU Lesser General Public License as published by the Free + Software Foundation; either version 2.1 of the License, or (at + your option) any later version. The text of the GNU Lesser + General Public License is included with this library in the + file GIMPACT-LICENSE-LGPL.TXT. + (2) The BSD-style license that is included with this library in + the file GIMPACT-LICENSE-BSD.TXT. + (3) The zlib/libpng license that is included with this library in + the file GIMPACT-LICENSE-ZLIB.TXT. + + This library is distributed in the hope that it will be useful, + but WITHOUT ANY WARRANTY; without even the implied warranty of + MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the files + GIMPACT-LICENSE-LGPL.TXT, GIMPACT-LICENSE-ZLIB.TXT and GIMPACT-LICENSE-BSD.TXT for more details. + +----------------------------------------------------------------------------- +*/ + + +#include "gim_memory.h" +#include "stdlib.h" + +#ifdef GIM_SIMD_MEMORY +#include "LinearMath/btAlignedAllocator.h" +#endif + +static gim_alloc_function *g_allocfn = 0; +static gim_alloca_function *g_allocafn = 0; +static gim_realloc_function *g_reallocfn = 0; +static gim_free_function *g_freefn = 0; + +void gim_set_alloc_handler (gim_alloc_function *fn) +{ + g_allocfn = fn; +} + +void gim_set_alloca_handler (gim_alloca_function *fn) +{ + g_allocafn = fn; +} + +void gim_set_realloc_handler (gim_realloc_function *fn) +{ + g_reallocfn = fn; +} + +void gim_set_free_handler (gim_free_function *fn) +{ + g_freefn = fn; +} + +gim_alloc_function *gim_get_alloc_handler() +{ + return g_allocfn; +} + +gim_alloca_function *gim_get_alloca_handler() +{ + return g_allocafn; +} + + +gim_realloc_function *gim_get_realloc_handler () +{ + return g_reallocfn; +} + + +gim_free_function *gim_get_free_handler () +{ + return g_freefn; +} + + +void * gim_alloc(size_t size) +{ + void * ptr; + if (g_allocfn) + { + ptr = g_allocfn(size); + } + else + { +#ifdef GIM_SIMD_MEMORY + ptr = btAlignedAlloc(size,16); +#else + ptr = malloc(size); +#endif + } + return ptr; +} + +void * gim_alloca(size_t size) +{ + if (g_allocafn) return g_allocafn(size); else return gim_alloc(size); +} + + +void * gim_realloc(void *ptr, size_t oldsize, size_t newsize) +{ + void * newptr = gim_alloc(newsize); + size_t copysize = oldsize<newsize?oldsize:newsize; + gim_simd_memcpy(newptr,ptr,copysize); + gim_free(ptr); + return newptr; +} + +void gim_free(void *ptr) +{ + if (!ptr) return; + if (g_freefn) + { + g_freefn(ptr); + } + else + { + #ifdef GIM_SIMD_MEMORY + btAlignedFree(ptr); + #else + free(ptr); + #endif + } +} + diff --git a/extern/bullet2/src/BulletCollision/Gimpact/gim_memory.h b/extern/bullet2/src/BulletCollision/Gimpact/gim_memory.h new file mode 100644 index 00000000000..469a8280f7d --- /dev/null +++ b/extern/bullet2/src/BulletCollision/Gimpact/gim_memory.h @@ -0,0 +1,211 @@ +#ifndef GIM_MEMORY_H_INCLUDED +#define GIM_MEMORY_H_INCLUDED +/*! \file gim_memory.h +\author Francisco Len Nßjera +*/ +/* +----------------------------------------------------------------------------- +This source file is part of GIMPACT Library. + +For the latest info, see http://gimpact.sourceforge.net/ + +Copyright (c) 2006 Francisco Leon Najera. C.C. 80087371. +email: projectileman@yahoo.com + + This library is free software; you can redistribute it and/or + modify it under the terms of EITHER: + (1) The GNU Lesser General Public License as published by the Free + Software Foundation; either version 2.1 of the License, or (at + your option) any later version. The text of the GNU Lesser + General Public License is included with this library in the + file GIMPACT-LICENSE-LGPL.TXT. + (2) The BSD-style license that is included with this library in + the file GIMPACT-LICENSE-BSD.TXT. + (3) The zlib/libpng license that is included with this library in + the file GIMPACT-LICENSE-ZLIB.TXT. + + This library is distributed in the hope that it will be useful, + but WITHOUT ANY WARRANTY; without even the implied warranty of + MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the files + GIMPACT-LICENSE-LGPL.TXT, GIMPACT-LICENSE-ZLIB.TXT and GIMPACT-LICENSE-BSD.TXT for more details. + +----------------------------------------------------------------------------- +*/ + + +#include "gim_math.h" +#include <memory.h> + +//#define PREFETCH 1 +//! \defgroup PREFETCH +//! @{ +#ifdef PREFETCH +#include <xmmintrin.h> // for prefetch +#define pfval 64 +#define pfval2 128 +//! Prefetch 64 +#define pf(_x,_i) _mm_prefetch((void *)(_x + _i + pfval), 0) +//! Prefetch 128 +#define pf2(_x,_i) _mm_prefetch((void *)(_x + _i + pfval2), 0) +#else +//! Prefetch 64 +#define pf(_x,_i) +//! Prefetch 128 +#define pf2(_x,_i) +#endif +//! @} + +/*! \defgroup ARRAY_UTILITIES +\brief +Functions for manip packed arrays of numbers +*/ +//! @{ +#define GIM_COPY_ARRAYS(dest_array,source_array,element_count)\ +{\ + for (GUINT _i_=0;_i_<element_count ;++_i_)\ + {\ + dest_array[_i_] = source_array[_i_];\ + }\ +}\ + +#define GIM_COPY_ARRAYS_1(dest_array,source_array,element_count,copy_macro)\ +{\ + for (GUINT _i_=0;_i_<element_count ;++_i_)\ + {\ + copy_macro(dest_array[_i_],source_array[_i_]);\ + }\ +}\ + + +#define GIM_ZERO_ARRAY(array,element_count)\ +{\ + for (GUINT _i_=0;_i_<element_count ;++_i_)\ + {\ + array[_i_] = 0;\ + }\ +}\ + +#define GIM_CONSTANT_ARRAY(array,element_count,constant)\ +{\ + for (GUINT _i_=0;_i_<element_count ;++_i_)\ + {\ + array[_i_] = constant;\ + }\ +}\ +//! @} + +/*! \defgroup MEMORY_FUNCTION_PROTOTYPES +Function prototypes to allocate and free memory. +*/ +//! @{ +typedef void * gim_alloc_function (size_t size); +typedef void * gim_alloca_function (size_t size);//Allocs on the heap +typedef void * gim_realloc_function (void *ptr, size_t oldsize, size_t newsize); +typedef void gim_free_function (void *ptr); +//! @} + +/*! \defgroup MEMORY_FUNCTION_HANDLERS +\brief +Memory Function Handlers + set new memory management functions. if fn is 0, the default handlers are + used. */ +//! @{ +void gim_set_alloc_handler (gim_alloc_function *fn); +void gim_set_alloca_handler (gim_alloca_function *fn); +void gim_set_realloc_handler (gim_realloc_function *fn); +void gim_set_free_handler (gim_free_function *fn); +//! @} + +/*! \defgroup MEMORY_FUNCTION_GET_HANDLERS +\brief +get current memory management functions. +*/ +//! @{ +gim_alloc_function *gim_get_alloc_handler (void); +gim_alloca_function *gim_get_alloca_handler(void); +gim_realloc_function *gim_get_realloc_handler (void); +gim_free_function *gim_get_free_handler (void); +//! @} + +/*! \defgroup MEMORY_FUNCTIONS +Standar Memory functions +*/ +//! @{ +void * gim_alloc(size_t size); +void * gim_alloca(size_t size); +void * gim_realloc(void *ptr, size_t oldsize, size_t newsize); +void gim_free(void *ptr); +//! @} + + +#if defined (WIN32) && !defined(__MINGW32__) && !defined(__CYGWIN__) + #define GIM_SIMD_MEMORY 1 +#endif + +//! SIMD POINTER INTEGER +#define SIMD_T GUINT64 +//! SIMD INTEGER SIZE +#define SIMD_T_SIZE sizeof(SIMD_T) + + +inline void gim_simd_memcpy(void * dst, const void * src, size_t copysize) +{ +#ifdef GIM_SIMD_MEMORY +/* +//'long long int' is incompatible with visual studio 6... + //copy words + SIMD_T * ui_src_ptr = (SIMD_T *)src; + SIMD_T * ui_dst_ptr = (SIMD_T *)dst; + while(copysize>=SIMD_T_SIZE) + { + *(ui_dst_ptr++) = *(ui_src_ptr++); + copysize-=SIMD_T_SIZE; + } + if(copysize==0) return; +*/ + + char * c_src_ptr = (char *)src; + char * c_dst_ptr = (char *)dst; + while(copysize>0) + { + *(c_dst_ptr++) = *(c_src_ptr++); + copysize--; + } + return; +#else + memcpy(dst,src,copysize); +#endif +} + + + +template<class T> +inline void gim_swap_elements(T* _array,size_t _i,size_t _j) +{ + T _e_tmp_ = _array[_i]; + _array[_i] = _array[_j]; + _array[_j] = _e_tmp_; +} + + +template<class T> +inline void gim_swap_elements_memcpy(T* _array,size_t _i,size_t _j) +{ + char _e_tmp_[sizeof(T)]; + gim_simd_memcpy(_e_tmp_,&_array[_i],sizeof(T)); + gim_simd_memcpy(&_array[_i],&_array[_j],sizeof(T)); + gim_simd_memcpy(&_array[_j],_e_tmp_,sizeof(T)); +} + +template <int SIZE> +inline void gim_swap_elements_ptr(char * _array,size_t _i,size_t _j) +{ + char _e_tmp_[SIZE]; + _i*=SIZE; + _j*=SIZE; + gim_simd_memcpy(_e_tmp_,_array+_i,SIZE); + gim_simd_memcpy(_array+_i,_array+_j,SIZE); + gim_simd_memcpy(_array+_j,_e_tmp_,SIZE); +} + +#endif // GIM_MEMORY_H_INCLUDED diff --git a/extern/bullet2/src/BulletCollision/Gimpact/gim_radixsort.h b/extern/bullet2/src/BulletCollision/Gimpact/gim_radixsort.h new file mode 100644 index 00000000000..9ecf61bdc6d --- /dev/null +++ b/extern/bullet2/src/BulletCollision/Gimpact/gim_radixsort.h @@ -0,0 +1,410 @@ +#ifndef GIM_RADIXSORT_H_INCLUDED +#define GIM_RADIXSORT_H_INCLUDED +/*! \file gim_radixsort.h +\author Francisco Len Nßjera. +Based on the work of Michael Herf : "fast floating-point radix sort" +Avaliable on http://www.stereopsis.com/radix.html +*/ +/* +----------------------------------------------------------------------------- +This source file is part of GIMPACT Library. + +For the latest info, see http://gimpact.sourceforge.net/ + +Copyright (c) 2006 Francisco Leon Najera. C.C. 80087371. +email: projectileman@yahoo.com + + This library is free software; you can redistribute it and/or + modify it under the terms of EITHER: + (1) The GNU Lesser General Public License as published by the Free + Software Foundation; either version 2.1 of the License, or (at + your option) any later version. The text of the GNU Lesser + General Public License is included with this library in the + file GIMPACT-LICENSE-LGPL.TXT. + (2) The BSD-style license that is included with this library in + the file GIMPACT-LICENSE-BSD.TXT. + (3) The zlib/libpng license that is included with this library in + the file GIMPACT-LICENSE-ZLIB.TXT. + + This library is distributed in the hope that it will be useful, + but WITHOUT ANY WARRANTY; without even the implied warranty of + MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the files + GIMPACT-LICENSE-LGPL.TXT, GIMPACT-LICENSE-ZLIB.TXT and GIMPACT-LICENSE-BSD.TXT for more details. + +----------------------------------------------------------------------------- +*/ + +#include "gim_memory.h" + +/*! \defgroup SORTING +\brief +Macros for sorting. +*/ + +//! Prototype for comparators +class less_comparator +{ + public: + + template<class T,class Z> + inline int operator() ( const T& a, const Z& b ) + { + return ( a<b?-1:(a>b?1:0)); + } +}; + +//! Prototype for comparators +class integer_comparator +{ + public: + + template<class T> + inline int operator() ( const T& a, const T& b ) + { + return (int)(a-b); + } +}; + +//!Prototype for getting the integer representation of an object +class uint_key_func +{ +public: + template<class T> + inline GUINT operator()( const T& a) + { + return (GUINT)a; + } +}; + + +//!Prototype for copying elements +class copy_elements_func +{ +public: + template<class T> + inline void operator()(T& a,T& b) + { + a = b; + } +}; + +//!Prototype for copying elements +class memcopy_elements_func +{ +public: + template<class T> + inline void operator()(T& a,T& b) + { + gim_simd_memcpy(&a,&b,sizeof(T)); + } +}; + + +//! @{ +struct GIM_RSORT_TOKEN +{ + GUINT m_key; + GUINT m_value; + GIM_RSORT_TOKEN() + { + } + GIM_RSORT_TOKEN(const GIM_RSORT_TOKEN& rtoken) + { + m_key = rtoken.m_key; + m_value = rtoken.m_value; + } + + inline bool operator <(const GIM_RSORT_TOKEN& other) const + { + return (m_key < other.m_key); + } + + inline bool operator >(const GIM_RSORT_TOKEN& other) const + { + return (m_key > other.m_key); + } +}; + +//! Prototype for comparators +class GIM_RSORT_TOKEN_COMPARATOR +{ + public: + + inline int operator()( const GIM_RSORT_TOKEN& a, const GIM_RSORT_TOKEN& b ) + { + return (int)((a.m_key) - (b.m_key)); + } +}; + + + +#define kHist 2048 +// ---- utils for accessing 11-bit quantities +#define D11_0(x) (x & 0x7FF) +#define D11_1(x) (x >> 11 & 0x7FF) +#define D11_2(x) (x >> 22 ) + + + +///Radix sort for unsigned integer keys +inline void gim_radix_sort_rtokens( + GIM_RSORT_TOKEN * array, + GIM_RSORT_TOKEN * sorted, GUINT element_count) +{ + GUINT i; + GUINT b0[kHist * 3]; + GUINT *b1 = b0 + kHist; + GUINT *b2 = b1 + kHist; + for (i = 0; i < kHist * 3; ++i) + { + b0[i] = 0; + } + GUINT fi; + GUINT pos; + for (i = 0; i < element_count; ++i) + { + fi = array[i].m_key; + b0[D11_0(fi)] ++; + b1[D11_1(fi)] ++; + b2[D11_2(fi)] ++; + } + { + GUINT sum0 = 0, sum1 = 0, sum2 = 0; + GUINT tsum; + for (i = 0; i < kHist; ++i) + { + tsum = b0[i] + sum0; + b0[i] = sum0 - 1; + sum0 = tsum; + tsum = b1[i] + sum1; + b1[i] = sum1 - 1; + sum1 = tsum; + tsum = b2[i] + sum2; + b2[i] = sum2 - 1; + sum2 = tsum; + } + } + for (i = 0; i < element_count; ++i) + { + fi = array[i].m_key; + pos = D11_0(fi); + pos = ++b0[pos]; + sorted[pos].m_key = array[i].m_key; + sorted[pos].m_value = array[i].m_value; + } + for (i = 0; i < element_count; ++i) + { + fi = sorted[i].m_key; + pos = D11_1(fi); + pos = ++b1[pos]; + array[pos].m_key = sorted[i].m_key; + array[pos].m_value = sorted[i].m_value; + } + for (i = 0; i < element_count; ++i) + { + fi = array[i].m_key; + pos = D11_2(fi); + pos = ++b2[pos]; + sorted[pos].m_key = array[i].m_key; + sorted[pos].m_value = array[i].m_value; + } +} + + + + +/// Get the sorted tokens from an array. For generic use. Tokens are IRR_RSORT_TOKEN +/*! +*\param array Array of elements to sort +*\param sorted_tokens Tokens of sorted elements +*\param element_count element count +*\param uintkey_macro Functor which retrieves the integer representation of an array element +*/ +template<typename T, class GETKEY_CLASS> +void gim_radix_sort_array_tokens( + T* array , + GIM_RSORT_TOKEN * sorted_tokens, + GUINT element_count,GETKEY_CLASS uintkey_macro) +{ + GIM_RSORT_TOKEN * _unsorted = (GIM_RSORT_TOKEN *) gim_alloc(sizeof(GIM_RSORT_TOKEN)*element_count); + for (GUINT _i=0;_i<element_count;++_i) + { + _unsorted[_i].m_key = uintkey_macro(array[_i]); + _unsorted[_i].m_value = _i; + } + gim_radix_sort_rtokens(_unsorted,sorted_tokens,element_count); + gim_free(_unsorted); + gim_free(_unsorted); +} + +/// Sorts array in place. For generic use +/*! +\param type Type of the array +\param array +\param element_count +\param get_uintkey_macro Macro for extract the Integer value of the element. Similar to SIMPLE_GET_UINTKEY +\param copy_elements_macro Macro for copy elements, similar to SIMPLE_COPY_ELEMENTS +*/ +template<typename T, class GETKEY_CLASS, class COPY_CLASS> +void gim_radix_sort( + T * array, GUINT element_count, + GETKEY_CLASS get_uintkey_macro, COPY_CLASS copy_elements_macro) +{ + GIM_RSORT_TOKEN * _sorted = (GIM_RSORT_TOKEN *) gim_alloc(sizeof(GIM_RSORT_TOKEN)*element_count); + gim_radix_sort_array_tokens(array,_sorted,element_count,get_uintkey_macro); + T * _original_array = (T *) gim_alloc(sizeof(T)*element_count); + gim_simd_memcpy(_original_array,array,sizeof(T)*element_count); + for (GUINT _i=0;_i<element_count;++_i) + { + copy_elements_macro(array[_i],_original_array[_sorted[_i].m_value]); + } + gim_free(_original_array); + gim_free(_sorted); +} + +//! Failsafe Iterative binary search, +/*! +If the element is not found, it returns the nearest upper element position, may be the further position after the last element. +\param _array +\param _start_i the beginning of the array +\param _end_i the ending index of the array +\param _search_key Value to find +\param _comp_macro macro for comparing elements +\param _found If true the value has found. Boolean +\param _result_index the index of the found element, or if not found then it will get the index of the closest bigger value +*/ +template<class T, typename KEYCLASS, typename COMP_CLASS> +bool gim_binary_search_ex( + const T* _array, GUINT _start_i, + GUINT _end_i,GUINT & _result_index, + const KEYCLASS & _search_key, + COMP_CLASS _comp_macro) +{ + GUINT _k; + int _comp_result; + GUINT _i = _start_i; + GUINT _j = _end_i+1; + while (_i < _j) + { + _k = (_j+_i-1)/2; + _comp_result = _comp_macro(_array[_k], _search_key); + if (_comp_result == 0) + { + _result_index = _k; + return true; + } + else if (_comp_result < 0) + { + _i = _k+1; + } + else + { + _j = _k; + } + } + _result_index = _i; + return false; +} + + + +//! Failsafe Iterative binary search,Template version +/*! +If the element is not found, it returns the nearest upper element position, may be the further position after the last element. +\param _array +\param _start_i the beginning of the array +\param _end_i the ending index of the array +\param _search_key Value to find +\param _result_index the index of the found element, or if not found then it will get the index of the closest bigger value +\return true if found, else false +*/ +template<class T> +bool gim_binary_search( + const T*_array,GUINT _start_i, + GUINT _end_i,const T & _search_key, + GUINT & _result_index) +{ + GUINT _i = _start_i; + GUINT _j = _end_i+1; + GUINT _k; + while(_i < _j) + { + _k = (_j+_i-1)/2; + if(_array[_k]==_search_key) + { + _result_index = _k; + return true; + } + else if (_array[_k]<_search_key) + { + _i = _k+1; + } + else + { + _j = _k; + } + } + _result_index = _i; + return false; +} + + + +///heap sort from http://www.csse.monash.edu.au/~lloyd/tildeAlgDS/Sort/Heap/ +template <typename T, typename COMP_CLASS> +void gim_down_heap(T *pArr, GUINT k, GUINT n,COMP_CLASS CompareFunc) +{ + /* PRE: a[k+1..N] is a heap */ + /* POST: a[k..N] is a heap */ + + T temp = pArr[k - 1]; + /* k has child(s) */ + while (k <= n/2) + { + int child = 2*k; + + if ((child < (int)n) && CompareFunc(pArr[child - 1] , pArr[child])<0) + { + child++; + } + /* pick larger child */ + if (CompareFunc(temp , pArr[child - 1])<0) + { + /* move child up */ + pArr[k - 1] = pArr[child - 1]; + k = child; + } + else + { + break; + } + } + pArr[k - 1] = temp; +} /*downHeap*/ + + +template <typename T, typename COMP_CLASS> +void gim_heap_sort(T *pArr, GUINT element_count, COMP_CLASS CompareFunc) +{ + /* sort a[0..N-1], N.B. 0 to N-1 */ + GUINT k; + GUINT n = element_count; + for (k = n/2; k > 0; k--) + { + gim_down_heap(pArr, k, n, CompareFunc); + } + + /* a[1..N] is now a heap */ + while ( n>=2 ) + { + gim_swap_elements(pArr,0,n-1); /* largest of a[0..n-1] */ + --n; + /* restore a[1..i-1] heap */ + gim_down_heap(pArr, 1, n, CompareFunc); + } +} + + + +//! @} +#endif // GIM_RADIXSORT_H_INCLUDED diff --git a/extern/bullet2/src/BulletCollision/Gimpact/gim_tri_collision.cpp b/extern/bullet2/src/BulletCollision/Gimpact/gim_tri_collision.cpp new file mode 100644 index 00000000000..ef6feabdfee --- /dev/null +++ b/extern/bullet2/src/BulletCollision/Gimpact/gim_tri_collision.cpp @@ -0,0 +1,640 @@ + +/*! \file gim_tri_collision.h +\author Francisco Len Nßjera +*/ +/* +----------------------------------------------------------------------------- +This source file is part of GIMPACT Library. + +For the latest info, see http://gimpact.sourceforge.net/ + +Copyright (c) 2006 Francisco Leon Najera. C.C. 80087371. +email: projectileman@yahoo.com + + This library is free software; you can redistribute it and/or + modify it under the terms of EITHER: + (1) The GNU Lesser General Public License as published by the Free + Software Foundation; either version 2.1 of the License, or (at + your option) any later version. The text of the GNU Lesser + General Public License is included with this library in the + file GIMPACT-LICENSE-LGPL.TXT. + (2) The BSD-style license that is included with this library in + the file GIMPACT-LICENSE-BSD.TXT. + (3) The zlib/libpng license that is included with this library in + the file GIMPACT-LICENSE-ZLIB.TXT. + + This library is distributed in the hope that it will be useful, + but WITHOUT ANY WARRANTY; without even the implied warranty of + MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the files + GIMPACT-LICENSE-LGPL.TXT, GIMPACT-LICENSE-ZLIB.TXT and GIMPACT-LICENSE-BSD.TXT for more details. + +----------------------------------------------------------------------------- +*/ + +#include "gim_tri_collision.h" + + +#define TRI_LOCAL_EPSILON 0.000001f +#define MIN_EDGE_EDGE_DIS 0.00001f + + +class _GIM_TRIANGLE_CALCULATION_CACHE +{ +public: + GREAL margin; + btVector3 tu_vertices[3]; + btVector3 tv_vertices[3]; + btVector4 tu_plane; + btVector4 tv_plane; + btVector3 closest_point_u; + btVector3 closest_point_v; + btVector3 edge_edge_dir; + btVector3 distances; + GREAL du[4]; + GREAL du0du1; + GREAL du0du2; + GREAL dv[4]; + GREAL dv0dv1; + GREAL dv0dv2; + btVector3 temp_points[MAX_TRI_CLIPPING]; + btVector3 temp_points1[MAX_TRI_CLIPPING]; + btVector3 contact_points[MAX_TRI_CLIPPING]; + + + + //! if returns false, the faces are paralele + SIMD_FORCE_INLINE bool compute_intervals( + const GREAL &D0, + const GREAL &D1, + const GREAL &D2, + const GREAL &D0D1, + const GREAL &D0D2, + GREAL & scale_edge0, + GREAL & scale_edge1, + GUINT &edge_index0, + GUINT &edge_index1) + { + if(D0D1>0.0f) + { + /* here we know that D0D2<=0.0 */ + /* that is D0, D1 are on the same side, D2 on the other or on the plane */ + scale_edge0 = -D2/(D0-D2); + scale_edge1 = -D1/(D2-D1); + edge_index0 = 2;edge_index1 = 1; + } + else if(D0D2>0.0f) + { + /* here we know that d0d1<=0.0 */ + scale_edge0 = -D0/(D1-D0); + scale_edge1 = -D1/(D2-D1); + edge_index0 = 0;edge_index1 = 1; + } + else if(D1*D2>0.0f || D0!=0.0f) + { + /* here we know that d0d1<=0.0 or that D0!=0.0 */ + scale_edge0 = -D0/(D1-D0); + scale_edge1 = -D2/(D0-D2); + edge_index0 = 0 ;edge_index1 = 2; + } + else + { + return false; + } + return true; + } + + + //! clip triangle + /*! + */ + SIMD_FORCE_INLINE GUINT clip_triangle( + const btVector4 & tri_plane, + const btVector3 * tripoints, + const btVector3 * srcpoints, + btVector3 * clip_points) + { + // edge 0 + + btVector4 edgeplane; + + EDGE_PLANE(tripoints[0],tripoints[1],tri_plane,edgeplane); + + GUINT clipped_count = PLANE_CLIP_TRIANGLE3D( + edgeplane,srcpoints[0],srcpoints[1],srcpoints[2],temp_points); + + if(clipped_count == 0) return 0; + + // edge 1 + + EDGE_PLANE(tripoints[1],tripoints[2],tri_plane,edgeplane); + + clipped_count = PLANE_CLIP_POLYGON3D( + edgeplane,temp_points,clipped_count,temp_points1); + + if(clipped_count == 0) return 0; + + // edge 2 + + EDGE_PLANE(tripoints[2],tripoints[0],tri_plane,edgeplane); + + clipped_count = PLANE_CLIP_POLYGON3D( + edgeplane,temp_points1,clipped_count,clip_points); + + return clipped_count; + + + /*GUINT i0 = (tri_plane.closestAxis()+1)%3; + GUINT i1 = (i0+1)%3; + // edge 0 + btVector3 temp_points[MAX_TRI_CLIPPING]; + btVector3 temp_points1[MAX_TRI_CLIPPING]; + + GUINT clipped_count= PLANE_CLIP_TRIANGLE_GENERIC( + 0,srcpoints[0],srcpoints[1],srcpoints[2],temp_points, + DISTANCE_EDGE(tripoints[0],tripoints[1],i0,i1)); + + + if(clipped_count == 0) return 0; + + // edge 1 + clipped_count = PLANE_CLIP_POLYGON_GENERIC( + 0,temp_points,clipped_count,temp_points1, + DISTANCE_EDGE(tripoints[1],tripoints[2],i0,i1)); + + if(clipped_count == 0) return 0; + + // edge 2 + clipped_count = PLANE_CLIP_POLYGON_GENERIC( + 0,temp_points1,clipped_count,clipped_points, + DISTANCE_EDGE(tripoints[2],tripoints[0],i0,i1)); + + return clipped_count;*/ + } + + SIMD_FORCE_INLINE void sort_isect( + GREAL & isect0,GREAL & isect1,GUINT &e0,GUINT &e1,btVector3 & vec0,btVector3 & vec1) + { + if(isect1<isect0) + { + //swap + GIM_SWAP_NUMBERS(isect0,isect1); + GIM_SWAP_NUMBERS(e0,e1); + btVector3 tmp = vec0; + vec0 = vec1; + vec1 = tmp; + } + } + + //! Test verifying interval intersection with the direction between planes + /*! + \pre tv_plane and tu_plane must be set + \post + distances[2] is set with the distance + closest_point_u, closest_point_v, edge_edge_dir are set too + \return + - 0: faces are paralele + - 1: face U casts face V + - 2: face V casts face U + - 3: nearest edges + */ + SIMD_FORCE_INLINE GUINT cross_line_intersection_test() + { + // Compute direction of intersection line + edge_edge_dir = tu_plane.cross(tv_plane); + GREAL Dlen; + VEC_LENGTH(edge_edge_dir,Dlen); + + if(Dlen<0.0001) + { + return 0; //faces near paralele + } + + edge_edge_dir*= 1/Dlen;//normalize + + + // Compute interval for triangle 1 + GUINT tu_e0,tu_e1;//edge indices + GREAL tu_scale_e0,tu_scale_e1;//edge scale + if(!compute_intervals(du[0],du[1],du[2], + du0du1,du0du2,tu_scale_e0,tu_scale_e1,tu_e0,tu_e1)) return 0; + + // Compute interval for triangle 2 + GUINT tv_e0,tv_e1;//edge indices + GREAL tv_scale_e0,tv_scale_e1;//edge scale + + if(!compute_intervals(dv[0],dv[1],dv[2], + dv0dv1,dv0dv2,tv_scale_e0,tv_scale_e1,tv_e0,tv_e1)) return 0; + + //proyected vertices + btVector3 up_e0 = tu_vertices[tu_e0].lerp(tu_vertices[(tu_e0+1)%3],tu_scale_e0); + btVector3 up_e1 = tu_vertices[tu_e1].lerp(tu_vertices[(tu_e1+1)%3],tu_scale_e1); + + btVector3 vp_e0 = tv_vertices[tv_e0].lerp(tv_vertices[(tv_e0+1)%3],tv_scale_e0); + btVector3 vp_e1 = tv_vertices[tv_e1].lerp(tv_vertices[(tv_e1+1)%3],tv_scale_e1); + + //proyected intervals + GREAL isect_u[] = {up_e0.dot(edge_edge_dir),up_e1.dot(edge_edge_dir)}; + GREAL isect_v[] = {vp_e0.dot(edge_edge_dir),vp_e1.dot(edge_edge_dir)}; + + sort_isect(isect_u[0],isect_u[1],tu_e0,tu_e1,up_e0,up_e1); + sort_isect(isect_v[0],isect_v[1],tv_e0,tv_e1,vp_e0,vp_e1); + + const GREAL midpoint_u = 0.5f*(isect_u[0]+isect_u[1]); // midpoint + const GREAL midpoint_v = 0.5f*(isect_v[0]+isect_v[1]); // midpoint + + if(midpoint_u<midpoint_v) + { + if(isect_u[1]>=isect_v[1]) // face U casts face V + { + return 1; + } + else if(isect_v[0]<=isect_u[0]) // face V casts face U + { + return 2; + } + // closest points + closest_point_u = up_e1; + closest_point_v = vp_e0; + // calc edges and separation + + if(isect_u[1]+ MIN_EDGE_EDGE_DIS<isect_v[0]) //calc distance between two lines instead + { + SEGMENT_COLLISION( + tu_vertices[tu_e1],tu_vertices[(tu_e1+1)%3], + tv_vertices[tv_e0],tv_vertices[(tv_e0+1)%3], + closest_point_u, + closest_point_v); + + edge_edge_dir = closest_point_u-closest_point_v; + VEC_LENGTH(edge_edge_dir,distances[2]); + edge_edge_dir *= 1.0f/distances[2];// normalize + } + else + { + distances[2] = isect_v[0]-isect_u[1];//distance negative + //edge_edge_dir *= -1.0f; //normal pointing from V to U + } + + } + else + { + if(isect_v[1]>=isect_u[1]) // face V casts face U + { + return 2; + } + else if(isect_u[0]<=isect_v[0]) // face U casts face V + { + return 1; + } + // closest points + closest_point_u = up_e0; + closest_point_v = vp_e1; + // calc edges and separation + + if(isect_v[1]+MIN_EDGE_EDGE_DIS<isect_u[0]) //calc distance between two lines instead + { + SEGMENT_COLLISION( + tu_vertices[tu_e0],tu_vertices[(tu_e0+1)%3], + tv_vertices[tv_e1],tv_vertices[(tv_e1+1)%3], + closest_point_u, + closest_point_v); + + edge_edge_dir = closest_point_u-closest_point_v; + VEC_LENGTH(edge_edge_dir,distances[2]); + edge_edge_dir *= 1.0f/distances[2];// normalize + } + else + { + distances[2] = isect_u[0]-isect_v[1];//distance negative + //edge_edge_dir *= -1.0f; //normal pointing from V to U + } + } + return 3; + } + + + //! collides by two sides + SIMD_FORCE_INLINE bool triangle_collision( + const btVector3 & u0, + const btVector3 & u1, + const btVector3 & u2, + GREAL margin_u, + const btVector3 & v0, + const btVector3 & v1, + const btVector3 & v2, + GREAL margin_v, + GIM_TRIANGLE_CONTACT_DATA & contacts) + { + + margin = margin_u + margin_v; + + tu_vertices[0] = u0; + tu_vertices[1] = u1; + tu_vertices[2] = u2; + + tv_vertices[0] = v0; + tv_vertices[1] = v1; + tv_vertices[2] = v2; + + //create planes + // plane v vs U points + + TRIANGLE_PLANE(tv_vertices[0],tv_vertices[1],tv_vertices[2],tv_plane); + + du[0] = DISTANCE_PLANE_POINT(tv_plane,tu_vertices[0]); + du[1] = DISTANCE_PLANE_POINT(tv_plane,tu_vertices[1]); + du[2] = DISTANCE_PLANE_POINT(tv_plane,tu_vertices[2]); + + + du0du1 = du[0] * du[1]; + du0du2 = du[0] * du[2]; + + + if(du0du1>0.0f && du0du2>0.0f) // same sign on all of them + not equal 0 ? + { + if(du[0]<0) //we need test behind the triangle plane + { + distances[0] = GIM_MAX3(du[0],du[1],du[2]); + distances[0] = -distances[0]; + if(distances[0]>margin) return false; //never intersect + + //reorder triangle v + VEC_SWAP(tv_vertices[0],tv_vertices[1]); + VEC_SCALE_4(tv_plane,-1.0f,tv_plane); + } + else + { + distances[0] = GIM_MIN3(du[0],du[1],du[2]); + if(distances[0]>margin) return false; //never intersect + } + } + else + { + //Look if we need to invert the triangle + distances[0] = (du[0]+du[1]+du[2])/3.0f; //centroid + + if(distances[0]<0.0f) + { + //reorder triangle v + VEC_SWAP(tv_vertices[0],tv_vertices[1]); + VEC_SCALE_4(tv_plane,-1.0f,tv_plane); + + distances[0] = GIM_MAX3(du[0],du[1],du[2]); + distances[0] = -distances[0]; + } + else + { + distances[0] = GIM_MIN3(du[0],du[1],du[2]); + } + } + + + // plane U vs V points + + TRIANGLE_PLANE(tu_vertices[0],tu_vertices[1],tu_vertices[2],tu_plane); + + dv[0] = DISTANCE_PLANE_POINT(tu_plane,tv_vertices[0]); + dv[1] = DISTANCE_PLANE_POINT(tu_plane,tv_vertices[1]); + dv[2] = DISTANCE_PLANE_POINT(tu_plane,tv_vertices[2]); + + dv0dv1 = dv[0] * dv[1]; + dv0dv2 = dv[0] * dv[2]; + + + if(dv0dv1>0.0f && dv0dv2>0.0f) // same sign on all of them + not equal 0 ? + { + if(dv[0]<0) //we need test behind the triangle plane + { + distances[1] = GIM_MAX3(dv[0],dv[1],dv[2]); + distances[1] = -distances[1]; + if(distances[1]>margin) return false; //never intersect + + //reorder triangle u + VEC_SWAP(tu_vertices[0],tu_vertices[1]); + VEC_SCALE_4(tu_plane,-1.0f,tu_plane); + } + else + { + distances[1] = GIM_MIN3(dv[0],dv[1],dv[2]); + if(distances[1]>margin) return false; //never intersect + } + } + else + { + //Look if we need to invert the triangle + distances[1] = (dv[0]+dv[1]+dv[2])/3.0f; //centroid + + if(distances[1]<0.0f) + { + //reorder triangle v + VEC_SWAP(tu_vertices[0],tu_vertices[1]); + VEC_SCALE_4(tu_plane,-1.0f,tu_plane); + + distances[1] = GIM_MAX3(dv[0],dv[1],dv[2]); + distances[1] = -distances[1]; + } + else + { + distances[1] = GIM_MIN3(dv[0],dv[1],dv[2]); + } + } + + GUINT bl; + /* bl = cross_line_intersection_test(); + if(bl==3) + { + //take edge direction too + bl = distances.maxAxis(); + } + else + {*/ + bl = 0; + if(distances[0]<distances[1]) bl = 1; + //} + + if(bl==2) //edge edge separation + { + if(distances[2]>margin) return false; + + contacts.m_penetration_depth = -distances[2] + margin; + contacts.m_points[0] = closest_point_v; + contacts.m_point_count = 1; + VEC_COPY(contacts.m_separating_normal,edge_edge_dir); + + return true; + } + + //clip face against other + + + GUINT point_count; + //TODO + if(bl == 0) //clip U points against V + { + point_count = clip_triangle(tv_plane,tv_vertices,tu_vertices,contact_points); + if(point_count == 0) return false; + contacts.merge_points(tv_plane,margin,contact_points,point_count); + } + else //clip V points against U + { + point_count = clip_triangle(tu_plane,tu_vertices,tv_vertices,contact_points); + if(point_count == 0) return false; + contacts.merge_points(tu_plane,margin,contact_points,point_count); + contacts.m_separating_normal *= -1.f; + } + if(contacts.m_point_count == 0) return false; + return true; + } + +}; + + +/*class _GIM_TRIANGLE_CALCULATION_CACHE +{ +public: + GREAL margin; + GUINT clipped_count; + btVector3 tu_vertices[3]; + btVector3 tv_vertices[3]; + btVector3 temp_points[MAX_TRI_CLIPPING]; + btVector3 temp_points1[MAX_TRI_CLIPPING]; + btVector3 clipped_points[MAX_TRI_CLIPPING]; + GIM_TRIANGLE_CONTACT_DATA contacts1; + GIM_TRIANGLE_CONTACT_DATA contacts2; + + + //! clip triangle + GUINT clip_triangle( + const btVector4 & tri_plane, + const btVector3 * tripoints, + const btVector3 * srcpoints, + btVector3 * clipped_points) + { + // edge 0 + + btVector4 edgeplane; + + EDGE_PLANE(tripoints[0],tripoints[1],tri_plane,edgeplane); + + GUINT clipped_count = PLANE_CLIP_TRIANGLE3D( + edgeplane,srcpoints[0],srcpoints[1],srcpoints[2],temp_points); + + if(clipped_count == 0) return 0; + + // edge 1 + + EDGE_PLANE(tripoints[1],tripoints[2],tri_plane,edgeplane); + + clipped_count = PLANE_CLIP_POLYGON3D( + edgeplane,temp_points,clipped_count,temp_points1); + + if(clipped_count == 0) return 0; + + // edge 2 + + EDGE_PLANE(tripoints[2],tripoints[0],tri_plane,edgeplane); + + clipped_count = PLANE_CLIP_POLYGON3D( + edgeplane,temp_points1,clipped_count,clipped_points); + + return clipped_count; + } + + + + + //! collides only on one side + bool triangle_collision( + const btVector3 & u0, + const btVector3 & u1, + const btVector3 & u2, + GREAL margin_u, + const btVector3 & v0, + const btVector3 & v1, + const btVector3 & v2, + GREAL margin_v, + GIM_TRIANGLE_CONTACT_DATA & contacts) + { + + margin = margin_u + margin_v; + + + tu_vertices[0] = u0; + tu_vertices[1] = u1; + tu_vertices[2] = u2; + + tv_vertices[0] = v0; + tv_vertices[1] = v1; + tv_vertices[2] = v2; + + //create planes + // plane v vs U points + + + TRIANGLE_PLANE(tv_vertices[0],tv_vertices[1],tv_vertices[2],contacts1.m_separating_normal); + + clipped_count = clip_triangle( + contacts1.m_separating_normal,tv_vertices,tu_vertices,clipped_points); + + if(clipped_count == 0 ) + { + return false;//Reject + } + + //find most deep interval face1 + contacts1.merge_points(contacts1.m_separating_normal,margin,clipped_points,clipped_count); + if(contacts1.m_point_count == 0) return false; // too far + + //Normal pointing to triangle1 + //contacts1.m_separating_normal *= -1.f; + + //Clip tri1 by tri2 edges + + TRIANGLE_PLANE(tu_vertices[0],tu_vertices[1],tu_vertices[2],contacts2.m_separating_normal); + + clipped_count = clip_triangle( + contacts2.m_separating_normal,tu_vertices,tv_vertices,clipped_points); + + if(clipped_count == 0 ) + { + return false;//Reject + } + + //find most deep interval face1 + contacts2.merge_points(contacts2.m_separating_normal,margin,clipped_points,clipped_count); + if(contacts2.m_point_count == 0) return false; // too far + + contacts2.m_separating_normal *= -1.f; + + ////check most dir for contacts + if(contacts2.m_penetration_depth<contacts1.m_penetration_depth) + { + contacts.copy_from(contacts2); + } + else + { + contacts.copy_from(contacts1); + } + return true; + } + + +};*/ + + + +bool GIM_TRIANGLE::collide_triangle_hard_test( + const GIM_TRIANGLE & other, + GIM_TRIANGLE_CONTACT_DATA & contact_data) const +{ + _GIM_TRIANGLE_CALCULATION_CACHE calc_cache; + return calc_cache.triangle_collision( + m_vertices[0],m_vertices[1],m_vertices[2],m_margin, + other.m_vertices[0],other.m_vertices[1],other.m_vertices[2],other.m_margin, + contact_data); + +} + + + + diff --git a/extern/bullet2/src/BulletCollision/Gimpact/gim_tri_collision.h b/extern/bullet2/src/BulletCollision/Gimpact/gim_tri_collision.h new file mode 100644 index 00000000000..7cea8fc33a6 --- /dev/null +++ b/extern/bullet2/src/BulletCollision/Gimpact/gim_tri_collision.h @@ -0,0 +1,383 @@ +#ifndef GIM_TRI_COLLISION_H_INCLUDED +#define GIM_TRI_COLLISION_H_INCLUDED + +/*! \file gim_tri_collision.h +\author Francisco Len Nßjera +*/ +/* +----------------------------------------------------------------------------- +This source file is part of GIMPACT Library. + +For the latest info, see http://gimpact.sourceforge.net/ + +Copyright (c) 2006 Francisco Leon Najera. C.C. 80087371. +email: projectileman@yahoo.com + + This library is free software; you can redistribute it and/or + modify it under the terms of EITHER: + (1) The GNU Lesser General Public License as published by the Free + Software Foundation; either version 2.1 of the License, or (at + your option) any later version. The text of the GNU Lesser + General Public License is included with this library in the + file GIMPACT-LICENSE-LGPL.TXT. + (2) The BSD-style license that is included with this library in + the file GIMPACT-LICENSE-BSD.TXT. + (3) The zlib/libpng license that is included with this library in + the file GIMPACT-LICENSE-ZLIB.TXT. + + This library is distributed in the hope that it will be useful, + but WITHOUT ANY WARRANTY; without even the implied warranty of + MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the files + GIMPACT-LICENSE-LGPL.TXT, GIMPACT-LICENSE-ZLIB.TXT and GIMPACT-LICENSE-BSD.TXT for more details. + +----------------------------------------------------------------------------- +*/ + +#include "gim_box_collision.h" +#include "gim_clip_polygon.h" + +/*! \addtogroup GEOMETRIC_OPERATIONS +*/ +//! @{ + + + +#define MAX_TRI_CLIPPING 16 + +//! Structure for collision +struct GIM_TRIANGLE_CONTACT_DATA +{ + GREAL m_penetration_depth; + GUINT m_point_count; + btVector4 m_separating_normal; + btVector3 m_points[MAX_TRI_CLIPPING]; + + SIMD_FORCE_INLINE void copy_from(const GIM_TRIANGLE_CONTACT_DATA& other) + { + m_penetration_depth = other.m_penetration_depth; + m_separating_normal = other.m_separating_normal; + m_point_count = other.m_point_count; + GUINT i = m_point_count; + while(i--) + { + m_points[i] = other.m_points[i]; + } + } + + GIM_TRIANGLE_CONTACT_DATA() + { + } + + GIM_TRIANGLE_CONTACT_DATA(const GIM_TRIANGLE_CONTACT_DATA& other) + { + copy_from(other); + } + + + + + //! classify points that are closer + template<typename DISTANCE_FUNC,typename CLASS_PLANE> + SIMD_FORCE_INLINE void mergepoints_generic(const CLASS_PLANE & plane, + GREAL margin, const btVector3 * points, GUINT point_count, DISTANCE_FUNC distance_func) + { + m_point_count = 0; + m_penetration_depth= -1000.0f; + + GUINT point_indices[MAX_TRI_CLIPPING]; + + GUINT _k; + + for(_k=0;_k<point_count;_k++) + { + GREAL _dist = -distance_func(plane,points[_k]) + margin; + + if(_dist>=0.0f) + { + if(_dist>m_penetration_depth) + { + m_penetration_depth = _dist; + point_indices[0] = _k; + m_point_count=1; + } + else if((_dist+G_EPSILON)>=m_penetration_depth) + { + point_indices[m_point_count] = _k; + m_point_count++; + } + } + } + + for( _k=0;_k<m_point_count;_k++) + { + m_points[_k] = points[point_indices[_k]]; + } + } + + //! classify points that are closer + SIMD_FORCE_INLINE void merge_points(const btVector4 & plane, GREAL margin, + const btVector3 * points, GUINT point_count) + { + m_separating_normal = plane; + mergepoints_generic(plane, margin, points, point_count, DISTANCE_PLANE_3D_FUNC()); + } +}; + + +//! Class for colliding triangles +class GIM_TRIANGLE +{ +public: + btScalar m_margin; + btVector3 m_vertices[3]; + + GIM_TRIANGLE():m_margin(0.1f) + { + } + + SIMD_FORCE_INLINE GIM_AABB get_box() const + { + return GIM_AABB(m_vertices[0],m_vertices[1],m_vertices[2],m_margin); + } + + SIMD_FORCE_INLINE void get_normal(btVector3 &normal) const + { + TRIANGLE_NORMAL(m_vertices[0],m_vertices[1],m_vertices[2],normal); + } + + SIMD_FORCE_INLINE void get_plane(btVector4 &plane) const + { + TRIANGLE_PLANE(m_vertices[0],m_vertices[1],m_vertices[2],plane);; + } + + SIMD_FORCE_INLINE void apply_transform(const btTransform & trans) + { + m_vertices[0] = trans(m_vertices[0]); + m_vertices[1] = trans(m_vertices[1]); + m_vertices[2] = trans(m_vertices[2]); + } + + SIMD_FORCE_INLINE void get_edge_plane(GUINT edge_index,const btVector3 &triangle_normal,btVector4 &plane) const + { + const btVector3 & e0 = m_vertices[edge_index]; + const btVector3 & e1 = m_vertices[(edge_index+1)%3]; + EDGE_PLANE(e0,e1,triangle_normal,plane); + } + + //! Gets the relative transformation of this triangle + /*! + The transformation is oriented to the triangle normal , and aligned to the 1st edge of this triangle. The position corresponds to vertice 0: + - triangle normal corresponds to Z axis. + - 1st normalized edge corresponds to X axis, + + */ + SIMD_FORCE_INLINE void get_triangle_transform(btTransform & triangle_transform) const + { + btMatrix3x3 & matrix = triangle_transform.getBasis(); + + btVector3 zaxis; + get_normal(zaxis); + MAT_SET_Z(matrix,zaxis); + + btVector3 xaxis = m_vertices[1] - m_vertices[0]; + VEC_NORMALIZE(xaxis); + MAT_SET_X(matrix,xaxis); + + //y axis + xaxis = zaxis.cross(xaxis); + MAT_SET_Y(matrix,xaxis); + + triangle_transform.setOrigin(m_vertices[0]); + } + + + //! Test triangles by finding separating axis + /*! + \param other Triangle for collide + \param contact_data Structure for holding contact points, normal and penetration depth; The normal is pointing toward this triangle from the other triangle + */ + bool collide_triangle_hard_test( + const GIM_TRIANGLE & other, + GIM_TRIANGLE_CONTACT_DATA & contact_data) const; + + //! Test boxes before doing hard test + /*! + \param other Triangle for collide + \param contact_data Structure for holding contact points, normal and penetration depth; The normal is pointing toward this triangle from the other triangle + \ + */ + SIMD_FORCE_INLINE bool collide_triangle( + const GIM_TRIANGLE & other, + GIM_TRIANGLE_CONTACT_DATA & contact_data) const + { + //test box collisioin + GIM_AABB boxu(m_vertices[0],m_vertices[1],m_vertices[2],m_margin); + GIM_AABB boxv(other.m_vertices[0],other.m_vertices[1],other.m_vertices[2],other.m_margin); + if(!boxu.has_collision(boxv)) return false; + + //do hard test + return collide_triangle_hard_test(other,contact_data); + } + + /*! + + Solve the System for u,v parameters: + + u*axe1[i1] + v*axe2[i1] = vecproj[i1] + u*axe1[i2] + v*axe2[i2] = vecproj[i2] + + sustitute: + v = (vecproj[i2] - u*axe1[i2])/axe2[i2] + + then the first equation in terms of 'u': + + --> u*axe1[i1] + ((vecproj[i2] - u*axe1[i2])/axe2[i2])*axe2[i1] = vecproj[i1] + + --> u*axe1[i1] + vecproj[i2]*axe2[i1]/axe2[i2] - u*axe1[i2]*axe2[i1]/axe2[i2] = vecproj[i1] + + --> u*(axe1[i1] - axe1[i2]*axe2[i1]/axe2[i2]) = vecproj[i1] - vecproj[i2]*axe2[i1]/axe2[i2] + + --> u*((axe1[i1]*axe2[i2] - axe1[i2]*axe2[i1])/axe2[i2]) = (vecproj[i1]*axe2[i2] - vecproj[i2]*axe2[i1])/axe2[i2] + + --> u*(axe1[i1]*axe2[i2] - axe1[i2]*axe2[i1]) = vecproj[i1]*axe2[i2] - vecproj[i2]*axe2[i1] + + --> u = (vecproj[i1]*axe2[i2] - vecproj[i2]*axe2[i1]) /(axe1[i1]*axe2[i2] - axe1[i2]*axe2[i1]) + +if 0.0<= u+v <=1.0 then they are inside of triangle + + \return false if the point is outside of triangle.This function doesn't take the margin + */ + SIMD_FORCE_INLINE bool get_uv_parameters( + const btVector3 & point, + const btVector3 & tri_plane, + GREAL & u, GREAL & v) const + { + btVector3 _axe1 = m_vertices[1]-m_vertices[0]; + btVector3 _axe2 = m_vertices[2]-m_vertices[0]; + btVector3 _vecproj = point - m_vertices[0]; + GUINT _i1 = (tri_plane.closestAxis()+1)%3; + GUINT _i2 = (_i1+1)%3; + if(btFabs(_axe2[_i2])<G_EPSILON) + { + u = (_vecproj[_i2]*_axe2[_i1] - _vecproj[_i1]*_axe2[_i2]) /(_axe1[_i2]*_axe2[_i1] - _axe1[_i1]*_axe2[_i2]); + v = (_vecproj[_i1] - u*_axe1[_i1])/_axe2[_i1]; + } + else + { + u = (_vecproj[_i1]*_axe2[_i2] - _vecproj[_i2]*_axe2[_i1]) /(_axe1[_i1]*_axe2[_i2] - _axe1[_i2]*_axe2[_i1]); + v = (_vecproj[_i2] - u*_axe1[_i2])/_axe2[_i2]; + } + + if(u<-G_EPSILON) + { + return false; + } + else if(v<-G_EPSILON) + { + return false; + } + else + { + float sumuv; + sumuv = u+v; + if(sumuv<-G_EPSILON) + { + return false; + } + else if(sumuv-1.0f>G_EPSILON) + { + return false; + } + } + return true; + } + + //! is point in triangle beam? + /*! + Test if point is in triangle, with m_margin tolerance + */ + SIMD_FORCE_INLINE bool is_point_inside(const btVector3 & point, const btVector3 & tri_normal) const + { + //Test with edge 0 + btVector4 edge_plane; + this->get_edge_plane(0,tri_normal,edge_plane); + GREAL dist = DISTANCE_PLANE_POINT(edge_plane,point); + if(dist-m_margin>0.0f) return false; // outside plane + + this->get_edge_plane(1,tri_normal,edge_plane); + dist = DISTANCE_PLANE_POINT(edge_plane,point); + if(dist-m_margin>0.0f) return false; // outside plane + + this->get_edge_plane(2,tri_normal,edge_plane); + dist = DISTANCE_PLANE_POINT(edge_plane,point); + if(dist-m_margin>0.0f) return false; // outside plane + return true; + } + + + //! Bidireccional ray collision + SIMD_FORCE_INLINE bool ray_collision( + const btVector3 & vPoint, + const btVector3 & vDir, btVector3 & pout, btVector3 & triangle_normal, + GREAL & tparam, GREAL tmax = G_REAL_INFINITY) + { + btVector4 faceplane; + { + btVector3 dif1 = m_vertices[1] - m_vertices[0]; + btVector3 dif2 = m_vertices[2] - m_vertices[0]; + VEC_CROSS(faceplane,dif1,dif2); + faceplane[3] = m_vertices[0].dot(faceplane); + } + + GUINT res = LINE_PLANE_COLLISION(faceplane,vDir,vPoint,pout,tparam, btScalar(0), tmax); + if(res == 0) return false; + if(! is_point_inside(pout,faceplane)) return false; + + if(res==2) //invert normal + { + triangle_normal.setValue(-faceplane[0],-faceplane[1],-faceplane[2]); + } + else + { + triangle_normal.setValue(faceplane[0],faceplane[1],faceplane[2]); + } + + VEC_NORMALIZE(triangle_normal); + + return true; + } + + + //! one direccion ray collision + SIMD_FORCE_INLINE bool ray_collision_front_side( + const btVector3 & vPoint, + const btVector3 & vDir, btVector3 & pout, btVector3 & triangle_normal, + GREAL & tparam, GREAL tmax = G_REAL_INFINITY) + { + btVector4 faceplane; + { + btVector3 dif1 = m_vertices[1] - m_vertices[0]; + btVector3 dif2 = m_vertices[2] - m_vertices[0]; + VEC_CROSS(faceplane,dif1,dif2); + faceplane[3] = m_vertices[0].dot(faceplane); + } + + GUINT res = LINE_PLANE_COLLISION(faceplane,vDir,vPoint,pout,tparam, btScalar(0), tmax); + if(res != 1) return false; + + if(!is_point_inside(pout,faceplane)) return false; + + triangle_normal.setValue(faceplane[0],faceplane[1],faceplane[2]); + + VEC_NORMALIZE(triangle_normal); + + return true; + } + +}; + + + +//! @} + +#endif // GIM_TRI_COLLISION_H_INCLUDED diff --git a/extern/bullet2/src/BulletCollision/NarrowPhaseCollision/btContinuousConvexCollision.cpp b/extern/bullet2/src/BulletCollision/NarrowPhaseCollision/btContinuousConvexCollision.cpp index 2c565734e97..6551cfb92fe 100644 --- a/extern/bullet2/src/BulletCollision/NarrowPhaseCollision/btContinuousConvexCollision.cpp +++ b/extern/bullet2/src/BulletCollision/NarrowPhaseCollision/btContinuousConvexCollision.cpp @@ -16,7 +16,6 @@ subject to the following restrictions: #include "btContinuousConvexCollision.h" #include "BulletCollision/CollisionShapes/btConvexShape.h" -#include "BulletCollision/CollisionShapes/btMinkowskiSumShape.h" #include "BulletCollision/NarrowPhaseCollision/btSimplexSolverInterface.h" #include "LinearMath/btTransformUtil.h" #include "BulletCollision/CollisionShapes/btSphereShape.h" @@ -26,7 +25,7 @@ subject to the following restrictions: -btContinuousConvexCollision::btContinuousConvexCollision ( btConvexShape* convexA,btConvexShape* convexB,btSimplexSolverInterface* simplexSolver, btConvexPenetrationDepthSolver* penetrationDepthSolver) +btContinuousConvexCollision::btContinuousConvexCollision ( const btConvexShape* convexA,const btConvexShape* convexB,btSimplexSolverInterface* simplexSolver, btConvexPenetrationDepthSolver* penetrationDepthSolver) :m_simplexSolver(simplexSolver), m_penetrationDepthSolver(penetrationDepthSolver), m_convexA(convexA),m_convexB(convexB) @@ -35,7 +34,7 @@ m_convexA(convexA),m_convexB(convexB) /// This maximum should not be necessary. It allows for untested/degenerate cases in production code. /// You don't want your game ever to lock-up. -#define MAX_ITERATIONS 1000 +#define MAX_ITERATIONS 64 bool btContinuousConvexCollision::calcTimeOfImpact( const btTransform& fromA, @@ -52,10 +51,18 @@ bool btContinuousConvexCollision::calcTimeOfImpact( btTransformUtil::calculateVelocity(fromA,toA,btScalar(1.),linVelA,angVelA); btTransformUtil::calculateVelocity(fromB,toB,btScalar(1.),linVelB,angVelB); + btScalar boundingRadiusA = m_convexA->getAngularMotionDisc(); btScalar boundingRadiusB = m_convexB->getAngularMotionDisc(); btScalar maxAngularProjectedVelocity = angVelA.length() * boundingRadiusA + angVelB.length() * boundingRadiusB; + btVector3 relLinVel = (linVelB-linVelA); + + btScalar relLinVelocLength = (linVelB-linVelA).length(); + + if ((relLinVelocLength+maxAngularProjectedVelocity) == 0.f) + return false; + btScalar radius = btScalar(0.001); @@ -93,7 +100,7 @@ bool btContinuousConvexCollision::calcTimeOfImpact( btGjkPairDetector::ClosestPointInput input; //we don't use margins during CCD - gjk.setIgnoreMargin(true); + // gjk.setIgnoreMargin(true); input.m_transformA = fromA; input.m_transformB = fromB; @@ -108,25 +115,31 @@ bool btContinuousConvexCollision::calcTimeOfImpact( btScalar dist; dist = pointCollector1.m_distance; n = pointCollector1.m_normalOnBInWorld; + + btScalar projectedLinearVelocity = relLinVel.dot(n); //not close enough while (dist > radius) { numIter++; if (numIter > maxIter) + { return false; //todo: report a failure - + } btScalar dLambda = btScalar(0.); + projectedLinearVelocity = relLinVel.dot(n); + //calculate safe moving fraction from distance / (linear+rotational velocity) //btScalar clippedDist = GEN_min(angularConservativeRadius,dist); //btScalar clippedDist = dist; - btScalar projectedLinearVelocity = (linVelB-linVelA).dot(n); dLambda = dist / (projectedLinearVelocity+ maxAngularProjectedVelocity); + + lambda = lambda + dLambda; if (lambda > btScalar(1.)) @@ -135,9 +148,14 @@ bool btContinuousConvexCollision::calcTimeOfImpact( if (lambda < btScalar(0.)) return false; + //todo: next check with relative epsilon if (lambda <= lastLambda) + { + return false; + //n.setValue(0,0,0); break; + } lastLambda = lambda; @@ -163,11 +181,13 @@ bool btContinuousConvexCollision::calcTimeOfImpact( { //degenerate ?! result.m_fraction = lastLambda; - result.m_normal = n; + n = pointCollector.m_normalOnBInWorld; + result.m_normal=n;//.setValue(1,1,1);// = n; + result.m_hitPoint = pointCollector.m_pointInWorld; return true; } c = pointCollector.m_pointInWorld; - + n = pointCollector.m_normalOnBInWorld; dist = pointCollector.m_distance; } else { @@ -177,8 +197,13 @@ bool btContinuousConvexCollision::calcTimeOfImpact( } + //don't report time of impact for motion away from the contact normal (or causes minor penetration) + if ((projectedLinearVelocity+ maxAngularProjectedVelocity)<=result.m_allowedPenetration)//SIMD_EPSILON) + return false; + result.m_fraction = lambda; result.m_normal = n; + result.m_hitPoint = c; return true; } diff --git a/extern/bullet2/src/BulletCollision/NarrowPhaseCollision/btContinuousConvexCollision.h b/extern/bullet2/src/BulletCollision/NarrowPhaseCollision/btContinuousConvexCollision.h index 9901bab4b45..28c2b4d6156 100644 --- a/extern/bullet2/src/BulletCollision/NarrowPhaseCollision/btContinuousConvexCollision.h +++ b/extern/bullet2/src/BulletCollision/NarrowPhaseCollision/btContinuousConvexCollision.h @@ -30,13 +30,13 @@ class btContinuousConvexCollision : public btConvexCast { btSimplexSolverInterface* m_simplexSolver; btConvexPenetrationDepthSolver* m_penetrationDepthSolver; - btConvexShape* m_convexA; - btConvexShape* m_convexB; + const btConvexShape* m_convexA; + const btConvexShape* m_convexB; public: - btContinuousConvexCollision (btConvexShape* shapeA,btConvexShape* shapeB ,btSimplexSolverInterface* simplexSolver,btConvexPenetrationDepthSolver* penetrationDepthSolver); + btContinuousConvexCollision (const btConvexShape* shapeA,const btConvexShape* shapeB ,btSimplexSolverInterface* simplexSolver,btConvexPenetrationDepthSolver* penetrationDepthSolver); virtual bool calcTimeOfImpact( const btTransform& fromA, diff --git a/extern/bullet2/src/BulletCollision/NarrowPhaseCollision/btConvexCast.h b/extern/bullet2/src/BulletCollision/NarrowPhaseCollision/btConvexCast.h index 3101b59993d..0edf4dcd496 100644 --- a/extern/bullet2/src/BulletCollision/NarrowPhaseCollision/btConvexCast.h +++ b/extern/bullet2/src/BulletCollision/NarrowPhaseCollision/btConvexCast.h @@ -17,11 +17,11 @@ subject to the following restrictions: #ifndef CONVEX_CAST_H #define CONVEX_CAST_H -#include "../../LinearMath/btTransform.h" -#include "../../LinearMath/btVector3.h" -#include "../../LinearMath/btScalar.h" +#include "LinearMath/btTransform.h" +#include "LinearMath/btVector3.h" +#include "LinearMath/btScalar.h" class btMinkowskiSumShape; -#include "../../LinearMath/btIDebugDraw.h" +#include "LinearMath/btIDebugDraw.h" /// btConvexCast is an interface for Casting class btConvexCast @@ -42,19 +42,21 @@ public: CastResult() :m_fraction(btScalar(1e30)), - m_debugDrawer(0) + m_debugDrawer(0), + m_allowedPenetration(btScalar(0)) { } virtual ~CastResult() {}; - btVector3 m_normal; - btScalar m_fraction; btTransform m_hitTransformA; btTransform m_hitTransformB; - + btVector3 m_normal; + btVector3 m_hitPoint; + btScalar m_fraction; //input and output btIDebugDraw* m_debugDrawer; + btScalar m_allowedPenetration; }; diff --git a/extern/bullet2/src/BulletCollision/NarrowPhaseCollision/btConvexPenetrationDepthSolver.h b/extern/bullet2/src/BulletCollision/NarrowPhaseCollision/btConvexPenetrationDepthSolver.h index 7caeba4be45..99690921317 100644 --- a/extern/bullet2/src/BulletCollision/NarrowPhaseCollision/btConvexPenetrationDepthSolver.h +++ b/extern/bullet2/src/BulletCollision/NarrowPhaseCollision/btConvexPenetrationDepthSolver.h @@ -21,7 +21,7 @@ class btStackAlloc; class btVector3; #include "btSimplexSolverInterface.h" class btConvexShape; -#include "../../LinearMath/btPoint3.h" +#include "LinearMath/btPoint3.h" class btTransform; ///ConvexPenetrationDepthSolver provides an interface for penetration depth calculation. @@ -31,7 +31,7 @@ public: virtual ~btConvexPenetrationDepthSolver() {}; virtual bool calcPenDepth( btSimplexSolverInterface& simplexSolver, - btConvexShape* convexA,btConvexShape* convexB, + const btConvexShape* convexA,const btConvexShape* convexB, const btTransform& transA,const btTransform& transB, btVector3& v, btPoint3& pa, btPoint3& pb, class btIDebugDraw* debugDraw,btStackAlloc* stackAlloc diff --git a/extern/bullet2/src/BulletCollision/NarrowPhaseCollision/btDiscreteCollisionDetectorInterface.h b/extern/bullet2/src/BulletCollision/NarrowPhaseCollision/btDiscreteCollisionDetectorInterface.h index 15000c1ab61..db797d5141f 100644 --- a/extern/bullet2/src/BulletCollision/NarrowPhaseCollision/btDiscreteCollisionDetectorInterface.h +++ b/extern/bullet2/src/BulletCollision/NarrowPhaseCollision/btDiscreteCollisionDetectorInterface.h @@ -16,8 +16,8 @@ subject to the following restrictions: #ifndef DISCRETE_COLLISION_DETECTOR1_INTERFACE_H #define DISCRETE_COLLISION_DETECTOR1_INTERFACE_H -#include "../../LinearMath/btTransform.h" -#include "../../LinearMath/btVector3.h" +#include "LinearMath/btTransform.h" +#include "LinearMath/btVector3.h" class btStackAlloc; /// This interface is made to be used by an iterative approach to do TimeOfImpact calculations @@ -58,7 +58,7 @@ struct btDiscreteCollisionDetectorInterface // give either closest points (distance > 0) or penetration (distance) // the normal always points from B towards A // - virtual void getClosestPoints(const ClosestPointInput& input,Result& output,class btIDebugDraw* debugDraw) = 0; + virtual void getClosestPoints(const ClosestPointInput& input,Result& output,class btIDebugDraw* debugDraw,bool swapResults=false) = 0; }; diff --git a/extern/bullet2/src/BulletCollision/NarrowPhaseCollision/btGjkConvexCast.cpp b/extern/bullet2/src/BulletCollision/NarrowPhaseCollision/btGjkConvexCast.cpp index 93edffeafd6..bef697a0a11 100644 --- a/extern/bullet2/src/BulletCollision/NarrowPhaseCollision/btGjkConvexCast.cpp +++ b/extern/bullet2/src/BulletCollision/NarrowPhaseCollision/btGjkConvexCast.cpp @@ -17,12 +17,17 @@ subject to the following restrictions: #include "btGjkConvexCast.h" #include "BulletCollision/CollisionShapes/btSphereShape.h" -#include "BulletCollision/CollisionShapes/btMinkowskiSumShape.h" #include "btGjkPairDetector.h" #include "btPointCollector.h" +#include "LinearMath/btTransformUtil.h" +#ifdef BT_USE_DOUBLE_PRECISION +#define MAX_ITERATIONS 64 +#else +#define MAX_ITERATIONS 32 +#endif -btGjkConvexCast::btGjkConvexCast(btConvexShape* convexA,btConvexShape* convexB,btSimplexSolverInterface* simplexSolver) +btGjkConvexCast::btGjkConvexCast(const btConvexShape* convexA,const btConvexShape* convexB,btSimplexSolverInterface* simplexSolver) :m_simplexSolver(simplexSolver), m_convexA(convexA), m_convexB(convexB) @@ -38,120 +43,113 @@ bool btGjkConvexCast::calcTimeOfImpact( { - btMinkowskiSumShape combi(m_convexA,m_convexB); - btMinkowskiSumShape* convex = &combi; - - btTransform rayFromLocalA; - btTransform rayToLocalA; - - rayFromLocalA = fromA.inverse()* fromB; - rayToLocalA = toA.inverse()* toB; - - - btTransform trA,trB; - trA = btTransform(fromA); - trB = btTransform(fromB); - trA.setOrigin(btPoint3(0,0,0)); - trB.setOrigin(btPoint3(0,0,0)); - - convex->setTransformA(trA); - convex->setTransformB(trB); - + m_simplexSolver->reset(); + /// compute linear velocity for this interval, to interpolate + //assume no rotation/angular velocity, assert here? + btVector3 linVelA,linVelB; + linVelA = toA.getOrigin()-fromA.getOrigin(); + linVelB = toB.getOrigin()-fromB.getOrigin(); + btScalar radius = btScalar(0.001); + btScalar lambda = btScalar(0.); + btVector3 v(1,0,0); - btScalar radius = btScalar(0.01); + int maxIter = MAX_ITERATIONS; - btScalar lambda = btScalar(0.); - btVector3 s = rayFromLocalA.getOrigin(); - btVector3 r = rayToLocalA.getOrigin()-rayFromLocalA.getOrigin(); - btVector3 x = s; btVector3 n; - n.setValue(0,0,0); + n.setValue(btScalar(0.),btScalar(0.),btScalar(0.)); bool hasResult = false; btVector3 c; + btVector3 r = (linVelA-linVelB); btScalar lastLambda = lambda; + //btScalar epsilon = btScalar(0.001); + int numIter = 0; //first solution, using GJK - //no penetration support for now, perhaps pass a pointer when we really want it - btConvexPenetrationDepthSolver* penSolverPtr = 0; btTransform identityTrans; identityTrans.setIdentity(); - btSphereShape raySphere(btScalar(0.0)); - raySphere.setMargin(btScalar(0.)); - btTransform sphereTr; - sphereTr.setIdentity(); - sphereTr.setOrigin( rayFromLocalA.getOrigin()); +// result.drawCoordSystem(sphereTr); - result.drawCoordSystem(sphereTr); - { - btPointCollector pointCollector1; - btGjkPairDetector gjk(&raySphere,convex,m_simplexSolver,penSolverPtr); + btPointCollector pointCollector; - btGjkPairDetector::ClosestPointInput input; - input.m_transformA = sphereTr; - input.m_transformB = identityTrans; - gjk.getClosestPoints(input,pointCollector1,0); + + btGjkPairDetector gjk(m_convexA,m_convexB,m_simplexSolver,0);//m_penetrationDepthSolver); + btGjkPairDetector::ClosestPointInput input; - hasResult = pointCollector1.m_hasResult; - c = pointCollector1.m_pointInWorld; - n = pointCollector1.m_normalOnBInWorld; - } + //we don't use margins during CCD + // gjk.setIgnoreMargin(true); - + input.m_transformA = fromA; + input.m_transformB = fromB; + gjk.getClosestPoints(input,pointCollector,0); + + hasResult = pointCollector.m_hasResult; + c = pointCollector.m_pointInWorld; if (hasResult) { btScalar dist; - dist = (c-x).length(); - if (dist < radius) - { - //penetration - lastLambda = btScalar(1.); - } + dist = pointCollector.m_distance; + n = pointCollector.m_normalOnBInWorld; + + //not close enough while (dist > radius) { + numIter++; + if (numIter > maxIter) + { + return false; //todo: report a failure + } + btScalar dLambda = btScalar(0.); + + btScalar projectedLinearVelocity = r.dot(n); - n = x - c; - btScalar nDotr = n.dot(r); + dLambda = dist / (projectedLinearVelocity); + + lambda = lambda - dLambda; - if (nDotr >= -(SIMD_EPSILON*SIMD_EPSILON)) + if (lambda > btScalar(1.)) return false; - - lambda = lambda - n.dot(n) / nDotr; + + if (lambda < btScalar(0.)) + return false; + + //todo: next check with relative epsilon if (lambda <= lastLambda) + { + return false; + //n.setValue(0,0,0); break; - + } lastLambda = lambda; - x = s + lambda * r; - - sphereTr.setOrigin( x ); - result.drawCoordSystem(sphereTr); - btPointCollector pointCollector; - btGjkPairDetector gjk(&raySphere,convex,m_simplexSolver,penSolverPtr); - btGjkPairDetector::ClosestPointInput input; - input.m_transformA = sphereTr; - input.m_transformB = identityTrans; + //interpolate to next lambda + result.DebugDraw( lambda ); + input.m_transformA.getOrigin().setInterpolate3(fromA.getOrigin(),toA.getOrigin(),lambda); + input.m_transformB.getOrigin().setInterpolate3(fromB.getOrigin(),toB.getOrigin(),lambda); + gjk.getClosestPoints(input,pointCollector,0); if (pointCollector.m_hasResult) { if (pointCollector.m_distance < btScalar(0.)) { - //degeneracy, report a hit result.m_fraction = lastLambda; - result.m_normal = n; + n = pointCollector.m_normalOnBInWorld; + result.m_normal=n; + result.m_hitPoint = pointCollector.m_pointInWorld; return true; } - c = pointCollector.m_pointInWorld; - dist = (c-x).length(); + c = pointCollector.m_pointInWorld; + n = pointCollector.m_normalOnBInWorld; + dist = pointCollector.m_distance; } else { //?? @@ -160,15 +158,19 @@ bool btGjkConvexCast::calcTimeOfImpact( } - if (lastLambda < btScalar(1.)) - { - - result.m_fraction = lastLambda; - result.m_normal = n; - return true; - } + //is n normalized? + //don't report time of impact for motion away from the contact normal (or causes minor penetration) + if (n.dot(r)>=-result.m_allowedPenetration) + return false; + + result.m_fraction = lambda; + result.m_normal = n; + result.m_hitPoint = c; + return true; } return false; + + } diff --git a/extern/bullet2/src/BulletCollision/NarrowPhaseCollision/btGjkConvexCast.h b/extern/bullet2/src/BulletCollision/NarrowPhaseCollision/btGjkConvexCast.h index 3905c45e6d6..a977c9e83f7 100644 --- a/extern/bullet2/src/BulletCollision/NarrowPhaseCollision/btGjkConvexCast.h +++ b/extern/bullet2/src/BulletCollision/NarrowPhaseCollision/btGjkConvexCast.h @@ -18,9 +18,9 @@ subject to the following restrictions: #ifndef GJK_CONVEX_CAST_H #define GJK_CONVEX_CAST_H -#include "../CollisionShapes/btCollisionMargin.h" +#include "BulletCollision/CollisionShapes/btCollisionMargin.h" -#include "../../LinearMath/btVector3.h" +#include "LinearMath/btVector3.h" #include "btConvexCast.h" class btConvexShape; class btMinkowskiSumShape; @@ -30,12 +30,12 @@ class btMinkowskiSumShape; class btGjkConvexCast : public btConvexCast { btSimplexSolverInterface* m_simplexSolver; - btConvexShape* m_convexA; - btConvexShape* m_convexB; + const btConvexShape* m_convexA; + const btConvexShape* m_convexB; public: - btGjkConvexCast(btConvexShape* convexA,btConvexShape* convexB,btSimplexSolverInterface* simplexSolver); + btGjkConvexCast(const btConvexShape* convexA,const btConvexShape* convexB,btSimplexSolverInterface* simplexSolver); /// cast a convex against another convex object virtual bool calcTimeOfImpact( diff --git a/extern/bullet2/src/BulletCollision/NarrowPhaseCollision/btGjkEpa.cpp b/extern/bullet2/src/BulletCollision/NarrowPhaseCollision/btGjkEpa.cpp index 8abdfdbb7e5..36cdeeaefdb 100644 --- a/extern/bullet2/src/BulletCollision/NarrowPhaseCollision/btGjkEpa.cpp +++ b/extern/bullet2/src/BulletCollision/NarrowPhaseCollision/btGjkEpa.cpp @@ -26,7 +26,7 @@ Nov.2006 #include "btGjkEpa.h" #include <string.h> //for memset -#include <LinearMath/btStackAlloc.h> +#include "LinearMath/btStackAlloc.h" #if defined(DEBUG) || defined (_DEBUG) #include <stdio.h> //for debug printf @@ -580,8 +580,8 @@ using namespace gjkepa_impl; // -bool btGjkEpaSolver::Collide(btConvexShape *shape0,const btTransform &wtrs0, - btConvexShape *shape1,const btTransform &wtrs1, +bool btGjkEpaSolver::Collide(const btConvexShape *shape0,const btTransform &wtrs0, + const btConvexShape *shape1,const btTransform &wtrs1, btScalar radialmargin, btStackAlloc* stackAlloc, sResults& results) @@ -602,13 +602,13 @@ GJK gjk(stackAlloc, wtrs1.getBasis(),wtrs1.getOrigin(),shape1, radialmargin+EPA_accuracy); const Z collide(gjk.SearchOrigin()); -results.gjk_iterations = gjk.iterations+1; +results.gjk_iterations = static_cast<int>(gjk.iterations+1); if(collide) { /* Then EPA for penetration depth */ EPA epa(&gjk); const F pd(epa.EvaluatePD()); - results.epa_iterations = epa.iterations+1; + results.epa_iterations = static_cast<int>(epa.iterations+1); if(pd>0) { results.status = sResults::Penetrating; diff --git a/extern/bullet2/src/BulletCollision/NarrowPhaseCollision/btGjkEpa.h b/extern/bullet2/src/BulletCollision/NarrowPhaseCollision/btGjkEpa.h index 759b30bb17f..1c256f41939 100644 --- a/extern/bullet2/src/BulletCollision/NarrowPhaseCollision/btGjkEpa.h +++ b/extern/bullet2/src/BulletCollision/NarrowPhaseCollision/btGjkEpa.h @@ -21,7 +21,7 @@ Nov.2006 #ifndef _05E48D53_04E0_49ad_BB0A_D74FE62E7366_ #define _05E48D53_04E0_49ad_BB0A_D74FE62E7366_ -#include "../CollisionShapes/btConvexShape.h" +#include "BulletCollision/CollisionShapes/btConvexShape.h" class btStackAlloc; @@ -35,7 +35,7 @@ struct sResults Separated, /* Shapes doesnt penetrate */ Penetrating, /* Shapes are penetrating */ GJK_Failed, /* GJK phase fail, no big issue, shapes are probably just 'touching' */ - EPA_Failed, /* EPA phase fail, bigger problem, need to save parameters, and debug */ + EPA_Failed /* EPA phase fail, bigger problem, need to save parameters, and debug */ } status; btVector3 witnesses[2]; btVector3 normal; @@ -43,8 +43,8 @@ struct sResults int epa_iterations; int gjk_iterations; }; -static bool Collide(btConvexShape* shape0,const btTransform& wtrs0, - btConvexShape* shape1,const btTransform& wtrs1, +static bool Collide(const btConvexShape* shape0,const btTransform& wtrs0, + const btConvexShape* shape1,const btTransform& wtrs1, btScalar radialmargin, btStackAlloc* stackAlloc, sResults& results); diff --git a/extern/bullet2/src/BulletCollision/NarrowPhaseCollision/btGjkEpaPenetrationDepthSolver.cpp b/extern/bullet2/src/BulletCollision/NarrowPhaseCollision/btGjkEpaPenetrationDepthSolver.cpp index 87330493b60..c4f84ed4d75 100644 --- a/extern/bullet2/src/BulletCollision/NarrowPhaseCollision/btGjkEpaPenetrationDepthSolver.cpp +++ b/extern/bullet2/src/BulletCollision/NarrowPhaseCollision/btGjkEpaPenetrationDepthSolver.cpp @@ -18,9 +18,10 @@ subject to the following restrictions: #include "BulletCollision/CollisionShapes/btConvexShape.h" #include "btGjkEpaPenetrationDepthSolver.h" #include "BulletCollision/NarrowPhaseCollision/btGjkEpa.h" +#include "BulletCollision/NarrowPhaseCollision/btGjkEpa2.h" bool btGjkEpaPenetrationDepthSolver::calcPenDepth( btSimplexSolverInterface& simplexSolver, - btConvexShape* pConvexA, btConvexShape* pConvexB, + const btConvexShape* pConvexA, const btConvexShape* pConvexB, const btTransform& transformA, const btTransform& transformB, btVector3& v, btPoint3& wWitnessOnA, btPoint3& wWitnessOnB, class btIDebugDraw* debugDraw, btStackAlloc* stackAlloc ) @@ -32,10 +33,20 @@ bool btGjkEpaPenetrationDepthSolver::calcPenDepth( btSimplexSolverInterface& sim const btScalar radialmargin(btScalar(0.)); +//#define USE_ORIGINAL_GJK 1 +#ifdef USE_ORIGINAL_GJK btGjkEpaSolver::sResults results; if(btGjkEpaSolver::Collide( pConvexA,transformA, pConvexB,transformB, radialmargin,stackAlloc,results)) +#else + btVector3 guessVector(transformA.getOrigin()-transformB.getOrigin()); + btGjkEpaSolver2::sResults results; + if(btGjkEpaSolver2::Penetration(pConvexA,transformA, + pConvexB,transformB, + guessVector,results)) + +#endif { // debugDraw->drawLine(results.witnesses[1],results.witnesses[1]+results.normal,btVector3(255,0,0)); //resultOut->addContactPoint(results.normal,results.witnesses[1],-results.depth); diff --git a/extern/bullet2/src/BulletCollision/NarrowPhaseCollision/btGjkEpaPenetrationDepthSolver.h b/extern/bullet2/src/BulletCollision/NarrowPhaseCollision/btGjkEpaPenetrationDepthSolver.h index 3916ba0776c..2dc069ce5cf 100644 --- a/extern/bullet2/src/BulletCollision/NarrowPhaseCollision/btGjkEpaPenetrationDepthSolver.h +++ b/extern/bullet2/src/BulletCollision/NarrowPhaseCollision/btGjkEpaPenetrationDepthSolver.h @@ -26,7 +26,7 @@ class btGjkEpaPenetrationDepthSolver : public btConvexPenetrationDepthSolver public : bool calcPenDepth( btSimplexSolverInterface& simplexSolver, - btConvexShape* pConvexA, btConvexShape* pConvexB, + const btConvexShape* pConvexA, const btConvexShape* pConvexB, const btTransform& transformA, const btTransform& transformB, btVector3& v, btPoint3& wWitnessOnA, btPoint3& wWitnessOnB, class btIDebugDraw* debugDraw,btStackAlloc* stackAlloc ); diff --git a/extern/bullet2/src/BulletCollision/NarrowPhaseCollision/btGjkPairDetector.cpp b/extern/bullet2/src/BulletCollision/NarrowPhaseCollision/btGjkPairDetector.cpp index f1f3f7f7f6c..01fb1a4b068 100644 --- a/extern/bullet2/src/BulletCollision/NarrowPhaseCollision/btGjkPairDetector.cpp +++ b/extern/bullet2/src/BulletCollision/NarrowPhaseCollision/btGjkPairDetector.cpp @@ -35,7 +35,7 @@ int gNumGjkChecks = 0; -btGjkPairDetector::btGjkPairDetector(btConvexShape* objectA,btConvexShape* objectB,btSimplexSolverInterface* simplexSolver,btConvexPenetrationDepthSolver* penetrationDepthSolver) +btGjkPairDetector::btGjkPairDetector(const btConvexShape* objectA,const btConvexShape* objectB,btSimplexSolverInterface* simplexSolver,btConvexPenetrationDepthSolver* penetrationDepthSolver) :m_cachedSeparatingAxis(btScalar(0.),btScalar(0.),btScalar(1.)), m_penetrationDepthSolver(penetrationDepthSolver), m_simplexSolver(simplexSolver), @@ -47,7 +47,7 @@ m_catchDegeneracies(1) { } -void btGjkPairDetector::getClosestPoints(const ClosestPointInput& input,Result& output,class btIDebugDraw* debugDraw) +void btGjkPairDetector::getClosestPoints(const ClosestPointInput& input,Result& output,class btIDebugDraw* debugDraw,bool swapResults) { btScalar distance=btScalar(0.); btVector3 normalInB(btScalar(0.),btScalar(0.),btScalar(0.)); @@ -144,6 +144,13 @@ void btGjkPairDetector::getClosestPoints(const ClosestPointInput& input,Result& break; } + if(m_cachedSeparatingAxis.length2()<REL_ERROR2) + { + m_degenerateSimplex = 6; + checkSimplex = true; + break; + } + btScalar previousSquaredDistance = squaredDistance; squaredDistance = m_cachedSeparatingAxis.length2(); diff --git a/extern/bullet2/src/BulletCollision/NarrowPhaseCollision/btGjkPairDetector.h b/extern/bullet2/src/BulletCollision/NarrowPhaseCollision/btGjkPairDetector.h index af0fe32f6c7..550fc4677e0 100644 --- a/extern/bullet2/src/BulletCollision/NarrowPhaseCollision/btGjkPairDetector.h +++ b/extern/bullet2/src/BulletCollision/NarrowPhaseCollision/btGjkPairDetector.h @@ -20,8 +20,8 @@ subject to the following restrictions: #define GJK_PAIR_DETECTOR_H #include "btDiscreteCollisionDetectorInterface.h" -#include "../../LinearMath/btPoint3.h" -#include "../CollisionShapes/btCollisionMargin.h" +#include "LinearMath/btPoint3.h" +#include "BulletCollision/CollisionShapes/btCollisionMargin.h" class btConvexShape; #include "btSimplexSolverInterface.h" @@ -35,8 +35,8 @@ class btGjkPairDetector : public btDiscreteCollisionDetectorInterface btVector3 m_cachedSeparatingAxis; btConvexPenetrationDepthSolver* m_penetrationDepthSolver; btSimplexSolverInterface* m_simplexSolver; - btConvexShape* m_minkowskiA; - btConvexShape* m_minkowskiB; + const btConvexShape* m_minkowskiA; + const btConvexShape* m_minkowskiB; bool m_ignoreMargin; @@ -49,10 +49,10 @@ public: int m_catchDegeneracies; - btGjkPairDetector(btConvexShape* objectA,btConvexShape* objectB,btSimplexSolverInterface* simplexSolver,btConvexPenetrationDepthSolver* penetrationDepthSolver); + btGjkPairDetector(const btConvexShape* objectA,const btConvexShape* objectB,btSimplexSolverInterface* simplexSolver,btConvexPenetrationDepthSolver* penetrationDepthSolver); virtual ~btGjkPairDetector() {}; - virtual void getClosestPoints(const ClosestPointInput& input,Result& output,class btIDebugDraw* debugDraw); + virtual void getClosestPoints(const ClosestPointInput& input,Result& output,class btIDebugDraw* debugDraw,bool swapResults=false); void setMinkowskiA(btConvexShape* minkA) { diff --git a/extern/bullet2/src/BulletCollision/NarrowPhaseCollision/btManifoldPoint.h b/extern/bullet2/src/BulletCollision/NarrowPhaseCollision/btManifoldPoint.h index f6a893151da..e75fc1bee96 100644 --- a/extern/bullet2/src/BulletCollision/NarrowPhaseCollision/btManifoldPoint.h +++ b/extern/bullet2/src/BulletCollision/NarrowPhaseCollision/btManifoldPoint.h @@ -16,8 +16,8 @@ subject to the following restrictions: #ifndef MANIFOLD_CONTACT_POINT_H #define MANIFOLD_CONTACT_POINT_H -#include "../../LinearMath/btVector3.h" -#include "../../LinearMath/btTransformUtil.h" +#include "LinearMath/btVector3.h" +#include "LinearMath/btTransformUtil.h" @@ -30,6 +30,8 @@ class btManifoldPoint public: btManifoldPoint() :m_userPersistentData(0), + m_appliedImpulse(0.f), + m_lateralFrictionInitialized(false), m_lifeTime(0) { } @@ -43,7 +45,11 @@ class btManifoldPoint m_distance1( distance ), m_combinedFriction(btScalar(0.)), m_combinedRestitution(btScalar(0.)), - m_userPersistentData(0), + m_userPersistentData(0), + m_appliedImpulse(0.f), + m_lateralFrictionInitialized(false), + m_appliedImpulseLateral1(0.f), + m_appliedImpulseLateral2(0.f), m_lifeTime(0) { @@ -63,11 +69,23 @@ class btManifoldPoint btScalar m_combinedFriction; btScalar m_combinedRestitution; + //BP mod, store contact triangles. + int m_partId0; + int m_partId1; + int m_index0; + int m_index1; mutable void* m_userPersistentData; + btScalar m_appliedImpulse; - int m_lifeTime;//lifetime of the contactpoint in frames + bool m_lateralFrictionInitialized; + btScalar m_appliedImpulseLateral1; + btScalar m_appliedImpulseLateral2; + int m_lifeTime;//lifetime of the contactpoint in frames + btVector3 m_lateralFrictionDir1; + btVector3 m_lateralFrictionDir2; + btScalar getDistance() const { return m_distance1; diff --git a/extern/bullet2/src/BulletCollision/NarrowPhaseCollision/btMinkowskiPenetrationDepthSolver.cpp b/extern/bullet2/src/BulletCollision/NarrowPhaseCollision/btMinkowskiPenetrationDepthSolver.cpp index c4bab3a134a..0e6fa2e6dfe 100644 --- a/extern/bullet2/src/BulletCollision/NarrowPhaseCollision/btMinkowskiPenetrationDepthSolver.cpp +++ b/extern/bullet2/src/BulletCollision/NarrowPhaseCollision/btMinkowskiPenetrationDepthSolver.cpp @@ -14,10 +14,10 @@ subject to the following restrictions: */ #include "btMinkowskiPenetrationDepthSolver.h" -#include "BulletCollision/CollisionShapes/btMinkowskiSumShape.h" #include "BulletCollision/NarrowPhaseCollision/btSubSimplexConvexCast.h" #include "BulletCollision/NarrowPhaseCollision/btVoronoiSimplexSolver.h" #include "BulletCollision/NarrowPhaseCollision/btGjkPairDetector.h" +#include "BulletCollision/CollisionShapes/btConvexShape.h" @@ -71,7 +71,7 @@ btVector3(btScalar(0.162456) , btScalar(0.499995),btScalar(0.850654)) bool btMinkowskiPenetrationDepthSolver::calcPenDepth(btSimplexSolverInterface& simplexSolver, - btConvexShape* convexA,btConvexShape* convexB, + const btConvexShape* convexA,const btConvexShape* convexB, const btTransform& transA,const btTransform& transB, btVector3& v, btPoint3& pa, btPoint3& pb, class btIDebugDraw* debugDraw,btStackAlloc* stackAlloc @@ -112,8 +112,7 @@ bool btMinkowskiPenetrationDepthSolver::calcPenDepth(btSimplexSolverInterface& s //just take fixed number of orientation, and sample the penetration depth in that direction btScalar minProj = btScalar(1e30); - btVector3 minNorm; - btVector3 minVertex; + btVector3 minNorm(btScalar(0.), btScalar(0.), btScalar(0.)); btVector3 minA,minB; btVector3 seperatingAxisInA,seperatingAxisInB; btVector3 pInA,qInB,pWorld,qWorld,w; diff --git a/extern/bullet2/src/BulletCollision/NarrowPhaseCollision/btMinkowskiPenetrationDepthSolver.h b/extern/bullet2/src/BulletCollision/NarrowPhaseCollision/btMinkowskiPenetrationDepthSolver.h index b348b21b52a..27b42c2b47e 100644 --- a/extern/bullet2/src/BulletCollision/NarrowPhaseCollision/btMinkowskiPenetrationDepthSolver.h +++ b/extern/bullet2/src/BulletCollision/NarrowPhaseCollision/btMinkowskiPenetrationDepthSolver.h @@ -25,7 +25,7 @@ class btMinkowskiPenetrationDepthSolver : public btConvexPenetrationDepthSolver public: virtual bool calcPenDepth( btSimplexSolverInterface& simplexSolver, - btConvexShape* convexA,btConvexShape* convexB, + const btConvexShape* convexA,const btConvexShape* convexB, const btTransform& transA,const btTransform& transB, btVector3& v, btPoint3& pa, btPoint3& pb, class btIDebugDraw* debugDraw,btStackAlloc* stackAlloc diff --git a/extern/bullet2/src/BulletCollision/NarrowPhaseCollision/btPersistentManifold.cpp b/extern/bullet2/src/BulletCollision/NarrowPhaseCollision/btPersistentManifold.cpp index 08cb3ed334d..386885d2ac8 100644 --- a/extern/bullet2/src/BulletCollision/NarrowPhaseCollision/btPersistentManifold.cpp +++ b/extern/bullet2/src/BulletCollision/NarrowPhaseCollision/btPersistentManifold.cpp @@ -20,6 +20,7 @@ subject to the following restrictions: btScalar gContactBreakingThreshold = btScalar(0.02); ContactDestroyedCallback gContactDestroyedCallback = 0; +ContactProcessedCallback gContactProcessedCallback = 0; @@ -27,20 +28,12 @@ btPersistentManifold::btPersistentManifold() :m_body0(0), m_body1(0), m_cachedPoints (0), -m_index1(0) +m_index1a(0) { } -void btPersistentManifold::clearManifold() -{ - int i; - for (i=0;i<m_cachedPoints;i++) - { - clearUserCache(m_pointCache[i]); - } - m_cachedPoints = 0; -} + #ifdef DEBUG_PERSISTENCY #include <stdio.h> @@ -169,7 +162,7 @@ int btPersistentManifold::getCacheEntry(const btManifoldPoint& newPoint) const return nearestPoint; } -void btPersistentManifold::AddManifoldPoint(const btManifoldPoint& newPoint) +int btPersistentManifold::addManifoldPoint(const btManifoldPoint& newPoint) { assert(validContactDistance(newPoint)); @@ -182,7 +175,7 @@ void btPersistentManifold::AddManifoldPoint(const btManifoldPoint& newPoint) #else insertIndex = 0; #endif - + clearUserCache(m_pointCache[insertIndex]); } else { @@ -190,7 +183,9 @@ void btPersistentManifold::AddManifoldPoint(const btManifoldPoint& newPoint) } - replaceContactPoint(newPoint,insertIndex); + btAssert(m_pointCache[insertIndex].m_userPersistentData==0); + m_pointCache[insertIndex] = newPoint; + return insertIndex; } btScalar btPersistentManifold::getContactBreakingThreshold() const @@ -198,10 +193,20 @@ btScalar btPersistentManifold::getContactBreakingThreshold() const return gContactBreakingThreshold; } + + void btPersistentManifold::refreshContactPoints(const btTransform& trA,const btTransform& trB) { int i; - +#ifdef DEBUG_PERSISTENCY + printf("refreshContactPoints posA = (%f,%f,%f) posB = (%f,%f,%f)\n", + trA.getOrigin().getX(), + trA.getOrigin().getY(), + trA.getOrigin().getZ(), + trB.getOrigin().getX(), + trB.getOrigin().getY(), + trB.getOrigin().getZ()); +#endif //DEBUG_PERSISTENCY /// first refresh worldspace positions and distance for (i=getNumContacts()-1;i>=0;i--) { @@ -232,6 +237,11 @@ void btPersistentManifold::refreshContactPoints(const btTransform& trA,const btT if (distance2d > getContactBreakingThreshold()*getContactBreakingThreshold() ) { removeContactPoint(i); + } else + { + //contact point processed callback + if (gContactProcessedCallback) + (*gContactProcessedCallback)(manifoldPoint,m_body0,m_body1); } } } diff --git a/extern/bullet2/src/BulletCollision/NarrowPhaseCollision/btPersistentManifold.h b/extern/bullet2/src/BulletCollision/NarrowPhaseCollision/btPersistentManifold.h index a5918b84db3..c122eb865e8 100644 --- a/extern/bullet2/src/BulletCollision/NarrowPhaseCollision/btPersistentManifold.h +++ b/extern/bullet2/src/BulletCollision/NarrowPhaseCollision/btPersistentManifold.h @@ -17,9 +17,10 @@ subject to the following restrictions: #define PERSISTENT_MANIFOLD_H -#include "../../LinearMath/btVector3.h" -#include "../../LinearMath/btTransform.h" +#include "LinearMath/btVector3.h" +#include "LinearMath/btTransform.h" #include "btManifoldPoint.h" +#include "LinearMath/btAlignedAllocator.h" struct btCollisionResult; @@ -27,6 +28,7 @@ struct btCollisionResult; extern btScalar gContactBreakingThreshold; typedef bool (*ContactDestroyedCallback)(void* userPersistentData); +typedef bool (*ContactProcessedCallback)(btManifoldPoint& cp,void* body0,void* body1); extern ContactDestroyedCallback gContactDestroyedCallback; @@ -34,8 +36,13 @@ extern ContactDestroyedCallback gContactDestroyedCallback; #define MANIFOLD_CACHE_SIZE 4 -///btPersistentManifold maintains contact points, and reduces them to 4. -///It does contact filtering/contact reduction. +///btPersistentManifold is a contact point cache, it stays persistent as long as objects are overlapping in the broadphase. +///Those contact points are created by the collision narrow phase. +///The cache can be empty, or hold 1,2,3 or 4 points. Some collision algorithms (GJK) might only add one point at a time. +///updates/refreshes old contact points, and throw them away if necessary (distance becomes too large) +///reduces the cache to 4 points, when more then 4 points are added, using following rules: +///the contact point with deepest penetration is always kept, and it tries to maximuze the area covered by the points +///note that some pairs of objects might have more then one contact manifold. ATTRIBUTE_ALIGNED16( class) btPersistentManifold { @@ -55,20 +62,23 @@ ATTRIBUTE_ALIGNED16( class) btPersistentManifold public: - int m_index1; + BT_DECLARE_ALIGNED_ALLOCATOR(); + + int m_index1a; btPersistentManifold(); - btPersistentManifold(void* body0,void* body1) + btPersistentManifold(void* body0,void* body1,int bla) : m_body0(body0),m_body1(body1),m_cachedPoints(0) { + (void)bla; } - inline void* getBody0() { return m_body0;} - inline void* getBody1() { return m_body1;} + SIMD_FORCE_INLINE void* getBody0() { return m_body0;} + SIMD_FORCE_INLINE void* getBody1() { return m_body1;} - inline const void* getBody0() const { return m_body0;} - inline const void* getBody1() const { return m_body1;} + SIMD_FORCE_INLINE const void* getBody0() const { return m_body0;} + SIMD_FORCE_INLINE const void* getBody1() const { return m_body1;} void setBodies(void* body0,void* body1) { @@ -82,15 +92,15 @@ public: void DebugPersistency(); #endif // - inline int getNumContacts() const { return m_cachedPoints;} + SIMD_FORCE_INLINE int getNumContacts() const { return m_cachedPoints;} - inline const btManifoldPoint& getContactPoint(int index) const + SIMD_FORCE_INLINE const btManifoldPoint& getContactPoint(int index) const { btAssert(index < m_cachedPoints); return m_pointCache[index]; } - inline btManifoldPoint& getContactPoint(int index) + SIMD_FORCE_INLINE btManifoldPoint& getContactPoint(int index) { btAssert(index < m_cachedPoints); return m_pointCache[index]; @@ -101,7 +111,7 @@ public: int getCacheEntry(const btManifoldPoint& newPoint) const; - void AddManifoldPoint( const btManifoldPoint& newPoint); + int addManifoldPoint( const btManifoldPoint& newPoint); void removeContactPoint (int index) { @@ -114,6 +124,11 @@ public: m_pointCache[index] = m_pointCache[lastUsedIndex]; //get rid of duplicated userPersistentData pointer m_pointCache[lastUsedIndex].m_userPersistentData = 0; + m_pointCache[lastUsedIndex].m_appliedImpulse = 0.f; + m_pointCache[lastUsedIndex].m_lateralFrictionInitialized = false; + m_pointCache[lastUsedIndex].m_appliedImpulseLateral1 = 0.f; + m_pointCache[lastUsedIndex].m_appliedImpulseLateral2 = 0.f; + m_pointCache[lastUsedIndex].m_lifeTime = 0; } btAssert(m_pointCache[lastUsedIndex].m_userPersistentData==0); @@ -126,12 +141,20 @@ public: #define MAINTAIN_PERSISTENCY 1 #ifdef MAINTAIN_PERSISTENCY int lifeTime = m_pointCache[insertIndex].getLifeTime(); + btScalar appliedImpulse = m_pointCache[insertIndex].m_appliedImpulse; + btScalar appliedLateralImpulse1 = m_pointCache[insertIndex].m_appliedImpulseLateral1; + btScalar appliedLateralImpulse2 = m_pointCache[insertIndex].m_appliedImpulseLateral2; + btAssert(lifeTime>=0); void* cache = m_pointCache[insertIndex].m_userPersistentData; m_pointCache[insertIndex] = newPoint; m_pointCache[insertIndex].m_userPersistentData = cache; + m_pointCache[insertIndex].m_appliedImpulse = appliedImpulse; + m_pointCache[insertIndex].m_appliedImpulseLateral1 = appliedLateralImpulse1; + m_pointCache[insertIndex].m_appliedImpulseLateral2 = appliedLateralImpulse2; + m_pointCache[insertIndex].m_lifeTime = lifeTime; #else clearUserCache(m_pointCache[insertIndex]); @@ -147,7 +170,16 @@ public: /// calculated new worldspace coordinates and depth, and reject points that exceed the collision margin void refreshContactPoints( const btTransform& trA,const btTransform& trB); - void clearManifold(); + + SIMD_FORCE_INLINE void clearManifold() + { + int i; + for (i=0;i<m_cachedPoints;i++) + { + clearUserCache(m_pointCache[i]); + } + m_cachedPoints = 0; + } diff --git a/extern/bullet2/src/BulletCollision/NarrowPhaseCollision/btRaycastCallback.cpp b/extern/bullet2/src/BulletCollision/NarrowPhaseCollision/btRaycastCallback.cpp index 31b91467777..a70a3ae56c4 100644 --- a/extern/bullet2/src/BulletCollision/NarrowPhaseCollision/btRaycastCallback.cpp +++ b/extern/bullet2/src/BulletCollision/NarrowPhaseCollision/btRaycastCallback.cpp @@ -13,7 +13,14 @@ subject to the following restrictions: 3. This notice may not be removed or altered from any source distribution. */ - +//#include <stdio.h> + +#include "BulletCollision/CollisionShapes/btConvexShape.h" +#include "BulletCollision/CollisionShapes/btTriangleShape.h" +#include "BulletCollision/NarrowPhaseCollision/btSubSimplexConvexCast.h" +#include "BulletCollision/NarrowPhaseCollision/btGjkConvexCast.h" +#include "BulletCollision/NarrowPhaseCollision/btContinuousConvexCollision.h" +#include "BulletCollision/NarrowPhaseCollision/btGjkEpaPenetrationDepthSolver.h" #include "btRaycastCallback.h" btTriangleRaycastCallback::btTriangleRaycastCallback(const btVector3& from,const btVector3& to) @@ -29,8 +36,6 @@ btTriangleRaycastCallback::btTriangleRaycastCallback(const btVector3& from,const void btTriangleRaycastCallback::processTriangle(btVector3* triangle,int partId, int triangleIndex) { - - const btVector3 &vert0=triangle[0]; const btVector3 &vert1=triangle[1]; const btVector3 &vert2=triangle[2]; @@ -99,3 +104,60 @@ void btTriangleRaycastCallback::processTriangle(btVector3* triangle,int partId, } } } + + +btTriangleConvexcastCallback::btTriangleConvexcastCallback (const btConvexShape* convexShape, const btTransform& convexShapeFrom, const btTransform& convexShapeTo, const btTransform& triangleToWorld, const btScalar triangleCollisionMargin) +{ + m_convexShape = convexShape; + m_convexShapeFrom = convexShapeFrom; + m_convexShapeTo = convexShapeTo; + m_triangleToWorld = triangleToWorld; + m_hitFraction = 1.0; + m_triangleCollisionMargin = triangleCollisionMargin; +} + +void +btTriangleConvexcastCallback::processTriangle (btVector3* triangle, int partId, int triangleIndex) +{ + btTriangleShape triangleShape (triangle[0], triangle[1], triangle[2]); + triangleShape.setMargin(m_triangleCollisionMargin); + + btVoronoiSimplexSolver simplexSolver; + btGjkEpaPenetrationDepthSolver gjkEpaPenetrationSolver; + +//#define USE_SUBSIMPLEX_CONVEX_CAST 1 +//if you reenable USE_SUBSIMPLEX_CONVEX_CAST see commented out code below +#ifdef USE_SUBSIMPLEX_CONVEX_CAST + btSubsimplexConvexCast convexCaster(m_convexShape, &triangleShape, &simplexSolver); +#else + //btGjkConvexCast convexCaster(m_convexShape,&triangleShape,&simplexSolver); + btContinuousConvexCollision convexCaster(m_convexShape,&triangleShape,&simplexSolver,&gjkEpaPenetrationSolver); +#endif //#USE_SUBSIMPLEX_CONVEX_CAST + + btConvexCast::CastResult castResult; + castResult.m_fraction = btScalar(1.); + if (convexCaster.calcTimeOfImpact(m_convexShapeFrom,m_convexShapeTo,m_triangleToWorld, m_triangleToWorld, castResult)) + { + //add hit + if (castResult.m_normal.length2() > btScalar(0.0001)) + { + if (castResult.m_fraction < m_hitFraction) + { +/* btContinuousConvexCast's normal is already in world space */ +/* +#ifdef USE_SUBSIMPLEX_CONVEX_CAST + //rotate normal into worldspace + castResult.m_normal = m_convexShapeFrom.getBasis() * castResult.m_normal; +#endif //USE_SUBSIMPLEX_CONVEX_CAST +*/ + castResult.m_normal.normalize(); + + reportHit (castResult.m_normal, + castResult.m_hitPoint, + castResult.m_fraction, + partId, + triangleIndex); + } + } + } +} diff --git a/extern/bullet2/src/BulletCollision/NarrowPhaseCollision/btRaycastCallback.h b/extern/bullet2/src/BulletCollision/NarrowPhaseCollision/btRaycastCallback.h index a0bbc9f8fe9..d2b4b80f8ba 100644 --- a/extern/bullet2/src/BulletCollision/NarrowPhaseCollision/btRaycastCallback.h +++ b/extern/bullet2/src/BulletCollision/NarrowPhaseCollision/btRaycastCallback.h @@ -16,15 +16,16 @@ subject to the following restrictions: #ifndef RAYCAST_TRI_CALLBACK_H #define RAYCAST_TRI_CALLBACK_H -#include "../CollisionShapes/btTriangleCallback.h" +#include "BulletCollision/CollisionShapes/btTriangleCallback.h" +#include "LinearMath/btTransform.h" struct btBroadphaseProxy; - +class btConvexShape; class btTriangleRaycastCallback: public btTriangleCallback { public: - //input + //input btVector3 m_from; btVector3 m_to; @@ -38,5 +39,22 @@ public: }; +class btTriangleConvexcastCallback : public btTriangleCallback +{ +public: + const btConvexShape* m_convexShape; + btTransform m_convexShapeFrom; + btTransform m_convexShapeTo; + btTransform m_triangleToWorld; + btScalar m_hitFraction; + btScalar m_triangleCollisionMargin; + + btTriangleConvexcastCallback (const btConvexShape* convexShape, const btTransform& convexShapeFrom, const btTransform& convexShapeTo, const btTransform& triangleToWorld, const btScalar triangleCollisionMargin); + + virtual void processTriangle (btVector3* triangle, int partId, int triangleIndex); + + virtual btScalar reportHit (const btVector3& hitNormalLocal, const btVector3& hitPointLocal, btScalar hitFraction, int partId, int triangleIndex) = 0; +}; + #endif //RAYCAST_TRI_CALLBACK_H diff --git a/extern/bullet2/src/BulletCollision/NarrowPhaseCollision/btSimplexSolverInterface.h b/extern/bullet2/src/BulletCollision/NarrowPhaseCollision/btSimplexSolverInterface.h index 58393b2eab9..cf65f46505b 100644 --- a/extern/bullet2/src/BulletCollision/NarrowPhaseCollision/btSimplexSolverInterface.h +++ b/extern/bullet2/src/BulletCollision/NarrowPhaseCollision/btSimplexSolverInterface.h @@ -18,8 +18,8 @@ subject to the following restrictions: #ifndef SIMPLEX_SOLVER_INTERFACE_H #define SIMPLEX_SOLVER_INTERFACE_H -#include "../../LinearMath/btVector3.h" -#include "../../LinearMath/btPoint3.h" +#include "LinearMath/btVector3.h" +#include "LinearMath/btPoint3.h" #define NO_VIRTUAL_INTERFACE 1 #ifdef NO_VIRTUAL_INTERFACE diff --git a/extern/bullet2/src/BulletCollision/NarrowPhaseCollision/btSubSimplexConvexCast.cpp b/extern/bullet2/src/BulletCollision/NarrowPhaseCollision/btSubSimplexConvexCast.cpp index 687738b7fa9..4c709a8c3a9 100644 --- a/extern/bullet2/src/BulletCollision/NarrowPhaseCollision/btSubSimplexConvexCast.cpp +++ b/extern/bullet2/src/BulletCollision/NarrowPhaseCollision/btSubSimplexConvexCast.cpp @@ -16,9 +16,11 @@ subject to the following restrictions: #include "btSubSimplexConvexCast.h" #include "BulletCollision/CollisionShapes/btConvexShape.h" + #include "BulletCollision/CollisionShapes/btMinkowskiSumShape.h" #include "BulletCollision/NarrowPhaseCollision/btSimplexSolverInterface.h" - +#include "btPointCollector.h" +#include "LinearMath/btTransformUtil.h" btSubsimplexConvexCast::btSubsimplexConvexCast (const btConvexShape* convexA,const btConvexShape* convexB,btSimplexSolverInterface* simplexSolver) :m_simplexSolver(simplexSolver), @@ -41,34 +43,24 @@ bool btSubsimplexConvexCast::calcTimeOfImpact( CastResult& result) { - btMinkowskiSumShape combi(m_convexA,m_convexB); - btMinkowskiSumShape* convex = &combi; - - btTransform rayFromLocalA; - btTransform rayToLocalA; - - rayFromLocalA = fromA.inverse()* fromB; - rayToLocalA = toA.inverse()* toB; - - m_simplexSolver->reset(); - convex->setTransformB(btTransform(rayFromLocalA.getBasis())); - - //btScalar radius = btScalar(0.01); + btVector3 linVelA,linVelB; + linVelA = toA.getOrigin()-fromA.getOrigin(); + linVelB = toB.getOrigin()-fromB.getOrigin(); btScalar lambda = btScalar(0.); - //todo: need to verify this: - //because of minkowski difference, we need the inverse direction - - btVector3 s = -rayFromLocalA.getOrigin(); - btVector3 r = -(rayToLocalA.getOrigin()-rayFromLocalA.getOrigin()); - btVector3 x = s; + + btTransform interpolatedTransA = fromA; + btTransform interpolatedTransB = fromB; + + ///take relative motion + btVector3 r = (linVelA-linVelB); btVector3 v; - btVector3 arbitraryPoint = convex->localGetSupportingVertex(r); - v = x - arbitraryPoint; - + btVector3 supVertexA = fromA(m_convexA->localGetSupportingVertex(-r*fromA.getBasis())); + btVector3 supVertexB = fromB(m_convexB->localGetSupportingVertex(r*fromB.getBasis())); + v = supVertexA-supVertexB; int maxIter = MAX_ITERATIONS; btVector3 n; @@ -90,11 +82,17 @@ bool btSubsimplexConvexCast::calcTimeOfImpact( while ( (dist2 > epsilon) && maxIter--) { - p = convex->localGetSupportingVertex( v); - w = x - p; + supVertexA = interpolatedTransA(m_convexA->localGetSupportingVertex(-v*interpolatedTransA.getBasis())); + supVertexB = interpolatedTransB(m_convexB->localGetSupportingVertex(v*interpolatedTransB.getBasis())); + w = supVertexA-supVertexB; btScalar VdotW = v.dot(w); + if (lambda > btScalar(1.0)) + { + return false; + } + if ( VdotW > btScalar(0.)) { VdotR = v.dot(r); @@ -104,20 +102,25 @@ bool btSubsimplexConvexCast::calcTimeOfImpact( else { lambda = lambda - VdotW / VdotR; - x = s + lambda * r; - m_simplexSolver->reset(); + //interpolate to next lambda + // x = s + lambda * r; + interpolatedTransA.getOrigin().setInterpolate3(fromA.getOrigin(),toA.getOrigin(),lambda); + interpolatedTransB.getOrigin().setInterpolate3(fromB.getOrigin(),toB.getOrigin(),lambda); + //m_simplexSolver->reset(); //check next line - w = x-p; + w = supVertexA-supVertexB; lastLambda = lambda; n = v; hasResult = true; } } - m_simplexSolver->addVertex( w, x , p); + m_simplexSolver->addVertex( w, supVertexA , supVertexB); if (m_simplexSolver->closest(v)) { dist2 = v.length2(); hasResult = true; + //todo: check this normal for validity + //n=v; //printf("V=%f , %f, %f\n",v[0],v[1],v[2]); //printf("DIST2=%f\n",dist2); //printf("numverts = %i\n",m_simplexSolver->numVertices()); @@ -129,11 +132,26 @@ bool btSubsimplexConvexCast::calcTimeOfImpact( //int numiter = MAX_ITERATIONS - maxIter; // printf("number of iterations: %d", numiter); - result.m_fraction = lambda; - result.m_normal = n; + + //don't report a time of impact when moving 'away' from the hitnormal + + result.m_fraction = lambda; + if (n.length2() >= (SIMD_EPSILON*SIMD_EPSILON)) + result.m_normal = n.normalized(); + else + result.m_normal = btVector3(btScalar(0.0), btScalar(0.0), btScalar(0.0)); + + //don't report time of impact for motion away from the contact normal (or causes minor penetration) + if (result.m_normal.dot(r)>=-result.m_allowedPenetration) + return false; + + btVector3 hitA,hitB; + m_simplexSolver->compute_points(hitA,hitB); + result.m_hitPoint=hitB; return true; } + diff --git a/extern/bullet2/src/BulletCollision/NarrowPhaseCollision/btVoronoiSimplexSolver.cpp b/extern/bullet2/src/BulletCollision/NarrowPhaseCollision/btVoronoiSimplexSolver.cpp index 105b7eccefa..cf8a3ab5eb1 100644 --- a/extern/bullet2/src/BulletCollision/NarrowPhaseCollision/btVoronoiSimplexSolver.cpp +++ b/extern/bullet2/src/BulletCollision/NarrowPhaseCollision/btVoronoiSimplexSolver.cpp @@ -26,7 +26,7 @@ subject to the following restrictions: #include "btVoronoiSimplexSolver.h" #include <assert.h> -#include <stdio.h> +//#include <stdio.h> #define VERTA 0 #define VERTB 1 diff --git a/extern/bullet2/src/BulletDynamics/CMakeLists.txt b/extern/bullet2/src/BulletDynamics/CMakeLists.txt index 8598575799a..58b023e9775 100644 --- a/extern/bullet2/src/BulletDynamics/CMakeLists.txt +++ b/extern/bullet2/src/BulletDynamics/CMakeLists.txt @@ -5,16 +5,32 @@ ${BULLET_PHYSICS_SOURCE_DIR}/src } ADD_LIBRARY(LibBulletDynamics ConstraintSolver/btContactConstraint.cpp + ConstraintSolver/btContactConstraint.h + ConstraintSolver/btConeTwistConstraint.cpp + ConstraintSolver/btConeTwistConstraint.h ConstraintSolver/btGeneric6DofConstraint.cpp + ConstraintSolver/btGeneric6DofConstraint.h ConstraintSolver/btHingeConstraint.cpp + ConstraintSolver/btHingeConstraint.h ConstraintSolver/btPoint2PointConstraint.cpp + ConstraintSolver/btPoint2PointConstraint.h ConstraintSolver/btSequentialImpulseConstraintSolver.cpp + ConstraintSolver/btSequentialImpulseConstraintSolver.h + ConstraintSolver/btSliderConstraint.cpp + ConstraintSolver/btSliderConstraint.h ConstraintSolver/btSolve2LinearConstraint.cpp + ConstraintSolver/btSolve2LinearConstraint.h ConstraintSolver/btTypedConstraint.cpp + ConstraintSolver/btTypedConstraint.h + Dynamics/Bullet-C-API.cpp Dynamics/btDiscreteDynamicsWorld.cpp + Dynamics/btDiscreteDynamicsWorld.h Dynamics/btSimpleDynamicsWorld.cpp - Dynamics/Bullet-C-API.cpp + Dynamics/btSimpleDynamicsWorld.h Dynamics/btRigidBody.cpp + Dynamics/btRigidBody.h Vehicle/btRaycastVehicle.cpp + Vehicle/btRaycastVehicle.h Vehicle/btWheelInfo.cpp + Vehicle/btWheelInfo.h ) diff --git a/extern/bullet2/src/BulletDynamics/ConstraintSolver/btConeTwistConstraint.cpp b/extern/bullet2/src/BulletDynamics/ConstraintSolver/btConeTwistConstraint.cpp index 2289621e8e3..61dad522a5b 100644 --- a/extern/bullet2/src/BulletDynamics/ConstraintSolver/btConeTwistConstraint.cpp +++ b/extern/bullet2/src/BulletDynamics/ConstraintSolver/btConeTwistConstraint.cpp @@ -19,24 +19,20 @@ Written by: Marcus Hennix #include "btConeTwistConstraint.h" #include "BulletDynamics/Dynamics/btRigidBody.h" #include "LinearMath/btTransformUtil.h" -#include "LinearMath/btSimdMinMax.h" +#include "LinearMath/btMinMax.h" #include <new> btConeTwistConstraint::btConeTwistConstraint() +:btTypedConstraint(CONETWIST_CONSTRAINT_TYPE) { } btConeTwistConstraint::btConeTwistConstraint(btRigidBody& rbA,btRigidBody& rbB, const btTransform& rbAFrame,const btTransform& rbBFrame) - :btTypedConstraint(rbA,rbB),m_rbAFrame(rbAFrame),m_rbBFrame(rbBFrame), + :btTypedConstraint(CONETWIST_CONSTRAINT_TYPE, rbA,rbB),m_rbAFrame(rbAFrame),m_rbBFrame(rbBFrame), m_angularOnly(false) { - // flip axis for correct angles - m_rbBFrame.getBasis()[1][0] *= btScalar(-1.); - m_rbBFrame.getBasis()[1][1] *= btScalar(-1.); - m_rbBFrame.getBasis()[1][2] *= btScalar(-1.); - m_swingSpan1 = btScalar(1e30); m_swingSpan2 = btScalar(1e30); m_twistSpan = btScalar(1e30); @@ -49,20 +45,11 @@ btConeTwistConstraint::btConeTwistConstraint(btRigidBody& rbA,btRigidBody& rbB, } btConeTwistConstraint::btConeTwistConstraint(btRigidBody& rbA,const btTransform& rbAFrame) - :btTypedConstraint(rbA),m_rbAFrame(rbAFrame), + :btTypedConstraint(CONETWIST_CONSTRAINT_TYPE,rbA),m_rbAFrame(rbAFrame), m_angularOnly(false) { m_rbBFrame = m_rbAFrame; - // flip axis for correct angles - m_rbBFrame.getBasis()[1][0] *= btScalar(-1.); - m_rbBFrame.getBasis()[1][1] *= btScalar(-1.); - m_rbBFrame.getBasis()[1][2] *= btScalar(-1.); - - m_rbBFrame.getBasis()[2][0] *= btScalar(-1.); - m_rbBFrame.getBasis()[2][1] *= btScalar(-1.); - m_rbBFrame.getBasis()[2][2] *= btScalar(-1.); - m_swingSpan1 = btScalar(1e30); m_swingSpan2 = btScalar(1e30); m_twistSpan = btScalar(1e30); @@ -127,22 +114,39 @@ void btConeTwistConstraint::buildJacobian() btScalar swing1=btScalar(0.),swing2 = btScalar(0.); + btScalar swx=btScalar(0.),swy = btScalar(0.); + btScalar thresh = btScalar(10.); + btScalar fact; + // Get Frame into world space if (m_swingSpan1 >= btScalar(0.05f)) { b1Axis2 = getRigidBodyA().getCenterOfMassTransform().getBasis() * this->m_rbAFrame.getBasis().getColumn(1); - swing1 = btAtan2Fast( b2Axis1.dot(b1Axis2),b2Axis1.dot(b1Axis1) ); +// swing1 = btAtan2Fast( b2Axis1.dot(b1Axis2),b2Axis1.dot(b1Axis1) ); + swx = b2Axis1.dot(b1Axis1); + swy = b2Axis1.dot(b1Axis2); + swing1 = btAtan2Fast(swy, swx); + fact = (swy*swy + swx*swx) * thresh * thresh; + fact = fact / (fact + btScalar(1.0)); + swing1 *= fact; + } if (m_swingSpan2 >= btScalar(0.05f)) { b1Axis3 = getRigidBodyA().getCenterOfMassTransform().getBasis() * this->m_rbAFrame.getBasis().getColumn(2); - swing2 = btAtan2Fast( b2Axis1.dot(b1Axis3),b2Axis1.dot(b1Axis1) ); +// swing2 = btAtan2Fast( b2Axis1.dot(b1Axis3),b2Axis1.dot(b1Axis1) ); + swx = b2Axis1.dot(b1Axis1); + swy = b2Axis1.dot(b1Axis3); + swing2 = btAtan2Fast(swy, swx); + fact = (swy*swy + swx*swx) * thresh * thresh; + fact = fact / (fact + btScalar(1.0)); + swing2 *= fact; } btScalar RMaxAngle1Sq = 1.0f / (m_swingSpan1*m_swingSpan1); btScalar RMaxAngle2Sq = 1.0f / (m_swingSpan2*m_swingSpan2); - btScalar EllipseAngle = btFabs(swing1)* RMaxAngle1Sq + btFabs(swing2) * RMaxAngle2Sq; + btScalar EllipseAngle = btFabs(swing1*swing1)* RMaxAngle1Sq + btFabs(swing2*swing2) * RMaxAngle2Sq; if (EllipseAngle > 1.0f) { @@ -246,7 +250,7 @@ void btConeTwistConstraint::solveConstraint(btScalar timeStep) // Clamp the accumulated impulse btScalar temp = m_accSwingLimitImpulse; - m_accSwingLimitImpulse = btMax(m_accSwingLimitImpulse + impulseMag, 0.0f ); + m_accSwingLimitImpulse = btMax(m_accSwingLimitImpulse + impulseMag, btScalar(0.0) ); impulseMag = m_accSwingLimitImpulse - temp; btVector3 impulse = m_swingAxis * impulseMag; @@ -264,7 +268,7 @@ void btConeTwistConstraint::solveConstraint(btScalar timeStep) // Clamp the accumulated impulse btScalar temp = m_accTwistLimitImpulse; - m_accTwistLimitImpulse = btMax(m_accTwistLimitImpulse + impulseMag, 0.0f ); + m_accTwistLimitImpulse = btMax(m_accTwistLimitImpulse + impulseMag, btScalar(0.0) ); impulseMag = m_accTwistLimitImpulse - temp; btVector3 impulse = m_twistAxis * impulseMag; diff --git a/extern/bullet2/src/BulletDynamics/ConstraintSolver/btConeTwistConstraint.h b/extern/bullet2/src/BulletDynamics/ConstraintSolver/btConeTwistConstraint.h index 874669c80b3..f121919c8f9 100644 --- a/extern/bullet2/src/BulletDynamics/ConstraintSolver/btConeTwistConstraint.h +++ b/extern/bullet2/src/BulletDynamics/ConstraintSolver/btConeTwistConstraint.h @@ -30,6 +30,9 @@ class btRigidBody; ///btConeTwistConstraint can be used to simulate ragdoll joints (upper arm, leg etc) class btConeTwistConstraint : public btTypedConstraint { +#ifdef IN_PARALLELL_SOLVER +public: +#endif btJacobianEntry m_jac[3]; //3 orthogonal linear constraints btTransform m_rbAFrame; diff --git a/extern/bullet2/src/BulletDynamics/ConstraintSolver/btConstraintSolver.h b/extern/bullet2/src/BulletDynamics/ConstraintSolver/btConstraintSolver.h index 7e8458c2c7b..7a8e9c1953d 100644 --- a/extern/bullet2/src/BulletDynamics/ConstraintSolver/btConstraintSolver.h +++ b/extern/bullet2/src/BulletDynamics/ConstraintSolver/btConstraintSolver.h @@ -16,7 +16,7 @@ subject to the following restrictions: #ifndef CONSTRAINT_SOLVER_H #define CONSTRAINT_SOLVER_H -#include "../../LinearMath/btScalar.h" +#include "LinearMath/btScalar.h" class btPersistentManifold; class btRigidBody; @@ -26,7 +26,7 @@ struct btContactSolverInfo; struct btBroadphaseProxy; class btIDebugDraw; class btStackAlloc; - +class btDispatcher; /// btConstraintSolver provides solver interface class btConstraintSolver { @@ -35,8 +35,15 @@ public: virtual ~btConstraintSolver() {} - virtual btScalar solveGroup(btCollisionObject** bodies,int numBodies,btPersistentManifold** manifold,int numManifolds,btTypedConstraint** constraints,int numConstraints, const btContactSolverInfo& info,class btIDebugDraw* debugDrawer, btStackAlloc* stackAlloc) = 0; + virtual void prepareSolve (int /* numBodies */, int /* numManifolds */) {;} + + ///solve a group of constraints + virtual btScalar solveGroup(btCollisionObject** bodies,int numBodies,btPersistentManifold** manifold,int numManifolds,btTypedConstraint** constraints,int numConstraints, const btContactSolverInfo& info,class btIDebugDraw* debugDrawer, btStackAlloc* stackAlloc,btDispatcher* dispatcher) = 0; + + virtual void allSolved (const btContactSolverInfo& /* info */,class btIDebugDraw* /* debugDrawer */, btStackAlloc* /* stackAlloc */) {;} + ///clear internal cached data and reset random seed + virtual void reset() = 0; }; diff --git a/extern/bullet2/src/BulletDynamics/ConstraintSolver/btContactConstraint.cpp b/extern/bullet2/src/BulletDynamics/ConstraintSolver/btContactConstraint.cpp index bb3fe832592..4d7cd05feb7 100644 --- a/extern/bullet2/src/BulletDynamics/ConstraintSolver/btContactConstraint.cpp +++ b/extern/bullet2/src/BulletDynamics/ConstraintSolver/btContactConstraint.cpp @@ -192,8 +192,8 @@ btScalar resolveSingleFriction( j1 = -vrel * cpd->m_jacDiagABInvTangent0; btScalar oldTangentImpulse = cpd->m_accumulatedTangentImpulse0; cpd->m_accumulatedTangentImpulse0 = oldTangentImpulse + j1; - GEN_set_min(cpd->m_accumulatedTangentImpulse0, limit); - GEN_set_max(cpd->m_accumulatedTangentImpulse0, -limit); + btSetMin(cpd->m_accumulatedTangentImpulse0, limit); + btSetMax(cpd->m_accumulatedTangentImpulse0, -limit); j1 = cpd->m_accumulatedTangentImpulse0 - oldTangentImpulse; } @@ -206,8 +206,8 @@ btScalar resolveSingleFriction( j2 = -vrel * cpd->m_jacDiagABInvTangent1; btScalar oldTangentImpulse = cpd->m_accumulatedTangentImpulse1; cpd->m_accumulatedTangentImpulse1 = oldTangentImpulse + j2; - GEN_set_min(cpd->m_accumulatedTangentImpulse1, limit); - GEN_set_max(cpd->m_accumulatedTangentImpulse1, -limit); + btSetMin(cpd->m_accumulatedTangentImpulse1, limit); + btSetMax(cpd->m_accumulatedTangentImpulse1, -limit); j2 = cpd->m_accumulatedTangentImpulse1 - oldTangentImpulse; } @@ -237,6 +237,12 @@ btScalar resolveSingleFrictionOriginal( btRigidBody& body1, btRigidBody& body2, btManifoldPoint& contactPoint, + const btContactSolverInfo& solverInfo); + +btScalar resolveSingleFrictionOriginal( + btRigidBody& body1, + btRigidBody& body2, + btManifoldPoint& contactPoint, const btContactSolverInfo& solverInfo) { @@ -270,8 +276,8 @@ btScalar resolveSingleFrictionOriginal( // calculate j that moves us to zero relative velocity btScalar j = -vrel * cpd->m_jacDiagABInvTangent0; btScalar total = cpd->m_accumulatedTangentImpulse0 + j; - GEN_set_min(total, limit); - GEN_set_max(total, -limit); + btSetMin(total, limit); + btSetMax(total, -limit); j = total - cpd->m_accumulatedTangentImpulse0; cpd->m_accumulatedTangentImpulse0 = total; body1.applyImpulse(j * cpd->m_frictionWorldTangential0, rel_pos1); @@ -290,8 +296,8 @@ btScalar resolveSingleFrictionOriginal( // calculate j that moves us to zero relative velocity btScalar j = -vrel * cpd->m_jacDiagABInvTangent1; btScalar total = cpd->m_accumulatedTangentImpulse1 + j; - GEN_set_min(total, limit); - GEN_set_max(total, -limit); + btSetMin(total, limit); + btSetMax(total, -limit); j = total - cpd->m_accumulatedTangentImpulse1; cpd->m_accumulatedTangentImpulse1 = total; body1.applyImpulse(j * cpd->m_frictionWorldTangential1, rel_pos1); @@ -388,8 +394,8 @@ btScalar resolveSingleCollisionCombined( (body1.getInvMass() + body2.getInvMass() + lat_vel.dot(temp1.cross(rel_pos1) + temp2.cross(rel_pos2))); btScalar normal_impulse = cpd->m_appliedImpulse * combinedFriction; - GEN_set_min(friction_impulse, normal_impulse); - GEN_set_max(friction_impulse, -normal_impulse); + btSetMin(friction_impulse, normal_impulse); + btSetMax(friction_impulse, -normal_impulse); body1.applyImpulse(lat_vel * -friction_impulse, rel_pos1); body2.applyImpulse(lat_vel * friction_impulse, rel_pos2); } @@ -404,6 +410,12 @@ btScalar resolveSingleFrictionEmpty( btRigidBody& body1, btRigidBody& body2, btManifoldPoint& contactPoint, + const btContactSolverInfo& solverInfo); + +btScalar resolveSingleFrictionEmpty( + btRigidBody& body1, + btRigidBody& body2, + btManifoldPoint& contactPoint, const btContactSolverInfo& solverInfo) { (void)contactPoint; diff --git a/extern/bullet2/src/BulletDynamics/ConstraintSolver/btContactConstraint.h b/extern/bullet2/src/BulletDynamics/ConstraintSolver/btContactConstraint.h index 0834deddeac..826e79f78bd 100644 --- a/extern/bullet2/src/BulletDynamics/ConstraintSolver/btContactConstraint.h +++ b/extern/bullet2/src/BulletDynamics/ConstraintSolver/btContactConstraint.h @@ -19,8 +19,8 @@ subject to the following restrictions: //todo: make into a proper class working with the iterative constraint solver class btRigidBody; -#include "../../LinearMath/btVector3.h" -#include "../../LinearMath/btScalar.h" +#include "LinearMath/btVector3.h" +#include "LinearMath/btScalar.h" struct btContactSolverInfo; class btManifoldPoint; diff --git a/extern/bullet2/src/BulletDynamics/ConstraintSolver/btContactSolverInfo.h b/extern/bullet2/src/BulletDynamics/ConstraintSolver/btContactSolverInfo.h index c3c73e300f4..916d4581f79 100644 --- a/extern/bullet2/src/BulletDynamics/ConstraintSolver/btContactSolverInfo.h +++ b/extern/bullet2/src/BulletDynamics/ConstraintSolver/btContactSolverInfo.h @@ -16,10 +16,43 @@ subject to the following restrictions: #ifndef CONTACT_SOLVER_INFO #define CONTACT_SOLVER_INFO +enum btSolverMode +{ + SOLVER_RANDMIZE_ORDER = 1, + SOLVER_FRICTION_SEPARATE = 2, + SOLVER_USE_WARMSTARTING = 4, + SOLVER_CACHE_FRIENDLY = 8 +}; + +struct btContactSolverInfoData +{ + + + btScalar m_tau; + btScalar m_damping; + btScalar m_friction; + btScalar m_timeStep; + btScalar m_restitution; + int m_numIterations; + btScalar m_maxErrorReduction; + btScalar m_sor; + btScalar m_erp;//used as Baumgarte factor + btScalar m_erp2;//used in Split Impulse + int m_splitImpulse; + btScalar m_splitImpulsePenetrationThreshold; + btScalar m_linearSlop; + btScalar m_warmstartingFactor; + + int m_solverMode; -struct btContactSolverInfo + +}; + +struct btContactSolverInfo : public btContactSolverInfoData { + + inline btContactSolverInfo() { m_tau = btScalar(0.6); @@ -28,20 +61,15 @@ struct btContactSolverInfo m_restitution = btScalar(0.); m_maxErrorReduction = btScalar(20.); m_numIterations = 10; - m_erp = btScalar(0.4); + m_erp = btScalar(0.2); + m_erp2 = btScalar(0.1); m_sor = btScalar(1.3); + m_splitImpulse = false; + m_splitImpulsePenetrationThreshold = -0.02f; + m_linearSlop = btScalar(0.0); + m_warmstartingFactor=btScalar(0.85); + m_solverMode = SOLVER_RANDMIZE_ORDER | SOLVER_CACHE_FRIENDLY | SOLVER_USE_WARMSTARTING; } - - btScalar m_tau; - btScalar m_damping; - btScalar m_friction; - btScalar m_timeStep; - btScalar m_restitution; - int m_numIterations; - btScalar m_maxErrorReduction; - btScalar m_sor; - btScalar m_erp; - }; #endif //CONTACT_SOLVER_INFO diff --git a/extern/bullet2/src/BulletDynamics/ConstraintSolver/btGeneric6DofConstraint.cpp b/extern/bullet2/src/BulletDynamics/ConstraintSolver/btGeneric6DofConstraint.cpp index 747d10d1f8b..077b326d13a 100644 --- a/extern/bullet2/src/BulletDynamics/ConstraintSolver/btGeneric6DofConstraint.cpp +++ b/extern/bullet2/src/BulletDynamics/ConstraintSolver/btGeneric6DofConstraint.cpp @@ -4,14 +4,20 @@ 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, +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. */ +/* +2007-09-09 +Refactored by Francisco Le?n +email: projectileman@yahoo.com +http://gimpact.sf.net +*/ #include "btGeneric6DofConstraint.h" @@ -19,371 +25,504 @@ subject to the following restrictions: #include "LinearMath/btTransformUtil.h" #include <new> + static const btScalar kSign[] = { btScalar(1.0), btScalar(-1.0), btScalar(1.0) }; static const int kAxisA[] = { 1, 0, 0 }; static const int kAxisB[] = { 2, 2, 1 }; #define GENERIC_D6_DISABLE_WARMSTARTING 1 -btGeneric6DofConstraint::btGeneric6DofConstraint() +btScalar btGetMatrixElem(const btMatrix3x3& mat, int index); +btScalar btGetMatrixElem(const btMatrix3x3& mat, int index) { + int i = index%3; + int j = index/3; + return mat[i][j]; } -btGeneric6DofConstraint::btGeneric6DofConstraint(btRigidBody& rbA, btRigidBody& rbB, const btTransform& frameInA, const btTransform& frameInB) -: btTypedConstraint(rbA, rbB) -, m_frameInA(frameInA) -, m_frameInB(frameInB) +///MatrixToEulerXYZ from http://www.geometrictools.com/LibFoundation/Mathematics/Wm4Matrix3.inl.html +bool matrixToEulerXYZ(const btMatrix3x3& mat,btVector3& xyz); +bool matrixToEulerXYZ(const btMatrix3x3& mat,btVector3& xyz) { - //free means upper < lower, - //locked means upper == lower - //limited means upper > lower - //so start all locked - for (int i=0; i<6;++i) +// // rot = cy*cz -cy*sz sy +// // cz*sx*sy+cx*sz cx*cz-sx*sy*sz -cy*sx +// // -cx*cz*sy+sx*sz cz*sx+cx*sy*sz cx*cy +// + + if (btGetMatrixElem(mat,2) < btScalar(1.0)) + { + if (btGetMatrixElem(mat,2) > btScalar(-1.0)) + { + xyz[0] = btAtan2(-btGetMatrixElem(mat,5),btGetMatrixElem(mat,8)); + xyz[1] = btAsin(btGetMatrixElem(mat,2)); + xyz[2] = btAtan2(-btGetMatrixElem(mat,1),btGetMatrixElem(mat,0)); + return true; + } + else + { + // WARNING. Not unique. XA - ZA = -atan2(r10,r11) + xyz[0] = -btAtan2(btGetMatrixElem(mat,3),btGetMatrixElem(mat,4)); + xyz[1] = -SIMD_HALF_PI; + xyz[2] = btScalar(0.0); + return false; + } + } + else + { + // WARNING. Not unique. XAngle + ZAngle = atan2(r10,r11) + xyz[0] = btAtan2(btGetMatrixElem(mat,3),btGetMatrixElem(mat,4)); + xyz[1] = SIMD_HALF_PI; + xyz[2] = 0.0; + + } + + + return false; +} + + + +//////////////////////////// btRotationalLimitMotor //////////////////////////////////// + + +int btRotationalLimitMotor::testLimitValue(btScalar test_value) +{ + if(m_loLimit>m_hiLimit) + { + m_currentLimit = 0;//Free from violation + return 0; + } + + if (test_value < m_loLimit) { - m_lowerLimit[i] = btScalar(0.0); - m_upperLimit[i] = btScalar(0.0); - m_accumulatedImpulse[i] = btScalar(0.0); + m_currentLimit = 1;//low limit violation + m_currentLimitError = test_value - m_loLimit; + return 1; } + else if (test_value> m_hiLimit) + { + m_currentLimit = 2;//High limit violation + m_currentLimitError = test_value - m_hiLimit; + return 2; + }; + m_currentLimit = 0;//Free from violation + return 0; + } -void btGeneric6DofConstraint::buildJacobian() +btScalar btRotationalLimitMotor::solveAngularLimits( + btScalar timeStep,btVector3& axis,btScalar jacDiagABInv, + btRigidBody * body0, btRigidBody * body1) { - btVector3 localNormalInA(0,0,0); + if (needApplyTorques()==false) return 0.0f; - const btVector3& pivotInA = m_frameInA.getOrigin(); - const btVector3& pivotInB = m_frameInB.getOrigin(); + btScalar target_velocity = m_targetVelocity; + btScalar maxMotorForce = m_maxMotorForce; - btVector3 pivotAInW = m_rbA.getCenterOfMassTransform() * m_frameInA.getOrigin(); - btVector3 pivotBInW = m_rbB.getCenterOfMassTransform() * m_frameInB.getOrigin(); + //current error correction + if (m_currentLimit!=0) + { + target_velocity = -m_ERP*m_currentLimitError/(timeStep); + maxMotorForce = m_maxLimitForce; + } - btVector3 rel_pos1 = pivotAInW - m_rbA.getCenterOfMassPosition(); - btVector3 rel_pos2 = pivotBInW - m_rbB.getCenterOfMassPosition(); + maxMotorForce *= timeStep; - int i; - //linear part - for (i=0;i<3;i++) - { - if (isLimited(i)) - { - localNormalInA[i] = 1; - btVector3 normalWorld = m_rbA.getCenterOfMassTransform().getBasis() * localNormalInA; - - - // Create linear atom - new (&m_jacLinear[i]) btJacobianEntry( - m_rbA.getCenterOfMassTransform().getBasis().transpose(), - m_rbB.getCenterOfMassTransform().getBasis().transpose(), - m_rbA.getCenterOfMassTransform()*pivotInA - m_rbA.getCenterOfMassPosition(), - m_rbB.getCenterOfMassTransform()*pivotInB - m_rbB.getCenterOfMassPosition(), - normalWorld, - m_rbA.getInvInertiaDiagLocal(), - m_rbA.getInvMass(), - m_rbB.getInvInertiaDiagLocal(), - m_rbB.getInvMass()); - - //optionally disable warmstarting -#ifdef GENERIC_D6_DISABLE_WARMSTARTING - m_accumulatedImpulse[i] = btScalar(0.); -#endif //GENERIC_D6_DISABLE_WARMSTARTING - - // Apply accumulated impulse - btVector3 impulse_vector = m_accumulatedImpulse[i] * normalWorld; - - m_rbA.applyImpulse( impulse_vector, rel_pos1); - m_rbB.applyImpulse(-impulse_vector, rel_pos2); - - localNormalInA[i] = 0; - } - } + // current velocity difference + btVector3 vel_diff = body0->getAngularVelocity(); + if (body1) + { + vel_diff -= body1->getAngularVelocity(); + } - // angular part - for (i=0;i<3;i++) - { - if (isLimited(i+3)) - { - btVector3 axisA = m_rbA.getCenterOfMassTransform().getBasis() * m_frameInA.getBasis().getColumn( kAxisA[i] ); - btVector3 axisB = m_rbB.getCenterOfMassTransform().getBasis() * m_frameInB.getBasis().getColumn( kAxisB[i] ); - // Dirk: This is IMO mathematically the correct way, but we should consider axisA and axisB being near parallel maybe - btVector3 axis = kSign[i] * axisA.cross(axisB); - // Create angular atom - new (&m_jacAng[i]) btJacobianEntry(axis, - m_rbA.getCenterOfMassTransform().getBasis().transpose(), - m_rbB.getCenterOfMassTransform().getBasis().transpose(), - m_rbA.getInvInertiaDiagLocal(), - m_rbB.getInvInertiaDiagLocal()); + btScalar rel_vel = axis.dot(vel_diff); -#ifdef GENERIC_D6_DISABLE_WARMSTARTING - m_accumulatedImpulse[i + 3] = btScalar(0.); -#endif //GENERIC_D6_DISABLE_WARMSTARTING + // correction velocity + btScalar motor_relvel = m_limitSoftness*(target_velocity - m_damping*rel_vel); - // Apply accumulated impulse - btVector3 impulse_vector = m_accumulatedImpulse[i + 3] * axis; - m_rbA.applyTorqueImpulse( impulse_vector); - m_rbB.applyTorqueImpulse(-impulse_vector); - } - } -} + if ( motor_relvel < SIMD_EPSILON && motor_relvel > -SIMD_EPSILON ) + { + return 0.0f;//no need for applying force + } + + + // correction impulse + btScalar unclippedMotorImpulse = (1+m_bounce)*motor_relvel*jacDiagABInv; + + // clip correction impulse + btScalar clippedMotorImpulse; + + //todo: should clip against accumulated impulse + if (unclippedMotorImpulse>0.0f) + { + clippedMotorImpulse = unclippedMotorImpulse > maxMotorForce? maxMotorForce: unclippedMotorImpulse; + } + else + { + clippedMotorImpulse = unclippedMotorImpulse < -maxMotorForce ? -maxMotorForce: unclippedMotorImpulse; + } + + + // sort with accumulated impulses + btScalar lo = btScalar(-1e30); + btScalar hi = btScalar(1e30); + + btScalar oldaccumImpulse = m_accumulatedImpulse; + btScalar sum = oldaccumImpulse + clippedMotorImpulse; + m_accumulatedImpulse = sum > hi ? btScalar(0.) : sum < lo ? btScalar(0.) : sum; + + clippedMotorImpulse = m_accumulatedImpulse - oldaccumImpulse; + + + + btVector3 motorImp = clippedMotorImpulse * axis; + + + body0->applyTorqueImpulse(motorImp); + if (body1) body1->applyTorqueImpulse(-motorImp); + + return clippedMotorImpulse; + -btScalar getMatrixElem(const btMatrix3x3& mat,int index) -{ - int row = index%3; - int col = index / 3; - return mat[row][col]; } -///MatrixToEulerXYZ from http://www.geometrictools.com/LibFoundation/Mathematics/Wm4Matrix3.inl.html -bool MatrixToEulerXYZ(const btMatrix3x3& mat,btVector3& xyz) +//////////////////////////// End btRotationalLimitMotor //////////////////////////////////// + +//////////////////////////// btTranslationalLimitMotor //////////////////////////////////// +btScalar btTranslationalLimitMotor::solveLinearAxis( + btScalar timeStep, + btScalar jacDiagABInv, + btRigidBody& body1,const btVector3 &pointInA, + btRigidBody& body2,const btVector3 &pointInB, + int limit_index, + const btVector3 & axis_normal_on_a, + const btVector3 & anchorPos) { - // rot = cy*cz -cy*sz sy - // cz*sx*sy+cx*sz cx*cz-sx*sy*sz -cy*sx - // -cx*cz*sy+sx*sz cz*sx+cx*sy*sz cx*cy -/// 0..8 +///find relative velocity +// btVector3 rel_pos1 = pointInA - body1.getCenterOfMassPosition(); +// btVector3 rel_pos2 = pointInB - body2.getCenterOfMassPosition(); + btVector3 rel_pos1 = anchorPos - body1.getCenterOfMassPosition(); + btVector3 rel_pos2 = anchorPos - body2.getCenterOfMassPosition(); + + btVector3 vel1 = body1.getVelocityInLocalPoint(rel_pos1); + btVector3 vel2 = body2.getVelocityInLocalPoint(rel_pos2); + btVector3 vel = vel1 - vel2; + + btScalar rel_vel = axis_normal_on_a.dot(vel); + + + +/// apply displacement correction - if (getMatrixElem(mat,2) < btScalar(1.0)) +//positional error (zeroth order error) + btScalar depth = -(pointInA - pointInB).dot(axis_normal_on_a); + btScalar lo = btScalar(-1e30); + btScalar hi = btScalar(1e30); + + btScalar minLimit = m_lowerLimit[limit_index]; + btScalar maxLimit = m_upperLimit[limit_index]; + + //handle the limits + if (minLimit < maxLimit) { - if (getMatrixElem(mat,2) > btScalar(-1.0)) { - xyz[0] = btAtan2(-getMatrixElem(mat,5),getMatrixElem(mat,8)); - xyz[1] = btAsin(getMatrixElem(mat,2)); - xyz[2] = btAtan2(-getMatrixElem(mat,1),getMatrixElem(mat,0)); - return true; + if (depth > maxLimit) + { + depth -= maxLimit; + lo = btScalar(0.); + + } + else + { + if (depth < minLimit) + { + depth -= minLimit; + hi = btScalar(0.); + } + else + { + return 0.0f; + } + } } - else - { - // WARNING. Not unique. XA - ZA = -atan2(r10,r11) - xyz[0] = -btAtan2(getMatrixElem(mat,3),getMatrixElem(mat,4)); - xyz[1] = -SIMD_HALF_PI; - xyz[2] = btScalar(0.0); - return false; - } - } - else - { - // WARNING. Not unique. XAngle + ZAngle = atan2(r10,r11) - xyz[0] = btAtan2(getMatrixElem(mat,3),getMatrixElem(mat,4)); - xyz[1] = SIMD_HALF_PI; - xyz[2] = 0.0; - } - - return false; + + btScalar normalImpulse= m_limitSoftness*(m_restitution*depth/timeStep - m_damping*rel_vel) * jacDiagABInv; + + + + + btScalar oldNormalImpulse = m_accumulatedImpulse[limit_index]; + btScalar sum = oldNormalImpulse + normalImpulse; + m_accumulatedImpulse[limit_index] = sum > hi ? btScalar(0.) : sum < lo ? btScalar(0.) : sum; + normalImpulse = m_accumulatedImpulse[limit_index] - oldNormalImpulse; + + btVector3 impulse_vector = axis_normal_on_a * normalImpulse; + body1.applyImpulse( impulse_vector, rel_pos1); + body2.applyImpulse(-impulse_vector, rel_pos2); + return normalImpulse; +} + +//////////////////////////// btTranslationalLimitMotor //////////////////////////////////// + + +btGeneric6DofConstraint::btGeneric6DofConstraint() + :btTypedConstraint(D6_CONSTRAINT_TYPE), + m_useLinearReferenceFrameA(true) +{ +} + +btGeneric6DofConstraint::btGeneric6DofConstraint(btRigidBody& rbA, btRigidBody& rbB, const btTransform& frameInA, const btTransform& frameInB, bool useLinearReferenceFrameA) + : btTypedConstraint(D6_CONSTRAINT_TYPE, rbA, rbB) + , m_frameInA(frameInA) + , m_frameInB(frameInB), + m_useLinearReferenceFrameA(useLinearReferenceFrameA) +{ + } -void btGeneric6DofConstraint::solveConstraint(btScalar timeStep) + + + +void btGeneric6DofConstraint::calculateAngleInfo() { - btScalar tau = btScalar(0.1); - btScalar damping = btScalar(1.0); + btMatrix3x3 relative_frame = m_calculatedTransformA.getBasis().inverse()*m_calculatedTransformB.getBasis(); + + matrixToEulerXYZ(relative_frame,m_calculatedAxisAngleDiff); + + + + // in euler angle mode we do not actually constrain the angular velocity + // along the axes axis[0] and axis[2] (although we do use axis[1]) : + // + // to get constrain w2-w1 along ...not + // ------ --------------------- ------ + // d(angle[0])/dt = 0 ax[1] x ax[2] ax[0] + // d(angle[1])/dt = 0 ax[1] + // d(angle[2])/dt = 0 ax[0] x ax[1] ax[2] + // + // constraining w2-w1 along an axis 'a' means that a'*(w2-w1)=0. + // to prove the result for angle[0], write the expression for angle[0] from + // GetInfo1 then take the derivative. to prove this for angle[2] it is + // easier to take the euler rate expression for d(angle[2])/dt with respect + // to the components of w and set that to 0. + + btVector3 axis0 = m_calculatedTransformB.getBasis().getColumn(0); + btVector3 axis2 = m_calculatedTransformA.getBasis().getColumn(2); + + m_calculatedAxis[1] = axis2.cross(axis0); + m_calculatedAxis[0] = m_calculatedAxis[1].cross(axis2); + m_calculatedAxis[2] = axis0.cross(m_calculatedAxis[1]); + + +// if(m_debugDrawer) +// { +// +// char buff[300]; +// sprintf(buff,"\n X: %.2f ; Y: %.2f ; Z: %.2f ", +// m_calculatedAxisAngleDiff[0], +// m_calculatedAxisAngleDiff[1], +// m_calculatedAxisAngleDiff[2]); +// m_debugDrawer->reportErrorWarning(buff); +// } - btVector3 pivotAInW = m_rbA.getCenterOfMassTransform() * m_frameInA.getOrigin(); - btVector3 pivotBInW = m_rbB.getCenterOfMassTransform() * m_frameInB.getOrigin(); +} - btVector3 rel_pos1 = pivotAInW - m_rbA.getCenterOfMassPosition(); - btVector3 rel_pos2 = pivotBInW - m_rbB.getCenterOfMassPosition(); - - btVector3 localNormalInA(0,0,0); - int i; +void btGeneric6DofConstraint::calculateTransforms() +{ + m_calculatedTransformA = m_rbA.getCenterOfMassTransform() * m_frameInA; + m_calculatedTransformB = m_rbB.getCenterOfMassTransform() * m_frameInB; - // linear - for (i=0;i<3;i++) - { - if (isLimited(i)) - { - btVector3 angvelA = m_rbA.getCenterOfMassTransform().getBasis().transpose() * m_rbA.getAngularVelocity(); - btVector3 angvelB = m_rbB.getCenterOfMassTransform().getBasis().transpose() * m_rbB.getAngularVelocity(); - - localNormalInA.setValue(0,0,0); - localNormalInA[i] = 1; - btVector3 normalWorld = m_rbA.getCenterOfMassTransform().getBasis() * localNormalInA; - - btScalar jacDiagABInv = btScalar(1.) / m_jacLinear[i].getDiagonal(); - - //velocity error (first order error) - btScalar rel_vel = m_jacLinear[i].getRelativeVelocity(m_rbA.getLinearVelocity(),angvelA, - m_rbB.getLinearVelocity(),angvelB); - - //positional error (zeroth order error) - btScalar depth = -(pivotAInW - pivotBInW).dot(normalWorld); - btScalar lo = btScalar(-1e30); - btScalar hi = btScalar(1e30); - - //handle the limits - if (m_lowerLimit[i] < m_upperLimit[i]) - { - { - if (depth > m_upperLimit[i]) - { - depth -= m_upperLimit[i]; - lo = btScalar(0.); - - } else - { - if (depth < m_lowerLimit[i]) - { - depth -= m_lowerLimit[i]; - hi = btScalar(0.); - } else - { - continue; - } - } - } - } + calculateAngleInfo(); +} - btScalar normalImpulse= (tau*depth/timeStep - damping*rel_vel) * jacDiagABInv; - btScalar oldNormalImpulse = m_accumulatedImpulse[i]; - btScalar sum = oldNormalImpulse + normalImpulse; - m_accumulatedImpulse[i] = sum > hi ? btScalar(0.) : sum < lo ? btScalar(0.) : sum; - normalImpulse = m_accumulatedImpulse[i] - oldNormalImpulse; - - btVector3 impulse_vector = normalWorld * normalImpulse; - m_rbA.applyImpulse( impulse_vector, rel_pos1); - m_rbB.applyImpulse(-impulse_vector, rel_pos2); - - localNormalInA[i] = 0; - } - } - btVector3 axis; - btScalar angle; - btTransform frameAWorld = m_rbA.getCenterOfMassTransform() * m_frameInA; - btTransform frameBWorld = m_rbB.getCenterOfMassTransform() * m_frameInB; +void btGeneric6DofConstraint::buildLinearJacobian( + btJacobianEntry & jacLinear,const btVector3 & normalWorld, + const btVector3 & pivotAInW,const btVector3 & pivotBInW) +{ + new (&jacLinear) btJacobianEntry( + m_rbA.getCenterOfMassTransform().getBasis().transpose(), + m_rbB.getCenterOfMassTransform().getBasis().transpose(), + pivotAInW - m_rbA.getCenterOfMassPosition(), + pivotBInW - m_rbB.getCenterOfMassPosition(), + normalWorld, + m_rbA.getInvInertiaDiagLocal(), + m_rbA.getInvMass(), + m_rbB.getInvInertiaDiagLocal(), + m_rbB.getInvMass()); - btTransformUtil::calculateDiffAxisAngle(frameAWorld,frameBWorld,axis,angle); - btQuaternion diff(axis,angle); - btMatrix3x3 diffMat (diff); - btVector3 xyz; - ///this is not perfect, we can first check which axis are limited, and choose a more appropriate order - MatrixToEulerXYZ(diffMat,xyz); +} + +void btGeneric6DofConstraint::buildAngularJacobian( + btJacobianEntry & jacAngular,const btVector3 & jointAxisW) +{ + new (&jacAngular) btJacobianEntry(jointAxisW, + m_rbA.getCenterOfMassTransform().getBasis().transpose(), + m_rbB.getCenterOfMassTransform().getBasis().transpose(), + m_rbA.getInvInertiaDiagLocal(), + m_rbB.getInvInertiaDiagLocal()); - // angular - for (i=0;i<3;i++) - { - if (isLimited(i+3)) - { - btVector3 angvelA = m_rbA.getCenterOfMassTransform().getBasis().transpose() * m_rbA.getAngularVelocity(); - btVector3 angvelB = m_rbB.getCenterOfMassTransform().getBasis().transpose() * m_rbB.getAngularVelocity(); - - btScalar jacDiagABInv = btScalar(1.) / m_jacAng[i].getDiagonal(); - - //velocity error (first order error) - btScalar rel_vel = m_jacAng[i].getRelativeVelocity(m_rbA.getLinearVelocity(),angvelA, - m_rbB.getLinearVelocity(),angvelB); - - //positional error (zeroth order error) - btVector3 axisA = m_rbA.getCenterOfMassTransform().getBasis() * m_frameInA.getBasis().getColumn( kAxisA[i] ); - btVector3 axisB = m_rbB.getCenterOfMassTransform().getBasis() * m_frameInB.getBasis().getColumn( kAxisB[i] ); - - btScalar rel_pos = kSign[i] * axisA.dot(axisB); - - btScalar lo = btScalar(-1e30); - btScalar hi = btScalar(1e30); - - //handle the twist limit - if (m_lowerLimit[i+3] < m_upperLimit[i+3]) - { - //clamp the values - btScalar loLimit = m_lowerLimit[i+3] > -3.1415 ? m_lowerLimit[i+3] : btScalar(-1e30); - btScalar hiLimit = m_upperLimit[i+3] < 3.1415 ? m_upperLimit[i+3] : btScalar(1e30); - - btScalar projAngle = btScalar(-1.)*xyz[i]; - - if (projAngle < loLimit) - { - hi = btScalar(0.); - rel_pos = (loLimit - projAngle); - } else - { - if (projAngle > hiLimit) - { - lo = btScalar(0.); - rel_pos = (hiLimit - projAngle); - } else - { - continue; - } - } - } - - //impulse - - btScalar normalImpulse= -(tau*rel_pos/timeStep + damping*rel_vel) * jacDiagABInv; - btScalar oldNormalImpulse = m_accumulatedImpulse[i+3]; - btScalar sum = oldNormalImpulse + normalImpulse; - m_accumulatedImpulse[i+3] = sum > hi ? btScalar(0.) : sum < lo ? btScalar(0.) : sum; - normalImpulse = m_accumulatedImpulse[i+3] - oldNormalImpulse; - - // Dirk: Not needed - we could actually project onto Jacobian entry here (same as above) - btVector3 axis = kSign[i] * axisA.cross(axisB); - btVector3 impulse_vector = axis * normalImpulse; - - m_rbA.applyTorqueImpulse( impulse_vector); - m_rbB.applyTorqueImpulse(-impulse_vector); - } - } } -void btGeneric6DofConstraint::updateRHS(btScalar timeStep) +bool btGeneric6DofConstraint::testAngularLimitMotor(int axis_index) { - (void)timeStep; + btScalar angle = m_calculatedAxisAngleDiff[axis_index]; + //test limits + m_angularLimits[axis_index].testLimitValue(angle); + return m_angularLimits[axis_index].needApplyTorques(); } -btScalar btGeneric6DofConstraint::computeAngle(int axis) const - { - btScalar angle = btScalar(0.f); +void btGeneric6DofConstraint::buildJacobian() +{ - switch (axis) - { - case 0: - { - btVector3 v1 = m_rbA.getCenterOfMassTransform().getBasis() * m_frameInA.getBasis().getColumn(1); - btVector3 v2 = m_rbB.getCenterOfMassTransform().getBasis() * m_frameInB.getBasis().getColumn(1); - btVector3 w2 = m_rbB.getCenterOfMassTransform().getBasis() * m_frameInB.getBasis().getColumn(2); + // Clear accumulated impulses for the next simulation step + m_linearLimits.m_accumulatedImpulse.setValue(btScalar(0.), btScalar(0.), btScalar(0.)); + int i; + for(i = 0; i < 3; i++) + { + m_angularLimits[i].m_accumulatedImpulse = btScalar(0.); + } + //calculates transform + calculateTransforms(); + +// const btVector3& pivotAInW = m_calculatedTransformA.getOrigin(); +// const btVector3& pivotBInW = m_calculatedTransformB.getOrigin(); + calcAnchorPos(); + btVector3 pivotAInW = m_AnchorPos; + btVector3 pivotBInW = m_AnchorPos; + +// not used here +// btVector3 rel_pos1 = pivotAInW - m_rbA.getCenterOfMassPosition(); +// btVector3 rel_pos2 = pivotBInW - m_rbB.getCenterOfMassPosition(); + + btVector3 normalWorld; + //linear part + for (i=0;i<3;i++) + { + if (m_linearLimits.isLimited(i)) + { + if (m_useLinearReferenceFrameA) + normalWorld = m_calculatedTransformA.getBasis().getColumn(i); + else + normalWorld = m_calculatedTransformB.getBasis().getColumn(i); - btScalar s = v1.dot(w2); - btScalar c = v1.dot(v2); + buildLinearJacobian( + m_jacLinear[i],normalWorld , + pivotAInW,pivotBInW); - angle = btAtan2( s, c ); - } - break; + } + } - case 1: - { - btVector3 w1 = m_rbA.getCenterOfMassTransform().getBasis() * m_frameInA.getBasis().getColumn(2); - btVector3 w2 = m_rbB.getCenterOfMassTransform().getBasis() * m_frameInB.getBasis().getColumn(2); - btVector3 u2 = m_rbB.getCenterOfMassTransform().getBasis() * m_frameInB.getBasis().getColumn(0); + // angular part + for (i=0;i<3;i++) + { + //calculates error angle + if (testAngularLimitMotor(i)) + { + normalWorld = this->getAxis(i); + // Create angular atom + buildAngularJacobian(m_jacAng[i],normalWorld); + } + } - btScalar s = w1.dot(u2); - btScalar c = w1.dot(w2); - angle = btAtan2( s, c ); - } - break; +} - case 2: - { - btVector3 u1 = m_rbA.getCenterOfMassTransform().getBasis() * m_frameInA.getBasis().getColumn(0); - btVector3 u2 = m_rbB.getCenterOfMassTransform().getBasis() * m_frameInB.getBasis().getColumn(0); - btVector3 v2 = m_rbB.getCenterOfMassTransform().getBasis() * m_frameInB.getBasis().getColumn(1); - btScalar s = u1.dot(v2); - btScalar c = u1.dot(u2); +void btGeneric6DofConstraint::solveConstraint(btScalar timeStep) +{ + m_timeStep = timeStep; - angle = btAtan2( s, c ); - } - break; - default: - btAssert ( 0 ) ; - - break ; - } + //calculateTransforms(); + + int i; + + // linear + + btVector3 pointInA = m_calculatedTransformA.getOrigin(); + btVector3 pointInB = m_calculatedTransformB.getOrigin(); + + btScalar jacDiagABInv; + btVector3 linear_axis; + for (i=0;i<3;i++) + { + if (m_linearLimits.isLimited(i)) + { + jacDiagABInv = btScalar(1.) / m_jacLinear[i].getDiagonal(); + + if (m_useLinearReferenceFrameA) + linear_axis = m_calculatedTransformA.getBasis().getColumn(i); + else + linear_axis = m_calculatedTransformB.getBasis().getColumn(i); + + m_linearLimits.solveLinearAxis( + m_timeStep, + jacDiagABInv, + m_rbA,pointInA, + m_rbB,pointInB, + i,linear_axis, m_AnchorPos); + + } + } + + // angular + btVector3 angular_axis; + btScalar angularJacDiagABInv; + for (i=0;i<3;i++) + { + if (m_angularLimits[i].needApplyTorques()) + { + + // get axis + angular_axis = getAxis(i); + + angularJacDiagABInv = btScalar(1.) / m_jacAng[i].getDiagonal(); + + m_angularLimits[i].solveAngularLimits(m_timeStep,angular_axis,angularJacDiagABInv, &m_rbA,&m_rbB); + } + } +} + +void btGeneric6DofConstraint::updateRHS(btScalar timeStep) +{ + (void)timeStep; + +} + +btVector3 btGeneric6DofConstraint::getAxis(int axis_index) const +{ + return m_calculatedAxis[axis_index]; +} - return angle; +btScalar btGeneric6DofConstraint::getAngle(int axis_index) const +{ + return m_calculatedAxisAngleDiff[axis_index]; +} + +void btGeneric6DofConstraint::calcAnchorPos(void) +{ + btScalar imA = m_rbA.getInvMass(); + btScalar imB = m_rbB.getInvMass(); + btScalar weight; + if(imB == btScalar(0.0)) + { + weight = btScalar(1.0); + } + else + { + weight = imA / (imA + imB); } + const btVector3& pA = m_calculatedTransformA.getOrigin(); + const btVector3& pB = m_calculatedTransformB.getOrigin(); + m_AnchorPos = pA * weight + pB * (btScalar(1.0) - weight); + return; +} // btGeneric6DofConstraint::calcAnchorPos() diff --git a/extern/bullet2/src/BulletDynamics/ConstraintSolver/btGeneric6DofConstraint.h b/extern/bullet2/src/BulletDynamics/ConstraintSolver/btGeneric6DofConstraint.h index b114e54fa69..f0718d2d4a0 100644 --- a/extern/bullet2/src/BulletDynamics/ConstraintSolver/btGeneric6DofConstraint.h +++ b/extern/bullet2/src/BulletDynamics/ConstraintSolver/btGeneric6DofConstraint.h @@ -4,116 +4,433 @@ 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, +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. */ +/* +2007-09-09 +btGeneric6DofConstraint Refactored by Francisco Le?n +email: projectileman@yahoo.com +http://gimpact.sf.net +*/ + #ifndef GENERIC_6DOF_CONSTRAINT_H #define GENERIC_6DOF_CONSTRAINT_H -#include "../../LinearMath/btVector3.h" +#include "LinearMath/btVector3.h" #include "btJacobianEntry.h" #include "btTypedConstraint.h" class btRigidBody; +//! Rotation Limit structure for generic joints +class btRotationalLimitMotor +{ +public: + //! limit_parameters + //!@{ + btScalar m_loLimit;//!< joint limit + btScalar m_hiLimit;//!< joint limit + btScalar m_targetVelocity;//!< target motor velocity + btScalar m_maxMotorForce;//!< max force on motor + btScalar m_maxLimitForce;//!< max force on limit + btScalar m_damping;//!< Damping. + btScalar m_limitSoftness;//! Relaxation factor + btScalar m_ERP;//!< Error tolerance factor when joint is at limit + btScalar m_bounce;//!< restitution factor + bool m_enableMotor; + + //!@} + + //! temp_variables + //!@{ + btScalar m_currentLimitError;//! How much is violated this limit + int m_currentLimit;//!< 0=free, 1=at lo limit, 2=at hi limit + btScalar m_accumulatedImpulse; + //!@} + + btRotationalLimitMotor() + { + m_accumulatedImpulse = 0.f; + m_targetVelocity = 0; + m_maxMotorForce = 0.1f; + m_maxLimitForce = 300.0f; + m_loLimit = -SIMD_INFINITY; + m_hiLimit = SIMD_INFINITY; + m_ERP = 0.5f; + m_bounce = 0.0f; + m_damping = 1.0f; + m_limitSoftness = 0.5f; + m_currentLimit = 0; + m_currentLimitError = 0; + m_enableMotor = false; + } + + btRotationalLimitMotor(const btRotationalLimitMotor & limot) + { + m_targetVelocity = limot.m_targetVelocity; + m_maxMotorForce = limot.m_maxMotorForce; + m_limitSoftness = limot.m_limitSoftness; + m_loLimit = limot.m_loLimit; + m_hiLimit = limot.m_hiLimit; + m_ERP = limot.m_ERP; + m_bounce = limot.m_bounce; + m_currentLimit = limot.m_currentLimit; + m_currentLimitError = limot.m_currentLimitError; + m_enableMotor = limot.m_enableMotor; + } + + + + //! Is limited + bool isLimited() + { + if(m_loLimit>=m_hiLimit) return false; + return true; + } + + //! Need apply correction + bool needApplyTorques() + { + if(m_currentLimit == 0 && m_enableMotor == false) return false; + return true; + } + + //! calculates error + /*! + calculates m_currentLimit and m_currentLimitError. + */ + int testLimitValue(btScalar test_value); + + //! apply the correction impulses for two bodies + btScalar solveAngularLimits(btScalar timeStep,btVector3& axis, btScalar jacDiagABInv,btRigidBody * body0, btRigidBody * body1); + + +}; + + + +class btTranslationalLimitMotor +{ +public: + btVector3 m_lowerLimit;//!< the constraint lower limits + btVector3 m_upperLimit;//!< the constraint upper limits + btVector3 m_accumulatedImpulse; + //! Linear_Limit_parameters + //!@{ + btScalar m_limitSoftness;//!< Softness for linear limit + btScalar m_damping;//!< Damping for linear limit + btScalar m_restitution;//! Bounce parameter for linear limit + //!@} + + btTranslationalLimitMotor() + { + m_lowerLimit.setValue(0.f,0.f,0.f); + m_upperLimit.setValue(0.f,0.f,0.f); + m_accumulatedImpulse.setValue(0.f,0.f,0.f); + + m_limitSoftness = 0.7f; + m_damping = btScalar(1.0f); + m_restitution = btScalar(0.5f); + } + + btTranslationalLimitMotor(const btTranslationalLimitMotor & other ) + { + m_lowerLimit = other.m_lowerLimit; + m_upperLimit = other.m_upperLimit; + m_accumulatedImpulse = other.m_accumulatedImpulse; + + m_limitSoftness = other.m_limitSoftness ; + m_damping = other.m_damping; + m_restitution = other.m_restitution; + } + + //! Test limit + /*! + - free means upper < lower, + - locked means upper == lower + - limited means upper > lower + - limitIndex: first 3 are linear, next 3 are angular + */ + inline bool isLimited(int limitIndex) + { + return (m_upperLimit[limitIndex] >= m_lowerLimit[limitIndex]); + } + + + btScalar solveLinearAxis( + btScalar timeStep, + btScalar jacDiagABInv, + btRigidBody& body1,const btVector3 &pointInA, + btRigidBody& body2,const btVector3 &pointInB, + int limit_index, + const btVector3 & axis_normal_on_a, + const btVector3 & anchorPos); + + +}; /// btGeneric6DofConstraint between two rigidbodies each with a pivotpoint that descibes the axis location in local space -/// btGeneric6DofConstraint can leave any of the 6 degree of freedom 'free' or 'locked' -/// Work in progress (is still a Hinge actually) +/*! +btGeneric6DofConstraint can leave any of the 6 degree of freedom 'free' or 'locked'. +currently this limit supports rotational motors<br> +<ul> +<li> For Linear limits, use btGeneric6DofConstraint.setLinearUpperLimit, btGeneric6DofConstraint.setLinearLowerLimit. You can set the parameters with the btTranslationalLimitMotor structure accsesible through the btGeneric6DofConstraint.getTranslationalLimitMotor method. +At this moment translational motors are not supported. May be in the future. </li> + +<li> For Angular limits, use the btRotationalLimitMotor structure for configuring the limit. +This is accessible through btGeneric6DofConstraint.getLimitMotor method, +This brings support for limit parameters and motors. </li> + +<li> Angulars limits have these possible ranges: +<table border=1 > +<tr + + <td><b>AXIS</b></td> + <td><b>MIN ANGLE</b></td> + <td><b>MAX ANGLE</b></td> + <td>X</td> + <td>-PI</td> + <td>PI</td> + <td>Y</td> + <td>-PI/2</td> + <td>PI/2</td> + <td>Z</td> + <td>-PI/2</td> + <td>PI/2</td> +</tr> +</table> +</li> +</ul> + +*/ class btGeneric6DofConstraint : public btTypedConstraint { - btJacobianEntry m_jacLinear[3]; // 3 orthogonal linear constraints - btJacobianEntry m_jacAng[3]; // 3 orthogonal angular constraints +protected: + + //! relative_frames + //!@{ + btTransform m_frameInA;//!< the constraint space w.r.t body A + btTransform m_frameInB;//!< the constraint space w.r.t body B + //!@} + + //! Jacobians + //!@{ + btJacobianEntry m_jacLinear[3];//!< 3 orthogonal linear constraints + btJacobianEntry m_jacAng[3];//!< 3 orthogonal angular constraints + //!@} - btTransform m_frameInA; // the constraint space w.r.t body A - btTransform m_frameInB; // the constraint space w.r.t body B + //! Linear_Limit_parameters + //!@{ + btTranslationalLimitMotor m_linearLimits; + //!@} + + + //! hinge_parameters + //!@{ + btRotationalLimitMotor m_angularLimits[3]; + //!@} + + +protected: + //! temporal variables + //!@{ + btScalar m_timeStep; + btTransform m_calculatedTransformA; + btTransform m_calculatedTransformB; + btVector3 m_calculatedAxisAngleDiff; + btVector3 m_calculatedAxis[3]; + + btVector3 m_AnchorPos; // point betwen pivots of bodies A and B to solve linear axes + + bool m_useLinearReferenceFrameA; + + //!@} + + btGeneric6DofConstraint& operator=(btGeneric6DofConstraint& other) + { + btAssert(0); + (void) other; + return *this; + } + + + + void buildLinearJacobian( + btJacobianEntry & jacLinear,const btVector3 & normalWorld, + const btVector3 & pivotAInW,const btVector3 & pivotBInW); + + void buildAngularJacobian(btJacobianEntry & jacAngular,const btVector3 & jointAxisW); + + + //! calcs the euler angles between the two bodies. + void calculateAngleInfo(); - btScalar m_lowerLimit[6]; // the constraint lower limits - btScalar m_upperLimit[6]; // the constraint upper limits - btScalar m_accumulatedImpulse[6]; - btGeneric6DofConstraint& operator=(btGeneric6DofConstraint& other) - { - btAssert(0); - (void) other; - return *this; - } - public: - btGeneric6DofConstraint(btRigidBody& rbA, btRigidBody& rbB, const btTransform& frameInA, const btTransform& frameInB ); - - btGeneric6DofConstraint(); - - - virtual void buildJacobian(); - - virtual void solveConstraint(btScalar timeStep); - - void updateRHS(btScalar timeStep); - - btScalar computeAngle(int axis) const; - - void setLinearLowerLimit(const btVector3& linearLower) - { - m_lowerLimit[0] = linearLower.getX(); - m_lowerLimit[1] = linearLower.getY(); - m_lowerLimit[2] = linearLower.getZ(); - } - - void setLinearUpperLimit(const btVector3& linearUpper) - { - m_upperLimit[0] = linearUpper.getX(); - m_upperLimit[1] = linearUpper.getY(); - m_upperLimit[2] = linearUpper.getZ(); - } - - void setAngularLowerLimit(const btVector3& angularLower) - { - m_lowerLimit[3] = angularLower.getX(); - m_lowerLimit[4] = angularLower.getY(); - m_lowerLimit[5] = angularLower.getZ(); - } - - void setAngularUpperLimit(const btVector3& angularUpper) - { - m_upperLimit[3] = angularUpper.getX(); - m_upperLimit[4] = angularUpper.getY(); - m_upperLimit[5] = angularUpper.getZ(); - } - - //first 3 are linear, next 3 are angular - void SetLimit(int axis, btScalar lo, btScalar hi) - { - m_lowerLimit[axis] = lo; - m_upperLimit[axis] = hi; - } - - //free means upper < lower, - //locked means upper == lower - //limited means upper > lower - //limitIndex: first 3 are linear, next 3 are angular - bool isLimited(int limitIndex) - { - return (m_upperLimit[limitIndex] >= m_lowerLimit[limitIndex]); - } - - const btRigidBody& getRigidBodyA() const - { - return m_rbA; - } - const btRigidBody& getRigidBodyB() const - { - return m_rbB; - } - + btGeneric6DofConstraint(btRigidBody& rbA, btRigidBody& rbB, const btTransform& frameInA, const btTransform& frameInB ,bool useLinearReferenceFrameA); + + btGeneric6DofConstraint(); + + //! Calcs global transform of the offsets + /*! + Calcs the global transform for the joint offset for body A an B, and also calcs the agle differences between the bodies. + \sa btGeneric6DofConstraint.getCalculatedTransformA , btGeneric6DofConstraint.getCalculatedTransformB, btGeneric6DofConstraint.calculateAngleInfo + */ + void calculateTransforms(); + + //! Gets the global transform of the offset for body A + /*! + \sa btGeneric6DofConstraint.getFrameOffsetA, btGeneric6DofConstraint.getFrameOffsetB, btGeneric6DofConstraint.calculateAngleInfo. + */ + const btTransform & getCalculatedTransformA() const + { + return m_calculatedTransformA; + } + + //! Gets the global transform of the offset for body B + /*! + \sa btGeneric6DofConstraint.getFrameOffsetA, btGeneric6DofConstraint.getFrameOffsetB, btGeneric6DofConstraint.calculateAngleInfo. + */ + const btTransform & getCalculatedTransformB() const + { + return m_calculatedTransformB; + } + + const btTransform & getFrameOffsetA() const + { + return m_frameInA; + } + + const btTransform & getFrameOffsetB() const + { + return m_frameInB; + } + + + btTransform & getFrameOffsetA() + { + return m_frameInA; + } + + btTransform & getFrameOffsetB() + { + return m_frameInB; + } + + + //! performs Jacobian calculation, and also calculates angle differences and axis + virtual void buildJacobian(); + + virtual void solveConstraint(btScalar timeStep); + + void updateRHS(btScalar timeStep); + + //! Get the rotation axis in global coordinates + /*! + \pre btGeneric6DofConstraint.buildJacobian must be called previously. + */ + btVector3 getAxis(int axis_index) const; + + //! Get the relative Euler angle + /*! + \pre btGeneric6DofConstraint.buildJacobian must be called previously. + */ + btScalar getAngle(int axis_index) const; + + //! Test angular limit. + /*! + Calculates angular correction and returns true if limit needs to be corrected. + \pre btGeneric6DofConstraint.buildJacobian must be called previously. + */ + bool testAngularLimitMotor(int axis_index); + + void setLinearLowerLimit(const btVector3& linearLower) + { + m_linearLimits.m_lowerLimit = linearLower; + } + + void setLinearUpperLimit(const btVector3& linearUpper) + { + m_linearLimits.m_upperLimit = linearUpper; + } + + void setAngularLowerLimit(const btVector3& angularLower) + { + m_angularLimits[0].m_loLimit = angularLower.getX(); + m_angularLimits[1].m_loLimit = angularLower.getY(); + m_angularLimits[2].m_loLimit = angularLower.getZ(); + } + + void setAngularUpperLimit(const btVector3& angularUpper) + { + m_angularLimits[0].m_hiLimit = angularUpper.getX(); + m_angularLimits[1].m_hiLimit = angularUpper.getY(); + m_angularLimits[2].m_hiLimit = angularUpper.getZ(); + } + + //! Retrieves the angular limit informacion + btRotationalLimitMotor * getRotationalLimitMotor(int index) + { + return &m_angularLimits[index]; + } + + //! Retrieves the limit informacion + btTranslationalLimitMotor * getTranslationalLimitMotor() + { + return &m_linearLimits; + } + + //first 3 are linear, next 3 are angular + void setLimit(int axis, btScalar lo, btScalar hi) + { + if(axis<3) + { + m_linearLimits.m_lowerLimit[axis] = lo; + m_linearLimits.m_upperLimit[axis] = hi; + } + else + { + m_angularLimits[axis-3].m_loLimit = lo; + m_angularLimits[axis-3].m_hiLimit = hi; + } + } + + //! Test limit + /*! + - free means upper < lower, + - locked means upper == lower + - limited means upper > lower + - limitIndex: first 3 are linear, next 3 are angular + */ + bool isLimited(int limitIndex) + { + if(limitIndex<3) + { + return m_linearLimits.isLimited(limitIndex); + + } + return m_angularLimits[limitIndex-3].isLimited(); + } + + const btRigidBody& getRigidBodyA() const + { + return m_rbA; + } + const btRigidBody& getRigidBodyB() const + { + return m_rbB; + } + + virtual void calcAnchorPos(void); // overridable }; diff --git a/extern/bullet2/src/BulletDynamics/ConstraintSolver/btHingeConstraint.cpp b/extern/bullet2/src/BulletDynamics/ConstraintSolver/btHingeConstraint.cpp index 27e30987549..a0523a8c76b 100644 --- a/extern/bullet2/src/BulletDynamics/ConstraintSolver/btHingeConstraint.cpp +++ b/extern/bullet2/src/BulletDynamics/ConstraintSolver/btHingeConstraint.cpp @@ -17,58 +17,185 @@ subject to the following restrictions: #include "btHingeConstraint.h" #include "BulletDynamics/Dynamics/btRigidBody.h" #include "LinearMath/btTransformUtil.h" +#include "LinearMath/btMinMax.h" #include <new> -btHingeConstraint::btHingeConstraint(): + +btHingeConstraint::btHingeConstraint() +: btTypedConstraint (HINGE_CONSTRAINT_TYPE), m_enableAngularMotor(false) { } btHingeConstraint::btHingeConstraint(btRigidBody& rbA,btRigidBody& rbB, const btVector3& pivotInA,const btVector3& pivotInB, - btVector3& axisInA,btVector3& axisInB) -:btTypedConstraint(rbA,rbB),m_pivotInA(pivotInA),m_pivotInB(pivotInB), -m_axisInA(axisInA), -m_axisInB(-axisInB), -m_angularOnly(false), -m_enableAngularMotor(false) + btVector3& axisInA,btVector3& axisInB) + :btTypedConstraint(HINGE_CONSTRAINT_TYPE, rbA,rbB), + m_angularOnly(false), + m_enableAngularMotor(false) { + m_rbAFrame.getOrigin() = pivotInA; + + // since no frame is given, assume this to be zero angle and just pick rb transform axis + btVector3 rbAxisA1 = rbA.getCenterOfMassTransform().getBasis().getColumn(0); + + btVector3 rbAxisA2; + btScalar projection = axisInA.dot(rbAxisA1); + if (projection >= 1.0f - SIMD_EPSILON) { + rbAxisA1 = -rbA.getCenterOfMassTransform().getBasis().getColumn(2); + rbAxisA2 = rbA.getCenterOfMassTransform().getBasis().getColumn(1); + } else if (projection <= -1.0f + SIMD_EPSILON) { + rbAxisA1 = rbA.getCenterOfMassTransform().getBasis().getColumn(2); + rbAxisA2 = rbA.getCenterOfMassTransform().getBasis().getColumn(1); + } else { + rbAxisA2 = axisInA.cross(rbAxisA1); + rbAxisA1 = rbAxisA2.cross(axisInA); + } + + m_rbAFrame.getBasis().setValue( rbAxisA1.getX(),rbAxisA2.getX(),axisInA.getX(), + rbAxisA1.getY(),rbAxisA2.getY(),axisInA.getY(), + rbAxisA1.getZ(),rbAxisA2.getZ(),axisInA.getZ() ); + + btQuaternion rotationArc = shortestArcQuat(axisInA,axisInB); + btVector3 rbAxisB1 = quatRotate(rotationArc,rbAxisA1); + btVector3 rbAxisB2 = axisInB.cross(rbAxisB1); + + m_rbBFrame.getOrigin() = pivotInB; + m_rbBFrame.getBasis().setValue( rbAxisB1.getX(),rbAxisB2.getX(),-axisInB.getX(), + rbAxisB1.getY(),rbAxisB2.getY(),-axisInB.getY(), + rbAxisB1.getZ(),rbAxisB2.getZ(),-axisInB.getZ() ); + + //start with free + m_lowerLimit = btScalar(1e30); + m_upperLimit = btScalar(-1e30); + m_biasFactor = 0.3f; + m_relaxationFactor = 1.0f; + m_limitSoftness = 0.9f; + m_solveLimit = false; } btHingeConstraint::btHingeConstraint(btRigidBody& rbA,const btVector3& pivotInA,btVector3& axisInA) -:btTypedConstraint(rbA),m_pivotInA(pivotInA),m_pivotInB(rbA.getCenterOfMassTransform()(pivotInA)), -m_axisInA(axisInA), -//fixed axis in worldspace -m_axisInB(rbA.getCenterOfMassTransform().getBasis() * -axisInA), +:btTypedConstraint(HINGE_CONSTRAINT_TYPE, rbA), m_angularOnly(false), m_enableAngularMotor(false) +{ + + // since no frame is given, assume this to be zero angle and just pick rb transform axis + // fixed axis in worldspace + btVector3 rbAxisA1 = rbA.getCenterOfMassTransform().getBasis().getColumn(0); + btScalar projection = rbAxisA1.dot(axisInA); + if (projection > SIMD_EPSILON) + rbAxisA1 = rbAxisA1*projection - axisInA; + else + rbAxisA1 = rbA.getCenterOfMassTransform().getBasis().getColumn(1); + + btVector3 rbAxisA2 = axisInA.cross(rbAxisA1); + + m_rbAFrame.getOrigin() = pivotInA; + m_rbAFrame.getBasis().setValue( rbAxisA1.getX(),rbAxisA2.getX(),axisInA.getX(), + rbAxisA1.getY(),rbAxisA2.getY(),axisInA.getY(), + rbAxisA1.getZ(),rbAxisA2.getZ(),axisInA.getZ() ); + + + btVector3 axisInB = rbA.getCenterOfMassTransform().getBasis() * -axisInA; + + btQuaternion rotationArc = shortestArcQuat(axisInA,axisInB); + btVector3 rbAxisB1 = quatRotate(rotationArc,rbAxisA1); + btVector3 rbAxisB2 = axisInB.cross(rbAxisB1); + + + m_rbBFrame.getOrigin() = rbA.getCenterOfMassTransform()(pivotInA); + m_rbBFrame.getBasis().setValue( rbAxisB1.getX(),rbAxisB2.getX(),axisInB.getX(), + rbAxisB1.getY(),rbAxisB2.getY(),axisInB.getY(), + rbAxisB1.getZ(),rbAxisB2.getZ(),axisInB.getZ() ); + + //start with free + m_lowerLimit = btScalar(1e30); + m_upperLimit = btScalar(-1e30); + m_biasFactor = 0.3f; + m_relaxationFactor = 1.0f; + m_limitSoftness = 0.9f; + m_solveLimit = false; +} + +btHingeConstraint::btHingeConstraint(btRigidBody& rbA,btRigidBody& rbB, + const btTransform& rbAFrame, const btTransform& rbBFrame) +:btTypedConstraint(HINGE_CONSTRAINT_TYPE, rbA,rbB),m_rbAFrame(rbAFrame),m_rbBFrame(rbBFrame), m_angularOnly(false), m_enableAngularMotor(false) { - + // flip axis + m_rbBFrame.getBasis()[0][2] *= btScalar(-1.); + m_rbBFrame.getBasis()[1][2] *= btScalar(-1.); + m_rbBFrame.getBasis()[2][2] *= btScalar(-1.); + + //start with free + m_lowerLimit = btScalar(1e30); + m_upperLimit = btScalar(-1e30); + m_biasFactor = 0.3f; + m_relaxationFactor = 1.0f; + m_limitSoftness = 0.9f; + m_solveLimit = false; +} + + + +btHingeConstraint::btHingeConstraint(btRigidBody& rbA, const btTransform& rbAFrame) +:btTypedConstraint(HINGE_CONSTRAINT_TYPE, rbA),m_rbAFrame(rbAFrame),m_rbBFrame(rbAFrame), +m_angularOnly(false), +m_enableAngularMotor(false) +{ + ///not providing rigidbody B means implicitly using worldspace for body B + + // flip axis + m_rbBFrame.getBasis()[0][2] *= btScalar(-1.); + m_rbBFrame.getBasis()[1][2] *= btScalar(-1.); + m_rbBFrame.getBasis()[2][2] *= btScalar(-1.); + + m_rbBFrame.getOrigin() = m_rbA.getCenterOfMassTransform()(m_rbAFrame.getOrigin()); + + //start with free + m_lowerLimit = btScalar(1e30); + m_upperLimit = btScalar(-1e30); + m_biasFactor = 0.3f; + m_relaxationFactor = 1.0f; + m_limitSoftness = 0.9f; + m_solveLimit = false; } void btHingeConstraint::buildJacobian() { m_appliedImpulse = btScalar(0.); - btVector3 normal(0,0,0); - if (!m_angularOnly) { + btVector3 pivotAInW = m_rbA.getCenterOfMassTransform()*m_rbAFrame.getOrigin(); + btVector3 pivotBInW = m_rbB.getCenterOfMassTransform()*m_rbBFrame.getOrigin(); + btVector3 relPos = pivotBInW - pivotAInW; + + btVector3 normal[3]; + if (relPos.length2() > SIMD_EPSILON) + { + normal[0] = relPos.normalized(); + } + else + { + normal[0].setValue(btScalar(1.0),0,0); + } + + btPlaneSpace1(normal[0], normal[1], normal[2]); + for (int i=0;i<3;i++) { - normal[i] = 1; new (&m_jac[i]) btJacobianEntry( m_rbA.getCenterOfMassTransform().getBasis().transpose(), m_rbB.getCenterOfMassTransform().getBasis().transpose(), - m_rbA.getCenterOfMassTransform()*m_pivotInA - m_rbA.getCenterOfMassPosition(), - m_rbB.getCenterOfMassTransform()*m_pivotInB - m_rbB.getCenterOfMassPosition(), - normal, + pivotAInW - m_rbA.getCenterOfMassPosition(), + pivotBInW - m_rbB.getCenterOfMassPosition(), + normal[i], m_rbA.getInvInertiaDiagLocal(), m_rbA.getInvMass(), m_rbB.getInvInertiaDiagLocal(), m_rbB.getInvMass()); - normal[i] = 0; } } @@ -79,12 +206,12 @@ void btHingeConstraint::buildJacobian() btVector3 jointAxis0local; btVector3 jointAxis1local; - btPlaneSpace1(m_axisInA,jointAxis0local,jointAxis1local); + btPlaneSpace1(m_rbAFrame.getBasis().getColumn(2),jointAxis0local,jointAxis1local); - getRigidBodyA().getCenterOfMassTransform().getBasis() * m_axisInA; + getRigidBodyA().getCenterOfMassTransform().getBasis() * m_rbAFrame.getBasis().getColumn(2); btVector3 jointAxis0 = getRigidBodyA().getCenterOfMassTransform().getBasis() * jointAxis0local; btVector3 jointAxis1 = getRigidBodyA().getCenterOfMassTransform().getBasis() * jointAxis1local; - btVector3 hingeAxisWorld = getRigidBodyA().getCenterOfMassTransform().getBasis() * m_axisInA; + btVector3 hingeAxisWorld = getRigidBodyA().getCenterOfMassTransform().getBasis() * m_rbAFrame.getBasis().getColumn(2); new (&m_jacAng[0]) btJacobianEntry(jointAxis0, m_rbA.getCenterOfMassTransform().getBasis().transpose(), @@ -105,44 +232,73 @@ void btHingeConstraint::buildJacobian() m_rbB.getInvInertiaDiagLocal()); + // Compute limit information + btScalar hingeAngle = getHingeAngle(); + + //set bias, sign, clear accumulator + m_correction = btScalar(0.); + m_limitSign = btScalar(0.); + m_solveLimit = false; + m_accLimitImpulse = btScalar(0.); + +// if (m_lowerLimit < m_upperLimit) + if (m_lowerLimit <= m_upperLimit) + { +// if (hingeAngle <= m_lowerLimit*m_limitSoftness) + if (hingeAngle <= m_lowerLimit) + { + m_correction = (m_lowerLimit - hingeAngle); + m_limitSign = 1.0f; + m_solveLimit = true; + } +// else if (hingeAngle >= m_upperLimit*m_limitSoftness) + else if (hingeAngle >= m_upperLimit) + { + m_correction = m_upperLimit - hingeAngle; + m_limitSign = -1.0f; + m_solveLimit = true; + } + } + + //Compute K = J*W*J' for hinge axis + btVector3 axisA = getRigidBodyA().getCenterOfMassTransform().getBasis() * m_rbAFrame.getBasis().getColumn(2); + m_kHinge = 1.0f / (getRigidBodyA().computeAngularImpulseDenominator(axisA) + + getRigidBodyB().computeAngularImpulseDenominator(axisA)); } void btHingeConstraint::solveConstraint(btScalar timeStep) { - btVector3 pivotAInW = m_rbA.getCenterOfMassTransform()*m_pivotInA; - btVector3 pivotBInW = m_rbB.getCenterOfMassTransform()*m_pivotInB; + btVector3 pivotAInW = m_rbA.getCenterOfMassTransform()*m_rbAFrame.getOrigin(); + btVector3 pivotBInW = m_rbB.getCenterOfMassTransform()*m_rbBFrame.getOrigin(); - btVector3 normal(0,0,0); btScalar tau = btScalar(0.3); - btScalar damping = btScalar(1.); -//linear part + //linear part if (!m_angularOnly) { + btVector3 rel_pos1 = pivotAInW - m_rbA.getCenterOfMassPosition(); + btVector3 rel_pos2 = pivotBInW - m_rbB.getCenterOfMassPosition(); + + btVector3 vel1 = m_rbA.getVelocityInLocalPoint(rel_pos1); + btVector3 vel2 = m_rbB.getVelocityInLocalPoint(rel_pos2); + btVector3 vel = vel1 - vel2; + for (int i=0;i<3;i++) { - normal[i] = 1; + const btVector3& normal = m_jac[i].m_linearJointAxis; btScalar jacDiagABInv = btScalar(1.) / m_jac[i].getDiagonal(); - btVector3 rel_pos1 = pivotAInW - m_rbA.getCenterOfMassPosition(); - btVector3 rel_pos2 = pivotBInW - m_rbB.getCenterOfMassPosition(); - - btVector3 vel1 = m_rbA.getVelocityInLocalPoint(rel_pos1); - btVector3 vel2 = m_rbB.getVelocityInLocalPoint(rel_pos2); - btVector3 vel = vel1 - vel2; btScalar rel_vel; rel_vel = normal.dot(vel); //positional error (zeroth order error) btScalar depth = -(pivotAInW - pivotBInW).dot(normal); //this is the error projected on the normal - btScalar impulse = depth*tau/timeStep * jacDiagABInv - damping * rel_vel * jacDiagABInv * damping; + btScalar impulse = depth*tau/timeStep * jacDiagABInv - rel_vel * jacDiagABInv; m_appliedImpulse += impulse; btVector3 impulse_vector = normal * impulse; m_rbA.applyImpulse(impulse_vector, pivotAInW - m_rbA.getCenterOfMassPosition()); m_rbB.applyImpulse(-impulse_vector, pivotBInW - m_rbB.getCenterOfMassPosition()); - - normal[i] = 0; } } @@ -151,8 +307,8 @@ void btHingeConstraint::solveConstraint(btScalar timeStep) ///solve angular part // get axes in world space - btVector3 axisA = getRigidBodyA().getCenterOfMassTransform().getBasis() * m_axisInA; - btVector3 axisB = getRigidBodyB().getCenterOfMassTransform().getBasis() * m_axisInB; + btVector3 axisA = getRigidBodyA().getCenterOfMassTransform().getBasis() * m_rbAFrame.getBasis().getColumn(2); + btVector3 axisB = getRigidBodyB().getCenterOfMassTransform().getBasis() * m_rbBFrame.getBasis().getColumn(2); const btVector3& angVelA = getRigidBodyA().getAngularVelocity(); const btVector3& angVelB = getRigidBodyB().getAngularVelocity(); @@ -174,7 +330,7 @@ void btHingeConstraint::solveConstraint(btScalar timeStep) getRigidBodyB().computeAngularImpulseDenominator(normal); // scale for mass and relaxation //todo: expose this 0.9 factor to developer - velrelOrthog *= (btScalar(1.)/denom) * btScalar(0.9); + velrelOrthog *= (btScalar(1.)/denom) * m_relaxationFactor; } //solve angular positional correction @@ -190,10 +346,28 @@ void btHingeConstraint::solveConstraint(btScalar timeStep) m_rbA.applyTorqueImpulse(-velrelOrthog+angularError); m_rbB.applyTorqueImpulse(velrelOrthog-angularError); + + // solve limit + if (m_solveLimit) + { + btScalar amplitude = ( (angVelB - angVelA).dot( axisA )*m_relaxationFactor + m_correction* (btScalar(1.)/timeStep)*m_biasFactor ) * m_limitSign; + + btScalar impulseMag = amplitude * m_kHinge; + + // Clamp the accumulated impulse + btScalar temp = m_accLimitImpulse; + m_accLimitImpulse = btMax(m_accLimitImpulse + impulseMag, btScalar(0) ); + impulseMag = m_accLimitImpulse - temp; + + + btVector3 impulse = axisA * impulseMag * m_limitSign; + m_rbA.applyTorqueImpulse(impulse); + m_rbB.applyTorqueImpulse(-impulse); + } } //apply motor - if (m_enableAngularMotor) + if (m_enableAngularMotor) { //todo: add limits too btVector3 angularLimit(0,0,0); @@ -204,10 +378,7 @@ void btHingeConstraint::solveConstraint(btScalar timeStep) btScalar desiredMotorVel = m_motorTargetVelocity; btScalar motor_relvel = desiredMotorVel - projRelVel; - btScalar denom3 = getRigidBodyA().computeAngularImpulseDenominator(axisA) + - getRigidBodyB().computeAngularImpulseDenominator(axisA); - - btScalar unclippedMotorImpulse = (btScalar(1.)/denom3) * motor_relvel;; + btScalar unclippedMotorImpulse = m_kHinge * motor_relvel;; //todo: should clip against accumulated impulse btScalar clippedMotorImpulse = unclippedMotorImpulse > m_maxMotorImpulse ? m_maxMotorImpulse : unclippedMotorImpulse; clippedMotorImpulse = clippedMotorImpulse < -m_maxMotorImpulse ? -m_maxMotorImpulse : clippedMotorImpulse; @@ -227,3 +398,12 @@ void btHingeConstraint::updateRHS(btScalar timeStep) } +btScalar btHingeConstraint::getHingeAngle() +{ + const btVector3 refAxis0 = getRigidBodyA().getCenterOfMassTransform().getBasis() * m_rbAFrame.getBasis().getColumn(0); + const btVector3 refAxis1 = getRigidBodyA().getCenterOfMassTransform().getBasis() * m_rbAFrame.getBasis().getColumn(1); + const btVector3 swingAxis = getRigidBodyB().getCenterOfMassTransform().getBasis() * m_rbBFrame.getBasis().getColumn(1); + + return btAtan2Fast( swingAxis.dot(refAxis0), swingAxis.dot(refAxis1) ); +} + diff --git a/extern/bullet2/src/BulletDynamics/ConstraintSolver/btHingeConstraint.h b/extern/bullet2/src/BulletDynamics/ConstraintSolver/btHingeConstraint.h index 5c1ceafbc5b..4fa9972f6d8 100644 --- a/extern/bullet2/src/BulletDynamics/ConstraintSolver/btHingeConstraint.h +++ b/extern/bullet2/src/BulletDynamics/ConstraintSolver/btHingeConstraint.h @@ -13,39 +13,61 @@ subject to the following restrictions: 3. This notice may not be removed or altered from any source distribution. */ +/* Hinge Constraint by Dirk Gregorius. Limits added by Marcus Hennix at Starbreeze Studios */ + #ifndef HINGECONSTRAINT_H #define HINGECONSTRAINT_H -#include "../../LinearMath/btVector3.h" +#include "LinearMath/btVector3.h" #include "btJacobianEntry.h" #include "btTypedConstraint.h" class btRigidBody; - /// hinge constraint between two rigidbodies each with a pivotpoint that descibes the axis location in local space /// axis defines the orientation of the hinge axis class btHingeConstraint : public btTypedConstraint { +#ifdef IN_PARALLELL_SOLVER +public: +#endif btJacobianEntry m_jac[3]; //3 orthogonal linear constraints btJacobianEntry m_jacAng[3]; //2 orthogonal angular constraints+ 1 for limit/motor - btVector3 m_pivotInA; - btVector3 m_pivotInB; - btVector3 m_axisInA; - btVector3 m_axisInB; + btTransform m_rbAFrame; // constraint axii. Assumes z is hinge axis. + btTransform m_rbBFrame; - bool m_angularOnly; + btScalar m_motorTargetVelocity; + btScalar m_maxMotorImpulse; + + btScalar m_limitSoftness; + btScalar m_biasFactor; + btScalar m_relaxationFactor; - btScalar m_motorTargetVelocity; - btScalar m_maxMotorImpulse; + btScalar m_lowerLimit; + btScalar m_upperLimit; + + btScalar m_kHinge; + + btScalar m_limitSign; + btScalar m_correction; + + btScalar m_accLimitImpulse; + + bool m_angularOnly; bool m_enableAngularMotor; + bool m_solveLimit; + public: - btHingeConstraint(btRigidBody& rbA,btRigidBody& rbB, const btVector3& pivotInA,const btVector3& pivotInB,btVector3& axisInA,btVector3& axisInB); + btHingeConstraint(btRigidBody& rbA,btRigidBody& rbB, const btVector3& pivotInA,const btVector3& pivotInB, btVector3& axisInA,btVector3& axisInB); btHingeConstraint(btRigidBody& rbA,const btVector3& pivotInA,btVector3& axisInA); + + btHingeConstraint(btRigidBody& rbA,btRigidBody& rbB, const btTransform& rbAFrame, const btTransform& rbBFrame); + + btHingeConstraint(btRigidBody& rbA,const btTransform& rbAFrame); btHingeConstraint(); @@ -76,6 +98,61 @@ public: m_maxMotorImpulse = maxMotorImpulse; } + void setLimit(btScalar low,btScalar high,btScalar _softness = 0.9f, btScalar _biasFactor = 0.3f, btScalar _relaxationFactor = 1.0f) + { + m_lowerLimit = low; + m_upperLimit = high; + + m_limitSoftness = _softness; + m_biasFactor = _biasFactor; + m_relaxationFactor = _relaxationFactor; + + } + + btScalar getLowerLimit() const + { + return m_lowerLimit; + } + + btScalar getUpperLimit() const + { + return m_upperLimit; + } + + + btScalar getHingeAngle(); + + + const btTransform& getAFrame() { return m_rbAFrame; }; + const btTransform& getBFrame() { return m_rbBFrame; }; + + inline int getSolveLimit() + { + return m_solveLimit; + } + + inline btScalar getLimitSign() + { + return m_limitSign; + } + + inline bool getAngularOnly() + { + return m_angularOnly; + } + inline bool getEnableAngularMotor() + { + return m_enableAngularMotor; + } + inline btScalar getMotorTargetVelosity() + { + return m_motorTargetVelocity; + } + inline btScalar getMaxMotorImpulse() + { + return m_maxMotorImpulse; + } + }; #endif //HINGECONSTRAINT_H diff --git a/extern/bullet2/src/BulletDynamics/ConstraintSolver/btJacobianEntry.h b/extern/bullet2/src/BulletDynamics/ConstraintSolver/btJacobianEntry.h index aae3ed0373f..bfeb24c2dfb 100644 --- a/extern/bullet2/src/BulletDynamics/ConstraintSolver/btJacobianEntry.h +++ b/extern/bullet2/src/BulletDynamics/ConstraintSolver/btJacobianEntry.h @@ -16,8 +16,8 @@ subject to the following restrictions: #ifndef JACOBIAN_ENTRY_H #define JACOBIAN_ENTRY_H -#include "../../LinearMath/btVector3.h" -#include "../Dynamics/btRigidBody.h" +#include "LinearMath/btVector3.h" +#include "BulletDynamics/Dynamics/btRigidBody.h" //notes: diff --git a/extern/bullet2/src/BulletDynamics/ConstraintSolver/btPoint2PointConstraint.cpp b/extern/bullet2/src/BulletDynamics/ConstraintSolver/btPoint2PointConstraint.cpp index aacb0a3ea66..2b69ad90438 100644 --- a/extern/bullet2/src/BulletDynamics/ConstraintSolver/btPoint2PointConstraint.cpp +++ b/extern/bullet2/src/BulletDynamics/ConstraintSolver/btPoint2PointConstraint.cpp @@ -21,18 +21,19 @@ subject to the following restrictions: btPoint2PointConstraint::btPoint2PointConstraint() +:btTypedConstraint(POINT2POINT_CONSTRAINT_TYPE) { } btPoint2PointConstraint::btPoint2PointConstraint(btRigidBody& rbA,btRigidBody& rbB, const btVector3& pivotInA,const btVector3& pivotInB) -:btTypedConstraint(rbA,rbB),m_pivotInA(pivotInA),m_pivotInB(pivotInB) +:btTypedConstraint(POINT2POINT_CONSTRAINT_TYPE,rbA,rbB),m_pivotInA(pivotInA),m_pivotInB(pivotInB) { } btPoint2PointConstraint::btPoint2PointConstraint(btRigidBody& rbA,const btVector3& pivotInA) -:btTypedConstraint(rbA),m_pivotInA(pivotInA),m_pivotInB(rbA.getCenterOfMassTransform()(pivotInA)) +:btTypedConstraint(POINT2POINT_CONSTRAINT_TYPE,rbA),m_pivotInA(pivotInA),m_pivotInB(rbA.getCenterOfMassTransform()(pivotInA)) { } @@ -99,6 +100,16 @@ void btPoint2PointConstraint::solveConstraint(btScalar timeStep) btScalar depth = -(pivotAInW - pivotBInW).dot(normal); //this is the error projected on the normal btScalar impulse = depth*m_setting.m_tau/timeStep * jacDiagABInv - m_setting.m_damping * rel_vel * jacDiagABInv; + + btScalar impulseClamp = m_setting.m_impulseClamp; + if (impulseClamp > 0) + { + if (impulse < -impulseClamp) + impulse = -impulseClamp; + if (impulse > impulseClamp) + impulse = impulseClamp; + } + m_appliedImpulse+=impulse; btVector3 impulse_vector = normal * impulse; m_rbA.applyImpulse(impulse_vector, pivotAInW - m_rbA.getCenterOfMassPosition()); diff --git a/extern/bullet2/src/BulletDynamics/ConstraintSolver/btPoint2PointConstraint.h b/extern/bullet2/src/BulletDynamics/ConstraintSolver/btPoint2PointConstraint.h index 71da8ac0347..c9d5968530c 100644 --- a/extern/bullet2/src/BulletDynamics/ConstraintSolver/btPoint2PointConstraint.h +++ b/extern/bullet2/src/BulletDynamics/ConstraintSolver/btPoint2PointConstraint.h @@ -16,7 +16,7 @@ subject to the following restrictions: #ifndef POINT2POINTCONSTRAINT_H #define POINT2POINTCONSTRAINT_H -#include "../../LinearMath/btVector3.h" +#include "LinearMath/btVector3.h" #include "btJacobianEntry.h" #include "btTypedConstraint.h" @@ -26,16 +26,21 @@ struct btConstraintSetting { btConstraintSetting() : m_tau(btScalar(0.3)), - m_damping(btScalar(1.)) + m_damping(btScalar(1.)), + m_impulseClamp(btScalar(0.)) { } btScalar m_tau; btScalar m_damping; + btScalar m_impulseClamp; }; /// point to point constraint between two rigidbodies each with a pivotpoint that descibes the 'ballsocket' location in local space class btPoint2PointConstraint : public btTypedConstraint { +#ifdef IN_PARALLELL_SOLVER +public: +#endif btJacobianEntry m_jac[3]; //3 orthogonal linear constraints btVector3 m_pivotInA; @@ -70,6 +75,15 @@ public: m_pivotInB = pivotB; } + const btVector3& getPivotInA() const + { + return m_pivotInA; + } + + const btVector3& getPivotInB() const + { + return m_pivotInB; + } }; diff --git a/extern/bullet2/src/BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolver.cpp b/extern/bullet2/src/BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolver.cpp index 14b36ad44fd..41e336c9d17 100644 --- a/extern/bullet2/src/BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolver.cpp +++ b/extern/bullet2/src/BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolver.cpp @@ -13,6 +13,9 @@ subject to the following restrictions: 3. This notice may not be removed or altered from any source distribution. */ +//#define COMPUTE_IMPULSE_DENOM 1 +//It is not necessary (redundant) to refresh contact manifolds, this refresh has been moved to the collision algorithms. +//#define FORCE_REFESH_CONTACT_MANIFOLDS 1 #include "btSequentialImpulseConstraintSolver.h" #include "BulletCollision/NarrowPhaseCollision/btPersistentManifold.h" @@ -30,11 +33,9 @@ subject to the following restrictions: #include "btSolverBody.h" #include "btSolverConstraint.h" + #include "LinearMath/btAlignedObjectArray.h" -#ifdef USE_PROFILE -#include "LinearMath/btQuickprof.h" -#endif //USE_PROFILE int totalCpd = 0; @@ -64,7 +65,7 @@ unsigned long btSequentialImpulseConstraintSolver::btRand2() int btSequentialImpulseConstraintSolver::btRandInt2 (int n) { // seems good; xor-fold and modulus - const unsigned long un = n; + const unsigned long un = static_cast<unsigned long>(n); unsigned long r = btRand2(); // note: probably more aggressive than it needs to be -- might be @@ -91,12 +92,12 @@ int btSequentialImpulseConstraintSolver::btRandInt2 (int n) - +bool MyContactDestroyedCallback(void* userPersistentData); bool MyContactDestroyedCallback(void* userPersistentData) { assert (userPersistentData); btConstraintPersistentData* cpd = (btConstraintPersistentData*)userPersistentData; - delete cpd; + btAlignedFree(cpd); totalCpd--; //printf("totalCpd = %i. DELETED Ptr %x\n",totalCpd,userPersistentData); return true; @@ -105,8 +106,7 @@ bool MyContactDestroyedCallback(void* userPersistentData) btSequentialImpulseConstraintSolver::btSequentialImpulseConstraintSolver() -:m_solverMode(SOLVER_RANDMIZE_ORDER | SOLVER_CACHE_FRIENDLY), //not using SOLVER_USE_WARMSTARTING, -m_btSeed2(0) +:m_btSeed2(0) { gContactDestroyedCallback = &MyContactDestroyedCallback; @@ -121,27 +121,43 @@ m_btSeed2(0) } } - -void initSolverBody(btSolverBody* solverBody, btRigidBody* rigidbody) +btSequentialImpulseConstraintSolver::~btSequentialImpulseConstraintSolver() { -/* int size = sizeof(btSolverBody); - int sizeofrb = sizeof(btRigidBody); - int sizemanifold = sizeof(btPersistentManifold); - int sizeofmp = sizeof(btManifoldPoint); - int sizeofPersistData = sizeof (btConstraintPersistentData); -*/ - solverBody->m_angularVelocity = rigidbody->getAngularVelocity(); - solverBody->m_centerOfMassPosition = rigidbody->getCenterOfMassPosition(); - solverBody->m_friction = rigidbody->getFriction(); -// solverBody->m_invInertiaWorld = rigidbody->getInvInertiaTensorWorld(); - solverBody->m_invMass = rigidbody->getInvMass(); - solverBody->m_linearVelocity = rigidbody->getLinearVelocity(); - solverBody->m_originalBody = rigidbody; - solverBody->m_angularFactor = rigidbody->getAngularFactor(); } -btScalar penetrationResolveFactor = btScalar(0.9); +void initSolverBody(btSolverBody* solverBody, btCollisionObject* collisionObject); +void initSolverBody(btSolverBody* solverBody, btCollisionObject* collisionObject) +{ + btRigidBody* rb = btRigidBody::upcast(collisionObject); + if (rb) + { + solverBody->m_angularVelocity = rb->getAngularVelocity() ; + solverBody->m_centerOfMassPosition = collisionObject->getWorldTransform().getOrigin(); + solverBody->m_friction = collisionObject->getFriction(); + solverBody->m_invMass = rb->getInvMass(); + solverBody->m_linearVelocity = rb->getLinearVelocity(); + solverBody->m_originalBody = rb; + solverBody->m_angularFactor = rb->getAngularFactor(); + } else + { + solverBody->m_angularVelocity.setValue(0,0,0); + solverBody->m_centerOfMassPosition = collisionObject->getWorldTransform().getOrigin(); + solverBody->m_friction = collisionObject->getFriction(); + solverBody->m_invMass = 0.f; + solverBody->m_linearVelocity.setValue(0,0,0); + solverBody->m_originalBody = 0; + solverBody->m_angularFactor = 1.f; + } + + solverBody->m_pushVelocity.setValue(0.f,0.f,0.f); + solverBody->m_turnVelocity.setValue(0.f,0.f,0.f); +} + + +int gNumSplitImpulseRecoveries = 0; + +btScalar restitutionCurve(btScalar rel_vel, btScalar restitution); btScalar restitutionCurve(btScalar rel_vel, btScalar restitution) { btScalar rest = restitution * -rel_vel; @@ -149,30 +165,95 @@ btScalar restitutionCurve(btScalar rel_vel, btScalar restitution) } +void resolveSplitPenetrationImpulseCacheFriendly( + btSolverBody& body1, + btSolverBody& body2, + const btSolverConstraint& contactConstraint, + const btContactSolverInfo& solverInfo); + +//SIMD_FORCE_INLINE +void resolveSplitPenetrationImpulseCacheFriendly( + btSolverBody& body1, + btSolverBody& body2, + const btSolverConstraint& contactConstraint, + const btContactSolverInfo& solverInfo) +{ + (void)solverInfo; + + if (contactConstraint.m_penetration < solverInfo.m_splitImpulsePenetrationThreshold) + { + + gNumSplitImpulseRecoveries++; + btScalar normalImpulse; + + // Optimized version of projected relative velocity, use precomputed cross products with normal + // body1.getVelocityInLocalPoint(contactConstraint.m_rel_posA,vel1); + // body2.getVelocityInLocalPoint(contactConstraint.m_rel_posB,vel2); + // btVector3 vel = vel1 - vel2; + // btScalar rel_vel = contactConstraint.m_contactNormal.dot(vel); + + btScalar rel_vel; + btScalar vel1Dotn = contactConstraint.m_contactNormal.dot(body1.m_pushVelocity) + + contactConstraint.m_relpos1CrossNormal.dot(body1.m_turnVelocity); + btScalar vel2Dotn = contactConstraint.m_contactNormal.dot(body2.m_pushVelocity) + + contactConstraint.m_relpos2CrossNormal.dot(body2.m_turnVelocity); + + rel_vel = vel1Dotn-vel2Dotn; + + + btScalar positionalError = -contactConstraint.m_penetration * solverInfo.m_erp2/solverInfo.m_timeStep; + // btScalar positionalError = contactConstraint.m_penetration; + + btScalar velocityError = contactConstraint.m_restitution - rel_vel;// * damping; + btScalar penetrationImpulse = positionalError * contactConstraint.m_jacDiagABInv; + btScalar velocityImpulse = velocityError * contactConstraint.m_jacDiagABInv; + normalImpulse = penetrationImpulse+velocityImpulse; + // See Erin Catto's GDC 2006 paper: Clamp the accumulated impulse + btScalar oldNormalImpulse = contactConstraint.m_appliedPushImpulse; + btScalar sum = oldNormalImpulse + normalImpulse; + contactConstraint.m_appliedPushImpulse = btScalar(0.) > sum ? btScalar(0.): sum; + + normalImpulse = contactConstraint.m_appliedPushImpulse - oldNormalImpulse; + + body1.internalApplyPushImpulse(contactConstraint.m_contactNormal*body1.m_invMass, contactConstraint.m_angularComponentA,normalImpulse); + + body2.internalApplyPushImpulse(contactConstraint.m_contactNormal*body2.m_invMass, contactConstraint.m_angularComponentB,-normalImpulse); + + } + +} //velocity + friction //response between two dynamic objects with friction -SIMD_FORCE_INLINE btScalar resolveSingleCollisionCombinedCacheFriendly( + +btScalar resolveSingleCollisionCombinedCacheFriendly( btSolverBody& body1, btSolverBody& body2, - btSolverConstraint& contactConstraint, + const btSolverConstraint& contactConstraint, + const btContactSolverInfo& solverInfo); + +//SIMD_FORCE_INLINE +btScalar resolveSingleCollisionCombinedCacheFriendly( + btSolverBody& body1, + btSolverBody& body2, + const btSolverConstraint& contactConstraint, const btContactSolverInfo& solverInfo) { (void)solverInfo; - btScalar normalImpulse(0.f); + btScalar normalImpulse; + { - if (contactConstraint.m_penetration < 0.f) - return 0.f; - // Optimized version of projected relative velocity, use precomputed cross products with normal - // body1.getVelocityInLocalPoint(contactConstraint.m_rel_posA,vel1); - // body2.getVelocityInLocalPoint(contactConstraint.m_rel_posB,vel2); - // btVector3 vel = vel1 - vel2; - // btScalar rel_vel = contactConstraint.m_contactNormal.dot(vel); + + // Optimized version of projected relative velocity, use precomputed cross products with normal + // body1.getVelocityInLocalPoint(contactConstraint.m_rel_posA,vel1); + // body2.getVelocityInLocalPoint(contactConstraint.m_rel_posB,vel2); + // btVector3 vel = vel1 - vel2; + // btScalar rel_vel = contactConstraint.m_contactNormal.dot(vel); btScalar rel_vel; btScalar vel1Dotn = contactConstraint.m_contactNormal.dot(body1.m_linearVelocity) @@ -182,50 +263,51 @@ SIMD_FORCE_INLINE btScalar resolveSingleCollisionCombinedCacheFriendly( rel_vel = vel1Dotn-vel2Dotn; + btScalar positionalError = 0.f; + if (!solverInfo.m_splitImpulse || (contactConstraint.m_penetration > solverInfo.m_splitImpulsePenetrationThreshold)) + { + positionalError = -contactConstraint.m_penetration * solverInfo.m_erp/solverInfo.m_timeStep; + } - btScalar positionalError = contactConstraint.m_penetration; btScalar velocityError = contactConstraint.m_restitution - rel_vel;// * damping; btScalar penetrationImpulse = positionalError * contactConstraint.m_jacDiagABInv; btScalar velocityImpulse = velocityError * contactConstraint.m_jacDiagABInv; - btScalar normalImpulse = penetrationImpulse+velocityImpulse; + normalImpulse = penetrationImpulse+velocityImpulse; + // See Erin Catto's GDC 2006 paper: Clamp the accumulated impulse btScalar oldNormalImpulse = contactConstraint.m_appliedImpulse; btScalar sum = oldNormalImpulse + normalImpulse; contactConstraint.m_appliedImpulse = btScalar(0.) > sum ? btScalar(0.): sum; - btScalar oldVelocityImpulse = contactConstraint.m_appliedVelocityImpulse; - btScalar velocitySum = oldVelocityImpulse + velocityImpulse; - contactConstraint.m_appliedVelocityImpulse = btScalar(0.) > velocitySum ? btScalar(0.): velocitySum; - normalImpulse = contactConstraint.m_appliedImpulse - oldNormalImpulse; - if (body1.m_invMass) - { - body1.internalApplyImpulse(contactConstraint.m_contactNormal*body1.m_invMass, + body1.internalApplyImpulse(contactConstraint.m_contactNormal*body1.m_invMass, contactConstraint.m_angularComponentA,normalImpulse); - } - if (body2.m_invMass) - { - body2.internalApplyImpulse(contactConstraint.m_contactNormal*body2.m_invMass, + + body2.internalApplyImpulse(contactConstraint.m_contactNormal*body2.m_invMass, contactConstraint.m_angularComponentB,-normalImpulse); - } - } - - return normalImpulse; } - +//#define NO_FRICTION_TANGENTIALS 1 #ifndef NO_FRICTION_TANGENTIALS -SIMD_FORCE_INLINE btScalar resolveSingleFrictionCacheFriendly( +btScalar resolveSingleFrictionCacheFriendly( btSolverBody& body1, btSolverBody& body2, - btSolverConstraint& contactConstraint, + const btSolverConstraint& contactConstraint, + const btContactSolverInfo& solverInfo, + btScalar appliedNormalImpulse); + +//SIMD_FORCE_INLINE +btScalar resolveSingleFrictionCacheFriendly( + btSolverBody& body1, + btSolverBody& body2, + const btSolverConstraint& contactConstraint, const btContactSolverInfo& solverInfo, btScalar appliedNormalImpulse) { @@ -252,22 +334,42 @@ SIMD_FORCE_INLINE btScalar resolveSingleFrictionCacheFriendly( // calculate j that moves us to zero relative velocity j1 = -rel_vel * contactConstraint.m_jacDiagABInv; +#define CLAMP_ACCUMULATED_FRICTION_IMPULSE 1 +#ifdef CLAMP_ACCUMULATED_FRICTION_IMPULSE btScalar oldTangentImpulse = contactConstraint.m_appliedImpulse; contactConstraint.m_appliedImpulse = oldTangentImpulse + j1; - GEN_set_min(contactConstraint.m_appliedImpulse, limit); - GEN_set_max(contactConstraint.m_appliedImpulse, -limit); + + if (limit < contactConstraint.m_appliedImpulse) + { + contactConstraint.m_appliedImpulse = limit; + } else + { + if (contactConstraint.m_appliedImpulse < -limit) + contactConstraint.m_appliedImpulse = -limit; + } j1 = contactConstraint.m_appliedImpulse - oldTangentImpulse; +#else + if (limit < j1) + { + j1 = limit; + } else + { + if (j1 < -limit) + j1 = -limit; + } + +#endif //CLAMP_ACCUMULATED_FRICTION_IMPULSE + + //GEN_set_min(contactConstraint.m_appliedImpulse, limit); + //GEN_set_max(contactConstraint.m_appliedImpulse, -limit); + + } - if (body1.m_invMass) - { - body1.internalApplyImpulse(contactConstraint.m_contactNormal*body1.m_invMass,contactConstraint.m_angularComponentA,j1); - } - if (body2.m_invMass) - { - body2.internalApplyImpulse(contactConstraint.m_contactNormal*body2.m_invMass,contactConstraint.m_angularComponentB,-j1); - } + body1.internalApplyImpulse(contactConstraint.m_contactNormal*body1.m_invMass,contactConstraint.m_angularComponentA,j1); + + body2.internalApplyImpulse(contactConstraint.m_contactNormal*body2.m_invMass,contactConstraint.m_angularComponentB,-j1); } return 0.f; @@ -295,7 +397,7 @@ btScalar resolveSingleFrictionCacheFriendly( return 0.f; - body1.getVelocityInLocalPoint(contactConstraint.m_rel_posA,vel1); + body1.getVelocityInLocalPoint(contactConstraint.m_relpos1CrossNormal,vel1); body2.getVelocityInLocalPoint(contactConstraint.m_rel_posB,vel2); btVector3 vel = vel1 - vel2; btScalar rel_vel; @@ -309,7 +411,6 @@ btScalar resolveSingleFrictionCacheFriendly( const btVector3& rel_pos2 = contactConstraint.m_rel_posB; - //if (contactConstraint.m_appliedVelocityImpulse > 0.f) if (lat_rel_vel > SIMD_EPSILON*SIMD_EPSILON) { lat_rel_vel = btSqrt(lat_rel_vel); @@ -319,11 +420,11 @@ btScalar resolveSingleFrictionCacheFriendly( btVector3 temp2 = body2.m_invInertiaWorld * rel_pos2.cross(lat_vel); btScalar friction_impulse = lat_rel_vel / (body1.m_invMass + body2.m_invMass + lat_vel.dot(temp1.cross(rel_pos1) + temp2.cross(rel_pos2))); - btScalar normal_impulse = contactConstraint.m_appliedVelocityImpulse * combinedFriction; + btScalar normal_impulse = contactConstraint.m_appliedImpulse * combinedFriction; - GEN_set_min(friction_impulse, normal_impulse); - GEN_set_max(friction_impulse, -normal_impulse); - body1.applyImpulse(lat_vel * -friction_impulse, rel_pos1); + btSetMin(friction_impulse, normal_impulse); + btSetMin(friction_impulse, -normal_impulse); + body1.internalApplyImpulse(lat_vel * -friction_impulse, rel_pos1); body2.applyImpulse(lat_vel * friction_impulse, rel_pos2); } } @@ -333,39 +434,128 @@ btScalar resolveSingleFrictionCacheFriendly( #endif //NO_FRICTION_TANGENTIALS -btAlignedObjectArray<btSolverBody> tmpSolverBodyPool; -btAlignedObjectArray<btSolverConstraint> tmpSolverConstraintPool; -btAlignedObjectArray<btSolverConstraint> tmpSolverFrictionConstraintPool; -btScalar btSequentialImpulseConstraintSolver::solveGroupCacheFriendly(btCollisionObject** bodies,int numBodies,btPersistentManifold** manifoldPtr, int numManifolds,btTypedConstraint** constraints,int numConstraints,const btContactSolverInfo& infoGlobal,btIDebugDraw* debugDrawer,btStackAlloc* stackAlloc) + + +void btSequentialImpulseConstraintSolver::addFrictionConstraint(const btVector3& normalAxis,int solverBodyIdA,int solverBodyIdB,int frictionIndex,btManifoldPoint& cp,const btVector3& rel_pos1,const btVector3& rel_pos2,btCollisionObject* colObj0,btCollisionObject* colObj1, btScalar relaxation) +{ + + btRigidBody* body0=btRigidBody::upcast(colObj0); + btRigidBody* body1=btRigidBody::upcast(colObj1); + + btSolverConstraint& solverConstraint = m_tmpSolverFrictionConstraintPool.expand(); + solverConstraint.m_contactNormal = normalAxis; + + solverConstraint.m_solverBodyIdA = solverBodyIdA; + solverConstraint.m_solverBodyIdB = solverBodyIdB; + solverConstraint.m_constraintType = btSolverConstraint::BT_SOLVER_FRICTION_1D; + solverConstraint.m_frictionIndex = frictionIndex; + + solverConstraint.m_friction = cp.m_combinedFriction; + solverConstraint.m_originalContactPoint = 0; + + solverConstraint.m_appliedImpulse = btScalar(0.); + solverConstraint.m_appliedPushImpulse = 0.f; + solverConstraint.m_penetration = 0.f; + { + btVector3 ftorqueAxis1 = rel_pos1.cross(solverConstraint.m_contactNormal); + solverConstraint.m_relpos1CrossNormal = ftorqueAxis1; + solverConstraint.m_angularComponentA = body0 ? body0->getInvInertiaTensorWorld()*ftorqueAxis1 : btVector3(0,0,0); + } + { + btVector3 ftorqueAxis1 = rel_pos2.cross(solverConstraint.m_contactNormal); + solverConstraint.m_relpos2CrossNormal = ftorqueAxis1; + solverConstraint.m_angularComponentB = body1 ? body1->getInvInertiaTensorWorld()*ftorqueAxis1 : btVector3(0,0,0); + } + +#ifdef COMPUTE_IMPULSE_DENOM + btScalar denom0 = rb0->computeImpulseDenominator(pos1,solverConstraint.m_contactNormal); + btScalar denom1 = rb1->computeImpulseDenominator(pos2,solverConstraint.m_contactNormal); +#else + btVector3 vec; + btScalar denom0 = 0.f; + btScalar denom1 = 0.f; + if (body0) + { + vec = ( solverConstraint.m_angularComponentA).cross(rel_pos1); + denom0 = body0->getInvMass() + normalAxis.dot(vec); + } + if (body1) + { + vec = ( solverConstraint.m_angularComponentB).cross(rel_pos2); + denom1 = body1->getInvMass() + normalAxis.dot(vec); + } + + +#endif //COMPUTE_IMPULSE_DENOM + btScalar denom = relaxation/(denom0+denom1); + solverConstraint.m_jacDiagABInv = denom; + + +} + + +void applyAnisotropicFriction(btCollisionObject* colObj,btVector3& frictionDirection); +void applyAnisotropicFriction(btCollisionObject* colObj,btVector3& frictionDirection) +{ + if (colObj && colObj->hasAnisotropicFriction()) + { + // transform to local coordinates + btVector3 loc_lateral = frictionDirection * colObj->getWorldTransform().getBasis(); + const btVector3& friction_scaling = colObj->getAnisotropicFriction(); + //apply anisotropic friction + loc_lateral *= friction_scaling; + // ... and transform it back to global coordinates + frictionDirection = colObj->getWorldTransform().getBasis() * loc_lateral; + } +} + + + + +btScalar btSequentialImpulseConstraintSolver::solveGroupCacheFriendlySetup(btCollisionObject** /*bodies */,int /*numBodies */,btPersistentManifold** manifoldPtr, int numManifolds,btTypedConstraint** constraints,int numConstraints,const btContactSolverInfo& infoGlobal,btIDebugDraw* debugDrawer,btStackAlloc* stackAlloc) { + BT_PROFILE("solveGroupCacheFriendlySetup"); (void)stackAlloc; (void)debugDrawer; + if (!(numConstraints + numManifolds)) { // printf("empty\n"); return 0.f; } + btPersistentManifold* manifold = 0; + btCollisionObject* colObj0=0,*colObj1=0; + + //btRigidBody* rb0=0,*rb1=0; + + +#ifdef FORCE_REFESH_CONTACT_MANIFOLDS BEGIN_PROFILE("refreshManifolds"); int i; + + + for (i=0;i<numManifolds;i++) { - btPersistentManifold* manifold = manifoldPtr[i]; - btRigidBody* rb0 = (btRigidBody*)manifold->getBody0(); - btRigidBody* rb1 = (btRigidBody*)manifold->getBody1(); - + manifold = manifoldPtr[i]; + rb1 = (btRigidBody*)manifold->getBody1(); + rb0 = (btRigidBody*)manifold->getBody0(); + manifold->refreshContactPoints(rb0->getCenterOfMassTransform(),rb1->getCenterOfMassTransform()); } - + END_PROFILE("refreshManifolds"); +#endif //FORCE_REFESH_CONTACT_MANIFOLDS + + - BEGIN_PROFILE("gatherSolverData"); //int sizeofSB = sizeof(btSolverBody); //int sizeofSC = sizeof(btSolverConstraint); @@ -382,10 +572,12 @@ btScalar btSequentialImpulseConstraintSolver::solveGroupCacheFriendly(btCollisio //todo: use stack allocator for this temp memory - int minReservation = numManifolds*2; +// int minReservation = numManifolds*2; - tmpSolverBodyPool.reserve(minReservation); + //m_tmpSolverBodyPool.reserve(minReservation); + //don't convert all bodies, only the one we need so solver the constraints +/* { for (int i=0;i<numBodies;i++) { @@ -393,26 +585,26 @@ btScalar btSequentialImpulseConstraintSolver::solveGroupCacheFriendly(btCollisio if (rb && (rb->getIslandTag() >= 0)) { btAssert(rb->getCompanionId() < 0); - int solverBodyId = tmpSolverBodyPool.size(); - btSolverBody& solverBody = tmpSolverBodyPool.expand(); + int solverBodyId = m_tmpSolverBodyPool.size(); + btSolverBody& solverBody = m_tmpSolverBodyPool.expand(); initSolverBody(&solverBody,rb); rb->setCompanionId(solverBodyId); } } } - +*/ - tmpSolverConstraintPool.reserve(minReservation); - tmpSolverFrictionConstraintPool.reserve(minReservation); + //m_tmpSolverConstraintPool.reserve(minReservation); + //m_tmpSolverFrictionConstraintPool.reserve(minReservation); + { int i; for (i=0;i<numManifolds;i++) { - btPersistentManifold* manifold = manifoldPtr[i]; - btRigidBody* rb0 = (btRigidBody*)manifold->getBody0(); - btRigidBody* rb1 = (btRigidBody*)manifold->getBody1(); - + manifold = manifoldPtr[i]; + colObj0 = (btCollisionObject*)manifold->getBody0(); + colObj1 = (btCollisionObject*)manifold->getBody1(); int solverBodyIdA=-1; int solverBodyIdB=-1; @@ -422,61 +614,108 @@ btScalar btSequentialImpulseConstraintSolver::solveGroupCacheFriendly(btCollisio - if (rb0->getIslandTag() >= 0) + if (colObj0->getIslandTag() >= 0) { - solverBodyIdA = rb0->getCompanionId(); + if (colObj0->getCompanionId() >= 0) + { + //body has already been converted + solverBodyIdA = colObj0->getCompanionId(); + } else + { + solverBodyIdA = m_tmpSolverBodyPool.size(); + btSolverBody& solverBody = m_tmpSolverBodyPool.expand(); + initSolverBody(&solverBody,colObj0); + colObj0->setCompanionId(solverBodyIdA); + } } else { //create a static body - solverBodyIdA = tmpSolverBodyPool.size(); - btSolverBody& solverBody = tmpSolverBodyPool.expand(); - initSolverBody(&solverBody,rb0); + solverBodyIdA = m_tmpSolverBodyPool.size(); + btSolverBody& solverBody = m_tmpSolverBodyPool.expand(); + initSolverBody(&solverBody,colObj0); } - if (rb1->getIslandTag() >= 0) + if (colObj1->getIslandTag() >= 0) { - solverBodyIdB = rb1->getCompanionId(); + if (colObj1->getCompanionId() >= 0) + { + solverBodyIdB = colObj1->getCompanionId(); + } else + { + solverBodyIdB = m_tmpSolverBodyPool.size(); + btSolverBody& solverBody = m_tmpSolverBodyPool.expand(); + initSolverBody(&solverBody,colObj1); + colObj1->setCompanionId(solverBodyIdB); + } } else { //create a static body - solverBodyIdB = tmpSolverBodyPool.size(); - btSolverBody& solverBody = tmpSolverBodyPool.expand(); - initSolverBody(&solverBody,rb1); + solverBodyIdB = m_tmpSolverBodyPool.size(); + btSolverBody& solverBody = m_tmpSolverBodyPool.expand(); + initSolverBody(&solverBody,colObj1); } } + btVector3 rel_pos1; + btVector3 rel_pos2; + btScalar relaxation; + for (int j=0;j<manifold->getNumContacts();j++) { btManifoldPoint& cp = manifold->getContactPoint(j); - - int frictionIndex = tmpSolverConstraintPool.size(); - + if (cp.getDistance() <= btScalar(0.)) { const btVector3& pos1 = cp.getPositionWorldOnA(); const btVector3& pos2 = cp.getPositionWorldOnB(); - btVector3 rel_pos1 = pos1 - rb0->getCenterOfMassPosition(); - btVector3 rel_pos2 = pos2 - rb1->getCenterOfMassPosition(); + rel_pos1 = pos1 - colObj0->getWorldTransform().getOrigin(); + rel_pos2 = pos2 - colObj1->getWorldTransform().getOrigin(); - btScalar relaxation = 1.f; + relaxation = 1.f; + btScalar rel_vel; + btVector3 vel; + + int frictionIndex = m_tmpSolverConstraintPool.size(); { - btSolverConstraint& solverConstraint = tmpSolverConstraintPool.expand(); + btSolverConstraint& solverConstraint = m_tmpSolverConstraintPool.expand(); + btRigidBody* rb0 = btRigidBody::upcast(colObj0); + btRigidBody* rb1 = btRigidBody::upcast(colObj1); solverConstraint.m_solverBodyIdA = solverBodyIdA; solverConstraint.m_solverBodyIdB = solverBodyIdB; solverConstraint.m_constraintType = btSolverConstraint::BT_SOLVER_CONTACT_1D; - + solverConstraint.m_originalContactPoint = &cp; + btVector3 torqueAxis0 = rel_pos1.cross(cp.m_normalWorldOnB); + solverConstraint.m_angularComponentA = rb0 ? rb0->getInvInertiaTensorWorld()*torqueAxis0 : btVector3(0,0,0); + btVector3 torqueAxis1 = rel_pos2.cross(cp.m_normalWorldOnB); + solverConstraint.m_angularComponentB = rb1 ? rb1->getInvInertiaTensorWorld()*torqueAxis1 : btVector3(0,0,0); { - //can be optimized, the cross products are already calculated +#ifdef COMPUTE_IMPULSE_DENOM btScalar denom0 = rb0->computeImpulseDenominator(pos1,cp.m_normalWorldOnB); btScalar denom1 = rb1->computeImpulseDenominator(pos2,cp.m_normalWorldOnB); +#else + btVector3 vec; + btScalar denom0 = 0.f; + btScalar denom1 = 0.f; + if (rb0) + { + vec = ( solverConstraint.m_angularComponentA).cross(rel_pos1); + denom0 = rb0->getInvMass() + cp.m_normalWorldOnB.dot(vec); + } + if (rb1) + { + vec = ( solverConstraint.m_angularComponentB).cross(rel_pos2); + denom1 = rb1->getInvMass() + cp.m_normalWorldOnB.dot(vec); + } +#endif //COMPUTE_IMPULSE_DENOM + btScalar denom = relaxation/(denom0+denom1); solverConstraint.m_jacDiagABInv = denom; } @@ -486,121 +725,127 @@ btScalar btSequentialImpulseConstraintSolver::solveGroupCacheFriendly(btCollisio solverConstraint.m_relpos2CrossNormal = rel_pos2.cross(cp.m_normalWorldOnB); - btVector3 vel1 = rb0->getVelocityInLocalPoint(rel_pos1); - btVector3 vel2 = rb1->getVelocityInLocalPoint(rel_pos2); + btVector3 vel1 = rb0 ? rb0->getVelocityInLocalPoint(rel_pos1) : btVector3(0,0,0); + btVector3 vel2 = rb1 ? rb1->getVelocityInLocalPoint(rel_pos2) : btVector3(0,0,0); - btVector3 vel = vel1 - vel2; - btScalar rel_vel; + vel = vel1 - vel2; + rel_vel = cp.m_normalWorldOnB.dot(vel); + solverConstraint.m_penetration = btMin(cp.getDistance()+infoGlobal.m_linearSlop,btScalar(0.)); + //solverConstraint.m_penetration = cp.getDistance(); - solverConstraint.m_penetration = cp.getDistance();///btScalar(infoGlobal.m_numIterations); solverConstraint.m_friction = cp.m_combinedFriction; - btScalar rest = restitutionCurve(rel_vel, cp.m_combinedRestitution); - if (rest <= btScalar(0.)) + solverConstraint.m_restitution = restitutionCurve(rel_vel, cp.m_combinedRestitution); + if (solverConstraint.m_restitution <= btScalar(0.)) { - rest = 0.f; + solverConstraint.m_restitution = 0.f; }; + btScalar penVel = -solverConstraint.m_penetration/infoGlobal.m_timeStep; - if (rest > penVel) - { - rest = btScalar(0.); - } - solverConstraint.m_restitution = rest; - solverConstraint.m_penetration *= -(infoGlobal.m_erp/infoGlobal.m_timeStep); - - solverConstraint.m_appliedImpulse = 0.f; - solverConstraint.m_appliedVelocityImpulse = 0.f; - - btVector3 torqueAxis0 = rel_pos1.cross(cp.m_normalWorldOnB); - solverConstraint.m_angularComponentA = rb0->getInvInertiaTensorWorld()*torqueAxis0; - btVector3 torqueAxis1 = rel_pos2.cross(cp.m_normalWorldOnB); - solverConstraint.m_angularComponentB = rb1->getInvInertiaTensorWorld()*torqueAxis1; - } - - //create 2 '1d axis' constraints for 2 tangential friction directions - - //re-calculate friction direction every frame, todo: check if this is really needed - btVector3 frictionTangential0a, frictionTangential1b; - - btPlaneSpace1(cp.m_normalWorldOnB,frictionTangential0a,frictionTangential1b); - - { - btSolverConstraint& solverConstraint = tmpSolverFrictionConstraintPool.expand(); - solverConstraint.m_contactNormal = frictionTangential0a; - - solverConstraint.m_solverBodyIdA = solverBodyIdA; - solverConstraint.m_solverBodyIdB = solverBodyIdB; - solverConstraint.m_constraintType = btSolverConstraint::BT_SOLVER_FRICTION_1D; - solverConstraint.m_frictionIndex = frictionIndex; - - solverConstraint.m_friction = cp.m_combinedFriction; - - solverConstraint.m_appliedImpulse = btScalar(0.); - solverConstraint.m_appliedVelocityImpulse = 0.f; - - btScalar denom0 = rb0->computeImpulseDenominator(pos1,solverConstraint.m_contactNormal); - btScalar denom1 = rb1->computeImpulseDenominator(pos2,solverConstraint.m_contactNormal); - btScalar denom = relaxation/(denom0+denom1); - solverConstraint.m_jacDiagABInv = denom; + if (solverConstraint.m_restitution > penVel) { - btVector3 ftorqueAxis0 = rel_pos1.cross(solverConstraint.m_contactNormal); - solverConstraint.m_relpos1CrossNormal = ftorqueAxis0; - solverConstraint.m_angularComponentA = rb0->getInvInertiaTensorWorld()*ftorqueAxis0; + solverConstraint.m_penetration = btScalar(0.); } + + + + ///warm starting (or zero if disabled) + if (infoGlobal.m_solverMode & SOLVER_USE_WARMSTARTING) + { + solverConstraint.m_appliedImpulse = cp.m_appliedImpulse * infoGlobal.m_warmstartingFactor; + if (rb0) + m_tmpSolverBodyPool[solverConstraint.m_solverBodyIdA].internalApplyImpulse(solverConstraint.m_contactNormal*rb0->getInvMass(),solverConstraint.m_angularComponentA,solverConstraint.m_appliedImpulse); + if (rb1) + m_tmpSolverBodyPool[solverConstraint.m_solverBodyIdB].internalApplyImpulse(solverConstraint.m_contactNormal*rb1->getInvMass(),solverConstraint.m_angularComponentB,-solverConstraint.m_appliedImpulse); + } else { - btVector3 ftorqueAxis0 = rel_pos2.cross(solverConstraint.m_contactNormal); - solverConstraint.m_relpos2CrossNormal = ftorqueAxis0; - solverConstraint.m_angularComponentB = rb1->getInvInertiaTensorWorld()*ftorqueAxis0; + solverConstraint.m_appliedImpulse = 0.f; } - } - - - { - - btSolverConstraint& solverConstraint = tmpSolverFrictionConstraintPool.expand(); - solverConstraint.m_contactNormal = frictionTangential1b; - - solverConstraint.m_solverBodyIdA = solverBodyIdA; - solverConstraint.m_solverBodyIdB = solverBodyIdB; - solverConstraint.m_constraintType = btSolverConstraint::BT_SOLVER_FRICTION_1D; - solverConstraint.m_frictionIndex = frictionIndex; - - solverConstraint.m_friction = cp.m_combinedFriction; + solverConstraint.m_appliedPushImpulse = 0.f; + + solverConstraint.m_frictionIndex = m_tmpSolverFrictionConstraintPool.size(); + if (!cp.m_lateralFrictionInitialized) + { + cp.m_lateralFrictionDir1 = vel - cp.m_normalWorldOnB * rel_vel; + + //scale anisotropic friction + + applyAnisotropicFriction(colObj0,cp.m_lateralFrictionDir1); + applyAnisotropicFriction(colObj1,cp.m_lateralFrictionDir1); + + btScalar lat_rel_vel = cp.m_lateralFrictionDir1.length2(); + + + if (lat_rel_vel > SIMD_EPSILON)//0.0f) + { + cp.m_lateralFrictionDir1 /= btSqrt(lat_rel_vel); + addFrictionConstraint(cp.m_lateralFrictionDir1,solverBodyIdA,solverBodyIdB,frictionIndex,cp,rel_pos1,rel_pos2,colObj0,colObj1, relaxation); + cp.m_lateralFrictionDir2 = cp.m_lateralFrictionDir1.cross(cp.m_normalWorldOnB); + cp.m_lateralFrictionDir2.normalize(); + applyAnisotropicFriction(colObj0,cp.m_lateralFrictionDir2); + applyAnisotropicFriction(colObj1,cp.m_lateralFrictionDir2); + + addFrictionConstraint(cp.m_lateralFrictionDir2,solverBodyIdA,solverBodyIdB,frictionIndex,cp,rel_pos1,rel_pos2,colObj0,colObj1, relaxation); + } else + { + //re-calculate friction direction every frame, todo: check if this is really needed + btPlaneSpace1(cp.m_normalWorldOnB,cp.m_lateralFrictionDir1,cp.m_lateralFrictionDir2); + applyAnisotropicFriction(colObj0,cp.m_lateralFrictionDir2); + applyAnisotropicFriction(colObj1,cp.m_lateralFrictionDir2); + addFrictionConstraint(cp.m_lateralFrictionDir1,solverBodyIdA,solverBodyIdB,frictionIndex,cp,rel_pos1,rel_pos2,colObj0,colObj1, relaxation); + addFrictionConstraint(cp.m_lateralFrictionDir2,solverBodyIdA,solverBodyIdB,frictionIndex,cp,rel_pos1,rel_pos2,colObj0,colObj1, relaxation); + } + cp.m_lateralFrictionInitialized = true; + + } else + { + addFrictionConstraint(cp.m_lateralFrictionDir1,solverBodyIdA,solverBodyIdB,frictionIndex,cp,rel_pos1,rel_pos2,colObj0,colObj1, relaxation); + addFrictionConstraint(cp.m_lateralFrictionDir2,solverBodyIdA,solverBodyIdB,frictionIndex,cp,rel_pos1,rel_pos2,colObj0,colObj1, relaxation); + } - solverConstraint.m_appliedImpulse = btScalar(0.); - solverConstraint.m_appliedVelocityImpulse = 0.f; - - btScalar denom0 = rb0->computeImpulseDenominator(pos1,solverConstraint.m_contactNormal); - btScalar denom1 = rb1->computeImpulseDenominator(pos2,solverConstraint.m_contactNormal); - btScalar denom = relaxation/(denom0+denom1); - solverConstraint.m_jacDiagABInv = denom; { - btVector3 ftorqueAxis1 = rel_pos1.cross(solverConstraint.m_contactNormal); - solverConstraint.m_relpos1CrossNormal = ftorqueAxis1; - solverConstraint.m_angularComponentA = rb0->getInvInertiaTensorWorld()*ftorqueAxis1; + btSolverConstraint& frictionConstraint1 = m_tmpSolverFrictionConstraintPool[solverConstraint.m_frictionIndex]; + if (infoGlobal.m_solverMode & SOLVER_USE_WARMSTARTING) + { + frictionConstraint1.m_appliedImpulse = cp.m_appliedImpulseLateral1 * infoGlobal.m_warmstartingFactor; + if (rb0) + m_tmpSolverBodyPool[solverConstraint.m_solverBodyIdA].internalApplyImpulse(frictionConstraint1.m_contactNormal*rb0->getInvMass(),frictionConstraint1.m_angularComponentA,frictionConstraint1.m_appliedImpulse); + if (rb1) + m_tmpSolverBodyPool[solverConstraint.m_solverBodyIdB].internalApplyImpulse(frictionConstraint1.m_contactNormal*rb1->getInvMass(),frictionConstraint1.m_angularComponentB,-frictionConstraint1.m_appliedImpulse); + } else + { + frictionConstraint1.m_appliedImpulse = 0.f; } + } { - btVector3 ftorqueAxis1 = rel_pos2.cross(solverConstraint.m_contactNormal); - solverConstraint.m_relpos2CrossNormal = ftorqueAxis1; - solverConstraint.m_angularComponentB = rb1->getInvInertiaTensorWorld()*ftorqueAxis1; + btSolverConstraint& frictionConstraint2 = m_tmpSolverFrictionConstraintPool[solverConstraint.m_frictionIndex+1]; + if (infoGlobal.m_solverMode & SOLVER_USE_WARMSTARTING) + { + frictionConstraint2.m_appliedImpulse = cp.m_appliedImpulseLateral2 * infoGlobal.m_warmstartingFactor; + if (rb0) + m_tmpSolverBodyPool[solverConstraint.m_solverBodyIdA].internalApplyImpulse(frictionConstraint2.m_contactNormal*rb0->getInvMass(),frictionConstraint2.m_angularComponentA,frictionConstraint2.m_appliedImpulse); + if (rb1) + m_tmpSolverBodyPool[solverConstraint.m_solverBodyIdB].internalApplyImpulse(frictionConstraint2.m_contactNormal*rb1->getInvMass(),frictionConstraint2.m_angularComponentB,-frictionConstraint2.m_appliedImpulse); + } else + { + frictionConstraint2.m_appliedImpulse = 0.f; } } + } + } } } } } - END_PROFILE("gatherSolverData"); - - BEGIN_PROFILE("prepareConstraints"); - + btContactSolverInfo info = infoGlobal; { @@ -612,57 +857,60 @@ btScalar btSequentialImpulseConstraintSolver::solveGroupCacheFriendly(btCollisio } } - btAlignedObjectArray<int> gOrderTmpConstraintPool; - btAlignedObjectArray<int> gOrderFrictionConstraintPool; + - int numConstraintPool = tmpSolverConstraintPool.size(); - int numFrictionPool = tmpSolverFrictionConstraintPool.size(); + int numConstraintPool = m_tmpSolverConstraintPool.size(); + int numFrictionPool = m_tmpSolverFrictionConstraintPool.size(); ///todo: use stack allocator for such temporarily memory, same for solver bodies/constraints - gOrderTmpConstraintPool.resize(numConstraintPool); - gOrderFrictionConstraintPool.resize(numFrictionPool); + m_orderTmpConstraintPool.resize(numConstraintPool); + m_orderFrictionConstraintPool.resize(numFrictionPool); { int i; for (i=0;i<numConstraintPool;i++) { - gOrderTmpConstraintPool[i] = i; + m_orderTmpConstraintPool[i] = i; } for (i=0;i<numFrictionPool;i++) { - gOrderFrictionConstraintPool[i] = i; + m_orderFrictionConstraintPool[i] = i; } } + return 0.f; - END_PROFILE("prepareConstraints"); - +} - BEGIN_PROFILE("solveConstraints"); +btScalar btSequentialImpulseConstraintSolver::solveGroupCacheFriendlyIterations(btCollisionObject** /*bodies */,int /*numBodies*/,btPersistentManifold** /*manifoldPtr*/, int /*numManifolds*/,btTypedConstraint** constraints,int numConstraints,const btContactSolverInfo& infoGlobal,btIDebugDraw* /*debugDrawer*/,btStackAlloc* /*stackAlloc*/) +{ + BT_PROFILE("solveGroupCacheFriendlyIterations"); + int numConstraintPool = m_tmpSolverConstraintPool.size(); + int numFrictionPool = m_tmpSolverFrictionConstraintPool.size(); //should traverse the contacts random order... int iteration; { - for ( iteration = 0;iteration<info.m_numIterations;iteration++) + for ( iteration = 0;iteration<infoGlobal.m_numIterations;iteration++) { int j; - if (m_solverMode & SOLVER_RANDMIZE_ORDER) + if (infoGlobal.m_solverMode & SOLVER_RANDMIZE_ORDER) { if ((iteration & 7) == 0) { for (j=0; j<numConstraintPool; ++j) { - int tmp = gOrderTmpConstraintPool[j]; + int tmp = m_orderTmpConstraintPool[j]; int swapi = btRandInt2(j+1); - gOrderTmpConstraintPool[j] = gOrderTmpConstraintPool[swapi]; - gOrderTmpConstraintPool[swapi] = tmp; + m_orderTmpConstraintPool[j] = m_orderTmpConstraintPool[swapi]; + m_orderTmpConstraintPool[swapi] = tmp; } for (j=0; j<numFrictionPool; ++j) { - int tmp = gOrderFrictionConstraintPool[j]; + int tmp = m_orderFrictionConstraintPool[j]; int swapi = btRandInt2(j+1); - gOrderFrictionConstraintPool[j] = gOrderFrictionConstraintPool[swapi]; - gOrderFrictionConstraintPool[swapi] = tmp; + m_orderFrictionConstraintPool[j] = m_orderFrictionConstraintPool[swapi]; + m_orderFrictionConstraintPool[swapi] = tmp; } } } @@ -674,86 +922,145 @@ btScalar btSequentialImpulseConstraintSolver::solveGroupCacheFriendly(btCollisio if ((constraint->getRigidBodyA().getIslandTag() >= 0) && (constraint->getRigidBodyA().getCompanionId() >= 0)) { - tmpSolverBodyPool[constraint->getRigidBodyA().getCompanionId()].writebackVelocity(); + m_tmpSolverBodyPool[constraint->getRigidBodyA().getCompanionId()].writebackVelocity(); } if ((constraint->getRigidBodyB().getIslandTag() >= 0) && (constraint->getRigidBodyB().getCompanionId() >= 0)) { - tmpSolverBodyPool[constraint->getRigidBodyB().getCompanionId()].writebackVelocity(); + m_tmpSolverBodyPool[constraint->getRigidBodyB().getCompanionId()].writebackVelocity(); } - constraint->solveConstraint(info.m_timeStep); + constraint->solveConstraint(infoGlobal.m_timeStep); if ((constraint->getRigidBodyA().getIslandTag() >= 0) && (constraint->getRigidBodyA().getCompanionId() >= 0)) { - tmpSolverBodyPool[constraint->getRigidBodyA().getCompanionId()].readVelocity(); + m_tmpSolverBodyPool[constraint->getRigidBodyA().getCompanionId()].readVelocity(); } if ((constraint->getRigidBodyB().getIslandTag() >= 0) && (constraint->getRigidBodyB().getCompanionId() >= 0)) { - tmpSolverBodyPool[constraint->getRigidBodyB().getCompanionId()].readVelocity(); + m_tmpSolverBodyPool[constraint->getRigidBodyB().getCompanionId()].readVelocity(); } } { - int numPoolConstraints = tmpSolverConstraintPool.size(); + int numPoolConstraints = m_tmpSolverConstraintPool.size(); for (j=0;j<numPoolConstraints;j++) { - btSolverConstraint& solveManifold = tmpSolverConstraintPool[gOrderTmpConstraintPool[j]]; - resolveSingleCollisionCombinedCacheFriendly(tmpSolverBodyPool[solveManifold.m_solverBodyIdA], - tmpSolverBodyPool[solveManifold.m_solverBodyIdB],solveManifold,info); + + const btSolverConstraint& solveManifold = m_tmpSolverConstraintPool[m_orderTmpConstraintPool[j]]; + resolveSingleCollisionCombinedCacheFriendly(m_tmpSolverBodyPool[solveManifold.m_solverBodyIdA], + m_tmpSolverBodyPool[solveManifold.m_solverBodyIdB],solveManifold,infoGlobal); } } { - int numFrictionPoolConstraints = tmpSolverFrictionConstraintPool.size(); - for (j=0;j<numFrictionPoolConstraints;j++) + int numFrictionPoolConstraints = m_tmpSolverFrictionConstraintPool.size(); + + for (j=0;j<numFrictionPoolConstraints;j++) { - btSolverConstraint& solveManifold = tmpSolverFrictionConstraintPool[gOrderFrictionConstraintPool[j]]; - btScalar appliedNormalImpulse = tmpSolverConstraintPool[solveManifold.m_frictionIndex].m_appliedImpulse; + const btSolverConstraint& solveManifold = m_tmpSolverFrictionConstraintPool[m_orderFrictionConstraintPool[j]]; + btScalar totalImpulse = m_tmpSolverConstraintPool[solveManifold.m_frictionIndex].m_appliedImpulse+ + m_tmpSolverConstraintPool[solveManifold.m_frictionIndex].m_appliedPushImpulse; - resolveSingleFrictionCacheFriendly(tmpSolverBodyPool[solveManifold.m_solverBodyIdA], - tmpSolverBodyPool[solveManifold.m_solverBodyIdB],solveManifold,info,appliedNormalImpulse); + resolveSingleFrictionCacheFriendly(m_tmpSolverBodyPool[solveManifold.m_solverBodyIdA], + m_tmpSolverBodyPool[solveManifold.m_solverBodyIdB],solveManifold,infoGlobal, + totalImpulse); } } } + + if (infoGlobal.m_splitImpulse) + { + + for ( iteration = 0;iteration<infoGlobal.m_numIterations;iteration++) + { + { + int numPoolConstraints = m_tmpSolverConstraintPool.size(); + int j; + for (j=0;j<numPoolConstraints;j++) + { + const btSolverConstraint& solveManifold = m_tmpSolverConstraintPool[m_orderTmpConstraintPool[j]]; + + resolveSplitPenetrationImpulseCacheFriendly(m_tmpSolverBodyPool[solveManifold.m_solverBodyIdA], + m_tmpSolverBodyPool[solveManifold.m_solverBodyIdB],solveManifold,infoGlobal); + } + } + } + + } + } - - for ( i=0;i<tmpSolverBodyPool.size();i++) + + return 0.f; +} + + +btScalar btSequentialImpulseConstraintSolver::solveGroupCacheFriendly(btCollisionObject** bodies,int numBodies,btPersistentManifold** manifoldPtr, int numManifolds,btTypedConstraint** constraints,int numConstraints,const btContactSolverInfo& infoGlobal,btIDebugDraw* debugDrawer,btStackAlloc* stackAlloc) +{ + int i; + + solveGroupCacheFriendlySetup( bodies, numBodies, manifoldPtr, numManifolds,constraints, numConstraints,infoGlobal,debugDrawer, stackAlloc); + solveGroupCacheFriendlyIterations(bodies, numBodies, manifoldPtr, numManifolds,constraints, numConstraints,infoGlobal,debugDrawer, stackAlloc); + + int numPoolConstraints = m_tmpSolverConstraintPool.size(); + int j; + for (j=0;j<numPoolConstraints;j++) { - tmpSolverBodyPool[i].writebackVelocity(); + + const btSolverConstraint& solveManifold = m_tmpSolverConstraintPool[j]; + btManifoldPoint* pt = (btManifoldPoint*) solveManifold.m_originalContactPoint; + btAssert(pt); + pt->m_appliedImpulse = solveManifold.m_appliedImpulse; + pt->m_appliedImpulseLateral1 = m_tmpSolverFrictionConstraintPool[solveManifold.m_frictionIndex].m_appliedImpulse; + pt->m_appliedImpulseLateral2 = m_tmpSolverFrictionConstraintPool[solveManifold.m_frictionIndex+1].m_appliedImpulse; + + //do a callback here? + } - END_PROFILE("solveConstraints"); + if (infoGlobal.m_splitImpulse) + { + for ( i=0;i<m_tmpSolverBodyPool.size();i++) + { + m_tmpSolverBodyPool[i].writebackVelocity(infoGlobal.m_timeStep); + } + } else + { + for ( i=0;i<m_tmpSolverBodyPool.size();i++) + { + m_tmpSolverBodyPool[i].writebackVelocity(); + } + } -// printf("tmpSolverConstraintPool.size() = %i\n",tmpSolverConstraintPool.size()); +// printf("m_tmpSolverConstraintPool.size() = %i\n",m_tmpSolverConstraintPool.size()); /* - printf("tmpSolverBodyPool.size() = %i\n",tmpSolverBodyPool.size()); - printf("tmpSolverConstraintPool.size() = %i\n",tmpSolverConstraintPool.size()); - printf("tmpSolverFrictionConstraintPool.size() = %i\n",tmpSolverFrictionConstraintPool.size()); + printf("m_tmpSolverBodyPool.size() = %i\n",m_tmpSolverBodyPool.size()); + printf("m_tmpSolverConstraintPool.size() = %i\n",m_tmpSolverConstraintPool.size()); + printf("m_tmpSolverFrictionConstraintPool.size() = %i\n",m_tmpSolverFrictionConstraintPool.size()); - printf("tmpSolverBodyPool.capacity() = %i\n",tmpSolverBodyPool.capacity()); - printf("tmpSolverConstraintPool.capacity() = %i\n",tmpSolverConstraintPool.capacity()); - printf("tmpSolverFrictionConstraintPool.capacity() = %i\n",tmpSolverFrictionConstraintPool.capacity()); + printf("m_tmpSolverBodyPool.capacity() = %i\n",m_tmpSolverBodyPool.capacity()); + printf("m_tmpSolverConstraintPool.capacity() = %i\n",m_tmpSolverConstraintPool.capacity()); + printf("m_tmpSolverFrictionConstraintPool.capacity() = %i\n",m_tmpSolverFrictionConstraintPool.capacity()); */ - tmpSolverBodyPool.resize(0); - tmpSolverConstraintPool.resize(0); - tmpSolverFrictionConstraintPool.resize(0); + m_tmpSolverBodyPool.resize(0); + m_tmpSolverConstraintPool.resize(0); + m_tmpSolverFrictionConstraintPool.resize(0); return 0.f; } /// btSequentialImpulseConstraintSolver Sequentially applies impulses -btScalar btSequentialImpulseConstraintSolver::solveGroup(btCollisionObject** bodies,int numBodies,btPersistentManifold** manifoldPtr, int numManifolds,btTypedConstraint** constraints,int numConstraints,const btContactSolverInfo& infoGlobal,btIDebugDraw* debugDrawer,btStackAlloc* stackAlloc) +btScalar btSequentialImpulseConstraintSolver::solveGroup(btCollisionObject** bodies,int numBodies,btPersistentManifold** manifoldPtr, int numManifolds,btTypedConstraint** constraints,int numConstraints,const btContactSolverInfo& infoGlobal,btIDebugDraw* debugDrawer,btStackAlloc* stackAlloc,btDispatcher* /*dispatcher*/) { - - if (getSolverMode() & SOLVER_CACHE_FRIENDLY) + BT_PROFILE("solveGroup"); + if (infoGlobal.m_solverMode & SOLVER_CACHE_FRIENDLY) { //you need to provide at least some bodies //btSimpleDynamicsWorld needs to switch off SOLVER_CACHE_FRIENDLY @@ -762,16 +1069,11 @@ btScalar btSequentialImpulseConstraintSolver::solveGroup(btCollisionObject** bod return solveGroupCacheFriendly(bodies,numBodies,manifoldPtr, numManifolds,constraints,numConstraints,infoGlobal,debugDrawer,stackAlloc); } - - BEGIN_PROFILE("prepareConstraints"); btContactSolverInfo info = infoGlobal; int numiter = infoGlobal.m_numIterations; -#ifdef USE_PROFILE - btProfiler::beginBlock("solve"); -#endif //USE_PROFILE int totalPoints = 0; @@ -801,10 +1103,6 @@ btScalar btSequentialImpulseConstraintSolver::solveGroup(btCollisionObject** bod } } - END_PROFILE("prepareConstraints"); - - - BEGIN_PROFILE("solveConstraints"); //should traverse the contacts random order... int iteration; @@ -813,7 +1111,7 @@ btScalar btSequentialImpulseConstraintSolver::solveGroup(btCollisionObject** bod for ( iteration = 0;iteration<numiter;iteration++) { int j; - if (m_solverMode & SOLVER_RANDMIZE_ORDER) + if (infoGlobal.m_solverMode & SOLVER_RANDMIZE_ORDER) { if ((iteration & 7) == 0) { for (j=0; j<totalPoints; ++j) { @@ -845,16 +1143,10 @@ btScalar btSequentialImpulseConstraintSolver::solveGroup(btCollisionObject** bod solveFriction((btRigidBody*)manifold->getBody0(), (btRigidBody*)manifold->getBody1(),manifold->getContactPoint(gOrder[j].m_pointIndex),info,iteration,debugDrawer); } + } } - END_PROFILE("solveConstraints"); - - -#ifdef USE_PROFILE - btProfiler::endBlock("solve"); -#endif //USE_PROFILE - @@ -878,13 +1170,14 @@ void btSequentialImpulseConstraintSolver::prepareConstraints(btPersistentManifol //only necessary to refresh the manifold once (first iteration). The integration is done outside the loop { +#ifdef FORCE_REFESH_CONTACT_MANIFOLDS manifoldPtr->refreshContactPoints(body0->getCenterOfMassTransform(),body1->getCenterOfMassTransform()); - +#endif //FORCE_REFESH_CONTACT_MANIFOLDS int numpoints = manifoldPtr->getNumContacts(); gTotalContactPoints += numpoints; - btVector3 color(0,1,0); + for (int i=0;i<numpoints ;i++) { btManifoldPoint& cp = manifoldPtr->getContactPoint(i); @@ -925,7 +1218,9 @@ void btSequentialImpulseConstraintSolver::prepareConstraints(btPersistentManifol } else { - cpd = new btConstraintPersistentData; + //todo: should this be in a pool? + void* mem = btAlignedAlloc(sizeof(btConstraintPersistentData),16); + cpd = new (mem)btConstraintPersistentData; assert(cpd); totalCpd ++; @@ -972,10 +1267,9 @@ void btSequentialImpulseConstraintSolver::prepareConstraints(btPersistentManifol cpd->m_penetration = btScalar(0.); } - btScalar relaxation = info.m_damping; - if (m_solverMode & SOLVER_USE_WARMSTARTING) + if (info.m_solverMode & SOLVER_USE_WARMSTARTING) { cpd->m_appliedImpulse *= relaxation; } else @@ -1060,16 +1354,12 @@ btScalar btSequentialImpulseConstraintSolver::solveCombinedContactFriction(btRig { - btVector3 color(0,1,0); + { if (cp.getDistance() <= btScalar(0.)) { - if (iter == 0) - { - if (debugDrawer) - debugDrawer->drawContactPoint(cp.m_positionWorldOnB,cp.m_normalWorldOnB,cp.getDistance(),cp.getLifeTime(),color); - } + { @@ -1098,16 +1388,12 @@ btScalar btSequentialImpulseConstraintSolver::solve(btRigidBody* body0,btRigidBo { - btVector3 color(0,1,0); + { if (cp.getDistance() <= btScalar(0.)) { - if (iter == 0) - { - if (debugDrawer) - debugDrawer->drawContactPoint(cp.m_positionWorldOnB,cp.m_normalWorldOnB,cp.getDistance(),cp.getLifeTime(),color); - } + { @@ -1136,7 +1422,7 @@ btScalar btSequentialImpulseConstraintSolver::solveFriction(btRigidBody* body0,b { - btVector3 color(0,1,0); + { if (cp.getDistance() <= btScalar(0.)) @@ -1156,3 +1442,11 @@ btScalar btSequentialImpulseConstraintSolver::solveFriction(btRigidBody* body0,b } return btScalar(0.); } + + +void btSequentialImpulseConstraintSolver::reset() +{ + m_btSeed2 = 0; +} + + diff --git a/extern/bullet2/src/BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolver.h b/extern/bullet2/src/BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolver.h index 13e70c41be4..7143bc41991 100644 --- a/extern/bullet2/src/BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolver.h +++ b/extern/bullet2/src/BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolver.h @@ -19,7 +19,8 @@ subject to the following restrictions: #include "btConstraintSolver.h" class btIDebugDraw; #include "btContactConstraint.h" - +#include "btSolverBody.h" +#include "btSolverConstraint.h" /// btSequentialImpulseConstraintSolver uses a Propagation Method and Sequentially applies impulses @@ -29,29 +30,29 @@ class btIDebugDraw; class btSequentialImpulseConstraintSolver : public btConstraintSolver { + btAlignedObjectArray<btSolverBody> m_tmpSolverBodyPool; + btAlignedObjectArray<btSolverConstraint> m_tmpSolverConstraintPool; + btAlignedObjectArray<btSolverConstraint> m_tmpSolverFrictionConstraintPool; + btAlignedObjectArray<int> m_orderTmpConstraintPool; + btAlignedObjectArray<int> m_orderFrictionConstraintPool; + + protected: btScalar solve(btRigidBody* body0,btRigidBody* body1, btManifoldPoint& cp, const btContactSolverInfo& info,int iter,btIDebugDraw* debugDrawer); btScalar solveFriction(btRigidBody* body0,btRigidBody* body1, btManifoldPoint& cp, const btContactSolverInfo& info,int iter,btIDebugDraw* debugDrawer); void prepareConstraints(btPersistentManifold* manifoldPtr, const btContactSolverInfo& info,btIDebugDraw* debugDrawer); + void addFrictionConstraint(const btVector3& normalAxis,int solverBodyIdA,int solverBodyIdB,int frictionIndex,btManifoldPoint& cp,const btVector3& rel_pos1,const btVector3& rel_pos2,btCollisionObject* colObj0,btCollisionObject* colObj1, btScalar relaxation); ContactSolverFunc m_contactDispatch[MAX_CONTACT_SOLVER_TYPES][MAX_CONTACT_SOLVER_TYPES]; ContactSolverFunc m_frictionDispatch[MAX_CONTACT_SOLVER_TYPES][MAX_CONTACT_SOLVER_TYPES]; - //choose between several modes, different friction model etc. - int m_solverMode; + ///m_btSeed2 is used for re-arranging the constraint rows. improves convergence/quality of friction unsigned long m_btSeed2; public: - enum eSolverMode - { - SOLVER_RANDMIZE_ORDER = 1, - SOLVER_FRICTION_SEPARATE = 2, - SOLVER_USE_WARMSTARTING = 4, - SOLVER_CACHE_FRIENDLY = 8 - }; - + btSequentialImpulseConstraintSolver(); ///Advanced: Override the default contact solving function for contacts, for certain types of rigidbody @@ -68,25 +69,22 @@ public: m_frictionDispatch[type0][type1] = func; } - virtual ~btSequentialImpulseConstraintSolver() {} + virtual ~btSequentialImpulseConstraintSolver(); - virtual btScalar solveGroup(btCollisionObject** bodies,int numBodies,btPersistentManifold** manifold,int numManifolds,btTypedConstraint** constraints,int numConstraints,const btContactSolverInfo& info, btIDebugDraw* debugDrawer, btStackAlloc* stackAlloc); + virtual btScalar solveGroup(btCollisionObject** bodies,int numBodies,btPersistentManifold** manifold,int numManifolds,btTypedConstraint** constraints,int numConstraints,const btContactSolverInfo& info, btIDebugDraw* debugDrawer, btStackAlloc* stackAlloc,btDispatcher* dispatcher); virtual btScalar solveGroupCacheFriendly(btCollisionObject** bodies,int numBodies,btPersistentManifold** manifoldPtr, int numManifolds,btTypedConstraint** constraints,int numConstraints,const btContactSolverInfo& infoGlobal,btIDebugDraw* debugDrawer,btStackAlloc* stackAlloc); + btScalar solveGroupCacheFriendlyIterations(btCollisionObject** bodies,int numBodies,btPersistentManifold** manifoldPtr, int numManifolds,btTypedConstraint** constraints,int numConstraints,const btContactSolverInfo& infoGlobal,btIDebugDraw* debugDrawer,btStackAlloc* stackAlloc); + btScalar solveGroupCacheFriendlySetup(btCollisionObject** bodies,int numBodies,btPersistentManifold** manifoldPtr, int numManifolds,btTypedConstraint** constraints,int numConstraints,const btContactSolverInfo& infoGlobal,btIDebugDraw* debugDrawer,btStackAlloc* stackAlloc); - btScalar solveCombinedContactFriction(btRigidBody* body0,btRigidBody* body1, btManifoldPoint& cp, const btContactSolverInfo& info,int iter,btIDebugDraw* debugDrawer); + ///clear internal cached data and reset random seed + virtual void reset(); - void setSolverMode(int mode) - { - m_solverMode = mode; - } + btScalar solveCombinedContactFriction(btRigidBody* body0,btRigidBody* body1, btManifoldPoint& cp, const btContactSolverInfo& info,int iter,btIDebugDraw* debugDrawer); - int getSolverMode() const - { - return m_solverMode; - } + unsigned long btRand2(); int btRandInt2 (int n); @@ -102,7 +100,9 @@ public: }; - +#ifndef BT_PREFER_SIMD +typedef btSequentialImpulseConstraintSolver btSequentialImpulseConstraintSolverPrefered; +#endif #endif //SEQUENTIAL_IMPULSE_CONSTRAINT_SOLVER_H diff --git a/extern/bullet2/src/BulletDynamics/ConstraintSolver/btSolve2LinearConstraint.h b/extern/bullet2/src/BulletDynamics/ConstraintSolver/btSolve2LinearConstraint.h index e7d26645c6a..057d3fac827 100644 --- a/extern/bullet2/src/BulletDynamics/ConstraintSolver/btSolve2LinearConstraint.h +++ b/extern/bullet2/src/BulletDynamics/ConstraintSolver/btSolve2LinearConstraint.h @@ -16,8 +16,8 @@ subject to the following restrictions: #ifndef SOLVE_2LINEAR_CONSTRAINT_H #define SOLVE_2LINEAR_CONSTRAINT_H -#include "../../LinearMath/btMatrix3x3.h" -#include "../../LinearMath/btVector3.h" +#include "LinearMath/btMatrix3x3.h" +#include "LinearMath/btVector3.h" class btRigidBody; diff --git a/extern/bullet2/src/BulletDynamics/ConstraintSolver/btSolverBody.h b/extern/bullet2/src/BulletDynamics/ConstraintSolver/btSolverBody.h index 0ab536f42b3..b3f0c9d7444 100644 --- a/extern/bullet2/src/BulletDynamics/ConstraintSolver/btSolverBody.h +++ b/extern/bullet2/src/BulletDynamics/ConstraintSolver/btSolverBody.h @@ -19,38 +19,78 @@ subject to the following restrictions: class btRigidBody; #include "LinearMath/btVector3.h" #include "LinearMath/btMatrix3x3.h" +#include "BulletDynamics/Dynamics/btRigidBody.h" +#include "LinearMath/btAlignedAllocator.h" +#include "LinearMath/btTransformUtil.h" - - +///btSolverBody is an internal datastructure for the constraint solver. Only necessary data is packed to increase cache coherence/performance. ATTRIBUTE_ALIGNED16 (struct) btSolverBody { - btVector3 m_centerOfMassPosition; - btVector3 m_linearVelocity; + BT_DECLARE_ALIGNED_ALLOCATOR(); + btVector3 m_angularVelocity; - btRigidBody* m_originalBody; + float m_angularFactor; float m_invMass; float m_friction; - float m_angularFactor; - - inline void getVelocityInLocalPoint(const btVector3& rel_pos, btVector3& velocity ) const + btRigidBody* m_originalBody; + btVector3 m_linearVelocity; + btVector3 m_centerOfMassPosition; + + btVector3 m_pushVelocity; + btVector3 m_turnVelocity; + + + SIMD_FORCE_INLINE void getVelocityInLocalPoint(const btVector3& rel_pos, btVector3& velocity ) const { velocity = m_linearVelocity + m_angularVelocity.cross(rel_pos); } //Optimization for the iterative solver: avoid calculating constant terms involving inertia, normal, relative position - inline void internalApplyImpulse(const btVector3& linearComponent, const btVector3& angularComponent,btScalar impulseMagnitude) + SIMD_FORCE_INLINE void internalApplyImpulse(const btVector3& linearComponent, const btVector3& angularComponent,btScalar impulseMagnitude) + { + if (m_invMass) + { + m_linearVelocity += linearComponent*impulseMagnitude; + m_angularVelocity += angularComponent*(impulseMagnitude*m_angularFactor); + } + } + + SIMD_FORCE_INLINE void internalApplyPushImpulse(const btVector3& linearComponent, const btVector3& angularComponent,btScalar impulseMagnitude) { - m_linearVelocity += linearComponent*impulseMagnitude; - m_angularVelocity += angularComponent*impulseMagnitude*m_angularFactor; + if (m_invMass) + { + m_pushVelocity += linearComponent*impulseMagnitude; + m_turnVelocity += angularComponent*(impulseMagnitude*m_angularFactor); + } } + void writebackVelocity() { if (m_invMass) { m_originalBody->setLinearVelocity(m_linearVelocity); m_originalBody->setAngularVelocity(m_angularVelocity); + + //m_originalBody->setCompanionId(-1); + } + } + + + void writebackVelocity(btScalar timeStep) + { + if (m_invMass) + { + m_originalBody->setLinearVelocity(m_linearVelocity); + m_originalBody->setAngularVelocity(m_angularVelocity); + + //correct the position/orientation based on push/turn recovery + btTransform newTransform; + btTransformUtil::integrateTransform(m_originalBody->getWorldTransform(),m_pushVelocity,m_turnVelocity,timeStep,newTransform); + m_originalBody->setWorldTransform(newTransform); + + //m_originalBody->setCompanionId(-1); } } @@ -69,3 +109,5 @@ ATTRIBUTE_ALIGNED16 (struct) btSolverBody }; #endif //BT_SOLVER_BODY_H + + diff --git a/extern/bullet2/src/BulletDynamics/ConstraintSolver/btSolverConstraint.h b/extern/bullet2/src/BulletDynamics/ConstraintSolver/btSolverConstraint.h index f1f40ffdf19..2c71360c5b9 100644 --- a/extern/bullet2/src/BulletDynamics/ConstraintSolver/btSolverConstraint.h +++ b/extern/bullet2/src/BulletDynamics/ConstraintSolver/btSolverConstraint.h @@ -1,5 +1,3 @@ - - /* Bullet Continuous Collision Detection and Physics Library Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/ @@ -27,24 +25,34 @@ class btRigidBody; ///1D constraint along a normal axis between bodyA and bodyB. It can be combined to solve contact and friction constraints. ATTRIBUTE_ALIGNED16 (struct) btSolverConstraint { + BT_DECLARE_ALIGNED_ALLOCATOR(); + btVector3 m_relpos1CrossNormal; - btVector3 m_relpos2CrossNormal; btVector3 m_contactNormal; + + btVector3 m_relpos2CrossNormal; btVector3 m_angularComponentA; + btVector3 m_angularComponentB; - btScalar m_appliedVelocityImpulse; + mutable btScalar m_appliedPushImpulse; + + mutable btScalar m_appliedImpulse; int m_solverBodyIdA; int m_solverBodyIdB; + btScalar m_friction; btScalar m_restitution; btScalar m_jacDiagABInv; btScalar m_penetration; - btScalar m_appliedImpulse; + + int m_constraintType; int m_frictionIndex; - int m_unusedPadding[2]; + void* m_originalContactPoint; + int m_unusedPadding[1]; + enum btSolverConstraintType { @@ -61,3 +69,4 @@ ATTRIBUTE_ALIGNED16 (struct) btSolverConstraint #endif //BT_SOLVER_CONSTRAINT_H + diff --git a/extern/bullet2/src/BulletDynamics/ConstraintSolver/btTypedConstraint.cpp b/extern/bullet2/src/BulletDynamics/ConstraintSolver/btTypedConstraint.cpp index a15b3e026cd..6e8b552dbbc 100644 --- a/extern/bullet2/src/BulletDynamics/ConstraintSolver/btTypedConstraint.cpp +++ b/extern/bullet2/src/BulletDynamics/ConstraintSolver/btTypedConstraint.cpp @@ -19,18 +19,20 @@ subject to the following restrictions: static btRigidBody s_fixed(0, 0,0); -btTypedConstraint::btTypedConstraint() -: m_userConstraintType(-1), +btTypedConstraint::btTypedConstraint(btTypedConstraintType type) +:m_userConstraintType(-1), m_userConstraintId(-1), +m_constraintType (type), m_rbA(s_fixed), m_rbB(s_fixed), m_appliedImpulse(btScalar(0.)) { s_fixed.setMassProps(btScalar(0.),btVector3(btScalar(0.),btScalar(0.),btScalar(0.))); } -btTypedConstraint::btTypedConstraint(btRigidBody& rbA) -: m_userConstraintType(-1), +btTypedConstraint::btTypedConstraint(btTypedConstraintType type, btRigidBody& rbA) +:m_userConstraintType(-1), m_userConstraintId(-1), +m_constraintType (type), m_rbA(rbA), m_rbB(s_fixed), m_appliedImpulse(btScalar(0.)) @@ -40,9 +42,10 @@ m_appliedImpulse(btScalar(0.)) } -btTypedConstraint::btTypedConstraint(btRigidBody& rbA,btRigidBody& rbB) -: m_userConstraintType(-1), +btTypedConstraint::btTypedConstraint(btTypedConstraintType type, btRigidBody& rbA,btRigidBody& rbB) +:m_userConstraintType(-1), m_userConstraintId(-1), +m_constraintType (type), m_rbA(rbA), m_rbB(rbB), m_appliedImpulse(btScalar(0.)) diff --git a/extern/bullet2/src/BulletDynamics/ConstraintSolver/btTypedConstraint.h b/extern/bullet2/src/BulletDynamics/ConstraintSolver/btTypedConstraint.h index dfee6e80d0e..c50ec6ec579 100644 --- a/extern/bullet2/src/BulletDynamics/ConstraintSolver/btTypedConstraint.h +++ b/extern/bullet2/src/BulletDynamics/ConstraintSolver/btTypedConstraint.h @@ -17,7 +17,17 @@ subject to the following restrictions: #define TYPED_CONSTRAINT_H class btRigidBody; -#include "../../LinearMath/btScalar.h" +#include "LinearMath/btScalar.h" + +enum btTypedConstraintType +{ + POINT2POINT_CONSTRAINT_TYPE, + HINGE_CONSTRAINT_TYPE, + CONETWIST_CONSTRAINT_TYPE, + D6_CONSTRAINT_TYPE, + VEHICLE_CONSTRAINT_TYPE, + SLIDER_CONSTRAINT_TYPE +}; ///TypedConstraint is the baseclass for Bullet constraints and vehicles class btTypedConstraint @@ -25,6 +35,8 @@ class btTypedConstraint int m_userConstraintType; int m_userConstraintId; + btTypedConstraintType m_constraintType; + btTypedConstraint& operator=(btTypedConstraint& other) { btAssert(0); @@ -40,11 +52,11 @@ protected: public: - btTypedConstraint(); + btTypedConstraint(btTypedConstraintType type); virtual ~btTypedConstraint() {}; - btTypedConstraint(btRigidBody& rbA); + btTypedConstraint(btTypedConstraintType type, btRigidBody& rbA); - btTypedConstraint(btRigidBody& rbA,btRigidBody& rbB); + btTypedConstraint(btTypedConstraintType type, btRigidBody& rbA,btRigidBody& rbB); virtual void buildJacobian() = 0; @@ -59,7 +71,7 @@ public: return m_rbB; } - btRigidBody& getRigidBodyA() + btRigidBody& getRigidBodyA() { return m_rbA; } @@ -83,14 +95,26 @@ public: m_userConstraintId = uid; } - int getUserConstraintId() + int getUserConstraintId() const { return m_userConstraintId; } - btScalar getAppliedImpulse() + + int getUid() const + { + return m_userConstraintId; + } + + btScalar getAppliedImpulse() const { return m_appliedImpulse; } + + btTypedConstraintType getConstraintType () const + { + return m_constraintType; + } + }; #endif //TYPED_CONSTRAINT_H diff --git a/extern/bullet2/src/BulletDynamics/Dynamics/Bullet-C-API.cpp b/extern/bullet2/src/BulletDynamics/Dynamics/Bullet-C-API.cpp index 248c582dcd8..c2fd71d67fe 100644 --- a/extern/bullet2/src/BulletDynamics/Dynamics/Bullet-C-API.cpp +++ b/extern/bullet2/src/BulletDynamics/Dynamics/Bullet-C-API.cpp @@ -25,6 +25,7 @@ subject to the following restrictions: #include "LinearMath/btAlignedAllocator.h" + #include "LinearMath/btVector3.h" #include "LinearMath/btScalar.h" #include "LinearMath/btMatrix3x3.h" @@ -39,18 +40,296 @@ subject to the following restrictions: #include "BulletCollision/NarrowPhaseCollision/btGjkEpaPenetrationDepthSolver.h" #include "BulletCollision/NarrowPhaseCollision/btGjkEpa.h" #include "BulletCollision/CollisionShapes/btMinkowskiSumShape.h" -#include "BulletCollision/NarrowPhaseCollision/btSubSimplexConvexCast.h" -#include "BulletCollision/NarrowPhaseCollision/btVoronoiSimplexSolver.h" -#include "BulletCollision/NarrowPhaseCollision/btGjkPairDetector.h" - #include "BulletCollision/NarrowPhaseCollision/btDiscreteCollisionDetectorInterface.h" #include "BulletCollision/NarrowPhaseCollision/btSimplexSolverInterface.h" #include "BulletCollision/NarrowPhaseCollision/btMinkowskiPenetrationDepthSolver.h" -#include "BulletCollision/NarrowPhaseCollision/btGjkPairDetector.h" -#include "BulletCollision/NarrowPhaseCollision/btGjkEpaPenetrationDepthSolver.h" #include "LinearMath/btStackAlloc.h" -extern "C" +/* + Create and Delete a Physics SDK +*/ + +struct btPhysicsSdk +{ + +// btDispatcher* m_dispatcher; +// btOverlappingPairCache* m_pairCache; +// btConstraintSolver* m_constraintSolver + + btVector3 m_worldAabbMin; + btVector3 m_worldAabbMax; + + + //todo: version, hardware/optimization settings etc? + btPhysicsSdk() + :m_worldAabbMin(-1000,-1000,-1000), + m_worldAabbMax(1000,1000,1000) + { + + } + + +}; + +plPhysicsSdkHandle plNewBulletSdk() +{ + void* mem = btAlignedAlloc(sizeof(btPhysicsSdk),16); + return (plPhysicsSdkHandle)new (mem)btPhysicsSdk; +} + +void plDeletePhysicsSdk(plPhysicsSdkHandle physicsSdk) +{ + btPhysicsSdk* phys = reinterpret_cast<btPhysicsSdk*>(physicsSdk); + btAlignedFree(phys); +} + + +/* Dynamics World */ +plDynamicsWorldHandle plCreateDynamicsWorld(plPhysicsSdkHandle physicsSdkHandle) +{ + btPhysicsSdk* physicsSdk = reinterpret_cast<btPhysicsSdk*>(physicsSdkHandle); + void* mem = btAlignedAlloc(sizeof(btDefaultCollisionConfiguration),16); + btDefaultCollisionConfiguration* collisionConfiguration = new (mem)btDefaultCollisionConfiguration(); + mem = btAlignedAlloc(sizeof(btCollisionDispatcher),16); + btDispatcher* dispatcher = new (mem)btCollisionDispatcher(collisionConfiguration); + mem = btAlignedAlloc(sizeof(btAxisSweep3),16); + btBroadphaseInterface* pairCache = new (mem)btAxisSweep3(physicsSdk->m_worldAabbMin,physicsSdk->m_worldAabbMax); + mem = btAlignedAlloc(sizeof(btSequentialImpulseConstraintSolver),16); + btConstraintSolver* constraintSolver = new(mem) btSequentialImpulseConstraintSolver(); + + mem = btAlignedAlloc(sizeof(btDiscreteDynamicsWorld),16); + return (plDynamicsWorldHandle) new (mem)btDiscreteDynamicsWorld(dispatcher,pairCache,constraintSolver,collisionConfiguration); +} +void plDeleteDynamicsWorld(plDynamicsWorldHandle world) +{ + //todo: also clean up the other allocations, axisSweep, pairCache,dispatcher,constraintSolver,collisionConfiguration + btDynamicsWorld* dynamicsWorld = reinterpret_cast< btDynamicsWorld* >(world); + btAlignedFree(dynamicsWorld); +} + +void plStepSimulation(plDynamicsWorldHandle world, plReal timeStep) +{ + btDynamicsWorld* dynamicsWorld = reinterpret_cast< btDynamicsWorld* >(world); + assert(dynamicsWorld); + dynamicsWorld->stepSimulation(timeStep); +} + +void plAddRigidBody(plDynamicsWorldHandle world, plRigidBodyHandle object) +{ + btDynamicsWorld* dynamicsWorld = reinterpret_cast< btDynamicsWorld* >(world); + assert(dynamicsWorld); + btRigidBody* body = reinterpret_cast< btRigidBody* >(object); + assert(body); + + dynamicsWorld->addRigidBody(body); +} + +void plRemoveRigidBody(plDynamicsWorldHandle world, plRigidBodyHandle object) +{ + btDynamicsWorld* dynamicsWorld = reinterpret_cast< btDynamicsWorld* >(world); + assert(dynamicsWorld); + btRigidBody* body = reinterpret_cast< btRigidBody* >(object); + assert(body); + + dynamicsWorld->removeRigidBody(body); +} + +/* Rigid Body */ + +plRigidBodyHandle plCreateRigidBody( void* user_data, float mass, plCollisionShapeHandle cshape ) +{ + btTransform trans; + trans.setIdentity(); + btVector3 localInertia(0,0,0); + btCollisionShape* shape = reinterpret_cast<btCollisionShape*>( cshape); + assert(shape); + if (mass) + { + shape->calculateLocalInertia(mass,localInertia); + } + void* mem = btAlignedAlloc(sizeof(btRigidBody),16); + btRigidBody::btRigidBodyConstructionInfo rbci(mass, 0,shape,localInertia); + btRigidBody* body = new (mem)btRigidBody(rbci); + body->setWorldTransform(trans); + body->setUserPointer(user_data); + return (plRigidBodyHandle) body; +} + +void plDeleteRigidBody(plRigidBodyHandle cbody) +{ + btRigidBody* body = reinterpret_cast< btRigidBody* >(cbody); + assert(body); + btAlignedFree( body); +} + + +/* Collision Shape definition */ + +plCollisionShapeHandle plNewSphereShape(plReal radius) +{ + void* mem = btAlignedAlloc(sizeof(btSphereShape),16); + return (plCollisionShapeHandle) new (mem)btSphereShape(radius); + +} + +plCollisionShapeHandle plNewBoxShape(plReal x, plReal y, plReal z) +{ + void* mem = btAlignedAlloc(sizeof(btBoxShape),16); + return (plCollisionShapeHandle) new (mem)btBoxShape(btVector3(x,y,z)); +} + +plCollisionShapeHandle plNewCapsuleShape(plReal radius, plReal height) +{ + //capsule is convex hull of 2 spheres, so use btMultiSphereShape + btVector3 inertiaHalfExtents(radius,height,radius); + const int numSpheres = 2; + btVector3 positions[numSpheres] = {btVector3(0,height,0),btVector3(0,-height,0)}; + btScalar radi[numSpheres] = {radius,radius}; + void* mem = btAlignedAlloc(sizeof(btMultiSphereShape),16); + return (plCollisionShapeHandle) new (mem)btMultiSphereShape(inertiaHalfExtents,positions,radi,numSpheres); +} +plCollisionShapeHandle plNewConeShape(plReal radius, plReal height) +{ + void* mem = btAlignedAlloc(sizeof(btConeShape),16); + return (plCollisionShapeHandle) new (mem)btConeShape(radius,height); +} + +plCollisionShapeHandle plNewCylinderShape(plReal radius, plReal height) +{ + void* mem = btAlignedAlloc(sizeof(btCylinderShape),16); + return (plCollisionShapeHandle) new (mem)btCylinderShape(btVector3(radius,height,radius)); +} + +/* Convex Meshes */ +plCollisionShapeHandle plNewConvexHullShape() +{ + void* mem = btAlignedAlloc(sizeof(btConvexHullShape),16); + return (plCollisionShapeHandle) new (mem)btConvexHullShape(); +} + + +/* Concave static triangle meshes */ +plMeshInterfaceHandle plNewMeshInterface() +{ + return 0; +} + +plCollisionShapeHandle plNewCompoundShape() +{ + void* mem = btAlignedAlloc(sizeof(btCompoundShape),16); + return (plCollisionShapeHandle) new (mem)btCompoundShape(); +} + +void plAddChildShape(plCollisionShapeHandle compoundShapeHandle,plCollisionShapeHandle childShapeHandle, plVector3 childPos,plQuaternion childOrn) +{ + btCollisionShape* colShape = reinterpret_cast<btCollisionShape*>(compoundShapeHandle); + btAssert(colShape->getShapeType() == COMPOUND_SHAPE_PROXYTYPE); + btCompoundShape* compoundShape = reinterpret_cast<btCompoundShape*>(colShape); + btCollisionShape* childShape = reinterpret_cast<btCollisionShape*>(childShapeHandle); + btTransform localTrans; + localTrans.setIdentity(); + localTrans.setOrigin(btVector3(childPos[0],childPos[1],childPos[2])); + localTrans.setRotation(btQuaternion(childOrn[0],childOrn[1],childOrn[2],childOrn[3])); + compoundShape->addChildShape(localTrans,childShape); +} + +void plSetEuler(plReal yaw,plReal pitch,plReal roll, plQuaternion orient) +{ + btQuaternion orn; + orn.setEuler(yaw,pitch,roll); + orient[0] = orn.getX(); + orient[1] = orn.getY(); + orient[2] = orn.getZ(); + orient[3] = orn.getW(); + +} + + +// extern void plAddTriangle(plMeshInterfaceHandle meshHandle, plVector3 v0,plVector3 v1,plVector3 v2); +// extern plCollisionShapeHandle plNewStaticTriangleMeshShape(plMeshInterfaceHandle); + + +void plAddVertex(plCollisionShapeHandle cshape, plReal x,plReal y,plReal z) +{ + btCollisionShape* colShape = reinterpret_cast<btCollisionShape*>( cshape); + (void)colShape; + btAssert(colShape->getShapeType()==CONVEX_HULL_SHAPE_PROXYTYPE); + btConvexHullShape* convexHullShape = reinterpret_cast<btConvexHullShape*>( cshape); + convexHullShape->addPoint(btPoint3(x,y,z)); + +} + +void plDeleteShape(plCollisionShapeHandle cshape) +{ + btCollisionShape* shape = reinterpret_cast<btCollisionShape*>( cshape); + assert(shape); + btAlignedFree(shape); +} +void plSetScaling(plCollisionShapeHandle cshape, plVector3 cscaling) +{ + btCollisionShape* shape = reinterpret_cast<btCollisionShape*>( cshape); + assert(shape); + btVector3 scaling(cscaling[0],cscaling[1],cscaling[2]); + shape->setLocalScaling(scaling); +} + + + +void plSetPosition(plRigidBodyHandle object, const plVector3 position) +{ + btRigidBody* body = reinterpret_cast< btRigidBody* >(object); + btAssert(body); + btVector3 pos(position[0],position[1],position[2]); + btTransform worldTrans = body->getWorldTransform(); + worldTrans.setOrigin(pos); + body->setWorldTransform(worldTrans); +} + +void plSetOrientation(plRigidBodyHandle object, const plQuaternion orientation) +{ + btRigidBody* body = reinterpret_cast< btRigidBody* >(object); + btAssert(body); + btQuaternion orn(orientation[0],orientation[1],orientation[2],orientation[3]); + btTransform worldTrans = body->getWorldTransform(); + worldTrans.setRotation(orn); + body->setWorldTransform(worldTrans); +} + +void plGetOpenGLMatrix(plRigidBodyHandle object, plReal* matrix) +{ + btRigidBody* body = reinterpret_cast< btRigidBody* >(object); + btAssert(body); + body->getWorldTransform().getOpenGLMatrix(matrix); + +} + +void plGetPosition(plRigidBodyHandle object,plVector3 position) +{ + btRigidBody* body = reinterpret_cast< btRigidBody* >(object); + btAssert(body); + const btVector3& pos = body->getWorldTransform().getOrigin(); + position[0] = pos.getX(); + position[1] = pos.getY(); + position[2] = pos.getZ(); +} + +void plGetOrientation(plRigidBodyHandle object,plQuaternion orientation) +{ + btRigidBody* body = reinterpret_cast< btRigidBody* >(object); + btAssert(body); + const btQuaternion& orn = body->getWorldTransform().getRotation(); + orientation[0] = orn.getX(); + orientation[1] = orn.getY(); + orientation[2] = orn.getZ(); + orientation[3] = orn.getW(); +} + + + +//plRigidBodyHandle plRayCast(plDynamicsWorldHandle world, const plVector3 rayStart, const plVector3 rayEnd, plVector3 hitpoint, plVector3 normal); + +// extern plRigidBodyHandle plObjectCast(plDynamicsWorldHandle world, const plVector3 rayStart, const plVector3 rayEnd, plVector3 hitpoint, plVector3 normal); + double plNearestPoints(float p1[3], float p2[3], float p3[3], float q1[3], float q2[3], float q3[3], float *pa, float *pb, float normal[3]) { btVector3 vp(p1[0], p1[1], p1[2]); @@ -118,3 +397,4 @@ double plNearestPoints(float p1[3], float p2[3], float p3[3], float q1[3], float } return -1.0f; } + diff --git a/extern/bullet2/src/BulletDynamics/Dynamics/btDiscreteDynamicsWorld.cpp b/extern/bullet2/src/BulletDynamics/Dynamics/btDiscreteDynamicsWorld.cpp index 29719ec9a3e..745694e2f70 100644 --- a/extern/bullet2/src/BulletDynamics/Dynamics/btDiscreteDynamicsWorld.cpp +++ b/extern/bullet2/src/BulletDynamics/Dynamics/btDiscreteDynamicsWorld.cpp @@ -21,7 +21,8 @@ subject to the following restrictions: #include "BulletCollision/BroadphaseCollision/btSimpleBroadphase.h" #include "BulletCollision/CollisionShapes/btCollisionShape.h" #include "BulletCollision/CollisionDispatch/btSimulationIslandManager.h" -#include <LinearMath/btTransformUtil.h> +#include "LinearMath/btTransformUtil.h" +#include "LinearMath/btQuickprof.h" //rigidbody & constraints #include "BulletDynamics/Dynamics/btRigidBody.h" @@ -41,6 +42,7 @@ subject to the following restrictions: #include "BulletCollision/CollisionShapes/btSphereShape.h" #include "BulletCollision/CollisionShapes/btTriangleCallback.h" #include "BulletCollision/CollisionShapes/btTriangleMeshShape.h" +#include "BulletCollision/CollisionShapes/btStaticPlaneShape.h" #include "LinearMath/btIDebugDraw.h" @@ -57,17 +59,29 @@ subject to the following restrictions: -btDiscreteDynamicsWorld::btDiscreteDynamicsWorld(btDispatcher* dispatcher,btOverlappingPairCache* pairCache,btConstraintSolver* constraintSolver) -:btDynamicsWorld(dispatcher,pairCache), -m_constraintSolver(constraintSolver? constraintSolver: new btSequentialImpulseConstraintSolver), -m_debugDrawer(0), +btDiscreteDynamicsWorld::btDiscreteDynamicsWorld(btDispatcher* dispatcher,btBroadphaseInterface* pairCache,btConstraintSolver* constraintSolver, btCollisionConfiguration* collisionConfiguration) +:btDynamicsWorld(dispatcher,pairCache,collisionConfiguration), +m_constraintSolver(constraintSolver), m_gravity(0,-10,0), m_localTime(btScalar(1.)/btScalar(60.)), m_profileTimings(0) { - m_islandManager = new btSimulationIslandManager(); + if (!m_constraintSolver) + { + void* mem = btAlignedAlloc(sizeof(btSequentialImpulseConstraintSolver),16); + m_constraintSolver = new (mem) btSequentialImpulseConstraintSolver; + m_ownsConstraintSolver = true; + } else + { + m_ownsConstraintSolver = false; + } + + { + void* mem = btAlignedAlloc(sizeof(btSimulationIslandManager),16); + m_islandManager = new (mem) btSimulationIslandManager(); + } + m_ownsIslandManager = true; - m_ownsConstraintSolver = (constraintSolver==0); } @@ -75,9 +89,16 @@ btDiscreteDynamicsWorld::~btDiscreteDynamicsWorld() { //only delete it when we created it if (m_ownsIslandManager) - delete m_islandManager; + { + m_islandManager->~btSimulationIslandManager(); + btAlignedFree( m_islandManager); + } if (m_ownsConstraintSolver) - delete m_constraintSolver; + { + + m_constraintSolver->~btConstraintSolver(); + btAlignedFree(m_constraintSolver); + } } void btDiscreteDynamicsWorld::saveKinematicState(btScalar timeStep) @@ -102,14 +123,35 @@ void btDiscreteDynamicsWorld::saveKinematicState(btScalar timeStep) } } -void btDiscreteDynamicsWorld::synchronizeMotionStates() +void btDiscreteDynamicsWorld::debugDrawWorld() { - //debug vehicle wheels - - + + if (getDebugDrawer() && getDebugDrawer()->getDebugMode() & btIDebugDraw::DBG_DrawContactPoints) { + int numManifolds = getDispatcher()->getNumManifolds(); + btVector3 color(0,0,0); + for (int i=0;i<numManifolds;i++) + { + btPersistentManifold* contactManifold = getDispatcher()->getManifoldByIndexInternal(i); + //btCollisionObject* obA = static_cast<btCollisionObject*>(contactManifold->getBody0()); + //btCollisionObject* obB = static_cast<btCollisionObject*>(contactManifold->getBody1()); + + int numContacts = contactManifold->getNumContacts(); + for (int j=0;j<numContacts;j++) + { + btManifoldPoint& cp = contactManifold->getContactPoint(j); + getDebugDrawer()->drawContactPoint(cp.m_positionWorldOnB,cp.m_normalWorldOnB,cp.getDistance(),cp.getLifeTime(),color); + } + } + } + + + if (getDebugDrawer() && getDebugDrawer()->getDebugMode() & (btIDebugDraw::DBG_DrawWireframe | btIDebugDraw::DBG_DrawAabb)) + { + int i; + //todo: iterate over awake simulation islands! - for ( int i=0;i<m_collisionObjects.size();i++) + for ( i=0;i<m_collisionObjects.size();i++) { btCollisionObject* colObj = m_collisionObjects[i]; if (getDebugDrawer() && getDebugDrawer()->getDebugMode() & btIDebugDraw::DBG_DrawWireframe) @@ -135,26 +177,17 @@ void btDiscreteDynamicsWorld::synchronizeMotionStates() debugDrawObject(colObj->getWorldTransform(),colObj->getCollisionShape(),color); } - btRigidBody* body = btRigidBody::upcast(colObj); - if (body && body->getMotionState() && !body->isStaticOrKinematicObject()) + if (m_debugDrawer && (m_debugDrawer->getDebugMode() & btIDebugDraw::DBG_DrawAabb)) { - //we need to call the update at least once, even for sleeping objects - //otherwise the 'graphics' transform never updates properly - //so todo: add 'dirty' flag - //if (body->getActivationState() != ISLAND_SLEEPING) - { - btTransform interpolatedTransform; - btTransformUtil::integrateTransform(body->getInterpolationWorldTransform(), - body->getInterpolationLinearVelocity(),body->getInterpolationAngularVelocity(),m_localTime,interpolatedTransform); - body->getMotionState()->setWorldTransform(interpolatedTransform); - } + btPoint3 minAabb,maxAabb; + btVector3 colorvec(1,0,0); + colObj->getCollisionShape()->getAabb(colObj->getWorldTransform(), minAabb,maxAabb); + m_debugDrawer->drawAabb(minAabb,maxAabb,colorvec); } - } - } - if (getDebugDrawer() && getDebugDrawer()->getDebugMode() & btIDebugDraw::DBG_DrawWireframe) - { - for ( int i=0;i<this->m_vehicles.size();i++) + } + + for ( i=0;i<this->m_vehicles.size();i++) { for (int v=0;v<m_vehicles[i]->getNumWheels();v++) { @@ -166,10 +199,7 @@ void btDiscreteDynamicsWorld::synchronizeMotionStates() { wheelColor.setValue(255,0,255); } - - //synchronize the wheels with the (interpolated) chassis worldtransform - m_vehicles[i]->updateWheelTransform(v,true); - + btVector3 wheelPosWS = m_vehicles[i]->getWheelInfo(v).m_worldTransform.getOrigin(); btVector3 axle = btVector3( @@ -186,12 +216,87 @@ void btDiscreteDynamicsWorld::synchronizeMotionStates() } } } +} + +void btDiscreteDynamicsWorld::clearForces() +{ + //todo: iterate over awake simulation islands! + for ( int i=0;i<m_collisionObjects.size();i++) + { + btCollisionObject* colObj = m_collisionObjects[i]; + + btRigidBody* body = btRigidBody::upcast(colObj); + if (body) + { + body->clearForces(); + } + } +} + +///apply gravity, call this once per timestep +void btDiscreteDynamicsWorld::applyGravity() +{ + //todo: iterate over awake simulation islands! + for ( int i=0;i<m_collisionObjects.size();i++) + { + btCollisionObject* colObj = m_collisionObjects[i]; + + btRigidBody* body = btRigidBody::upcast(colObj); + if (body && body->isActive()) + { + body->applyGravity(); + } + } +} + + + +void btDiscreteDynamicsWorld::synchronizeMotionStates() +{ + { + //todo: iterate over awake simulation islands! + for ( int i=0;i<m_collisionObjects.size();i++) + { + btCollisionObject* colObj = m_collisionObjects[i]; + + btRigidBody* body = btRigidBody::upcast(colObj); + if (body && body->getMotionState() && !body->isStaticOrKinematicObject()) + { + //we need to call the update at least once, even for sleeping objects + //otherwise the 'graphics' transform never updates properly + //so todo: add 'dirty' flag + //if (body->getActivationState() != ISLAND_SLEEPING) + { + btTransform interpolatedTransform; + btTransformUtil::integrateTransform(body->getInterpolationWorldTransform(), + body->getInterpolationLinearVelocity(),body->getInterpolationAngularVelocity(),m_localTime*body->getHitFraction(),interpolatedTransform); + body->getMotionState()->setWorldTransform(interpolatedTransform); + } + } + } + } + + if (getDebugDrawer() && getDebugDrawer()->getDebugMode() & btIDebugDraw::DBG_DrawWireframe) + { + for ( int i=0;i<this->m_vehicles.size();i++) + { + for (int v=0;v<m_vehicles[i]->getNumWheels();v++) + { + //synchronize the wheels with the (interpolated) chassis worldtransform + m_vehicles[i]->updateWheelTransform(v,true); + } + } + } } int btDiscreteDynamicsWorld::stepSimulation( btScalar timeStep,int maxSubSteps, btScalar fixedTimeStep) { + startProfiling(timeStep); + + BT_PROFILE("stepSimulation"); + int numSimulationSubSteps = 0; if (maxSubSteps) @@ -229,6 +334,8 @@ int btDiscreteDynamicsWorld::stepSimulation( btScalar timeStep,int maxSubSteps, saveKinematicState(fixedTimeStep); + applyGravity(); + //clamp the number of substeps, to prevent simulation grinding spiralling down to a halt int clampedSimulationSteps = (numSimulationSubSteps > maxSubSteps)? maxSubSteps : numSimulationSubSteps; @@ -242,16 +349,19 @@ int btDiscreteDynamicsWorld::stepSimulation( btScalar timeStep,int maxSubSteps, synchronizeMotionStates(); + clearForces(); + +#ifndef BT_NO_PROFILE + CProfileManager::Increment_Frame_Counter(); +#endif //BT_NO_PROFILE + return numSimulationSubSteps; } void btDiscreteDynamicsWorld::internalSingleStepSimulation(btScalar timeStep) { - startProfiling(timeStep); - - ///update aabbs information - updateAabbs(); + BT_PROFILE("internalSingleStepSimulation"); ///apply gravity, predict motion predictUnconstraintMotion(timeStep); @@ -286,8 +396,9 @@ void btDiscreteDynamicsWorld::internalSingleStepSimulation(btScalar timeStep) updateActivationState( timeStep ); - - + if(0 != m_internalTickCallback) { + (*m_internalTickCallback)(this, timeStep); + } } void btDiscreteDynamicsWorld::setGravity(const btVector3& gravity) @@ -304,9 +415,21 @@ void btDiscreteDynamicsWorld::setGravity(const btVector3& gravity) } } +btVector3 btDiscreteDynamicsWorld::getGravity () const +{ + return m_gravity; +} + void btDiscreteDynamicsWorld::removeRigidBody(btRigidBody* body) { + //remove all constraints too + while (body->getNumConstraintRefs()) + { + btTypedConstraint* constraint = body->getConstraintRef(0); + removeConstraint(constraint); + } + removeCollisionObject(body); } @@ -343,19 +466,18 @@ void btDiscreteDynamicsWorld::addRigidBody(btRigidBody* body, short group, short void btDiscreteDynamicsWorld::updateVehicles(btScalar timeStep) { - BEGIN_PROFILE("updateVehicles"); - + BT_PROFILE("updateVehicles"); + for ( int i=0;i<m_vehicles.size();i++) { btRaycastVehicle* vehicle = m_vehicles[i]; vehicle->updateVehicle( timeStep); } - END_PROFILE("updateVehicles"); } void btDiscreteDynamicsWorld::updateActivationState(btScalar timeStep) { - BEGIN_PROFILE("updateActivationState"); + BT_PROFILE("updateActivationState"); for ( int i=0;i<m_collisionObjects.size();i++) { @@ -374,6 +496,12 @@ void btDiscreteDynamicsWorld::updateActivationState(btScalar timeStep) { if (body->getActivationState() == ACTIVE_TAG) body->setActivationState( WANTS_DEACTIVATION ); + if (body->getActivationState() == ISLAND_SLEEPING) + { + body->setAngularVelocity(btVector3(0,0,0)); + body->setLinearVelocity(btVector3(0,0,0)); + } + } } else { @@ -382,7 +510,6 @@ void btDiscreteDynamicsWorld::updateActivationState(btScalar timeStep) } } } - END_PROFILE("updateActivationState"); } void btDiscreteDynamicsWorld::addConstraint(btTypedConstraint* constraint,bool disableCollisionsBetweenLinkedBodies) @@ -412,7 +539,7 @@ void btDiscreteDynamicsWorld::removeVehicle(btRaycastVehicle* vehicle) m_vehicles.remove(vehicle); } -inline int btGetConstraintIslandId(const btTypedConstraint* lhs) +SIMD_FORCE_INLINE int btGetConstraintIslandId(const btTypedConstraint* lhs) { int islandId; @@ -442,6 +569,7 @@ class btSortConstraintOnIslandPredicate void btDiscreteDynamicsWorld::solveConstraints(btContactSolverInfo& solverInfo) { + BT_PROFILE("solveConstraints"); struct InplaceSolverIslandCallback : public btSimulationIslandManager::IslandCallback { @@ -452,7 +580,7 @@ void btDiscreteDynamicsWorld::solveConstraints(btContactSolverInfo& solverInfo) int m_numConstraints; btIDebugDraw* m_debugDrawer; btStackAlloc* m_stackAlloc; - + btDispatcher* m_dispatcher; InplaceSolverIslandCallback( btContactSolverInfo& solverInfo, @@ -460,13 +588,15 @@ void btDiscreteDynamicsWorld::solveConstraints(btContactSolverInfo& solverInfo) btTypedConstraint** sortedConstraints, int numConstraints, btIDebugDraw* debugDrawer, - btStackAlloc* stackAlloc) + btStackAlloc* stackAlloc, + btDispatcher* dispatcher) :m_solverInfo(solverInfo), m_solver(solver), m_sortedConstraints(sortedConstraints), m_numConstraints(numConstraints), m_debugDrawer(debugDrawer), - m_stackAlloc(stackAlloc) + m_stackAlloc(stackAlloc), + m_dispatcher(dispatcher) { } @@ -479,30 +609,42 @@ void btDiscreteDynamicsWorld::solveConstraints(btContactSolverInfo& solverInfo) } virtual void ProcessIsland(btCollisionObject** bodies,int numBodies,btPersistentManifold** manifolds,int numManifolds, int islandId) { - //also add all non-contact constraints/joints for this island - btTypedConstraint** startConstraint = 0; - int numCurConstraints = 0; - int i; - - //find the first constraint for this island - for (i=0;i<m_numConstraints;i++) + if (islandId<0) + { + ///we don't split islands, so all constraints/contact manifolds/bodies are passed into the solver regardless the island id + m_solver->solveGroup( bodies,numBodies,manifolds, numManifolds,&m_sortedConstraints[0],m_numConstraints,m_solverInfo,m_debugDrawer,m_stackAlloc,m_dispatcher); + } else { - if (btGetConstraintIslandId(m_sortedConstraints[i]) == islandId) + //also add all non-contact constraints/joints for this island + btTypedConstraint** startConstraint = 0; + int numCurConstraints = 0; + int i; + + //find the first constraint for this island + for (i=0;i<m_numConstraints;i++) { - startConstraint = &m_sortedConstraints[i]; - break; + if (btGetConstraintIslandId(m_sortedConstraints[i]) == islandId) + { + startConstraint = &m_sortedConstraints[i]; + break; + } } - } - //count the number of constraints in this island - for (;i<m_numConstraints;i++) - { - if (btGetConstraintIslandId(m_sortedConstraints[i]) == islandId) + //count the number of constraints in this island + for (;i<m_numConstraints;i++) { - numCurConstraints++; + if (btGetConstraintIslandId(m_sortedConstraints[i]) == islandId) + { + numCurConstraints++; + } } - } - m_solver->solveGroup( bodies,numBodies,manifolds, numManifolds,startConstraint,numCurConstraints,m_solverInfo,m_debugDrawer,m_stackAlloc); + ///only call solveGroup if there is some work: avoid virtual function call, its overhead can be excessive + if (numManifolds + numCurConstraints) + { + m_solver->solveGroup( bodies,numBodies,manifolds, numManifolds,startConstraint,numCurConstraints,m_solverInfo,m_debugDrawer,m_stackAlloc,m_dispatcher); + } + + } } }; @@ -520,18 +662,18 @@ void btDiscreteDynamicsWorld::solveConstraints(btContactSolverInfo& solverInfo) - sortedConstraints.heapSort(btSortConstraintOnIslandPredicate()); + sortedConstraints.quickSort(btSortConstraintOnIslandPredicate()); btTypedConstraint** constraintsPtr = getNumConstraints() ? &sortedConstraints[0] : 0; - InplaceSolverIslandCallback solverCallback( solverInfo, m_constraintSolver, constraintsPtr,sortedConstraints.size(), m_debugDrawer,m_stackAlloc); - + InplaceSolverIslandCallback solverCallback( solverInfo, m_constraintSolver, constraintsPtr,sortedConstraints.size(), m_debugDrawer,m_stackAlloc,m_dispatcher1); + m_constraintSolver->prepareSolve(getCollisionWorld()->getNumCollisionObjects(), getCollisionWorld()->getDispatcher()->getNumManifolds()); /// solve all the constraints for this island m_islandManager->buildAndProcessIslands(getCollisionWorld()->getDispatcher(),getCollisionWorld()->getCollisionObjectArray(),&solverCallback); - + m_constraintSolver->allSolved(solverInfo, m_debugDrawer, m_stackAlloc); } @@ -539,7 +681,7 @@ void btDiscreteDynamicsWorld::solveConstraints(btContactSolverInfo& solverInfo) void btDiscreteDynamicsWorld::calculateSimulationIslands() { - BEGIN_PROFILE("calculateSimulationIslands"); + BT_PROFILE("calculateSimulationIslands"); getSimulationIslandManager()->updateActivationState(getCollisionWorld(),getCollisionWorld()->getDispatcher()); @@ -553,8 +695,8 @@ void btDiscreteDynamicsWorld::calculateSimulationIslands() const btRigidBody* colObj0 = &constraint->getRigidBodyA(); const btRigidBody* colObj1 = &constraint->getRigidBodyB(); - if (((colObj0) && ((colObj0)->mergesSimulationIslands())) && - ((colObj1) && ((colObj1)->mergesSimulationIslands()))) + if (((colObj0) && (!(colObj0)->isStaticOrKinematicObject())) && + ((colObj1) && (!(colObj1)->isStaticOrKinematicObject()))) { if (colObj0->isActive() || colObj1->isActive()) { @@ -569,66 +711,85 @@ void btDiscreteDynamicsWorld::calculateSimulationIslands() //Store the island id in each body getSimulationIslandManager()->storeIslandActivationState(getCollisionWorld()); - END_PROFILE("calculateSimulationIslands"); - + } -void btDiscreteDynamicsWorld::updateAabbs() +#include "BulletCollision/BroadphaseCollision/btCollisionAlgorithm.h" + +class btClosestNotMeConvexResultCallback : public btCollisionWorld::ClosestConvexResultCallback { - BEGIN_PROFILE("updateAabbs"); - - btVector3 colorvec(1,0,0); - btTransform predictedTrans; - for ( int i=0;i<m_collisionObjects.size();i++) + btCollisionObject* m_me; + btScalar m_allowedPenetration; + btOverlappingPairCache* m_pairCache; + + +public: + btClosestNotMeConvexResultCallback (btCollisionObject* me,const btVector3& fromA,const btVector3& toA,btOverlappingPairCache* pairCache) : + btCollisionWorld::ClosestConvexResultCallback(fromA,toA), + m_allowedPenetration(0.0f), + m_me(me), + m_pairCache(pairCache) { - btCollisionObject* colObj = m_collisionObjects[i]; - - btRigidBody* body = btRigidBody::upcast(colObj); - if (body) - { - // if (body->IsActive() && (!body->IsStatic())) - { - btPoint3 minAabb,maxAabb; - colObj->getCollisionShape()->getAabb(colObj->getWorldTransform(), minAabb,maxAabb); - btBroadphaseInterface* bp = (btBroadphaseInterface*)m_broadphasePairCache; + } - //moving objects should be moderately sized, probably something wrong if not - if ( colObj->isStaticObject() || ((maxAabb-minAabb).length2() < btScalar(1e12))) - { - bp->setAabb(body->getBroadphaseHandle(),minAabb,maxAabb); - } else - { - //something went wrong, investigate - //this assert is unwanted in 3D modelers (danger of loosing work) - body->setActivationState(DISABLE_SIMULATION); - - static bool reportMe = true; - if (reportMe && m_debugDrawer) - { - reportMe = false; - m_debugDrawer->reportErrorWarning("Overflow in AABB, object removed from simulation"); - m_debugDrawer->reportErrorWarning("If you can reproduce this, please email bugs@continuousphysics.com\n"); - m_debugDrawer->reportErrorWarning("Please include above information, your Platform, version of OS.\n"); - m_debugDrawer->reportErrorWarning("Thanks.\n"); - } + virtual btScalar addSingleResult(btCollisionWorld::LocalConvexResult& convexResult,bool normalInWorldSpace) + { + if (convexResult.m_hitCollisionObject == m_me) + return 1.0; + btVector3 linVelA,linVelB; + linVelA = m_convexToWorld-m_convexFromWorld; + linVelB = btVector3(0,0,0);//toB.getOrigin()-fromB.getOrigin(); - } - if (m_debugDrawer && (m_debugDrawer->getDebugMode() & btIDebugDraw::DBG_DrawAabb)) + btVector3 relativeVelocity = (linVelA-linVelB); + //don't report time of impact for motion away from the contact normal (or causes minor penetration) + if (convexResult.m_hitNormalLocal.dot(relativeVelocity)>=-m_allowedPenetration) + return 1.f; + + return ClosestConvexResultCallback::addSingleResult (convexResult, normalInWorldSpace); + } + + virtual bool needsCollision(btBroadphaseProxy* proxy0) const + { + //don't collide with itself + if (proxy0->m_clientObject == m_me) + return false; + + ///don't do CCD when the collision filters are not matching + if (!btCollisionWorld::ClosestConvexResultCallback::needsCollision(proxy0)) + return false; + + ///don't do CCD when there are already contact points (touching contact/penetration) + btAlignedObjectArray<btPersistentManifold*> manifoldArray; + btBroadphasePair* collisionPair = m_pairCache->findPair(m_me->getBroadphaseHandle(),proxy0); + if (collisionPair) + { + if (collisionPair->m_algorithm) + { + manifoldArray.resize(0); + collisionPair->m_algorithm->getAllContactManifolds(manifoldArray); + for (int j=0;j<manifoldArray.size();j++) { - m_debugDrawer->drawAabb(minAabb,maxAabb,colorvec); + btPersistentManifold* manifold = manifoldArray[j]; + if (manifold->getNumContacts()>0) + return false; } } } + return true; } - - END_PROFILE("updateAabbs"); -} + +}; + +///internal debugging variable. this value shouldn't be too high +int gNumClampedCcdMotions=0; + +//#include "stdio.h" void btDiscreteDynamicsWorld::integrateTransforms(btScalar timeStep) { - BEGIN_PROFILE("integrateTransforms"); + BT_PROFILE("integrateTransforms"); btTransform predictedTrans; for ( int i=0;i<m_collisionObjects.size();i++) { @@ -636,21 +797,45 @@ void btDiscreteDynamicsWorld::integrateTransforms(btScalar timeStep) btRigidBody* body = btRigidBody::upcast(colObj); if (body) { + body->setHitFraction(1.f); + if (body->isActive() && (!body->isStaticOrKinematicObject())) { body->predictIntegratedTransform(timeStep, predictedTrans); + btScalar squareMotion = (predictedTrans.getOrigin()-body->getWorldTransform().getOrigin()).length2(); + + if (body->getCcdSquareMotionThreshold() && body->getCcdSquareMotionThreshold() < squareMotion) + { + BT_PROFILE("CCD motion clamping"); + if (body->getCollisionShape()->isConvex()) + { + gNumClampedCcdMotions++; + + btClosestNotMeConvexResultCallback sweepResults(body,body->getWorldTransform().getOrigin(),predictedTrans.getOrigin(),getBroadphase()->getOverlappingPairCache()); + btConvexShape* convexShape = static_cast<btConvexShape*>(body->getCollisionShape()); + btSphereShape tmpSphere(body->getCcdSweptSphereRadius());//btConvexShape* convexShape = static_cast<btConvexShape*>(body->getCollisionShape()); + convexSweepTest(&tmpSphere,body->getWorldTransform(),predictedTrans,sweepResults); + if (sweepResults.hasHit() && (sweepResults.m_closestHitFraction < 1.f)) + { + body->setHitFraction(sweepResults.m_closestHitFraction); + body->predictIntegratedTransform(timeStep*body->getHitFraction(), predictedTrans); + body->setHitFraction(0.f); +// printf("clamped integration to hit fraction = %f\n",fraction); + } + } + } + body->proceedToTransform( predictedTrans); } } } - END_PROFILE("integrateTransforms"); } void btDiscreteDynamicsWorld::predictUnconstraintMotion(btScalar timeStep) { - BEGIN_PROFILE("predictUnconstraintMotion"); + BT_PROFILE("predictUnconstraintMotion"); for ( int i=0;i<m_collisionObjects.size();i++) { btCollisionObject* colObj = m_collisionObjects[i]; @@ -661,51 +846,26 @@ void btDiscreteDynamicsWorld::predictUnconstraintMotion(btScalar timeStep) { if (body->isActive()) { - body->applyForces( timeStep); body->integrateVelocities( timeStep); + //damping + body->applyDamping(timeStep); + body->predictIntegratedTransform(timeStep,body->getInterpolationWorldTransform()); } } } } - END_PROFILE("predictUnconstraintMotion"); } void btDiscreteDynamicsWorld::startProfiling(btScalar timeStep) { (void)timeStep; - #ifdef USE_QUICKPROF - - //toggle btProfiler - if ( m_debugDrawer && m_debugDrawer->getDebugMode() & btIDebugDraw::DBG_ProfileTimings) - { - if (!m_profileTimings) - { - m_profileTimings = 1; - // To disable profiling, simply comment out the following line. - static int counter = 0; - - char filename[128]; - sprintf(filename,"quickprof_bullet_timings%i.csv",counter++); - btProfiler::init(filename, btProfiler::BLOCK_CYCLE_SECONDS);//BLOCK_TOTAL_MICROSECONDS - } else - { - btProfiler::endProfilingCycle(); - } - - } else - { - if (m_profileTimings) - { - btProfiler::endProfilingCycle(); +#ifndef BT_NO_PROFILE + CProfileManager::Reset(); +#endif //BT_NO_PROFILE - m_profileTimings = 0; - btProfiler::destroy(); - } - } -#endif //USE_QUICKPROF } @@ -827,27 +987,52 @@ void btDiscreteDynamicsWorld::debugDrawObject(const btTransform& worldTransform, btScalar radius = capsuleShape->getRadius(); btScalar halfHeight = capsuleShape->getHalfHeight(); + + int upAxis = capsuleShape->getUpAxis(); + + + btVector3 capStart(0.f,0.f,0.f); + capStart[upAxis] = -halfHeight; + + btVector3 capEnd(0.f,0.f,0.f); + capEnd[upAxis] = halfHeight; // Draw the ends { + btTransform childTransform = worldTransform; - childTransform.getOrigin() = worldTransform * btVector3(0,halfHeight,0); + childTransform.getOrigin() = worldTransform * capStart; debugDrawSphere(radius, childTransform, color); } { btTransform childTransform = worldTransform; - childTransform.getOrigin() = worldTransform * btVector3(0,-halfHeight,0); + childTransform.getOrigin() = worldTransform * capEnd; debugDrawSphere(radius, childTransform, color); } // Draw some additional lines btVector3 start = worldTransform.getOrigin(); - getDebugDrawer()->drawLine(start+worldTransform.getBasis() * btVector3(-radius,halfHeight,0),start+worldTransform.getBasis() * btVector3(-radius,-halfHeight,0), color); - getDebugDrawer()->drawLine(start+worldTransform.getBasis() * btVector3(radius,halfHeight,0),start+worldTransform.getBasis() * btVector3(radius,-halfHeight,0), color); - getDebugDrawer()->drawLine(start+worldTransform.getBasis() * btVector3(0,halfHeight,-radius),start+worldTransform.getBasis() * btVector3(0,-halfHeight,-radius), color); - getDebugDrawer()->drawLine(start+worldTransform.getBasis() * btVector3(0,halfHeight,radius),start+worldTransform.getBasis() * btVector3(0,-halfHeight,radius), color); + + capStart[(upAxis+1)%3] = radius; + capEnd[(upAxis+1)%3] = radius; + getDebugDrawer()->drawLine(start+worldTransform.getBasis() * capStart,start+worldTransform.getBasis() * capEnd, color); + capStart[(upAxis+1)%3] = -radius; + capEnd[(upAxis+1)%3] = -radius; + getDebugDrawer()->drawLine(start+worldTransform.getBasis() * capStart,start+worldTransform.getBasis() * capEnd, color); + + capStart[(upAxis+1)%3] = 0.f; + capEnd[(upAxis+1)%3] = 0.f; + + capStart[(upAxis+2)%3] = radius; + capEnd[(upAxis+2)%3] = radius; + getDebugDrawer()->drawLine(start+worldTransform.getBasis() * capStart,start+worldTransform.getBasis() * capEnd, color); + capStart[(upAxis+2)%3] = -radius; + capEnd[(upAxis+2)%3] = -radius; + getDebugDrawer()->drawLine(start+worldTransform.getBasis() * capStart,start+worldTransform.getBasis() * capEnd, color); + + break; } case CONE_SHAPE_PROXYTYPE: @@ -856,10 +1041,24 @@ void btDiscreteDynamicsWorld::debugDrawObject(const btTransform& worldTransform, btScalar radius = coneShape->getRadius();//+coneShape->getMargin(); btScalar height = coneShape->getHeight();//+coneShape->getMargin(); btVector3 start = worldTransform.getOrigin(); - getDebugDrawer()->drawLine(start+worldTransform.getBasis() * btVector3(btScalar(0.),btScalar(0.),btScalar(0.5)*height),start+worldTransform.getBasis() * btVector3(radius,btScalar(0.),btScalar(-0.5)*height),color); - getDebugDrawer()->drawLine(start+worldTransform.getBasis() * btVector3(btScalar(0.),btScalar(0.),btScalar(0.5)*height),start+worldTransform.getBasis() * btVector3(-radius,btScalar(0.),btScalar(-0.5)*height),color); - getDebugDrawer()->drawLine(start+worldTransform.getBasis() * btVector3(btScalar(0.),btScalar(0.),btScalar(0.5)*height),start+worldTransform.getBasis() * btVector3(btScalar(0.),radius,btScalar(-0.5)*height),color); - getDebugDrawer()->drawLine(start+worldTransform.getBasis() * btVector3(btScalar(0.),btScalar(0.),btScalar(0.5)*height),start+worldTransform.getBasis() * btVector3(btScalar(0.),-radius,btScalar(-0.5)*height),color); + + int upAxis= coneShape->getConeUpIndex(); + + + btVector3 offsetHeight(0,0,0); + offsetHeight[upAxis] = height * btScalar(0.5); + btVector3 offsetRadius(0,0,0); + offsetRadius[(upAxis+1)%3] = radius; + btVector3 offset2Radius(0,0,0); + offset2Radius[(upAxis+2)%3] = radius; + + getDebugDrawer()->drawLine(start+worldTransform.getBasis() * (offsetHeight),start+worldTransform.getBasis() * (-offsetHeight+offsetRadius),color); + getDebugDrawer()->drawLine(start+worldTransform.getBasis() * (offsetHeight),start+worldTransform.getBasis() * (-offsetHeight-offsetRadius),color); + getDebugDrawer()->drawLine(start+worldTransform.getBasis() * (offsetHeight),start+worldTransform.getBasis() * (-offsetHeight+offset2Radius),color); + getDebugDrawer()->drawLine(start+worldTransform.getBasis() * (offsetHeight),start+worldTransform.getBasis() * (-offsetHeight-offset2Radius),color); + + + break; } @@ -868,7 +1067,7 @@ void btDiscreteDynamicsWorld::debugDrawObject(const btTransform& worldTransform, const btCylinderShape* cylinder = static_cast<const btCylinderShape*>(shape); int upAxis = cylinder->getUpAxis(); btScalar radius = cylinder->getRadius(); - btScalar halfHeight = cylinder->getHalfExtents()[upAxis]; + btScalar halfHeight = cylinder->getHalfExtentsWithMargin()[upAxis]; btVector3 start = worldTransform.getOrigin(); btVector3 offsetHeight(0,0,0); offsetHeight[upAxis] = halfHeight; @@ -878,6 +1077,25 @@ void btDiscreteDynamicsWorld::debugDrawObject(const btTransform& worldTransform, getDebugDrawer()->drawLine(start+worldTransform.getBasis() * (offsetHeight-offsetRadius),start+worldTransform.getBasis() * (-offsetHeight-offsetRadius),color); break; } + + case STATIC_PLANE_PROXYTYPE: + { + const btStaticPlaneShape* staticPlaneShape = static_cast<const btStaticPlaneShape*>(shape); + btScalar planeConst = staticPlaneShape->getPlaneConstant(); + const btVector3& planeNormal = staticPlaneShape->getPlaneNormal(); + btVector3 planeOrigin = planeNormal * planeConst; + btVector3 vec0,vec1; + btPlaneSpace1(planeNormal,vec0,vec1); + btScalar vecLen = 100.f; + btVector3 pt0 = planeOrigin + vec0*vecLen; + btVector3 pt1 = planeOrigin - vec0*vecLen; + btVector3 pt2 = planeOrigin + vec1*vecLen; + btVector3 pt3 = planeOrigin - vec1*vecLen; + getDebugDrawer()->drawLine(worldTransform*pt0,worldTransform*pt1,color); + getDebugDrawer()->drawLine(worldTransform*pt2,worldTransform*pt3,color); + break; + + } default: { @@ -902,7 +1120,7 @@ void btDiscreteDynamicsWorld::debugDrawObject(const btTransform& worldTransform, btVector3 aabbMin(btScalar(-1e30),btScalar(-1e30),btScalar(-1e30)); //DebugDrawcallback drawCallback; DebugDrawcallback drawCallback(getDebugDrawer(),worldTransform,color); - convexMesh->getStridingMesh()->InternalProcessAllTriangles(&drawCallback,aabbMin,aabbMax); + convexMesh->getMeshInterface()->InternalProcessAllTriangles(&drawCallback,aabbMin,aabbMax); } @@ -934,12 +1152,18 @@ void btDiscreteDynamicsWorld::setConstraintSolver(btConstraintSolver* solver) { if (m_ownsConstraintSolver) { - delete m_constraintSolver; + btAlignedFree( m_constraintSolver); } m_ownsConstraintSolver = false; m_constraintSolver = solver; } +btConstraintSolver* btDiscreteDynamicsWorld::getConstraintSolver() +{ + return m_constraintSolver; +} + + int btDiscreteDynamicsWorld::getNumConstraints() const { return int(m_constraints.size()); diff --git a/extern/bullet2/src/BulletDynamics/Dynamics/btDiscreteDynamicsWorld.h b/extern/bullet2/src/BulletDynamics/Dynamics/btDiscreteDynamicsWorld.h index 83b90bfeebc..d9e2652aaf6 100644 --- a/extern/bullet2/src/BulletDynamics/Dynamics/btDiscreteDynamicsWorld.h +++ b/extern/bullet2/src/BulletDynamics/Dynamics/btDiscreteDynamicsWorld.h @@ -23,11 +23,11 @@ class btOverlappingPairCache; class btConstraintSolver; class btSimulationIslandManager; class btTypedConstraint; -#include "../ConstraintSolver/btContactSolverInfo.h" + class btRaycastVehicle; class btIDebugDraw; -#include "../../LinearMath/btAlignedObjectArray.h" +#include "LinearMath/btAlignedObjectArray.h" ///btDiscreteDynamicsWorld provides discrete rigid body simulation @@ -42,7 +42,6 @@ protected: btAlignedObjectArray<btTypedConstraint*> m_constraints; - btIDebugDraw* m_debugDrawer; btVector3 m_gravity; @@ -53,16 +52,14 @@ protected: bool m_ownsIslandManager; bool m_ownsConstraintSolver; - btContactSolverInfo m_solverInfo; - - + btAlignedObjectArray<btRaycastVehicle*> m_vehicles; int m_profileTimings; - void predictUnconstraintMotion(btScalar timeStep); + virtual void predictUnconstraintMotion(btScalar timeStep); - void integrateTransforms(btScalar timeStep); + virtual void integrateTransforms(btScalar timeStep); void calculateSimulationIslands(); @@ -86,14 +83,13 @@ public: ///this btDiscreteDynamicsWorld constructor gets created objects from the user, and will not delete those - btDiscreteDynamicsWorld(btDispatcher* dispatcher,btOverlappingPairCache* pairCache,btConstraintSolver* constraintSolver); + btDiscreteDynamicsWorld(btDispatcher* dispatcher,btBroadphaseInterface* pairCache,btConstraintSolver* constraintSolver,btCollisionConfiguration* collisionConfiguration); virtual ~btDiscreteDynamicsWorld(); ///if maxSubSteps > 0, it will interpolate motion between fixedTimeStep's virtual int stepSimulation( btScalar timeStep,int maxSubSteps=1, btScalar fixedTimeStep=btScalar(1.)/btScalar(60.)); - virtual void updateAabbs(); void addConstraint(btTypedConstraint* constraint, bool disableCollisionsBetweenLinkedBodies=false); @@ -118,17 +114,9 @@ public: return this; } - virtual void setDebugDrawer(btIDebugDraw* debugDrawer) - { - m_debugDrawer = debugDrawer; - } - - virtual btIDebugDraw* getDebugDrawer() - { - return m_debugDrawer; - } virtual void setGravity(const btVector3& gravity); + virtual btVector3 getGravity () const; virtual void addRigidBody(btRigidBody* body); @@ -138,7 +126,11 @@ public: void debugDrawObject(const btTransform& worldTransform, const btCollisionShape* shape, const btVector3& color); + virtual void debugDrawWorld(); + virtual void setConstraintSolver(btConstraintSolver* solver); + + virtual btConstraintSolver* getConstraintSolver(); virtual int getNumConstraints() const; @@ -146,11 +138,21 @@ public: virtual const btTypedConstraint* getConstraint(int index) const; - btContactSolverInfo& getSolverInfo() + + virtual btDynamicsWorldType getWorldType() const { - return m_solverInfo; + return BT_DISCRETE_DYNAMICS_WORLD; } + + ///the forces on each rigidbody is accumulating together with gravity. clear this after each timestep. + virtual void clearForces(); + + ///apply gravity, call this once per timestep + virtual void applyGravity(); + virtual void setNumTasks(int numTasks) + { + } }; diff --git a/extern/bullet2/src/BulletDynamics/Dynamics/btDynamicsWorld.h b/extern/bullet2/src/BulletDynamics/Dynamics/btDynamicsWorld.h index 65b63fad4b5..929e24d337c 100644 --- a/extern/bullet2/src/BulletDynamics/Dynamics/btDynamicsWorld.h +++ b/extern/bullet2/src/BulletDynamics/Dynamics/btDynamicsWorld.h @@ -16,20 +16,39 @@ subject to the following restrictions: #ifndef BT_DYNAMICS_WORLD_H #define BT_DYNAMICS_WORLD_H -#include "../../BulletCollision/CollisionDispatch/btCollisionWorld.h" +#include "BulletCollision/CollisionDispatch/btCollisionWorld.h" +#include "BulletDynamics/ConstraintSolver/btContactSolverInfo.h" + class btTypedConstraint; class btRaycastVehicle; class btConstraintSolver; +class btDynamicsWorld; + +/// Type for the callback for each tick +typedef void (*btInternalTickCallback)(btDynamicsWorld *world, btScalar timeStep); +enum btDynamicsWorldType +{ + BT_SIMPLE_DYNAMICS_WORLD=1, + BT_DISCRETE_DYNAMICS_WORLD=2, + BT_CONTINUOUS_DYNAMICS_WORLD=3 +}; -///btDynamicsWorld is the baseclass for several dynamics implementation, basic, discrete, parallel, and continuous +///The btDynamicsWorld is the interface class for several dynamics implementation, basic, discrete, parallel, and continuous etc. class btDynamicsWorld : public btCollisionWorld { - public: + +protected: + btInternalTickCallback m_internalTickCallback; + void* m_worldUserInfo; + + btContactSolverInfo m_solverInfo; + +public: - btDynamicsWorld(btDispatcher* dispatcher,btOverlappingPairCache* pairCache) - :btCollisionWorld(dispatcher,pairCache) + btDynamicsWorld(btDispatcher* dispatcher,btBroadphaseInterface* broadphase,btCollisionConfiguration* collisionConfiguration) + :btCollisionWorld(dispatcher,broadphase,collisionConfiguration), m_internalTickCallback(0), m_worldUserInfo(0) { } @@ -37,34 +56,37 @@ class btDynamicsWorld : public btCollisionWorld { } - ///stepSimulation proceeds the simulation over timeStep units - ///if maxSubSteps > 0, it will interpolate time steps + ///stepSimulation proceeds the simulation over 'timeStep', units in preferably in seconds. + ///By default, Bullet will subdivide the timestep in constant substeps of each 'fixedTimeStep'. + ///in order to keep the simulation real-time, the maximum number of substeps can be clamped to 'maxSubSteps'. + ///You can disable subdividing the timestep/substepping by passing maxSubSteps=0 as second argument to stepSimulation, but in that case you have to keep the timeStep constant. virtual int stepSimulation( btScalar timeStep,int maxSubSteps=1, btScalar fixedTimeStep=btScalar(1.)/btScalar(60.))=0; - virtual void updateAabbs() = 0; + virtual void debugDrawWorld() = 0; - virtual void addConstraint(btTypedConstraint* constraint, bool disableCollisionsBetweenLinkedBodies=false) { (void)constraint;}; - - virtual void removeConstraint(btTypedConstraint* constraint) {(void)constraint;}; - - virtual void addVehicle(btRaycastVehicle* vehicle) {(void)vehicle;}; - - virtual void removeVehicle(btRaycastVehicle* vehicle) {(void)vehicle;}; + virtual void addConstraint(btTypedConstraint* constraint, bool disableCollisionsBetweenLinkedBodies=false) + { + (void)constraint; (void)disableCollisionsBetweenLinkedBodies; + } + virtual void removeConstraint(btTypedConstraint* constraint) {(void)constraint;} - virtual void setDebugDrawer(btIDebugDraw* debugDrawer) = 0; + virtual void addVehicle(btRaycastVehicle* vehicle) {(void)vehicle;} - virtual btIDebugDraw* getDebugDrawer() = 0; + virtual void removeVehicle(btRaycastVehicle* vehicle) {(void)vehicle;} //once a rigidbody is added to the dynamics world, it will get this gravity assigned //existing rigidbodies in the world get gravity assigned too, during this method virtual void setGravity(const btVector3& gravity) = 0; + virtual btVector3 getGravity () const = 0; virtual void addRigidBody(btRigidBody* body) = 0; virtual void removeRigidBody(btRigidBody* body) = 0; virtual void setConstraintSolver(btConstraintSolver* solver) = 0; + + virtual btConstraintSolver* getConstraintSolver() = 0; virtual int getNumConstraints() const { return 0; } @@ -72,7 +94,35 @@ class btDynamicsWorld : public btCollisionWorld virtual const btTypedConstraint* getConstraint(int index) const { (void)index; return 0; } + virtual btDynamicsWorldType getWorldType() const=0; + + virtual void clearForces() = 0; + + /// Set the callback for when an internal tick (simulation substep) happens, optional user info + void setInternalTickCallback(btInternalTickCallback cb, void* worldUserInfo=0) + { + m_internalTickCallback = cb; + m_worldUserInfo = worldUserInfo; + } + + void setWorldUserInfo(void* worldUserInfo) + { + m_worldUserInfo = worldUserInfo; + } + + void* getWorldUserInfo() const + { + return m_worldUserInfo; + } + + btContactSolverInfo& getSolverInfo() + { + return m_solverInfo; + } + + }; #endif //BT_DYNAMICS_WORLD_H + diff --git a/extern/bullet2/src/BulletDynamics/Dynamics/btRigidBody.cpp b/extern/bullet2/src/BulletDynamics/Dynamics/btRigidBody.cpp index 9ed3579d89c..93d70de39d8 100644 --- a/extern/bullet2/src/BulletDynamics/Dynamics/btRigidBody.cpp +++ b/extern/bullet2/src/BulletDynamics/Dynamics/btRigidBody.cpp @@ -20,36 +20,54 @@ subject to the following restrictions: #include "LinearMath/btMotionState.h" #include "BulletDynamics/ConstraintSolver/btTypedConstraint.h" -btScalar gLinearAirDamping = btScalar(1.); //'temporarily' global variables btScalar gDeactivationTime = btScalar(2.); bool gDisableDeactivation = false; - -btScalar gLinearSleepingThreshold = btScalar(0.8); -btScalar gAngularSleepingThreshold = btScalar(1.0); static int uniqueId = 0; -btRigidBody::btRigidBody(btScalar mass, btMotionState* motionState, btCollisionShape* collisionShape, const btVector3& localInertia,btScalar linearDamping,btScalar angularDamping,btScalar friction,btScalar restitution) -: - m_linearVelocity(btScalar(0.0), btScalar(0.0), btScalar(0.0)), - m_angularVelocity(btScalar(0.),btScalar(0.),btScalar(0.)), - m_angularFactor(btScalar(1.)), - m_gravity(btScalar(0.0), btScalar(0.0), btScalar(0.0)), - m_totalForce(btScalar(0.0), btScalar(0.0), btScalar(0.0)), - m_totalTorque(btScalar(0.0), btScalar(0.0), btScalar(0.0)), - m_linearDamping(btScalar(0.)), - m_angularDamping(btScalar(0.5)), - m_optionalMotionState(motionState), - m_contactSolverType(0), - m_frictionSolverType(0) + +btRigidBody::btRigidBody(const btRigidBody::btRigidBodyConstructionInfo& constructionInfo) +{ + setupRigidBody(constructionInfo); +} + +btRigidBody::btRigidBody(btScalar mass, btMotionState *motionState, btCollisionShape *collisionShape, const btVector3 &localInertia) +{ + btRigidBodyConstructionInfo cinfo(mass,motionState,collisionShape,localInertia); + setupRigidBody(cinfo); +} + +void btRigidBody::setupRigidBody(const btRigidBody::btRigidBodyConstructionInfo& constructionInfo) { - if (motionState) + m_internalType=CO_RIGID_BODY; + + m_linearVelocity.setValue(btScalar(0.0), btScalar(0.0), btScalar(0.0)); + m_angularVelocity.setValue(btScalar(0.),btScalar(0.),btScalar(0.)); + m_angularFactor = btScalar(1.); + m_anisotropicFriction.setValue(1.f,1.f,1.f); + m_gravity.setValue(btScalar(0.0), btScalar(0.0), btScalar(0.0)); + m_totalForce.setValue(btScalar(0.0), btScalar(0.0), btScalar(0.0)); + m_totalTorque.setValue(btScalar(0.0), btScalar(0.0), btScalar(0.0)), + m_linearDamping = btScalar(0.); + m_angularDamping = btScalar(0.5); + m_linearSleepingThreshold = constructionInfo.m_linearSleepingThreshold; + m_angularSleepingThreshold = constructionInfo.m_angularSleepingThreshold; + m_optionalMotionState = constructionInfo.m_motionState; + m_contactSolverType = 0; + m_frictionSolverType = 0; + m_additionalDamping = constructionInfo.m_additionalDamping; + m_additionalDampingFactor = constructionInfo.m_additionalDampingFactor; + m_additionalLinearDampingThresholdSqr = constructionInfo.m_additionalLinearDampingThresholdSqr; + m_additionalAngularDampingThresholdSqr = constructionInfo.m_additionalAngularDampingThresholdSqr; + m_additionalAngularDampingFactor = constructionInfo.m_additionalAngularDampingFactor; + + if (m_optionalMotionState) { - motionState->getWorldTransform(m_worldTransform); + m_optionalMotionState->getWorldTransform(m_worldTransform); } else { - m_worldTransform = btTransform::getIdentity(); + m_worldTransform = constructionInfo.m_startWorldTransform; } m_interpolationWorldTransform = m_worldTransform; @@ -57,90 +75,21 @@ btRigidBody::btRigidBody(btScalar mass, btMotionState* motionState, btCollisionS m_interpolationAngularVelocity.setValue(0,0,0); //moved to btCollisionObject - m_friction = friction; - m_restitution = restitution; - - m_collisionShape = collisionShape; - m_debugBodyId = uniqueId++; - - //m_internalOwner is to allow upcasting from collision object to rigid body - m_internalOwner = this; - - setMassProps(mass, localInertia); - setDamping(linearDamping, angularDamping); - updateInertiaTensor(); - -} - -#ifdef OBSOLETE_MOTIONSTATE_LESS -btRigidBody::btRigidBody( btScalar mass,const btTransform& worldTransform,btCollisionShape* collisionShape,const btVector3& localInertia,btScalar linearDamping,btScalar angularDamping,btScalar friction,btScalar restitution) -: - m_gravity(btScalar(0.0), btScalar(0.0), btScalar(0.0)), - m_totalForce(btScalar(0.0), btScalar(0.0), btScalar(0.0)), - m_totalTorque(btScalar(0.0), btScalar(0.0), btScalar(0.0)), - m_linearVelocity(btScalar(0.0), btScalar(0.0), btScalar(0.0)), - m_angularVelocity(btScalar(0.),btScalar(0.),btScalar(0.)), - m_linearDamping(btScalar(0.)), - m_angularDamping(btScalar(0.5)), - m_optionalMotionState(0), - m_contactSolverType(0), - m_frictionSolverType(0) -{ - - m_worldTransform = worldTransform; - m_interpolationWorldTransform = m_worldTransform; - m_interpolationLinearVelocity.setValue(0,0,0); - m_interpolationAngularVelocity.setValue(0,0,0); - - //moved to btCollisionObject - m_friction = friction; - m_restitution = restitution; + m_friction = constructionInfo.m_friction; + m_restitution = constructionInfo.m_restitution; - m_collisionShape = collisionShape; + setCollisionShape( constructionInfo.m_collisionShape ); m_debugBodyId = uniqueId++; - //m_internalOwner is to allow upcasting from collision object to rigid body - m_internalOwner = this; - - setMassProps(mass, localInertia); - setDamping(linearDamping, angularDamping); + setMassProps(constructionInfo.m_mass, constructionInfo.m_localInertia); + setDamping(constructionInfo.m_linearDamping, constructionInfo.m_angularDamping); updateInertiaTensor(); } -#endif //OBSOLETE_MOTIONSTATE_LESS - - - - -//#define EXPERIMENTAL_JITTER_REMOVAL 1 -#ifdef EXPERIMENTAL_JITTER_REMOVAL -//Bullet 2.20b has experimental damping code to reduce jitter just before objects fall asleep/deactivate -//doesn't work very well yet (value 0 disabled this damping) -//note there this influences deactivation thresholds! -btScalar gClippedAngvelThresholdSqr = btScalar(0.01); -btScalar gClippedLinearThresholdSqr = btScalar(0.01); -#endif //EXPERIMENTAL_JITTER_REMOVAL - -btScalar gJitterVelocityDampingFactor = btScalar(0.7); void btRigidBody::predictIntegratedTransform(btScalar timeStep,btTransform& predictedTransform) { - -#ifdef EXPERIMENTAL_JITTER_REMOVAL - //if (wantsSleeping()) - { - //clip to avoid jitter - if ((m_angularVelocity.length2() < gClippedAngvelThresholdSqr) && - (m_linearVelocity.length2() < gClippedLinearThresholdSqr)) - { - m_angularVelocity *= gJitterVelocityDampingFactor; - m_linearVelocity *= gJitterVelocityDampingFactor; - } - } - -#endif //EXPERIMENTAL_JITTER_REMOVAL - btTransformUtil::integrateTransform(m_worldTransform,m_linearVelocity,m_angularVelocity,timeStep,predictedTransform); } @@ -191,50 +140,63 @@ void btRigidBody::setDamping(btScalar lin_damping, btScalar ang_damping) -#include <stdio.h> - -void btRigidBody::applyForces(btScalar step) +///applyDamping damps the velocity, using the given m_linearDamping and m_angularDamping +void btRigidBody::applyDamping(btScalar timeStep) { - if (isStaticOrKinematicObject()) - return; - - applyCentralForce(m_gravity); - - m_linearVelocity *= GEN_clamped((btScalar(1.) - step * gLinearAirDamping * m_linearDamping), (btScalar)btScalar(0.0), (btScalar)btScalar(1.0)); - m_angularVelocity *= GEN_clamped((btScalar(1.) - step * m_angularDamping), (btScalar)btScalar(0.0), (btScalar)btScalar(1.0)); + m_linearVelocity *= GEN_clamped((btScalar(1.) - timeStep * m_linearDamping), (btScalar)btScalar(0.0), (btScalar)btScalar(1.0)); + m_angularVelocity *= GEN_clamped((btScalar(1.) - timeStep * m_angularDamping), (btScalar)btScalar(0.0), (btScalar)btScalar(1.0)); -#define FORCE_VELOCITY_DAMPING 1 -#ifdef FORCE_VELOCITY_DAMPING - btScalar speed = m_linearVelocity.length(); - if (speed < m_linearDamping) + if (m_additionalDamping) { - btScalar dampVel = btScalar(0.005); - if (speed > dampVel) + //Additional damping can help avoiding lowpass jitter motion, help stability for ragdolls etc. + //Such damping is undesirable, so once the overall simulation quality of the rigid body dynamics system has improved, this should become obsolete + if ((m_angularVelocity.length2() < m_additionalAngularDampingThresholdSqr) && + (m_linearVelocity.length2() < m_additionalLinearDampingThresholdSqr)) { - btVector3 dir = m_linearVelocity.normalized(); - m_linearVelocity -= dir * dampVel; - } else - { - m_linearVelocity.setValue(btScalar(0.),btScalar(0.),btScalar(0.)); + m_angularVelocity *= m_additionalDampingFactor; + m_linearVelocity *= m_additionalDampingFactor; } - } + - btScalar angSpeed = m_angularVelocity.length(); - if (angSpeed < m_angularDamping) - { - btScalar angDampVel = btScalar(0.005); - if (angSpeed > angDampVel) + btScalar speed = m_linearVelocity.length(); + if (speed < m_linearDamping) { - btVector3 dir = m_angularVelocity.normalized(); - m_angularVelocity -= dir * angDampVel; - } else + btScalar dampVel = btScalar(0.005); + if (speed > dampVel) + { + btVector3 dir = m_linearVelocity.normalized(); + m_linearVelocity -= dir * dampVel; + } else + { + m_linearVelocity.setValue(btScalar(0.),btScalar(0.),btScalar(0.)); + } + } + + btScalar angSpeed = m_angularVelocity.length(); + if (angSpeed < m_angularDamping) { - m_angularVelocity.setValue(btScalar(0.),btScalar(0.),btScalar(0.)); + btScalar angDampVel = btScalar(0.005); + if (angSpeed > angDampVel) + { + btVector3 dir = m_angularVelocity.normalized(); + m_angularVelocity -= dir * angDampVel; + } else + { + m_angularVelocity.setValue(btScalar(0.),btScalar(0.),btScalar(0.)); + } } } -#endif //FORCE_VELOCITY_DAMPING +} + + +void btRigidBody::applyGravity() +{ + if (isStaticOrKinematicObject()) + return; + applyCentralForce(m_gravity); + } void btRigidBody::proceedToTransform(const btTransform& newTrans) @@ -285,7 +247,6 @@ void btRigidBody::integrateVelocities(btScalar step) m_angularVelocity *= (MAX_ANGVEL/step) /angvel; } - clearForces(); } btQuaternion btRigidBody::getOrientation() const diff --git a/extern/bullet2/src/BulletDynamics/Dynamics/btRigidBody.h b/extern/bullet2/src/BulletDynamics/Dynamics/btRigidBody.h index 0707595d48e..4596f90a00f 100644 --- a/extern/bullet2/src/BulletDynamics/Dynamics/btRigidBody.h +++ b/extern/bullet2/src/BulletDynamics/Dynamics/btRigidBody.h @@ -16,27 +16,29 @@ subject to the following restrictions: #ifndef RIGIDBODY_H #define RIGIDBODY_H -#include "../../LinearMath/btAlignedObjectArray.h" -#include "../../LinearMath/btPoint3.h" -#include "../../LinearMath/btTransform.h" -#include "../../BulletCollision/BroadphaseCollision/btBroadphaseProxy.h" -#include "../../BulletCollision/CollisionDispatch/btCollisionObject.h" +#include "LinearMath/btAlignedObjectArray.h" +#include "LinearMath/btPoint3.h" +#include "LinearMath/btTransform.h" +#include "BulletCollision/BroadphaseCollision/btBroadphaseProxy.h" +#include "BulletCollision/CollisionDispatch/btCollisionObject.h" class btCollisionShape; class btMotionState; class btTypedConstraint; -extern btScalar gLinearAirDamping; - extern btScalar gDeactivationTime; extern bool gDisableDeactivation; -extern btScalar gLinearSleepingThreshold; -extern btScalar gAngularSleepingThreshold; -/// btRigidBody class for btRigidBody Dynamics -/// +///btRigidBody is the main class for rigid body objects. It is derived from btCollisionObject, so it keeps a pointer to a btCollisionShape. +///It is recommended for performance and memory use to share btCollisionShape objects whenever possible. +///There are 3 types of rigid bodies: +///- A) Dynamic rigid bodies, with positive mass. Motion is controlled by rigid body dynamics. +///- B) Fixed objects with zero mass. They are not moving (basically collision objects) +///- C) Kinematic objects, which are objects without mass, but the user can move them. There is on-way interaction, and Bullet calculates a velocity based on the timestep and previous and current world transform. +///Bullet automatically deactivates dynamic rigid bodies, when the velocity is below a threshold for a given time. +///Deactivated (sleeping) rigid bodies don't take any processing time, except a minor broadphase collision detection impact (to allow active objects to activate/wake up sleeping objects) class btRigidBody : public btCollisionObject { @@ -53,7 +55,16 @@ class btRigidBody : public btCollisionObject btScalar m_linearDamping; btScalar m_angularDamping; - + + bool m_additionalDamping; + btScalar m_additionalDampingFactor; + btScalar m_additionalLinearDampingThresholdSqr; + btScalar m_additionalAngularDampingThresholdSqr; + btScalar m_additionalAngularDampingFactor; + + + btScalar m_linearSleepingThreshold; + btScalar m_angularSleepingThreshold; //m_optionalMotionState allows to automatic synchronize the world transform for active objects btMotionState* m_optionalMotionState; @@ -63,12 +74,85 @@ class btRigidBody : public btCollisionObject public: -#ifdef OBSOLETE_MOTIONSTATE_LESS - //not supported, please use btMotionState - btRigidBody(btScalar mass, const btTransform& worldTransform, btCollisionShape* collisionShape, const btVector3& localInertia=btVector3(0,0,0),btScalar linearDamping=btScalar(0.),btScalar angularDamping=btScalar(0.),btScalar friction=btScalar(0.5),btScalar restitution=btScalar(0.)); -#endif //OBSOLETE_MOTIONSTATE_LESS - btRigidBody(btScalar mass, btMotionState* motionState, btCollisionShape* collisionShape, const btVector3& localInertia=btVector3(0,0,0),btScalar linearDamping=btScalar(0.),btScalar angularDamping=btScalar(0.),btScalar friction=btScalar(0.5),btScalar restitution=btScalar(0.)); + ///btRigidBodyConstructionInfo provides information to create a rigid body. Setting mass to zero creates a fixed (non-dynamic) rigid body. + ///For dynamic objects, you can use the collision shape to approximate the local inertia tensor, otherwise use the zero vector (default argument) + ///You can use the motion state to synchronize the world transform between physics and graphics objects. + ///And if the motion state is provided, the rigid body will initialize its initial world transform from the motion state, + ///m_startWorldTransform is only used when you don't provide a motion state. + struct btRigidBodyConstructionInfo + { + btScalar m_mass; + + ///When a motionState is provided, the rigid body will initialize its world transform from the motion state + ///In this case, m_startWorldTransform is ignored. + btMotionState* m_motionState; + btTransform m_startWorldTransform; + + btCollisionShape* m_collisionShape; + btVector3 m_localInertia; + btScalar m_linearDamping; + btScalar m_angularDamping; + + ///best simulation results when friction is non-zero + btScalar m_friction; + ///best simulation results using zero restitution. + btScalar m_restitution; + + btScalar m_linearSleepingThreshold; + btScalar m_angularSleepingThreshold; + + //Additional damping can help avoiding lowpass jitter motion, help stability for ragdolls etc. + //Such damping is undesirable, so once the overall simulation quality of the rigid body dynamics system has improved, this should become obsolete + bool m_additionalDamping; + btScalar m_additionalDampingFactor; + btScalar m_additionalLinearDampingThresholdSqr; + btScalar m_additionalAngularDampingThresholdSqr; + btScalar m_additionalAngularDampingFactor; + + + btRigidBodyConstructionInfo( btScalar mass, btMotionState* motionState, btCollisionShape* collisionShape, const btVector3& localInertia=btVector3(0,0,0)): + m_mass(mass), + m_motionState(motionState), + m_collisionShape(collisionShape), + m_localInertia(localInertia), + m_linearDamping(btScalar(0.)), + m_angularDamping(btScalar(0.)), + m_friction(btScalar(0.5)), + m_restitution(btScalar(0.)), + m_linearSleepingThreshold(btScalar(0.8)), + m_angularSleepingThreshold(btScalar(1.f)), + m_additionalDamping(false), + m_additionalDampingFactor(btScalar(0.005)), + m_additionalLinearDampingThresholdSqr(btScalar(0.01)), + m_additionalAngularDampingThresholdSqr(btScalar(0.01)), + m_additionalAngularDampingFactor(btScalar(0.01)) + { + m_startWorldTransform.setIdentity(); + } + }; + + ///btRigidBody constructor using construction info + btRigidBody( const btRigidBodyConstructionInfo& constructionInfo); + + ///btRigidBody constructor for backwards compatibility. + ///To specify friction (etc) during rigid body construction, please use the other constructor (using btRigidBodyConstructionInfo) + btRigidBody( btScalar mass, btMotionState* motionState, btCollisionShape* collisionShape, const btVector3& localInertia=btVector3(0,0,0)); + + + virtual ~btRigidBody() + { + //No constraints should point to this rigidbody + //Remove constraints from the dynamics world before you delete the related rigidbodies. + btAssert(m_constraintRefs.size()==0); + } + +protected: + + ///setupRigidBody is only used internally by the constructor + void setupRigidBody(const btRigidBodyConstructionInfo& constructionInfo); + +public: void proceedToTransform(const btTransform& newTrans); @@ -76,11 +160,15 @@ public: ///but a rigidbody is derived from btCollisionObject, so we can safely perform an upcast static const btRigidBody* upcast(const btCollisionObject* colObj) { - return (const btRigidBody*)colObj->getInternalOwner(); + if (colObj->getInternalType()==btCollisionObject::CO_RIGID_BODY) + return (const btRigidBody*)colObj; + return 0; } static btRigidBody* upcast(btCollisionObject* colObj) { - return (btRigidBody*)colObj->getInternalOwner(); + if (colObj->getInternalType()==btCollisionObject::CO_RIGID_BODY) + return (btRigidBody*)colObj; + return 0; } /// continuous collision detection needs prediction @@ -88,8 +176,7 @@ public: void saveKinematicState(btScalar step); - - void applyForces(btScalar step); + void applyGravity(); void setGravity(const btVector3& acceleration); @@ -99,12 +186,34 @@ public: } void setDamping(btScalar lin_damping, btScalar ang_damping); - - inline const btCollisionShape* getCollisionShape() const { + + btScalar getLinearDamping() const + { + return m_linearDamping; + } + + btScalar getAngularDamping() const + { + return m_angularDamping; + } + + btScalar getLinearSleepingThreshold() const + { + return m_linearSleepingThreshold; + } + + btScalar getAngularSleepingThreshold() const + { + return m_angularSleepingThreshold; + } + + void applyDamping(btScalar timeStep); + + SIMD_FORCE_INLINE const btCollisionShape* getCollisionShape() const { return m_collisionShape; } - inline btCollisionShape* getCollisionShape() { + SIMD_FORCE_INLINE btCollisionShape* getCollisionShape() { return m_collisionShape; } @@ -134,6 +243,12 @@ public: m_invInertiaLocal = diagInvInertia; } + void setSleepingThresholds(btScalar linear,btScalar angular) + { + m_linearSleepingThreshold = linear; + m_angularSleepingThreshold = angular; + } + void applyTorque(const btVector3& torque) { m_totalTorque += torque; @@ -142,7 +257,7 @@ public: void applyForce(const btVector3& force, const btVector3& rel_pos) { applyCentralForce(force); - applyTorque(rel_pos.cross(force)); + applyTorque(rel_pos.cross(force)*m_angularFactor); } void applyCentralImpulse(const btVector3& impulse) @@ -168,7 +283,7 @@ public: } //Optimization for the iterative solver: avoid calculating constant terms involving inertia, normal, relative position - inline void internalApplyImpulse(const btVector3& linearComponent, const btVector3& angularComponent,btScalar impulseMagnitude) + SIMD_FORCE_INLINE void internalApplyImpulse(const btVector3& linearComponent, const btVector3& angularComponent,btScalar impulseMagnitude) { if (m_inverseMass != btScalar(0.)) { @@ -238,7 +353,7 @@ public: - inline btScalar computeImpulseDenominator(const btPoint3& pos, const btVector3& normal) const + SIMD_FORCE_INLINE btScalar computeImpulseDenominator(const btPoint3& pos, const btVector3& normal) const { btVector3 r0 = pos - getCenterOfMassPosition(); @@ -250,19 +365,19 @@ public: } - inline btScalar computeAngularImpulseDenominator(const btVector3& axis) const + SIMD_FORCE_INLINE btScalar computeAngularImpulseDenominator(const btVector3& axis) const { btVector3 vec = axis * getInvInertiaTensorWorld(); return axis.dot(vec); } - inline void updateDeactivation(btScalar timeStep) + SIMD_FORCE_INLINE void updateDeactivation(btScalar timeStep) { if ( (getActivationState() == ISLAND_SLEEPING) || (getActivationState() == DISABLE_DEACTIVATION)) return; - if ((getLinearVelocity().length2() < gLinearSleepingThreshold*gLinearSleepingThreshold) && - (getAngularVelocity().length2() < gAngularSleepingThreshold*gAngularSleepingThreshold)) + if ((getLinearVelocity().length2() < m_linearSleepingThreshold*m_linearSleepingThreshold) && + (getAngularVelocity().length2() < m_angularSleepingThreshold*m_angularSleepingThreshold)) { m_deactivationTime += timeStep; } else @@ -273,7 +388,7 @@ public: } - inline bool wantsSleeping() + SIMD_FORCE_INLINE bool wantsSleeping() { if (getActivationState() == DISABLE_DEACTIVATION) @@ -348,6 +463,16 @@ public: void addConstraintRef(btTypedConstraint* c); void removeConstraintRef(btTypedConstraint* c); + btTypedConstraint* getConstraintRef(int index) + { + return m_constraintRefs[index]; + } + + int getNumConstraintRefs() + { + return m_constraintRefs.size(); + } + int m_debugBodyId; }; diff --git a/extern/bullet2/src/BulletDynamics/Dynamics/btSimpleDynamicsWorld.cpp b/extern/bullet2/src/BulletDynamics/Dynamics/btSimpleDynamicsWorld.cpp index 4ebcb8e7517..3be04d1a4ad 100644 --- a/extern/bullet2/src/BulletDynamics/Dynamics/btSimpleDynamicsWorld.cpp +++ b/extern/bullet2/src/BulletDynamics/Dynamics/btSimpleDynamicsWorld.cpp @@ -27,16 +27,19 @@ subject to the following restrictions: can be used by probes that are checking whether the library is actually installed. */ -extern "C" void btBulletDynamicsProbe () {} +extern "C" +{ + void btBulletDynamicsProbe (); + void btBulletDynamicsProbe () {} +} -btSimpleDynamicsWorld::btSimpleDynamicsWorld(btDispatcher* dispatcher,btOverlappingPairCache* pairCache,btConstraintSolver* constraintSolver) -:btDynamicsWorld(dispatcher,pairCache), +btSimpleDynamicsWorld::btSimpleDynamicsWorld(btDispatcher* dispatcher,btBroadphaseInterface* pairCache,btConstraintSolver* constraintSolver,btCollisionConfiguration* collisionConfiguration) +:btDynamicsWorld(dispatcher,pairCache,collisionConfiguration), m_constraintSolver(constraintSolver), m_ownsConstraintSolver(false), -m_debugDrawer(0), m_gravity(0,0,-10) { @@ -46,7 +49,7 @@ m_gravity(0,0,-10) btSimpleDynamicsWorld::~btSimpleDynamicsWorld() { if (m_ownsConstraintSolver) - delete m_constraintSolver; + btAlignedFree( m_constraintSolver); } int btSimpleDynamicsWorld::stepSimulation( btScalar timeStep,int maxSubSteps, btScalar fixedTimeStep) @@ -74,8 +77,9 @@ int btSimpleDynamicsWorld::stepSimulation( btScalar timeStep,int maxSubSteps, b btContactSolverInfo infoGlobal; infoGlobal.m_timeStep = timeStep; - - m_constraintSolver->solveGroup(0,0,manifoldPtr, numManifolds,0,0,infoGlobal,m_debugDrawer, m_stackAlloc); + m_constraintSolver->prepareSolve(0,numManifolds); + m_constraintSolver->solveGroup(0,0,manifoldPtr, numManifolds,0,0,infoGlobal,m_debugDrawer, m_stackAlloc,m_dispatcher1); + m_constraintSolver->allSolved(infoGlobal,m_debugDrawer, m_stackAlloc); } ///integrate transforms @@ -85,10 +89,27 @@ int btSimpleDynamicsWorld::stepSimulation( btScalar timeStep,int maxSubSteps, b synchronizeMotionStates(); + clearForces(); + return 1; } +void btSimpleDynamicsWorld::clearForces() +{ + //todo: iterate over awake simulation islands! + for ( int i=0;i<m_collisionObjects.size();i++) + { + btCollisionObject* colObj = m_collisionObjects[i]; + + btRigidBody* body = btRigidBody::upcast(colObj); + if (body) + { + body->clearForces(); + } + } +} + void btSimpleDynamicsWorld::setGravity(const btVector3& gravity) { @@ -104,6 +125,11 @@ void btSimpleDynamicsWorld::setGravity(const btVector3& gravity) } } +btVector3 btSimpleDynamicsWorld::getGravity () const +{ + return m_gravity; +} + void btSimpleDynamicsWorld::removeRigidBody(btRigidBody* body) { removeCollisionObject(body); @@ -133,7 +159,7 @@ void btSimpleDynamicsWorld::updateAabbs() btPoint3 minAabb,maxAabb; colObj->getCollisionShape()->getAabb(colObj->getWorldTransform(), minAabb,maxAabb); btBroadphaseInterface* bp = getBroadphase(); - bp->setAabb(body->getBroadphaseHandle(),minAabb,maxAabb); + bp->setAabb(body->getBroadphaseHandle(),minAabb,maxAabb, m_dispatcher1); } } } @@ -171,8 +197,9 @@ void btSimpleDynamicsWorld::predictUnconstraintMotion(btScalar timeStep) { if (body->isActive()) { - body->applyForces( timeStep); + body->applyGravity(); body->integrateVelocities( timeStep); + body->applyDamping(timeStep); body->predictIntegratedTransform(timeStep,body->getInterpolationWorldTransform()); } } @@ -204,8 +231,13 @@ void btSimpleDynamicsWorld::setConstraintSolver(btConstraintSolver* solver) { if (m_ownsConstraintSolver) { - delete m_constraintSolver; + btAlignedFree(m_constraintSolver); } m_ownsConstraintSolver = false; m_constraintSolver = solver; } + +btConstraintSolver* btSimpleDynamicsWorld::getConstraintSolver() +{ + return m_constraintSolver; +} diff --git a/extern/bullet2/src/BulletDynamics/Dynamics/btSimpleDynamicsWorld.h b/extern/bullet2/src/BulletDynamics/Dynamics/btSimpleDynamicsWorld.h index 25f4ccd8e68..5c56fdf1327 100644 --- a/extern/bullet2/src/BulletDynamics/Dynamics/btSimpleDynamicsWorld.h +++ b/extern/bullet2/src/BulletDynamics/Dynamics/btSimpleDynamicsWorld.h @@ -22,11 +22,8 @@ class btDispatcher; class btOverlappingPairCache; class btConstraintSolver; -///btSimpleDynamicsWorld demonstrates very basic usage of Bullet rigid body dynamics -///It can be used for basic simulations, and as a starting point for porting Bullet -///btSimpleDynamicsWorld lacks object deactivation, island management and other concepts. -///For more complicated simulations, btDiscreteDynamicsWorld and btContinuousDynamicsWorld are recommended -///those classes replace the obsolete CcdPhysicsEnvironment/CcdPhysicsController +///btSimpleDynamicsWorld serves as unit-test and to verify more complicated and optimized dynamics worlds. +///Please use btDiscreteDynamicsWorld instead (or btContinuousDynamicsWorld once it is finished). class btSimpleDynamicsWorld : public btDynamicsWorld { protected: @@ -35,8 +32,6 @@ protected: bool m_ownsConstraintSolver; - btIDebugDraw* m_debugDrawer; - void predictUnconstraintMotion(btScalar timeStep); void integrateTransforms(btScalar timeStep); @@ -48,25 +43,17 @@ public: ///this btSimpleDynamicsWorld constructor creates dispatcher, broadphase pairCache and constraintSolver - btSimpleDynamicsWorld(btDispatcher* dispatcher,btOverlappingPairCache* pairCache,btConstraintSolver* constraintSolver); + btSimpleDynamicsWorld(btDispatcher* dispatcher,btBroadphaseInterface* pairCache,btConstraintSolver* constraintSolver,btCollisionConfiguration* collisionConfiguration); virtual ~btSimpleDynamicsWorld(); ///maxSubSteps/fixedTimeStep for interpolation is currently ignored for btSimpleDynamicsWorld, use btDiscreteDynamicsWorld instead virtual int stepSimulation( btScalar timeStep,int maxSubSteps=1, btScalar fixedTimeStep=btScalar(1.)/btScalar(60.)); - virtual void setDebugDrawer(btIDebugDraw* debugDrawer) - { - m_debugDrawer = debugDrawer; - }; - - virtual btIDebugDraw* getDebugDrawer() - { - return m_debugDrawer; - } - virtual void setGravity(const btVector3& gravity); + virtual btVector3 getGravity () const; + virtual void addRigidBody(btRigidBody* body); virtual void removeRigidBody(btRigidBody* body); @@ -77,6 +64,15 @@ public: virtual void setConstraintSolver(btConstraintSolver* solver); + virtual btConstraintSolver* getConstraintSolver(); + + virtual btDynamicsWorldType getWorldType() const + { + return BT_SIMPLE_DYNAMICS_WORLD; + } + + virtual void clearForces(); + }; #endif //BT_SIMPLE_DYNAMICS_WORLD_H diff --git a/extern/bullet2/src/BulletDynamics/Vehicle/btRaycastVehicle.cpp b/extern/bullet2/src/BulletDynamics/Vehicle/btRaycastVehicle.cpp index d53de7f3687..fe65245c2a1 100644 --- a/extern/bullet2/src/BulletDynamics/Vehicle/btRaycastVehicle.cpp +++ b/extern/bullet2/src/BulletDynamics/Vehicle/btRaycastVehicle.cpp @@ -23,12 +23,11 @@ #include "BulletDynamics/ConstraintSolver/btContactConstraint.h" - - static btRigidBody s_fixedObject( 0,0,0); btRaycastVehicle::btRaycastVehicle(const btVehicleTuning& tuning,btRigidBody* chassis, btVehicleRaycaster* raycaster ) -:m_vehicleRaycaster(raycaster), +: btTypedConstraint(VEHICLE_CONSTRAINT_TYPE), +m_vehicleRaycaster(raycaster), m_pitchControl(btScalar(0.)) { m_chassisBody = chassis; @@ -487,6 +486,7 @@ struct btWheelContactPoint }; +btScalar calcRollingFriction(btWheelContactPoint& contactPoint); btScalar calcRollingFriction(btWheelContactPoint& contactPoint) { @@ -507,8 +507,8 @@ btScalar calcRollingFriction(btWheelContactPoint& contactPoint) // calculate j that moves us to zero relative velocity j1 = -vrel * contactPoint.m_jacDiagABInv; - GEN_set_min(j1, maxImpulse); - GEN_set_max(j1, -maxImpulse); + btSetMin(j1, maxImpulse); + btSetMax(j1, -maxImpulse); return j1; } @@ -525,11 +525,10 @@ void btRaycastVehicle::updateFriction(btScalar timeStep) if (!numWheel) return; - - btVector3* forwardWS = new btVector3[numWheel]; - btVector3* axle = new btVector3[numWheel]; - btScalar* forwardImpulse = new btScalar[numWheel]; - btScalar* sideImpulse = new btScalar[numWheel]; + m_forwardWS.resize(numWheel); + m_axle.resize(numWheel); + m_forwardImpulse.resize(numWheel); + m_sideImpulse.resize(numWheel); int numWheelsOnGround = 0; @@ -541,8 +540,8 @@ void btRaycastVehicle::updateFriction(btScalar timeStep) class btRigidBody* groundObject = (class btRigidBody*) wheelInfo.m_raycastInfo.m_groundObject; if (groundObject) numWheelsOnGround++; - sideImpulse[i] = btScalar(0.); - forwardImpulse[i] = btScalar(0.); + m_sideImpulse[i] = btScalar(0.); + m_forwardImpulse[i] = btScalar(0.); } @@ -561,25 +560,25 @@ void btRaycastVehicle::updateFriction(btScalar timeStep) const btTransform& wheelTrans = getWheelTransformWS( i ); btMatrix3x3 wheelBasis0 = wheelTrans.getBasis(); - axle[i] = btVector3( + m_axle[i] = btVector3( wheelBasis0[0][m_indexRightAxis], wheelBasis0[1][m_indexRightAxis], wheelBasis0[2][m_indexRightAxis]); const btVector3& surfNormalWS = wheelInfo.m_raycastInfo.m_contactNormalWS; - btScalar proj = axle[i].dot(surfNormalWS); - axle[i] -= surfNormalWS * proj; - axle[i] = axle[i].normalize(); + btScalar proj = m_axle[i].dot(surfNormalWS); + m_axle[i] -= surfNormalWS * proj; + m_axle[i] = m_axle[i].normalize(); - forwardWS[i] = surfNormalWS.cross(axle[i]); - forwardWS[i].normalize(); + m_forwardWS[i] = surfNormalWS.cross(m_axle[i]); + m_forwardWS[i].normalize(); resolveSingleBilateral(*m_chassisBody, wheelInfo.m_raycastInfo.m_contactPointWS, *groundObject, wheelInfo.m_raycastInfo.m_contactPointWS, - btScalar(0.), axle[i],sideImpulse[i],timeStep); + btScalar(0.), m_axle[i],m_sideImpulse[i],timeStep); - sideImpulse[i] *= sideFrictionStiffness2; + m_sideImpulse[i] *= sideFrictionStiffness2; } @@ -608,7 +607,7 @@ void btRaycastVehicle::updateFriction(btScalar timeStep) { btScalar defaultRollingFrictionImpulse = 0.f; btScalar maxImpulse = wheelInfo.m_brake ? wheelInfo.m_brake : defaultRollingFrictionImpulse; - btWheelContactPoint contactPt(m_chassisBody,groundObject,wheelInfo.m_raycastInfo.m_contactPointWS,forwardWS[wheel],maxImpulse); + btWheelContactPoint contactPt(m_chassisBody,groundObject,wheelInfo.m_raycastInfo.m_contactPointWS,m_forwardWS[wheel],maxImpulse); rollingFriction = calcRollingFriction(contactPt); } } @@ -618,7 +617,7 @@ void btRaycastVehicle::updateFriction(btScalar timeStep) - forwardImpulse[wheel] = btScalar(0.); + m_forwardImpulse[wheel] = btScalar(0.); m_wheelInfo[wheel].m_skidInfo= btScalar(1.); if (groundObject) @@ -631,10 +630,10 @@ void btRaycastVehicle::updateFriction(btScalar timeStep) btScalar maximpSquared = maximp * maximpSide; - forwardImpulse[wheel] = rollingFriction;//wheelInfo.m_engineForce* timeStep; + m_forwardImpulse[wheel] = rollingFriction;//wheelInfo.m_engineForce* timeStep; - btScalar x = (forwardImpulse[wheel] ) * fwdFactor; - btScalar y = (sideImpulse[wheel] ) * sideFactor; + btScalar x = (m_forwardImpulse[wheel] ) * fwdFactor; + btScalar y = (m_sideImpulse[wheel] ) * sideFactor; btScalar impulseSquared = (x*x + y*y); @@ -658,12 +657,12 @@ void btRaycastVehicle::updateFriction(btScalar timeStep) { for (int wheel = 0;wheel < getNumWheels(); wheel++) { - if (sideImpulse[wheel] != btScalar(0.)) + if (m_sideImpulse[wheel] != btScalar(0.)) { if (m_wheelInfo[wheel].m_skidInfo< btScalar(1.)) { - forwardImpulse[wheel] *= m_wheelInfo[wheel].m_skidInfo; - sideImpulse[wheel] *= m_wheelInfo[wheel].m_skidInfo; + m_forwardImpulse[wheel] *= m_wheelInfo[wheel].m_skidInfo; + m_sideImpulse[wheel] *= m_wheelInfo[wheel].m_skidInfo; } } } @@ -678,11 +677,11 @@ void btRaycastVehicle::updateFriction(btScalar timeStep) btVector3 rel_pos = wheelInfo.m_raycastInfo.m_contactPointWS - m_chassisBody->getCenterOfMassPosition(); - if (forwardImpulse[wheel] != btScalar(0.)) + if (m_forwardImpulse[wheel] != btScalar(0.)) { - m_chassisBody->applyImpulse(forwardWS[wheel]*(forwardImpulse[wheel]),rel_pos); + m_chassisBody->applyImpulse(m_forwardWS[wheel]*(m_forwardImpulse[wheel]),rel_pos); } - if (sideImpulse[wheel] != btScalar(0.)) + if (m_sideImpulse[wheel] != btScalar(0.)) { class btRigidBody* groundObject = (class btRigidBody*) m_wheelInfo[wheel].m_raycastInfo.m_groundObject; @@ -690,7 +689,7 @@ void btRaycastVehicle::updateFriction(btScalar timeStep) groundObject->getCenterOfMassPosition(); - btVector3 sideImp = axle[wheel] * sideImpulse[wheel]; + btVector3 sideImp = m_axle[wheel] * m_sideImpulse[wheel]; rel_pos[2] *= wheelInfo.m_rollInfluence; m_chassisBody->applyImpulse(sideImp,rel_pos); @@ -701,10 +700,7 @@ void btRaycastVehicle::updateFriction(btScalar timeStep) } } - delete []forwardWS; - delete [] axle; - delete[]forwardImpulse; - delete[] sideImpulse; + } @@ -716,11 +712,11 @@ void* btDefaultVehicleRaycaster::castRay(const btVector3& from,const btVector3& m_dynamicsWorld->rayTest(from, to, rayCallback); - if (rayCallback.HasHit()) + if (rayCallback.hasHit()) { btRigidBody* body = btRigidBody::upcast(rayCallback.m_collisionObject); - if (body) + if (body && body->hasContactResponse()) { result.m_hitPointInWorld = rayCallback.m_hitPointWorld; result.m_hitNormalInWorld = rayCallback.m_hitNormalWorld; diff --git a/extern/bullet2/src/BulletDynamics/Vehicle/btRaycastVehicle.h b/extern/bullet2/src/BulletDynamics/Vehicle/btRaycastVehicle.h index f4249599615..8361dcabe4b 100644 --- a/extern/bullet2/src/BulletDynamics/Vehicle/btRaycastVehicle.h +++ b/extern/bullet2/src/BulletDynamics/Vehicle/btRaycastVehicle.h @@ -11,11 +11,11 @@ #ifndef RAYCASTVEHICLE_H #define RAYCASTVEHICLE_H -#include "../Dynamics/btRigidBody.h" -#include "../ConstraintSolver/btTypedConstraint.h" +#include "BulletDynamics/Dynamics/btRigidBody.h" +#include "BulletDynamics/ConstraintSolver/btTypedConstraint.h" #include "btVehicleRaycaster.h" class btDynamicsWorld; -#include "../../LinearMath/btAlignedObjectArray.h" +#include "LinearMath/btAlignedObjectArray.h" #include "btWheelInfo.h" class btVehicleTuning; @@ -23,6 +23,12 @@ class btVehicleTuning; ///rayCast vehicle, very special constraint that turn a rigidbody into a vehicle. class btRaycastVehicle : public btTypedConstraint { + + btAlignedObjectArray<btVector3> m_forwardWS; + btAlignedObjectArray<btVector3> m_axle; + btAlignedObjectArray<btScalar> m_forwardImpulse; + btAlignedObjectArray<btScalar> m_sideImpulse; + public: class btVehicleTuning { @@ -114,7 +120,7 @@ public: void updateSuspension(btScalar deltaTime); - void updateFriction(btScalar timeStep); + virtual void updateFriction(btScalar timeStep); diff --git a/extern/bullet2/src/BulletDynamics/Vehicle/btVehicleRaycaster.h b/extern/bullet2/src/BulletDynamics/Vehicle/btVehicleRaycaster.h index 64a47fcaada..5112ce6d420 100644 --- a/extern/bullet2/src/BulletDynamics/Vehicle/btVehicleRaycaster.h +++ b/extern/bullet2/src/BulletDynamics/Vehicle/btVehicleRaycaster.h @@ -11,7 +11,7 @@ #ifndef VEHICLE_RAYCASTER_H #define VEHICLE_RAYCASTER_H -#include "../../LinearMath/btVector3.h" +#include "LinearMath/btVector3.h" /// btVehicleRaycaster is provides interface for between vehicle simulation and raycasting struct btVehicleRaycaster diff --git a/extern/bullet2/src/BulletDynamics/Vehicle/btWheelInfo.h b/extern/bullet2/src/BulletDynamics/Vehicle/btWheelInfo.h index 2e349b3fde4..ac2729f4fd7 100644 --- a/extern/bullet2/src/BulletDynamics/Vehicle/btWheelInfo.h +++ b/extern/bullet2/src/BulletDynamics/Vehicle/btWheelInfo.h @@ -11,8 +11,8 @@ #ifndef WHEEL_INFO_H #define WHEEL_INFO_H -#include "../../LinearMath/btVector3.h" -#include "../../LinearMath/btTransform.h" +#include "LinearMath/btVector3.h" +#include "LinearMath/btTransform.h" class btRigidBody; diff --git a/extern/bullet2/src/BulletSoftBody/CMakeLists.txt b/extern/bullet2/src/BulletSoftBody/CMakeLists.txt new file mode 100644 index 00000000000..a725e10ff77 --- /dev/null +++ b/extern/bullet2/src/BulletSoftBody/CMakeLists.txt @@ -0,0 +1,21 @@ + +INCLUDE_DIRECTORIES( +${BULLET_PHYSICS_SOURCE_DIR}/src } +) + +ADD_LIBRARY(LibBulletSoftBody + btSoftBody.cpp + btSoftBody.h + btSoftBodyHelpers.cpp + btSparseSDF.h + btSoftBodyHelpers.h + btSoftBodyRigidBodyCollisionConfiguration.cpp + btSoftRigidCollisionAlgorithm.cpp + btSoftRigidCollisionAlgorithm.h + btSoftSoftCollisionAlgorithm.cpp + btSoftSoftCollisionAlgorithm.h + btSoftBodyConcaveCollisionAlgorithm.cpp + btSoftBodyConcaveCollisionAlgorithm.h + btSoftRigidDynamicsWorld.h + btSoftRigidDynamicsWorld.cpp +) diff --git a/extern/bullet2/src/BulletSoftBody/btSoftBody.cpp b/extern/bullet2/src/BulletSoftBody/btSoftBody.cpp new file mode 100644 index 00000000000..1ec668c9c78 --- /dev/null +++ b/extern/bullet2/src/BulletSoftBody/btSoftBody.cpp @@ -0,0 +1,2628 @@ +/* +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. +*/ +///btSoftBody implementation by Nathanael Presson + +#include "btSoftBodyInternals.h" + +// +btSoftBody::btSoftBody(btSoftBodyWorldInfo* worldInfo,int node_count, const btVector3* x, const btScalar* m) +:m_worldInfo(worldInfo) +{ + /* Init */ + m_internalType = CO_SOFT_BODY; + m_cfg.aeromodel = eAeroModel::V_Point; + m_cfg.kVCF = 1; + m_cfg.kDG = 0; + m_cfg.kLF = 0; + m_cfg.kDP = 0; + m_cfg.kPR = 0; + m_cfg.kVC = 0; + m_cfg.kDF = (btScalar)0.2; + m_cfg.kMT = 0; + m_cfg.kCHR = (btScalar)1.0; + m_cfg.kKHR = (btScalar)0.1; + m_cfg.kSHR = (btScalar)1.0; + m_cfg.kAHR = (btScalar)0.7; + m_cfg.kSRHR_CL = (btScalar)0.1; + m_cfg.kSKHR_CL = (btScalar)1; + m_cfg.kSSHR_CL = (btScalar)0.5; + m_cfg.kSR_SPLT_CL = (btScalar)0.5; + m_cfg.kSK_SPLT_CL = (btScalar)0.5; + m_cfg.kSS_SPLT_CL = (btScalar)0.5; + m_cfg.maxvolume = (btScalar)1; + m_cfg.timescale = 1; + m_cfg.viterations = 0; + m_cfg.piterations = 1; + m_cfg.diterations = 0; + m_cfg.citerations = 4; + m_cfg.collisions = fCollision::Default; + m_pose.m_bvolume = false; + m_pose.m_bframe = false; + m_pose.m_volume = 0; + m_pose.m_com = btVector3(0,0,0); + m_pose.m_rot.setIdentity(); + m_pose.m_scl.setIdentity(); + m_tag = 0; + m_timeacc = 0; + m_bUpdateRtCst = true; + m_bounds[0] = btVector3(0,0,0); + m_bounds[1] = btVector3(0,0,0); + m_worldTransform.setIdentity(); + setSolver(eSolverPresets::Positions); + /* Default material */ + Material* pm=appendMaterial(); + pm->m_kLST = 1; + pm->m_kAST = 1; + pm->m_kVST = 1; + pm->m_flags = fMaterial::Default; + /* Collision shape */ + ///for now, create a collision shape internally + m_collisionShape = new btSoftBodyCollisionShape(this); + m_collisionShape->setMargin(0.25); + /* Nodes */ + const btScalar margin=getCollisionShape()->getMargin(); + m_nodes.resize(node_count); + for(int i=0,ni=node_count;i<ni;++i) + { + Node& n=m_nodes[i]; + ZeroInitialize(n); + n.m_x = x?*x++:btVector3(0,0,0); + n.m_q = n.m_x; + n.m_im = m?*m++:1; + n.m_im = n.m_im>0?1/n.m_im:0; + n.m_leaf = m_ndbvt.insert(btDbvtVolume::FromCR(n.m_x,margin),&n); + n.m_material= pm; + } + updateBounds(); + + m_initialWorldTransform.setIdentity(); +} + +// +btSoftBody::~btSoftBody() +{ + //for now, delete the internal shape + delete m_collisionShape; + int i; + + releaseClusters(); + for(i=0;i<m_materials.size();++i) + btAlignedFree(m_materials[i]); + for(i=0;i<m_joints.size();++i) + btAlignedFree(m_joints[i]); +} + +// +bool btSoftBody::checkLink(int node0,int node1) const +{ + return(checkLink(&m_nodes[node0],&m_nodes[node1])); +} + +// +bool btSoftBody::checkLink(const Node* node0,const Node* node1) const +{ + const Node* n[]={node0,node1}; + for(int i=0,ni=m_links.size();i<ni;++i) + { + const Link& l=m_links[i]; + if( (l.m_n[0]==n[0]&&l.m_n[1]==n[1])|| + (l.m_n[0]==n[1]&&l.m_n[1]==n[0])) + { + return(true); + } + } + return(false); +} + +// +bool btSoftBody::checkFace(int node0,int node1,int node2) const +{ + const Node* n[]={ &m_nodes[node0], + &m_nodes[node1], + &m_nodes[node2]}; + for(int i=0,ni=m_faces.size();i<ni;++i) + { + const Face& f=m_faces[i]; + int c=0; + for(int j=0;j<3;++j) + { + if( (f.m_n[j]==n[0])|| + (f.m_n[j]==n[1])|| + (f.m_n[j]==n[2])) c|=1<<j; else break; + } + if(c==7) return(true); + } + return(false); +} + +// +btSoftBody::Material* btSoftBody::appendMaterial() +{ +Material* pm=new(btAlignedAlloc(sizeof(Material),16)) Material(); +if(m_materials.size()>0) + *pm=*m_materials[0]; + else + ZeroInitialize(*pm); +m_materials.push_back(pm); +return(pm); +} + +// +void btSoftBody::appendNote( const char* text, + const btVector3& o, + const btVector4& c, + Node* n0, + Node* n1, + Node* n2, + Node* n3) +{ +Note n; +ZeroInitialize(n); +n.m_rank = 0; +n.m_text = text; +n.m_offset = o; +n.m_coords[0] = c.x(); +n.m_coords[1] = c.y(); +n.m_coords[2] = c.z(); +n.m_coords[3] = c.w(); +n.m_nodes[0] = n0;n.m_rank+=n0?1:0; +n.m_nodes[1] = n1;n.m_rank+=n1?1:0; +n.m_nodes[2] = n2;n.m_rank+=n2?1:0; +n.m_nodes[3] = n3;n.m_rank+=n3?1:0; +m_notes.push_back(n); +} + +// +void btSoftBody::appendNote( const char* text, + const btVector3& o, + Node* feature) +{ +appendNote(text,o,btVector4(1,0,0,0),feature); +} + +// +void btSoftBody::appendNote( const char* text, + const btVector3& o, + Link* feature) +{ +static const btScalar w=1/(btScalar)2; +appendNote(text,o,btVector4(w,w,0,0), feature->m_n[0], + feature->m_n[1]); +} + +// +void btSoftBody::appendNote( const char* text, + const btVector3& o, + Face* feature) +{ +static const btScalar w=1/(btScalar)3; +appendNote(text,o,btVector4(w,w,w,0), feature->m_n[0], + feature->m_n[1], + feature->m_n[2]); +} + +// +void btSoftBody::appendNode( const btVector3& x,btScalar m) +{ +if(m_nodes.capacity()==m_nodes.size()) + { + pointersToIndices(); + m_nodes.reserve(m_nodes.size()*2+1); + indicesToPointers(); + } +const btScalar margin=getCollisionShape()->getMargin(); +m_nodes.push_back(Node()); +Node& n=m_nodes[m_nodes.size()-1]; +ZeroInitialize(n); +n.m_x = x; +n.m_q = n.m_x; +n.m_im = m>0?1/m:0; +n.m_material = m_materials[0]; +n.m_leaf = m_ndbvt.insert(btDbvtVolume::FromCR(n.m_x,margin),&n); +} + +// +void btSoftBody::appendLink(int model,Material* mat) +{ +Link l; +if(model>=0) + l=m_links[model]; + else + { ZeroInitialize(l);l.m_material=mat?mat:m_materials[0]; } +m_links.push_back(l); +} + +// +void btSoftBody::appendLink( int node0, + int node1, + Material* mat, + bool bcheckexist) +{ + appendLink(&m_nodes[node0],&m_nodes[node1],mat,bcheckexist); +} + +// +void btSoftBody::appendLink( Node* node0, + Node* node1, + Material* mat, + bool bcheckexist) +{ + if((!bcheckexist)||(!checkLink(node0,node1))) + { + appendLink(-1,mat); + Link& l=m_links[m_links.size()-1]; + l.m_n[0] = node0; + l.m_n[1] = node1; + l.m_rl = (l.m_n[0]->m_x-l.m_n[1]->m_x).length(); + m_bUpdateRtCst=true; + } +} + +// +void btSoftBody::appendFace(int model,Material* mat) +{ +Face f; +if(model>=0) + { f=m_faces[model]; } + else + { ZeroInitialize(f);f.m_material=mat?mat:m_materials[0]; } +m_faces.push_back(f); +} + +// +void btSoftBody::appendFace(int node0,int node1,int node2,Material* mat) +{ + if (node0==node1) + return; + if (node1==node2) + return; + if (node2==node0) + return; + + appendFace(-1,mat); + Face& f=m_faces[m_faces.size()-1]; + btAssert(node0!=node1); + btAssert(node1!=node2); + btAssert(node2!=node0); + f.m_n[0] = &m_nodes[node0]; + f.m_n[1] = &m_nodes[node1]; + f.m_n[2] = &m_nodes[node2]; + f.m_ra = AreaOf( f.m_n[0]->m_x, + f.m_n[1]->m_x, + f.m_n[2]->m_x); + m_bUpdateRtCst=true; +} + +// +void btSoftBody::appendAnchor(int node,btRigidBody* body,bool disableCollisionWithBody=false) +{ + if (disableCollisionWithBody) + { + if (m_collisionDisabledObjects.findLinearSearch(body)==m_collisionDisabledObjects.size()) + { + m_collisionDisabledObjects.push_back(body); + } + } + + Anchor a; + a.m_node = &m_nodes[node]; + a.m_body = body; + a.m_local = body->getInterpolationWorldTransform().inverse()*a.m_node->m_x; + a.m_node->m_battach = 1; + m_anchors.push_back(a); +} + +// +void btSoftBody::appendLinearJoint(const LJoint::Specs& specs,Cluster* body0,Body body1) +{ +LJoint* pj = new(btAlignedAlloc(sizeof(LJoint),16)) LJoint(); +pj->m_bodies[0] = body0; +pj->m_bodies[1] = body1; +pj->m_refs[0] = pj->m_bodies[0].xform().inverse()*specs.position; +pj->m_refs[1] = pj->m_bodies[1].xform().inverse()*specs.position; +pj->m_cfm = specs.cfm; +pj->m_erp = specs.erp; +pj->m_split = specs.split; +m_joints.push_back(pj); +} + +// +void btSoftBody::appendLinearJoint(const LJoint::Specs& specs,Body body) +{ +appendLinearJoint(specs,m_clusters[0],body); +} + +// +void btSoftBody::appendLinearJoint(const LJoint::Specs& specs,btSoftBody* body) +{ +appendLinearJoint(specs,m_clusters[0],body->m_clusters[0]); +} + +// +void btSoftBody::appendAngularJoint(const AJoint::Specs& specs,Cluster* body0,Body body1) +{ +AJoint* pj = new(btAlignedAlloc(sizeof(AJoint),16)) AJoint(); +pj->m_bodies[0] = body0; +pj->m_bodies[1] = body1; +pj->m_refs[0] = pj->m_bodies[0].xform().inverse().getBasis()*specs.axis; +pj->m_refs[1] = pj->m_bodies[1].xform().inverse().getBasis()*specs.axis; +pj->m_cfm = specs.cfm; +pj->m_erp = specs.erp; +pj->m_split = specs.split; +pj->m_icontrol = specs.icontrol; +m_joints.push_back(pj); +} + +// +void btSoftBody::appendAngularJoint(const AJoint::Specs& specs,Body body) +{ +appendAngularJoint(specs,m_clusters[0],body); +} + +// +void btSoftBody::appendAngularJoint(const AJoint::Specs& specs,btSoftBody* body) +{ +appendAngularJoint(specs,m_clusters[0],body->m_clusters[0]); +} + +// +void btSoftBody::addForce(const btVector3& force) +{ + for(int i=0,ni=m_nodes.size();i<ni;++i) addForce(force,i); +} + +// +void btSoftBody::addForce(const btVector3& force,int node) +{ + Node& n=m_nodes[node]; + if(n.m_im>0) + { + n.m_f += force; + } +} + +// +void btSoftBody::addVelocity(const btVector3& velocity) +{ + for(int i=0,ni=m_nodes.size();i<ni;++i) addVelocity(velocity,i); +} + +/* Set velocity for the entire body */ +void btSoftBody::setVelocity( const btVector3& velocity) +{ + for(int i=0,ni=m_nodes.size();i<ni;++i) + { + Node& n=m_nodes[i]; + if(n.m_im>0) + { + n.m_v = velocity; + } + } +} + + +// +void btSoftBody::addVelocity(const btVector3& velocity,int node) +{ + Node& n=m_nodes[node]; + if(n.m_im>0) + { + n.m_v += velocity; + } +} + +// +void btSoftBody::setMass(int node,btScalar mass) +{ + m_nodes[node].m_im=mass>0?1/mass:0; + m_bUpdateRtCst=true; +} + +// +btScalar btSoftBody::getMass(int node) const +{ + return(m_nodes[node].m_im>0?1/m_nodes[node].m_im:0); +} + +// +btScalar btSoftBody::getTotalMass() const +{ + btScalar mass=0; + for(int i=0;i<m_nodes.size();++i) + { + mass+=getMass(i); + } + return(mass); +} + +// +void btSoftBody::setTotalMass(btScalar mass,bool fromfaces) +{ + int i; + + if(fromfaces) + { + + for(i=0;i<m_nodes.size();++i) + { + m_nodes[i].m_im=0; + } + for(i=0;i<m_faces.size();++i) + { + const Face& f=m_faces[i]; + const btScalar twicearea=AreaOf( f.m_n[0]->m_x, + f.m_n[1]->m_x, + f.m_n[2]->m_x); + for(int j=0;j<3;++j) + { + f.m_n[j]->m_im+=twicearea; + } + } + for( i=0;i<m_nodes.size();++i) + { + m_nodes[i].m_im=1/m_nodes[i].m_im; + } + } + const btScalar tm=getTotalMass(); + const btScalar itm=1/tm; + for( i=0;i<m_nodes.size();++i) + { + m_nodes[i].m_im/=itm*mass; + } + m_bUpdateRtCst=true; +} + +// +void btSoftBody::setTotalDensity(btScalar density) +{ + setTotalMass(getVolume()*density,true); +} + +// +void btSoftBody::transform(const btTransform& trs) +{ + const btScalar margin=getCollisionShape()->getMargin(); + for(int i=0,ni=m_nodes.size();i<ni;++i) + { + Node& n=m_nodes[i]; + n.m_x=trs*n.m_x; + n.m_q=trs*n.m_q; + n.m_n=trs.getBasis()*n.m_n; + m_ndbvt.update(n.m_leaf,btDbvtVolume::FromCR(n.m_x,margin)); + } + updateNormals(); + updateBounds(); + updateConstants(); + m_initialWorldTransform = trs; +} + +// +void btSoftBody::translate(const btVector3& trs) +{ +btTransform t; +t.setIdentity(); +t.setOrigin(trs); +transform(t); +} + +// +void btSoftBody::rotate( const btQuaternion& rot) +{ +btTransform t; +t.setIdentity(); +t.setRotation(rot); +transform(t); +} + +// +void btSoftBody::scale(const btVector3& scl) +{ + const btScalar margin=getCollisionShape()->getMargin(); + for(int i=0,ni=m_nodes.size();i<ni;++i) + { + Node& n=m_nodes[i]; + n.m_x*=scl; + n.m_q*=scl; + m_ndbvt.update(n.m_leaf,btDbvtVolume::FromCR(n.m_x,margin)); + } + updateNormals(); + updateBounds(); + updateConstants(); +} + +// +void btSoftBody::setPose(bool bvolume,bool bframe) +{ + m_pose.m_bvolume = bvolume; + m_pose.m_bframe = bframe; + int i,ni; + + /* Weights */ + const btScalar omass=getTotalMass(); + const btScalar kmass=omass*m_nodes.size()*1000; + btScalar tmass=omass; + m_pose.m_wgh.resize(m_nodes.size()); + for(i=0,ni=m_nodes.size();i<ni;++i) + { + if(m_nodes[i].m_im<=0) tmass+=kmass; + } + for( i=0,ni=m_nodes.size();i<ni;++i) + { + Node& n=m_nodes[i]; + m_pose.m_wgh[i]= n.m_im>0 ? + 1/(m_nodes[i].m_im*tmass) : + kmass/tmass; + } + /* Pos */ + const btVector3 com=evaluateCom(); + m_pose.m_pos.resize(m_nodes.size()); + for( i=0,ni=m_nodes.size();i<ni;++i) + { + m_pose.m_pos[i]=m_nodes[i].m_x-com; + } + m_pose.m_volume = bvolume?getVolume():0; + m_pose.m_com = com; + m_pose.m_rot.setIdentity(); + m_pose.m_scl.setIdentity(); + /* Aqq */ + m_pose.m_aqq[0] = + m_pose.m_aqq[1] = + m_pose.m_aqq[2] = btVector3(0,0,0); + for( i=0,ni=m_nodes.size();i<ni;++i) + { + const btVector3& q=m_pose.m_pos[i]; + const btVector3 mq=m_pose.m_wgh[i]*q; + m_pose.m_aqq[0]+=mq.x()*q; + m_pose.m_aqq[1]+=mq.y()*q; + m_pose.m_aqq[2]+=mq.z()*q; + } + m_pose.m_aqq=m_pose.m_aqq.inverse(); + updateConstants(); +} + +// +btScalar btSoftBody::getVolume() const +{ + btScalar vol=0; + if(m_nodes.size()>0) + { + int i,ni; + + const btVector3 org=m_nodes[0].m_x; + for(i=0,ni=m_faces.size();i<ni;++i) + { + const Face& f=m_faces[i]; + vol+=dot(f.m_n[0]->m_x-org,cross(f.m_n[1]->m_x-org,f.m_n[2]->m_x-org)); + } + vol/=(btScalar)6; + } + return(vol); +} + +// +int btSoftBody::clusterCount() const +{ +return(m_clusters.size()); +} + +// +btVector3 btSoftBody::clusterCom(const Cluster* cluster) +{ +btVector3 com(0,0,0); +for(int i=0,ni=cluster->m_nodes.size();i<ni;++i) + { + com+=cluster->m_nodes[i]->m_x*cluster->m_masses[i]; + } +return(com*cluster->m_imass); +} + +// +btVector3 btSoftBody::clusterCom(int cluster) const +{ +return(clusterCom(m_clusters[cluster])); +} + +// +btVector3 btSoftBody::clusterVelocity(const Cluster* cluster,const btVector3& rpos) +{ +return(cluster->m_lv+cross(cluster->m_av,rpos)); +} + +// +void btSoftBody::clusterVImpulse(Cluster* cluster,const btVector3& rpos,const btVector3& impulse) +{ +const btVector3 li=cluster->m_imass*impulse; +const btVector3 ai=cluster->m_invwi*cross(rpos,impulse); +cluster->m_vimpulses[0]+=li;cluster->m_lv+=li; +cluster->m_vimpulses[1]+=ai;cluster->m_av+=ai; +cluster->m_nvimpulses++; +} + +// +void btSoftBody::clusterDImpulse(Cluster* cluster,const btVector3& rpos,const btVector3& impulse) +{ +const btVector3 li=cluster->m_imass*impulse; +const btVector3 ai=cluster->m_invwi*cross(rpos,impulse); +cluster->m_dimpulses[0]+=li; +cluster->m_dimpulses[1]+=ai; +cluster->m_ndimpulses++; +} + +// +void btSoftBody::clusterImpulse(Cluster* cluster,const btVector3& rpos,const Impulse& impulse) +{ +if(impulse.m_asVelocity) clusterVImpulse(cluster,rpos,impulse.m_velocity); +if(impulse.m_asDrift) clusterDImpulse(cluster,rpos,impulse.m_drift); +} + +// +void btSoftBody::clusterVAImpulse(Cluster* cluster,const btVector3& impulse) +{ +const btVector3 ai=cluster->m_invwi*impulse; +cluster->m_vimpulses[1]+=ai;cluster->m_av+=ai; +cluster->m_nvimpulses++; +} + +// +void btSoftBody::clusterDAImpulse(Cluster* cluster,const btVector3& impulse) +{ +const btVector3 ai=cluster->m_invwi*impulse; +cluster->m_dimpulses[1]+=ai; +cluster->m_ndimpulses++; +} + +// +void btSoftBody::clusterAImpulse(Cluster* cluster,const Impulse& impulse) +{ +if(impulse.m_asVelocity) clusterVAImpulse(cluster,impulse.m_velocity); +if(impulse.m_asDrift) clusterDAImpulse(cluster,impulse.m_drift); +} + +// +void btSoftBody::clusterDCImpulse(Cluster* cluster,const btVector3& impulse) +{ +cluster->m_dimpulses[0]+=impulse*cluster->m_imass; +cluster->m_ndimpulses++; +} + +// +int btSoftBody::generateBendingConstraints(int distance,Material* mat) +{ + int i,j; + + if(distance>1) + { + /* Build graph */ + const int n=m_nodes.size(); + const unsigned inf=(~(unsigned)0)>>1; + unsigned* adj=new unsigned[n*n]; +#define IDX(_x_,_y_) ((_y_)*n+(_x_)) + for(j=0;j<n;++j) + { + for(i=0;i<n;++i) + { + if(i!=j) adj[IDX(i,j)]=adj[IDX(j,i)]=inf; + else + adj[IDX(i,j)]=adj[IDX(j,i)]=0; + } + } + for( i=0;i<m_links.size();++i) + { + const int ia=(int)(m_links[i].m_n[0]-&m_nodes[0]); + const int ib=(int)(m_links[i].m_n[1]-&m_nodes[0]); + adj[IDX(ia,ib)]=1; + adj[IDX(ib,ia)]=1; + } + for(int k=0;k<n;++k) + { + for(j=0;j<n;++j) + { + for(i=j+1;i<n;++i) + { + const unsigned sum=adj[IDX(i,k)]+adj[IDX(k,j)]; + if(adj[IDX(i,j)]>sum) + { + adj[IDX(i,j)]=adj[IDX(j,i)]=sum; + } + } + } + } + /* Build links */ + int nlinks=0; + for(j=0;j<n;++j) + { + for(i=j+1;i<n;++i) + { + if(adj[IDX(i,j)]==(unsigned)distance) + { + appendLink(i,j,mat); + m_links[m_links.size()-1].m_bbending=1; + ++nlinks; + } + } + } + delete[] adj; + return(nlinks); + } + return(0); +} + +// +void btSoftBody::randomizeConstraints() +{ +unsigned long seed=243703; +#define NEXTRAND (seed=(1664525L*seed+1013904223L)&0xffffffff) +int i,ni; + + for(i=0,ni=m_links.size();i<ni;++i) + { + btSwap(m_links[i],m_links[NEXTRAND%ni]); + } + for(i=0,ni=m_faces.size();i<ni;++i) + { + btSwap(m_faces[i],m_faces[NEXTRAND%ni]); + } +#undef NEXTRAND +} + +// +void btSoftBody::releaseCluster(int index) +{ +Cluster* c=m_clusters[index]; +if(c->m_leaf) m_cdbvt.remove(c->m_leaf); +c->~Cluster(); +btAlignedFree(c); +m_clusters.remove(c); +} + +// +void btSoftBody::releaseClusters() +{ +while(m_clusters.size()>0) releaseCluster(0); +} + +// +int btSoftBody::generateClusters(int k,int maxiterations) +{ +int i; +releaseClusters(); +m_clusters.resize(btMin(k,m_nodes.size())); +for(i=0;i<m_clusters.size();++i) + { + m_clusters[i] = new(btAlignedAlloc(sizeof(Cluster),16)) Cluster(); + m_clusters[i]->m_collide= true; + } +k=m_clusters.size(); +if(k>0) + { + /* Initialize */ + btAlignedObjectArray<btVector3> centers; + btVector3 cog(0,0,0); + int i; + for(i=0;i<m_nodes.size();++i) + { + cog+=m_nodes[i].m_x; + m_clusters[(i*29873)%m_clusters.size()]->m_nodes.push_back(&m_nodes[i]); + } + cog/=(btScalar)m_nodes.size(); + centers.resize(k,cog); + /* Iterate */ + const btScalar slope=16; + bool changed; + int iterations=0; + do { + const btScalar w=2-btMin<btScalar>(1,iterations/slope); + changed=false; + iterations++; + int i; + + for(i=0;i<k;++i) + { + btVector3 c(0,0,0); + for(int j=0;j<m_clusters[i]->m_nodes.size();++j) + { + c+=m_clusters[i]->m_nodes[j]->m_x; + } + if(m_clusters[i]->m_nodes.size()) + { + c /= (btScalar)m_clusters[i]->m_nodes.size(); + c = centers[i]+(c-centers[i])*w; + changed |= ((c-centers[i]).length2()>SIMD_EPSILON); + centers[i] = c; + m_clusters[i]->m_nodes.resize(0); + } + } + for(i=0;i<m_nodes.size();++i) + { + const btVector3 nx=m_nodes[i].m_x; + int kbest=0; + btScalar kdist=ClusterMetric(centers[0],nx); + for(int j=1;j<k;++j) + { + const btScalar d=ClusterMetric(centers[j],nx); + if(d<kdist) + { + kbest=j; + kdist=d; + } + } + m_clusters[kbest]->m_nodes.push_back(&m_nodes[i]); + } + } while(changed&&(iterations<maxiterations)); + /* Merge */ + btAlignedObjectArray<int> cids; + cids.resize(m_nodes.size(),-1); + for(i=0;i<m_clusters.size();++i) + { + for(int j=0;j<m_clusters[i]->m_nodes.size();++j) + { + cids[int(m_clusters[i]->m_nodes[j]-&m_nodes[0])]=i; + } + } + for(i=0;i<m_faces.size();++i) + { + const int idx[]={ int(m_faces[i].m_n[0]-&m_nodes[0]), + int(m_faces[i].m_n[1]-&m_nodes[0]), + int(m_faces[i].m_n[2]-&m_nodes[0])}; + for(int j=0;j<3;++j) + { + const int cid=cids[idx[j]]; + for(int q=1;q<3;++q) + { + const int kid=idx[(j+q)%3]; + if(cids[kid]!=cid) + { + if(m_clusters[cid]->m_nodes.findLinearSearch(&m_nodes[kid])==m_clusters[cid]->m_nodes.size()) + { + m_clusters[cid]->m_nodes.push_back(&m_nodes[kid]); + } + } + } + } + } + /* Master */ + if(m_clusters.size()>1) + { + Cluster* pmaster=new(btAlignedAlloc(sizeof(Cluster),16)) Cluster(); + pmaster->m_collide = false; + pmaster->m_nodes.reserve(m_nodes.size()); + for(int i=0;i<m_nodes.size();++i) pmaster->m_nodes.push_back(&m_nodes[i]); + m_clusters.push_back(pmaster); + btSwap(m_clusters[0],m_clusters[m_clusters.size()-1]); + } + /* Terminate */ + for(i=0;i<m_clusters.size();++i) + { + if(m_clusters[i]->m_nodes.size()==0) + { + releaseCluster(i--); + } + } + + initializeClusters(); + updateClusters(); + return(m_clusters.size()); + } +return(0); +} + +// +void btSoftBody::refine(ImplicitFn* ifn,btScalar accurary,bool cut) +{ +const Node* nbase = &m_nodes[0]; +int ncount = m_nodes.size(); +btSymMatrix<int> edges(ncount,-2); +int newnodes=0; +int i,j,k,ni; + +/* Filter out */ +for(i=0;i<m_links.size();++i) + { + Link& l=m_links[i]; + if(l.m_bbending) + { + if(!SameSign(ifn->Eval(l.m_n[0]->m_x),ifn->Eval(l.m_n[1]->m_x))) + { + btSwap(m_links[i],m_links[m_links.size()-1]); + m_links.pop_back();--i; + } + } + } +/* Fill edges */ +for(i=0;i<m_links.size();++i) + { + Link& l=m_links[i]; + edges(int(l.m_n[0]-nbase),int(l.m_n[1]-nbase))=-1; + } +for(i=0;i<m_faces.size();++i) + { + Face& f=m_faces[i]; + edges(int(f.m_n[0]-nbase),int(f.m_n[1]-nbase))=-1; + edges(int(f.m_n[1]-nbase),int(f.m_n[2]-nbase))=-1; + edges(int(f.m_n[2]-nbase),int(f.m_n[0]-nbase))=-1; + } +/* Intersect */ +for(i=0;i<ncount;++i) + { + for(j=i+1;j<ncount;++j) + { + if(edges(i,j)==-1) + { + Node& a=m_nodes[i]; + Node& b=m_nodes[j]; + const btScalar t=ImplicitSolve(ifn,a.m_x,b.m_x,accurary); + if(t>0) + { + const btVector3 x=Lerp(a.m_x,b.m_x,t); + const btVector3 v=Lerp(a.m_v,b.m_v,t); + btScalar m=0; + if(a.m_im>0) + { + if(b.m_im>0) + { + const btScalar ma=1/a.m_im; + const btScalar mb=1/b.m_im; + const btScalar mc=Lerp(ma,mb,t); + const btScalar f=(ma+mb)/(ma+mb+mc); + a.m_im=1/(ma*f); + b.m_im=1/(mb*f); + m=mc*f; + } + else + { a.m_im/=0.5;m=1/a.m_im; } + } + else + { + if(b.m_im>0) + { b.m_im/=0.5;m=1/b.m_im; } + else + m=0; + } + appendNode(x,m); + edges(i,j)=m_nodes.size()-1; + m_nodes[edges(i,j)].m_v=v; + ++newnodes; + } + } + } + } +nbase=&m_nodes[0]; +/* Refine links */ +for(i=0,ni=m_links.size();i<ni;++i) + { + Link& feat=m_links[i]; + const int idx[]={ int(feat.m_n[0]-nbase), + int(feat.m_n[1]-nbase)}; + if((idx[0]<ncount)&&(idx[1]<ncount)) + { + const int ni=edges(idx[0],idx[1]); + if(ni>0) + { + appendLink(i); + Link* pft[]={ &m_links[i], + &m_links[m_links.size()-1]}; + pft[0]->m_n[0]=&m_nodes[idx[0]]; + pft[0]->m_n[1]=&m_nodes[ni]; + pft[1]->m_n[0]=&m_nodes[ni]; + pft[1]->m_n[1]=&m_nodes[idx[1]]; + } + } + } +/* Refine faces */ +for(i=0;i<m_faces.size();++i) + { + const Face& feat=m_faces[i]; + const int idx[]={ int(feat.m_n[0]-nbase), + int(feat.m_n[1]-nbase), + int(feat.m_n[2]-nbase)}; + for(j=2,k=0;k<3;j=k++) + { + if((idx[j]<ncount)&&(idx[k]<ncount)) + { + const int ni=edges(idx[j],idx[k]); + if(ni>0) + { + appendFace(i); + const int l=(k+1)%3; + Face* pft[]={ &m_faces[i], + &m_faces[m_faces.size()-1]}; + pft[0]->m_n[0]=&m_nodes[idx[l]]; + pft[0]->m_n[1]=&m_nodes[idx[j]]; + pft[0]->m_n[2]=&m_nodes[ni]; + pft[1]->m_n[0]=&m_nodes[ni]; + pft[1]->m_n[1]=&m_nodes[idx[k]]; + pft[1]->m_n[2]=&m_nodes[idx[l]]; + appendLink(ni,idx[l],pft[0]->m_material); + --i;break; + } + } + } + } +/* Cut */ +if(cut) + { + btAlignedObjectArray<int> cnodes; + const int pcount=ncount; + int i; + ncount=m_nodes.size(); + cnodes.resize(ncount,0); + /* Nodes */ + for(i=0;i<ncount;++i) + { + const btVector3 x=m_nodes[i].m_x; + if((i>=pcount)||(btFabs(ifn->Eval(x))<accurary)) + { + const btVector3 v=m_nodes[i].m_v; + btScalar m=getMass(i); + if(m>0) { m*=0.5;m_nodes[i].m_im/=0.5; } + appendNode(x,m); + cnodes[i]=m_nodes.size()-1; + m_nodes[cnodes[i]].m_v=v; + } + } + nbase=&m_nodes[0]; + /* Links */ + for(i=0,ni=m_links.size();i<ni;++i) + { + const int id[]={ int(m_links[i].m_n[0]-nbase), + int(m_links[i].m_n[1]-nbase)}; + int todetach=0; + if(cnodes[id[0]]&&cnodes[id[1]]) + { + appendLink(i); + todetach=m_links.size()-1; + } + else + { + if(( (ifn->Eval(m_nodes[id[0]].m_x)<accurary)&& + (ifn->Eval(m_nodes[id[1]].m_x)<accurary))) + todetach=i; + } + if(todetach) + { + Link& l=m_links[todetach]; + for(int j=0;j<2;++j) + { + int cn=cnodes[int(l.m_n[j]-nbase)]; + if(cn) l.m_n[j]=&m_nodes[cn]; + } + } + } + /* Faces */ + for(i=0,ni=m_faces.size();i<ni;++i) + { + Node** n= m_faces[i].m_n; + if( (ifn->Eval(n[0]->m_x)<accurary)&& + (ifn->Eval(n[1]->m_x)<accurary)&& + (ifn->Eval(n[2]->m_x)<accurary)) + { + for(int j=0;j<3;++j) + { + int cn=cnodes[int(n[j]-nbase)]; + if(cn) n[j]=&m_nodes[cn]; + } + } + } + /* Clean orphans */ + int nnodes=m_nodes.size(); + btAlignedObjectArray<int> ranks; + btAlignedObjectArray<int> todelete; + ranks.resize(nnodes,0); + for(i=0,ni=m_links.size();i<ni;++i) + { + for(int j=0;j<2;++j) ranks[int(m_links[i].m_n[j]-nbase)]++; + } + for(i=0,ni=m_faces.size();i<ni;++i) + { + for(int j=0;j<3;++j) ranks[int(m_faces[i].m_n[j]-nbase)]++; + } + for(i=0;i<m_links.size();++i) + { + const int id[]={ int(m_links[i].m_n[0]-nbase), + int(m_links[i].m_n[1]-nbase)}; + const bool sg[]={ ranks[id[0]]==1, + ranks[id[1]]==1}; + if(sg[0]||sg[1]) + { + --ranks[id[0]]; + --ranks[id[1]]; + btSwap(m_links[i],m_links[m_links.size()-1]); + m_links.pop_back();--i; + } + } + #if 0 + for(i=nnodes-1;i>=0;--i) + { + if(!ranks[i]) todelete.push_back(i); + } + if(todelete.size()) + { + btAlignedObjectArray<int>& map=ranks; + for(int i=0;i<nnodes;++i) map[i]=i; + PointersToIndices(this); + for(int i=0,ni=todelete.size();i<ni;++i) + { + int j=todelete[i]; + int& a=map[j]; + int& b=map[--nnodes]; + m_ndbvt.remove(m_nodes[a].m_leaf);m_nodes[a].m_leaf=0; + btSwap(m_nodes[a],m_nodes[b]); + j=a;a=b;b=j; + } + IndicesToPointers(this,&map[0]); + m_nodes.resize(nnodes); + } + #endif + } +m_bUpdateRtCst=true; +} + +// +bool btSoftBody::cutLink(const Node* node0,const Node* node1,btScalar position) +{ +return(cutLink(int(node0-&m_nodes[0]),int(node1-&m_nodes[0]),position)); +} + +// +bool btSoftBody::cutLink(int node0,int node1,btScalar position) +{ +bool done=false; +int i,ni; +const btVector3 d=m_nodes[node0].m_x-m_nodes[node1].m_x; +const btVector3 x=Lerp(m_nodes[node0].m_x,m_nodes[node1].m_x,position); +const btVector3 v=Lerp(m_nodes[node0].m_v,m_nodes[node1].m_v,position); +const btScalar m=1; +appendNode(x,m); +appendNode(x,m); +Node* pa=&m_nodes[node0]; +Node* pb=&m_nodes[node1]; +Node* pn[2]={ &m_nodes[m_nodes.size()-2], + &m_nodes[m_nodes.size()-1]}; +pn[0]->m_v=v; +pn[1]->m_v=v; +for(i=0,ni=m_links.size();i<ni;++i) + { + const int mtch=MatchEdge(m_links[i].m_n[0],m_links[i].m_n[1],pa,pb); + if(mtch!=-1) + { + appendLink(i); + Link* pft[]={&m_links[i],&m_links[m_links.size()-1]}; + pft[0]->m_n[1]=pn[mtch]; + pft[1]->m_n[0]=pn[1-mtch]; + done=true; + } + } +for(i=0,ni=m_faces.size();i<ni;++i) + { + for(int k=2,l=0;l<3;k=l++) + { + const int mtch=MatchEdge(m_faces[i].m_n[k],m_faces[i].m_n[l],pa,pb); + if(mtch!=-1) + { + appendFace(i); + Face* pft[]={&m_faces[i],&m_faces[m_faces.size()-1]}; + pft[0]->m_n[l]=pn[mtch]; + pft[1]->m_n[k]=pn[1-mtch]; + appendLink(pn[0],pft[0]->m_n[(l+1)%3],pft[0]->m_material,true); + appendLink(pn[1],pft[0]->m_n[(l+1)%3],pft[0]->m_material,true); + } + } + } +if(!done) + { + m_ndbvt.remove(pn[0]->m_leaf); + m_ndbvt.remove(pn[1]->m_leaf); + m_nodes.pop_back(); + m_nodes.pop_back(); + } +return(done); +} + +// +bool btSoftBody::rayCast(const btVector3& org, + const btVector3& dir, + sRayCast& results, + btScalar maxtime) +{ +if(m_faces.size()&&m_fdbvt.empty()) initializeFaceTree(); +results.body = this; +results.time = maxtime; +results.feature = eFeature::None; +results.index = -1; +return(rayCast(org,dir,results.time,results.feature,results.index,false)!=0); +} + +// +void btSoftBody::setSolver(eSolverPresets::_ preset) +{ +m_cfg.m_vsequence.clear(); +m_cfg.m_psequence.clear(); +m_cfg.m_dsequence.clear(); +switch(preset) + { + case eSolverPresets::Positions: + m_cfg.m_psequence.push_back(ePSolver::Anchors); + m_cfg.m_psequence.push_back(ePSolver::RContacts); + m_cfg.m_psequence.push_back(ePSolver::SContacts); + m_cfg.m_psequence.push_back(ePSolver::Linear); + break; + case eSolverPresets::Velocities: + m_cfg.m_vsequence.push_back(eVSolver::Linear); + + m_cfg.m_psequence.push_back(ePSolver::Anchors); + m_cfg.m_psequence.push_back(ePSolver::RContacts); + m_cfg.m_psequence.push_back(ePSolver::SContacts); + + m_cfg.m_dsequence.push_back(ePSolver::Linear); + break; + } +} + +// +void btSoftBody::predictMotion(btScalar dt) +{ + int i,ni; + + /* Update */ + if(m_bUpdateRtCst) + { + m_bUpdateRtCst=false; + updateConstants(); + m_fdbvt.clear(); + if(m_cfg.collisions&fCollision::VF_SS) + { + initializeFaceTree(); + } + } + + /* Prepare */ + m_sst.sdt = dt*m_cfg.timescale; + m_sst.isdt = 1/m_sst.sdt; + m_sst.velmrg = m_sst.sdt*3; + m_sst.radmrg = getCollisionShape()->getMargin(); + m_sst.updmrg = m_sst.radmrg*(btScalar)0.25; + /* Forces */ + addVelocity(m_worldInfo->m_gravity*m_sst.sdt); + applyForces(); + /* Integrate */ + for(i=0,ni=m_nodes.size();i<ni;++i) + { + Node& n=m_nodes[i]; + n.m_q = n.m_x; + n.m_v += n.m_f*n.m_im*m_sst.sdt; + n.m_x += n.m_v*m_sst.sdt; + n.m_f = btVector3(0,0,0); + } + /* Clusters */ + updateClusters(); + /* Bounds */ + updateBounds(); + /* Nodes */ + for(i=0,ni=m_nodes.size();i<ni;++i) + { + Node& n=m_nodes[i]; + m_ndbvt.update( n.m_leaf, + btDbvtVolume::FromCR(n.m_x,m_sst.radmrg), + n.m_v*m_sst.velmrg, + m_sst.updmrg); + } + /* Faces */ + if(!m_fdbvt.empty()) + { + for(int i=0;i<m_faces.size();++i) + { + Face& f=m_faces[i]; + const btVector3 v=( f.m_n[0]->m_v+ + f.m_n[1]->m_v+ + f.m_n[2]->m_v)/3; + m_fdbvt.update( f.m_leaf, + VolumeOf(f,m_sst.radmrg), + v*m_sst.velmrg, + m_sst.updmrg); + } + } + /* Pose */ + updatePose(); + /* Match */ + if(m_pose.m_bframe&&(m_cfg.kMT>0)) + { + const btMatrix3x3 posetrs=m_pose.m_rot; + for(int i=0,ni=m_nodes.size();i<ni;++i) + { + Node& n=m_nodes[i]; + if(n.m_im>0) + { + const btVector3 x=posetrs*m_pose.m_pos[i]+m_pose.m_com; + n.m_x=Lerp(n.m_x,x,m_cfg.kMT); + } + } + } + /* Clear contacts */ + m_rcontacts.resize(0); + m_scontacts.resize(0); + /* Optimize dbvt's */ + m_ndbvt.optimizeIncremental(1); + m_fdbvt.optimizeIncremental(1); + m_cdbvt.optimizeIncremental(1); +} + +// +void btSoftBody::solveConstraints() +{ +/* Apply clusters */ +applyClusters(false); +/* Prepare links */ + +int i,ni; + +for(i=0,ni=m_links.size();i<ni;++i) + { + Link& l=m_links[i]; + l.m_c3 = l.m_n[1]->m_q-l.m_n[0]->m_q; + l.m_c2 = 1/(l.m_c3.length2()*l.m_c0); + } +/* Prepare anchors */ +for(i=0,ni=m_anchors.size();i<ni;++i) + { + Anchor& a=m_anchors[i]; + const btVector3 ra=a.m_body->getWorldTransform().getBasis()*a.m_local; + a.m_c0 = ImpulseMatrix( m_sst.sdt, + a.m_node->m_im, + a.m_body->getInvMass(), + a.m_body->getInvInertiaTensorWorld(), + ra); + a.m_c1 = ra; + a.m_c2 = m_sst.sdt*a.m_node->m_im; + a.m_body->activate(); + } +/* Solve velocities */ +if(m_cfg.viterations>0) + { + /* Solve */ + for(int isolve=0;isolve<m_cfg.viterations;++isolve) + { + for(int iseq=0;iseq<m_cfg.m_vsequence.size();++iseq) + { + getSolver(m_cfg.m_vsequence[iseq])(this,1); + } + } + /* Update */ + for(i=0,ni=m_nodes.size();i<ni;++i) + { + Node& n=m_nodes[i]; + n.m_x = n.m_q+n.m_v*m_sst.sdt; + } + } +/* Solve positions */ +if(m_cfg.piterations>0) + { + for(int isolve=0;isolve<m_cfg.piterations;++isolve) + { + const btScalar ti=isolve/(btScalar)m_cfg.piterations; + for(int iseq=0;iseq<m_cfg.m_psequence.size();++iseq) + { + getSolver(m_cfg.m_psequence[iseq])(this,1,ti); + } + } + const btScalar vc=m_sst.isdt*(1-m_cfg.kDP); + for(i=0,ni=m_nodes.size();i<ni;++i) + { + Node& n=m_nodes[i]; + n.m_v = (n.m_x-n.m_q)*vc; + n.m_f = btVector3(0,0,0); + } + } +/* Solve drift */ +if(m_cfg.diterations>0) + { + const btScalar vcf=m_cfg.kVCF*m_sst.isdt; + for(i=0,ni=m_nodes.size();i<ni;++i) + { + Node& n=m_nodes[i]; + n.m_q = n.m_x; + } + for(int idrift=0;idrift<m_cfg.diterations;++idrift) + { + for(int iseq=0;iseq<m_cfg.m_dsequence.size();++iseq) + { + getSolver(m_cfg.m_dsequence[iseq])(this,1,0); + } + } + for(int i=0,ni=m_nodes.size();i<ni;++i) + { + Node& n=m_nodes[i]; + n.m_v += (n.m_x-n.m_q)*vcf; + } + } +/* Apply clusters */ +dampClusters(); +applyClusters(true); +} + +// +void btSoftBody::staticSolve(int iterations) +{ +for(int isolve=0;isolve<iterations;++isolve) + { + for(int iseq=0;iseq<m_cfg.m_psequence.size();++iseq) + { + getSolver(m_cfg.m_psequence[iseq])(this,1,0); + } + } +} + +// +void btSoftBody::solveCommonConstraints(btSoftBody** /*bodies*/,int /*count*/,int /*iterations*/) +{ +/// placeholder +} + +// +void btSoftBody::solveClusters(const btAlignedObjectArray<btSoftBody*>& bodies) +{ +const int nb=bodies.size(); +int iterations=0; +int i; + +for(i=0;i<nb;++i) + { + iterations=btMax(iterations,bodies[i]->m_cfg.citerations); + } +for(i=0;i<nb;++i) + { + bodies[i]->prepareClusters(iterations); + } +for(i=0;i<iterations;++i) + { + const btScalar sor=1; + for(int j=0;j<nb;++j) + { + bodies[j]->solveClusters(sor); + } + } +for(i=0;i<nb;++i) + { + bodies[i]->cleanupClusters(); + } +} + +// +void btSoftBody::integrateMotion() +{ + /* Update */ + updateNormals(); +} + +// + btSoftBody::RayCaster::RayCaster(const btVector3& org,const btVector3& dir,btScalar mxt) +{ +o = org; +d = dir; +mint = mxt; +face = 0; +tests = 0; +} + +// +void btSoftBody::RayCaster::Process(const btDbvtNode* leaf) +{ +btSoftBody::Face& f=*(btSoftBody::Face*)leaf->data; +const btScalar t=rayTriangle( o,d, + f.m_n[0]->m_x, + f.m_n[1]->m_x, + f.m_n[2]->m_x, + mint); +if((t>0)&&(t<mint)) { mint=t;face=&f; } +++tests; +} + +// +btScalar btSoftBody::RayCaster::rayTriangle( const btVector3& org, + const btVector3& dir, + const btVector3& a, + const btVector3& b, + const btVector3& c, + btScalar maxt) +{ + static const btScalar ceps=-SIMD_EPSILON*10; + static const btScalar teps=SIMD_EPSILON*10; + const btVector3 n=cross(b-a,c-a); + const btScalar d=dot(a,n); + const btScalar den=dot(dir,n); + if(!btFuzzyZero(den)) + { + const btScalar num=dot(org,n)-d; + const btScalar t=-num/den; + if((t>teps)&&(t<maxt)) + { + const btVector3 hit=org+dir*t; + if( (dot(n,cross(a-hit,b-hit))>ceps) && + (dot(n,cross(b-hit,c-hit))>ceps) && + (dot(n,cross(c-hit,a-hit))>ceps)) + { + return(t); + } + } + } + return(-1); +} + +// +void btSoftBody::pointersToIndices() +{ +#define PTR2IDX(_p_,_b_) reinterpret_cast<btSoftBody::Node*>((_p_)-(_b_)) + btSoftBody::Node* base=&m_nodes[0]; + int i,ni; + + for(i=0,ni=m_nodes.size();i<ni;++i) + { + if(m_nodes[i].m_leaf) + { + m_nodes[i].m_leaf->data=*(void**)&i; + } + } + for(i=0,ni=m_links.size();i<ni;++i) + { + m_links[i].m_n[0]=PTR2IDX(m_links[i].m_n[0],base); + m_links[i].m_n[1]=PTR2IDX(m_links[i].m_n[1],base); + } + for(i=0,ni=m_faces.size();i<ni;++i) + { + m_faces[i].m_n[0]=PTR2IDX(m_faces[i].m_n[0],base); + m_faces[i].m_n[1]=PTR2IDX(m_faces[i].m_n[1],base); + m_faces[i].m_n[2]=PTR2IDX(m_faces[i].m_n[2],base); + if(m_faces[i].m_leaf) + { + m_faces[i].m_leaf->data=*(void**)&i; + } + } + for(i=0,ni=m_anchors.size();i<ni;++i) + { + m_anchors[i].m_node=PTR2IDX(m_anchors[i].m_node,base); + } + for(i=0,ni=m_notes.size();i<ni;++i) + { + for(int j=0;j<m_notes[i].m_rank;++j) + { + m_notes[i].m_nodes[j]=PTR2IDX(m_notes[i].m_nodes[j],base); + } + } +#undef PTR2IDX +} + +// +void btSoftBody::indicesToPointers(const int* map) +{ +#define IDX2PTR(_p_,_b_) map?(&(_b_)[map[(((char*)_p_)-(char*)0)]]): \ + (&(_b_)[(((char*)_p_)-(char*)0)]) + btSoftBody::Node* base=&m_nodes[0]; + int i,ni; + + for(i=0,ni=m_nodes.size();i<ni;++i) + { + if(m_nodes[i].m_leaf) + { + m_nodes[i].m_leaf->data=&m_nodes[i]; + } + } + for(i=0,ni=m_links.size();i<ni;++i) + { + m_links[i].m_n[0]=IDX2PTR(m_links[i].m_n[0],base); + m_links[i].m_n[1]=IDX2PTR(m_links[i].m_n[1],base); + } + for(i=0,ni=m_faces.size();i<ni;++i) + { + m_faces[i].m_n[0]=IDX2PTR(m_faces[i].m_n[0],base); + m_faces[i].m_n[1]=IDX2PTR(m_faces[i].m_n[1],base); + m_faces[i].m_n[2]=IDX2PTR(m_faces[i].m_n[2],base); + if(m_faces[i].m_leaf) + { + m_faces[i].m_leaf->data=&m_faces[i]; + } + } + for(i=0,ni=m_anchors.size();i<ni;++i) + { + m_anchors[i].m_node=IDX2PTR(m_anchors[i].m_node,base); + } + for(i=0,ni=m_notes.size();i<ni;++i) + { + for(int j=0;j<m_notes[i].m_rank;++j) + { + m_notes[i].m_nodes[j]=IDX2PTR(m_notes[i].m_nodes[j],base); + } + } +#undef IDX2PTR +} + +// +int btSoftBody::rayCast(const btVector3& org,const btVector3& dir, + btScalar& mint,eFeature::_& feature,int& index,bool bcountonly) const +{ + int cnt=0; + if(bcountonly||m_fdbvt.empty()) + {/* Full search */ + for(int i=0,ni=m_faces.size();i<ni;++i) + { + const btSoftBody::Face& f=m_faces[i]; + const btScalar t=RayCaster::rayTriangle( org,dir, + f.m_n[0]->m_x, + f.m_n[1]->m_x, + f.m_n[2]->m_x, + mint); + if(t>0) + { + ++cnt; + if(!bcountonly) + { + feature=btSoftBody::eFeature::Face; + index=i; + mint=t; + } + } + } + } + else + {/* Use dbvt */ + RayCaster collider(org,dir,mint); + btDbvt::collideRAY(m_fdbvt.m_root,org,dir,collider); + if(collider.face) + { + mint=collider.mint; + feature=btSoftBody::eFeature::Face; + index=(int)(collider.face-&m_faces[0]); + cnt=1; + } + } + return(cnt); +} + +// +void btSoftBody::initializeFaceTree() +{ +m_fdbvt.clear(); +for(int i=0;i<m_faces.size();++i) + { + Face& f=m_faces[i]; + f.m_leaf=m_fdbvt.insert(VolumeOf(f,0),&f); + } +} + +// +btVector3 btSoftBody::evaluateCom() const +{ +btVector3 com(0,0,0); +if(m_pose.m_bframe) + { + for(int i=0,ni=m_nodes.size();i<ni;++i) + { + com+=m_nodes[i].m_x*m_pose.m_wgh[i]; + } + } + return(com); +} + +// +bool btSoftBody::checkContact( btRigidBody* prb, + const btVector3& x, + btScalar margin, + btSoftBody::sCti& cti) const +{ + btVector3 nrm; + btCollisionShape* shp=prb->getCollisionShape(); + const btTransform& wtr=prb->getInterpolationWorldTransform(); + btScalar dst=m_worldInfo->m_sparsesdf.Evaluate( wtr.invXform(x), + shp, + nrm, + margin); + if(dst<0) + { + cti.m_body = prb; + cti.m_normal = wtr.getBasis()*nrm; + cti.m_offset = -dot( cti.m_normal, + x-cti.m_normal*dst); + return(true); + } + return(false); +} + +// +void btSoftBody::updateNormals() +{ + const btVector3 zv(0,0,0); + int i,ni; + + for(i=0,ni=m_nodes.size();i<ni;++i) + { + m_nodes[i].m_n=zv; + } + for(i=0,ni=m_faces.size();i<ni;++i) + { + btSoftBody::Face& f=m_faces[i]; + const btVector3 n=cross(f.m_n[1]->m_x-f.m_n[0]->m_x, + f.m_n[2]->m_x-f.m_n[0]->m_x); + f.m_normal=n.normalized(); + f.m_n[0]->m_n+=n; + f.m_n[1]->m_n+=n; + f.m_n[2]->m_n+=n; + } + for(i=0,ni=m_nodes.size();i<ni;++i) + { + btScalar len = m_nodes[i].m_n.length(); + if (len>SIMD_EPSILON) + m_nodes[i].m_n /= len; + } +} + +// +void btSoftBody::updateBounds() +{ + if(m_ndbvt.m_root) + { + const btVector3& mins=m_ndbvt.m_root->volume.Mins(); + const btVector3& maxs=m_ndbvt.m_root->volume.Maxs(); + const btScalar csm=getCollisionShape()->getMargin(); + const btVector3 mrg=btVector3( csm, + csm, + csm)*1; // ??? to investigate... + m_bounds[0]=mins-mrg; + m_bounds[1]=maxs+mrg; + if(0!=getBroadphaseHandle()) + { + m_worldInfo->m_broadphase->setAabb( getBroadphaseHandle(), + m_bounds[0], + m_bounds[1], + m_worldInfo->m_dispatcher); + } + } + else + { + m_bounds[0]= + m_bounds[1]=btVector3(0,0,0); + } +} + + +// +void btSoftBody::updatePose() +{ + if(m_pose.m_bframe) + { + btSoftBody::Pose& pose=m_pose; + const btVector3 com=evaluateCom(); + /* Com */ + pose.m_com = com; + /* Rotation */ + btMatrix3x3 Apq; + const btScalar eps=SIMD_EPSILON; + Apq[0]=Apq[1]=Apq[2]=btVector3(0,0,0); + Apq[0].setX(eps);Apq[1].setY(eps*2);Apq[2].setZ(eps*3); + for(int i=0,ni=m_nodes.size();i<ni;++i) + { + const btVector3 a=pose.m_wgh[i]*(m_nodes[i].m_x-com); + const btVector3& b=pose.m_pos[i]; + Apq[0]+=a.x()*b; + Apq[1]+=a.y()*b; + Apq[2]+=a.z()*b; + } + btMatrix3x3 r,s; + PolarDecompose(Apq,r,s); + pose.m_rot=r; + pose.m_scl=pose.m_aqq*r.transpose()*Apq; + if(m_cfg.maxvolume>1) + { + const btScalar idet=Clamp<btScalar>( 1/pose.m_scl.determinant(), + 1,m_cfg.maxvolume); + pose.m_scl=Mul(pose.m_scl,idet); + } + + } +} + +// +void btSoftBody::updateConstants() +{ + int i,ni; + + /* Links */ + for(i=0,ni=m_links.size();i<ni;++i) + { + Link& l=m_links[i]; + Material& m=*l.m_material; + l.m_rl = (l.m_n[0]->m_x-l.m_n[1]->m_x).length(); + l.m_c0 = (l.m_n[0]->m_im+l.m_n[1]->m_im)/m.m_kLST; + l.m_c1 = l.m_rl*l.m_rl; + } + /* Faces */ + for(i=0,ni=m_faces.size();i<ni;++i) + { + Face& f=m_faces[i]; + f.m_ra = AreaOf(f.m_n[0]->m_x,f.m_n[1]->m_x,f.m_n[2]->m_x); + } + /* Area's */ + btAlignedObjectArray<int> counts; + counts.resize(m_nodes.size(),0); + for(i=0,ni=m_nodes.size();i<ni;++i) + { + m_nodes[i].m_area = 0; + } + for(i=0,ni=m_faces.size();i<ni;++i) + { + btSoftBody::Face& f=m_faces[i]; + for(int j=0;j<3;++j) + { + const int index=(int)(f.m_n[j]-&m_nodes[0]); + counts[index]++; + f.m_n[j]->m_area+=btFabs(f.m_ra); + } + } + for(i=0,ni=m_nodes.size();i<ni;++i) + { + if(counts[i]>0) + m_nodes[i].m_area/=(btScalar)counts[i]; + else + m_nodes[i].m_area=0; + } +} + +// +void btSoftBody::initializeClusters() +{ + int i; + +for( i=0;i<m_clusters.size();++i) + { + Cluster& c=*m_clusters[i]; + c.m_imass=0; + c.m_masses.resize(c.m_nodes.size()); + for(int j=0;j<c.m_nodes.size();++j) + { + c.m_masses[j] = c.m_nodes[j]->m_im>0?1/c.m_nodes[j]->m_im:0; + c.m_imass += c.m_masses[j]; + } + c.m_imass = 1/c.m_imass; + c.m_com = btSoftBody::clusterCom(&c); + c.m_lv = btVector3(0,0,0); + c.m_av = btVector3(0,0,0); + c.m_leaf = 0; + /* Inertia */ + btMatrix3x3& ii=c.m_locii; + ii[0]=ii[1]=ii[2]=btVector3(0,0,0); + { + int i,ni; + + for(i=0,ni=c.m_nodes.size();i<ni;++i) + { + const btVector3 k=c.m_nodes[i]->m_x-c.m_com; + const btVector3 q=k*k; + const btScalar m=c.m_masses[i]; + ii[0][0] += m*(q[1]+q[2]); + ii[1][1] += m*(q[0]+q[2]); + ii[2][2] += m*(q[0]+q[1]); + ii[0][1] -= m*k[0]*k[1]; + ii[0][2] -= m*k[0]*k[2]; + ii[1][2] -= m*k[1]*k[2]; + } + } + ii[1][0]=ii[0][1]; + ii[2][0]=ii[0][2]; + ii[2][1]=ii[1][2]; + ii=ii.inverse(); + /* Frame */ + c.m_framexform.setIdentity(); + c.m_framexform.setOrigin(c.m_com); + c.m_framerefs.resize(c.m_nodes.size()); + { + int i; + for(i=0;i<c.m_framerefs.size();++i) + { + c.m_framerefs[i]=c.m_nodes[i]->m_x-c.m_com; + } + } + } +} + +// +void btSoftBody::updateClusters() +{ +BT_PROFILE("UpdateClusters"); +int i; + +for(i=0;i<m_clusters.size();++i) + { + btSoftBody::Cluster& c=*m_clusters[i]; + const int n=c.m_nodes.size(); + const btScalar invn=1/(btScalar)n; + if(n) + { + /* Frame */ + const btScalar eps=btScalar(0.0001); + btMatrix3x3 m,r,s; + m[0]=m[1]=m[2]=btVector3(0,0,0); + m[0][0]=eps*1; + m[1][1]=eps*2; + m[2][2]=eps*3; + c.m_com=clusterCom(&c); + for(int i=0;i<c.m_nodes.size();++i) + { + const btVector3 a=c.m_nodes[i]->m_x-c.m_com; + const btVector3& b=c.m_framerefs[i]; + m[0]+=a[0]*b;m[1]+=a[1]*b;m[2]+=a[2]*b; + } + PolarDecompose(m,r,s); + c.m_framexform.setOrigin(c.m_com); + c.m_framexform.setBasis(r); + /* Inertia */ + #if 1/* Constant */ + c.m_invwi=c.m_framexform.getBasis()*c.m_locii*c.m_framexform.getBasis().transpose(); + #else + #if 0/* Sphere */ + const btScalar rk=(2*c.m_extents.length2())/(5*c.m_imass); + const btVector3 inertia(rk,rk,rk); + const btVector3 iin(btFabs(inertia[0])>SIMD_EPSILON?1/inertia[0]:0, + btFabs(inertia[1])>SIMD_EPSILON?1/inertia[1]:0, + btFabs(inertia[2])>SIMD_EPSILON?1/inertia[2]:0); + + c.m_invwi=c.m_xform.getBasis().scaled(iin)*c.m_xform.getBasis().transpose(); + #else/* Actual */ + c.m_invwi[0]=c.m_invwi[1]=c.m_invwi[2]=btVector3(0,0,0); + for(int i=0;i<n;++i) + { + const btVector3 k=c.m_nodes[i]->m_x-c.m_com; + const btVector3 q=k*k; + const btScalar m=1/c.m_nodes[i]->m_im; + c.m_invwi[0][0] += m*(q[1]+q[2]); + c.m_invwi[1][1] += m*(q[0]+q[2]); + c.m_invwi[2][2] += m*(q[0]+q[1]); + c.m_invwi[0][1] -= m*k[0]*k[1]; + c.m_invwi[0][2] -= m*k[0]*k[2]; + c.m_invwi[1][2] -= m*k[1]*k[2]; + } + c.m_invwi[1][0]=c.m_invwi[0][1]; + c.m_invwi[2][0]=c.m_invwi[0][2]; + c.m_invwi[2][1]=c.m_invwi[1][2]; + c.m_invwi=c.m_invwi.inverse(); + #endif + #endif + /* Velocities */ + c.m_lv=btVector3(0,0,0); + c.m_av=btVector3(0,0,0); + { + int i; + + for(i=0;i<n;++i) + { + const btVector3 v=c.m_nodes[i]->m_v*c.m_masses[i]; + c.m_lv += v; + c.m_av += cross(c.m_nodes[i]->m_x-c.m_com,v); + } + } + c.m_lv=c.m_imass*c.m_lv*(1-c.m_ldamping); + c.m_av=c.m_invwi*c.m_av*(1-c.m_adamping); + c.m_vimpulses[0] = + c.m_vimpulses[1] = btVector3(0,0,0); + c.m_dimpulses[0] = + c.m_dimpulses[1] = btVector3(0,0,0); + c.m_nvimpulses = 0; + c.m_ndimpulses = 0; + /* Matching */ + if(c.m_matching>0) + { + for(int j=0;j<c.m_nodes.size();++j) + { + Node& n=*c.m_nodes[j]; + const btVector3 x=c.m_framexform*c.m_framerefs[j]; + n.m_x=Lerp(n.m_x,x,c.m_matching); + } + } + /* Dbvt */ + if(c.m_collide) + { + btVector3 mi=c.m_nodes[0]->m_x; + btVector3 mx=mi; + for(int j=1;j<n;++j) + { + mi.setMin(c.m_nodes[j]->m_x); + mx.setMax(c.m_nodes[j]->m_x); + } + const ATTRIBUTE_ALIGNED16(btDbvtVolume) bounds=btDbvtVolume::FromMM(mi,mx); + if(c.m_leaf) + m_cdbvt.update(c.m_leaf,bounds,c.m_lv*m_sst.sdt*3,m_sst.radmrg); + else + c.m_leaf=m_cdbvt.insert(bounds,&c); + } + } + } +} + +// +void btSoftBody::cleanupClusters() +{ +for(int i=0;i<m_joints.size();++i) + { + m_joints[i]->Terminate(m_sst.sdt); + if(m_joints[i]->m_delete) + { + btAlignedFree(m_joints[i]); + m_joints.remove(m_joints[i--]); + } + } +} + +// +void btSoftBody::prepareClusters(int iterations) +{ +for(int i=0;i<m_joints.size();++i) + { + m_joints[i]->Prepare(m_sst.sdt,iterations); + } +} + + +// +void btSoftBody::solveClusters(btScalar sor) +{ +for(int i=0,ni=m_joints.size();i<ni;++i) + { + m_joints[i]->Solve(m_sst.sdt,sor); + } +} + +// +void btSoftBody::applyClusters(bool drift) +{ +BT_PROFILE("ApplyClusters"); +const btScalar f0=m_sst.sdt; +const btScalar f1=f0/2; +btAlignedObjectArray<btVector3> deltas; +btAlignedObjectArray<btScalar> weights; +deltas.resize(m_nodes.size(),btVector3(0,0,0)); +weights.resize(m_nodes.size(),0); +int i; + +if(drift) + { + for(i=0;i<m_clusters.size();++i) + { + Cluster& c=*m_clusters[i]; + if(c.m_ndimpulses) + { + c.m_dimpulses[0]/=(btScalar)c.m_ndimpulses; + c.m_dimpulses[1]/=(btScalar)c.m_ndimpulses; + } + } + } +for(i=0;i<m_clusters.size();++i) + { + Cluster& c=*m_clusters[i]; + if(0<(drift?c.m_ndimpulses:c.m_nvimpulses)) + { + const btVector3 v=(drift?c.m_dimpulses[0]:c.m_vimpulses[0])*m_sst.sdt; + const btVector3 w=(drift?c.m_dimpulses[1]:c.m_vimpulses[1])*m_sst.sdt; + for(int j=0;j<c.m_nodes.size();++j) + { + const int idx=int(c.m_nodes[j]-&m_nodes[0]); + const btVector3& x=c.m_nodes[j]->m_x; + const btScalar q=c.m_masses[j]; + deltas[idx] += (v+cross(w,x-c.m_com))*q; + weights[idx] += q; + } + } + } + for(i=0;i<deltas.size();++i) + { + if(weights[i]>0) m_nodes[i].m_x+=deltas[i]/weights[i]; + } +} + +// +void btSoftBody::dampClusters() +{ + int i; + +for(i=0;i<m_clusters.size();++i) + { + Cluster& c=*m_clusters[i]; + if(c.m_ndamping>0) + { + for(int j=0;j<c.m_nodes.size();++j) + { + Node& n=*c.m_nodes[j]; + if(n.m_im>0) + { + const btVector3 vx=c.m_lv+cross(c.m_av,c.m_nodes[j]->m_q-c.m_com); + n.m_v += c.m_ndamping*(vx-n.m_v); + } + } + } + } +} + +// +void btSoftBody::Joint::Prepare(btScalar dt,int) +{ +m_bodies[0].activate(); +m_bodies[1].activate(); +} + +// +void btSoftBody::LJoint::Prepare(btScalar dt,int iterations) +{ +static const btScalar maxdrift=4; +Joint::Prepare(dt,iterations); +m_rpos[0] = m_bodies[0].xform()*m_refs[0]; +m_rpos[1] = m_bodies[1].xform()*m_refs[1]; +m_drift = Clamp(m_rpos[0]-m_rpos[1],maxdrift)*m_erp/dt; +m_rpos[0] -= m_bodies[0].xform().getOrigin(); +m_rpos[1] -= m_bodies[1].xform().getOrigin(); +m_massmatrix = ImpulseMatrix( m_bodies[0].invMass(),m_bodies[0].invWorldInertia(),m_rpos[0], + m_bodies[1].invMass(),m_bodies[1].invWorldInertia(),m_rpos[1]); +if(m_split>0) + { + m_sdrift = m_massmatrix*(m_drift*m_split); + m_drift *= 1-m_split; + } +m_drift /=(btScalar)iterations; +} + +// +void btSoftBody::LJoint::Solve(btScalar dt,btScalar sor) +{ +const btVector3 va=m_bodies[0].velocity(m_rpos[0]); +const btVector3 vb=m_bodies[1].velocity(m_rpos[1]); +const btVector3 vr=va-vb; +btSoftBody::Impulse impulse; +impulse.m_asVelocity = 1; +impulse.m_velocity = m_massmatrix*(m_drift+vr*m_cfm)*sor; +m_bodies[0].applyImpulse(-impulse,m_rpos[0]); +m_bodies[1].applyImpulse( impulse,m_rpos[1]); +} + +// +void btSoftBody::LJoint::Terminate(btScalar dt) +{ +if(m_split>0) + { + m_bodies[0].applyDImpulse(-m_sdrift,m_rpos[0]); + m_bodies[1].applyDImpulse( m_sdrift,m_rpos[1]); + } +} + +// +void btSoftBody::AJoint::Prepare(btScalar dt,int iterations) +{ +static const btScalar maxdrift=SIMD_PI/16; +m_icontrol->Prepare(this); +Joint::Prepare(dt,iterations); +m_axis[0] = m_bodies[0].xform().getBasis()*m_refs[0]; +m_axis[1] = m_bodies[1].xform().getBasis()*m_refs[1]; +m_drift = NormalizeAny(cross(m_axis[1],m_axis[0])); +m_drift *= btMin(maxdrift,btAcos(Clamp<btScalar>(dot(m_axis[0],m_axis[1]),-1,+1))); +m_drift *= m_erp/dt; +m_massmatrix= AngularImpulseMatrix(m_bodies[0].invWorldInertia(),m_bodies[1].invWorldInertia()); +if(m_split>0) + { + m_sdrift = m_massmatrix*(m_drift*m_split); + m_drift *= 1-m_split; + } +m_drift /=(btScalar)iterations; +} + +// +void btSoftBody::AJoint::Solve(btScalar dt,btScalar sor) +{ +const btVector3 va=m_bodies[0].angularVelocity(); +const btVector3 vb=m_bodies[1].angularVelocity(); +const btVector3 vr=va-vb; +const btScalar sp=dot(vr,m_axis[0]); +const btVector3 vc=vr-m_axis[0]*m_icontrol->Speed(this,sp); +btSoftBody::Impulse impulse; +impulse.m_asVelocity = 1; +impulse.m_velocity = m_massmatrix*(m_drift+vc*m_cfm)*sor; +m_bodies[0].applyAImpulse(-impulse); +m_bodies[1].applyAImpulse( impulse); +} + +// +void btSoftBody::AJoint::Terminate(btScalar dt) +{ +if(m_split>0) + { + m_bodies[0].applyDAImpulse(-m_sdrift); + m_bodies[1].applyDAImpulse( m_sdrift); + } +} + +// +void btSoftBody::CJoint::Prepare(btScalar dt,int iterations) +{ +Joint::Prepare(dt,iterations); +const bool dodrift=(m_life==0); +m_delete=(++m_life)>m_maxlife; +if(dodrift) + { + m_drift=m_drift*m_erp/dt; + if(m_split>0) + { + m_sdrift = m_massmatrix*(m_drift*m_split); + m_drift *= 1-m_split; + } + m_drift/=(btScalar)iterations; + } + else + { + m_drift=m_sdrift=btVector3(0,0,0); + } +} + +// +void btSoftBody::CJoint::Solve(btScalar dt,btScalar sor) +{ +const btVector3 va=m_bodies[0].velocity(m_rpos[0]); +const btVector3 vb=m_bodies[1].velocity(m_rpos[1]); +const btVector3 vrel=va-vb; +const btScalar rvac=dot(vrel,m_normal); +btSoftBody::Impulse impulse; +impulse.m_asVelocity = 1; +impulse.m_velocity = m_drift; +if(rvac<0) + { + const btVector3 iv=m_normal*rvac; + const btVector3 fv=vrel-iv; + impulse.m_velocity += iv+fv*m_friction; + } +impulse.m_velocity=m_massmatrix*impulse.m_velocity*sor; +m_bodies[0].applyImpulse(-impulse,m_rpos[0]); +m_bodies[1].applyImpulse( impulse,m_rpos[1]); +} + +// +void btSoftBody::CJoint::Terminate(btScalar dt) +{ +if(m_split>0) + { + m_bodies[0].applyDImpulse(-m_sdrift,m_rpos[0]); + m_bodies[1].applyDImpulse( m_sdrift,m_rpos[1]); + } +} + +// +void btSoftBody::applyForces() +{ + BT_PROFILE("SoftBody applyForces"); + const btScalar dt=m_sst.sdt; + const btScalar kLF=m_cfg.kLF; + const btScalar kDG=m_cfg.kDG; + const btScalar kPR=m_cfg.kPR; + const btScalar kVC=m_cfg.kVC; + const bool as_lift=kLF>0; + const bool as_drag=kDG>0; + const bool as_pressure=kPR!=0; + const bool as_volume=kVC>0; + const bool as_aero= as_lift || + as_drag ; + const bool as_vaero= as_aero && + (m_cfg.aeromodel<btSoftBody::eAeroModel::F_TwoSided); + const bool as_faero= as_aero && + (m_cfg.aeromodel>=btSoftBody::eAeroModel::F_TwoSided); + const bool use_medium= as_aero; + const bool use_volume= as_pressure || + as_volume ; + btScalar volume=0; + btScalar ivolumetp=0; + btScalar dvolumetv=0; + btSoftBody::sMedium medium; + if(use_volume) + { + volume = getVolume(); + ivolumetp = 1/btFabs(volume)*kPR; + dvolumetv = (m_pose.m_volume-volume)*kVC; + } + /* Per vertex forces */ + int i,ni; + + for(i=0,ni=m_nodes.size();i<ni;++i) + { + btSoftBody::Node& n=m_nodes[i]; + if(n.m_im>0) + { + if(use_medium) + { + EvaluateMedium(m_worldInfo,n.m_x,medium); + /* Aerodynamics */ + if(as_vaero) + { + const btVector3 rel_v=n.m_v-medium.m_velocity; + const btScalar rel_v2=rel_v.length2(); + if(rel_v2>SIMD_EPSILON) + { + btVector3 nrm=n.m_n; + /* Setup normal */ + switch(m_cfg.aeromodel) + { + case btSoftBody::eAeroModel::V_Point: + nrm=NormalizeAny(rel_v);break; + case btSoftBody::eAeroModel::V_TwoSided: + nrm*=(btScalar)(dot(nrm,rel_v)<0?-1:+1);break; + } + const btScalar dvn=dot(rel_v,nrm); + /* Compute forces */ + if(dvn>0) + { + btVector3 force(0,0,0); + const btScalar c0 = n.m_area*dvn*rel_v2/2; + const btScalar c1 = c0*medium.m_density; + force += nrm*(-c1*kLF); + force += rel_v.normalized()*(-c1*kDG); + ApplyClampedForce(n,force,dt); + } + } + } + } + /* Pressure */ + if(as_pressure) + { + n.m_f += n.m_n*(n.m_area*ivolumetp); + } + /* Volume */ + if(as_volume) + { + n.m_f += n.m_n*(n.m_area*dvolumetv); + } + } + } + /* Per face forces */ + for(i=0,ni=m_faces.size();i<ni;++i) + { + btSoftBody::Face& f=m_faces[i]; + if(as_faero) + { + const btVector3 v=(f.m_n[0]->m_v+f.m_n[1]->m_v+f.m_n[2]->m_v)/3; + const btVector3 x=(f.m_n[0]->m_x+f.m_n[1]->m_x+f.m_n[2]->m_x)/3; + EvaluateMedium(m_worldInfo,x,medium); + const btVector3 rel_v=v-medium.m_velocity; + const btScalar rel_v2=rel_v.length2(); + if(rel_v2>SIMD_EPSILON) + { + btVector3 nrm=f.m_normal; + /* Setup normal */ + switch(m_cfg.aeromodel) + { + case btSoftBody::eAeroModel::F_TwoSided: + nrm*=(btScalar)(dot(nrm,rel_v)<0?-1:+1);break; + } + const btScalar dvn=dot(rel_v,nrm); + /* Compute forces */ + if(dvn>0) + { + btVector3 force(0,0,0); + const btScalar c0 = f.m_ra*dvn*rel_v2; + const btScalar c1 = c0*medium.m_density; + force += nrm*(-c1*kLF); + force += rel_v.normalized()*(-c1*kDG); + force /= 3; + for(int j=0;j<3;++j) ApplyClampedForce(*f.m_n[j],force,dt); + } + } + } + } +} + +// +void btSoftBody::PSolve_Anchors(btSoftBody* psb,btScalar kst,btScalar ti) +{ + const btScalar kAHR=psb->m_cfg.kAHR*kst; + const btScalar dt=psb->m_sst.sdt; + for(int i=0,ni=psb->m_anchors.size();i<ni;++i) + { + const Anchor& a=psb->m_anchors[i]; + const btTransform& t=a.m_body->getInterpolationWorldTransform(); + Node& n=*a.m_node; + const btVector3 wa=t*a.m_local; + const btVector3 va=a.m_body->getVelocityInLocalPoint(a.m_c1)*dt; + const btVector3 vb=n.m_x-n.m_q; + const btVector3 vr=(va-vb)+(wa-n.m_x)*kAHR; + const btVector3 impulse=a.m_c0*vr; + n.m_x+=impulse*a.m_c2; + a.m_body->applyImpulse(-impulse,a.m_c1); + } +} + +// +void btSoftBody::PSolve_RContacts(btSoftBody* psb,btScalar kst,btScalar ti) +{ + const btScalar dt=psb->m_sst.sdt; + const btScalar mrg=psb->getCollisionShape()->getMargin(); + for(int i=0,ni=psb->m_rcontacts.size();i<ni;++i) + { + const RContact& c=psb->m_rcontacts[i]; + ///skip object that don't have collision response + if (!psb->getWorldInfo()->m_dispatcher->needsResponse(psb,c.m_cti.m_body)) + continue; + + const sCti& cti=c.m_cti; + const btVector3 va=cti.m_body->getVelocityInLocalPoint(c.m_c1)*dt; + const btVector3 vb=c.m_node->m_x-c.m_node->m_q; + const btVector3 vr=vb-va; + const btScalar dn=dot(vr,cti.m_normal); + if(dn<=SIMD_EPSILON) + { + const btScalar dp=btMin(dot(c.m_node->m_x,cti.m_normal)+cti.m_offset,mrg); + const btVector3 fv=vr-cti.m_normal*dn; + const btVector3 impulse=c.m_c0*((vr-fv*c.m_c3+cti.m_normal*(dp*c.m_c4))*kst); + c.m_node->m_x-=impulse*c.m_c2; + c.m_cti.m_body->applyImpulse(impulse,c.m_c1); + } + } +} + +// +void btSoftBody::PSolve_SContacts(btSoftBody* psb,btScalar,btScalar ti) +{ +for(int i=0,ni=psb->m_scontacts.size();i<ni;++i) + { + const SContact& c=psb->m_scontacts[i]; + const btVector3& nr=c.m_normal; + Node& n=*c.m_node; + Face& f=*c.m_face; + const btVector3 p=BaryEval( f.m_n[0]->m_x, + f.m_n[1]->m_x, + f.m_n[2]->m_x, + c.m_weights); + const btVector3 q=BaryEval( f.m_n[0]->m_q, + f.m_n[1]->m_q, + f.m_n[2]->m_q, + c.m_weights); + const btVector3 vr=(n.m_x-n.m_q)-(p-q); + btVector3 corr(0,0,0); + if(dot(vr,nr)<0) + { + const btScalar j=c.m_margin-(dot(nr,n.m_x)-dot(nr,p)); + corr+=c.m_normal*j; + } + corr -= ProjectOnPlane(vr,nr)*c.m_friction; + n.m_x += corr*c.m_cfm[0]; + f.m_n[0]->m_x -= corr*(c.m_cfm[1]*c.m_weights.x()); + f.m_n[1]->m_x -= corr*(c.m_cfm[1]*c.m_weights.y()); + f.m_n[2]->m_x -= corr*(c.m_cfm[1]*c.m_weights.z()); + } +} + +// +void btSoftBody::PSolve_Links(btSoftBody* psb,btScalar kst,btScalar ti) +{ + for(int i=0,ni=psb->m_links.size();i<ni;++i) + { + Link& l=psb->m_links[i]; + if(l.m_c0>0) + { + Node& a=*l.m_n[0]; + Node& b=*l.m_n[1]; + const btVector3 del=b.m_x-a.m_x; + const btScalar len=del.length2(); + const btScalar k=((l.m_c1-len)/(l.m_c0*(l.m_c1+len)))*kst; + const btScalar t=k*a.m_im; + a.m_x-=del*(k*a.m_im); + b.m_x+=del*(k*b.m_im); + } + } +} + +// +void btSoftBody::VSolve_Links(btSoftBody* psb,btScalar kst) +{ +for(int i=0,ni=psb->m_links.size();i<ni;++i) + { + Link& l=psb->m_links[i]; + Node** n=l.m_n; + const btScalar j=-dot(l.m_c3,n[0]->m_v-n[1]->m_v)*l.m_c2*kst; + n[0]->m_v+= l.m_c3*(j*n[0]->m_im); + n[1]->m_v-= l.m_c3*(j*n[1]->m_im); + } +} + +// +btSoftBody::psolver_t btSoftBody::getSolver(ePSolver::_ solver) +{ +switch(solver) + { + case ePSolver::Anchors: return(&btSoftBody::PSolve_Anchors); + case ePSolver::Linear: return(&btSoftBody::PSolve_Links); + case ePSolver::RContacts: return(&btSoftBody::PSolve_RContacts); + case ePSolver::SContacts: return(&btSoftBody::PSolve_SContacts); + } +return(0); +} + +// +btSoftBody::vsolver_t btSoftBody::getSolver(eVSolver::_ solver) +{ +switch(solver) + { + case eVSolver::Linear: return(&btSoftBody::VSolve_Links); + } +return(0); +} + +// +void btSoftBody::defaultCollisionHandler(btCollisionObject* pco) +{ +switch(m_cfg.collisions&fCollision::RVSmask) + { + case fCollision::SDF_RS: + { + btSoftColliders::CollideSDF_RS docollide; + btRigidBody* prb=btRigidBody::upcast(pco); + const btTransform wtr=prb->getInterpolationWorldTransform(); + const btTransform ctr=prb->getWorldTransform(); + const btScalar timemargin=(wtr.getOrigin()-ctr.getOrigin()).length(); + const btScalar basemargin=getCollisionShape()->getMargin(); + btVector3 mins; + btVector3 maxs; + ATTRIBUTE_ALIGNED16(btDbvtVolume) volume; + pco->getCollisionShape()->getAabb( pco->getInterpolationWorldTransform(), + mins, + maxs); + volume=btDbvtVolume::FromMM(mins,maxs); + volume.Expand(btVector3(basemargin,basemargin,basemargin)); + docollide.psb = this; + docollide.prb = prb; + docollide.dynmargin = basemargin+timemargin; + docollide.stamargin = basemargin; + btDbvt::collideTV(m_ndbvt.m_root,volume,docollide); + } + break; + case fCollision::CL_RS: + { + btSoftColliders::CollideCL_RS collider; + collider.Process(this,btRigidBody::upcast(pco)); + } + break; + } +} + +// +void btSoftBody::defaultCollisionHandler(btSoftBody* psb) +{ +const int cf=m_cfg.collisions&psb->m_cfg.collisions; +switch(cf&fCollision::SVSmask) + { + case fCollision::CL_SS: + { + btSoftColliders::CollideCL_SS docollide; + docollide.Process(this,psb); + } + break; + case fCollision::VF_SS: + { + btSoftColliders::CollideVF_SS docollide; + /* common */ + docollide.mrg= getCollisionShape()->getMargin()+ + psb->getCollisionShape()->getMargin(); + /* psb0 nodes vs psb1 faces */ + docollide.psb[0]=this; + docollide.psb[1]=psb; + btDbvt::collideTT( docollide.psb[0]->m_ndbvt.m_root, + docollide.psb[1]->m_fdbvt.m_root, + docollide); + /* psb1 nodes vs psb0 faces */ + docollide.psb[0]=psb; + docollide.psb[1]=this; + btDbvt::collideTT( docollide.psb[0]->m_ndbvt.m_root, + docollide.psb[1]->m_fdbvt.m_root, + docollide); + } + break; + } +} diff --git a/extern/bullet2/src/BulletSoftBody/btSoftBody.h b/extern/bullet2/src/BulletSoftBody/btSoftBody.h new file mode 100644 index 00000000000..743462d259a --- /dev/null +++ b/extern/bullet2/src/BulletSoftBody/btSoftBody.h @@ -0,0 +1,833 @@ +/* +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. +*/ +///btSoftBody implementation by Nathanael Presson + +#ifndef _BT_SOFT_BODY_H +#define _BT_SOFT_BODY_H + +#include "LinearMath/btAlignedObjectArray.h" +#include "LinearMath/btPoint3.h" +#include "LinearMath/btTransform.h" +#include "LinearMath/btIDebugDraw.h" +#include "BulletDynamics/Dynamics/btRigidBody.h" + +#include "BulletCollision/CollisionShapes/btConcaveShape.h" +#include "BulletCollision/CollisionDispatch/btCollisionCreateFunc.h" +#include "btSparseSDF.h" +#include "BulletCollision/BroadphaseCollision/btDbvt.h" + +class btBroadphaseInterface; +class btDispatcher; + +/* btSoftBodyWorldInfo */ +struct btSoftBodyWorldInfo +{ + btScalar air_density; + btScalar water_density; + btScalar water_offset; + btVector3 water_normal; + btBroadphaseInterface* m_broadphase; + btDispatcher* m_dispatcher; + btVector3 m_gravity; + btSparseSdf<3> m_sparsesdf; +}; + + +/// btSoftBody is work-in-progress +class btSoftBody : public btCollisionObject +{ +public: + btAlignedObjectArray<class btCollisionObject*> m_collisionDisabledObjects; + + // + // Enumerations + // + + ///eAeroModel + struct eAeroModel { enum _ { + V_Point, ///Vertex normals are oriented toward velocity + V_TwoSided, ///Vertex normals are fliped to match velocity + V_OneSided, ///Vertex normals are taken as it is + F_TwoSided, ///Face normals are fliped to match velocity + F_OneSided, ///Face normals are taken as it is + END + };}; + + ///eVSolver : velocities solvers + struct eVSolver { enum _ { + Linear, ///Linear solver + END + };}; + + ///ePSolver : positions solvers + struct ePSolver { enum _ { + Linear, ///Linear solver + Anchors, ///Anchor solver + RContacts, ///Rigid contacts solver + SContacts, ///Soft contacts solver + END + };}; + + ///eSolverPresets + struct eSolverPresets { enum _ { + Positions, + Velocities, + Default = Positions, + END + };}; + + ///eFeature + struct eFeature { enum _ { + None, + Node, + Link, + Face, + END + };}; + + typedef btAlignedObjectArray<eVSolver::_> tVSolverArray; + typedef btAlignedObjectArray<ePSolver::_> tPSolverArray; + + // + // Flags + // + + ///fCollision + struct fCollision { enum _ { + RVSmask = 0x000f, ///Rigid versus soft mask + SDF_RS = 0x0001, ///SDF based rigid vs soft + CL_RS = 0x0002, ///Cluster vs convex rigid vs soft + + SVSmask = 0x00f0, ///Rigid versus soft mask + VF_SS = 0x0010, ///Vertex vs face soft vs soft handling + CL_SS = 0x0020, ///Cluster vs cluster soft vs soft handling + /* presets */ + Default = SDF_RS, + END + };}; + + ///fMaterial + struct fMaterial { enum _ { + DebugDraw = 0x0001, /// Enable debug draw + /* presets */ + Default = DebugDraw, + END + };}; + + // + // API Types + // + + /* sRayCast */ + struct sRayCast + { + btSoftBody* body; /// soft body + eFeature::_ feature; /// feature type + int index; /// feature index + btScalar time; /// time of impact (rayorg+raydir*time) + }; + + /* ImplicitFn */ + struct ImplicitFn + { + virtual btScalar Eval(const btVector3& x)=0; + }; + + // + // Internal types + // + + typedef btAlignedObjectArray<btScalar> tScalarArray; + typedef btAlignedObjectArray<btVector3> tVector3Array; + + /* sCti is Softbody contact info */ + struct sCti + { + btRigidBody* m_body; /* Rigid body */ + btVector3 m_normal; /* Outward normal */ + btScalar m_offset; /* Offset from origin */ + }; + + /* sMedium */ + struct sMedium + { + btVector3 m_velocity; /* Velocity */ + btScalar m_pressure; /* Pressure */ + btScalar m_density; /* Density */ + }; + + /* Base type */ + struct Element + { + void* m_tag; // User data + Element() : m_tag(0) {} + }; + /* Material */ + struct Material : Element + { + btScalar m_kLST; // Linear stiffness coefficient [0,1] + btScalar m_kAST; // Area/Angular stiffness coefficient [0,1] + btScalar m_kVST; // Volume stiffness coefficient [0,1] + int m_flags; // Flags + }; + + /* Feature */ + struct Feature : Element + { + Material* m_material; // Material + }; + /* Node */ + struct Node : Feature + { + btVector3 m_x; // Position + btVector3 m_q; // Previous step position + btVector3 m_v; // Velocity + btVector3 m_f; // Force accumulator + btVector3 m_n; // Normal + btScalar m_im; // 1/mass + btScalar m_area; // Area + btDbvtNode* m_leaf; // Leaf data + int m_battach:1; // Attached + }; + /* Link */ + struct Link : Feature + { + Node* m_n[2]; // Node pointers + btScalar m_rl; // Rest length + int m_bbending:1; // Bending link + btScalar m_c0; // (ima+imb)*kLST + btScalar m_c1; // rl^2 + btScalar m_c2; // |gradient|^2/c0 + btVector3 m_c3; // gradient + }; + /* Face */ + struct Face : Feature + { + Node* m_n[3]; // Node pointers + btVector3 m_normal; // Normal + btScalar m_ra; // Rest area + btDbvtNode* m_leaf; // Leaf data + }; + /* RContact */ + struct RContact + { + sCti m_cti; // Contact infos + Node* m_node; // Owner node + btMatrix3x3 m_c0; // Impulse matrix + btVector3 m_c1; // Relative anchor + btScalar m_c2; // ima*dt + btScalar m_c3; // Friction + btScalar m_c4; // Hardness + }; + /* SContact */ + struct SContact + { + Node* m_node; // Node + Face* m_face; // Face + btVector3 m_weights; // Weigths + btVector3 m_normal; // Normal + btScalar m_margin; // Margin + btScalar m_friction; // Friction + btScalar m_cfm[2]; // Constraint force mixing + }; + /* Anchor */ + struct Anchor + { + Node* m_node; // Node pointer + btVector3 m_local; // Anchor position in body space + btRigidBody* m_body; // Body + btMatrix3x3 m_c0; // Impulse matrix + btVector3 m_c1; // Relative anchor + btScalar m_c2; // ima*dt + }; + /* Note */ + struct Note : Element + { + const char* m_text; // Text + btVector3 m_offset; // Offset + int m_rank; // Rank + Node* m_nodes[4]; // Nodes + btScalar m_coords[4]; // Coordinates + }; + /* Pose */ + struct Pose + { + bool m_bvolume; // Is valid + bool m_bframe; // Is frame + btScalar m_volume; // Rest volume + tVector3Array m_pos; // Reference positions + tScalarArray m_wgh; // Weights + btVector3 m_com; // COM + btMatrix3x3 m_rot; // Rotation + btMatrix3x3 m_scl; // Scale + btMatrix3x3 m_aqq; // Base scaling + }; + /* Cluster */ + struct Cluster + { + btAlignedObjectArray<Node*> m_nodes; + tScalarArray m_masses; + tVector3Array m_framerefs; + btTransform m_framexform; + btScalar m_idmass; + btScalar m_imass; + btMatrix3x3 m_locii; + btMatrix3x3 m_invwi; + btVector3 m_com; + btVector3 m_vimpulses[2]; + btVector3 m_dimpulses[2]; + int m_nvimpulses; + int m_ndimpulses; + btVector3 m_lv; + btVector3 m_av; + btDbvtNode* m_leaf; + btScalar m_ndamping; + btScalar m_ldamping; + btScalar m_adamping; + btScalar m_matching; + bool m_collide; + Cluster() : m_leaf(0),m_ndamping(0),m_ldamping(0),m_adamping(0),m_matching(0) {} + }; + /* Impulse */ + struct Impulse + { + btVector3 m_velocity; + btVector3 m_drift; + int m_asVelocity:1; + int m_asDrift:1; + Impulse() : m_velocity(0,0,0),m_drift(0,0,0),m_asVelocity(0),m_asDrift(0) {} + Impulse operator -() const + { + Impulse i=*this; + i.m_velocity=-i.m_velocity; + i.m_drift=-i.m_drift; + return(i); + } + Impulse operator*(btScalar x) const + { + Impulse i=*this; + i.m_velocity*=x; + i.m_drift*=x; + return(i); + } + }; + /* Body */ + struct Body + { + Cluster* m_soft; + btRigidBody* m_rigid; + Body() : m_soft(0),m_rigid(0) {} + Body(Cluster* p) : m_soft(p),m_rigid(0) {} + Body(btRigidBody* p) : m_soft(0),m_rigid(p) {} + void activate() const + { + if(m_rigid) m_rigid->activate(); + } + const btMatrix3x3& invWorldInertia() const + { + static const btMatrix3x3 iwi(0,0,0,0,0,0,0,0,0); + if(m_rigid) return(m_rigid->getInvInertiaTensorWorld()); + if(m_soft) return(m_soft->m_invwi); + return(iwi); + } + btScalar invMass() const + { + if(m_rigid) return(m_rigid->getInvMass()); + if(m_soft) return(m_soft->m_imass); + return(0); + } + const btTransform& xform() const + { + static const btTransform identity=btTransform::getIdentity(); + if(m_rigid) return(m_rigid->getInterpolationWorldTransform()); + if(m_soft) return(m_soft->m_framexform); + return(identity); + } + btVector3 linearVelocity() const + { + if(m_rigid) return(m_rigid->getLinearVelocity()); + if(m_soft) return(m_soft->m_lv); + return(btVector3(0,0,0)); + } + btVector3 angularVelocity(const btVector3& rpos) const + { + if(m_rigid) return(cross(m_rigid->getAngularVelocity(),rpos)); + if(m_soft) return(cross(m_soft->m_av,rpos)); + return(btVector3(0,0,0)); + } + btVector3 angularVelocity() const + { + if(m_rigid) return(m_rigid->getAngularVelocity()); + if(m_soft) return(m_soft->m_av); + return(btVector3(0,0,0)); + } + btVector3 velocity(const btVector3& rpos) const + { + return(linearVelocity()+angularVelocity(rpos)); + } + void applyVImpulse(const btVector3& impulse,const btVector3& rpos) const + { + if(m_rigid) m_rigid->applyImpulse(impulse,rpos); + if(m_soft) btSoftBody::clusterVImpulse(m_soft,rpos,impulse); + } + void applyDImpulse(const btVector3& impulse,const btVector3& rpos) const + { + if(m_rigid) m_rigid->applyImpulse(impulse,rpos); + if(m_soft) btSoftBody::clusterDImpulse(m_soft,rpos,impulse); + } + void applyImpulse(const Impulse& impulse,const btVector3& rpos) const + { + if(impulse.m_asVelocity) applyVImpulse(impulse.m_velocity,rpos); + if(impulse.m_asDrift) applyDImpulse(impulse.m_drift,rpos); + } + void applyVAImpulse(const btVector3& impulse) const + { + if(m_rigid) m_rigid->applyTorqueImpulse(impulse); + if(m_soft) btSoftBody::clusterVAImpulse(m_soft,impulse); + } + void applyDAImpulse(const btVector3& impulse) const + { + if(m_rigid) m_rigid->applyTorqueImpulse(impulse); + if(m_soft) btSoftBody::clusterDAImpulse(m_soft,impulse); + } + void applyAImpulse(const Impulse& impulse) const + { + if(impulse.m_asVelocity) applyVAImpulse(impulse.m_velocity); + if(impulse.m_asDrift) applyDAImpulse(impulse.m_drift); + } + void applyDCImpulse(const btVector3& impulse) const + { + if(m_rigid) m_rigid->applyCentralImpulse(impulse); + if(m_soft) btSoftBody::clusterDCImpulse(m_soft,impulse); + } + }; + /* Joint */ + struct Joint + { + struct eType { enum _ { + Linear, + Angular, + Contact, + };}; + struct Specs + { + Specs() : erp(1),cfm(1),split(1) {} + btScalar erp; + btScalar cfm; + btScalar split; + }; + Body m_bodies[2]; + btVector3 m_refs[2]; + btScalar m_cfm; + btScalar m_erp; + btScalar m_split; + btVector3 m_drift; + btVector3 m_sdrift; + btMatrix3x3 m_massmatrix; + bool m_delete; + virtual ~Joint() {} + Joint() : m_delete(false) {} + virtual void Prepare(btScalar dt,int iterations); + virtual void Solve(btScalar dt,btScalar sor)=0; + virtual void Terminate(btScalar dt)=0; + virtual eType::_ Type() const=0; + }; + /* LJoint */ + struct LJoint : Joint + { + struct Specs : Joint::Specs + { + btVector3 position; + }; + btVector3 m_rpos[2]; + void Prepare(btScalar dt,int iterations); + void Solve(btScalar dt,btScalar sor); + void Terminate(btScalar dt); + eType::_ Type() const { return(eType::Linear); } + }; + /* AJoint */ + struct AJoint : Joint + { + struct IControl + { + virtual void Prepare(AJoint*) {} + virtual btScalar Speed(AJoint*,btScalar current) { return(current); } + static IControl* Default() { static IControl def;return(&def); } + }; + struct Specs : Joint::Specs + { + Specs() : icontrol(IControl::Default()) {} + btVector3 axis; + IControl* icontrol; + }; + btVector3 m_axis[2]; + IControl* m_icontrol; + void Prepare(btScalar dt,int iterations); + void Solve(btScalar dt,btScalar sor); + void Terminate(btScalar dt); + eType::_ Type() const { return(eType::Angular); } + }; + /* CJoint */ + struct CJoint : Joint + { + int m_life; + int m_maxlife; + btVector3 m_rpos[2]; + btVector3 m_normal; + btScalar m_friction; + void Prepare(btScalar dt,int iterations); + void Solve(btScalar dt,btScalar sor); + void Terminate(btScalar dt); + eType::_ Type() const { return(eType::Contact); } + }; + /* Config */ + struct Config + { + eAeroModel::_ aeromodel; // Aerodynamic model (default: V_Point) + btScalar kVCF; // Velocities correction factor (Baumgarte) + btScalar kDP; // Damping coefficient [0,1] + btScalar kDG; // Drag coefficient [0,+inf] + btScalar kLF; // Lift coefficient [0,+inf] + btScalar kPR; // Pressure coefficient [-inf,+inf] + btScalar kVC; // Volume conversation coefficient [0,+inf] + btScalar kDF; // Dynamic friction coefficient [0,1] + btScalar kMT; // Pose matching coefficient [0,1] + btScalar kCHR; // Rigid contacts hardness [0,1] + btScalar kKHR; // Kinetic contacts hardness [0,1] + btScalar kSHR; // Soft contacts hardness [0,1] + btScalar kAHR; // Anchors hardness [0,1] + btScalar kSRHR_CL; // Soft vs rigid hardness [0,1] (cluster only) + btScalar kSKHR_CL; // Soft vs kinetic hardness [0,1] (cluster only) + btScalar kSSHR_CL; // Soft vs soft hardness [0,1] (cluster only) + btScalar kSR_SPLT_CL; // Soft vs rigid impulse split [0,1] (cluster only) + btScalar kSK_SPLT_CL; // Soft vs rigid impulse split [0,1] (cluster only) + btScalar kSS_SPLT_CL; // Soft vs rigid impulse split [0,1] (cluster only) + btScalar maxvolume; // Maximum volume ratio for pose + btScalar timescale; // Time scale + int viterations; // Velocities solver iterations + int piterations; // Positions solver iterations + int diterations; // Drift solver iterations + int citerations; // Cluster solver iterations + int collisions; // Collisions flags + tVSolverArray m_vsequence; // Velocity solvers sequence + tPSolverArray m_psequence; // Position solvers sequence + tPSolverArray m_dsequence; // Drift solvers sequence + }; + /* SolverState */ + struct SolverState + { + btScalar sdt; // dt*timescale + btScalar isdt; // 1/sdt + btScalar velmrg; // velocity margin + btScalar radmrg; // radial margin + btScalar updmrg; // Update margin + }; + /* RayCaster */ + struct RayCaster : btDbvt::ICollide + { + btVector3 o; + btVector3 d; + btScalar mint; + Face* face; + int tests; + RayCaster(const btVector3& org,const btVector3& dir,btScalar mxt); + void Process(const btDbvtNode* leaf); + static inline btScalar rayTriangle(const btVector3& org, + const btVector3& dir, + const btVector3& a, + const btVector3& b, + const btVector3& c, + btScalar maxt=SIMD_INFINITY); + }; + + // + // Typedef's + // + + typedef void (*psolver_t)(btSoftBody*,btScalar,btScalar); + typedef void (*vsolver_t)(btSoftBody*,btScalar); + typedef btAlignedObjectArray<Cluster*> tClusterArray; + typedef btAlignedObjectArray<Note> tNoteArray; + typedef btAlignedObjectArray<Node> tNodeArray; + typedef btAlignedObjectArray<btDbvtNode*> tLeafArray; + typedef btAlignedObjectArray<Link> tLinkArray; + typedef btAlignedObjectArray<Face> tFaceArray; + typedef btAlignedObjectArray<Anchor> tAnchorArray; + typedef btAlignedObjectArray<RContact> tRContactArray; + typedef btAlignedObjectArray<SContact> tSContactArray; + typedef btAlignedObjectArray<Material*> tMaterialArray; + typedef btAlignedObjectArray<Joint*> tJointArray; + typedef btAlignedObjectArray<btSoftBody*> tSoftBodyArray; + + // + // Fields + // + + Config m_cfg; // Configuration + SolverState m_sst; // Solver state + Pose m_pose; // Pose + void* m_tag; // User data + btSoftBodyWorldInfo* m_worldInfo; // World info + tNoteArray m_notes; // Notes + tNodeArray m_nodes; // Nodes + tLinkArray m_links; // Links + tFaceArray m_faces; // Faces + tAnchorArray m_anchors; // Anchors + tRContactArray m_rcontacts; // Rigid contacts + tSContactArray m_scontacts; // Soft contacts + tJointArray m_joints; // Joints + tMaterialArray m_materials; // Materials + btScalar m_timeacc; // Time accumulator + btVector3 m_bounds[2]; // Spatial bounds + bool m_bUpdateRtCst; // Update runtime constants + btDbvt m_ndbvt; // Nodes tree + btDbvt m_fdbvt; // Faces tree + btDbvt m_cdbvt; // Clusters tree + tClusterArray m_clusters; // Clusters + + btTransform m_initialWorldTransform; //used to attach constraints etc. + // + // Api + // + + /* ctor */ + btSoftBody( btSoftBodyWorldInfo* worldInfo,int node_count, + const btVector3* x, + const btScalar* m); + /* dtor */ + virtual ~btSoftBody(); + /* Check for existing link */ + + btAlignedObjectArray<int> m_userIndexMapping; + + btSoftBodyWorldInfo* getWorldInfo() + { + return m_worldInfo; + } + + virtual void setCollisionShape(btCollisionShape* collisionShape) + { + //don't do anything, due to the internal shape hack: todo: fix this + } + + bool checkLink( int node0, + int node1) const; + bool checkLink( const Node* node0, + const Node* node1) const; + /* Check for existring face */ + bool checkFace( int node0, + int node1, + int node2) const; + /* Append material */ + Material* appendMaterial(); + /* Append note */ + void appendNote( const char* text, + const btVector3& o, + const btVector4& c=btVector4(1,0,0,0), + Node* n0=0, + Node* n1=0, + Node* n2=0, + Node* n3=0); + void appendNote( const char* text, + const btVector3& o, + Node* feature); + void appendNote( const char* text, + const btVector3& o, + Link* feature); + void appendNote( const char* text, + const btVector3& o, + Face* feature); + /* Append node */ + void appendNode( const btVector3& x,btScalar m); + /* Append link */ + void appendLink(int model=-1,Material* mat=0); + void appendLink( int node0, + int node1, + Material* mat=0, + bool bcheckexist=false); + void appendLink( Node* node0, + Node* node1, + Material* mat=0, + bool bcheckexist=false); + /* Append face */ + void appendFace(int model=-1,Material* mat=0); + void appendFace( int node0, + int node1, + int node2, + Material* mat=0); + /* Append anchor */ + void appendAnchor( int node, + btRigidBody* body,bool disableCollision); + /* Append linear joint */ + void appendLinearJoint(const LJoint::Specs& specs,Cluster* body0,Body body1); + void appendLinearJoint(const LJoint::Specs& specs,Body body=Body()); + void appendLinearJoint(const LJoint::Specs& specs,btSoftBody* body); + /* Append linear joint */ + void appendAngularJoint(const AJoint::Specs& specs,Cluster* body0,Body body1); + void appendAngularJoint(const AJoint::Specs& specs,Body body=Body()); + void appendAngularJoint(const AJoint::Specs& specs,btSoftBody* body); + /* Add force (or gravity) to the entire body */ + void addForce( const btVector3& force); + /* Add force (or gravity) to a node of the body */ + void addForce( const btVector3& force, + int node); + /* Add velocity to the entire body */ + void addVelocity( const btVector3& velocity); + + /* Set velocity for the entire body */ + void setVelocity( const btVector3& velocity); + + /* Add velocity to a node of the body */ + void addVelocity( const btVector3& velocity, + int node); + /* Set mass */ + void setMass( int node, + btScalar mass); + /* Get mass */ + btScalar getMass( int node) const; + /* Get total mass */ + btScalar getTotalMass() const; + /* Set total mass (weighted by previous masses) */ + void setTotalMass( btScalar mass, + bool fromfaces=false); + /* Set total density */ + void setTotalDensity(btScalar density); + /* Transform */ + void transform( const btTransform& trs); + /* Translate */ + void translate( const btVector3& trs); + /* Rotate */ + void rotate( const btQuaternion& rot); + /* Scale */ + void scale( const btVector3& scl); + /* Set current state as pose */ + void setPose( bool bvolume, + bool bframe); + /* Return the volume */ + btScalar getVolume() const; + /* Cluster count */ + int clusterCount() const; + /* Cluster center of mass */ + static btVector3 clusterCom(const Cluster* cluster); + btVector3 clusterCom(int cluster) const; + /* Cluster velocity at rpos */ + static btVector3 clusterVelocity(const Cluster* cluster,const btVector3& rpos); + /* Cluster impulse */ + static void clusterVImpulse(Cluster* cluster,const btVector3& rpos,const btVector3& impulse); + static void clusterDImpulse(Cluster* cluster,const btVector3& rpos,const btVector3& impulse); + static void clusterImpulse(Cluster* cluster,const btVector3& rpos,const Impulse& impulse); + static void clusterVAImpulse(Cluster* cluster,const btVector3& impulse); + static void clusterDAImpulse(Cluster* cluster,const btVector3& impulse); + static void clusterAImpulse(Cluster* cluster,const Impulse& impulse); + static void clusterDCImpulse(Cluster* cluster,const btVector3& impulse); + /* Generate bending constraints based on distance in the adjency graph */ + int generateBendingConstraints( int distance, + Material* mat=0); + /* Randomize constraints to reduce solver bias */ + void randomizeConstraints(); + /* Release clusters */ + void releaseCluster(int index); + void releaseClusters(); + /* Generate clusters (K-mean) */ + int generateClusters(int k,int maxiterations=8192); + /* Refine */ + void refine(ImplicitFn* ifn,btScalar accurary,bool cut); + /* CutLink */ + bool cutLink(int node0,int node1,btScalar position); + bool cutLink(const Node* node0,const Node* node1,btScalar position); + /* Ray casting */ + bool rayCast(const btVector3& org, + const btVector3& dir, + sRayCast& results, + btScalar maxtime=SIMD_INFINITY); + /* Solver presets */ + void setSolver(eSolverPresets::_ preset); + /* predictMotion */ + void predictMotion(btScalar dt); + /* solveConstraints */ + void solveConstraints(); + /* staticSolve */ + void staticSolve(int iterations); + /* solveCommonConstraints */ + static void solveCommonConstraints(btSoftBody** bodies,int count,int iterations); + /* solveClusters */ + static void solveClusters(const btAlignedObjectArray<btSoftBody*>& bodies); + /* integrateMotion */ + void integrateMotion(); + /* defaultCollisionHandlers */ + void defaultCollisionHandler(btCollisionObject* pco); + void defaultCollisionHandler(btSoftBody* psb); + + // + // Cast + // + + static const btSoftBody* upcast(const btCollisionObject* colObj) + { + if (colObj->getInternalType()==CO_SOFT_BODY) + return (const btSoftBody*)colObj; + return 0; + } + static btSoftBody* upcast(btCollisionObject* colObj) + { + if (colObj->getInternalType()==CO_SOFT_BODY) + return (btSoftBody*)colObj; + return 0; + } + + // + // ::btCollisionObject + // + + virtual void getAabb(btVector3& aabbMin,btVector3& aabbMax) const + { + aabbMin = m_bounds[0]; + aabbMax = m_bounds[1]; + } + // + // Private + // + void pointersToIndices(); + void indicesToPointers(const int* map=0); + int rayCast(const btVector3& org,const btVector3& dir, + btScalar& mint,eFeature::_& feature,int& index,bool bcountonly) const; + void initializeFaceTree(); + btVector3 evaluateCom() const; + bool checkContact(btRigidBody* prb,const btVector3& x,btScalar margin,btSoftBody::sCti& cti) const; + void updateNormals(); + void updateBounds(); + void updatePose(); + void updateConstants(); + void initializeClusters(); + void updateClusters(); + void cleanupClusters(); + void prepareClusters(int iterations); + void solveClusters(btScalar sor); + void applyClusters(bool drift); + void dampClusters(); + void applyForces(); + static void PSolve_Anchors(btSoftBody* psb,btScalar kst,btScalar ti); + static void PSolve_RContacts(btSoftBody* psb,btScalar kst,btScalar ti); + static void PSolve_SContacts(btSoftBody* psb,btScalar,btScalar ti); + static void PSolve_Links(btSoftBody* psb,btScalar kst,btScalar ti); + static void VSolve_Links(btSoftBody* psb,btScalar kst); + static psolver_t getSolver(ePSolver::_ solver); + static vsolver_t getSolver(eVSolver::_ solver); + +}; + + + +#endif //_BT_SOFT_BODY_H diff --git a/extern/bullet2/src/BulletSoftBody/btSoftBodyConcaveCollisionAlgorithm.cpp b/extern/bullet2/src/BulletSoftBody/btSoftBodyConcaveCollisionAlgorithm.cpp new file mode 100644 index 00000000000..61a57ea5da9 --- /dev/null +++ b/extern/bullet2/src/BulletSoftBody/btSoftBodyConcaveCollisionAlgorithm.cpp @@ -0,0 +1,369 @@ +/* +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. +*/ + + +#include "btSoftBodyConcaveCollisionAlgorithm.h" +#include "BulletCollision/CollisionDispatch/btCollisionObject.h" +#include "BulletCollision/CollisionShapes/btMultiSphereShape.h" +#include "BulletCollision/BroadphaseCollision/btBroadphaseProxy.h" +#include "BulletCollision/CollisionShapes/btConcaveShape.h" +#include "BulletCollision/CollisionDispatch/btManifoldResult.h" +#include "BulletCollision/NarrowPhaseCollision/btRaycastCallback.h" +#include "BulletCollision/CollisionShapes/btTriangleShape.h" +#include "BulletCollision/CollisionShapes/btSphereShape.h" +#include "BulletCollision/CollisionShapes/btTetrahedronShape.h" +#include "BulletCollision/CollisionShapes/btConvexHullShape.h" + + + +#include "LinearMath/btIDebugDraw.h" +#include "BulletCollision/NarrowPhaseCollision/btSubSimplexConvexCast.h" +#include "BulletSoftBody/btSoftBody.h" + +#define BT_SOFTBODY_TRIANGLE_EXTRUSION btScalar(0.3)//make this configurable + +btSoftBodyConcaveCollisionAlgorithm::btSoftBodyConcaveCollisionAlgorithm( const btCollisionAlgorithmConstructionInfo& ci, btCollisionObject* body0,btCollisionObject* body1,bool isSwapped) +: btCollisionAlgorithm(ci), +m_isSwapped(isSwapped), +m_btSoftBodyTriangleCallback(ci.m_dispatcher1,body0,body1,isSwapped) +{ +} + + + +btSoftBodyConcaveCollisionAlgorithm::~btSoftBodyConcaveCollisionAlgorithm() +{ +} + + + +btSoftBodyTriangleCallback::btSoftBodyTriangleCallback(btDispatcher* dispatcher,btCollisionObject* body0,btCollisionObject* body1,bool isSwapped): + m_dispatcher(dispatcher), + m_dispatchInfoPtr(0) +{ + m_softBody = (btSoftBody*) (isSwapped? body1:body0); + m_triBody = isSwapped? body0:body1; + + // + // create the manifold from the dispatcher 'manifold pool' + // +// m_manifoldPtr = m_dispatcher->getNewManifold(m_convexBody,m_triBody); + + clearCache(); +} + +btSoftBodyTriangleCallback::~btSoftBodyTriangleCallback() +{ + clearCache(); +// m_dispatcher->releaseManifold( m_manifoldPtr ); + +} + + +void btSoftBodyTriangleCallback::clearCache() +{ + for (int i=0;i<m_shapeCache.size();i++) + { + btTriIndex* tmp = m_shapeCache.getAtIndex(i); + btAssert(tmp); + btAssert(tmp->m_childShape); + m_softBody->getWorldInfo()->m_sparsesdf.RemoveReferences(tmp->m_childShape);//necessary? + delete tmp->m_childShape; + } + m_shapeCache.clear(); +}; + + +void btSoftBodyTriangleCallback::processTriangle(btVector3* triangle,int partId, int triangleIndex) +{ + //just for debugging purposes + //printf("triangle %d",m_triangleCount++); + btCollisionObject* ob = static_cast<btCollisionObject*>(m_triBody); + btCollisionAlgorithmConstructionInfo ci; + ci.m_dispatcher1 = m_dispatcher; + + ///debug drawing of the overlapping triangles + if (m_dispatchInfoPtr && m_dispatchInfoPtr->m_debugDraw && m_dispatchInfoPtr->m_debugDraw->getDebugMode() > 0) + { + btVector3 color(255,255,0); + btTransform& tr = ob->getWorldTransform(); + m_dispatchInfoPtr->m_debugDraw->drawLine(tr(triangle[0]),tr(triangle[1]),color); + m_dispatchInfoPtr->m_debugDraw->drawLine(tr(triangle[1]),tr(triangle[2]),color); + m_dispatchInfoPtr->m_debugDraw->drawLine(tr(triangle[2]),tr(triangle[0]),color); + } + + btTriIndex triIndex(partId,triangleIndex,0); + btHashKey<btTriIndex> triKey(triIndex.getUid()); + + + btTriIndex* shapeIndex = m_shapeCache[triKey]; + if (shapeIndex) + { + btCollisionShape* tm = shapeIndex->m_childShape; + btAssert(tm); + + //copy over user pointers to temporary shape + tm->setUserPointer(ob->getRootCollisionShape()->getUserPointer()); + + btCollisionShape* tmpShape = ob->getCollisionShape(); + ob->internalSetTemporaryCollisionShape( tm ); + + + btCollisionAlgorithm* colAlgo = ci.m_dispatcher1->findAlgorithm(m_softBody,m_triBody,0);//m_manifoldPtr); + + colAlgo->processCollision(m_softBody,m_triBody,*m_dispatchInfoPtr,m_resultOut); + colAlgo->~btCollisionAlgorithm(); + ci.m_dispatcher1->freeCollisionAlgorithm(colAlgo); + ob->internalSetTemporaryCollisionShape( tmpShape); + return; + } + + //aabb filter is already applied! + + //btCollisionObject* colObj = static_cast<btCollisionObject*>(m_convexProxy->m_clientObject); + +// if (m_softBody->getCollisionShape()->getShapeType()== + { +// btVector3 other; + btVector3 normal = (triangle[1]-triangle[0]).cross(triangle[2]-triangle[0]); + normal.normalize(); + normal*= BT_SOFTBODY_TRIANGLE_EXTRUSION; +// other=(triangle[0]+triangle[1]+triangle[2])*0.333333f; +// other+=normal*22.f; + btVector3 pts[6] = {triangle[0], + triangle[1], + triangle[2], + triangle[0]-normal, + triangle[1]-normal, + triangle[2]-normal}; + + btConvexHullShape* tm = new btConvexHullShape(&pts[0].getX(),6); + + +// btBU_Simplex1to4 tm(triangle[0],triangle[1],triangle[2],other); + + //btTriangleShape tm(triangle[0],triangle[1],triangle[2]); + // tm.setMargin(m_collisionMarginTriangle); + + //copy over user pointers to temporary shape + tm->setUserPointer(ob->getRootCollisionShape()->getUserPointer()); + + btCollisionShape* tmpShape = ob->getCollisionShape(); + ob->internalSetTemporaryCollisionShape( tm ); + + + btCollisionAlgorithm* colAlgo = ci.m_dispatcher1->findAlgorithm(m_softBody,m_triBody,0);//m_manifoldPtr); + ///this should use the btDispatcher, so the actual registered algorithm is used + // btConvexConvexAlgorithm cvxcvxalgo(m_manifoldPtr,ci,m_convexBody,m_triBody); + + //m_resultOut->setShapeIdentifiers(-1,-1,partId,triangleIndex); + // cvxcvxalgo.setShapeIdentifiers(-1,-1,partId,triangleIndex); +// cvxcvxalgo.processCollision(m_convexBody,m_triBody,*m_dispatchInfoPtr,m_resultOut); + colAlgo->processCollision(m_softBody,m_triBody,*m_dispatchInfoPtr,m_resultOut); + colAlgo->~btCollisionAlgorithm(); + ci.m_dispatcher1->freeCollisionAlgorithm(colAlgo); + + + ob->internalSetTemporaryCollisionShape( tmpShape ); + triIndex.m_childShape = tm; + m_shapeCache.insert(triKey,triIndex); + + } + + + +} + + + +void btSoftBodyTriangleCallback::setTimeStepAndCounters(btScalar collisionMarginTriangle,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut) +{ + m_dispatchInfoPtr = &dispatchInfo; + m_collisionMarginTriangle = collisionMarginTriangle+btScalar(BT_SOFTBODY_TRIANGLE_EXTRUSION); + m_resultOut = resultOut; + + + btVector3 aabbWorldSpaceMin,aabbWorldSpaceMax; + m_softBody->getAabb(aabbWorldSpaceMin,aabbWorldSpaceMax); + btVector3 halfExtents = (aabbWorldSpaceMax-aabbWorldSpaceMin)*btScalar(0.5); + btVector3 softBodyCenter = (aabbWorldSpaceMax+aabbWorldSpaceMin)*btScalar(0.5); + + btTransform softTransform; + softTransform.setIdentity(); + softTransform.setOrigin(softBodyCenter); + + btTransform convexInTriangleSpace; + convexInTriangleSpace = m_triBody->getWorldTransform().inverse() * softTransform; + btTransformAabb(halfExtents,m_collisionMarginTriangle,convexInTriangleSpace,m_aabbMin,m_aabbMax); +} + +void btSoftBodyConcaveCollisionAlgorithm::clearCache() +{ + m_btSoftBodyTriangleCallback.clearCache(); + +} + +void btSoftBodyConcaveCollisionAlgorithm::processCollision (btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut) +{ + + + btCollisionObject* convexBody = m_isSwapped ? body1 : body0; + btCollisionObject* triBody = m_isSwapped ? body0 : body1; + + if (triBody->getCollisionShape()->isConcave()) + { + + + btCollisionObject* triOb = triBody; + btConcaveShape* concaveShape = static_cast<btConcaveShape*>( triOb->getCollisionShape()); + + // if (convexBody->getCollisionShape()->isConvex()) + { + btScalar collisionMarginTriangle = concaveShape->getMargin(); + +// resultOut->setPersistentManifold(m_btSoftBodyTriangleCallback.m_manifoldPtr); + m_btSoftBodyTriangleCallback.setTimeStepAndCounters(collisionMarginTriangle,dispatchInfo,resultOut); + + //Disable persistency. previously, some older algorithm calculated all contacts in one go, so you can clear it here. + //m_dispatcher->clearManifold(m_btSoftBodyTriangleCallback.m_manifoldPtr); + +// m_btSoftBodyTriangleCallback.m_manifoldPtr->setBodies(convexBody,triBody); + + + concaveShape->processAllTriangles( &m_btSoftBodyTriangleCallback,m_btSoftBodyTriangleCallback.getAabbMin(),m_btSoftBodyTriangleCallback.getAabbMax()); + + // resultOut->refreshContactPoints(); + + } + + } + +} + + +btScalar btSoftBodyConcaveCollisionAlgorithm::calculateTimeOfImpact(btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut) +{ + (void)resultOut; + (void)dispatchInfo; + btCollisionObject* convexbody = m_isSwapped ? body1 : body0; + btCollisionObject* triBody = m_isSwapped ? body0 : body1; + + + //quick approximation using raycast, todo: hook up to the continuous collision detection (one of the btConvexCast) + + //only perform CCD above a certain threshold, this prevents blocking on the long run + //because object in a blocked ccd state (hitfraction<1) get their linear velocity halved each frame... + btScalar squareMot0 = (convexbody->getInterpolationWorldTransform().getOrigin() - convexbody->getWorldTransform().getOrigin()).length2(); + if (squareMot0 < convexbody->getCcdSquareMotionThreshold()) + { + return btScalar(1.); + } + + //const btVector3& from = convexbody->m_worldTransform.getOrigin(); + //btVector3 to = convexbody->m_interpolationWorldTransform.getOrigin(); + //todo: only do if the motion exceeds the 'radius' + + btTransform triInv = triBody->getWorldTransform().inverse(); + btTransform convexFromLocal = triInv * convexbody->getWorldTransform(); + btTransform convexToLocal = triInv * convexbody->getInterpolationWorldTransform(); + + struct LocalTriangleSphereCastCallback : public btTriangleCallback + { + btTransform m_ccdSphereFromTrans; + btTransform m_ccdSphereToTrans; + btTransform m_meshTransform; + + btScalar m_ccdSphereRadius; + btScalar m_hitFraction; + + + LocalTriangleSphereCastCallback(const btTransform& from,const btTransform& to,btScalar ccdSphereRadius,btScalar hitFraction) + :m_ccdSphereFromTrans(from), + m_ccdSphereToTrans(to), + m_ccdSphereRadius(ccdSphereRadius), + m_hitFraction(hitFraction) + { + } + + + virtual void processTriangle(btVector3* triangle, int partId, int triangleIndex) + { + (void)partId; + (void)triangleIndex; + //do a swept sphere for now + btTransform ident; + ident.setIdentity(); + btConvexCast::CastResult castResult; + castResult.m_fraction = m_hitFraction; + btSphereShape pointShape(m_ccdSphereRadius); + btTriangleShape triShape(triangle[0],triangle[1],triangle[2]); + btVoronoiSimplexSolver simplexSolver; + btSubsimplexConvexCast convexCaster(&pointShape,&triShape,&simplexSolver); + //GjkConvexCast convexCaster(&pointShape,convexShape,&simplexSolver); + //ContinuousConvexCollision convexCaster(&pointShape,convexShape,&simplexSolver,0); + //local space? + + if (convexCaster.calcTimeOfImpact(m_ccdSphereFromTrans,m_ccdSphereToTrans, + ident,ident,castResult)) + { + if (m_hitFraction > castResult.m_fraction) + m_hitFraction = castResult.m_fraction; + } + + } + + }; + + + + + + if (triBody->getCollisionShape()->isConcave()) + { + btVector3 rayAabbMin = convexFromLocal.getOrigin(); + rayAabbMin.setMin(convexToLocal.getOrigin()); + btVector3 rayAabbMax = convexFromLocal.getOrigin(); + rayAabbMax.setMax(convexToLocal.getOrigin()); + btScalar ccdRadius0 = convexbody->getCcdSweptSphereRadius(); + rayAabbMin -= btVector3(ccdRadius0,ccdRadius0,ccdRadius0); + rayAabbMax += btVector3(ccdRadius0,ccdRadius0,ccdRadius0); + + btScalar curHitFraction = btScalar(1.); //is this available? + LocalTriangleSphereCastCallback raycastCallback(convexFromLocal,convexToLocal, + convexbody->getCcdSweptSphereRadius(),curHitFraction); + + raycastCallback.m_hitFraction = convexbody->getHitFraction(); + + btCollisionObject* concavebody = triBody; + + btConcaveShape* triangleMesh = (btConcaveShape*) concavebody->getCollisionShape(); + + if (triangleMesh) + { + triangleMesh->processAllTriangles(&raycastCallback,rayAabbMin,rayAabbMax); + } + + + + if (raycastCallback.m_hitFraction < convexbody->getHitFraction()) + { + convexbody->setHitFraction( raycastCallback.m_hitFraction); + return raycastCallback.m_hitFraction; + } + } + + return btScalar(1.); + +} diff --git a/extern/bullet2/src/BulletSoftBody/btSoftBodyConcaveCollisionAlgorithm.h b/extern/bullet2/src/BulletSoftBody/btSoftBodyConcaveCollisionAlgorithm.h new file mode 100644 index 00000000000..08ac3f11e20 --- /dev/null +++ b/extern/bullet2/src/BulletSoftBody/btSoftBodyConcaveCollisionAlgorithm.h @@ -0,0 +1,153 @@ +/* +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. +*/ + +#ifndef SOFT_BODY_CONCAVE_COLLISION_ALGORITHM_H +#define SOFT_BODY_CONCAVE_COLLISION_ALGORITHM_H + +#include "BulletCollision/BroadphaseCollision/btCollisionAlgorithm.h" +#include "BulletCollision/BroadphaseCollision/btDispatcher.h" +#include "BulletCollision/BroadphaseCollision/btBroadphaseInterface.h" +#include "BulletCollision/CollisionShapes/btTriangleCallback.h" +#include "BulletCollision/NarrowPhaseCollision/btPersistentManifold.h" +class btDispatcher; +#include "BulletCollision/BroadphaseCollision/btBroadphaseProxy.h" +#include "BulletCollision/CollisionDispatch/btCollisionCreateFunc.h" +class btSoftBody; +class btCollisionShape; + +#include "LinearMath/btHashMap.h" + +#include "BulletCollision/BroadphaseCollision/btQuantizedBvh.h" //for definition of MAX_NUM_PARTS_IN_BITS + +struct btTriIndex +{ + int m_PartIdTriangleIndex; + class btCollisionShape* m_childShape; + + btTriIndex(int partId,int triangleIndex,btCollisionShape* shape) + { + m_PartIdTriangleIndex = (partId<<(31-MAX_NUM_PARTS_IN_BITS)) | triangleIndex; + m_childShape = shape; + } + + int getTriangleIndex() const + { + // Get only the lower bits where the triangle index is stored + return (m_PartIdTriangleIndex&~((~0)<<(31-MAX_NUM_PARTS_IN_BITS))); + } + int getPartId() const + { + // Get only the highest bits where the part index is stored + return (m_PartIdTriangleIndex>>(31-MAX_NUM_PARTS_IN_BITS)); + } + int getUid() const + { + return m_PartIdTriangleIndex; + } +}; + + +///For each triangle in the concave mesh that overlaps with the AABB of a soft body (m_softBody), processTriangle is called. +class btSoftBodyTriangleCallback : public btTriangleCallback +{ + btSoftBody* m_softBody; + btCollisionObject* m_triBody; + + btVector3 m_aabbMin; + btVector3 m_aabbMax ; + + btManifoldResult* m_resultOut; + + btDispatcher* m_dispatcher; + const btDispatcherInfo* m_dispatchInfoPtr; + btScalar m_collisionMarginTriangle; + + btHashMap<btHashKey<btTriIndex>,btTriIndex> m_shapeCache; + +public: +int m_triangleCount; + +// btPersistentManifold* m_manifoldPtr; + + btSoftBodyTriangleCallback(btDispatcher* dispatcher,btCollisionObject* body0,btCollisionObject* body1,bool isSwapped); + + void setTimeStepAndCounters(btScalar collisionMarginTriangle,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut); + + virtual ~btSoftBodyTriangleCallback(); + + virtual void processTriangle(btVector3* triangle, int partId, int triangleIndex); + + void clearCache(); + + SIMD_FORCE_INLINE const btVector3& getAabbMin() const + { + return m_aabbMin; + } + SIMD_FORCE_INLINE const btVector3& getAabbMax() const + { + return m_aabbMax; + } + +}; + + + + +/// btSoftBodyConcaveCollisionAlgorithm supports collision between soft body shapes and (concave) trianges meshes. +class btSoftBodyConcaveCollisionAlgorithm : public btCollisionAlgorithm +{ + + bool m_isSwapped; + + btSoftBodyTriangleCallback m_btSoftBodyTriangleCallback; + +public: + + btSoftBodyConcaveCollisionAlgorithm( const btCollisionAlgorithmConstructionInfo& ci,btCollisionObject* body0,btCollisionObject* body1,bool isSwapped); + + virtual ~btSoftBodyConcaveCollisionAlgorithm(); + + virtual void processCollision (btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut); + + btScalar calculateTimeOfImpact(btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut); + + virtual void getAllContactManifolds(btManifoldArray& manifoldArray) + { + //we don't add any manifolds + } + + void clearCache(); + + struct CreateFunc :public btCollisionAlgorithmCreateFunc + { + virtual btCollisionAlgorithm* CreateCollisionAlgorithm(btCollisionAlgorithmConstructionInfo& ci, btCollisionObject* body0,btCollisionObject* body1) + { + void* mem = ci.m_dispatcher1->allocateCollisionAlgorithm(sizeof(btSoftBodyConcaveCollisionAlgorithm)); + return new(mem) btSoftBodyConcaveCollisionAlgorithm(ci,body0,body1,false); + } + }; + + struct SwappedCreateFunc :public btCollisionAlgorithmCreateFunc + { + virtual btCollisionAlgorithm* CreateCollisionAlgorithm(btCollisionAlgorithmConstructionInfo& ci, btCollisionObject* body0,btCollisionObject* body1) + { + void* mem = ci.m_dispatcher1->allocateCollisionAlgorithm(sizeof(btSoftBodyConcaveCollisionAlgorithm)); + return new(mem) btSoftBodyConcaveCollisionAlgorithm(ci,body0,body1,true); + } + }; + +}; + +#endif //SOFT_BODY_CONCAVE_COLLISION_ALGORITHM_H diff --git a/extern/bullet2/src/BulletSoftBody/btSoftBodyHelpers.cpp b/extern/bullet2/src/BulletSoftBody/btSoftBodyHelpers.cpp new file mode 100644 index 00000000000..d9919967233 --- /dev/null +++ b/extern/bullet2/src/BulletSoftBody/btSoftBodyHelpers.cpp @@ -0,0 +1,653 @@ +/* +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. +*/ +///btSoftBodyHelpers.cpp by Nathanael Presson + +#include "btSoftBodyInternals.h" +#include <stdio.h> +#include <string.h> +#include "btSoftBodyHelpers.h" +#include "LinearMath/btConvexHull.h" + +// +static void drawVertex( btIDebugDraw* idraw, + const btVector3& x,btScalar s,const btVector3& c) + { + idraw->drawLine(x-btVector3(s,0,0),x+btVector3(s,0,0),c); + idraw->drawLine(x-btVector3(0,s,0),x+btVector3(0,s,0),c); + idraw->drawLine(x-btVector3(0,0,s),x+btVector3(0,0,s),c); + } + +// +static void drawBox( btIDebugDraw* idraw, + const btVector3& mins, + const btVector3& maxs, + const btVector3& color) +{ +const btVector3 c[]={ btVector3(mins.x(),mins.y(),mins.z()), + btVector3(maxs.x(),mins.y(),mins.z()), + btVector3(maxs.x(),maxs.y(),mins.z()), + btVector3(mins.x(),maxs.y(),mins.z()), + btVector3(mins.x(),mins.y(),maxs.z()), + btVector3(maxs.x(),mins.y(),maxs.z()), + btVector3(maxs.x(),maxs.y(),maxs.z()), + btVector3(mins.x(),maxs.y(),maxs.z())}; +idraw->drawLine(c[0],c[1],color);idraw->drawLine(c[1],c[2],color); +idraw->drawLine(c[2],c[3],color);idraw->drawLine(c[3],c[0],color); +idraw->drawLine(c[4],c[5],color);idraw->drawLine(c[5],c[6],color); +idraw->drawLine(c[6],c[7],color);idraw->drawLine(c[7],c[4],color); +idraw->drawLine(c[0],c[4],color);idraw->drawLine(c[1],c[5],color); +idraw->drawLine(c[2],c[6],color);idraw->drawLine(c[3],c[7],color); +} + +// +static void drawTree( btIDebugDraw* idraw, + const btDbvtNode* node, + int depth, + const btVector3& ncolor, + const btVector3& lcolor, + int mindepth, + int maxdepth) +{ +if(node) + { + if(node->isinternal()&&((depth<maxdepth)||(maxdepth<0))) + { + drawTree(idraw,node->childs[0],depth+1,ncolor,lcolor,mindepth,maxdepth); + drawTree(idraw,node->childs[1],depth+1,ncolor,lcolor,mindepth,maxdepth); + } + if(depth>=mindepth) + { + const btScalar scl=(btScalar)(node->isinternal()?1:1); + const btVector3 mi=node->volume.Center()-node->volume.Extents()*scl; + const btVector3 mx=node->volume.Center()+node->volume.Extents()*scl; + drawBox(idraw,mi,mx,node->isleaf()?lcolor:ncolor); + } + } +} + +// +template <typename T> +static inline T sum(const btAlignedObjectArray<T>& items) +{ +T v; +if(items.size()) + { + v=items[0]; + for(int i=1,ni=items.size();i<ni;++i) + { + v+=items[i]; + } + } +return(v); +} + +// +template <typename T,typename Q> +static inline void add(btAlignedObjectArray<T>& items,const Q& value) +{ +for(int i=0,ni=items.size();i<ni;++i) + { + items[i]+=value; + } +} + +// +template <typename T,typename Q> +static inline void mul(btAlignedObjectArray<T>& items,const Q& value) +{ +for(int i=0,ni=items.size();i<ni;++i) + { + items[i]*=value; + } +} + +// +template <typename T> +static inline T average(const btAlignedObjectArray<T>& items) +{ +const btScalar n=(btScalar)(items.size()>0?items.size():1); +return(sum(items)/n); +} + +// +static inline btScalar tetravolume(const btVector3& x0, + const btVector3& x1, + const btVector3& x2, + const btVector3& x3) +{ + const btVector3 a=x1-x0; + const btVector3 b=x2-x0; + const btVector3 c=x3-x0; + return(dot(a,cross(b,c))); +} + +// +#if 0 +static btVector3 stresscolor(btScalar stress) + { + static const btVector3 spectrum[]= { btVector3(1,0,1), + btVector3(0,0,1), + btVector3(0,1,1), + btVector3(0,1,0), + btVector3(1,1,0), + btVector3(1,0,0), + btVector3(1,0,0)}; + static const int ncolors=sizeof(spectrum)/sizeof(spectrum[0])-1; + static const btScalar one=1; + stress=btMax<btScalar>(0,btMin<btScalar>(1,stress))*ncolors; + const int sel=(int)stress; + const btScalar frc=stress-sel; + return(spectrum[sel]+(spectrum[sel+1]-spectrum[sel])*frc); + } +#endif + +// +void btSoftBodyHelpers::Draw( btSoftBody* psb, + btIDebugDraw* idraw, + int drawflags) +{ + const btScalar scl=(btScalar)0.1; + const btScalar nscl=scl*5; + const btVector3 lcolor=btVector3(0,0,0); + const btVector3 ncolor=btVector3(1,1,1); + const btVector3 ccolor=btVector3(1,0,0); + int i,j,nj; + + /* Nodes */ + if(0!=(drawflags&fDrawFlags::Nodes)) + { + for(i=0;i<psb->m_nodes.size();++i) + { + const btSoftBody::Node& n=psb->m_nodes[i]; + if(0==(n.m_material->m_flags&btSoftBody::fMaterial::DebugDraw)) continue; + idraw->drawLine(n.m_x-btVector3(scl,0,0),n.m_x+btVector3(scl,0,0),btVector3(1,0,0)); + idraw->drawLine(n.m_x-btVector3(0,scl,0),n.m_x+btVector3(0,scl,0),btVector3(0,1,0)); + idraw->drawLine(n.m_x-btVector3(0,0,scl),n.m_x+btVector3(0,0,scl),btVector3(0,0,1)); + } + } + /* Links */ + if(0!=(drawflags&fDrawFlags::Links)) + { + for(i=0;i<psb->m_links.size();++i) + { + const btSoftBody::Link& l=psb->m_links[i]; + if(0==(l.m_material->m_flags&btSoftBody::fMaterial::DebugDraw)) continue; + idraw->drawLine(l.m_n[0]->m_x,l.m_n[1]->m_x,lcolor); + } + } + /* Normals */ + if(0!=(drawflags&fDrawFlags::Normals)) + { + for(i=0;i<psb->m_nodes.size();++i) + { + const btSoftBody::Node& n=psb->m_nodes[i]; + if(0==(n.m_material->m_flags&btSoftBody::fMaterial::DebugDraw)) continue; + const btVector3 d=n.m_n*nscl; + idraw->drawLine(n.m_x,n.m_x+d,ncolor); + idraw->drawLine(n.m_x,n.m_x-d,ncolor*0.5); + } + } + /* Contacts */ + if(0!=(drawflags&fDrawFlags::Contacts)) + { + static const btVector3 axis[]={btVector3(1,0,0), + btVector3(0,1,0), + btVector3(0,0,1)}; + for(i=0;i<psb->m_rcontacts.size();++i) + { + const btSoftBody::RContact& c=psb->m_rcontacts[i]; + const btVector3 o= c.m_node->m_x-c.m_cti.m_normal* + (dot(c.m_node->m_x,c.m_cti.m_normal)+c.m_cti.m_offset); + const btVector3 x=cross(c.m_cti.m_normal,axis[c.m_cti.m_normal.minAxis()]).normalized(); + const btVector3 y=cross(x,c.m_cti.m_normal).normalized(); + idraw->drawLine(o-x*nscl,o+x*nscl,ccolor); + idraw->drawLine(o-y*nscl,o+y*nscl,ccolor); + idraw->drawLine(o,o+c.m_cti.m_normal*nscl*3,btVector3(1,1,0)); + } + } + /* Anchors */ + if(0!=(drawflags&fDrawFlags::Anchors)) + { + for(i=0;i<psb->m_anchors.size();++i) + { + const btSoftBody::Anchor& a=psb->m_anchors[i]; + const btVector3 q=a.m_body->getWorldTransform()*a.m_local; + drawVertex(idraw,a.m_node->m_x,0.25,btVector3(1,0,0)); + drawVertex(idraw,q,0.25,btVector3(0,1,0)); + idraw->drawLine(a.m_node->m_x,q,btVector3(1,1,1)); + } + for(i=0;i<psb->m_nodes.size();++i) + { + const btSoftBody::Node& n=psb->m_nodes[i]; + if(0==(n.m_material->m_flags&btSoftBody::fMaterial::DebugDraw)) continue; + if(n.m_im<=0) + { + drawVertex(idraw,n.m_x,0.25,btVector3(1,0,0)); + } + } + } + /* Faces */ + if(0!=(drawflags&fDrawFlags::Faces)) + { + const btScalar scl=(btScalar)0.8; + const btScalar alp=(btScalar)1; + const btVector3 col(0,(btScalar)0.7,0); + for(i=0;i<psb->m_faces.size();++i) + { + const btSoftBody::Face& f=psb->m_faces[i]; + if(0==(f.m_material->m_flags&btSoftBody::fMaterial::DebugDraw)) continue; + const btVector3 x[]={f.m_n[0]->m_x,f.m_n[1]->m_x,f.m_n[2]->m_x}; + const btVector3 c=(x[0]+x[1]+x[2])/3; + idraw->drawTriangle((x[0]-c)*scl+c, + (x[1]-c)*scl+c, + (x[2]-c)*scl+c, + col,alp); + } + } + /* Clusters */ + if(0!=(drawflags&fDrawFlags::Clusters)) + { + srand(1806); + for(i=0;i<psb->m_clusters.size();++i) + { + if(psb->m_clusters[i]->m_collide) + { + btVector3 color( rand()/(btScalar)RAND_MAX, + rand()/(btScalar)RAND_MAX, + rand()/(btScalar)RAND_MAX); + color=color.normalized()*0.75; + btAlignedObjectArray<btVector3> vertices; + vertices.resize(psb->m_clusters[i]->m_nodes.size()); + for(j=0,nj=vertices.size();j<nj;++j) + { + vertices[j]=psb->m_clusters[i]->m_nodes[j]->m_x; + } + HullDesc hdsc(QF_TRIANGLES,vertices.size(),&vertices[0]); + HullResult hres; + HullLibrary hlib; + hdsc.mMaxVertices=vertices.size(); + hlib.CreateConvexHull(hdsc,hres); + const btVector3 center=average(hres.m_OutputVertices); + add(hres.m_OutputVertices,-center); + mul(hres.m_OutputVertices,(btScalar)1); + add(hres.m_OutputVertices,center); + for(j=0;j<(int)hres.mNumFaces;++j) + { + const int idx[]={hres.m_Indices[j*3+0],hres.m_Indices[j*3+1],hres.m_Indices[j*3+2]}; + idraw->drawTriangle(hres.m_OutputVertices[idx[0]], + hres.m_OutputVertices[idx[1]], + hres.m_OutputVertices[idx[2]], + color,1); + } + hlib.ReleaseResult(hres); + } + /* Velocities */ + #if 0 + for(int j=0;j<psb->m_clusters[i].m_nodes.size();++j) + { + const btSoftBody::Cluster& c=psb->m_clusters[i]; + const btVector3 r=c.m_nodes[j]->m_x-c.m_com; + const btVector3 v=c.m_lv+cross(c.m_av,r); + idraw->drawLine(c.m_nodes[j]->m_x,c.m_nodes[j]->m_x+v,btVector3(1,0,0)); + } + #endif + /* Frame */ + btSoftBody::Cluster& c=*psb->m_clusters[i]; + idraw->drawLine(c.m_com,c.m_framexform*btVector3(10,0,0),btVector3(1,0,0)); + idraw->drawLine(c.m_com,c.m_framexform*btVector3(0,10,0),btVector3(0,1,0)); + idraw->drawLine(c.m_com,c.m_framexform*btVector3(0,0,10),btVector3(0,0,1)); + } + } + /* Notes */ + if(0!=(drawflags&fDrawFlags::Notes)) + { + for(i=0;i<psb->m_notes.size();++i) + { + const btSoftBody::Note& n=psb->m_notes[i]; + btVector3 p=n.m_offset; + for(int j=0;j<n.m_rank;++j) + { + p+=n.m_nodes[j]->m_x*n.m_coords[j]; + } + idraw->draw3dText(p,n.m_text); + } + } + /* Node tree */ + if(0!=(drawflags&fDrawFlags::NodeTree)) DrawNodeTree(psb,idraw); + /* Face tree */ + if(0!=(drawflags&fDrawFlags::FaceTree)) DrawFaceTree(psb,idraw); + /* Cluster tree */ + if(0!=(drawflags&fDrawFlags::ClusterTree)) DrawClusterTree(psb,idraw); + /* Joints */ + if(0!=(drawflags&fDrawFlags::Joints)) + { + for(i=0;i<psb->m_joints.size();++i) + { + const btSoftBody::Joint* pj=psb->m_joints[i]; + switch(pj->Type()) + { + case btSoftBody::Joint::eType::Linear: + { + const btSoftBody::LJoint* pjl=(const btSoftBody::LJoint*)pj; + const btVector3 a0=pj->m_bodies[0].xform()*pjl->m_refs[0]; + const btVector3 a1=pj->m_bodies[1].xform()*pjl->m_refs[1]; + idraw->drawLine(pj->m_bodies[0].xform().getOrigin(),a0,btVector3(1,1,0)); + idraw->drawLine(pj->m_bodies[1].xform().getOrigin(),a1,btVector3(0,1,1)); + drawVertex(idraw,a0,0.25,btVector3(1,1,0)); + drawVertex(idraw,a1,0.25,btVector3(0,1,1)); + } + break; + case btSoftBody::Joint::eType::Angular: + { + const btSoftBody::AJoint* pja=(const btSoftBody::AJoint*)pj; + const btVector3 o0=pj->m_bodies[0].xform().getOrigin(); + const btVector3 o1=pj->m_bodies[1].xform().getOrigin(); + const btVector3 a0=pj->m_bodies[0].xform().getBasis()*pj->m_refs[0]; + const btVector3 a1=pj->m_bodies[1].xform().getBasis()*pj->m_refs[1]; + idraw->drawLine(o0,o0+a0*10,btVector3(1,1,0)); + idraw->drawLine(o0,o0+a1*10,btVector3(1,1,0)); + idraw->drawLine(o1,o1+a0*10,btVector3(0,1,1)); + idraw->drawLine(o1,o1+a1*10,btVector3(0,1,1)); + } + } + } + } +} + +// +void btSoftBodyHelpers::DrawInfos( btSoftBody* psb, + btIDebugDraw* idraw, + bool masses, + bool areas, + bool /*stress*/) +{ + for(int i=0;i<psb->m_nodes.size();++i) + { + const btSoftBody::Node& n=psb->m_nodes[i]; + char text[2048]={0}; + char buff[1024]; + if(masses) + { + sprintf(buff," M(%.2f)",1/n.m_im); + strcat(text,buff); + } + if(areas) + { + sprintf(buff," A(%.2f)",n.m_area); + strcat(text,buff); + } + if(text[0]) idraw->draw3dText(n.m_x,text); + } +} + +// +void btSoftBodyHelpers::DrawNodeTree( btSoftBody* psb, + btIDebugDraw* idraw, + int mindepth, + int maxdepth) +{ +drawTree(idraw,psb->m_ndbvt.m_root,0,btVector3(1,0,1),btVector3(1,1,1),mindepth,maxdepth); +} + +// +void btSoftBodyHelpers::DrawFaceTree( btSoftBody* psb, + btIDebugDraw* idraw, + int mindepth, + int maxdepth) +{ +drawTree(idraw,psb->m_fdbvt.m_root,0,btVector3(0,1,0),btVector3(1,0,0),mindepth,maxdepth); +} + +// +void btSoftBodyHelpers::DrawClusterTree( btSoftBody* psb, + btIDebugDraw* idraw, + int mindepth, + int maxdepth) +{ +drawTree(idraw,psb->m_cdbvt.m_root,0,btVector3(0,1,1),btVector3(1,0,0),mindepth,maxdepth); +} + +// +void btSoftBodyHelpers::DrawFrame( btSoftBody* psb, + btIDebugDraw* idraw) +{ + if(psb->m_pose.m_bframe) + { + static const btScalar ascl=10; + static const btScalar nscl=(btScalar)0.1; + const btVector3 com=psb->m_pose.m_com; + const btMatrix3x3 trs=psb->m_pose.m_rot*psb->m_pose.m_scl; + const btVector3 Xaxis=(trs*btVector3(1,0,0)).normalized(); + const btVector3 Yaxis=(trs*btVector3(0,1,0)).normalized(); + const btVector3 Zaxis=(trs*btVector3(0,0,1)).normalized(); + idraw->drawLine(com,com+Xaxis*ascl,btVector3(1,0,0)); + idraw->drawLine(com,com+Yaxis*ascl,btVector3(0,1,0)); + idraw->drawLine(com,com+Zaxis*ascl,btVector3(0,0,1)); + for(int i=0;i<psb->m_pose.m_pos.size();++i) + { + const btVector3 x=com+trs*psb->m_pose.m_pos[i]; + drawVertex(idraw,x,nscl,btVector3(1,0,1)); + } + } +} + +// +btSoftBody* btSoftBodyHelpers::CreateRope( btSoftBodyWorldInfo& worldInfo, const btVector3& from, + const btVector3& to, + int res, + int fixeds) +{ + /* Create nodes */ + const int r=res+2; + btVector3* x=new btVector3[r]; + btScalar* m=new btScalar[r]; + int i; + + for(i=0;i<r;++i) + { + const btScalar t=i/(btScalar)(r-1); + x[i]=lerp(from,to,t); + m[i]=1; + } + btSoftBody* psb= new btSoftBody(&worldInfo,r,x,m); + if(fixeds&1) psb->setMass(0,0); + if(fixeds&2) psb->setMass(r-1,0); + delete[] x; + delete[] m; + /* Create links */ + for(i=1;i<r;++i) + { + psb->appendLink(i-1,i); + } + /* Finished */ + return(psb); +} + +// +btSoftBody* btSoftBodyHelpers::CreatePatch(btSoftBodyWorldInfo& worldInfo,const btVector3& corner00, + const btVector3& corner10, + const btVector3& corner01, + const btVector3& corner11, + int resx, + int resy, + int fixeds, + bool gendiags) +{ +#define IDX(_x_,_y_) ((_y_)*rx+(_x_)) + /* Create nodes */ + if((resx<2)||(resy<2)) return(0); + const int rx=resx; + const int ry=resy; + const int tot=rx*ry; + btVector3* x=new btVector3[tot]; + btScalar* m=new btScalar[tot]; + int iy; + + for(iy=0;iy<ry;++iy) + { + const btScalar ty=iy/(btScalar)(ry-1); + const btVector3 py0=lerp(corner00,corner01,ty); + const btVector3 py1=lerp(corner10,corner11,ty); + for(int ix=0;ix<rx;++ix) + { + const btScalar tx=ix/(btScalar)(rx-1); + x[IDX(ix,iy)]=lerp(py0,py1,tx); + m[IDX(ix,iy)]=1; + } + } + btSoftBody* psb=new btSoftBody(&worldInfo,tot,x,m); + if(fixeds&1) psb->setMass(IDX(0,0),0); + if(fixeds&2) psb->setMass(IDX(rx-1,0),0); + if(fixeds&4) psb->setMass(IDX(0,ry-1),0); + if(fixeds&8) psb->setMass(IDX(rx-1,ry-1),0); + delete[] x; + delete[] m; + /* Create links and faces */ + for(iy=0;iy<ry;++iy) + { + for(int ix=0;ix<rx;++ix) + { + const int idx=IDX(ix,iy); + const bool mdx=(ix+1)<rx; + const bool mdy=(iy+1)<ry; + if(mdx) psb->appendLink(idx,IDX(ix+1,iy)); + if(mdy) psb->appendLink(idx,IDX(ix,iy+1)); + if(mdx&&mdy) + { + if((ix+iy)&1) + { + psb->appendFace(IDX(ix,iy),IDX(ix+1,iy),IDX(ix+1,iy+1)); + psb->appendFace(IDX(ix,iy),IDX(ix+1,iy+1),IDX(ix,iy+1)); + if(gendiags) + { + psb->appendLink(IDX(ix,iy),IDX(ix+1,iy+1)); + } + } + else + { + psb->appendFace(IDX(ix,iy+1),IDX(ix,iy),IDX(ix+1,iy)); + psb->appendFace(IDX(ix,iy+1),IDX(ix+1,iy),IDX(ix+1,iy+1)); + if(gendiags) + { + psb->appendLink(IDX(ix+1,iy),IDX(ix,iy+1)); + } + } + } + } + } + /* Finished */ +#undef IDX + return(psb); +} + +// +btSoftBody* btSoftBodyHelpers::CreateEllipsoid(btSoftBodyWorldInfo& worldInfo,const btVector3& center, + const btVector3& radius, + int res) +{ + struct Hammersley + { + static void Generate(btVector3* x,int n) + { + for(int i=0;i<n;i++) + { + btScalar p=0.5,t=0; + for(int j=i;j;p*=0.5,j>>=1) if(j&1) t+=p; + btScalar w=2*t-1; + btScalar a=(SIMD_PI+2*i*SIMD_PI)/n; + btScalar s=btSqrt(1-w*w); + *x++=btVector3(s*btCos(a),s*btSin(a),w); + } + } + }; + btAlignedObjectArray<btVector3> vtx; + vtx.resize(3+res); + Hammersley::Generate(&vtx[0],vtx.size()); + for(int i=0;i<vtx.size();++i) + { + vtx[i]=vtx[i]*radius+center; + } + return(CreateFromConvexHull(worldInfo,&vtx[0],vtx.size())); +} + + + +// +btSoftBody* btSoftBodyHelpers::CreateFromTriMesh(btSoftBodyWorldInfo& worldInfo,const btScalar* vertices, + const int* triangles, + int ntriangles) +{ + int maxidx=0; + int i,j,ni; + + for(i=0,ni=ntriangles*3;i<ni;++i) + { + maxidx=btMax(triangles[i],maxidx); + } + ++maxidx; + btAlignedObjectArray<bool> chks; + btAlignedObjectArray<btVector3> vtx; + chks.resize(maxidx*maxidx,false); + vtx.resize(maxidx); + for(i=0,j=0,ni=maxidx*3;i<ni;++j,i+=3) + { + vtx[j]=btVector3(vertices[i],vertices[i+1],vertices[i+2]); + } + btSoftBody* psb=new btSoftBody(&worldInfo,vtx.size(),&vtx[0],0); + for( i=0,ni=ntriangles*3;i<ni;i+=3) + { + const int idx[]={triangles[i],triangles[i+1],triangles[i+2]}; +#define IDX(_x_,_y_) ((_y_)*maxidx+(_x_)) + for(int j=2,k=0;k<3;j=k++) + { + if(!chks[IDX(idx[j],idx[k])]) + { + chks[IDX(idx[j],idx[k])]=true; + chks[IDX(idx[k],idx[k])]=true; + psb->appendLink(idx[j],idx[k]); + } + } +#undef IDX + psb->appendFace(idx[0],idx[1],idx[2]); + } + psb->randomizeConstraints(); + return(psb); +} + +// +btSoftBody* btSoftBodyHelpers::CreateFromConvexHull(btSoftBodyWorldInfo& worldInfo, const btVector3* vertices, + int nvertices) +{ + HullDesc hdsc(QF_TRIANGLES,nvertices,vertices); + HullResult hres; + HullLibrary hlib;/*??*/ + hdsc.mMaxVertices=nvertices; + hlib.CreateConvexHull(hdsc,hres); + btSoftBody* psb=new btSoftBody(&worldInfo,(int)hres.mNumOutputVertices, + &hres.m_OutputVertices[0],0); + for(int i=0;i<(int)hres.mNumFaces;++i) + { + const int idx[]={ hres.m_Indices[i*3+0], + hres.m_Indices[i*3+1], + hres.m_Indices[i*3+2]}; + if(idx[0]<idx[1]) psb->appendLink( idx[0],idx[1]); + if(idx[1]<idx[2]) psb->appendLink( idx[1],idx[2]); + if(idx[2]<idx[0]) psb->appendLink( idx[2],idx[0]); + psb->appendFace(idx[0],idx[1],idx[2]); + } + hlib.ReleaseResult(hres); + psb->randomizeConstraints(); + return(psb); +} diff --git a/extern/bullet2/src/BulletSoftBody/btSoftBodyHelpers.h b/extern/bullet2/src/BulletSoftBody/btSoftBodyHelpers.h new file mode 100644 index 00000000000..e9c6cb20657 --- /dev/null +++ b/extern/bullet2/src/BulletSoftBody/btSoftBodyHelpers.h @@ -0,0 +1,107 @@ +/* +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 SOFT_BODY_HELPERS_H +#define SOFT_BODY_HELPERS_H + +#include "btSoftBody.h" + +// +// Helpers +// + +/* fDrawFlags */ +struct fDrawFlags { enum _ { + Nodes = 0x0001, + Links = 0x0002, + Faces = 0x0004, + Tetras = 0x0008, + Normals = 0x0010, + Contacts = 0x0020, + Anchors = 0x0040, + Notes = 0x0080, + Clusters = 0x0100, + NodeTree = 0x0200, + FaceTree = 0x0400, + ClusterTree = 0x0800, + Joints = 0x1000, + /* presets */ + Std = Links+Faces+Tetras+Anchors+Notes+Joints, + StdTetra = Std-Faces+Tetras, +};}; + +struct btSoftBodyHelpers +{ + /* Draw body */ + static void Draw( btSoftBody* psb, + btIDebugDraw* idraw, + int drawflags=fDrawFlags::Std); + /* Draw body infos */ + static void DrawInfos( btSoftBody* psb, + btIDebugDraw* idraw, + bool masses, + bool areas, + bool stress); + /* Draw node tree */ + static void DrawNodeTree( btSoftBody* psb, + btIDebugDraw* idraw, + int mindepth=0, + int maxdepth=-1); + /* Draw face tree */ + static void DrawFaceTree( btSoftBody* psb, + btIDebugDraw* idraw, + int mindepth=0, + int maxdepth=-1); + /* Draw cluster tree */ + static void DrawClusterTree(btSoftBody* psb, + btIDebugDraw* idraw, + int mindepth=0, + int maxdepth=-1); + /* Draw rigid frame */ + static void DrawFrame( btSoftBody* psb, + btIDebugDraw* idraw); + /* Create a rope */ + static btSoftBody* CreateRope( btSoftBodyWorldInfo& worldInfo, + const btVector3& from, + const btVector3& to, + int res, + int fixeds); + /* Create a patch */ + static btSoftBody* CreatePatch(btSoftBodyWorldInfo& worldInfo, + const btVector3& corner00, + const btVector3& corner10, + const btVector3& corner01, + const btVector3& corner11, + int resx, + int resy, + int fixeds, + bool gendiags); + /* Create an ellipsoid */ + static btSoftBody* CreateEllipsoid(btSoftBodyWorldInfo& worldInfo, + const btVector3& center, + const btVector3& radius, + int res); + /* Create from trimesh */ + static btSoftBody* CreateFromTriMesh( btSoftBodyWorldInfo& worldInfo, + const btScalar* vertices, + const int* triangles, + int ntriangles); + /* Create from convex-hull */ + static btSoftBody* CreateFromConvexHull( btSoftBodyWorldInfo& worldInfo, + const btVector3* vertices, + int nvertices); +}; + +#endif //SOFT_BODY_HELPERS_H diff --git a/extern/bullet2/src/BulletSoftBody/btSoftBodyInternals.h b/extern/bullet2/src/BulletSoftBody/btSoftBodyInternals.h new file mode 100644 index 00000000000..8fcf633fecc --- /dev/null +++ b/extern/bullet2/src/BulletSoftBody/btSoftBodyInternals.h @@ -0,0 +1,895 @@ +/* +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. +*/ +///btSoftBody implementation by Nathanael Presson + +#ifndef _BT_SOFT_BODY_INTERNALS_H +#define _BT_SOFT_BODY_INTERNALS_H + +#include "btSoftBody.h" + +#include "LinearMath/btQuickprof.h" +#include "BulletCollision/BroadphaseCollision/btBroadphaseInterface.h" +#include "BulletCollision/CollisionDispatch/btCollisionDispatcher.h" +#include "BulletCollision/CollisionShapes/btConvexInternalShape.h" +#include "BulletCollision/NarrowPhaseCollision/btGjkEpa2.h" + +// +// btSymMatrix +// +template <typename T> +struct btSymMatrix +{ + btSymMatrix() : dim(0) {} + btSymMatrix(int n,const T& init=T()) { resize(n,init); } +void resize(int n,const T& init=T()) { dim=n;store.resize((n*(n+1))/2,init); } +int index(int c,int r) const { if(c>r) btSwap(c,r);btAssert(r<dim);return((r*(r+1))/2+c); } +T& operator()(int c,int r) { return(store[index(c,r)]); } +const T& operator()(int c,int r) const { return(store[index(c,r)]); } +btAlignedObjectArray<T> store; +int dim; +}; + +// +// btSoftBodyCollisionShape +// +class btSoftBodyCollisionShape : public btConcaveShape +{ +public: + btSoftBody* m_body; + + btSoftBodyCollisionShape(btSoftBody* backptr) + { + m_body=backptr; + } + + virtual ~btSoftBodyCollisionShape() + { + + } + + void processAllTriangles(btTriangleCallback* /*callback*/,const btVector3& /*aabbMin*/,const btVector3& /*aabbMax*/) const + { + //not yet + btAssert(0); + } + + ///getAabb returns the axis aligned bounding box in the coordinate frame of the given transform t. + virtual void getAabb(const btTransform& t,btVector3& aabbMin,btVector3& aabbMax) const + { + /* t should be identity, but better be safe than...fast? */ + const btVector3 mins=m_body->m_bounds[0]; + const btVector3 maxs=m_body->m_bounds[1]; + const btVector3 crns[]={t*btVector3(mins.x(),mins.y(),mins.z()), + t*btVector3(maxs.x(),mins.y(),mins.z()), + t*btVector3(maxs.x(),maxs.y(),mins.z()), + t*btVector3(mins.x(),maxs.y(),mins.z()), + t*btVector3(mins.x(),mins.y(),maxs.z()), + t*btVector3(maxs.x(),mins.y(),maxs.z()), + t*btVector3(maxs.x(),maxs.y(),maxs.z()), + t*btVector3(mins.x(),maxs.y(),maxs.z())}; + aabbMin=aabbMax=crns[0]; + for(int i=1;i<8;++i) + { + aabbMin.setMin(crns[i]); + aabbMax.setMax(crns[i]); + } + } + + virtual int getShapeType() const + { + return SOFTBODY_SHAPE_PROXYTYPE; + } + virtual void setLocalScaling(const btVector3& /*scaling*/) + { + ///na + } + virtual const btVector3& getLocalScaling() const + { + static const btVector3 dummy(1,1,1); + return dummy; + } + virtual void calculateLocalInertia(btScalar /*mass*/,btVector3& /*inertia*/) const + { + ///not yet + btAssert(0); + } + virtual const char* getName()const + { + return "SoftBody"; + } + +}; + +// +// btSoftClusterCollisionShape +// +class btSoftClusterCollisionShape : public btConvexInternalShape +{ +public: + const btSoftBody::Cluster* m_cluster; + + btSoftClusterCollisionShape (const btSoftBody::Cluster* cluster) : m_cluster(cluster) { setMargin(0); } + + + virtual btVector3 localGetSupportingVertex(const btVector3& vec) const + { + btSoftBody::Node* const * n=&m_cluster->m_nodes[0]; + btScalar d=dot(vec,n[0]->m_x); + int j=0; + for(int i=1,ni=m_cluster->m_nodes.size();i<ni;++i) + { + const btScalar k=dot(vec,n[i]->m_x); + if(k>d) { d=k;j=i; } + } + return(n[j]->m_x); + } + virtual btVector3 localGetSupportingVertexWithoutMargin(const btVector3& vec)const + { + return(localGetSupportingVertex(vec)); + } + //notice that the vectors should be unit length + virtual void batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3* vectors,btVector3* supportVerticesOut,int numVectors) const + {} + + + virtual void calculateLocalInertia(btScalar mass,btVector3& inertia) const + {} + + virtual void getAabb(const btTransform& t,btVector3& aabbMin,btVector3& aabbMax) const + {} + + virtual int getShapeType() const { return SOFTBODY_SHAPE_PROXYTYPE; } + + //debugging + virtual const char* getName()const {return "SOFTCLUSTER";} + + virtual void setMargin(btScalar margin) + { + btConvexInternalShape::setMargin(margin); + } + virtual btScalar getMargin() const + { + return getMargin(); + } +}; + +// +// Inline's +// + +// +template <typename T> +static inline void ZeroInitialize(T& value) +{ +static const T zerodummy; +value=zerodummy; +} +// +template <typename T> +static inline bool CompLess(const T& a,const T& b) +{ return(a<b); } +// +template <typename T> +static inline bool CompGreater(const T& a,const T& b) +{ return(a>b); } +// +template <typename T> +static inline T Lerp(const T& a,const T& b,btScalar t) +{ return(a+(b-a)*t); } +// +template <typename T> +static inline T InvLerp(const T& a,const T& b,btScalar t) +{ return((b+a*t-b*t)/(a*b)); } +// +static inline btMatrix3x3 Lerp( const btMatrix3x3& a, + const btMatrix3x3& b, + btScalar t) +{ +btMatrix3x3 r; +r[0]=Lerp(a[0],b[0],t); +r[1]=Lerp(a[1],b[1],t); +r[2]=Lerp(a[2],b[2],t); +return(r); +} +// +static inline btVector3 Clamp(const btVector3& v,btScalar maxlength) +{ +const btScalar sql=v.length2(); +if(sql>(maxlength*maxlength)) + return((v*maxlength)/btSqrt(sql)); + else + return(v); +} +// +template <typename T> +static inline T Clamp(const T& x,const T& l,const T& h) +{ return(x<l?l:x>h?h:x); } +// +template <typename T> +static inline T Sq(const T& x) +{ return(x*x); } +// +template <typename T> +static inline T Cube(const T& x) +{ return(x*x*x); } +// +template <typename T> +static inline T Sign(const T& x) +{ return((T)(x<0?-1:+1)); } +// +template <typename T> +static inline bool SameSign(const T& x,const T& y) +{ return((x*y)>0); } +// +static inline btScalar ClusterMetric(const btVector3& x,const btVector3& y) +{ +const btVector3 d=x-y; +return(btFabs(d[0])+btFabs(d[1])+btFabs(d[2])); +} +// +static inline btMatrix3x3 ScaleAlongAxis(const btVector3& a,btScalar s) +{ + const btScalar xx=a.x()*a.x(); + const btScalar yy=a.y()*a.y(); + const btScalar zz=a.z()*a.z(); + const btScalar xy=a.x()*a.y(); + const btScalar yz=a.y()*a.z(); + const btScalar zx=a.z()*a.x(); + btMatrix3x3 m; + m[0]=btVector3(1-xx+xx*s,xy*s-xy,zx*s-zx); + m[1]=btVector3(xy*s-xy,1-yy+yy*s,yz*s-yz); + m[2]=btVector3(zx*s-zx,yz*s-yz,1-zz+zz*s); + return(m); +} +// +static inline btMatrix3x3 Cross(const btVector3& v) +{ + btMatrix3x3 m; + m[0]=btVector3(0,-v.z(),+v.y()); + m[1]=btVector3(+v.z(),0,-v.x()); + m[2]=btVector3(-v.y(),+v.x(),0); + return(m); +} +// +static inline btMatrix3x3 Diagonal(btScalar x) +{ + btMatrix3x3 m; + m[0]=btVector3(x,0,0); + m[1]=btVector3(0,x,0); + m[2]=btVector3(0,0,x); + return(m); +} +// +static inline btMatrix3x3 Add(const btMatrix3x3& a, + const btMatrix3x3& b) +{ + btMatrix3x3 r; + for(int i=0;i<3;++i) r[i]=a[i]+b[i]; + return(r); +} +// +static inline btMatrix3x3 Sub(const btMatrix3x3& a, + const btMatrix3x3& b) +{ + btMatrix3x3 r; + for(int i=0;i<3;++i) r[i]=a[i]-b[i]; + return(r); +} +// +static inline btMatrix3x3 Mul(const btMatrix3x3& a, + btScalar b) +{ + btMatrix3x3 r; + for(int i=0;i<3;++i) r[i]=a[i]*b; + return(r); +} +// +static inline void Orthogonalize(btMatrix3x3& m) +{ +m[2]=cross(m[0],m[1]).normalized(); +m[1]=cross(m[2],m[0]).normalized(); +m[0]=cross(m[1],m[2]).normalized(); +} +// +static inline btMatrix3x3 MassMatrix(btScalar im,const btMatrix3x3& iwi,const btVector3& r) +{ + const btMatrix3x3 cr=Cross(r); + return(Sub(Diagonal(im),cr*iwi*cr)); +} + +// +static inline btMatrix3x3 ImpulseMatrix( btScalar dt, + btScalar ima, + btScalar imb, + const btMatrix3x3& iwi, + const btVector3& r) +{ + return(Diagonal(1/dt)*Add(Diagonal(ima),MassMatrix(imb,iwi,r)).inverse()); +} + +// +static inline btMatrix3x3 ImpulseMatrix( btScalar ima,const btMatrix3x3& iia,const btVector3& ra, + btScalar imb,const btMatrix3x3& iib,const btVector3& rb) +{ +return(Add(MassMatrix(ima,iia,ra),MassMatrix(imb,iib,rb)).inverse()); +} + +// +static inline btMatrix3x3 AngularImpulseMatrix( const btMatrix3x3& iia, + const btMatrix3x3& iib) +{ +return(Add(iia,iib).inverse()); +} + +// +static inline btVector3 ProjectOnAxis( const btVector3& v, + const btVector3& a) +{ + return(a*dot(v,a)); +} +// +static inline btVector3 ProjectOnPlane( const btVector3& v, + const btVector3& a) +{ + return(v-ProjectOnAxis(v,a)); +} + +// +static inline void ProjectOrigin( const btVector3& a, + const btVector3& b, + btVector3& prj, + btScalar& sqd) +{ +const btVector3 d=b-a; +const btScalar m2=d.length2(); +if(m2>SIMD_EPSILON) + { + const btScalar t=Clamp<btScalar>(-dot(a,d)/m2,0,1); + const btVector3 p=a+d*t; + const btScalar l2=p.length2(); + if(l2<sqd) + { + prj=p; + sqd=l2; + } + } +} +// +static inline void ProjectOrigin( const btVector3& a, + const btVector3& b, + const btVector3& c, + btVector3& prj, + btScalar& sqd) +{ +const btVector3& q=cross(b-a,c-a); +const btScalar m2=q.length2(); +if(m2>SIMD_EPSILON) + { + const btVector3 n=q/btSqrt(m2); + const btScalar k=dot(a,n); + const btScalar k2=k*k; + if(k2<sqd) + { + const btVector3 p=n*k; + if( (dot(cross(a-p,b-p),q)>0)&& + (dot(cross(b-p,c-p),q)>0)&& + (dot(cross(c-p,a-p),q)>0)) + { + prj=p; + sqd=k2; + } + else + { + ProjectOrigin(a,b,prj,sqd); + ProjectOrigin(b,c,prj,sqd); + ProjectOrigin(c,a,prj,sqd); + } + } + } +} + +// +template <typename T> +static inline T BaryEval( const T& a, + const T& b, + const T& c, + const btVector3& coord) +{ + return(a*coord.x()+b*coord.y()+c*coord.z()); +} +// +static inline btVector3 BaryCoord( const btVector3& a, + const btVector3& b, + const btVector3& c, + const btVector3& p) +{ +const btScalar w[]={ cross(a-p,b-p).length(), + cross(b-p,c-p).length(), + cross(c-p,a-p).length()}; +const btScalar isum=1/(w[0]+w[1]+w[2]); +return(btVector3(w[1]*isum,w[2]*isum,w[0]*isum)); +} + +// +static btScalar ImplicitSolve( btSoftBody::ImplicitFn* fn, + const btVector3& a, + const btVector3& b, + const btScalar accuracy, + const int maxiterations=256) +{ +btScalar span[2]={0,1}; +btScalar values[2]={fn->Eval(a),fn->Eval(b)}; +if(values[0]>values[1]) + { + btSwap(span[0],span[1]); + btSwap(values[0],values[1]); + } +if(values[0]>-accuracy) return(-1); +if(values[1]<+accuracy) return(-1); +for(int i=0;i<maxiterations;++i) + { + const btScalar t=Lerp(span[0],span[1],values[0]/(values[0]-values[1])); + const btScalar v=fn->Eval(Lerp(a,b,t)); + if((t<=0)||(t>=1)) break; + if(btFabs(v)<accuracy) return(t); + if(v<0) + { span[0]=t;values[0]=v; } + else + { span[1]=t;values[1]=v; } + } +return(-1); +} + +// +static inline btVector3 NormalizeAny(const btVector3& v) +{ + const btScalar l=v.length(); + if(l>SIMD_EPSILON) + return(v/l); + else + return(btVector3(0,0,0)); +} + +// +static inline btDbvtVolume VolumeOf( const btSoftBody::Face& f, + btScalar margin) +{ +const btVector3* pts[]={ &f.m_n[0]->m_x, + &f.m_n[1]->m_x, + &f.m_n[2]->m_x}; +btDbvtVolume vol=btDbvtVolume::FromPoints(pts,3); +vol.Expand(btVector3(margin,margin,margin)); +return(vol); +} + +// +static inline btVector3 CenterOf( const btSoftBody::Face& f) +{ +return((f.m_n[0]->m_x+f.m_n[1]->m_x+f.m_n[2]->m_x)/3); +} + +// +static inline btScalar AreaOf( const btVector3& x0, + const btVector3& x1, + const btVector3& x2) +{ + const btVector3 a=x1-x0; + const btVector3 b=x2-x0; + const btVector3 cr=cross(a,b); + const btScalar area=cr.length(); + return(area); +} + +// +static inline btScalar VolumeOf( const btVector3& x0, + const btVector3& x1, + const btVector3& x2, + const btVector3& x3) +{ + const btVector3 a=x1-x0; + const btVector3 b=x2-x0; + const btVector3 c=x3-x0; + return(dot(a,cross(b,c))); +} + +// +static void EvaluateMedium( const btSoftBodyWorldInfo* wfi, + const btVector3& x, + btSoftBody::sMedium& medium) +{ + medium.m_velocity = btVector3(0,0,0); + medium.m_pressure = 0; + medium.m_density = wfi->air_density; + if(wfi->water_density>0) + { + const btScalar depth=-(dot(x,wfi->water_normal)+wfi->water_offset); + if(depth>0) + { + medium.m_density = wfi->water_density; + medium.m_pressure = depth*wfi->water_density*wfi->m_gravity.length(); + } + } +} + +// +static inline void ApplyClampedForce( btSoftBody::Node& n, + const btVector3& f, + btScalar dt) +{ + const btScalar dtim=dt*n.m_im; + if((f*dtim).length2()>n.m_v.length2()) + {/* Clamp */ + n.m_f-=ProjectOnAxis(n.m_v,f.normalized())/dtim; + } + else + {/* Apply */ + n.m_f+=f; + } +} + +// +static inline int MatchEdge( const btSoftBody::Node* a, + const btSoftBody::Node* b, + const btSoftBody::Node* ma, + const btSoftBody::Node* mb) +{ +if((a==ma)&&(b==mb)) return(0); +if((a==mb)&&(b==ma)) return(1); +return(-1); +} + +// +// btEigen : Extract eigen system, +// straitforward implementation of http://math.fullerton.edu/mathews/n2003/JacobiMethodMod.html +// outputs are NOT sorted. +// +struct btEigen +{ +static int system(btMatrix3x3& a,btMatrix3x3* vectors,btVector3* values=0) + { + static const int maxiterations=16; + static const btScalar accuracy=(btScalar)0.0001; + btMatrix3x3& v=*vectors; + int iterations=0; + vectors->setIdentity(); + do { + int p=0,q=1; + if(btFabs(a[p][q])<btFabs(a[0][2])) { p=0;q=2; } + if(btFabs(a[p][q])<btFabs(a[1][2])) { p=1;q=2; } + if(btFabs(a[p][q])>accuracy) + { + const btScalar w=(a[q][q]-a[p][p])/(2*a[p][q]); + const btScalar z=btFabs(w); + const btScalar t=w/(z*(btSqrt(1+w*w)+z)); + if(t==t)/* [WARNING] let hope that one does not get thrown aways by some compilers... */ + { + const btScalar c=1/btSqrt(t*t+1); + const btScalar s=c*t; + mulPQ(a,c,s,p,q); + mulTPQ(a,c,s,p,q); + mulPQ(v,c,s,p,q); + } else break; + } else break; + } while((++iterations)<maxiterations); + if(values) + { + *values=btVector3(a[0][0],a[1][1],a[2][2]); + } + return(iterations); + } +private: +static inline void mulTPQ(btMatrix3x3& a,btScalar c,btScalar s,int p,int q) + { + const btScalar m[2][3]={ {a[p][0],a[p][1],a[p][2]}, + {a[q][0],a[q][1],a[q][2]}}; + int i; + + for(i=0;i<3;++i) a[p][i]=c*m[0][i]-s*m[1][i]; + for(i=0;i<3;++i) a[q][i]=c*m[1][i]+s*m[0][i]; + } +static inline void mulPQ(btMatrix3x3& a,btScalar c,btScalar s,int p,int q) + { + const btScalar m[2][3]={ {a[0][p],a[1][p],a[2][p]}, + {a[0][q],a[1][q],a[2][q]}}; + int i; + + for(i=0;i<3;++i) a[i][p]=c*m[0][i]-s*m[1][i]; + for(i=0;i<3;++i) a[i][q]=c*m[1][i]+s*m[0][i]; + } +}; + +// +// Polar decomposition, +// "Computing the Polar Decomposition with Applications", Nicholas J. Higham, 1986. +// +static inline int PolarDecompose( const btMatrix3x3& m,btMatrix3x3& q,btMatrix3x3& s) +{ + static const btScalar half=(btScalar)0.5; + static const btScalar accuracy=(btScalar)0.0001; + static const int maxiterations=16; + int i=0; + btScalar det=0; + q = Mul(m,1/btVector3(m[0][0],m[1][1],m[2][2]).length()); + det = q.determinant(); + if(!btFuzzyZero(det)) + { + for(;i<maxiterations;++i) + { + q=Mul(Add(q,Mul(q.adjoint(),1/det).transpose()),half); + const btScalar ndet=q.determinant(); + if(Sq(ndet-det)>accuracy) det=ndet; else break; + } + /* Final orthogonalization */ + Orthogonalize(q); + /* Compute 'S' */ + s=q.transpose()*m; + } + else + { + q.setIdentity(); + s.setIdentity(); + } +return(i); +} + +// +// btSoftColliders +// +struct btSoftColliders +{ + // + // ClusterBase + // + struct ClusterBase : btDbvt::ICollide + { + btScalar erp; + btScalar idt; + btScalar margin; + btScalar friction; + btScalar threshold; + ClusterBase() + { + erp =(btScalar)1; + idt =0; + margin =0; + friction =0; + threshold =(btScalar)0; + } + bool SolveContact( const btGjkEpaSolver2::sResults& res, + btSoftBody::Body ba,btSoftBody::Body bb, + btSoftBody::CJoint& joint) + { + if(res.distance<margin) + { + const btVector3 ra=res.witnesses[0]-ba.xform().getOrigin(); + const btVector3 rb=res.witnesses[1]-bb.xform().getOrigin(); + const btVector3 va=ba.velocity(ra); + const btVector3 vb=bb.velocity(rb); + const btVector3 vrel=va-vb; + const btScalar rvac=dot(vrel,res.normal); + const btScalar depth=res.distance-margin; + const btVector3 iv=res.normal*rvac; + const btVector3 fv=vrel-iv; + joint.m_bodies[0] = ba; + joint.m_bodies[1] = bb; + joint.m_refs[0] = ra*ba.xform().getBasis(); + joint.m_refs[1] = rb*bb.xform().getBasis(); + joint.m_rpos[0] = ra; + joint.m_rpos[1] = rb; + joint.m_cfm = 1; + joint.m_erp = 1; + joint.m_life = 0; + joint.m_maxlife = 0; + joint.m_split = 1; + joint.m_drift = depth*res.normal; + joint.m_normal = res.normal; + joint.m_delete = false; + joint.m_friction = fv.length2()<(-rvac*friction)?1:friction; + joint.m_massmatrix = ImpulseMatrix( ba.invMass(),ba.invWorldInertia(),joint.m_rpos[0], + bb.invMass(),bb.invWorldInertia(),joint.m_rpos[1]); + return(true); + } + return(false); + } + }; + // + // CollideCL_RS + // + struct CollideCL_RS : ClusterBase + { + btSoftBody* psb; + btRigidBody* prb; + void Process(const btDbvtNode* leaf) + { + btSoftBody::Cluster* cluster=(btSoftBody::Cluster*)leaf->data; + btSoftClusterCollisionShape cshape(cluster); + const btConvexShape* rshape=(const btConvexShape*)prb->getCollisionShape(); + btGjkEpaSolver2::sResults res; + if(btGjkEpaSolver2::SignedDistance( &cshape,btTransform::getIdentity(), + rshape,prb->getInterpolationWorldTransform(), + btVector3(1,0,0),res)) + { + btSoftBody::CJoint joint; + if(SolveContact(res,cluster,prb,joint)) + { + btSoftBody::CJoint* pj=new(btAlignedAlloc(sizeof(btSoftBody::CJoint),16)) btSoftBody::CJoint(); + *pj=joint;psb->m_joints.push_back(pj); + if(prb->isStaticOrKinematicObject()) + { + pj->m_erp *= psb->m_cfg.kSKHR_CL; + pj->m_split *= psb->m_cfg.kSK_SPLT_CL; + } + else + { + pj->m_erp *= psb->m_cfg.kSRHR_CL; + pj->m_split *= psb->m_cfg.kSR_SPLT_CL; + } + } + } + } + void Process(btSoftBody* ps,btRigidBody* pr) + { + psb = ps; + prb = pr; + idt = ps->m_sst.isdt; + margin = ps->getCollisionShape()->getMargin()+ + pr->getCollisionShape()->getMargin(); + friction = btMin(psb->m_cfg.kDF,prb->getFriction()); + btVector3 mins; + btVector3 maxs; + + ATTRIBUTE_ALIGNED16(btDbvtVolume) volume; + pr->getCollisionShape()->getAabb(pr->getInterpolationWorldTransform(),mins,maxs); + volume=btDbvtVolume::FromMM(mins,maxs); + volume.Expand(btVector3(1,1,1)*margin); + btDbvt::collideTV(ps->m_cdbvt.m_root,volume,*this); + } + }; + // + // CollideCL_SS + // + struct CollideCL_SS : ClusterBase + { + btSoftBody* bodies[2]; + void Process(const btDbvtNode* la,const btDbvtNode* lb) + { + btSoftBody::Cluster* cla=(btSoftBody::Cluster*)la->data; + btSoftBody::Cluster* clb=(btSoftBody::Cluster*)lb->data; + btSoftClusterCollisionShape csa(cla); + btSoftClusterCollisionShape csb(clb); + btGjkEpaSolver2::sResults res; + if(btGjkEpaSolver2::SignedDistance( &csa,btTransform::getIdentity(), + &csb,btTransform::getIdentity(), + cla->m_com-clb->m_com,res)) + { + btSoftBody::CJoint joint; + if(SolveContact(res,cla,clb,joint)) + { + btSoftBody::CJoint* pj=new(btAlignedAlloc(sizeof(btSoftBody::CJoint),16)) btSoftBody::CJoint(); + *pj=joint;bodies[0]->m_joints.push_back(pj); + pj->m_erp *= btMax(bodies[0]->m_cfg.kSSHR_CL,bodies[1]->m_cfg.kSSHR_CL); + pj->m_split *= (bodies[0]->m_cfg.kSS_SPLT_CL+bodies[1]->m_cfg.kSS_SPLT_CL)/2; + } + } + } + void Process(btSoftBody* psa,btSoftBody* psb) + { + idt = psa->m_sst.isdt; + margin = (psa->getCollisionShape()->getMargin()+psb->getCollisionShape()->getMargin())/2; + friction = btMin(psa->m_cfg.kDF,psb->m_cfg.kDF); + bodies[0] = psa; + bodies[1] = psb; + btDbvt::collideTT(psa->m_cdbvt.m_root,psb->m_cdbvt.m_root,*this); + } + }; + // + // CollideSDF_RS + // + struct CollideSDF_RS : btDbvt::ICollide + { + void Process(const btDbvtNode* leaf) + { + btSoftBody::Node* node=(btSoftBody::Node*)leaf->data; + DoNode(*node); + } + void DoNode(btSoftBody::Node& n) const + { + const btScalar m=n.m_im>0?dynmargin:stamargin; + btSoftBody::RContact c; + if( (!n.m_battach)&& + psb->checkContact(prb,n.m_x,m,c.m_cti)) + { + const btScalar ima=n.m_im; + const btScalar imb=prb->getInvMass(); + const btScalar ms=ima+imb; + if(ms>0) + { + const btTransform& wtr=prb->getInterpolationWorldTransform(); + const btMatrix3x3& iwi=prb->getInvInertiaTensorWorld(); + const btVector3 ra=n.m_x-wtr.getOrigin(); + const btVector3 va=prb->getVelocityInLocalPoint(ra)*psb->m_sst.sdt; + const btVector3 vb=n.m_x-n.m_q; + const btVector3 vr=vb-va; + const btScalar dn=dot(vr,c.m_cti.m_normal); + const btVector3 fv=vr-c.m_cti.m_normal*dn; + const btScalar fc=psb->m_cfg.kDF*prb->getFriction(); + c.m_node = &n; + c.m_c0 = ImpulseMatrix(psb->m_sst.sdt,ima,imb,iwi,ra); + c.m_c1 = ra; + c.m_c2 = ima*psb->m_sst.sdt; + c.m_c3 = fv.length2()<(btFabs(dn)*fc)?0:1-fc; + c.m_c4 = prb->isStaticOrKinematicObject()?psb->m_cfg.kKHR:psb->m_cfg.kCHR; + psb->m_rcontacts.push_back(c); + prb->activate(); + } + } + } + btSoftBody* psb; + btRigidBody* prb; + btScalar dynmargin; + btScalar stamargin; + }; + // + // CollideVF_SS + // + struct CollideVF_SS : btDbvt::ICollide + { + void Process(const btDbvtNode* lnode, + const btDbvtNode* lface) + { + btSoftBody::Node* node=(btSoftBody::Node*)lnode->data; + btSoftBody::Face* face=(btSoftBody::Face*)lface->data; + btVector3 o=node->m_x; + btVector3 p; + btScalar d=SIMD_INFINITY; + ProjectOrigin( face->m_n[0]->m_x-o, + face->m_n[1]->m_x-o, + face->m_n[2]->m_x-o, + p,d); + const btScalar m=mrg+(o-node->m_q).length()*2; + if(d<(m*m)) + { + const btSoftBody::Node* n[]={face->m_n[0],face->m_n[1],face->m_n[2]}; + const btVector3 w=BaryCoord(n[0]->m_x,n[1]->m_x,n[2]->m_x,p+o); + const btScalar ma=node->m_im; + btScalar mb=BaryEval(n[0]->m_im,n[1]->m_im,n[2]->m_im,w); + if( (n[0]->m_im<=0)|| + (n[1]->m_im<=0)|| + (n[2]->m_im<=0)) + { + mb=0; + } + const btScalar ms=ma+mb; + if(ms>0) + { + btSoftBody::SContact c; + c.m_normal = p/-btSqrt(d); + c.m_margin = m; + c.m_node = node; + c.m_face = face; + c.m_weights = w; + c.m_friction = btMax(psb[0]->m_cfg.kDF,psb[1]->m_cfg.kDF); + c.m_cfm[0] = ma/ms*psb[0]->m_cfg.kSHR; + c.m_cfm[1] = mb/ms*psb[1]->m_cfg.kSHR; + psb[0]->m_scontacts.push_back(c); + } + } + } + btSoftBody* psb[2]; + btScalar mrg; + }; +}; + +#endif //_BT_SOFT_BODY_INTERNALS_H diff --git a/extern/bullet2/src/BulletSoftBody/btSoftBodyRigidBodyCollisionConfiguration.cpp b/extern/bullet2/src/BulletSoftBody/btSoftBodyRigidBodyCollisionConfiguration.cpp new file mode 100644 index 00000000000..e79dd214e62 --- /dev/null +++ b/extern/bullet2/src/BulletSoftBody/btSoftBodyRigidBodyCollisionConfiguration.cpp @@ -0,0 +1,135 @@ +/* +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. +*/ + +#include "btSoftBodyRigidBodyCollisionConfiguration.h" +#include "btSoftRigidCollisionAlgorithm.h" +#include "btSoftBodyConcaveCollisionAlgorithm.h" +#include "btSoftSoftCollisionAlgorithm.h" + +#include "LinearMath/btPoolAllocator.h" + +#define ENABLE_SOFTBODY_CONCAVE_COLLISIONS 1 + +btSoftBodyRigidBodyCollisionConfiguration::btSoftBodyRigidBodyCollisionConfiguration(const btDefaultCollisionConstructionInfo& constructionInfo) +:btDefaultCollisionConfiguration(constructionInfo) +{ + void* mem; + + mem = btAlignedAlloc(sizeof(btSoftSoftCollisionAlgorithm::CreateFunc),16); + m_softSoftCreateFunc = new(mem) btSoftSoftCollisionAlgorithm::CreateFunc; + + mem = btAlignedAlloc(sizeof(btSoftRigidCollisionAlgorithm::CreateFunc),16); + m_softRigidConvexCreateFunc = new(mem) btSoftRigidCollisionAlgorithm::CreateFunc; + + mem = btAlignedAlloc(sizeof(btSoftRigidCollisionAlgorithm::CreateFunc),16); + m_swappedSoftRigidConvexCreateFunc = new(mem) btSoftRigidCollisionAlgorithm::CreateFunc; + m_swappedSoftRigidConvexCreateFunc->m_swapped=true; + +#ifdef ENABLE_SOFTBODY_CONCAVE_COLLISIONS + mem = btAlignedAlloc(sizeof(btSoftBodyConcaveCollisionAlgorithm::CreateFunc),16); + m_softRigidConcaveCreateFunc = new(mem) btSoftBodyConcaveCollisionAlgorithm::CreateFunc; + + mem = btAlignedAlloc(sizeof(btSoftBodyConcaveCollisionAlgorithm::CreateFunc),16); + m_swappedSoftRigidConcaveCreateFunc = new(mem) btSoftBodyConcaveCollisionAlgorithm::SwappedCreateFunc; + m_swappedSoftRigidConcaveCreateFunc->m_swapped=true; +#endif + + //replace pool by a new one, with potential larger size + + if (m_ownsCollisionAlgorithmPool && m_collisionAlgorithmPool) + { + int curElemSize = m_collisionAlgorithmPool->getElementSize(); + ///calculate maximum element size, big enough to fit any collision algorithm in the memory pool + + + int maxSize0 = sizeof(btSoftSoftCollisionAlgorithm); + int maxSize1 = sizeof(btSoftRigidCollisionAlgorithm); + int maxSize2 = sizeof(btSoftBodyConcaveCollisionAlgorithm); + + int collisionAlgorithmMaxElementSize = btMax(maxSize0,maxSize1); + collisionAlgorithmMaxElementSize = btMax(collisionAlgorithmMaxElementSize,maxSize2); + if (collisionAlgorithmMaxElementSize > curElemSize) + { + btAlignedFree(m_collisionAlgorithmPool); + void* mem = btAlignedAlloc(sizeof(btPoolAllocator),16); + m_collisionAlgorithmPool = new(mem) btPoolAllocator(collisionAlgorithmMaxElementSize,constructionInfo.m_defaultMaxCollisionAlgorithmPoolSize); + } + } + + + + +} + +btSoftBodyRigidBodyCollisionConfiguration::~btSoftBodyRigidBodyCollisionConfiguration() +{ + m_softSoftCreateFunc->~btCollisionAlgorithmCreateFunc(); + btAlignedFree( m_softSoftCreateFunc); + + m_softRigidConvexCreateFunc->~btCollisionAlgorithmCreateFunc(); + btAlignedFree( m_softRigidConvexCreateFunc); + + m_swappedSoftRigidConvexCreateFunc->~btCollisionAlgorithmCreateFunc(); + btAlignedFree( m_swappedSoftRigidConvexCreateFunc); + +#ifdef ENABLE_SOFTBODY_CONCAVE_COLLISIONS + m_softRigidConcaveCreateFunc->~btCollisionAlgorithmCreateFunc(); + btAlignedFree( m_softRigidConcaveCreateFunc); + + m_swappedSoftRigidConcaveCreateFunc->~btCollisionAlgorithmCreateFunc(); + btAlignedFree( m_swappedSoftRigidConcaveCreateFunc); +#endif +} + +///creation of soft-soft and soft-rigid, and otherwise fallback to base class implementation +btCollisionAlgorithmCreateFunc* btSoftBodyRigidBodyCollisionConfiguration::getCollisionAlgorithmCreateFunc(int proxyType0,int proxyType1) +{ + + ///try to handle the softbody interactions first + + if ((proxyType0 == SOFTBODY_SHAPE_PROXYTYPE ) && (proxyType1==SOFTBODY_SHAPE_PROXYTYPE)) + { + return m_softSoftCreateFunc; + } + + ///softbody versus convex + if (proxyType0 == SOFTBODY_SHAPE_PROXYTYPE && btBroadphaseProxy::isConvex(proxyType1)) + { + return m_softRigidConvexCreateFunc; + } + + ///convex versus soft body + if (btBroadphaseProxy::isConvex(proxyType0) && proxyType1 == SOFTBODY_SHAPE_PROXYTYPE ) + { + return m_swappedSoftRigidConvexCreateFunc; + } + +#ifdef ENABLE_SOFTBODY_CONCAVE_COLLISIONS + ///softbody versus convex + if (proxyType0 == SOFTBODY_SHAPE_PROXYTYPE && btBroadphaseProxy::isConcave(proxyType1)) + { + return m_softRigidConcaveCreateFunc; + } + + ///convex versus soft body + if (btBroadphaseProxy::isConcave(proxyType0) && proxyType1 == SOFTBODY_SHAPE_PROXYTYPE ) + { + return m_swappedSoftRigidConcaveCreateFunc; + } +#endif + + ///fallback to the regular rigid collision shape + return btDefaultCollisionConfiguration::getCollisionAlgorithmCreateFunc(proxyType0,proxyType1); +} diff --git a/extern/bullet2/src/BulletSoftBody/btSoftBodyRigidBodyCollisionConfiguration.h b/extern/bullet2/src/BulletSoftBody/btSoftBodyRigidBodyCollisionConfiguration.h new file mode 100644 index 00000000000..41c3af96939 --- /dev/null +++ b/extern/bullet2/src/BulletSoftBody/btSoftBodyRigidBodyCollisionConfiguration.h @@ -0,0 +1,48 @@ +/* +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. +*/ + +#ifndef BT_SOFTBODY_RIGIDBODY_COLLISION_CONFIGURATION +#define BT_SOFTBODY_RIGIDBODY_COLLISION_CONFIGURATION + +#include "BulletCollision/CollisionDispatch/btDefaultCollisionConfiguration.h" + +class btVoronoiSimplexSolver; +class btGjkEpaPenetrationDepthSolver; + + +///btSoftBodyRigidBodyCollisionConfiguration add softbody interaction on top of btDefaultCollisionConfiguration +class btSoftBodyRigidBodyCollisionConfiguration : public btDefaultCollisionConfiguration +{ + + //default CreationFunctions, filling the m_doubleDispatch table + btCollisionAlgorithmCreateFunc* m_softSoftCreateFunc; + btCollisionAlgorithmCreateFunc* m_softRigidConvexCreateFunc; + btCollisionAlgorithmCreateFunc* m_swappedSoftRigidConvexCreateFunc; + btCollisionAlgorithmCreateFunc* m_softRigidConcaveCreateFunc; + btCollisionAlgorithmCreateFunc* m_swappedSoftRigidConcaveCreateFunc; + +public: + + btSoftBodyRigidBodyCollisionConfiguration(const btDefaultCollisionConstructionInfo& constructionInfo = btDefaultCollisionConstructionInfo()); + + virtual ~btSoftBodyRigidBodyCollisionConfiguration(); + + ///creation of soft-soft and soft-rigid, and otherwise fallback to base class implementation + virtual btCollisionAlgorithmCreateFunc* getCollisionAlgorithmCreateFunc(int proxyType0,int proxyType1); + +}; + +#endif //BT_SOFTBODY_RIGIDBODY_COLLISION_CONFIGURATION + diff --git a/extern/bullet2/src/BulletSoftBody/btSoftRigidCollisionAlgorithm.cpp b/extern/bullet2/src/BulletSoftBody/btSoftRigidCollisionAlgorithm.cpp new file mode 100644 index 00000000000..e5feb5ef749 --- /dev/null +++ b/extern/bullet2/src/BulletSoftBody/btSoftRigidCollisionAlgorithm.cpp @@ -0,0 +1,82 @@ +/* +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. +*/ + +#include "btSoftRigidCollisionAlgorithm.h" +#include "BulletCollision/CollisionDispatch/btCollisionDispatcher.h" +#include "BulletCollision/CollisionShapes/btSphereShape.h" +#include "BulletCollision/CollisionShapes/btBoxShape.h" +#include "BulletCollision/CollisionDispatch/btCollisionObject.h" +#include "btSoftBody.h" +///TODO: include all the shapes that the softbody can collide with +///alternatively, implement special case collision algorithms (just like for rigid collision shapes) + +//#include <stdio.h> + +btSoftRigidCollisionAlgorithm::btSoftRigidCollisionAlgorithm(btPersistentManifold* /*mf*/,const btCollisionAlgorithmConstructionInfo& ci,btCollisionObject* /*col0*/,btCollisionObject* /*col1*/, bool isSwapped) +: btCollisionAlgorithm(ci), +//m_ownManifold(false), +//m_manifoldPtr(mf), +m_isSwapped(isSwapped) +{ +} + + +btSoftRigidCollisionAlgorithm::~btSoftRigidCollisionAlgorithm() +{ + + //m_softBody->m_overlappingRigidBodies.remove(m_rigidCollisionObject); + + /*if (m_ownManifold) + { + if (m_manifoldPtr) + m_dispatcher->releaseManifold(m_manifoldPtr); + } + */ + +} + + +#include <stdio.h> + +void btSoftRigidCollisionAlgorithm::processCollision (btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut) +{ + (void)dispatchInfo; + (void)resultOut; + //printf("btSoftRigidCollisionAlgorithm\n"); + + btSoftBody* softBody = m_isSwapped? (btSoftBody*)body1 : (btSoftBody*)body0; + btCollisionObject* rigidCollisionObject = m_isSwapped? body0 : body1; + + if (softBody->m_collisionDisabledObjects.findLinearSearch(rigidCollisionObject)==softBody->m_collisionDisabledObjects.size()) + { + softBody->defaultCollisionHandler(rigidCollisionObject); + } + + +} + +btScalar btSoftRigidCollisionAlgorithm::calculateTimeOfImpact(btCollisionObject* col0,btCollisionObject* col1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut) +{ + (void)resultOut; + (void)dispatchInfo; + (void)col0; + (void)col1; + + //not yet + return btScalar(1.); +} + + + diff --git a/extern/bullet2/src/BulletSoftBody/btSoftRigidCollisionAlgorithm.h b/extern/bullet2/src/BulletSoftBody/btSoftRigidCollisionAlgorithm.h new file mode 100644 index 00000000000..74327e6c635 --- /dev/null +++ b/extern/bullet2/src/BulletSoftBody/btSoftRigidCollisionAlgorithm.h @@ -0,0 +1,75 @@ +/* +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. +*/ + +#ifndef SOFT_RIGID_COLLISION_ALGORITHM_H +#define SOFT_RIGID_COLLISION_ALGORITHM_H + +#include "BulletCollision/BroadphaseCollision/btCollisionAlgorithm.h" +#include "BulletCollision/BroadphaseCollision/btBroadphaseProxy.h" +#include "BulletCollision/CollisionDispatch/btCollisionCreateFunc.h" +class btPersistentManifold; +#include "BulletCollision/CollisionDispatch/btCollisionDispatcher.h" + +#include "LinearMath/btVector3.h" +class btSoftBody; + +/// btSoftRigidCollisionAlgorithm provides collision detection between btSoftBody and btRigidBody +class btSoftRigidCollisionAlgorithm : public btCollisionAlgorithm +{ +// bool m_ownManifold; +// btPersistentManifold* m_manifoldPtr; + + btSoftBody* m_softBody; + btCollisionObject* m_rigidCollisionObject; + + ///for rigid versus soft (instead of soft versus rigid), we use this swapped boolean + bool m_isSwapped; + +public: + + btSoftRigidCollisionAlgorithm(btPersistentManifold* mf,const btCollisionAlgorithmConstructionInfo& ci,btCollisionObject* col0,btCollisionObject* col1, bool isSwapped); + + virtual ~btSoftRigidCollisionAlgorithm(); + + virtual void processCollision (btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut); + + virtual btScalar calculateTimeOfImpact(btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut); + + virtual void getAllContactManifolds(btManifoldArray& manifoldArray) + { + //we don't add any manifolds + } + + + struct CreateFunc :public btCollisionAlgorithmCreateFunc + { + virtual btCollisionAlgorithm* CreateCollisionAlgorithm(btCollisionAlgorithmConstructionInfo& ci, btCollisionObject* body0,btCollisionObject* body1) + { + void* mem = ci.m_dispatcher1->allocateCollisionAlgorithm(sizeof(btSoftRigidCollisionAlgorithm)); + if (!m_swapped) + { + return new(mem) btSoftRigidCollisionAlgorithm(0,ci,body0,body1,false); + } else + { + return new(mem) btSoftRigidCollisionAlgorithm(0,ci,body0,body1,true); + } + } + }; + +}; + +#endif //SOFT_RIGID_COLLISION_ALGORITHM_H + + diff --git a/extern/bullet2/src/BulletSoftBody/btSoftRigidDynamicsWorld.cpp b/extern/bullet2/src/BulletSoftBody/btSoftRigidDynamicsWorld.cpp new file mode 100644 index 00000000000..b363a2efbc1 --- /dev/null +++ b/extern/bullet2/src/BulletSoftBody/btSoftRigidDynamicsWorld.cpp @@ -0,0 +1,135 @@ +/* +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. +*/ + + +#include "btSoftRigidDynamicsWorld.h" +#include "LinearMath/btQuickprof.h" + +//softbody & helpers +#include "btSoftBody.h" +#include "btSoftBodyHelpers.h" + + + + + +btSoftRigidDynamicsWorld::btSoftRigidDynamicsWorld(btDispatcher* dispatcher,btBroadphaseInterface* pairCache,btConstraintSolver* constraintSolver,btCollisionConfiguration* collisionConfiguration) +:btDiscreteDynamicsWorld(dispatcher,pairCache,constraintSolver,collisionConfiguration) +{ +m_drawFlags = fDrawFlags::Std; +m_drawNodeTree = true; +m_drawFaceTree = false; +m_drawClusterTree = false; +m_sbi.m_broadphase = pairCache; +m_sbi.m_dispatcher = dispatcher; +m_sbi.m_sparsesdf.Initialize(); +m_sbi.m_sparsesdf.Reset(); + +} + +btSoftRigidDynamicsWorld::~btSoftRigidDynamicsWorld() +{ + +} + +void btSoftRigidDynamicsWorld::predictUnconstraintMotion(btScalar timeStep) +{ + btDiscreteDynamicsWorld::predictUnconstraintMotion( timeStep); + + for ( int i=0;i<m_softBodies.size();++i) + { + btSoftBody* psb= m_softBodies[i]; + + psb->predictMotion(timeStep); + } +} + +void btSoftRigidDynamicsWorld::internalSingleStepSimulation( btScalar timeStep) +{ + btDiscreteDynamicsWorld::internalSingleStepSimulation( timeStep ); + + ///solve soft bodies constraints + solveSoftBodiesConstraints(); + + ///update soft bodies + updateSoftBodies(); + +} + +void btSoftRigidDynamicsWorld::updateSoftBodies() +{ + BT_PROFILE("updateSoftBodies"); + + for ( int i=0;i<m_softBodies.size();i++) + { + btSoftBody* psb=(btSoftBody*)m_softBodies[i]; + psb->integrateMotion(); + } +} + +void btSoftRigidDynamicsWorld::solveSoftBodiesConstraints() +{ + BT_PROFILE("solveSoftConstraints"); + + if(m_softBodies.size()) + { + btSoftBody::solveClusters(m_softBodies); + } + + for(int i=0;i<m_softBodies.size();++i) + { + btSoftBody* psb=(btSoftBody*)m_softBodies[i]; + psb->solveConstraints(); + } +} + +void btSoftRigidDynamicsWorld::addSoftBody(btSoftBody* body) +{ + m_softBodies.push_back(body); + + btCollisionWorld::addCollisionObject(body, + btBroadphaseProxy::DefaultFilter, + btBroadphaseProxy::AllFilter); + +} + +void btSoftRigidDynamicsWorld::removeSoftBody(btSoftBody* body) +{ + m_softBodies.remove(body); + + btCollisionWorld::removeCollisionObject(body); +} + +void btSoftRigidDynamicsWorld::debugDrawWorld() +{ + btDiscreteDynamicsWorld::debugDrawWorld(); + + if (getDebugDrawer()) + { + int i; + for ( i=0;i<this->m_softBodies.size();i++) + { + btSoftBody* psb=(btSoftBody*)this->m_softBodies[i]; + btSoftBodyHelpers::DrawFrame(psb,m_debugDrawer); + btSoftBodyHelpers::Draw(psb,m_debugDrawer,m_drawFlags); + if (m_debugDrawer && (m_debugDrawer->getDebugMode() & btIDebugDraw::DBG_DrawAabb)) + { + if(m_drawNodeTree) btSoftBodyHelpers::DrawNodeTree(psb,m_debugDrawer); + if(m_drawFaceTree) btSoftBodyHelpers::DrawFaceTree(psb,m_debugDrawer); + if(m_drawClusterTree) btSoftBodyHelpers::DrawClusterTree(psb,m_debugDrawer); + } + } + } +} diff --git a/extern/bullet2/src/BulletSoftBody/btSoftRigidDynamicsWorld.h b/extern/bullet2/src/BulletSoftBody/btSoftRigidDynamicsWorld.h new file mode 100644 index 00000000000..aa8795d897b --- /dev/null +++ b/extern/bullet2/src/BulletSoftBody/btSoftRigidDynamicsWorld.h @@ -0,0 +1,82 @@ +/* +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. +*/ + +#ifndef BT_SOFT_RIGID_DYNAMICS_WORLD_H +#define BT_SOFT_RIGID_DYNAMICS_WORLD_H + +#include "BulletDynamics/Dynamics/btDiscreteDynamicsWorld.h" +#include "btSoftBody.h" + +typedef btAlignedObjectArray<btSoftBody*> btSoftBodyArray; + +class btSoftRigidDynamicsWorld : public btDiscreteDynamicsWorld +{ + + btSoftBodyArray m_softBodies; + int m_drawFlags; + bool m_drawNodeTree; + bool m_drawFaceTree; + bool m_drawClusterTree; + btSoftBodyWorldInfo m_sbi; + +protected: + + virtual void predictUnconstraintMotion(btScalar timeStep); + + virtual void internalSingleStepSimulation( btScalar timeStep); + + void updateSoftBodies(); + + void solveSoftBodiesConstraints(); + + +public: + + btSoftRigidDynamicsWorld(btDispatcher* dispatcher,btBroadphaseInterface* pairCache,btConstraintSolver* constraintSolver,btCollisionConfiguration* collisionConfiguration); + + virtual ~btSoftRigidDynamicsWorld(); + + virtual void debugDrawWorld(); + + void addSoftBody(btSoftBody* body); + + void removeSoftBody(btSoftBody* body); + + int getDrawFlags() const { return(m_drawFlags); } + void setDrawFlags(int f) { m_drawFlags=f; } + + btSoftBodyWorldInfo& getWorldInfo() + { + return m_sbi; + } + const btSoftBodyWorldInfo& getWorldInfo() const + { + return m_sbi; + } + + + btSoftBodyArray& getSoftBodyArray() + { + return m_softBodies; + } + + const btSoftBodyArray& getSoftBodyArray() const + { + return m_softBodies; + } + +}; + +#endif //BT_SOFT_RIGID_DYNAMICS_WORLD_H diff --git a/extern/bullet2/src/BulletSoftBody/btSoftSoftCollisionAlgorithm.cpp b/extern/bullet2/src/BulletSoftBody/btSoftSoftCollisionAlgorithm.cpp new file mode 100644 index 00000000000..85a727944e0 --- /dev/null +++ b/extern/bullet2/src/BulletSoftBody/btSoftSoftCollisionAlgorithm.cpp @@ -0,0 +1,46 @@ +/* +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. +*/ + +#include "btSoftSoftCollisionAlgorithm.h" +#include "BulletCollision/CollisionDispatch/btCollisionDispatcher.h" +#include "BulletCollision/CollisionShapes/btBoxShape.h" +#include "BulletCollision/CollisionDispatch/btCollisionObject.h" +#include "btSoftBody.h" + +#define USE_PERSISTENT_CONTACTS 1 + +btSoftSoftCollisionAlgorithm::btSoftSoftCollisionAlgorithm(btPersistentManifold* /*mf*/,const btCollisionAlgorithmConstructionInfo& ci,btCollisionObject* /*obj0*/,btCollisionObject* /*obj1*/) +: btCollisionAlgorithm(ci) +//m_ownManifold(false), +//m_manifoldPtr(mf) +{ +} + +btSoftSoftCollisionAlgorithm::~btSoftSoftCollisionAlgorithm() +{ +} + +void btSoftSoftCollisionAlgorithm::processCollision (btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& /*dispatchInfo*/,btManifoldResult* /*resultOut*/) +{ + btSoftBody* soft0 = (btSoftBody*)body0; + btSoftBody* soft1 = (btSoftBody*)body1; + soft0->defaultCollisionHandler(soft1); +} + +btScalar btSoftSoftCollisionAlgorithm::calculateTimeOfImpact(btCollisionObject* /*body0*/,btCollisionObject* /*body1*/,const btDispatcherInfo& /*dispatchInfo*/,btManifoldResult* /*resultOut*/) +{ + //not yet + return 1.f; +} diff --git a/extern/bullet2/src/BulletSoftBody/btSoftSoftCollisionAlgorithm.h b/extern/bullet2/src/BulletSoftBody/btSoftSoftCollisionAlgorithm.h new file mode 100644 index 00000000000..7ca9c3415c9 --- /dev/null +++ b/extern/bullet2/src/BulletSoftBody/btSoftSoftCollisionAlgorithm.h @@ -0,0 +1,69 @@ +/* +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. +*/ + +#ifndef SOFT_SOFT_COLLISION_ALGORITHM_H +#define SOFT_SOFT_COLLISION_ALGORITHM_H + +#include "BulletCollision/BroadphaseCollision/btCollisionAlgorithm.h" +#include "BulletCollision/BroadphaseCollision/btBroadphaseProxy.h" +#include "BulletCollision/BroadphaseCollision/btDispatcher.h" +#include "BulletCollision/CollisionDispatch/btCollisionCreateFunc.h" + +class btPersistentManifold; +class btSoftBody; + +///collision detection between two btSoftBody shapes +class btSoftSoftCollisionAlgorithm : public btCollisionAlgorithm +{ + bool m_ownManifold; + btPersistentManifold* m_manifoldPtr; + + btSoftBody* m_softBody0; + btSoftBody* m_softBody1; + + +public: + btSoftSoftCollisionAlgorithm(const btCollisionAlgorithmConstructionInfo& ci) + : btCollisionAlgorithm(ci) {} + + virtual void processCollision (btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut); + + virtual btScalar calculateTimeOfImpact(btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut); + + virtual void getAllContactManifolds(btManifoldArray& manifoldArray) + { + if (m_manifoldPtr && m_ownManifold) + manifoldArray.push_back(m_manifoldPtr); + } + + btSoftSoftCollisionAlgorithm(btPersistentManifold* mf,const btCollisionAlgorithmConstructionInfo& ci,btCollisionObject* body0,btCollisionObject* body1); + + virtual ~btSoftSoftCollisionAlgorithm(); + + struct CreateFunc :public btCollisionAlgorithmCreateFunc + { + virtual btCollisionAlgorithm* CreateCollisionAlgorithm(btCollisionAlgorithmConstructionInfo& ci, btCollisionObject* body0,btCollisionObject* body1) + { + int bbsize = sizeof(btSoftSoftCollisionAlgorithm); + void* ptr = ci.m_dispatcher1->allocateCollisionAlgorithm(bbsize); + return new(ptr) btSoftSoftCollisionAlgorithm(0,ci,body0,body1); + } + }; + +}; + +#endif //SOFT_SOFT_COLLISION_ALGORITHM_H + + diff --git a/extern/bullet2/src/BulletSoftBody/btSparseSDF.h b/extern/bullet2/src/BulletSoftBody/btSparseSDF.h new file mode 100644 index 00000000000..eafe74be1ae --- /dev/null +++ b/extern/bullet2/src/BulletSoftBody/btSparseSDF.h @@ -0,0 +1,306 @@ +/* +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 diff --git a/extern/bullet2/src/CMakeLists.txt b/extern/bullet2/src/CMakeLists.txt index 0ae1a7ab6ab..043fd3f6e7f 100644 --- a/extern/bullet2/src/CMakeLists.txt +++ b/extern/bullet2/src/CMakeLists.txt @@ -1 +1 @@ -SUBDIRS( BulletCollision BulletDynamics LinearMath ) +SUBDIRS( BulletCollision BulletDynamics LinearMath BulletSoftBody ) diff --git a/extern/bullet2/src/LinearMath/CMakeLists.txt b/extern/bullet2/src/LinearMath/CMakeLists.txt index 207eed94a3e..02ffaad7228 100644 --- a/extern/bullet2/src/LinearMath/CMakeLists.txt +++ b/extern/bullet2/src/LinearMath/CMakeLists.txt @@ -4,7 +4,32 @@ ${BULLET_PHYSICS_SOURCE_DIR}/src } ) ADD_LIBRARY(LibLinearMath -btQuickprof.cpp -btGeometryUtil.cpp + btAlignedObjectArray.h + btList.h + btPoolAllocator.h + btRandom.h + btVector3.h + btDefaultMotionState.h + btMatrix3x3.h + btQuadWord.h + btHashMap.h + btScalar.h + btAabbUtil2.h + btConvexHull.h + btConvexHull.cpp + btMinMax.h + btQuaternion.h + btStackAlloc.h + btGeometryUtil.h + btMotionState.h + btTransform.h + btAlignedAllocator.h + btIDebugDraw.h + btPoint3.h + btQuickprof.h + btTransformUtil.h + btQuickprof.cpp + btGeometryUtil.cpp + btAlignedAllocator.cpp ) diff --git a/extern/bullet2/src/LinearMath/btAabbUtil2.h b/extern/bullet2/src/LinearMath/btAabbUtil2.h index 429163c8138..275c4914628 100644 --- a/extern/bullet2/src/LinearMath/btAabbUtil2.h +++ b/extern/bullet2/src/LinearMath/btAabbUtil2.h @@ -17,12 +17,18 @@ subject to the following restrictions: #ifndef AABB_UTIL2 #define AABB_UTIL2 +#include "btTransform.h" #include "btVector3.h" -#include "btSimdMinMax.h" +#include "btMinMax.h" - -#define btMin(a,b) ((a < b ? a : b)) -#define btMax(a,b) ((a > b ? a : b)) +SIMD_FORCE_INLINE void AabbExpand (btVector3& aabbMin, + btVector3& aabbMax, + const btVector3& expansionMin, + const btVector3& expansionMax) +{ + aabbMin = aabbMin + expansionMin; + aabbMax = aabbMax + expansionMax; +} /// conservative test for overlap between two aabbs @@ -67,6 +73,41 @@ SIMD_FORCE_INLINE int btOutcode(const btVector3& p,const btVector3& halfExtent) } +SIMD_FORCE_INLINE bool btRayAabb2(const btVector3& rayFrom, + const btVector3& rayInvDirection, + const unsigned int raySign[3], + const btVector3 bounds[2], + btScalar& tmin, + btScalar lambda_min, + btScalar lambda_max) +{ + btScalar tmax, tymin, tymax, tzmin, tzmax; + tmin = (bounds[raySign[0]][0] - rayFrom[0]) * rayInvDirection[0]; + tmax = (bounds[1-raySign[0]][0] - rayFrom[0]) * rayInvDirection[0]; + tymin = (bounds[raySign[1]][1] - rayFrom[1]) * rayInvDirection[1]; + tymax = (bounds[1-raySign[1]][1] - rayFrom[1]) * rayInvDirection[1]; + + if ( (tmin > tymax) || (tymin > tmax) ) + return false; + + if (tymin > tmin) + tmin = tymin; + + if (tymax < tmax) + tmax = tymax; + + tzmin = (bounds[raySign[2]][2] - rayFrom[2]) * rayInvDirection[2]; + tzmax = (bounds[1-raySign[2]][2] - rayFrom[2]) * rayInvDirection[2]; + + if ( (tmin > tzmax) || (tzmin > tmax) ) + return false; + if (tzmin > tmin) + tmin = tzmin; + if (tzmax < tmax) + tmax = tzmax; + return ( (tmin < lambda_max) && (tmax > lambda_min) ); +} + SIMD_FORCE_INLINE bool btRayAabb(const btVector3& rayFrom, const btVector3& rayTo, const btVector3& aabbMin, @@ -123,5 +164,39 @@ SIMD_FORCE_INLINE bool btRayAabb(const btVector3& rayFrom, } + +SIMD_FORCE_INLINE void btTransformAabb(const btVector3& halfExtents, btScalar margin,const btTransform& t,btVector3& aabbMinOut,btVector3& aabbMaxOut) +{ + btVector3 halfExtentsWithMargin = halfExtents+btVector3(margin,margin,margin); + btMatrix3x3 abs_b = t.getBasis().absolute(); + btVector3 center = t.getOrigin(); + btVector3 extent = btVector3(abs_b[0].dot(halfExtentsWithMargin), + abs_b[1].dot(halfExtentsWithMargin), + abs_b[2].dot(halfExtentsWithMargin)); + aabbMinOut = center - extent; + aabbMaxOut = center + extent; +} + + +SIMD_FORCE_INLINE void btTransformAabb(const btVector3& localAabbMin,const btVector3& localAabbMax, btScalar margin,const btTransform& trans,btVector3& aabbMinOut,btVector3& aabbMaxOut) +{ + btAssert(localAabbMin.getX() <= localAabbMax.getX()); + btAssert(localAabbMin.getY() <= localAabbMax.getY()); + btAssert(localAabbMin.getZ() <= localAabbMax.getZ()); + btVector3 localHalfExtents = btScalar(0.5)*(localAabbMax-localAabbMin); + localHalfExtents+=btVector3(margin,margin,margin); + + btVector3 localCenter = btScalar(0.5)*(localAabbMax+localAabbMin); + btMatrix3x3 abs_b = trans.getBasis().absolute(); + btVector3 center = trans(localCenter); + btVector3 extent = btVector3(abs_b[0].dot(localHalfExtents), + abs_b[1].dot(localHalfExtents), + abs_b[2].dot(localHalfExtents)); + aabbMinOut = center-extent; + aabbMaxOut = center+extent; +} + + #endif + diff --git a/extern/bullet2/src/LinearMath/btAlignedAllocator.cpp b/extern/bullet2/src/LinearMath/btAlignedAllocator.cpp index 1f5877fa37e..e120289e061 100644 --- a/extern/bullet2/src/LinearMath/btAlignedAllocator.cpp +++ b/extern/bullet2/src/LinearMath/btAlignedAllocator.cpp @@ -15,56 +15,187 @@ subject to the following restrictions: #include "btAlignedAllocator.h" +int gNumAlignedAllocs = 0; +int gNumAlignedFree = 0; +int gTotalBytesAlignedAllocs = 0;//detect memory leaks -#if defined (BT_HAS_ALIGNED_ALOCATOR) - +#if defined (BT_HAS_ALIGNED_ALLOCATOR) #include <malloc.h> -void* btAlignedAlloc (int size, int alignment) +static void *btAlignedAllocDefault(size_t size, int alignment) { - return _aligned_malloc(size,alignment); + return _aligned_malloc(size, (size_t)alignment); } -void btAlignedFree (void* ptr) +static void btAlignedFreeDefault(void *ptr) { _aligned_free(ptr); } +#elif defined(__CELLOS_LV2__) +#include <stdlib.h> -#else +static inline void *btAlignedAllocDefault(size_t size, int alignment) +{ + return memalign(alignment, size); +} -#ifdef __CELLOS_LV2__ +static inline void btAlignedFreeDefault(void *ptr) +{ + free(ptr); +} +#else +static inline void *btAlignedAllocDefault(size_t size, int alignment) +{ + void *ret; + char *real; + unsigned long offset; + + real = (char *)malloc(size + sizeof(void *) + (alignment-1)); + if (real) { + offset = (alignment - (unsigned long)(real + sizeof(void *))) & (alignment-1); + ret = (void *)((real + sizeof(void *)) + offset); + *((void **)(ret)-1) = (void *)(real); + } else { + ret = (void *)(real); + } + return (ret); +} -#include <stdlib.h> +static inline void btAlignedFreeDefault(void *ptr) +{ + void* real; -int numAllocs = 0; -int numFree = 0; + if (ptr) { + real = *((void **)(ptr)-1); + free(real); + } +} +#endif -void* btAlignedAlloc (int size, int alignment) +static void *btAllocDefault(size_t size) { - numAllocs++; - return memalign(alignment, size); + return malloc(size); } -void btAlignedFree (void* ptr) +static void btFreeDefault(void *ptr) { - numFree++; free(ptr); } -#else -///todo -///will add some multi-platform version that works without _aligned_malloc/_aligned_free +static btAlignedAllocFunc *sAlignedAllocFunc = btAlignedAllocDefault; +static btAlignedFreeFunc *sAlignedFreeFunc = btAlignedFreeDefault; +static btAllocFunc *sAllocFunc = btAllocDefault; +static btFreeFunc *sFreeFunc = btFreeDefault; -void* btAlignedAlloc (int size, int alignment) +void btAlignedAllocSetCustomAligned(btAlignedAllocFunc *allocFunc, btAlignedFreeFunc *freeFunc) { - return new char[size]; + sAlignedAllocFunc = allocFunc ? allocFunc : btAlignedAllocDefault; + sAlignedFreeFunc = freeFunc ? freeFunc : btAlignedFreeDefault; } -void btAlignedFree (void* ptr) +void btAlignedAllocSetCustom(btAllocFunc *allocFunc, btFreeFunc *freeFunc) { - delete [] (char*) ptr; + sAllocFunc = allocFunc ? allocFunc : btAllocDefault; + sFreeFunc = freeFunc ? freeFunc : btFreeDefault; } -#endif // -#endif +#ifdef BT_DEBUG_MEMORY_ALLOCATIONS +//this generic allocator provides the total allocated number of bytes +#include <stdio.h> + +void* btAlignedAllocInternal (size_t size, int alignment,int line,char* filename) +{ + void *ret; + char *real; + unsigned long offset; + + gTotalBytesAlignedAllocs += size; + gNumAlignedAllocs++; + + + real = (char *)sAllocFunc(size + 2*sizeof(void *) + (alignment-1)); + if (real) { + offset = (alignment - (unsigned long)(real + 2*sizeof(void *))) & +(alignment-1); + ret = (void *)((real + 2*sizeof(void *)) + offset); + *((void **)(ret)-1) = (void *)(real); + *((int*)(ret)-2) = size; + + } else { + ret = (void *)(real);//?? + } + + printf("allocation#%d at address %x, from %s,line %d, size %d\n",gNumAlignedAllocs,real, filename,line,size); + + int* ptr = (int*)ret; + *ptr = 12; + return (ret); +} + +void btAlignedFreeInternal (void* ptr,int line,char* filename) +{ + + void* real; + gNumAlignedFree++; + + if (ptr) { + real = *((void **)(ptr)-1); + int size = *((int*)(ptr)-2); + gTotalBytesAlignedAllocs -= size; + + printf("free #%d at address %x, from %s,line %d, size %d\n",gNumAlignedFree,real, filename,line,size); + + sFreeFunc(real); + } else + { + printf("NULL ptr\n"); + } +} + +#else //BT_DEBUG_MEMORY_ALLOCATIONS + +void* btAlignedAllocInternal (size_t size, int alignment) +{ + gNumAlignedAllocs++; + void* ptr; +#if defined (BT_HAS_ALIGNED_ALLOCATOR) || defined(__CELLOS_LV2__) + ptr = sAlignedAllocFunc(size, alignment); +#else + char *real; + unsigned long offset; + + real = (char *)sAllocFunc(size + sizeof(void *) + (alignment-1)); + if (real) { + offset = (alignment - (unsigned long)(real + sizeof(void *))) & (alignment-1); + ptr = (void *)((real + sizeof(void *)) + offset); + *((void **)(ptr)-1) = (void *)(real); + } else { + ptr = (void *)(real); + } +#endif // defined (BT_HAS_ALIGNED_ALLOCATOR) || defined(__CELLOS_LV2__) +// printf("btAlignedAllocInternal %d, %x\n",size,ptr); + return ptr; +} + +void btAlignedFreeInternal (void* ptr) +{ + if (!ptr) + { + return; + } + + gNumAlignedFree++; +// printf("btAlignedFreeInternal %x\n",ptr); +#if defined (BT_HAS_ALIGNED_ALLOCATOR) || defined(__CELLOS_LV2__) + sAlignedFreeFunc(ptr); +#else + void* real; + + if (ptr) { + real = *((void **)(ptr)-1); + sFreeFunc(real); + } +#endif // defined (BT_HAS_ALIGNED_ALLOCATOR) || defined(__CELLOS_LV2__) +} +#endif //BT_DEBUG_MEMORY_ALLOCATIONS diff --git a/extern/bullet2/src/LinearMath/btAlignedAllocator.h b/extern/bullet2/src/LinearMath/btAlignedAllocator.h index 07585717f45..a252f324d77 100644 --- a/extern/bullet2/src/LinearMath/btAlignedAllocator.h +++ b/extern/bullet2/src/LinearMath/btAlignedAllocator.h @@ -21,15 +21,39 @@ subject to the following restrictions: ///that is better portable and more predictable #include "btScalar.h" +//#define BT_DEBUG_MEMORY_ALLOCATIONS 1 +#ifdef BT_DEBUG_MEMORY_ALLOCATIONS -void* btAlignedAlloc (int size, int alignment); +#define btAlignedAlloc(a,b) \ + btAlignedAllocInternal(a,b,__LINE__,__FILE__) -void btAlignedFree (void* ptr); +#define btAlignedFree(ptr) \ + btAlignedFreeInternal(ptr,__LINE__,__FILE__) +void* btAlignedAllocInternal (size_t size, int alignment,int line,char* filename); +void btAlignedFreeInternal (void* ptr,int line,char* filename); + +#else + void* btAlignedAllocInternal (size_t size, int alignment); + void btAlignedFreeInternal (void* ptr); + + #define btAlignedAlloc(a,b) btAlignedAllocInternal(a,b) + #define btAlignedFree(ptr) btAlignedFreeInternal(ptr) + +#endif typedef int size_type; +typedef void *(btAlignedAllocFunc)(size_t size, int alignment); +typedef void (btAlignedFreeFunc)(void *memblock); +typedef void *(btAllocFunc)(size_t size); +typedef void (btFreeFunc)(void *memblock); + +void btAlignedAllocSetCustomAligned(btAlignedAllocFunc *allocFunc, btAlignedFreeFunc *freeFunc); +void btAlignedAllocSetCustom(btAllocFunc *allocFunc, btFreeFunc *freeFunc); +///The btAlignedAllocator is a portable class for aligned memory allocations. +///Default implementations for unaligned and aligned allocations can be overridden by a custom allocator using btAlignedAllocSetCustom and btAlignedAllocSetCustomAligned. template < typename T , unsigned Alignment > class btAlignedAllocator { diff --git a/extern/bullet2/src/LinearMath/btAlignedObjectArray.h b/extern/bullet2/src/LinearMath/btAlignedObjectArray.h index 8bef5eb5d06..5598f0d7236 100644 --- a/extern/bullet2/src/LinearMath/btAlignedObjectArray.h +++ b/extern/bullet2/src/LinearMath/btAlignedObjectArray.h @@ -39,8 +39,8 @@ subject to the following restrictions: #endif //BT_USE_PLACEMENT_NEW -///btAlignedObjectArray uses a subset of the stl::vector interface for its methods -///It is developed to replace stl::vector to avoid STL alignment issues to add SIMD/SSE data +///The btAlignedObjectArray template class uses a subset of the stl::vector interface for its methods +///It is developed to replace stl::vector to avoid portability issues, including STL alignment issues to add SIMD/SSE data template <typename T> //template <class T> class btAlignedObjectArray @@ -50,6 +50,8 @@ class btAlignedObjectArray int m_size; int m_capacity; T* m_data; + //PCK: added this line + bool m_ownsMemory; protected: SIMD_FORCE_INLINE int allocSize(int size) @@ -69,6 +71,8 @@ class btAlignedObjectArray SIMD_FORCE_INLINE void init() { + //PCK: added this line + m_ownsMemory = true; m_data = 0; m_size = 0; m_capacity = 0; @@ -92,7 +96,11 @@ class btAlignedObjectArray SIMD_FORCE_INLINE void deallocate() { if(m_data) { - m_allocator.deallocate(m_data); + //PCK: enclosed the deallocation in this block + if (m_ownsMemory) + { + m_allocator.deallocate(m_data); + } m_data = 0; } } @@ -223,6 +231,9 @@ class btAlignedObjectArray destroy(0,size()); deallocate(); + + //PCK: added this line + m_ownsMemory = true; m_data = s; @@ -242,6 +253,46 @@ class btAlignedObjectArray } }; + template <typename L> + void quickSortInternal(L CompareFunc,int lo, int hi) + { + // lo is the lower index, hi is the upper index + // of the region of array a that is to be sorted + int i=lo, j=hi; + T x=m_data[(lo+hi)/2]; + + // partition + do + { + while (CompareFunc(m_data[i],x)) + i++; + while (CompareFunc(x,m_data[j])) + j--; + if (i<=j) + { + swap(i,j); + i++; j--; + } + } while (i<=j); + + // recursion + if (lo<j) + quickSortInternal( CompareFunc, lo, j); + if (i<hi) + quickSortInternal( CompareFunc, i, hi); + } + + + template <typename L> + void quickSort(L CompareFunc) + { + //don't sort 0 or 1 elements + if (size()>1) + { + quickSortInternal(CompareFunc,0,size()-1); + } + } + ///heap sort from http://www.csse.monash.edu.au/~lloyd/tildeAlgDS/Sort/Heap/ template <typename L> @@ -360,8 +411,16 @@ class btAlignedObjectArray } } + //PCK: whole function + void initializeFromBuffer(void *buffer, int size, int capacity) + { + clear(); + m_ownsMemory = false; + m_data = (T*)buffer; + m_size = size; + m_capacity = capacity; + } + }; #endif //BT_OBJECT_ARRAY__ - - diff --git a/extern/bullet2/src/LinearMath/btDefaultMotionState.h b/extern/bullet2/src/LinearMath/btDefaultMotionState.h index d4ec8e8879c..d758f77ed81 100644 --- a/extern/bullet2/src/LinearMath/btDefaultMotionState.h +++ b/extern/bullet2/src/LinearMath/btDefaultMotionState.h @@ -1,7 +1,7 @@ #ifndef DEFAULT_MOTION_STATE_H #define DEFAULT_MOTION_STATE_H -///btDefaultMotionState provides a common implementation to synchronize world transforms with offsets +///The btDefaultMotionState provides a common implementation to synchronize world transforms with offsets. struct btDefaultMotionState : public btMotionState { btTransform m_graphicsWorldTrans; diff --git a/extern/bullet2/src/LinearMath/btGeometryUtil.cpp b/extern/bullet2/src/LinearMath/btGeometryUtil.cpp index 3d0fb122a6b..5ac230f712f 100644 --- a/extern/bullet2/src/LinearMath/btGeometryUtil.cpp +++ b/extern/bullet2/src/LinearMath/btGeometryUtil.cpp @@ -22,7 +22,12 @@ subject to the following restrictions: can be used by probes that are checking whether the library is actually installed. */ -extern "C" void btBulletMathProbe () {} +extern "C" +{ + void btBulletMathProbe (); + + void btBulletMathProbe () {} +} bool btGeometryUtil::isPointInsidePlanes(const btAlignedObjectArray<btVector3>& planeEquations, const btVector3& point, btScalar margin) @@ -57,6 +62,8 @@ bool btGeometryUtil::areVerticesBehindPlane(const btVector3& planeNormal, const return true; } +bool notExist(const btVector3& planeEquation,const btAlignedObjectArray<btVector3>& planeEquations); + bool notExist(const btVector3& planeEquation,const btAlignedObjectArray<btVector3>& planeEquations) { int numbrushes = planeEquations.size(); diff --git a/extern/bullet2/src/LinearMath/btGeometryUtil.h b/extern/bullet2/src/LinearMath/btGeometryUtil.h index 766cd75c383..a4b13b45609 100644 --- a/extern/bullet2/src/LinearMath/btGeometryUtil.h +++ b/extern/bullet2/src/LinearMath/btGeometryUtil.h @@ -19,6 +19,7 @@ subject to the following restrictions: #include "btVector3.h" #include "btAlignedObjectArray.h" +///The btGeometryUtil helper class provides a few methods to convert between plane equations and vertices. class btGeometryUtil { public: diff --git a/extern/bullet2/src/LinearMath/btIDebugDraw.h b/extern/bullet2/src/LinearMath/btIDebugDraw.h index 5f40ca39157..563615a9a32 100644 --- a/extern/bullet2/src/LinearMath/btIDebugDraw.h +++ b/extern/bullet2/src/LinearMath/btIDebugDraw.h @@ -31,6 +31,9 @@ DEALINGS IN THE SOFTWARE. #include "btVector3.h" +///The btIDebugDraw interface class allows hooking up a debug renderer to visually debug simulations. +///Typical use case: create a debug drawer object, and assign it to a btCollisionWorld or btDynamicsWorld using setDebugDrawer and call debugDrawWorld. +///A class that implements the btIDebugDraw interface has to implement the drawLine method at a minimum. class btIDebugDraw { public: @@ -55,11 +58,24 @@ class btIDebugDraw virtual ~btIDebugDraw() {}; virtual void drawLine(const btVector3& from,const btVector3& to,const btVector3& color)=0; + + virtual void drawTriangle(const btVector3& v0,const btVector3& v1,const btVector3& v2,const btVector3& /*n0*/,const btVector3& /*n1*/,const btVector3& /*n2*/,const btVector3& color, btScalar alpha) + { + drawTriangle(v0,v1,v2,color,alpha); + } + virtual void drawTriangle(const btVector3& v0,const btVector3& v1,const btVector3& v2,const btVector3& color, btScalar /*alpha*/) + { + drawLine(v0,v1,color); + drawLine(v1,v2,color); + drawLine(v2,v0,color); + } virtual void drawContactPoint(const btVector3& PointOnB,const btVector3& normalOnB,btScalar distance,int lifeTime,const btVector3& color)=0; virtual void reportErrorWarning(const char* warningString) = 0; + virtual void draw3dText(const btVector3& location,const char* textString) = 0; + virtual void setDebugMode(int debugMode) =0; virtual int getDebugMode() const = 0; diff --git a/extern/bullet2/src/LinearMath/btMatrix3x3.h b/extern/bullet2/src/LinearMath/btMatrix3x3.h index 94f53c3c0a5..14aa4ae2348 100644 --- a/extern/bullet2/src/LinearMath/btMatrix3x3.h +++ b/extern/bullet2/src/LinearMath/btMatrix3x3.h @@ -22,6 +22,9 @@ subject to the following restrictions: #include "btQuaternion.h" + +///The btMatrix3x3 class implements a 3x3 rotation matrix, to perform linear algebra in combination with btQuaternion, btTransform and btVector3. +///Make sure to only include a pure orthogonal matrix without scaling. class btMatrix3x3 { public: btMatrix3x3 () {} @@ -281,6 +284,91 @@ class btMatrix3x3 { } + ///diagonalizes this matrix by the Jacobi method. rot stores the rotation + ///from the coordinate system in which the matrix is diagonal to the original + ///coordinate system, i.e., old_this = rot * new_this * rot^T. The iteration + ///stops when all off-diagonal elements are less than the threshold multiplied + ///by the sum of the absolute values of the diagonal, or when maxSteps have + ///been executed. Note that this matrix is assumed to be symmetric. + void diagonalize(btMatrix3x3& rot, btScalar threshold, int maxSteps) + { + rot.setIdentity(); + for (int step = maxSteps; step > 0; step--) + { + // find off-diagonal element [p][q] with largest magnitude + int p = 0; + int q = 1; + int r = 2; + btScalar max = btFabs(m_el[0][1]); + btScalar v = btFabs(m_el[0][2]); + if (v > max) + { + q = 2; + r = 1; + max = v; + } + v = btFabs(m_el[1][2]); + if (v > max) + { + p = 1; + q = 2; + r = 0; + max = v; + } + + btScalar t = threshold * (btFabs(m_el[0][0]) + btFabs(m_el[1][1]) + btFabs(m_el[2][2])); + if (max <= t) + { + if (max <= SIMD_EPSILON * t) + { + return; + } + step = 1; + } + + // compute Jacobi rotation J which leads to a zero for element [p][q] + btScalar mpq = m_el[p][q]; + btScalar theta = (m_el[q][q] - m_el[p][p]) / (2 * mpq); + btScalar theta2 = theta * theta; + btScalar cos; + btScalar sin; + if (theta2 * theta2 < btScalar(10 / SIMD_EPSILON)) + { + t = (theta >= 0) ? 1 / (theta + btSqrt(1 + theta2)) + : 1 / (theta - btSqrt(1 + theta2)); + cos = 1 / btSqrt(1 + t * t); + sin = cos * t; + } + else + { + // approximation for large theta-value, i.e., a nearly diagonal matrix + t = 1 / (theta * (2 + btScalar(0.5) / theta2)); + cos = 1 - btScalar(0.5) * t * t; + sin = cos * t; + } + + // apply rotation to matrix (this = J^T * this * J) + m_el[p][q] = m_el[q][p] = 0; + m_el[p][p] -= t * mpq; + m_el[q][q] += t * mpq; + btScalar mrp = m_el[r][p]; + btScalar mrq = m_el[r][q]; + m_el[r][p] = m_el[p][r] = cos * mrp - sin * mrq; + m_el[r][q] = m_el[q][r] = cos * mrq + sin * mrp; + + // apply rotation to rot (rot = rot * J) + for (int i = 0; i < 3; i++) + { + btVector3& row = rot[i]; + mrp = row[p]; + mrq = row[q]; + row[p] = cos * mrp - sin * mrq; + row[q] = cos * mrq + sin * mrp; + } + } + } + + protected: btScalar cofac(int r1, int c1, int r2, int c2) const @@ -356,7 +444,7 @@ class btMatrix3x3 { m_el[0].y() * m[0].z() + m_el[1].y() * m[1].z() + m_el[2].y() * m[2].z(), m_el[0].z() * m[0].x() + m_el[1].z() * m[1].x() + m_el[2].z() * m[2].x(), m_el[0].z() * m[0].y() + m_el[1].z() * m[1].y() + m_el[2].z() * m[2].y(), - m_el[0].z() * m[0].z() + m_el[1].z() * m[1].z() + m_el[2].z() * m[2].x()); + m_el[0].z() * m[0].z() + m_el[1].z() * m[1].z() + m_el[2].z() * m[2].z()); } SIMD_FORCE_INLINE btMatrix3x3 @@ -406,5 +494,11 @@ class btMatrix3x3 { } */ +SIMD_FORCE_INLINE bool operator==(const btMatrix3x3& m1, const btMatrix3x3& m2) +{ + return ( m1[0][0] == m2[0][0] && m1[1][0] == m2[1][0] && m1[2][0] == m2[2][0] && + m1[0][1] == m2[0][1] && m1[1][1] == m2[1][1] && m1[2][1] == m2[2][1] && + m1[0][2] == m2[0][2] && m1[1][2] == m2[1][2] && m1[2][2] == m2[2][2] ); +} #endif diff --git a/extern/bullet2/src/LinearMath/btMinMax.h b/extern/bullet2/src/LinearMath/btMinMax.h index 1b8a3633f38..5e27d62a4a4 100644 --- a/extern/bullet2/src/LinearMath/btMinMax.h +++ b/extern/bullet2/src/LinearMath/btMinMax.h @@ -18,15 +18,15 @@ subject to the following restrictions: #define GEN_MINMAX_H template <class T> -SIMD_FORCE_INLINE const T& GEN_min(const T& a, const T& b) +SIMD_FORCE_INLINE const T& btMin(const T& a, const T& b) { - return b < a ? b : a; + return a < b ? a : b ; } template <class T> -SIMD_FORCE_INLINE const T& GEN_max(const T& a, const T& b) +SIMD_FORCE_INLINE const T& btMax(const T& a, const T& b) { - return a < b ? b : a; + return a > b ? a : b; } template <class T> @@ -36,7 +36,7 @@ SIMD_FORCE_INLINE const T& GEN_clamped(const T& a, const T& lb, const T& ub) } template <class T> -SIMD_FORCE_INLINE void GEN_set_min(T& a, const T& b) +SIMD_FORCE_INLINE void btSetMin(T& a, const T& b) { if (b < a) { @@ -45,7 +45,7 @@ SIMD_FORCE_INLINE void GEN_set_min(T& a, const T& b) } template <class T> -SIMD_FORCE_INLINE void GEN_set_max(T& a, const T& b) +SIMD_FORCE_INLINE void btSetMax(T& a, const T& b) { if (a < b) { diff --git a/extern/bullet2/src/LinearMath/btMotionState.h b/extern/bullet2/src/LinearMath/btMotionState.h index 1975e5ff900..94318140902 100644 --- a/extern/bullet2/src/LinearMath/btMotionState.h +++ b/extern/bullet2/src/LinearMath/btMotionState.h @@ -18,7 +18,7 @@ subject to the following restrictions: #include "btTransform.h" -///btMotionState allows the dynamics world to synchronize the updated world transforms with graphics +///The btMotionState interface class allows the dynamics world to synchronize and interpolate the updated world transforms with graphics ///For optimizations, potentially only moving objects get synchronized (using setWorldPosition/setWorldOrientation) class btMotionState { diff --git a/extern/bullet2/src/LinearMath/btQuadWord.h b/extern/bullet2/src/LinearMath/btQuadWord.h index 961ac484d20..2e80fc2ca47 100644 --- a/extern/bullet2/src/LinearMath/btQuadWord.h +++ b/extern/bullet2/src/LinearMath/btQuadWord.h @@ -17,19 +17,31 @@ subject to the following restrictions: #define SIMD_QUADWORD_H #include "btScalar.h" +#include "btMinMax.h" +#include <math.h> +///The btQuadWordStorage class is base class for btVector3 and btQuaternion. +///Some issues under PS3 Linux with IBM 2.1 SDK, gcc compiler prevent from using aligned quadword. todo: look into this +///ATTRIBUTE_ALIGNED16(class) btQuadWordStorage +class btQuadWordStorage +{ +protected: + + btScalar m_x; + btScalar m_y; + btScalar m_z; + btScalar m_unusedW; + +public: + +}; + ///btQuadWord is base-class for vectors, points -class btQuadWord +class btQuadWord : public btQuadWordStorage { - protected: - btScalar m_x; - btScalar m_y; - btScalar m_z; - btScalar m_unusedW; - public: // SIMD_FORCE_INLINE btScalar& operator[](int i) { return (&m_x)[i]; } @@ -61,6 +73,8 @@ class btQuadWord SIMD_FORCE_INLINE operator btScalar *() { return &m_x; } SIMD_FORCE_INLINE operator const btScalar *() const { return &m_x; } + + SIMD_FORCE_INLINE void setValue(const btScalar& x, const btScalar& y, const btScalar& z) { m_x=x; @@ -89,47 +103,36 @@ class btQuadWord { } - SIMD_FORCE_INLINE btQuadWord(const btScalar& x, const btScalar& y, const btScalar& z) - :m_x(x),m_y(y),m_z(z) - //todo, remove this in release/simd ? - ,m_unusedW(btScalar(0.)) + SIMD_FORCE_INLINE btQuadWord(const btQuadWordStorage& q) { + *((btQuadWordStorage*)this) = q; + } + + SIMD_FORCE_INLINE btQuadWord(const btScalar& x, const btScalar& y, const btScalar& z) + { + m_x = x, m_y = y, m_z = z, m_unusedW = 0.0f; } SIMD_FORCE_INLINE btQuadWord(const btScalar& x, const btScalar& y, const btScalar& z,const btScalar& w) - :m_x(x),m_y(y),m_z(z),m_unusedW(w) { + m_x = x, m_y = y, m_z = z, m_unusedW = w; } SIMD_FORCE_INLINE void setMax(const btQuadWord& other) { - if (other.m_x > m_x) - m_x = other.m_x; - - if (other.m_y > m_y) - m_y = other.m_y; - - if (other.m_z > m_z) - m_z = other.m_z; - - if (other.m_unusedW > m_unusedW) - m_unusedW = other.m_unusedW; + btSetMax(m_x, other.m_x); + btSetMax(m_y, other.m_y); + btSetMax(m_z, other.m_z); + btSetMax(m_unusedW, other.m_unusedW); } SIMD_FORCE_INLINE void setMin(const btQuadWord& other) { - if (other.m_x < m_x) - m_x = other.m_x; - - if (other.m_y < m_y) - m_y = other.m_y; - - if (other.m_z < m_z) - m_z = other.m_z; - - if (other.m_unusedW < m_unusedW) - m_unusedW = other.m_unusedW; + btSetMin(m_x, other.m_x); + btSetMin(m_y, other.m_y); + btSetMin(m_z, other.m_z); + btSetMin(m_unusedW, other.m_unusedW); } diff --git a/extern/bullet2/src/LinearMath/btQuaternion.h b/extern/bullet2/src/LinearMath/btQuaternion.h index 50334970ba6..264751b33e7 100644 --- a/extern/bullet2/src/LinearMath/btQuaternion.h +++ b/extern/bullet2/src/LinearMath/btQuaternion.h @@ -19,6 +19,7 @@ subject to the following restrictions: #include "btVector3.h" +///The btQuaternion implements quaternion to perform linear algebra rotations in combination with btMatrix3x3, btVector3 and btTransform. class btQuaternion : public btQuadWord { public: btQuaternion() {} @@ -158,7 +159,7 @@ public: btQuaternion inverse() const { - return btQuaternion(m_x, m_y, m_z, -m_unusedW); + return btQuaternion(-m_x, -m_y, -m_z, m_unusedW); } SIMD_FORCE_INLINE btQuaternion @@ -285,7 +286,7 @@ slerp(const btQuaternion& q1, const btQuaternion& q2, const btScalar& t) } SIMD_FORCE_INLINE btVector3 -quatRotate(btQuaternion& rotation, btVector3& v) +quatRotate(const btQuaternion& rotation, const btVector3& v) { btQuaternion q = rotation * v; q *= rotation.inverse(); @@ -293,7 +294,7 @@ quatRotate(btQuaternion& rotation, btVector3& v) } SIMD_FORCE_INLINE btQuaternion -shortestArcQuat(btVector3& v0,btVector3& v1) // Game Programming Gems 2.10. make sure v0,v1 are normalized +shortestArcQuat(const btVector3& v0, const btVector3& v1) // Game Programming Gems 2.10. make sure v0,v1 are normalized { btVector3 c = v0.cross(v1); btScalar d = v0.dot(v1); @@ -308,7 +309,7 @@ shortestArcQuat(btVector3& v0,btVector3& v1) // Game Programming Gems 2.10. make } SIMD_FORCE_INLINE btQuaternion -shortestArcQuatNormalize(btVector3& v0,btVector3& v1) +shortestArcQuatNormalize2(btVector3& v0,btVector3& v1) { v0.normalize(); v1.normalize(); @@ -319,3 +320,4 @@ shortestArcQuatNormalize(btVector3& v0,btVector3& v1) + diff --git a/extern/bullet2/src/LinearMath/btQuickprof.cpp b/extern/bullet2/src/LinearMath/btQuickprof.cpp index 37a0c8c3be5..e5b1196149b 100644 --- a/extern/bullet2/src/LinearMath/btQuickprof.cpp +++ b/extern/bullet2/src/LinearMath/btQuickprof.cpp @@ -1,38 +1,282 @@ /* -Copyright (c) 2006 Tyler Streeter -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: +/*************************************************************************************************** +** +** profile.cpp +** +** Real-Time Hierarchical Profiling for Game Programming Gems 3 +** +** by Greg Hjelstrom & Byon Garrabrant +** +***************************************************************************************************/ -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. +// Credits: The Clock class was inspired by the Timer classes in +// Ogre (www.ogre3d.org). -*/ +#include "LinearMath/btQuickprof.h" -// Please visit the project website (http://quickprof.sourceforge.net) -// for usage instructions. +#ifdef USE_BT_CLOCK -// Credits: The Clock class was inspired by the Timer classes in -// Ogre (www.ogre3d.org). +static btClock gProfileClock; -#include "LinearMath/btQuickprof.h" +inline void Profile_Get_Ticks(unsigned long int * ticks) +{ + *ticks = gProfileClock.getTimeMicroseconds(); +} + +inline float Profile_Get_Tick_Rate(void) +{ +// return 1000000.f; + return 1000.f; + +} + + + +/*************************************************************************************************** +** +** CProfileNode +** +***************************************************************************************************/ + +/*********************************************************************************************** + * INPUT: * + * name - pointer to a static string which is the name of this profile node * + * parent - parent pointer * + * * + * WARNINGS: * + * The name is assumed to be a static pointer, only the pointer is stored and compared for * + * efficiency reasons. * + *=============================================================================================*/ +CProfileNode::CProfileNode( const char * name, CProfileNode * parent ) : + Name( name ), + TotalCalls( 0 ), + TotalTime( 0 ), + StartTime( 0 ), + RecursionCounter( 0 ), + Parent( parent ), + Child( NULL ), + Sibling( NULL ) +{ + Reset(); +} + + +void CProfileNode::CleanupMemory() +{ + delete ( Child); + Child = NULL; + delete ( Sibling); + Sibling = NULL; +} + +CProfileNode::~CProfileNode( void ) +{ + delete ( Child); + delete ( Sibling); +} + + +/*********************************************************************************************** + * INPUT: * + * name - static string pointer to the name of the node we are searching for * + * * + * WARNINGS: * + * All profile names are assumed to be static strings so this function uses pointer compares * + * to find the named node. * + *=============================================================================================*/ +CProfileNode * CProfileNode::Get_Sub_Node( const char * name ) +{ + // Try to find this sub node + CProfileNode * child = Child; + while ( child ) { + if ( child->Name == name ) { + return child; + } + child = child->Sibling; + } + + // We didn't find it, so add it + + CProfileNode * node = new CProfileNode( name, this ); + node->Sibling = Child; + Child = node; + return node; +} + + +void CProfileNode::Reset( void ) +{ + TotalCalls = 0; + TotalTime = 0.0f; + gProfileClock.reset(); + + if ( Child ) { + Child->Reset(); + } + if ( Sibling ) { + Sibling->Reset(); + } +} + + +void CProfileNode::Call( void ) +{ + TotalCalls++; + if (RecursionCounter++ == 0) { + Profile_Get_Ticks(&StartTime); + } +} + + +bool CProfileNode::Return( void ) +{ + if ( --RecursionCounter == 0 && TotalCalls != 0 ) { + unsigned long int time; + Profile_Get_Ticks(&time); + time-=StartTime; + TotalTime += (float)time / Profile_Get_Tick_Rate(); + } + return ( RecursionCounter == 0 ); +} + + +/*************************************************************************************************** +** +** CProfileIterator +** +***************************************************************************************************/ +CProfileIterator::CProfileIterator( CProfileNode * start ) +{ + CurrentParent = start; + CurrentChild = CurrentParent->Get_Child(); +} + + +void CProfileIterator::First(void) +{ + CurrentChild = CurrentParent->Get_Child(); +} + + +void CProfileIterator::Next(void) +{ + CurrentChild = CurrentChild->Get_Sibling(); +} + + +bool CProfileIterator::Is_Done(void) +{ + return CurrentChild == NULL; +} + + +void CProfileIterator::Enter_Child( int index ) +{ + CurrentChild = CurrentParent->Get_Child(); + while ( (CurrentChild != NULL) && (index != 0) ) { + index--; + CurrentChild = CurrentChild->Get_Sibling(); + } + + if ( CurrentChild != NULL ) { + CurrentParent = CurrentChild; + CurrentChild = CurrentParent->Get_Child(); + } +} + + +void CProfileIterator::Enter_Parent( void ) +{ + if ( CurrentParent->Get_Parent() != NULL ) { + CurrentParent = CurrentParent->Get_Parent(); + } + CurrentChild = CurrentParent->Get_Child(); +} + + +/*************************************************************************************************** +** +** CProfileManager +** +***************************************************************************************************/ + +CProfileNode CProfileManager::Root( "Root", NULL ); +CProfileNode * CProfileManager::CurrentNode = &CProfileManager::Root; +int CProfileManager::FrameCounter = 0; +unsigned long int CProfileManager::ResetTime = 0; + + +/*********************************************************************************************** + * CProfileManager::Start_Profile -- Begin a named profile * + * * + * Steps one level deeper into the tree, if a child already exists with the specified name * + * then it accumulates the profiling; otherwise a new child node is added to the profile tree. * + * * + * INPUT: * + * name - name of this profiling record * + * * + * WARNINGS: * + * The string used is assumed to be a static string; pointer compares are used throughout * + * the profiling code for efficiency. * + *=============================================================================================*/ +void CProfileManager::Start_Profile( const char * name ) +{ + if (name != CurrentNode->Get_Name()) { + CurrentNode = CurrentNode->Get_Sub_Node( name ); + } + + CurrentNode->Call(); +} + + +/*********************************************************************************************** + * CProfileManager::Stop_Profile -- Stop timing and record the results. * + *=============================================================================================*/ +void CProfileManager::Stop_Profile( void ) +{ + // Return will indicate whether we should back up to our parent (we may + // be profiling a recursive function) + if (CurrentNode->Return()) { + CurrentNode = CurrentNode->Get_Parent(); + } +} + + +/*********************************************************************************************** + * CProfileManager::Reset -- Reset the contents of the profiling system * + * * + * This resets everything except for the tree structure. All of the timing data is reset. * + *=============================================================================================*/ +void CProfileManager::Reset( void ) +{ + Root.Reset(); + Root.Call(); + FrameCounter = 0; + Profile_Get_Ticks(&ResetTime); +} + + +/*********************************************************************************************** + * CProfileManager::Increment_Frame_Counter -- Increment the frame counter * + *=============================================================================================*/ +void CProfileManager::Increment_Frame_Counter( void ) +{ + FrameCounter++; +} + + +/*********************************************************************************************** + * CProfileManager::Get_Time_Since_Reset -- returns the elapsed time since last reset * + *=============================================================================================*/ +float CProfileManager::Get_Time_Since_Reset( void ) +{ + unsigned long int time; + Profile_Get_Ticks(&time); + time -= ResetTime; + return (float)time / Profile_Get_Tick_Rate(); +} + +#endif //USE_BT_CLOCK -#ifdef USE_QUICKPROF - -// Note: We must declare these private static variables again here to -// avoid link errors. -bool btProfiler::mEnabled = false; -btClock btProfiler::mClock; -unsigned long int btProfiler::mCurrentCycleStartMicroseconds = 0; -unsigned long int btProfiler::mLastCycleDurationMicroseconds = 0; -std::map<std::string, hidden::ProfileBlock*> btProfiler::mProfileBlocks; -std::ofstream btProfiler::mOutputFile; -bool btProfiler::mFirstFileOutput = true; -btProfiler::BlockTimingMethod btProfiler::mFileOutputMethod; -unsigned long int btProfiler::mCycleNumber = 0; -#endif //USE_QUICKPROF diff --git a/extern/bullet2/src/LinearMath/btQuickprof.h b/extern/bullet2/src/LinearMath/btQuickprof.h index a885967c5fa..b033940ca5c 100644 --- a/extern/bullet2/src/LinearMath/btQuickprof.h +++ b/extern/bullet2/src/LinearMath/btQuickprof.h @@ -1,20 +1,11 @@ -/* -Copyright (c) 2006 Tyler Streeter -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. - -*/ - -// Please visit the project website (http://quickprof.sourceforge.net) -// for usage instructions. +/*************************************************************************************************** +** +** Real-Time Hierarchical Profiling for Game Programming Gems 3 +** +** by Greg Hjelstrom & Byon Garrabrant +** +***************************************************************************************************/ // Credits: The Clock class was inspired by the Timer classes in // Ogre (www.ogre3d.org). @@ -23,9 +14,10 @@ subject to the following restrictions: #define QUICK_PROF_H #include "btScalar.h" - -//#define USE_QUICKPROF 1 -//Don't use quickprof for now, because it contains STL. TODO: replace STL by Bullet container classes. +#include "LinearMath/btAlignedAllocator.h" +#include <new> +//To disable built-in profiling, please comment out next line +//#define BT_NO_PROFILE 1 //if you don't need btClock, you can comment next line @@ -34,678 +26,332 @@ subject to the following restrictions: #ifdef USE_BT_CLOCK #ifdef __CELLOS_LV2__ #include <sys/sys_time.h> +#include <sys/time_util.h> #include <stdio.h> -typedef uint64_t __int64; #endif #if defined (SUNOS) || defined (__SUNOS__) - #include <stdio.h> +#include <stdio.h> #endif #if defined(WIN32) || defined(_WIN32) - #define USE_WINDOWS_TIMERS - #define WIN32_LEAN_AND_MEAN - #define NOWINRES - #define NOMCX - #define NOIME +#define USE_WINDOWS_TIMERS +#define WIN32_LEAN_AND_MEAN +#define NOWINRES +#define NOMCX +#define NOIME #ifdef _XBOX - #include <Xtl.h> +#include <Xtl.h> #else - #include <windows.h> +#include <windows.h> #endif - #include <time.h> +#include <time.h> #else - #include <sys/time.h> +#include <sys/time.h> #endif #define mymin(a,b) (a > b ? a : b) -/// basic clock +///The btClock is a portable basic clock that measures accurate time in seconds, use for profiling. class btClock +{ +public: + btClock() { - public: - btClock() - { #ifdef USE_WINDOWS_TIMERS - QueryPerformanceFrequency(&mClockFrequency); + QueryPerformanceFrequency(&mClockFrequency); #endif - reset(); - } + reset(); + } - ~btClock() - { - } + ~btClock() + { + } - /// Resets the initial reference time. - void reset() - { + /// Resets the initial reference time. + void reset() + { #ifdef USE_WINDOWS_TIMERS - QueryPerformanceCounter(&mStartTime); - mStartTick = GetTickCount(); - mPrevElapsedTime = 0; + QueryPerformanceCounter(&mStartTime); + mStartTick = GetTickCount(); + mPrevElapsedTime = 0; #else #ifdef __CELLOS_LV2__ - typedef uint64_t __int64; - typedef __int64 ClockSize; - ClockSize newTime; - __asm __volatile__( "mftb %0" : "=r" (newTime) : : "memory"); - mStartTime = newTime; + typedef uint64_t ClockSize; + ClockSize newTime; + //__asm __volatile__( "mftb %0" : "=r" (newTime) : : "memory"); + SYS_TIMEBASE_GET( newTime ); + mStartTime = newTime; #else - gettimeofday(&mStartTime, 0); + gettimeofday(&mStartTime, 0); #endif #endif - } + } - /// Returns the time in ms since the last call to reset or since - /// the btClock was created. - unsigned long int getTimeMilliseconds() - { + /// Returns the time in ms since the last call to reset or since + /// the btClock was created. + unsigned long int getTimeMilliseconds() + { #ifdef USE_WINDOWS_TIMERS - LARGE_INTEGER currentTime; - QueryPerformanceCounter(¤tTime); - LONGLONG elapsedTime = currentTime.QuadPart - - mStartTime.QuadPart; - - // Compute the number of millisecond ticks elapsed. - unsigned long msecTicks = (unsigned long)(1000 * elapsedTime / + LARGE_INTEGER currentTime; + QueryPerformanceCounter(¤tTime); + LONGLONG elapsedTime = currentTime.QuadPart - + mStartTime.QuadPart; + + // Compute the number of millisecond ticks elapsed. + unsigned long msecTicks = (unsigned long)(1000 * elapsedTime / + mClockFrequency.QuadPart); + + // Check for unexpected leaps in the Win32 performance counter. + // (This is caused by unexpected data across the PCI to ISA + // bridge, aka south bridge. See Microsoft KB274323.) + unsigned long elapsedTicks = GetTickCount() - mStartTick; + signed long msecOff = (signed long)(msecTicks - elapsedTicks); + if (msecOff < -100 || msecOff > 100) + { + // Adjust the starting time forwards. + LONGLONG msecAdjustment = mymin(msecOff * + mClockFrequency.QuadPart / 1000, elapsedTime - + mPrevElapsedTime); + mStartTime.QuadPart += msecAdjustment; + elapsedTime -= msecAdjustment; + + // Recompute the number of millisecond ticks elapsed. + msecTicks = (unsigned long)(1000 * elapsedTime / mClockFrequency.QuadPart); + } - // Check for unexpected leaps in the Win32 performance counter. - // (This is caused by unexpected data across the PCI to ISA - // bridge, aka south bridge. See Microsoft KB274323.) - unsigned long elapsedTicks = GetTickCount() - mStartTick; - signed long msecOff = (signed long)(msecTicks - elapsedTicks); - if (msecOff < -100 || msecOff > 100) - { - // Adjust the starting time forwards. - LONGLONG msecAdjustment = mymin(msecOff * - mClockFrequency.QuadPart / 1000, elapsedTime - - mPrevElapsedTime); - mStartTime.QuadPart += msecAdjustment; - elapsedTime -= msecAdjustment; - - // Recompute the number of millisecond ticks elapsed. - msecTicks = (unsigned long)(1000 * elapsedTime / - mClockFrequency.QuadPart); - } - - // Store the current elapsed time for adjustments next time. - mPrevElapsedTime = elapsedTime; - - return msecTicks; + // Store the current elapsed time for adjustments next time. + mPrevElapsedTime = elapsedTime; + + return msecTicks; #else - + #ifdef __CELLOS_LV2__ - __int64 freq=sys_time_get_timebase_frequency(); - double dFreq=((double) freq) / 1000.0; - typedef uint64_t __int64; - typedef __int64 ClockSize; - ClockSize newTime; - __asm __volatile__( "mftb %0" : "=r" (newTime) : : "memory"); - - return (newTime-mStartTime) / dFreq; + uint64_t freq=sys_time_get_timebase_frequency(); + double dFreq=((double) freq) / 1000.0; + typedef uint64_t ClockSize; + ClockSize newTime; + SYS_TIMEBASE_GET( newTime ); + //__asm __volatile__( "mftb %0" : "=r" (newTime) : : "memory"); + + return (unsigned long int)((double(newTime-mStartTime)) / dFreq); #else - struct timeval currentTime; - gettimeofday(¤tTime, 0); - return (currentTime.tv_sec - mStartTime.tv_sec) * 1000 + - (currentTime.tv_usec - mStartTime.tv_usec) / 1000; + struct timeval currentTime; + gettimeofday(¤tTime, 0); + return (currentTime.tv_sec - mStartTime.tv_sec) * 1000 + + (currentTime.tv_usec - mStartTime.tv_usec) / 1000; #endif //__CELLOS_LV2__ #endif - } + } - /// Returns the time in us since the last call to reset or since - /// the Clock was created. - unsigned long int getTimeMicroseconds() - { + /// Returns the time in us since the last call to reset or since + /// the Clock was created. + unsigned long int getTimeMicroseconds() + { #ifdef USE_WINDOWS_TIMERS - LARGE_INTEGER currentTime; - QueryPerformanceCounter(¤tTime); - LONGLONG elapsedTime = currentTime.QuadPart - - mStartTime.QuadPart; + LARGE_INTEGER currentTime; + QueryPerformanceCounter(¤tTime); + LONGLONG elapsedTime = currentTime.QuadPart - + mStartTime.QuadPart; + + // Compute the number of millisecond ticks elapsed. + unsigned long msecTicks = (unsigned long)(1000 * elapsedTime / + mClockFrequency.QuadPart); + + // Check for unexpected leaps in the Win32 performance counter. + // (This is caused by unexpected data across the PCI to ISA + // bridge, aka south bridge. See Microsoft KB274323.) + unsigned long elapsedTicks = GetTickCount() - mStartTick; + signed long msecOff = (signed long)(msecTicks - elapsedTicks); + if (msecOff < -100 || msecOff > 100) + { + // Adjust the starting time forwards. + LONGLONG msecAdjustment = mymin(msecOff * + mClockFrequency.QuadPart / 1000, elapsedTime - + mPrevElapsedTime); + mStartTime.QuadPart += msecAdjustment; + elapsedTime -= msecAdjustment; + } - // Compute the number of millisecond ticks elapsed. - unsigned long msecTicks = (unsigned long)(1000 * elapsedTime / - mClockFrequency.QuadPart); + // Store the current elapsed time for adjustments next time. + mPrevElapsedTime = elapsedTime; - // Check for unexpected leaps in the Win32 performance counter. - // (This is caused by unexpected data across the PCI to ISA - // bridge, aka south bridge. See Microsoft KB274323.) - unsigned long elapsedTicks = GetTickCount() - mStartTick; - signed long msecOff = (signed long)(msecTicks - elapsedTicks); - if (msecOff < -100 || msecOff > 100) - { - // Adjust the starting time forwards. - LONGLONG msecAdjustment = mymin(msecOff * - mClockFrequency.QuadPart / 1000, elapsedTime - - mPrevElapsedTime); - mStartTime.QuadPart += msecAdjustment; - elapsedTime -= msecAdjustment; - } - - // Store the current elapsed time for adjustments next time. - mPrevElapsedTime = elapsedTime; - - // Convert to microseconds. - unsigned long usecTicks = (unsigned long)(1000000 * elapsedTime / - mClockFrequency.QuadPart); + // Convert to microseconds. + unsigned long usecTicks = (unsigned long)(1000000 * elapsedTime / + mClockFrequency.QuadPart); - return usecTicks; + return usecTicks; #else #ifdef __CELLOS_LV2__ - __int64 freq=sys_time_get_timebase_frequency(); - double dFreq=((double) freq)/ 1000000.0; - typedef uint64_t __int64; - typedef __int64 ClockSize; - ClockSize newTime; - __asm __volatile__( "mftb %0" : "=r" (newTime) : : "memory"); - - return (newTime-mStartTime) / dFreq; + uint64_t freq=sys_time_get_timebase_frequency(); + double dFreq=((double) freq)/ 1000000.0; + typedef uint64_t ClockSize; + ClockSize newTime; + //__asm __volatile__( "mftb %0" : "=r" (newTime) : : "memory"); + SYS_TIMEBASE_GET( newTime ); + + return (unsigned long int)((double(newTime-mStartTime)) / dFreq); #else - struct timeval currentTime; - gettimeofday(¤tTime, 0); - return (currentTime.tv_sec - mStartTime.tv_sec) * 1000000 + - (currentTime.tv_usec - mStartTime.tv_usec); + struct timeval currentTime; + gettimeofday(¤tTime, 0); + return (currentTime.tv_sec - mStartTime.tv_sec) * 1000000 + + (currentTime.tv_usec - mStartTime.tv_usec); #endif//__CELLOS_LV2__ #endif - } + } - private: +private: #ifdef USE_WINDOWS_TIMERS - LARGE_INTEGER mClockFrequency; - DWORD mStartTick; - LONGLONG mPrevElapsedTime; - LARGE_INTEGER mStartTime; + LARGE_INTEGER mClockFrequency; + DWORD mStartTick; + LONGLONG mPrevElapsedTime; + LARGE_INTEGER mStartTime; #else #ifdef __CELLOS_LV2__ - uint64_t mStartTime; + uint64_t mStartTime; #else - struct timeval mStartTime; + struct timeval mStartTime; #endif #endif //__CELLOS_LV2__ - }; +}; #endif //USE_BT_CLOCK -#ifdef USE_QUICKPROF - -#include <iostream> -#include <fstream> -#include <string> -#include <map> +///A node in the Profile Hierarchy Tree +class CProfileNode { +public: + CProfileNode( const char * name, CProfileNode * parent ); + ~CProfileNode( void ); + CProfileNode * Get_Sub_Node( const char * name ); -namespace hidden -{ - /// A simple data structure representing a single timed block - /// of code. - struct ProfileBlock - { - ProfileBlock() - { - currentBlockStartMicroseconds = 0; - currentCycleTotalMicroseconds = 0; - lastCycleTotalMicroseconds = 0; - totalMicroseconds = 0; - } + CProfileNode * Get_Parent( void ) { return Parent; } + CProfileNode * Get_Sibling( void ) { return Sibling; } + CProfileNode * Get_Child( void ) { return Child; } - /// The starting time (in us) of the current block update. - unsigned long int currentBlockStartMicroseconds; + void CleanupMemory(); + void Reset( void ); + void Call( void ); + bool Return( void ); - /// The accumulated time (in us) spent in this block during the - /// current profiling cycle. - unsigned long int currentCycleTotalMicroseconds; + const char * Get_Name( void ) { return Name; } + int Get_Total_Calls( void ) { return TotalCalls; } + float Get_Total_Time( void ) { return TotalTime; } - /// The accumulated time (in us) spent in this block during the - /// past profiling cycle. - unsigned long int lastCycleTotalMicroseconds; +protected: - /// The total accumulated time (in us) spent in this block. - unsigned long int totalMicroseconds; - }; + const char * Name; + int TotalCalls; + float TotalTime; + unsigned long int StartTime; + int RecursionCounter; + CProfileNode * Parent; + CProfileNode * Child; + CProfileNode * Sibling; }; -/// A static class that manages timing for a set of profiling blocks. -class btProfiler +///An iterator to navigate through the tree +class CProfileIterator { public: - /// A set of ways to retrieve block timing data. - enum BlockTimingMethod - { - /// The total time spent in the block (in seconds) since the - /// profiler was initialized. - BLOCK_TOTAL_SECONDS, - - /// The total time spent in the block (in ms) since the - /// profiler was initialized. - BLOCK_TOTAL_MILLISECONDS, - - /// The total time spent in the block (in us) since the - /// profiler was initialized. - BLOCK_TOTAL_MICROSECONDS, - - /// The total time spent in the block, as a % of the total - /// elapsed time since the profiler was initialized. - BLOCK_TOTAL_PERCENT, - - /// The time spent in the block (in seconds) in the most recent - /// profiling cycle. - BLOCK_CYCLE_SECONDS, - - /// The time spent in the block (in ms) in the most recent - /// profiling cycle. - BLOCK_CYCLE_MILLISECONDS, - - /// The time spent in the block (in us) in the most recent - /// profiling cycle. - BLOCK_CYCLE_MICROSECONDS, - - /// The time spent in the block (in seconds) in the most recent - /// profiling cycle, as a % of the total cycle time. - BLOCK_CYCLE_PERCENT - }; - - /// Initializes the profiler. This must be called first. If this is - /// never called, the profiler is effectively disabled; all other - /// functions will return immediately. The first parameter - /// is the name of an output data file; if this string is not empty, - /// data will be saved on every profiling cycle; if this string is - /// empty, no data will be saved to a file. The second parameter - /// determines which timing method is used when printing data to the - /// output file. - inline static void init(const std::string outputFilename="", - BlockTimingMethod outputMethod=BLOCK_CYCLE_MILLISECONDS); - - /// Cleans up allocated memory. - inline static void destroy(); - - /// Begins timing the named block of code. - inline static void beginBlock(const std::string& name); - - /// Updates the accumulated time spent in the named block by adding - /// the elapsed time since the last call to startBlock for this block - /// name. - inline static void endBlock(const std::string& name); - - /// Returns the time spent in the named block according to the - /// given timing method. See comments on BlockTimingMethod for details. - inline static double getBlockTime(const std::string& name, - BlockTimingMethod method=BLOCK_CYCLE_MILLISECONDS); - - /// Defines the end of a profiling cycle. Use this regularly if you - /// want to generate detailed timing information. This must not be - /// called within a timing block. - inline static void endProfilingCycle(); - - /// A helper function that creates a string of statistics for - /// each timing block. This is mainly for printing an overall - /// summary to the command line. - inline static std::string createStatsString( - BlockTimingMethod method=BLOCK_TOTAL_PERCENT); - -//private: - inline btProfiler(); - - inline ~btProfiler(); - - /// Prints an error message to standard output. - inline static void printError(const std::string& msg) - { - //btAssert(0); - std::cout << "[QuickProf error] " << msg << std::endl; - } - - /// Determines whether the profiler is enabled. - static bool mEnabled; + // Access all the children of the current parent + void First(void); + void Next(void); + bool Is_Done(void); + bool Is_Root(void) { return (CurrentParent->Get_Parent() == 0); } - /// The clock used to time profile blocks. - static btClock mClock; + void Enter_Child( int index ); // Make the given child the new parent + void Enter_Largest_Child( void ); // Make the largest child the new parent + void Enter_Parent( void ); // Make the current parent's parent the new parent - /// The starting time (in us) of the current profiling cycle. - static unsigned long int mCurrentCycleStartMicroseconds; + // Access the current child + const char * Get_Current_Name( void ) { return CurrentChild->Get_Name(); } + int Get_Current_Total_Calls( void ) { return CurrentChild->Get_Total_Calls(); } + float Get_Current_Total_Time( void ) { return CurrentChild->Get_Total_Time(); } - /// The duration (in us) of the most recent profiling cycle. - static unsigned long int mLastCycleDurationMicroseconds; + // Access the current parent + const char * Get_Current_Parent_Name( void ) { return CurrentParent->Get_Name(); } + int Get_Current_Parent_Total_Calls( void ) { return CurrentParent->Get_Total_Calls(); } + float Get_Current_Parent_Total_Time( void ) { return CurrentParent->Get_Total_Time(); } - /// Internal map of named profile blocks. - static std::map<std::string, hidden::ProfileBlock*> mProfileBlocks; +protected: - /// The data file used if this feature is enabled in 'init.' - static std::ofstream mOutputFile; + CProfileNode * CurrentParent; + CProfileNode * CurrentChild; - /// Tracks whether we have begun print data to the output file. - static bool mFirstFileOutput; - - /// The method used when printing timing data to an output file. - static BlockTimingMethod mFileOutputMethod; - - /// The number of the current profiling cycle. - static unsigned long int mCycleNumber; + CProfileIterator( CProfileNode * start ); + friend class CProfileManager; }; -btProfiler::btProfiler() -{ - // This never gets called because a btProfiler instance is never - // created. -} - -btProfiler::~btProfiler() -{ - // This never gets called because a btProfiler instance is never - // created. -} - -void btProfiler::init(const std::string outputFilename, - BlockTimingMethod outputMethod) -{ - mEnabled = true; - - if (!outputFilename.empty()) - { - mOutputFile.open(outputFilename.c_str()); - } - - mFileOutputMethod = outputMethod; - - mClock.reset(); - - // Set the start time for the first cycle. - mCurrentCycleStartMicroseconds = mClock.getTimeMicroseconds(); -} - -void btProfiler::destroy() -{ - if (!mEnabled) - { - return; - } - - if (mOutputFile.is_open()) - { - mOutputFile.close(); - } - - // Destroy all ProfileBlocks. - while (!mProfileBlocks.empty()) - { - delete (*mProfileBlocks.begin()).second; - mProfileBlocks.erase(mProfileBlocks.begin()); - } -} - -void btProfiler::beginBlock(const std::string& name) -{ - if (!mEnabled) - { - return; - } - - if (name.empty()) - { - printError("Cannot allow unnamed profile blocks."); - return; - } - - hidden::ProfileBlock* block = mProfileBlocks[name]; - - if (!block) - { - // Create a new ProfileBlock. - mProfileBlocks[name] = new hidden::ProfileBlock(); - block = mProfileBlocks[name]; - } - - // We do this at the end to get more accurate results. - block->currentBlockStartMicroseconds = mClock.getTimeMicroseconds(); -} - -void btProfiler::endBlock(const std::string& name) -{ - if (!mEnabled) - { - return; - } - - // We do this at the beginning to get more accurate results. - unsigned long int endTick = mClock.getTimeMicroseconds(); - - hidden::ProfileBlock* block = mProfileBlocks[name]; - - if (!block) - { - // The named block does not exist. Print an error. - printError("The profile block named '" + name + - "' does not exist."); - return; - } - - unsigned long int blockDuration = endTick - - block->currentBlockStartMicroseconds; - block->currentCycleTotalMicroseconds += blockDuration; - block->totalMicroseconds += blockDuration; -} - -double btProfiler::getBlockTime(const std::string& name, - BlockTimingMethod method) -{ - if (!mEnabled) - { - return 0; - } - - hidden::ProfileBlock* block = mProfileBlocks[name]; - - if (!block) - { - // The named block does not exist. Print an error. - printError("The profile block named '" + name + - "' does not exist."); - return 0; - } - - double result = 0; - - switch(method) - { - case BLOCK_TOTAL_SECONDS: - result = (double)block->totalMicroseconds * (double)0.000001; - break; - case BLOCK_TOTAL_MILLISECONDS: - result = (double)block->totalMicroseconds * (double)0.001; - break; - case BLOCK_TOTAL_MICROSECONDS: - result = (double)block->totalMicroseconds; - break; - case BLOCK_TOTAL_PERCENT: - { - double timeSinceInit = (double)mClock.getTimeMicroseconds(); - if (timeSinceInit <= 0) - { - result = 0; - } - else - { - result = 100.0 * (double)block->totalMicroseconds / - timeSinceInit; - } - break; - } - case BLOCK_CYCLE_SECONDS: - result = (double)block->lastCycleTotalMicroseconds * - (double)0.000001; - break; - case BLOCK_CYCLE_MILLISECONDS: - result = (double)block->lastCycleTotalMicroseconds * - (double)0.001; - break; - case BLOCK_CYCLE_MICROSECONDS: - result = (double)block->lastCycleTotalMicroseconds; - break; - case BLOCK_CYCLE_PERCENT: - { - if (0 == mLastCycleDurationMicroseconds) - { - // We have not yet finished a cycle, so just return zero - // percent to avoid a divide by zero error. - result = 0; - } - else - { - result = 100.0 * (double)block->lastCycleTotalMicroseconds / - mLastCycleDurationMicroseconds; - } - break; - } - default: - break; - } - - return result; -} +///The Manager for the Profile system +class CProfileManager { +public: + static void Start_Profile( const char * name ); + static void Stop_Profile( void ); -void btProfiler::endProfilingCycle() -{ - if (!mEnabled) + static void CleanupMemory(void) { - return; + Root.CleanupMemory(); } - // Store the duration of the cycle that just finished. - mLastCycleDurationMicroseconds = mClock.getTimeMicroseconds() - - mCurrentCycleStartMicroseconds; + static void Reset( void ); + static void Increment_Frame_Counter( void ); + static int Get_Frame_Count_Since_Reset( void ) { return FrameCounter; } + static float Get_Time_Since_Reset( void ); - // For each block, update data for the cycle that just finished. - std::map<std::string, hidden::ProfileBlock*>::iterator iter; - for (iter = mProfileBlocks.begin(); iter != mProfileBlocks.end(); ++iter) - { - hidden::ProfileBlock* block = (*iter).second; - block->lastCycleTotalMicroseconds = - block->currentCycleTotalMicroseconds; - block->currentCycleTotalMicroseconds = 0; + static CProfileIterator * Get_Iterator( void ) + { + + return new CProfileIterator( &Root ); } + static void Release_Iterator( CProfileIterator * iterator ) { delete ( iterator); } - if (mOutputFile.is_open()) - { - // Print data to the output file. - if (mFirstFileOutput) - { - // On the first iteration, print a header line that shows the - // names of each profiling block. - mOutputFile << "#cycle, "; - - for (iter = mProfileBlocks.begin(); iter != mProfileBlocks.end(); - ++iter) - { - mOutputFile << (*iter).first << ", "; - } - - mOutputFile << std::endl; - mFirstFileOutput = false; - } - - mOutputFile << mCycleNumber << ", "; - - for (iter = mProfileBlocks.begin(); iter != mProfileBlocks.end(); - ++iter) - { - mOutputFile << getBlockTime((*iter).first, mFileOutputMethod) - << ", "; - } - - mOutputFile << std::endl; - } - - ++mCycleNumber; - mCurrentCycleStartMicroseconds = mClock.getTimeMicroseconds(); -} - -std::string btProfiler::createStatsString(BlockTimingMethod method) -{ - if (!mEnabled) - { - return ""; - } +private: + static CProfileNode Root; + static CProfileNode * CurrentNode; + static int FrameCounter; + static unsigned long int ResetTime; +}; - std::string s; - std::string suffix; - switch(method) - { - case BLOCK_TOTAL_SECONDS: - suffix = "s"; - break; - case BLOCK_TOTAL_MILLISECONDS: - suffix = "ms"; - break; - case BLOCK_TOTAL_MICROSECONDS: - suffix = "us"; - break; - case BLOCK_TOTAL_PERCENT: - { - suffix = "%"; - break; - } - case BLOCK_CYCLE_SECONDS: - suffix = "s"; - break; - case BLOCK_CYCLE_MILLISECONDS: - suffix = "ms"; - break; - case BLOCK_CYCLE_MICROSECONDS: - suffix = "us"; - break; - case BLOCK_CYCLE_PERCENT: - { - suffix = "%"; - break; - } - default: - break; +///ProfileSampleClass is a simple way to profile a function's scope +///Use the BT_PROFILE macro at the start of scope to time +class CProfileSample { +public: + CProfileSample( const char * name ) + { + CProfileManager::Start_Profile( name ); } - std::map<std::string, hidden::ProfileBlock*>::iterator iter; - for (iter = mProfileBlocks.begin(); iter != mProfileBlocks.end(); ++iter) - { - if (iter != mProfileBlocks.begin()) - { - s += "\n"; - } - - char blockTime[64]; - sprintf(blockTime, "%lf", getBlockTime((*iter).first, method)); - - s += (*iter).first; - s += ": "; - s += blockTime; - s += " "; - s += suffix; + ~CProfileSample( void ) + { + CProfileManager::Stop_Profile(); } +}; - return s; -} - +#if !defined(BT_NO_PROFILE) +#define BT_PROFILE( name ) CProfileSample __profile( name ) +#else +#define BT_PROFILE( name ) +#endif -#define BEGIN_PROFILE(a) btProfiler::beginBlock(a) -#define END_PROFILE(a) btProfiler::endBlock(a) -#else //USE_QUICKPROF -#define BEGIN_PROFILE(a) -#define END_PROFILE(a) -#endif //USE_QUICKPROF #endif //QUICK_PROF_H diff --git a/extern/bullet2/src/LinearMath/btScalar.h b/extern/bullet2/src/LinearMath/btScalar.h index 01ad93e786a..e8433405b20 100644 --- a/extern/bullet2/src/LinearMath/btScalar.h +++ b/extern/bullet2/src/LinearMath/btScalar.h @@ -18,69 +18,140 @@ subject to the following restrictions: #define SIMD___SCALAR_H #include <math.h> +#include <stdlib.h>//size_t for MSVC 6.0 #include <cstdlib> #include <cfloat> #include <float.h> +#define BT_BULLET_VERSION 272 + +inline int btGetVersion() +{ + return BT_BULLET_VERSION; +} + +#if defined(DEBUG) || defined (_DEBUG) +#define BT_DEBUG +#endif + + #ifdef WIN32 #if defined(__MINGW32__) || defined(__CYGWIN__) || (defined (_MSC_VER) && _MSC_VER < 1300) + #define SIMD_FORCE_INLINE inline #define ATTRIBUTE_ALIGNED16(a) a + #define ATTRIBUTE_ALIGNED128(a) a #else - #define BT_HAS_ALIGNED_ALOCATOR - #pragma warning(disable:4530) - #pragma warning(disable:4996) - #pragma warning(disable:4786) + #define BT_HAS_ALIGNED_ALLOCATOR + #pragma warning(disable : 4324) // disable padding warning +// #pragma warning(disable:4530) // Disable the exception disable but used in MSCV Stl warning. +// #pragma warning(disable:4996) //Turn off warnings about deprecated C routines +// #pragma warning(disable:4786) // Disable the "debug name too long" warning + #define SIMD_FORCE_INLINE __forceinline #define ATTRIBUTE_ALIGNED16(a) __declspec(align(16)) a + #define ATTRIBUTE_ALIGNED128(a) __declspec (align(128)) a #ifdef _XBOX #define BT_USE_VMX128 + + #include <ppcintrinsics.h> + #define BT_HAVE_NATIVE_FSEL + #define btFsel(a,b,c) __fsel((a),(b),(c)) #else #define BT_USE_SSE #endif #endif //__MINGW32__ #include <assert.h> +#if defined(DEBUG) || defined (_DEBUG) #define btAssert assert +#else + #define btAssert(x) +#endif //btFullAssert is optional, slows down a lot #define btFullAssert(x) + + #define btLikely(_c) _c + #define btUnlikely(_c) _c + #else #if defined (__CELLOS_LV2__) #define SIMD_FORCE_INLINE inline #define ATTRIBUTE_ALIGNED16(a) a __attribute__ ((aligned (16))) + #define ATTRIBUTE_ALIGNED128(a) a __attribute__ ((aligned (128))) #ifndef assert #include <assert.h> #endif #define btAssert assert //btFullAssert is optional, slows down a lot #define btFullAssert(x) + + #define btLikely(_c) _c + #define btUnlikely(_c) _c + #else +#ifdef USE_LIBSPE2 + + #define SIMD_FORCE_INLINE __inline + #define ATTRIBUTE_ALIGNED16(a) a __attribute__ ((aligned (16))) + #define ATTRIBUTE_ALIGNED128(a) a __attribute__ ((aligned (128))) + #ifndef assert + #include <assert.h> + #endif + #define btAssert assert + //btFullAssert is optional, slows down a lot + #define btFullAssert(x) + + + #define btLikely(_c) __builtin_expect((_c), 1) + #define btUnlikely(_c) __builtin_expect((_c), 0) + + +#else //non-windows systems #define SIMD_FORCE_INLINE inline #define ATTRIBUTE_ALIGNED16(a) a + #define ATTRIBUTE_ALIGNED128(a) a #ifndef assert #include <assert.h> #endif + +#if defined(DEBUG) || defined (_DEBUG) #define btAssert assert +#else + #define btAssert(x) +#endif + //btFullAssert is optional, slows down a lot #define btFullAssert(x) + #define btLikely(_c) _c + #define btUnlikely(_c) _c + + +#endif // LIBSPE2 + #endif //__CELLOS_LV2__ #endif /// older compilers (gcc 3.x) and Sun needs double version of sqrt etc. /// exclude Apple Intel (i's assumed to be a Macbook or new Intel Dual Core Processor) #if defined (__sun) || defined (__sun__) || defined (__sparc) || (defined (__APPLE__) && ! defined (__i386__)) +/* XXX Need to fix these... needed for SunOS 5.8 */ +#define sinf(a) sin((double)(a)) +#define cosf(a) cos((double)(a)) +#define fabsf(a) fabs((double)(a)) //use slow double float precision operation on those platforms #ifndef BT_USE_DOUBLE_PRECISION #define BT_FORCE_DOUBLE_FUNCTIONS #endif #endif +///The btScalar type abstracts floating point numbers, to easily switch between double and single floating point precision. #if defined(BT_USE_DOUBLE_PRECISION) typedef double btScalar; #else @@ -88,6 +159,19 @@ typedef float btScalar; #endif + +#define BT_DECLARE_ALIGNED_ALLOCATOR() \ + SIMD_FORCE_INLINE void* operator new(size_t sizeInBytes) { return btAlignedAlloc(sizeInBytes,16); } \ + SIMD_FORCE_INLINE void operator delete(void* ptr) { btAlignedFree(ptr); } \ + SIMD_FORCE_INLINE void* operator new(size_t, void* ptr) { return ptr; } \ + SIMD_FORCE_INLINE void operator delete(void*, void*) { } \ + SIMD_FORCE_INLINE void* operator new[](size_t sizeInBytes) { return btAlignedAlloc(sizeInBytes,16); } \ + SIMD_FORCE_INLINE void operator delete[](void* ptr) { btAlignedFree(ptr); } \ + SIMD_FORCE_INLINE void* operator new[](size_t, void* ptr) { return ptr; } \ + SIMD_FORCE_INLINE void operator delete[](void*, void*) { } \ + + + #if defined(BT_USE_DOUBLE_PRECISION) || defined(BT_FORCE_DOUBLE_FUNCTIONS) SIMD_FORCE_INLINE btScalar btSqrt(btScalar x) { return sqrt(x); } @@ -105,12 +189,34 @@ SIMD_FORCE_INLINE btScalar btPow(btScalar x,btScalar y) { return pow(x,y); } #else -SIMD_FORCE_INLINE btScalar btSqrt(btScalar x) { return sqrtf(x); } +SIMD_FORCE_INLINE btScalar btSqrt(btScalar y) +{ +#ifdef USE_APPROXIMATION + double x, z, tempf; + unsigned long *tfptr = ((unsigned long *)&tempf) + 1; + + tempf = y; + *tfptr = (0xbfcdd90a - *tfptr)>>1; /* estimate of 1/sqrt(y) */ + x = tempf; + z = y*btScalar(0.5); /* hoist out the ô/2ö */ + x = (btScalar(1.5)*x)-(x*x)*(x*z); /* iteration formula */ + x = (btScalar(1.5)*x)-(x*x)*(x*z); + x = (btScalar(1.5)*x)-(x*x)*(x*z); + x = (btScalar(1.5)*x)-(x*x)*(x*z); + x = (btScalar(1.5)*x)-(x*x)*(x*z); + return x*y; +#else + return sqrtf(y); +#endif +} SIMD_FORCE_INLINE btScalar btFabs(btScalar x) { return fabsf(x); } SIMD_FORCE_INLINE btScalar btCos(btScalar x) { return cosf(x); } SIMD_FORCE_INLINE btScalar btSin(btScalar x) { return sinf(x); } SIMD_FORCE_INLINE btScalar btTan(btScalar x) { return tanf(x); } -SIMD_FORCE_INLINE btScalar btAcos(btScalar x) { return acosf(x); } +SIMD_FORCE_INLINE btScalar btAcos(btScalar x) { + btAssert(x <= btScalar(1.)); + return acosf(x); +} SIMD_FORCE_INLINE btScalar btAsin(btScalar x) { return asinf(x); } SIMD_FORCE_INLINE btScalar btAtan(btScalar x) { return atanf(x); } SIMD_FORCE_INLINE btScalar btAtan2(btScalar x, btScalar y) { return atan2f(x, y); } @@ -159,14 +265,6 @@ SIMD_FORCE_INLINE bool btGreaterEqual (btScalar a, btScalar eps) { return (!((a) <= eps)); } -/*SIMD_FORCE_INLINE btScalar btCos(btScalar x) { return cosf(x); } -SIMD_FORCE_INLINE btScalar btSin(btScalar x) { return sinf(x); } -SIMD_FORCE_INLINE btScalar btTan(btScalar x) { return tanf(x); } -SIMD_FORCE_INLINE btScalar btAcos(btScalar x) { return acosf(x); } -SIMD_FORCE_INLINE btScalar btAsin(btScalar x) { return asinf(x); } -SIMD_FORCE_INLINE btScalar btAtan(btScalar x) { return atanf(x); } -SIMD_FORCE_INLINE btScalar btAtan2(btScalar x, btScalar y) { return atan2f(x, y); } -*/ SIMD_FORCE_INLINE int btIsNegative(btScalar x) { return x < btScalar(0.0) ? 1 : 0; @@ -177,5 +275,151 @@ SIMD_FORCE_INLINE btScalar btDegrees(btScalar x) { return x * SIMD_DEGS_PER_RAD; #define BT_DECLARE_HANDLE(name) typedef struct name##__ { int unused; } *name +#ifndef btFsel +SIMD_FORCE_INLINE btScalar btFsel(btScalar a, btScalar b, btScalar c) +{ + return a >= 0 ? b : c; +} +#endif +#define btFsels(a,b,c) (btScalar)btFsel(a,b,c) + + +SIMD_FORCE_INLINE bool btMachineIsLittleEndian() +{ + long int i = 1; + const char *p = (const char *) &i; + if (p[0] == 1) // Lowest address contains the least significant byte + return true; + else + return false; +} + + + +///btSelect avoids branches, which makes performance much better for consoles like Playstation 3 and XBox 360 +///Thanks Phil Knight. See also http://www.cellperformance.com/articles/2006/04/more_techniques_for_eliminatin_1.html +SIMD_FORCE_INLINE unsigned btSelect(unsigned condition, unsigned valueIfConditionNonZero, unsigned valueIfConditionZero) +{ + // Set testNz to 0xFFFFFFFF if condition is nonzero, 0x00000000 if condition is zero + // Rely on positive value or'ed with its negative having sign bit on + // and zero value or'ed with its negative (which is still zero) having sign bit off + // Use arithmetic shift right, shifting the sign bit through all 32 bits + unsigned testNz = (unsigned)(((int)condition | -(int)condition) >> 31); + unsigned testEqz = ~testNz; + return ((valueIfConditionNonZero & testNz) | (valueIfConditionZero & testEqz)); +} +SIMD_FORCE_INLINE int btSelect(unsigned condition, int valueIfConditionNonZero, int valueIfConditionZero) +{ + unsigned testNz = (unsigned)(((int)condition | -(int)condition) >> 31); + unsigned testEqz = ~testNz; + return static_cast<int>((valueIfConditionNonZero & testNz) | (valueIfConditionZero & testEqz)); +} +SIMD_FORCE_INLINE float btSelect(unsigned condition, float valueIfConditionNonZero, float valueIfConditionZero) +{ +#ifdef BT_HAVE_NATIVE_FSEL + return (float)btFsel((btScalar)condition - btScalar(1.0f), valueIfConditionNonZero, valueIfConditionZero); +#else + return (condition != 0) ? valueIfConditionNonZero : valueIfConditionZero; +#endif +} + +template<typename T> SIMD_FORCE_INLINE void btSwap(T& a, T& b) +{ + T tmp = a; + a = b; + b = tmp; +} + + +//PCK: endian swapping functions +SIMD_FORCE_INLINE unsigned btSwapEndian(unsigned val) +{ + return (((val & 0xff000000) >> 24) | ((val & 0x00ff0000) >> 8) | ((val & 0x0000ff00) << 8) | ((val & 0x000000ff) << 24)); +} + +SIMD_FORCE_INLINE unsigned short btSwapEndian(unsigned short val) +{ + return static_cast<unsigned short>(((val & 0xff00) >> 8) | ((val & 0x00ff) << 8)); +} + +SIMD_FORCE_INLINE unsigned btSwapEndian(int val) +{ + return btSwapEndian((unsigned)val); +} + +SIMD_FORCE_INLINE unsigned short btSwapEndian(short val) +{ + return btSwapEndian((unsigned short) val); +} + +///btSwapFloat uses using char pointers to swap the endianness +////btSwapFloat/btSwapDouble will NOT return a float, because the machine might 'correct' invalid floating point values +///Not all values of sign/exponent/mantissa are valid floating point numbers according to IEEE 754. +///When a floating point unit is faced with an invalid value, it may actually change the value, or worse, throw an exception. +///In most systems, running user mode code, you wouldn't get an exception, but instead the hardware/os/runtime will 'fix' the number for you. +///so instead of returning a float/double, we return integer/long long integer +SIMD_FORCE_INLINE unsigned int btSwapEndianFloat(float d) +{ + unsigned int a = 0; + unsigned char *dst = (unsigned char *)&a; + unsigned char *src = (unsigned char *)&d; + + dst[0] = src[3]; + dst[1] = src[2]; + dst[2] = src[1]; + dst[3] = src[0]; + return a; +} + +// unswap using char pointers +SIMD_FORCE_INLINE float btUnswapEndianFloat(unsigned int a) +{ + float d = 0.0f; + unsigned char *src = (unsigned char *)&a; + unsigned char *dst = (unsigned char *)&d; + + dst[0] = src[3]; + dst[1] = src[2]; + dst[2] = src[1]; + dst[3] = src[0]; + + return d; +} + + +// swap using char pointers +SIMD_FORCE_INLINE void btSwapEndianDouble(double d, unsigned char* dst) +{ + unsigned char *src = (unsigned char *)&d; + + dst[0] = src[7]; + dst[1] = src[6]; + dst[2] = src[5]; + dst[3] = src[4]; + dst[4] = src[3]; + dst[5] = src[2]; + dst[6] = src[1]; + dst[7] = src[0]; + +} + +// unswap using char pointers +SIMD_FORCE_INLINE double btUnswapEndianDouble(const unsigned char *src) +{ + double d = 0.0; + unsigned char *dst = (unsigned char *)&d; + + dst[0] = src[7]; + dst[1] = src[6]; + dst[2] = src[5]; + dst[3] = src[4]; + dst[4] = src[3]; + dst[5] = src[2]; + dst[6] = src[1]; + dst[7] = src[0]; + + return d; +} + #endif //SIMD___SCALAR_H diff --git a/extern/bullet2/src/LinearMath/btStackAlloc.h b/extern/bullet2/src/LinearMath/btStackAlloc.h index d219b453537..050d44bdfe9 100644 --- a/extern/bullet2/src/LinearMath/btStackAlloc.h +++ b/extern/bullet2/src/LinearMath/btStackAlloc.h @@ -21,6 +21,7 @@ Nov.2006 #define BT_STACK_ALLOC #include "btScalar.h" //for btAssert +#include "btAlignedAllocator.h" struct btBlock { @@ -28,7 +29,7 @@ struct btBlock unsigned char* address; }; -///StackAlloc provides some fast stack-based memory allocator (LIFO last-in first-out) +///The StackAlloc class provides some fast stack-based memory allocator (LIFO last-in first-out) class btStackAlloc { public: @@ -39,7 +40,7 @@ public: inline void create(unsigned int size) { destroy(); - data = new unsigned char[size]; + data = (unsigned char*) btAlignedAlloc(size,16); totalsize = size; } inline void destroy() @@ -49,12 +50,20 @@ public: if(usedsize==0) { - if(!ischild) delete[] data; + if(!ischild && data) + btAlignedFree(data); + data = 0; usedsize = 0; } } + + int getAvailableMemory() const + { + return static_cast<int>(totalsize - usedsize); + } + unsigned char* allocate(unsigned int size) { const unsigned int nus(usedsize+size); @@ -68,7 +77,7 @@ public: return(0); } - inline btBlock* beginBlock() + SIMD_FORCE_INLINE btBlock* beginBlock() { btBlock* pb = (btBlock*)allocate(sizeof(btBlock)); pb->previous = current; @@ -76,7 +85,7 @@ public: current = pb; return(pb); } - inline void endBlock(btBlock* block) + SIMD_FORCE_INLINE void endBlock(btBlock* block) { btAssert(block==current); //Raise(L"Unmatched blocks"); diff --git a/extern/bullet2/src/LinearMath/btTransform.h b/extern/bullet2/src/LinearMath/btTransform.h index 2d55fec83a4..a8cdb428100 100644 --- a/extern/bullet2/src/LinearMath/btTransform.h +++ b/extern/bullet2/src/LinearMath/btTransform.h @@ -21,7 +21,8 @@ subject to the following restrictions: #include "btMatrix3x3.h" -///btTransform supports rigid transforms (only translation and rotation, no scaling/shear) +///The btTransform class supports rigid transforms with only translation and rotation and no scaling/shear. +///It can be used in combination with btVector3, btQuaternion and btMatrix3x3 linear algebra classes. class btTransform { @@ -92,13 +93,7 @@ public: m_basis.getRotation(q); return q; } - template <typename Scalar2> - void setValue(const Scalar2 *m) - { - m_basis.setValue(m); - m_origin.setValue(&m[12]); - } - + void setFromOpenGLMatrix(const btScalar *m) { @@ -194,8 +189,13 @@ btTransform::operator*(const btTransform& t) const { return btTransform(m_basis * t.m_basis, (*this)(t.m_origin)); -} +} +SIMD_FORCE_INLINE bool operator==(const btTransform& t1, const btTransform& t2) +{ + return ( t1.getBasis() == t2.getBasis() && + t1.getOrigin() == t2.getOrigin() ); +} #endif @@ -204,3 +204,4 @@ btTransform::operator*(const btTransform& t) const + diff --git a/extern/bullet2/src/LinearMath/btTransformUtil.h b/extern/bullet2/src/LinearMath/btTransformUtil.h index bc42fd166b6..86ee1da5edf 100644 --- a/extern/bullet2/src/LinearMath/btTransformUtil.h +++ b/extern/bullet2/src/LinearMath/btTransformUtil.h @@ -25,7 +25,7 @@ subject to the following restrictions: #define btRecipSqrt(x) ((btScalar)(btScalar(1.0)/btSqrt(btScalar(x)))) /* reciprocal square root */ -inline btVector3 btAabbSupport(const btVector3& halfExtents,const btVector3& supportDir) +SIMD_FORCE_INLINE btVector3 btAabbSupport(const btVector3& halfExtents,const btVector3& supportDir) { return btVector3(supportDir.x() < btScalar(0.0) ? -halfExtents.x() : halfExtents.x(), supportDir.y() < btScalar(0.0) ? -halfExtents.y() : halfExtents.y(), @@ -33,7 +33,7 @@ inline btVector3 btAabbSupport(const btVector3& halfExtents,const btVector3& sup } -inline void btPlaneSpace1 (const btVector3& n, btVector3& p, btVector3& q) +SIMD_FORCE_INLINE void btPlaneSpace1 (const btVector3& n, btVector3& p, btVector3& q) { if (btFabs(n.z()) > SIMDSQRT12) { // choose p in y-z plane @@ -70,7 +70,9 @@ public: predictedOrn += (angvel * predictedOrn) * (timeStep * btScalar(0.5)); predictedOrn.normalize(); #else - //exponential map + //Exponential map + //google for "Practical Parameterization of Rotations Using the Exponential Map", F. Sebastian Grassia + btVector3 axis; btScalar fAngle = angvel.length(); //limit the angular motion @@ -121,6 +123,10 @@ public: dmat.getRotation(dorn); #endif//USE_QUATERNION_DIFF + ///floating point inaccuracy can lead to w component > 1..., which breaks + + dorn.normalize(); + angle = dorn.getAngle(); axis = btVector3(dorn.x(),dorn.y(),dorn.z()); axis[3] = btScalar(0.); diff --git a/extern/bullet2/src/LinearMath/btVector3.h b/extern/bullet2/src/LinearMath/btVector3.h index 74d41ad2a19..96548c6ba60 100644 --- a/extern/bullet2/src/LinearMath/btVector3.h +++ b/extern/bullet2/src/LinearMath/btVector3.h @@ -27,6 +27,10 @@ class btVector3 : public btQuadWord { public: SIMD_FORCE_INLINE btVector3() {} + SIMD_FORCE_INLINE btVector3(const btQuadWordStorage& q) + : btQuadWord(q) + { + } SIMD_FORCE_INLINE btVector3(const btScalar& x, const btScalar& y, const btScalar& z) @@ -43,6 +47,7 @@ public: SIMD_FORCE_INLINE btVector3& operator+=(const btVector3& v) { + m_x += v.x(); m_y += v.y(); m_z += v.z(); return *this; } @@ -399,4 +404,50 @@ public: }; + +///btSwapVector3Endian swaps vector endianness, useful for network and cross-platform serialization +SIMD_FORCE_INLINE void btSwapScalarEndian(const btScalar& sourceVal, btScalar& destVal) +{ + #ifdef BT_USE_DOUBLE_PRECISION + unsigned char* dest = (unsigned char*) &destVal; + unsigned char* src = (unsigned char*) &sourceVal; + dest[0] = src[7]; + dest[1] = src[6]; + dest[2] = src[5]; + dest[3] = src[4]; + dest[4] = src[3]; + dest[5] = src[2]; + dest[6] = src[1]; + dest[7] = src[0]; +#else + unsigned char* dest = (unsigned char*) &destVal; + unsigned char* src = (unsigned char*) &sourceVal; + dest[0] = src[3]; + dest[1] = src[2]; + dest[2] = src[1]; + dest[3] = src[0]; +#endif //BT_USE_DOUBLE_PRECISION +} +///btSwapVector3Endian swaps vector endianness, useful for network and cross-platform serialization +SIMD_FORCE_INLINE void btSwapVector3Endian(const btVector3& sourceVec, btVector3& destVec) +{ + for (int i=0;i<4;i++) + { + btSwapScalarEndian(sourceVec[i],destVec[i]); + } + +} + +///btUnSwapVector3Endian swaps vector endianness, useful for network and cross-platform serialization +SIMD_FORCE_INLINE void btUnSwapVector3Endian(btVector3& vector) +{ + + btVector3 swappedVec; + for (int i=0;i<4;i++) + { + btSwapScalarEndian(vector[i],swappedVec[i]); + } + vector = swappedVec; +} + #endif //SIMD__VECTOR3_H diff --git a/extern/bullet2/src/Makefile b/extern/bullet2/src/Makefile index 24f3ca9767d..554179558d9 100644 --- a/extern/bullet2/src/Makefile +++ b/extern/bullet2/src/Makefile @@ -36,9 +36,11 @@ BulletCollision/BroadphaseCollision \ BulletCollision/CollisionShapes \ BulletCollision/NarrowPhaseCollision \ BulletCollision/CollisionDispatch \ +BulletCollision/Gimpact \ BulletDynamics/ConstraintSolver \ BulletDynamics/Vehicle \ -BulletDynamics/Dynamics +BulletDynamics/Dynamics \ +BulletSoftBody CCSRCS = $(wildcard \ LinearMath/*.cpp \ @@ -46,9 +48,11 @@ BulletCollision/BroadphaseCollision/*.cpp \ BulletCollision/CollisionShapes/*.cpp \ BulletCollision/NarrowPhaseCollision/*.cpp \ BulletCollision/CollisionDispatch/*.cpp \ +BulletCollision/Gimpact/*.cpp \ BulletDynamics/ConstraintSolver/*.cpp \ BulletDynamics/Vehicle/*.cpp \ -BulletDynamics/Dynamics/*.cpp) +BulletDynamics/Dynamics/*.cpp \ +BulletSoftBody/*.cpp) CPPFLAGS += -D_LIB -I. -IBulletCollision -IBulletDynamics -ILinearMath diff --git a/extern/bullet2/src/SConscript b/extern/bullet2/src/SConscript index 19702782b0d..203407569b1 100644 --- a/extern/bullet2/src/SConscript +++ b/extern/bullet2/src/SConscript @@ -22,77 +22,24 @@ elif sys.platform=='darwin': cflags += ['-O2','-pipe', '-fPIC', '-funsigned-char', '-ffast-math'] linearmath_src = env.Glob("LinearMath/*.cpp") -bulletdyn_src = ["BulletDynamics/ConstraintSolver/btContactConstraint.cpp", - "BulletDynamics/ConstraintSolver/btGeneric6DofConstraint.cpp", - "BulletDynamics/ConstraintSolver/btHingeConstraint.cpp", - "BulletDynamics/ConstraintSolver/btPoint2PointConstraint.cpp", - "BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolver.cpp", - "BulletDynamics/ConstraintSolver/btSolve2LinearConstraint.cpp", - "BulletDynamics/ConstraintSolver/btTypedConstraint.cpp", - "BulletDynamics/ConstraintSolver/btConeTwistConstraint.cpp", - "BulletDynamics/Dynamics/btDiscreteDynamicsWorld.cpp", - "BulletDynamics/Dynamics/btSimpleDynamicsWorld.cpp", - "BulletDynamics/Dynamics/btRigidBody.cpp", - "BulletDynamics/Vehicle/btRaycastVehicle.cpp", - "BulletDynamics/Dynamics/Bullet-C-API.cpp", - "BulletDynamics/Vehicle/btWheelInfo.cpp"] -collision_src = ["BulletCollision/BroadphaseCollision/btAxisSweep3.cpp", - "BulletCollision/BroadphaseCollision/btBroadphaseProxy.cpp", - "BulletCollision/BroadphaseCollision/btCollisionAlgorithm.cpp", - "BulletCollision/BroadphaseCollision/btDispatcher.cpp", - "BulletCollision/BroadphaseCollision/btOverlappingPairCache.cpp", - "BulletCollision/BroadphaseCollision/btSimpleBroadphase.cpp", - "BulletCollision/CollisionDispatch/btCollisionDispatcher.cpp", - "BulletCollision/CollisionDispatch/btCollisionObject.cpp", - "BulletCollision/CollisionDispatch/btCollisionWorld.cpp", - "BulletCollision/CollisionDispatch/btCompoundCollisionAlgorithm.cpp", - "BulletCollision/CollisionDispatch/btConvexConcaveCollisionAlgorithm.cpp", - "BulletCollision/CollisionDispatch/btSphereSphereCollisionAlgorithm.cpp", - "BulletCollision/CollisionDispatch/btSphereBoxCollisionAlgorithm.cpp", - "BulletCollision/CollisionDispatch/btConvexConvexAlgorithm.cpp", - "BulletCollision/CollisionDispatch/btEmptyCollisionAlgorithm.cpp", - "BulletCollision/CollisionDispatch/btManifoldResult.cpp", - "BulletCollision/CollisionDispatch/btSimulationIslandManager.cpp", - "BulletCollision/CollisionDispatch/btUnionFind.cpp", - "BulletCollision/CollisionShapes/btBoxShape.cpp", - "BulletCollision/CollisionShapes/btBvhTriangleMeshShape.cpp", - "BulletCollision/CollisionShapes/btCollisionShape.cpp", - "BulletCollision/CollisionShapes/btCompoundShape.cpp", - "BulletCollision/CollisionShapes/btConcaveShape.cpp", - "BulletCollision/CollisionShapes/btConeShape.cpp", - "BulletCollision/CollisionShapes/btConvexHullShape.cpp", - "BulletCollision/CollisionShapes/btConvexShape.cpp", - "BulletCollision/CollisionShapes/btConvexTriangleMeshShape.cpp", - "BulletCollision/CollisionShapes/btCylinderShape.cpp", - "BulletCollision/CollisionShapes/btEmptyShape.cpp", - "BulletCollision/CollisionShapes/btMinkowskiSumShape.cpp", - "BulletCollision/CollisionShapes/btMultiSphereShape.cpp", - "BulletCollision/CollisionShapes/btOptimizedBvh.cpp", - "BulletCollision/CollisionShapes/btPolyhedralConvexShape.cpp", - "BulletCollision/CollisionShapes/btTetrahedronShape.cpp", - "BulletCollision/CollisionShapes/btSphereShape.cpp", - "BulletCollision/CollisionShapes/btStaticPlaneShape.cpp", - "BulletCollision/CollisionShapes/btStridingMeshInterface.cpp", - "BulletCollision/CollisionShapes/btTriangleCallback.cpp", - "BulletCollision/CollisionShapes/btTriangleBuffer.cpp", - "BulletCollision/CollisionShapes/btTriangleIndexVertexArray.cpp", - "BulletCollision/CollisionShapes/btTriangleMesh.cpp", - "BulletCollision/CollisionShapes/btTriangleMeshShape.cpp", - "BulletCollision/CollisionShapes/btHeightfieldTerrainShape.cpp", - "BulletCollision/NarrowPhaseCollision/btContinuousConvexCollision.cpp", - "BulletCollision/NarrowPhaseCollision/btGjkEpa.cpp", - "BulletCollision/NarrowPhaseCollision/btGjkEpaPenetrationDepthSolver.cpp", - "BulletCollision/NarrowPhaseCollision/btConvexCast.cpp", - "BulletCollision/NarrowPhaseCollision/btGjkConvexCast.cpp", - "BulletCollision/NarrowPhaseCollision/btGjkPairDetector.cpp", - "BulletCollision/NarrowPhaseCollision/btMinkowskiPenetrationDepthSolver.cpp", - "BulletCollision/NarrowPhaseCollision/btPersistentManifold.cpp", - "BulletCollision/NarrowPhaseCollision/btRaycastCallback.cpp", - "BulletCollision/NarrowPhaseCollision/btSubSimplexConvexCast.cpp", - "BulletCollision/NarrowPhaseCollision/btVoronoiSimplexSolver.cpp"] -incs = '. BulletCollision BulletDynamics LinearMath' +bulletdyn_src = env.Glob("BulletDynamics/Vehicle/*.cpp") + env.Glob("BulletDynamics/ConstraintSolver/*.cpp") + env.Glob("BulletDynamics/Dynamics/*.cpp") + +collision_broadphase_src = env.Glob("BulletCollision/BroadphaseCollision/*.cpp") +collision_dispatch_src = env.Glob("BulletCollision/CollisionDispatch/*.cpp") +collision_gimpact_src = env.Glob("BulletCollision/Gimpact/*.cpp") +collision_shapes_src = env.Glob("BulletCollision/CollisionShapes/*.cpp") +collision_narrowphase_src = env.Glob("BulletCollision/NarrowPhaseCollision/*.cpp") + +softbody_src = env.Glob("BulletSoftBody/*.cpp") + +incs = '. BulletCollision BulletDynamics LinearMath BulletSoftBody' env.BlenderLib ( libname = 'extern_bullet2linmath', sources=linearmath_src, includes=Split(incs), defines=Split(defs), libtype=['game2', 'player'], priority=[20, 170], compileflags=cflags ) env.BlenderLib ( libname = 'extern_bullet2dynamics', sources=bulletdyn_src, includes=Split(incs), defines=Split(defs), libtype=['game2', 'player'], priority=[19, 169], compileflags=cflags ) -env.BlenderLib ( libname = 'extern_bullet2collision', sources=collision_src, includes=Split(incs), defines=Split(defs), libtype=['game2', 'player'], priority=[20, 170], compileflags=cflags ) +env.BlenderLib ( libname = 'extern_bullet2collision_broadphase', sources=collision_broadphase_src, includes=Split(incs), defines=Split(defs), libtype=['game2', 'player'], priority=[25, 175], compileflags=cflags ) +env.BlenderLib ( libname = 'extern_bullet2collision_dispatch', sources=collision_dispatch_src, includes=Split(incs), defines=Split(defs), libtype=['game2', 'player'], priority=[20, 170], compileflags=cflags ) +env.BlenderLib ( libname = 'extern_bullet2collision_gimpact', sources=collision_gimpact_src, includes=Split(incs), defines=Split(defs), libtype=['game2', 'player'], priority=[20, 170], compileflags=cflags ) +env.BlenderLib ( libname = 'extern_bullet2collision_shapes', sources=collision_shapes_src, includes=Split(incs), defines=Split(defs), libtype=['game2', 'player'], priority=[20, 170], compileflags=cflags ) +env.BlenderLib ( libname = 'extern_bullet2collision_narrowphase', sources=collision_narrowphase_src, includes=Split(incs), defines=Split(defs), libtype=['game2', 'player'], priority=[20, 170], compileflags=cflags ) +env.BlenderLib ( libname = 'extern_bullet2softbody', sources=softbody_src, includes=Split(incs), defines=Split(defs), libtype=['game2', 'player'], priority=[18,168], compileflags=cflags ) diff --git a/extern/bullet2/src/btBulletCollisionCommon.h b/extern/bullet2/src/btBulletCollisionCommon.h index 8417ccc671f..4b14f6d00f3 100644 --- a/extern/bullet2/src/btBulletCollisionCommon.h +++ b/extern/bullet2/src/btBulletCollisionCommon.h @@ -32,23 +32,28 @@ subject to the following restrictions: #include "BulletCollision/CollisionShapes/btConvexHullShape.h" #include "BulletCollision/CollisionShapes/btTriangleMesh.h" #include "BulletCollision/CollisionShapes/btConvexTriangleMeshShape.h" +#include "BulletCollision/CollisionShapes/btBvhTriangleMeshShape.h" #include "BulletCollision/CollisionShapes/btTriangleMeshShape.h" #include "BulletCollision/CollisionShapes/btTriangleIndexVertexArray.h" #include "BulletCollision/CollisionShapes/btCompoundShape.h" #include "BulletCollision/CollisionShapes/btTetrahedronShape.h" #include "BulletCollision/CollisionShapes/btEmptyShape.h" -#include "BulletCollision/CollisionShapes/btBvhTriangleMeshShape.h" #include "BulletCollision/CollisionShapes/btMultiSphereShape.h" +#include "BulletCollision/CollisionShapes/btUniformScalingShape.h" ///Narrowphase Collision Detector #include "BulletCollision/CollisionDispatch/btSphereSphereCollisionAlgorithm.h" -#include "BulletCollision/CollisionDispatch/btSphereBoxCollisionAlgorithm.h" + +//btSphereBoxCollisionAlgorithm is broken, use gjk for now +//#include "BulletCollision/CollisionDispatch/btSphereBoxCollisionAlgorithm.h" +#include "BulletCollision/CollisionDispatch/btDefaultCollisionConfiguration.h" ///Dispatching and generation of collision pairs (broadphase) #include "BulletCollision/CollisionDispatch/btCollisionDispatcher.h" #include "BulletCollision/BroadphaseCollision/btSimpleBroadphase.h" #include "BulletCollision/BroadphaseCollision/btAxisSweep3.h" - +#include "BulletCollision/BroadphaseCollision/btMultiSapBroadphase.h" +#include "BulletCollision/BroadphaseCollision/btDbvtBroadphase.h" ///Math library & Utils #include "LinearMath/btQuaternion.h" diff --git a/extern/bullet2/src/btBulletDynamicsCommon.h b/extern/bullet2/src/btBulletDynamicsCommon.h index 25f016cba8a..b95972cd15d 100644 --- a/extern/bullet2/src/btBulletDynamicsCommon.h +++ b/extern/bullet2/src/btBulletDynamicsCommon.h @@ -20,6 +20,8 @@ subject to the following restrictions: #include "btBulletCollisionCommon.h" #include "BulletDynamics/Dynamics/btDiscreteDynamicsWorld.h" +#include "BulletDynamics/Dynamics/btContinuousDynamicsWorld.h" + #include "BulletDynamics/Dynamics/btSimpleDynamicsWorld.h" #include "BulletDynamics/Dynamics/btRigidBody.h" @@ -27,9 +29,11 @@ subject to the following restrictions: #include "BulletDynamics/ConstraintSolver/btHingeConstraint.h" #include "BulletDynamics/ConstraintSolver/btConeTwistConstraint.h" #include "BulletDynamics/ConstraintSolver/btGeneric6DofConstraint.h" - +#include "BulletDynamics/ConstraintSolver/btSliderConstraint.h" #include "BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolver.h" + + ///Vehicle simulation, with wheel contact simulated by raycasts #include "BulletDynamics/Vehicle/btRaycastVehicle.h" diff --git a/extern/glew/SConscript b/extern/glew/SConscript index 32b3b478113..3badbeb040e 100644 --- a/extern/glew/SConscript +++ b/extern/glew/SConscript @@ -9,4 +9,4 @@ sources = ['src/glew.c'] defs = '' incs = 'include' -env.BlenderLib ( 'extern_glew', sources, Split(incs), Split(defs), libtype=['intern', 'player'], priority=[25, 50]) +env.BlenderLib ( 'extern_glew', sources, Split(incs), Split(defs), libtype=['blender', 'player'], priority=[50, 50]) diff --git a/extern/glew/include/GL/glew.h b/extern/glew/include/GL/glew.h index fd3fe10b938..6b88e6eb4c9 100644 --- a/extern/glew/include/GL/glew.h +++ b/extern/glew/include/GL/glew.h @@ -58,8 +58,11 @@ ** version 1.2.1 Specification. */ -/* added this here for blender, should be moved elsewhere */ +#define BLENDER_CHANGES + +#ifdef BLENDER_CHANGES #define GLEW_STATIC +#endif #ifndef __glew_h__ #define __glew_h__ @@ -1805,6 +1808,7 @@ typedef void (GLAPIENTRY * PFNGLVERTEXATTRIB4UIVPROC) (GLuint index, const GLuin typedef void (GLAPIENTRY * PFNGLVERTEXATTRIB4USVPROC) (GLuint index, const GLushort* v); typedef void (GLAPIENTRY * PFNGLVERTEXATTRIBPOINTERPROC) (GLuint index, GLint size, GLenum type, GLboolean normalized, GLsizei stride, const GLvoid* pointer); +#ifndef BLENDER_CHANGES #define glAttachShader GLEW_GET_FUN(__glewAttachShader) #define glBindAttribLocation GLEW_GET_FUN(__glewBindAttribLocation) #define glBlendEquationSeparate GLEW_GET_FUN(__glewBlendEquationSeparate) @@ -1898,6 +1902,7 @@ typedef void (GLAPIENTRY * PFNGLVERTEXATTRIBPOINTERPROC) (GLuint index, GLint si #define glVertexAttrib4uiv GLEW_GET_FUN(__glewVertexAttrib4uiv) #define glVertexAttrib4usv GLEW_GET_FUN(__glewVertexAttrib4usv) #define glVertexAttribPointer GLEW_GET_FUN(__glewVertexAttribPointer) +#endif #define GLEW_VERSION_2_0 GLEW_GET_VAR(__GLEW_VERSION_2_0) diff --git a/extern/glew/make/msvc_9_0/glew.vcproj b/extern/glew/make/msvc_9_0/glew.vcproj new file mode 100644 index 00000000000..f9d8df478ca --- /dev/null +++ b/extern/glew/make/msvc_9_0/glew.vcproj @@ -0,0 +1,196 @@ +<?xml version="1.0" encoding="Windows-1252"?>
+<VisualStudioProject
+ ProjectType="Visual C++"
+ Version="9,00"
+ Name="EXT_glew"
+ ProjectGUID="{BAC615B0-F1AF-418B-8D23-A10FD8870D6A}"
+ RootNamespace="glew"
+ Keyword="Win32Proj"
+ TargetFrameworkVersion="131072"
+ >
+ <Platforms>
+ <Platform
+ Name="Win32"
+ />
+ </Platforms>
+ <ToolFiles>
+ </ToolFiles>
+ <Configurations>
+ <Configuration
+ Name="Blender Debug|Win32"
+ OutputDirectory="..\..\..\..\..\build\msvc_9\extern\glew\debug"
+ IntermediateDirectory="..\..\..\..\..\build\msvc_9\extern\glew\debug"
+ ConfigurationType="4"
+ InheritedPropertySheets="$(VCInstallDir)VCProjectDefaults\UpgradeFromVC71.vsprops"
+ CharacterSet="2"
+ >
+ <Tool
+ Name="VCPreBuildEventTool"
+ />
+ <Tool
+ Name="VCCustomBuildTool"
+ />
+ <Tool
+ Name="VCXMLDataGeneratorTool"
+ />
+ <Tool
+ Name="VCWebServiceProxyGeneratorTool"
+ />
+ <Tool
+ Name="VCMIDLTool"
+ />
+ <Tool
+ Name="VCCLCompilerTool"
+ Optimization="0"
+ AdditionalIncludeDirectories="..\..\include"
+ PreprocessorDefinitions="WIN32;_DEBUG;_LIB"
+ MinimalRebuild="false"
+ BasicRuntimeChecks="3"
+ RuntimeLibrary="1"
+ UsePrecompiledHeader="0"
+ PrecompiledHeaderFile="..\..\..\..\..\build\msvc_9\extern\glew\debug\glew.pch"
+ AssemblerListingLocation="..\..\..\..\..\build\msvc_9\extern\glew\debug\"
+ ObjectFile="..\..\..\..\..\build\msvc_9\extern\glew\debug\"
+ ProgramDataBaseFileName="..\..\..\..\..\build\msvc_9\extern\glew\debug\"
+ WarningLevel="2"
+ Detect64BitPortabilityProblems="false"
+ DebugInformationFormat="3"
+ />
+ <Tool
+ Name="VCManagedResourceCompilerTool"
+ />
+ <Tool
+ Name="VCResourceCompilerTool"
+ />
+ <Tool
+ Name="VCPreLinkEventTool"
+ />
+ <Tool
+ Name="VCLibrarianTool"
+ OutputFile="..\..\..\..\..\build\msvc_9\libs\extern\debug\glew.lib"
+ />
+ <Tool
+ Name="VCALinkTool"
+ />
+ <Tool
+ Name="VCXDCMakeTool"
+ />
+ <Tool
+ Name="VCBscMakeTool"
+ />
+ <Tool
+ Name="VCFxCopTool"
+ />
+ <Tool
+ Name="VCPostBuildEventTool"
+ Description="Copying GLEW files library (debug target) to lib tree."
+ CommandLine="ECHO Copying header files
IF NOT EXIST ..\..\..\..\..\build\msvc_9\extern\glew\include\GL MKDIR ..\..\..\..\..\build\msvc_9\extern\glew\include\GL
XCOPY /Y ..\..\include\GL\*.h ..\..\..\..\..\build\msvc_9\extern\glew\include\GL
ECHO Done
"
+ />
+ </Configuration>
+ <Configuration
+ Name="Blender Release|Win32"
+ OutputDirectory="..\..\..\..\..\build\msvc_9\extern\glew"
+ IntermediateDirectory="..\..\..\..\..\build\msvc_9\extern\glew"
+ ConfigurationType="4"
+ InheritedPropertySheets="$(VCInstallDir)VCProjectDefaults\UpgradeFromVC71.vsprops"
+ CharacterSet="2"
+ >
+ <Tool
+ Name="VCPreBuildEventTool"
+ />
+ <Tool
+ Name="VCCustomBuildTool"
+ />
+ <Tool
+ Name="VCXMLDataGeneratorTool"
+ />
+ <Tool
+ Name="VCWebServiceProxyGeneratorTool"
+ />
+ <Tool
+ Name="VCMIDLTool"
+ />
+ <Tool
+ Name="VCCLCompilerTool"
+ InlineFunctionExpansion="1"
+ AdditionalIncludeDirectories="..\..\include"
+ PreprocessorDefinitions="WIN32;NDEBUG;_LIB"
+ StringPooling="true"
+ RuntimeLibrary="0"
+ EnableFunctionLevelLinking="true"
+ UsePrecompiledHeader="0"
+ PrecompiledHeaderFile="..\..\..\..\..\build\msvc_9\extern\glew\glew.pch"
+ AssemblerListingLocation="..\..\..\..\..\build\msvc_9\extern\glew\"
+ ObjectFile="..\..\..\..\..\build\msvc_9\extern\glew\"
+ ProgramDataBaseFileName="..\..\..\..\..\build\msvc_9\extern\glew\"
+ WarningLevel="2"
+ Detect64BitPortabilityProblems="false"
+ DebugInformationFormat="0"
+ />
+ <Tool
+ Name="VCManagedResourceCompilerTool"
+ />
+ <Tool
+ Name="VCResourceCompilerTool"
+ />
+ <Tool
+ Name="VCPreLinkEventTool"
+ />
+ <Tool
+ Name="VCLibrarianTool"
+ OutputFile="..\..\..\..\..\build\msvc_9\libs\extern\glew.lib"
+ />
+ <Tool
+ Name="VCALinkTool"
+ />
+ <Tool
+ Name="VCXDCMakeTool"
+ />
+ <Tool
+ Name="VCBscMakeTool"
+ />
+ <Tool
+ Name="VCFxCopTool"
+ />
+ <Tool
+ Name="VCPostBuildEventTool"
+ Description="Copying GLEW files library to lib tree."
+ CommandLine="ECHO Copying header files
IF NOT EXIST ..\..\..\..\..\build\msvc_9\extern\glew\include\GL MKDIR ..\..\..\..\..\build\msvc_9\extern\glew\include\GL
XCOPY /Y ..\..\include\GL\*.h ..\..\..\..\..\build\msvc_9\extern\glew\include\GL
ECHO Done
"
+ />
+ </Configuration>
+ </Configurations>
+ <References>
+ </References>
+ <Files>
+ <Filter
+ Name="Source Files"
+ Filter="cpp;c;cxx;def;odl;idl;hpj;bat;asm;asmx"
+ UniqueIdentifier="{4FC737F1-C7A5-4376-A066-2A32D752A2FF}"
+ >
+ <File
+ RelativePath="..\..\src\glew.c"
+ >
+ </File>
+ </Filter>
+ <Filter
+ Name="Header Files"
+ Filter="h;hpp;hxx;hm;inl;inc;xsd"
+ UniqueIdentifier="{93995380-89BD-4b04-88EB-625FBE52EBFB}"
+ >
+ <File
+ RelativePath="..\..\include\GL\glew.h"
+ >
+ </File>
+ <File
+ RelativePath="..\..\include\GL\glxew.h"
+ >
+ </File>
+ <File
+ RelativePath="..\..\include\GL\wglew.h"
+ >
+ </File>
+ </Filter>
+ </Files>
+ <Globals>
+ </Globals>
+</VisualStudioProject>
diff --git a/extern/glew/src/glew.c b/extern/glew/src/glew.c index 593f0e58f7c..f20463630dc 100644 --- a/extern/glew/src/glew.c +++ b/extern/glew/src/glew.c @@ -1836,6 +1836,7 @@ static GLboolean _glewInit_GL_VERSION_2_0 (GLEW_CONTEXT_ARG_DEF_INIT) { GLboolean r = GL_FALSE; +#ifndef BLENDER_CHANGES r = ((glAttachShader = (PFNGLATTACHSHADERPROC)glewGetProcAddress((const GLubyte*)"glAttachShader")) == NULL) || r; r = ((glBindAttribLocation = (PFNGLBINDATTRIBLOCATIONPROC)glewGetProcAddress((const GLubyte*)"glBindAttribLocation")) == NULL) || r; r = ((glBlendEquationSeparate = (PFNGLBLENDEQUATIONSEPARATEPROC)glewGetProcAddress((const GLubyte*)"glBlendEquationSeparate")) == NULL) || r; @@ -1929,6 +1930,7 @@ static GLboolean _glewInit_GL_VERSION_2_0 (GLEW_CONTEXT_ARG_DEF_INIT) r = ((glVertexAttrib4uiv = (PFNGLVERTEXATTRIB4UIVPROC)glewGetProcAddress((const GLubyte*)"glVertexAttrib4uiv")) == NULL) || r; r = ((glVertexAttrib4usv = (PFNGLVERTEXATTRIB4USVPROC)glewGetProcAddress((const GLubyte*)"glVertexAttrib4usv")) == NULL) || r; r = ((glVertexAttribPointer = (PFNGLVERTEXATTRIBPOINTERPROC)glewGetProcAddress((const GLubyte*)"glVertexAttribPointer")) == NULL) || r; +#endif return r; } diff --git a/extern/libopenjpeg/SConscript b/extern/libopenjpeg/SConscript index f0a93f6e2d9..837701eeae0 100644 --- a/extern/libopenjpeg/SConscript +++ b/extern/libopenjpeg/SConscript @@ -7,14 +7,18 @@ Import('env') sources = env.Glob('*.c') incs = '.' -flags = "-Wall -O3 -ffast-math -std=c99" +if env['OURPLATFORM'] == 'win32-vc': + flags = [] +else: + flags = ['-Wall', '-O3', '-ffast-math', '-std=c99'] -oj_env = env.Copy(); -oj_env.Replace(CCFLAGS = '') -oj_env.Replace(BF_DEBUG_FLAGS = '') +oj_env = env.Clone() +if not env['OURPLATFORM'] == 'win32-vc': + oj_env.Replace(CCFLAGS = '') + oj_env.Replace(BF_DEBUG_FLAGS = '') oj_env.BlenderLib ( libname='extern_openjpeg', sources=sources, includes=Split(incs), defines=[], libtype=['core','intern','player'], - priority=[10, 10, 300], compileflags = Split(flags)) + priority=[10, 10, 300], compileflags = flags) diff --git a/extern/libredcode/SConscript b/extern/libredcode/SConscript index 4e83ba5cbb4..9fd25ad63c7 100644 --- a/extern/libredcode/SConscript +++ b/extern/libredcode/SConscript @@ -9,18 +9,6 @@ Import('env') sources = env.Glob('*.c') incs = '. ../libopenjpeg' -root = "extern/libredcode" - -if not os.path.isdir(root + "/include"): - os.mkdir(root + "/include"); -if not os.path.isdir(root + "/include/redcode"): - os.mkdir(root + "/include/redcode"); - -for h in env.Glob('*.h'): - shutil.copyfile(root + "/" + h, - root + "/include/redcode/" + h) - - env.BlenderLib ( libname='extern_redcode', sources=sources, includes=Split(incs), defines=[], diff --git a/extern/libredcode/format.c b/extern/libredcode/format.c index 35410e9e269..4677c49b8a5 100644 --- a/extern/libredcode/format.c +++ b/extern/libredcode/format.c @@ -1,4 +1,9 @@ +#ifdef _WIN32 +#include <Winsock2.h> +#else #include <netinet/in.h> +#endif + #include <stdio.h> #include <stdlib.h> #include <string.h> diff --git a/extern/make/msvc_9_0/build_install_all.vcproj b/extern/make/msvc_9_0/build_install_all.vcproj new file mode 100644 index 00000000000..523b1c5d0a3 --- /dev/null +++ b/extern/make/msvc_9_0/build_install_all.vcproj @@ -0,0 +1,114 @@ +<?xml version="1.0" encoding="Windows-1252"?>
+<VisualStudioProject
+ ProjectType="Visual C++"
+ Version="9,00"
+ Name="EXT_build_install_all"
+ ProjectGUID="{9C71A793-C177-4CAB-8EC5-923D500B39F8}"
+ RootNamespace="build_install_all"
+ Keyword="ManagedCProj"
+ TargetFrameworkVersion="131072"
+ >
+ <Platforms>
+ <Platform
+ Name="Win32"
+ />
+ </Platforms>
+ <ToolFiles>
+ </ToolFiles>
+ <Configurations>
+ <Configuration
+ Name="Blender Debug|Win32"
+ OutputDirectory="..\..\..\..\build\msvc_9\extern\debug"
+ IntermediateDirectory="..\..\..\..\build\msvc_9\extern\debug"
+ ConfigurationType="10"
+ InheritedPropertySheets="$(VCInstallDir)VCProjectDefaults\UpgradeFromVC71.vsprops"
+ CharacterSet="2"
+ ManagedExtensions="4"
+ >
+ <Tool
+ Name="VCPreBuildEventTool"
+ />
+ <Tool
+ Name="VCCustomBuildTool"
+ />
+ <Tool
+ Name="VCMIDLTool"
+ />
+ <Tool
+ Name="VCPostBuildEventTool"
+ />
+ </Configuration>
+ <Configuration
+ Name="Blender Release|Win32"
+ OutputDirectory="..\..\..\..\build\msvc_9\extern"
+ IntermediateDirectory="..\..\..\..\build\msvc_9\extern"
+ ConfigurationType="10"
+ InheritedPropertySheets="$(VCInstallDir)VCProjectDefaults\UpgradeFromVC71.vsprops"
+ CharacterSet="2"
+ ManagedExtensions="4"
+ >
+ <Tool
+ Name="VCPreBuildEventTool"
+ />
+ <Tool
+ Name="VCCustomBuildTool"
+ />
+ <Tool
+ Name="VCMIDLTool"
+ />
+ <Tool
+ Name="VCPostBuildEventTool"
+ />
+ </Configuration>
+ <Configuration
+ Name="3D Plugin Release|Win32"
+ OutputDirectory="..\..\..\..\build\msvc_9\extern\mtdll"
+ IntermediateDirectory="..\..\..\..\build\msvc_9\extern\mtdll"
+ ConfigurationType="10"
+ InheritedPropertySheets="$(VCInstallDir)VCProjectDefaults\UpgradeFromVC71.vsprops"
+ CharacterSet="2"
+ ManagedExtensions="4"
+ >
+ <Tool
+ Name="VCPreBuildEventTool"
+ />
+ <Tool
+ Name="VCCustomBuildTool"
+ />
+ <Tool
+ Name="VCMIDLTool"
+ />
+ <Tool
+ Name="VCPostBuildEventTool"
+ />
+ </Configuration>
+ <Configuration
+ Name="3D Plugin Debug|Win32"
+ OutputDirectory="..\..\..\..\build\msvc_9\extern\mtdll\debug"
+ IntermediateDirectory="..\..\..\..\build\msvc_9\extern\mtdll\debug"
+ ConfigurationType="10"
+ InheritedPropertySheets="$(VCInstallDir)VCProjectDefaults\UpgradeFromVC71.vsprops"
+ CharacterSet="2"
+ ManagedExtensions="4"
+ >
+ <Tool
+ Name="VCPreBuildEventTool"
+ />
+ <Tool
+ Name="VCCustomBuildTool"
+ />
+ <Tool
+ Name="VCMIDLTool"
+ />
+ <Tool
+ Name="VCPostBuildEventTool"
+ />
+ </Configuration>
+ </Configurations>
+ <References>
+ </References>
+ <Files>
+ </Files>
+ <Globals>
+ </Globals>
+</VisualStudioProject>
diff --git a/extern/qhull/make/msvc_9_0/qhull.vcproj b/extern/qhull/make/msvc_9_0/qhull.vcproj new file mode 100644 index 00000000000..fe5b3e806b6 --- /dev/null +++ b/extern/qhull/make/msvc_9_0/qhull.vcproj @@ -0,0 +1,877 @@ +<?xml version="1.0" encoding="Windows-1252"?>
+<VisualStudioProject
+ ProjectType="Visual C++"
+ Version="9,00"
+ Name="EXT_qhull"
+ ProjectGUID="{6461F05D-4698-47AB-A8E8-1CA2ACC9948B}"
+ RootNamespace="qhull"
+ TargetFrameworkVersion="131072"
+ >
+ <Platforms>
+ <Platform
+ Name="Win32"
+ />
+ </Platforms>
+ <ToolFiles>
+ </ToolFiles>
+ <Configurations>
+ <Configuration
+ Name="Blender Release|Win32"
+ OutputDirectory="..\..\..\..\..\build\msvc_9\extern\qhull"
+ IntermediateDirectory="..\..\..\..\..\build\msvc_9\extern\qhull"
+ ConfigurationType="4"
+ InheritedPropertySheets="$(VCInstallDir)VCProjectDefaults\UpgradeFromVC71.vsprops"
+ UseOfMFC="0"
+ ATLMinimizesCRunTimeLibraryUsage="false"
+ CharacterSet="2"
+ >
+ <Tool
+ Name="VCPreBuildEventTool"
+ />
+ <Tool
+ Name="VCCustomBuildTool"
+ />
+ <Tool
+ Name="VCXMLDataGeneratorTool"
+ />
+ <Tool
+ Name="VCWebServiceProxyGeneratorTool"
+ />
+ <Tool
+ Name="VCMIDLTool"
+ />
+ <Tool
+ Name="VCCLCompilerTool"
+ Optimization="2"
+ InlineFunctionExpansion="1"
+ PreprocessorDefinitions="WIN32;NDEBUG;_LIB"
+ StringPooling="true"
+ RuntimeLibrary="0"
+ EnableFunctionLevelLinking="true"
+ UsePrecompiledHeader="0"
+ PrecompiledHeaderFile="..\..\..\..\..\build\msvc_9\extern\qhull\qhull.pch"
+ AssemblerListingLocation="..\..\..\..\..\build\msvc_9\extern\qhull\"
+ ObjectFile="..\..\..\..\..\build\msvc_9\extern\qhull\"
+ ProgramDataBaseFileName="..\..\..\..\..\build\msvc_9\extern\qhull\"
+ WarningLevel="2"
+ SuppressStartupBanner="true"
+ />
+ <Tool
+ Name="VCManagedResourceCompilerTool"
+ />
+ <Tool
+ Name="VCResourceCompilerTool"
+ PreprocessorDefinitions="NDEBUG"
+ Culture="1033"
+ />
+ <Tool
+ Name="VCPreLinkEventTool"
+ />
+ <Tool
+ Name="VCLibrarianTool"
+ OutputFile="..\..\..\..\..\build\msvc_9\libs\extern\qhull.lib"
+ SuppressStartupBanner="true"
+ />
+ <Tool
+ Name="VCALinkTool"
+ />
+ <Tool
+ Name="VCXDCMakeTool"
+ />
+ <Tool
+ Name="VCBscMakeTool"
+ />
+ <Tool
+ Name="VCFxCopTool"
+ />
+ <Tool
+ Name="VCPostBuildEventTool"
+ Description="Copying QHULL files library to lib tree."
+ CommandLine="ECHO Copying header files
IF NOT EXIST ..\..\..\..\..\build\msvc_9\extern\qhull\include MKDIR ..\..\..\..\..\build\msvc_9\extern\qhull\include
XCOPY /Y ..\..\include\qhull\*.h ..\..\..\..\..\build\msvc_9\extern\qhull\include
ECHO Done
"
+ />
+ </Configuration>
+ <Configuration
+ Name="Blender Debug|Win32"
+ OutputDirectory="..\..\..\..\..\build\msvc_9\extern\qhull\debug"
+ IntermediateDirectory="..\..\..\..\..\build\msvc_9\extern\qhull\debug"
+ ConfigurationType="4"
+ InheritedPropertySheets="$(VCInstallDir)VCProjectDefaults\UpgradeFromVC71.vsprops"
+ UseOfMFC="0"
+ ATLMinimizesCRunTimeLibraryUsage="false"
+ CharacterSet="2"
+ >
+ <Tool
+ Name="VCPreBuildEventTool"
+ />
+ <Tool
+ Name="VCCustomBuildTool"
+ />
+ <Tool
+ Name="VCXMLDataGeneratorTool"
+ />
+ <Tool
+ Name="VCWebServiceProxyGeneratorTool"
+ />
+ <Tool
+ Name="VCMIDLTool"
+ />
+ <Tool
+ Name="VCCLCompilerTool"
+ Optimization="0"
+ PreprocessorDefinitions="WIN32;_DEBUG;_LIB"
+ BasicRuntimeChecks="3"
+ RuntimeLibrary="1"
+ UsePrecompiledHeader="0"
+ PrecompiledHeaderFile="..\..\..\..\..\build\msvc_9\extern\qhull\debug\qhull.pch"
+ AssemblerListingLocation="..\..\..\..\..\build\msvc_9\extern\qhull\debug\"
+ ObjectFile="..\..\..\..\..\build\msvc_9\extern\qhull\debug\"
+ ProgramDataBaseFileName="..\..\..\..\..\build\msvc_9\extern\qhull\debug\"
+ WarningLevel="2"
+ SuppressStartupBanner="true"
+ DebugInformationFormat="3"
+ />
+ <Tool
+ Name="VCManagedResourceCompilerTool"
+ />
+ <Tool
+ Name="VCResourceCompilerTool"
+ PreprocessorDefinitions="_DEBUG"
+ Culture="1033"
+ />
+ <Tool
+ Name="VCPreLinkEventTool"
+ />
+ <Tool
+ Name="VCLibrarianTool"
+ OutputFile="..\..\..\..\..\build\msvc_9\libs\extern\debug\qhull.lib"
+ SuppressStartupBanner="true"
+ />
+ <Tool
+ Name="VCALinkTool"
+ />
+ <Tool
+ Name="VCXDCMakeTool"
+ />
+ <Tool
+ Name="VCBscMakeTool"
+ />
+ <Tool
+ Name="VCFxCopTool"
+ />
+ <Tool
+ Name="VCPostBuildEventTool"
+ Description="Copying QHULL files library (debug target) to lib tree."
+ CommandLine="ECHO Copying header files
IF NOT EXIST ..\..\..\..\..\build\msvc_9\extern\qhull\include MKDIR ..\..\..\..\..\build\msvc_9\extern\qhull\include
XCOPY /Y ..\..\include\qhull\*.h ..\..\..\..\..\build\msvc_9\extern\qhull\include
ECHO Done
"
+ />
+ </Configuration>
+ <Configuration
+ Name="3D Plugin Release|Win32"
+ OutputDirectory="..\..\..\..\..\build\msvc_9\extern\qhull\mtdll"
+ IntermediateDirectory="..\..\..\..\..\build\msvc_9\extern\qhull\mtdll"
+ ConfigurationType="4"
+ InheritedPropertySheets="$(VCInstallDir)VCProjectDefaults\UpgradeFromVC71.vsprops"
+ UseOfMFC="0"
+ ATLMinimizesCRunTimeLibraryUsage="false"
+ CharacterSet="2"
+ >
+ <Tool
+ Name="VCPreBuildEventTool"
+ />
+ <Tool
+ Name="VCCustomBuildTool"
+ />
+ <Tool
+ Name="VCXMLDataGeneratorTool"
+ />
+ <Tool
+ Name="VCWebServiceProxyGeneratorTool"
+ />
+ <Tool
+ Name="VCMIDLTool"
+ />
+ <Tool
+ Name="VCCLCompilerTool"
+ Optimization="2"
+ InlineFunctionExpansion="1"
+ PreprocessorDefinitions="WIN32;NDEBUG;_LIB"
+ StringPooling="true"
+ RuntimeLibrary="2"
+ EnableFunctionLevelLinking="true"
+ UsePrecompiledHeader="0"
+ PrecompiledHeaderFile="..\..\..\..\..\build\msvc_9\extern\qhull\mtdll\qhull.pch"
+ AssemblerListingLocation="..\..\..\..\..\build\msvc_9\extern\qhull\mtdll\"
+ ObjectFile="..\..\..\..\..\build\msvc_9\extern\qhull\mtdll\"
+ ProgramDataBaseFileName="..\..\..\..\..\build\msvc_9\extern\qhull\mtdll\"
+ WarningLevel="2"
+ SuppressStartupBanner="true"
+ />
+ <Tool
+ Name="VCManagedResourceCompilerTool"
+ />
+ <Tool
+ Name="VCResourceCompilerTool"
+ PreprocessorDefinitions="NDEBUG"
+ Culture="1033"
+ />
+ <Tool
+ Name="VCPreLinkEventTool"
+ />
+ <Tool
+ Name="VCLibrarianTool"
+ OutputFile="..\..\..\..\..\build\msvc_9\libs\extern\mtdll\qhull.lib"
+ SuppressStartupBanner="true"
+ />
+ <Tool
+ Name="VCALinkTool"
+ />
+ <Tool
+ Name="VCXDCMakeTool"
+ />
+ <Tool
+ Name="VCBscMakeTool"
+ />
+ <Tool
+ Name="VCFxCopTool"
+ />
+ <Tool
+ Name="VCPostBuildEventTool"
+ Description="Copying QHULL files library to lib tree."
+ CommandLine="ECHO Copying header files
IF NOT EXIST ..\..\..\..\..\build\msvc_9\extern\qhull\include MKDIR ..\..\..\..\..\build\msvc_9\extern\qhull\include
XCOPY /Y ..\..\include\qhull\*.h ..\..\..\..\..\build\msvc_9\extern\qhull\include
ECHO Done
"
+ />
+ </Configuration>
+ <Configuration
+ Name="3D Plugin Debug|Win32"
+ OutputDirectory="..\..\..\..\..\build\msvc_9\extern\qhull\mtdll\debug"
+ IntermediateDirectory="..\..\..\..\..\build\msvc_9\extern\qhull\mtdll\debug"
+ ConfigurationType="4"
+ InheritedPropertySheets="$(VCInstallDir)VCProjectDefaults\UpgradeFromVC71.vsprops"
+ UseOfMFC="0"
+ ATLMinimizesCRunTimeLibraryUsage="false"
+ CharacterSet="2"
+ >
+ <Tool
+ Name="VCPreBuildEventTool"
+ />
+ <Tool
+ Name="VCCustomBuildTool"
+ />
+ <Tool
+ Name="VCXMLDataGeneratorTool"
+ />
+ <Tool
+ Name="VCWebServiceProxyGeneratorTool"
+ />
+ <Tool
+ Name="VCMIDLTool"
+ />
+ <Tool
+ Name="VCCLCompilerTool"
+ Optimization="0"
+ PreprocessorDefinitions="WIN32;_DEBUG;_LIB"
+ BasicRuntimeChecks="3"
+ RuntimeLibrary="3"
+ UsePrecompiledHeader="0"
+ PrecompiledHeaderFile="..\..\..\..\..\build\msvc_9\extern\qhull\mtdll\debug\qhull.pch"
+ AssemblerListingLocation="..\..\..\..\..\build\msvc_9\extern\qhull\mtdll\debug\"
+ ObjectFile="..\..\..\..\..\build\msvc_9\extern\qhull\mtdll\debug\"
+ ProgramDataBaseFileName="..\..\..\..\..\build\msvc_9\extern\qhull\mtdll\debug\"
+ WarningLevel="2"
+ SuppressStartupBanner="true"
+ DebugInformationFormat="3"
+ />
+ <Tool
+ Name="VCManagedResourceCompilerTool"
+ />
+ <Tool
+ Name="VCResourceCompilerTool"
+ PreprocessorDefinitions="_DEBUG"
+ Culture="1033"
+ />
+ <Tool
+ Name="VCPreLinkEventTool"
+ />
+ <Tool
+ Name="VCLibrarianTool"
+ OutputFile="..\..\..\..\..\build\msvc_9\libs\extern\mtdll\debug\qhull.lib"
+ SuppressStartupBanner="true"
+ />
+ <Tool
+ Name="VCALinkTool"
+ />
+ <Tool
+ Name="VCXDCMakeTool"
+ />
+ <Tool
+ Name="VCBscMakeTool"
+ />
+ <Tool
+ Name="VCFxCopTool"
+ />
+ <Tool
+ Name="VCPostBuildEventTool"
+ Description="Copying QHULL files library (debug target) to lib tree."
+ CommandLine="ECHO Copying header files
IF NOT EXIST ..\..\..\..\..\build\msvc_9\extern\qhull\include MKDIR ..\..\..\..\..\build\msvc_9\extern\qhull\include
XCOPY /Y ..\..\include\qhull\*.h ..\..\..\..\..\build\msvc_9\extern\qhull\include
ECHO Done
"
+ />
+ </Configuration>
+ </Configurations>
+ <References>
+ </References>
+ <Files>
+ <Filter
+ Name="Source Files"
+ Filter="cpp;c;cxx;rc;def;r;odl;idl;hpj;bat"
+ >
+ <File
+ RelativePath="..\..\src\geom.c"
+ >
+ <FileConfiguration
+ Name="Blender Release|Win32"
+ >
+ <Tool
+ Name="VCCLCompilerTool"
+ Optimization="2"
+ PreprocessorDefinitions=""
+ />
+ </FileConfiguration>
+ <FileConfiguration
+ Name="Blender Debug|Win32"
+ >
+ <Tool
+ Name="VCCLCompilerTool"
+ Optimization="0"
+ PreprocessorDefinitions=""
+ BasicRuntimeChecks="3"
+ />
+ </FileConfiguration>
+ <FileConfiguration
+ Name="3D Plugin Release|Win32"
+ >
+ <Tool
+ Name="VCCLCompilerTool"
+ Optimization="2"
+ PreprocessorDefinitions=""
+ />
+ </FileConfiguration>
+ <FileConfiguration
+ Name="3D Plugin Debug|Win32"
+ >
+ <Tool
+ Name="VCCLCompilerTool"
+ Optimization="0"
+ PreprocessorDefinitions=""
+ BasicRuntimeChecks="3"
+ />
+ </FileConfiguration>
+ </File>
+ <File
+ RelativePath="..\..\src\geom2.c"
+ >
+ <FileConfiguration
+ Name="Blender Release|Win32"
+ >
+ <Tool
+ Name="VCCLCompilerTool"
+ Optimization="2"
+ PreprocessorDefinitions=""
+ />
+ </FileConfiguration>
+ <FileConfiguration
+ Name="Blender Debug|Win32"
+ >
+ <Tool
+ Name="VCCLCompilerTool"
+ Optimization="0"
+ PreprocessorDefinitions=""
+ BasicRuntimeChecks="3"
+ />
+ </FileConfiguration>
+ <FileConfiguration
+ Name="3D Plugin Release|Win32"
+ >
+ <Tool
+ Name="VCCLCompilerTool"
+ Optimization="2"
+ PreprocessorDefinitions=""
+ />
+ </FileConfiguration>
+ <FileConfiguration
+ Name="3D Plugin Debug|Win32"
+ >
+ <Tool
+ Name="VCCLCompilerTool"
+ Optimization="0"
+ PreprocessorDefinitions=""
+ BasicRuntimeChecks="3"
+ />
+ </FileConfiguration>
+ </File>
+ <File
+ RelativePath="..\..\src\global.c"
+ >
+ <FileConfiguration
+ Name="Blender Release|Win32"
+ >
+ <Tool
+ Name="VCCLCompilerTool"
+ Optimization="2"
+ PreprocessorDefinitions=""
+ />
+ </FileConfiguration>
+ <FileConfiguration
+ Name="Blender Debug|Win32"
+ >
+ <Tool
+ Name="VCCLCompilerTool"
+ Optimization="0"
+ PreprocessorDefinitions=""
+ BasicRuntimeChecks="3"
+ />
+ </FileConfiguration>
+ <FileConfiguration
+ Name="3D Plugin Release|Win32"
+ >
+ <Tool
+ Name="VCCLCompilerTool"
+ Optimization="2"
+ PreprocessorDefinitions=""
+ />
+ </FileConfiguration>
+ <FileConfiguration
+ Name="3D Plugin Debug|Win32"
+ >
+ <Tool
+ Name="VCCLCompilerTool"
+ Optimization="0"
+ PreprocessorDefinitions=""
+ BasicRuntimeChecks="3"
+ />
+ </FileConfiguration>
+ </File>
+ <File
+ RelativePath="..\..\src\io.c"
+ >
+ <FileConfiguration
+ Name="Blender Release|Win32"
+ >
+ <Tool
+ Name="VCCLCompilerTool"
+ Optimization="2"
+ PreprocessorDefinitions=""
+ />
+ </FileConfiguration>
+ <FileConfiguration
+ Name="Blender Debug|Win32"
+ >
+ <Tool
+ Name="VCCLCompilerTool"
+ Optimization="0"
+ PreprocessorDefinitions=""
+ BasicRuntimeChecks="3"
+ />
+ </FileConfiguration>
+ <FileConfiguration
+ Name="3D Plugin Release|Win32"
+ >
+ <Tool
+ Name="VCCLCompilerTool"
+ Optimization="2"
+ PreprocessorDefinitions=""
+ />
+ </FileConfiguration>
+ <FileConfiguration
+ Name="3D Plugin Debug|Win32"
+ >
+ <Tool
+ Name="VCCLCompilerTool"
+ Optimization="0"
+ PreprocessorDefinitions=""
+ BasicRuntimeChecks="3"
+ />
+ </FileConfiguration>
+ </File>
+ <File
+ RelativePath="..\..\src\mem.c"
+ >
+ <FileConfiguration
+ Name="Blender Release|Win32"
+ >
+ <Tool
+ Name="VCCLCompilerTool"
+ Optimization="2"
+ PreprocessorDefinitions=""
+ />
+ </FileConfiguration>
+ <FileConfiguration
+ Name="Blender Debug|Win32"
+ >
+ <Tool
+ Name="VCCLCompilerTool"
+ Optimization="0"
+ PreprocessorDefinitions=""
+ BasicRuntimeChecks="3"
+ />
+ </FileConfiguration>
+ <FileConfiguration
+ Name="3D Plugin Release|Win32"
+ >
+ <Tool
+ Name="VCCLCompilerTool"
+ Optimization="2"
+ PreprocessorDefinitions=""
+ />
+ </FileConfiguration>
+ <FileConfiguration
+ Name="3D Plugin Debug|Win32"
+ >
+ <Tool
+ Name="VCCLCompilerTool"
+ Optimization="0"
+ PreprocessorDefinitions=""
+ BasicRuntimeChecks="3"
+ />
+ </FileConfiguration>
+ </File>
+ <File
+ RelativePath="..\..\src\merge.c"
+ >
+ <FileConfiguration
+ Name="Blender Release|Win32"
+ >
+ <Tool
+ Name="VCCLCompilerTool"
+ Optimization="2"
+ PreprocessorDefinitions=""
+ />
+ </FileConfiguration>
+ <FileConfiguration
+ Name="Blender Debug|Win32"
+ >
+ <Tool
+ Name="VCCLCompilerTool"
+ Optimization="0"
+ PreprocessorDefinitions=""
+ BasicRuntimeChecks="3"
+ />
+ </FileConfiguration>
+ <FileConfiguration
+ Name="3D Plugin Release|Win32"
+ >
+ <Tool
+ Name="VCCLCompilerTool"
+ Optimization="2"
+ PreprocessorDefinitions=""
+ />
+ </FileConfiguration>
+ <FileConfiguration
+ Name="3D Plugin Debug|Win32"
+ >
+ <Tool
+ Name="VCCLCompilerTool"
+ Optimization="0"
+ PreprocessorDefinitions=""
+ BasicRuntimeChecks="3"
+ />
+ </FileConfiguration>
+ </File>
+ <File
+ RelativePath="..\..\src\poly.c"
+ >
+ <FileConfiguration
+ Name="Blender Release|Win32"
+ >
+ <Tool
+ Name="VCCLCompilerTool"
+ Optimization="2"
+ PreprocessorDefinitions=""
+ />
+ </FileConfiguration>
+ <FileConfiguration
+ Name="Blender Debug|Win32"
+ >
+ <Tool
+ Name="VCCLCompilerTool"
+ Optimization="0"
+ PreprocessorDefinitions=""
+ BasicRuntimeChecks="3"
+ />
+ </FileConfiguration>
+ <FileConfiguration
+ Name="3D Plugin Release|Win32"
+ >
+ <Tool
+ Name="VCCLCompilerTool"
+ Optimization="2"
+ PreprocessorDefinitions=""
+ />
+ </FileConfiguration>
+ <FileConfiguration
+ Name="3D Plugin Debug|Win32"
+ >
+ <Tool
+ Name="VCCLCompilerTool"
+ Optimization="0"
+ PreprocessorDefinitions=""
+ BasicRuntimeChecks="3"
+ />
+ </FileConfiguration>
+ </File>
+ <File
+ RelativePath="..\..\src\poly2.c"
+ >
+ <FileConfiguration
+ Name="Blender Release|Win32"
+ >
+ <Tool
+ Name="VCCLCompilerTool"
+ Optimization="2"
+ PreprocessorDefinitions=""
+ />
+ </FileConfiguration>
+ <FileConfiguration
+ Name="Blender Debug|Win32"
+ >
+ <Tool
+ Name="VCCLCompilerTool"
+ Optimization="0"
+ PreprocessorDefinitions=""
+ BasicRuntimeChecks="3"
+ />
+ </FileConfiguration>
+ <FileConfiguration
+ Name="3D Plugin Release|Win32"
+ >
+ <Tool
+ Name="VCCLCompilerTool"
+ Optimization="2"
+ PreprocessorDefinitions=""
+ />
+ </FileConfiguration>
+ <FileConfiguration
+ Name="3D Plugin Debug|Win32"
+ >
+ <Tool
+ Name="VCCLCompilerTool"
+ Optimization="0"
+ PreprocessorDefinitions=""
+ BasicRuntimeChecks="3"
+ />
+ </FileConfiguration>
+ </File>
+ <File
+ RelativePath="..\..\src\qhull.c"
+ >
+ <FileConfiguration
+ Name="Blender Release|Win32"
+ >
+ <Tool
+ Name="VCCLCompilerTool"
+ Optimization="2"
+ PreprocessorDefinitions=""
+ />
+ </FileConfiguration>
+ <FileConfiguration
+ Name="Blender Debug|Win32"
+ >
+ <Tool
+ Name="VCCLCompilerTool"
+ Optimization="0"
+ PreprocessorDefinitions=""
+ BasicRuntimeChecks="3"
+ />
+ </FileConfiguration>
+ <FileConfiguration
+ Name="3D Plugin Release|Win32"
+ >
+ <Tool
+ Name="VCCLCompilerTool"
+ Optimization="2"
+ PreprocessorDefinitions=""
+ />
+ </FileConfiguration>
+ <FileConfiguration
+ Name="3D Plugin Debug|Win32"
+ >
+ <Tool
+ Name="VCCLCompilerTool"
+ Optimization="0"
+ PreprocessorDefinitions=""
+ BasicRuntimeChecks="3"
+ />
+ </FileConfiguration>
+ </File>
+ <File
+ RelativePath="..\..\src\qset.c"
+ >
+ <FileConfiguration
+ Name="Blender Release|Win32"
+ >
+ <Tool
+ Name="VCCLCompilerTool"
+ Optimization="2"
+ PreprocessorDefinitions=""
+ />
+ </FileConfiguration>
+ <FileConfiguration
+ Name="Blender Debug|Win32"
+ >
+ <Tool
+ Name="VCCLCompilerTool"
+ Optimization="0"
+ PreprocessorDefinitions=""
+ BasicRuntimeChecks="3"
+ />
+ </FileConfiguration>
+ <FileConfiguration
+ Name="3D Plugin Release|Win32"
+ >
+ <Tool
+ Name="VCCLCompilerTool"
+ Optimization="2"
+ PreprocessorDefinitions=""
+ />
+ </FileConfiguration>
+ <FileConfiguration
+ Name="3D Plugin Debug|Win32"
+ >
+ <Tool
+ Name="VCCLCompilerTool"
+ Optimization="0"
+ PreprocessorDefinitions=""
+ BasicRuntimeChecks="3"
+ />
+ </FileConfiguration>
+ </File>
+ <File
+ RelativePath="..\..\src\stat.c"
+ >
+ <FileConfiguration
+ Name="Blender Release|Win32"
+ >
+ <Tool
+ Name="VCCLCompilerTool"
+ Optimization="2"
+ PreprocessorDefinitions=""
+ />
+ </FileConfiguration>
+ <FileConfiguration
+ Name="Blender Debug|Win32"
+ >
+ <Tool
+ Name="VCCLCompilerTool"
+ Optimization="0"
+ PreprocessorDefinitions=""
+ BasicRuntimeChecks="3"
+ />
+ </FileConfiguration>
+ <FileConfiguration
+ Name="3D Plugin Release|Win32"
+ >
+ <Tool
+ Name="VCCLCompilerTool"
+ Optimization="2"
+ PreprocessorDefinitions=""
+ />
+ </FileConfiguration>
+ <FileConfiguration
+ Name="3D Plugin Debug|Win32"
+ >
+ <Tool
+ Name="VCCLCompilerTool"
+ Optimization="0"
+ PreprocessorDefinitions=""
+ BasicRuntimeChecks="3"
+ />
+ </FileConfiguration>
+ </File>
+ <File
+ RelativePath="..\..\src\user.c"
+ >
+ <FileConfiguration
+ Name="Blender Release|Win32"
+ >
+ <Tool
+ Name="VCCLCompilerTool"
+ Optimization="2"
+ PreprocessorDefinitions=""
+ />
+ </FileConfiguration>
+ <FileConfiguration
+ Name="Blender Debug|Win32"
+ >
+ <Tool
+ Name="VCCLCompilerTool"
+ Optimization="0"
+ PreprocessorDefinitions=""
+ BasicRuntimeChecks="3"
+ />
+ </FileConfiguration>
+ <FileConfiguration
+ Name="3D Plugin Release|Win32"
+ >
+ <Tool
+ Name="VCCLCompilerTool"
+ Optimization="2"
+ PreprocessorDefinitions=""
+ />
+ </FileConfiguration>
+ <FileConfiguration
+ Name="3D Plugin Debug|Win32"
+ >
+ <Tool
+ Name="VCCLCompilerTool"
+ Optimization="0"
+ PreprocessorDefinitions=""
+ BasicRuntimeChecks="3"
+ />
+ </FileConfiguration>
+ </File>
+ </Filter>
+ <Filter
+ Name="Header Files"
+ Filter="h;hpp;hxx;hm;inl"
+ >
+ <File
+ RelativePath="..\..\src\geom.h"
+ >
+ </File>
+ <File
+ RelativePath="..\..\src\io.h"
+ >
+ </File>
+ <File
+ RelativePath="..\..\src\mem.h"
+ >
+ </File>
+ <File
+ RelativePath="..\..\src\merge.h"
+ >
+ </File>
+ <File
+ RelativePath="..\..\src\poly.h"
+ >
+ </File>
+ <File
+ RelativePath="..\..\src\qhull.h"
+ >
+ </File>
+ <File
+ RelativePath="..\..\src\qhull_a.h"
+ >
+ </File>
+ <File
+ RelativePath="..\..\src\qset.h"
+ >
+ </File>
+ <File
+ RelativePath="..\..\src\stat.h"
+ >
+ </File>
+ <File
+ RelativePath="..\..\src\user.h"
+ >
+ </File>
+ </Filter>
+ </Files>
+ <Globals>
+ </Globals>
+</VisualStudioProject>
diff --git a/extern/solid/make/msvc_9_0/broad/broad.vcproj b/extern/solid/make/msvc_9_0/broad/broad.vcproj new file mode 100644 index 00000000000..c58cb08b2c3 --- /dev/null +++ b/extern/solid/make/msvc_9_0/broad/broad.vcproj @@ -0,0 +1,369 @@ +<?xml version="1.0" encoding="Windows-1252"?>
+<VisualStudioProject
+ ProjectType="Visual C++"
+ Version="9,00"
+ Name="EXT_broad"
+ ProjectGUID="{0112CAD5-3584-412A-A2E5-1315A00437B4}"
+ RootNamespace="broad"
+ TargetFrameworkVersion="131072"
+ >
+ <Platforms>
+ <Platform
+ Name="Win32"
+ />
+ </Platforms>
+ <ToolFiles>
+ </ToolFiles>
+ <Configurations>
+ <Configuration
+ Name="Blender Release|Win32"
+ OutputDirectory="..\..\..\..\..\..\build\msvc_9\extern\solid\broad"
+ IntermediateDirectory="..\..\..\..\..\..\build\msvc_9\extern\solid\broad"
+ ConfigurationType="4"
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+ AssemblerListingLocation="..\..\..\..\..\..\build\msvc_9\extern\solid\convex\"
+ ObjectFile="..\..\..\..\..\..\build\msvc_9\extern\solid\convex\"
+ ProgramDataBaseFileName="..\..\..\..\..\..\build\msvc_9\extern\solid\convex\"
+ WarningLevel="2"
+ SuppressStartupBanner="true"
+ CompileAs="0"
+ />
+ <Tool
+ Name="VCManagedResourceCompilerTool"
+ />
+ <Tool
+ Name="VCResourceCompilerTool"
+ PreprocessorDefinitions="NDEBUG"
+ Culture="1033"
+ />
+ <Tool
+ Name="VCPreLinkEventTool"
+ />
+ <Tool
+ Name="VCLibrarianTool"
+ OutputFile="..\..\..\..\..\..\build\msvc_9\libs\extern\convex.lib"
+ SuppressStartupBanner="true"
+ />
+ <Tool
+ Name="VCALinkTool"
+ />
+ <Tool
+ Name="VCXDCMakeTool"
+ />
+ <Tool
+ Name="VCBscMakeTool"
+ />
+ <Tool
+ Name="VCFxCopTool"
+ />
+ <Tool
+ Name="VCPostBuildEventTool"
+ />
+ </Configuration>
+ <Configuration
+ Name="3D Plugin Release|Win32"
+ OutputDirectory="..\..\..\..\..\..\build\msvc_9\extern\solid\convex\mtdll"
+ IntermediateDirectory="..\..\..\..\..\..\build\msvc_9\extern\solid\convex\mtdll"
+ ConfigurationType="4"
+ InheritedPropertySheets="$(VCInstallDir)VCProjectDefaults\UpgradeFromVC71.vsprops"
+ UseOfMFC="0"
+ ATLMinimizesCRunTimeLibraryUsage="false"
+ CharacterSet="2"
+ >
+ <Tool
+ Name="VCPreBuildEventTool"
+ />
+ <Tool
+ Name="VCCustomBuildTool"
+ />
+ <Tool
+ Name="VCXMLDataGeneratorTool"
+ />
+ <Tool
+ Name="VCWebServiceProxyGeneratorTool"
+ />
+ <Tool
+ Name="VCMIDLTool"
+ />
+ <Tool
+ Name="VCCLCompilerTool"
+ Optimization="2"
+ InlineFunctionExpansion="1"
+ AdditionalIncludeDirectories="..\..\..\include;..\..\..\..\qhull\include"
+ PreprocessorDefinitions="NDEBUG;QHULL;WIN32;_LIB"
+ StringPooling="true"
+ RuntimeLibrary="2"
+ EnableFunctionLevelLinking="true"
+ UsePrecompiledHeader="0"
+ PrecompiledHeaderFile="..\..\..\..\..\..\build\msvc_9\extern\solid\convex\mtdll\convex.pch"
+ AssemblerListingLocation="..\..\..\..\..\..\build\msvc_9\extern\solid\convex\mtdll\"
+ ObjectFile="..\..\..\..\..\..\build\msvc_9\extern\solid\convex\mtdll\"
+ ProgramDataBaseFileName="..\..\..\..\..\..\build\msvc_9\extern\solid\convex\mtdll\"
+ WarningLevel="2"
+ SuppressStartupBanner="true"
+ CompileAs="0"
+ />
+ <Tool
+ Name="VCManagedResourceCompilerTool"
+ />
+ <Tool
+ Name="VCResourceCompilerTool"
+ PreprocessorDefinitions="NDEBUG"
+ Culture="1033"
+ />
+ <Tool
+ Name="VCPreLinkEventTool"
+ />
+ <Tool
+ Name="VCLibrarianTool"
+ OutputFile="..\..\..\..\..\..\build\msvc_9\libs\extern\mtdll\convex.lib"
+ SuppressStartupBanner="true"
+ />
+ <Tool
+ Name="VCALinkTool"
+ />
+ <Tool
+ Name="VCXDCMakeTool"
+ />
+ <Tool
+ Name="VCBscMakeTool"
+ />
+ <Tool
+ Name="VCFxCopTool"
+ />
+ <Tool
+ Name="VCPostBuildEventTool"
+ />
+ </Configuration>
+ <Configuration
+ Name="3D Plugin Debug|Win32"
+ OutputDirectory="..\..\..\..\..\..\build\msvc_9\extern\solid\convex\mtdll\debug"
+ IntermediateDirectory="..\..\..\..\..\..\build\msvc_9\extern\solid\convex\mtdll\debug"
+ ConfigurationType="4"
+ InheritedPropertySheets="$(VCInstallDir)VCProjectDefaults\UpgradeFromVC71.vsprops"
+ UseOfMFC="0"
+ ATLMinimizesCRunTimeLibraryUsage="false"
+ CharacterSet="2"
+ >
+ <Tool
+ Name="VCPreBuildEventTool"
+ />
+ <Tool
+ Name="VCCustomBuildTool"
+ />
+ <Tool
+ Name="VCXMLDataGeneratorTool"
+ />
+ <Tool
+ Name="VCWebServiceProxyGeneratorTool"
+ />
+ <Tool
+ Name="VCMIDLTool"
+ />
+ <Tool
+ Name="VCCLCompilerTool"
+ Optimization="0"
+ AdditionalIncludeDirectories="..\..\..\include;..\..\..\..\qhull\include"
+ PreprocessorDefinitions="_DEBUG;QHULL;WIN32;_LIB"
+ BasicRuntimeChecks="3"
+ RuntimeLibrary="3"
+ UsePrecompiledHeader="0"
+ PrecompiledHeaderFile="..\..\..\..\..\..\build\msvc_9\extern\solid\convex\mtdll\debug\convex.pch"
+ AssemblerListingLocation="..\..\..\..\..\..\build\msvc_9\extern\solid\convex\mtdll\debug\"
+ ObjectFile="..\..\..\..\..\..\build\msvc_9\extern\solid\convex\mtdll\debug\"
+ ProgramDataBaseFileName="..\..\..\..\..\..\build\msvc_9\extern\solid\convex\mtdll\debug\"
+ WarningLevel="2"
+ SuppressStartupBanner="true"
+ DebugInformationFormat="3"
+ CompileAs="0"
+ />
+ <Tool
+ Name="VCManagedResourceCompilerTool"
+ />
+ <Tool
+ Name="VCResourceCompilerTool"
+ PreprocessorDefinitions="_DEBUG"
+ Culture="1033"
+ />
+ <Tool
+ Name="VCPreLinkEventTool"
+ />
+ <Tool
+ Name="VCLibrarianTool"
+ OutputFile="..\..\..\..\..\..\build\msvc_9\libs\extern\mtdll\debug\convex.lib"
+ SuppressStartupBanner="true"
+ />
+ <Tool
+ Name="VCALinkTool"
+ />
+ <Tool
+ Name="VCXDCMakeTool"
+ />
+ <Tool
+ Name="VCBscMakeTool"
+ />
+ <Tool
+ Name="VCFxCopTool"
+ />
+ <Tool
+ Name="VCPostBuildEventTool"
+ />
+ </Configuration>
+ </Configurations>
+ <References>
+ </References>
+ <Files>
+ <Filter
+ Name="Source Files"
+ Filter="cpp;c;cxx;rc;def;r;odl;idl;hpj;bat"
+ >
+ <File
+ RelativePath="..\..\..\src\convex\DT_Accuracy.cpp"
+ >
+ </File>
+ <File
+ RelativePath="..\..\..\src\convex\DT_Box.cpp"
+ >
+ </File>
+ <File
+ RelativePath="..\..\..\src\convex\DT_Cone.cpp"
+ >
+ </File>
+ <File
+ RelativePath="..\..\..\src\convex\DT_Convex.cpp"
+ >
+ </File>
+ <File
+ RelativePath="..\..\..\src\convex\DT_Cylinder.cpp"
+ >
+ </File>
+ <File
+ RelativePath="..\..\..\src\convex\DT_Facet.cpp"
+ >
+ </File>
+ <File
+ RelativePath="..\..\..\src\convex\DT_LineSegment.cpp"
+ >
+ </File>
+ <File
+ RelativePath="..\..\..\src\convex\DT_PenDepth.cpp"
+ >
+ </File>
+ <File
+ RelativePath="..\..\..\src\convex\DT_Point.cpp"
+ >
+ </File>
+ <File
+ RelativePath="..\..\..\src\convex\DT_Polyhedron.cpp"
+ >
+ </File>
+ <File
+ RelativePath="..\..\..\src\convex\DT_Polytope.cpp"
+ >
+ </File>
+ <File
+ RelativePath="..\..\..\src\convex\DT_Sphere.cpp"
+ >
+ </File>
+ <File
+ RelativePath="..\..\..\src\convex\DT_Triangle.cpp"
+ >
+ </File>
+ </Filter>
+ <Filter
+ Name="Header Files"
+ Filter="h;hpp;hxx;hm;inl"
+ >
+ <File
+ RelativePath="..\..\src\convex\DT_Accuracy.h"
+ >
+ </File>
+ <File
+ RelativePath="..\..\src\convex\DT_Array.h"
+ >
+ </File>
+ <File
+ RelativePath="..\..\src\convex\DT_Box.h"
+ >
+ </File>
+ <File
+ RelativePath="..\..\src\convex\DT_Cone.h"
+ >
+ </File>
+ <File
+ RelativePath="..\..\src\convex\DT_Convex.h"
+ >
+ </File>
+ <File
+ RelativePath="..\..\src\convex\DT_Cylinder.h"
+ >
+ </File>
+ <File
+ RelativePath="..\..\src\convex\DT_Facet.h"
+ >
+ </File>
+ <File
+ RelativePath="..\..\src\convex\DT_GJK.h"
+ >
+ </File>
+ <File
+ RelativePath="..\..\src\convex\DT_Hull.h"
+ >
+ </File>
+ <File
+ RelativePath="..\..\src\convex\DT_IndexArray.h"
+ >
+ </File>
+ <File
+ RelativePath="..\..\src\convex\DT_LineSegment.h"
+ >
+ </File>
+ <File
+ RelativePath="..\..\src\convex\DT_Minkowski.h"
+ >
+ </File>
+ <File
+ RelativePath="..\..\src\convex\DT_PenDepth.h"
+ >
+ </File>
+ <File
+ RelativePath="..\..\src\convex\DT_Point.h"
+ >
+ </File>
+ <File
+ RelativePath="..\..\src\convex\DT_Polyhedron.h"
+ >
+ </File>
+ <File
+ RelativePath="..\..\src\convex\DT_Polytope.h"
+ >
+ </File>
+ <File
+ RelativePath="..\..\src\convex\DT_Shape.h"
+ >
+ </File>
+ <File
+ RelativePath="..\..\src\convex\DT_Sphere.h"
+ >
+ </File>
+ <File
+ RelativePath="..\..\src\convex\DT_Transform.h"
+ >
+ </File>
+ <File
+ RelativePath="..\..\src\convex\DT_Triangle.h"
+ >
+ </File>
+ <File
+ RelativePath="..\..\src\convex\DT_VertexBase.h"
+ >
+ </File>
+ </Filter>
+ </Files>
+ <Globals>
+ </Globals>
+</VisualStudioProject>
diff --git a/extern/solid/make/msvc_9_0/solid.vcproj b/extern/solid/make/msvc_9_0/solid.vcproj new file mode 100644 index 00000000000..ed81c374696 --- /dev/null +++ b/extern/solid/make/msvc_9_0/solid.vcproj @@ -0,0 +1,595 @@ +<?xml version="1.0" encoding="Windows-1252"?>
+<VisualStudioProject
+ ProjectType="Visual C++"
+ Version="9,00"
+ Name="EXT_solid"
+ ProjectGUID="{D696C86B-0B53-4471-A50D-5B983A6FA4AD}"
+ RootNamespace="solid"
+ TargetFrameworkVersion="131072"
+ >
+ <Platforms>
+ <Platform
+ Name="Win32"
+ />
+ </Platforms>
+ <ToolFiles>
+ </ToolFiles>
+ <Configurations>
+ <Configuration
+ Name="Blender Debug|Win32"
+ OutputDirectory="..\..\..\..\..\build\msvc_9\extern\solid\debug"
+ IntermediateDirectory="..\..\..\..\..\build\msvc_9\extern\solid\debug"
+ ConfigurationType="4"
+ InheritedPropertySheets="$(VCInstallDir)VCProjectDefaults\UpgradeFromVC71.vsprops"
+ UseOfMFC="0"
+ ATLMinimizesCRunTimeLibraryUsage="false"
+ CharacterSet="2"
+ >
+ <Tool
+ Name="VCPreBuildEventTool"
+ />
+ <Tool
+ Name="VCCustomBuildTool"
+ />
+ <Tool
+ Name="VCXMLDataGeneratorTool"
+ />
+ <Tool
+ Name="VCWebServiceProxyGeneratorTool"
+ />
+ <Tool
+ Name="VCMIDLTool"
+ />
+ <Tool
+ Name="VCCLCompilerTool"
+ Optimization="0"
+ AdditionalIncludeDirectories="..\..\include;..\..\src\convex;..\..\src\complex"
+ PreprocessorDefinitions="_DEBUG;QHULL;WIN32;_LIB"
+ BasicRuntimeChecks="3"
+ RuntimeLibrary="1"
+ UsePrecompiledHeader="0"
+ PrecompiledHeaderFile="..\..\..\..\..\build\msvc_9\extern\solid\debug\solid.pch"
+ AssemblerListingLocation="..\..\..\..\..\build\msvc_9\extern\solid\debug\"
+ ObjectFile="..\..\..\..\..\build\msvc_9\extern\solid\debug\"
+ ProgramDataBaseFileName="..\..\..\..\..\build\msvc_9\extern\solid\debug\"
+ WarningLevel="2"
+ SuppressStartupBanner="true"
+ DebugInformationFormat="3"
+ CompileAs="0"
+ />
+ <Tool
+ Name="VCManagedResourceCompilerTool"
+ />
+ <Tool
+ Name="VCResourceCompilerTool"
+ PreprocessorDefinitions="_DEBUG"
+ Culture="1033"
+ />
+ <Tool
+ Name="VCPreLinkEventTool"
+ />
+ <Tool
+ Name="VCLibrarianTool"
+ OutputFile="..\..\..\..\..\build\msvc_9\libs\extern\debug\solid.lib"
+ SuppressStartupBanner="true"
+ />
+ <Tool
+ Name="VCALinkTool"
+ />
+ <Tool
+ Name="VCXDCMakeTool"
+ />
+ <Tool
+ Name="VCBscMakeTool"
+ />
+ <Tool
+ Name="VCFxCopTool"
+ />
+ <Tool
+ Name="VCPostBuildEventTool"
+ Description="Copying SOLID files library (debug target) to lib tree."
+ CommandLine="ECHO Copying header files
IF NOT EXIST ..\..\..\..\..\build\msvc_9\extern\solid\include\SOLID MKDIR ..\..\..\..\..\build\msvc_9\extern\solid\include\SOLID
XCOPY /Y ..\..\include\SOLID*.h ..\..\..\..\..\build\msvc_9\extern\solid\include\SOLID
ECHO Done
"
+ />
+ </Configuration>
+ <Configuration
+ Name="Blender Release|Win32"
+ OutputDirectory="..\..\..\..\..\build\msvc_9\extern\solid"
+ IntermediateDirectory="..\..\..\..\..\build\msvc_9\extern\solid"
+ ConfigurationType="4"
+ InheritedPropertySheets="$(VCInstallDir)VCProjectDefaults\UpgradeFromVC71.vsprops"
+ UseOfMFC="0"
+ ATLMinimizesCRunTimeLibraryUsage="false"
+ CharacterSet="2"
+ >
+ <Tool
+ Name="VCPreBuildEventTool"
+ />
+ <Tool
+ Name="VCCustomBuildTool"
+ />
+ <Tool
+ Name="VCXMLDataGeneratorTool"
+ />
+ <Tool
+ Name="VCWebServiceProxyGeneratorTool"
+ />
+ <Tool
+ Name="VCMIDLTool"
+ />
+ <Tool
+ Name="VCCLCompilerTool"
+ Optimization="2"
+ InlineFunctionExpansion="1"
+ AdditionalIncludeDirectories="..\..\include;..\..\src\convex;..\..\src\complex"
+ PreprocessorDefinitions="NDEBUG;QHULL;WIN32;_LIB"
+ StringPooling="true"
+ RuntimeLibrary="0"
+ EnableFunctionLevelLinking="true"
+ UsePrecompiledHeader="0"
+ PrecompiledHeaderFile="..\..\..\..\..\build\msvc_9\extern\solid\solid.pch"
+ AssemblerListingLocation="..\..\..\..\..\build\msvc_9\extern\solid\"
+ ObjectFile="..\..\..\..\..\build\msvc_9\extern\solid\"
+ ProgramDataBaseFileName="..\..\..\..\..\build\msvc_9\extern\solid\"
+ WarningLevel="2"
+ SuppressStartupBanner="true"
+ CompileAs="0"
+ />
+ <Tool
+ Name="VCManagedResourceCompilerTool"
+ />
+ <Tool
+ Name="VCResourceCompilerTool"
+ PreprocessorDefinitions="NDEBUG"
+ Culture="1033"
+ />
+ <Tool
+ Name="VCPreLinkEventTool"
+ />
+ <Tool
+ Name="VCLibrarianTool"
+ OutputFile="..\..\..\..\..\build\msvc_9\libs\extern\solid.lib"
+ SuppressStartupBanner="true"
+ />
+ <Tool
+ Name="VCALinkTool"
+ />
+ <Tool
+ Name="VCXDCMakeTool"
+ />
+ <Tool
+ Name="VCBscMakeTool"
+ />
+ <Tool
+ Name="VCFxCopTool"
+ />
+ <Tool
+ Name="VCPostBuildEventTool"
+ Description="Copying SOLID files library to lib tree."
+ CommandLine="ECHO Copying header files
IF NOT EXIST ..\..\..\..\..\build\msvc_9\extern\solid\include\SOLID MKDIR ..\..\..\..\..\build\msvc_9\extern\solid\include\SOLID
XCOPY /Y ..\..\include\SOLID*.h ..\..\..\..\..\build\msvc_9\extern\solid\include\SOLID
ECHO Done
"
+ />
+ </Configuration>
+ <Configuration
+ Name="3D Plugin Release|Win32"
+ OutputDirectory="..\..\..\..\..\build\msvc_9\extern\solid\mtdll"
+ IntermediateDirectory="..\..\..\..\..\build\msvc_9\extern\solid\mtdll"
+ ConfigurationType="4"
+ InheritedPropertySheets="$(VCInstallDir)VCProjectDefaults\UpgradeFromVC71.vsprops"
+ UseOfMFC="0"
+ ATLMinimizesCRunTimeLibraryUsage="false"
+ CharacterSet="2"
+ >
+ <Tool
+ Name="VCPreBuildEventTool"
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+ <Tool
+ Name="VCCustomBuildTool"
+ />
+ <Tool
+ Name="VCXMLDataGeneratorTool"
+ />
+ <Tool
+ Name="VCWebServiceProxyGeneratorTool"
+ />
+ <Tool
+ Name="VCMIDLTool"
+ />
+ <Tool
+ Name="VCCLCompilerTool"
+ Optimization="2"
+ InlineFunctionExpansion="1"
+ AdditionalIncludeDirectories="..\..\include;..\..\src\convex;..\..\src\complex"
+ PreprocessorDefinitions="NDEBUG;QHULL;WIN32;_LIB"
+ StringPooling="true"
+ RuntimeLibrary="2"
+ EnableFunctionLevelLinking="true"
+ UsePrecompiledHeader="0"
+ PrecompiledHeaderFile="..\..\..\..\..\build\msvc_9\extern\solid\mtdll\solid.pch"
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+ CompileAs="0"
+ />
+ <Tool
+ Name="VCManagedResourceCompilerTool"
+ />
+ <Tool
+ Name="VCResourceCompilerTool"
+ PreprocessorDefinitions="NDEBUG"
+ Culture="1033"
+ />
+ <Tool
+ Name="VCPreLinkEventTool"
+ />
+ <Tool
+ Name="VCLibrarianTool"
+ OutputFile="..\..\..\..\..\build\msvc_9\libs\extern\mtdll\solid.lib"
+ SuppressStartupBanner="true"
+ />
+ <Tool
+ Name="VCALinkTool"
+ />
+ <Tool
+ Name="VCXDCMakeTool"
+ />
+ <Tool
+ Name="VCBscMakeTool"
+ />
+ <Tool
+ Name="VCFxCopTool"
+ />
+ <Tool
+ Name="VCPostBuildEventTool"
+ Description="Copying SOLID files library to lib tree."
+ CommandLine="ECHO Copying header files
IF NOT EXIST ..\..\..\..\..\build\msvc_9\extern\solid\include\SOLID MKDIR ..\..\..\..\..\build\msvc_9\extern\solid\include\SOLID
XCOPY /Y ..\..\include\SOLID*.h ..\..\..\..\..\build\msvc_9\extern\solid\include\SOLID
ECHO Done
"
+ />
+ </Configuration>
+ <Configuration
+ Name="3D Plugin Debug|Win32"
+ OutputDirectory="..\..\..\..\..\build\msvc_9\extern\solid\mtdll\debug"
+ IntermediateDirectory="..\..\..\..\..\build\msvc_9\extern\solid\mtdll\debug"
+ ConfigurationType="4"
+ InheritedPropertySheets="$(VCInstallDir)VCProjectDefaults\UpgradeFromVC71.vsprops"
+ UseOfMFC="0"
+ ATLMinimizesCRunTimeLibraryUsage="false"
+ CharacterSet="2"
+ >
+ <Tool
+ Name="VCPreBuildEventTool"
+ />
+ <Tool
+ Name="VCCustomBuildTool"
+ />
+ <Tool
+ Name="VCXMLDataGeneratorTool"
+ />
+ <Tool
+ Name="VCWebServiceProxyGeneratorTool"
+ />
+ <Tool
+ Name="VCMIDLTool"
+ />
+ <Tool
+ Name="VCCLCompilerTool"
+ Optimization="0"
+ AdditionalIncludeDirectories="..\..\include;..\..\src\convex;..\..\src\complex"
+ PreprocessorDefinitions="_DEBUG;QHULL;WIN32;_LIB"
+ BasicRuntimeChecks="3"
+ RuntimeLibrary="3"
+ UsePrecompiledHeader="0"
+ PrecompiledHeaderFile="..\..\..\..\..\build\msvc_9\extern\solid\mtdll\debug\solid.pch"
+ AssemblerListingLocation="..\..\..\..\..\build\msvc_9\extern\solid\mtdll\debug\"
+ ObjectFile="..\..\..\..\..\build\msvc_9\extern\solid\mtdll\debug\"
+ ProgramDataBaseFileName="..\..\..\..\..\build\msvc_9\extern\solid\mtdll\debug\"
+ WarningLevel="2"
+ SuppressStartupBanner="true"
+ DebugInformationFormat="3"
+ CompileAs="0"
+ />
+ <Tool
+ Name="VCManagedResourceCompilerTool"
+ />
+ <Tool
+ Name="VCResourceCompilerTool"
+ PreprocessorDefinitions="_DEBUG"
+ Culture="1033"
+ />
+ <Tool
+ Name="VCPreLinkEventTool"
+ />
+ <Tool
+ Name="VCLibrarianTool"
+ OutputFile="..\..\..\..\..\build\msvc_9\libs\extern\mtdll\debug\solid.lib"
+ SuppressStartupBanner="true"
+ />
+ <Tool
+ Name="VCALinkTool"
+ />
+ <Tool
+ Name="VCXDCMakeTool"
+ />
+ <Tool
+ Name="VCBscMakeTool"
+ />
+ <Tool
+ Name="VCFxCopTool"
+ />
+ <Tool
+ Name="VCPostBuildEventTool"
+ Description="Copying SOLID files library (debug target) to lib tree."
+ CommandLine="ECHO Copying header files
IF NOT EXIST ..\..\..\..\..\build\msvc_9\extern\solid\include\SOLID MKDIR ..\..\..\..\..\build\msvc_9\extern\solid\include\SOLID
XCOPY /Y ..\..\include\SOLID*.h ..\..\..\..\..\build\msvc_9\extern\solid\include\SOLID
ECHO Done
"
+ />
+ </Configuration>
+ </Configurations>
+ <References>
+ </References>
+ <Files>
+ <Filter
+ Name="Source Files"
+ Filter="cpp;c;cxx;rc;def;r;odl;idl;hpj;bat"
+ >
+ <File
+ RelativePath="..\..\src\DT_C-api.cpp"
+ >
+ <FileConfiguration
+ Name="Blender Debug|Win32"
+ >
+ <Tool
+ Name="VCCLCompilerTool"
+ Optimization="0"
+ AdditionalIncludeDirectories=""
+ PreprocessorDefinitions=""
+ BasicRuntimeChecks="3"
+ />
+ </FileConfiguration>
+ <FileConfiguration
+ Name="Blender Release|Win32"
+ >
+ <Tool
+ Name="VCCLCompilerTool"
+ Optimization="2"
+ AdditionalIncludeDirectories=""
+ PreprocessorDefinitions=""
+ />
+ </FileConfiguration>
+ <FileConfiguration
+ Name="3D Plugin Release|Win32"
+ >
+ <Tool
+ Name="VCCLCompilerTool"
+ Optimization="2"
+ AdditionalIncludeDirectories=""
+ PreprocessorDefinitions=""
+ />
+ </FileConfiguration>
+ <FileConfiguration
+ Name="3D Plugin Debug|Win32"
+ >
+ <Tool
+ Name="VCCLCompilerTool"
+ Optimization="0"
+ AdditionalIncludeDirectories=""
+ PreprocessorDefinitions=""
+ BasicRuntimeChecks="3"
+ />
+ </FileConfiguration>
+ </File>
+ <File
+ RelativePath="..\..\src\DT_Encounter.cpp"
+ >
+ <FileConfiguration
+ Name="Blender Debug|Win32"
+ >
+ <Tool
+ Name="VCCLCompilerTool"
+ Optimization="0"
+ AdditionalIncludeDirectories=""
+ PreprocessorDefinitions=""
+ BasicRuntimeChecks="3"
+ />
+ </FileConfiguration>
+ <FileConfiguration
+ Name="Blender Release|Win32"
+ >
+ <Tool
+ Name="VCCLCompilerTool"
+ Optimization="2"
+ AdditionalIncludeDirectories=""
+ PreprocessorDefinitions=""
+ />
+ </FileConfiguration>
+ <FileConfiguration
+ Name="3D Plugin Release|Win32"
+ >
+ <Tool
+ Name="VCCLCompilerTool"
+ Optimization="2"
+ AdditionalIncludeDirectories=""
+ PreprocessorDefinitions=""
+ />
+ </FileConfiguration>
+ <FileConfiguration
+ Name="3D Plugin Debug|Win32"
+ >
+ <Tool
+ Name="VCCLCompilerTool"
+ Optimization="0"
+ AdditionalIncludeDirectories=""
+ PreprocessorDefinitions=""
+ BasicRuntimeChecks="3"
+ />
+ </FileConfiguration>
+ </File>
+ <File
+ RelativePath="..\..\src\DT_Object.cpp"
+ >
+ <FileConfiguration
+ Name="Blender Debug|Win32"
+ >
+ <Tool
+ Name="VCCLCompilerTool"
+ Optimization="0"
+ AdditionalIncludeDirectories=""
+ PreprocessorDefinitions=""
+ BasicRuntimeChecks="3"
+ />
+ </FileConfiguration>
+ <FileConfiguration
+ Name="Blender Release|Win32"
+ >
+ <Tool
+ Name="VCCLCompilerTool"
+ Optimization="2"
+ AdditionalIncludeDirectories=""
+ PreprocessorDefinitions=""
+ />
+ </FileConfiguration>
+ <FileConfiguration
+ Name="3D Plugin Release|Win32"
+ >
+ <Tool
+ Name="VCCLCompilerTool"
+ Optimization="2"
+ AdditionalIncludeDirectories=""
+ PreprocessorDefinitions=""
+ />
+ </FileConfiguration>
+ <FileConfiguration
+ Name="3D Plugin Debug|Win32"
+ >
+ <Tool
+ Name="VCCLCompilerTool"
+ Optimization="0"
+ AdditionalIncludeDirectories=""
+ PreprocessorDefinitions=""
+ BasicRuntimeChecks="3"
+ />
+ </FileConfiguration>
+ </File>
+ <File
+ RelativePath="..\..\src\DT_RespTable.cpp"
+ >
+ <FileConfiguration
+ Name="Blender Debug|Win32"
+ >
+ <Tool
+ Name="VCCLCompilerTool"
+ Optimization="0"
+ AdditionalIncludeDirectories=""
+ PreprocessorDefinitions=""
+ BasicRuntimeChecks="3"
+ />
+ </FileConfiguration>
+ <FileConfiguration
+ Name="Blender Release|Win32"
+ >
+ <Tool
+ Name="VCCLCompilerTool"
+ Optimization="2"
+ AdditionalIncludeDirectories=""
+ PreprocessorDefinitions=""
+ />
+ </FileConfiguration>
+ <FileConfiguration
+ Name="3D Plugin Release|Win32"
+ >
+ <Tool
+ Name="VCCLCompilerTool"
+ Optimization="2"
+ AdditionalIncludeDirectories=""
+ PreprocessorDefinitions=""
+ />
+ </FileConfiguration>
+ <FileConfiguration
+ Name="3D Plugin Debug|Win32"
+ >
+ <Tool
+ Name="VCCLCompilerTool"
+ Optimization="0"
+ AdditionalIncludeDirectories=""
+ PreprocessorDefinitions=""
+ BasicRuntimeChecks="3"
+ />
+ </FileConfiguration>
+ </File>
+ <File
+ RelativePath="..\..\src\DT_Scene.cpp"
+ >
+ <FileConfiguration
+ Name="Blender Debug|Win32"
+ >
+ <Tool
+ Name="VCCLCompilerTool"
+ Optimization="0"
+ AdditionalIncludeDirectories=""
+ PreprocessorDefinitions=""
+ BasicRuntimeChecks="3"
+ />
+ </FileConfiguration>
+ <FileConfiguration
+ Name="Blender Release|Win32"
+ >
+ <Tool
+ Name="VCCLCompilerTool"
+ Optimization="2"
+ AdditionalIncludeDirectories=""
+ PreprocessorDefinitions=""
+ />
+ </FileConfiguration>
+ <FileConfiguration
+ Name="3D Plugin Release|Win32"
+ >
+ <Tool
+ Name="VCCLCompilerTool"
+ Optimization="2"
+ AdditionalIncludeDirectories=""
+ PreprocessorDefinitions=""
+ />
+ </FileConfiguration>
+ <FileConfiguration
+ Name="3D Plugin Debug|Win32"
+ >
+ <Tool
+ Name="VCCLCompilerTool"
+ Optimization="0"
+ AdditionalIncludeDirectories=""
+ PreprocessorDefinitions=""
+ BasicRuntimeChecks="3"
+ />
+ </FileConfiguration>
+ </File>
+ </Filter>
+ <Filter
+ Name="Header Files"
+ Filter="h;hpp;hxx;hm;inl"
+ >
+ <File
+ RelativePath="..\..\src\DT_AlgoTable.h"
+ >
+ </File>
+ <File
+ RelativePath="..\..\src\DT_Encounter.h"
+ >
+ </File>
+ <File
+ RelativePath="..\..\src\DT_Object.h"
+ >
+ </File>
+ <File
+ RelativePath="..\..\src\DT_Response.h"
+ >
+ </File>
+ <File
+ RelativePath="..\..\src\DT_RespTable.h"
+ >
+ </File>
+ <File
+ RelativePath="..\..\src\DT_Scene.h"
+ >
+ </File>
+ </Filter>
+ </Files>
+ <Globals>
+ </Globals>
+</VisualStudioProject>
diff --git a/extern/verse/dist/SConstruct b/extern/verse/dist/SConstruct index ecdc3178028..a80a1ac79e9 100644 --- a/extern/verse/dist/SConstruct +++ b/extern/verse/dist/SConstruct @@ -56,7 +56,7 @@ else: platform_linkflags += ['/DEBUG','/PDB:verse.pdb'] -verse_env = env.Copy() +verse_env = env.Clone() cmd_gen_files = (['v_cmd_gen.c', 'v_cmd_def_a.c', @@ -71,7 +71,7 @@ cmd_gen_files = (['v_cmd_gen.c', cmd_gen_deps = (['v_gen_pack_init.c']) -proto_env = env.Copy() +proto_env = env.Clone() proto_env.Append(CPPDEFINES=['V_GENERATE_FUNC_MODE']) mkprot_tool = proto_env.Program(target = 'mkprot', source = cmd_gen_files) @@ -130,10 +130,10 @@ server_source_files = (['vs_connection.c', 'vs_node_text.c' ]) -verselib_env = verse_env.Copy() +verselib_env = verse_env.Clone() verselib_env.Append(CPPDEFINES = defines) -verseserver_env = verse_env.Copy() +verseserver_env = verse_env.Clone() verseserver_env.Append(CPPDEFINES = defines) verseserver_env.Append (LIBPATH = ['.']) verseserver_env.Append (LIBS= ['verse']) diff --git a/extern/verse/make/msvc_9_0/libverse.vcproj b/extern/verse/make/msvc_9_0/libverse.vcproj new file mode 100644 index 00000000000..cbe236d5b55 --- /dev/null +++ b/extern/verse/make/msvc_9_0/libverse.vcproj @@ -0,0 +1,368 @@ +<?xml version="1.0" encoding="Windows-1252"?>
+<VisualStudioProject
+ ProjectType="Visual C++"
+ Version="9,00"
+ Name="EXT_verse"
+ ProjectGUID="{531D4862-D0E7-4B9B-A0B6-B3A6A25B547A}"
+ RootNamespace="verse"
+ TargetFrameworkVersion="131072"
+ >
+ <Platforms>
+ <Platform
+ Name="Win32"
+ />
+ </Platforms>
+ <ToolFiles>
+ </ToolFiles>
+ <Configurations>
+ <Configuration
+ Name="Blender Debug|Win32"
+ OutputDirectory="..\..\..\..\..\build\msvc_9\extern\verse\debug"
+ IntermediateDirectory="..\..\..\..\..\build\msvc_9\extern\verse\debug"
+ ConfigurationType="4"
+ InheritedPropertySheets="$(VCInstallDir)VCProjectDefaults\UpgradeFromVC71.vsprops"
+ UseOfMFC="0"
+ ATLMinimizesCRunTimeLibraryUsage="false"
+ CharacterSet="2"
+ >
+ <Tool
+ Name="VCPreBuildEventTool"
+ />
+ <Tool
+ Name="VCCustomBuildTool"
+ />
+ <Tool
+ Name="VCXMLDataGeneratorTool"
+ />
+ <Tool
+ Name="VCWebServiceProxyGeneratorTool"
+ />
+ <Tool
+ Name="VCMIDLTool"
+ />
+ <Tool
+ Name="VCCLCompilerTool"
+ Optimization="0"
+ AdditionalIncludeDirectories="..\..\include;..\..\..\..\..\lib\windows\freetype\include"
+ PreprocessorDefinitions="_DEBUG;WIN32;_LIB;FTGL_LIBRARY_STATIC"
+ BasicRuntimeChecks="3"
+ RuntimeLibrary="1"
+ UsePrecompiledHeader="0"
+ PrecompiledHeaderFile="..\..\..\..\..\build\msvc_9\extern\verse\debug\libverse.pch"
+ AssemblerListingLocation="..\..\..\..\..\build\msvc_9\extern\verse\debug\"
+ ObjectFile="..\..\..\..\..\build\msvc_9\extern\verse\debug\"
+ ProgramDataBaseFileName="..\..\..\..\..\build\msvc_9\extern\verse\debug\"
+ WarningLevel="2"
+ SuppressStartupBanner="true"
+ DebugInformationFormat="3"
+ CompileAs="0"
+ />
+ <Tool
+ Name="VCManagedResourceCompilerTool"
+ />
+ <Tool
+ Name="VCResourceCompilerTool"
+ PreprocessorDefinitions="_DEBUG"
+ Culture="1033"
+ />
+ <Tool
+ Name="VCPreLinkEventTool"
+ />
+ <Tool
+ Name="VCLibrarianTool"
+ OutputFile="..\..\..\..\..\build\msvc_9\libs\extern\debug\verse.lib"
+ SuppressStartupBanner="true"
+ />
+ <Tool
+ Name="VCALinkTool"
+ />
+ <Tool
+ Name="VCXDCMakeTool"
+ />
+ <Tool
+ Name="VCBscMakeTool"
+ />
+ <Tool
+ Name="VCFxCopTool"
+ />
+ <Tool
+ Name="VCPostBuildEventTool"
+ Description="Copying verse files library (debug target) to lib tree."
+ CommandLine="ECHO Copying header files
IF NOT EXIST ..\..\..\..\..\build\msvc_9\extern\verse\include\ MKDIR ..\..\..\..\..\build\msvc_9\extern\verse\include
XCOPY /Y ..\..\dist\*.h ..\..\..\..\..\build\msvc_9\extern\verse\include
ECHO Done
"
+ />
+ </Configuration>
+ <Configuration
+ Name="Blender Release|Win32"
+ OutputDirectory="..\..\..\..\..\build\msvc_9\extern\verse"
+ IntermediateDirectory="..\..\..\..\..\build\msvc_9\extern\verse"
+ ConfigurationType="4"
+ InheritedPropertySheets="$(VCInstallDir)VCProjectDefaults\UpgradeFromVC71.vsprops"
+ UseOfMFC="0"
+ ATLMinimizesCRunTimeLibraryUsage="false"
+ CharacterSet="2"
+ >
+ <Tool
+ Name="VCPreBuildEventTool"
+ />
+ <Tool
+ Name="VCCustomBuildTool"
+ />
+ <Tool
+ Name="VCXMLDataGeneratorTool"
+ />
+ <Tool
+ Name="VCWebServiceProxyGeneratorTool"
+ />
+ <Tool
+ Name="VCMIDLTool"
+ />
+ <Tool
+ Name="VCCLCompilerTool"
+ Optimization="2"
+ InlineFunctionExpansion="1"
+ AdditionalIncludeDirectories="..\..\include;..\..\..\..\..\lib\windows\freetype\include"
+ PreprocessorDefinitions="NDEBUG;WIN32;_LIB;FTGL_LIBRARY_STATIC"
+ StringPooling="true"
+ RuntimeLibrary="0"
+ EnableFunctionLevelLinking="true"
+ UsePrecompiledHeader="0"
+ PrecompiledHeaderFile="..\..\..\..\..\build\msvc_9\extern\verse\libverse.pch"
+ AssemblerListingLocation="..\..\..\..\..\build\msvc_9\extern\verse\"
+ ObjectFile="..\..\..\..\..\build\msvc_9\extern\verse\"
+ ProgramDataBaseFileName="..\..\..\..\..\build\msvc_9\extern\verse\"
+ WarningLevel="2"
+ SuppressStartupBanner="true"
+ CompileAs="0"
+ />
+ <Tool
+ Name="VCManagedResourceCompilerTool"
+ />
+ <Tool
+ Name="VCResourceCompilerTool"
+ PreprocessorDefinitions="NDEBUG"
+ Culture="1033"
+ />
+ <Tool
+ Name="VCPreLinkEventTool"
+ />
+ <Tool
+ Name="VCLibrarianTool"
+ OutputFile="..\..\..\..\..\build\msvc_9\libs\extern\verse.lib"
+ SuppressStartupBanner="true"
+ />
+ <Tool
+ Name="VCALinkTool"
+ />
+ <Tool
+ Name="VCXDCMakeTool"
+ />
+ <Tool
+ Name="VCBscMakeTool"
+ />
+ <Tool
+ Name="VCFxCopTool"
+ />
+ <Tool
+ Name="VCPostBuildEventTool"
+ Description="Copying verse files library to lib tree."
+ CommandLine="ECHO Copying header files
IF NOT EXIST ..\..\..\..\..\build\msvc_9\extern\verse\include\ MKDIR ..\..\..\..\..\build\msvc_9\extern\verse\include
XCOPY /Y ..\..\dist\*.h ..\..\..\..\..\build\msvc_9\extern\verse\include
ECHO Done
"
+ />
+ </Configuration>
+ </Configurations>
+ <References>
+ </References>
+ <Files>
+ <Filter
+ Name="Source Files"
+ Filter="cpp;c;cxx;rc;def;r;odl;idl;hpj;bat"
+ >
+ <File
+ RelativePath="..\..\dist\v_bignum.c"
+ >
+ </File>
+ <File
+ RelativePath="..\..\dist\v_cmd_buf.c"
+ >
+ </File>
+ <File
+ RelativePath="..\..\dist\v_cmd_def_a.c"
+ >
+ </File>
+ <File
+ RelativePath="..\..\dist\v_cmd_def_b.c"
+ >
+ </File>
+ <File
+ RelativePath="..\..\dist\v_cmd_def_c.c"
+ >
+ </File>
+ <File
+ RelativePath="..\..\dist\v_cmd_def_g.c"
+ >
+ </File>
+ <File
+ RelativePath="..\..\dist\v_cmd_def_m.c"
+ >
+ </File>
+ <File
+ RelativePath="..\..\dist\v_cmd_def_o.c"
+ >
+ </File>
+ <File
+ RelativePath="..\..\dist\v_cmd_def_s.c"
+ >
+ </File>
+ <File
+ RelativePath="..\..\dist\v_cmd_def_t.c"
+ >
+ </File>
+ <File
+ RelativePath="..\..\dist\v_connect.c"
+ >
+ </File>
+ <File
+ RelativePath="..\..\dist\v_connection.c"
+ >
+ </File>
+ <File
+ RelativePath="..\..\dist\v_encryption.c"
+ >
+ </File>
+ <File
+ RelativePath="..\..\dist\v_func_storage.c"
+ >
+ </File>
+ <File
+ RelativePath="..\..\dist\v_gen_pack_a_node.c"
+ >
+ </File>
+ <File
+ RelativePath="..\..\dist\v_gen_pack_b_node.c"
+ >
+ </File>
+ <File
+ RelativePath="..\..\dist\v_gen_pack_c_node.c"
+ >
+ </File>
+ <File
+ RelativePath="..\..\dist\v_gen_pack_g_node.c"
+ >
+ </File>
+ <File
+ RelativePath="..\..\dist\v_gen_pack_init.c"
+ >
+ </File>
+ <File
+ RelativePath="..\..\dist\v_gen_pack_m_node.c"
+ >
+ </File>
+ <File
+ RelativePath="..\..\dist\v_gen_pack_o_node.c"
+ >
+ </File>
+ <File
+ RelativePath="..\..\dist\v_gen_pack_s_node.c"
+ >
+ </File>
+ <File
+ RelativePath="..\..\dist\v_gen_pack_t_node.c"
+ >
+ </File>
+ <File
+ RelativePath="..\..\dist\v_man_pack_node.c"
+ >
+ </File>
+ <File
+ RelativePath="..\..\dist\v_network.c"
+ >
+ </File>
+ <File
+ RelativePath="..\..\dist\v_network_in_que.c"
+ >
+ </File>
+ <File
+ RelativePath="..\..\dist\v_network_out_que.c"
+ >
+ </File>
+ <File
+ RelativePath="..\..\dist\v_pack.c"
+ >
+ </File>
+ <File
+ RelativePath="..\..\dist\v_pack_method.c"
+ >
+ </File>
+ <File
+ RelativePath="..\..\dist\v_prime.c"
+ >
+ </File>
+ <File
+ RelativePath="..\..\dist\v_randgen.c"
+ >
+ </File>
+ <File
+ RelativePath="..\..\dist\v_util.c"
+ >
+ </File>
+ <File
+ RelativePath="..\..\dist\verse_ms.c"
+ >
+ </File>
+ </Filter>
+ <Filter
+ Name="Header Files"
+ Filter="h;hpp;hxx;hm;inl"
+ >
+ <File
+ RelativePath="..\..\dist\v_bignum.h"
+ >
+ </File>
+ <File
+ RelativePath="..\..\dist\v_cmd_buf.h"
+ >
+ </File>
+ <File
+ RelativePath="..\..\dist\v_connection.h"
+ >
+ </File>
+ <File
+ RelativePath="..\..\dist\v_encryption.h"
+ >
+ </File>
+ <File
+ RelativePath="..\..\dist\v_internal_verse.h"
+ >
+ </File>
+ <File
+ RelativePath="..\..\dist\v_network.h"
+ >
+ </File>
+ <File
+ RelativePath="..\..\dist\v_network_in_que.h"
+ >
+ </File>
+ <File
+ RelativePath="..\..\dist\v_network_out_que.h"
+ >
+ </File>
+ <File
+ RelativePath="..\..\dist\v_pack.h"
+ >
+ </File>
+ <File
+ RelativePath="..\..\dist\v_randgen.h"
+ >
+ </File>
+ <File
+ RelativePath="..\..\dist\v_util.h"
+ >
+ </File>
+ </Filter>
+ <File
+ RelativePath="..\..\dist\verse_ms.h"
+ >
+ </File>
+ </Files>
+ <Globals>
+ </Globals>
+</VisualStudioProject>
diff --git a/extern/verse/make/msvc_9_0/verse.vcproj b/extern/verse/make/msvc_9_0/verse.vcproj new file mode 100644 index 00000000000..39363156181 --- /dev/null +++ b/extern/verse/make/msvc_9_0/verse.vcproj @@ -0,0 +1,669 @@ +<?xml version="1.0" encoding="Windows-1252"?>
+<VisualStudioProject
+ ProjectType="Visual C++"
+ Version="9,00"
+ Name="EXT_verse_server"
+ ProjectGUID="{FC752464-F413-4D4F-842D-A5D3AA0E6A3D}"
+ RootNamespace="verse_server"
+ TargetFrameworkVersion="131072"
+ >
+ <Platforms>
+ <Platform
+ Name="Win32"
+ />
+ </Platforms>
+ <ToolFiles>
+ </ToolFiles>
+ <Configurations>
+ <Configuration
+ Name="3D Plugin Debug|Win32"
+ OutputDirectory="..\..\..\..\build\msvc_9\source\blender\makesdna\mtdll\debug"
+ IntermediateDirectory="..\..\..\..\build\msvc_9\source\blender\makesdna\mtdll\debug"
+ ConfigurationType="1"
+ InheritedPropertySheets="$(VCInstallDir)VCProjectDefaults\UpgradeFromVC71.vsprops"
+ UseOfMFC="0"
+ ATLMinimizesCRunTimeLibraryUsage="false"
+ CharacterSet="2"
+ >
+ <Tool
+ Name="VCPreBuildEventTool"
+ />
+ <Tool
+ Name="VCCustomBuildTool"
+ />
+ <Tool
+ Name="VCXMLDataGeneratorTool"
+ />
+ <Tool
+ Name="VCWebServiceProxyGeneratorTool"
+ />
+ <Tool
+ Name="VCMIDLTool"
+ TypeLibraryName=".\..\..\..\source\blender\makesdna\intern/DNA_makesdna.tlb"
+ />
+ <Tool
+ Name="VCCLCompilerTool"
+ Optimization="0"
+ AdditionalIncludeDirectories="..\..\..\..\build\msvc_9\intern\guardedalloc\include;..\..\..\source\blender;..\..\..\source\blender\blenlib;..\..\..\source\blender\makesdna;..\..\..\source\blender\blenkernel;..\..\..\..\lib\windows\pthreads\include"
+ PreprocessorDefinitions="_DEBUG,WIN32,_CONSOLE"
+ BasicRuntimeChecks="3"
+ RuntimeLibrary="3"
+ DefaultCharIsUnsigned="true"
+ UsePrecompiledHeader="0"
+ PrecompiledHeaderFile="..\..\..\..\build\msvc_9\source\blender\makesdna\mtdll\debug\verse.pch"
+ AssemblerListingLocation="..\..\..\..\build\msvc_9\source\blender\makesdna\mtdll\debug\"
+ ObjectFile="..\..\..\..\build\msvc_9\source\blender\makesdna\mtdll\debug\"
+ ProgramDataBaseFileName="..\..\..\..\build\msvc_9\source\blender\makesdna\mtdll\debug\"
+ WarningLevel="2"
+ SuppressStartupBanner="true"
+ DebugInformationFormat="3"
+ CompileAs="0"
+ />
+ <Tool
+ Name="VCManagedResourceCompilerTool"
+ />
+ <Tool
+ Name="VCResourceCompilerTool"
+ PreprocessorDefinitions="_DEBUG"
+ Culture="1033"
+ />
+ <Tool
+ Name="VCPreLinkEventTool"
+ />
+ <Tool
+ Name="VCLinkerTool"
+ AdditionalOptions="/MACHINE:I386"
+ AdditionalDependencies="libguardedalloc.lib BLI_blenlib.lib odbc32.lib odbccp32.lib"
+ OutputFile=".\..\..\..\source\blender\makesdna\intern/DNA_makesdna.exe"
+ LinkIncremental="2"
+ SuppressStartupBanner="true"
+ AdditionalLibraryDirectories="..\..\..\..\build\msvc_9\libs\intern\mtdll\debug;..\..\..\..\build\msvc_9\libs\mtdll\debug"
+ IgnoreDefaultLibraryNames=" libc.lib, libcmt.lib, msvcrt.lib, libcd.lib, libcmtd.lib"
+ GenerateDebugInformation="true"
+ ProgramDatabaseFile="..\..\..\..\build\msvc_9\libs\debug\DNA_makesdna.pdb"
+ SubSystem="1"
+ RandomizedBaseAddress="1"
+ DataExecutionPrevention="0"
+ />
+ <Tool
+ Name="VCALinkTool"
+ />
+ <Tool
+ Name="VCManifestTool"
+ />
+ <Tool
+ Name="VCXDCMakeTool"
+ />
+ <Tool
+ Name="VCBscMakeTool"
+ />
+ <Tool
+ Name="VCFxCopTool"
+ />
+ <Tool
+ Name="VCAppVerifierTool"
+ />
+ <Tool
+ Name="VCPostBuildEventTool"
+ Description="Building DNA"
+ CommandLine="CD ..\..\..\source\blender\makesdna\intern\
DNA_makesdna.exe dna.c
"
+ />
+ </Configuration>
+ <Configuration
+ Name="Blender Release|Win32"
+ OutputDirectory="..\..\..\..\bin"
+ IntermediateDirectory="..\..\..\..\..\build\msvc_9\extern\verse\server"
+ ConfigurationType="1"
+ InheritedPropertySheets="$(VCInstallDir)VCProjectDefaults\UpgradeFromVC71.vsprops"
+ UseOfMFC="0"
+ ATLMinimizesCRunTimeLibraryUsage="false"
+ CharacterSet="2"
+ >
+ <Tool
+ Name="VCPreBuildEventTool"
+ />
+ <Tool
+ Name="VCCustomBuildTool"
+ />
+ <Tool
+ Name="VCXMLDataGeneratorTool"
+ />
+ <Tool
+ Name="VCWebServiceProxyGeneratorTool"
+ />
+ <Tool
+ Name="VCMIDLTool"
+ TypeLibraryName=".\..\..\..\source\blender\makesdna\intern/verse.tlb"
+ />
+ <Tool
+ Name="VCCLCompilerTool"
+ InlineFunctionExpansion="1"
+ AdditionalIncludeDirectories=""
+ PreprocessorDefinitions="NDEBUG,WIN32,_CONSOLE"
+ StringPooling="true"
+ RuntimeLibrary="0"
+ EnableFunctionLevelLinking="true"
+ DefaultCharIsUnsigned="true"
+ UsePrecompiledHeader="0"
+ PrecompiledHeaderFile="..\..\..\..\..\build\msvc_9\source\blender\verse\server\verse.pch"
+ AssemblerListingLocation="..\..\..\..\..\build\msvc_9\extern\verse\server\"
+ ObjectFile="..\..\..\..\..\build\msvc_9\extern\verse\server\"
+ ProgramDataBaseFileName="..\..\..\..\..\build\msvc_9\extern\verse\server\"
+ WarningLevel="2"
+ SuppressStartupBanner="true"
+ CompileAs="0"
+ />
+ <Tool
+ Name="VCManagedResourceCompilerTool"
+ />
+ <Tool
+ Name="VCResourceCompilerTool"
+ PreprocessorDefinitions="NDEBUG"
+ Culture="1033"
+ />
+ <Tool
+ Name="VCPreLinkEventTool"
+ />
+ <Tool
+ Name="VCLinkerTool"
+ AdditionalOptions="/MACHINE:I386"
+ AdditionalDependencies="verse.lib ws2_32.lib"
+ OutputFile="..\..\..\..\bin\verse.exe"
+ LinkIncremental="1"
+ SuppressStartupBanner="true"
+ AdditionalLibraryDirectories="..\..\..\..\..\build\msvc_9\libs\extern"
+ IgnoreDefaultLibraryNames="libc.lib"
+ ProgramDatabaseFile="..\..\..\..\..\build\msvc_9\extern\verse\server\verse.pdb"
+ SubSystem="1"
+ RandomizedBaseAddress="1"
+ DataExecutionPrevention="0"
+ />
+ <Tool
+ Name="VCALinkTool"
+ />
+ <Tool
+ Name="VCManifestTool"
+ />
+ <Tool
+ Name="VCXDCMakeTool"
+ />
+ <Tool
+ Name="VCBscMakeTool"
+ />
+ <Tool
+ Name="VCFxCopTool"
+ />
+ <Tool
+ Name="VCAppVerifierTool"
+ />
+ <Tool
+ Name="VCPostBuildEventTool"
+ />
+ </Configuration>
+ <Configuration
+ Name="3D Plugin Release|Win32"
+ OutputDirectory="..\..\..\..\build\msvc_9\source\blender\makesdna\mtdll"
+ IntermediateDirectory="..\..\..\..\build\msvc_9\source\blender\makesdna\mtdll"
+ ConfigurationType="1"
+ InheritedPropertySheets="$(VCInstallDir)VCProjectDefaults\UpgradeFromVC71.vsprops"
+ UseOfMFC="0"
+ ATLMinimizesCRunTimeLibraryUsage="false"
+ CharacterSet="2"
+ >
+ <Tool
+ Name="VCPreBuildEventTool"
+ />
+ <Tool
+ Name="VCCustomBuildTool"
+ />
+ <Tool
+ Name="VCXMLDataGeneratorTool"
+ />
+ <Tool
+ Name="VCWebServiceProxyGeneratorTool"
+ />
+ <Tool
+ Name="VCMIDLTool"
+ TypeLibraryName=".\..\..\..\source\blender\makesdna\intern/verse.tlb"
+ />
+ <Tool
+ Name="VCCLCompilerTool"
+ InlineFunctionExpansion="1"
+ AdditionalIncludeDirectories="..\..\..\..\build\msvc_9\intern\guardedalloc\include;..\..\..\source\blender;..\..\..\source\blender\blenlib;..\..\..\source\blender\makesdna;..\..\..\source\blender\blenkernel;..\..\..\..\lib\windows\pthreads\include"
+ PreprocessorDefinitions="NDEBUG,WIN32,_CONSOLE"
+ StringPooling="true"
+ RuntimeLibrary="2"
+ EnableFunctionLevelLinking="true"
+ DefaultCharIsUnsigned="true"
+ UsePrecompiledHeader="0"
+ PrecompiledHeaderFile="..\..\..\..\build\msvc_9\source\blender\makesdna\mtdll\verse.pch"
+ AssemblerListingLocation="..\..\..\..\build\msvc_9\source\blender\makesdna\mtdll\"
+ ObjectFile="..\..\..\..\build\msvc_9\source\blender\makesdna\mtdll\"
+ ProgramDataBaseFileName="..\..\..\..\build\msvc_9\source\blender\makesdna\mtdll\"
+ WarningLevel="2"
+ SuppressStartupBanner="true"
+ CompileAs="0"
+ />
+ <Tool
+ Name="VCManagedResourceCompilerTool"
+ />
+ <Tool
+ Name="VCResourceCompilerTool"
+ PreprocessorDefinitions="NDEBUG"
+ Culture="1033"
+ />
+ <Tool
+ Name="VCPreLinkEventTool"
+ />
+ <Tool
+ Name="VCLinkerTool"
+ AdditionalOptions="/MACHINE:I386"
+ AdditionalDependencies="libguardedalloc.lib BLI_blenlib.lib odbc32.lib odbccp32.lib"
+ OutputFile="..\..\..\source\blender\makesdna\intern\verse.exe"
+ LinkIncremental="1"
+ SuppressStartupBanner="true"
+ AdditionalLibraryDirectories="..\..\..\..\build\msvc_9\libs\intern\mtdll;..\..\..\..\build\msvc_9\libs\mtdll"
+ IgnoreDefaultLibraryNames=" libc.lib, libcmt.lib, libcd.lib, libcmtd.lib, msvcrtd.lib"
+ ProgramDatabaseFile="..\..\..\..\build\msvc_9\libs\verse.pdb"
+ SubSystem="1"
+ RandomizedBaseAddress="1"
+ DataExecutionPrevention="0"
+ />
+ <Tool
+ Name="VCALinkTool"
+ />
+ <Tool
+ Name="VCManifestTool"
+ />
+ <Tool
+ Name="VCXDCMakeTool"
+ />
+ <Tool
+ Name="VCBscMakeTool"
+ />
+ <Tool
+ Name="VCFxCopTool"
+ />
+ <Tool
+ Name="VCAppVerifierTool"
+ />
+ <Tool
+ Name="VCPostBuildEventTool"
+ Description="Building DNA"
+ CommandLine="CD ..\..\..\source\blender\makesdna\intern\
verse.exe dna.c
"
+ />
+ </Configuration>
+ <Configuration
+ Name="Blender Debug|Win32"
+ OutputDirectory="..\..\..\..\bin\debug"
+ IntermediateDirectory="..\..\..\..\..\build\msvc_9\extern\verse\server\debug"
+ ConfigurationType="1"
+ InheritedPropertySheets="$(VCInstallDir)VCProjectDefaults\UpgradeFromVC71.vsprops"
+ UseOfMFC="0"
+ ATLMinimizesCRunTimeLibraryUsage="false"
+ CharacterSet="2"
+ >
+ <Tool
+ Name="VCPreBuildEventTool"
+ />
+ <Tool
+ Name="VCCustomBuildTool"
+ />
+ <Tool
+ Name="VCXMLDataGeneratorTool"
+ />
+ <Tool
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