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/*
* Copyright (c) 2006 Erwin Coumans http://continuousphysics.com/Bullet/
*
* Permission to use, copy, modify, distribute and sell this software
* and its documentation for any purpose is hereby granted without fee,
* provided that the above copyright notice appear in all copies.
* Erwin Coumans makes no representations about the suitability
* of this software for any purpose.
* It is provided "as is" without express or implied warranty.
*/
//#define DISABLE_BVH
#include "CollisionShapes/BvhTriangleMeshShape.h"
#include "CollisionShapes/OptimizedBvh.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.
BvhTriangleMeshShape::BvhTriangleMeshShape(StridingMeshInterface* meshInterface)
:TriangleMeshShape(meshInterface)
{
//construct bvh from meshInterface
#ifndef DISABLE_BVH
m_bvh = new OptimizedBvh();
m_bvh->Build(meshInterface);
#endif //DISABLE_BVH
}
BvhTriangleMeshShape::~BvhTriangleMeshShape()
{
delete m_bvh;
}
//perform bvh tree traversal and report overlapping triangles to 'callback'
void BvhTriangleMeshShape::ProcessAllTriangles(TriangleCallback* callback,const SimdVector3& aabbMin,const SimdVector3& aabbMax) const
{
#ifdef DISABLE_BVH
//brute force traverse all triangles
TriangleMeshShape::ProcessAllTriangles(callback,aabbMin,aabbMax);
#else
//first get all the nodes
struct MyNodeOverlapCallback : public NodeOverlapCallback
{
StridingMeshInterface* m_meshInterface;
TriangleCallback* m_callback;
SimdVector3 m_triangle[3];
MyNodeOverlapCallback(TriangleCallback* callback,StridingMeshInterface* meshInterface)
:m_callback(callback),
m_meshInterface(meshInterface)
{
}
virtual void ProcessNode(const OptimizedBvhNode* node)
{
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,
node->m_subPart);
int* gfxbase = (int*)(indexbase+node->m_triangleIndex*indexstride);
const SimdVector3& meshScaling = m_meshInterface->getScaling();
for (int j=2;j>=0;j--)
{
int graphicsindex = gfxbase[j];
#ifdef DEBUG_TRIANGLE_MESH
printf("%d ,",graphicsindex);
#endif //DEBUG_TRIANGLE_MESH
float* graphicsbase = (float*)(vertexbase+graphicsindex*stride);
m_triangle[j] = SimdVector3(
graphicsbase[0]*meshScaling.getX(),
graphicsbase[1]*meshScaling.getY(),
graphicsbase[2]*meshScaling.getZ());
#ifdef DEBUG_TRIANGLE_MESH
printf("triangle vertices:%f,%f,%f\n",triangle[j].x(),triangle[j].y(),triangle[j].z());
#endif //DEBUG_TRIANGLE_MESH
}
m_callback->ProcessTriangle(m_triangle);
m_meshInterface->unLockReadOnlyVertexBase(node->m_subPart);
}
};
MyNodeOverlapCallback myNodeCallback(callback,m_meshInterface);
m_bvh->ReportAabbOverlappingNodex(&myNodeCallback,aabbMin,aabbMax);
#endif//DISABLE_BVH
}
void BvhTriangleMeshShape::setLocalScaling(const SimdVector3& scaling)
{
if ((getLocalScaling() -scaling).length2() > SIMD_EPSILON)
{
TriangleMeshShape::setLocalScaling(scaling);
delete m_bvh;
m_bvh = new OptimizedBvh();
m_bvh->Build(m_meshInterface);
//rebuild the bvh...
}
}
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