diff --git a/extern/bullet2/patches/convex_hull.patch b/extern/bullet2/patches/convex_hull.patch new file mode 100644 index 00000000000..1b2978221fb --- /dev/null +++ b/extern/bullet2/patches/convex_hull.patch @@ -0,0 +1,127 @@ +Index: extern/bullet2/src/Bullet-C-Api.h +=================================================================== +--- extern/bullet2/src/Bullet-C-Api.h (revision 51556) ++++ extern/bullet2/src/Bullet-C-Api.h (working copy) +@@ -167,6 +167,16 @@ extern "C" { + // 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]); + ++ ++ /* Convex Hull */ ++ PL_DECLARE_HANDLE(plConvexHull); ++ plConvexHull plConvexHullCompute(float (*coords)[3], int count); ++ int plConvexHullNumVertices(plConvexHull hull); ++ int plConvexHullNumFaces(plConvexHull hull); ++ void plConvexHullGetVertex(plConvexHull hull, int n, float coords[3], int *original_index); ++ int plConvexHullGetFaceSize(plConvexHull hull, int n); ++ void plConvexHullGetFaceVertices(plConvexHull hull, int n, int *vertices); ++ + #ifdef __cplusplus + } + #endif +Index: extern/bullet2/src/BulletDynamics/Dynamics/Bullet-C-API.cpp +=================================================================== +--- extern/bullet2/src/BulletDynamics/Dynamics/Bullet-C-API.cpp (revision 51556) ++++ extern/bullet2/src/BulletDynamics/Dynamics/Bullet-C-API.cpp (working copy) +@@ -23,7 +23,7 @@ subject to the following restrictions: + #include "Bullet-C-Api.h" + #include "btBulletDynamicsCommon.h" + #include "LinearMath/btAlignedAllocator.h" +- ++#include "LinearMath/btConvexHullComputer.h" + + + #include "LinearMath/btVector3.h" +@@ -403,3 +403,60 @@ double plNearestPoints(float p1[3], float p2[3], float p3[3], float q1[3], float + return -1.0f; + } + ++// Convex hull ++plConvexHull plConvexHullCompute(float (*coords)[3], int count) ++{ ++ btConvexHullComputer *computer = new btConvexHullComputer; ++ computer->compute(reinterpret_cast< float* >(coords), ++ sizeof(*coords), count, 0, 0); ++ return reinterpret_cast(computer); ++} ++ ++int plConvexHullNumVertices(plConvexHull hull) ++{ ++ btConvexHullComputer *computer(reinterpret_cast< btConvexHullComputer* >(hull)); ++ return computer->vertices.size(); ++} ++ ++int plConvexHullNumFaces(plConvexHull hull) ++{ ++ btConvexHullComputer *computer(reinterpret_cast< btConvexHullComputer* >(hull)); ++ return computer->faces.size(); ++} ++ ++void plConvexHullGetVertex(plConvexHull hull, int n, float coords[3], ++ int *original_index) ++{ ++ btConvexHullComputer *computer(reinterpret_cast< btConvexHullComputer* >(hull)); ++ const btVector3 &v(computer->vertices[n]); ++ coords[0] = v[0]; ++ coords[1] = v[1]; ++ coords[2] = v[2]; ++ (*original_index) = computer->original_vertex_index[n]; ++} ++ ++int plConvexHullGetFaceSize(plConvexHull hull, int n) ++{ ++ btConvexHullComputer *computer(reinterpret_cast< btConvexHullComputer* >(hull)); ++ const btConvexHullComputer::Edge *e_orig, *e; ++ int count; ++ ++ for (e_orig = &computer->edges[computer->faces[n]], e = e_orig, count = 0; ++ count == 0 || e != e_orig; ++ e = e->getNextEdgeOfFace(), count++); ++ return count; ++} ++ ++void plConvexHullGetFaceVertices(plConvexHull hull, int n, int *vertices) ++{ ++ btConvexHullComputer *computer(reinterpret_cast< btConvexHullComputer* >(hull)); ++ const btConvexHullComputer::Edge *e_orig, *e; ++ int count; ++ ++ for (e_orig = &computer->edges[computer->faces[n]], e = e_orig, count = 0; ++ count == 0 || e != e_orig; ++ e = e->getNextEdgeOfFace(), count++) ++ { ++ vertices[count] = e->getTargetVertex(); ++ } ++} +Index: extern/bullet2/src/LinearMath/btConvexHullComputer.cpp +=================================================================== +--- extern/bullet2/src/LinearMath/btConvexHullComputer.cpp (revision 51556) ++++ extern/bullet2/src/LinearMath/btConvexHullComputer.cpp (working copy) +@@ -2661,6 +2661,7 @@ btScalar btConvexHullComputer::compute(const void* coords, bool doubleCoords, in + } + + vertices.resize(0); ++ original_vertex_index.resize(0); + edges.resize(0); + faces.resize(0); + +@@ -2671,6 +2672,7 @@ btScalar btConvexHullComputer::compute(const void* coords, bool doubleCoords, in + { + btConvexHullInternal::Vertex* v = oldVertices[copied]; + vertices.push_back(hull.getCoordinates(v)); ++ original_vertex_index.push_back(v->point.index); + btConvexHullInternal::Edge* firstEdge = v->edges; + if (firstEdge) + { +Index: extern/bullet2/src/LinearMath/btConvexHullComputer.h +=================================================================== +--- extern/bullet2/src/LinearMath/btConvexHullComputer.h (revision 51556) ++++ extern/bullet2/src/LinearMath/btConvexHullComputer.h (working copy) +@@ -67,6 +67,7 @@ class btConvexHullComputer + + // Vertices of the output hull + btAlignedObjectArray vertices; ++ btAlignedObjectArray original_vertex_index; + + // Edges of the output hull + btAlignedObjectArray edges; diff --git a/extern/bullet2/readme.txt b/extern/bullet2/readme.txt index 343cb104c4d..7f5a7f1e163 100644 --- a/extern/bullet2/readme.txt +++ b/extern/bullet2/readme.txt @@ -14,6 +14,8 @@ Apply patches/make_id.patch to prevent duplicated define of MAKE_ID macro in ble side and bullet side. Sergey -Apply patches/ghost_character.path to prevent characters from colliding with ghost objects. +Apply patches/ghost_character.patch to prevent characters from colliding with ghost objects. Mitchell +Apply patches/convex_hull.patch to add access to the convex hull +operation, used in the BMesh convex hull operator. diff --git a/extern/bullet2/src/Bullet-C-Api.h b/extern/bullet2/src/Bullet-C-Api.h index f27a17d51f7..2eabf3840e1 100644 --- a/extern/bullet2/src/Bullet-C-Api.h +++ b/extern/bullet2/src/Bullet-C-Api.h @@ -167,6 +167,16 @@ extern "C" { // 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]); + + /* Convex Hull */ + PL_DECLARE_HANDLE(plConvexHull); + plConvexHull plConvexHullCompute(float (*coords)[3], int count); + int plConvexHullNumVertices(plConvexHull hull); + int plConvexHullNumFaces(plConvexHull hull); + void plConvexHullGetVertex(plConvexHull hull, int n, float coords[3], int *original_index); + int plConvexHullGetFaceSize(plConvexHull hull, int n); + void plConvexHullGetFaceVertices(plConvexHull hull, int n, int *vertices); + #ifdef __cplusplus } #endif diff --git a/extern/bullet2/src/BulletDynamics/Dynamics/Bullet-C-API.cpp b/extern/bullet2/src/BulletDynamics/Dynamics/Bullet-C-API.cpp index bd8e2748383..cf735569a9d 100644 --- a/extern/bullet2/src/BulletDynamics/Dynamics/Bullet-C-API.cpp +++ b/extern/bullet2/src/BulletDynamics/Dynamics/Bullet-C-API.cpp @@ -23,7 +23,7 @@ subject to the following restrictions: #include "Bullet-C-Api.h" #include "btBulletDynamicsCommon.h" #include "LinearMath/btAlignedAllocator.h" - +#include "LinearMath/btConvexHullComputer.h" #include "LinearMath/btVector3.h" @@ -403,3 +403,60 @@ double plNearestPoints(float p1[3], float p2[3], float p3[3], float q1[3], float return -1.0f; } +// Convex hull +plConvexHull plConvexHullCompute(float (*coords)[3], int count) +{ + btConvexHullComputer *computer = new btConvexHullComputer; + computer->compute(reinterpret_cast< float* >(coords), + sizeof(*coords), count, 0, 0); + return reinterpret_cast(computer); +} + +int plConvexHullNumVertices(plConvexHull hull) +{ + btConvexHullComputer *computer(reinterpret_cast< btConvexHullComputer* >(hull)); + return computer->vertices.size(); +} + +int plConvexHullNumFaces(plConvexHull hull) +{ + btConvexHullComputer *computer(reinterpret_cast< btConvexHullComputer* >(hull)); + return computer->faces.size(); +} + +void plConvexHullGetVertex(plConvexHull hull, int n, float coords[3], + int *original_index) +{ + btConvexHullComputer *computer(reinterpret_cast< btConvexHullComputer* >(hull)); + const btVector3 &v(computer->vertices[n]); + coords[0] = v[0]; + coords[1] = v[1]; + coords[2] = v[2]; + (*original_index) = computer->original_vertex_index[n]; +} + +int plConvexHullGetFaceSize(plConvexHull hull, int n) +{ + btConvexHullComputer *computer(reinterpret_cast< btConvexHullComputer* >(hull)); + const btConvexHullComputer::Edge *e_orig, *e; + int count; + + for (e_orig = &computer->edges[computer->faces[n]], e = e_orig, count = 0; + count == 0 || e != e_orig; + e = e->getNextEdgeOfFace(), count++); + return count; +} + +void plConvexHullGetFaceVertices(plConvexHull hull, int n, int *vertices) +{ + btConvexHullComputer *computer(reinterpret_cast< btConvexHullComputer* >(hull)); + const btConvexHullComputer::Edge *e_orig, *e; + int count; + + for (e_orig = &computer->edges[computer->faces[n]], e = e_orig, count = 0; + count == 0 || e != e_orig; + e = e->getNextEdgeOfFace(), count++) + { + vertices[count] = e->getTargetVertex(); + } +} diff --git a/extern/bullet2/src/LinearMath/btConvexHullComputer.cpp b/extern/bullet2/src/LinearMath/btConvexHullComputer.cpp index c03c901c051..4fd81dac107 100644 --- a/extern/bullet2/src/LinearMath/btConvexHullComputer.cpp +++ b/extern/bullet2/src/LinearMath/btConvexHullComputer.cpp @@ -2661,6 +2661,7 @@ btScalar btConvexHullComputer::compute(const void* coords, bool doubleCoords, in } vertices.resize(0); + original_vertex_index.resize(0); edges.resize(0); faces.resize(0); @@ -2671,6 +2672,7 @@ btScalar btConvexHullComputer::compute(const void* coords, bool doubleCoords, in { btConvexHullInternal::Vertex* v = oldVertices[copied]; vertices.push_back(hull.getCoordinates(v)); + original_vertex_index.push_back(v->point.index); btConvexHullInternal::Edge* firstEdge = v->edges; if (firstEdge) { diff --git a/extern/bullet2/src/LinearMath/btConvexHullComputer.h b/extern/bullet2/src/LinearMath/btConvexHullComputer.h index 7240ac4fb52..6871ce80e00 100644 --- a/extern/bullet2/src/LinearMath/btConvexHullComputer.h +++ b/extern/bullet2/src/LinearMath/btConvexHullComputer.h @@ -67,6 +67,7 @@ class btConvexHullComputer // Vertices of the output hull btAlignedObjectArray vertices; + btAlignedObjectArray original_vertex_index; // Edges of the output hull btAlignedObjectArray edges;