forked from bartvdbraak/blender
185 lines
4.2 KiB
C++
185 lines
4.2 KiB
C++
/*
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* Copyright (c) 2005 Erwin Coumans http://www.erwincoumans.com
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*
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* Permission to use, copy, modify, distribute and sell this software
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* and its documentation for any purpose is hereby granted without fee,
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* provided that the above copyright notice appear in all copies.
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* Erwin Coumans makes no representations about the suitability
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* of this software for any purpose.
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* It is provided "as is" without express or implied warranty.
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*/
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#include "TriangleMeshShape.h"
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#include "SimdVector3.h"
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#include "SimdQuaternion.h"
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#include "StridingMeshInterface.h"
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#include "AabbUtil2.h"
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#include "NarrowPhaseCollision/CollisionMargin.h"
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TriangleMeshShape::TriangleMeshShape(StridingMeshInterface* meshInterface)
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: m_meshInterface(meshInterface),
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m_collisionMargin(CONVEX_DISTANCE_MARGIN)
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{
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}
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TriangleMeshShape::~TriangleMeshShape()
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{
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}
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void TriangleMeshShape::GetAabb(const SimdTransform& trans,SimdVector3& aabbMin,SimdVector3& aabbMax) const
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{
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for (int i=0;i<3;i++)
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{
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SimdVector3 vec(0.f,0.f,0.f);
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vec[i] = 1.f;
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SimdVector3 tmp = trans(LocalGetSupportingVertex(vec*trans.getBasis()));
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aabbMax[i] = tmp[i]+m_collisionMargin;
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vec[i] = -1.f;
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tmp = trans(LocalGetSupportingVertex(vec*trans.getBasis()));
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aabbMin[i] = tmp[i]-m_collisionMargin;
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}
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}
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TriangleCallback::~TriangleCallback()
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{
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}
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class SupportVertexCallback : public TriangleCallback
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{
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SimdVector3 m_supportVertexLocal;
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public:
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SimdTransform m_worldTrans;
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SimdScalar m_maxDot;
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SimdVector3 m_supportVecLocal;
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SupportVertexCallback(const SimdVector3& supportVecWorld,const SimdTransform& trans)
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: m_supportVertexLocal(0.f,0.f,0.f), m_worldTrans(trans) ,m_maxDot(-1e30f)
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{
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m_supportVecLocal = supportVecWorld * m_worldTrans.getBasis();
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}
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virtual void ProcessTriangle( SimdVector3* triangle)
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{
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for (int i=0;i<3;i++)
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{
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SimdScalar dot = m_supportVecLocal.dot(triangle[i]);
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if (dot > m_maxDot)
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{
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m_maxDot = dot;
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m_supportVertexLocal = triangle[i];
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}
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}
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}
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SimdVector3 GetSupportVertexWorldSpace()
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{
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return m_worldTrans(m_supportVertexLocal);
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}
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SimdVector3 GetSupportVertexLocal()
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{
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return m_supportVertexLocal;
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}
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};
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void TriangleMeshShape::setLocalScaling(const SimdVector3& scaling)
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{
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m_meshInterface->setScaling(scaling);
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}
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void TriangleMeshShape::ProcessAllTriangles(TriangleCallback* callback,const SimdVector3& aabbMin,const SimdVector3& aabbMax) const
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{
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SimdVector3 meshScaling = m_meshInterface->getScaling();
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int numtotalphysicsverts = 0;
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int part,graphicssubparts = m_meshInterface->getNumSubParts();
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for (part=0;part<graphicssubparts ;part++)
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{
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unsigned char * vertexbase;
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unsigned char * indexbase;
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int indexstride;
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PHY_ScalarType type;
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PHY_ScalarType gfxindextype;
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int stride,numverts,numtriangles;
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m_meshInterface->getLockedVertexIndexBase(&vertexbase,numverts,type,stride,&indexbase,indexstride,numtriangles,gfxindextype,part);
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numtotalphysicsverts+=numtriangles*3; //upper bound
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int gfxindex;
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SimdVector3 triangle[3];
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for (gfxindex=0;gfxindex<numtriangles;gfxindex++)
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{
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int graphicsindex=0;
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for (int j=2;j>=0;j--)
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{
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ASSERT(gfxindextype == PHY_INTEGER);
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int* gfxbase = (int*)(indexbase+gfxindex*indexstride);
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graphicsindex = gfxbase[j];
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float* graphicsbase = (float*)(vertexbase+graphicsindex*stride);
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triangle[j] = SimdVector3(
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graphicsbase[0]*meshScaling.getX(),
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graphicsbase[1]*meshScaling.getY(),
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graphicsbase[2]*meshScaling.getZ());
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}
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if (TestTriangleAgainstAabb2(&triangle[0],aabbMin,aabbMax))
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{
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//check aabb in triangle-space, before doing this
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callback->ProcessTriangle(triangle);
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}
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}
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m_meshInterface->unLockVertexBase(part);
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}
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}
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void TriangleMeshShape::CalculateLocalInertia(SimdScalar mass,SimdVector3& inertia)
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{
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//moving concave objects not supported
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assert(0);
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inertia.setValue(0.f,0.f,0.f);
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}
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SimdVector3 TriangleMeshShape::LocalGetSupportingVertex(const SimdVector3& vec) const
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{
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SimdVector3 supportVertex;
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SimdTransform ident;
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ident.setIdentity();
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SupportVertexCallback supportCallback(vec,ident);
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SimdVector3 aabbMax(1e30f,1e30f,1e30f);
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ProcessAllTriangles(&supportCallback,-aabbMax,aabbMax);
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supportVertex = supportCallback.GetSupportVertexLocal();
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return supportVertex;
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}
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