forked from bartvdbraak/blender
f51d1ef7d6
- added ccd option (future use, very basic and inefficient) - some internal Bullet refactoring/improvements
139 lines
4.0 KiB
C++
139 lines
4.0 KiB
C++
/*
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Bullet Continuous Collision Detection and Physics Library
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Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
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This software is provided 'as-is', without any express or implied warranty.
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In no event will the authors be held liable for any damages arising from the use of this software.
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Permission is granted to anyone to use this software for any purpose,
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including commercial applications, and to alter it and redistribute it freely,
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subject to the following restrictions:
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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.
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2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
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3. This notice may not be removed or altered from any source distribution.
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*/
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//#define DISABLE_BVH
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#include "CollisionShapes/BvhTriangleMeshShape.h"
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#include "CollisionShapes/OptimizedBvh.h"
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///Bvh Concave triangle mesh is a static-triangle mesh shape with Bounding Volume Hierarchy optimization.
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///Uses an interface to access the triangles to allow for sharing graphics/physics triangles.
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BvhTriangleMeshShape::BvhTriangleMeshShape(StridingMeshInterface* meshInterface)
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:TriangleMeshShape(meshInterface)
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{
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//construct bvh from meshInterface
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#ifndef DISABLE_BVH
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m_bvh = new OptimizedBvh();
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m_bvh->Build(meshInterface);
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#endif //DISABLE_BVH
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}
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BvhTriangleMeshShape::~BvhTriangleMeshShape()
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{
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delete m_bvh;
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}
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//perform bvh tree traversal and report overlapping triangles to 'callback'
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void BvhTriangleMeshShape::ProcessAllTriangles(TriangleCallback* callback,const SimdVector3& aabbMin,const SimdVector3& aabbMax) const
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{
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#ifdef DISABLE_BVH
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//brute force traverse all triangles
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TriangleMeshShape::ProcessAllTriangles(callback,aabbMin,aabbMax);
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#else
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//first get all the nodes
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struct MyNodeOverlapCallback : public NodeOverlapCallback
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{
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StridingMeshInterface* m_meshInterface;
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TriangleCallback* m_callback;
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SimdVector3 m_triangle[3];
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MyNodeOverlapCallback(TriangleCallback* callback,StridingMeshInterface* meshInterface)
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:m_meshInterface(meshInterface),
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m_callback(callback)
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{
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}
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virtual void ProcessNode(const OptimizedBvhNode* node)
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{
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const unsigned char *vertexbase;
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int numverts;
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PHY_ScalarType type;
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int stride;
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const unsigned char *indexbase;
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int indexstride;
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int numfaces;
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PHY_ScalarType indicestype;
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m_meshInterface->getLockedReadOnlyVertexIndexBase(
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&vertexbase,
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numverts,
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type,
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stride,
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&indexbase,
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indexstride,
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numfaces,
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indicestype,
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node->m_subPart);
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int* gfxbase = (int*)(indexbase+node->m_triangleIndex*indexstride);
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const SimdVector3& meshScaling = m_meshInterface->getScaling();
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for (int j=2;j>=0;j--)
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{
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int graphicsindex = gfxbase[j];
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#ifdef DEBUG_TRIANGLE_MESH
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printf("%d ,",graphicsindex);
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#endif //DEBUG_TRIANGLE_MESH
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float* graphicsbase = (float*)(vertexbase+graphicsindex*stride);
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m_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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#ifdef DEBUG_TRIANGLE_MESH
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printf("triangle vertices:%f,%f,%f\n",triangle[j].x(),triangle[j].y(),triangle[j].z());
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#endif //DEBUG_TRIANGLE_MESH
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}
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m_callback->ProcessTriangle(m_triangle,node->m_subPart,node->m_triangleIndex);
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m_meshInterface->unLockReadOnlyVertexBase(node->m_subPart);
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}
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};
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MyNodeOverlapCallback myNodeCallback(callback,m_meshInterface);
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m_bvh->ReportAabbOverlappingNodex(&myNodeCallback,aabbMin,aabbMax);
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#endif//DISABLE_BVH
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}
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void BvhTriangleMeshShape::setLocalScaling(const SimdVector3& scaling)
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{
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if ((getLocalScaling() -scaling).length2() > SIMD_EPSILON)
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{
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TriangleMeshShape::setLocalScaling(scaling);
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delete m_bvh;
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m_bvh = new OptimizedBvh();
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m_bvh->Build(m_meshInterface);
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//rebuild the bvh...
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}
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}
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