forked from bartvdbraak/blender
af9573e9ea
- Changed license from MIT to ZLib. - Added 3D Sweep and Prune contribution - More stable native constraint solver Sorry for any inconvenience caused by this checkin. All Blender buildsystems require update: added files and moved files.
203 lines
4.8 KiB
C++
203 lines
4.8 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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#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 "CollisionShapes/CollisionMargin.h"
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#include "stdio.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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RecalcLocalAabb();
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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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SimdVector3 localHalfExtents = 0.5f*(m_localAabbMax-m_localAabbMin);
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SimdVector3 localCenter = 0.5f*(m_localAabbMax+m_localAabbMin);
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SimdMatrix3x3 abs_b = trans.getBasis().absolute();
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SimdPoint3 center = trans(localCenter);
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SimdVector3 extent = SimdVector3(abs_b[0].dot(localHalfExtents),
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abs_b[1].dot(localHalfExtents),
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abs_b[2].dot(localHalfExtents));
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extent += SimdVector3(GetMargin(),GetMargin(),GetMargin());
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aabbMin = center - extent;
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aabbMax = center + extent;
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}
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void TriangleMeshShape::RecalcLocalAabb()
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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 = LocalGetSupportingVertex(vec);
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m_localAabbMax[i] = tmp[i]+m_collisionMargin;
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vec[i] = -1.f;
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tmp = LocalGetSupportingVertex(vec);
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m_localAabbMin[i] = tmp[i]-m_collisionMargin;
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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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RecalcLocalAabb();
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}
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const SimdVector3& TriangleMeshShape::getLocalScaling() const
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{
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return m_meshInterface->getScaling();
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}
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//#define DEBUG_TRIANGLE_MESH
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void TriangleMeshShape::ProcessAllTriangles(TriangleCallback* callback,const SimdVector3& aabbMin,const SimdVector3& aabbMax) const
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{
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struct FilteredCallback : public InternalTriangleIndexCallback
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{
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TriangleCallback* m_callback;
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SimdVector3 m_aabbMin;
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SimdVector3 m_aabbMax;
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FilteredCallback(TriangleCallback* callback,const SimdVector3& aabbMin,const SimdVector3& aabbMax)
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:m_callback(callback),
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m_aabbMin(aabbMin),
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m_aabbMax(aabbMax)
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{
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}
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virtual void InternalProcessTriangleIndex(SimdVector3* triangle,int partId,int triangleIndex)
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{
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if (TestTriangleAgainstAabb2(&triangle[0],m_aabbMin,m_aabbMax))
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{
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//check aabb in triangle-space, before doing this
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m_callback->ProcessTriangle(triangle);
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}
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}
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};
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FilteredCallback filterCallback(callback,aabbMin,aabbMax);
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m_meshInterface->InternalProcessAllTriangles(&filterCallback,aabbMin,aabbMax);
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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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