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update bullet so it actually works

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Moved the addSourceDirectory for physics/Bullet into the Engine/Source/CMakeLists.txt file that way it can actually appear where we expect it to in the solution explorer.
This commit is contained in:
marauder2k7 2026-06-03 15:08:51 +01:00
parent c7be48130a
commit 13fa178cf6
5986 changed files with 1811270 additions and 453803 deletions
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7
Engine/lib/bullet/.ci/docker/env.list Normal file
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@ -0,0 +1,7 @@
TRAVIS_OS_NAME
TRAVIS_PULL_REQUEST
BUILD_NAME
CC
CXX
SUDO

19
Engine/lib/bullet/.ci/docker/ubuntu-bionic Normal file
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@ -0,0 +1,19 @@
FROM ubuntu:bionic
RUN apt-get update -qq
RUN apt-get install -y \
build-essential \
clang \
cmake \
curl \
git \
libgl-dev \
libglu-dev \
libpython3-dev \
lsb-release \
pkg-config \
python3 \
python3-dev \
python3-distutils \
software-properties-common \
sudo

18
Engine/lib/bullet/.ci/docker/ubuntu-xenial Normal file
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@ -0,0 +1,18 @@
FROM ubuntu:xenial
RUN apt-get update -qq
RUN apt-get install -y \
build-essential \
clang \
cmake \
curl \
git \
libgl-dev \
libglu-dev \
libpython3-dev \
lsb-release \
pkg-config \
python3 \
python3-dev \
software-properties-common \
sudo

31
Engine/lib/bullet/.ci/script.sh Normal file
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@ -0,0 +1,31 @@
#!/usr/bin/env bash
set -ex
echo "CXX="$CXX
echo "CC="$CC
if [[ "$TRAVIS_OS_NAME" == "linux" && "$CXX" = "g++" ]]; then
$SUDO apt-get update
$SUDO apt-get install -y python3
$SUDO apt-get install -y python3-pip
$SUDO apt-get install python3-dev
$SUDO pip3 install -U wheel
$SUDO pip3 install -U setuptools
python3 setup.py install --user
python3 examples/pybullet/unittests/unittests.py --verbose
python3 examples/pybullet/unittests/userDataTest.py --verbose
python3 examples/pybullet/unittests/saveRestoreStateTest.py --verbose
fi
cmake . -DBUILD_PYBULLET=ON -G"Unix Makefiles" #-DCMAKE_CXX_FLAGS=-Werror
make -j8
ctest -j8 --output-on-failure
# Build again with double precision
cmake . -G "Unix Makefiles" -DUSE_DOUBLE_PRECISION=ON #-DCMAKE_CXX_FLAGS=-Werror
make -j8
ctest -j8 --output-on-failure
# Build again with shared libraries
cmake . -G "Unix Makefiles" -DBUILD_SHARED_LIBS=ON
make -j8
ctest -j8 --output-on-failure
$SUDO make install

38
Engine/lib/bullet/.github/workflows/cmake.yml vendored Normal file
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@ -0,0 +1,38 @@
name: CMake
on:
push:
branches: [ master ]
pull_request:
branches: [ master ]
env:
# Customize the CMake build type here (Release, Debug, RelWithDebInfo, etc.)
BUILD_TYPE: Release
jobs:
build:
# The CMake configure and build commands are platform agnostic and should work equally
# well on Windows or Mac. You can convert this to a matrix build if you need
# cross-platform coverage.
# See: https://docs.github.com/en/free-pro-team@latest/actions/learn-github-actions/managing-complex-workflows#using-a-build-matrix
runs-on: ubuntu-latest
steps:
- uses: actions/checkout@v2
- name: Configure CMake
# Configure CMake in a 'build' subdirectory. `CMAKE_BUILD_TYPE` is only required if you are using a single-configuration generator such as make.
# See https://cmake.org/cmake/help/latest/variable/CMAKE_BUILD_TYPE.html?highlight=cmake_build_type
run: cmake -B ${{github.workspace}}/build -DCMAKE_BUILD_TYPE=${{env.BUILD_TYPE}}
- name: Build
# Build your program with the given configuration
run: cmake --build ${{github.workspace}}/build --config ${{env.BUILD_TYPE}}
- name: Test
working-directory: ${{github.workspace}}/build
# Execute tests defined by the CMake configuration.
# See https://cmake.org/cmake/help/latest/manual/ctest.1.html for more detail
run: ctest -C ${{env.BUILD_TYPE}}

42
Engine/lib/bullet/.gitignore vendored Normal file
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@ -0,0 +1,42 @@
/bin
/build3/gmake
/build3/vs2010
/build_cmake/
*.pyc
# Python
__pycache__/
*.py[cod]
# Pip
pip-selfcheck.json
*.whl
*.egg
*.egg-info
# Setuptools
/build
/dist
*.eggs
# CMake
CMakeFiles/
CMakeCache.txt
cmake_install.cmake
CTestTestFile.cmake
# Visual Studio build files
*.vcxproj
*.vcxproj.filters
*.sln
# Apple Finder metadata
*.DS_Store
# vim temp files
*.swp
.vscode/
.idea/
cmake-build-debug/

5
Engine/lib/bullet/.style.yapf Normal file
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@ -0,0 +1,5 @@
[style]
based_on_style = google
column_limit = 99
indent_width = 2

27
Engine/lib/bullet/.travis.yml
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@ -1,27 +0,0 @@
language: cpp
os:
- linux
- osx
compiler:
- gcc
- clang
addons:
apt:
packages:
- python3
script:
- echo "CXX="$CXX
- echo "CC="$CC
- cmake . -DBUILD_PYBULLET=ON -G"Unix Makefiles" #-DCMAKE_CXX_FLAGS=-Werror
- make -j8
- ctest -j8 --output-on-failure
# Build again with double precision
- cmake . -G "Unix Makefiles" -DUSE_DOUBLE_PRECISION=ON #-DCMAKE_CXX_FLAGS=-Werror
- make -j8
- ctest -j8 --output-on-failure
# Build again with shared libraries
- cmake . -G "Unix Makefiles" -DBUILD_SHARED_LIBS=ON
- make -j8
- ctest -j8 --output-on-failure
- sudo make install

9
Engine/lib/bullet/AUTHORS.txt
View file

@ -2,17 +2,21 @@ Bullet Physics is created by Erwin Coumans with contributions from the following
AMD
Apple
Yunfei Bai
Steve Baker
Gino van den Bergen
Jeff Bingham
Nicola Candussi
Erin Catto
Lawrence Chai
Erwin Coumans
Christer Ericson
Disney Animation
Benjamin Ellenberger
Christer Ericson
Google
Dirk Gregorius
Marcus Hennix
Jasmine Hsu
MBSim Development Team
Takahiro Harada
Simon Hobbs
@ -20,6 +24,7 @@ John Hsu
Ole Kniemeyer
Jay Lee
Francisco Leon
lunkhound
Vsevolod Klementjev
Phil Knight
John McCutchan
@ -32,9 +37,9 @@ Russel Smith
Sony
Jakub Stephien
Marten Svanfeldt
Jie Tan
Pierre Terdiman
Steven Thompson
Tamas Umenhoffer
Yunfei Bai
If your name is missing, please send an email to erwin.coumans@gmail.com or file an issue at http://github.com/bulletphysics/bullet3

233
Engine/lib/bullet/CMakeLists.txt
View file

@ -1,11 +1,11 @@
cmake_minimum_required(VERSION 2.4.3)
cmake_minimum_required(VERSION 3.5)
set(CMAKE_ALLOW_LOOSE_LOOP_CONSTRUCTS true)
cmake_policy(SET CMP0017 NEW)
#this line has to appear before 'PROJECT' in order to be able to disable incremental linking
SET(MSVC_INCREMENTAL_DEFAULT ON)
PROJECT(BULLET_PHYSICS)
SET(BULLET_VERSION 2.85)
FILE (STRINGS "VERSION" BULLET_VERSION)
IF(COMMAND cmake_policy)
cmake_policy(SET CMP0003 NEW)
@ -15,7 +15,6 @@ IF(COMMAND cmake_policy)
endif(POLICY CMP0042)
ENDIF(COMMAND cmake_policy)
IF (NOT CMAKE_BUILD_TYPE)
# SET(CMAKE_BUILD_TYPE "Debug")
SET(CMAKE_BUILD_TYPE "Release")
@ -25,11 +24,41 @@ SET(CMAKE_CXX_FLAGS_DEBUG "${CMAKE_CXX_FLAGS_DEBUG} -D_DEBUG")
#MESSAGE("CMAKE_CXX_FLAGS_DEBUG="+${CMAKE_CXX_FLAGS_DEBUG})
OPTION(USE_DOUBLE_PRECISION "Use double precision" OFF)
SET(CLAMP_VELOCITIES "0" CACHE STRING "Clamp rigid bodies' velocity to this value, if larger than zero. Useful to prevent floating point errors or in general runaway velocities in complex scenarios")
OPTION(USE_GRAPHICAL_BENCHMARK "Use Graphical Benchmark" ON)
OPTION(BUILD_SHARED_LIBS "Use shared libraries" OFF)
OPTION(USE_SOFT_BODY_MULTI_BODY_DYNAMICS_WORLD "Use btSoftMultiBodyDynamicsWorld" ON)
OPTION(USE_OPENVR "Use OpenVR for virtual reality" OFF)
OPTION(ENABLE_VHACD "Use VHACD in BulletRobotics and pybullet" ON)
OPTION(BULLET2_MULTITHREADING "Build Bullet 2 libraries with mutex locking around certain operations (required for multi-threading)" OFF)
IF (BULLET2_MULTITHREADING)
OPTION(BULLET2_USE_OPEN_MP_MULTITHREADING "Build Bullet 2 with support for multi-threading with OpenMP (requires a compiler with OpenMP support)" OFF)
OPTION(BULLET2_USE_TBB_MULTITHREADING "Build Bullet 2 with support for multi-threading with Intel Threading Building Blocks (requires the TBB library to be already installed)" OFF)
IF (MSVC)
OPTION(BULLET2_USE_PPL_MULTITHREADING "Build Bullet 2 with support for multi-threading with Microsoft Parallel Patterns Library (requires MSVC compiler)" OFF)
ENDIF (MSVC)
ENDIF (BULLET2_MULTITHREADING)
IF(NOT WIN32)
SET(DL ${CMAKE_DL_LIBS})
IF(CMAKE_SYSTEM_NAME MATCHES "Linux")
MESSAGE("Linux")
SET(OSDEF -D_LINUX)
ELSE(CMAKE_SYSTEM_NAME MATCHES "Linux")
IF(APPLE)
MESSAGE("Apple")
SET(OSDEF -D_DARWIN)
ELSE(APPLE)
MESSAGE("BSD?")
SET(OSDEF -D_BSD)
ENDIF(APPLE)
ENDIF(CMAKE_SYSTEM_NAME MATCHES "Linux")
ENDIF(NOT WIN32)
OPTION(USE_MSVC_INCREMENTAL_LINKING "Use MSVC Incremental Linking" OFF)
OPTION(USE_CUSTOM_VECTOR_MATH "Use custom vectormath library" OFF)
#statically linking VC++ isn't supported for WindowsPhone/WindowsStore
IF (CMAKE_SYSTEM_NAME STREQUAL WindowsPhone OR CMAKE_SYSTEM_NAME STREQUAL WindowsStore)
@ -37,6 +66,7 @@ IF (CMAKE_SYSTEM_NAME STREQUAL WindowsPhone OR CMAKE_SYSTEM_NAME STREQUAL Window
ELSE ()
OPTION(USE_MSVC_RUNTIME_LIBRARY_DLL "Use MSVC Runtime Library DLL (/MD or /MDd)" OFF)
ENDIF (CMAKE_SYSTEM_NAME STREQUAL WindowsPhone OR CMAKE_SYSTEM_NAME STREQUAL WindowsStore)
OPTION(USE_MSVC_RELEASE_RUNTIME_ALWAYS "Use MSVC Release Runtime Library even in Debug" OFF)
#SET(CMAKE_EXE_LINKER_FLAGS_INIT "/STACK:10000000 /INCREMENTAL:NO")
#SET(CMAKE_EXE_LINKER_FLAGS "/STACK:10000000 /INCREMENTAL:NO")
@ -49,11 +79,11 @@ IF(MSVC)
#MESSAGE("MSVC_INCREMENTAL_DEFAULT"+${MSVC_INCREMENTAL_DEFAULT})
SET( MSVC_INCREMENTAL_YES_FLAG "/INCREMENTAL:NO")
STRING(REPLACE "INCREMENTAL:YES" "INCREMENTAL:NO" replacementFlags ${CMAKE_EXE_LINKER_FLAGS_DEBUG})
STRING(REPLACE "INCREMENTAL:YES" "INCREMENTAL:NO" replacementFlags "${CMAKE_EXE_LINKER_FLAGS_DEBUG}")
SET(CMAKE_EXE_LINKER_FLAGS_DEBUG "/INCREMENTAL:NO ${replacementFlags}" )
MESSAGE("CMAKE_EXE_LINKER_FLAGS_DEBUG=${CMAKE_EXE_LINKER_FLAGS_DEBUG}")
STRING(REPLACE "INCREMENTAL:YES" "INCREMENTAL:NO" replacementFlags2 ${CMAKE_EXE_LINKER_FLAGS})
STRING(REPLACE "INCREMENTAL:YES" "INCREMENTAL:NO" replacementFlags2 "${CMAKE_EXE_LINKER_FLAGS}")
SET(CMAKE_EXE_LINKER_FLAGS ${replacementFlag2})
STRING(REPLACE "INCREMENTAL:YES" "" replacementFlags3 "${CMAKE_EXTRA_LINK_FLAGS}")
@ -68,7 +98,7 @@ IF(MSVC)
ENDIF (NOT USE_MSVC_INCREMENTAL_LINKING)
IF (NOT USE_MSVC_RUNTIME_LIBRARY_DLL)
#We statically link to reduce dependancies
#We statically link to reduce dependencies
FOREACH(flag_var CMAKE_CXX_FLAGS CMAKE_CXX_FLAGS_DEBUG CMAKE_CXX_FLAGS_RELEASE CMAKE_CXX_FLAGS_MINSIZEREL CMAKE_CXX_FLAGS_RELWITHDEBINFO CMAKE_C_FLAGS CMAKE_C_FLAGS_DEBUG CMAKE_C_FLAGS_RELEASE CMAKE_C_FLAGS_MINSIZEREL CMAKE_C_FLAGS_RELWITHDEBINFO )
IF(${flag_var} MATCHES "/MD")
STRING(REGEX REPLACE "/MD" "/MT" ${flag_var} "${${flag_var}}")
@ -79,19 +109,79 @@ IF(MSVC)
ENDFOREACH(flag_var)
ENDIF (NOT USE_MSVC_RUNTIME_LIBRARY_DLL)
IF (USE_MSVC_RELEASE_RUNTIME_ALWAYS)
FOREACH(flag_var CMAKE_CXX_FLAGS CMAKE_CXX_FLAGS_DEBUG CMAKE_CXX_FLAGS_RELEASE CMAKE_CXX_FLAGS_MINSIZEREL CMAKE_CXX_FLAGS_RELWITHDEBINFO CMAKE_C_FLAGS CMAKE_C_FLAGS_DEBUG CMAKE_C_FLAGS_RELEASE CMAKE_C_FLAGS_MINSIZEREL CMAKE_C_FLAGS_RELWITHDEBINFO )
IF(${flag_var} MATCHES "/MDd")
STRING(REGEX REPLACE "/MDd" "/MD" ${flag_var} "${${flag_var}}")
ENDIF(${flag_var} MATCHES "/MDd")
IF(${flag_var} MATCHES "/MTd")
STRING(REGEX REPLACE "/MTd" "/MT" ${flag_var} "${${flag_var}}")
ENDIF(${flag_var} MATCHES "/MTd")
# Need to remove _DEBUG too otherwise things like _ITERATOR_DEBUG_LEVEL mismatch
IF(${flag_var} MATCHES "-D_DEBUG")
STRING(REGEX REPLACE "-D_DEBUG" "" ${flag_var} "${${flag_var}}")
ENDIF(${flag_var} MATCHES "-D_DEBUG")
ENDFOREACH(flag_var)
ENDIF (USE_MSVC_RELEASE_RUNTIME_ALWAYS)
IF (CMAKE_CL_64)
ADD_DEFINITIONS(-D_WIN64)
ELSE()
OPTION(USE_MSVC_SSE "Use MSVC /arch:sse option" ON)
OPTION(USE_MSVC_SSE "Use MSVC /arch:sse option" OFF)
option(USE_MSVC_SSE2 "Compile your program with SSE2 instructions" ON)
IF (USE_MSVC_SSE)
SET(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} /arch:SSE")
ENDIF()
IF (USE_MSVC_SSE2)
SET(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} /arch:SSE2")
ENDIF()
ENDIF()
option(USE_MSVC_AVX "Compile your program with AVX instructions" OFF)
IF(USE_MSVC_AVX)
add_definitions(/arch:AVX)
ENDIF()
OPTION(USE_MSVC_FAST_FLOATINGPOINT "Use MSVC /fp:fast option" ON)
IF (USE_MSVC_FAST_FLOATINGPOINT)
SET(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} /fp:fast")
ENDIF()
OPTION(USE_MSVC_STRING_POOLING "Use MSVC /GF string pooling option" ON)
IF (USE_MSVC_STRING_POOLING)
SET(CMAKE_C_FLAGS "/GF ${CMAKE_C_FLAGS}")
SET(CMAKE_CXX_FLAGS "/GF ${CMAKE_CXX_FLAGS}")
ENDIF()
OPTION(USE_MSVC_FUNCTION_LEVEL_LINKING "Use MSVC /Gy function level linking option" ON)
IF(USE_MSVC_FUNCTION_LEVEL_LINKING)
SET(CMAKE_C_FLAGS "/Gy ${CMAKE_C_FLAGS}")
SET(CMAKE_CXX_FLAGS "/Gy ${CMAKE_CXX_FLAGS}")
set(CMAKE_SHARED_LINKER_FLAGS "${CMAKE_SHARED_LINKER_FLAGS} /OPT:REF")
set(CMAKE_EXE_LINKER_FLAGS "${CMAKE_EXE_LINKER_FLAGS} /OPT:REF")
ENDIF(USE_MSVC_FUNCTION_LEVEL_LINKING)
OPTION(USE_MSVC_EXEPTIONS "Use MSVC C++ exceptions option" OFF)
OPTION(USE_MSVC_COMDAT_FOLDING "Use MSVC /OPT:ICF COMDAT folding option" ON)
IF(USE_MSVC_COMDAT_FOLDING)
set(CMAKE_SHARED_LINKER_FLAGS "${CMAKE_SHARED_LINKER_FLAGS} /OPT:ICF")
set(CMAKE_EXE_LINKER_FLAGS "${CMAKE_EXE_LINKER_FLAGS} /OPT:ICF")
ENDIF()
OPTION(USE_MSVC_DISABLE_RTTI "Use MSVC /GR- disabled RTTI flags option" ON)
IF(USE_MSVC_DISABLE_RTTI)
STRING(REGEX REPLACE "/GR" "" CMAKE_CXX_FLAGS ${CMAKE_CXX_FLAGS}) # Disable RTTI
SET(CMAKE_C_FLAGS "/GR- ${CMAKE_C_FLAGS}")
SET(CMAKE_CXX_FLAGS "/GR- ${CMAKE_CXX_FLAGS}")
ENDIF(USE_MSVC_DISABLE_RTTI)
SET(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} /wd4244 /wd4267")
ENDIF(MSVC)
@ -141,15 +231,58 @@ IF (INTERNAL_UPDATE_SERIALIZATION_STRUCTURES)
ADD_DEFINITIONS( -DBT_INTERNAL_UPDATE_SERIALIZATION_STRUCTURES)
ENDIF (INTERNAL_UPDATE_SERIALIZATION_STRUCTURES)
IF (CLAMP_VELOCITIES)
ADD_DEFINITIONS( -DBT_CLAMP_VELOCITY_TO=${CLAMP_VELOCITIES})
ENDIF (CLAMP_VELOCITIES)
IF (USE_DOUBLE_PRECISION)
ADD_DEFINITIONS( -DBT_USE_DOUBLE_PRECISION)
SET( BULLET_DOUBLE_DEF "-DBT_USE_DOUBLE_PRECISION")
ENDIF (USE_DOUBLE_PRECISION)
IF (NOT USE_SOFT_BODY_MULTI_BODY_DYNAMICS_WORLD)
ADD_DEFINITIONS(-DSKIP_SOFT_BODY_MULTI_BODY_DYNAMICS_WORLD)
ENDIF ()
IF(USE_GRAPHICAL_BENCHMARK)
ADD_DEFINITIONS( -DUSE_GRAPHICAL_BENCHMARK)
ENDIF (USE_GRAPHICAL_BENCHMARK)
IF(BULLET2_MULTITHREADING)
ADD_DEFINITIONS( -DBT_THREADSAFE=1 )
IF (NOT MSVC)
SET(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++11")
ENDIF (NOT MSVC)
IF (NOT WIN32)
FIND_PACKAGE(Threads)
LINK_LIBRARIES( ${CMAKE_THREAD_LIBS_INIT} )
ENDIF (NOT WIN32)
ENDIF (BULLET2_MULTITHREADING)
IF (BULLET2_USE_OPEN_MP_MULTITHREADING)
ADD_DEFINITIONS("-DBT_USE_OPENMP=1")
IF (MSVC)
SET(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} /openmp")
ELSE (MSVC)
# GCC, Clang
SET(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -fopenmp")
ENDIF (MSVC)
ENDIF (BULLET2_USE_OPEN_MP_MULTITHREADING)
IF (BULLET2_USE_TBB_MULTITHREADING)
SET (BULLET2_TBB_INCLUDE_DIR "not found" CACHE PATH "Directory for Intel TBB includes.")
SET (BULLET2_TBB_LIB_DIR "not found" CACHE PATH "Directory for Intel TBB libraries.")
find_library(TBB_LIBRARY tbb PATHS ${BULLET2_TBB_LIB_DIR})
find_library(TBBMALLOC_LIBRARY tbbmalloc PATHS ${BULLET2_TBB_LIB_DIR})
ADD_DEFINITIONS("-DBT_USE_TBB=1")
INCLUDE_DIRECTORIES( ${BULLET2_TBB_INCLUDE_DIR} )
LINK_LIBRARIES( ${TBB_LIBRARY} ${TBBMALLOC_LIBRARY} )
ENDIF (BULLET2_USE_TBB_MULTITHREADING)
IF (BULLET2_USE_PPL_MULTITHREADING)
ADD_DEFINITIONS("-DBT_USE_PPL=1")
ENDIF (BULLET2_USE_PPL_MULTITHREADING)
IF (WIN32)
OPTION(USE_GLUT "Use Glut" ON)
ADD_DEFINITIONS( -D_CRT_SECURE_NO_WARNINGS )
@ -190,25 +323,46 @@ ENDIF (OPENGL_FOUND)
#FIND_PACKAGE(GLU)
IF (APPLE)
FIND_LIBRARY(COCOA_LIBRARY Cocoa)
ENDIF()
OPTION(BUILD_BULLET3 "Set when you want to build Bullet 3" ON)
OPTION(BUILD_PYBULLET "Set when you want to build pybullet (experimental Python bindings for Bullet)" OFF)
# Optional Python configuration
# Will not probe environment for Python configuration (which can abort the
# build process) unless you explicitly turn on BUILD_PYBULLET.
OPTION(BUILD_PYBULLET "Set when you want to build pybullet (Python bindings for Bullet)" OFF)
IF(BUILD_PYBULLET)
SET(PYTHON_VERSION_PYBULLET "" CACHE STRING "Python version pybullet will use.")
SET(Python_ADDITIONAL_VERSIONS 3 3.6 3.5 3.4 3.3 3.2 3.1 3.0 2.7 2.7.12 2.7.10 2.7.3 )
SET_PROPERTY(CACHE PYTHON_VERSION_PYBULLET PROPERTY STRINGS ${Python_ADDITIONAL_VERSIONS})
SET(CMAKE_MODULE_PATH ${CMAKE_CURRENT_SOURCE_DIR}/build3/cmake ${CMAKE_MODULE_PATH})
OPTION(EXACT_PYTHON_VERSION "Require Python and match PYTHON_VERSION_PYBULLET exactly, e.g. 2.7.12" OFF)
IF(EXACT_PYTHON_VERSION)
set(EXACT_PYTHON_VERSION_FLAG EXACT REQUIRED)
ENDIF(EXACT_PYTHON_VERSION)
# first find the python interpreter
FIND_PACKAGE(PythonInterp ${PYTHON_VERSION_PYBULLET} ${EXACT_PYTHON_VERSION_FLAG})
# python library should exactly match that of the interpreter
# the following can result in fatal error if you don't have the right python configuration
FIND_PACKAGE(PythonLibs ${PYTHON_VERSION_STRING} EXACT)
ENDIF(BUILD_PYBULLET)
OPTION(BUILD_ENET "Set when you want to build apps with enet UDP networking support" ON)
OPTION(BUILD_CLSOCKET "Set when you want to build apps with enet TCP networking support" ON)
IF(BUILD_PYBULLET)
FIND_PACKAGE(PythonLibs)
OPTION(BUILD_PYBULLET_NUMPY "Set when you want to build pybullet with NumPy support" OFF)
OPTION(BUILD_PYBULLET_ENET "Set when you want to build pybullet with enet UDP networking support" ON)
OPTION(BUILD_PYBULLET_CLSOCKET "Set when you want to build pybullet with enet TCP networking support" ON)
IF(BUILD_PYBULLET_NUMPY)
set(CMAKE_MODULE_PATH ${CMAKE_MODULE_PATH} ${CMAKE_CURRENT_LIST_DIR}/build3/cmake)
OPTION(BUILD_PYBULLET_MAC_USE_PYTHON_FRAMEWORK "Set when you want to use the Python Framework on Mac" OFF)
IF(BUILD_PYBULLET_NUMPY)
#include(FindNumPy)
FIND_PACKAGE(NumPy)
if (PYTHON_NUMPY_FOUND)
@ -218,15 +372,34 @@ IF(BUILD_PYBULLET)
message("NumPy not found")
endif()
ENDIF()
OPTION(BUILD_PYBULLET "Set when you want to build pybullet (experimental Python bindings for Bullet)" OFF)
IF(WIN32)
SET(BUILD_SHARED_LIBS OFF CACHE BOOL "Shared Libs" FORCE)
ELSE(WIN32)
SET(BUILD_SHARED_LIBS ON CACHE BOOL "Shared Libs" FORCE)
ENDIF(WIN32)
IF(APPLE)
OPTION(BUILD_PYBULLET_MAC_USE_PYTHON_FRAMEWORK "Set when you want to use the Python Framework on Mac" ON)
IF(NOT BUILD_PYBULLET_MAC_USE_PYTHON_FRAMEWORK)
add_definitions(-DB3_NO_PYTHON_FRAMEWORK)
ENDIF(NOT BUILD_PYBULLET_MAC_USE_PYTHON_FRAMEWORK)
OPTION(BUILD_PYBULLET_SHOW_PY_VERSION "Set when you want to show the PY_MAJOR_VERSION and PY_MAJOR_VERSION using #pragme message." OFF)
IF(BUILD_PYBULLET_SHOW_PY_VERSION)
add_definitions(-DB3_DUMP_PYTHON_VERSION)
ENDIF()
ENDIF(APPLE)
ENDIF(BUILD_PYBULLET)
IF(NOT WIN32 AND NOT APPLE)
OPTION(BUILD_EGL "Build OpenGL/EGL" ON)
IF(BUILD_EGL)
ADD_DEFINITIONS(-DBT_USE_EGL)
ENDIF(BUILD_EGL)
ENDIF()
IF(BUILD_BULLET3)
IF(APPLE)
MESSAGE("Mac OSX Version is ${_CURRENT_OSX_VERSION}")
@ -259,6 +432,7 @@ IF(BUILD_BULLET2_DEMOS)
IF(EXISTS ${BULLET_PHYSICS_SOURCE_DIR}/examples AND IS_DIRECTORY ${BULLET_PHYSICS_SOURCE_DIR}/examples)
SUBDIRS(examples)
ENDIF()
ENDIF(BUILD_BULLET2_DEMOS)
@ -269,7 +443,6 @@ IF(BUILD_EXTRAS)
ENDIF(BUILD_EXTRAS)
#Maya Dynamica plugin is moved to http://dynamica.googlecode.com
SUBDIRS(src)
@ -284,7 +457,15 @@ ELSE()
ENDIF()
ENDIF()
IF(INSTALL_LIBS)
#INSTALL of other files requires CMake 2.6
IF(BUILD_EXTRAS)
IF (${CMAKE_MAJOR_VERSION}.${CMAKE_MINOR_VERSION} GREATER 2.5)
OPTION(INSTALL_EXTRA_LIBS "Set when you want extra libraries installed" ON)
ENDIF (${CMAKE_MAJOR_VERSION}.${CMAKE_MINOR_VERSION} GREATER 2.5)
ENDIF(BUILD_EXTRAS)
SET (LIB_SUFFIX "" CACHE STRING "Define suffix of directory name (32/64)" )
SET (LIB_DESTINATION "lib${LIB_SUFFIX}" CACHE STRING "Library directory name")
## the following are directories where stuff will be installed to
@ -298,12 +479,8 @@ IF(INSTALL_LIBS)
DESTINATION
${PKGCONFIG_INSTALL_PREFIX})
ENDIF(NOT MSVC)
ENDIF(INSTALL_LIBS)
ENDIF()
#INSTALL of other files requires CMake 2.6
IF (${CMAKE_MAJOR_VERSION}.${CMAKE_MINOR_VERSION} GREATER 2.5)
OPTION(INSTALL_EXTRA_LIBS "Set when you want extra libraries installed" OFF)
ENDIF (${CMAKE_MAJOR_VERSION}.${CMAKE_MINOR_VERSION} GREATER 2.5)
OPTION(BUILD_UNIT_TESTS "Build Unit Tests" ON)
@ -313,10 +490,10 @@ IF (BUILD_UNIT_TESTS)
ENDIF()
set (BULLET_CONFIG_CMAKE_PATH lib${LIB_SUFFIX}/cmake/bullet )
list (APPEND BULLET_DEFINITIONS ${BULLET_DOUBLE_DEF})
list (APPEND BULLET_LIBRARIES LinearMath)
IF(BUILD_BULLET3)
list (APPEND BULLET_LIBRARIES BulletInverseDynamics)
ENDIF(BUILD_BULLET3)
list (APPEND BULLET_LIBRARIES Bullet3Common)
list (APPEND BULLET_LIBRARIES BulletInverseDynamics)
list (APPEND BULLET_LIBRARIES BulletCollision)
list (APPEND BULLET_LIBRARIES BulletDynamics)
list (APPEND BULLET_LIBRARIES BulletSoftBody)
@ -325,7 +502,11 @@ configure_file ( ${CMAKE_CURRENT_SOURCE_DIR}/BulletConfig.cmake.in
${CMAKE_CURRENT_BINARY_DIR}/BulletConfig.cmake
@ONLY ESCAPE_QUOTES
)
install ( FILES ${CMAKE_CURRENT_SOURCE_DIR}/UseBullet.cmake
OPTION(INSTALL_CMAKE_FILES "Install generated CMake files" ON)
IF (INSTALL_CMAKE_FILES)
install ( FILES ${CMAKE_CURRENT_SOURCE_DIR}/UseBullet.cmake
${CMAKE_CURRENT_BINARY_DIR}/BulletConfig.cmake
DESTINATION ${BULLET_CONFIG_CMAKE_PATH}
)
ENDIF (INSTALL_CMAKE_FILES)

317
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@ -0,0 +1,317 @@
INCLUDE_DIRECTORIES(
${BULLET_PHYSICS_SOURCE_DIR}/src
${BULLET_PHYSICS_SOURCE_DIR}/examples
${BULLET_PHYSICS_SOURCE_DIR}/examples/SharedMemory
${BULLET_PHYSICS_SOURCE_DIR}/examples/ThirdPartyLibs
${BULLET_PHYSICS_SOURCE_DIR}/examples/ThirdPartyLibs/enet/include
${BULLET_PHYSICS_SOURCE_DIR}/examples/ThirdPartyLibs/clsocket/src
)
ADD_DEFINITIONS(-DSTATIC_LINK_SPD_PLUGIN)
SET(BulletRobotics_INCLUDES
../../examples/CommonInterfaces/Common2dCanvasInterface.h
../../examples/CommonInterfaces/CommonCallbacks.h
../../examples/CommonInterfaces/CommonCameraInterface.h
../../examples/CommonInterfaces/CommonExampleInterface.h
../../examples/CommonInterfaces/CommonFileIOInterface.h
../../examples/CommonInterfaces/CommonGraphicsAppInterface.h
../../examples/CommonInterfaces/CommonGUIHelperInterface.h
../../examples/CommonInterfaces/CommonMultiBodyBase.h
../../examples/CommonInterfaces/CommonParameterInterface.h
../../examples/CommonInterfaces/CommonRenderInterface.h
../../examples/CommonInterfaces/CommonRigidBodyBase.h
../../examples/CommonInterfaces/CommonWindowInterface.h
../../examples/OpenGLWindow/SimpleCamera.h
../../examples/TinyRenderer/geometry.h
../../examples/TinyRenderer/model.h
../../examples/TinyRenderer/tgaimage.h
../../examples/TinyRenderer/our_gl.h
../../examples/TinyRenderer/TinyRenderer.h
../../examples/SharedMemory/plugins/collisionFilterPlugin/collisionFilterPlugin.h
../../examples/SharedMemory/plugins/pdControlPlugin/pdControlPlugin.h
../../examples/SharedMemory/b3RobotSimulatorClientAPI_NoGUI.h
../../examples/SharedMemory/b3RobotSimulatorClientAPI_NoDirect.h
../../examples/SharedMemory/IKTrajectoryHelper.h
../../examples/SharedMemory/plugins/tinyRendererPlugin/tinyRendererPlugin.h
../../examples/SharedMemory/plugins/tinyRendererPlugin/TinyRendererVisualShapeConverter.h
../../examples/SharedMemory/InProcessMemory.h
../../examples/SharedMemory/PhysicsServer.h
../../examples/SharedMemory/PhysicsClient.h
../../examples/SharedMemory/PhysicsServerSharedMemory.h
../../examples/SharedMemory/PhysicsDirect.h
../../examples/SharedMemory/PhysicsDirectC_API.h
../../examples/SharedMemory/PhysicsServerCommandProcessor.h
../../examples/SharedMemory/b3PluginManager.h
../../examples/SharedMemory/PhysicsClientSharedMemory.h
../../examples/SharedMemory/PhysicsClientSharedMemory_C_API.h
../../examples/SharedMemory/PhysicsClientC_API.h
../../examples/SharedMemory/SharedMemoryPublic.h
../../examples/SharedMemory/Win32SharedMemory.h
../../examples/SharedMemory/PosixSharedMemory.h
../../examples/Utils/b3ResourcePath.h
../../examples/Utils/RobotLoggingUtil.h
../../examples/Utils/b3Clock.h
../../examples/Utils/b3ResourcePath.h
../../examples/Utils/ChromeTraceUtil.h
../../examples/Utils/b3ERPCFMHelper.hpp
../../examples/Utils/b3ReferenceFrameHelper.hpp
../../examples/ThirdPartyLibs/tinyxml2/tinyxml2.h
../../examples/ThirdPartyLibs/Wavefront/tiny_obj_loader.h
../../examples/ThirdPartyLibs/stb_image/stb_image.h
../../examples/ThirdPartyLibs/BussIK/Jacobian.h
../../examples/ThirdPartyLibs/BussIK/LinearR2.h
../../examples/ThirdPartyLibs/BussIK/LinearR3.h
../../examples/ThirdPartyLibs/BussIK/LinearR4.h
../../examples/ThirdPartyLibs/BussIK/MatrixRmn.h
../../examples/ThirdPartyLibs/BussIK/Node.h
../../examples/ThirdPartyLibs/BussIK/Tree.h
../../examples/ThirdPartyLibs/BussIK/VectorRn.h
../../examples/Importers/ImportColladaDemo/LoadMeshFromCollada.h
../../examples/Importers/ImportObjDemo/LoadMeshFromObj.h
../../examples/Importers/ImportObjDemo/Wavefront2GLInstanceGraphicsShape.h
../../examples/Importers/ImportMJCFDemo/BulletMJCFImporter.h
../../examples/Importers/ImportURDFDemo/BulletUrdfImporter.h
../../examples/Importers/ImportURDFDemo/MyMultiBodyCreator.h
../../examples/Importers/ImportURDFDemo/URDF2Bullet.h
../../examples/Importers/ImportURDFDemo/UrdfParser.h
../../examples/Importers/ImportURDFDemo/urdfStringSplit.h
../../examples/Importers/ImportURDFDemo/URDFImporterInterface.h
../../examples/Importers/ImportURDFDemo/URDFJointTypes.h
../../examples/Importers/ImportURDFDemo/SDFAudioTypes.h
../../examples/Importers/ImportURDFDemo/UrdfRenderingInterface.h
../../examples/Importers/ImportURDFDemo/MultiBodyCreationInterface.h
../../examples/Importers/ImportMeshUtility/b3ImportMeshUtility.h
../../examples/MultiThreading/b3PosixThreadSupport.h
../../examples/MultiThreading/b3Win32ThreadSupport.h
../../examples/MultiThreading/b3ThreadSupportInterface.h
)
SET(BulletRobotics_SRCS ${BulletRobotics_INCLUDES}
../../examples/SharedMemory/plugins/stablePDPlugin/SpAlg.cpp
../../examples/SharedMemory/plugins/stablePDPlugin/SpAlg.h
../../examples/SharedMemory/plugins/stablePDPlugin/Shape.cpp
../../examples/SharedMemory/plugins/stablePDPlugin/Shape.h
../../examples/SharedMemory/plugins/stablePDPlugin/RBDUtil.cpp
../../examples/SharedMemory/plugins/stablePDPlugin/RBDUtil.h
../../examples/SharedMemory/plugins/stablePDPlugin/RBDModel.cpp
../../examples/SharedMemory/plugins/stablePDPlugin/RBDModel.h
../../examples/SharedMemory/plugins/stablePDPlugin/MathUtil.cpp
../../examples/SharedMemory/plugins/stablePDPlugin/MathUtil.h
../../examples/SharedMemory/plugins/stablePDPlugin/KinTree.cpp
../../examples/SharedMemory/plugins/stablePDPlugin/KinTree.h
../../examples/SharedMemory/plugins/stablePDPlugin/BulletConversion.cpp
../../examples/SharedMemory/plugins/stablePDPlugin/BulletConversion.h
../../examples/OpenGLWindow/SimpleCamera.cpp
../../examples/TinyRenderer/geometry.cpp
../../examples/TinyRenderer/model.cpp
../../examples/TinyRenderer/tgaimage.cpp
../../examples/TinyRenderer/our_gl.cpp
../../examples/TinyRenderer/TinyRenderer.cpp
../../examples/SharedMemory/plugins/collisionFilterPlugin/collisionFilterPlugin.cpp
../../examples/SharedMemory/plugins/pdControlPlugin/pdControlPlugin.cpp
../../examples/SharedMemory/b3RobotSimulatorClientAPI_NoGUI.cpp
../../examples/SharedMemory/b3RobotSimulatorClientAPI_NoDirect.cpp
../../examples/SharedMemory/IKTrajectoryHelper.cpp
../../examples/SharedMemory/plugins/tinyRendererPlugin/tinyRendererPlugin.cpp
../../examples/SharedMemory/plugins/tinyRendererPlugin/TinyRendererVisualShapeConverter.cpp
../../examples/SharedMemory/InProcessMemory.cpp
../../examples/SharedMemory/PhysicsClient.cpp
../../examples/SharedMemory/PhysicsServer.cpp
../../examples/SharedMemory/PhysicsServerSharedMemory.cpp
../../examples/SharedMemory/PhysicsDirect.cpp
../../examples/SharedMemory/PhysicsDirectC_API.cpp
../../examples/SharedMemory/PhysicsServerCommandProcessor.cpp
../../examples/SharedMemory/b3PluginManager.cpp
../../examples/SharedMemory/PhysicsClientSharedMemory.cpp
../../examples/SharedMemory/PhysicsClientSharedMemory_C_API.cpp
../../examples/SharedMemory/PhysicsClientC_API.cpp
../../examples/SharedMemory/Win32SharedMemory.cpp
../../examples/SharedMemory/PosixSharedMemory.cpp
../../examples/Utils/b3ResourcePath.cpp
../../examples/Utils/RobotLoggingUtil.cpp
../../examples/Utils/b3Clock.cpp
../../examples/Utils/b3ResourcePath.cpp
../../examples/Utils/ChromeTraceUtil.cpp
../../examples/ThirdPartyLibs/tinyxml2/tinyxml2.cpp
../../examples/ThirdPartyLibs/Wavefront/tiny_obj_loader.cpp
../../examples/ThirdPartyLibs/stb_image/stb_image.cpp
../../examples/ThirdPartyLibs/BussIK/Jacobian.cpp
../../examples/ThirdPartyLibs/BussIK/LinearR2.cpp
../../examples/ThirdPartyLibs/BussIK/LinearR3.cpp
../../examples/ThirdPartyLibs/BussIK/LinearR4.cpp
../../examples/ThirdPartyLibs/BussIK/MatrixRmn.cpp
../../examples/ThirdPartyLibs/BussIK/Misc.cpp
../../examples/ThirdPartyLibs/BussIK/Node.cpp
../../examples/ThirdPartyLibs/BussIK/Tree.cpp
../../examples/ThirdPartyLibs/BussIK/VectorRn.cpp
../../examples/Importers/ImportColladaDemo/LoadMeshFromCollada.cpp
../../examples/Importers/ImportObjDemo/LoadMeshFromObj.cpp
../../examples/Importers/ImportObjDemo/Wavefront2GLInstanceGraphicsShape.cpp
../../examples/Importers/ImportMJCFDemo/BulletMJCFImporter.cpp
../../examples/Importers/ImportURDFDemo/BulletUrdfImporter.cpp
../../examples/Importers/ImportURDFDemo/MyMultiBodyCreator.cpp
../../examples/Importers/ImportURDFDemo/URDF2Bullet.cpp
../../examples/Importers/ImportURDFDemo/UrdfParser.cpp
../../examples/Importers/ImportURDFDemo/urdfStringSplit.cpp
../../examples/Importers/ImportMeshUtility/b3ImportMeshUtility.cpp
../../examples/MultiThreading/b3PosixThreadSupport.cpp
../../examples/MultiThreading/b3Win32ThreadSupport.cpp
../../examples/MultiThreading/b3ThreadSupportInterface.cpp
)
IF(ENABLE_VHACD)
ADD_DEFINITIONS(-DBT_ENABLE_VHACD)
SET(BulletRobotics_SRCS ${BulletRobotics_SRCS}
../../Extras/VHACD/test/src/main_vhacd.cpp
../../Extras/VHACD/src/VHACD.cpp
../../Extras/VHACD/src/vhacdICHull.cpp
../../Extras/VHACD/src/vhacdManifoldMesh.cpp
../../Extras/VHACD/src/vhacdMesh.cpp
../../Extras/VHACD/src/vhacdVolume.cpp
)
INCLUDE_DIRECTORIES(
../../Extras/VHACD/inc
../../Extras/VHACD/public
)
ENDIF(ENABLE_VHACD)
IF(BUILD_CLSOCKET)
ADD_DEFINITIONS(-DBT_ENABLE_CLSOCKET)
ENDIF(BUILD_CLSOCKET)
IF(WIN32)
IF(BUILD_ENET)
ADD_DEFINITIONS(-DWIN32 -DBT_ENABLE_ENET)
ENDIF(BUILD_ENET)
IF(BUILD_CLSOCKET)
ADD_DEFINITIONS(-DWIN32)
ENDIF(BUILD_CLSOCKET)
ELSE(WIN32)
IF(BUILD_ENET)
ADD_DEFINITIONS(-DHAS_SOCKLEN_T -DBT_ENABLE_ENET)
ENDIF(BUILD_ENET)
IF(BUILD_CLSOCKET)
ADD_DEFINITIONS(${OSDEF})
ENDIF(BUILD_CLSOCKET)
IF(NOT APPLE)
FIND_PACKAGE(Threads)
LINK_LIBRARIES( ${CMAKE_THREAD_LIBS_INIT} ${DL} )
ENDIF(NOT APPLE)
ENDIF(WIN32)
IF(BUILD_ENET)
set(BulletRobotics_ENET_INCLUDES
../../examples/SharedMemory/PhysicsClientUDP.h
../../examples/SharedMemory/PhysicsClientUDP_C_API.h
../../examples/ThirdPartyLibs/enet/include/enet/win32.h
../../examples/ThirdPartyLibs/enet/include/enet/unix.h
../../examples/ThirdPartyLibs/enet/include/enet/callbacks.h
../../examples/ThirdPartyLibs/enet/include/enet/list.h
../../examples/ThirdPartyLibs/enet/include/enet/protocol.h
)
set(BulletRobotics_ENET_SRCS
../../examples/SharedMemory/PhysicsClientUDP.cpp
../../examples/SharedMemory/PhysicsClientUDP_C_API.cpp
../../examples/ThirdPartyLibs/enet/win32.c
../../examples/ThirdPartyLibs/enet/unix.c
../../examples/ThirdPartyLibs/enet/callbacks.c
../../examples/ThirdPartyLibs/enet/compress.c
../../examples/ThirdPartyLibs/enet/host.c
../../examples/ThirdPartyLibs/enet/list.c
../../examples/ThirdPartyLibs/enet/packet.c
../../examples/ThirdPartyLibs/enet/peer.c
../../examples/ThirdPartyLibs/enet/protocol.c
)
set(BulletRobotics_INCLUDES
${BulletRobotics_INCLUDES}
${BulletRobotics_ENET_INCLUDES}
)
set(BulletRobotics_SRCS
${BulletRobotics_SRCS}
${BulletRobotics_ENET_INCLUDES}
${BulletRobotics_ENET_SRCS}
)
ENDIF(BUILD_ENET)
IF(BUILD_CLSOCKET)
set(BulletRobotics_CLSOCKET_SRCS
../../examples/SharedMemory/PhysicsClientTCP.cpp
../../examples/SharedMemory/PhysicsClientTCP_C_API.cpp
../../examples/ThirdPartyLibs/clsocket/src/SimpleSocket.cpp
../../examples/ThirdPartyLibs/clsocket/src/ActiveSocket.cpp
../../examples/ThirdPartyLibs/clsocket/src/PassiveSocket.cpp
)
set(BulletRobotics_SRCS
${BulletRobotics_SRCS}
${BulletRobotics_CLSOCKET_SRCS}
)
ENDIF()
ADD_DEFINITIONS(-DPHYSICS_SERVER_DIRECT)
ADD_LIBRARY(BulletRobotics ${BulletRobotics_SRCS})
SET_TARGET_PROPERTIES(BulletRobotics PROPERTIES VERSION ${BULLET_VERSION})
SET_TARGET_PROPERTIES(BulletRobotics PROPERTIES SOVERSION ${BULLET_VERSION})
IF (BUILD_SHARED_LIBS)
TARGET_LINK_LIBRARIES(BulletRobotics BulletInverseDynamicsUtils BulletWorldImporter BulletFileLoader BulletSoftBody BulletDynamics BulletCollision BulletInverseDynamics LinearMath Bullet3Common)
ENDIF (BUILD_SHARED_LIBS)
INSTALL (
DIRECTORY ${CMAKE_SOURCE_DIR}/examples/
DESTINATION include/bullet
FILES_MATCHING PATTERN "*.h*")
INSTALL(TARGETS
BulletRobotics
LIBRARY DESTINATION lib${LIB_SUFFIX}
ARCHIVE DESTINATION lib${LIB_SUFFIX}
)
IF (APPLE AND BUILD_SHARED_LIBS AND FRAMEWORK)
SET_TARGET_PROPERTIES(BulletRobotics PROPERTIES FRAMEWORK true)
SET_TARGET_PROPERTIES(BulletRobotics PROPERTIES PUBLIC_HEADER "PhysicsClientC_API.h" )
ENDIF (APPLE AND BUILD_SHARED_LIBS AND FRAMEWORK)
IF(NOT MSVC)
SET(PKGCONFIG_INSTALL_PREFIX "lib${LIB_SUFFIX}/pkgconfig/" CACHE STRING "Base directory for pkgconfig files")
CONFIGURE_FILE(${CMAKE_CURRENT_SOURCE_DIR}/bullet_robotics.pc.cmake
${CMAKE_CURRENT_BINARY_DIR}/bullet_robotics.pc @ONLY)
INSTALL(
FILES
${CMAKE_CURRENT_BINARY_DIR}/bullet_robotics.pc
DESTINATION
${PKGCONFIG_INSTALL_PREFIX}
)
ENDIF(NOT MSVC)

6
Engine/lib/bullet/Extras/BulletRobotics/bullet_robotics.pc.cmake Normal file
View file

@ -0,0 +1,6 @@
Name: bullet_robotics
Description: Bullet extras that include several utilities for robotics including a urdf parser
Requires: bullet
Version: @BULLET_VERSION@
Libs: -L@CMAKE_INSTALL_PREFIX@/@LIB_DESTINATION@ -lBulletRobotics
Cflags: @BULLET_DOUBLE_DEF@ -I@CMAKE_INSTALL_PREFIX@/@INCLUDE_INSTALL_DIR@ -I@CMAKE_INSTALL_PREFIX@/include/bullet_robotics

183
Engine/lib/bullet/Extras/BulletRobotics/premake4.lua Normal file
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@ -0,0 +1,183 @@
project ("BulletRobotics")
language "C++"
kind "StaticLib"
includedirs {"../../src", "../../examples",
"../../examples/ThirdPartyLibs"}
defines {"PHYSICS_IN_PROCESS_EXAMPLE_BROWSER"}
hasCL = findOpenCL("clew")
links{"BulletExampleBrowserLib","gwen", "BulletFileLoader","BulletWorldImporter","OpenGL_Window","BulletSoftBody", "BulletInverseDynamicsUtils", "BulletInverseDynamics", "BulletDynamics","BulletCollision","LinearMath","BussIK", "Bullet3Common"}
initOpenGL()
initGlew()
includedirs {
"../../src",
"../../examples",
"../../examples/SharedMemory",
"../ThirdPartyLibs",
"../ThirdPartyLibs/enet/include",
"../ThirdPartyLibs/clsocket/src",
}
if os.is("MacOSX") then
-- targetextension {"so"}
links{"Cocoa.framework","Python"}
end
if not _OPTIONS["no-enet"] then
includedirs {"../../examples/ThirdPartyLibs/enet/include"}
if os.is("Windows") then
-- targetextension {"dylib"}
defines { "WIN32" }
links {"Ws2_32","Winmm"}
end
if os.is("Linux") then
end
if os.is("MacOSX") then
end
links {"enet"}
files {
"../../examples/SharedMemory/PhysicsClientUDP.cpp",
"../../examples/SharedMemory/PhysicsClientUDP.h",
"../../examples/SharedMemory/PhysicsClientUDP_C_API.cpp",
"../../examples/SharedMemory/PhysicsClientUDP_C_API.h",
}
defines {"BT_ENABLE_ENET"}
end
if not _OPTIONS["no-clsocket"] then
includedirs {"../../examples/ThirdPartyLibs/clsocket/src"}
if os.is("Windows") then
defines { "WIN32" }
links {"Ws2_32","Winmm"}
end
if os.is("Linux") then
defines {"_LINUX"}
end
if os.is("MacOSX") then
defines {"_DARWIN"}
end
links {"clsocket"}
files {
"../../examples/SharedMemory/RemoteGUIHelperTCP.cpp",
"../../examples/SharedMemory/PhysicsClientTCP.cpp",
"../../examples/SharedMemory/GraphicsServerExample.cpp",
"../../examples/SharedMemory/PhysicsClientTCP.h",
"../../examples/SharedMemory/PhysicsClientTCP_C_API.cpp",
"../../examples/SharedMemory/PhysicsClientTCP_C_API.h",
}
defines {"BT_ENABLE_CLSOCKET"}
end
files {
"../../examples/SharedMemory/plugins/collisionFilterPlugin/collisionFilterPlugin.cpp",
"../../examples/SharedMemory/plugins/pdControlPlugin/pdControlPlugin.cpp",
"../../examples/SharedMemory/plugins/pdControlPlugin/pdControlPlugin.h",
"../../examples/SharedMemory/b3RobotSimulatorClientAPI_NoGUI.cpp",
"../../examples/SharedMemory/b3RobotSimulatorClientAPI_NoGUI.h",
"../../examples/SharedMemory/b3RobotSimulatorClientAPI_NoDirect.cpp",
"../../examples/SharedMemory/b3RobotSimulatorClientAPI_NoDirect.h",
"../../examples/SharedMemory/IKTrajectoryHelper.cpp",
"../../examples/SharedMemory/IKTrajectoryHelper.h",
"../../examples/SharedMemory/plugins/tinyRendererPlugin/tinyRendererPlugin.cpp",
"../../examples/SharedMemory/plugins/tinyRendererPlugin/TinyRendererVisualShapeConverter.cpp",
"../../examples/SharedMemory/RemoteGUIHelper.cpp",
"../../examples/OpenGLWindow/SimpleCamera.cpp",
"../../examples/OpenGLWindow/SimpleCamera.h",
"../../examples/TinyRenderer/geometry.cpp",
"../../examples/TinyRenderer/model.cpp",
"../../examples/TinyRenderer/tgaimage.cpp",
"../../examples/TinyRenderer/our_gl.cpp",
"../../examples/TinyRenderer/TinyRenderer.cpp",
"../../examples/SharedMemory/InProcessMemory.cpp",
"../../examples/SharedMemory/PhysicsClient.cpp",
"../../examples/SharedMemory/PhysicsClient.h",
"../../examples/SharedMemory/PhysicsServer.cpp",
"../../examples/SharedMemory/PhysicsServer.h",
"../../examples/SharedMemory/PhysicsServerSharedMemory.cpp",
"../../examples/SharedMemory/PhysicsServerSharedMemory.h",
"../../examples/SharedMemory/PhysicsDirect.cpp",
"../../examples/SharedMemory/PhysicsDirect.h",
"../../examples/SharedMemory/PhysicsDirectC_API.cpp",
"../../examples/SharedMemory/PhysicsDirectC_API.h",
"../../examples/SharedMemory/PhysicsServerCommandProcessor.cpp",
"../../examples/SharedMemory/PhysicsServerCommandProcessor.h",
"../../examples/SharedMemory/b3PluginManager.cpp",
"../../examples/SharedMemory/b3PluginManager.h",
"../../examples/SharedMemory/PhysicsClientSharedMemory.cpp",
"../../examples/SharedMemory/PhysicsClientSharedMemory.h",
"../../examples/SharedMemory/PhysicsClientSharedMemory_C_API.cpp",
"../../examples/SharedMemory/PhysicsClientSharedMemory_C_API.h",
"../../examples/SharedMemory/PhysicsClientC_API.cpp",
"../../examples/SharedMemory/PhysicsClientC_API.h",
"../../examples/SharedMemory/SharedMemoryPublic.h",
"../../examples/SharedMemory/Win32SharedMemory.cpp",
"../../examples/SharedMemory/Win32SharedMemory.h",
"../../examples/SharedMemory/PosixSharedMemory.cpp",
"../../examples/SharedMemory/PosixSharedMemory.h",
"../../examples/Utils/b3ResourcePath.cpp",
"../../examples/Utils/b3ResourcePath.h",
"../../examples/Utils/RobotLoggingUtil.cpp",
"../../examples/Utils/RobotLoggingUtil.h",
"../../examples/Utils/b3Clock.cpp",
"../../examples/Utils/b3ResourcePath.cpp",
"../../examples/Utils/b3ERPCFMHelper.hpp",
"../../examples/Utils/b3ReferenceFrameHelper.hpp",
"../../examples/Utils/ChromeTraceUtil.cpp",
"../../examples/ThirdPartyLibs/tinyxml2/tinyxml2.cpp",
"../../examples/ThirdPartyLibs/Wavefront/tiny_obj_loader.cpp",
"../../examples/ThirdPartyLibs/Wavefront/tiny_obj_loader.h",
"../../examples/ThirdPartyLibs/stb_image/stb_image.cpp",
"../../examples/ThirdPartyLibs/BussIK/Jacobian.cpp",
"../../examples/ThirdPartyLibs/BussIK/LinearR2.cpp",
"../../examples/ThirdPartyLibs/BussIK/LinearR3.cpp",
"../../examples/ThirdPartyLibs/BussIK/LinearR4.cpp",
"../../examples/ThirdPartyLibs/BussIK/MatrixRmn.cpp",
"../../examples/ThirdPartyLibs/BussIK/Misc.cpp",
"../../examples/ThirdPartyLibs/BussIK/Node.cpp",
"../../examples/ThirdPartyLibs/BussIK/Tree.cpp",
"../../examples/ThirdPartyLibs/BussIK/VectorRn.cpp",
"../../examples/Importers/ImportColladaDemo/LoadMeshFromCollada.cpp",
"../../examples/Importers/ImportObjDemo/LoadMeshFromObj.cpp",
"../../examples/Importers/ImportObjDemo/Wavefront2GLInstanceGraphicsShape.cpp",
"../../examples/Importers/ImportMJCFDemo/BulletMJCFImporter.cpp",
"../../examples/Importers/ImportURDFDemo/BulletUrdfImporter.cpp",
"../../examples/Importers/ImportURDFDemo/MyMultiBodyCreator.cpp",
"../../examples/Importers/ImportURDFDemo/URDF2Bullet.cpp",
"../../examples/Importers/ImportURDFDemo/UrdfParser.cpp",
"../../examples/Importers/ImportURDFDemo/urdfStringSplit.cpp",
"../../examples/Importers/ImportMeshUtility/b3ImportMeshUtility.cpp",
"../../examples/MultiThreading/b3PosixThreadSupport.cpp",
"../../examples/MultiThreading/b3Win32ThreadSupport.cpp",
"../../examples/MultiThreading/b3ThreadSupportInterface.cpp",
}
if (_OPTIONS["enable_static_vr_plugin"]) then
files {"../../examples/SharedMemory/plugins/vrSyncPlugin/vrSyncPlugin.cpp"}
end

196
Engine/lib/bullet/Extras/BulletRoboticsGUI/CMakeLists.txt Normal file
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@ -0,0 +1,196 @@
INCLUDE_DIRECTORIES(
${BULLET_PHYSICS_SOURCE_DIR}/src
${BULLET_PHYSICS_SOURCE_DIR}/examples
${BULLET_PHYSICS_SOURCE_DIR}/examples/SharedMemory
${BULLET_PHYSICS_SOURCE_DIR}/examples/ThirdPartyLibs
${BULLET_PHYSICS_SOURCE_DIR}/examples/ThirdPartyLibs/enet/include
${BULLET_PHYSICS_SOURCE_DIR}/examples/ThirdPartyLibs/clsocket/src
)
SET(BulletRoboticsGUI_INCLUDES
../../examples/CommonInterfaces/Common2dCanvasInterface.h
../../examples/CommonInterfaces/CommonCallbacks.h
../../examples/CommonInterfaces/CommonCameraInterface.h
../../examples/CommonInterfaces/CommonExampleInterface.h
../../examples/CommonInterfaces/CommonFileIOInterface.h
../../examples/CommonInterfaces/CommonGraphicsAppInterface.h
../../examples/CommonInterfaces/CommonGUIHelperInterface.h
../../examples/CommonInterfaces/CommonMultiBodyBase.h
../../examples/CommonInterfaces/CommonParameterInterface.h
../../examples/CommonInterfaces/CommonRenderInterface.h
../../examples/CommonInterfaces/CommonRigidBodyBase.h
../../examples/CommonInterfaces/CommonWindowInterface.h
../../examples/OpenGLWindow/SimpleCamera.h
../../examples/TinyRenderer/geometry.h
../../examples/TinyRenderer/model.h
../../examples/TinyRenderer/tgaimage.h
../../examples/TinyRenderer/our_gl.h
../../examples/TinyRenderer/TinyRenderer.h
../../examples/SharedMemory/plugins/collisionFilterPlugin/collisionFilterPlugin.h
../../examples/SharedMemory/plugins/pdControlPlugin/pdControlPlugin.h
../../examples/SharedMemory/b3RobotSimulatorClientAPI_NoGUI.h
../../examples/SharedMemory/b3RobotSimulatorClientAPI_NoDirect.h
../../examples/SharedMemory/IKTrajectoryHelper.h
../../examples/SharedMemory/plugins/tinyRendererPlugin/tinyRendererPlugin.h
../../examples/SharedMemory/plugins/tinyRendererPlugin/TinyRendererVisualShapeConverter.h
../../examples/SharedMemory/InProcessMemory.h
../../examples/SharedMemory/PhysicsServer.h
../../examples/SharedMemory/PhysicsClient.h
../../examples/SharedMemory/PhysicsServerSharedMemory.h
../../examples/SharedMemory/PhysicsDirect.h
../../examples/SharedMemory/PhysicsDirectC_API.h
../../examples/SharedMemory/PhysicsServerCommandProcessor.h
../../examples/SharedMemory/b3PluginManager.h
../../examples/SharedMemory/PhysicsClientSharedMemory.h
../../examples/SharedMemory/PhysicsClientSharedMemory_C_API.h
../../examples/SharedMemory/PhysicsClientC_API.h
../../examples/SharedMemory/SharedMemoryPublic.h
../../examples/SharedMemory/Win32SharedMemory.h
../../examples/SharedMemory/PosixSharedMemory.h
../../examples/Utils/b3ResourcePath.h
../../examples/Utils/RobotLoggingUtil.h
../../examples/Utils/b3Clock.h
../../examples/Utils/b3ResourcePath.h
../../examples/Utils/ChromeTraceUtil.h
../../examples/Utils/b3ERPCFMHelper.hpp
../../examples/Utils/b3ReferenceFrameHelper.hpp
../../examples/ThirdPartyLibs/tinyxml2/tinyxml2.h
../../examples/ThirdPartyLibs/Wavefront/tiny_obj_loader.h
../../examples/ThirdPartyLibs/stb_image/stb_image.h
../../examples/ThirdPartyLibs/BussIK/Jacobian.h
../../examples/ThirdPartyLibs/BussIK/LinearR2.h
../../examples/ThirdPartyLibs/BussIK/LinearR3.h
../../examples/ThirdPartyLibs/BussIK/LinearR4.h
../../examples/ThirdPartyLibs/BussIK/MatrixRmn.h
../../examples/ThirdPartyLibs/BussIK/Node.h
../../examples/ThirdPartyLibs/BussIK/Tree.h
../../examples/ThirdPartyLibs/BussIK/VectorRn.h
../../examples/Importers/ImportColladaDemo/LoadMeshFromCollada.h
../../examples/Importers/ImportObjDemo/LoadMeshFromObj.h
../../examples/Importers/ImportObjDemo/Wavefront2GLInstanceGraphicsShape.h
../../examples/Importers/ImportMJCFDemo/BulletMJCFImporter.h
../../examples/Importers/ImportURDFDemo/BulletUrdfImporter.h
../../examples/Importers/ImportURDFDemo/MyMultiBodyCreator.h
../../examples/Importers/ImportURDFDemo/URDF2Bullet.h
../../examples/Importers/ImportURDFDemo/UrdfParser.h
../../examples/Importers/ImportURDFDemo/urdfStringSplit.h
../../examples/Importers/ImportURDFDemo/URDFImporterInterface.h
../../examples/Importers/ImportURDFDemo/URDFJointTypes.h
../../examples/Importers/ImportURDFDemo/SDFAudioTypes.h
../../examples/Importers/ImportURDFDemo/UrdfRenderingInterface.h
../../examples/Importers/ImportURDFDemo/MultiBodyCreationInterface.h
../../examples/Importers/ImportMeshUtility/b3ImportMeshUtility.h
../../examples/MultiThreading/b3PosixThreadSupport.h
../../examples/MultiThreading/b3Win32ThreadSupport.h
../../examples/MultiThreading/b3ThreadSupportInterface.h
)
SET(BulletRoboticsGUI_SRCS ${BulletRoboticsGUI_INCLUDES}
../../examples/ExampleBrowser/InProcessExampleBrowser.cpp
../../examples/SharedMemory/GraphicsServerExample.cpp
../../examples/SharedMemory/GraphicsClientExample.cpp
../../examples/SharedMemory/RemoteGUIHelper.cpp
../../examples/SharedMemory/RemoteGUIHelperTCP.cpp
../../examples/SharedMemory/GraphicsServerExample.h
../../examples/SharedMemory/GraphicsClientExample.h
../../examples/SharedMemory/RemoteGUIHelper.h
../../examples/SharedMemory/GraphicsSharedMemoryCommands.h
../../examples/SharedMemory/GraphicsSharedMemoryPublic.h
../../examples/SharedMemory/PhysicsServerExample.cpp
../../examples/SharedMemory/PhysicsServerExampleBullet2.cpp
../../examples/SharedMemory/SharedMemoryInProcessPhysicsC_API.cpp
)
IF(BUILD_CLSOCKET)
ADD_DEFINITIONS(-DBT_ENABLE_CLSOCKET)
ENDIF(BUILD_CLSOCKET)
IF(WIN32)
IF(BUILD_ENET)
ADD_DEFINITIONS(-DWIN32 -DBT_ENABLE_ENET)
ENDIF(BUILD_ENET)
IF(BUILD_CLSOCKET)
ADD_DEFINITIONS(-DWIN32)
ENDIF(BUILD_CLSOCKET)
ELSE(WIN32)
IF(BUILD_ENET)
ADD_DEFINITIONS(-DHAS_SOCKLEN_T -DBT_ENABLE_ENET)
ENDIF(BUILD_ENET)
IF(BUILD_CLSOCKET)
ADD_DEFINITIONS(${OSDEF})
ENDIF(BUILD_CLSOCKET)
IF(NOT APPLE)
FIND_PACKAGE(Threads)
LINK_LIBRARIES( ${CMAKE_THREAD_LIBS_INIT} ${DL} )
ENDIF(NOT APPLE)
ENDIF(WIN32)
IF(BUILD_ENET)
set(BulletRoboticsGUI_ENET_INCLUDES
../../examples/SharedMemory/PhysicsClientUDP.h
../../examples/SharedMemory/PhysicsClientUDP_C_API.h
../../examples/ThirdPartyLibs/enet/include/enet/win32.h
../../examples/ThirdPartyLibs/enet/include/enet/unix.h
../../examples/ThirdPartyLibs/enet/include/enet/callbacks.h
../../examples/ThirdPartyLibs/enet/include/enet/list.h
../../examples/ThirdPartyLibs/enet/include/enet/protocol.h
)
set(BulletRoboticsGUI_INCLUDES
${BulletRoboticsGUI_INCLUDES}
${BulletRoboticsGUI_ENET_INCLUDES}
)
ENDIF(BUILD_ENET)
ADD_DEFINITIONS(-DPHYSICS_SERVER_DIRECT)
ADD_LIBRARY(BulletRoboticsGUI ${BulletRoboticsGUI_SRCS})
SET_TARGET_PROPERTIES(BulletRoboticsGUI PROPERTIES VERSION ${BULLET_VERSION})
SET_TARGET_PROPERTIES(BulletRoboticsGUI PROPERTIES SOVERSION ${BULLET_VERSION})
IF (BUILD_SHARED_LIBS)
TARGET_LINK_LIBRARIES(BulletRoboticsGUI BulletExampleBrowserLib BulletRobotics BulletInverseDynamicsUtils BulletWorldImporter BulletFileLoader BulletSoftBody BulletDynamics BulletCollision BulletInverseDynamics LinearMath Bullet3Common)
ENDIF (BUILD_SHARED_LIBS)
INSTALL(TARGETS
BulletRoboticsGUI
LIBRARY DESTINATION lib${LIB_SUFFIX}
ARCHIVE DESTINATION lib${LIB_SUFFIX}
)
IF (APPLE AND BUILD_SHARED_LIBS AND FRAMEWORK)
SET_TARGET_PROPERTIES(BulletRobotics PROPERTIES FRAMEWORK true)
SET_TARGET_PROPERTIES(BulletRobotics PROPERTIES PUBLIC_HEADER "PhysicsClientC_API.h" )
ENDIF (APPLE AND BUILD_SHARED_LIBS AND FRAMEWORK)
IF(NOT MSVC)
SET(PKGCONFIG_INSTALL_PREFIX "lib${LIB_SUFFIX}/pkgconfig/" CACHE STRING "Base directory for pkgconfig files")
CONFIGURE_FILE(${CMAKE_CURRENT_SOURCE_DIR}/bullet_robotics_gui.pc.cmake
${CMAKE_CURRENT_BINARY_DIR}/bullet_robotics_gui.pc @ONLY)
INSTALL(
FILES
${CMAKE_CURRENT_BINARY_DIR}/bullet_robotics_gui.pc
DESTINATION
${PKGCONFIG_INSTALL_PREFIX}
)
ENDIF(NOT MSVC)

6
Engine/lib/bullet/Extras/BulletRoboticsGUI/bullet_robotics_gui.pc.cmake Normal file
View file

@ -0,0 +1,6 @@
Name: bullet_robotics_gui
Description: Bullet GUI extras for robotics
Requires: bullet
Version: @BULLET_VERSION@
Libs: -L@CMAKE_INSTALL_PREFIX@/@LIB_DESTINATION@ -lBulletRoboticsGUI
Cflags: @BULLET_DOUBLE_DEF@ -I@CMAKE_INSTALL_PREFIX@/@INCLUDE_INSTALL_DIR@ -I@CMAKE_INSTALL_PREFIX@/include/bullet_robotics_gui

35
Engine/lib/bullet/Extras/CMakeLists.txt
View file

@ -1,8 +1,37 @@
SUBDIRS( Serialize ConvexDecomposition HACD GIMPACTUtils )
OPTION(BUILD_INVERSE_DYNAMIC_EXTRA "Build InverseDynamic extra module, only applied when BUILD_EXTRAS is ON" ON)
OPTION(BUILD_BULLET_ROBOTICS_GUI_EXTRA "Build BulletRoboticsGUI extra module, only applied when BUILD_EXTRAS is ON" ON)
OPTION(BUILD_BULLET_ROBOTICS_EXTRA "Build BulletRobotics extra module, only applied when BUILD_EXTRAS is ON" ON)
OPTION(BUILD_OBJ2SDF_EXTRA "Build obj2sdf extra module, only applied when BUILD_EXTRAS is ON" ON)
OPTION(BUILD_SERIALIZE_EXTRA "Build Serialize extra module, only applied when BUILD_EXTRAS is ON" ON)
OPTION(BUILD_CONVEX_DECOMPOSITION_EXTRA "Build ConvexDecomposition extra module, only applied when BUILD_EXTRAS is ON" ON)
OPTION(BUILD_HACD_EXTRA "Build HACD extra module, only applied when BUILD_EXTRAS is ON" ON)
OPTION(BUILD_GIMPACTUTILS_EXTRA "Build GIMPACTUtils extra module, only applied when BUILD_EXTRAS is ON" ON)
IF(BUILD_BULLET3)
SUBDIRS( InverseDynamics)
IF(BUILD_INVERSE_DYNAMIC_EXTRA)
SUBDIRS( InverseDynamics )
ENDIF()
IF(BUILD_BULLET_ROBOTICS_GUI_EXTRA)
SUBDIRS( BulletRoboticsGUI )
ENDIF()
IF(BUILD_BULLET_ROBOTICS_EXTRA)
SUBDIRS( BulletRobotics )
ENDIF()
IF(BUILD_OBJ2SDF_EXTRA)
SUBDIRS( obj2sdf )
ENDIF()
IF(BUILD_SERIALIZE_EXTRA)
SUBDIRS( Serialize )
ENDIF()
IF(BUILD_CONVEX_DECOMPOSITION_EXTRA)
SUBDIRS( ConvexDecomposition )
ENDIF()
IF(BUILD_HACD_EXTRA)
SUBDIRS( HACD )
ENDIF()
IF(BUILD_GIMPACTUTILS_EXTRA)
SUBDIRS( GIMPACTUtils )
ENDIF()
#Maya Dynamica plugin is moved to http://dynamica.googlecode.com

5
Engine/lib/bullet/Extras/ConvexDecomposition/CMakeLists.txt
View file

@ -49,7 +49,10 @@ IF (INSTALL_EXTRA_LIBS)
IF (APPLE AND BUILD_SHARED_LIBS AND FRAMEWORK)
INSTALL(TARGETS ConvexDecomposition DESTINATION .)
ELSE (APPLE AND BUILD_SHARED_LIBS AND FRAMEWORK)
INSTALL(TARGETS ConvexDecomposition DESTINATION lib${LIB_SUFFIX})
INSTALL(TARGETS ConvexDecomposition
RUNTIME DESTINATION bin
LIBRARY DESTINATION lib${LIB_SUFFIX}
ARCHIVE DESTINATION lib${LIB_SUFFIX})
INSTALL(DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR}
DESTINATION ${INCLUDE_INSTALL_DIR} FILES_MATCHING PATTERN "*.h" PATTERN
".svn" EXCLUDE PATTERN "CMakeFiles" EXCLUDE)

229
Engine/lib/bullet/Extras/ConvexDecomposition/ConvexBuilder.cpp
View file

@ -8,34 +8,32 @@
#include "fitsphere.h"
#include "bestfitobb.h"
unsigned int MAXDEPTH = 8 ;
float CONCAVE_PERCENT = 1.0f ;
float MERGE_PERCENT = 2.0f ;
unsigned int MAXDEPTH = 8;
float CONCAVE_PERCENT = 1.0f;
float MERGE_PERCENT = 2.0f;
CHull::CHull(const ConvexResult &result)
CHull::CHull(const ConvexDecomposition::ConvexResult &result)
{
mResult = new ConvexResult(result);
mVolume = computeMeshVolume( result.mHullVertices, result.mHullTcount, result.mHullIndices );
mResult = new ConvexDecomposition::ConvexResult(result);
mVolume = computeMeshVolume(result.mHullVertices, result.mHullTcount, result.mHullIndices);
mDiagonal = getBoundingRegion( result.mHullVcount, result.mHullVertices, sizeof(float)*3, mMin, mMax );
mDiagonal = getBoundingRegion(result.mHullVcount, result.mHullVertices, sizeof(float) * 3, mMin, mMax);
float dx = mMax[0] - mMin[0];
float dy = mMax[1] - mMin[1];
float dz = mMax[2] - mMin[2];
dx*=0.1f; // inflate 1/10th on each edge
dy*=0.1f; // inflate 1/10th on each edge
dz*=0.1f; // inflate 1/10th on each edge
mMin[0]-=dx;
mMin[1]-=dy;
mMin[2]-=dz;
mMax[0]+=dx;
mMax[1]+=dy;
mMax[2]+=dz;
dx *= 0.1f; // inflate 1/10th on each edge
dy *= 0.1f; // inflate 1/10th on each edge
dz *= 0.1f; // inflate 1/10th on each edge
mMin[0] -= dx;
mMin[1] -= dy;
mMin[2] -= dz;
mMax[0] += dx;
mMax[1] += dy;
mMax[2] += dz;
}
CHull::~CHull(void)
@ -45,12 +43,9 @@ CHull::~CHull(void)
bool CHull::overlap(const CHull &h) const
{
return overlapAABB(mMin,mMax, h.mMin, h.mMax );
return overlapAABB(mMin, mMax, h.mMin, h.mMax);
}
ConvexBuilder::ConvexBuilder(ConvexDecompInterface *callback)
{
mCallback = callback;
@ -59,45 +54,45 @@ ConvexBuilder::ConvexBuilder(ConvexDecompInterface *callback)
ConvexBuilder::~ConvexBuilder(void)
{
int i;
for (i=0;i<mChulls.size();i++)
for (i = 0; i < mChulls.size(); i++)
{
CHull *cr = mChulls[i];
delete cr;
}
}
bool ConvexBuilder::isDuplicate(unsigned int i1,unsigned int i2,unsigned int i3,
unsigned int ci1,unsigned int ci2,unsigned int ci3)
bool ConvexBuilder::isDuplicate(unsigned int i1, unsigned int i2, unsigned int i3,
unsigned int ci1, unsigned int ci2, unsigned int ci3)
{
unsigned int dcount = 0;
assert( i1 != i2 && i1 != i3 && i2 != i3 );
assert( ci1 != ci2 && ci1 != ci3 && ci2 != ci3 );
assert(i1 != i2 && i1 != i3 && i2 != i3);
assert(ci1 != ci2 && ci1 != ci3 && ci2 != ci3);
if ( i1 == ci1 || i1 == ci2 || i1 == ci3 ) dcount++;
if ( i2 == ci1 || i2 == ci2 || i2 == ci3 ) dcount++;
if ( i3 == ci1 || i3 == ci2 || i3 == ci3 ) dcount++;
if (i1 == ci1 || i1 == ci2 || i1 == ci3) dcount++;
if (i2 == ci1 || i2 == ci2 || i2 == ci3) dcount++;
if (i3 == ci1 || i3 == ci2 || i3 == ci3) dcount++;
return dcount == 3;
}
void ConvexBuilder::getMesh(const ConvexResult &cr,VertexLookup vc,UintVector &indices)
void ConvexBuilder::getMesh(const ConvexDecomposition::ConvexResult &cr, VertexLookup vc, UintVector &indices)
{
unsigned int *src = cr.mHullIndices;
for (unsigned int i=0; i<cr.mHullTcount; i++)
for (unsigned int i = 0; i < cr.mHullTcount; i++)
{
unsigned int i1 = *src++;
unsigned int i2 = *src++;
unsigned int i3 = *src++;
const float *p1 = &cr.mHullVertices[i1*3];
const float *p2 = &cr.mHullVertices[i2*3];
const float *p3 = &cr.mHullVertices[i3*3];
const float *p1 = &cr.mHullVertices[i1 * 3];
const float *p2 = &cr.mHullVertices[i2 * 3];
const float *p3 = &cr.mHullVertices[i3 * 3];
i1 = Vl_getIndex(vc,p1);
i2 = Vl_getIndex(vc,p2);
i3 = Vl_getIndex(vc,p3);
i1 = Vl_getIndex(vc, p1);
i2 = Vl_getIndex(vc, p2);
i3 = Vl_getIndex(vc, p3);
#if 0
bool duplicate = false;
@ -122,14 +117,12 @@ void ConvexBuilder::getMesh(const ConvexResult &cr,VertexLookup vc,UintVector &i
indices.push_back(i3);
}
#endif
}
}
CHull * ConvexBuilder::canMerge(CHull *a,CHull *b)
CHull *ConvexBuilder::canMerge(CHull *a, CHull *b)
{
if ( !a->overlap(*b) ) return 0; // if their AABB's (with a little slop) don't overlap, then return.
if (!a->overlap(*b)) return 0; // if their AABB's (with a little slop) don't overlap, then return.
CHull *ret = 0;
@ -140,47 +133,45 @@ CHull * ConvexBuilder::canMerge(CHull *a,CHull *b)
UintVector indices;
getMesh( *a->mResult, vc, indices );
getMesh( *b->mResult, vc, indices );
getMesh(*a->mResult, vc, indices);
getMesh(*b->mResult, vc, indices);
unsigned int vcount = Vl_getVcount(vc);
const float *vertices = Vl_getVertices(vc);
unsigned int tcount = indices.size()/3;
unsigned int tcount = indices.size() / 3;
//don't do anything if hull is empty
if (!tcount)
{
Vl_releaseVertexLookup (vc);
Vl_releaseVertexLookup(vc);
return 0;
}
HullResult hresult;
HullLibrary hl;
HullDesc desc;
ConvexDecomposition::HullResult hresult;
ConvexDecomposition::HullLibrary hl;
ConvexDecomposition::HullDesc desc;
desc.SetHullFlag(QF_TRIANGLES);
desc.SetHullFlag(ConvexDecomposition::QF_TRIANGLES);
desc.mVcount = vcount;
desc.mVertices = vertices;
desc.mVertexStride = sizeof(float)*3;
desc.mVcount = vcount;
desc.mVertices = vertices;
desc.mVertexStride = sizeof(float) * 3;
HullError hret = hl.CreateConvexHull(desc,hresult);
ConvexDecomposition::HullError hret = hl.CreateConvexHull(desc, hresult);
if ( hret == QE_OK )
if (hret == ConvexDecomposition::QE_OK)
{
float combineVolume = computeMeshVolume(hresult.mOutputVertices, hresult.mNumFaces, hresult.mIndices);
float sumVolume = a->mVolume + b->mVolume;
float combineVolume = computeMeshVolume( hresult.mOutputVertices, hresult.mNumFaces, hresult.mIndices );
float sumVolume = a->mVolume + b->mVolume;
float percent = (sumVolume*100) / combineVolume;
if ( percent >= (100.0f-MERGE_PERCENT) )
float percent = (sumVolume * 100) / combineVolume;
if (percent >= (100.0f - MERGE_PERCENT))
{
ConvexResult cr(hresult.mNumOutputVertices, hresult.mOutputVertices, hresult.mNumFaces, hresult.mIndices);
ConvexDecomposition::ConvexResult cr(hresult.mNumOutputVertices, hresult.mOutputVertices, hresult.mNumFaces, hresult.mIndices);
ret = new CHull(cr);
}
}
Vl_releaseVertexLookup(vc);
return ret;
@ -188,41 +179,36 @@ CHull * ConvexBuilder::canMerge(CHull *a,CHull *b)
bool ConvexBuilder::combineHulls(void)
{
bool combine = false;
sortChulls(mChulls); // sort the convex hulls, largest volume to least...
CHullVector output; // the output hulls...
sortChulls(mChulls); // sort the convex hulls, largest volume to least...
CHullVector output; // the output hulls...
int i;
for (i=0;i<mChulls.size() && !combine; ++i)
for (i = 0; i < mChulls.size() && !combine; ++i)
{
CHull *cr = mChulls[i];
int j;
for (j=0;j<mChulls.size();j++)
for (j = 0; j < mChulls.size(); j++)
{
CHull *match = mChulls[j];
if ( cr != match ) // don't try to merge a hull with itself, that be stoopid
if (cr != match) // don't try to merge a hull with itself, that be stoopid
{
CHull *merge = canMerge(cr, match); // if we can merge these two....
CHull *merge = canMerge(cr,match); // if we can merge these two....
if ( merge )
if (merge)
{
output.push_back(merge);
++i;
while ( i != mChulls.size() )
while (i != mChulls.size())
{
CHull *cr = mChulls[i];
if ( cr != match )
if (cr != match)
{
output.push_back(cr);
}
@ -237,7 +223,7 @@ bool ConvexBuilder::combineHulls(void)
}
}
if ( combine )
if (combine)
{
break;
}
@ -245,88 +231,82 @@ bool ConvexBuilder::combineHulls(void)
{
output.push_back(cr);
}
}
if ( combine )
if (combine)
{
mChulls.clear();
mChulls.copyFromArray(output);
output.clear();
}
return combine;
}
unsigned int ConvexBuilder::process(const DecompDesc &desc)
unsigned int ConvexBuilder::process(const ConvexDecomposition::DecompDesc &desc)
{
unsigned int ret = 0;
MAXDEPTH = desc.mDepth;
MAXDEPTH = desc.mDepth;
CONCAVE_PERCENT = desc.mCpercent;
MERGE_PERCENT = desc.mPpercent;
MERGE_PERCENT = desc.mPpercent;
calcConvexDecomposition(desc.mVcount, desc.mVertices, desc.mTcount, desc.mIndices, this, 0, 0);
calcConvexDecomposition(desc.mVcount, desc.mVertices, desc.mTcount, desc.mIndices,this,0,0);
while ( combineHulls() ); // keep combinging hulls until I can't combine any more...
while (combineHulls())
; // keep combinging hulls until I can't combine any more...
int i;
for (i=0;i<mChulls.size();i++)
for (i = 0; i < mChulls.size(); i++)
{
CHull *cr = mChulls[i];
// before we hand it back to the application, we need to regenerate the hull based on the
// limits given by the user.
const ConvexResult &c = *cr->mResult; // the high resolution hull...
const ConvexDecomposition::ConvexResult &c = *cr->mResult; // the high resolution hull...
HullResult result;
HullLibrary hl;
HullDesc hdesc;
ConvexDecomposition::HullResult result;
ConvexDecomposition::HullLibrary hl;
ConvexDecomposition::HullDesc hdesc;
hdesc.SetHullFlag(QF_TRIANGLES);
hdesc.SetHullFlag(ConvexDecomposition::QF_TRIANGLES);
hdesc.mVcount = c.mHullVcount;
hdesc.mVertices = c.mHullVertices;
hdesc.mVertexStride = sizeof(float)*3;
hdesc.mMaxVertices = desc.mMaxVertices; // maximum number of vertices allowed in the output
hdesc.mVcount = c.mHullVcount;
hdesc.mVertices = c.mHullVertices;
hdesc.mVertexStride = sizeof(float) * 3;
hdesc.mMaxVertices = desc.mMaxVertices; // maximum number of vertices allowed in the output
if ( desc.mSkinWidth )
if (desc.mSkinWidth)
{
hdesc.mSkinWidth = desc.mSkinWidth;
hdesc.SetHullFlag(QF_SKIN_WIDTH); // do skin width computation.
hdesc.SetHullFlag(ConvexDecomposition::QF_SKIN_WIDTH); // do skin width computation.
}
HullError ret = hl.CreateConvexHull(hdesc,result);
ConvexDecomposition::HullError ret = hl.CreateConvexHull(hdesc, result);
if ( ret == QE_OK )
if (ret == ConvexDecomposition::QE_OK)
{
ConvexResult r(result.mNumOutputVertices, result.mOutputVertices, result.mNumFaces, result.mIndices);
ConvexDecomposition::ConvexResult r(result.mNumOutputVertices, result.mOutputVertices, result.mNumFaces, result.mIndices);
r.mHullVolume = computeMeshVolume( result.mOutputVertices, result.mNumFaces, result.mIndices ); // the volume of the hull.
r.mHullVolume = computeMeshVolume(result.mOutputVertices, result.mNumFaces, result.mIndices); // the volume of the hull.
// compute the best fit OBB
computeBestFitOBB( result.mNumOutputVertices, result.mOutputVertices, sizeof(float)*3, r.mOBBSides, r.mOBBTransform );
computeBestFitOBB(result.mNumOutputVertices, result.mOutputVertices, sizeof(float) * 3, r.mOBBSides, r.mOBBTransform);
r.mOBBVolume = r.mOBBSides[0] * r.mOBBSides[1] *r.mOBBSides[2]; // compute the OBB volume.
r.mOBBVolume = r.mOBBSides[0] * r.mOBBSides[1] * r.mOBBSides[2]; // compute the OBB volume.
fm_getTranslation( r.mOBBTransform, r.mOBBCenter ); // get the translation component of the 4x4 matrix.
fm_getTranslation(r.mOBBTransform, r.mOBBCenter); // get the translation component of the 4x4 matrix.
fm_matrixToQuat( r.mOBBTransform, r.mOBBOrientation ); // extract the orientation as a quaternion.
r.mSphereRadius = computeBoundingSphere( result.mNumOutputVertices, result.mOutputVertices, r.mSphereCenter );
r.mSphereVolume = fm_sphereVolume( r.mSphereRadius );
fm_matrixToQuat(r.mOBBTransform, r.mOBBOrientation); // extract the orientation as a quaternion.
r.mSphereRadius = computeBoundingSphere(result.mNumOutputVertices, result.mOutputVertices, r.mSphereCenter);
r.mSphereVolume = fm_sphereVolume(r.mSphereRadius);
mCallback->ConvexDecompResult(r);
}
hl.ReleaseResult (result);
hl.ReleaseResult(result);
delete cr;
}
@ -338,27 +318,26 @@ unsigned int ConvexBuilder::process(const DecompDesc &desc)
return ret;
}
void ConvexBuilder::ConvexDebugTri(const float *p1,const float *p2,const float *p3,unsigned int color)
void ConvexBuilder::ConvexDebugTri(const float *p1, const float *p2, const float *p3, unsigned int color)
{
mCallback->ConvexDebugTri(p1,p2,p3,color);
mCallback->ConvexDebugTri(p1, p2, p3, color);
}
void ConvexBuilder::ConvexDebugOBB(const float *sides, const float *matrix,unsigned int color)
void ConvexBuilder::ConvexDebugOBB(const float *sides, const float *matrix, unsigned int color)
{
mCallback->ConvexDebugOBB(sides,matrix,color);
mCallback->ConvexDebugOBB(sides, matrix, color);
}
void ConvexBuilder::ConvexDebugPoint(const float *p,float dist,unsigned int color)
void ConvexBuilder::ConvexDebugPoint(const float *p, float dist, unsigned int color)
{
mCallback->ConvexDebugPoint(p,dist,color);
mCallback->ConvexDebugPoint(p, dist, color);
}
void ConvexBuilder::ConvexDebugBound(const float *bmin,const float *bmax,unsigned int color)
void ConvexBuilder::ConvexDebugBound(const float *bmin, const float *bmax, unsigned int color)
{
mCallback->ConvexDebugBound(bmin,bmax,color);
mCallback->ConvexDebugBound(bmin, bmax, color);
}
void ConvexBuilder::ConvexDecompResult(ConvexResult &result)
void ConvexBuilder::ConvexDecompResult(ConvexDecomposition::ConvexResult &result)
{
CHull *ch = new CHull(result);
mChulls.push_back(ch);
@ -369,5 +348,3 @@ void ConvexBuilder::sortChulls(CHullVector &hulls)
hulls.quickSort(CHullSort());
//hulls.heapSort(CHullSort());
}

53
Engine/lib/bullet/Extras/ConvexDecomposition/ConvexBuilder.h
View file

@ -35,78 +35,69 @@ THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
// http://www.amillionpixels.us
//
#include "ConvexDecomposition.h"
#include "vlookup.h"
#include "LinearMath/btAlignedObjectArray.h"
using namespace ConvexDecomposition;
class CHull
{
public:
CHull(const ConvexResult &result);
CHull(const ConvexDecomposition::ConvexResult &result);
~CHull(void);
bool overlap(const CHull &h) const;
float mMin[3];
float mMax[3];
float mVolume;
float mDiagonal; // long edge..
ConvexResult *mResult;
float mMin[3];
float mMax[3];
float mVolume;
float mDiagonal; // long edge..
ConvexDecomposition::ConvexResult *mResult;
};
// Usage: std::sort( list.begin(), list.end(), StringSortRef() );
class CHullSort
{
public:
inline bool operator()(const CHull *a,const CHull *b) const
inline bool operator()(const CHull *a, const CHull *b) const
{
return a->mVolume < b->mVolume;
}
};
typedef btAlignedObjectArray<CHull *> CHullVector;
typedef btAlignedObjectArray< CHull * > CHullVector;
class ConvexBuilder : public ConvexDecompInterface
class ConvexBuilder : public ConvexDecomposition::ConvexDecompInterface
{
public:
ConvexBuilder(ConvexDecompInterface *callback);
ConvexBuilder(ConvexDecomposition::ConvexDecompInterface *callback);
virtual ~ConvexBuilder(void);
bool isDuplicate(unsigned int i1,unsigned int i2,unsigned int i3,
unsigned int ci1,unsigned int ci2,unsigned int ci3);
bool isDuplicate(unsigned int i1, unsigned int i2, unsigned int i3,
unsigned int ci1, unsigned int ci2, unsigned int ci3);
void getMesh(const ConvexResult &cr,VertexLookup vc,UintVector &indices);
void getMesh(const ConvexDecomposition::ConvexResult &cr, VertexLookup vc, UintVector &indices);
CHull * canMerge(CHull *a,CHull *b);
CHull *canMerge(CHull *a, CHull *b);
bool combineHulls(void);
unsigned int process(const DecompDesc &desc);
unsigned int process(const ConvexDecomposition::DecompDesc &desc);
virtual void ConvexDebugTri(const float *p1,const float *p2,const float *p3,unsigned int color);
virtual void ConvexDebugTri(const float *p1, const float *p2, const float *p3, unsigned int color);
virtual void ConvexDebugOBB(const float *sides, const float *matrix,unsigned int color);
virtual void ConvexDebugPoint(const float *p,float dist,unsigned int color);
virtual void ConvexDebugOBB(const float *sides, const float *matrix, unsigned int color);
virtual void ConvexDebugPoint(const float *p, float dist, unsigned int color);
virtual void ConvexDebugBound(const float *bmin,const float *bmax,unsigned int color);
virtual void ConvexDebugBound(const float *bmin, const float *bmax, unsigned int color);
virtual void ConvexDecompResult(ConvexResult &result);
virtual void ConvexDecompResult(ConvexDecomposition::ConvexResult &result);
void sortChulls(CHullVector &hulls);
CHullVector mChulls;
CHullVector mChulls;
ConvexDecompInterface *mCallback;
};
#endif //CONVEX_BUILDER_H
#endif //CONVEX_BUILDER_H

401
Engine/lib/bullet/Extras/ConvexDecomposition/ConvexDecomposition.cpp
View file

@ -5,7 +5,6 @@
#include <string.h>
#include <assert.h>
/*----------------------------------------------------------------------
Copyright (c) 2004 Open Dynamics Framework Group
www.physicstools.org
@ -56,320 +55,292 @@
#define SHOW_MESH 0
#define MAKE_MESH 1
using namespace ConvexDecomposition;
namespace ConvexDecomposition
{
class FaceTri
{
public:
FaceTri(void) { };
FaceTri(const float *vertices,unsigned int i1,unsigned int i2,unsigned int i3)
{
mP1.Set( &vertices[i1*3] );
mP2.Set( &vertices[i2*3] );
mP3.Set( &vertices[i3*3] );
}
Vector3d mP1;
Vector3d mP2;
Vector3d mP3;
Vector3d mNormal;
FaceTri(void){};
FaceTri(const float *vertices, unsigned int i1, unsigned int i2, unsigned int i3)
{
mP1.Set(&vertices[i1 * 3]);
mP2.Set(&vertices[i2 * 3]);
mP3.Set(&vertices[i3 * 3]);
}
Vector3d mP1;
Vector3d mP2;
Vector3d mP3;
Vector3d mNormal;
};
void addTri(VertexLookup vl,UintVector &list,const Vector3d &p1,const Vector3d &p2,const Vector3d &p3)
void addTri(VertexLookup vl, UintVector &list, const Vector3d &p1, const Vector3d &p2, const Vector3d &p3)
{
unsigned int i1 = Vl_getIndex(vl, p1.Ptr() );
unsigned int i2 = Vl_getIndex(vl, p2.Ptr() );
unsigned int i3 = Vl_getIndex(vl, p3.Ptr() );
unsigned int i1 = Vl_getIndex(vl, p1.Ptr());
unsigned int i2 = Vl_getIndex(vl, p2.Ptr());
unsigned int i3 = Vl_getIndex(vl, p3.Ptr());
// do *not* process degenerate triangles!
// do *not* process degenerate triangles!
if ( i1 != i2 && i1 != i3 && i2 != i3 )
{
list.push_back(i1);
list.push_back(i2);
list.push_back(i3);
}
if (i1 != i2 && i1 != i3 && i2 != i3)
{
list.push_back(i1);
list.push_back(i2);
list.push_back(i3);
}
}
void calcConvexDecomposition(unsigned int vcount,
const float *vertices,
unsigned int tcount,
const unsigned int *indices,
ConvexDecompInterface *callback,
float masterVolume,
unsigned int depth)
void calcConvexDecomposition(unsigned int vcount,
const float *vertices,
unsigned int tcount,
const unsigned int *indices,
ConvexDecompInterface *callback,
float masterVolume,
unsigned int depth)
{
float plane[4];
float plane[4];
bool split = false;
if ( depth < MAXDEPTH )
{
bool split = false;
if (depth < MAXDEPTH)
{
float volume;
float c = computeConcavity( vcount, vertices, tcount, indices, callback, plane, volume );
float c = computeConcavity(vcount, vertices, tcount, indices, callback, plane, volume);
if ( depth == 0 )
{
masterVolume = volume;
}
float percent = (c*100.0f)/masterVolume;
if ( percent > CONCAVE_PERCENT ) // if great than 5% of the total volume is concave, go ahead and keep splitting.
if (depth == 0)
{
split = true;
}
masterVolume = volume;
}
}
float percent = (c * 100.0f) / masterVolume;
if ( depth >= MAXDEPTH || !split )
{
if (percent > CONCAVE_PERCENT) // if great than 5% of the total volume is concave, go ahead and keep splitting.
{
split = true;
}
}
if (depth >= MAXDEPTH || !split)
{
#if 1
HullResult result;
HullLibrary hl;
HullDesc desc;
HullResult result;
HullLibrary hl;
HullDesc desc;
desc.SetHullFlag(QF_TRIANGLES);
desc.SetHullFlag(QF_TRIANGLES);
desc.mVcount = vcount;
desc.mVertices = vertices;
desc.mVertexStride = sizeof(float)*3;
desc.mVcount = vcount;
desc.mVertices = vertices;
desc.mVertexStride = sizeof(float) * 3;
HullError ret = hl.CreateConvexHull(desc,result);
if ( ret == QE_OK )
{
HullError ret = hl.CreateConvexHull(desc, result);
if (ret == QE_OK)
{
ConvexResult r(result.mNumOutputVertices, result.mOutputVertices, result.mNumFaces, result.mIndices);
callback->ConvexDecompResult(r);
}
}
#else
static unsigned int colors[8] =
{
0xFF0000,
0x00FF00,
0x0000FF,
0xFFFF00,
0x00FFFF,
0xFF00FF,
0xFFFFFF,
0xFF8040
};
{
0xFF0000,
0x00FF00,
0x0000FF,
0xFFFF00,
0x00FFFF,
0xFF00FF,
0xFFFFFF,
0xFF8040};
static int count = 0;
count++;
if ( count == 8 ) count = 0;
if (count == 8) count = 0;
assert( count >= 0 && count < 8 );
assert(count >= 0 && count < 8);
unsigned int color = colors[count];
const unsigned int *source = indices;
for (unsigned int i=0; i<tcount; i++)
{
unsigned int i1 = *source++;
unsigned int i2 = *source++;
unsigned int i3 = *source++;
FaceTri t(vertices, i1, i2, i3 );
callback->ConvexDebugTri( t.mP1.Ptr(), t.mP2.Ptr(), t.mP3.Ptr(), color );
}
#endif
hl.ReleaseResult (result);
return;
}
UintVector ifront;
UintVector iback;
VertexLookup vfront = Vl_createVertexLookup();
VertexLookup vback = Vl_createVertexLookup();
bool showmesh = false;
#if SHOW_MESH
showmesh = true;
#endif
if ( 0 )
{
showmesh = true;
for (float x=-1; x<1; x+=0.10f)
{
for (float y=0; y<1; y+=0.10f)
{
for (float z=-1; z<1; z+=0.04f)
{
float d = x*plane[0] + y*plane[1] + z*plane[2] + plane[3];
Vector3d p(x,y,z);
if ( d >= 0 )
callback->ConvexDebugPoint(p.Ptr(), 0.02f, 0x00FF00);
else
callback->ConvexDebugPoint(p.Ptr(), 0.02f, 0xFF0000);
}
}
}
}
if ( 1 )
{
// ok..now we are going to 'split' all of the input triangles against this plane!
const unsigned int *source = indices;
for (unsigned int i=0; i<tcount; i++)
for (unsigned int i = 0; i < tcount; i++)
{
unsigned int i1 = *source++;
unsigned int i2 = *source++;
unsigned int i3 = *source++;
FaceTri t(vertices, i1, i2, i3 );
FaceTri t(vertices, i1, i2, i3);
callback->ConvexDebugTri(t.mP1.Ptr(), t.mP2.Ptr(), t.mP3.Ptr(), color);
}
#endif
hl.ReleaseResult(result);
return;
}
UintVector ifront;
UintVector iback;
VertexLookup vfront = Vl_createVertexLookup();
VertexLookup vback = Vl_createVertexLookup();
bool showmesh = false;
#if SHOW_MESH
showmesh = true;
#endif
if (0)
{
showmesh = true;
for (float x = -1; x < 1; x += 0.10f)
{
for (float y = 0; y < 1; y += 0.10f)
{
for (float z = -1; z < 1; z += 0.04f)
{
float d = x * plane[0] + y * plane[1] + z * plane[2] + plane[3];
Vector3d p(x, y, z);
if (d >= 0)
callback->ConvexDebugPoint(p.Ptr(), 0.02f, 0x00FF00);
else
callback->ConvexDebugPoint(p.Ptr(), 0.02f, 0xFF0000);
}
}
}
}
if (1)
{
// ok..now we are going to 'split' all of the input triangles against this plane!
const unsigned int *source = indices;
for (unsigned int i = 0; i < tcount; i++)
{
unsigned int i1 = *source++;
unsigned int i2 = *source++;
unsigned int i3 = *source++;
FaceTri t(vertices, i1, i2, i3);
Vector3d front[4];
Vector3d back[4];
unsigned int fcount=0;
unsigned int bcount=0;
unsigned int fcount = 0;
unsigned int bcount = 0;
PlaneTriResult result;
result = planeTriIntersection(plane,t.mP1.Ptr(),sizeof(Vector3d),0.00001f,front[0].Ptr(),fcount,back[0].Ptr(),bcount );
result = planeTriIntersection(plane, t.mP1.Ptr(), sizeof(Vector3d), 0.00001f, front[0].Ptr(), fcount, back[0].Ptr(), bcount);
if( fcount > 4 || bcount > 4 )
if (fcount > 4 || bcount > 4)
{
result = planeTriIntersection(plane,t.mP1.Ptr(),sizeof(Vector3d),0.00001f,front[0].Ptr(),fcount,back[0].Ptr(),bcount );
result = planeTriIntersection(plane, t.mP1.Ptr(), sizeof(Vector3d), 0.00001f, front[0].Ptr(), fcount, back[0].Ptr(), bcount);
}
switch ( result )
switch (result)
{
case PTR_FRONT:
assert( fcount == 3 );
assert(fcount == 3);
if ( showmesh )
callback->ConvexDebugTri( front[0].Ptr(), front[1].Ptr(), front[2].Ptr(), 0x00FF00 );
if (showmesh)
callback->ConvexDebugTri(front[0].Ptr(), front[1].Ptr(), front[2].Ptr(), 0x00FF00);
#if MAKE_MESH
#if MAKE_MESH
addTri( vfront, ifront, front[0], front[1], front[2] );
addTri(vfront, ifront, front[0], front[1], front[2]);
#endif
#endif
break;
case PTR_BACK:
assert( bcount == 3 );
assert(bcount == 3);
if ( showmesh )
callback->ConvexDebugTri( back[0].Ptr(), back[1].Ptr(), back[2].Ptr(), 0xFFFF00 );
if (showmesh)
callback->ConvexDebugTri(back[0].Ptr(), back[1].Ptr(), back[2].Ptr(), 0xFFFF00);
#if MAKE_MESH
#if MAKE_MESH
addTri( vback, iback, back[0], back[1], back[2] );
addTri(vback, iback, back[0], back[1], back[2]);
#endif
#endif
break;
case PTR_SPLIT:
assert( fcount >= 3 && fcount <= 4);
assert( bcount >= 3 && bcount <= 4);
assert(fcount >= 3 && fcount <= 4);
assert(bcount >= 3 && bcount <= 4);
#if MAKE_MESH
#if MAKE_MESH
addTri( vfront, ifront, front[0], front[1], front[2] );
addTri( vback, iback, back[0], back[1], back[2] );
addTri(vfront, ifront, front[0], front[1], front[2]);
addTri(vback, iback, back[0], back[1], back[2]);
if (fcount == 4)
{
addTri(vfront, ifront, front[0], front[2], front[3]);
}
if ( fcount == 4 )
{
addTri( vfront, ifront, front[0], front[2], front[3] );
}
if (bcount == 4)
{
addTri(vback, iback, back[0], back[2], back[3]);
}
if ( bcount == 4 )
{
addTri( vback, iback, back[0], back[2], back[3] );
}
#endif
#endif
if (showmesh)
{
callback->ConvexDebugTri(front[0].Ptr(), front[1].Ptr(), front[2].Ptr(), 0x00D000);
callback->ConvexDebugTri(back[0].Ptr(), back[1].Ptr(), back[2].Ptr(), 0xD0D000);
if ( showmesh )
{
callback->ConvexDebugTri( front[0].Ptr(), front[1].Ptr(), front[2].Ptr(), 0x00D000 );
callback->ConvexDebugTri( back[0].Ptr(), back[1].Ptr(), back[2].Ptr(), 0xD0D000 );
if ( fcount == 4 )
{
callback->ConvexDebugTri( front[0].Ptr(), front[2].Ptr(), front[3].Ptr(), 0x00D000 );
}
if ( bcount == 4 )
{
callback->ConvexDebugTri( back[0].Ptr(), back[2].Ptr(), back[3].Ptr(), 0xD0D000 );
}
}
if (fcount == 4)
{
callback->ConvexDebugTri(front[0].Ptr(), front[2].Ptr(), front[3].Ptr(), 0x00D000);
}
if (bcount == 4)
{
callback->ConvexDebugTri(back[0].Ptr(), back[2].Ptr(), back[3].Ptr(), 0xD0D000);
}
}
break;
}
}
// ok... here we recursively call
if ( ifront.size() )
{
unsigned int vcount = Vl_getVcount(vfront);
const float *vertices = Vl_getVertices(vfront);
unsigned int tcount = ifront.size()/3;
// ok... here we recursively call
if (ifront.size())
{
unsigned int vcount = Vl_getVcount(vfront);
const float *vertices = Vl_getVertices(vfront);
unsigned int tcount = ifront.size() / 3;
calcConvexDecomposition(vcount, vertices, tcount, &ifront[0], callback, masterVolume, depth+1);
calcConvexDecomposition(vcount, vertices, tcount, &ifront[0], callback, masterVolume, depth + 1);
}
}
ifront.clear();
ifront.clear();
Vl_releaseVertexLookup(vfront);
Vl_releaseVertexLookup(vfront);
if (iback.size())
{
unsigned int vcount = Vl_getVcount(vback);
const float *vertices = Vl_getVertices(vback);
unsigned int tcount = iback.size() / 3;
if ( iback.size() )
{
unsigned int vcount = Vl_getVcount(vback);
const float *vertices = Vl_getVertices(vback);
unsigned int tcount = iback.size()/3;
calcConvexDecomposition(vcount, vertices, tcount, &iback[0], callback, masterVolume, depth+1);
}
iback.clear();
Vl_releaseVertexLookup(vback);
calcConvexDecomposition(vcount, vertices, tcount, &iback[0], callback, masterVolume, depth + 1);
}
iback.clear();
Vl_releaseVertexLookup(vback);
}
}
}
} // namespace ConvexDecomposition

282
Engine/lib/bullet/Extras/ConvexDecomposition/ConvexDecomposition.h
View file

@ -36,185 +36,167 @@ THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
// http://www.amillionpixels.us
//
#ifdef _WIN32
#include <memory.h> //memcpy
#include <memory.h> //memcpy
#endif
#include <string.h>
#include <stdio.h>
#include "LinearMath/btAlignedObjectArray.h"
extern unsigned int MAXDEPTH;
extern float CONCAVE_PERCENT;
extern float MERGE_PERCENT;
extern unsigned int MAXDEPTH ;
extern float CONCAVE_PERCENT ;
extern float MERGE_PERCENT ;
typedef btAlignedObjectArray< unsigned int > UintVector;
typedef btAlignedObjectArray<unsigned int> UintVector;
namespace ConvexDecomposition
{
class ConvexResult
class ConvexResult
{
public:
ConvexResult(void)
{
public:
ConvexResult(void)
mHullVcount = 0;
mHullVertices = 0;
mHullTcount = 0;
mHullIndices = 0;
}
ConvexResult(unsigned int hvcount, const float *hvertices, unsigned int htcount, const unsigned int *hindices)
{
mHullVcount = hvcount;
if (mHullVcount)
{
mHullVertices = new float[mHullVcount * sizeof(float) * 3];
memcpy(mHullVertices, hvertices, sizeof(float) * 3 * mHullVcount);
}
else
{
mHullVcount = 0;
mHullVertices = 0;
mHullTcount = 0;
}
mHullTcount = htcount;
if (mHullTcount)
{
mHullIndices = new unsigned int[sizeof(unsigned int) * mHullTcount * 3];
memcpy(mHullIndices, hindices, sizeof(unsigned int) * mHullTcount * 3);
}
else
{
mHullIndices = 0;
}
}
ConvexResult(unsigned int hvcount,const float *hvertices,unsigned int htcount,const unsigned int *hindices)
{
mHullVcount = hvcount;
if ( mHullVcount )
{
mHullVertices = new float[mHullVcount*sizeof(float)*3];
memcpy(mHullVertices, hvertices, sizeof(float)*3*mHullVcount );
}
else
{
mHullVertices = 0;
}
mHullTcount = htcount;
if ( mHullTcount )
{
mHullIndices = new unsigned int[sizeof(unsigned int)*mHullTcount*3];
memcpy(mHullIndices,hindices, sizeof(unsigned int)*mHullTcount*3 );
}
else
{
mHullIndices = 0;
}
}
ConvexResult(const ConvexResult &r)
{
mHullVcount = r.mHullVcount;
if ( mHullVcount )
{
mHullVertices = new float[mHullVcount*sizeof(float)*3];
memcpy(mHullVertices, r.mHullVertices, sizeof(float)*3*mHullVcount );
}
else
{
mHullVertices = 0;
}
mHullTcount = r.mHullTcount;
if ( mHullTcount )
{
mHullIndices = new unsigned int[sizeof(unsigned int)*mHullTcount*3];
memcpy(mHullIndices, r.mHullIndices, sizeof(unsigned int)*mHullTcount*3 );
}
else
{
mHullIndices = 0;
}
}
~ConvexResult(void)
{
delete [] mHullVertices;
delete [] mHullIndices;
}
// the convex hull.
unsigned int mHullVcount;
float * mHullVertices;
unsigned int mHullTcount;
unsigned int *mHullIndices;
float mHullVolume; // the volume of the convex hull.
float mOBBSides[3]; // the width, height and breadth of the best fit OBB
float mOBBCenter[3]; // the center of the OBB
float mOBBOrientation[4]; // the quaternion rotation of the OBB.
float mOBBTransform[16]; // the 4x4 transform of the OBB.
float mOBBVolume; // the volume of the OBB
float mSphereRadius; // radius and center of best fit sphere
float mSphereCenter[3];
float mSphereVolume; // volume of the best fit sphere
};
class ConvexDecompInterface
ConvexResult(const ConvexResult &r)
{
public:
virtual ~ConvexDecompInterface() {};
virtual void ConvexDebugTri(const float *p1,const float *p2,const float *p3,unsigned int color) { };
virtual void ConvexDebugPoint(const float *p,float dist,unsigned int color) { };
virtual void ConvexDebugBound(const float *bmin,const float *bmax,unsigned int color) { };
virtual void ConvexDebugOBB(const float *sides, const float *matrix,unsigned int color) { };
virtual void ConvexDecompResult(ConvexResult &result) = 0;
};
// just to avoid passing a zillion parameters to the method the
// options are packed into this descriptor.
class DecompDesc
{
public:
DecompDesc(void)
mHullVcount = r.mHullVcount;
if (mHullVcount)
{
mVcount = 0;
mVertices = 0;
mTcount = 0;
mIndices = 0;
mDepth = 5;
mCpercent = 5;
mPpercent = 5;
mMaxVertices = 32;
mSkinWidth = 0;
mCallback = 0;
mHullVertices = new float[mHullVcount * sizeof(float) * 3];
memcpy(mHullVertices, r.mHullVertices, sizeof(float) * 3 * mHullVcount);
}
else
{
mHullVertices = 0;
}
mHullTcount = r.mHullTcount;
if (mHullTcount)
{
mHullIndices = new unsigned int[sizeof(unsigned int) * mHullTcount * 3];
memcpy(mHullIndices, r.mHullIndices, sizeof(unsigned int) * mHullTcount * 3);
}
else
{
mHullIndices = 0;
}
}
// describes the input triangle.
unsigned int mVcount; // the number of vertices in the source mesh.
const float *mVertices; // start of the vertex position array. Assumes a stride of 3 floats.
unsigned int mTcount; // the number of triangles in the source mesh.
unsigned int *mIndices; // the indexed triangle list array (zero index based)
~ConvexResult(void)
{
delete[] mHullVertices;
delete[] mHullIndices;
}
// options
unsigned int mDepth; // depth to split, a maximum of 10, generally not over 7.
float mCpercent; // the concavity threshold percentage. 0=20 is reasonable.
float mPpercent; // the percentage volume conservation threshold to collapse hulls. 0-30 is reasonable.
// the convex hull.
unsigned int mHullVcount;
float *mHullVertices;
unsigned int mHullTcount;
unsigned int *mHullIndices;
// hull output limits.
unsigned int mMaxVertices; // maximum number of vertices in the output hull. Recommended 32 or less.
float mSkinWidth; // a skin width to apply to the output hulls.
float mHullVolume; // the volume of the convex hull.
ConvexDecompInterface *mCallback; // the interface to receive back the results.
float mOBBSides[3]; // the width, height and breadth of the best fit OBB
float mOBBCenter[3]; // the center of the OBB
float mOBBOrientation[4]; // the quaternion rotation of the OBB.
float mOBBTransform[16]; // the 4x4 transform of the OBB.
float mOBBVolume; // the volume of the OBB
};
float mSphereRadius; // radius and center of best fit sphere
float mSphereCenter[3];
float mSphereVolume; // volume of the best fit sphere
};
// perform approximate convex decomposition on a mesh.
unsigned int performConvexDecomposition(const DecompDesc &desc); // returns the number of hulls produced.
class ConvexDecompInterface
{
public:
virtual ~ConvexDecompInterface(){};
virtual void ConvexDebugTri(const float *p1, const float *p2, const float *p3, unsigned int color){};
virtual void ConvexDebugPoint(const float *p, float dist, unsigned int color){};
virtual void ConvexDebugBound(const float *bmin, const float *bmax, unsigned int color){};
virtual void ConvexDebugOBB(const float *sides, const float *matrix, unsigned int color){};
virtual void ConvexDecompResult(ConvexResult &result) = 0;
};
void calcConvexDecomposition(unsigned int vcount,
const float *vertices,
unsigned int tcount,
const unsigned int *indices,
ConvexDecompInterface *callback,
float masterVolume,
unsigned int depth);
// just to avoid passing a zillion parameters to the method the
// options are packed into this descriptor.
class DecompDesc
{
public:
DecompDesc(void)
{
mVcount = 0;
mVertices = 0;
mTcount = 0;
mIndices = 0;
mDepth = 5;
mCpercent = 5;
mPpercent = 5;
mMaxVertices = 32;
mSkinWidth = 0;
mCallback = 0;
}
// describes the input triangle.
unsigned int mVcount; // the number of vertices in the source mesh.
const float *mVertices; // start of the vertex position array. Assumes a stride of 3 floats.
unsigned int mTcount; // the number of triangles in the source mesh.
unsigned int *mIndices; // the indexed triangle list array (zero index based)
}
// options
unsigned int mDepth; // depth to split, a maximum of 10, generally not over 7.
float mCpercent; // the concavity threshold percentage. 0=20 is reasonable.
float mPpercent; // the percentage volume conservation threshold to collapse hulls. 0-30 is reasonable.
// hull output limits.
unsigned int mMaxVertices; // maximum number of vertices in the output hull. Recommended 32 or less.
float mSkinWidth; // a skin width to apply to the output hulls.
ConvexDecompInterface *mCallback; // the interface to receive back the results.
};
// perform approximate convex decomposition on a mesh.
unsigned int performConvexDecomposition(const DecompDesc &desc); // returns the number of hulls produced.
void calcConvexDecomposition(unsigned int vcount,
const float *vertices,
unsigned int tcount,
const unsigned int *indices,
ConvexDecompInterface *callback,
float masterVolume,
unsigned int depth);
} // namespace ConvexDecomposition
#endif

19
Engine/lib/bullet/Extras/ConvexDecomposition/LICENSE.txt Normal file
View file

@ -0,0 +1,19 @@
Copyright (c) 2004 Open Dynamics Framework Group
www.physicstools.org
All rights reserved.
Redistribution and use in source and binary forms, with or without modification, are permitted provided
that the following conditions are met:
Redistributions of source code must retain the above copyright notice, this list of conditions
and the following disclaimer.
Redistributions in binary form must reproduce the above copyright notice,
this list of conditions and the following disclaimer in the documentation
and/or other materials provided with the distribution.
Neither the name of the Open Dynamics Framework Group nor the names of its contributors may
be used to endorse or promote products derived from this software without specific prior written permission.
THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS 'AS IS' AND ANY EXPRESS OR IMPLIED WARRANTIES,
INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
DISCLAIMED. IN NO EVENT SHALL THE INTEL OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL,
EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER
IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF
THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.

644
Engine/lib/bullet/Extras/ConvexDecomposition/bestfit.cpp
View file

@ -52,369 +52,358 @@
namespace BestFit
{
class Vec3
{
public:
Vec3(void) { };
Vec3(float _x,float _y,float _z) { x = _x; y = _y; z = _z; };
Vec3(void){};
Vec3(float _x, float _y, float _z)
{
x = _x;
y = _y;
z = _z;
};
float dot(const Vec3 &v)
{
return x * v.x + y * v.y + z * v.z; // the dot product
}
float dot(const Vec3 &v)
{
return x*v.x + y*v.y + z*v.z; // the dot product
}
float x;
float y;
float z;
float x;
float y;
float z;
};
class Eigen
{
public:
void DecrSortEigenStuff(void)
{
Tridiagonal(); //diagonalize the matrix.
QLAlgorithm(); //
DecreasingSort();
GuaranteeRotation();
}
void Tridiagonal(void)
{
float fM00 = mElement[0][0];
float fM01 = mElement[0][1];
float fM02 = mElement[0][2];
float fM11 = mElement[1][1];
float fM12 = mElement[1][2];
float fM22 = mElement[2][2];
void DecrSortEigenStuff(void)
{
Tridiagonal(); //diagonalize the matrix.
QLAlgorithm(); //
DecreasingSort();
GuaranteeRotation();
}
m_afDiag[0] = fM00;
m_afSubd[2] = 0;
if (fM02 != (float)0.0)
{
float fLength = sqrtf(fM01 * fM01 + fM02 * fM02);
float fInvLength = ((float)1.0) / fLength;
fM01 *= fInvLength;
fM02 *= fInvLength;
float fQ = ((float)2.0) * fM01 * fM12 + fM02 * (fM22 - fM11);
m_afDiag[1] = fM11 + fM02 * fQ;
m_afDiag[2] = fM22 - fM02 * fQ;
m_afSubd[0] = fLength;
m_afSubd[1] = fM12 - fM01 * fQ;
mElement[0][0] = (float)1.0;
mElement[0][1] = (float)0.0;
mElement[0][2] = (float)0.0;
mElement[1][0] = (float)0.0;
mElement[1][1] = fM01;
mElement[1][2] = fM02;
mElement[2][0] = (float)0.0;
mElement[2][1] = fM02;
mElement[2][2] = -fM01;
m_bIsRotation = false;
}
else
{
m_afDiag[1] = fM11;
m_afDiag[2] = fM22;
m_afSubd[0] = fM01;
m_afSubd[1] = fM12;
mElement[0][0] = (float)1.0;
mElement[0][1] = (float)0.0;
mElement[0][2] = (float)0.0;
mElement[1][0] = (float)0.0;
mElement[1][1] = (float)1.0;
mElement[1][2] = (float)0.0;
mElement[2][0] = (float)0.0;
mElement[2][1] = (float)0.0;
mElement[2][2] = (float)1.0;
m_bIsRotation = true;
}
}
void Tridiagonal(void)
{
float fM00 = mElement[0][0];
float fM01 = mElement[0][1];
float fM02 = mElement[0][2];
float fM11 = mElement[1][1];
float fM12 = mElement[1][2];
float fM22 = mElement[2][2];
bool QLAlgorithm(void)
{
const int iMaxIter = 32;
m_afDiag[0] = fM00;
m_afSubd[2] = 0;
if (fM02 != (float)0.0)
{
float fLength = sqrtf(fM01*fM01+fM02*fM02);
float fInvLength = ((float)1.0)/fLength;
fM01 *= fInvLength;
fM02 *= fInvLength;
float fQ = ((float)2.0)*fM01*fM12+fM02*(fM22-fM11);
m_afDiag[1] = fM11+fM02*fQ;
m_afDiag[2] = fM22-fM02*fQ;
m_afSubd[0] = fLength;
m_afSubd[1] = fM12-fM01*fQ;
mElement[0][0] = (float)1.0;
mElement[0][1] = (float)0.0;
mElement[0][2] = (float)0.0;
mElement[1][0] = (float)0.0;
mElement[1][1] = fM01;
mElement[1][2] = fM02;
mElement[2][0] = (float)0.0;
mElement[2][1] = fM02;
mElement[2][2] = -fM01;
m_bIsRotation = false;
}
else
{
m_afDiag[1] = fM11;
m_afDiag[2] = fM22;
m_afSubd[0] = fM01;
m_afSubd[1] = fM12;
mElement[0][0] = (float)1.0;
mElement[0][1] = (float)0.0;
mElement[0][2] = (float)0.0;
mElement[1][0] = (float)0.0;
mElement[1][1] = (float)1.0;
mElement[1][2] = (float)0.0;
mElement[2][0] = (float)0.0;
mElement[2][1] = (float)0.0;
mElement[2][2] = (float)1.0;
m_bIsRotation = true;
}
}
for (int i0 = 0; i0 < 3; i0++)
{
int i1;
for (i1 = 0; i1 < iMaxIter; i1++)
{
int i2;
for (i2 = i0; i2 <= (3 - 2); i2++)
{
float fTmp = fabsf(m_afDiag[i2]) + fabsf(m_afDiag[i2 + 1]);
if (fabsf(m_afSubd[i2]) + fTmp == fTmp)
break;
}
if (i2 == i0)
{
break;
}
bool QLAlgorithm(void)
{
const int iMaxIter = 32;
float fG = (m_afDiag[i0 + 1] - m_afDiag[i0]) / (((float)2.0) * m_afSubd[i0]);
float fR = sqrtf(fG * fG + (float)1.0);
if (fG < (float)0.0)
{
fG = m_afDiag[i2] - m_afDiag[i0] + m_afSubd[i0] / (fG - fR);
}
else
{
fG = m_afDiag[i2] - m_afDiag[i0] + m_afSubd[i0] / (fG + fR);
}
float fSin = (float)1.0, fCos = (float)1.0, fP = (float)0.0;
for (int i3 = i2 - 1; i3 >= i0; i3--)
{
float fF = fSin * m_afSubd[i3];
float fB = fCos * m_afSubd[i3];
if (fabsf(fF) >= fabsf(fG))
{
fCos = fG / fF;
fR = sqrtf(fCos * fCos + (float)1.0);
m_afSubd[i3 + 1] = fF * fR;
fSin = ((float)1.0) / fR;
fCos *= fSin;
}
else
{
fSin = fF / fG;
fR = sqrtf(fSin * fSin + (float)1.0);
m_afSubd[i3 + 1] = fG * fR;
fCos = ((float)1.0) / fR;
fSin *= fCos;
}
fG = m_afDiag[i3 + 1] - fP;
fR = (m_afDiag[i3] - fG) * fSin + ((float)2.0) * fB * fCos;
fP = fSin * fR;
m_afDiag[i3 + 1] = fG + fP;
fG = fCos * fR - fB;
for (int i4 = 0; i4 < 3; i4++)
{
fF = mElement[i4][i3 + 1];
mElement[i4][i3 + 1] = fSin * mElement[i4][i3] + fCos * fF;
mElement[i4][i3] = fCos * mElement[i4][i3] - fSin * fF;
}
}
m_afDiag[i0] -= fP;
m_afSubd[i0] = fG;
m_afSubd[i2] = (float)0.0;
}
if (i1 == iMaxIter)
{
return false;
}
}
return true;
}
for (int i0 = 0; i0 <3; i0++)
{
int i1;
for (i1 = 0; i1 < iMaxIter; i1++)
{
int i2;
for (i2 = i0; i2 <= (3-2); i2++)
{
float fTmp = fabsf(m_afDiag[i2]) + fabsf(m_afDiag[i2+1]);
if ( fabsf(m_afSubd[i2]) + fTmp == fTmp )
break;
}
if (i2 == i0)
{
break;
}
void DecreasingSort(void)
{
//sort eigenvalues in decreasing order, e[0] >= ... >= e[iSize-1]
for (int i0 = 0, i1; i0 <= 3 - 2; i0++)
{
// locate maximum eigenvalue
i1 = i0;
float fMax = m_afDiag[i1];
int i2;
for (i2 = i0 + 1; i2 < 3; i2++)
{
if (m_afDiag[i2] > fMax)
{
i1 = i2;
fMax = m_afDiag[i1];
}
}
float fG = (m_afDiag[i0+1] - m_afDiag[i0])/(((float)2.0) * m_afSubd[i0]);
float fR = sqrtf(fG*fG+(float)1.0);
if (fG < (float)0.0)
{
fG = m_afDiag[i2]-m_afDiag[i0]+m_afSubd[i0]/(fG-fR);
}
else
{
fG = m_afDiag[i2]-m_afDiag[i0]+m_afSubd[i0]/(fG+fR);
}
float fSin = (float)1.0, fCos = (float)1.0, fP = (float)0.0;
for (int i3 = i2-1; i3 >= i0; i3--)
{
float fF = fSin*m_afSubd[i3];
float fB = fCos*m_afSubd[i3];
if (fabsf(fF) >= fabsf(fG))
{
fCos = fG/fF;
fR = sqrtf(fCos*fCos+(float)1.0);
m_afSubd[i3+1] = fF*fR;
fSin = ((float)1.0)/fR;
fCos *= fSin;
}
else
{
fSin = fF/fG;
fR = sqrtf(fSin*fSin+(float)1.0);
m_afSubd[i3+1] = fG*fR;
fCos = ((float)1.0)/fR;
fSin *= fCos;
}
fG = m_afDiag[i3+1]-fP;
fR = (m_afDiag[i3]-fG)*fSin+((float)2.0)*fB*fCos;
fP = fSin*fR;
m_afDiag[i3+1] = fG+fP;
fG = fCos*fR-fB;
for (int i4 = 0; i4 < 3; i4++)
{
fF = mElement[i4][i3+1];
mElement[i4][i3+1] = fSin*mElement[i4][i3]+fCos*fF;
mElement[i4][i3] = fCos*mElement[i4][i3]-fSin*fF;
}
}
m_afDiag[i0] -= fP;
m_afSubd[i0] = fG;
m_afSubd[i2] = (float)0.0;
}
if (i1 == iMaxIter)
{
return false;
}
}
return true;
}
if (i1 != i0)
{
// swap eigenvalues
m_afDiag[i1] = m_afDiag[i0];
m_afDiag[i0] = fMax;
// swap eigenvectors
for (i2 = 0; i2 < 3; i2++)
{
float fTmp = mElement[i2][i0];
mElement[i2][i0] = mElement[i2][i1];
mElement[i2][i1] = fTmp;
m_bIsRotation = !m_bIsRotation;
}
}
}
}
void DecreasingSort(void)
{
//sort eigenvalues in decreasing order, e[0] >= ... >= e[iSize-1]
for (int i0 = 0, i1; i0 <= 3-2; i0++)
{
// locate maximum eigenvalue
i1 = i0;
float fMax = m_afDiag[i1];
int i2;
for (i2 = i0+1; i2 < 3; i2++)
{
if (m_afDiag[i2] > fMax)
{
i1 = i2;
fMax = m_afDiag[i1];
}
}
void GuaranteeRotation(void)
{
if (!m_bIsRotation)
{
// change sign on the first column
for (int iRow = 0; iRow < 3; iRow++)
{
mElement[iRow][0] = -mElement[iRow][0];
}
}
}
if (i1 != i0)
{
// swap eigenvalues
m_afDiag[i1] = m_afDiag[i0];
m_afDiag[i0] = fMax;
// swap eigenvectors
for (i2 = 0; i2 < 3; i2++)
{
float fTmp = mElement[i2][i0];
mElement[i2][i0] = mElement[i2][i1];
mElement[i2][i1] = fTmp;
m_bIsRotation = !m_bIsRotation;
}
}
}
}
void GuaranteeRotation(void)
{
if (!m_bIsRotation)
{
// change sign on the first column
for (int iRow = 0; iRow <3; iRow++)
{
mElement[iRow][0] = -mElement[iRow][0];
}
}
}
float mElement[3][3];
float m_afDiag[3];
float m_afSubd[3];
bool m_bIsRotation;
float mElement[3][3];
float m_afDiag[3];
float m_afSubd[3];
bool m_bIsRotation;
};
}
} // namespace BestFit
using namespace BestFit;
bool getBestFitPlane(unsigned int vcount,
const float *points,
unsigned int vstride,
const float *weights,
unsigned int wstride,
float *plane)
const float *points,
unsigned int vstride,
const float *weights,
unsigned int wstride,
float *plane)
{
bool ret = false;
bool ret = false;
Vec3 kOrigin(0,0,0);
Vec3 kOrigin(0, 0, 0);
float wtotal = 0;
float wtotal = 0;
if ( 1 )
{
const char *source = (const char *) points;
const char *wsource = (const char *) weights;
if (1)
{
const char *source = (const char *)points;
const char *wsource = (const char *)weights;
for (unsigned int i=0; i<vcount; i++)
{
for (unsigned int i = 0; i < vcount; i++)
{
const float *p = (const float *)source;
const float *p = (const float *) source;
float w = 1;
float w = 1;
if (wsource)
{
const float *ws = (const float *)wsource;
w = *ws; //
wsource += wstride;
}
if ( wsource )
{
const float *ws = (const float *) wsource;
w = *ws; //
wsource+=wstride;
}
kOrigin.x += p[0] * w;
kOrigin.y += p[1] * w;
kOrigin.z += p[2] * w;
kOrigin.x+=p[0]*w;
kOrigin.y+=p[1]*w;
kOrigin.z+=p[2]*w;
wtotal += w;
wtotal+=w;
source += vstride;
}
}
source+=vstride;
}
}
float recip = 1.0f / wtotal; // reciprocol of total weighting
float recip = 1.0f / wtotal; // reciprocol of total weighting
kOrigin.x *= recip;
kOrigin.y *= recip;
kOrigin.z *= recip;
kOrigin.x*=recip;
kOrigin.y*=recip;
kOrigin.z*=recip;
float fSumXX = 0;
float fSumXY = 0;
float fSumXZ = 0;
float fSumYY = 0;
float fSumYZ = 0;
float fSumZZ = 0;
float fSumXX=0;
float fSumXY=0;
float fSumXZ=0;
if (1)
{
const char *source = (const char *)points;
const char *wsource = (const char *)weights;
float fSumYY=0;
float fSumYZ=0;
float fSumZZ=0;
for (unsigned int i = 0; i < vcount; i++)
{
const float *p = (const float *)source;
float w = 1;
if ( 1 )
{
const char *source = (const char *) points;
const char *wsource = (const char *) weights;
if (wsource)
{
const float *ws = (const float *)wsource;
w = *ws; //
wsource += wstride;
}
for (unsigned int i=0; i<vcount; i++)
{
Vec3 kDiff;
const float *p = (const float *) source;
kDiff.x = w * (p[0] - kOrigin.x); // apply vertex weighting!
kDiff.y = w * (p[1] - kOrigin.y);
kDiff.z = w * (p[2] - kOrigin.z);
float w = 1;
fSumXX += kDiff.x * kDiff.x; // sume of the squares of the differences.
fSumXY += kDiff.x * kDiff.y; // sume of the squares of the differences.
fSumXZ += kDiff.x * kDiff.z; // sume of the squares of the differences.
if ( wsource )
{
const float *ws = (const float *) wsource;
w = *ws; //
wsource+=wstride;
}
fSumYY += kDiff.y * kDiff.y;
fSumYZ += kDiff.y * kDiff.z;
fSumZZ += kDiff.z * kDiff.z;
Vec3 kDiff;
source += vstride;
}
}
kDiff.x = w*(p[0] - kOrigin.x); // apply vertex weighting!
kDiff.y = w*(p[1] - kOrigin.y);
kDiff.z = w*(p[2] - kOrigin.z);
fSumXX *= recip;
fSumXY *= recip;
fSumXZ *= recip;
fSumYY *= recip;
fSumYZ *= recip;
fSumZZ *= recip;
fSumXX+= kDiff.x * kDiff.x; // sume of the squares of the differences.
fSumXY+= kDiff.x * kDiff.y; // sume of the squares of the differences.
fSumXZ+= kDiff.x * kDiff.z; // sume of the squares of the differences.
// setup the eigensolver
Eigen kES;
fSumYY+= kDiff.y * kDiff.y;
fSumYZ+= kDiff.y * kDiff.z;
fSumZZ+= kDiff.z * kDiff.z;
kES.mElement[0][0] = fSumXX;
kES.mElement[0][1] = fSumXY;
kES.mElement[0][2] = fSumXZ;
kES.mElement[1][0] = fSumXY;
kES.mElement[1][1] = fSumYY;
kES.mElement[1][2] = fSumYZ;
source+=vstride;
}
}
kES.mElement[2][0] = fSumXZ;
kES.mElement[2][1] = fSumYZ;
kES.mElement[2][2] = fSumZZ;
fSumXX *= recip;
fSumXY *= recip;
fSumXZ *= recip;
fSumYY *= recip;
fSumYZ *= recip;
fSumZZ *= recip;
// compute eigenstuff, smallest eigenvalue is in last position
kES.DecrSortEigenStuff();
// setup the eigensolver
Eigen kES;
Vec3 kNormal;
kES.mElement[0][0] = fSumXX;
kES.mElement[0][1] = fSumXY;
kES.mElement[0][2] = fSumXZ;
kNormal.x = kES.mElement[0][2];
kNormal.y = kES.mElement[1][2];
kNormal.z = kES.mElement[2][2];
kES.mElement[1][0] = fSumXY;
kES.mElement[1][1] = fSumYY;
kES.mElement[1][2] = fSumYZ;
// the minimum energy
plane[0] = kNormal.x;
plane[1] = kNormal.y;
plane[2] = kNormal.z;
kES.mElement[2][0] = fSumXZ;
kES.mElement[2][1] = fSumYZ;
kES.mElement[2][2] = fSumZZ;
plane[3] = 0 - kNormal.dot(kOrigin);
// compute eigenstuff, smallest eigenvalue is in last position
kES.DecrSortEigenStuff();
Vec3 kNormal;
kNormal.x = kES.mElement[0][2];
kNormal.y = kES.mElement[1][2];
kNormal.z = kES.mElement[2][2];
// the minimum energy
plane[0] = kNormal.x;
plane[1] = kNormal.y;
plane[2] = kNormal.z;
plane[3] = 0 - kNormal.dot(kOrigin);
return ret;
return ret;
}
float getBoundingRegion(unsigned int vcount,const float *points,unsigned int pstride,float *bmin,float *bmax) // returns the diagonal distance
float getBoundingRegion(unsigned int vcount, const float *points, unsigned int pstride, float *bmin, float *bmax) // returns the diagonal distance
{
const unsigned char *source = (const unsigned char *) points;
const unsigned char *source = (const unsigned char *)points;
bmin[0] = points[0];
bmin[1] = points[1];
@ -424,43 +413,36 @@ float getBoundingRegion(unsigned int vcount,const float *points,unsigned int pst
bmax[1] = points[1];
bmax[2] = points[2];
for (unsigned int i = 1; i < vcount; i++)
{
source += pstride;
const float *p = (const float *)source;
for (unsigned int i=1; i<vcount; i++)
{
source+=pstride;
const float *p = (const float *) source;
if (p[0] < bmin[0]) bmin[0] = p[0];
if (p[1] < bmin[1]) bmin[1] = p[1];
if (p[2] < bmin[2]) bmin[2] = p[2];
if ( p[0] < bmin[0] ) bmin[0] = p[0];
if ( p[1] < bmin[1] ) bmin[1] = p[1];
if ( p[2] < bmin[2] ) bmin[2] = p[2];
if (p[0] > bmax[0]) bmax[0] = p[0];
if (p[1] > bmax[1]) bmax[1] = p[1];
if (p[2] > bmax[2]) bmax[2] = p[2];
}
if ( p[0] > bmax[0] ) bmax[0] = p[0];
if ( p[1] > bmax[1] ) bmax[1] = p[1];
if ( p[2] > bmax[2] ) bmax[2] = p[2];
}
float dx = bmax[0] - bmin[0];
float dy = bmax[1] - bmin[1];
float dz = bmax[2] - bmin[2];
return sqrtf( dx*dx + dy*dy + dz*dz );
float dx = bmax[0] - bmin[0];
float dy = bmax[1] - bmin[1];
float dz = bmax[2] - bmin[2];
return sqrtf(dx * dx + dy * dy + dz * dz);
}
bool overlapAABB(const float *bmin1,const float *bmax1,const float *bmin2,const float *bmax2) // return true if the two AABB's overlap.
bool overlapAABB(const float *bmin1, const float *bmax1, const float *bmin2, const float *bmax2) // return true if the two AABB's overlap.
{
if ( bmax2[0] < bmin1[0] ) return false; // if the maximum is less than our minimum on any axis
if ( bmax2[1] < bmin1[1] ) return false;
if ( bmax2[2] < bmin1[2] ) return false;
if (bmax2[0] < bmin1[0]) return false; // if the maximum is less than our minimum on any axis
if (bmax2[1] < bmin1[1]) return false;
if (bmax2[2] < bmin1[2]) return false;
if ( bmin2[0] > bmax1[0] ) return false; // if the minimum is greater than our maximum on any axis
if ( bmin2[1] > bmax1[1] ) return false; // if the minimum is greater than our maximum on any axis
if ( bmin2[2] > bmax1[2] ) return false; // if the minimum is greater than our maximum on any axis
if (bmin2[0] > bmax1[0]) return false; // if the minimum is greater than our maximum on any axis
if (bmin2[1] > bmax1[1]) return false; // if the minimum is greater than our maximum on any axis
if (bmin2[2] > bmax1[2]) return false; // if the minimum is greater than our maximum on any axis
return true; // the extents overlap
return true; // the extents overlap
}

18
Engine/lib/bullet/Extras/ConvexDecomposition/bestfit.h
View file

@ -36,7 +36,6 @@
// http://www.amillionpixels.us
//
// This routine was released in 'snippet' form
// by John W. Ratcliff mailto:jratcliff@infiniplex.net
// on March 22, 2006.
@ -51,15 +50,14 @@
// computes the best fit plane to a collection of data points.
// returns the plane equation as A,B,C,D format. (Ax+By+Cz+D)
bool getBestFitPlane(unsigned int vcount, // number of input data points
const float *points, // starting address of points array.
unsigned int vstride, // stride between input points.
const float *weights, // *optional point weighting values.
unsigned int wstride, // weight stride for each vertex.
float *plane);
bool getBestFitPlane(unsigned int vcount, // number of input data points
const float *points, // starting address of points array.
unsigned int vstride, // stride between input points.
const float *weights, // *optional point weighting values.
unsigned int wstride, // weight stride for each vertex.
float *plane);
float getBoundingRegion(unsigned int vcount,const float *points,unsigned int pstride,float *bmin,float *bmax); // returns the diagonal distance
bool overlapAABB(const float *bmin1,const float *bmax1,const float *bmin2,const float *bmax2); // return true if the two AABB's overlap.
float getBoundingRegion(unsigned int vcount, const float *points, unsigned int pstride, float *bmin, float *bmax); // returns the diagonal distance
bool overlapAABB(const float *bmin1, const float *bmax1, const float *bmin2, const float *bmax2); // return true if the two AABB's overlap.
#endif

179
Engine/lib/bullet/Extras/ConvexDecomposition/bestfitobb.cpp
View file

@ -44,130 +44,123 @@
#include "float_math.h"
// computes the OBB for this set of points relative to this transform matrix.
void computeOBB(unsigned int vcount,const float *points,unsigned int pstride,float *sides,const float *matrix)
void computeOBB(unsigned int vcount, const float *points, unsigned int pstride, float *sides, const float *matrix)
{
const char *src = (const char *) points;
const char *src = (const char *)points;
float bmin[3] = { 1e9, 1e9, 1e9 };
float bmax[3] = { -1e9, -1e9, -1e9 };
float bmin[3] = {1e9, 1e9, 1e9};
float bmax[3] = {-1e9, -1e9, -1e9};
for (unsigned int i=0; i<vcount; i++)
{
const float *p = (const float *) src;
float t[3];
for (unsigned int i = 0; i < vcount; i++)
{
const float *p = (const float *)src;
float t[3];
fm_inverseRT(matrix, p, t ); // inverse rotate translate
fm_inverseRT(matrix, p, t); // inverse rotate translate
if ( t[0] < bmin[0] ) bmin[0] = t[0];
if ( t[1] < bmin[1] ) bmin[1] = t[1];
if ( t[2] < bmin[2] ) bmin[2] = t[2];
if (t[0] < bmin[0]) bmin[0] = t[0];
if (t[1] < bmin[1]) bmin[1] = t[1];
if (t[2] < bmin[2]) bmin[2] = t[2];
if ( t[0] > bmax[0] ) bmax[0] = t[0];
if ( t[1] > bmax[1] ) bmax[1] = t[1];
if ( t[2] > bmax[2] ) bmax[2] = t[2];
if (t[0] > bmax[0]) bmax[0] = t[0];
if (t[1] > bmax[1]) bmax[1] = t[1];
if (t[2] > bmax[2]) bmax[2] = t[2];
src+=pstride;
}
src += pstride;
}
sides[0] = bmax[0];
sides[1] = bmax[1];
sides[2] = bmax[2];
sides[0] = bmax[0];
sides[1] = bmax[1];
sides[2] = bmax[2];
if ( fabsf(bmin[0]) > sides[0] ) sides[0] = fabsf(bmin[0]);
if ( fabsf(bmin[1]) > sides[1] ) sides[1] = fabsf(bmin[1]);
if ( fabsf(bmin[2]) > sides[2] ) sides[2] = fabsf(bmin[2]);
sides[0]*=2.0f;
sides[1]*=2.0f;
sides[2]*=2.0f;
if (fabsf(bmin[0]) > sides[0]) sides[0] = fabsf(bmin[0]);
if (fabsf(bmin[1]) > sides[1]) sides[1] = fabsf(bmin[1]);
if (fabsf(bmin[2]) > sides[2]) sides[2] = fabsf(bmin[2]);
sides[0] *= 2.0f;
sides[1] *= 2.0f;
sides[2] *= 2.0f;
}
void computeBestFitOBB(unsigned int vcount,const float *points,unsigned int pstride,float *sides,float *matrix)
void computeBestFitOBB(unsigned int vcount, const float *points, unsigned int pstride, float *sides, float *matrix)
{
float bmin[3];
float bmax[3];
float bmin[3];
float bmax[3];
fm_getAABB(vcount, points, pstride, bmin, bmax);
fm_getAABB(vcount,points,pstride,bmin,bmax);
float center[3];
float center[3];
center[0] = (bmax[0] - bmin[0]) * 0.5f + bmin[0];
center[1] = (bmax[1] - bmin[1]) * 0.5f + bmin[1];
center[2] = (bmax[2] - bmin[2]) * 0.5f + bmin[2];
center[0] = (bmax[0]-bmin[0])*0.5f + bmin[0];
center[1] = (bmax[1]-bmin[1])*0.5f + bmin[1];
center[2] = (bmax[2]-bmin[2])*0.5f + bmin[2];
float ax = 0;
float ay = 0;
float az = 0;
float ax = 0;
float ay = 0;
float az = 0;
float sweep = 45.0f; // 180 degree sweep on all three axes.
float steps = 8.0f; // 16 steps on each axis.
float sweep = 45.0f; // 180 degree sweep on all three axes.
float steps = 8.0f; // 16 steps on each axis.
float bestVolume = 1e9;
float angle[3] = {0.f, 0.f, 0.f};
float bestVolume = 1e9;
float angle[3]={0.f,0.f,0.f};
while (sweep >= 1)
{
bool found = false;
while ( sweep >= 1 )
{
float stepsize = sweep / steps;
bool found = false;
for (float x = ax - sweep; x <= ax + sweep; x += stepsize)
{
for (float y = ay - sweep; y <= ay + sweep; y += stepsize)
{
for (float z = az - sweep; z <= az + sweep; z += stepsize)
{
float pmatrix[16];
float stepsize = sweep / steps;
fm_eulerMatrix(x * FM_DEG_TO_RAD, y * FM_DEG_TO_RAD, z * FM_DEG_TO_RAD, pmatrix);
for (float x=ax-sweep; x<=ax+sweep; x+=stepsize)
{
for (float y=ay-sweep; y<=ay+sweep; y+=stepsize)
{
for (float z=az-sweep; z<=az+sweep; z+=stepsize)
{
float pmatrix[16];
pmatrix[3 * 4 + 0] = center[0];
pmatrix[3 * 4 + 1] = center[1];
pmatrix[3 * 4 + 2] = center[2];
fm_eulerMatrix( x*FM_DEG_TO_RAD, y*FM_DEG_TO_RAD, z*FM_DEG_TO_RAD, pmatrix );
float psides[3];
pmatrix[3*4+0] = center[0];
pmatrix[3*4+1] = center[1];
pmatrix[3*4+2] = center[2];
computeOBB(vcount, points, pstride, psides, pmatrix);
float psides[3];
float volume = psides[0] * psides[1] * psides[2]; // the volume of the cube
computeOBB( vcount, points, pstride, psides, pmatrix );
if (volume <= bestVolume)
{
bestVolume = volume;
float volume = psides[0]*psides[1]*psides[2]; // the volume of the cube
sides[0] = psides[0];
sides[1] = psides[1];
sides[2] = psides[2];
if ( volume <= bestVolume )
{
bestVolume = volume;
angle[0] = ax;
angle[1] = ay;
angle[2] = az;
sides[0] = psides[0];
sides[1] = psides[1];
sides[2] = psides[2];
memcpy(matrix, pmatrix, sizeof(float) * 16);
found = true; // yes, we found an improvement.
}
}
}
}
angle[0] = ax;
angle[1] = ay;
angle[2] = az;
memcpy(matrix,pmatrix,sizeof(float)*16);
found = true; // yes, we found an improvement.
}
}
}
}
if ( found )
{
ax = angle[0];
ay = angle[1];
az = angle[2];
sweep*=0.5f; // sweep 1/2 the distance as the last time.
}
else
{
break; // no improvement, so just
}
}
if (found)
{
ax = angle[0];
ay = angle[1];
az = angle[2];
sweep *= 0.5f; // sweep 1/2 the distance as the last time.
}
else
{
break; // no improvement, so just
}
}
}

4
Engine/lib/bullet/Extras/ConvexDecomposition/bestfitobb.h
View file

@ -36,8 +36,6 @@
// http://www.amillionpixels.us
//
void computeBestFitOBB(unsigned int vcount,const float *points,unsigned int pstride,float *sides,float *matrix);
void computeBestFitOBB(unsigned int vcount, const float *points, unsigned int pstride, float *sides, float *matrix);
#endif

3403
Engine/lib/bullet/Extras/ConvexDecomposition/cd_hull.cpp
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115
Engine/lib/bullet/Extras/ConvexDecomposition/cd_hull.h
View file

@ -31,7 +31,6 @@
namespace ConvexDecomposition
{
class HullResult
{
public:
@ -44,110 +43,106 @@ public:
mNumIndices = 0;
mIndices = 0;
}
bool mPolygons; // true if indices represents polygons, false indices are triangles
unsigned int mNumOutputVertices; // number of vertices in the output hull
float *mOutputVertices; // array of vertices, 3 floats each x,y,z
unsigned int mNumFaces; // the number of faces produced
unsigned int mNumIndices; // the total number of indices
unsigned int *mIndices; // pointer to indices.
bool mPolygons; // true if indices represents polygons, false indices are triangles
unsigned int mNumOutputVertices; // number of vertices in the output hull
float *mOutputVertices; // array of vertices, 3 floats each x,y,z
unsigned int mNumFaces; // the number of faces produced
unsigned int mNumIndices; // the total number of indices
unsigned int *mIndices; // pointer to indices.
// If triangles, then indices are array indexes into the vertex list.
// If polygons, indices are in the form (number of points in face) (p1, p2, p3, ..) etc..
// If triangles, then indices are array indexes into the vertex list.
// If polygons, indices are in the form (number of points in face) (p1, p2, p3, ..) etc..
};
enum HullFlag
{
QF_TRIANGLES = (1<<0), // report results as triangles, not polygons.
QF_REVERSE_ORDER = (1<<1), // reverse order of the triangle indices.
QF_SKIN_WIDTH = (1<<2), // extrude hull based on this skin width
QF_DEFAULT = 0
QF_TRIANGLES = (1 << 0), // report results as triangles, not polygons.
QF_REVERSE_ORDER = (1 << 1), // reverse order of the triangle indices.
QF_SKIN_WIDTH = (1 << 2), // extrude hull based on this skin width
QF_DEFAULT = 0
};
class HullDesc
{
public:
HullDesc(void)
{
mFlags = QF_DEFAULT;
mVcount = 0;
mVertices = 0;
mVertexStride = sizeof(float)*3;
mNormalEpsilon = 0.001f;
mMaxVertices = 4096; // maximum number of points to be considered for a convex hull.
mMaxFaces = 4096;
mSkinWidth = 0.01f; // default is one centimeter
mFlags = QF_DEFAULT;
mVcount = 0;
mVertices = 0;
mVertexStride = sizeof(float) * 3;
mNormalEpsilon = 0.001f;
mMaxVertices = 4096; // maximum number of points to be considered for a convex hull.
mMaxFaces = 4096;
mSkinWidth = 0.01f; // default is one centimeter
};
HullDesc(HullFlag flag,
unsigned int vcount,
const float *vertices,
unsigned int stride)
unsigned int vcount,
const float *vertices,
unsigned int stride)
{
mFlags = flag;
mVcount = vcount;
mVertices = vertices;
mVertexStride = stride;
mNormalEpsilon = 0.001f;
mMaxVertices = 4096;
mSkinWidth = 0.01f; // default is one centimeter
mFlags = flag;
mVcount = vcount;
mVertices = vertices;
mVertexStride = stride;
mNormalEpsilon = 0.001f;
mMaxVertices = 4096;
mSkinWidth = 0.01f; // default is one centimeter
}
bool HasHullFlag(HullFlag flag) const
{
if ( mFlags & flag ) return true;
if (mFlags & flag) return true;
return false;
}
void SetHullFlag(HullFlag flag)
{
mFlags|=flag;
mFlags |= flag;
}
void ClearHullFlag(HullFlag flag)
{
mFlags&=~flag;
mFlags &= ~flag;
}
unsigned int mFlags; // flags to use when generating the convex hull.
unsigned int mVcount; // number of vertices in the input point cloud
const float *mVertices; // the array of vertices.
unsigned int mVertexStride; // the stride of each vertex, in bytes.
float mNormalEpsilon; // the epsilon for removing duplicates. This is a normalized value, if normalized bit is on.
float mSkinWidth;
unsigned int mMaxVertices; // maximum number of vertices to be considered for the hull!
unsigned int mMaxFaces;
unsigned int mFlags; // flags to use when generating the convex hull.
unsigned int mVcount; // number of vertices in the input point cloud
const float *mVertices; // the array of vertices.
unsigned int mVertexStride; // the stride of each vertex, in bytes.
float mNormalEpsilon; // the epsilon for removing duplicates. This is a normalized value, if normalized bit is on.
float mSkinWidth;
unsigned int mMaxVertices; // maximum number of vertices to be considered for the hull!
unsigned int mMaxFaces;
};
enum HullError
{
QE_OK, // success!
QE_FAIL // failed.
QE_OK, // success!
QE_FAIL // failed.
};
class HullLibrary
{
public:
HullError CreateConvexHull(const HullDesc &desc, // describes the input request
HullResult &result); // contains the resulst
HullError CreateConvexHull(const HullDesc &desc, // describes the input request
HullResult &result); // contains the resulst
HullError ReleaseResult(HullResult &result); // release memory allocated for this result, we are done with it.
HullError ReleaseResult(HullResult &result); // release memory allocated for this result, we are done with it.
private:
void BringOutYourDead(const float *verts, unsigned int vcount, float *overts, unsigned int &ocount, unsigned int *indices, unsigned indexcount);
void BringOutYourDead(const float *verts,unsigned int vcount, float *overts,unsigned int &ocount,unsigned int *indices,unsigned indexcount);
bool CleanupVertices(unsigned int svcount,
const float *svertices,
unsigned int stride,
unsigned int &vcount, // output number of vertices
float *vertices, // location to store the results.
float normalepsilon,
float *scale);
bool CleanupVertices(unsigned int svcount,
const float *svertices,
unsigned int stride,
unsigned int &vcount, // output number of vertices
float *vertices, // location to store the results.
float normalepsilon,
float *scale);
};
}
} // namespace ConvexDecomposition
#endif

745
Engine/lib/bullet/Extras/ConvexDecomposition/cd_vector.h
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File diff suppressed because it is too large Load diff

688
Engine/lib/bullet/Extras/ConvexDecomposition/cd_wavefront.cpp
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File diff suppressed because it is too large Load diff

21
Engine/lib/bullet/Extras/ConvexDecomposition/cd_wavefront.h
View file

@ -1,9 +1,7 @@
#ifndef CD_WAVEFRONT_OBJ_H
#define CD_WAVEFRONT_OBJ_H
/*----------------------------------------------------------------------
Copyright (c) 2004 Open Dynamics Framework Group
www.physicstools.org
@ -38,25 +36,22 @@
// http://www.amillionpixels.us
//
namespace ConvexDecomposition
{
class WavefrontObj
{
public:
WavefrontObj(void);
~WavefrontObj(void);
WavefrontObj(void);
~WavefrontObj(void);
unsigned int loadObj(const char *fname); // load a wavefront obj returns number of triangles that were loaded. Data is persists until the class is destructed.
unsigned int loadObj(const char *fname); // load a wavefront obj returns number of triangles that were loaded. Data is persists until the class is destructed.
int mVertexCount;
int mTriCount;
int *mIndices;
float *mVertices;
int mVertexCount;
int mTriCount;
int *mIndices;
float *mVertices;
};
}
} // namespace ConvexDecomposition
#endif

722
Engine/lib/bullet/Extras/ConvexDecomposition/concavity.cpp
View file

@ -49,165 +49,156 @@
#include "splitplane.h"
#include "ConvexDecomposition.h"
#define WSCALE 4
#define CONCAVE_THRESH 0.05f
namespace ConvexDecomposition
{
unsigned int getDebugColor(void)
{
static unsigned int colors[8] =
{
0xFF0000,
0x00FF00,
0x0000FF,
0xFFFF00,
0x00FFFF,
0xFF00FF,
0xFFFFFF,
0xFF8040
};
{
0xFF0000,
0x00FF00,
0x0000FF,
0xFFFF00,
0x00FFFF,
0xFF00FF,
0xFFFFFF,
0xFF8040};
static int count = 0;
count++;
if ( count == 8 ) count = 0;
if (count == 8) count = 0;
assert( count >= 0 && count < 8 );
assert(count >= 0 && count < 8);
unsigned int color = colors[count];
return color;
return color;
}
class Wpoint
{
public:
Wpoint(const Vector3d &p,float w)
{
mPoint = p;
mWeight = w;
}
Wpoint(const Vector3d &p, float w)
{
mPoint = p;
mWeight = w;
}
Vector3d mPoint;
float mWeight;
Vector3d mPoint;
float mWeight;
};
typedef std::vector< Wpoint > WpointVector;
typedef std::vector<Wpoint> WpointVector;
static inline float DistToPt(const float *p,const float *plane)
static inline float DistToPt(const float *p, const float *plane)
{
float x = p[0];
float y = p[1];
float z = p[2];
float d = x*plane[0] + y*plane[1] + z*plane[2] + plane[3];
float d = x * plane[0] + y * plane[1] + z * plane[2] + plane[3];
return d;
}
static void intersect(const float *p1,const float *p2,float *split,const float *plane)
static void intersect(const float *p1, const float *p2, float *split, const float *plane)
{
float dp1 = DistToPt(p1, plane);
float dp1 = DistToPt(p1,plane);
float dir[3];
float dir[3];
dir[0] = p2[0] - p1[0];
dir[1] = p2[1] - p1[1];
dir[2] = p2[2] - p1[2];
dir[0] = p2[0] - p1[0];
dir[1] = p2[1] - p1[1];
dir[2] = p2[2] - p1[2];
float dot1 = dir[0] * plane[0] + dir[1] * plane[1] + dir[2] * plane[2];
float dot2 = dp1 - plane[3];
float dot1 = dir[0]*plane[0] + dir[1]*plane[1] + dir[2]*plane[2];
float dot2 = dp1 - plane[3];
float t = -(plane[3] + dot2) / dot1;
float t = -(plane[3] + dot2 ) / dot1;
split[0] = (dir[0]*t)+p1[0];
split[1] = (dir[1]*t)+p1[1];
split[2] = (dir[2]*t)+p1[2];
split[0] = (dir[0] * t) + p1[0];
split[1] = (dir[1] * t) + p1[1];
split[2] = (dir[2] * t) + p1[2];
}
class CTri
{
public:
CTri(void) { };
CTri(void){};
CTri(const float *p1,const float *p2,const float *p3,unsigned int i1,unsigned int i2,unsigned int i3)
{
mProcessed = 0;
mI1 = i1;
mI2 = i2;
mI3 = i3;
CTri(const float *p1, const float *p2, const float *p3, unsigned int i1, unsigned int i2, unsigned int i3)
{
mProcessed = 0;
mI1 = i1;
mI2 = i2;
mI3 = i3;
mP1.Set(p1);
mP2.Set(p2);
mP3.Set(p3);
mP1.Set(p1);
mP2.Set(p2);
mP3.Set(p3);
mPlaneD = mNormal.ComputePlane(mP1,mP2,mP3);
mPlaneD = mNormal.ComputePlane(mP1, mP2, mP3);
}
float Facing(const CTri &t)
{
float Facing(const CTri &t)
{
float d = mNormal.Dot(t.mNormal);
return d;
}
}
// clip this line segment against this triangle.
bool clip(const Vector3d &start,Vector3d &end) const
{
Vector3d sect;
bool hit = lineIntersectsTriangle(start.Ptr(), end.Ptr(), mP1.Ptr(), mP2.Ptr(), mP3.Ptr(), sect.Ptr() );
if ( hit )
{
end = sect;
}
return hit;
}
bool Concave(const Vector3d &p,float &distance,Vector3d &n) const
// clip this line segment against this triangle.
bool clip(const Vector3d &start, Vector3d &end) const
{
n.NearestPointInTriangle(p,mP1,mP2,mP3);
Vector3d sect;
bool hit = lineIntersectsTriangle(start.Ptr(), end.Ptr(), mP1.Ptr(), mP2.Ptr(), mP3.Ptr(), sect.Ptr());
if (hit)
{
end = sect;
}
return hit;
}
bool Concave(const Vector3d &p, float &distance, Vector3d &n) const
{
n.NearestPointInTriangle(p, mP1, mP2, mP3);
distance = p.Distance(n);
return true;
}
void addTri(unsigned int *indices,unsigned int i1,unsigned int i2,unsigned int i3,unsigned int &tcount) const
void addTri(unsigned int *indices, unsigned int i1, unsigned int i2, unsigned int i3, unsigned int &tcount) const
{
indices[tcount*3+0] = i1;
indices[tcount*3+1] = i2;
indices[tcount*3+2] = i3;
indices[tcount * 3 + 0] = i1;
indices[tcount * 3 + 1] = i2;
indices[tcount * 3 + 2] = i3;
tcount++;
}
float getVolume(ConvexDecompInterface *callback) const
{
unsigned int indices[8*3];
unsigned int indices[8 * 3];
unsigned int tcount = 0;
unsigned int tcount = 0;
addTri(indices, 0, 1, 2, tcount);
addTri(indices, 3, 4, 5, tcount);
addTri(indices,0,1,2,tcount);
addTri(indices,3,4,5,tcount);
addTri(indices, 0, 3, 4, tcount);
addTri(indices, 0, 4, 1, tcount);
addTri(indices,0,3,4,tcount);
addTri(indices,0,4,1,tcount);
addTri(indices, 1, 4, 5, tcount);
addTri(indices, 1, 5, 2, tcount);
addTri(indices,1,4,5,tcount);
addTri(indices,1,5,2,tcount);
addTri(indices, 0, 3, 5, tcount);
addTri(indices, 0, 5, 2, tcount);
addTri(indices,0,3,5,tcount);
addTri(indices,0,5,2,tcount);
const float *vertices = mP1.Ptr();
const float *vertices = mP1.Ptr();
if ( callback )
if (callback)
{
unsigned int color = getDebugColor();
@ -228,139 +219,134 @@ public:
callback->ConvexDebugTri(mP3.Ptr(), d3.Ptr(), d3.Ptr(),0x00FF00);
#else
for (unsigned int i=0; i<tcount; i++)
for (unsigned int i = 0; i < tcount; i++)
{
unsigned int i1 = indices[i*3+0];
unsigned int i2 = indices[i*3+1];
unsigned int i3 = indices[i*3+2];
unsigned int i1 = indices[i * 3 + 0];
unsigned int i2 = indices[i * 3 + 1];
unsigned int i3 = indices[i * 3 + 2];
const float *p1 = &vertices[ i1*3 ];
const float *p2 = &vertices[ i2*3 ];
const float *p3 = &vertices[ i3*3 ];
callback->ConvexDebugTri(p1,p2,p3,color);
const float *p1 = &vertices[i1 * 3];
const float *p2 = &vertices[i2 * 3];
const float *p3 = &vertices[i3 * 3];
callback->ConvexDebugTri(p1, p2, p3, color);
}
#endif
}
float v = computeMeshVolume(mP1.Ptr(), tcount, indices );
float v = computeMeshVolume(mP1.Ptr(), tcount, indices);
return v;
}
float raySect(const Vector3d &p,const Vector3d &dir,Vector3d &sect) const
float raySect(const Vector3d &p, const Vector3d &dir, Vector3d &sect) const
{
float plane[4];
plane[0] = mNormal.x;
plane[1] = mNormal.y;
plane[2] = mNormal.z;
plane[3] = mPlaneD;
plane[0] = mNormal.x;
plane[1] = mNormal.y;
plane[2] = mNormal.z;
plane[3] = mPlaneD;
Vector3d dest = p+dir*100000;
Vector3d dest = p + dir * 100000;
intersect( p.Ptr(), dest.Ptr(), sect.Ptr(), plane );
return sect.Distance(p); // return the intersection distance.
intersect(p.Ptr(), dest.Ptr(), sect.Ptr(), plane);
return sect.Distance(p); // return the intersection distance.
}
float planeDistance(const Vector3d &p) const
{
float planeDistance(const Vector3d &p) const
{
float plane[4];
plane[0] = mNormal.x;
plane[1] = mNormal.y;
plane[2] = mNormal.z;
plane[3] = mPlaneD;
plane[0] = mNormal.x;
plane[1] = mNormal.y;
plane[2] = mNormal.z;
plane[3] = mPlaneD;
return DistToPt( p.Ptr(), plane );
}
return DistToPt(p.Ptr(), plane);
}
bool samePlane(const CTri &t) const
{
const float THRESH = 0.001f;
float dd = fabsf( t.mPlaneD - mPlaneD );
if ( dd > THRESH ) return false;
dd = fabsf( t.mNormal.x - mNormal.x );
if ( dd > THRESH ) return false;
dd = fabsf( t.mNormal.y - mNormal.y );
if ( dd > THRESH ) return false;
dd = fabsf( t.mNormal.z - mNormal.z );
if ( dd > THRESH ) return false;
return true;
float dd = fabsf(t.mPlaneD - mPlaneD);
if (dd > THRESH) return false;
dd = fabsf(t.mNormal.x - mNormal.x);
if (dd > THRESH) return false;
dd = fabsf(t.mNormal.y - mNormal.y);
if (dd > THRESH) return false;
dd = fabsf(t.mNormal.z - mNormal.z);
if (dd > THRESH) return false;
return true;
}
bool hasIndex(unsigned int i) const
{
if ( i == mI1 || i == mI2 || i == mI3 ) return true;
if (i == mI1 || i == mI2 || i == mI3) return true;
return false;
}
bool sharesEdge(const CTri &t) const
{
bool ret = false;
unsigned int count = 0;
bool sharesEdge(const CTri &t) const
{
bool ret = false;
unsigned int count = 0;
if ( t.hasIndex(mI1) ) count++;
if ( t.hasIndex(mI2) ) count++;
if ( t.hasIndex(mI3) ) count++;
if (t.hasIndex(mI1)) count++;
if (t.hasIndex(mI2)) count++;
if (t.hasIndex(mI3)) count++;
if ( count >= 2 ) ret = true;
if (count >= 2) ret = true;
return ret;
}
return ret;
}
void debug(unsigned int color,ConvexDecompInterface *callback)
{
callback->ConvexDebugTri( mP1.Ptr(), mP2.Ptr(), mP3.Ptr(), color );
callback->ConvexDebugTri( mP1.Ptr(), mP1.Ptr(), mNear1.Ptr(), 0xFF0000 );
callback->ConvexDebugTri( mP2.Ptr(), mP2.Ptr(), mNear2.Ptr(), 0xFF0000 );
callback->ConvexDebugTri( mP2.Ptr(), mP3.Ptr(), mNear3.Ptr(), 0xFF0000 );
callback->ConvexDebugPoint( mNear1.Ptr(), 0.01f, 0xFF0000 );
callback->ConvexDebugPoint( mNear2.Ptr(), 0.01f, 0xFF0000 );
callback->ConvexDebugPoint( mNear3.Ptr(), 0.01f, 0xFF0000 );
}
void debug(unsigned int color, ConvexDecompInterface *callback)
{
callback->ConvexDebugTri(mP1.Ptr(), mP2.Ptr(), mP3.Ptr(), color);
callback->ConvexDebugTri(mP1.Ptr(), mP1.Ptr(), mNear1.Ptr(), 0xFF0000);
callback->ConvexDebugTri(mP2.Ptr(), mP2.Ptr(), mNear2.Ptr(), 0xFF0000);
callback->ConvexDebugTri(mP2.Ptr(), mP3.Ptr(), mNear3.Ptr(), 0xFF0000);
callback->ConvexDebugPoint(mNear1.Ptr(), 0.01f, 0xFF0000);
callback->ConvexDebugPoint(mNear2.Ptr(), 0.01f, 0xFF0000);
callback->ConvexDebugPoint(mNear3.Ptr(), 0.01f, 0xFF0000);
}
float area(void)
{
float a = mConcavity*mP1.Area(mP2,mP3);
return a;
}
float area(void)
{
float a = mConcavity * mP1.Area(mP2, mP3);
return a;
}
void addWeighted(WpointVector &list,ConvexDecompInterface *callback)
{
Wpoint p1(mP1,mC1);
Wpoint p2(mP2,mC2);
Wpoint p3(mP3,mC3);
void addWeighted(WpointVector &list, ConvexDecompInterface *callback)
{
Wpoint p1(mP1, mC1);
Wpoint p2(mP2, mC2);
Wpoint p3(mP3, mC3);
Vector3d d1 = mNear1 - mP1;
Vector3d d2 = mNear2 - mP2;
Vector3d d3 = mNear3 - mP3;
d1*=WSCALE;
d2*=WSCALE;
d3*=WSCALE;
d1 *= WSCALE;
d2 *= WSCALE;
d3 *= WSCALE;
d1 = d1 + mP1;
d2 = d2 + mP2;
d3 = d3 + mP3;
d3 = d3 + mP3;
Wpoint p4(d1,mC1);
Wpoint p5(d2,mC2);
Wpoint p6(d3,mC3);
Wpoint p4(d1, mC1);
Wpoint p5(d2, mC2);
Wpoint p6(d3, mC3);
list.push_back(p1);
list.push_back(p2);
list.push_back(p3);
list.push_back(p1);
list.push_back(p2);
list.push_back(p3);
list.push_back(p4);
list.push_back(p5);
list.push_back(p6);
list.push_back(p4);
list.push_back(p5);
list.push_back(p6);
#if 0
callback->ConvexDebugPoint(mP1.Ptr(),0.01f,0x00FF00);
@ -387,39 +373,35 @@ public:
callback->ConvexDebugPoint( np3.Ptr(), 0.01F, 0XFF00FF );
#endif
}
}
Vector3d mP1;
Vector3d mP2;
Vector3d mP3;
Vector3d mNear1;
Vector3d mNear2;
Vector3d mNear3;
Vector3d mNormal;
float mPlaneD;
float mConcavity;
float mC1;
float mC2;
float mC3;
unsigned int mI1;
unsigned int mI2;
unsigned int mI3;
int mProcessed; // already been added...
Vector3d mP1;
Vector3d mP2;
Vector3d mP3;
Vector3d mNear1;
Vector3d mNear2;
Vector3d mNear3;
Vector3d mNormal;
float mPlaneD;
float mConcavity;
float mC1;
float mC2;
float mC3;
unsigned int mI1;
unsigned int mI2;
unsigned int mI3;
int mProcessed; // already been added...
};
typedef std::vector< CTri > CTriVector;
typedef std::vector<CTri> CTriVector;
bool featureMatch(CTri &m,const CTriVector &tris,ConvexDecompInterface *callback,const CTriVector &input_mesh)
bool featureMatch(CTri &m, const CTriVector &tris, ConvexDecompInterface *callback, const CTriVector &input_mesh)
{
bool ret = false;
bool ret = false;
float neardot = 0.707f;
float neardot = 0.707f;
m.mConcavity = 0;
m.mConcavity = 0;
//gLog->Display("*********** FEATURE MATCH *************\r\n");
//gLog->Display("Plane: %0.4f,%0.4f,%0.4f %0.4f\r\n", m.mNormal.x, m.mNormal.y, m.mNormal.z, m.mPlaneD );
@ -429,87 +411,81 @@ bool featureMatch(CTri &m,const CTriVector &tris,ConvexDecompInterface *callback
CTri nearest;
for (i=tris.begin(); i!=tris.end(); ++i)
for (i = tris.begin(); i != tris.end(); ++i)
{
const CTri &t = (*i);
//gLog->Display(" HullPlane: %0.4f,%0.4f,%0.4f %0.4f\r\n", t.mNormal.x, t.mNormal.y, t.mNormal.z, t.mPlaneD );
//gLog->Display(" HullPlane: %0.4f,%0.4f,%0.4f %0.4f\r\n", t.mNormal.x, t.mNormal.y, t.mNormal.z, t.mPlaneD );
if ( t.samePlane(m) )
if (t.samePlane(m))
{
//gLog->Display("*** PLANE MATCH!!!\r\n");
ret = false;
break;
}
float dot = t.mNormal.Dot(m.mNormal);
float dot = t.mNormal.Dot(m.mNormal);
if ( dot > neardot )
{
if (dot > neardot)
{
float d1 = t.planeDistance(m.mP1);
float d2 = t.planeDistance(m.mP2);
float d3 = t.planeDistance(m.mP3);
float d1 = t.planeDistance( m.mP1 );
float d2 = t.planeDistance( m.mP2 );
float d3 = t.planeDistance( m.mP3 );
if (d1 > 0.001f || d2 > 0.001f || d3 > 0.001f) // can't be near coplaner!
{
neardot = dot;
if ( d1 > 0.001f || d2 > 0.001f || d3 > 0.001f ) // can't be near coplaner!
{
Vector3d n1, n2, n3;
neardot = dot;
Vector3d n1,n2,n3;
t.raySect( m.mP1, m.mNormal, m.mNear1 );
t.raySect( m.mP2, m.mNormal, m.mNear2 );
t.raySect( m.mP3, m.mNormal, m.mNear3 );
t.raySect(m.mP1, m.mNormal, m.mNear1);
t.raySect(m.mP2, m.mNormal, m.mNear2);
t.raySect(m.mP3, m.mNormal, m.mNear3);
nearest = t;
ret = true;
}
}
ret = true;
}
}
}
if ( ret )
if (ret)
{
if ( 0 )
{
CTriVector::const_iterator i;
for (i=input_mesh.begin(); i!=input_mesh.end(); ++i)
{
const CTri &c = (*i);
if ( c.mI1 != m.mI1 && c.mI2 != m.mI2 && c.mI3 != m.mI3 )
{
c.clip( m.mP1, m.mNear1 );
c.clip( m.mP2, m.mNear2 );
c.clip( m.mP3, m.mNear3 );
}
}
}
if (0)
{
CTriVector::const_iterator i;
for (i = input_mesh.begin(); i != input_mesh.end(); ++i)
{
const CTri &c = (*i);
if (c.mI1 != m.mI1 && c.mI2 != m.mI2 && c.mI3 != m.mI3)
{
c.clip(m.mP1, m.mNear1);
c.clip(m.mP2, m.mNear2);
c.clip(m.mP3, m.mNear3);
}
}
}
//gLog->Display("*********************************************\r\n");
//gLog->Display(" HullPlaneNearest: %0.4f,%0.4f,%0.4f %0.4f\r\n", nearest.mNormal.x, nearest.mNormal.y, nearest.mNormal.z, nearest.mPlaneD );
//gLog->Display("*********************************************\r\n");
//gLog->Display(" HullPlaneNearest: %0.4f,%0.4f,%0.4f %0.4f\r\n", nearest.mNormal.x, nearest.mNormal.y, nearest.mNormal.z, nearest.mPlaneD );
m.mC1 = m.mP1.Distance( m.mNear1 );
m.mC2 = m.mP2.Distance( m.mNear2 );
m.mC3 = m.mP3.Distance( m.mNear3 );
m.mC1 = m.mP1.Distance(m.mNear1);
m.mC2 = m.mP2.Distance(m.mNear2);
m.mC3 = m.mP3.Distance(m.mNear3);
m.mConcavity = m.mC1;
if ( m.mC2 > m.mConcavity ) m.mConcavity = m.mC2;
if ( m.mC3 > m.mConcavity ) m.mConcavity = m.mC3;
if (m.mC2 > m.mConcavity) m.mConcavity = m.mC2;
if (m.mC3 > m.mConcavity) m.mConcavity = m.mC3;
#if 0
#if 0
callback->ConvexDebugTri( m.mP1.Ptr(), m.mP2.Ptr(), m.mP3.Ptr(), 0x00FF00 );
callback->ConvexDebugTri( m.mNear1.Ptr(), m.mNear2.Ptr(), m.mNear3.Ptr(), 0xFF0000 );
callback->ConvexDebugTri( m.mP1.Ptr(), m.mP1.Ptr(), m.mNear1.Ptr(), 0xFFFF00 );
callback->ConvexDebugTri( m.mP2.Ptr(), m.mP2.Ptr(), m.mNear2.Ptr(), 0xFFFF00 );
callback->ConvexDebugTri( m.mP3.Ptr(), m.mP3.Ptr(), m.mNear3.Ptr(), 0xFFFF00 );
#endif
#endif
}
else
{
@ -520,83 +496,78 @@ bool featureMatch(CTri &m,const CTriVector &tris,ConvexDecompInterface *callback
return ret;
}
bool isFeatureTri(CTri &t,CTriVector &flist,float fc,ConvexDecompInterface *callback,unsigned int color)
bool isFeatureTri(CTri &t, CTriVector &flist, float fc, ConvexDecompInterface *callback, unsigned int color)
{
bool ret = false;
bool ret = false;
if ( t.mProcessed == 0 ) // if not already processed
{
if (t.mProcessed == 0) // if not already processed
{
float c = t.mConcavity / fc; // must be within 80% of the concavity of the parent.
float c = t.mConcavity / fc; // must be within 80% of the concavity of the parent.
if ( c > 0.85f )
{
// see if this triangle is a 'feature' triangle. Meaning it shares an
// edge with any existing feature triangle and is within roughly the same
// concavity of the parent.
if ( flist.size() )
if (c > 0.85f)
{
// see if this triangle is a 'feature' triangle. Meaning it shares an
// edge with any existing feature triangle and is within roughly the same
// concavity of the parent.
if (flist.size())
{
CTriVector::iterator i;
for (i=flist.begin(); i!=flist.end(); ++i)
{
CTri &ftri = (*i);
if ( ftri.sharesEdge(t) )
{
t.mProcessed = 2; // it is now part of a feature.
flist.push_back(t); // add it to the feature list.
// callback->ConvexDebugTri( t.mP1.Ptr(), t.mP2.Ptr(),t.mP3.Ptr(), color );
ret = true;
break;
}
CTriVector::iterator i;
for (i = flist.begin(); i != flist.end(); ++i)
{
CTri &ftri = (*i);
if (ftri.sharesEdge(t))
{
t.mProcessed = 2; // it is now part of a feature.
flist.push_back(t); // add it to the feature list.
// callback->ConvexDebugTri( t.mP1.Ptr(), t.mP2.Ptr(),t.mP3.Ptr(), color );
ret = true;
break;
}
}
}
else
{
t.mProcessed = 2;
flist.push_back(t); // add it to the feature list.
// callback->ConvexDebugTri( t.mP1.Ptr(), t.mP2.Ptr(),t.mP3.Ptr(), color );
flist.push_back(t); // add it to the feature list.
// callback->ConvexDebugTri( t.mP1.Ptr(), t.mP2.Ptr(),t.mP3.Ptr(), color );
ret = true;
}
}
else
{
t.mProcessed = 1; // eliminated for this feature, but might be valid for the next one..
}
}
return ret;
}
else
{
t.mProcessed = 1; // eliminated for this feature, but might be valid for the next one..
}
}
return ret;
}
float computeConcavity(unsigned int vcount,
const float *vertices,
unsigned int tcount,
const unsigned int *indices,
ConvexDecompInterface *callback,
float *plane, // plane equation to split on
float &volume)
const float *vertices,
unsigned int tcount,
const unsigned int *indices,
ConvexDecompInterface *callback,
float *plane, // plane equation to split on
float &volume)
{
float cret = 0;
volume = 1;
HullResult result;
HullLibrary hl;
HullDesc desc;
HullResult result;
HullLibrary hl;
HullDesc desc;
desc.mMaxFaces = 256;
desc.mMaxVertices = 256;
desc.SetHullFlag(QF_TRIANGLES);
desc.mVcount = vcount;
desc.mVertices = vertices;
desc.mVertexStride = sizeof(float) * 3;
desc.mVcount = vcount;
desc.mVertices = vertices;
desc.mVertexStride = sizeof(float)*3;
HullError ret = hl.CreateConvexHull(desc, result);
HullError ret = hl.CreateConvexHull(desc,result);
if ( ret == QE_OK )
{
if (ret == QE_OK)
{
#if 0
float bmin[3];
float bmax[3];
@ -612,7 +583,7 @@ float computeConcavity(unsigned int vcount,
center.z = bmin[2] + dz*0.5f;
#endif
volume = computeMeshVolume2( result.mOutputVertices, result.mNumFaces, result.mIndices );
volume = computeMeshVolume2(result.mOutputVertices, result.mNumFaces, result.mIndices);
#if 1
// ok..now..for each triangle on the original mesh..
@ -621,90 +592,85 @@ float computeConcavity(unsigned int vcount,
CTriVector tris;
for (unsigned int i=0; i<result.mNumFaces; i++)
{
unsigned int i1 = *source++;
unsigned int i2 = *source++;
unsigned int i3 = *source++;
for (unsigned int i = 0; i < result.mNumFaces; i++)
{
unsigned int i1 = *source++;
unsigned int i2 = *source++;
unsigned int i3 = *source++;
const float *p1 = &result.mOutputVertices[i1*3];
const float *p2 = &result.mOutputVertices[i2*3];
const float *p3 = &result.mOutputVertices[i3*3];
const float *p1 = &result.mOutputVertices[i1 * 3];
const float *p2 = &result.mOutputVertices[i2 * 3];
const float *p3 = &result.mOutputVertices[i3 * 3];
// callback->ConvexDebugTri(p1,p2,p3,0xFFFFFF);
// callback->ConvexDebugTri(p1,p2,p3,0xFFFFFF);
CTri t(p1,p2,p3,i1,i2,i3); //
CTri t(p1, p2, p3, i1, i2, i3); //
tris.push_back(t);
}
// we have not pre-computed the plane equation for each triangle in the convex hull..
// we have not pre-computed the plane equation for each triangle in the convex hull..
float totalVolume = 0;
CTriVector ftris; // 'feature' triangles.
CTriVector ftris; // 'feature' triangles.
const unsigned int *src = indices;
float maxc = 0;
float maxc=0;
if ( 1 )
if (1)
{
CTriVector input_mesh;
if ( 1 )
{
const unsigned int *src = indices;
for (unsigned int i=0; i<tcount; i++)
{
unsigned int i1 = *src++;
unsigned int i2 = *src++;
unsigned int i3 = *src++;
const float *p1 = &vertices[i1*3];
const float *p2 = &vertices[i2*3];
const float *p3 = &vertices[i3*3];
CTri t(p1,p2,p3,i1,i2,i3);
input_mesh.push_back(t);
}
}
CTri maxctri;
for (unsigned int i=0; i<tcount; i++)
CTriVector input_mesh;
if (1)
{
unsigned int i1 = *src++;
unsigned int i2 = *src++;
unsigned int i3 = *src++;
const float *p1 = &vertices[i1*3];
const float *p2 = &vertices[i2*3];
const float *p3 = &vertices[i3*3];
CTri t(p1,p2,p3,i1,i2,i3);
featureMatch(t, tris, callback, input_mesh );
if ( t.mConcavity > CONCAVE_THRESH )
const unsigned int *src = indices;
for (unsigned int i = 0; i < tcount; i++)
{
unsigned int i1 = *src++;
unsigned int i2 = *src++;
unsigned int i3 = *src++;
if ( t.mConcavity > maxc )
{
maxc = t.mConcavity;
maxctri = t;
}
const float *p1 = &vertices[i1 * 3];
const float *p2 = &vertices[i2 * 3];
const float *p3 = &vertices[i3 * 3];
float v = t.getVolume(0);
totalVolume+=v;
ftris.push_back(t);
}
CTri t(p1, p2, p3, i1, i2, i3);
input_mesh.push_back(t);
}
}
CTri maxctri;
for (unsigned int i = 0; i < tcount; i++)
{
unsigned int i1 = *src++;
unsigned int i2 = *src++;
unsigned int i3 = *src++;
const float *p1 = &vertices[i1 * 3];
const float *p2 = &vertices[i2 * 3];
const float *p3 = &vertices[i3 * 3];
CTri t(p1, p2, p3, i1, i2, i3);
featureMatch(t, tris, callback, input_mesh);
if (t.mConcavity > CONCAVE_THRESH)
{
if (t.mConcavity > maxc)
{
maxc = t.mConcavity;
maxctri = t;
}
float v = t.getVolume(0);
totalVolume += v;
ftris.push_back(t);
}
}
}
#if 0
if ( ftris.size() && 0 )
{
@ -725,17 +691,17 @@ float computeConcavity(unsigned int vcount,
do
{
found = false;
CTriVector::iterator i;
for (i=ftris.begin(); i!=ftris.end(); ++i)
{
CTri &t = (*i);
if ( isFeatureTri(t,flist,maxc,callback,color) )
{
found = true;
totalarea+=t.area();
}
}
found = false;
CTriVector::iterator i;
for (i=ftris.begin(); i!=ftris.end(); ++i)
{
CTri &t = (*i);
if ( isFeatureTri(t,flist,maxc,callback,color) )
{
found = true;
totalarea+=t.area();
}
}
} while ( found );
@ -759,6 +725,7 @@ float computeConcavity(unsigned int vcount,
}
}
}
}
unsigned int color = getDebugColor();
@ -784,12 +751,11 @@ float computeConcavity(unsigned int vcount,
cret = totalVolume;
hl.ReleaseResult(result);
}
hl.ReleaseResult(result);
}
#endif
return cret;
}
}
} // namespace ConvexDecomposition

19
Engine/lib/bullet/Extras/ConvexDecomposition/concavity.h
View file

@ -36,25 +36,20 @@
// http://www.amillionpixels.us
//
namespace ConvexDecomposition
{
class ConvexDecompInterface;
// compute's how 'concave' this object is and returns the total volume of the
// convex hull as well as the volume of the 'concavity' which was found.
float computeConcavity(unsigned int vcount,
const float *vertices,
unsigned int tcount,
const unsigned int *indices,
ConvexDecompInterface *callback,
float *plane,
float &volume);
}
const float *vertices,
unsigned int tcount,
const unsigned int *indices,
ConvexDecompInterface *callback,
float *plane,
float &volume);
} // namespace ConvexDecomposition
#endif

173
Engine/lib/bullet/Extras/ConvexDecomposition/fitsphere.cpp
View file

@ -6,7 +6,6 @@
#include "fitsphere.h"
/*----------------------------------------------------------------------
Copyright (c) 2004 Open Dynamics Framework Group
www.physicstools.org
@ -53,27 +52,26 @@ from "Graphics Gems", Academic Press, 1990
/* The abs() of all coordinates must be < BIGNUMBER */
/* Code written by Jack Ritter and Lyle Rains. */
#define BIGNUMBER 100000000.0 /* hundred million */
#define BIGNUMBER 100000000.0 /* hundred million */
static inline void Set(float *n,float x,float y,float z)
static inline void Set(float *n, float x, float y, float z)
{
n[0] = x;
n[1] = y;
n[2] = z;
}
static inline void Copy(float *dest,const float *source)
static inline void Copy(float *dest, const float *source)
{
dest[0] = source[0];
dest[1] = source[1];
dest[2] = source[2];
}
float computeBoundingSphere(unsigned int vcount,const float *points,float *center)
float computeBoundingSphere(unsigned int vcount, const float *points, float *center)
{
float mRadius;
float mRadius2;
float mRadius;
float mRadius2;
float xmin[3];
float xmax[3];
@ -84,119 +82,116 @@ float computeBoundingSphere(unsigned int vcount,const float *points,float *cente
float dia1[3];
float dia2[3];
/* FIRST PASS: find 6 minima/maxima points */
Set(xmin,BIGNUMBER,BIGNUMBER,BIGNUMBER);
Set(xmax,-BIGNUMBER,-BIGNUMBER,-BIGNUMBER);
Set(ymin,BIGNUMBER,BIGNUMBER,BIGNUMBER);
Set(ymax,-BIGNUMBER,-BIGNUMBER,-BIGNUMBER);
Set(zmin,BIGNUMBER,BIGNUMBER,BIGNUMBER);
Set(zmax,-BIGNUMBER,-BIGNUMBER,-BIGNUMBER);
/* FIRST PASS: find 6 minima/maxima points */
Set(xmin, BIGNUMBER, BIGNUMBER, BIGNUMBER);
Set(xmax, -BIGNUMBER, -BIGNUMBER, -BIGNUMBER);
Set(ymin, BIGNUMBER, BIGNUMBER, BIGNUMBER);
Set(ymax, -BIGNUMBER, -BIGNUMBER, -BIGNUMBER);
Set(zmin, BIGNUMBER, BIGNUMBER, BIGNUMBER);
Set(zmax, -BIGNUMBER, -BIGNUMBER, -BIGNUMBER);
for (unsigned i=0; i<vcount; i++)
for (unsigned i = 0; i < vcount; i++)
{
const float *caller_p = &points[i*3];
const float *caller_p = &points[i * 3];
if (caller_p[0]<xmin[0])
Copy(xmin,caller_p); /* New xminimum point */
if (caller_p[0]>xmax[0])
Copy(xmax,caller_p);
if (caller_p[1]<ymin[1])
Copy(ymin,caller_p);
if (caller_p[1]>ymax[1])
Copy(ymax,caller_p);
if (caller_p[2]<zmin[2])
Copy(zmin,caller_p);
if (caller_p[2]>zmax[2])
Copy(zmax,caller_p);
if (caller_p[0] < xmin[0])
Copy(xmin, caller_p); /* New xminimum point */
if (caller_p[0] > xmax[0])
Copy(xmax, caller_p);
if (caller_p[1] < ymin[1])
Copy(ymin, caller_p);
if (caller_p[1] > ymax[1])
Copy(ymax, caller_p);
if (caller_p[2] < zmin[2])
Copy(zmin, caller_p);
if (caller_p[2] > zmax[2])
Copy(zmax, caller_p);
}
/* Set xspan = distance between the 2 points xmin & xmax (squared) */
float dx = xmax[0] - xmin[0];
float dy = xmax[1] - xmin[1];
float dz = xmax[2] - xmin[2];
float xspan = dx*dx + dy*dy + dz*dz;
/* Set xspan = distance between the 2 points xmin & xmax (squared) */
float dx = xmax[0] - xmin[0];
float dy = xmax[1] - xmin[1];
float dz = xmax[2] - xmin[2];
float xspan = dx * dx + dy * dy + dz * dz;
/* Same for y & z spans */
dx = ymax[0] - ymin[0];
dy = ymax[1] - ymin[1];
dz = ymax[2] - ymin[2];
float yspan = dx*dx + dy*dy + dz*dz;
/* Same for y & z spans */
dx = ymax[0] - ymin[0];
dy = ymax[1] - ymin[1];
dz = ymax[2] - ymin[2];
float yspan = dx * dx + dy * dy + dz * dz;
dx = zmax[0] - zmin[0];
dy = zmax[1] - zmin[1];
dz = zmax[2] - zmin[2];
float zspan = dx*dx + dy*dy + dz*dz;
dx = zmax[0] - zmin[0];
dy = zmax[1] - zmin[1];
dz = zmax[2] - zmin[2];
float zspan = dx * dx + dy * dy + dz * dz;
/* Set points dia1 & dia2 to the maximally separated pair */
Copy(dia1,xmin);
Copy(dia2,xmax); /* assume xspan biggest */
float maxspan = xspan;
/* Set points dia1 & dia2 to the maximally separated pair */
Copy(dia1, xmin);
Copy(dia2, xmax); /* assume xspan biggest */
float maxspan = xspan;
if (yspan>maxspan)
if (yspan > maxspan)
{
maxspan = yspan;
Copy(dia1,ymin);
Copy(dia2,ymax);
maxspan = yspan;
Copy(dia1, ymin);
Copy(dia2, ymax);
}
if (zspan>maxspan)
if (zspan > maxspan)
{
Copy(dia1,zmin);
Copy(dia2,zmax);
Copy(dia1, zmin);
Copy(dia2, zmax);
}
/* dia1,dia2 is a diameter of initial sphere */
/* calc initial center */
center[0] = (dia1[0] + dia2[0]) * 0.5f;
center[1] = (dia1[1] + dia2[1]) * 0.5f;
center[2] = (dia1[2] + dia2[2]) * 0.5f;
/* dia1,dia2 is a diameter of initial sphere */
/* calc initial center */
center[0] = (dia1[0]+dia2[0])*0.5f;
center[1] = (dia1[1]+dia2[1])*0.5f;
center[2] = (dia1[2]+dia2[2])*0.5f;
/* calculate initial radius**2 and radius */
/* calculate initial radius**2 and radius */
dx = dia2[0] - center[0]; /* x component of radius vector */
dy = dia2[1] - center[1]; /* y component of radius vector */
dz = dia2[2] - center[2]; /* z component of radius vector */
dx = dia2[0]-center[0]; /* x component of radius vector */
dy = dia2[1]-center[1]; /* y component of radius vector */
dz = dia2[2]-center[2]; /* z component of radius vector */
mRadius2 = dx * dx + dy * dy + dz * dz;
mRadius = float(sqrt(mRadius2));
mRadius2 = dx*dx + dy*dy + dz*dz;
mRadius = float(sqrt(mRadius2));
/* SECOND PASS: increment current sphere */
/* SECOND PASS: increment current sphere */
if ( 1 )
if (1)
{
for (unsigned i=0; i<vcount; i++)
for (unsigned i = 0; i < vcount; i++)
{
const float *caller_p = &points[i*3];
const float *caller_p = &points[i * 3];
dx = caller_p[0]-center[0];
dy = caller_p[1]-center[1];
dz = caller_p[2]-center[2];
dx = caller_p[0] - center[0];
dy = caller_p[1] - center[1];
dz = caller_p[2] - center[2];
float old_to_p_sq = dx*dx + dy*dy + dz*dz;
float old_to_p_sq = dx * dx + dy * dy + dz * dz;
if (old_to_p_sq > mRadius2) /* do r**2 test first */
{ /* this point is outside of current sphere */
float old_to_p = float(sqrt(old_to_p_sq));
if (old_to_p_sq > mRadius2) /* do r**2 test first */
{ /* this point is outside of current sphere */
float old_to_p = float(sqrt(old_to_p_sq));
/* calc radius of new sphere */
mRadius = (mRadius + old_to_p) * 0.5f;
mRadius2 = mRadius*mRadius; /* for next r**2 compare */
float old_to_new = old_to_p - mRadius;
mRadius = (mRadius + old_to_p) * 0.5f;
mRadius2 = mRadius * mRadius; /* for next r**2 compare */
float old_to_new = old_to_p - mRadius;
/* calc center of new sphere */
/* calc center of new sphere */
float recip = 1.0f /old_to_p;
float recip = 1.0f / old_to_p;
float cx = (mRadius*center[0] + old_to_new*caller_p[0]) * recip;
float cy = (mRadius*center[1] + old_to_new*caller_p[1]) * recip;
float cz = (mRadius*center[2] + old_to_new*caller_p[2]) * recip;
float cx = (mRadius * center[0] + old_to_new * caller_p[0]) * recip;
float cy = (mRadius * center[1] + old_to_new * caller_p[1]) * recip;
float cz = (mRadius * center[2] + old_to_new * caller_p[2]) * recip;
Set(center,cx,cy,cz);
Set(center, cx, cy, cz);
}
}
}
return mRadius;
return mRadius;
}

4
Engine/lib/bullet/Extras/ConvexDecomposition/fitsphere.h
View file

@ -36,8 +36,6 @@
// http://www.amillionpixels.us
//
float computeBoundingSphere(unsigned int vcount,const float *points,float *center);
float computeBoundingSphere(unsigned int vcount, const float *points, float *center);
#endif

219
Engine/lib/bullet/Extras/ConvexDecomposition/float_math.cpp
View file

@ -6,7 +6,6 @@
#include <assert.h>
#include <math.h>
/*----------------------------------------------------------------------
Copyright (c) 2004 Open Dynamics Framework Group
www.physicstools.org
@ -41,58 +40,53 @@
// http://www.amillionpixels.us
//
void fm_inverseRT(const float *matrix,const float *pos,float *t) // inverse rotate translate the point.
void fm_inverseRT(const float *matrix, const float *pos, float *t) // inverse rotate translate the point.
{
float _x = pos[0] - matrix[3*4+0];
float _y = pos[1] - matrix[3*4+1];
float _z = pos[2] - matrix[3*4+2];
float _x = pos[0] - matrix[3 * 4 + 0];
float _y = pos[1] - matrix[3 * 4 + 1];
float _z = pos[2] - matrix[3 * 4 + 2];
// Multiply inverse-translated source vector by inverted rotation transform
t[0] = (matrix[0*4+0] * _x) + (matrix[0*4+1] * _y) + (matrix[0*4+2] * _z);
t[1] = (matrix[1*4+0] * _x) + (matrix[1*4+1] * _y) + (matrix[1*4+2] * _z);
t[2] = (matrix[2*4+0] * _x) + (matrix[2*4+1] * _y) + (matrix[2*4+2] * _z);
t[0] = (matrix[0 * 4 + 0] * _x) + (matrix[0 * 4 + 1] * _y) + (matrix[0 * 4 + 2] * _z);
t[1] = (matrix[1 * 4 + 0] * _x) + (matrix[1 * 4 + 1] * _y) + (matrix[1 * 4 + 2] * _z);
t[2] = (matrix[2 * 4 + 0] * _x) + (matrix[2 * 4 + 1] * _y) + (matrix[2 * 4 + 2] * _z);
}
void fm_identity(float *matrix) // set 4x4 matrix to identity.
void fm_identity(float *matrix) // set 4x4 matrix to identity.
{
matrix[0*4+0] = 1;
matrix[1*4+1] = 1;
matrix[2*4+2] = 1;
matrix[3*4+3] = 1;
matrix[0 * 4 + 0] = 1;
matrix[1 * 4 + 1] = 1;
matrix[2 * 4 + 2] = 1;
matrix[3 * 4 + 3] = 1;
matrix[1*4+0] = 0;
matrix[2*4+0] = 0;
matrix[3*4+0] = 0;
matrix[1 * 4 + 0] = 0;
matrix[2 * 4 + 0] = 0;
matrix[3 * 4 + 0] = 0;
matrix[0*4+1] = 0;
matrix[2*4+1] = 0;
matrix[3*4+1] = 0;
matrix[0 * 4 + 1] = 0;
matrix[2 * 4 + 1] = 0;
matrix[3 * 4 + 1] = 0;
matrix[0*4+2] = 0;
matrix[1*4+2] = 0;
matrix[3*4+2] = 0;
matrix[0*4+3] = 0;
matrix[1*4+3] = 0;
matrix[2*4+3] = 0;
matrix[0 * 4 + 2] = 0;
matrix[1 * 4 + 2] = 0;
matrix[3 * 4 + 2] = 0;
matrix[0 * 4 + 3] = 0;
matrix[1 * 4 + 3] = 0;
matrix[2 * 4 + 3] = 0;
}
void fm_eulerMatrix(float ax,float ay,float az,float *matrix) // convert euler (in radians) to a dest 4x4 matrix (translation set to zero)
void fm_eulerMatrix(float ax, float ay, float az, float *matrix) // convert euler (in radians) to a dest 4x4 matrix (translation set to zero)
{
float quat[4];
fm_eulerToQuat(ax,ay,az,quat);
fm_quatToMatrix(quat,matrix);
float quat[4];
fm_eulerToQuat(ax, ay, az, quat);
fm_quatToMatrix(quat, matrix);
}
void fm_getAABB(unsigned int vcount,const float *points,unsigned int pstride,float *bmin,float *bmax)
void fm_getAABB(unsigned int vcount, const float *points, unsigned int pstride, float *bmin, float *bmax)
{
const unsigned char *source = (const unsigned char *) points;
const unsigned char *source = (const unsigned char *)points;
bmin[0] = points[0];
bmin[1] = points[1];
@ -102,29 +96,26 @@ void fm_getAABB(unsigned int vcount,const float *points,unsigned int pstride,flo
bmax[1] = points[1];
bmax[2] = points[2];
for (unsigned int i = 1; i < vcount; i++)
{
source += pstride;
const float *p = (const float *)source;
for (unsigned int i=1; i<vcount; i++)
{
source+=pstride;
const float *p = (const float *) source;
if (p[0] < bmin[0]) bmin[0] = p[0];
if (p[1] < bmin[1]) bmin[1] = p[1];
if (p[2] < bmin[2]) bmin[2] = p[2];
if ( p[0] < bmin[0] ) bmin[0] = p[0];
if ( p[1] < bmin[1] ) bmin[1] = p[1];
if ( p[2] < bmin[2] ) bmin[2] = p[2];
if ( p[0] > bmax[0] ) bmax[0] = p[0];
if ( p[1] > bmax[1] ) bmax[1] = p[1];
if ( p[2] > bmax[2] ) bmax[2] = p[2];
}
if (p[0] > bmax[0]) bmax[0] = p[0];
if (p[1] > bmax[1]) bmax[1] = p[1];
if (p[2] > bmax[2]) bmax[2] = p[2];
}
}
void fm_eulerToQuat(float roll,float pitch,float yaw,float *quat) // convert euler angles to quaternion.
void fm_eulerToQuat(float roll, float pitch, float yaw, float *quat) // convert euler angles to quaternion.
{
roll *= 0.5f;
roll *= 0.5f;
pitch *= 0.5f;
yaw *= 0.5f;
yaw *= 0.5f;
float cr = cosf(roll);
float cp = cosf(pitch);
@ -139,119 +130,109 @@ void fm_eulerToQuat(float roll,float pitch,float yaw,float *quat) // convert eul
float spcy = sp * cy;
float cpsy = cp * sy;
quat[0] = ( sr * cpcy - cr * spsy);
quat[1] = ( cr * spcy + sr * cpsy);
quat[2] = ( cr * cpsy - sr * spcy);
quat[3] = cr * cpcy + sr * spsy;
quat[0] = (sr * cpcy - cr * spsy);
quat[1] = (cr * spcy + sr * cpsy);
quat[2] = (cr * cpsy - sr * spcy);
quat[3] = cr * cpcy + sr * spsy;
}
void fm_quatToMatrix(const float *quat,float *matrix) // convert quaterinion rotation to matrix, zeros out the translation component.
void fm_quatToMatrix(const float *quat, float *matrix) // convert quaterinion rotation to matrix, zeros out the translation component.
{
float xx = quat[0] * quat[0];
float yy = quat[1] * quat[1];
float zz = quat[2] * quat[2];
float xy = quat[0] * quat[1];
float xz = quat[0] * quat[2];
float yz = quat[1] * quat[2];
float wx = quat[3] * quat[0];
float wy = quat[3] * quat[1];
float wz = quat[3] * quat[2];
float xx = quat[0]*quat[0];
float yy = quat[1]*quat[1];
float zz = quat[2]*quat[2];
float xy = quat[0]*quat[1];
float xz = quat[0]*quat[2];
float yz = quat[1]*quat[2];
float wx = quat[3]*quat[0];
float wy = quat[3]*quat[1];
float wz = quat[3]*quat[2];
matrix[0 * 4 + 0] = 1 - 2 * (yy + zz);
matrix[1 * 4 + 0] = 2 * (xy - wz);
matrix[2 * 4 + 0] = 2 * (xz + wy);
matrix[0*4+0] = 1 - 2 * ( yy + zz );
matrix[1*4+0] = 2 * ( xy - wz );
matrix[2*4+0] = 2 * ( xz + wy );
matrix[0 * 4 + 1] = 2 * (xy + wz);
matrix[1 * 4 + 1] = 1 - 2 * (xx + zz);
matrix[2 * 4 + 1] = 2 * (yz - wx);
matrix[0*4+1] = 2 * ( xy + wz );
matrix[1*4+1] = 1 - 2 * ( xx + zz );
matrix[2*4+1] = 2 * ( yz - wx );
matrix[0*4+2] = 2 * ( xz - wy );
matrix[1*4+2] = 2 * ( yz + wx );
matrix[2*4+2] = 1 - 2 * ( xx + yy );
matrix[3*4+0] = matrix[3*4+1] = matrix[3*4+2] = 0.0f;
matrix[0*4+3] = matrix[1*4+3] = matrix[2*4+3] = 0.0f;
matrix[3*4+3] = 1.0f;
matrix[0 * 4 + 2] = 2 * (xz - wy);
matrix[1 * 4 + 2] = 2 * (yz + wx);
matrix[2 * 4 + 2] = 1 - 2 * (xx + yy);
matrix[3 * 4 + 0] = matrix[3 * 4 + 1] = matrix[3 * 4 + 2] = 0.0f;
matrix[0 * 4 + 3] = matrix[1 * 4 + 3] = matrix[2 * 4 + 3] = 0.0f;
matrix[3 * 4 + 3] = 1.0f;
}
void fm_quatRotate(const float *quat,const float *v,float *r) // rotate a vector directly by a quaternion.
void fm_quatRotate(const float *quat, const float *v, float *r) // rotate a vector directly by a quaternion.
{
float left[4];
float left[4];
left[0] = quat[3]*v[0] + quat[1]*v[2] - v[1]*quat[2];
left[1] = quat[3]*v[1] + quat[2]*v[0] - v[2]*quat[0];
left[2] = quat[3]*v[2] + quat[0]*v[1] - v[0]*quat[1];
left[3] = - quat[0]*v[0] - quat[1]*v[1] - quat[2]*v[2];
r[0] = (left[3]*-quat[0]) + (quat[3]*left[0]) + (left[1]*-quat[2]) - (-quat[1]*left[2]);
r[1] = (left[3]*-quat[1]) + (quat[3]*left[1]) + (left[2]*-quat[0]) - (-quat[2]*left[0]);
r[2] = (left[3]*-quat[2]) + (quat[3]*left[2]) + (left[0]*-quat[1]) - (-quat[0]*left[1]);
left[0] = quat[3] * v[0] + quat[1] * v[2] - v[1] * quat[2];
left[1] = quat[3] * v[1] + quat[2] * v[0] - v[2] * quat[0];
left[2] = quat[3] * v[2] + quat[0] * v[1] - v[0] * quat[1];
left[3] = -quat[0] * v[0] - quat[1] * v[1] - quat[2] * v[2];
r[0] = (left[3] * -quat[0]) + (quat[3] * left[0]) + (left[1] * -quat[2]) - (-quat[1] * left[2]);
r[1] = (left[3] * -quat[1]) + (quat[3] * left[1]) + (left[2] * -quat[0]) - (-quat[2] * left[0]);
r[2] = (left[3] * -quat[2]) + (quat[3] * left[2]) + (left[0] * -quat[1]) - (-quat[0] * left[1]);
}
void fm_getTranslation(const float *matrix,float *t)
void fm_getTranslation(const float *matrix, float *t)
{
t[0] = matrix[3*4+0];
t[1] = matrix[3*4+1];
t[2] = matrix[3*4+2];
t[0] = matrix[3 * 4 + 0];
t[1] = matrix[3 * 4 + 1];
t[2] = matrix[3 * 4 + 2];
}
void fm_matrixToQuat(const float *matrix,float *quat) // convert the 3x3 portion of a 4x4 matrix into a quaterion as x,y,z,w
void fm_matrixToQuat(const float *matrix, float *quat) // convert the 3x3 portion of a 4x4 matrix into a quaterion as x,y,z,w
{
float tr = matrix[0*4+0] + matrix[1*4+1] + matrix[2*4+2];
float tr = matrix[0 * 4 + 0] + matrix[1 * 4 + 1] + matrix[2 * 4 + 2];
// check the diagonal
if (tr > 0.0f )
if (tr > 0.0f)
{
float s = (float) sqrt ( (double) (tr + 1.0f) );
float s = (float)sqrt((double)(tr + 1.0f));
quat[3] = s * 0.5f;
s = 0.5f / s;
quat[0] = (matrix[1*4+2] - matrix[2*4+1]) * s;
quat[1] = (matrix[2*4+0] - matrix[0*4+2]) * s;
quat[2] = (matrix[0*4+1] - matrix[1*4+0]) * s;
quat[0] = (matrix[1 * 4 + 2] - matrix[2 * 4 + 1]) * s;
quat[1] = (matrix[2 * 4 + 0] - matrix[0 * 4 + 2]) * s;
quat[2] = (matrix[0 * 4 + 1] - matrix[1 * 4 + 0]) * s;
}
else
{
// diagonal is negative
int nxt[3] = {1, 2, 0};
float qa[4];
float qa[4];
int i = 0;
if (matrix[1*4+1] > matrix[0*4+0]) i = 1;
if (matrix[2*4+2] > matrix[i*4+i]) i = 2;
if (matrix[1 * 4 + 1] > matrix[0 * 4 + 0]) i = 1;
if (matrix[2 * 4 + 2] > matrix[i * 4 + i]) i = 2;
int j = nxt[i];
int k = nxt[j];
float s = sqrtf ( ((matrix[i*4+i] - (matrix[j*4+j] + matrix[k*4+k])) + 1.0f) );
float s = sqrtf(((matrix[i * 4 + i] - (matrix[j * 4 + j] + matrix[k * 4 + k])) + 1.0f));
qa[i] = s * 0.5f;
if (s != 0.0f ) s = 0.5f / s;
if (s != 0.0f) s = 0.5f / s;
qa[3] = (matrix[j*4+k] - matrix[k*4+j]) * s;
qa[j] = (matrix[i*4+j] + matrix[j*4+i]) * s;
qa[k] = (matrix[i*4+k] + matrix[k*4+i]) * s;
qa[3] = (matrix[j * 4 + k] - matrix[k * 4 + j]) * s;
qa[j] = (matrix[i * 4 + j] + matrix[j * 4 + i]) * s;
qa[k] = (matrix[i * 4 + k] + matrix[k * 4 + i]) * s;
quat[0] = qa[0];
quat[1] = qa[1];
quat[2] = qa[2];
quat[3] = qa[3];
}
}
float fm_sphereVolume(float radius) // return's the volume of a sphere of this radius (4/3 PI * R cubed )
float fm_sphereVolume(float radius) // return's the volume of a sphere of this radius (4/3 PI * R cubed )
{
return (4.0f / 3.0f ) * FM_PI * radius * radius * radius;
return (4.0f / 3.0f) * FM_PI * radius * radius * radius;
}

33
Engine/lib/bullet/Extras/ConvexDecomposition/float_math.h
View file

@ -3,12 +3,12 @@
#define FLOAT_MATH_H
#ifdef _WIN32
#pragma warning(disable : 4324) // disable padding warning
#pragma warning(disable : 4244) // disable padding warning
#pragma warning(disable : 4267) // possible loss of data
#pragma warning(disable:4530) // Disable the exception disable but used in MSCV Stl warning.
#pragma warning(disable:4996) //Turn off warnings about deprecated C routines
#pragma warning(disable:4786) // Disable the "debug name too long" warning
#pragma warning(disable : 4324) // disable padding warning
#pragma warning(disable : 4244) // disable padding warning
#pragma warning(disable : 4267) // possible loss of data
#pragma warning(disable : 4530) // Disable the exception disable but used in MSCV Stl warning.
#pragma warning(disable : 4996) //Turn off warnings about deprecated C routines
#pragma warning(disable : 4786) // Disable the "debug name too long" warning
#endif
/*----------------------------------------------------------------------
@ -45,7 +45,6 @@
// http://www.amillionpixels.us
//
// a set of routines that last you do common 3d math
// operations without any vector, matrix, or quaternion
// classes or templates.
@ -58,15 +57,15 @@ const float FM_PI = 3.141592654f;
const float FM_DEG_TO_RAD = ((2.0f * FM_PI) / 360.0f);
const float FM_RAD_TO_DEG = (360.0f / (2.0f * FM_PI));
void fm_identity(float *matrix); // set 4x4 matrix to identity.
void fm_inverseRT(const float *matrix,const float *pos,float *t); // inverse rotate translate the point.
void fm_eulerMatrix(float ax,float ay,float az,float *matrix); // convert euler (in radians) to a dest 4x4 matrix (translation set to zero)
void fm_getAABB(unsigned int vcount,const float *points,unsigned int pstride,float *bmin,float *bmax);
void fm_eulerToQuat(float roll,float pitch,float yaw,float *quat); // convert euler angles to quaternion.
void fm_quatToMatrix(const float *quat,float *matrix); // convert quaterinion rotation to matrix, translation set to zero.
void fm_quatRotate(const float *quat,const float *v,float *r); // rotate a vector directly by a quaternion.
void fm_getTranslation(const float *matrix,float *t);
void fm_matrixToQuat(const float *matrix,float *quat); // convert the 3x3 portion of a 4x4 matrix into a quaterion as x,y,z,w
float fm_sphereVolume(float radius); // return's the volume of a sphere of this radius (4/3 PI * R cubed )
void fm_identity(float *matrix); // set 4x4 matrix to identity.
void fm_inverseRT(const float *matrix, const float *pos, float *t); // inverse rotate translate the point.
void fm_eulerMatrix(float ax, float ay, float az, float *matrix); // convert euler (in radians) to a dest 4x4 matrix (translation set to zero)
void fm_getAABB(unsigned int vcount, const float *points, unsigned int pstride, float *bmin, float *bmax);
void fm_eulerToQuat(float roll, float pitch, float yaw, float *quat); // convert euler angles to quaternion.
void fm_quatToMatrix(const float *quat, float *matrix); // convert quaterinion rotation to matrix, translation set to zero.
void fm_quatRotate(const float *quat, const float *v, float *r); // rotate a vector directly by a quaternion.
void fm_getTranslation(const float *matrix, float *t);
void fm_matrixToQuat(const float *matrix, float *quat); // convert the 3x3 portion of a 4x4 matrix into a quaterion as x,y,z,w
float fm_sphereVolume(float radius); // return's the volume of a sphere of this radius (4/3 PI * R cubed )
#endif

80
Engine/lib/bullet/Extras/ConvexDecomposition/meshvolume.cpp
View file

@ -35,94 +35,90 @@
// http://www.amillionpixels.us
//
inline float det(const float *p1,const float *p2,const float *p3)
inline float det(const float *p1, const float *p2, const float *p3)
{
return p1[0]*p2[1]*p3[2] + p2[0]*p3[1]*p1[2] + p3[0]*p1[1]*p2[2] -p1[0]*p3[1]*p2[2] - p2[0]*p1[1]*p3[2] - p3[0]*p2[1]*p1[2];
return p1[0] * p2[1] * p3[2] + p2[0] * p3[1] * p1[2] + p3[0] * p1[1] * p2[2] - p1[0] * p3[1] * p2[2] - p2[0] * p1[1] * p3[2] - p3[0] * p2[1] * p1[2];
}
float computeMeshVolume(const float *vertices,unsigned int tcount,const unsigned int *indices)
float computeMeshVolume(const float *vertices, unsigned int tcount, const unsigned int *indices)
{
float volume = 0;
for (unsigned int i=0; i<tcount; i++,indices+=3)
for (unsigned int i = 0; i < tcount; i++, indices += 3)
{
const float *p1 = &vertices[indices[0] * 3];
const float *p2 = &vertices[indices[1] * 3];
const float *p3 = &vertices[indices[2] * 3];
const float *p1 = &vertices[ indices[0]*3 ];
const float *p2 = &vertices[ indices[1]*3 ];
const float *p3 = &vertices[ indices[2]*3 ];
volume+=det(p1,p2,p3); // compute the volume of the tetrahedran relative to the origin.
volume += det(p1, p2, p3); // compute the volume of the tetrahedran relative to the origin.
}
volume*=(1.0f/6.0f);
if ( volume < 0 )
volume*=-1;
volume *= (1.0f / 6.0f);
if (volume < 0)
volume *= -1;
return volume;
}
inline void CrossProduct(const float *a,const float *b,float *cross)
inline void CrossProduct(const float *a, const float *b, float *cross)
{
cross[0] = a[1]*b[2] - a[2]*b[1];
cross[1] = a[2]*b[0] - a[0]*b[2];
cross[2] = a[0]*b[1] - a[1]*b[0];
cross[0] = a[1] * b[2] - a[2] * b[1];
cross[1] = a[2] * b[0] - a[0] * b[2];
cross[2] = a[0] * b[1] - a[1] * b[0];
}
inline float DotProduct(const float *a,const float *b)
inline float DotProduct(const float *a, const float *b)
{
return a[0] * b[0] + a[1] * b[1] + a[2] * b[2];
}
inline float tetVolume(const float *p0,const float *p1,const float *p2,const float *p3)
inline float tetVolume(const float *p0, const float *p1, const float *p2, const float *p3)
{
float a[3];
float b[3];
float c[3];
a[0] = p1[0] - p0[0];
a[1] = p1[1] - p0[1];
a[2] = p1[2] - p0[2];
a[0] = p1[0] - p0[0];
a[1] = p1[1] - p0[1];
a[2] = p1[2] - p0[2];
b[0] = p2[0] - p0[0];
b[1] = p2[1] - p0[1];
b[2] = p2[2] - p0[2];
c[0] = p3[0] - p0[0];
c[1] = p3[1] - p0[1];
c[2] = p3[2] - p0[2];
c[0] = p3[0] - p0[0];
c[1] = p3[1] - p0[1];
c[2] = p3[2] - p0[2];
float cross[3];
float cross[3];
CrossProduct( b, c, cross );
CrossProduct(b, c, cross);
float volume = DotProduct( a, cross );
float volume = DotProduct(a, cross);
if ( volume < 0 )
return -volume;
if (volume < 0)
return -volume;
return volume;
return volume;
}
inline float det(const float *p0,const float *p1,const float *p2,const float *p3)
inline float det(const float *p0, const float *p1, const float *p2, const float *p3)
{
return p1[0]*p2[1]*p3[2] + p2[0]*p3[1]*p1[2] + p3[0]*p1[1]*p2[2] -p1[0]*p3[1]*p2[2] - p2[0]*p1[1]*p3[2] - p3[0]*p2[1]*p1[2];
return p1[0] * p2[1] * p3[2] + p2[0] * p3[1] * p1[2] + p3[0] * p1[1] * p2[2] - p1[0] * p3[1] * p2[2] - p2[0] * p1[1] * p3[2] - p3[0] * p2[1] * p1[2];
}
float computeMeshVolume2(const float *vertices,unsigned int tcount,const unsigned int *indices)
float computeMeshVolume2(const float *vertices, unsigned int tcount, const unsigned int *indices)
{
float volume = 0;
const float *p0 = vertices;
for (unsigned int i=0; i<tcount; i++,indices+=3)
for (unsigned int i = 0; i < tcount; i++, indices += 3)
{
const float *p1 = &vertices[indices[0] * 3];
const float *p2 = &vertices[indices[1] * 3];
const float *p3 = &vertices[indices[2] * 3];
const float *p1 = &vertices[ indices[0]*3 ];
const float *p2 = &vertices[ indices[1]*3 ];
const float *p3 = &vertices[ indices[2]*3 ];
volume+=tetVolume(p0,p1,p2,p3); // compute the volume of the tetrahdren relative to the root vertice
volume += tetVolume(p0, p1, p2, p3); // compute the volume of the tetrahdren relative to the root vertice
}
return volume * (1.0f / 6.0f );
return volume * (1.0f / 6.0f);
}

7
Engine/lib/bullet/Extras/ConvexDecomposition/meshvolume.h
View file

@ -36,10 +36,7 @@
// http://www.amillionpixels.us
//
float computeMeshVolume(const float *vertices,unsigned int tcount,const unsigned int *indices);
float computeMeshVolume2(const float *vertices,unsigned int tcount,const unsigned int *indices);
float computeMeshVolume(const float *vertices, unsigned int tcount, const unsigned int *indices);
float computeMeshVolume2(const float *vertices, unsigned int tcount, const unsigned int *indices);
#endif

295
Engine/lib/bullet/Extras/ConvexDecomposition/planetri.cpp
View file

@ -40,199 +40,188 @@
// http://www.amillionpixels.us
//
static inline float DistToPt(const float *p,const float *plane)
static inline float DistToPt(const float *p, const float *plane)
{
float x = p[0];
float y = p[1];
float z = p[2];
float d = x*plane[0] + y*plane[1] + z*plane[2] + plane[3];
float d = x * plane[0] + y * plane[1] + z * plane[2] + plane[3];
return d;
}
static PlaneTriResult getSidePlane(const float *p,const float *plane,float epsilon)
static PlaneTriResult getSidePlane(const float *p, const float *plane, float epsilon)
{
float d = DistToPt(p, plane);
float d = DistToPt(p,plane);
if ((d + epsilon) > 0)
return PTR_FRONT; // it is 'in front' within the provided epsilon value.
if ( (d+epsilon) > 0 )
return PTR_FRONT; // it is 'in front' within the provided epsilon value.
return PTR_BACK;
return PTR_BACK;
}
static void add(const float *p,float *dest,unsigned int tstride,unsigned int &pcount)
static void add(const float *p, float *dest, unsigned int tstride, unsigned int &pcount)
{
char *d = (char *) dest;
d = d + pcount*tstride;
dest = (float *) d;
dest[0] = p[0];
dest[1] = p[1];
dest[2] = p[2];
pcount++;
assert( pcount <= 4 );
char *d = (char *)dest;
d = d + pcount * tstride;
dest = (float *)d;
dest[0] = p[0];
dest[1] = p[1];
dest[2] = p[2];
pcount++;
assert(pcount <= 4);
}
// assumes that the points are on opposite sides of the plane!
static void intersect(const float *p1,const float *p2,float *split,const float *plane)
static void intersect(const float *p1, const float *p2, float *split, const float *plane)
{
float dp1 = DistToPt(p1, plane);
float dp1 = DistToPt(p1,plane);
float dir[3];
float dir[3];
dir[0] = p2[0] - p1[0];
dir[1] = p2[1] - p1[1];
dir[2] = p2[2] - p1[2];
dir[0] = p2[0] - p1[0];
dir[1] = p2[1] - p1[1];
dir[2] = p2[2] - p1[2];
float dot1 = dir[0] * plane[0] + dir[1] * plane[1] + dir[2] * plane[2];
float dot2 = dp1 - plane[3];
float dot1 = dir[0]*plane[0] + dir[1]*plane[1] + dir[2]*plane[2];
float dot2 = dp1 - plane[3];
float t = -(plane[3] + dot2 ) / dot1;
split[0] = (dir[0]*t)+p1[0];
split[1] = (dir[1]*t)+p1[1];
split[2] = (dir[2]*t)+p1[2];
float t = -(plane[3] + dot2) / dot1;
split[0] = (dir[0] * t) + p1[0];
split[1] = (dir[1] * t) + p1[1];
split[2] = (dir[2] * t) + p1[2];
}
PlaneTriResult planeTriIntersection(const float *plane, // the plane equation in Ax+By+Cz+D format
const float *triangle, // the source triangle.
unsigned int tstride, // stride in bytes of the input and output triangles
float epsilon, // the co-planer epsilon value.
float *front, // the triangle in front of the
unsigned int &fcount, // number of vertices in the 'front' triangle
float *back, // the triangle in back of the plane
unsigned int &bcount) // the number of vertices in the 'back' triangle.
PlaneTriResult planeTriIntersection(const float *plane, // the plane equation in Ax+By+Cz+D format
const float *triangle, // the source triangle.
unsigned int tstride, // stride in bytes of the input and output triangles
float epsilon, // the co-planer epsilon value.
float *front, // the triangle in front of the
unsigned int &fcount, // number of vertices in the 'front' triangle
float *back, // the triangle in back of the plane
unsigned int &bcount) // the number of vertices in the 'back' triangle.
{
fcount = 0;
bcount = 0;
fcount = 0;
bcount = 0;
const char *tsource = (const char *) triangle;
const char *tsource = (const char *)triangle;
// get the three vertices of the triangle.
const float *p1 = (const float *) (tsource);
const float *p2 = (const float *) (tsource+tstride);
const float *p3 = (const float *) (tsource+tstride*2);
// get the three vertices of the triangle.
const float *p1 = (const float *)(tsource);
const float *p2 = (const float *)(tsource + tstride);
const float *p3 = (const float *)(tsource + tstride * 2);
PlaneTriResult r1 = getSidePlane(p1, plane, epsilon); // compute the side of the plane each vertex is on
PlaneTriResult r2 = getSidePlane(p2, plane, epsilon);
PlaneTriResult r3 = getSidePlane(p3, plane, epsilon);
PlaneTriResult r1 = getSidePlane(p1,plane,epsilon); // compute the side of the plane each vertex is on
PlaneTriResult r2 = getSidePlane(p2,plane,epsilon);
PlaneTriResult r3 = getSidePlane(p3,plane,epsilon);
if (r1 == r2 && r1 == r3) // if all three vertices are on the same side of the plane.
{
if (r1 == PTR_FRONT) // if all three are in front of the plane, then copy to the 'front' output triangle.
{
add(p1, front, tstride, fcount);
add(p2, front, tstride, fcount);
add(p3, front, tstride, fcount);
}
else
{
add(p1, back, tstride, bcount); // if all three are in 'abck' then copy to the 'back' output triangle.
add(p2, back, tstride, bcount);
add(p3, back, tstride, bcount);
}
return r1; // if all three points are on the same side of the plane return result
}
if ( r1 == r2 && r1 == r3 ) // if all three vertices are on the same side of the plane.
{
if ( r1 == PTR_FRONT ) // if all three are in front of the plane, then copy to the 'front' output triangle.
{
add(p1,front,tstride,fcount);
add(p2,front,tstride,fcount);
add(p3,front,tstride,fcount);
}
else
{
add(p1,back,tstride,bcount); // if all three are in 'abck' then copy to the 'back' output triangle.
add(p2,back,tstride,bcount);
add(p3,back,tstride,bcount);
}
return r1; // if all three points are on the same side of the plane return result
}
// ok.. we need to split the triangle at the plane.
// ok.. we need to split the triangle at the plane.
// First test ray segment P1 to P2
if (r1 == r2) // if these are both on the same side...
{
if (r1 == PTR_FRONT)
{
add(p1, front, tstride, fcount);
add(p2, front, tstride, fcount);
}
else
{
add(p1, back, tstride, bcount);
add(p2, back, tstride, bcount);
}
}
else
{
float split[3]; // split the point
intersect(p1, p2, split, plane);
// First test ray segment P1 to P2
if ( r1 == r2 ) // if these are both on the same side...
{
if ( r1 == PTR_FRONT )
{
add( p1, front, tstride, fcount );
add( p2, front, tstride, fcount );
}
else
{
add( p1, back, tstride, bcount );
add( p2, back, tstride, bcount );
}
}
else
{
float split[3]; // split the point
intersect(p1,p2,split,plane);
if (r1 == PTR_FRONT)
{
add(p1, front, tstride, fcount);
add(split, front, tstride, fcount);
if ( r1 == PTR_FRONT )
{
add(split, back, tstride, bcount);
add(p2, back, tstride, bcount);
}
else
{
add(p1, back, tstride, bcount);
add(split, back, tstride, bcount);
add(p1, front, tstride, fcount );
add(split, front, tstride, fcount );
add(split, front, tstride, fcount);
add(p2, front, tstride, fcount);
}
}
add(split, back, tstride, bcount );
add(p2, back, tstride, bcount );
// Next test ray segment P2 to P3
if (r2 == r3) // if these are both on the same side...
{
if (r3 == PTR_FRONT)
{
add(p3, front, tstride, fcount);
}
else
{
add(p3, back, tstride, bcount);
}
}
else
{
float split[3]; // split the point
intersect(p2, p3, split, plane);
}
else
{
add(p1, back, tstride, bcount );
add(split, back, tstride, bcount );
if (r3 == PTR_FRONT)
{
add(split, front, tstride, fcount);
add(split, back, tstride, bcount);
add(split, front, tstride, fcount );
add(p2, front, tstride, fcount );
}
add(p3, front, tstride, fcount);
}
else
{
add(split, front, tstride, fcount);
add(split, back, tstride, bcount);
}
add(p3, back, tstride, bcount);
}
}
// Next test ray segment P2 to P3
if ( r2 == r3 ) // if these are both on the same side...
{
if ( r3 == PTR_FRONT )
{
add( p3, front, tstride, fcount );
}
else
{
add( p3, back, tstride, bcount );
}
}
else
{
float split[3]; // split the point
intersect(p2,p3,split,plane);
// Next test ray segment P3 to P1
if (r3 != r1) // if these are both on the same side...
{
float split[3]; // split the point
if ( r3 == PTR_FRONT )
{
add(split, front, tstride, fcount );
add(split, back, tstride, bcount );
intersect(p3, p1, split, plane);
add(p3, front, tstride, fcount );
}
else
{
add(split, front, tstride, fcount );
add(split, back, tstride, bcount );
if (r1 == PTR_FRONT)
{
add(split, front, tstride, fcount);
add(split, back, tstride, bcount);
}
else
{
add(split, front, tstride, fcount);
add(split, back, tstride, bcount);
}
}
add(p3, back, tstride, bcount );
}
}
// Next test ray segment P3 to P1
if ( r3 != r1 ) // if these are both on the same side...
{
float split[3]; // split the point
intersect(p3,p1,split,plane);
if ( r1 == PTR_FRONT )
{
add(split, front, tstride, fcount );
add(split, back, tstride, bcount );
}
else
{
add(split, front, tstride, fcount );
add(split, back, tstride, bcount );
}
}
return PTR_SPLIT;
return PTR_SPLIT;
}

25
Engine/lib/bullet/Extras/ConvexDecomposition/planetri.h
View file

@ -36,23 +36,20 @@
// http://www.amillionpixels.us
//
enum PlaneTriResult
{
PTR_FRONT,
PTR_BACK,
PTR_SPLIT
PTR_FRONT,
PTR_BACK,
PTR_SPLIT
};
PlaneTriResult planeTriIntersection(const float *plane, // the plane equation in Ax+By+Cz+D format
const float *triangle, // the source position triangle.
unsigned int tstride, // stride in bytes between vertices of the triangle.
float epsilon, // the co-planer epsilon value.
float *front, // the triangle in front of the
unsigned int &fcount, // number of vertices in the 'front' triangle.
float *back, // the triangle in back of the plane
unsigned int &bcount); // the number of vertices in the 'back' triangle.
PlaneTriResult planeTriIntersection(const float *plane, // the plane equation in Ax+By+Cz+D format
const float *triangle, // the source position triangle.
unsigned int tstride, // stride in bytes between vertices of the triangle.
float epsilon, // the co-planer epsilon value.
float *front, // the triangle in front of the
unsigned int &fcount, // number of vertices in the 'front' triangle.
float *back, // the triangle in back of the plane
unsigned int &bcount); // the number of vertices in the 'back' triangle.
#endif

3
Engine/lib/bullet/Extras/ConvexDecomposition/premake4.lua
View file

@ -3,6 +3,9 @@
kind "StaticLib"
includedirs {".","../../src"}
if os.is("Linux") then
buildoptions{"-fPIC"}
end
files {
"**.cpp",
"**.h"

98
Engine/lib/bullet/Extras/ConvexDecomposition/raytri.cpp
View file

@ -41,88 +41,82 @@
// http://www.amillionpixels.us
//
/* a = b - c */
#define vector(a,b,c) \
(a)[0] = (b)[0] - (c)[0]; \
(a)[1] = (b)[1] - (c)[1]; \
#define vector(a, b, c) \
(a)[0] = (b)[0] - (c)[0]; \
(a)[1] = (b)[1] - (c)[1]; \
(a)[2] = (b)[2] - (c)[2];
#define innerProduct(v, q) \
((v)[0] * (q)[0] + \
(v)[1] * (q)[1] + \
(v)[2] * (q)[2])
#define innerProduct(v,q) \
((v)[0] * (q)[0] + \
(v)[1] * (q)[1] + \
(v)[2] * (q)[2])
#define crossProduct(a,b,c) \
#define crossProduct(a, b, c) \
(a)[0] = (b)[1] * (c)[2] - (c)[1] * (b)[2]; \
(a)[1] = (b)[2] * (c)[0] - (c)[2] * (b)[0]; \
(a)[2] = (b)[0] * (c)[1] - (c)[0] * (b)[1];
bool rayIntersectsTriangle(const float *p,const float *d,const float *v0,const float *v1,const float *v2,float &t)
bool rayIntersectsTriangle(const float *p, const float *d, const float *v0, const float *v1, const float *v2, float &t)
{
float e1[3], e2[3], h[3], s[3], q[3];
float a, f, u, v;
float e1[3],e2[3],h[3],s[3],q[3];
float a,f,u,v;
vector(e1,v1,v0);
vector(e2,v2,v0);
crossProduct(h,d,e2);
a = innerProduct(e1,h);
vector(e1, v1, v0);
vector(e2, v2, v0);
crossProduct(h, d, e2);
a = innerProduct(e1, h);
if (a > -0.00001 && a < 0.00001)
return(false);
return (false);
f = 1/a;
vector(s,p,v0);
u = f * (innerProduct(s,h));
f = 1 / a;
vector(s, p, v0);
u = f * (innerProduct(s, h));
if (u < 0.0 || u > 1.0)
return(false);
return (false);
crossProduct(q,s,e1);
v = f * innerProduct(d,q);
crossProduct(q, s, e1);
v = f * innerProduct(d, q);
if (v < 0.0 || u + v > 1.0)
return(false);
return (false);
// at this stage we can compute t to find out where
// the intersection point is on the line
t = f * innerProduct(e2,q);
if (t > 0) // ray intersection
return(true);
else // this means that there is a line intersection
// but not a ray intersection
return (false);
t = f * innerProduct(e2, q);
if (t > 0) // ray intersection
return (true);
else // this means that there is a line intersection
// but not a ray intersection
return (false);
}
bool lineIntersectsTriangle(const float *rayStart,const float *rayEnd,const float *p1,const float *p2,const float *p3,float *sect)
bool lineIntersectsTriangle(const float *rayStart, const float *rayEnd, const float *p1, const float *p2, const float *p3, float *sect)
{
float dir[3];
dir[0] = rayEnd[0] - rayStart[0];
dir[1] = rayEnd[1] - rayStart[1];
dir[2] = rayEnd[2] - rayStart[2];
dir[0] = rayEnd[0] - rayStart[0];
dir[1] = rayEnd[1] - rayStart[1];
dir[2] = rayEnd[2] - rayStart[2];
float d = sqrtf(dir[0]*dir[0] + dir[1]*dir[1] + dir[2]*dir[2]);
float r = 1.0f / d;
float d = sqrtf(dir[0] * dir[0] + dir[1] * dir[1] + dir[2] * dir[2]);
float r = 1.0f / d;
dir[0]*=r;
dir[1]*=r;
dir[2]*=r;
dir[0] *= r;
dir[1] *= r;
dir[2] *= r;
float t;
float t;
bool ret = rayIntersectsTriangle(rayStart, dir, p1, p2, p3, t);
bool ret = rayIntersectsTriangle(rayStart, dir, p1, p2, p3, t );
if ( ret )
if (ret)
{
if ( t > d )
if (t > d)
{
sect[0] = rayStart[0] + dir[0]*t;
sect[1] = rayStart[1] + dir[1]*t;
sect[2] = rayStart[2] + dir[2]*t;
sect[0] = rayStart[0] + dir[0] * t;
sect[1] = rayStart[1] + dir[1] * t;
sect[2] = rayStart[2] + dir[2] * t;
}
else
{
@ -130,5 +124,5 @@ bool lineIntersectsTriangle(const float *rayStart,const float *rayEnd,const floa
}
}
return ret;
return ret;
}

6
Engine/lib/bullet/Extras/ConvexDecomposition/raytri.h
View file

@ -36,10 +36,8 @@
// http://www.amillionpixels.us
//
// returns true if the ray intersects the triangle.
bool lineIntersectsTriangle(const float *rayStart,const float *rayEnd,const float *p1,const float *p2,const float *p3,float *sect);
bool rayIntersectsTriangle(const float *p,const float *d,const float *v0,const float *v1,const float *v2,float &t);
bool lineIntersectsTriangle(const float *rayStart, const float *rayEnd, const float *p1, const float *p2, const float *p3, float *sect);
bool rayIntersectsTriangle(const float *p, const float *d, const float *v0, const float *v1, const float *v2, float &t);
#endif

266
Engine/lib/bullet/Extras/ConvexDecomposition/splitplane.cpp
View file

@ -6,7 +6,6 @@
#include <float.h>
#include <math.h>
/*----------------------------------------------------------------------
Copyright (c) 2004 Open Dynamics Framework Group
www.physicstools.org
@ -53,10 +52,8 @@
namespace ConvexDecomposition
{
static void computePlane(const float *A,const float *B,const float *C,float *plane)
static void computePlane(const float *A, const float *B, const float *C, float *plane)
{
float vx = (B[0] - C[0]);
float vy = (B[1] - C[1]);
float vz = (B[2] - C[2]);
@ -71,108 +68,104 @@ static void computePlane(const float *A,const float *B,const float *C,float *pla
float mag = sqrtf((vw_x * vw_x) + (vw_y * vw_y) + (vw_z * vw_z));
if ( mag < 0.000001f )
if (mag < 0.000001f)
{
mag = 0;
}
else
{
mag = 1.0f/mag;
mag = 1.0f / mag;
}
float x = vw_x * mag;
float y = vw_y * mag;
float z = vw_z * mag;
float D = 0.0f - ((x * A[0]) + (y * A[1]) + (z * A[2]));
float D = 0.0f - ((x*A[0])+(y*A[1])+(z*A[2]));
plane[0] = x;
plane[1] = y;
plane[2] = z;
plane[3] = D;
plane[0] = x;
plane[1] = y;
plane[2] = z;
plane[3] = D;
}
class Rect3d
{
public:
Rect3d(void) { };
Rect3d(void){};
Rect3d(const float *bmin,const float *bmax)
{
Rect3d(const float *bmin, const float *bmax)
{
mMin[0] = bmin[0];
mMin[1] = bmin[1];
mMin[2] = bmin[2];
mMin[0] = bmin[0];
mMin[1] = bmin[1];
mMin[2] = bmin[2];
mMax[0] = bmax[0];
mMax[1] = bmax[1];
mMax[2] = bmax[2];
}
mMax[0] = bmax[0];
mMax[1] = bmax[1];
mMax[2] = bmax[2];
void SetMin(const float *bmin)
{
mMin[0] = bmin[0];
mMin[1] = bmin[1];
mMin[2] = bmin[2];
}
}
void SetMax(const float *bmax)
{
mMax[0] = bmax[0];
mMax[1] = bmax[1];
mMax[2] = bmax[2];
}
void SetMin(const float *bmin)
{
mMin[0] = bmin[0];
mMin[1] = bmin[1];
mMin[2] = bmin[2];
}
void SetMax(const float *bmax)
{
mMax[0] = bmax[0];
mMax[1] = bmax[1];
mMax[2] = bmax[2];
}
void SetMin(float x,float y,float z)
void SetMin(float x, float y, float z)
{
mMin[0] = x;
mMin[1] = y;
mMin[2] = z;
}
void SetMax(float x,float y,float z)
void SetMax(float x, float y, float z)
{
mMax[0] = x;
mMax[1] = y;
mMax[2] = z;
}
float mMin[3];
float mMax[3];
float mMin[3];
float mMax[3];
};
void splitRect(unsigned int axis,
const Rect3d &source,
Rect3d &b1,
Rect3d &b2,
const float *midpoint)
const Rect3d &source,
Rect3d &b1,
Rect3d &b2,
const float *midpoint)
{
switch ( axis )
switch (axis)
{
case 0:
b1.SetMin(source.mMin);
b1.SetMax( midpoint[0], source.mMax[1], source.mMax[2] );
b1.SetMax(midpoint[0], source.mMax[1], source.mMax[2]);
b2.SetMin( midpoint[0], source.mMin[1], source.mMin[2] );
b2.SetMin(midpoint[0], source.mMin[1], source.mMin[2]);
b2.SetMax(source.mMax);
break;
case 1:
b1.SetMin(source.mMin);
b1.SetMax( source.mMax[0], midpoint[1], source.mMax[2] );
b1.SetMax(source.mMax[0], midpoint[1], source.mMax[2]);
b2.SetMin( source.mMin[0], midpoint[1], source.mMin[2] );
b2.SetMin(source.mMin[0], midpoint[1], source.mMin[2]);
b2.SetMax(source.mMax);
break;
case 2:
b1.SetMin(source.mMin);
b1.SetMax( source.mMax[0], source.mMax[1], midpoint[2] );
b1.SetMax(source.mMax[0], source.mMax[1], midpoint[2]);
b2.SetMin( source.mMin[0], source.mMin[1], midpoint[2] );
b2.SetMin(source.mMin[0], source.mMin[1], midpoint[2]);
b2.SetMax(source.mMax);
break;
@ -180,127 +173,122 @@ void splitRect(unsigned int axis,
}
bool computeSplitPlane(unsigned int vcount,
const float *vertices,
unsigned int tcount,
const unsigned int *indices,
ConvexDecompInterface *callback,
float *plane)
const float *vertices,
unsigned int tcount,
const unsigned int *indices,
ConvexDecompInterface *callback,
float *plane)
{
float bmin[3] = { 1e9, 1e9, 1e9 };
float bmax[3] = { -1e9, -1e9, -1e9 };
float bmin[3] = {1e9, 1e9, 1e9};
float bmax[3] = {-1e9, -1e9, -1e9};
for (unsigned int i=0; i<vcount; i++)
{
const float *p = &vertices[i*3];
for (unsigned int i = 0; i < vcount; i++)
{
const float *p = &vertices[i * 3];
if ( p[0] < bmin[0] ) bmin[0] = p[0];
if ( p[1] < bmin[1] ) bmin[1] = p[1];
if ( p[2] < bmin[2] ) bmin[2] = p[2];
if (p[0] < bmin[0]) bmin[0] = p[0];
if (p[1] < bmin[1]) bmin[1] = p[1];
if (p[2] < bmin[2]) bmin[2] = p[2];
if ( p[0] > bmax[0] ) bmax[0] = p[0];
if ( p[1] > bmax[1] ) bmax[1] = p[1];
if ( p[2] > bmax[2] ) bmax[2] = p[2];
}
float dx = bmax[0] - bmin[0];
float dy = bmax[1] - bmin[1];
float dz = bmax[2] - bmin[2];
if (p[0] > bmax[0]) bmax[0] = p[0];
if (p[1] > bmax[1]) bmax[1] = p[1];
if (p[2] > bmax[2]) bmax[2] = p[2];
}
float dx = bmax[0] - bmin[0];
float dy = bmax[1] - bmin[1];
float dz = bmax[2] - bmin[2];
float laxis = dx;
unsigned int axis = 0;
if ( dy > dx )
if (dy > dx)
{
axis = 1;
laxis = dy;
}
if ( dz > dx && dz > dy )
if (dz > dx && dz > dy)
{
axis = 2;
laxis = dz;
}
float p1[3];
float p2[3];
float p3[3];
float p1[3];
float p2[3];
float p3[3];
p3[0] = p2[0] = p1[0] = bmin[0] + dx*0.5f;
p3[1] = p2[1] = p1[1] = bmin[1] + dy*0.5f;
p3[2] = p2[2] = p1[2] = bmin[2] + dz*0.5f;
p3[0] = p2[0] = p1[0] = bmin[0] + dx * 0.5f;
p3[1] = p2[1] = p1[1] = bmin[1] + dy * 0.5f;
p3[2] = p2[2] = p1[2] = bmin[2] + dz * 0.5f;
Rect3d b(bmin,bmax);
Rect3d b(bmin, bmax);
Rect3d b1,b2;
Rect3d b1, b2;
splitRect(axis,b,b1,b2,p1);
splitRect(axis, b, b1, b2, p1);
// callback->ConvexDebugBound(b1.mMin,b1.mMax,0x00FF00);
// callback->ConvexDebugBound(b2.mMin,b2.mMax,0xFFFF00);
// callback->ConvexDebugBound(b1.mMin,b1.mMax,0x00FF00);
// callback->ConvexDebugBound(b2.mMin,b2.mMax,0xFFFF00);
switch (axis)
{
case 0:
p2[1] = bmin[1];
p2[2] = bmin[2];
switch ( axis )
{
case 0:
p2[1] = bmin[1];
p2[2] = bmin[2];
if (dz > dy)
{
p3[1] = bmax[1];
p3[2] = bmin[2];
}
else
{
p3[1] = bmin[1];
p3[2] = bmax[2];
}
if ( dz > dy )
{
p3[1] = bmax[1];
p3[2] = bmin[2];
}
else
{
p3[1] = bmin[1];
p3[2] = bmax[2];
}
break;
case 1:
p2[0] = bmin[0];
p2[2] = bmin[2];
break;
case 1:
p2[0] = bmin[0];
p2[2] = bmin[2];
if (dx > dz)
{
p3[0] = bmax[0];
p3[2] = bmin[2];
}
else
{
p3[0] = bmin[0];
p3[2] = bmax[2];
}
if ( dx > dz )
{
p3[0] = bmax[0];
p3[2] = bmin[2];
}
else
{
p3[0] = bmin[0];
p3[2] = bmax[2];
}
break;
case 2:
p2[0] = bmin[0];
p2[1] = bmin[1];
break;
case 2:
p2[0] = bmin[0];
p2[1] = bmin[1];
if (dx > dy)
{
p3[0] = bmax[0];
p3[1] = bmin[1];
}
else
{
p3[0] = bmin[0];
p3[1] = bmax[1];
}
if ( dx > dy )
{
p3[0] = bmax[0];
p3[1] = bmin[1];
}
else
{
p3[0] = bmin[0];
p3[1] = bmax[1];
}
break;
}
break;
}
// callback->ConvexDebugTri(p1,p2,p3,0xFF0000);
// callback->ConvexDebugTri(p1,p2,p3,0xFF0000);
computePlane(p1,p2,p3,plane);
return true;
computePlane(p1, p2, p3, plane);
return true;
}
}
} // namespace ConvexDecomposition

16
Engine/lib/bullet/Extras/ConvexDecomposition/splitplane.h
View file

@ -39,21 +39,17 @@
// http://www.amillionpixels.us
//
namespace ConvexDecomposition
{
class ConvexDecompInterface;
bool computeSplitPlane(unsigned int vcount,
const float *vertices,
unsigned int tcount,
const unsigned int *indices,
ConvexDecompInterface *callback,
float *plane);
const float *vertices,
unsigned int tcount,
const unsigned int *indices,
ConvexDecompInterface *callback,
float *plane);
}
} // namespace ConvexDecomposition
#endif

167
Engine/lib/bullet/Extras/ConvexDecomposition/vlookup.cpp
View file

@ -4,13 +4,12 @@
#include <string.h>
#include <assert.h>
#pragma warning(disable:4786)
#pragma warning(disable : 4786)
#include <vector>
#include <map>
#include <set>
/*----------------------------------------------------------------------
Copyright (c) 2004 Open Dynamics Framework Group
www.physicstools.org
@ -107,55 +106,50 @@
// You could easily modify this code to support other vertex
// formats with any number of interpolants.
#include "vlookup.h"
namespace Vlookup
{
class VertexPosition
{
public:
VertexPosition(void) { };
VertexPosition(const float *p)
{
mPos[0] = p[0];
mPos[1] = p[1];
mPos[2] = p[2];
};
void Set(int index,const float *pos)
VertexPosition(void){};
VertexPosition(const float *p)
{
const float * p = &pos[index*3];
mPos[0] = p[0];
mPos[1] = p[1];
mPos[2] = p[2];
mPos[0] = p[0];
mPos[1] = p[1];
mPos[2] = p[2];
};
float GetX(void) const { return mPos[0]; };
float GetY(void) const { return mPos[1]; };
float GetZ(void) const { return mPos[2]; };
void Set(int index, const float *pos)
{
const float *p = &pos[index * 3];
mPos[0] = p[0];
mPos[1] = p[1];
mPos[2] = p[2];
};
float GetX(void) const { return mPos[0]; };
float GetY(void) const { return mPos[1]; };
float GetZ(void) const { return mPos[2]; };
float mPos[3];
};
typedef std::vector< VertexPosition > VertexVector;
typedef std::vector<VertexPosition> VertexVector;
struct Tracker
{
VertexPosition mFind; // vertice to locate.
VertexVector *mList;
VertexPosition mFind; // vertice to locate.
VertexVector *mList;
Tracker()
{
mList = 0;
}
void SetSearch(const VertexPosition& match,VertexVector *list)
void SetSearch(const VertexPosition &match, VertexVector *list)
{
mFind = match;
mList = list;
@ -165,9 +159,9 @@ struct Tracker
struct VertexID
{
int mID;
Tracker* mTracker;
Tracker *mTracker;
VertexID(int ID, Tracker* Tracker)
VertexID(int ID, Tracker *Tracker)
{
mID = ID;
mTracker = Tracker;
@ -177,46 +171,45 @@ struct VertexID
class VertexLess
{
public:
bool operator()(VertexID v1,VertexID v2) const;
bool operator()(VertexID v1, VertexID v2) const;
private:
const VertexPosition& Get(VertexID index) const
const VertexPosition &Get(VertexID index) const
{
if ( index.mID == -1 ) return index.mTracker->mFind;
if (index.mID == -1) return index.mTracker->mFind;
VertexVector &vlist = *index.mTracker->mList;
return vlist[index.mID];
}
};
template <class Type> class VertexPool
template <class Type>
class VertexPool
{
public:
typedef std::set<VertexID, VertexLess > VertexSet;
typedef std::vector< Type > VertexVector;
typedef std::set<VertexID, VertexLess> VertexSet;
typedef std::vector<Type> VertexVector;
int getVertex(const Type& vtx)
int getVertex(const Type &vtx)
{
mTracker.SetSearch(vtx,&mVtxs);
mTracker.SetSearch(vtx, &mVtxs);
VertexSet::iterator found;
found = mVertSet.find( VertexID(-1,&mTracker) );
if ( found != mVertSet.end() )
found = mVertSet.find(VertexID(-1, &mTracker));
if (found != mVertSet.end())
{
return found->mID;
}
int idx = (int)mVtxs.size();
mVtxs.push_back( vtx );
mVertSet.insert( VertexID(idx,&mTracker) );
mVtxs.push_back(vtx);
mVertSet.insert(VertexID(idx, &mTracker));
return idx;
};
const float * GetPos(int idx) const
const float *GetPos(int idx) const
{
return mVtxs[idx].mPos;
}
const Type& Get(int idx) const
const Type &Get(int idx) const
{
return mVtxs[idx];
};
@ -233,9 +226,9 @@ public:
mVtxs.reserve(reservesize);
};
const VertexVector& GetVertexList(void) const { return mVtxs; };
const VertexVector &GetVertexList(void) const { return mVtxs; };
void Set(const Type& vtx)
void Set(const Type &vtx)
{
mVtxs.push_back(vtx);
}
@ -245,82 +238,74 @@ public:
return mVtxs.size();
};
Type * getBuffer(void)
Type *getBuffer(void)
{
return &mVtxs[0];
};
private:
VertexSet mVertSet; // ordered list.
VertexVector mVtxs; // set of vertices.
Tracker mTracker;
VertexSet mVertSet; // ordered list.
VertexVector mVtxs; // set of vertices.
Tracker mTracker;
};
bool VertexLess::operator()(VertexID v1,VertexID v2) const
bool VertexLess::operator()(VertexID v1, VertexID v2) const
{
const VertexPosition &a = Get(v1);
const VertexPosition &b = Get(v2);
const VertexPosition& a = Get(v1);
const VertexPosition& b = Get(v2);
int ixA = (int)(a.GetX() * 10000.0f);
int ixB = (int)(b.GetX() * 10000.0f);
int ixA = (int) (a.GetX()*10000.0f);
int ixB = (int) (b.GetX()*10000.0f);
if (ixA < ixB) return true;
if (ixA > ixB) return false;
if ( ixA < ixB ) return true;
if ( ixA > ixB ) return false;
int iyA = (int)(a.GetY() * 10000.0f);
int iyB = (int)(b.GetY() * 10000.0f);
int iyA = (int) (a.GetY()*10000.0f);
int iyB = (int) (b.GetY()*10000.0f);
if (iyA < iyB) return true;
if (iyA > iyB) return false;
if ( iyA < iyB ) return true;
if ( iyA > iyB ) return false;
int izA = (int) (a.GetZ()*10000.0f);
int izB = (int) (b.GetZ()*10000.0f);
if ( izA < izB ) return true;
if ( izA > izB ) return false;
int izA = (int)(a.GetZ() * 10000.0f);
int izB = (int)(b.GetZ() * 10000.0f);
if (izA < izB) return true;
if (izA > izB) return false;
return false;
}
}
} // namespace Vlookup
using namespace Vlookup;
VertexLookup Vl_createVertexLookup(void)
{
VertexLookup ret = new VertexPool< VertexPosition >;
return ret;
VertexLookup ret = new VertexPool<VertexPosition>;
return ret;
}
void Vl_releaseVertexLookup(VertexLookup vlook)
void Vl_releaseVertexLookup(VertexLookup vlook)
{
VertexPool< VertexPosition > *vp = (VertexPool< VertexPosition > *) vlook;
delete vp;
VertexPool<VertexPosition> *vp = (VertexPool<VertexPosition> *)vlook;
delete vp;
}
unsigned int Vl_getIndex(VertexLookup vlook,const float *pos) // get index.
unsigned int Vl_getIndex(VertexLookup vlook, const float *pos) // get index.
{
VertexPool< VertexPosition > *vp = (VertexPool< VertexPosition > *) vlook;
VertexPosition p(pos);
return vp->getVertex(p);
VertexPool<VertexPosition> *vp = (VertexPool<VertexPosition> *)vlook;
VertexPosition p(pos);
return vp->getVertex(p);
}
const float * Vl_getVertices(VertexLookup vlook)
const float *Vl_getVertices(VertexLookup vlook)
{
VertexPool< VertexPosition > *vp = (VertexPool< VertexPosition > *) vlook;
return vp->GetPos(0);
VertexPool<VertexPosition> *vp = (VertexPool<VertexPosition> *)vlook;
return vp->GetPos(0);
}
unsigned int Vl_getVcount(VertexLookup vlook)
unsigned int Vl_getVcount(VertexLookup vlook)
{
VertexPool< VertexPosition > *vp = (VertexPool< VertexPosition > *) vlook;
return vp->GetVertexCount();
VertexPool<VertexPosition> *vp = (VertexPool<VertexPosition> *)vlook;
return vp->GetVertexCount();
}

16
Engine/lib/bullet/Extras/ConvexDecomposition/vlookup.h
View file

@ -2,7 +2,6 @@
#define VLOOKUP_H
/*----------------------------------------------------------------------
Copyright (c) 2004 Open Dynamics Framework Group
www.physicstools.org
@ -37,7 +36,6 @@
// http://www.amillionpixels.us
//
// CodeSnippet provided by John W. Ratcliff
// on March 23, 2006.
//
@ -105,15 +103,13 @@
// Uses an STL set to create an index table for a bunch of vertex positions
// used typically to re-index a collection of raw triangle data.
typedef void *VertexLookup;
typedef void * VertexLookup;
VertexLookup Vl_createVertexLookup(void);
void Vl_releaseVertexLookup(VertexLookup vlook);
unsigned int Vl_getIndex(VertexLookup vlook,const float *pos); // get index.
const float * Vl_getVertices(VertexLookup vlook);
unsigned int Vl_getVcount(VertexLookup vlook);
VertexLookup Vl_createVertexLookup(void);
void Vl_releaseVertexLookup(VertexLookup vlook);
unsigned int Vl_getIndex(VertexLookup vlook, const float *pos); // get index.
const float *Vl_getVertices(VertexLookup vlook);
unsigned int Vl_getVcount(VertexLookup vlook);
#endif

5
Engine/lib/bullet/Extras/GIMPACTUtils/CMakeLists.txt
View file

@ -22,7 +22,10 @@ IF (INSTALL_EXTRA_LIBS)
IF (APPLE AND BUILD_SHARED_LIBS AND FRAMEWORK)
INSTALL(TARGETS GIMPACTUtils DESTINATION .)
ELSE (APPLE AND BUILD_SHARED_LIBS AND FRAMEWORK)
INSTALL(TARGETS GIMPACTUtils DESTINATION lib${LIB_SUFFIX})
INSTALL(TARGETS GIMPACTUtils
RUNTIME DESTINATION bin
LIBRARY DESTINATION lib${LIB_SUFFIX}
ARCHIVE DESTINATION lib${LIB_SUFFIX})
INSTALL(DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR}
DESTINATION ${INCLUDE_INSTALL_DIR} FILES_MATCHING PATTERN "*.h" PATTERN
".svn" EXCLUDE PATTERN "CMakeFiles" EXCLUDE)

11
Engine/lib/bullet/Extras/GIMPACTUtils/LICENSE.txt Normal file
View file

@ -0,0 +1,11 @@
Copyright (c) 2007 Francisco Leon Najera. C.C. 80087371.
email: projectileman@yahoo.com
This software is provided 'as-is', without any express or implied warranty.
In no event will the authors be held liable for any damages arising from the use of this software.
Permission is granted to anyone to use this software for any purpose,
including commercial applications, and to alter it and redistribute it freely,
subject to the following restrictions:
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.
2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
3. This notice may not be removed or altered from any source distribution.

124
Engine/lib/bullet/Extras/GIMPACTUtils/btGImpactConvexDecompositionShape.cpp
View file

@ -26,17 +26,16 @@ subject to the following restrictions:
class GIM_ConvexDecomposition : public ConvexDecomposition::ConvexDecompInterface
{
protected:
btGImpactConvexDecompositionShape * m_compoundShape;
btGImpactConvexDecompositionShape* m_compoundShape;
btAlignedObjectArray<btCollisionShape*> m_convexShapes;
public:
int mBaseCount;
int mHullCount;
int mBaseCount;
int mHullCount;
bool m_transformSubShapes;
GIM_ConvexDecomposition(btGImpactConvexDecompositionShape * compoundShape,bool transformSubShapes)
GIM_ConvexDecomposition(btGImpactConvexDecompositionShape* compoundShape, bool transformSubShapes)
{
mBaseCount = 0;
mHullCount = 0;
@ -47,43 +46,39 @@ public:
virtual ~GIM_ConvexDecomposition()
{
int i;
for (i=0;i<m_convexShapes.size();i++)
for (i = 0; i < m_convexShapes.size(); i++)
{
btCollisionShape* shape = m_convexShapes[i];
delete shape;
}
}
virtual void ConvexDecompResult(ConvexDecomposition::ConvexResult &result)
virtual void ConvexDecompResult(ConvexDecomposition::ConvexResult& result)
{
//calc centroid, to shift vertices around center of mass
btVector3 centroid(0,0,0);
btVector3 centroid(0, 0, 0);
btAlignedObjectArray<btVector3> vertices;
if(m_transformSubShapes)
if (m_transformSubShapes)
{
//const unsigned int *src = result.mHullIndices;
for (unsigned int i=0; i<result.mHullVcount; i++)
for (unsigned int i = 0; i < result.mHullVcount; i++)
{
btVector3 vertex(result.mHullVertices[i*3],result.mHullVertices[i*3+1],result.mHullVertices[i*3+2]);
btVector3 vertex(result.mHullVertices[i * 3], result.mHullVertices[i * 3 + 1], result.mHullVertices[i * 3 + 2]);
centroid += vertex;
}
centroid *= 1.f/(float(result.mHullVcount) );
centroid *= 1.f / (float(result.mHullVcount));
}
// collect vertices
for (unsigned int i=0; i<result.mHullVcount; i++)
for (unsigned int i = 0; i < result.mHullVcount; i++)
{
btVector3 vertex(result.mHullVertices[i*3],result.mHullVertices[i*3+1],result.mHullVertices[i*3+2]);
btVector3 vertex(result.mHullVertices[i * 3], result.mHullVertices[i * 3 + 1], result.mHullVertices[i * 3 + 2]);
if(m_transformSubShapes)
if (m_transformSubShapes)
{
vertex -= centroid ;
vertex -= centroid;
}
vertices.push_back(vertex);
}
@ -91,12 +86,12 @@ public:
// build convex shape
btCollisionShape* convexShape = new btConvexHullShape(
&(vertices[0].getX()),vertices.size(),sizeof(btVector3));
&(vertices[0].getX()), vertices.size(), sizeof(btVector3));
m_convexShapes.push_back(convexShape);
convexShape->setMargin(m_compoundShape->getMargin());
if(m_transformSubShapes)
if (m_transformSubShapes)
{
btTransform trans;
trans.setIdentity();
@ -104,7 +99,7 @@ public:
// add convex shape
m_compoundShape->addChildShape(trans,convexShape);
m_compoundShape->addChildShape(trans, convexShape);
}
else
{
@ -114,7 +109,7 @@ public:
// add convex shape
m_compoundShape->addChildShape(trans,convexShape);
m_compoundShape->addChildShape(trans, convexShape);
//m_compoundShape->addChildShape(convexShape);
}
@ -122,35 +117,32 @@ public:
void processDecomposition(int part)
{
btGImpactMeshShapePart::TrimeshPrimitiveManager * trimeshInterface =
m_compoundShape->getTrimeshInterface(part);
btGImpactMeshShapePart::TrimeshPrimitiveManager* trimeshInterface =
m_compoundShape->getTrimeshInterface(part);
trimeshInterface->lock();
//collect vertices
btAlignedObjectArray<float> vertices;
vertices.reserve(trimeshInterface->get_vertex_count()*3);
vertices.reserve(trimeshInterface->get_vertex_count() * 3);
for(int vi = 0;vi<trimeshInterface->get_vertex_count();vi++)
for (int vi = 0; vi < trimeshInterface->get_vertex_count(); vi++)
{
btVector3 vec;
trimeshInterface->get_vertex(vi,vec);
trimeshInterface->get_vertex(vi, vec);
vertices.push_back(vec[0]);
vertices.push_back(vec[1]);
vertices.push_back(vec[2]);
}
//collect indices
btAlignedObjectArray<unsigned int> indices;
indices.reserve(trimeshInterface->get_primitive_count()*3);
indices.reserve(trimeshInterface->get_primitive_count() * 3);
for(int i = 0;i<trimeshInterface->get_primitive_count();i++)
for (int i = 0; i < trimeshInterface->get_primitive_count(); i++)
{
unsigned int i0, i1,i2;
trimeshInterface->get_indices(i,i0,i1,i2);
unsigned int i0, i1, i2;
trimeshInterface->get_indices(i, i0, i1, i2);
indices.push_back(i0);
indices.push_back(i1);
indices.push_back(i2);
@ -158,25 +150,22 @@ public:
trimeshInterface->unlock();
unsigned int depth = 5;
float cpercent = 5;
float ppercent = 15;
unsigned int maxv = 16;
float skinWidth = 0.0f;
float cpercent = 5;
float ppercent = 15;
unsigned int maxv = 16;
float skinWidth = 0.0f;
ConvexDecomposition::DecompDesc desc;
desc.mVcount = trimeshInterface->get_vertex_count();
desc.mVertices = &vertices[0];
desc.mTcount = trimeshInterface->get_primitive_count();
desc.mIndices = &indices[0];
desc.mDepth = depth;
desc.mCpercent = cpercent;
desc.mPpercent = ppercent;
desc.mMaxVertices = maxv;
desc.mSkinWidth = skinWidth;
desc.mVcount = trimeshInterface->get_vertex_count();
desc.mVertices = &vertices[0];
desc.mTcount = trimeshInterface->get_primitive_count();
desc.mIndices = &indices[0];
desc.mDepth = depth;
desc.mCpercent = cpercent;
desc.mPpercent = ppercent;
desc.mMaxVertices = maxv;
desc.mSkinWidth = skinWidth;
desc.mCallback = this;
//convexDecomposition.performConvexDecomposition(desc);
@ -184,21 +173,14 @@ public:
ConvexBuilder cb(desc.mCallback);
cb.process(desc);
}
};
void btGImpactConvexDecompositionShape::buildConvexDecomposition(bool transformSubShapes)
{
m_decomposition = new GIM_ConvexDecomposition(this,transformSubShapes);
m_decomposition = new GIM_ConvexDecomposition(this, transformSubShapes);
int part_count = m_trimeshInterfaces.size();
for (int i = 0;i<part_count ;i++ )
for (int i = 0; i < part_count; i++)
{
m_decomposition->processDecomposition(i);
}
@ -210,31 +192,27 @@ btGImpactConvexDecompositionShape::~btGImpactConvexDecompositionShape()
{
delete m_decomposition;
}
void btGImpactConvexDecompositionShape::processAllTriangles(btTriangleCallback* callback,const btVector3& aabbMin,const btVector3& aabbMax) const
void btGImpactConvexDecompositionShape::processAllTriangles(btTriangleCallback* callback, const btVector3& aabbMin, const btVector3& aabbMax) const
{
int part_count = m_trimeshInterfaces.size();
for (int part = 0;part<part_count ;part++ )
for (int part = 0; part < part_count; part++)
{
void * ptr = (void * )&m_trimeshInterfaces[part];
void* ptr = (void*)&m_trimeshInterfaces[part];
btGImpactMeshShapePart::TrimeshPrimitiveManager * trimeshInterface =
static_cast<btGImpactMeshShapePart::TrimeshPrimitiveManager *>(ptr);
btGImpactMeshShapePart::TrimeshPrimitiveManager* trimeshInterface =
static_cast<btGImpactMeshShapePart::TrimeshPrimitiveManager*>(ptr);
trimeshInterface->lock();
btPrimitiveTriangle triangle;
int i = trimeshInterface->get_primitive_count();
while(i--)
while (i--)
{
trimeshInterface->get_primitive_triangle(i,triangle);
callback->processTriangle(triangle.m_vertices,part,i);
trimeshInterface->get_primitive_triangle(i, triangle);
callback->processTriangle(triangle.m_vertices, part, i);
}
trimeshInterface->unlock();
}
}

32
Engine/lib/bullet/Extras/GIMPACTUtils/btGImpactConvexDecompositionShape.h
View file

@ -24,32 +24,28 @@ subject to the following restrictions:
#ifndef GIMPACT_CONVEX_DECOMPOSITION_SHAPE_H
#define GIMPACT_CONVEX_DECOMPOSITION_SHAPE_H
#include "BulletCollision/Gimpact/btGImpactShape.h" // box tree class
#include "BulletCollision/Gimpact/btGImpactShape.h" // box tree class
//! This class creates a decomposition from a trimesh.
/*!
*/
class btGImpactConvexDecompositionShape : public btGImpactCompoundShape
class btGImpactConvexDecompositionShape : public btGImpactCompoundShape
{
protected:
btAlignedObjectArray<btGImpactMeshShapePart::TrimeshPrimitiveManager> m_trimeshInterfaces;
class GIM_ConvexDecomposition* m_decomposition;
class GIM_ConvexDecomposition* m_decomposition;
void buildConvexDecomposition(bool transformSubShapes);
public:
btGImpactConvexDecompositionShape(
btStridingMeshInterface * meshInterface,
const btVector3 & mesh_scale,
btScalar margin = btScalar(0.01),bool children_has_transform = true)
:btGImpactCompoundShape(children_has_transform)
btStridingMeshInterface* meshInterface,
const btVector3& mesh_scale,
btScalar margin = btScalar(0.01), bool children_has_transform = true)
: btGImpactCompoundShape(children_has_transform)
{
m_collisionMargin = margin;
btGImpactMeshShapePart::TrimeshPrimitiveManager triInterface;
@ -59,7 +55,7 @@ public:
//add parts
int part_count = meshInterface->getNumSubParts();
for (int i=0;i< part_count;i++ )
for (int i = 0; i < part_count; i++)
{
triInterface.m_part = i;
m_trimeshInterfaces.push_back(triInterface);
@ -72,16 +68,12 @@ public:
virtual ~btGImpactConvexDecompositionShape();
SIMD_FORCE_INLINE btGImpactMeshShapePart::TrimeshPrimitiveManager * getTrimeshInterface(int part)
SIMD_FORCE_INLINE btGImpactMeshShapePart::TrimeshPrimitiveManager* getTrimeshInterface(int part)
{
return &m_trimeshInterfaces[part];
}
virtual void processAllTriangles(btTriangleCallback* callback,const btVector3& aabbMin,const btVector3& aabbMax) const;
virtual void processAllTriangles(btTriangleCallback* callback, const btVector3& aabbMin, const btVector3& aabbMax) const;
};
#endif //GIMPACT_MESH_SHAPE_H
#endif //GIMPACT_MESH_SHAPE_H

6
Engine/lib/bullet/Extras/HACD/CMakeLists.txt
View file

@ -36,7 +36,11 @@ IF (INSTALL_EXTRA_LIBS)
IF (APPLE AND BUILD_SHARED_LIBS AND FRAMEWORK)
INSTALL(TARGETS HACD DESTINATION .)
ELSE (APPLE AND BUILD_SHARED_LIBS AND FRAMEWORK)
INSTALL(TARGETS HACD DESTINATION lib${LIB_SUFFIX})
INSTALL(TARGETS HACD
RUNTIME DESTINATION bin
LIBRARY DESTINATION lib${LIB_SUFFIX}
ARCHIVE DESTINATION lib${LIB_SUFFIX})
INSTALL(DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR}
DESTINATION ${INCLUDE_INSTALL_DIR} FILES_MATCHING PATTERN "*.h" PATTERN "*.inl" PATTERN
".svn" EXCLUDE PATTERN "CMakeFiles" EXCLUDE)

13
Engine/lib/bullet/Extras/HACD/LICENSE.txt Normal file
View file

@ -0,0 +1,13 @@
Copyright (c) 2011 Khaled Mamou (kmamou at gmail dot com)
All rights reserved.
Redistribution and use in source and binary forms, with or without modification, are permitted provided that the following conditions are met:
1. Redistributions of source code must retain the above copyright notice, this list of conditions and the following disclaimer.
2. Redistributions in binary form must reproduce the above copyright notice, this list of conditions and the following disclaimer in the documentation and/or other materials provided with the distribution.
3. The names of the contributors may not be used to endorse or promote products derived from this software without specific prior written permission.
THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.

116
Engine/lib/bullet/Extras/HACD/hacdCircularList.h
View file

@ -15,66 +15,72 @@
#pragma once
#ifndef HACD_CIRCULAR_LIST_H
#define HACD_CIRCULAR_LIST_H
#include<stdlib.h>
#include <stdlib.h>
#include "hacdVersion.h"
namespace HACD
{
//! CircularListElement class.
template < typename T > class CircularListElement
{
public:
T & GetData() { return m_data; }
const T & GetData() const { return m_data; }
CircularListElement<T> * & GetNext() { return m_next; }
CircularListElement<T> * & GetPrev() { return m_prev; }
const CircularListElement<T> * & GetNext() const { return m_next; }
const CircularListElement<T> * & GetPrev() const { return m_prev; }
//! Constructor
CircularListElement(const T & data) {m_data = data;}
CircularListElement(void){}
//! Destructor
~CircularListElement(void){}
private:
T m_data;
CircularListElement<T> * m_next;
CircularListElement<T> * m_prev;
//! CircularListElement class.
template <typename T>
class CircularListElement
{
public:
T& GetData() { return m_data; }
const T& GetData() const { return m_data; }
CircularListElement<T>*& GetNext() { return m_next; }
CircularListElement<T>*& GetPrev() { return m_prev; }
const CircularListElement<T>*& GetNext() const { return m_next; }
const CircularListElement<T>*& GetPrev() const { return m_prev; }
//! Constructor
CircularListElement(const T& data) { m_data = data; }
CircularListElement(void) {}
//! Destructor
~CircularListElement(void) {}
CircularListElement(const CircularListElement & rhs);
};
//! CircularList class.
template < typename T > class CircularList
private:
T m_data;
CircularListElement<T>* m_next;
CircularListElement<T>* m_prev;
CircularListElement(const CircularListElement& rhs);
};
//! CircularList class.
template <typename T>
class CircularList
{
public:
CircularListElement<T>*& GetHead() { return m_head; }
const CircularListElement<T>* GetHead() const { return m_head; }
bool IsEmpty() const { return (m_size == 0); }
size_t GetSize() const { return m_size; }
const T& GetData() const { return m_head->GetData(); }
T& GetData() { return m_head->GetData(); }
bool Delete();
bool Delete(CircularListElement<T>* element);
CircularListElement<T>* Add(const T* data = 0);
CircularListElement<T>* Add(const T& data);
bool Next();
bool Prev();
void Clear()
{
public:
CircularListElement<T> * & GetHead() { return m_head;}
const CircularListElement<T> * GetHead() const { return m_head;}
bool IsEmpty() const { return (m_size == 0);}
size_t GetSize() const { return m_size; }
const T & GetData() const { return m_head->GetData(); }
T & GetData() { return m_head->GetData();}
bool Delete() ;
bool Delete(CircularListElement<T> * element);
CircularListElement<T> * Add(const T * data = 0);
CircularListElement<T> * Add(const T & data);
bool Next();
bool Prev();
void Clear() { while(Delete());};
const CircularList& operator=(const CircularList& rhs);
//! Constructor
CircularList()
{
m_head = 0;
m_size = 0;
}
CircularList(const CircularList& rhs);
//! Destructor
virtual ~CircularList(void) {Clear();};
private:
CircularListElement<T> * m_head; //!< a pointer to the head of the circular list
size_t m_size; //!< number of element in the circular list
while (Delete())
;
};
}
const CircularList& operator=(const CircularList& rhs);
//! Constructor
CircularList()
{
m_head = 0;
m_size = 0;
}
CircularList(const CircularList& rhs);
//! Destructor
virtual ~CircularList(void) { Clear(); };
private:
CircularListElement<T>* m_head; //!< a pointer to the head of the circular list
size_t m_size; //!< number of element in the circular list
};
} // namespace HACD
#include "hacdCircularList.inl"
#endif

548
Engine/lib/bullet/Extras/HACD/hacdGraph.cpp
View file

@ -14,279 +14,277 @@
*/
#include "hacdGraph.h"
namespace HACD
{
GraphEdge::GraphEdge()
{
m_convexHull = 0;
m_v1 = -1;
m_v2 = -1;
m_name = -1;
m_error = 0;
m_surf = 0;
m_perimeter = 0;
m_concavity = 0;
m_volume = 0;
m_deleted = false;
}
GraphVertex::GraphVertex()
{
m_convexHull = 0;
m_name = -1;
m_cc = -1;
m_error = 0;
m_surf = 0;
m_perimeter = 0;
m_concavity = 0;
m_volume = 0;
m_deleted = false;
}
bool GraphVertex::DeleteEdge(long name)
{
std::set<long>::iterator it = m_edges.find(name);
if (it != m_edges.end() )
{
m_edges.erase(it);
return true;
}
return false;
}
Graph::Graph()
{
m_nV = 0;
m_nE = 0;
m_nCCs = 0;
}
Graph::~Graph()
{
}
void Graph::Allocate(size_t nV, size_t nE)
{
m_nV = nV;
m_edges.reserve(nE);
m_vertices.resize(nV);
for(size_t i = 0; i < nV; i++)
{
m_vertices[i].m_name = static_cast<long>(i);
}
}
long Graph::AddVertex()
{
size_t name = m_vertices.size();
m_vertices.resize(name+1);
m_vertices[name].m_name = static_cast<long>(name);
m_nV++;
return static_cast<long>(name);
}
long Graph::AddEdge(long v1, long v2)
{
size_t name = m_edges.size();
m_edges.push_back(GraphEdge());
m_edges[name].m_name = static_cast<long>(name);
m_edges[name].m_v1 = v1;
m_edges[name].m_v2 = v2;
m_vertices[v1].AddEdge(static_cast<long>(name));
m_vertices[v2].AddEdge(static_cast<long>(name));
m_nE++;
return static_cast<long>(name);
}
bool Graph::DeleteEdge(long name)
{
if (name < static_cast<long>(m_edges.size()))
{
long v1 = m_edges[name].m_v1;
long v2 = m_edges[name].m_v2;
m_edges[name].m_deleted = true;
m_vertices[v1].DeleteEdge(name);
m_vertices[v2].DeleteEdge(name);
delete m_edges[name].m_convexHull;
m_edges[name].m_distPoints.clear();
m_edges[name].m_boudaryEdges.clear();
m_edges[name].m_convexHull = 0;
m_nE--;
return true;
}
return false;
}
bool Graph::DeleteVertex(long name)
{
if (name < static_cast<long>(m_vertices.size()))
{
m_vertices[name].m_deleted = true;
m_vertices[name].m_edges.clear();
m_vertices[name].m_ancestors = std::vector<long>();
delete m_vertices[name].m_convexHull;
m_vertices[name].m_distPoints.clear();
m_vertices[name].m_boudaryEdges.clear();
m_vertices[name].m_convexHull = 0;
m_nV--;
return true;
}
return false;
}
bool Graph::EdgeCollapse(long v1, long v2)
{
long edgeToDelete = GetEdgeID(v1, v2);
if (edgeToDelete >= 0)
{
// delete the edge (v1, v2)
DeleteEdge(edgeToDelete);
// add v2 to v1 ancestors
m_vertices[v1].m_ancestors.push_back(v2);
// add v2's ancestors to v1's ancestors
m_vertices[v1].m_ancestors.insert(m_vertices[v1].m_ancestors.begin(),
m_vertices[v2].m_ancestors.begin(),
m_vertices[v2].m_ancestors.end());
// update adjacency information
std::set<long> & v1Edges = m_vertices[v1].m_edges;
std::set<long>::const_iterator ed(m_vertices[v2].m_edges.begin());
std::set<long>::const_iterator itEnd(m_vertices[v2].m_edges.end());
long b = -1;
for(; ed != itEnd; ++ed)
{
if (m_edges[*ed].m_v1 == v2)
{
b = m_edges[*ed].m_v2;
}
else
{
b = m_edges[*ed].m_v1;
}
if (GetEdgeID(v1, b) >= 0)
{
m_edges[*ed].m_deleted = true;
m_vertices[b].DeleteEdge(*ed);
m_nE--;
}
else
{
m_edges[*ed].m_v1 = v1;
m_edges[*ed].m_v2 = b;
v1Edges.insert(*ed);
}
}
// delete the vertex v2
DeleteVertex(v2);
return true;
}
return false;
}
long Graph::GetEdgeID(long v1, long v2) const
{
if (v1 < static_cast<long>(m_vertices.size()) && !m_vertices[v1].m_deleted)
{
std::set<long>::const_iterator ed(m_vertices[v1].m_edges.begin());
std::set<long>::const_iterator itEnd(m_vertices[v1].m_edges.end());
for(; ed != itEnd; ++ed)
{
if ( (m_edges[*ed].m_v1 == v2) ||
(m_edges[*ed].m_v2 == v2) )
{
return m_edges[*ed].m_name;
}
}
}
return -1;
}
void Graph::Print() const
{
std::cout << "-----------------------------" << std::endl;
std::cout << "vertices (" << m_nV << ")" << std::endl;
for (size_t v = 0; v < m_vertices.size(); ++v)
{
const GraphVertex & currentVertex = m_vertices[v];
if (!m_vertices[v].m_deleted)
{
std::cout << currentVertex.m_name << "\t";
std::set<long>::const_iterator ed(currentVertex.m_edges.begin());
std::set<long>::const_iterator itEnd(currentVertex.m_edges.end());
for(; ed != itEnd; ++ed)
{
std::cout << "(" << m_edges[*ed].m_v1 << "," << m_edges[*ed].m_v2 << ") ";
}
std::cout << std::endl;
}
}
std::cout << "vertices (" << m_nE << ")" << std::endl;
for (size_t e = 0; e < m_edges.size(); ++e)
{
const GraphEdge & currentEdge = m_edges[e];
if (!m_edges[e].m_deleted)
{
std::cout << currentEdge.m_name << "\t("
<< m_edges[e].m_v1 << ","
<< m_edges[e].m_v2 << ") "<< std::endl;
}
}
}
void Graph::Clear()
{
m_vertices.clear();
m_edges.clear();
m_nV = 0;
m_nE = 0;
}
long Graph::ExtractCCs()
{
// all CCs to -1
for (size_t v = 0; v < m_vertices.size(); ++v)
{
if (!m_vertices[v].m_deleted)
{
m_vertices[v].m_cc = -1;
}
}
// we get the CCs
m_nCCs = 0;
long v2 = -1;
std::vector<long> temp;
for (size_t v = 0; v < m_vertices.size(); ++v)
{
if (!m_vertices[v].m_deleted && m_vertices[v].m_cc == -1)
{
m_vertices[v].m_cc = static_cast<long>(m_nCCs);
temp.clear();
temp.push_back(m_vertices[v].m_name);
while (temp.size())
{
long vertex = temp[temp.size()-1];
temp.pop_back();
std::set<long>::const_iterator ed(m_vertices[vertex].m_edges.begin());
std::set<long>::const_iterator itEnd(m_vertices[vertex].m_edges.end());
for(; ed != itEnd; ++ed)
{
if (m_edges[*ed].m_v1 == vertex)
{
v2 = m_edges[*ed].m_v2;
}
else
{
v2 = m_edges[*ed].m_v1;
}
if ( !m_vertices[v2].m_deleted && m_vertices[v2].m_cc == -1)
{
m_vertices[v2].m_cc = static_cast<long>(m_nCCs);
temp.push_back(v2);
}
}
}
m_nCCs++;
}
}
return static_cast<long>(m_nCCs);
}
{
GraphEdge::GraphEdge()
{
m_convexHull = 0;
m_v1 = -1;
m_v2 = -1;
m_name = -1;
m_error = 0;
m_surf = 0;
m_perimeter = 0;
m_concavity = 0;
m_volume = 0;
m_deleted = false;
}
GraphVertex::GraphVertex()
{
m_convexHull = 0;
m_name = -1;
m_cc = -1;
m_error = 0;
m_surf = 0;
m_perimeter = 0;
m_concavity = 0;
m_volume = 0;
m_deleted = false;
}
bool GraphVertex::DeleteEdge(long name)
{
std::set<long>::iterator it = m_edges.find(name);
if (it != m_edges.end())
{
m_edges.erase(it);
return true;
}
return false;
}
Graph::Graph()
{
m_nV = 0;
m_nE = 0;
m_nCCs = 0;
}
Graph::~Graph()
{
}
void Graph::Allocate(size_t nV, size_t nE)
{
m_nV = nV;
m_edges.reserve(nE);
m_vertices.resize(nV);
for (size_t i = 0; i < nV; i++)
{
m_vertices[i].m_name = static_cast<long>(i);
}
}
long Graph::AddVertex()
{
size_t name = m_vertices.size();
m_vertices.resize(name + 1);
m_vertices[name].m_name = static_cast<long>(name);
m_nV++;
return static_cast<long>(name);
}
long Graph::AddEdge(long v1, long v2)
{
size_t name = m_edges.size();
m_edges.push_back(GraphEdge());
m_edges[name].m_name = static_cast<long>(name);
m_edges[name].m_v1 = v1;
m_edges[name].m_v2 = v2;
m_vertices[v1].AddEdge(static_cast<long>(name));
m_vertices[v2].AddEdge(static_cast<long>(name));
m_nE++;
return static_cast<long>(name);
}
bool Graph::DeleteEdge(long name)
{
if (name < static_cast<long>(m_edges.size()))
{
long v1 = m_edges[name].m_v1;
long v2 = m_edges[name].m_v2;
m_edges[name].m_deleted = true;
m_vertices[v1].DeleteEdge(name);
m_vertices[v2].DeleteEdge(name);
delete m_edges[name].m_convexHull;
m_edges[name].m_distPoints.clear();
m_edges[name].m_boudaryEdges.clear();
m_edges[name].m_convexHull = 0;
m_nE--;
return true;
}
return false;
}
bool Graph::DeleteVertex(long name)
{
if (name < static_cast<long>(m_vertices.size()))
{
m_vertices[name].m_deleted = true;
m_vertices[name].m_edges.clear();
m_vertices[name].m_ancestors = std::vector<long>();
delete m_vertices[name].m_convexHull;
m_vertices[name].m_distPoints.clear();
m_vertices[name].m_boudaryEdges.clear();
m_vertices[name].m_convexHull = 0;
m_nV--;
return true;
}
return false;
}
bool Graph::EdgeCollapse(long v1, long v2)
{
long edgeToDelete = GetEdgeID(v1, v2);
if (edgeToDelete >= 0)
{
// delete the edge (v1, v2)
DeleteEdge(edgeToDelete);
// add v2 to v1 ancestors
m_vertices[v1].m_ancestors.push_back(v2);
// add v2's ancestors to v1's ancestors
m_vertices[v1].m_ancestors.insert(m_vertices[v1].m_ancestors.begin(),
m_vertices[v2].m_ancestors.begin(),
m_vertices[v2].m_ancestors.end());
// update adjacency information
std::set<long>& v1Edges = m_vertices[v1].m_edges;
std::set<long>::const_iterator ed(m_vertices[v2].m_edges.begin());
std::set<long>::const_iterator itEnd(m_vertices[v2].m_edges.end());
long b = -1;
for (; ed != itEnd; ++ed)
{
if (m_edges[*ed].m_v1 == v2)
{
b = m_edges[*ed].m_v2;
}
else
{
b = m_edges[*ed].m_v1;
}
if (GetEdgeID(v1, b) >= 0)
{
m_edges[*ed].m_deleted = true;
m_vertices[b].DeleteEdge(*ed);
m_nE--;
}
else
{
m_edges[*ed].m_v1 = v1;
m_edges[*ed].m_v2 = b;
v1Edges.insert(*ed);
}
}
// delete the vertex v2
DeleteVertex(v2);
return true;
}
return false;
}
long Graph::GetEdgeID(long v1, long v2) const
{
if (v1 < static_cast<long>(m_vertices.size()) && !m_vertices[v1].m_deleted)
{
std::set<long>::const_iterator ed(m_vertices[v1].m_edges.begin());
std::set<long>::const_iterator itEnd(m_vertices[v1].m_edges.end());
for (; ed != itEnd; ++ed)
{
if ((m_edges[*ed].m_v1 == v2) ||
(m_edges[*ed].m_v2 == v2))
{
return m_edges[*ed].m_name;
}
}
}
return -1;
}
void Graph::Print() const
{
std::cout << "-----------------------------" << std::endl;
std::cout << "vertices (" << m_nV << ")" << std::endl;
for (size_t v = 0; v < m_vertices.size(); ++v)
{
const GraphVertex& currentVertex = m_vertices[v];
if (!m_vertices[v].m_deleted)
{
std::cout << currentVertex.m_name << "\t";
std::set<long>::const_iterator ed(currentVertex.m_edges.begin());
std::set<long>::const_iterator itEnd(currentVertex.m_edges.end());
for (; ed != itEnd; ++ed)
{
std::cout << "(" << m_edges[*ed].m_v1 << "," << m_edges[*ed].m_v2 << ") ";
}
std::cout << std::endl;
}
}
std::cout << "vertices (" << m_nE << ")" << std::endl;
for (size_t e = 0; e < m_edges.size(); ++e)
{
const GraphEdge& currentEdge = m_edges[e];
if (!m_edges[e].m_deleted)
{
std::cout << currentEdge.m_name << "\t("
<< m_edges[e].m_v1 << ","
<< m_edges[e].m_v2 << ") " << std::endl;
}
}
}
void Graph::Clear()
{
m_vertices.clear();
m_edges.clear();
m_nV = 0;
m_nE = 0;
}
long Graph::ExtractCCs()
{
// all CCs to -1
for (size_t v = 0; v < m_vertices.size(); ++v)
{
if (!m_vertices[v].m_deleted)
{
m_vertices[v].m_cc = -1;
}
}
// we get the CCs
m_nCCs = 0;
long v2 = -1;
std::vector<long> temp;
for (size_t v = 0; v < m_vertices.size(); ++v)
{
if (!m_vertices[v].m_deleted && m_vertices[v].m_cc == -1)
{
m_vertices[v].m_cc = static_cast<long>(m_nCCs);
temp.clear();
temp.push_back(m_vertices[v].m_name);
while (temp.size())
{
long vertex = temp[temp.size() - 1];
temp.pop_back();
std::set<long>::const_iterator ed(m_vertices[vertex].m_edges.begin());
std::set<long>::const_iterator itEnd(m_vertices[vertex].m_edges.end());
for (; ed != itEnd; ++ed)
{
if (m_edges[*ed].m_v1 == vertex)
{
v2 = m_edges[*ed].m_v2;
}
else
{
v2 = m_edges[*ed].m_v1;
}
if (!m_vertices[v2].m_deleted && m_vertices[v2].m_cc == -1)
{
m_vertices[v2].m_cc = static_cast<long>(m_nCCs);
temp.push_back(v2);
}
}
}
m_nCCs++;
}
}
return static_cast<long>(m_nCCs);
}
} // namespace HACD

175
Engine/lib/bullet/Extras/HACD/hacdGraph.h
View file

@ -24,97 +24,96 @@
namespace HACD
{
class GraphVertex;
class GraphEdge;
class Graph;
class HACD;
class GraphVertex
{
public:
bool AddEdge(long name)
{
m_edges.insert(name);
return true;
}
bool DeleteEdge(long name);
GraphVertex();
~GraphVertex(){ delete m_convexHull;};
private:
long m_name;
long m_cc;
std::set<long> m_edges;
bool m_deleted;
std::vector<long> m_ancestors;
std::map<long, DPoint> m_distPoints;
class GraphVertex;
class GraphEdge;
class Graph;
class HACD;
Real m_error;
double m_surf;
double m_volume;
double m_perimeter;
double m_concavity;
ICHull * m_convexHull;
std::set<unsigned long long> m_boudaryEdges;
class GraphVertex
{
public:
bool AddEdge(long name)
{
m_edges.insert(name);
return true;
}
bool DeleteEdge(long name);
GraphVertex();
~GraphVertex() { delete m_convexHull; };
friend class GraphEdge;
friend class Graph;
friend class HACD;
};
class GraphEdge
{
public:
GraphEdge();
~GraphEdge(){delete m_convexHull;};
private:
long m_name;
long m_v1;
long m_v2;
std::map<long, DPoint> m_distPoints;
Real m_error;
double m_surf;
double m_volume;
double m_perimeter;
double m_concavity;
ICHull * m_convexHull;
std::set<unsigned long long> m_boudaryEdges;
bool m_deleted;
private:
long m_name;
long m_cc;
std::set<long> m_edges;
bool m_deleted;
std::vector<long> m_ancestors;
std::map<long, DPoint> m_distPoints;
friend class GraphVertex;
friend class Graph;
friend class HACD;
};
class Graph
{
public:
size_t GetNEdges() const { return m_nE;}
size_t GetNVertices() const { return m_nV;}
bool EdgeCollapse(long v1, long v2);
long AddVertex();
long AddEdge(long v1, long v2);
bool DeleteEdge(long name);
bool DeleteVertex(long name);
long GetEdgeID(long v1, long v2) const;
void Clear();
void Print() const;
long ExtractCCs();
Graph();
virtual ~Graph();
void Allocate(size_t nV, size_t nE);
Real m_error;
double m_surf;
double m_volume;
double m_perimeter;
double m_concavity;
ICHull* m_convexHull;
std::set<unsigned long long> m_boudaryEdges;
private:
size_t m_nCCs;
size_t m_nV;
size_t m_nE;
std::vector<GraphEdge> m_edges;
std::vector<GraphVertex> m_vertices;
friend class GraphEdge;
friend class Graph;
friend class HACD;
};
friend class HACD;
};
}
class GraphEdge
{
public:
GraphEdge();
~GraphEdge() { delete m_convexHull; };
private:
long m_name;
long m_v1;
long m_v2;
std::map<long, DPoint> m_distPoints;
Real m_error;
double m_surf;
double m_volume;
double m_perimeter;
double m_concavity;
ICHull* m_convexHull;
std::set<unsigned long long> m_boudaryEdges;
bool m_deleted;
friend class GraphVertex;
friend class Graph;
friend class HACD;
};
class Graph
{
public:
size_t GetNEdges() const { return m_nE; }
size_t GetNVertices() const { return m_nV; }
bool EdgeCollapse(long v1, long v2);
long AddVertex();
long AddEdge(long v1, long v2);
bool DeleteEdge(long name);
bool DeleteVertex(long name);
long GetEdgeID(long v1, long v2) const;
void Clear();
void Print() const;
long ExtractCCs();
Graph();
virtual ~Graph();
void Allocate(size_t nV, size_t nE);
private:
size_t m_nCCs;
size_t m_nV;
size_t m_nE;
std::vector<GraphEdge> m_edges;
std::vector<GraphVertex> m_vertices;
friend class HACD;
};
} // namespace HACD
#endif

1574
Engine/lib/bullet/Extras/HACD/hacdHACD.cpp
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File diff suppressed because it is too large Load diff

501
Engine/lib/bullet/Extras/HACD/hacdHACD.h
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@ -26,257 +26,260 @@
namespace HACD
{
const double sc_pi = 3.14159265;
class HACD;
const double sc_pi = 3.14159265;
class HACD;
// just to be able to set the capcity of the container
template<class _Ty, class _Container = std::vector<_Ty>, class _Pr = std::less<typename _Container::value_type> >
class reservable_priority_queue: public std::priority_queue<_Ty, _Container, _Pr>
// just to be able to set the capcity of the container
template <class _Ty, class _Container = std::vector<_Ty>, class _Pr = std::less<typename _Container::value_type> >
class reservable_priority_queue : public std::priority_queue<_Ty, _Container, _Pr>
{
typedef typename std::priority_queue<_Ty, _Container, _Pr>::size_type size_type;
public:
reservable_priority_queue(size_type capacity = 0) { reserve(capacity); };
void reserve(size_type capacity) { this->c.reserve(capacity); }
size_type capacity() const { return this->c.capacity(); }
};
//! priority queque element
class GraphEdgePriorityQueue
{
public:
//! Constructor
//! @param name edge's id
//! @param priority edge's priority
GraphEdgePriorityQueue(long name, Real priority)
{
typedef typename std::priority_queue<_Ty, _Container, _Pr>::size_type size_type;
public:
reservable_priority_queue(size_type capacity = 0) { reserve(capacity); };
void reserve(size_type capacity) { this->c.reserve(capacity); }
size_type capacity() const { return this->c.capacity(); }
};
//! priority queque element
class GraphEdgePriorityQueue
{
public:
//! Constructor
//! @param name edge's id
//! @param priority edge's priority
GraphEdgePriorityQueue(long name, Real priority)
{
m_name = name;
m_priority = priority;
}
//! Destructor
~GraphEdgePriorityQueue(void){}
private:
long m_name; //!< edge name
Real m_priority; //!< priority
//! Operator < for GraphEdgePQ
friend bool operator<(const GraphEdgePriorityQueue & lhs, const GraphEdgePriorityQueue & rhs);
//! Operator > for GraphEdgePQ
friend bool operator>(const GraphEdgePriorityQueue & lhs, const GraphEdgePriorityQueue & rhs);
friend class HACD;
};
inline bool operator<(const GraphEdgePriorityQueue & lhs, const GraphEdgePriorityQueue & rhs)
{
return lhs.m_priority<rhs.m_priority;
}
inline bool operator>(const GraphEdgePriorityQueue & lhs, const GraphEdgePriorityQueue & rhs)
{
return lhs.m_priority>rhs.m_priority;
}
typedef bool (*CallBackFunction)(const char *, double, double, size_t);
m_name = name;
m_priority = priority;
}
//! Destructor
~GraphEdgePriorityQueue(void) {}
//! Provides an implementation of the Hierarchical Approximate Convex Decomposition (HACD) technique described in "A Simple and Efficient Approach for 3D Mesh Approximate Convex Decomposition" Game Programming Gems 8 - Chapter 2.8, p.202. A short version of the chapter was published in ICIP09 and is available at ftp://ftp.elet.polimi.it/users/Stefano.Tubaro/ICIP_USB_Proceedings_v2/pdfs/0003501.pdf
class HACD
{
public:
//! Gives the triangles partitionas an array of size m_nTriangles where the i-th element specifies the cluster to which belong the i-th triangle
//! @return triangles partition
const long * GetPartition() const { return m_partition;}
//! Sets the scale factor
//! @param scale scale factor
void SetScaleFactor(double scale) { m_scale = scale;}
//! Gives the scale factor
//! @return scale factor
double GetScaleFactor() const { return m_scale;}
//! Sets the call-back function
//! @param callBack pointer to the call-back function
void SetCallBack(CallBackFunction callBack) { m_callBack = callBack;}
//! Gives the call-back function
//! @return pointer to the call-back function
CallBackFunction GetCallBack() const { return m_callBack;}
//! Specifies whether faces points should be added when computing the concavity
//! @param addFacesPoints true = faces points should be added
void SetAddFacesPoints(bool addFacesPoints) { m_addFacesPoints = addFacesPoints;}
//! Specifies wheter faces points should be added when computing the concavity
//! @return true = faces points should be added
bool GetAddFacesPoints() const { return m_addFacesPoints;}
//! Specifies whether extra points should be added when computing the concavity
//! @param addExteraDistPoints true = extra points should be added
void SetAddExtraDistPoints(bool addExtraDistPoints) { m_addExtraDistPoints = addExtraDistPoints;}
//! Specifies wheter extra points should be added when computing the concavity
//! @return true = extra points should be added
bool GetAddExtraDistPoints() const { return m_addExtraDistPoints;}
//! Specifies whether extra points should be added when computing the concavity
//! @param addExteraDistPoints true = extra points should be added
void SetAddNeighboursDistPoints(bool addNeighboursDistPoints) { m_addNeighboursDistPoints = addNeighboursDistPoints;}
//! Specifies wheter extra points should be added when computing the concavity
//! @return true = extra points should be added
bool GetAddNeighboursDistPoints() const { return m_addNeighboursDistPoints;}
//! Sets the points of the input mesh (Remark: the input points will be scaled and shifted. Use DenormalizeData() to invert those operations)
//! @param points pointer to the input points
void SetPoints(Vec3<Real> * points) { m_points = points;}
//! Gives the points of the input mesh (Remark: the input points will be scaled and shifted. Use DenormalizeData() to invert those operations)
//! @return pointer to the input points
const Vec3<Real> * GetPoints() const { return m_points;}
//! Sets the triangles of the input mesh.
//! @param triangles points pointer to the input points
void SetTriangles(Vec3<long> * triangles) { m_triangles = triangles;}
//! Gives the triangles in the input mesh
//! @return pointer to the input triangles
const Vec3<long> * GetTriangles() const { return m_triangles;}
//! Sets the number of points in the input mesh.
//! @param nPoints number of points the input mesh
void SetNPoints(size_t nPoints) { m_nPoints = nPoints;}
//! Gives the number of points in the input mesh.
//! @return number of points the input mesh
size_t GetNPoints() const { return m_nPoints;}
//! Sets the number of triangles in the input mesh.
//! @param nTriangles number of triangles in the input mesh
void SetNTriangles(size_t nTriangles) { m_nTriangles = nTriangles;}
//! Gives the number of triangles in the input mesh.
//! @return number of triangles the input mesh
size_t GetNTriangles() const { return m_nTriangles;}
//! Sets the minimum number of clusters to be generated.
//! @param nClusters minimum number of clusters
void SetNClusters(size_t nClusters) { m_nMinClusters = nClusters;}
//! Gives the number of generated clusters.
//! @return number of generated clusters
size_t GetNClusters() const { return m_nClusters;}
//! Sets the maximum allowed concavity.
//! @param concavity maximum concavity
void SetConcavity(double concavity) { m_concavity = concavity;}
//! Gives the maximum allowed concavity.
//! @return maximum concavity
double GetConcavity() const { return m_concavity;}
//! Sets the maximum allowed distance to get CCs connected.
//! @param concavity maximum distance to get CCs connected
void SetConnectDist(double ccConnectDist) { m_ccConnectDist = ccConnectDist;}
//! Gives the maximum allowed distance to get CCs connected.
//! @return maximum distance to get CCs connected
double GetConnectDist() const { return m_ccConnectDist;}
//! Sets the volume weight.
//! @param beta volume weight
void SetVolumeWeight(double beta) { m_beta = beta;}
//! Gives the volume weight.
//! @return volume weight
double GetVolumeWeight() const { return m_beta;}
//! Sets the compacity weight (i.e. parameter alpha in ftp://ftp.elet.polimi.it/users/Stefano.Tubaro/ICIP_USB_Proceedings_v2/pdfs/0003501.pdf).
//! @param alpha compacity weight
void SetCompacityWeight(double alpha) { m_alpha = alpha;}
//! Gives the compacity weight (i.e. parameter alpha in ftp://ftp.elet.polimi.it/users/Stefano.Tubaro/ICIP_USB_Proceedings_v2/pdfs/0003501.pdf).
//! @return compacity weight
double GetCompacityWeight() const { return m_alpha;}
//! Sets the maximum number of vertices for each generated convex-hull.
//! @param nVerticesPerCH maximum # vertices per CH
void SetNVerticesPerCH(size_t nVerticesPerCH) { m_nVerticesPerCH = nVerticesPerCH;}
//! Gives the maximum number of vertices for each generated convex-hull.
//! @return maximum # vertices per CH
size_t GetNVerticesPerCH() const { return m_nVerticesPerCH;}
//! Gives the number of vertices for the cluster number numCH.
//! @return number of vertices
size_t GetNPointsCH(size_t numCH) const;
//! Gives the number of triangles for the cluster number numCH.
//! @param numCH cluster's number
//! @return number of triangles
size_t GetNTrianglesCH(size_t numCH) const;
//! Gives the vertices and the triangles of the cluster number numCH.
//! @param numCH cluster's number
//! @param points pointer to the vector of points to be filled
//! @param triangles pointer to the vector of triangles to be filled
//! @return true if sucess
bool GetCH(size_t numCH, Vec3<Real> * const points, Vec3<long> * const triangles);
//! Computes the HACD decomposition.
//! @param fullCH specifies whether to generate convex-hulls with a full or limited (i.e. < m_nVerticesPerCH) number of vertices
//! @param exportDistPoints specifies wheter distance points should ne exported or not (used only for debugging).
//! @return true if sucess
bool Compute(bool fullCH=false, bool exportDistPoints=false);
//! Saves the generated convex-hulls in a VRML 2.0 file.
//! @param fileName the output file name
//! @param uniColor specifies whether the different convex-hulls should have the same color or not
//! @param numCluster specifies the cluster to be saved, if numCluster < 0 export all clusters
//! @return true if sucess
bool Save(const char * fileName, bool uniColor, long numCluster=-1) const;
//! Shifts and scales to the data to have all the coordinates between 0.0 and 1000.0.
void NormalizeData();
//! Inverse the operations applied by NormalizeData().
void DenormalizeData();
//! Constructor.
HACD(void);
//! Destructor.
~HACD(void);
private:
//! Gives the edge index.
//! @param a first vertex id
//! @param b second vertex id
//! @return edge's index
static unsigned long long GetEdgeIndex(unsigned long long a, unsigned long long b)
{
if (a > b) return (a << 32) + b;
else return (b << 32) + a;
}
//! Computes the concavity of a cluster.
//! @param ch the cluster's convex-hull
//! @param distPoints the cluster's points
//! @return cluster's concavity
double Concavity(ICHull & ch, std::map<long, DPoint> & distPoints);
//! Computes the perimeter of a cluster.
//! @param triIndices the cluster's triangles
//! @param distPoints the cluster's points
//! @return cluster's perimeter
double ComputePerimeter(const std::vector<long> & triIndices) const;
//! Creates the Graph by associating to each mesh triangle a vertex in the graph and to each couple of adjacent triangles an edge in the graph.
void CreateGraph();
//! Initializes the graph costs and computes the vertices normals
void InitializeDualGraph();
//! Computes the cost of an edge
//! @param e edge's id
void ComputeEdgeCost(size_t e);
//! Initializes the priority queue
//! @param fast specifies whether fast mode is used
//! @return true if success
bool InitializePriorityQueue();
//! Cleans the intersection between convex-hulls
void CleanClusters();
//! Computes convex-hulls from partition information
//! @param fullCH specifies whether to generate convex-hulls with a full or limited (i.e. < m_nVerticesPerCH) number of vertices
void ComputeConvexHulls(bool fullCH);
//! Simplifies the graph
//! @param fast specifies whether fast mode is used
void Simplify();
private:
double m_scale; //>! scale factor used for NormalizeData() and DenormalizeData()
Vec3<long> * m_triangles; //>! pointer the triangles array
Vec3<Real> * m_points; //>! pointer the points array
Vec3<Real> * m_facePoints; //>! pointer to the faces points array
Vec3<Real> * m_faceNormals; //>! pointer to the faces normals array
Vec3<Real> * m_normals; //>! pointer the normals array
size_t m_nTriangles; //>! number of triangles in the original mesh
size_t m_nPoints; //>! number of vertices in the original mesh
size_t m_nClusters; //>! number of clusters
size_t m_nMinClusters; //>! minimum number of clusters
double m_ccConnectDist; //>! maximum allowed distance to connect CCs
double m_concavity; //>! maximum concavity
double m_alpha; //>! compacity weigth
double m_beta; //>! volume weigth
double m_diag; //>! length of the BB diagonal
Vec3<Real> m_barycenter; //>! barycenter of the mesh
std::vector< long > m_cVertices; //>! array of vertices each belonging to a different cluster
ICHull * m_convexHulls; //>! convex-hulls associated with the final HACD clusters
Graph m_graph; //>! simplification graph
size_t m_nVerticesPerCH; //>! maximum number of vertices per convex-hull
reservable_priority_queue<GraphEdgePriorityQueue,
std::vector<GraphEdgePriorityQueue>,
std::greater<std::vector<GraphEdgePriorityQueue>::value_type> > m_pqueue; //!> priority queue
HACD(const HACD & rhs);
CallBackFunction m_callBack; //>! call-back function
long * m_partition; //>! array of size m_nTriangles where the i-th element specifies the cluster to which belong the i-th triangle
bool m_addFacesPoints; //>! specifies whether to add faces points or not
bool m_addExtraDistPoints; //>! specifies whether to add extra points for concave shapes or not
bool m_addNeighboursDistPoints; //>! specifies whether to add extra points from adjacent clusters or not
};
private:
long m_name; //!< edge name
Real m_priority; //!< priority
//! Operator < for GraphEdgePQ
friend bool operator<(const GraphEdgePriorityQueue &lhs, const GraphEdgePriorityQueue &rhs);
//! Operator > for GraphEdgePQ
friend bool operator>(const GraphEdgePriorityQueue &lhs, const GraphEdgePriorityQueue &rhs);
friend class HACD;
};
inline bool operator<(const GraphEdgePriorityQueue &lhs, const GraphEdgePriorityQueue &rhs)
{
return lhs.m_priority < rhs.m_priority;
}
inline bool operator>(const GraphEdgePriorityQueue &lhs, const GraphEdgePriorityQueue &rhs)
{
return lhs.m_priority > rhs.m_priority;
}
typedef bool (*CallBackFunction)(const char *, double, double, size_t);
//! Provides an implementation of the Hierarchical Approximate Convex Decomposition (HACD) technique described in "A Simple and Efficient Approach for 3D Mesh Approximate Convex Decomposition" Game Programming Gems 8 - Chapter 2.8, p.202. A short version of the chapter was published in ICIP09 and is available at ftp://ftp.elet.polimi.it/users/Stefano.Tubaro/ICIP_USB_Proceedings_v2/pdfs/0003501.pdf
class HACD
{
public:
//! Gives the triangles partitionas an array of size m_nTriangles where the i-th element specifies the cluster to which belong the i-th triangle
//! @return triangles partition
const long *GetPartition() const { return m_partition; }
//! Sets the scale factor
//! @param scale scale factor
void SetScaleFactor(double scale) { m_scale = scale; }
//! Gives the scale factor
//! @return scale factor
double GetScaleFactor() const { return m_scale; }
//! Sets the call-back function
//! @param callBack pointer to the call-back function
void SetCallBack(CallBackFunction callBack) { m_callBack = callBack; }
//! Gives the call-back function
//! @return pointer to the call-back function
CallBackFunction GetCallBack() const { return m_callBack; }
//! Specifies whether faces points should be added when computing the concavity
//! @param addFacesPoints true = faces points should be added
void SetAddFacesPoints(bool addFacesPoints) { m_addFacesPoints = addFacesPoints; }
//! Specifies wheter faces points should be added when computing the concavity
//! @return true = faces points should be added
bool GetAddFacesPoints() const { return m_addFacesPoints; }
//! Specifies whether extra points should be added when computing the concavity
//! @param addExteraDistPoints true = extra points should be added
void SetAddExtraDistPoints(bool addExtraDistPoints) { m_addExtraDistPoints = addExtraDistPoints; }
//! Specifies wheter extra points should be added when computing the concavity
//! @return true = extra points should be added
bool GetAddExtraDistPoints() const { return m_addExtraDistPoints; }
//! Specifies whether extra points should be added when computing the concavity
//! @param addExteraDistPoints true = extra points should be added
void SetAddNeighboursDistPoints(bool addNeighboursDistPoints) { m_addNeighboursDistPoints = addNeighboursDistPoints; }
//! Specifies wheter extra points should be added when computing the concavity
//! @return true = extra points should be added
bool GetAddNeighboursDistPoints() const { return m_addNeighboursDistPoints; }
//! Sets the points of the input mesh (Remark: the input points will be scaled and shifted. Use DenormalizeData() to invert those operations)
//! @param points pointer to the input points
void SetPoints(Vec3<Real> *points) { m_points = points; }
//! Gives the points of the input mesh (Remark: the input points will be scaled and shifted. Use DenormalizeData() to invert those operations)
//! @return pointer to the input points
const Vec3<Real> *GetPoints() const { return m_points; }
//! Sets the triangles of the input mesh.
//! @param triangles points pointer to the input points
void SetTriangles(Vec3<long> *triangles) { m_triangles = triangles; }
//! Gives the triangles in the input mesh
//! @return pointer to the input triangles
const Vec3<long> *GetTriangles() const { return m_triangles; }
//! Sets the number of points in the input mesh.
//! @param nPoints number of points the input mesh
void SetNPoints(size_t nPoints) { m_nPoints = nPoints; }
//! Gives the number of points in the input mesh.
//! @return number of points the input mesh
size_t GetNPoints() const { return m_nPoints; }
//! Sets the number of triangles in the input mesh.
//! @param nTriangles number of triangles in the input mesh
void SetNTriangles(size_t nTriangles) { m_nTriangles = nTriangles; }
//! Gives the number of triangles in the input mesh.
//! @return number of triangles the input mesh
size_t GetNTriangles() const { return m_nTriangles; }
//! Sets the minimum number of clusters to be generated.
//! @param nClusters minimum number of clusters
void SetNClusters(size_t nClusters) { m_nMinClusters = nClusters; }
//! Gives the number of generated clusters.
//! @return number of generated clusters
size_t GetNClusters() const { return m_nClusters; }
//! Sets the maximum allowed concavity.
//! @param concavity maximum concavity
void SetConcavity(double concavity) { m_concavity = concavity; }
//! Gives the maximum allowed concavity.
//! @return maximum concavity
double GetConcavity() const { return m_concavity; }
//! Sets the maximum allowed distance to get CCs connected.
//! @param concavity maximum distance to get CCs connected
void SetConnectDist(double ccConnectDist) { m_ccConnectDist = ccConnectDist; }
//! Gives the maximum allowed distance to get CCs connected.
//! @return maximum distance to get CCs connected
double GetConnectDist() const { return m_ccConnectDist; }
//! Sets the volume weight.
//! @param beta volume weight
void SetVolumeWeight(double beta) { m_beta = beta; }
//! Gives the volume weight.
//! @return volume weight
double GetVolumeWeight() const { return m_beta; }
//! Sets the compacity weight (i.e. parameter alpha in ftp://ftp.elet.polimi.it/users/Stefano.Tubaro/ICIP_USB_Proceedings_v2/pdfs/0003501.pdf).
//! @param alpha compacity weight
void SetCompacityWeight(double alpha) { m_alpha = alpha; }
//! Gives the compacity weight (i.e. parameter alpha in ftp://ftp.elet.polimi.it/users/Stefano.Tubaro/ICIP_USB_Proceedings_v2/pdfs/0003501.pdf).
//! @return compacity weight
double GetCompacityWeight() const { return m_alpha; }
//! Sets the maximum number of vertices for each generated convex-hull.
//! @param nVerticesPerCH maximum # vertices per CH
void SetNVerticesPerCH(size_t nVerticesPerCH) { m_nVerticesPerCH = nVerticesPerCH; }
//! Gives the maximum number of vertices for each generated convex-hull.
//! @return maximum # vertices per CH
size_t GetNVerticesPerCH() const { return m_nVerticesPerCH; }
//! Gives the number of vertices for the cluster number numCH.
//! @return number of vertices
size_t GetNPointsCH(size_t numCH) const;
//! Gives the number of triangles for the cluster number numCH.
//! @param numCH cluster's number
//! @return number of triangles
size_t GetNTrianglesCH(size_t numCH) const;
//! Gives the vertices and the triangles of the cluster number numCH.
//! @param numCH cluster's number
//! @param points pointer to the vector of points to be filled
//! @param triangles pointer to the vector of triangles to be filled
//! @return true if sucess
bool GetCH(size_t numCH, Vec3<Real> *const points, Vec3<long> *const triangles);
//! Computes the HACD decomposition.
//! @param fullCH specifies whether to generate convex-hulls with a full or limited (i.e. < m_nVerticesPerCH) number of vertices
//! @param exportDistPoints specifies wheter distance points should ne exported or not (used only for debugging).
//! @return true if sucess
bool Compute(bool fullCH = false, bool exportDistPoints = false);
//! Saves the generated convex-hulls in a VRML 2.0 file.
//! @param fileName the output file name
//! @param uniColor specifies whether the different convex-hulls should have the same color or not
//! @param numCluster specifies the cluster to be saved, if numCluster < 0 export all clusters
//! @return true if sucess
bool Save(const char *fileName, bool uniColor, long numCluster = -1) const;
//! Shifts and scales to the data to have all the coordinates between 0.0 and 1000.0.
void NormalizeData();
//! Inverse the operations applied by NormalizeData().
void DenormalizeData();
//! Constructor.
HACD(void);
//! Destructor.
~HACD(void);
private:
//! Gives the edge index.
//! @param a first vertex id
//! @param b second vertex id
//! @return edge's index
static unsigned long long GetEdgeIndex(unsigned long long a, unsigned long long b)
{
if (a > b)
return (a << 32) + b;
else
return (b << 32) + a;
}
//! Computes the concavity of a cluster.
//! @param ch the cluster's convex-hull
//! @param distPoints the cluster's points
//! @return cluster's concavity
double Concavity(ICHull &ch, std::map<long, DPoint> &distPoints);
//! Computes the perimeter of a cluster.
//! @param triIndices the cluster's triangles
//! @param distPoints the cluster's points
//! @return cluster's perimeter
double ComputePerimeter(const std::vector<long> &triIndices) const;
//! Creates the Graph by associating to each mesh triangle a vertex in the graph and to each couple of adjacent triangles an edge in the graph.
void CreateGraph();
//! Initializes the graph costs and computes the vertices normals
void InitializeDualGraph();
//! Computes the cost of an edge
//! @param e edge's id
void ComputeEdgeCost(size_t e);
//! Initializes the priority queue
//! @param fast specifies whether fast mode is used
//! @return true if success
bool InitializePriorityQueue();
//! Cleans the intersection between convex-hulls
void CleanClusters();
//! Computes convex-hulls from partition information
//! @param fullCH specifies whether to generate convex-hulls with a full or limited (i.e. < m_nVerticesPerCH) number of vertices
void ComputeConvexHulls(bool fullCH);
//! Simplifies the graph
//! @param fast specifies whether fast mode is used
void Simplify();
private:
double m_scale; //>! scale factor used for NormalizeData() and DenormalizeData()
Vec3<long> *m_triangles; //>! pointer the triangles array
Vec3<Real> *m_points; //>! pointer the points array
Vec3<Real> *m_facePoints; //>! pointer to the faces points array
Vec3<Real> *m_faceNormals; //>! pointer to the faces normals array
Vec3<Real> *m_normals; //>! pointer the normals array
size_t m_nTriangles; //>! number of triangles in the original mesh
size_t m_nPoints; //>! number of vertices in the original mesh
size_t m_nClusters; //>! number of clusters
size_t m_nMinClusters; //>! minimum number of clusters
double m_ccConnectDist; //>! maximum allowed distance to connect CCs
double m_concavity; //>! maximum concavity
double m_alpha; //>! compacity weigth
double m_beta; //>! volume weigth
double m_diag; //>! length of the BB diagonal
Vec3<Real> m_barycenter; //>! barycenter of the mesh
std::vector<long> m_cVertices; //>! array of vertices each belonging to a different cluster
ICHull *m_convexHulls; //>! convex-hulls associated with the final HACD clusters
Graph m_graph; //>! simplification graph
size_t m_nVerticesPerCH; //>! maximum number of vertices per convex-hull
reservable_priority_queue<GraphEdgePriorityQueue,
std::vector<GraphEdgePriorityQueue>,
std::greater<std::vector<GraphEdgePriorityQueue>::value_type> >
m_pqueue; //!> priority queue
HACD(const HACD &rhs);
CallBackFunction m_callBack; //>! call-back function
long *m_partition; //>! array of size m_nTriangles where the i-th element specifies the cluster to which belong the i-th triangle
bool m_addFacesPoints; //>! specifies whether to add faces points or not
bool m_addExtraDistPoints; //>! specifies whether to add extra points for concave shapes or not
bool m_addNeighboursDistPoints; //>! specifies whether to add extra points from adjacent clusters or not
};
} // namespace HACD
#endif

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Engine/lib/bullet/Extras/HACD/hacdICHull.cpp
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Engine/lib/bullet/Extras/HACD/hacdICHull.h
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@ -22,99 +22,99 @@
#include <map>
namespace HACD
{
class DPoint;
class HACD;
//! Incremental Convex Hull algorithm (cf. http://maven.smith.edu/~orourke/books/ftp.html ).
enum ICHullError
{
ICHullErrorOK = 0,
ICHullErrorCoplanarPoints,
ICHullErrorNoVolume,
ICHullErrorInconsistent,
ICHullErrorNotEnoughPoints
};
class ICHull
{
public:
//!
bool IsFlat() { return m_isFlat;}
//!
std::map<long, DPoint> * GetDistPoints() const { return m_distPoints;}
//!
void SetDistPoints(std::map<long, DPoint> * distPoints) { m_distPoints = distPoints;}
//! Returns the computed mesh
TMMesh & GetMesh() { return m_mesh;}
//! Add one point to the convex-hull
bool AddPoint(const Vec3<Real> & point) {return AddPoints(&point, 1);}
//! Add one point to the convex-hull
bool AddPoint(const Vec3<Real> & point, long id);
//! Add points to the convex-hull
bool AddPoints(const Vec3<Real> * points, size_t nPoints);
bool AddPoints(std::vector< Vec3<Real> > points);
//!
ICHullError Process();
//!
ICHullError Process(unsigned long nPointsCH);
//!
double ComputeVolume();
//!
bool IsInside(const Vec3<Real> & pt0);
//!
double ComputeDistance(long name, const Vec3<Real> & pt, const Vec3<Real> & normal, bool & insideHull, bool updateIncidentPoints);
//!
const ICHull & operator=(ICHull & rhs);
class DPoint;
class HACD;
//! Incremental Convex Hull algorithm (cf. http://maven.smith.edu/~orourke/books/ftp.html ).
enum ICHullError
{
ICHullErrorOK = 0,
ICHullErrorCoplanarPoints,
ICHullErrorNoVolume,
ICHullErrorInconsistent,
ICHullErrorNotEnoughPoints
};
class ICHull
{
public:
//!
bool IsFlat() { return m_isFlat; }
//!
std::map<long, DPoint> *GetDistPoints() const { return m_distPoints; }
//!
void SetDistPoints(std::map<long, DPoint> *distPoints) { m_distPoints = distPoints; }
//! Returns the computed mesh
TMMesh &GetMesh() { return m_mesh; }
//! Add one point to the convex-hull
bool AddPoint(const Vec3<Real> &point) { return AddPoints(&point, 1); }
//! Add one point to the convex-hull
bool AddPoint(const Vec3<Real> &point, long id);
//! Add points to the convex-hull
bool AddPoints(const Vec3<Real> *points, size_t nPoints);
bool AddPoints(std::vector<Vec3<Real> > points);
//!
ICHullError Process();
//!
ICHullError Process(unsigned long nPointsCH);
//!
double ComputeVolume();
//!
bool IsInside(const Vec3<Real> &pt0);
//!
double ComputeDistance(long name, const Vec3<Real> &pt, const Vec3<Real> &normal, bool &insideHull, bool updateIncidentPoints);
//!
const ICHull &operator=(ICHull &rhs);
//! Constructor
ICHull(void);
//! Destructor
virtual ~ICHull(void) {};
//! Constructor
ICHull(void);
//! Destructor
virtual ~ICHull(void){};
private:
//! DoubleTriangle builds the initial double triangle. It first finds 3 noncollinear points and makes two faces out of them, in opposite order. It then finds a fourth point that is not coplanar with that face. The vertices are stored in the face structure in counterclockwise order so that the volume between the face and the point is negative. Lastly, the 3 newfaces to the fourth point are constructed and the data structures are cleaned up.
ICHullError DoubleTriangle();
//! MakeFace creates a new face structure from three vertices (in ccw order). It returns a pointer to the face.
CircularListElement<TMMTriangle> * MakeFace(CircularListElement<TMMVertex> * v0,
CircularListElement<TMMVertex> * v1,
CircularListElement<TMMVertex> * v2,
CircularListElement<TMMTriangle> * fold);
//!
CircularListElement<TMMTriangle> * MakeConeFace(CircularListElement<TMMEdge> * e, CircularListElement<TMMVertex> * v);
//!
bool ProcessPoint();
//!
bool ComputePointVolume(double &totalVolume, bool markVisibleFaces);
//!
bool FindMaxVolumePoint();
//!
bool CleanEdges();
//!
bool CleanVertices(unsigned long & addedPoints);
//!
bool CleanTriangles();
//!
bool CleanUp(unsigned long & addedPoints);
//!
bool MakeCCW(CircularListElement<TMMTriangle> * f,
CircularListElement<TMMEdge> * e,
CircularListElement<TMMVertex> * v);
void Clear();
private:
static const long sc_dummyIndex;
static const double sc_distMin;
TMMesh m_mesh;
std::vector<CircularListElement<TMMEdge> *> m_edgesToDelete;
std::vector<CircularListElement<TMMEdge> *> m_edgesToUpdate;
std::vector<CircularListElement<TMMTriangle> *> m_trianglesToDelete;
std::map<long, DPoint> * m_distPoints;
CircularListElement<TMMVertex> * m_dummyVertex;
Vec3<Real> m_normal;
bool m_isFlat;
ICHull(const ICHull & rhs);
friend class HACD;
};
private:
//! DoubleTriangle builds the initial double triangle. It first finds 3 noncollinear points and makes two faces out of them, in opposite order. It then finds a fourth point that is not coplanar with that face. The vertices are stored in the face structure in counterclockwise order so that the volume between the face and the point is negative. Lastly, the 3 newfaces to the fourth point are constructed and the data structures are cleaned up.
ICHullError DoubleTriangle();
//! MakeFace creates a new face structure from three vertices (in ccw order). It returns a pointer to the face.
CircularListElement<TMMTriangle> *MakeFace(CircularListElement<TMMVertex> *v0,
CircularListElement<TMMVertex> *v1,
CircularListElement<TMMVertex> *v2,
CircularListElement<TMMTriangle> *fold);
//!
CircularListElement<TMMTriangle> *MakeConeFace(CircularListElement<TMMEdge> *e, CircularListElement<TMMVertex> *v);
//!
bool ProcessPoint();
//!
bool ComputePointVolume(double &totalVolume, bool markVisibleFaces);
//!
bool FindMaxVolumePoint();
//!
bool CleanEdges();
//!
bool CleanVertices(unsigned long &addedPoints);
//!
bool CleanTriangles();
//!
bool CleanUp(unsigned long &addedPoints);
//!
bool MakeCCW(CircularListElement<TMMTriangle> *f,
CircularListElement<TMMEdge> *e,
CircularListElement<TMMVertex> *v);
void Clear();
}
private:
static const long sc_dummyIndex;
static const double sc_distMin;
TMMesh m_mesh;
std::vector<CircularListElement<TMMEdge> *> m_edgesToDelete;
std::vector<CircularListElement<TMMEdge> *> m_edgesToUpdate;
std::vector<CircularListElement<TMMTriangle> *> m_trianglesToDelete;
std::map<long, DPoint> *m_distPoints;
CircularListElement<TMMVertex> *m_dummyVertex;
Vec3<Real> m_normal;
bool m_isFlat;
ICHull(const ICHull &rhs);
friend class HACD;
};
} // namespace HACD
#endif

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Engine/lib/bullet/Extras/HACD/hacdManifoldMesh.cpp
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Engine/lib/bullet/Extras/HACD/hacdManifoldMesh.h
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@ -38,213 +38,214 @@ All rights reserved.
#include <set>
namespace HACD
{
class TMMTriangle;
class TMMEdge;
class TMMesh;
class ICHull;
class HACD;
class TMMTriangle;
class TMMEdge;
class TMMesh;
class ICHull;
class HACD;
class DPoint
{
public:
DPoint(Real dist=0, bool computed=false, bool distOnly=false)
:m_dist(dist),
m_computed(computed),
m_distOnly(distOnly){};
~DPoint(){};
private:
Real m_dist;
bool m_computed;
bool m_distOnly;
friend class TMMTriangle;
friend class TMMesh;
friend class GraphVertex;
friend class GraphEdge;
friend class Graph;
friend class ICHull;
friend class HACD;
};
class DPoint
{
public:
DPoint(Real dist = 0, bool computed = false, bool distOnly = false)
: m_dist(dist),
m_computed(computed),
m_distOnly(distOnly){};
~DPoint(){};
//! Vertex data structure used in a triangular manifold mesh (TMM).
class TMMVertex
{
public:
TMMVertex(void);
~TMMVertex(void);
private:
Vec3<Real> m_pos;
long m_name;
size_t m_id;
CircularListElement<TMMEdge> * m_duplicate; // pointer to incident cone edge (or NULL)
bool m_onHull;
bool m_tag;
TMMVertex(const TMMVertex & rhs);
friend class HACD;
friend class ICHull;
friend class TMMesh;
friend class TMMTriangle;
friend class TMMEdge;
};
private:
Real m_dist;
bool m_computed;
bool m_distOnly;
friend class TMMTriangle;
friend class TMMesh;
friend class GraphVertex;
friend class GraphEdge;
friend class Graph;
friend class ICHull;
friend class HACD;
};
//! Edge data structure used in a triangular manifold mesh (TMM).
class TMMEdge
{
public:
TMMEdge(void);
~TMMEdge(void);
private:
size_t m_id;
CircularListElement<TMMTriangle> * m_triangles[2];
CircularListElement<TMMVertex> * m_vertices[2];
CircularListElement<TMMTriangle> * m_newFace;
//! Vertex data structure used in a triangular manifold mesh (TMM).
class TMMVertex
{
public:
TMMVertex(void);
~TMMVertex(void);
private:
Vec3<Real> m_pos;
long m_name;
size_t m_id;
CircularListElement<TMMEdge> *m_duplicate; // pointer to incident cone edge (or NULL)
bool m_onHull;
bool m_tag;
TMMVertex(const TMMVertex &rhs);
TMMEdge(const TMMEdge & rhs);
friend class HACD;
friend class ICHull;
friend class TMMTriangle;
friend class TMMVertex;
friend class TMMesh;
};
friend class HACD;
friend class ICHull;
friend class TMMesh;
friend class TMMTriangle;
friend class TMMEdge;
};
//! Triangle data structure used in a triangular manifold mesh (TMM).
class TMMTriangle
{
public:
TMMTriangle(void);
~TMMTriangle(void);
private:
size_t m_id;
CircularListElement<TMMEdge> * m_edges[3];
CircularListElement<TMMVertex> * m_vertices[3];
std::set<long> m_incidentPoints;
bool m_visible;
TMMTriangle(const TMMTriangle & rhs);
friend class HACD;
friend class ICHull;
friend class TMMesh;
friend class TMMVertex;
friend class TMMEdge;
};
class Material
{
public:
Material(void);
~Material(void){}
// private:
Vec3<double> m_diffuseColor;
double m_ambientIntensity;
Vec3<double> m_specularColor;
Vec3<double> m_emissiveColor;
double m_shininess;
double m_transparency;
friend class TMMesh;
friend class HACD;
};
//! Edge data structure used in a triangular manifold mesh (TMM).
class TMMEdge
{
public:
TMMEdge(void);
~TMMEdge(void);
//! triangular manifold mesh data structure.
class TMMesh
{
public:
private:
size_t m_id;
CircularListElement<TMMTriangle> *m_triangles[2];
CircularListElement<TMMVertex> *m_vertices[2];
CircularListElement<TMMTriangle> *m_newFace;
//! Returns the number of vertices>
inline size_t GetNVertices() const { return m_vertices.GetSize();}
//! Returns the number of edges
inline size_t GetNEdges() const { return m_edges.GetSize();}
//! Returns the number of triangles
inline size_t GetNTriangles() const { return m_triangles.GetSize();}
//! Returns the vertices circular list
inline const CircularList<TMMVertex> & GetVertices() const { return m_vertices;}
//! Returns the edges circular list
inline const CircularList<TMMEdge> & GetEdges() const { return m_edges;}
//! Returns the triangles circular list
inline const CircularList<TMMTriangle> & GetTriangles() const { return m_triangles;}
//! Returns the vertices circular list
inline CircularList<TMMVertex> & GetVertices() { return m_vertices;}
//! Returns the edges circular list
inline CircularList<TMMEdge> & GetEdges() { return m_edges;}
//! Returns the triangles circular list
inline CircularList<TMMTriangle> & GetTriangles() { return m_triangles;}
//! Add vertex to the mesh
CircularListElement<TMMVertex> * AddVertex() {return m_vertices.Add();}
//! Add vertex to the mesh
CircularListElement<TMMEdge> * AddEdge() {return m_edges.Add();}
//! Add vertex to the mesh
CircularListElement<TMMTriangle> * AddTriangle() {return m_triangles.Add();}
//! Print mesh information
void Print();
//!
void GetIFS(Vec3<Real> * const points, Vec3<long> * const triangles);
//! Save mesh
bool Save(const char *fileName);
//! Save mesh to VRML 2.0 format
bool SaveVRML2(std::ofstream &fout);
//! Save mesh to VRML 2.0 format
bool SaveVRML2(std::ofstream &fout, const Material & material);
//!
void Clear();
//!
void Copy(TMMesh & mesh);
//!
bool CheckConsistancy();
//!
bool Normalize();
//!
bool Denormalize();
//! Constructor
TMMesh(void);
//! Destructor
virtual ~TMMesh(void);
TMMEdge(const TMMEdge &rhs);
private:
CircularList<TMMVertex> m_vertices;
CircularList<TMMEdge> m_edges;
CircularList<TMMTriangle> m_triangles;
Real m_diag; //>! length of the BB diagonal
Vec3<Real> m_barycenter; //>! barycenter of the mesh
friend class HACD;
friend class ICHull;
friend class TMMTriangle;
friend class TMMVertex;
friend class TMMesh;
};
// not defined
TMMesh(const TMMesh & rhs);
friend class ICHull;
friend class HACD;
};
//! IntersectRayTriangle(): intersect a ray with a 3D triangle
//! Input: a ray R, and a triangle T
//! Output: *I = intersection point (when it exists)
//! 0 = disjoint (no intersect)
//! 1 = intersect in unique point I1
long IntersectRayTriangle( const Vec3<double> & P0, const Vec3<double> & dir,
const Vec3<double> & V0, const Vec3<double> & V1,
const Vec3<double> & V2, double &t);
//! Triangle data structure used in a triangular manifold mesh (TMM).
class TMMTriangle
{
public:
TMMTriangle(void);
~TMMTriangle(void);
// intersect_RayTriangle(): intersect a ray with a 3D triangle
// Input: a ray R, and a triangle T
// Output: *I = intersection point (when it exists)
// Return: -1 = triangle is degenerate (a segment or point)
// 0 = disjoint (no intersect)
// 1 = intersect in unique point I1
// 2 = are in the same plane
long IntersectRayTriangle2(const Vec3<double> & P0, const Vec3<double> & dir,
const Vec3<double> & V0, const Vec3<double> & V1,
const Vec3<double> & V2, double &r);
private:
size_t m_id;
CircularListElement<TMMEdge> *m_edges[3];
CircularListElement<TMMVertex> *m_vertices[3];
std::set<long> m_incidentPoints;
bool m_visible;
/*
TMMTriangle(const TMMTriangle &rhs);
friend class HACD;
friend class ICHull;
friend class TMMesh;
friend class TMMVertex;
friend class TMMEdge;
};
class Material
{
public:
Material(void);
~Material(void) {}
// private:
Vec3<double> m_diffuseColor;
double m_ambientIntensity;
Vec3<double> m_specularColor;
Vec3<double> m_emissiveColor;
double m_shininess;
double m_transparency;
friend class TMMesh;
friend class HACD;
};
//! triangular manifold mesh data structure.
class TMMesh
{
public:
//! Returns the number of vertices>
inline size_t GetNVertices() const { return m_vertices.GetSize(); }
//! Returns the number of edges
inline size_t GetNEdges() const { return m_edges.GetSize(); }
//! Returns the number of triangles
inline size_t GetNTriangles() const { return m_triangles.GetSize(); }
//! Returns the vertices circular list
inline const CircularList<TMMVertex> &GetVertices() const { return m_vertices; }
//! Returns the edges circular list
inline const CircularList<TMMEdge> &GetEdges() const { return m_edges; }
//! Returns the triangles circular list
inline const CircularList<TMMTriangle> &GetTriangles() const { return m_triangles; }
//! Returns the vertices circular list
inline CircularList<TMMVertex> &GetVertices() { return m_vertices; }
//! Returns the edges circular list
inline CircularList<TMMEdge> &GetEdges() { return m_edges; }
//! Returns the triangles circular list
inline CircularList<TMMTriangle> &GetTriangles() { return m_triangles; }
//! Add vertex to the mesh
CircularListElement<TMMVertex> *AddVertex() { return m_vertices.Add(); }
//! Add vertex to the mesh
CircularListElement<TMMEdge> *AddEdge() { return m_edges.Add(); }
//! Add vertex to the mesh
CircularListElement<TMMTriangle> *AddTriangle() { return m_triangles.Add(); }
//! Print mesh information
void Print();
//!
void GetIFS(Vec3<Real> *const points, Vec3<long> *const triangles);
//! Save mesh
bool Save(const char *fileName);
//! Save mesh to VRML 2.0 format
bool SaveVRML2(std::ofstream &fout);
//! Save mesh to VRML 2.0 format
bool SaveVRML2(std::ofstream &fout, const Material &material);
//!
void Clear();
//!
void Copy(TMMesh &mesh);
//!
bool CheckConsistancy();
//!
bool Normalize();
//!
bool Denormalize();
//! Constructor
TMMesh(void);
//! Destructor
virtual ~TMMesh(void);
private:
CircularList<TMMVertex> m_vertices;
CircularList<TMMEdge> m_edges;
CircularList<TMMTriangle> m_triangles;
Real m_diag; //>! length of the BB diagonal
Vec3<Real> m_barycenter; //>! barycenter of the mesh
// not defined
TMMesh(const TMMesh &rhs);
friend class ICHull;
friend class HACD;
};
//! IntersectRayTriangle(): intersect a ray with a 3D triangle
//! Input: a ray R, and a triangle T
//! Output: *I = intersection point (when it exists)
//! 0 = disjoint (no intersect)
//! 1 = intersect in unique point I1
long IntersectRayTriangle(const Vec3<double> &P0, const Vec3<double> &dir,
const Vec3<double> &V0, const Vec3<double> &V1,
const Vec3<double> &V2, double &t);
// intersect_RayTriangle(): intersect a ray with a 3D triangle
// Input: a ray R, and a triangle T
// Output: *I = intersection point (when it exists)
// Return: -1 = triangle is degenerate (a segment or point)
// 0 = disjoint (no intersect)
// 1 = intersect in unique point I1
// 2 = are in the same plane
long IntersectRayTriangle2(const Vec3<double> &P0, const Vec3<double> &dir,
const Vec3<double> &V0, const Vec3<double> &V1,
const Vec3<double> &V2, double &r);
/*
Calculate the line segment PaPb that is the shortest route between
two lines P1P2 and P3P4. Calculate also the values of mua and mub where
Pa = P1 + mua (P2 - P1)
Pb = P3 + mub (P4 - P3)
Return FALSE if no solution exists.
*/
bool IntersectLineLine(const Vec3<double> & p1, const Vec3<double> & p2,
const Vec3<double> & p3, const Vec3<double> & p4,
Vec3<double> & pa, Vec3<double> & pb,
double & mua, double &mub);
}
bool IntersectLineLine(const Vec3<double> &p1, const Vec3<double> &p2,
const Vec3<double> &p3, const Vec3<double> &p4,
Vec3<double> &pa, Vec3<double> &pb,
double &mua, double &mub);
} // namespace HACD
#endif

89
Engine/lib/bullet/Extras/HACD/hacdVector.h
View file

@ -15,53 +15,54 @@
#pragma once
#ifndef HACD_VECTOR_H
#define HACD_VECTOR_H
#include<math.h>
#include<iostream>
#include <math.h>
#include <iostream>
#include "hacdVersion.h"
namespace HACD
{
typedef double Real;
//! Vector dim 3.
template < typename T > class Vec3
{
public:
T & X();
T & Y();
T & Z();
const T & X() const;
const T & Y() const;
const T & Z() const;
void Normalize();
T GetNorm() const;
void operator= (const Vec3 & rhs);
void operator+=(const Vec3 & rhs);
void operator-=(const Vec3 & rhs);
void operator-=(T a);
void operator+=(T a);
void operator/=(T a);
void operator*=(T a);
Vec3 operator^ (const Vec3 & rhs) const;
T operator* (const Vec3 & rhs) const;
Vec3 operator+ (const Vec3 & rhs) const;
Vec3 operator- (const Vec3 & rhs) const;
Vec3 operator- () const;
Vec3 operator* (T rhs) const;
Vec3 operator/ (T rhs) const;
Vec3();
Vec3(T a);
Vec3(T x, T y, T z);
Vec3(const Vec3 & rhs);
/*virtual*/ ~Vec3(void);
typedef double Real;
//! Vector dim 3.
template <typename T>
class Vec3
{
public:
T& X();
T& Y();
T& Z();
const T& X() const;
const T& Y() const;
const T& Z() const;
void Normalize();
T GetNorm() const;
void operator=(const Vec3& rhs);
void operator+=(const Vec3& rhs);
void operator-=(const Vec3& rhs);
void operator-=(T a);
void operator+=(T a);
void operator/=(T a);
void operator*=(T a);
Vec3 operator^(const Vec3& rhs) const;
T operator*(const Vec3& rhs) const;
Vec3 operator+(const Vec3& rhs) const;
Vec3 operator-(const Vec3& rhs) const;
Vec3 operator-() const;
Vec3 operator*(T rhs) const;
Vec3 operator/(T rhs) const;
Vec3();
Vec3(T a);
Vec3(T x, T y, T z);
Vec3(const Vec3& rhs);
/*virtual*/ ~Vec3(void);
private:
T m_data[3];
};
template<typename T>
bool Colinear(const Vec3<T> & a, const Vec3<T> & b, const Vec3<T> & c);
template<typename T>
const T Volume(const Vec3<T> & a, const Vec3<T> & b, const Vec3<T> & c, const Vec3<T> & d);
}
#include "hacdVector.inl" // template implementation
private:
T m_data[3];
};
template <typename T>
bool Colinear(const Vec3<T>& a, const Vec3<T>& b, const Vec3<T>& c);
template <typename T>
const T Volume(const Vec3<T>& a, const Vec3<T>& b, const Vec3<T>& c, const Vec3<T>& d);
} // namespace HACD
#include "hacdVector.inl" // template implementation
#endif

3
Engine/lib/bullet/Extras/HACD/premake4.lua
View file

@ -3,6 +3,9 @@
kind "StaticLib"
includedirs {"."}
if os.is("Linux") then
buildoptions{"-fPIC"}
end
files {
"**.cpp",
"**.h"

4
Engine/lib/bullet/Extras/InverseDynamics/BulletInverseDynamicsUtilsCommon.h
View file

@ -12,6 +12,4 @@
#include "MultiBodyNameMap.hpp"
#include "User2InternalIndex.hpp"
#endif//BULLET_INVERSE_DYNAMICS_UTILS_COMMON_H
#endif //BULLET_INVERSE_DYNAMICS_UTILS_COMMON_H

5
Engine/lib/bullet/Extras/InverseDynamics/CMakeLists.txt
View file

@ -32,7 +32,10 @@ IF (INSTALL_EXTRA_LIBS)
IF (APPLE AND BUILD_SHARED_LIBS AND FRAMEWORK)
INSTALL(TARGETS BulletInverseDynamicsUtils DESTINATION .)
ELSE (APPLE AND BUILD_SHARED_LIBS AND FRAMEWORK)
INSTALL(TARGETS BulletInverseDynamicsUtils DESTINATION lib${LIB_SUFFIX})
INSTALL(TARGETS BulletInverseDynamicsUtils
RUNTIME DESTINATION bin
LIBRARY DESTINATION lib${LIB_SUFFIX}
ARCHIVE DESTINATION lib${LIB_SUFFIX})
INSTALL(DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR}
DESTINATION ${INCLUDE_INSTALL_DIR} FILES_MATCHING PATTERN "*.h" PATTERN
".svn" EXCLUDE PATTERN "CMakeFiles" EXCLUDE)

82
Engine/lib/bullet/Extras/InverseDynamics/CloneTreeCreator.cpp
View file

@ -2,48 +2,58 @@
#include <cstdio>
namespace btInverseDynamics {
#define CHECK_NULLPTR() \
do { \
if (m_reference == 0x0) { \
error_message("m_reference == 0x0\n"); \
return -1; \
} \
} while (0)
namespace btInverseDynamics
{
#define CHECK_NULLPTR() \
do \
{ \
if (m_reference == 0x0) \
{ \
bt_id_error_message("m_reference == 0x0\n"); \
return -1; \
} \
} while (0)
#define TRY(x) \
do { \
if (x == -1) { \
error_message("error calling " #x "\n"); \
return -1; \
} \
} while (0)
CloneTreeCreator::CloneTreeCreator(const MultiBodyTree* reference) { m_reference = reference; }
#define TRY(x) \
do \
{ \
if (x == -1) \
{ \
bt_id_error_message("error calling " #x "\n"); \
return -1; \
} \
} while (0)
CloneTreeCreator::CloneTreeCreator(const MultiBodyTree* reference)
{
m_reference = reference;
}
CloneTreeCreator::~CloneTreeCreator() {}
int CloneTreeCreator::getNumBodies(int* num_bodies) const {
CHECK_NULLPTR();
*num_bodies = m_reference->numBodies();
return 0;
int CloneTreeCreator::getNumBodies(int* num_bodies) const
{
CHECK_NULLPTR();
*num_bodies = m_reference->numBodies();
return 0;
}
int CloneTreeCreator::getBody(const int body_index, int* parent_index, JointType* joint_type,
vec3* parent_r_parent_body_ref, mat33* body_T_parent_ref,
vec3* body_axis_of_motion, idScalar* mass, vec3* body_r_body_com,
mat33* body_I_body, int* user_int, void** user_ptr) const {
CHECK_NULLPTR();
TRY(m_reference->getParentIndex(body_index, parent_index));
TRY(m_reference->getJointType(body_index, joint_type));
TRY(m_reference->getParentRParentBodyRef(body_index, parent_r_parent_body_ref));
TRY(m_reference->getBodyTParentRef(body_index, body_T_parent_ref));
TRY(m_reference->getBodyAxisOfMotion(body_index, body_axis_of_motion));
TRY(m_reference->getBodyMass(body_index, mass));
TRY(m_reference->getBodyFirstMassMoment(body_index, body_r_body_com));
TRY(m_reference->getBodySecondMassMoment(body_index, body_I_body));
TRY(m_reference->getUserInt(body_index, user_int));
TRY(m_reference->getUserPtr(body_index, user_ptr));
vec3* parent_r_parent_body_ref, mat33* body_T_parent_ref,
vec3* body_axis_of_motion, idScalar* mass, vec3* body_r_body_com,
mat33* body_I_body, int* user_int, void** user_ptr) const
{
CHECK_NULLPTR();
TRY(m_reference->getParentIndex(body_index, parent_index));
TRY(m_reference->getJointType(body_index, joint_type));
TRY(m_reference->getParentRParentBodyRef(body_index, parent_r_parent_body_ref));
TRY(m_reference->getBodyTParentRef(body_index, body_T_parent_ref));
TRY(m_reference->getBodyAxisOfMotion(body_index, body_axis_of_motion));
TRY(m_reference->getBodyMass(body_index, mass));
TRY(m_reference->getBodyFirstMassMoment(body_index, body_r_body_com));
TRY(m_reference->getBodySecondMassMoment(body_index, body_I_body));
TRY(m_reference->getUserInt(body_index, user_int));
TRY(m_reference->getUserPtr(body_index, user_ptr));
return 0;
}
return 0;
}
} // namespace btInverseDynamics

32
Engine/lib/bullet/Extras/InverseDynamics/CloneTreeCreator.hpp
View file

@ -4,24 +4,26 @@
#include "BulletInverseDynamics/IDConfig.hpp"
#include "MultiBodyTreeCreator.hpp"
namespace btInverseDynamics {
namespace btInverseDynamics
{
/// Generate an identical multibody tree from a reference system.
class CloneTreeCreator : public MultiBodyTreeCreator {
class CloneTreeCreator : public MultiBodyTreeCreator
{
public:
/// ctor
/// @param reference the MultiBodyTree to clone
CloneTreeCreator(const MultiBodyTree*reference);
~CloneTreeCreator();
///\copydoc MultiBodyTreeCreator::getNumBodies
int getNumBodies(int* num_bodies) const;
///\copydoc MultiBodyTreeCreator::getBody
int getBody(const int body_index, int* parent_index, JointType* joint_type,
vec3* parent_r_parent_body_ref, mat33* body_T_parent_ref, vec3* body_axis_of_motion,
idScalar* mass, vec3* body_r_body_com, mat33* body_I_body, int* user_int,
void** user_ptr) const;
/// ctor
/// @param reference the MultiBodyTree to clone
CloneTreeCreator(const MultiBodyTree* reference);
~CloneTreeCreator();
///\copydoc MultiBodyTreeCreator::getNumBodies
int getNumBodies(int* num_bodies) const;
///\copydoc MultiBodyTreeCreator::getBody
int getBody(const int body_index, int* parent_index, JointType* joint_type,
vec3* parent_r_parent_body_ref, mat33* body_T_parent_ref, vec3* body_axis_of_motion,
idScalar* mass, vec3* body_r_body_com, mat33* body_I_body, int* user_int,
void** user_ptr) const;
private:
const MultiBodyTree *m_reference;
const MultiBodyTree* m_reference;
};
}
} // namespace btInverseDynamics
#endif // CLONETREE_CREATOR_HPP_

108
Engine/lib/bullet/Extras/InverseDynamics/CoilCreator.cpp
View file

@ -2,66 +2,72 @@
#include "CoilCreator.hpp"
namespace btInverseDynamics {
CoilCreator::CoilCreator(int n) : m_num_bodies(n), m_parent(n) {
for (int i = 0; i < m_num_bodies; i++) {
m_parent[i] = i - 1;
}
namespace btInverseDynamics
{
CoilCreator::CoilCreator(int n) : m_num_bodies(n), m_parent(n)
{
for (int i = 0; i < m_num_bodies; i++)
{
m_parent[i] = i - 1;
}
// DH parameters (that's what's in the paper ...)
const idScalar theta_DH = 0;
const idScalar d_DH = 0.0;
const idScalar a_DH = 1.0 / m_num_bodies;
const idScalar alpha_DH = 5.0 * BT_ID_PI / m_num_bodies;
getVecMatFromDH(theta_DH, d_DH, a_DH, alpha_DH, &m_parent_r_parent_body_ref,
&m_body_T_parent_ref);
// always z-axis
m_body_axis_of_motion(0) = 0.0;
m_body_axis_of_motion(1) = 0.0;
m_body_axis_of_motion(2) = 1.0;
// DH parameters (that's what's in the paper ...)
const idScalar theta_DH = 0;
const idScalar d_DH = 0.0;
const idScalar a_DH = 1.0 / m_num_bodies;
const idScalar alpha_DH = 5.0 * BT_ID_PI / m_num_bodies;
getVecMatFromDH(theta_DH, d_DH, a_DH, alpha_DH, &m_parent_r_parent_body_ref,
&m_body_T_parent_ref);
// always z-axis
m_body_axis_of_motion(0) = 0.0;
m_body_axis_of_motion(1) = 0.0;
m_body_axis_of_motion(2) = 1.0;
m_mass = 1.0 / m_num_bodies;
m_body_r_body_com(0) = 1.0 / (2.0 * m_num_bodies);
m_body_r_body_com(1) = 0.0;
m_body_r_body_com(2) = 0.0;
m_mass = 1.0 / m_num_bodies;
m_body_r_body_com(0) = 1.0 / (2.0 * m_num_bodies);
m_body_r_body_com(1) = 0.0;
m_body_r_body_com(2) = 0.0;
m_body_I_body(0, 0) = 1e-4 / (2.0 * m_num_bodies);
m_body_I_body(0, 1) = 0.0;
m_body_I_body(0, 2) = 0.0;
m_body_I_body(1, 0) = 0.0;
m_body_I_body(1, 1) = (3e-4 + 4.0 / BT_ID_POW(m_num_bodies, 2)) / (12.0 * m_num_bodies);
m_body_I_body(1, 2) = 0.0;
m_body_I_body(2, 0) = 0.0;
m_body_I_body(2, 1) = 0.0;
m_body_I_body(2, 2) = m_body_I_body(1, 1);
m_body_I_body(0, 0) = 1e-4 / (2.0 * m_num_bodies);
m_body_I_body(0, 1) = 0.0;
m_body_I_body(0, 2) = 0.0;
m_body_I_body(1, 0) = 0.0;
m_body_I_body(1, 1) = (3e-4 + 4.0 / BT_ID_POW(m_num_bodies, 2)) / (12.0 * m_num_bodies);
m_body_I_body(1, 2) = 0.0;
m_body_I_body(2, 0) = 0.0;
m_body_I_body(2, 1) = 0.0;
m_body_I_body(2, 2) = m_body_I_body(1, 1);
}
CoilCreator::~CoilCreator() {}
int CoilCreator::getNumBodies(int* num_bodies) const {
*num_bodies = m_num_bodies;
return 0;
int CoilCreator::getNumBodies(int* num_bodies) const
{
*num_bodies = m_num_bodies;
return 0;
}
int CoilCreator::getBody(int body_index, int* parent_index, JointType* joint_type,
vec3* parent_r_parent_body_ref, mat33* body_T_parent_ref,
vec3* body_axis_of_motion, idScalar* mass, vec3* body_r_body_com,
mat33* body_I_body, int* user_int, void** user_ptr) const {
if (body_index < 0 || body_index >= m_num_bodies) {
error_message("invalid body index %d\n", body_index);
return -1;
}
*parent_index = m_parent[body_index];
*joint_type = REVOLUTE;
*parent_r_parent_body_ref = m_parent_r_parent_body_ref;
*body_T_parent_ref = m_body_T_parent_ref;
*body_axis_of_motion = m_body_axis_of_motion;
*mass = m_mass;
*body_r_body_com = m_body_r_body_com;
*body_I_body = m_body_I_body;
vec3* parent_r_parent_body_ref, mat33* body_T_parent_ref,
vec3* body_axis_of_motion, idScalar* mass, vec3* body_r_body_com,
mat33* body_I_body, int* user_int, void** user_ptr) const
{
if (body_index < 0 || body_index >= m_num_bodies)
{
bt_id_error_message("invalid body index %d\n", body_index);
return -1;
}
*parent_index = m_parent[body_index];
*joint_type = REVOLUTE;
*parent_r_parent_body_ref = m_parent_r_parent_body_ref;
*body_T_parent_ref = m_body_T_parent_ref;
*body_axis_of_motion = m_body_axis_of_motion;
*mass = m_mass;
*body_r_body_com = m_body_r_body_com;
*body_I_body = m_body_I_body;
*user_int = 0;
*user_ptr = 0;
return 0;
}
*user_int = 0;
*user_ptr = 0;
return 0;
}
} // namespace btInverseDynamics

49
Engine/lib/bullet/Extras/InverseDynamics/CoilCreator.hpp
View file

@ -3,38 +3,39 @@
#include "MultiBodyTreeCreator.hpp"
namespace btInverseDynamics {
namespace btInverseDynamics
{
/// Creator class for building a "coil" system as intruduced as benchmark example in
/// Featherstone (1999), "A Divide-and-Conquer Articulated-Body Algorithm for Parallel O(log(n))
/// Calculation of Rigid-Body Dynamics. Part 2: Trees, Loops, and Accuracy.", The International
/// Journal of Robotics Research 18 (9): 876–892. doi : 10.1177 / 02783649922066628.
///
/// This is a serial chain, with an initial configuration resembling a coil.
class CoilCreator : public MultiBodyTreeCreator {
class CoilCreator : public MultiBodyTreeCreator
{
public:
/// ctor.
/// @param n the number of bodies in the system
CoilCreator(int n);
/// dtor
~CoilCreator();
// \copydoc MultiBodyTreeCreator::getNumBodies
int getNumBodies(int* num_bodies) const;
// \copydoc MultiBodyTreeCreator::getBody
int getBody(const int body_index, int* parent_index, JointType* joint_type,
vec3* parent_r_parent_body_ref, mat33* body_T_parent_ref, vec3* body_axis_of_motion,
idScalar* mass, vec3* body_r_body_com, mat33* body_I_body, int* user_int,
void** user_ptr) const;
/// ctor.
/// @param n the number of bodies in the system
CoilCreator(int n);
/// dtor
~CoilCreator();
// \copydoc MultiBodyTreeCreator::getNumBodies
int getNumBodies(int* num_bodies) const;
// \copydoc MultiBodyTreeCreator::getBody
int getBody(const int body_index, int* parent_index, JointType* joint_type,
vec3* parent_r_parent_body_ref, mat33* body_T_parent_ref, vec3* body_axis_of_motion,
idScalar* mass, vec3* body_r_body_com, mat33* body_I_body, int* user_int,
void** user_ptr) const;
private:
int m_num_bodies;
std::vector<int> m_parent;
vec3 m_parent_r_parent_body_ref;
mat33 m_body_T_parent_ref;
vec3 m_body_axis_of_motion;
idScalar m_mass;
vec3 m_body_r_body_com;
mat33 m_body_I_body;
int m_num_bodies;
std::vector<int> m_parent;
vec3 m_parent_r_parent_body_ref;
mat33 m_body_T_parent_ref;
vec3 m_body_axis_of_motion;
idScalar m_mass;
vec3 m_body_r_body_com;
mat33 m_body_I_body;
};
}
} // namespace btInverseDynamics
#endif

210
Engine/lib/bullet/Extras/InverseDynamics/DillCreator.cpp
View file

@ -1,124 +1,136 @@
#include "DillCreator.hpp"
#include <cmath>
namespace btInverseDynamics {
namespace btInverseDynamics
{
DillCreator::DillCreator(int level)
: m_level(level),
m_num_bodies(BT_ID_POW(2, level))
{
m_parent.resize(m_num_bodies);
m_parent_r_parent_body_ref.resize(m_num_bodies);
m_body_T_parent_ref.resize(m_num_bodies);
m_body_axis_of_motion.resize(m_num_bodies);
m_mass.resize(m_num_bodies);
m_body_r_body_com.resize(m_num_bodies);
m_body_I_body.resize(m_num_bodies);
: m_level(level),
m_num_bodies(BT_ID_POW(2, level))
{
m_parent.resize(m_num_bodies);
m_parent_r_parent_body_ref.resize(m_num_bodies);
m_body_T_parent_ref.resize(m_num_bodies);
m_body_axis_of_motion.resize(m_num_bodies);
m_mass.resize(m_num_bodies);
m_body_r_body_com.resize(m_num_bodies);
m_body_I_body.resize(m_num_bodies);
// generate names (for debugging)
for (int i = 0; i < m_num_bodies; i++) {
m_parent[i] = i - 1;
// generate names (for debugging)
for (int i = 0; i < m_num_bodies; i++)
{
m_parent[i] = i - 1;
// all z-axis (DH convention)
m_body_axis_of_motion[i](0) = 0.0;
m_body_axis_of_motion[i](1) = 0.0;
m_body_axis_of_motion[i](2) = 1.0;
}
// all z-axis (DH convention)
m_body_axis_of_motion[i](0) = 0.0;
m_body_axis_of_motion[i](1) = 0.0;
m_body_axis_of_motion[i](2) = 1.0;
}
// recursively build data structures
m_current_body = 0;
const int parent = -1;
const idScalar d_DH = 0.0;
const idScalar a_DH = 0.0;
const idScalar alpha_DH = 0.0;
// recursively build data structures
m_current_body = 0;
const int parent = -1;
const idScalar d_DH = 0.0;
const idScalar a_DH = 0.0;
const idScalar alpha_DH = 0.0;
if (-1 == recurseDill(m_level, parent, d_DH, a_DH, alpha_DH)) {
error_message("recurseDill failed\n");
abort();
}
if (-1 == recurseDill(m_level, parent, d_DH, a_DH, alpha_DH))
{
bt_id_error_message("recurseDill failed\n");
abort();
}
}
DillCreator::~DillCreator() {}
int DillCreator::getNumBodies(int* num_bodies) const {
*num_bodies = m_num_bodies;
return 0;
int DillCreator::getNumBodies(int* num_bodies) const
{
*num_bodies = m_num_bodies;
return 0;
}
int DillCreator::getBody(const int body_index, int* parent_index, JointType* joint_type,
vec3* parent_r_parent_body_ref, mat33* body_T_parent_ref,
vec3* body_axis_of_motion, idScalar* mass, vec3* body_r_body_com,
mat33* body_I_body, int* user_int, void** user_ptr) const {
if (body_index < 0 || body_index >= m_num_bodies) {
error_message("invalid body index %d\n", body_index);
return -1;
}
*parent_index = m_parent[body_index];
*joint_type = REVOLUTE;
*parent_r_parent_body_ref = m_parent_r_parent_body_ref[body_index];
*body_T_parent_ref = m_body_T_parent_ref[body_index];
*body_axis_of_motion = m_body_axis_of_motion[body_index];
*mass = m_mass[body_index];
*body_r_body_com = m_body_r_body_com[body_index];
*body_I_body = m_body_I_body[body_index];
vec3* parent_r_parent_body_ref, mat33* body_T_parent_ref,
vec3* body_axis_of_motion, idScalar* mass, vec3* body_r_body_com,
mat33* body_I_body, int* user_int, void** user_ptr) const
{
if (body_index < 0 || body_index >= m_num_bodies)
{
bt_id_error_message("invalid body index %d\n", body_index);
return -1;
}
*parent_index = m_parent[body_index];
*joint_type = REVOLUTE;
*parent_r_parent_body_ref = m_parent_r_parent_body_ref[body_index];
*body_T_parent_ref = m_body_T_parent_ref[body_index];
*body_axis_of_motion = m_body_axis_of_motion[body_index];
*mass = m_mass[body_index];
*body_r_body_com = m_body_r_body_com[body_index];
*body_I_body = m_body_I_body[body_index];
*user_int = 0;
*user_ptr = 0;
return 0;
*user_int = 0;
*user_ptr = 0;
return 0;
}
int DillCreator::recurseDill(const int level, const int parent, const idScalar d_DH_in,
const idScalar a_DH_in, const idScalar alpha_DH_in) {
if (level < 0) {
error_message("invalid level parameter (%d)\n", level);
return -1;
}
const idScalar a_DH_in, const idScalar alpha_DH_in)
{
if (level < 0)
{
bt_id_error_message("invalid level parameter (%d)\n", level);
return -1;
}
if (m_current_body >= m_num_bodies || m_current_body < 0) {
error_message("invalid body parameter (%d, num_bodies: %d)\n", m_current_body,
m_num_bodies);
return -1;
}
if (m_current_body >= m_num_bodies || m_current_body < 0)
{
bt_id_error_message("invalid body parameter (%d, num_bodies: %d)\n", m_current_body,
m_num_bodies);
return -1;
}
idScalar size = BT_ID_MAX(level, 1);
const int body = m_current_body;
// length = 0.1 * size;
// with = 2 * 0.01 * size;
idScalar size = BT_ID_MAX(level, 1);
const int body = m_current_body;
// length = 0.1 * size;
// with = 2 * 0.01 * size;
/// these parameters are from the paper ...
/// TODO: add proper citation
m_parent[body] = parent;
m_mass[body] = 0.1 * BT_ID_POW(size, 3);
m_body_r_body_com[body](0) = 0.05 * size;
m_body_r_body_com[body](1) = 0;
m_body_r_body_com[body](2) = 0;
// initialization
for (int i = 0; i < 3; i++) {
m_parent_r_parent_body_ref[body](i) = 0;
for (int j = 0; j < 3; j++) {
m_body_I_body[body](i, j) = 0.0;
m_body_T_parent_ref[body](i, j) = 0.0;
}
}
const idScalar size_5 = pow(size, 5);
m_body_I_body[body](0, 0) = size_5 / 0.2e6;
m_body_I_body[body](1, 1) = size_5 * 403 / 1.2e6;
m_body_I_body[body](2, 2) = m_body_I_body[body](1, 1);
/// these parameters are from the paper ...
/// TODO: add proper citation
m_parent[body] = parent;
m_mass[body] = 0.1 * BT_ID_POW(size, 3);
m_body_r_body_com[body](0) = 0.05 * size;
m_body_r_body_com[body](1) = 0;
m_body_r_body_com[body](2) = 0;
// initialization
for (int i = 0; i < 3; i++)
{
m_parent_r_parent_body_ref[body](i) = 0;
for (int j = 0; j < 3; j++)
{
m_body_I_body[body](i, j) = 0.0;
m_body_T_parent_ref[body](i, j) = 0.0;
}
}
const idScalar size_5 = std::pow(size, 5);
m_body_I_body[body](0, 0) = size_5 / 0.2e6;
m_body_I_body[body](1, 1) = size_5 * 403 / 1.2e6;
m_body_I_body[body](2, 2) = m_body_I_body[body](1, 1);
getVecMatFromDH(0, 0, a_DH_in, alpha_DH_in, &m_parent_r_parent_body_ref[body],
&m_body_T_parent_ref[body]);
getVecMatFromDH(0, 0, a_DH_in, alpha_DH_in, &m_parent_r_parent_body_ref[body],
&m_body_T_parent_ref[body]);
// attach "level" Dill systems of levels 1...level
for (int i = 1; i <= level; i++) {
idScalar d_DH = 0.01 * size;
if (i == level) {
d_DH = 0.0;
}
const idScalar a_DH = i * 0.1;
const idScalar alpha_DH = i * BT_ID_PI / 3.0;
m_current_body++;
recurseDill(i - 1, body, d_DH, a_DH, alpha_DH);
}
// attach "level" Dill systems of levels 1...level
for (int i = 1; i <= level; i++)
{
idScalar d_DH = 0.01 * size;
if (i == level)
{
d_DH = 0.0;
}
const idScalar a_DH = i * 0.1;
const idScalar alpha_DH = i * BT_ID_PI / 3.0;
m_current_body++;
recurseDill(i - 1, body, d_DH, a_DH, alpha_DH);
}
return 0; // ok!
}
return 0; // ok!
}
} // namespace btInverseDynamics

62
Engine/lib/bullet/Extras/InverseDynamics/DillCreator.hpp
View file

@ -3,45 +3,45 @@
#include "MultiBodyTreeCreator.hpp"
namespace btInverseDynamics {
namespace btInverseDynamics
{
/// Creator class for building a "Dill" system as intruduced as benchmark example in
/// Featherstone (1999), "A Divide-and-Conquer Articulated-Body Algorithm for Parallel O(log(n))
/// Calculation of Rigid-Body Dynamics. Part 2: Trees, Loops, and Accuracy.", The International
/// Journal of Robotics Research 18 (9): 876–892. doi : 10.1177 / 02783649922066628.
///
/// This is a self-similar branched tree, somewhat resembling a dill plant
class DillCreator : public MultiBodyTreeCreator {
class DillCreator : public MultiBodyTreeCreator
{
public:
/// ctor
/// @param levels the number of dill levels
DillCreator(int levels);
/// dtor
~DillCreator();
///\copydoc MultiBodyTreeCreator::getNumBodies
int getNumBodies(int* num_bodies) const;
///\copydoc MultiBodyTreeCreator::getBody
int getBody(const int body_index, int* parent_index, JointType* joint_type,
vec3* parent_r_parent_body_ref, mat33* body_T_parent_ref, vec3* body_axis_of_motion,
idScalar* mass, vec3* body_r_body_com, mat33* body_I_body, int* user_int,
void** user_ptr) const;
/// ctor
/// @param levels the number of dill levels
DillCreator(int levels);
/// dtor
~DillCreator();
///\copydoc MultiBodyTreeCreator::getNumBodies
int getNumBodies(int* num_bodies) const;
///\copydoc MultiBodyTreeCreator::getBody
int getBody(const int body_index, int* parent_index, JointType* joint_type,
vec3* parent_r_parent_body_ref, mat33* body_T_parent_ref, vec3* body_axis_of_motion,
idScalar* mass, vec3* body_r_body_com, mat33* body_I_body, int* user_int,
void** user_ptr) const;
private:
/// recursively generate dill bodies.
/// TODO better documentation
int recurseDill(const int levels, const int parent, const idScalar d_DH_in,
const idScalar a_DH_in, const idScalar alpha_DH_in);
int m_level;
int m_num_bodies;
idArray<int>::type m_parent;
idArray<vec3>::type m_parent_r_parent_body_ref;
idArray<mat33>::type m_body_T_parent_ref;
idArray<vec3>::type m_body_axis_of_motion;
idArray<idScalar>::type m_mass;
idArray<vec3>::type m_body_r_body_com;
idArray<mat33>::type m_body_I_body;
int m_current_body;
/// recursively generate dill bodies.
/// TODO better documentation
int recurseDill(const int levels, const int parent, const idScalar d_DH_in,
const idScalar a_DH_in, const idScalar alpha_DH_in);
int m_level;
int m_num_bodies;
idArray<int>::type m_parent;
idArray<vec3>::type m_parent_r_parent_body_ref;
idArray<mat33>::type m_body_T_parent_ref;
idArray<vec3>::type m_body_axis_of_motion;
idArray<idScalar>::type m_mass;
idArray<vec3>::type m_body_r_body_com;
idArray<mat33>::type m_body_I_body;
int m_current_body;
};
}
} // namespace btInverseDynamics
#endif

89
Engine/lib/bullet/Extras/InverseDynamics/IDRandomUtil.cpp
View file

@ -6,9 +6,8 @@
#include "BulletInverseDynamics/IDMath.hpp"
#include "IDRandomUtil.hpp"
namespace btInverseDynamics {
namespace btInverseDynamics
{
// constants for random mass and inertia generation
// these are arbitrary positive values.
static const float mass_min = 0.001;
@ -19,53 +18,59 @@ void randomInit(unsigned seed) { srand(seed); }
int randomInt(int low, int high) { return rand() % (high + 1 - low) + low; }
float randomFloat(float low, float high) {
return low + static_cast<float>(rand()) / RAND_MAX * (high - low);
float randomFloat(float low, float high)
{
return low + static_cast<float>(rand()) / RAND_MAX * (high - low);
}
float randomMass() { return randomFloat(mass_min, mass_max); }
vec3 randomInertiaPrincipal() {
vec3 inertia;
do {
inertia(0) = randomFloat(mass_min, mass_max);
inertia(1) = randomFloat(mass_min, mass_max);
inertia(2) = randomFloat(mass_min, mass_max);
} while (inertia(0) + inertia(1) < inertia(2) || inertia(0) + inertia(2) < inertia(1) ||
inertia(1) + inertia(2) < inertia(0));
return inertia;
vec3 randomInertiaPrincipal()
{
vec3 inertia;
do
{
inertia(0) = randomFloat(mass_min, mass_max);
inertia(1) = randomFloat(mass_min, mass_max);
inertia(2) = randomFloat(mass_min, mass_max);
} while (inertia(0) + inertia(1) < inertia(2) || inertia(0) + inertia(2) < inertia(1) ||
inertia(1) + inertia(2) < inertia(0));
return inertia;
}
mat33 randomInertiaMatrix() {
// generate random valid inertia matrix by first getting valid components
// along major axes and then rotating by random amount
vec3 principal = randomInertiaPrincipal();
mat33 rot(transformX(randomFloat(-BT_ID_PI, BT_ID_PI)) * transformY(randomFloat(-BT_ID_PI, BT_ID_PI)) *
transformZ(randomFloat(-BT_ID_PI, BT_ID_PI)));
mat33 inertia;
inertia(0, 0) = principal(0);
inertia(0, 1) = 0;
inertia(0, 2) = 0;
inertia(1, 0) = 0;
inertia(1, 1) = principal(1);
inertia(1, 2) = 0;
inertia(2, 0) = 0;
inertia(2, 1) = 0;
inertia(2, 2) = principal(2);
return rot * inertia * rot.transpose();
mat33 randomInertiaMatrix()
{
// generate random valid inertia matrix by first getting valid components
// along major axes and then rotating by random amount
vec3 principal = randomInertiaPrincipal();
mat33 rot(transformX(randomFloat(-BT_ID_PI, BT_ID_PI)) * transformY(randomFloat(-BT_ID_PI, BT_ID_PI)) *
transformZ(randomFloat(-BT_ID_PI, BT_ID_PI)));
mat33 inertia;
inertia(0, 0) = principal(0);
inertia(0, 1) = 0;
inertia(0, 2) = 0;
inertia(1, 0) = 0;
inertia(1, 1) = principal(1);
inertia(1, 2) = 0;
inertia(2, 0) = 0;
inertia(2, 1) = 0;
inertia(2, 2) = principal(2);
return rot * inertia * rot.transpose();
}
vec3 randomAxis() {
vec3 axis;
idScalar length;
do {
axis(0) = randomFloat(-1.0, 1.0);
axis(1) = randomFloat(-1.0, 1.0);
axis(2) = randomFloat(-1.0, 1.0);
vec3 randomAxis()
{
vec3 axis;
idScalar length;
do
{
axis(0) = randomFloat(-1.0, 1.0);
axis(1) = randomFloat(-1.0, 1.0);
axis(2) = randomFloat(-1.0, 1.0);
length = std::sqrt(std::pow(axis(0), 2) + std::pow(axis(1), 2) + std::pow(axis(2), 2));
} while (length < 0.01);
length = BT_ID_SQRT(BT_ID_POW(axis(0), 2) + BT_ID_POW(axis(1), 2) + BT_ID_POW(axis(2), 2));
} while (length < 0.01);
return axis / length;
}
return axis / length;
}
} // namespace btInverseDynamics

5
Engine/lib/bullet/Extras/InverseDynamics/IDRandomUtil.hpp
View file

@ -1,7 +1,8 @@
#ifndef ID_RANDOM_UTIL_HPP_
#define ID_RANDOM_UTIL_HPP_
#include "BulletInverseDynamics/IDConfig.hpp"
namespace btInverseDynamics {
namespace btInverseDynamics
{
/// seed random number generator using time()
void randomInit();
/// seed random number generator with identical value to get repeatable results
@ -32,5 +33,5 @@ vec3 randomInertiaPrincipal();
mat33 randomInertiaMatrix();
/// generate a random unit vector
vec3 randomAxis();
}
} // namespace btInverseDynamics
#endif

12
Engine/lib/bullet/Extras/InverseDynamics/LICENSE.txt Normal file
View file

@ -0,0 +1,12 @@
Bullet Continuous Collision Detection and Physics Library
http://bulletphysics.org
This software is provided 'as-is', without any express or implied warranty.
In no event will the authors be held liable for any damages arising from the use of this software.
Permission is granted to anyone to use this software for any purpose,
including commercial applications, and to alter it and redistribute it freely,
subject to the following restrictions:
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.
2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
3. This notice may not be removed or altered from any source distribution.

132
Engine/lib/bullet/Extras/InverseDynamics/MultiBodyNameMap.cpp
View file

@ -1,78 +1,92 @@
#include "MultiBodyNameMap.hpp"
namespace btInverseDynamics {
namespace btInverseDynamics
{
MultiBodyNameMap::MultiBodyNameMap() {}
int MultiBodyNameMap::addBody(const int index, const std::string& name) {
if (m_index_to_body_name.count(index) > 0) {
error_message("trying to add index %d again\n", index);
return -1;
}
if (m_body_name_to_index.count(name) > 0) {
error_message("trying to add name %s again\n", name.c_str());
return -1;
}
int MultiBodyNameMap::addBody(const int index, const std::string& name)
{
if (m_index_to_body_name.count(index) > 0)
{
bt_id_error_message("trying to add index %d again\n", index);
return -1;
}
if (m_body_name_to_index.count(name) > 0)
{
bt_id_error_message("trying to add name %s again\n", name.c_str());
return -1;
}
m_index_to_body_name[index] = name;
m_body_name_to_index[name] = index;
m_index_to_body_name[index] = name;
m_body_name_to_index[name] = index;
return 0;
return 0;
}
int MultiBodyNameMap::addJoint(const int index, const std::string& name) {
if (m_index_to_joint_name.count(index) > 0) {
error_message("trying to add index %d again\n", index);
return -1;
}
if (m_joint_name_to_index.count(name) > 0) {
error_message("trying to add name %s again\n", name.c_str());
return -1;
}
int MultiBodyNameMap::addJoint(const int index, const std::string& name)
{
if (m_index_to_joint_name.count(index) > 0)
{
bt_id_error_message("trying to add index %d again\n", index);
return -1;
}
if (m_joint_name_to_index.count(name) > 0)
{
bt_id_error_message("trying to add name %s again\n", name.c_str());
return -1;
}
m_index_to_joint_name[index] = name;
m_joint_name_to_index[name] = index;
m_index_to_joint_name[index] = name;
m_joint_name_to_index[name] = index;
return 0;
return 0;
}
int MultiBodyNameMap::getBodyName(const int index, std::string* name) const {
std::map<int, std::string>::const_iterator it = m_index_to_body_name.find(index);
if (it == m_index_to_body_name.end()) {
error_message("index %d not known\n", index);
return -1;
}
*name = it->second;
return 0;
int MultiBodyNameMap::getBodyName(const int index, std::string* name) const
{
std::map<int, std::string>::const_iterator it = m_index_to_body_name.find(index);
if (it == m_index_to_body_name.end())
{
bt_id_error_message("index %d not known\n", index);
return -1;
}
*name = it->second;
return 0;
}
int MultiBodyNameMap::getJointName(const int index, std::string* name) const {
std::map<int, std::string>::const_iterator it = m_index_to_joint_name.find(index);
if (it == m_index_to_joint_name.end()) {
error_message("index %d not known\n", index);
return -1;
}
*name = it->second;
return 0;
int MultiBodyNameMap::getJointName(const int index, std::string* name) const
{
std::map<int, std::string>::const_iterator it = m_index_to_joint_name.find(index);
if (it == m_index_to_joint_name.end())
{
bt_id_error_message("index %d not known\n", index);
return -1;
}
*name = it->second;
return 0;
}
int MultiBodyNameMap::getBodyIndex(const std::string& name, int* index) const {
std::map<std::string, int>::const_iterator it = m_body_name_to_index.find(name);
if (it == m_body_name_to_index.end()) {
error_message("name %s not known\n", name.c_str());
return -1;
}
*index = it->second;
return 0;
int MultiBodyNameMap::getBodyIndex(const std::string& name, int* index) const
{
std::map<std::string, int>::const_iterator it = m_body_name_to_index.find(name);
if (it == m_body_name_to_index.end())
{
bt_id_error_message("name %s not known\n", name.c_str());
return -1;
}
*index = it->second;
return 0;
}
int MultiBodyNameMap::getJointIndex(const std::string& name, int* index) const {
std::map<std::string, int>::const_iterator it = m_joint_name_to_index.find(name);
if (it == m_joint_name_to_index.end()) {
error_message("name %s not known\n", name.c_str());
return -1;
}
*index = it->second;
return 0;
}
int MultiBodyNameMap::getJointIndex(const std::string& name, int* index) const
{
std::map<std::string, int>::const_iterator it = m_joint_name_to_index.find(name);
if (it == m_joint_name_to_index.end())
{
bt_id_error_message("name %s not known\n", name.c_str());
return -1;
}
*index = it->second;
return 0;
}
} // namespace btInverseDynamics

79
Engine/lib/bullet/Extras/InverseDynamics/MultiBodyNameMap.hpp
View file

@ -5,50 +5,51 @@
#include <string>
#include <map>
namespace btInverseDynamics {
namespace btInverseDynamics
{
/// \brief The MultiBodyNameMap class
/// Utility class that stores a maps from body/joint indices to/from body and joint names
class MultiBodyNameMap {
class MultiBodyNameMap
{
public:
MultiBodyNameMap();
/// add a body to the map
/// @param index of the body
/// @param name name of the body
/// @return 0 on success, -1 on failure
int addBody(const int index, const std::string& name);
/// add a joint to the map
/// @param index of the joint
/// @param name name of the joint
/// @return 0 on success, -1 on failure
int addJoint(const int index, const std::string& name);
/// get body name from index
/// @param index of the body
/// @param body_name name of the body
/// @return 0 on success, -1 on failure
int getBodyName(const int index, std::string* name) const;
/// get joint name from index
/// @param index of the joint
/// @param joint_name name of the joint
/// @return 0 on success, -1 on failure
int getJointName(const int index, std::string* name) const;
/// get body index from name
/// @param index of the body
/// @param name name of the body
/// @return 0 on success, -1 on failure
int getBodyIndex(const std::string& name, int* index) const;
/// get joint index from name
/// @param index of the joint
/// @param name name of the joint
/// @return 0 on success, -1 on failure
int getJointIndex(const std::string& name, int* index) const;
MultiBodyNameMap();
/// add a body to the map
/// @param index of the body
/// @param name name of the body
/// @return 0 on success, -1 on failure
int addBody(const int index, const std::string& name);
/// add a joint to the map
/// @param index of the joint
/// @param name name of the joint
/// @return 0 on success, -1 on failure
int addJoint(const int index, const std::string& name);
/// get body name from index
/// @param index of the body
/// @param body_name name of the body
/// @return 0 on success, -1 on failure
int getBodyName(const int index, std::string* name) const;
/// get joint name from index
/// @param index of the joint
/// @param joint_name name of the joint
/// @return 0 on success, -1 on failure
int getJointName(const int index, std::string* name) const;
/// get body index from name
/// @param index of the body
/// @param name name of the body
/// @return 0 on success, -1 on failure
int getBodyIndex(const std::string& name, int* index) const;
/// get joint index from name
/// @param index of the joint
/// @param name name of the joint
/// @return 0 on success, -1 on failure
int getJointIndex(const std::string& name, int* index) const;
private:
std::map<int, std::string> m_index_to_joint_name;
std::map<int, std::string> m_index_to_body_name;
std::map<int, std::string> m_index_to_joint_name;
std::map<int, std::string> m_index_to_body_name;
std::map<std::string, int> m_joint_name_to_index;
std::map<std::string, int> m_body_name_to_index;
std::map<std::string, int> m_joint_name_to_index;
std::map<std::string, int> m_body_name_to_index;
};
}
} // namespace btInverseDynamics
#endif // MULTIBODYNAMEMAP_HPP_

119
Engine/lib/bullet/Extras/InverseDynamics/MultiBodyTreeCreator.cpp
View file

@ -1,64 +1,71 @@
#include "MultiBodyTreeCreator.hpp"
namespace btInverseDynamics {
namespace btInverseDynamics
{
MultiBodyTree* CreateMultiBodyTree(const MultiBodyTreeCreator& creator)
{
int num_bodies;
int parent_index;
JointType joint_type;
vec3 body_r_parent_body_ref;
mat33 body_R_parent_ref;
vec3 body_axis_of_motion;
idScalar mass;
vec3 body_r_body_com;
mat33 body_I_body;
int user_int;
void* user_ptr;
MultiBodyTree* CreateMultiBodyTree(const MultiBodyTreeCreator& creator) {
int num_bodies;
int parent_index;
JointType joint_type;
vec3 body_r_parent_body_ref;
mat33 body_R_parent_ref;
vec3 body_axis_of_motion;
idScalar mass;
vec3 body_r_body_com;
mat33 body_I_body;
int user_int;
void* user_ptr;
MultiBodyTree* tree = new MultiBodyTree();
if (0x0 == tree)
{
bt_id_error_message("cannot allocate tree\n");
return 0x0;
}
MultiBodyTree* tree = new MultiBodyTree();
if (0x0 == tree) {
error_message("cannot allocate tree\n");
return 0x0;
}
// TODO: move to some policy argument
tree->setAcceptInvalidMassParameters(false);
// TODO: move to some policy argument
tree->setAcceptInvalidMassParameters(false);
// get number of bodies in the system
if (-1 == creator.getNumBodies(&num_bodies))
{
bt_id_error_message("getting body indices\n");
delete tree;
return 0x0;
}
// get number of bodies in the system
if (-1 == creator.getNumBodies(&num_bodies)) {
error_message("getting body indices\n");
delete tree;
return 0x0;
}
// get data for all bodies
for (int index = 0; index < num_bodies; index++)
{
// get body parameters from user callbacks
if (-1 ==
creator.getBody(index, &parent_index, &joint_type, &body_r_parent_body_ref,
&body_R_parent_ref, &body_axis_of_motion, &mass, &body_r_body_com,
&body_I_body, &user_int, &user_ptr))
{
bt_id_error_message("getting data for body %d\n", index);
delete tree;
return 0x0;
}
// add body to system
if (-1 ==
tree->addBody(index, parent_index, joint_type, body_r_parent_body_ref,
body_R_parent_ref, body_axis_of_motion, mass, body_r_body_com,
body_I_body, user_int, user_ptr))
{
bt_id_error_message("adding body %d\n", index);
delete tree;
return 0x0;
}
}
// finalize initialization
if (-1 == tree->finalize())
{
bt_id_error_message("building system\n");
delete tree;
return 0x0;
}
// get data for all bodies
for (int index = 0; index < num_bodies; index++) {
// get body parameters from user callbacks
if (-1 ==
creator.getBody(index, &parent_index, &joint_type, &body_r_parent_body_ref,
&body_R_parent_ref, &body_axis_of_motion, &mass, &body_r_body_com,
&body_I_body, &user_int, &user_ptr)) {
error_message("getting data for body %d\n", index);
delete tree;
return 0x0;
}
// add body to system
if (-1 ==
tree->addBody(index, parent_index, joint_type, body_r_parent_body_ref,
body_R_parent_ref, body_axis_of_motion, mass, body_r_body_com,
body_I_body, user_int, user_ptr)) {
error_message("adding body %d\n", index);
delete tree;
return 0x0;
}
}
// finalize initialization
if (-1 == tree->finalize()) {
error_message("building system\n");
delete tree;
return 0x0;
}
return tree;
}
return tree;
}
} // namespace btInverseDynamics

38
Engine/lib/bullet/Extras/InverseDynamics/MultiBodyTreeCreator.hpp
View file

@ -8,28 +8,30 @@
#include "BulletInverseDynamics/MultiBodyTree.hpp"
#include "MultiBodyNameMap.hpp"
namespace btInverseDynamics {
namespace btInverseDynamics
{
/// Interface class for initializing a MultiBodyTree instance.
/// Data to be provided is modeled on the URDF specification.
/// The user can derive from this class in order to programmatically
/// initialize a system.
class MultiBodyTreeCreator {
class MultiBodyTreeCreator
{
public:
/// the dtor
virtual ~MultiBodyTreeCreator() {}
/// Get the number of bodies in the system
/// @param num_bodies write number of bodies here
/// @return 0 on success, -1 on error
virtual int getNumBodies(int* num_bodies) const = 0;
/// Interface for accessing link mass properties.
/// For detailed description of data, @sa MultiBodyTree::addBody
/// \copydoc MultiBodyTree::addBody
virtual int getBody(const int body_index, int* parent_index, JointType* joint_type,
vec3* parent_r_parent_body_ref, mat33* body_T_parent_ref,
vec3* body_axis_of_motion, idScalar* mass, vec3* body_r_body_com,
mat33* body_I_body, int* user_int, void** user_ptr) const = 0;
/// @return a pointer to a name mapping utility class, or 0x0 if not available
virtual const MultiBodyNameMap* getNameMap() const {return 0x0;}
/// the dtor
virtual ~MultiBodyTreeCreator() {}
/// Get the number of bodies in the system
/// @param num_bodies write number of bodies here
/// @return 0 on success, -1 on error
virtual int getNumBodies(int* num_bodies) const = 0;
/// Interface for accessing link mass properties.
/// For detailed description of data, @sa MultiBodyTree::addBody
/// \copydoc MultiBodyTree::addBody
virtual int getBody(const int body_index, int* parent_index, JointType* joint_type,
vec3* parent_r_parent_body_ref, mat33* body_T_parent_ref,
vec3* body_axis_of_motion, idScalar* mass, vec3* body_r_body_com,
mat33* body_I_body, int* user_int, void** user_ptr) const = 0;
/// @return a pointer to a name mapping utility class, or 0x0 if not available
virtual const MultiBodyNameMap* getNameMap() const { return 0x0; }
};
/// Create a multibody object.
@ -38,7 +40,7 @@ public:
/// @return A pointer to an allocated multibodytree instance, or
/// 0x0 if an error occured.
MultiBodyTree* CreateMultiBodyTree(const MultiBodyTreeCreator& creator);
}
} // namespace btInverseDynamics
// does urdf have gravity direction ??

123
Engine/lib/bullet/Extras/InverseDynamics/MultiBodyTreeDebugGraph.cpp
View file

@ -2,63 +2,76 @@
#include <cstdio>
namespace btInverseDynamics {
namespace btInverseDynamics
{
int writeGraphvizDotFile(const MultiBodyTree* tree, const MultiBodyNameMap* map,
const char* filename) {
if (0x0 == tree) {
error_message("tree pointer is null\n");
return -1;
}
if (0x0 == filename) {
error_message("filename is null\n");
return -1;
}
const char* filename)
{
if (0x0 == tree)
{
bt_id_error_message("tree pointer is null\n");
return -1;
}
if (0x0 == filename)
{
bt_id_error_message("filename is null\n");
return -1;
}
FILE* fp = fopen(filename, "w");
if (NULL == fp) {
error_message("cannot open file %s for writing\n", filename);
return -1;
}
fprintf(fp, "// to generate postscript file, run dot -Tps %s -o %s.ps\n"
"// details see graphviz documentation at http://graphviz.org\n"
"digraph tree {\n",
filename, filename);
FILE* fp = fopen(filename, "w");
if (NULL == fp)
{
bt_id_error_message("cannot open file %s for writing\n", filename);
return -1;
}
fprintf(fp,
"// to generate postscript file, run dot -Tps %s -o %s.ps\n"
"// details see graphviz documentation at http://graphviz.org\n"
"digraph tree {\n",
filename, filename);
for (int body = 0; body < tree->numBodies(); body++) {
std::string name;
if (0x0 != map) {
if (-1 == map->getBodyName(body, &name)) {
error_message("can't get name of body %d\n", body);
return -1;
}
fprintf(fp, " %d [label=\"%d/%s\"];\n", body, body, name.c_str());
}
}
for (int body = 0; body < tree->numBodies(); body++) {
int parent;
const char* joint_type;
int qi;
if (-1 == tree->getParentIndex(body, &parent)) {
error_message("indexing error\n");
return -1;
}
if (-1 == tree->getJointTypeStr(body, &joint_type)) {
error_message("indexing error\n");
return -1;
}
if (-1 == tree->getDoFOffset(body, &qi)) {
error_message("indexing error\n");
return -1;
}
if (-1 != parent) {
fprintf(fp, " %d -> %d [label= \"type:%s, q=%d\"];\n", parent, body,
joint_type, qi);
}
}
for (int body = 0; body < tree->numBodies(); body++)
{
std::string name;
if (0x0 != map)
{
if (-1 == map->getBodyName(body, &name))
{
bt_id_error_message("can't get name of body %d\n", body);
return -1;
}
fprintf(fp, " %d [label=\"%d/%s\"];\n", body, body, name.c_str());
}
}
for (int body = 0; body < tree->numBodies(); body++)
{
int parent;
const char* joint_type;
int qi;
if (-1 == tree->getParentIndex(body, &parent))
{
bt_id_error_message("indexing error\n");
return -1;
}
if (-1 == tree->getJointTypeStr(body, &joint_type))
{
bt_id_error_message("indexing error\n");
return -1;
}
if (-1 == tree->getDoFOffset(body, &qi))
{
bt_id_error_message("indexing error\n");
return -1;
}
if (-1 != parent)
{
fprintf(fp, " %d -> %d [label= \"type:%s, q=%d\"];\n", parent, body,
joint_type, qi);
}
}
fprintf(fp, "}\n");
fclose(fp);
return 0;
}
fprintf(fp, "}\n");
fclose(fp);
return 0;
}
} // namespace btInverseDynamics

7
Engine/lib/bullet/Extras/InverseDynamics/MultiBodyTreeDebugGraph.hpp
View file

@ -4,14 +4,15 @@
#include "BulletInverseDynamics/MultiBodyTree.hpp"
#include "MultiBodyNameMap.hpp"
namespace btInverseDynamics {
namespace btInverseDynamics
{
/// generate a dot-file of the multibody tree for generating a graph using graphviz' dot tool
/// @param tree the multibody tree
/// @param map to add names of links (if 0x0, no names will be added)
/// @param filename name for the output file
/// @return 0 on success, -1 on error
int writeGraphvizDotFile(const MultiBodyTree* tree, const MultiBodyNameMap* map,
const char* filename);
}
const char* filename);
} // namespace btInverseDynamics
#endif // MULTIBODYTREEDEBUGGRAPH_HPP

134
Engine/lib/bullet/Extras/InverseDynamics/RandomTreeCreator.cpp
View file

@ -4,78 +4,88 @@
#include "IDRandomUtil.hpp"
namespace btInverseDynamics {
RandomTreeCreator::RandomTreeCreator(const int max_bodies, bool random_seed) {
// seed generator
if(random_seed) {
randomInit(); // seeds with time()
} else {
randomInit(1); // seeds with 1
}
m_num_bodies = randomInt(1, max_bodies);
namespace btInverseDynamics
{
RandomTreeCreator::RandomTreeCreator(const int max_bodies, bool random_seed)
{
// seed generator
if (random_seed)
{
randomInit(); // seeds with time()
}
else
{
randomInit(1); // seeds with 1
}
m_num_bodies = randomInt(1, max_bodies);
}
RandomTreeCreator::~RandomTreeCreator() {}
int RandomTreeCreator::getNumBodies(int* num_bodies) const {
*num_bodies = m_num_bodies;
return 0;
int RandomTreeCreator::getNumBodies(int* num_bodies) const
{
*num_bodies = m_num_bodies;
return 0;
}
int RandomTreeCreator::getBody(const int body_index, int* parent_index, JointType* joint_type,
vec3* parent_r_parent_body_ref, mat33* body_T_parent_ref,
vec3* body_axis_of_motion, idScalar* mass, vec3* body_r_body_com,
mat33* body_I_body, int* user_int, void** user_ptr) const {
if(0 == body_index) { //root body
*parent_index = -1;
} else {
*parent_index = randomInt(0, body_index - 1);
}
vec3* parent_r_parent_body_ref, mat33* body_T_parent_ref,
vec3* body_axis_of_motion, idScalar* mass, vec3* body_r_body_com,
mat33* body_I_body, int* user_int, void** user_ptr) const
{
if (0 == body_index)
{ //root body
*parent_index = -1;
}
else
{
*parent_index = randomInt(0, body_index - 1);
}
switch (randomInt(0, 3)) {
case 0:
*joint_type = FIXED;
break;
case 1:
*joint_type = REVOLUTE;
break;
case 2:
*joint_type = PRISMATIC;
break;
case 3:
*joint_type = FLOATING;
break;
default:
error_message("randomInt() result out of range\n");
return -1;
}
switch (randomInt(0, 3))
{
case 0:
*joint_type = FIXED;
break;
case 1:
*joint_type = REVOLUTE;
break;
case 2:
*joint_type = PRISMATIC;
break;
case 3:
*joint_type = FLOATING;
break;
default:
bt_id_error_message("randomInt() result out of range\n");
return -1;
}
(*parent_r_parent_body_ref)(0) = randomFloat(-1.0, 1.0);
(*parent_r_parent_body_ref)(1) = randomFloat(-1.0, 1.0);
(*parent_r_parent_body_ref)(2) = randomFloat(-1.0, 1.0);
(*parent_r_parent_body_ref)(0) = randomFloat(-1.0, 1.0);
(*parent_r_parent_body_ref)(1) = randomFloat(-1.0, 1.0);
(*parent_r_parent_body_ref)(2) = randomFloat(-1.0, 1.0);
bodyTParentFromAxisAngle(randomAxis(), randomFloat(-BT_ID_PI, BT_ID_PI), body_T_parent_ref);
bodyTParentFromAxisAngle(randomAxis(), randomFloat(-BT_ID_PI, BT_ID_PI), body_T_parent_ref);
*body_axis_of_motion = randomAxis();
*mass = randomMass();
(*body_r_body_com)(0) = randomFloat(-1.0, 1.0);
(*body_r_body_com)(1) = randomFloat(-1.0, 1.0);
(*body_r_body_com)(2) = randomFloat(-1.0, 1.0);
const double a = randomFloat(-BT_ID_PI, BT_ID_PI);
const double b = randomFloat(-BT_ID_PI, BT_ID_PI);
const double c = randomFloat(-BT_ID_PI, BT_ID_PI);
vec3 ii = randomInertiaPrincipal();
mat33 ii_diag;
setZero(ii_diag);
ii_diag(0,0)=ii(0);
ii_diag(1,1)=ii(1);
ii_diag(2,2)=ii(2);
*body_I_body = transformX(a) * transformY(b) * transformZ(c) * ii_diag *
transformZ(-c) * transformY(-b) * transformX(-a);
*user_int = 0;
*user_ptr = 0;
*body_axis_of_motion = randomAxis();
*mass = randomMass();
(*body_r_body_com)(0) = randomFloat(-1.0, 1.0);
(*body_r_body_com)(1) = randomFloat(-1.0, 1.0);
(*body_r_body_com)(2) = randomFloat(-1.0, 1.0);
const double a = randomFloat(-BT_ID_PI, BT_ID_PI);
const double b = randomFloat(-BT_ID_PI, BT_ID_PI);
const double c = randomFloat(-BT_ID_PI, BT_ID_PI);
vec3 ii = randomInertiaPrincipal();
mat33 ii_diag;
setZero(ii_diag);
ii_diag(0, 0) = ii(0);
ii_diag(1, 1) = ii(1);
ii_diag(2, 2) = ii(2);
*body_I_body = transformX(a) * transformY(b) * transformZ(c) * ii_diag *
transformZ(-c) * transformY(-b) * transformX(-a);
*user_int = 0;
*user_ptr = 0;
return 0;
}
return 0;
}
} // namespace btInverseDynamics

36
Engine/lib/bullet/Extras/InverseDynamics/RandomTreeCreator.hpp
View file

@ -4,28 +4,30 @@
#include "BulletInverseDynamics/IDConfig.hpp"
#include "MultiBodyTreeCreator.hpp"
namespace btInverseDynamics {
namespace btInverseDynamics
{
/// Generate a random MultiBodyTree with fixed or floating base and fixed, prismatic or revolute
/// joints
/// Uses a pseudo random number generator seeded from a random device.
class RandomTreeCreator : public MultiBodyTreeCreator {
class RandomTreeCreator : public MultiBodyTreeCreator
{
public:
/// ctor
/// @param max_bodies maximum number of bodies
/// @param gravity gravitational acceleration
/// @param use_seed if true, seed random number generator
RandomTreeCreator(const int max_bodies, bool use_seed=false);
~RandomTreeCreator();
///\copydoc MultiBodyTreeCreator::getNumBodies
int getNumBodies(int* num_bodies) const;
///\copydoc MultiBodyTreeCreator::getBody
int getBody(const int body_index, int* parent_index, JointType* joint_type,
vec3* parent_r_parent_body_ref, mat33* body_T_parent_ref, vec3* body_axis_of_motion,
idScalar* mass, vec3* body_r_body_com, mat33* body_I_body, int* user_int,
void** user_ptr) const;
/// ctor
/// @param max_bodies maximum number of bodies
/// @param gravity gravitational acceleration
/// @param use_seed if true, seed random number generator
RandomTreeCreator(const int max_bodies, bool use_seed = false);
~RandomTreeCreator();
///\copydoc MultiBodyTreeCreator::getNumBodies
int getNumBodies(int* num_bodies) const;
///\copydoc MultiBodyTreeCreator::getBody
int getBody(const int body_index, int* parent_index, JointType* joint_type,
vec3* parent_r_parent_body_ref, mat33* body_T_parent_ref, vec3* body_axis_of_motion,
idScalar* mass, vec3* body_r_body_com, mat33* body_I_body, int* user_int,
void** user_ptr) const;
private:
int m_num_bodies;
int m_num_bodies;
};
}
} // namespace btInverseDynamics
#endif // RANDOMTREE_CREATOR_HPP_

118
Engine/lib/bullet/Extras/InverseDynamics/SimpleTreeCreator.cpp
View file

@ -2,68 +2,76 @@
#include <cstdio>
namespace btInverseDynamics {
namespace btInverseDynamics
{
/// minimal "tree" (chain)
SimpleTreeCreator::SimpleTreeCreator(int dim) : m_num_bodies(dim) {
m_mass = 1.0;
m_body_T_parent_ref(0, 0) = 1;
m_body_T_parent_ref(0, 1) = 0;
m_body_T_parent_ref(0, 2) = 0;
m_body_T_parent_ref(1, 0) = 0;
m_body_T_parent_ref(1, 1) = 1;
m_body_T_parent_ref(1, 2) = 0;
m_body_T_parent_ref(2, 0) = 0;
m_body_T_parent_ref(2, 1) = 0;
m_body_T_parent_ref(2, 2) = 1;
SimpleTreeCreator::SimpleTreeCreator(int dim) : m_num_bodies(dim)
{
m_mass = 1.0;
m_body_T_parent_ref(0, 0) = 1;
m_body_T_parent_ref(0, 1) = 0;
m_body_T_parent_ref(0, 2) = 0;
m_body_T_parent_ref(1, 0) = 0;
m_body_T_parent_ref(1, 1) = 1;
m_body_T_parent_ref(1, 2) = 0;
m_body_T_parent_ref(2, 0) = 0;
m_body_T_parent_ref(2, 1) = 0;
m_body_T_parent_ref(2, 2) = 1;
m_parent_r_parent_body_ref(0) = 1.0;
m_parent_r_parent_body_ref(1) = 0.0;
m_parent_r_parent_body_ref(2) = 0.0;
m_parent_r_parent_body_ref(0) = 1.0;
m_parent_r_parent_body_ref(1) = 0.0;
m_parent_r_parent_body_ref(2) = 0.0;
m_body_r_body_com(0) = 0.5;
m_body_r_body_com(1) = 0.0;
m_body_r_body_com(2) = 0.0;
m_body_r_body_com(0) = 0.5;
m_body_r_body_com(1) = 0.0;
m_body_r_body_com(2) = 0.0;
m_body_I_body(0, 0) = 1;
m_body_I_body(0, 1) = 0;
m_body_I_body(0, 2) = 0;
m_body_I_body(1, 0) = 0;
m_body_I_body(1, 1) = 1;
m_body_I_body(1, 2) = 0;
m_body_I_body(2, 0) = 0;
m_body_I_body(2, 1) = 0;
m_body_I_body(2, 2) = 1;
m_body_I_body(0, 0) = 1;
m_body_I_body(0, 1) = 0;
m_body_I_body(0, 2) = 0;
m_body_I_body(1, 0) = 0;
m_body_I_body(1, 1) = 1;
m_body_I_body(1, 2) = 0;
m_body_I_body(2, 0) = 0;
m_body_I_body(2, 1) = 0;
m_body_I_body(2, 2) = 1;
m_axis(0) = 0;
m_axis(1) = 0;
m_axis(2) = 1;
m_axis(0) = 0;
m_axis(1) = 0;
m_axis(2) = 1;
}
int SimpleTreeCreator::getNumBodies(int* num_bodies) const {
*num_bodies = m_num_bodies;
return 0;
int SimpleTreeCreator::getNumBodies(int* num_bodies) const
{
*num_bodies = m_num_bodies;
return 0;
}
int SimpleTreeCreator::getBody(const int body_index, int* parent_index, JointType* joint_type,
vec3* parent_r_parent_body_ref, mat33* body_T_parent_ref,
vec3* body_axis_of_motion, idScalar* mass, vec3* body_r_body_com,
mat33* body_I_body, int* user_int, void** user_ptr) const {
*parent_index = body_index - 1;
if (body_index % 2) {
*joint_type = PRISMATIC;
} else {
*joint_type = REVOLUTE;
}
*parent_r_parent_body_ref = m_parent_r_parent_body_ref;
if (0 == body_index) {
(*parent_r_parent_body_ref)(2) = 1.0;
}
*body_T_parent_ref = m_body_T_parent_ref;
*body_axis_of_motion = m_axis;
*mass = m_mass;
*body_r_body_com = m_body_r_body_com;
*body_I_body = m_body_I_body;
*user_int = 0;
*user_ptr = 0;
return 0;
}
vec3* parent_r_parent_body_ref, mat33* body_T_parent_ref,
vec3* body_axis_of_motion, idScalar* mass, vec3* body_r_body_com,
mat33* body_I_body, int* user_int, void** user_ptr) const
{
*parent_index = body_index - 1;
if (body_index % 2)
{
*joint_type = PRISMATIC;
}
else
{
*joint_type = REVOLUTE;
}
*parent_r_parent_body_ref = m_parent_r_parent_body_ref;
if (0 == body_index)
{
(*parent_r_parent_body_ref)(2) = 1.0;
}
*body_T_parent_ref = m_body_T_parent_ref;
*body_axis_of_motion = m_axis;
*mass = m_mass;
*body_r_body_com = m_body_r_body_com;
*body_I_body = m_body_I_body;
*user_int = 0;
*user_ptr = 0;
return 0;
}
} // namespace btInverseDynamics

47
Engine/lib/bullet/Extras/InverseDynamics/SimpleTreeCreator.hpp
View file

@ -3,32 +3,33 @@
#include "MultiBodyTreeCreator.hpp"
namespace btInverseDynamics {
namespace btInverseDynamics
{
/// minimal "tree" (chain)
class SimpleTreeCreator : public MultiBodyTreeCreator {
class SimpleTreeCreator : public MultiBodyTreeCreator
{
public:
/// ctor
/// @param dim number of bodies
SimpleTreeCreator(int dim);
// dtor
~SimpleTreeCreator() {}
///\copydoc MultiBodyTreeCreator::getNumBodies
int getNumBodies(int* num_bodies) const;
///\copydoc MultiBodyTreeCreator::getBody
int getBody(const int body_index, int* parent_index, JointType* joint_type,
vec3* parent_r_parent_body_ref, mat33* body_T_parent_ref, vec3* body_axis_of_motion,
idScalar* mass, vec3* body_r_body_com, mat33* body_I_body, int* user_int,
void** user_ptr) const;
/// ctor
/// @param dim number of bodies
SimpleTreeCreator(int dim);
// dtor
~SimpleTreeCreator() {}
///\copydoc MultiBodyTreeCreator::getNumBodies
int getNumBodies(int* num_bodies) const;
///\copydoc MultiBodyTreeCreator::getBody
int getBody(const int body_index, int* parent_index, JointType* joint_type,
vec3* parent_r_parent_body_ref, mat33* body_T_parent_ref, vec3* body_axis_of_motion,
idScalar* mass, vec3* body_r_body_com, mat33* body_I_body, int* user_int,
void** user_ptr) const;
private:
int m_num_bodies;
idScalar m_mass;
mat33 m_body_T_parent_ref;
vec3 m_parent_r_parent_body_ref;
vec3 m_body_r_body_com;
mat33 m_body_I_body;
vec3 m_axis;
int m_num_bodies;
idScalar m_mass;
mat33 m_body_T_parent_ref;
vec3 m_parent_r_parent_body_ref;
vec3 m_body_r_body_com;
mat33 m_body_I_body;
vec3 m_axis;
};
}
} // namespace btInverseDynamics
#endif // SIMPLETREECREATOR_HPP_

172
Engine/lib/bullet/Extras/InverseDynamics/User2InternalIndex.cpp
View file

@ -1,99 +1,121 @@
#include "User2InternalIndex.hpp"
namespace btInverseDynamics {
namespace btInverseDynamics
{
User2InternalIndex::User2InternalIndex() : m_map_built(false) {}
void User2InternalIndex::addBody(const int body, const int parent) {
m_user_parent_index_map[body] = parent;
void User2InternalIndex::addBody(const int body, const int parent)
{
m_user_parent_index_map[body] = parent;
}
int User2InternalIndex::findRoot(int index) {
if (0 == m_user_parent_index_map.count(index)) {
return index;
}
return findRoot(m_user_parent_index_map[index]);
int User2InternalIndex::findRoot(int index)
{
if (0 == m_user_parent_index_map.count(index))
{
return index;
}
return findRoot(m_user_parent_index_map[index]);
}
// modelled after URDF2Bullet.cpp:void ComputeParentIndices(const
// URDFImporterInterface& u2b, URDF2BulletCachedData& cache, int urdfLinkIndex,
// int urdfParentIndex)
void User2InternalIndex::recurseIndexSets(const int user_body_index) {
m_user_to_internal[user_body_index] = m_current_index;
m_current_index++;
for (size_t i = 0; i < m_user_child_indices[user_body_index].size(); i++) {
recurseIndexSets(m_user_child_indices[user_body_index][i]);
}
void User2InternalIndex::recurseIndexSets(const int user_body_index)
{
m_user_to_internal[user_body_index] = m_current_index;
m_current_index++;
for (size_t i = 0; i < m_user_child_indices[user_body_index].size(); i++)
{
recurseIndexSets(m_user_child_indices[user_body_index][i]);
}
}
int User2InternalIndex::buildMapping() {
// find root index
int user_root_index = -1;
for (std::map<int, int>::iterator it = m_user_parent_index_map.begin();
it != m_user_parent_index_map.end(); it++) {
int current_root_index = findRoot(it->second);
if (it == m_user_parent_index_map.begin()) {
user_root_index = current_root_index;
} else {
if (user_root_index != current_root_index) {
error_message("multiple roots (at least) %d and %d\n", user_root_index,
current_root_index);
return -1;
}
}
}
int User2InternalIndex::buildMapping()
{
// find root index
int user_root_index = -1;
for (std::map<int, int>::iterator it = m_user_parent_index_map.begin();
it != m_user_parent_index_map.end(); it++)
{
int current_root_index = findRoot(it->second);
if (it == m_user_parent_index_map.begin())
{
user_root_index = current_root_index;
}
else
{
if (user_root_index != current_root_index)
{
bt_id_error_message("multiple roots (at least) %d and %d\n", user_root_index,
current_root_index);
return -1;
}
}
}
// build child index map
for (std::map<int, int>::iterator it = m_user_parent_index_map.begin();
it != m_user_parent_index_map.end(); it++) {
m_user_child_indices[it->second].push_back(it->first);
}
// build child index map
for (std::map<int, int>::iterator it = m_user_parent_index_map.begin();
it != m_user_parent_index_map.end(); it++)
{
m_user_child_indices[it->second].push_back(it->first);
}
m_current_index = -1;
// build internal index set
m_user_to_internal[user_root_index] = -1; // add map for root link
recurseIndexSets(user_root_index);
m_current_index = -1;
// build internal index set
m_user_to_internal[user_root_index] = -1; // add map for root link
recurseIndexSets(user_root_index);
// reverse mapping
for (std::map<int, int>::iterator it = m_user_to_internal.begin();
it != m_user_to_internal.end(); it++) {
m_internal_to_user[it->second] = it->first;
}
// reverse mapping
for (std::map<int, int>::iterator it = m_user_to_internal.begin();
it != m_user_to_internal.end(); it++)
{
m_internal_to_user[it->second] = it->first;
}
m_map_built = true;
return 0;
m_map_built = true;
return 0;
}
int User2InternalIndex::user2internal(const int user, int *internal) const {
int User2InternalIndex::user2internal(const int user, int *internal) const
{
if (!m_map_built)
{
return -1;
}
if (!m_map_built) {
return -1;
}
std::map<int, int>::const_iterator it;
it = m_user_to_internal.find(user);
if (it != m_user_to_internal.end()) {
*internal = it->second;
return 0;
} else {
error_message("no user index %d\n", user);
return -1;
}
std::map<int, int>::const_iterator it;
it = m_user_to_internal.find(user);
if (it != m_user_to_internal.end())
{
*internal = it->second;
return 0;
}
else
{
bt_id_error_message("no user index %d\n", user);
return -1;
}
}
int User2InternalIndex::internal2user(const int internal, int *user) const {
int User2InternalIndex::internal2user(const int internal, int *user) const
{
if (!m_map_built)
{
return -1;
}
if (!m_map_built) {
return -1;
}
std::map<int, int>::const_iterator it;
it = m_internal_to_user.find(internal);
if (it != m_internal_to_user.end()) {
*user = it->second;
return 0;
} else {
error_message("no internal index %d\n", internal);
return -1;
}
}
std::map<int, int>::const_iterator it;
it = m_internal_to_user.find(internal);
if (it != m_internal_to_user.end())
{
*user = it->second;
return 0;
}
else
{
bt_id_error_message("no internal index %d\n", internal);
return -1;
}
}
} // namespace btInverseDynamics

63
Engine/lib/bullet/Extras/InverseDynamics/User2InternalIndex.hpp
View file

@ -5,42 +5,43 @@
#include "BulletInverseDynamics/IDConfig.hpp"
namespace btInverseDynamics {
namespace btInverseDynamics
{
/// Convert arbitrary indexing scheme to internal indexing
/// used for MultiBodyTree
class User2InternalIndex {
class User2InternalIndex
{
public:
/// Ctor
User2InternalIndex();
/// add body to index maps
/// @param body index of body to add (external)
/// @param parent index of parent body (external)
void addBody(const int body, const int parent);
/// build mapping from external to internal indexing
/// @return 0 on success, -1 on failure
int buildMapping();
/// get internal index from external index
/// @param user external (user) index
/// @param internal pointer for storage of corresponding internal index
/// @return 0 on success, -1 on failure
int user2internal(const int user, int *internal) const;
/// get internal index from external index
/// @param user external (user) index
/// @param internal pointer for storage of corresponding internal index
/// @return 0 on success, -1 on failure
int internal2user(const int internal, int *user) const;
/// Ctor
User2InternalIndex();
/// add body to index maps
/// @param body index of body to add (external)
/// @param parent index of parent body (external)
void addBody(const int body, const int parent);
/// build mapping from external to internal indexing
/// @return 0 on success, -1 on failure
int buildMapping();
/// get internal index from external index
/// @param user external (user) index
/// @param internal pointer for storage of corresponding internal index
/// @return 0 on success, -1 on failure
int user2internal(const int user, int *internal) const;
/// get internal index from external index
/// @param user external (user) index
/// @param internal pointer for storage of corresponding internal index
/// @return 0 on success, -1 on failure
int internal2user(const int internal, int *user) const;
private:
int findRoot(int index);
void recurseIndexSets(const int user_body_index);
bool m_map_built;
std::map<int, int> m_user_parent_index_map;
std::map<int, int> m_user_to_internal;
std::map<int, int> m_internal_to_user;
std::map<int, std::vector<int> > m_user_child_indices;
int m_current_index;
int findRoot(int index);
void recurseIndexSets(const int user_body_index);
bool m_map_built;
std::map<int, int> m_user_parent_index_map;
std::map<int, int> m_user_to_internal;
std::map<int, int> m_internal_to_user;
std::map<int, std::vector<int> > m_user_child_indices;
int m_current_index;
};
}
} // namespace btInverseDynamics
#endif // USER2INTERNALINDEX_HPP

146
Engine/lib/bullet/Extras/InverseDynamics/btMultiBodyFromURDF.hpp
View file

@ -11,81 +11,91 @@
#include "../../examples/Importers/ImportURDFDemo/URDF2Bullet.h"
#include "../../examples/Importers/ImportURDFDemo/MyMultiBodyCreator.h"
#include "../../examples/Importers/ImportURDFDemo/URDF2Bullet.h"
#include "../../examples/Utils/b3BulletDefaultFileIO.h"
/// Create a btMultiBody model from URDF.
/// This is adapted from Bullet URDF loader example
class MyBtMultiBodyFromURDF {
class MyBtMultiBodyFromURDF
{
public:
/// ctor
/// @param gravity gravitational acceleration (in world frame)
/// @param base_fixed if true, the root body is treated as fixed,
/// if false, it is treated as floating
MyBtMultiBodyFromURDF(const btVector3 &gravity, const bool base_fixed)
: m_gravity(gravity), m_base_fixed(base_fixed) {
m_broadphase = 0x0;
m_dispatcher = 0x0;
m_solver = 0x0;
m_collisionConfiguration = 0x0;
m_dynamicsWorld = 0x0;
m_multibody = 0x0;
}
/// dtor
~MyBtMultiBodyFromURDF() {
delete m_dynamicsWorld;
delete m_solver;
delete m_broadphase;
delete m_dispatcher;
delete m_collisionConfiguration;
delete m_multibody;
}
/// @param name path to urdf file
void setFileName(const std::string name) { m_filename = name; }
/// load urdf file and build btMultiBody model
void init() {
this->createEmptyDynamicsWorld();
m_dynamicsWorld->setGravity(m_gravity);
BulletURDFImporter urdf_importer(&m_nogfx,0);
URDFImporterInterface &u2b(urdf_importer);
bool loadOk = u2b.loadURDF(m_filename.c_str(), m_base_fixed);
/// ctor
/// @param gravity gravitational acceleration (in world frame)
/// @param base_fixed if true, the root body is treated as fixed,
/// if false, it is treated as floating
MyBtMultiBodyFromURDF(const btVector3 &gravity, const bool base_fixed)
: m_gravity(gravity), m_base_fixed(base_fixed)
{
m_broadphase = 0x0;
m_dispatcher = 0x0;
m_solver = 0x0;
m_collisionConfiguration = 0x0;
m_dynamicsWorld = 0x0;
m_multibody = 0x0;
m_flag = 0x0;
}
/// dtor
~MyBtMultiBodyFromURDF()
{
delete m_dynamicsWorld;
delete m_solver;
delete m_broadphase;
delete m_dispatcher;
delete m_collisionConfiguration;
delete m_multibody;
}
/// @param name path to urdf file
void setFileName(const std::string name) { m_filename = name; }
void setFlag(int flag) { m_flag = flag; }
/// load urdf file and build btMultiBody model
void init()
{
this->createEmptyDynamicsWorld();
m_dynamicsWorld->setGravity(m_gravity);
b3BulletDefaultFileIO fileIO;
BulletURDFImporter urdf_importer(&m_nogfx, 0, &fileIO, 1, 0);
URDFImporterInterface &u2b(urdf_importer);
bool loadOk = u2b.loadURDF(m_filename.c_str(), m_base_fixed);
if (loadOk) {
btTransform identityTrans;
identityTrans.setIdentity();
MyMultiBodyCreator creation(&m_nogfx);
const bool use_multibody = true;
ConvertURDF2Bullet(u2b, creation, identityTrans, m_dynamicsWorld, use_multibody,
u2b.getPathPrefix());
m_multibody = creation.getBulletMultiBody();
m_dynamicsWorld->stepSimulation(1. / 240., 0);
}
}
/// @return pointer to the btMultiBody model
btMultiBody *getBtMultiBody() { return m_multibody; }
if (loadOk)
{
btTransform identityTrans;
identityTrans.setIdentity();
MyMultiBodyCreator creation(&m_nogfx);
const bool use_multibody = true;
ConvertURDF2Bullet(u2b, creation, identityTrans, m_dynamicsWorld, use_multibody,
u2b.getPathPrefix(), m_flag);
m_multibody = creation.getBulletMultiBody();
m_dynamicsWorld->stepSimulation(1. / 240., 0);
}
}
/// @return pointer to the btMultiBody model
btMultiBody *getBtMultiBody() { return m_multibody; }
private:
// internal utility function
void createEmptyDynamicsWorld() {
m_collisionConfiguration = new btDefaultCollisionConfiguration();
// internal utility function
void createEmptyDynamicsWorld()
{
m_collisionConfiguration = new btDefaultCollisionConfiguration();
/// use the default collision dispatcher. For parallel processing you can use a diffent
/// dispatcher (see Extras/BulletMultiThreaded)
m_dispatcher = new btCollisionDispatcher(m_collisionConfiguration);
m_broadphase = new btDbvtBroadphase();
m_solver = new btMultiBodyConstraintSolver;
m_dynamicsWorld = new btMultiBodyDynamicsWorld(m_dispatcher, m_broadphase, m_solver,
m_collisionConfiguration);
m_dynamicsWorld->setGravity(m_gravity);
}
/// use the default collision dispatcher. For parallel processing you can use a diffent
/// dispatcher (see Extras/BulletMultiThreaded)
m_dispatcher = new btCollisionDispatcher(m_collisionConfiguration);
m_broadphase = new btDbvtBroadphase();
m_solver = new btMultiBodyConstraintSolver;
m_dynamicsWorld = new btMultiBodyDynamicsWorld(m_dispatcher, m_broadphase, m_solver,
m_collisionConfiguration);
m_dynamicsWorld->setGravity(m_gravity);
}
btBroadphaseInterface *m_broadphase;
btCollisionDispatcher *m_dispatcher;
btMultiBodyConstraintSolver *m_solver;
btDefaultCollisionConfiguration *m_collisionConfiguration;
btMultiBodyDynamicsWorld *m_dynamicsWorld;
std::string m_filename;
DummyGUIHelper m_nogfx;
btMultiBody *m_multibody;
const btVector3 m_gravity;
const bool m_base_fixed;
btBroadphaseInterface *m_broadphase;
btCollisionDispatcher *m_dispatcher;
btMultiBodyConstraintSolver *m_solver;
btDefaultCollisionConfiguration *m_collisionConfiguration;
btMultiBodyDynamicsWorld *m_dynamicsWorld;
std::string m_filename;
DummyGUIHelper m_nogfx;
btMultiBody *m_multibody;
const btVector3 m_gravity;
const bool m_base_fixed;
int m_flag;
};
#endif // BTMULTIBODYFROMURDF_HPP

506
Engine/lib/bullet/Extras/InverseDynamics/btMultiBodyTreeCreator.cpp
View file

@ -1,270 +1,306 @@
#include "btMultiBodyTreeCreator.hpp"
namespace btInverseDynamics {
namespace btInverseDynamics
{
btMultiBodyTreeCreator::btMultiBodyTreeCreator() : m_initialized(false) {}
int btMultiBodyTreeCreator::createFromBtMultiBody(const btMultiBody *btmb, const bool verbose) {
if (0x0 == btmb) {
error_message("cannot create MultiBodyTree from null pointer\n");
return -1;
}
int btMultiBodyTreeCreator::createFromBtMultiBody(const btMultiBody *btmb, const bool verbose)
{
if (0x0 == btmb)
{
bt_id_error_message("cannot create MultiBodyTree from null pointer\n");
return -1;
}
// in case this is a second call, discard old data
m_data.clear();
m_initialized = false;
// in case this is a second call, discard old data
m_data.clear();
m_initialized = false;
// btMultiBody treats base link separately
m_data.resize(1 + btmb->getNumLinks());
// btMultiBody treats base link separately
m_data.resize(1 + btmb->getNumLinks());
// add base link data
{
LinkData &link = m_data[0];
// add base link data
{
LinkData &link = m_data[0];
link.parent_index = -1;
if (btmb->hasFixedBase()) {
link.joint_type = FIXED;
} else {
link.joint_type = FLOATING;
}
btTransform transform(btmb->getBaseWorldTransform());
link.parent_index = -1;
if (btmb->hasFixedBase())
{
link.joint_type = FIXED;
}
else
{
link.joint_type = FLOATING;
}
btTransform transform = (btmb->getBaseWorldTransform());
//compute inverse dynamics in body-fixed frame
transform.setIdentity();
link.parent_r_parent_body_ref(0) = transform.getOrigin()[0];
link.parent_r_parent_body_ref(1) = transform.getOrigin()[1];
link.parent_r_parent_body_ref(2) = transform.getOrigin()[2];
link.parent_r_parent_body_ref(0) = transform.getOrigin()[0];
link.parent_r_parent_body_ref(1) = transform.getOrigin()[1];
link.parent_r_parent_body_ref(2) = transform.getOrigin()[2];
link.body_T_parent_ref(0, 0) = transform.getBasis()[0][0];
link.body_T_parent_ref(0, 1) = transform.getBasis()[0][1];
link.body_T_parent_ref(0, 2) = transform.getBasis()[0][2];
link.body_T_parent_ref(0, 0) = transform.getBasis()[0][0];
link.body_T_parent_ref(0, 1) = transform.getBasis()[0][1];
link.body_T_parent_ref(0, 2) = transform.getBasis()[0][2];
link.body_T_parent_ref(1, 0) = transform.getBasis()[1][0];
link.body_T_parent_ref(1, 1) = transform.getBasis()[1][1];
link.body_T_parent_ref(1, 2) = transform.getBasis()[1][2];
link.body_T_parent_ref(1, 0) = transform.getBasis()[1][0];
link.body_T_parent_ref(1, 1) = transform.getBasis()[1][1];
link.body_T_parent_ref(1, 2) = transform.getBasis()[1][2];
link.body_T_parent_ref(2, 0) = transform.getBasis()[2][0];
link.body_T_parent_ref(2, 1) = transform.getBasis()[2][1];
link.body_T_parent_ref(2, 2) = transform.getBasis()[2][2];
link.body_T_parent_ref(2, 0) = transform.getBasis()[2][0];
link.body_T_parent_ref(2, 1) = transform.getBasis()[2][1];
link.body_T_parent_ref(2, 2) = transform.getBasis()[2][2];
// random unit vector. value not used for fixed or floating joints.
link.body_axis_of_motion(0) = 0;
link.body_axis_of_motion(1) = 0;
link.body_axis_of_motion(2) = 1;
// random unit vector. value not used for fixed or floating joints.
link.body_axis_of_motion(0) = 0;
link.body_axis_of_motion(1) = 0;
link.body_axis_of_motion(2) = 1;
link.mass = btmb->getBaseMass();
// link frame in the center of mass
link.body_r_body_com(0) = 0;
link.body_r_body_com(1) = 0;
link.body_r_body_com(2) = 0;
// BulletDynamics uses body-fixed frame in the cog, aligned with principal axes
link.body_I_body(0, 0) = btmb->getBaseInertia()[0];
link.body_I_body(0, 1) = 0.0;
link.body_I_body(0, 2) = 0.0;
link.body_I_body(1, 0) = 0.0;
link.body_I_body(1, 1) = btmb->getBaseInertia()[1];
link.body_I_body(1, 2) = 0.0;
link.body_I_body(2, 0) = 0.0;
link.body_I_body(2, 1) = 0.0;
link.body_I_body(2, 2) = btmb->getBaseInertia()[2];
// shift reference point to link origin (in joint axis)
mat33 tilde_r_com = tildeOperator(link.body_r_body_com);
link.body_I_body = link.body_I_body - link.mass * tilde_r_com * tilde_r_com;
if (verbose) {
id_printf("base: mass= %f, bt_inertia= [%f %f %f]\n"
"Io= [%f %f %f;\n"
" %f %f %f;\n"
" %f %f %f]\n",
link.mass, btmb->getBaseInertia()[0], btmb->getBaseInertia()[1],
btmb->getBaseInertia()[2], link.body_I_body(0, 0), link.body_I_body(0, 1),
link.body_I_body(0, 2), link.body_I_body(1, 0), link.body_I_body(1, 1),
link.body_I_body(1, 2), link.body_I_body(2, 0), link.body_I_body(2, 1),
link.body_I_body(2, 2));
}
}
link.mass = btmb->getBaseMass();
// link frame in the center of mass
link.body_r_body_com(0) = 0;
link.body_r_body_com(1) = 0;
link.body_r_body_com(2) = 0;
// BulletDynamics uses body-fixed frame in the cog, aligned with principal axes
link.body_I_body(0, 0) = btmb->getBaseInertia()[0];
link.body_I_body(0, 1) = 0.0;
link.body_I_body(0, 2) = 0.0;
link.body_I_body(1, 0) = 0.0;
link.body_I_body(1, 1) = btmb->getBaseInertia()[1];
link.body_I_body(1, 2) = 0.0;
link.body_I_body(2, 0) = 0.0;
link.body_I_body(2, 1) = 0.0;
link.body_I_body(2, 2) = btmb->getBaseInertia()[2];
// shift reference point to link origin (in joint axis)
mat33 tilde_r_com = tildeOperator(link.body_r_body_com);
link.body_I_body = link.body_I_body - link.mass * tilde_r_com * tilde_r_com;
if (verbose)
{
id_printf(
"base: mass= %f, bt_inertia= [%f %f %f]\n"
"Io= [%f %f %f;\n"
" %f %f %f;\n"
" %f %f %f]\n",
link.mass, btmb->getBaseInertia()[0], btmb->getBaseInertia()[1],
btmb->getBaseInertia()[2], link.body_I_body(0, 0), link.body_I_body(0, 1),
link.body_I_body(0, 2), link.body_I_body(1, 0), link.body_I_body(1, 1),
link.body_I_body(1, 2), link.body_I_body(2, 0), link.body_I_body(2, 1),
link.body_I_body(2, 2));
}
}
for (int bt_index = 0; bt_index < btmb->getNumLinks(); bt_index++) {
if (verbose) {
id_printf("bt->id: converting link %d\n", bt_index);
}
const btMultibodyLink &bt_link = btmb->getLink(bt_index);
LinkData &link = m_data[bt_index + 1];
for (int bt_index = 0; bt_index < btmb->getNumLinks(); bt_index++)
{
if (verbose)
{
id_printf("bt->id: converting link %d\n", bt_index);
}
const btMultibodyLink &bt_link = btmb->getLink(bt_index);
LinkData &link = m_data[bt_index + 1];
link.parent_index = bt_link.m_parent + 1;
link.parent_index = bt_link.m_parent + 1;
link.mass = bt_link.m_mass;
if (verbose) {
id_printf("mass= %f\n", link.mass);
}
// from this body's pivot to this body's com in this body's frame
link.body_r_body_com[0] = bt_link.m_dVector[0];
link.body_r_body_com[1] = bt_link.m_dVector[1];
link.body_r_body_com[2] = bt_link.m_dVector[2];
if (verbose) {
id_printf("com= %f %f %f\n", link.body_r_body_com[0], link.body_r_body_com[1],
link.body_r_body_com[2]);
}
// BulletDynamics uses a body-fixed frame in the CoM, aligned with principal axes
link.body_I_body(0, 0) = bt_link.m_inertiaLocal[0];
link.body_I_body(0, 1) = 0.0;
link.body_I_body(0, 2) = 0.0;
link.body_I_body(1, 0) = 0.0;
link.body_I_body(1, 1) = bt_link.m_inertiaLocal[1];
link.body_I_body(1, 2) = 0.0;
link.body_I_body(2, 0) = 0.0;
link.body_I_body(2, 1) = 0.0;
link.body_I_body(2, 2) = bt_link.m_inertiaLocal[2];
// shift reference point to link origin (in joint axis)
mat33 tilde_r_com = tildeOperator(link.body_r_body_com);
link.body_I_body = link.body_I_body - link.mass * tilde_r_com * tilde_r_com;
link.mass = bt_link.m_mass;
if (verbose)
{
id_printf("mass= %f\n", link.mass);
}
// from this body's pivot to this body's com in this body's frame
link.body_r_body_com[0] = bt_link.m_dVector[0];
link.body_r_body_com[1] = bt_link.m_dVector[1];
link.body_r_body_com[2] = bt_link.m_dVector[2];
if (verbose)
{
id_printf("com= %f %f %f\n", link.body_r_body_com[0], link.body_r_body_com[1],
link.body_r_body_com[2]);
}
// BulletDynamics uses a body-fixed frame in the CoM, aligned with principal axes
link.body_I_body(0, 0) = bt_link.m_inertiaLocal[0];
link.body_I_body(0, 1) = 0.0;
link.body_I_body(0, 2) = 0.0;
link.body_I_body(1, 0) = 0.0;
link.body_I_body(1, 1) = bt_link.m_inertiaLocal[1];
link.body_I_body(1, 2) = 0.0;
link.body_I_body(2, 0) = 0.0;
link.body_I_body(2, 1) = 0.0;
link.body_I_body(2, 2) = bt_link.m_inertiaLocal[2];
// shift reference point to link origin (in joint axis)
mat33 tilde_r_com = tildeOperator(link.body_r_body_com);
link.body_I_body = link.body_I_body - link.mass * tilde_r_com * tilde_r_com;
if (verbose) {
id_printf("link %d: mass= %f, bt_inertia= [%f %f %f]\n"
"Io= [%f %f %f;\n"
" %f %f %f;\n"
" %f %f %f]\n",
bt_index, link.mass, bt_link.m_inertiaLocal[0], bt_link.m_inertiaLocal[1],
bt_link.m_inertiaLocal[2], link.body_I_body(0, 0), link.body_I_body(0, 1),
link.body_I_body(0, 2), link.body_I_body(1, 0), link.body_I_body(1, 1),
link.body_I_body(1, 2), link.body_I_body(2, 0), link.body_I_body(2, 1),
link.body_I_body(2, 2));
}
// transform for vectors written in parent frame to this link's body-fixed frame
btMatrix3x3 basis = btTransform(bt_link.m_zeroRotParentToThis).getBasis();
link.body_T_parent_ref(0, 0) = basis[0][0];
link.body_T_parent_ref(0, 1) = basis[0][1];
link.body_T_parent_ref(0, 2) = basis[0][2];
link.body_T_parent_ref(1, 0) = basis[1][0];
link.body_T_parent_ref(1, 1) = basis[1][1];
link.body_T_parent_ref(1, 2) = basis[1][2];
link.body_T_parent_ref(2, 0) = basis[2][0];
link.body_T_parent_ref(2, 1) = basis[2][1];
link.body_T_parent_ref(2, 2) = basis[2][2];
if (verbose) {
id_printf("body_T_parent_ref= %f %f %f\n"
" %f %f %f\n"
" %f %f %f\n",
basis[0][0], basis[0][1], basis[0][2], basis[1][0], basis[1][1], basis[1][2],
basis[2][0], basis[2][1], basis[2][2]);
}
switch (bt_link.m_jointType) {
case btMultibodyLink::eRevolute:
link.joint_type = REVOLUTE;
if (verbose) {
id_printf("type= revolute\n");
}
link.body_axis_of_motion(0) = bt_link.m_axes[0].m_topVec[0];
link.body_axis_of_motion(1) = bt_link.m_axes[0].m_topVec[1];
link.body_axis_of_motion(2) = bt_link.m_axes[0].m_topVec[2];
if (verbose)
{
id_printf(
"link %d: mass= %f, bt_inertia= [%f %f %f]\n"
"Io= [%f %f %f;\n"
" %f %f %f;\n"
" %f %f %f]\n",
bt_index, link.mass, bt_link.m_inertiaLocal[0], bt_link.m_inertiaLocal[1],
bt_link.m_inertiaLocal[2], link.body_I_body(0, 0), link.body_I_body(0, 1),
link.body_I_body(0, 2), link.body_I_body(1, 0), link.body_I_body(1, 1),
link.body_I_body(1, 2), link.body_I_body(2, 0), link.body_I_body(2, 1),
link.body_I_body(2, 2));
}
// transform for vectors written in parent frame to this link's body-fixed frame
btMatrix3x3 basis = btTransform(bt_link.m_zeroRotParentToThis).getBasis();
link.body_T_parent_ref(0, 0) = basis[0][0];
link.body_T_parent_ref(0, 1) = basis[0][1];
link.body_T_parent_ref(0, 2) = basis[0][2];
link.body_T_parent_ref(1, 0) = basis[1][0];
link.body_T_parent_ref(1, 1) = basis[1][1];
link.body_T_parent_ref(1, 2) = basis[1][2];
link.body_T_parent_ref(2, 0) = basis[2][0];
link.body_T_parent_ref(2, 1) = basis[2][1];
link.body_T_parent_ref(2, 2) = basis[2][2];
if (verbose)
{
id_printf(
"body_T_parent_ref= %f %f %f\n"
" %f %f %f\n"
" %f %f %f\n",
basis[0][0], basis[0][1], basis[0][2], basis[1][0], basis[1][1], basis[1][2],
basis[2][0], basis[2][1], basis[2][2]);
}
switch (bt_link.m_jointType)
{
case btMultibodyLink::eRevolute:
link.joint_type = REVOLUTE;
if (verbose)
{
id_printf("type= revolute\n");
}
link.body_axis_of_motion(0) = bt_link.m_axes[0].m_topVec[0];
link.body_axis_of_motion(1) = bt_link.m_axes[0].m_topVec[1];
link.body_axis_of_motion(2) = bt_link.m_axes[0].m_topVec[2];
// for revolute joints, m_eVector = parentComToThisPivotOffset
// m_dVector = thisPivotToThisComOffset
// from parent com to pivot, in parent frame
link.parent_r_parent_body_ref(0) = bt_link.m_eVector[0];
link.parent_r_parent_body_ref(1) = bt_link.m_eVector[1];
link.parent_r_parent_body_ref(2) = bt_link.m_eVector[2];
break;
case btMultibodyLink::ePrismatic:
link.joint_type = PRISMATIC;
if (verbose) {
id_printf("type= prismatic\n");
}
link.body_axis_of_motion(0) = bt_link.m_axes[0].m_bottomVec[0];
link.body_axis_of_motion(1) = bt_link.m_axes[0].m_bottomVec[1];
link.body_axis_of_motion(2) = bt_link.m_axes[0].m_bottomVec[2];
// for revolute joints, m_eVector = parentComToThisPivotOffset
// m_dVector = thisPivotToThisComOffset
// from parent com to pivot, in parent frame
link.parent_r_parent_body_ref(0) = bt_link.m_eVector[0];
link.parent_r_parent_body_ref(1) = bt_link.m_eVector[1];
link.parent_r_parent_body_ref(2) = bt_link.m_eVector[2];
break;
case btMultibodyLink::ePrismatic:
link.joint_type = PRISMATIC;
if (verbose)
{
id_printf("type= prismatic\n");
}
link.body_axis_of_motion(0) = bt_link.m_axes[0].m_bottomVec[0];
link.body_axis_of_motion(1) = bt_link.m_axes[0].m_bottomVec[1];
link.body_axis_of_motion(2) = bt_link.m_axes[0].m_bottomVec[2];
// for prismatic joints, eVector
// according to documentation :
// parentComToThisComOffset
// but seems to be: from parent's com to parent's
// pivot ??
// m_dVector = thisPivotToThisComOffset
link.parent_r_parent_body_ref(0) = bt_link.m_eVector[0];
link.parent_r_parent_body_ref(1) = bt_link.m_eVector[1];
link.parent_r_parent_body_ref(2) = bt_link.m_eVector[2];
break;
case btMultibodyLink::eSpherical:
error_message("spherical joints not implemented\n");
return -1;
case btMultibodyLink::ePlanar:
error_message("planar joints not implemented\n");
return -1;
case btMultibodyLink::eFixed:
link.joint_type = FIXED;
// random unit vector
link.body_axis_of_motion(0) = 0;
link.body_axis_of_motion(1) = 0;
link.body_axis_of_motion(2) = 1;
// for prismatic joints, eVector
// according to documentation :
// parentComToThisComOffset
// but seems to be: from parent's com to parent's
// pivot ??
// m_dVector = thisPivotToThisComOffset
link.parent_r_parent_body_ref(0) = bt_link.m_eVector[0];
link.parent_r_parent_body_ref(1) = bt_link.m_eVector[1];
link.parent_r_parent_body_ref(2) = bt_link.m_eVector[2];
break;
case btMultibodyLink::eSpherical:
link.joint_type = SPHERICAL;
link.parent_r_parent_body_ref(0) = bt_link.m_eVector[0];
link.parent_r_parent_body_ref(1) = bt_link.m_eVector[1];
link.parent_r_parent_body_ref(2) = bt_link.m_eVector[2];
// random unit vector
link.body_axis_of_motion(0) = 0;
link.body_axis_of_motion(1) = 1;
link.body_axis_of_motion(2) = 0;
break;
case btMultibodyLink::ePlanar:
bt_id_error_message("planar joints not implemented\n");
return -1;
case btMultibodyLink::eFixed:
link.joint_type = FIXED;
// random unit vector
link.body_axis_of_motion(0) = 0;
link.body_axis_of_motion(1) = 0;
link.body_axis_of_motion(2) = 1;
// for fixed joints, m_dVector = thisPivotToThisComOffset;
// m_eVector = parentComToThisPivotOffset;
link.parent_r_parent_body_ref(0) = bt_link.m_eVector[0];
link.parent_r_parent_body_ref(1) = bt_link.m_eVector[1];
link.parent_r_parent_body_ref(2) = bt_link.m_eVector[2];
break;
default:
error_message("unknown btMultiBody::eFeatherstoneJointType %d\n",
bt_link.m_jointType);
return -1;
}
if (link.parent_index > 0) { // parent body isn't the root
const btMultibodyLink &bt_parent_link = btmb->getLink(link.parent_index - 1);
// from parent pivot to parent com, in parent frame
link.parent_r_parent_body_ref(0) += bt_parent_link.m_dVector[0];
link.parent_r_parent_body_ref(1) += bt_parent_link.m_dVector[1];
link.parent_r_parent_body_ref(2) += bt_parent_link.m_dVector[2];
} else {
// parent is root body. btMultiBody only knows 6-DoF or 0-DoF root bodies,
// whose link frame is in the CoM (ie, no notion of a pivot point)
}
// for fixed joints, m_dVector = thisPivotToThisComOffset;
// m_eVector = parentComToThisPivotOffset;
link.parent_r_parent_body_ref(0) = bt_link.m_eVector[0];
link.parent_r_parent_body_ref(1) = bt_link.m_eVector[1];
link.parent_r_parent_body_ref(2) = bt_link.m_eVector[2];
break;
default:
bt_id_error_message("unknown btMultiBody::eFeatherstoneJointType %d\n",
bt_link.m_jointType);
return -1;
}
if (link.parent_index > 0)
{ // parent body isn't the root
const btMultibodyLink &bt_parent_link = btmb->getLink(link.parent_index - 1);
// from parent pivot to parent com, in parent frame
link.parent_r_parent_body_ref(0) += bt_parent_link.m_dVector[0];
link.parent_r_parent_body_ref(1) += bt_parent_link.m_dVector[1];
link.parent_r_parent_body_ref(2) += bt_parent_link.m_dVector[2];
}
else
{
// parent is root body. btMultiBody only knows 6-DoF or 0-DoF root bodies,
// whose link frame is in the CoM (ie, no notion of a pivot point)
}
if (verbose) {
id_printf("parent_r_parent_body_ref= %f %f %f\n", link.parent_r_parent_body_ref[0],
link.parent_r_parent_body_ref[1], link.parent_r_parent_body_ref[2]);
}
}
if (verbose)
{
id_printf("parent_r_parent_body_ref= %f %f %f\n", link.parent_r_parent_body_ref[0],
link.parent_r_parent_body_ref[1], link.parent_r_parent_body_ref[2]);
}
}
m_initialized = true;
m_initialized = true;
return 0;
return 0;
}
int btMultiBodyTreeCreator::getNumBodies(int *num_bodies) const {
if (false == m_initialized) {
error_message("btMultiBody not converted yet\n");
return -1;
}
int btMultiBodyTreeCreator::getNumBodies(int *num_bodies) const
{
if (false == m_initialized)
{
bt_id_error_message("btMultiBody not converted yet\n");
return -1;
}
*num_bodies = static_cast<int>(m_data.size());
return 0;
*num_bodies = static_cast<int>(m_data.size());
return 0;
}
int btMultiBodyTreeCreator::getBody(const int body_index, int *parent_index, JointType *joint_type,
vec3 *parent_r_parent_body_ref, mat33 *body_T_parent_ref,
vec3 *body_axis_of_motion, idScalar *mass,
vec3 *body_r_body_com, mat33 *body_I_body, int *user_int,
void **user_ptr) const {
if (false == m_initialized) {
error_message("MultiBodyTree not created yet\n");
return -1;
}
vec3 *parent_r_parent_body_ref, mat33 *body_T_parent_ref,
vec3 *body_axis_of_motion, idScalar *mass,
vec3 *body_r_body_com, mat33 *body_I_body, int *user_int,
void **user_ptr) const
{
if (false == m_initialized)
{
bt_id_error_message("MultiBodyTree not created yet\n");
return -1;
}
if (body_index < 0 || body_index >= static_cast<int>(m_data.size())) {
error_message("index out of range (got %d but only %zu bodies)\n", body_index,
m_data.size());
return -1;
}
if (body_index < 0 || body_index >= static_cast<int>(m_data.size()))
{
bt_id_error_message("index out of range (got %d but only %zu bodies)\n", body_index,
m_data.size());
return -1;
}
*parent_index = m_data[body_index].parent_index;
*joint_type = m_data[body_index].joint_type;
*parent_r_parent_body_ref = m_data[body_index].parent_r_parent_body_ref;
*body_T_parent_ref = m_data[body_index].body_T_parent_ref;
*body_axis_of_motion = m_data[body_index].body_axis_of_motion;
*mass = m_data[body_index].mass;
*body_r_body_com = m_data[body_index].body_r_body_com;
*body_I_body = m_data[body_index].body_I_body;
*parent_index = m_data[body_index].parent_index;
*joint_type = m_data[body_index].joint_type;
*parent_r_parent_body_ref = m_data[body_index].parent_r_parent_body_ref;
*body_T_parent_ref = m_data[body_index].body_T_parent_ref;
*body_axis_of_motion = m_data[body_index].body_axis_of_motion;
*mass = m_data[body_index].mass;
*body_r_body_com = m_data[body_index].body_r_body_com;
*body_I_body = m_data[body_index].body_I_body;
*user_int = -1;
*user_ptr = 0x0;
*user_int = -1;
*user_ptr = 0x0;
return 0;
}
return 0;
}
} // namespace btInverseDynamics

66
Engine/lib/bullet/Extras/InverseDynamics/btMultiBodyTreeCreator.hpp
View file

@ -7,44 +7,46 @@
#include "MultiBodyTreeCreator.hpp"
#include "BulletDynamics/Featherstone/btMultiBody.h"
namespace btInverseDynamics {
namespace btInverseDynamics
{
/// MultiBodyTreeCreator implementation for converting
/// a btMultiBody forward dynamics model into a MultiBodyTree inverse dynamics model
class btMultiBodyTreeCreator : public MultiBodyTreeCreator {
class btMultiBodyTreeCreator : public MultiBodyTreeCreator
{
public:
/// ctor
btMultiBodyTreeCreator();
/// dtor
~btMultiBodyTreeCreator() {}
/// extract model data from a btMultiBody
/// @param btmb pointer to btMultiBody to convert
/// @param verbose if true, some information is printed
/// @return -1 on error, 0 on success
int createFromBtMultiBody(const btMultiBody *btmb, const bool verbose = false);
/// \copydoc MultiBodyTreeCreator::getNumBodies
int getNumBodies(int *num_bodies) const;
///\copydoc MultiBodyTreeCreator::getBody
/// ctor
btMultiBodyTreeCreator();
/// dtor
~btMultiBodyTreeCreator() {}
/// extract model data from a btMultiBody
/// @param btmb pointer to btMultiBody to convert
/// @param verbose if true, some information is printed
/// @return -1 on error, 0 on success
int createFromBtMultiBody(const btMultiBody *btmb, const bool verbose = false);
/// \copydoc MultiBodyTreeCreator::getNumBodies
int getNumBodies(int *num_bodies) const;
///\copydoc MultiBodyTreeCreator::getBody
int getBody(const int body_index, int *parent_index, JointType *joint_type,
vec3 *parent_r_parent_body_ref, mat33 *body_T_parent_ref,
vec3 *body_axis_of_motion, idScalar *mass, vec3 *body_r_body_com,
mat33 *body_I_body, int *user_int, void **user_ptr) const;
vec3 *parent_r_parent_body_ref, mat33 *body_T_parent_ref,
vec3 *body_axis_of_motion, idScalar *mass, vec3 *body_r_body_com,
mat33 *body_I_body, int *user_int, void **user_ptr) const;
private:
// internal struct holding data extracted from btMultiBody
struct LinkData {
int parent_index;
JointType joint_type;
vec3 parent_r_parent_body_ref;
mat33 body_T_parent_ref;
vec3 body_axis_of_motion;
idScalar mass;
vec3 body_r_body_com;
mat33 body_I_body;
};
idArray<LinkData>::type m_data;
bool m_initialized;
// internal struct holding data extracted from btMultiBody
struct LinkData
{
int parent_index;
JointType joint_type;
vec3 parent_r_parent_body_ref;
mat33 body_T_parent_ref;
vec3 body_axis_of_motion;
idScalar mass;
vec3 body_r_body_com;
mat33 body_I_body;
};
idArray<LinkData>::type m_data;
bool m_initialized;
};
}
} // namespace btInverseDynamics
#endif // BTMULTIBODYTREECREATOR_HPP_

590
Engine/lib/bullet/Extras/InverseDynamics/invdyn_bullet_comparison.cpp
View file

@ -8,300 +8,354 @@
#include "BulletDynamics/Featherstone/btMultiBodyLinkCollider.h"
#include "BulletDynamics/Featherstone/btMultiBodyPoint2Point.h"
namespace btInverseDynamics {
namespace btInverseDynamics
{
int compareInverseAndForwardDynamics(vecx &q, vecx &u, vecx &dot_u, btVector3 &gravity, bool verbose,
btMultiBody *btmb, MultiBodyTree *id_tree, double *pos_error,
double *acc_error) {
// call function and return -1 if it does, printing an error_message
#define RETURN_ON_FAILURE(x) \
do { \
if (-1 == x) { \
error_message("calling " #x "\n"); \
return -1; \
} \
} while (0)
btMultiBody *btmb, MultiBodyTree *id_tree, double *pos_error,
double *acc_error)
{
// call function and return -1 if it does, printing an bt_id_error_message
#define RETURN_ON_FAILURE(x) \
do \
{ \
if (-1 == x) \
{ \
bt_id_error_message("calling " #x "\n"); \
return -1; \
} \
} while (0)
if (verbose) {
printf("\n ===================================== \n");
}
vecx joint_forces(q.size());
if (verbose)
{
printf("\n ===================================== \n");
}
vecx joint_forces(q.size());
// set positions and velocities for btMultiBody
// base link
mat33 world_T_base;
vec3 world_pos_base;
btTransform base_transform;
vec3 base_velocity;
vec3 base_angular_velocity;
// set positions and velocities for btMultiBody
// base link
mat33 world_T_base;
vec3 world_pos_base;
btTransform base_transform;
vec3 base_velocity;
vec3 base_angular_velocity;
RETURN_ON_FAILURE(id_tree->setGravityInWorldFrame(gravity));
RETURN_ON_FAILURE(id_tree->getBodyOrigin(0, &world_pos_base));
RETURN_ON_FAILURE(id_tree->getBodyTransform(0, &world_T_base));
RETURN_ON_FAILURE(id_tree->getBodyAngularVelocity(0, &base_angular_velocity));
RETURN_ON_FAILURE(id_tree->getBodyLinearVelocityCoM(0, &base_velocity));
RETURN_ON_FAILURE(id_tree->setGravityInWorldFrame(gravity));
RETURN_ON_FAILURE(id_tree->getBodyOrigin(0, &world_pos_base));
RETURN_ON_FAILURE(id_tree->getBodyTransform(0, &world_T_base));
RETURN_ON_FAILURE(id_tree->getBodyAngularVelocity(0, &base_angular_velocity));
RETURN_ON_FAILURE(id_tree->getBodyLinearVelocityCoM(0, &base_velocity));
base_transform.setBasis(world_T_base);
base_transform.setOrigin(world_pos_base);
btmb->setBaseWorldTransform(base_transform);
btmb->setBaseOmega(base_angular_velocity);
btmb->setBaseVel(base_velocity);
btmb->setLinearDamping(0);
btmb->setAngularDamping(0);
base_transform.setBasis(world_T_base);
base_transform.setOrigin(world_pos_base);
btmb->setBaseWorldTransform(base_transform);
btmb->setBaseOmega(base_angular_velocity);
btmb->setBaseVel(base_velocity);
btmb->setLinearDamping(0);
btmb->setAngularDamping(0);
// remaining links
int q_index;
if (btmb->hasFixedBase()) {
q_index = 0;
} else {
q_index = 6;
}
if (verbose) {
printf("bt:num_links= %d, num_dofs= %d\n", btmb->getNumLinks(), btmb->getNumDofs());
}
for (int l = 0; l < btmb->getNumLinks(); l++) {
const btMultibodyLink &link = btmb->getLink(l);
if (verbose) {
printf("link %d, pos_var_count= %d, dof_count= %d\n", l, link.m_posVarCount,
link.m_dofCount);
}
if (link.m_posVarCount == 1) {
btmb->setJointPosMultiDof(l, &q(q_index));
btmb->setJointVelMultiDof(l, &u(q_index));
if (verbose) {
printf("set q[%d]= %f, u[%d]= %f\n", q_index, q(q_index), q_index, u(q_index));
}
q_index++;
}
}
// sanity check
if (q_index != q.size()) {
error_message("error in number of dofs for btMultibody and MultiBodyTree\n");
return -1;
}
// remaining links
int q_index;
if (btmb->hasFixedBase())
{
q_index = 0;
}
else
{
q_index = 6;
}
if (verbose)
{
printf("bt:num_links= %d, num_dofs= %d\n", btmb->getNumLinks(), btmb->getNumDofs());
}
for (int l = 0; l < btmb->getNumLinks(); l++)
{
const btMultibodyLink &link = btmb->getLink(l);
if (verbose)
{
printf("link %d, pos_var_count= %d, dof_count= %d\n", l, link.m_posVarCount,
link.m_dofCount);
}
if (link.m_posVarCount == 1)
{
btmb->setJointPosMultiDof(l, &q(q_index));
btmb->setJointVelMultiDof(l, &u(q_index));
if (verbose)
{
printf("set q[%d]= %f, u[%d]= %f\n", q_index, q(q_index), q_index, u(q_index));
}
q_index++;
}
}
// sanity check
if (q_index != q.size())
{
bt_id_error_message("error in number of dofs for btMultibody and MultiBodyTree\n");
return -1;
}
// run inverse dynamics to determine joint_forces for given q, u, dot_u
if (-1 == id_tree->calculateInverseDynamics(q, u, dot_u, &joint_forces)) {
error_message("calculating inverse dynamics\n");
return -1;
}
// run inverse dynamics to determine joint_forces for given q, u, dot_u
if (-1 == id_tree->calculateInverseDynamics(q, u, dot_u, &joint_forces))
{
bt_id_error_message("calculating inverse dynamics\n");
return -1;
}
// set up bullet forward dynamics model
btScalar dt = 0;
btAlignedObjectArray<btScalar> scratch_r;
btAlignedObjectArray<btVector3> scratch_v;
btAlignedObjectArray<btMatrix3x3> scratch_m;
// this triggers switch between using either appliedConstraintForce or appliedForce
bool isConstraintPass = false;
// apply gravity forces for btMultiBody model. Must be done manually.
btmb->addBaseForce(btmb->getBaseMass() * gravity);
// set up bullet forward dynamics model
btScalar dt = 0;
btAlignedObjectArray<btScalar> scratch_r;
btAlignedObjectArray<btVector3> scratch_v;
btAlignedObjectArray<btMatrix3x3> scratch_m;
// this triggers switch between using either appliedConstraintForce or appliedForce
bool isConstraintPass = false;
// apply gravity forces for btMultiBody model. Must be done manually.
btmb->addBaseForce(btmb->getBaseMass() * gravity);
for (int link = 0; link < btmb->getNumLinks(); link++) {
btmb->addLinkForce(link, gravity * btmb->getLinkMass(link));
if (verbose) {
printf("link %d, applying gravity %f %f %f\n", link,
gravity[0] * btmb->getLinkMass(link), gravity[1] * btmb->getLinkMass(link),
gravity[2] * btmb->getLinkMass(link));
}
}
for (int link = 0; link < btmb->getNumLinks(); link++)
{
btmb->addLinkForce(link, gravity * btmb->getLinkMass(link));
if (verbose)
{
printf("link %d, applying gravity %f %f %f\n", link,
gravity[0] * btmb->getLinkMass(link), gravity[1] * btmb->getLinkMass(link),
gravity[2] * btmb->getLinkMass(link));
}
}
// apply generalized forces
if (btmb->hasFixedBase()) {
q_index = 0;
} else {
vec3 base_force;
base_force(0) = joint_forces(3);
base_force(1) = joint_forces(4);
base_force(2) = joint_forces(5);
// apply generalized forces
if (btmb->hasFixedBase())
{
q_index = 0;
}
else
{
vec3 base_force;
base_force(0) = joint_forces(3);
base_force(1) = joint_forces(4);
base_force(2) = joint_forces(5);
vec3 base_moment;
base_moment(0) = joint_forces(0);
base_moment(1) = joint_forces(1);
base_moment(2) = joint_forces(2);
vec3 base_moment;
base_moment(0) = joint_forces(0);
base_moment(1) = joint_forces(1);
base_moment(2) = joint_forces(2);
btmb->addBaseForce(world_T_base * base_force);
btmb->addBaseTorque(world_T_base * base_moment);
if (verbose) {
printf("base force from id: %f %f %f\n", joint_forces(3), joint_forces(4),
joint_forces(5));
printf("base moment from id: %f %f %f\n", joint_forces(0), joint_forces(1),
joint_forces(2));
}
q_index = 6;
}
btmb->addBaseForce(world_T_base * base_force);
btmb->addBaseTorque(world_T_base * base_moment);
if (verbose)
{
printf("base force from id: %f %f %f\n", joint_forces(3), joint_forces(4),
joint_forces(5));
printf("base moment from id: %f %f %f\n", joint_forces(0), joint_forces(1),
joint_forces(2));
}
q_index = 6;
}
for (int l = 0; l < btmb->getNumLinks(); l++) {
const btMultibodyLink &link = btmb->getLink(l);
if (link.m_posVarCount == 1) {
if (verbose) {
printf("id:joint_force[%d]= %f, applied to link %d\n", q_index,
joint_forces(q_index), l);
}
btmb->addJointTorque(l, joint_forces(q_index));
q_index++;
}
}
for (int l = 0; l < btmb->getNumLinks(); l++)
{
const btMultibodyLink &link = btmb->getLink(l);
if (link.m_posVarCount == 1)
{
if (verbose)
{
printf("id:joint_force[%d]= %f, applied to link %d\n", q_index,
joint_forces(q_index), l);
}
btmb->addJointTorque(l, joint_forces(q_index));
q_index++;
}
}
// sanity check
if (q_index != q.size()) {
error_message("error in number of dofs for btMultibody and MultiBodyTree\n");
return -1;
}
// sanity check
if (q_index != q.size())
{
bt_id_error_message("error in number of dofs for btMultibody and MultiBodyTree\n");
return -1;
}
// run forward kinematics & forward dynamics
btAlignedObjectArray<btQuaternion> world_to_local;
btAlignedObjectArray<btVector3> local_origin;
btmb->forwardKinematics(world_to_local, local_origin);
btmb->computeAccelerationsArticulatedBodyAlgorithmMultiDof(dt, scratch_r, scratch_v, scratch_m, isConstraintPass);
// run forward kinematics & forward dynamics
btAlignedObjectArray<btQuaternion> world_to_local;
btAlignedObjectArray<btVector3> local_origin;
btmb->forwardKinematics(world_to_local, local_origin);
btmb->computeAccelerationsArticulatedBodyAlgorithmMultiDof(dt, scratch_r, scratch_v, scratch_m, isConstraintPass, false, false);
// read generalized accelerations back from btMultiBody
// the mapping from scratch variables to accelerations is taken from the implementation
// of stepVelocitiesMultiDof
btScalar *base_accel = &scratch_r[btmb->getNumDofs()];
btScalar *joint_accel = base_accel + 6;
*acc_error = 0;
int dot_u_offset = 0;
if (btmb->hasFixedBase()) {
dot_u_offset = 0;
} else {
dot_u_offset = 6;
}
// read generalized accelerations back from btMultiBody
// the mapping from scratch variables to accelerations is taken from the implementation
// of stepVelocitiesMultiDof
btScalar *base_accel = &scratch_r[btmb->getNumDofs()];
btScalar *joint_accel = base_accel + 6;
*acc_error = 0;
int dot_u_offset = 0;
if (btmb->hasFixedBase())
{
dot_u_offset = 0;
}
else
{
dot_u_offset = 6;
}
if (true == btmb->hasFixedBase()) {
for (int i = 0; i < btmb->getNumDofs(); i++) {
if (verbose) {
printf("bt:ddot_q[%d]= %f, id:ddot_q= %e, diff= %e\n", i, joint_accel[i],
dot_u(i + dot_u_offset), joint_accel[i] - dot_u(i));
}
*acc_error += std::pow(joint_accel[i] - dot_u(i + dot_u_offset), 2);
}
} else {
vec3 base_dot_omega;
vec3 world_dot_omega;
world_dot_omega(0) = base_accel[0];
world_dot_omega(1) = base_accel[1];
world_dot_omega(2) = base_accel[2];
base_dot_omega = world_T_base.transpose() * world_dot_omega;
if (true == btmb->hasFixedBase())
{
for (int i = 0; i < btmb->getNumDofs(); i++)
{
if (verbose)
{
printf("bt:ddot_q[%d]= %f, id:ddot_q= %e, diff= %e\n", i, joint_accel[i],
dot_u(i + dot_u_offset), joint_accel[i] - dot_u(i));
}
*acc_error += BT_ID_POW(joint_accel[i] - dot_u(i + dot_u_offset), 2);
}
}
else
{
vec3 base_dot_omega;
vec3 world_dot_omega;
world_dot_omega(0) = base_accel[0];
world_dot_omega(1) = base_accel[1];
world_dot_omega(2) = base_accel[2];
base_dot_omega = world_T_base.transpose() * world_dot_omega;
// com happens to coincide with link origin here. If that changes, we need to calculate
// ddot_com
vec3 base_ddot_com;
vec3 world_ddot_com;
world_ddot_com(0) = base_accel[3];
world_ddot_com(1) = base_accel[4];
world_ddot_com(2) = base_accel[5];
base_ddot_com = world_T_base.transpose()*world_ddot_com;
// com happens to coincide with link origin here. If that changes, we need to calculate
// ddot_com
vec3 base_ddot_com;
vec3 world_ddot_com;
world_ddot_com(0) = base_accel[3];
world_ddot_com(1) = base_accel[4];
world_ddot_com(2) = base_accel[5];
base_ddot_com = world_T_base.transpose() * world_ddot_com;
for (int i = 0; i < 3; i++) {
if (verbose) {
printf("bt::base_dot_omega(%d)= %e dot_u[%d]= %e, diff= %e\n", i, base_dot_omega(i),
i, dot_u[i], base_dot_omega(i) - dot_u[i]);
}
*acc_error += std::pow(base_dot_omega(i) - dot_u(i), 2);
}
for (int i = 0; i < 3; i++) {
if (verbose) {
printf("bt::base_ddot_com(%d)= %e dot_u[%d]= %e, diff= %e\n", i, base_ddot_com(i),
i, dot_u[i + 3], base_ddot_com(i) - dot_u[i + 3]);
}
*acc_error += std::pow(base_ddot_com(i) - dot_u(i + 3), 2);
}
for (int i = 0; i < 3; i++)
{
if (verbose)
{
printf("bt::base_dot_omega(%d)= %e dot_u[%d]= %e, diff= %e\n", i, base_dot_omega(i),
i, dot_u[i], base_dot_omega(i) - dot_u[i]);
}
*acc_error += BT_ID_POW(base_dot_omega(i) - dot_u(i), 2);
}
for (int i = 0; i < 3; i++)
{
if (verbose)
{
printf("bt::base_ddot_com(%d)= %e dot_u[%d]= %e, diff= %e\n", i, base_ddot_com(i),
i, dot_u[i + 3], base_ddot_com(i) - dot_u[i + 3]);
}
*acc_error += BT_ID_POW(base_ddot_com(i) - dot_u(i + 3), 2);
}
for (int i = 0; i < btmb->getNumDofs(); i++) {
if (verbose) {
printf("bt:ddot_q[%d]= %f, id:ddot_q= %e, diff= %e\n", i, joint_accel[i],
dot_u(i + 6), joint_accel[i] - dot_u(i + 6));
}
*acc_error += std::pow(joint_accel[i] - dot_u(i + 6), 2);
}
}
*acc_error = std::sqrt(*acc_error);
if (verbose) {
printf("======dynamics-err: %e\n", *acc_error);
}
*pos_error = 0.0;
for (int i = 0; i < btmb->getNumDofs(); i++)
{
if (verbose)
{
printf("bt:ddot_q[%d]= %f, id:ddot_q= %e, diff= %e\n", i, joint_accel[i],
dot_u(i + 6), joint_accel[i] - dot_u(i + 6));
}
*acc_error += BT_ID_POW(joint_accel[i] - dot_u(i + 6), 2);
}
}
*acc_error = std::sqrt(*acc_error);
if (verbose)
{
printf("======dynamics-err: %e\n", *acc_error);
}
*pos_error = 0.0;
{
mat33 world_T_body;
if (-1 == id_tree->getBodyTransform(0, &world_T_body)) {
error_message("getting transform for body %d\n", 0);
return -1;
}
vec3 world_com;
if (-1 == id_tree->getBodyCoM(0, &world_com)) {
error_message("getting com for body %d\n", 0);
return -1;
}
if (verbose) {
printf("id:com: %f %f %f\n", world_com(0), world_com(1), world_com(2));
{
mat33 world_T_body;
if (-1 == id_tree->getBodyTransform(0, &world_T_body))
{
bt_id_error_message("getting transform for body %d\n", 0);
return -1;
}
vec3 world_com;
if (-1 == id_tree->getBodyCoM(0, &world_com))
{
bt_id_error_message("getting com for body %d\n", 0);
return -1;
}
if (verbose)
{
printf("id:com: %f %f %f\n", world_com(0), world_com(1), world_com(2));
printf("id:transform: %f %f %f\n"
" %f %f %f\n"
" %f %f %f\n",
world_T_body(0, 0), world_T_body(0, 1), world_T_body(0, 2), world_T_body(1, 0),
world_T_body(1, 1), world_T_body(1, 2), world_T_body(2, 0), world_T_body(2, 1),
world_T_body(2, 2));
}
}
printf(
"id:transform: %f %f %f\n"
" %f %f %f\n"
" %f %f %f\n",
world_T_body(0, 0), world_T_body(0, 1), world_T_body(0, 2), world_T_body(1, 0),
world_T_body(1, 1), world_T_body(1, 2), world_T_body(2, 0), world_T_body(2, 1),
world_T_body(2, 2));
}
}
for (int l = 0; l < btmb->getNumLinks(); l++) {
const btMultibodyLink &bt_link = btmb->getLink(l);
for (int l = 0; l < btmb->getNumLinks(); l++)
{
const btMultibodyLink &bt_link = btmb->getLink(l);
vec3 bt_origin = bt_link.m_cachedWorldTransform.getOrigin();
mat33 bt_basis = bt_link.m_cachedWorldTransform.getBasis();
if (verbose) {
printf("------------- link %d\n", l + 1);
printf("bt:com: %f %f %f\n", bt_origin(0), bt_origin(1), bt_origin(2));
printf("bt:transform: %f %f %f\n"
" %f %f %f\n"
" %f %f %f\n",
bt_basis(0, 0), bt_basis(0, 1), bt_basis(0, 2), bt_basis(1, 0), bt_basis(1, 1),
bt_basis(1, 2), bt_basis(2, 0), bt_basis(2, 1), bt_basis(2, 2));
}
mat33 id_world_T_body;
vec3 id_world_com;
vec3 bt_origin = bt_link.m_cachedWorldTransform.getOrigin();
mat33 bt_basis = bt_link.m_cachedWorldTransform.getBasis();
if (verbose)
{
printf("------------- link %d\n", l + 1);
printf("bt:com: %f %f %f\n", bt_origin(0), bt_origin(1), bt_origin(2));
printf(
"bt:transform: %f %f %f\n"
" %f %f %f\n"
" %f %f %f\n",
bt_basis(0, 0), bt_basis(0, 1), bt_basis(0, 2), bt_basis(1, 0), bt_basis(1, 1),
bt_basis(1, 2), bt_basis(2, 0), bt_basis(2, 1), bt_basis(2, 2));
}
mat33 id_world_T_body;
vec3 id_world_com;
if (-1 == id_tree->getBodyTransform(l + 1, &id_world_T_body)) {
error_message("getting transform for body %d\n", l);
return -1;
}
if (-1 == id_tree->getBodyCoM(l + 1, &id_world_com)) {
error_message("getting com for body %d\n", l);
return -1;
}
if (verbose) {
printf("id:com: %f %f %f\n", id_world_com(0), id_world_com(1), id_world_com(2));
if (-1 == id_tree->getBodyTransform(l + 1, &id_world_T_body))
{
bt_id_error_message("getting transform for body %d\n", l);
return -1;
}
if (-1 == id_tree->getBodyCoM(l + 1, &id_world_com))
{
bt_id_error_message("getting com for body %d\n", l);
return -1;
}
if (verbose)
{
printf("id:com: %f %f %f\n", id_world_com(0), id_world_com(1), id_world_com(2));
printf("id:transform: %f %f %f\n"
" %f %f %f\n"
" %f %f %f\n",
id_world_T_body(0, 0), id_world_T_body(0, 1), id_world_T_body(0, 2),
id_world_T_body(1, 0), id_world_T_body(1, 1), id_world_T_body(1, 2),
id_world_T_body(2, 0), id_world_T_body(2, 1), id_world_T_body(2, 2));
}
vec3 diff_com = bt_origin - id_world_com;
mat33 diff_basis = bt_basis - id_world_T_body;
if (verbose) {
printf("diff-com: %e %e %e\n", diff_com(0), diff_com(1), diff_com(2));
printf(
"id:transform: %f %f %f\n"
" %f %f %f\n"
" %f %f %f\n",
id_world_T_body(0, 0), id_world_T_body(0, 1), id_world_T_body(0, 2),
id_world_T_body(1, 0), id_world_T_body(1, 1), id_world_T_body(1, 2),
id_world_T_body(2, 0), id_world_T_body(2, 1), id_world_T_body(2, 2));
}
vec3 diff_com = bt_origin - id_world_com;
mat33 diff_basis = bt_basis - id_world_T_body;
if (verbose)
{
printf("diff-com: %e %e %e\n", diff_com(0), diff_com(1), diff_com(2));
printf("diff-transform: %e %e %e %e %e %e %e %e %e\n", diff_basis(0, 0),
diff_basis(0, 1), diff_basis(0, 2), diff_basis(1, 0), diff_basis(1, 1),
diff_basis(1, 2), diff_basis(2, 0), diff_basis(2, 1), diff_basis(2, 2));
}
double total_pos_err =
std::sqrt(std::pow(diff_com(0), 2) + std::pow(diff_com(1), 2) +
std::pow(diff_com(2), 2) + std::pow(diff_basis(0, 0), 2) +
std::pow(diff_basis(0, 1), 2) + std::pow(diff_basis(0, 2), 2) +
std::pow(diff_basis(1, 0), 2) + std::pow(diff_basis(1, 1), 2) +
std::pow(diff_basis(1, 2), 2) + std::pow(diff_basis(2, 0), 2) +
std::pow(diff_basis(2, 1), 2) + std::pow(diff_basis(2, 2), 2));
if (verbose) {
printf("======kin-pos-err: %e\n", total_pos_err);
}
if (total_pos_err > *pos_error) {
*pos_error = total_pos_err;
}
}
printf("diff-transform: %e %e %e %e %e %e %e %e %e\n", diff_basis(0, 0),
diff_basis(0, 1), diff_basis(0, 2), diff_basis(1, 0), diff_basis(1, 1),
diff_basis(1, 2), diff_basis(2, 0), diff_basis(2, 1), diff_basis(2, 2));
}
double total_pos_err =
BT_ID_SQRT(BT_ID_POW(diff_com(0), 2) + BT_ID_POW(diff_com(1), 2) +
BT_ID_POW(diff_com(2), 2) + BT_ID_POW(diff_basis(0, 0), 2) +
BT_ID_POW(diff_basis(0, 1), 2) + BT_ID_POW(diff_basis(0, 2), 2) +
BT_ID_POW(diff_basis(1, 0), 2) + BT_ID_POW(diff_basis(1, 1), 2) +
BT_ID_POW(diff_basis(1, 2), 2) + BT_ID_POW(diff_basis(2, 0), 2) +
BT_ID_POW(diff_basis(2, 1), 2) + BT_ID_POW(diff_basis(2, 2), 2));
if (verbose)
{
printf("======kin-pos-err: %e\n", total_pos_err);
}
if (total_pos_err > *pos_error)
{
*pos_error = total_pos_err;
}
}
return 0;
}
return 0;
}
} // namespace btInverseDynamics

9
Engine/lib/bullet/Extras/InverseDynamics/invdyn_bullet_comparison.hpp
View file

@ -6,7 +6,8 @@
class btMultiBody;
class btVector3;
namespace btInverseDynamics {
namespace btInverseDynamics
{
class MultiBodyTree;
/// this function compares the forward dynamics computations implemented in btMultiBody to
@ -29,7 +30,7 @@ class MultiBodyTree;
/// computed in step 3 relative to dot_u
/// @return -1 on error, 0 on success
int compareInverseAndForwardDynamics(vecx &q, vecx &u, vecx &dot_u, btVector3 &gravity, bool verbose,
btMultiBody *btmb, MultiBodyTree *id_tree, double *pos_error,
double *acc_error);
}
btMultiBody *btmb, MultiBodyTree *id_tree, double *pos_error,
double *acc_error);
} // namespace btInverseDynamics
#endif // INVDYN_BULLET_COMPARISON_HPP

3
Engine/lib/bullet/Extras/InverseDynamics/premake4.lua
View file

@ -6,6 +6,9 @@
"../../src"
}
if os.is("Linux") then
buildoptions{"-fPIC"}
end
files {
"*.cpp",
"*.hpp"

104
Engine/lib/bullet/Extras/Serialize/BlenderSerialize/bBlenderFile.cpp
View file

@ -27,32 +27,27 @@ extern int DNAlen;
extern unsigned char DNAstr64[];
extern int DNAlen64;
using namespace bParse;
bBlenderFile::bBlenderFile(const char* fileName)
:bFile(fileName, "BLENDER")
bBlenderFile::bBlenderFile(const char *fileName)
: bFile(fileName, "BLENDER")
{
mMain= new bMain(this, fileName, mVersion);
mMain = new bMain(this, fileName, mVersion);
}
bBlenderFile::bBlenderFile(char *memoryBuffer, int len)
:bFile(memoryBuffer,len, "BLENDER"),
mMain(0)
: bFile(memoryBuffer, len, "BLENDER"),
mMain(0)
{
mMain= new bMain(this, "memoryBuf", mVersion);
mMain = new bMain(this, "memoryBuf", mVersion);
}
bBlenderFile::~bBlenderFile()
{
delete mMain;
}
bMain* bBlenderFile::getMain()
bMain *bBlenderFile::getMain()
{
return mMain;
}
@ -60,20 +55,17 @@ bMain* bBlenderFile::getMain()
// ----------------------------------------------------- //
void bBlenderFile::parseData()
{
// printf ("Building datablocks\n");
// printf ("Chunk size = %d\n",CHUNK_HEADER_LEN);
// printf ("File chunk size = %d\n", ChunkUtils::getOffset(mFlags));
// printf ("Building datablocks\n");
// printf ("Chunk size = %d\n",CHUNK_HEADER_LEN);
// printf ("File chunk size = %d\n", ChunkUtils::getOffset(mFlags));
const bool swap = (mFlags&FD_ENDIAN_SWAP)!=0;
const bool swap = (mFlags & FD_ENDIAN_SWAP) != 0;
char *dataPtr = mFileBuffer+mDataStart;
char *dataPtr = mFileBuffer + mDataStart;
bChunkInd dataChunk;
dataChunk.code = 0;
//dataPtr += ChunkUtils::getNextBlock(&dataChunk, dataPtr, mFlags);
int seek = getNextBlock(&dataChunk, dataPtr, mFlags);
//dataPtr += ChunkUtils::getOffset(mFlags);
@ -81,55 +73,46 @@ void bBlenderFile::parseData()
while (dataChunk.code != DNA1)
{
// one behind
if (dataChunk.code == SDNA) break;
//if (dataChunk.code == DNA1) break;
// same as (BHEAD+DATA dependency)
dataPtrHead = dataPtr+ChunkUtils::getOffset(mFlags);
dataPtrHead = dataPtr + ChunkUtils::getOffset(mFlags);
char *id = readStruct(dataPtrHead, dataChunk);
// lookup maps
if (id)
{
m_chunkPtrPtrMap.insert(dataChunk.oldPtr, dataChunk);
mLibPointers.insert(dataChunk.oldPtr, (bStructHandle*)id);
m_chunkPtrPtrMap.insert(dataChunk.oldPtr, dataChunk);
mLibPointers.insert(dataChunk.oldPtr, (bStructHandle *)id);
m_chunks.push_back(dataChunk);
// block it
bListBasePtr *listID = mMain->getListBasePtr(dataChunk.code);
if (listID)
listID->push_back((bStructHandle*)id);
listID->push_back((bStructHandle *)id);
}
if (dataChunk.code == GLOB)
{
m_glob = (bStructHandle*) id;
m_glob = (bStructHandle *)id;
}
// next please!
dataPtr += seek;
seek = getNextBlock(&dataChunk, dataPtr, mFlags);
seek = getNextBlock(&dataChunk, dataPtr, mFlags);
if (seek < 0)
break;
}
}
void bBlenderFile::addDataBlock(char* dataBlock)
void bBlenderFile::addDataBlock(char *dataBlock)
{
mMain->addDatablock(dataBlock);
}
// 32 && 64 bit versions
extern unsigned char DNAstr[];
extern int DNAlen;
@ -137,88 +120,87 @@ extern int DNAlen;
//unsigned char DNAstr[]={0};
//int DNAlen=0;
extern unsigned char DNAstr64[];
extern int DNAlen64;
void bBlenderFile::writeDNA(FILE* fp)
void bBlenderFile::writeDNA(FILE *fp)
{
bChunkInd dataChunk;
dataChunk.code = DNA1;
dataChunk.dna_nr = 0;
dataChunk.nr = 1;
if (VOID_IS_8)
{
dataChunk.len = DNAlen64;
dataChunk.oldPtr = DNAstr64;
fwrite(&dataChunk,sizeof(bChunkInd),1,fp);
fwrite(DNAstr64, DNAlen64,1,fp);
fwrite(&dataChunk, sizeof(bChunkInd), 1, fp);
fwrite(DNAstr64, DNAlen64, 1, fp);
}
else
{
dataChunk.len = DNAlen;
dataChunk.oldPtr = DNAstr;
fwrite(&dataChunk,sizeof(bChunkInd),1,fp);
fwrite(DNAstr, DNAlen,1,fp);
fwrite(&dataChunk, sizeof(bChunkInd), 1, fp);
fwrite(DNAstr, DNAlen, 1, fp);
}
}
void bBlenderFile::parse(int verboseMode)
void bBlenderFile::parse(int verboseMode)
{
if (VOID_IS_8)
{
parseInternal(verboseMode,(char*)DNAstr64,DNAlen64);
parseInternal(verboseMode, (char *)DNAstr64, DNAlen64);
}
else
{
parseInternal(verboseMode,(char*)DNAstr,DNAlen);
parseInternal(verboseMode, (char *)DNAstr, DNAlen);
}
}
// experimental
int bBlenderFile::write(const char* fileName, bool fixupPointers)
int bBlenderFile::write(const char *fileName, bool fixupPointers)
{
FILE *fp = fopen(fileName, "wb");
if (fp)
{
char header[SIZEOFBLENDERHEADER] ;
char header[SIZEOFBLENDERHEADER];
memcpy(header, m_headerString, 7);
int endian= 1;
endian= ((char*)&endian)[0];
int endian = 1;
endian = ((char *)&endian)[0];
if (endian)
{
header[7] = '_';
} else
}
else
{
header[7] = '-';
}
if (VOID_IS_8)
{
header[8]='V';
} else
header[8] = 'V';
}
else
{
header[8]='v';
header[8] = 'v';
}
header[9] = '2';
header[10] = '4';
header[11] = '9';
fwrite(header,SIZEOFBLENDERHEADER,1,fp);
fwrite(header, SIZEOFBLENDERHEADER, 1, fp);
writeChunks(fp, fixupPointers);
writeDNA(fp);
fclose(fp);
} else
}
else
{
printf("Error: cannot open file %s for writing\n",fileName);
printf("Error: cannot open file %s for writing\n", fileName);
return 0;
}
return 1;

65
Engine/lib/bullet/Extras/Serialize/BlenderSerialize/bBlenderFile.h
View file

@ -16,48 +16,43 @@ subject to the following restrictions:
#ifndef B_BLENDER_FILE_H
#define B_BLENDER_FILE_H
#include "bFile.h"
namespace bParse {
namespace bParse
{
// ----------------------------------------------------- //
class bBlenderFile : public bFile
{
protected:
bMain* mMain;
// ----------------------------------------------------- //
class bBlenderFile : public bFile
bStructHandle* m_glob;
public:
bBlenderFile(const char* fileName);
bBlenderFile(char* memoryBuffer, int len);
virtual ~bBlenderFile();
bMain* getMain();
virtual void addDataBlock(char* dataBlock);
bStructHandle* getFileGlobal()
{
return m_glob;
}
protected:
bMain* mMain;
// experimental
virtual int write(const char* fileName, bool fixupPointers = false);
bStructHandle* m_glob;
virtual void parse(int verboseMode);
public:
virtual void parseData();
bBlenderFile(const char* fileName);
bBlenderFile(char *memoryBuffer, int len);
virtual ~bBlenderFile();
bMain* getMain();
virtual void addDataBlock(char* dataBlock);
bStructHandle* getFileGlobal()
{
return m_glob;
}
// experimental
virtual int write(const char* fileName, bool fixupPointers = false);
virtual void parse(int verboseMode);
virtual void parseData();
virtual void writeDNA(FILE* fp);
};
virtual void writeDNA(FILE* fp);
};
}; // namespace bParse
#endif //B_BLENDER_FILE_H
#endif //B_BLENDER_FILE_H

92
Engine/lib/bullet/Extras/Serialize/BlenderSerialize/bMain.cpp
View file

@ -21,51 +21,49 @@ subject to the following restrictions:
using namespace bParse;
// ----------------------------------------------------- //
bMain::bMain(bBlenderFile *filePtr, const char *baseName, int fileVersion)
: mFP(filePtr),
mVersion(fileVersion),
mName(baseName)
: mFP(filePtr),
mVersion(fileVersion),
mName(baseName)
{
mData.insert(ID_SCE,bListBasePtr());
mData.insert(ID_LI,bListBasePtr());
mData.insert(ID_OB,bListBasePtr());
mData.insert(ID_ME,bListBasePtr());
mData.insert(ID_CU,bListBasePtr());
mData.insert(ID_MB,bListBasePtr());
mData.insert(ID_MA,bListBasePtr());
mData.insert(ID_TE,bListBasePtr());
mData.insert(ID_IM,bListBasePtr());
mData.insert(ID_WV,bListBasePtr());
mData.insert(ID_LT,bListBasePtr());
mData.insert(ID_LA,bListBasePtr());
mData.insert(ID_CA,bListBasePtr());
mData.insert(ID_IP,bListBasePtr());
mData.insert(ID_KE,bListBasePtr());
mData.insert(ID_WO,bListBasePtr());
mData.insert(ID_SCR,bListBasePtr());
mData.insert(ID_VF,bListBasePtr());
mData.insert(ID_TXT,bListBasePtr());
mData.insert(ID_SO,bListBasePtr());
mData.insert(ID_GR,bListBasePtr());
mData.insert(ID_AR,bListBasePtr());
mData.insert(ID_AC,bListBasePtr());
mData.insert(ID_NT,bListBasePtr());
mData.insert(ID_BR,bListBasePtr());
mData.insert(ID_SCE, bListBasePtr());
mData.insert(ID_LI, bListBasePtr());
mData.insert(ID_OB, bListBasePtr());
mData.insert(ID_ME, bListBasePtr());
mData.insert(ID_CU, bListBasePtr());
mData.insert(ID_MB, bListBasePtr());
mData.insert(ID_MA, bListBasePtr());
mData.insert(ID_TE, bListBasePtr());
mData.insert(ID_IM, bListBasePtr());
mData.insert(ID_WV, bListBasePtr());
mData.insert(ID_LT, bListBasePtr());
mData.insert(ID_LA, bListBasePtr());
mData.insert(ID_CA, bListBasePtr());
mData.insert(ID_IP, bListBasePtr());
mData.insert(ID_KE, bListBasePtr());
mData.insert(ID_WO, bListBasePtr());
mData.insert(ID_SCR, bListBasePtr());
mData.insert(ID_VF, bListBasePtr());
mData.insert(ID_TXT, bListBasePtr());
mData.insert(ID_SO, bListBasePtr());
mData.insert(ID_GR, bListBasePtr());
mData.insert(ID_AR, bListBasePtr());
mData.insert(ID_AC, bListBasePtr());
mData.insert(ID_NT, bListBasePtr());
mData.insert(ID_BR, bListBasePtr());
mData.insert(ID_SCRIPT, bListBasePtr());
}
// ----------------------------------------------------- //
bMain::~bMain()
{
// allocated data blocks!
int sz = mPool.size();
for (int i=0;i<sz;i++)
for (int i = 0; i < sz; i++)
{
delete [] mPool[i];
delete[] mPool[i];
}
}
@ -85,30 +83,25 @@ const char *bMain::getName()
void bMain::addDatablock(void *allocated)
{
assert(allocated);
mPool.push_back((bStructHandle*)allocated);
mPool.push_back((bStructHandle *)allocated);
}
// ------------------------------------------------------------//
void bMain::linkList(void *listBasePtr)
{
struct ListBase // local Blender::ListBase
struct ListBase // local Blender::ListBase
{
void *first;
void *last;
};
struct Link // local Blender::Link
struct Link // local Blender::Link
{
void *next;
void *prev;
};
ListBase *base = (ListBase*)listBasePtr;
ListBase *base = (ListBase *)listBasePtr;
if (!base || !base->first)
return;
@ -121,18 +114,18 @@ void bMain::linkList(void *listBasePtr)
}
void *prev = 0;
Link *l = (Link*)base->first;
Link *l = (Link *)base->first;
while (l)
{
l->next = mFP->findLibPointer(l->next);
l->prev = l->next;
prev = l->next;
l = (Link*)l->next;
l = (Link *)l->next;
}
}
// ------------------------------------------------------------//
bListBasePtr* bMain::getListBasePtr(int listBaseCode)
bListBasePtr *bMain::getListBasePtr(int listBaseCode)
{
bListBasePtr *ptr = _findCode(listBaseCode);
if (!ptr)
@ -143,12 +136,10 @@ bListBasePtr* bMain::getListBasePtr(int listBaseCode)
// ------------------------------------------------------------//
bListBasePtr *bMain::_findCode(int code)
{
bListBasePtr* lbPtr = mData.find(code);
bListBasePtr *lbPtr = mData.find(code);
return lbPtr;
}
// ------------------------------------------------------------//
bListBasePtr *bMain::getScene()
{
@ -193,8 +184,6 @@ bListBasePtr *bMain::getCurve()
return ptr;
}
// ------------------------------------------------------------//
bListBasePtr *bMain::getMball()
{
@ -222,7 +211,6 @@ bListBasePtr *bMain::getTex()
return ptr;
}
// ------------------------------------------------------------//
bListBasePtr *bMain::getImage()
{
@ -295,7 +283,6 @@ bListBasePtr *bMain::getWorld()
return ptr;
}
// ------------------------------------------------------------//
bListBasePtr *bMain::getScreen()
{
@ -368,7 +355,6 @@ bListBasePtr *bMain::getAction()
return ptr;
}
// ------------------------------------------------------------//
bListBasePtr *bMain::getNodetree()
{
@ -387,6 +373,4 @@ bListBasePtr *bMain::getBrush()
return ptr;
}
//eof

128
Engine/lib/bullet/Extras/Serialize/BlenderSerialize/bMain.h
View file

@ -20,91 +20,77 @@ subject to the following restrictions:
#include "bChunk.h"
#include "LinearMath/btHashMap.h"
namespace bParse
{
class bDNA;
class bBlenderFile;
}; // namespace bParse
namespace bParse
{
class bDNA;
// ----------------------------------------------------- //
class bBlenderFile;
};
typedef btHashMap<btHashInt, bListBasePtr> bMainDataMap;
namespace bParse {
// ----------------------------------------------------- //
typedef btHashMap<btHashInt,bListBasePtr> bMainDataMap;
// ----------------------------------------------------- //
class bMain
{
// ----------------------------------------------------- //
class bMain
{
//private:
public:
bBlenderFile* mFP;
bListBasePtr mPool;
public:
bBlenderFile *mFP;
bListBasePtr mPool;
int mVersion;
const char* mName;
int mVersion;
const char *mName;
bMainDataMap mData;
bMainDataMap mData;
bListBasePtr *_findCode(int code);
public:
bMain(bBlenderFile *filePtr, const char *baseName, int fileVersion);
~bMain();
bListBasePtr *_findCode(int code);
int getVersion();
const char *getName();
public:
bMain(bBlenderFile *filePtr, const char *baseName, int fileVersion);
~bMain();
bListBasePtr *getListBasePtr(int listBaseCode);
int getVersion();
const char *getName();
bListBasePtr *getScene();
bListBasePtr *getLibrary();
bListBasePtr *getObject();
bListBasePtr *getMesh();
bListBasePtr *getCurve();
bListBasePtr *getMball();
bListBasePtr *getMat();
bListBasePtr *getTex();
bListBasePtr *getImage();
bListBasePtr *getWave();
bListBasePtr *getLatt();
bListBasePtr *getLamp();
bListBasePtr *getCamera();
bListBasePtr *getIpo();
bListBasePtr *getKey();
bListBasePtr *getWorld();
bListBasePtr *getScreen();
bListBasePtr *getScript();
bListBasePtr *getVfont();
bListBasePtr *getText();
bListBasePtr *getSound();
bListBasePtr *getGroup();
bListBasePtr *getArmature();
bListBasePtr *getAction();
bListBasePtr *getNodetree();
bListBasePtr *getBrush();
bListBasePtr *getListBasePtr(int listBaseCode);
// tracking allocated memory
void addDatablock(void *allocated);
// --
bListBasePtr *getScene();
bListBasePtr *getLibrary();
bListBasePtr *getObject();
bListBasePtr *getMesh();
bListBasePtr *getCurve();
bListBasePtr *getMball();
bListBasePtr *getMat();
bListBasePtr *getTex();
bListBasePtr *getImage();
bListBasePtr *getWave();
bListBasePtr *getLatt();
bListBasePtr *getLamp();
bListBasePtr *getCamera();
bListBasePtr *getIpo();
bListBasePtr *getKey();
bListBasePtr *getWorld();
bListBasePtr *getScreen();
bListBasePtr *getScript();
bListBasePtr *getVfont();
bListBasePtr *getText();
bListBasePtr *getSound();
bListBasePtr *getGroup();
bListBasePtr *getArmature();
bListBasePtr *getAction();
bListBasePtr *getNodetree();
bListBasePtr *getBrush();
void linkList(void *listBasePtr);
};
} // namespace bParse
// tracking allocated memory
void addDatablock(void *allocated);
// --
void linkList(void *listBasePtr);
};
}
#endif//__BMAIN_H__
#endif //__BMAIN_H__

2793
Engine/lib/bullet/Extras/Serialize/BlenderSerialize/dna249-64bit.cpp
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2793
Engine/lib/bullet/Extras/Serialize/BlenderSerialize/dna249.cpp
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