mirror of
https://github.com/TorqueGameEngines/Torque3D.git
synced 2026-06-12 00:13:58 +00:00
update bullet so it actually works
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
parent
c7be48130a
commit
13fa178cf6
5986 changed files with 1811270 additions and 453803 deletions
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@ -2,12 +2,13 @@
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#include "CollisionShape2TriangleMesh.h"
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#include "btBulletCollisionCommon.h"
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#include "BulletCollision/CollisionShapes/btShapeHull.h"//to create a tesselation of a generic btConvexShape
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#include "BulletCollision/CollisionShapes/btShapeHull.h" //to create a tesselation of a generic btConvexShape
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#include "BulletCollision/CollisionShapes/btConvexPolyhedron.h"
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void CollisionShape2TriangleMesh(btCollisionShape* collisionShape, const btTransform& parentTransform, btAlignedObjectArray<btVector3>& vertexPositions, btAlignedObjectArray<btVector3>& vertexNormals, btAlignedObjectArray<int>& indicesOut)
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{
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//todo: support all collision shape types
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//todo: support all collision shape types
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switch (collisionShape->getShapeType())
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{
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case SOFTBODY_SHAPE_PROXYTYPE:
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@ -22,31 +23,30 @@ void CollisionShape2TriangleMesh(btCollisionShape* collisionShape, const btTrans
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btScalar planeConst = staticPlaneShape->getPlaneConstant();
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const btVector3& planeNormal = staticPlaneShape->getPlaneNormal();
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btVector3 planeOrigin = planeNormal * planeConst;
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btVector3 vec0,vec1;
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btPlaneSpace1(planeNormal,vec0,vec1);
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btVector3 vec0, vec1;
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btPlaneSpace1(planeNormal, vec0, vec1);
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btScalar vecLen = 100.f;
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btVector3 verts[4];
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verts[0] = planeOrigin + vec0*vecLen + vec1*vecLen;
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verts[1] = planeOrigin - vec0*vecLen + vec1*vecLen;
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verts[2] = planeOrigin - vec0*vecLen - vec1*vecLen;
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verts[3] = planeOrigin + vec0*vecLen - vec1*vecLen;
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verts[0] = planeOrigin + vec0 * vecLen + vec1 * vecLen;
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verts[1] = planeOrigin - vec0 * vecLen + vec1 * vecLen;
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verts[2] = planeOrigin - vec0 * vecLen - vec1 * vecLen;
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verts[3] = planeOrigin + vec0 * vecLen - vec1 * vecLen;
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int startIndex = vertexPositions.size();
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indicesOut.push_back(startIndex+0);
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indicesOut.push_back(startIndex+1);
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indicesOut.push_back(startIndex+2);
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indicesOut.push_back(startIndex+0);
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indicesOut.push_back(startIndex+2);
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indicesOut.push_back(startIndex+3);
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indicesOut.push_back(startIndex + 0);
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indicesOut.push_back(startIndex + 1);
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indicesOut.push_back(startIndex + 2);
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indicesOut.push_back(startIndex + 0);
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indicesOut.push_back(startIndex + 2);
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indicesOut.push_back(startIndex + 3);
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btVector3 triNormal = parentTransform.getBasis()*planeNormal;
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btVector3 triNormal = parentTransform.getBasis() * planeNormal;
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for (int i=0;i<4;i++)
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for (int i = 0; i < 4; i++)
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{
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btVector3 vtxPos;
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btVector3 pos =parentTransform*verts[i];
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btVector3 pos = parentTransform * verts[i];
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vertexPositions.push_back(pos);
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vertexNormals.push_back(triNormal);
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}
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@ -54,53 +54,55 @@ void CollisionShape2TriangleMesh(btCollisionShape* collisionShape, const btTrans
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}
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case TRIANGLE_MESH_SHAPE_PROXYTYPE:
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{
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btBvhTriangleMeshShape* trimesh = (btBvhTriangleMeshShape*) collisionShape;
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btBvhTriangleMeshShape* trimesh = (btBvhTriangleMeshShape*)collisionShape;
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btVector3 trimeshScaling = trimesh->getLocalScaling();
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btStridingMeshInterface* meshInterface = trimesh->getMeshInterface();
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btAlignedObjectArray<btVector3> vertices;
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btAlignedObjectArray<int> indices;
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for (int partId=0;partId<meshInterface->getNumSubParts();partId++)
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for (int partId = 0; partId < meshInterface->getNumSubParts(); partId++)
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{
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const unsigned char *vertexbase = 0;
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const unsigned char* vertexbase = 0;
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int numverts = 0;
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PHY_ScalarType type = PHY_INTEGER;
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int stride = 0;
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const unsigned char *indexbase = 0;
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const unsigned char* indexbase = 0;
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int indexstride = 0;
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int numfaces = 0;
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PHY_ScalarType indicestype = PHY_INTEGER;
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//PHY_ScalarType indexType=0;
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btVector3 triangleVerts[3];
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meshInterface->getLockedReadOnlyVertexIndexBase(&vertexbase,numverts, type,stride,&indexbase,indexstride,numfaces,indicestype,partId);
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btVector3 aabbMin,aabbMax;
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for (int triangleIndex = 0 ; triangleIndex < numfaces;triangleIndex++)
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meshInterface->getLockedReadOnlyVertexIndexBase(&vertexbase, numverts, type, stride, &indexbase, indexstride, numfaces, indicestype, partId);
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btVector3 aabbMin, aabbMax;
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for (int triangleIndex = 0; triangleIndex < numfaces; triangleIndex++)
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{
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unsigned int* gfxbase = (unsigned int*)(indexbase+triangleIndex*indexstride);
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for (int j=2;j>=0;j--)
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unsigned int* gfxbase = (unsigned int*)(indexbase + triangleIndex * indexstride);
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for (int j = 2; j >= 0; j--)
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{
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int graphicsindex = indicestype==PHY_SHORT?((unsigned short*)gfxbase)[j]:gfxbase[j];
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int graphicsindex;
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switch (indicestype) {
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case PHY_INTEGER: graphicsindex = gfxbase[j]; break;
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case PHY_SHORT: graphicsindex = ((unsigned short*)gfxbase)[j]; break;
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case PHY_UCHAR: graphicsindex = ((unsigned char*)gfxbase)[j]; break;
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default: btAssert(0);
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}
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if (type == PHY_FLOAT)
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{
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float* graphicsbase = (float*)(vertexbase+graphicsindex*stride);
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float* graphicsbase = (float*)(vertexbase + graphicsindex * stride);
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triangleVerts[j] = btVector3(
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graphicsbase[0]*trimeshScaling.getX(),
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graphicsbase[1]*trimeshScaling.getY(),
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graphicsbase[2]*trimeshScaling.getZ());
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graphicsbase[0] * trimeshScaling.getX(),
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graphicsbase[1] * trimeshScaling.getY(),
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graphicsbase[2] * trimeshScaling.getZ());
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}
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else
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{
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double* graphicsbase = (double*)(vertexbase+graphicsindex*stride);
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triangleVerts[j] = btVector3( btScalar(graphicsbase[0]*trimeshScaling.getX()),
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btScalar(graphicsbase[1]*trimeshScaling.getY()),
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btScalar(graphicsbase[2]*trimeshScaling.getZ()));
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double* graphicsbase = (double*)(vertexbase + graphicsindex * stride);
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triangleVerts[j] = btVector3(btScalar(graphicsbase[0] * trimeshScaling.getX()),
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btScalar(graphicsbase[1] * trimeshScaling.getY()),
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btScalar(graphicsbase[2] * trimeshScaling.getZ()));
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}
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}
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indices.push_back(vertices.size());
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@ -110,23 +112,24 @@ void CollisionShape2TriangleMesh(btCollisionShape* collisionShape, const btTrans
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indices.push_back(vertices.size());
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vertices.push_back(triangleVerts[2]);
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btVector3 triNormal = (triangleVerts[1]-triangleVerts[0]).cross(triangleVerts[2]-triangleVerts[0]);
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triNormal.normalize();
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btVector3 triNormal = (triangleVerts[1] - triangleVerts[0]).cross(triangleVerts[2] - triangleVerts[0]);
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btScalar dot = triNormal.dot(triNormal);
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for (int v=0;v<3;v++)
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//cull degenerate triangles
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if (dot >= SIMD_EPSILON * SIMD_EPSILON)
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{
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btVector3 pos =parentTransform*triangleVerts[v];
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indicesOut.push_back(vertexPositions.size());
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vertexPositions.push_back(pos);
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vertexNormals.push_back(triNormal);
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triNormal /= btSqrt(dot);
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for (int v = 0; v < 3; v++)
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{
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btVector3 pos = parentTransform * triangleVerts[v];
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indicesOut.push_back(vertexPositions.size());
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vertexPositions.push_back(pos);
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vertexNormals.push_back(triNormal);
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}
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}
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}
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}
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break;
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}
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default:
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@ -135,59 +138,93 @@ void CollisionShape2TriangleMesh(btCollisionShape* collisionShape, const btTrans
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{
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btConvexShape* convex = (btConvexShape*)collisionShape;
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{
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btShapeHull* hull = new btShapeHull(convex);
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hull->buildHull(0.0);
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const btConvexPolyhedron* pol = 0;
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if (convex->isPolyhedral())
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{
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//int strideInBytes = 9*sizeof(float);
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//int numVertices = hull->numVertices();
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//int numIndices =hull->numIndices();
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btPolyhedralConvexShape* poly = (btPolyhedralConvexShape*)convex;
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pol = poly->getConvexPolyhedron();
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}
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for (int t=0;t<hull->numTriangles();t++)
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if (pol)
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{
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int baseIndex = vertexPositions.size();
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for (int v = 0; v < pol->m_vertices.size(); v++)
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{
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btVector3 triNormal;
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int index0 = hull->getIndexPointer()[t*3+0];
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int index1 = hull->getIndexPointer()[t*3+1];
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int index2 = hull->getIndexPointer()[t*3+2];
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btVector3 pos0 =parentTransform*hull->getVertexPointer()[index0];
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btVector3 pos1 =parentTransform*hull->getVertexPointer()[index1];
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btVector3 pos2 =parentTransform*hull->getVertexPointer()[index2];
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triNormal = (pos1-pos0).cross(pos2-pos0);
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triNormal.normalize();
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for (int v=0;v<3;v++)
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vertexPositions.push_back(pol->m_vertices[v]);
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btVector3 norm = pol->m_vertices[v];
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norm.safeNormalize();
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vertexNormals.push_back(norm);
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}
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for (int f = 0; f < pol->m_faces.size(); f++)
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{
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for (int ii = 2; ii < pol->m_faces[f].m_indices.size(); ii++)
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{
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int index = hull->getIndexPointer()[t*3+v];
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btVector3 pos =parentTransform*hull->getVertexPointer()[index];
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indicesOut.push_back(vertexPositions.size());
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vertexPositions.push_back(pos);
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vertexNormals.push_back(triNormal);
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indicesOut.push_back(baseIndex+pol->m_faces[f].m_indices[0]);
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indicesOut.push_back(baseIndex + pol->m_faces[f].m_indices[ii - 1]);
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indicesOut.push_back(baseIndex + pol->m_faces[f].m_indices[ii]);
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}
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}
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}
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delete hull;
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else
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{
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btShapeHull* hull = new btShapeHull(convex);
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hull->buildHull(0.0, 1);
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{
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//int strideInBytes = 9*sizeof(float);
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//int numVertices = hull->numVertices();
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//int numIndices =hull->numIndices();
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for (int t = 0; t < hull->numTriangles(); t++)
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{
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btVector3 triNormal;
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int index0 = hull->getIndexPointer()[t * 3 + 0];
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int index1 = hull->getIndexPointer()[t * 3 + 1];
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int index2 = hull->getIndexPointer()[t * 3 + 2];
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btVector3 pos0 = parentTransform * hull->getVertexPointer()[index0];
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btVector3 pos1 = parentTransform * hull->getVertexPointer()[index1];
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btVector3 pos2 = parentTransform * hull->getVertexPointer()[index2];
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triNormal = (pos1 - pos0).cross(pos2 - pos0);
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triNormal.safeNormalize();
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for (int v = 0; v < 3; v++)
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{
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int index = hull->getIndexPointer()[t * 3 + v];
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btVector3 pos = parentTransform * hull->getVertexPointer()[index];
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indicesOut.push_back(vertexPositions.size());
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vertexPositions.push_back(pos);
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vertexNormals.push_back(triNormal);
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}
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}
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}
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delete hull;
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}
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}
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} else
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}
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else
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{
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if (collisionShape->isCompound())
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{
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btCompoundShape* compound = (btCompoundShape*) collisionShape;
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for (int i=0;i<compound->getNumChildShapes();i++)
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btCompoundShape* compound = (btCompoundShape*)collisionShape;
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for (int i = 0; i < compound->getNumChildShapes(); i++)
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{
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btTransform childWorldTrans = parentTransform * compound->getChildTransform(i);
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CollisionShape2TriangleMesh(compound->getChildShape(i),childWorldTrans,vertexPositions,vertexNormals,indicesOut);
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CollisionShape2TriangleMesh(compound->getChildShape(i), childWorldTrans, vertexPositions, vertexNormals, indicesOut);
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}
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}
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else
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{
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if (collisionShape->getShapeType() == SDF_SHAPE_PROXYTYPE)
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{
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//not yet
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}
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else
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{
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btAssert(0);
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}
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} else
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{
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btAssert(0);
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}
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}
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}
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};
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}
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