mirror of
https://github.com/TorqueGameEngines/Torque3D.git
synced 2026-04-27 23:35:45 +00:00
* Adjustment: Update Bullet version to 3.24.
This commit is contained in:
Robert MacGregor
parent
35de012ee7
commit
4a3f31df2a
6148 changed files with 2112532 additions and 56873 deletions
|
|
@ -0,0 +1,346 @@
|
|||
#include "float_math.h"
|
||||
|
||||
#include <stdio.h>
|
||||
#include <stdlib.h>
|
||||
#include <string.h>
|
||||
#include <assert.h>
|
||||
|
||||
/*----------------------------------------------------------------------
|
||||
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.
|
||||
-----------------------------------------------------------------------*/
|
||||
|
||||
// http://codesuppository.blogspot.com
|
||||
//
|
||||
// mailto: jratcliff@infiniplex.net
|
||||
//
|
||||
// http://www.amillionpixels.us
|
||||
//
|
||||
|
||||
#include "ConvexDecomposition.h"
|
||||
#include "cd_vector.h"
|
||||
#include "cd_hull.h"
|
||||
#include "bestfit.h"
|
||||
#include "planetri.h"
|
||||
#include "vlookup.h"
|
||||
#include "splitplane.h"
|
||||
#include "meshvolume.h"
|
||||
#include "concavity.h"
|
||||
#include "bestfitobb.h"
|
||||
#include "float_math.h"
|
||||
#include "fitsphere.h"
|
||||
|
||||
#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;
|
||||
};
|
||||
|
||||
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());
|
||||
|
||||
// do *not* process degenerate triangles!
|
||||
|
||||
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)
|
||||
|
||||
{
|
||||
float plane[4];
|
||||
|
||||
bool split = false;
|
||||
|
||||
if (depth < MAXDEPTH)
|
||||
{
|
||||
float 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.
|
||||
{
|
||||
split = true;
|
||||
}
|
||||
}
|
||||
|
||||
if (depth >= MAXDEPTH || !split)
|
||||
{
|
||||
#if 1
|
||||
|
||||
HullResult result;
|
||||
HullLibrary hl;
|
||||
HullDesc desc;
|
||||
|
||||
desc.SetHullFlag(QF_TRIANGLES);
|
||||
|
||||
desc.mVcount = vcount;
|
||||
desc.mVertices = vertices;
|
||||
desc.mVertexStride = sizeof(float) * 3;
|
||||
|
||||
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};
|
||||
|
||||
static int count = 0;
|
||||
|
||||
count++;
|
||||
|
||||
if (count == 8) count = 0;
|
||||
|
||||
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++)
|
||||
{
|
||||
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;
|
||||
|
||||
PlaneTriResult result;
|
||||
|
||||
result = planeTriIntersection(plane, t.mP1.Ptr(), sizeof(Vector3d), 0.00001f, front[0].Ptr(), fcount, back[0].Ptr(), bcount);
|
||||
|
||||
if (fcount > 4 || bcount > 4)
|
||||
{
|
||||
result = planeTriIntersection(plane, t.mP1.Ptr(), sizeof(Vector3d), 0.00001f, front[0].Ptr(), fcount, back[0].Ptr(), bcount);
|
||||
}
|
||||
|
||||
switch (result)
|
||||
{
|
||||
case PTR_FRONT:
|
||||
|
||||
assert(fcount == 3);
|
||||
|
||||
if (showmesh)
|
||||
callback->ConvexDebugTri(front[0].Ptr(), front[1].Ptr(), front[2].Ptr(), 0x00FF00);
|
||||
|
||||
#if MAKE_MESH
|
||||
|
||||
addTri(vfront, ifront, front[0], front[1], front[2]);
|
||||
|
||||
#endif
|
||||
|
||||
break;
|
||||
case PTR_BACK:
|
||||
assert(bcount == 3);
|
||||
|
||||
if (showmesh)
|
||||
callback->ConvexDebugTri(back[0].Ptr(), back[1].Ptr(), back[2].Ptr(), 0xFFFF00);
|
||||
|
||||
#if MAKE_MESH
|
||||
|
||||
addTri(vback, iback, back[0], back[1], back[2]);
|
||||
|
||||
#endif
|
||||
|
||||
break;
|
||||
case PTR_SPLIT:
|
||||
|
||||
assert(fcount >= 3 && fcount <= 4);
|
||||
assert(bcount >= 3 && bcount <= 4);
|
||||
|
||||
#if MAKE_MESH
|
||||
|
||||
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 (bcount == 4)
|
||||
{
|
||||
addTri(vback, iback, back[0], back[2], back[3]);
|
||||
}
|
||||
|
||||
#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 (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;
|
||||
|
||||
calcConvexDecomposition(vcount, vertices, tcount, &ifront[0], callback, masterVolume, depth + 1);
|
||||
}
|
||||
|
||||
ifront.clear();
|
||||
|
||||
Vl_releaseVertexLookup(vfront);
|
||||
|
||||
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);
|
||||
}
|
||||
}
|
||||
|
||||
} // namespace ConvexDecomposition
|
||||
Loading…
Add table
Add a link
Reference in a new issue