mirror of
https://github.com/TorqueGameEngines/Torque3D.git
synced 2026-04-29 00:05:40 +00:00
* Adjustment: Initial CMake reworking.
This commit is contained in:
Robert MacGregor
parent
516163fd5d
commit
d7cdf54661
5394 changed files with 2615532 additions and 8711 deletions
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@ -2,21 +2,17 @@ Bullet Physics is created by Erwin Coumans with contributions from the following
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AMD
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Apple
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Yunfei Bai
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Steve Baker
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Gino van den Bergen
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Jeff Bingham
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Nicola Candussi
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Erin Catto
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Lawrence Chai
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Erwin Coumans
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Disney Animation
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Benjamin Ellenberger
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Christer Ericson
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Disney Animation
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Google
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Dirk Gregorius
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Marcus Hennix
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Jasmine Hsu
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MBSim Development Team
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Takahiro Harada
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Simon Hobbs
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@ -24,7 +20,6 @@ John Hsu
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Ole Kniemeyer
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Jay Lee
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Francisco Leon
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lunkhound
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Vsevolod Klementjev
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Phil Knight
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John McCutchan
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@ -37,9 +32,9 @@ Russel Smith
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Sony
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Jakub Stephien
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Marten Svanfeldt
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Jie Tan
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Pierre Terdiman
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Steven Thompson
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Tamas Umenhoffer
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Yunfei Bai
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If your name is missing, please send an email to erwin.coumans@gmail.com or file an issue at http://github.com/bulletphysics/bullet3
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25
Engine/lib/bullet/BulletConfig.cmake
Normal file
25
Engine/lib/bullet/BulletConfig.cmake
Normal file
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@ -0,0 +1,25 @@
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# -*- cmake -*-
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#
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# BulletConfig.cmake(.in)
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#
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# Use the following variables to compile and link against Bullet:
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# BULLET_FOUND - True if Bullet was found on your system
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# BULLET_USE_FILE - The file making Bullet usable
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# BULLET_DEFINITIONS - Definitions needed to build with Bullet
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# BULLET_INCLUDE_DIR - Directory where Bullet-C-Api.h can be found
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# BULLET_INCLUDE_DIRS - List of directories of Bullet and it's dependencies
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# BULLET_LIBRARIES - List of libraries to link against Bullet library
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# BULLET_LIBRARY_DIRS - List of directories containing Bullet' libraries
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# BULLET_ROOT_DIR - The base directory of Bullet
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# BULLET_VERSION_STRING - A human-readable string containing the version
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set ( BULLET_FOUND 1 )
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set ( BULLET_USE_FILE "lib/cmake/bullet/UseBullet.cmake" )
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set ( BULLET_DEFINITIONS "" )
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set ( BULLET_INCLUDE_DIR "include/bullet" )
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set ( BULLET_INCLUDE_DIRS "include/bullet" )
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set ( BULLET_LIBRARIES "LinearMath;BulletInverseDynamics;BulletCollision;BulletDynamics;BulletSoftBody" )
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set ( BULLET_LIBRARY_DIRS "lib" )
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set ( BULLET_ROOT_DIR "/Users/ragora/Documents/Test" )
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set ( BULLET_VERSION_STRING "2.85" )
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16
Engine/lib/bullet/CMakeFiles/CMakeDirectoryInformation.cmake
Normal file
16
Engine/lib/bullet/CMakeFiles/CMakeDirectoryInformation.cmake
Normal file
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@ -0,0 +1,16 @@
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# CMAKE generated file: DO NOT EDIT!
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# Generated by "Unix Makefiles" Generator, CMake Version 3.23
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# Relative path conversion top directories.
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set(CMAKE_RELATIVE_PATH_TOP_SOURCE "/Users/ragora/Documents/Projects/Torque3D")
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set(CMAKE_RELATIVE_PATH_TOP_BINARY "/Users/ragora/Documents/Projects/Torque3D")
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# Force unix paths in dependencies.
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set(CMAKE_FORCE_UNIX_PATHS 1)
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# The C and CXX include file regular expressions for this directory.
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set(CMAKE_C_INCLUDE_REGEX_SCAN "^.*$")
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set(CMAKE_C_INCLUDE_REGEX_COMPLAIN "^$")
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set(CMAKE_CXX_INCLUDE_REGEX_SCAN ${CMAKE_C_INCLUDE_REGEX_SCAN})
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set(CMAKE_CXX_INCLUDE_REGEX_COMPLAIN ${CMAKE_C_INCLUDE_REGEX_COMPLAIN})
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1
Engine/lib/bullet/CMakeFiles/progress.marks
Normal file
1
Engine/lib/bullet/CMakeFiles/progress.marks
Normal file
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@ -0,0 +1 @@
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53
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@ -1,11 +1,11 @@
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cmake_minimum_required(VERSION 2.4.3)
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set(CMAKE_ALLOW_LOOSE_LOOP_CONSTRUCTS true)
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cmake_policy(SET CMP0017 NEW)
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#this line has to appear before 'PROJECT' in order to be able to disable incremental linking
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SET(MSVC_INCREMENTAL_DEFAULT ON)
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PROJECT(BULLET_PHYSICS)
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FILE (STRINGS "VERSION" BULLET_VERSION)
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SET(BULLET_VERSION 2.85)
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IF(COMMAND cmake_policy)
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cmake_policy(SET CMP0003 NEW)
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@ -15,6 +15,7 @@ IF(COMMAND cmake_policy)
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endif(POLICY CMP0042)
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ENDIF(COMMAND cmake_policy)
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IF (NOT CMAKE_BUILD_TYPE)
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# SET(CMAKE_BUILD_TYPE "Debug")
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SET(CMAKE_BUILD_TYPE "Release")
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@ -26,33 +27,6 @@ SET(CMAKE_CXX_FLAGS_DEBUG "${CMAKE_CXX_FLAGS_DEBUG} -D_DEBUG")
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OPTION(USE_DOUBLE_PRECISION "Use double precision" OFF)
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OPTION(USE_GRAPHICAL_BENCHMARK "Use Graphical Benchmark" ON)
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OPTION(BUILD_SHARED_LIBS "Use shared libraries" OFF)
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OPTION(USE_SOFT_BODY_MULTI_BODY_DYNAMICS_WORLD "Use btSoftMultiBodyDynamicsWorld" OFF)
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OPTION(BULLET2_USE_THREAD_LOCKS "Build Bullet 2 libraries with mutex locking around certain operations (required for multi-threading)" OFF)
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IF (BULLET2_USE_THREAD_LOCKS)
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OPTION(BULLET2_USE_OPEN_MP_MULTITHREADING "Build Bullet 2 with support for multi-threading with OpenMP (requires a compiler with OpenMP support)" OFF)
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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)
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IF (MSVC)
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OPTION(BULLET2_USE_PPL_MULTITHREADING "Build Bullet 2 with support for multi-threading with Microsoft Parallel Patterns Library (requires MSVC compiler)" OFF)
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ENDIF (MSVC)
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ENDIF (BULLET2_USE_THREAD_LOCKS)
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IF(NOT WIN32)
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SET(DL ${CMAKE_DL_LIBS})
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IF(CMAKE_SYSTEM_NAME MATCHES "Linux")
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MESSAGE("Linux")
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SET(OSDEF -D_LINUX)
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ELSE(CMAKE_SYSTEM_NAME MATCHES "Linux")
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IF(APPLE)
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MESSAGE("Apple")
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SET(OSDEF -D_DARWIN)
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ELSE(APPLE)
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MESSAGE("BSD?")
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SET(OSDEF -D_BSD)
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ENDIF(APPLE)
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ENDIF(CMAKE_SYSTEM_NAME MATCHES "Linux")
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ENDIF(NOT WIN32)
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OPTION(USE_MSVC_INCREMENTAL_LINKING "Use MSVC Incremental Linking" OFF)
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OPTION(USE_CUSTOM_VECTOR_MATH "Use custom vectormath library" OFF)
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@ -109,60 +83,15 @@ IF(MSVC)
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ADD_DEFINITIONS(-D_WIN64)
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ELSE()
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OPTION(USE_MSVC_SSE "Use MSVC /arch:sse option" ON)
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option(USE_MSVC_SSE2 "Compile your program with SSE2 instructions" ON)
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IF (USE_MSVC_SSE)
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SET(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} /arch:SSE")
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ENDIF()
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IF (USE_MSVC_SSE2)
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SET(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} /arch:SSE2")
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ENDIF()
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ENDIF()
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option(USE_MSVC_AVX "Compile your program with AVX instructions" OFF)
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IF(USE_MSVC_AVX)
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add_definitions(/arch:AVX)
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ENDIF()
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OPTION(USE_MSVC_FAST_FLOATINGPOINT "Use MSVC /fp:fast option" ON)
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IF (USE_MSVC_FAST_FLOATINGPOINT)
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SET(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} /fp:fast")
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ENDIF()
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OPTION(USE_MSVC_STRING_POOLING "Use MSVC /GF string pooling option" ON)
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IF (USE_MSVC_STRING_POOLING)
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SET(CMAKE_C_FLAGS "/GF ${CMAKE_C_FLAGS}")
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SET(CMAKE_CXX_FLAGS "/GF ${CMAKE_CXX_FLAGS}")
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ENDIF()
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OPTION(USE_MSVC_FUNCTION_LEVEL_LINKING "Use MSVC /Gy function level linking option" ON)
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IF(USE_MSVC_FUNCTION_LEVEL_LINKING)
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SET(CMAKE_C_FLAGS "/Gy ${CMAKE_C_FLAGS}")
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SET(CMAKE_CXX_FLAGS "/Gy ${CMAKE_CXX_FLAGS}")
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set(CMAKE_SHARED_LINKER_FLAGS "${CMAKE_SHARED_LINKER_FLAGS} /OPT:REF")
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set(CMAKE_EXE_LINKER_FLAGS "${CMAKE_EXE_LINKER_FLAGS} /OPT:REF")
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ENDIF(USE_MSVC_FUNCTION_LEVEL_LINKING)
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OPTION(USE_MSVC_EXEPTIONS "Use MSVC C++ exceptions option" OFF)
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OPTION(USE_MSVC_COMDAT_FOLDING "Use MSVC /OPT:ICF COMDAT folding option" ON)
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IF(USE_MSVC_COMDAT_FOLDING)
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set(CMAKE_SHARED_LINKER_FLAGS "${CMAKE_SHARED_LINKER_FLAGS} /OPT:ICF")
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set(CMAKE_EXE_LINKER_FLAGS "${CMAKE_EXE_LINKER_FLAGS} /OPT:ICF")
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ENDIF()
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OPTION(USE_MSVC_DISABLE_RTTI "Use MSVC /GR- disabled RTTI flags option" ON)
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IF(USE_MSVC_DISABLE_RTTI)
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STRING(REGEX REPLACE "/GR" "" CMAKE_CXX_FLAGS ${CMAKE_CXX_FLAGS}) # Disable RTTI
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SET(CMAKE_C_FLAGS "/GR- ${CMAKE_C_FLAGS}")
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SET(CMAKE_CXX_FLAGS "/GR- ${CMAKE_CXX_FLAGS}")
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ENDIF(USE_MSVC_DISABLE_RTTI)
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SET(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} /wd4244 /wd4267")
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ENDIF(MSVC)
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@ -217,45 +146,10 @@ ADD_DEFINITIONS( -DBT_USE_DOUBLE_PRECISION)
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SET( BULLET_DOUBLE_DEF "-DBT_USE_DOUBLE_PRECISION")
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ENDIF (USE_DOUBLE_PRECISION)
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IF (USE_SOFT_BODY_MULTI_BODY_DYNAMICS_WORLD)
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ADD_DEFINITIONS(-DUSE_SOFT_BODY_MULTI_BODY_DYNAMICS_WORLD)
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ENDIF (USE_SOFT_BODY_MULTI_BODY_DYNAMICS_WORLD)
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IF(USE_GRAPHICAL_BENCHMARK)
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ADD_DEFINITIONS( -DUSE_GRAPHICAL_BENCHMARK)
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ENDIF (USE_GRAPHICAL_BENCHMARK)
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IF(BULLET2_USE_THREAD_LOCKS)
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ADD_DEFINITIONS( -DBT_THREADSAFE=1 )
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IF (NOT MSVC)
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SET(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++11")
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ENDIF (NOT MSVC)
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ENDIF (BULLET2_USE_THREAD_LOCKS)
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IF (BULLET2_USE_OPEN_MP_MULTITHREADING)
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ADD_DEFINITIONS("-DBT_USE_OPENMP=1")
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IF (MSVC)
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SET(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} /openmp")
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ELSE (MSVC)
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# GCC, Clang
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SET(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -fopenmp")
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ENDIF (MSVC)
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ENDIF (BULLET2_USE_OPEN_MP_MULTITHREADING)
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IF (BULLET2_USE_TBB_MULTITHREADING)
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SET (BULLET2_TBB_INCLUDE_DIR "not found" CACHE PATH "Directory for Intel TBB includes.")
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SET (BULLET2_TBB_LIB_DIR "not found" CACHE PATH "Directory for Intel TBB libraries.")
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find_library(TBB_LIBRARY tbb PATHS ${BULLET2_TBB_LIB_DIR})
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find_library(TBBMALLOC_LIBRARY tbbmalloc PATHS ${BULLET2_TBB_LIB_DIR})
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ADD_DEFINITIONS("-DBT_USE_TBB=1")
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INCLUDE_DIRECTORIES( ${BULLET2_TBB_INCLUDE_DIR} )
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LINK_LIBRARIES( ${TBB_LIBRARY} ${TBBMALLOC_LIBRARY} )
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ENDIF (BULLET2_USE_TBB_MULTITHREADING)
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IF (BULLET2_USE_PPL_MULTITHREADING)
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ADD_DEFINITIONS("-DBT_USE_PPL=1")
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ENDIF (BULLET2_USE_PPL_MULTITHREADING)
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IF (WIN32)
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OPTION(USE_GLUT "Use Glut" ON)
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ADD_DEFINITIONS( -D_CRT_SECURE_NO_WARNINGS )
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@ -296,45 +190,25 @@ ENDIF (OPENGL_FOUND)
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#FIND_PACKAGE(GLU)
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IF (APPLE)
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FIND_LIBRARY(COCOA_LIBRARY Cocoa)
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ENDIF()
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OPTION(BUILD_BULLET3 "Set when you want to build Bullet 3" ON)
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# Optional Python configuration
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# builds pybullet automatically if all the requirements are met
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SET(PYTHON_VERSION_PYBULLET "" CACHE STRING "Python version pybullet will use.")
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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 )
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SET_PROPERTY(CACHE PYTHON_VERSION_PYBULLET PROPERTY STRINGS ${Python_ADDITIONAL_VERSIONS})
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SET(CMAKE_MODULE_PATH ${CMAKE_CURRENT_SOURCE_DIR}/build3/cmake ${CMAKE_MODULE_PATH})
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OPTION(EXACT_PYTHON_VERSION "Require Python and match PYTHON_VERSION_PYBULLET exactly, e.g. 2.7.12" OFF)
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IF(EXACT_PYTHON_VERSION)
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set(EXACT_PYTHON_VERSION_FLAG EXACT REQUIRED)
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ENDIF(EXACT_PYTHON_VERSION)
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# first find the python interpreter
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FIND_PACKAGE(PythonInterp ${PYTHON_VERSION_PYBULLET} ${EXACT_PYTHON_VERSION_FLAG})
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# python library should exactly match that of the interpreter
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FIND_PACKAGE(PythonLibs ${PYTHON_VERSION_STRING} EXACT)
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SET(DEFAULT_BUILD_PYBULLET OFF)
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IF(PYTHONLIBS_FOUND)
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SET(DEFAULT_BUILD_PYBULLET ON)
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ENDIF(PYTHONLIBS_FOUND)
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OPTION(BUILD_PYBULLET "Set when you want to build pybullet (Python bindings for Bullet)" ${DEFAULT_BUILD_PYBULLET})
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OPTION(BUILD_ENET "Set when you want to build apps with enet UDP networking support" ON)
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OPTION(BUILD_CLSOCKET "Set when you want to build apps with enet TCP networking support" ON)
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OPTION(BUILD_PYBULLET "Set when you want to build pybullet (experimental Python bindings for Bullet)" OFF)
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IF(BUILD_PYBULLET)
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FIND_PACKAGE(PythonLibs)
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OPTION(BUILD_PYBULLET_NUMPY "Set when you want to build pybullet with NumPy support" OFF)
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OPTION(BUILD_PYBULLET_ENET "Set when you want to build pybullet with enet UDP networking support" ON)
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OPTION(BUILD_PYBULLET_CLSOCKET "Set when you want to build pybullet with enet TCP networking support" ON)
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OPTION(BUILD_PYBULLET_MAC_USE_PYTHON_FRAMEWORK "Set when you want to use the Python Framework on Mac" OFF)
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|
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IF(BUILD_PYBULLET_NUMPY)
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IF(BUILD_PYBULLET_NUMPY)
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set(CMAKE_MODULE_PATH ${CMAKE_MODULE_PATH} ${CMAKE_CURRENT_LIST_DIR}/build3/cmake)
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#include(FindNumPy)
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FIND_PACKAGE(NumPy)
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if (PYTHON_NUMPY_FOUND)
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@ -344,25 +218,13 @@ IF(BUILD_PYBULLET)
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message("NumPy not found")
|
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endif()
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||||
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)
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||||
|
||||
IF(BUILD_BULLET3)
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||||
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|
@ -397,7 +259,6 @@ IF(BUILD_BULLET2_DEMOS)
|
|||
IF(EXISTS ${BULLET_PHYSICS_SOURCE_DIR}/examples AND IS_DIRECTORY ${BULLET_PHYSICS_SOURCE_DIR}/examples)
|
||||
SUBDIRS(examples)
|
||||
ENDIF()
|
||||
|
||||
ENDIF(BUILD_BULLET2_DEMOS)
|
||||
|
||||
|
||||
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|
@ -408,6 +269,7 @@ IF(BUILD_EXTRAS)
|
|||
ENDIF(BUILD_EXTRAS)
|
||||
|
||||
|
||||
#Maya Dynamica plugin is moved to http://dynamica.googlecode.com
|
||||
|
||||
SUBDIRS(src)
|
||||
|
||||
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@ -422,15 +284,7 @@ ELSE()
|
|||
ENDIF()
|
||||
ENDIF()
|
||||
|
||||
|
||||
IF(INSTALL_LIBS)
|
||||
#INSTALL of other files requires CMake 2.6
|
||||
IF(BUILD_EXTRAS)
|
||||
IF (${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
|
||||
|
|
@ -444,8 +298,12 @@ IF(INSTALL_LIBS)
|
|||
DESTINATION
|
||||
${PKGCONFIG_INSTALL_PREFIX})
|
||||
ENDIF(NOT MSVC)
|
||||
ENDIF()
|
||||
ENDIF(INSTALL_LIBS)
|
||||
|
||||
#INSTALL of other files requires CMake 2.6
|
||||
IF (${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}.${CMAKE_MINOR_VERSION} GREATER 2.5)
|
||||
|
||||
OPTION(BUILD_UNIT_TESTS "Build Unit Tests" ON)
|
||||
|
||||
|
|
@ -456,8 +314,9 @@ ENDIF()
|
|||
|
||||
set (BULLET_CONFIG_CMAKE_PATH lib${LIB_SUFFIX}/cmake/bullet )
|
||||
list (APPEND BULLET_LIBRARIES LinearMath)
|
||||
list (APPEND BULLET_LIBRARIES Bullet3Common)
|
||||
list (APPEND BULLET_LIBRARIES BulletInverseDynamics)
|
||||
IF(BUILD_BULLET3)
|
||||
list (APPEND BULLET_LIBRARIES BulletInverseDynamics)
|
||||
ENDIF(BUILD_BULLET3)
|
||||
list (APPEND BULLET_LIBRARIES BulletCollision)
|
||||
list (APPEND BULLET_LIBRARIES BulletDynamics)
|
||||
list (APPEND BULLET_LIBRARIES BulletSoftBody)
|
||||
|
|
@ -466,11 +325,7 @@ configure_file ( ${CMAKE_CURRENT_SOURCE_DIR}/BulletConfig.cmake.in
|
|||
${CMAKE_CURRENT_BINARY_DIR}/BulletConfig.cmake
|
||||
@ONLY ESCAPE_QUOTES
|
||||
)
|
||||
OPTION(INSTALL_CMAKE_FILES "Install generated CMake files" ON)
|
||||
|
||||
IF (INSTALL_CMAKE_FILES)
|
||||
install ( FILES ${CMAKE_CURRENT_SOURCE_DIR}/UseBullet.cmake
|
||||
install ( FILES ${CMAKE_CURRENT_SOURCE_DIR}/UseBullet.cmake
|
||||
${CMAKE_CURRENT_BINARY_DIR}/BulletConfig.cmake
|
||||
DESTINATION ${BULLET_CONFIG_CMAKE_PATH}
|
||||
)
|
||||
ENDIF (INSTALL_CMAKE_FILES)
|
||||
|
|
|
|||
10
Engine/lib/bullet/CTestTestfile.cmake
Normal file
10
Engine/lib/bullet/CTestTestfile.cmake
Normal file
|
|
@ -0,0 +1,10 @@
|
|||
# CMake generated Testfile for
|
||||
# Source directory: /Users/ragora/Documents/Projects/Torque3D/Engine/lib/bullet
|
||||
# Build directory: /Users/ragora/Documents/Projects/Torque3D/Engine/lib/bullet
|
||||
#
|
||||
# This file includes the relevant testing commands required for
|
||||
# testing this directory and lists subdirectories to be tested as well.
|
||||
subdirs("examples")
|
||||
subdirs("Extras")
|
||||
subdirs("src")
|
||||
subdirs("test")
|
||||
|
|
@ -0,0 +1,16 @@
|
|||
# CMAKE generated file: DO NOT EDIT!
|
||||
# Generated by "Unix Makefiles" Generator, CMake Version 3.23
|
||||
|
||||
# Relative path conversion top directories.
|
||||
set(CMAKE_RELATIVE_PATH_TOP_SOURCE "/Users/ragora/Documents/Projects/Torque3D")
|
||||
set(CMAKE_RELATIVE_PATH_TOP_BINARY "/Users/ragora/Documents/Projects/Torque3D")
|
||||
|
||||
# Force unix paths in dependencies.
|
||||
set(CMAKE_FORCE_UNIX_PATHS 1)
|
||||
|
||||
|
||||
# The C and CXX include file regular expressions for this directory.
|
||||
set(CMAKE_C_INCLUDE_REGEX_SCAN "^.*$")
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||||
set(CMAKE_C_INCLUDE_REGEX_COMPLAIN "^$")
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||||
set(CMAKE_CXX_INCLUDE_REGEX_SCAN ${CMAKE_C_INCLUDE_REGEX_SCAN})
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||||
set(CMAKE_CXX_INCLUDE_REGEX_COMPLAIN ${CMAKE_C_INCLUDE_REGEX_COMPLAIN})
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||||
1
Engine/lib/bullet/Extras/CMakeFiles/progress.marks
Normal file
1
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Normal file
|
|
@ -0,0 +1 @@
|
|||
18
|
||||
11
Engine/lib/bullet/Extras/CMakeLists.txt
Normal file
11
Engine/lib/bullet/Extras/CMakeLists.txt
Normal file
|
|
@ -0,0 +1,11 @@
|
|||
SUBDIRS( Serialize ConvexDecomposition HACD GIMPACTUtils )
|
||||
|
||||
IF(BUILD_BULLET3)
|
||||
SUBDIRS( InverseDynamics)
|
||||
ENDIF()
|
||||
|
||||
#Maya Dynamica plugin is moved to http://dynamica.googlecode.com
|
||||
|
||||
#IF (USE_GLUT AND GLUT_FOUND)
|
||||
# SUBDIRS (glui)
|
||||
#ENDIF ()
|
||||
11
Engine/lib/bullet/Extras/CTestTestfile.cmake
Normal file
11
Engine/lib/bullet/Extras/CTestTestfile.cmake
Normal file
|
|
@ -0,0 +1,11 @@
|
|||
# CMake generated Testfile for
|
||||
# Source directory: /Users/ragora/Documents/Projects/Torque3D/Engine/lib/bullet/Extras
|
||||
# Build directory: /Users/ragora/Documents/Projects/Torque3D/Engine/lib/bullet/Extras
|
||||
#
|
||||
# This file includes the relevant testing commands required for
|
||||
# testing this directory and lists subdirectories to be tested as well.
|
||||
subdirs("Serialize")
|
||||
subdirs("ConvexDecomposition")
|
||||
subdirs("HACD")
|
||||
subdirs("GIMPACTUtils")
|
||||
subdirs("InverseDynamics")
|
||||
|
|
@ -0,0 +1,16 @@
|
|||
# CMAKE generated file: DO NOT EDIT!
|
||||
# Generated by "Unix Makefiles" Generator, CMake Version 3.23
|
||||
|
||||
# Relative path conversion top directories.
|
||||
set(CMAKE_RELATIVE_PATH_TOP_SOURCE "/Users/ragora/Documents/Projects/Torque3D")
|
||||
set(CMAKE_RELATIVE_PATH_TOP_BINARY "/Users/ragora/Documents/Projects/Torque3D")
|
||||
|
||||
# Force unix paths in dependencies.
|
||||
set(CMAKE_FORCE_UNIX_PATHS 1)
|
||||
|
||||
|
||||
# The C and CXX include file regular expressions for this directory.
|
||||
set(CMAKE_C_INCLUDE_REGEX_SCAN "^.*$")
|
||||
set(CMAKE_C_INCLUDE_REGEX_COMPLAIN "^$")
|
||||
set(CMAKE_CXX_INCLUDE_REGEX_SCAN ${CMAKE_C_INCLUDE_REGEX_SCAN})
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||||
set(CMAKE_CXX_INCLUDE_REGEX_COMPLAIN ${CMAKE_C_INCLUDE_REGEX_COMPLAIN})
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||||
Binary file not shown.
|
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@ -0,0 +1,118 @@
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||||
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||||
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||||
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||||
64
Engine/lib/bullet/Extras/ConvexDecomposition/CMakeLists.txt
Normal file
64
Engine/lib/bullet/Extras/ConvexDecomposition/CMakeLists.txt
Normal file
|
|
@ -0,0 +1,64 @@
|
|||
INCLUDE_DIRECTORIES(
|
||||
${BULLET_PHYSICS_SOURCE_DIR}/Extras/ConvexDecomposition ${BULLET_PHYSICS_SOURCE_DIR}/src
|
||||
)
|
||||
|
||||
SET(ConvexDecomposition_SRCS
|
||||
bestfitobb.cpp
|
||||
ConvexBuilder.cpp
|
||||
cd_wavefront.cpp
|
||||
fitsphere.cpp
|
||||
meshvolume.cpp
|
||||
raytri.cpp
|
||||
vlookup.cpp
|
||||
bestfit.cpp
|
||||
cd_hull.cpp
|
||||
ConvexDecomposition.cpp
|
||||
concavity.cpp
|
||||
float_math.cpp
|
||||
planetri.cpp
|
||||
splitplane.cpp
|
||||
)
|
||||
|
||||
SET(ConvexDecomposition_HDRS
|
||||
ConvexDecomposition.h
|
||||
cd_vector.h
|
||||
concavity.h
|
||||
bestfitobb.h
|
||||
ConvexBuilder.h
|
||||
cd_wavefront.h
|
||||
fitsphere.h
|
||||
meshvolume.h
|
||||
raytri.h
|
||||
vlookup.h
|
||||
bestfit.h
|
||||
cd_hull.h
|
||||
)
|
||||
|
||||
ADD_LIBRARY(ConvexDecomposition ${ConvexDecomposition_SRCS} ${ConvexDecomposition_HDRS})
|
||||
SET_TARGET_PROPERTIES(ConvexDecomposition PROPERTIES VERSION ${BULLET_VERSION})
|
||||
SET_TARGET_PROPERTIES(ConvexDecomposition PROPERTIES SOVERSION ${BULLET_VERSION})
|
||||
|
||||
IF (BUILD_SHARED_LIBS)
|
||||
TARGET_LINK_LIBRARIES(ConvexDecomposition BulletCollision LinearMath)
|
||||
ENDIF (BUILD_SHARED_LIBS)
|
||||
|
||||
IF (INSTALL_EXTRA_LIBS)
|
||||
IF (NOT INTERNAL_CREATE_DISTRIBUTABLE_MSVC_PROJECTFILES)
|
||||
#FILES_MATCHING requires CMake 2.6
|
||||
IF (${CMAKE_MAJOR_VERSION}.${CMAKE_MINOR_VERSION} GREATER 2.5)
|
||||
IF (APPLE AND BUILD_SHARED_LIBS AND FRAMEWORK)
|
||||
INSTALL(TARGETS ConvexDecomposition DESTINATION .)
|
||||
ELSE (APPLE AND BUILD_SHARED_LIBS AND FRAMEWORK)
|
||||
INSTALL(TARGETS ConvexDecomposition DESTINATION lib${LIB_SUFFIX})
|
||||
INSTALL(DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR}
|
||||
DESTINATION ${INCLUDE_INSTALL_DIR} FILES_MATCHING PATTERN "*.h" PATTERN
|
||||
".svn" EXCLUDE PATTERN "CMakeFiles" EXCLUDE)
|
||||
ENDIF (APPLE AND BUILD_SHARED_LIBS AND FRAMEWORK)
|
||||
ENDIF (${CMAKE_MAJOR_VERSION}.${CMAKE_MINOR_VERSION} GREATER 2.5)
|
||||
|
||||
IF (APPLE AND BUILD_SHARED_LIBS AND FRAMEWORK)
|
||||
SET_TARGET_PROPERTIES(ConvexDecomposition PROPERTIES FRAMEWORK true)
|
||||
SET_TARGET_PROPERTIES(ConvexDecomposition PROPERTIES PUBLIC_HEADER "${ConvexDecomposition_HDRS}")
|
||||
ENDIF (APPLE AND BUILD_SHARED_LIBS AND FRAMEWORK)
|
||||
ENDIF (NOT INTERNAL_CREATE_DISTRIBUTABLE_MSVC_PROJECTFILES)
|
||||
ENDIF (INSTALL_EXTRA_LIBS)
|
||||
|
|
@ -0,0 +1,6 @@
|
|||
# CMake generated Testfile for
|
||||
# Source directory: /Users/ragora/Documents/Projects/Torque3D/Engine/lib/bullet/Extras/ConvexDecomposition
|
||||
# Build directory: /Users/ragora/Documents/Projects/Torque3D/Engine/lib/bullet/Extras/ConvexDecomposition
|
||||
#
|
||||
# This file includes the relevant testing commands required for
|
||||
# testing this directory and lists subdirectories to be tested as well.
|
||||
373
Engine/lib/bullet/Extras/ConvexDecomposition/ConvexBuilder.cpp
Normal file
373
Engine/lib/bullet/Extras/ConvexDecomposition/ConvexBuilder.cpp
Normal file
|
|
@ -0,0 +1,373 @@
|
|||
#include "float_math.h"
|
||||
#include "ConvexBuilder.h"
|
||||
#include "meshvolume.h"
|
||||
#include "bestfit.h"
|
||||
#include <assert.h>
|
||||
#include "cd_hull.h"
|
||||
|
||||
#include "fitsphere.h"
|
||||
#include "bestfitobb.h"
|
||||
|
||||
unsigned int MAXDEPTH = 8 ;
|
||||
float CONCAVE_PERCENT = 1.0f ;
|
||||
float MERGE_PERCENT = 2.0f ;
|
||||
|
||||
CHull::CHull(const ConvexResult &result)
|
||||
{
|
||||
mResult = new ConvexResult(result);
|
||||
mVolume = computeMeshVolume( result.mHullVertices, result.mHullTcount, result.mHullIndices );
|
||||
|
||||
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;
|
||||
|
||||
|
||||
}
|
||||
|
||||
CHull::~CHull(void)
|
||||
{
|
||||
delete mResult;
|
||||
}
|
||||
|
||||
bool CHull::overlap(const CHull &h) const
|
||||
{
|
||||
return overlapAABB(mMin,mMax, h.mMin, h.mMax );
|
||||
}
|
||||
|
||||
|
||||
|
||||
|
||||
ConvexBuilder::ConvexBuilder(ConvexDecompInterface *callback)
|
||||
{
|
||||
mCallback = callback;
|
||||
}
|
||||
|
||||
ConvexBuilder::~ConvexBuilder(void)
|
||||
{
|
||||
int 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)
|
||||
{
|
||||
unsigned int dcount = 0;
|
||||
|
||||
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++;
|
||||
|
||||
return dcount == 3;
|
||||
}
|
||||
|
||||
void ConvexBuilder::getMesh(const ConvexResult &cr,VertexLookup vc,UintVector &indices)
|
||||
{
|
||||
unsigned int *src = cr.mHullIndices;
|
||||
|
||||
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];
|
||||
|
||||
i1 = Vl_getIndex(vc,p1);
|
||||
i2 = Vl_getIndex(vc,p2);
|
||||
i3 = Vl_getIndex(vc,p3);
|
||||
|
||||
#if 0
|
||||
bool duplicate = false;
|
||||
|
||||
unsigned int tcount = indices.size()/3;
|
||||
for (unsigned int j=0; j<tcount; j++)
|
||||
{
|
||||
unsigned int ci1 = indices[j*3+0];
|
||||
unsigned int ci2 = indices[j*3+1];
|
||||
unsigned int ci3 = indices[j*3+2];
|
||||
if ( isDuplicate(i1,i2,i3, ci1, ci2, ci3 ) )
|
||||
{
|
||||
duplicate = true;
|
||||
break;
|
||||
}
|
||||
}
|
||||
|
||||
if ( !duplicate )
|
||||
{
|
||||
indices.push_back(i1);
|
||||
indices.push_back(i2);
|
||||
indices.push_back(i3);
|
||||
}
|
||||
#endif
|
||||
|
||||
}
|
||||
}
|
||||
|
||||
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.
|
||||
|
||||
CHull *ret = 0;
|
||||
|
||||
// ok..we are going to combine both meshes into a single mesh
|
||||
// and then we are going to compute the concavity...
|
||||
|
||||
VertexLookup vc = Vl_createVertexLookup();
|
||||
|
||||
UintVector 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;
|
||||
|
||||
//don't do anything if hull is empty
|
||||
if (!tcount)
|
||||
{
|
||||
Vl_releaseVertexLookup (vc);
|
||||
return 0;
|
||||
}
|
||||
|
||||
HullResult hresult;
|
||||
HullLibrary hl;
|
||||
HullDesc desc;
|
||||
|
||||
desc.SetHullFlag(QF_TRIANGLES);
|
||||
|
||||
desc.mVcount = vcount;
|
||||
desc.mVertices = vertices;
|
||||
desc.mVertexStride = sizeof(float)*3;
|
||||
|
||||
HullError hret = hl.CreateConvexHull(desc,hresult);
|
||||
|
||||
if ( hret == QE_OK )
|
||||
{
|
||||
|
||||
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) )
|
||||
{
|
||||
ConvexResult cr(hresult.mNumOutputVertices, hresult.mOutputVertices, hresult.mNumFaces, hresult.mIndices);
|
||||
ret = new CHull(cr);
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
Vl_releaseVertexLookup(vc);
|
||||
|
||||
return ret;
|
||||
}
|
||||
|
||||
bool ConvexBuilder::combineHulls(void)
|
||||
{
|
||||
|
||||
bool combine = false;
|
||||
|
||||
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)
|
||||
{
|
||||
CHull *cr = mChulls[i];
|
||||
|
||||
int 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
|
||||
{
|
||||
|
||||
CHull *merge = canMerge(cr,match); // if we can merge these two....
|
||||
|
||||
if ( merge )
|
||||
{
|
||||
|
||||
output.push_back(merge);
|
||||
|
||||
|
||||
++i;
|
||||
while ( i != mChulls.size() )
|
||||
{
|
||||
CHull *cr = mChulls[i];
|
||||
if ( cr != match )
|
||||
{
|
||||
output.push_back(cr);
|
||||
}
|
||||
i++;
|
||||
}
|
||||
|
||||
delete cr;
|
||||
delete match;
|
||||
combine = true;
|
||||
break;
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
if ( combine )
|
||||
{
|
||||
break;
|
||||
}
|
||||
else
|
||||
{
|
||||
output.push_back(cr);
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
if ( combine )
|
||||
{
|
||||
mChulls.clear();
|
||||
mChulls.copyFromArray(output);
|
||||
output.clear();
|
||||
}
|
||||
|
||||
|
||||
return combine;
|
||||
}
|
||||
|
||||
unsigned int ConvexBuilder::process(const DecompDesc &desc)
|
||||
{
|
||||
|
||||
unsigned int ret = 0;
|
||||
|
||||
MAXDEPTH = desc.mDepth;
|
||||
CONCAVE_PERCENT = desc.mCpercent;
|
||||
MERGE_PERCENT = desc.mPpercent;
|
||||
|
||||
|
||||
calcConvexDecomposition(desc.mVcount, desc.mVertices, desc.mTcount, desc.mIndices,this,0,0);
|
||||
|
||||
|
||||
while ( combineHulls() ); // keep combinging hulls until I can't combine any more...
|
||||
|
||||
int 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...
|
||||
|
||||
HullResult result;
|
||||
HullLibrary hl;
|
||||
HullDesc hdesc;
|
||||
|
||||
hdesc.SetHullFlag(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
|
||||
|
||||
if ( desc.mSkinWidth )
|
||||
{
|
||||
hdesc.mSkinWidth = desc.mSkinWidth;
|
||||
hdesc.SetHullFlag(QF_SKIN_WIDTH); // do skin width computation.
|
||||
}
|
||||
|
||||
HullError ret = hl.CreateConvexHull(hdesc,result);
|
||||
|
||||
if ( ret == QE_OK )
|
||||
{
|
||||
ConvexResult r(result.mNumOutputVertices, result.mOutputVertices, result.mNumFaces, result.mIndices);
|
||||
|
||||
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 );
|
||||
|
||||
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_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);
|
||||
|
||||
|
||||
delete cr;
|
||||
}
|
||||
|
||||
ret = mChulls.size();
|
||||
|
||||
mChulls.clear();
|
||||
|
||||
return ret;
|
||||
}
|
||||
|
||||
|
||||
void ConvexBuilder::ConvexDebugTri(const float *p1,const float *p2,const float *p3,unsigned int color)
|
||||
{
|
||||
mCallback->ConvexDebugTri(p1,p2,p3,color);
|
||||
}
|
||||
|
||||
void ConvexBuilder::ConvexDebugOBB(const float *sides, const float *matrix,unsigned int color)
|
||||
{
|
||||
mCallback->ConvexDebugOBB(sides,matrix,color);
|
||||
}
|
||||
void ConvexBuilder::ConvexDebugPoint(const float *p,float dist,unsigned int color)
|
||||
{
|
||||
mCallback->ConvexDebugPoint(p,dist,color);
|
||||
}
|
||||
|
||||
void ConvexBuilder::ConvexDebugBound(const float *bmin,const float *bmax,unsigned int color)
|
||||
{
|
||||
mCallback->ConvexDebugBound(bmin,bmax,color);
|
||||
}
|
||||
|
||||
void ConvexBuilder::ConvexDecompResult(ConvexResult &result)
|
||||
{
|
||||
CHull *ch = new CHull(result);
|
||||
mChulls.push_back(ch);
|
||||
}
|
||||
|
||||
void ConvexBuilder::sortChulls(CHullVector &hulls)
|
||||
{
|
||||
hulls.quickSort(CHullSort());
|
||||
//hulls.heapSort(CHullSort());
|
||||
}
|
||||
|
||||
|
||||
112
Engine/lib/bullet/Extras/ConvexDecomposition/ConvexBuilder.h
Normal file
112
Engine/lib/bullet/Extras/ConvexDecomposition/ConvexBuilder.h
Normal file
|
|
@ -0,0 +1,112 @@
|
|||
#ifndef CONVEX_BUILDER_H
|
||||
#define CONVEX_BUILDER_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 "vlookup.h"
|
||||
#include "LinearMath/btAlignedObjectArray.h"
|
||||
|
||||
using namespace ConvexDecomposition;
|
||||
|
||||
|
||||
class CHull
|
||||
{
|
||||
public:
|
||||
CHull(const ConvexResult &result);
|
||||
|
||||
~CHull(void);
|
||||
|
||||
bool overlap(const CHull &h) const;
|
||||
|
||||
float mMin[3];
|
||||
float mMax[3];
|
||||
float mVolume;
|
||||
float mDiagonal; // long edge..
|
||||
ConvexResult *mResult;
|
||||
};
|
||||
|
||||
// Usage: std::sort( list.begin(), list.end(), StringSortRef() );
|
||||
class CHullSort
|
||||
{
|
||||
public:
|
||||
|
||||
inline bool operator()(const CHull *a,const CHull *b) const
|
||||
{
|
||||
return a->mVolume < b->mVolume;
|
||||
}
|
||||
};
|
||||
|
||||
|
||||
typedef btAlignedObjectArray< CHull * > CHullVector;
|
||||
|
||||
|
||||
|
||||
class ConvexBuilder : public ConvexDecompInterface
|
||||
{
|
||||
public:
|
||||
ConvexBuilder(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);
|
||||
|
||||
void getMesh(const ConvexResult &cr,VertexLookup vc,UintVector &indices);
|
||||
|
||||
CHull * canMerge(CHull *a,CHull *b);
|
||||
|
||||
bool combineHulls(void);
|
||||
|
||||
unsigned int process(const DecompDesc &desc);
|
||||
|
||||
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 ConvexDebugBound(const float *bmin,const float *bmax,unsigned int color);
|
||||
|
||||
virtual void ConvexDecompResult(ConvexResult &result);
|
||||
|
||||
void sortChulls(CHullVector &hulls);
|
||||
|
||||
CHullVector mChulls;
|
||||
ConvexDecompInterface *mCallback;
|
||||
};
|
||||
|
||||
#endif //CONVEX_BUILDER_H
|
||||
|
||||
|
|
@ -0,0 +1,375 @@
|
|||
#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);
|
||||
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
|
||||
|
||||
}
|
||||
|
|
@ -0,0 +1,220 @@
|
|||
#ifndef CONVEX_DECOMPOSITION_H
|
||||
|
||||
#define CONVEX_DECOMPOSITION_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
|
||||
//
|
||||
|
||||
|
||||
#ifdef _WIN32
|
||||
#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 ;
|
||||
|
||||
|
||||
typedef btAlignedObjectArray< unsigned int > UintVector;
|
||||
|
||||
|
||||
|
||||
namespace ConvexDecomposition
|
||||
{
|
||||
|
||||
class ConvexResult
|
||||
{
|
||||
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
|
||||
{
|
||||
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 )
|
||||
{
|
||||
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|
||||
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||||
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||||
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|
||||
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||||
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||||
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||||
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|
||||
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|
||||
|
||||
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|
||||
concavity.s:
|
||||
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||||
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||||
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||||
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|
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||||
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|
||||
.PHONY : fitsphere.o
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||||
|
||||
# target to preprocess a source file
|
||||
fitsphere.i:
|
||||
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|
||||
.PHONY : fitsphere.i
|
||||
|
||||
# target to generate assembly for a file
|
||||
fitsphere.s:
|
||||
cd /Users/ragora/Documents/Projects/Torque3D && $(MAKE) $(MAKESILENT) -f Engine/lib/bullet/Extras/ConvexDecomposition/CMakeFiles/ConvexDecomposition.dir/build.make Engine/lib/bullet/Extras/ConvexDecomposition/CMakeFiles/ConvexDecomposition.dir/fitsphere.s
|
||||
.PHONY : fitsphere.s
|
||||
|
||||
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|
||||
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||||
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||||
.PHONY : float_math.o
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||||
|
||||
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|
||||
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|
||||
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|
||||
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|
||||
|
||||
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|
||||
float_math.s:
|
||||
cd /Users/ragora/Documents/Projects/Torque3D && $(MAKE) $(MAKESILENT) -f Engine/lib/bullet/Extras/ConvexDecomposition/CMakeFiles/ConvexDecomposition.dir/build.make Engine/lib/bullet/Extras/ConvexDecomposition/CMakeFiles/ConvexDecomposition.dir/float_math.s
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||||
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||||
|
||||
# target to build an object file
|
||||
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||||
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||||
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||||
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||||
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||||
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||||
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|
||||
.PHONY : meshvolume.i
|
||||
|
||||
# target to generate assembly for a file
|
||||
meshvolume.s:
|
||||
cd /Users/ragora/Documents/Projects/Torque3D && $(MAKE) $(MAKESILENT) -f Engine/lib/bullet/Extras/ConvexDecomposition/CMakeFiles/ConvexDecomposition.dir/build.make Engine/lib/bullet/Extras/ConvexDecomposition/CMakeFiles/ConvexDecomposition.dir/meshvolume.s
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||||
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||||
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||||
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||||
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||||
.PHONY : planetri.o
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||||
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||||
# target to preprocess a source file
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||||
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||||
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||||
.PHONY : planetri.i
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||||
|
||||
# target to generate assembly for a file
|
||||
planetri.s:
|
||||
cd /Users/ragora/Documents/Projects/Torque3D && $(MAKE) $(MAKESILENT) -f Engine/lib/bullet/Extras/ConvexDecomposition/CMakeFiles/ConvexDecomposition.dir/build.make Engine/lib/bullet/Extras/ConvexDecomposition/CMakeFiles/ConvexDecomposition.dir/planetri.s
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||||
.PHONY : planetri.s
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||||
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||||
# target to build an object file
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||||
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||||
.PHONY : raytri.o
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||||
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||||
# target to preprocess a source file
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||||
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|
||||
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||||
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||||
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||||
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||||
cd /Users/ragora/Documents/Projects/Torque3D && $(MAKE) $(MAKESILENT) -f Engine/lib/bullet/Extras/ConvexDecomposition/CMakeFiles/ConvexDecomposition.dir/build.make Engine/lib/bullet/Extras/ConvexDecomposition/CMakeFiles/ConvexDecomposition.dir/raytri.s
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||||
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||||
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||||
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||||
.PHONY : vlookup.o
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||||
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||||
# target to preprocess a source file
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||||
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|
||||
cd /Users/ragora/Documents/Projects/Torque3D && $(MAKE) $(MAKESILENT) -f Engine/lib/bullet/Extras/ConvexDecomposition/CMakeFiles/ConvexDecomposition.dir/build.make Engine/lib/bullet/Extras/ConvexDecomposition/CMakeFiles/ConvexDecomposition.dir/vlookup.i
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||||
.PHONY : vlookup.i
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||||
|
||||
# target to generate assembly for a file
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||||
vlookup.s:
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||||
cd /Users/ragora/Documents/Projects/Torque3D && $(MAKE) $(MAKESILENT) -f Engine/lib/bullet/Extras/ConvexDecomposition/CMakeFiles/ConvexDecomposition.dir/build.make Engine/lib/bullet/Extras/ConvexDecomposition/CMakeFiles/ConvexDecomposition.dir/vlookup.s
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||||
.PHONY : vlookup.s
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||||
|
||||
# Help Target
|
||||
help:
|
||||
@echo "The following are some of the valid targets for this Makefile:"
|
||||
@echo "... all (the default if no target is provided)"
|
||||
@echo "... clean"
|
||||
@echo "... depend"
|
||||
@echo "... edit_cache"
|
||||
@echo "... install"
|
||||
@echo "... install/local"
|
||||
@echo "... install/strip"
|
||||
@echo "... list_install_components"
|
||||
@echo "... rebuild_cache"
|
||||
@echo "... ConvexDecomposition"
|
||||
@echo "... ConvexBuilder.o"
|
||||
@echo "... ConvexBuilder.i"
|
||||
@echo "... ConvexBuilder.s"
|
||||
@echo "... ConvexDecomposition.o"
|
||||
@echo "... ConvexDecomposition.i"
|
||||
@echo "... ConvexDecomposition.s"
|
||||
@echo "... bestfit.o"
|
||||
@echo "... bestfit.i"
|
||||
@echo "... bestfit.s"
|
||||
@echo "... bestfitobb.o"
|
||||
@echo "... bestfitobb.i"
|
||||
@echo "... bestfitobb.s"
|
||||
@echo "... cd_hull.o"
|
||||
@echo "... cd_hull.i"
|
||||
@echo "... cd_hull.s"
|
||||
@echo "... cd_wavefront.o"
|
||||
@echo "... cd_wavefront.i"
|
||||
@echo "... cd_wavefront.s"
|
||||
@echo "... concavity.o"
|
||||
@echo "... concavity.i"
|
||||
@echo "... concavity.s"
|
||||
@echo "... fitsphere.o"
|
||||
@echo "... fitsphere.i"
|
||||
@echo "... fitsphere.s"
|
||||
@echo "... float_math.o"
|
||||
@echo "... float_math.i"
|
||||
@echo "... float_math.s"
|
||||
@echo "... meshvolume.o"
|
||||
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|
||||
@echo "... meshvolume.s"
|
||||
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|
||||
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|
||||
@echo "... planetri.s"
|
||||
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|
||||
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|
||||
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|
||||
@echo "... splitplane.o"
|
||||
@echo "... splitplane.i"
|
||||
@echo "... splitplane.s"
|
||||
@echo "... vlookup.o"
|
||||
@echo "... vlookup.i"
|
||||
@echo "... vlookup.s"
|
||||
.PHONY : help
|
||||
|
||||
|
||||
|
||||
#=============================================================================
|
||||
# Special targets to cleanup operation of make.
|
||||
|
||||
# Special rule to run CMake to check the build system integrity.
|
||||
# No rule that depends on this can have commands that come from listfiles
|
||||
# because they might be regenerated.
|
||||
cmake_check_build_system:
|
||||
cd /Users/ragora/Documents/Projects/Torque3D && $(CMAKE_COMMAND) -S$(CMAKE_SOURCE_DIR) -B$(CMAKE_BINARY_DIR) --check-build-system CMakeFiles/Makefile.cmake 0
|
||||
.PHONY : cmake_check_build_system
|
||||
|
||||
466
Engine/lib/bullet/Extras/ConvexDecomposition/bestfit.cpp
Normal file
466
Engine/lib/bullet/Extras/ConvexDecomposition/bestfit.cpp
Normal file
|
|
@ -0,0 +1,466 @@
|
|||
#include "float_math.h"
|
||||
#include <stdio.h>
|
||||
#include <stdlib.h>
|
||||
#include <string.h>
|
||||
#include <assert.h>
|
||||
#include <math.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
|
||||
//
|
||||
// Geometric Tools, Inc.
|
||||
// http://www.geometrictools.com
|
||||
// Copyright (c) 1998-2006. All Rights Reserved
|
||||
//
|
||||
// The Wild Magic Library (WM3) source code is supplied under the terms of
|
||||
// the license agreement
|
||||
// http://www.geometrictools.com/License/WildMagic3License.pdf
|
||||
// and may not be copied or disclosed except in accordance with the terms
|
||||
// of that agreement.
|
||||
|
||||
#include "bestfit.h"
|
||||
|
||||
namespace BestFit
|
||||
{
|
||||
|
||||
class Vec3
|
||||
{
|
||||
public:
|
||||
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 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];
|
||||
|
||||
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;
|
||||
}
|
||||
}
|
||||
|
||||
bool QLAlgorithm(void)
|
||||
{
|
||||
const int iMaxIter = 32;
|
||||
|
||||
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;
|
||||
}
|
||||
|
||||
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;
|
||||
}
|
||||
|
||||
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];
|
||||
}
|
||||
}
|
||||
|
||||
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;
|
||||
};
|
||||
|
||||
}
|
||||
|
||||
|
||||
using namespace BestFit;
|
||||
|
||||
|
||||
bool getBestFitPlane(unsigned int vcount,
|
||||
const float *points,
|
||||
unsigned int vstride,
|
||||
const float *weights,
|
||||
unsigned int wstride,
|
||||
float *plane)
|
||||
{
|
||||
bool ret = false;
|
||||
|
||||
Vec3 kOrigin(0,0,0);
|
||||
|
||||
float wtotal = 0;
|
||||
|
||||
if ( 1 )
|
||||
{
|
||||
const char *source = (const char *) points;
|
||||
const char *wsource = (const char *) weights;
|
||||
|
||||
for (unsigned int i=0; i<vcount; i++)
|
||||
{
|
||||
|
||||
const float *p = (const float *) source;
|
||||
|
||||
float w = 1;
|
||||
|
||||
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;
|
||||
|
||||
wtotal+=w;
|
||||
|
||||
source+=vstride;
|
||||
}
|
||||
}
|
||||
|
||||
float recip = 1.0f / wtotal; // reciprocol of total weighting
|
||||
|
||||
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;
|
||||
|
||||
|
||||
if ( 1 )
|
||||
{
|
||||
const char *source = (const char *) points;
|
||||
const char *wsource = (const char *) weights;
|
||||
|
||||
for (unsigned int i=0; i<vcount; i++)
|
||||
{
|
||||
|
||||
const float *p = (const float *) source;
|
||||
|
||||
float w = 1;
|
||||
|
||||
if ( wsource )
|
||||
{
|
||||
const float *ws = (const float *) wsource;
|
||||
w = *ws; //
|
||||
wsource+=wstride;
|
||||
}
|
||||
|
||||
Vec3 kDiff;
|
||||
|
||||
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+= 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.
|
||||
|
||||
fSumYY+= kDiff.y * kDiff.y;
|
||||
fSumYZ+= kDiff.y * kDiff.z;
|
||||
fSumZZ+= kDiff.z * kDiff.z;
|
||||
|
||||
|
||||
source+=vstride;
|
||||
}
|
||||
}
|
||||
|
||||
fSumXX *= recip;
|
||||
fSumXY *= recip;
|
||||
fSumXZ *= recip;
|
||||
fSumYY *= recip;
|
||||
fSumYZ *= recip;
|
||||
fSumZZ *= recip;
|
||||
|
||||
// setup the eigensolver
|
||||
Eigen kES;
|
||||
|
||||
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;
|
||||
|
||||
kES.mElement[2][0] = fSumXZ;
|
||||
kES.mElement[2][1] = fSumYZ;
|
||||
kES.mElement[2][2] = fSumZZ;
|
||||
|
||||
// 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;
|
||||
}
|
||||
|
||||
|
||||
|
||||
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;
|
||||
|
||||
bmin[0] = points[0];
|
||||
bmin[1] = points[1];
|
||||
bmin[2] = points[2];
|
||||
|
||||
bmax[0] = points[0];
|
||||
bmax[1] = points[1];
|
||||
bmax[2] = points[2];
|
||||
|
||||
|
||||
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] > 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 );
|
||||
|
||||
}
|
||||
|
||||
|
||||
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 ( 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
|
||||
}
|
||||
|
||||
|
||||
65
Engine/lib/bullet/Extras/ConvexDecomposition/bestfit.h
Normal file
65
Engine/lib/bullet/Extras/ConvexDecomposition/bestfit.h
Normal file
|
|
@ -0,0 +1,65 @@
|
|||
#ifndef BEST_FIT_H
|
||||
|
||||
#define BEST_FIT_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
|
||||
//
|
||||
|
||||
|
||||
// This routine was released in 'snippet' form
|
||||
// by John W. Ratcliff mailto:jratcliff@infiniplex.net
|
||||
// on March 22, 2006.
|
||||
//
|
||||
// This routine computes the 'best fit' plane equation to
|
||||
// a set of input data points with an optional per vertex
|
||||
// weighting component.
|
||||
//
|
||||
// The implementation for this was lifted directly from
|
||||
// David Eberly's Magic Software implementation.
|
||||
|
||||
// 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);
|
||||
|
||||
|
||||
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
|
||||
173
Engine/lib/bullet/Extras/ConvexDecomposition/bestfitobb.cpp
Normal file
173
Engine/lib/bullet/Extras/ConvexDecomposition/bestfitobb.cpp
Normal file
|
|
@ -0,0 +1,173 @@
|
|||
#include "float_math.h"
|
||||
|
||||
#include <stdio.h>
|
||||
#include <stdlib.h>
|
||||
#include <string.h>
|
||||
#include <math.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 "bestfitobb.h"
|
||||
#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)
|
||||
{
|
||||
const char *src = (const char *) points;
|
||||
|
||||
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];
|
||||
|
||||
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] > 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;
|
||||
}
|
||||
|
||||
|
||||
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;
|
||||
|
||||
}
|
||||
|
||||
void computeBestFitOBB(unsigned int vcount,const float *points,unsigned int pstride,float *sides,float *matrix)
|
||||
{
|
||||
|
||||
float bmin[3];
|
||||
float bmax[3];
|
||||
|
||||
fm_getAABB(vcount,points,pstride,bmin,bmax);
|
||||
|
||||
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];
|
||||
|
||||
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 bestVolume = 1e9;
|
||||
float angle[3]={0.f,0.f,0.f};
|
||||
|
||||
while ( sweep >= 1 )
|
||||
{
|
||||
|
||||
bool found = false;
|
||||
|
||||
float stepsize = sweep / steps;
|
||||
|
||||
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];
|
||||
|
||||
fm_eulerMatrix( x*FM_DEG_TO_RAD, y*FM_DEG_TO_RAD, z*FM_DEG_TO_RAD, pmatrix );
|
||||
|
||||
pmatrix[3*4+0] = center[0];
|
||||
pmatrix[3*4+1] = center[1];
|
||||
pmatrix[3*4+2] = center[2];
|
||||
|
||||
float psides[3];
|
||||
|
||||
computeOBB( vcount, points, pstride, psides, pmatrix );
|
||||
|
||||
float volume = psides[0]*psides[1]*psides[2]; // the volume of the cube
|
||||
|
||||
if ( volume <= bestVolume )
|
||||
{
|
||||
bestVolume = volume;
|
||||
|
||||
sides[0] = psides[0];
|
||||
sides[1] = psides[1];
|
||||
sides[2] = psides[2];
|
||||
|
||||
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
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
}
|
||||
43
Engine/lib/bullet/Extras/ConvexDecomposition/bestfitobb.h
Normal file
43
Engine/lib/bullet/Extras/ConvexDecomposition/bestfitobb.h
Normal file
|
|
@ -0,0 +1,43 @@
|
|||
#ifndef BEST_FIT_OBB_H
|
||||
|
||||
#define BEST_FIT_OBB_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
|
||||
//
|
||||
|
||||
|
||||
|
||||
void computeBestFitOBB(unsigned int vcount,const float *points,unsigned int pstride,float *sides,float *matrix);
|
||||
|
||||
#endif
|
||||
3261
Engine/lib/bullet/Extras/ConvexDecomposition/cd_hull.cpp
Normal file
3261
Engine/lib/bullet/Extras/ConvexDecomposition/cd_hull.cpp
Normal file
File diff suppressed because it is too large
Load diff
153
Engine/lib/bullet/Extras/ConvexDecomposition/cd_hull.h
Normal file
153
Engine/lib/bullet/Extras/ConvexDecomposition/cd_hull.h
Normal file
|
|
@ -0,0 +1,153 @@
|
|||
#ifndef CD_HULL_H
|
||||
|
||||
#define CD_HULL_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.
|
||||
-----------------------------------------------------------------------*/
|
||||
|
||||
namespace ConvexDecomposition
|
||||
{
|
||||
|
||||
class HullResult
|
||||
{
|
||||
public:
|
||||
HullResult(void)
|
||||
{
|
||||
mPolygons = true;
|
||||
mNumOutputVertices = 0;
|
||||
mOutputVertices = 0;
|
||||
mNumFaces = 0;
|
||||
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.
|
||||
|
||||
// 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
|
||||
};
|
||||
|
||||
|
||||
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
|
||||
};
|
||||
|
||||
HullDesc(HullFlag flag,
|
||||
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
|
||||
}
|
||||
|
||||
bool HasHullFlag(HullFlag flag) const
|
||||
{
|
||||
if ( mFlags & flag ) return true;
|
||||
return false;
|
||||
}
|
||||
|
||||
void SetHullFlag(HullFlag flag)
|
||||
{
|
||||
mFlags|=flag;
|
||||
}
|
||||
|
||||
void ClearHullFlag(HullFlag 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;
|
||||
};
|
||||
|
||||
enum HullError
|
||||
{
|
||||
QE_OK, // success!
|
||||
QE_FAIL // failed.
|
||||
};
|
||||
|
||||
class HullLibrary
|
||||
{
|
||||
public:
|
||||
|
||||
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.
|
||||
|
||||
private:
|
||||
|
||||
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);
|
||||
};
|
||||
|
||||
}
|
||||
|
||||
#endif
|
||||
|
||||
1185
Engine/lib/bullet/Extras/ConvexDecomposition/cd_vector.h
Normal file
1185
Engine/lib/bullet/Extras/ConvexDecomposition/cd_vector.h
Normal file
File diff suppressed because it is too large
Load diff
860
Engine/lib/bullet/Extras/ConvexDecomposition/cd_wavefront.cpp
Normal file
860
Engine/lib/bullet/Extras/ConvexDecomposition/cd_wavefront.cpp
Normal file
|
|
@ -0,0 +1,860 @@
|
|||
#include <stdio.h>
|
||||
#include <stdlib.h>
|
||||
#include <string.h>
|
||||
#include <assert.h>
|
||||
#include <ctype.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 "float_math.h"
|
||||
|
||||
#include "cd_wavefront.h"
|
||||
|
||||
|
||||
using namespace ConvexDecomposition;
|
||||
|
||||
/*----------------------------------------------------------------------
|
||||
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.
|
||||
-----------------------------------------------------------------------*/
|
||||
|
||||
#include <vector>
|
||||
|
||||
namespace ConvexDecomposition
|
||||
{
|
||||
|
||||
typedef std::vector< int > IntVector;
|
||||
typedef std::vector< float > FloatVector;
|
||||
|
||||
#if defined(__APPLE__) || defined(__CELLOS_LV2__)
|
||||
#define stricmp(a, b) strcasecmp((a), (b))
|
||||
#endif
|
||||
|
||||
/*******************************************************************/
|
||||
/******************** InParser.h ********************************/
|
||||
/*******************************************************************/
|
||||
class InPlaceParserInterface
|
||||
{
|
||||
public:
|
||||
virtual ~InPlaceParserInterface () {} ;
|
||||
|
||||
virtual int ParseLine(int lineno,int argc,const char **argv) =0; // return TRUE to continue parsing, return FALSE to abort parsing process
|
||||
};
|
||||
|
||||
enum SeparatorType
|
||||
{
|
||||
ST_DATA, // is data
|
||||
ST_HARD, // is a hard separator
|
||||
ST_SOFT, // is a soft separator
|
||||
ST_EOS // is a comment symbol, and everything past this character should be ignored
|
||||
};
|
||||
|
||||
class InPlaceParser
|
||||
{
|
||||
public:
|
||||
InPlaceParser(void)
|
||||
{
|
||||
Init();
|
||||
}
|
||||
|
||||
InPlaceParser(char *data,int len)
|
||||
{
|
||||
Init();
|
||||
SetSourceData(data,len);
|
||||
}
|
||||
|
||||
InPlaceParser(const char *fname)
|
||||
{
|
||||
Init();
|
||||
SetFile(fname);
|
||||
}
|
||||
|
||||
~InPlaceParser(void);
|
||||
|
||||
void Init(void)
|
||||
{
|
||||
mQuoteChar = 34;
|
||||
mData = 0;
|
||||
mLen = 0;
|
||||
mMyAlloc = false;
|
||||
for (int i=0; i<256; i++)
|
||||
{
|
||||
mHard[i] = ST_DATA;
|
||||
mHardString[i*2] = i;
|
||||
mHardString[i*2+1] = 0;
|
||||
}
|
||||
mHard[0] = ST_EOS;
|
||||
mHard[32] = ST_SOFT;
|
||||
mHard[9] = ST_SOFT;
|
||||
mHard[13] = ST_SOFT;
|
||||
mHard[10] = ST_SOFT;
|
||||
}
|
||||
|
||||
void SetFile(const char *fname); // use this file as source data to parse.
|
||||
|
||||
void SetSourceData(char *data,int len)
|
||||
{
|
||||
mData = data;
|
||||
mLen = len;
|
||||
mMyAlloc = false;
|
||||
};
|
||||
|
||||
int Parse(InPlaceParserInterface *callback); // returns true if entire file was parsed, false if it aborted for some reason
|
||||
|
||||
int ProcessLine(int lineno,char *line,InPlaceParserInterface *callback);
|
||||
|
||||
const char ** GetArglist(char *source,int &count); // convert source string into an arg list, this is a destructive parse.
|
||||
|
||||
void SetHardSeparator(char c) // add a hard separator
|
||||
{
|
||||
mHard[(int)c] = ST_HARD;
|
||||
}
|
||||
|
||||
void SetHard(char c) // add a hard separator
|
||||
{
|
||||
mHard[(int)c] = ST_HARD;
|
||||
}
|
||||
|
||||
|
||||
void SetCommentSymbol(char c) // comment character, treated as 'end of string'
|
||||
{
|
||||
mHard[(int)c] = ST_EOS;
|
||||
}
|
||||
|
||||
void ClearHardSeparator(char c)
|
||||
{
|
||||
mHard[(int)c] = ST_DATA;
|
||||
}
|
||||
|
||||
|
||||
void DefaultSymbols(void); // set up default symbols for hard seperator and comment symbol of the '#' character.
|
||||
|
||||
bool EOS(char c)
|
||||
{
|
||||
if ( mHard[(int)c] == ST_EOS )
|
||||
{
|
||||
return true;
|
||||
}
|
||||
return false;
|
||||
}
|
||||
|
||||
void SetQuoteChar(char c)
|
||||
{
|
||||
mQuoteChar = c;
|
||||
}
|
||||
|
||||
private:
|
||||
|
||||
|
||||
inline char * AddHard(int &argc,const char **argv,char *foo);
|
||||
inline bool IsHard(char c);
|
||||
inline char * SkipSpaces(char *foo);
|
||||
inline bool IsWhiteSpace(char c);
|
||||
inline bool IsNonSeparator(char c); // non seperator,neither hard nor soft
|
||||
|
||||
bool mMyAlloc; // whether or not *I* allocated the buffer and am responsible for deleting it.
|
||||
char *mData; // ascii data to parse.
|
||||
int mLen; // length of data
|
||||
SeparatorType mHard[256];
|
||||
char mHardString[256*2];
|
||||
char mQuoteChar;
|
||||
};
|
||||
|
||||
/*******************************************************************/
|
||||
/******************** InParser.cpp ********************************/
|
||||
/*******************************************************************/
|
||||
void InPlaceParser::SetFile(const char *fname)
|
||||
{
|
||||
if ( mMyAlloc )
|
||||
{
|
||||
free(mData);
|
||||
}
|
||||
mData = 0;
|
||||
mLen = 0;
|
||||
mMyAlloc = false;
|
||||
|
||||
|
||||
FILE *fph = fopen(fname,"rb");
|
||||
if ( fph )
|
||||
{
|
||||
fseek(fph,0L,SEEK_END);
|
||||
mLen = ftell(fph);
|
||||
fseek(fph,0L,SEEK_SET);
|
||||
if ( mLen )
|
||||
{
|
||||
mData = (char *) malloc(sizeof(char)*(mLen+1));
|
||||
int ok = fread(mData, mLen, 1, fph);
|
||||
if ( !ok )
|
||||
{
|
||||
free(mData);
|
||||
mData = 0;
|
||||
}
|
||||
else
|
||||
{
|
||||
mData[mLen] = 0; // zero byte terminate end of file marker.
|
||||
mMyAlloc = true;
|
||||
}
|
||||
}
|
||||
fclose(fph);
|
||||
}
|
||||
}
|
||||
|
||||
InPlaceParser::~InPlaceParser(void)
|
||||
{
|
||||
if ( mMyAlloc )
|
||||
{
|
||||
free(mData);
|
||||
}
|
||||
}
|
||||
|
||||
#define MAXARGS 512
|
||||
|
||||
bool InPlaceParser::IsHard(char c)
|
||||
{
|
||||
return mHard[(int)c] == ST_HARD;
|
||||
}
|
||||
|
||||
char * InPlaceParser::AddHard(int &argc,const char **argv,char *foo)
|
||||
{
|
||||
while ( IsHard(*foo) )
|
||||
{
|
||||
const char *hard = &mHardString[*foo*2];
|
||||
if ( argc < MAXARGS )
|
||||
{
|
||||
argv[argc++] = hard;
|
||||
}
|
||||
foo++;
|
||||
}
|
||||
return foo;
|
||||
}
|
||||
|
||||
bool InPlaceParser::IsWhiteSpace(char c)
|
||||
{
|
||||
return mHard[(int)c] == ST_SOFT;
|
||||
}
|
||||
|
||||
char * InPlaceParser::SkipSpaces(char *foo)
|
||||
{
|
||||
while ( !EOS(*foo) && IsWhiteSpace(*foo) ) foo++;
|
||||
return foo;
|
||||
}
|
||||
|
||||
bool InPlaceParser::IsNonSeparator(char c)
|
||||
{
|
||||
if ( !IsHard(c) && !IsWhiteSpace(c) && c != 0 ) return true;
|
||||
return false;
|
||||
}
|
||||
|
||||
|
||||
int InPlaceParser::ProcessLine(int lineno,char *line,InPlaceParserInterface *callback)
|
||||
{
|
||||
int ret = 0;
|
||||
|
||||
const char *argv[MAXARGS];
|
||||
int argc = 0;
|
||||
|
||||
char *foo = line;
|
||||
|
||||
while ( !EOS(*foo) && argc < MAXARGS )
|
||||
{
|
||||
|
||||
foo = SkipSpaces(foo); // skip any leading spaces
|
||||
|
||||
if ( EOS(*foo) ) break;
|
||||
|
||||
if ( *foo == mQuoteChar ) // if it is an open quote
|
||||
{
|
||||
foo++;
|
||||
if ( argc < MAXARGS )
|
||||
{
|
||||
argv[argc++] = foo;
|
||||
}
|
||||
while ( !EOS(*foo) && *foo != mQuoteChar ) foo++;
|
||||
if ( !EOS(*foo) )
|
||||
{
|
||||
*foo = 0; // replace close quote with zero byte EOS
|
||||
foo++;
|
||||
}
|
||||
}
|
||||
else
|
||||
{
|
||||
|
||||
foo = AddHard(argc,argv,foo); // add any hard separators, skip any spaces
|
||||
|
||||
if ( IsNonSeparator(*foo) ) // add non-hard argument.
|
||||
{
|
||||
bool quote = false;
|
||||
if ( *foo == mQuoteChar )
|
||||
{
|
||||
foo++;
|
||||
quote = true;
|
||||
}
|
||||
|
||||
if ( argc < MAXARGS )
|
||||
{
|
||||
argv[argc++] = foo;
|
||||
}
|
||||
|
||||
if ( quote )
|
||||
{
|
||||
while (*foo && *foo != mQuoteChar ) foo++;
|
||||
if ( *foo ) *foo = 32;
|
||||
}
|
||||
|
||||
// continue..until we hit an eos ..
|
||||
while ( !EOS(*foo) ) // until we hit EOS
|
||||
{
|
||||
if ( IsWhiteSpace(*foo) ) // if we hit a space, stomp a zero byte, and exit
|
||||
{
|
||||
*foo = 0;
|
||||
foo++;
|
||||
break;
|
||||
}
|
||||
else if ( IsHard(*foo) ) // if we hit a hard separator, stomp a zero byte and store the hard separator argument
|
||||
{
|
||||
const char *hard = &mHardString[*foo*2];
|
||||
*foo = 0;
|
||||
if ( argc < MAXARGS )
|
||||
{
|
||||
argv[argc++] = hard;
|
||||
}
|
||||
foo++;
|
||||
break;
|
||||
}
|
||||
foo++;
|
||||
} // end of while loop...
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
if ( argc )
|
||||
{
|
||||
ret = callback->ParseLine(lineno, argc, argv );
|
||||
}
|
||||
|
||||
return ret;
|
||||
}
|
||||
|
||||
int InPlaceParser::Parse(InPlaceParserInterface *callback) // returns true if entire file was parsed, false if it aborted for some reason
|
||||
{
|
||||
assert( callback );
|
||||
if ( !mData ) return 0;
|
||||
|
||||
int ret = 0;
|
||||
|
||||
int lineno = 0;
|
||||
|
||||
char *foo = mData;
|
||||
char *begin = foo;
|
||||
|
||||
|
||||
while ( *foo )
|
||||
{
|
||||
if ( *foo == 10 || *foo == 13 )
|
||||
{
|
||||
lineno++;
|
||||
*foo = 0;
|
||||
|
||||
if ( *begin ) // if there is any data to parse at all...
|
||||
{
|
||||
int v = ProcessLine(lineno,begin,callback);
|
||||
if ( v ) ret = v;
|
||||
}
|
||||
|
||||
foo++;
|
||||
if ( *foo == 10 ) foo++; // skip line feed, if it is in the carraige-return line-feed format...
|
||||
begin = foo;
|
||||
}
|
||||
else
|
||||
{
|
||||
foo++;
|
||||
}
|
||||
}
|
||||
|
||||
lineno++; // lasst line.
|
||||
|
||||
int v = ProcessLine(lineno,begin,callback);
|
||||
if ( v ) ret = v;
|
||||
return ret;
|
||||
}
|
||||
|
||||
|
||||
void InPlaceParser::DefaultSymbols(void)
|
||||
{
|
||||
SetHardSeparator(',');
|
||||
SetHardSeparator('(');
|
||||
SetHardSeparator(')');
|
||||
SetHardSeparator('=');
|
||||
SetHardSeparator('[');
|
||||
SetHardSeparator(']');
|
||||
SetHardSeparator('{');
|
||||
SetHardSeparator('}');
|
||||
SetCommentSymbol('#');
|
||||
}
|
||||
|
||||
|
||||
const char ** InPlaceParser::GetArglist(char *line,int &count) // convert source string into an arg list, this is a destructive parse.
|
||||
{
|
||||
const char **ret = 0;
|
||||
|
||||
const char *argv[MAXARGS];
|
||||
int argc = 0;
|
||||
|
||||
char *foo = line;
|
||||
|
||||
while ( !EOS(*foo) && argc < MAXARGS )
|
||||
{
|
||||
|
||||
foo = SkipSpaces(foo); // skip any leading spaces
|
||||
|
||||
if ( EOS(*foo) ) break;
|
||||
|
||||
if ( *foo == mQuoteChar ) // if it is an open quote
|
||||
{
|
||||
foo++;
|
||||
if ( argc < MAXARGS )
|
||||
{
|
||||
argv[argc++] = foo;
|
||||
}
|
||||
while ( !EOS(*foo) && *foo != mQuoteChar ) foo++;
|
||||
if ( !EOS(*foo) )
|
||||
{
|
||||
*foo = 0; // replace close quote with zero byte EOS
|
||||
foo++;
|
||||
}
|
||||
}
|
||||
else
|
||||
{
|
||||
|
||||
foo = AddHard(argc,argv,foo); // add any hard separators, skip any spaces
|
||||
|
||||
if ( IsNonSeparator(*foo) ) // add non-hard argument.
|
||||
{
|
||||
bool quote = false;
|
||||
if ( *foo == mQuoteChar )
|
||||
{
|
||||
foo++;
|
||||
quote = true;
|
||||
}
|
||||
|
||||
if ( argc < MAXARGS )
|
||||
{
|
||||
argv[argc++] = foo;
|
||||
}
|
||||
|
||||
if ( quote )
|
||||
{
|
||||
while (*foo && *foo != mQuoteChar ) foo++;
|
||||
if ( *foo ) *foo = 32;
|
||||
}
|
||||
|
||||
// continue..until we hit an eos ..
|
||||
while ( !EOS(*foo) ) // until we hit EOS
|
||||
{
|
||||
if ( IsWhiteSpace(*foo) ) // if we hit a space, stomp a zero byte, and exit
|
||||
{
|
||||
*foo = 0;
|
||||
foo++;
|
||||
break;
|
||||
}
|
||||
else if ( IsHard(*foo) ) // if we hit a hard separator, stomp a zero byte and store the hard separator argument
|
||||
{
|
||||
const char *hard = &mHardString[*foo*2];
|
||||
*foo = 0;
|
||||
if ( argc < MAXARGS )
|
||||
{
|
||||
argv[argc++] = hard;
|
||||
}
|
||||
foo++;
|
||||
break;
|
||||
}
|
||||
foo++;
|
||||
} // end of while loop...
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
count = argc;
|
||||
if ( argc )
|
||||
{
|
||||
ret = argv;
|
||||
}
|
||||
|
||||
return ret;
|
||||
}
|
||||
|
||||
/*******************************************************************/
|
||||
/******************** Geometry.h ********************************/
|
||||
/*******************************************************************/
|
||||
|
||||
class GeometryVertex
|
||||
{
|
||||
public:
|
||||
float mPos[3];
|
||||
float mNormal[3];
|
||||
float mTexel[2];
|
||||
};
|
||||
|
||||
|
||||
class GeometryInterface
|
||||
{
|
||||
public:
|
||||
|
||||
virtual void NodeTriangle(const GeometryVertex *v1,const GeometryVertex *v2,const GeometryVertex *v3) {}
|
||||
|
||||
virtual ~GeometryInterface () {}
|
||||
};
|
||||
|
||||
|
||||
/*******************************************************************/
|
||||
/******************** Obj.h ********************************/
|
||||
/*******************************************************************/
|
||||
|
||||
|
||||
class OBJ : public InPlaceParserInterface
|
||||
{
|
||||
public:
|
||||
int LoadMesh(const char *fname,GeometryInterface *callback);
|
||||
int ParseLine(int lineno,int argc,const char **argv); // return TRUE to continue parsing, return FALSE to abort parsing process
|
||||
private:
|
||||
|
||||
void getVertex(GeometryVertex &v,const char *face) const;
|
||||
|
||||
FloatVector mVerts;
|
||||
FloatVector mTexels;
|
||||
FloatVector mNormals;
|
||||
|
||||
GeometryInterface *mCallback;
|
||||
};
|
||||
|
||||
|
||||
/*******************************************************************/
|
||||
/******************** Obj.cpp ********************************/
|
||||
/*******************************************************************/
|
||||
|
||||
int OBJ::LoadMesh(const char *fname,GeometryInterface *iface)
|
||||
{
|
||||
int ret = 0;
|
||||
|
||||
mVerts.clear();
|
||||
mTexels.clear();
|
||||
mNormals.clear();
|
||||
|
||||
mCallback = iface;
|
||||
|
||||
InPlaceParser ipp(fname);
|
||||
|
||||
ipp.Parse(this);
|
||||
|
||||
|
||||
return ret;
|
||||
}
|
||||
|
||||
//static const char * GetArg(const char **argv,int i,int argc)
|
||||
//{
|
||||
// const char * ret = 0;
|
||||
// if ( i < argc ) ret = argv[i];
|
||||
// return ret;
|
||||
//}
|
||||
|
||||
void OBJ::getVertex(GeometryVertex &v,const char *face) const
|
||||
{
|
||||
v.mPos[0] = 0;
|
||||
v.mPos[1] = 0;
|
||||
v.mPos[2] = 0;
|
||||
|
||||
v.mTexel[0] = 0;
|
||||
v.mTexel[1] = 0;
|
||||
|
||||
v.mNormal[0] = 0;
|
||||
v.mNormal[1] = 1;
|
||||
v.mNormal[2] = 0;
|
||||
|
||||
int index = atoi( face )-1;
|
||||
|
||||
const char *texel = strstr(face,"/");
|
||||
|
||||
if ( texel )
|
||||
{
|
||||
int tindex = atoi( texel+1) - 1;
|
||||
|
||||
if ( tindex >=0 && tindex < (int)(mTexels.size()/2) )
|
||||
{
|
||||
const float *t = &mTexels[tindex*2];
|
||||
|
||||
v.mTexel[0] = t[0];
|
||||
v.mTexel[1] = t[1];
|
||||
|
||||
}
|
||||
|
||||
const char *normal = strstr(texel+1,"/");
|
||||
if ( normal )
|
||||
{
|
||||
int nindex = atoi( normal+1 ) - 1;
|
||||
|
||||
if (nindex >= 0 && nindex < (int)(mNormals.size()/3) )
|
||||
{
|
||||
const float *n = &mNormals[nindex*3];
|
||||
|
||||
v.mNormal[0] = n[0];
|
||||
v.mNormal[1] = n[1];
|
||||
v.mNormal[2] = n[2];
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
if ( index >= 0 && index < (int)(mVerts.size()/3) )
|
||||
{
|
||||
|
||||
const float *p = &mVerts[index*3];
|
||||
|
||||
v.mPos[0] = p[0];
|
||||
v.mPos[1] = p[1];
|
||||
v.mPos[2] = p[2];
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
int OBJ::ParseLine(int lineno,int argc,const char **argv) // return TRUE to continue parsing, return FALSE to abort parsing process
|
||||
{
|
||||
int ret = 0;
|
||||
|
||||
if ( argc >= 1 )
|
||||
{
|
||||
const char *foo = argv[0];
|
||||
if ( *foo != '#' )
|
||||
{
|
||||
if ( strcmp(argv[0],"v") == 0 && argc == 4 )
|
||||
|
||||
//if ( stricmp(argv[0],"v") == 0 && argc == 4 )
|
||||
{
|
||||
float vx = (float) atof( argv[1] );
|
||||
float vy = (float) atof( argv[2] );
|
||||
float vz = (float) atof( argv[3] );
|
||||
mVerts.push_back(vx);
|
||||
mVerts.push_back(vy);
|
||||
mVerts.push_back(vz);
|
||||
}
|
||||
else if ( strcmp(argv[0],"vt") == 0 && argc == 3 )
|
||||
|
||||
// else if ( stricmp(argv[0],"vt") == 0 && argc == 3 )
|
||||
{
|
||||
float tx = (float) atof( argv[1] );
|
||||
float ty = (float) atof( argv[2] );
|
||||
mTexels.push_back(tx);
|
||||
mTexels.push_back(ty);
|
||||
}
|
||||
// else if ( stricmp(argv[0],"vn") == 0 && argc == 4 )
|
||||
|
||||
else if ( strcmp(argv[0],"vn") == 0 && argc == 4 )
|
||||
{
|
||||
float normalx = (float) atof(argv[1]);
|
||||
float normaly = (float) atof(argv[2]);
|
||||
float normalz = (float) atof(argv[3]);
|
||||
mNormals.push_back(normalx);
|
||||
mNormals.push_back(normaly);
|
||||
mNormals.push_back(normalz);
|
||||
}
|
||||
// else if ( stricmp(argv[0],"f") == 0 && argc >= 4 )
|
||||
|
||||
else if ( strcmp(argv[0],"f") == 0 && argc >= 4 )
|
||||
{
|
||||
GeometryVertex v[32];
|
||||
|
||||
int vcount = argc-1;
|
||||
|
||||
for (int i=1; i<argc; i++)
|
||||
{
|
||||
getVertex(v[i-1],argv[i] );
|
||||
}
|
||||
|
||||
// need to generate a normal!
|
||||
#if 0 // not currently implemented
|
||||
if ( mNormals.empty() )
|
||||
{
|
||||
Vector3d<float> p1( v[0].mPos );
|
||||
Vector3d<float> p2( v[1].mPos );
|
||||
Vector3d<float> p3( v[2].mPos );
|
||||
|
||||
Vector3d<float> n;
|
||||
n.ComputeNormal(p3,p2,p1);
|
||||
|
||||
for (int i=0; i<vcount; i++)
|
||||
{
|
||||
v[i].mNormal[0] = n.x;
|
||||
v[i].mNormal[1] = n.y;
|
||||
v[i].mNormal[2] = n.z;
|
||||
}
|
||||
|
||||
}
|
||||
#endif
|
||||
|
||||
mCallback->NodeTriangle(&v[0],&v[1],&v[2]);
|
||||
|
||||
if ( vcount >=3 ) // do the fan
|
||||
{
|
||||
for (int i=2; i<(vcount-1); i++)
|
||||
{
|
||||
mCallback->NodeTriangle(&v[0],&v[i],&v[i+1]);
|
||||
}
|
||||
}
|
||||
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
return ret;
|
||||
}
|
||||
|
||||
|
||||
|
||||
|
||||
class BuildMesh : public GeometryInterface
|
||||
{
|
||||
public:
|
||||
|
||||
int getIndex(const float *p)
|
||||
{
|
||||
|
||||
int vcount = mVertices.size()/3;
|
||||
|
||||
if(vcount>0)
|
||||
{
|
||||
//New MS STL library checks indices in debug build, so zero causes an assert if it is empty.
|
||||
const float *v = &mVertices[0];
|
||||
|
||||
for (int i=0; i<vcount; i++)
|
||||
{
|
||||
if ( v[0] == p[0] && v[1] == p[1] && v[2] == p[2] ) return i;
|
||||
v+=3;
|
||||
}
|
||||
}
|
||||
|
||||
mVertices.push_back( p[0] );
|
||||
mVertices.push_back( p[1] );
|
||||
mVertices.push_back( p[2] );
|
||||
|
||||
return vcount;
|
||||
}
|
||||
|
||||
virtual void NodeTriangle(const GeometryVertex *v1,const GeometryVertex *v2,const GeometryVertex *v3)
|
||||
{
|
||||
mIndices.push_back( getIndex(v1->mPos) );
|
||||
mIndices.push_back( getIndex(v2->mPos) );
|
||||
mIndices.push_back( getIndex(v3->mPos) );
|
||||
}
|
||||
|
||||
const FloatVector& GetVertices(void) const { return mVertices; };
|
||||
const IntVector& GetIndices(void) const { return mIndices; };
|
||||
|
||||
private:
|
||||
FloatVector mVertices;
|
||||
IntVector mIndices;
|
||||
};
|
||||
|
||||
|
||||
WavefrontObj::WavefrontObj(void)
|
||||
{
|
||||
mVertexCount = 0;
|
||||
mTriCount = 0;
|
||||
mIndices = 0;
|
||||
mVertices = 0;
|
||||
}
|
||||
|
||||
WavefrontObj::~WavefrontObj(void)
|
||||
{
|
||||
delete [] mIndices;
|
||||
delete [] mVertices;
|
||||
}
|
||||
|
||||
unsigned int WavefrontObj::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 ret = 0;
|
||||
|
||||
delete [] mVertices;
|
||||
mVertices = 0;
|
||||
delete [] mIndices;
|
||||
mIndices = 0;
|
||||
mVertexCount = 0;
|
||||
mTriCount = 0;
|
||||
|
||||
|
||||
BuildMesh bm;
|
||||
|
||||
OBJ obj;
|
||||
|
||||
obj.LoadMesh(fname,&bm);
|
||||
|
||||
|
||||
const FloatVector &vlist = bm.GetVertices();
|
||||
const IntVector &indices = bm.GetIndices();
|
||||
if ( vlist.size() )
|
||||
{
|
||||
mVertexCount = vlist.size()/3;
|
||||
mVertices = new float[mVertexCount*3];
|
||||
memcpy( mVertices, &vlist[0], sizeof(float)*mVertexCount*3 );
|
||||
mTriCount = indices.size()/3;
|
||||
mIndices = new int[mTriCount*3*sizeof(int)];
|
||||
memcpy(mIndices, &indices[0], sizeof(int)*mTriCount*3);
|
||||
ret = mTriCount;
|
||||
}
|
||||
|
||||
|
||||
return ret;
|
||||
}
|
||||
|
||||
}
|
||||
62
Engine/lib/bullet/Extras/ConvexDecomposition/cd_wavefront.h
Normal file
62
Engine/lib/bullet/Extras/ConvexDecomposition/cd_wavefront.h
Normal file
|
|
@ -0,0 +1,62 @@
|
|||
#ifndef CD_WAVEFRONT_OBJ_H
|
||||
|
||||
|
||||
#define CD_WAVEFRONT_OBJ_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
|
||||
//
|
||||
|
||||
|
||||
namespace ConvexDecomposition
|
||||
{
|
||||
|
||||
class WavefrontObj
|
||||
{
|
||||
public:
|
||||
|
||||
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.
|
||||
|
||||
int mVertexCount;
|
||||
int mTriCount;
|
||||
int *mIndices;
|
||||
float *mVertices;
|
||||
};
|
||||
|
||||
}
|
||||
|
||||
#endif
|
||||
|
|
@ -0,0 +1,39 @@
|
|||
# Install script for directory: /Users/ragora/Documents/Projects/Torque3D/Engine/lib/bullet/Extras/ConvexDecomposition
|
||||
|
||||
# Set the install prefix
|
||||
if(NOT DEFINED CMAKE_INSTALL_PREFIX)
|
||||
set(CMAKE_INSTALL_PREFIX "/Users/ragora/Documents/Test")
|
||||
endif()
|
||||
string(REGEX REPLACE "/$" "" CMAKE_INSTALL_PREFIX "${CMAKE_INSTALL_PREFIX}")
|
||||
|
||||
# Set the install configuration name.
|
||||
if(NOT DEFINED CMAKE_INSTALL_CONFIG_NAME)
|
||||
if(BUILD_TYPE)
|
||||
string(REGEX REPLACE "^[^A-Za-z0-9_]+" ""
|
||||
CMAKE_INSTALL_CONFIG_NAME "${BUILD_TYPE}")
|
||||
else()
|
||||
set(CMAKE_INSTALL_CONFIG_NAME "Release")
|
||||
endif()
|
||||
message(STATUS "Install configuration: \"${CMAKE_INSTALL_CONFIG_NAME}\"")
|
||||
endif()
|
||||
|
||||
# Set the component getting installed.
|
||||
if(NOT CMAKE_INSTALL_COMPONENT)
|
||||
if(COMPONENT)
|
||||
message(STATUS "Install component: \"${COMPONENT}\"")
|
||||
set(CMAKE_INSTALL_COMPONENT "${COMPONENT}")
|
||||
else()
|
||||
set(CMAKE_INSTALL_COMPONENT)
|
||||
endif()
|
||||
endif()
|
||||
|
||||
# Is this installation the result of a crosscompile?
|
||||
if(NOT DEFINED CMAKE_CROSSCOMPILING)
|
||||
set(CMAKE_CROSSCOMPILING "FALSE")
|
||||
endif()
|
||||
|
||||
# Set default install directory permissions.
|
||||
if(NOT DEFINED CMAKE_OBJDUMP)
|
||||
set(CMAKE_OBJDUMP "/Applications/Xcode.app/Contents/Developer/Toolchains/XcodeDefault.xctoolchain/usr/bin/objdump")
|
||||
endif()
|
||||
|
||||
795
Engine/lib/bullet/Extras/ConvexDecomposition/concavity.cpp
Normal file
795
Engine/lib/bullet/Extras/ConvexDecomposition/concavity.cpp
Normal file
|
|
@ -0,0 +1,795 @@
|
|||
#include "float_math.h"
|
||||
#include <stdio.h>
|
||||
#include <stdlib.h>
|
||||
#include <string.h>
|
||||
#include <assert.h>
|
||||
|
||||
#include <vector>
|
||||
|
||||
/*----------------------------------------------------------------------
|
||||
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 "concavity.h"
|
||||
#include "raytri.h"
|
||||
#include "bestfit.h"
|
||||
#include "cd_hull.h"
|
||||
#include "meshvolume.h"
|
||||
#include "cd_vector.h"
|
||||
#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
|
||||
};
|
||||
|
||||
static int count = 0;
|
||||
|
||||
count++;
|
||||
|
||||
if ( count == 8 ) count = 0;
|
||||
|
||||
assert( count >= 0 && count < 8 );
|
||||
|
||||
unsigned int color = colors[count];
|
||||
|
||||
return color;
|
||||
|
||||
}
|
||||
|
||||
class Wpoint
|
||||
{
|
||||
public:
|
||||
Wpoint(const Vector3d &p,float w)
|
||||
{
|
||||
mPoint = p;
|
||||
mWeight = w;
|
||||
}
|
||||
|
||||
Vector3d mPoint;
|
||||
float mWeight;
|
||||
};
|
||||
|
||||
typedef std::vector< Wpoint > WpointVector;
|
||||
|
||||
|
||||
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];
|
||||
return d;
|
||||
}
|
||||
|
||||
|
||||
static void intersect(const float *p1,const float *p2,float *split,const float *plane)
|
||||
{
|
||||
|
||||
float dp1 = DistToPt(p1,plane);
|
||||
|
||||
float dir[3];
|
||||
|
||||
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 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];
|
||||
}
|
||||
|
||||
|
||||
class CTri
|
||||
{
|
||||
public:
|
||||
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;
|
||||
|
||||
mP1.Set(p1);
|
||||
mP2.Set(p2);
|
||||
mP3.Set(p3);
|
||||
|
||||
mPlaneD = mNormal.ComputePlane(mP1,mP2,mP3);
|
||||
}
|
||||
|
||||
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
|
||||
{
|
||||
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
|
||||
{
|
||||
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 tcount = 0;
|
||||
|
||||
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,1,4,5,tcount);
|
||||
addTri(indices,1,5,2,tcount);
|
||||
|
||||
addTri(indices,0,3,5,tcount);
|
||||
addTri(indices,0,5,2,tcount);
|
||||
|
||||
const float *vertices = mP1.Ptr();
|
||||
|
||||
if ( callback )
|
||||
{
|
||||
unsigned int color = getDebugColor();
|
||||
|
||||
#if 0
|
||||
Vector3d d1 = mNear1;
|
||||
Vector3d d2 = mNear2;
|
||||
Vector3d d3 = mNear3;
|
||||
|
||||
callback->ConvexDebugPoint(mP1.Ptr(),0.01f,0x00FF00);
|
||||
callback->ConvexDebugPoint(mP2.Ptr(),0.01f,0x00FF00);
|
||||
callback->ConvexDebugPoint(mP3.Ptr(),0.01f,0x00FF00);
|
||||
callback->ConvexDebugPoint(d1.Ptr(),0.01f,0xFF0000);
|
||||
callback->ConvexDebugPoint(d2.Ptr(),0.01f,0xFF0000);
|
||||
callback->ConvexDebugPoint(d3.Ptr(),0.01f,0xFF0000);
|
||||
|
||||
callback->ConvexDebugTri(mP1.Ptr(), d1.Ptr(), d1.Ptr(),0x00FF00);
|
||||
callback->ConvexDebugTri(mP2.Ptr(), d2.Ptr(), d2.Ptr(),0x00FF00);
|
||||
callback->ConvexDebugTri(mP3.Ptr(), d3.Ptr(), d3.Ptr(),0x00FF00);
|
||||
|
||||
#else
|
||||
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];
|
||||
|
||||
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 );
|
||||
|
||||
return v;
|
||||
|
||||
}
|
||||
|
||||
float raySect(const Vector3d &p,const Vector3d &dir,Vector3d §) const
|
||||
{
|
||||
float plane[4];
|
||||
|
||||
plane[0] = mNormal.x;
|
||||
plane[1] = mNormal.y;
|
||||
plane[2] = mNormal.z;
|
||||
plane[3] = mPlaneD;
|
||||
|
||||
Vector3d dest = p+dir*100000;
|
||||
|
||||
intersect( p.Ptr(), dest.Ptr(), sect.Ptr(), plane );
|
||||
|
||||
return sect.Distance(p); // return the intersection distance.
|
||||
|
||||
}
|
||||
|
||||
float planeDistance(const Vector3d &p) const
|
||||
{
|
||||
float plane[4];
|
||||
|
||||
plane[0] = mNormal.x;
|
||||
plane[1] = mNormal.y;
|
||||
plane[2] = mNormal.z;
|
||||
plane[3] = mPlaneD;
|
||||
|
||||
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;
|
||||
}
|
||||
|
||||
bool hasIndex(unsigned int i) const
|
||||
{
|
||||
if ( i == mI1 || i == mI2 || i == mI3 ) return true;
|
||||
return false;
|
||||
}
|
||||
|
||||
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 ( count >= 2 ) ret = true;
|
||||
|
||||
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 );
|
||||
}
|
||||
|
||||
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);
|
||||
|
||||
Vector3d d1 = mNear1 - mP1;
|
||||
Vector3d d2 = mNear2 - mP2;
|
||||
Vector3d d3 = mNear3 - mP3;
|
||||
|
||||
d1*=WSCALE;
|
||||
d2*=WSCALE;
|
||||
d3*=WSCALE;
|
||||
|
||||
d1 = d1 + mP1;
|
||||
d2 = d2 + mP2;
|
||||
d3 = d3 + mP3;
|
||||
|
||||
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(p4);
|
||||
list.push_back(p5);
|
||||
list.push_back(p6);
|
||||
|
||||
#if 0
|
||||
callback->ConvexDebugPoint(mP1.Ptr(),0.01f,0x00FF00);
|
||||
callback->ConvexDebugPoint(mP2.Ptr(),0.01f,0x00FF00);
|
||||
callback->ConvexDebugPoint(mP3.Ptr(),0.01f,0x00FF00);
|
||||
callback->ConvexDebugPoint(d1.Ptr(),0.01f,0xFF0000);
|
||||
callback->ConvexDebugPoint(d2.Ptr(),0.01f,0xFF0000);
|
||||
callback->ConvexDebugPoint(d3.Ptr(),0.01f,0xFF0000);
|
||||
|
||||
callback->ConvexDebugTri(mP1.Ptr(), d1.Ptr(), d1.Ptr(),0x00FF00);
|
||||
callback->ConvexDebugTri(mP2.Ptr(), d2.Ptr(), d2.Ptr(),0x00FF00);
|
||||
callback->ConvexDebugTri(mP3.Ptr(), d3.Ptr(), d3.Ptr(),0x00FF00);
|
||||
|
||||
Vector3d np1 = mP1 + mNormal*0.05f;
|
||||
Vector3d np2 = mP2 + mNormal*0.05f;
|
||||
Vector3d np3 = mP3 + mNormal*0.05f;
|
||||
|
||||
callback->ConvexDebugTri(mP1.Ptr(), np1.Ptr(), np1.Ptr(), 0xFF00FF );
|
||||
callback->ConvexDebugTri(mP2.Ptr(), np2.Ptr(), np2.Ptr(), 0xFF00FF );
|
||||
callback->ConvexDebugTri(mP3.Ptr(), np3.Ptr(), np3.Ptr(), 0xFF00FF );
|
||||
|
||||
callback->ConvexDebugPoint( np1.Ptr(), 0.01F, 0XFF00FF );
|
||||
callback->ConvexDebugPoint( np2.Ptr(), 0.01F, 0XFF00FF );
|
||||
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...
|
||||
};
|
||||
|
||||
typedef std::vector< CTri > CTriVector;
|
||||
|
||||
bool featureMatch(CTri &m,const CTriVector &tris,ConvexDecompInterface *callback,const CTriVector &input_mesh)
|
||||
{
|
||||
|
||||
bool ret = false;
|
||||
|
||||
float neardot = 0.707f;
|
||||
|
||||
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 );
|
||||
//gLog->Display("*********************************************\r\n");
|
||||
|
||||
CTriVector::const_iterator i;
|
||||
|
||||
CTri nearest;
|
||||
|
||||
|
||||
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 );
|
||||
|
||||
if ( t.samePlane(m) )
|
||||
{
|
||||
//gLog->Display("*** PLANE MATCH!!!\r\n");
|
||||
ret = false;
|
||||
break;
|
||||
}
|
||||
|
||||
float dot = t.mNormal.Dot(m.mNormal);
|
||||
|
||||
if ( dot > neardot )
|
||||
{
|
||||
|
||||
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;
|
||||
|
||||
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 );
|
||||
|
||||
nearest = t;
|
||||
|
||||
ret = true;
|
||||
}
|
||||
|
||||
}
|
||||
}
|
||||
|
||||
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 );
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
//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.mConcavity = m.mC1;
|
||||
|
||||
if ( m.mC2 > m.mConcavity ) m.mConcavity = m.mC2;
|
||||
if ( m.mC3 > m.mConcavity ) m.mConcavity = m.mC3;
|
||||
|
||||
#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
|
||||
|
||||
}
|
||||
else
|
||||
{
|
||||
//gLog->Display("No match\r\n");
|
||||
}
|
||||
|
||||
//gLog->Display("*********************************************\r\n");
|
||||
return ret;
|
||||
}
|
||||
|
||||
bool isFeatureTri(CTri &t,CTriVector &flist,float fc,ConvexDecompInterface *callback,unsigned int color)
|
||||
{
|
||||
bool ret = false;
|
||||
|
||||
if ( t.mProcessed == 0 ) // if not already processed
|
||||
{
|
||||
|
||||
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() )
|
||||
{
|
||||
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 );
|
||||
ret = true;
|
||||
}
|
||||
}
|
||||
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)
|
||||
{
|
||||
|
||||
|
||||
float cret = 0;
|
||||
volume = 1;
|
||||
|
||||
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;
|
||||
|
||||
HullError ret = hl.CreateConvexHull(desc,result);
|
||||
|
||||
if ( ret == QE_OK )
|
||||
{
|
||||
#if 0
|
||||
float bmin[3];
|
||||
float bmax[3];
|
||||
|
||||
float dx = bmax[0] - bmin[0];
|
||||
float dy = bmax[1] - bmin[1];
|
||||
float dz = bmax[2] - bmin[2];
|
||||
|
||||
Vector3d center;
|
||||
|
||||
center.x = bmin[0] + dx*0.5f;
|
||||
center.y = bmin[1] + dy*0.5f;
|
||||
center.z = bmin[2] + dz*0.5f;
|
||||
#endif
|
||||
|
||||
volume = computeMeshVolume2( result.mOutputVertices, result.mNumFaces, result.mIndices );
|
||||
|
||||
#if 1
|
||||
// ok..now..for each triangle on the original mesh..
|
||||
// we extrude the points to the nearest point on the hull.
|
||||
const unsigned int *source = result.mIndices;
|
||||
|
||||
CTriVector tris;
|
||||
|
||||
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];
|
||||
|
||||
// callback->ConvexDebugTri(p1,p2,p3,0xFFFFFF);
|
||||
|
||||
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..
|
||||
|
||||
float totalVolume = 0;
|
||||
|
||||
CTriVector ftris; // 'feature' triangles.
|
||||
|
||||
const unsigned int *src = indices;
|
||||
|
||||
|
||||
float maxc=0;
|
||||
|
||||
|
||||
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++)
|
||||
{
|
||||
|
||||
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 ( ftris.size() && 0 )
|
||||
{
|
||||
|
||||
// ok..now we extract the triangles which form the maximum concavity.
|
||||
CTriVector major_feature;
|
||||
float maxarea = 0;
|
||||
|
||||
while ( maxc > CONCAVE_THRESH )
|
||||
{
|
||||
|
||||
unsigned int color = getDebugColor(); //
|
||||
|
||||
CTriVector flist;
|
||||
|
||||
bool found;
|
||||
|
||||
float totalarea = 0;
|
||||
|
||||
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();
|
||||
}
|
||||
}
|
||||
} while ( found );
|
||||
|
||||
|
||||
if ( totalarea > maxarea )
|
||||
{
|
||||
major_feature = flist;
|
||||
maxarea = totalarea;
|
||||
}
|
||||
|
||||
maxc = 0;
|
||||
|
||||
for (unsigned int i=0; i<ftris.size(); i++)
|
||||
{
|
||||
CTri &t = ftris[i];
|
||||
if ( t.mProcessed != 2 )
|
||||
{
|
||||
t.mProcessed = 0;
|
||||
if ( t.mConcavity > maxc )
|
||||
{
|
||||
maxc = t.mConcavity;
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
unsigned int color = getDebugColor();
|
||||
|
||||
WpointVector list;
|
||||
for (unsigned int i=0; i<major_feature.size(); ++i)
|
||||
{
|
||||
major_feature[i].addWeighted(list,callback);
|
||||
major_feature[i].debug(color,callback);
|
||||
}
|
||||
|
||||
getBestFitPlane( list.size(), &list[0].mPoint.x, sizeof(Wpoint), &list[0].mWeight, sizeof(Wpoint), plane );
|
||||
|
||||
computeSplitPlane( vcount, vertices, tcount, indices, callback, plane );
|
||||
|
||||
|
||||
}
|
||||
else
|
||||
{
|
||||
computeSplitPlane( vcount, vertices, tcount, indices, callback, plane );
|
||||
}
|
||||
#endif
|
||||
|
||||
cret = totalVolume;
|
||||
|
||||
hl.ReleaseResult(result);
|
||||
}
|
||||
|
||||
|
||||
return cret;
|
||||
}
|
||||
|
||||
|
||||
}
|
||||
60
Engine/lib/bullet/Extras/ConvexDecomposition/concavity.h
Normal file
60
Engine/lib/bullet/Extras/ConvexDecomposition/concavity.h
Normal file
|
|
@ -0,0 +1,60 @@
|
|||
#ifndef COMPUTE_CONCAVITY_H
|
||||
|
||||
#define COMPUTE_CONCAVITY_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
|
||||
//
|
||||
|
||||
|
||||
|
||||
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);
|
||||
|
||||
|
||||
}
|
||||
|
||||
|
||||
#endif
|
||||
202
Engine/lib/bullet/Extras/ConvexDecomposition/fitsphere.cpp
Normal file
202
Engine/lib/bullet/Extras/ConvexDecomposition/fitsphere.cpp
Normal file
|
|
@ -0,0 +1,202 @@
|
|||
#include <stdio.h>
|
||||
#include <stdlib.h>
|
||||
#include <string.h>
|
||||
#include <assert.h>
|
||||
#include <math.h>
|
||||
|
||||
#include "fitsphere.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
|
||||
//
|
||||
/*
|
||||
An Efficient Bounding Sphere
|
||||
by Jack Ritter
|
||||
from "Graphics Gems", Academic Press, 1990
|
||||
*/
|
||||
|
||||
/* Routine to calculate tight bounding sphere over */
|
||||
/* a set of points in 3D */
|
||||
/* This contains the routine find_bounding_sphere(), */
|
||||
/* the struct definition, and the globals used for parameters. */
|
||||
/* The abs() of all coordinates must be < BIGNUMBER */
|
||||
/* Code written by Jack Ritter and Lyle Rains. */
|
||||
|
||||
#define BIGNUMBER 100000000.0 /* hundred million */
|
||||
|
||||
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)
|
||||
{
|
||||
dest[0] = source[0];
|
||||
dest[1] = source[1];
|
||||
dest[2] = source[2];
|
||||
}
|
||||
|
||||
float computeBoundingSphere(unsigned int vcount,const float *points,float *center)
|
||||
{
|
||||
|
||||
float mRadius;
|
||||
float mRadius2;
|
||||
|
||||
float xmin[3];
|
||||
float xmax[3];
|
||||
float ymin[3];
|
||||
float ymax[3];
|
||||
float zmin[3];
|
||||
float zmax[3];
|
||||
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);
|
||||
|
||||
for (unsigned i=0; i<vcount; i++)
|
||||
{
|
||||
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);
|
||||
}
|
||||
|
||||
/* 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;
|
||||
|
||||
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;
|
||||
|
||||
if (yspan>maxspan)
|
||||
{
|
||||
maxspan = yspan;
|
||||
Copy(dia1,ymin);
|
||||
Copy(dia2,ymax);
|
||||
}
|
||||
|
||||
if (zspan>maxspan)
|
||||
{
|
||||
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;
|
||||
|
||||
/* 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 */
|
||||
|
||||
mRadius2 = dx*dx + dy*dy + dz*dz;
|
||||
mRadius = float(sqrt(mRadius2));
|
||||
|
||||
/* SECOND PASS: increment current sphere */
|
||||
|
||||
if ( 1 )
|
||||
{
|
||||
for (unsigned i=0; i<vcount; i++)
|
||||
{
|
||||
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];
|
||||
|
||||
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));
|
||||
/* 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;
|
||||
|
||||
/* calc center of new sphere */
|
||||
|
||||
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;
|
||||
|
||||
Set(center,cx,cy,cz);
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
return mRadius;
|
||||
}
|
||||
|
||||
|
||||
43
Engine/lib/bullet/Extras/ConvexDecomposition/fitsphere.h
Normal file
43
Engine/lib/bullet/Extras/ConvexDecomposition/fitsphere.h
Normal file
|
|
@ -0,0 +1,43 @@
|
|||
#ifndef FIT_SPHERE_H
|
||||
|
||||
#define FIT_SPHERE_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
|
||||
//
|
||||
|
||||
|
||||
|
||||
float computeBoundingSphere(unsigned int vcount,const float *points,float *center);
|
||||
|
||||
#endif
|
||||
257
Engine/lib/bullet/Extras/ConvexDecomposition/float_math.cpp
Normal file
257
Engine/lib/bullet/Extras/ConvexDecomposition/float_math.cpp
Normal file
|
|
@ -0,0 +1,257 @@
|
|||
#include "float_math.h"
|
||||
|
||||
#include <stdio.h>
|
||||
#include <stdlib.h>
|
||||
#include <string.h>
|
||||
#include <assert.h>
|
||||
#include <math.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
|
||||
//
|
||||
|
||||
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];
|
||||
|
||||
// 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);
|
||||
|
||||
}
|
||||
|
||||
|
||||
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[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+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)
|
||||
{
|
||||
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)
|
||||
{
|
||||
|
||||
const unsigned char *source = (const unsigned char *) points;
|
||||
|
||||
bmin[0] = points[0];
|
||||
bmin[1] = points[1];
|
||||
bmin[2] = points[2];
|
||||
|
||||
bmax[0] = points[0];
|
||||
bmax[1] = points[1];
|
||||
bmax[2] = points[2];
|
||||
|
||||
|
||||
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] > 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.
|
||||
{
|
||||
roll *= 0.5f;
|
||||
pitch *= 0.5f;
|
||||
yaw *= 0.5f;
|
||||
|
||||
float cr = cosf(roll);
|
||||
float cp = cosf(pitch);
|
||||
float cy = cosf(yaw);
|
||||
|
||||
float sr = sinf(roll);
|
||||
float sp = sinf(pitch);
|
||||
float sy = sinf(yaw);
|
||||
|
||||
float cpcy = cp * cy;
|
||||
float spsy = sp * sy;
|
||||
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;
|
||||
}
|
||||
|
||||
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];
|
||||
|
||||
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+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.
|
||||
{
|
||||
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]);
|
||||
|
||||
}
|
||||
|
||||
|
||||
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];
|
||||
}
|
||||
|
||||
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];
|
||||
|
||||
// check the diagonal
|
||||
|
||||
if (tr > 0.0f )
|
||||
{
|
||||
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;
|
||||
|
||||
}
|
||||
else
|
||||
{
|
||||
// diagonal is negative
|
||||
int nxt[3] = {1, 2, 0};
|
||||
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;
|
||||
|
||||
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) );
|
||||
|
||||
qa[i] = s * 0.5f;
|
||||
|
||||
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;
|
||||
|
||||
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 )
|
||||
{
|
||||
return (4.0f / 3.0f ) * FM_PI * radius * radius * radius;
|
||||
}
|
||||
72
Engine/lib/bullet/Extras/ConvexDecomposition/float_math.h
Normal file
72
Engine/lib/bullet/Extras/ConvexDecomposition/float_math.h
Normal file
|
|
@ -0,0 +1,72 @@
|
|||
#ifndef FLOAT_MATH_H
|
||||
|
||||
#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
|
||||
#endif
|
||||
|
||||
/*----------------------------------------------------------------------
|
||||
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
|
||||
//
|
||||
|
||||
|
||||
// a set of routines that last you do common 3d math
|
||||
// operations without any vector, matrix, or quaternion
|
||||
// classes or templates.
|
||||
//
|
||||
// a vector (or point) is a 'float *' to 3 floating point numbers.
|
||||
// a matrix is a 'float *' to an array of 16 floating point numbers representing a 4x4 transformation matrix compatible with D3D or OGL
|
||||
// a quaternion is a 'float *' to 4 floats representing a quaternion x,y,z,w
|
||||
|
||||
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 )
|
||||
|
||||
#endif
|
||||
BIN
Engine/lib/bullet/Extras/ConvexDecomposition/libConvexDecomposition.2.85.dylib
Executable file
BIN
Engine/lib/bullet/Extras/ConvexDecomposition/libConvexDecomposition.2.85.dylib
Executable file
Binary file not shown.
|
|
@ -0,0 +1 @@
|
|||
libConvexDecomposition.2.85.dylib
|
||||
128
Engine/lib/bullet/Extras/ConvexDecomposition/meshvolume.cpp
Normal file
128
Engine/lib/bullet/Extras/ConvexDecomposition/meshvolume.cpp
Normal file
|
|
@ -0,0 +1,128 @@
|
|||
#include "float_math.h"
|
||||
#include "meshvolume.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
|
||||
//
|
||||
|
||||
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];
|
||||
}
|
||||
|
||||
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)
|
||||
{
|
||||
|
||||
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*=(1.0f/6.0f);
|
||||
if ( volume < 0 )
|
||||
volume*=-1;
|
||||
return volume;
|
||||
}
|
||||
|
||||
|
||||
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];
|
||||
}
|
||||
|
||||
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)
|
||||
{
|
||||
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];
|
||||
|
||||
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];
|
||||
|
||||
float cross[3];
|
||||
|
||||
CrossProduct( b, c, cross );
|
||||
|
||||
float volume = DotProduct( a, cross );
|
||||
|
||||
if ( volume < 0 )
|
||||
return -volume;
|
||||
|
||||
return volume;
|
||||
}
|
||||
|
||||
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];
|
||||
}
|
||||
|
||||
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)
|
||||
{
|
||||
|
||||
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
|
||||
}
|
||||
|
||||
return volume * (1.0f / 6.0f );
|
||||
}
|
||||
|
||||
45
Engine/lib/bullet/Extras/ConvexDecomposition/meshvolume.h
Normal file
45
Engine/lib/bullet/Extras/ConvexDecomposition/meshvolume.h
Normal file
|
|
@ -0,0 +1,45 @@
|
|||
#ifndef MESH_VOLUME_H
|
||||
|
||||
#define MESH_VOLUME_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
|
||||
//
|
||||
|
||||
|
||||
|
||||
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
|
||||
238
Engine/lib/bullet/Extras/ConvexDecomposition/planetri.cpp
Normal file
238
Engine/lib/bullet/Extras/ConvexDecomposition/planetri.cpp
Normal file
|
|
@ -0,0 +1,238 @@
|
|||
#include "float_math.h"
|
||||
#include <stdio.h>
|
||||
#include <stdlib.h>
|
||||
#include <string.h>
|
||||
#include <assert.h>
|
||||
|
||||
#include "planetri.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
|
||||
//
|
||||
|
||||
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];
|
||||
return d;
|
||||
}
|
||||
|
||||
|
||||
static PlaneTriResult getSidePlane(const float *p,const float *plane,float epsilon)
|
||||
{
|
||||
|
||||
float d = DistToPt(p,plane);
|
||||
|
||||
if ( (d+epsilon) > 0 )
|
||||
return PTR_FRONT; // it is 'in front' within the provided epsilon value.
|
||||
|
||||
return PTR_BACK;
|
||||
}
|
||||
|
||||
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 );
|
||||
}
|
||||
|
||||
|
||||
// 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)
|
||||
{
|
||||
|
||||
float dp1 = DistToPt(p1,plane);
|
||||
|
||||
float dir[3];
|
||||
|
||||
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 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.
|
||||
{
|
||||
fcount = 0;
|
||||
bcount = 0;
|
||||
|
||||
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);
|
||||
|
||||
|
||||
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
|
||||
}
|
||||
|
||||
// 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);
|
||||
|
||||
if ( r1 == PTR_FRONT )
|
||||
{
|
||||
|
||||
add(p1, front, tstride, fcount );
|
||||
add(split, front, tstride, fcount );
|
||||
|
||||
add(split, back, tstride, bcount );
|
||||
add(p2, back, tstride, bcount );
|
||||
|
||||
}
|
||||
else
|
||||
{
|
||||
add(p1, back, tstride, bcount );
|
||||
add(split, back, tstride, bcount );
|
||||
|
||||
add(split, front, tstride, fcount );
|
||||
add(p2, front, tstride, fcount );
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
// 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);
|
||||
|
||||
if ( r3 == PTR_FRONT )
|
||||
{
|
||||
add(split, front, tstride, fcount );
|
||||
add(split, back, tstride, bcount );
|
||||
|
||||
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 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;
|
||||
}
|
||||
58
Engine/lib/bullet/Extras/ConvexDecomposition/planetri.h
Normal file
58
Engine/lib/bullet/Extras/ConvexDecomposition/planetri.h
Normal file
|
|
@ -0,0 +1,58 @@
|
|||
#ifndef PLANE_TRI_H
|
||||
|
||||
#define PLANE_TRI_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
|
||||
//
|
||||
|
||||
|
||||
|
||||
enum PlaneTriResult
|
||||
{
|
||||
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.
|
||||
|
||||
|
||||
#endif
|
||||
|
|
@ -0,0 +1,9 @@
|
|||
project "ConvexDecomposition"
|
||||
|
||||
kind "StaticLib"
|
||||
|
||||
includedirs {".","../../src"}
|
||||
files {
|
||||
"**.cpp",
|
||||
"**.h"
|
||||
}
|
||||
134
Engine/lib/bullet/Extras/ConvexDecomposition/raytri.cpp
Normal file
134
Engine/lib/bullet/Extras/ConvexDecomposition/raytri.cpp
Normal file
|
|
@ -0,0 +1,134 @@
|
|||
#include "float_math.h"
|
||||
#include <stdio.h>
|
||||
#include <stdlib.h>
|
||||
#include <string.h>
|
||||
#include <assert.h>
|
||||
#include <math.h>
|
||||
|
||||
#include "raytri.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
|
||||
//
|
||||
|
||||
|
||||
/* a = b - c */
|
||||
#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 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)
|
||||
{
|
||||
|
||||
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);
|
||||
|
||||
if (a > -0.00001 && a < 0.00001)
|
||||
return(false);
|
||||
|
||||
f = 1/a;
|
||||
vector(s,p,v0);
|
||||
u = f * (innerProduct(s,h));
|
||||
|
||||
if (u < 0.0 || u > 1.0)
|
||||
return(false);
|
||||
|
||||
crossProduct(q,s,e1);
|
||||
v = f * innerProduct(d,q);
|
||||
if (v < 0.0 || u + v > 1.0)
|
||||
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);
|
||||
}
|
||||
|
||||
|
||||
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];
|
||||
|
||||
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;
|
||||
|
||||
|
||||
float t;
|
||||
|
||||
bool ret = rayIntersectsTriangle(rayStart, dir, p1, p2, p3, t );
|
||||
|
||||
if ( ret )
|
||||
{
|
||||
if ( t > d )
|
||||
{
|
||||
sect[0] = rayStart[0] + dir[0]*t;
|
||||
sect[1] = rayStart[1] + dir[1]*t;
|
||||
sect[2] = rayStart[2] + dir[2]*t;
|
||||
}
|
||||
else
|
||||
{
|
||||
ret = false;
|
||||
}
|
||||
}
|
||||
|
||||
return ret;
|
||||
}
|
||||
45
Engine/lib/bullet/Extras/ConvexDecomposition/raytri.h
Normal file
45
Engine/lib/bullet/Extras/ConvexDecomposition/raytri.h
Normal file
|
|
@ -0,0 +1,45 @@
|
|||
#ifndef RAY_TRI_H
|
||||
|
||||
#define RAY_TRI_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
|
||||
//
|
||||
|
||||
|
||||
|
||||
// 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);
|
||||
|
||||
#endif
|
||||
306
Engine/lib/bullet/Extras/ConvexDecomposition/splitplane.cpp
Normal file
306
Engine/lib/bullet/Extras/ConvexDecomposition/splitplane.cpp
Normal file
|
|
@ -0,0 +1,306 @@
|
|||
#include "float_math.h"
|
||||
#include <stdio.h>
|
||||
#include <stdlib.h>
|
||||
#include <string.h>
|
||||
#include <assert.h>
|
||||
#include <float.h>
|
||||
#include <math.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 "splitplane.h"
|
||||
#include "ConvexDecomposition.h"
|
||||
#include "cd_vector.h"
|
||||
#include "cd_hull.h"
|
||||
#include "cd_wavefront.h"
|
||||
#include "bestfit.h"
|
||||
#include "planetri.h"
|
||||
#include "vlookup.h"
|
||||
#include "meshvolume.h"
|
||||
|
||||
namespace ConvexDecomposition
|
||||
{
|
||||
|
||||
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]);
|
||||
|
||||
float wx = (A[0] - B[0]);
|
||||
float wy = (A[1] - B[1]);
|
||||
float wz = (A[2] - B[2]);
|
||||
|
||||
float vw_x = vy * wz - vz * wy;
|
||||
float vw_y = vz * wx - vx * wz;
|
||||
float vw_z = vx * wy - vy * wx;
|
||||
|
||||
float mag = sqrtf((vw_x * vw_x) + (vw_y * vw_y) + (vw_z * vw_z));
|
||||
|
||||
if ( mag < 0.000001f )
|
||||
{
|
||||
mag = 0;
|
||||
}
|
||||
else
|
||||
{
|
||||
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]));
|
||||
|
||||
plane[0] = x;
|
||||
plane[1] = y;
|
||||
plane[2] = z;
|
||||
plane[3] = D;
|
||||
|
||||
}
|
||||
|
||||
class Rect3d
|
||||
{
|
||||
public:
|
||||
Rect3d(void) { };
|
||||
|
||||
Rect3d(const float *bmin,const float *bmax)
|
||||
{
|
||||
|
||||
mMin[0] = bmin[0];
|
||||
mMin[1] = bmin[1];
|
||||
mMin[2] = bmin[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(float x,float y,float z)
|
||||
{
|
||||
mMin[0] = x;
|
||||
mMin[1] = y;
|
||||
mMin[2] = z;
|
||||
}
|
||||
|
||||
void SetMax(float x,float y,float z)
|
||||
{
|
||||
mMax[0] = x;
|
||||
mMax[1] = y;
|
||||
mMax[2] = z;
|
||||
}
|
||||
|
||||
float mMin[3];
|
||||
float mMax[3];
|
||||
};
|
||||
|
||||
void splitRect(unsigned int axis,
|
||||
const Rect3d &source,
|
||||
Rect3d &b1,
|
||||
Rect3d &b2,
|
||||
const float *midpoint)
|
||||
{
|
||||
switch ( axis )
|
||||
{
|
||||
case 0:
|
||||
b1.SetMin(source.mMin);
|
||||
b1.SetMax( midpoint[0], source.mMax[1], source.mMax[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] );
|
||||
|
||||
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] );
|
||||
|
||||
b2.SetMin( source.mMin[0], source.mMin[1], midpoint[2] );
|
||||
b2.SetMax(source.mMax);
|
||||
|
||||
break;
|
||||
}
|
||||
}
|
||||
|
||||
bool computeSplitPlane(unsigned int vcount,
|
||||
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 };
|
||||
|
||||
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] > 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 )
|
||||
{
|
||||
axis = 1;
|
||||
laxis = dy;
|
||||
}
|
||||
|
||||
if ( dz > dx && dz > dy )
|
||||
{
|
||||
axis = 2;
|
||||
laxis = dz;
|
||||
}
|
||||
|
||||
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;
|
||||
|
||||
Rect3d b(bmin,bmax);
|
||||
|
||||
Rect3d b1,b2;
|
||||
|
||||
splitRect(axis,b,b1,b2,p1);
|
||||
|
||||
|
||||
// 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];
|
||||
|
||||
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];
|
||||
|
||||
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];
|
||||
|
||||
if ( dx > dy )
|
||||
{
|
||||
p3[0] = bmax[0];
|
||||
p3[1] = bmin[1];
|
||||
}
|
||||
else
|
||||
{
|
||||
p3[0] = bmin[0];
|
||||
p3[1] = bmax[1];
|
||||
}
|
||||
|
||||
break;
|
||||
}
|
||||
|
||||
// callback->ConvexDebugTri(p1,p2,p3,0xFF0000);
|
||||
|
||||
computePlane(p1,p2,p3,plane);
|
||||
|
||||
return true;
|
||||
|
||||
}
|
||||
|
||||
|
||||
}
|
||||
59
Engine/lib/bullet/Extras/ConvexDecomposition/splitplane.h
Normal file
59
Engine/lib/bullet/Extras/ConvexDecomposition/splitplane.h
Normal file
|
|
@ -0,0 +1,59 @@
|
|||
#ifndef SPLIT_PLANE_H
|
||||
|
||||
#define SPLIT_PLANE_H
|
||||
|
||||
//** Computes an 'optimal' split plane for the supplied mesh.
|
||||
//** needs much improvement since it currently just splits along
|
||||
//** the longest side of the AABB.
|
||||
/*----------------------------------------------------------------------
|
||||
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
|
||||
//
|
||||
|
||||
|
||||
|
||||
namespace ConvexDecomposition
|
||||
{
|
||||
|
||||
class ConvexDecompInterface;
|
||||
|
||||
bool computeSplitPlane(unsigned int vcount,
|
||||
const float *vertices,
|
||||
unsigned int tcount,
|
||||
const unsigned int *indices,
|
||||
ConvexDecompInterface *callback,
|
||||
float *plane);
|
||||
|
||||
|
||||
}
|
||||
|
||||
#endif
|
||||
326
Engine/lib/bullet/Extras/ConvexDecomposition/vlookup.cpp
Normal file
326
Engine/lib/bullet/Extras/ConvexDecomposition/vlookup.cpp
Normal file
|
|
@ -0,0 +1,326 @@
|
|||
#include "float_math.h"
|
||||
#include <stdio.h>
|
||||
#include <stdlib.h>
|
||||
#include <string.h>
|
||||
#include <assert.h>
|
||||
|
||||
#pragma warning(disable:4786)
|
||||
|
||||
#include <vector>
|
||||
#include <map>
|
||||
#include <set>
|
||||
|
||||
|
||||
/*----------------------------------------------------------------------
|
||||
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
|
||||
//
|
||||
|
||||
// CodeSnippet provided by John W. Ratcliff
|
||||
// on March 23, 2006.
|
||||
//
|
||||
// mailto: jratcliff@infiniplex.net
|
||||
//
|
||||
// Personal website: http://jratcliffscarab.blogspot.com
|
||||
// Coding Website: http://codesuppository.blogspot.com
|
||||
// FundRaising Blog: http://amillionpixels.blogspot.com
|
||||
// Fundraising site: http://www.amillionpixels.us
|
||||
// New Temple Site: http://newtemple.blogspot.com
|
||||
//
|
||||
// This snippet shows how to 'hide' the complexity of
|
||||
// the STL by wrapping some useful piece of functionality
|
||||
// around a handful of discrete API calls.
|
||||
//
|
||||
// This API allows you to create an indexed triangle list
|
||||
// from a collection of raw input triangles. Internally
|
||||
// it uses an STL set to build the lookup table very rapidly.
|
||||
//
|
||||
// Here is how you would use it to build an indexed triangle
|
||||
// list from a raw list of triangles.
|
||||
//
|
||||
// (1) create a 'VertexLookup' interface by calling
|
||||
//
|
||||
// VertexLook vl = Vl_createVertexLookup();
|
||||
//
|
||||
// (2) For each vertice in each triangle call:
|
||||
//
|
||||
// unsigned int i1 = Vl_getIndex(vl,p1);
|
||||
// unsigned int i2 = Vl_getIndex(vl,p2);
|
||||
// unsigned int i3 = Vl_getIndex(vl,p3);
|
||||
//
|
||||
// save the 3 indices into your triangle list array.
|
||||
//
|
||||
// (3) Get the vertex array by calling:
|
||||
//
|
||||
// const float *vertices = Vl_getVertices(vl);
|
||||
//
|
||||
// (4) Get the number of vertices so you can copy them into
|
||||
// your own buffer.
|
||||
// unsigned int vcount = Vl_getVcount(vl);
|
||||
//
|
||||
// (5) Release the VertexLookup interface when you are done with it.
|
||||
// Vl_releaseVertexLookup(vl);
|
||||
//
|
||||
// Teaches the following lessons:
|
||||
//
|
||||
// How to wrap the complexity of STL and C++ classes around a
|
||||
// simple API interface.
|
||||
//
|
||||
// How to use an STL set and custom comparator operator for
|
||||
// a complex data type.
|
||||
//
|
||||
// How to create a template class.
|
||||
//
|
||||
// How to achieve significant performance improvements by
|
||||
// taking advantage of built in STL containers in just
|
||||
// a few lines of code.
|
||||
//
|
||||
// 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)
|
||||
{
|
||||
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;
|
||||
|
||||
struct Tracker
|
||||
{
|
||||
VertexPosition mFind; // vertice to locate.
|
||||
VertexVector *mList;
|
||||
|
||||
Tracker()
|
||||
{
|
||||
mList = 0;
|
||||
}
|
||||
|
||||
void SetSearch(const VertexPosition& match,VertexVector *list)
|
||||
{
|
||||
mFind = match;
|
||||
mList = list;
|
||||
};
|
||||
};
|
||||
|
||||
struct VertexID
|
||||
{
|
||||
int mID;
|
||||
Tracker* mTracker;
|
||||
|
||||
VertexID(int ID, Tracker* Tracker)
|
||||
{
|
||||
mID = ID;
|
||||
mTracker = Tracker;
|
||||
}
|
||||
};
|
||||
|
||||
class VertexLess
|
||||
{
|
||||
public:
|
||||
|
||||
bool operator()(VertexID v1,VertexID v2) const;
|
||||
|
||||
private:
|
||||
const VertexPosition& Get(VertexID index) const
|
||||
{
|
||||
if ( index.mID == -1 ) return index.mTracker->mFind;
|
||||
VertexVector &vlist = *index.mTracker->mList;
|
||||
return vlist[index.mID];
|
||||
}
|
||||
};
|
||||
|
||||
template <class Type> class VertexPool
|
||||
{
|
||||
public:
|
||||
typedef std::set<VertexID, VertexLess > VertexSet;
|
||||
typedef std::vector< Type > VertexVector;
|
||||
|
||||
int getVertex(const Type& vtx)
|
||||
{
|
||||
mTracker.SetSearch(vtx,&mVtxs);
|
||||
VertexSet::iterator found;
|
||||
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) );
|
||||
return idx;
|
||||
};
|
||||
|
||||
|
||||
const float * GetPos(int idx) const
|
||||
{
|
||||
return mVtxs[idx].mPos;
|
||||
}
|
||||
|
||||
const Type& Get(int idx) const
|
||||
{
|
||||
return mVtxs[idx];
|
||||
};
|
||||
|
||||
unsigned int GetSize(void) const
|
||||
{
|
||||
return mVtxs.size();
|
||||
};
|
||||
|
||||
void Clear(int reservesize) // clear the vertice pool.
|
||||
{
|
||||
mVertSet.clear();
|
||||
mVtxs.clear();
|
||||
mVtxs.reserve(reservesize);
|
||||
};
|
||||
|
||||
const VertexVector& GetVertexList(void) const { return mVtxs; };
|
||||
|
||||
void Set(const Type& vtx)
|
||||
{
|
||||
mVtxs.push_back(vtx);
|
||||
}
|
||||
|
||||
unsigned int GetVertexCount(void) const
|
||||
{
|
||||
return mVtxs.size();
|
||||
};
|
||||
|
||||
|
||||
Type * getBuffer(void)
|
||||
{
|
||||
return &mVtxs[0];
|
||||
};
|
||||
|
||||
private:
|
||||
VertexSet mVertSet; // ordered list.
|
||||
VertexVector mVtxs; // set of vertices.
|
||||
Tracker mTracker;
|
||||
};
|
||||
|
||||
|
||||
bool VertexLess::operator()(VertexID v1,VertexID v2) const
|
||||
{
|
||||
|
||||
const VertexPosition& a = Get(v1);
|
||||
const VertexPosition& b = Get(v2);
|
||||
|
||||
int ixA = (int) (a.GetX()*10000.0f);
|
||||
int ixB = (int) (b.GetX()*10000.0f);
|
||||
|
||||
if ( ixA < ixB ) return true;
|
||||
if ( ixA > ixB ) return false;
|
||||
|
||||
int iyA = (int) (a.GetY()*10000.0f);
|
||||
int iyB = (int) (b.GetY()*10000.0f);
|
||||
|
||||
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;
|
||||
|
||||
|
||||
return false;
|
||||
}
|
||||
|
||||
|
||||
|
||||
|
||||
}
|
||||
|
||||
using namespace Vlookup;
|
||||
|
||||
VertexLookup Vl_createVertexLookup(void)
|
||||
{
|
||||
VertexLookup ret = new VertexPool< VertexPosition >;
|
||||
return ret;
|
||||
}
|
||||
|
||||
void Vl_releaseVertexLookup(VertexLookup vlook)
|
||||
{
|
||||
VertexPool< VertexPosition > *vp = (VertexPool< VertexPosition > *) vlook;
|
||||
delete vp;
|
||||
}
|
||||
|
||||
unsigned int Vl_getIndex(VertexLookup vlook,const float *pos) // get index.
|
||||
{
|
||||
VertexPool< VertexPosition > *vp = (VertexPool< VertexPosition > *) vlook;
|
||||
VertexPosition p(pos);
|
||||
return vp->getVertex(p);
|
||||
}
|
||||
|
||||
const float * Vl_getVertices(VertexLookup vlook)
|
||||
{
|
||||
VertexPool< VertexPosition > *vp = (VertexPool< VertexPosition > *) vlook;
|
||||
return vp->GetPos(0);
|
||||
}
|
||||
|
||||
|
||||
unsigned int Vl_getVcount(VertexLookup vlook)
|
||||
{
|
||||
VertexPool< VertexPosition > *vp = (VertexPool< VertexPosition > *) vlook;
|
||||
return vp->GetVertexCount();
|
||||
}
|
||||
119
Engine/lib/bullet/Extras/ConvexDecomposition/vlookup.h
Normal file
119
Engine/lib/bullet/Extras/ConvexDecomposition/vlookup.h
Normal file
|
|
@ -0,0 +1,119 @@
|
|||
#ifndef VLOOKUP_H
|
||||
|
||||
#define VLOOKUP_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
|
||||
//
|
||||
|
||||
|
||||
// CodeSnippet provided by John W. Ratcliff
|
||||
// on March 23, 2006.
|
||||
//
|
||||
// mailto: jratcliff@infiniplex.net
|
||||
//
|
||||
// Personal website: http://jratcliffscarab.blogspot.com
|
||||
// Coding Website: http://codesuppository.blogspot.com
|
||||
// FundRaising Blog: http://amillionpixels.blogspot.com
|
||||
// Fundraising site: http://www.amillionpixels.us
|
||||
// New Temple Site: http://newtemple.blogspot.com
|
||||
//
|
||||
// This snippet shows how to 'hide' the complexity of
|
||||
// the STL by wrapping some useful piece of functionality
|
||||
// around a handful of discrete API calls.
|
||||
//
|
||||
// This API allows you to create an indexed triangle list
|
||||
// from a collection of raw input triangles. Internally
|
||||
// it uses an STL set to build the lookup table very rapidly.
|
||||
//
|
||||
// Here is how you would use it to build an indexed triangle
|
||||
// list from a raw list of triangles.
|
||||
//
|
||||
// (1) create a 'VertexLookup' interface by calling
|
||||
//
|
||||
// VertexLook vl = Vl_createVertexLookup();
|
||||
//
|
||||
// (2) For each vertice in each triangle call:
|
||||
//
|
||||
// unsigned int i1 = Vl_getIndex(vl,p1);
|
||||
// unsigned int i2 = Vl_getIndex(vl,p2);
|
||||
// unsigned int i3 = Vl_getIndex(vl,p3);
|
||||
//
|
||||
// save the 3 indices into your triangle list array.
|
||||
//
|
||||
// (3) Get the vertex array by calling:
|
||||
//
|
||||
// const float *vertices = Vl_getVertices(vl);
|
||||
//
|
||||
// (4) Get the number of vertices so you can copy them into
|
||||
// your own buffer.
|
||||
// unsigned int vcount = Vl_getVcount(vl);
|
||||
//
|
||||
// (5) Release the VertexLookup interface when you are done with it.
|
||||
// Vl_releaseVertexLookup(vl);
|
||||
//
|
||||
// Teaches the following lessons:
|
||||
//
|
||||
// How to wrap the complexity of STL and C++ classes around a
|
||||
// simple API interface.
|
||||
//
|
||||
// How to use an STL set and custom comparator operator for
|
||||
// a complex data type.
|
||||
//
|
||||
// How to create a template class.
|
||||
//
|
||||
// How to achieve significant performance improvements by
|
||||
// taking advantage of built in STL containers in just
|
||||
// a few lines of code.
|
||||
//
|
||||
// You could easily modify this code to support other vertex
|
||||
// formats with any number of interpolants.
|
||||
//
|
||||
// Hide C++ classes from the rest of your application by
|
||||
// keeping them in the CPP and wrapping them in a namespace
|
||||
// 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;
|
||||
|
||||
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
|
||||
|
|
@ -0,0 +1,16 @@
|
|||
# CMAKE generated file: DO NOT EDIT!
|
||||
# Generated by "Unix Makefiles" Generator, CMake Version 3.23
|
||||
|
||||
# Relative path conversion top directories.
|
||||
set(CMAKE_RELATIVE_PATH_TOP_SOURCE "/Users/ragora/Documents/Projects/Torque3D")
|
||||
set(CMAKE_RELATIVE_PATH_TOP_BINARY "/Users/ragora/Documents/Projects/Torque3D")
|
||||
|
||||
# Force unix paths in dependencies.
|
||||
set(CMAKE_FORCE_UNIX_PATHS 1)
|
||||
|
||||
|
||||
# The C and CXX include file regular expressions for this directory.
|
||||
set(CMAKE_C_INCLUDE_REGEX_SCAN "^.*$")
|
||||
set(CMAKE_C_INCLUDE_REGEX_COMPLAIN "^$")
|
||||
set(CMAKE_CXX_INCLUDE_REGEX_SCAN ${CMAKE_C_INCLUDE_REGEX_SCAN})
|
||||
set(CMAKE_CXX_INCLUDE_REGEX_COMPLAIN ${CMAKE_C_INCLUDE_REGEX_COMPLAIN})
|
||||
|
|
@ -0,0 +1,28 @@
|
|||
|
||||
# Consider dependencies only in project.
|
||||
set(CMAKE_DEPENDS_IN_PROJECT_ONLY OFF)
|
||||
|
||||
# The set of languages for which implicit dependencies are needed:
|
||||
set(CMAKE_DEPENDS_LANGUAGES
|
||||
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|
||||
|
||||
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||||
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||||
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||||
set(CMAKE_MULTIPLE_OUTPUT_PAIRS
|
||||
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|
||||
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|
||||
|
||||
|
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set(CMAKE_TARGET_LINKED_INFO_FILES
|
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|
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||||
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||||
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||||
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||||
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||||
/Users/ragora/Documents/Projects/Torque3D/Engine/lib/bullet/src/LinearMath/btScalar.h \
|
||||
/Applications/Xcode.app/Contents/Developer/Platforms/MacOSX.platform/Developer/SDKs/MacOSX12.3.sdk/usr/include/c++/v1/math.h \
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||||
/Applications/Xcode.app/Contents/Developer/Platforms/MacOSX.platform/Developer/SDKs/MacOSX12.3.sdk/usr/include/c++/v1/__config \
|
||||
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||||
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||||
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||||
/Applications/Xcode.app/Contents/Developer/Platforms/MacOSX.platform/Developer/SDKs/MacOSX12.3.sdk/usr/include/sys/cdefs.h \
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||||
/Applications/Xcode.app/Contents/Developer/Platforms/MacOSX.platform/Developer/SDKs/MacOSX12.3.sdk/usr/include/sys/_symbol_aliasing.h \
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||||
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||||
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||||
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||||
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||||
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/Applications/Xcode.app/Contents/Developer/Platforms/MacOSX.platform/Developer/SDKs/MacOSX12.3.sdk/usr/include/machine/_types.h \
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||||
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|
||||
/Applications/Xcode.app/Contents/Developer/Platforms/MacOSX.platform/Developer/SDKs/MacOSX12.3.sdk/usr/include/c++/v1/string.h \
|
||||
/Applications/Xcode.app/Contents/Developer/Platforms/MacOSX.platform/Developer/SDKs/MacOSX12.3.sdk/usr/include/string.h \
|
||||
/Applications/Xcode.app/Contents/Developer/Platforms/MacOSX.platform/Developer/SDKs/MacOSX12.3.sdk/usr/include/sys/_types/_rsize_t.h \
|
||||
/Applications/Xcode.app/Contents/Developer/Platforms/MacOSX.platform/Developer/SDKs/MacOSX12.3.sdk/usr/include/sys/_types/_errno_t.h \
|
||||
/Applications/Xcode.app/Contents/Developer/Platforms/MacOSX.platform/Developer/SDKs/MacOSX12.3.sdk/usr/include/strings.h \
|
||||
Engine/lib/bullet/Extras/ConvexDecomposition/vlookup.h
|
||||
|
||||
|
||||
/Applications/Xcode.app/Contents/Developer/Platforms/MacOSX.platform/Developer/SDKs/MacOSX12.3.sdk/usr/include/strings.h:
|
||||
|
||||
/Applications/Xcode.app/Contents/Developer/Platforms/MacOSX.platform/Developer/SDKs/MacOSX12.3.sdk/usr/include/sys/_types/_errno_t.h:
|
||||
|
||||
/Applications/Xcode.app/Contents/Developer/Platforms/MacOSX.platform/Developer/SDKs/MacOSX12.3.sdk/usr/include/c++/v1/string.h:
|
||||
|
||||
Engine/lib/bullet/Extras/ConvexDecomposition/ConvexBuilder.h:
|
||||
|
||||
Engine/lib/bullet/src/BulletCollision/Gimpact/btQuantization.h:
|
||||
|
||||
Engine/lib/bullet/src/BulletCollision/Gimpact/btGeometryOperations.h:
|
||||
|
||||
Engine/lib/bullet/src/BulletCollision/Gimpact/btClipPolygon.h:
|
||||
|
||||
Engine/lib/bullet/src/BulletCollision/Gimpact/btTriangleShapeEx.h:
|
||||
|
||||
Engine/lib/bullet/src/BulletCollision/Gimpact/btGImpactBvh.h:
|
||||
|
||||
Engine/lib/bullet/src/LinearMath/btGeometryUtil.h:
|
||||
|
||||
Engine/lib/bullet/src/BulletCollision/Gimpact/btGImpactQuantizedBvh.h:
|
||||
|
||||
Engine/lib/bullet/src/BulletCollision/CollisionDispatch/btCollisionCreateFunc.h:
|
||||
|
||||
Engine/lib/bullet/src/BulletCollision/CollisionDispatch/btCollisionObjectWrapper.h:
|
||||
|
||||
Engine/lib/bullet/src/BulletCollision/NarrowPhaseCollision/btDiscreteCollisionDetectorInterface.h:
|
||||
|
||||
Engine/lib/bullet/src/BulletCollision/CollisionShapes/btTetrahedronShape.h:
|
||||
|
||||
Engine/lib/bullet/src/BulletCollision/CollisionDispatch/btManifoldResult.h:
|
||||
|
||||
Engine/lib/bullet/src/LinearMath/btTransformUtil.h:
|
||||
|
||||
Engine/lib/bullet/src/BulletCollision/NarrowPhaseCollision/btManifoldPoint.h:
|
||||
|
||||
Engine/lib/bullet/src/BulletCollision/NarrowPhaseCollision/btPersistentManifold.h:
|
||||
|
||||
Engine/lib/bullet/Extras/ConvexDecomposition/vlookup.h:
|
||||
|
||||
Engine/lib/bullet/src/BulletCollision/CollisionDispatch/btCollisionDispatcher.h:
|
||||
|
||||
/Applications/Xcode.app/Contents/Developer/Platforms/MacOSX.platform/Developer/SDKs/MacOSX12.3.sdk/usr/include/c++/v1/__memory/addressof.h:
|
||||
|
||||
/Applications/Xcode.app/Contents/Developer/Platforms/MacOSX.platform/Developer/SDKs/MacOSX12.3.sdk/usr/include/c++/v1/__availability:
|
||||
|
||||
/Applications/Xcode.app/Contents/Developer/Platforms/MacOSX.platform/Developer/SDKs/MacOSX12.3.sdk/usr/include/c++/v1/new:
|
||||
|
||||
Engine/lib/bullet/src/LinearMath/btAlignedObjectArray.h:
|
||||
|
||||
Engine/lib/bullet/src/LinearMath/btMotionState.h:
|
||||
|
||||
Engine/lib/bullet/src/BulletCollision/CollisionDispatch/btCollisionWorld.h:
|
||||
|
||||
Engine/lib/bullet/src/BulletCollision/CollisionShapes/btConcaveShape.h:
|
||||
|
||||
/Applications/Xcode.app/Contents/Developer/Platforms/MacOSX.platform/Developer/SDKs/MacOSX12.3.sdk/usr/include/c++/v1/cstdlib:
|
||||
|
||||
Engine/lib/bullet/src/BulletCollision/CollisionShapes/btBoxShape.h:
|
||||
|
||||
Engine/lib/bullet/src/BulletCollision/CollisionShapes/btCollisionMargin.h:
|
||||
|
||||
Engine/lib/bullet/src/BulletCollision/CollisionShapes/btTriangleShape.h:
|
||||
|
||||
Engine/lib/bullet/src/BulletCollision/BroadphaseCollision/btBroadphaseProxy.h:
|
||||
|
||||
/Applications/Xcode.app/Contents/Developer/Platforms/MacOSX.platform/Developer/SDKs/MacOSX12.3.sdk/usr/include/sys/stdio.h:
|
||||
|
||||
/Applications/Xcode.app/Contents/Developer/Platforms/MacOSX.platform/Developer/SDKs/MacOSX12.3.sdk/usr/include/_stdio.h:
|
||||
|
||||
/Applications/Xcode.app/Contents/Developer/Platforms/MacOSX.platform/Developer/SDKs/MacOSX12.3.sdk/usr/include/stdio.h:
|
||||
|
||||
/Applications/Xcode.app/Contents/Developer/Platforms/MacOSX.platform/Developer/SDKs/MacOSX12.3.sdk/usr/include/c++/v1/stdio.h:
|
||||
|
||||
Engine/lib/bullet/src/LinearMath/btQuadWord.h:
|
||||
|
||||
/Applications/Xcode.app/Contents/Developer/Platforms/MacOSX.platform/Developer/SDKs/MacOSX12.3.sdk/usr/include/assert.h:
|
||||
|
||||
/Applications/Xcode.app/Contents/Developer/Platforms/MacOSX.platform/Developer/SDKs/MacOSX12.3.sdk/usr/include/pthread.h:
|
||||
|
||||
/Applications/Xcode.app/Contents/Developer/Toolchains/XcodeDefault.xctoolchain/usr/lib/clang/13.1.6/include/arm_neon.h:
|
||||
|
||||
/Applications/Xcode.app/Contents/Developer/Platforms/MacOSX.platform/Developer/SDKs/MacOSX12.3.sdk/usr/include/float.h:
|
||||
|
||||
Engine/lib/bullet/src/BulletCollision/CollisionShapes/btConvexShape.h:
|
||||
|
||||
/Applications/Xcode.app/Contents/Developer/Platforms/MacOSX.platform/Developer/SDKs/MacOSX12.3.sdk/usr/include/mach/arm/_structs.h:
|
||||
|
||||
/Applications/Xcode.app/Contents/Developer/Platforms/MacOSX.platform/Developer/SDKs/MacOSX12.3.sdk/usr/include/arm/types.h:
|
||||
|
||||
/Applications/Xcode.app/Contents/Developer/Platforms/MacOSX.platform/Developer/SDKs/MacOSX12.3.sdk/usr/include/c++/v1/limits:
|
||||
|
||||
/Applications/Xcode.app/Contents/Developer/Platforms/MacOSX.platform/Developer/SDKs/MacOSX12.3.sdk/usr/include/sys/cdefs.h:
|
||||
|
||||
/Applications/Xcode.app/Contents/Developer/Platforms/MacOSX.platform/Developer/SDKs/MacOSX12.3.sdk/usr/include/sys/_types/_int8_t.h:
|
||||
|
||||
/Applications/Xcode.app/Contents/Developer/Platforms/MacOSX.platform/Developer/SDKs/MacOSX12.3.sdk/usr/include/sys/_types/_uintptr_t.h:
|
||||
|
||||
/Applications/Xcode.app/Contents/Developer/Platforms/MacOSX.platform/Developer/SDKs/MacOSX12.3.sdk/usr/include/c++/v1/__undef_macros:
|
||||
|
||||
/Applications/Xcode.app/Contents/Developer/Platforms/MacOSX.platform/Developer/SDKs/MacOSX12.3.sdk/usr/include/c++/v1/exception:
|
||||
|
||||
/Applications/Xcode.app/Contents/Developer/Platforms/MacOSX.platform/Developer/SDKs/MacOSX12.3.sdk/usr/include/c++/v1/__utility/move.h:
|
||||
|
||||
/Applications/Xcode.app/Contents/Developer/Platforms/MacOSX.platform/Developer/SDKs/MacOSX12.3.sdk/usr/include/c++/v1/__utility/forward.h:
|
||||
|
||||
Engine/lib/bullet/src/BulletCollision/BroadphaseCollision/btBroadphaseInterface.h:
|
||||
|
||||
/Applications/Xcode.app/Contents/Developer/Toolchains/XcodeDefault.xctoolchain/usr/lib/clang/13.1.6/include/stddef.h:
|
||||
|
||||
Engine/lib/bullet/src/BulletCollision/CollisionShapes/btTriangleCallback.h:
|
||||
|
||||
/Applications/Xcode.app/Contents/Developer/Platforms/MacOSX.platform/Developer/SDKs/MacOSX12.3.sdk/usr/include/sys/_types/_off_t.h:
|
||||
|
||||
/Applications/Xcode.app/Contents/Developer/Platforms/MacOSX.platform/Developer/SDKs/MacOSX12.3.sdk/usr/include/c++/v1/type_traits:
|
||||
|
||||
/Applications/Xcode.app/Contents/Developer/Platforms/MacOSX.platform/Developer/SDKs/MacOSX12.3.sdk/usr/include/arm/_types.h:
|
||||
|
||||
/Applications/Xcode.app/Contents/Developer/Platforms/MacOSX.platform/Developer/SDKs/MacOSX12.3.sdk/usr/include/sys/_types/_dev_t.h:
|
||||
|
||||
/Applications/Xcode.app/Contents/Developer/Platforms/MacOSX.platform/Developer/SDKs/MacOSX12.3.sdk/usr/include/sys/_types/_null.h:
|
||||
|
||||
/Applications/Xcode.app/Contents/Developer/Toolchains/XcodeDefault.xctoolchain/usr/lib/clang/13.1.6/include/float.h:
|
||||
|
||||
/Applications/Xcode.app/Contents/Developer/Platforms/MacOSX.platform/Developer/SDKs/MacOSX12.3.sdk/usr/include/sys/_types/_rune_t.h:
|
||||
|
||||
/Applications/Xcode.app/Contents/Developer/Platforms/MacOSX.platform/Developer/SDKs/MacOSX12.3.sdk/usr/include/sys/_types/_u_int8_t.h:
|
||||
|
||||
/Applications/Xcode.app/Contents/Developer/Platforms/MacOSX.platform/Developer/SDKs/MacOSX12.3.sdk/usr/include/c++/v1/version:
|
||||
|
||||
/Applications/Xcode.app/Contents/Developer/Platforms/MacOSX.platform/Developer/SDKs/MacOSX12.3.sdk/usr/include/_types/_uintmax_t.h:
|
||||
|
||||
/Applications/Xcode.app/Contents/Developer/Platforms/MacOSX.platform/Developer/SDKs/MacOSX12.3.sdk/usr/include/arm/arch.h:
|
||||
|
||||
Engine/lib/bullet/src/BulletCollision/BroadphaseCollision/btOverlappingPairCache.h:
|
||||
|
||||
/Applications/Xcode.app/Contents/Developer/Platforms/MacOSX.platform/Developer/SDKs/MacOSX12.3.sdk/usr/include/malloc/_malloc.h:
|
||||
|
||||
/Applications/Xcode.app/Contents/Developer/Platforms/MacOSX.platform/Developer/SDKs/MacOSX12.3.sdk/usr/include/c++/v1/__config_site:
|
||||
|
||||
/Applications/Xcode.app/Contents/Developer/Platforms/MacOSX.platform/Developer/SDKs/MacOSX12.3.sdk/usr/include/sys/_types/_timeval.h:
|
||||
|
||||
/Applications/Xcode.app/Contents/Developer/Platforms/MacOSX.platform/Developer/SDKs/MacOSX12.3.sdk/usr/include/libkern/arm/OSByteOrder.h:
|
||||
|
||||
/Applications/Xcode.app/Contents/Developer/Platforms/MacOSX.platform/Developer/SDKs/MacOSX12.3.sdk/usr/include/sys/_endian.h:
|
||||
|
||||
/Applications/Xcode.app/Contents/Developer/Platforms/MacOSX.platform/Developer/SDKs/MacOSX12.3.sdk/usr/include/_types/_uint8_t.h:
|
||||
|
||||
/Applications/Xcode.app/Contents/Developer/Platforms/MacOSX.platform/Developer/SDKs/MacOSX12.3.sdk/usr/include/sys/_symbol_aliasing.h:
|
||||
|
||||
/Applications/Xcode.app/Contents/Developer/Platforms/MacOSX.platform/Developer/SDKs/MacOSX12.3.sdk/usr/include/sys/resource.h:
|
||||
|
||||
Engine/lib/bullet/src/LinearMath/btQuaternion.h:
|
||||
|
||||
/Applications/Xcode.app/Contents/Developer/Platforms/MacOSX.platform/Developer/SDKs/MacOSX12.3.sdk/usr/include/sys/_types/_u_int16_t.h:
|
||||
|
||||
/Applications/Xcode.app/Contents/Developer/Platforms/MacOSX.platform/Developer/SDKs/MacOSX12.3.sdk/usr/include/stdint.h:
|
||||
|
||||
/Applications/Xcode.app/Contents/Developer/Platforms/MacOSX.platform/Developer/SDKs/MacOSX12.3.sdk/usr/include/machine/_mcontext.h:
|
||||
|
||||
/Applications/Xcode.app/Contents/Developer/Platforms/MacOSX.platform/Developer/SDKs/MacOSX12.3.sdk/usr/include/sys/_types/_wchar_t.h:
|
||||
|
||||
/Applications/Xcode.app/Contents/Developer/Platforms/MacOSX.platform/Developer/SDKs/MacOSX12.3.sdk/usr/include/sys/_types/_uid_t.h:
|
||||
|
||||
Engine/lib/bullet/src/LinearMath/btAabbUtil2.h:
|
||||
|
||||
/Applications/Xcode.app/Contents/Developer/Platforms/MacOSX.platform/Developer/SDKs/MacOSX12.3.sdk/usr/include/sys/_types/_sigset_t.h:
|
||||
|
||||
/Applications/Xcode.app/Contents/Developer/Platforms/MacOSX.platform/Developer/SDKs/MacOSX12.3.sdk/usr/include/sys/_types/_mode_t.h:
|
||||
|
||||
/Applications/Xcode.app/Contents/Developer/Platforms/MacOSX.platform/Developer/SDKs/MacOSX12.3.sdk/usr/include/sys/_types/_rsize_t.h:
|
||||
|
||||
/Applications/Xcode.app/Contents/Developer/Platforms/MacOSX.platform/Developer/SDKs/MacOSX12.3.sdk/usr/include/sys/_types/_id_t.h:
|
||||
|
||||
/Applications/Xcode.app/Contents/Developer/Platforms/MacOSX.platform/Developer/SDKs/MacOSX12.3.sdk/usr/include/sys/_types/_sigaltstack.h:
|
||||
|
||||
/Applications/Xcode.app/Contents/Developer/Platforms/MacOSX.platform/Developer/SDKs/MacOSX12.3.sdk/usr/include/sys/_pthread/_pthread_attr_t.h:
|
||||
|
||||
/Applications/Xcode.app/Contents/Developer/Platforms/MacOSX.platform/Developer/SDKs/MacOSX12.3.sdk/usr/include/_ctermid.h:
|
||||
|
||||
/Applications/Xcode.app/Contents/Developer/Platforms/MacOSX.platform/Developer/SDKs/MacOSX12.3.sdk/usr/include/_types/_uint32_t.h:
|
||||
|
||||
/Applications/Xcode.app/Contents/Developer/Platforms/MacOSX.platform/Developer/SDKs/MacOSX12.3.sdk/usr/include/sys/wait.h:
|
||||
|
||||
/Applications/Xcode.app/Contents/Developer/Platforms/MacOSX.platform/Developer/SDKs/MacOSX12.3.sdk/usr/include/sys/_types/_u_int32_t.h:
|
||||
|
||||
Engine/lib/bullet/src/BulletCollision/BroadphaseCollision/btDispatcher.h:
|
||||
|
||||
/Applications/Xcode.app/Contents/Developer/Platforms/MacOSX.platform/Developer/SDKs/MacOSX12.3.sdk/usr/include/_types/_intmax_t.h:
|
||||
|
||||
/Applications/Xcode.app/Contents/Developer/Platforms/MacOSX.platform/Developer/SDKs/MacOSX12.3.sdk/usr/include/libkern/_OSByteOrder.h:
|
||||
|
||||
/Applications/Xcode.app/Contents/Developer/Platforms/MacOSX.platform/Developer/SDKs/MacOSX12.3.sdk/usr/include/_types/_uint64_t.h:
|
||||
|
||||
/Applications/Xcode.app/Contents/Developer/Platforms/MacOSX.platform/Developer/SDKs/MacOSX12.3.sdk/usr/include/stdlib.h:
|
||||
|
||||
/Applications/Xcode.app/Contents/Developer/Platforms/MacOSX.platform/Developer/SDKs/MacOSX12.3.sdk/usr/include/c++/v1/cstddef:
|
||||
|
||||
Engine/lib/bullet/Extras/ConvexDecomposition/ConvexDecomposition.h:
|
||||
|
||||
/Applications/Xcode.app/Contents/Developer/Platforms/MacOSX.platform/Developer/SDKs/MacOSX12.3.sdk/usr/include/sys/_types/_pid_t.h:
|
||||
|
||||
/Applications/Xcode.app/Contents/Developer/Platforms/MacOSX.platform/Developer/SDKs/MacOSX12.3.sdk/usr/include/arm/_mcontext.h:
|
||||
|
||||
/Applications/Xcode.app/Contents/Developer/Platforms/MacOSX.platform/Developer/SDKs/MacOSX12.3.sdk/usr/include/sys/_types/_int32_t.h:
|
||||
|
||||
Engine/lib/bullet/src/LinearMath/btScalar.h:
|
||||
|
||||
/Applications/Xcode.app/Contents/Developer/Platforms/MacOSX.platform/Developer/SDKs/MacOSX12.3.sdk/usr/include/sys/_types/_int16_t.h:
|
||||
|
||||
Engine/lib/bullet/src/BulletCollision/CollisionDispatch/btCollisionObject.h:
|
||||
|
||||
/Applications/Xcode.app/Contents/Developer/Platforms/MacOSX.platform/Developer/SDKs/MacOSX12.3.sdk/usr/include/sys/_types/_va_list.h:
|
||||
|
||||
/Applications/Xcode.app/Contents/Developer/Platforms/MacOSX.platform/Developer/SDKs/MacOSX12.3.sdk/usr/include/machine/_types.h:
|
||||
|
||||
/Applications/Xcode.app/Contents/Developer/Platforms/MacOSX.platform/Developer/SDKs/MacOSX12.3.sdk/usr/include/sys/signal.h:
|
||||
|
||||
/Applications/Xcode.app/Contents/Developer/Platforms/MacOSX.platform/Developer/SDKs/MacOSX12.3.sdk/usr/include/machine/types.h:
|
||||
|
||||
/Applications/Xcode.app/Contents/Developer/Platforms/MacOSX.platform/Developer/SDKs/MacOSX12.3.sdk/usr/include/mach/machine/_structs.h:
|
||||
|
||||
Engine/lib/bullet/src/BulletCollision/BroadphaseCollision/btOverlappingPairCallback.h:
|
||||
|
||||
Engine/lib/bullet/src/LinearMath/btVector3.h:
|
||||
|
||||
/Applications/Xcode.app/Contents/Developer/Platforms/MacOSX.platform/Developer/SDKs/MacOSX12.3.sdk/usr/include/sys/_types.h:
|
||||
|
||||
/Applications/Xcode.app/Contents/Developer/Platforms/MacOSX.platform/Developer/SDKs/MacOSX12.3.sdk/usr/include/machine/signal.h:
|
||||
|
||||
Engine/lib/bullet/src/BulletCollision/Gimpact/btBoxCollision.h:
|
||||
|
||||
/Applications/Xcode.app/Contents/Developer/Platforms/MacOSX.platform/Developer/SDKs/MacOSX12.3.sdk/usr/include/sys/_types/_u_int64_t.h:
|
||||
|
||||
/Applications/Xcode.app/Contents/Developer/Toolchains/XcodeDefault.xctoolchain/usr/lib/clang/13.1.6/include/stdint.h:
|
||||
|
||||
/Applications/Xcode.app/Contents/Developer/Platforms/MacOSX.platform/Developer/SDKs/MacOSX12.3.sdk/usr/include/sys/_types/_size_t.h:
|
||||
|
||||
/Applications/Xcode.app/Contents/Developer/Platforms/MacOSX.platform/Developer/SDKs/MacOSX12.3.sdk/usr/include/sys/_types/_int64_t.h:
|
||||
|
||||
/Applications/Xcode.app/Contents/Developer/Platforms/MacOSX.platform/Developer/SDKs/MacOSX12.3.sdk/usr/include/sys/_types/_ct_rune_t.h:
|
||||
|
||||
/Applications/Xcode.app/Contents/Developer/Platforms/MacOSX.platform/Developer/SDKs/MacOSX12.3.sdk/usr/include/sys/_types/_ssize_t.h:
|
||||
|
||||
/Applications/Xcode.app/Contents/Developer/Platforms/MacOSX.platform/Developer/SDKs/MacOSX12.3.sdk/usr/include/machine/endian.h:
|
||||
|
||||
/Applications/Xcode.app/Contents/Developer/Platforms/MacOSX.platform/Developer/SDKs/MacOSX12.3.sdk/usr/include/sys/_pthread/_pthread_types.h:
|
||||
|
||||
/Applications/Xcode.app/Contents/Developer/Platforms/MacOSX.platform/Developer/SDKs/MacOSX12.3.sdk/usr/include/c++/v1/float.h:
|
||||
|
||||
/Applications/Xcode.app/Contents/Developer/Platforms/MacOSX.platform/Developer/SDKs/MacOSX12.3.sdk/usr/include/c++/v1/__nullptr:
|
||||
|
||||
/Applications/Xcode.app/Contents/Developer/Platforms/MacOSX.platform/Developer/SDKs/MacOSX12.3.sdk/usr/include/sys/appleapiopts.h:
|
||||
|
||||
/Applications/Xcode.app/Contents/Developer/Platforms/MacOSX.platform/Developer/SDKs/MacOSX12.3.sdk/usr/include/c++/v1/math.h:
|
||||
|
||||
/Applications/Xcode.app/Contents/Developer/Platforms/MacOSX.platform/Developer/SDKs/MacOSX12.3.sdk/usr/include/c++/v1/stdlib.h:
|
||||
|
||||
/Applications/Xcode.app/Contents/Developer/Platforms/MacOSX.platform/Developer/SDKs/MacOSX12.3.sdk/usr/include/sys/_types/_ucontext.h:
|
||||
|
||||
/Applications/Xcode.app/Contents/Developer/Platforms/MacOSX.platform/Developer/SDKs/MacOSX12.3.sdk/usr/include/math.h:
|
||||
|
||||
/Applications/Xcode.app/Contents/Developer/Platforms/MacOSX.platform/Developer/SDKs/MacOSX12.3.sdk/usr/include/AvailabilityInternal.h:
|
||||
|
||||
/Applications/Xcode.app/Contents/Developer/Platforms/MacOSX.platform/Developer/SDKs/MacOSX12.3.sdk/usr/include/Availability.h:
|
||||
|
||||
Engine/lib/bullet/src/LinearMath/btMatrix3x3.h:
|
||||
|
||||
/Applications/Xcode.app/Contents/Developer/Platforms/MacOSX.platform/Developer/SDKs/MacOSX12.3.sdk/usr/include/arm/signal.h:
|
||||
|
||||
/Applications/Xcode.app/Contents/Developer/Platforms/MacOSX.platform/Developer/SDKs/MacOSX12.3.sdk/usr/include/sys/_posix_availability.h:
|
||||
|
||||
Engine/lib/bullet/src/BulletCollision/CollisionShapes/btPolyhedralConvexShape.h:
|
||||
|
||||
/Applications/Xcode.app/Contents/Developer/Platforms/MacOSX.platform/Developer/SDKs/MacOSX12.3.sdk/usr/include/_types.h:
|
||||
|
||||
/Applications/Xcode.app/Contents/Developer/Platforms/MacOSX.platform/Developer/SDKs/MacOSX12.3.sdk/usr/include/alloca.h:
|
||||
|
||||
Engine/lib/bullet/src/BulletCollision/CollisionShapes/btStridingMeshInterface.h:
|
||||
|
||||
/Applications/Xcode.app/Contents/Developer/Platforms/MacOSX.platform/Developer/SDKs/MacOSX12.3.sdk/usr/include/c++/v1/stdint.h:
|
||||
|
||||
/Applications/Xcode.app/Contents/Developer/Platforms/MacOSX.platform/Developer/SDKs/MacOSX12.3.sdk/usr/include/sys/_types/_intptr_t.h:
|
||||
|
||||
Engine/lib/bullet/src/BulletCollision/CollisionShapes/btConvexHullShape.h:
|
||||
|
||||
/Applications/Xcode.app/Contents/Developer/Platforms/MacOSX.platform/Developer/SDKs/MacOSX12.3.sdk/usr/include/c++/v1/__config:
|
||||
|
||||
Engine/lib/bullet/src/BulletCollision/CollisionShapes/btCollisionShape.h:
|
||||
|
||||
Engine/lib/bullet/src/LinearMath/btAlignedAllocator.h:
|
||||
|
||||
/Applications/Xcode.app/Contents/Developer/Platforms/MacOSX.platform/Developer/SDKs/MacOSX12.3.sdk/usr/include/_types/_uint16_t.h:
|
||||
|
||||
Engine/lib/bullet/src/LinearMath/btTransform.h:
|
||||
|
||||
Engine/lib/bullet/src/BulletCollision/Gimpact/btGImpactShape.h:
|
||||
|
||||
Engine/lib/bullet/src/LinearMath/btMinMax.h:
|
||||
|
||||
Engine/lib/bullet/src/BulletCollision/CollisionShapes/btConvexInternalShape.h:
|
||||
|
||||
/Applications/Xcode.app/Contents/Developer/Platforms/MacOSX.platform/Developer/SDKs/MacOSX12.3.sdk/usr/include/arm/endian.h:
|
||||
|
||||
/Applications/Xcode.app/Contents/Developer/Platforms/MacOSX.platform/Developer/SDKs/MacOSX12.3.sdk/usr/include/AvailabilityVersions.h:
|
||||
|
||||
Engine/lib/bullet/Extras/GIMPACTUtils/btGImpactConvexDecompositionShape.cpp:
|
||||
|
||||
/Applications/Xcode.app/Contents/Developer/Platforms/MacOSX.platform/Developer/SDKs/MacOSX12.3.sdk/usr/include/string.h:
|
||||
|
||||
Engine/lib/bullet/Extras/GIMPACTUtils/btGImpactConvexDecompositionShape.h:
|
||||
|
|
@ -0,0 +1,2 @@
|
|||
# CMAKE generated file: DO NOT EDIT!
|
||||
# Timestamp file for compiler generated dependencies management for GIMPACTUtils.
|
||||
|
|
@ -0,0 +1,2 @@
|
|||
# Empty dependencies file for GIMPACTUtils.
|
||||
# This may be replaced when dependencies are built.
|
||||
|
|
@ -0,0 +1,12 @@
|
|||
# CMAKE generated file: DO NOT EDIT!
|
||||
# Generated by "Unix Makefiles" Generator, CMake Version 3.23
|
||||
|
||||
# compile CXX with /Applications/Xcode.app/Contents/Developer/Toolchains/XcodeDefault.xctoolchain/usr/bin/c++
|
||||
CXX_DEFINES = -DGIMPACTUtils_EXPORTS -DUSE_GRAPHICAL_BENCHMARK
|
||||
|
||||
CXX_INCLUDES = -I/Users/ragora/Documents/Projects/Torque3D/Engine/lib/bullet/Extras/GIMPACT/include -I/Users/ragora/Documents/Projects/Torque3D/Engine/lib/bullet/src -I/Users/ragora/Documents/Projects/Torque3D/Engine/lib/bullet/Extras/GIMPACTUtils -I/Users/ragora/Documents/Projects/Torque3D/Engine/lib/bullet/Extras/ConvexDecomposition
|
||||
|
||||
CXX_FLAGSarm64 = -O3 -DNDEBUG -arch arm64 -isysroot /Applications/Xcode.app/Contents/Developer/Platforms/MacOSX.platform/Developer/SDKs/MacOSX12.3.sdk -fPIC
|
||||
|
||||
CXX_FLAGS = -O3 -DNDEBUG -arch arm64 -isysroot /Applications/Xcode.app/Contents/Developer/Platforms/MacOSX.platform/Developer/SDKs/MacOSX12.3.sdk -fPIC
|
||||
|
||||
|
|
@ -0,0 +1 @@
|
|||
/Applications/Xcode.app/Contents/Developer/Toolchains/XcodeDefault.xctoolchain/usr/bin/c++ -O3 -DNDEBUG -arch arm64 -isysroot /Applications/Xcode.app/Contents/Developer/Platforms/MacOSX.platform/Developer/SDKs/MacOSX12.3.sdk -dynamiclib -Wl,-headerpad_max_install_names -compatibility_version 2.85.0 -current_version 2.85.0 -o libGIMPACTUtils.2.85.dylib -install_name @rpath/libGIMPACTUtils.2.85.dylib CMakeFiles/GIMPACTUtils.dir/btGImpactConvexDecompositionShape.o -Wl,-rpath,/Users/ragora/Documents/Projects/Torque3D/Engine/lib/bullet/Extras/ConvexDecomposition -Wl,-rpath,/Users/ragora/Documents/Projects/Torque3D/Engine/lib/bullet/src/BulletCollision -Wl,-rpath,/Users/ragora/Documents/Projects/Torque3D/Engine/lib/bullet/src/LinearMath ../ConvexDecomposition/libConvexDecomposition.2.85.dylib ../../src/BulletCollision/libBulletCollision.2.85.dylib ../../src/LinearMath/libLinearMath.2.85.dylib
|
||||
|
|
@ -0,0 +1,3 @@
|
|||
CMAKE_PROGRESS_1 =
|
||||
CMAKE_PROGRESS_2 =
|
||||
|
||||
|
|
@ -0,0 +1 @@
|
|||
11
|
||||
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