145 lines
5.3 KiB
C++
145 lines
5.3 KiB
C++
/*
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Bullet Continuous Collision Detection and Physics Library
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Copyright (c) 2003-2009 Erwin Coumans http://bulletphysics.org
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This software is provided 'as-is', without any express or implied warranty.
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In no event will the authors be held liable for any damages arising from the use of this software.
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Permission is granted to anyone to use this software for any purpose,
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including commercial applications, and to alter it and redistribute it freely,
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subject to the following restrictions:
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1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
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2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
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3. This notice may not be removed or altered from any source distribution.
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*/
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#ifndef BT_BVH_TRIANGLE_MESH_SHAPE_H
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#define BT_BVH_TRIANGLE_MESH_SHAPE_H
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#include "btTriangleMeshShape.h"
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#include "btOptimizedBvh.h"
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#include "LinearMath/btAlignedAllocator.h"
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#include "btTriangleInfoMap.h"
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///The btBvhTriangleMeshShape is a static-triangle mesh shape, it can only be used for fixed/non-moving objects.
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///If you required moving concave triangle meshes, it is recommended to perform convex decomposition
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///using HACD, see Bullet/Demos/ConvexDecompositionDemo.
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///Alternatively, you can use btGimpactMeshShape for moving concave triangle meshes.
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///btBvhTriangleMeshShape has several optimizations, such as bounding volume hierarchy and
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///cache friendly traversal for PlayStation 3 Cell SPU.
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///It is recommended to enable useQuantizedAabbCompression for better memory usage.
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///It takes a triangle mesh as input, for example a btTriangleMesh or btTriangleIndexVertexArray. The btBvhTriangleMeshShape class allows for triangle mesh deformations by a refit or partialRefit method.
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///Instead of building the bounding volume hierarchy acceleration structure, it is also possible to serialize (save) and deserialize (load) the structure from disk.
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///See Demos\ConcaveDemo\ConcavePhysicsDemo.cpp for an example.
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ATTRIBUTE_ALIGNED16(class)
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btBvhTriangleMeshShape : public btTriangleMeshShape
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{
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btOptimizedBvh* m_bvh;
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btTriangleInfoMap* m_triangleInfoMap;
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bool m_useQuantizedAabbCompression;
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bool m_ownsBvh;
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#ifdef __clang__
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bool m_pad[11] __attribute__((unused)); ////need padding due to alignment
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#else
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bool m_pad[11]; ////need padding due to alignment
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#endif
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public:
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BT_DECLARE_ALIGNED_ALLOCATOR();
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btBvhTriangleMeshShape(btStridingMeshInterface * meshInterface, bool useQuantizedAabbCompression, bool buildBvh = true);
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///optionally pass in a larger bvh aabb, used for quantization. This allows for deformations within this aabb
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btBvhTriangleMeshShape(btStridingMeshInterface * meshInterface, bool useQuantizedAabbCompression, const btVector3& bvhAabbMin, const btVector3& bvhAabbMax, bool buildBvh = true);
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virtual ~btBvhTriangleMeshShape();
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bool getOwnsBvh() const
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{
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return m_ownsBvh;
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}
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void performRaycast(btTriangleCallback * callback, const btVector3& raySource, const btVector3& rayTarget);
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void performConvexcast(btTriangleCallback * callback, const btVector3& boxSource, const btVector3& boxTarget, const btVector3& boxMin, const btVector3& boxMax);
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virtual void processAllTriangles(btTriangleCallback * callback, const btVector3& aabbMin, const btVector3& aabbMax) const;
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void refitTree(const btVector3& aabbMin, const btVector3& aabbMax);
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///for a fast incremental refit of parts of the tree. Note: the entire AABB of the tree will become more conservative, it never shrinks
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void partialRefitTree(const btVector3& aabbMin, const btVector3& aabbMax);
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//debugging
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virtual const char* getName() const { return "BVHTRIANGLEMESH"; }
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virtual void setLocalScaling(const btVector3& scaling);
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btOptimizedBvh* getOptimizedBvh()
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{
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return m_bvh;
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}
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void setOptimizedBvh(btOptimizedBvh * bvh, const btVector3& localScaling = btVector3(1, 1, 1));
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void buildOptimizedBvh();
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bool usesQuantizedAabbCompression() const
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{
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return m_useQuantizedAabbCompression;
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}
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void setTriangleInfoMap(btTriangleInfoMap * triangleInfoMap)
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{
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m_triangleInfoMap = triangleInfoMap;
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}
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const btTriangleInfoMap* getTriangleInfoMap() const
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{
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return m_triangleInfoMap;
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}
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btTriangleInfoMap* getTriangleInfoMap()
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{
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return m_triangleInfoMap;
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}
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virtual int calculateSerializeBufferSize() const;
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///fills the dataBuffer and returns the struct name (and 0 on failure)
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virtual const char* serialize(void* dataBuffer, btSerializer* serializer) const;
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virtual void serializeSingleBvh(btSerializer * serializer) const;
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virtual void serializeSingleTriangleInfoMap(btSerializer * serializer) const;
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};
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// clang-format off
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///do not change those serialization structures, it requires an updated sBulletDNAstr/sBulletDNAstr64
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struct btTriangleMeshShapeData
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{
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btCollisionShapeData m_collisionShapeData;
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btStridingMeshInterfaceData m_meshInterface;
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btQuantizedBvhFloatData *m_quantizedFloatBvh;
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btQuantizedBvhDoubleData *m_quantizedDoubleBvh;
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btTriangleInfoMapData *m_triangleInfoMap;
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float m_collisionMargin;
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char m_pad3[4];
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};
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// clang-format on
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SIMD_FORCE_INLINE int btBvhTriangleMeshShape::calculateSerializeBufferSize() const
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{
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return sizeof(btTriangleMeshShapeData);
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}
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#endif //BT_BVH_TRIANGLE_MESH_SHAPE_H
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