Changeset 8393 for code/trunk/src/external/bullet/BulletCollision/CollisionShapes/btPolyhedralConvexShape.cpp

Timestamp:

May 3, 2011, 5:07:42 AM (13 years ago)

Author:

rgrieder

Message:

Updated Bullet from v2.77 to v2.78.
(I'm not going to make a branch for that since the update from 2.74 to 2.77 hasn't been tested that much either).

You will HAVE to do a complete RECOMPILE! I tested with MSVC and MinGW and they both threw linker errors at me.

File:

• code/trunk/src/external/bullet/BulletCollision/CollisionShapes/btPolyhedralConvexShape.cpp (modified) (2 diffs)

code/trunk/src/external/bullet/BulletCollision/CollisionShapes/btPolyhedralConvexShape.cpp

@@ -15 +15 @@
 
 #include "BulletCollision/CollisionShapes/btPolyhedralConvexShape.h"
-
-btPolyhedralConvexShape::btPolyhedralConvexShape() :btConvexInternalShape()
-{
-
+#include "btConvexPolyhedron.h"
+#include "LinearMath/btConvexHullComputer.h"
+#include <new>
+
+btPolyhedralConvexShape::btPolyhedralConvexShape() :btConvexInternalShape(),
+m_polyhedron(0)
+{
+
+}
+
+btPolyhedralConvexShape::~btPolyhedralConvexShape()
+{
+        if (m_polyhedron)
+        {
+                btAlignedFree(m_polyhedron);
+        }
+}
+
+bool    btPolyhedralConvexShape::initializePolyhedralFeatures()
+{
+        if (m_polyhedron)
+                btAlignedFree(m_polyhedron);
+        
+        void* mem = btAlignedAlloc(sizeof(btConvexPolyhedron),16);
+        m_polyhedron = new (mem) btConvexPolyhedron;
+
+        btAlignedObjectArray<btVector3> tmpVertices;
+        for (int i=0;i<getNumVertices();i++)
+        {
+                btVector3& newVertex = tmpVertices.expand();
+                getVertex(i,newVertex);
+        }
+
+        btConvexHullComputer conv;
+        conv.compute(&tmpVertices[0].getX(), sizeof(btVector3),tmpVertices.size(),0.f,0.f);
+
+        
+
+        btAlignedObjectArray<btVector3> faceNormals;
+        int numFaces = conv.faces.size();
+        faceNormals.resize(numFaces);
+        btConvexHullComputer* convexUtil = &conv;
+
+        
+        
+        m_polyhedron->m_faces.resize(numFaces);
+        int numVertices = convexUtil->vertices.size();
+        m_polyhedron->m_vertices.resize(numVertices);
+        for (int p=0;p<numVertices;p++)
+        {
+                m_polyhedron->m_vertices[p] = convexUtil->vertices[p];
+        }
+
+        for (int i=0;i<numFaces;i++)
+        {
+                int face = convexUtil->faces[i];
+                //printf("face=%d\n",face);
+                const btConvexHullComputer::Edge*  firstEdge = &convexUtil->edges[face];
+                const btConvexHullComputer::Edge*  edge = firstEdge;
+
+                btVector3 edges[3];
+                int numEdges = 0;
+                //compute face normals
+
+                btScalar maxCross2 = 0.f;
+                int chosenEdge = -1;
+
+                do
+                {
+                        
+                        int src = edge->getSourceVertex();
+                        m_polyhedron->m_faces[i].m_indices.push_back(src);
+                        int targ = edge->getTargetVertex();
+                        btVector3 wa = convexUtil->vertices[src];
+
+                        btVector3 wb = convexUtil->vertices[targ];
+                        btVector3 newEdge = wb-wa;
+                        newEdge.normalize();
+                        if (numEdges<2)
+                                edges[numEdges++] = newEdge;
+
+                        edge = edge->getNextEdgeOfFace();
+                } while (edge!=firstEdge);
+
+                btScalar planeEq = 1e30f;
+
+                
+                if (numEdges==2)
+                {
+                        faceNormals[i] = edges[0].cross(edges[1]);
+                        faceNormals[i].normalize();
+                        m_polyhedron->m_faces[i].m_plane[0] = -faceNormals[i].getX();
+                        m_polyhedron->m_faces[i].m_plane[1] = -faceNormals[i].getY();
+                        m_polyhedron->m_faces[i].m_plane[2] = -faceNormals[i].getZ();
+                        m_polyhedron->m_faces[i].m_plane[3] = planeEq;
+
+                }
+                else
+                {
+                        btAssert(0);//degenerate?
+                        faceNormals[i].setZero();
+                }
+
+                for (int v=0;v<m_polyhedron->m_faces[i].m_indices.size();v++)
+                {
+                        btScalar eq = m_polyhedron->m_vertices[m_polyhedron->m_faces[i].m_indices[v]].dot(faceNormals[i]);
+                        if (planeEq>eq)
+                        {
+                                planeEq=eq;
+                        }
+                }
+                m_polyhedron->m_faces[i].m_plane[3] = planeEq;
+        }
+
+
+        if (m_polyhedron->m_faces.size() && conv.vertices.size())
+        {
+
+                for (int f=0;f<m_polyhedron->m_faces.size();f++)
+                {
+                        
+                        btVector3 planeNormal(m_polyhedron->m_faces[f].m_plane[0],m_polyhedron->m_faces[f].m_plane[1],m_polyhedron->m_faces[f].m_plane[2]);
+                        btScalar planeEq = m_polyhedron->m_faces[f].m_plane[3];
+
+                        btVector3 supVec = localGetSupportingVertex(-planeNormal);
+
+                        if (supVec.dot(planeNormal)<planeEq)
+                        {
+                                m_polyhedron->m_faces[f].m_plane[0] *= -1;
+                                m_polyhedron->m_faces[f].m_plane[1] *= -1;
+                                m_polyhedron->m_faces[f].m_plane[2] *= -1;
+                                m_polyhedron->m_faces[f].m_plane[3] *= -1;
+                                int numVerts = m_polyhedron->m_faces[f].m_indices.size();
+                                for (int v=0;v<numVerts/2;v++)
+                                {
+                                        btSwap(m_polyhedron->m_faces[f].m_indices[v],m_polyhedron->m_faces[f].m_indices[numVerts-1-v]);
+                                }
+                        }
+                }
+        }
+
+        
+
+        m_polyhedron->initialize();
+
+        return true;
 }
 
@@ -192 +334 @@
 }
 
+
+
+