Bullet Collision Detection & Physics Library: btTriangleMesh.cpp Source File

Bullet Collision Detection & Physics Library

btTriangleMesh.cpp
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1/*
2Bullet Continuous Collision Detection and Physics Library
3Copyright (c) 2003-2009 Erwin Coumans http://bulletphysics.org
4
5This software is provided 'as-is', without any express or implied warranty.
6In no event will the authors be held liable for any damages arising from the use of this software.
7Permission is granted to anyone to use this software for any purpose,
8including commercial applications, and to alter it and redistribute it freely,
9subject to the following restrictions:
10
111. 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.
122. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
133. This notice may not be removed or altered from any source distribution.
14*/
15
16#include "btTriangleMesh.h"
17
18btTriangleMesh::btTriangleMesh(bool use32bitIndices, bool use4componentVertices)
19 : m_use32bitIndices(use32bitIndices),
20 m_use4componentVertices(use4componentVertices),
21 m_weldingThreshold(0.0)
22{
23 btIndexedMesh meshIndex;
24 meshIndex.m_numTriangles = 0;
25 meshIndex.m_numVertices = 0;
26 meshIndex.m_indexType = PHY_INTEGER;
27 meshIndex.m_triangleIndexBase = 0;
28 meshIndex.m_triangleIndexStride = 3 * sizeof(int);
29 meshIndex.m_vertexBase = 0;
30 meshIndex.m_vertexStride = sizeof(btVector3);
31 m_indexedMeshes.push_back(meshIndex);
32
33 if (m_use32bitIndices)
34 {
35 m_indexedMeshes[0].m_numTriangles = m_32bitIndices.size() / 3;
36 m_indexedMeshes[0].m_triangleIndexBase = 0;
37 m_indexedMeshes[0].m_indexType = PHY_INTEGER;
38 m_indexedMeshes[0].m_triangleIndexStride = 3 * sizeof(int);
39 }
40 else
41 {
42 m_indexedMeshes[0].m_numTriangles = m_16bitIndices.size() / 3;
43 m_indexedMeshes[0].m_triangleIndexBase = 0;
44 m_indexedMeshes[0].m_indexType = PHY_SHORT;
45 m_indexedMeshes[0].m_triangleIndexStride = 3 * sizeof(short int);
46 }
47
48 if (m_use4componentVertices)
49 {
50 m_indexedMeshes[0].m_numVertices = m_4componentVertices.size();
51 m_indexedMeshes[0].m_vertexBase = 0;
52 m_indexedMeshes[0].m_vertexStride = sizeof(btVector3);
53 }
54 else
55 {
56 m_indexedMeshes[0].m_numVertices = m_3componentVertices.size() / 3;
57 m_indexedMeshes[0].m_vertexBase = 0;
58 m_indexedMeshes[0].m_vertexStride = 3 * sizeof(btScalar);
59 }
60}
61
62 void btTriangleMesh::addIndex(int index)
63{
64 if (m_use32bitIndices)
65 {
66 m_32bitIndices.push_back(index);
67 m_indexedMeshes[0].m_triangleIndexBase = (unsigned char*)&m_32bitIndices[0];
68 }
69 else
70 {
71 m_16bitIndices.push_back(index);
72 m_indexedMeshes[0].m_triangleIndexBase = (unsigned char*)&m_16bitIndices[0];
73 }
74}
75
76 void btTriangleMesh::addTriangleIndices(int index1, int index2, int index3)
77{
78 m_indexedMeshes[0].m_numTriangles++;
79 addIndex(index1);
80 addIndex(index2);
81 addIndex(index3);
82}
83
84 int btTriangleMesh::findOrAddVertex(const btVector3& vertex, bool removeDuplicateVertices)
85{
86 //return index of new/existing vertex
88 if (m_use4componentVertices)
89 {
90 if (removeDuplicateVertices)
91 {
92 for (int i = 0; i < m_4componentVertices.size(); i++)
93 {
94 if ((m_4componentVertices[i] - vertex).length2() <= m_weldingThreshold)
95 {
96 return i;
97 }
98 }
99 }
100 m_indexedMeshes[0].m_numVertices++;
101 m_4componentVertices.push_back(vertex);
102 m_indexedMeshes[0].m_vertexBase = (unsigned char*)&m_4componentVertices[0];
103
104 return m_4componentVertices.size() - 1;
105 }
106 else
107 {
108 if (removeDuplicateVertices)
109 {
110 for (int i = 0; i < m_3componentVertices.size(); i += 3)
111 {
112 btVector3 vtx(m_3componentVertices[i], m_3componentVertices[i + 1], m_3componentVertices[i + 2]);
113 if ((vtx - vertex).length2() <= m_weldingThreshold)
114 {
115 return i / 3;
116 }
117 }
118 }
119 m_3componentVertices.push_back(vertex.getX());
120 m_3componentVertices.push_back(vertex.getY());
121 m_3componentVertices.push_back(vertex.getZ());
122 m_indexedMeshes[0].m_numVertices++;
123 m_indexedMeshes[0].m_vertexBase = (unsigned char*)&m_3componentVertices[0];
124 return (m_3componentVertices.size() / 3) - 1;
125 }
126}
127
128 void btTriangleMesh::addTriangle(const btVector3& vertex0, const btVector3& vertex1, const btVector3& vertex2, bool removeDuplicateVertices)
129{
130 m_indexedMeshes[0].m_numTriangles++;
131 addIndex(findOrAddVertex(vertex0, removeDuplicateVertices));
132 addIndex(findOrAddVertex(vertex1, removeDuplicateVertices));
133 addIndex(findOrAddVertex(vertex2, removeDuplicateVertices));
134}
135
136 int btTriangleMesh::getNumTriangles() const
137{
138 if (m_use32bitIndices)
139 {
140 return m_32bitIndices.size() / 3;
141 }
142 return m_16bitIndices.size() / 3;
143}
144
145 void btTriangleMesh::preallocateVertices(int numverts)
146{
147 if (m_use4componentVertices)
148 {
149 m_4componentVertices.reserve(numverts);
150 }
151 else
152 {
153 m_3componentVertices.reserve(numverts);
154 }
155}
156
157 void btTriangleMesh::preallocateIndices(int numindices)
158{
159 if (m_use32bitIndices)
160 {
161 m_32bitIndices.reserve(numindices);
162 }
163 else
164 {
165 m_16bitIndices.reserve(numindices);
166 }
167}
PHY_SHORT
@ PHY_SHORT
Definition: btConcaveShape.h:30
PHY_INTEGER
@ PHY_INTEGER
Definition: btConcaveShape.h:29
btScalar
float btScalar
The btScalar type abstracts floating point numbers, to easily switch between double and single floati...
Definition: btScalar.h:314
btTriangleMesh.h
btAlignedObjectArray::size
int size() const
return the number of elements in the array
Definition: btAlignedObjectArray.h:142
btAlignedObjectArray::push_back
void push_back(const T &_Val)
Definition: btAlignedObjectArray.h:257
btAlignedObjectArray::reserve
void reserve(int _Count)
Definition: btAlignedObjectArray.h:280
btTriangleIndexVertexArray::m_indexedMeshes
IndexedMeshArray m_indexedMeshes
Definition: btTriangleIndexVertexArray.h:69
btTriangleMesh::preallocateIndices
virtual void preallocateIndices(int numindices)
Definition: btTriangleMesh.cpp:157
btTriangleMesh::m_weldingThreshold
btScalar m_weldingThreshold
Definition: btTriangleMesh.h:38
btTriangleMesh::m_4componentVertices
btAlignedObjectArray< btVector3 > m_4componentVertices
Definition: btTriangleMesh.h:29
btTriangleMesh::addTriangle
void addTriangle(const btVector3 &vertex0, const btVector3 &vertex1, const btVector3 &vertex2, bool removeDuplicateVertices=false)
By default addTriangle won't search for duplicate vertices, because the search is very slow for large...
Definition: btTriangleMesh.cpp:128
btTriangleMesh::getNumTriangles
int getNumTriangles() const
Definition: btTriangleMesh.cpp:136
btTriangleMesh::m_16bitIndices
btAlignedObjectArray< unsigned short int > m_16bitIndices
Definition: btTriangleMesh.h:33
btTriangleMesh::findOrAddVertex
int findOrAddVertex(const btVector3 &vertex, bool removeDuplicateVertices)
findOrAddVertex is an internal method, use addTriangle instead
Definition: btTriangleMesh.cpp:84
btTriangleMesh::addTriangleIndices
void addTriangleIndices(int index1, int index2, int index3)
Add a triangle using its indices. Make sure the indices are pointing within the vertices array,...
Definition: btTriangleMesh.cpp:76
btTriangleMesh::btTriangleMesh
btTriangleMesh(bool use32bitIndices=true, bool use4componentVertices=true)
Definition: btTriangleMesh.cpp:18
btTriangleMesh::m_32bitIndices
btAlignedObjectArray< unsigned int > m_32bitIndices
Definition: btTriangleMesh.h:32
btTriangleMesh::m_use32bitIndices
bool m_use32bitIndices
Definition: btTriangleMesh.h:34
btTriangleMesh::preallocateVertices
virtual void preallocateVertices(int numverts)
Definition: btTriangleMesh.cpp:145
btTriangleMesh::m_3componentVertices
btAlignedObjectArray< btScalar > m_3componentVertices
Definition: btTriangleMesh.h:30
btTriangleMesh::addIndex
void addIndex(int index)
addIndex is an internal method, use addTriangle instead
Definition: btTriangleMesh.cpp:62
btTriangleMesh::m_use4componentVertices
bool m_use4componentVertices
Definition: btTriangleMesh.h:35
btVector3
btVector3 can be used to represent 3D points and vectors.
Definition: btVector3.h:82
btVector3::getZ
const btScalar & getZ() const
Return the z value.
Definition: btVector3.h:565
btVector3::getY
const btScalar & getY() const
Return the y value.
Definition: btVector3.h:563
btVector3::getX
const btScalar & getX() const
Return the x value.
Definition: btVector3.h:561
btIndexedMesh
The btIndexedMesh indexes a single vertex and index array.
Definition: btTriangleIndexVertexArray.h:27
btIndexedMesh::m_indexType
PHY_ScalarType m_indexType
Definition: btTriangleIndexVertexArray.h:41
btIndexedMesh::m_numVertices
int m_numVertices
Definition: btTriangleIndexVertexArray.h:34
btIndexedMesh::m_numTriangles
int m_numTriangles
Definition: btTriangleIndexVertexArray.h:30
btIndexedMesh::m_triangleIndexStride
int m_triangleIndexStride
Definition: btTriangleIndexVertexArray.h:33
btIndexedMesh::m_vertexBase
const unsigned char * m_vertexBase
Definition: btTriangleIndexVertexArray.h:35
btIndexedMesh::m_vertexStride
int m_vertexStride
Definition: btTriangleIndexVertexArray.h:37
btIndexedMesh::m_triangleIndexBase
const unsigned char * m_triangleIndexBase
Definition: btTriangleIndexVertexArray.h:31