1 /*
2 Bullet Continuous Collision Detection and Physics Library
3 Copyright (c) 2010 Erwin Coumans http://bulletphysics.org
4
5 This software is provided 'as-is', without any express or implied warranty.
6 In no event will the authors be held liable for any damages arising from the use of this software.
7 Permission is granted to anyone to use this software for any purpose,
8 including commercial applications, and to alter it and redistribute it freely,
9 subject to the following restrictions:
10
11 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.
12 2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
13 3. This notice may not be removed or altered from any source distribution.
14 */
15
16 #ifndef _BT_TRIANGLE_INFO_MAP_H
17 #define _BT_TRIANGLE_INFO_MAP_H
18
19
20 #include "LinearMath/btHashMap.h"
21 #include "LinearMath/btSerializer.h"
22
23
24 ///for btTriangleInfo m_flags
25 #define TRI_INFO_V0V1_CONVEX 1
26 #define TRI_INFO_V1V2_CONVEX 2
27 #define TRI_INFO_V2V0_CONVEX 4
28
29 #define TRI_INFO_V0V1_SWAP_NORMALB 8
30 #define TRI_INFO_V1V2_SWAP_NORMALB 16
31 #define TRI_INFO_V2V0_SWAP_NORMALB 32
32
33
34 ///The btTriangleInfo structure stores information to adjust collision normals to avoid collisions against internal edges
35 ///it can be generated using
36 struct btTriangleInfo
37 {
btTriangleInfobtTriangleInfo38 btTriangleInfo()
39 {
40 m_edgeV0V1Angle = SIMD_2_PI;
41 m_edgeV1V2Angle = SIMD_2_PI;
42 m_edgeV2V0Angle = SIMD_2_PI;
43 m_flags=0;
44 }
45
46 int m_flags;
47
48 btScalar m_edgeV0V1Angle;
49 btScalar m_edgeV1V2Angle;
50 btScalar m_edgeV2V0Angle;
51
52 };
53
54 typedef btHashMap<btHashInt,btTriangleInfo> btInternalTriangleInfoMap;
55
56
57 ///The btTriangleInfoMap stores edge angle information for some triangles. You can compute this information yourself or using btGenerateInternalEdgeInfo.
58 struct btTriangleInfoMap : public btInternalTriangleInfoMap
59 {
60 btScalar m_convexEpsilon;///used to determine if an edge or contact normal is convex, using the dot product
61 btScalar m_planarEpsilon; ///used to determine if a triangle edge is planar with zero angle
62 btScalar m_equalVertexThreshold; ///used to compute connectivity: if the distance between two vertices is smaller than m_equalVertexThreshold, they are considered to be 'shared'
63 btScalar m_edgeDistanceThreshold; ///used to determine edge contacts: if the closest distance between a contact point and an edge is smaller than this distance threshold it is considered to "hit the edge"
64 btScalar m_maxEdgeAngleThreshold; //ignore edges that connect triangles at an angle larger than this m_maxEdgeAngleThreshold
65 btScalar m_zeroAreaThreshold; ///used to determine if a triangle is degenerate (length squared of cross product of 2 triangle edges < threshold)
66
67
btTriangleInfoMapbtTriangleInfoMap68 btTriangleInfoMap()
69 {
70 m_convexEpsilon = 0.00f;
71 m_planarEpsilon = 0.0001f;
72 m_equalVertexThreshold = btScalar(0.0001)*btScalar(0.0001);
73 m_edgeDistanceThreshold = btScalar(0.1);
74 m_zeroAreaThreshold = btScalar(0.0001)*btScalar(0.0001);
75 m_maxEdgeAngleThreshold = SIMD_2_PI;
76 }
~btTriangleInfoMapbtTriangleInfoMap77 virtual ~btTriangleInfoMap() {}
78
79 virtual int calculateSerializeBufferSize() const;
80
81 ///fills the dataBuffer and returns the struct name (and 0 on failure)
82 virtual const char* serialize(void* dataBuffer, btSerializer* serializer) const;
83
84 void deSerialize(struct btTriangleInfoMapData& data);
85
86 };
87
88 ///those fields have to be float and not btScalar for the serialization to work properly
89 struct btTriangleInfoData
90 {
91 int m_flags;
92 float m_edgeV0V1Angle;
93 float m_edgeV1V2Angle;
94 float m_edgeV2V0Angle;
95 };
96
97 struct btTriangleInfoMapData
98 {
99 int *m_hashTablePtr;
100 int *m_nextPtr;
101 btTriangleInfoData *m_valueArrayPtr;
102 int *m_keyArrayPtr;
103
104 float m_convexEpsilon;
105 float m_planarEpsilon;
106 float m_equalVertexThreshold;
107 float m_edgeDistanceThreshold;
108 float m_zeroAreaThreshold;
109
110 int m_nextSize;
111 int m_hashTableSize;
112 int m_numValues;
113 int m_numKeys;
114 char m_padding[4];
115 };
116
calculateSerializeBufferSize()117 SIMD_FORCE_INLINE int btTriangleInfoMap::calculateSerializeBufferSize() const
118 {
119 return sizeof(btTriangleInfoMapData);
120 }
121
122 ///fills the dataBuffer and returns the struct name (and 0 on failure)
serialize(void * dataBuffer,btSerializer * serializer)123 SIMD_FORCE_INLINE const char* btTriangleInfoMap::serialize(void* dataBuffer, btSerializer* serializer) const
124 {
125 btTriangleInfoMapData* tmapData = (btTriangleInfoMapData*) dataBuffer;
126 tmapData->m_convexEpsilon = (float)m_convexEpsilon;
127 tmapData->m_planarEpsilon = (float)m_planarEpsilon;
128 tmapData->m_equalVertexThreshold =(float) m_equalVertexThreshold;
129 tmapData->m_edgeDistanceThreshold = (float)m_edgeDistanceThreshold;
130 tmapData->m_zeroAreaThreshold = (float)m_zeroAreaThreshold;
131
132 tmapData->m_hashTableSize = m_hashTable.size();
133
134 tmapData->m_hashTablePtr = tmapData->m_hashTableSize ? (int*)serializer->getUniquePointer((void*)&m_hashTable[0]) : 0;
135 if (tmapData->m_hashTablePtr)
136 {
137 //serialize an int buffer
138 int sz = sizeof(int);
139 int numElem = tmapData->m_hashTableSize;
140 btChunk* chunk = serializer->allocate(sz,numElem);
141 int* memPtr = (int*)chunk->m_oldPtr;
142 for (int i=0;i<numElem;i++,memPtr++)
143 {
144 *memPtr = m_hashTable[i];
145 }
146 serializer->finalizeChunk(chunk,"int",BT_ARRAY_CODE,(void*)&m_hashTable[0]);
147
148 }
149
150 tmapData->m_nextSize = m_next.size();
151 tmapData->m_nextPtr = tmapData->m_nextSize? (int*)serializer->getUniquePointer((void*)&m_next[0]): 0;
152 if (tmapData->m_nextPtr)
153 {
154 int sz = sizeof(int);
155 int numElem = tmapData->m_nextSize;
156 btChunk* chunk = serializer->allocate(sz,numElem);
157 int* memPtr = (int*)chunk->m_oldPtr;
158 for (int i=0;i<numElem;i++,memPtr++)
159 {
160 *memPtr = m_next[i];
161 }
162 serializer->finalizeChunk(chunk,"int",BT_ARRAY_CODE,(void*)&m_next[0]);
163 }
164
165 tmapData->m_numValues = m_valueArray.size();
166 tmapData->m_valueArrayPtr = tmapData->m_numValues ? (btTriangleInfoData*)serializer->getUniquePointer((void*)&m_valueArray[0]): 0;
167 if (tmapData->m_valueArrayPtr)
168 {
169 int sz = sizeof(btTriangleInfoData);
170 int numElem = tmapData->m_numValues;
171 btChunk* chunk = serializer->allocate(sz,numElem);
172 btTriangleInfoData* memPtr = (btTriangleInfoData*)chunk->m_oldPtr;
173 for (int i=0;i<numElem;i++,memPtr++)
174 {
175 memPtr->m_edgeV0V1Angle = (float)m_valueArray[i].m_edgeV0V1Angle;
176 memPtr->m_edgeV1V2Angle = (float)m_valueArray[i].m_edgeV1V2Angle;
177 memPtr->m_edgeV2V0Angle = (float)m_valueArray[i].m_edgeV2V0Angle;
178 memPtr->m_flags = m_valueArray[i].m_flags;
179 }
180 serializer->finalizeChunk(chunk,"btTriangleInfoData",BT_ARRAY_CODE,(void*) &m_valueArray[0]);
181 }
182
183 tmapData->m_numKeys = m_keyArray.size();
184 tmapData->m_keyArrayPtr = tmapData->m_numKeys ? (int*)serializer->getUniquePointer((void*)&m_keyArray[0]) : 0;
185 if (tmapData->m_keyArrayPtr)
186 {
187 int sz = sizeof(int);
188 int numElem = tmapData->m_numValues;
189 btChunk* chunk = serializer->allocate(sz,numElem);
190 int* memPtr = (int*)chunk->m_oldPtr;
191 for (int i=0;i<numElem;i++,memPtr++)
192 {
193 *memPtr = m_keyArray[i].getUid1();
194 }
195 serializer->finalizeChunk(chunk,"int",BT_ARRAY_CODE,(void*) &m_keyArray[0]);
196
197 }
198 return "btTriangleInfoMapData";
199 }
200
201
202
203 ///fills the dataBuffer and returns the struct name (and 0 on failure)
deSerialize(btTriangleInfoMapData & tmapData)204 SIMD_FORCE_INLINE void btTriangleInfoMap::deSerialize(btTriangleInfoMapData& tmapData )
205 {
206
207
208 m_convexEpsilon = tmapData.m_convexEpsilon;
209 m_planarEpsilon = tmapData.m_planarEpsilon;
210 m_equalVertexThreshold = tmapData.m_equalVertexThreshold;
211 m_edgeDistanceThreshold = tmapData.m_edgeDistanceThreshold;
212 m_zeroAreaThreshold = tmapData.m_zeroAreaThreshold;
213 m_hashTable.resize(tmapData.m_hashTableSize);
214 int i =0;
215 for (i=0;i<tmapData.m_hashTableSize;i++)
216 {
217 m_hashTable[i] = tmapData.m_hashTablePtr[i];
218 }
219 m_next.resize(tmapData.m_nextSize);
220 for (i=0;i<tmapData.m_nextSize;i++)
221 {
222 m_next[i] = tmapData.m_nextPtr[i];
223 }
224 m_valueArray.resize(tmapData.m_numValues);
225 for (i=0;i<tmapData.m_numValues;i++)
226 {
227 m_valueArray[i].m_edgeV0V1Angle = tmapData.m_valueArrayPtr[i].m_edgeV0V1Angle;
228 m_valueArray[i].m_edgeV1V2Angle = tmapData.m_valueArrayPtr[i].m_edgeV1V2Angle;
229 m_valueArray[i].m_edgeV2V0Angle = tmapData.m_valueArrayPtr[i].m_edgeV2V0Angle;
230 m_valueArray[i].m_flags = tmapData.m_valueArrayPtr[i].m_flags;
231 }
232
233 m_keyArray.resize(tmapData.m_numKeys,btHashInt(0));
234 for (i=0;i<tmapData.m_numKeys;i++)
235 {
236 m_keyArray[i].setUid1(tmapData.m_keyArrayPtr[i]);
237 }
238 }
239
240
241 #endif //_BT_TRIANGLE_INFO_MAP_H
242