1 /*
2 Bullet Continuous Collision Detection and Physics Library
3 Copyright (c) 2003-2009 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
17 #include "btTriangleMesh.h"
18
19
20
btTriangleMesh(bool use32bitIndices,bool use4componentVertices)21 btTriangleMesh::btTriangleMesh (bool use32bitIndices,bool use4componentVertices)
22 :m_use32bitIndices(use32bitIndices),
23 m_use4componentVertices(use4componentVertices),
24 m_weldingThreshold(0.0)
25 {
26 btIndexedMesh meshIndex;
27 meshIndex.m_numTriangles = 0;
28 meshIndex.m_numVertices = 0;
29 meshIndex.m_indexType = PHY_INTEGER;
30 meshIndex.m_triangleIndexBase = 0;
31 meshIndex.m_triangleIndexStride = 3*sizeof(int);
32 meshIndex.m_vertexBase = 0;
33 meshIndex.m_vertexStride = sizeof(btVector3);
34 m_indexedMeshes.push_back(meshIndex);
35
36 if (m_use32bitIndices)
37 {
38 m_indexedMeshes[0].m_numTriangles = m_32bitIndices.size()/3;
39 m_indexedMeshes[0].m_triangleIndexBase = 0;
40 m_indexedMeshes[0].m_indexType = PHY_INTEGER;
41 m_indexedMeshes[0].m_triangleIndexStride = 3*sizeof(int);
42 } else
43 {
44 m_indexedMeshes[0].m_numTriangles = m_16bitIndices.size()/3;
45 m_indexedMeshes[0].m_triangleIndexBase = 0;
46 m_indexedMeshes[0].m_indexType = PHY_SHORT;
47 m_indexedMeshes[0].m_triangleIndexStride = 3*sizeof(short int);
48 }
49
50 if (m_use4componentVertices)
51 {
52 m_indexedMeshes[0].m_numVertices = m_4componentVertices.size();
53 m_indexedMeshes[0].m_vertexBase = 0;
54 m_indexedMeshes[0].m_vertexStride = sizeof(btVector3);
55 } else
56 {
57 m_indexedMeshes[0].m_numVertices = m_3componentVertices.size()/3;
58 m_indexedMeshes[0].m_vertexBase = 0;
59 m_indexedMeshes[0].m_vertexStride = 3*sizeof(btScalar);
60 }
61
62
63 }
64
addIndex(int index)65 void btTriangleMesh::addIndex(int index)
66 {
67 if (m_use32bitIndices)
68 {
69 m_32bitIndices.push_back(index);
70 m_indexedMeshes[0].m_triangleIndexBase = (unsigned char*) &m_32bitIndices[0];
71 } else
72 {
73 m_16bitIndices.push_back(index);
74 m_indexedMeshes[0].m_triangleIndexBase = (unsigned char*) &m_16bitIndices[0];
75 }
76 }
77
addTriangleIndices(int index1,int index2,int index3)78 void btTriangleMesh::addTriangleIndices(int index1, int index2, int index3 )
79 {
80 m_indexedMeshes[0].m_numTriangles++;
81 addIndex( index1 );
82 addIndex( index2 );
83 addIndex( index3 );
84 }
85
findOrAddVertex(const btVector3 & vertex,bool removeDuplicateVertices)86 int btTriangleMesh::findOrAddVertex(const btVector3& vertex, bool removeDuplicateVertices)
87 {
88 //return index of new/existing vertex
89 ///@todo: could use acceleration structure for this
90 if (m_use4componentVertices)
91 {
92 if (removeDuplicateVertices)
93 {
94 for (int i=0;i< m_4componentVertices.size();i++)
95 {
96 if ((m_4componentVertices[i]-vertex).length2() <= m_weldingThreshold)
97 {
98 return i;
99 }
100 }
101 }
102 m_indexedMeshes[0].m_numVertices++;
103 m_4componentVertices.push_back(vertex);
104 m_indexedMeshes[0].m_vertexBase = (unsigned char*)&m_4componentVertices[0];
105
106 return m_4componentVertices.size()-1;
107
108 } else
109 {
110
111 if (removeDuplicateVertices)
112 {
113 for (int i=0;i< m_3componentVertices.size();i+=3)
114 {
115 btVector3 vtx(m_3componentVertices[i],m_3componentVertices[i+1],m_3componentVertices[i+2]);
116 if ((vtx-vertex).length2() <= m_weldingThreshold)
117 {
118 return i/3;
119 }
120 }
121 }
122 m_3componentVertices.push_back(vertex.getX());
123 m_3componentVertices.push_back(vertex.getY());
124 m_3componentVertices.push_back(vertex.getZ());
125 m_indexedMeshes[0].m_numVertices++;
126 m_indexedMeshes[0].m_vertexBase = (unsigned char*)&m_3componentVertices[0];
127 return (m_3componentVertices.size()/3)-1;
128 }
129
130 }
131
addTriangle(const btVector3 & vertex0,const btVector3 & vertex1,const btVector3 & vertex2,bool removeDuplicateVertices)132 void btTriangleMesh::addTriangle(const btVector3& vertex0,const btVector3& vertex1,const btVector3& vertex2,bool removeDuplicateVertices)
133 {
134 m_indexedMeshes[0].m_numTriangles++;
135 addIndex(findOrAddVertex(vertex0,removeDuplicateVertices));
136 addIndex(findOrAddVertex(vertex1,removeDuplicateVertices));
137 addIndex(findOrAddVertex(vertex2,removeDuplicateVertices));
138 }
139
getNumTriangles() const140 int btTriangleMesh::getNumTriangles() const
141 {
142 if (m_use32bitIndices)
143 {
144 return m_32bitIndices.size() / 3;
145 }
146 return m_16bitIndices.size() / 3;
147 }
148
preallocateVertices(int numverts)149 void btTriangleMesh::preallocateVertices(int numverts)
150 {
151 if (m_use4componentVertices)
152 {
153 m_4componentVertices.reserve(numverts);
154 } else
155 {
156 m_3componentVertices.reserve(numverts);
157 }
158 }
159
preallocateIndices(int numindices)160 void btTriangleMesh::preallocateIndices(int numindices)
161 {
162 if (m_use32bitIndices)
163 {
164 m_32bitIndices.reserve(numindices);
165 } else
166 {
167 m_16bitIndices.reserve(numindices);
168 }
169 }
170