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 #include "btTriangleMesh.h"
17
btTriangleMesh(bool use32bitIndices,bool use4componentVertices)18 btTriangleMesh::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
addIndex(int index)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
addTriangleIndices(int index1,int index2,int index3)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
findOrAddVertex(const btVector3 & vertex,bool removeDuplicateVertices)84 int btTriangleMesh::findOrAddVertex(const btVector3& vertex, bool removeDuplicateVertices)
85 {
86 //return index of new/existing vertex
87 ///@todo: could use acceleration structure for this
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
addTriangle(const btVector3 & vertex0,const btVector3 & vertex1,const btVector3 & vertex2,bool removeDuplicateVertices)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
getNumTriangles() const136 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
preallocateVertices(int numverts)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
preallocateIndices(int numindices)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 }
168