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
78
findOrAddVertex(const btVector3 & vertex,bool removeDuplicateVertices)79 int btTriangleMesh::findOrAddVertex(const btVector3& vertex, bool removeDuplicateVertices)
80 {
81 //return index of new/existing vertex
82 ///@todo: could use acceleration structure for this
83 if (m_use4componentVertices)
84 {
85 if (removeDuplicateVertices)
86 {
87 for (int i=0;i< m_4componentVertices.size();i++)
88 {
89 if ((m_4componentVertices[i]-vertex).length2() <= m_weldingThreshold)
90 {
91 return i;
92 }
93 }
94 }
95 m_indexedMeshes[0].m_numVertices++;
96 m_4componentVertices.push_back(vertex);
97 m_indexedMeshes[0].m_vertexBase = (unsigned char*)&m_4componentVertices[0];
98
99 return m_4componentVertices.size()-1;
100
101 } else
102 {
103
104 if (removeDuplicateVertices)
105 {
106 for (int i=0;i< m_3componentVertices.size();i+=3)
107 {
108 btVector3 vtx(m_3componentVertices[i],m_3componentVertices[i+1],m_3componentVertices[i+2]);
109 if ((vtx-vertex).length2() <= m_weldingThreshold)
110 {
111 return i/3;
112 }
113 }
114 }
115 m_3componentVertices.push_back((float)vertex.getX());
116 m_3componentVertices.push_back((float)vertex.getY());
117 m_3componentVertices.push_back((float)vertex.getZ());
118 m_indexedMeshes[0].m_numVertices++;
119 m_indexedMeshes[0].m_vertexBase = (unsigned char*)&m_3componentVertices[0];
120 return (m_3componentVertices.size()/3)-1;
121 }
122
123 }
124
addTriangle(const btVector3 & vertex0,const btVector3 & vertex1,const btVector3 & vertex2,bool removeDuplicateVertices)125 void btTriangleMesh::addTriangle(const btVector3& vertex0,const btVector3& vertex1,const btVector3& vertex2,bool removeDuplicateVertices)
126 {
127 m_indexedMeshes[0].m_numTriangles++;
128 addIndex(findOrAddVertex(vertex0,removeDuplicateVertices));
129 addIndex(findOrAddVertex(vertex1,removeDuplicateVertices));
130 addIndex(findOrAddVertex(vertex2,removeDuplicateVertices));
131 }
132
getNumTriangles() const133 int btTriangleMesh::getNumTriangles() const
134 {
135 if (m_use32bitIndices)
136 {
137 return m_32bitIndices.size() / 3;
138 }
139 return m_16bitIndices.size() / 3;
140 }
141