| /* |
| Bullet Continuous Collision Detection and Physics Library |
| Copyright (c) 2003-2009 Erwin Coumans http://bulletphysics.org |
| |
| This software is provided 'as-is', without any express or implied warranty. |
| In no event will the authors be held liable for any damages arising from the use of this software. |
| Permission is granted to anyone to use this software for any purpose, |
| including commercial applications, and to alter it and redistribute it freely, |
| subject to the following restrictions: |
| |
| 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. |
| 2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software. |
| 3. This notice may not be removed or altered from any source distribution. |
| */ |
| |
| |
| #include "BulletCollision/CollisionShapes/btTriangleMesh.h" |
| |
| |
| |
| btTriangleMesh::btTriangleMesh (bool use32bitIndices,bool use4componentVertices) |
| :m_use32bitIndices(use32bitIndices), |
| m_use4componentVertices(use4componentVertices), |
| m_weldingThreshold(0.0) |
| { |
| btIndexedMesh meshIndex; |
| meshIndex.m_numTriangles = 0; |
| meshIndex.m_numVertices = 0; |
| meshIndex.m_indexType = PHY_INTEGER; |
| meshIndex.m_triangleIndexBase = 0; |
| meshIndex.m_triangleIndexStride = 3*sizeof(int); |
| meshIndex.m_vertexBase = 0; |
| meshIndex.m_vertexStride = sizeof(btVector3); |
| m_indexedMeshes.push_back(meshIndex); |
| |
| if (m_use32bitIndices) |
| { |
| m_indexedMeshes[0].m_numTriangles = m_32bitIndices.size()/3; |
| m_indexedMeshes[0].m_triangleIndexBase = 0; |
| m_indexedMeshes[0].m_indexType = PHY_INTEGER; |
| m_indexedMeshes[0].m_triangleIndexStride = 3*sizeof(int); |
| } else |
| { |
| m_indexedMeshes[0].m_numTriangles = m_16bitIndices.size()/3; |
| m_indexedMeshes[0].m_triangleIndexBase = 0; |
| m_indexedMeshes[0].m_indexType = PHY_SHORT; |
| m_indexedMeshes[0].m_triangleIndexStride = 3*sizeof(short int); |
| } |
| |
| if (m_use4componentVertices) |
| { |
| m_indexedMeshes[0].m_numVertices = m_4componentVertices.size(); |
| m_indexedMeshes[0].m_vertexBase = 0; |
| m_indexedMeshes[0].m_vertexStride = sizeof(btVector3); |
| } else |
| { |
| m_indexedMeshes[0].m_numVertices = m_3componentVertices.size()/3; |
| m_indexedMeshes[0].m_vertexBase = 0; |
| m_indexedMeshes[0].m_vertexStride = 3*sizeof(btScalar); |
| } |
| |
| |
| } |
| |
| void btTriangleMesh::addIndex(int index) |
| { |
| if (m_use32bitIndices) |
| { |
| m_32bitIndices.push_back(index); |
| m_indexedMeshes[0].m_triangleIndexBase = (unsigned char*) &m_32bitIndices[0]; |
| } else |
| { |
| m_16bitIndices.push_back(index); |
| m_indexedMeshes[0].m_triangleIndexBase = (unsigned char*) &m_16bitIndices[0]; |
| } |
| } |
| |
| |
| int btTriangleMesh::findOrAddVertex(const btVector3& vertex, bool removeDuplicateVertices) |
| { |
| //return index of new/existing vertex |
| ///@todo: could use acceleration structure for this |
| if (m_use4componentVertices) |
| { |
| if (removeDuplicateVertices) |
| { |
| for (int i=0;i< m_4componentVertices.size();i++) |
| { |
| if ((m_4componentVertices[i]-vertex).length2() <= m_weldingThreshold) |
| { |
| return i; |
| } |
| } |
| } |
| m_indexedMeshes[0].m_numVertices++; |
| m_4componentVertices.push_back(vertex); |
| m_indexedMeshes[0].m_vertexBase = (unsigned char*)&m_4componentVertices[0]; |
| |
| return m_4componentVertices.size()-1; |
| |
| } else |
| { |
| |
| if (removeDuplicateVertices) |
| { |
| for (int i=0;i< m_3componentVertices.size();i+=3) |
| { |
| btVector3 vtx(m_3componentVertices[i],m_3componentVertices[i+1],m_3componentVertices[i+2]); |
| if ((vtx-vertex).length2() <= m_weldingThreshold) |
| { |
| return i/3; |
| } |
| } |
| } |
| m_3componentVertices.push_back((float)vertex.getX()); |
| m_3componentVertices.push_back((float)vertex.getY()); |
| m_3componentVertices.push_back((float)vertex.getZ()); |
| m_indexedMeshes[0].m_numVertices++; |
| m_indexedMeshes[0].m_vertexBase = (unsigned char*)&m_3componentVertices[0]; |
| return (m_3componentVertices.size()/3)-1; |
| } |
| |
| } |
| |
| void btTriangleMesh::addTriangle(const btVector3& vertex0,const btVector3& vertex1,const btVector3& vertex2,bool removeDuplicateVertices) |
| { |
| m_indexedMeshes[0].m_numTriangles++; |
| addIndex(findOrAddVertex(vertex0,removeDuplicateVertices)); |
| addIndex(findOrAddVertex(vertex1,removeDuplicateVertices)); |
| addIndex(findOrAddVertex(vertex2,removeDuplicateVertices)); |
| } |
| |
| int btTriangleMesh::getNumTriangles() const |
| { |
| if (m_use32bitIndices) |
| { |
| return m_32bitIndices.size() / 3; |
| } |
| return m_16bitIndices.size() / 3; |
| } |