Bullet Collision Detection & Physics Library
btTriangleInfoMap.h
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1/*
2Bullet Continuous Collision Detection and Physics Library
3Copyright (c) 2010 Erwin Coumans http://bulletphysics.org
4
5This software is provided 'as-is', without any express or implied warranty.
6In no event will the authors be held liable for any damages arising from the use of this software.
7Permission is granted to anyone to use this software for any purpose,
8including commercial applications, and to alter it and redistribute it freely,
9subject to the following restrictions:
10
111. 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.
122. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
133. 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
22
23
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
37{
39 {
43 m_flags=0;
44 }
45
47
51
52};
53
55
56
59{
64 btScalar m_maxEdgeAngleThreshold; //ignore edges that connect triangles at an angle larger than this m_maxEdgeAngleThreshold
66
67
69 {
70 m_convexEpsilon = 0.00f;
71 m_planarEpsilon = 0.0001f;
74 m_zeroAreaThreshold = btScalar(0.0001)*btScalar(0.0001);
76 }
77 virtual ~btTriangleInfoMap() {}
78
79 virtual int calculateSerializeBufferSize() const;
80
82 virtual const char* serialize(void* dataBuffer, btSerializer* serializer) const;
83
84 void deSerialize(struct btTriangleInfoMapData& data);
85
86};
87
90{
95};
96
98{
103
109
114 char m_padding[4];
115};
116
118{
119 return sizeof(btTriangleInfoMapData);
120}
121
123SIMD_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;
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);
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
199 // Fill padding with zeros to appease msan.
200 tmapData->m_padding[0] = 0;
201 tmapData->m_padding[1] = 0;
202 tmapData->m_padding[2] = 0;
203 tmapData->m_padding[3] = 0;
204
205 return "btTriangleInfoMapData";
206}
207
208
209
212{
213
214
220 m_hashTable.resize(tmapData.m_hashTableSize);
221 int i =0;
222 for (i=0;i<tmapData.m_hashTableSize;i++)
223 {
224 m_hashTable[i] = tmapData.m_hashTablePtr[i];
225 }
226 m_next.resize(tmapData.m_nextSize);
227 for (i=0;i<tmapData.m_nextSize;i++)
228 {
229 m_next[i] = tmapData.m_nextPtr[i];
230 }
231 m_valueArray.resize(tmapData.m_numValues);
232 for (i=0;i<tmapData.m_numValues;i++)
233 {
234 m_valueArray[i].m_edgeV0V1Angle = tmapData.m_valueArrayPtr[i].m_edgeV0V1Angle;
235 m_valueArray[i].m_edgeV1V2Angle = tmapData.m_valueArrayPtr[i].m_edgeV1V2Angle;
236 m_valueArray[i].m_edgeV2V0Angle = tmapData.m_valueArrayPtr[i].m_edgeV2V0Angle;
237 m_valueArray[i].m_flags = tmapData.m_valueArrayPtr[i].m_flags;
238 }
239
240 m_keyArray.resize(tmapData.m_numKeys,btHashInt(0));
241 for (i=0;i<tmapData.m_numKeys;i++)
242 {
243 m_keyArray[i].setUid1(tmapData.m_keyArrayPtr[i]);
244 }
245}
246
247
248#endif //_BT_TRIANGLE_INFO_MAP_H
float btScalar
The btScalar type abstracts floating point numbers, to easily switch between double and single floati...
Definition: btScalar.h:292
#define SIMD_FORCE_INLINE
Definition: btScalar.h:81
#define SIMD_2_PI
Definition: btScalar.h:505
#define BT_ARRAY_CODE
Definition: btSerializer.h:126
btHashMap< btHashInt, btTriangleInfo > btInternalTriangleInfoMap
void * m_oldPtr
Definition: btSerializer.h:56
The btHashMap template class implements a generic and lightweight hashmap.
Definition: btHashMap.h:226
btAlignedObjectArray< int > m_hashTable
Definition: btHashMap.h:229
btAlignedObjectArray< int > m_next
Definition: btHashMap.h:230
btAlignedObjectArray< Key > m_keyArray
Definition: btHashMap.h:233
btAlignedObjectArray< Value > m_valueArray
Definition: btHashMap.h:232
virtual btChunk * allocate(size_t size, int numElements)=0
virtual void * getUniquePointer(void *oldPtr)=0
virtual void finalizeChunk(btChunk *chunk, const char *structType, int chunkCode, void *oldPtr)=0
those fields have to be float and not btScalar for the serialization to work properly
btTriangleInfoData * m_valueArrayPtr
The btTriangleInfoMap stores edge angle information for some triangles. You can compute this informat...
void deSerialize(struct btTriangleInfoMapData &data)
fills the dataBuffer and returns the struct name (and 0 on failure)
btScalar m_maxEdgeAngleThreshold
used to determine edge contacts: if the closest distance between a contact point and an edge is small...
btScalar m_edgeDistanceThreshold
used to compute connectivity: if the distance between two vertices is smaller than m_equalVertexThres...
btScalar m_zeroAreaThreshold
btTriangleInfoMap()
used to determine if a triangle is degenerate (length squared of cross product of 2 triangle edges < ...
btScalar m_planarEpsilon
used to determine if an edge or contact normal is convex, using the dot product
btScalar m_equalVertexThreshold
used to determine if a triangle edge is planar with zero angle
virtual ~btTriangleInfoMap()
virtual const char * serialize(void *dataBuffer, btSerializer *serializer) const
fills the dataBuffer and returns the struct name (and 0 on failure)
virtual int calculateSerializeBufferSize() const
The btTriangleInfo structure stores information to adjust collision normals to avoid collisions again...
btScalar m_edgeV2V0Angle
btScalar m_edgeV0V1Angle
btScalar m_edgeV1V2Angle