Bullet Collision Detection & Physics Library
btTriangleInfoMap.h
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1 /*
2 Bullet Continuous Collision Detection and Physics Library
3 Copyright (c) 2010 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 #ifndef _BT_TRIANGLE_INFO_MAP_H
17 #define _BT_TRIANGLE_INFO_MAP_H
18 
19 
20 #include "LinearMath/btHashMap.h"
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 
46  int m_flags;
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;
72  m_equalVertexThreshold = btScalar(0.0001)*btScalar(0.0001);
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 {
91  int m_flags;
95 };
96 
98 {
100  int *m_nextPtr;
103 
109 
114  char m_padding[4];
115 };
116 
118 {
119  return sizeof(btTriangleInfoMapData);
120 }
121 
123 SIMD_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  return "btTriangleInfoMapData";
199 }
200 
201 
202 
205 {
206 
207 
208  m_convexEpsilon = tmapData.m_convexEpsilon;
209  m_planarEpsilon = tmapData.m_planarEpsilon;
214  int i =0;
215  for (i=0;i<tmapData.m_hashTableSize;i++)
216  {
217  m_hashTable[i] = tmapData.m_hashTablePtr[i];
218  }
219  m_next.resize(tmapData.m_nextSize);
220  for (i=0;i<tmapData.m_nextSize;i++)
221  {
222  m_next[i] = tmapData.m_nextPtr[i];
223  }
224  m_valueArray.resize(tmapData.m_numValues);
225  for (i=0;i<tmapData.m_numValues;i++)
226  {
227  m_valueArray[i].m_edgeV0V1Angle = tmapData.m_valueArrayPtr[i].m_edgeV0V1Angle;
228  m_valueArray[i].m_edgeV1V2Angle = tmapData.m_valueArrayPtr[i].m_edgeV1V2Angle;
229  m_valueArray[i].m_edgeV2V0Angle = tmapData.m_valueArrayPtr[i].m_edgeV2V0Angle;
230  m_valueArray[i].m_flags = tmapData.m_valueArrayPtr[i].m_flags;
231  }
232 
233  m_keyArray.resize(tmapData.m_numKeys,btHashInt(0));
234  for (i=0;i<tmapData.m_numKeys;i++)
235  {
236  m_keyArray[i].setUid1(tmapData.m_keyArrayPtr[i]);
237  }
238 }
239 
240 
241 #endif //_BT_TRIANGLE_INFO_MAP_H
btAlignedObjectArray< int > m_hashTable
Definition: btHashMap.h:224
btScalar m_edgeV1V2Angle
btScalar m_zeroAreaThreshold
btAlignedObjectArray< int > m_next
Definition: btHashMap.h:225
btScalar m_maxEdgeAngleThreshold
used to determine edge contacts: if the closest distance between a contact point and an edge is small...
virtual void * getUniquePointer(void *oldPtr)=0
#define SIMD_FORCE_INLINE
Definition: btScalar.h:58
btAlignedObjectArray< Key > m_keyArray
Definition: btHashMap.h:228
btScalar m_edgeV0V1Angle
btScalar m_equalVertexThreshold
used to determine if a triangle edge is planar with zero angle
those fields have to be float and not btScalar for the serialization to work properly ...
The btHashMap template class implements a generic and lightweight hashmap.
Definition: btHashMap.h:220
#define SIMD_2_PI
Definition: btScalar.h:435
int size() const
return the number of elements in the array
btScalar m_edgeDistanceThreshold
used to compute connectivity: if the distance between two vertices is smaller than m_equalVertexThres...
btHashMap< btHashInt, btTriangleInfo > btInternalTriangleInfoMap
The btTriangleInfo structure stores information to adjust collision normals to avoid collisions again...
#define BT_ARRAY_CODE
Definition: btSerializer.h:121
btAlignedObjectArray< Value > m_valueArray
Definition: btHashMap.h:227
virtual void finalizeChunk(btChunk *chunk, const char *structType, int chunkCode, void *oldPtr)=0
void resize(int newsize, const T &fillData=T())
btScalar m_edgeV2V0Angle
btTriangleInfoMap()
used to determine if a triangle is degenerate (length squared of cross product of 2 triangle edges < ...
virtual int calculateSerializeBufferSize() const
virtual const char * serialize(void *dataBuffer, btSerializer *serializer) const
fills the dataBuffer and returns the struct name (and 0 on failure)
void deSerialize(struct btTriangleInfoMapData &data)
fills the dataBuffer and returns the struct name (and 0 on failure)
virtual ~btTriangleInfoMap()
The btTriangleInfoMap stores edge angle information for some triangles. You can compute this informat...
btTriangleInfoData * m_valueArrayPtr
void * m_oldPtr
Definition: btSerializer.h:56
virtual btChunk * allocate(size_t size, int numElements)=0
float btScalar
The btScalar type abstracts floating point numbers, to easily switch between double and single floati...
Definition: btScalar.h:266
btScalar m_planarEpsilon
used to determine if an edge or contact normal is convex, using the dot product