2 Bullet Continuous Collision Detection and Physics Library
3 Copyright (c) 2010 Erwin Coumans http://bulletphysics.org
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:
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.
16 #ifndef _BT_TRIANGLE_INFO_MAP_H
17 #define _BT_TRIANGLE_INFO_MAP_H
19 #include "LinearMath/btHashMap.h"
20 #include "LinearMath/btSerializer.h"
22 ///for btTriangleInfo m_flags
23 #define TRI_INFO_V0V1_CONVEX 1
24 #define TRI_INFO_V1V2_CONVEX 2
25 #define TRI_INFO_V2V0_CONVEX 4
27 #define TRI_INFO_V0V1_SWAP_NORMALB 8
28 #define TRI_INFO_V1V2_SWAP_NORMALB 16
29 #define TRI_INFO_V2V0_SWAP_NORMALB 32
31 ///The btTriangleInfo structure stores information to adjust collision normals to avoid collisions against internal edges
32 ///it can be generated using
37 m_edgeV0V1Angle = SIMD_2_PI;
38 m_edgeV1V2Angle = SIMD_2_PI;
39 m_edgeV2V0Angle = SIMD_2_PI;
45 btScalar m_edgeV0V1Angle;
46 btScalar m_edgeV1V2Angle;
47 btScalar m_edgeV2V0Angle;
50 typedef btHashMap<btHashInt, btTriangleInfo> btInternalTriangleInfoMap;
52 ///The btTriangleInfoMap stores edge angle information for some triangles. You can compute this information yourself or using btGenerateInternalEdgeInfo.
53 struct btTriangleInfoMap : public btInternalTriangleInfoMap
55 btScalar m_convexEpsilon; ///used to determine if an edge or contact normal is convex, using the dot product
56 btScalar m_planarEpsilon; ///used to determine if a triangle edge is planar with zero angle
57 btScalar m_equalVertexThreshold; ///used to compute connectivity: if the distance between two vertices is smaller than m_equalVertexThreshold, they are considered to be 'shared'
58 btScalar m_edgeDistanceThreshold; ///used to determine edge contacts: if the closest distance between a contact point and an edge is smaller than this distance threshold it is considered to "hit the edge"
59 btScalar m_maxEdgeAngleThreshold; //ignore edges that connect triangles at an angle larger than this m_maxEdgeAngleThreshold
60 btScalar m_zeroAreaThreshold; ///used to determine if a triangle is degenerate (length squared of cross product of 2 triangle edges < threshold)
64 m_convexEpsilon = 0.00f;
65 m_planarEpsilon = 0.0001f;
66 m_equalVertexThreshold = btScalar(0.0001) * btScalar(0.0001);
67 m_edgeDistanceThreshold = btScalar(0.1);
68 m_zeroAreaThreshold = btScalar(0.0001) * btScalar(0.0001);
69 m_maxEdgeAngleThreshold = SIMD_2_PI;
71 virtual ~btTriangleInfoMap() {}
73 virtual int calculateSerializeBufferSize() const;
75 ///fills the dataBuffer and returns the struct name (and 0 on failure)
76 virtual const char* serialize(void* dataBuffer, btSerializer* serializer) const;
78 void deSerialize(struct btTriangleInfoMapData& data);
83 ///those fields have to be float and not btScalar for the serialization to work properly
84 struct btTriangleInfoData
87 float m_edgeV0V1Angle;
88 float m_edgeV1V2Angle;
89 float m_edgeV2V0Angle;
92 struct btTriangleInfoMapData
96 btTriangleInfoData *m_valueArrayPtr;
99 float m_convexEpsilon;
100 float m_planarEpsilon;
101 float m_equalVertexThreshold;
102 float m_edgeDistanceThreshold;
103 float m_zeroAreaThreshold;
114 SIMD_FORCE_INLINE int btTriangleInfoMap::calculateSerializeBufferSize() const
116 return sizeof(btTriangleInfoMapData);
119 ///fills the dataBuffer and returns the struct name (and 0 on failure)
120 SIMD_FORCE_INLINE const char* btTriangleInfoMap::serialize(void* dataBuffer, btSerializer* serializer) const
122 btTriangleInfoMapData* tmapData = (btTriangleInfoMapData*)dataBuffer;
123 tmapData->m_convexEpsilon = (float)m_convexEpsilon;
124 tmapData->m_planarEpsilon = (float)m_planarEpsilon;
125 tmapData->m_equalVertexThreshold = (float)m_equalVertexThreshold;
126 tmapData->m_edgeDistanceThreshold = (float)m_edgeDistanceThreshold;
127 tmapData->m_zeroAreaThreshold = (float)m_zeroAreaThreshold;
129 tmapData->m_hashTableSize = m_hashTable.size();
131 tmapData->m_hashTablePtr = tmapData->m_hashTableSize ? (int*)serializer->getUniquePointer((void*)&m_hashTable[0]) : 0;
132 if (tmapData->m_hashTablePtr)
134 //serialize an int buffer
135 int sz = sizeof(int);
136 int numElem = tmapData->m_hashTableSize;
137 btChunk* chunk = serializer->allocate(sz, numElem);
138 int* memPtr = (int*)chunk->m_oldPtr;
139 for (int i = 0; i < numElem; i++, memPtr++)
141 *memPtr = m_hashTable[i];
143 serializer->finalizeChunk(chunk, "int", BT_ARRAY_CODE, (void*)&m_hashTable[0]);
146 tmapData->m_nextSize = m_next.size();
147 tmapData->m_nextPtr = tmapData->m_nextSize ? (int*)serializer->getUniquePointer((void*)&m_next[0]) : 0;
148 if (tmapData->m_nextPtr)
150 int sz = sizeof(int);
151 int numElem = tmapData->m_nextSize;
152 btChunk* chunk = serializer->allocate(sz, numElem);
153 int* memPtr = (int*)chunk->m_oldPtr;
154 for (int i = 0; i < numElem; i++, memPtr++)
158 serializer->finalizeChunk(chunk, "int", BT_ARRAY_CODE, (void*)&m_next[0]);
161 tmapData->m_numValues = m_valueArray.size();
162 tmapData->m_valueArrayPtr = tmapData->m_numValues ? (btTriangleInfoData*)serializer->getUniquePointer((void*)&m_valueArray[0]) : 0;
163 if (tmapData->m_valueArrayPtr)
165 int sz = sizeof(btTriangleInfoData);
166 int numElem = tmapData->m_numValues;
167 btChunk* chunk = serializer->allocate(sz, numElem);
168 btTriangleInfoData* memPtr = (btTriangleInfoData*)chunk->m_oldPtr;
169 for (int i = 0; i < numElem; i++, memPtr++)
171 memPtr->m_edgeV0V1Angle = (float)m_valueArray[i].m_edgeV0V1Angle;
172 memPtr->m_edgeV1V2Angle = (float)m_valueArray[i].m_edgeV1V2Angle;
173 memPtr->m_edgeV2V0Angle = (float)m_valueArray[i].m_edgeV2V0Angle;
174 memPtr->m_flags = m_valueArray[i].m_flags;
176 serializer->finalizeChunk(chunk, "btTriangleInfoData", BT_ARRAY_CODE, (void*)&m_valueArray[0]);
179 tmapData->m_numKeys = m_keyArray.size();
180 tmapData->m_keyArrayPtr = tmapData->m_numKeys ? (int*)serializer->getUniquePointer((void*)&m_keyArray[0]) : 0;
181 if (tmapData->m_keyArrayPtr)
183 int sz = sizeof(int);
184 int numElem = tmapData->m_numValues;
185 btChunk* chunk = serializer->allocate(sz, numElem);
186 int* memPtr = (int*)chunk->m_oldPtr;
187 for (int i = 0; i < numElem; i++, memPtr++)
189 *memPtr = m_keyArray[i].getUid1();
191 serializer->finalizeChunk(chunk, "int", BT_ARRAY_CODE, (void*)&m_keyArray[0]);
194 // Fill padding with zeros to appease msan.
195 tmapData->m_padding[0] = 0;
196 tmapData->m_padding[1] = 0;
197 tmapData->m_padding[2] = 0;
198 tmapData->m_padding[3] = 0;
200 return "btTriangleInfoMapData";
203 ///fills the dataBuffer and returns the struct name (and 0 on failure)
204 SIMD_FORCE_INLINE void btTriangleInfoMap::deSerialize(btTriangleInfoMapData& tmapData)
206 m_convexEpsilon = tmapData.m_convexEpsilon;
207 m_planarEpsilon = tmapData.m_planarEpsilon;
208 m_equalVertexThreshold = tmapData.m_equalVertexThreshold;
209 m_edgeDistanceThreshold = tmapData.m_edgeDistanceThreshold;
210 m_zeroAreaThreshold = tmapData.m_zeroAreaThreshold;
211 m_hashTable.resize(tmapData.m_hashTableSize);
213 for (i = 0; i < tmapData.m_hashTableSize; i++)
215 m_hashTable[i] = tmapData.m_hashTablePtr[i];
217 m_next.resize(tmapData.m_nextSize);
218 for (i = 0; i < tmapData.m_nextSize; i++)
220 m_next[i] = tmapData.m_nextPtr[i];
222 m_valueArray.resize(tmapData.m_numValues);
223 for (i = 0; i < tmapData.m_numValues; i++)
225 m_valueArray[i].m_edgeV0V1Angle = tmapData.m_valueArrayPtr[i].m_edgeV0V1Angle;
226 m_valueArray[i].m_edgeV1V2Angle = tmapData.m_valueArrayPtr[i].m_edgeV1V2Angle;
227 m_valueArray[i].m_edgeV2V0Angle = tmapData.m_valueArrayPtr[i].m_edgeV2V0Angle;
228 m_valueArray[i].m_flags = tmapData.m_valueArrayPtr[i].m_flags;
231 m_keyArray.resize(tmapData.m_numKeys, btHashInt(0));
232 for (i = 0; i < tmapData.m_numKeys; i++)
234 m_keyArray[i].setUid1(tmapData.m_keyArrayPtr[i]);
238 #endif //_BT_TRIANGLE_INFO_MAP_H