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Diffstat (limited to 'tests/bullet/Extras/ConvexDecomposition/ConvexDecomposition.h')
| -rw-r--r-- | tests/bullet/Extras/ConvexDecomposition/ConvexDecomposition.h | 220 |
1 files changed, 220 insertions, 0 deletions
diff --git a/tests/bullet/Extras/ConvexDecomposition/ConvexDecomposition.h b/tests/bullet/Extras/ConvexDecomposition/ConvexDecomposition.h new file mode 100644 index 00000000..2886c39a --- /dev/null +++ b/tests/bullet/Extras/ConvexDecomposition/ConvexDecomposition.h @@ -0,0 +1,220 @@ +#ifndef CONVEX_DECOMPOSITION_H + +#define CONVEX_DECOMPOSITION_H + +/*---------------------------------------------------------------------- +Copyright (c) 2004 Open Dynamics Framework Group +www.physicstools.org +All rights reserved. + +Redistribution and use in source and binary forms, with or without modification, are permitted provided +that the following conditions are met: + +Redistributions of source code must retain the above copyright notice, this list of conditions +and the following disclaimer. + +Redistributions in binary form must reproduce the above copyright notice, +this list of conditions and the following disclaimer in the documentation +and/or other materials provided with the distribution. + +Neither the name of the Open Dynamics Framework Group nor the names of its contributors may +be used to endorse or promote products derived from this software without specific prior written permission. + +THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS 'AS IS' AND ANY EXPRESS OR IMPLIED WARRANTIES, +INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE +DISCLAIMED. IN NO EVENT SHALL THE INTEL OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, +EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; +LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER +IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF +THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. +-----------------------------------------------------------------------*/ + +// http://codesuppository.blogspot.com +// +// mailto: jratcliff@infiniplex.net +// +// http://www.amillionpixels.us +// + + +#ifdef _WIN32 +#include <memory.h> //memcpy +#endif +#include <string.h> +#include <stdio.h> +#include "LinearMath/btAlignedObjectArray.h" + + + +extern unsigned int MAXDEPTH ; +extern float CONCAVE_PERCENT ; +extern float MERGE_PERCENT ; + + +typedef btAlignedObjectArray< unsigned int > UintVector; + + + +namespace ConvexDecomposition +{ + + class ConvexResult + { + public: + ConvexResult(void) + { + mHullVcount = 0; + mHullVertices = 0; + mHullTcount = 0; + mHullIndices = 0; + } + + ConvexResult(unsigned int hvcount,const float *hvertices,unsigned int htcount,const unsigned int *hindices) + { + mHullVcount = hvcount; + if ( mHullVcount ) + { + mHullVertices = new float[mHullVcount*sizeof(float)*3]; + memcpy(mHullVertices, hvertices, sizeof(float)*3*mHullVcount ); + } + else + { + mHullVertices = 0; + } + + mHullTcount = htcount; + + if ( mHullTcount ) + { + mHullIndices = new unsigned int[sizeof(unsigned int)*mHullTcount*3]; + memcpy(mHullIndices,hindices, sizeof(unsigned int)*mHullTcount*3 ); + } + else + { + mHullIndices = 0; + } + + } + + ConvexResult(const ConvexResult &r) + { + mHullVcount = r.mHullVcount; + if ( mHullVcount ) + { + mHullVertices = new float[mHullVcount*sizeof(float)*3]; + memcpy(mHullVertices, r.mHullVertices, sizeof(float)*3*mHullVcount ); + } + else + { + mHullVertices = 0; + } + mHullTcount = r.mHullTcount; + if ( mHullTcount ) + { + mHullIndices = new unsigned int[sizeof(unsigned int)*mHullTcount*3]; + memcpy(mHullIndices, r.mHullIndices, sizeof(unsigned int)*mHullTcount*3 ); + } + else + { + mHullIndices = 0; + } + } + + ~ConvexResult(void) + { + delete [] mHullVertices; + delete [] mHullIndices; + } + + // the convex hull. + unsigned int mHullVcount; + float * mHullVertices; + unsigned int mHullTcount; + unsigned int *mHullIndices; + + float mHullVolume; // the volume of the convex hull. + + float mOBBSides[3]; // the width, height and breadth of the best fit OBB + float mOBBCenter[3]; // the center of the OBB + float mOBBOrientation[4]; // the quaternion rotation of the OBB. + float mOBBTransform[16]; // the 4x4 transform of the OBB. + float mOBBVolume; // the volume of the OBB + + float mSphereRadius; // radius and center of best fit sphere + float mSphereCenter[3]; + float mSphereVolume; // volume of the best fit sphere + + + + }; + + class ConvexDecompInterface + { + public: + virtual ~ConvexDecompInterface() {}; + virtual void ConvexDebugTri(const float *p1,const float *p2,const float *p3,unsigned int color) { }; + virtual void ConvexDebugPoint(const float *p,float dist,unsigned int color) { }; + virtual void ConvexDebugBound(const float *bmin,const float *bmax,unsigned int color) { }; + virtual void ConvexDebugOBB(const float *sides, const float *matrix,unsigned int color) { }; + + virtual void ConvexDecompResult(ConvexResult &result) = 0; + + + + }; + + // just to avoid passing a zillion parameters to the method the + // options are packed into this descriptor. + class DecompDesc + { + public: + DecompDesc(void) + { + mVcount = 0; + mVertices = 0; + mTcount = 0; + mIndices = 0; + mDepth = 5; + mCpercent = 5; + mPpercent = 5; + mMaxVertices = 32; + mSkinWidth = 0; + mCallback = 0; + } + + // describes the input triangle. + unsigned int mVcount; // the number of vertices in the source mesh. + const float *mVertices; // start of the vertex position array. Assumes a stride of 3 floats. + unsigned int mTcount; // the number of triangles in the source mesh. + unsigned int *mIndices; // the indexed triangle list array (zero index based) + + // options + unsigned int mDepth; // depth to split, a maximum of 10, generally not over 7. + float mCpercent; // the concavity threshold percentage. 0=20 is reasonable. + float mPpercent; // the percentage volume conservation threshold to collapse hulls. 0-30 is reasonable. + + // hull output limits. + unsigned int mMaxVertices; // maximum number of vertices in the output hull. Recommended 32 or less. + float mSkinWidth; // a skin width to apply to the output hulls. + + ConvexDecompInterface *mCallback; // the interface to receive back the results. + + }; + + // perform approximate convex decomposition on a mesh. + unsigned int performConvexDecomposition(const DecompDesc &desc); // returns the number of hulls produced. + + + void calcConvexDecomposition(unsigned int vcount, + const float *vertices, + unsigned int tcount, + const unsigned int *indices, + ConvexDecompInterface *callback, + float masterVolume, + unsigned int depth); + + +} + + +#endif |