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"
21 #include "LinearMath/btSerializer.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 
36 struct btTriangleInfo
37 {
38  btTriangleInfo()
39  {
40  m_edgeV0V1Angle = SIMD_2_PI;
41  m_edgeV1V2Angle = SIMD_2_PI;
42  m_edgeV2V0Angle = SIMD_2_PI;
43  m_flags=0;
44  }
45 
46  int m_flags;
47 
48  btScalar m_edgeV0V1Angle;
49  btScalar m_edgeV1V2Angle;
50  btScalar m_edgeV2V0Angle;
51 
52 };
53 
54 typedef btHashMap<btHashInt,btTriangleInfo> btInternalTriangleInfoMap;
55 
56 
58 struct btTriangleInfoMap : public btInternalTriangleInfoMap
59 {
60  btScalar m_convexEpsilon;
61  btScalar m_planarEpsilon;
62  btScalar m_equalVertexThreshold;
63  btScalar m_edgeDistanceThreshold;
64  btScalar m_maxEdgeAngleThreshold; //ignore edges that connect triangles at an angle larger than this m_maxEdgeAngleThreshold
65  btScalar m_zeroAreaThreshold;
66 
67 
68  btTriangleInfoMap()
69  {
70  m_convexEpsilon = 0.00f;
71  m_planarEpsilon = 0.0001f;
72  m_equalVertexThreshold = btScalar(0.0001)*btScalar(0.0001);
73  m_edgeDistanceThreshold = btScalar(0.1);
74  m_zeroAreaThreshold = btScalar(0.0001)*btScalar(0.0001);
75  m_maxEdgeAngleThreshold = SIMD_2_PI;
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 
89 struct btTriangleInfoData
90 {
91  int m_flags;
92  float m_edgeV0V1Angle;
93  float m_edgeV1V2Angle;
94  float m_edgeV2V0Angle;
95 };
96 
97 struct btTriangleInfoMapData
98 {
99  int *m_hashTablePtr;
100  int *m_nextPtr;
101  btTriangleInfoData *m_valueArrayPtr;
102  int *m_keyArrayPtr;
103 
104  float m_convexEpsilon;
105  float m_planarEpsilon;
106  float m_equalVertexThreshold;
107  float m_edgeDistanceThreshold;
108  float m_zeroAreaThreshold;
109 
110  int m_nextSize;
111  int m_hashTableSize;
112  int m_numValues;
113  int m_numKeys;
114  char m_padding[4];
115 };
116 
117 SIMD_FORCE_INLINE int btTriangleInfoMap::calculateSerializeBufferSize() const
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;
128  tmapData->m_equalVertexThreshold =(float) m_equalVertexThreshold;
129  tmapData->m_edgeDistanceThreshold = (float)m_edgeDistanceThreshold;
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);
172  btTriangleInfoData* memPtr = (btTriangleInfoData*)chunk->m_oldPtr;
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 
204 SIMD_FORCE_INLINE void btTriangleInfoMap::deSerialize(btTriangleInfoMapData& tmapData )
205 {
206 
207 
208  m_convexEpsilon = tmapData.m_convexEpsilon;
209  m_planarEpsilon = tmapData.m_planarEpsilon;
210  m_equalVertexThreshold = tmapData.m_equalVertexThreshold;
211  m_edgeDistanceThreshold = tmapData.m_edgeDistanceThreshold;
212  m_zeroAreaThreshold = tmapData.m_zeroAreaThreshold;
213  m_hashTable.resize(tmapData.m_hashTableSize);
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
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