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Merge pull request #2776 from stephengold/master

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extend BVH and GImpact algorithms to accept meshes with PHY_UCHAR indices
This commit is contained in:
erwincoumans 2020-05-06 14:59:48 -07:00 committed by GitHub
commit 4ab592dab1
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GPG Key ID: 4AEE18F83AFDEB23
6 changed files with 51 additions and 11 deletions
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8
examples/ExampleBrowser/CollisionShape2TriangleMesh.cpp
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@ -82,7 +82,13 @@ void CollisionShape2TriangleMesh(btCollisionShape* collisionShape, const btTrans
for (int j = 2; j >= 0; j--)
{
int graphicsindex = indicestype == PHY_SHORT ? ((unsigned short*)gfxbase)[j] : gfxbase[j];
int graphicsindex;
switch (indicestype) {
case PHY_INTEGER: graphicsindex = gfxbase[j]; break;
case PHY_SHORT: graphicsindex = ((unsigned short*)gfxbase)[j]; break;
case PHY_UCHAR: graphicsindex = ((unsigned char*)gfxbase)[j]; break;
default: btAssert(0);
}
if (type == PHY_FLOAT)
{
float* graphicsbase = (float*)(vertexbase + graphicsindex * stride);

9
src/Bullet3OpenCL/NarrowphaseCollision/b3OptimizedBvh.cpp
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@ -285,7 +285,6 @@ void b3OptimizedBvh::updateBvhNodes(b3StridingMeshInterface* meshInterface, int
meshInterface->getLockedReadOnlyVertexIndexBase(&vertexbase, numverts, type, stride, &indexbase, indexstride, numfaces, indicestype, nodeSubPart);
curNodeSubPart = nodeSubPart;
b3Assert(indicestype == PHY_INTEGER || indicestype == PHY_SHORT);
}
//triangles->getLockedReadOnlyVertexIndexBase(vertexBase,numVerts,
@ -293,7 +292,13 @@ void b3OptimizedBvh::updateBvhNodes(b3StridingMeshInterface* meshInterface, int
for (int j = 2; j >= 0; j--)
{
int graphicsindex = indicestype == PHY_SHORT ? ((unsigned short*)gfxbase)[j] : gfxbase[j];
int graphicsindex;
switch (indicestype) {
case PHY_INTEGER: graphicsindex = gfxbase[j]; break;
case PHY_SHORT: graphicsindex = ((unsigned short*)gfxbase)[j]; break;
case PHY_UCHAR: graphicsindex = ((unsigned char*)gfxbase)[j]; break;
default: b3Assert(0);
}
if (type == PHY_FLOAT)
{
float* graphicsbase = (float*)(vertexbase + graphicsindex * stride);

8
src/BulletCollision/CollisionDispatch/btInternalEdgeUtility.cpp
View File

@ -361,7 +361,13 @@ void btGenerateInternalEdgeInfo(btBvhTriangleMeshShape* trimeshShape, btTriangle
for (int j = 2; j >= 0; j--)
{
int graphicsindex = indicestype == PHY_SHORT ? ((unsigned short*)gfxbase)[j] : gfxbase[j];
int graphicsindex;
switch (indicestype) {
case PHY_INTEGER: graphicsindex = gfxbase[j]; break;
case PHY_SHORT: graphicsindex = ((unsigned short*)gfxbase)[j]; break;
case PHY_UCHAR: graphicsindex = ((unsigned char*)gfxbase)[j]; break;
default: btAssert(0);
}
if (type == PHY_FLOAT)
{
float* graphicsbase = (float*)(vertexbase + graphicsindex * stride);

18
src/BulletCollision/CollisionShapes/btBvhTriangleMeshShape.cpp
View File

@ -124,12 +124,17 @@ void btBvhTriangleMeshShape::performRaycast(btTriangleCallback* callback, const
nodeSubPart);
unsigned int* gfxbase = (unsigned int*)(indexbase + nodeTriangleIndex * indexstride);
btAssert(indicestype == PHY_INTEGER || indicestype == PHY_SHORT);
const btVector3& meshScaling = m_meshInterface->getScaling();
for (int j = 2; j >= 0; j--)
{
int graphicsindex = indicestype == PHY_SHORT ? ((unsigned short*)gfxbase)[j] : gfxbase[j];
int graphicsindex;
switch (indicestype) {
case PHY_INTEGER: graphicsindex = gfxbase[j]; break;
case PHY_SHORT: graphicsindex = ((unsigned short*)gfxbase)[j]; break;
case PHY_UCHAR: graphicsindex = ((unsigned char*)gfxbase)[j]; break;
default: btAssert(0);
}
if (type == PHY_FLOAT)
{
@ -193,12 +198,17 @@ void btBvhTriangleMeshShape::performConvexcast(btTriangleCallback* callback, con
nodeSubPart);
unsigned int* gfxbase = (unsigned int*)(indexbase + nodeTriangleIndex * indexstride);
btAssert(indicestype == PHY_INTEGER || indicestype == PHY_SHORT);
const btVector3& meshScaling = m_meshInterface->getScaling();
for (int j = 2; j >= 0; j--)
{
int graphicsindex = indicestype == PHY_SHORT ? ((unsigned short*)gfxbase)[j] : gfxbase[j];
int graphicsindex;
switch (indicestype) {
case PHY_INTEGER: graphicsindex = gfxbase[j]; break;
case PHY_SHORT: graphicsindex = ((unsigned short*)gfxbase)[j]; break;
case PHY_UCHAR: graphicsindex = ((unsigned char*)gfxbase)[j]; break;
default: btAssert(0);
}
if (type == PHY_FLOAT)
{

9
src/BulletCollision/CollisionShapes/btOptimizedBvh.cpp
View File

@ -286,7 +286,6 @@ void btOptimizedBvh::updateBvhNodes(btStridingMeshInterface* meshInterface, int
meshInterface->getLockedReadOnlyVertexIndexBase(&vertexbase, numverts, type, stride, &indexbase, indexstride, numfaces, indicestype, nodeSubPart);
curNodeSubPart = nodeSubPart;
btAssert(indicestype == PHY_INTEGER || indicestype == PHY_SHORT);
}
//triangles->getLockedReadOnlyVertexIndexBase(vertexBase,numVerts,
@ -294,7 +293,13 @@ void btOptimizedBvh::updateBvhNodes(btStridingMeshInterface* meshInterface, int
for (int j = 2; j >= 0; j--)
{
int graphicsindex = indicestype == PHY_SHORT ? ((unsigned short*)gfxbase)[j] : gfxbase[j];
int graphicsindex;
switch (indicestype) {
case PHY_INTEGER: graphicsindex = gfxbase[j]; break;
case PHY_SHORT: graphicsindex = ((unsigned short*)gfxbase)[j]; break;
case PHY_UCHAR: graphicsindex = ((unsigned char*)gfxbase)[j]; break;
default: btAssert(0);
}
if (type == PHY_FLOAT)
{
float* graphicsbase = (float*)(vertexbase + graphicsindex * stride);

10
src/BulletCollision/Gimpact/btGImpactShape.h
View File

@ -623,13 +623,21 @@ public:
i1 = s_indices[1];
i2 = s_indices[2];
}
else
else if (indicestype == PHY_INTEGER)
{
unsigned int* i_indices = (unsigned int*)(indexbase + face_index * indexstride);
i0 = i_indices[0];
i1 = i_indices[1];
i2 = i_indices[2];
}
else
{
btAssert(indicestype == PHY_UCHAR);
unsigned char* i_indices = (unsigned char*)(indexbase + face_index * indexstride);
i0 = i_indices[0];
i1 = i_indices[1];
i2 = i_indices[2];
}
}
SIMD_FORCE_INLINE void get_vertex(unsigned int vertex_index, btVector3& vertex) const