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 #include "LinearMath/btHashMap.h"
21 
23 #define TRI_INFO_V0V1_CONVEX 1
24 #define TRI_INFO_V1V2_CONVEX 2
25 #define TRI_INFO_V2V0_CONVEX 4
26 
27 #define TRI_INFO_V0V1_SWAP_NORMALB 8
28 #define TRI_INFO_V1V2_SWAP_NORMALB 16
29 #define TRI_INFO_V2V0_SWAP_NORMALB 32
30 
34 {
36  {
40  m_flags = 0;
41  }
42 
43  int m_flags;
44 
48 };
49 
51 
54 {
59  btScalar m_maxEdgeAngleThreshold; //ignore edges that connect triangles at an angle larger than this m_maxEdgeAngleThreshold
61 
63  {
64  m_convexEpsilon = 0.00f;
65  m_planarEpsilon = 0.0001f;
66  m_equalVertexThreshold = btScalar(0.0001) * btScalar(0.0001);
68  m_zeroAreaThreshold = btScalar(0.0001) * btScalar(0.0001);
70  }
71  virtual ~btTriangleInfoMap() {}
72 
73  virtual int calculateSerializeBufferSize() const;
74 
76  virtual const char* serialize(void* dataBuffer, btSerializer* serializer) const;
77 
78  void deSerialize(struct btTriangleInfoMapData& data);
79 };
80 
81 // clang-format off
82 
85 {
86  int m_flags;
90 };
91 
93 {
95  int *m_nextPtr;
98 
104 
109  char m_padding[4];
110 };
111 
112 // clang-format on
113 
115 {
116  return sizeof(btTriangleInfoMapData);
117 }
118 
120 SIMD_FORCE_INLINE const char* btTriangleInfoMap::serialize(void* dataBuffer, btSerializer* serializer) const
121 {
122  btTriangleInfoMapData* tmapData = (btTriangleInfoMapData*)dataBuffer;
123  tmapData->m_convexEpsilon = (float)m_convexEpsilon;
124  tmapData->m_planarEpsilon = (float)m_planarEpsilon;
127  tmapData->m_zeroAreaThreshold = (float)m_zeroAreaThreshold;
128 
129  tmapData->m_hashTableSize = m_hashTable.size();
130 
131  tmapData->m_hashTablePtr = tmapData->m_hashTableSize ? (int*)serializer->getUniquePointer((void*)&m_hashTable[0]) : 0;
132  if (tmapData->m_hashTablePtr)
133  {
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++)
140  {
141  *memPtr = m_hashTable[i];
142  }
143  serializer->finalizeChunk(chunk, "int", BT_ARRAY_CODE, (void*)&m_hashTable[0]);
144  }
145 
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)
149  {
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++)
155  {
156  *memPtr = m_next[i];
157  }
158  serializer->finalizeChunk(chunk, "int", BT_ARRAY_CODE, (void*)&m_next[0]);
159  }
160 
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)
164  {
165  int sz = sizeof(btTriangleInfoData);
166  int numElem = tmapData->m_numValues;
167  btChunk* chunk = serializer->allocate(sz, numElem);
169  for (int i = 0; i < numElem; i++, memPtr++)
170  {
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;
175  }
176  serializer->finalizeChunk(chunk, "btTriangleInfoData", BT_ARRAY_CODE, (void*)&m_valueArray[0]);
177  }
178 
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)
182  {
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++)
188  {
189  *memPtr = m_keyArray[i].getUid1();
190  }
191  serializer->finalizeChunk(chunk, "int", BT_ARRAY_CODE, (void*)&m_keyArray[0]);
192  }
193 
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;
199 
200  return "btTriangleInfoMapData";
201 }
202 
205 {
206  m_convexEpsilon = tmapData.m_convexEpsilon;
207  m_planarEpsilon = tmapData.m_planarEpsilon;
212  int i = 0;
213  for (i = 0; i < tmapData.m_hashTableSize; i++)
214  {
215  m_hashTable[i] = tmapData.m_hashTablePtr[i];
216  }
217  m_next.resize(tmapData.m_nextSize);
218  for (i = 0; i < tmapData.m_nextSize; i++)
219  {
220  m_next[i] = tmapData.m_nextPtr[i];
221  }
222  m_valueArray.resize(tmapData.m_numValues);
223  for (i = 0; i < tmapData.m_numValues; i++)
224  {
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;
229  }
230 
231  m_keyArray.resize(tmapData.m_numKeys, btHashInt(0));
232  for (i = 0; i < tmapData.m_numKeys; i++)
233  {
234  m_keyArray[i].setUid1(tmapData.m_keyArrayPtr[i]);
235  }
236 }
237 
238 #endif //_BT_TRIANGLE_INFO_MAP_H
btTriangleInfoMapData::m_padding
char m_padding[4]
Definition: btTriangleInfoMap.h:109
btTriangleInfoMap::calculateSerializeBufferSize
virtual int calculateSerializeBufferSize() const
Definition: btTriangleInfoMap.h:114
btHashMap::m_hashTable
btAlignedObjectArray< int > m_hashTable
Definition: btHashMap.h:222
btTriangleInfo::m_edgeV1V2Angle
btScalar m_edgeV1V2Angle
Definition: btTriangleInfoMap.h:46
btScalar
float btScalar
The btScalar type abstracts floating point numbers, to easily switch between double and single floati...
Definition: btScalar.h:294
btTriangleInfoMapData::m_convexEpsilon
float m_convexEpsilon
Definition: btTriangleInfoMap.h:99
btSerializer::getUniquePointer
virtual void * getUniquePointer(void *oldPtr)=0
btChunk
Definition: btSerializer.h:47
btInternalTriangleInfoMap
btHashMap< btHashInt, btTriangleInfo > btInternalTriangleInfoMap
Definition: btTriangleInfoMap.h:50
btTriangleInfoMap::m_zeroAreaThreshold
btScalar m_zeroAreaThreshold
Definition: btTriangleInfoMap.h:60
btTriangleInfoMap::m_convexEpsilon
btScalar m_convexEpsilon
Definition: btTriangleInfoMap.h:55
btTriangleInfoMapData::m_nextSize
int m_nextSize
Definition: btTriangleInfoMap.h:105
btTriangleInfoMapData::m_zeroAreaThreshold
float m_zeroAreaThreshold
Definition: btTriangleInfoMap.h:103
btTriangleInfoMap::deSerialize
void deSerialize(struct btTriangleInfoMapData &data)
fills the dataBuffer and returns the struct name (and 0 on failure)
Definition: btTriangleInfoMap.h:204
btTriangleInfoMap::m_edgeDistanceThreshold
btScalar m_edgeDistanceThreshold
used to compute connectivity: if the distance between two vertices is smaller than m_equalVertexThres...
Definition: btTriangleInfoMap.h:58
btTriangleInfo::m_edgeV2V0Angle
btScalar m_edgeV2V0Angle
Definition: btTriangleInfoMap.h:47
btHashMap::m_valueArray
btAlignedObjectArray< Value > m_valueArray
Definition: btHashMap.h:225
btHashMap
The btHashMap template class implements a generic and lightweight hashmap.
Definition: btHashMap.h:219
btTriangleInfoMap::serialize
virtual const char * serialize(void *dataBuffer, btSerializer *serializer) const
fills the dataBuffer and returns the struct name (and 0 on failure)
Definition: btTriangleInfoMap.h:120
btTriangleInfoData::m_edgeV2V0Angle
float m_edgeV2V0Angle
Definition: btTriangleInfoMap.h:89
btTriangleInfoMapData::m_edgeDistanceThreshold
float m_edgeDistanceThreshold
Definition: btTriangleInfoMap.h:102
btTriangleInfoMapData::m_keyArrayPtr
int * m_keyArrayPtr
Definition: btTriangleInfoMap.h:97
btAlignedObjectArray::resize
void resize(int newsize, const T &fillData=T())
Definition: btAlignedObjectArray.h:210
btHashInt
Definition: btHashMap.h:64
btTriangleInfoMapData::m_numValues
int m_numValues
Definition: btTriangleInfoMap.h:107
btTriangleInfoMap
The btTriangleInfoMap stores edge angle information for some triangles. You can compute this informat...
Definition: btTriangleInfoMap.h:53
btTriangleInfoMapData::m_valueArrayPtr
btTriangleInfoData * m_valueArrayPtr
Definition: btTriangleInfoMap.h:96
btTriangleInfo::m_edgeV0V1Angle
btScalar m_edgeV0V1Angle
Definition: btTriangleInfoMap.h:45
btHashMap::m_keyArray
btAlignedObjectArray< Key > m_keyArray
Definition: btHashMap.h:226
btSerializer.h
btSerializer::finalizeChunk
virtual void finalizeChunk(btChunk *chunk, const char *structType, int chunkCode, void *oldPtr)=0
btTriangleInfoMapData::m_nextPtr
int * m_nextPtr
Definition: btTriangleInfoMap.h:95
btTriangleInfo::m_flags
int m_flags
Definition: btTriangleInfoMap.h:43
btTriangleInfoData::m_edgeV1V2Angle
float m_edgeV1V2Angle
Definition: btTriangleInfoMap.h:88
btChunk::m_oldPtr
void * m_oldPtr
Definition: btSerializer.h:52
btTriangleInfoMapData::m_planarEpsilon
float m_planarEpsilon
Definition: btTriangleInfoMap.h:100
btTriangleInfoData::m_edgeV0V1Angle
float m_edgeV0V1Angle
Definition: btTriangleInfoMap.h:87
btTriangleInfo
The btTriangleInfo structure stores information to adjust collision normals to avoid collisions again...
Definition: btTriangleInfoMap.h:33
btTriangleInfoMapData::m_numKeys
int m_numKeys
Definition: btTriangleInfoMap.h:108
btTriangleInfoMapData::m_equalVertexThreshold
float m_equalVertexThreshold
Definition: btTriangleInfoMap.h:101
btTriangleInfoMap::m_maxEdgeAngleThreshold
btScalar m_maxEdgeAngleThreshold
used to determine edge contacts: if the closest distance between a contact point and an edge is small...
Definition: btTriangleInfoMap.h:59
SIMD_FORCE_INLINE
#define SIMD_FORCE_INLINE
Definition: btScalar.h:83
btHashMap.h
btSerializer
Definition: btSerializer.h:65
btTriangleInfoData
those fields have to be float and not btScalar for the serialization to work properly
Definition: btTriangleInfoMap.h:84
BT_ARRAY_CODE
#define BT_ARRAY_CODE
Definition: btSerializer.h:118
btTriangleInfoMapData::m_hashTablePtr
int * m_hashTablePtr
Definition: btTriangleInfoMap.h:94
btTriangleInfoData::m_flags
int m_flags
Definition: btTriangleInfoMap.h:86
btTriangleInfoMapData
Definition: btTriangleInfoMap.h:92
btTriangleInfo::btTriangleInfo
btTriangleInfo()
Definition: btTriangleInfoMap.h:35
btHashMap::m_next
btAlignedObjectArray< int > m_next
Definition: btHashMap.h:223
btTriangleInfoMap::m_planarEpsilon
btScalar m_planarEpsilon
used to determine if an edge or contact normal is convex, using the dot product
Definition: btTriangleInfoMap.h:56
SIMD_2_PI
#define SIMD_2_PI
Definition: btScalar.h:507
btTriangleInfoMap::~btTriangleInfoMap
virtual ~btTriangleInfoMap()
Definition: btTriangleInfoMap.h:71
btTriangleInfoMap::m_equalVertexThreshold
btScalar m_equalVertexThreshold
used to determine if a triangle edge is planar with zero angle
Definition: btTriangleInfoMap.h:57
btTriangleInfoMap::btTriangleInfoMap
btTriangleInfoMap()
used to determine if a triangle is degenerate (length squared of cross product of 2 triangle edges < ...
Definition: btTriangleInfoMap.h:62
btSerializer::allocate
virtual btChunk * allocate(size_t size, int numElements)=0
btTriangleInfoMapData::m_hashTableSize
int m_hashTableSize
Definition: btTriangleInfoMap.h:106
btAlignedObjectArray::size
int size() const
return the number of elements in the array
Definition: btAlignedObjectArray.h:149