btBvhTriangleMeshShape.cpp

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/*
Bullet Continuous Collision Detection and Physics Library
Copyright (c) 2003-2009 Erwin Coumans  http://bulletphysics.org

This software is provided 'as-is', without any express or implied warranty.
In no event will the authors be held liable for any damages arising from the use of this software.
Permission is granted to anyone to use this software for any purpose, 
including commercial applications, and to alter it and redistribute it freely, 
subject to the following restrictions:

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.
2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
3. This notice may not be removed or altered from any source distribution.
*/

//#define DISABLE_BVH

#include "BulletCollision/CollisionShapes/btBvhTriangleMeshShape.h"
#include "BulletCollision/CollisionShapes/btOptimizedBvh.h"
#include "LinearMath/btSerializer.h"

btBvhTriangleMeshShape::btBvhTriangleMeshShape(btStridingMeshInterface* meshInterface, bool useQuantizedAabbCompression, bool buildBvh)
:btTriangleMeshShape(meshInterface),
m_bvh(0),
m_triangleInfoMap(0),
m_useQuantizedAabbCompression(useQuantizedAabbCompression),
m_ownsBvh(false)
{
    m_shapeType = TRIANGLE_MESH_SHAPE_PROXYTYPE;
    //construct bvh from meshInterface
#ifndef DISABLE_BVH

    if (buildBvh)
    {
        buildOptimizedBvh();
    }

#endif //DISABLE_BVH

}

btBvhTriangleMeshShape::btBvhTriangleMeshShape(btStridingMeshInterface* meshInterface, bool useQuantizedAabbCompression,const btVector3& bvhAabbMin,const btVector3& bvhAabbMax,bool buildBvh)
:btTriangleMeshShape(meshInterface),
m_bvh(0),
m_triangleInfoMap(0),
m_useQuantizedAabbCompression(useQuantizedAabbCompression),
m_ownsBvh(false)
{
    m_shapeType = TRIANGLE_MESH_SHAPE_PROXYTYPE;
    //construct bvh from meshInterface
#ifndef DISABLE_BVH

    if (buildBvh)
    {
        void* mem = btAlignedAlloc(sizeof(btOptimizedBvh),16);
        m_bvh = new (mem) btOptimizedBvh();
        
        m_bvh->build(meshInterface,m_useQuantizedAabbCompression,bvhAabbMin,bvhAabbMax);
        m_ownsBvh = true;
    }

#endif //DISABLE_BVH

}

void    btBvhTriangleMeshShape::partialRefitTree(const btVector3& aabbMin,const btVector3& aabbMax)
{
    m_bvh->refitPartial( m_meshInterface,aabbMin,aabbMax );
    
    m_localAabbMin.setMin(aabbMin);
    m_localAabbMax.setMax(aabbMax);
}


void    btBvhTriangleMeshShape::refitTree(const btVector3& aabbMin,const btVector3& aabbMax)
{
    m_bvh->refit( m_meshInterface, aabbMin,aabbMax );
    
    recalcLocalAabb();
}

btBvhTriangleMeshShape::~btBvhTriangleMeshShape()
{
    if (m_ownsBvh)
    {
        m_bvh->~btOptimizedBvh();
        btAlignedFree(m_bvh);
    }
}

void    btBvhTriangleMeshShape::performRaycast (btTriangleCallback* callback, const btVector3& raySource, const btVector3& rayTarget)
{
    struct  MyNodeOverlapCallback : public btNodeOverlapCallback
    {
        btStridingMeshInterface*    m_meshInterface;
        btTriangleCallback* m_callback;

        MyNodeOverlapCallback(btTriangleCallback* callback,btStridingMeshInterface* meshInterface)
            :m_meshInterface(meshInterface),
            m_callback(callback)
        {
        }
                
        virtual void processNode(int nodeSubPart, int nodeTriangleIndex)
        {
            btVector3 m_triangle[3];
            const unsigned char *vertexbase;
            int numverts;
            PHY_ScalarType type;
            int stride;
            const unsigned char *indexbase;
            int indexstride;
            int numfaces;
            PHY_ScalarType indicestype;

            m_meshInterface->getLockedReadOnlyVertexIndexBase(
                &vertexbase,
                numverts,
                type,
                stride,
                &indexbase,
                indexstride,
                numfaces,
                indicestype,
                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];
                
                if (type == PHY_FLOAT)
                {
                    float* graphicsbase = (float*)(vertexbase+graphicsindex*stride);
                    
                    m_triangle[j] = btVector3(graphicsbase[0]*meshScaling.getX(),graphicsbase[1]*meshScaling.getY(),graphicsbase[2]*meshScaling.getZ());        
                }
                else
                {
                    double* graphicsbase = (double*)(vertexbase+graphicsindex*stride);
                    
                    m_triangle[j] = btVector3(btScalar(graphicsbase[0])*meshScaling.getX(),btScalar(graphicsbase[1])*meshScaling.getY(),btScalar(graphicsbase[2])*meshScaling.getZ());      
                }
            }

            /* Perform ray vs. triangle collision here */
            m_callback->processTriangle(m_triangle,nodeSubPart,nodeTriangleIndex);
            m_meshInterface->unLockReadOnlyVertexBase(nodeSubPart);
        }
    };

    MyNodeOverlapCallback   myNodeCallback(callback,m_meshInterface);

    m_bvh->reportRayOverlappingNodex(&myNodeCallback,raySource,rayTarget);
}

void    btBvhTriangleMeshShape::performConvexcast (btTriangleCallback* callback, const btVector3& raySource, const btVector3& rayTarget, const btVector3& aabbMin, const btVector3& aabbMax)
{
    struct  MyNodeOverlapCallback : public btNodeOverlapCallback
    {
        btStridingMeshInterface*    m_meshInterface;
        btTriangleCallback* m_callback;

        MyNodeOverlapCallback(btTriangleCallback* callback,btStridingMeshInterface* meshInterface)
            :m_meshInterface(meshInterface),
            m_callback(callback)
        {
        }
                
        virtual void processNode(int nodeSubPart, int nodeTriangleIndex)
        {
            btVector3 m_triangle[3];
            const unsigned char *vertexbase;
            int numverts;
            PHY_ScalarType type;
            int stride;
            const unsigned char *indexbase;
            int indexstride;
            int numfaces;
            PHY_ScalarType indicestype;

            m_meshInterface->getLockedReadOnlyVertexIndexBase(
                &vertexbase,
                numverts,
                type,
                stride,
                &indexbase,
                indexstride,
                numfaces,
                indicestype,
                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];

                if (type == PHY_FLOAT)
                {
                    float* graphicsbase = (float*)(vertexbase+graphicsindex*stride);

                    m_triangle[j] = btVector3(graphicsbase[0]*meshScaling.getX(),graphicsbase[1]*meshScaling.getY(),graphicsbase[2]*meshScaling.getZ());        
                }
                else
                {
                    double* graphicsbase = (double*)(vertexbase+graphicsindex*stride);
                    
                    m_triangle[j] = btVector3(btScalar(graphicsbase[0])*meshScaling.getX(),btScalar(graphicsbase[1])*meshScaling.getY(),btScalar(graphicsbase[2])*meshScaling.getZ());      
                }
            }

            /* Perform ray vs. triangle collision here */
            m_callback->processTriangle(m_triangle,nodeSubPart,nodeTriangleIndex);
            m_meshInterface->unLockReadOnlyVertexBase(nodeSubPart);
        }
    };

    MyNodeOverlapCallback   myNodeCallback(callback,m_meshInterface);

    m_bvh->reportBoxCastOverlappingNodex (&myNodeCallback, raySource, rayTarget, aabbMin, aabbMax);
}

//perform bvh tree traversal and report overlapping triangles to 'callback'
void    btBvhTriangleMeshShape::processAllTriangles(btTriangleCallback* callback,const btVector3& aabbMin,const btVector3& aabbMax) const
{

#ifdef DISABLE_BVH
    //brute force traverse all triangles
    btTriangleMeshShape::processAllTriangles(callback,aabbMin,aabbMax);
#else

    //first get all the nodes

    
    struct  MyNodeOverlapCallback : public btNodeOverlapCallback
    {
        btStridingMeshInterface*    m_meshInterface;
        btTriangleCallback*     m_callback;
        btVector3               m_triangle[3];


        MyNodeOverlapCallback(btTriangleCallback* callback,btStridingMeshInterface* meshInterface)
            :m_meshInterface(meshInterface),
            m_callback(callback)
        {
        }
                
        virtual void processNode(int nodeSubPart, int nodeTriangleIndex)
        {
            const unsigned char *vertexbase;
            int numverts;
            PHY_ScalarType type;
            int stride;
            const unsigned char *indexbase;
            int indexstride;
            int numfaces;
            PHY_ScalarType indicestype;
            

            m_meshInterface->getLockedReadOnlyVertexIndexBase(
                &vertexbase,
                numverts,
                type,
                stride,
                &indexbase,
                indexstride,
                numfaces,
                indicestype,
                nodeSubPart);

            unsigned int* gfxbase = (unsigned int*)(indexbase+nodeTriangleIndex*indexstride);
            btAssert(indicestype==PHY_INTEGER||indicestype==PHY_SHORT||indicestype==PHY_UCHAR);
    
            const btVector3& meshScaling = m_meshInterface->getScaling();
            for (int j=2;j>=0;j--)
            {
                
                int graphicsindex = indicestype==PHY_SHORT?((unsigned short*)gfxbase)[j]:indicestype==PHY_INTEGER?gfxbase[j]:((unsigned char*)gfxbase)[j];


#ifdef DEBUG_TRIANGLE_MESH
                printf("%d ,",graphicsindex);
#endif //DEBUG_TRIANGLE_MESH
                if (type == PHY_FLOAT)
                {
                    float* graphicsbase = (float*)(vertexbase+graphicsindex*stride);
                    
                    m_triangle[j] = btVector3(
                                                                        graphicsbase[0]*meshScaling.getX(),
                                                                        graphicsbase[1]*meshScaling.getY(),
                                                                        graphicsbase[2]*meshScaling.getZ());
                }
                else
                {
                    double* graphicsbase = (double*)(vertexbase+graphicsindex*stride);

                    m_triangle[j] = btVector3(
                        btScalar(graphicsbase[0])*meshScaling.getX(),
                        btScalar(graphicsbase[1])*meshScaling.getY(),
                        btScalar(graphicsbase[2])*meshScaling.getZ());
                }
#ifdef DEBUG_TRIANGLE_MESH
                printf("triangle vertices:%f,%f,%f\n",triangle[j].x(),triangle[j].y(),triangle[j].z());
#endif //DEBUG_TRIANGLE_MESH
            }

            m_callback->processTriangle(m_triangle,nodeSubPart,nodeTriangleIndex);
            m_meshInterface->unLockReadOnlyVertexBase(nodeSubPart);
        }

    };

    MyNodeOverlapCallback   myNodeCallback(callback,m_meshInterface);

    m_bvh->reportAabbOverlappingNodex(&myNodeCallback,aabbMin,aabbMax);


#endif//DISABLE_BVH


}

void   btBvhTriangleMeshShape::setLocalScaling(const btVector3& scaling)
{
   if ((getLocalScaling() -scaling).length2() > SIMD_EPSILON)
   {
      btTriangleMeshShape::setLocalScaling(scaling);
      buildOptimizedBvh();
   }
}

void   btBvhTriangleMeshShape::buildOptimizedBvh()
{
    if (m_ownsBvh)
    {
        m_bvh->~btOptimizedBvh();
        btAlignedFree(m_bvh);
    }
    void* mem = btAlignedAlloc(sizeof(btOptimizedBvh),16);
    m_bvh = new(mem) btOptimizedBvh();
    //rebuild the bvh...
    m_bvh->build(m_meshInterface,m_useQuantizedAabbCompression,m_localAabbMin,m_localAabbMax);
    m_ownsBvh = true;
}

void   btBvhTriangleMeshShape::setOptimizedBvh(btOptimizedBvh* bvh, const btVector3& scaling)
{
   btAssert(!m_bvh);
   btAssert(!m_ownsBvh);

   m_bvh = bvh;
   m_ownsBvh = false;
   // update the scaling without rebuilding the bvh
   if ((getLocalScaling() -scaling).length2() > SIMD_EPSILON)
   {
      btTriangleMeshShape::setLocalScaling(scaling);
   }
}



const char* btBvhTriangleMeshShape::serialize(void* dataBuffer, btSerializer* serializer) const
{
    btTriangleMeshShapeData* trimeshData = (btTriangleMeshShapeData*) dataBuffer;

    btCollisionShape::serialize(&trimeshData->m_collisionShapeData,serializer);

    m_meshInterface->serialize(&trimeshData->m_meshInterface, serializer);

    trimeshData->m_collisionMargin = float(m_collisionMargin);

    

    if (m_bvh && !(serializer->getSerializationFlags()&BT_SERIALIZE_NO_BVH))
    {
        void* chunk = serializer->findPointer(m_bvh);
        if (chunk)
        {
#ifdef BT_USE_DOUBLE_PRECISION
            trimeshData->m_quantizedDoubleBvh = (btQuantizedBvhData*)chunk;
            trimeshData->m_quantizedFloatBvh = 0;
#else
            trimeshData->m_quantizedFloatBvh  = (btQuantizedBvhData*)chunk;
            trimeshData->m_quantizedDoubleBvh= 0;
#endif //BT_USE_DOUBLE_PRECISION
        } else
        {

#ifdef BT_USE_DOUBLE_PRECISION
            trimeshData->m_quantizedDoubleBvh = (btQuantizedBvhData*)serializer->getUniquePointer(m_bvh);
            trimeshData->m_quantizedFloatBvh = 0;
#else
            trimeshData->m_quantizedFloatBvh  = (btQuantizedBvhData*)serializer->getUniquePointer(m_bvh);
            trimeshData->m_quantizedDoubleBvh= 0;
#endif //BT_USE_DOUBLE_PRECISION
    
            int sz = m_bvh->calculateSerializeBufferSizeNew();
            btChunk* chunk = serializer->allocate(sz,1);
            const char* structType = m_bvh->serialize(chunk->m_oldPtr, serializer);
            serializer->finalizeChunk(chunk,structType,BT_QUANTIZED_BVH_CODE,m_bvh);
        }
    } else
    {
        trimeshData->m_quantizedFloatBvh = 0;
        trimeshData->m_quantizedDoubleBvh = 0;
    }

    

    if (m_triangleInfoMap && !(serializer->getSerializationFlags()&BT_SERIALIZE_NO_TRIANGLEINFOMAP))
    {
        void* chunk = serializer->findPointer(m_triangleInfoMap);
        if (chunk)
        {
            trimeshData->m_triangleInfoMap = (btTriangleInfoMapData*)chunk;
        } else
        {
            trimeshData->m_triangleInfoMap = (btTriangleInfoMapData*)serializer->getUniquePointer(m_triangleInfoMap);
            int sz = m_triangleInfoMap->calculateSerializeBufferSize();
            btChunk* chunk = serializer->allocate(sz,1);
            const char* structType = m_triangleInfoMap->serialize(chunk->m_oldPtr, serializer);
            serializer->finalizeChunk(chunk,structType,BT_TRIANLGE_INFO_MAP,m_triangleInfoMap);
        }
    } else
    {
        trimeshData->m_triangleInfoMap = 0;
    }

    return "btTriangleMeshShapeData";
}

void    btBvhTriangleMeshShape::serializeSingleBvh(btSerializer* serializer) const
{
    if (m_bvh)
    {
        int len = m_bvh->calculateSerializeBufferSizeNew(); //make sure not to use calculateSerializeBufferSize because it is used for in-place
        btChunk* chunk = serializer->allocate(len,1);
        const char* structType = m_bvh->serialize(chunk->m_oldPtr, serializer);
        serializer->finalizeChunk(chunk,structType,BT_QUANTIZED_BVH_CODE,(void*)m_bvh);
    }
}

void    btBvhTriangleMeshShape::serializeSingleTriangleInfoMap(btSerializer* serializer) const
{
    if (m_triangleInfoMap)
    {
        int len = m_triangleInfoMap->calculateSerializeBufferSize();
        btChunk* chunk = serializer->allocate(len,1);
        const char* structType = m_triangleInfoMap->serialize(chunk->m_oldPtr, serializer);
        serializer->finalizeChunk(chunk,structType,BT_TRIANLGE_INFO_MAP,(void*)m_triangleInfoMap);
    }
}