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BvhTriangleMeshShape.cpp

/*
Bullet Continuous Collision Detection and Physics Library
Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/

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 "CollisionShapes/BvhTriangleMeshShape.h"
#include "CollisionShapes/OptimizedBvh.h"

///Bvh Concave triangle mesh is a static-triangle mesh shape with Bounding Volume Hierarchy optimization.
///Uses an interface to access the triangles to allow for sharing graphics/physics triangles.
00024 BvhTriangleMeshShape::BvhTriangleMeshShape(StridingMeshInterface* meshInterface)
:TriangleMeshShape(meshInterface)
{
      //construct bvh from meshInterface
#ifndef DISABLE_BVH

      m_bvh = new OptimizedBvh();
      m_bvh->Build(meshInterface);

#endif //DISABLE_BVH

}

BvhTriangleMeshShape::~BvhTriangleMeshShape()
{
      delete m_bvh;
}

//perform bvh tree traversal and report overlapping triangles to 'callback'
void  BvhTriangleMeshShape::ProcessAllTriangles(TriangleCallback* callback,const SimdVector3& aabbMin,const SimdVector3& aabbMax) const
{

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

      //first get all the nodes

      
      struct      MyNodeOverlapCallback : public NodeOverlapCallback
      {
            StridingMeshInterface*  m_meshInterface;
            TriangleCallback*       m_callback;
            SimdVector3                   m_triangle[3];


            MyNodeOverlapCallback(TriangleCallback* callback,StridingMeshInterface* meshInterface)
                  :m_meshInterface(meshInterface),
                  m_callback(callback)
            {
            }
                        
            virtual void ProcessNode(const OptimizedBvhNode* node)
            {
                  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,
                        node->m_subPart);

                  int* gfxbase = (int*)(indexbase+node->m_triangleIndex*indexstride);
                  
                  const SimdVector3& meshScaling = m_meshInterface->getScaling();
                  for (int j=2;j>=0;j--)
                  {
                        
                        int graphicsindex = gfxbase[j];
#ifdef DEBUG_TRIANGLE_MESH
                        printf("%d ,",graphicsindex);
#endif //DEBUG_TRIANGLE_MESH
                        float* graphicsbase = (float*)(vertexbase+graphicsindex*stride);

                        m_triangle[j] = SimdVector3(
                              graphicsbase[0]*meshScaling.getX(),
                              graphicsbase[1]*meshScaling.getY(),
                              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,node->m_subPart,node->m_triangleIndex);
                  m_meshInterface->unLockReadOnlyVertexBase(node->m_subPart);
            }

      };

      MyNodeOverlapCallback   myNodeCallback(callback,m_meshInterface);

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


#endif//DISABLE_BVH


}


void  BvhTriangleMeshShape::setLocalScaling(const SimdVector3& scaling)
{
      if ((getLocalScaling() -scaling).length2() > SIMD_EPSILON)
      {
            TriangleMeshShape::setLocalScaling(scaling);
            delete m_bvh;
            m_bvh = new OptimizedBvh();
            m_bvh->Build(m_meshInterface);
            //rebuild the bvh...
      }
}

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