Panda3D
bulletTriangleMeshShape.cxx
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1 /**
2  * PANDA 3D SOFTWARE
3  * Copyright (c) Carnegie Mellon University. All rights reserved.
4  *
5  * All use of this software is subject to the terms of the revised BSD
6  * license. You should have received a copy of this license along
7  * with this source code in a file named "LICENSE."
8  *
9  * @file bulletTriangleMeshShape.cxx
10  * @author enn0x
11  * @date 2010-02-09
12  */
13 
15 
16 #include "config_bullet.h"
17 
18 #include "bulletTriangleMesh.h"
19 #include "bulletWorld.h"
20 
21 #include "nodePathCollection.h"
22 #include "geomNode.h"
23 #include "geomVertexReader.h"
24 
25 TypeHandle BulletTriangleMeshShape::_type_handle;
26 
27 /**
28  * Only used by make_from_bam.
29  */
30 BulletTriangleMeshShape::
31 BulletTriangleMeshShape() :
32  _mesh(nullptr),
33  _gimpact_shape(nullptr),
34  _bvh_shape(nullptr),
35  _dynamic(false),
36  _compress(false),
37  _bvh(false) {
38 }
39 
40 /**
41  * The parameters 'compress' and 'bvh' are only used if 'dynamic' is set to
42  * FALSE.
43  * Assumes the lock(bullet global lock) is held by the caller
44  */
45 BulletTriangleMeshShape::
46 BulletTriangleMeshShape(BulletTriangleMesh *mesh, bool dynamic, bool compress, bool bvh) :
47  _dynamic(dynamic),
48  _compress(compress),
49  _bvh(bvh) {
50 
51  // Assert that mesh is not NULL
52  if (!mesh) {
53  bullet_cat.warning() << "mesh is NULL! creating new mesh." << std::endl;
54  mesh = new BulletTriangleMesh();
55  }
56 
57  // Assert that mesh has at least one triangle
58  if (mesh->do_get_num_triangles() == 0) {
59  bullet_cat.warning() << "mesh has zero triangles! adding degenerated triangle." << std::endl;
60  mesh->add_triangle(LPoint3::zero(), LPoint3::zero(), LPoint3::zero());
61  }
62 
63  // Retain a pointer to the mesh, to prevent it from being deleted
64  _mesh = mesh;
65 
66  // Dynamic will create a GImpact mesh shape
67  if (dynamic) {
68 
69  _gimpact_shape = new btGImpactMeshShape(mesh->ptr());
70  _gimpact_shape->updateBound();
71  _gimpact_shape->setUserPointer(this);
72 
73  _bvh_shape = nullptr;
74  }
75 
76  // Static will create a Bvh mesh shape
77  else {
78 
79  _bvh_shape = new btBvhTriangleMeshShape(mesh->ptr(), compress, bvh);
80  _bvh_shape->setUserPointer(this);
81 
82  _gimpact_shape = nullptr;
83  }
84 }
85 
86 /**
87  *
88  */
89 BulletTriangleMeshShape::
90 BulletTriangleMeshShape(const BulletTriangleMeshShape &copy) {
91  LightMutexHolder holder(BulletWorld::get_global_lock());
92 
93  _dynamic = copy._dynamic;
94  _compress = copy._compress;
95  _bvh = copy._bvh;
96  _mesh = copy._mesh;
97 
98  if (_dynamic) {
99  _gimpact_shape = new btGImpactMeshShape(_mesh->ptr());
100  _gimpact_shape->updateBound();
101  _gimpact_shape->setUserPointer(this);
102  _bvh_shape = nullptr;
103  } else {
104  _bvh_shape = new btBvhTriangleMeshShape(_mesh->ptr(), _compress, _bvh);
105  _bvh_shape->setUserPointer(this);
106  _gimpact_shape = nullptr;
107  }
108 }
109 
110 /**
111  *
112  */
113 btCollisionShape *BulletTriangleMeshShape::
114 ptr() const {
115 
116  if (_bvh_shape) {
117  return _bvh_shape;
118  }
119 
120  if (_gimpact_shape) {
121  return _gimpact_shape;
122  }
123 
124  return nullptr;
125 }
126 
127 /**
128  *
129  */
130 void BulletTriangleMeshShape::
131 refit_tree(const LPoint3 &aabb_min, const LPoint3 &aabb_max) {
132  LightMutexHolder holder(BulletWorld::get_global_lock());
133 
134  nassertv(!aabb_max.is_nan());
135  nassertv(!aabb_max.is_nan());
136 
137  nassertv(this->is_static());
138 
139  _bvh_shape->refitTree(LVecBase3_to_btVector3(aabb_min),
140  LVecBase3_to_btVector3(aabb_max));
141 }
142 
143 /**
144  * Tells the BamReader how to create objects of type BulletTriangleMeshShape.
145  */
148  BamReader::get_factory()->register_factory(get_class_type(), make_from_bam);
149 }
150 
151 /**
152  * Writes the contents of this object to the datagram for shipping out to a
153  * Bam file.
154  */
156 write_datagram(BamWriter *manager, Datagram &dg) {
157  BulletShape::write_datagram(manager, dg);
158 
159  dg.add_stdfloat(get_margin());
160 
161  manager->write_pointer(dg, _mesh);
162 
163  dg.add_bool(_dynamic);
164  if (!_dynamic) {
165  dg.add_bool(_compress);
166  dg.add_bool(_bvh);
167  }
168 }
169 
170 /**
171  * Receives an array of pointers, one for each time manager->read_pointer()
172  * was called in fillin(). Returns the number of pointers processed.
173  */
175 complete_pointers(TypedWritable **p_list, BamReader *manager) {
176  int pi = BulletShape::complete_pointers(p_list, manager);
177 
178  _mesh = DCAST(BulletTriangleMesh, p_list[pi++]);
179 
180  btStridingMeshInterface *mesh_ptr = _mesh->ptr();
181  nassertr(mesh_ptr != nullptr, pi);
182 
183  if (_dynamic) {
184  _gimpact_shape = new btGImpactMeshShape(mesh_ptr);
185  _gimpact_shape->updateBound();
186  _gimpact_shape->setUserPointer(this);
187  _gimpact_shape->setMargin(_margin);
188  } else {
189  _bvh_shape = new btBvhTriangleMeshShape(mesh_ptr, _compress, _bvh);
190  _bvh_shape->setUserPointer(this);
191  _bvh_shape->setMargin(_margin);
192  }
193 
194  return pi;
195 }
196 
197 /**
198  * This function is called by the BamReader's factory when a new object of
199  * type BulletShape is encountered in the Bam file. It should create the
200  * BulletShape and extract its information from the file.
201  */
202 TypedWritable *BulletTriangleMeshShape::
203 make_from_bam(const FactoryParams &params) {
205  DatagramIterator scan;
206  BamReader *manager;
207 
208  parse_params(params, scan, manager);
209  param->fillin(scan, manager);
210 
211  return param;
212 }
213 
214 /**
215  * This internal function is called by make_from_bam to read in all of the
216  * relevant data from the BamFile for the new BulletTriangleMeshShape.
217  */
218 void BulletTriangleMeshShape::
219 fillin(DatagramIterator &scan, BamReader *manager) {
220  BulletShape::fillin(scan, manager);
221 
222  _margin = scan.get_stdfloat();
223 
224  manager->read_pointer(scan);
225 
226  _dynamic = scan.get_bool();
227  if (!_dynamic) {
228  _compress = scan.get_bool();
229  _bvh = scan.get_bool();
230  }
231 }
void parse_params(const FactoryParams &params, DatagramIterator &scan, BamReader *&manager)
Takes in a FactoryParams, passed from a WritableFactory into any TypedWritable's make function,...
Definition: bamReader.I:275
PANDA 3D SOFTWARE Copyright (c) Carnegie Mellon University.
PANDA 3D SOFTWARE Copyright (c) Carnegie Mellon University.
PANDA 3D SOFTWARE Copyright (c) Carnegie Mellon University.
This is the fundamental interface for extracting binary objects from a Bam file, as generated by a Ba...
Definition: bamReader.h:110
bool read_pointer(DatagramIterator &scan)
The interface for reading a pointer to another object from a Bam file.
Definition: bamReader.cxx:610
static WritableFactory * get_factory()
Returns the global WritableFactory for generating TypedWritable objects.
Definition: bamReader.I:177
This is the fundamental interface for writing binary objects to a Bam file, to be extracted later by ...
Definition: bamWriter.h:63
void write_pointer(Datagram &packet, const TypedWritable *dest)
The interface for writing a pointer to another object to a Bam file.
Definition: bamWriter.cxx:317
virtual int complete_pointers(TypedWritable **plist, BamReader *manager)
Receives an array of pointers, one for each time manager->read_pointer() was called in fillin().
static void register_with_read_factory()
Tells the BamReader how to create objects of type BulletTriangleMeshShape.
virtual void write_datagram(BamWriter *manager, Datagram &dg)
Writes the contents of this object to the datagram for shipping out to a Bam file.
void add_triangle(const LPoint3 &p0, const LPoint3 &p1, const LPoint3 &p2, bool remove_duplicate_vertices=false)
Adds a triangle with the indicated coordinates.
size_t do_get_num_triangles() const
Returns the number of triangles in this triangle mesh.
A class to retrieve the individual data elements previously stored in a Datagram.
PN_stdfloat get_stdfloat()
Extracts either a 32-bit or a 64-bit floating-point number, according to Datagram::set_stdfloat_doubl...
bool get_bool()
Extracts a boolean value.
An ordered list of data elements, formatted in memory for transmission over a socket or writing to a ...
Definition: datagram.h:38
void add_stdfloat(PN_stdfloat value)
Adds either a 32-bit or a 64-bit floating-point number, according to set_stdfloat_double().
Definition: datagram.I:133
void add_bool(bool value)
Adds a boolean value to the datagram.
Definition: datagram.I:34
An instance of this class is passed to the Factory when requesting it to do its business and construc...
Definition: factoryParams.h:36
void register_factory(TypeHandle handle, CreateFunc *func, void *user_data=nullptr)
Registers a new kind of thing the Factory will be able to create.
Definition: factory.I:73
Similar to MutexHolder, but for a light mutex.
TypeHandle is the identifier used to differentiate C++ class types.
Definition: typeHandle.h:81
Base class for objects that can be written to and read from Bam files.
Definition: typedWritable.h:35
virtual void fillin(DatagramIterator &scan, BamReader *manager)
This internal function is intended to be called by each class's make_from_bam() method to read in all...
virtual void write_datagram(BamWriter *manager, Datagram &dg)
Writes the contents of this object to the datagram for shipping out to a Bam file.
virtual int complete_pointers(TypedWritable **p_list, BamReader *manager)
Receives an array of pointers, one for each time manager->read_pointer() was called in fillin().
PANDA 3D SOFTWARE Copyright (c) Carnegie Mellon University.
PANDA 3D SOFTWARE Copyright (c) Carnegie Mellon University.
PANDA 3D SOFTWARE Copyright (c) Carnegie Mellon University.
PANDA 3D SOFTWARE Copyright (c) Carnegie Mellon University.