btBvhTriangleMeshShape.h File Reference

#include "btTriangleMeshShape.h"
#include "btOptimizedBvh.h"
#include "LinearMath/btAlignedAllocator.h"
#include "btTriangleInfoMap.h"

Go to the source code of this file.

Classes
struct	btTriangleMeshShapeData
	do not change those serialization structures, it requires an updated sBulletDNAstr/sBulletDNAstr64 More...

Functions
	BT_DECLARE_ALIGNED_ALLOCATOR ()
	btBvhTriangleMeshShape (btStridingMeshInterface *meshInterface, bool useQuantizedAabbCompression, bool buildBvh=true)
	btBvhTriangleMeshShape (btStridingMeshInterface *meshInterface, bool useQuantizedAabbCompression, const btVector3 &bvhAabbMin, const btVector3 &bvhAabbMax, bool buildBvh=true)
	optionally pass in a larger bvh aabb, used for quantization. This allows for deformations within this aabb
virtual	~btBvhTriangleMeshShape ()
bool	getOwnsBvh () const
void	performRaycast (btTriangleCallback *callback, const btVector3 &raySource, const btVector3 &rayTarget)
void	performConvexcast (btTriangleCallback *callback, const btVector3 &boxSource, const btVector3 &boxTarget, const btVector3 &boxMin, const btVector3 &boxMax)
virtual void	processAllTriangles (btTriangleCallback *callback, const btVector3 &aabbMin, const btVector3 &aabbMax) const
void	refitTree (const btVector3 &aabbMin, const btVector3 &aabbMax)
void	partialRefitTree (const btVector3 &aabbMin, const btVector3 &aabbMax)
	for a fast incremental refit of parts of the tree. Note: the entire AABB of the tree will become more conservative, it never shrinks
virtual const char *	getName () const
virtual void	setLocalScaling (const btVector3 &scaling)
btOptimizedBvh *	getOptimizedBvh ()
void	setOptimizedBvh (btOptimizedBvh *bvh, const btVector3 &localScaling=btVector3(1, 1, 1))
void	buildOptimizedBvh ()
bool	usesQuantizedAabbCompression () const
void	setTriangleInfoMap (btTriangleInfoMap *triangleInfoMap)
const btTriangleInfoMap *	getTriangleInfoMap () const
virtual int	calculateSerializeBufferSize () const
virtual const char *	serialize (void *dataBuffer, btSerializer *serializer) const
	fills the dataBuffer and returns the struct name (and 0 on failure)
virtual void	serializeSingleBvh (btSerializer *serializer) const
virtual void	serializeSingleTriangleInfoMap (btSerializer *serializer) const

Variables
btBvhTriangleMeshShape	__pad0__
btTriangleInfoMap *	m_triangleInfoMap
bool	m_useQuantizedAabbCompression
bool	m_ownsBvh
bool	m_pad [11]

Function Documentation

BT_DECLARE_ALIGNED_ALLOCATOR()

BT_DECLARE_ALIGNED_ALLOCATOR

(

)

btBvhTriangleMeshShape() [1/2]

btBvhTriangleMeshShape::btBvhTriangleMeshShape	(	btStridingMeshInterface *	meshInterface,
		bool	useQuantizedAabbCompression,
		bool	buildBvh = true )

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.

Definition at line 24 of file btBvhTriangleMeshShape.cpp.

References buildOptimizedBvh(), and TRIANGLE_MESH_SHAPE_PROXYTYPE.

Referenced by btAdjustInternalEdgeContacts(), btCollisionWorldImporter::convertAllObjects(), btCollisionWorldImporter::convertCollisionShape(), btCollisionWorldImporter::createBvhTriangleMeshShape(), btCollisionWorld::objectQuerySingleInternal(), btCollisionWorld::rayTestSingleInternal(), RB_shape_delete(), RB_shape_new_trimesh(), and RB_shape_trimesh_update().

btBvhTriangleMeshShape() [2/2]

btBvhTriangleMeshShape::btBvhTriangleMeshShape	(	btStridingMeshInterface *	meshInterface,
		bool	useQuantizedAabbCompression,
		const btVector3 &	bvhAabbMin,
		const btVector3 &	bvhAabbMax,
		bool	buildBvh = true )

optionally pass in a larger bvh aabb, used for quantization. This allows for deformations within this aabb

Definition at line 43 of file btBvhTriangleMeshShape.cpp.

References btAlignedAlloc, btOptimizedBvh(), m_ownsBvh, m_useQuantizedAabbCompression, and TRIANGLE_MESH_SHAPE_PROXYTYPE.

buildOptimizedBvh()

void btBvhTriangleMeshShape::buildOptimizedBvh

(

)

m_localAabbMin/m_localAabbMax is already re-calculated in btTriangleMeshShape. We could just scale aabb, but this needs some more work

Definition at line 340 of file btBvhTriangleMeshShape.cpp.

References btAlignedAlloc, btAlignedFree, btOptimizedBvh(), m_localAabbMax, m_localAabbMin, m_meshInterface, m_ownsBvh, and m_useQuantizedAabbCompression.

Referenced by btBvhTriangleMeshShape().

calculateSerializeBufferSize()

virtual int calculateSerializeBufferSize ( ) const

virtual

getName()

virtual const char * getName ( ) const

virtual

Definition at line 74 of file btBvhTriangleMeshShape.h.

getOptimizedBvh()

btOptimizedBvh * getOptimizedBvh

(

)

Definition at line 78 of file btBvhTriangleMeshShape.h.

getOwnsBvh()

bool getOwnsBvh

(

)

const

Definition at line 58 of file btBvhTriangleMeshShape.h.

References m_ownsBvh.

getTriangleInfoMap()

struct btTriangleInfoMap * getTriangleInfoMap

(

)

const

Definition at line 97 of file btBvhTriangleMeshShape.h.

References m_triangleInfoMap.

partialRefitTree()

void btBvhTriangleMeshShape::partialRefitTree	(	const btVector3 &	aabbMin,
		const btVector3 &	aabbMax )

for a fast incremental refit of parts of the tree. Note: the entire AABB of the tree will become more conservative, it never shrinks

Definition at line 66 of file btBvhTriangleMeshShape.cpp.

References m_localAabbMax, m_localAabbMin, and m_meshInterface.

performConvexcast()

void btBvhTriangleMeshShape::performConvexcast	(	btTriangleCallback *	callback,
		const btVector3 &	boxSource,
		const btVector3 &	boxTarget,
		const btVector3 &	boxMin,
		const btVector3 &	boxMax )

Definition at line 164 of file btBvhTriangleMeshShape.cpp.

References btAssert, btStridingMeshInterface, btVector3, callback, m_meshInterface, PHY_FLOAT, PHY_INTEGER, PHY_SHORT, PHY_UCHAR, and btTriangleCallback::processTriangle().

performRaycast()

void btHeightfieldTerrainShape::performRaycast	(	btTriangleCallback *	callback,
		const btVector3 &	raySource,
		const btVector3 &	rayTarget )

Performs a raycast using a hierarchical Bresenham algorithm. Does not allocate any memory by itself.

Definition at line 90 of file btBvhTriangleMeshShape.cpp.

References btAssert, btStridingMeshInterface, btVector3, callback, m_meshInterface, PHY_FLOAT, PHY_INTEGER, PHY_SHORT, PHY_UCHAR, btNodeOverlapCallback::processNode(), and btTriangleCallback::processTriangle().

processAllTriangles()

virtual void processAllTriangles ( btTriangleCallback * callback, const btVector3 & aabbMin, const btVector3 & aabbMax ) const

virtual

Definition at line 57 of file btEmptyShape.h.

refitTree()

void btBvhTriangleMeshShape::refitTree	(	const btVector3 &	aabbMin,
		const btVector3 &	aabbMax )

Definition at line 74 of file btBvhTriangleMeshShape.cpp.

References m_meshInterface, and recalcLocalAabb().

serialize()

virtual const char * serialize ( void * dataBuffer, btSerializer * serializer ) const

virtual

fills the dataBuffer and returns the struct name (and 0 on failure)

serializeSingleBvh()

void btBvhTriangleMeshShape::serializeSingleBvh ( btSerializer * serializer ) const

virtual

Definition at line 442 of file btBvhTriangleMeshShape.cpp.

References btSerializer::allocate(), BT_QUANTIZED_BVH_CODE, btSerializer::finalizeChunk(), len, and btChunk::m_oldPtr.

serializeSingleTriangleInfoMap()

void btBvhTriangleMeshShape::serializeSingleTriangleInfoMap ( btSerializer * serializer ) const

virtual

Definition at line 453 of file btBvhTriangleMeshShape.cpp.

References btSerializer::allocate(), BT_TRIANLGE_INFO_MAP, btTriangleInfoMap::calculateSerializeBufferSize(), btSerializer::finalizeChunk(), len, btChunk::m_oldPtr, m_triangleInfoMap, and btTriangleInfoMap::serialize().

setLocalScaling()

virtual void setLocalScaling ( const btVector3 & scaling )

virtual

Definition at line 120 of file btBox2dShape.h.

setOptimizedBvh()

void btBvhTriangleMeshShape::setOptimizedBvh	(	btOptimizedBvh *	bvh,
		const btVector3 &	localScaling = btVector3(1, 1, 1) )

Definition at line 355 of file btBvhTriangleMeshShape.cpp.

References btAssert, getLocalScaling(), length2(), m_ownsBvh, and SIMD_EPSILON.

setTriangleInfoMap()

void setTriangleInfoMap

(

btTriangleInfoMap *

triangleInfoMap

)

Definition at line 92 of file btBvhTriangleMeshShape.h.

References m_triangleInfoMap.

usesQuantizedAabbCompression()

bool usesQuantizedAabbCompression

(

)

const

Definition at line 87 of file btBvhTriangleMeshShape.h.

References m_useQuantizedAabbCompression.

~btBvhTriangleMeshShape()

btBvhTriangleMeshShape::~btBvhTriangleMeshShape ( )

virtual

Definition at line 81 of file btBvhTriangleMeshShape.cpp.

References btAlignedFree, and m_ownsBvh.

Variable Documentation

__pad0__

btBvhTriangleMeshShape __pad0__

The btBvhTriangleMeshShape is a static-triangle mesh shape, it can only be used for fixed/non-moving objects. If you required moving concave triangle meshes, it is recommended to perform convex decomposition using HACD, see Bullet/Demos/ConvexDecompositionDemo. Alternatively, you can use btGimpactMeshShape for moving concave triangle meshes. btBvhTriangleMeshShape has several optimizations, such as bounding volume hierarchy and cache friendly traversal for PlayStation 3 Cell SPU. It is recommended to enable useQuantizedAabbCompression for better memory usage. It takes a triangle mesh as input, for example a btTriangleMesh or btTriangleIndexVertexArray. The btBvhTriangleMeshShape class allows for triangle mesh deformations by a refit or partialRefit method. Instead of building the bounding volume hierarchy acceleration structure, it is also possible to serialize (save) and deserialize (load) the structure from disk. See Demos\ConcaveDemo\ConcavePhysicsDemo.cpp for an example.

Definition at line 35 of file btBvhTriangleMeshShape.h.

m_ownsBvh

bool m_ownsBvh

Definition at line 41 of file btBvhTriangleMeshShape.h.

Referenced by btBvhTriangleMeshShape(), buildOptimizedBvh(), getOwnsBvh(), setOptimizedBvh(), and ~btBvhTriangleMeshShape().

m_pad

bool m_pad[11]

Definition at line 45 of file btBvhTriangleMeshShape.h.

m_triangleInfoMap

btTriangleInfoMap* m_triangleInfoMap

Definition at line 38 of file btBvhTriangleMeshShape.h.

Referenced by getTriangleInfoMap(), serializeSingleTriangleInfoMap(), and setTriangleInfoMap().

m_useQuantizedAabbCompression

bool m_useQuantizedAabbCompression

Definition at line 40 of file btBvhTriangleMeshShape.h.

Referenced by btBvhTriangleMeshShape(), buildOptimizedBvh(), and usesQuantizedAabbCompression().