Patch Bullet to make it's convex hull implementation usable in BMesh
authorNicholas Bishop <nicholasbishop@gmail.com>
Tue, 23 Oct 2012 23:54:02 +0000 (23:54 +0000)
committerNicholas Bishop <nicholasbishop@gmail.com>
Tue, 23 Oct 2012 23:54:02 +0000 (23:54 +0000)
* Add access to the original indices for vertices

* Add a very simple C API for convex hull

* Add this patch to the patches folder and update readme.txt

extern/bullet2/patches/convex_hull.patch [new file with mode: 0644]
extern/bullet2/readme.txt
extern/bullet2/src/Bullet-C-Api.h
extern/bullet2/src/BulletDynamics/Dynamics/Bullet-C-API.cpp
extern/bullet2/src/LinearMath/btConvexHullComputer.cpp
extern/bullet2/src/LinearMath/btConvexHullComputer.h

diff --git a/extern/bullet2/patches/convex_hull.patch b/extern/bullet2/patches/convex_hull.patch
new file mode 100644 (file)
index 0000000..1b29782
--- /dev/null
@@ -0,0 +1,127 @@
+Index: extern/bullet2/src/Bullet-C-Api.h
+===================================================================
+--- extern/bullet2/src/Bullet-C-Api.h  (revision 51556)
++++ extern/bullet2/src/Bullet-C-Api.h  (working copy)
+@@ -167,6 +167,16 @@ extern "C" {
+       // needed for source/blender/blenkernel/intern/collision.c
+       double plNearestPoints(float p1[3], float p2[3], float p3[3], float q1[3], float q2[3], float q3[3], float *pa, float *pb, float normal[3]);
++
++      /* Convex Hull */
++      PL_DECLARE_HANDLE(plConvexHull);
++      plConvexHull plConvexHullCompute(float (*coords)[3], int count);
++      int plConvexHullNumVertices(plConvexHull hull);
++      int plConvexHullNumFaces(plConvexHull hull);
++      void plConvexHullGetVertex(plConvexHull hull, int n, float coords[3], int *original_index);
++      int plConvexHullGetFaceSize(plConvexHull hull, int n);
++      void plConvexHullGetFaceVertices(plConvexHull hull, int n, int *vertices);
++
+ #ifdef __cplusplus
+ }
+ #endif
+Index: extern/bullet2/src/BulletDynamics/Dynamics/Bullet-C-API.cpp
+===================================================================
+--- extern/bullet2/src/BulletDynamics/Dynamics/Bullet-C-API.cpp        (revision 51556)
++++ extern/bullet2/src/BulletDynamics/Dynamics/Bullet-C-API.cpp        (working copy)
+@@ -23,7 +23,7 @@ subject to the following restrictions:
+ #include "Bullet-C-Api.h"
+ #include "btBulletDynamicsCommon.h"
+ #include "LinearMath/btAlignedAllocator.h"
+-
++#include "LinearMath/btConvexHullComputer.h"
+ #include "LinearMath/btVector3.h"
+@@ -403,3 +403,60 @@ double plNearestPoints(float p1[3], float p2[3], float p3[3], float q1[3], float
+       return -1.0f;   
+ }
++// Convex hull
++plConvexHull plConvexHullCompute(float (*coords)[3], int count)
++{
++      btConvexHullComputer *computer = new btConvexHullComputer;
++      computer->compute(reinterpret_cast< float* >(coords),
++                                        sizeof(*coords), count, 0, 0);
++      return reinterpret_cast<plConvexHull>(computer);
++}
++
++int plConvexHullNumVertices(plConvexHull hull)
++{
++      btConvexHullComputer *computer(reinterpret_cast< btConvexHullComputer* >(hull));
++      return computer->vertices.size();
++}
++
++int plConvexHullNumFaces(plConvexHull hull)
++{
++      btConvexHullComputer *computer(reinterpret_cast< btConvexHullComputer* >(hull));
++      return computer->faces.size();
++}
++
++void plConvexHullGetVertex(plConvexHull hull, int n, float coords[3],
++                                                 int *original_index)
++{
++      btConvexHullComputer *computer(reinterpret_cast< btConvexHullComputer* >(hull));
++      const btVector3 &v(computer->vertices[n]);
++      coords[0] = v[0];
++      coords[1] = v[1];
++      coords[2] = v[2];
++      (*original_index) = computer->original_vertex_index[n];
++}
++
++int plConvexHullGetFaceSize(plConvexHull hull, int n)
++{
++      btConvexHullComputer *computer(reinterpret_cast< btConvexHullComputer* >(hull));
++      const btConvexHullComputer::Edge *e_orig, *e;
++      int count;
++
++      for (e_orig = &computer->edges[computer->faces[n]], e = e_orig, count = 0;
++               count == 0 || e != e_orig;
++               e = e->getNextEdgeOfFace(), count++);
++      return count;
++}
++
++void plConvexHullGetFaceVertices(plConvexHull hull, int n, int *vertices)
++{
++      btConvexHullComputer *computer(reinterpret_cast< btConvexHullComputer* >(hull));
++      const btConvexHullComputer::Edge *e_orig, *e;
++      int count;
++
++      for (e_orig = &computer->edges[computer->faces[n]], e = e_orig, count = 0;
++               count == 0 || e != e_orig;
++               e = e->getNextEdgeOfFace(), count++)
++      {
++              vertices[count] = e->getTargetVertex();
++      }
++}
+Index: extern/bullet2/src/LinearMath/btConvexHullComputer.cpp
+===================================================================
+--- extern/bullet2/src/LinearMath/btConvexHullComputer.cpp     (revision 51556)
++++ extern/bullet2/src/LinearMath/btConvexHullComputer.cpp     (working copy)
+@@ -2661,6 +2661,7 @@ btScalar btConvexHullComputer::compute(const void* coords, bool doubleCoords, in
+       }
+       vertices.resize(0);
++      original_vertex_index.resize(0);
+       edges.resize(0);
+       faces.resize(0);
+@@ -2671,6 +2672,7 @@ btScalar btConvexHullComputer::compute(const void* coords, bool doubleCoords, in
+       {
+               btConvexHullInternal::Vertex* v = oldVertices[copied];
+               vertices.push_back(hull.getCoordinates(v));
++              original_vertex_index.push_back(v->point.index);
+               btConvexHullInternal::Edge* firstEdge = v->edges;
+               if (firstEdge)
+               {
+Index: extern/bullet2/src/LinearMath/btConvexHullComputer.h
+===================================================================
+--- extern/bullet2/src/LinearMath/btConvexHullComputer.h       (revision 51556)
++++ extern/bullet2/src/LinearMath/btConvexHullComputer.h       (working copy)
+@@ -67,6 +67,7 @@ class btConvexHullComputer
+               // Vertices of the output hull
+               btAlignedObjectArray<btVector3> vertices;
++              btAlignedObjectArray<int> original_vertex_index;
+               // Edges of the output hull
+               btAlignedObjectArray<Edge> edges;
index 343cb10..7f5a7f1 100644 (file)
@@ -14,6 +14,8 @@ Apply patches/make_id.patch to prevent duplicated define of MAKE_ID macro in ble
 side and bullet side.
 Sergey
 
-Apply patches/ghost_character.path to prevent characters from colliding with ghost objects.
+Apply patches/ghost_character.patch to prevent characters from colliding with ghost objects.
 Mitchell
 
+Apply patches/convex_hull.patch to add access to the convex hull
+operation, used in the BMesh convex hull operator.
index f27a17d..2eabf38 100644 (file)
@@ -167,6 +167,16 @@ extern "C" {
        // needed for source/blender/blenkernel/intern/collision.c
        double plNearestPoints(float p1[3], float p2[3], float p3[3], float q1[3], float q2[3], float q3[3], float *pa, float *pb, float normal[3]);
 
+
+       /* Convex Hull */
+       PL_DECLARE_HANDLE(plConvexHull);
+       plConvexHull plConvexHullCompute(float (*coords)[3], int count);
+       int plConvexHullNumVertices(plConvexHull hull);
+       int plConvexHullNumFaces(plConvexHull hull);
+       void plConvexHullGetVertex(plConvexHull hull, int n, float coords[3], int *original_index);
+       int plConvexHullGetFaceSize(plConvexHull hull, int n);
+       void plConvexHullGetFaceVertices(plConvexHull hull, int n, int *vertices);
+
 #ifdef __cplusplus
 }
 #endif
index bd8e274..cf73556 100644 (file)
@@ -23,7 +23,7 @@ subject to the following restrictions:
 #include "Bullet-C-Api.h"
 #include "btBulletDynamicsCommon.h"
 #include "LinearMath/btAlignedAllocator.h"
-
+#include "LinearMath/btConvexHullComputer.h"
 
 
 #include "LinearMath/btVector3.h"
@@ -403,3 +403,60 @@ double plNearestPoints(float p1[3], float p2[3], float p3[3], float q1[3], float
        return -1.0f;   
 }
 
+// Convex hull
+plConvexHull plConvexHullCompute(float (*coords)[3], int count)
+{
+       btConvexHullComputer *computer = new btConvexHullComputer;
+       computer->compute(reinterpret_cast< float* >(coords),
+                                         sizeof(*coords), count, 0, 0);
+       return reinterpret_cast<plConvexHull>(computer);
+}
+
+int plConvexHullNumVertices(plConvexHull hull)
+{
+       btConvexHullComputer *computer(reinterpret_cast< btConvexHullComputer* >(hull));
+       return computer->vertices.size();
+}
+
+int plConvexHullNumFaces(plConvexHull hull)
+{
+       btConvexHullComputer *computer(reinterpret_cast< btConvexHullComputer* >(hull));
+       return computer->faces.size();
+}
+
+void plConvexHullGetVertex(plConvexHull hull, int n, float coords[3],
+                                                  int *original_index)
+{
+       btConvexHullComputer *computer(reinterpret_cast< btConvexHullComputer* >(hull));
+       const btVector3 &v(computer->vertices[n]);
+       coords[0] = v[0];
+       coords[1] = v[1];
+       coords[2] = v[2];
+       (*original_index) = computer->original_vertex_index[n];
+}
+
+int plConvexHullGetFaceSize(plConvexHull hull, int n)
+{
+       btConvexHullComputer *computer(reinterpret_cast< btConvexHullComputer* >(hull));
+       const btConvexHullComputer::Edge *e_orig, *e;
+       int count;
+
+       for (e_orig = &computer->edges[computer->faces[n]], e = e_orig, count = 0;
+                count == 0 || e != e_orig;
+                e = e->getNextEdgeOfFace(), count++);
+       return count;
+}
+
+void plConvexHullGetFaceVertices(plConvexHull hull, int n, int *vertices)
+{
+       btConvexHullComputer *computer(reinterpret_cast< btConvexHullComputer* >(hull));
+       const btConvexHullComputer::Edge *e_orig, *e;
+       int count;
+
+       for (e_orig = &computer->edges[computer->faces[n]], e = e_orig, count = 0;
+                count == 0 || e != e_orig;
+                e = e->getNextEdgeOfFace(), count++)
+       {
+               vertices[count] = e->getTargetVertex();
+       }
+}
index c03c901..4fd81da 100644 (file)
@@ -2661,6 +2661,7 @@ btScalar btConvexHullComputer::compute(const void* coords, bool doubleCoords, in
        }
 
        vertices.resize(0);
+       original_vertex_index.resize(0);
        edges.resize(0);
        faces.resize(0);
 
@@ -2671,6 +2672,7 @@ btScalar btConvexHullComputer::compute(const void* coords, bool doubleCoords, in
        {
                btConvexHullInternal::Vertex* v = oldVertices[copied];
                vertices.push_back(hull.getCoordinates(v));
+               original_vertex_index.push_back(v->point.index);
                btConvexHullInternal::Edge* firstEdge = v->edges;
                if (firstEdge)
                {
index 7240ac4..6871ce8 100644 (file)
@@ -67,6 +67,7 @@ class btConvexHullComputer
 
                // Vertices of the output hull
                btAlignedObjectArray<btVector3> vertices;
+               btAlignedObjectArray<int> original_vertex_index;
 
                // Edges of the output hull
                btAlignedObjectArray<Edge> edges;