/*
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* Java port of Bullet (c) 2008 Martin Dvorak <jezek2@advel.cz>
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*
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* ShapeHull implemented by John McCutchan.
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*
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* Bullet Continuous Collision Detection and Physics Library
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* Copyright (c) 2003-2008 Erwin Coumans http://www.bulletphysics.com/
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*
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* This software is provided 'as-is', without any express or implied warranty.
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* In no event will the authors be held liable for any damages arising from
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* the use of this software.
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*
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* Permission is granted to anyone to use this software for any purpose,
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* including commercial applications, and to alter it and redistribute it
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* freely, subject to the following restrictions:
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*
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* 1. The origin of this software must not be misrepresented; you must not
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* claim that you wrote the original software. If you use this software
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* in a product, an acknowledgment in the product documentation would be
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* appreciated but is not required.
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* 2. Altered source versions must be plainly marked as such, and must not be
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* misrepresented as being the original software.
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* 3. This notice may not be removed or altered from any source distribution.
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*/
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package com.bulletphysics.collision.shapes;
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import com.bulletphysics.linearmath.MiscUtil;
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import com.bulletphysics.linearmath.convexhull.*;
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import com.bulletphysics.util.IntArrayList;
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import com.bulletphysics.util.ObjectArrayList;
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import cz.advel.stack.Stack;
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import javax.vecmath.Vector3f;
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import javax.vecmath.Vector3d;
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/**
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* ShapeHull takes a {@link ConvexShape}, builds the convex hull using {@link HullLibrary}
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* and provides triangle indices and vertices.
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*
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* @author jezek2
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*/
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public class ShapeHull implements java.io.Serializable
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{
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static final long serialVersionUID = -1102208318940158328L;
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protected ObjectArrayList<Vector3f> vertices = new ObjectArrayList<Vector3f>();
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protected ObjectArrayList<Vector3f> normals = new ObjectArrayList<Vector3f>();
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protected IntArrayList indices = new IntArrayList();
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protected int numIndices;
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protected ConvexShape shape;
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protected ObjectArrayList<Vector3f> unitSpherePoints = new ObjectArrayList<Vector3f>();
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public ShapeHull(ConvexShape shape) {
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this.shape = shape;
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this.vertices.clear();
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this.normals.clear();
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this.indices.clear();
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this.numIndices = 0;
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// MiscUtil.resize(unitSpherePoints, NUM_UNITSPHERE_POINTS+ConvexShape.MAX_PREFERRED_PENETRATION_DIRECTIONS*2, Vector3f.class);
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//// for (int i=constUnitSpherePoints.size(); --i>=0;) {
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//// unitSpherePoints.getQuick(i).set(constUnitSpherePoints.getQuick(i));
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//// }
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// int lines = (int)Math.sqrt(NUM_UNITSPHERE_POINTS);
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// int rows = lines;
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// Vector3f vec = new Vector3f();
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// Superellipsoid supere = new Superellipsoid();
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// for (int i=lines; --i>=0;)
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// {
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// for (int j=rows; --j>=0;)
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// {
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// double u = i; u /= lines-1;
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// double v = j; v /= rows-1;
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//
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// supere.biparamFunction(u, v, vec);
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//
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// unitSpherePoints.getQuick(i*rows + j).set(vec);
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// }
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// }
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}
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public boolean buildHull(float margin)
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{
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int lines = (int)Math.sqrt(NUM_UNITSPHERE_POINTS);
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int rows = lines;
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MiscUtil.resize(vertices, NUM_UNITSPHERE_POINTS*2, Vector3f.class);
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MiscUtil.resize(normals, NUM_UNITSPHERE_POINTS*2, Vector3f.class);
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Vector3f vec = new Vector3f();
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Vector3f norm = new Vector3f();
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Vector3f normout = new Vector3f();
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Vector3f vec2 = new Vector3f();
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Superellipsoid supere = new Superellipsoid();
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CapsuleShape capsule = (CapsuleShape)shape;
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int loops = 1;
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if (capsule.anchor)
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loops++;
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for (int loop=loops; --loop>=0;)
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for (int j=rows; --j>=0;)
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{
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int k=0;
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for (int i=lines; --i>=0;)
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{
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double u = i; u /= lines-1;
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double v = j; v /= rows-1;
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supere.biparamFunction(u, v, vec, norm);
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capsule.localGetSupportingVertexWithNorm(vec, vec2, norm, normout);
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if (loop == 1)
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{
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//vec2.scale(0.5f);
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// Nodes are bigger
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vec2.x *= 5;
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vec2.y *= 5;
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vec2.z *= 5;
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switch (capsule.getUpAxis())
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{
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case 0: vec2.x /= capsule.getHalfHeight(); vec2.x *= capsule.getRadius()/2; vec2.x -= capsule.getHalfHeight(); break;
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case 1: vec2.y /= capsule.getHalfHeight(); vec2.y *= capsule.getRadius()/2; vec2.y -= capsule.getHalfHeight(); break;
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case 2: vec2.z /= capsule.getHalfHeight(); vec2.z *= capsule.getRadius()/2; vec2.z -= capsule.getHalfHeight(); break;
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}
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}
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vertices.getQuick(loop*NUM_UNITSPHERE_POINTS + i*rows + j).set(vec2);
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normals.getQuick(loop*NUM_UNITSPHERE_POINTS + i*rows + j).set(normout);
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}
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}
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numIndices = (lines*(rows-1) * 6) * loops;
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int i = 0;
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int j = 0;
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MiscUtil.resize(indices, numIndices, 0);
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for (int in=0; in<numIndices/loops;)
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{
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indices.set(in++, i*(rows-1) + j);
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indices.set(in++, (i+1)*(rows-1) + j+1);
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indices.set(in++, i*(rows-1) + j+1);
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indices.set(in++, i*(rows-1) + j);
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indices.set(in++, (i+1)*(rows-1) + j);
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indices.set(in++, (i+1)*(rows-1) + j+1);
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j++;
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if (j >= rows-1)
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{
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j = 0;
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i++;
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}
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}
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i = 0;
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j = 0;
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for (int in=numIndices/loops; in<numIndices;)
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{
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indices.set(in++, NUM_UNITSPHERE_POINTS + i*(rows-1) + j);
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indices.set(in++, NUM_UNITSPHERE_POINTS + (i+1)*(rows-1) + j+1);
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indices.set(in++, NUM_UNITSPHERE_POINTS + i*(rows-1) + j+1);
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indices.set(in++, NUM_UNITSPHERE_POINTS + i*(rows-1) + j);
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indices.set(in++, NUM_UNITSPHERE_POINTS + (i+1)*(rows-1) + j);
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indices.set(in++, NUM_UNITSPHERE_POINTS + (i+1)*(rows-1) + j+1);
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j++;
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if (j >= rows-1)
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{
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j = 0;
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i++;
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}
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}
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return true;
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}
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public boolean buildHull0(float margin)
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{
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Vector3f norm = Stack.alloc(Vector3f.class);
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int numSampleDirections = NUM_UNITSPHERE_POINTS;
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{
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int numPDA = shape.getNumPreferredPenetrationDirections();
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if (numPDA != 0) {
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for (int i=0; i<numPDA; i++) {
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shape.getPreferredPenetrationDirection(i, norm);
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unitSpherePoints.getQuick(numSampleDirections).set(norm);
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numSampleDirections++;
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}
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}
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}
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ObjectArrayList<Vector3f> supportPoints = new ObjectArrayList<Vector3f>();
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MiscUtil.resize(supportPoints, NUM_UNITSPHERE_POINTS + ConvexShape.MAX_PREFERRED_PENETRATION_DIRECTIONS * 2, Vector3f.class);
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for (int i=0; i<numSampleDirections; i++) {
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shape.localGetSupportingVertex(unitSpherePoints.getQuick(i), supportPoints.getQuick(i));
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}
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HullDesc hd = new HullDesc();
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hd.flags = HullFlags.TRIANGLES;
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hd.vcount = numSampleDirections;
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//#ifdef BT_USE_DOUBLE_PRECISION
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//hd.mVertices = &supportPoints[0];
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//hd.mVertexStride = sizeof(btVector3);
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//#else
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hd.vertices = supportPoints;
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//hd.vertexStride = 3 * 4;
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//#endif
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HullLibrary hl = new HullLibrary();
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HullResult hr = new HullResult();
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if (!hl.createConvexHull(hd, hr)) {
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return false;
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}
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MiscUtil.resize(vertices, hr.numOutputVertices, Vector3f.class);
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MiscUtil.resize(normals, hr.numOutputVertices, Vector3f.class);
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for (int i=0; i<hr.numOutputVertices; i++) {
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vertices.getQuick(i).set(hr.outputVertices.getQuick(i));
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}
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numIndices = hr.numIndices;
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MiscUtil.resize(indices, numIndices, 0);
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for (int i=0; i<numIndices; i++) {
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indices.set(i, hr.indices.get(i));
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}
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// free temporary hull result that we just copied
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hl.releaseResult(hr);
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return true;
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}
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public int numTriangles() {
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return numIndices / 3;
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}
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public int numVertices() {
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return vertices.size();
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}
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public int numIndices() {
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return numIndices;
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}
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public ObjectArrayList<Vector3f> getVertexPointer() {
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return vertices;
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}
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public ObjectArrayList<Vector3f> getNormalPointer() {
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return normals;
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}
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public IntArrayList getIndexPointer() {
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return indices;
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}
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////////////////////////////////////////////////////////////////////////////
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private static int NUM_UNITSPHERE_POINTS = 15*15; // 420;
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private static ObjectArrayList<Vector3f> constUnitSpherePoints = new ObjectArrayList<Vector3f>();
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static {
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constUnitSpherePoints.add(new Vector3f(0.000000f, -0.000000f, -1.000000f));
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constUnitSpherePoints.add(new Vector3f(0.723608f, -0.525725f, -0.447219f));
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constUnitSpherePoints.add(new Vector3f(-0.276388f, -0.850649f, -0.447219f));
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constUnitSpherePoints.add(new Vector3f(-0.894426f, -0.000000f, -0.447216f));
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constUnitSpherePoints.add(new Vector3f(-0.276388f, 0.850649f, -0.447220f));
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constUnitSpherePoints.add(new Vector3f(0.723608f, 0.525725f, -0.447219f));
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constUnitSpherePoints.add(new Vector3f(0.276388f, -0.850649f, 0.447220f));
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constUnitSpherePoints.add(new Vector3f(-0.723608f, -0.525725f, 0.447219f));
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constUnitSpherePoints.add(new Vector3f(-0.723608f, 0.525725f, 0.447219f));
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constUnitSpherePoints.add(new Vector3f(0.276388f, 0.850649f, 0.447219f));
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constUnitSpherePoints.add(new Vector3f(0.894426f, 0.000000f, 0.447216f));
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constUnitSpherePoints.add(new Vector3f(-0.000000f, 0.000000f, 1.000000f));
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constUnitSpherePoints.add(new Vector3f(0.425323f, -0.309011f, -0.850654f));
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constUnitSpherePoints.add(new Vector3f(-0.162456f, -0.499995f, -0.850654f));
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constUnitSpherePoints.add(new Vector3f(0.262869f, -0.809012f, -0.525738f));
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constUnitSpherePoints.add(new Vector3f(0.425323f, 0.309011f, -0.850654f));
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constUnitSpherePoints.add(new Vector3f(0.850648f, -0.000000f, -0.525736f));
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constUnitSpherePoints.add(new Vector3f(-0.525730f, -0.000000f, -0.850652f));
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constUnitSpherePoints.add(new Vector3f(-0.688190f, -0.499997f, -0.525736f));
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constUnitSpherePoints.add(new Vector3f(-0.162456f, 0.499995f, -0.850654f));
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constUnitSpherePoints.add(new Vector3f(-0.688190f, 0.499997f, -0.525736f));
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constUnitSpherePoints.add(new Vector3f(0.262869f, 0.809012f, -0.525738f));
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constUnitSpherePoints.add(new Vector3f(0.951058f, 0.309013f, 0.000000f));
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constUnitSpherePoints.add(new Vector3f(0.951058f, -0.309013f, 0.000000f));
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constUnitSpherePoints.add(new Vector3f(0.587786f, -0.809017f, 0.000000f));
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constUnitSpherePoints.add(new Vector3f(0.000000f, -1.000000f, 0.000000f));
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constUnitSpherePoints.add(new Vector3f(-0.587786f, -0.809017f, 0.000000f));
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constUnitSpherePoints.add(new Vector3f(-0.951058f, -0.309013f, -0.000000f));
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constUnitSpherePoints.add(new Vector3f(-0.951058f, 0.309013f, -0.000000f));
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constUnitSpherePoints.add(new Vector3f(-0.587786f, 0.809017f, -0.000000f));
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constUnitSpherePoints.add(new Vector3f(-0.000000f, 1.000000f, -0.000000f));
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constUnitSpherePoints.add(new Vector3f(0.587786f, 0.809017f, -0.000000f));
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constUnitSpherePoints.add(new Vector3f(0.688190f, -0.499997f, 0.525736f));
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constUnitSpherePoints.add(new Vector3f(-0.262869f, -0.809012f, 0.525738f));
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constUnitSpherePoints.add(new Vector3f(-0.850648f, 0.000000f, 0.525736f));
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constUnitSpherePoints.add(new Vector3f(-0.262869f, 0.809012f, 0.525738f));
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constUnitSpherePoints.add(new Vector3f(0.688190f, 0.499997f, 0.525736f));
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constUnitSpherePoints.add(new Vector3f(0.525730f, 0.000000f, 0.850652f));
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constUnitSpherePoints.add(new Vector3f(0.162456f, -0.499995f, 0.850654f));
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constUnitSpherePoints.add(new Vector3f(-0.425323f, -0.309011f, 0.850654f));
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constUnitSpherePoints.add(new Vector3f(-0.425323f, 0.309011f, 0.850654f));
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constUnitSpherePoints.add(new Vector3f(0.162456f, 0.499995f, 0.850654f));
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}
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static int tablelength = 257;
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static double power1 = -1;
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static double[] powtable1 = new double[tablelength];
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static double power2 = -1;
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static double[] powtable2 = new double[tablelength];
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class Superellipsoid //extends Biparam /*Sphere*/ implements java.io.Serializable
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{
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Superellipsoid()
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{
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// inPnt = new cVector();
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du = new Vector3f();
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dv = new Vector3f();
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//
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// name = "Superellipsoid";
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east = 0.75;
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north = 1;
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//uDivs = vDivs = 32;
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// uDivs = 35;
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// vDivs = 34;
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// minUDivs = 3;
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// minVDivs = 2;
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}
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double signPower(double base, double pow)
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{
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//if (base == 0)
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// base = 0.0000001;
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if (base == 0 && pow == 0 || base == 1)
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return 1;
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if (base == 0)
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return 0;
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if (base == -1)
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return -1;
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if (base >= 0)
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return (double)Mathpow(base, pow);
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else
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return -(double)Mathpow(-base, pow);
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}
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double Mathpow(double base, double pow)
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{
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int basei = (int) (base * (tablelength - 1));
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double[] table = null;
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if (pow == power1)
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{
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table = powtable1;
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}
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else if (pow == power2)
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{
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table = powtable2;
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}
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else
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{
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if (power2 == -1)
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{
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power2 = pow;
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table = powtable2 = new double[tablelength];
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}
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else
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{
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power1 = pow;
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table = powtable1 = new double[tablelength];
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power2 = -1;
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}
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}
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if (basei != 0 && table[basei] == 0)
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{
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table[basei] = Math.pow(basei/(tablelength - 1.0), pow);
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//if (table[basei] == 0)
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// System.out.println("POW == 0 : " + basei);
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}
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if (table[basei+1] == 0)
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{
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table[basei+1] = Math.pow((basei+1.0)/(tablelength - 1.0), pow);
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//if (table[basei+1] == 0)
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// System.out.println("POW == 0");
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}
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double offset = base * (tablelength - 1) - basei;
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//System.out.println("offset = " + offset);
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return table[basei] * (1 - offset) + table[basei+1] * offset;
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}
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double DsignPower(double base, double pow)
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{
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if (base == 0)
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base = 0.0000000001;
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if (base == 1 || base == -1)
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return pow;
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if (base > 0)
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return pow * (double)(Mathpow(base, pow) / base); // - 1);
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else // if (base < 0)
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return pow * (double)(Mathpow(-base, pow) / -base); // - 1);
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//else
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//{
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// if (pow == 1)
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// return 1;
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// else
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// return 0;
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//}
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}
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Vector3f du;
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Vector3f dv;
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//Vertex
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void
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biparamFunction(double u, double v, Vector3f out, Vector3f norm)
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{
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//System.out.println("U = " + u + "; V = " + v);
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double uAng = u * 2 * Math.PI; // LA.toRadians(u * 360);
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double vAng = v * Math.PI - Math.PI/2; // LA.toRadians(v * 180 - 90);
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double mcu = Math.cos(uAng);
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double msu = Math.sin(uAng);
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double mcv = Math.cos(vAng);
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double msv = Math.sin(vAng);
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if (u == 1)
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{
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mcu = 1;
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msu = 0;
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}
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if (v == 1)
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{
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mcv = 0;
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msv = 1;
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}
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if (v == 0)
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{
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mcv = 0;
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msv = -1;
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}
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double cu = signPower(mcu, north);
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double su = signPower(msu, north);
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double cv = signPower(mcv, east);
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double sv = signPower(msv, east);
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double z = radius * cv * cu;
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double x = radius * cv * su;
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double y = radius * sv;
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double dcu = DsignPower(mcu, north) * -msu;
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double dsu = DsignPower(msu, north) * mcu;
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double dcv = DsignPower(mcv, east) * -msv;
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double dsv = DsignPower(msv, east) * mcv;
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du.z = (float)(cv * dcu);
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du.x = (float)(cv * dsu);
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du.y = (float)(0);
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dv.z = (float)(dcv * cu);
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dv.x = (float)(dcv * su);
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dv.y = (float)(dsv);
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//if (du.length() == 0)
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// System.out.println("DU is null");
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//if (dv.length() == 0)
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// System.out.println("DV is null");
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out./*pos.*/x = (float)x; // = LA.newVector(x, y, z);
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out./*pos.*/y = (float)y;
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out./*pos.*/z = (float)z;
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if (du.dot(du) == 0)
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{
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norm.set(out);
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}
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else
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{
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du.normalize();
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dv.normalize();
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norm.cross(du, dv);
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// if (norm.dot(norm) == 0)
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// norm.z = 1;
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}
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norm.normalize();
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// Vertex temp = new Vertex();
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//
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// temp.norm = LA.newVector(x, y, z);
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// LA.vecCross(du,dv, temp.norm);
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// if (temp.norm.length() == 0)
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// temp.norm.y = 2*v - 1;
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// else
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// LA.vecNormalize(temp.norm);
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//if (temp.norm.dot(temp/*.pos*/) < 0)
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//temp.norm.mul(-1);
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//LA.vecAdd(temp/*.pos*/, center, temp/*.pos*/);
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// return temp;
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}
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double east;
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double north;
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double radius = 1;
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// private cVector inPnt;
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}
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}
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