Examples of BvhTriangleMeshShape

com.bulletphysics.collision.shapes.BvhTriangleMeshShape
BvhTriangleMeshShape is a static-triangle mesh shape with several optimizations, such as bounding volume hierarchy. It is recommended to enable useQuantizedAabbCompression for better memory usage.
It takes a triangle mesh as input, for example a {@link TriangleMesh} or{@link TriangleIndexVertexArray}. The BvhTriangleMeshShape 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 ConcaveDemo for an example. @author jezek2

Examples of com.bulletphysics.collision.shapes.BvhTriangleMeshShape

        gIndices,
        indexStride,
        totalVerts, vertices, vertStride);


    boolean useQuantizedAabbCompression = true;
    groundShape = new BvhTriangleMeshShape(indexVertexArrays, useQuantizedAabbCompression);


    tr.origin.set(0, -4.5f, 0);


    //#else
//    //testing btHeightfieldTerrainShape

View Full Code Here

Examples of com.bulletphysics.collision.shapes.BvhTriangleMeshShape


    boolean useQuantizedAabbCompression = true;


    if (TEST_SERIALIZATION) {
      if (SERIALIZE_TO_DISK) {
        trimeshShape = new BvhTriangleMeshShape(indexVertexArrays, useQuantizedAabbCompression);
        collisionShapes.add(trimeshShape);


        // we can serialize the BVH data
        try {
          ObjectOutputStream out = new ObjectOutputStream(new GZIPOutputStream(new FileOutputStream(new File("bvh.bin"))));
          out.writeObject(trimeshShape.getOptimizedBvh());
          out.close();
        }
        catch (IOException e) {
          e.printStackTrace();
        }
      }
      else {
        trimeshShape = new BvhTriangleMeshShape(indexVertexArrays, useQuantizedAabbCompression, false);


        OptimizedBvh bvh = null;
        try {
          ObjectInputStream in = new ObjectInputStream(new GZIPInputStream(new FileInputStream(new File("bvh.bin"))));
          bvh = (OptimizedBvh)in.readObject();
          in.close();
        }
        catch (Exception e) {
          e.printStackTrace();
        }


        trimeshShape.setOptimizedBvh(bvh);
        trimeshShape.recalcLocalAabb();
      }
    }
    else {
      trimeshShape = new BvhTriangleMeshShape(indexVertexArrays, useQuantizedAabbCompression);
      collisionShapes.add(trimeshShape);
    }


    CollisionShape groundShape = trimeshShape;

View Full Code Here

Examples of com.bulletphysics.collision.shapes.BvhTriangleMeshShape

    boolean useQuantizedAabbCompression = true;


    //comment out the next line to read the BVH from disk (first run the demo once to create the BVH)
    //#define SERIALIZE_TO_DISK 1
    //#ifdef SERIALIZE_TO_DISK
    trimeshShape = new BvhTriangleMeshShape(indexVertexArrays, useQuantizedAabbCompression);
    collisionShapes.add(trimeshShape);


    CollisionShape groundShape = trimeshShape;


    collisionConfiguration = new DefaultCollisionConfiguration();

View Full Code Here

Examples of com.bulletphysics.collision.shapes.BvhTriangleMeshShape

      gIndices,
      indexStride,
      totalVerts,vertices,vertStride);


    boolean useQuantizedAabbCompression = true;
    groundShape = new BvhTriangleMeshShape(indexVertexArrays,useQuantizedAabbCompression);


    tr.origin.set(0,-4.5f,0);
    //#else
    ////testing btHeightfieldTerrainShape
    //int width=128;

View Full Code Here

Examples of com.bulletphysics.collision.shapes.BvhTriangleMeshShape

    }
    else {
      if (collisionShape.isConcave()) {
        if (collisionShape.getShapeType() == BroadphaseNativeType.TRIANGLE_MESH_SHAPE_PROXYTYPE) {
          // optimized version for BvhTriangleMeshShape
          BvhTriangleMeshShape triangleMesh = (BvhTriangleMeshShape)collisionShape;
          Transform worldTocollisionObject = Stack.alloc(Transform.class);
          worldTocollisionObject.inverse(colObjWorldTransform);
          Vector3f rayFromLocal = Stack.alloc(rayFromTrans.origin);
          worldTocollisionObject.transform(rayFromLocal);
          Vector3f rayToLocal = Stack.alloc(rayToTrans.origin);
          worldTocollisionObject.transform(rayToLocal);


          BridgeTriangleRaycastCallback rcb = new BridgeTriangleRaycastCallback(rayFromLocal, rayToLocal, resultCallback, collisionObject, triangleMesh);
          rcb.hitFraction = resultCallback.closestHitFraction;
          triangleMesh.performRaycast(rcb, rayFromLocal, rayToLocal);
        }
        else {
          ConcaveShape triangleMesh = (ConcaveShape)collisionShape;


          Transform worldTocollisionObject = Stack.alloc(Transform.class);
          worldTocollisionObject.inverse(colObjWorldTransform);


          Vector3f rayFromLocal = Stack.alloc(rayFromTrans.origin);
          worldTocollisionObject.transform(rayFromLocal);
          Vector3f rayToLocal = Stack.alloc(rayToTrans.origin);
          worldTocollisionObject.transform(rayToLocal);


          BridgeTriangleRaycastCallback rcb = new BridgeTriangleRaycastCallback(rayFromLocal, rayToLocal, resultCallback, collisionObject, triangleMesh);
          rcb.hitFraction = resultCallback.closestHitFraction;


          Vector3f rayAabbMinLocal = Stack.alloc(rayFromLocal);
          VectorUtil.setMin(rayAabbMinLocal, rayToLocal);
          Vector3f rayAabbMaxLocal = Stack.alloc(rayFromLocal);
          VectorUtil.setMax(rayAabbMaxLocal, rayToLocal);


          triangleMesh.processAllTriangles(rcb, rayAabbMinLocal, rayAabbMaxLocal);
        }
      }
      else {
        // todo: use AABB tree or other BVH acceleration structure!
        if (collisionShape.isCompound()) {

View Full Code Here

Examples of com.bulletphysics.collision.shapes.BvhTriangleMeshShape

      }
    }
    else {
      if (collisionShape.isConcave()) {
        if (collisionShape.getShapeType() == BroadphaseNativeType.TRIANGLE_MESH_SHAPE_PROXYTYPE) {
          BvhTriangleMeshShape triangleMesh = (BvhTriangleMeshShape)collisionShape;
          Transform worldTocollisionObject = Stack.alloc(Transform.class);
          worldTocollisionObject.inverse(colObjWorldTransform);


          Vector3f convexFromLocal = Stack.alloc(Vector3f.class);
          convexFromLocal.set(convexFromTrans.origin);
          worldTocollisionObject.transform(convexFromLocal);


          Vector3f convexToLocal = Stack.alloc(Vector3f.class);
          convexToLocal.set(convexToTrans.origin);
          worldTocollisionObject.transform(convexToLocal);


          // rotation of box in local mesh space = MeshRotation^-1 * ConvexToRotation
          Transform rotationXform = Stack.alloc(Transform.class);
          Matrix3f tmpMat = Stack.alloc(Matrix3f.class);
          tmpMat.mul(worldTocollisionObject.basis, convexToTrans.basis);
          rotationXform.set(tmpMat);


          BridgeTriangleConvexcastCallback tccb = new BridgeTriangleConvexcastCallback(castShape, convexFromTrans, convexToTrans, resultCallback, collisionObject, triangleMesh, colObjWorldTransform);
          tccb.hitFraction = resultCallback.closestHitFraction;
          tccb.normalInWorldSpace = true;
          
          Vector3f boxMinLocal = Stack.alloc(Vector3f.class);
          Vector3f boxMaxLocal = Stack.alloc(Vector3f.class);
          castShape.getAabb(rotationXform, boxMinLocal, boxMaxLocal);
          triangleMesh.performConvexcast(tccb, convexFromLocal, convexToLocal, boxMinLocal, boxMaxLocal);
        }
        else {
          ConcaveShape triangleMesh = (ConcaveShape)collisionShape;
          Transform worldTocollisionObject = Stack.alloc(Transform.class);
          worldTocollisionObject.inverse(colObjWorldTransform);


          Vector3f convexFromLocal = Stack.alloc(Vector3f.class);
          convexFromLocal.set(convexFromTrans.origin);
          worldTocollisionObject.transform(convexFromLocal);


          Vector3f convexToLocal = Stack.alloc(Vector3f.class);
          convexToLocal.set(convexToTrans.origin);
          worldTocollisionObject.transform(convexToLocal);


          // rotation of box in local mesh space = MeshRotation^-1 * ConvexToRotation
          Transform rotationXform = Stack.alloc(Transform.class);
          Matrix3f tmpMat = Stack.alloc(Matrix3f.class);
          tmpMat.mul(worldTocollisionObject.basis, convexToTrans.basis);
          rotationXform.set(tmpMat);


          BridgeTriangleConvexcastCallback tccb = new BridgeTriangleConvexcastCallback(castShape, convexFromTrans, convexToTrans, resultCallback, collisionObject, triangleMesh, colObjWorldTransform);
          tccb.hitFraction = resultCallback.closestHitFraction;
          tccb.normalInWorldSpace = false;
          Vector3f boxMinLocal = Stack.alloc(Vector3f.class);
          Vector3f boxMaxLocal = Stack.alloc(Vector3f.class);
          castShape.getAabb(rotationXform, boxMinLocal, boxMaxLocal);


          Vector3f rayAabbMinLocal = Stack.alloc(convexFromLocal);
          VectorUtil.setMin(rayAabbMinLocal, convexToLocal);
          Vector3f rayAabbMaxLocal = Stack.alloc(convexFromLocal);
          VectorUtil.setMax(rayAabbMaxLocal, convexToLocal);
          rayAabbMinLocal.add(boxMinLocal);
          rayAabbMaxLocal.add(boxMaxLocal);
          triangleMesh.processAllTriangles(tccb, rayAabbMinLocal, rayAabbMaxLocal);
        }
      }
      else {
        // todo: use AABB tree or other BVH acceleration structure!
        if (collisionShape.isCompound()) {

View Full Code Here

TOP

All source code are property of their respective owners. Java is a trademark of Sun Microsystems, Inc and owned by ORACLE Inc. Contact coftware#gmail.com.