07 Dec 2007

physic/LinearMath/CMakeLists.txt

@@ -0,0 +1,11 @@
+
+INCLUDE_DIRECTORIES(
+${BULLET_PHYSICS_SOURCE_DIR}/src }
+)
+
+ADD_LIBRARY(LibLinearMath
+btQuickprof.cpp
+btGeometryUtil.cpp
+btAlignedAllocator.cpp
+)
+

physic/LinearMath/Jamfile

@@ -0,0 +1,9 @@
+SubDir TOP src LinearMath ;
+
+Description bulletmath : "Bullet Math Library" ;
+
+Library bulletmath :
+[ Wildcard *.h *.cpp ]
+	;
+
+#InstallHeader [ Wildcard *.h ] ;

physic/btBulletBspLoader.cpp

@@ -56,11 +56,26 @@ bool BspLoader::loadBSPFile( uint* memoryBuffer)
 		m_dbrushes.resize(length+extrasize);
 		m_numbrushes = copyLump( header, LUMP_BRUSHES, &m_dbrushes[0], sizeof(dbrush_t));
 
-
 		length = (header->lumps[LUMP_BRUSHSIDES].filelen) / sizeof(dbrushside_t);
 		m_dbrushsides.resize(length+extrasize);
 		m_numbrushsides = copyLump( header, LUMP_BRUSHSIDES, &m_dbrushsides[0], sizeof(dbrushside_t));
 
+		length = (header->lumps[LUMP_VERTEXES].filelen) / sizeof(dvertex_t);
+		m_vertices.resize(length + extrasize);
+		m_numverts = copyLump( header, LUMP_VERTEXES, &m_vertices[0], sizeof(dvertex_t));
+
+		length = (header->lumps[LUMP_EDGES].filelen) / sizeof(dedge_t);
+		m_edges.resize(length + extrasize);
+		m_numedges = copyLump( header, LUMP_EDGES, &m_edges[0], sizeof(dedge_t));
+
+		length = (header->lumps[LUMP_SURFEDGES].filelen) / sizeof(m_surfedges[0]);
+		m_surfedges.resize(length + extrasize);
+		m_numsurfedges = copyLump( header, LUMP_SURFEDGES, &m_surfedges[0], sizeof(m_surfedges[0]));
+
+		length = (header->lumps[LUMP_FACES].filelen) / sizeof(dface_t);
+		m_surfaces.resize(length + extrasize);
+		m_numfaces = copyLump( header, LUMP_FACES, &m_surfaces[0], sizeof(dface_t));
+
 		// swap everything
 		//swapBSPFile();
 
@@ -70,6 +85,73 @@ bool BspLoader::loadBSPFile( uint* memoryBuffer)
 	return false;
 }
 
+void BspLoader::buildTriMesh( void )
+{
+	int vertStride = 3 * sizeof(btScalar);
+	int indexStride = 3 * sizeof(int);
+	int k;
+
+	// convert from tri-fans to tri-list
+	m_numTris = 0;
+
+	// get number of triangles
+	for(int i = 0; i < m_numfaces; i++)
+	{
+		if(m_surfaces[i].numedges)
+		{ 
+			m_numTris += m_surfaces[i].numedges - 2;
+			Msg("face [%i] numverts[%i]\n", i, m_surfaces[i].numedges );
+		}
+	}
+
+	g_vertices = new btScalar[m_numverts * 3];
+	g_indices = new int[m_numTris * 3];
+
+	// transform all vertices
+	for( i = 0, k = 0; i < m_numverts; i++)
+	{
+		vec3_t temp;
+		VectorCopy(m_vertices[i].point, temp );
+		ConvertPositionToPhysic( temp );
+		g_vertices[k++] = temp[0];
+		g_vertices[k++] = temp[1];
+		g_vertices[k++] = temp[2];
+	}
+	Msg("total verts %d\n", k );
+
+	// build indices list
+	for(k = 0, i = 0; i < m_numfaces; i++)
+	{
+		const dface_t& pFace = m_surfaces[i];
+		int startVertex = pFace.firstedge;
+
+		for(int j = 0; j < pFace.numedges - 2; j++)
+		{
+			int lindex = m_surfedges[startVertex + j];
+			int realIndex;
+
+			if(lindex > 0) realIndex = m_edges[lindex].v[0];
+			else realIndex = m_edges[-lindex].v[1];
+
+			g_indices[k++] = realIndex;
+			g_indices[k++] = realIndex + j + 2;
+			g_indices[k++] = realIndex + j + 1;
+		}
+	}
+	Msg("total verts %d\n", k );
+
+	btTriangleIndexVertexArray* indexVertexArrays = new btTriangleIndexVertexArray(m_numTris, g_indices, indexStride, m_numverts, &g_vertices[0], vertStride);
+	CollisionTree = new btBvhTriangleMeshShape( indexVertexArrays, true );
+
+	btTransform	startTransform;	
+	btRigidBody*	staticBody;
+
+	startTransform.setIdentity();
+	staticBody = g_PhysWorld->AddStaticRigidBody( startTransform, CollisionTree );
+	staticBody->setCollisionFlags(staticBody->getCollisionFlags() | btCollisionObject::CF_STATIC_OBJECT);
+	staticBody->setCollisionFlags(staticBody->getCollisionFlags()  | btCollisionObject::CF_CUSTOM_MATERIAL_CALLBACK);
+}
+
 void BspLoader::convertBsp( float scale )
 {
 	for (int i = 0; i < m_numleafs; i++)

physic/btBulletBspLoader.h

@@ -18,6 +18,7 @@ subject to the following restrictions:
 #include "LinearMath/btAlignedObjectArray.h"
 #include "LinearMath/btVector3.h"
 #include "LinearMath/btGeometryUtil.h"
+#include "BulletCollision/CollisionShapes/btBvhTriangleMeshShape.h"
 #include "physic.h"
 
 class BspLoader
@@ -26,6 +27,7 @@ class BspLoader
 		BspLoader(){ } // constructor
 
 		bool loadBSPFile( uint* memoryBuffer);
+		void buildTriMesh( void );
 		void convertBsp( float scale );
 
 		int copyLump( dheader_t *header, int lump, void *dest, int size );
@@ -41,9 +43,21 @@ class BspLoader
 		int				m_numplanes;
 		btAlignedObjectArray<dplane_t>	m_dplanes;
 
+		int				m_numverts;
+		btAlignedObjectArray<dvertex_t>	m_vertices;
+
+		int				m_numedges;
+		btAlignedObjectArray<dedge_t>		m_edges;
+
+		int				m_numsurfedges;
+		btAlignedObjectArray<int>		m_surfedges;
+
 		int				m_numnodes;
 		btAlignedObjectArray<dnode_t>		m_dnodes;
 
+		int				m_numfaces;
+		btAlignedObjectArray<dface_t>		m_surfaces;
+
 		int				m_numleafsurfaces;
 		btAlignedObjectArray<short>		m_dleafsurfaces;
 
@@ -58,5 +72,12 @@ class BspLoader
 
 		int				m_numPhysSurfaces;
 		btAlignedObjectArray<csurface_t>	m_physSurfaces;
+
+		// bvh triangle mesh
+		int				m_numTris;
+		int				m_numVerts;
+		btScalar*				g_vertices;
+		int*				g_indices;
+		btBvhTriangleMeshShape*		CollisionTree;
 };
 #endif//BSP_LOADER_H

physic/btBulletWorld.cpp

@@ -26,7 +26,7 @@ subject to the following restrictions:
 
 CM_Debug DebugDrawer;
 
-btBulletPhysic::btBulletPhysic(): m_World(0), m_numBodies(0), m_debugMode(0), m_WorldScale(METERS_PER_INCH)
+btBulletPhysic::btBulletPhysic(): m_World(0), m_debugMode(0), m_WorldScale(METERS_PER_INCH)
 {
 	btVector3 m_worldAabbMin(-1000, -1000, -1000), m_worldAabbMax(1000, 1000, 1000);
 
@@ -59,7 +59,6 @@ void btBulletPhysic::DeleteAllBodies( void )
 		btRigidBody* body = btRigidBody::upcast(obj);
 		m_World->removeRigidBody( body );
 		m_World->removeCollisionObject(obj);
-		m_numBodies--;
 	}
 }
 
@@ -73,7 +72,6 @@ btRigidBody* btBulletPhysic::AddDynamicRigidBody(float mass, const btTransform&
 	btDefaultMotionState* m_State = new btDefaultMotionState( startTransform );
 	btRigidBody* m_body = new btRigidBody(mass, m_State, shape, localInertia );
 	m_World->addRigidBody(m_body);
-	m_numBodies++;
 	
 	return m_body;
 }
@@ -84,7 +82,6 @@ btRigidBody* btBulletPhysic::AddStaticRigidBody(const btTransform& startTransfor
 	btDefaultMotionState* m_State = new btDefaultMotionState(startTransform);
 	btRigidBody* m_body = new btRigidBody(0.f, m_State, shape);
 	m_World->addRigidBody(m_body);
-	m_numBodies++;
 	
 	return m_body;
 }
@@ -108,7 +105,6 @@ void btBulletPhysic::PhysicFrame( void )
 	if(m_World)
 	{
 		int numObjects = m_World->getNumCollisionObjects();
-		Msg("total bodies %d, realnum %d\n", m_numBodies, numObjects );
 		for (int i = 0; i < numObjects; i++)
 		{
 			btCollisionObject* colObj = m_World->getCollisionObjectArray()[i];

physic/btBulletWorld.h

@@ -81,7 +81,6 @@ protected:
 
 	int		m_debugMode;	// replace with cvar
 	float		m_WorldScale;	// convert units to meters
-	int		m_numBodies;
 public:
 		
 	btBulletPhysic();

physic/pworld.cpp

@@ -43,7 +43,8 @@ void Phys_LoadBSP( uint *buffer )
 	BspLoader	WorldHull;
 
 	WorldHull.loadBSPFile( buffer );
-	WorldHull.convertBsp( g_PhysWorld->getScale());
+	//WorldHull.convertBsp( g_PhysWorld->getScale());
+	WorldHull.buildTriMesh();// test
 }
 
 void Phys_FreeBSP( void )