btTriangleInfoMap.h

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/*
Bullet Continuous Collision Detection and Physics Library
Copyright (c) 2010 Erwin Coumans  http://bulletphysics.org
 
This software is provided 'as-is', without any express or implied warranty.
In no event will the authors be held liable for any damages arising from the use of this software.
Permission is granted to anyone to use this software for any purpose, 
including commercial applications, and to alter it and redistribute it freely, 
subject to the following restrictions:
 
1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
3. This notice may not be removed or altered from any source distribution.
*/
 
#ifndef _BT_TRIANGLE_INFO_MAP_H
#define _BT_TRIANGLE_INFO_MAP_H
 
#include "LinearMath/btHashMap.h"
#include "LinearMath/btSerializer.h"
 
#define TRI_INFO_V0V1_CONVEX 1
#define TRI_INFO_V1V2_CONVEX 2
#define TRI_INFO_V2V0_CONVEX 4
 
#define TRI_INFO_V0V1_SWAP_NORMALB 8
#define TRI_INFO_V1V2_SWAP_NORMALB 16
#define TRI_INFO_V2V0_SWAP_NORMALB 32
 
struct btTriangleInfo
{
        btTriangleInfo()
        {
                m_edgeV0V1Angle = SIMD_2_PI;
                m_edgeV1V2Angle = SIMD_2_PI;
                m_edgeV2V0Angle = SIMD_2_PI;
                m_flags = 0;
        }
 
        int m_flags;
 
        btScalar m_edgeV0V1Angle;
        btScalar m_edgeV1V2Angle;
        btScalar m_edgeV2V0Angle;
};
 
typedef btHashMap<btHashInt, btTriangleInfo> btInternalTriangleInfoMap;
 
struct btTriangleInfoMap : public btInternalTriangleInfoMap
{
        btScalar m_convexEpsilon;          
        btScalar m_planarEpsilon;          
        btScalar m_equalVertexThreshold;   
        btScalar m_edgeDistanceThreshold;  
        btScalar m_maxEdgeAngleThreshold;  //ignore edges that connect triangles at an angle larger than this m_maxEdgeAngleThreshold
        btScalar m_zeroAreaThreshold;      
 
        btTriangleInfoMap()
        {
                m_convexEpsilon = 0.00f;
                m_planarEpsilon = 0.0001f;
                m_equalVertexThreshold = btScalar(0.0001) * btScalar(0.0001);
                m_edgeDistanceThreshold = btScalar(0.1);
                m_zeroAreaThreshold = btScalar(0.0001) * btScalar(0.0001);
                m_maxEdgeAngleThreshold = SIMD_2_PI;
        }
        virtual ~btTriangleInfoMap() {}
 
        virtual int calculateSerializeBufferSize() const;
 
        virtual const char* serialize(void* dataBuffer, btSerializer* serializer) const;
 
        void deSerialize(struct btTriangleInfoMapData& data);
};
 
// clang-format off
 
struct  btTriangleInfoData
{
        int                     m_flags;
        float   m_edgeV0V1Angle;
        float   m_edgeV1V2Angle;
        float   m_edgeV2V0Angle;
};
 
struct  btTriangleInfoMapData
{
        int                                     *m_hashTablePtr;
        int                                     *m_nextPtr;
        btTriangleInfoData      *m_valueArrayPtr;
        int                                     *m_keyArrayPtr;
 
        float   m_convexEpsilon;
        float   m_planarEpsilon;
        float   m_equalVertexThreshold; 
        float   m_edgeDistanceThreshold;
        float   m_zeroAreaThreshold;
 
        int             m_nextSize;
        int             m_hashTableSize;
        int             m_numValues;
        int             m_numKeys;
        char    m_padding[4];
};
 
// clang-format on
 
SIMD_FORCE_INLINE int btTriangleInfoMap::calculateSerializeBufferSize() const
{
        return sizeof(btTriangleInfoMapData);
}
 
SIMD_FORCE_INLINE const char* btTriangleInfoMap::serialize(void* dataBuffer, btSerializer* serializer) const
{
        btTriangleInfoMapData* tmapData = (btTriangleInfoMapData*)dataBuffer;
        tmapData->m_convexEpsilon = (float)m_convexEpsilon;
        tmapData->m_planarEpsilon = (float)m_planarEpsilon;
        tmapData->m_equalVertexThreshold = (float)m_equalVertexThreshold;
        tmapData->m_edgeDistanceThreshold = (float)m_edgeDistanceThreshold;
        tmapData->m_zeroAreaThreshold = (float)m_zeroAreaThreshold;
 
        tmapData->m_hashTableSize = m_hashTable.size();
 
        tmapData->m_hashTablePtr = tmapData->m_hashTableSize ? (int*)serializer->getUniquePointer((void*)&m_hashTable[0]) : 0;
        if (tmapData->m_hashTablePtr)
        {
                //serialize an int buffer
                int sz = sizeof(int);
                int numElem = tmapData->m_hashTableSize;
                btChunk* chunk = serializer->allocate(sz, numElem);
                int* memPtr = (int*)chunk->m_oldPtr;
                for (int i = 0; i < numElem; i++, memPtr++)
                {
                        *memPtr = m_hashTable[i];
                }
                serializer->finalizeChunk(chunk, "int", BT_ARRAY_CODE, (void*)&m_hashTable[0]);
        }
 
        tmapData->m_nextSize = m_next.size();
        tmapData->m_nextPtr = tmapData->m_nextSize ? (int*)serializer->getUniquePointer((void*)&m_next[0]) : 0;
        if (tmapData->m_nextPtr)
        {
                int sz = sizeof(int);
                int numElem = tmapData->m_nextSize;
                btChunk* chunk = serializer->allocate(sz, numElem);
                int* memPtr = (int*)chunk->m_oldPtr;
                for (int i = 0; i < numElem; i++, memPtr++)
                {
                        *memPtr = m_next[i];
                }
                serializer->finalizeChunk(chunk, "int", BT_ARRAY_CODE, (void*)&m_next[0]);
        }
 
        tmapData->m_numValues = m_valueArray.size();
        tmapData->m_valueArrayPtr = tmapData->m_numValues ? (btTriangleInfoData*)serializer->getUniquePointer((void*)&m_valueArray[0]) : 0;
        if (tmapData->m_valueArrayPtr)
        {
                int sz = sizeof(btTriangleInfoData);
                int numElem = tmapData->m_numValues;
                btChunk* chunk = serializer->allocate(sz, numElem);
                btTriangleInfoData* memPtr = (btTriangleInfoData*)chunk->m_oldPtr;
                for (int i = 0; i < numElem; i++, memPtr++)
                {
                        memPtr->m_edgeV0V1Angle = (float)m_valueArray[i].m_edgeV0V1Angle;
                        memPtr->m_edgeV1V2Angle = (float)m_valueArray[i].m_edgeV1V2Angle;
                        memPtr->m_edgeV2V0Angle = (float)m_valueArray[i].m_edgeV2V0Angle;
                        memPtr->m_flags = m_valueArray[i].m_flags;
                }
                serializer->finalizeChunk(chunk, "btTriangleInfoData", BT_ARRAY_CODE, (void*)&m_valueArray[0]);
        }
 
        tmapData->m_numKeys = m_keyArray.size();
        tmapData->m_keyArrayPtr = tmapData->m_numKeys ? (int*)serializer->getUniquePointer((void*)&m_keyArray[0]) : 0;
        if (tmapData->m_keyArrayPtr)
        {
                int sz = sizeof(int);
                int numElem = tmapData->m_numValues;
                btChunk* chunk = serializer->allocate(sz, numElem);
                int* memPtr = (int*)chunk->m_oldPtr;
                for (int i = 0; i < numElem; i++, memPtr++)
                {
                        *memPtr = m_keyArray[i].getUid1();
                }
                serializer->finalizeChunk(chunk, "int", BT_ARRAY_CODE, (void*)&m_keyArray[0]);
        }
 
        // Fill padding with zeros to appease msan.
        tmapData->m_padding[0] = 0;
        tmapData->m_padding[1] = 0;
        tmapData->m_padding[2] = 0;
        tmapData->m_padding[3] = 0;
 
        return "btTriangleInfoMapData";
}
 
SIMD_FORCE_INLINE void btTriangleInfoMap::deSerialize(btTriangleInfoMapData& tmapData)
{
        m_convexEpsilon = tmapData.m_convexEpsilon;
        m_planarEpsilon = tmapData.m_planarEpsilon;
        m_equalVertexThreshold = tmapData.m_equalVertexThreshold;
        m_edgeDistanceThreshold = tmapData.m_edgeDistanceThreshold;
        m_zeroAreaThreshold = tmapData.m_zeroAreaThreshold;
        m_hashTable.resize(tmapData.m_hashTableSize);
        int i = 0;
        for (i = 0; i < tmapData.m_hashTableSize; i++)
        {
                m_hashTable[i] = tmapData.m_hashTablePtr[i];
        }
        m_next.resize(tmapData.m_nextSize);
        for (i = 0; i < tmapData.m_nextSize; i++)
        {
                m_next[i] = tmapData.m_nextPtr[i];
        }
        m_valueArray.resize(tmapData.m_numValues);
        for (i = 0; i < tmapData.m_numValues; i++)
        {
                m_valueArray[i].m_edgeV0V1Angle = tmapData.m_valueArrayPtr[i].m_edgeV0V1Angle;
                m_valueArray[i].m_edgeV1V2Angle = tmapData.m_valueArrayPtr[i].m_edgeV1V2Angle;
                m_valueArray[i].m_edgeV2V0Angle = tmapData.m_valueArrayPtr[i].m_edgeV2V0Angle;
                m_valueArray[i].m_flags = tmapData.m_valueArrayPtr[i].m_flags;
        }
 
        m_keyArray.resize(tmapData.m_numKeys, btHashInt(0));
        for (i = 0; i < tmapData.m_numKeys; i++)
        {
                m_keyArray[i].setUid1(tmapData.m_keyArrayPtr[i]);
        }
}
 
#endif  //_BT_TRIANGLE_INFO_MAP_H