void ftPhysicsSystem::destroyCollider(ftCollider *collider)
{
ftAssert(collider != nullptr, "");
ftBody *body = collider->body;
for (ftContactEdge *cEdge = body->contactList; cEdge != nullptr; cEdge = cEdge->next)
{
if (cEdge->contact->userdataA == collider)
{
m_islandSystem.removeContact(cEdge->contact);
m_collisionSystem.destroyContact(cEdge->contact);
}
}
m_collisionSystem.removeShape(collider->collisionHandle);
destroyShape(collider->shape);
ftCollider *prev = nullptr;
for (ftCollider *current = body->colliders; current != collider;
prev = current, current = current->next)
;
if (prev == nullptr)
body->colliders = collider->next;
else
prev->next = collider->next;
}
void ftPhysicsSystem::destroyBody(ftBody *body)
{
ftAssert(body != nullptr, "");
for (ftContactEdge *cEdge = body->contactList; cEdge != nullptr;)
{
ftContactEdge *next = cEdge->next;
m_islandSystem.removeContact(cEdge->contact);
m_collisionSystem.destroyContact(cEdge->contact);
cEdge = next;
}
for (ftCollider *collider = body->colliders; collider != nullptr;)
{
ftCollider *next = collider->next;
m_collisionSystem.removeShape(collider->collisionHandle);
destroyShape(collider->shape);
delete collider;
collider = next;
}
ftBodyBuffer *bodyBuffer;
if (body->bodyType == STATIC)
bodyBuffer = &(m_staticBodies);
else if (body->bodyType == KINEMATIC)
bodyBuffer = &(m_kinematicBodies);
else
bodyBuffer = &(m_dynamicBodies);
bodyBuffer->destroy(body);
}
gkPhysicsController::~gkPhysicsController()
{
if (m_shape)
{
destroyShape(m_shape);
m_shape = 0;
}
}
void gkPhysicsController::setShape(btCollisionShape* shape)
{
if (m_collisionObject)
{
destroyShape(m_shape);
m_shape = shape;
m_collisionObject->setCollisionShape(m_shape);
}
}
void gkPhysicsController::destroyShape(btCollisionShape* shape)
{
if (!shape) return;
if (shape->isCompound())
{
btCompoundShape* compShape = static_cast<btCompoundShape*>(shape);
int i;
for (i = 0; i < compShape->getNumChildShapes(); i++)
{
btCollisionShape* childShape = compShape->getChildShape(i);
if (childShape->isCompound())
destroyShape(childShape);
else
delete childShape;
}
}
delete shape;
}
int main(int argc, char** argv)
{
Shape inShape = NULL;
Shape outShape= NULL;
int i,c;
int doVTable=0;
int *oTable, *mTable;
float *vTable;
int counter;
float tester;
if(argc != 3)
{
fprintf(stderr,"Usage:\n\t%s inFile outFile.\n",argv[0]);
return 1;
}
inShape = readShapeFromFile(argv[1]);
if(inShape == NULL)
return 1;
/* printf("Let's see what's in the inShape!\n");*/
#ifdef DEBUG
printf("There are %d vertices.\n",inShape->numVertices);
#endif
/*printf("The vTable contains:\n");*/
for(c=0;c<inShape->numVertices*3;c+=3)
{
/* printf("%d => %f %f %f\n",c,inShape->vTable[c],
inShape->vTable[c+1],
inShape->vTable[c+2]);*/
}
//printf("The tTable contains %d triangles\n\n",numTriangles(inShape));
// for(c=0;c<numTriangles(inShape)*3;c+=3)
// {
// printf("%d => %d %d %d\n", c,inShape->tTable[c],
// inShape->tTable[c+1],
// inShape->tTable[c+2]);
// }
oTable = malloc(sizeof(int)*numTriangles(inShape)*3);
/*oTable = malloc(sizeof(int)*99999);*/
/* for(c=0;c<inShape->numVertices*3;c++)*/
for(c=0;c<numTriangles(inShape)*3;c++)
{
oTable[c] = -1;
}
/* for(c=0;c<numTriangles(inShape)*3;c++)
for(i=c+1;i<inShape->numVertices*3;i++)*/
// printf("There are %d iterations of c and i\n",numTriangles(inShape)*3);
for(c=0;c<numTriangles(inShape)*3;c++)
for(i=c+1;i<numTriangles(inShape)*3;i++)
{
// if(c<10)
// printf("Trying to match %d and %d..V(N(c))=%d, V(P(i))=%d, V(P(c)=%d,v(N(i))=%d\n",c,i,V(inShape,N(c)),V(inShape,P(i)),V(inShape,P(c)),V(inShape,N(i)));
if((V(inShape,N(c)) == V(inShape,P(i)))
&&(V(inShape,P(c)) == V(inShape,N(i))))
{
// printf("Match found!\n");
oTable[c] = i;
oTable[i] = c;
}
}
printf("This is the oTable:\n");
for(c=0;c<numTriangles(inShape)*3;c++)
{
printf("%d => %d\n",c,oTable[c]);
}
for(c=0;c<numTriangles(inShape)*3;c++)
if(oTable[c] == -1)
{
printf("MISALIGNMENT in corner %d!!!\n",c);
printf("Cannot find a corner (opposite than at %d) with N(c)=%d and P(c)=%d\n",
V(inShape,c),V(inShape,P(c)),V(inShape,N(c)));
return 1;
}
/*mTable = malloc(sizeof(int)*inShape->numVertices*3);*/
mTable = malloc(sizeof(int)*numTriangles(inShape)*3);
/* for(c=0;c<inShape->numVertices*3;c++)*/
for(c=0;c<numTriangles(inShape)*3;c++)
mTable[c] = -1;
/*outShape = createShape(4*inShape->numVertices-6);*/
outShape = createShape(4*inShape->numVertices,4*numTriangles(inShape));
printf("outShape has %d vertices\n",outShape->numVertices);
printf("outShape has %d Triangles\n",numTriangles(outShape));
if(outShape == NULL)
return 5;
for(doVTable = 0;doVTable < inShape->numTables; doVTable++)
{
outShape->vTable = outShape->vTables[doVTable];
inShape->vTable = inShape->vTables[doVTable];
for(c=0;c<inShape->numVertices*3;c++)
/* for(c=0;c<numTriangles(inShape)*3;c++)*/
{
outShape->vTable[c] = inShape->vTable[c];
}
}
counter = inShape->numVertices - 1;
printf("Counter starts at: %d\n",counter);
/*for(c=0;c<inShape->numVertices*3;c++)*/
for(c=0;c<numTriangles(inShape)*3;c++)
{
if(mTable[c] == -1)
{
counter++;
for(doVTable=0;doVTable<inShape->numTables;doVTable++)
{
outShape->vTable = outShape->vTables[doVTable];
inShape->vTable = inShape->vTables[doVTable];
vTable = inShape->vTable;
outShape->vTable[counter*3]=0;
outShape->vTable[counter*3]=
(vTable[3*V(inShape,N(c))]+
vTable[3*V(inShape,P(c))])/2;
outShape->vTable[counter*3]+=
(
( vTable[3*V(inShape,c)] +
vTable[3*V(inShape,oTable[c])]
)/2
-
(
vTable[3*L(inShape,c,oTable)] + vTable[3*R(inShape,c,oTable)]
+vTable[3*L(inShape,oTable[c],oTable)] +
vTable[3*R(inShape,oTable[c],oTable)]
)/4
)/4;
outShape->vTable[counter*3+1]=
(vTable[3*(V(inShape,N(c)))+1]+
vTable[3*(V(inShape,P(c)))+1])/2
+
(
( vTable[3*(V(inShape,c))+1] +
vTable[3*(V(inShape,oTable[c]))+1]
)/2
-
(
vTable[3*(L(inShape,c,oTable))+1] + vTable[3*(R(inShape,c,oTable))+1]
+vTable[3*(L(inShape,oTable[c],oTable))+1] +
vTable[3*(R(inShape,oTable[c],oTable))+1]
)/4
)/4;
outShape->vTable[counter*3+2]=
(vTable[3*(V(inShape,N(c)))+2]+
vTable[3*(V(inShape,P(c)))+2])/2
+
(
( vTable[3*(V(inShape,c))+2] +
vTable[3*(V(inShape,oTable[c]))+2]
)/2
-
(
vTable[3*(L(inShape,c,oTable))+2] + vTable[3*(R(inShape,c,oTable))+2]
+vTable[3*(L(inShape,oTable[c],oTable))+2] +
vTable[3*(R(inShape,oTable[c],oTable))+2]
)/4
)/4;
}
/* outShape->vTable[counter*3] =
(vTable[3*V(inShape,N(c))] + vTable[3*V(inShape,P(c))])/2;
outShape->vTable[counter*3+1] =
(vTable[3*(V(inShape,N(c)))+1] + vTable[3*(V(inShape,P(c)))+1])/2;
outShape->vTable[counter*3+2] =
(vTable[3*(V(inShape,N(c)))+2] + vTable[3*(V(inShape,P(c)))+2])/2;
*/
printf("counter is %d\n",counter);
printf("----\n");
mTable[c] = counter;
mTable[oTable[c]] = counter;
}
}
outShape->numVertices = counter+1;
printf("outShape has %d vertices\n",outShape->numVertices);
/*
printf("mTable:\n");
for(c=0;c<inShape->numVertices*3;c++)
printf("\t%d => %d\n",c,mTable[c]);*/
/*printf("new vTable:\n");*/
/* for(c=0;c<outShape->numVertices;c++)
printf("\t%d => %f %f %f\n",c,outShape->vTable[c*3],
outShape->vTable[c*3+1],
outShape->vTable[c*3+2]);*/
/* printf("Counter finishes at: %d\n",counter);*/
printf("there are %d triangles\n",numTriangles(inShape));
for(c=0;c<numTriangles(inShape)*3;c+=3)
{
printf("Triangle %d %d %d becomes: \n",V(inShape,c),V(inShape,c+1),
V(inShape,c+2));
outShape->tTable[c*4] = V(inShape,c);
outShape->tTable[c*4+1]=mTable[c+2];
outShape->tTable[c*4+2]=mTable[c+1];
/* printf("\tTriangle %d %d %d\n",
outShape->tTable[c*4],
outShape->tTable[c*4+1],
outShape->tTable[c*4+2]);*/
outShape->tTable[c*4+3]=mTable[c+1];
outShape->tTable[c*4+4]=mTable[c];
outShape->tTable[c*4+5]=V(inShape,c+2);
/* printf("\tTriangle %d %d %d\n",
outShape->tTable[c*4+3],
outShape->tTable[c*4+4],
outShape->tTable[c*4+5]);*/
outShape->tTable[c*4+6]=mTable[c+2];
outShape->tTable[c*4+7]=V(inShape,c+1);
outShape->tTable[c*4+8]=mTable[c];
/* printf("\tTriangle %d %d %d\n",
outShape->tTable[c*4+6],
outShape->tTable[c*4+7],
outShape->tTable[c*4+8]);*/
outShape->tTable[c*4+9]=mTable[c];
outShape->tTable[c*4+10]=mTable[c+1];
outShape->tTable[c*4+11]=mTable[c+2];
/* printf("\tTriangle %d %d %d\n",
outShape->tTable[c*4+9],
outShape->tTable[c*4+10],
outShape->tTable[c*4+11]);*/
}
printf("new tTable:\n");
for(c=0;c<numTriangles(outShape);c++)
{
printf("%d => %d %d %d\n",c,outShape->tTable[c*3],
outShape->tTable[c*3+1],
outShape->tTable[c*3+2]);
}
writeShapeToFile(outShape,argv[2]);
printf("Hey there!!!!!\n\n\n");fflush(stdout);
destroyShape(inShape);
destroyShape(outShape);
printf("Hey there!!!!!\n\n\n");fflush(stdout);
return 0;
}
