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Load the contents of a NAIF DSK and create a Bullet triangle mesh.
Triangular mesh representation of the target shape. The vertex ordering is the same as in the DSK file, except the DSK uses 1-based indexing and this uses 0-based indexing.
Do realtime validation of Bullet mesh limits. Ensure DSK segment shapes fit properly in mesh Bullet parts to enable quantized optimzation.
See https://naif.jpl.nasa.gov/pub/naif/toolkit_docs/C/req/dsk.html#Appendix%20B%20—%20DSK%20Subsystem%20Limits
Bullet limits in the repo are currently set at 4 parts and 134,217,728 triangles. However, that version has not been released since the Aug 2022 commit. Hence, we must ensure that all DSK segment shapes fit into the Bullet mesh mapping scheme which currently has 1024 parts which supports no more than 2,097,152 triangles. At any rate, loading DSKs must consider these limits when mapping to bullet. So quantized optimization for DSK support is limited to at most 1024 segments where each segment has no more than 2,097,152 facets.
See https://github.com/bulletphysics/bullet3/blob/master/src/BulletCollision/BroadphaseCollision/btQuantizedBvh.h
This configuration can change in future Bullet releases and may impact use of quantized optimizations for DSKs. Larger DSKs can still (apparently) be used in Bullet if these limits are exceeded but quantized optimzations of the Bullet mesh is disabled for these types of DSKs.
- Author
- 2017-03-28 Kris Becker
- History
- 2025-05-11 Kris J Becker - Updated implementation to provide generic support for Bullet quantized optimization limits. Fixes #5772.
- Parameters
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| dskfile | The DSK file to load. |
NAIF DSK parameter setup
< The DAS file handle of the DSK file.
Definition at line 176 of file BulletDskShape.cpp.
References Isis::bt_MaxBodyParts(), Isis::bt_MaxTriangles(), Isis::NaifStatus::CheckErrors(), and Isis::BulletTargetShape::setTargetBody().
Referenced by BulletDskShape().
