206 lines
8.0 KiB
C
206 lines
8.0 KiB
C
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/*************************************************************************
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* *
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* Open Dynamics Engine, Copyright (C) 2001-2003 Russell L. Smith. *
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* All rights reserved. Email: russ@q12.org Web: www.q12.org *
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* *
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* This library is free software; you can redistribute it and/or *
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* modify it under the terms of EITHER: *
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* (1) The GNU Lesser General Public License as published by the Free *
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* Software Foundation; either version 2.1 of the License, or (at *
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* your option) any later version. The text of the GNU Lesser *
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* General Public License is included with this library in the *
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* file LICENSE.TXT. *
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* (2) The BSD-style license that is included with this library in *
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* the file LICENSE-BSD.TXT. *
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* *
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* This library is distributed in the hope that it will be useful, *
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* but WITHOUT ANY WARRANTY; without even the implied warranty of *
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the files *
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* LICENSE.TXT and LICENSE-BSD.TXT for more details. *
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* *
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*************************************************************************/
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/*
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* TriMesh code by Erwin de Vries.
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*
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* Trimesh data.
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* This is where the actual vertexdata (pointers), and BV tree is stored.
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* Vertices should be single precision!
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* This should be more sophisticated, so that the user can easyly implement
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* another collision library, but this is a lot of work, and also costs some
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* performance because some data has to be copied.
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*/
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#ifndef _ODE_COLLISION_TRIMESH_H_
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#define _ODE_COLLISION_TRIMESH_H_
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#ifdef __cplusplus
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extern "C" {
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#endif
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/*
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* Data storage for triangle meshes.
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*/
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struct dxTriMeshData;
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typedef struct dxTriMeshData* dTriMeshDataID;
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/*
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* These dont make much sense now, but they will later when we add more
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* features.
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*/
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ODE_API dTriMeshDataID dGeomTriMeshDataCreate(void);
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ODE_API void dGeomTriMeshDataDestroy(dTriMeshDataID g);
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enum { TRIMESH_FACE_NORMALS };
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ODE_API void dGeomTriMeshDataSet(dTriMeshDataID g, int data_id, void* in_data);
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ODE_API void* dGeomTriMeshDataGet(dTriMeshDataID g, int data_id);
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/**
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* We need to set the last transform after each time step for
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* accurate collision response. These functions get and set that transform.
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* It is stored per geom instance, rather than per dTriMeshDataID.
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*/
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ODE_API void dGeomTriMeshSetLastTransform( dGeomID g, dMatrix4 last_trans );
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ODE_API dReal* dGeomTriMeshGetLastTransform( dGeomID g );
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/*
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* Build TriMesh data with single precision used in vertex data .
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*/
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ODE_API void dGeomTriMeshDataBuildSingle(dTriMeshDataID g,
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const void* Vertices, int VertexStride, int VertexCount,
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const void* Indices, int IndexCount, int TriStride);
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/* same again with a normals array (used as trimesh-trimesh optimization) */
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ODE_API void dGeomTriMeshDataBuildSingle1(dTriMeshDataID g,
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const void* Vertices, int VertexStride, int VertexCount,
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const void* Indices, int IndexCount, int TriStride,
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const void* Normals);
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/*
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* Build TriMesh data with double pricision used in vertex data .
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*/
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ODE_API void dGeomTriMeshDataBuildDouble(dTriMeshDataID g,
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const void* Vertices, int VertexStride, int VertexCount,
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const void* Indices, int IndexCount, int TriStride);
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/* same again with a normals array (used as trimesh-trimesh optimization) */
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ODE_API void dGeomTriMeshDataBuildDouble1(dTriMeshDataID g,
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const void* Vertices, int VertexStride, int VertexCount,
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const void* Indices, int IndexCount, int TriStride,
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const void* Normals);
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/*
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* Simple build. Single/double precision based on dSINGLE/dDOUBLE!
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*/
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ODE_API void dGeomTriMeshDataBuildSimple(dTriMeshDataID g,
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const dReal* Vertices, int VertexCount,
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const int* Indices, int IndexCount);
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/* same again with a normals array (used as trimesh-trimesh optimization) */
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ODE_API void dGeomTriMeshDataBuildSimple1(dTriMeshDataID g,
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const dReal* Vertices, int VertexCount,
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const int* Indices, int IndexCount,
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const int* Normals);
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/* Preprocess the trimesh data to remove mark unnecessary edges and vertices */
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ODE_API void dGeomTriMeshDataPreprocess(dTriMeshDataID g);
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/* Get and set the internal preprocessed trimesh data buffer, for loading and saving */
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ODE_API void dGeomTriMeshDataGetBuffer(dTriMeshDataID g, unsigned char** buf, int* bufLen);
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ODE_API void dGeomTriMeshDataSetBuffer(dTriMeshDataID g, unsigned char* buf);
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/*
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* Per triangle callback. Allows the user to say if he wants a collision with
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* a particular triangle.
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*/
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typedef int dTriCallback(dGeomID TriMesh, dGeomID RefObject, int TriangleIndex);
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ODE_API void dGeomTriMeshSetCallback(dGeomID g, dTriCallback* Callback);
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ODE_API dTriCallback* dGeomTriMeshGetCallback(dGeomID g);
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/*
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* Per object callback. Allows the user to get the list of triangles in 1
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* shot. Maybe we should remove this one.
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*/
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typedef void dTriArrayCallback(dGeomID TriMesh, dGeomID RefObject, const int* TriIndices, int TriCount);
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ODE_API void dGeomTriMeshSetArrayCallback(dGeomID g, dTriArrayCallback* ArrayCallback);
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ODE_API dTriArrayCallback* dGeomTriMeshGetArrayCallback(dGeomID g);
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/*
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* Ray callback.
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* Allows the user to say if a ray collides with a triangle on barycentric
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* coords. The user can for example sample a texture with alpha transparency
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* to determine if a collision should occur.
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*/
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typedef int dTriRayCallback(dGeomID TriMesh, dGeomID Ray, int TriangleIndex, dReal u, dReal v);
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ODE_API void dGeomTriMeshSetRayCallback(dGeomID g, dTriRayCallback* Callback);
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ODE_API dTriRayCallback* dGeomTriMeshGetRayCallback(dGeomID g);
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/*
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* Trimesh class
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* Construction. Callbacks are optional.
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*/
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ODE_API dGeomID dCreateTriMesh(dSpaceID space, dTriMeshDataID Data, dTriCallback* Callback, dTriArrayCallback* ArrayCallback, dTriRayCallback* RayCallback);
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ODE_API void dGeomTriMeshSetData(dGeomID g, dTriMeshDataID Data);
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ODE_API dTriMeshDataID dGeomTriMeshGetData(dGeomID g);
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// enable/disable/check temporal coherence
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ODE_API void dGeomTriMeshEnableTC(dGeomID g, int geomClass, int enable);
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ODE_API int dGeomTriMeshIsTCEnabled(dGeomID g, int geomClass);
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/*
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* Clears the internal temporal coherence caches. When a geom has its
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* collision checked with a trimesh once, data is stored inside the trimesh.
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* With large worlds with lots of seperate objects this list could get huge.
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* We should be able to do this automagically.
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*/
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ODE_API void dGeomTriMeshClearTCCache(dGeomID g);
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/*
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* returns the TriMeshDataID
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*/
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ODE_API dTriMeshDataID dGeomTriMeshGetTriMeshDataID(dGeomID g);
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/*
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* Gets a triangle.
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*/
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ODE_API void dGeomTriMeshGetTriangle(dGeomID g, int Index, dVector3* v0, dVector3* v1, dVector3* v2);
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/*
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* Gets the point on the requested triangle and the given barycentric
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* coordinates.
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*/
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ODE_API void dGeomTriMeshGetPoint(dGeomID g, int Index, dReal u, dReal v, dVector3 Out);
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/*
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This is how the strided data works:
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struct StridedVertex{
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dVector3 Vertex;
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// Userdata
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};
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int VertexStride = sizeof(StridedVertex);
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struct StridedTri{
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int Indices[3];
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// Userdata
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};
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int TriStride = sizeof(StridedTri);
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*/
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ODE_API int dGeomTriMeshGetTriangleCount (dGeomID g);
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ODE_API void dGeomTriMeshDataUpdate(dTriMeshDataID g);
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#ifdef __cplusplus
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}
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#endif
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#endif /* _ODE_COLLISION_TRIMESH_H_ */
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