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OpenSimMirror/libraries/ode-0.9/ode/src/collision_trimesh_opcode.cpp

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/*************************************************************************
* *
* Open Dynamics Engine, Copyright (C) 2001-2003 Russell L. Smith. *
* All rights reserved. Email: russ@q12.org Web: www.q12.org *
* *
* This library is free software; you can redistribute it and/or *
* modify it under the terms of EITHER: *
* (1) The GNU Lesser General Public License as published by the Free *
* Software Foundation; either version 2.1 of the License, or (at *
* your option) any later version. The text of the GNU Lesser *
* General Public License is included with this library in the *
* file LICENSE.TXT. *
* (2) The BSD-style license that is included with this library in *
* the file LICENSE-BSD.TXT. *
* *
* This library is distributed in the hope that it will be useful, *
* but WITHOUT ANY WARRANTY; without even the implied warranty of *
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the files *
* LICENSE.TXT and LICENSE-BSD.TXT for more details. *
* *
*************************************************************************/
// TriMesh code by Erwin de Vries.
#include <ode/collision.h>
#include <ode/matrix.h>
#include <ode/rotation.h>
#include <ode/odemath.h>
#include "collision_util.h"
#define TRIMESH_INTERNAL
#include "collision_trimesh_internal.h"
#if dTRIMESH_ENABLED
#if dTRIMESH_OPCODE
// Trimesh data
dxTriMeshData::dxTriMeshData() : UseFlags( NULL )
{
#if !dTRIMESH_ENABLED
dUASSERT(false, "dTRIMESH_ENABLED is not defined. Trimesh geoms will not work");
#endif
}
dxTriMeshData::~dxTriMeshData()
{
if ( UseFlags )
delete [] UseFlags;
}
void
dxTriMeshData::Build(const void* Vertices, int VertexStide, int VertexCount,
const void* Indices, int IndexCount, int TriStride,
const void* in_Normals,
bool Single)
{
#if dTRIMESH_ENABLED
Mesh.SetNbTriangles(IndexCount / 3);
Mesh.SetNbVertices(VertexCount);
Mesh.SetPointers((IndexedTriangle*)Indices, (Point*)Vertices);
Mesh.SetStrides(TriStride, VertexStide);
Mesh.Single = Single;
// Build tree
BuildSettings Settings;
// recommended in Opcode User Manual
//Settings.mRules = SPLIT_COMPLETE | SPLIT_SPLATTERPOINTS | SPLIT_GEOMCENTER;
// used in ODE, why?
//Settings.mRules = SPLIT_BEST_AXIS;
// best compromise?
Settings.mRules = SPLIT_BEST_AXIS | SPLIT_SPLATTER_POINTS | SPLIT_GEOM_CENTER;
OPCODECREATE TreeBuilder;
TreeBuilder.mIMesh = &Mesh;
TreeBuilder.mSettings = Settings;
TreeBuilder.mNoLeaf = true;
TreeBuilder.mQuantized = false;
TreeBuilder.mKeepOriginal = false;
TreeBuilder.mCanRemap = false;
BVTree.Build(TreeBuilder);
// compute model space AABB
dVector3 AABBMax, AABBMin;
AABBMax[0] = AABBMax[1] = AABBMax[2] = (dReal) -dInfinity;
AABBMin[0] = AABBMin[1] = AABBMin[2] = (dReal) dInfinity;
if( Single ) {
const char* verts = (const char*)Vertices;
for( int i = 0; i < VertexCount; ++i ) {
const float* v = (const float*)verts;
if( v[0] > AABBMax[0] ) AABBMax[0] = v[0];
if( v[1] > AABBMax[1] ) AABBMax[1] = v[1];
if( v[2] > AABBMax[2] ) AABBMax[2] = v[2];
if( v[0] < AABBMin[0] ) AABBMin[0] = v[0];
if( v[1] < AABBMin[1] ) AABBMin[1] = v[1];
if( v[2] < AABBMin[2] ) AABBMin[2] = v[2];
verts += VertexStide;
}
} else {
const char* verts = (const char*)Vertices;
for( int i = 0; i < VertexCount; ++i ) {
const double* v = (const double*)verts;
if( v[0] > AABBMax[0] ) AABBMax[0] = (dReal) v[0];
if( v[1] > AABBMax[1] ) AABBMax[1] = (dReal) v[1];
if( v[2] > AABBMax[2] ) AABBMax[2] = (dReal) v[2];
if( v[0] < AABBMin[0] ) AABBMin[0] = (dReal) v[0];
if( v[1] < AABBMin[1] ) AABBMin[1] = (dReal) v[1];
if( v[2] < AABBMin[2] ) AABBMin[2] = (dReal) v[2];
verts += VertexStide;
}
}
AABBCenter[0] = (AABBMin[0] + AABBMax[0]) * REAL(0.5);
AABBCenter[1] = (AABBMin[1] + AABBMax[1]) * REAL(0.5);
AABBCenter[2] = (AABBMin[2] + AABBMax[2]) * REAL(0.5);
AABBExtents[0] = AABBMax[0] - AABBCenter[0];
AABBExtents[1] = AABBMax[1] - AABBCenter[1];
AABBExtents[2] = AABBMax[2] - AABBCenter[2];
// user data (not used by OPCODE)
Normals = (dReal *) in_Normals;
UseFlags = 0;
#endif // dTRIMESH_ENABLED
}
struct EdgeRecord
{
int VertIdx1; // Index into vertex array for this edges vertices
int VertIdx2;
int TriIdx; // Index into triangle array for triangle this edge belongs to
uint8 EdgeFlags;
uint8 Vert1Flags;
uint8 Vert2Flags;
bool Concave;
};
// Edge comparison function for qsort
static int EdgeCompare(const void* edge1, const void* edge2)
{
EdgeRecord* e1 = (EdgeRecord*)edge1;
EdgeRecord* e2 = (EdgeRecord*)edge2;
if (e1->VertIdx1 == e2->VertIdx1)
return e1->VertIdx2 - e2->VertIdx2;
else
return e1->VertIdx1 - e2->VertIdx1;
}
void SetupEdge(EdgeRecord* edge, int edgeIdx, int triIdx, const unsigned int* vertIdxs)
{
if (edgeIdx == 0)
{
edge->EdgeFlags = dxTriMeshData::kEdge0;
edge->Vert1Flags = dxTriMeshData::kVert0;
edge->Vert2Flags = dxTriMeshData::kVert1;
edge->VertIdx1 = vertIdxs[0];
edge->VertIdx2 = vertIdxs[1];
}
else if (edgeIdx == 1)
{
edge->EdgeFlags = dxTriMeshData::kEdge1;
edge->Vert1Flags = dxTriMeshData::kVert1;
edge->Vert2Flags = dxTriMeshData::kVert2;
edge->VertIdx1 = vertIdxs[1];
edge->VertIdx2 = vertIdxs[2];
}
else if (edgeIdx == 2)
{
edge->EdgeFlags = dxTriMeshData::kEdge2;
edge->Vert1Flags = dxTriMeshData::kVert2;
edge->Vert2Flags = dxTriMeshData::kVert0;
edge->VertIdx1 = vertIdxs[2];
edge->VertIdx2 = vertIdxs[0];
}
// Make sure vert index 1 is less than index 2 (for easier sorting)
if (edge->VertIdx1 > edge->VertIdx2)
{
unsigned int tempIdx = edge->VertIdx1;
edge->VertIdx1 = edge->VertIdx2;
edge->VertIdx2 = tempIdx;
uint8 tempFlags = edge->Vert1Flags;
edge->Vert1Flags = edge->Vert2Flags;
edge->Vert2Flags = tempFlags;
}
edge->TriIdx = triIdx;
edge->Concave = false;
}
#if dTRIMESH_ENABLED
// Get the vertex opposite this edge in the triangle
inline Point GetOppositeVert(EdgeRecord* edge, const Point* vertices[])
{
if ((edge->Vert1Flags == dxTriMeshData::kVert0 && edge->Vert2Flags == dxTriMeshData::kVert1) ||
(edge->Vert1Flags == dxTriMeshData::kVert1 && edge->Vert2Flags == dxTriMeshData::kVert0))
{
return *vertices[2];
}
else if ((edge->Vert1Flags == dxTriMeshData::kVert1 && edge->Vert2Flags == dxTriMeshData::kVert2) ||
(edge->Vert1Flags == dxTriMeshData::kVert2 && edge->Vert2Flags == dxTriMeshData::kVert1))
{
return *vertices[0];
}
else
return *vertices[1];
}
#endif // dTRIMESH_ENABLED
void dxTriMeshData::Preprocess()
{
#if dTRIMESH_ENABLED
// If this mesh has already been preprocessed, exit
if (UseFlags)
return;
udword numTris = Mesh.GetNbTriangles();
udword numEdges = numTris * 3;
UseFlags = new uint8[numTris];
memset(UseFlags, 0, sizeof(uint8) * numTris);
EdgeRecord* records = new EdgeRecord[numEdges];
// Make a list of every edge in the mesh
const IndexedTriangle* tris = Mesh.GetTris();
for (unsigned int i = 0; i < numTris; i++)
{
SetupEdge(&records[i*3], 0, i, tris->mVRef);
SetupEdge(&records[i*3+1], 1, i, tris->mVRef);
SetupEdge(&records[i*3+2], 2, i, tris->mVRef);
tris = (const IndexedTriangle*)(((uint8*)tris) + Mesh.GetTriStride());
}
// Sort the edges, so the ones sharing the same verts are beside each other
qsort(records, numEdges, sizeof(EdgeRecord), EdgeCompare);
// Go through the sorted list of edges and flag all the edges and vertices that we need to use
for (unsigned int i = 0; i < numEdges; i++)
{
EdgeRecord* rec1 = &records[i];
EdgeRecord* rec2 = 0;
if (i < numEdges - 1)
rec2 = &records[i+1];
if (rec2 &&
rec1->VertIdx1 == rec2->VertIdx1 &&
rec1->VertIdx2 == rec2->VertIdx2)
{
VertexPointers vp;
Mesh.GetTriangle(vp, rec1->TriIdx);
// Get the normal of the first triangle
Point triNorm = (*vp.Vertex[2] - *vp.Vertex[1]) ^ (*vp.Vertex[0] - *vp.Vertex[1]);
triNorm.Normalize();
// Get the vert opposite this edge in the first triangle
Point oppositeVert1 = GetOppositeVert(rec1, vp.Vertex);
// Get the vert opposite this edge in the second triangle
Mesh.GetTriangle(vp, rec2->TriIdx);
Point oppositeVert2 = GetOppositeVert(rec2, vp.Vertex);
float dot = triNorm.Dot((oppositeVert2 - oppositeVert1).Normalize());
// We let the dot threshold for concavity get slightly negative to allow for rounding errors
static const float kConcaveThresh = -0.000001f;
// This is a concave edge, leave it for the next pass
if (dot >= kConcaveThresh)
rec1->Concave = true;
// If this is a convex edge, mark its vertices and edge as used
else
UseFlags[rec1->TriIdx] |= rec1->Vert1Flags | rec1->Vert2Flags | rec1->EdgeFlags;
// Skip the second edge
i++;
}
// This is a boundary edge
else
{
UseFlags[rec1->TriIdx] |= rec1->Vert1Flags | rec1->Vert2Flags | rec1->EdgeFlags;
}
}
// Go through the list once more, and take any edge we marked as concave and
// clear it's vertices flags in any triangles they're used in
for (unsigned int i = 0; i < numEdges; i++)
{
EdgeRecord& er = records[i];
if (er.Concave)
{
for (unsigned int j = 0; j < numEdges; j++)
{
EdgeRecord& curER = records[j];
if (curER.VertIdx1 == er.VertIdx1 ||
curER.VertIdx1 == er.VertIdx2)
UseFlags[curER.TriIdx] &= ~curER.Vert1Flags;
if (curER.VertIdx2 == er.VertIdx1 ||
curER.VertIdx2 == er.VertIdx2)
UseFlags[curER.TriIdx] &= ~curER.Vert2Flags;
}
}
}
delete [] records;
#endif // dTRIMESH_ENABLED
}
dTriMeshDataID dGeomTriMeshDataCreate(){
return new dxTriMeshData();
}
void dGeomTriMeshDataDestroy(dTriMeshDataID g){
delete g;
}
void dGeomTriMeshSetLastTransform( dxGeom* g, dMatrix4 last_trans )
{
dAASSERT(g)
dUASSERT(g->type == dTriMeshClass, "geom not trimesh");
for (int i=0; i<16; i++)
(((dxTriMesh*)g)->last_trans)[ i ] = last_trans[ i ];
return;
}
dReal* dGeomTriMeshGetLastTransform( dxGeom* g )
{
dAASSERT(g)
dUASSERT(g->type == dTriMeshClass, "geom not trimesh");
return (dReal*)(((dxTriMesh*)g)->last_trans);
}
void dGeomTriMeshDataSet(dTriMeshDataID g, int data_id, void* in_data)
{
dUASSERT(g, "argument not trimesh data");
switch (data_id)
{
case TRIMESH_FACE_NORMALS:
g->Normals = (dReal *) in_data;
break;
default:
dUASSERT(data_id, "invalid data type");
break;
}
return;
}
void* dGeomTriMeshDataGet(dTriMeshDataID g, int data_id)
{
dUASSERT(g, "argument not trimesh data");
switch (data_id)
{
case TRIMESH_FACE_NORMALS:
return (void *) g->Normals;
break;
default:
dUASSERT(data_id, "invalid data type");
break;
}
return NULL;
}
void dGeomTriMeshDataBuildSingle1(dTriMeshDataID g,
const void* Vertices, int VertexStride, int VertexCount,
const void* Indices, int IndexCount, int TriStride,
const void* Normals)
{
dUASSERT(g, "argument not trimesh data");
g->Build(Vertices, VertexStride, VertexCount,
Indices, IndexCount, TriStride,
Normals,
true);
}
void dGeomTriMeshDataBuildSingle(dTriMeshDataID g,
const void* Vertices, int VertexStride, int VertexCount,
const void* Indices, int IndexCount, int TriStride)
{
dGeomTriMeshDataBuildSingle1(g, Vertices, VertexStride, VertexCount,
Indices, IndexCount, TriStride, (void*)NULL);
}
void dGeomTriMeshDataBuildDouble1(dTriMeshDataID g,
const void* Vertices, int VertexStride, int VertexCount,
const void* Indices, int IndexCount, int TriStride,
const void* Normals)
{
dUASSERT(g, "argument not trimesh data");
g->Build(Vertices, VertexStride, VertexCount,
Indices, IndexCount, TriStride,
Normals,
false);
}
void dGeomTriMeshDataBuildDouble(dTriMeshDataID g,
const void* Vertices, int VertexStride, int VertexCount,
const void* Indices, int IndexCount, int TriStride) {
dGeomTriMeshDataBuildDouble1(g, Vertices, VertexStride, VertexCount,
Indices, IndexCount, TriStride, NULL);
}
void dGeomTriMeshDataBuildSimple1(dTriMeshDataID g,
const dReal* Vertices, int VertexCount,
const int* Indices, int IndexCount,
const int* Normals){
#ifdef dSINGLE
dGeomTriMeshDataBuildSingle1(g,
Vertices, 4 * sizeof(dReal), VertexCount,
Indices, IndexCount, 3 * sizeof(unsigned int),
Normals);
#else
dGeomTriMeshDataBuildDouble1(g, Vertices, 4 * sizeof(dReal), VertexCount,
Indices, IndexCount, 3 * sizeof(unsigned int),
Normals);
#endif
}
void dGeomTriMeshDataBuildSimple(dTriMeshDataID g,
const dReal* Vertices, int VertexCount,
const int* Indices, int IndexCount) {
dGeomTriMeshDataBuildSimple1(g,
Vertices, VertexCount, Indices, IndexCount,
(const int*)NULL);
}
void dGeomTriMeshDataPreprocess(dTriMeshDataID g)
{
dUASSERT(g, "argument not trimesh data");
g->Preprocess();
}
void dGeomTriMeshDataGetBuffer(dTriMeshDataID g, unsigned char** buf, int* bufLen)
{
dUASSERT(g, "argument not trimesh data");
#if dTRIMESH_ENABLED
*buf = g->UseFlags;
*bufLen = g->Mesh.GetNbTriangles();
#endif // dTRIMESH_ENABLED
}
void dGeomTriMeshDataSetBuffer(dTriMeshDataID g, unsigned char* buf)
{
dUASSERT(g, "argument not trimesh data");
g->UseFlags = buf;
}
#if dTRIMESH_ENABLED
// Trimesh Class Statics
PlanesCollider dxTriMesh::_PlanesCollider;
SphereCollider dxTriMesh::_SphereCollider;
OBBCollider dxTriMesh::_OBBCollider;
RayCollider dxTriMesh::_RayCollider;
AABBTreeCollider dxTriMesh::_AABBTreeCollider;
LSSCollider dxTriMesh::_LSSCollider;
SphereCache dxTriMesh::defaultSphereCache;
OBBCache dxTriMesh::defaultBoxCache;
LSSCache dxTriMesh::defaultCapsuleCache;
CollisionFaces dxTriMesh::Faces;
#endif // dTRIMESH_ENABLED
dxTriMesh::dxTriMesh(dSpaceID Space, dTriMeshDataID Data) : dxGeom(Space, 1)
{
type = dTriMeshClass;
this->Data = Data;
#if dTRIMESH_ENABLED
_RayCollider.SetDestination(&Faces);
_PlanesCollider.SetTemporalCoherence(true);
_SphereCollider.SetTemporalCoherence(true);
_SphereCollider.SetPrimitiveTests(false);
_OBBCollider.SetTemporalCoherence(true);
// no first-contact test (i.e. return full contact info)
_AABBTreeCollider.SetFirstContact( false );
// temporal coherence only works with "first conact" tests
_AABBTreeCollider.SetTemporalCoherence(false);
// Perform full BV-BV tests (true) or SAT-lite tests (false)
_AABBTreeCollider.SetFullBoxBoxTest( true );
// Perform full Primitive-BV tests (true) or SAT-lite tests (false)
_AABBTreeCollider.SetFullPrimBoxTest( true );
_LSSCollider.SetTemporalCoherence(false);
#endif // dTRIMESH_ENABLED
/* TC has speed/space 'issues' that don't make it a clear
win by default on spheres/boxes. */
this->doSphereTC = false;
this->doBoxTC = false;
this->doCapsuleTC = false;
#if dTRIMESH_ENABLED
const char* msg;
if ((msg =_AABBTreeCollider.ValidateSettings()))
dDebug (d_ERR_UASSERT, msg, " (%s:%d)", __FILE__,__LINE__);
_LSSCollider.SetPrimitiveTests(false);
_LSSCollider.SetFirstContact(false);
#endif // dTRIMESH_ENABLED
for (int i=0; i<16; i++)
last_trans[i] = REAL( 0.0 );
}
dxTriMesh::~dxTriMesh(){
//
}
// Cleanup for allocations when shutting down ODE
void opcode_collider_cleanup()
{
#if dTRIMESH_ENABLED
// Clear TC caches
dxTriMesh::Faces.Empty();
dxTriMesh::defaultSphereCache.TouchedPrimitives.Empty();
dxTriMesh::defaultBoxCache.TouchedPrimitives.Empty();
dxTriMesh::defaultCapsuleCache.TouchedPrimitives.Empty();
#endif // dTRIMESH_ENABLED
}
void dxTriMesh::ClearTCCache()
{
#if dTRIMESH_ENABLED
/* dxTriMesh::ClearTCCache uses dArray's setSize(0) to clear the caches -
but the destructor isn't called when doing this, so we would leak.
So, call the previous caches' containers' destructors by hand first. */
int i, n;
n = SphereTCCache.size();
for( i = 0; i < n; ++i ) {
SphereTCCache[i].~SphereTC();
}
SphereTCCache.setSize(0);
n = BoxTCCache.size();
for( i = 0; i < n; ++i ) {
BoxTCCache[i].~BoxTC();
}
BoxTCCache.setSize(0);
n = CapsuleTCCache.size();
for( i = 0; i < n; ++i ) {
CapsuleTCCache[i].~CapsuleTC();
}
CapsuleTCCache.setSize(0);
#endif // dTRIMESH_ENABLED
}
int dxTriMesh::AABBTest(dxGeom* g, dReal aabb[6]){
return 1;
}
void dxTriMesh::computeAABB() {
const dxTriMeshData* d = Data;
dVector3 c;
const dMatrix3& R = final_posr->R;
const dVector3& pos = final_posr->pos;
dMULTIPLY0_331( c, R, d->AABBCenter );
dReal xrange = dFabs(R[0] * Data->AABBExtents[0]) +
dFabs(R[1] * Data->AABBExtents[1]) +
dFabs(R[2] * Data->AABBExtents[2]);
dReal yrange = dFabs(R[4] * Data->AABBExtents[0]) +
dFabs(R[5] * Data->AABBExtents[1]) +
dFabs(R[6] * Data->AABBExtents[2]);
dReal zrange = dFabs(R[8] * Data->AABBExtents[0]) +
dFabs(R[9] * Data->AABBExtents[1]) +
dFabs(R[10] * Data->AABBExtents[2]);
aabb[0] = c[0] + pos[0] - xrange;
aabb[1] = c[0] + pos[0] + xrange;
aabb[2] = c[1] + pos[1] - yrange;
aabb[3] = c[1] + pos[1] + yrange;
aabb[4] = c[2] + pos[2] - zrange;
aabb[5] = c[2] + pos[2] + zrange;
}
void dxTriMeshData::UpdateData()
{
#if dTRIMESH_ENABLED
BVTree.Refit();
#endif // dTRIMESH_ENABLED
}
dGeomID dCreateTriMesh(dSpaceID space,
dTriMeshDataID Data,
dTriCallback* Callback,
dTriArrayCallback* ArrayCallback,
dTriRayCallback* RayCallback)
{
dxTriMesh* Geom = new dxTriMesh(space, Data);
Geom->Callback = Callback;
Geom->ArrayCallback = ArrayCallback;
Geom->RayCallback = RayCallback;
return Geom;
}
void dGeomTriMeshSetCallback(dGeomID g, dTriCallback* Callback)
{
dUASSERT(g && g->type == dTriMeshClass, "argument not a trimesh");
((dxTriMesh*)g)->Callback = Callback;
}
dTriCallback* dGeomTriMeshGetCallback(dGeomID g)
{
dUASSERT(g && g->type == dTriMeshClass, "argument not a trimesh");
return ((dxTriMesh*)g)->Callback;
}
void dGeomTriMeshSetArrayCallback(dGeomID g, dTriArrayCallback* ArrayCallback)
{
dUASSERT(g && g->type == dTriMeshClass, "argument not a trimesh");
((dxTriMesh*)g)->ArrayCallback = ArrayCallback;
}
dTriArrayCallback* dGeomTriMeshGetArrayCallback(dGeomID g)
{
dUASSERT(g && g->type == dTriMeshClass, "argument not a trimesh");
return ((dxTriMesh*)g)->ArrayCallback;
}
void dGeomTriMeshSetRayCallback(dGeomID g, dTriRayCallback* Callback)
{
dUASSERT(g && g->type == dTriMeshClass, "argument not a trimesh");
((dxTriMesh*)g)->RayCallback = Callback;
}
dTriRayCallback* dGeomTriMeshGetRayCallback(dGeomID g)
{
dUASSERT(g && g->type == dTriMeshClass, "argument not a trimesh");
return ((dxTriMesh*)g)->RayCallback;
}
void dGeomTriMeshSetData(dGeomID g, dTriMeshDataID Data)
{
dUASSERT(g && g->type == dTriMeshClass, "argument not a trimesh");
((dxTriMesh*)g)->Data = Data;
// I changed my data -- I know nothing about my own AABB anymore.
((dxTriMesh*)g)->gflags |= (GEOM_DIRTY|GEOM_AABB_BAD);
}
dTriMeshDataID dGeomTriMeshGetData(dGeomID g)
{
dUASSERT(g && g->type == dTriMeshClass, "argument not a trimesh");
return ((dxTriMesh*)g)->Data;
}
void dGeomTriMeshEnableTC(dGeomID g, int geomClass, int enable)
{
dUASSERT(g && g->type == dTriMeshClass, "argument not a trimesh");
switch (geomClass)
{
case dSphereClass:
((dxTriMesh*)g)->doSphereTC = (1 == enable);
break;
case dBoxClass:
((dxTriMesh*)g)->doBoxTC = (1 == enable);
break;
case dCapsuleClass:
((dxTriMesh*)g)->doCapsuleTC = (1 == enable);
break;
}
}
int dGeomTriMeshIsTCEnabled(dGeomID g, int geomClass)
{
dUASSERT(g && g->type == dTriMeshClass, "argument not a trimesh");
switch (geomClass)
{
case dSphereClass:
if (((dxTriMesh*)g)->doSphereTC)
return 1;
break;
case dBoxClass:
if (((dxTriMesh*)g)->doBoxTC)
return 1;
break;
case dCapsuleClass:
if (((dxTriMesh*)g)->doCapsuleTC)
return 1;
break;
}
return 0;
}
void dGeomTriMeshClearTCCache(dGeomID g){
dUASSERT(g && g->type == dTriMeshClass, "argument not a trimesh");
dxTriMesh* Geom = (dxTriMesh*)g;
Geom->ClearTCCache();
}
/*
* returns the TriMeshDataID
*/
dTriMeshDataID
dGeomTriMeshGetTriMeshDataID(dGeomID g)
{
dxTriMesh* Geom = (dxTriMesh*) g;
return Geom->Data;
}
// Getting data
void dGeomTriMeshGetTriangle(dGeomID g, int Index, dVector3* v0, dVector3* v1, dVector3* v2){
dUASSERT(g && g->type == dTriMeshClass, "argument not a trimesh");
dxTriMesh* Geom = (dxTriMesh*)g;
const dVector3& Position = *(const dVector3*)dGeomGetPosition(g);
const dMatrix3& Rotation = *(const dMatrix3*)dGeomGetRotation(g);
dVector3 v[3];
FetchTriangle(Geom, Index, Position, Rotation, v);
if (v0){
(*v0)[0] = v[0][0];
(*v0)[1] = v[0][1];
(*v0)[2] = v[0][2];
(*v0)[3] = v[0][3];
}
if (v1){
(*v1)[0] = v[1][0];
(*v1)[1] = v[1][1];
(*v1)[2] = v[1][2];
(*v1)[3] = v[1][3];
}
if (v2){
(*v2)[0] = v[2][0];
(*v2)[1] = v[2][1];
(*v2)[2] = v[2][2];
(*v2)[3] = v[2][3];
}
}
void dGeomTriMeshGetPoint(dGeomID g, int Index, dReal u, dReal v, dVector3 Out){
dUASSERT(g && g->type == dTriMeshClass, "argument not a trimesh");
dxTriMesh* Geom = (dxTriMesh*)g;
const dVector3& Position = *(const dVector3*)dGeomGetPosition(g);
const dMatrix3& Rotation = *(const dMatrix3*)dGeomGetRotation(g);
dVector3 dv[3];
FetchTriangle(Geom, Index, Position, Rotation, dv);
GetPointFromBarycentric(dv, u, v, Out);
}
int dGeomTriMeshGetTriangleCount (dGeomID g)
{
#if dTRIMESH_ENABLED
dxTriMesh* Geom = (dxTriMesh*)g;
return Geom->Data->Mesh.GetNbTriangles();
#else
return 0;
#endif // dTRIMESH_ENABLED
}
void dGeomTriMeshDataUpdate(dTriMeshDataID g) {
dUASSERT(g, "argument not trimesh data");
g->UpdateData();
}
#endif // dTRIMESH_OPCODE
#endif // dTRIMESH_ENABLED
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