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<h1>collision_trimesh.h</h1><div class="fragment"><pre class="fragment"><a name="l00001"></a>00001 <span class="comment">/*************************************************************************</span>
<a name="l00002"></a>00002 <span class="comment"> * *</span>
<a name="l00003"></a>00003 <span class="comment"> * Open Dynamics Engine, Copyright (C) 2001-2003 Russell L. Smith. *</span>
<a name="l00004"></a>00004 <span class="comment"> * All rights reserved. Email: russ@q12.org Web: www.q12.org *</span>
<a name="l00005"></a>00005 <span class="comment"> * *</span>
<a name="l00006"></a>00006 <span class="comment"> * This library is free software; you can redistribute it and/or *</span>
<a name="l00007"></a>00007 <span class="comment"> * modify it under the terms of EITHER: *</span>
<a name="l00008"></a>00008 <span class="comment"> * (1) The GNU Lesser General Public License as published by the Free *</span>
<a name="l00009"></a>00009 <span class="comment"> * Software Foundation; either version 2.1 of the License, or (at *</span>
<a name="l00010"></a>00010 <span class="comment"> * your option) any later version. The text of the GNU Lesser *</span>
<a name="l00011"></a>00011 <span class="comment"> * General Public License is included with this library in the *</span>
<a name="l00012"></a>00012 <span class="comment"> * file LICENSE.TXT. *</span>
<a name="l00013"></a>00013 <span class="comment"> * (2) The BSD-style license that is included with this library in *</span>
<a name="l00014"></a>00014 <span class="comment"> * the file LICENSE-BSD.TXT. *</span>
<a name="l00015"></a>00015 <span class="comment"> * *</span>
<a name="l00016"></a>00016 <span class="comment"> * This library is distributed in the hope that it will be useful, *</span>
<a name="l00017"></a>00017 <span class="comment"> * but WITHOUT ANY WARRANTY; without even the implied warranty of *</span>
<a name="l00018"></a>00018 <span class="comment"> * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the files *</span>
<a name="l00019"></a>00019 <span class="comment"> * LICENSE.TXT and LICENSE-BSD.TXT for more details. *</span>
<a name="l00020"></a>00020 <span class="comment"> * *</span>
<a name="l00021"></a>00021 <span class="comment"> *************************************************************************/</span>
<a name="l00022"></a>00022
<a name="l00023"></a>00023 <span class="comment">/*</span>
<a name="l00024"></a>00024 <span class="comment"> * TriMesh code by Erwin de Vries.</span>
<a name="l00025"></a>00025 <span class="comment"> *</span>
<a name="l00026"></a>00026 <span class="comment"> * Trimesh data.</span>
<a name="l00027"></a>00027 <span class="comment"> * This is where the actual vertexdata (pointers), and BV tree is stored.</span>
<a name="l00028"></a>00028 <span class="comment"> * Vertices should be single precision!</span>
<a name="l00029"></a>00029 <span class="comment"> * This should be more sophisticated, so that the user can easyly implement</span>
<a name="l00030"></a>00030 <span class="comment"> * another collision library, but this is a lot of work, and also costs some</span>
<a name="l00031"></a>00031 <span class="comment"> * performance because some data has to be copied.</span>
<a name="l00032"></a>00032 <span class="comment"> */</span>
<a name="l00033"></a>00033
<a name="l00034"></a>00034 <span class="preprocessor">#ifndef _ODE_COLLISION_TRIMESH_H_</span>
<a name="l00035"></a>00035 <span class="preprocessor"></span><span class="preprocessor">#define _ODE_COLLISION_TRIMESH_H_</span>
<a name="l00036"></a>00036 <span class="preprocessor"></span>
<a name="l00037"></a>00037 <span class="preprocessor">#ifdef __cplusplus</span>
<a name="l00038"></a>00038 <span class="preprocessor"></span><span class="keyword">extern</span> <span class="stringliteral">"C"</span> {
<a name="l00039"></a>00039 <span class="preprocessor">#endif</span>
<a name="l00040"></a>00040 <span class="preprocessor"></span>
<a name="l00041"></a>00041 <span class="comment">/*</span>
<a name="l00042"></a>00042 <span class="comment"> * Data storage for triangle meshes.</span>
<a name="l00043"></a>00043 <span class="comment"> */</span>
<a name="l00044"></a>00044 <span class="keyword">struct </span>dxTriMeshData;
<a name="l00045"></a>00045 <span class="keyword">typedef</span> <span class="keyword">struct </span>dxTriMeshData* dTriMeshDataID;
<a name="l00046"></a>00046
<a name="l00047"></a>00047 <span class="comment">/*</span>
<a name="l00048"></a>00048 <span class="comment"> * These dont make much sense now, but they will later when we add more</span>
<a name="l00049"></a>00049 <span class="comment"> * features.</span>
<a name="l00050"></a>00050 <span class="comment"> */</span>
<a name="l00051"></a>00051 ODE_API dTriMeshDataID dGeomTriMeshDataCreate(<span class="keywordtype">void</span>);
<a name="l00052"></a>00052 ODE_API <span class="keywordtype">void</span> dGeomTriMeshDataDestroy(dTriMeshDataID g);
<a name="l00053"></a>00053
<a name="l00054"></a>00054
<a name="l00055"></a>00055
<a name="l00056"></a>00056 <span class="keyword">enum</span> { TRIMESH_FACE_NORMALS };
<a name="l00057"></a>00057 ODE_API <span class="keywordtype">void</span> dGeomTriMeshDataSet(dTriMeshDataID g, <span class="keywordtype">int</span> data_id, <span class="keywordtype">void</span>* in_data);
<a name="l00058"></a>00058 ODE_API <span class="keywordtype">void</span>* dGeomTriMeshDataGet(dTriMeshDataID g, <span class="keywordtype">int</span> data_id);
<a name="l00059"></a>00059
<a name="l00060"></a>00060
<a name="l00061"></a>00061
<a name="l00067"></a>00067 ODE_API <span class="keywordtype">void</span> dGeomTriMeshSetLastTransform( dGeomID g, dMatrix4 last_trans );
<a name="l00068"></a>00068 ODE_API dReal* dGeomTriMeshGetLastTransform( dGeomID g );
<a name="l00069"></a>00069
<a name="l00070"></a>00070 <span class="comment">/*</span>
<a name="l00071"></a>00071 <span class="comment"> * Build TriMesh data with single precision used in vertex data .</span>
<a name="l00072"></a>00072 <span class="comment"> */</span>
<a name="l00073"></a>00073 ODE_API <span class="keywordtype">void</span> dGeomTriMeshDataBuildSingle(dTriMeshDataID g,
<a name="l00074"></a>00074 <span class="keyword">const</span> <span class="keywordtype">void</span>* Vertices, <span class="keywordtype">int</span> VertexStride, <span class="keywordtype">int</span> VertexCount,
<a name="l00075"></a>00075 <span class="keyword">const</span> <span class="keywordtype">void</span>* Indices, <span class="keywordtype">int</span> IndexCount, <span class="keywordtype">int</span> TriStride);
<a name="l00076"></a>00076 <span class="comment">/* same again with a normals array (used as trimesh-trimesh optimization) */</span>
<a name="l00077"></a>00077 ODE_API <span class="keywordtype">void</span> dGeomTriMeshDataBuildSingle1(dTriMeshDataID g,
<a name="l00078"></a>00078 <span class="keyword">const</span> <span class="keywordtype">void</span>* Vertices, <span class="keywordtype">int</span> VertexStride, <span class="keywordtype">int</span> VertexCount,
<a name="l00079"></a>00079 <span class="keyword">const</span> <span class="keywordtype">void</span>* Indices, <span class="keywordtype">int</span> IndexCount, <span class="keywordtype">int</span> TriStride,
<a name="l00080"></a>00080 <span class="keyword">const</span> <span class="keywordtype">void</span>* Normals);
<a name="l00081"></a>00081 <span class="comment">/*</span>
<a name="l00082"></a>00082 <span class="comment">* Build TriMesh data with double pricision used in vertex data .</span>
<a name="l00083"></a>00083 <span class="comment">*/</span>
<a name="l00084"></a>00084 ODE_API <span class="keywordtype">void</span> dGeomTriMeshDataBuildDouble(dTriMeshDataID g,
<a name="l00085"></a>00085 <span class="keyword">const</span> <span class="keywordtype">void</span>* Vertices, <span class="keywordtype">int</span> VertexStride, <span class="keywordtype">int</span> VertexCount,
<a name="l00086"></a>00086 <span class="keyword">const</span> <span class="keywordtype">void</span>* Indices, <span class="keywordtype">int</span> IndexCount, <span class="keywordtype">int</span> TriStride);
<a name="l00087"></a>00087 <span class="comment">/* same again with a normals array (used as trimesh-trimesh optimization) */</span>
<a name="l00088"></a>00088 ODE_API <span class="keywordtype">void</span> dGeomTriMeshDataBuildDouble1(dTriMeshDataID g,
<a name="l00089"></a>00089 <span class="keyword">const</span> <span class="keywordtype">void</span>* Vertices, <span class="keywordtype">int</span> VertexStride, <span class="keywordtype">int</span> VertexCount,
<a name="l00090"></a>00090 <span class="keyword">const</span> <span class="keywordtype">void</span>* Indices, <span class="keywordtype">int</span> IndexCount, <span class="keywordtype">int</span> TriStride,
<a name="l00091"></a>00091 <span class="keyword">const</span> <span class="keywordtype">void</span>* Normals);
<a name="l00092"></a>00092
<a name="l00093"></a>00093 <span class="comment">/*</span>
<a name="l00094"></a>00094 <span class="comment"> * Simple build. Single/double precision based on dSINGLE/dDOUBLE!</span>
<a name="l00095"></a>00095 <span class="comment"> */</span>
<a name="l00096"></a>00096 ODE_API <span class="keywordtype">void</span> dGeomTriMeshDataBuildSimple(dTriMeshDataID g,
<a name="l00097"></a>00097 <span class="keyword">const</span> dReal* Vertices, <span class="keywordtype">int</span> VertexCount,
<a name="l00098"></a>00098 <span class="keyword">const</span> <span class="keywordtype">int</span>* Indices, <span class="keywordtype">int</span> IndexCount);
<a name="l00099"></a>00099 <span class="comment">/* same again with a normals array (used as trimesh-trimesh optimization) */</span>
<a name="l00100"></a>00100 ODE_API <span class="keywordtype">void</span> dGeomTriMeshDataBuildSimple1(dTriMeshDataID g,
<a name="l00101"></a>00101 <span class="keyword">const</span> dReal* Vertices, <span class="keywordtype">int</span> VertexCount,
<a name="l00102"></a>00102 <span class="keyword">const</span> <span class="keywordtype">int</span>* Indices, <span class="keywordtype">int</span> IndexCount,
<a name="l00103"></a>00103 <span class="keyword">const</span> <span class="keywordtype">int</span>* Normals);
<a name="l00104"></a>00104
<a name="l00105"></a>00105 <span class="comment">/* Preprocess the trimesh data to remove mark unnecessary edges and vertices */</span>
<a name="l00106"></a>00106 ODE_API <span class="keywordtype">void</span> dGeomTriMeshDataPreprocess(dTriMeshDataID g);
<a name="l00107"></a>00107 <span class="comment">/* Get and set the internal preprocessed trimesh data buffer, for loading and saving */</span>
<a name="l00108"></a>00108 ODE_API <span class="keywordtype">void</span> dGeomTriMeshDataGetBuffer(dTriMeshDataID g, <span class="keywordtype">unsigned</span> <span class="keywordtype">char</span>** buf, <span class="keywordtype">int</span>* bufLen);
<a name="l00109"></a>00109 ODE_API <span class="keywordtype">void</span> dGeomTriMeshDataSetBuffer(dTriMeshDataID g, <span class="keywordtype">unsigned</span> <span class="keywordtype">char</span>* buf);
<a name="l00110"></a>00110
<a name="l00111"></a>00111
<a name="l00112"></a>00112 <span class="comment">/*</span>
<a name="l00113"></a>00113 <span class="comment"> * Per triangle callback. Allows the user to say if he wants a collision with</span>
<a name="l00114"></a>00114 <span class="comment"> * a particular triangle.</span>
<a name="l00115"></a>00115 <span class="comment"> */</span>
<a name="l00116"></a>00116 <span class="keyword">typedef</span> <span class="keywordtype">int</span> dTriCallback(dGeomID TriMesh, dGeomID RefObject, <span class="keywordtype">int</span> TriangleIndex);
<a name="l00117"></a>00117 ODE_API <span class="keywordtype">void</span> dGeomTriMeshSetCallback(dGeomID g, dTriCallback* Callback);
<a name="l00118"></a>00118 ODE_API dTriCallback* dGeomTriMeshGetCallback(dGeomID g);
<a name="l00119"></a>00119
<a name="l00120"></a>00120 <span class="comment">/*</span>
<a name="l00121"></a>00121 <span class="comment"> * Per object callback. Allows the user to get the list of triangles in 1</span>
<a name="l00122"></a>00122 <span class="comment"> * shot. Maybe we should remove this one.</span>
<a name="l00123"></a>00123 <span class="comment"> */</span>
<a name="l00124"></a>00124 <span class="keyword">typedef</span> <span class="keywordtype">void</span> dTriArrayCallback(dGeomID TriMesh, dGeomID RefObject, <span class="keyword">const</span> <span class="keywordtype">int</span>* TriIndices, <span class="keywordtype">int</span> TriCount);
<a name="l00125"></a>00125 ODE_API <span class="keywordtype">void</span> dGeomTriMeshSetArrayCallback(dGeomID g, dTriArrayCallback* ArrayCallback);
<a name="l00126"></a>00126 ODE_API dTriArrayCallback* dGeomTriMeshGetArrayCallback(dGeomID g);
<a name="l00127"></a>00127
<a name="l00128"></a>00128 <span class="comment">/*</span>
<a name="l00129"></a>00129 <span class="comment"> * Ray callback.</span>
<a name="l00130"></a>00130 <span class="comment"> * Allows the user to say if a ray collides with a triangle on barycentric</span>
<a name="l00131"></a>00131 <span class="comment"> * coords. The user can for example sample a texture with alpha transparency</span>
<a name="l00132"></a>00132 <span class="comment"> * to determine if a collision should occur.</span>
<a name="l00133"></a>00133 <span class="comment"> */</span>
<a name="l00134"></a>00134 <span class="keyword">typedef</span> <span class="keywordtype">int</span> dTriRayCallback(dGeomID TriMesh, dGeomID Ray, <span class="keywordtype">int</span> TriangleIndex, dReal u, dReal v);
<a name="l00135"></a>00135 ODE_API <span class="keywordtype">void</span> dGeomTriMeshSetRayCallback(dGeomID g, dTriRayCallback* Callback);
<a name="l00136"></a>00136 ODE_API dTriRayCallback* dGeomTriMeshGetRayCallback(dGeomID g);
<a name="l00137"></a>00137
<a name="l00138"></a>00138 <span class="comment">/*</span>
<a name="l00139"></a>00139 <span class="comment"> * Trimesh class</span>
<a name="l00140"></a>00140 <span class="comment"> * Construction. Callbacks are optional.</span>
<a name="l00141"></a>00141 <span class="comment"> */</span>
<a name="l00142"></a>00142 ODE_API dGeomID dCreateTriMesh(dSpaceID space, dTriMeshDataID Data, dTriCallback* Callback, dTriArrayCallback* ArrayCallback, dTriRayCallback* RayCallback);
<a name="l00143"></a>00143
<a name="l00144"></a>00144 ODE_API <span class="keywordtype">void</span> dGeomTriMeshSetData(dGeomID g, dTriMeshDataID Data);
<a name="l00145"></a>00145 ODE_API dTriMeshDataID dGeomTriMeshGetData(dGeomID g);
<a name="l00146"></a>00146
<a name="l00147"></a>00147
<a name="l00148"></a>00148 <span class="comment">// enable/disable/check temporal coherence</span>
<a name="l00149"></a>00149 ODE_API <span class="keywordtype">void</span> dGeomTriMeshEnableTC(dGeomID g, <span class="keywordtype">int</span> geomClass, <span class="keywordtype">int</span> enable);
<a name="l00150"></a>00150 ODE_API <span class="keywordtype">int</span> dGeomTriMeshIsTCEnabled(dGeomID g, <span class="keywordtype">int</span> geomClass);
<a name="l00151"></a>00151
<a name="l00152"></a>00152 <span class="comment">/*</span>
<a name="l00153"></a>00153 <span class="comment"> * Clears the internal temporal coherence caches. When a geom has its</span>
<a name="l00154"></a>00154 <span class="comment"> * collision checked with a trimesh once, data is stored inside the trimesh.</span>
<a name="l00155"></a>00155 <span class="comment"> * With large worlds with lots of seperate objects this list could get huge.</span>
<a name="l00156"></a>00156 <span class="comment"> * We should be able to do this automagically.</span>
<a name="l00157"></a>00157 <span class="comment"> */</span>
<a name="l00158"></a>00158 ODE_API <span class="keywordtype">void</span> dGeomTriMeshClearTCCache(dGeomID g);
<a name="l00159"></a>00159
<a name="l00160"></a>00160
<a name="l00161"></a>00161 <span class="comment">/*</span>
<a name="l00162"></a>00162 <span class="comment"> * returns the TriMeshDataID</span>
<a name="l00163"></a>00163 <span class="comment"> */</span>
<a name="l00164"></a>00164 ODE_API dTriMeshDataID dGeomTriMeshGetTriMeshDataID(dGeomID g);
<a name="l00165"></a>00165
<a name="l00166"></a>00166 <span class="comment">/*</span>
<a name="l00167"></a>00167 <span class="comment"> * Gets a triangle.</span>
<a name="l00168"></a>00168 <span class="comment"> */</span>
<a name="l00169"></a>00169 ODE_API <span class="keywordtype">void</span> dGeomTriMeshGetTriangle(dGeomID g, <span class="keywordtype">int</span> Index, dVector3* v0, dVector3* v1, dVector3* v2);
<a name="l00170"></a>00170
<a name="l00171"></a>00171 <span class="comment">/*</span>
<a name="l00172"></a>00172 <span class="comment"> * Gets the point on the requested triangle and the given barycentric</span>
<a name="l00173"></a>00173 <span class="comment"> * coordinates.</span>
<a name="l00174"></a>00174 <span class="comment"> */</span>
<a name="l00175"></a>00175 ODE_API <span class="keywordtype">void</span> dGeomTriMeshGetPoint(dGeomID g, <span class="keywordtype">int</span> Index, dReal u, dReal v, dVector3 Out);
<a name="l00176"></a>00176
<a name="l00177"></a>00177 <span class="comment">/*</span>
<a name="l00178"></a>00178 <span class="comment"></span>
<a name="l00179"></a>00179 <span class="comment">This is how the strided data works:</span>
<a name="l00180"></a>00180 <span class="comment"></span>
<a name="l00181"></a>00181 <span class="comment">struct StridedVertex{</span>
<a name="l00182"></a>00182 <span class="comment"> dVector3 Vertex;</span>
<a name="l00183"></a>00183 <span class="comment"> // Userdata</span>
<a name="l00184"></a>00184 <span class="comment">};</span>
<a name="l00185"></a>00185 <span class="comment">int VertexStride = sizeof(StridedVertex);</span>
<a name="l00186"></a>00186 <span class="comment"></span>
<a name="l00187"></a>00187 <span class="comment">struct StridedTri{</span>
<a name="l00188"></a>00188 <span class="comment"> int Indices[3];</span>
<a name="l00189"></a>00189 <span class="comment"> // Userdata</span>
<a name="l00190"></a>00190 <span class="comment">};</span>
<a name="l00191"></a>00191 <span class="comment">int TriStride = sizeof(StridedTri);</span>
<a name="l00192"></a>00192 <span class="comment"></span>
<a name="l00193"></a>00193 <span class="comment">*/</span>
<a name="l00194"></a>00194
<a name="l00195"></a>00195
<a name="l00196"></a>00196 ODE_API <span class="keywordtype">int</span> dGeomTriMeshGetTriangleCount (dGeomID g);
<a name="l00197"></a>00197
<a name="l00198"></a>00198 ODE_API <span class="keywordtype">void</span> dGeomTriMeshDataUpdate(dTriMeshDataID g);
<a name="l00199"></a>00199
<a name="l00200"></a>00200 <span class="preprocessor">#ifdef __cplusplus</span>
<a name="l00201"></a>00201 <span class="preprocessor"></span>}
<a name="l00202"></a>00202 <span class="preprocessor">#endif</span>
<a name="l00203"></a>00203 <span class="preprocessor"></span>
<a name="l00204"></a>00204 <span class="preprocessor">#endif </span><span class="comment">/* _ODE_COLLISION_TRIMESH_H_ */</span>
<a name="l00205"></a>00205
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