206 lines
8.0 KiB
C
206 lines
8.0 KiB
C
/*************************************************************************
|
|
* *
|
|
* 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.
|
|
*
|
|
* Trimesh data.
|
|
* This is where the actual vertexdata (pointers), and BV tree is stored.
|
|
* Vertices should be single precision!
|
|
* This should be more sophisticated, so that the user can easyly implement
|
|
* another collision library, but this is a lot of work, and also costs some
|
|
* performance because some data has to be copied.
|
|
*/
|
|
|
|
#ifndef _ODE_COLLISION_TRIMESH_H_
|
|
#define _ODE_COLLISION_TRIMESH_H_
|
|
|
|
#ifdef __cplusplus
|
|
extern "C" {
|
|
#endif
|
|
|
|
/*
|
|
* Data storage for triangle meshes.
|
|
*/
|
|
struct dxTriMeshData;
|
|
typedef struct dxTriMeshData* dTriMeshDataID;
|
|
|
|
/*
|
|
* These dont make much sense now, but they will later when we add more
|
|
* features.
|
|
*/
|
|
ODE_API dTriMeshDataID dGeomTriMeshDataCreate(void);
|
|
ODE_API void dGeomTriMeshDataDestroy(dTriMeshDataID g);
|
|
|
|
|
|
|
|
enum { TRIMESH_FACE_NORMALS };
|
|
ODE_API void dGeomTriMeshDataSet(dTriMeshDataID g, int data_id, void* in_data);
|
|
ODE_API void* dGeomTriMeshDataGet(dTriMeshDataID g, int data_id);
|
|
|
|
|
|
|
|
/**
|
|
* We need to set the last transform after each time step for
|
|
* accurate collision response. These functions get and set that transform.
|
|
* It is stored per geom instance, rather than per dTriMeshDataID.
|
|
*/
|
|
ODE_API void dGeomTriMeshSetLastTransform( dGeomID g, dMatrix4 last_trans );
|
|
ODE_API dReal* dGeomTriMeshGetLastTransform( dGeomID g );
|
|
|
|
/*
|
|
* Build TriMesh data with single precision used in vertex data .
|
|
*/
|
|
ODE_API void dGeomTriMeshDataBuildSingle(dTriMeshDataID g,
|
|
const void* Vertices, int VertexStride, int VertexCount,
|
|
const void* Indices, int IndexCount, int TriStride);
|
|
/* same again with a normals array (used as trimesh-trimesh optimization) */
|
|
ODE_API void dGeomTriMeshDataBuildSingle1(dTriMeshDataID g,
|
|
const void* Vertices, int VertexStride, int VertexCount,
|
|
const void* Indices, int IndexCount, int TriStride,
|
|
const void* Normals);
|
|
/*
|
|
* Build TriMesh data with double pricision used in vertex data .
|
|
*/
|
|
ODE_API void dGeomTriMeshDataBuildDouble(dTriMeshDataID g,
|
|
const void* Vertices, int VertexStride, int VertexCount,
|
|
const void* Indices, int IndexCount, int TriStride);
|
|
/* same again with a normals array (used as trimesh-trimesh optimization) */
|
|
ODE_API void dGeomTriMeshDataBuildDouble1(dTriMeshDataID g,
|
|
const void* Vertices, int VertexStride, int VertexCount,
|
|
const void* Indices, int IndexCount, int TriStride,
|
|
const void* Normals);
|
|
|
|
/*
|
|
* Simple build. Single/double precision based on dSINGLE/dDOUBLE!
|
|
*/
|
|
ODE_API void dGeomTriMeshDataBuildSimple(dTriMeshDataID g,
|
|
const dReal* Vertices, int VertexCount,
|
|
const int* Indices, int IndexCount);
|
|
/* same again with a normals array (used as trimesh-trimesh optimization) */
|
|
ODE_API void dGeomTriMeshDataBuildSimple1(dTriMeshDataID g,
|
|
const dReal* Vertices, int VertexCount,
|
|
const int* Indices, int IndexCount,
|
|
const int* Normals);
|
|
|
|
/* Preprocess the trimesh data to remove mark unnecessary edges and vertices */
|
|
ODE_API void dGeomTriMeshDataPreprocess(dTriMeshDataID g);
|
|
/* Get and set the internal preprocessed trimesh data buffer, for loading and saving */
|
|
ODE_API void dGeomTriMeshDataGetBuffer(dTriMeshDataID g, unsigned char** buf, int* bufLen);
|
|
ODE_API void dGeomTriMeshDataSetBuffer(dTriMeshDataID g, unsigned char* buf);
|
|
|
|
|
|
/*
|
|
* Per triangle callback. Allows the user to say if he wants a collision with
|
|
* a particular triangle.
|
|
*/
|
|
typedef int dTriCallback(dGeomID TriMesh, dGeomID RefObject, int TriangleIndex);
|
|
ODE_API void dGeomTriMeshSetCallback(dGeomID g, dTriCallback* Callback);
|
|
ODE_API dTriCallback* dGeomTriMeshGetCallback(dGeomID g);
|
|
|
|
/*
|
|
* Per object callback. Allows the user to get the list of triangles in 1
|
|
* shot. Maybe we should remove this one.
|
|
*/
|
|
typedef void dTriArrayCallback(dGeomID TriMesh, dGeomID RefObject, const int* TriIndices, int TriCount);
|
|
ODE_API void dGeomTriMeshSetArrayCallback(dGeomID g, dTriArrayCallback* ArrayCallback);
|
|
ODE_API dTriArrayCallback* dGeomTriMeshGetArrayCallback(dGeomID g);
|
|
|
|
/*
|
|
* Ray callback.
|
|
* Allows the user to say if a ray collides with a triangle on barycentric
|
|
* coords. The user can for example sample a texture with alpha transparency
|
|
* to determine if a collision should occur.
|
|
*/
|
|
typedef int dTriRayCallback(dGeomID TriMesh, dGeomID Ray, int TriangleIndex, dReal u, dReal v);
|
|
ODE_API void dGeomTriMeshSetRayCallback(dGeomID g, dTriRayCallback* Callback);
|
|
ODE_API dTriRayCallback* dGeomTriMeshGetRayCallback(dGeomID g);
|
|
|
|
/*
|
|
* Trimesh class
|
|
* Construction. Callbacks are optional.
|
|
*/
|
|
ODE_API dGeomID dCreateTriMesh(dSpaceID space, dTriMeshDataID Data, dTriCallback* Callback, dTriArrayCallback* ArrayCallback, dTriRayCallback* RayCallback);
|
|
|
|
ODE_API void dGeomTriMeshSetData(dGeomID g, dTriMeshDataID Data);
|
|
ODE_API dTriMeshDataID dGeomTriMeshGetData(dGeomID g);
|
|
|
|
|
|
// enable/disable/check temporal coherence
|
|
ODE_API void dGeomTriMeshEnableTC(dGeomID g, int geomClass, int enable);
|
|
ODE_API int dGeomTriMeshIsTCEnabled(dGeomID g, int geomClass);
|
|
|
|
/*
|
|
* Clears the internal temporal coherence caches. When a geom has its
|
|
* collision checked with a trimesh once, data is stored inside the trimesh.
|
|
* With large worlds with lots of seperate objects this list could get huge.
|
|
* We should be able to do this automagically.
|
|
*/
|
|
ODE_API void dGeomTriMeshClearTCCache(dGeomID g);
|
|
|
|
|
|
/*
|
|
* returns the TriMeshDataID
|
|
*/
|
|
ODE_API dTriMeshDataID dGeomTriMeshGetTriMeshDataID(dGeomID g);
|
|
|
|
/*
|
|
* Gets a triangle.
|
|
*/
|
|
ODE_API void dGeomTriMeshGetTriangle(dGeomID g, int Index, dVector3* v0, dVector3* v1, dVector3* v2);
|
|
|
|
/*
|
|
* Gets the point on the requested triangle and the given barycentric
|
|
* coordinates.
|
|
*/
|
|
ODE_API void dGeomTriMeshGetPoint(dGeomID g, int Index, dReal u, dReal v, dVector3 Out);
|
|
|
|
/*
|
|
|
|
This is how the strided data works:
|
|
|
|
struct StridedVertex{
|
|
dVector3 Vertex;
|
|
// Userdata
|
|
};
|
|
int VertexStride = sizeof(StridedVertex);
|
|
|
|
struct StridedTri{
|
|
int Indices[3];
|
|
// Userdata
|
|
};
|
|
int TriStride = sizeof(StridedTri);
|
|
|
|
*/
|
|
|
|
|
|
ODE_API int dGeomTriMeshGetTriangleCount (dGeomID g);
|
|
|
|
ODE_API void dGeomTriMeshDataUpdate(dTriMeshDataID g);
|
|
|
|
#ifdef __cplusplus
|
|
}
|
|
#endif
|
|
|
|
#endif /* _ODE_COLLISION_TRIMESH_H_ */
|
|
|