[216] | 1 | /************************************************************************* |
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| 2 | * * |
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| 3 | * Open Dynamics Engine, Copyright (C) 2001-2003 Russell L. Smith. * |
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| 4 | * All rights reserved. Email: russ@q12.org Web: www.q12.org * |
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| 5 | * * |
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| 6 | * This library is free software; you can redistribute it and/or * |
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| 7 | * modify it under the terms of EITHER: * |
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| 8 | * (1) The GNU Lesser General Public License as published by the Free * |
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| 9 | * Software Foundation; either version 2.1 of the License, or (at * |
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| 10 | * your option) any later version. The text of the GNU Lesser * |
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| 11 | * General Public License is included with this library in the * |
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| 12 | * file LICENSE.TXT. * |
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| 13 | * (2) The BSD-style license that is included with this library in * |
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| 14 | * the file LICENSE-BSD.TXT. * |
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| 15 | * * |
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| 16 | * This library is distributed in the hope that it will be useful, * |
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| 17 | * but WITHOUT ANY WARRANTY; without even the implied warranty of * |
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| 18 | * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the files * |
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| 19 | * LICENSE.TXT and LICENSE-BSD.TXT for more details. * |
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| 20 | * * |
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| 21 | *************************************************************************/ |
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| 22 | |
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| 23 | #include <ode/collision.h> |
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| 24 | #include <ode/matrix.h> |
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| 25 | #include <ode/rotation.h> |
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| 26 | #include <ode/odemath.h> |
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| 27 | |
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| 28 | #if dTRIMESH_ENABLED |
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| 29 | |
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| 30 | #include "collision_util.h" |
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| 31 | #define TRIMESH_INTERNAL |
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| 32 | #include "collision_trimesh_internal.h" |
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| 33 | |
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| 34 | #if dTRIMESH_GIMPACT |
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| 35 | |
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| 36 | void dxTriMeshData::Preprocess(){ // stub |
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| 37 | } |
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| 38 | |
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| 39 | dTriMeshDataID dGeomTriMeshDataCreate(){ |
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| 40 | return new dxTriMeshData(); |
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| 41 | } |
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| 42 | |
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| 43 | void dGeomTriMeshDataDestroy(dTriMeshDataID g){ |
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| 44 | delete g; |
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| 45 | } |
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| 46 | |
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| 47 | void dGeomTriMeshSetLastTransform( dxGeom* g, dMatrix4 last_trans ) { //stub |
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| 48 | } |
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| 49 | |
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| 50 | dReal* dGeomTriMeshGetLastTransform( dxGeom* g ) { |
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| 51 | return NULL; // stub |
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| 52 | } |
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| 53 | |
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| 54 | void dGeomTriMeshDataSet(dTriMeshDataID g, int data_id, void* in_data) { //stub |
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| 55 | } |
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| 56 | |
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| 57 | void* dGeomTriMeshDataGet(dTriMeshDataID g, int data_id) { |
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| 58 | dUASSERT(g, "argument not trimesh data"); |
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| 59 | return NULL; // stub |
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| 60 | } |
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| 61 | |
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| 62 | void dGeomTriMeshDataBuildSingle1(dTriMeshDataID g, |
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| 63 | const void* Vertices, int VertexStride, int VertexCount, |
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| 64 | const void* Indices, int IndexCount, int TriStride, |
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| 65 | const void* Normals) |
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| 66 | { |
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| 67 | dUASSERT(g, "argument not trimesh data"); |
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| 68 | dIASSERT(Vertices); |
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| 69 | dIASSERT(Indices); |
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| 70 | |
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| 71 | g->Build(Vertices, VertexStride, VertexCount, |
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| 72 | Indices, IndexCount, TriStride, |
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| 73 | Normals, |
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| 74 | true); |
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| 75 | } |
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| 76 | |
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| 77 | |
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| 78 | void dGeomTriMeshDataBuildSingle(dTriMeshDataID g, |
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| 79 | const void* Vertices, int VertexStride, int VertexCount, |
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| 80 | const void* Indices, int IndexCount, int TriStride) |
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| 81 | { |
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| 82 | dGeomTriMeshDataBuildSingle1(g, Vertices, VertexStride, VertexCount, |
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| 83 | Indices, IndexCount, TriStride, (void*)NULL); |
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| 84 | } |
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| 85 | |
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| 86 | |
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| 87 | void dGeomTriMeshDataBuildDouble1(dTriMeshDataID g, |
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| 88 | const void* Vertices, int VertexStride, int VertexCount, |
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| 89 | const void* Indices, int IndexCount, int TriStride, |
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| 90 | const void* Normals) |
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| 91 | { |
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| 92 | dUASSERT(g, "argument not trimesh data"); |
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| 93 | |
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| 94 | g->Build(Vertices, VertexStride, VertexCount, |
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| 95 | Indices, IndexCount, TriStride, |
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| 96 | Normals, |
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| 97 | false); |
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| 98 | } |
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| 99 | |
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| 100 | |
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| 101 | void dGeomTriMeshDataBuildDouble(dTriMeshDataID g, |
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| 102 | const void* Vertices, int VertexStride, int VertexCount, |
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| 103 | const void* Indices, int IndexCount, int TriStride) { |
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| 104 | dGeomTriMeshDataBuildDouble1(g, Vertices, VertexStride, VertexCount, |
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| 105 | Indices, IndexCount, TriStride, NULL); |
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| 106 | } |
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| 107 | |
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| 108 | |
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| 109 | void dGeomTriMeshDataBuildSimple1(dTriMeshDataID g, |
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| 110 | const dReal* Vertices, int VertexCount, |
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| 111 | const int* Indices, int IndexCount, |
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| 112 | const int* Normals){ |
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| 113 | #ifdef dSINGLE |
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| 114 | dGeomTriMeshDataBuildSingle1(g, |
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| 115 | Vertices, 4 * sizeof(dReal), VertexCount, |
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| 116 | Indices, IndexCount, 3 * sizeof(unsigned int), |
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| 117 | Normals); |
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| 118 | #else |
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| 119 | dGeomTriMeshDataBuildDouble1(g, Vertices, 4 * sizeof(dReal), VertexCount, |
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| 120 | Indices, IndexCount, 3 * sizeof(unsigned int), |
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| 121 | Normals); |
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| 122 | #endif |
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| 123 | } |
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| 124 | |
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| 125 | |
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| 126 | void dGeomTriMeshDataBuildSimple(dTriMeshDataID g, |
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| 127 | const dReal* Vertices, int VertexCount, |
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| 128 | const int* Indices, int IndexCount) { |
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| 129 | dGeomTriMeshDataBuildSimple1(g, |
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| 130 | Vertices, VertexCount, Indices, IndexCount, |
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| 131 | (const int*)NULL); |
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| 132 | } |
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| 133 | |
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| 134 | void dGeomTriMeshDataPreprocess(dTriMeshDataID g) |
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| 135 | { |
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| 136 | dUASSERT(g, "argument not trimesh data"); |
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| 137 | g->Preprocess(); |
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| 138 | } |
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| 139 | |
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| 140 | void dGeomTriMeshDataGetBuffer(dTriMeshDataID g, unsigned char** buf, int* bufLen) |
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| 141 | { |
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| 142 | dUASSERT(g, "argument not trimesh data"); |
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| 143 | *buf = NULL; |
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| 144 | *bufLen = 0; |
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| 145 | } |
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| 146 | |
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| 147 | void dGeomTriMeshDataSetBuffer(dTriMeshDataID g, unsigned char* buf) |
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| 148 | { |
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| 149 | dUASSERT(g, "argument not trimesh data"); |
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| 150 | // g->UseFlags = buf; |
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| 151 | } |
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| 152 | |
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| 153 | |
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| 154 | // Trimesh |
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| 155 | |
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| 156 | dxTriMesh::dxTriMesh(dSpaceID Space, dTriMeshDataID Data) : dxGeom(Space, 1){ |
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| 157 | type = dTriMeshClass; |
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| 158 | |
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| 159 | dGeomTriMeshSetData(this,Data); |
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| 160 | |
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| 161 | /* TC has speed/space 'issues' that don't make it a clear |
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| 162 | win by default on spheres/boxes. */ |
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| 163 | this->doSphereTC = true; |
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| 164 | this->doBoxTC = true; |
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| 165 | this->doCapsuleTC = true; |
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| 166 | |
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| 167 | } |
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| 168 | |
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| 169 | dxTriMesh::~dxTriMesh(){ |
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| 170 | |
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| 171 | //Terminate Trimesh |
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| 172 | gim_trimesh_destroy(&m_collision_trimesh); |
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| 173 | } |
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| 174 | |
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| 175 | |
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| 176 | void dxTriMesh::ClearTCCache(){ |
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| 177 | |
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| 178 | } |
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| 179 | |
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| 180 | |
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| 181 | int dxTriMesh::AABBTest(dxGeom* g, dReal aabb[6]){ |
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| 182 | return 1; |
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| 183 | } |
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| 184 | |
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| 185 | |
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| 186 | void dxTriMesh::computeAABB() |
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| 187 | { |
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| 188 | //update trimesh transform |
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| 189 | mat4f transform; |
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| 190 | IDENTIFY_MATRIX_4X4(transform); |
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| 191 | MakeMatrix(this, transform); |
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| 192 | gim_trimesh_set_tranform(&m_collision_trimesh,transform); |
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| 193 | |
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| 194 | //Update trimesh boxes |
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| 195 | gim_trimesh_update(&m_collision_trimesh); |
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| 196 | |
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| 197 | memcpy(aabb,&m_collision_trimesh.m_aabbset.m_global_bound,6*sizeof(GREAL)); |
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| 198 | } |
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| 199 | |
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| 200 | |
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| 201 | void dxTriMeshData::UpdateData() |
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| 202 | { |
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| 203 | // BVTree.Refit(); |
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| 204 | } |
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| 205 | |
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| 206 | |
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| 207 | dGeomID dCreateTriMesh(dSpaceID space, |
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| 208 | dTriMeshDataID Data, |
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| 209 | dTriCallback* Callback, |
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| 210 | dTriArrayCallback* ArrayCallback, |
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| 211 | dTriRayCallback* RayCallback) |
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| 212 | { |
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| 213 | dxTriMesh* Geom = new dxTriMesh(space, Data); |
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| 214 | Geom->Callback = Callback; |
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| 215 | Geom->ArrayCallback = ArrayCallback; |
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| 216 | Geom->RayCallback = RayCallback; |
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| 217 | |
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| 218 | return Geom; |
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| 219 | } |
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| 220 | |
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| 221 | void dGeomTriMeshSetCallback(dGeomID g, dTriCallback* Callback) |
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| 222 | { |
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| 223 | dUASSERT(g && g->type == dTriMeshClass, "argument not a trimesh"); |
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| 224 | ((dxTriMesh*)g)->Callback = Callback; |
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| 225 | } |
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| 226 | |
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| 227 | dTriCallback* dGeomTriMeshGetCallback(dGeomID g) |
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| 228 | { |
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| 229 | dUASSERT(g && g->type == dTriMeshClass, "argument not a trimesh"); |
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| 230 | return ((dxTriMesh*)g)->Callback; |
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| 231 | } |
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| 232 | |
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| 233 | void dGeomTriMeshSetArrayCallback(dGeomID g, dTriArrayCallback* ArrayCallback) |
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| 234 | { |
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| 235 | dUASSERT(g && g->type == dTriMeshClass, "argument not a trimesh"); |
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| 236 | ((dxTriMesh*)g)->ArrayCallback = ArrayCallback; |
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| 237 | } |
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| 238 | |
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| 239 | dTriArrayCallback* dGeomTriMeshGetArrayCallback(dGeomID g) |
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| 240 | { |
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| 241 | dUASSERT(g && g->type == dTriMeshClass, "argument not a trimesh"); |
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| 242 | return ((dxTriMesh*)g)->ArrayCallback; |
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| 243 | } |
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| 244 | |
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| 245 | void dGeomTriMeshSetRayCallback(dGeomID g, dTriRayCallback* Callback) |
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| 246 | { |
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| 247 | dUASSERT(g && g->type == dTriMeshClass, "argument not a trimesh"); |
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| 248 | ((dxTriMesh*)g)->RayCallback = Callback; |
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| 249 | } |
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| 250 | |
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| 251 | dTriRayCallback* dGeomTriMeshGetRayCallback(dGeomID g) |
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| 252 | { |
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| 253 | dUASSERT(g && g->type == dTriMeshClass, "argument not a trimesh"); |
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| 254 | return ((dxTriMesh*)g)->RayCallback; |
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| 255 | } |
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| 256 | |
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| 257 | void dGeomTriMeshSetData(dGeomID g, dTriMeshDataID Data) |
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| 258 | { |
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| 259 | dUASSERT(g && g->type == dTriMeshClass, "argument not a trimesh"); |
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| 260 | dxTriMesh* mesh = (dxTriMesh*) g; |
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| 261 | mesh->Data = Data; |
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| 262 | // I changed my data -- I know nothing about my own AABB anymore. |
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| 263 | ((dxTriMesh*)g)->gflags |= (GEOM_DIRTY|GEOM_AABB_BAD); |
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| 264 | |
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| 265 | // GIMPACT only supports stride 12, so we need to catch the error early. |
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| 266 | dUASSERT |
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| 267 | ( |
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| 268 | Data->m_VertexStride == 3*sizeof(dReal) && Data->m_TriStride == 3*sizeof(int), |
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| 269 | "Gimpact trimesh only supports a stride of 3 dReal/int\n" |
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| 270 | "This means that you cannot use dGeomTriMeshDataBuildSimple() with Gimpact.\n" |
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| 271 | "Change the stride, or use Opcode trimeshes instead.\n" |
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| 272 | ); |
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| 273 | |
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| 274 | //Create trimesh |
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| 275 | if ( Data->m_Vertices ) |
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| 276 | gim_trimesh_create_from_data |
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| 277 | ( |
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| 278 | &mesh->m_collision_trimesh, // gimpact mesh |
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| 279 | ( vec3f *)(&Data->m_Vertices[0]), // vertices |
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| 280 | Data->m_VertexCount, // nr of verts |
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| 281 | 0, // copy verts? |
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| 282 | ( GUINT *)(&Data->m_Indices[0]), // indices |
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| 283 | Data->m_TriangleCount*3, // nr of indices |
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| 284 | 0, // copy indices? |
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| 285 | 1 // transformed reply |
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| 286 | ); |
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| 287 | } |
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| 288 | |
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| 289 | dTriMeshDataID dGeomTriMeshGetData(dGeomID g) |
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| 290 | { |
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| 291 | dUASSERT(g && g->type == dTriMeshClass, "argument not a trimesh"); |
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| 292 | return ((dxTriMesh*)g)->Data; |
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| 293 | } |
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| 294 | |
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| 295 | |
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| 296 | |
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| 297 | void dGeomTriMeshEnableTC(dGeomID g, int geomClass, int enable) |
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| 298 | { |
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| 299 | dUASSERT(g && g->type == dTriMeshClass, "argument not a trimesh"); |
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| 300 | |
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| 301 | switch (geomClass) |
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| 302 | { |
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| 303 | case dSphereClass: |
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| 304 | ((dxTriMesh*)g)->doSphereTC = (1 == enable); |
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| 305 | break; |
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| 306 | case dBoxClass: |
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| 307 | ((dxTriMesh*)g)->doBoxTC = (1 == enable); |
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| 308 | break; |
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| 309 | case dCapsuleClass: |
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| 310 | // case dCCylinderClass: |
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| 311 | ((dxTriMesh*)g)->doCapsuleTC = (1 == enable); |
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| 312 | break; |
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| 313 | } |
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| 314 | } |
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| 315 | |
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| 316 | int dGeomTriMeshIsTCEnabled(dGeomID g, int geomClass) |
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| 317 | { |
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| 318 | dUASSERT(g && g->type == dTriMeshClass, "argument not a trimesh"); |
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| 319 | |
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| 320 | switch (geomClass) |
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| 321 | { |
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| 322 | case dSphereClass: |
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| 323 | if (((dxTriMesh*)g)->doSphereTC) |
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| 324 | return 1; |
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| 325 | break; |
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| 326 | case dBoxClass: |
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| 327 | if (((dxTriMesh*)g)->doBoxTC) |
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| 328 | return 1; |
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| 329 | break; |
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| 330 | case dCapsuleClass: |
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| 331 | if (((dxTriMesh*)g)->doCapsuleTC) |
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| 332 | return 1; |
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| 333 | break; |
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| 334 | } |
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| 335 | return 0; |
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| 336 | } |
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| 337 | |
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| 338 | void dGeomTriMeshClearTCCache(dGeomID g){ |
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| 339 | dUASSERT(g && g->type == dTriMeshClass, "argument not a trimesh"); |
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| 340 | |
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| 341 | dxTriMesh* Geom = (dxTriMesh*)g; |
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| 342 | Geom->ClearTCCache(); |
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| 343 | } |
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| 344 | |
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| 345 | /* |
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| 346 | * returns the TriMeshDataID |
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| 347 | */ |
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| 348 | dTriMeshDataID |
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| 349 | dGeomTriMeshGetTriMeshDataID(dGeomID g) |
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| 350 | { |
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| 351 | dxTriMesh* Geom = (dxTriMesh*) g; |
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| 352 | return Geom->Data; |
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| 353 | } |
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| 354 | |
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| 355 | // Getting data |
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| 356 | void dGeomTriMeshGetTriangle(dGeomID g, int Index, dVector3* v0, dVector3* v1, dVector3* v2) |
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| 357 | { |
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| 358 | dUASSERT(g && g->type == dTriMeshClass, "argument not a trimesh"); |
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| 359 | |
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| 360 | dxTriMesh* Geom = (dxTriMesh*)g; |
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| 361 | gim_trimesh_locks_work_data(&Geom->m_collision_trimesh); |
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| 362 | gim_trimesh_get_triangle_vertices(&Geom->m_collision_trimesh, Index, (*v0),(*v1),(*v2)); |
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| 363 | gim_trimesh_unlocks_work_data(&Geom->m_collision_trimesh); |
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| 364 | |
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| 365 | } |
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| 366 | |
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| 367 | void dGeomTriMeshGetPoint(dGeomID g, int Index, dReal u, dReal v, dVector3 Out){ |
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| 368 | dUASSERT(g && g->type == dTriMeshClass, "argument not a trimesh"); |
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| 369 | |
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| 370 | dxTriMesh* Geom = (dxTriMesh*)g; |
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| 371 | dVector3 dv[3]; |
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| 372 | gim_trimesh_locks_work_data(&Geom->m_collision_trimesh); |
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| 373 | gim_trimesh_get_triangle_vertices(&Geom->m_collision_trimesh, Index, dv[0],dv[1],dv[2]); |
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| 374 | GetPointFromBarycentric(dv, u, v, Out); |
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| 375 | gim_trimesh_unlocks_work_data(&Geom->m_collision_trimesh); |
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| 376 | } |
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| 377 | |
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| 378 | int dGeomTriMeshGetTriangleCount (dGeomID g) |
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| 379 | { |
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| 380 | dxTriMesh* Geom = (dxTriMesh*)g; |
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| 381 | return gim_trimesh_get_triangle_count(&Geom->m_collision_trimesh); |
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| 382 | } |
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| 383 | |
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| 384 | void dGeomTriMeshDataUpdate(dTriMeshDataID g) { |
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| 385 | dUASSERT(g, "argument not trimesh data"); |
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| 386 | g->UpdateData(); |
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| 387 | } |
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| 388 | |
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| 389 | |
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| 390 | // |
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| 391 | // GIMPACT TRIMESH-TRIMESH COLLIDER |
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| 392 | // |
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| 393 | |
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| 394 | int dCollideTTL(dxGeom* g1, dxGeom* g2, int Flags, dContactGeom* Contacts, int Stride) |
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| 395 | { |
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| 396 | dIASSERT (Stride >= (int)sizeof(dContactGeom)); |
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| 397 | dIASSERT (g1->type == dTriMeshClass); |
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| 398 | dIASSERT (g2->type == dTriMeshClass); |
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| 399 | dIASSERT ((Flags & NUMC_MASK) >= 1); |
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| 400 | |
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| 401 | dxTriMesh* TriMesh1 = (dxTriMesh*) g1; |
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| 402 | dxTriMesh* TriMesh2 = (dxTriMesh*) g2; |
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| 403 | //Create contact list |
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| 404 | GDYNAMIC_ARRAY trimeshcontacts; |
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| 405 | GIM_CREATE_CONTACT_LIST(trimeshcontacts); |
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| 406 | |
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| 407 | //Collide trimeshes |
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| 408 | gim_trimesh_trimesh_collision(&TriMesh1->m_collision_trimesh,&TriMesh2->m_collision_trimesh,&trimeshcontacts); |
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| 409 | |
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| 410 | if(trimeshcontacts.m_size == 0) |
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| 411 | { |
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| 412 | GIM_DYNARRAY_DESTROY(trimeshcontacts); |
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| 413 | return 0; |
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| 414 | } |
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| 415 | |
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| 416 | GIM_CONTACT * ptrimeshcontacts = GIM_DYNARRAY_POINTER(GIM_CONTACT,trimeshcontacts); |
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| 417 | |
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| 418 | |
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| 419 | unsigned contactcount = trimeshcontacts.m_size; |
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| 420 | unsigned maxcontacts = (unsigned)(Flags & NUMC_MASK); |
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| 421 | if (contactcount > maxcontacts) |
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| 422 | { |
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| 423 | contactcount = maxcontacts; |
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| 424 | } |
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| 425 | |
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| 426 | dContactGeom* pcontact; |
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| 427 | unsigned i; |
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| 428 | |
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| 429 | for (i=0;i<contactcount;i++) |
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| 430 | { |
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| 431 | pcontact = SAFECONTACT(Flags, Contacts, i, Stride); |
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| 432 | |
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| 433 | pcontact->pos[0] = ptrimeshcontacts->m_point[0]; |
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| 434 | pcontact->pos[1] = ptrimeshcontacts->m_point[1]; |
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| 435 | pcontact->pos[2] = ptrimeshcontacts->m_point[2]; |
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| 436 | pcontact->pos[3] = 1.0f; |
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| 437 | |
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| 438 | pcontact->normal[0] = ptrimeshcontacts->m_normal[0]; |
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| 439 | pcontact->normal[1] = ptrimeshcontacts->m_normal[1]; |
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| 440 | pcontact->normal[2] = ptrimeshcontacts->m_normal[2]; |
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| 441 | pcontact->normal[3] = 0; |
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| 442 | |
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| 443 | pcontact->depth = ptrimeshcontacts->m_depth; |
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| 444 | pcontact->g1 = g1; |
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| 445 | pcontact->g2 = g2; |
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| 446 | |
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| 447 | ptrimeshcontacts++; |
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| 448 | } |
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| 449 | |
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| 450 | GIM_DYNARRAY_DESTROY(trimeshcontacts); |
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| 451 | |
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| 452 | return (int)contactcount; |
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| 453 | } |
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| 454 | |
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| 455 | #endif // dTRIMESH_GIMPACT |
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| 456 | #endif // dTRIMESH_ENABLED |
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