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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