[216] | 1 | #ifndef GIM_TRIMESH_H_INCLUDED |
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| 2 | #define GIM_TRIMESH_H_INCLUDED |
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| 3 | /*! \file gim_trimesh.h |
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| 4 | \author Francisco León |
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| 5 | */ |
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| 6 | /* |
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| 7 | ----------------------------------------------------------------------------- |
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| 8 | This source file is part of GIMPACT Library. |
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| 9 | |
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| 10 | For the latest info, see http://gimpact.sourceforge.net/ |
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| 11 | |
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| 12 | Copyright (c) 2006 Francisco Leon. C.C. 80087371. |
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| 13 | email: projectileman@yahoo.com |
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| 14 | |
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| 15 | This library is free software; you can redistribute it and/or |
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| 16 | modify it under the terms of EITHER: |
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| 17 | (1) The GNU Lesser General Public License as published by the Free |
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| 18 | Software Foundation; either version 2.1 of the License, or (at |
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| 19 | your option) any later version. The text of the GNU Lesser |
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| 20 | General Public License is included with this library in the |
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| 21 | file GIMPACT-LICENSE-LGPL.TXT. |
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| 22 | (2) The BSD-style license that is included with this library in |
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| 23 | the file GIMPACT-LICENSE-BSD.TXT. |
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| 24 | |
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| 25 | This library is distributed in the hope that it will be useful, |
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| 26 | but WITHOUT ANY WARRANTY; without even the implied warranty of |
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| 27 | MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the files |
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| 28 | GIMPACT-LICENSE-LGPL.TXT and GIMPACT-LICENSE-BSD.TXT for more details. |
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| 29 | |
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| 30 | ----------------------------------------------------------------------------- |
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| 31 | */ |
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| 32 | |
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| 33 | #include "GIMPACT/gim_boxpruning.h" |
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| 34 | #include "GIMPACT/gim_contact.h" |
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| 35 | |
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| 36 | |
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| 37 | ///MAsk defines |
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| 38 | #define GIM_TRIMESH_TRANSFORMED_REPLY 1 |
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| 39 | #define GIM_TRIMESH_NEED_UPDATE 2 |
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| 40 | |
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| 41 | /*! \addtogroup TRIMESH |
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| 42 | \brief |
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| 43 | A Trimesh is the basic geometric structure for representing solid objects. |
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| 44 | <p><strong>CREATING TRIMESHES</strong></p> |
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| 45 | <ul> |
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| 46 | <li> For creating trimeshes, you must initialize Buffer managers by calling \ref gimpact_init |
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| 47 | <li> Then you must define the vertex and index sources by creating them with \ref BUFFER_ARRAYS routines, and then call \ref gim_trimesh_create_from_arrays. |
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| 48 | <li> An alternative way for creaing trimesh objects is calling \ref gim_trimesh_create_from_data. |
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| 49 | <li> For access to the trimesh data (vertices, triangle indices), you must call \ref gim_trimesh_locks_work_data , and \ref gim_trimesh_unlocks_work_data for finish the access. |
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| 50 | <li> Each time when the trimesh data is modified, you must call \ref gim_trimesh_update after. |
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| 51 | <li> When a trimesh is no longer needed, you must call \ref gim_trimesh_destroy. |
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| 52 | </ul> |
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| 53 | |
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| 54 | <p>This is an example of how to create a deformable trimesh that shares vertices with the user application:</p> |
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| 55 | \code |
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| 56 | //Declaration of vertices |
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| 57 | vec3f trimeshvertices[200]; |
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| 58 | //Declaration of indices |
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| 59 | GUINT trimeshindices[100]; |
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| 60 | |
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| 61 | ... Initializing vertices and triangle indices at beginning |
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| 62 | |
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| 63 | //Then create trimesh |
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| 64 | GIM_TRIMESH mytrimesh; |
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| 65 | |
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| 66 | //Calling trimesh create function |
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| 67 | |
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| 68 | gim_trimesh_create_from_data( |
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| 69 | &mytrimesh, |
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| 70 | trimeshvertices,200, |
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| 71 | 0 ,//copy_vertices is 0 |
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| 72 | trimeshindices, |
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| 73 | 100, |
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| 74 | 0, //copy_indices is 0 |
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| 75 | 0 //transformed_reply is 0 |
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| 76 | ); |
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| 77 | \endcode |
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| 78 | <p>Note that parameter transformed_reply is 0, that means that m_transformed_vertex_buffer is a reference to m_source_vertex on the trimesh, and transformations are not avaliable. Use that configuration if you have to simulate a deformable trimesh like cloth or elastic bodies.</p> |
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| 79 | <p>When the trimesh is no longer needed, destroy it safely with gim_trimesh_destroy()</p> |
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| 80 | <p><strong>UPDATING TRIMESHES</strong></p> |
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| 81 | <p>On simulation loops, is needed to update trimeshes every time for update vertices althought updating triangle boxes and planes cache. There is two ways for update trimeshes: </p> |
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| 82 | <ul> |
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| 83 | <li> Updating vertices directly. You need to access to the \ref GIM_TRIMESH.m_source_vertex_buffer member; a vertex buffer which has access to the source vertices. |
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| 84 | \code |
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| 85 | // Access to the source vertices |
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| 86 | gim_buffer_array_lock(&mytrimesh.m_source_vertex_buffer, G_MA_READ_WRITE); |
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| 87 | |
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| 88 | //Get a pointer to the vertex buffer |
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| 89 | vec3f * vertexpointer = GIM_BUFFER_ARRAY_POINTER(vec3f,mytrimesh.m_source_vertex_buffer,0); |
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| 90 | |
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| 91 | //Get the amount of vertices |
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| 92 | int veccount = mytrimesh.m_source_vertex_buffer.m_element_count; |
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| 93 | |
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| 94 | //Modify vertices |
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| 95 | for (int i=0;i<veccount ;i++ ) |
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| 96 | { |
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| 97 | ..... |
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| 98 | ..... |
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| 99 | processing vertices |
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| 100 | ..... |
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| 101 | ..... |
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| 102 | } |
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| 103 | |
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| 104 | // Don't forget to unlock the source vertex array |
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| 105 | gim_buffer_array_unlock(&mytrimesh.m_source_vertex_buffer); |
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| 106 | |
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| 107 | // Notify that the state of the trimesh is changed |
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| 108 | gim_trimesh_post_update(&mytrimesh.m_source_vertex_buffer); |
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| 109 | |
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| 110 | \endcode |
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| 111 | For making trimeshes that allow to update their vertices, use \ref gim_trimesh_create_from_data with parameter <strong>transformed_reply</strong> = 0. |
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| 112 | </ul> |
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| 113 | <ul> |
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| 114 | <li> Aplying a transformation. Simply use \ref gim_trimesh_set_tranform . Remember that with this method trimeshes must be created with \ref gim_trimesh_create_from_data with parameter <strong>transformed_reply</strong> = 1. |
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| 115 | </ul> |
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| 116 | <p> After updating vertices, you must call \ref gim_trimesh_update()</p> |
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| 117 | <p><strong>TRIMESHES COLLISION</strong></p> |
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| 118 | <p>Before collide trimeshes, you need to update them first.</p> |
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| 119 | <p>Then you must use \ref gim_trimesh_trimesh_collision().</p> |
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| 120 | |
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| 121 | */ |
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| 122 | //! @{ |
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| 123 | |
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| 124 | //! Prototype for updating vertices |
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| 125 | typedef void * gim_update_trimesh_function(struct _GIM_TRIMESH *); |
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| 126 | |
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| 127 | //! Trimesh |
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| 128 | struct GIM_TRIMESH |
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| 129 | { |
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| 130 | ///Original |
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| 131 | //@{ |
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| 132 | GBUFFER_ARRAY m_source_vertex_buffer;//!< Buffer of vec3f coordinates |
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| 133 | |
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| 134 | //! (GUINT) Indices of triangles,groups of three elements. |
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| 135 | /*! |
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| 136 | Array of GUINT. Triangle indices. Each triple contains indices of the vertices for each triangle. |
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| 137 | \invariant must be aligned |
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| 138 | */ |
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| 139 | GBUFFER_ARRAY m_tri_index_buffer; |
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| 140 | //@} |
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| 141 | ///Allocated |
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| 142 | //@{ |
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| 143 | char m_mask;//!< Don't use directly |
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| 144 | |
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| 145 | //! Allocated transformed vertices vec3f |
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| 146 | /*! |
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| 147 | Array of vec3f.If gim_trimesh_has_tranformed_reply(this) == 1 then it refers to the m_source_vertex_buffer |
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| 148 | \invariant must be aligned |
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| 149 | */ |
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| 150 | GBUFFER_ARRAY m_transformed_vertex_buffer; |
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| 151 | //@} |
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| 152 | ///Auxiliary data |
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| 153 | //@{ |
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| 154 | GIM_AABB_SET m_aabbset; |
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| 155 | GDYNAMIC_ARRAY m_planes_cache_buffer;//! Allocated GIM_TRIPLANES_CACHE |
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| 156 | GDYNAMIC_ARRAY m_planes_cache_bitset; |
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| 157 | gim_update_trimesh_function * m_update_callback;//! If null, then m_transform is applied. |
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| 158 | mat4f m_transform; |
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| 159 | //@} |
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| 160 | }; |
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| 161 | //typedef struct _GIM_TRIMESH GIM_TRIMESH; |
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| 162 | |
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| 163 | /// Info about mesh |
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| 164 | //! Return the trimesh triangle count |
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| 165 | GUINT gim_trimesh_get_triangle_count(GIM_TRIMESH * trimesh); |
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| 166 | |
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| 167 | //! Returns 1 if the m_transformed_vertex_buffer is a reply of m_source_vertex_buffer |
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| 168 | char gim_trimesh_has_tranformed_reply(GIM_TRIMESH * trimesh); |
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| 169 | |
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| 170 | //! Returns 1 if the trimesh needs to update their aabbset and the planes cache. |
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| 171 | char gim_trimesh_needs_update(GIM_TRIMESH * trimesh); |
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| 172 | |
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| 173 | //! Change the state of the trimesh for force it to update |
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| 174 | /*! |
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| 175 | Call it after made changes to the trimesh. |
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| 176 | \post gim_trimesh_need_update(trimesh) will return 1 |
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| 177 | \sa gim_trimesh_needs_update,gim_trimesh_has_tranformed_reply |
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| 178 | */ |
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| 179 | void gim_trimesh_post_update(GIM_TRIMESH * trimesh); |
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| 180 | |
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| 181 | //! Creates the aabb set and the triangles cache |
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| 182 | /*! |
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| 183 | |
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| 184 | \param trimesh |
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| 185 | \param vertex_array |
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| 186 | \param triindex_array |
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| 187 | \param transformed_reply If 1, then the m_transformed_vertices is a reply of the source vertices. Else it just be a reference to the original array. |
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| 188 | \post it copies the arrays by reference, and creates the auxiliary data (m_aabbset,m_planes_cache_buffer) |
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| 189 | */ |
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| 190 | void gim_trimesh_create_from_arrays(GIM_TRIMESH * trimesh, GBUFFER_ARRAY * vertex_array, GBUFFER_ARRAY * triindex_array,char transformed_reply); |
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| 191 | |
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| 192 | |
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| 193 | |
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| 194 | //! Create a trimesh from vertex array and an index array |
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| 195 | /*! |
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| 196 | \param trimesh An uninitialized GIM_TRIMESH structure |
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| 197 | \param vertex_array A buffer to a vec3f array |
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| 198 | \param vertex_count |
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| 199 | \param triindex_array |
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| 200 | \param index_count |
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| 201 | \param copy_vertices If 1, it copies the source vertices in another buffer. Else (0) it constructs a reference to the data. |
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| 202 | \param copy_indices If 1, it copies the source vertices in another buffer. Else (0) it constructs a reference to the data. |
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| 203 | \param transformed_reply If 1, then the m_transformed_vertices is a reply of the source vertices. Else it just be a reference to the original array. Use 1 if you will apply transformations to the trimesh. See \ref gim_trimesh_set_tranform(). |
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| 204 | */ |
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| 205 | void gim_trimesh_create_from_data(GIM_TRIMESH * trimesh, vec3f * vertex_array, GUINT vertex_count,char copy_vertices, GUINT * triindex_array, GUINT index_count,char copy_indices,char transformed_reply); |
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| 206 | |
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| 207 | //! Clears auxiliary data and releases buffer arrays |
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| 208 | void gim_trimesh_destroy(GIM_TRIMESH * trimesh); |
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| 209 | |
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| 210 | //! Copies two meshes |
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| 211 | /*! |
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| 212 | \param source_trimesh |
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| 213 | \param dest_trimesh |
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| 214 | \param copy_by_reference If 1, it attach a reference to the source vertices, else it copies the vertices |
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| 215 | \param transformed_reply If 1, transformed vertices are reply of source vertives. 1 Is recommended |
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| 216 | */ |
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| 217 | void gim_trimesh_copy(GIM_TRIMESH * source_trimesh,GIM_TRIMESH * dest_trimesh, char copy_by_reference, char transformed_reply); |
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| 218 | |
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| 219 | |
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| 220 | //! Locks the trimesh for working with it |
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| 221 | /*! |
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| 222 | \post locks m_tri_index_buffer and m_transformed_vertex_buffer. |
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| 223 | \param trimesh |
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| 224 | */ |
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| 225 | void gim_trimesh_locks_work_data(GIM_TRIMESH * trimesh); |
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| 226 | |
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| 227 | |
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| 228 | //! unlocks the trimesh |
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| 229 | /*! |
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| 230 | \post unlocks m_tri_index_buffer and m_transformed_vertex_buffer. |
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| 231 | \param trimesh |
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| 232 | */ |
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| 233 | void gim_trimesh_unlocks_work_data(GIM_TRIMESH * trimesh); |
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| 234 | |
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| 235 | //! Updates m_transformed_vertex_buffer |
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| 236 | /*! |
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| 237 | \pre m_transformed_vertex_buffer must be unlocked |
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| 238 | */ |
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| 239 | void gim_trimesh_update_vertices(GIM_TRIMESH * trimesh); |
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| 240 | |
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| 241 | //! Updates m_aabbset and m_planes_cache_bitset |
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| 242 | /*! |
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| 243 | \pre gim_trimesh_locks_work_data must be called before |
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| 244 | */ |
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| 245 | void gim_trimesh_update_aabbset(GIM_TRIMESH * trimesh); |
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| 246 | |
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| 247 | //! Calls before perfom collisions. Updates the trimesh if needed |
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| 248 | /*! |
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| 249 | \post If gim_trimesh_needs_update returns 1, then it calls gim_trimesh_update_vertices and gim_trimesh_update_aabbset |
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| 250 | */ |
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| 251 | void gim_trimesh_update(GIM_TRIMESH * trimesh); |
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| 252 | |
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| 253 | //! Set the transform of a trimesh |
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| 254 | /*! |
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| 255 | \post This function calls to gim_trimesh_post_update |
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| 256 | */ |
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| 257 | void gim_trimesh_set_tranform(GIM_TRIMESH * trimesh, mat4f transform); |
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| 258 | |
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| 259 | //! Fetch triangle data |
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| 260 | /*! |
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| 261 | \pre gim_trimesh_locks_work_data must be called before |
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| 262 | */ |
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| 263 | void gim_trimesh_get_triangle_data(GIM_TRIMESH * trimesh, GUINT triangle_index, GIM_TRIANGLE_DATA * tri_data); |
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| 264 | |
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| 265 | //! Fetch triangle vertices |
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| 266 | /*! |
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| 267 | \pre gim_trimesh_locks_work_data must be called before |
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| 268 | */ |
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| 269 | void gim_trimesh_get_triangle_vertices(GIM_TRIMESH * trimesh, GUINT triangle_index, vec3f v1,vec3f v2,vec3f v3); |
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| 270 | |
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| 271 | //! Trimesh Trimesh Collisions |
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| 272 | /*! |
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| 273 | Before use this function you must update each trimesh: |
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| 274 | \code |
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| 275 | gim_trimesh_update(TriMesh1); |
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| 276 | gim_trimesh_update(TriMesh2); |
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| 277 | \endcode |
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| 278 | Then you must use the trimesh collision in this way: |
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| 279 | \code |
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| 280 | int collide_trimeshes(GIM_TRIMESH * TriMesh1, GIM_TRIMESH * TriMesh2) |
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| 281 | { |
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| 282 | //Create contact list |
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| 283 | GDYNAMIC_ARRAY trimeshcontacts; |
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| 284 | GIM_CREATE_CONTACT_LIST(trimeshcontacts); |
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| 285 | |
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| 286 | //Collide trimeshes |
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| 287 | gim_trimesh_trimesh_collision(TriMesh1,TriMesh2,&trimeshcontacts); |
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| 288 | |
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| 289 | if(trimeshcontacts.m_size == 0) //do nothing |
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| 290 | { |
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| 291 | GIM_DYNARRAY_DESTROY(trimeshcontacts);//clean contact array |
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| 292 | return 0; |
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| 293 | } |
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| 294 | |
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| 295 | //Getting a pointer to the contact array |
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| 296 | GIM_CONTACT * ptrimeshcontacts = GIM_DYNARRAY_POINTER(GIM_CONTACT,trimeshcontacts); |
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| 297 | |
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| 298 | int contactcount = trimeshcontacts.m_size; |
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| 299 | int i; |
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| 300 | //Process contacts |
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| 301 | for (i=0;i<contactcount ;i++) |
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| 302 | { |
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| 303 | //Do something with the contact (ptrimeshcontacts) |
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| 304 | ...... |
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| 305 | ...... |
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| 306 | // Like creating joints or anything else |
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| 307 | ...... |
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| 308 | ...... |
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| 309 | ptrimeshcontacts++; |
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| 310 | } |
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| 311 | GIM_DYNARRAY_DESTROY(trimeshcontacts); |
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| 312 | return contactcount; |
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| 313 | } |
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| 314 | \endcode |
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| 315 | In each contact |
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| 316 | <ul> |
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| 317 | <li> m_handle1 points to trimesh1. |
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| 318 | <li> m_handle2 points to trimesh2. |
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| 319 | <li> m_feature1 Is a triangle index of trimesh1. |
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| 320 | <li> m_feature2 Is a triangle index of trimesh2. |
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| 321 | </ul> |
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| 322 | |
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| 323 | \param trimesh1 Collider |
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| 324 | \param trimesh2 Collidee |
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| 325 | \param contacts A GIM_CONTACT array. Must be initialized |
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| 326 | */ |
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| 327 | void gim_trimesh_trimesh_collision(GIM_TRIMESH * trimesh1, GIM_TRIMESH * trimesh2, GDYNAMIC_ARRAY * contacts); |
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| 328 | |
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| 329 | |
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| 330 | //! Trimesh Sphere Collisions |
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| 331 | /*! |
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| 332 | Before use this function you must update the trimesh: |
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| 333 | \code |
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| 334 | gim_trimesh_update(trimesh); |
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| 335 | \endcode |
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| 336 | Then you must use this function in this way: |
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| 337 | \code |
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| 338 | int collide_trimesh_sphere(GIM_TRIMESH * trimesh, vec3f center,GREAL radius) |
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| 339 | { |
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| 340 | //Create contact list |
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| 341 | GDYNAMIC_ARRAY trimeshcontacts; |
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| 342 | GIM_CREATE_CONTACT_LIST(trimeshcontacts); |
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| 343 | |
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| 344 | //Collide trimeshes |
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| 345 | gim_trimesh_sphere_collision(trimesh,center,radius,&trimeshcontacts); |
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| 346 | |
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| 347 | if(trimeshcontacts.m_size == 0) //do nothing |
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| 348 | { |
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| 349 | GIM_DYNARRAY_DESTROY(trimeshcontacts);//clean contact array |
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| 350 | return 0; |
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| 351 | } |
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| 352 | |
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| 353 | //Getting a pointer to the contact array |
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| 354 | GIM_CONTACT * ptrimeshcontacts = GIM_DYNARRAY_POINTER(GIM_CONTACT,trimeshcontacts); |
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| 355 | |
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| 356 | int contactcount = trimeshcontacts.m_size; |
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| 357 | int i; |
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| 358 | //Process contacts |
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| 359 | for (i=0;i<contactcount ;i++) |
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| 360 | { |
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| 361 | //Do something with the contact (ptrimeshcontacts) |
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| 362 | ...... |
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| 363 | ...... |
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| 364 | // Like creating joints or anything else |
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| 365 | ...... |
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| 366 | ...... |
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| 367 | ptrimeshcontacts++; |
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| 368 | } |
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| 369 | GIM_DYNARRAY_DESTROY(trimeshcontacts); |
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| 370 | return contactcount; |
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| 371 | } |
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| 372 | \endcode |
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| 373 | |
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| 374 | In each contact |
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| 375 | <ul> |
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| 376 | <li> m_handle1 points to trimesh. |
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| 377 | <li> m_handle2 points to NULL. |
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| 378 | <li> m_feature1 Is a triangle index of trimesh. |
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| 379 | </ul> |
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| 380 | |
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| 381 | \param trimesh |
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| 382 | \param center |
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| 383 | \param radius |
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| 384 | \param contacts A GIM_CONTACT array. Must be initialized |
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| 385 | */ |
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| 386 | void gim_trimesh_sphere_collision(GIM_TRIMESH * trimesh,vec3f center,GREAL radius, GDYNAMIC_ARRAY * contacts); |
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| 387 | |
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| 388 | |
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| 389 | //! Trimesh Capsule collision |
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| 390 | /*! |
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| 391 | Find the closest primitive collided by the ray. |
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| 392 | |
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| 393 | Before use this function you must update the trimesh: |
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| 394 | \code |
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| 395 | gim_trimesh_update(trimesh); |
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| 396 | \endcode |
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| 397 | Then you must use this function in this way: |
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| 398 | \code |
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| 399 | int collide_trimesh_capsule(GIM_TRIMESH * trimesh, GIM_CAPSULE_DATA * capsule) |
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| 400 | { |
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| 401 | //Create contact list |
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| 402 | GDYNAMIC_ARRAY trimeshcontacts; |
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| 403 | GIM_CREATE_CONTACT_LIST(trimeshcontacts); |
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| 404 | |
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| 405 | //Collide trimeshes |
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| 406 | gim_trimesh_capsule_collision(trimesh,capsule,&trimeshcontacts); |
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| 407 | |
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| 408 | if(trimeshcontacts.m_size == 0) //do nothing |
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| 409 | { |
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| 410 | GIM_DYNARRAY_DESTROY(trimeshcontacts);//clean contact array |
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| 411 | return 0; |
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| 412 | } |
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| 413 | |
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| 414 | //Getting a pointer to the contact array |
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| 415 | GIM_CONTACT * ptrimeshcontacts = GIM_DYNARRAY_POINTER(GIM_CONTACT,trimeshcontacts); |
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| 416 | |
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| 417 | int contactcount = trimeshcontacts.m_size; |
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| 418 | int i; |
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| 419 | //Process contacts |
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| 420 | for (i=0;i<contactcount ;i++) |
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| 421 | { |
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| 422 | //Do something with the contact (ptrimeshcontacts) |
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| 423 | ...... |
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| 424 | ...... |
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| 425 | // Like creating joints or anything else |
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| 426 | ...... |
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| 427 | ...... |
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| 428 | ptrimeshcontacts++; |
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| 429 | } |
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| 430 | GIM_DYNARRAY_DESTROY(trimeshcontacts); |
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| 431 | return contactcount; |
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| 432 | } |
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| 433 | \endcode |
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| 434 | |
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| 435 | In each contact |
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| 436 | <ul> |
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| 437 | <li> m_handle1 points to trimesh. |
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| 438 | <li> m_handle2 points to NULL. |
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| 439 | <li> m_feature1 Is a triangle index of trimesh. |
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| 440 | </ul> |
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| 441 | |
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| 442 | \param trimesh |
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| 443 | \param capsule |
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| 444 | \param contacts A GIM_CONTACT array. Must be initialized |
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| 445 | */ |
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| 446 | void gim_trimesh_capsule_collision(GIM_TRIMESH * trimesh, GIM_CAPSULE_DATA * capsule, GDYNAMIC_ARRAY * contacts); |
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| 447 | |
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| 448 | |
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| 449 | ///Function for create Trimesh Plane collision result |
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| 450 | #define GIM_CREATE_TRIMESHPLANE_CONTACTS(dynarray) GIM_DYNARRAY_CREATE(vec4f,dynarray,G_ARRAY_GROW_SIZE) |
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| 451 | |
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| 452 | //! Trimesh Plane Collisions |
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| 453 | /*! |
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| 454 | |
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| 455 | Before use this function you must update the trimesh: |
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| 456 | \code |
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| 457 | gim_trimesh_update(trimesh); |
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| 458 | \endcode |
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| 459 | Then you must use this function in this way: |
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| 460 | \code |
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| 461 | int collide_trimesh_plane(GIM_TRIMESH * trimesh, vec4f plane) |
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| 462 | { |
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| 463 | //Create contact list |
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| 464 | GDYNAMIC_ARRAY tri_plane_contacts; |
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| 465 | GIM_CREATE_TRIMESHPLANE_CONTACTS(tri_plane_contacts); |
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| 466 | |
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| 467 | //Collide trimeshes |
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| 468 | gim_trimesh_plane_collision(trimesh,plane,&tri_plane_contacts); |
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| 469 | |
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| 470 | if(tri_plane_contacts.m_size == 0) //do nothing |
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| 471 | { |
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| 472 | GIM_DYNARRAY_DESTROY(tri_plane_contacts);//clean contact array |
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| 473 | return 0; |
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| 474 | } |
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| 475 | |
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| 476 | //Getting a pointer to the contact array |
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| 477 | vec4f * planecontacts = GIM_DYNARRAY_POINTER(vec4f,tri_plane_contacts); |
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| 478 | |
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| 479 | int contactcount = tri_plane_contacts.m_size; |
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| 480 | int i; |
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| 481 | //Process contacts |
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| 482 | for (i=0;i<contactcount ;i++) |
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| 483 | { |
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| 484 | vec3f contactpoint; |
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| 485 | GREAL contactdis; |
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| 486 | |
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| 487 | VEC_COPY(contactpoint,planecontacts[i]); //Get contact point |
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| 488 | contactdis = planecontacts[i][3]; // Get distance depth |
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| 489 | |
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| 490 | //Do something with the contact |
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| 491 | ...... |
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| 492 | ...... |
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| 493 | // Like creating joints or anything else |
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| 494 | ...... |
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| 495 | ...... |
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| 496 | } |
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| 497 | GIM_DYNARRAY_DESTROY(tri_plane_contacts); |
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| 498 | return contactcount; |
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| 499 | } |
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| 500 | \endcode |
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| 501 | |
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| 502 | In each contact the 3 first coordinates refers to the contact point, the fourth refers to the distance depth and the normal is the normal of the plane. |
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| 503 | |
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| 504 | \param trimesh |
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| 505 | \param plane vec4f plane |
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| 506 | \param contacts A vec4f array. Must be initialized (~100). Each element have the coordinate point in the first 3 elements, and vec4f[3] has the penetration depth. |
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| 507 | */ |
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| 508 | void gim_trimesh_plane_collision(GIM_TRIMESH * trimesh,vec4f plane, GDYNAMIC_ARRAY * contacts); |
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| 509 | |
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| 510 | |
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| 511 | //! Trimesh Ray Collisions |
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| 512 | /*! |
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| 513 | \param trimesh |
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| 514 | \param origin |
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| 515 | \param dir |
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| 516 | \param tmax |
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| 517 | \param contact |
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| 518 | \return 1 if the ray collides, else 0 |
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| 519 | */ |
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| 520 | int gim_trimesh_ray_collision(GIM_TRIMESH * trimesh,vec3f origin,vec3f dir, GREAL tmax, GIM_TRIANGLE_RAY_CONTACT_DATA * contact); |
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| 521 | |
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| 522 | |
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| 523 | //! Trimesh Ray Collisions closest |
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| 524 | /*! |
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| 525 | Find the closest primitive collided by the ray |
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| 526 | \param trimesh |
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| 527 | \param origin |
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| 528 | \param dir |
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| 529 | \param tmax |
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| 530 | \param contact |
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| 531 | \return 1 if the ray collides, else 0 |
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| 532 | */ |
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| 533 | int gim_trimesh_ray_closest_collision(GIM_TRIMESH * trimesh,vec3f origin,vec3f dir, GREAL tmax, GIM_TRIANGLE_RAY_CONTACT_DATA * contact); |
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| 534 | |
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| 535 | //! @} |
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| 536 | |
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| 537 | |
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| 538 | |
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| 539 | #endif // GIM_TRIMESH_H_INCLUDED |
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