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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