1 | /************************************************************************* |
---|
2 | * * |
---|
3 | * Open Dynamics Engine, Copyright (C) 2001-2003 Russell L. Smith. * |
---|
4 | * All rights reserved. Email: russ@q12.org Web: www.q12.org * |
---|
5 | * * |
---|
6 | * This library is free software; you can redistribute it and/or * |
---|
7 | * modify it under the terms of EITHER: * |
---|
8 | * (1) The GNU Lesser General Public License as published by the Free * |
---|
9 | * Software Foundation; either version 2.1 of the License, or (at * |
---|
10 | * your option) any later version. The text of the GNU Lesser * |
---|
11 | * General Public License is included with this library in the * |
---|
12 | * file LICENSE.TXT. * |
---|
13 | * (2) The BSD-style license that is included with this library in * |
---|
14 | * the file LICENSE-BSD.TXT. * |
---|
15 | * * |
---|
16 | * This library is distributed in the hope that it will be useful, * |
---|
17 | * but WITHOUT ANY WARRANTY; without even the implied warranty of * |
---|
18 | * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the files * |
---|
19 | * LICENSE.TXT and LICENSE-BSD.TXT for more details. * |
---|
20 | * * |
---|
21 | *************************************************************************/ |
---|
22 | |
---|
23 | /* |
---|
24 | * TriMesh code by Erwin de Vries. |
---|
25 | * |
---|
26 | * Trimesh data. |
---|
27 | * This is where the actual vertexdata (pointers), and BV tree is stored. |
---|
28 | * Vertices should be single precision! |
---|
29 | * This should be more sophisticated, so that the user can easyly implement |
---|
30 | * another collision library, but this is a lot of work, and also costs some |
---|
31 | * performance because some data has to be copied. |
---|
32 | */ |
---|
33 | |
---|
34 | #ifndef _ODE_COLLISION_TRIMESH_H_ |
---|
35 | #define _ODE_COLLISION_TRIMESH_H_ |
---|
36 | |
---|
37 | #ifdef __cplusplus |
---|
38 | extern "C" { |
---|
39 | #endif |
---|
40 | |
---|
41 | /* |
---|
42 | * Data storage for triangle meshes. |
---|
43 | */ |
---|
44 | struct dxTriMeshData; |
---|
45 | typedef struct dxTriMeshData* dTriMeshDataID; |
---|
46 | |
---|
47 | /* |
---|
48 | * These dont make much sense now, but they will later when we add more |
---|
49 | * features. |
---|
50 | */ |
---|
51 | ODE_API dTriMeshDataID dGeomTriMeshDataCreate(void); |
---|
52 | ODE_API void dGeomTriMeshDataDestroy(dTriMeshDataID g); |
---|
53 | |
---|
54 | |
---|
55 | |
---|
56 | enum { TRIMESH_FACE_NORMALS }; |
---|
57 | ODE_API void dGeomTriMeshDataSet(dTriMeshDataID g, int data_id, void* in_data); |
---|
58 | ODE_API void* dGeomTriMeshDataGet(dTriMeshDataID g, int data_id); |
---|
59 | |
---|
60 | |
---|
61 | |
---|
62 | /** |
---|
63 | * We need to set the last transform after each time step for |
---|
64 | * accurate collision response. These functions get and set that transform. |
---|
65 | * It is stored per geom instance, rather than per dTriMeshDataID. |
---|
66 | */ |
---|
67 | ODE_API void dGeomTriMeshSetLastTransform( dGeomID g, dMatrix4 last_trans ); |
---|
68 | ODE_API dReal* dGeomTriMeshGetLastTransform( dGeomID g ); |
---|
69 | |
---|
70 | /* |
---|
71 | * Build TriMesh data with single precision used in vertex data . |
---|
72 | */ |
---|
73 | ODE_API void dGeomTriMeshDataBuildSingle(dTriMeshDataID g, |
---|
74 | const void* Vertices, int VertexStride, int VertexCount, |
---|
75 | const void* Indices, int IndexCount, int TriStride); |
---|
76 | /* same again with a normals array (used as trimesh-trimesh optimization) */ |
---|
77 | ODE_API void dGeomTriMeshDataBuildSingle1(dTriMeshDataID g, |
---|
78 | const void* Vertices, int VertexStride, int VertexCount, |
---|
79 | const void* Indices, int IndexCount, int TriStride, |
---|
80 | const void* Normals); |
---|
81 | /* |
---|
82 | * Build TriMesh data with double pricision used in vertex data . |
---|
83 | */ |
---|
84 | ODE_API void dGeomTriMeshDataBuildDouble(dTriMeshDataID g, |
---|
85 | const void* Vertices, int VertexStride, int VertexCount, |
---|
86 | const void* Indices, int IndexCount, int TriStride); |
---|
87 | /* same again with a normals array (used as trimesh-trimesh optimization) */ |
---|
88 | ODE_API void dGeomTriMeshDataBuildDouble1(dTriMeshDataID g, |
---|
89 | const void* Vertices, int VertexStride, int VertexCount, |
---|
90 | const void* Indices, int IndexCount, int TriStride, |
---|
91 | const void* Normals); |
---|
92 | |
---|
93 | /* |
---|
94 | * Simple build. Single/double precision based on dSINGLE/dDOUBLE! |
---|
95 | */ |
---|
96 | ODE_API void dGeomTriMeshDataBuildSimple(dTriMeshDataID g, |
---|
97 | const dReal* Vertices, int VertexCount, |
---|
98 | const int* Indices, int IndexCount); |
---|
99 | /* same again with a normals array (used as trimesh-trimesh optimization) */ |
---|
100 | ODE_API void dGeomTriMeshDataBuildSimple1(dTriMeshDataID g, |
---|
101 | const dReal* Vertices, int VertexCount, |
---|
102 | const int* Indices, int IndexCount, |
---|
103 | const int* Normals); |
---|
104 | |
---|
105 | /* Preprocess the trimesh data to remove mark unnecessary edges and vertices */ |
---|
106 | ODE_API void dGeomTriMeshDataPreprocess(dTriMeshDataID g); |
---|
107 | /* Get and set the internal preprocessed trimesh data buffer, for loading and saving */ |
---|
108 | ODE_API void dGeomTriMeshDataGetBuffer(dTriMeshDataID g, unsigned char** buf, int* bufLen); |
---|
109 | ODE_API void dGeomTriMeshDataSetBuffer(dTriMeshDataID g, unsigned char* buf); |
---|
110 | |
---|
111 | |
---|
112 | /* |
---|
113 | * Per triangle callback. Allows the user to say if he wants a collision with |
---|
114 | * a particular triangle. |
---|
115 | */ |
---|
116 | typedef int dTriCallback(dGeomID TriMesh, dGeomID RefObject, int TriangleIndex); |
---|
117 | ODE_API void dGeomTriMeshSetCallback(dGeomID g, dTriCallback* Callback); |
---|
118 | ODE_API dTriCallback* dGeomTriMeshGetCallback(dGeomID g); |
---|
119 | |
---|
120 | /* |
---|
121 | * Per object callback. Allows the user to get the list of triangles in 1 |
---|
122 | * shot. Maybe we should remove this one. |
---|
123 | */ |
---|
124 | typedef void dTriArrayCallback(dGeomID TriMesh, dGeomID RefObject, const int* TriIndices, int TriCount); |
---|
125 | ODE_API void dGeomTriMeshSetArrayCallback(dGeomID g, dTriArrayCallback* ArrayCallback); |
---|
126 | ODE_API dTriArrayCallback* dGeomTriMeshGetArrayCallback(dGeomID g); |
---|
127 | |
---|
128 | /* |
---|
129 | * Ray callback. |
---|
130 | * Allows the user to say if a ray collides with a triangle on barycentric |
---|
131 | * coords. The user can for example sample a texture with alpha transparency |
---|
132 | * to determine if a collision should occur. |
---|
133 | */ |
---|
134 | typedef int dTriRayCallback(dGeomID TriMesh, dGeomID Ray, int TriangleIndex, dReal u, dReal v); |
---|
135 | ODE_API void dGeomTriMeshSetRayCallback(dGeomID g, dTriRayCallback* Callback); |
---|
136 | ODE_API dTriRayCallback* dGeomTriMeshGetRayCallback(dGeomID g); |
---|
137 | |
---|
138 | /* |
---|
139 | * Trimesh class |
---|
140 | * Construction. Callbacks are optional. |
---|
141 | */ |
---|
142 | ODE_API dGeomID dCreateTriMesh(dSpaceID space, dTriMeshDataID Data, dTriCallback* Callback, dTriArrayCallback* ArrayCallback, dTriRayCallback* RayCallback); |
---|
143 | |
---|
144 | ODE_API void dGeomTriMeshSetData(dGeomID g, dTriMeshDataID Data); |
---|
145 | ODE_API dTriMeshDataID dGeomTriMeshGetData(dGeomID g); |
---|
146 | |
---|
147 | |
---|
148 | // enable/disable/check temporal coherence |
---|
149 | ODE_API void dGeomTriMeshEnableTC(dGeomID g, int geomClass, int enable); |
---|
150 | ODE_API int dGeomTriMeshIsTCEnabled(dGeomID g, int geomClass); |
---|
151 | |
---|
152 | /* |
---|
153 | * Clears the internal temporal coherence caches. When a geom has its |
---|
154 | * collision checked with a trimesh once, data is stored inside the trimesh. |
---|
155 | * With large worlds with lots of seperate objects this list could get huge. |
---|
156 | * We should be able to do this automagically. |
---|
157 | */ |
---|
158 | ODE_API void dGeomTriMeshClearTCCache(dGeomID g); |
---|
159 | |
---|
160 | |
---|
161 | /* |
---|
162 | * returns the TriMeshDataID |
---|
163 | */ |
---|
164 | ODE_API dTriMeshDataID dGeomTriMeshGetTriMeshDataID(dGeomID g); |
---|
165 | |
---|
166 | /* |
---|
167 | * Gets a triangle. |
---|
168 | */ |
---|
169 | ODE_API void dGeomTriMeshGetTriangle(dGeomID g, int Index, dVector3* v0, dVector3* v1, dVector3* v2); |
---|
170 | |
---|
171 | /* |
---|
172 | * Gets the point on the requested triangle and the given barycentric |
---|
173 | * coordinates. |
---|
174 | */ |
---|
175 | ODE_API void dGeomTriMeshGetPoint(dGeomID g, int Index, dReal u, dReal v, dVector3 Out); |
---|
176 | |
---|
177 | /* |
---|
178 | |
---|
179 | This is how the strided data works: |
---|
180 | |
---|
181 | struct StridedVertex{ |
---|
182 | dVector3 Vertex; |
---|
183 | // Userdata |
---|
184 | }; |
---|
185 | int VertexStride = sizeof(StridedVertex); |
---|
186 | |
---|
187 | struct StridedTri{ |
---|
188 | int Indices[3]; |
---|
189 | // Userdata |
---|
190 | }; |
---|
191 | int TriStride = sizeof(StridedTri); |
---|
192 | |
---|
193 | */ |
---|
194 | |
---|
195 | |
---|
196 | ODE_API int dGeomTriMeshGetTriangleCount (dGeomID g); |
---|
197 | |
---|
198 | ODE_API void dGeomTriMeshDataUpdate(dTriMeshDataID g); |
---|
199 | |
---|
200 | #ifdef __cplusplus |
---|
201 | } |
---|
202 | #endif |
---|
203 | |
---|
204 | #endif /* _ODE_COLLISION_TRIMESH_H_ */ |
---|
205 | |
---|