[1919] | 1 | #include "OgreOdePrecompiledHeaders.h" |
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| 2 | #include "OgreOdeEntityInformer.h" |
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| 3 | |
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[1923] | 4 | #include <OgreEntity.h> |
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| 5 | #include <OgreSubEntity.h> |
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| 6 | #include <OgreSceneNode.h> |
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| 7 | #include <OgreSubMesh.h> |
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| 8 | #include <OgreLogManager.h> |
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| 9 | #include <OgreSkeletonInstance.h> |
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| 10 | #include <OgreBone.h> |
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[1919] | 11 | |
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| 12 | #include "OgreOdeBody.h" |
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| 13 | #include "OgreOdeGeometry.h" |
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| 14 | #include "OgreOdeMass.h" |
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| 15 | #include "OgreOdeEigenSolver.h" |
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[1923] | 16 | #include "OgreOdeTriangleMeshDataManager.h" |
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[1919] | 17 | |
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| 18 | using namespace OgreOde; |
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| 19 | using namespace Ogre; |
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| 20 | |
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| 21 | //------------------------------------------------------------------------------------------------ |
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| 22 | void EntityInformer::addVertexData(const VertexData *vertex_data, |
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| 23 | const VertexData *blended_data, |
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| 24 | const Mesh::IndexMap *indexMap) |
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| 25 | { |
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| 26 | if (!vertex_data) |
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| 27 | return; |
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| 28 | |
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| 29 | const VertexData *data = (blended_data) ? blended_data: vertex_data; |
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| 30 | |
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| 31 | const unsigned int prev_size = _vertex_count; |
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| 32 | _vertex_count += (unsigned int)data->vertexCount; |
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| 33 | |
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| 34 | Ogre::Vector3* tmp_vert = new Ogre::Vector3[_vertex_count]; |
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| 35 | if (_vertices) |
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| 36 | { |
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| 37 | memcpy(tmp_vert,_vertices,sizeof(Vector3) * prev_size); |
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| 38 | delete[] _vertices; |
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| 39 | } |
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| 40 | _vertices = tmp_vert; |
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| 41 | |
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| 42 | // Get the positional buffer element |
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| 43 | { |
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| 44 | const Ogre::VertexElement* posElem = data->vertexDeclaration->findElementBySemantic(Ogre::VES_POSITION); |
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| 45 | Ogre::HardwareVertexBufferSharedPtr vbuf = data->vertexBufferBinding->getBuffer(posElem->getSource()); |
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| 46 | const unsigned int vSize = (unsigned int)vbuf->getVertexSize(); |
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| 47 | |
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| 48 | unsigned char* vertex = static_cast<unsigned char*>(vbuf->lock(Ogre::HardwareBuffer::HBL_READ_ONLY)); |
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| 49 | float* pReal; |
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| 50 | Ogre::Vector3 * curVertices = &_vertices[prev_size]; |
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| 51 | const unsigned int vertexCount = (unsigned int)data->vertexCount; |
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| 52 | for(unsigned int j = 0; j < vertexCount; ++j) |
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| 53 | { |
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| 54 | posElem->baseVertexPointerToElement(vertex, &pReal); |
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| 55 | vertex += vSize; |
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| 56 | |
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| 57 | curVertices->x = (*pReal++); |
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| 58 | curVertices->y = (*pReal++); |
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| 59 | curVertices->z = (*pReal++); |
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| 60 | |
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| 61 | *curVertices = _transform * (*curVertices); |
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| 62 | |
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| 63 | curVertices++; |
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| 64 | } |
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| 65 | vbuf->unlock(); |
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| 66 | } |
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| 67 | |
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| 68 | // Get the bone index element |
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| 69 | if (_entity && _entity->hasSkeleton()) |
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| 70 | { |
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| 71 | |
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| 72 | Ogre::MeshPtr mesh = _entity->getMesh (); |
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| 73 | |
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| 74 | const Ogre::VertexElement* bneElem = vertex_data->vertexDeclaration->findElementBySemantic(Ogre::VES_BLEND_INDICES); |
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| 75 | assert (bneElem); |
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| 76 | { |
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| 77 | Ogre::HardwareVertexBufferSharedPtr vbuf = vertex_data->vertexBufferBinding->getBuffer(bneElem->getSource()); |
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| 78 | const unsigned int vSize = (unsigned int)vbuf->getVertexSize(); |
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| 79 | unsigned char* vertex = static_cast<unsigned char*>(vbuf->lock(Ogre::HardwareBuffer::HBL_READ_ONLY)); |
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| 80 | |
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| 81 | unsigned char* pBone; |
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| 82 | |
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| 83 | if (!_bone_mapping) |
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| 84 | _bone_mapping = new BoneMapping(); |
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| 85 | BoneMapping::iterator i; |
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| 86 | |
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| 87 | Ogre::Vector3 * curVertices = &_vertices[prev_size]; |
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| 88 | |
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| 89 | const unsigned int vertexCount = (unsigned int)vertex_data->vertexCount; |
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| 90 | for(unsigned int j = 0; j < vertexCount; ++j) |
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| 91 | { |
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| 92 | bneElem->baseVertexPointerToElement(vertex, &pBone); |
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| 93 | vertex += vSize; |
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| 94 | |
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| 95 | const unsigned char currBone = (indexMap) ? (*indexMap)[*pBone] : *pBone; |
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| 96 | i = _bone_mapping->find (currBone); |
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| 97 | Vector3Array* l = 0; |
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| 98 | if (i == _bone_mapping->end()) |
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| 99 | { |
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| 100 | l = new Vector3Array; |
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| 101 | _bone_mapping->insert(BoneMappingKey(currBone, l)); |
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| 102 | } |
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| 103 | else |
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| 104 | { |
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| 105 | l = i->second; |
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| 106 | } |
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| 107 | |
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| 108 | l->push_back(*curVertices); |
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| 109 | |
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| 110 | curVertices++; |
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| 111 | } |
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| 112 | vbuf->unlock(); |
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| 113 | } |
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| 114 | } |
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| 115 | } |
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| 116 | |
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| 117 | |
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| 118 | //------------------------------------------------------------------------------------------------ |
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| 119 | void EntityInformer::addIndexData(IndexData *data, const unsigned int offset) |
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| 120 | { |
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| 121 | const unsigned int prev_size = _index_count; |
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| 122 | _index_count += (unsigned int)data->indexCount; |
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| 123 | |
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| 124 | TriangleIndex* tmp_ind = new TriangleIndex[_index_count]; |
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| 125 | if (_indices) |
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| 126 | { |
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| 127 | memcpy (tmp_ind, _indices, sizeof(unsigned int) * prev_size); |
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| 128 | delete[] _indices; |
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| 129 | } |
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| 130 | _indices = tmp_ind; |
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| 131 | |
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| 132 | const unsigned int numTris = (unsigned int) data->indexCount / 3; |
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| 133 | HardwareIndexBufferSharedPtr ibuf = data->indexBuffer; |
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| 134 | const bool use32bitindexes = (ibuf->getType() == HardwareIndexBuffer::IT_32BIT); |
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| 135 | unsigned int index_offset = prev_size; |
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| 136 | |
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| 137 | if (use32bitindexes) |
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| 138 | { |
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| 139 | const unsigned int* pInt = static_cast<unsigned int*>(ibuf->lock(HardwareBuffer::HBL_READ_ONLY)); |
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| 140 | for(unsigned int k = 0; k < numTris; ++k) |
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| 141 | { |
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| 142 | _indices[index_offset ++] = offset + *pInt++; |
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| 143 | _indices[index_offset ++] = offset + *pInt++; |
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| 144 | _indices[index_offset ++] = offset + *pInt++; |
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| 145 | } |
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| 146 | ibuf->unlock(); |
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| 147 | } |
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| 148 | else |
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| 149 | { |
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| 150 | const unsigned short* pShort = static_cast<unsigned short*>(ibuf->lock(HardwareBuffer::HBL_READ_ONLY)); |
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| 151 | for(unsigned int k = 0; k < numTris; ++k) |
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| 152 | { |
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| 153 | _indices[index_offset ++] = offset + static_cast<unsigned int> (*pShort++); |
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| 154 | _indices[index_offset ++] = offset + static_cast<unsigned int> (*pShort++); |
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| 155 | _indices[index_offset ++] = offset + static_cast<unsigned int> (*pShort++); |
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| 156 | } |
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| 157 | ibuf->unlock(); |
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| 158 | } |
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| 159 | |
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| 160 | } |
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| 161 | //------------------------------------------------------------------------------------------------ |
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| 162 | void EntityInformer::addEntity(Entity *entity,const Matrix4 &transform) |
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| 163 | { |
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| 164 | // Each entity added need to reset size and radius |
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| 165 | // next time getRadius and getSize are asked, they're computed. |
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| 166 | _size = Ogre::Vector3(-1,-1,-1); |
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| 167 | _radius = -1; |
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| 168 | |
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| 169 | _entity = entity; |
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| 170 | _node = (SceneNode*)(_entity->getParentNode()); |
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| 171 | _transform = transform; |
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| 172 | |
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| 173 | const bool isSkeletonAnimated = _entity->hasSkeleton(); |
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| 174 | //const bool isHWanimated = isSkeletonAnimated && entity->isHardwareAnimationEnabled(); |
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| 175 | if (isSkeletonAnimated) |
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| 176 | { |
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| 177 | _entity->addSoftwareAnimationRequest(false); |
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| 178 | _entity->_updateAnimation(); |
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| 179 | } |
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| 180 | |
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| 181 | |
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| 182 | if (_entity->getMesh()->sharedVertexData) |
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| 183 | { |
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| 184 | if (!isSkeletonAnimated) |
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| 185 | addVertexData (_entity->getMesh()->sharedVertexData); |
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| 186 | else |
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| 187 | addVertexData (_entity->getMesh()->sharedVertexData, |
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| 188 | _entity->_getSkelAnimVertexData(), |
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| 189 | &_entity->getMesh()->sharedBlendIndexToBoneIndexMap); |
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| 190 | } |
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| 191 | |
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| 192 | for(unsigned int i = 0;i < _entity->getNumSubEntities();++i) |
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| 193 | { |
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| 194 | SubMesh *sub_mesh = _entity->getSubEntity(i)->getSubMesh(); |
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| 195 | |
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| 196 | if (!sub_mesh->useSharedVertices) |
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| 197 | { |
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| 198 | addIndexData(sub_mesh->indexData,_vertex_count); |
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| 199 | |
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| 200 | if (!isSkeletonAnimated) |
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| 201 | addVertexData (sub_mesh->vertexData); |
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| 202 | else |
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| 203 | addVertexData (sub_mesh->vertexData, |
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| 204 | _entity->getSubEntity(i)->_getSkelAnimVertexData(), |
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| 205 | &sub_mesh->blendIndexToBoneIndexMap); |
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| 206 | } |
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| 207 | else |
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| 208 | { |
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| 209 | addIndexData (sub_mesh->indexData); |
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| 210 | } |
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| 211 | |
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| 212 | } |
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| 213 | |
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| 214 | if (isSkeletonAnimated) |
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| 215 | _entity->removeSoftwareAnimationRequest(false); |
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| 216 | } |
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| 217 | //------------------------------------------------------------------------------------------------ |
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| 218 | void EntityInformer::addMesh(const MeshPtr &mesh, const Matrix4 &transform) |
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| 219 | { |
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| 220 | // Each entity added need to reset size and radius |
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| 221 | // next time getRadius and getSize are asked, they're computed. |
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| 222 | _size = Ogre::Vector3(-1,-1,-1); |
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| 223 | _radius = -1; |
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| 224 | |
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| 225 | //_entity = entity; |
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| 226 | //_node = (SceneNode*)(_entity->getParentNode()); |
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| 227 | _transform = transform; |
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| 228 | |
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| 229 | if (mesh->hasSkeleton ()) |
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| 230 | Ogre::LogManager::getSingleton().logMessage("EntityInformer::addMesh : Mesh " + mesh->getName () + " as skeleton but added to trimesh non animated"); |
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| 231 | // OGRE_EXCEPT(1, "Mesh " + mesh->getName () + " as skeleton but added to trimesh non animated", |
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| 232 | // "EntityInformer::addMesh"); |
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| 233 | |
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| 234 | if (mesh->sharedVertexData) |
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| 235 | { |
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| 236 | addVertexData (mesh->sharedVertexData); |
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| 237 | } |
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| 238 | |
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| 239 | for(unsigned int i = 0;i < mesh->getNumSubMeshes();++i) |
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| 240 | { |
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| 241 | SubMesh *sub_mesh = mesh->getSubMesh(i); |
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| 242 | |
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| 243 | if (!sub_mesh->useSharedVertices) |
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| 244 | { |
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| 245 | addIndexData(sub_mesh->indexData, _vertex_count); |
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| 246 | addVertexData (sub_mesh->vertexData); |
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| 247 | } |
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| 248 | else |
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| 249 | { |
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| 250 | addIndexData (sub_mesh->indexData); |
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| 251 | } |
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| 252 | |
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| 253 | } |
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| 254 | } |
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| 255 | //------------------------------------------------------------------------------------------------ |
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| 256 | EntityInformer::EntityInformer(Entity *entity,const Matrix4 &transform) : |
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[1922] | 257 | _radius (-1), |
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| 258 | _size (Vector3(-1,-1,-1)), |
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| 259 | _center (Vector3(-1,-1,-1)), |
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[1919] | 260 | _vertices (0), |
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| 261 | _indices (0), |
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| 262 | _vertex_count (0), |
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| 263 | _index_count (0), |
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| 264 | _bone_mapping (0) |
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| 265 | { |
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| 266 | addEntity(entity, transform); |
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| 267 | } |
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| 268 | //------------------------------------------------------------------------------------------------ |
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| 269 | EntityInformer::EntityInformer() : |
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[1922] | 270 | _radius (-1), |
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| 271 | _size (Vector3(-1,-1,-1)), |
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| 272 | _center (Vector3(-1,-1,-1)), |
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[1919] | 273 | _vertices (0), |
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| 274 | _indices (0), |
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| 275 | _vertex_count (0), |
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| 276 | _index_count (0), |
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| 277 | _bone_mapping (0) |
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| 278 | { |
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| 279 | |
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| 280 | } |
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| 281 | //------------------------------------------------------------------------------------------------ |
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| 282 | Real EntityInformer::getRadius() |
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| 283 | { |
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| 284 | if (_radius == (-1)) |
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| 285 | { |
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| 286 | getSize(); |
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| 287 | _radius = (std::max(_size.x,std::max(_size.y,_size.z)) * 0.5); |
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| 288 | } |
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| 289 | return _radius; |
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| 290 | } |
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| 291 | //------------------------------------------------------------------------------------------------ |
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| 292 | Vector3 EntityInformer::getSize() |
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| 293 | { |
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| 294 | const unsigned int vCount = getVertexCount(); |
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| 295 | if (_size == Ogre::Vector3(-1,-1,-1) && vCount > 0) |
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| 296 | { |
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| 297 | |
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| 298 | const Ogre::Vector3 * const v = getVertices(); |
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| 299 | |
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| 300 | Ogre::Vector3 vmin(v[0]); |
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| 301 | Ogre::Vector3 vmax(v[0]); |
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| 302 | |
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| 303 | for(unsigned int j = 1; j < vCount; j++) |
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| 304 | { |
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| 305 | vmin.x = std::min(vmin.x, v[j].x); |
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| 306 | vmin.y = std::min(vmin.y, v[j].y); |
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| 307 | vmin.z = std::min(vmin.z, v[j].z); |
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| 308 | |
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| 309 | vmax.x = std::max(vmax.x, v[j].x); |
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| 310 | vmax.y = std::max(vmax.y, v[j].y); |
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| 311 | vmax.z = std::max(vmax.z, v[j].z); |
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| 312 | } |
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| 313 | |
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| 314 | _size.x = vmax.x - vmin.x; |
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| 315 | _size.y = vmax.y - vmin.y; |
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| 316 | _size.z = vmax.z - vmin.z; |
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| 317 | |
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| 318 | _center.x = vmin.x + _size.x * 0.5; |
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| 319 | _center.y = vmin.y + _size.y * 0.5; |
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| 320 | _center.z = vmin.z + _size.z * 0.5; |
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| 321 | |
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| 322 | } |
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| 323 | |
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| 324 | return _size; |
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| 325 | } |
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| 326 | //------------------------------------------------------------------------------------------------ |
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| 327 | Vector3 EntityInformer::getCenter() |
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| 328 | { |
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| 329 | const unsigned int vCount = getVertexCount(); |
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| 330 | if (_center == Ogre::Vector3(-1,-1,-1) && vCount > 0) |
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| 331 | { |
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| 332 | getSize(); |
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| 333 | } |
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| 334 | |
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| 335 | return _center; |
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| 336 | } |
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| 337 | //------------------------------------------------------------------------------------------------ |
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| 338 | const Ogre::Vector3* EntityInformer::getVertices() |
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| 339 | { |
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| 340 | return _vertices; |
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| 341 | } |
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| 342 | //------------------------------------------------------------------------------------------------ |
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| 343 | unsigned int EntityInformer::getVertexCount() |
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| 344 | { |
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| 345 | return _vertex_count; |
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| 346 | } |
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| 347 | //------------------------------------------------------------------------------------------------ |
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| 348 | const TriangleIndex* EntityInformer::getIndices() |
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| 349 | { |
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| 350 | return _indices; |
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| 351 | } |
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| 352 | //------------------------------------------------------------------------------------------------ |
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| 353 | unsigned int EntityInformer::getIndexCount() |
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| 354 | { |
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| 355 | return _index_count; |
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| 356 | } |
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| 357 | //------------------------------------------------------------------------------------------------ |
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| 358 | Body* EntityInformer::createSingleDynamicSphere(Real mass, World *world, Space* space) |
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| 359 | { |
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| 360 | const Ogre::Real rad = getRadius(); |
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| 361 | |
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| 362 | assert((rad > 0.0) && |
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| 363 | ("Sphere radius must be greater than zero")); |
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| 364 | |
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| 365 | Body* body = new Body(world, "OgreOde::Body_" + _entity->getName()); |
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| 366 | body->setMass(SphereMass(mass, rad)); |
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| 367 | |
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| 368 | SphereGeometry* geom = new SphereGeometry(rad, world, space); |
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| 369 | geom->setBody(body); |
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| 370 | |
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| 371 | body->setPosition(_node->_getDerivedPosition()); |
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| 372 | body->setOrientation(_node->_getDerivedOrientation()); |
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| 373 | |
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| 374 | _node->attachObject(body); |
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| 375 | |
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| 376 | return body; |
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| 377 | } |
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| 378 | //------------------------------------------------------------------------------------------------ |
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| 379 | Body* EntityInformer::createSingleDynamicBox(Real mass, World *world, Space* space) |
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| 380 | { |
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| 381 | const Ogre::Vector3 sz = getSize(); |
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| 382 | |
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| 383 | assert((sz.x > 0.0) && (sz.y > 0.0) && (sz.y > 0.0) && |
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| 384 | ("Size of box must be greater than zero on all axes")); |
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| 385 | |
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| 386 | Body* body = new Body(world, "OgreOde::Body_" + _node->getName()); |
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| 387 | body->setMass(BoxMass(mass,sz)); |
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| 388 | |
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| 389 | BoxGeometry* geom = new BoxGeometry(sz, world, space); |
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| 390 | geom->setBody(body); |
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| 391 | |
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| 392 | body->setPosition(_node->_getDerivedPosition()); |
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| 393 | body->setOrientation(_node->_getDerivedOrientation()); |
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| 394 | |
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| 395 | _node->attachObject(body); |
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| 396 | |
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| 397 | return body; |
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| 398 | } |
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| 399 | //------------------------------------------------------------------------------------------------ |
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| 400 | TriangleMeshGeometry* EntityInformer::createStaticTriangleMesh(World *world, Space* space) |
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| 401 | { |
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| 402 | assert(_vertex_count && (_index_count >= 6) && |
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| 403 | ("Mesh must have some vertices and at least 6 indices (2 triangles)")); |
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| 404 | |
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| 405 | return new TriangleMeshGeometry(_vertices, _vertex_count,_indices, _index_count, world, space); |
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| 406 | } |
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| 407 | //------------------------------------------------------------------------------------------------ |
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| 408 | BoxGeometry* EntityInformer::createSingleStaticBox(World *world, Space* space) |
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| 409 | { |
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| 410 | BoxGeometry* geom = new BoxGeometry(getSize(), world, space); |
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| 411 | |
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| 412 | geom->setPosition(_node->_getDerivedPosition()); |
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| 413 | geom->setOrientation(_node->_getDerivedOrientation()); |
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| 414 | |
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| 415 | return geom; |
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| 416 | } |
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| 417 | //------------------------------------------------------------------------------------------------ |
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| 418 | bool EntityInformer::getBoneVertices(unsigned char bone, unsigned int &vertex_count, Ogre::Vector3* &vertices) |
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| 419 | { |
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| 420 | BoneMapping::iterator i = _bone_mapping->find(bone); |
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| 421 | |
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| 422 | if (i == _bone_mapping->end()) |
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| 423 | return false; |
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| 424 | |
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| 425 | if (i->second->empty()) |
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| 426 | return false; |
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| 427 | |
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| 428 | vertex_count = (unsigned int) i->second->size() + 1; |
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| 429 | |
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| 430 | vertices = new Ogre::Vector3[vertex_count]; |
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| 431 | vertices[0] = _entity->_getParentNodeFullTransform() * |
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| 432 | _entity->getSkeleton()->getBone(bone)->_getDerivedPosition(); |
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| 433 | |
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| 434 | unsigned int o = 1; |
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| 435 | for(Vector3Array::iterator j = i->second->begin(); |
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| 436 | j != i->second->end(); ++j,++o) |
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| 437 | { |
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| 438 | vertices[o] = (*j); |
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| 439 | } |
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| 440 | return true; |
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| 441 | } |
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| 442 | //------------------------------------------------------------------------------------------------ |
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| 443 | BoxGeometry* EntityInformer::createAlignedBox(unsigned char bone, World *world, Space* space) |
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| 444 | { |
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| 445 | unsigned int vertex_count; |
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| 446 | Vector3* vertices; |
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| 447 | if (!getBoneVertices(bone, vertex_count, vertices)) |
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| 448 | return 0; |
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| 449 | |
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| 450 | Vector3 min_vec(vertices[0]); |
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| 451 | Vector3 max_vec(vertices[0]); |
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| 452 | |
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| 453 | for(unsigned int j = 1; j < vertex_count ;j++) |
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| 454 | { |
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| 455 | min_vec.x = std::min(min_vec.x,vertices[j].x); |
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| 456 | min_vec.y = std::min(min_vec.y,vertices[j].y); |
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| 457 | min_vec.z = std::min(min_vec.z,vertices[j].z); |
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| 458 | |
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| 459 | max_vec.x = std::max(max_vec.x,vertices[j].x); |
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| 460 | max_vec.y = std::max(max_vec.y,vertices[j].y); |
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| 461 | max_vec.z = std::max(max_vec.z,vertices[j].z); |
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| 462 | } |
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| 463 | const Ogre::Vector3 maxMinusMin(max_vec - min_vec); |
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| 464 | BoxGeometry* box = new BoxGeometry(maxMinusMin, world, space); |
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| 465 | |
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| 466 | const Ogre::Vector3 pos(min_vec.x + (maxMinusMin.x * 0.5), |
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| 467 | min_vec.y + (maxMinusMin.y * 0.5), |
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| 468 | min_vec.z + (maxMinusMin.z * 0.5)); |
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| 469 | |
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| 470 | box->setPosition(pos); |
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| 471 | |
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| 472 | delete[] vertices; |
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| 473 | |
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| 474 | return box; |
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| 475 | } |
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| 476 | //------------------------------------------------------------------------------------------------ |
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| 477 | BoxGeometry* EntityInformer::createOrientedBox(unsigned char bone, World *world, Space* space) |
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| 478 | { |
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| 479 | |
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| 480 | #define TESTOOB |
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| 481 | #ifdef TESTOOB |
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| 482 | unsigned int vertex_count; |
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| 483 | Vector3* vertices; |
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| 484 | if (!getBoneVertices(bone, vertex_count, vertices)) |
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| 485 | return 0; |
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| 486 | |
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| 487 | Vector3 box_kCenter(Vector3::ZERO); |
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| 488 | Ogre::Vector3 box_akAxis[3]; |
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| 489 | Ogre::Real box_afExtent[3]; |
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| 490 | |
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| 491 | // EigenSolver::GaussPointsFit (vertex_count-1, &vertices[1], box_kCenter, box_akAxis, box_afExtent); |
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| 492 | |
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| 493 | Ogre::Real invVertexCount=1.0/(Ogre::Real)vertex_count; |
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| 494 | for(size_t c=0;c<vertex_count;c++) |
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| 495 | { |
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| 496 | box_kCenter+=vertices[c]; |
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| 497 | } |
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| 498 | box_kCenter*=invVertexCount; |
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| 499 | |
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| 500 | Quaternion orient=_entity->getSkeleton()->getBone(bone)->_getDerivedOrientation(); |
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| 501 | orient.ToAxes(box_akAxis); |
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| 502 | |
---|
| 503 | |
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| 504 | // Let C be the box center and let U0, U1, and U2 be the box axes. Each |
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| 505 | // input point is of the form X = C + y0*U0 + y1*U1 + y2*U2. The |
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| 506 | // following code computes min(y0), max(y0), min(y1), max(y1), min(y2), |
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| 507 | // and max(y2). The box center is then adjusted to be |
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| 508 | // C' = C + 0.5*(min(y0)+max(y0))*U0 + 0.5*(min(y1)+max(y1))*U1 + |
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| 509 | // 0.5*(min(y2)+max(y2))*U2 |
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| 510 | |
---|
| 511 | |
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| 512 | Ogre::Vector3 kDiff (vertices[1] - box_kCenter); |
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| 513 | Ogre::Real fY0Min = kDiff.dotProduct(box_akAxis[0]), fY0Max = fY0Min; |
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| 514 | Ogre::Real fY1Min = kDiff.dotProduct(box_akAxis[1]), fY1Max = fY1Min; |
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| 515 | Ogre::Real fY2Min = kDiff.dotProduct(box_akAxis[2]), fY2Max = fY2Min; |
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| 516 | |
---|
| 517 | for (unsigned int i = 2; i < vertex_count; i++) |
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| 518 | { |
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| 519 | kDiff = vertices[i] - box_kCenter; |
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| 520 | |
---|
| 521 | const Ogre::Real fY0 = kDiff.dotProduct(box_akAxis[0]); |
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| 522 | if ( fY0 < fY0Min ) |
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| 523 | fY0Min = fY0; |
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| 524 | else if ( fY0 > fY0Max ) |
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| 525 | fY0Max = fY0; |
---|
| 526 | |
---|
| 527 | const Ogre::Real fY1 = kDiff.dotProduct(box_akAxis[1]); |
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| 528 | if ( fY1 < fY1Min ) |
---|
| 529 | fY1Min = fY1; |
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| 530 | else if ( fY1 > fY1Max ) |
---|
| 531 | fY1Max = fY1; |
---|
| 532 | |
---|
| 533 | const Ogre::Real fY2 = kDiff.dotProduct(box_akAxis[2]); |
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| 534 | if ( fY2 < fY2Min ) |
---|
| 535 | fY2Min = fY2; |
---|
| 536 | else if ( fY2 > fY2Max ) |
---|
| 537 | fY2Max = fY2; |
---|
| 538 | } |
---|
| 539 | |
---|
| 540 | box_afExtent[0] = ((Real)0.5)*(fY0Max - fY0Min); |
---|
| 541 | box_afExtent[1] = ((Real)0.5)*(fY1Max - fY1Min); |
---|
| 542 | box_afExtent[2] = ((Real)0.5)*(fY2Max - fY2Min); |
---|
| 543 | |
---|
| 544 | box_kCenter += (0.5*(fY0Max+fY0Min))*box_akAxis[0] + |
---|
| 545 | (0.5*(fY1Max+fY1Min))*box_akAxis[1] + |
---|
| 546 | (0.5*(fY2Max+fY2Min))*box_akAxis[2]; |
---|
| 547 | |
---|
| 548 | BoxGeometry *geom = new BoxGeometry(Vector3(box_afExtent[0] * 2.0, |
---|
| 549 | box_afExtent[1] * 2.0, |
---|
| 550 | box_afExtent[2] * 2.0), |
---|
| 551 | world, space); |
---|
| 552 | geom->setOrientation(Quaternion(box_akAxis[0],box_akAxis[1],box_akAxis[2])); |
---|
| 553 | geom->setPosition(box_kCenter); |
---|
| 554 | return geom; |
---|
| 555 | #else |
---|
| 556 | unsigned int vertex_count; |
---|
| 557 | Vector3* vertices; |
---|
| 558 | if (!getBoneVertices(bone, vertex_count, vertices)) |
---|
| 559 | return 0; |
---|
| 560 | |
---|
| 561 | Vector3 box_kCenter; |
---|
| 562 | Ogre::Vector3 box_akAxis[3]; |
---|
| 563 | Ogre::Real box_afExtent[3]; |
---|
| 564 | |
---|
| 565 | EigenSolver::GaussPointsFit (vertex_count, vertices, box_kCenter, box_akAxis, box_afExtent); |
---|
| 566 | |
---|
| 567 | // Let C be the box center and let U0, U1, and U2 be the box axes. Each |
---|
| 568 | // input point is of the form X = C + y0*U0 + y1*U1 + y2*U2. The |
---|
| 569 | // following code computes min(y0), max(y0), min(y1), max(y1), min(y2), |
---|
| 570 | // and max(y2). The box center is then adjusted to be |
---|
| 571 | // C' = C + 0.5*(min(y0)+max(y0))*U0 + 0.5*(min(y1)+max(y1))*U1 + |
---|
| 572 | // 0.5*(min(y2)+max(y2))*U2 |
---|
| 573 | |
---|
| 574 | Ogre::Vector3 kDiff (vertices[0] - box_kCenter); |
---|
| 575 | Ogre::Real fY0Min = kDiff.dotProduct(box_akAxis[0]), fY0Max = fY0Min; |
---|
| 576 | Ogre::Real fY1Min = kDiff.dotProduct(box_akAxis[1]), fY1Max = fY1Min; |
---|
| 577 | Ogre::Real fY2Min = kDiff.dotProduct(box_akAxis[2]), fY2Max = fY2Min; |
---|
| 578 | |
---|
| 579 | for (unsigned int i = 1; i < vertex_count; i++) |
---|
| 580 | { |
---|
| 581 | kDiff = vertices[i] - box_kCenter; |
---|
| 582 | |
---|
| 583 | const Ogre::Real fY0 = kDiff.dotProduct(box_akAxis[0]); |
---|
| 584 | if ( fY0 < fY0Min ) |
---|
| 585 | fY0Min = fY0; |
---|
| 586 | else if ( fY0 > fY0Max ) |
---|
| 587 | fY0Max = fY0; |
---|
| 588 | |
---|
| 589 | const Ogre::Real fY1 = kDiff.dotProduct(box_akAxis[1]); |
---|
| 590 | if ( fY1 < fY1Min ) |
---|
| 591 | fY1Min = fY1; |
---|
| 592 | else if ( fY1 > fY1Max ) |
---|
| 593 | fY1Max = fY1; |
---|
| 594 | |
---|
| 595 | const Ogre::Real fY2 = kDiff.dotProduct(box_akAxis[2]); |
---|
| 596 | if ( fY2 < fY2Min ) |
---|
| 597 | fY2Min = fY2; |
---|
| 598 | else if ( fY2 > fY2Max ) |
---|
| 599 | fY2Max = fY2; |
---|
| 600 | } |
---|
| 601 | |
---|
| 602 | box_afExtent[0] = ((Real)0.5)*(fY0Max - fY0Min); |
---|
| 603 | box_afExtent[1] = ((Real)0.5)*(fY1Max - fY1Min); |
---|
| 604 | box_afExtent[2] = ((Real)0.5)*(fY2Max - fY2Min); |
---|
| 605 | |
---|
| 606 | box_kCenter += (box_afExtent[0])*box_akAxis[0] + |
---|
| 607 | (box_afExtent[1])*box_akAxis[1] + |
---|
| 608 | (box_afExtent[2])*box_akAxis[2]; |
---|
| 609 | |
---|
| 610 | BoxGeometry *geom = new BoxGeometry(Vector3(box_afExtent[0] * 2.0, |
---|
| 611 | box_afExtent[1] * 2.0, |
---|
| 612 | box_afExtent[2] * 2.0), |
---|
| 613 | world, space); |
---|
| 614 | geom->setOrientation(Quaternion(box_akAxis[0],box_akAxis[1],box_akAxis[2])); |
---|
| 615 | geom->setPosition(box_kCenter); |
---|
| 616 | return geom; |
---|
| 617 | #endif |
---|
| 618 | } |
---|
| 619 | //------------------------------------------------------------------------------------------------ |
---|
| 620 | CapsuleGeometry* EntityInformer::createOrientedCapsule(unsigned char bone, World *world, Space* space) |
---|
| 621 | { |
---|
| 622 | unsigned int vertex_count; |
---|
| 623 | Vector3* vertices; |
---|
| 624 | |
---|
| 625 | if (!getBoneVertices(bone,vertex_count,vertices)) |
---|
| 626 | return 0; |
---|
| 627 | |
---|
| 628 | Vector3 cap_orig; |
---|
| 629 | Vector3 cap_dir; |
---|
| 630 | Real cap_rad; |
---|
| 631 | |
---|
| 632 | Vector3 line_orig; |
---|
| 633 | Vector3 line_dir; |
---|
| 634 | |
---|
| 635 | EigenSolver::orthogonalLineFit (vertex_count, vertices, line_orig, line_dir); |
---|
| 636 | |
---|
| 637 | Ogre::Real fMaxRadiusSqr = (Real) 0.0; |
---|
| 638 | unsigned int c; |
---|
| 639 | for (c = 0; c < vertex_count; c++) |
---|
| 640 | { |
---|
| 641 | const Ogre::Real fRadiusSqr = EigenSolver::SqrDistance(vertices[c], line_orig, line_dir); |
---|
| 642 | if ( fRadiusSqr > fMaxRadiusSqr ) |
---|
| 643 | fMaxRadiusSqr = fRadiusSqr; |
---|
| 644 | } |
---|
| 645 | |
---|
| 646 | Ogre::Vector3 kU, kV, kW = line_dir; |
---|
| 647 | EigenSolver::GenerateOrthonormalBasis (kU, kV, kW, true); |
---|
| 648 | |
---|
| 649 | Ogre::Real fMin = FLT_MAX, fMax = -fMin; |
---|
| 650 | for (c = 0; c < vertex_count; c++) |
---|
| 651 | { |
---|
| 652 | const Ogre::Vector3 kDiff (vertices[c] - line_orig); |
---|
| 653 | const Ogre::Real fU = kU.dotProduct (kDiff); |
---|
| 654 | const Ogre::Real fV = kV.dotProduct (kDiff); |
---|
| 655 | const Ogre::Real fW = kW.dotProduct (kDiff); |
---|
| 656 | const Ogre::Real fDiscr = fMaxRadiusSqr - (fU*fU + fV*fV); |
---|
| 657 | const Ogre::Real fRadical = sqrtf(fabs(fDiscr)); |
---|
| 658 | |
---|
| 659 | fMin = std::min(fW + fRadical, fMin); |
---|
| 660 | fMax = std::max(fW - fRadical, fMax); |
---|
| 661 | } |
---|
| 662 | |
---|
| 663 | if ( fMin < fMax ) |
---|
| 664 | { |
---|
| 665 | cap_orig = line_orig + fMin*line_dir; |
---|
| 666 | cap_dir = (fMax-fMin)*line_dir; |
---|
| 667 | } |
---|
| 668 | else |
---|
| 669 | { |
---|
| 670 | // enclosing capsule is really a sphere |
---|
| 671 | cap_orig = line_orig + (((Real)0.5)*(fMin+fMax))*line_dir; |
---|
| 672 | //---------------------------- |
---|
| 673 | cap_dir = Ogre::Vector3::ZERO; |
---|
| 674 | //cap_dir = (fMax-fMin)*line_dir; |
---|
| 675 | } |
---|
| 676 | |
---|
| 677 | cap_rad = sqrtf(fMaxRadiusSqr); |
---|
| 678 | |
---|
| 679 | |
---|
| 680 | CapsuleGeometry* geom = 0; |
---|
| 681 | const Ogre::Real cap_dirLength = cap_dir.length(); |
---|
| 682 | if (cap_rad > 0 && cap_dirLength > 0) |
---|
| 683 | { |
---|
| 684 | const Ogre::Vector3 orig_axis (Vector3::UNIT_Z); |
---|
| 685 | const Ogre::Vector3 reqd_axis (cap_dir.normalisedCopy()); |
---|
| 686 | const Ogre::Vector3 rot_axis (orig_axis.crossProduct(reqd_axis)); |
---|
| 687 | const Ogre::Real cos_ang = orig_axis.dotProduct(reqd_axis); |
---|
| 688 | Ogre::Real ang = acos(cos_ang); |
---|
| 689 | if (cos_ang < 0.0) |
---|
| 690 | ang -= M_PI; |
---|
| 691 | |
---|
| 692 | const Ogre::Quaternion orient = Ogre::Quaternion(Radian(ang),rot_axis); |
---|
| 693 | |
---|
| 694 | geom = new CapsuleGeometry(cap_rad, cap_dirLength, world, space); |
---|
| 695 | geom->setOrientation(orient); |
---|
| 696 | geom->setPosition(cap_orig + (reqd_axis * (cap_dirLength * 0.5))); |
---|
| 697 | } |
---|
| 698 | return geom; |
---|
| 699 | } |
---|
| 700 | //------------------------------------------------------------------------------------------------ |
---|
| 701 | EntityInformer::~EntityInformer() |
---|
| 702 | { |
---|
| 703 | delete[] _vertices; |
---|
| 704 | delete[] _indices; |
---|
| 705 | |
---|
| 706 | if (_bone_mapping) |
---|
| 707 | { |
---|
| 708 | for(BoneMapping::iterator i = _bone_mapping->begin(); |
---|
| 709 | i != _bone_mapping->end(); |
---|
| 710 | ++i) |
---|
| 711 | { |
---|
| 712 | delete i->second; |
---|
| 713 | } |
---|
| 714 | delete _bone_mapping; |
---|
| 715 | } |
---|
| 716 | } |
---|
| 717 | |
---|
| 718 | //------------------------------------------------------------------------------------------------ |
---|
| 719 | EntityInformerReuse::EntityInformerReuse(Entity *entity, const Vector3 &scale, bool forceRecreate) : EntityInformer() |
---|
| 720 | { |
---|
| 721 | _transform.makeTransform(Vector3::ZERO, scale, Quaternion::IDENTITY); |
---|
| 722 | |
---|
| 723 | if(!forceRecreate) |
---|
| 724 | _dataPtr = TriangleMeshDataManager::getSingleton().getTriangleMeshData(entity->getMesh()->getName(), scale); |
---|
| 725 | |
---|
| 726 | if(_dataPtr.isNull()) |
---|
| 727 | { |
---|
| 728 | EntityInformer::addEntity(entity, _transform); |
---|
| 729 | |
---|
| 730 | _dataPtr = new TriangleMeshData(entity->getMesh()->getName(), scale, _vertices, _vertex_count, _indices, _index_count); |
---|
| 731 | TriangleMeshDataManager::getSingleton().addTriangleMeshData(entity->getMesh()->getName(), _dataPtr, scale); |
---|
| 732 | } |
---|
| 733 | } |
---|
| 734 | //------------------------------------------------------------------------------------------------ |
---|
| 735 | EntityInformerReuse::EntityInformerReuse(const MeshPtr &mesh, const Vector3 &scale, bool forceRecreate) : EntityInformer() |
---|
| 736 | { |
---|
| 737 | _entity = NULL; |
---|
| 738 | |
---|
| 739 | _transform.makeTransform(Vector3::ZERO, scale, Quaternion::IDENTITY); |
---|
| 740 | |
---|
| 741 | if(!forceRecreate) |
---|
| 742 | _dataPtr = TriangleMeshDataManager::getSingleton().getTriangleMeshData(mesh->getName(), scale); |
---|
| 743 | |
---|
| 744 | if(_dataPtr.isNull()) |
---|
| 745 | { |
---|
| 746 | EntityInformer::addMesh(mesh, _transform); |
---|
| 747 | |
---|
| 748 | _dataPtr = new TriangleMeshData(mesh->getName(), scale, _vertices, _vertex_count, _indices, _index_count); |
---|
| 749 | TriangleMeshDataManager::getSingleton().addTriangleMeshData(mesh->getName(), _dataPtr, scale); |
---|
| 750 | } |
---|
| 751 | } |
---|
| 752 | //------------------------------------------------------------------------------------------------ |
---|
| 753 | EntityInformerReuse::~EntityInformerReuse() |
---|
| 754 | { |
---|
| 755 | } |
---|
| 756 | //------------------------------------------------------------------------------------------------ |
---|
| 757 | TriangleMeshGeometry* EntityInformerReuse::createStaticTriangleMesh(World *world, Space* space) |
---|
| 758 | { |
---|
| 759 | return new TriangleMeshGeometry(_dataPtr, world, space); |
---|
| 760 | } |
---|
| 761 | //------------------------------------------------------------------------------------------------ |
---|
| 762 | TriangleMeshGeometry* EntityInformerReuse::recreateStaticTriangleMesh(TriangleMeshGeometry* geom) |
---|
| 763 | { |
---|
| 764 | geom->changeTriangleMeshData(_dataPtr); |
---|
| 765 | return geom; |
---|
| 766 | } |
---|