+++ /dev/null
-/*************************************************************************
- * *
- * Open Dynamics Engine, Copyright (C) 2001-2003 Russell L. Smith. *
- * All rights reserved. Email: russ@q12.org Web: www.q12.org *
- * *
- * This library is free software; you can redistribute it and/or *
- * modify it under the terms of EITHER: *
- * (1) The GNU Lesser General Public License as published by the Free *
- * Software Foundation; either version 2.1 of the License, or (at *
- * your option) any later version. The text of the GNU Lesser *
- * General Public License is included with this library in the *
- * file LICENSE.TXT. *
- * (2) The BSD-style license that is included with this library in *
- * the file LICENSE-BSD.TXT. *
- * *
- * This library is distributed in the hope that it will be useful, *
- * but WITHOUT ANY WARRANTY; without even the implied warranty of *
- * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the files *
- * LICENSE.TXT and LICENSE-BSD.TXT for more details. *
- * *
- *************************************************************************/
-
-/*
- * TriMesh code by Erwin de Vries.
- *
- * Trimesh data.
- * This is where the actual vertexdata (pointers), and BV tree is stored.
- * Vertices should be single precision!
- * This should be more sophisticated, so that the user can easyly implement
- * another collision library, but this is a lot of work, and also costs some
- * performance because some data has to be copied.
- */
-
-#ifndef _ODE_COLLISION_TRIMESH_H_
-#define _ODE_COLLISION_TRIMESH_H_
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-/*
- * Data storage for triangle meshes.
- */
-struct dxTriMeshData;
-typedef struct dxTriMeshData* dTriMeshDataID;
-
-/*
- * These dont make much sense now, but they will later when we add more
- * features.
- */
-ODE_API dTriMeshDataID dGeomTriMeshDataCreate(void);
-ODE_API void dGeomTriMeshDataDestroy(dTriMeshDataID g);
-
-
-
-enum { TRIMESH_FACE_NORMALS };
-ODE_API void dGeomTriMeshDataSet(dTriMeshDataID g, int data_id, void* in_data);
-ODE_API void* dGeomTriMeshDataGet(dTriMeshDataID g, int data_id);
-
-
-
-/**
- * We need to set the last transform after each time step for
- * accurate collision response. These functions get and set that transform.
- * It is stored per geom instance, rather than per dTriMeshDataID.
- */
-ODE_API void dGeomTriMeshSetLastTransform( dGeomID g, dMatrix4 last_trans );
-ODE_API dReal* dGeomTriMeshGetLastTransform( dGeomID g );
-
-/*
- * Build a TriMesh data object with single precision vertex data.
- */
-ODE_API void dGeomTriMeshDataBuildSingle(dTriMeshDataID g,
- const void* Vertices, int VertexStride, int VertexCount,
- const void* Indices, int IndexCount, int TriStride);
-/* same again with a normals array (used as trimesh-trimesh optimization) */
-ODE_API void dGeomTriMeshDataBuildSingle1(dTriMeshDataID g,
- const void* Vertices, int VertexStride, int VertexCount,
- const void* Indices, int IndexCount, int TriStride,
- const void* Normals);
-/*
-* Build a TriMesh data object with double precision vertex data.
-*/
-ODE_API void dGeomTriMeshDataBuildDouble(dTriMeshDataID g,
- const void* Vertices, int VertexStride, int VertexCount,
- const void* Indices, int IndexCount, int TriStride);
-/* same again with a normals array (used as trimesh-trimesh optimization) */
-ODE_API void dGeomTriMeshDataBuildDouble1(dTriMeshDataID g,
- const void* Vertices, int VertexStride, int VertexCount,
- const void* Indices, int IndexCount, int TriStride,
- const void* Normals);
-
-/*
- * Simple build. Single/double precision based on dSINGLE/dDOUBLE!
- */
-ODE_API void dGeomTriMeshDataBuildSimple(dTriMeshDataID g,
- const dReal* Vertices, int VertexCount,
- const dTriIndex* Indices, int IndexCount);
-/* same again with a normals array (used as trimesh-trimesh optimization) */
-ODE_API void dGeomTriMeshDataBuildSimple1(dTriMeshDataID g,
- const dReal* Vertices, int VertexCount,
- const dTriIndex* Indices, int IndexCount,
- const int* Normals);
-
-/* Preprocess the trimesh data to remove mark unnecessary edges and vertices */
-ODE_API void dGeomTriMeshDataPreprocess(dTriMeshDataID g);
-/* Get and set the internal preprocessed trimesh data buffer, for loading and saving */
-ODE_API void dGeomTriMeshDataGetBuffer(dTriMeshDataID g, unsigned char** buf, int* bufLen);
-ODE_API void dGeomTriMeshDataSetBuffer(dTriMeshDataID g, unsigned char* buf);
-
-
-/*
- * Per triangle callback. Allows the user to say if he wants a collision with
- * a particular triangle.
- */
-typedef int dTriCallback(dGeomID TriMesh, dGeomID RefObject, int TriangleIndex);
-ODE_API void dGeomTriMeshSetCallback(dGeomID g, dTriCallback* Callback);
-ODE_API dTriCallback* dGeomTriMeshGetCallback(dGeomID g);
-
-/*
- * Per object callback. Allows the user to get the list of triangles in 1
- * shot. Maybe we should remove this one.
- */
-typedef void dTriArrayCallback(dGeomID TriMesh, dGeomID RefObject, const int* TriIndices, int TriCount);
-ODE_API void dGeomTriMeshSetArrayCallback(dGeomID g, dTriArrayCallback* ArrayCallback);
-ODE_API dTriArrayCallback* dGeomTriMeshGetArrayCallback(dGeomID g);
-
-/*
- * Ray callback.
- * Allows the user to say if a ray collides with a triangle on barycentric
- * coords. The user can for example sample a texture with alpha transparency
- * to determine if a collision should occur.
- */
-typedef int dTriRayCallback(dGeomID TriMesh, dGeomID Ray, int TriangleIndex, dReal u, dReal v);
-ODE_API void dGeomTriMeshSetRayCallback(dGeomID g, dTriRayCallback* Callback);
-ODE_API dTriRayCallback* dGeomTriMeshGetRayCallback(dGeomID g);
-
-/*
- * Triangle merging callback.
- * Allows the user to generate a fake triangle index for a new contact generated
- * from merging of two other contacts. That index could later be used by the
- * user to determine attributes of original triangles used as sources for a
- * merged contact.
- */
-typedef int dTriTriMergeCallback(dGeomID TriMesh, int FirstTriangleIndex, int SecondTriangleIndex);
-ODE_API void dGeomTriMeshSetTriMergeCallback(dGeomID g, dTriTriMergeCallback* Callback);
-ODE_API dTriTriMergeCallback* dGeomTriMeshGetTriMergeCallback(dGeomID g);
-
-/*
- * Trimesh class
- * Construction. Callbacks are optional.
- */
-ODE_API dGeomID dCreateTriMesh(dSpaceID space, dTriMeshDataID Data, dTriCallback* Callback, dTriArrayCallback* ArrayCallback, dTriRayCallback* RayCallback);
-
-ODE_API void dGeomTriMeshSetData(dGeomID g, dTriMeshDataID Data);
-ODE_API dTriMeshDataID dGeomTriMeshGetData(dGeomID g);
-
-
-// enable/disable/check temporal coherence
-ODE_API void dGeomTriMeshEnableTC(dGeomID g, int geomClass, int enable);
-ODE_API int dGeomTriMeshIsTCEnabled(dGeomID g, int geomClass);
-
-/*
- * Clears the internal temporal coherence caches. When a geom has its
- * collision checked with a trimesh once, data is stored inside the trimesh.
- * With large worlds with lots of seperate objects this list could get huge.
- * We should be able to do this automagically.
- */
-ODE_API void dGeomTriMeshClearTCCache(dGeomID g);
-
-
-/*
- * returns the TriMeshDataID
- */
-ODE_API dTriMeshDataID dGeomTriMeshGetTriMeshDataID(dGeomID g);
-
-/*
- * Gets a triangle.
- */
-ODE_API void dGeomTriMeshGetTriangle(dGeomID g, int Index, dVector3* v0, dVector3* v1, dVector3* v2);
-
-/*
- * Gets the point on the requested triangle and the given barycentric
- * coordinates.
- */
-ODE_API void dGeomTriMeshGetPoint(dGeomID g, int Index, dReal u, dReal v, dVector3 Out);
-
-/*
-
-This is how the strided data works:
-
-struct StridedVertex{
- dVector3 Vertex;
- // Userdata
-};
-int VertexStride = sizeof(StridedVertex);
-
-struct StridedTri{
- int Indices[3];
- // Userdata
-};
-int TriStride = sizeof(StridedTri);
-
-*/
-
-
-ODE_API int dGeomTriMeshGetTriangleCount (dGeomID g);
-
-ODE_API void dGeomTriMeshDataUpdate(dTriMeshDataID g);
-
-#ifdef __cplusplus
-}
-#endif
-
-#endif /* _ODE_COLLISION_TRIMESH_H_ */
-
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