--- /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_ */
+
projects / xonotic / xonotic.git / blobdiff