/************************************************************************* * * * 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; typedef enum { dMTV__MIN, dMTV_FIRST = dMTV__MIN, dMTV_SECOND, dMTV_THIRD, dMTV__MAX, } dMeshTriangleVertex; /* * These don't make much sense now, but they will later when we add more * features. */ ODE_API dTriMeshDataID dGeomTriMeshDataCreate(void); ODE_API void dGeomTriMeshDataDestroy(dTriMeshDataID g); /* * The values of data_id that can be used with dGeomTriMeshDataSet/dGeomTriMeshDataGet */ enum { dTRIMESHDATA__MIN, dTRIMESHDATA_FACE_NORMALS = dTRIMESHDATA__MIN, dTRIMESHDATA_USE_FLAGS, dTRIMESHDATA__MAX, #ifndef TRIMESH_FACE_NORMALS // Define this name during the header inclusion if you need it for something else // Included for backward compatibility -- please use the corrected name above. Sorry. TRIMESH_FACE_NORMALS = dTRIMESHDATA_FACE_NORMALS, #endif }; /* * The flags of the dTRIMESHDATA_USE_FLAGS data elements */ enum { dMESHDATAUSE_EDGE1 = 0x01, dMESHDATAUSE_EDGE2 = 0x02, dMESHDATAUSE_EDGE3 = 0x04, dMESHDATAUSE_VERTEX1 = 0x08, dMESHDATAUSE_VERTEX2 = 0x10, dMESHDATAUSE_VERTEX3 = 0x20, }; /* * Set and get the TriMeshData additional data * Note: The data is NOT COPIED on assignment */ ODE_API void dGeomTriMeshDataSet(dTriMeshDataID g, int data_id, void *in_data); ODE_API void *dGeomTriMeshDataGet(dTriMeshDataID g, int data_id); ODE_API void *dGeomTriMeshDataGet2(dTriMeshDataID g, int data_id, dsizeint *pout_size/*=NULL*/); /** * 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, const dMatrix4 last_trans ); ODE_API const 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); /* * Data preprocessing build request flags. */ enum { dTRIDATAPREPROCESS_BUILD__MIN, dTRIDATAPREPROCESS_BUILD_CONCAVE_EDGES = dTRIDATAPREPROCESS_BUILD__MIN, // Used to optimize OPCODE trimesh-capsule collisions; allocates 1 byte per triangle; no extra data associated dTRIDATAPREPROCESS_BUILD_FACE_ANGLES, // Used to aid trimesh-convex collisions; memory requirements depend on extra data dTRIDATAPREPROCESS_BUILD__MAX, }; /* * Data preprocessing extra values for dTRIDATAPREPROCESS_BUILD_FACE_ANGLES. */ enum { dTRIDATAPREPROCESS_FACE_ANGLES_EXTRA__MIN, dTRIDATAPREPROCESS_FACE_ANGLES_EXTRA_BYTE_POSITIVE = dTRIDATAPREPROCESS_FACE_ANGLES_EXTRA__MIN, // Build angles for convex edges only and store as bytes; allocates 3 bytes per triangle; stores angles (0..180] in 1/254 fractions leaving two values for the flat and all the concaves dTRIDATAPREPROCESS_FACE_ANGLES_EXTRA_BYTE_ALL, // Build angles for all the edges and store in bytes; allocates 3 bytes per triangle; stores angles [-180..0) and (0..180] in 1/127 fractions plus a value for the flat angle dTRIDATAPREPROCESS_FACE_ANGLES_EXTRA_WORD_ALL, // Build angles for all the edges and store in words; allocates 6 bytes per triangle; stores angles [-180..0) and (0..180] in 1/32767 fractions plus a value for the flat angle dTRIDATAPREPROCESS_FACE_ANGLES_EXTRA__MAX, dTRIDATAPREPROCESS_FACE_ANGLES_EXTRA__DEFAULT = dTRIDATAPREPROCESS_FACE_ANGLES_EXTRA_BYTE_POSITIVE, // The default value assumed if the extra data is not provided }; /* * Pre-process the trimesh data according to the request flags. * * buildRequestFlags is a bitmask of 1U << dTRIDATAPREPROCESS_BUILD_... * It is allowed to call the function multiple times provided the bitmasks are different each time. * * requestExtraData is an optional pointer to array of extra parameters per bitmask bits * (only the elements indexed by positions of raised bits are examined; * defaults are assumed if the pointer is NULL) * * The function returns a boolean status the only failure reason being insufficient memory. */ ODE_API int dGeomTriMeshDataPreprocess2(dTriMeshDataID g, unsigned int buildRequestFlags, const dintptr *requestExtraData/*=NULL | const dintptr (*)[dTRIDATAPREPROCESS_BUILD__MAX]*/); /* * Obsolete. Equivalent to calling dGeomTriMeshDataPreprocess2(g, (1U << dTRIDATAPREPROCESS_BUILD_CONCAVE_EDGES), NULL) */ ODE_API int dGeomTriMeshDataPreprocess(dTriMeshDataID g); /* * Get and set the internal preprocessed trimesh data buffer (see the enumerated type above), for loading and saving * These functions are deprecated. Use dGeomTriMeshDataSet/dGeomTriMeshDataGet2 with dTRIMESHDATA_USE_FLAGS instead. */ ODE_API_DEPRECATED ODE_API void dGeomTriMeshDataGetBuffer(dTriMeshDataID g, unsigned char** buf, int* bufLen); ODE_API_DEPRECATED 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_ */