Open Dynamics Engine: collision_trimesh.h Source File

00001 /*************************************************************************
-00002  *                                                                       *
-00003  * Open Dynamics Engine, Copyright (C) 2001-2003 Russell L. Smith.       *
-00004  * All rights reserved.  Email: russ@q12.org   Web: www.q12.org          *
-00005  *                                                                       *
-00006  * This library is free software; you can redistribute it and/or         *
-00007  * modify it under the terms of EITHER:                                  *
-00008  *   (1) The GNU Lesser General Public License as published by the Free  *
-00009  *       Software Foundation; either version 2.1 of the License, or (at  *
-00010  *       your option) any later version. The text of the GNU Lesser      *
-00011  *       General Public License is included with this library in the     *
-00012  *       file LICENSE.TXT.                                               *
-00013  *   (2) The BSD-style license that is included with this library in     *
-00014  *       the file LICENSE-BSD.TXT.                                       *
-00015  *                                                                       *
-00016  * This library is distributed in the hope that it will be useful,       *
-00017  * but WITHOUT ANY WARRANTY; without even the implied warranty of        *
-00018  * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the files    *
-00019  * LICENSE.TXT and LICENSE-BSD.TXT for more details.                     *
-00020  *                                                                       *
-00021  *************************************************************************/
-00022 
-00023 /*
-00024  * TriMesh code by Erwin de Vries.
-00025  *
-00026  * Trimesh data.
-00027  * This is where the actual vertexdata (pointers), and BV tree is stored.
-00028  * Vertices should be single precision!
-00029  * This should be more sophisticated, so that the user can easyly implement
-00030  * another collision library, but this is a lot of work, and also costs some
-00031  * performance because some data has to be copied.
-00032  */
-00033 
-00034 #ifndef _ODE_COLLISION_TRIMESH_H_
-00035 #define _ODE_COLLISION_TRIMESH_H_
-00036 
-00037 #ifdef __cplusplus
-00038 extern "C" {
-00039 #endif
-00040 
-00041 /*
-00042  * Data storage for triangle meshes.
-00043  */
-00044 struct dxTriMeshData;
-00045 typedef struct dxTriMeshData* dTriMeshDataID;
-00046 
-00047 /*
-00048  * These dont make much sense now, but they will later when we add more
-00049  * features.
-00050  */
-00051 ODE_API dTriMeshDataID dGeomTriMeshDataCreate(void);
-00052 ODE_API void dGeomTriMeshDataDestroy(dTriMeshDataID g);
-00053 
-00054 
-00055 
-00056 enum { TRIMESH_FACE_NORMALS };
-00057 ODE_API void dGeomTriMeshDataSet(dTriMeshDataID g, int data_id, void* in_data);
-00058 ODE_API void* dGeomTriMeshDataGet(dTriMeshDataID g, int data_id);
-00059 
-00060 
-00061 
-00067 ODE_API void dGeomTriMeshSetLastTransform( dGeomID g, dMatrix4 last_trans );
-00068 ODE_API dReal* dGeomTriMeshGetLastTransform( dGeomID g );
-00069 
-00070 /*
-00071  * Build TriMesh data with single precision used in vertex data .
-00072  */
-00073 ODE_API void dGeomTriMeshDataBuildSingle(dTriMeshDataID g,
-00074                                  const void* Vertices, int VertexStride, int VertexCount, 
-00075                                  const void* Indices, int IndexCount, int TriStride);
-00076 /* same again with a normals array (used as trimesh-trimesh optimization) */
-00077 ODE_API void dGeomTriMeshDataBuildSingle1(dTriMeshDataID g,
-00078                                   const void* Vertices, int VertexStride, int VertexCount, 
-00079                                   const void* Indices, int IndexCount, int TriStride,
-00080                                   const void* Normals);
-00081 /*
-00082 * Build TriMesh data with double pricision used in vertex data .
-00083 */
-00084 ODE_API void dGeomTriMeshDataBuildDouble(dTriMeshDataID g, 
-00085                                  const void* Vertices,  int VertexStride, int VertexCount, 
-00086                                  const void* Indices, int IndexCount, int TriStride);
-00087 /* same again with a normals array (used as trimesh-trimesh optimization) */
-00088 ODE_API void dGeomTriMeshDataBuildDouble1(dTriMeshDataID g, 
-00089                                   const void* Vertices,  int VertexStride, int VertexCount, 
-00090                                   const void* Indices, int IndexCount, int TriStride,
-00091                                   const void* Normals);
-00092 
-00093 /*
-00094  * Simple build. Single/double precision based on dSINGLE/dDOUBLE!
-00095  */
-00096 ODE_API void dGeomTriMeshDataBuildSimple(dTriMeshDataID g,
-00097                                  const dReal* Vertices, int VertexCount,
-00098                                  const int* Indices, int IndexCount);
-00099 /* same again with a normals array (used as trimesh-trimesh optimization) */
-00100 ODE_API void dGeomTriMeshDataBuildSimple1(dTriMeshDataID g,
-00101                                   const dReal* Vertices, int VertexCount,
-00102                                   const int* Indices, int IndexCount,
-00103                                   const int* Normals);
-00104 
-00105 /* Preprocess the trimesh data to remove mark unnecessary edges and vertices */
-00106 ODE_API void dGeomTriMeshDataPreprocess(dTriMeshDataID g);
-00107 /* Get and set the internal preprocessed trimesh data buffer, for loading and saving */
-00108 ODE_API void dGeomTriMeshDataGetBuffer(dTriMeshDataID g, unsigned char** buf, int* bufLen);
-00109 ODE_API void dGeomTriMeshDataSetBuffer(dTriMeshDataID g, unsigned char* buf);
-00110 
-00111 
-00112 /*
-00113  * Per triangle callback. Allows the user to say if he wants a collision with
-00114  * a particular triangle.
-00115  */
-00116 typedef int dTriCallback(dGeomID TriMesh, dGeomID RefObject, int TriangleIndex);
-00117 ODE_API void dGeomTriMeshSetCallback(dGeomID g, dTriCallback* Callback);
-00118 ODE_API dTriCallback* dGeomTriMeshGetCallback(dGeomID g);
-00119 
-00120 /*
-00121  * Per object callback. Allows the user to get the list of triangles in 1
-00122  * shot. Maybe we should remove this one.
-00123  */
-00124 typedef void dTriArrayCallback(dGeomID TriMesh, dGeomID RefObject, const int* TriIndices, int TriCount);
-00125 ODE_API void dGeomTriMeshSetArrayCallback(dGeomID g, dTriArrayCallback* ArrayCallback);
-00126 ODE_API dTriArrayCallback* dGeomTriMeshGetArrayCallback(dGeomID g);
-00127 
-00128 /*
-00129  * Ray callback.
-00130  * Allows the user to say if a ray collides with a triangle on barycentric
-00131  * coords. The user can for example sample a texture with alpha transparency
-00132  * to determine if a collision should occur.
-00133  */
-00134 typedef int dTriRayCallback(dGeomID TriMesh, dGeomID Ray, int TriangleIndex, dReal u, dReal v);
-00135 ODE_API void dGeomTriMeshSetRayCallback(dGeomID g, dTriRayCallback* Callback);
-00136 ODE_API dTriRayCallback* dGeomTriMeshGetRayCallback(dGeomID g);
-00137 
-00138 /*
-00139  * Trimesh class
-00140  * Construction. Callbacks are optional.
-00141  */
-00142 ODE_API dGeomID dCreateTriMesh(dSpaceID space, dTriMeshDataID Data, dTriCallback* Callback, dTriArrayCallback* ArrayCallback, dTriRayCallback* RayCallback);
-00143 
-00144 ODE_API void dGeomTriMeshSetData(dGeomID g, dTriMeshDataID Data);
-00145 ODE_API dTriMeshDataID dGeomTriMeshGetData(dGeomID g);
-00146 
-00147 
-00148 // enable/disable/check temporal coherence
-00149 ODE_API void dGeomTriMeshEnableTC(dGeomID g, int geomClass, int enable);
-00150 ODE_API int dGeomTriMeshIsTCEnabled(dGeomID g, int geomClass);
-00151 
-00152 /*
-00153  * Clears the internal temporal coherence caches. When a geom has its
-00154  * collision checked with a trimesh once, data is stored inside the trimesh.
-00155  * With large worlds with lots of seperate objects this list could get huge.
-00156  * We should be able to do this automagically.
-00157  */
-00158 ODE_API void dGeomTriMeshClearTCCache(dGeomID g);
-00159 
-00160 
-00161 /*
-00162  * returns the TriMeshDataID
-00163  */
-00164 ODE_API dTriMeshDataID dGeomTriMeshGetTriMeshDataID(dGeomID g);
-00165 
-00166 /*
-00167  * Gets a triangle.
-00168  */
-00169 ODE_API void dGeomTriMeshGetTriangle(dGeomID g, int Index, dVector3* v0, dVector3* v1, dVector3* v2);
-00170 
-00171 /*
-00172  * Gets the point on the requested triangle and the given barycentric
-00173  * coordinates.
-00174  */
-00175 ODE_API void dGeomTriMeshGetPoint(dGeomID g, int Index, dReal u, dReal v, dVector3 Out);
-00176 
-00177 /*
-00178 
-00179 This is how the strided data works:
-00180 
-00181 struct StridedVertex{
-00182    dVector3 Vertex;
-00183    // Userdata
-00184 };
-00185 int VertexStride = sizeof(StridedVertex);
-00186 
-00187 struct StridedTri{
-00188    int Indices[3];
-00189    // Userdata
-00190 };
-00191 int TriStride = sizeof(StridedTri);
-00192 
-00193 */
-00194 
-00195 
-00196 ODE_API int dGeomTriMeshGetTriangleCount (dGeomID g);
-00197 
-00198 ODE_API void dGeomTriMeshDataUpdate(dTriMeshDataID g);
-00199 
-00200 #ifdef __cplusplus
-00201 }
-00202 #endif
-00203 
-00204 #endif   /* _ODE_COLLISION_TRIMESH_H_ */
-00205 
-