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authorRobert Adams2011-06-20 17:14:59 -0700
committerDan Lake2011-06-20 17:24:42 -0700
commit302d72701da35b6d481a538c4cb953976d7e9044 (patch)
treefe11403b00e640da659c48dddbc9646860380ccd /OpenSim/Region/Physics/ConvexDecompositionDotNet/HullClasses.cs
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BulletSim initial checkin
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1/* The MIT License
2 *
3 * Copyright (c) 2010 Intel Corporation.
4 * All rights reserved.
5 *
6 * Based on the convexdecomposition library from
7 * <http://codesuppository.googlecode.com> by John W. Ratcliff and Stan Melax.
8 *
9 * Permission is hereby granted, free of charge, to any person obtaining a copy
10 * of this software and associated documentation files (the "Software"), to deal
11 * in the Software without restriction, including without limitation the rights
12 * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
13 * copies of the Software, and to permit persons to whom the Software is
14 * furnished to do so, subject to the following conditions:
15 *
16 * The above copyright notice and this permission notice shall be included in
17 * all copies or substantial portions of the Software.
18 *
19 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
20 * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
21 * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
22 * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
23 * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
24 * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
25 * THE SOFTWARE.
26 */
27
28using System;
29using System.Collections.Generic;
30
31namespace OpenSim.Region.Physics.ConvexDecompositionDotNet
32{
33 public class HullResult
34 {
35 public bool Polygons = true; // true if indices represents polygons, false indices are triangles
36 public List<float3> OutputVertices = new List<float3>();
37 public List<int> Indices;
38
39 // If triangles, then indices are array indexes into the vertex list.
40 // If polygons, indices are in the form (number of points in face) (p1, p2, p3, ..) etc..
41 }
42
43 public class PHullResult
44 {
45 public List<float3> Vertices = new List<float3>();
46 public List<int> Indices = new List<int>();
47 }
48
49 [Flags]
50 public enum HullFlag : int
51 {
52 QF_DEFAULT = 0,
53 QF_TRIANGLES = (1 << 0), // report results as triangles, not polygons.
54 QF_SKIN_WIDTH = (1 << 2) // extrude hull based on this skin width
55 }
56
57 public enum HullError : int
58 {
59 QE_OK, // success!
60 QE_FAIL // failed.
61 }
62
63 public class HullDesc
64 {
65 public HullFlag Flags; // flags to use when generating the convex hull.
66 public List<float3> Vertices;
67 public float NormalEpsilon; // the epsilon for removing duplicates. This is a normalized value, if normalized bit is on.
68 public float SkinWidth;
69 public uint MaxVertices; // maximum number of vertices to be considered for the hull!
70 public uint MaxFaces;
71
72 public HullDesc()
73 {
74 Flags = HullFlag.QF_DEFAULT;
75 Vertices = new List<float3>();
76 NormalEpsilon = 0.001f;
77 MaxVertices = 4096;
78 MaxFaces = 4096;
79 SkinWidth = 0.01f;
80 }
81
82 public HullDesc(HullFlag flags, List<float3> vertices)
83 {
84 Flags = flags;
85 Vertices = new List<float3>(vertices);
86 NormalEpsilon = 0.001f;
87 MaxVertices = 4096;
88 MaxFaces = 4096;
89 SkinWidth = 0.01f;
90 }
91
92 public bool HasHullFlag(HullFlag flag)
93 {
94 return (Flags & flag) != 0;
95 }
96
97 public void SetHullFlag(HullFlag flag)
98 {
99 Flags |= flag;
100 }
101
102 public void ClearHullFlag(HullFlag flag)
103 {
104 Flags &= ~flag;
105 }
106 }
107
108 public class ConvexH
109 {
110 public struct HalfEdge
111 {
112 public short ea; // the other half of the edge (index into edges list)
113 public byte v; // the vertex at the start of this edge (index into vertices list)
114 public byte p; // the facet on which this edge lies (index into facets list)
115
116 public HalfEdge(short _ea, byte _v, byte _p)
117 {
118 ea = _ea;
119 v = _v;
120 p = _p;
121 }
122
123 public HalfEdge(HalfEdge e)
124 {
125 ea = e.ea;
126 v = e.v;
127 p = e.p;
128 }
129 }
130
131 public List<float3> vertices = new List<float3>();
132 public List<HalfEdge> edges = new List<HalfEdge>();
133 public List<Plane> facets = new List<Plane>();
134
135 public ConvexH(int vertices_size, int edges_size, int facets_size)
136 {
137 vertices = new List<float3>(vertices_size);
138 edges = new List<HalfEdge>(edges_size);
139 facets = new List<Plane>(facets_size);
140 }
141 }
142
143 public class VertFlag
144 {
145 public byte planetest;
146 public byte junk;
147 public byte undermap;
148 public byte overmap;
149 }
150
151 public class EdgeFlag
152 {
153 public byte planetest;
154 public byte fixes;
155 public short undermap;
156 public short overmap;
157 }
158
159 public class PlaneFlag
160 {
161 public byte undermap;
162 public byte overmap;
163 }
164
165 public class Coplanar
166 {
167 public ushort ea;
168 public byte v0;
169 public byte v1;
170 }
171}