adding missing ODE files for mesh

1 files changed, 197 insertions, 0 deletions

diff --git a/OpenSim/Region/Physics/OdePlugin/Meshing/Mesh.cs b/OpenSim/Region/Physics/OdePlugin/Meshing/Mesh.cs
new file mode 100755
index 0000000..5a51703
--- /dev/null
+++ b/OpenSim/Region/Physics/OdePlugin/Meshing/Mesh.cs
@@ -0,0 +1,197 @@
+using System;
+using System.IO;
+using System.Collections.Generic;
+using System.Text;
+
+using System.Runtime.InteropServices;
+
+
+using OpenSim.Region.Physics.Manager;
+
+namespace OpenSim.Region.Physics.OdePlugin.Meshing
+{
+    public class Mesh
+    {
+        public List<Vertex> vertices;
+        public List<Triangle> triangles;
+
+        public float[] normals;
+
+        public Mesh()
+        {
+            vertices = new List<Vertex>();
+            triangles = new List<Triangle>();
+        }
+
+        public Mesh Clone()
+        {
+            Mesh result = new Mesh();
+
+            foreach (Vertex v in vertices)
+            {
+                if (v == null)
+                    result.vertices.Add(null);
+                else
+                    result.vertices.Add(v.Clone());
+            }
+
+            foreach (Triangle t in triangles)
+            {
+                int iV1, iV2, iV3;
+                iV1 = this.vertices.IndexOf(t.v1);
+                iV2 = this.vertices.IndexOf(t.v2);
+                iV3 = this.vertices.IndexOf(t.v3);
+
+                Triangle newT = new Triangle(result.vertices[iV1], result.vertices[iV2], result.vertices[iV3]);
+                result.Add(newT);
+            }
+
+            return result;
+        }
+
+        
+        
+        public void Add(Triangle triangle)
+        {
+            int i;
+            i = vertices.IndexOf(triangle.v1);
+            if (i < 0)
+                throw new ArgumentException("Vertex v1 not known to mesh");
+            i = vertices.IndexOf(triangle.v2);
+            if (i < 0)
+                throw new ArgumentException("Vertex v2 not known to mesh");
+            i = vertices.IndexOf(triangle.v3);
+            if (i < 0)
+                throw new ArgumentException("Vertex v3 not known to mesh");
+
+            triangles.Add(triangle);
+        }
+
+        public void Add(Vertex v)
+        {
+            vertices.Add(v);
+        }
+
+        public void Remove(Vertex v)
+        {
+            int i;
+
+            // First, remove all triangles that are build on v
+            for (i = 0; i < triangles.Count; i++)
+            {
+                Triangle t = triangles[i];
+                if (t.v1 == v || t.v2 == v || t.v3 == v)
+                {
+                    triangles.RemoveAt(i);
+                    i--;
+                }
+            }
+
+            // Second remove v itself
+            vertices.Remove(v);
+        }
+
+        public void RemoveTrianglesOutside(SimpleHull hull)
+        {
+            int i;
+
+            for (i = 0; i < triangles.Count; i++)
+            {
+                Triangle t = triangles[i];
+                Vertex v1 = t.v1;
+                Vertex v2 = t.v2;
+                Vertex v3 = t.v3;
+                PhysicsVector m = v1 + v2 + v3;
+                m /= 3.0f;
+                if (!hull.IsPointIn(new Vertex(m)))
+                {
+                    triangles.RemoveAt(i);
+                    i--;
+                }
+            }
+        }
+
+
+        public void Add(List<Vertex> lv)
+        {
+            foreach (Vertex v in lv)
+            {
+                vertices.Add(v);
+            }
+        }
+
+        public float[] getVertexListAsFloat()
+        {
+            float[] result = new float[vertices.Count * 3];
+            for (int i = 0; i < vertices.Count; i++)
+            {
+                Vertex v = vertices[i];
+                if (v == null)
+                    continue;
+                result[3 * i + 0] = v.X;
+                result[3 * i + 1] = v.Y;
+                result[3 * i + 2] = v.Z;
+            }
+            GCHandle.Alloc(result, GCHandleType.Pinned);
+            return result;
+        }
+
+        public int[] getIndexListAsInt()
+        {
+            int[] result = new int[triangles.Count * 3];
+            for (int i = 0; i < triangles.Count; i++)
+            {
+                Triangle t = triangles[i];
+                result[3 * i + 0] = vertices.IndexOf(t.v1);
+                result[3 * i + 1] = vertices.IndexOf(t.v2);
+                result[3 * i + 2] = vertices.IndexOf(t.v3);
+            }
+            GCHandle.Alloc(result, GCHandleType.Pinned);
+            return result;
+        }
+
+
+        public void Append(Mesh newMesh)
+        {
+            foreach (Vertex v in newMesh.vertices)
+                vertices.Add(v);
+
+            foreach (Triangle t in newMesh.triangles)
+                Add(t);
+
+        }
+
+        // Do a linear transformation of  mesh.
+        public void TransformLinear(float[,] matrix, float[] offset)
+        {
+            foreach (Vertex v in vertices)
+            {
+                if (v == null)
+                    continue;
+                float x, y, z;
+                x = v.X * matrix[0, 0] + v.Y * matrix[1, 0] + v.Z * matrix[2, 0];
+                y = v.X * matrix[0, 1] + v.Y * matrix[1, 1] + v.Z * matrix[2, 1];
+                z = v.X * matrix[0, 2] + v.Y * matrix[1, 2] + v.Z * matrix[2, 2];
+                v.X = x + offset[0];
+                v.Y = y + offset[1];
+                v.Z = z + offset[2];
+            }
+        }
+
+        public void DumpRaw(String path, String name, String title)
+        {
+            if (path == null)
+                return;
+            String fileName = name + "_" + title + ".raw";
+            String completePath = Path.Combine(path, fileName);
+            StreamWriter sw = new StreamWriter(completePath);
+            foreach (Triangle t in triangles)
+            {
+                String s = t.ToStringRaw();
+                sw.WriteLine(s);
+            }
+            sw.Close();
+        }
+    }
+
+}