org.ode4j.ode.DTriMeshData Maven / Gradle / Ivy
/*************************************************************************
* *
* Open Dynamics Engine, Copyright (C) 2001,2002 Russell L. Smith. *
* All rights reserved. Email: [email protected] Web: www.q12.org *
* Open Dynamics Engine 4J, Copyright (C) 2009-2014 Tilmann Zaeschke *
* All rights reserved. Email: [email protected] Web: www.ode4j.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 ODE-LICENSE-BSD.TXT and ODE4J-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, ODE-LICENSE-BSD.TXT and ODE4J-LICENSE-BSD.TXT for more *
* details. *
* *
*************************************************************************/
package org.ode4j.ode;
/**
* 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.
*/
public interface DTriMeshData {
// /**
// * Build a TriMesh data object with single precision vertex data.
// */
// void buildSingle(
// final double[] Vertices, int VertexStride, int VertexCount,
// final int[] Indices, int IndexCount, int TriStride);
/**
* Build a TriMesh data object with single precision vertex data.
* In Java, the number of vertices and indices are derived from
* the length of the arrays. Strides can not be set because
* GIMPACT assumes strides to be 3.
* @param vertices vertices
* @param indices indices
*/
//void buildSingle(
void build(
// final float[] Vertices, int VertexStride, int VertexCount,
// final int[] Indices, int IndexCount, int TriStride);
final float[] vertices,
final int[] indices);
//GIMPACT does not support normals.
// /**
// * Build a TriMesh data object with single precision vertex data.
// * In Java, the number of vertices and indices are derived from
// * the length of the arrays. Strides can not be set because
// * GIMPACT assumes strides to be 3.
// *
// * Same again with a normals array (used as trimesh-trimesh optimization).
// */
// void build(
//// final float[] Vertices, int VertexStride, int VertexCount,
//// final int[] Indices, int IndexCount, int TriStride);
// final float[] vertices,
// final int[] indices,
// final int[] normals);
void destroy();
//Not available in GIMPACT
// void set(int data_id, Object in_data);
// Object get(int data_id);
// void dGeomTriMeshDataSet(DTriMeshData g, int data_id, Object in_data);
// Object dGeomTriMeshDataGet(DTriMeshData g, int data_id);
// /** same again with a normals array (used as trimesh-trimesh optimization) */
// //ODE_API
// // void dGeomTriMeshDataBuildSingle1(dTriMeshData g,
// // final void* Vertices, int VertexStride, int VertexCount,
// // final void* Indices, int IndexCount, int TriStride,
// // final void* Normals) {
// void buildSingle1(DTriMeshData g,
// final double[] Vertices, int VertexStride, int VertexCount,
// final int[] Indices, int IndexCount, int TriStride,
// final int[] Normals);
// /**
// * Build a TriMesh data object with double precision vertex data.
// */
// //ODE_API
// void buildDouble(DTriMeshData g,
// // final void* Vertices, int VertexStride, int VertexCount,
// // final void* Indices, int IndexCount, int TriStride) {
// final double[] Vertices, int VertexStride, int VertexCount,
// final int[] Indices, int IndexCount, int TriStride);
// /** same again with a normals array (used as trimesh-trimesh optimization) */
// //ODE_API
// // void dGeomTriMeshDataBuildDouble1(dTriMeshData g,
// // final void* Vertices, int VertexStride, int VertexCount,
// // final void* Indices, int IndexCount, int TriStride,
// // final void* Normals) {
// void buildDouble1(DTriMeshData g,
// final double[] Vertices, int VertexStride, int VertexCount,
// final int[] Indices, int IndexCount, int TriStride,
// final int[] Normals);
//
// /**
// * Simple build. Single/double precision based on dSINGLE/dDOUBLE!
// */
// //ODE_API
// // void dGeomTriMeshDataBuildSimple(dTriMeshData g,
// // final double* Vertices, int VertexCount,
// // final dTriIndex* Indices, int IndexCount) {
// void buildSimple(DTriMeshData g,
// final double[] Vertices, int VertexCount,
// final int[] Indices, int IndexCount);
// /** same again with a normals array (used as trimesh-trimesh optimization) */
// //ODE_API
// // void dGeomTriMeshDataBuildSimple1(dTriMeshData g,
// // final double* Vertices, int VertexCount,
// // final dTriIndex* Indices, int IndexCount,
// // final int* Normals) {
// void buildSimple1(DTriMeshData g,
// final double[] Vertices, int VertexCount,
// final int[] Indices, int IndexCount,
// final int[] Normals);
//
/*
* Data preprocessing build request flags.
*/
class dTRIDATAPREPROCESS_BUILD {
public static final int CONCAVE_EDGES = 0; // Used to optimize OPCODE trimesh-capsule collisions; allocates 1 byte per triangle; no extra data associated
public static final int FACE_ANGLES = 1; // Used to aid trimesh-convex collisions; memory requirements depend on extra data
private dTRIDATAPREPROCESS_BUILD() {}
}
// 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 {
BYTE_POSITIVE, // 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
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
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
public static final dTRIDATAPREPROCESS_FACE_ANGLES_EXTRA DEFAULT = BYTE_POSITIVE; // The default value assumed if the extra data is not provided
}
// enum
// {
public static final int dTRIDATAPREPROCESS_FACE_ANGLES_EXTRA__MIN = 0;
// 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
public static final int dTRIDATAPREPROCESS_FACE_ANGLES_EXTRA_BYTE_POSITIVE = dTRIDATAPREPROCESS_FACE_ANGLES_EXTRA__MIN;
// 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
public static final int dTRIDATAPREPROCESS_FACE_ANGLES_EXTRA_BYTE_ALL = dTRIDATAPREPROCESS_FACE_ANGLES_EXTRA_BYTE_POSITIVE + 1;
// 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
public static final int dTRIDATAPREPROCESS_FACE_ANGLES_EXTRA_WORD_ALL = dTRIDATAPREPROCESS_FACE_ANGLES_EXTRA_BYTE_ALL + 1;
public static final int dTRIDATAPREPROCESS_FACE_ANGLES_EXTRA__MAX = dTRIDATAPREPROCESS_FACE_ANGLES_EXTRA_WORD_ALL + 1;
// The default value assumed if the extra data is not provided
public static final int dTRIDATAPREPROCESS_FACE_ANGLES_EXTRA__DEFAULT = dTRIDATAPREPROCESS_FACE_ANGLES_EXTRA_BYTE_POSITIVE;
/*
* 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]*/);
boolean preprocess2(int buildRequestFlags, final long[] requestExtraData/*=NULL | const dintptr (*)[dTRIDATAPREPROCESS_BUILD__MAX]*/);
/*
* Obsolete. Equivalent to calling dGeomTriMeshDataPreprocess2(g, (1U << dTRIDATAPREPROCESS_BUILD_CONCAVE_EDGES), NULL)
*/
//ODE_API
boolean preprocess();
/*
* 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
// //void dGeomTriMeshDataGetBuffer(dTriMeshData g, unsigned char** buf, int* bufLen) {
// void getBuffer(DTriMeshData g, byte[][] buf, RefInt bufLen);
// //ODE_API
// //void dGeomTriMeshDataSetBuffer(dTriMeshData g, unsigned char* buf) {
// void setBuffer(DTriMeshData g, byte[] buf);
//ODE_API
//void dGeomTriMeshDataUpdate(DTriMeshData g) {
void update();
}
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