source/SoCollisionShapeTriMesh.cpp

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/*
 * Copyright (c) 2007, 2008, 2009, 2010 University of Karlsruhe (for members see AUTHORS file)
 *
 * ISC License
 *
 * Permission to use, copy, modify, and/or distribute this software for any
 * purpose with or without fee is hereby granted, provided that the above
 * copyright notice and this permission notice appear in all copies.
 *
 * THE SOFTWARE IS PROVIDED "AS IS" AND THE AUTHOR DISCLAIMS ALL WARRANTIES
 * WITH REGARD TO THIS SOFTWARE INCLUDING ALL IMPLIED WARRANTIES OF
 * MERCHANTABILITY AND FITNESS. IN NO EVENT SHALL THE AUTHOR BE LIABLE FOR
 * ANY SPECIAL, DIRECT, INDIRECT, OR CONSEQUENTIAL DAMAGES OR ANY DAMAGES
 * WHATSOEVER RESULTING FROM LOSS OF USE, DATA OR PROFITS, WHETHER IN AN
 * ACTION OF CONTRACT, NEGLIGENCE OR OTHER TORTIOUS ACTION, ARISING OUT OF
 * OR IN CONNECTION WITH THE USE OR PERFORMANCE OF THIS SOFTWARE.
 *
 *  Created by Manfred Kroehnert on 11.11.07.
 */

#include "../include/IPSA/SoCollisionShapeTriMesh.h"

#include "../include/IPSA/TriangleExtractor.h"
#include "../include/IPSA/VertexStorage.h"

SO_KIT_SOURCE(SoCollisionShapeTriMesh);

void SoCollisionShapeTriMesh::initClass()
{
                SO_KIT_INIT_CLASS(SoCollisionShapeTriMesh, SoCollisionShape, "CollisionShape");
}


SoCollisionShapeTriMesh::SoCollisionShapeTriMesh(const SbString& nodeName /*=""*/)
: SoCollisionShape(nodeName)
{
                SO_KIT_CONSTRUCTOR(SoCollisionShapeTriMesh);
                isBuiltIn = TRUE;

                SO_KIT_ADD_FIELD(ivModel, (NULL));

                SO_KIT_CHANGE_ENTRY_TYPE(visualisation,SoNode,SoNode);
                SO_KIT_CHANGE_NULL_BY_DEFAULT(visualisation, TRUE);

                SO_KIT_INIT_INSTANCE();

                updateOdePropertiesTrigger.appendConnection(&ivModel);
}


SoCollisionShape* SoCollisionShapeTriMesh::copy(SbBool copyConnections) const
{
                // Use the standard version of the copy method to create a
                // copy of this instance, including its field data
                SoCollisionShapeTriMesh* newSoCollisionShape = dynamic_cast<SoCollisionShapeTriMesh*> (SoCollisionShape::copy(copyConnections));
                newSoCollisionShape->setUpConnections(TRUE, TRUE);
                return newSoCollisionShape;
}


void SoCollisionShapeTriMesh::updateVisualisationAndOdeProperties()
{
                //this->setPart("visualisation", this->ivModel.getValue()); // <-- This does not work!
}


dGeomID SoCollisionShapeTriMesh::cGeom(const SbMatrix& mm)
{
    assert(space != NULL);

    printf("creating TriMesh Geom from ivModel, pass 1\n");
                SoNode* model = this->ivModel.getValue();
                assert(NULL != model && "SoCollisionShapeTriMesh::cGeom() -> no ivModel set\n");

                TriangleExtractor* te = new TriangleExtractor( model );
                te->execute();
                VertexStorage<odeVertexType> *vertices = te->getResult();

                dTriMeshDataID triMeshData = dGeomTriMeshDataCreate();

#ifdef dSINGLE
                /*
                 *              NOTE: For GIMPACT we can only use dGeomTriMeshDataBuildSingle
                 *  with Vertexstride = 3! This is also fine for OPCODE.
                 *
                 */
                dGeomTriMeshDataBuildSingle( triMeshData,
                                                                     (dReal*)vertices->vertices, sizeof(odeVertexType), vertices->MAX_VERTEX_COUNT,
                                                                     (int*)vertices->indices, vertices->MAX_INDEX_COUNT, 3 * sizeof(int) );
#else
                dGeomTriMeshDataBuildDouble( triMeshData,
                                                                     (dReal*)vertices->vertices, sizeof(odeVertexType), vertices->MAX_VERTEX_COUNT,
                                                                     (int*)vertices->indices, vertices->MAX_INDEX_COUNT, 3 * sizeof(int) );
#endif

                dGeomTriMeshDataPreprocess( triMeshData );

                dGeomID geom = dCreateTriMesh( space, triMeshData, 0, 0, 0);

                /*
                 * Now do recalculation to align TriMesh with origin:
                 *
                 */
                // calculate mass and inertia from geom:
                dMass triMeshMass;
                dMassSetTrimesh( &triMeshMass, 1.0, geom );
                printf("cGeom(Tri): COG before shift is [%f,%f,%f], Mass: %f\n",(double) triMeshMass.c[0],
                                                                    (double) triMeshMass.c[1],
                                                                    (double) triMeshMass.c[2],
                                                                    (double) triMeshMass.mass);
                SbVec3f lcog = SbVec3f((float)triMeshMass.c[0], (float)triMeshMass.c[1], (float)triMeshMass.c[2]);
                COG = lcog;

                dGeomDestroy(geom);

                printf("creating TriMesh Geom from ivModel, pass 2\n");
                // Recalculate the vertices with translation into COG
                te = new TriangleExtractor( model );
                te->execute(-lcog);
                vertices = te->getResult();

#ifdef dSINGLE
                dGeomTriMeshDataBuildSingle( triMeshData,
                                                                     (dReal*)vertices->vertices, sizeof(odeVertexType), vertices->MAX_VERTEX_COUNT,
                                                                     (int*)vertices->indices, vertices->MAX_INDEX_COUNT, 3 * sizeof(int) );
#else
                dGeomTriMeshDataBuildDouble( triMeshData,
                                                                     (dReal*)vertices->vertices, sizeof(odeVertexType), vertices->MAX_VERTEX_COUNT,
                                                                     (int*)vertices->indices, vertices->MAX_INDEX_COUNT, 3 * sizeof(int) );
#endif
                dGeomTriMeshDataPreprocess( triMeshData );
                geom = dCreateTriMesh( space, triMeshData, 0, 0, 0);

                return geom;
}

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