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######################################################################
# Python Open Dynamics Engine Wrapper
# Copyright (C) 2004 PyODE developers (see file AUTHORS)
# All rights reserved.
#
# 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.
# (2) The BSD-style license that is included with this library in
# the file LICENSE-BSD.
#
# 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 and LICENSE-BSD for more details.
######################################################################
cdef class TriMeshData:
"""This class stores the mesh data.
"""
cdef dTriMeshDataID tmdid
cdef dReal* vertex_buffer
cdef int* face_buffer
def __new__(self):
self.tmdid = dGeomTriMeshDataCreate()
self.vertex_buffer = NULL
self.face_buffer = NULL
def __dealloc__(self):
if self.tmdid!=NULL:
dGeomTriMeshDataDestroy(self.tmdid)
if self.vertex_buffer!=NULL:
free(self.vertex_buffer)
if self.face_buffer!=NULL:
free(self.face_buffer)
def build(self, verts, faces):
"""build(verts, faces)
@param verts: Vertices
@type verts: Sequence of 3-sequences of floats
@param faces: Face definitions (three indices per face)
@type faces: Sequence of 3-sequences of ints
"""
cdef int numverts
cdef int numfaces
cdef dReal* vp
cdef int* fp
cdef int a,b,c
numverts = len(verts)
numfaces = len(faces)
# Allocate the vertex and face buffer
self.vertex_buffer = <dReal*>malloc(numverts*4*sizeof(dReal))
self.face_buffer = <int*>malloc(numfaces*3*sizeof(int))
# Fill the vertex buffer
vp = self.vertex_buffer
for v in verts:
vp[0] = v[0]
vp[1] = v[1]
vp[2] = v[2]
vp[3] = 0
vp = vp+4
# Fill the face buffer
fp = self.face_buffer
for f in faces:
a = f[0]
b = f[1]
c = f[2]
if a<0 or b<0 or c<0 or a>=numverts or b>=numverts or c>=numverts:
raise ValueError, "Vertex index out of range"
fp[0] = a
fp[1] = b
fp[2] = c
fp = fp+3
# Pass the data to ODE
dGeomTriMeshDataBuildSimple(self.tmdid, self.vertex_buffer, numverts, self.face_buffer, numfaces*3)
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