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# -*- indent-tabs-mode: t -*-
# Soya 3D
# Copyright (C) 2004 Jean-Baptiste LAMY -- jiba@tuxfamily.org
#
# This program is free software; you can redistribute it and/or modify
# it under the terms of the GNU General Public License as published by
# the Free Software Foundation; either version 2 of the License, or
# (at your option) any later version.
#
# This program 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
# GNU General Public License for more details.
#
# You should have received a copy of the GNU General Public License
# along with this program; if not, write to the Free Software
# Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
# A collider for a Model
cdef class _TriMesh(GeomObject):
"""Parent class for all TriMesh-derived geoms.
TriMesh-TriMesh collison does not currently return meaningful normals
or depth, so don't try to use it for collision response!"""
cdef dTriMeshDataID _data
cdef double _last_transformation[16]
cdef int _colliding # Flag indicating if we're currently colliding with
# another TriMesh
def __new__(self, parent, space, *args, **kw):
self._data = dGeomTriMeshDataCreate()
#self._last_transformation = <double*>malloc(16 * sizeof(double))
self._colliding = 0
def __dealloc__(self):
dGeomTriMeshDataDestroy(self._data)
#free(self._last_transformation)
cdef void _set_last_transformation(self):
#cdef dReal *R, *P
cdef double *t
cdef int i, j
t = self._last_transformation
# Only set the last transformation if we're not currently colliding
# with another TriMesh
if self._colliding == 0:
print 'setting last transformation'
#R = dGeomGetRotation(self.gid)
#P = dGeomGetPosition(self.gid)
for i from 0 <= i < 16:
t[i] = <double>self._matrix[i]
## Try transposing
#for j from 0 <= j < 3:
# for i from 0 <= i < 3:
# t[i*4+j] = <double>self._matrix[j*4+i]
#
# t[3] = 0.0
# t[7] = 0.0
# t[11] = 0.0
# t[12] = <double>self._matrix[13]
# t[13] = <double>self._matrix[14]
# t[14] = <double>self._matrix[15]
# t[15] = 1.0
else:
# Reset the colliding flag. This assumes that _invalidate
# is only called once per round, which is probably not
# valid. XXX
self._colliding = 0
# I think this needs to be called regardless of whether there's an
# update
dGeomTriMeshDataSet(self._data, TRIMESH_LAST_TRANSFORMATION, <void*>t)
cdef class _GeomModel(_TriMesh):
"""Model collider for Soya.
Models can collide with primitives (box, sphere, capped cylinder, ray),
but not with other models or with terrains.
The axis-aligned bounding box (AABB) is calculated from the bounding
sphere of the model.
Models *must* be made of only triangles!
"""
cdef readonly _soya._SimpleModel model
cdef float *_normals
cdef int *_indices
def __new__(self, _soya._World parent, SpaceBase space, _soya._SimpleModel model=None, *args, **kw):
cdef _soya.ModelFace face
cdef float *normals
cdef int *indices
cdef int i, nb_tris
cdef dSpaceID sid
if model is None:
model = parent._model
self.model = model
nb_tris = model._nb_faces
# Count the number of quads and add one triangle for each quad
for i from 0 <= i < model._nb_faces:
if model._faces[i].option & _soya.FACE_QUAD:
nb_tris = nb_tris + 1
self._normals = <float*>malloc(nb_tris * sizeof(dReal) * 3)
self._indices = <int*>malloc(nb_tris * sizeof(int) * 3)
if space is None:
sid = NULL
else:
sid = space.sid
normals = self._normals
indices = self._indices
# Extract the normals from the model while making sure all the
# faces are triangles
for i from 0 <= i < model._nb_faces:
face = model._faces[i]
memcpy(normals, model._values + face.normal, 3 * sizeof(dReal))
normals = normals + 3
indices[0] = model._vertex_coords[face.v[0]] / 3
indices[1] = model._vertex_coords[face.v[1]] / 3
indices[2] = model._vertex_coords[face.v[2]] / 3
indices = indices + 3
if face.option & _soya.FACE_QUAD:
# Do a second triangle using the fourth vertex
memcpy(normals, model._values + face.normal, 3 * sizeof(dReal))
normals = normals + 3
indices[0] = model._vertex_coords[face.v[1]] / 3
indices[1] = model._vertex_coords[face.v[2]] / 3
indices[2] = model._vertex_coords[face.v[3]] / 3
indices = indices + 3
#print <long>model._coords, model._nb_coords, <long>self._indices, model._nb_faces * 3, <long>normals
dGeomTriMeshDataBuildSingle1(self._data, model._coords, 3 * sizeof(dReal), model._nb_coords, self._indices, nb_tris * 3, 3 * sizeof(int), <void*>self._normals)
self.gid = dCreateTriMesh(sid, self._data, NULL, NULL, NULL)
def __dealloc__(self):
free(self._normals)
free(self._indices)
def placeable(self):
return True
cdef class _GeomTerrain(_TriMesh):
"""Terrain collider for Soya.
"""
cdef readonly _soya._Terrain terrain
cdef float *_normals
cdef int *_indices
def __new__(self, _soya._Terrain terrain, SpaceBase space, *args, **kw):
cdef float *normals
cdef int *indices
cdef int i, nvertices, ntris, v1, v2, v3, v4
cdef dSpaceID sid
if space is None:
sid = NULL
else:
sid = space.sid
self.terrain = terrain
nvertices = terrain._nb_vertex_width * terrain._nb_vertex_depth
ntris = ((terrain._nb_vertex_width - 1) * (terrain._nb_vertex_depth - 1)) * 2
#self._vertices = <float*>malloc(nvertices * sizeof(float) * 3)
#self._normals = <float*>malloc(ntris * sizeof(float) * 3)
self._indices = <int*>malloc(ntris * sizeof(int) * 3)
indices = self._indices
for j from 0 <= j < terrain._nb_vertex_depth - 1:
for i from 0 <= i < terrain._nb_vertex_width - 1:
v1 = i + j * terrain._nb_vertex_width
v2 = i + 1 + j * terrain._nb_vertex_width
v3 = i + 1 + (j + 1) * terrain._nb_vertex_width
v4 = i + (j + 1) * terrain._nb_vertex_width
# Terrain uses diamonds
if ((i & 1) and (j & 1)) or ((not (i * 1)) and (not (j & 1))):
# Down and to the right
indices[0] = v4
indices[1] = v3
indices[2] = v1
indices[3] = v2
indices[4] = v1
indices[5] = v3
else:
# Down and to the left
indices[0] = v1
indices[1] = v4
indices[2] = v2
indices[3] = v3
indices[4] = v2
indices[5] = v4
indices = indices + 6
dGeomTriMeshDataBuildSingle1(self._data, terrain._vertices[0].coord, sizeof(terrain._vertices[0]), nvertices, self._indices, ntris * 3, 3 * sizeof(int), NULL) #<void*>terrain._normals)
self.gid = dCreateTriMesh(sid, self._data, NULL, NULL, NULL)
def __dealloc__(self):
free(self._indices)
def __init__(self, _soya._Terrain terrain, SpaceBase space=None):
GeomObject.__init__(self, terrain._parent, space)
def placeable(self):
return True
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