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# 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 Shape
cdef class _TriMesh(GeomObject):
"""Parent class for all TriMesh-derived geoms"""
cdef dTriMeshDataID _data
cdef double *_last_transformation
def __new__(self, parent, space, *a, **kw):
self._data = dGeomTriMeshDataCreate()
self._last_transformation = <double*>malloc(16 * sizeof(double))
def __dealloc__(self):
dGeomTriMeshDataDestroy(self._data)
free(self._last_transformation)
# cdef void begin_round(self):
# cdef dReal *R, *P
#
# R = dGeomGetRotation(self.gid)
# P = dGeomGetPosition(self.gid)
#
# memcpy(self._last_transformation, R, 12 * sizeof(dReal))
# memcpy(&self._last_transformation[12], P, 4 * sizeof(dReal))
#
# dGeomTriMeshDataSet(self._data, TRIMESH_LAST_TRANSFORMATION, <void*>self._last_transformation)
#
# GeomObject.begin_round(self)
cdef class _GeomShape(_TriMesh):
"""Shape collider for Soya.
Shapes can collide with primitives (box, sphere, capped cylinder, ray),
but not with other shapes or with terrains.
The axis-aligned bounding box (AABB) is calculated from the bounding
sphere of the shape.
Shapes *must* be made of only triangles!
"""
cdef readonly _soya._SimpleShape shape
cdef float *_normals
cdef int *_indices
def __new__(self, _soya._World parent, SpaceBase space, _soya._SimpleShape shape=None):
cdef _soya.ShapeFace face
cdef float *normals
cdef int *indices
cdef int i
cdef dSpaceID sid
if shape is None:
shape = parent._shape
self.shape = shape
self._normals = <float*>malloc(shape._nb_faces * sizeof(float) * 3)
self._indices = <int*>malloc(shape._nb_faces * sizeof(int) * 3)
if space is None:
sid = NULL
else:
sid = space.sid
normals = self._normals
indices = self._indices
# Extract the normals from the shape while making sure all the
# faces are triangles
for i from 0 <= i < shape._nb_faces:
face = shape._faces[i]
if not face.option & _soya.FACE_TRIANGLE:
raise ValueError, "All faces in a shape for a GeomShape must be triangles (for now)"
memcpy(normals, shape._values + face.normal, 3 * sizeof(float))
normals = normals + 3
indices[0] = shape._vertex_coords[face.v[0]] / 3
indices[1] = shape._vertex_coords[face.v[1]] / 3
indices[2] = shape._vertex_coords[face.v[2]] / 3
#print indices[0], indices[1], indices[2], shape._nb_coords
indices = indices + 3
#print <long>shape._coords, shape._nb_coords, <long>self._indices, shape._nb_faces * 3, <long>normals
dGeomTriMeshDataBuildSingle1(self._data, shape._coords, 3 * sizeof(float), shape._nb_coords, self._indices, shape._nb_faces * 3, 3 * sizeof(int), NULL) #<void*>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 _GeomLand(_TriMesh):
"""Land collider for Soya.
"""
cdef readonly _soya._Land land
#cdef float *_normals
cdef int *_indices
def __new__(self, _soya._Land land, SpaceBase space):
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.land = land
nvertices = land._nb_vertex_width * land._nb_vertex_depth
ntris = ((land._nb_vertex_width - 1) * (land._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 < land._nb_vertex_depth - 1:
for i from 0 <= i < land._nb_vertex_width - 1:
v1 = i + j * land._nb_vertex_width
v2 = i + 1 + j * land._nb_vertex_width
v3 = i + 1 + (j + 1) * land._nb_vertex_width
v4 = i + (j + 1) * land._nb_vertex_width
# Land 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, land._vertices[0].coord, sizeof(land._vertices[0]), nvertices, self._indices, ntris * 3, 3 * sizeof(int), NULL) #<void*>land._normals)
self.gid = dCreateTriMesh(sid, self._data, NULL, NULL, NULL)
def __dealloc__(self):
free(self._indices)
def __init__(self, _soya._Land land, SpaceBase space=None):
GeomObject.__init__(self, land._parent, space)
def placeable(self):
return True
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