vrsode/src/TrimeshShape.cpp

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#include "TrimeshShape.h"
#include "TriangleData.h"
#include "PhysicsManager.h"

#include <vrs/container/makeiterator.h>
#include <vrs/colorattribute.h>
#include <vrs/constantdetail.h>
#include <vrs/facestyle.h>
#include <vrs/polygonset.h>
#include <vrs/sphere.h>

namespace vrsode
{

TrimeshShape::TrimeshShape(VRS::SO<TriangleData> p_triangleData) : Shape()
{
    setCollisionShape(CS_Trimesh);
    m_triangleData = p_triangleData;
    m_triangleData->setGeometryChangeCallback(
            this, &TrimeshShape::geometryChangeCallback);
    
    m_trimeshId = dGeomTriMeshDataCreate();
    dGeomTriMeshDataBuildSingle(m_trimeshId, 
                                m_triangleData->vertexArray(), 
                                m_triangleData->sizeOfVertexStride(), 
                                m_triangleData->vertexCount(),
                                m_triangleData->indexArray(),
                                m_triangleData->indexCount(),
                                m_triangleData->sizeOfTriangleStride());

    createGeometry();
    createDebugNode();
    
    // dGeomTriMeshEnableTC(geomId(), dBoxClass, true);
    // dGeomTriMeshEnableTC(geomId(), dSphereClass, true);
    // dGeomTriMeshEnableTC(geomId(), dCylinderClass, true);
    // dGeomTriMeshEnableTC(geomId(), dCapsuleClass, true);
}

TrimeshShape::~TrimeshShape()
{
    dGeomTriMeshDataDestroy(m_trimeshId);
}

void
TrimeshShape::createGeometry()
{
    setGeomId(dCreateTriMesh(0, m_trimeshId, 0, 0, 0));
}

void
TrimeshShape::createDebugNode()
{
    if(m_triangleData)
    {
        debugNode()->clear();
        
        if(!debugNodeActive())
            return;

        debugNode()->append(new VRS::ColorAttribute(0.2, 0.9, 0.3, 0.3));
        debugNode()->append(new VRS::ConstantDetail(1, 1));
        debugNode()->append(new VRS::PolygonSet(VRS::PolygonSet::Lines,
                makeIterator(m_triangleData->explicitVertexListForLines())));
    }
}

void
TrimeshShape::geometryChangeCallback()
{
    createDebugNode();
    
    dTriMeshDataID trimeshId = dGeomTriMeshDataCreate();

    dGeomTriMeshDataBuildSingle(trimeshId, 
    // dGeomTriMeshDataBuildDouble(trimeshId, 
                                m_triangleData->vertexArray(), 
                                m_triangleData->sizeOfVertexStride(), 
                                m_triangleData->vertexCount(),
                                m_triangleData->indexArray(),
                                m_triangleData->indexCount(),
                                m_triangleData->sizeOfTriangleStride());

    // dGeomTriMeshClearTCCache(geomId());
    dGeomTriMeshSetData(geomId(), trimeshId);
    dGeomTriMeshDataDestroy(m_trimeshId);
    m_trimeshId = trimeshId;
    
    // dGeomTriMeshEnableTC(geomId(), dBoxClass, true);
    // dGeomTriMeshEnableTC(geomId(), dSphereClass, true);
    // dGeomTriMeshEnableTC(geomId(), dCylinderClass, true);
    // dGeomTriMeshEnableTC(geomId(), dCapsuleClass, true);
}

}

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