OPC_Model.cpp
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00001 
00002 /*
00003  *      OPCODE - Optimized Collision Detection
00004  *      Copyright (C) 2001 Pierre Terdiman
00005  *      Homepage: http://www.codercorner.com/Opcode.htm
00006  */
00008 
00010 
00016 
00017 
00019 
00089 
00090 
00092 // Precompiled Header
00093 #include "Stdafx.h"
00094 
00095 using namespace Opcode;
00096 
00098 
00101 
00102 Model::Model()
00103 {
00104 #ifdef __MESHMERIZER_H__        // Collision hulls only supported within ICE !
00105         mHull   = null;
00106 #endif // __MESHMERIZER_H__
00107 }
00108 
00110 
00113 
00114 Model::~Model()
00115 {
00116         Release();
00117 }
00118 
00120 
00123 
00124 void Model::Release()
00125 {
00126         ReleaseBase();
00127 #ifdef __MESHMERIZER_H__        // Collision hulls only supported within ICE !
00128         DELETESINGLE(mHull);
00129 #endif // __MESHMERIZER_H__
00130 }
00131 
00133 
00138 
00139 bool Model::Build(const OPCODECREATE& create)
00140 {
00141         // 1) Checkings
00142         if(!create.mIMesh || !create.mIMesh->IsValid()) return false;
00143 
00144         // For this model, we only support complete trees
00145         if(create.mSettings.mLimit!=1)  return SetIceError("OPCODE WARNING: supports complete trees only! Use mLimit = 1.\n", null);
00146 
00147         // Look for degenerate faces.
00148         udword NbDegenerate = create.mIMesh->CheckTopology();
00149         if(NbDegenerate)        Log("OPCODE WARNING: found %d degenerate faces in model! Collision might report wrong results!\n", NbDegenerate);
00150         // We continue nonetheless.... 
00151 
00152         Release();      // Make sure previous tree has been discarded [Opcode 1.3, thanks Adam]
00153 
00154         // 1-1) Setup mesh interface automatically [Opcode 1.3]
00155         SetMeshInterface(create.mIMesh);
00156 
00157         // Special case for 1-triangle meshes [Opcode 1.3]
00158         udword NbTris = create.mIMesh->GetNbTriangles();
00159     /*
00160         if(NbTris==1)
00161         {
00162                 // We don't need to actually create a tree here, since we'll only have a single triangle to deal with anyway.
00163                 // It's a waste to use a "model" for this but at least it will work.
00164                 mModelCode |= OPC_SINGLE_NODE;
00165                 return true;
00166         }
00167     */
00168         // 2) Build a generic AABB Tree.
00169         mSource = new AABBTree;
00170         CHECKALLOC(mSource);
00171 
00172         // 2-1) Setup a builder. Our primitives here are triangles from input mesh,
00173         // so we use an AABBTreeOfTrianglesBuilder.....
00174         {
00175                 AABBTreeOfTrianglesBuilder TB;
00176                 TB.mIMesh                       = create.mIMesh;
00177                 TB.mSettings            = create.mSettings;
00178                 TB.mNbPrimitives        = NbTris;
00179                 if(!mSource->Build(&TB))        return false;
00180         }
00181 
00182         // 3) Create an optimized tree according to user-settings
00183         if(!CreateTree(create.mNoLeaf, create.mQuantized))      return false;
00184 
00185         // 3-2) Create optimized tree
00186         if(!mTree->Build(mSource))      return false;
00187 
00188         // 3-3) Delete generic tree if needed
00189         if(!create.mKeepOriginal)       DELETESINGLE(mSource);
00190 
00191 #ifdef __MESHMERIZER_H__
00192         // 4) Convex hull
00193         if(create.mCollisionHull)
00194         {
00195                 // Create hull
00196                 mHull = new CollisionHull;
00197                 CHECKALLOC(mHull);
00198 
00199                 CONVEXHULLCREATE CHC;
00200                 // ### doesn't work with strides
00201                 CHC.NbVerts                     = create.mIMesh->GetNbVertices();
00202                 CHC.Vertices            = create.mIMesh->GetVerts();
00203                 CHC.UnifyNormals        = true;
00204                 CHC.ReduceVertices      = true;
00205                 CHC.WordFaces           = false;
00206                 mHull->Compute(CHC);
00207         }
00208 #endif // __MESHMERIZER_H__
00209 
00210         return true;
00211 }
00212 
00214 
00218 
00219 udword Model::GetUsedBytes() const
00220 {
00221         if(!mTree)      return 0;
00222         return mTree->GetUsedBytes();
00223 }


openhrp3
Author(s): AIST, General Robotix Inc., Nakamura Lab of Dept. of Mechano Informatics at University of Tokyo
autogenerated on Sun Apr 2 2017 03:43:55