//==============================================================================
OdeMesh::~OdeMesh()
{
dGeomDestroy(mGeomId);
if (mOdeTriMeshDataId)
dGeomTriMeshDataDestroy(mOdeTriMeshDataId);
}
void PhysicsTriMeshGeom::onDestroy()
{
PhysicsTriMeshGeomPtr tmpPtr(*this);
if (tmpPtr->data) dGeomTriMeshDataDestroy(tmpPtr->data);
if(vertexData) free((void*)vertexData);
if(faceData) free((void*)faceData);
if(normalData) free((void*)normalData);
geoNode=NullFC;
}
void Solid::onClose()
{
InternalMessage("Physic","Ode::Solid::onClose entering " +
Kernel::toString(getObject()->getIdentifier())) ;
dGeomTriMeshDataDestroy(m_data) ;
delete[] m_vertices ;
delete[] m_indices ;
onCloseCollideable() ;
InternalMessage("Physic","Ode::Solid::onClose leaving " +
Kernel::toString(getObject()->getIdentifier())) ;
}
StaticWorldObject::~StaticWorldObject()
{
unsigned int i;
// destroy the trimesh data
for (i=0; i<dataids.size(); i++)
dGeomTriMeshDataDestroy(dataids[i]);
dataids.clear();
// destroy the trimeshes
for (i=0; i<geomids.size(); i++)
dGeomDestroy(geomids[i]);
geomids.clear();
dSpaceDestroy(space);
}
void CMeshShape::Detach()
{
n_assert(IsAttached());
n_assert(pVBuffer);
n_assert(pIBuffer);
dGeomTriMeshDataDestroy(ODETriMeshDataID);
n_free(pVBuffer);
n_free(pIBuffer);
pVBuffer = NULL;
pIBuffer = NULL;
CShape::Detach();
};
void stop()
{
dGeomDestroy(mesh_geom);
dGeomTriMeshDataDestroy(mesh_data);
dBodyDestroy(ball1_body);
dBodyDestroy(ball2_body);
dGeomDestroy(ground);
dJointGroupDestroy(contact_group);
dSpaceDestroy(space); // will destroy all geoms
dWorldDestroy(world);
}
void Obstacle::on_removeFromScene()
{
delete node_;
node_ = 0;
for (std::vector<dGeomID>::iterator gptr(geom_.begin()), gend(geom_.end());
gptr != gend; ++gptr)
{
dSpaceRemove(gStaticSpace, *gptr);
dGeomDestroy(*gptr);
}
for (std::vector<dTriMeshDataID>::iterator dptr(tmd_.begin()), dend(tmd_.end());
dptr != dend; ++dptr)
{
dGeomTriMeshDataDestroy(*dptr);
}
}
void ODE_Link::destroy()
{
if(jointType!=FREE_JOINT)
dJointDestroy(odeJointId);
for(int i=0; i<geomIds.size(); i++)
dGeomDestroy(geomIds.at(i));
if(triMeshDataId)
dGeomTriMeshDataDestroy(triMeshDataId);
dBodyDestroy(bodyId);
ODE_Link* link = static_cast<ODE_Link*>(child);
while(link){
ODE_Link* linkToDelete = (ODE_Link*)link;
link = static_cast<ODE_Link*>(link->sibling);
linkToDelete->destroy();
}
}
void PhyMeshDataPool::Remove(PhyMeshData * data)
{
dGeomTriMeshDataDestroy((dTriMeshDataID)(data->_dataId));
LINKER_REMOVE(mMeshDataLinker, data);
}
/***************************************************************************\
* Field Set *
\***************************************************************************/
void PhysicsTriMeshGeom::setGeometryNode(NodePtr& node)
{
PhysicsTriMeshGeomPtr tmpPtr(*this);
GeometryPtr geo = GeometryPtr::dcast(node->getCore());
if(geo!=NullFC)
{
calcVertexNormals(geo, deg2rad( 30));
separateProperties(geo);
createSingleIndex(geo);
GeoPositions3f::StoredFieldType* positions =
GeoPositions3fPtr::dcast( geo->getPositions())->getFieldPtr();
GeoIndicesUI32::StoredFieldType* indices =
GeoIndicesUI32Ptr::dcast( geo->getIndices())->getFieldPtr();
GeoNormals3f::StoredFieldType* normals =
GeoNormals3fPtr::dcast( geo->getNormals())->getFieldPtr();
GeoPTypesPtr geoTypes = geo->getTypes();
bool triangles = false;
//has to be some triangle soup!
for( Int32 i=0; i < geoTypes->size(); ++i) {
switch( geoTypes->getValue(i)) {
case GL_TRIANGLES:
triangles=true;
break;
case GL_TRIANGLE_STRIP:
triangles=true;
break;
case GL_TRIANGLE_FAN:
triangles=true;
break;
}
}
UInt32 vertexCount =
GeoPositions3fPtr::dcast(geo->getPositions())->getSize();
UInt32 vertexStride = 3*sizeof(Real32);
UInt32 indexCount =
GeoIndicesUI32Ptr::dcast(geo->getIndices())->getSize();
UInt32 indexStride = 3*sizeof(UInt32);
//pass the pointers to ODE
if(tmpPtr->data)
dGeomTriMeshDataDestroy(tmpPtr->data);
tmpPtr->data = dGeomTriMeshDataCreate();
if(triangles)
{
dGeomTriMeshDataBuildSingle(tmpPtr->data, (Real32*)&positions->front(),
vertexStride, vertexCount, (Int32*)&indices->front(), indexCount,
indexStride/* just can't use this, (Real32*)&normals->front()*/);
tmpPtr->setData(tmpPtr->data);
/* use this method if you build with single precision
dGeomTriMeshDataBuildSingle1(tmpPtr->data, (Real32*)&positions->front(),
vertexStride, vertexCount, (Int32*)&indices->front(), indexCount,
indexStride, (Real32*)&normals->front());
tmpPtr->setData(tmpPtr->data);
*/
}
else
{
FWARNING(("No triangle mesh given to ODE! Convert to triangles first!\n"));
tmpPtr->setData(tmpPtr->data);
}
}
tmpPtr->geoNode=node;
PhysicsTriMeshGeomBase::setGeometryNode(node);
}
// called when a key pressed
static void command( int cmd )
{
int i,k;
dReal sides[3];
dMass m;
cmd = locase( cmd );
if ( cmd == 'v' || cmd == 'b' || cmd == 'c' || cmd == 's' )
{
if ( num < NUM )
{
i = num;
num++;
}
else
{
i = nextobj;
nextobj++;
if ( nextobj >= num ) nextobj = 0;
// destroy the body and geoms for slot i
dBodyDestroy( obj[i].body );
for ( k=0; k < GPB; k++ )
{
if ( obj[i].geom[k] ) dGeomDestroy( obj[i].geom[k] );
}
memset( &obj[i],0,sizeof( obj[i] ) );
}
obj[i].body = dBodyCreate( world );
for ( k=0; k<3; k++ ) sides[k] = dRandReal()*0.5+0.1;
dMatrix3 R;
if ( random_pos )
{
dBodySetPosition( obj[i].body,
dRandReal()*2-1,dRandReal()*2-1,dRandReal()+3 );
dRFromAxisAndAngle( R,dRandReal()*2.0-1.0,dRandReal()*2.0-1.0,
dRandReal()*2.0-1.0,dRandReal()*10.0-5.0 );
}
else
{
dReal maxheight = 0;
for ( k=0; k<num; k++ )
{
const dReal *pos = dBodyGetPosition( obj[k].body );
if ( pos[2] > maxheight ) maxheight = pos[2];
}
dBodySetPosition( obj[i].body, 0,0,maxheight+1 );
dRFromAxisAndAngle( R,0,0,1,dRandReal()*10.0-5.0 );
}
dBodySetRotation( obj[i].body,R );
dBodySetData( obj[i].body,( void* )( size_t )i );
if ( cmd == 'b' )
{
dMassSetBox( &m,DENSITY,sides[0],sides[1],sides[2] );
obj[i].geom[0] = dCreateBox( space,sides[0],sides[1],sides[2] );
}
else if ( cmd == 'c' )
{
sides[0] *= 0.5;
dMassSetCapsule( &m,DENSITY,3,sides[0],sides[1] );
obj[i].geom[0] = dCreateCapsule( space,sides[0],sides[1] );
}
else if ( cmd == 's' )
{
sides[0] *= 0.5;
dMassSetSphere( &m,DENSITY,sides[0] );
obj[i].geom[0] = dCreateSphere( space,sides[0] );
}
else if ( cmd == 'v' )
{
obj[i].geom[0] = dCreateConvex( space,
convexBunnyPlanes,
convexBunnyPlaneCount,
convexBunnyPoints,
convexBunnyPointCount,
convexBunnyPolygons );
/// Use equivalent TriMesh to set mass
dTriMeshDataID new_tmdata = dGeomTriMeshDataCreate();
dGeomTriMeshDataBuildSingle( new_tmdata, &Vertices[0], 3 * sizeof( float ), VertexCount,
( dTriIndex* )&Indices[0], IndexCount, 3 * sizeof( dTriIndex ) );
dGeomID triMesh = dCreateTriMesh( 0, new_tmdata, 0, 0, 0 );
dMassSetTrimesh( &m, DENSITY, triMesh );
dGeomDestroy( triMesh );
dGeomTriMeshDataDestroy( new_tmdata );
printf( "mass at %f %f %f\n", m.c[0], m.c[1], m.c[2] );
dGeomSetPosition( obj[i].geom[0], -m.c[0], -m.c[1], -m.c[2] );
dMassTranslate( &m, -m.c[0], -m.c[1], -m.c[2] );
}
for ( k=0; k < GPB; k++ )
{
if ( obj[i].geom[k] ) dGeomSetBody( obj[i].geom[k],obj[i].body );
}
dBodySetMass( obj[i].body,&m );
}
if ( cmd == ' ' )
{
selected++;
if ( selected >= num ) selected = 0;
if ( selected < 0 ) selected = 0;
}
else if ( cmd == 'd' && selected >= 0 && selected < num )
{
dBodyDisable( obj[selected].body );
}
else if ( cmd == 'e' && selected >= 0 && selected < num )
{
dBodyEnable( obj[selected].body );
}
else if ( cmd == 'a' )
{
show_aabb ^= 1;
}
else if ( cmd == 't' )
{
show_contacts ^= 1;
}
else if ( cmd == 'r' )
{
random_pos ^= 1;
}
}
OdeTriMesh::~OdeTriMesh()
{
dGeomTriMeshDataDestroy(mTriMeshId);
}
