static void RenderDebugPolygon(void* userData,
int alVertexCount, const dFloat* apFaceVertex, int alId)
{
int i;
i = alVertexCount - 1;
cVector3f vP0(apFaceVertex[i * 3 + 0], apFaceVertex[i * 3 + 1], apFaceVertex[i * 3 + 2]);
for (i = 0; i < alVertexCount; ++i)
{
cVector3f vP1 (apFaceVertex[i * 3 + 0], apFaceVertex[i * 3 + 1], apFaceVertex[i * 3 + 2]);
gpLowLevelGraphics->DrawLine(vP0, vP1,gDebugColor);
vP0 = vP1;
}
}
static void RenderDebugPolygon(void *a_pVoid,
int a_lVertexCount, const dFloat *a_pFaceVertex, int a_lId)
{
int i;
i = a_lVertexCount - 1;
cVector3f vP0(a_pFaceVertex[i * 3 + 0], a_pFaceVertex[i * 3 + 1], a_pFaceVertex[i * 3 + 2]);
for (int i = 0; i < a_lVertexCount; ++i)
{
cVector3f vP1(a_pFaceVertex[i * 3 + 0], a_pFaceVertex[i * 3 + 1], a_pFaceVertex[i * 3 + 2]);
g_pLowLevelGraphics->DrawLine(vP0, vP1, g_DebugColor);
vP0 = vP1;
}
}
void cCollideShapeNewton::CreateFromVertices(const unsigned int* apIndexArray, int alIndexNum,
const float *apVertexArray, int alVtxStride, int alVtxNum)
{
float vTriVec[9];
bool bOptimize = false;
bool bCreatedPlane = false;
cPlanef plane;
mpNewtonCollision = NewtonCreateTreeCollision(mpNewtonWorld, NULL);
//Log("-- Creating mesh collision.:\n");
NewtonTreeCollisionBeginBuild(mpNewtonCollision);
for(int tri = 0; tri < alIndexNum; tri+=3)
{
//Log("tri: %d:\n", tri/3);
for(int idx =0; idx < 3; idx++)
{
int lVtx = apIndexArray[tri + 2-idx]*alVtxStride;
vTriVec[idx*3 + 0] = apVertexArray[lVtx + 0];
vTriVec[idx*3 + 1] = apVertexArray[lVtx + 1];
vTriVec[idx*3 + 2] = apVertexArray[lVtx + 2];
}
if(bOptimize==false)
{
cPlanef tempPlane;
cVector3f vP1(vTriVec[0+0],vTriVec[0+1],vTriVec[0+2]);
cVector3f vP2(vTriVec[1*3+0],vTriVec[1*3+1],vTriVec[1*3+2]);
cVector3f vP3(vTriVec[2*3+0],vTriVec[2*3+1],vTriVec[2*3+2]);
tempPlane.FromPoints(vP1, vP2, vP3);
//Log("P1: %s P2: %s P3: %s\n",vP1.ToString().c_str(),vP2.ToString().c_str(),vP3.ToString().c_str());
//Log("Plane: a: %f b: %f c: %f d: %f\n",tempPlane.a,tempPlane.b,tempPlane.c,tempPlane.d);
if(bCreatedPlane==false){
plane = tempPlane;
bCreatedPlane = true;
}
else
{
if( std::abs(plane.a - tempPlane.a) > 0.001f ||
std::abs(plane.b - tempPlane.b) > 0.001f ||
std::abs(plane.c - tempPlane.c) > 0.001f ||
std::abs(plane.d - tempPlane.d) > 0.001f )
{
bOptimize = true;
}
}
}
NewtonTreeCollisionAddFace(mpNewtonCollision,3,vTriVec,sizeof(float)*3,1);
}
NewtonTreeCollisionEndBuild(mpNewtonCollision, bOptimize ? 1: 0);
//Set bounding box size
mBoundingVolume.AddArrayPoints(apVertexArray, alVtxNum);
mBoundingVolume.CreateFromPoints(alVtxStride);
}
