//==============================================================================
OdeMesh::OdeMesh(
const OdeCollisionObject* parent,
const aiScene* scene,
const Eigen::Vector3d& scale)
: OdeGeom(parent),
mOdeTriMeshDataId(nullptr)
{
// Fill vertices, normals, and indices in the ODE friendly data structures.
fillArrays(scene, scale);
/// This will hold the vertex data of the triangle mesh
if (!mOdeTriMeshDataId)
mOdeTriMeshDataId = dGeomTriMeshDataCreate();
// Build the ODE triangle mesh
dGeomTriMeshDataBuildDouble1(
mOdeTriMeshDataId,
mVertices.data(),
3*sizeof(double),
static_cast<int>(mVertices.size()),
mIndices.data(),
static_cast<int>(mIndices.size()),
3*sizeof(int),
mNormals.data());
mGeomId = dCreateTriMesh(0, mOdeTriMeshDataId, nullptr, nullptr, nullptr);
}
void dGeomTriMeshDataBuildDouble(dTriMeshDataID g,
const void* Vertices, int VertexStride, int VertexCount,
const void* Indices, int IndexCount, int TriStride)
{
dGeomTriMeshDataBuildDouble1(g, Vertices, VertexStride, VertexCount,
Indices, IndexCount, TriStride, NULL);
}
void dGeomTriMeshDataBuildSimple1(dTriMeshDataID g,
const dReal* Vertices, int VertexCount,
const dTriIndex* Indices, int IndexCount,
const int* Normals){
#ifdef dSINGLE
dGeomTriMeshDataBuildSingle1(g,
Vertices, 4 * sizeof(dReal), VertexCount,
Indices, IndexCount, 3 * sizeof(dTriIndex),
Normals);
#else
dGeomTriMeshDataBuildDouble1(g, Vertices, 4 * sizeof(dReal), VertexCount,
Indices, IndexCount, 3 * sizeof(dTriIndex),
Normals);
#endif
}
