dgCollisionScene::dgCollisionScene(dgWorld* const world,
dgDeserialize deserialization, void* const userData) :
dgCollision(world, deserialization, userData), m_lock(0), m_list(
world->GetAllocator()), m_fitnessList(world->GetAllocator())
{
dgInt32 data[4];
m_world = world;
m_rtti |= dgCollisionScene_RTTI;
deserialization(userData, &data, sizeof(data));
for (dgInt32 i = 0; i < data[0]; i++)
{
dgMatrix matrix;
void* data;
deserialization(userData, &matrix, sizeof(dgMatrix));
deserialization(userData, &data, sizeof(void*));
dgCollision* const collision = m_world->CreateFromSerialization(
deserialization, userData);
dgList<dgProxy*>::dgListNode* const proxyNode =
(dgList<dgProxy*>::dgListNode*) AddProxy(collision, matrix);
dgProxy* const proxy = proxyNode->GetInfo();
proxy->m_userData = data;
collision->Release();
}
ImproveTotalFitness();
}
dgCollisionDeformableMesh::dgCollisionDeformableMesh(dgWorld* const world, dgMeshEffect* const mesh, dgCollisionID collsionID)
:dgCollisionConvex (mesh->GetAllocator(), 0, collsionID)
,m_particles (mesh->GetVertexCount ())
,m_visualSegments(mesh->GetAllocator())
,m_skinThickness(DG_DEFORMABLE_DEFAULT_SKIN_THICKNESS)
,m_nodesCount(0)
,m_trianglesCount(0)
,m_visualVertexCount(0)
,m_world (world)
,m_myBody(NULL)
,m_indexList(NULL)
,m_faceNormals(NULL)
,m_rootNode(NULL)
,m_nodesMemory(NULL)
,m_visualVertexData(NULL)
,m_onDebugDisplay(NULL)
,m_isdoubleSided(false)
{
m_rtti |= dgCollisionDeformableMesh_RTTI;
dgDeformableBodiesUpdate& softBodyList = *m_world;
softBodyList.AddShape (this);
dgMeshEffect meshCopy (*mesh);
meshCopy.Triangulate();
m_trianglesCount = meshCopy.GetTotalFaceCount ();
m_nodesMemory = (dgDeformableNode*) dgMallocStack((m_trianglesCount * 2 - 1) * sizeof (dgDeformableNode));
m_indexList = (dgInt32*) dgMallocStack (3 * m_trianglesCount * sizeof (dgInt32));
m_faceNormals = (dgVector*) dgMallocStack (m_trianglesCount * sizeof (dgVector));
dgInt32 stride = meshCopy.GetVertexStrideInByte() / sizeof (dgFloat64);
dgFloat64* const vertex = meshCopy.GetVertexPool();
for (dgInt32 i = 0; i < m_particles.m_count; i ++) {
m_particles.m_unitMass[i] = dgFloat32 (1.0f);
m_particles.m_veloc[i] = dgVector (dgFloat32 (0.0f));
m_particles.m_posit[i] = dgVector (&vertex[i * stride]) & dgVector::m_triplexMask;
}
dgInt32 indexCount = meshCopy.GetTotalIndexCount ();
dgStack<dgInt32> faceArray (m_trianglesCount);
dgStack<dgInt32> materials (m_trianglesCount);
dgStack<void*>indexArray (indexCount);
meshCopy.GetFaces (&faceArray[0], &materials[0], &indexArray[0]);
for (dgInt32 i = 0; i < m_trianglesCount; i ++) {
dgInt32 count = faceArray[i];
dgAssert (faceArray[i]);
for (dgInt32 j = 0; j < count; j ++) {
dgInt32 k = meshCopy.GetVertexIndex(indexArray[i * 3 + j]);
m_indexList[i * 3 + j] = k;
}
//dgTrace (("%d %d %d\n", m_indexList[i * 3 + 0], m_indexList[i * 3 + 1], m_indexList[i * 3 + 2]));
dgDeformableNode& node = m_nodesMemory[i];
node.m_left = NULL;
node.m_right = NULL;
node.m_parent = NULL;
node.m_indexStart = i * 3;
node.CalculateBox(m_particles.m_posit, &m_indexList[i * 3]);
}
m_nodesCount = m_trianglesCount;
m_rootNode = BuildTopDown (m_nodesCount, m_nodesMemory, NULL);
ImproveTotalFitness();
SetCollisionBBox (m_rootNode->m_minBox, m_rootNode->m_maxBox);
// create visual vertex data
m_visualVertexCount = meshCopy.GetPropertiesCount();
m_visualVertexData = (dgVisualVertexData*) dgMallocStack(m_visualVertexCount * sizeof (dgVisualVertexData));
for (dgInt32 i = 0; i < m_visualVertexCount; i ++) {
dgMeshEffect::dgVertexAtribute& attribute = meshCopy.GetAttribute (i);
m_visualVertexData[i].m_uv0[0] = dgFloat32 (attribute.m_u0);
m_visualVertexData[i].m_uv0[1] = dgFloat32 (attribute.m_v0);
}
for (void* point = meshCopy.GetFirstPoint(); point; point = meshCopy.GetNextPoint(point)) {
dgInt32 pointIndex = meshCopy.GetPointIndex (point);
dgInt32 vertexIndex = meshCopy.GetVertexIndexFromPoint (point);
m_visualVertexData[pointIndex].m_vertexIndex = vertexIndex;
}
for (dgInt32 i = 0; i < m_trianglesCount; i ++) {
dgInt32 mat = materials[i];
if (mat != -1) {
dgInt32 count = 0;
for (dgInt32 j = i; j < m_trianglesCount; j ++) {
dgInt32 mat1 = materials[j];
if (mat == mat1) {
materials[j] = -1;
count ++;
}
}
dgMeshSegment& segment = m_visualSegments.Append()->GetInfo();
segment.m_material = mat;
segment.m_indexCount = count * 3;
segment.m_indexList = (dgInt32*) dgMallocStack( 2 * segment.m_indexCount * sizeof (dgInt32));
dgInt32 index0 = 0;
dgInt32 index1 = m_trianglesCount * 3;
for (dgInt32 j = i; j < m_trianglesCount; j ++) {
if (materials[j] == -1) {
dgInt32 m0 = meshCopy.GetPointIndex(indexArray[j * 3 + 0]);
dgInt32 m1 = meshCopy.GetPointIndex(indexArray[j * 3 + 1]);
dgInt32 m2 = meshCopy.GetPointIndex(indexArray[j * 3 + 2]);
segment.m_indexList[index0 + 0] = dgInt16 (m0);
segment.m_indexList[index0 + 1] = dgInt16 (m1);
segment.m_indexList[index0 + 2] = dgInt16 (m2);
index0 += 3;
segment.m_indexList[index1 + 0] = dgInt16 (m0);
segment.m_indexList[index1 + 1] = dgInt16 (m2);
segment.m_indexList[index1 + 2] = dgInt16 (m1);
index1 += 3;
}
}
}
}
// SetVolumeAndCG ();
}
