Panda3D
physxCcdSkeletonDesc.cxx
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1 /**
2  * PANDA 3D SOFTWARE
3  * Copyright (c) Carnegie Mellon University. All rights reserved.
4  *
5  * All use of this software is subject to the terms of the revised BSD
6  * license. You should have received a copy of this license along
7  * with this source code in a file named "LICENSE."
8  *
9  * @file physxCcdSkeletonDesc.cxx
10  * @author enn0x
11  * @date 2012-05-01
12  */
13 
14 #include "physxCcdSkeletonDesc.h"
15 #include "physxManager.h"
16 
17 #include "nodePathCollection.h"
18 #include "geomNode.h"
19 #include "geomVertexReader.h"
20 
21 /**
22  * Sets the number of vertices to be stored within this triangle mesh. The
23  * function allocates memory for the vertices, but it does not set any
24  * vertices.
25  *
26  * This method must be called before any calls to set_vertex are done!
27  */
29 set_num_vertices(unsigned int numVertices) {
30 
31  if (_desc.points) {
32  delete [] _vertices;
33  }
34 
35  _vertices = new NxVec3[numVertices];
36 
37  _desc.numVertices = numVertices;
38  _desc.points = _vertices;
39 }
40 
41 /**
42  * Sets a single vertex. You have to call the function set_num_vertices
43  * before you can call this function.
44  */
46 set_vertex(unsigned int idx, const LPoint3f &vert) {
47 
48  nassertv(_desc.numVertices > idx);
49  _vertices[idx] = PhysxManager::point3_to_nxVec3(vert);
50 }
51 
52 /**
53  * Sets the number of triangles to be stored in this triangle mesh.
54  *
55  * This method must be called before any calls to set_triangle are done!
56  */
58 set_num_triangles(unsigned int numTriangles) {
59 
60  if (_desc.triangles) {
61  delete [] _triangles;
62  }
63 
64  _triangles = new NxU32[3 * numTriangles];
65 
66  _desc.numTriangles = numTriangles;
67  _desc.triangles = _triangles;
68 }
69 
70 /**
71  * Sets a single triangle, by providing the three indices i1, i2, i3.
72  */
74 set_triangle(unsigned int idx,
75  unsigned int i1, unsigned int i2, unsigned int i3) {
76 
77  nassertv(_desc.numTriangles > idx);
78 
79  idx = 3 * idx;
80  _triangles[idx] = i1;
81  _triangles[idx + 1] = i2;
82  _triangles[idx + 2] = i3;
83 }
84 
85 /**
86  *
87  */
88 const NxSimpleTriangleMesh &PhysxCcdSkeletonDesc::
89 get_desc() const {
90 
91  return _desc;
92 }
93 
94 /**
95  * A convenience method to set the mesh data from a NodePath in a single call.
96  * The method iterates over the NodePath geoms and collects data for the
97  * triangle mesh.
98  *
99  * Do not use the following function when using this one: - set_num_vertices -
100  * set_vertex - set_num_triangles - set_triangle
101  */
103 set_from_node_path(const NodePath &np) {
104 
105  pvector<LPoint3f> dataVertices;
106  pvector<int> dataIndices;
107 
108  // Collect data from NodePath
109  NodePathCollection npc = np.find_all_matches( "**/+GeomNode" );
110  for (int i=0; i<npc.get_num_paths(); i++) {
111  NodePath gnp = npc.get_path(i);
112  GeomNode *gnode = DCAST(GeomNode, gnp.node());
113 
114  for (int j=0; j<gnode->get_num_geoms(); j++) {
115  CPT(Geom) geom = gnode->get_geom(j);
116 
117  // Vertices
118  CPT(GeomVertexData) vdata = geom->get_vertex_data();
119  GeomVertexReader reader = GeomVertexReader(vdata, InternalName::get_vertex());
120 
121  while (!reader.is_at_end()) {
122  dataVertices.push_back(reader.get_data3f());
123  }
124 
125  // Indices
126  for (int k=0; k<geom->get_num_primitives(); k++) {
127 
128  CPT(GeomPrimitive) prim = geom->get_primitive(k);
129  prim = prim->decompose();
130 
131  for (int l=0; l<prim->get_num_primitives(); l++) {
132 
133  int s = prim->get_primitive_start(l);
134  int e = prim->get_primitive_end(l);
135 
136  for (int l=s; l<e; l++) {
137  dataIndices.push_back(prim->get_vertex(l));
138  }
139  }
140  }
141  }
142  }
143 
144  // Set descriptor members
145  int i;
146 
147  NxU32 numVertices = dataVertices.size();
148  NxU32 numTriangles = dataIndices.size() / 3;
149 
150  _vertices = new NxVec3[numVertices];
151  _triangles = new NxU32[3 * numTriangles];
152 
153  i = 0;
155  for (vit=dataVertices.begin(); vit!=dataVertices.end(); vit++) {
156  LPoint3f v = *vit;
157 
158  _vertices[i].x = v.get_x();
159  _vertices[i].y = v.get_y();
160  _vertices[i].z = v.get_z();
161  i++;
162  }
163 
164  i = 0;
166  for(iit=dataIndices.begin(); iit!=dataIndices.end(); iit++) {
167  NxU32 idx = *iit;
168 
169  _triangles[i] = idx;
170  i++;
171  }
172 
173  _desc.numVertices = numVertices;
174  _desc.points = _vertices;
175  _desc.numTriangles = numTriangles;
176  _desc.triangles = _triangles;
177 }
A node that holds Geom objects, renderable pieces of geometry.
Definition: geomNode.h:34
get_num_geoms
Returns the number of geoms in the node.
Definition: geomNode.h:71
This is an abstract base class for a family of classes that represent the fundamental geometry primit...
Definition: geomPrimitive.h:56
This defines the actual numeric vertex data stored in a Geom, in the structure defined by a particula...
This object provides a high-level interface for quickly reading a sequence of numeric values from a v...
bool is_at_end() const
Returns true if the reader is currently at the end of the list of vertices, false otherwise.
const LVecBase3f & get_data3f()
Returns the data associated with the read row, expressed as a 3-component value, and advances the rea...
A container for geometry primitives.
Definition: geom.h:54
This is a set of zero or more NodePaths.
get_num_paths
Returns the number of NodePaths in the collection.
get_path
Returns the nth NodePath in the collection.
NodePath is the fundamental system for disambiguating instances, and also provides a higher-level int...
Definition: nodePath.h:159
NodePathCollection find_all_matches(const std::string &path) const
Returns the complete set of all NodePaths that begin with this NodePath and can be extended by path.
Definition: nodePath.cxx:358
PandaNode * node() const
Returns the referenced node of the path.
Definition: nodePath.I:227
void set_vertex(unsigned int idx, const LPoint3f &vert)
Sets a single vertex.
void set_triangle(unsigned int idx, unsigned int i1, unsigned int i2, unsigned int i3)
Sets a single triangle, by providing the three indices i1, i2, i3.
void set_num_vertices(unsigned int n)
Sets the number of vertices to be stored within this triangle mesh.
void set_num_triangles(unsigned int n)
Sets the number of triangles to be stored in this triangle mesh.
void set_from_node_path(const NodePath &np)
A convenience method to set the mesh data from a NodePath in a single call.
static NxVec3 point3_to_nxVec3(const LPoint3f &p)
Converts from LPoint3f to NxVec3.
Definition: physxManager.I:63
This is our own Panda specialization on the default STL vector.
Definition: pvector.h:42
PANDA 3D SOFTWARE Copyright (c) Carnegie Mellon University.
PANDA 3D SOFTWARE Copyright (c) Carnegie Mellon University.
PANDA 3D SOFTWARE Copyright (c) Carnegie Mellon University.
PANDA 3D SOFTWARE Copyright (c) Carnegie Mellon University.
PANDA 3D SOFTWARE Copyright (c) Carnegie Mellon University.