diff options
Diffstat (limited to 'extern/solid/src/DT_C-api.cpp')
| -rw-r--r-- | extern/solid/src/DT_C-api.cpp | 581 |
1 files changed, 0 insertions, 581 deletions
diff --git a/extern/solid/src/DT_C-api.cpp b/extern/solid/src/DT_C-api.cpp deleted file mode 100644 index ac16deda87d..00000000000 --- a/extern/solid/src/DT_C-api.cpp +++ /dev/null @@ -1,581 +0,0 @@ -/* - * SOLID - Software Library for Interference Detection - * - * Copyright (C) 2001-2003 Dtecta. All rights reserved. - * - * This library may be distributed under the terms of the Q Public License - * (QPL) as defined by Trolltech AS of Norway and appearing in the file - * LICENSE.QPL included in the packaging of this file. - * - * This library may be distributed and/or modified under the terms of the - * GNU General Public License (GPL) version 2 as published by the Free Software - * Foundation and appearing in the file LICENSE.GPL included in the - * packaging of this file. - * - * This library is provided AS IS with NO WARRANTY OF ANY KIND, INCLUDING THE - * WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE. - * - * Commercial use or any other use of this library not covered by either - * the QPL or the GPL requires an additional license from Dtecta. - * Please contact info@dtecta.com for enquiries about the terms of commercial - * use of this library. - */ - - -#include "SOLID.h" - -#include "DT_Box.h" -#include "DT_Cone.h" -#include "DT_Cylinder.h" -#include "DT_Sphere.h" -#include "DT_Complex.h" -#include "DT_Polytope.h" -#include "DT_Polyhedron.h" -#include "DT_Point.h" -#include "DT_LineSegment.h" -#include "DT_Triangle.h" -#include "DT_Minkowski.h" -#include "DT_Hull.h" - -#include "DT_Response.h" -#include "DT_RespTable.h" - -#include "DT_Scene.h" -#include "DT_Object.h" - -#include "DT_VertexBase.h" - -#include "DT_Accuracy.h" - -typedef MT::Tuple3<DT_Scalar> T_Vertex; -typedef std::vector<T_Vertex> T_VertexBuf; -typedef std::vector<DT_Index> T_IndexBuf; -typedef std::vector<const DT_Convex *> T_PolyList; - -static T_VertexBuf vertexBuf; -static T_IndexBuf indexBuf; -static T_PolyList polyList; - -static DT_Complex *currentComplex = 0; -static DT_Polyhedron *currentPolyhedron = 0; -static DT_VertexBase *currentBase = 0; - - - - - - -DT_VertexBaseHandle DT_NewVertexBase(const void *pointer, DT_Size stride) -{ - return (DT_VertexBaseHandle)new DT_VertexBase(pointer, stride); -} - -void DT_DeleteVertexBase(DT_VertexBaseHandle vertexBase) -{ - delete (DT_VertexBase *)vertexBase; -} - -void DT_ChangeVertexBase(DT_VertexBaseHandle vertexBase, const void *pointer) -{ - DT_VertexBase *base = (DT_VertexBase *)vertexBase; - base->setPointer(pointer); - const DT_ComplexList& complexList = base->getComplexList(); - DT_ComplexList::const_iterator it; - for (it = complexList.begin(); it != complexList.end(); ++it) - { - (*it)->refit(); - } -} - - -DT_ShapeHandle DT_NewBox(DT_Scalar x, DT_Scalar y, DT_Scalar z) -{ - return (DT_ShapeHandle)new DT_Box(MT_Scalar(x) * MT_Scalar(0.5), - MT_Scalar(y) * MT_Scalar(0.5), - MT_Scalar(z) * MT_Scalar(0.5)); -} - -DT_ShapeHandle DT_NewCone(DT_Scalar radius, DT_Scalar height) -{ - return (DT_ShapeHandle)new DT_Cone(MT_Scalar(radius), MT_Scalar(height)); -} - -DT_ShapeHandle DT_NewCylinder(DT_Scalar radius, DT_Scalar height) -{ - return (DT_ShapeHandle)new DT_Cylinder(MT_Scalar(radius), MT_Scalar(height)); -} - -DT_ShapeHandle DT_NewSphere(DT_Scalar radius) -{ - return (DT_ShapeHandle)new DT_Sphere(MT_Scalar(radius)); -} - -DT_ShapeHandle DT_NewPoint(const DT_Vector3 point) -{ - return (DT_ShapeHandle)new DT_Point(MT_Point3(point)); -} - -DT_ShapeHandle DT_NewLineSegment(const DT_Vector3 source, const DT_Vector3 target) -{ - return (DT_ShapeHandle)new DT_LineSegment(MT_Point3(source), MT_Point3(target)); -} - -DT_ShapeHandle DT_NewMinkowski(DT_ShapeHandle shape1, DT_ShapeHandle shape2) -{ - if (((DT_Shape *)shape1)->getType() != CONVEX || - ((DT_Shape *)shape2)->getType() != CONVEX) - { - return 0; - } - - return (DT_ShapeHandle)new DT_Minkowski(*(DT_Convex *)shape1, *(DT_Convex *)shape2); -} - -DT_ShapeHandle DT_NewHull(DT_ShapeHandle shape1, DT_ShapeHandle shape2) -{ - if (((DT_Shape *)shape1)->getType() != CONVEX || - ((DT_Shape *)shape2)->getType() != CONVEX) - { - return 0; - } - - return (DT_ShapeHandle)new DT_Hull(*(DT_Convex *)shape1, *(DT_Convex *)shape2); -} - -DT_ShapeHandle DT_NewComplexShape(const DT_VertexBaseHandle vertexBase) -{ - if (!currentComplex) - { - currentBase = vertexBase ? (DT_VertexBase *)vertexBase : new DT_VertexBase; - currentComplex = new DT_Complex(currentBase); - } - return (DT_ShapeHandle)currentComplex; -} - -void DT_EndComplexShape() -{ - if (currentComplex) - { - if (currentBase->getPointer() == 0) - { - T_Vertex *vertexArray = new T_Vertex[vertexBuf.size()]; - assert(vertexArray); - std::copy(vertexBuf.begin(), vertexBuf.end(), &vertexArray[0]); - currentBase->setPointer(vertexArray, true); - } - - vertexBuf.clear(); - - currentComplex->finish(polyList.size(), &polyList[0]); - polyList.clear(); - currentComplex = 0; - currentBase = 0; - } -} - -DT_ShapeHandle DT_NewPolytope(const DT_VertexBaseHandle vertexBase) -{ - if (!currentPolyhedron) - { - currentBase = vertexBase ? (DT_VertexBase *)vertexBase : new DT_VertexBase; - currentPolyhedron = new DT_Polyhedron; - - } - return (DT_ShapeHandle)currentPolyhedron; -} - -void DT_EndPolytope() -{ - if (currentPolyhedron) - { - if (currentBase->getPointer() == 0) - { - currentBase->setPointer(&vertexBuf[0]); - new (currentPolyhedron) DT_Polyhedron(currentBase, indexBuf.size(), &indexBuf[0]); - - delete currentBase; - } - else - { - new (currentPolyhedron) DT_Polyhedron(currentBase, indexBuf.size(), &indexBuf[0]); - } - vertexBuf.clear(); - indexBuf.clear(); - currentPolyhedron = 0; - currentBase = 0; - } -} - -void DT_Begin() -{} - -void DT_End() -{ - if (currentComplex) - { - DT_VertexIndices(indexBuf.size(), &indexBuf[0]); - indexBuf.clear(); - } -} - -void DT_Vertex(const DT_Vector3 vertex) -{ - MT::Vector3<DT_Scalar> p(vertex); - int i = GEN_max((int)vertexBuf.size() - 20, 0); - int n = static_cast<int>(vertexBuf.size()); - - while (i != n && !(vertexBuf[i] == p)) - { - ++i; - } - - if (i == n) - { - vertexBuf.push_back(p); - } - indexBuf.push_back(i); -} - - -void DT_VertexIndex(DT_Index index) { indexBuf.push_back(index); } - -void DT_VertexIndices(DT_Count count, const DT_Index *indices) -{ - if (currentComplex) - { - DT_Convex *poly = count == 3 ? - static_cast<DT_Convex *>(new DT_Triangle(currentBase, indices[0], indices[1], indices[2])) : - static_cast<DT_Convex *>(new DT_Polytope(currentBase, count, indices)); - polyList.push_back(poly); - - } - - if (currentPolyhedron) - { - int i; - for (i = 0; i < count; ++i) - { - indexBuf.push_back(indices[i]); - } - } -} - -void DT_VertexRange(DT_Index first, DT_Count count) -{ - DT_Index *indices = new DT_Index[count]; - - DT_Index i; - for (i = 0; i != count; ++i) - { - indices[i] = first + i; - } - DT_VertexIndices(count, indices); - - delete [] indices; -} - -void DT_DeleteShape(DT_ShapeHandle shape) -{ - delete (DT_Shape *)shape; -} - - - - -// Scene - - -DT_SceneHandle DT_CreateScene() -{ - return (DT_SceneHandle)new DT_Scene; -} - -void DT_DestroyScene(DT_SceneHandle scene) -{ - delete (DT_Scene *)scene; -} - -void DT_AddObject(DT_SceneHandle scene, DT_ObjectHandle object) -{ - assert(scene); - assert(object); - ((DT_Scene *)scene)->addObject(*(DT_Object *)object); -} - -void DT_RemoveObject(DT_SceneHandle scene, DT_ObjectHandle object) -{ - assert(scene); - assert(object); - ((DT_Scene *)scene)->removeObject(*(DT_Object *)object); -} - - -// Object instantiation - - -DT_ObjectHandle DT_CreateObject(void *client_object, - DT_ShapeHandle shape) -{ - return (DT_ObjectHandle)new DT_Object(client_object, *(DT_Shape *)shape); -} - -void DT_DestroyObject(DT_ObjectHandle object) -{ - delete (DT_Object *)object; -} - -void DT_SetMargin(DT_ObjectHandle object, DT_Scalar margin) -{ - ((DT_Object *)object)->setMargin(MT_Scalar(margin)); -} - - -void DT_SetScaling(DT_ObjectHandle object, const DT_Vector3 scaling) -{ - ((DT_Object *)object)->setScaling(MT_Vector3(scaling)); -} - -void DT_SetPosition(DT_ObjectHandle object, const DT_Vector3 position) -{ - ((DT_Object *)object)->setPosition(MT_Point3(position)); -} - -void DT_SetOrientation(DT_ObjectHandle object, const DT_Quaternion orientation) -{ - ((DT_Object *)object)->setOrientation(MT_Quaternion(orientation)); -} - - -void DT_SetMatrixf(DT_ObjectHandle object, const float *m) -{ - ((DT_Object *)object)->setMatrix(m); -} - -void DT_GetMatrixf(DT_ObjectHandle object, float *m) -{ - ((DT_Object *)object)->getMatrix(m); -} - -void DT_SetMatrixd(DT_ObjectHandle object, const double *m) -{ - ((DT_Object *)object)->setMatrix(m); -} -void DT_GetMatrixd(DT_ObjectHandle object, double *m) -{ - ((DT_Object *)object)->getMatrix(m); -} - -void DT_GetBBox(DT_ObjectHandle object, DT_Vector3 min, DT_Vector3 max) -{ - const MT_BBox& bbox = ((DT_Object *)object)->getBBox(); - bbox.getMin().getValue(min); - bbox.getMax().getValue(max); -} - -DT_Bool DT_GetIntersect(DT_ObjectHandle object1, DT_ObjectHandle object2, DT_Vector3 vec) -{ - MT_Vector3 v; - DT_Bool result = intersect(*(DT_Object*)object1, *(DT_Object*)object2, v); - v.getValue(vec); - return result; -} - -DT_Scalar DT_GetClosestPair(DT_ObjectHandle object1, DT_ObjectHandle object2, - DT_Vector3 point1, DT_Vector3 point2) -{ - MT_Point3 p1, p2; - - MT_Scalar result = closest_points(*(DT_Object *)object1, - *(DT_Object *)object2, - p1, p2); - p1.getValue(point1); - p2.getValue(point2); - - return MT_sqrt(result); -} - -DT_Bool DT_GetCommonPoint(DT_ObjectHandle object1, DT_ObjectHandle object2, - DT_Vector3 point) -{ - MT_Point3 p1, p2; - MT_Vector3 v(MT_Scalar(0.0), MT_Scalar(0.0), MT_Scalar(0.0)); - - bool result = common_point(*(DT_Object *)object1, *(DT_Object *)object2, v, p1, p2); - - if (result) - { - p1.getValue(point); - } - - return result; -} - -DT_Bool DT_GetPenDepth(DT_ObjectHandle object1, DT_ObjectHandle object2, - DT_Vector3 point1, DT_Vector3 point2) -{ - MT_Point3 p1, p2; - MT_Vector3 v(MT_Scalar(0.0), MT_Scalar(0.0), MT_Scalar(0.0)); - - bool result = penetration_depth(*(DT_Object *)object1, *(DT_Object *)object2, v, p1, p2); - - if (result) - { - p1.getValue(point1); - p2.getValue(point2); - } - - return result; -} - -// Response - -DT_RespTableHandle DT_CreateRespTable() -{ - return (DT_RespTableHandle)new DT_RespTable; -} - -void DT_DestroyRespTable(DT_RespTableHandle respTable) -{ - delete (DT_RespTable *)respTable; -} - -DT_ResponseClass DT_GenResponseClass(DT_RespTableHandle respTable) -{ - return ((DT_RespTable *)respTable)->genResponseClass(); -} - -void DT_SetResponseClass(DT_RespTableHandle respTable, DT_ObjectHandle object, - DT_ResponseClass responseClass) -{ - ((DT_RespTable *)respTable)->setResponseClass(object, responseClass); -} - -void DT_ClearResponseClass(DT_RespTableHandle respTable, - DT_ObjectHandle object) -{ - ((DT_RespTable *)respTable)->clearResponseClass(object); -} - -void DT_CallResponse(DT_RespTableHandle respTable, - DT_ObjectHandle object1, - DT_ObjectHandle object2, - const DT_CollData *coll_data) -{ - const DT_ResponseList& responseList = - ((DT_RespTable *)respTable)->find(object1, object2); - - if (responseList.getType() != DT_NO_RESPONSE) - { - responseList(((DT_Object *)object1)->getClientObject(), - ((DT_Object *)object2)->getClientObject(), - coll_data); - } -} - - -void DT_AddDefaultResponse(DT_RespTableHandle respTable, - DT_ResponseCallback response, - DT_ResponseType type, void *client_data) -{ - ((DT_RespTable *)respTable)->addDefault(DT_Response(response, type, client_data)); -} - -void DT_RemoveDefaultResponse(DT_RespTableHandle respTable, - DT_ResponseCallback response) -{ - ((DT_RespTable *)respTable)->removeDefault(DT_Response(response)); -} - -void DT_AddClassResponse(DT_RespTableHandle respTable, - DT_ResponseClass responseClass, - DT_ResponseCallback response, - DT_ResponseType type, void *client_data) -{ - ((DT_RespTable *)respTable)->addSingle(responseClass, - DT_Response(response, type, client_data)); -} - -void DT_RemoveClassResponse(DT_RespTableHandle respTable, - DT_ResponseClass responseClass, - DT_ResponseCallback response) -{ - ((DT_RespTable *)respTable)->removeSingle(responseClass, - DT_Response(response)); -} - -void DT_AddPairResponse(DT_RespTableHandle respTable, - DT_ResponseClass responseClass1, - DT_ResponseClass responseClass2, - DT_ResponseCallback response, - DT_ResponseType type, void *client_data) -{ - ((DT_RespTable *)respTable)->addPair(responseClass1, responseClass2, - DT_Response(response, type, client_data)); -} - -void DT_RemovePairResponse(DT_RespTableHandle respTable, - DT_ResponseClass responseClass1, - DT_ResponseClass responseClass2, - DT_ResponseCallback response) -{ - ((DT_RespTable *)respTable)->removePair(responseClass1, responseClass2, - DT_Response(response)); -} - - -// Runtime - -void DT_SetAccuracy(DT_Scalar max_error) -{ - if (max_error > MT_Scalar(0.0)) - { - DT_Accuracy::setAccuracy(MT_Scalar(max_error)); - } -} - -void DT_SetTolerance(DT_Scalar tol_error) -{ - if (tol_error > MT_Scalar(0.0)) - { - DT_Accuracy::setTolerance(MT_Scalar(tol_error)); - } -} - -DT_Count DT_Test(DT_SceneHandle scene, DT_RespTableHandle respTable) -{ - return ((DT_Scene *)scene)->handleCollisions((DT_RespTable *)respTable); -} - -void *DT_RayCast(DT_SceneHandle scene, void *ignore_client, - const DT_Vector3 source, const DT_Vector3 target, - DT_Scalar max_param, DT_Scalar *param, DT_Vector3 normal) -{ - DT_Scalar lambda = max_param; - - void *client_object = ((DT_Scene *)scene)->rayCast(ignore_client, source, target, - lambda, normal); - if (client_object) - { - *param = lambda; - } - return client_object; -} - -DT_Bool DT_ObjectRayCast(DT_ObjectHandle object, - const DT_Vector3 source, const DT_Vector3 target, - DT_Scalar max_param, DT_Scalar *param, DT_Vector3 hit_normal) -{ - MT_Scalar lambda = MT_Scalar(max_param); - MT_Vector3 normal; - - bool result = ((DT_Object *)object)->ray_cast(MT_Point3(source), MT_Point3(target), - lambda, normal); - - if (result) - { - *param = lambda; - normal.getValue(hit_normal); - } - return result; -} - |