[Pyode-commits] pyode/src trimeshdata.pyx,NONE,1.1 geoms.pyx,1.3,1.4

[Matthias B. <mb...@us...>]

Update of /cvsroot/pyode/pyode/src
In directory sc8-pr-cvs1.sourceforge.net:/tmp/cvs-serv13551

Modified Files:
	geoms.pyx 
Added Files:
	trimeshdata.pyx 
Log Message:
Initial trimesh support

--- NEW FILE: trimeshdata.pyx ---
# TriMeshData

cdef class TriMeshData:
    """This class stores the mesh data.
    """

    cdef dTriMeshDataID tmdid
    cdef dReal* vertex_buffer
    cdef int* face_buffer

    def __new__(self):
        self.tmdid = dGeomTriMeshDataCreate()
        self.vertex_buffer = NULL
        self.face_buffer = NULL

    def __dealloc__(self):
        if self.tmdid!=NULL:
            dGeomTriMeshDataDestroy(self.tmdid)
        if self.vertex_buffer!=NULL:
            free(self.vertex_buffer)
        if self.face_buffer!=NULL:
            free(self.face_buffer)
    
    def build(self, verts, faces):
        """build(verts, faces)

        @param verts: Vertices
        @type verts: Sequence of 3-sequences of floats
        @param faces: Face definitions (three indices per face)
        @type faces: Sequence of 3-sequences of ints
        """
        cdef int numverts
        cdef int numfaces
        cdef dReal* vp
        cdef int* fp
        cdef int a,b,c
        
        numverts = len(verts)
        numfaces = len(faces)
        # Allocate the vertex and face buffer
        self.vertex_buffer = <dReal*>malloc(numverts*3*sizeof(dReal))
        self.face_buffer = <int*>malloc(numfaces*3*sizeof(int))

        # Fill the vertex buffer
        vp = self.vertex_buffer
        for v in verts:
            vp[0] = v[0]
            vp[1] = v[1]
            vp[2] = v[2]
#            vp[3] = 0
            vp = vp+3

        # Fill the face buffer
        fp = self.face_buffer
        for f in faces:
            a = f[0]
            b = f[1]
            c = f[2]
            if a<0 or b<0 or c<0 or a>=numverts or b>=numverts or c>=numverts:
                raise ValueError, "Vertex index out of range"
            fp[0] = a
            fp[1] = b
            fp[2] = c
            fp = fp+3

        # Pass the data to ODE
#        dGeomTriMeshDataBuildSimple(self.tmdid, self.vertex_buffer, numverts, self.face_buffer, numfaces)
        dGeomTriMeshDataBuildSingle(self.tmdid, self.vertex_buffer, 3*sizeof(dReal), numverts, self.face_buffer, numfaces, 3*sizeof(int), NULL)

Index: geoms.pyx
===================================================================
RCS file: /cvsroot/pyode/pyode/src/geoms.pyx,v
retrieving revision 1.3
retrieving revision 1.4
diff -C2 -d -r1.3 -r1.4
*** geoms.pyx	13 Jul 2004 16:44:18 -0000	1.3
--- geoms.pyx	19 Jul 2004 15:02:05 -0000	1.4
***************
*** 296,300 ****
  
      def pointDepth(self, p):
!         """pointDepth() -> float
  
          Return the depth of the point p in the sphere. Points inside
--- 296,300 ----
  
      def pointDepth(self, p):
!         """pointDepth(p) -> float
  
          Return the depth of the point p in the sphere. Points inside
***************
*** 349,353 ****
  
      def pointDepth(self, p):
!         """pointDepth() -> float
  
          Return the depth of the point p in the box. Points inside the
--- 349,353 ----
  
      def pointDepth(self, p):
!         """pointDepth(p) -> float
  
          Return the depth of the point p in the box. Points inside the
***************
*** 403,407 ****
  
      def pointDepth(self, p):
!         """pointDepth() -> float
  
          Return the depth of the point p in the plane. Points inside the
--- 403,407 ----
  
      def pointDepth(self, p):
!         """pointDepth(p) -> float
  
          Return the depth of the point p in the plane. Points inside the
***************
*** 456,460 ****
  
      def pointDepth(self, p):
!         """pointDepth() -> float
  
          Return the depth of the point p in the cylinder. Points inside the
--- 456,460 ----
  
      def pointDepth(self, p):
!         """pointDepth(p) -> float
  
          Return the depth of the point p in the cylinder. Points inside the
***************
*** 561,562 ****
--- 561,630 ----
  
  
+ include "trimeshdata.pyx"
+ 
+ # GeomTriMesh
+ cdef class GeomTriMesh(GeomObject):
+     """TriMesh object.
+ 
+     To construct the trimesh geom you need a TriMeshData object that
+     stores the actual mesh. This object has to be passed as first
+     argument to the constructor.
+     """
+ 
+     # Keep a reference to the data
+     cdef TriMeshData data
+ 
+     def __new__(self, TriMeshData data not None, space=None):
+         cdef Space sp
+         cdef dSpaceID sid
+ 
+         self.data = data
+ 
+         sid=NULL
+         if space!=None:
+             sp = space
+             sid = sp.sid
+         self.gid = dCreateTriMesh(sid, data.tmdid, NULL, NULL, NULL)
+ 
+         _geom_c2py_lut[<long>self.gid] = self
+ 
+ 
+     def __init__(self, TriMeshData data not None, space=None):
+         self.space = space
+         self.body = None
+ 
+     def placeable(self):
+         return True
+ 
+     def _id(self):
+         cdef long id
+         id = <long>self.gid
+         return id
+ 
+     def clearTCCache(self):
+         """clearTCCache()
+ 
+         Clears the internal temporal coherence caches.
+         """
+         dGeomTriMeshClearTCCache(self.gid)
+ 
+     def getTriangle(self, int idx):
+         """getTriangle(idx) -> (v0, v1, v2)
+ 
+         @param idx: Triangle index
+         @type idx: int
+         """
+ 
+         cdef dVector3 v0, v1, v2
+         cdef dVector3* vp0
+         cdef dVector3* vp1
+         cdef dVector3* vp2
+ 
+         vp0 = <dVector3*>v0
+         vp1 = <dVector3*>v1
+         vp2 = <dVector3*>v2
+ 
+         dGeomTriMeshGetTriangle(self.gid, idx, vp0, vp1, vp2)
+         return ((v0[0],v0[1],v0[2]), (v1[0],v1[1],v1[2]), (v2[0],v2[1],v2[2]))
+         
+