Trimesh.h

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/*
Copyright 2007-2025. Algoryx Simulation AB.
 
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tutorials, scene files and technical white papers, are copyrighted, proprietary
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from using this software, unless otherwise stated in written agreements with
Algoryx Simulation AB.
*/
 
#ifndef AGXCOLLIDE_TRIMESH_H
#define AGXCOLLIDE_TRIMESH_H
 
#include <agx/agx_vector_types.h>
#include <agx/SPDMatrix3x3.h>
 
#include <agx/agxPhysics_export.h>
#include <agxCollide/MeshData.h>
#include <agxCollide/Mesh.h>
#include <agxCollide/TriangleVoronoiRegion.h>
 
#include <agxStream/Serializable.h>
 
#include <agxData/LocalVector.h>
 
 
 
namespace agxCollide
{
  AGX_DECLARE_POINTER_TYPES(Trimesh);
 
  class AGXPHYSICS_EXPORT Trimesh : public agxCollide::Mesh
  {
  public:
 
    enum TrimeshOptionsFlags {
      CLOCKWISE_ORIENTATION = 0x1,
      NO_WARNINGS = 0x10,
      TERRAIN = 0x20,
      REMOVE_DUPLICATE_VERTICES = 0x40,
      RECALCULATE_NORMALS_GIVEN_FIRST_TRIANGLE = 0x80
    };
 
 
    // Trimesh member declarations //
 
    // Constructors //
 
    Trimesh(
      const agx::Vec3Vector* vertices, const agx::UInt32Vector* indices,
      const char* sourceName, uint32_t optionsMask = Trimesh::REMOVE_DUPLICATE_VERTICES, agx::Real bottomMargin = 0);
 
    // Accessors //
 
    virtual void calculatePossibleTriangleOverlapsAlongLineSegment(
      const agx::Vec3& segmentStartLocal,
      const agx::Vec3& segmentEndLocal,
      agx::UInt32Vector& triangleIndices) const override;
 
    virtual void calculatePossibleTriangleOverlapsAlongLineSegment(
      const agx::Vec3& segmentStartLocal,
      const agx::Vec3& segmentEndLocal,
      agxData::LocalVector<agx::UInt32>& triangleIndices) const override;
 
    virtual Shape* clone() const override;
 
    Trimesh* shallowCopy() const;
 
    Trimesh* deepCopy() const;
 
    void updateMeshGeometry(bool showWarnings, bool recalculateMassProperties = true);
 
    uint32_t getOptionsMask() const;
 
    const agx::String& getSourceName() const;
 
    const agx::String& getWarnings() const;
 
    bool isShallowCopy() const;
 
    const Trimesh* getShallowCopySource();
 
    AGXSTREAM_DECLARE_SERIALIZABLE(agxCollide::Trimesh);
 
  private:
    Trimesh();
 
    Trimesh(const Trimesh& trimesh);
 
    Trimesh& operator=(const Trimesh& trimesh);
 
    void addConstructionData(const agx::Vec3Vector* vertices,
      const agx::UInt32Vector* indices,
      const char* sourceName,
      uint32_t optionsMask);
 
    void finalize(const char* sourceName, bool showWarnings, uint32_t optionsMask);
 
    void flipNormal(const size_t triangleIndex);
 
    bool getTriangleHalfEdgePartnerTriangleIndexAndLocalEdgeIndex(const size_t triangleIndex, const size_t localEdgeIndex, size_t& neighborIndex, size_t& neighborLocalEdgeIndex);
 
 
 
  protected:
    void calculateMassProperties(bool showWarnings);
 
    void finalizeMeshTopology(bool showWarnings, uint32_t optionsMask);
 
    Trimesh(Type type, agx::Physics::Geometry::ShapePtr entity, const agx::Vec3Vector* vertices, const agx::UInt32Vector* indices,
      const char* sourceName, uint32_t optionsMask = 0);
 
    Trimesh(Type type, agx::Physics::Geometry::ShapePtr entity);
 
    // Sets the values in a shallow-copy way.
    void setValuesAsShallowCopy(const Trimesh* other);
 
    virtual ~Trimesh();
 
    virtual void updateBvhTree() override;
 
 
  protected:
    agx::String m_sourceName;
    agx::String m_warnings;
    uint32_t m_optionsMask;
    agx::ref_ptr<const Trimesh> m_shallowCopySource;
 
  };
 
 
  // Implementations
 
  inline void Trimesh::calculatePossibleTriangleOverlapsAlongLineSegment(
    const agx::Vec3& segmentStartLocal,
    const agx::Vec3& segmentEndLocal,
    agx::UInt32Vector& triangleIndices) const
  {
    this->getBvhTree()->findCollisionWithLineSegment(segmentStartLocal, segmentEndLocal, triangleIndices);
  }
 
 
 
  inline void Trimesh::calculatePossibleTriangleOverlapsAlongLineSegment(
    const agx::Vec3& segmentStartLocal,
    const agx::Vec3& segmentEndLocal,
    agxData::LocalVector<agx::UInt32>& triangleIndices) const
  {
    this->getBvhTree()->findCollisionWithLineSegment(segmentStartLocal, segmentEndLocal, triangleIndices);
  }
 
}
 
#endif