Merge branch 'master' into develop

CHANGELOG.md

@@ -2,6 +2,11 @@
 
 ## Release Candidate
 
+### Added
+
+ - Make possible for the user to get vertices, normals and triangle indices of a ConcaveMeshShape
+ - Make possible for the user to get vertices and height values of the HeightFieldShape
+
 ### Fixed
 
  - Bug [#45](https://github.com/DanielChappuis/reactphysics3d/issues/45) has been fixed.

src/collision/PolygonVertexArray.cpp

@@ -43,14 +43,14 @@ using namespace reactphysics3d;
  * @param vertexDataType Data type of the vertices data
  * @param indexDataType Data type of the face indices data
  */
-PolygonVertexArray::PolygonVertexArray(uint nbVertices, void* verticesStart, int verticesStride,
-                                       void* indexesStart, int indexesStride,
+PolygonVertexArray::PolygonVertexArray(uint nbVertices, const void* verticesStart, int verticesStride,
+                                       const void* indexesStart, int indexesStride,
                                        uint nbFaces, PolygonFace* facesStart,
                                        VertexDataType vertexDataType, IndexDataType indexDataType) {
     mNbVertices = nbVertices;
-    mVerticesStart = reinterpret_cast<unsigned char*>(verticesStart);
+    mVerticesStart = reinterpret_cast<const unsigned char*>(verticesStart);
     mVerticesStride = verticesStride;
-    mIndicesStart = reinterpret_cast<unsigned char*>(indexesStart);
+    mIndicesStart = reinterpret_cast<const unsigned char*>(indexesStart);
     mIndicesStride = indexesStride;
     mNbFaces = nbFaces;
     mPolygonFacesStart = facesStart;
@@ -71,7 +71,7 @@ uint PolygonVertexArray::getVertexIndexInFace(uint faceIndex, uint noVertexInFac
 
     assert(noVertexInFace < face->nbVertices);
 
-    void* vertexIndexPointer = mIndicesStart + (face->indexBase + noVertexInFace) * mIndicesStride;
+    const void* vertexIndexPointer = mIndicesStart + (face->indexBase + noVertexInFace) * mIndicesStride;
 
     if (mIndexDataType == PolygonVertexArray::IndexDataType::INDEX_INTEGER_TYPE) {
         return *((uint*)vertexIndexPointer);

src/collision/PolygonVertexArray.h

@@ -69,14 +69,14 @@ class PolygonVertexArray {
         uint mNbVertices;
 
         /// Pointer to the first vertex value in the array
-        unsigned char* mVerticesStart;
+        const unsigned char* mVerticesStart;
 
         /// Stride (number of bytes) between the beginning of two vertices
         /// values in the array
         int mVerticesStride;
 
         /// Pointer to the first vertex index of the array
-        unsigned char* mIndicesStart;
+        const unsigned char* mIndicesStart;
 
         /// Stride (number of bytes) between the beginning of two indices in
         /// the array
@@ -97,8 +97,8 @@ class PolygonVertexArray {
     public:
 
         /// Constructor
-        PolygonVertexArray(uint nbVertices, void* verticesStart, int verticesStride,
-                           void* indexesStart, int indexesStride,
+        PolygonVertexArray(uint nbVertices, const void* verticesStart, int verticesStride,
+                           const void* indexesStart, int indexesStride,
                            uint nbFaces, PolygonFace* facesStart,
                            VertexDataType vertexDataType, IndexDataType indexDataType);
 
@@ -130,10 +130,10 @@ class PolygonVertexArray {
         PolygonFace* getPolygonFace(uint faceIndex) const;
 
         /// Return the pointer to the start of the vertices array
-        unsigned char* getVerticesStart() const;
+        const unsigned char* getVerticesStart() const;
 
         /// Return the pointer to the start of the indices array
-        unsigned char* getIndicesStart() const;
+        const unsigned char* getIndicesStart() const;
 };
 
 // Return the vertex data type
@@ -198,7 +198,7 @@ inline PolygonVertexArray::PolygonFace* PolygonVertexArray::getPolygonFace(uint
 /**
  * @return A pointer to the start of the vertex array of the polyhedron
  */
-inline unsigned char* PolygonVertexArray::getVerticesStart() const {
+inline const unsigned char* PolygonVertexArray::getVerticesStart() const {
     return mVerticesStart;
 }
 
@@ -206,7 +206,7 @@ inline unsigned char* PolygonVertexArray::getVerticesStart() const {
 /**
  * @return A pointer to the start of the face indices array of the polyhedron
  */
-inline unsigned char* PolygonVertexArray::getIndicesStart() const {
+inline const unsigned char* PolygonVertexArray::getIndicesStart() const {
     return mIndicesStart;
 }
 

src/collision/PolyhedronMesh.cpp

@@ -105,7 +105,7 @@ Vector3 PolyhedronMesh::getVertex(uint index) const {
     uint vertexIndex = mHalfEdgeStructure.getVertex(index).vertexPointIndex;
 
     PolygonVertexArray::VertexDataType vertexType = mPolygonVertexArray->getVertexDataType();
-    unsigned char* verticesStart = mPolygonVertexArray->getVerticesStart();
+    const unsigned char* verticesStart = mPolygonVertexArray->getVerticesStart();
     int vertexStride = mPolygonVertexArray->getVerticesStride();
 
     Vector3 vertex;

src/collision/shapes/ConcaveMeshShape.cpp

@@ -115,6 +115,28 @@ void ConcaveMeshShape::getTriangleVerticesNormals(uint subPart, uint triangleInd
     triangleVertexArray->getTriangleVerticesNormals(triangleIndex, outVerticesNormals);
 }
 
+// Return the indices of the three vertices of a given triangle in the array
+void ConcaveMeshShape::getTriangleVerticesIndices(uint subPart, uint triangleIndex, uint* outVerticesIndices) const {
+
+    // Get the triangle vertex array of the current sub-part
+    TriangleVertexArray* triangleVertexArray = mTriangleMesh->getSubpart(subPart);
+
+    // Get the vertices normals of the triangle
+    triangleVertexArray->getTriangleVerticesIndices(triangleIndex, outVerticesIndices);
+}
+
+// Return the number of sub parts contained in this mesh
+uint ConcaveMeshShape::getNbSubparts() const
+{
+	return mTriangleMesh->getNbSubparts();
+}
+		
+// Return the number of triangles in a sub part of the mesh
+uint ConcaveMeshShape::getNbTriangles(uint subPart) const
+{
+	assert(mTriangleMesh->getSubpart(subPart));
+	return mTriangleMesh->getSubpart(subPart)->getNbTriangles();
+}
 
 // Use a callback method on all triangles of the concave shape inside a given AABB
 void ConcaveMeshShape::testAllTriangles(TriangleCallback& callback, const AABB& localAABB) const {

src/collision/shapes/ConcaveMeshShape.h

@@ -155,12 +155,6 @@ class ConcaveMeshShape : public ConcaveShape {
         /// Insert all the triangles into the dynamic AABB tree
         void initBVHTree();
 
-        /// Return the three vertices coordinates (in the array outTriangleVertices) of a triangle
-        void getTriangleVertices(uint subPart, uint triangleIndex, Vector3* outTriangleVertices) const;
-
-        /// Return the three vertex normals (in the array outVerticesNormals) of a triangle
-        void getTriangleVerticesNormals(uint subPart, uint triangleIndex, Vector3* outVerticesNormals) const;
-
         /// Compute the shape Id for a given triangle of the mesh
         uint computeTriangleShapeId(uint subPart, uint triangleIndex) const;
 
@@ -170,7 +164,7 @@ class ConcaveMeshShape : public ConcaveShape {
         ConcaveMeshShape(TriangleMesh* triangleMesh, const Vector3& scaling = Vector3(1, 1, 1));
 
         /// Destructor
-        virtual ~ConcaveMeshShape() = default;
+        virtual ~ConcaveMeshShape() override = default;
 
         /// Deleted copy-constructor
         ConcaveMeshShape(const ConcaveMeshShape& shape) = delete;
@@ -180,6 +174,21 @@ class ConcaveMeshShape : public ConcaveShape {
 
         /// Return the scaling vector
         const Vector3& getScaling() const;
+		
+        /// Return the number of sub parts contained in this mesh
+		uint getNbSubparts() const;
+		
+        /// Return the number of triangles in a sub part of the mesh
+		uint getNbTriangles(uint subPart) const;
+
+        /// Return the indices of the three vertices of a given triangle in the array
+        void getTriangleVerticesIndices(uint subPart, uint triangleIndex, uint* outVerticesIndices) const;
+
+        /// Return the three vertices coordinates (in the array outTriangleVertices) of a triangle
+        void getTriangleVertices(uint subPart, uint triangleIndex, Vector3* outTriangleVertices) const;
+
+        /// Return the three vertex normals (in the array outVerticesNormals) of a triangle
+        void getTriangleVerticesNormals(uint subPart, uint triangleIndex, Vector3* outVerticesNormals) const;
 
         /// Return the local bounds of the shape in x, y and z directions.
         virtual void getLocalBounds(Vector3& min, Vector3& max) const override;

src/collision/shapes/HeightFieldShape.h

@@ -161,12 +161,6 @@ class HeightFieldShape : public ConcaveShape {
         void getTriangleVerticesWithIndexPointer(int32 subPart, int32 triangleIndex,
                                                  Vector3* outTriangleVertices) const;
 
-        /// Return the vertex (local-coordinates) of the height field at a given (x,y) position
-        Vector3 getVertexAt(int x, int y) const;
-
-        /// Return the height of a given (x,y) point in the height field
-        decimal getHeightAt(int x, int y) const;
-
         /// Return the closest inside integer grid value of a given floating grid value
         int computeIntegerGridValue(decimal value) const;
 
@@ -201,6 +195,12 @@ class HeightFieldShape : public ConcaveShape {
 
         /// Return the number of columns in the height field
         int getNbColumns() const;
+		
+        /// Return the vertex (local-coordinates) of the height field at a given (x,y) position
+        Vector3 getVertexAt(int x, int y) const;
+
+        /// Return the height of a given (x,y) point in the height field
+        decimal getHeightAt(int x, int y) const;
 
         /// Return the type of height value in the height field
         HeightDataType getHeightDataType() const;