ODEGeometry.h

#ifndef ODE_INTERFACE_TRI_MESH_H
#define ODE_INTERFACE_TRI_MESH_H

#include "ODESurface.h"
#include <KrisLibrary/geometry/AnyGeometry.h>
#include <ode/common.h>
#include <ode/collision_trimesh.h>

namespace Klampt {
  using namespace Math3D;
  using namespace Geometry;

class ODEGeometry
{
 public:
  ODEGeometry();
  ~ODEGeometry();

  void Create(AnyCollisionGeometry3D* geom,dSpaceID space,Vector3 offset=Vector3(0.0),bool useCustomMesh = true);
  void Clear();
  void DrawGL();
  void SetPadding(Real outerMargin);
  Real GetPadding();
  AnyCollisionGeometry3D* SetPaddingWithPreshrink(Real outerMargin,bool inplace=false);

  dGeomID geom() const { return geomID; }
  dTriMeshDataID triMeshData() const { return triMeshDataID; }
  ODESurfaceProperties& surf() { return surface; }

 private:
  dTriMeshDataID triMeshDataID;
  dGeomID geomID;
  
  dReal* verts;
  int* indices;
  dReal* normals;
  int numVerts;
  int numTris;
  int numVertComponents;

  AnyCollisionGeometry3D* collisionGeometry;
  ODESurfaceProperties surface;
  bool geometrySelfAllocated;
};

} //namespace Klampt

#endif