Initial commit

engines/hpl1/engine/libraries/newton/physics/dgCollisionBVH.h

@@ -0,0 +1,94 @@
+/* Copyright (c) <2003-2011> <Julio Jerez, Newton Game Dynamics>
+*
+* This software is provided 'as-is', without any express or implied
+* warranty. In no event will the authors be held liable for any damages
+* arising from the use of this software.
+*
+* Permission is granted to anyone to use this software for any purpose,
+* including commercial applications, and to alter it and redistribute it
+* freely, subject to the following restrictions:
+*
+* 1. The origin of this software must not be misrepresented; you must not
+* claim that you wrote the original software. If you use this software
+* in a product, an acknowledgment in the product documentation would be
+* appreciated but is not required.
+*
+* 2. Altered source versions must be plainly marked as such, and must not be
+* misrepresented as being the original software.
+*
+* 3. This notice may not be removed or altered from any source distribution.
+*/
+
+#ifndef __DGCOLLIIONBVH__
+#define __DGCOLLIIONBVH__
+
+#include "dgCollision.h"
+#include "dgCollisionMesh.h"
+
+class dgCollisionBVH;
+
+typedef dgFloat32(*dgCollisionBVHUserRayCastCallback)(const dgBody *const body, const dgCollisionBVH *const heightFieldCollision, dgFloat32 interception, dgFloat32 *normal, dgInt32 faceId, void *usedData);
+
+class dgCollisionBVH: public dgCollisionMesh, public dgAABBPolygonSoup {
+public:
+	DG_MSC_VECTOR_ALIGMENT
+	struct dgBVHRay: public dgFastRayTest {
+		dgBVHRay(const dgVector &l0, const dgVector &l1)
+			: dgFastRayTest(l0, l1) {
+		}
+
+		dgMatrix m_matrix;
+		dgVector m_normal;
+		dgUnsigned32 m_id;
+		dgFloat32 m_t;
+		void *m_userData;
+		const dgBody *m_myBody;
+		const dgCollisionBVH *m_me;
+	} DG_GCC_VECTOR_ALIGMENT;
+
+	dgCollisionBVH(dgMemoryAllocator *const allocator);
+	dgCollisionBVH(dgWorld *const world, dgDeserialize deserialization, void *const userData);
+	virtual ~dgCollisionBVH(void);
+
+	void BeginBuild();
+	void AddFace(dgInt32 vertexCount, const dgFloat32 *const vertexPtr, dgInt32 strideInBytes, dgInt32 faceAttribute);
+	void EndBuild(dgInt32 optimize);
+
+	void SetCollisionRayCastCallback(dgCollisionBVHUserRayCastCallback rayCastCallback);
+	dgCollisionBVHUserRayCastCallback GetDebugRayCastCallback() const {
+		return m_userRayCastCallback;
+	}
+
+	void GetVertexListIndexList(const dgVector &p0, const dgVector &p1, dgGetVertexListIndexList &data) const;
+
+
+private:
+
+
+	static dgFloat32 RayHit(void *context, const dgFloat32 *const polygon, dgInt32 strideInBytes, const dgInt32 *const indexArray, dgInt32 indexCount);
+	static dgFloat32 RayHitSimd(void *context, const dgFloat32 *const polygon, dgInt32 strideInBytes, const dgInt32 *const indexArray, dgInt32 indexCount);
+	static dgFloat32 RayHitUser(void *context, const dgFloat32 *const polygon, dgInt32 strideInBytes, const dgInt32 *const indexArray, dgInt32 indexCount);
+	static dgFloat32 RayHitUserSimd(void *context, const dgFloat32 *const polygon, dgInt32 strideInBytes, const dgInt32 *const indexArray, dgInt32 indexCount);
+	static dgIntersectStatus GetPolygon(void *context, const dgFloat32 *const polygon, dgInt32 strideInBytes, const dgInt32 *const indexArray, dgInt32 indexCount);
+	static dgIntersectStatus ShowDebugPolygon(void *context, const dgFloat32 *const polygon, dgInt32 strideInBytes, const dgInt32 *const indexArray, dgInt32 indexCount);
+	static dgIntersectStatus GetTriangleCount(void *context, const dgFloat32 *const polygon, dgInt32 strideInBytes, const dgInt32 *const indexArray, dgInt32 indexCount);
+	static dgIntersectStatus CollectVertexListIndexList(void *context, const dgFloat32 *const polygon, dgInt32 strideInBytes, const dgInt32 *const indexArray, dgInt32 indexCount);
+
+	void Serialize(dgSerialize callback, void *const userData) const;
+	virtual dgVector SupportVertex(const dgVector &dir) const;
+	virtual dgFloat32 RayCast(const dgVector &localP0, const dgVector &localP1, dgContactPoint &contactOut, OnRayPrecastAction preFilter, const dgBody *const body, void *const userData) const;
+	virtual dgFloat32 RayCastSimd(const dgVector &localP0, const dgVector &localP1, dgContactPoint &contactOut, OnRayPrecastAction preFilter, const dgBody *const body, void *const userData) const;
+	virtual void GetCollidingFaces(dgPolygonMeshDesc *const data) const;
+	virtual void GetCollidingFacesSimd(dgPolygonMeshDesc *const data) const;
+	virtual void GetCollisionInfo(dgCollisionInfo *info) const;
+
+	void DebugCollision(const dgMatrix &matrixPtr, OnDebugCollisionMeshCallback callback, void *const userData) const;
+
+	dgPolygonSoupDatabaseBuilder *m_builder;
+	dgCollisionBVHUserRayCastCallback m_userRayCastCallback;
+
+	friend class dgCollisionCompound;
+};
+
+
+#endif