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/* Copyright (c) <2003-2011> <Julio Jerez, Newton Game Dynamics>
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*
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* This software is provided 'as-is', without any express or implied
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* warranty. In no event will the authors be held liable for any damages
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* arising from the use of this software.
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*
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* Permission is granted to anyone to use this software for any purpose,
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* including commercial applications, and to alter it and redistribute it
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* freely, subject to the following restrictions:
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*
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* 1. The origin of this software must not be misrepresented; you must not
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* claim that you wrote the original software. If you use this software
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* in a product, an acknowledgment in the product documentation would be
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* appreciated but is not required.
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*
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* 2. Altered source versions must be plainly marked as such, and must not be
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* misrepresented as being the original software.
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*
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* 3. This notice may not be removed or altered from any source distribution.
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*/
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#if !defined(AFX_DGCOLLISIONCOMPOUND_H__E164CA46_D0ED_46EE_8130_46C4004940BA__INCLUDED_)
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#define AFX_DGCOLLISIONCOMPOUND_H__E164CA46_D0ED_46EE_8130_46C4004940BA__INCLUDED_
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#include "dgCollision.h"
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#include "dgContact.h"
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class dgCollisionConvex;
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#define DG_COMPOUND_STACK_DEPTH 256
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class dgCollisionCompound : public dgCollision {
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protected:
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enum dgNodeType {
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m_leaf,
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m_node,
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};
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class OOBBTestData {
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public:
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OOBBTestData(const dgMatrix &matrix);
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OOBBTestData(const dgMatrix &matrix, const dgVector &p0, const dgVector &p1);
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dgMatrix m_matrix;
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dgMatrix m_absMatrix;
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dgVector m_origin;
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dgVector m_size;
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dgVector m_localP0;
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dgVector m_localP1;
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dgVector m_aabbP0;
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dgVector m_aabbP1;
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dgVector m_crossAxis[3][3];
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dgVector m_crossAxisAbs[3][3];
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dgVector m_crossAxisDotAbs[3][3];
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dgVector m_extends[3][3];
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};
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DG_MSC_VECTOR_ALIGMENT
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class dgNodeBase {
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public:
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DG_CLASS_ALLOCATOR(allocator)
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dgNodeBase();
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dgNodeBase(dgCollisionConvex *const m_shape, dgInt32 id);
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dgNodeBase(dgNodeBase *const left, dgNodeBase *const right, dgInt32 id);
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~dgNodeBase();
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void reset();
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bool BoxTest(const OOBBTestData &data) const;
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bool BoxTest(const OOBBTestData &data, const dgNodeBase *const otherNode) const;
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dgFloat32 BoxClosestDistance(const dgVector *const points, dgInt32 count) const;
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dgVector m_p0;
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dgVector m_p1;
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dgVector m_size;
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dgVector m_origin;
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dgInt32 m_type;
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dgInt32 m_id;
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dgFloat32 m_area;
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dgNodeBase *m_left;
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dgNodeBase *m_right;
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dgNodeBase *m_parent;
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dgCollisionConvex *m_shape;
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} DG_GCC_VECTOR_ALIGMENT;
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class dgHeapNodePair {
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public:
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dgInt32 m_nodeA;
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dgInt32 m_nodeB;
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};
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public:
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dgCollisionCompound(dgWorld *world);
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dgCollisionCompound(const dgCollisionCompound &source);
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dgCollisionCompound(dgInt32 count, dgCollisionConvex *const shapeArray[], dgWorld *world);
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dgCollisionCompound(dgWorld *const world, dgDeserialize deserialization, void *const userData);
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virtual ~dgCollisionCompound();
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void AddCollision(dgCollisionConvex *part);
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// void RemoveCollision (dgCollisionConvex* part);
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void RemoveCollision(dgNodeBase *node);
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protected:
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void Init(dgInt32 count, dgCollisionConvex *const shapeArray[]);
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virtual dgFloat32 GetVolume() const;
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virtual dgFloat32 GetBoxMinRadius() const;
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virtual dgFloat32 GetBoxMaxRadius() const;
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virtual dgVector SupportVertex(const dgVector &dir) const;
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virtual void CalcAABB(const dgMatrix &matrix, dgVector &p0, dgVector &p1) const;
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virtual void CalcAABBSimd(const dgMatrix &matrix, dgVector &p0, dgVector &p1) const;
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virtual bool OOBBTest(const dgMatrix &matrix, const dgCollisionConvex *const shape, void *const cacheOrder) const;
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virtual void DebugCollision(const dgMatrix &matrix, OnDebugCollisionMeshCallback callback, void *const userData) const;
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virtual void CalculateInertia(dgVector &inertia, dgVector &origin) const;
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virtual dgVector CalculateVolumeIntegral(const dgMatrix &globalMatrix, GetBuoyancyPlane bouyancyPlane, void *const context) const;
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virtual dgFloat32 RayCast(const dgVector &localP0, const dgVector &localP1, dgContactPoint &contactOut, OnRayPrecastAction preFilter, const dgBody *const body, void *const userData) const;
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virtual dgFloat32 RayCastSimd(const dgVector &localP0, const dgVector &localP1, dgContactPoint &contactOut, OnRayPrecastAction preFilter, const dgBody *const body, void *const userData) const;
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dgNodeBase *BuildTree(dgInt32 count, dgCollisionConvex *const shapeArray[]);
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virtual dgInt32 CalculateSignature() const;
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virtual void SetCollisionBBox(const dgVector &p0, const dgVector &p1);
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virtual void GetCollisionInfo(dgCollisionInfo *info) const;
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virtual void Serialize(dgSerialize callback, void *const userData) const;
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void LinkParentNodes();
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dgInt32 CalculateContacts(dgCollidingPairCollector::dgPair *const pair, dgCollisionParamProxy &proxy, dgInt32 useSimd) const;
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dgInt32 CalculateContactsToSingle(dgCollidingPairCollector::dgPair *const pair, dgCollisionParamProxy &proxy, dgInt32 useSimd) const;
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dgInt32 CalculateContactsToCompound(dgCollidingPairCollector::dgPair *const pair, dgCollisionParamProxy &proxy, dgInt32 useSimd) const;
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dgInt32 CalculateContactsToCollisionTree(dgCollidingPairCollector::dgPair *const pair, dgCollisionParamProxy &proxy, dgInt32 useSimd) const;
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dgInt32 CalculateContactsToHeightField(dgCollidingPairCollector::dgPair *const pair, dgCollisionParamProxy &proxy, dgInt32 useSimd) const;
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dgInt32 CalculateContactsBruteForce(dgCollidingPairCollector::dgPair *const pair, dgCollisionParamProxy &proxy, dgInt32 useSimd) const;
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dgInt32 ClosestDitance(dgBody *const bodyA, dgTriplex &contactA, dgBody *const bodyB, dgTriplex &contactB, dgTriplex &normalAB) const;
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#ifdef _DEBUG
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dgVector IntenalSupportVertex(const dgVector &dir) const;
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#endif
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protected:
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// dgInt32 GetAxis (dgNodeBase** const proxiArray, dgInt32 boxCount) const;
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// static dgInt32 CompareBox (const dgNodeBase* const boxA, const dgNodeBase* const boxB, void* const context);
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// dgNodeBase* BuildBottomUpTree(dgInt32 count, dgNodeBase** const proxiArray);
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void ImproveNodeFitness(dgNodeBase *const node) const;
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dgNodeBase *BuildTopDownTree(dgInt32 count, dgNodeBase **const proxiArray, dgInt32 &id);
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void PushNodes(dgNodeBase *const root, dgNodeBase **const proxiArray, dgInt32 &index) const;
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dgFloat32 CalculateSurfaceArea(dgNodeBase *const node0, dgNodeBase *const node1, dgVector &minBox, dgVector &maxBox) const;
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dgInt32 m_count;
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dgFloat32 m_boxMinRadius;
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dgFloat32 m_boxMaxRadius;
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dgWorld *m_world;
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dgNodeBase *m_root;
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dgCollisionConvex **m_array;
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OnCompoundCollisionPrefilter *m_preCollisionFilter;
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friend class dgBody;
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friend class dgWorld;
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};
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#endif
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