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

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+/* 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.
+*/
+
+#if !defined(AFX_DGCOLLISIONCONE_H__AS235640FER__INCLUDED_)
+#define AFX_DGCOLLISIONCONE_H__AS235640FER__INCLUDED_
+
+#include "dgCollisionConvex.h"
+
+#define DG_CONE_SEGMENTS 8
+
+
+class dgCollisionCone: public dgCollisionConvex {
+public:
+	dgCollisionCone(dgMemoryAllocator *const allocator, dgUnsigned32 signature, dgFloat32 radius, dgFloat32 height, const dgMatrix &matrix);
+	dgCollisionCone(dgWorld *const world, dgDeserialize deserialization, void *const userData);
+	virtual ~dgCollisionCone();
+
+private:
+	void Init(dgFloat32 radius, dgFloat32 height);
+	virtual dgVector SupportVertex(const dgVector &dir) const;
+	virtual dgVector SupportVertexSimd(const dgVector &dir) const;
+
+	virtual dgInt32 CalculatePlaneIntersection(const dgVector &normal, const dgVector &origin, dgVector *const contactsOut) const;
+	virtual dgInt32 CalculatePlaneIntersectionSimd(const dgVector &normal, const dgVector &point, dgVector *const contactsOut) const;
+
+	virtual dgFloat32 CalculateMassProperties(dgVector &inertia, dgVector &crossInertia, dgVector &centerOfMass) const;
+//	virtual void DebugCollision (const dgBody& myBody, DebugCollisionMeshCallback callback) const;
+	virtual void DebugCollision(const dgMatrix &matrix, OnDebugCollisionMeshCallback callback, void *const userData) const;
+
+
+//	virtual dgVector GetLocalCG () const;
+	virtual dgInt32 CalculateSignature() const;
+	virtual void SetCollisionBBox(const dgVector &p0, const dgVector &p1);
+	virtual void GetCollisionInfo(dgCollisionInfo *info) const;
+	virtual void Serialize(dgSerialize callback, void *const userData) const;
+
+	dgFloat32 m_height;
+	dgFloat32 m_radius;
+	dgFloat32 m_sinAngle;
+
+//	dgFloat32 m_delCosTetha;
+//	dgFloat32 m_delSinTetha;
+//	dgFloat32 m_tethaStep;
+//	dgFloat32 m_tethaStepInv;
+
+	dgFloat32 m_amp;
+
+	dgVector m_vertex[DG_CONE_SEGMENTS + 1];
+	static dgInt32 m_shapeRefCount;
+	static dgConvexSimplexEdge m_edgeArray[];
+
+	friend class dgWorld;
+};
+
+#endif
+