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engines/hpl1/engine/libraries/newton/physics/dgCollisionConvex.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_DGCONVEXCOLLISION_H__57E159CE_6B6F_42DE_891C_1F6C38EB9D29__INCLUDED_)
+#define AFX_DGCONVEXCOLLISION_H__57E159CE_6B6F_42DE_891C_1F6C38EB9D29__INCLUDED_
+
+
+#include "dgCollision.h"
+
+
+class dgConvexSimplexEdge {
+public:
+	dgInt32 m_vertex;
+	dgConvexSimplexEdge *m_twin;
+	dgConvexSimplexEdge *m_next;
+	dgConvexSimplexEdge *m_prev;
+};
+
+
+DG_MSC_VECTOR_ALIGMENT
+class dgCollisionConvex: public dgCollision {
+	bool RayHitBox(const dgVector &localP0, const dgVector &localP1) const;
+	dgInt32 RayCastClosestFace(dgVector *tetrahedrum, const dgVector &origin, dgFloat32 &pointDist) const;
+
+
+public:
+	virtual void CalcAABB(const dgMatrix &matrix, dgVector &p0, dgVector &p1) const;
+	virtual void CalcAABBSimd(const dgMatrix &matrix, dgVector &p0, dgVector &p1) const;
+	virtual bool OOBBTest(const dgMatrix &matrix, const dgCollisionConvex *const shape, void *const cacheOrder) 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 dgVector SupportVertex(const dgVector &dir) const;
+	virtual dgVector SupportVertexSimd(const dgVector &dir) const;
+
+	virtual dgInt32 CalculatePlaneIntersection(const dgVector &normal, const dgVector &point, dgVector *const contactsOut) const;
+	virtual dgInt32 CalculatePlaneIntersectionSimd(const dgVector &normal, const dgVector &point, dgVector *const contactsOut) const;
+	dgInt32 GetVertexCount() const {
+		return m_vertexCount;
+	}
+	virtual bool IsTriggerVolume() const;
+
+private:
+	dgInt32 SimplifyClipPolygon(dgInt32 count, const dgVector &normal, dgVector *const polygon) const;
+
+	virtual dgVector CalculateVolumeIntegral(const dgMatrix &globalMatrix, GetBuoyancyPlane bouyancyPlane, void *const context) const;
+	static void CalculateInertia(void *userData, int vertexCount, const dgFloat32 *FaceArray, int faceId);
+	virtual void CalculateInertia(dgVector &inertia, dgVector &origin) const;
+
+	virtual dgFloat32 GetVolume() const;
+
+	virtual dgFloat32 GetBoxMinRadius() const;
+	virtual dgFloat32 GetBoxMaxRadius() const;
+
+
+protected:
+	virtual void *GetUserData() const;
+	virtual void SetUserData(void *const userData);
+
+	dgCollisionConvex(dgMemoryAllocator *const allocator, dgUnsigned32 signature, const dgMatrix &matrix, dgCollisionID id);
+	dgCollisionConvex(dgWorld *const world, dgDeserialize deserialization, void *const userData);
+	~dgCollisionConvex();
+
+
+	virtual void SetAsTriggerVolume(bool mode);
+	virtual void SerializeLow(dgSerialize callback, void *const userData) const;
+
+	dgVector CalculateVolumeIntegral(const dgPlane &plane) const;
+	dgFloat32 GetDiscretedAngleStep(dgFloat32 radius) const;
+	dgConvexSimplexEdge *GetSupportEdge(const dgVector &dir) const;
+
+	void SetVolumeAndCG();
+	bool SanityCheck(dgPolyhedra &hull) const;
+	virtual void DebugCollision(const dgMatrix &matrix, OnDebugCollisionMeshCallback callback, void *const userData) const;
+	virtual dgFloat32 CalculateMassProperties(dgVector &inertia, dgVector &crossInertia, dgVector &centerOfMass) const;
+
+	bool SanityCheck(dgInt32 count, const dgVector &normal, dgVector *const contactsOut) const;
+	dgInt32 RectifyConvexSlice(dgInt32 count, const dgVector &normal, dgVector *const contactsOut) const;
+
+
+	dgVector m_volume;
+	dgVector m_boxSize;
+	dgVector m_boxOrigin;
+	dgVector m_size_x;
+	dgVector m_size_y;
+	dgVector m_size_z;
+	dgConvexSimplexEdge *m_supportVertexStarCuadrant[8];
+
+	void *m_userData;
+	dgVector *m_vertex;
+	dgConvexSimplexEdge *m_simplex;
+
+	dgFloat32 m_boxMinRadius;
+	dgFloat32 m_boxMaxRadius;
+	dgFloat32 m_simplexVolume;
+	dgUnsigned16 m_edgeCount;
+	dgUnsigned16 m_vertexCount;
+	dgUnsigned32 m_isTriggerVolume : 1;
+
+	static dgVector m_multiResDir[8];
+	static dgVector m_multiResDir_sse[6];
+
+	static dgTriplex m_hullDirs[14];
+
+	static dgInt32 m_iniliazised;
+	static dgInt32 m_rayCastSimplex[4][4];
+
+	friend class dgWorld;
+	friend class dgMinkowskiConv;
+	friend class dgCollisionCompound;
+	friend class dgBroadPhaseCollision;
+	friend class dgCollisionConvexModifier;
+} DG_GCC_VECTOR_ALIGMENT;
+
+
+
+#endif //AFX_DGCONVEXCOLLISION_H__57E159CE_6B6F_42DE_891C_1F6C38EB9D29__INCLUDED_
+
+