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engines/hpl1/engine/libraries/newton/physics/dgCollisionConvexModifier.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_DGCOLLISIONCONVEX_MODIFIER_H__4969D514_69A9_4D96_82B2_E5B0EA3D413F__INCLUDED_)
+#define AFX_DGCOLLISIONCONVEX_MODIFIER_H__4969D514_69A9_4D96_82B2_E5B0EA3D413F__INCLUDED_
+
+
+
+
+
+#include "dgCollisionConvex.h"
+
+
+class dgCollisionConvexModifier: public dgCollisionConvex {
+public:
+	dgCollisionConvexModifier(dgCollisionConvex *convexChild, dgWorld *world);
+	dgCollisionConvexModifier(dgWorld *const world, dgDeserialize deserialization, void *const userData);
+	virtual ~dgCollisionConvexModifier();
+
+	virtual dgMatrix ModifierGetMatrix() const;
+	virtual void ModifierSetMatrix(const dgMatrix &matrix);
+
+protected:
+	virtual dgFloat32 GetVolume() const;
+	virtual bool OOBBTest(const dgMatrix &matrix, const dgCollisionConvex *const shape, void *const cacheOrder) const;
+
+	virtual dgVector SupportVertex(const dgVector &dir) const;
+	virtual dgVector SupportVertexSimd(const dgVector &dir) const;
+
+	virtual void CalcAABB(const dgMatrix &matrix, dgVector &p0, dgVector &p1) const;
+	virtual void CalcAABBSimd(const dgMatrix &matrix, dgVector &p0, dgVector &p1) const;
+//	virtual void DebugCollision (const dgBody& myBody, DebugCollisionMeshCallback callback) const;
+	virtual void DebugCollision(const dgMatrix &matrix, OnDebugCollisionMeshCallback callback, void *const userData) 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 CalculateVolumeIntegral(const dgMatrix &globalMatrix, GetBuoyancyPlane bouyancyPlane, void *const context) const;
+
+private:
+	virtual dgInt32 CalculateSignature() const;
+	virtual void SetCollisionBBox(const dgVector &p0, const dgVector &p1);
+
+	virtual dgFloat32 GetBoxMinRadius() const;
+	virtual dgFloat32 GetBoxMaxRadius() 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;
+
+	virtual void GetCollisionInfo(dgCollisionInfo *info) const;
+	virtual void Serialize(dgSerialize callback, void *const userData) const;
+
+
+	dgMatrix m_modifierMatrix;
+	dgMatrix m_modifierInvMatrix;
+
+	dgWorld *m_world;
+	dgCollisionConvex *m_convexCollision;
+	dgFloat32 m_det;
+
+
+	friend class dgCollisionCompound;
+};
+
+
+#endif
+