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engines/hpl1/engine/libraries/newton/physics/dgCollisionMesh.h
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234
engines/hpl1/engine/libraries/newton/physics/dgCollisionMesh.h
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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(__DGCOLLISIONPOLYGONALSOUP_H__)
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#define __DGCOLLISIONPOLYGONALSOUP_H__
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#include "dgCollision.h"
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#include "dgCollisionConvex.h"
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#define DG_MAX_COLLIDING_FACES (1024 * 2)
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#define DG_MAX_COLLIDING_VERTEX (DG_MAX_COLLIDING_FACES * 4)
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class dgCollisionMesh;
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typedef void (*dgCollisionMeshCollisionCallback)(const dgBody *bodyWithTreeCollision, const dgBody *const body, dgInt32 faceID,
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dgInt32 vertexCount, const dgFloat32 *vertex, dgInt32 vertexStrideInBytes);
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DG_MSC_VECTOR_ALIGMENT
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class dgPolygonMeshDesc {
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public:
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// colliding box in polygonSoup local space
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dgVector m_boxP0;
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dgVector m_boxP1;
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dgInt32 m_threadNumber;
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dgInt32 m_faceCount;
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dgInt32 m_vertexStrideInBytes;
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void *m_userData;
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dgFloat32 *m_vertex;
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dgInt32 *m_userAttribute;
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dgInt32 *m_faceIndexCount;
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dgInt32 *m_faceVertexIndex;
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dgBody *m_objBody;
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dgBody *m_polySoupBody;
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dgFloat32 *m_faceMaxSize;
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// private data;
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const dgCollisionMesh *m_me;
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dgInt32 *m_faceNormalIndex;
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dgInt32 *m_faceAdjencentEdgeNormal;
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dgInt32 m_globalIndexCount;
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dgInt32 m_globalUserAttribute[DG_MAX_COLLIDING_FACES];
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dgInt32 m_globalFaceIndexCount[DG_MAX_COLLIDING_FACES];
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dgInt32 m_globalFaceNormalIndex[DG_MAX_COLLIDING_FACES];
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dgFloat32 m_globalFaceMaxSize[DG_MAX_COLLIDING_FACES];
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dgInt32 m_globalFaceVertexIndex[DG_MAX_COLLIDING_VERTEX];
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dgInt32 m_globalAdjencentEdgeNormal[DG_MAX_COLLIDING_VERTEX];
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} DG_GCC_VECTOR_ALIGMENT;
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DG_MSC_VECTOR_ALIGMENT
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class dgCollisionMeshRayHitDesc {
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public:
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dgCollisionMeshRayHitDesc()
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: m_matrix(dgGetIdentityMatrix()) {
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}
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dgVector m_localP0;
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dgVector m_localP1;
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dgVector m_normal;
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dgUnsigned32 m_userId;
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void *m_userData;
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void *m_altenateUserData;
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dgMatrix m_matrix;
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} DG_GCC_VECTOR_ALIGMENT;
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class dgCollisionMesh: public dgCollision {
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public:
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class DG_CLIPPED_FACE_EDGE {
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public:
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DG_CLIPPED_FACE_EDGE *m_next;
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DG_CLIPPED_FACE_EDGE *m_twin;
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dgInt32 m_incidentNormal;
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dgInt32 m_incidentVertex;
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};
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DG_MSC_VECTOR_ALIGMENT
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class dgGetVertexListIndexList {
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public:
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dgInt32 *m_indexList;
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dgInt32 *m_userDataList;
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dgFloat32 *m_veterxArray;
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dgInt32 m_triangleCount;
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dgInt32 m_maxIndexCount;
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dgInt32 m_vertexCount;
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dgInt32 m_vertexStrideInBytes;
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} DG_GCC_VECTOR_ALIGMENT;
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DG_MSC_VECTOR_ALIGMENT
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class dgCollisionConvexPolygon: public dgCollisionConvex {
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public:
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dgCollisionConvexPolygon(dgMemoryAllocator *const allocator);
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~dgCollisionConvexPolygon();
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virtual dgInt32 CalculateSignature() const;
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virtual void Serialize(dgSerialize callback, void *const userData) const;
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virtual void SetCollisionBBox(const dgVector &p0, const dgVector &p1);
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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 bool OOBBTest(const dgMatrix &matrix, const dgCollisionConvex *const shape, void *const cacheOrder) const;
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virtual dgVector SupportVertex(const dgVector &dir) const;
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virtual dgVector SupportVertexSimd(const dgVector &dir) const;
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virtual dgInt32 CalculatePlaneIntersection(const dgVector &normal, const dgVector &point, dgVector *const contactsOut) const;
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virtual dgInt32 CalculatePlaneIntersectionSimd(const dgVector &normal, const dgVector &point, dgVector *const contactsOut) const;
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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 void CalculateInertia(dgVector &inertia, dgVector &origin) const;
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virtual bool IsEdgeIntersection() const;
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void BeamClipping(const dgCollisionConvex *const hull, const dgMatrix &matrix, dgFloat32 size);
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void BeamClippingSimd(const dgCollisionConvex *const hull, const dgMatrix &matrix, dgFloat32 size);
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dgInt32 QuickTest(const dgCollisionConvex *const hull, const dgMatrix &matrix);
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dgInt32 QuickTestSimd(const dgCollisionConvex *const hull, const dgMatrix &matrix);
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dgInt32 QuickTestContinue(const dgCollisionConvex *const hull, const dgMatrix &matrix);
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dgInt32 QuickTestContinueSimd(const dgCollisionConvex *const hull, const dgMatrix &matrix);
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dgInt32 ClipContacts(dgInt32 count, dgContactPoint *const contactOut, const dgMatrix &globalMatrix) const;
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dgVector ClosestDistanceToTriangle(const dgVector &point, const dgVector &p0, const dgVector &p1, const dgVector &p2, bool &isEdge) const;
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bool PointToPolygonDistance(const dgVector &point, dgFloat32 radius, dgVector &out, bool &isEdge);
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bool DistanceToOrigen(const dgMatrix &matrix, const dgVector &scale, dgFloat32 radius, dgVector &out, bool &isEdge);
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dgFloat32 MovingPointToPolygonContact(const dgVector &p, const dgVector &veloc, dgFloat32 radius, dgContactPoint &contact);
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dgFloat32 MovingSphereToEdgeContact(const dgVector ¢er, const dgVector &veloc, dgFloat32 radius, const dgVector &v0, const dgVector &v1, dgVector &contactOutOnLine) const;
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void CalculateNormal();
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void CalculateNormalSimd();
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dgVector m_normal;
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dgVector m_localPoly[64];
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dgVector m_localPolySimd[64 * 3 / 4];
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dgInt32 m_clippEdgeNormal[64];
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dgInt32 m_count;
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dgInt32 m_paddedCount;
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dgInt32 m_normalIndex;
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dgInt32 m_stride;
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dgInt32 *m_index;
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dgInt32 *m_adjacentNormalIndex;
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dgFloat32 *m_vertex;
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mutable dgInt32 m_isEdgeIntersection;
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} DG_GCC_VECTOR_ALIGMENT;
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dgCollisionMesh(dgMemoryAllocator *const allocator, dgCollisionID type);
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dgCollisionMesh(dgWorld *const world, dgDeserialize deserialization, void *const userData);
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virtual ~dgCollisionMesh();
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void SetCollisionCallback(dgCollisionMeshCollisionCallback debugCallback);
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virtual void *GetUserData() const;
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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 void CalculateInertia(dgVector &inertia, dgVector &origin) const;
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virtual void GetVertexListIndexList(const dgVector &p0, const dgVector &p1, dgGetVertexListIndexList &data) const = 0;
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virtual void GetCollidingFaces(dgPolygonMeshDesc *const data) const = 0;
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virtual void GetCollidingFacesSimd(dgPolygonMeshDesc *const data) const = 0;
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dgCollisionMeshCollisionCallback GetDebugCollisionCallback() const {
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return m_debugCallback;
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}
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// dgCollisionMeshUserRayCastCallback GetDebugRayCastCallback() const { return m_userRayCastCallback;}
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protected:
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virtual void SetCollisionBBox(const dgVector &p0, const dgVector &p1);
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private:
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virtual dgInt32 CalculateSignature() const;
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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 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 = 0;
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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 = 0;
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dgInt32 CalculatePlaneIntersection(const dgFloat32 *vertex, const dgInt32 *index, dgInt32 indexCount, dgInt32 strideInFloat,
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const dgPlane &localPlane, dgVector *const contactsOut) const;
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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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#ifdef DG_DEBUG_AABB
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dgVector BoxSupportMapping(const dgVector &dir) const;
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#endif
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protected:
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dgVector m_boxSize;
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dgVector m_boxOrigin;
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dgMemoryAllocator *m_allocator;
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dgCollisionMeshCollisionCallback m_debugCallback;
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// dgCollisionMeshUserRayCastCallback m_userRayCastCallback;
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dgCollisionConvexPolygon *m_polygon[DG_MAXIMUN_THREADS];
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friend class dgWorld;
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};
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#endif
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