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engines/hpl1/engine/libraries/newton/physics/dgCollisionScene.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_DGCOLLISIONSCENE_H_INCLUDED_)
+#define AFX_DGCOLLISIONSCENE_H_INCLUDED_
+
+#include "dgCollision.h"
+#include "dgCollisionMesh.h"
+#include "dgContact.h"
+
+class dgCollisionScene : public dgCollision {
+public:
+	class dgNode {
+	public:
+		DG_CLASS_ALLOCATOR(allocator)
+		dgNode();
+		dgNode(dgNode *const sibling, dgNode *const myNode);
+		~dgNode();
+
+		dgVector m_minBox;
+		dgVector m_maxBox;
+		dgFloat32 m_surfaceArea;
+		dgNode *m_parent;
+		dgNode *m_left;
+		dgNode *m_right;
+		dgList<dgNode *>::dgListNode *m_fitnessNode;
+	} DG_GCC_VECTOR_ALIGMENT;
+
+	class dgProxy : public dgNode {
+	public:
+		DG_CLASS_ALLOCATOR(allocator)
+
+		dgProxy(dgCollision *shape, const dgMatrix &matrix, dgCollisionScene *const owner);
+		~dgProxy();
+
+		dgMatrix m_matrix;
+		void *m_userData;
+		dgCollision *m_shape;
+		dgCollisionScene *m_owner;
+		dgList<dgProxy *>::dgListNode *m_myNode;
+	};
+
+	dgCollisionScene(dgWorld *const world);
+	dgCollisionScene(dgWorld *const world, dgDeserialize deserialization, void *const userData);
+	virtual ~dgCollisionScene();
+
+	void *GetFirstProxy() const;
+	void *GetNextProxy(void *const proxy) const;
+	void *AddProxy(dgCollision *const shape, const dgMatrix &matrix);
+	void SetProxyUserData(void *const proxy, void *const userData);
+	void *GetProxyUserData(void *const proxy) const;
+	void RemoveProxy(void *const proxy);
+	void ImproveTotalFitness();
+
+	dgMatrix GetProxyMatrix(void *const proxy);
+	void SetProxyMatrix(void *const proxy, const dgMatrix &matrix);
+
+	void CollidePair(dgCollidingPairCollector::dgPair *const pair, dgCollisionParamProxy &proxy) const;
+	void CollidePairSimd(dgCollidingPairCollector::dgPair *const pair, dgCollisionParamProxy &proxy) const;
+
+	void SetCollisionCallback(dgCollisionMeshCollisionCallback debugCallback);
+
+private:
+	virtual dgVector SupportVertex(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 bool OOBBTest(const dgMatrix &matrix, const dgCollisionConvex *const shape, void *const cacheOrder) 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 dgFloat32 GetVolume() const;
+
+	virtual dgInt32 CalculateSignature() const;
+	virtual dgFloat32 GetBoxMinRadius() const;
+	virtual dgFloat32 GetBoxMaxRadius() const;
+	virtual void SetCollisionBBox(const dgVector &p0, const dgVector &p1);
+	virtual void CalculateInertia(dgVector &inertia, dgVector &origin) const;
+	virtual dgVector CalculateVolumeIntegral(const dgMatrix &globalMatrix, GetBuoyancyPlane bouyancyPlane, void *const context) const;
+
+	virtual void GetCollisionInfo(dgCollisionInfo *info) const;
+	virtual void Serialize(dgSerialize callback, void *const userData) const;
+
+	void ImproveNodeFitness(dgNode *const node);
+	dgFloat32 CalculateSurfaceArea(const dgNode *const node0, const dgNode *const node1, dgVector &minBox, dgVector &maxBox) const;
+
+	dgVector m_boxSize;
+	dgVector m_boxOrigin;
+
+	dgInt32 m_lock;
+	dgWorld *m_world;
+	dgNode *m_rootNode;
+	dgList<dgProxy *> m_list;
+	dgList<dgNode *> m_fitnessList;
+};
+
+#endif