96 lines
4.0 KiB
C++
96 lines
4.0 KiB
C++
/* 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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#ifndef __DGCOLLIION_HEIGHT_FIELD__
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#define __DGCOLLIION_HEIGHT_FIELD__
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#include "dgCollision.h"
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#include "dgCollisionMesh.h"
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class dgCollisionHeightField;
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typedef dgFloat32(*dgCollisionHeightFieldRayCastCallback)(const dgBody *const body, const dgCollisionHeightField *const heightFieldCollision, dgFloat32 interception, dgInt32 row, dgInt32 col, dgVector *const normal, int faceId, void *const usedData);
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class dgCollisionHeightField: public dgCollisionMesh {
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public:
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dgCollisionHeightField(dgWorld *const world, dgInt32 width, dgInt32 height, dgInt32 contructionMode,
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const dgUnsigned16 *const elevationMap, const dgInt8 *const atributeMap, dgFloat32 horizontalScale, dgFloat32 vertcalScale);
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dgCollisionHeightField(dgWorld *const world, dgDeserialize deserialization, void *const userData);
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virtual ~dgCollisionHeightField(void);
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void SetCollisionRayCastCallback(dgCollisionHeightFieldRayCastCallback rayCastCallback);
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dgCollisionHeightFieldRayCastCallback GetDebugRayCastCallback() const {
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return m_userRayCastCallback;
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}
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private:
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void AllocateVertex(dgWorld *const world, dgInt32 thread) const;
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void CalculateMinExtend2d(const dgVector &p0, const dgVector &p1, dgVector &boxP0, dgVector &boxP1) const;
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void CalculateMinExtend3d(const dgVector &p0, const dgVector &p1, dgVector &boxP0, dgVector &boxP1) const;
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dgFloat32 RayCastCell(const dgFastRayTest &ray, dgInt32 xIndex0, dgInt32 zIndex0, dgVector &normalOut) const;
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dgFloat32 RayCastCellSimd(const dgFastRayTest &ray, dgInt32 xIndex0, dgInt32 zIndex0, dgVector &normalOut) const;
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virtual void Serialize(dgSerialize callback, void *const userData) 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;
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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;
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virtual void GetCollidingFaces(dgPolygonMeshDesc *const data) const;
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virtual void GetCollidingFacesSimd(dgPolygonMeshDesc *const data) const;
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virtual void GetCollisionInfo(dgCollisionInfo *info) const;
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void DebugCollision(const dgMatrix &matrixPtr, OnDebugCollisionMeshCallback callback, void *const userData) const;
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void GetVertexListIndexList(const dgVector &p0, const dgVector &p1, dgGetVertexListIndexList &data) const;
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void GetLocalAABB(const dgVector &p0, const dgVector &p1, dgVector &boxP0, dgVector &boxP1) const;
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dgInt32 m_width;
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dgInt32 m_height;
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dgInt32 m_diagonalMode;
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dgInt8 *m_atributeMap;
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dgUnsigned16 *m_elevationMap;
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dgFloat32 m_verticalScale;
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dgFloat32 m_horizontalScale;
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// dgFloat32 m_verticalScaleInv;
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dgFloat32 m_horizontalScaleInv;
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dgCollisionHeightFieldRayCastCallback m_userRayCastCallback;
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dgVector m_minBox;
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dgVector m_maxBox;
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struct dgPerIntanceData {
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dgWorld *m_world;
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dgInt32 m_refCount;
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dgInt32 m_vertexCount[DG_MAXIMUN_THREADS];
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dgVector *m_vertex[DG_MAXIMUN_THREADS];
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};
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dgPerIntanceData *m_instanceData;
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friend class dgCollisionCompound;
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};
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#endif
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