95 lines
4.5 KiB
C++
95 lines
4.5 KiB
C++
/* 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.
|
|
*/
|
|
|
|
#ifndef __DGCOLLIIONBVH__
|
|
#define __DGCOLLIIONBVH__
|
|
|
|
#include "dgCollision.h"
|
|
#include "dgCollisionMesh.h"
|
|
|
|
class dgCollisionBVH;
|
|
|
|
typedef dgFloat32(*dgCollisionBVHUserRayCastCallback)(const dgBody *const body, const dgCollisionBVH *const heightFieldCollision, dgFloat32 interception, dgFloat32 *normal, dgInt32 faceId, void *usedData);
|
|
|
|
class dgCollisionBVH: public dgCollisionMesh, public dgAABBPolygonSoup {
|
|
public:
|
|
DG_MSC_VECTOR_ALIGMENT
|
|
struct dgBVHRay: public dgFastRayTest {
|
|
dgBVHRay(const dgVector &l0, const dgVector &l1)
|
|
: dgFastRayTest(l0, l1) {
|
|
}
|
|
|
|
dgMatrix m_matrix;
|
|
dgVector m_normal;
|
|
dgUnsigned32 m_id;
|
|
dgFloat32 m_t;
|
|
void *m_userData;
|
|
const dgBody *m_myBody;
|
|
const dgCollisionBVH *m_me;
|
|
} DG_GCC_VECTOR_ALIGMENT;
|
|
|
|
dgCollisionBVH(dgMemoryAllocator *const allocator);
|
|
dgCollisionBVH(dgWorld *const world, dgDeserialize deserialization, void *const userData);
|
|
virtual ~dgCollisionBVH(void);
|
|
|
|
void BeginBuild();
|
|
void AddFace(dgInt32 vertexCount, const dgFloat32 *const vertexPtr, dgInt32 strideInBytes, dgInt32 faceAttribute);
|
|
void EndBuild(dgInt32 optimize);
|
|
|
|
void SetCollisionRayCastCallback(dgCollisionBVHUserRayCastCallback rayCastCallback);
|
|
dgCollisionBVHUserRayCastCallback GetDebugRayCastCallback() const {
|
|
return m_userRayCastCallback;
|
|
}
|
|
|
|
void GetVertexListIndexList(const dgVector &p0, const dgVector &p1, dgGetVertexListIndexList &data) const;
|
|
|
|
|
|
private:
|
|
|
|
|
|
static dgFloat32 RayHit(void *context, const dgFloat32 *const polygon, dgInt32 strideInBytes, const dgInt32 *const indexArray, dgInt32 indexCount);
|
|
static dgFloat32 RayHitSimd(void *context, const dgFloat32 *const polygon, dgInt32 strideInBytes, const dgInt32 *const indexArray, dgInt32 indexCount);
|
|
static dgFloat32 RayHitUser(void *context, const dgFloat32 *const polygon, dgInt32 strideInBytes, const dgInt32 *const indexArray, dgInt32 indexCount);
|
|
static dgFloat32 RayHitUserSimd(void *context, const dgFloat32 *const polygon, dgInt32 strideInBytes, const dgInt32 *const indexArray, dgInt32 indexCount);
|
|
static dgIntersectStatus GetPolygon(void *context, const dgFloat32 *const polygon, dgInt32 strideInBytes, const dgInt32 *const indexArray, dgInt32 indexCount);
|
|
static dgIntersectStatus ShowDebugPolygon(void *context, const dgFloat32 *const polygon, dgInt32 strideInBytes, const dgInt32 *const indexArray, dgInt32 indexCount);
|
|
static dgIntersectStatus GetTriangleCount(void *context, const dgFloat32 *const polygon, dgInt32 strideInBytes, const dgInt32 *const indexArray, dgInt32 indexCount);
|
|
static dgIntersectStatus CollectVertexListIndexList(void *context, const dgFloat32 *const polygon, dgInt32 strideInBytes, const dgInt32 *const indexArray, dgInt32 indexCount);
|
|
|
|
void Serialize(dgSerialize callback, void *const userData) const;
|
|
virtual dgVector SupportVertex(const dgVector &dir) 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 void GetCollidingFaces(dgPolygonMeshDesc *const data) const;
|
|
virtual void GetCollidingFacesSimd(dgPolygonMeshDesc *const data) const;
|
|
virtual void GetCollisionInfo(dgCollisionInfo *info) const;
|
|
|
|
void DebugCollision(const dgMatrix &matrixPtr, OnDebugCollisionMeshCallback callback, void *const userData) const;
|
|
|
|
dgPolygonSoupDatabaseBuilder *m_builder;
|
|
dgCollisionBVHUserRayCastCallback m_userRayCastCallback;
|
|
|
|
friend class dgCollisionCompound;
|
|
};
|
|
|
|
|
|
#endif
|