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