75 lines
2.8 KiB
C++
75 lines
2.8 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_DGCOLLISIONCONE_H__AS235640FER__INCLUDED_)
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#define AFX_DGCOLLISIONCONE_H__AS235640FER__INCLUDED_
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#include "dgCollisionConvex.h"
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#define DG_CONE_SEGMENTS 8
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class dgCollisionCone: public dgCollisionConvex {
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public:
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dgCollisionCone(dgMemoryAllocator *const allocator, dgUnsigned32 signature, dgFloat32 radius, dgFloat32 height, const dgMatrix &matrix);
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dgCollisionCone(dgWorld *const world, dgDeserialize deserialization, void *const userData);
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virtual ~dgCollisionCone();
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private:
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void Init(dgFloat32 radius, dgFloat32 height);
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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 &origin, 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 CalculateMassProperties(dgVector &inertia, dgVector &crossInertia, dgVector ¢erOfMass) const;
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// virtual void DebugCollision (const dgBody& myBody, DebugCollisionMeshCallback callback) const;
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virtual void DebugCollision(const dgMatrix &matrix, OnDebugCollisionMeshCallback callback, void *const userData) const;
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// virtual dgVector GetLocalCG () const;
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virtual dgInt32 CalculateSignature() const;
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virtual void SetCollisionBBox(const dgVector &p0, const dgVector &p1);
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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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dgFloat32 m_height;
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dgFloat32 m_radius;
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dgFloat32 m_sinAngle;
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// dgFloat32 m_delCosTetha;
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// dgFloat32 m_delSinTetha;
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// dgFloat32 m_tethaStep;
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// dgFloat32 m_tethaStepInv;
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dgFloat32 m_amp;
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dgVector m_vertex[DG_CONE_SEGMENTS + 1];
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static dgInt32 m_shapeRefCount;
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static dgConvexSimplexEdge m_edgeArray[];
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friend class dgWorld;
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};
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#endif
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