138 lines
5.1 KiB
C++
138 lines
5.1 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_DGCONVEXCOLLISION_H__57E159CE_6B6F_42DE_891C_1F6C38EB9D29__INCLUDED_)
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#define AFX_DGCONVEXCOLLISION_H__57E159CE_6B6F_42DE_891C_1F6C38EB9D29__INCLUDED_
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#include "dgCollision.h"
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class dgConvexSimplexEdge {
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public:
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dgInt32 m_vertex;
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dgConvexSimplexEdge *m_twin;
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dgConvexSimplexEdge *m_next;
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dgConvexSimplexEdge *m_prev;
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};
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DG_MSC_VECTOR_ALIGMENT
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class dgCollisionConvex: public dgCollision {
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bool RayHitBox(const dgVector &localP0, const dgVector &localP1) const;
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dgInt32 RayCastClosestFace(dgVector *tetrahedrum, const dgVector &origin, dgFloat32 &pointDist) const;
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public:
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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 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 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 &point, 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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dgInt32 GetVertexCount() const {
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return m_vertexCount;
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}
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virtual bool IsTriggerVolume() const;
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private:
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dgInt32 SimplifyClipPolygon(dgInt32 count, const dgVector &normal, dgVector *const polygon) const;
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virtual dgVector CalculateVolumeIntegral(const dgMatrix &globalMatrix, GetBuoyancyPlane bouyancyPlane, void *const context) const;
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static void CalculateInertia(void *userData, int vertexCount, const dgFloat32 *FaceArray, int faceId);
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virtual void CalculateInertia(dgVector &inertia, dgVector &origin) const;
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virtual dgFloat32 GetVolume() const;
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virtual dgFloat32 GetBoxMinRadius() const;
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virtual dgFloat32 GetBoxMaxRadius() const;
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protected:
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virtual void *GetUserData() const;
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virtual void SetUserData(void *const userData);
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dgCollisionConvex(dgMemoryAllocator *const allocator, dgUnsigned32 signature, const dgMatrix &matrix, dgCollisionID id);
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dgCollisionConvex(dgWorld *const world, dgDeserialize deserialization, void *const userData);
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~dgCollisionConvex();
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virtual void SetAsTriggerVolume(bool mode);
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virtual void SerializeLow(dgSerialize callback, void *const userData) const;
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dgVector CalculateVolumeIntegral(const dgPlane &plane) const;
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dgFloat32 GetDiscretedAngleStep(dgFloat32 radius) const;
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dgConvexSimplexEdge *GetSupportEdge(const dgVector &dir) const;
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void SetVolumeAndCG();
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bool SanityCheck(dgPolyhedra &hull) const;
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virtual void DebugCollision(const dgMatrix &matrix, OnDebugCollisionMeshCallback callback, void *const userData) const;
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virtual dgFloat32 CalculateMassProperties(dgVector &inertia, dgVector &crossInertia, dgVector ¢erOfMass) const;
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bool SanityCheck(dgInt32 count, const dgVector &normal, dgVector *const contactsOut) const;
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dgInt32 RectifyConvexSlice(dgInt32 count, const dgVector &normal, dgVector *const contactsOut) const;
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dgVector m_volume;
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dgVector m_boxSize;
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dgVector m_boxOrigin;
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dgVector m_size_x;
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dgVector m_size_y;
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dgVector m_size_z;
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dgConvexSimplexEdge *m_supportVertexStarCuadrant[8];
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void *m_userData;
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dgVector *m_vertex;
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dgConvexSimplexEdge *m_simplex;
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dgFloat32 m_boxMinRadius;
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dgFloat32 m_boxMaxRadius;
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dgFloat32 m_simplexVolume;
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dgUnsigned16 m_edgeCount;
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dgUnsigned16 m_vertexCount;
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dgUnsigned32 m_isTriggerVolume : 1;
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static dgVector m_multiResDir[8];
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static dgVector m_multiResDir_sse[6];
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static dgTriplex m_hullDirs[14];
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static dgInt32 m_iniliazised;
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static dgInt32 m_rayCastSimplex[4][4];
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friend class dgWorld;
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friend class dgMinkowskiConv;
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friend class dgCollisionCompound;
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friend class dgBroadPhaseCollision;
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friend class dgCollisionConvexModifier;
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} DG_GCC_VECTOR_ALIGMENT;
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#endif //AFX_DGCONVEXCOLLISION_H__57E159CE_6B6F_42DE_891C_1F6C38EB9D29__INCLUDED_
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