93 lines
3.9 KiB
C++
93 lines
3.9 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_DGCOLLISIONSPHERE_H__4969D514_69A9_4D96_82B2_E5B0EA3D413F__INCLUDED_)
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#define AFX_DGCOLLISIONSPHERE_H__4969D514_69A9_4D96_82B2_E5B0EA3D413F__INCLUDED_
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#include "dgCollisionConvex.h"
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#define DG_SPHERE_VERTEX_COUNT 18
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class dgCollisionSphere: public dgCollisionConvex {
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public:
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dgCollisionSphere(dgMemoryAllocator *allocator, dgUnsigned32 signature, dgFloat32 radius, const dgMatrix &offsetMatrix);
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dgCollisionSphere(dgWorld *const world, dgDeserialize deserialization, void *const userData);
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virtual ~dgCollisionSphere();
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protected:
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void Init(dgFloat32 radius, dgMemoryAllocator *allocator);
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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 void CalcAABB(const dgMatrix &matrix, dgVector &p0, dgVector &p1) 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 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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void TesselateTriangle(dgInt32 level, const dgVector &p0, const dgVector &p1, const dgVector &p2, dgInt32 &count, dgVector *ouput) const;
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// private:
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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 dgFloat32 CalculateMassProperties(dgVector &inertia, dgVector &crossInertia, dgVector ¢erOfMass) 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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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_radius;
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dgFloat32 m_radiusStep;
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// dgFloat32 m_tethaStep;
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// dgFloat32 m_tethaStepInv;
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// dgFloat32 m_delCosTetha;
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// dgFloat32 m_delSinTetha;
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dgVector m_vertex[DG_SPHERE_VERTEX_COUNT];
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static dgInt32 m_shapeRefCount;
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static dgVector m_unitSphere[];
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static dgConvexSimplexEdge m_edgeArray[];
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friend class dgWorld;
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};
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class dgCollisionPoint: public dgCollisionSphere {
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public:
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dgCollisionPoint(dgMemoryAllocator *const allocator)
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: dgCollisionSphere(allocator, 0x12344321, dgFloat32(0.25f), dgGetIdentityMatrix()) {
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}
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virtual dgFloat32 GetVolume() const;
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virtual void CalculateInertia(dgVector &inertia, dgVector &origin) 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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};
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#endif // !defined(AFX_DGCOLLISIONSPHERE_H__4969D514_69A9_4D96_82B2_E5B0EA3D413F__INCLUDED_)
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