1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
|
/* 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.
*/
#if !defined(AFX_DGCONVEXCOLLISION_H__57E159CE_6B6F_42DE_891C_1F6C38EB9D29__INCLUDED_)
#define AFX_DGCONVEXCOLLISION_H__57E159CE_6B6F_42DE_891C_1F6C38EB9D29__INCLUDED_
#include "dgCollision.h"
class dgConvexSimplexEdge {
public:
dgInt32 m_vertex;
dgConvexSimplexEdge *m_twin;
dgConvexSimplexEdge *m_next;
dgConvexSimplexEdge *m_prev;
};
DG_MSC_VECTOR_ALIGMENT
class dgCollisionConvex: public dgCollision {
bool RayHitBox(const dgVector &localP0, const dgVector &localP1) const;
dgInt32 RayCastClosestFace(dgVector *tetrahedrum, const dgVector &origin, dgFloat32 &pointDist) const;
public:
virtual void CalcAABB(const dgMatrix &matrix, dgVector &p0, dgVector &p1) const;
virtual void CalcAABBSimd(const dgMatrix &matrix, dgVector &p0, dgVector &p1) const;
virtual bool OOBBTest(const dgMatrix &matrix, const dgCollisionConvex *const shape, void *const cacheOrder) 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 dgVector SupportVertex(const dgVector &dir) const;
virtual dgVector SupportVertexSimd(const dgVector &dir) const;
virtual dgInt32 CalculatePlaneIntersection(const dgVector &normal, const dgVector &point, dgVector *const contactsOut) const;
virtual dgInt32 CalculatePlaneIntersectionSimd(const dgVector &normal, const dgVector &point, dgVector *const contactsOut) const;
dgInt32 GetVertexCount() const {
return m_vertexCount;
}
virtual bool IsTriggerVolume() const;
private:
dgInt32 SimplifyClipPolygon(dgInt32 count, const dgVector &normal, dgVector *const polygon) const;
virtual dgVector CalculateVolumeIntegral(const dgMatrix &globalMatrix, GetBuoyancyPlane bouyancyPlane, void *const context) const;
static void CalculateInertia(void *userData, int vertexCount, const dgFloat32 *FaceArray, int faceId);
virtual void CalculateInertia(dgVector &inertia, dgVector &origin) const;
virtual dgFloat32 GetVolume() const;
virtual dgFloat32 GetBoxMinRadius() const;
virtual dgFloat32 GetBoxMaxRadius() const;
protected:
virtual void *GetUserData() const;
virtual void SetUserData(void *const userData);
dgCollisionConvex(dgMemoryAllocator *const allocator, dgUnsigned32 signature, const dgMatrix &matrix, dgCollisionID id);
dgCollisionConvex(dgWorld *const world, dgDeserialize deserialization, void *const userData);
~dgCollisionConvex();
virtual void SetAsTriggerVolume(bool mode);
virtual void SerializeLow(dgSerialize callback, void *const userData) const;
dgVector CalculateVolumeIntegral(const dgPlane &plane) const;
dgFloat32 GetDiscretedAngleStep(dgFloat32 radius) const;
dgConvexSimplexEdge *GetSupportEdge(const dgVector &dir) const;
void SetVolumeAndCG();
bool SanityCheck(dgPolyhedra &hull) const;
virtual void DebugCollision(const dgMatrix &matrix, OnDebugCollisionMeshCallback callback, void *const userData) const;
virtual dgFloat32 CalculateMassProperties(dgVector &inertia, dgVector &crossInertia, dgVector ¢erOfMass) const;
bool SanityCheck(dgInt32 count, const dgVector &normal, dgVector *const contactsOut) const;
dgInt32 RectifyConvexSlice(dgInt32 count, const dgVector &normal, dgVector *const contactsOut) const;
dgVector m_volume;
dgVector m_boxSize;
dgVector m_boxOrigin;
dgVector m_size_x;
dgVector m_size_y;
dgVector m_size_z;
dgConvexSimplexEdge *m_supportVertexStarCuadrant[8];
void *m_userData;
dgVector *m_vertex;
dgConvexSimplexEdge *m_simplex;
dgFloat32 m_boxMinRadius;
dgFloat32 m_boxMaxRadius;
dgFloat32 m_simplexVolume;
dgUnsigned16 m_edgeCount;
dgUnsigned16 m_vertexCount;
dgUnsigned32 m_isTriggerVolume : 1;
static dgVector m_multiResDir[8];
static dgVector m_multiResDir_sse[6];
static dgTriplex m_hullDirs[14];
static dgInt32 m_iniliazised;
static dgInt32 m_rayCastSimplex[4][4];
friend class dgWorld;
friend class dgMinkowskiConv;
friend class dgCollisionCompound;
friend class dgBroadPhaseCollision;
friend class dgCollisionConvexModifier;
} DG_GCC_VECTOR_ALIGMENT;
#endif //AFX_DGCONVEXCOLLISION_H__57E159CE_6B6F_42DE_891C_1F6C38EB9D29__INCLUDED_
|
