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