dgCollisionBVH.h

/* 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.
*/

#ifndef __DGCOLLIIONBVH__
#define __DGCOLLIIONBVH__

#include "dgCollision.h"
#include "dgCollisionMesh.h"

class dgCollisionBVH;

typedef dgFloat32(*dgCollisionBVHUserRayCastCallback)(const dgBody *const body, const dgCollisionBVH *const heightFieldCollision, dgFloat32 interception, dgFloat32 *normal, dgInt32 faceId, void *usedData);

class dgCollisionBVH: public dgCollisionMesh, public dgAABBPolygonSoup {
public:
    DG_MSC_VECTOR_ALIGMENT
    struct dgBVHRay: public dgFastRayTest {
        dgBVHRay(const dgVector &l0, const dgVector &l1)
            : dgFastRayTest(l0, l1) {
        }

        dgMatrix m_matrix;
        dgVector m_normal;
        dgUnsigned32 m_id;
        dgFloat32 m_t;
        void *m_userData;
        const dgBody *m_myBody;
        const dgCollisionBVH *m_me;
    } DG_GCC_VECTOR_ALIGMENT;

    dgCollisionBVH(dgMemoryAllocator *const allocator);
    dgCollisionBVH(dgWorld *const world, dgDeserialize deserialization, void *const userData);
    virtual ~dgCollisionBVH(void);

    void BeginBuild();
    void AddFace(dgInt32 vertexCount, const dgFloat32 *const vertexPtr, dgInt32 strideInBytes, dgInt32 faceAttribute);
    void EndBuild(dgInt32 optimize);

    void SetCollisionRayCastCallback(dgCollisionBVHUserRayCastCallback rayCastCallback);
    dgCollisionBVHUserRayCastCallback GetDebugRayCastCallback() const {
        return m_userRayCastCallback;
    }

    void GetVertexListIndexList(const dgVector &p0, const dgVector &p1, dgGetVertexListIndexList &data) const;


private:


    static dgFloat32 RayHit(void *context, const dgFloat32 *const polygon, dgInt32 strideInBytes, const dgInt32 *const indexArray, dgInt32 indexCount);
    static dgFloat32 RayHitSimd(void *context, const dgFloat32 *const polygon, dgInt32 strideInBytes, const dgInt32 *const indexArray, dgInt32 indexCount);
    static dgFloat32 RayHitUser(void *context, const dgFloat32 *const polygon, dgInt32 strideInBytes, const dgInt32 *const indexArray, dgInt32 indexCount);
    static dgFloat32 RayHitUserSimd(void *context, const dgFloat32 *const polygon, dgInt32 strideInBytes, const dgInt32 *const indexArray, dgInt32 indexCount);
    static dgIntersectStatus GetPolygon(void *context, const dgFloat32 *const polygon, dgInt32 strideInBytes, const dgInt32 *const indexArray, dgInt32 indexCount);
    static dgIntersectStatus ShowDebugPolygon(void *context, const dgFloat32 *const polygon, dgInt32 strideInBytes, const dgInt32 *const indexArray, dgInt32 indexCount);
    static dgIntersectStatus GetTriangleCount(void *context, const dgFloat32 *const polygon, dgInt32 strideInBytes, const dgInt32 *const indexArray, dgInt32 indexCount);
    static dgIntersectStatus CollectVertexListIndexList(void *context, const dgFloat32 *const polygon, dgInt32 strideInBytes, const dgInt32 *const indexArray, dgInt32 indexCount);

    void Serialize(dgSerialize callback, void *const userData) const;
    virtual dgVector SupportVertex(const dgVector &dir) 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 void GetCollidingFaces(dgPolygonMeshDesc *const data) const;
    virtual void GetCollidingFacesSimd(dgPolygonMeshDesc *const data) const;
    virtual void GetCollisionInfo(dgCollisionInfo *info) const;

    void DebugCollision(const dgMatrix &matrixPtr, OnDebugCollisionMeshCallback callback, void *const userData) const;

    dgPolygonSoupDatabaseBuilder *m_builder;
    dgCollisionBVHUserRayCastCallback m_userRayCastCallback;

    friend class dgCollisionCompound;
};


#endif