dgCollisionConvex.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.
*/

#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 &centerOfMass) 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_