dgCollision.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 AFX_DGCOLLISION_H__57E159CE_6B6F_42DE_891C_1F6C38EB9D29__INCLUDED_
#define AFX_DGCOLLISION_H__57E159CE_6B6F_42DE_891C_1F6C38EB9D29__INCLUDED_

#include "dgBody.h"
#include "hpl1/engine/libraries/newton/core/dg.h"

class dgBody;
class dgCollision;
class dgMeshEffect;
class dgContactPoint;
class dgPolygonSoupDesc;
class dgCollisionConvex;
class dgCollisionConvexHull;
class dgPolygonSoupRayHitDesc;

#define DG_MAX_COLLISION_PADDING dgFloat32(1.0f / 8.0f)
//#define DG_MAX_COLLISION_PADDING dgFloat32 (1.0f)

typedef dgInt32(*dgCollisionCompoundBreakableCallback)(dgMeshEffect *const solid, void *userData, dgMatrix &planeMatrixOut);

#ifdef _DEBUG
//  #define DG_DEBUG_AABB
#endif

//#define SERIALIZE_END 'dne '
#define SERIALIZE_END 0x646e6520
#define PREFILTER_RAYCAST(filter, body, collision, userData) (filter && !filter(body, collision, userData))

enum dgCollisionID {
    m_boxCollision = 0,
    m_coneCollision,
    m_sphereCollision,
    m_capsuleCollision,
    m_cylinderCollision,
    m_compoundCollision,
    m_convexHullCollision,
    m_convexCollisionModifier,
    m_chamferCylinderCollision,
    m_boundingBoxHierachy,
    m_nullCollision,
    m_heightField,
    m_userMeshCollision,
    m_sceneCollision,
    m_compoundBreakable,

    m_polygonCollision,
    m_ellipseCollision,
    m_convexConvexIntance,

};

class dgCollisionInfo {
public:
    struct dgBoxData {
        dgFloat32 m_x;
        dgFloat32 m_y;
        dgFloat32 m_z;
    };

    struct dgSphereData {
        dgFloat32 m_r0;
        dgFloat32 m_r1;
        dgFloat32 m_r2;
    };

    struct dgCylinderData {
        dgFloat32 m_r0;
        dgFloat32 m_r1;
        dgFloat32 m_height;
    };

    struct dgCapsuleData {
        dgFloat32 m_r0;
        dgFloat32 m_r1;
        dgFloat32 m_height;
    };

    struct dgConeData {
        dgFloat32 m_r;
        dgFloat32 m_height;
    };

    struct dgChamferCylinderData {
        dgFloat32 m_r;
        dgFloat32 m_height;
    };

    struct dgConvexHullData {
        dgInt32 m_vertexCount;
        dgInt32 m_strideInBytes;
        dgInt32 m_faceCount;
        dgVector *m_vertex;
    };

    struct dgConvexModifierData {
        dgCollision *m_child;
    };

    struct dgCoumpountCollisionData {
        dgInt32 m_chidrenCount;
        dgCollision **m_chidren;
    };

    struct dgCollisionBVHData {
        dgInt32 m_vertexCount;
        dgInt32 m_indexCount;
    };

    struct dgHeightMapCollisionData {
        dgInt32 m_width;
        dgInt32 m_height;
        dgInt32 m_gridsDiagonals;
        dgFloat32 m_horizonalScale;
        dgFloat32 m_verticalScale;
        dgUnsigned16 *m_elevation;
        dgInt8 *m_atributes;
    };

    struct dgSceneData {
        dgInt32 m_childrenProxyCount;
    };

    dgMatrix m_offsetMatrix;
    dgInt32 m_collisionType;
    dgInt32 m_refCount;
    dgInt32 m_userDadaID;
    union {
        dgBoxData m_box;
        dgConeData m_cone;
        dgSphereData m_sphere;
        dgCapsuleData m_capsule;
        dgCylinderData m_cylinder;
        dgChamferCylinderData m_chamferCylinder;
        dgConvexHullData m_convexHull;
        dgConvexModifierData m_convexModifierData;
        dgCoumpountCollisionData m_compoundCollision;
        dgCollisionBVHData m_bvhCollision;
        dgHeightMapCollisionData m_heightFieldCollision;
        dgSceneData m_sceneCollision;
        dgFloat32 m_paramArray[32];
    };
};

typedef dgInt32(dgApi *OnCompoundCollisionPrefilter)(const dgBody *bodyA, const dgCollision *collisionA, const dgBody *bodyB, const dgCollision *collisionB);
typedef void(dgApi *OnDebugCollisionMeshCallback)(void *userData, int vertexCount, const dgFloat32 *FaceArray, int faceId);

class dgCollisionBoundPlaneCache {
public:
    dgCollisionBoundPlaneCache() {
        for (unsigned i = 0; i < sizeof(m_planes) / sizeof(m_planes[0]); i++)
            m_planes[i] = dgPlane(0.0, 0.0, 0.0, 0.0);
    }
    dgPlane m_planes[2];
};

DG_MSC_VECTOR_ALIGMENT
class dgCollision { //: public dgRef
public:
    enum RTTI {
        dgCollisionNull_RTTI = 1 << 0,
        dgCollisionBox_RTTI = 1 << 1,
        dgCollisionCone_RTTI = 1 << 2,
        dgCollisionSphere_RTTI = 1 << 3,
        dgCollisionEllipse_RTTI = 1 << 4,
        dgCollisionCapsule_RTTI = 1 << 5,
        dgCollisionCylinder_RTTI = 1 << 6,
        dgCollisionConvexHull_RTTI = 1 << 7,
        dgCollisionChamferCylinder_RTTI = 1 << 8,
        dgCollisionConvexModifier_RTTI = 1 << 9,
        dgCollisionConvexPolygon_RTTI = 1 << 10,
        dgConvexCollision_RTTI = 1 << 11,
        dgCollisionCompound_RTTI = 1 << 12,

        dgCollisionBVH_RTTI = 1 << 13,
        dgCollisionMesh_RTTI = 1 << 14,
        dgCollisionUserMesh_RTTI = 1 << 15,
        dgCollisionHeightField_RTTI = 1 << 16,
        dgCollisionScene_RTTI = 1 << 17,
        dgCollisionCompoundBreakable_RTTI = 1 << 18,
    };

    DG_CLASS_ALLOCATOR(allocator)

    const dgMatrix &GetOffsetMatrix() const;
    void SetOffsetMatrix(const dgMatrix &matrix);

    dgCollisionID GetCollisionPrimityType() const;
    static dgUnsigned32 Quantize(dgFloat32 value);
    static dgUnsigned32 MakeCRC(void *buffer, int size);

    dgUnsigned32 SetUserDataID() const;
    void SetUserDataID(dgUnsigned32 userData);

    dgInt32 IsType(RTTI type) const {
        return type & m_rtti;
    }

    virtual void *GetUserData() const;
    virtual void SetUserData(void *const userData);

    virtual dgVector SupportVertex(const dgVector &dir) const = 0;
    virtual void SetCollisionBBox(const dgVector &p0, const dgVector &p1) = 0;
    virtual void CalcAABB(const dgMatrix &matrix, dgVector &p0, dgVector &p1) const = 0;
    virtual void CalcAABBSimd(const dgMatrix &matrix, dgVector &p0, dgVector &p1) const = 0;
    virtual bool OOBBTest(const dgMatrix &matrix, const dgCollisionConvex *const shape, void *const cacheOrder) const = 0;
    virtual bool IsEdgeIntersection() const;

    virtual void DebugCollision(const dgMatrix &matrix, OnDebugCollisionMeshCallback callback, void *const userData) const = 0;
    virtual dgFloat32 RayCast(const dgVector &localP0, const dgVector &localP1, dgContactPoint &contactOut, OnRayPrecastAction preFilter, const dgBody *const body, void *const userData) const = 0;
    virtual dgFloat32 RayCastSimd(const dgVector &localP0, const dgVector &localP1, dgContactPoint &contactOut, OnRayPrecastAction preFilter, const dgBody *const body, void *const userData) const {
        NEWTON_ASSERT(0);
        return 0;
    };
    virtual dgFloat32 GetVolume() const = 0;

    virtual dgFloat32 GetBoxMinRadius() const = 0;
    virtual dgFloat32 GetBoxMaxRadius() const = 0;
    virtual void CalculateInertia(dgVector &inertia, dgVector &origin) const = 0;
    virtual dgVector CalculateVolumeIntegral(const dgMatrix &globalMatrix, GetBuoyancyPlane bouyancyPlane, void *const context) const = 0;
    virtual void Serialize(dgSerialize callback, void *const userData) const = 0;

    virtual void GetCollisionInfo(dgCollisionInfo *info) const;
    virtual void SerializeLow(dgSerialize callback, void *const userData) const;

    dgUnsigned32 GetSignature() const;

    // interface for the convex hull modifier
    virtual dgMatrix ModifierGetMatrix() const;
    virtual void ModifierSetMatrix(const dgMatrix &matrix);

    virtual bool IsTriggerVolume() const;
    virtual void SetAsTriggerVolume(bool mode);

    virtual void SetBreakImpulse(dgFloat32 force);
    virtual dgFloat32 GetBreakImpulse() const;

    dgCollision *AddRef();
    virtual dgInt32 Release();
    dgInt32 GetRefCount() const;

    dgMemoryAllocator *GetAllocator() const;

protected:
    dgCollision(dgMemoryAllocator *const allocator, dgUnsigned32 signature, const dgMatrix &matrix, dgCollisionID id);
    dgCollision(dgWorld *const world, dgDeserialize deserialization, void *const userData);
    virtual ~dgCollision();

    void SetSignature(dgInt32 signature);
    virtual dgInt32 CalculateSignature() const = 0;

    dgMatrix m_offset;
    dgMemoryAllocator *m_allocator;
    dgInt32 m_rtti;
    dgInt32 m_refCount;
    dgUnsigned32 m_userDataID;
    dgUnsigned32 m_signature;
    dgCollisionID m_collsionId;

private:
    //  dgAddRtti(dgRef);

    friend class dgBody;
    friend class dgWorld;
    friend class dgMinkowskiConv;
    friend class dgCollisionCompound;
} DG_GCC_VECTOR_ALIGMENT;

inline dgCollisionID dgCollision::GetCollisionPrimityType() const {
    return m_collsionId;
}

inline dgUnsigned32 dgCollision::GetSignature() const {
    return m_signature;
}

inline void dgCollision::SetSignature(dgInt32 signature) {
    m_signature = dgUnsigned32(signature);
}

inline const dgMatrix &dgCollision::GetOffsetMatrix() const {
    return m_offset;
}

inline dgMatrix dgCollision::ModifierGetMatrix() const {
    return dgGetIdentityMatrix();
}

inline void dgCollision::ModifierSetMatrix(const dgMatrix &matrix) {
}

inline void dgCollision::SetAsTriggerVolume(bool mode) {
}

inline bool dgCollision::IsTriggerVolume() const {
    return false;
}

inline dgUnsigned32 dgCollision::SetUserDataID() const {
    return m_userDataID;
}

inline void dgCollision::SetUserDataID(dgUnsigned32 userData) {
    m_userDataID = userData;
}

inline dgCollision *dgCollision::AddRef() {
    m_refCount++;
    return this;
}

inline dgInt32 dgCollision::Release() {
    m_refCount--;
    if (m_refCount) {
        return m_refCount;
    }
    delete this;
    return 0;
}

inline dgInt32 dgCollision::GetRefCount() const {
    return m_refCount;
}

inline void dgCollision::SetBreakImpulse(dgFloat32 force) {
}

inline dgFloat32 dgCollision::GetBreakImpulse() const {
    return dgFloat32(1.0e10f);
}

inline dgMemoryAllocator *dgCollision::GetAllocator() const {
    return m_allocator;
}

inline bool dgCollision::IsEdgeIntersection() const {
    return false;
}

#endif