dgCollisionCapsule.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_DGCOLLISIONCAPSULE_H__AS235640FER__INCLUDED_)
#define AFX_DGCOLLISIONCAPSULE_H__AS235640FER__INCLUDED_



#include "dgCollisionConvex.h"

#define DG_CAP_SEGMENTS 4
#define DG_CAPSULE_SEGMENTS 6

class dgCollisionCapsule: public dgCollisionConvex {
public:
    dgCollisionCapsule(dgMemoryAllocator *const allocator, dgUnsigned32 signature, dgFloat32 radius, dgFloat32 height, const dgMatrix &matrix);
    dgCollisionCapsule(dgWorld *const world, dgDeserialize deserialization, void *const userData);
    virtual ~dgCollisionCapsule();

    dgFloat32 GetRadius() const {
        return m_radius;
    }
    dgFloat32 GetHeight() const {
        return m_height[0];
    }


private:
    void Init(dgFloat32 radius, dgFloat32 height);
    void TesselateTriangle(dgInt32 level, dgFloat32 side, const dgVector &p0, const dgVector &p1, const dgVector &p2, dgInt32 &count, dgVector *ouput) 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;

//  virtual void DebugCollision (const dgBody& myBody, DebugCollisionMeshCallback callback) const;
    virtual void DebugCollision(const dgMatrix &matrix, OnDebugCollisionMeshCallback callback, void *const userData) const;

    virtual dgInt32 CalculateSignature() const;
    virtual void SetCollisionBBox(const dgVector &p0, const dgVector &p1);
    virtual dgFloat32 CalculateMassProperties(dgVector &inertia, dgVector &crossInertia, dgVector &centerOfMass) const;

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

    dgFloat32 m_height[2];
    dgFloat32 m_radius;

    dgFloat32 m_tethaStep;
    dgFloat32 m_tethaStepInv;
    dgFloat32 m_delCosTetha;
    dgFloat32 m_delSinTetha;

    dgVector m_silhuette[4];
    dgVector m_vertex[2 * DG_CAP_SEGMENTS * DG_CAPSULE_SEGMENTS];
    static dgInt32 m_shapeRefCount;
    static dgConvexSimplexEdge m_edgeArray[];

    friend class dgWorld;
};

#endif