dgCollisionHeightField.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 __DGCOLLIION_HEIGHT_FIELD__
#define __DGCOLLIION_HEIGHT_FIELD__

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

class dgCollisionHeightField;
typedef dgFloat32(*dgCollisionHeightFieldRayCastCallback)(const dgBody *const body, const dgCollisionHeightField *const heightFieldCollision, dgFloat32 interception, dgInt32 row, dgInt32 col, dgVector *const normal, int faceId, void *const usedData);


class dgCollisionHeightField: public dgCollisionMesh {
public:
    dgCollisionHeightField(dgWorld *const world, dgInt32 width, dgInt32 height, dgInt32 contructionMode,
                           const dgUnsigned16 *const elevationMap, const dgInt8 *const atributeMap, dgFloat32 horizontalScale, dgFloat32 vertcalScale);

    dgCollisionHeightField(dgWorld *const world, dgDeserialize deserialization, void *const userData);

    virtual ~dgCollisionHeightField(void);

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


private:

    void AllocateVertex(dgWorld *const world, dgInt32 thread) const;
    void CalculateMinExtend2d(const dgVector &p0, const dgVector &p1, dgVector &boxP0, dgVector &boxP1) const;
    void CalculateMinExtend3d(const dgVector &p0, const dgVector &p1, dgVector &boxP0, dgVector &boxP1) const;
    dgFloat32 RayCastCell(const dgFastRayTest &ray, dgInt32 xIndex0, dgInt32 zIndex0, dgVector &normalOut) const;
    dgFloat32 RayCastCellSimd(const dgFastRayTest &ray, dgInt32 xIndex0, dgInt32 zIndex0, dgVector &normalOut) const;

    virtual void Serialize(dgSerialize 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 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;

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

    void GetLocalAABB(const dgVector &p0, const dgVector &p1, dgVector &boxP0, dgVector &boxP1) const;


    dgInt32 m_width;
    dgInt32 m_height;
    dgInt32 m_diagonalMode;
    dgInt8 *m_atributeMap;
    dgUnsigned16 *m_elevationMap;
    dgFloat32 m_verticalScale;
    dgFloat32 m_horizontalScale;
//  dgFloat32 m_verticalScaleInv;
    dgFloat32 m_horizontalScaleInv;
    dgCollisionHeightFieldRayCastCallback m_userRayCastCallback;

    dgVector m_minBox;
    dgVector m_maxBox;

    struct dgPerIntanceData {
        dgWorld *m_world;
        dgInt32 m_refCount;
        dgInt32 m_vertexCount[DG_MAXIMUN_THREADS];
        dgVector *m_vertex[DG_MAXIMUN_THREADS];
    };

    dgPerIntanceData *m_instanceData;
    friend class dgCollisionCompound;
};


#endif