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+/*************************************************************************
+ * *
+ * Open Dynamics Engine, Copyright (C) 2001,2002 Russell L. Smith. *
+ * All rights reserved. Email: russ@q12.org Web: www.q12.org *
+ * *
+ * This library is free software; you can redistribute it and/or *
+ * modify it under the terms of EITHER: *
+ * (1) The GNU Lesser General Public License as published by the Free *
+ * Software Foundation; either version 2.1 of the License, or (at *
+ * your option) any later version. The text of the GNU Lesser *
+ * General Public License is included with this library in the *
+ * file LICENSE.TXT. *
+ * (2) The BSD-style license that is included with this library in *
+ * the file LICENSE-BSD.TXT. *
+ * *
+ * This library is distributed in the hope that it will be useful, *
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of *
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the files *
+ * LICENSE.TXT and LICENSE-BSD.TXT for more details. *
+ * *
+ *************************************************************************/
+
+// dHeightfield Collider
+// Martijn Buijs 2006 http://home.planet.nl/~buijs512/
+// Based on Terrain & Cone contrib by:
+// Benoit CHAPEROT 2003-2004 http://www.jstarlab.com
+
+#ifndef _DHEIGHTFIELD_H_
+#define _DHEIGHTFIELD_H_
+//------------------------------------------------------------------------------
+
+#include <ode/common.h>
+#include "collision_kernel.h"
+
+
+#define HEIGHTFIELDMAXCONTACTPERCELL 10
+
+
+class HeightFieldVertex;
+class HeightFieldEdge;
+class HeightFieldTriangle;
+
+//
+// dxHeightfieldData
+//
+// Heightfield Data structure
+//
+struct dxHeightfieldData
+{
+ dReal m_fWidth; // World space heightfield dimension on X axis
+ dReal m_fDepth; // World space heightfield dimension on Z axis
+ dReal m_fSampleWidth; // Vertex spacing on X axis edge (== m_vWidth / (m_nWidthSamples-1))
+ dReal m_fSampleDepth; // Vertex spacing on Z axis edge (== m_vDepth / (m_nDepthSamples-1))
+ dReal m_fSampleZXAspect; // Relation of Z axis spacing to X axis spacing (== m_fSampleDepth / m_fSampleWidth)
+ dReal m_fInvSampleWidth; // Cache of inverse Vertex count on X axis edge (== m_vWidth / (m_nWidthSamples-1))
+ dReal m_fInvSampleDepth; // Cache of inverse Vertex count on Z axis edge (== m_vDepth / (m_nDepthSamples-1))
+
+ dReal m_fHalfWidth; // Cache of half of m_fWidth
+ dReal m_fHalfDepth; // Cache of half of m_fDepth
+
+ dReal m_fMinHeight; // Min sample height value (scaled and offset)
+ dReal m_fMaxHeight; // Max sample height value (scaled and offset)
+ dReal m_fThickness; // Surface thickness (added to bottom AABB)
+ dReal m_fScale; // Sample value multiplier
+ dReal m_fOffset; // Vertical sample offset
+
+ int m_nWidthSamples; // Vertex count on X axis edge (number of samples)
+ int m_nDepthSamples; // Vertex count on Z axis edge (number of samples)
+ int m_bCopyHeightData; // Do we own the sample data?
+ int m_bWrapMode; // Heightfield wrapping mode (0=finite, 1=infinite)
+ int m_nGetHeightMode; // GetHeight mode ( 0=callback, 1=byte, 2=short, 3=float )
+
+ const void* m_pHeightData; // Sample data array
+ void* m_pUserData; // Callback user data
+
+ dContactGeom m_contacts[HEIGHTFIELDMAXCONTACTPERCELL];
+
+ dHeightfieldGetHeight* m_pGetHeightCallback; // Callback pointer.
+
+ dxHeightfieldData();
+ ~dxHeightfieldData();
+
+ void SetData( int nWidthSamples, int nDepthSamples,
+ dReal fWidth, dReal fDepth,
+ dReal fScale, dReal fOffset,
+ dReal fThickness, int bWrapMode );
+
+ void ComputeHeightBounds();
+
+ bool IsOnHeightfield2 ( const HeightFieldVertex * const CellCorner,
+ const dReal * const pos, const bool isABC) const;
+
+ dReal GetHeight(int x, int z);
+ dReal GetHeight(dReal x, dReal z);
+
+};
+
+typedef int HeightFieldVertexCoords[2];
+
+class HeightFieldVertex
+{
+public:
+ HeightFieldVertex(){};
+
+ dVector3 vertex;
+ HeightFieldVertexCoords coords;
+ bool state;
+};
+
+class HeightFieldEdge
+{
+public:
+ HeightFieldEdge(){};
+
+ HeightFieldVertex *vertices[2];
+};
+
+class HeightFieldTriangle
+{
+public:
+ HeightFieldTriangle(){};
+
+ inline void setMinMax()
+ {
+ maxAAAB = vertices[0]->vertex[1] > vertices[1]->vertex[1] ? vertices[0]->vertex[1] : vertices[1]->vertex[1];
+ maxAAAB = vertices[2]->vertex[1] > maxAAAB ? vertices[2]->vertex[1] : maxAAAB;
+ };
+
+ HeightFieldVertex *vertices[3];
+ dReal planeDef[4];
+ dReal maxAAAB;
+
+ bool isUp;
+ bool state;
+};
+
+class HeightFieldPlane
+{
+public:
+ HeightFieldPlane():
+ trianglelist(0),
+ trianglelistReservedSize(0),
+ trianglelistCurrentSize(0)
+ {
+ }
+
+ ~HeightFieldPlane()
+ {
+ delete [] trianglelist;
+ }
+
+ inline void setMinMax()
+ {
+ const sizeint asize = trianglelistCurrentSize;
+ if (asize > 0)
+ {
+ maxAAAB = trianglelist[0]->maxAAAB;
+ for (sizeint k = 1; asize > k; k++)
+ {
+ if (trianglelist[k]->maxAAAB > maxAAAB)
+ maxAAAB = trianglelist[k]->maxAAAB;
+ }
+ }
+ };
+
+ void resetTriangleListSize(const sizeint newSize)
+ {
+ if (trianglelistReservedSize < newSize)
+ {
+ delete [] trianglelist;
+ trianglelistReservedSize = newSize;
+ trianglelist = new HeightFieldTriangle *[newSize];
+ }
+ trianglelistCurrentSize = 0;
+ }
+
+ void addTriangle(HeightFieldTriangle *tri)
+ {
+ dIASSERT(trianglelistCurrentSize < trianglelistReservedSize);
+
+ trianglelist[trianglelistCurrentSize++] = tri;
+ }
+
+ HeightFieldTriangle **trianglelist;
+ sizeint trianglelistReservedSize;
+ sizeint trianglelistCurrentSize;
+
+ dReal maxAAAB;
+ dReal planeDef[4];
+};
+
+//
+// dxHeightfield
+//
+// Heightfield geom structure
+//
+struct dxHeightfield : public dxGeom
+{
+ dxHeightfieldData* m_p_data;
+
+ dxHeightfield( dSpaceID space, dHeightfieldDataID data, int bPlaceable );
+ ~dxHeightfield();
+
+ void computeAABB();
+
+ int dCollideHeightfieldZone( const int minX, const int maxX, const int minZ, const int maxZ,
+ dxGeom *o2, const int numMaxContacts,
+ int flags, dContactGeom *contact, int skip );
+
+ enum
+ {
+ TEMP_PLANE_BUFFER_ELEMENT_COUNT_ALIGNMENT = 4,
+ TEMP_HEIGHT_BUFFER_ELEMENT_COUNT_ALIGNMENT_X = 4,
+ TEMP_HEIGHT_BUFFER_ELEMENT_COUNT_ALIGNMENT_Z = 4,
+ TEMP_TRIANGLE_BUFFER_ELEMENT_COUNT_ALIGNMENT = 1 // Triangles are easy to reallocate and hard to predict
+ };
+
+ static inline sizeint AlignBufferSize(sizeint value, sizeint alignment) { dIASSERT((alignment & (alignment - 1)) == 0); return (value + (alignment - 1)) & ~(alignment - 1); }
+
+ void allocateTriangleBuffer(sizeint numTri);
+ void resetTriangleBuffer();
+ void allocatePlaneBuffer(sizeint numTri);
+ void resetPlaneBuffer();
+ void allocateHeightBuffer(sizeint numX, sizeint numZ);
+ void resetHeightBuffer();
+
+ void sortPlanes(const sizeint numPlanes);
+
+ HeightFieldPlane **tempPlaneBuffer;
+ HeightFieldPlane *tempPlaneInstances;
+ sizeint tempPlaneBufferSize;
+
+ HeightFieldTriangle *tempTriangleBuffer;
+ sizeint tempTriangleBufferSize;
+
+ HeightFieldVertex **tempHeightBuffer;
+ HeightFieldVertex *tempHeightInstances;
+ sizeint tempHeightBufferSizeX;
+ sizeint tempHeightBufferSizeZ;
+
+};
+
+
+//------------------------------------------------------------------------------
+#endif //_DHEIGHTFIELD_H_
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