From c5fc66ee58f2c60f2d226868bb1cf5b91badaf53 Mon Sep 17 00:00:00 2001 From: sanine Date: Sat, 1 Oct 2022 20:59:36 -0500 Subject: add ode --- libs/ode-0.16.1/ode/src/heightfield.h | 245 ++++++++++++++++++++++++++++++++++ 1 file changed, 245 insertions(+) create mode 100644 libs/ode-0.16.1/ode/src/heightfield.h (limited to 'libs/ode-0.16.1/ode/src/heightfield.h') diff --git a/libs/ode-0.16.1/ode/src/heightfield.h b/libs/ode-0.16.1/ode/src/heightfield.h new file mode 100644 index 0000000..9b27f34 --- /dev/null +++ b/libs/ode-0.16.1/ode/src/heightfield.h @@ -0,0 +1,245 @@ +/************************************************************************* + * * + * 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 +#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_ -- cgit v1.2.1