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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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