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1// dHeightfield Collider
2// Martijn Buijs 2006 http://home.planet.nl/~buijs512/
3// Based on Terrain & Cone contrib by:
4// Benoit CHAPEROT 2003-2004 http://www.jstarlab.com
5
6#ifndef _DHEIGHTFIELD_H_
7#define _DHEIGHTFIELD_H_
8//------------------------------------------------------------------------------
9
10#include <ode/common.h>
11#include "collision_kernel.h"
12
13
14#define HEIGHTFIELDMAXCONTACTPERCELL 10
15
16//
17// dxHeightfieldData
18//
19// Heightfield Data structure
20//
21struct dxHeightfieldData
22{
23 dReal m_fWidth; // World space heightfield dimension on X axis
24 dReal m_fDepth; // World space heightfield dimension on Z axis
25 dReal m_fSampleWidth; // Vertex count on X axis edge (== m_vWidth / (m_nWidthSamples-1))
26 dReal m_fSampleDepth; // Vertex count on Z axis edge (== m_vDepth / (m_nDepthSamples-1))
27 dReal m_fInvSampleWidth; // Cache of inverse Vertex count on X axis edge (== m_vWidth / (m_nWidthSamples-1))
28 dReal m_fInvSampleDepth; // Cache of inverse Vertex count on Z axis edge (== m_vDepth / (m_nDepthSamples-1))
29
30 dReal m_fHalfWidth; // Cache of half of m_fWidth
31 dReal m_fHalfDepth; // Cache of half of m_fDepth
32
33 dReal m_fMinHeight; // Min sample height value (scaled and offset)
34 dReal m_fMaxHeight; // Max sample height value (scaled and offset)
35 dReal m_fThickness; // Surface thickness (added to bottom AABB)
36 dReal m_fScale; // Sample value multiplier
37 dReal m_fOffset; // Vertical sample offset
38
39 int m_nWidthSamples; // Vertex count on X axis edge (number of samples)
40 int m_nDepthSamples; // Vertex count on Z axis edge (number of samples)
41 int m_bCopyHeightData; // Do we own the sample data?
42 int m_bWrapMode; // Heightfield wrapping mode (0=finite, 1=infinite)
43 int m_nGetHeightMode; // GetHeight mode ( 0=callback, 1=byte, 2=short, 3=float )
44
45 const void* m_pHeightData; // Sample data array
46 void* m_pUserData; // Callback user data
47
48 dContactGeom m_contacts[HEIGHTFIELDMAXCONTACTPERCELL];
49
50 dHeightfieldGetHeight* m_pGetHeightCallback; // Callback pointer.
51
52 dxHeightfieldData();
53 ~dxHeightfieldData();
54
55 void SetData( int nWidthSamples, int nDepthSamples,
56 dReal fWidth, dReal fDepth,
57 dReal fScale, dReal fOffset,
58 dReal fThickness, int bWrapMode );
59
60 void ComputeHeightBounds();
61
62 bool IsOnHeightfield ( const dReal * const CellOrigin, const dReal * const pos, const bool isABC) const;
63 bool IsOnHeightfield2 ( const dReal * const CellOrigin, const dReal * const pos, const bool isABC) const;
64
65 dReal GetHeight(int x, int z);
66 dReal GetHeight(dReal x, dReal z);
67
68};
69
70class HeightFieldVertex;
71class HeightFieldEdge;
72class HeightFieldTriangle;
73
74class HeightFieldVertex
75{
76public:
77 HeightFieldVertex(){};
78
79 dVector3 vertex;
80 bool state;
81};
82
83class HeightFieldEdge
84{
85public:
86 HeightFieldEdge(){};
87
88 HeightFieldVertex *vertices[2];
89};
90//
91// HeightFieldTriangle
92//
93// HeightFieldTriangle composing heightfield mesh
94//
95class HeightFieldTriangle
96{
97public:
98 HeightFieldTriangle(){};
99
100 inline void setMinMax()
101 {
102 maxAAAB = vertices[0]->vertex[1] > vertices[1]->vertex[1] ? vertices[0]->vertex[1] : vertices[1]->vertex[1];
103 maxAAAB = vertices[2]->vertex[1] > maxAAAB ? vertices[2]->vertex[1] : maxAAAB;
104 };
105
106 HeightFieldVertex *vertices[3];
107 dReal planeDef[4];
108 dReal maxAAAB;
109
110 bool isUp;
111 bool state;
112};
113//
114// HeightFieldTriangle
115//
116// HeightFieldPlane composing heightfield mesh
117//
118class HeightFieldPlane
119{
120public:
121 HeightFieldPlane():
122 trianglelist(0),
123 trianglelistReservedSize(0),
124 trianglelistCurrentSize(0)
125 {
126
127 };
128 ~HeightFieldPlane()
129 {
130 delete [] trianglelist;
131 };
132
133 inline void setMinMax()
134 {
135 const size_t asize = trianglelistCurrentSize;
136 if (asize > 0)
137 {
138 maxAAAB = trianglelist[0]->maxAAAB;
139 for (size_t k = 1; asize > k; k++)
140 {
141 if (trianglelist[k]->maxAAAB > maxAAAB)
142 maxAAAB = trianglelist[k]->maxAAAB;
143 }
144 }
145 };
146
147 void resetTriangleListSize(const size_t newSize)
148 {
149 if (trianglelistReservedSize < newSize)
150 {
151 delete [] trianglelist;
152 trianglelistReservedSize = newSize;
153 trianglelist = new HeightFieldTriangle *[newSize];
154 }
155 trianglelistCurrentSize = 0;
156 }
157
158 void addTriangle(HeightFieldTriangle *tri)
159 {
160 dIASSERT(trianglelistCurrentSize < trianglelistReservedSize);
161
162 trianglelist[trianglelistCurrentSize++] = tri;
163 }
164
165 HeightFieldTriangle **trianglelist;
166 size_t trianglelistReservedSize;
167 size_t trianglelistCurrentSize;
168
169 dReal maxAAAB;
170 dReal planeDef[4];
171};
172//
173// dxHeightfield
174//
175// Heightfield geom structure
176//
177struct dxHeightfield : public dxGeom
178{
179 dxHeightfieldData* m_p_data;
180
181 dxHeightfield( dSpaceID space, dHeightfieldDataID data, int bPlaceable );
182 ~dxHeightfield();
183
184 void computeAABB();
185
186 int dCollideHeightfieldZone( const int minX, const int maxX, const int minZ, const int maxZ,
187 dxGeom *o2, const int numMaxContacts,
188 int flags, dContactGeom *contact, int skip );
189
190 enum
191 {
192 TEMP_PLANE_BUFFER_ELEMENT_COUNT_ALIGNMENT = 4,
193 TEMP_HEIGHT_BUFFER_ELEMENT_COUNT_ALIGNMENT_X = 4,
194 TEMP_HEIGHT_BUFFER_ELEMENT_COUNT_ALIGNMENT_Z = 4,
195 TEMP_TRIANGLE_BUFFER_ELEMENT_COUNT_ALIGNMENT = 1, // Triangles are easy to reallocate and hard to predict
196 };
197
198 static inline size_t AlignBufferSize(size_t value, size_t alignment) { dIASSERT((alignment & (alignment - 1)) == 0); return (value + (alignment - 1)) & ~(alignment - 1); }
199
200 void allocateTriangleBuffer(size_t numTri);
201 void resetTriangleBuffer();
202 void allocatePlaneBuffer(size_t numTri);
203 void resetPlaneBuffer();
204 void allocateHeightBuffer(size_t numX, size_t numZ);
205 void resetHeightBuffer();
206
207 void sortPlanes(const size_t numPlanes);
208
209 HeightFieldPlane **tempPlaneBuffer;
210 HeightFieldPlane *tempPlaneInstances;
211 size_t tempPlaneBufferSize;
212
213 HeightFieldTriangle *tempTriangleBuffer;
214 size_t tempTriangleBufferSize;
215
216 HeightFieldVertex **tempHeightBuffer;
217 HeightFieldVertex *tempHeightInstances;
218 size_t tempHeightBufferSizeX;
219 size_t tempHeightBufferSizeZ;
220
221};
222
223
224//------------------------------------------------------------------------------
225#endif //_DHEIGHTFIELD_H_
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