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OgreOdeGeometry.h @ 2132

Last change on this file since 2132 was 2119, checked in by rgrieder, 16 years ago
Merged physics branch into physics_new branch.
Property svn:eol-style set to `native`
File size: 21.9 KB

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1	#ifndef _OGREODEGEOMETRY_H_
2	#define _OGREODEGEOMETRY_H_
3
4	#include "OgreOdePreReqs.h"
5
6	#include <OgreUserDefinedObject.h>
7	#include <OgreMovableObject.h>
8	#include <OgreSceneQuery.h>
9	#include "OgreOdeTriangleMeshData.h"
10
11	namespace OgreOde
12	{
13	/**
14	This object is the base class for all Geometry objects in OgreOde.
15	@remarks
16	This object is tied either to a Body (acting as collision proxy for a physic object)
17	or to a Entity Object (which then is physically "static")
18	@remarks
19	It extends the OGRE UserDefinedObject to allow reverse links from Ogre::Entity.
20	Note that this class does not override the UserDefinedObject's getTypeId method
21	because this class is abstract.
22	*/
23	class _OgreOdeExport Geometry : public Ogre::UserDefinedObject, public Ogre::MovableObject
24	{
25	friend class Space;
26	friend class World;
27	friend class Body;
28	friend class TransformGeometry;
29
30	public:
31	enum Class
32	{
33	Class_Sphere = dSphereClass,
34	Class_Box = dBoxClass,
35	Class_Capsule = dCapsuleClass,
36	Class_Cylinder = dCCylinderClass,
37	Class_InfinitePlane = dPlaneClass,
38	Class_Ray = dRayClass,
39	Class_TriangleMesh = dTriMeshClass,
40	Class_Terrain = dHeightfieldClass,
41	Class_Convex = dConvexClass,
42	Class_Transform = dGeomTransformClass,
43	Class_NoGeometry
44	};
45
46	public:
47	Geometry(World world, Space space = 0);
48	virtual ~Geometry();
49
50	virtual void setBody(Body* body);
51	Body* getBody();
52
53
54	virtual void setPosition(const Ogre::Vector3& position);
55	virtual void setOrientation(const Ogre::Quaternion& orientation);
56	virtual const Ogre::Vector3& getPosition();
57	virtual const Ogre::Quaternion& getOrientation();
58	virtual const Ogre::AxisAlignedBox& getAxisAlignedBox();
59
60
61	Space* getSpace();
62
63	void enable();
64	void disable();
65	bool isEnabled();
66
67	Geometry::Class getClass() const;
68
69	void setCategoryBitfield(unsigned long bits);
70	void setCollisionBitfield(unsigned long bits);
71	unsigned long getCategoryBitfield();
72	unsigned long getCollisionBitfield();
73
74	int collide(Geometry* geometry, CollisionListener* listener = 0);
75
76	void setMaxContacts(unsigned int max_contacts);
77	unsigned int getMaxContacts() const;
78	unsigned int getContactHighWaterMark() const;
79
80	void setEncapsulator(Geometry* encapsulator);
81	Geometry* getEncapsulator(){return _encapsulator;}
82
83	void setUserData(size_t user_data){_user_data = user_data;}
84	size_t getUserData() const {return _user_data;}
85
86	void setUserObject(UserDefinedObject* object){_user_object = object;}
87	UserDefinedObject* getUserObject(){return _user_object;}
88
89	virtual size_t getID() const ;
90	virtual void notify(Body* body);
91
92
93	virtual void setDebug(const bool debug);
94	virtual void createDebugObject();
95	virtual void destroyDebugObject();
96	void reparentDebugObject(Ogre::Node* node);
97
98	virtual void setDebugContact(const bool debug);
99	void updateDebugContact();
100
101	void clearOffset();
102	int isOffset();
103
104	void setOffsetPosition (const Ogre::Vector3 &position);
105	void setOffsetQuaternion(const Ogre::Quaternion &orientation);
106
107	void setOffsetWorldPosition(const Ogre::Vector3 &position);
108	void setOffsetWorldQuaternion(const Ogre::Quaternion &orientation) ;
109
110	Ogre::Vector3 getOffsetPosition() ;
111	Ogre::Quaternion getOffsetQuaternion() ;
112
113
114	/** returns mGeometry's AABB
115	*/
116	virtual const Ogre::AxisAlignedBox& getBoundingBox(void) const {return _bounding_box; };
117
118	/**
119	*/
120	static const Ogre::String MovableType;
121	virtual const Ogre::String& getMovableType() const { return MovableType; };
122
123	/**
124	*/
125	virtual Ogre::Real getBoundingRadius(void) const { return Ogre::Real(0.0); }
126
127	/**
128	*/
129	virtual void _updateRenderQueue(Ogre::RenderQueue* queue){}
130
131	/** added for Ogre 1.5
132	*/
133	#if OGRE_VERSION >= ((1 << 16) \| (5 << 8))
134	virtual void visitRenderables(Ogre::Renderable::Visitor* visitor, bool debugRenderables = false){}
135	#endif
136
137	/** set mParentNode and sets mGeometrys position and orientation to match mParentNode's
138	*/
139	virtual void _notifyAttached(Ogre::Node* parent, bool isTagPoint = false);
140
141	/** sets mGeometry position and orientation to match mParentNode's
142	*/
143	virtual void _notifyMoved();
144
145
146	virtual const Ogre::String& getName (void) const { return mName; }
147
148	/** setting mName is not important - its not actually being used
149	it just helps debugging code
150	*/
151	void setName (Ogre::String name){ mName = name; }
152
153
154
155	protected:
156	dGeomID getGeometryID() const;
157	void registerGeometry();
158	dSpaceID getSpaceID(Space* space) const;
159
160	protected:
161	Ogre::String mName;
162	dGeomID _geom;
163	unsigned int _max_contacts;
164	unsigned int _contact_high_water_mark;
165	unsigned int _last_contact_num;
166	dContact* _contacts;
167
168	DebugObject* _debug_obj;
169	Ogre::Node* _debug_node;
170	DebugContact** _debug_contacts;
171
172	Geometry* _encapsulator;
173	Ogre::AxisAlignedBox _bounding_box;
174	Ogre::Quaternion _orientation;
175	Ogre::Vector3 _position;
176
177	static int _geometry_count;
178	size_t _user_data;
179	UserDefinedObject* _user_object;
180	World *_world;
181
182	};
183
184	//------------------------------------------------------------------------------------------------
185	class _OgreOdeExport SphereGeometry:public Geometry
186	{
187	public:
188	SphereGeometry(Ogre::Real radius, World world, Space space = 0);
189	~SphereGeometry();
190
191	virtual void createDebugObject();
192
193	void setRadius(Ogre::Real radius);
194	Ogre::Real getRadius();
195	Ogre::Real getPointDepth(const Ogre::Vector3& point);
196	/** Return a string identifying the type of user defined object.
197	@remarks
198	Used to differentiate between different Bodies, Geometries and prefab_object
199	*/
200	const Ogre::String& getTypeName(void) const
201	{static Ogre::String sName("Geometry Sphere");return sName;};
202
203	};
204
205	//------------------------------------------------------------------------------------------------
206	class _OgreOdeExport BoxGeometry:public Geometry
207	{
208	public:
209	BoxGeometry(const Ogre::Vector3& size, World world, Space space = 0);
210	~BoxGeometry();
211
212	virtual void createDebugObject();
213
214	void setSize(const Ogre::Vector3& size);
215	const Ogre::Vector3& getSize();
216	Ogre::Real getPointDepth(const Ogre::Vector3& point);
217
218	/** Return a string identifying the type of user defined object.
219	@remarks
220	Used to differentiate between different Bodies, Geometries and prefab_object
221	*/
222	const Ogre::String& getTypeName(void) const
223	{static Ogre::String sName("Geometry Box");return sName;};
224
225	protected:
226	Ogre::Vector3 _size;
227	};
228
229	//------------------------------------------------------------------------------------------------
230	class _OgreOdeExport InfinitePlaneGeometry:public Geometry
231	{
232	public:
233	InfinitePlaneGeometry(const Ogre::Plane& plane, World world, Space space = 0);
234	~InfinitePlaneGeometry();
235
236	void setDefinition(const Ogre::Plane& plane);
237	const Ogre::Plane& getDefinition();
238	Ogre::Real getPointDepth(const Ogre::Vector3& point);
239
240	void setPosition(const Ogre::Vector3& position);
241	void setOrientation(const Ogre::Quaternion& orientation);
242	const Ogre::Vector3& getPosition();
243	const Ogre::Quaternion& getOrientation();
244	const Ogre::AxisAlignedBox& getAxisAlignedBox();
245
246	/** Return a string identifying the type of user defined object.
247	@remarks
248	Used to differentiate between different Bodies, Geometries and prefab_object
249	*/
250	const Ogre::String& getTypeName(void) const
251	{static Ogre::String sName("Geometry Infinity Plane");return sName;};
252
253	protected:
254	Ogre::Plane _plane;
255	};
256	//------------------------------------------------------------------------------------------------
257	class _OgreOdeExport CapsuleGeometry:public Geometry
258	{
259	public:
260	CapsuleGeometry(Ogre::Real radius, Ogre::Real length, World world, Space space = 0);
261	~CapsuleGeometry();
262
263	virtual void createDebugObject();
264
265	void setDefinition(Ogre::Real radius, Ogre::Real length);
266	Ogre::Real getRadius();
267	Ogre::Real getLength();
268	Ogre::Real getPointDepth(const Ogre::Vector3& point);
269
270
271	/** Return a string identifying the type of user defined object.
272	@remarks
273	Used to differentiate between different Bodies, Geometries and prefab_object
274	*/
275	const Ogre::String& getTypeName(void) const
276	{static Ogre::String sName("Geometry Capsule");return sName;};
277
278	};
279	//------------------------------------------------------------------------------------------------
280	class _OgreOdeExport CylinderGeometry:public Geometry
281	{
282	public:
283	CylinderGeometry(Ogre::Real radius, Ogre::Real length, World world, Space space = 0);
284	~CylinderGeometry();
285
286	virtual void createDebugObject();
287
288	void setDefinition(Ogre::Real radius, Ogre::Real length);
289	Ogre::Real getRadius();
290	Ogre::Real getLength();
291	Ogre::Real getPointDepth(const Ogre::Vector3& point);
292
293	/** Return a string identifying the type of user defined object.
294	@remarks
295	Used to differentiate between different Bodies, Geometries and prefab_object
296	*/
297	const Ogre::String& getTypeName(void) const
298	{static Ogre::String sName("Geometry Cylinder");return sName;};
299
300	};
301	//------------------------------------------------------------------------------------------------
302	class _OgreOdeExport RayGeometry:public Geometry
303	{
304	public:
305	RayGeometry(Ogre::Real length, World world, Space space = 0);
306	~RayGeometry();
307
308	virtual void createDebugObject();
309
310	void setLength(Ogre::Real length);
311	Ogre::Real getLength();
312	void setDefinition(const Ogre::Vector3& start, const Ogre::Vector3& direction);
313	const Ogre::Vector3& getStart();
314	const Ogre::Vector3& getDirection();
315
316	/** Return a string identifying the type of user defined object.
317	@remarks
318	Used to differentiate between different Bodies, Geometries and prefab_object
319	*/
320	const Ogre::String& getTypeName(void) const
321	{static Ogre::String sName("Geometry Ray");return sName;};
322
323	protected:
324	Ogre::Vector3 _direction,_start;
325	};
326
327	//------------------------------------------------------------------------------------------------
328	class _OgreOdeExport TransformGeometry:public Geometry
329	{
330	public:
331	TransformGeometry(World world, Space space);
332	~TransformGeometry();
333
334	virtual void createDebugObject();
335	virtual void destroyDebugObject();
336
337	void setEncapsulatedGeometry(Geometry* geometry);
338	Geometry* getEncapsulatedGeometry() const;
339
340	/** Return a string identifying the type of user defined object.
341	@remarks
342	Used to differentiate between different Bodies, Geometries and prefab_object
343	*/
344	const Ogre::String& getTypeName(void) const
345	{static Ogre::String sName("Geometry Transform");return sName;};
346
347	};
348	//------------------------------------------------------------------------------------------------
349	class _OgreOdeExport TriangleMeshCollisionListener
350	{
351	public:
352	TriangleMeshCollisionListener(){}
353	virtual ~TriangleMeshCollisionListener(){}
354
355	virtual bool collide(TriangleMeshGeometry* triangle_mesh, Geometry* geometry, int triangle) {return true;}
356	};
357
358	//------------------------------------------------------------------------------------------------
359	class _OgreOdeExport TriangleMeshIntersectionListener
360	{
361	public:
362	TriangleMeshIntersectionListener(){}
363	virtual ~TriangleMeshIntersectionListener(){}
364
365	virtual void intersect(TriangleMeshGeometry* triangle_mesh, Geometry* geometry, const int* triangles, int triangle_count){}
366	};
367
368	//------------------------------------------------------------------------------------------------
369	class _OgreOdeExport TriangleMeshRayListener
370	{
371	public:
372	TriangleMeshRayListener(){}
373	virtual ~TriangleMeshRayListener(){}
374
375	virtual bool collide(TriangleMeshGeometry* triangle_mesh, RayGeometry* ray,int triangle, const Ogre::Vector3& uv){return true;}
376	};
377
378	//------------------------------------------------------------------------------------------------
379	struct _OgreOdeExport TriangleMeshTriangle
380	{
381	Ogre::Vector3 v0,v1,v2;
382	};
383
384	//------------------------------------------------------------------------------------------------
385	class _OgreOdeExport TriangleMeshGeometry:public Geometry
386	{
387	public:
388	TriangleMeshGeometry(const Ogre::Vector3* vertices,
389	unsigned int vertex_count,
390	const TriangleIndex* indices,
391	unsigned int index_count,
392	World *world,
393	Space* space = 0);
394
395	TriangleMeshGeometry(TriangleMeshDataPtr dataPtr, World world, Space space = 0);
396
397	void changeTriangleMeshData(TriangleMeshDataPtr dataPtr);
398
399	TriangleMeshDataPtr getTriangleMeshData(){ return _dataPtr; }
400
401	~TriangleMeshGeometry();
402
403	Ogre::Vector3 getPoint(unsigned int index, const Ogre::Vector3& uv);
404	TriangleMeshTriangle getTriangle(int index);
405
406	void clearTemporalCoherenceCache();
407	void enableTemporalCoherence(Geometry::Class geometry_class,bool enable);
408	bool isTemporalCoherenceEnabled(Geometry::Class geometry_class);
409
410	static int _collisionCallback(dGeomID mesh,dGeomID object,int triangle);
411	void setCollisionListener(TriangleMeshCollisionListener* collision_listener);
412
413	static void _intersectionCallback(dGeomID mesh,dGeomID object,const int* triangles,int triangle_count);
414	void setIntersectionListener(TriangleMeshIntersectionListener* intersection_listener);
415
416	static int _rayCallback(dGeomID mesh,dGeomID ray,int triangle,dReal u,dReal v);
417	void setRayListener(TriangleMeshRayListener* ray_listener);
418
419	virtual void createDebugObject();
420
421	/** Return a string identifying the type of user defined object.
422	@remarks
423	Used to differentiate between different Bodies, Geometries and prefab_object
424	*/
425	const Ogre::String& getTypeName(void) const
426	{static Ogre::String sName("Geometry Trimesh");return sName;};
427
428	protected:
429	dTriMeshDataID _data;
430	dVector3* _vertices;
431	unsigned int* _indices;
432	unsigned int _vertex_count;
433	unsigned int _index_count;
434
435	TriangleMeshDataPtr _dataPtr;
436
437	TriangleMeshCollisionListener* _collision_listener;
438	TriangleMeshIntersectionListener* _intersection_listener;
439	TriangleMeshRayListener* _ray_listener;
440	};
441
442	//------------------------------------------------------------------------------------------------
443	class _OgreOdeExport ConvexGeometry:public Geometry
444	{
445	public:
446	ConvexGeometry(const Ogre::Vector3* vertices,
447	unsigned int vertex_count,
448	const unsigned int* indices,
449	unsigned int index_count,
450	World *world,
451	Space* space = 0);
452	~ConvexGeometry();
453
454
455	virtual void createDebugObject();
456
457	/** Return a string identifying the type of user defined object.
458	@remarks
459	Used to differentiate between different Bodies, Geometries and prefab_object
460	*/
461	const Ogre::String& getTypeName(void) const
462	{static Ogre::String sName("Geometry Convex");return sName;};
463
464	protected:
465	dReal * _vertices;
466	unsigned int* _indices;
467	unsigned int _vertex_count;
468	unsigned int _index_count;
469	};
470
471	//------------------------------------------------------------------------------------------------
472	class _OgreOdeExport TerrainGeometryHeightListener
473	{
474	public:
475	TerrainGeometryHeightListener(){}
476	virtual ~TerrainGeometryHeightListener(){}
477
478	virtual Ogre::Real heightAt(const Ogre::Vector3& position) = 0;
479	};
480
481	//------------------------------------------------------------------------------------------------
482	class _OgreOdeExport TerrainGeometry:public Geometry, public Ogre::RaySceneQueryListener
483	{
484	public:
485	TerrainGeometry(World *world,
486	Space* space,
487	const Ogre::Vector3 &scale,
488	int nodes_per_sideX,
489	int nodes_per_sideY,
490	Ogre::Real worldSizeX,
491	Ogre::Real worldSizeZ,
492	bool centered,
493	Ogre::Real thickness = 10.0f);
494
495	~TerrainGeometry();
496
497	Ogre::Real getPointDepth(const Ogre::Vector3& point);
498	const Ogre::Vector3& getPosition();
499	const Ogre::Quaternion& getOrientation();
500
501	static dReal _heightCallback(void* data, dReal x, dReal z);
502	static dReal _heightCallback(void* data, int x, int z);
503	void setHeightListener(TerrainGeometryHeightListener* listener);
504
505	inline Ogre::Real getHeightAt(const Ogre::Vector3& position)
506	{
507	_num_query++;
508	const Ogre::Vector3 pos (position.x * _sample_width - (_centered?_halfWorldSizeX:0),
509	position.y,
510	position.z * _sample_height - (_centered?_halfWorldSizeZ:0));
511	_ray.setOrigin(pos);
512	_ray_query->setRay(_ray);
513	_distance_to_terrain = static_cast<Ogre::Real>(0.0);
514	_ray_query->execute(this);
515	return position.y - _distance_to_terrain;
516	}
517
518	bool queryResult(Ogre::MovableObject *obj, Ogre::Real distance);
519	bool queryResult(Ogre::SceneQuery::WorldFragment *fragment, Ogre::Real distance);
520
521	size_t getNumQueries() const {return _num_query;};
522	void resetNumQueries(){_num_query = 0;};
523
524	/** Return a string identifying the type of user defined object.
525	@remarks
526	Used to differentiate between different Bodies, Geometries and prefab_object
527	*/
528	const Ogre::String& getTypeName(void) const
529	{static Ogre::String sName("Geometry Terrain");return sName;};
530
531	protected:
532	Ogre::Real _max_height;
533	Ogre::Real _distance_to_terrain;
534	Ogre::Real _sample_width, _sample_height;
535	TerrainGeometryHeightListener* _listener;
536	Ogre::Ray _ray;
537	Ogre::RaySceneQuery* _ray_query;
538	bool _centered;
539	Ogre::Real _halfWorldSizeX;
540	Ogre::Real _halfWorldSizeZ;
541	size_t _num_query;
542	};
543	//------------------------------------------------------------------------------------------------
544	class _OgreOdeExport PlaneBoundedRegionGeometryPlaneListener
545	{
546	public:
547	PlaneBoundedRegionGeometryPlaneListener(){}
548	virtual ~PlaneBoundedRegionGeometryPlaneListener(){}
549
550	virtual std::list<Ogre::Plane>* planesAt(const Ogre::Vector3& position) = 0;
551	};
552
553	//------------------------------------------------------------------------------------------------
554	class _OgreOdeExport PlaneBoundedRegionGeometry:public Geometry, public Ogre::RaySceneQueryListener
555	{
556	public:
557	PlaneBoundedRegionGeometry(World *world,
558	Space* space,
559	const Ogre::AxisAlignedBox &scale);
560
561	~PlaneBoundedRegionGeometry();
562
563	Ogre::Real getPointDepth(const Ogre::Vector3& point);
564	const Ogre::Vector3& getPosition();
565	const Ogre::Quaternion& getOrientation();
566
567	static std::list<Ogre::Plane> * _planeCallback(void* data, dReal x, dReal z);
568	static std::list<Ogre::Plane> * _planeCallback(void* data, int x, int z);
569	void setPlaneListener(PlaneBoundedRegionGeometryPlaneListener* listener);
570
571	inline std::list<Ogre::Plane> *planesAt(const Ogre::Vector3& position)
572	{
573	_num_query++;
574	// const Ogre::Vector3 pos (position.x * _sample_width - (_centered?_halfWorldSizeX:0),
575	// position.y,
576	// position.z * _sample_height - (_centered?_halfWorldSizeZ:0));
577	// _ray.setOrigin(pos);
578	// _ray_query->setRay(_ray);
579	// _distance_to_terrain = static_cast<Ogre::Real>(0.0);
580	// _ray_query->execute(this);
581
582	return _last_query_results;
583
584	}
585
586	bool queryResult(Ogre::MovableObject *obj, Ogre::Real distance);
587	bool queryResult(Ogre::SceneQuery::WorldFragment *fragment, Ogre::Real distance);
588
589	size_t getNumQueries() const {return _num_query;};
590	void resetNumQueries(){_num_query = 0;};
591
592	/** Return a string identifying the type of user defined object.
593	@remarks
594	Used to differentiate between different Bodies, Geometries and prefab_object
595	*/
596	const Ogre::String& getTypeName(void) const
597	{static Ogre::String sName("Geometry Plane Bounded Region");return sName;};
598
599	protected:
600	Ogre::Real _max_height;
601	Ogre::Real _distance_to_terrain;
602	Ogre::Real _sample_width, _sample_height;
603	PlaneBoundedRegionGeometryPlaneListener* _listener;
604	Ogre::Ray _ray;
605	Ogre::RaySceneQuery* _ray_query;
606	bool _centered;
607	Ogre::Real _halfWorldSizeX;
608	Ogre::Real _halfWorldSizeZ;
609	size_t _num_query;
610
611	std::list<Ogre::Plane> *_last_query_results;
612	};
613	}
614
615	#endif

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