hkpBvTreeAgent.h
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- /*
- *
- * Confidential Information of Telekinesys Research Limited (t/a Havok). Not for disclosure or distribution without Havok's
- * prior written consent. This software contains code, techniques and know-how which is confidential and proprietary to Havok.
- * Level 2 and Level 3 source code contains trade secrets of Havok. Havok Software (C) Copyright 1999-2009 Telekinesys Research Limited t/a Havok. All Rights Reserved. Use of this software is subject to the terms of an end user license agreement.
- *
- */
- #ifndef HK_COLLIDE2_BV_TREE_SHAPE_AGENT_H
- #define HK_COLLIDE2_BV_TREE_SHAPE_AGENT_H
- #include <Physics/Collide/Agent/hkpCollisionAgent.h>
- #include <Common/Base/Types/Geometry/Aabb/hkAabb.h>
- #include <Physics/Collide/Shape/Compound/Collection/hkpShapeCollection.h>
- class hkpCollisionDispatcher;
- /// This agent deals with collisions between hkBvTreeShapes and other shapes. It traverses the bounding volume tree and dispatches
- /// collision agents for those child shapes that are found to be collision candidates with the other shape.
- /// It assumes that bodyB is the bvtree shape
- class hkpBvTreeAgent : public hkpCollisionAgent
- {
- public:
- /// Registers this agent with the collision dispatcher.
- static void HK_CALL registerAgent(hkpCollisionDispatcher* dispatcher);
- // hkpCollisionAgent interface implementation.
- virtual void getPenetrations( const hkpCdBody& bodyA, const hkpCdBody& bodyB, const hkpCollisionInput& input, hkpCdBodyPairCollector& collector );
- // hkpCollisionAgent interface implementation.
- static void HK_CALL staticGetPenetrations( const hkpCdBody& bodyA, const hkpCdBody& bodyB, const hkpCollisionInput& input, hkpCdBodyPairCollector& collector );
- // hkpCollisionAgent interface implementation.
- virtual void getClosestPoints( const hkpCdBody& bodyA, const hkpCdBody& bodyB, const hkpCollisionInput& input, hkpCdPointCollector& collector ) ;
- // hkpCollisionAgent interface implementation.
- static void HK_CALL staticGetClosestPoints( const hkpCdBody& bodyA, const hkpCdBody& bodyB, const hkpCollisionInput& input, hkpCdPointCollector& collector ) ;
- // hkpCollisionAgent interface implementation.
- virtual void linearCast( const hkpCdBody& bodyA, const hkpCdBody& bodyB, const hkpLinearCastCollisionInput& input, hkpCdPointCollector& collector, hkpCdPointCollector* startCollector );
- // hkpCollisionAgent interface implementation.
- static void HK_CALL staticLinearCast( const hkpCdBody& bodyA, const hkpCdBody& bodyB, const hkpLinearCastCollisionInput& input, hkpCdPointCollector& collector, hkpCdPointCollector* startCollector );
- // hkpCollisionAgent interface implementation.
- virtual void processCollision(const hkpCdBody& bodyA, const hkpCdBody& bodyB, const hkpProcessCollisionInput& input, hkpProcessCollisionOutput& result);
- // hkpCollisionAgent interface implementation.
- virtual void cleanup(hkCollisionConstraintOwner& info);
- /// Aabb caching will skip queries to the hkpShapeCollection if the aabb's between the two colliding bodies has not changed
- /// You need to disable this if your hkpShapeCollection has changed, i.e. elements have been added or removed
- static void HK_CALL setUseAabbCaching( hkBool useIt );
- /// Aabb caching will skip queries to the hkpShapeCollection if the aabb's between the two colliding bodies has not changed
- static hkBool HK_CALL getUseAabbCaching();
- public:
- static hkBool m_useFastUpdate;
- virtual void updateShapeCollectionFilter( const hkpCdBody& bodyA, const hkpCdBody& bodyB, const hkpCollisionInput& input, hkCollisionConstraintOwner& constraintOwner );
- // hkpCollisionAgent interface implementation.
- virtual void invalidateTim( const hkpCollisionInput& input);
- // hkpCollisionAgent interface implementation.
- virtual void warpTime(hkTime oldTime, hkTime newTime, const hkpCollisionInput& input);
- HK_FORCE_INLINE static hkResult HK_CALL calcAabbAndQueryTree(
- const hkpCdBody& bodyA, const hkpCdBody& bodyB, const hkTransform& bTa,
- const hkVector4& linearTimInfo, const hkpProcessCollisionInput& input,
- hkAabb* cachedAabb, hkArray<hkpShapeKey>& hitListOut );
- public:
- /// Constructor, called by the agent creation function.
- hkpBvTreeAgent( hkpContactMgr* mgr );
- protected:
- void calcContentStatistics( hkStatisticsCollector* collector, const hkClass* cls) const;
- static hkpCollisionAgent* HK_CALL defaultAgentCreate( const hkpCdBody& bodyA, const hkpCdBody& bodyB, const hkpCollisionInput& env, hkpContactMgr* mgr );
- // interal method
- void prepareCollisionPartners ( const hkpCdBody& bodyA, const hkpCdBody& bodyB, const hkpCollisionInput& input, hkCollisionConstraintOwner& constraintOwner);
- HK_FORCE_INLINE void prepareCollisionPartnersProcess ( const hkpCdBody& bodyA, const hkpCdBody& bodyB, const hkpProcessCollisionInput& input, hkCollisionConstraintOwner& constraintOwner);
- //void prepareCollisionPartnersLinearCast( const hkpCdBody& bodyA, const hkpCdBody& bodyB, const hkpLinearCastCollisionInput& input, hkCollisionConstraintOwner& constraintOwner);
- static inline void HK_CALL calcAabbLinearCast(const hkpCdBody& bodyA, const hkpCdBody& bodyB, const hkpLinearCastCollisionInput& input, hkAabb& aabbOut);
- static inline void HK_CALL staticCalcAabb(const hkpCdBody& bodyA, const hkpCdBody& bodyB, const hkpCollisionInput& input, hkAabb& aabbOut);
- ///Destructor, called by cleanup().
- ~hkpBvTreeAgent(){}
- struct hkpBvAgentEntryInfo
- {
- HK_DECLARE_NONVIRTUAL_CLASS_ALLOCATOR( HK_MEMORY_CLASS_COLLIDE, hkpBvTreeAgent::hkpBvAgentEntryInfo );
- hkpShapeKey m_key;
- hkInt32 m_userInfo;
- hkpCollisionAgent* m_collisionAgent;
- hkpShapeKey& getKey() { return m_key; }
- void setKey( hkpShapeKey& key) { m_key = key; }
- };
- hkArray<hkpBvAgentEntryInfo> m_collisionPartners;
- hkAabb m_cachedAabb;
- /// you'll need to set this to false if you want changes to your ShapeCollection, which do not alter the aabb, to be reflected
- /// in the collision detection.
- static hkBool m_useAabbCaching;
- /// Agent creation function used by the hkpCollisionDispatcher.
- static hkpCollisionAgent* HK_CALL createShapeBvAgent( const hkpCdBody& bodyA, const hkpCdBody& bodyB, const hkpCollisionInput& input, hkpContactMgr* mgr );
- /// Agent creation function used by the hkpCollisionDispatcher.
- static hkpCollisionAgent* HK_CALL createBvTreeShapeAgent( const hkpCdBody& bodyA, const hkpCdBody& bodyB, const hkpCollisionInput& input, hkpContactMgr* mgr );
- /// Agent creation function used by the hkpCollisionDispatcher.
- static hkpCollisionAgent* HK_CALL createBvBvAgent( const hkpCdBody& bodyA, const hkpCdBody& bodyB, const hkpCollisionInput& input, hkpContactMgr* mgr );
- };
- #endif // HK_COLLIDE2_BV_TREE_SHAPE_AGENT_H
- /*
- * Havok SDK - NO SOURCE PC DOWNLOAD, BUILD(#20090216)
- *
- * Confidential Information of Havok. (C) Copyright 1999-2009
- * Telekinesys Research Limited t/a Havok. All Rights Reserved. The Havok
- * Logo, and the Havok buzzsaw logo are trademarks of Havok. Title, ownership
- * rights, and intellectual property rights in the Havok software remain in
- * Havok and/or its suppliers.
- *
- * Use of this software for evaluation purposes is subject to and indicates
- * acceptance of the End User licence Agreement for this product. A copy of
- * the license is included with this software and is also available at www.havok.com/tryhavok.
- *
- */