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00023 #ifndef _ODE_COLLISION_H_
00024 #define _ODE_COLLISION_H_
00025
00026 #include <ode/common.h>
00027 #include <ode/collision_space.h>
00028 #include <ode/contact.h>
00029
00030 #ifdef __cplusplus
00031 extern "C" {
00032 #endif
00033
00049
00050
00051
00065 ODE_API void dGeomDestroy (dGeomID geom);
00066
00067
00075 ODE_API void dGeomSetData (dGeomID geom, void* data);
00076
00077
00084 ODE_API void *dGeomGetData (dGeomID geom);
00085
00086
00105 ODE_API void dGeomSetBody (dGeomID geom, dBodyID body);
00106
00107
00114 ODE_API dBodyID dGeomGetBody (dGeomID geom);
00115
00116
00131 ODE_API void dGeomSetPosition (dGeomID geom, dReal x, dReal y, dReal z);
00132
00133
00146 ODE_API void dGeomSetRotation (dGeomID geom, const dMatrix3 R);
00147
00148
00162 ODE_API void dGeomSetQuaternion (dGeomID geom, const dQuaternion Q);
00163
00164
00181 ODE_API const dReal * dGeomGetPosition (dGeomID geom);
00182
00183
00200 ODE_API const dReal * dGeomGetRotation (dGeomID geom);
00201
00202
00216 ODE_API void dGeomGetQuaternion (dGeomID geom, dQuaternion result);
00217
00218
00235 ODE_API void dGeomGetAABB (dGeomID geom, dReal aabb[6]);
00236
00237
00244 ODE_API int dGeomIsSpace (dGeomID geom);
00245
00246
00254 ODE_API dSpaceID dGeomGetSpace (dGeomID);
00255
00256
00281 ODE_API int dGeomGetClass (dGeomID geom);
00282
00283
00296 ODE_API void dGeomSetCategoryBits (dGeomID geom, unsigned long bits);
00297
00298
00311 ODE_API void dGeomSetCollideBits (dGeomID geom, unsigned long bits);
00312
00313
00322 ODE_API unsigned long dGeomGetCategoryBits (dGeomID);
00323
00324
00333 ODE_API unsigned long dGeomGetCollideBits (dGeomID);
00334
00335
00348 ODE_API void dGeomEnable (dGeomID geom);
00349
00350
00363 ODE_API void dGeomDisable (dGeomID geom);
00364
00365
00379 ODE_API int dGeomIsEnabled (dGeomID geom);
00380
00381
00382
00383
00399 ODE_API void dGeomSetOffsetPosition (dGeomID geom, dReal x, dReal y, dReal z);
00400
00401
00415 ODE_API void dGeomSetOffsetRotation (dGeomID geom, const dMatrix3 R);
00416
00417
00431 ODE_API void dGeomSetOffsetQuaternion (dGeomID geom, const dQuaternion Q);
00432
00433
00450 ODE_API void dGeomSetOffsetWorldPosition (dGeomID geom, dReal x, dReal y, dReal z);
00451
00452
00467 ODE_API void dGeomSetOffsetWorldRotation (dGeomID geom, const dMatrix3 R);
00468
00469
00484 ODE_API void dGeomSetOffsetWorldQuaternion (dGeomID geom, const dQuaternion);
00485
00486
00500 ODE_API void dGeomClearOffset(dGeomID geom);
00501
00502
00518 ODE_API int dGeomIsOffset(dGeomID geom);
00519
00520
00534 ODE_API const dReal * dGeomGetOffsetPosition (dGeomID geom);
00535
00536
00550 ODE_API const dReal * dGeomGetOffsetRotation (dGeomID geom);
00551
00552
00563 ODE_API void dGeomGetOffsetQuaternion (dGeomID geom, dQuaternion result);
00564
00565
00566
00567
00614 ODE_API int dCollide (dGeomID o1, dGeomID o2, int flags, dContactGeom *contact,
00615 int skip);
00616
00644 ODE_API void dSpaceCollide (dSpaceID space, void *data, dNearCallback *callback);
00645
00646
00681 ODE_API void dSpaceCollide2 (dGeomID space1, dGeomID space2, void *data, dNearCallback *callback);
00682
00683
00684
00685
00686
00687
00688 enum {
00689 dMaxUserClasses = 4
00690 };
00691
00692
00693 enum {
00694 dSphereClass = 0,
00695 dBoxClass,
00696 dCapsuleClass,
00697 dCylinderClass,
00698 dPlaneClass,
00699 dRayClass,
00700 dConvexClass,
00701 dGeomTransformClass,
00702 dTriMeshClass,
00703 dHeightfieldClass,
00704
00705 dFirstSpaceClass,
00706 dSimpleSpaceClass = dFirstSpaceClass,
00707 dHashSpaceClass,
00708 dQuadTreeSpaceClass,
00709 dLastSpaceClass = dQuadTreeSpaceClass,
00710
00711 dFirstUserClass,
00712 dLastUserClass = dFirstUserClass + dMaxUserClasses - 1,
00713 dGeomNumClasses
00714 };
00715
00716
00736 ODE_API dGeomID dCreateSphere (dSpaceID space, dReal radius);
00737
00738
00748 ODE_API void dGeomSphereSetRadius (dGeomID sphere, dReal radius);
00749
00750
00759 ODE_API dReal dGeomSphereGetRadius (dGeomID sphere);
00760
00761
00776 ODE_API dReal dGeomSpherePointDepth (dGeomID sphere, dReal x, dReal y, dReal z);
00777
00778
00779
00780 ODE_API dGeomID dCreateConvex (dSpaceID space,
00781 dReal *_planes,
00782 unsigned int _planecount,
00783 dReal *_points,
00784 unsigned int _pointcount,unsigned int *_polygons);
00785
00786 ODE_API void dGeomSetConvex (dGeomID g,
00787 dReal *_planes,
00788 unsigned int _count,
00789 dReal *_points,
00790 unsigned int _pointcount,unsigned int *_polygons);
00791
00792
00814 ODE_API dGeomID dCreateBox (dSpaceID space, dReal lx, dReal ly, dReal lz);
00815
00816
00828 ODE_API void dGeomBoxSetLengths (dGeomID box, dReal lx, dReal ly, dReal lz);
00829
00830
00840 ODE_API void dGeomBoxGetLengths (dGeomID box, dVector3 result);
00841
00842
00855 ODE_API dReal dGeomBoxPointDepth (dGeomID box, dReal x, dReal y, dReal z);
00856
00857
00858 ODE_API dGeomID dCreatePlane (dSpaceID space, dReal a, dReal b, dReal c, dReal d);
00859 ODE_API void dGeomPlaneSetParams (dGeomID plane, dReal a, dReal b, dReal c, dReal d);
00860 ODE_API void dGeomPlaneGetParams (dGeomID plane, dVector4 result);
00861 ODE_API dReal dGeomPlanePointDepth (dGeomID plane, dReal x, dReal y, dReal z);
00862
00863 ODE_API dGeomID dCreateCapsule (dSpaceID space, dReal radius, dReal length);
00864 ODE_API void dGeomCapsuleSetParams (dGeomID ccylinder, dReal radius, dReal length);
00865 ODE_API void dGeomCapsuleGetParams (dGeomID ccylinder, dReal *radius, dReal *length);
00866 ODE_API dReal dGeomCapsulePointDepth (dGeomID ccylinder, dReal x, dReal y, dReal z);
00867
00868
00869 #define dCreateCCylinder dCreateCapsule
00870 #define dGeomCCylinderSetParams dGeomCapsuleSetParams
00871 #define dGeomCCylinderGetParams dGeomCapsuleGetParams
00872 #define dGeomCCylinderPointDepth dGeomCapsulePointDepth
00873 #define dCCylinderClass dCapsuleClass
00874
00875 ODE_API dGeomID dCreateCylinder (dSpaceID space, dReal radius, dReal length);
00876 ODE_API void dGeomCylinderSetParams (dGeomID cylinder, dReal radius, dReal length);
00877 ODE_API void dGeomCylinderGetParams (dGeomID cylinder, dReal *radius, dReal *length);
00878
00879 ODE_API dGeomID dCreateRay (dSpaceID space, dReal length);
00880 ODE_API void dGeomRaySetLength (dGeomID ray, dReal length);
00881 ODE_API dReal dGeomRayGetLength (dGeomID ray);
00882 ODE_API void dGeomRaySet (dGeomID ray, dReal px, dReal py, dReal pz,
00883 dReal dx, dReal dy, dReal dz);
00884 ODE_API void dGeomRayGet (dGeomID ray, dVector3 start, dVector3 dir);
00885
00886
00887
00888
00889
00890
00891 ODE_API void dGeomRaySetParams (dGeomID g, int FirstContact, int BackfaceCull);
00892 ODE_API void dGeomRayGetParams (dGeomID g, int *FirstContact, int *BackfaceCull);
00893 ODE_API void dGeomRaySetClosestHit (dGeomID g, int closestHit);
00894 ODE_API int dGeomRayGetClosestHit (dGeomID g);
00895
00896 #include "collision_trimesh.h"
00897
00898 ODE_API dGeomID dCreateGeomTransform (dSpaceID space);
00899 ODE_API void dGeomTransformSetGeom (dGeomID g, dGeomID obj);
00900 ODE_API dGeomID dGeomTransformGetGeom (dGeomID g);
00901 ODE_API void dGeomTransformSetCleanup (dGeomID g, int mode);
00902 ODE_API int dGeomTransformGetCleanup (dGeomID g);
00903 ODE_API void dGeomTransformSetInfo (dGeomID g, int mode);
00904 ODE_API int dGeomTransformGetInfo (dGeomID g);
00905
00906
00907
00908
00909
00910
00911
00912 struct dxHeightfieldData;
00913 typedef struct dxHeightfieldData* dHeightfieldDataID;
00914
00915
00933 typedef dReal dHeightfieldGetHeight( void* p_user_data, int x, int z );
00934
00935
00936
00956 ODE_API dGeomID dCreateHeightfield( dSpaceID space,
00957 dHeightfieldDataID data, int bPlaceable );
00958
00959
00972 ODE_API dHeightfieldDataID dGeomHeightfieldDataCreate();
00973
00974
00983 ODE_API void dGeomHeightfieldDataDestroy( dHeightfieldDataID d );
00984
00985
00986
01027 ODE_API void dGeomHeightfieldDataBuildCallback( dHeightfieldDataID d,
01028 void* pUserData, dHeightfieldGetHeight* pCallback,
01029 dReal width, dReal depth, int widthSamples, int depthSamples,
01030 dReal scale, dReal offset, dReal thickness, int bWrap );
01031
01075 ODE_API void dGeomHeightfieldDataBuildByte( dHeightfieldDataID d,
01076 const unsigned char* pHeightData, int bCopyHeightData,
01077 dReal width, dReal depth, int widthSamples, int depthSamples,
01078 dReal scale, dReal offset, dReal thickness, int bWrap );
01079
01123 ODE_API void dGeomHeightfieldDataBuildShort( dHeightfieldDataID d,
01124 const short* pHeightData, int bCopyHeightData,
01125 dReal width, dReal depth, int widthSamples, int depthSamples,
01126 dReal scale, dReal offset, dReal thickness, int bWrap );
01127
01173 ODE_API void dGeomHeightfieldDataBuildSingle( dHeightfieldDataID d,
01174 const float* pHeightData, int bCopyHeightData,
01175 dReal width, dReal depth, int widthSamples, int depthSamples,
01176 dReal scale, dReal offset, dReal thickness, int bWrap );
01177
01223 ODE_API void dGeomHeightfieldDataBuildDouble( dHeightfieldDataID d,
01224 const double* pHeightData, int bCopyHeightData,
01225 dReal width, dReal depth, int widthSamples, int depthSamples,
01226 dReal scale, dReal offset, dReal thickness, int bWrap );
01227
01245 ODE_API void dGeomHeightfieldDataSetBounds( dHeightfieldDataID d,
01246 dReal minHeight, dReal maxHeight );
01247
01248
01259 ODE_API void dGeomHeightfieldSetHeightfieldData( dGeomID g, dHeightfieldDataID d );
01260
01261
01271 ODE_API dHeightfieldDataID dGeomHeightfieldGetHeightfieldData( dGeomID g );
01272
01273
01274
01275
01276
01277
01278 ODE_API void dClosestLineSegmentPoints (const dVector3 a1, const dVector3 a2,
01279 const dVector3 b1, const dVector3 b2,
01280 dVector3 cp1, dVector3 cp2);
01281
01282 ODE_API int dBoxTouchesBox (const dVector3 _p1, const dMatrix3 R1,
01283 const dVector3 side1, const dVector3 _p2,
01284 const dMatrix3 R2, const dVector3 side2);
01285
01286 ODE_API int dBoxBox (const dVector3 p1, const dMatrix3 R1,
01287 const dVector3 side1, const dVector3 p2,
01288 const dMatrix3 R2, const dVector3 side2,
01289 dVector3 normal, dReal *depth, int *return_code,
01290 int maxc, dContactGeom *contact, int skip);
01291
01292 ODE_API void dInfiniteAABB (dGeomID geom, dReal aabb[6]);
01293 ODE_API void dCloseODE(void);
01294
01295
01296
01297
01298 typedef void dGetAABBFn (dGeomID, dReal aabb[6]);
01299 typedef int dColliderFn (dGeomID o1, dGeomID o2,
01300 int flags, dContactGeom *contact, int skip);
01301 typedef dColliderFn * dGetColliderFnFn (int num);
01302 typedef void dGeomDtorFn (dGeomID o);
01303 typedef int dAABBTestFn (dGeomID o1, dGeomID o2, dReal aabb[6]);
01304
01305 typedef struct dGeomClass {
01306 int bytes;
01307 dGetColliderFnFn *collider;
01308 dGetAABBFn *aabb;
01309 dAABBTestFn *aabb_test;
01310 dGeomDtorFn *dtor;
01311 } dGeomClass;
01312
01313 ODE_API int dCreateGeomClass (const dGeomClass *classptr);
01314 ODE_API void * dGeomGetClassData (dGeomID);
01315 ODE_API dGeomID dCreateGeom (int classnum);
01316
01317
01318
01319 #ifdef __cplusplus
01320 }
01321 #endif
01322
01323 #endif