From f205de7847da7ae1c10212d82e7042d0100b4ce0 Mon Sep 17 00:00:00 2001 From: dan miller Date: Fri, 19 Oct 2007 05:24:38 +0000 Subject: from the start... checking in ode-0.9 --- libraries/ode-0.9/ode/src/collision_std.h | 172 ++++++++++++++++++++++++++++++ 1 file changed, 172 insertions(+) create mode 100644 libraries/ode-0.9/ode/src/collision_std.h (limited to 'libraries/ode-0.9/ode/src/collision_std.h') diff --git a/libraries/ode-0.9/ode/src/collision_std.h b/libraries/ode-0.9/ode/src/collision_std.h new file mode 100644 index 0000000..d203ad0 --- /dev/null +++ b/libraries/ode-0.9/ode/src/collision_std.h @@ -0,0 +1,172 @@ +/************************************************************************* + * * + * 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. * + * * + *************************************************************************/ + +/* + +the standard ODE geometry primitives. + +*/ + +#ifndef _ODE_COLLISION_STD_H_ +#define _ODE_COLLISION_STD_H_ + +#include +#include +#include "collision_kernel.h" + + +// primitive collision functions - these have the dColliderFn interface, i.e. +// the same interface as dCollide(). the first and second geom arguments must +// have the specified types. + +int dCollideSphereSphere (dxGeom *o1, dxGeom *o2, int flags, + dContactGeom *contact, int skip); +int dCollideSphereBox (dxGeom *o1, dxGeom *o2, int flags, + dContactGeom *contact, int skip); +int dCollideSpherePlane (dxGeom *o1, dxGeom *o2, int flags, + dContactGeom *contact, int skip); +int dCollideBoxBox (dxGeom *o1, dxGeom *o2, int flags, + dContactGeom *contact, int skip); +int dCollideBoxPlane (dxGeom *o1, dxGeom *o2, + int flags, dContactGeom *contact, int skip); +int dCollideCapsuleSphere (dxGeom *o1, dxGeom *o2, int flags, + dContactGeom *contact, int skip); +int dCollideCapsuleBox (dxGeom *o1, dxGeom *o2, int flags, + dContactGeom *contact, int skip); +int dCollideCapsuleCapsule (dxGeom *o1, dxGeom *o2, + int flags, dContactGeom *contact, int skip); +int dCollideCapsulePlane (dxGeom *o1, dxGeom *o2, int flags, + dContactGeom *contact, int skip); +int dCollideRaySphere (dxGeom *o1, dxGeom *o2, int flags, + dContactGeom *contact, int skip); +int dCollideRayBox (dxGeom *o1, dxGeom *o2, int flags, + dContactGeom *contact, int skip); +int dCollideRayCapsule (dxGeom *o1, dxGeom *o2, + int flags, dContactGeom *contact, int skip); +int dCollideRayPlane (dxGeom *o1, dxGeom *o2, int flags, + dContactGeom *contact, int skip); +int dCollideRayCylinder (dxGeom *o1, dxGeom *o2, int flags, + dContactGeom *contact, int skip); + +// Cylinder - Box/Sphere by (C) CroTeam +// Ported by Nguyen Binh +int dCollideCylinderBox(dxGeom *o1, dxGeom *o2, + int flags, dContactGeom *contact, int skip); +int dCollideCylinderSphere(dxGeom *gCylinder, dxGeom *gSphere, + int flags, dContactGeom *contact, int skip); +int dCollideCylinderPlane(dxGeom *gCylinder, dxGeom *gPlane, + int flags, dContactGeom *contact, int skip); + +//--> Convex Collision +int dCollideConvexPlane (dxGeom *o1, dxGeom *o2, int flags, + dContactGeom *contact, int skip); +int dCollideSphereConvex (dxGeom *o1, dxGeom *o2, int flags, + dContactGeom *contact, int skip); +int dCollideConvexBox (dxGeom *o1, dxGeom *o2, int flags, + dContactGeom *contact, int skip); +int dCollideConvexCapsule (dxGeom *o1, dxGeom *o2, + int flags, dContactGeom *contact, int skip); +int dCollideConvexConvex (dxGeom *o1, dxGeom *o2, int flags, + dContactGeom *contact, int skip); +int dCollideRayConvex (dxGeom *o1, dxGeom *o2, int flags, + dContactGeom *contact, int skip); +//<-- Convex Collision + +// dHeightfield +int dCollideHeightfield( dxGeom *o1, dxGeom *o2, + int flags, dContactGeom *contact, int skip ); + +//**************************************************************************** +// the basic geometry objects + +struct dxSphere : public dxGeom { + dReal radius; // sphere radius + dxSphere (dSpaceID space, dReal _radius); + void computeAABB(); +}; + + +struct dxBox : public dxGeom { + dVector3 side; // side lengths (x,y,z) + dxBox (dSpaceID space, dReal lx, dReal ly, dReal lz); + void computeAABB(); +}; + + +struct dxCapsule : public dxGeom { + dReal radius,lz; // radius, length along z axis + dxCapsule (dSpaceID space, dReal _radius, dReal _length); + void computeAABB(); +}; + + +struct dxCylinder : public dxGeom { + dReal radius,lz; // radius, length along z axis + dxCylinder (dSpaceID space, dReal _radius, dReal _length); + void computeAABB(); +}; + + +struct dxPlane : public dxGeom { + dReal p[4]; + dxPlane (dSpaceID space, dReal a, dReal b, dReal c, dReal d); + void computeAABB(); +}; + + +struct dxRay : public dxGeom { + dReal length; + dxRay (dSpaceID space, dReal _length); + void computeAABB(); +}; + +typedef std::pair edge; /*!< Used to descrive a convex hull edge, an edge is a pair or indices into the hull's points */ +struct dxConvex : public dxGeom +{ + + dReal *planes; /*!< An array of planes in the form: + normal X, normal Y, normal Z,Distance + */ + dReal *points; /*!< An array of points X,Y,Z */ + unsigned int *polygons; /*! An array of indices to the points of each polygon, it should be the number of vertices followed by that amount of indices to "points" in counter clockwise order*/ + unsigned int planecount; /*!< Amount of planes in planes */ + unsigned int pointcount;/*!< Amount of points in points */ + dReal saabb[6];/*!< Static AABB */ + std::set edges; + dxConvex(dSpaceID space, + dReal *planes, + unsigned int planecount, + dReal *points, + unsigned int pointcount, + unsigned int *polygons); + ~dxConvex() + { + //fprintf(stdout,"dxConvex Destroy\n"); + } + void computeAABB(); + private: + // For Internal Use Only + void FillEdges(); +}; + + +#endif -- cgit v1.1