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1//Benoit CHAPEROT 2003-2004 www.jstarlab.com
2#ifndef _ODE_COLLISION_STD_INTERNAL_H_
3#define _ODE_COLLISION_STD_INTERNAL_H_
4
5#include <ode/common.h>
6#include "collision_kernel.h"
7
8struct dxSphere : public dxGeom {
9 dReal radius; // sphere radius
10 dxSphere (dSpaceID space, dReal _radius);
11 void computeAABB();
12};
13
14
15struct dxBox : public dxGeom {
16 dVector3 side; // side lengths (x,y,z)
17 dxBox (dSpaceID space, dReal lx, dReal ly, dReal lz);
18 void computeAABB();
19};
20
21
22struct dxCCylinder : public dxGeom {
23 dReal radius,lz; // radius, length along z axis
24 dxCCylinder (dSpaceID space, dReal _radius, dReal _length);
25 void computeAABB();
26};
27
28
29struct dxPlane : public dxGeom {
30 dReal p[4];
31 dxPlane (dSpaceID space, dReal a, dReal b, dReal c, dReal d);
32 void computeAABB();
33};
34
35struct dxCylinder : public dxGeom {
36 dReal radius,lz; // radius, length along z axis
37 dxCylinder (dSpaceID space, dReal _radius, dReal _length);
38 void computeAABB();
39};
40
41struct dxCone : public dxGeom {
42 dReal radius,lz;
43 dxCone(dSpaceID space, dReal _radius,dReal _length);
44 ~dxCone();
45 void computeAABB();
46};
47
48struct dxRay : public dxGeom {
49 dReal length;
50 dxRay (dSpaceID space, dReal _length);
51 void computeAABB();
52};
53
54struct dxTerrainY : public dxGeom {
55 dReal m_vLength;
56 dReal *m_pHeights;
57 dReal m_vMinHeight;
58 dReal m_vMaxHeight;
59 dReal m_vNodeLength;
60 int m_nNumNodesPerSide;
61 int m_nNumNodesPerSideShift;
62 int m_nNumNodesPerSideMask;
63 int m_bFinite;
64 dxTerrainY(dSpaceID space, dReal *pHeights,dReal vLength,int nNumNodesPerSide, int bFinite, int bPlaceable);
65 ~dxTerrainY();
66 void computeAABB();
67 dReal GetHeight(dReal x,dReal z);
68 dReal GetHeight(int x,int z);
69 int dCollideTerrainUnit(int x,int z,dxGeom *o2,int numMaxContacts,int flags,dContactGeom *contact, int skip);
70 bool IsOnTerrain(int nx,int nz,int w,dReal *pos);
71};
72
73struct dxTerrainZ : public dxGeom {
74 dReal m_vLength;
75 dReal *m_pHeights;
76 dReal m_vMinHeight;
77 dReal m_vMaxHeight;
78 dReal m_vNodeLength;
79 int m_nNumNodesPerSide;
80 int m_nNumNodesPerSideShift;
81 int m_nNumNodesPerSideMask;
82 int m_bFinite;
83 dxTerrainZ(dSpaceID space, dReal *pHeights,dReal vLength,int nNumNodesPerSide, int bFinite, int bPlaceable);
84 ~dxTerrainZ();
85 void computeAABB();
86 dReal GetHeight(dReal x,dReal y);
87 dReal GetHeight(int x,int y);
88 int dCollideTerrainUnit(int x,int y,dxGeom *o2,int numMaxContacts,int flags,dContactGeom *contact, int skip);
89 bool IsOnTerrain(int nx,int ny,int w,dReal *pos);
90};
91
92#ifndef MIN
93#define MIN(a,b) ((a<b)?a:b)
94#endif
95
96#ifndef MAX
97#define MAX(a,b) ((a>b)?a:b)
98#endif
99
100#endif //_ODE_COLLISION_STD_INTERNAL_H_ \ No newline at end of file