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1/*************************************************************************
2 * *
3 * Open Dynamics Engine, Copyright (C) 2001-2003 Russell L. Smith. *
4 * All rights reserved. Email: russ@q12.org Web: www.q12.org *
5 * *
6 * This library is free software; you can redistribute it and/or *
7 * modify it under the terms of EITHER: *
8 * (1) The GNU Lesser General Public License as published by the Free *
9 * Software Foundation; either version 2.1 of the License, or (at *
10 * your option) any later version. The text of the GNU Lesser *
11 * General Public License is included with this library in the *
12 * file LICENSE.TXT. *
13 * (2) The BSD-style license that is included with this library in *
14 * the file LICENSE-BSD.TXT. *
15 * *
16 * This library is distributed in the hope that it will be useful, *
17 * but WITHOUT ANY WARRANTY; without even the implied warranty of *
18 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the files *
19 * LICENSE.TXT and LICENSE-BSD.TXT for more details. *
20 * *
21 *************************************************************************/
22
23/*
24
25internal data structures and functions for collision detection.
26
27*/
28
29#ifndef _ODE_COLLISION_KERNEL_H_
30#define _ODE_COLLISION_KERNEL_H_
31
32#include <ode/common.h>
33#include <ode/contact.h>
34#include <ode/collision.h>
35#include "objects.h"
36
37//****************************************************************************
38// constants and macros
39
40// mask for the number-of-contacts field in the dCollide() flags parameter
41#define NUMC_MASK (0xffff)
42
43#define IS_SPACE(geom) \
44 ((geom)->type >= dFirstSpaceClass && (geom)->type <= dLastSpaceClass)
45
46//****************************************************************************
47// geometry object base class
48
49
50// geom flags.
51//
52// GEOM_DIRTY means that the space data structures for this geom are
53// potentially not up to date. NOTE THAT all space parents of a dirty geom
54// are themselves dirty. this is an invariant that must be enforced.
55//
56// GEOM_AABB_BAD means that the cached AABB for this geom is not up to date.
57// note that GEOM_DIRTY does not imply GEOM_AABB_BAD, as the geom might
58// recalculate its own AABB but does not know how to update the space data
59// structures for the space it is in. but GEOM_AABB_BAD implies GEOM_DIRTY.
60// the valid combinations are:
61// 0
62// GEOM_DIRTY
63// GEOM_DIRTY|GEOM_AABB_BAD
64// GEOM_DIRTY|GEOM_AABB_BAD|GEOM_POSR_BAD
65
66enum {
67 GEOM_DIRTY = 1, // geom is 'dirty', i.e. position unknown
68 GEOM_POSR_BAD = 2, // geom's final posr is not valid
69 GEOM_AABB_BAD = 4, // geom's AABB is not valid
70 GEOM_PLACEABLE = 8, // geom is placeable
71 GEOM_ENABLED = 16, // geom is enabled
72
73 // Ray specific
74 RAY_FIRSTCONTACT = 0x10000,
75 RAY_BACKFACECULL = 0x20000,
76 RAY_CLOSEST_HIT = 0x40000
77};
78
79
80// geometry object base class. pos and R will either point to a separately
81// allocated buffer (if body is 0 - pos points to the dxPosR object) or to
82// the pos and R of the body (if body nonzero).
83// a dGeomID is a pointer to this object.
84
85struct dxGeom : public dBase {
86 int type; // geom type number, set by subclass constructor
87 int gflags; // flags used by geom and space
88 void *data; // user-defined data pointer
89 dBodyID body; // dynamics body associated with this object (if any)
90 dxGeom *body_next; // next geom in body's linked list of associated geoms
91 dxPosR *final_posr; // final position of the geom in world coordinates
92 dxPosR *offset_posr; // offset from body in local coordinates
93
94 // information used by spaces
95 dxGeom *next; // next geom in linked list of geoms
96 dxGeom **tome; // linked list backpointer
97 dxSpace *parent_space;// the space this geom is contained in, 0 if none
98 dReal aabb[6]; // cached AABB for this space
99 unsigned long category_bits,collide_bits;
100
101 dxGeom (dSpaceID _space, int is_placeable);
102 virtual ~dxGeom();
103
104
105 // calculate our new final position from our offset and body
106 void computePosr();
107
108 // recalculate our new final position if needed
109 void recomputePosr()
110 {
111 if (gflags & GEOM_POSR_BAD) {
112 computePosr();
113 gflags &= ~GEOM_POSR_BAD;
114 }
115 }
116
117 virtual void computeAABB()=0;
118 // compute the AABB for this object and put it in aabb. this function
119 // always performs a fresh computation, it does not inspect the
120 // GEOM_AABB_BAD flag.
121
122 virtual int AABBTest (dxGeom *o, dReal aabb[6]);
123 // test whether the given AABB object intersects with this object, return
124 // 1=yes, 0=no. this is used as an early-exit test in the space collision
125 // functions. the default implementation returns 1, which is the correct
126 // behavior if no more detailed implementation can be provided.
127
128 // utility functions
129
130 // compute the AABB only if it is not current. this function manipulates
131 // the GEOM_AABB_BAD flag.
132
133 void recomputeAABB() {
134 if (gflags & GEOM_AABB_BAD) {
135 // our aabb functions assume final_posr is up to date
136 recomputePosr();
137 computeAABB();
138 gflags &= ~GEOM_AABB_BAD;
139 }
140 }
141
142 // add and remove this geom from a linked list maintained by a space.
143
144 void spaceAdd (dxGeom **first_ptr) {
145 next = *first_ptr;
146 tome = first_ptr;
147 if (*first_ptr) (*first_ptr)->tome = &next;
148 *first_ptr = this;
149 }
150 void spaceRemove() {
151 if (next) next->tome = tome;
152 *tome = next;
153 }
154
155 // add and remove this geom from a linked list maintained by a body.
156
157 void bodyAdd (dxBody *b) {
158 body = b;
159 body_next = b->geom;
160 b->geom = this;
161 }
162 void bodyRemove();
163};
164
165//****************************************************************************
166// the base space class
167//
168// the contained geoms are divided into two kinds: clean and dirty.
169// the clean geoms have not moved since they were put in the list,
170// and their AABBs are valid. the dirty geoms have changed position, and
171// their AABBs are may not be valid. the two types are distinguished by the
172// GEOM_DIRTY flag. all dirty geoms come *before* all clean geoms in the list.
173
174struct dxSpace : public dxGeom {
175 int count; // number of geoms in this space
176 dxGeom *first; // first geom in list
177 int cleanup; // cleanup mode, 1=destroy geoms on exit
178
179 // cached state for getGeom()
180 int current_index; // only valid if current_geom != 0
181 dxGeom *current_geom; // if 0 then there is no information
182
183 // locking stuff. the space is locked when it is currently traversing its
184 // internal data structures, e.g. in collide() and collide2(). operations
185 // that modify the contents of the space are not permitted when the space
186 // is locked.
187 int lock_count;
188
189 dxSpace (dSpaceID _space);
190 ~dxSpace();
191
192 void computeAABB();
193
194 void setCleanup (int mode);
195 int getCleanup();
196 int query (dxGeom *geom);
197 int getNumGeoms();
198 virtual dxGeom *getGeom (int i);
199
200 virtual void add (dxGeom *);
201 virtual void remove (dxGeom *);
202 virtual void dirty (dxGeom *);
203
204 virtual void cleanGeoms()=0;
205 // turn all dirty geoms into clean geoms by computing their AABBs and any
206 // other space data structures that are required. this should clear the
207 // GEOM_DIRTY and GEOM_AABB_BAD flags of all geoms.
208
209 virtual void collide (void *data, dNearCallback *callback)=0;
210 virtual void collide2 (void *data, dxGeom *geom, dNearCallback *callback)=0;
211};
212
213
214#endif
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