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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
+00191 ODE_API void dGeomCopyPosition (dGeomID geom, dVector3 pos);
+00192
+00193
+00210 ODE_API const dReal * dGeomGetRotation (dGeomID geom);
+00211
+00212
+00226 ODE_API void dGeomCopyRotation(dGeomID geom, dMatrix3 R);
+00227
+00228
+00242 ODE_API void dGeomGetQuaternion (dGeomID geom, dQuaternion result);
+00243
+00244
+00261 ODE_API void dGeomGetAABB (dGeomID geom, dReal aabb[6]);
+00262
+00263
+00270 ODE_API int dGeomIsSpace (dGeomID geom);
+00271
+00272
+00280 ODE_API dSpaceID dGeomGetSpace (dGeomID);
+00281
+00282
+00307 ODE_API int dGeomGetClass (dGeomID geom);
+00308
+00309
+00322 ODE_API void dGeomSetCategoryBits (dGeomID geom, unsigned long bits);
+00323
+00324
+00337 ODE_API void dGeomSetCollideBits (dGeomID geom, unsigned long bits);
+00338
+00339
+00348 ODE_API unsigned long dGeomGetCategoryBits (dGeomID);
+00349
+00350
+00359 ODE_API unsigned long dGeomGetCollideBits (dGeomID);
+00360
+00361
+00374 ODE_API void dGeomEnable (dGeomID geom);
+00375
+00376
+00389 ODE_API void dGeomDisable (dGeomID geom);
+00390
+00391
+00405 ODE_API int dGeomIsEnabled (dGeomID geom);
+00406
+00407
+00408
+00409
+00425 ODE_API void dGeomSetOffsetPosition (dGeomID geom, dReal x, dReal y, dReal z);
+00426
+00427
+00441 ODE_API void dGeomSetOffsetRotation (dGeomID geom, const dMatrix3 R);
+00442
+00443
+00457 ODE_API void dGeomSetOffsetQuaternion (dGeomID geom, const dQuaternion Q);
+00458
+00459
+00476 ODE_API void dGeomSetOffsetWorldPosition (dGeomID geom, dReal x, dReal y, dReal z);
+00477
+00478
+00493 ODE_API void dGeomSetOffsetWorldRotation (dGeomID geom, const dMatrix3 R);
+00494
+00495
+00510 ODE_API void dGeomSetOffsetWorldQuaternion (dGeomID geom, const dQuaternion);
+00511
+00512
+00526 ODE_API void dGeomClearOffset(dGeomID geom);
+00527
+00528
+00544 ODE_API int dGeomIsOffset(dGeomID geom);
+00545
+00546
+00560 ODE_API const dReal * dGeomGetOffsetPosition (dGeomID geom);
+00561
+00562
+00573 ODE_API void dGeomCopyOffsetPosition (dGeomID geom, dVector3 pos);
+00574
+00575
+00590 ODE_API const dReal * dGeomGetOffsetRotation (dGeomID geom);
+00591
+00592
+00604 ODE_API void dGeomCopyOffsetRotation (dGeomID geom, dMatrix3 R);
+00605
+00606
+00617 ODE_API void dGeomGetOffsetQuaternion (dGeomID geom, dQuaternion result);
+00618
+00619
+00620
+00621
+00622
+00623
+00624
+00625
+00626 #define CONTACTS_UNIMPORTANT 0x80000000
+00627
+00675 ODE_API int dCollide (dGeomID o1, dGeomID o2, int flags, dContactGeom *contact,
+00676 int skip);
+00677
+00705 ODE_API void dSpaceCollide (dSpaceID space, void *data, dNearCallback *callback);
+00706
+00707
+00742 ODE_API void dSpaceCollide2 (dGeomID space1, dGeomID space2, void *data, dNearCallback *callback);
+00743
+00744
+00745
+00746
+00747
+00748
+00749 enum {
+00750 dMaxUserClasses = 4
+00751 };
+00752
+00753
+00754 enum {
+00755 dSphereClass = 0,
+00756 dBoxClass,
+00757 dCapsuleClass,
+00758 dCylinderClass,
+00759 dPlaneClass,
+00760 dRayClass,
+00761 dConvexClass,
+00762 dGeomTransformClass,
+00763 dTriMeshClass,
+00764 dHeightfieldClass,
+00765
+00766 dFirstSpaceClass,
+00767 dSimpleSpaceClass = dFirstSpaceClass,
+00768 dHashSpaceClass,
+00769 dQuadTreeSpaceClass,
+00770 dLastSpaceClass = dQuadTreeSpaceClass,
+00771
+00772 dFirstUserClass,
+00773 dLastUserClass = dFirstUserClass + dMaxUserClasses - 1,
+00774 dGeomNumClasses
+00775 };
+00776
+00777
+00797 ODE_API dGeomID dCreateSphere (dSpaceID space, dReal radius);
+00798
+00799
+00809 ODE_API void dGeomSphereSetRadius (dGeomID sphere, dReal radius);
+00810
+00811
+00820 ODE_API dReal dGeomSphereGetRadius (dGeomID sphere);
+00821
+00822
+00837 ODE_API dReal dGeomSpherePointDepth (dGeomID sphere, dReal x, dReal y, dReal z);
+00838
+00839
+00840
+00841 ODE_API dGeomID dCreateConvex (dSpaceID space,
+00842 dReal *_planes,
+00843 unsigned int _planecount,
+00844 dReal *_points,
+00845 unsigned int _pointcount,unsigned int *_polygons);
+00846
+00847 ODE_API void dGeomSetConvex (dGeomID g,
+00848 dReal *_planes,
+00849 unsigned int _count,
+00850 dReal *_points,
+00851 unsigned int _pointcount,unsigned int *_polygons);
+00852
+00853
+00875 ODE_API dGeomID dCreateBox (dSpaceID space, dReal lx, dReal ly, dReal lz);
+00876
+00877
+00889 ODE_API void dGeomBoxSetLengths (dGeomID box, dReal lx, dReal ly, dReal lz);
+00890
+00891
+00901 ODE_API void dGeomBoxGetLengths (dGeomID box, dVector3 result);
+00902
+00903
+00916 ODE_API dReal dGeomBoxPointDepth (dGeomID box, dReal x, dReal y, dReal z);
+00917
+00918
+00919 ODE_API dGeomID dCreatePlane (dSpaceID space, dReal a, dReal b, dReal c, dReal d);
+00920 ODE_API void dGeomPlaneSetParams (dGeomID plane, dReal a, dReal b, dReal c, dReal d);
+00921 ODE_API void dGeomPlaneGetParams (dGeomID plane, dVector4 result);
+00922 ODE_API dReal dGeomPlanePointDepth (dGeomID plane, dReal x, dReal y, dReal z);
+00923
+00924 ODE_API dGeomID dCreateCapsule (dSpaceID space, dReal radius, dReal length);
+00925 ODE_API void dGeomCapsuleSetParams (dGeomID ccylinder, dReal radius, dReal length);
+00926 ODE_API void dGeomCapsuleGetParams (dGeomID ccylinder, dReal *radius, dReal *length);
+00927 ODE_API dReal dGeomCapsulePointDepth (dGeomID ccylinder, dReal x, dReal y, dReal z);
+00928
+00929
+00930 #define dCreateCCylinder dCreateCapsule
+00931 #define dGeomCCylinderSetParams dGeomCapsuleSetParams
+00932 #define dGeomCCylinderGetParams dGeomCapsuleGetParams
+00933 #define dGeomCCylinderPointDepth dGeomCapsulePointDepth
+00934 #define dCCylinderClass dCapsuleClass
+00935
+00936 ODE_API dGeomID dCreateCylinder (dSpaceID space, dReal radius, dReal length);
+00937 ODE_API void dGeomCylinderSetParams (dGeomID cylinder, dReal radius, dReal length);
+00938 ODE_API void dGeomCylinderGetParams (dGeomID cylinder, dReal *radius, dReal *length);
+00939
+00940 ODE_API dGeomID dCreateRay (dSpaceID space, dReal length);
+00941 ODE_API void dGeomRaySetLength (dGeomID ray, dReal length);
+00942 ODE_API dReal dGeomRayGetLength (dGeomID ray);
+00943 ODE_API void dGeomRaySet (dGeomID ray, dReal px, dReal py, dReal pz,
+00944 dReal dx, dReal dy, dReal dz);
+00945 ODE_API void dGeomRayGet (dGeomID ray, dVector3 start, dVector3 dir);
+00946
+00947
+00948
+00949
+00950
+00951
+00952 ODE_API void dGeomRaySetParams (dGeomID g, int FirstContact, int BackfaceCull);
+00953 ODE_API void dGeomRayGetParams (dGeomID g, int *FirstContact, int *BackfaceCull);
+00954 ODE_API void dGeomRaySetClosestHit (dGeomID g, int closestHit);
+00955 ODE_API int dGeomRayGetClosestHit (dGeomID g);
+00956
+00957 #include "collision_trimesh.h"
+00958
+00959 ODE_API dGeomID dCreateGeomTransform (dSpaceID space);
+00960 ODE_API void dGeomTransformSetGeom (dGeomID g, dGeomID obj);
+00961 ODE_API dGeomID dGeomTransformGetGeom (dGeomID g);
+00962 ODE_API void dGeomTransformSetCleanup (dGeomID g, int mode);
+00963 ODE_API int dGeomTransformGetCleanup (dGeomID g);
+00964 ODE_API void dGeomTransformSetInfo (dGeomID g, int mode);
+00965 ODE_API int dGeomTransformGetInfo (dGeomID g);
+00966
+00967
+00968
+00969
+00970
+00971
+00972
+00973 struct dxHeightfieldData;
+00974 typedef struct dxHeightfieldData* dHeightfieldDataID;
+00975
+00976
+00994 typedef dReal dHeightfieldGetHeight( void* p_user_data, int x, int z );
+00995
+00996
+00997
+01017 ODE_API dGeomID dCreateHeightfield( dSpaceID space,
+01018 dHeightfieldDataID data, int bPlaceable );
+01019
+01020
+01033 ODE_API dHeightfieldDataID dGeomHeightfieldDataCreate();
+01034
+01035
+01044 ODE_API void dGeomHeightfieldDataDestroy( dHeightfieldDataID d );
+01045
+01046
+01047
+01088 ODE_API void dGeomHeightfieldDataBuildCallback( dHeightfieldDataID d,
+01089 void* pUserData, dHeightfieldGetHeight* pCallback,
+01090 dReal width, dReal depth, int widthSamples, int depthSamples,
+01091 dReal scale, dReal offset, dReal thickness, int bWrap );
+01092
+01136 ODE_API void dGeomHeightfieldDataBuildByte( dHeightfieldDataID d,
+01137 const unsigned char* pHeightData, int bCopyHeightData,
+01138 dReal width, dReal depth, int widthSamples, int depthSamples,
+01139 dReal scale, dReal offset, dReal thickness, int bWrap );
+01140
+01184 ODE_API void dGeomHeightfieldDataBuildShort( dHeightfieldDataID d,
+01185 const short* pHeightData, int bCopyHeightData,
+01186 dReal width, dReal depth, int widthSamples, int depthSamples,
+01187 dReal scale, dReal offset, dReal thickness, int bWrap );
+01188
+01234 ODE_API void dGeomHeightfieldDataBuildSingle( dHeightfieldDataID d,
+01235 const float* pHeightData, int bCopyHeightData,
+01236 dReal width, dReal depth, int widthSamples, int depthSamples,
+01237 dReal scale, dReal offset, dReal thickness, int bWrap );
+01238
+01284 ODE_API void dGeomHeightfieldDataBuildDouble( dHeightfieldDataID d,
+01285 const double* pHeightData, int bCopyHeightData,
+01286 dReal width, dReal depth, int widthSamples, int depthSamples,
+01287 dReal scale, dReal offset, dReal thickness, int bWrap );
+01288
+01306 ODE_API void dGeomHeightfieldDataSetBounds( dHeightfieldDataID d,
+01307 dReal minHeight, dReal maxHeight );
+01308
+01309
+01320 ODE_API void dGeomHeightfieldSetHeightfieldData( dGeomID g, dHeightfieldDataID d );
+01321
+01322
+01332 ODE_API dHeightfieldDataID dGeomHeightfieldGetHeightfieldData( dGeomID g );
+01333
+01334
+01335
+01336
+01337
+01338
+01339 ODE_API void dClosestLineSegmentPoints (const dVector3 a1, const dVector3 a2,
+01340 const dVector3 b1, const dVector3 b2,
+01341 dVector3 cp1, dVector3 cp2);
+01342
+01343 ODE_API int dBoxTouchesBox (const dVector3 _p1, const dMatrix3 R1,
+01344 const dVector3 side1, const dVector3 _p2,
+01345 const dMatrix3 R2, const dVector3 side2);
+01346
+01347
+01348 ODE_API int dBoxBox (const dVector3 p1, const dMatrix3 R1,
+01349 const dVector3 side1, const dVector3 p2,
+01350 const dMatrix3 R2, const dVector3 side2,
+01351 dVector3 normal, dReal *depth, int *return_code,
+01352 int flags, dContactGeom *contact, int skip);
+01353
+01354 ODE_API void dInfiniteAABB (dGeomID geom, dReal aabb[6]);
+01355 ODE_API void dInitODE(void);
+01356 ODE_API void dCloseODE(void);
+01357
+01358
+01359
+01360
+01361 typedef void dGetAABBFn (dGeomID, dReal aabb[6]);
+01362 typedef int dColliderFn (dGeomID o1, dGeomID o2,
+01363 int flags, dContactGeom *contact, int skip);
+01364 typedef dColliderFn * dGetColliderFnFn (int num);
+01365 typedef void dGeomDtorFn (dGeomID o);
+01366 typedef int dAABBTestFn (dGeomID o1, dGeomID o2, dReal aabb[6]);
+01367
+01368 typedef struct dGeomClass {
+01369 int bytes;
+01370 dGetColliderFnFn *collider;
+01371 dGetAABBFn *aabb;
+01372 dAABBTestFn *aabb_test;
+01373 dGeomDtorFn *dtor;
+01374 } dGeomClass;
+01375
+01376 ODE_API int dCreateGeomClass (const dGeomClass *classptr);
+01377 ODE_API void * dGeomGetClassData (dGeomID);
+01378 ODE_API dGeomID dCreateGeom (int classnum);
+01379
+01380
+01381
+01382 #ifdef __cplusplus
+01383 }
+01384 #endif
+01385
+01386 #endif
+