From fca74b0bf0a0833f5701e9c0de7b3bc15b2233dd Mon Sep 17 00:00:00 2001 From: dan miller Date: Fri, 19 Oct 2007 05:20:07 +0000 Subject: dont ask --- libraries/ode-0.9/include/ode/collision.h | 1386 ----------------------------- 1 file changed, 1386 deletions(-) delete mode 100644 libraries/ode-0.9/include/ode/collision.h (limited to 'libraries/ode-0.9/include/ode/collision.h') diff --git a/libraries/ode-0.9/include/ode/collision.h b/libraries/ode-0.9/include/ode/collision.h deleted file mode 100644 index c40bc4a..0000000 --- a/libraries/ode-0.9/include/ode/collision.h +++ /dev/null @@ -1,1386 +0,0 @@ -/************************************************************************* - * * - * Open Dynamics Engine, Copyright (C) 2001-2003 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. * - * * - *************************************************************************/ - -#ifndef _ODE_COLLISION_H_ -#define _ODE_COLLISION_H_ - -#include -#include -#include - -#ifdef __cplusplus -extern "C" { -#endif - -/** - * @defgroup collide Collision Detection - * - * ODE has two main components: a dynamics simulation engine and a collision - * detection engine. The collision engine is given information about the - * shape of each body. At each time step it figures out which bodies touch - * each other and passes the resulting contact point information to the user. - * The user in turn creates contact joints between bodies. - * - * Using ODE's collision detection is optional - an alternative collision - * detection system can be used as long as it can supply the right kinds of - * contact information. - */ - - -/* ************************************************************************ */ -/* general functions */ - -/** - * @brief Destroy a geom, removing it from any space. - * - * Destroy a geom, removing it from any space it is in first. This one - * function destroys a geom of any type, but to create a geom you must call - * a creation function for that type. - * - * When a space is destroyed, if its cleanup mode is 1 (the default) then all - * the geoms in that space are automatically destroyed as well. - * - * @param geom the geom to be destroyed. - * @ingroup collide - */ -ODE_API void dGeomDestroy (dGeomID geom); - - -/** - * @brief Set the user-defined data pointer stored in the geom. - * - * @param geom the geom to hold the data - * @param data the data pointer to be stored - * @ingroup collide - */ -ODE_API void dGeomSetData (dGeomID geom, void* data); - - -/** - * @brief Get the user-defined data pointer stored in the geom. - * - * @param geom the geom containing the data - * @ingroup collide - */ -ODE_API void *dGeomGetData (dGeomID geom); - - -/** - * @brief Set the body associated with a placeable geom. - * - * Setting a body on a geom automatically combines the position vector and - * rotation matrix of the body and geom, so that setting the position or - * orientation of one will set the value for both objects. Setting a body - * ID of zero gives the geom its own position and rotation, independent - * from any body. If the geom was previously connected to a body then its - * new independent position/rotation is set to the current position/rotation - * of the body. - * - * Calling these functions on a non-placeable geom results in a runtime - * error in the debug build of ODE. - * - * @param geom the geom to connect - * @param body the body to attach to the geom - * @ingroup collide - */ -ODE_API void dGeomSetBody (dGeomID geom, dBodyID body); - - -/** - * @brief Get the body associated with a placeable geom. - * @param geom the geom to query. - * @sa dGeomSetBody - * @ingroup collide - */ -ODE_API dBodyID dGeomGetBody (dGeomID geom); - - -/** - * @brief Set the position vector of a placeable geom. - * - * If the geom is attached to a body, the body's position will also be changed. - * Calling this function on a non-placeable geom results in a runtime error in - * the debug build of ODE. - * - * @param geom the geom to set. - * @param x the new X coordinate. - * @param y the new Y coordinate. - * @param z the new Z coordinate. - * @sa dBodySetPosition - * @ingroup collide - */ -ODE_API void dGeomSetPosition (dGeomID geom, dReal x, dReal y, dReal z); - - -/** - * @brief Set the rotation matrix of a placeable geom. - * - * If the geom is attached to a body, the body's rotation will also be changed. - * Calling this function on a non-placeable geom results in a runtime error in - * the debug build of ODE. - * - * @param geom the geom to set. - * @param R the new rotation matrix. - * @sa dBodySetRotation - * @ingroup collide - */ -ODE_API void dGeomSetRotation (dGeomID geom, const dMatrix3 R); - - -/** - * @brief Set the rotation of a placeable geom. - * - * If the geom is attached to a body, the body's rotation will also be changed. - * - * Calling this function on a non-placeable geom results in a runtime error in - * the debug build of ODE. - * - * @param geom the geom to set. - * @param Q the new rotation. - * @sa dBodySetQuaternion - * @ingroup collide - */ -ODE_API void dGeomSetQuaternion (dGeomID geom, const dQuaternion Q); - - -/** - * @brief Get the position vector of a placeable geom. - * - * If the geom is attached to a body, the body's position will be returned. - * - * Calling this function on a non-placeable geom results in a runtime error in - * the debug build of ODE. - * - * @param geom the geom to query. - * @returns A pointer to the geom's position vector. - * @remarks The returned value is a pointer to the geom's internal - * data structure. It is valid until any changes are made - * to the geom. - * @sa dBodyGetPosition - * @ingroup collide - */ -ODE_API const dReal * dGeomGetPosition (dGeomID geom); - - -/** - * @brief Copy the position of a geom into a vector. - * @ingroup collide - * @param geom the geom to query - * @param pos a copy of the geom position - * @sa dGeomGetPosition - */ -ODE_API void dGeomCopyPosition (dGeomID geom, dVector3 pos); - - -/** - * @brief Get the rotation matrix of a placeable geom. - * - * If the geom is attached to a body, the body's rotation will be returned. - * - * Calling this function on a non-placeable geom results in a runtime error in - * the debug build of ODE. - * - * @param geom the geom to query. - * @returns A pointer to the geom's rotation matrix. - * @remarks The returned value is a pointer to the geom's internal - * data structure. It is valid until any changes are made - * to the geom. - * @sa dBodyGetRotation - * @ingroup collide - */ -ODE_API const dReal * dGeomGetRotation (dGeomID geom); - - -/** - * @brief Get the rotation matrix of a placeable geom. - * - * If the geom is attached to a body, the body's rotation will be returned. - * - * Calling this function on a non-placeable geom results in a runtime error in - * the debug build of ODE. - * - * @param geom the geom to query. - * @param R a copy of the geom rotation - * @sa dGeomGetRotation - * @ingroup collide - */ -ODE_API void dGeomCopyRotation(dGeomID geom, dMatrix3 R); - - -/** - * @brief Get the rotation quaternion of a placeable geom. - * - * If the geom is attached to a body, the body's quaternion will be returned. - * - * Calling this function on a non-placeable geom results in a runtime error in - * the debug build of ODE. - * - * @param geom the geom to query. - * @param result a copy of the rotation quaternion. - * @sa dBodyGetQuaternion - * @ingroup collide - */ -ODE_API void dGeomGetQuaternion (dGeomID geom, dQuaternion result); - - -/** - * @brief Return the axis-aligned bounding box. - * - * Return in aabb an axis aligned bounding box that surrounds the given geom. - * The aabb array has elements (minx, maxx, miny, maxy, minz, maxz). If the - * geom is a space, a bounding box that surrounds all contained geoms is - * returned. - * - * This function may return a pre-computed cached bounding box, if it can - * determine that the geom has not moved since the last time the bounding - * box was computed. - * - * @param geom the geom to query - * @param aabb the returned bounding box - * @ingroup collide - */ -ODE_API void dGeomGetAABB (dGeomID geom, dReal aabb[6]); - - -/** - * @brief Determing if a geom is a space. - * @param geom the geom to query - * @returns Non-zero if the geom is a space, zero otherwise. - * @ingroup collide - */ -ODE_API int dGeomIsSpace (dGeomID geom); - - -/** - * @brief Query for the space containing a particular geom. - * @param geom the geom to query - * @returns The space that contains the geom, or NULL if the geom is - * not contained by a space. - * @ingroup collide - */ -ODE_API dSpaceID dGeomGetSpace (dGeomID); - - -/** - * @brief Given a geom, this returns its class. - * - * The ODE classes are: - * @li dSphereClass - * @li dBoxClass - * @li dCylinderClass - * @li dPlaneClass - * @li dRayClass - * @li dConvexClass - * @li dGeomTransformClass - * @li dTriMeshClass - * @li dSimpleSpaceClass - * @li dHashSpaceClass - * @li dQuadTreeSpaceClass - * @li dFirstUserClass - * @li dLastUserClass - * - * User-defined class will return their own number. - * - * @param geom the geom to query - * @returns The geom class ID. - * @ingroup collide - */ -ODE_API int dGeomGetClass (dGeomID geom); - - -/** - * @brief Set the "category" bitfield for the given geom. - * - * The category bitfield is used by spaces to govern which geoms will - * interact with each other. The bitfield is guaranteed to be at least - * 32 bits wide. The default category values for newly created geoms - * have all bits set. - * - * @param geom the geom to set - * @param bits the new bitfield value - * @ingroup collide - */ -ODE_API void dGeomSetCategoryBits (dGeomID geom, unsigned long bits); - - -/** - * @brief Set the "collide" bitfield for the given geom. - * - * The collide bitfield is used by spaces to govern which geoms will - * interact with each other. The bitfield is guaranteed to be at least - * 32 bits wide. The default category values for newly created geoms - * have all bits set. - * - * @param geom the geom to set - * @param bits the new bitfield value - * @ingroup collide - */ -ODE_API void dGeomSetCollideBits (dGeomID geom, unsigned long bits); - - -/** - * @brief Get the "category" bitfield for the given geom. - * - * @param geom the geom to set - * @param bits the new bitfield value - * @sa dGeomSetCategoryBits - * @ingroup collide - */ -ODE_API unsigned long dGeomGetCategoryBits (dGeomID); - - -/** - * @brief Get the "collide" bitfield for the given geom. - * - * @param geom the geom to set - * @param bits the new bitfield value - * @sa dGeomSetCollideBits - * @ingroup collide - */ -ODE_API unsigned long dGeomGetCollideBits (dGeomID); - - -/** - * @brief Enable a geom. - * - * Disabled geoms are completely ignored by dSpaceCollide and dSpaceCollide2, - * although they can still be members of a space. New geoms are created in - * the enabled state. - * - * @param geom the geom to enable - * @sa dGeomDisable - * @sa dGeomIsEnabled - * @ingroup collide - */ -ODE_API void dGeomEnable (dGeomID geom); - - -/** - * @brief Disable a geom. - * - * Disabled geoms are completely ignored by dSpaceCollide and dSpaceCollide2, - * although they can still be members of a space. New geoms are created in - * the enabled state. - * - * @param geom the geom to disable - * @sa dGeomDisable - * @sa dGeomIsEnabled - * @ingroup collide - */ -ODE_API void dGeomDisable (dGeomID geom); - - -/** - * @brief Check to see if a geom is enabled. - * - * Disabled geoms are completely ignored by dSpaceCollide and dSpaceCollide2, - * although they can still be members of a space. New geoms are created in - * the enabled state. - * - * @param geom the geom to query - * @returns Non-zero if the geom is enabled, zero otherwise. - * @sa dGeomDisable - * @sa dGeomIsEnabled - * @ingroup collide - */ -ODE_API int dGeomIsEnabled (dGeomID geom); - -/* ************************************************************************ */ -/* geom offset from body */ - -/** - * @brief Set the local offset position of a geom from its body. - * - * Sets the geom's positional offset in local coordinates. - * After this call, the geom will be at a new position determined from the - * body's position and the offset. - * The geom must be attached to a body. - * If the geom did not have an offset, it is automatically created. - * - * @param geom the geom to set. - * @param x the new X coordinate. - * @param y the new Y coordinate. - * @param z the new Z coordinate. - * @ingroup collide - */ -ODE_API void dGeomSetOffsetPosition (dGeomID geom, dReal x, dReal y, dReal z); - - -/** - * @brief Set the local offset rotation matrix of a geom from its body. - * - * Sets the geom's rotational offset in local coordinates. - * After this call, the geom will be at a new position determined from the - * body's position and the offset. - * The geom must be attached to a body. - * If the geom did not have an offset, it is automatically created. - * - * @param geom the geom to set. - * @param R the new rotation matrix. - * @ingroup collide - */ -ODE_API void dGeomSetOffsetRotation (dGeomID geom, const dMatrix3 R); - - -/** - * @brief Set the local offset rotation of a geom from its body. - * - * Sets the geom's rotational offset in local coordinates. - * After this call, the geom will be at a new position determined from the - * body's position and the offset. - * The geom must be attached to a body. - * If the geom did not have an offset, it is automatically created. - * - * @param geom the geom to set. - * @param Q the new rotation. - * @ingroup collide - */ -ODE_API void dGeomSetOffsetQuaternion (dGeomID geom, const dQuaternion Q); - - -/** - * @brief Set the offset position of a geom from its body. - * - * Sets the geom's positional offset to move it to the new world - * coordinates. - * After this call, the geom will be at the world position passed in, - * and the offset will be the difference from the current body position. - * The geom must be attached to a body. - * If the geom did not have an offset, it is automatically created. - * - * @param geom the geom to set. - * @param x the new X coordinate. - * @param y the new Y coordinate. - * @param z the new Z coordinate. - * @ingroup collide - */ -ODE_API void dGeomSetOffsetWorldPosition (dGeomID geom, dReal x, dReal y, dReal z); - - -/** - * @brief Set the offset rotation of a geom from its body. - * - * Sets the geom's rotational offset to orient it to the new world - * rotation matrix. - * After this call, the geom will be at the world orientation passed in, - * and the offset will be the difference from the current body orientation. - * The geom must be attached to a body. - * If the geom did not have an offset, it is automatically created. - * - * @param geom the geom to set. - * @param R the new rotation matrix. - * @ingroup collide - */ -ODE_API void dGeomSetOffsetWorldRotation (dGeomID geom, const dMatrix3 R); - - -/** - * @brief Set the offset rotation of a geom from its body. - * - * Sets the geom's rotational offset to orient it to the new world - * rotation matrix. - * After this call, the geom will be at the world orientation passed in, - * and the offset will be the difference from the current body orientation. - * The geom must be attached to a body. - * If the geom did not have an offset, it is automatically created. - * - * @param geom the geom to set. - * @param Q the new rotation. - * @ingroup collide - */ -ODE_API void dGeomSetOffsetWorldQuaternion (dGeomID geom, const dQuaternion); - - -/** - * @brief Clear any offset from the geom. - * - * If the geom has an offset, it is eliminated and the geom is - * repositioned at the body's position. If the geom has no offset, - * this function does nothing. - * This is more efficient than calling dGeomSetOffsetPosition(zero) - * and dGeomSetOffsetRotation(identiy), because this function actually - * eliminates the offset, rather than leaving it as the identity transform. - * - * @param geom the geom to have its offset destroyed. - * @ingroup collide - */ -ODE_API void dGeomClearOffset(dGeomID geom); - - -/** - * @brief Check to see whether the geom has an offset. - * - * This function will return non-zero if the offset has been created. - * Note that there is a difference between a geom with no offset, - * and a geom with an offset that is the identity transform. - * In the latter case, although the observed behaviour is identical, - * there is a unnecessary computation involved because the geom will - * be applying the transform whenever it needs to recalculate its world - * position. - * - * @param geom the geom to query. - * @returns Non-zero if the geom has an offset, zero otherwise. - * @ingroup collide - */ -ODE_API int dGeomIsOffset(dGeomID geom); - - -/** - * @brief Get the offset position vector of a geom. - * - * Returns the positional offset of the geom in local coordinates. - * If the geom has no offset, this function returns the zero vector. - * - * @param geom the geom to query. - * @returns A pointer to the geom's offset vector. - * @remarks The returned value is a pointer to the geom's internal - * data structure. It is valid until any changes are made - * to the geom. - * @ingroup collide - */ -ODE_API const dReal * dGeomGetOffsetPosition (dGeomID geom); - - -/** - * @brief Copy the offset position vector of a geom. - * - * Returns the positional offset of the geom in local coordinates. - * If the geom has no offset, this function returns the zero vector. - * - * @param geom the geom to query. - * @param pos returns the offset position - * @ingroup collide - */ -ODE_API void dGeomCopyOffsetPosition (dGeomID geom, dVector3 pos); - - -/** - * @brief Get the offset rotation matrix of a geom. - * - * Returns the rotational offset of the geom in local coordinates. - * If the geom has no offset, this function returns the identity - * matrix. - * - * @param geom the geom to query. - * @returns A pointer to the geom's offset rotation matrix. - * @remarks The returned value is a pointer to the geom's internal - * data structure. It is valid until any changes are made - * to the geom. - * @ingroup collide - */ -ODE_API const dReal * dGeomGetOffsetRotation (dGeomID geom); - - -/** - * @brief Copy the offset rotation matrix of a geom. - * - * Returns the rotational offset of the geom in local coordinates. - * If the geom has no offset, this function returns the identity - * matrix. - * - * @param geom the geom to query. - * @param R returns the rotation matrix. - * @ingroup collide - */ -ODE_API void dGeomCopyOffsetRotation (dGeomID geom, dMatrix3 R); - - -/** - * @brief Get the offset rotation quaternion of a geom. - * - * Returns the rotation offset of the geom as a quaternion. - * If the geom has no offset, the identity quaternion is returned. - * - * @param geom the geom to query. - * @param result a copy of the rotation quaternion. - * @ingroup collide - */ -ODE_API void dGeomGetOffsetQuaternion (dGeomID geom, dQuaternion result); - - -/* ************************************************************************ */ -/* collision detection */ - -/* - * Just generate any contacts (disables any contact refining). - */ -#define CONTACTS_UNIMPORTANT 0x80000000 - -/** - * - * @brief Given two geoms o1 and o2 that potentially intersect, - * generate contact information for them. - * - * Internally, this just calls the correct class-specific collision - * functions for o1 and o2. - * - * @param o1 The first geom to test. - * @param o2 The second geom to test. - * - * @param flags The flags specify how contacts should be generated if - * the geoms touch. The lower 16 bits of flags is an integer that - * specifies the maximum number of contact points to generate. You must - * ask for at least one contact. - * Additionally, following bits may be set: - * CONTACTS_UNIMPORTANT -- just generate any contacts (skip contact refining). - * All other bits in flags must be set to zero. In the future the other bits - * may be used to select from different contact generation strategies. - * - * @param contact Points to an array of dContactGeom structures. The array - * must be able to hold at least the maximum number of contacts. These - * dContactGeom structures may be embedded within larger structures in the - * array -- the skip parameter is the byte offset from one dContactGeom to - * the next in the array. If skip is sizeof(dContactGeom) then contact - * points to a normal (C-style) array. It is an error for skip to be smaller - * than sizeof(dContactGeom). - * - * @returns If the geoms intersect, this function returns the number of contact - * points generated (and updates the contact array), otherwise it returns 0 - * (and the contact array is not touched). - * - * @remarks If a space is passed as o1 or o2 then this function will collide - * all objects contained in o1 with all objects contained in o2, and return - * the resulting contact points. This method for colliding spaces with geoms - * (or spaces with spaces) provides no user control over the individual - * collisions. To get that control, use dSpaceCollide or dSpaceCollide2 instead. - * - * @remarks If o1 and o2 are the same geom then this function will do nothing - * and return 0. Technically speaking an object intersects with itself, but it - * is not useful to find contact points in this case. - * - * @remarks This function does not care if o1 and o2 are in the same space or not - * (or indeed if they are in any space at all). - * - * @ingroup collide - */ -ODE_API int dCollide (dGeomID o1, dGeomID o2, int flags, dContactGeom *contact, - int skip); - -/** - * @brief Determines which pairs of geoms in a space may potentially intersect, - * and calls the callback function for each candidate pair. - * - * @param space The space to test. - * - * @param data Passed from dSpaceCollide directly to the callback - * function. Its meaning is user defined. The o1 and o2 arguments are the - * geoms that may be near each other. - * - * @param callback A callback function is of type @ref dNearCallback. - * - * @remarks Other spaces that are contained within the colliding space are - * not treated specially, i.e. they are not recursed into. The callback - * function may be passed these contained spaces as one or both geom - * arguments. - * - * @remarks dSpaceCollide() is guaranteed to pass all intersecting geom - * pairs to the callback function, but may also pass close but - * non-intersecting pairs. The number of these calls depends on the - * internal algorithms used by the space. Thus you should not expect - * that dCollide will return contacts for every pair passed to the - * callback. - * - * @sa dSpaceCollide2 - * @ingroup collide - */ -ODE_API void dSpaceCollide (dSpaceID space, void *data, dNearCallback *callback); - - -/** - * @brief Determines which geoms from one space may potentially intersect with - * geoms from another space, and calls the callback function for each candidate - * pair. - * - * @param space1 The first space to test. - * - * @param space2 The second space to test. - * - * @param data Passed from dSpaceCollide directly to the callback - * function. Its meaning is user defined. The o1 and o2 arguments are the - * geoms that may be near each other. - * - * @param callback A callback function is of type @ref dNearCallback. - * - * @remarks This function can also test a single non-space geom against a - * space. This function is useful when there is a collision hierarchy, i.e. - * when there are spaces that contain other spaces. - * - * @remarks Other spaces that are contained within the colliding space are - * not treated specially, i.e. they are not recursed into. The callback - * function may be passed these contained spaces as one or both geom - * arguments. - * - * @remarks dSpaceCollide2() is guaranteed to pass all intersecting geom - * pairs to the callback function, but may also pass close but - * non-intersecting pairs. The number of these calls depends on the - * internal algorithms used by the space. Thus you should not expect - * that dCollide will return contacts for every pair passed to the - * callback. - * - * @sa dSpaceCollide - * @ingroup collide - */ -ODE_API void dSpaceCollide2 (dGeomID space1, dGeomID space2, void *data, dNearCallback *callback); - - -/* ************************************************************************ */ -/* standard classes */ - -/* the maximum number of user classes that are supported */ -enum { - dMaxUserClasses = 4 -}; - -/* class numbers - each geometry object needs a unique number */ -enum { - dSphereClass = 0, - dBoxClass, - dCapsuleClass, - dCylinderClass, - dPlaneClass, - dRayClass, - dConvexClass, - dGeomTransformClass, - dTriMeshClass, - dHeightfieldClass, - - dFirstSpaceClass, - dSimpleSpaceClass = dFirstSpaceClass, - dHashSpaceClass, - dQuadTreeSpaceClass, - dLastSpaceClass = dQuadTreeSpaceClass, - - dFirstUserClass, - dLastUserClass = dFirstUserClass + dMaxUserClasses - 1, - dGeomNumClasses -}; - - -/** - * @defgroup collide_sphere Sphere Class - * @ingroup collide - */ - -/** - * @brief Create a sphere geom of the given radius, and return its ID. - * - * @param space a space to contain the new geom. May be null. - * @param radius the radius of the sphere. - * - * @returns A new sphere geom. - * - * @remarks The point of reference for a sphere is its center. - * - * @sa dGeomDestroy - * @sa dGeomSphereSetRadius - * @ingroup collide_sphere - */ -ODE_API dGeomID dCreateSphere (dSpaceID space, dReal radius); - - -/** - * @brief Set the radius of a sphere geom. - * - * @param sphere the sphere to set. - * @param radius the new radius. - * - * @sa dGeomSphereGetRadius - * @ingroup collide_sphere - */ -ODE_API void dGeomSphereSetRadius (dGeomID sphere, dReal radius); - - -/** - * @brief Retrieves the radius of a sphere geom. - * - * @param sphere the sphere to query. - * - * @sa dGeomSphereSetRadius - * @ingroup collide_sphere - */ -ODE_API dReal dGeomSphereGetRadius (dGeomID sphere); - - -/** - * @brief Calculate the depth of the a given point within a sphere. - * - * @param sphere the sphere to query. - * @param x the X coordinate of the point. - * @param y the Y coordinate of the point. - * @param z the Z coordinate of the point. - * - * @returns The depth of the point. Points inside the sphere will have a - * positive depth, points outside it will have a negative depth, and points - * on the surface will have a depth of zero. - * - * @ingroup collide_sphere - */ -ODE_API dReal dGeomSpherePointDepth (dGeomID sphere, dReal x, dReal y, dReal z); - - -//--> Convex Functions -ODE_API dGeomID dCreateConvex (dSpaceID space, - dReal *_planes, - unsigned int _planecount, - dReal *_points, - unsigned int _pointcount,unsigned int *_polygons); - -ODE_API void dGeomSetConvex (dGeomID g, - dReal *_planes, - unsigned int _count, - dReal *_points, - unsigned int _pointcount,unsigned int *_polygons); -//<-- Convex Functions - -/** - * @defgroup collide_box Box Class - * @ingroup collide - */ - -/** - * @brief Create a box geom with the provided side lengths. - * - * @param space a space to contain the new geom. May be null. - * @param lx the length of the box along the X axis - * @param ly the length of the box along the Y axis - * @param lz the length of the box along the Z axis - * - * @returns A new box geom. - * - * @remarks The point of reference for a box is its center. - * - * @sa dGeomDestroy - * @sa dGeomBoxSetLengths - * @ingroup collide_box - */ -ODE_API dGeomID dCreateBox (dSpaceID space, dReal lx, dReal ly, dReal lz); - - -/** - * @brief Set the side lengths of the given box. - * - * @param box the box to set - * @param lx the length of the box along the X axis - * @param ly the length of the box along the Y axis - * @param lz the length of the box along the Z axis - * - * @sa dGeomBoxGetLengths - * @ingroup collide_box - */ -ODE_API void dGeomBoxSetLengths (dGeomID box, dReal lx, dReal ly, dReal lz); - - -/** - * @brief Get the side lengths of a box. - * - * @param box the box to query - * @param result the returned side lengths - * - * @sa dGeomBoxSetLengths - * @ingroup collide_box - */ -ODE_API void dGeomBoxGetLengths (dGeomID box, dVector3 result); - - -/** - * @brief Return the depth of a point in a box. - * - * @param box the box to query - * @param x the X coordinate of the point to test. - * @param y the Y coordinate of the point to test. - * @param z the Z coordinate of the point to test. - * - * @returns The depth of the point. Points inside the box will have a - * positive depth, points outside it will have a negative depth, and points - * on the surface will have a depth of zero. - */ -ODE_API dReal dGeomBoxPointDepth (dGeomID box, dReal x, dReal y, dReal z); - - -ODE_API dGeomID dCreatePlane (dSpaceID space, dReal a, dReal b, dReal c, dReal d); -ODE_API void dGeomPlaneSetParams (dGeomID plane, dReal a, dReal b, dReal c, dReal d); -ODE_API void dGeomPlaneGetParams (dGeomID plane, dVector4 result); -ODE_API dReal dGeomPlanePointDepth (dGeomID plane, dReal x, dReal y, dReal z); - -ODE_API dGeomID dCreateCapsule (dSpaceID space, dReal radius, dReal length); -ODE_API void dGeomCapsuleSetParams (dGeomID ccylinder, dReal radius, dReal length); -ODE_API void dGeomCapsuleGetParams (dGeomID ccylinder, dReal *radius, dReal *length); -ODE_API dReal dGeomCapsulePointDepth (dGeomID ccylinder, dReal x, dReal y, dReal z); - -// For now we want to have a backwards compatible C-API, note: C++ API is not. -#define dCreateCCylinder dCreateCapsule -#define dGeomCCylinderSetParams dGeomCapsuleSetParams -#define dGeomCCylinderGetParams dGeomCapsuleGetParams -#define dGeomCCylinderPointDepth dGeomCapsulePointDepth -#define dCCylinderClass dCapsuleClass - -ODE_API dGeomID dCreateCylinder (dSpaceID space, dReal radius, dReal length); -ODE_API void dGeomCylinderSetParams (dGeomID cylinder, dReal radius, dReal length); -ODE_API void dGeomCylinderGetParams (dGeomID cylinder, dReal *radius, dReal *length); - -ODE_API dGeomID dCreateRay (dSpaceID space, dReal length); -ODE_API void dGeomRaySetLength (dGeomID ray, dReal length); -ODE_API dReal dGeomRayGetLength (dGeomID ray); -ODE_API void dGeomRaySet (dGeomID ray, dReal px, dReal py, dReal pz, - dReal dx, dReal dy, dReal dz); -ODE_API void dGeomRayGet (dGeomID ray, dVector3 start, dVector3 dir); - -/* - * Set/get ray flags that influence ray collision detection. - * These flags are currently only noticed by the trimesh collider, because - * they can make a major differences there. - */ -ODE_API void dGeomRaySetParams (dGeomID g, int FirstContact, int BackfaceCull); -ODE_API void dGeomRayGetParams (dGeomID g, int *FirstContact, int *BackfaceCull); -ODE_API void dGeomRaySetClosestHit (dGeomID g, int closestHit); -ODE_API int dGeomRayGetClosestHit (dGeomID g); - -#include "collision_trimesh.h" - -ODE_API dGeomID dCreateGeomTransform (dSpaceID space); -ODE_API void dGeomTransformSetGeom (dGeomID g, dGeomID obj); -ODE_API dGeomID dGeomTransformGetGeom (dGeomID g); -ODE_API void dGeomTransformSetCleanup (dGeomID g, int mode); -ODE_API int dGeomTransformGetCleanup (dGeomID g); -ODE_API void dGeomTransformSetInfo (dGeomID g, int mode); -ODE_API int dGeomTransformGetInfo (dGeomID g); - - -/* ************************************************************************ */ -/* heightfield functions */ - - -// Data storage for heightfield data. -struct dxHeightfieldData; -typedef struct dxHeightfieldData* dHeightfieldDataID; - - -/** - * @brief Callback prototype - * - * Used by the callback heightfield data type to sample a height for a - * given cell position. - * - * @param p_user_data User data specified when creating the dHeightfieldDataID - * @param x The index of a sample in the local x axis. It is a value - * in the range zero to ( nWidthSamples - 1 ). - * @param x The index of a sample in the local z axis. It is a value - * in the range zero to ( nDepthSamples - 1 ). - * - * @return The sample height which is then scaled and offset using the - * values specified when the heightfield data was created. - * - * @ingroup collide - */ -typedef dReal dHeightfieldGetHeight( void* p_user_data, int x, int z ); - - - -/** - * @brief Creates a heightfield geom. - * - * Uses the information in the given dHeightfieldDataID to construct - * a geom representing a heightfield in a collision space. - * - * @param space The space to add the geom to. - * @param data The dHeightfieldDataID created by dGeomHeightfieldDataCreate and - * setup by dGeomHeightfieldDataBuildCallback, dGeomHeightfieldDataBuildByte, - * dGeomHeightfieldDataBuildShort or dGeomHeightfieldDataBuildFloat. - * @param bPlaceable If non-zero this geom can be transformed in the world using the - * usual functions such as dGeomSetPosition and dGeomSetRotation. If the geom is - * not set as placeable, then it uses a fixed orientation where the global y axis - * represents the dynamic 'height' of the heightfield. - * - * @return A geom id to reference this geom in other calls. - * - * @ingroup collide - */ -ODE_API dGeomID dCreateHeightfield( dSpaceID space, - dHeightfieldDataID data, int bPlaceable ); - - -/** - * @brief Creates a new empty dHeightfieldDataID. - * - * Allocates a new dHeightfieldDataID and returns it. You must call - * dGeomHeightfieldDataDestroy to destroy it after the geom has been removed. - * The dHeightfieldDataID value is used when specifying a data format type. - * - * @return A dHeightfieldDataID for use with dGeomHeightfieldDataBuildCallback, - * dGeomHeightfieldDataBuildByte, dGeomHeightfieldDataBuildShort or - * dGeomHeightfieldDataBuildFloat. - * @ingroup collide - */ -ODE_API dHeightfieldDataID dGeomHeightfieldDataCreate(); - - -/** - * @brief Destroys a dHeightfieldDataID. - * - * Deallocates a given dHeightfieldDataID and all managed resources. - * - * @param d A dHeightfieldDataID created by dGeomHeightfieldDataCreate - * @ingroup collide - */ -ODE_API void dGeomHeightfieldDataDestroy( dHeightfieldDataID d ); - - - -/** - * @brief Configures a dHeightfieldDataID to use a callback to - * retrieve height data. - * - * Before a dHeightfieldDataID can be used by a geom it must be - * configured to specify the format of the height data. - * This call specifies that the heightfield data is computed by - * the user and it should use the given callback when determining - * the height of a given element of it's shape. - * - * @param d A new dHeightfieldDataID created by dGeomHeightfieldDataCreate - * - * @param width Specifies the total 'width' of the heightfield along - * the geom's local x axis. - * @param depth Specifies the total 'depth' of the heightfield along - * the geom's local z axis. - * - * @param widthSamples Specifies the number of vertices to sample - * along the width of the heightfield. Each vertex has a corresponding - * height value which forms the overall shape. - * Naturally this value must be at least two or more. - * @param depthSamples Specifies the number of vertices to sample - * along the depth of the heightfield. - * - * @param scale A uniform scale applied to all raw height data. - * @param offset An offset applied to the scaled height data. - * - * @param thickness A value subtracted from the lowest height - * value which in effect adds an additional cuboid to the base of the - * heightfield. This is used to prevent geoms from looping under the - * desired terrain and not registering as a collision. Note that the - * thickness is not affected by the scale or offset parameters. - * - * @param bWrap If non-zero the heightfield will infinitely tile in both - * directions along the local x and z axes. If zero the heightfield is - * bounded from zero to width in the local x axis, and zero to depth in - * the local z axis. - * - * @ingroup collide - */ -ODE_API void dGeomHeightfieldDataBuildCallback( dHeightfieldDataID d, - void* pUserData, dHeightfieldGetHeight* pCallback, - dReal width, dReal depth, int widthSamples, int depthSamples, - dReal scale, dReal offset, dReal thickness, int bWrap ); - -/** - * @brief Configures a dHeightfieldDataID to use height data in byte format. - * - * Before a dHeightfieldDataID can be used by a geom it must be - * configured to specify the format of the height data. - * This call specifies that the heightfield data is stored as a rectangular - * array of bytes (8 bit unsigned) representing the height at each sample point. - * - * @param d A new dHeightfieldDataID created by dGeomHeightfieldDataCreate - * - * @param pHeightData A pointer to the height data. - * @param bCopyHeightData When non-zero the height data is copied to an - * internal store. When zero the height data is accessed by reference and - * so must persist throughout the lifetime of the heightfield. - * - * @param width Specifies the total 'width' of the heightfield along - * the geom's local x axis. - * @param depth Specifies the total 'depth' of the heightfield along - * the geom's local z axis. - * - * @param widthSamples Specifies the number of vertices to sample - * along the width of the heightfield. Each vertex has a corresponding - * height value which forms the overall shape. - * Naturally this value must be at least two or more. - * @param depthSamples Specifies the number of vertices to sample - * along the depth of the heightfield. - * - * @param scale A uniform scale applied to all raw height data. - * @param offset An offset applied to the scaled height data. - * - * @param thickness A value subtracted from the lowest height - * value which in effect adds an additional cuboid to the base of the - * heightfield. This is used to prevent geoms from looping under the - * desired terrain and not registering as a collision. Note that the - * thickness is not affected by the scale or offset parameters. - * - * @param bWrap If non-zero the heightfield will infinitely tile in both - * directions along the local x and z axes. If zero the heightfield is - * bounded from zero to width in the local x axis, and zero to depth in - * the local z axis. - * - * @ingroup collide - */ -ODE_API void dGeomHeightfieldDataBuildByte( dHeightfieldDataID d, - const unsigned char* pHeightData, int bCopyHeightData, - dReal width, dReal depth, int widthSamples, int depthSamples, - dReal scale, dReal offset, dReal thickness, int bWrap ); - -/** - * @brief Configures a dHeightfieldDataID to use height data in short format. - * - * Before a dHeightfieldDataID can be used by a geom it must be - * configured to specify the format of the height data. - * This call specifies that the heightfield data is stored as a rectangular - * array of shorts (16 bit signed) representing the height at each sample point. - * - * @param d A new dHeightfieldDataID created by dGeomHeightfieldDataCreate - * - * @param pHeightData A pointer to the height data. - * @param bCopyHeightData When non-zero the height data is copied to an - * internal store. When zero the height data is accessed by reference and - * so must persist throughout the lifetime of the heightfield. - * - * @param width Specifies the total 'width' of the heightfield along - * the geom's local x axis. - * @param depth Specifies the total 'depth' of the heightfield along - * the geom's local z axis. - * - * @param widthSamples Specifies the number of vertices to sample - * along the width of the heightfield. Each vertex has a corresponding - * height value which forms the overall shape. - * Naturally this value must be at least two or more. - * @param depthSamples Specifies the number of vertices to sample - * along the depth of the heightfield. - * - * @param scale A uniform scale applied to all raw height data. - * @param offset An offset applied to the scaled height data. - * - * @param thickness A value subtracted from the lowest height - * value which in effect adds an additional cuboid to the base of the - * heightfield. This is used to prevent geoms from looping under the - * desired terrain and not registering as a collision. Note that the - * thickness is not affected by the scale or offset parameters. - * - * @param bWrap If non-zero the heightfield will infinitely tile in both - * directions along the local x and z axes. If zero the heightfield is - * bounded from zero to width in the local x axis, and zero to depth in - * the local z axis. - * - * @ingroup collide - */ -ODE_API void dGeomHeightfieldDataBuildShort( dHeightfieldDataID d, - const short* pHeightData, int bCopyHeightData, - dReal width, dReal depth, int widthSamples, int depthSamples, - dReal scale, dReal offset, dReal thickness, int bWrap ); - -/** - * @brief Configures a dHeightfieldDataID to use height data in - * single precision floating point format. - * - * Before a dHeightfieldDataID can be used by a geom it must be - * configured to specify the format of the height data. - * This call specifies that the heightfield data is stored as a rectangular - * array of single precision floats representing the height at each - * sample point. - * - * @param d A new dHeightfieldDataID created by dGeomHeightfieldDataCreate - * - * @param pHeightData A pointer to the height data. - * @param bCopyHeightData When non-zero the height data is copied to an - * internal store. When zero the height data is accessed by reference and - * so must persist throughout the lifetime of the heightfield. - * - * @param width Specifies the total 'width' of the heightfield along - * the geom's local x axis. - * @param depth Specifies the total 'depth' of the heightfield along - * the geom's local z axis. - * - * @param widthSamples Specifies the number of vertices to sample - * along the width of the heightfield. Each vertex has a corresponding - * height value which forms the overall shape. - * Naturally this value must be at least two or more. - * @param depthSamples Specifies the number of vertices to sample - * along the depth of the heightfield. - * - * @param scale A uniform scale applied to all raw height data. - * @param offset An offset applied to the scaled height data. - * - * @param thickness A value subtracted from the lowest height - * value which in effect adds an additional cuboid to the base of the - * heightfield. This is used to prevent geoms from looping under the - * desired terrain and not registering as a collision. Note that the - * thickness is not affected by the scale or offset parameters. - * - * @param bWrap If non-zero the heightfield will infinitely tile in both - * directions along the local x and z axes. If zero the heightfield is - * bounded from zero to width in the local x axis, and zero to depth in - * the local z axis. - * - * @ingroup collide - */ -ODE_API void dGeomHeightfieldDataBuildSingle( dHeightfieldDataID d, - const float* pHeightData, int bCopyHeightData, - dReal width, dReal depth, int widthSamples, int depthSamples, - dReal scale, dReal offset, dReal thickness, int bWrap ); - -/** - * @brief Configures a dHeightfieldDataID to use height data in - * double precision floating point format. - * - * Before a dHeightfieldDataID can be used by a geom it must be - * configured to specify the format of the height data. - * This call specifies that the heightfield data is stored as a rectangular - * array of double precision floats representing the height at each - * sample point. - * - * @param d A new dHeightfieldDataID created by dGeomHeightfieldDataCreate - * - * @param pHeightData A pointer to the height data. - * @param bCopyHeightData When non-zero the height data is copied to an - * internal store. When zero the height data is accessed by reference and - * so must persist throughout the lifetime of the heightfield. - * - * @param width Specifies the total 'width' of the heightfield along - * the geom's local x axis. - * @param depth Specifies the total 'depth' of the heightfield along - * the geom's local z axis. - * - * @param widthSamples Specifies the number of vertices to sample - * along the width of the heightfield. Each vertex has a corresponding - * height value which forms the overall shape. - * Naturally this value must be at least two or more. - * @param depthSamples Specifies the number of vertices to sample - * along the depth of the heightfield. - * - * @param scale A uniform scale applied to all raw height data. - * @param offset An offset applied to the scaled height data. - * - * @param thickness A value subtracted from the lowest height - * value which in effect adds an additional cuboid to the base of the - * heightfield. This is used to prevent geoms from looping under the - * desired terrain and not registering as a collision. Note that the - * thickness is not affected by the scale or offset parameters. - * - * @param bWrap If non-zero the heightfield will infinitely tile in both - * directions along the local x and z axes. If zero the heightfield is - * bounded from zero to width in the local x axis, and zero to depth in - * the local z axis. - * - * @ingroup collide - */ -ODE_API void dGeomHeightfieldDataBuildDouble( dHeightfieldDataID d, - const double* pHeightData, int bCopyHeightData, - dReal width, dReal depth, int widthSamples, int depthSamples, - dReal scale, dReal offset, dReal thickness, int bWrap ); - -/** - * @brief Manually set the minimum and maximum height bounds. - * - * This call allows you to set explicit min / max values after initial - * creation typically for callback heightfields which default to +/- infinity, - * or those whose data has changed. This must be set prior to binding with a - * geom, as the the AABB is not recomputed after it's first generation. - * - * @remarks The minimum and maximum values are used to compute the AABB - * for the heightfield which is used for early rejection of collisions. - * A close fit will yield a more efficient collision check. - * - * @param d A dHeightfieldDataID created by dGeomHeightfieldDataCreate - * @param min_height The new minimum height value. Scale, offset and thickness is then applied. - * @param max_height The new maximum height value. Scale and offset is then applied. - * @ingroup collide - */ -ODE_API void dGeomHeightfieldDataSetBounds( dHeightfieldDataID d, - dReal minHeight, dReal maxHeight ); - - -/** - * @brief Assigns a dHeightfieldDataID to a heightfield geom. - * - * Associates the given dHeightfieldDataID with a heightfield geom. - * This is done without affecting the GEOM_PLACEABLE flag. - * - * @param g A geom created by dCreateHeightfield - * @param d A dHeightfieldDataID created by dGeomHeightfieldDataCreate - * @ingroup collide - */ -ODE_API void dGeomHeightfieldSetHeightfieldData( dGeomID g, dHeightfieldDataID d ); - - -/** - * @brief Gets the dHeightfieldDataID bound to a heightfield geom. - * - * Returns the dHeightfieldDataID associated with a heightfield geom. - * - * @param g A geom created by dCreateHeightfield - * @return The dHeightfieldDataID which may be NULL if none was assigned. - * @ingroup collide - */ -ODE_API dHeightfieldDataID dGeomHeightfieldGetHeightfieldData( dGeomID g ); - - - -/* ************************************************************************ */ -/* utility functions */ - -ODE_API void dClosestLineSegmentPoints (const dVector3 a1, const dVector3 a2, - const dVector3 b1, const dVector3 b2, - dVector3 cp1, dVector3 cp2); - -ODE_API int dBoxTouchesBox (const dVector3 _p1, const dMatrix3 R1, - const dVector3 side1, const dVector3 _p2, - const dMatrix3 R2, const dVector3 side2); - -// The meaning of flags parameter is the same as in dCollide() -ODE_API int dBoxBox (const dVector3 p1, const dMatrix3 R1, - const dVector3 side1, const dVector3 p2, - const dMatrix3 R2, const dVector3 side2, - dVector3 normal, dReal *depth, int *return_code, - int flags, dContactGeom *contact, int skip); - -ODE_API void dInfiniteAABB (dGeomID geom, dReal aabb[6]); -ODE_API void dInitODE(void); -ODE_API void dCloseODE(void); - -/* ************************************************************************ */ -/* custom classes */ - -typedef void dGetAABBFn (dGeomID, dReal aabb[6]); -typedef int dColliderFn (dGeomID o1, dGeomID o2, - int flags, dContactGeom *contact, int skip); -typedef dColliderFn * dGetColliderFnFn (int num); -typedef void dGeomDtorFn (dGeomID o); -typedef int dAABBTestFn (dGeomID o1, dGeomID o2, dReal aabb[6]); - -typedef struct dGeomClass { - int bytes; - dGetColliderFnFn *collider; - dGetAABBFn *aabb; - dAABBTestFn *aabb_test; - dGeomDtorFn *dtor; -} dGeomClass; - -ODE_API int dCreateGeomClass (const dGeomClass *classptr); -ODE_API void * dGeomGetClassData (dGeomID); -ODE_API dGeomID dCreateGeom (int classnum); - -/* ************************************************************************ */ - -#ifdef __cplusplus -} -#endif - -#endif -- cgit v1.1