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//Benoit CHAPEROT 2003-2004 www.jstarlab.com
#ifndef _ODE_COLLISION_STD_INTERNAL_H_
#define _ODE_COLLISION_STD_INTERNAL_H_
#include <ode/common.h>
#include "collision_kernel.h"
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 dxCCylinder : public dxGeom {
dReal radius,lz; // radius, length along z axis
dxCCylinder (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 dxCylinder : public dxGeom {
dReal radius,lz; // radius, length along z axis
dxCylinder (dSpaceID space, dReal _radius, dReal _length);
void computeAABB();
};
struct dxCone : public dxGeom {
dReal radius,lz;
dxCone(dSpaceID space, dReal _radius,dReal _length);
~dxCone();
void computeAABB();
};
struct dxRay : public dxGeom {
dReal length;
dxRay (dSpaceID space, dReal _length);
void computeAABB();
};
struct dxTerrainY : public dxGeom {
dReal m_vLength;
dReal *m_pHeights;
dReal m_vMinHeight;
dReal m_vMaxHeight;
dReal m_vNodeLength;
int m_nNumNodesPerSide;
int m_nNumNodesPerSideShift;
int m_nNumNodesPerSideMask;
int m_bFinite;
dxTerrainY(dSpaceID space, dReal *pHeights,dReal vLength,int nNumNodesPerSide, int bFinite, int bPlaceable);
~dxTerrainY();
void computeAABB();
dReal GetHeight(dReal x,dReal z);
dReal GetHeight(int x,int z);
int dCollideTerrainUnit(int x,int z,dxGeom *o2,int numMaxContacts,int flags,dContactGeom *contact, int skip);
bool IsOnTerrain(int nx,int nz,int w,dReal *pos);
};
struct dxTerrainZ : public dxGeom {
dReal m_vLength;
dReal *m_pHeights;
dReal m_vMinHeight;
dReal m_vMaxHeight;
dReal m_vNodeLength;
int m_nNumNodesPerSide;
int m_nNumNodesPerSideShift;
int m_nNumNodesPerSideMask;
int m_bFinite;
dxTerrainZ(dSpaceID space, dReal *pHeights,dReal vLength,int nNumNodesPerSide, int bFinite, int bPlaceable);
~dxTerrainZ();
void computeAABB();
dReal GetHeight(dReal x,dReal y);
dReal GetHeight(int x,int y);
int dCollideTerrainUnit(int x,int y,dxGeom *o2,int numMaxContacts,int flags,dContactGeom *contact, int skip);
bool IsOnTerrain(int nx,int ny,int w,dReal *pos);
};
#ifndef MIN
#define MIN(a,b) ((a<b)?a:b)
#endif
#ifndef MAX
#define MAX(a,b) ((a>b)?a:b)
#endif
#endif //_ODE_COLLISION_STD_INTERNAL_H_
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