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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
00031 #include <ode/odeinit.h>
00032
00033 #ifdef __cplusplus
00034 extern "C" {
00035 #endif
00036
00052
00053
00054
00068 ODE_API void dGeomDestroy (dGeomID geom);
00069
00070
00078 ODE_API void dGeomSetData (dGeomID geom, void* data);
00079
00080
00087 ODE_API void *dGeomGetData (dGeomID geom);
00088
00089
00108 ODE_API void dGeomSetBody (dGeomID geom, dBodyID body);
00109
00110
00117 ODE_API dBodyID dGeomGetBody (dGeomID geom);
00118
00119
00134 ODE_API void dGeomSetPosition (dGeomID geom, dReal x, dReal y, dReal z);
00135
00136
00149 ODE_API void dGeomSetRotation (dGeomID geom, const dMatrix3 R);
00150
00151
00165 ODE_API void dGeomSetQuaternion (dGeomID geom, const dQuaternion Q);
00166
00167
00184 ODE_API const dReal * dGeomGetPosition (dGeomID geom);
00185
00186
00194 ODE_API void dGeomCopyPosition (dGeomID geom, dVector3 pos);
00195
00196
00213 ODE_API const dReal * dGeomGetRotation (dGeomID geom);
00214
00215
00229 ODE_API void dGeomCopyRotation(dGeomID geom, dMatrix3 R);
00230
00231
00245 ODE_API void dGeomGetQuaternion (dGeomID geom, dQuaternion result);
00246
00247
00264 ODE_API void dGeomGetAABB (dGeomID geom, dReal aabb[6]);
00265
00266
00273 ODE_API int dGeomIsSpace (dGeomID geom);
00274
00275
00283 ODE_API dSpaceID dGeomGetSpace (dGeomID);
00284
00285
00310 ODE_API int dGeomGetClass (dGeomID geom);
00311
00312
00325 ODE_API void dGeomSetCategoryBits (dGeomID geom, unsigned long bits);
00326
00327
00340 ODE_API void dGeomSetCollideBits (dGeomID geom, unsigned long bits);
00341
00342
00351 ODE_API unsigned long dGeomGetCategoryBits (dGeomID);
00352
00353
00362 ODE_API unsigned long dGeomGetCollideBits (dGeomID);
00363
00364
00377 ODE_API void dGeomEnable (dGeomID geom);
00378
00379
00392 ODE_API void dGeomDisable (dGeomID geom);
00393
00394
00408 ODE_API int dGeomIsEnabled (dGeomID geom);
00409
00410
00411
00412
00428 ODE_API void dGeomSetOffsetPosition (dGeomID geom, dReal x, dReal y, dReal z);
00429
00430
00444 ODE_API void dGeomSetOffsetRotation (dGeomID geom, const dMatrix3 R);
00445
00446
00460 ODE_API void dGeomSetOffsetQuaternion (dGeomID geom, const dQuaternion Q);
00461
00462
00479 ODE_API void dGeomSetOffsetWorldPosition (dGeomID geom, dReal x, dReal y, dReal z);
00480
00481
00496 ODE_API void dGeomSetOffsetWorldRotation (dGeomID geom, const dMatrix3 R);
00497
00498
00513 ODE_API void dGeomSetOffsetWorldQuaternion (dGeomID geom, const dQuaternion);
00514
00515
00529 ODE_API void dGeomClearOffset(dGeomID geom);
00530
00531
00547 ODE_API int dGeomIsOffset(dGeomID geom);
00548
00549
00563 ODE_API const dReal * dGeomGetOffsetPosition (dGeomID geom);
00564
00565
00576 ODE_API void dGeomCopyOffsetPosition (dGeomID geom, dVector3 pos);
00577
00578
00593 ODE_API const dReal * dGeomGetOffsetRotation (dGeomID geom);
00594
00595
00607 ODE_API void dGeomCopyOffsetRotation (dGeomID geom, dMatrix3 R);
00608
00609
00620 ODE_API void dGeomGetOffsetQuaternion (dGeomID geom, dQuaternion result);
00621
00622
00623
00624
00625
00626
00627
00628
00629 #define CONTACTS_UNIMPORTANT 0x80000000
00630
00678 ODE_API int dCollide (dGeomID o1, dGeomID o2, int flags, dContactGeom *contact,
00679 int skip);
00680
00708 ODE_API void dSpaceCollide (dSpaceID space, void *data, dNearCallback *callback);
00709
00710
00751 ODE_API void dSpaceCollide2 (dGeomID space1, dGeomID space2, void *data, dNearCallback *callback);
00752
00753
00754
00755
00756
00757
00758 enum {
00759 dMaxUserClasses = 4
00760 };
00761
00762
00763 enum {
00764 dSphereClass = 0,
00765 dBoxClass,
00766 dCapsuleClass,
00767 dCylinderClass,
00768 dPlaneClass,
00769 dRayClass,
00770 dConvexClass,
00771 dGeomTransformClass,
00772 dTriMeshClass,
00773 dHeightfieldClass,
00774
00775 dFirstSpaceClass,
00776 dSimpleSpaceClass = dFirstSpaceClass,
00777 dHashSpaceClass,
00778 dSweepAndPruneSpaceClass,
00779 dQuadTreeSpaceClass,
00780 dLastSpaceClass = dQuadTreeSpaceClass,
00781
00782 dFirstUserClass,
00783 dLastUserClass = dFirstUserClass + dMaxUserClasses - 1,
00784 dGeomNumClasses
00785 };
00786
00787
00807 ODE_API dGeomID dCreateSphere (dSpaceID space, dReal radius);
00808
00809
00819 ODE_API void dGeomSphereSetRadius (dGeomID sphere, dReal radius);
00820
00821
00830 ODE_API dReal dGeomSphereGetRadius (dGeomID sphere);
00831
00832
00847 ODE_API dReal dGeomSpherePointDepth (dGeomID sphere, dReal x, dReal y, dReal z);
00848
00849
00850
00851 ODE_API dGeomID dCreateConvex (dSpaceID space,
00852 dReal *_planes,
00853 unsigned int _planecount,
00854 dReal *_points,
00855 unsigned int _pointcount,unsigned int *_polygons);
00856
00857 ODE_API void dGeomSetConvex (dGeomID g,
00858 dReal *_planes,
00859 unsigned int _count,
00860 dReal *_points,
00861 unsigned int _pointcount,unsigned int *_polygons);
00862
00863
00885 ODE_API dGeomID dCreateBox (dSpaceID space, dReal lx, dReal ly, dReal lz);
00886
00887
00899 ODE_API void dGeomBoxSetLengths (dGeomID box, dReal lx, dReal ly, dReal lz);
00900
00901
00911 ODE_API void dGeomBoxGetLengths (dGeomID box, dVector3 result);
00912
00913
00926 ODE_API dReal dGeomBoxPointDepth (dGeomID box, dReal x, dReal y, dReal z);
00927
00928
00929 ODE_API dGeomID dCreatePlane (dSpaceID space, dReal a, dReal b, dReal c, dReal d);
00930 ODE_API void dGeomPlaneSetParams (dGeomID plane, dReal a, dReal b, dReal c, dReal d);
00931 ODE_API void dGeomPlaneGetParams (dGeomID plane, dVector4 result);
00932 ODE_API dReal dGeomPlanePointDepth (dGeomID plane, dReal x, dReal y, dReal z);
00933
00934 ODE_API dGeomID dCreateCapsule (dSpaceID space, dReal radius, dReal length);
00935 ODE_API void dGeomCapsuleSetParams (dGeomID ccylinder, dReal radius, dReal length);
00936 ODE_API void dGeomCapsuleGetParams (dGeomID ccylinder, dReal *radius, dReal *length);
00937 ODE_API dReal dGeomCapsulePointDepth (dGeomID ccylinder, dReal x, dReal y, dReal z);
00938
00939
00940 #define dCreateCCylinder dCreateCapsule
00941 #define dGeomCCylinderSetParams dGeomCapsuleSetParams
00942 #define dGeomCCylinderGetParams dGeomCapsuleGetParams
00943 #define dGeomCCylinderPointDepth dGeomCapsulePointDepth
00944 #define dCCylinderClass dCapsuleClass
00945
00946 ODE_API dGeomID dCreateCylinder (dSpaceID space, dReal radius, dReal length);
00947 ODE_API void dGeomCylinderSetParams (dGeomID cylinder, dReal radius, dReal length);
00948 ODE_API void dGeomCylinderGetParams (dGeomID cylinder, dReal *radius, dReal *length);
00949
00950 ODE_API dGeomID dCreateRay (dSpaceID space, dReal length);
00951 ODE_API void dGeomRaySetLength (dGeomID ray, dReal length);
00952 ODE_API dReal dGeomRayGetLength (dGeomID ray);
00953 ODE_API void dGeomRaySet (dGeomID ray, dReal px, dReal py, dReal pz,
00954 dReal dx, dReal dy, dReal dz);
00955 ODE_API void dGeomRayGet (dGeomID ray, dVector3 start, dVector3 dir);
00956
00957
00958
00959
00960
00961
00962 ODE_API void dGeomRaySetParams (dGeomID g, int FirstContact, int BackfaceCull);
00963 ODE_API void dGeomRayGetParams (dGeomID g, int *FirstContact, int *BackfaceCull);
00964 ODE_API void dGeomRaySetClosestHit (dGeomID g, int closestHit);
00965 ODE_API int dGeomRayGetClosestHit (dGeomID g);
00966
00967 #include "collision_trimesh.h"
00968
00969 ODE_API dGeomID dCreateGeomTransform (dSpaceID space);
00970 ODE_API void dGeomTransformSetGeom (dGeomID g, dGeomID obj);
00971 ODE_API dGeomID dGeomTransformGetGeom (dGeomID g);
00972 ODE_API void dGeomTransformSetCleanup (dGeomID g, int mode);
00973 ODE_API int dGeomTransformGetCleanup (dGeomID g);
00974 ODE_API void dGeomTransformSetInfo (dGeomID g, int mode);
00975 ODE_API int dGeomTransformGetInfo (dGeomID g);
00976
00977
00978
00979
00980
00981
00982
00983 struct dxHeightfieldData;
00984 typedef struct dxHeightfieldData* dHeightfieldDataID;
00985
00986
01004 typedef dReal dHeightfieldGetHeight( void* p_user_data, int x, int z );
01005
01006
01007
01027 ODE_API dGeomID dCreateHeightfield( dSpaceID space,
01028 dHeightfieldDataID data, int bPlaceable );
01029
01030
01043 ODE_API dHeightfieldDataID dGeomHeightfieldDataCreate(void);
01044
01045
01054 ODE_API void dGeomHeightfieldDataDestroy( dHeightfieldDataID d );
01055
01056
01057
01098 ODE_API void dGeomHeightfieldDataBuildCallback( dHeightfieldDataID d,
01099 void* pUserData, dHeightfieldGetHeight* pCallback,
01100 dReal width, dReal depth, int widthSamples, int depthSamples,
01101 dReal scale, dReal offset, dReal thickness, int bWrap );
01102
01146 ODE_API void dGeomHeightfieldDataBuildByte( dHeightfieldDataID d,
01147 const unsigned char* pHeightData, int bCopyHeightData,
01148 dReal width, dReal depth, int widthSamples, int depthSamples,
01149 dReal scale, dReal offset, dReal thickness, int bWrap );
01150
01194 ODE_API void dGeomHeightfieldDataBuildShort( dHeightfieldDataID d,
01195 const short* pHeightData, int bCopyHeightData,
01196 dReal width, dReal depth, int widthSamples, int depthSamples,
01197 dReal scale, dReal offset, dReal thickness, int bWrap );
01198
01244 ODE_API void dGeomHeightfieldDataBuildSingle( dHeightfieldDataID d,
01245 const float* pHeightData, int bCopyHeightData,
01246 dReal width, dReal depth, int widthSamples, int depthSamples,
01247 dReal scale, dReal offset, dReal thickness, int bWrap );
01248
01294 ODE_API void dGeomHeightfieldDataBuildDouble( dHeightfieldDataID d,
01295 const double* pHeightData, int bCopyHeightData,
01296 dReal width, dReal depth, int widthSamples, int depthSamples,
01297 dReal scale, dReal offset, dReal thickness, int bWrap );
01298
01316 ODE_API void dGeomHeightfieldDataSetBounds( dHeightfieldDataID d,
01317 dReal minHeight, dReal maxHeight );
01318
01319
01330 ODE_API void dGeomHeightfieldSetHeightfieldData( dGeomID g, dHeightfieldDataID d );
01331
01332
01342 ODE_API dHeightfieldDataID dGeomHeightfieldGetHeightfieldData( dGeomID g );
01343
01344
01345
01346
01347
01348
01349 ODE_API void dClosestLineSegmentPoints (const dVector3 a1, const dVector3 a2,
01350 const dVector3 b1, const dVector3 b2,
01351 dVector3 cp1, dVector3 cp2);
01352
01353 ODE_API int dBoxTouchesBox (const dVector3 _p1, const dMatrix3 R1,
01354 const dVector3 side1, const dVector3 _p2,
01355 const dMatrix3 R2, const dVector3 side2);
01356
01357
01358 ODE_API int dBoxBox (const dVector3 p1, const dMatrix3 R1,
01359 const dVector3 side1, const dVector3 p2,
01360 const dMatrix3 R2, const dVector3 side2,
01361 dVector3 normal, dReal *depth, int *return_code,
01362 int flags, dContactGeom *contact, int skip);
01363
01364 ODE_API void dInfiniteAABB (dGeomID geom, dReal aabb[6]);
01365
01366
01367
01368
01369
01370 typedef void dGetAABBFn (dGeomID, dReal aabb[6]);
01371 typedef int dColliderFn (dGeomID o1, dGeomID o2,
01372 int flags, dContactGeom *contact, int skip);
01373 typedef dColliderFn * dGetColliderFnFn (int num);
01374 typedef void dGeomDtorFn (dGeomID o);
01375 typedef int dAABBTestFn (dGeomID o1, dGeomID o2, dReal aabb[6]);
01376
01377 typedef struct dGeomClass {
01378 int bytes;
01379 dGetColliderFnFn *collider;
01380 dGetAABBFn *aabb;
01381 dAABBTestFn *aabb_test;
01382 dGeomDtorFn *dtor;
01383 } dGeomClass;
01384
01385 ODE_API int dCreateGeomClass (const dGeomClass *classptr);
01386 ODE_API void * dGeomGetClassData (dGeomID);
01387 ODE_API dGeomID dCreateGeom (int classnum);
01388
01397 ODE_API void dSetColliderOverride (int i, int j, dColliderFn *fn);
01398
01399
01400
01401
01402 #ifdef __cplusplus
01403 }
01404 #endif
01405
01406 #endif