Collision Detection

Data Structures
struct	dContactGeom
	Describe the contact point between two geoms. More...
Modules
	Sphere Class
	Box Class
Typedefs
typedef dReal	dHeightfieldGetHeight (void *p_user_data, int x, int z)
	Callback prototype.
typedef void	dNearCallback (void *data, dGeomID o1, dGeomID o2)
	User callback for geom-geom collision testing.
Functions
ODE_API void	dGeomDestroy (dGeomID geom)
	Destroy a geom, removing it from any space.
ODE_API void	dGeomSetData (dGeomID geom, void *data)
	Set the user-defined data pointer stored in the geom.
ODE_API void *	dGeomGetData (dGeomID geom)
	Get the user-defined data pointer stored in the geom.
ODE_API void	dGeomSetBody (dGeomID geom, dBodyID body)
	Set the body associated with a placeable geom.
ODE_API dBodyID	dGeomGetBody (dGeomID geom)
	Get the body associated with a placeable geom.
ODE_API void	dGeomSetPosition (dGeomID geom, dReal x, dReal y, dReal z)
	Set the position vector of a placeable geom.
ODE_API void	dGeomSetRotation (dGeomID geom, const dMatrix3 R)
	Set the rotation matrix of a placeable geom.
ODE_API void	dGeomSetQuaternion (dGeomID geom, const dQuaternion Q)
	Set the rotation of a placeable geom.
ODE_API const dReal *	dGeomGetPosition (dGeomID geom)
	Get the position vector of a placeable geom.
ODE_API void	dGeomCopyPosition (dGeomID geom, dVector3 pos)
	Copy the position of a geom into a vector.
ODE_API const dReal *	dGeomGetRotation (dGeomID geom)
	Get the rotation matrix of a placeable geom.
ODE_API void	dGeomCopyRotation (dGeomID geom, dMatrix3 R)
	Get the rotation matrix of a placeable geom.
ODE_API void	dGeomGetQuaternion (dGeomID geom, dQuaternion result)
	Get the rotation quaternion of a placeable geom.
ODE_API void	dGeomGetAABB (dGeomID geom, dReal aabb[6])
	Return the axis-aligned bounding box.
ODE_API int	dGeomIsSpace (dGeomID geom)
	Determing if a geom is a space.
ODE_API dSpaceID	dGeomGetSpace (dGeomID)
	Query for the space containing a particular geom.
ODE_API int	dGeomGetClass (dGeomID geom)
	Given a geom, this returns its class.
ODE_API void	dGeomSetCategoryBits (dGeomID geom, unsigned long bits)
	Set the "category" bitfield for the given geom.
ODE_API void	dGeomSetCollideBits (dGeomID geom, unsigned long bits)
	Set the "collide" bitfield for the given geom.
ODE_API unsigned long	dGeomGetCategoryBits (dGeomID)
	Get the "category" bitfield for the given geom.
ODE_API unsigned long	dGeomGetCollideBits (dGeomID)
	Get the "collide" bitfield for the given geom.
ODE_API void	dGeomEnable (dGeomID geom)
	Enable a geom.
ODE_API void	dGeomDisable (dGeomID geom)
	Disable a geom.
ODE_API int	dGeomIsEnabled (dGeomID geom)
	Check to see if a geom is enabled.
ODE_API void	dGeomSetOffsetPosition (dGeomID geom, dReal x, dReal y, dReal z)
	Set the local offset position of a geom from its body.
ODE_API void	dGeomSetOffsetRotation (dGeomID geom, const dMatrix3 R)
	Set the local offset rotation matrix of a geom from its body.
ODE_API void	dGeomSetOffsetQuaternion (dGeomID geom, const dQuaternion Q)
	Set the local offset rotation of a geom from its body.
ODE_API void	dGeomSetOffsetWorldPosition (dGeomID geom, dReal x, dReal y, dReal z)
	Set the offset position of a geom from its body.
ODE_API void	dGeomSetOffsetWorldRotation (dGeomID geom, const dMatrix3 R)
	Set the offset rotation of a geom from its body.
ODE_API void	dGeomSetOffsetWorldQuaternion (dGeomID geom, const dQuaternion)
	Set the offset rotation of a geom from its body.
ODE_API void	dGeomClearOffset (dGeomID geom)
	Clear any offset from the geom.
ODE_API int	dGeomIsOffset (dGeomID geom)
	Check to see whether the geom has an offset.
ODE_API const dReal *	dGeomGetOffsetPosition (dGeomID geom)
	Get the offset position vector of a geom.
ODE_API void	dGeomCopyOffsetPosition (dGeomID geom, dVector3 pos)
	Copy the offset position vector of a geom.
ODE_API const dReal *	dGeomGetOffsetRotation (dGeomID geom)
	Get the offset rotation matrix of a geom.
ODE_API void	dGeomCopyOffsetRotation (dGeomID geom, dMatrix3 R)
	Copy the offset rotation matrix of a geom.
ODE_API void	dGeomGetOffsetQuaternion (dGeomID geom, dQuaternion result)
	Get the offset rotation quaternion of a geom.
ODE_API int	dCollide (dGeomID o1, dGeomID o2, int flags, dContactGeom *contact, int skip)
	Given two geoms o1 and o2 that potentially intersect, generate contact information for them.
ODE_API void	dSpaceCollide (dSpaceID space, void *data, dNearCallback *callback)
	Determines which pairs of geoms in a space may potentially intersect, and calls the callback function for each candidate pair.
ODE_API void	dSpaceCollide2 (dGeomID space1, dGeomID space2, void *data, dNearCallback *callback)
	Determines which geoms from one space may potentially intersect with geoms from another space, and calls the callback function for each candidate pair.
ODE_API dGeomID	dCreateHeightfield (dSpaceID space, dHeightfieldDataID data, int bPlaceable)
	Creates a heightfield geom.
ODE_API dHeightfieldDataID	dGeomHeightfieldDataCreate (void)
	Creates a new empty dHeightfieldDataID.
ODE_API void	dGeomHeightfieldDataDestroy (dHeightfieldDataID d)
	Destroys a dHeightfieldDataID.
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)
	Configures a dHeightfieldDataID to use a callback to retrieve height data.
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)
	Configures a dHeightfieldDataID to use height data in byte format.
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)
	Configures a dHeightfieldDataID to use height data in short format.
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)
	Configures a dHeightfieldDataID to use height data in single precision floating point format.
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)
	Configures a dHeightfieldDataID to use height data in double precision floating point format.
ODE_API void	dGeomHeightfieldDataSetBounds (dHeightfieldDataID d, dReal minHeight, dReal maxHeight)
	Manually set the minimum and maximum height bounds.
ODE_API void	dGeomHeightfieldSetHeightfieldData (dGeomID g, dHeightfieldDataID d)
	Assigns a dHeightfieldDataID to a heightfield geom.
ODE_API dHeightfieldDataID	dGeomHeightfieldGetHeightfieldData (dGeomID g)
	Gets the dHeightfieldDataID bound to a heightfield geom.
ODE_API void	dSetColliderOverride (int i, int j, dColliderFn *fn)
	Sets a custom collider function for two geom classes.
ODE_API void	dSpaceSetSublevel (dSpaceID space, int sublevel)
	Sets sublevel value for a space.
ODE_API int	dSpaceGetSublevel (dSpaceID space)
	Gets sublevel value of a space.
ODE_API int	dSpaceGetClass (dSpaceID space)
	Given a space, this returns its class.

---

Detailed Description

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.

---

Typedef Documentation

typedef dReal dHeightfieldGetHeight(void *p_user_data, int x, int z)

Callback prototype.

Used by the callback heightfield data type to sample a height for a given cell position.

Parameters:

	p_user_data	User data specified when creating the dHeightfieldDataID
	x	The index of a sample in the local x axis. It is a value in the range zero to ( nWidthSamples - 1 ).
	x	The index of a sample in the local z axis. It is a value in the range zero to ( nDepthSamples - 1 ).

Returns:

The sample height which is then scaled and offset using the values specified when the heightfield data was created.

typedef void dNearCallback(void *data, dGeomID o1, dGeomID o2)

User callback for geom-geom collision testing.

Parameters:

	data	The user data object, as passed to dSpaceCollide.
	o1	The first geom being tested.
	o2	The second geom being test.

Remarks:

The callback function can call dCollide on o1 and o2 to generate contact points between each pair. Then these contact points may be added to the simulation as contact joints. The user's callback function can of course chose not to call dCollide for any pair, e.g. if the user decides that those pairs should not interact.

---

Function Documentation

ODE_API int dCollide	(	dGeomID	o1,
		dGeomID	o2,
		int	flags,
		dContactGeom *	contact,
		int	skip
	)

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.

Parameters:

	o1	The first geom to test.
	o2	The second geom to test.
	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.
	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.

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.

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).

ODE_API dGeomID dCreateHeightfield	(	dSpaceID	space,
		dHeightfieldDataID	data,
		int	bPlaceable
	)

Creates a heightfield geom.

Uses the information in the given dHeightfieldDataID to construct a geom representing a heightfield in a collision space.

Parameters:

	space	The space to add the geom to.
	data	The dHeightfieldDataID created by dGeomHeightfieldDataCreate and setup by dGeomHeightfieldDataBuildCallback, dGeomHeightfieldDataBuildByte, dGeomHeightfieldDataBuildShort or dGeomHeightfieldDataBuildFloat.
	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.

Returns:

A geom id to reference this geom in other calls.

ODE_API void dGeomClearOffset

(

dGeomID

geom

)

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.

Parameters:

geom

the geom to have its offset destroyed.

ODE_API void dGeomCopyOffsetPosition	(	dGeomID	geom,
		dVector3	pos
	)

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.

Parameters:

	geom	the geom to query.
	pos	returns the offset position

ODE_API void dGeomCopyOffsetRotation	(	dGeomID	geom,
		dMatrix3	R
	)

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.

Parameters:

	geom	the geom to query.
	R	returns the rotation matrix.

ODE_API void dGeomCopyPosition	(	dGeomID	geom,
		dVector3	pos
	)

Copy the position of a geom into a vector.

Parameters:

	geom	the geom to query
	pos	a copy of the geom position

See also:

dGeomGetPosition

ODE_API void dGeomCopyRotation	(	dGeomID	geom,
		dMatrix3	R
	)

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.

Parameters:

	geom	the geom to query.
	R	a copy of the geom rotation

See also:

dGeomGetRotation

ODE_API void dGeomDestroy

(

dGeomID

geom

)

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.

Parameters:

geom

the geom to be destroyed.

ODE_API void dGeomDisable

(

dGeomID

geom

)

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.

Parameters:

geom

the geom to disable

See also:

dGeomDisable

dGeomIsEnabled

ODE_API void dGeomEnable

(

dGeomID

geom

)

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.

Parameters:

geom

the geom to enable

See also:

dGeomDisable

dGeomIsEnabled

ODE_API void dGeomGetAABB	(	dGeomID	geom,
		dReal	aabb[6]
	)

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.

Parameters:

	geom	the geom to query
	aabb	the returned bounding box

ODE_API dBodyID dGeomGetBody

(

dGeomID

geom

)

Get the body associated with a placeable geom.

Parameters:

geom

the geom to query.

See also:

dGeomSetBody

ODE_API unsigned long dGeomGetCategoryBits

(

dGeomID

)

Get the "category" bitfield for the given geom.

Parameters:

	geom	the geom to set
	bits	the new bitfield value

See also:

dGeomSetCategoryBits

ODE_API int dGeomGetClass

(

dGeomID

geom

)

Given a geom, this returns its class.

The ODE classes are:

• dSphereClass
• dBoxClass
• dCylinderClass
• dPlaneClass
• dRayClass
• dConvexClass
• dGeomTransformClass
• dTriMeshClass
• dSimpleSpaceClass
• dHashSpaceClass
• dQuadTreeSpaceClass
• dFirstUserClass
• dLastUserClass

User-defined class will return their own number.

Parameters:

geom

the geom to query

Returns:

The geom class ID.

ODE_API unsigned long dGeomGetCollideBits

(

dGeomID

)

Get the "collide" bitfield for the given geom.

Parameters:

	geom	the geom to set
	bits	the new bitfield value

See also:

dGeomSetCollideBits

ODE_API void* dGeomGetData

(

dGeomID

geom

)

Get the user-defined data pointer stored in the geom.

Parameters:

geom

the geom containing the data

ODE_API const dReal* dGeomGetOffsetPosition

(

dGeomID

geom

)

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.

Parameters:

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.

ODE_API void dGeomGetOffsetQuaternion	(	dGeomID	geom,
		dQuaternion	result
	)

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.

Parameters:

	geom	the geom to query.
	result	a copy of the rotation quaternion.

ODE_API const dReal* dGeomGetOffsetRotation

(

dGeomID

geom

)

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.

Parameters:

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.

ODE_API const dReal* dGeomGetPosition

(

dGeomID

geom

)

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.

Parameters:

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.

See also:

dBodyGetPosition

ODE_API void dGeomGetQuaternion	(	dGeomID	geom,
		dQuaternion	result
	)

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.

Parameters:

	geom	the geom to query.
	result	a copy of the rotation quaternion.

See also:

dBodyGetQuaternion

ODE_API const dReal* dGeomGetRotation

(

dGeomID

geom

)

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.

Parameters:

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.

See also:

dBodyGetRotation

ODE_API dSpaceID dGeomGetSpace

(

dGeomID

)

Query for the space containing a particular geom.

Parameters:

geom

the geom to query

Returns:

The space that contains the geom, or NULL if the geom is not contained by a space.

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
	)

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.

Parameters:

	d	A new dHeightfieldDataID created by dGeomHeightfieldDataCreate
	pHeightData	A pointer to the height data.
	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.
	width	Specifies the total 'width' of the heightfield along the geom's local x axis.
	depth	Specifies the total 'depth' of the heightfield along the geom's local z axis.
	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.
	depthSamples	Specifies the number of vertices to sample along the depth of the heightfield.
	scale	A uniform scale applied to all raw height data.
	offset	An offset applied to the scaled height data.
	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.
	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.

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
	)

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.

Parameters:

	d	A new dHeightfieldDataID created by dGeomHeightfieldDataCreate
	width	Specifies the total 'width' of the heightfield along the geom's local x axis.
	depth	Specifies the total 'depth' of the heightfield along the geom's local z axis.
	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.
	depthSamples	Specifies the number of vertices to sample along the depth of the heightfield.
	scale	A uniform scale applied to all raw height data.
	offset	An offset applied to the scaled height data.
	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.
	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.

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
	)

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.

Parameters:

	d	A new dHeightfieldDataID created by dGeomHeightfieldDataCreate
	pHeightData	A pointer to the height data.
	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.
	width	Specifies the total 'width' of the heightfield along the geom's local x axis.
	depth	Specifies the total 'depth' of the heightfield along the geom's local z axis.
	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.
	depthSamples	Specifies the number of vertices to sample along the depth of the heightfield.
	scale	A uniform scale applied to all raw height data.
	offset	An offset applied to the scaled height data.
	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.
	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.

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
	)

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.

Parameters:

	d	A new dHeightfieldDataID created by dGeomHeightfieldDataCreate
	pHeightData	A pointer to the height data.
	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.
	width	Specifies the total 'width' of the heightfield along the geom's local x axis.
	depth	Specifies the total 'depth' of the heightfield along the geom's local z axis.
	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.
	depthSamples	Specifies the number of vertices to sample along the depth of the heightfield.
	scale	A uniform scale applied to all raw height data.
	offset	An offset applied to the scaled height data.
	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.
	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.

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
	)

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.

Parameters:

	d	A new dHeightfieldDataID created by dGeomHeightfieldDataCreate
	pHeightData	A pointer to the height data.
	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.
	width	Specifies the total 'width' of the heightfield along the geom's local x axis.
	depth	Specifies the total 'depth' of the heightfield along the geom's local z axis.
	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.
	depthSamples	Specifies the number of vertices to sample along the depth of the heightfield.
	scale	A uniform scale applied to all raw height data.
	offset	An offset applied to the scaled height data.
	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.
	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.

ODE_API dHeightfieldDataID dGeomHeightfieldDataCreate

(

void

)

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.

Returns:

A dHeightfieldDataID for use with dGeomHeightfieldDataBuildCallback, dGeomHeightfieldDataBuildByte, dGeomHeightfieldDataBuildShort or dGeomHeightfieldDataBuildFloat.

ODE_API void dGeomHeightfieldDataDestroy

(

dHeightfieldDataID

d

)

Destroys a dHeightfieldDataID.

Deallocates a given dHeightfieldDataID and all managed resources.

Parameters:

d

A dHeightfieldDataID created by dGeomHeightfieldDataCreate

ODE_API void dGeomHeightfieldDataSetBounds	(	dHeightfieldDataID	d,
		dReal	minHeight,
		dReal	maxHeight
	)

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.

Parameters:

	d	A dHeightfieldDataID created by dGeomHeightfieldDataCreate
	min_height	The new minimum height value. Scale, offset and thickness is then applied.
	max_height	The new maximum height value. Scale and offset is then applied.

ODE_API dHeightfieldDataID dGeomHeightfieldGetHeightfieldData

(

dGeomID

g

)

Gets the dHeightfieldDataID bound to a heightfield geom.

Returns the dHeightfieldDataID associated with a heightfield geom.

Parameters:

g

A geom created by dCreateHeightfield

Returns:

The dHeightfieldDataID which may be NULL if none was assigned.

ODE_API void dGeomHeightfieldSetHeightfieldData	(	dGeomID	g,
		dHeightfieldDataID	d
	)

Assigns a dHeightfieldDataID to a heightfield geom.

Associates the given dHeightfieldDataID with a heightfield geom. This is done without affecting the GEOM_PLACEABLE flag.

Parameters:

	g	A geom created by dCreateHeightfield
	d	A dHeightfieldDataID created by dGeomHeightfieldDataCreate

ODE_API int dGeomIsEnabled

(

dGeomID

geom

)

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.

Parameters:

geom

the geom to query

Returns:

Non-zero if the geom is enabled, zero otherwise.

See also:

dGeomDisable

dGeomIsEnabled

ODE_API int dGeomIsOffset

(

dGeomID

geom

)

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.

Parameters:

geom

the geom to query.

Returns:

Non-zero if the geom has an offset, zero otherwise.

ODE_API int dGeomIsSpace

(

dGeomID

geom

)

Determing if a geom is a space.

Parameters:

geom

the geom to query

Returns:

Non-zero if the geom is a space, zero otherwise.

ODE_API void dGeomSetBody	(	dGeomID	geom,
		dBodyID	body
	)

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.

Parameters:

	geom	the geom to connect
	body	the body to attach to the geom

ODE_API void dGeomSetCategoryBits	(	dGeomID	geom,
		unsigned long	bits
	)

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.

Parameters:

	geom	the geom to set
	bits	the new bitfield value

ODE_API void dGeomSetCollideBits	(	dGeomID	geom,
		unsigned long	bits
	)

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.

Parameters:

	geom	the geom to set
	bits	the new bitfield value

ODE_API void dGeomSetData	(	dGeomID	geom,
		void *	data
	)

Set the user-defined data pointer stored in the geom.

Parameters:

	geom	the geom to hold the data
	data	the data pointer to be stored

ODE_API void dGeomSetOffsetPosition	(	dGeomID	geom,
		dReal	x,
		dReal	y,
		dReal	z
	)

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.

Parameters:

	geom	the geom to set.
	x	the new X coordinate.
	y	the new Y coordinate.
	z	the new Z coordinate.

ODE_API void dGeomSetOffsetQuaternion	(	dGeomID	geom,
		const dQuaternion	Q
	)

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.

Parameters:

	geom	the geom to set.
	Q	the new rotation.

ODE_API void dGeomSetOffsetRotation	(	dGeomID	geom,
		const dMatrix3	R
	)

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.

Parameters:

	geom	the geom to set.
	R	the new rotation matrix.

ODE_API void dGeomSetOffsetWorldPosition	(	dGeomID	geom,
		dReal	x,
		dReal	y,
		dReal	z
	)

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.

Parameters:

	geom	the geom to set.
	x	the new X coordinate.
	y	the new Y coordinate.
	z	the new Z coordinate.

ODE_API void dGeomSetOffsetWorldQuaternion	(	dGeomID	geom,
		const	dQuaternion
	)

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.

Parameters:

	geom	the geom to set.
	Q	the new rotation.

ODE_API void dGeomSetOffsetWorldRotation	(	dGeomID	geom,
		const dMatrix3	R
	)

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.

Parameters:

	geom	the geom to set.
	R	the new rotation matrix.

ODE_API void dGeomSetPosition	(	dGeomID	geom,
		dReal	x,
		dReal	y,
		dReal	z
	)

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.

Parameters:

	geom	the geom to set.
	x	the new X coordinate.
	y	the new Y coordinate.
	z	the new Z coordinate.

See also:

dBodySetPosition

ODE_API void dGeomSetQuaternion	(	dGeomID	geom,
		const dQuaternion	Q
	)

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.

Parameters:

	geom	the geom to set.
	Q	the new rotation.

See also:

dBodySetQuaternion

ODE_API void dGeomSetRotation	(	dGeomID	geom,
		const dMatrix3	R
	)

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.

Parameters:

	geom	the geom to set.
	R	the new rotation matrix.

See also:

dBodySetRotation

ODE_API void dSetColliderOverride	(	int	i,
		int	j,
		dColliderFn *	fn
	)

Sets a custom collider function for two geom classes.

Parameters:

	i	The first geom class handled by this collider
	j	The second geom class handled by this collider
	fn	The collider function to use to determine collisions.

ODE_API void dSpaceCollide	(	dSpaceID	space,
		void *	data,
		dNearCallback *	callback
	)

Determines which pairs of geoms in a space may potentially intersect, and calls the callback function for each candidate pair.

Parameters:

	space	The space to test.
	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.
	callback	A callback function is of type 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.

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.

See also:

dSpaceCollide2

ODE_API void dSpaceCollide2	(	dGeomID	space1,
		dGeomID	space2,
		void *	data,
		dNearCallback *	callback
	)

Determines which geoms from one space may potentially intersect with geoms from another space, and calls the callback function for each candidate pair.

Parameters:

	space1	The first space to test.
	space2	The second space to test.
	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.
	callback	A callback function is of type 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.

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.

Sublevel value of space affects how the spaces are iterated. Both spaces are recursed only if their sublevels match. Otherwise, only the space with greater sublevel is recursed and the one with lesser sublevel is used as a geom itself.

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.

See also:

dSpaceCollide

dSpaceSetSublevel

ODE_API int dSpaceGetClass

(

dSpaceID

space

)

Given a space, this returns its class.

The ODE classes are:

• dSimpleSpaceClass
• dHashSpaceClass
• dSweepAndPruneSpaceClass
• dQuadTreeSpaceClass
• dFirstUserClass
• dLastUserClass

The class id not defined by the user should be between dFirstSpaceClass and dLastSpaceClass.

User-defined class will return their own number.

Parameters:

space

the space to query

Returns:

The space class ID.

ODE_API int dSpaceGetSublevel

(

dSpaceID

space

)

Gets sublevel value of a space.

Sublevel affects how the space is handled in dSpaceCollide2 when it is collided with another space. See dSpaceSetSublevel for more details.

Parameters:

space

the space to query

Returns:

the sublevel value of the space

See also:

dSpaceSetSublevel

dSpaceCollide2

ODE_API void dSpaceSetSublevel	(	dSpaceID	space,
		int	sublevel
	)

Sets sublevel value for a space.

Sublevel affects how the space is handled in dSpaceCollide2 when it is collided with another space. If sublevels of both spaces match, the function iterates geometries of both spaces and collides them with each other. If sublevel of one space is greater than the sublevel of another one, only the geometries of the space with greater sublevel are iterated, another space is passed into collision callback as a geometry itself. By default all the spaces are assigned zero sublevel.

Note:

The space sublevel IS NOT automatically updated when one space is inserted into another or removed from one. It is a client's responsibility to update sublevel value if necessary.

Parameters:

	space	the space to modify
	sublevel	the sublevel value to be assigned

See also:

dSpaceGetSublevel

dSpaceCollide2