GUD improvements
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KeyboardCombination
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src/include/ode/collision.h
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189
src/include/ode/collision.h
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/*************************************************************************
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* *
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* Open Dynamics Engine, Copyright (C) 2001-2003 Russell L. Smith. *
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* All rights reserved. Email: russ@q12.org Web: www.q12.org *
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* *
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* This library is free software; you can redistribute it and/or *
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* modify it under the terms of EITHER: *
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* (1) The GNU Lesser General Public License as published by the Free *
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* Software Foundation; either version 2.1 of the License, or (at *
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* your option) any later version. The text of the GNU Lesser *
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* General Public License is included with this library in the *
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* file LICENSE.TXT. *
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* (2) The BSD-style license that is included with this library in *
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* the file LICENSE-BSD.TXT. *
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* *
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* This library is distributed in the hope that it will be useful, *
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* but WITHOUT ANY WARRANTY; without even the implied warranty of *
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the files *
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* LICENSE.TXT and LICENSE-BSD.TXT for more details. *
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* *
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*************************************************************************/
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#ifndef _ODE_COLLISION_H_
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#define _ODE_COLLISION_H_
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#include <ode/common.h>
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#include <ode/collision_space.h>
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#include <ode/contact.h>
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#ifdef __cplusplus
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extern "C" {
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#endif
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/* ************************************************************************ */
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/* general functions */
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void dGeomDestroy (dGeomID);
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void dGeomSetData (dGeomID, void *);
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void *dGeomGetData (dGeomID);
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void dGeomSetBody (dGeomID, dBodyID);
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dBodyID dGeomGetBody (dGeomID);
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void dGeomSetPosition (dGeomID, dReal x, dReal y, dReal z);
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void dGeomSetRotation (dGeomID, const dMatrix3 R);
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void dGeomSetQuaternion (dGeomID, const dQuaternion);
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const dReal * dGeomGetPosition (dGeomID);
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const dReal * dGeomGetRotation (dGeomID);
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void dGeomGetQuaternion (dGeomID, dQuaternion result);
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void dGeomGetAABB (dGeomID, dReal aabb[6]);
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int dGeomIsSpace (dGeomID);
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dSpaceID dGeomGetSpace (dGeomID);
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int dGeomGetClass (dGeomID);
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void dGeomSetCategoryBits (dGeomID, unsigned long bits);
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void dGeomSetCollideBits (dGeomID, unsigned long bits);
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unsigned long dGeomGetCategoryBits (dGeomID);
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unsigned long dGeomGetCollideBits (dGeomID);
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void dGeomEnable (dGeomID);
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void dGeomDisable (dGeomID);
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int dGeomIsEnabled (dGeomID);
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/* ************************************************************************ */
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/* collision detection */
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int dCollide (dGeomID o1, dGeomID o2, int flags, dContactGeom *contact,
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int skip);
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void dSpaceCollide (dSpaceID space, void *data, dNearCallback *callback);
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void dSpaceCollide2 (dGeomID o1, dGeomID o2, void *data,
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dNearCallback *callback);
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/* ************************************************************************ */
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/* standard classes */
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/* the maximum number of user classes that are supported */
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enum {
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dMaxUserClasses = 4
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};
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/* class numbers - each geometry object needs a unique number */
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enum {
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dSphereClass = 0,
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dBoxClass,
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dCCylinderClass,
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dCylinderClass,
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dPlaneClass,
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dRayClass,
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dGeomTransformClass,
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dTriMeshClass,
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dFirstSpaceClass,
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dSimpleSpaceClass = dFirstSpaceClass,
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dHashSpaceClass,
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dQuadTreeSpaceClass,
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dLastSpaceClass = dQuadTreeSpaceClass,
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dFirstUserClass,
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dLastUserClass = dFirstUserClass + dMaxUserClasses - 1,
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dGeomNumClasses
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};
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dGeomID dCreateSphere (dSpaceID space, dReal radius);
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void dGeomSphereSetRadius (dGeomID sphere, dReal radius);
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dReal dGeomSphereGetRadius (dGeomID sphere);
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dReal dGeomSpherePointDepth (dGeomID sphere, dReal x, dReal y, dReal z);
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dGeomID dCreateBox (dSpaceID space, dReal lx, dReal ly, dReal lz);
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void dGeomBoxSetLengths (dGeomID box, dReal lx, dReal ly, dReal lz);
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void dGeomBoxGetLengths (dGeomID box, dVector3 result);
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dReal dGeomBoxPointDepth (dGeomID box, dReal x, dReal y, dReal z);
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dGeomID dCreatePlane (dSpaceID space, dReal a, dReal b, dReal c, dReal d);
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void dGeomPlaneSetParams (dGeomID plane, dReal a, dReal b, dReal c, dReal d);
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void dGeomPlaneGetParams (dGeomID plane, dVector4 result);
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dReal dGeomPlanePointDepth (dGeomID plane, dReal x, dReal y, dReal z);
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dGeomID dCreateCCylinder (dSpaceID space, dReal radius, dReal length);
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void dGeomCCylinderSetParams (dGeomID ccylinder, dReal radius, dReal length);
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void dGeomCCylinderGetParams (dGeomID ccylinder, dReal *radius, dReal *length);
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dReal dGeomCCylinderPointDepth (dGeomID ccylinder, dReal x, dReal y, dReal z);
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dGeomID dCreateRay (dSpaceID space, dReal length);
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void dGeomRaySetLength (dGeomID ray, dReal length);
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dReal dGeomRayGetLength (dGeomID ray);
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void dGeomRaySet (dGeomID ray, dReal px, dReal py, dReal pz,
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dReal dx, dReal dy, dReal dz);
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void dGeomRayGet (dGeomID ray, dVector3 start, dVector3 dir);
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/*
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* Set/get ray flags that influence ray collision detection.
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* These flags are currently only noticed by the trimesh collider, because
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* they can make a major differences there.
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*/
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void dGeomRaySetParams (dGeomID g, int FirstContact, int BackfaceCull);
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void dGeomRayGetParams (dGeomID g, int *FirstContact, int *BackfaceCull);
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void dGeomRaySetClosestHit (dGeomID g, int closestHit);
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int dGeomRayGetClosestHit (dGeomID g);
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#include "collision_trimesh.h"
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dGeomID dCreateGeomTransform (dSpaceID space);
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void dGeomTransformSetGeom (dGeomID g, dGeomID obj);
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dGeomID dGeomTransformGetGeom (dGeomID g);
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void dGeomTransformSetCleanup (dGeomID g, int mode);
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int dGeomTransformGetCleanup (dGeomID g);
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void dGeomTransformSetInfo (dGeomID g, int mode);
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int dGeomTransformGetInfo (dGeomID g);
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/* ************************************************************************ */
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/* utility functions */
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void dClosestLineSegmentPoints (const dVector3 a1, const dVector3 a2,
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const dVector3 b1, const dVector3 b2,
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dVector3 cp1, dVector3 cp2);
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int dBoxTouchesBox (const dVector3 _p1, const dMatrix3 R1,
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const dVector3 side1, const dVector3 _p2,
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const dMatrix3 R2, const dVector3 side2);
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void dInfiniteAABB (dGeomID geom, dReal aabb[6]);
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void dCloseODE();
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/* ************************************************************************ */
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/* custom classes */
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typedef void dGetAABBFn (dGeomID, dReal aabb[6]);
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typedef int dColliderFn (dGeomID o1, dGeomID o2,
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int flags, dContactGeom *contact, int skip);
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typedef dColliderFn * dGetColliderFnFn (int num);
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typedef void dGeomDtorFn (dGeomID o);
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typedef int dAABBTestFn (dGeomID o1, dGeomID o2, dReal aabb[6]);
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typedef struct dGeomClass {
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int bytes;
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dGetColliderFnFn *collider;
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dGetAABBFn *aabb;
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dAABBTestFn *aabb_test;
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dGeomDtorFn *dtor;
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} dGeomClass;
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int dCreateGeomClass (const dGeomClass *classptr);
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void * dGeomGetClassData (dGeomID);
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dGeomID dCreateGeom (int classnum);
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/* ************************************************************************ */
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#ifdef __cplusplus
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}
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#endif
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#endif
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