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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 #ifdef __cplusplus
00031 extern "C" {
00032 #endif
00033
00049
00050
00051
00065 ODE_API void dGeomDestroy (dGeomID geom);
00066
00067
00075 ODE_API void dGeomSetData (dGeomID geom, void* data);
00076
00077
00084 ODE_API void *dGeomGetData (dGeomID geom);
00085
00086
00105 ODE_API void dGeomSetBody (dGeomID geom, dBodyID body);
00106
00107
00114 ODE_API dBodyID dGeomGetBody (dGeomID geom);
00115
00116
00131 ODE_API void dGeomSetPosition (dGeomID geom, dReal x, dReal y, dReal z);
00132
00133
00146 ODE_API void dGeomSetRotation (dGeomID geom, const dMatrix3 R);
00147
00148
00162 ODE_API void dGeomSetQuaternion (dGeomID geom, const dQuaternion Q);
00163
00164
00181 ODE_API const dReal * dGeomGetPosition (dGeomID geom);
00182
00183
00191 ODE_API void dGeomCopyPosition (dGeomID geom, dVector3 pos);
00192
00193
00210 ODE_API const dReal * dGeomGetRotation (dGeomID geom);
00211
00212
00226 ODE_API void dGeomCopyRotation(dGeomID geom, dMatrix3 R);
00227
00228
00242 ODE_API void dGeomGetQuaternion (dGeomID geom, dQuaternion result);
00243
00244
00261 ODE_API void dGeomGetAABB (dGeomID geom, dReal aabb[6]);
00262
00263
00270 ODE_API int dGeomIsSpace (dGeomID geom);
00271
00272
00280 ODE_API dSpaceID dGeomGetSpace (dGeomID);
00281
00282
00307 ODE_API int dGeomGetClass (dGeomID geom);
00308
00309
00322 ODE_API void dGeomSetCategoryBits (dGeomID geom, unsigned long bits);
00323
00324
00337 ODE_API void dGeomSetCollideBits (dGeomID geom, unsigned long bits);
00338
00339
00348 ODE_API unsigned long dGeomGetCategoryBits (dGeomID);
00349
00350
00359 ODE_API unsigned long dGeomGetCollideBits (dGeomID);
00360
00361
00374 ODE_API void dGeomEnable (dGeomID geom);
00375
00376
00389 ODE_API void dGeomDisable (dGeomID geom);
00390
00391
00405 ODE_API int dGeomIsEnabled (dGeomID geom);
00406
00407
00408
00409
00425 ODE_API void dGeomSetOffsetPosition (dGeomID geom, dReal x, dReal y, dReal z);
00426
00427
00441 ODE_API void dGeomSetOffsetRotation (dGeomID geom, const dMatrix3 R);
00442
00443
00457 ODE_API void dGeomSetOffsetQuaternion (dGeomID geom, const dQuaternion Q);
00458
00459
00476 ODE_API void dGeomSetOffsetWorldPosition (dGeomID geom, dReal x, dReal y, dReal z);
00477
00478
00493 ODE_API void dGeomSetOffsetWorldRotation (dGeomID geom, const dMatrix3 R);
00494
00495
00510 ODE_API void dGeomSetOffsetWorldQuaternion (dGeomID geom, const dQuaternion);
00511
00512
00526 ODE_API void dGeomClearOffset(dGeomID geom);
00527
00528
00544 ODE_API int dGeomIsOffset(dGeomID geom);
00545
00546
00560 ODE_API const dReal * dGeomGetOffsetPosition (dGeomID geom);
00561
00562
00573 ODE_API void dGeomCopyOffsetPosition (dGeomID geom, dVector3 pos);
00574
00575
00590 ODE_API const dReal * dGeomGetOffsetRotation (dGeomID geom);
00591
00592
00604 ODE_API void dGeomCopyOffsetRotation (dGeomID geom, dMatrix3 R);
00605
00606
00617 ODE_API void dGeomGetOffsetQuaternion (dGeomID geom, dQuaternion result);
00618
00619
00620
00621
00622
00668 ODE_API int dCollide (dGeomID o1, dGeomID o2, int flags, dContactGeom *contact,
00669 int skip);
00670
00698 ODE_API void dSpaceCollide (dSpaceID space, void *data, dNearCallback *callback);
00699
00700
00735 ODE_API void dSpaceCollide2 (dGeomID space1, dGeomID space2, void *data, dNearCallback *callback);
00736
00737
00738
00739
00740
00741
00742 enum {
00743 dMaxUserClasses = 4
00744 };
00745
00746
00747 enum {
00748 dSphereClass = 0,
00749 dBoxClass,
00750 dCapsuleClass,
00751 dCylinderClass,
00752 dPlaneClass,
00753 dRayClass,
00754 dConvexClass,
00755 dGeomTransformClass,
00756 dTriMeshClass,
00757 dHeightfieldClass,
00758
00759 dFirstSpaceClass,
00760 dSimpleSpaceClass = dFirstSpaceClass,
00761 dHashSpaceClass,
00762 dQuadTreeSpaceClass,
00763 dLastSpaceClass = dQuadTreeSpaceClass,
00764
00765 dFirstUserClass,
00766 dLastUserClass = dFirstUserClass + dMaxUserClasses - 1,
00767 dGeomNumClasses
00768 };
00769
00770
00790 ODE_API dGeomID dCreateSphere (dSpaceID space, dReal radius);
00791
00792
00802 ODE_API void dGeomSphereSetRadius (dGeomID sphere, dReal radius);
00803
00804
00813 ODE_API dReal dGeomSphereGetRadius (dGeomID sphere);
00814
00815
00830 ODE_API dReal dGeomSpherePointDepth (dGeomID sphere, dReal x, dReal y, dReal z);
00831
00832
00833
00834 ODE_API dGeomID dCreateConvex (dSpaceID space,
00835 dReal *_planes,
00836 unsigned int _planecount,
00837 dReal *_points,
00838 unsigned int _pointcount,unsigned int *_polygons);
00839
00840 ODE_API void dGeomSetConvex (dGeomID g,
00841 dReal *_planes,
00842 unsigned int _count,
00843 dReal *_points,
00844 unsigned int _pointcount,unsigned int *_polygons);
00845
00846
00868 ODE_API dGeomID dCreateBox (dSpaceID space, dReal lx, dReal ly, dReal lz);
00869
00870
00882 ODE_API void dGeomBoxSetLengths (dGeomID box, dReal lx, dReal ly, dReal lz);
00883
00884
00894 ODE_API void dGeomBoxGetLengths (dGeomID box, dVector3 result);
00895
00896
00909 ODE_API dReal dGeomBoxPointDepth (dGeomID box, dReal x, dReal y, dReal z);
00910
00911
00912 ODE_API dGeomID dCreatePlane (dSpaceID space, dReal a, dReal b, dReal c, dReal d);
00913 ODE_API void dGeomPlaneSetParams (dGeomID plane, dReal a, dReal b, dReal c, dReal d);
00914 ODE_API void dGeomPlaneGetParams (dGeomID plane, dVector4 result);
00915 ODE_API dReal dGeomPlanePointDepth (dGeomID plane, dReal x, dReal y, dReal z);
00916
00917 ODE_API dGeomID dCreateCapsule (dSpaceID space, dReal radius, dReal length);
00918 ODE_API void dGeomCapsuleSetParams (dGeomID ccylinder, dReal radius, dReal length);
00919 ODE_API void dGeomCapsuleGetParams (dGeomID ccylinder, dReal *radius, dReal *length);
00920 ODE_API dReal dGeomCapsulePointDepth (dGeomID ccylinder, dReal x, dReal y, dReal z);
00921
00922
00923 #define dCreateCCylinder dCreateCapsule
00924 #define dGeomCCylinderSetParams dGeomCapsuleSetParams
00925 #define dGeomCCylinderGetParams dGeomCapsuleGetParams
00926 #define dGeomCCylinderPointDepth dGeomCapsulePointDepth
00927 #define dCCylinderClass dCapsuleClass
00928
00929 ODE_API dGeomID dCreateCylinder (dSpaceID space, dReal radius, dReal length);
00930 ODE_API void dGeomCylinderSetParams (dGeomID cylinder, dReal radius, dReal length);
00931 ODE_API void dGeomCylinderGetParams (dGeomID cylinder, dReal *radius, dReal *length);
00932
00933 ODE_API dGeomID dCreateRay (dSpaceID space, dReal length);
00934 ODE_API void dGeomRaySetLength (dGeomID ray, dReal length);
00935 ODE_API dReal dGeomRayGetLength (dGeomID ray);
00936 ODE_API void dGeomRaySet (dGeomID ray, dReal px, dReal py, dReal pz,
00937 dReal dx, dReal dy, dReal dz);
00938 ODE_API void dGeomRayGet (dGeomID ray, dVector3 start, dVector3 dir);
00939
00940
00941
00942
00943
00944
00945 ODE_API void dGeomRaySetParams (dGeomID g, int FirstContact, int BackfaceCull);
00946 ODE_API void dGeomRayGetParams (dGeomID g, int *FirstContact, int *BackfaceCull);
00947 ODE_API void dGeomRaySetClosestHit (dGeomID g, int closestHit);
00948 ODE_API int dGeomRayGetClosestHit (dGeomID g);
00949
00950 #include "collision_trimesh.h"
00951
00952 ODE_API dGeomID dCreateGeomTransform (dSpaceID space);
00953 ODE_API void dGeomTransformSetGeom (dGeomID g, dGeomID obj);
00954 ODE_API dGeomID dGeomTransformGetGeom (dGeomID g);
00955 ODE_API void dGeomTransformSetCleanup (dGeomID g, int mode);
00956 ODE_API int dGeomTransformGetCleanup (dGeomID g);
00957 ODE_API void dGeomTransformSetInfo (dGeomID g, int mode);
00958 ODE_API int dGeomTransformGetInfo (dGeomID g);
00959
00960
00961
00962
00963
00964
00965
00966 struct dxHeightfieldData;
00967 typedef struct dxHeightfieldData* dHeightfieldDataID;
00968
00969
00987 typedef dReal dHeightfieldGetHeight( void* p_user_data, int x, int z );
00988
00989
00990
01010 ODE_API dGeomID dCreateHeightfield( dSpaceID space,
01011 dHeightfieldDataID data, int bPlaceable );
01012
01013
01026 ODE_API dHeightfieldDataID dGeomHeightfieldDataCreate();
01027
01028
01037 ODE_API void dGeomHeightfieldDataDestroy( dHeightfieldDataID d );
01038
01039
01040
01081 ODE_API void dGeomHeightfieldDataBuildCallback( dHeightfieldDataID d,
01082 void* pUserData, dHeightfieldGetHeight* pCallback,
01083 dReal width, dReal depth, int widthSamples, int depthSamples,
01084 dReal scale, dReal offset, dReal thickness, int bWrap );
01085
01129 ODE_API void dGeomHeightfieldDataBuildByte( dHeightfieldDataID d,
01130 const unsigned char* pHeightData, int bCopyHeightData,
01131 dReal width, dReal depth, int widthSamples, int depthSamples,
01132 dReal scale, dReal offset, dReal thickness, int bWrap );
01133
01177 ODE_API void dGeomHeightfieldDataBuildShort( dHeightfieldDataID d,
01178 const short* pHeightData, int bCopyHeightData,
01179 dReal width, dReal depth, int widthSamples, int depthSamples,
01180 dReal scale, dReal offset, dReal thickness, int bWrap );
01181
01227 ODE_API void dGeomHeightfieldDataBuildSingle( dHeightfieldDataID d,
01228 const float* pHeightData, int bCopyHeightData,
01229 dReal width, dReal depth, int widthSamples, int depthSamples,
01230 dReal scale, dReal offset, dReal thickness, int bWrap );
01231
01277 ODE_API void dGeomHeightfieldDataBuildDouble( dHeightfieldDataID d,
01278 const double* pHeightData, int bCopyHeightData,
01279 dReal width, dReal depth, int widthSamples, int depthSamples,
01280 dReal scale, dReal offset, dReal thickness, int bWrap );
01281
01299 ODE_API void dGeomHeightfieldDataSetBounds( dHeightfieldDataID d,
01300 dReal minHeight, dReal maxHeight );
01301
01302
01313 ODE_API void dGeomHeightfieldSetHeightfieldData( dGeomID g, dHeightfieldDataID d );
01314
01315
01325 ODE_API dHeightfieldDataID dGeomHeightfieldGetHeightfieldData( dGeomID g );
01326
01327
01328
01329
01330
01331
01332 ODE_API void dClosestLineSegmentPoints (const dVector3 a1, const dVector3 a2,
01333 const dVector3 b1, const dVector3 b2,
01334 dVector3 cp1, dVector3 cp2);
01335
01336 ODE_API int dBoxTouchesBox (const dVector3 _p1, const dMatrix3 R1,
01337 const dVector3 side1, const dVector3 _p2,
01338 const dMatrix3 R2, const dVector3 side2);
01339
01340 ODE_API int dBoxBox (const dVector3 p1, const dMatrix3 R1,
01341 const dVector3 side1, const dVector3 p2,
01342 const dMatrix3 R2, const dVector3 side2,
01343 dVector3 normal, dReal *depth, int *return_code,
01344 int maxc, dContactGeom *contact, int skip);
01345
01346 ODE_API void dInfiniteAABB (dGeomID geom, dReal aabb[6]);
01347 ODE_API void dInitODE(void);
01348 ODE_API void dCloseODE(void);
01349
01350
01351
01352
01353 typedef void dGetAABBFn (dGeomID, dReal aabb[6]);
01354 typedef int dColliderFn (dGeomID o1, dGeomID o2,
01355 int flags, dContactGeom *contact, int skip);
01356 typedef dColliderFn * dGetColliderFnFn (int num);
01357 typedef void dGeomDtorFn (dGeomID o);
01358 typedef int dAABBTestFn (dGeomID o1, dGeomID o2, dReal aabb[6]);
01359
01360 typedef struct dGeomClass {
01361 int bytes;
01362 dGetColliderFnFn *collider;
01363 dGetAABBFn *aabb;
01364 dAABBTestFn *aabb_test;
01365 dGeomDtorFn *dtor;
01366 } dGeomClass;
01367
01368 ODE_API int dCreateGeomClass (const dGeomClass *classptr);
01369 ODE_API void * dGeomGetClassData (dGeomID);
01370 ODE_API dGeomID dCreateGeom (int classnum);
01371
01372
01373
01374 #ifdef __cplusplus
01375 }
01376 #endif
01377
01378 #endif