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# collision.h

    00001 /*************************************************************************
    00002  *                                                                       *
    00003  * Open Dynamics Engine, Copyright (C) 2001-2003 Russell L. Smith.       *
    00004  * All rights reserved.  Email: russ@q12.org   Web: www.q12.org          *
    00005  *                                                                       *
    00006  * This library is free software; you can redistribute it and/or         *
    00007  * modify it under the terms of EITHER:                                  *
    00008  *   (1) The GNU Lesser General Public License as published by the Free  *
    00009  *       Software Foundation; either version 2.1 of the License, or (at  *
    00010  *       your option) any later version. The text of the GNU Lesser      *
    00011  *       General Public License is included with this library in the     *
    00012  *       file LICENSE.TXT.                                               *
    00013  *   (2) The BSD-style license that is included with this library in     *
    00014  *       the file LICENSE-BSD.TXT.                                       *
    00015  *                                                                       *
    00016  * This library is distributed in the hope that it will be useful,       *
    00017  * but WITHOUT ANY WARRANTY; without even the implied warranty of        *
    00018  * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the files    *
    00019  * LICENSE.TXT and LICENSE-BSD.TXT for more details.                     *
    00020  *                                                                       *
    00021  *************************************************************************/
    00022
    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 /* general functions */
    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
    00200 ODE_API const dReal * dGeomGetRotation (dGeomID geom);
    00201
    00202
    00216 ODE_API void dGeomGetQuaternion (dGeomID geom, dQuaternion result);
    00217
    00218
    00235 ODE_API void dGeomGetAABB (dGeomID geom, dReal aabb[6]);
    00236
    00237
    00244 ODE_API int dGeomIsSpace (dGeomID geom);
    00245
    00246
    00254 ODE_API dSpaceID dGeomGetSpace (dGeomID);
    00255
    00256
    00281 ODE_API int dGeomGetClass (dGeomID geom);
    00282
    00283
    00296 ODE_API void dGeomSetCategoryBits (dGeomID geom, unsigned long bits);
    00297
    00298
    00311 ODE_API void dGeomSetCollideBits (dGeomID geom, unsigned long bits);
    00312
    00313
    00322 ODE_API unsigned long dGeomGetCategoryBits (dGeomID);
    00323
    00324
    00333 ODE_API unsigned long dGeomGetCollideBits (dGeomID);
    00334
    00335
    00348 ODE_API void dGeomEnable (dGeomID geom);
    00349
    00350
    00363 ODE_API void dGeomDisable (dGeomID geom);
    00364
    00365
    00379 ODE_API int dGeomIsEnabled (dGeomID geom);
    00380
    00381 /* ************************************************************************ */
    00382 /* geom offset from body */
    00383
    00399 ODE_API void dGeomSetOffsetPosition (dGeomID geom, dReal x, dReal y, dReal z);
    00400
    00401
    00415 ODE_API void dGeomSetOffsetRotation (dGeomID geom, const dMatrix3 R);
    00416
    00417
    00431 ODE_API void dGeomSetOffsetQuaternion (dGeomID geom, const dQuaternion Q);
    00432
    00433
    00450 ODE_API void dGeomSetOffsetWorldPosition (dGeomID geom, dReal x, dReal y, dReal z);
    00451
    00452
    00467 ODE_API void dGeomSetOffsetWorldRotation (dGeomID geom, const dMatrix3 R);
    00468
    00469
    00484 ODE_API void dGeomSetOffsetWorldQuaternion (dGeomID geom, const dQuaternion);
    00485
    00486
    00500 ODE_API void dGeomClearOffset(dGeomID geom);
    00501
    00502
    00518 ODE_API int dGeomIsOffset(dGeomID geom);
    00519
    00520
    00534 ODE_API const dReal * dGeomGetOffsetPosition (dGeomID geom);
    00535
    00536
    00550 ODE_API const dReal * dGeomGetOffsetRotation (dGeomID geom);
    00551
    00552
    00563 ODE_API void dGeomGetOffsetQuaternion (dGeomID geom, dQuaternion result);
    00564
    00565 /* ************************************************************************ */
    00566 /* collision detection */
    00567
    00568 ODE_API int dCollide (dGeomID o1, dGeomID o2, int flags, dContactGeom *contact,
    00569          int skip);
    00570 ODE_API void dSpaceCollide (dSpaceID space, void *data, dNearCallback *callback);
    00571 ODE_API void dSpaceCollide2 (dGeomID o1, dGeomID o2, void *data,
    00572            dNearCallback *callback);
    00573
    00574 /* ************************************************************************ */
    00575 /* standard classes */
    00576
    00577 /* the maximum number of user classes that are supported */
    00578 enum {
    00579   dMaxUserClasses = 4
    00580 };
    00581
    00582 /* class numbers - each geometry object needs a unique number */
    00583 enum {
    00584   dSphereClass = 0,
    00585   dBoxClass,
    00586   dCapsuleClass,
    00587   dCylinderClass,
    00588   dPlaneClass,
    00589   dRayClass,
    00590   dConvexClass,
    00591   dGeomTransformClass,
    00592   dTriMeshClass,
    00593
    00594   dFirstSpaceClass,
    00595   dSimpleSpaceClass = dFirstSpaceClass,
    00596   dHashSpaceClass,
    00597   dQuadTreeSpaceClass,
    00598   dLastSpaceClass = dQuadTreeSpaceClass,
    00599
    00600   dFirstUserClass,
    00601   dLastUserClass = dFirstUserClass + dMaxUserClasses - 1,
    00602   dGeomNumClasses
    00603 };
    00604
    00605
    00606 ODE_API dGeomID dCreateSphere (dSpaceID space, dReal radius);
    00607 ODE_API void dGeomSphereSetRadius (dGeomID sphere, dReal radius);
    00608 ODE_API dReal dGeomSphereGetRadius (dGeomID sphere);
    00609 ODE_API dReal dGeomSpherePointDepth (dGeomID sphere, dReal x, dReal y, dReal z);
    00610
    00611 //--> Convex Functions
    00612 ODE_API dGeomID dCreateConvex (dSpaceID space,
    00613                 dReal *_planes,
    00614                 unsigned int _planecount,
    00615                 dReal *_points,
    00616                 unsigned int _pointcount,unsigned int *_polygons);
    00617
    00618 ODE_API void dGeomSetConvex (dGeomID g,
    00619               dReal *_planes,
    00620               unsigned int _count,
    00621               dReal *_points,
    00622               unsigned int _pointcount,unsigned int *_polygons);
    00623 //<-- Convex Functions
    00624
    00625 ODE_API dGeomID dCreateBox (dSpaceID space, dReal lx, dReal ly, dReal lz);
    00626 ODE_API void dGeomBoxSetLengths (dGeomID box, dReal lx, dReal ly, dReal lz);
    00627 ODE_API void dGeomBoxGetLengths (dGeomID box, dVector3 result);
    00628 ODE_API dReal dGeomBoxPointDepth (dGeomID box, dReal x, dReal y, dReal z);
    00629
    00630 ODE_API dGeomID dCreatePlane (dSpaceID space, dReal a, dReal b, dReal c, dReal d);
    00631 ODE_API void dGeomPlaneSetParams (dGeomID plane, dReal a, dReal b, dReal c, dReal d);
    00632 ODE_API void dGeomPlaneGetParams (dGeomID plane, dVector4 result);
    00633 ODE_API dReal dGeomPlanePointDepth (dGeomID plane, dReal x, dReal y, dReal z);
    00634
    00635 ODE_API dGeomID dCreateCapsule (dSpaceID space, dReal radius, dReal length);
    00636 ODE_API void dGeomCapsuleSetParams (dGeomID ccylinder, dReal radius, dReal length);
    00637 ODE_API void dGeomCapsuleGetParams (dGeomID ccylinder, dReal *radius, dReal *length);
    00638 ODE_API dReal dGeomCapsulePointDepth (dGeomID ccylinder, dReal x, dReal y, dReal z);
    00639
    00640 // For now we want to have a backwards compatible C-API, note: C++ API is not.
    00641 #define dCreateCCylinder dCreateCapsule
    00642 #define dGeomCCylinderSetParams dGeomCapsuleSetParams
    00643 #define dGeomCCylinderGetParams dGeomCapsuleGetParams
    00644 #define dGeomCCylinderPointDepth dGeomCapsulePointDepth
    00645 #define dCCylinderClass dCapsuleClass
    00646
    00647 ODE_API dGeomID dCreateCylinder (dSpaceID space, dReal radius, dReal length);
    00648 ODE_API void dGeomCylinderSetParams (dGeomID cylinder, dReal radius, dReal length);
    00649 ODE_API void dGeomCylinderGetParams (dGeomID cylinder, dReal *radius, dReal *length);
    00650
    00651 ODE_API dGeomID dCreateRay (dSpaceID space, dReal length);
    00652 ODE_API void dGeomRaySetLength (dGeomID ray, dReal length);
    00653 ODE_API dReal dGeomRayGetLength (dGeomID ray);
    00654 ODE_API void dGeomRaySet (dGeomID ray, dReal px, dReal py, dReal pz,
    00655         dReal dx, dReal dy, dReal dz);
    00656 ODE_API void dGeomRayGet (dGeomID ray, dVector3 start, dVector3 dir);
    00657
    00658 /*
    00659  * Set/get ray flags that influence ray collision detection.
    00660  * These flags are currently only noticed by the trimesh collider, because
    00661  * they can make a major differences there.
    00662  */
    00663 ODE_API void dGeomRaySetParams (dGeomID g, int FirstContact, int BackfaceCull);
    00664 ODE_API void dGeomRayGetParams (dGeomID g, int *FirstContact, int *BackfaceCull);
    00665 ODE_API void dGeomRaySetClosestHit (dGeomID g, int closestHit);
    00666 ODE_API int dGeomRayGetClosestHit (dGeomID g);
    00667
    00668 #include "collision_trimesh.h"
    00669
    00670 ODE_API dGeomID dCreateGeomTransform (dSpaceID space);
    00671 ODE_API void dGeomTransformSetGeom (dGeomID g, dGeomID obj);
    00672 ODE_API dGeomID dGeomTransformGetGeom (dGeomID g);
    00673 ODE_API void dGeomTransformSetCleanup (dGeomID g, int mode);
    00674 ODE_API int dGeomTransformGetCleanup (dGeomID g);
    00675 ODE_API void dGeomTransformSetInfo (dGeomID g, int mode);
    00676 ODE_API int dGeomTransformGetInfo (dGeomID g);
    00677
    00678 /* ************************************************************************ */
    00679 /* utility functions */
    00680
    00681 ODE_API void dClosestLineSegmentPoints (const dVector3 a1, const dVector3 a2,
    00682             const dVector3 b1, const dVector3 b2,
    00683             dVector3 cp1, dVector3 cp2);
    00684
    00685 ODE_API int dBoxTouchesBox (const dVector3 _p1, const dMatrix3 R1,
    00686           const dVector3 side1, const dVector3 _p2,
    00687           const dMatrix3 R2, const dVector3 side2);
    00688
    00689 ODE_API int dBoxBox (const dVector3 p1, const dMatrix3 R1,
    00690         const dVector3 side1, const dVector3 p2,
    00691         const dMatrix3 R2, const dVector3 side2,
    00692         dVector3 normal, dReal *depth, int *return_code,
    00693         int maxc, dContactGeom *contact, int skip);
    00694
    00695 ODE_API void dInfiniteAABB (dGeomID geom, dReal aabb[6]);
    00696 ODE_API void dCloseODE(void);
    00697
    00698 /* ************************************************************************ */
    00699 /* custom classes */
    00700
    00701 typedef void dGetAABBFn (dGeomID, dReal aabb[6]);
    00702 typedef int dColliderFn (dGeomID o1, dGeomID o2,
    00703           int flags, dContactGeom *contact, int skip);
    00704 typedef dColliderFn * dGetColliderFnFn (int num);
    00705 typedef void dGeomDtorFn (dGeomID o);
    00706 typedef int dAABBTestFn (dGeomID o1, dGeomID o2, dReal aabb[6]);
    00707
    00708 typedef struct dGeomClass {
    00709   int bytes;
    00710   dGetColliderFnFn *collider;
    00711   dGetAABBFn *aabb;
    00712   dAABBTestFn *aabb_test;
    00713   dGeomDtorFn *dtor;
    00714 } dGeomClass;
    00715
    00716 ODE_API int dCreateGeomClass (const dGeomClass *classptr);
    00717 ODE_API void * dGeomGetClassData (dGeomID);
    00718 ODE_API dGeomID dCreateGeom (int classnum);
    00719
    00720 /* ************************************************************************ */
    00721
    00722 #ifdef __cplusplus
    00723 }
    00724 #endif
    00725
    00726 #endif