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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
    00614 ODE_API int dCollide (dGeomID o1, dGeomID o2, int flags, dContactGeom *contact,
    00615          int skip);
    00616
    00644 ODE_API void dSpaceCollide (dSpaceID space, void *data, dNearCallback *callback);
    00645
    00646
    00681 ODE_API void dSpaceCollide2 (dGeomID space1, dGeomID space2, void *data, dNearCallback *callback);
    00682
    00683
    00684 /* ************************************************************************ */
    00685 /* standard classes */
    00686
    00687 /* the maximum number of user classes that are supported */
    00688 enum {
    00689   dMaxUserClasses = 4
    00690 };
    00691
    00692 /* class numbers - each geometry object needs a unique number */
    00693 enum {
    00694   dSphereClass = 0,
    00695   dBoxClass,
    00696   dCapsuleClass,
    00697   dCylinderClass,
    00698   dPlaneClass,
    00699   dRayClass,
    00700   dConvexClass,
    00701   dGeomTransformClass,
    00702   dTriMeshClass,
    00703   dHeightfieldClass,
    00704
    00705   dFirstSpaceClass,
    00706   dSimpleSpaceClass = dFirstSpaceClass,
    00707   dHashSpaceClass,
    00708   dQuadTreeSpaceClass,
    00709   dLastSpaceClass = dQuadTreeSpaceClass,
    00710
    00711   dFirstUserClass,
    00712   dLastUserClass = dFirstUserClass + dMaxUserClasses - 1,
    00713   dGeomNumClasses
    00714 };
    00715
    00716
    00736 ODE_API dGeomID dCreateSphere (dSpaceID space, dReal radius);
    00737
    00738
    00748 ODE_API void dGeomSphereSetRadius (dGeomID sphere, dReal radius);
    00749
    00750
    00759 ODE_API dReal dGeomSphereGetRadius (dGeomID sphere);
    00760
    00761
    00776 ODE_API dReal dGeomSpherePointDepth (dGeomID sphere, dReal x, dReal y, dReal z);
    00777
    00778
    00779 //--> Convex Functions
    00780 ODE_API dGeomID dCreateConvex (dSpaceID space,
    00781                 dReal *_planes,
    00782                 unsigned int _planecount,
    00783                 dReal *_points,
    00784                 unsigned int _pointcount,unsigned int *_polygons);
    00785
    00786 ODE_API void dGeomSetConvex (dGeomID g,
    00787               dReal *_planes,
    00788               unsigned int _count,
    00789               dReal *_points,
    00790               unsigned int _pointcount,unsigned int *_polygons);
    00791 //<-- Convex Functions
    00792
    00814 ODE_API dGeomID dCreateBox (dSpaceID space, dReal lx, dReal ly, dReal lz);
    00815
    00816
    00828 ODE_API void dGeomBoxSetLengths (dGeomID box, dReal lx, dReal ly, dReal lz);
    00829
    00830
    00840 ODE_API void dGeomBoxGetLengths (dGeomID box, dVector3 result);
    00841
    00842
    00855 ODE_API dReal dGeomBoxPointDepth (dGeomID box, dReal x, dReal y, dReal z);
    00856
    00857
    00858 ODE_API dGeomID dCreatePlane (dSpaceID space, dReal a, dReal b, dReal c, dReal d);
    00859 ODE_API void dGeomPlaneSetParams (dGeomID plane, dReal a, dReal b, dReal c, dReal d);
    00860 ODE_API void dGeomPlaneGetParams (dGeomID plane, dVector4 result);
    00861 ODE_API dReal dGeomPlanePointDepth (dGeomID plane, dReal x, dReal y, dReal z);
    00862
    00863 ODE_API dGeomID dCreateCapsule (dSpaceID space, dReal radius, dReal length);
    00864 ODE_API void dGeomCapsuleSetParams (dGeomID ccylinder, dReal radius, dReal length);
    00865 ODE_API void dGeomCapsuleGetParams (dGeomID ccylinder, dReal *radius, dReal *length);
    00866 ODE_API dReal dGeomCapsulePointDepth (dGeomID ccylinder, dReal x, dReal y, dReal z);
    00867
    00868 // For now we want to have a backwards compatible C-API, note: C++ API is not.
    00869 #define dCreateCCylinder dCreateCapsule
    00870 #define dGeomCCylinderSetParams dGeomCapsuleSetParams
    00871 #define dGeomCCylinderGetParams dGeomCapsuleGetParams
    00872 #define dGeomCCylinderPointDepth dGeomCapsulePointDepth
    00873 #define dCCylinderClass dCapsuleClass
    00874
    00875 ODE_API dGeomID dCreateCylinder (dSpaceID space, dReal radius, dReal length);
    00876 ODE_API void dGeomCylinderSetParams (dGeomID cylinder, dReal radius, dReal length);
    00877 ODE_API void dGeomCylinderGetParams (dGeomID cylinder, dReal *radius, dReal *length);
    00878
    00879 ODE_API dGeomID dCreateRay (dSpaceID space, dReal length);
    00880 ODE_API void dGeomRaySetLength (dGeomID ray, dReal length);
    00881 ODE_API dReal dGeomRayGetLength (dGeomID ray);
    00882 ODE_API void dGeomRaySet (dGeomID ray, dReal px, dReal py, dReal pz,
    00883         dReal dx, dReal dy, dReal dz);
    00884 ODE_API void dGeomRayGet (dGeomID ray, dVector3 start, dVector3 dir);
    00885
    00886 /*
    00887  * Set/get ray flags that influence ray collision detection.
    00888  * These flags are currently only noticed by the trimesh collider, because
    00889  * they can make a major differences there.
    00890  */
    00891 ODE_API void dGeomRaySetParams (dGeomID g, int FirstContact, int BackfaceCull);
    00892 ODE_API void dGeomRayGetParams (dGeomID g, int *FirstContact, int *BackfaceCull);
    00893 ODE_API void dGeomRaySetClosestHit (dGeomID g, int closestHit);
    00894 ODE_API int dGeomRayGetClosestHit (dGeomID g);
    00895
    00896 #include "collision_trimesh.h"
    00897
    00898 ODE_API dGeomID dCreateGeomTransform (dSpaceID space);
    00899 ODE_API void dGeomTransformSetGeom (dGeomID g, dGeomID obj);
    00900 ODE_API dGeomID dGeomTransformGetGeom (dGeomID g);
    00901 ODE_API void dGeomTransformSetCleanup (dGeomID g, int mode);
    00902 ODE_API int dGeomTransformGetCleanup (dGeomID g);
    00903 ODE_API void dGeomTransformSetInfo (dGeomID g, int mode);
    00904 ODE_API int dGeomTransformGetInfo (dGeomID g);
    00905
    00906
    00907 /* ************************************************************************ */
    00908 /* heightfield functions */
    00909
    00910
    00911 // Data storage for heightfield data.
    00912 struct dxHeightfieldData;
    00913 typedef struct dxHeightfieldData* dHeightfieldDataID;
    00914
    00915
    00933 typedef dReal dHeightfieldGetHeight( void* p_user_data, int x, int z );
    00934
    00935
    00936
    00956 ODE_API dGeomID dCreateHeightfield( dSpaceID space,
    00957                dHeightfieldDataID data, int bPlaceable );
    00958
    00959
    00972 ODE_API dHeightfieldDataID dGeomHeightfieldDataCreate();
    00973
    00974
    00983 ODE_API void dGeomHeightfieldDataDestroy( dHeightfieldDataID d );
    00984
    00985
    00986
    01027 ODE_API void dGeomHeightfieldDataBuildCallback( dHeightfieldDataID d,
    01028             void* pUserData, dHeightfieldGetHeight* pCallback,
    01029             dReal width, dReal depth, int widthSamples, int depthSamples,
    01030             dReal scale, dReal offset, dReal thickness, int bWrap );
    01031
    01075 ODE_API void dGeomHeightfieldDataBuildByte( dHeightfieldDataID d,
    01076             const unsigned char* pHeightData, int bCopyHeightData,
    01077             dReal width, dReal depth, int widthSamples, int depthSamples,
    01078             dReal scale, dReal offset, dReal thickness,  int bWrap );
    01079
    01123 ODE_API void dGeomHeightfieldDataBuildShort( dHeightfieldDataID d,
    01124             const short* pHeightData, int bCopyHeightData,
    01125             dReal width, dReal depth, int widthSamples, int depthSamples,
    01126             dReal scale, dReal offset, dReal thickness, int bWrap );
    01127
    01173 ODE_API void dGeomHeightfieldDataBuildSingle( dHeightfieldDataID d,
    01174             const float* pHeightData, int bCopyHeightData,
    01175             dReal width, dReal depth, int widthSamples, int depthSamples,
    01176             dReal scale, dReal offset, dReal thickness, int bWrap );
    01177
    01223 ODE_API void dGeomHeightfieldDataBuildDouble( dHeightfieldDataID d,
    01224             const double* pHeightData, int bCopyHeightData,
    01225             dReal width, dReal depth, int widthSamples, int depthSamples,
    01226             dReal scale, dReal offset, dReal thickness, int bWrap );
    01227
    01245 ODE_API void dGeomHeightfieldDataSetBounds( dHeightfieldDataID d,
    01246             dReal minHeight, dReal maxHeight );
    01247
    01248
    01259 ODE_API void dGeomHeightfieldSetHeightfieldData( dGeomID g, dHeightfieldDataID d );
    01260
    01261
    01271 ODE_API dHeightfieldDataID dGeomHeightfieldGetHeightfieldData( dGeomID g );
    01272
    01273
    01274
    01275 /* ************************************************************************ */
    01276 /* utility functions */
    01277
    01278 ODE_API void dClosestLineSegmentPoints (const dVector3 a1, const dVector3 a2,
    01279             const dVector3 b1, const dVector3 b2,
    01280             dVector3 cp1, dVector3 cp2);
    01281
    01282 ODE_API int dBoxTouchesBox (const dVector3 _p1, const dMatrix3 R1,
    01283           const dVector3 side1, const dVector3 _p2,
    01284           const dMatrix3 R2, const dVector3 side2);
    01285
    01286 ODE_API int dBoxBox (const dVector3 p1, const dMatrix3 R1,
    01287         const dVector3 side1, const dVector3 p2,
    01288         const dMatrix3 R2, const dVector3 side2,
    01289         dVector3 normal, dReal *depth, int *return_code,
    01290         int maxc, dContactGeom *contact, int skip);
    01291
    01292 ODE_API void dInfiniteAABB (dGeomID geom, dReal aabb[6]);
    01293 ODE_API void dCloseODE(void);
    01294
    01295 /* ************************************************************************ */
    01296 /* custom classes */
    01297
    01298 typedef void dGetAABBFn (dGeomID, dReal aabb[6]);
    01299 typedef int dColliderFn (dGeomID o1, dGeomID o2,
    01300           int flags, dContactGeom *contact, int skip);
    01301 typedef dColliderFn * dGetColliderFnFn (int num);
    01302 typedef void dGeomDtorFn (dGeomID o);
    01303 typedef int dAABBTestFn (dGeomID o1, dGeomID o2, dReal aabb[6]);
    01304
    01305 typedef struct dGeomClass {
    01306   int bytes;
    01307   dGetColliderFnFn *collider;
    01308   dGetAABBFn *aabb;
    01309   dAABBTestFn *aabb_test;
    01310   dGeomDtorFn *dtor;
    01311 } dGeomClass;
    01312
    01313 ODE_API int dCreateGeomClass (const dGeomClass *classptr);
    01314 ODE_API void * dGeomGetClassData (dGeomID);
    01315 ODE_API dGeomID dCreateGeom (int classnum);
    01316
    01317 /* ************************************************************************ */
    01318
    01319 #ifdef __cplusplus
    01320 }
    01321 #endif
    01322
    01323 #endif