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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
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
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
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
00576
00577
00578 enum {
00579 dMaxUserClasses = 4
00580 };
00581
00582
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
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
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
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
00660
00661
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
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
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