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Diffstat (limited to 'extern/solid/SOLID/SOLID.h')
| -rw-r--r-- | extern/solid/SOLID/SOLID.h | 276 |
1 files changed, 276 insertions, 0 deletions
diff --git a/extern/solid/SOLID/SOLID.h b/extern/solid/SOLID/SOLID.h new file mode 100644 index 00000000000..906be729ba0 --- /dev/null +++ b/extern/solid/SOLID/SOLID.h @@ -0,0 +1,276 @@ +/* + * SOLID - Software Library for Interference Detection + * + * Copyright (C) 2001-2003 Dtecta. All rights reserved. + * + * This library may be distributed under the terms of the Q Public License + * (QPL) as defined by Trolltech AS of Norway and appearing in the file + * LICENSE.QPL included in the packaging of this file. + * + * This library may be distributed and/or modified under the terms of the + * GNU General Public License (GPL) version 2 as published by the Free Software + * Foundation and appearing in the file LICENSE.GPL included in the + * packaging of this file. + * + * This library is provided AS IS with NO WARRANTY OF ANY KIND, INCLUDING THE + * WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE. + * + * Commercial use or any other use of this library not covered by either + * the QPL or the GPL requires an additional license from Dtecta. + * Please contact info@dtecta.com for enquiries about the terms of commercial + * use of this library. + */ + +#ifndef SOLID_H +#define SOLID_H + +#include "SOLID_types.h" + +#ifdef __cplusplus +extern "C" { +#endif + + DT_DECLARE_HANDLE(DT_ObjectHandle); + DT_DECLARE_HANDLE(DT_SceneHandle); + DT_DECLARE_HANDLE(DT_ShapeHandle); + DT_DECLARE_HANDLE(DT_VertexBaseHandle); + DT_DECLARE_HANDLE(DT_RespTableHandle); + DT_DECLARE_HANDLE(DT_ArchiveHandle); + + typedef unsigned int DT_ResponseClass; + + typedef enum DT_ResponseType { + DT_NO_RESPONSE, /* No response (obsolete) */ + DT_SIMPLE_RESPONSE, /* No collision data */ + DT_WITNESSED_RESPONSE, /* A point common to both objects + is returned as collision data + */ + DT_DEPTH_RESPONSE /* The penetration depth is returned + as collision data. The penetration depth + is the shortest vector over which one + object needs to be translated in order + to bring the objects in touching contact. + */ + } DT_ResponseType; + +/* For witnessed response, the following structure represents a common point. The world + coordinates of 'point1' and 'point2' coincide. 'normal' is the zero vector. + + For depth response, the following structure represents the penetration depth. + 'point1' en 'point2' are the witness points of the penetration depth in world coordinates. + The penetration depth vector in world coordinates is represented by 'normal'. +*/ + + typedef struct DT_CollData { + DT_Vector3 point1; /* Point in object1 in world coordinates */ + DT_Vector3 point2; /* Point in object2 in world coordinates */ + DT_Vector3 normal; /* point2 - point1 */ + } DT_CollData; + +/* A response callback is called by SOLID for each pair of collding objects. 'client-data' + is a pointer to an arbitrary structure in the client application. The client objects are + pointers to structures in the client application associated with the coliding objects. + 'coll_data' is the collision data computed by SOLID. +*/ + + typedef DT_Bool (*DT_ResponseCallback)(void *client_data, + void *client_object1, + void *client_object2, + const DT_CollData *coll_data); + +/* Shape definition */ + + + extern DECLSPEC DT_ShapeHandle DT_NewBox(DT_Scalar x, DT_Scalar y, DT_Scalar z); + extern DECLSPEC DT_ShapeHandle DT_NewCone(DT_Scalar radius, DT_Scalar height); + extern DECLSPEC DT_ShapeHandle DT_NewCylinder(DT_Scalar radius, DT_Scalar height); + extern DECLSPEC DT_ShapeHandle DT_NewSphere(DT_Scalar radius); + extern DECLSPEC DT_ShapeHandle DT_NewPoint(const DT_Vector3 point); + extern DECLSPEC DT_ShapeHandle DT_NewLineSegment(const DT_Vector3 source, const DT_Vector3 target); + extern DECLSPEC DT_ShapeHandle DT_NewMinkowski(DT_ShapeHandle shape1, DT_ShapeHandle shape2); + extern DECLSPEC DT_ShapeHandle DT_NewHull(DT_ShapeHandle shape1, DT_ShapeHandle shape2); + + extern DECLSPEC DT_VertexBaseHandle DT_NewVertexBase(const void *pointer, DT_Size stride); + extern DECLSPEC void DT_DeleteVertexBase(DT_VertexBaseHandle vertexBase); + extern DECLSPEC void DT_ChangeVertexBase(DT_VertexBaseHandle vertexBase, const void *pointer); + + extern DECLSPEC DT_ShapeHandle DT_NewComplexShape(DT_VertexBaseHandle vertexBase); + extern DECLSPEC void DT_EndComplexShape(); + + extern DECLSPEC DT_ShapeHandle DT_NewPolytope(DT_VertexBaseHandle vertexBase); + extern DECLSPEC void DT_EndPolytope(); + + extern DECLSPEC void DT_Begin(); + extern DECLSPEC void DT_End(); + + extern DECLSPEC void DT_Vertex(const DT_Vector3 vertex); + extern DECLSPEC void DT_VertexIndex(DT_Index index); + + extern DECLSPEC void DT_VertexIndices(DT_Count count, const DT_Index *indices); + extern DECLSPEC void DT_VertexRange(DT_Index first, DT_Count count); + + extern DECLSPEC void DT_DeleteShape(DT_ShapeHandle shape); + +/* Object */ + + extern DECLSPEC DT_ObjectHandle DT_CreateObject( + void *client_object, /* pointer to object in client memory */ + DT_ShapeHandle shape /* the shape or geometry of the object */ + ); + + extern DECLSPEC void DT_DestroyObject(DT_ObjectHandle object); + + + + extern DECLSPEC void DT_SetPosition(DT_ObjectHandle object, const DT_Vector3 position); + extern DECLSPEC void DT_SetOrientation(DT_ObjectHandle object, const DT_Quaternion orientation); + extern DECLSPEC void DT_SetScaling(DT_ObjectHandle object, const DT_Vector3 scaling); + +/* The margin is an offset from the actual shape. The actual geometry of an + object is the set of points whose distance to the transformed shape is at + most the margin. During the lifetime of an object the margin can be + modified. +*/ + + extern DECLSPEC void DT_SetMargin(DT_ObjectHandle object, DT_Scalar margin); + + +/* These commands assume a column-major 4x4 OpenGL matrix representation */ + + extern DECLSPEC void DT_SetMatrixf(DT_ObjectHandle object, const float *m); + extern DECLSPEC void DT_GetMatrixf(DT_ObjectHandle object, float *m); + + extern DECLSPEC void DT_SetMatrixd(DT_ObjectHandle object, const double *m); + extern DECLSPEC void DT_GetMatrixd(DT_ObjectHandle object, double *m); + + extern DECLSPEC void DT_GetBBox(DT_ObjectHandle object, DT_Vector3 min, DT_Vector3 max); + + +/* This next command returns the distance between the objects. De returned + closest points are given in world coordinates. +*/ + extern DECLSPEC DT_Scalar DT_GetClosestPair(DT_ObjectHandle object1, DT_ObjectHandle object2, + DT_Vector3 point1, DT_Vector3 point2); + + extern DECLSPEC DT_Bool DT_GetCommonPoint(DT_ObjectHandle object1, DT_ObjectHandle object2, + DT_Vector3 point); + + extern DECLSPEC DT_Bool DT_GetPenDepth(DT_ObjectHandle object1, DT_ObjectHandle object2, + DT_Vector3 point1, DT_Vector3 point2); + +/* Scene */ + + extern DECLSPEC DT_SceneHandle DT_CreateScene(); + extern DECLSPEC void DT_DestroyScene(DT_SceneHandle scene); + + extern DECLSPEC void DT_AddObject(DT_SceneHandle scene, DT_ObjectHandle object); + extern DECLSPEC void DT_RemoveObject(DT_SceneHandle scene, DT_ObjectHandle object); + +/* Note that objects can be assigned to multiple scenes! */ + +/* Response */ + +/* Response tables are defined independent of the scenes in which they are used. + Multiple response tables can be used in one scene, and a response table + can be shared among scenes. +*/ + extern DECLSPEC DT_RespTableHandle DT_CreateRespTable(); + extern DECLSPEC void DT_DestroyRespTable(DT_RespTableHandle respTable); + +/* Responses are defined on (pairs of) response classes. Each response table + maintains its set of response classes. +*/ + extern DECLSPEC DT_ResponseClass DT_GenResponseClass(DT_RespTableHandle respTable); + +/* To each object for which a response is defined in the response table a + response class needs to be assigned. +*/ + + extern DECLSPEC void DT_SetResponseClass(DT_RespTableHandle respTable, + DT_ObjectHandle object, + DT_ResponseClass responseClass); + + extern DECLSPEC void DT_ClearResponseClass(DT_RespTableHandle respTable, + DT_ObjectHandle object); + + extern DECLSPEC void DT_CallResponse(DT_RespTableHandle respTable, + DT_ObjectHandle object1, + DT_ObjectHandle object2, + const DT_CollData *coll_data); + +/* For each pair of objects multiple responses can be defined. A response is a callback + together with its response type and client data. */ + +/* Responses can be defined for all pairs of response classes... */ + extern DECLSPEC void DT_AddDefaultResponse(DT_RespTableHandle respTable, + DT_ResponseCallback response, + DT_ResponseType type, void *client_data); + + extern DECLSPEC void DT_RemoveDefaultResponse(DT_RespTableHandle respTable, + DT_ResponseCallback response); +/* ...per response class... */ + extern DECLSPEC void DT_AddClassResponse(DT_RespTableHandle respTable, + DT_ResponseClass responseClass, + DT_ResponseCallback response, + DT_ResponseType type, void *client_data); + + extern DECLSPEC void DT_RemoveClassResponse(DT_RespTableHandle respTable, + DT_ResponseClass responseClass, + DT_ResponseCallback response); + +/* ... and per pair of response classes...*/ + extern DECLSPEC void DT_AddPairResponse(DT_RespTableHandle respTable, + DT_ResponseClass responseClass1, + DT_ResponseClass responseClass2, + DT_ResponseCallback response, + DT_ResponseType type, void *client_data); + extern DECLSPEC void DT_RemovePairResponse(DT_RespTableHandle respTable, + DT_ResponseClass responseClass1, + DT_ResponseClass responseClass2, + DT_ResponseCallback response); + +/* The next command calls the response callbacks for all intersecting pairs of objects in a scene. + 'DT_Test' returns the number of pairs of objects for which callbacks have been called. +*/ + + extern DECLSPEC DT_Count DT_Test(DT_SceneHandle scene, DT_RespTableHandle respTable); + +/* Set the maximum relative error in the closest points and penetration depth + computation. The default for `max_error' is 1.0e-3. Larger errors result + in better performance. Non-positive error tolerances are ignored. +*/ + + extern DECLSPEC void DT_SetAccuracy(DT_Scalar max_error); + +/* Set the maximum tolerance on relative errors due to rounding. The default for `tol_error' + is the machine epsilon. Very large tolerances result in false collisions. Setting tol_error too small + results in missed collisions. Non-positive error tolerances are ignored. +*/ + + extern DECLSPEC void DT_SetTolerance(DT_Scalar tol_error); + + +/* This function returns the client pointer to the first object in a scene hit by the ray + (actually a line segment) defined by the points 'from' en 'to'. The spot is the hit point + on the object in local coordinates. 'normal' is the normal to the surface of the object in + world coordinates. The ignore_client pointer is used to make one of the objects transparent. + + NB: Currently ray tests are implemented for spheres, boxes, and meshes only!! +*/ + + extern DECLSPEC void *DT_RayCast(DT_SceneHandle scene, void *ignore_client, + const DT_Vector3 source, const DT_Vector3 target, + DT_Scalar max_param, DT_Scalar *param, DT_Vector3 normal); + +/* Similar, only here a single object is tested and a boolean is returned */ + + extern DECLSPEC DT_Bool DT_ObjectRayCast(DT_ObjectHandle object, + const DT_Vector3 source, const DT_Vector3 target, + DT_Scalar max_param, DT_Scalar *param, DT_Vector3 normal); + + +#ifdef __cplusplus +} +#endif + +#endif |