1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
|
/*************************************************************************
* *
* Open Dynamics Engine, Copyright (C) 2001,2002 Russell L. Smith. *
* All rights reserved. Email: russ@q12.org Web: www.q12.org *
* *
* This library is free software; you can redistribute it and/or *
* modify it under the terms of EITHER: *
* (1) The GNU Lesser General Public License as published by the Free *
* Software Foundation; either version 2.1 of the License, or (at *
* your option) any later version. The text of the GNU Lesser *
* General Public License is included with this library in the *
* file LICENSE.TXT. *
* (2) The BSD-style license that is included with this library in *
* the file LICENSE-BSD.TXT. *
* *
* This library is distributed in the hope that it will be useful, *
* but WITHOUT ANY WARRANTY; without even the implied warranty of *
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the files *
* LICENSE.TXT and LICENSE-BSD.TXT for more details. *
* *
*************************************************************************/
#ifndef _ODE_GEOM_H_
#define _ODE_GEOM_H_
#include <ode/common.h>
#include <ode/space.h>
#include <ode/contact.h>
#if defined SHARED_GEOM_H_INCLUDED_FROM_DEFINING_FILE
#define GLOBAL_SHAREDLIB_SPEC SHAREDLIBEXPORT
#else
#define GLOBAL_SHAREDLIB_SPEC SHAREDLIBIMPORT
#endif
#ifdef __cplusplus
extern "C" {
#endif
/* ************************************************************************ */
/* utility functions */
void dClosestLineSegmentPoints (const dVector3 a1, const dVector3 a2,
const dVector3 b1, const dVector3 b2,
dVector3 cp1, dVector3 cp2);
int dBoxTouchesBox (const dVector3 _p1, const dMatrix3 R1,
const dVector3 side1, const dVector3 _p2,
const dMatrix3 R2, const dVector3 side2);
void dInfiniteAABB (dGeomID geom, dReal aabb[6]);
void dCloseODE();
/* ************************************************************************ */
/* standard classes */
/* class numbers */
extern GLOBAL_SHAREDLIB_SPEC int dSphereClass;
extern GLOBAL_SHAREDLIB_SPEC int dBoxClass;
extern GLOBAL_SHAREDLIB_SPEC int dCCylinderClass;
extern GLOBAL_SHAREDLIB_SPEC int dPlaneClass;
extern GLOBAL_SHAREDLIB_SPEC int dGeomGroupClass;
extern GLOBAL_SHAREDLIB_SPEC int dGeomTransformClass;
/* constructors */
dGeomID dCreateSphere (dSpaceID space, dReal radius);
dGeomID dCreateBox (dSpaceID space, dReal lx, dReal ly, dReal lz);
dGeomID dCreatePlane (dSpaceID space, dReal a, dReal b, dReal c, dReal d);
dGeomID dCreateCCylinder (dSpaceID space, dReal radius, dReal length);
dGeomID dCreateGeomGroup (dSpaceID space);
/* set geometry parameters */
void dGeomSphereSetRadius (dGeomID sphere, dReal radius);
void dGeomBoxSetLengths (dGeomID box, dReal lx, dReal ly, dReal lz);
void dGeomPlaneSetParams (dGeomID plane, dReal a, dReal b, dReal c, dReal d);
void dGeomCCylinderSetParams (dGeomID ccylinder, dReal radius, dReal length);
/* get geometry parameters */
int dGeomGetClass (dGeomID);
dReal dGeomSphereGetRadius (dGeomID sphere);
void dGeomBoxGetLengths (dGeomID box, dVector3 result);
void dGeomPlaneGetParams (dGeomID plane, dVector4 result);
void dGeomCCylinderGetParams (dGeomID ccylinder,
dReal *radius, dReal *length);
/* general functions */
void dGeomSetData (dGeomID, void *);
void *dGeomGetData (dGeomID);
void dGeomSetBody (dGeomID, dBodyID);
dBodyID dGeomGetBody (dGeomID);
void dGeomSetPosition (dGeomID, dReal x, dReal y, dReal z);
void dGeomSetRotation (dGeomID, const dMatrix3 R);
const dReal * dGeomGetPosition (dGeomID);
const dReal * dGeomGetRotation (dGeomID);
void dGeomDestroy (dGeomID);
void dGeomGetAABB (dGeomID, dReal aabb[6]);
dReal *dGeomGetSpaceAABB (dGeomID);
/* ************************************************************************ */
/* geometry group functions */
void dGeomGroupAdd (dGeomID group, dGeomID x);
void dGeomGroupRemove (dGeomID group, dGeomID x);
int dGeomGroupGetNumGeoms (dGeomID group);
dGeomID dGeomGroupGetGeom (dGeomID group, int i);
/* ************************************************************************ */
/* transformed geometry functions */
dGeomID dCreateGeomTransform (dSpaceID space);
void dGeomTransformSetGeom (dGeomID g, dGeomID obj);
dGeomID dGeomTransformGetGeom (dGeomID g);
void dGeomTransformSetCleanup (dGeomID g, int mode);
int dGeomTransformGetCleanup (dGeomID g);
void dGeomTransformSetInfo (dGeomID g, int mode);
int dGeomTransformGetInfo (dGeomID g);
/* ************************************************************************ */
/* general collision */
int dCollide (dGeomID o1, dGeomID o2, int flags, dContactGeom *contact,
int skip);
/* ************************************************************************ */
/* custom classes */
typedef void dGetAABBFn (dGeomID, dReal aabb[6]);
typedef int dColliderFn (dGeomID o1, dGeomID o2,
int flags, dContactGeom *contact, int skip);
typedef dColliderFn * dGetColliderFnFn (int num);
typedef void dGeomDtorFn (dGeomID o);
typedef int dAABBTestFn (dGeomID o1, dGeomID o2, dReal aabb[6]);
typedef struct dGeomClass {
int bytes;
dGetColliderFnFn *collider;
dGetAABBFn *aabb;
dAABBTestFn *aabb_test;
dGeomDtorFn *dtor;
} dGeomClass;
int dCreateGeomClass (const dGeomClass *classptr);
void * dGeomGetClassData (dGeomID);
dGeomID dCreateGeom (int classnum);
/* ************************************************************************ */
#ifdef __cplusplus
}
#endif
#endif
|
