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/*************************************************************************
* *
* 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_INTERNAL_H_
#define _ODE_GEOM_INTERNAL_H_
// mask for the number-of-contacts field in the dCollide() flags parameter
#define NUMC_MASK (0xffff)
// internal info for geometry class
struct dxGeomClass {
dGetColliderFnFn *collider;
dGetAABBFn *aabb;
dAABBTestFn *aabb_test;
dGeomDtorFn *dtor;
int num; // class number
int size; // total size of object, including extra data area
};
// position vector and rotation matrix for geometry objects that are not
// connected to bodies.
struct dxPosR {
dVector3 pos;
dMatrix3 R;
};
// common data for all geometry objects. the class-specific data area follows
// this structure. pos and R will either point to a separately allocated
// buffer (if body is 0 - pos points to the dxPosR object) or to the pos and
// R of the body (if body nonzero).
struct dxGeom { // a dGeomID is a pointer to this
dxGeomClass *_class; // class of this object
void *data; // user data pointer
dBodyID body; // dynamics body associated with this object (if any)
dReal *pos; // pointer to object's position vector
dReal *R; // pointer to object's rotation matrix
dSpaceID spaceid; // the space this object is in
dGeomSpaceData space; // reserved for use by space this object is in
dReal *space_aabb; // ptr to aabb array held by dSpaceCollide() fn
// class-specific data follows here, with proper alignment.
};
// this is the size of the dxGeom structure rounded up to a multiple of 16
// bytes. any class specific data that comes after this will have the correct
// alignment.
#define SIZEOF_DXGEOM dEFFICIENT_SIZE(sizeof(dxGeom))
// given a pointer to a dxGeom, return a pointer to the class data that
// follows it.
#define CLASSDATA(geomptr) (((char*)geomptr) + SIZEOF_DXGEOM)
#endif
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