[216] | 1 | /************************************************************************* |
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| 2 | * * |
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| 3 | * Open Dynamics Engine, Copyright (C) 2001-2003 Russell L. Smith. * |
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| 4 | * All rights reserved. Email: russ@q12.org Web: www.q12.org * |
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| 5 | * * |
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| 6 | * This library is free software; you can redistribute it and/or * |
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| 7 | * modify it under the terms of EITHER: * |
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| 8 | * (1) The GNU Lesser General Public License as published by the Free * |
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| 9 | * Software Foundation; either version 2.1 of the License, or (at * |
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| 10 | * your option) any later version. The text of the GNU Lesser * |
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| 11 | * General Public License is included with this library in the * |
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| 12 | * file LICENSE.TXT. * |
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| 13 | * (2) The BSD-style license that is included with this library in * |
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| 14 | * the file LICENSE-BSD.TXT. * |
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| 15 | * * |
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| 16 | * This library is distributed in the hope that it will be useful, * |
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| 17 | * but WITHOUT ANY WARRANTY; without even the implied warranty of * |
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| 18 | * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the files * |
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| 19 | * LICENSE.TXT and LICENSE-BSD.TXT for more details. * |
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| 20 | * * |
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| 21 | *************************************************************************/ |
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| 22 | |
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| 23 | #ifndef _ODE_COLLISION_H_ |
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| 24 | #define _ODE_COLLISION_H_ |
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| 25 | |
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| 26 | #include <ode/common.h> |
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| 27 | #include <ode/collision_space.h> |
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| 28 | #include <ode/contact.h> |
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| 29 | |
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| 30 | #ifdef __cplusplus |
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| 31 | extern "C" { |
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| 32 | #endif |
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| 33 | |
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| 34 | /** |
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| 35 | * @defgroup collide Collision Detection |
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| 36 | * |
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| 37 | * ODE has two main components: a dynamics simulation engine and a collision |
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| 38 | * detection engine. The collision engine is given information about the |
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| 39 | * shape of each body. At each time step it figures out which bodies touch |
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| 40 | * each other and passes the resulting contact point information to the user. |
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| 41 | * The user in turn creates contact joints between bodies. |
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| 42 | * |
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| 43 | * Using ODE's collision detection is optional - an alternative collision |
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| 44 | * detection system can be used as long as it can supply the right kinds of |
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| 45 | * contact information. |
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| 46 | */ |
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| 47 | |
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| 48 | |
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| 49 | /* ************************************************************************ */ |
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| 50 | /* general functions */ |
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| 51 | |
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| 52 | /** |
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| 53 | * @brief Destroy a geom, removing it from any space. |
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| 54 | * |
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| 55 | * Destroy a geom, removing it from any space it is in first. This one |
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| 56 | * function destroys a geom of any type, but to create a geom you must call |
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| 57 | * a creation function for that type. |
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| 58 | * |
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| 59 | * When a space is destroyed, if its cleanup mode is 1 (the default) then all |
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| 60 | * the geoms in that space are automatically destroyed as well. |
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| 61 | * |
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| 62 | * @param geom the geom to be destroyed. |
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| 63 | * @ingroup collide |
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| 64 | */ |
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| 65 | ODE_API void dGeomDestroy (dGeomID geom); |
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| 66 | |
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| 67 | |
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| 68 | /** |
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| 69 | * @brief Set the user-defined data pointer stored in the geom. |
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| 70 | * |
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| 71 | * @param geom the geom to hold the data |
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| 72 | * @param data the data pointer to be stored |
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| 73 | * @ingroup collide |
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| 74 | */ |
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| 75 | ODE_API void dGeomSetData (dGeomID geom, void* data); |
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| 76 | |
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| 77 | |
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| 78 | /** |
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| 79 | * @brief Get the user-defined data pointer stored in the geom. |
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| 80 | * |
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| 81 | * @param geom the geom containing the data |
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| 82 | * @ingroup collide |
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| 83 | */ |
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| 84 | ODE_API void *dGeomGetData (dGeomID geom); |
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| 85 | |
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| 86 | |
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| 87 | /** |
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| 88 | * @brief Set the body associated with a placeable geom. |
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| 89 | * |
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| 90 | * Setting a body on a geom automatically combines the position vector and |
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| 91 | * rotation matrix of the body and geom, so that setting the position or |
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| 92 | * orientation of one will set the value for both objects. Setting a body |
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| 93 | * ID of zero gives the geom its own position and rotation, independent |
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| 94 | * from any body. If the geom was previously connected to a body then its |
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| 95 | * new independent position/rotation is set to the current position/rotation |
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| 96 | * of the body. |
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| 97 | * |
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| 98 | * Calling these functions on a non-placeable geom results in a runtime |
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| 99 | * error in the debug build of ODE. |
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| 100 | * |
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| 101 | * @param geom the geom to connect |
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| 102 | * @param body the body to attach to the geom |
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| 103 | * @ingroup collide |
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| 104 | */ |
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| 105 | ODE_API void dGeomSetBody (dGeomID geom, dBodyID body); |
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| 106 | |
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| 107 | |
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| 108 | /** |
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| 109 | * @brief Get the body associated with a placeable geom. |
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| 110 | * @param geom the geom to query. |
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| 111 | * @sa dGeomSetBody |
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| 112 | * @ingroup collide |
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| 113 | */ |
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| 114 | ODE_API dBodyID dGeomGetBody (dGeomID geom); |
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| 115 | |
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| 116 | |
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| 117 | /** |
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| 118 | * @brief Set the position vector of a placeable geom. |
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| 119 | * |
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| 120 | * If the geom is attached to a body, the body's position will also be changed. |
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| 121 | * Calling this function on a non-placeable geom results in a runtime error in |
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| 122 | * the debug build of ODE. |
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| 123 | * |
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| 124 | * @param geom the geom to set. |
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| 125 | * @param x the new X coordinate. |
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| 126 | * @param y the new Y coordinate. |
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| 127 | * @param z the new Z coordinate. |
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| 128 | * @sa dBodySetPosition |
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| 129 | * @ingroup collide |
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| 130 | */ |
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| 131 | ODE_API void dGeomSetPosition (dGeomID geom, dReal x, dReal y, dReal z); |
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| 132 | |
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| 133 | |
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| 134 | /** |
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| 135 | * @brief Set the rotation matrix of a placeable geom. |
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| 136 | * |
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| 137 | * If the geom is attached to a body, the body's rotation will also be changed. |
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| 138 | * Calling this function on a non-placeable geom results in a runtime error in |
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| 139 | * the debug build of ODE. |
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| 140 | * |
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| 141 | * @param geom the geom to set. |
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| 142 | * @param R the new rotation matrix. |
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| 143 | * @sa dBodySetRotation |
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| 144 | * @ingroup collide |
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| 145 | */ |
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| 146 | ODE_API void dGeomSetRotation (dGeomID geom, const dMatrix3 R); |
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| 147 | |
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| 148 | |
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| 149 | /** |
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| 150 | * @brief Set the rotation of a placeable geom. |
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| 151 | * |
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| 152 | * If the geom is attached to a body, the body's rotation will also be changed. |
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| 153 | * |
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| 154 | * Calling this function on a non-placeable geom results in a runtime error in |
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| 155 | * the debug build of ODE. |
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| 156 | * |
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| 157 | * @param geom the geom to set. |
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| 158 | * @param Q the new rotation. |
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| 159 | * @sa dBodySetQuaternion |
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| 160 | * @ingroup collide |
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| 161 | */ |
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| 162 | ODE_API void dGeomSetQuaternion (dGeomID geom, const dQuaternion Q); |
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| 163 | |
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| 164 | |
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| 165 | /** |
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| 166 | * @brief Get the position vector of a placeable geom. |
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| 167 | * |
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| 168 | * If the geom is attached to a body, the body's position will be returned. |
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| 169 | * |
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| 170 | * Calling this function on a non-placeable geom results in a runtime error in |
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| 171 | * the debug build of ODE. |
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| 172 | * |
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| 173 | * @param geom the geom to query. |
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| 174 | * @returns A pointer to the geom's position vector. |
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| 175 | * @remarks The returned value is a pointer to the geom's internal |
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| 176 | * data structure. It is valid until any changes are made |
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| 177 | * to the geom. |
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| 178 | * @sa dBodyGetPosition |
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| 179 | * @ingroup collide |
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| 180 | */ |
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| 181 | ODE_API const dReal * dGeomGetPosition (dGeomID geom); |
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| 182 | |
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| 183 | |
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| 184 | /** |
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| 185 | * @brief Copy the position of a geom into a vector. |
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| 186 | * @ingroup collide |
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| 187 | * @param geom the geom to query |
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| 188 | * @param pos a copy of the geom position |
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| 189 | * @sa dGeomGetPosition |
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| 190 | */ |
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| 191 | ODE_API void dGeomCopyPosition (dGeomID geom, dVector3 pos); |
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| 192 | |
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| 193 | |
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| 194 | /** |
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| 195 | * @brief Get the rotation matrix of a placeable geom. |
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| 196 | * |
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| 197 | * If the geom is attached to a body, the body's rotation will be returned. |
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| 198 | * |
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| 199 | * Calling this function on a non-placeable geom results in a runtime error in |
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| 200 | * the debug build of ODE. |
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| 201 | * |
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| 202 | * @param geom the geom to query. |
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| 203 | * @returns A pointer to the geom's rotation matrix. |
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| 204 | * @remarks The returned value is a pointer to the geom's internal |
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| 205 | * data structure. It is valid until any changes are made |
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| 206 | * to the geom. |
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| 207 | * @sa dBodyGetRotation |
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| 208 | * @ingroup collide |
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| 209 | */ |
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| 210 | ODE_API const dReal * dGeomGetRotation (dGeomID geom); |
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| 211 | |
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| 212 | |
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| 213 | /** |
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| 214 | * @brief Get the rotation matrix of a placeable geom. |
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| 215 | * |
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| 216 | * If the geom is attached to a body, the body's rotation will be returned. |
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| 217 | * |
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| 218 | * Calling this function on a non-placeable geom results in a runtime error in |
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| 219 | * the debug build of ODE. |
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| 220 | * |
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| 221 | * @param geom the geom to query. |
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| 222 | * @param R a copy of the geom rotation |
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| 223 | * @sa dGeomGetRotation |
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| 224 | * @ingroup collide |
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| 225 | */ |
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| 226 | ODE_API void dGeomCopyRotation(dGeomID geom, dMatrix3 R); |
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| 227 | |
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| 228 | |
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| 229 | /** |
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| 230 | * @brief Get the rotation quaternion of a placeable geom. |
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| 231 | * |
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| 232 | * If the geom is attached to a body, the body's quaternion will be returned. |
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| 233 | * |
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| 234 | * Calling this function on a non-placeable geom results in a runtime error in |
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| 235 | * the debug build of ODE. |
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| 236 | * |
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| 237 | * @param geom the geom to query. |
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| 238 | * @param result a copy of the rotation quaternion. |
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| 239 | * @sa dBodyGetQuaternion |
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| 240 | * @ingroup collide |
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| 241 | */ |
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| 242 | ODE_API void dGeomGetQuaternion (dGeomID geom, dQuaternion result); |
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| 243 | |
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| 244 | |
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| 245 | /** |
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| 246 | * @brief Return the axis-aligned bounding box. |
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| 247 | * |
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| 248 | * Return in aabb an axis aligned bounding box that surrounds the given geom. |
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| 249 | * The aabb array has elements (minx, maxx, miny, maxy, minz, maxz). If the |
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| 250 | * geom is a space, a bounding box that surrounds all contained geoms is |
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| 251 | * returned. |
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| 252 | * |
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| 253 | * This function may return a pre-computed cached bounding box, if it can |
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| 254 | * determine that the geom has not moved since the last time the bounding |
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| 255 | * box was computed. |
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| 256 | * |
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| 257 | * @param geom the geom to query |
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| 258 | * @param aabb the returned bounding box |
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| 259 | * @ingroup collide |
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| 260 | */ |
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| 261 | ODE_API void dGeomGetAABB (dGeomID geom, dReal aabb[6]); |
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| 262 | |
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| 263 | |
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| 264 | /** |
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| 265 | * @brief Determing if a geom is a space. |
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| 266 | * @param geom the geom to query |
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| 267 | * @returns Non-zero if the geom is a space, zero otherwise. |
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| 268 | * @ingroup collide |
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| 269 | */ |
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| 270 | ODE_API int dGeomIsSpace (dGeomID geom); |
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| 271 | |
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| 272 | |
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| 273 | /** |
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| 274 | * @brief Query for the space containing a particular geom. |
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| 275 | * @param geom the geom to query |
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| 276 | * @returns The space that contains the geom, or NULL if the geom is |
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| 277 | * not contained by a space. |
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| 278 | * @ingroup collide |
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| 279 | */ |
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| 280 | ODE_API dSpaceID dGeomGetSpace (dGeomID); |
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| 281 | |
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| 282 | |
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| 283 | /** |
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| 284 | * @brief Given a geom, this returns its class. |
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| 285 | * |
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| 286 | * The ODE classes are: |
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| 287 | * @li dSphereClass |
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| 288 | * @li dBoxClass |
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| 289 | * @li dCylinderClass |
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| 290 | * @li dPlaneClass |
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| 291 | * @li dRayClass |
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| 292 | * @li dConvexClass |
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| 293 | * @li dGeomTransformClass |
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| 294 | * @li dTriMeshClass |
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| 295 | * @li dSimpleSpaceClass |
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| 296 | * @li dHashSpaceClass |
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| 297 | * @li dQuadTreeSpaceClass |
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| 298 | * @li dFirstUserClass |
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| 299 | * @li dLastUserClass |
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| 300 | * |
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| 301 | * User-defined class will return their own number. |
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| 302 | * |
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| 303 | * @param geom the geom to query |
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| 304 | * @returns The geom class ID. |
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| 305 | * @ingroup collide |
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| 306 | */ |
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| 307 | ODE_API int dGeomGetClass (dGeomID geom); |
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| 308 | |
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| 309 | |
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| 310 | /** |
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| 311 | * @brief Set the "category" bitfield for the given geom. |
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| 312 | * |
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| 313 | * The category bitfield is used by spaces to govern which geoms will |
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| 314 | * interact with each other. The bitfield is guaranteed to be at least |
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| 315 | * 32 bits wide. The default category values for newly created geoms |
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| 316 | * have all bits set. |
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| 317 | * |
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| 318 | * @param geom the geom to set |
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| 319 | * @param bits the new bitfield value |
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| 320 | * @ingroup collide |
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| 321 | */ |
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| 322 | ODE_API void dGeomSetCategoryBits (dGeomID geom, unsigned long bits); |
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| 323 | |
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| 324 | |
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| 325 | /** |
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| 326 | * @brief Set the "collide" bitfield for the given geom. |
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| 327 | * |
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| 328 | * The collide bitfield is used by spaces to govern which geoms will |
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| 329 | * interact with each other. The bitfield is guaranteed to be at least |
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| 330 | * 32 bits wide. The default category values for newly created geoms |
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| 331 | * have all bits set. |
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| 332 | * |
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| 333 | * @param geom the geom to set |
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| 334 | * @param bits the new bitfield value |
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| 335 | * @ingroup collide |
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| 336 | */ |
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| 337 | ODE_API void dGeomSetCollideBits (dGeomID geom, unsigned long bits); |
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| 338 | |
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| 339 | |
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| 340 | /** |
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| 341 | * @brief Get the "category" bitfield for the given geom. |
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| 342 | * |
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| 343 | * @param geom the geom to set |
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| 344 | * @param bits the new bitfield value |
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| 345 | * @sa dGeomSetCategoryBits |
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| 346 | * @ingroup collide |
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| 347 | */ |
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| 348 | ODE_API unsigned long dGeomGetCategoryBits (dGeomID); |
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| 349 | |
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| 350 | |
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| 351 | /** |
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| 352 | * @brief Get the "collide" bitfield for the given geom. |
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| 353 | * |
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| 354 | * @param geom the geom to set |
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| 355 | * @param bits the new bitfield value |
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| 356 | * @sa dGeomSetCollideBits |
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| 357 | * @ingroup collide |
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| 358 | */ |
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| 359 | ODE_API unsigned long dGeomGetCollideBits (dGeomID); |
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| 360 | |
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| 361 | |
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| 362 | /** |
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| 363 | * @brief Enable a geom. |
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| 364 | * |
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| 365 | * Disabled geoms are completely ignored by dSpaceCollide and dSpaceCollide2, |
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| 366 | * although they can still be members of a space. New geoms are created in |
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| 367 | * the enabled state. |
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| 368 | * |
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| 369 | * @param geom the geom to enable |
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| 370 | * @sa dGeomDisable |
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| 371 | * @sa dGeomIsEnabled |
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| 372 | * @ingroup collide |
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| 373 | */ |
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| 374 | ODE_API void dGeomEnable (dGeomID geom); |
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| 375 | |
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| 376 | |
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| 377 | /** |
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| 378 | * @brief Disable a geom. |
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| 379 | * |
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| 380 | * Disabled geoms are completely ignored by dSpaceCollide and dSpaceCollide2, |
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| 381 | * although they can still be members of a space. New geoms are created in |
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| 382 | * the enabled state. |
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| 383 | * |
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| 384 | * @param geom the geom to disable |
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| 385 | * @sa dGeomDisable |
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| 386 | * @sa dGeomIsEnabled |
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| 387 | * @ingroup collide |
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| 388 | */ |
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| 389 | ODE_API void dGeomDisable (dGeomID geom); |
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| 390 | |
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| 391 | |
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| 392 | /** |
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| 393 | * @brief Check to see if a geom is enabled. |
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| 394 | * |
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| 395 | * Disabled geoms are completely ignored by dSpaceCollide and dSpaceCollide2, |
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| 396 | * although they can still be members of a space. New geoms are created in |
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| 397 | * the enabled state. |
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| 398 | * |
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| 399 | * @param geom the geom to query |
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| 400 | * @returns Non-zero if the geom is enabled, zero otherwise. |
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| 401 | * @sa dGeomDisable |
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| 402 | * @sa dGeomIsEnabled |
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| 403 | * @ingroup collide |
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| 404 | */ |
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| 405 | ODE_API int dGeomIsEnabled (dGeomID geom); |
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| 406 | |
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| 407 | /* ************************************************************************ */ |
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| 408 | /* geom offset from body */ |
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| 409 | |
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| 410 | /** |
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| 411 | * @brief Set the local offset position of a geom from its body. |
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| 412 | * |
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| 413 | * Sets the geom's positional offset in local coordinates. |
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| 414 | * After this call, the geom will be at a new position determined from the |
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| 415 | * body's position and the offset. |
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| 416 | * The geom must be attached to a body. |
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| 417 | * If the geom did not have an offset, it is automatically created. |
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| 418 | * |
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| 419 | * @param geom the geom to set. |
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| 420 | * @param x the new X coordinate. |
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| 421 | * @param y the new Y coordinate. |
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| 422 | * @param z the new Z coordinate. |
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| 423 | * @ingroup collide |
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| 424 | */ |
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| 425 | ODE_API void dGeomSetOffsetPosition (dGeomID geom, dReal x, dReal y, dReal z); |
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| 426 | |
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| 427 | |
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| 428 | /** |
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| 429 | * @brief Set the local offset rotation matrix of a geom from its body. |
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| 430 | * |
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| 431 | * Sets the geom's rotational offset in local coordinates. |
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| 432 | * After this call, the geom will be at a new position determined from the |
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| 433 | * body's position and the offset. |
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| 434 | * The geom must be attached to a body. |
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| 435 | * If the geom did not have an offset, it is automatically created. |
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| 436 | * |
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| 437 | * @param geom the geom to set. |
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| 438 | * @param R the new rotation matrix. |
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| 439 | * @ingroup collide |
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| 440 | */ |
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| 441 | ODE_API void dGeomSetOffsetRotation (dGeomID geom, const dMatrix3 R); |
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| 442 | |
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| 443 | |
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| 444 | /** |
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| 445 | * @brief Set the local offset rotation of a geom from its body. |
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| 446 | * |
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| 447 | * Sets the geom's rotational offset in local coordinates. |
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| 448 | * After this call, the geom will be at a new position determined from the |
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| 449 | * body's position and the offset. |
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| 450 | * The geom must be attached to a body. |
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| 451 | * If the geom did not have an offset, it is automatically created. |
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| 452 | * |
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| 453 | * @param geom the geom to set. |
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| 454 | * @param Q the new rotation. |
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| 455 | * @ingroup collide |
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| 456 | */ |
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| 457 | ODE_API void dGeomSetOffsetQuaternion (dGeomID geom, const dQuaternion Q); |
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| 458 | |
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| 459 | |
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| 460 | /** |
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| 461 | * @brief Set the offset position of a geom from its body. |
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| 462 | * |
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| 463 | * Sets the geom's positional offset to move it to the new world |
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| 464 | * coordinates. |
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| 465 | * After this call, the geom will be at the world position passed in, |
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| 466 | * and the offset will be the difference from the current body position. |
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| 467 | * The geom must be attached to a body. |
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| 468 | * If the geom did not have an offset, it is automatically created. |
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| 469 | * |
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| 470 | * @param geom the geom to set. |
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| 471 | * @param x the new X coordinate. |
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| 472 | * @param y the new Y coordinate. |
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| 473 | * @param z the new Z coordinate. |
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| 474 | * @ingroup collide |
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| 475 | */ |
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| 476 | ODE_API void dGeomSetOffsetWorldPosition (dGeomID geom, dReal x, dReal y, dReal z); |
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| 477 | |
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| 478 | |
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| 479 | /** |
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| 480 | * @brief Set the offset rotation of a geom from its body. |
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| 481 | * |
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| 482 | * Sets the geom's rotational offset to orient it to the new world |
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| 483 | * rotation matrix. |
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| 484 | * After this call, the geom will be at the world orientation passed in, |
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| 485 | * and the offset will be the difference from the current body orientation. |
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| 486 | * The geom must be attached to a body. |
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| 487 | * If the geom did not have an offset, it is automatically created. |
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| 488 | * |
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| 489 | * @param geom the geom to set. |
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| 490 | * @param R the new rotation matrix. |
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| 491 | * @ingroup collide |
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| 492 | */ |
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| 493 | ODE_API void dGeomSetOffsetWorldRotation (dGeomID geom, const dMatrix3 R); |
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| 494 | |
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| 495 | |
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| 496 | /** |
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| 497 | * @brief Set the offset rotation of a geom from its body. |
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| 498 | * |
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| 499 | * Sets the geom's rotational offset to orient it to the new world |
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| 500 | * rotation matrix. |
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| 501 | * After this call, the geom will be at the world orientation passed in, |
---|
| 502 | * and the offset will be the difference from the current body orientation. |
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| 503 | * The geom must be attached to a body. |
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| 504 | * If the geom did not have an offset, it is automatically created. |
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| 505 | * |
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| 506 | * @param geom the geom to set. |
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| 507 | * @param Q the new rotation. |
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| 508 | * @ingroup collide |
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| 509 | */ |
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| 510 | ODE_API void dGeomSetOffsetWorldQuaternion (dGeomID geom, const dQuaternion); |
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| 511 | |
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| 512 | |
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| 513 | /** |
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| 514 | * @brief Clear any offset from the geom. |
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| 515 | * |
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| 516 | * If the geom has an offset, it is eliminated and the geom is |
---|
| 517 | * repositioned at the body's position. If the geom has no offset, |
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| 518 | * this function does nothing. |
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| 519 | * This is more efficient than calling dGeomSetOffsetPosition(zero) |
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| 520 | * and dGeomSetOffsetRotation(identiy), because this function actually |
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| 521 | * eliminates the offset, rather than leaving it as the identity transform. |
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| 522 | * |
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| 523 | * @param geom the geom to have its offset destroyed. |
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| 524 | * @ingroup collide |
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| 525 | */ |
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| 526 | ODE_API void dGeomClearOffset(dGeomID geom); |
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| 527 | |
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| 528 | |
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| 529 | /** |
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| 530 | * @brief Check to see whether the geom has an offset. |
---|
| 531 | * |
---|
| 532 | * This function will return non-zero if the offset has been created. |
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| 533 | * Note that there is a difference between a geom with no offset, |
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| 534 | * and a geom with an offset that is the identity transform. |
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| 535 | * In the latter case, although the observed behaviour is identical, |
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| 536 | * there is a unnecessary computation involved because the geom will |
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| 537 | * be applying the transform whenever it needs to recalculate its world |
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| 538 | * position. |
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| 539 | * |
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| 540 | * @param geom the geom to query. |
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| 541 | * @returns Non-zero if the geom has an offset, zero otherwise. |
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| 542 | * @ingroup collide |
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| 543 | */ |
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| 544 | ODE_API int dGeomIsOffset(dGeomID geom); |
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| 545 | |
---|
| 546 | |
---|
| 547 | /** |
---|
| 548 | * @brief Get the offset position vector of a geom. |
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| 549 | * |
---|
| 550 | * Returns the positional offset of the geom in local coordinates. |
---|
| 551 | * If the geom has no offset, this function returns the zero vector. |
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| 552 | * |
---|
| 553 | * @param geom the geom to query. |
---|
| 554 | * @returns A pointer to the geom's offset vector. |
---|
| 555 | * @remarks The returned value is a pointer to the geom's internal |
---|
| 556 | * data structure. It is valid until any changes are made |
---|
| 557 | * to the geom. |
---|
| 558 | * @ingroup collide |
---|
| 559 | */ |
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| 560 | ODE_API const dReal * dGeomGetOffsetPosition (dGeomID geom); |
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| 561 | |
---|
| 562 | |
---|
| 563 | /** |
---|
| 564 | * @brief Copy the offset position vector of a geom. |
---|
| 565 | * |
---|
| 566 | * Returns the positional offset of the geom in local coordinates. |
---|
| 567 | * If the geom has no offset, this function returns the zero vector. |
---|
| 568 | * |
---|
| 569 | * @param geom the geom to query. |
---|
| 570 | * @param pos returns the offset position |
---|
| 571 | * @ingroup collide |
---|
| 572 | */ |
---|
| 573 | ODE_API void dGeomCopyOffsetPosition (dGeomID geom, dVector3 pos); |
---|
| 574 | |
---|
| 575 | |
---|
| 576 | /** |
---|
| 577 | * @brief Get the offset rotation matrix of a geom. |
---|
| 578 | * |
---|
| 579 | * Returns the rotational offset of the geom in local coordinates. |
---|
| 580 | * If the geom has no offset, this function returns the identity |
---|
| 581 | * matrix. |
---|
| 582 | * |
---|
| 583 | * @param geom the geom to query. |
---|
| 584 | * @returns A pointer to the geom's offset rotation matrix. |
---|
| 585 | * @remarks The returned value is a pointer to the geom's internal |
---|
| 586 | * data structure. It is valid until any changes are made |
---|
| 587 | * to the geom. |
---|
| 588 | * @ingroup collide |
---|
| 589 | */ |
---|
| 590 | ODE_API const dReal * dGeomGetOffsetRotation (dGeomID geom); |
---|
| 591 | |
---|
| 592 | |
---|
| 593 | /** |
---|
| 594 | * @brief Copy the offset rotation matrix of a geom. |
---|
| 595 | * |
---|
| 596 | * Returns the rotational offset of the geom in local coordinates. |
---|
| 597 | * If the geom has no offset, this function returns the identity |
---|
| 598 | * matrix. |
---|
| 599 | * |
---|
| 600 | * @param geom the geom to query. |
---|
| 601 | * @param R returns the rotation matrix. |
---|
| 602 | * @ingroup collide |
---|
| 603 | */ |
---|
| 604 | ODE_API void dGeomCopyOffsetRotation (dGeomID geom, dMatrix3 R); |
---|
| 605 | |
---|
| 606 | |
---|
| 607 | /** |
---|
| 608 | * @brief Get the offset rotation quaternion of a geom. |
---|
| 609 | * |
---|
| 610 | * Returns the rotation offset of the geom as a quaternion. |
---|
| 611 | * If the geom has no offset, the identity quaternion is returned. |
---|
| 612 | * |
---|
| 613 | * @param geom the geom to query. |
---|
| 614 | * @param result a copy of the rotation quaternion. |
---|
| 615 | * @ingroup collide |
---|
| 616 | */ |
---|
| 617 | ODE_API void dGeomGetOffsetQuaternion (dGeomID geom, dQuaternion result); |
---|
| 618 | |
---|
| 619 | |
---|
| 620 | /* ************************************************************************ */ |
---|
| 621 | /* collision detection */ |
---|
| 622 | |
---|
| 623 | /* |
---|
| 624 | * Just generate any contacts (disables any contact refining). |
---|
| 625 | */ |
---|
| 626 | #define CONTACTS_UNIMPORTANT 0x80000000 |
---|
| 627 | |
---|
| 628 | /** |
---|
| 629 | * |
---|
| 630 | * @brief Given two geoms o1 and o2 that potentially intersect, |
---|
| 631 | * generate contact information for them. |
---|
| 632 | * |
---|
| 633 | * Internally, this just calls the correct class-specific collision |
---|
| 634 | * functions for o1 and o2. |
---|
| 635 | * |
---|
| 636 | * @param o1 The first geom to test. |
---|
| 637 | * @param o2 The second geom to test. |
---|
| 638 | * |
---|
| 639 | * @param flags The flags specify how contacts should be generated if |
---|
| 640 | * the geoms touch. The lower 16 bits of flags is an integer that |
---|
| 641 | * specifies the maximum number of contact points to generate. You must |
---|
| 642 | * ask for at least one contact. |
---|
| 643 | * Additionally, following bits may be set: |
---|
| 644 | * CONTACTS_UNIMPORTANT -- just generate any contacts (skip contact refining). |
---|
| 645 | * All other bits in flags must be set to zero. In the future the other bits |
---|
| 646 | * may be used to select from different contact generation strategies. |
---|
| 647 | * |
---|
| 648 | * @param contact Points to an array of dContactGeom structures. The array |
---|
| 649 | * must be able to hold at least the maximum number of contacts. These |
---|
| 650 | * dContactGeom structures may be embedded within larger structures in the |
---|
| 651 | * array -- the skip parameter is the byte offset from one dContactGeom to |
---|
| 652 | * the next in the array. If skip is sizeof(dContactGeom) then contact |
---|
| 653 | * points to a normal (C-style) array. It is an error for skip to be smaller |
---|
| 654 | * than sizeof(dContactGeom). |
---|
| 655 | * |
---|
| 656 | * @returns If the geoms intersect, this function returns the number of contact |
---|
| 657 | * points generated (and updates the contact array), otherwise it returns 0 |
---|
| 658 | * (and the contact array is not touched). |
---|
| 659 | * |
---|
| 660 | * @remarks If a space is passed as o1 or o2 then this function will collide |
---|
| 661 | * all objects contained in o1 with all objects contained in o2, and return |
---|
| 662 | * the resulting contact points. This method for colliding spaces with geoms |
---|
| 663 | * (or spaces with spaces) provides no user control over the individual |
---|
| 664 | * collisions. To get that control, use dSpaceCollide or dSpaceCollide2 instead. |
---|
| 665 | * |
---|
| 666 | * @remarks If o1 and o2 are the same geom then this function will do nothing |
---|
| 667 | * and return 0. Technically speaking an object intersects with itself, but it |
---|
| 668 | * is not useful to find contact points in this case. |
---|
| 669 | * |
---|
| 670 | * @remarks This function does not care if o1 and o2 are in the same space or not |
---|
| 671 | * (or indeed if they are in any space at all). |
---|
| 672 | * |
---|
| 673 | * @ingroup collide |
---|
| 674 | */ |
---|
| 675 | ODE_API int dCollide (dGeomID o1, dGeomID o2, int flags, dContactGeom *contact, |
---|
| 676 | int skip); |
---|
| 677 | |
---|
| 678 | /** |
---|
| 679 | * @brief Determines which pairs of geoms in a space may potentially intersect, |
---|
| 680 | * and calls the callback function for each candidate pair. |
---|
| 681 | * |
---|
| 682 | * @param space The space to test. |
---|
| 683 | * |
---|
| 684 | * @param data Passed from dSpaceCollide directly to the callback |
---|
| 685 | * function. Its meaning is user defined. The o1 and o2 arguments are the |
---|
| 686 | * geoms that may be near each other. |
---|
| 687 | * |
---|
| 688 | * @param callback A callback function is of type @ref dNearCallback. |
---|
| 689 | * |
---|
| 690 | * @remarks Other spaces that are contained within the colliding space are |
---|
| 691 | * not treated specially, i.e. they are not recursed into. The callback |
---|
| 692 | * function may be passed these contained spaces as one or both geom |
---|
| 693 | * arguments. |
---|
| 694 | * |
---|
| 695 | * @remarks dSpaceCollide() is guaranteed to pass all intersecting geom |
---|
| 696 | * pairs to the callback function, but may also pass close but |
---|
| 697 | * non-intersecting pairs. The number of these calls depends on the |
---|
| 698 | * internal algorithms used by the space. Thus you should not expect |
---|
| 699 | * that dCollide will return contacts for every pair passed to the |
---|
| 700 | * callback. |
---|
| 701 | * |
---|
| 702 | * @sa dSpaceCollide2 |
---|
| 703 | * @ingroup collide |
---|
| 704 | */ |
---|
| 705 | ODE_API void dSpaceCollide (dSpaceID space, void *data, dNearCallback *callback); |
---|
| 706 | |
---|
| 707 | |
---|
| 708 | /** |
---|
| 709 | * @brief Determines which geoms from one space may potentially intersect with |
---|
| 710 | * geoms from another space, and calls the callback function for each candidate |
---|
| 711 | * pair. |
---|
| 712 | * |
---|
| 713 | * @param space1 The first space to test. |
---|
| 714 | * |
---|
| 715 | * @param space2 The second space to test. |
---|
| 716 | * |
---|
| 717 | * @param data Passed from dSpaceCollide directly to the callback |
---|
| 718 | * function. Its meaning is user defined. The o1 and o2 arguments are the |
---|
| 719 | * geoms that may be near each other. |
---|
| 720 | * |
---|
| 721 | * @param callback A callback function is of type @ref dNearCallback. |
---|
| 722 | * |
---|
| 723 | * @remarks This function can also test a single non-space geom against a |
---|
| 724 | * space. This function is useful when there is a collision hierarchy, i.e. |
---|
| 725 | * when there are spaces that contain other spaces. |
---|
| 726 | * |
---|
| 727 | * @remarks Other spaces that are contained within the colliding space are |
---|
| 728 | * not treated specially, i.e. they are not recursed into. The callback |
---|
| 729 | * function may be passed these contained spaces as one or both geom |
---|
| 730 | * arguments. |
---|
| 731 | * |
---|
| 732 | * @remarks dSpaceCollide2() is guaranteed to pass all intersecting geom |
---|
| 733 | * pairs to the callback function, but may also pass close but |
---|
| 734 | * non-intersecting pairs. The number of these calls depends on the |
---|
| 735 | * internal algorithms used by the space. Thus you should not expect |
---|
| 736 | * that dCollide will return contacts for every pair passed to the |
---|
| 737 | * callback. |
---|
| 738 | * |
---|
| 739 | * @sa dSpaceCollide |
---|
| 740 | * @ingroup collide |
---|
| 741 | */ |
---|
| 742 | ODE_API void dSpaceCollide2 (dGeomID space1, dGeomID space2, void *data, dNearCallback *callback); |
---|
| 743 | |
---|
| 744 | |
---|
| 745 | /* ************************************************************************ */ |
---|
| 746 | /* standard classes */ |
---|
| 747 | |
---|
| 748 | /* the maximum number of user classes that are supported */ |
---|
| 749 | enum { |
---|
| 750 | dMaxUserClasses = 4 |
---|
| 751 | }; |
---|
| 752 | |
---|
| 753 | /* class numbers - each geometry object needs a unique number */ |
---|
| 754 | enum { |
---|
| 755 | dSphereClass = 0, |
---|
| 756 | dBoxClass, |
---|
| 757 | dCapsuleClass, |
---|
| 758 | dCylinderClass, |
---|
| 759 | dPlaneClass, |
---|
| 760 | dRayClass, |
---|
| 761 | dConvexClass, |
---|
| 762 | dGeomTransformClass, |
---|
| 763 | dTriMeshClass, |
---|
| 764 | dHeightfieldClass, |
---|
| 765 | |
---|
| 766 | dFirstSpaceClass, |
---|
| 767 | dSimpleSpaceClass = dFirstSpaceClass, |
---|
| 768 | dHashSpaceClass, |
---|
| 769 | dQuadTreeSpaceClass, |
---|
| 770 | dLastSpaceClass = dQuadTreeSpaceClass, |
---|
| 771 | |
---|
| 772 | dFirstUserClass, |
---|
| 773 | dLastUserClass = dFirstUserClass + dMaxUserClasses - 1, |
---|
| 774 | dGeomNumClasses |
---|
| 775 | }; |
---|
| 776 | |
---|
| 777 | |
---|
| 778 | /** |
---|
| 779 | * @defgroup collide_sphere Sphere Class |
---|
| 780 | * @ingroup collide |
---|
| 781 | */ |
---|
| 782 | |
---|
| 783 | /** |
---|
| 784 | * @brief Create a sphere geom of the given radius, and return its ID. |
---|
| 785 | * |
---|
| 786 | * @param space a space to contain the new geom. May be null. |
---|
| 787 | * @param radius the radius of the sphere. |
---|
| 788 | * |
---|
| 789 | * @returns A new sphere geom. |
---|
| 790 | * |
---|
| 791 | * @remarks The point of reference for a sphere is its center. |
---|
| 792 | * |
---|
| 793 | * @sa dGeomDestroy |
---|
| 794 | * @sa dGeomSphereSetRadius |
---|
| 795 | * @ingroup collide_sphere |
---|
| 796 | */ |
---|
| 797 | ODE_API dGeomID dCreateSphere (dSpaceID space, dReal radius); |
---|
| 798 | |
---|
| 799 | |
---|
| 800 | /** |
---|
| 801 | * @brief Set the radius of a sphere geom. |
---|
| 802 | * |
---|
| 803 | * @param sphere the sphere to set. |
---|
| 804 | * @param radius the new radius. |
---|
| 805 | * |
---|
| 806 | * @sa dGeomSphereGetRadius |
---|
| 807 | * @ingroup collide_sphere |
---|
| 808 | */ |
---|
| 809 | ODE_API void dGeomSphereSetRadius (dGeomID sphere, dReal radius); |
---|
| 810 | |
---|
| 811 | |
---|
| 812 | /** |
---|
| 813 | * @brief Retrieves the radius of a sphere geom. |
---|
| 814 | * |
---|
| 815 | * @param sphere the sphere to query. |
---|
| 816 | * |
---|
| 817 | * @sa dGeomSphereSetRadius |
---|
| 818 | * @ingroup collide_sphere |
---|
| 819 | */ |
---|
| 820 | ODE_API dReal dGeomSphereGetRadius (dGeomID sphere); |
---|
| 821 | |
---|
| 822 | |
---|
| 823 | /** |
---|
| 824 | * @brief Calculate the depth of the a given point within a sphere. |
---|
| 825 | * |
---|
| 826 | * @param sphere the sphere to query. |
---|
| 827 | * @param x the X coordinate of the point. |
---|
| 828 | * @param y the Y coordinate of the point. |
---|
| 829 | * @param z the Z coordinate of the point. |
---|
| 830 | * |
---|
| 831 | * @returns The depth of the point. Points inside the sphere will have a |
---|
| 832 | * positive depth, points outside it will have a negative depth, and points |
---|
| 833 | * on the surface will have a depth of zero. |
---|
| 834 | * |
---|
| 835 | * @ingroup collide_sphere |
---|
| 836 | */ |
---|
| 837 | ODE_API dReal dGeomSpherePointDepth (dGeomID sphere, dReal x, dReal y, dReal z); |
---|
| 838 | |
---|
| 839 | |
---|
| 840 | //--> Convex Functions |
---|
| 841 | ODE_API dGeomID dCreateConvex (dSpaceID space, |
---|
| 842 | dReal *_planes, |
---|
| 843 | unsigned int _planecount, |
---|
| 844 | dReal *_points, |
---|
| 845 | unsigned int _pointcount,unsigned int *_polygons); |
---|
| 846 | |
---|
| 847 | ODE_API void dGeomSetConvex (dGeomID g, |
---|
| 848 | dReal *_planes, |
---|
| 849 | unsigned int _count, |
---|
| 850 | dReal *_points, |
---|
| 851 | unsigned int _pointcount,unsigned int *_polygons); |
---|
| 852 | //<-- Convex Functions |
---|
| 853 | |
---|
| 854 | /** |
---|
| 855 | * @defgroup collide_box Box Class |
---|
| 856 | * @ingroup collide |
---|
| 857 | */ |
---|
| 858 | |
---|
| 859 | /** |
---|
| 860 | * @brief Create a box geom with the provided side lengths. |
---|
| 861 | * |
---|
| 862 | * @param space a space to contain the new geom. May be null. |
---|
| 863 | * @param lx the length of the box along the X axis |
---|
| 864 | * @param ly the length of the box along the Y axis |
---|
| 865 | * @param lz the length of the box along the Z axis |
---|
| 866 | * |
---|
| 867 | * @returns A new box geom. |
---|
| 868 | * |
---|
| 869 | * @remarks The point of reference for a box is its center. |
---|
| 870 | * |
---|
| 871 | * @sa dGeomDestroy |
---|
| 872 | * @sa dGeomBoxSetLengths |
---|
| 873 | * @ingroup collide_box |
---|
| 874 | */ |
---|
| 875 | ODE_API dGeomID dCreateBox (dSpaceID space, dReal lx, dReal ly, dReal lz); |
---|
| 876 | |
---|
| 877 | |
---|
| 878 | /** |
---|
| 879 | * @brief Set the side lengths of the given box. |
---|
| 880 | * |
---|
| 881 | * @param box the box to set |
---|
| 882 | * @param lx the length of the box along the X axis |
---|
| 883 | * @param ly the length of the box along the Y axis |
---|
| 884 | * @param lz the length of the box along the Z axis |
---|
| 885 | * |
---|
| 886 | * @sa dGeomBoxGetLengths |
---|
| 887 | * @ingroup collide_box |
---|
| 888 | */ |
---|
| 889 | ODE_API void dGeomBoxSetLengths (dGeomID box, dReal lx, dReal ly, dReal lz); |
---|
| 890 | |
---|
| 891 | |
---|
| 892 | /** |
---|
| 893 | * @brief Get the side lengths of a box. |
---|
| 894 | * |
---|
| 895 | * @param box the box to query |
---|
| 896 | * @param result the returned side lengths |
---|
| 897 | * |
---|
| 898 | * @sa dGeomBoxSetLengths |
---|
| 899 | * @ingroup collide_box |
---|
| 900 | */ |
---|
| 901 | ODE_API void dGeomBoxGetLengths (dGeomID box, dVector3 result); |
---|
| 902 | |
---|
| 903 | |
---|
| 904 | /** |
---|
| 905 | * @brief Return the depth of a point in a box. |
---|
| 906 | * |
---|
| 907 | * @param box the box to query |
---|
| 908 | * @param x the X coordinate of the point to test. |
---|
| 909 | * @param y the Y coordinate of the point to test. |
---|
| 910 | * @param z the Z coordinate of the point to test. |
---|
| 911 | * |
---|
| 912 | * @returns The depth of the point. Points inside the box will have a |
---|
| 913 | * positive depth, points outside it will have a negative depth, and points |
---|
| 914 | * on the surface will have a depth of zero. |
---|
| 915 | */ |
---|
| 916 | ODE_API dReal dGeomBoxPointDepth (dGeomID box, dReal x, dReal y, dReal z); |
---|
| 917 | |
---|
| 918 | |
---|
| 919 | ODE_API dGeomID dCreatePlane (dSpaceID space, dReal a, dReal b, dReal c, dReal d); |
---|
| 920 | ODE_API void dGeomPlaneSetParams (dGeomID plane, dReal a, dReal b, dReal c, dReal d); |
---|
| 921 | ODE_API void dGeomPlaneGetParams (dGeomID plane, dVector4 result); |
---|
| 922 | ODE_API dReal dGeomPlanePointDepth (dGeomID plane, dReal x, dReal y, dReal z); |
---|
| 923 | |
---|
| 924 | ODE_API dGeomID dCreateCapsule (dSpaceID space, dReal radius, dReal length); |
---|
| 925 | ODE_API void dGeomCapsuleSetParams (dGeomID ccylinder, dReal radius, dReal length); |
---|
| 926 | ODE_API void dGeomCapsuleGetParams (dGeomID ccylinder, dReal *radius, dReal *length); |
---|
| 927 | ODE_API dReal dGeomCapsulePointDepth (dGeomID ccylinder, dReal x, dReal y, dReal z); |
---|
| 928 | |
---|
| 929 | // For now we want to have a backwards compatible C-API, note: C++ API is not. |
---|
| 930 | #define dCreateCCylinder dCreateCapsule |
---|
| 931 | #define dGeomCCylinderSetParams dGeomCapsuleSetParams |
---|
| 932 | #define dGeomCCylinderGetParams dGeomCapsuleGetParams |
---|
| 933 | #define dGeomCCylinderPointDepth dGeomCapsulePointDepth |
---|
| 934 | #define dCCylinderClass dCapsuleClass |
---|
| 935 | |
---|
| 936 | ODE_API dGeomID dCreateCylinder (dSpaceID space, dReal radius, dReal length); |
---|
| 937 | ODE_API void dGeomCylinderSetParams (dGeomID cylinder, dReal radius, dReal length); |
---|
| 938 | ODE_API void dGeomCylinderGetParams (dGeomID cylinder, dReal *radius, dReal *length); |
---|
| 939 | |
---|
| 940 | ODE_API dGeomID dCreateRay (dSpaceID space, dReal length); |
---|
| 941 | ODE_API void dGeomRaySetLength (dGeomID ray, dReal length); |
---|
| 942 | ODE_API dReal dGeomRayGetLength (dGeomID ray); |
---|
| 943 | ODE_API void dGeomRaySet (dGeomID ray, dReal px, dReal py, dReal pz, |
---|
| 944 | dReal dx, dReal dy, dReal dz); |
---|
| 945 | ODE_API void dGeomRayGet (dGeomID ray, dVector3 start, dVector3 dir); |
---|
| 946 | |
---|
| 947 | /* |
---|
| 948 | * Set/get ray flags that influence ray collision detection. |
---|
| 949 | * These flags are currently only noticed by the trimesh collider, because |
---|
| 950 | * they can make a major differences there. |
---|
| 951 | */ |
---|
| 952 | ODE_API void dGeomRaySetParams (dGeomID g, int FirstContact, int BackfaceCull); |
---|
| 953 | ODE_API void dGeomRayGetParams (dGeomID g, int *FirstContact, int *BackfaceCull); |
---|
| 954 | ODE_API void dGeomRaySetClosestHit (dGeomID g, int closestHit); |
---|
| 955 | ODE_API int dGeomRayGetClosestHit (dGeomID g); |
---|
| 956 | |
---|
| 957 | #include "collision_trimesh.h" |
---|
| 958 | |
---|
| 959 | ODE_API dGeomID dCreateGeomTransform (dSpaceID space); |
---|
| 960 | ODE_API void dGeomTransformSetGeom (dGeomID g, dGeomID obj); |
---|
| 961 | ODE_API dGeomID dGeomTransformGetGeom (dGeomID g); |
---|
| 962 | ODE_API void dGeomTransformSetCleanup (dGeomID g, int mode); |
---|
| 963 | ODE_API int dGeomTransformGetCleanup (dGeomID g); |
---|
| 964 | ODE_API void dGeomTransformSetInfo (dGeomID g, int mode); |
---|
| 965 | ODE_API int dGeomTransformGetInfo (dGeomID g); |
---|
| 966 | |
---|
| 967 | |
---|
| 968 | /* ************************************************************************ */ |
---|
| 969 | /* heightfield functions */ |
---|
| 970 | |
---|
| 971 | |
---|
| 972 | // Data storage for heightfield data. |
---|
| 973 | struct dxHeightfieldData; |
---|
| 974 | typedef struct dxHeightfieldData* dHeightfieldDataID; |
---|
| 975 | |
---|
| 976 | |
---|
| 977 | /** |
---|
| 978 | * @brief Callback prototype |
---|
| 979 | * |
---|
| 980 | * Used by the callback heightfield data type to sample a height for a |
---|
| 981 | * given cell position. |
---|
| 982 | * |
---|
| 983 | * @param p_user_data User data specified when creating the dHeightfieldDataID |
---|
| 984 | * @param x The index of a sample in the local x axis. It is a value |
---|
| 985 | * in the range zero to ( nWidthSamples - 1 ). |
---|
| 986 | * @param x The index of a sample in the local z axis. It is a value |
---|
| 987 | * in the range zero to ( nDepthSamples - 1 ). |
---|
| 988 | * |
---|
| 989 | * @return The sample height which is then scaled and offset using the |
---|
| 990 | * values specified when the heightfield data was created. |
---|
| 991 | * |
---|
| 992 | * @ingroup collide |
---|
| 993 | */ |
---|
| 994 | typedef dReal dHeightfieldGetHeight( void* p_user_data, int x, int z ); |
---|
| 995 | |
---|
| 996 | |
---|
| 997 | |
---|
| 998 | /** |
---|
| 999 | * @brief Creates a heightfield geom. |
---|
| 1000 | * |
---|
| 1001 | * Uses the information in the given dHeightfieldDataID to construct |
---|
| 1002 | * a geom representing a heightfield in a collision space. |
---|
| 1003 | * |
---|
| 1004 | * @param space The space to add the geom to. |
---|
| 1005 | * @param data The dHeightfieldDataID created by dGeomHeightfieldDataCreate and |
---|
| 1006 | * setup by dGeomHeightfieldDataBuildCallback, dGeomHeightfieldDataBuildByte, |
---|
| 1007 | * dGeomHeightfieldDataBuildShort or dGeomHeightfieldDataBuildFloat. |
---|
| 1008 | * @param bPlaceable If non-zero this geom can be transformed in the world using the |
---|
| 1009 | * usual functions such as dGeomSetPosition and dGeomSetRotation. If the geom is |
---|
| 1010 | * not set as placeable, then it uses a fixed orientation where the global y axis |
---|
| 1011 | * represents the dynamic 'height' of the heightfield. |
---|
| 1012 | * |
---|
| 1013 | * @return A geom id to reference this geom in other calls. |
---|
| 1014 | * |
---|
| 1015 | * @ingroup collide |
---|
| 1016 | */ |
---|
| 1017 | ODE_API dGeomID dCreateHeightfield( dSpaceID space, |
---|
| 1018 | dHeightfieldDataID data, int bPlaceable ); |
---|
| 1019 | |
---|
| 1020 | |
---|
| 1021 | /** |
---|
| 1022 | * @brief Creates a new empty dHeightfieldDataID. |
---|
| 1023 | * |
---|
| 1024 | * Allocates a new dHeightfieldDataID and returns it. You must call |
---|
| 1025 | * dGeomHeightfieldDataDestroy to destroy it after the geom has been removed. |
---|
| 1026 | * The dHeightfieldDataID value is used when specifying a data format type. |
---|
| 1027 | * |
---|
| 1028 | * @return A dHeightfieldDataID for use with dGeomHeightfieldDataBuildCallback, |
---|
| 1029 | * dGeomHeightfieldDataBuildByte, dGeomHeightfieldDataBuildShort or |
---|
| 1030 | * dGeomHeightfieldDataBuildFloat. |
---|
| 1031 | * @ingroup collide |
---|
| 1032 | */ |
---|
| 1033 | ODE_API dHeightfieldDataID dGeomHeightfieldDataCreate(); |
---|
| 1034 | |
---|
| 1035 | |
---|
| 1036 | /** |
---|
| 1037 | * @brief Destroys a dHeightfieldDataID. |
---|
| 1038 | * |
---|
| 1039 | * Deallocates a given dHeightfieldDataID and all managed resources. |
---|
| 1040 | * |
---|
| 1041 | * @param d A dHeightfieldDataID created by dGeomHeightfieldDataCreate |
---|
| 1042 | * @ingroup collide |
---|
| 1043 | */ |
---|
| 1044 | ODE_API void dGeomHeightfieldDataDestroy( dHeightfieldDataID d ); |
---|
| 1045 | |
---|
| 1046 | |
---|
| 1047 | |
---|
| 1048 | /** |
---|
| 1049 | * @brief Configures a dHeightfieldDataID to use a callback to |
---|
| 1050 | * retrieve height data. |
---|
| 1051 | * |
---|
| 1052 | * Before a dHeightfieldDataID can be used by a geom it must be |
---|
| 1053 | * configured to specify the format of the height data. |
---|
| 1054 | * This call specifies that the heightfield data is computed by |
---|
| 1055 | * the user and it should use the given callback when determining |
---|
| 1056 | * the height of a given element of it's shape. |
---|
| 1057 | * |
---|
| 1058 | * @param d A new dHeightfieldDataID created by dGeomHeightfieldDataCreate |
---|
| 1059 | * |
---|
| 1060 | * @param width Specifies the total 'width' of the heightfield along |
---|
| 1061 | * the geom's local x axis. |
---|
| 1062 | * @param depth Specifies the total 'depth' of the heightfield along |
---|
| 1063 | * the geom's local z axis. |
---|
| 1064 | * |
---|
| 1065 | * @param widthSamples Specifies the number of vertices to sample |
---|
| 1066 | * along the width of the heightfield. Each vertex has a corresponding |
---|
| 1067 | * height value which forms the overall shape. |
---|
| 1068 | * Naturally this value must be at least two or more. |
---|
| 1069 | * @param depthSamples Specifies the number of vertices to sample |
---|
| 1070 | * along the depth of the heightfield. |
---|
| 1071 | * |
---|
| 1072 | * @param scale A uniform scale applied to all raw height data. |
---|
| 1073 | * @param offset An offset applied to the scaled height data. |
---|
| 1074 | * |
---|
| 1075 | * @param thickness A value subtracted from the lowest height |
---|
| 1076 | * value which in effect adds an additional cuboid to the base of the |
---|
| 1077 | * heightfield. This is used to prevent geoms from looping under the |
---|
| 1078 | * desired terrain and not registering as a collision. Note that the |
---|
| 1079 | * thickness is not affected by the scale or offset parameters. |
---|
| 1080 | * |
---|
| 1081 | * @param bWrap If non-zero the heightfield will infinitely tile in both |
---|
| 1082 | * directions along the local x and z axes. If zero the heightfield is |
---|
| 1083 | * bounded from zero to width in the local x axis, and zero to depth in |
---|
| 1084 | * the local z axis. |
---|
| 1085 | * |
---|
| 1086 | * @ingroup collide |
---|
| 1087 | */ |
---|
| 1088 | ODE_API void dGeomHeightfieldDataBuildCallback( dHeightfieldDataID d, |
---|
| 1089 | void* pUserData, dHeightfieldGetHeight* pCallback, |
---|
| 1090 | dReal width, dReal depth, int widthSamples, int depthSamples, |
---|
| 1091 | dReal scale, dReal offset, dReal thickness, int bWrap ); |
---|
| 1092 | |
---|
| 1093 | /** |
---|
| 1094 | * @brief Configures a dHeightfieldDataID to use height data in byte format. |
---|
| 1095 | * |
---|
| 1096 | * Before a dHeightfieldDataID can be used by a geom it must be |
---|
| 1097 | * configured to specify the format of the height data. |
---|
| 1098 | * This call specifies that the heightfield data is stored as a rectangular |
---|
| 1099 | * array of bytes (8 bit unsigned) representing the height at each sample point. |
---|
| 1100 | * |
---|
| 1101 | * @param d A new dHeightfieldDataID created by dGeomHeightfieldDataCreate |
---|
| 1102 | * |
---|
| 1103 | * @param pHeightData A pointer to the height data. |
---|
| 1104 | * @param bCopyHeightData When non-zero the height data is copied to an |
---|
| 1105 | * internal store. When zero the height data is accessed by reference and |
---|
| 1106 | * so must persist throughout the lifetime of the heightfield. |
---|
| 1107 | * |
---|
| 1108 | * @param width Specifies the total 'width' of the heightfield along |
---|
| 1109 | * the geom's local x axis. |
---|
| 1110 | * @param depth Specifies the total 'depth' of the heightfield along |
---|
| 1111 | * the geom's local z axis. |
---|
| 1112 | * |
---|
| 1113 | * @param widthSamples Specifies the number of vertices to sample |
---|
| 1114 | * along the width of the heightfield. Each vertex has a corresponding |
---|
| 1115 | * height value which forms the overall shape. |
---|
| 1116 | * Naturally this value must be at least two or more. |
---|
| 1117 | * @param depthSamples Specifies the number of vertices to sample |
---|
| 1118 | * along the depth of the heightfield. |
---|
| 1119 | * |
---|
| 1120 | * @param scale A uniform scale applied to all raw height data. |
---|
| 1121 | * @param offset An offset applied to the scaled height data. |
---|
| 1122 | * |
---|
| 1123 | * @param thickness A value subtracted from the lowest height |
---|
| 1124 | * value which in effect adds an additional cuboid to the base of the |
---|
| 1125 | * heightfield. This is used to prevent geoms from looping under the |
---|
| 1126 | * desired terrain and not registering as a collision. Note that the |
---|
| 1127 | * thickness is not affected by the scale or offset parameters. |
---|
| 1128 | * |
---|
| 1129 | * @param bWrap If non-zero the heightfield will infinitely tile in both |
---|
| 1130 | * directions along the local x and z axes. If zero the heightfield is |
---|
| 1131 | * bounded from zero to width in the local x axis, and zero to depth in |
---|
| 1132 | * the local z axis. |
---|
| 1133 | * |
---|
| 1134 | * @ingroup collide |
---|
| 1135 | */ |
---|
| 1136 | ODE_API void dGeomHeightfieldDataBuildByte( dHeightfieldDataID d, |
---|
| 1137 | const unsigned char* pHeightData, int bCopyHeightData, |
---|
| 1138 | dReal width, dReal depth, int widthSamples, int depthSamples, |
---|
| 1139 | dReal scale, dReal offset, dReal thickness, int bWrap ); |
---|
| 1140 | |
---|
| 1141 | /** |
---|
| 1142 | * @brief Configures a dHeightfieldDataID to use height data in short format. |
---|
| 1143 | * |
---|
| 1144 | * Before a dHeightfieldDataID can be used by a geom it must be |
---|
| 1145 | * configured to specify the format of the height data. |
---|
| 1146 | * This call specifies that the heightfield data is stored as a rectangular |
---|
| 1147 | * array of shorts (16 bit signed) representing the height at each sample point. |
---|
| 1148 | * |
---|
| 1149 | * @param d A new dHeightfieldDataID created by dGeomHeightfieldDataCreate |
---|
| 1150 | * |
---|
| 1151 | * @param pHeightData A pointer to the height data. |
---|
| 1152 | * @param bCopyHeightData When non-zero the height data is copied to an |
---|
| 1153 | * internal store. When zero the height data is accessed by reference and |
---|
| 1154 | * so must persist throughout the lifetime of the heightfield. |
---|
| 1155 | * |
---|
| 1156 | * @param width Specifies the total 'width' of the heightfield along |
---|
| 1157 | * the geom's local x axis. |
---|
| 1158 | * @param depth Specifies the total 'depth' of the heightfield along |
---|
| 1159 | * the geom's local z axis. |
---|
| 1160 | * |
---|
| 1161 | * @param widthSamples Specifies the number of vertices to sample |
---|
| 1162 | * along the width of the heightfield. Each vertex has a corresponding |
---|
| 1163 | * height value which forms the overall shape. |
---|
| 1164 | * Naturally this value must be at least two or more. |
---|
| 1165 | * @param depthSamples Specifies the number of vertices to sample |
---|
| 1166 | * along the depth of the heightfield. |
---|
| 1167 | * |
---|
| 1168 | * @param scale A uniform scale applied to all raw height data. |
---|
| 1169 | * @param offset An offset applied to the scaled height data. |
---|
| 1170 | * |
---|
| 1171 | * @param thickness A value subtracted from the lowest height |
---|
| 1172 | * value which in effect adds an additional cuboid to the base of the |
---|
| 1173 | * heightfield. This is used to prevent geoms from looping under the |
---|
| 1174 | * desired terrain and not registering as a collision. Note that the |
---|
| 1175 | * thickness is not affected by the scale or offset parameters. |
---|
| 1176 | * |
---|
| 1177 | * @param bWrap If non-zero the heightfield will infinitely tile in both |
---|
| 1178 | * directions along the local x and z axes. If zero the heightfield is |
---|
| 1179 | * bounded from zero to width in the local x axis, and zero to depth in |
---|
| 1180 | * the local z axis. |
---|
| 1181 | * |
---|
| 1182 | * @ingroup collide |
---|
| 1183 | */ |
---|
| 1184 | ODE_API void dGeomHeightfieldDataBuildShort( dHeightfieldDataID d, |
---|
| 1185 | const short* pHeightData, int bCopyHeightData, |
---|
| 1186 | dReal width, dReal depth, int widthSamples, int depthSamples, |
---|
| 1187 | dReal scale, dReal offset, dReal thickness, int bWrap ); |
---|
| 1188 | |
---|
| 1189 | /** |
---|
| 1190 | * @brief Configures a dHeightfieldDataID to use height data in |
---|
| 1191 | * single precision floating point format. |
---|
| 1192 | * |
---|
| 1193 | * Before a dHeightfieldDataID can be used by a geom it must be |
---|
| 1194 | * configured to specify the format of the height data. |
---|
| 1195 | * This call specifies that the heightfield data is stored as a rectangular |
---|
| 1196 | * array of single precision floats representing the height at each |
---|
| 1197 | * sample point. |
---|
| 1198 | * |
---|
| 1199 | * @param d A new dHeightfieldDataID created by dGeomHeightfieldDataCreate |
---|
| 1200 | * |
---|
| 1201 | * @param pHeightData A pointer to the height data. |
---|
| 1202 | * @param bCopyHeightData When non-zero the height data is copied to an |
---|
| 1203 | * internal store. When zero the height data is accessed by reference and |
---|
| 1204 | * so must persist throughout the lifetime of the heightfield. |
---|
| 1205 | * |
---|
| 1206 | * @param width Specifies the total 'width' of the heightfield along |
---|
| 1207 | * the geom's local x axis. |
---|
| 1208 | * @param depth Specifies the total 'depth' of the heightfield along |
---|
| 1209 | * the geom's local z axis. |
---|
| 1210 | * |
---|
| 1211 | * @param widthSamples Specifies the number of vertices to sample |
---|
| 1212 | * along the width of the heightfield. Each vertex has a corresponding |
---|
| 1213 | * height value which forms the overall shape. |
---|
| 1214 | * Naturally this value must be at least two or more. |
---|
| 1215 | * @param depthSamples Specifies the number of vertices to sample |
---|
| 1216 | * along the depth of the heightfield. |
---|
| 1217 | * |
---|
| 1218 | * @param scale A uniform scale applied to all raw height data. |
---|
| 1219 | * @param offset An offset applied to the scaled height data. |
---|
| 1220 | * |
---|
| 1221 | * @param thickness A value subtracted from the lowest height |
---|
| 1222 | * value which in effect adds an additional cuboid to the base of the |
---|
| 1223 | * heightfield. This is used to prevent geoms from looping under the |
---|
| 1224 | * desired terrain and not registering as a collision. Note that the |
---|
| 1225 | * thickness is not affected by the scale or offset parameters. |
---|
| 1226 | * |
---|
| 1227 | * @param bWrap If non-zero the heightfield will infinitely tile in both |
---|
| 1228 | * directions along the local x and z axes. If zero the heightfield is |
---|
| 1229 | * bounded from zero to width in the local x axis, and zero to depth in |
---|
| 1230 | * the local z axis. |
---|
| 1231 | * |
---|
| 1232 | * @ingroup collide |
---|
| 1233 | */ |
---|
| 1234 | ODE_API void dGeomHeightfieldDataBuildSingle( dHeightfieldDataID d, |
---|
| 1235 | const float* pHeightData, int bCopyHeightData, |
---|
| 1236 | dReal width, dReal depth, int widthSamples, int depthSamples, |
---|
| 1237 | dReal scale, dReal offset, dReal thickness, int bWrap ); |
---|
| 1238 | |
---|
| 1239 | /** |
---|
| 1240 | * @brief Configures a dHeightfieldDataID to use height data in |
---|
| 1241 | * double precision floating point format. |
---|
| 1242 | * |
---|
| 1243 | * Before a dHeightfieldDataID can be used by a geom it must be |
---|
| 1244 | * configured to specify the format of the height data. |
---|
| 1245 | * This call specifies that the heightfield data is stored as a rectangular |
---|
| 1246 | * array of double precision floats representing the height at each |
---|
| 1247 | * sample point. |
---|
| 1248 | * |
---|
| 1249 | * @param d A new dHeightfieldDataID created by dGeomHeightfieldDataCreate |
---|
| 1250 | * |
---|
| 1251 | * @param pHeightData A pointer to the height data. |
---|
| 1252 | * @param bCopyHeightData When non-zero the height data is copied to an |
---|
| 1253 | * internal store. When zero the height data is accessed by reference and |
---|
| 1254 | * so must persist throughout the lifetime of the heightfield. |
---|
| 1255 | * |
---|
| 1256 | * @param width Specifies the total 'width' of the heightfield along |
---|
| 1257 | * the geom's local x axis. |
---|
| 1258 | * @param depth Specifies the total 'depth' of the heightfield along |
---|
| 1259 | * the geom's local z axis. |
---|
| 1260 | * |
---|
| 1261 | * @param widthSamples Specifies the number of vertices to sample |
---|
| 1262 | * along the width of the heightfield. Each vertex has a corresponding |
---|
| 1263 | * height value which forms the overall shape. |
---|
| 1264 | * Naturally this value must be at least two or more. |
---|
| 1265 | * @param depthSamples Specifies the number of vertices to sample |
---|
| 1266 | * along the depth of the heightfield. |
---|
| 1267 | * |
---|
| 1268 | * @param scale A uniform scale applied to all raw height data. |
---|
| 1269 | * @param offset An offset applied to the scaled height data. |
---|
| 1270 | * |
---|
| 1271 | * @param thickness A value subtracted from the lowest height |
---|
| 1272 | * value which in effect adds an additional cuboid to the base of the |
---|
| 1273 | * heightfield. This is used to prevent geoms from looping under the |
---|
| 1274 | * desired terrain and not registering as a collision. Note that the |
---|
| 1275 | * thickness is not affected by the scale or offset parameters. |
---|
| 1276 | * |
---|
| 1277 | * @param bWrap If non-zero the heightfield will infinitely tile in both |
---|
| 1278 | * directions along the local x and z axes. If zero the heightfield is |
---|
| 1279 | * bounded from zero to width in the local x axis, and zero to depth in |
---|
| 1280 | * the local z axis. |
---|
| 1281 | * |
---|
| 1282 | * @ingroup collide |
---|
| 1283 | */ |
---|
| 1284 | ODE_API void dGeomHeightfieldDataBuildDouble( dHeightfieldDataID d, |
---|
| 1285 | const double* pHeightData, int bCopyHeightData, |
---|
| 1286 | dReal width, dReal depth, int widthSamples, int depthSamples, |
---|
| 1287 | dReal scale, dReal offset, dReal thickness, int bWrap ); |
---|
| 1288 | |
---|
| 1289 | /** |
---|
| 1290 | * @brief Manually set the minimum and maximum height bounds. |
---|
| 1291 | * |
---|
| 1292 | * This call allows you to set explicit min / max values after initial |
---|
| 1293 | * creation typically for callback heightfields which default to +/- infinity, |
---|
| 1294 | * or those whose data has changed. This must be set prior to binding with a |
---|
| 1295 | * geom, as the the AABB is not recomputed after it's first generation. |
---|
| 1296 | * |
---|
| 1297 | * @remarks The minimum and maximum values are used to compute the AABB |
---|
| 1298 | * for the heightfield which is used for early rejection of collisions. |
---|
| 1299 | * A close fit will yield a more efficient collision check. |
---|
| 1300 | * |
---|
| 1301 | * @param d A dHeightfieldDataID created by dGeomHeightfieldDataCreate |
---|
| 1302 | * @param min_height The new minimum height value. Scale, offset and thickness is then applied. |
---|
| 1303 | * @param max_height The new maximum height value. Scale and offset is then applied. |
---|
| 1304 | * @ingroup collide |
---|
| 1305 | */ |
---|
| 1306 | ODE_API void dGeomHeightfieldDataSetBounds( dHeightfieldDataID d, |
---|
| 1307 | dReal minHeight, dReal maxHeight ); |
---|
| 1308 | |
---|
| 1309 | |
---|
| 1310 | /** |
---|
| 1311 | * @brief Assigns a dHeightfieldDataID to a heightfield geom. |
---|
| 1312 | * |
---|
| 1313 | * Associates the given dHeightfieldDataID with a heightfield geom. |
---|
| 1314 | * This is done without affecting the GEOM_PLACEABLE flag. |
---|
| 1315 | * |
---|
| 1316 | * @param g A geom created by dCreateHeightfield |
---|
| 1317 | * @param d A dHeightfieldDataID created by dGeomHeightfieldDataCreate |
---|
| 1318 | * @ingroup collide |
---|
| 1319 | */ |
---|
| 1320 | ODE_API void dGeomHeightfieldSetHeightfieldData( dGeomID g, dHeightfieldDataID d ); |
---|
| 1321 | |
---|
| 1322 | |
---|
| 1323 | /** |
---|
| 1324 | * @brief Gets the dHeightfieldDataID bound to a heightfield geom. |
---|
| 1325 | * |
---|
| 1326 | * Returns the dHeightfieldDataID associated with a heightfield geom. |
---|
| 1327 | * |
---|
| 1328 | * @param g A geom created by dCreateHeightfield |
---|
| 1329 | * @return The dHeightfieldDataID which may be NULL if none was assigned. |
---|
| 1330 | * @ingroup collide |
---|
| 1331 | */ |
---|
| 1332 | ODE_API dHeightfieldDataID dGeomHeightfieldGetHeightfieldData( dGeomID g ); |
---|
| 1333 | |
---|
| 1334 | |
---|
| 1335 | |
---|
| 1336 | /* ************************************************************************ */ |
---|
| 1337 | /* utility functions */ |
---|
| 1338 | |
---|
| 1339 | ODE_API void dClosestLineSegmentPoints (const dVector3 a1, const dVector3 a2, |
---|
| 1340 | const dVector3 b1, const dVector3 b2, |
---|
| 1341 | dVector3 cp1, dVector3 cp2); |
---|
| 1342 | |
---|
| 1343 | ODE_API int dBoxTouchesBox (const dVector3 _p1, const dMatrix3 R1, |
---|
| 1344 | const dVector3 side1, const dVector3 _p2, |
---|
| 1345 | const dMatrix3 R2, const dVector3 side2); |
---|
| 1346 | |
---|
| 1347 | // The meaning of flags parameter is the same as in dCollide() |
---|
| 1348 | ODE_API int dBoxBox (const dVector3 p1, const dMatrix3 R1, |
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| 1349 | const dVector3 side1, const dVector3 p2, |
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| 1350 | const dMatrix3 R2, const dVector3 side2, |
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| 1351 | dVector3 normal, dReal *depth, int *return_code, |
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| 1352 | int flags, dContactGeom *contact, int skip); |
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| 1353 | |
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| 1354 | ODE_API void dInfiniteAABB (dGeomID geom, dReal aabb[6]); |
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| 1355 | ODE_API void dInitODE(void); |
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| 1356 | ODE_API void dCloseODE(void); |
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| 1357 | |
---|
| 1358 | /* ************************************************************************ */ |
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| 1359 | /* custom classes */ |
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| 1360 | |
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| 1361 | typedef void dGetAABBFn (dGeomID, dReal aabb[6]); |
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| 1362 | typedef int dColliderFn (dGeomID o1, dGeomID o2, |
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| 1363 | int flags, dContactGeom *contact, int skip); |
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| 1364 | typedef dColliderFn * dGetColliderFnFn (int num); |
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| 1365 | typedef void dGeomDtorFn (dGeomID o); |
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| 1366 | typedef int dAABBTestFn (dGeomID o1, dGeomID o2, dReal aabb[6]); |
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| 1367 | |
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| 1368 | typedef struct dGeomClass { |
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| 1369 | int bytes; |
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| 1370 | dGetColliderFnFn *collider; |
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| 1371 | dGetAABBFn *aabb; |
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| 1372 | dAABBTestFn *aabb_test; |
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| 1373 | dGeomDtorFn *dtor; |
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| 1374 | } dGeomClass; |
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| 1375 | |
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| 1376 | ODE_API int dCreateGeomClass (const dGeomClass *classptr); |
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| 1377 | ODE_API void * dGeomGetClassData (dGeomID); |
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| 1378 | ODE_API dGeomID dCreateGeom (int classnum); |
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| 1379 | |
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| 1380 | /* ************************************************************************ */ |
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| 1381 | |
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| 1382 | #ifdef __cplusplus |
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| 1383 | } |
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| 1384 | #endif |
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| 1385 | |
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| 1386 | #endif |
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