1 | /************************************************************************* |
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2 | * * |
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3 | * Open Dynamics Engine, Copyright (C) 2001,2002 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 | /* C++ interface for new collision API */ |
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24 | |
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25 | |
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26 | #ifndef _ODE_ODECPP_COLLISION_H_ |
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27 | #define _ODE_ODECPP_COLLISION_H_ |
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28 | #ifdef __cplusplus |
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29 | |
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30 | #include <ode/error.h> |
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31 | |
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32 | |
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33 | class dGeom { |
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34 | // intentionally undefined, don't use these |
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35 | dGeom (dGeom &); |
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36 | void operator= (dGeom &); |
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37 | |
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38 | protected: |
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39 | dGeomID _id; |
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40 | |
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41 | public: |
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42 | dGeom() |
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43 | { _id = 0; } |
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44 | ~dGeom() |
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45 | { if (_id) dGeomDestroy (_id); } |
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46 | |
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47 | dGeomID id() const |
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48 | { return _id; } |
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49 | operator dGeomID() const |
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50 | { return _id; } |
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51 | |
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52 | void destroy() { |
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53 | if (_id) dGeomDestroy (_id); |
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54 | _id = 0; |
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55 | } |
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56 | |
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57 | int getClass() const |
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58 | { return dGeomGetClass (_id); } |
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59 | |
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60 | dSpaceID getSpace() const |
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61 | { return dGeomGetSpace (_id); } |
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62 | |
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63 | void setData (void *data) |
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64 | { dGeomSetData (_id,data); } |
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65 | void *getData() const |
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66 | { return dGeomGetData (_id); } |
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67 | |
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68 | void setBody (dBodyID b) |
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69 | { dGeomSetBody (_id,b); } |
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70 | dBodyID getBody() const |
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71 | { return dGeomGetBody (_id); } |
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72 | |
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73 | void setPosition (dReal x, dReal y, dReal z) |
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74 | { dGeomSetPosition (_id,x,y,z); } |
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75 | const dReal * getPosition() const |
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76 | { return dGeomGetPosition (_id); } |
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77 | |
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78 | void setRotation (const dMatrix3 R) |
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79 | { dGeomSetRotation (_id,R); } |
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80 | const dReal * getRotation() const |
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81 | { return dGeomGetRotation (_id); } |
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82 | |
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83 | void setQuaternion (const dQuaternion quat) |
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84 | { dGeomSetQuaternion (_id,quat); } |
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85 | void getQuaternion (dQuaternion quat) const |
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86 | { dGeomGetQuaternion (_id,quat); } |
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87 | |
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88 | void getAABB (dReal aabb[6]) const |
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89 | { dGeomGetAABB (_id, aabb); } |
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90 | |
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91 | int isSpace() |
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92 | { return dGeomIsSpace (_id); } |
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93 | |
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94 | void setCategoryBits (unsigned long bits) |
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95 | { dGeomSetCategoryBits (_id, bits); } |
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96 | void setCollideBits (unsigned long bits) |
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97 | { dGeomSetCollideBits (_id, bits); } |
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98 | unsigned long getCategoryBits() |
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99 | { return dGeomGetCategoryBits (_id); } |
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100 | unsigned long getCollideBits() |
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101 | { return dGeomGetCollideBits (_id); } |
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102 | |
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103 | void enable() |
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104 | { dGeomEnable (_id); } |
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105 | void disable() |
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106 | { dGeomDisable (_id); } |
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107 | int isEnabled() |
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108 | { return dGeomIsEnabled (_id); } |
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109 | |
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110 | void collide2 (dGeomID g, void *data, dNearCallback *callback) |
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111 | { dSpaceCollide2 (_id,g,data,callback); } |
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112 | }; |
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113 | |
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114 | |
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115 | class dSpace : public dGeom { |
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116 | // intentionally undefined, don't use these |
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117 | dSpace (dSpace &); |
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118 | void operator= (dSpace &); |
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119 | |
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120 | protected: |
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121 | // the default constructor is protected so that you |
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122 | // can't instance this class. you must instance one |
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123 | // of its subclasses instead. |
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124 | dSpace () { _id = 0; } |
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125 | |
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126 | public: |
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127 | dSpaceID id() const |
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128 | { return (dSpaceID) _id; } |
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129 | operator dSpaceID() const |
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130 | { return (dSpaceID) _id; } |
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131 | |
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132 | void setCleanup (int mode) |
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133 | { dSpaceSetCleanup (id(), mode); } |
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134 | int getCleanup() |
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135 | { return dSpaceGetCleanup (id()); } |
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136 | |
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137 | void add (dGeomID x) |
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138 | { dSpaceAdd (id(), x); } |
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139 | void remove (dGeomID x) |
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140 | { dSpaceRemove (id(), x); } |
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141 | int query (dGeomID x) |
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142 | { return dSpaceQuery (id(),x); } |
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143 | |
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144 | int getNumGeoms() |
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145 | { return dSpaceGetNumGeoms (id()); } |
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146 | dGeomID getGeom (int i) |
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147 | { return dSpaceGetGeom (id(),i); } |
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148 | |
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149 | void collide (void *data, dNearCallback *callback) |
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150 | { dSpaceCollide (id(),data,callback); } |
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151 | }; |
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152 | |
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153 | |
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154 | class dSimpleSpace : public dSpace { |
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155 | // intentionally undefined, don't use these |
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156 | dSimpleSpace (dSimpleSpace &); |
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157 | void operator= (dSimpleSpace &); |
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158 | |
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159 | public: |
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160 | dSimpleSpace (dSpaceID space) |
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161 | { _id = (dGeomID) dSimpleSpaceCreate (space); } |
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162 | }; |
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163 | |
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164 | |
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165 | class dHashSpace : public dSpace { |
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166 | // intentionally undefined, don't use these |
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167 | dHashSpace (dHashSpace &); |
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168 | void operator= (dHashSpace &); |
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169 | |
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170 | public: |
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171 | dHashSpace (dSpaceID space) |
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172 | { _id = (dGeomID) dHashSpaceCreate (space); } |
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173 | void setLevels (int minlevel, int maxlevel) |
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174 | { dHashSpaceSetLevels (id(),minlevel,maxlevel); } |
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175 | }; |
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176 | |
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177 | |
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178 | class dQuadTreeSpace : public dSpace { |
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179 | // intentionally undefined, don't use these |
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180 | dQuadTreeSpace (dQuadTreeSpace &); |
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181 | void operator= (dQuadTreeSpace &); |
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182 | |
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183 | public: |
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184 | dQuadTreeSpace (dSpaceID space, dVector3 center, dVector3 extents, int depth) |
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185 | { _id = (dGeomID) dQuadTreeSpaceCreate (space,center,extents,depth); } |
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186 | }; |
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187 | |
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188 | |
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189 | class dSphere : public dGeom { |
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190 | // intentionally undefined, don't use these |
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191 | dSphere (dSphere &); |
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192 | void operator= (dSphere &); |
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193 | |
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194 | public: |
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195 | dSphere () { } |
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196 | dSphere (dSpaceID space, dReal radius) |
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197 | { _id = dCreateSphere (space, radius); } |
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198 | |
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199 | void create (dSpaceID space, dReal radius) { |
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200 | if (_id) dGeomDestroy (_id); |
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201 | _id = dCreateSphere (space, radius); |
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202 | } |
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203 | |
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204 | void setRadius (dReal radius) |
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205 | { dGeomSphereSetRadius (_id, radius); } |
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206 | dReal getRadius() const |
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207 | { return dGeomSphereGetRadius (_id); } |
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208 | }; |
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209 | |
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210 | |
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211 | class dBox : public dGeom { |
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212 | // intentionally undefined, don't use these |
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213 | dBox (dBox &); |
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214 | void operator= (dBox &); |
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215 | |
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216 | public: |
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217 | dBox () { } |
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218 | dBox (dSpaceID space, dReal lx, dReal ly, dReal lz) |
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219 | { _id = dCreateBox (space,lx,ly,lz); } |
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220 | |
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221 | void create (dSpaceID space, dReal lx, dReal ly, dReal lz) { |
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222 | if (_id) dGeomDestroy (_id); |
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223 | _id = dCreateBox (space,lx,ly,lz); |
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224 | } |
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225 | |
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226 | void setLengths (dReal lx, dReal ly, dReal lz) |
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227 | { dGeomBoxSetLengths (_id, lx, ly, lz); } |
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228 | void getLengths (dVector3 result) const |
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229 | { dGeomBoxGetLengths (_id,result); } |
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230 | }; |
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231 | |
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232 | |
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233 | class dPlane : public dGeom { |
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234 | // intentionally undefined, don't use these |
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235 | dPlane (dPlane &); |
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236 | void operator= (dPlane &); |
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237 | |
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238 | public: |
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239 | dPlane() { } |
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240 | dPlane (dSpaceID space, dReal a, dReal b, dReal c, dReal d) |
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241 | { _id = dCreatePlane (space,a,b,c,d); } |
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242 | |
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243 | void create (dSpaceID space, dReal a, dReal b, dReal c, dReal d) { |
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244 | if (_id) dGeomDestroy (_id); |
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245 | _id = dCreatePlane (space,a,b,c,d); |
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246 | } |
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247 | |
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248 | void setParams (dReal a, dReal b, dReal c, dReal d) |
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249 | { dGeomPlaneSetParams (_id, a, b, c, d); } |
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250 | void getParams (dVector4 result) const |
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251 | { dGeomPlaneGetParams (_id,result); } |
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252 | }; |
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253 | |
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254 | |
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255 | class dCapsule : public dGeom { |
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256 | // intentionally undefined, don't use these |
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257 | dCapsule (dCapsule &); |
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258 | void operator= (dCapsule &); |
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259 | |
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260 | public: |
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261 | dCapsule() { } |
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262 | dCapsule (dSpaceID space, dReal radius, dReal length) |
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263 | { _id = dCreateCapsule (space,radius,length); } |
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264 | |
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265 | void create (dSpaceID space, dReal radius, dReal length) { |
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266 | if (_id) dGeomDestroy (_id); |
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267 | _id = dCreateCapsule (space,radius,length); |
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268 | } |
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269 | |
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270 | void setParams (dReal radius, dReal length) |
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271 | { dGeomCapsuleSetParams (_id, radius, length); } |
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272 | void getParams (dReal *radius, dReal *length) const |
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273 | { dGeomCapsuleGetParams (_id,radius,length); } |
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274 | }; |
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275 | |
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276 | |
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277 | class dRay : public dGeom { |
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278 | // intentionally undefined, don't use these |
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279 | dRay (dRay &); |
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280 | void operator= (dRay &); |
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281 | |
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282 | public: |
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283 | dRay() { } |
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284 | dRay (dSpaceID space, dReal length) |
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285 | { _id = dCreateRay (space,length); } |
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286 | |
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287 | void create (dSpaceID space, dReal length) { |
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288 | if (_id) dGeomDestroy (_id); |
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289 | _id = dCreateRay (space,length); |
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290 | } |
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291 | |
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292 | void setLength (dReal length) |
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293 | { dGeomRaySetLength (_id, length); } |
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294 | dReal getLength() |
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295 | { return dGeomRayGetLength (_id); } |
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296 | |
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297 | void set (dReal px, dReal py, dReal pz, dReal dx, dReal dy, dReal dz) |
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298 | { dGeomRaySet (_id, px, py, pz, dx, dy, dz); } |
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299 | void get (dVector3 start, dVector3 dir) |
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300 | { dGeomRayGet (_id, start, dir); } |
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301 | |
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302 | void setParams (int firstContact, int backfaceCull) |
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303 | { dGeomRaySetParams (_id, firstContact, backfaceCull); } |
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304 | void getParams (int *firstContact, int *backfaceCull) |
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305 | { dGeomRayGetParams (_id, firstContact, backfaceCull); } |
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306 | void setClosestHit (int closestHit) |
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307 | { dGeomRaySetClosestHit (_id, closestHit); } |
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308 | int getClosestHit() |
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309 | { return dGeomRayGetClosestHit (_id); } |
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310 | }; |
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311 | |
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312 | |
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313 | class dGeomTransform : public dGeom { |
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314 | // intentionally undefined, don't use these |
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315 | dGeomTransform (dGeomTransform &); |
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316 | void operator= (dGeomTransform &); |
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317 | |
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318 | public: |
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319 | dGeomTransform() { } |
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320 | dGeomTransform (dSpaceID space) |
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321 | { _id = dCreateGeomTransform (space); } |
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322 | |
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323 | void create (dSpaceID space=0) { |
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324 | if (_id) dGeomDestroy (_id); |
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325 | _id = dCreateGeomTransform (space); |
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326 | } |
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327 | |
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328 | void setGeom (dGeomID geom) |
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329 | { dGeomTransformSetGeom (_id, geom); } |
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330 | dGeomID getGeom() const |
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331 | { return dGeomTransformGetGeom (_id); } |
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332 | |
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333 | void setCleanup (int mode) |
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334 | { dGeomTransformSetCleanup (_id,mode); } |
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335 | int getCleanup () |
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336 | { return dGeomTransformGetCleanup (_id); } |
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337 | |
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338 | void setInfo (int mode) |
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339 | { dGeomTransformSetInfo (_id,mode); } |
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340 | int getInfo() |
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341 | { return dGeomTransformGetInfo (_id); } |
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342 | }; |
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343 | |
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344 | |
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345 | #endif |
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346 | #endif |
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