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 | /* |
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24 | |
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25 | the standard ODE geometry primitives. |
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26 | |
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27 | */ |
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28 | |
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29 | #ifndef _ODE_COLLISION_STD_H_ |
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30 | #define _ODE_COLLISION_STD_H_ |
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31 | |
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32 | #include <set> |
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33 | #include <ode/common.h> |
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34 | #include "collision_kernel.h" |
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35 | |
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36 | |
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37 | // primitive collision functions - these have the dColliderFn interface, i.e. |
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38 | // the same interface as dCollide(). the first and second geom arguments must |
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39 | // have the specified types. |
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40 | |
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41 | int dCollideSphereSphere (dxGeom *o1, dxGeom *o2, int flags, |
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42 | dContactGeom *contact, int skip); |
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43 | int dCollideSphereBox (dxGeom *o1, dxGeom *o2, int flags, |
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44 | dContactGeom *contact, int skip); |
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45 | int dCollideSpherePlane (dxGeom *o1, dxGeom *o2, int flags, |
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46 | dContactGeom *contact, int skip); |
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47 | int dCollideBoxBox (dxGeom *o1, dxGeom *o2, int flags, |
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48 | dContactGeom *contact, int skip); |
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49 | int dCollideBoxPlane (dxGeom *o1, dxGeom *o2, |
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50 | int flags, dContactGeom *contact, int skip); |
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51 | int dCollideCapsuleSphere (dxGeom *o1, dxGeom *o2, int flags, |
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52 | dContactGeom *contact, int skip); |
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53 | int dCollideCapsuleBox (dxGeom *o1, dxGeom *o2, int flags, |
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54 | dContactGeom *contact, int skip); |
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55 | int dCollideCapsuleCapsule (dxGeom *o1, dxGeom *o2, |
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56 | int flags, dContactGeom *contact, int skip); |
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57 | int dCollideCapsulePlane (dxGeom *o1, dxGeom *o2, int flags, |
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58 | dContactGeom *contact, int skip); |
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59 | int dCollideRaySphere (dxGeom *o1, dxGeom *o2, int flags, |
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60 | dContactGeom *contact, int skip); |
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61 | int dCollideRayBox (dxGeom *o1, dxGeom *o2, int flags, |
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62 | dContactGeom *contact, int skip); |
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63 | int dCollideRayCapsule (dxGeom *o1, dxGeom *o2, |
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64 | int flags, dContactGeom *contact, int skip); |
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65 | int dCollideRayPlane (dxGeom *o1, dxGeom *o2, int flags, |
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66 | dContactGeom *contact, int skip); |
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67 | int dCollideRayCylinder (dxGeom *o1, dxGeom *o2, int flags, |
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68 | dContactGeom *contact, int skip); |
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69 | |
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70 | // Cylinder - Box/Sphere by (C) CroTeam |
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71 | // Ported by Nguyen Binh |
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72 | int dCollideCylinderBox(dxGeom *o1, dxGeom *o2, |
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73 | int flags, dContactGeom *contact, int skip); |
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74 | int dCollideCylinderSphere(dxGeom *gCylinder, dxGeom *gSphere, |
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75 | int flags, dContactGeom *contact, int skip); |
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76 | int dCollideCylinderPlane(dxGeom *gCylinder, dxGeom *gPlane, |
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77 | int flags, dContactGeom *contact, int skip); |
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78 | |
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79 | //--> Convex Collision |
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80 | int dCollideConvexPlane (dxGeom *o1, dxGeom *o2, int flags, |
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81 | dContactGeom *contact, int skip); |
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82 | int dCollideSphereConvex (dxGeom *o1, dxGeom *o2, int flags, |
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83 | dContactGeom *contact, int skip); |
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84 | int dCollideConvexBox (dxGeom *o1, dxGeom *o2, int flags, |
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85 | dContactGeom *contact, int skip); |
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86 | int dCollideConvexCapsule (dxGeom *o1, dxGeom *o2, |
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87 | int flags, dContactGeom *contact, int skip); |
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88 | int dCollideConvexConvex (dxGeom *o1, dxGeom *o2, int flags, |
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89 | dContactGeom *contact, int skip); |
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90 | int dCollideRayConvex (dxGeom *o1, dxGeom *o2, int flags, |
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91 | dContactGeom *contact, int skip); |
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92 | //<-- Convex Collision |
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93 | |
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94 | // dHeightfield |
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95 | int dCollideHeightfield( dxGeom *o1, dxGeom *o2, |
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96 | int flags, dContactGeom *contact, int skip ); |
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97 | |
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98 | //**************************************************************************** |
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99 | // the basic geometry objects |
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100 | |
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101 | struct dxSphere : public dxGeom { |
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102 | dReal radius; // sphere radius |
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103 | dxSphere (dSpaceID space, dReal _radius); |
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104 | void computeAABB(); |
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105 | }; |
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106 | |
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107 | |
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108 | struct dxBox : public dxGeom { |
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109 | dVector3 side; // side lengths (x,y,z) |
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110 | dxBox (dSpaceID space, dReal lx, dReal ly, dReal lz); |
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111 | void computeAABB(); |
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112 | }; |
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113 | |
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114 | |
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115 | struct dxCapsule : public dxGeom { |
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116 | dReal radius,lz; // radius, length along z axis |
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117 | dxCapsule (dSpaceID space, dReal _radius, dReal _length); |
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118 | void computeAABB(); |
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119 | }; |
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120 | |
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121 | |
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122 | struct dxCylinder : public dxGeom { |
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123 | dReal radius,lz; // radius, length along z axis |
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124 | dxCylinder (dSpaceID space, dReal _radius, dReal _length); |
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125 | void computeAABB(); |
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126 | }; |
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127 | |
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128 | |
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129 | struct dxPlane : public dxGeom { |
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130 | dReal p[4]; |
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131 | dxPlane (dSpaceID space, dReal a, dReal b, dReal c, dReal d); |
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132 | void computeAABB(); |
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133 | }; |
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134 | |
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135 | |
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136 | struct dxRay : public dxGeom { |
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137 | dReal length; |
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138 | dxRay (dSpaceID space, dReal _length); |
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139 | void computeAABB(); |
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140 | }; |
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141 | |
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142 | typedef std::pair<unsigned int,unsigned int> edge; /*!< Used to descrive a convex hull edge, an edge is a pair or indices into the hull's points */ |
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143 | struct dxConvex : public dxGeom |
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144 | { |
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145 | |
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146 | dReal *planes; /*!< An array of planes in the form: |
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147 | normal X, normal Y, normal Z,Distance |
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148 | */ |
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149 | dReal *points; /*!< An array of points X,Y,Z */ |
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150 | unsigned int *polygons; /*! An array of indices to the points of each polygon, it should be the number of vertices followed by that amount of indices to "points" in counter clockwise order*/ |
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151 | unsigned int planecount; /*!< Amount of planes in planes */ |
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152 | unsigned int pointcount;/*!< Amount of points in points */ |
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153 | dReal saabb[6];/*!< Static AABB */ |
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154 | std::set<edge> edges; |
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155 | dxConvex(dSpaceID space, |
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156 | dReal *planes, |
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157 | unsigned int planecount, |
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158 | dReal *points, |
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159 | unsigned int pointcount, |
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160 | unsigned int *polygons); |
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161 | ~dxConvex() |
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162 | { |
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163 | //fprintf(stdout,"dxConvex Destroy\n"); |
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164 | } |
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165 | void computeAABB(); |
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166 | private: |
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167 | // For Internal Use Only |
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168 | void FillEdges(); |
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169 | }; |
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170 | |
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171 | |
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172 | #endif |
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