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/*************************************************************************
* *
* Open Dynamics Engine, Copyright (C) 2001-2003 Russell L. Smith. *
* All rights reserved. Email: russ@q12.org Web: www.q12.org *
* *
* This library is free software; you can redistribute it and/or *
* modify it under the terms of EITHER: *
* (1) The GNU Lesser General Public License as published by the Free *
* Software Foundation; either version 2.1 of the License, or (at *
* your option) any later version. The text of the GNU Lesser *
* General Public License is included with this library in the *
* file LICENSE.TXT. *
* (2) The BSD-style license that is included with this library in *
* the file LICENSE-BSD.TXT. *
* *
* This library is distributed in the hope that it will be useful, *
* but WITHOUT ANY WARRANTY; without even the implied warranty of *
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the files *
* LICENSE.TXT and LICENSE-BSD.TXT for more details. *
* *
*************************************************************************/
#ifndef _ODE_COLLISION_H_
#define _ODE_COLLISION_H_
#include <ode/common.h>
#include <ode/collision_space.h>
#include <ode/contact.h>
#ifdef __cplusplus
extern "C" {
#endif
/**
* @defgroup collide Collision Detection
*
* ODE has two main components: a dynamics simulation engine and a collision
* detection engine. The collision engine is given information about the
* shape of each body. At each time step it figures out which bodies touch
* each other and passes the resulting contact point information to the user.
* The user in turn creates contact joints between bodies.
*
* Using ODE's collision detection is optional - an alternative collision
* detection system can be used as long as it can supply the right kinds of
* contact information.
*/
/* ************************************************************************ */
/* general functions */
/**
* @brief Destroy a geom, removing it from any space.
*
* Destroy a geom, removing it from any space it is in first. This one
* function destroys a geom of any type, but to create a geom you must call
* a creation function for that type.
*
* When a space is destroyed, if its cleanup mode is 1 (the default) then all
* the geoms in that space are automatically destroyed as well.
*
* @param geom the geom to be destroyed.
* @ingroup collide
*/
ODE_API void dGeomDestroy (dGeomID geom);
/**
* @brief Set the user-defined data pointer stored in the geom.
*
* @param geom the geom to hold the data
* @param data the data pointer to be stored
* @ingroup collide
*/
ODE_API void dGeomSetData (dGeomID geom, void* data);
/**
* @brief Get the user-defined data pointer stored in the geom.
*
* @param geom the geom containing the data
* @ingroup collide
*/
ODE_API void *dGeomGetData (dGeomID geom);
/**
* @brief Set the body associated with a placeable geom.
*
* Setting a body on a geom automatically combines the position vector and
* rotation matrix of the body and geom, so that setting the position or
* orientation of one will set the value for both objects. Setting a body
* ID of zero gives the geom its own position and rotation, independent
* from any body. If the geom was previously connected to a body then its
* new independent position/rotation is set to the current position/rotation
* of the body.
*
* Calling these functions on a non-placeable geom results in a runtime
* error in the debug build of ODE.
*
* @param geom the geom to connect
* @param body the body to attach to the geom
* @ingroup collide
*/
ODE_API void dGeomSetBody (dGeomID geom, dBodyID body);
/**
* @brief Get the body associated with a placeable geom.
* @param geom the geom to query.
* @sa dGeomSetBody
* @ingroup collide
*/
ODE_API dBodyID dGeomGetBody (dGeomID geom);
/**
* @brief Set the position vector of a placeable geom.
*
* If the geom is attached to a body, the body's position will also be changed.
* Calling this function on a non-placeable geom results in a runtime error in
* the debug build of ODE.
*
* @param geom the geom to set.
* @param x the new X coordinate.
* @param y the new Y coordinate.
* @param z the new Z coordinate.
* @sa dBodySetPosition
* @ingroup collide
*/
ODE_API void dGeomSetPosition (dGeomID geom, dReal x, dReal y, dReal z);
/**
* @brief Set the rotation matrix of a placeable geom.
*
* If the geom is attached to a body, the body's rotation will also be changed.
* Calling this function on a non-placeable geom results in a runtime error in
* the debug build of ODE.
*
* @param geom the geom to set.
* @param R the new rotation matrix.
* @sa dBodySetRotation
* @ingroup collide
*/
ODE_API void dGeomSetRotation (dGeomID geom, const dMatrix3 R);
/**
* @brief Set the rotation of a placeable geom.
*
* If the geom is attached to a body, the body's rotation will also be changed.
*
* Calling this function on a non-placeable geom results in a runtime error in
* the debug build of ODE.
*
* @param geom the geom to set.
* @param Q the new rotation.
* @sa dBodySetQuaternion
* @ingroup collide
*/
ODE_API void dGeomSetQuaternion (dGeomID geom, const dQuaternion Q);
/**
* @brief Get the position vector of a placeable geom.
*
* If the geom is attached to a body, the body's position will be returned.
*
* Calling this function on a non-placeable geom results in a runtime error in
* the debug build of ODE.
*
* @param geom the geom to query.
* @returns A pointer to the geom's position vector.
* @remarks The returned value is a pointer to the geom's internal
* data structure. It is valid until any changes are made
* to the geom.
* @sa dBodyGetPosition
* @ingroup collide
*/
ODE_API const dReal * dGeomGetPosition (dGeomID geom);
/**
* @brief Copy the position of a geom into a vector.
* @ingroup collide
* @param geom the geom to query
* @param pos a copy of the geom position
* @sa dGeomGetPosition
*/
ODE_API void dGeomCopyPosition (dGeomID geom, dVector3 pos);
/**
* @brief Get the rotation matrix of a placeable geom.
*
* If the geom is attached to a body, the body's rotation will be returned.
*
* Calling this function on a non-placeable geom results in a runtime error in
* the debug build of ODE.
*
* @param geom the geom to query.
* @returns A pointer to the geom's rotation matrix.
* @remarks The returned value is a pointer to the geom's internal
* data structure. It is valid until any changes are made
* to the geom.
* @sa dBodyGetRotation
* @ingroup collide
*/
ODE_API const dReal * dGeomGetRotation (dGeomID geom);
/**
* @brief Get the rotation matrix of a placeable geom.
*
* If the geom is attached to a body, the body's rotation will be returned.
*
* Calling this function on a non-placeable geom results in a runtime error in
* the debug build of ODE.
*
* @param geom the geom to query.
* @param R a copy of the geom rotation
* @sa dGeomGetRotation
* @ingroup collide
*/
ODE_API void dGeomCopyRotation(dGeomID geom, dMatrix3 R);
/**
* @brief Get the rotation quaternion of a placeable geom.
*
* If the geom is attached to a body, the body's quaternion will be returned.
*
* Calling this function on a non-placeable geom results in a runtime error in
* the debug build of ODE.
*
* @param geom the geom to query.
* @param result a copy of the rotation quaternion.
* @sa dBodyGetQuaternion
* @ingroup collide
*/
ODE_API void dGeomGetQuaternion (dGeomID geom, dQuaternion result);
/**
* @brief Return the axis-aligned bounding box.
*
* Return in aabb an axis aligned bounding box that surrounds the given geom.
* The aabb array has elements (minx, maxx, miny, maxy, minz, maxz). If the
* geom is a space, a bounding box that surrounds all contained geoms is
* returned.
*
* This function may return a pre-computed cached bounding box, if it can
* determine that the geom has not moved since the last time the bounding
* box was computed.
*
* @param geom the geom to query
* @param aabb the returned bounding box
* @ingroup collide
*/
ODE_API void dGeomGetAABB (dGeomID geom, dReal aabb[6]);
/**
* @brief Determing if a geom is a space.
* @param geom the geom to query
* @returns Non-zero if the geom is a space, zero otherwise.
* @ingroup collide
*/
ODE_API int dGeomIsSpace (dGeomID geom);
/**
* @brief Query for the space containing a particular geom.
* @param geom the geom to query
* @returns The space that contains the geom, or NULL if the geom is
* not contained by a space.
* @ingroup collide
*/
ODE_API dSpaceID dGeomGetSpace (dGeomID);
/**
* @brief Given a geom, this returns its class.
*
* The ODE classes are:
* @li dSphereClass
* @li dBoxClass
* @li dCylinderClass
* @li dPlaneClass
* @li dRayClass
* @li dConvexClass
* @li dGeomTransformClass
* @li dTriMeshClass
* @li dSimpleSpaceClass
* @li dHashSpaceClass
* @li dQuadTreeSpaceClass
* @li dFirstUserClass
* @li dLastUserClass
*
* User-defined class will return their own number.
*
* @param geom the geom to query
* @returns The geom class ID.
* @ingroup collide
*/
ODE_API int dGeomGetClass (dGeomID geom);
/**
* @brief Set the "category" bitfield for the given geom.
*
* The category bitfield is used by spaces to govern which geoms will
* interact with each other. The bitfield is guaranteed to be at least
* 32 bits wide. The default category values for newly created geoms
* have all bits set.
*
* @param geom the geom to set
* @param bits the new bitfield value
* @ingroup collide
*/
ODE_API void dGeomSetCategoryBits (dGeomID geom, unsigned long bits);
/**
* @brief Set the "collide" bitfield for the given geom.
*
* The collide bitfield is used by spaces to govern which geoms will
* interact with each other. The bitfield is guaranteed to be at least
* 32 bits wide. The default category values for newly created geoms
* have all bits set.
*
* @param geom the geom to set
* @param bits the new bitfield value
* @ingroup collide
*/
ODE_API void dGeomSetCollideBits (dGeomID geom, unsigned long bits);
/**
* @brief Get the "category" bitfield for the given geom.
*
* @param geom the geom to set
* @param bits the new bitfield value
* @sa dGeomSetCategoryBits
* @ingroup collide
*/
ODE_API unsigned long dGeomGetCategoryBits (dGeomID);
/**
* @brief Get the "collide" bitfield for the given geom.
*
* @param geom the geom to set
* @param bits the new bitfield value
* @sa dGeomSetCollideBits
* @ingroup collide
*/
ODE_API unsigned long dGeomGetCollideBits (dGeomID);
/**
* @brief Enable a geom.
*
* Disabled geoms are completely ignored by dSpaceCollide and dSpaceCollide2,
* although they can still be members of a space. New geoms are created in
* the enabled state.
*
* @param geom the geom to enable
* @sa dGeomDisable
* @sa dGeomIsEnabled
* @ingroup collide
*/
ODE_API void dGeomEnable (dGeomID geom);
/**
* @brief Disable a geom.
*
* Disabled geoms are completely ignored by dSpaceCollide and dSpaceCollide2,
* although they can still be members of a space. New geoms are created in
* the enabled state.
*
* @param geom the geom to disable
* @sa dGeomDisable
* @sa dGeomIsEnabled
* @ingroup collide
*/
ODE_API void dGeomDisable (dGeomID geom);
/**
* @brief Check to see if a geom is enabled.
*
* Disabled geoms are completely ignored by dSpaceCollide and dSpaceCollide2,
* although they can still be members of a space. New geoms are created in
* the enabled state.
*
* @param geom the geom to query
* @returns Non-zero if the geom is enabled, zero otherwise.
* @sa dGeomDisable
* @sa dGeomIsEnabled
* @ingroup collide
*/
ODE_API int dGeomIsEnabled (dGeomID geom);
/* ************************************************************************ */
/* geom offset from body */
/**
* @brief Set the local offset position of a geom from its body.
*
* Sets the geom's positional offset in local coordinates.
* After this call, the geom will be at a new position determined from the
* body's position and the offset.
* The geom must be attached to a body.
* If the geom did not have an offset, it is automatically created.
*
* @param geom the geom to set.
* @param x the new X coordinate.
* @param y the new Y coordinate.
* @param z the new Z coordinate.
* @ingroup collide
*/
ODE_API void dGeomSetOffsetPosition (dGeomID geom, dReal x, dReal y, dReal z);
/**
* @brief Set the local offset rotation matrix of a geom from its body.
*
* Sets the geom's rotational offset in local coordinates.
* After this call, the geom will be at a new position determined from the
* body's position and the offset.
* The geom must be attached to a body.
* If the geom did not have an offset, it is automatically created.
*
* @param geom the geom to set.
* @param R the new rotation matrix.
* @ingroup collide
*/
ODE_API void dGeomSetOffsetRotation (dGeomID geom, const dMatrix3 R);
/**
* @brief Set the local offset rotation of a geom from its body.
*
* Sets the geom's rotational offset in local coordinates.
* After this call, the geom will be at a new position determined from the
* body's position and the offset.
* The geom must be attached to a body.
* If the geom did not have an offset, it is automatically created.
*
* @param geom the geom to set.
* @param Q the new rotation.
* @ingroup collide
*/
ODE_API void dGeomSetOffsetQuaternion (dGeomID geom, const dQuaternion Q);
/**
* @brief Set the offset position of a geom from its body.
*
* Sets the geom's positional offset to move it to the new world
* coordinates.
* After this call, the geom will be at the world position passed in,
* and the offset will be the difference from the current body position.
* The geom must be attached to a body.
* If the geom did not have an offset, it is automatically created.
*
* @param geom the geom to set.
* @param x the new X coordinate.
* @param y the new Y coordinate.
* @param z the new Z coordinate.
* @ingroup collide
*/
ODE_API void dGeomSetOffsetWorldPosition (dGeomID geom, dReal x, dReal y, dReal z);
/**
* @brief Set the offset rotation of a geom from its body.
*
* Sets the geom's rotational offset to orient it to the new world
* rotation matrix.
* After this call, the geom will be at the world orientation passed in,
* and the offset will be the difference from the current body orientation.
* The geom must be attached to a body.
* If the geom did not have an offset, it is automatically created.
*
* @param geom the geom to set.
* @param R the new rotation matrix.
* @ingroup collide
*/
ODE_API void dGeomSetOffsetWorldRotation (dGeomID geom, const dMatrix3 R);
/**
* @brief Set the offset rotation of a geom from its body.
*
* Sets the geom's rotational offset to orient it to the new world
* rotation matrix.
* After this call, the geom will be at the world orientation passed in,
* and the offset will be the difference from the current body orientation.
* The geom must be attached to a body.
* If the geom did not have an offset, it is automatically created.
*
* @param geom the geom to set.
* @param Q the new rotation.
* @ingroup collide
*/
ODE_API void dGeomSetOffsetWorldQuaternion (dGeomID geom, const dQuaternion);
/**
* @brief Clear any offset from the geom.
*
* If the geom has an offset, it is eliminated and the geom is
* repositioned at the body's position. If the geom has no offset,
* this function does nothing.
* This is more efficient than calling dGeomSetOffsetPosition(zero)
* and dGeomSetOffsetRotation(identiy), because this function actually
* eliminates the offset, rather than leaving it as the identity transform.
*
* @param geom the geom to have its offset destroyed.
* @ingroup collide
*/
ODE_API void dGeomClearOffset(dGeomID geom);
/**
* @brief Check to see whether the geom has an offset.
*
* This function will return non-zero if the offset has been created.
* Note that there is a difference between a geom with no offset,
* and a geom with an offset that is the identity transform.
* In the latter case, although the observed behaviour is identical,
* there is a unnecessary computation involved because the geom will
* be applying the transform whenever it needs to recalculate its world
* position.
*
* @param geom the geom to query.
* @returns Non-zero if the geom has an offset, zero otherwise.
* @ingroup collide
*/
ODE_API int dGeomIsOffset(dGeomID geom);
/**
* @brief Get the offset position vector of a geom.
*
* Returns the positional offset of the geom in local coordinates.
* If the geom has no offset, this function returns the zero vector.
*
* @param geom the geom to query.
* @returns A pointer to the geom's offset vector.
* @remarks The returned value is a pointer to the geom's internal
* data structure. It is valid until any changes are made
* to the geom.
* @ingroup collide
*/
ODE_API const dReal * dGeomGetOffsetPosition (dGeomID geom);
/**
* @brief Copy the offset position vector of a geom.
*
* Returns the positional offset of the geom in local coordinates.
* If the geom has no offset, this function returns the zero vector.
*
* @param geom the geom to query.
* @param pos returns the offset position
* @ingroup collide
*/
ODE_API void dGeomCopyOffsetPosition (dGeomID geom, dVector3 pos);
/**
* @brief Get the offset rotation matrix of a geom.
*
* Returns the rotational offset of the geom in local coordinates.
* If the geom has no offset, this function returns the identity
* matrix.
*
* @param geom the geom to query.
* @returns A pointer to the geom's offset rotation matrix.
* @remarks The returned value is a pointer to the geom's internal
* data structure. It is valid until any changes are made
* to the geom.
* @ingroup collide
*/
ODE_API const dReal * dGeomGetOffsetRotation (dGeomID geom);
/**
* @brief Copy the offset rotation matrix of a geom.
*
* Returns the rotational offset of the geom in local coordinates.
* If the geom has no offset, this function returns the identity
* matrix.
*
* @param geom the geom to query.
* @param R returns the rotation matrix.
* @ingroup collide
*/
ODE_API void dGeomCopyOffsetRotation (dGeomID geom, dMatrix3 R);
/**
* @brief Get the offset rotation quaternion of a geom.
*
* Returns the rotation offset of the geom as a quaternion.
* If the geom has no offset, the identity quaternion is returned.
*
* @param geom the geom to query.
* @param result a copy of the rotation quaternion.
* @ingroup collide
*/
ODE_API void dGeomGetOffsetQuaternion (dGeomID geom, dQuaternion result);
/* ************************************************************************ */
/* collision detection */
/**
*
* @brief Given two geoms o1 and o2 that potentially intersect,
* generate contact information for them.
*
* Internally, this just calls the correct class-specific collision
* functions for o1 and o2.
*
* @param o1 The first geom to test.
* @param o2 The second geom to test.
*
* @param flags The flags specify how contacts should be generated if
* the geoms touch. The lower 16 bits of flags is an integer that
* specifies the maximum number of contact points to generate. Note
* that if this number is zero, this function just pretends that it is
* one -- in other words you can not ask for zero contacts. All other bits
* in flags must be zero. In the future the other bits may be used to
* select from different contact generation strategies.
*
* @param contact Points to an array of dContactGeom structures. The array
* must be able to hold at least the maximum number of contacts. These
* dContactGeom structures may be embedded within larger structures in the
* array -- the skip parameter is the byte offset from one dContactGeom to
* the next in the array. If skip is sizeof(dContactGeom) then contact
* points to a normal (C-style) array. It is an error for skip to be smaller
* than sizeof(dContactGeom).
*
* @returns If the geoms intersect, this function returns the number of contact
* points generated (and updates the contact array), otherwise it returns 0
* (and the contact array is not touched).
*
* @remarks If a space is passed as o1 or o2 then this function will collide
* all objects contained in o1 with all objects contained in o2, and return
* the resulting contact points. This method for colliding spaces with geoms
* (or spaces with spaces) provides no user control over the individual
* collisions. To get that control, use dSpaceCollide or dSpaceCollide2 instead.
*
* @remarks If o1 and o2 are the same geom then this function will do nothing
* and return 0. Technically speaking an object intersects with itself, but it
* is not useful to find contact points in this case.
*
* @remarks This function does not care if o1 and o2 are in the same space or not
* (or indeed if they are in any space at all).
*
* @ingroup collide
*/
ODE_API int dCollide (dGeomID o1, dGeomID o2, int flags, dContactGeom *contact,
int skip);
/**
* @brief Determines which pairs of geoms in a space may potentially intersect,
* and calls the callback function for each candidate pair.
*
* @param space The space to test.
*
* @param data Passed from dSpaceCollide directly to the callback
* function. Its meaning is user defined. The o1 and o2 arguments are the
* geoms that may be near each other.
*
* @param callback A callback function is of type @ref dNearCallback.
*
* @remarks Other spaces that are contained within the colliding space are
* not treated specially, i.e. they are not recursed into. The callback
* function may be passed these contained spaces as one or both geom
* arguments.
*
* @remarks dSpaceCollide() is guaranteed to pass all intersecting geom
* pairs to the callback function, but may also pass close but
* non-intersecting pairs. The number of these calls depends on the
* internal algorithms used by the space. Thus you should not expect
* that dCollide will return contacts for every pair passed to the
* callback.
*
* @sa dSpaceCollide2
* @ingroup collide
*/
ODE_API void dSpaceCollide (dSpaceID space, void *data, dNearCallback *callback);
/**
* @brief Determines which geoms from one space may potentially intersect with
* geoms from another space, and calls the callback function for each candidate
* pair.
*
* @param space1 The first space to test.
*
* @param space2 The second space to test.
*
* @param data Passed from dSpaceCollide directly to the callback
* function. Its meaning is user defined. The o1 and o2 arguments are the
* geoms that may be near each other.
*
* @param callback A callback function is of type @ref dNearCallback.
*
* @remarks This function can also test a single non-space geom against a
* space. This function is useful when there is a collision hierarchy, i.e.
* when there are spaces that contain other spaces.
*
* @remarks Other spaces that are contained within the colliding space are
* not treated specially, i.e. they are not recursed into. The callback
* function may be passed these contained spaces as one or both geom
* arguments.
*
* @remarks dSpaceCollide2() is guaranteed to pass all intersecting geom
* pairs to the callback function, but may also pass close but
* non-intersecting pairs. The number of these calls depends on the
* internal algorithms used by the space. Thus you should not expect
* that dCollide will return contacts for every pair passed to the
* callback.
*
* @sa dSpaceCollide
* @ingroup collide
*/
ODE_API void dSpaceCollide2 (dGeomID space1, dGeomID space2, void *data, dNearCallback *callback);
/* ************************************************************************ */
/* standard classes */
/* the maximum number of user classes that are supported */
enum {
dMaxUserClasses = 4
};
/* class numbers - each geometry object needs a unique number */
enum {
dSphereClass = 0,
dBoxClass,
dCapsuleClass,
dCylinderClass,
dPlaneClass,
dRayClass,
dConvexClass,
dGeomTransformClass,
dTriMeshClass,
dHeightfieldClass,
dFirstSpaceClass,
dSimpleSpaceClass = dFirstSpaceClass,
dHashSpaceClass,
dQuadTreeSpaceClass,
dLastSpaceClass = dQuadTreeSpaceClass,
dFirstUserClass,
dLastUserClass = dFirstUserClass + dMaxUserClasses - 1,
dGeomNumClasses
};
/**
* @defgroup collide_sphere Sphere Class
* @ingroup collide
*/
/**
* @brief Create a sphere geom of the given radius, and return its ID.
*
* @param space a space to contain the new geom. May be null.
* @param radius the radius of the sphere.
*
* @returns A new sphere geom.
*
* @remarks The point of reference for a sphere is its center.
*
* @sa dGeomDestroy
* @sa dGeomSphereSetRadius
* @ingroup collide_sphere
*/
ODE_API dGeomID dCreateSphere (dSpaceID space, dReal radius);
/**
* @brief Set the radius of a sphere geom.
*
* @param sphere the sphere to set.
* @param radius the new radius.
*
* @sa dGeomSphereGetRadius
* @ingroup collide_sphere
*/
ODE_API void dGeomSphereSetRadius (dGeomID sphere, dReal radius);
/**
* @brief Retrieves the radius of a sphere geom.
*
* @param sphere the sphere to query.
*
* @sa dGeomSphereSetRadius
* @ingroup collide_sphere
*/
ODE_API dReal dGeomSphereGetRadius (dGeomID sphere);
/**
* @brief Calculate the depth of the a given point within a sphere.
*
* @param sphere the sphere to query.
* @param x the X coordinate of the point.
* @param y the Y coordinate of the point.
* @param z the Z coordinate of the point.
*
* @returns The depth of the point. Points inside the sphere will have a
* positive depth, points outside it will have a negative depth, and points
* on the surface will have a depth of zero.
*
* @ingroup collide_sphere
*/
ODE_API dReal dGeomSpherePointDepth (dGeomID sphere, dReal x, dReal y, dReal z);
//--> Convex Functions
ODE_API dGeomID dCreateConvex (dSpaceID space,
dReal *_planes,
unsigned int _planecount,
dReal *_points,
unsigned int _pointcount,unsigned int *_polygons);
ODE_API void dGeomSetConvex (dGeomID g,
dReal *_planes,
unsigned int _count,
dReal *_points,
unsigned int _pointcount,unsigned int *_polygons);
//<-- Convex Functions
/**
* @defgroup collide_box Box Class
* @ingroup collide
*/
/**
* @brief Create a box geom with the provided side lengths.
*
* @param space a space to contain the new geom. May be null.
* @param lx the length of the box along the X axis
* @param ly the length of the box along the Y axis
* @param lz the length of the box along the Z axis
*
* @returns A new box geom.
*
* @remarks The point of reference for a box is its center.
*
* @sa dGeomDestroy
* @sa dGeomBoxSetLengths
* @ingroup collide_box
*/
ODE_API dGeomID dCreateBox (dSpaceID space, dReal lx, dReal ly, dReal lz);
/**
* @brief Set the side lengths of the given box.
*
* @param box the box to set
* @param lx the length of the box along the X axis
* @param ly the length of the box along the Y axis
* @param lz the length of the box along the Z axis
*
* @sa dGeomBoxGetLengths
* @ingroup collide_box
*/
ODE_API void dGeomBoxSetLengths (dGeomID box, dReal lx, dReal ly, dReal lz);
/**
* @brief Get the side lengths of a box.
*
* @param box the box to query
* @param result the returned side lengths
*
* @sa dGeomBoxSetLengths
* @ingroup collide_box
*/
ODE_API void dGeomBoxGetLengths (dGeomID box, dVector3 result);
/**
* @brief Return the depth of a point in a box.
*
* @param box the box to query
* @param x the X coordinate of the point to test.
* @param y the Y coordinate of the point to test.
* @param z the Z coordinate of the point to test.
*
* @returns The depth of the point. Points inside the box will have a
* positive depth, points outside it will have a negative depth, and points
* on the surface will have a depth of zero.
*/
ODE_API dReal dGeomBoxPointDepth (dGeomID box, dReal x, dReal y, dReal z);
ODE_API dGeomID dCreatePlane (dSpaceID space, dReal a, dReal b, dReal c, dReal d);
ODE_API void dGeomPlaneSetParams (dGeomID plane, dReal a, dReal b, dReal c, dReal d);
ODE_API void dGeomPlaneGetParams (dGeomID plane, dVector4 result);
ODE_API dReal dGeomPlanePointDepth (dGeomID plane, dReal x, dReal y, dReal z);
ODE_API dGeomID dCreateCapsule (dSpaceID space, dReal radius, dReal length);
ODE_API void dGeomCapsuleSetParams (dGeomID ccylinder, dReal radius, dReal length);
ODE_API void dGeomCapsuleGetParams (dGeomID ccylinder, dReal *radius, dReal *length);
ODE_API dReal dGeomCapsulePointDepth (dGeomID ccylinder, dReal x, dReal y, dReal z);
// For now we want to have a backwards compatible C-API, note: C++ API is not.
#define dCreateCCylinder dCreateCapsule
#define dGeomCCylinderSetParams dGeomCapsuleSetParams
#define dGeomCCylinderGetParams dGeomCapsuleGetParams
#define dGeomCCylinderPointDepth dGeomCapsulePointDepth
#define dCCylinderClass dCapsuleClass
ODE_API dGeomID dCreateCylinder (dSpaceID space, dReal radius, dReal length);
ODE_API void dGeomCylinderSetParams (dGeomID cylinder, dReal radius, dReal length);
ODE_API void dGeomCylinderGetParams (dGeomID cylinder, dReal *radius, dReal *length);
ODE_API dGeomID dCreateRay (dSpaceID space, dReal length);
ODE_API void dGeomRaySetLength (dGeomID ray, dReal length);
ODE_API dReal dGeomRayGetLength (dGeomID ray);
ODE_API void dGeomRaySet (dGeomID ray, dReal px, dReal py, dReal pz,
dReal dx, dReal dy, dReal dz);
ODE_API void dGeomRayGet (dGeomID ray, dVector3 start, dVector3 dir);
/*
* Set/get ray flags that influence ray collision detection.
* These flags are currently only noticed by the trimesh collider, because
* they can make a major differences there.
*/
ODE_API void dGeomRaySetParams (dGeomID g, int FirstContact, int BackfaceCull);
ODE_API void dGeomRayGetParams (dGeomID g, int *FirstContact, int *BackfaceCull);
ODE_API void dGeomRaySetClosestHit (dGeomID g, int closestHit);
ODE_API int dGeomRayGetClosestHit (dGeomID g);
#include "collision_trimesh.h"
ODE_API dGeomID dCreateGeomTransform (dSpaceID space);
ODE_API void dGeomTransformSetGeom (dGeomID g, dGeomID obj);
ODE_API dGeomID dGeomTransformGetGeom (dGeomID g);
ODE_API void dGeomTransformSetCleanup (dGeomID g, int mode);
ODE_API int dGeomTransformGetCleanup (dGeomID g);
ODE_API void dGeomTransformSetInfo (dGeomID g, int mode);
ODE_API int dGeomTransformGetInfo (dGeomID g);
/* ************************************************************************ */
/* heightfield functions */
// Data storage for heightfield data.
struct dxHeightfieldData;
typedef struct dxHeightfieldData* dHeightfieldDataID;
/**
* @brief Callback prototype
*
* Used by the callback heightfield data type to sample a height for a
* given cell position.
*
* @param p_user_data User data specified when creating the dHeightfieldDataID
* @param x The index of a sample in the local x axis. It is a value
* in the range zero to ( nWidthSamples - 1 ).
* @param x The index of a sample in the local z axis. It is a value
* in the range zero to ( nDepthSamples - 1 ).
*
* @return The sample height which is then scaled and offset using the
* values specified when the heightfield data was created.
*
* @ingroup collide
*/
typedef dReal dHeightfieldGetHeight( void* p_user_data, int x, int z );
/**
* @brief Creates a heightfield geom.
*
* Uses the information in the given dHeightfieldDataID to construct
* a geom representing a heightfield in a collision space.
*
* @param space The space to add the geom to.
* @param data The dHeightfieldDataID created by dGeomHeightfieldDataCreate and
* setup by dGeomHeightfieldDataBuildCallback, dGeomHeightfieldDataBuildByte,
* dGeomHeightfieldDataBuildShort or dGeomHeightfieldDataBuildFloat.
* @param bPlaceable If non-zero this geom can be transformed in the world using the
* usual functions such as dGeomSetPosition and dGeomSetRotation. If the geom is
* not set as placeable, then it uses a fixed orientation where the global y axis
* represents the dynamic 'height' of the heightfield.
*
* @return A geom id to reference this geom in other calls.
*
* @ingroup collide
*/
ODE_API dGeomID dCreateHeightfield( dSpaceID space,
dHeightfieldDataID data, int bPlaceable );
/**
* @brief Creates a new empty dHeightfieldDataID.
*
* Allocates a new dHeightfieldDataID and returns it. You must call
* dGeomHeightfieldDataDestroy to destroy it after the geom has been removed.
* The dHeightfieldDataID value is used when specifying a data format type.
*
* @return A dHeightfieldDataID for use with dGeomHeightfieldDataBuildCallback,
* dGeomHeightfieldDataBuildByte, dGeomHeightfieldDataBuildShort or
* dGeomHeightfieldDataBuildFloat.
* @ingroup collide
*/
ODE_API dHeightfieldDataID dGeomHeightfieldDataCreate();
/**
* @brief Destroys a dHeightfieldDataID.
*
* Deallocates a given dHeightfieldDataID and all managed resources.
*
* @param d A dHeightfieldDataID created by dGeomHeightfieldDataCreate
* @ingroup collide
*/
ODE_API void dGeomHeightfieldDataDestroy( dHeightfieldDataID d );
/**
* @brief Configures a dHeightfieldDataID to use a callback to
* retrieve height data.
*
* Before a dHeightfieldDataID can be used by a geom it must be
* configured to specify the format of the height data.
* This call specifies that the heightfield data is computed by
* the user and it should use the given callback when determining
* the height of a given element of it's shape.
*
* @param d A new dHeightfieldDataID created by dGeomHeightfieldDataCreate
*
* @param width Specifies the total 'width' of the heightfield along
* the geom's local x axis.
* @param depth Specifies the total 'depth' of the heightfield along
* the geom's local z axis.
*
* @param widthSamples Specifies the number of vertices to sample
* along the width of the heightfield. Each vertex has a corresponding
* height value which forms the overall shape.
* Naturally this value must be at least two or more.
* @param depthSamples Specifies the number of vertices to sample
* along the depth of the heightfield.
*
* @param scale A uniform scale applied to all raw height data.
* @param offset An offset applied to the scaled height data.
*
* @param thickness A value subtracted from the lowest height
* value which in effect adds an additional cuboid to the base of the
* heightfield. This is used to prevent geoms from looping under the
* desired terrain and not registering as a collision. Note that the
* thickness is not affected by the scale or offset parameters.
*
* @param bWrap If non-zero the heightfield will infinitely tile in both
* directions along the local x and z axes. If zero the heightfield is
* bounded from zero to width in the local x axis, and zero to depth in
* the local z axis.
*
* @ingroup collide
*/
ODE_API void dGeomHeightfieldDataBuildCallback( dHeightfieldDataID d,
void* pUserData, dHeightfieldGetHeight* pCallback,
dReal width, dReal depth, int widthSamples, int depthSamples,
dReal scale, dReal offset, dReal thickness, int bWrap );
/**
* @brief Configures a dHeightfieldDataID to use height data in byte format.
*
* Before a dHeightfieldDataID can be used by a geom it must be
* configured to specify the format of the height data.
* This call specifies that the heightfield data is stored as a rectangular
* array of bytes (8 bit unsigned) representing the height at each sample point.
*
* @param d A new dHeightfieldDataID created by dGeomHeightfieldDataCreate
*
* @param pHeightData A pointer to the height data.
* @param bCopyHeightData When non-zero the height data is copied to an
* internal store. When zero the height data is accessed by reference and
* so must persist throughout the lifetime of the heightfield.
*
* @param width Specifies the total 'width' of the heightfield along
* the geom's local x axis.
* @param depth Specifies the total 'depth' of the heightfield along
* the geom's local z axis.
*
* @param widthSamples Specifies the number of vertices to sample
* along the width of the heightfield. Each vertex has a corresponding
* height value which forms the overall shape.
* Naturally this value must be at least two or more.
* @param depthSamples Specifies the number of vertices to sample
* along the depth of the heightfield.
*
* @param scale A uniform scale applied to all raw height data.
* @param offset An offset applied to the scaled height data.
*
* @param thickness A value subtracted from the lowest height
* value which in effect adds an additional cuboid to the base of the
* heightfield. This is used to prevent geoms from looping under the
* desired terrain and not registering as a collision. Note that the
* thickness is not affected by the scale or offset parameters.
*
* @param bWrap If non-zero the heightfield will infinitely tile in both
* directions along the local x and z axes. If zero the heightfield is
* bounded from zero to width in the local x axis, and zero to depth in
* the local z axis.
*
* @ingroup collide
*/
ODE_API void dGeomHeightfieldDataBuildByte( dHeightfieldDataID d,
const unsigned char* pHeightData, int bCopyHeightData,
dReal width, dReal depth, int widthSamples, int depthSamples,
dReal scale, dReal offset, dReal thickness, int bWrap );
/**
* @brief Configures a dHeightfieldDataID to use height data in short format.
*
* Before a dHeightfieldDataID can be used by a geom it must be
* configured to specify the format of the height data.
* This call specifies that the heightfield data is stored as a rectangular
* array of shorts (16 bit signed) representing the height at each sample point.
*
* @param d A new dHeightfieldDataID created by dGeomHeightfieldDataCreate
*
* @param pHeightData A pointer to the height data.
* @param bCopyHeightData When non-zero the height data is copied to an
* internal store. When zero the height data is accessed by reference and
* so must persist throughout the lifetime of the heightfield.
*
* @param width Specifies the total 'width' of the heightfield along
* the geom's local x axis.
* @param depth Specifies the total 'depth' of the heightfield along
* the geom's local z axis.
*
* @param widthSamples Specifies the number of vertices to sample
* along the width of the heightfield. Each vertex has a corresponding
* height value which forms the overall shape.
* Naturally this value must be at least two or more.
* @param depthSamples Specifies the number of vertices to sample
* along the depth of the heightfield.
*
* @param scale A uniform scale applied to all raw height data.
* @param offset An offset applied to the scaled height data.
*
* @param thickness A value subtracted from the lowest height
* value which in effect adds an additional cuboid to the base of the
* heightfield. This is used to prevent geoms from looping under the
* desired terrain and not registering as a collision. Note that the
* thickness is not affected by the scale or offset parameters.
*
* @param bWrap If non-zero the heightfield will infinitely tile in both
* directions along the local x and z axes. If zero the heightfield is
* bounded from zero to width in the local x axis, and zero to depth in
* the local z axis.
*
* @ingroup collide
*/
ODE_API void dGeomHeightfieldDataBuildShort( dHeightfieldDataID d,
const short* pHeightData, int bCopyHeightData,
dReal width, dReal depth, int widthSamples, int depthSamples,
dReal scale, dReal offset, dReal thickness, int bWrap );
/**
* @brief Configures a dHeightfieldDataID to use height data in
* single precision floating point format.
*
* Before a dHeightfieldDataID can be used by a geom it must be
* configured to specify the format of the height data.
* This call specifies that the heightfield data is stored as a rectangular
* array of single precision floats representing the height at each
* sample point.
*
* @param d A new dHeightfieldDataID created by dGeomHeightfieldDataCreate
*
* @param pHeightData A pointer to the height data.
* @param bCopyHeightData When non-zero the height data is copied to an
* internal store. When zero the height data is accessed by reference and
* so must persist throughout the lifetime of the heightfield.
*
* @param width Specifies the total 'width' of the heightfield along
* the geom's local x axis.
* @param depth Specifies the total 'depth' of the heightfield along
* the geom's local z axis.
*
* @param widthSamples Specifies the number of vertices to sample
* along the width of the heightfield. Each vertex has a corresponding
* height value which forms the overall shape.
* Naturally this value must be at least two or more.
* @param depthSamples Specifies the number of vertices to sample
* along the depth of the heightfield.
*
* @param scale A uniform scale applied to all raw height data.
* @param offset An offset applied to the scaled height data.
*
* @param thickness A value subtracted from the lowest height
* value which in effect adds an additional cuboid to the base of the
* heightfield. This is used to prevent geoms from looping under the
* desired terrain and not registering as a collision. Note that the
* thickness is not affected by the scale or offset parameters.
*
* @param bWrap If non-zero the heightfield will infinitely tile in both
* directions along the local x and z axes. If zero the heightfield is
* bounded from zero to width in the local x axis, and zero to depth in
* the local z axis.
*
* @ingroup collide
*/
ODE_API void dGeomHeightfieldDataBuildSingle( dHeightfieldDataID d,
const float* pHeightData, int bCopyHeightData,
dReal width, dReal depth, int widthSamples, int depthSamples,
dReal scale, dReal offset, dReal thickness, int bWrap );
/**
* @brief Configures a dHeightfieldDataID to use height data in
* double precision floating point format.
*
* Before a dHeightfieldDataID can be used by a geom it must be
* configured to specify the format of the height data.
* This call specifies that the heightfield data is stored as a rectangular
* array of double precision floats representing the height at each
* sample point.
*
* @param d A new dHeightfieldDataID created by dGeomHeightfieldDataCreate
*
* @param pHeightData A pointer to the height data.
* @param bCopyHeightData When non-zero the height data is copied to an
* internal store. When zero the height data is accessed by reference and
* so must persist throughout the lifetime of the heightfield.
*
* @param width Specifies the total 'width' of the heightfield along
* the geom's local x axis.
* @param depth Specifies the total 'depth' of the heightfield along
* the geom's local z axis.
*
* @param widthSamples Specifies the number of vertices to sample
* along the width of the heightfield. Each vertex has a corresponding
* height value which forms the overall shape.
* Naturally this value must be at least two or more.
* @param depthSamples Specifies the number of vertices to sample
* along the depth of the heightfield.
*
* @param scale A uniform scale applied to all raw height data.
* @param offset An offset applied to the scaled height data.
*
* @param thickness A value subtracted from the lowest height
* value which in effect adds an additional cuboid to the base of the
* heightfield. This is used to prevent geoms from looping under the
* desired terrain and not registering as a collision. Note that the
* thickness is not affected by the scale or offset parameters.
*
* @param bWrap If non-zero the heightfield will infinitely tile in both
* directions along the local x and z axes. If zero the heightfield is
* bounded from zero to width in the local x axis, and zero to depth in
* the local z axis.
*
* @ingroup collide
*/
ODE_API void dGeomHeightfieldDataBuildDouble( dHeightfieldDataID d,
const double* pHeightData, int bCopyHeightData,
dReal width, dReal depth, int widthSamples, int depthSamples,
dReal scale, dReal offset, dReal thickness, int bWrap );
/**
* @brief Manually set the minimum and maximum height bounds.
*
* This call allows you to set explicit min / max values after initial
* creation typically for callback heightfields which default to +/- infinity,
* or those whose data has changed. This must be set prior to binding with a
* geom, as the the AABB is not recomputed after it's first generation.
*
* @remarks The minimum and maximum values are used to compute the AABB
* for the heightfield which is used for early rejection of collisions.
* A close fit will yield a more efficient collision check.
*
* @param d A dHeightfieldDataID created by dGeomHeightfieldDataCreate
* @param min_height The new minimum height value. Scale, offset and thickness is then applied.
* @param max_height The new maximum height value. Scale and offset is then applied.
* @ingroup collide
*/
ODE_API void dGeomHeightfieldDataSetBounds( dHeightfieldDataID d,
dReal minHeight, dReal maxHeight );
/**
* @brief Assigns a dHeightfieldDataID to a heightfield geom.
*
* Associates the given dHeightfieldDataID with a heightfield geom.
* This is done without affecting the GEOM_PLACEABLE flag.
*
* @param g A geom created by dCreateHeightfield
* @param d A dHeightfieldDataID created by dGeomHeightfieldDataCreate
* @ingroup collide
*/
ODE_API void dGeomHeightfieldSetHeightfieldData( dGeomID g, dHeightfieldDataID d );
/**
* @brief Gets the dHeightfieldDataID bound to a heightfield geom.
*
* Returns the dHeightfieldDataID associated with a heightfield geom.
*
* @param g A geom created by dCreateHeightfield
* @return The dHeightfieldDataID which may be NULL if none was assigned.
* @ingroup collide
*/
ODE_API dHeightfieldDataID dGeomHeightfieldGetHeightfieldData( dGeomID g );
/* ************************************************************************ */
/* utility functions */
ODE_API void dClosestLineSegmentPoints (const dVector3 a1, const dVector3 a2,
const dVector3 b1, const dVector3 b2,
dVector3 cp1, dVector3 cp2);
ODE_API int dBoxTouchesBox (const dVector3 _p1, const dMatrix3 R1,
const dVector3 side1, const dVector3 _p2,
const dMatrix3 R2, const dVector3 side2);
ODE_API int dBoxBox (const dVector3 p1, const dMatrix3 R1,
const dVector3 side1, const dVector3 p2,
const dMatrix3 R2, const dVector3 side2,
dVector3 normal, dReal *depth, int *return_code,
int maxc, dContactGeom *contact, int skip);
ODE_API void dInfiniteAABB (dGeomID geom, dReal aabb[6]);
ODE_API void dInitODE(void);
ODE_API void dCloseODE(void);
/* ************************************************************************ */
/* custom classes */
typedef void dGetAABBFn (dGeomID, dReal aabb[6]);
typedef int dColliderFn (dGeomID o1, dGeomID o2,
int flags, dContactGeom *contact, int skip);
typedef dColliderFn * dGetColliderFnFn (int num);
typedef void dGeomDtorFn (dGeomID o);
typedef int dAABBTestFn (dGeomID o1, dGeomID o2, dReal aabb[6]);
typedef struct dGeomClass {
int bytes;
dGetColliderFnFn *collider;
dGetAABBFn *aabb;
dAABBTestFn *aabb_test;
dGeomDtorFn *dtor;
} dGeomClass;
ODE_API int dCreateGeomClass (const dGeomClass *classptr);
ODE_API void * dGeomGetClassData (dGeomID);
ODE_API dGeomID dCreateGeom (int classnum);
/* ************************************************************************ */
#ifdef __cplusplus
}
#endif
#endif
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