173 lines
6.5 KiB
C++
173 lines
6.5 KiB
C++
/*************************************************************************
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* *
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* Open Dynamics Engine, Copyright (C) 2001,2002 Russell L. Smith. *
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* All rights reserved. Email: russ@q12.org Web: www.q12.org *
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* *
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* This library is free software; you can redistribute it and/or *
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* modify it under the terms of EITHER: *
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* (1) The GNU Lesser General Public License as published by the Free *
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* Software Foundation; either version 2.1 of the License, or (at *
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* your option) any later version. The text of the GNU Lesser *
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* General Public License is included with this library in the *
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* file LICENSE.TXT. *
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* (2) The BSD-style license that is included with this library in *
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* the file LICENSE-BSD.TXT. *
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* *
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* This library is distributed in the hope that it will be useful, *
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* but WITHOUT ANY WARRANTY; without even the implied warranty of *
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the files *
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* LICENSE.TXT and LICENSE-BSD.TXT for more details. *
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* *
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*************************************************************************/
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/*
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the standard ODE geometry primitives.
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*/
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#ifndef _ODE_COLLISION_STD_H_
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#define _ODE_COLLISION_STD_H_
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#include <set>
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#include <ode/common.h>
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#include "collision_kernel.h"
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// primitive collision functions - these have the dColliderFn interface, i.e.
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// the same interface as dCollide(). the first and second geom arguments must
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// have the specified types.
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int dCollideSphereSphere (dxGeom *o1, dxGeom *o2, int flags,
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dContactGeom *contact, int skip);
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int dCollideSphereBox (dxGeom *o1, dxGeom *o2, int flags,
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dContactGeom *contact, int skip);
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int dCollideSpherePlane (dxGeom *o1, dxGeom *o2, int flags,
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dContactGeom *contact, int skip);
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int dCollideBoxBox (dxGeom *o1, dxGeom *o2, int flags,
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dContactGeom *contact, int skip);
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int dCollideBoxPlane (dxGeom *o1, dxGeom *o2,
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int flags, dContactGeom *contact, int skip);
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int dCollideCapsuleSphere (dxGeom *o1, dxGeom *o2, int flags,
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dContactGeom *contact, int skip);
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int dCollideCapsuleBox (dxGeom *o1, dxGeom *o2, int flags,
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dContactGeom *contact, int skip);
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int dCollideCapsuleCapsule (dxGeom *o1, dxGeom *o2,
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int flags, dContactGeom *contact, int skip);
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int dCollideCapsulePlane (dxGeom *o1, dxGeom *o2, int flags,
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dContactGeom *contact, int skip);
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int dCollideRaySphere (dxGeom *o1, dxGeom *o2, int flags,
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dContactGeom *contact, int skip);
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int dCollideRayBox (dxGeom *o1, dxGeom *o2, int flags,
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dContactGeom *contact, int skip);
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int dCollideRayCapsule (dxGeom *o1, dxGeom *o2,
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int flags, dContactGeom *contact, int skip);
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int dCollideRayPlane (dxGeom *o1, dxGeom *o2, int flags,
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dContactGeom *contact, int skip);
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int dCollideRayCylinder (dxGeom *o1, dxGeom *o2, int flags,
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dContactGeom *contact, int skip);
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// Cylinder - Box/Sphere by (C) CroTeam
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// Ported by Nguyen Binh
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int dCollideCylinderBox(dxGeom *o1, dxGeom *o2,
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int flags, dContactGeom *contact, int skip);
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int dCollideCylinderSphere(dxGeom *gCylinder, dxGeom *gSphere,
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int flags, dContactGeom *contact, int skip);
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int dCollideCylinderPlane(dxGeom *gCylinder, dxGeom *gPlane,
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int flags, dContactGeom *contact, int skip);
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//--> Convex Collision
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int dCollideConvexPlane (dxGeom *o1, dxGeom *o2, int flags,
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dContactGeom *contact, int skip);
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int dCollideSphereConvex (dxGeom *o1, dxGeom *o2, int flags,
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dContactGeom *contact, int skip);
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int dCollideConvexBox (dxGeom *o1, dxGeom *o2, int flags,
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dContactGeom *contact, int skip);
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int dCollideConvexCapsule (dxGeom *o1, dxGeom *o2,
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int flags, dContactGeom *contact, int skip);
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int dCollideConvexConvex (dxGeom *o1, dxGeom *o2, int flags,
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dContactGeom *contact, int skip);
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int dCollideRayConvex (dxGeom *o1, dxGeom *o2, int flags,
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dContactGeom *contact, int skip);
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//<-- Convex Collision
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// dHeightfield
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int dCollideHeightfield( dxGeom *o1, dxGeom *o2,
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int flags, dContactGeom *contact, int skip );
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//****************************************************************************
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// the basic geometry objects
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struct dxSphere : public dxGeom {
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dReal radius; // sphere radius
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dxSphere (dSpaceID space, dReal _radius);
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void computeAABB();
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};
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struct dxBox : public dxGeom {
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dVector3 side; // side lengths (x,y,z)
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dxBox (dSpaceID space, dReal lx, dReal ly, dReal lz);
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void computeAABB();
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};
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struct dxCapsule : public dxGeom {
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dReal radius,lz; // radius, length along z axis
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dxCapsule (dSpaceID space, dReal _radius, dReal _length);
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void computeAABB();
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};
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struct dxCylinder : public dxGeom {
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dReal radius,lz; // radius, length along z axis
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dxCylinder (dSpaceID space, dReal _radius, dReal _length);
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void computeAABB();
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};
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struct dxPlane : public dxGeom {
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dReal p[4];
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dxPlane (dSpaceID space, dReal a, dReal b, dReal c, dReal d);
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void computeAABB();
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};
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struct dxRay : public dxGeom {
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dReal length;
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dxRay (dSpaceID space, dReal _length);
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void computeAABB();
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};
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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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struct dxConvex : public dxGeom
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{
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dReal *planes; /*!< An array of planes in the form:
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normal X, normal Y, normal Z,Distance
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*/
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dReal *points; /*!< An array of points X,Y,Z */
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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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unsigned int planecount; /*!< Amount of planes in planes */
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unsigned int pointcount;/*!< Amount of points in points */
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dReal saabb[6];/*!< Static AABB */
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std::set<edge> edges;
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dxConvex(dSpaceID space,
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dReal *planes,
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unsigned int planecount,
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dReal *points,
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unsigned int pointcount,
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unsigned int *polygons);
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~dxConvex()
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{
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//fprintf(stdout,"dxConvex Destroy\n");
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}
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void computeAABB();
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private:
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// For Internal Use Only
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void FillEdges();
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};
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#endif
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