add ode

1 files changed, 467 insertions, 0 deletions

diff --git a/libs/ode-0.16.1/include/ode/odecpp_collision.h b/libs/ode-0.16.1/include/ode/odecpp_collision.h
new file mode 100644
index 0000000..f2c7725
--- /dev/null
+++ b/libs/ode-0.16.1/include/ode/odecpp_collision.h
@@ -0,0 +1,467 @@
+/*************************************************************************
+ *                                                                       *
+ * Open Dynamics Engine, Copyright (C) 2001,2002 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.                     *
+ *                                                                       *
+ *************************************************************************/
+
+/* C++ interface for new collision API */
+
+
+#ifndef _ODE_ODECPP_COLLISION_H_
+#define _ODE_ODECPP_COLLISION_H_
+#ifdef __cplusplus
+
+//#include <ode/error.h>
+
+//namespace ode {
+
+class dGeom {
+  // intentionally undefined, don't use these
+  dGeom (dGeom &);
+  void operator= (dGeom &);
+
+protected:
+  dGeomID _id;
+
+  dGeom()
+    { _id = 0; }
+public:
+  ~dGeom()
+    { if (_id) dGeomDestroy (_id); }
+
+  dGeomID id() const
+    { return _id; }
+  operator dGeomID() const
+    { return _id; }
+
+  void destroy() {
+    if (_id) dGeomDestroy (_id);
+    _id = 0;
+  }
+
+  int getClass() const
+    { return dGeomGetClass (_id); }
+
+  dSpaceID getSpace() const
+    { return dGeomGetSpace (_id); }
+
+  void setData (void *data)
+    { dGeomSetData (_id,data); }
+  void *getData() const
+    { return dGeomGetData (_id); }
+
+  void setBody (dBodyID b)
+    { dGeomSetBody (_id,b); }
+  dBodyID getBody() const
+    { return dGeomGetBody (_id); }
+
+  void setPosition (dReal x, dReal y, dReal z)
+    { dGeomSetPosition (_id,x,y,z); }
+  const dReal * getPosition() const
+    { return dGeomGetPosition (_id); }
+
+  void setRotation (const dMatrix3 R)
+    { dGeomSetRotation (_id,R); }
+  const dReal * getRotation() const
+    { return dGeomGetRotation (_id); }
+
+  void setQuaternion (const dQuaternion quat)
+    { dGeomSetQuaternion (_id,quat); }
+  void getQuaternion (dQuaternion quat) const
+    { dGeomGetQuaternion (_id,quat); }
+
+  void getAABB (dReal aabb[6]) const
+    { dGeomGetAABB (_id, aabb); }
+
+  int isSpace()
+    { return dGeomIsSpace (_id); }
+
+  void setCategoryBits (unsigned long bits)
+    { dGeomSetCategoryBits (_id, bits); }
+  void setCollideBits (unsigned long bits)
+    { dGeomSetCollideBits (_id, bits); }
+  unsigned long getCategoryBits()
+    { return dGeomGetCategoryBits (_id); }
+  unsigned long getCollideBits()
+    { return dGeomGetCollideBits (_id); }
+
+  void enable()
+    { dGeomEnable (_id); }
+  void disable()
+    { dGeomDisable (_id); }
+  int isEnabled()
+    { return dGeomIsEnabled (_id); }
+
+  void getRelPointPos (dReal px, dReal py, dReal pz, dVector3 result) const
+    { dGeomGetRelPointPos (_id, px, py, pz, result); }
+  void getRelPointPos (const dVector3 p, dVector3 result) const
+    { getRelPointPos (p[0], p[1], p[2], result); }
+
+  void getPosRelPoint (dReal px, dReal py, dReal pz, dVector3 result) const
+    { dGeomGetPosRelPoint (_id, px, py, pz, result); }
+  void getPosRelPoint (const dVector3 p, dVector3 result) const
+    { getPosRelPoint (p[0], p[1], p[2], result); }
+
+  void vectorToWorld (dReal px, dReal py, dReal pz, dVector3 result) const
+    { dGeomVectorToWorld (_id, px, py, pz, result); }
+  void vectorToWorld (const dVector3 p, dVector3 result) const
+    { vectorToWorld (p[0], p[1], p[2], result); }
+
+  void vectorFromWorld (dReal px, dReal py, dReal pz, dVector3 result) const
+    { dGeomVectorFromWorld (_id, px, py, pz, result); }
+  void vectorFromWorld (const dVector3 p, dVector3 result) const
+    { vectorFromWorld (p[0], p[1], p[2], result); }
+
+  void collide2 (dGeomID g, void *data, dNearCallback *callback)
+    { dSpaceCollide2 (_id,g,data,callback); }
+};
+
+
+class dSpace : public dGeom {
+  // intentionally undefined, don't use these
+  dSpace (dSpace &);
+  void operator= (dSpace &);
+
+protected:
+  // the default constructor is protected so that you
+  // can't instance this class. you must instance one
+  // of its subclasses instead.
+  dSpace () { _id = 0; }
+
+public:
+  dSpaceID id() const
+    { return (dSpaceID) _id; }
+  operator dSpaceID() const
+    { return (dSpaceID) _id; }
+
+  void setCleanup (int mode)
+    { dSpaceSetCleanup (id(), mode); }
+  int getCleanup()
+    { return dSpaceGetCleanup (id()); }
+
+  void add (dGeomID x)
+    { dSpaceAdd (id(), x); }
+  void remove (dGeomID x)
+    { dSpaceRemove (id(), x); }
+  int query (dGeomID x)
+    { return dSpaceQuery (id(),x); }
+
+  int getNumGeoms()
+    { return dSpaceGetNumGeoms (id()); }
+  dGeomID getGeom (int i)
+    { return dSpaceGetGeom (id(),i); }
+
+  void collide (void *data, dNearCallback *callback)
+    { dSpaceCollide (id(),data,callback); }
+};
+
+
+class dSimpleSpace : public dSpace {
+  // intentionally undefined, don't use these
+  dSimpleSpace (dSimpleSpace &);
+  void operator= (dSimpleSpace &);
+
+public:
+  dSimpleSpace ()
+    { _id = (dGeomID) dSimpleSpaceCreate (0); }
+  dSimpleSpace (dSpace &space)
+    { _id = (dGeomID) dSimpleSpaceCreate (space.id()); }
+  dSimpleSpace (dSpaceID space)
+    { _id = (dGeomID) dSimpleSpaceCreate (space); }
+};
+
+
+class dHashSpace : public dSpace {
+  // intentionally undefined, don't use these
+  dHashSpace (dHashSpace &);
+  void operator= (dHashSpace &);
+
+public:
+  dHashSpace ()
+    { _id = (dGeomID) dHashSpaceCreate (0); }
+  dHashSpace (dSpace &space)
+    { _id = (dGeomID) dHashSpaceCreate (space.id()); }
+  dHashSpace (dSpaceID space)
+    { _id = (dGeomID) dHashSpaceCreate (space); }
+
+  void setLevels (int minlevel, int maxlevel)
+    { dHashSpaceSetLevels (id(),minlevel,maxlevel); }
+};
+
+
+class dQuadTreeSpace : public dSpace {
+  // intentionally undefined, don't use these
+  dQuadTreeSpace (dQuadTreeSpace &);
+  void operator= (dQuadTreeSpace &);
+
+public:
+  dQuadTreeSpace (const dVector3 center, const dVector3 extents, int depth)
+    { _id = (dGeomID) dQuadTreeSpaceCreate (0,center,extents,depth); }
+  dQuadTreeSpace (dSpace &space, const dVector3 center, const dVector3 extents, int depth)
+    { _id = (dGeomID) dQuadTreeSpaceCreate (space.id(),center,extents,depth); }
+  dQuadTreeSpace (dSpaceID space, const dVector3 center, const dVector3 extents, int depth)
+    { _id = (dGeomID) dQuadTreeSpaceCreate (space,center,extents,depth); }
+};
+
+
+class dSphere : public dGeom {
+  // intentionally undefined, don't use these
+  dSphere (dSphere &);
+  void operator= (dSphere &);
+
+public:
+  dSphere () { }
+  dSphere (dReal radius)
+    { _id = dCreateSphere (0, radius); }
+  dSphere (dSpace &space, dReal radius)
+    { _id = dCreateSphere (space.id(), radius); }
+  dSphere (dSpaceID space, dReal radius)
+    { _id = dCreateSphere (space, radius); }
+
+  void create (dSpaceID space, dReal radius) {
+    if (_id) dGeomDestroy (_id);
+    _id = dCreateSphere (space, radius);
+  }
+
+  void setRadius (dReal radius)
+    { dGeomSphereSetRadius (_id, radius); }
+  dReal getRadius() const
+    { return dGeomSphereGetRadius (_id); }
+};
+
+
+class dBox : public dGeom {
+  // intentionally undefined, don't use these
+  dBox (dBox &);
+  void operator= (dBox &);
+
+public:
+  dBox () { }
+  dBox (dReal lx, dReal ly, dReal lz)
+    { _id = dCreateBox (0,lx,ly,lz); }
+  dBox (dSpace &space, dReal lx, dReal ly, dReal lz)
+    { _id = dCreateBox (space,lx,ly,lz); }
+  dBox (dSpaceID space, dReal lx, dReal ly, dReal lz)
+    { _id = dCreateBox (space,lx,ly,lz); }
+
+  void create (dSpaceID space, dReal lx, dReal ly, dReal lz) {
+    if (_id) dGeomDestroy (_id);
+    _id = dCreateBox (space,lx,ly,lz);
+  }
+
+  void setLengths (dReal lx, dReal ly, dReal lz)
+    { dGeomBoxSetLengths (_id, lx, ly, lz); }
+  void getLengths (dVector3 result) const
+    { dGeomBoxGetLengths (_id,result); }
+};
+
+
+class dPlane : public dGeom {
+  // intentionally undefined, don't use these
+  dPlane (dPlane &);
+  void operator= (dPlane &);
+
+public:
+  dPlane() { }
+  dPlane (dReal a, dReal b, dReal c, dReal d)
+    { _id = dCreatePlane (0,a,b,c,d); }
+  dPlane (dSpace &space, dReal a, dReal b, dReal c, dReal d)
+    { _id = dCreatePlane (space.id(),a,b,c,d); }
+  dPlane (dSpaceID space, dReal a, dReal b, dReal c, dReal d)
+    { _id = dCreatePlane (space,a,b,c,d); }
+
+  void create (dSpaceID space, dReal a, dReal b, dReal c, dReal d) {
+    if (_id) dGeomDestroy (_id);
+    _id = dCreatePlane (space,a,b,c,d);
+  }
+
+  void setParams (dReal a, dReal b, dReal c, dReal d)
+    { dGeomPlaneSetParams (_id, a, b, c, d); }
+  void getParams (dVector4 result) const
+    { dGeomPlaneGetParams (_id,result); }
+};
+
+
+class dCapsule : public dGeom {
+  // intentionally undefined, don't use these
+  dCapsule (dCapsule &);
+  void operator= (dCapsule &);
+
+public:
+  dCapsule() { }
+  dCapsule (dReal radius, dReal length)
+    { _id = dCreateCapsule (0,radius,length); }
+  dCapsule (dSpace &space, dReal radius, dReal length)
+    { _id = dCreateCapsule (space.id(),radius,length); }
+  dCapsule (dSpaceID space, dReal radius, dReal length)
+    { _id = dCreateCapsule (space,radius,length); }
+
+  void create (dSpaceID space, dReal radius, dReal length) {
+    if (_id) dGeomDestroy (_id);
+    _id = dCreateCapsule (space,radius,length);
+  }
+
+  void setParams (dReal radius, dReal length)
+    { dGeomCapsuleSetParams (_id, radius, length); }
+  void getParams (dReal *radius, dReal *length) const
+    { dGeomCapsuleGetParams (_id,radius,length); }
+};
+
+
+class dCylinder : public dGeom {
+  // intentionally undefined, don't use these
+  dCylinder (dCylinder &);
+  void operator= (dCylinder &);
+
+public:
+  dCylinder() { }
+  dCylinder (dReal radius, dReal length)
+    { _id = dCreateCylinder (0,radius,length); }
+  dCylinder (dSpace &space, dReal radius, dReal length)
+    { _id = dCreateCylinder (space.id(),radius,length); }
+  dCylinder (dSpaceID space, dReal radius, dReal length)
+    { _id = dCreateCylinder (space,radius,length); }
+
+  void create (dSpaceID space, dReal radius, dReal length) {
+    if (_id) dGeomDestroy (_id);
+    _id = dCreateCylinder (space,radius,length);
+  }
+
+  void setParams (dReal radius, dReal length)
+    { dGeomCylinderSetParams (_id, radius, length); }
+  void getParams (dReal *radius, dReal *length) const
+    { dGeomCylinderGetParams (_id,radius,length); }
+};
+
+
+class dRay : public dGeom {
+  // intentionally undefined, don't use these
+  dRay (dRay &);
+  void operator= (dRay &);
+
+public:
+  dRay() { }
+  dRay (dReal length)
+    { _id = dCreateRay (0,length); }
+  dRay (dSpace &space, dReal length)
+    { _id = dCreateRay (space.id(),length); }
+  dRay (dSpaceID space, dReal length)
+    { _id = dCreateRay (space,length); }
+
+  void create (dSpaceID space, dReal length) {
+    if (_id) dGeomDestroy (_id);
+    _id = dCreateRay (space,length);
+  }
+
+  void setLength (dReal length)
+    { dGeomRaySetLength (_id, length); }
+  dReal getLength()
+    { return dGeomRayGetLength (_id); }
+
+  void set (dReal px, dReal py, dReal pz, dReal dx, dReal dy, dReal dz)
+    { dGeomRaySet (_id, px, py, pz, dx, dy, dz); }
+  void get (dVector3 start, dVector3 dir)
+    { dGeomRayGet (_id, start, dir); }
+
+#ifdef WIN32
+#pragma warning( push )
+#pragma warning( disable : 4996 )
+#else
+#pragma GCC diagnostic push
+#pragma GCC diagnostic ignored "-Wdeprecated-declarations"
+#endif
+  ODE_API_DEPRECATED
+  void setParams (int firstContact, int backfaceCull)
+    { dGeomRaySetParams (_id, firstContact, backfaceCull); }
+
+  ODE_API_DEPRECATED
+  void getParams (int *firstContact, int *backfaceCull)
+    { dGeomRayGetParams (_id, firstContact, backfaceCull); }
+#ifdef WIN32
+#pragma warning( pop )
+#else
+#pragma GCC diagnostic pop
+#endif
+  void setBackfaceCull (int backfaceCull)
+    { dGeomRaySetBackfaceCull (_id, backfaceCull); }
+  int getBackfaceCull()
+    { return dGeomRayGetBackfaceCull (_id); }
+
+  void setFirstContact (int firstContact)
+    { dGeomRaySetFirstContact (_id, firstContact); }
+  int getFirstContact()
+    { return dGeomRayGetFirstContact (_id); }
+
+  void setClosestHit (int closestHit)
+    { dGeomRaySetClosestHit (_id, closestHit); }
+  int getClosestHit()
+    { return dGeomRayGetClosestHit (_id); }
+};
+
+#ifdef WIN32
+#pragma warning( push )
+#pragma warning( disable : 4996 )
+#else
+#pragma GCC diagnostic push
+#pragma GCC diagnostic ignored "-Wdeprecated-declarations"
+#endif
+
+class ODE_API_DEPRECATED dGeomTransform : public dGeom {
+  // intentionally undefined, don't use these
+  dGeomTransform (dGeomTransform &);
+  void operator= (dGeomTransform &);
+
+public:
+  dGeomTransform() { }
+  dGeomTransform (dSpace &space)
+    { _id = dCreateGeomTransform (space.id()); }
+  dGeomTransform (dSpaceID space)
+    { _id = dCreateGeomTransform (space); }
+
+  void create (dSpaceID space=0) {
+    if (_id) dGeomDestroy (_id);
+    _id = dCreateGeomTransform (space);
+  }
+
+  void setGeom (dGeomID geom)
+    { dGeomTransformSetGeom (_id, geom); }
+  dGeomID getGeom() const
+    { return dGeomTransformGetGeom (_id); }
+
+  void setCleanup (int mode)
+    { dGeomTransformSetCleanup (_id,mode); }
+  int getCleanup ()
+    { return dGeomTransformGetCleanup (_id); }
+
+  void setInfo (int mode)
+    { dGeomTransformSetInfo (_id,mode); }
+  int getInfo()
+    { return dGeomTransformGetInfo (_id); }
+};
+
+#ifdef WIN32
+#pragma warning( pop )
+#else
+#pragma GCC diagnostic pop
+#endif
+
+//}
+
+#endif
+#endif