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diff --git a/libs/ode-0.16.1/include/ode/collision.h b/libs/ode-0.16.1/include/ode/collision.h new file mode 100644 index 0000000..fef6e7b --- /dev/null +++ b/libs/ode-0.16.1/include/ode/collision.h @@ -0,0 +1,1526 @@ +/************************************************************************* + * * + * 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); + + +enum +{ + dGeomCommonControlClass = 0, + dGeomColliderControlClass = 1 +}; + +enum +{ + dGeomCommonAnyControlCode = 0, + + dGeomColliderSetMergeSphereContactsControlCode = 1, + dGeomColliderGetMergeSphereContactsControlCode = 2 +}; + +enum +{ + dGeomColliderMergeContactsValue__Default = 0, /* Used with Set... to restore default value*/ + dGeomColliderMergeContactsValue_None = 1, + dGeomColliderMergeContactsValue_Normals = 2, + dGeomColliderMergeContactsValue_Full = 3 +}; + +/** + * @brief Execute low level control operation for geometry. + * + * The variable the dataSize points to must be initialized before the call. + * If the size does not match the one expected for the control class/code function + * changes it to the size expected and returns failure. This implies the function + * can be called with NULL data and zero size to test if control class/code is supported + * and obtain required data size for it. + * + * dGeomCommonAnyControlCode applies to any control class and returns success if + * at least one control code is available for the given class with given geom. + * + * Currently there are the folliwing control classes supported: + * @li dGeomColliderControlClass + * + * For dGeomColliderControlClass there are the following codes available: + * @li dGeomColliderSetMergeSphereContactsControlCode (arg of type int, dGeomColliderMergeContactsValue_*) + * @li dGeomColliderGetMergeSphereContactsControlCode (arg of type int, dGeomColliderMergeContactsValue_*) + * + * @param geom the geom to control + * @param controlClass the control class + * @param controlCode the control code for the class + * @param dataValue the control argument pointer + * @param dataSize the control argument size provided or expected + * @returns Boolean execution status + * @ingroup collide + */ +ODE_API int dGeomLowLevelControl (dGeomID geom, int controlClass, int controlCode, void *dataValue, int *dataSize); + + +/** + * @brief Get world position of a relative point on geom. + * + * Calling this function on a non-placeable geom results in the same point being + * returned. + * + * @ingroup collide + * @param result will contain the result. + */ +ODE_API void dGeomGetRelPointPos +( + dGeomID geom, dReal px, dReal py, dReal pz, + dVector3 result +); + +/** + * @brief takes a point in global coordinates and returns + * the point's position in geom-relative coordinates. + * + * Calling this function on a non-placeable geom results in the same point being + * returned. + * + * @remarks + * This is the inverse of dGeomGetRelPointPos() + * @ingroup collide + * @param result will contain the result. + */ +ODE_API void dGeomGetPosRelPoint +( + dGeomID geom, dReal px, dReal py, dReal pz, + dVector3 result +); + +/** + * @brief Convert from geom-local to world coordinates. + * + * Calling this function on a non-placeable geom results in the same vector being + * returned. + * + * @ingroup collide + * @param result will contain the result. + */ +ODE_API void dGeomVectorToWorld +( + dGeomID geom, dReal px, dReal py, dReal pz, + dVector3 result +); + +/** + * @brief Convert from world to geom-local coordinates. + * + * Calling this function on a non-placeable geom results in the same vector being + * returned. + * + * @ingroup collide + * @param result will contain the result. + */ +ODE_API void dGeomVectorFromWorld +( + dGeomID geom, dReal px, dReal py, dReal pz, + dVector3 result +); + + +/* ************************************************************************ */ +/* 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 */ + +/* + * Just generate any contacts (disables any contact refining). + */ +#define CONTACTS_UNIMPORTANT 0x80000000 + +/** + * + * @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. You must + * ask for at least one contact. + * Additionally, following bits may be set: + * CONTACTS_UNIMPORTANT -- just generate any contacts (skip contact refining). + * All other bits in flags must be set to 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 Sublevel value of space affects how the spaces are iterated. + * Both spaces are recursed only if their sublevels match. Otherwise, only + * the space with greater sublevel is recursed and the one with lesser sublevel + * is used as a geom itself. + * + * @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 + * @sa dSpaceSetSublevel + * @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, + dSweepAndPruneSpaceClass, /* SAP */ + 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, + const dReal *_planes, + unsigned int _planecount, + const dReal *_points, + unsigned int _pointcount, + const unsigned int *_polygons); + +ODE_API void dGeomSetConvex (dGeomID g, + const dReal *_planes, + unsigned int _count, + const dReal *_points, + unsigned int _pointcount, + const 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_DEPRECATED ODE_API void dGeomRaySetParams (dGeomID g, int FirstContact, int BackfaceCull); +ODE_API_DEPRECATED ODE_API void dGeomRayGetParams (dGeomID g, int *FirstContact, int *BackfaceCull); +ODE_API void dGeomRaySetFirstContact (dGeomID g, int firstContact); +ODE_API int dGeomRayGetFirstContact (dGeomID g); +ODE_API void dGeomRaySetBackfaceCull (dGeomID g, int backfaceCull); +ODE_API int dGeomRayGetBackfaceCull (dGeomID g); +ODE_API void dGeomRaySetClosestHit (dGeomID g, int closestHit); +ODE_API int dGeomRayGetClosestHit (dGeomID g); + +#include "collision_trimesh.h" + +ODE_API_DEPRECATED ODE_API dGeomID dCreateGeomTransform (dSpaceID space); +ODE_API_DEPRECATED ODE_API void dGeomTransformSetGeom (dGeomID g, dGeomID obj); +ODE_API_DEPRECATED ODE_API dGeomID dGeomTransformGetGeom (dGeomID g); +ODE_API_DEPRECATED ODE_API void dGeomTransformSetCleanup (dGeomID g, int mode); +ODE_API_DEPRECATED ODE_API int dGeomTransformGetCleanup (dGeomID g); +ODE_API_DEPRECATED ODE_API void dGeomTransformSetInfo (dGeomID g, int mode); +ODE_API_DEPRECATED 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(void); + + +/** + * @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); + +/* The meaning of flags parameter is the same as in dCollide()*/ +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 flags, dContactGeom *contact, int skip); + +ODE_API void dInfiniteAABB (dGeomID geom, dReal aabb[6]); + + +/* ************************************************************************ */ +/* 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); + +/** + * @brief Sets a custom collider function for two geom classes. + * + * @param i The first geom class handled by this collider + * @param j The second geom class handled by this collider + * @param fn The collider function to use to determine collisions. + * @ingroup collide + */ +ODE_API void dSetColliderOverride (int i, int j, dColliderFn *fn); + + +/* ************************************************************************ */ + +#ifdef __cplusplus +} +#endif + +#endif |