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Diffstat (limited to 'libs/ode-0.16.1/ode/src/collision_std.h')
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1 files changed, 238 insertions, 0 deletions
diff --git a/libs/ode-0.16.1/ode/src/collision_std.h b/libs/ode-0.16.1/ode/src/collision_std.h new file mode 100644 index 0000000..710e580 --- /dev/null +++ b/libs/ode-0.16.1/ode/src/collision_std.h @@ -0,0 +1,238 @@ +/************************************************************************* + * * + * 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. * + * * + *************************************************************************/ + +/* + +the standard ODE geometry primitives. + +*/ + +#ifndef _ODE_COLLISION_STD_H_ +#define _ODE_COLLISION_STD_H_ + +#include <ode/common.h> +#include "collision_kernel.h" + + +// primitive collision functions - these have the dColliderFn interface, i.e. +// the same interface as dCollide(). the first and second geom arguments must +// have the specified types. + +int dCollideSphereSphere (dxGeom *o1, dxGeom *o2, int flags, + dContactGeom *contact, int skip); +int dCollideSphereBox (dxGeom *o1, dxGeom *o2, int flags, + dContactGeom *contact, int skip); +int dCollideSpherePlane (dxGeom *o1, dxGeom *o2, int flags, + dContactGeom *contact, int skip); +int dCollideBoxBox (dxGeom *o1, dxGeom *o2, int flags, + dContactGeom *contact, int skip); +int dCollideBoxPlane (dxGeom *o1, dxGeom *o2, + int flags, dContactGeom *contact, int skip); +int dCollideCapsuleSphere (dxGeom *o1, dxGeom *o2, int flags, + dContactGeom *contact, int skip); +int dCollideCapsuleBox (dxGeom *o1, dxGeom *o2, int flags, + dContactGeom *contact, int skip); +int dCollideCapsuleCapsule (dxGeom *o1, dxGeom *o2, + int flags, dContactGeom *contact, int skip); +int dCollideCapsulePlane (dxGeom *o1, dxGeom *o2, int flags, + dContactGeom *contact, int skip); +int dCollideRaySphere (dxGeom *o1, dxGeom *o2, int flags, + dContactGeom *contact, int skip); +int dCollideRayBox (dxGeom *o1, dxGeom *o2, int flags, + dContactGeom *contact, int skip); +int dCollideRayCapsule (dxGeom *o1, dxGeom *o2, + int flags, dContactGeom *contact, int skip); +int dCollideRayPlane (dxGeom *o1, dxGeom *o2, int flags, + dContactGeom *contact, int skip); +int dCollideRayCylinder (dxGeom *o1, dxGeom *o2, int flags, + dContactGeom *contact, int skip); + +// Cylinder - Box/Sphere by (C) CroTeam +// Ported by Nguyen Binh +int dCollideCylinderBox(dxGeom *o1, dxGeom *o2, + int flags, dContactGeom *contact, int skip); +int dCollideCylinderSphere(dxGeom *gCylinder, dxGeom *gSphere, + int flags, dContactGeom *contact, int skip); +int dCollideCylinderPlane(dxGeom *gCylinder, dxGeom *gPlane, + int flags, dContactGeom *contact, int skip); + +//--> Convex Collision +int dCollideConvexPlane (dxGeom *o1, dxGeom *o2, int flags, + dContactGeom *contact, int skip); +int dCollideSphereConvex (dxGeom *o1, dxGeom *o2, int flags, + dContactGeom *contact, int skip); +int dCollideConvexBox (dxGeom *o1, dxGeom *o2, int flags, + dContactGeom *contact, int skip); +int dCollideConvexCapsule (dxGeom *o1, dxGeom *o2, + int flags, dContactGeom *contact, int skip); +int dCollideConvexConvex (dxGeom *o1, dxGeom *o2, int flags, + dContactGeom *contact, int skip); +int dCollideRayConvex (dxGeom *o1, dxGeom *o2, int flags, + dContactGeom *contact, int skip); +//<-- Convex Collision + +// dHeightfield +int dCollideHeightfield( dxGeom *o1, dxGeom *o2, + int flags, dContactGeom *contact, int skip ); + +//**************************************************************************** +// the basic geometry objects + +struct dxSphere : public dxGeom { + dReal radius; // sphere radius + dxSphere (dSpaceID space, dReal _radius); + void computeAABB(); +}; + + +struct dxBox : public dxGeom { + dVector3 side; // side lengths (x,y,z) + dxBox (dSpaceID space, dReal lx, dReal ly, dReal lz); + void computeAABB(); +}; + + +struct dxCapsule : public dxGeom { + dReal radius,lz; // radius, length along z axis + dxCapsule (dSpaceID space, dReal _radius, dReal _length); + void computeAABB(); +}; + + +struct dxCylinder : public dxGeom { + dReal radius,lz; // radius, length along z axis + dxCylinder (dSpaceID space, dReal _radius, dReal _length); + void computeAABB(); +}; + + +struct dxPlane : public dxGeom { + dReal p[4]; + dxPlane (dSpaceID space, dReal a, dReal b, dReal c, dReal d); + void computeAABB(); +}; + + +struct dxRay : public dxGeom { + dReal length; + dxRay (dSpaceID space, dReal _length); + void computeAABB(); +}; + +struct dxConvex : public dxGeom +{ + const dReal *planes; /*!< An array of planes in the form: + normal X, normal Y, normal Z,Distance + */ + const dReal *points; /*!< An array of points X,Y,Z */ + const 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*/ + unsigned int planecount; /*!< Amount of planes in planes */ + unsigned int pointcount;/*!< Amount of points in points */ + unsigned int edgecount;/*!< Amount of edges in convex */ + dReal saabb[6];/*!< Static AABB */ + dxConvex(dSpaceID space, + const dReal *planes, + unsigned int planecount, + const dReal *points, + unsigned int pointcount, + const unsigned int *polygons); + ~dxConvex() + { + if((edgecount!=0)&&(edges!=NULL)) delete[] edges; + } + void computeAABB(); + struct edge + { + unsigned int first; + unsigned int second; + }; + edge* edges; + + /*! \brief A Support mapping function for convex shapes + \param dir [IN] direction to find the Support Point for + \return the index of the support vertex. + */ + inline unsigned int SupportIndex(dVector3 dir) + { + dVector3 rdir; + unsigned int index=0; + dMultiply1_331 (rdir,final_posr->R,dir); + dReal max = dCalcVectorDot3(points,rdir); + dReal tmp; + for (unsigned int i = 1; i < pointcount; ++i) + { + tmp = dCalcVectorDot3(points+(i*3),rdir); + if (tmp > max) + { + index=i; + max = tmp; + } + } + return index; + } + +private: + // For Internal Use Only + /*! \brief Fills the edges dynamic array based on points and polygons. + */ + void FillEdges(); +#if 0 + /* + What this does is the same as the Support function by doing some preprocessing + for optimization. Not complete yet. + */ + // Based on Eberly's Game Physics Book page 307 + struct Arc + { + // indices of polyhedron normals that form the spherical arc + int normals[2]; + // index of edge shared by polyhedron faces + int edge; + }; + struct Polygon + { + // indices of polyhedron normals that form the spherical polygon + std::vector<int> normals; + // index of extreme vertex corresponding to this polygon + int vertex; + }; + // This is for extrem feature query and not the usual level BSP structure (that comes later) + struct BSPNode + { + // Normal index (interior node), vertex index (leaf node) + int normal; + // if Dot (E,D)>=0, D gets propagated to this child + BSPNode* right; + // if Dot (E,D)<0, D gets propagated to this child + BSPNode* left; + }; + void CreateTree(); + BSPNode* CreateNode(std::vector<Arc> Arcs,std::vector<Polygon> Polygons); + void GetFacesSharedByVertex(int i, std::vector<int> f); + void GetFacesSharedByEdge(int i, int* f); + void GetFaceNormal(int i, dVector3 normal); + BSPNode* tree; +#endif +}; + + +#endif |