/************************************************************************* * * * 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 #include #include #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