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/*************************************************************************
* *
* 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
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