--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/ode/inc/collision_std.h Tue Feb 02 01:00:49 2010 +0200
@@ -0,0 +1,175 @@
+/*************************************************************************
+ * *
+ * 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 <set>
+#include <ode/common.h>
+#include "collision_kernel.h"
+#include "set.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();
+};
+
+//typedef std::pair<unsigned int,unsigned int> edge; /*!< Used to descrive a convex hull edge, an edge is a pair or indices into the hull's points */
+struct dxConvex : public dxGeom
+{
+
+ dReal *planes; /*!< An array of planes in the form:
+ normal X, normal Y, normal Z,Distance
+ */
+ dReal *points; /*!< An array of points X,Y,Z */
+ 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 */
+ dReal saabb[6];/*!< AABB */
+ //std::set<edge> edges;
+ set* edges;
+
+ dxConvex(dSpaceID space,
+ dReal *planes,
+ unsigned int planecount,
+ dReal *points,
+ unsigned int pointcount,
+ unsigned int *polygons);
+ ~dxConvex()
+ {
+ //fprintf(stdout,"dxConvex Destroy\n");
+ }
+ void computeAABB();
+ private:
+ // For Internal Use Only
+ void FillEdges();
+};
+
+
+#endif