ode/src/collision_std.h

   1 /*************************************************************************
   2  *                                                                       *
   3  * Open Dynamics Engine, Copyright (C) 2001,2002 Russell L. Smith.       *
   4  * All rights reserved.  Email: russ@q12.org   Web: www.q12.org          *
   5  *                                                                       *
   6  * This library is free software; you can redistribute it and/or         *
   7  * modify it under the terms of EITHER:                                  *
   8  *   (1) The GNU Lesser General Public License as published by the Free  *
   9  *       Software Foundation; either version 2.1 of the License, or (at  *
  10  *       your option) any later version. The text of the GNU Lesser      *
  11  *       General Public License is included with this library in the     *
  12  *       file LICENSE.TXT.                                               *
  13  *   (2) The BSD-style license that is included with this library in     *
  14  *       the file LICENSE-BSD.TXT.                                       *
  15  *                                                                       *
  16  * This library is distributed in the hope that it will be useful,       *
  17  * but WITHOUT ANY WARRANTY; without even the implied warranty of        *
  18  * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the files    *
  19  * LICENSE.TXT and LICENSE-BSD.TXT for more details.                     *
  20  *                                                                       *
  21  *************************************************************************/
  22
  23 /*
  24
  25 the standard ODE geometry primitives.
  26
  27 */
  28
  29 #ifndef _ODE_COLLISION_STD_H_
  30 #define _ODE_COLLISION_STD_H_
  31
  32 #include <set>
  33 #include <ode/common.h>
  34 #include "collision_kernel.h"
  35
  36
  37 // primitive collision functions - these have the dColliderFn interface, i.e.
  38 // the same interface as dCollide(). the first and second geom arguments must
  39 // have the specified types.
  40
  41 int dCollideSphereSphere (dxGeom *o1, dxGeom *o2, int flags,
  42                           dContactGeom *contact, int skip);
  43 int dCollideSphereBox (dxGeom *o1, dxGeom *o2, int flags,
  44                        dContactGeom *contact, int skip);
  45 int dCollideSpherePlane (dxGeom *o1, dxGeom *o2, int flags,
  46                          dContactGeom *contact, int skip);
  47 int dCollideBoxBox (dxGeom *o1, dxGeom *o2, int flags,
  48                     dContactGeom *contact, int skip);
  49 int dCollideBoxPlane (dxGeom *o1, dxGeom *o2,
  50                       int flags, dContactGeom *contact, int skip);
  51 int dCollideCapsuleSphere (dxGeom *o1, dxGeom *o2, int flags,
  52                              dContactGeom *contact, int skip);
  53 int dCollideCapsuleBox (dxGeom *o1, dxGeom *o2, int flags,
  54                           dContactGeom *contact, int skip);
  55 int dCollideCapsuleCapsule (dxGeom *o1, dxGeom *o2,
  56                                 int flags, dContactGeom *contact, int skip);
  57 int dCollideCapsulePlane (dxGeom *o1, dxGeom *o2, int flags,
  58                             dContactGeom *contact, int skip);
  59 int dCollideRaySphere (dxGeom *o1, dxGeom *o2, int flags,
  60                        dContactGeom *contact, int skip);
  61 int dCollideRayBox (dxGeom *o1, dxGeom *o2, int flags,
  62                     dContactGeom *contact, int skip);
  63 int dCollideRayCapsule (dxGeom *o1, dxGeom *o2,
  64                           int flags, dContactGeom *contact, int skip);
  65 int dCollideRayPlane (dxGeom *o1, dxGeom *o2, int flags,
  66                       dContactGeom *contact, int skip);
  67 int dCollideRayCylinder (dxGeom *o1, dxGeom *o2, int flags,
  68                       dContactGeom *contact, int skip);
  69
  70 // Cylinder - Box/Sphere by (C) CroTeam
  71 // Ported by Nguyen Binh
  72 int dCollideCylinderBox(dxGeom *o1, dxGeom *o2,
  73                         int flags, dContactGeom *contact, int skip);
  74 int dCollideCylinderSphere(dxGeom *gCylinder, dxGeom *gSphere,
  75                            int flags, dContactGeom *contact, int skip);
  76 int dCollideCylinderPlane(dxGeom *gCylinder, dxGeom *gPlane,
  77                            int flags, dContactGeom *contact, int skip);
  78
  79 //--> Convex Collision
  80 int dCollideConvexPlane (dxGeom *o1, dxGeom *o2, int flags,
  81                          dContactGeom *contact, int skip);
  82 int dCollideSphereConvex (dxGeom *o1, dxGeom *o2, int flags,
  83                           dContactGeom *contact, int skip);
  84 int dCollideConvexBox (dxGeom *o1, dxGeom *o2, int flags,
  85                        dContactGeom *contact, int skip);
  86 int dCollideConvexCapsule (dxGeom *o1, dxGeom *o2,
  87                            int flags, dContactGeom *contact, int skip);
  88 int dCollideConvexConvex (dxGeom *o1, dxGeom *o2, int flags,
  89                           dContactGeom *contact, int skip);
  90 int dCollideRayConvex (dxGeom *o1, dxGeom *o2, int flags,
  91                        dContactGeom *contact, int skip);
  92 //<-- Convex Collision
  93
  94 // dHeightfield
  95 int dCollideHeightfield( dxGeom *o1, dxGeom *o2,
  96                                                  int flags, dContactGeom *contact, int skip );
  97
  98 //****************************************************************************
  99 // the basic geometry objects
 100
 101 struct dxSphere : public dxGeom {
 102   dReal radius;         // sphere radius
 103   dxSphere (dSpaceID space, dReal _radius);
 104   void computeAABB();
 105 };
 106
 107
 108 struct dxBox : public dxGeom {
 109   dVector3 side;        // side lengths (x,y,z)
 110   dxBox (dSpaceID space, dReal lx, dReal ly, dReal lz);
 111   void computeAABB();
 112 };
 113
 114
 115 struct dxCapsule : public dxGeom {
 116   dReal radius,lz;      // radius, length along z axis
 117   dxCapsule (dSpaceID space, dReal _radius, dReal _length);
 118   void computeAABB();
 119 };
 120
 121
 122 struct dxCylinder : public dxGeom {
 123         dReal radius,lz;        // radius, length along z axis
 124         dxCylinder (dSpaceID space, dReal _radius, dReal _length);
 125         void computeAABB();
 126 };
 127
 128
 129 struct dxPlane : public dxGeom {
 130   dReal p[4];
 131   dxPlane (dSpaceID space, dReal a, dReal b, dReal c, dReal d);
 132   void computeAABB();
 133 };
 134
 135
 136 struct dxRay : public dxGeom {
 137   dReal length;
 138   dxRay (dSpaceID space, dReal _length);
 139   void computeAABB();
 140 };
 141
 142 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 */
 143 struct dxConvex : public dxGeom
 144 {
 145
 146   dReal *planes; /*!< An array of planes in the form:
 147                    normal X, normal Y, normal Z,Distance
 148                  */
 149   dReal *points; /*!< An array of points X,Y,Z */
 150   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*/
 151   unsigned int planecount; /*!< Amount of planes in planes */
 152   unsigned int pointcount;/*!< Amount of points in points */
 153   dReal saabb[6];/*!< Static AABB */
 154   std::set<edge> edges;
 155   dxConvex(dSpaceID space,
 156            dReal *planes,
 157            unsigned int planecount,
 158            dReal *points,
 159            unsigned int pointcount,
 160            unsigned int *polygons);
 161   ~dxConvex()
 162   {
 163     //fprintf(stdout,"dxConvex Destroy\n");
 164   }
 165   void computeAABB();
 166   private:
 167   // For Internal Use Only
 168   void FillEdges();
 169 };
 170
 171
 172 #endif