| 1 | //Benoit CHAPEROT 2003-2004 www.jstarlab.com |
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| 2 | #ifndef _ODE_COLLISION_STD_INTERNAL_H_ |
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| 3 | #define _ODE_COLLISION_STD_INTERNAL_H_ |
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| 4 | |
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| 5 | #include <ode/common.h> |
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| 6 | #include "collision_kernel.h" |
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| 7 | |
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| 8 | struct dxSphere : public dxGeom { |
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| 9 | dReal radius; // sphere radius |
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| 10 | dxSphere (dSpaceID space, dReal _radius); |
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| 11 | void computeAABB(); |
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| 12 | }; |
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| 13 | |
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| 14 | |
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| 15 | struct dxBox : public dxGeom { |
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| 16 | dVector3 side; // side lengths (x,y,z) |
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| 17 | dxBox (dSpaceID space, dReal lx, dReal ly, dReal lz); |
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| 18 | void computeAABB(); |
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| 19 | }; |
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| 20 | |
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| 21 | |
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| 22 | struct dxCCylinder : public dxGeom { |
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| 23 | dReal radius,lz; // radius, length along z axis |
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| 24 | dxCCylinder (dSpaceID space, dReal _radius, dReal _length); |
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| 25 | void computeAABB(); |
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| 26 | }; |
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| 27 | |
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| 28 | |
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| 29 | struct dxPlane : public dxGeom { |
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| 30 | dReal p[4]; |
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| 31 | dxPlane (dSpaceID space, dReal a, dReal b, dReal c, dReal d); |
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| 32 | void computeAABB(); |
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| 33 | }; |
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| 34 | |
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| 35 | struct dxCylinder : public dxGeom { |
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| 36 | dReal radius,lz; // radius, length along z axis |
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| 37 | dxCylinder (dSpaceID space, dReal _radius, dReal _length); |
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| 38 | void computeAABB(); |
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| 39 | }; |
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| 40 | |
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| 41 | struct dxCone : public dxGeom { |
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| 42 | dReal radius,lz; |
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| 43 | dxCone(dSpaceID space, dReal _radius,dReal _length); |
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| 44 | ~dxCone(); |
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| 45 | void computeAABB(); |
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| 46 | }; |
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| 47 | |
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| 48 | struct dxRay : public dxGeom { |
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| 49 | dReal length; |
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| 50 | dxRay (dSpaceID space, dReal _length); |
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| 51 | void computeAABB(); |
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| 52 | }; |
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| 53 | |
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| 54 | struct dxTerrainY : public dxGeom { |
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| 55 | dReal m_vLength; |
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| 56 | dReal *m_pHeights; |
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| 57 | dReal m_vMinHeight; |
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| 58 | dReal m_vMaxHeight; |
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| 59 | dReal m_vNodeLength; |
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| 60 | int m_nNumNodesPerSide; |
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| 61 | int m_nNumNodesPerSideShift; |
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| 62 | int m_nNumNodesPerSideMask; |
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| 63 | int m_bFinite; |
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| 64 | dxTerrainY(dSpaceID space, dReal *pHeights,dReal vLength,int nNumNodesPerSide, int bFinite, int bPlaceable); |
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| 65 | ~dxTerrainY(); |
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| 66 | void computeAABB(); |
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| 67 | dReal GetHeight(dReal x,dReal z); |
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| 68 | dReal GetHeight(int x,int z); |
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| 69 | int dCollideTerrainUnit(int x,int z,dxGeom *o2,int numMaxContacts,int flags,dContactGeom *contact, int skip); |
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| 70 | bool IsOnTerrain(int nx,int nz,int w,dReal *pos); |
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| 71 | }; |
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| 72 | |
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| 73 | struct dxTerrainZ : public dxGeom { |
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| 74 | dReal m_vLength; |
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| 75 | dReal *m_pHeights; |
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| 76 | dReal m_vMinHeight; |
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| 77 | dReal m_vMaxHeight; |
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| 78 | dReal m_vNodeLength; |
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| 79 | int m_nNumNodesPerSide; |
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| 80 | int m_nNumNodesPerSideShift; |
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| 81 | int m_nNumNodesPerSideMask; |
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| 82 | int m_bFinite; |
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| 83 | dxTerrainZ(dSpaceID space, dReal *pHeights,dReal vLength,int nNumNodesPerSide, int bFinite, int bPlaceable); |
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| 84 | ~dxTerrainZ(); |
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| 85 | void computeAABB(); |
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| 86 | dReal GetHeight(dReal x,dReal y); |
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| 87 | dReal GetHeight(int x,int y); |
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| 88 | int dCollideTerrainUnit(int x,int y,dxGeom *o2,int numMaxContacts,int flags,dContactGeom *contact, int skip); |
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| 89 | bool IsOnTerrain(int nx,int ny,int w,dReal *pos); |
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| 90 | }; |
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| 91 | |
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| 92 | #ifndef MIN |
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| 93 | #define MIN(a,b) ((a<b)?a:b) |
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| 94 | #endif |
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| 95 | |
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| 96 | #ifndef MAX |
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| 97 | #define MAX(a,b) ((a>b)?a:b) |
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| 98 | #endif |
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| 99 | |
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| 100 | #endif //_ODE_COLLISION_STD_INTERNAL_H_ |
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