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3<title>Open Dynamics Engine: collision.h Source File</title>
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16<h1>collision.h</h1><div class="fragment"><pre class="fragment"><a name="l00001"></a>00001 <span class="comment">/*************************************************************************</span>
17<a name="l00002"></a>00002 <span class="comment"> *                                                                       *</span>
18<a name="l00003"></a>00003 <span class="comment"> * Open Dynamics Engine, Copyright (C) 2001-2003 Russell L. Smith.       *</span>
19<a name="l00004"></a>00004 <span class="comment"> * All rights reserved.  Email: russ@q12.org   Web: www.q12.org          *</span>
20<a name="l00005"></a>00005 <span class="comment"> *                                                                       *</span>
21<a name="l00006"></a>00006 <span class="comment"> * This library is free software; you can redistribute it and/or         *</span>
22<a name="l00007"></a>00007 <span class="comment"> * modify it under the terms of EITHER:                                  *</span>
23<a name="l00008"></a>00008 <span class="comment"> *   (1) The GNU Lesser General Public License as published by the Free  *</span>
24<a name="l00009"></a>00009 <span class="comment"> *       Software Foundation; either version 2.1 of the License, or (at  *</span>
25<a name="l00010"></a>00010 <span class="comment"> *       your option) any later version. The text of the GNU Lesser      *</span>
26<a name="l00011"></a>00011 <span class="comment"> *       General Public License is included with this library in the     *</span>
27<a name="l00012"></a>00012 <span class="comment"> *       file LICENSE.TXT.                                               *</span>
28<a name="l00013"></a>00013 <span class="comment"> *   (2) The BSD-style license that is included with this library in     *</span>
29<a name="l00014"></a>00014 <span class="comment"> *       the file LICENSE-BSD.TXT.                                       *</span>
30<a name="l00015"></a>00015 <span class="comment"> *                                                                       *</span>
31<a name="l00016"></a>00016 <span class="comment"> * This library is distributed in the hope that it will be useful,       *</span>
32<a name="l00017"></a>00017 <span class="comment"> * but WITHOUT ANY WARRANTY; without even the implied warranty of        *</span>
33<a name="l00018"></a>00018 <span class="comment"> * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the files    *</span>
34<a name="l00019"></a>00019 <span class="comment"> * LICENSE.TXT and LICENSE-BSD.TXT for more details.                     *</span>
35<a name="l00020"></a>00020 <span class="comment"> *                                                                       *</span>
36<a name="l00021"></a>00021 <span class="comment"> *************************************************************************/</span>
37<a name="l00022"></a>00022
38<a name="l00023"></a>00023 <span class="preprocessor">#ifndef _ODE_COLLISION_H_</span>
39<a name="l00024"></a>00024 <span class="preprocessor"></span><span class="preprocessor">#define _ODE_COLLISION_H_</span>
40<a name="l00025"></a>00025 <span class="preprocessor"></span>
41<a name="l00026"></a>00026 <span class="preprocessor">#include &lt;ode/common.h&gt;</span>
42<a name="l00027"></a>00027 <span class="preprocessor">#include &lt;ode/collision_space.h&gt;</span>
43<a name="l00028"></a>00028 <span class="preprocessor">#include &lt;ode/contact.h&gt;</span>
44<a name="l00029"></a>00029
45<a name="l00030"></a>00030 <span class="preprocessor">#ifdef __cplusplus</span>
46<a name="l00031"></a>00031 <span class="preprocessor"></span><span class="keyword">extern</span> <span class="stringliteral">"C"</span> {
47<a name="l00032"></a>00032 <span class="preprocessor">#endif</span>
48<a name="l00033"></a>00033 <span class="preprocessor"></span>
49<a name="l00049"></a>00049 <span class="comment">/* ************************************************************************ */</span>
50<a name="l00050"></a>00050 <span class="comment">/* general functions */</span>
51<a name="l00051"></a>00051
52<a name="l00065"></a>00065 ODE_API <span class="keywordtype">void</span> <a class="code" href="group__collide.html#g96b9e7d3a7ca769b0c8f37eecfaf98c6" title="Destroy a geom, removing it from any space.">dGeomDestroy</a> (dGeomID geom);
53<a name="l00066"></a>00066
54<a name="l00067"></a>00067
55<a name="l00075"></a>00075 ODE_API <span class="keywordtype">void</span> <a class="code" href="group__collide.html#gf68eb443d5c66ab1aaa8a7d38d1dbc4f" title="Set the user-defined data pointer stored in the geom.">dGeomSetData</a> (dGeomID geom, <span class="keywordtype">void</span>* data);
56<a name="l00076"></a>00076
57<a name="l00077"></a>00077
58<a name="l00084"></a>00084 ODE_API <span class="keywordtype">void</span> *<a class="code" href="group__collide.html#gc1a185e22b136814fd3afc8469d98996" title="Get the user-defined data pointer stored in the geom.">dGeomGetData</a> (dGeomID geom);
59<a name="l00085"></a>00085
60<a name="l00086"></a>00086
61<a name="l00105"></a>00105 ODE_API <span class="keywordtype">void</span> <a class="code" href="group__collide.html#g97cad1194789477eac19fe364d986505" title="Set the body associated with a placeable geom.">dGeomSetBody</a> (dGeomID geom, dBodyID body);
62<a name="l00106"></a>00106
63<a name="l00107"></a>00107
64<a name="l00114"></a>00114 ODE_API dBodyID <a class="code" href="group__collide.html#gd6cedf77fde0dddf751c5d42fcc8eebf" title="Get the body associated with a placeable geom.">dGeomGetBody</a> (dGeomID geom);
65<a name="l00115"></a>00115
66<a name="l00116"></a>00116
67<a name="l00131"></a>00131 ODE_API <span class="keywordtype">void</span> <a class="code" href="group__collide.html#g71043b70a735e8f5451c3e13cef345fe" title="Set the position vector of a placeable geom.">dGeomSetPosition</a> (dGeomID geom, dReal x, dReal y, dReal z);
68<a name="l00132"></a>00132
69<a name="l00133"></a>00133
70<a name="l00146"></a>00146 ODE_API <span class="keywordtype">void</span> <a class="code" href="group__collide.html#g76c510f4b7d5a036d8a36f2d60d670e5" title="Set the rotation matrix of a placeable geom.">dGeomSetRotation</a> (dGeomID geom, <span class="keyword">const</span> dMatrix3 R);
71<a name="l00147"></a>00147
72<a name="l00148"></a>00148
73<a name="l00162"></a>00162 ODE_API <span class="keywordtype">void</span> <a class="code" href="group__collide.html#g989149d93162264d699444a57b045150" title="Set the rotation of a placeable geom.">dGeomSetQuaternion</a> (dGeomID geom, <span class="keyword">const</span> dQuaternion Q);
74<a name="l00163"></a>00163
75<a name="l00164"></a>00164
76<a name="l00181"></a>00181 ODE_API <span class="keyword">const</span> dReal * <a class="code" href="group__collide.html#g95b93f803880cac2619fe2635aa93ad8" title="Get the position vector of a placeable geom.">dGeomGetPosition</a> (dGeomID geom);
77<a name="l00182"></a>00182
78<a name="l00183"></a>00183
79<a name="l00191"></a>00191 ODE_API <span class="keywordtype">void</span> <a class="code" href="group__collide.html#gd2cccf2b4c62bec58720d4f5fab8108d" title="Copy the position of a geom into a vector.">dGeomCopyPosition</a> (dGeomID geom, dVector3 pos);
80<a name="l00192"></a>00192
81<a name="l00193"></a>00193
82<a name="l00210"></a>00210 ODE_API <span class="keyword">const</span> dReal * <a class="code" href="group__collide.html#g293b2264cefb12f9a6659cacc6a722f7" title="Get the rotation matrix of a placeable geom.">dGeomGetRotation</a> (dGeomID geom);
83<a name="l00211"></a>00211
84<a name="l00212"></a>00212
85<a name="l00226"></a>00226 ODE_API <span class="keywordtype">void</span> <a class="code" href="group__collide.html#g800b702e148a8c279596f591b910cfbd" title="Get the rotation matrix of a placeable geom.">dGeomCopyRotation</a>(dGeomID geom, dMatrix3 R);
86<a name="l00227"></a>00227
87<a name="l00228"></a>00228
88<a name="l00242"></a>00242 ODE_API <span class="keywordtype">void</span> <a class="code" href="group__collide.html#g11ad7f0098639b06f4bcd2d681122842" title="Get the rotation quaternion of a placeable geom.">dGeomGetQuaternion</a> (dGeomID geom, dQuaternion result);
89<a name="l00243"></a>00243
90<a name="l00244"></a>00244
91<a name="l00261"></a>00261 ODE_API <span class="keywordtype">void</span> <a class="code" href="group__collide.html#g904e360ac6e9e85a05e67929990e5b72" title="Return the axis-aligned bounding box.">dGeomGetAABB</a> (dGeomID geom, dReal aabb[6]);
92<a name="l00262"></a>00262
93<a name="l00263"></a>00263
94<a name="l00270"></a>00270 ODE_API <span class="keywordtype">int</span> <a class="code" href="group__collide.html#ge5a58bdc78fb4f163a0e9c3ecabf64c9" title="Determing if a geom is a space.">dGeomIsSpace</a> (dGeomID geom);
95<a name="l00271"></a>00271
96<a name="l00272"></a>00272
97<a name="l00280"></a>00280 ODE_API dSpaceID <a class="code" href="group__collide.html#gfdc35eade2cbd0b6886ce957325d7c03" title="Query for the space containing a particular geom.">dGeomGetSpace</a> (dGeomID);
98<a name="l00281"></a>00281
99<a name="l00282"></a>00282
100<a name="l00307"></a>00307 ODE_API <span class="keywordtype">int</span> <a class="code" href="group__collide.html#g07b5ed5b915f756f419a4a7ce69dc67e" title="Given a geom, this returns its class.">dGeomGetClass</a> (dGeomID geom);
101<a name="l00308"></a>00308
102<a name="l00309"></a>00309
103<a name="l00322"></a>00322 ODE_API <span class="keywordtype">void</span> <a class="code" href="group__collide.html#g80fd5741701eb48472521780d5e2f9b9" title="Set the &amp;quot;category&amp;quot; bitfield for the given geom.">dGeomSetCategoryBits</a> (dGeomID geom, <span class="keywordtype">unsigned</span> <span class="keywordtype">long</span> bits);
104<a name="l00323"></a>00323
105<a name="l00324"></a>00324
106<a name="l00337"></a>00337 ODE_API <span class="keywordtype">void</span> <a class="code" href="group__collide.html#ga55b4de01a61be41668685857b78455d" title="Set the &amp;quot;collide&amp;quot; bitfield for the given geom.">dGeomSetCollideBits</a> (dGeomID geom, <span class="keywordtype">unsigned</span> <span class="keywordtype">long</span> bits);
107<a name="l00338"></a>00338
108<a name="l00339"></a>00339
109<a name="l00348"></a>00348 ODE_API <span class="keywordtype">unsigned</span> <span class="keywordtype">long</span> <a class="code" href="group__collide.html#gfb62d3493b6789382f65776ab931e78d" title="Get the &amp;quot;category&amp;quot; bitfield for the given geom.">dGeomGetCategoryBits</a> (dGeomID);
110<a name="l00349"></a>00349
111<a name="l00350"></a>00350
112<a name="l00359"></a>00359 ODE_API <span class="keywordtype">unsigned</span> <span class="keywordtype">long</span> <a class="code" href="group__collide.html#g5591e5c496a5a6f8b66dc57e03d0cd8d" title="Get the &amp;quot;collide&amp;quot; bitfield for the given geom.">dGeomGetCollideBits</a> (dGeomID);
113<a name="l00360"></a>00360
114<a name="l00361"></a>00361
115<a name="l00374"></a>00374 ODE_API <span class="keywordtype">void</span> <a class="code" href="group__collide.html#ga7c64b8fcae37ee9541208a0351f3d05" title="Enable a geom.">dGeomEnable</a> (dGeomID geom);
116<a name="l00375"></a>00375
117<a name="l00376"></a>00376
118<a name="l00389"></a>00389 ODE_API <span class="keywordtype">void</span> <a class="code" href="group__collide.html#g6cb32b4161435fe491859680b463fc12" title="Disable a geom.">dGeomDisable</a> (dGeomID geom);
119<a name="l00390"></a>00390
120<a name="l00391"></a>00391
121<a name="l00405"></a>00405 ODE_API <span class="keywordtype">int</span> <a class="code" href="group__collide.html#g6533d33f870cf0fb6684ec05e5c0562e" title="Check to see if a geom is enabled.">dGeomIsEnabled</a> (dGeomID geom);
122<a name="l00406"></a>00406
123<a name="l00407"></a>00407 <span class="comment">/* ************************************************************************ */</span>
124<a name="l00408"></a>00408 <span class="comment">/* geom offset from body */</span>
125<a name="l00409"></a>00409
126<a name="l00425"></a>00425 ODE_API <span class="keywordtype">void</span> <a class="code" href="group__collide.html#gdc292bc01d5bed32f145ee42760d73b4" title="Set the local offset position of a geom from its body.">dGeomSetOffsetPosition</a> (dGeomID geom, dReal x, dReal y, dReal z);
127<a name="l00426"></a>00426
128<a name="l00427"></a>00427
129<a name="l00441"></a>00441 ODE_API <span class="keywordtype">void</span> <a class="code" href="group__collide.html#g805d896b4bc79ceb40e70aadb9629cab" title="Set the local offset rotation matrix of a geom from its body.">dGeomSetOffsetRotation</a> (dGeomID geom, <span class="keyword">const</span> dMatrix3 R);
130<a name="l00442"></a>00442
131<a name="l00443"></a>00443
132<a name="l00457"></a>00457 ODE_API <span class="keywordtype">void</span> <a class="code" href="group__collide.html#g9eba87b7598eb6b3a9b6bde1abbeaa1a" title="Set the local offset rotation of a geom from its body.">dGeomSetOffsetQuaternion</a> (dGeomID geom, <span class="keyword">const</span> dQuaternion Q);
133<a name="l00458"></a>00458
134<a name="l00459"></a>00459
135<a name="l00476"></a>00476 ODE_API <span class="keywordtype">void</span> <a class="code" href="group__collide.html#g934fe31c543d588991d28cd8571e52ed" title="Set the offset position of a geom from its body.">dGeomSetOffsetWorldPosition</a> (dGeomID geom, dReal x, dReal y, dReal z);
136<a name="l00477"></a>00477
137<a name="l00478"></a>00478
138<a name="l00493"></a>00493 ODE_API <span class="keywordtype">void</span> <a class="code" href="group__collide.html#g2c1ef27e7e8ced6eb8488221a1a7c200" title="Set the offset rotation of a geom from its body.">dGeomSetOffsetWorldRotation</a> (dGeomID geom, <span class="keyword">const</span> dMatrix3 R);
139<a name="l00494"></a>00494
140<a name="l00495"></a>00495
141<a name="l00510"></a>00510 ODE_API <span class="keywordtype">void</span> <a class="code" href="group__collide.html#ga04f2117ab18a1d3e27270defdad83a8" title="Set the offset rotation of a geom from its body.">dGeomSetOffsetWorldQuaternion</a> (dGeomID geom, <span class="keyword">const</span> dQuaternion);
142<a name="l00511"></a>00511
143<a name="l00512"></a>00512
144<a name="l00526"></a>00526 ODE_API <span class="keywordtype">void</span> <a class="code" href="group__collide.html#gc81929d988b21c4e5338017f2e92a6f2" title="Clear any offset from the geom.">dGeomClearOffset</a>(dGeomID geom);
145<a name="l00527"></a>00527
146<a name="l00528"></a>00528
147<a name="l00544"></a>00544 ODE_API <span class="keywordtype">int</span> <a class="code" href="group__collide.html#g46260e0668373aa600b1cf8f83276e10" title="Check to see whether the geom has an offset.">dGeomIsOffset</a>(dGeomID geom);
148<a name="l00545"></a>00545
149<a name="l00546"></a>00546
150<a name="l00560"></a>00560 ODE_API <span class="keyword">const</span> dReal * <a class="code" href="group__collide.html#gb200f73800d253ab3a87f9856d4e18d2" title="Get the offset position vector of a geom.">dGeomGetOffsetPosition</a> (dGeomID geom);
151<a name="l00561"></a>00561
152<a name="l00562"></a>00562
153<a name="l00573"></a>00573 ODE_API <span class="keywordtype">void</span> <a class="code" href="group__collide.html#gd4a1e59ecc3c570e3c37c5b8fad71220" title="Copy the offset position vector of a geom.">dGeomCopyOffsetPosition</a> (dGeomID geom, dVector3 pos);
154<a name="l00574"></a>00574
155<a name="l00575"></a>00575
156<a name="l00590"></a>00590 ODE_API <span class="keyword">const</span> dReal * <a class="code" href="group__collide.html#gba28cf4ca8f552c782fc30ce3073dc73" title="Get the offset rotation matrix of a geom.">dGeomGetOffsetRotation</a> (dGeomID geom);
157<a name="l00591"></a>00591
158<a name="l00592"></a>00592
159<a name="l00604"></a>00604 ODE_API <span class="keywordtype">void</span> <a class="code" href="group__collide.html#gcf96cd4f9913dc258e6f29da9979388c" title="Copy the offset rotation matrix of a geom.">dGeomCopyOffsetRotation</a> (dGeomID geom, dMatrix3 R);
160<a name="l00605"></a>00605
161<a name="l00606"></a>00606
162<a name="l00617"></a>00617 ODE_API <span class="keywordtype">void</span> <a class="code" href="group__collide.html#g8fc20f761daf36976e50d057cf2650ca" title="Get the offset rotation quaternion of a geom.">dGeomGetOffsetQuaternion</a> (dGeomID geom, dQuaternion result);
163<a name="l00618"></a>00618
164<a name="l00619"></a>00619
165<a name="l00620"></a>00620 <span class="comment">/* ************************************************************************ */</span>
166<a name="l00621"></a>00621 <span class="comment">/* collision detection */</span>
167<a name="l00622"></a>00622
168<a name="l00623"></a>00623 <span class="comment">/*</span>
169<a name="l00624"></a>00624 <span class="comment"> * Just generate any contacts (disables any contact refining).</span>
170<a name="l00625"></a>00625 <span class="comment"> */</span>
171<a name="l00626"></a>00626 <span class="preprocessor">#define CONTACTS_UNIMPORTANT        0x80000000</span>
172<a name="l00627"></a>00627 <span class="preprocessor"></span>
173<a name="l00675"></a>00675 ODE_API <span class="keywordtype">int</span> <a class="code" href="group__collide.html#g08508345384abb95e25d674b39157bf8" title="Given two geoms o1 and o2 that potentially intersect, generate contact information...">dCollide</a> (dGeomID o1, dGeomID o2, <span class="keywordtype">int</span> flags, <a class="code" href="structd_contact_geom.html" title="Describe the contact point between two geoms.">dContactGeom</a> *contact,
174<a name="l00676"></a>00676          <span class="keywordtype">int</span> skip);
175<a name="l00677"></a>00677
176<a name="l00705"></a>00705 ODE_API <span class="keywordtype">void</span> <a class="code" href="group__collide.html#gfd185829b6940e2b3238517e1acd2fbb" title="Determines which pairs of geoms in a space may potentially intersect, and calls the...">dSpaceCollide</a> (dSpaceID space, <span class="keywordtype">void</span> *data, <a class="code" href="group__collide.html#g9f458413ace07fa9e3e7e52d6652ace0" title="User callback for geom-geom collision testing.">dNearCallback</a> *callback);
177<a name="l00706"></a>00706
178<a name="l00707"></a>00707
179<a name="l00742"></a>00742 ODE_API <span class="keywordtype">void</span> <a class="code" href="group__collide.html#g72a6bb0b550d3e181f8b7a9be7179db5" title="Determines which geoms from one space may potentially intersect with geoms from another...">dSpaceCollide2</a> (dGeomID space1, dGeomID space2, <span class="keywordtype">void</span> *data, <a class="code" href="group__collide.html#g9f458413ace07fa9e3e7e52d6652ace0" title="User callback for geom-geom collision testing.">dNearCallback</a> *callback);
180<a name="l00743"></a>00743
181<a name="l00744"></a>00744
182<a name="l00745"></a>00745 <span class="comment">/* ************************************************************************ */</span>
183<a name="l00746"></a>00746 <span class="comment">/* standard classes */</span>
184<a name="l00747"></a>00747
185<a name="l00748"></a>00748 <span class="comment">/* the maximum number of user classes that are supported */</span>
186<a name="l00749"></a>00749 <span class="keyword">enum</span> {
187<a name="l00750"></a>00750   dMaxUserClasses = 4
188<a name="l00751"></a>00751 };
189<a name="l00752"></a>00752
190<a name="l00753"></a>00753 <span class="comment">/* class numbers - each geometry object needs a unique number */</span>
191<a name="l00754"></a>00754 <span class="keyword">enum</span> {
192<a name="l00755"></a>00755   dSphereClass = 0,
193<a name="l00756"></a>00756   dBoxClass,
194<a name="l00757"></a>00757   dCapsuleClass,
195<a name="l00758"></a>00758   dCylinderClass,
196<a name="l00759"></a>00759   dPlaneClass,
197<a name="l00760"></a>00760   dRayClass,
198<a name="l00761"></a>00761   dConvexClass,
199<a name="l00762"></a>00762   dGeomTransformClass,
200<a name="l00763"></a>00763   dTriMeshClass,
201<a name="l00764"></a>00764   dHeightfieldClass,
202<a name="l00765"></a>00765
203<a name="l00766"></a>00766   dFirstSpaceClass,
204<a name="l00767"></a>00767   dSimpleSpaceClass = dFirstSpaceClass,
205<a name="l00768"></a>00768   dHashSpaceClass,
206<a name="l00769"></a>00769   dQuadTreeSpaceClass,
207<a name="l00770"></a>00770   dLastSpaceClass = dQuadTreeSpaceClass,
208<a name="l00771"></a>00771
209<a name="l00772"></a>00772   dFirstUserClass,
210<a name="l00773"></a>00773   dLastUserClass = dFirstUserClass + dMaxUserClasses - 1,
211<a name="l00774"></a>00774   dGeomNumClasses
212<a name="l00775"></a>00775 };
213<a name="l00776"></a>00776
214<a name="l00777"></a>00777
215<a name="l00797"></a>00797 ODE_API dGeomID <a class="code" href="group__collide__sphere.html#g53c79c860638ca3600744a193da68474" title="Create a sphere geom of the given radius, and return its ID.">dCreateSphere</a> (dSpaceID space, dReal radius);
216<a name="l00798"></a>00798
217<a name="l00799"></a>00799
218<a name="l00809"></a>00809 ODE_API <span class="keywordtype">void</span> <a class="code" href="group__collide__sphere.html#g2341ae9b3b733571eff7a1857109f394" title="Set the radius of a sphere geom.">dGeomSphereSetRadius</a> (dGeomID sphere, dReal radius);
219<a name="l00810"></a>00810
220<a name="l00811"></a>00811
221<a name="l00820"></a>00820 ODE_API dReal <a class="code" href="group__collide__sphere.html#g0e7f664deb9f557a6a24f93705b29fa9" title="Retrieves the radius of a sphere geom.">dGeomSphereGetRadius</a> (dGeomID sphere);
222<a name="l00821"></a>00821
223<a name="l00822"></a>00822
224<a name="l00837"></a>00837 ODE_API dReal <a class="code" href="group__collide__sphere.html#gee86d3744471e447ffc85f85ee6578b1" title="Calculate the depth of the a given point within a sphere.">dGeomSpherePointDepth</a> (dGeomID sphere, dReal x, dReal y, dReal z);
225<a name="l00838"></a>00838
226<a name="l00839"></a>00839
227<a name="l00840"></a>00840 <span class="comment">//--&gt; Convex Functions</span>
228<a name="l00841"></a>00841 ODE_API dGeomID dCreateConvex (dSpaceID space,
229<a name="l00842"></a>00842                 dReal *_planes,
230<a name="l00843"></a>00843                 <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> _planecount,
231<a name="l00844"></a>00844                 dReal *_points,
232<a name="l00845"></a>00845                 <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> _pointcount,<span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> *_polygons);
233<a name="l00846"></a>00846
234<a name="l00847"></a>00847 ODE_API <span class="keywordtype">void</span> dGeomSetConvex (dGeomID g,
235<a name="l00848"></a>00848               dReal *_planes,
236<a name="l00849"></a>00849               <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> _count,
237<a name="l00850"></a>00850               dReal *_points,
238<a name="l00851"></a>00851               <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> _pointcount,<span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> *_polygons);
239<a name="l00852"></a>00852 <span class="comment">//&lt;-- Convex Functions</span>
240<a name="l00853"></a>00853
241<a name="l00875"></a>00875 ODE_API dGeomID <a class="code" href="group__collide__box.html#g3e3b0b249a8ccd40a9969e3a26548397" title="Create a box geom with the provided side lengths.">dCreateBox</a> (dSpaceID space, dReal lx, dReal ly, dReal lz);
242<a name="l00876"></a>00876
243<a name="l00877"></a>00877
244<a name="l00889"></a>00889 ODE_API <span class="keywordtype">void</span> <a class="code" href="group__collide__box.html#g4c7060780be9eaf74228565910168273" title="Set the side lengths of the given box.">dGeomBoxSetLengths</a> (dGeomID box, dReal lx, dReal ly, dReal lz);
245<a name="l00890"></a>00890
246<a name="l00891"></a>00891
247<a name="l00901"></a>00901 ODE_API <span class="keywordtype">void</span> <a class="code" href="group__collide__box.html#ge24d9264235d2487b2e2d52b2c62c879" title="Get the side lengths of a box.">dGeomBoxGetLengths</a> (dGeomID box, dVector3 result);
248<a name="l00902"></a>00902
249<a name="l00903"></a>00903
250<a name="l00916"></a>00916 ODE_API dReal dGeomBoxPointDepth (dGeomID box, dReal x, dReal y, dReal z);
251<a name="l00917"></a>00917
252<a name="l00918"></a>00918
253<a name="l00919"></a>00919 ODE_API dGeomID dCreatePlane (dSpaceID space, dReal a, dReal b, dReal c, dReal d);
254<a name="l00920"></a>00920 ODE_API <span class="keywordtype">void</span> dGeomPlaneSetParams (dGeomID plane, dReal a, dReal b, dReal c, dReal d);
255<a name="l00921"></a>00921 ODE_API <span class="keywordtype">void</span> dGeomPlaneGetParams (dGeomID plane, dVector4 result);
256<a name="l00922"></a>00922 ODE_API dReal dGeomPlanePointDepth (dGeomID plane, dReal x, dReal y, dReal z);
257<a name="l00923"></a>00923
258<a name="l00924"></a>00924 ODE_API dGeomID dCreateCapsule (dSpaceID space, dReal radius, dReal length);
259<a name="l00925"></a>00925 ODE_API <span class="keywordtype">void</span> dGeomCapsuleSetParams (dGeomID ccylinder, dReal radius, dReal length);
260<a name="l00926"></a>00926 ODE_API <span class="keywordtype">void</span> dGeomCapsuleGetParams (dGeomID ccylinder, dReal *radius, dReal *length);
261<a name="l00927"></a>00927 ODE_API dReal dGeomCapsulePointDepth (dGeomID ccylinder, dReal x, dReal y, dReal z);
262<a name="l00928"></a>00928
263<a name="l00929"></a>00929 <span class="comment">// For now we want to have a backwards compatible C-API, note: C++ API is not.</span>
264<a name="l00930"></a>00930 <span class="preprocessor">#define dCreateCCylinder dCreateCapsule</span>
265<a name="l00931"></a>00931 <span class="preprocessor"></span><span class="preprocessor">#define dGeomCCylinderSetParams dGeomCapsuleSetParams</span>
266<a name="l00932"></a>00932 <span class="preprocessor"></span><span class="preprocessor">#define dGeomCCylinderGetParams dGeomCapsuleGetParams</span>
267<a name="l00933"></a>00933 <span class="preprocessor"></span><span class="preprocessor">#define dGeomCCylinderPointDepth dGeomCapsulePointDepth</span>
268<a name="l00934"></a>00934 <span class="preprocessor"></span><span class="preprocessor">#define dCCylinderClass dCapsuleClass</span>
269<a name="l00935"></a>00935 <span class="preprocessor"></span>
270<a name="l00936"></a>00936 ODE_API dGeomID dCreateCylinder (dSpaceID space, dReal radius, dReal length);
271<a name="l00937"></a>00937 ODE_API <span class="keywordtype">void</span> dGeomCylinderSetParams (dGeomID cylinder, dReal radius, dReal length);
272<a name="l00938"></a>00938 ODE_API <span class="keywordtype">void</span> dGeomCylinderGetParams (dGeomID cylinder, dReal *radius, dReal *length);
273<a name="l00939"></a>00939
274<a name="l00940"></a>00940 ODE_API dGeomID dCreateRay (dSpaceID space, dReal length);
275<a name="l00941"></a>00941 ODE_API <span class="keywordtype">void</span> dGeomRaySetLength (dGeomID ray, dReal length);
276<a name="l00942"></a>00942 ODE_API dReal dGeomRayGetLength (dGeomID ray);
277<a name="l00943"></a>00943 ODE_API <span class="keywordtype">void</span> dGeomRaySet (dGeomID ray, dReal px, dReal py, dReal pz,
278<a name="l00944"></a>00944         dReal dx, dReal dy, dReal dz);
279<a name="l00945"></a>00945 ODE_API <span class="keywordtype">void</span> dGeomRayGet (dGeomID ray, dVector3 start, dVector3 dir);
280<a name="l00946"></a>00946
281<a name="l00947"></a>00947 <span class="comment">/*</span>
282<a name="l00948"></a>00948 <span class="comment"> * Set/get ray flags that influence ray collision detection.</span>
283<a name="l00949"></a>00949 <span class="comment"> * These flags are currently only noticed by the trimesh collider, because</span>
284<a name="l00950"></a>00950 <span class="comment"> * they can make a major differences there.</span>
285<a name="l00951"></a>00951 <span class="comment"> */</span>
286<a name="l00952"></a>00952 ODE_API <span class="keywordtype">void</span> dGeomRaySetParams (dGeomID g, <span class="keywordtype">int</span> FirstContact, <span class="keywordtype">int</span> BackfaceCull);
287<a name="l00953"></a>00953 ODE_API <span class="keywordtype">void</span> dGeomRayGetParams (dGeomID g, <span class="keywordtype">int</span> *FirstContact, <span class="keywordtype">int</span> *BackfaceCull);
288<a name="l00954"></a>00954 ODE_API <span class="keywordtype">void</span> dGeomRaySetClosestHit (dGeomID g, <span class="keywordtype">int</span> closestHit);
289<a name="l00955"></a>00955 ODE_API <span class="keywordtype">int</span> dGeomRayGetClosestHit (dGeomID g);
290<a name="l00956"></a>00956
291<a name="l00957"></a>00957 <span class="preprocessor">#include "collision_trimesh.h"</span>
292<a name="l00958"></a>00958
293<a name="l00959"></a>00959 ODE_API dGeomID dCreateGeomTransform (dSpaceID space);
294<a name="l00960"></a>00960 ODE_API <span class="keywordtype">void</span> dGeomTransformSetGeom (dGeomID g, dGeomID obj);
295<a name="l00961"></a>00961 ODE_API dGeomID dGeomTransformGetGeom (dGeomID g);
296<a name="l00962"></a>00962 ODE_API <span class="keywordtype">void</span> dGeomTransformSetCleanup (dGeomID g, <span class="keywordtype">int</span> mode);
297<a name="l00963"></a>00963 ODE_API <span class="keywordtype">int</span> dGeomTransformGetCleanup (dGeomID g);
298<a name="l00964"></a>00964 ODE_API <span class="keywordtype">void</span> dGeomTransformSetInfo (dGeomID g, <span class="keywordtype">int</span> mode);
299<a name="l00965"></a>00965 ODE_API <span class="keywordtype">int</span> dGeomTransformGetInfo (dGeomID g);
300<a name="l00966"></a>00966
301<a name="l00967"></a>00967
302<a name="l00968"></a>00968 <span class="comment">/* ************************************************************************ */</span>
303<a name="l00969"></a>00969 <span class="comment">/* heightfield functions */</span>
304<a name="l00970"></a>00970
305<a name="l00971"></a>00971
306<a name="l00972"></a>00972 <span class="comment">// Data storage for heightfield data.</span>
307<a name="l00973"></a>00973 <span class="keyword">struct </span>dxHeightfieldData;
308<a name="l00974"></a>00974 <span class="keyword">typedef</span> <span class="keyword">struct </span>dxHeightfieldData* dHeightfieldDataID;
309<a name="l00975"></a>00975
310<a name="l00976"></a>00976
311<a name="l00994"></a><a class="code" href="group__collide.html#g32d2c58e3b2b589bd7672f3453102eb9">00994</a> <span class="keyword">typedef</span> dReal <a class="code" href="group__collide.html#g32d2c58e3b2b589bd7672f3453102eb9" title="Callback prototype.">dHeightfieldGetHeight</a>( <span class="keywordtype">void</span>* p_user_data, <span class="keywordtype">int</span> x, <span class="keywordtype">int</span> z );
312<a name="l00995"></a>00995
313<a name="l00996"></a>00996
314<a name="l00997"></a>00997
315<a name="l01017"></a>01017 ODE_API dGeomID <a class="code" href="group__collide.html#gd50d5cd5fea5bfc12584e60d4a936cfb" title="Creates a heightfield geom.">dCreateHeightfield</a>( dSpaceID space,
316<a name="l01018"></a>01018                dHeightfieldDataID data, <span class="keywordtype">int</span> bPlaceable );
317<a name="l01019"></a>01019
318<a name="l01020"></a>01020
319<a name="l01033"></a>01033 ODE_API dHeightfieldDataID <a class="code" href="group__collide.html#g7de82d5cf9aa10bb3144d51f4360eea1" title="Creates a new empty dHeightfieldDataID.">dGeomHeightfieldDataCreate</a>();
320<a name="l01034"></a>01034
321<a name="l01035"></a>01035
322<a name="l01044"></a>01044 ODE_API <span class="keywordtype">void</span> <a class="code" href="group__collide.html#gf98fc1f3d1784df5a5dff114b483d408" title="Destroys a dHeightfieldDataID.">dGeomHeightfieldDataDestroy</a>( dHeightfieldDataID d );
323<a name="l01045"></a>01045
324<a name="l01046"></a>01046
325<a name="l01047"></a>01047
326<a name="l01088"></a>01088 ODE_API <span class="keywordtype">void</span> <a class="code" href="group__collide.html#g34566000a5a2673cc013294f0ed85926" title="Configures a dHeightfieldDataID to use a callback to retrieve height data.">dGeomHeightfieldDataBuildCallback</a>( dHeightfieldDataID d,
327<a name="l01089"></a>01089             <span class="keywordtype">void</span>* pUserData, <a class="code" href="group__collide.html#g32d2c58e3b2b589bd7672f3453102eb9" title="Callback prototype.">dHeightfieldGetHeight</a>* pCallback,
328<a name="l01090"></a>01090             dReal width, dReal depth, <span class="keywordtype">int</span> widthSamples, <span class="keywordtype">int</span> depthSamples,
329<a name="l01091"></a>01091             dReal scale, dReal offset, dReal thickness, <span class="keywordtype">int</span> bWrap );
330<a name="l01092"></a>01092
331<a name="l01136"></a>01136 ODE_API <span class="keywordtype">void</span> <a class="code" href="group__collide.html#g2c15b7c1a36c7526b66911beab1b7934" title="Configures a dHeightfieldDataID to use height data in byte format.">dGeomHeightfieldDataBuildByte</a>( dHeightfieldDataID d,
332<a name="l01137"></a>01137             <span class="keyword">const</span> <span class="keywordtype">unsigned</span> <span class="keywordtype">char</span>* pHeightData, <span class="keywordtype">int</span> bCopyHeightData,
333<a name="l01138"></a>01138             dReal width, dReal depth, <span class="keywordtype">int</span> widthSamples, <span class="keywordtype">int</span> depthSamples,
334<a name="l01139"></a>01139             dReal scale, dReal offset, dReal thickness,  <span class="keywordtype">int</span> bWrap );
335<a name="l01140"></a>01140
336<a name="l01184"></a>01184 ODE_API <span class="keywordtype">void</span> <a class="code" href="group__collide.html#g2f7582d64cc8219141bc10efeca86d17" title="Configures a dHeightfieldDataID to use height data in short format.">dGeomHeightfieldDataBuildShort</a>( dHeightfieldDataID d,
337<a name="l01185"></a>01185             <span class="keyword">const</span> <span class="keywordtype">short</span>* pHeightData, <span class="keywordtype">int</span> bCopyHeightData,
338<a name="l01186"></a>01186             dReal width, dReal depth, <span class="keywordtype">int</span> widthSamples, <span class="keywordtype">int</span> depthSamples,
339<a name="l01187"></a>01187             dReal scale, dReal offset, dReal thickness, <span class="keywordtype">int</span> bWrap );
340<a name="l01188"></a>01188
341<a name="l01234"></a>01234 ODE_API <span class="keywordtype">void</span> <a class="code" href="group__collide.html#g8da529419317e7bd4e01dabbe94daa09" title="Configures a dHeightfieldDataID to use height data in single precision floating point...">dGeomHeightfieldDataBuildSingle</a>( dHeightfieldDataID d,
342<a name="l01235"></a>01235             <span class="keyword">const</span> <span class="keywordtype">float</span>* pHeightData, <span class="keywordtype">int</span> bCopyHeightData,
343<a name="l01236"></a>01236             dReal width, dReal depth, <span class="keywordtype">int</span> widthSamples, <span class="keywordtype">int</span> depthSamples,
344<a name="l01237"></a>01237             dReal scale, dReal offset, dReal thickness, <span class="keywordtype">int</span> bWrap );
345<a name="l01238"></a>01238
346<a name="l01284"></a>01284 ODE_API <span class="keywordtype">void</span> <a class="code" href="group__collide.html#g98ec0c952b3b4e0fb3cd8cf66e267c86" title="Configures a dHeightfieldDataID to use height data in double precision floating point...">dGeomHeightfieldDataBuildDouble</a>( dHeightfieldDataID d,
347<a name="l01285"></a>01285             <span class="keyword">const</span> <span class="keywordtype">double</span>* pHeightData, <span class="keywordtype">int</span> bCopyHeightData,
348<a name="l01286"></a>01286             dReal width, dReal depth, <span class="keywordtype">int</span> widthSamples, <span class="keywordtype">int</span> depthSamples,
349<a name="l01287"></a>01287             dReal scale, dReal offset, dReal thickness, <span class="keywordtype">int</span> bWrap );
350<a name="l01288"></a>01288
351<a name="l01306"></a>01306 ODE_API <span class="keywordtype">void</span> <a class="code" href="group__collide.html#gcdef420e65e3751388b315f5de2804b2" title="Manually set the minimum and maximum height bounds.">dGeomHeightfieldDataSetBounds</a>( dHeightfieldDataID d,
352<a name="l01307"></a>01307             dReal minHeight, dReal maxHeight );
353<a name="l01308"></a>01308
354<a name="l01309"></a>01309
355<a name="l01320"></a>01320 ODE_API <span class="keywordtype">void</span> <a class="code" href="group__collide.html#g6c1ae1f3ca652d6410e7804cdf8f8491" title="Assigns a dHeightfieldDataID to a heightfield geom.">dGeomHeightfieldSetHeightfieldData</a>( dGeomID g, dHeightfieldDataID d );
356<a name="l01321"></a>01321
357<a name="l01322"></a>01322
358<a name="l01332"></a>01332 ODE_API dHeightfieldDataID <a class="code" href="group__collide.html#g747176d26ce4f9b10ebfa6c865ef1cca" title="Gets the dHeightfieldDataID bound to a heightfield geom.">dGeomHeightfieldGetHeightfieldData</a>( dGeomID g );
359<a name="l01333"></a>01333
360<a name="l01334"></a>01334
361<a name="l01335"></a>01335
362<a name="l01336"></a>01336 <span class="comment">/* ************************************************************************ */</span>
363<a name="l01337"></a>01337 <span class="comment">/* utility functions */</span>
364<a name="l01338"></a>01338
365<a name="l01339"></a>01339 ODE_API <span class="keywordtype">void</span> dClosestLineSegmentPoints (<span class="keyword">const</span> dVector3 a1, <span class="keyword">const</span> dVector3 a2,
366<a name="l01340"></a>01340             <span class="keyword">const</span> dVector3 b1, <span class="keyword">const</span> dVector3 b2,
367<a name="l01341"></a>01341             dVector3 cp1, dVector3 cp2);
368<a name="l01342"></a>01342
369<a name="l01343"></a>01343 ODE_API <span class="keywordtype">int</span> dBoxTouchesBox (<span class="keyword">const</span> dVector3 _p1, <span class="keyword">const</span> dMatrix3 R1,
370<a name="l01344"></a>01344           <span class="keyword">const</span> dVector3 side1, <span class="keyword">const</span> dVector3 _p2,
371<a name="l01345"></a>01345           <span class="keyword">const</span> dMatrix3 R2, <span class="keyword">const</span> dVector3 side2);
372<a name="l01346"></a>01346
373<a name="l01347"></a>01347 <span class="comment">// The meaning of flags parameter is the same as in dCollide()</span>
374<a name="l01348"></a>01348 ODE_API <span class="keywordtype">int</span> dBoxBox (<span class="keyword">const</span> dVector3 p1, <span class="keyword">const</span> dMatrix3 R1,
375<a name="l01349"></a>01349         <span class="keyword">const</span> dVector3 side1, <span class="keyword">const</span> dVector3 p2,
376<a name="l01350"></a>01350         <span class="keyword">const</span> dMatrix3 R2, <span class="keyword">const</span> dVector3 side2,
377<a name="l01351"></a>01351         dVector3 normal, dReal *depth, <span class="keywordtype">int</span> *return_code,
378<a name="l01352"></a>01352         <span class="keywordtype">int</span> flags, <a class="code" href="structd_contact_geom.html" title="Describe the contact point between two geoms.">dContactGeom</a> *contact, <span class="keywordtype">int</span> skip);
379<a name="l01353"></a>01353
380<a name="l01354"></a>01354 ODE_API <span class="keywordtype">void</span> dInfiniteAABB (dGeomID geom, dReal aabb[6]);
381<a name="l01355"></a>01355 ODE_API <span class="keywordtype">void</span> dInitODE(<span class="keywordtype">void</span>);
382<a name="l01356"></a>01356 ODE_API <span class="keywordtype">void</span> dCloseODE(<span class="keywordtype">void</span>);
383<a name="l01357"></a>01357
384<a name="l01358"></a>01358 <span class="comment">/* ************************************************************************ */</span>
385<a name="l01359"></a>01359 <span class="comment">/* custom classes */</span>
386<a name="l01360"></a>01360
387<a name="l01361"></a>01361 <span class="keyword">typedef</span> <span class="keywordtype">void</span> dGetAABBFn (dGeomID, dReal aabb[6]);
388<a name="l01362"></a>01362 <span class="keyword">typedef</span> <span class="keywordtype">int</span> dColliderFn (dGeomID o1, dGeomID o2,
389<a name="l01363"></a>01363           <span class="keywordtype">int</span> flags, <a class="code" href="structd_contact_geom.html" title="Describe the contact point between two geoms.">dContactGeom</a> *contact, <span class="keywordtype">int</span> skip);
390<a name="l01364"></a>01364 <span class="keyword">typedef</span> dColliderFn * dGetColliderFnFn (<span class="keywordtype">int</span> num);
391<a name="l01365"></a>01365 <span class="keyword">typedef</span> <span class="keywordtype">void</span> dGeomDtorFn (dGeomID o);
392<a name="l01366"></a>01366 <span class="keyword">typedef</span> <span class="keywordtype">int</span> dAABBTestFn (dGeomID o1, dGeomID o2, dReal aabb[6]);
393<a name="l01367"></a>01367
394<a name="l01368"></a>01368 <span class="keyword">typedef</span> <span class="keyword">struct </span>dGeomClass {
395<a name="l01369"></a>01369   <span class="keywordtype">int</span> bytes;
396<a name="l01370"></a>01370   dGetColliderFnFn *collider;
397<a name="l01371"></a>01371   dGetAABBFn *aabb;
398<a name="l01372"></a>01372   dAABBTestFn *aabb_test;
399<a name="l01373"></a>01373   dGeomDtorFn *dtor;
400<a name="l01374"></a>01374 } dGeomClass;
401<a name="l01375"></a>01375
402<a name="l01376"></a>01376 ODE_API <span class="keywordtype">int</span> dCreateGeomClass (<span class="keyword">const</span> dGeomClass *classptr);
403<a name="l01377"></a>01377 ODE_API <span class="keywordtype">void</span> * dGeomGetClassData (dGeomID);
404<a name="l01378"></a>01378 ODE_API dGeomID dCreateGeom (<span class="keywordtype">int</span> classnum);
405<a name="l01379"></a>01379
406<a name="l01380"></a>01380 <span class="comment">/* ************************************************************************ */</span>
407<a name="l01381"></a>01381
408<a name="l01382"></a>01382 <span class="preprocessor">#ifdef __cplusplus</span>
409<a name="l01383"></a>01383 <span class="preprocessor"></span>}
410<a name="l01384"></a>01384 <span class="preprocessor">#endif</span>
411<a name="l01385"></a>01385 <span class="preprocessor"></span>
412<a name="l01386"></a>01386 <span class="preprocessor">#endif</span>
413</pre></div><hr size="1"><address style="text-align: right;"><small>Generated on Fri Oct 12 08:36:51 2007 for Open Dynamics Engine by&nbsp;
414<a href="http://www.doxygen.org/index.html">
415<img src="doxygen.png" alt="doxygen" align="middle" border="0"></a> 1.5.3 </small></address>
416</body>
417</html>
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