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16<h1>odecpp_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) 2001,2002 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="comment">/* C++ interface for new collision API */</span>
39<a name="l00024"></a>00024
40<a name="l00025"></a>00025
41<a name="l00026"></a>00026 <span class="preprocessor">#ifndef _ODE_ODECPP_COLLISION_H_</span>
42<a name="l00027"></a>00027 <span class="preprocessor"></span><span class="preprocessor">#define _ODE_ODECPP_COLLISION_H_</span>
43<a name="l00028"></a>00028 <span class="preprocessor"></span><span class="preprocessor">#ifdef __cplusplus</span>
44<a name="l00029"></a>00029 <span class="preprocessor"></span>
45<a name="l00030"></a>00030 <span class="preprocessor">#include &lt;ode/error.h&gt;</span>
46<a name="l00031"></a>00031
47<a name="l00032"></a>00032
48<a name="l00033"></a>00033 <span class="keyword">class </span>dGeom {
49<a name="l00034"></a>00034   <span class="comment">// intentionally undefined, don't use these</span>
50<a name="l00035"></a>00035   dGeom (dGeom &amp;);
51<a name="l00036"></a>00036   <span class="keywordtype">void</span> operator= (dGeom &amp;);
52<a name="l00037"></a>00037
53<a name="l00038"></a>00038 <span class="keyword">protected</span>:
54<a name="l00039"></a>00039   dGeomID _id;
55<a name="l00040"></a>00040
56<a name="l00041"></a>00041 <span class="keyword">public</span>:
57<a name="l00042"></a>00042   dGeom()
58<a name="l00043"></a>00043     { _id = 0; }
59<a name="l00044"></a>00044   ~dGeom()
60<a name="l00045"></a>00045     { <span class="keywordflow">if</span> (_id) <a class="code" href="group__collide.html#g96b9e7d3a7ca769b0c8f37eecfaf98c6" title="Destroy a geom, removing it from any space.">dGeomDestroy</a> (_id); }
61<a name="l00046"></a>00046
62<a name="l00047"></a>00047   dGeomID id()<span class="keyword"> const</span>
63<a name="l00048"></a>00048 <span class="keyword">    </span>{ <span class="keywordflow">return</span> _id; }
64<a name="l00049"></a>00049   operator dGeomID()<span class="keyword"> const</span>
65<a name="l00050"></a>00050 <span class="keyword">    </span>{ <span class="keywordflow">return</span> _id; }
66<a name="l00051"></a>00051
67<a name="l00052"></a>00052   <span class="keywordtype">void</span> destroy() {
68<a name="l00053"></a>00053     <span class="keywordflow">if</span> (_id) <a class="code" href="group__collide.html#g96b9e7d3a7ca769b0c8f37eecfaf98c6" title="Destroy a geom, removing it from any space.">dGeomDestroy</a> (_id);
69<a name="l00054"></a>00054     _id = 0;
70<a name="l00055"></a>00055   }
71<a name="l00056"></a>00056
72<a name="l00057"></a>00057   <span class="keywordtype">int</span> getClass()<span class="keyword"> const</span>
73<a name="l00058"></a>00058 <span class="keyword">    </span>{ <span class="keywordflow">return</span> <a class="code" href="group__collide.html#g07b5ed5b915f756f419a4a7ce69dc67e" title="Given a geom, this returns its class.">dGeomGetClass</a> (_id); }
74<a name="l00059"></a>00059
75<a name="l00060"></a>00060   dSpaceID getSpace()<span class="keyword"> const</span>
76<a name="l00061"></a>00061 <span class="keyword">    </span>{ <span class="keywordflow">return</span> <a class="code" href="group__collide.html#gfdc35eade2cbd0b6886ce957325d7c03" title="Query for the space containing a particular geom.">dGeomGetSpace</a> (_id); }
77<a name="l00062"></a>00062
78<a name="l00063"></a>00063   <span class="keywordtype">void</span> setData (<span class="keywordtype">void</span> *data)
79<a name="l00064"></a>00064     { <a class="code" href="group__collide.html#gf68eb443d5c66ab1aaa8a7d38d1dbc4f" title="Set the user-defined data pointer stored in the geom.">dGeomSetData</a> (_id,data); }
80<a name="l00065"></a>00065   <span class="keywordtype">void</span> *getData()<span class="keyword"> const</span>
81<a name="l00066"></a>00066 <span class="keyword">    </span>{ <span class="keywordflow">return</span> <a class="code" href="group__collide.html#gc1a185e22b136814fd3afc8469d98996" title="Get the user-defined data pointer stored in the geom.">dGeomGetData</a> (_id); }
82<a name="l00067"></a>00067
83<a name="l00068"></a>00068   <span class="keywordtype">void</span> setBody (dBodyID b)
84<a name="l00069"></a>00069     { <a class="code" href="group__collide.html#g97cad1194789477eac19fe364d986505" title="Set the body associated with a placeable geom.">dGeomSetBody</a> (_id,b); }
85<a name="l00070"></a>00070   dBodyID getBody()<span class="keyword"> const</span>
86<a name="l00071"></a>00071 <span class="keyword">    </span>{ <span class="keywordflow">return</span> <a class="code" href="group__collide.html#gd6cedf77fde0dddf751c5d42fcc8eebf" title="Get the body associated with a placeable geom.">dGeomGetBody</a> (_id); }
87<a name="l00072"></a>00072
88<a name="l00073"></a>00073   <span class="keywordtype">void</span> setPosition (dReal x, dReal y, dReal z)
89<a name="l00074"></a>00074     { <a class="code" href="group__collide.html#g71043b70a735e8f5451c3e13cef345fe" title="Set the position vector of a placeable geom.">dGeomSetPosition</a> (_id,x,y,z); }
90<a name="l00075"></a>00075   <span class="keyword">const</span> dReal * getPosition()<span class="keyword"> const</span>
91<a name="l00076"></a>00076 <span class="keyword">    </span>{ <span class="keywordflow">return</span> <a class="code" href="group__collide.html#g95b93f803880cac2619fe2635aa93ad8" title="Get the position vector of a placeable geom.">dGeomGetPosition</a> (_id); }
92<a name="l00077"></a>00077
93<a name="l00078"></a>00078   <span class="keywordtype">void</span> setRotation (<span class="keyword">const</span> dMatrix3 R)
94<a name="l00079"></a>00079     { <a class="code" href="group__collide.html#g76c510f4b7d5a036d8a36f2d60d670e5" title="Set the rotation matrix of a placeable geom.">dGeomSetRotation</a> (_id,R); }
95<a name="l00080"></a>00080   <span class="keyword">const</span> dReal * getRotation()<span class="keyword"> const</span>
96<a name="l00081"></a>00081 <span class="keyword">    </span>{ <span class="keywordflow">return</span> <a class="code" href="group__collide.html#g293b2264cefb12f9a6659cacc6a722f7" title="Get the rotation matrix of a placeable geom.">dGeomGetRotation</a> (_id); }
97<a name="l00082"></a>00082     
98<a name="l00083"></a>00083   <span class="keywordtype">void</span> setQuaternion (<span class="keyword">const</span> dQuaternion quat)
99<a name="l00084"></a>00084     { <a class="code" href="group__collide.html#g989149d93162264d699444a57b045150" title="Set the rotation of a placeable geom.">dGeomSetQuaternion</a> (_id,quat); }
100<a name="l00085"></a>00085   <span class="keywordtype">void</span> getQuaternion (dQuaternion quat)<span class="keyword"> const</span>
101<a name="l00086"></a>00086 <span class="keyword">    </span>{ <a class="code" href="group__collide.html#g11ad7f0098639b06f4bcd2d681122842" title="Get the rotation quaternion of a placeable geom.">dGeomGetQuaternion</a> (_id,quat); }
102<a name="l00087"></a>00087
103<a name="l00088"></a>00088   <span class="keywordtype">void</span> getAABB (dReal aabb[6])<span class="keyword"> const</span>
104<a name="l00089"></a>00089 <span class="keyword">    </span>{ <a class="code" href="group__collide.html#g904e360ac6e9e85a05e67929990e5b72" title="Return the axis-aligned bounding box.">dGeomGetAABB</a> (_id, aabb); }
105<a name="l00090"></a>00090
106<a name="l00091"></a>00091   <span class="keywordtype">int</span> isSpace()
107<a name="l00092"></a>00092     { <span class="keywordflow">return</span> <a class="code" href="group__collide.html#ge5a58bdc78fb4f163a0e9c3ecabf64c9" title="Determing if a geom is a space.">dGeomIsSpace</a> (_id); }
108<a name="l00093"></a>00093
109<a name="l00094"></a>00094   <span class="keywordtype">void</span> setCategoryBits (<span class="keywordtype">unsigned</span> <span class="keywordtype">long</span> bits)
110<a name="l00095"></a>00095     { <a class="code" href="group__collide.html#g80fd5741701eb48472521780d5e2f9b9" title="Set the &amp;quot;category&amp;quot; bitfield for the given geom.">dGeomSetCategoryBits</a> (_id, bits); }
111<a name="l00096"></a>00096   <span class="keywordtype">void</span> setCollideBits (<span class="keywordtype">unsigned</span> <span class="keywordtype">long</span> bits)
112<a name="l00097"></a>00097     { <a class="code" href="group__collide.html#ga55b4de01a61be41668685857b78455d" title="Set the &amp;quot;collide&amp;quot; bitfield for the given geom.">dGeomSetCollideBits</a> (_id, bits); }
113<a name="l00098"></a>00098   <span class="keywordtype">unsigned</span> <span class="keywordtype">long</span> getCategoryBits()
114<a name="l00099"></a>00099     { <span class="keywordflow">return</span> <a class="code" href="group__collide.html#gfb62d3493b6789382f65776ab931e78d" title="Get the &amp;quot;category&amp;quot; bitfield for the given geom.">dGeomGetCategoryBits</a> (_id); }
115<a name="l00100"></a>00100   <span class="keywordtype">unsigned</span> <span class="keywordtype">long</span> getCollideBits()
116<a name="l00101"></a>00101     { <span class="keywordflow">return</span> <a class="code" href="group__collide.html#g5591e5c496a5a6f8b66dc57e03d0cd8d" title="Get the &amp;quot;collide&amp;quot; bitfield for the given geom.">dGeomGetCollideBits</a> (_id); }
117<a name="l00102"></a>00102
118<a name="l00103"></a>00103   <span class="keywordtype">void</span> enable()
119<a name="l00104"></a>00104     { <a class="code" href="group__collide.html#ga7c64b8fcae37ee9541208a0351f3d05" title="Enable a geom.">dGeomEnable</a> (_id); }
120<a name="l00105"></a>00105   <span class="keywordtype">void</span> disable()
121<a name="l00106"></a>00106     { <a class="code" href="group__collide.html#g6cb32b4161435fe491859680b463fc12" title="Disable a geom.">dGeomDisable</a> (_id); }
122<a name="l00107"></a>00107   <span class="keywordtype">int</span> isEnabled()
123<a name="l00108"></a>00108     { <span class="keywordflow">return</span> <a class="code" href="group__collide.html#g6533d33f870cf0fb6684ec05e5c0562e" title="Check to see if a geom is enabled.">dGeomIsEnabled</a> (_id); }
124<a name="l00109"></a>00109
125<a name="l00110"></a>00110   <span class="keywordtype">void</span> collide2 (dGeomID g, <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)
126<a name="l00111"></a>00111     { <a class="code" href="group__collide.html#g72a6bb0b550d3e181f8b7a9be7179db5" title="Determines which geoms from one space may potentially intersect with geoms from another...">dSpaceCollide2</a> (_id,g,data,callback); }
127<a name="l00112"></a>00112 };
128<a name="l00113"></a>00113
129<a name="l00114"></a>00114
130<a name="l00115"></a>00115 <span class="keyword">class </span>dSpace : <span class="keyword">public</span> dGeom {
131<a name="l00116"></a>00116   <span class="comment">// intentionally undefined, don't use these</span>
132<a name="l00117"></a>00117   dSpace (dSpace &amp;);
133<a name="l00118"></a>00118   <span class="keywordtype">void</span> operator= (dSpace &amp;);
134<a name="l00119"></a>00119
135<a name="l00120"></a>00120 <span class="keyword">protected</span>:
136<a name="l00121"></a>00121   <span class="comment">// the default constructor is protected so that you</span>
137<a name="l00122"></a>00122   <span class="comment">// can't instance this class. you must instance one</span>
138<a name="l00123"></a>00123   <span class="comment">// of its subclasses instead.</span>
139<a name="l00124"></a>00124   dSpace () { _id = 0; }
140<a name="l00125"></a>00125
141<a name="l00126"></a>00126 <span class="keyword">public</span>:
142<a name="l00127"></a>00127   dSpaceID id()<span class="keyword"> const</span>
143<a name="l00128"></a>00128 <span class="keyword">    </span>{ <span class="keywordflow">return</span> (dSpaceID) _id; }
144<a name="l00129"></a>00129   operator dSpaceID()<span class="keyword"> const</span>
145<a name="l00130"></a>00130 <span class="keyword">    </span>{ <span class="keywordflow">return</span> (dSpaceID) _id; }
146<a name="l00131"></a>00131
147<a name="l00132"></a>00132   <span class="keywordtype">void</span> setCleanup (<span class="keywordtype">int</span> mode)
148<a name="l00133"></a>00133     { dSpaceSetCleanup (<span class="keywordtype">id</span>(), mode); }
149<a name="l00134"></a>00134   <span class="keywordtype">int</span> getCleanup()
150<a name="l00135"></a>00135     { <span class="keywordflow">return</span> dSpaceGetCleanup (<span class="keywordtype">id</span>()); }
151<a name="l00136"></a>00136
152<a name="l00137"></a>00137   <span class="keywordtype">void</span> <span class="keyword">add</span> (dGeomID x)
153<a name="l00138"></a>00138     { dSpaceAdd (<span class="keywordtype">id</span>(), x); }
154<a name="l00139"></a>00139   <span class="keywordtype">void</span> <span class="keyword">remove</span> (dGeomID x)
155<a name="l00140"></a>00140     { dSpaceRemove (<span class="keywordtype">id</span>(), x); }
156<a name="l00141"></a>00141   <span class="keywordtype">int</span> query (dGeomID x)
157<a name="l00142"></a>00142     { <span class="keywordflow">return</span> dSpaceQuery (<span class="keywordtype">id</span>(),x); }
158<a name="l00143"></a>00143
159<a name="l00144"></a>00144   <span class="keywordtype">int</span> getNumGeoms()
160<a name="l00145"></a>00145     { <span class="keywordflow">return</span> dSpaceGetNumGeoms (<span class="keywordtype">id</span>()); }
161<a name="l00146"></a>00146   dGeomID getGeom (<span class="keywordtype">int</span> i)
162<a name="l00147"></a>00147     { <span class="keywordflow">return</span> dSpaceGetGeom (<span class="keywordtype">id</span>(),i); }
163<a name="l00148"></a>00148
164<a name="l00149"></a>00149   <span class="keywordtype">void</span> collide (<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)
165<a name="l00150"></a>00150     { <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> (<span class="keywordtype">id</span>(),data,callback); }
166<a name="l00151"></a>00151 };
167<a name="l00152"></a>00152
168<a name="l00153"></a>00153
169<a name="l00154"></a>00154 <span class="keyword">class </span>dSimpleSpace : <span class="keyword">public</span> dSpace {
170<a name="l00155"></a>00155   <span class="comment">// intentionally undefined, don't use these</span>
171<a name="l00156"></a>00156   dSimpleSpace (dSimpleSpace &amp;);
172<a name="l00157"></a>00157   <span class="keywordtype">void</span> operator= (dSimpleSpace &amp;);
173<a name="l00158"></a>00158
174<a name="l00159"></a>00159 <span class="keyword">public</span>:
175<a name="l00160"></a>00160   dSimpleSpace (dSpaceID space)
176<a name="l00161"></a>00161     { _id = (dGeomID) dSimpleSpaceCreate (space); }
177<a name="l00162"></a>00162 };
178<a name="l00163"></a>00163
179<a name="l00164"></a>00164
180<a name="l00165"></a>00165 <span class="keyword">class </span>dHashSpace : <span class="keyword">public</span> dSpace {
181<a name="l00166"></a>00166   <span class="comment">// intentionally undefined, don't use these</span>
182<a name="l00167"></a>00167   dHashSpace (dHashSpace &amp;);
183<a name="l00168"></a>00168   <span class="keywordtype">void</span> operator= (dHashSpace &amp;);
184<a name="l00169"></a>00169
185<a name="l00170"></a>00170 <span class="keyword">public</span>:
186<a name="l00171"></a>00171   dHashSpace (dSpaceID space)
187<a name="l00172"></a>00172     { _id = (dGeomID) dHashSpaceCreate (space); }
188<a name="l00173"></a>00173   <span class="keywordtype">void</span> setLevels (<span class="keywordtype">int</span> minlevel, <span class="keywordtype">int</span> maxlevel)
189<a name="l00174"></a>00174     { dHashSpaceSetLevels (<span class="keywordtype">id</span>(),minlevel,maxlevel); }
190<a name="l00175"></a>00175 };
191<a name="l00176"></a>00176
192<a name="l00177"></a>00177
193<a name="l00178"></a>00178 <span class="keyword">class </span>dQuadTreeSpace : <span class="keyword">public</span> dSpace {
194<a name="l00179"></a>00179   <span class="comment">// intentionally undefined, don't use these</span>
195<a name="l00180"></a>00180   dQuadTreeSpace (dQuadTreeSpace &amp;);
196<a name="l00181"></a>00181   <span class="keywordtype">void</span> operator= (dQuadTreeSpace &amp;);
197<a name="l00182"></a>00182
198<a name="l00183"></a>00183 <span class="keyword">public</span>:
199<a name="l00184"></a>00184   dQuadTreeSpace (dSpaceID space, dVector3 center, dVector3 extents, <span class="keywordtype">int</span> depth)
200<a name="l00185"></a>00185     { _id = (dGeomID) dQuadTreeSpaceCreate (space,center,extents,depth); }
201<a name="l00186"></a>00186 };
202<a name="l00187"></a>00187
203<a name="l00188"></a>00188
204<a name="l00189"></a>00189 <span class="keyword">class </span>dSphere : <span class="keyword">public</span> dGeom {
205<a name="l00190"></a>00190   <span class="comment">// intentionally undefined, don't use these</span>
206<a name="l00191"></a>00191   dSphere (dSphere &amp;);
207<a name="l00192"></a>00192   <span class="keywordtype">void</span> operator= (dSphere &amp;);
208<a name="l00193"></a>00193
209<a name="l00194"></a>00194 <span class="keyword">public</span>:
210<a name="l00195"></a>00195   dSphere () { }
211<a name="l00196"></a>00196   dSphere (dSpaceID space, dReal radius)
212<a name="l00197"></a>00197     { _id = <a class="code" href="group__collide__sphere.html#g53c79c860638ca3600744a193da68474" title="Create a sphere geom of the given radius, and return its ID.">dCreateSphere</a> (space, radius); }
213<a name="l00198"></a>00198
214<a name="l00199"></a>00199   <span class="keywordtype">void</span> create (dSpaceID space, dReal radius) {
215<a name="l00200"></a>00200     <span class="keywordflow">if</span> (_id) <a class="code" href="group__collide.html#g96b9e7d3a7ca769b0c8f37eecfaf98c6" title="Destroy a geom, removing it from any space.">dGeomDestroy</a> (_id);
216<a name="l00201"></a>00201     _id = <a class="code" href="group__collide__sphere.html#g53c79c860638ca3600744a193da68474" title="Create a sphere geom of the given radius, and return its ID.">dCreateSphere</a> (space, radius);
217<a name="l00202"></a>00202   }
218<a name="l00203"></a>00203
219<a name="l00204"></a>00204   <span class="keywordtype">void</span> setRadius (dReal radius)
220<a name="l00205"></a>00205     { <a class="code" href="group__collide__sphere.html#g2341ae9b3b733571eff7a1857109f394" title="Set the radius of a sphere geom.">dGeomSphereSetRadius</a> (_id, radius); }
221<a name="l00206"></a>00206   dReal getRadius()<span class="keyword"> const</span>
222<a name="l00207"></a>00207 <span class="keyword">    </span>{ <span class="keywordflow">return</span> <a class="code" href="group__collide__sphere.html#g0e7f664deb9f557a6a24f93705b29fa9" title="Retrieves the radius of a sphere geom.">dGeomSphereGetRadius</a> (_id); }
223<a name="l00208"></a>00208 };
224<a name="l00209"></a>00209
225<a name="l00210"></a>00210
226<a name="l00211"></a>00211 <span class="keyword">class </span>dBox : <span class="keyword">public</span> dGeom {
227<a name="l00212"></a>00212   <span class="comment">// intentionally undefined, don't use these</span>
228<a name="l00213"></a>00213   dBox (dBox &amp;);
229<a name="l00214"></a>00214   <span class="keywordtype">void</span> operator= (dBox &amp;);
230<a name="l00215"></a>00215
231<a name="l00216"></a>00216 <span class="keyword">public</span>:
232<a name="l00217"></a>00217   dBox () { }
233<a name="l00218"></a>00218   dBox (dSpaceID space, dReal lx, dReal ly, dReal lz)
234<a name="l00219"></a>00219     { _id = <a class="code" href="group__collide__box.html#g3e3b0b249a8ccd40a9969e3a26548397" title="Create a box geom with the provided side lengths.">dCreateBox</a> (space,lx,ly,lz); }
235<a name="l00220"></a>00220
236<a name="l00221"></a>00221   <span class="keywordtype">void</span> create (dSpaceID space, dReal lx, dReal ly, dReal lz) {
237<a name="l00222"></a>00222     <span class="keywordflow">if</span> (_id) <a class="code" href="group__collide.html#g96b9e7d3a7ca769b0c8f37eecfaf98c6" title="Destroy a geom, removing it from any space.">dGeomDestroy</a> (_id);
238<a name="l00223"></a>00223     _id = <a class="code" href="group__collide__box.html#g3e3b0b249a8ccd40a9969e3a26548397" title="Create a box geom with the provided side lengths.">dCreateBox</a> (space,lx,ly,lz);
239<a name="l00224"></a>00224   }
240<a name="l00225"></a>00225
241<a name="l00226"></a>00226   <span class="keywordtype">void</span> setLengths (dReal lx, dReal ly, dReal lz)
242<a name="l00227"></a>00227     { <a class="code" href="group__collide__box.html#g4c7060780be9eaf74228565910168273" title="Set the side lengths of the given box.">dGeomBoxSetLengths</a> (_id, lx, ly, lz); }
243<a name="l00228"></a>00228   <span class="keywordtype">void</span> getLengths (dVector3 result)<span class="keyword"> const</span>
244<a name="l00229"></a>00229 <span class="keyword">    </span>{ <a class="code" href="group__collide__box.html#ge24d9264235d2487b2e2d52b2c62c879" title="Get the side lengths of a box.">dGeomBoxGetLengths</a> (_id,result); }
245<a name="l00230"></a>00230 };
246<a name="l00231"></a>00231
247<a name="l00232"></a>00232
248<a name="l00233"></a>00233 <span class="keyword">class </span>dPlane : <span class="keyword">public</span> dGeom {
249<a name="l00234"></a>00234   <span class="comment">// intentionally undefined, don't use these</span>
250<a name="l00235"></a>00235   dPlane (dPlane &amp;);
251<a name="l00236"></a>00236   <span class="keywordtype">void</span> operator= (dPlane &amp;);
252<a name="l00237"></a>00237
253<a name="l00238"></a>00238 <span class="keyword">public</span>:
254<a name="l00239"></a>00239   dPlane() { }
255<a name="l00240"></a>00240   dPlane (dSpaceID space, dReal a, dReal b, dReal c, dReal d)
256<a name="l00241"></a>00241     { _id = dCreatePlane (space,a,b,c,d); }
257<a name="l00242"></a>00242
258<a name="l00243"></a>00243   <span class="keywordtype">void</span> create (dSpaceID space, dReal a, dReal b, dReal c, dReal d) {
259<a name="l00244"></a>00244     <span class="keywordflow">if</span> (_id) <a class="code" href="group__collide.html#g96b9e7d3a7ca769b0c8f37eecfaf98c6" title="Destroy a geom, removing it from any space.">dGeomDestroy</a> (_id);
260<a name="l00245"></a>00245     _id = dCreatePlane (space,a,b,c,d);
261<a name="l00246"></a>00246   }
262<a name="l00247"></a>00247
263<a name="l00248"></a>00248   <span class="keywordtype">void</span> setParams (dReal a, dReal b, dReal c, dReal d)
264<a name="l00249"></a>00249     { dGeomPlaneSetParams (_id, a, b, c, d); }
265<a name="l00250"></a>00250   <span class="keywordtype">void</span> getParams (dVector4 result)<span class="keyword"> const</span>
266<a name="l00251"></a>00251 <span class="keyword">    </span>{ dGeomPlaneGetParams (_id,result); }
267<a name="l00252"></a>00252 };
268<a name="l00253"></a>00253
269<a name="l00254"></a>00254
270<a name="l00255"></a>00255 <span class="keyword">class </span>dCapsule : <span class="keyword">public</span> dGeom {
271<a name="l00256"></a>00256   <span class="comment">// intentionally undefined, don't use these</span>
272<a name="l00257"></a>00257   dCapsule (dCapsule &amp;);
273<a name="l00258"></a>00258   <span class="keywordtype">void</span> operator= (dCapsule &amp;);
274<a name="l00259"></a>00259
275<a name="l00260"></a>00260 <span class="keyword">public</span>:
276<a name="l00261"></a>00261   dCapsule() { }
277<a name="l00262"></a>00262   dCapsule (dSpaceID space, dReal radius, dReal length)
278<a name="l00263"></a>00263     { _id = dCreateCapsule (space,radius,length); }
279<a name="l00264"></a>00264
280<a name="l00265"></a>00265   <span class="keywordtype">void</span> create (dSpaceID space, dReal radius, dReal length) {
281<a name="l00266"></a>00266     <span class="keywordflow">if</span> (_id) <a class="code" href="group__collide.html#g96b9e7d3a7ca769b0c8f37eecfaf98c6" title="Destroy a geom, removing it from any space.">dGeomDestroy</a> (_id);
282<a name="l00267"></a>00267     _id = dCreateCapsule (space,radius,length);
283<a name="l00268"></a>00268   }
284<a name="l00269"></a>00269
285<a name="l00270"></a>00270   <span class="keywordtype">void</span> setParams (dReal radius, dReal length)
286<a name="l00271"></a>00271     { dGeomCapsuleSetParams (_id, radius, length); }
287<a name="l00272"></a>00272   <span class="keywordtype">void</span> getParams (dReal *radius, dReal *length)<span class="keyword"> const</span>
288<a name="l00273"></a>00273 <span class="keyword">    </span>{ dGeomCapsuleGetParams (_id,radius,length); }
289<a name="l00274"></a>00274 };
290<a name="l00275"></a>00275
291<a name="l00276"></a>00276
292<a name="l00277"></a>00277 <span class="keyword">class </span>dRay : <span class="keyword">public</span> dGeom {
293<a name="l00278"></a>00278   <span class="comment">// intentionally undefined, don't use these</span>
294<a name="l00279"></a>00279   dRay (dRay &amp;);
295<a name="l00280"></a>00280   <span class="keywordtype">void</span> operator= (dRay &amp;);
296<a name="l00281"></a>00281
297<a name="l00282"></a>00282 <span class="keyword">public</span>:
298<a name="l00283"></a>00283   dRay() { }
299<a name="l00284"></a>00284   dRay (dSpaceID space, dReal length)
300<a name="l00285"></a>00285     { _id = dCreateRay (space,length); }
301<a name="l00286"></a>00286
302<a name="l00287"></a>00287   <span class="keywordtype">void</span> create (dSpaceID space, dReal length) {
303<a name="l00288"></a>00288     <span class="keywordflow">if</span> (_id) <a class="code" href="group__collide.html#g96b9e7d3a7ca769b0c8f37eecfaf98c6" title="Destroy a geom, removing it from any space.">dGeomDestroy</a> (_id);
304<a name="l00289"></a>00289     _id = dCreateRay (space,length);
305<a name="l00290"></a>00290   }
306<a name="l00291"></a>00291
307<a name="l00292"></a>00292   <span class="keywordtype">void</span> setLength (dReal length)
308<a name="l00293"></a>00293     { dGeomRaySetLength (_id, length); }
309<a name="l00294"></a>00294   dReal getLength()
310<a name="l00295"></a>00295     { <span class="keywordflow">return</span> dGeomRayGetLength (_id); }
311<a name="l00296"></a>00296
312<a name="l00297"></a>00297   <span class="keywordtype">void</span> <span class="keyword">set</span> (dReal px, dReal py, dReal pz, dReal dx, dReal dy, dReal dz)
313<a name="l00298"></a>00298     { dGeomRaySet (_id, px, py, pz, dx, dy, dz); }
314<a name="l00299"></a>00299   <span class="keywordtype">void</span> <span class="keyword">get</span> (dVector3 start, dVector3 dir)
315<a name="l00300"></a>00300     { dGeomRayGet (_id, start, dir); }
316<a name="l00301"></a>00301
317<a name="l00302"></a>00302   <span class="keywordtype">void</span> setParams (<span class="keywordtype">int</span> firstContact, <span class="keywordtype">int</span> backfaceCull)
318<a name="l00303"></a>00303     { dGeomRaySetParams (_id, firstContact, backfaceCull); }
319<a name="l00304"></a>00304   <span class="keywordtype">void</span> getParams (<span class="keywordtype">int</span> *firstContact, <span class="keywordtype">int</span> *backfaceCull)
320<a name="l00305"></a>00305     { dGeomRayGetParams (_id, firstContact, backfaceCull); }
321<a name="l00306"></a>00306   <span class="keywordtype">void</span> setClosestHit (<span class="keywordtype">int</span> closestHit)
322<a name="l00307"></a>00307     { dGeomRaySetClosestHit (_id, closestHit); }
323<a name="l00308"></a>00308   <span class="keywordtype">int</span> getClosestHit()
324<a name="l00309"></a>00309     { <span class="keywordflow">return</span> dGeomRayGetClosestHit (_id); }
325<a name="l00310"></a>00310 };
326<a name="l00311"></a>00311
327<a name="l00312"></a>00312
328<a name="l00313"></a>00313 <span class="keyword">class </span>dGeomTransform : <span class="keyword">public</span> dGeom {
329<a name="l00314"></a>00314   <span class="comment">// intentionally undefined, don't use these</span>
330<a name="l00315"></a>00315   dGeomTransform (dGeomTransform &amp;);
331<a name="l00316"></a>00316   <span class="keywordtype">void</span> operator= (dGeomTransform &amp;);
332<a name="l00317"></a>00317
333<a name="l00318"></a>00318 <span class="keyword">public</span>:
334<a name="l00319"></a>00319   dGeomTransform() { }
335<a name="l00320"></a>00320   dGeomTransform (dSpaceID space)
336<a name="l00321"></a>00321     { _id = dCreateGeomTransform (space); }
337<a name="l00322"></a>00322
338<a name="l00323"></a>00323   <span class="keywordtype">void</span> create (dSpaceID space=0) {
339<a name="l00324"></a>00324     <span class="keywordflow">if</span> (_id) <a class="code" href="group__collide.html#g96b9e7d3a7ca769b0c8f37eecfaf98c6" title="Destroy a geom, removing it from any space.">dGeomDestroy</a> (_id);
340<a name="l00325"></a>00325     _id = dCreateGeomTransform (space);
341<a name="l00326"></a>00326   }
342<a name="l00327"></a>00327
343<a name="l00328"></a>00328   <span class="keywordtype">void</span> setGeom (dGeomID geom)
344<a name="l00329"></a>00329     { dGeomTransformSetGeom (_id, geom); }
345<a name="l00330"></a>00330   dGeomID getGeom()<span class="keyword"> const</span>
346<a name="l00331"></a>00331 <span class="keyword">    </span>{ <span class="keywordflow">return</span> dGeomTransformGetGeom (_id); }
347<a name="l00332"></a>00332
348<a name="l00333"></a>00333   <span class="keywordtype">void</span> setCleanup (<span class="keywordtype">int</span> mode)
349<a name="l00334"></a>00334     { dGeomTransformSetCleanup (_id,mode); }
350<a name="l00335"></a>00335   <span class="keywordtype">int</span> getCleanup ()
351<a name="l00336"></a>00336     { <span class="keywordflow">return</span> dGeomTransformGetCleanup (_id); }
352<a name="l00337"></a>00337
353<a name="l00338"></a>00338   <span class="keywordtype">void</span> setInfo (<span class="keywordtype">int</span> mode)
354<a name="l00339"></a>00339     { dGeomTransformSetInfo (_id,mode); }
355<a name="l00340"></a>00340   <span class="keywordtype">int</span> getInfo()
356<a name="l00341"></a>00341     { <span class="keywordflow">return</span> dGeomTransformGetInfo (_id); }
357<a name="l00342"></a>00342 };
358<a name="l00343"></a>00343
359<a name="l00344"></a>00344
360<a name="l00345"></a>00345 <span class="preprocessor">#endif</span>
361<a name="l00346"></a>00346 <span class="preprocessor"></span><span class="preprocessor">#endif</span>
362</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;
363<a href="http://www.doxygen.org/index.html">
364<img src="doxygen.png" alt="doxygen" align="middle" border="0"></a> 1.5.3 </small></address>
365</body>
366</html>
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