collision.h

/*************************************************************************
 *                                                                       *
 * Open Dynamics Engine, Copyright (C) 2001-2003 Russell L. Smith.       *
 * All rights reserved.  Email: russ@q12.org   Web: www.q12.org          *
 *                                                                       *
 * This library is free software; you can redistribute it and/or         *
 * modify it under the terms of EITHER:                                  *
 *   (1) The GNU Lesser General Public License as published by the Free  *
 *       Software Foundation; either version 2.1 of the License, or (at  *
 *       your option) any later version. The text of the GNU Lesser      *
 *       General Public License is included with this library in the     *
 *       file LICENSE.TXT.                                               *
 *   (2) The BSD-style license that is included with this library in     *
 *       the file LICENSE-BSD.TXT.                                       *
 *                                                                       *
 * This library is distributed in the hope that it will be useful,       *
 * but WITHOUT ANY WARRANTY; without even the implied warranty of        *
 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the files    *
 * LICENSE.TXT and LICENSE-BSD.TXT for more details.                     *
 *                                                                       *
 *************************************************************************/

#ifndef _ODE_COLLISION_H_
#define _ODE_COLLISION_H_

#include <ode/common.h>
#include <ode/collision_space.h>
#include <ode/contact.h>
// Include odeinit.h for backward compatibility as some of initialization APIs 
// were initally declared in current header.
#include <ode/odeinit.h>

#ifdef __cplusplus
extern "C" {
#endif

/* ************************************************************************ */
/* general functions */

ODE_API void dGeomDestroy (dGeomID geom);


ODE_API void dGeomSetData (dGeomID geom, void* data);


ODE_API void *dGeomGetData (dGeomID geom);


ODE_API void dGeomSetBody (dGeomID geom, dBodyID body);


ODE_API dBodyID dGeomGetBody (dGeomID geom);


ODE_API void dGeomSetPosition (dGeomID geom, dReal x, dReal y, dReal z);


ODE_API void dGeomSetRotation (dGeomID geom, const dMatrix3 R);


ODE_API void dGeomSetQuaternion (dGeomID geom, const dQuaternion Q);


ODE_API const dReal * dGeomGetPosition (dGeomID geom);


ODE_API void dGeomCopyPosition (dGeomID geom, dVector3 pos);


ODE_API const dReal * dGeomGetRotation (dGeomID geom);


ODE_API void dGeomCopyRotation(dGeomID geom, dMatrix3 R);


ODE_API void dGeomGetQuaternion (dGeomID geom, dQuaternion result);


ODE_API void dGeomGetAABB (dGeomID geom, dReal aabb[6]);


ODE_API int dGeomIsSpace (dGeomID geom);


ODE_API dSpaceID dGeomGetSpace (dGeomID);


ODE_API int dGeomGetClass (dGeomID geom);


ODE_API void dGeomSetCategoryBits (dGeomID geom, unsigned long bits);


ODE_API void dGeomSetCollideBits (dGeomID geom, unsigned long bits);


ODE_API unsigned long dGeomGetCategoryBits (dGeomID);


ODE_API unsigned long dGeomGetCollideBits (dGeomID);


ODE_API void dGeomEnable (dGeomID geom);


ODE_API void dGeomDisable (dGeomID geom);


ODE_API int dGeomIsEnabled (dGeomID geom);

/* ************************************************************************ */
/* geom offset from body */

ODE_API void dGeomSetOffsetPosition (dGeomID geom, dReal x, dReal y, dReal z);


ODE_API void dGeomSetOffsetRotation (dGeomID geom, const dMatrix3 R);


ODE_API void dGeomSetOffsetQuaternion (dGeomID geom, const dQuaternion Q);


ODE_API void dGeomSetOffsetWorldPosition (dGeomID geom, dReal x, dReal y, dReal z);


ODE_API void dGeomSetOffsetWorldRotation (dGeomID geom, const dMatrix3 R);


ODE_API void dGeomSetOffsetWorldQuaternion (dGeomID geom, const dQuaternion);


ODE_API void dGeomClearOffset(dGeomID geom);


ODE_API int dGeomIsOffset(dGeomID geom);


ODE_API const dReal * dGeomGetOffsetPosition (dGeomID geom);


ODE_API void dGeomCopyOffsetPosition (dGeomID geom, dVector3 pos);


ODE_API const dReal * dGeomGetOffsetRotation (dGeomID geom);


ODE_API void dGeomCopyOffsetRotation (dGeomID geom, dMatrix3 R);


ODE_API void dGeomGetOffsetQuaternion (dGeomID geom, dQuaternion result);


/* ************************************************************************ */
/* collision detection */

/*
 * Just generate any contacts (disables any contact refining).
 */
#define CONTACTS_UNIMPORTANT        0x80000000

ODE_API int dCollide (dGeomID o1, dGeomID o2, int flags, dContactGeom *contact,
         int skip);

ODE_API void dSpaceCollide (dSpaceID space, void *data, dNearCallback *callback);


ODE_API void dSpaceCollide2 (dGeomID space1, dGeomID space2, void *data, dNearCallback *callback);


/* ************************************************************************ */
/* standard classes */

/* the maximum number of user classes that are supported */
enum {
  dMaxUserClasses = 4
};

/* class numbers - each geometry object needs a unique number */
enum {
  dSphereClass = 0,
  dBoxClass,
  dCapsuleClass,
  dCylinderClass,
  dPlaneClass,
  dRayClass,
  dConvexClass,
  dGeomTransformClass,
  dTriMeshClass,
  dHeightfieldClass,

  dFirstSpaceClass,
  dSimpleSpaceClass = dFirstSpaceClass,
  dHashSpaceClass,
  dSweepAndPruneSpaceClass, // SAP
  dQuadTreeSpaceClass,
  dLastSpaceClass = dQuadTreeSpaceClass,

  dFirstUserClass,
  dLastUserClass = dFirstUserClass + dMaxUserClasses - 1,
  dGeomNumClasses
};


ODE_API dGeomID dCreateSphere (dSpaceID space, dReal radius);


ODE_API void dGeomSphereSetRadius (dGeomID sphere, dReal radius);


ODE_API dReal dGeomSphereGetRadius (dGeomID sphere);


ODE_API dReal dGeomSpherePointDepth (dGeomID sphere, dReal x, dReal y, dReal z);


//--> Convex Functions
ODE_API dGeomID dCreateConvex (dSpaceID space,
                dReal *_planes,
                unsigned int _planecount,
                dReal *_points,
                unsigned int _pointcount,unsigned int *_polygons);

ODE_API void dGeomSetConvex (dGeomID g,
              dReal *_planes,
              unsigned int _count,
              dReal *_points,
              unsigned int _pointcount,unsigned int *_polygons);
//<-- Convex Functions

ODE_API dGeomID dCreateBox (dSpaceID space, dReal lx, dReal ly, dReal lz);


ODE_API void dGeomBoxSetLengths (dGeomID box, dReal lx, dReal ly, dReal lz);


ODE_API void dGeomBoxGetLengths (dGeomID box, dVector3 result);


ODE_API dReal dGeomBoxPointDepth (dGeomID box, dReal x, dReal y, dReal z);


ODE_API dGeomID dCreatePlane (dSpaceID space, dReal a, dReal b, dReal c, dReal d);
ODE_API void dGeomPlaneSetParams (dGeomID plane, dReal a, dReal b, dReal c, dReal d);
ODE_API void dGeomPlaneGetParams (dGeomID plane, dVector4 result);
ODE_API dReal dGeomPlanePointDepth (dGeomID plane, dReal x, dReal y, dReal z);

ODE_API dGeomID dCreateCapsule (dSpaceID space, dReal radius, dReal length);
ODE_API void dGeomCapsuleSetParams (dGeomID ccylinder, dReal radius, dReal length);
ODE_API void dGeomCapsuleGetParams (dGeomID ccylinder, dReal *radius, dReal *length);
ODE_API dReal dGeomCapsulePointDepth (dGeomID ccylinder, dReal x, dReal y, dReal z);

// For now we want to have a backwards compatible C-API, note: C++ API is not.
#define dCreateCCylinder dCreateCapsule
#define dGeomCCylinderSetParams dGeomCapsuleSetParams
#define dGeomCCylinderGetParams dGeomCapsuleGetParams
#define dGeomCCylinderPointDepth dGeomCapsulePointDepth
#define dCCylinderClass dCapsuleClass

ODE_API dGeomID dCreateCylinder (dSpaceID space, dReal radius, dReal length);
ODE_API void dGeomCylinderSetParams (dGeomID cylinder, dReal radius, dReal length);
ODE_API void dGeomCylinderGetParams (dGeomID cylinder, dReal *radius, dReal *length);

ODE_API dGeomID dCreateRay (dSpaceID space, dReal length);
ODE_API void dGeomRaySetLength (dGeomID ray, dReal length);
ODE_API dReal dGeomRayGetLength (dGeomID ray);
ODE_API void dGeomRaySet (dGeomID ray, dReal px, dReal py, dReal pz,
        dReal dx, dReal dy, dReal dz);
ODE_API void dGeomRayGet (dGeomID ray, dVector3 start, dVector3 dir);

/*
 * Set/get ray flags that influence ray collision detection.
 * These flags are currently only noticed by the trimesh collider, because
 * they can make a major differences there.
 */
ODE_API void dGeomRaySetParams (dGeomID g, int FirstContact, int BackfaceCull);
ODE_API void dGeomRayGetParams (dGeomID g, int *FirstContact, int *BackfaceCull);
ODE_API void dGeomRaySetClosestHit (dGeomID g, int closestHit);
ODE_API int dGeomRayGetClosestHit (dGeomID g);

#include "collision_trimesh.h"

ODE_API dGeomID dCreateGeomTransform (dSpaceID space);
ODE_API void dGeomTransformSetGeom (dGeomID g, dGeomID obj);
ODE_API dGeomID dGeomTransformGetGeom (dGeomID g);
ODE_API void dGeomTransformSetCleanup (dGeomID g, int mode);
ODE_API int dGeomTransformGetCleanup (dGeomID g);
ODE_API void dGeomTransformSetInfo (dGeomID g, int mode);
ODE_API int dGeomTransformGetInfo (dGeomID g);


/* ************************************************************************ */
/* heightfield functions */


// Data storage for heightfield data.
struct dxHeightfieldData;
typedef struct dxHeightfieldData* dHeightfieldDataID;


typedef dReal dHeightfieldGetHeight( void* p_user_data, int x, int z );



ODE_API dGeomID dCreateHeightfield( dSpaceID space,
               dHeightfieldDataID data, int bPlaceable );


ODE_API dHeightfieldDataID dGeomHeightfieldDataCreate(void);


ODE_API void dGeomHeightfieldDataDestroy( dHeightfieldDataID d );



ODE_API void dGeomHeightfieldDataBuildCallback( dHeightfieldDataID d,
            void* pUserData, dHeightfieldGetHeight* pCallback,
            dReal width, dReal depth, int widthSamples, int depthSamples,
            dReal scale, dReal offset, dReal thickness, int bWrap );

ODE_API void dGeomHeightfieldDataBuildByte( dHeightfieldDataID d,
            const unsigned char* pHeightData, int bCopyHeightData,
            dReal width, dReal depth, int widthSamples, int depthSamples,
            dReal scale, dReal offset, dReal thickness,  int bWrap );

ODE_API void dGeomHeightfieldDataBuildShort( dHeightfieldDataID d,
            const short* pHeightData, int bCopyHeightData,
            dReal width, dReal depth, int widthSamples, int depthSamples,
            dReal scale, dReal offset, dReal thickness, int bWrap );

ODE_API void dGeomHeightfieldDataBuildSingle( dHeightfieldDataID d,
            const float* pHeightData, int bCopyHeightData,
            dReal width, dReal depth, int widthSamples, int depthSamples,
            dReal scale, dReal offset, dReal thickness, int bWrap );

ODE_API void dGeomHeightfieldDataBuildDouble( dHeightfieldDataID d,
            const double* pHeightData, int bCopyHeightData,
            dReal width, dReal depth, int widthSamples, int depthSamples,
            dReal scale, dReal offset, dReal thickness, int bWrap );

ODE_API void dGeomHeightfieldDataSetBounds( dHeightfieldDataID d,
            dReal minHeight, dReal maxHeight );


ODE_API void dGeomHeightfieldSetHeightfieldData( dGeomID g, dHeightfieldDataID d );


ODE_API dHeightfieldDataID dGeomHeightfieldGetHeightfieldData( dGeomID g );



/* ************************************************************************ */
/* utility functions */

ODE_API void dClosestLineSegmentPoints (const dVector3 a1, const dVector3 a2,
            const dVector3 b1, const dVector3 b2,
            dVector3 cp1, dVector3 cp2);

ODE_API int dBoxTouchesBox (const dVector3 _p1, const dMatrix3 R1,
          const dVector3 side1, const dVector3 _p2,
          const dMatrix3 R2, const dVector3 side2);

// The meaning of flags parameter is the same as in dCollide()
ODE_API int dBoxBox (const dVector3 p1, const dMatrix3 R1,
        const dVector3 side1, const dVector3 p2,
        const dMatrix3 R2, const dVector3 side2,
        dVector3 normal, dReal *depth, int *return_code,
        int flags, dContactGeom *contact, int skip);

ODE_API void dInfiniteAABB (dGeomID geom, dReal aabb[6]);


/* ************************************************************************ */
/* custom classes */

typedef void dGetAABBFn (dGeomID, dReal aabb[6]);
typedef int dColliderFn (dGeomID o1, dGeomID o2,
          int flags, dContactGeom *contact, int skip);
typedef dColliderFn * dGetColliderFnFn (int num);
typedef void dGeomDtorFn (dGeomID o);
typedef int dAABBTestFn (dGeomID o1, dGeomID o2, dReal aabb[6]);

typedef struct dGeomClass {
  int bytes;
  dGetColliderFnFn *collider;
  dGetAABBFn *aabb;
  dAABBTestFn *aabb_test;
  dGeomDtorFn *dtor;
} dGeomClass;

ODE_API int dCreateGeomClass (const dGeomClass *classptr);
ODE_API void * dGeomGetClassData (dGeomID);
ODE_API dGeomID dCreateGeom (int classnum);

ODE_API void dSetColliderOverride (int i, int j, dColliderFn *fn);


/* ************************************************************************ */

#ifdef __cplusplus
}
#endif

#endif