--- /dev/null
+/*************************************************************************
+ * *
+ * Open Dynamics Engine, Copyright (C) 2001,2002 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. *
+ * *
+ *************************************************************************/
+
+/* C++ interface for new collision API */
+
+
+#ifndef _ODE_ODECPP_COLLISION_H_
+#define _ODE_ODECPP_COLLISION_H_
+#ifdef __cplusplus
+
+//#include <ode/error.h>
+
+//namespace ode {
+
+class dGeom {
+ // intentionally undefined, don't use these
+ dGeom (dGeom &);
+ void operator= (dGeom &);
+
+protected:
+ dGeomID _id;
+
+ dGeom()
+ { _id = 0; }
+public:
+ ~dGeom()
+ { if (_id) dGeomDestroy (_id); }
+
+ dGeomID id() const
+ { return _id; }
+ operator dGeomID() const
+ { return _id; }
+
+ void destroy() {
+ if (_id) dGeomDestroy (_id);
+ _id = 0;
+ }
+
+ int getClass() const
+ { return dGeomGetClass (_id); }
+
+ dSpaceID getSpace() const
+ { return dGeomGetSpace (_id); }
+
+ void setData (void *data)
+ { dGeomSetData (_id,data); }
+ void *getData() const
+ { return dGeomGetData (_id); }
+
+ void setBody (dBodyID b)
+ { dGeomSetBody (_id,b); }
+ dBodyID getBody() const
+ { return dGeomGetBody (_id); }
+
+ void setPosition (dReal x, dReal y, dReal z)
+ { dGeomSetPosition (_id,x,y,z); }
+ const dReal * getPosition() const
+ { return dGeomGetPosition (_id); }
+
+ void setRotation (const dMatrix3 R)
+ { dGeomSetRotation (_id,R); }
+ const dReal * getRotation() const
+ { return dGeomGetRotation (_id); }
+
+ void setQuaternion (const dQuaternion quat)
+ { dGeomSetQuaternion (_id,quat); }
+ void getQuaternion (dQuaternion quat) const
+ { dGeomGetQuaternion (_id,quat); }
+
+ void getAABB (dReal aabb[6]) const
+ { dGeomGetAABB (_id, aabb); }
+
+ int isSpace()
+ { return dGeomIsSpace (_id); }
+
+ void setCategoryBits (unsigned long bits)
+ { dGeomSetCategoryBits (_id, bits); }
+ void setCollideBits (unsigned long bits)
+ { dGeomSetCollideBits (_id, bits); }
+ unsigned long getCategoryBits()
+ { return dGeomGetCategoryBits (_id); }
+ unsigned long getCollideBits()
+ { return dGeomGetCollideBits (_id); }
+
+ void enable()
+ { dGeomEnable (_id); }
+ void disable()
+ { dGeomDisable (_id); }
+ int isEnabled()
+ { return dGeomIsEnabled (_id); }
+
+ void getRelPointPos (dReal px, dReal py, dReal pz, dVector3 result) const
+ { dGeomGetRelPointPos (_id, px, py, pz, result); }
+ void getRelPointPos (const dVector3 p, dVector3 result) const
+ { getRelPointPos (p[0], p[1], p[2], result); }
+
+ void getPosRelPoint (dReal px, dReal py, dReal pz, dVector3 result) const
+ { dGeomGetPosRelPoint (_id, px, py, pz, result); }
+ void getPosRelPoint (const dVector3 p, dVector3 result) const
+ { getPosRelPoint (p[0], p[1], p[2], result); }
+
+ void vectorToWorld (dReal px, dReal py, dReal pz, dVector3 result) const
+ { dGeomVectorToWorld (_id, px, py, pz, result); }
+ void vectorToWorld (const dVector3 p, dVector3 result) const
+ { vectorToWorld (p[0], p[1], p[2], result); }
+
+ void vectorFromWorld (dReal px, dReal py, dReal pz, dVector3 result) const
+ { dGeomVectorFromWorld (_id, px, py, pz, result); }
+ void vectorFromWorld (const dVector3 p, dVector3 result) const
+ { vectorFromWorld (p[0], p[1], p[2], result); }
+
+ void collide2 (dGeomID g, void *data, dNearCallback *callback)
+ { dSpaceCollide2 (_id,g,data,callback); }
+};
+
+
+class dSpace : public dGeom {
+ // intentionally undefined, don't use these
+ dSpace (dSpace &);
+ void operator= (dSpace &);
+
+protected:
+ // the default constructor is protected so that you
+ // can't instance this class. you must instance one
+ // of its subclasses instead.
+ dSpace () { _id = 0; }
+
+public:
+ dSpaceID id() const
+ { return (dSpaceID) _id; }
+ operator dSpaceID() const
+ { return (dSpaceID) _id; }
+
+ void setCleanup (int mode)
+ { dSpaceSetCleanup (id(), mode); }
+ int getCleanup()
+ { return dSpaceGetCleanup (id()); }
+
+ void add (dGeomID x)
+ { dSpaceAdd (id(), x); }
+ void remove (dGeomID x)
+ { dSpaceRemove (id(), x); }
+ int query (dGeomID x)
+ { return dSpaceQuery (id(),x); }
+
+ int getNumGeoms()
+ { return dSpaceGetNumGeoms (id()); }
+ dGeomID getGeom (int i)
+ { return dSpaceGetGeom (id(),i); }
+
+ void collide (void *data, dNearCallback *callback)
+ { dSpaceCollide (id(),data,callback); }
+};
+
+
+class dSimpleSpace : public dSpace {
+ // intentionally undefined, don't use these
+ dSimpleSpace (dSimpleSpace &);
+ void operator= (dSimpleSpace &);
+
+public:
+ dSimpleSpace ()
+ { _id = (dGeomID) dSimpleSpaceCreate (0); }
+ dSimpleSpace (dSpace &space)
+ { _id = (dGeomID) dSimpleSpaceCreate (space.id()); }
+ dSimpleSpace (dSpaceID space)
+ { _id = (dGeomID) dSimpleSpaceCreate (space); }
+};
+
+
+class dHashSpace : public dSpace {
+ // intentionally undefined, don't use these
+ dHashSpace (dHashSpace &);
+ void operator= (dHashSpace &);
+
+public:
+ dHashSpace ()
+ { _id = (dGeomID) dHashSpaceCreate (0); }
+ dHashSpace (dSpace &space)
+ { _id = (dGeomID) dHashSpaceCreate (space.id()); }
+ dHashSpace (dSpaceID space)
+ { _id = (dGeomID) dHashSpaceCreate (space); }
+
+ void setLevels (int minlevel, int maxlevel)
+ { dHashSpaceSetLevels (id(),minlevel,maxlevel); }
+};
+
+
+class dQuadTreeSpace : public dSpace {
+ // intentionally undefined, don't use these
+ dQuadTreeSpace (dQuadTreeSpace &);
+ void operator= (dQuadTreeSpace &);
+
+public:
+ dQuadTreeSpace (const dVector3 center, const dVector3 extents, int depth)
+ { _id = (dGeomID) dQuadTreeSpaceCreate (0,center,extents,depth); }
+ dQuadTreeSpace (dSpace &space, const dVector3 center, const dVector3 extents, int depth)
+ { _id = (dGeomID) dQuadTreeSpaceCreate (space.id(),center,extents,depth); }
+ dQuadTreeSpace (dSpaceID space, const dVector3 center, const dVector3 extents, int depth)
+ { _id = (dGeomID) dQuadTreeSpaceCreate (space,center,extents,depth); }
+};
+
+
+class dSphere : public dGeom {
+ // intentionally undefined, don't use these
+ dSphere (dSphere &);
+ void operator= (dSphere &);
+
+public:
+ dSphere () { }
+ dSphere (dReal radius)
+ { _id = dCreateSphere (0, radius); }
+ dSphere (dSpace &space, dReal radius)
+ { _id = dCreateSphere (space.id(), radius); }
+ dSphere (dSpaceID space, dReal radius)
+ { _id = dCreateSphere (space, radius); }
+
+ void create (dSpaceID space, dReal radius) {
+ if (_id) dGeomDestroy (_id);
+ _id = dCreateSphere (space, radius);
+ }
+
+ void setRadius (dReal radius)
+ { dGeomSphereSetRadius (_id, radius); }
+ dReal getRadius() const
+ { return dGeomSphereGetRadius (_id); }
+};
+
+
+class dBox : public dGeom {
+ // intentionally undefined, don't use these
+ dBox (dBox &);
+ void operator= (dBox &);
+
+public:
+ dBox () { }
+ dBox (dReal lx, dReal ly, dReal lz)
+ { _id = dCreateBox (0,lx,ly,lz); }
+ dBox (dSpace &space, dReal lx, dReal ly, dReal lz)
+ { _id = dCreateBox (space,lx,ly,lz); }
+ dBox (dSpaceID space, dReal lx, dReal ly, dReal lz)
+ { _id = dCreateBox (space,lx,ly,lz); }
+
+ void create (dSpaceID space, dReal lx, dReal ly, dReal lz) {
+ if (_id) dGeomDestroy (_id);
+ _id = dCreateBox (space,lx,ly,lz);
+ }
+
+ void setLengths (dReal lx, dReal ly, dReal lz)
+ { dGeomBoxSetLengths (_id, lx, ly, lz); }
+ void getLengths (dVector3 result) const
+ { dGeomBoxGetLengths (_id,result); }
+};
+
+
+class dPlane : public dGeom {
+ // intentionally undefined, don't use these
+ dPlane (dPlane &);
+ void operator= (dPlane &);
+
+public:
+ dPlane() { }
+ dPlane (dReal a, dReal b, dReal c, dReal d)
+ { _id = dCreatePlane (0,a,b,c,d); }
+ dPlane (dSpace &space, dReal a, dReal b, dReal c, dReal d)
+ { _id = dCreatePlane (space.id(),a,b,c,d); }
+ dPlane (dSpaceID space, dReal a, dReal b, dReal c, dReal d)
+ { _id = dCreatePlane (space,a,b,c,d); }
+
+ void create (dSpaceID space, dReal a, dReal b, dReal c, dReal d) {
+ if (_id) dGeomDestroy (_id);
+ _id = dCreatePlane (space,a,b,c,d);
+ }
+
+ void setParams (dReal a, dReal b, dReal c, dReal d)
+ { dGeomPlaneSetParams (_id, a, b, c, d); }
+ void getParams (dVector4 result) const
+ { dGeomPlaneGetParams (_id,result); }
+};
+
+
+class dCapsule : public dGeom {
+ // intentionally undefined, don't use these
+ dCapsule (dCapsule &);
+ void operator= (dCapsule &);
+
+public:
+ dCapsule() { }
+ dCapsule (dReal radius, dReal length)
+ { _id = dCreateCapsule (0,radius,length); }
+ dCapsule (dSpace &space, dReal radius, dReal length)
+ { _id = dCreateCapsule (space.id(),radius,length); }
+ dCapsule (dSpaceID space, dReal radius, dReal length)
+ { _id = dCreateCapsule (space,radius,length); }
+
+ void create (dSpaceID space, dReal radius, dReal length) {
+ if (_id) dGeomDestroy (_id);
+ _id = dCreateCapsule (space,radius,length);
+ }
+
+ void setParams (dReal radius, dReal length)
+ { dGeomCapsuleSetParams (_id, radius, length); }
+ void getParams (dReal *radius, dReal *length) const
+ { dGeomCapsuleGetParams (_id,radius,length); }
+};
+
+
+class dCylinder : public dGeom {
+ // intentionally undefined, don't use these
+ dCylinder (dCylinder &);
+ void operator= (dCylinder &);
+
+public:
+ dCylinder() { }
+ dCylinder (dReal radius, dReal length)
+ { _id = dCreateCylinder (0,radius,length); }
+ dCylinder (dSpace &space, dReal radius, dReal length)
+ { _id = dCreateCylinder (space.id(),radius,length); }
+ dCylinder (dSpaceID space, dReal radius, dReal length)
+ { _id = dCreateCylinder (space,radius,length); }
+
+ void create (dSpaceID space, dReal radius, dReal length) {
+ if (_id) dGeomDestroy (_id);
+ _id = dCreateCylinder (space,radius,length);
+ }
+
+ void setParams (dReal radius, dReal length)
+ { dGeomCylinderSetParams (_id, radius, length); }
+ void getParams (dReal *radius, dReal *length) const
+ { dGeomCylinderGetParams (_id,radius,length); }
+};
+
+
+class dRay : public dGeom {
+ // intentionally undefined, don't use these
+ dRay (dRay &);
+ void operator= (dRay &);
+
+public:
+ dRay() { }
+ dRay (dReal length)
+ { _id = dCreateRay (0,length); }
+ dRay (dSpace &space, dReal length)
+ { _id = dCreateRay (space.id(),length); }
+ dRay (dSpaceID space, dReal length)
+ { _id = dCreateRay (space,length); }
+
+ void create (dSpaceID space, dReal length) {
+ if (_id) dGeomDestroy (_id);
+ _id = dCreateRay (space,length);
+ }
+
+ void setLength (dReal length)
+ { dGeomRaySetLength (_id, length); }
+ dReal getLength()
+ { return dGeomRayGetLength (_id); }
+
+ void set (dReal px, dReal py, dReal pz, dReal dx, dReal dy, dReal dz)
+ { dGeomRaySet (_id, px, py, pz, dx, dy, dz); }
+ void get (dVector3 start, dVector3 dir)
+ { dGeomRayGet (_id, start, dir); }
+
+#ifdef WIN32
+#pragma warning( push )
+#pragma warning( disable : 4996 )
+#else
+#pragma GCC diagnostic push
+#pragma GCC diagnostic ignored "-Wdeprecated-declarations"
+#endif
+ ODE_API_DEPRECATED
+ void setParams (int firstContact, int backfaceCull)
+ { dGeomRaySetParams (_id, firstContact, backfaceCull); }
+
+ ODE_API_DEPRECATED
+ void getParams (int *firstContact, int *backfaceCull)
+ { dGeomRayGetParams (_id, firstContact, backfaceCull); }
+#ifdef WIN32
+#pragma warning( pop )
+#else
+#pragma GCC diagnostic pop
+#endif
+ void setBackfaceCull (int backfaceCull)
+ { dGeomRaySetBackfaceCull (_id, backfaceCull); }
+ int getBackfaceCull()
+ { return dGeomRayGetBackfaceCull (_id); }
+
+ void setFirstContact (int firstContact)
+ { dGeomRaySetFirstContact (_id, firstContact); }
+ int getFirstContact()
+ { return dGeomRayGetFirstContact (_id); }
+
+ void setClosestHit (int closestHit)
+ { dGeomRaySetClosestHit (_id, closestHit); }
+ int getClosestHit()
+ { return dGeomRayGetClosestHit (_id); }
+};
+
+#ifdef WIN32
+#pragma warning( push )
+#pragma warning( disable : 4996 )
+#else
+#pragma GCC diagnostic push
+#pragma GCC diagnostic ignored "-Wdeprecated-declarations"
+#endif
+
+class ODE_API_DEPRECATED dGeomTransform : public dGeom {
+ // intentionally undefined, don't use these
+ dGeomTransform (dGeomTransform &);
+ void operator= (dGeomTransform &);
+
+public:
+ dGeomTransform() { }
+ dGeomTransform (dSpace &space)
+ { _id = dCreateGeomTransform (space.id()); }
+ dGeomTransform (dSpaceID space)
+ { _id = dCreateGeomTransform (space); }
+
+ void create (dSpaceID space=0) {
+ if (_id) dGeomDestroy (_id);
+ _id = dCreateGeomTransform (space);
+ }
+
+ void setGeom (dGeomID geom)
+ { dGeomTransformSetGeom (_id, geom); }
+ dGeomID getGeom() const
+ { return dGeomTransformGetGeom (_id); }
+
+ void setCleanup (int mode)
+ { dGeomTransformSetCleanup (_id,mode); }
+ int getCleanup ()
+ { return dGeomTransformGetCleanup (_id); }
+
+ void setInfo (int mode)
+ { dGeomTransformSetInfo (_id,mode); }
+ int getInfo()
+ { return dGeomTransformGetInfo (_id); }
+};
+
+#ifdef WIN32
+#pragma warning( pop )
+#else
+#pragma GCC diagnostic pop
+#endif
+
+//}
+
+#endif
+#endif
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