+++ /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); }
-
- void setParams (int firstContact, int backfaceCull)
- { dGeomRaySetParams (_id, firstContact, backfaceCull); }
- void getParams (int *firstContact, int *backfaceCull)
- { dGeomRayGetParams (_id, firstContact, backfaceCull); }
- void setClosestHit (int closestHit)
- { dGeomRaySetClosestHit (_id, closestHit); }
- int getClosestHit()
- { return dGeomRayGetClosestHit (_id); }
-};
-
-
-class 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); }
-};
-
-//}
-
-#endif
-#endif
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