430 lines
12 KiB
C
430 lines
12 KiB
C
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/*************************************************************************
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* *
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* Open Dynamics Engine, Copyright (C) 2001,2002 Russell L. Smith. *
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* All rights reserved. Email: russ@q12.org Web: www.q12.org *
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* *
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* This library is free software; you can redistribute it and/or *
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* modify it under the terms of EITHER: *
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* (1) The GNU Lesser General Public License as published by the Free *
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* Software Foundation; either version 2.1 of the License, or (at *
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* your option) any later version. The text of the GNU Lesser *
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* General Public License is included with this library in the *
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* file LICENSE.TXT. *
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* (2) The BSD-style license that is included with this library in *
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* the file LICENSE-BSD.TXT. *
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* *
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* This library is distributed in the hope that it will be useful, *
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* but WITHOUT ANY WARRANTY; without even the implied warranty of *
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the files *
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* LICENSE.TXT and LICENSE-BSD.TXT for more details. *
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* *
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*************************************************************************/
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/* C++ interface for new collision API */
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#ifndef _ODE_ODECPP_COLLISION_H_
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#define _ODE_ODECPP_COLLISION_H_
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#ifdef __cplusplus
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//#include <ode/error.h>
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//namespace ode {
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class dGeom {
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// intentionally undefined, don't use these
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dGeom (dGeom &);
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void operator= (dGeom &);
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protected:
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dGeomID _id;
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dGeom()
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{ _id = 0; }
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public:
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~dGeom()
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{ if (_id) dGeomDestroy (_id); }
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dGeomID id() const
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{ return _id; }
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operator dGeomID() const
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{ return _id; }
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void destroy() {
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if (_id) dGeomDestroy (_id);
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_id = 0;
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}
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int getClass() const
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{ return dGeomGetClass (_id); }
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dSpaceID getSpace() const
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{ return dGeomGetSpace (_id); }
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void setData (void *data)
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{ dGeomSetData (_id,data); }
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void *getData() const
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{ return dGeomGetData (_id); }
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void setBody (dBodyID b)
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{ dGeomSetBody (_id,b); }
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dBodyID getBody() const
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{ return dGeomGetBody (_id); }
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void setPosition (dReal x, dReal y, dReal z)
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{ dGeomSetPosition (_id,x,y,z); }
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const dReal * getPosition() const
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{ return dGeomGetPosition (_id); }
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void setRotation (const dMatrix3 R)
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{ dGeomSetRotation (_id,R); }
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const dReal * getRotation() const
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{ return dGeomGetRotation (_id); }
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void setQuaternion (const dQuaternion quat)
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{ dGeomSetQuaternion (_id,quat); }
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void getQuaternion (dQuaternion quat) const
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{ dGeomGetQuaternion (_id,quat); }
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void getAABB (dReal aabb[6]) const
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{ dGeomGetAABB (_id, aabb); }
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int isSpace()
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{ return dGeomIsSpace (_id); }
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void setCategoryBits (unsigned long bits)
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{ dGeomSetCategoryBits (_id, bits); }
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void setCollideBits (unsigned long bits)
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{ dGeomSetCollideBits (_id, bits); }
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unsigned long getCategoryBits()
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{ return dGeomGetCategoryBits (_id); }
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unsigned long getCollideBits()
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{ return dGeomGetCollideBits (_id); }
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void enable()
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{ dGeomEnable (_id); }
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void disable()
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{ dGeomDisable (_id); }
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int isEnabled()
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{ return dGeomIsEnabled (_id); }
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void getRelPointPos (dReal px, dReal py, dReal pz, dVector3 result) const
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{ dGeomGetRelPointPos (_id, px, py, pz, result); }
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void getRelPointPos (const dVector3 p, dVector3 result) const
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{ getRelPointPos (p[0], p[1], p[2], result); }
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void getPosRelPoint (dReal px, dReal py, dReal pz, dVector3 result) const
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{ dGeomGetPosRelPoint (_id, px, py, pz, result); }
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void getPosRelPoint (const dVector3 p, dVector3 result) const
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{ getPosRelPoint (p[0], p[1], p[2], result); }
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void vectorToWorld (dReal px, dReal py, dReal pz, dVector3 result) const
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{ dGeomVectorToWorld (_id, px, py, pz, result); }
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void vectorToWorld (const dVector3 p, dVector3 result) const
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{ vectorToWorld (p[0], p[1], p[2], result); }
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void vectorFromWorld (dReal px, dReal py, dReal pz, dVector3 result) const
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{ dGeomVectorFromWorld (_id, px, py, pz, result); }
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void vectorFromWorld (const dVector3 p, dVector3 result) const
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{ vectorFromWorld (p[0], p[1], p[2], result); }
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void collide2 (dGeomID g, void *data, dNearCallback *callback)
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{ dSpaceCollide2 (_id,g,data,callback); }
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};
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class dSpace : public dGeom {
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// intentionally undefined, don't use these
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dSpace (dSpace &);
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void operator= (dSpace &);
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protected:
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// the default constructor is protected so that you
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// can't instance this class. you must instance one
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// of its subclasses instead.
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dSpace () { _id = 0; }
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public:
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dSpaceID id() const
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{ return (dSpaceID) _id; }
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operator dSpaceID() const
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{ return (dSpaceID) _id; }
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void setCleanup (int mode)
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{ dSpaceSetCleanup (id(), mode); }
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int getCleanup()
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{ return dSpaceGetCleanup (id()); }
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void add (dGeomID x)
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{ dSpaceAdd (id(), x); }
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void remove (dGeomID x)
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{ dSpaceRemove (id(), x); }
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int query (dGeomID x)
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{ return dSpaceQuery (id(),x); }
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int getNumGeoms()
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{ return dSpaceGetNumGeoms (id()); }
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dGeomID getGeom (int i)
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{ return dSpaceGetGeom (id(),i); }
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void collide (void *data, dNearCallback *callback)
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{ dSpaceCollide (id(),data,callback); }
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};
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class dSimpleSpace : public dSpace {
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// intentionally undefined, don't use these
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dSimpleSpace (dSimpleSpace &);
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void operator= (dSimpleSpace &);
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public:
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dSimpleSpace ()
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{ _id = (dGeomID) dSimpleSpaceCreate (0); }
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dSimpleSpace (dSpace &space)
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{ _id = (dGeomID) dSimpleSpaceCreate (space.id()); }
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dSimpleSpace (dSpaceID space)
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{ _id = (dGeomID) dSimpleSpaceCreate (space); }
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};
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class dHashSpace : public dSpace {
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// intentionally undefined, don't use these
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dHashSpace (dHashSpace &);
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void operator= (dHashSpace &);
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public:
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dHashSpace ()
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{ _id = (dGeomID) dHashSpaceCreate (0); }
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dHashSpace (dSpace &space)
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{ _id = (dGeomID) dHashSpaceCreate (space.id()); }
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dHashSpace (dSpaceID space)
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{ _id = (dGeomID) dHashSpaceCreate (space); }
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void setLevels (int minlevel, int maxlevel)
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{ dHashSpaceSetLevels (id(),minlevel,maxlevel); }
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};
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class dQuadTreeSpace : public dSpace {
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// intentionally undefined, don't use these
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dQuadTreeSpace (dQuadTreeSpace &);
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void operator= (dQuadTreeSpace &);
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public:
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dQuadTreeSpace (const dVector3 center, const dVector3 extents, int depth)
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{ _id = (dGeomID) dQuadTreeSpaceCreate (0,center,extents,depth); }
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dQuadTreeSpace (dSpace &space, const dVector3 center, const dVector3 extents, int depth)
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{ _id = (dGeomID) dQuadTreeSpaceCreate (space.id(),center,extents,depth); }
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dQuadTreeSpace (dSpaceID space, const dVector3 center, const dVector3 extents, int depth)
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{ _id = (dGeomID) dQuadTreeSpaceCreate (space,center,extents,depth); }
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};
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class dSphere : public dGeom {
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// intentionally undefined, don't use these
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dSphere (dSphere &);
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void operator= (dSphere &);
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public:
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dSphere () { }
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dSphere (dReal radius)
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{ _id = dCreateSphere (0, radius); }
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dSphere (dSpace &space, dReal radius)
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{ _id = dCreateSphere (space.id(), radius); }
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dSphere (dSpaceID space, dReal radius)
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{ _id = dCreateSphere (space, radius); }
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void create (dSpaceID space, dReal radius) {
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if (_id) dGeomDestroy (_id);
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_id = dCreateSphere (space, radius);
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}
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void setRadius (dReal radius)
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{ dGeomSphereSetRadius (_id, radius); }
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dReal getRadius() const
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{ return dGeomSphereGetRadius (_id); }
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};
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class dBox : public dGeom {
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// intentionally undefined, don't use these
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dBox (dBox &);
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void operator= (dBox &);
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public:
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dBox () { }
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dBox (dReal lx, dReal ly, dReal lz)
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{ _id = dCreateBox (0,lx,ly,lz); }
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dBox (dSpace &space, dReal lx, dReal ly, dReal lz)
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{ _id = dCreateBox (space,lx,ly,lz); }
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dBox (dSpaceID space, dReal lx, dReal ly, dReal lz)
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{ _id = dCreateBox (space,lx,ly,lz); }
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void create (dSpaceID space, dReal lx, dReal ly, dReal lz) {
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if (_id) dGeomDestroy (_id);
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_id = dCreateBox (space,lx,ly,lz);
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}
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void setLengths (dReal lx, dReal ly, dReal lz)
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{ dGeomBoxSetLengths (_id, lx, ly, lz); }
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void getLengths (dVector3 result) const
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{ dGeomBoxGetLengths (_id,result); }
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};
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class dPlane : public dGeom {
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// intentionally undefined, don't use these
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dPlane (dPlane &);
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void operator= (dPlane &);
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public:
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dPlane() { }
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dPlane (dReal a, dReal b, dReal c, dReal d)
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{ _id = dCreatePlane (0,a,b,c,d); }
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dPlane (dSpace &space, dReal a, dReal b, dReal c, dReal d)
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{ _id = dCreatePlane (space.id(),a,b,c,d); }
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dPlane (dSpaceID space, dReal a, dReal b, dReal c, dReal d)
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{ _id = dCreatePlane (space,a,b,c,d); }
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void create (dSpaceID space, dReal a, dReal b, dReal c, dReal d) {
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if (_id) dGeomDestroy (_id);
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_id = dCreatePlane (space,a,b,c,d);
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}
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void setParams (dReal a, dReal b, dReal c, dReal d)
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{ dGeomPlaneSetParams (_id, a, b, c, d); }
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void getParams (dVector4 result) const
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{ dGeomPlaneGetParams (_id,result); }
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};
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class dCapsule : public dGeom {
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// intentionally undefined, don't use these
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dCapsule (dCapsule &);
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void operator= (dCapsule &);
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public:
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dCapsule() { }
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dCapsule (dReal radius, dReal length)
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{ _id = dCreateCapsule (0,radius,length); }
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dCapsule (dSpace &space, dReal radius, dReal length)
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{ _id = dCreateCapsule (space.id(),radius,length); }
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dCapsule (dSpaceID space, dReal radius, dReal length)
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{ _id = dCreateCapsule (space,radius,length); }
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void create (dSpaceID space, dReal radius, dReal length) {
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if (_id) dGeomDestroy (_id);
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_id = dCreateCapsule (space,radius,length);
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}
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void setParams (dReal radius, dReal length)
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{ dGeomCapsuleSetParams (_id, radius, length); }
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void getParams (dReal *radius, dReal *length) const
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{ dGeomCapsuleGetParams (_id,radius,length); }
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};
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class dCylinder : public dGeom {
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// intentionally undefined, don't use these
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dCylinder (dCylinder &);
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void operator= (dCylinder &);
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public:
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dCylinder() { }
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dCylinder (dReal radius, dReal length)
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{ _id = dCreateCylinder (0,radius,length); }
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dCylinder (dSpace &space, dReal radius, dReal length)
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{ _id = dCreateCylinder (space.id(),radius,length); }
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dCylinder (dSpaceID space, dReal radius, dReal length)
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{ _id = dCreateCylinder (space,radius,length); }
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void create (dSpaceID space, dReal radius, dReal length) {
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if (_id) dGeomDestroy (_id);
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_id = dCreateCylinder (space,radius,length);
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}
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void setParams (dReal radius, dReal length)
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{ dGeomCylinderSetParams (_id, radius, length); }
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void getParams (dReal *radius, dReal *length) const
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{ dGeomCylinderGetParams (_id,radius,length); }
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};
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class dRay : public dGeom {
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// intentionally undefined, don't use these
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dRay (dRay &);
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void operator= (dRay &);
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public:
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dRay() { }
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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
|