Open Dynamics Engine

collision_trimesh_colliders.h

00001 /*************************************************************************
00002 *                                                                       *
00003 * Open Dynamics Engine, Copyright (C) 2001-2003 Russell L. Smith.       *
00004 * All rights reserved.  Email: russ@q12.org   Web: www.q12.org          *
00005 *                                                                       *
00006 * This library is free software; you can redistribute it and/or         *
00007 * modify it under the terms of EITHER:                                  *
00008 *   (1) The GNU Lesser General Public License as published by the Free  *
00009 *       Software Foundation; either version 2.1 of the License, or (at  *
00010 *       your option) any later version. The text of the GNU Lesser      *
00011 *       General Public License is included with this library in the     *
00012 *       file LICENSE.TXT.                                               *
00013 *   (2) The BSD-style license that is included with this library in     *
00014 *       the file LICENSE-BSD.TXT.                                       *
00015 *                                                                       *
00016 * This library is distributed in the hope that it will be useful,       *
00017 * but WITHOUT ANY WARRANTY; without even the implied warranty of        *
00018 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the files    *
00019 * LICENSE.TXT and LICENSE-BSD.TXT for more details.                     *
00020 *                                                                       *
00021 *************************************************************************/
00022 
00023 #ifndef _ODE_COLLISION_TRIMESH_COLLIDERS_H_
00024 #define _ODE_COLLISION_TRIMESH_COLLIDERS_H_
00025 
00026 
00027 int dCollideCylinderTrimesh(dxGeom *o1, dxGeom *o2, int flags, dContactGeom *contact, int skip);
00028 int dCollideTrimeshPlane(dxGeom *o1, dxGeom *o2, int flags, dContactGeom *contact, int skip);
00029 
00030 int dCollideSTL(dxGeom *o1, dxGeom *o2, int flags, dContactGeom *contact, int skip);
00031 int dCollideBTL(dxGeom *o1, dxGeom *o2, int flags, dContactGeom *contact, int skip);
00032 int dCollideRTL(dxGeom *o1, dxGeom *o2, int flags, dContactGeom *contact, int skip);
00033 int dCollideTTL(dxGeom *o1, dxGeom *o2, int flags, dContactGeom *contact, int skip);
00034 int dCollideCCTL(dxGeom *o1, dxGeom *o2, int flags, dContactGeom *contact, int skip);
00035 
00036 PURE_INLINE int dCollideRayTrimesh( dxGeom *ray, dxGeom *trimesh, int flags,
00037                            dContactGeom *contact, int skip )
00038 {
00039    // Swapped case, for code that needs it (heightfield initially)
00040    // The other ray-geom colliders take geoms in a swapped order to the
00041    // dCollideRTL function which is annoying when using function pointers.
00042    return dCollideRTL( trimesh, ray, flags, contact, skip );
00043 }
00044 
00045 
00046 #endif // _ODE_COLLISION_TRIMESH_COLLIDERS_H_