29 #ifndef _ODE_COLLISION_STD_H_
30 #define _ODE_COLLISION_STD_H_
32 #include <ode/common.h>
33 #include "collision_kernel.h"
40 int dCollideSphereSphere (
dxGeom *o1,
dxGeom *o2,
int flags,
42 int dCollideSphereBox (
dxGeom *o1,
dxGeom *o2,
int flags,
44 int dCollideSpherePlane (
dxGeom *o1,
dxGeom *o2,
int flags,
50 int dCollideCapsuleSphere (
dxGeom *o1,
dxGeom *o2,
int flags,
52 int dCollideCapsuleBox (
dxGeom *o1,
dxGeom *o2,
int flags,
56 int dCollideCapsulePlane (
dxGeom *o1,
dxGeom *o2,
int flags,
58 int dCollideRaySphere (
dxGeom *o1,
dxGeom *o2,
int flags,
66 int dCollideRayCylinder (
dxGeom *o1,
dxGeom *o2,
int flags,
73 int dCollideCylinderSphere(
dxGeom *gCylinder,
dxGeom *gSphere,
75 int dCollideCylinderPlane(
dxGeom *gCylinder,
dxGeom *gPlane,
79 int dCollideConvexPlane (
dxGeom *o1,
dxGeom *o2,
int flags,
81 int dCollideSphereConvex (
dxGeom *o1,
dxGeom *o2,
int flags,
83 int dCollideConvexBox (
dxGeom *o1,
dxGeom *o2,
int flags,
87 int dCollideConvexConvex (
dxGeom *o1,
dxGeom *o2,
int flags,
89 int dCollideRayConvex (
dxGeom *o1,
dxGeom *o2,
int flags,
147 unsigned int *polygons;
154 unsigned int planecount,
156 unsigned int pointcount,
157 unsigned int *polygons);
160 if((edgecount!=0)&&(edges!=NULL))
delete[] edges;
177 unsigned int index=0;
178 dMultiply1_331 (rdir,final_posr->R,dir);
179 dReal max = dCalcVectorDot3(points,rdir);
183 tmp = dCalcVectorDot3(points+(i*3),rdir);
214 std::vector<int> normals;
229 BSPNode* CreateNode(std::vector<Arc> Arcs,std::vector<Polygon> Polygons);
230 void GetFacesSharedByVertex(
int i, std::vector<int> f);
231 void GetFacesSharedByEdge(
int i,
int* f);
232 void GetFaceNormal(
int i, dVector3 normal);
Definition: collision_std.h:107
unsigned int edgecount
Definition: collision_std.h:150
Definition: collision_std.h:141
Definition: collision_std.h:121
unsigned int SupportIndex(dVector3 dir)
A Support mapping function for convex shapes.
Definition: collision_std.h:174
dReal saabb[6]
Definition: collision_std.h:151
dReal * points
Definition: collision_std.h:146
Definition: collision_std.h:163
unsigned int pointcount
Definition: collision_std.h:149
Definition: collision_std.h:100
void FillEdges()
Fills the edges dynamic array based on points and polygons.
Definition: convex.cpp:124
Definition: collision_std.h:114
Definition: collision_std.h:128
Definition: collision_kernel.h:96
Definition: collision_kernel.h:202
unsigned int planecount
Definition: collision_std.h:148
Definition: collision_std.h:135
dReal * planes
Definition: collision_std.h:143