280 lines
12 KiB
C
280 lines
12 KiB
C
/*
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* SOLID - Software Library for Interference Detection
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*
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* Copyright (C) 2001-2003 Dtecta. All rights reserved.
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*
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* This library may be distributed under the terms of the Q Public License
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* (QPL) as defined by Trolltech AS of Norway and appearing in the file
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* LICENSE.QPL included in the packaging of this file.
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*
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* This library may be distributed and/or modified under the terms of the
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* GNU General Public License (GPL) version 2 as published by the Free Software
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* Foundation and appearing in the file LICENSE.GPL included in the
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* packaging of this file.
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*
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* This library is provided AS IS with NO WARRANTY OF ANY KIND, INCLUDING THE
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* WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.
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*
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* Commercial use or any other use of this library not covered by either
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* the QPL or the GPL requires an additional license from Dtecta.
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* Please contact info@dtecta.com for enquiries about the terms of commercial
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* use of this library.
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*/
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#ifndef SOLID_H
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#define SOLID_H
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#include "SOLID_types.h"
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#ifdef __cplusplus
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extern "C" {
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#endif
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DT_DECLARE_HANDLE(DT_ObjectHandle);
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DT_DECLARE_HANDLE(DT_SceneHandle);
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DT_DECLARE_HANDLE(DT_ShapeHandle);
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DT_DECLARE_HANDLE(DT_VertexBaseHandle);
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DT_DECLARE_HANDLE(DT_RespTableHandle);
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DT_DECLARE_HANDLE(DT_ArchiveHandle);
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typedef unsigned int DT_ResponseClass;
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typedef enum DT_ResponseType {
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DT_NO_RESPONSE, /* No response (obsolete) */
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DT_BROAD_RESPONSE, /* Broad phase response is returned. */
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DT_SIMPLE_RESPONSE, /* No collision data */
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DT_WITNESSED_RESPONSE, /* A point common to both objects
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is returned as collision data
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*/
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DT_DEPTH_RESPONSE /* The penetration depth is returned
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as collision data. The penetration depth
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is the shortest vector over which one
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object needs to be translated in order
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to bring the objects in touching contact.
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*/
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} DT_ResponseType;
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/* For witnessed response, the following structure represents a common point. The world
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coordinates of 'point1' and 'point2' coincide. 'normal' is the zero vector.
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For depth response, the following structure represents the penetration depth.
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'point1' en 'point2' are the witness points of the penetration depth in world coordinates.
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The penetration depth vector in world coordinates is represented by 'normal'.
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*/
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typedef struct DT_CollData {
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DT_Vector3 point1; /* Point in object1 in world coordinates */
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DT_Vector3 point2; /* Point in object2 in world coordinates */
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DT_Vector3 normal; /* point2 - point1 */
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} DT_CollData;
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/* A response callback is called by SOLID for each pair of collding objects. 'client-data'
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is a pointer to an arbitrary structure in the client application. The client objects are
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pointers to structures in the client application associated with the coliding objects.
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'coll_data' is the collision data computed by SOLID.
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*/
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typedef DT_Bool (*DT_ResponseCallback)(void *client_data,
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void *client_object1,
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void *client_object2,
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const DT_CollData *coll_data);
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/* Shape definition */
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extern DECLSPEC DT_ShapeHandle DT_NewBox(DT_Scalar x, DT_Scalar y, DT_Scalar z);
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extern DECLSPEC DT_ShapeHandle DT_NewCone(DT_Scalar radius, DT_Scalar height);
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extern DECLSPEC DT_ShapeHandle DT_NewCylinder(DT_Scalar radius, DT_Scalar height);
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extern DECLSPEC DT_ShapeHandle DT_NewSphere(DT_Scalar radius);
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extern DECLSPEC DT_ShapeHandle DT_NewPoint(const DT_Vector3 point);
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extern DECLSPEC DT_ShapeHandle DT_NewLineSegment(const DT_Vector3 source, const DT_Vector3 target);
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extern DECLSPEC DT_ShapeHandle DT_NewMinkowski(DT_ShapeHandle shape1, DT_ShapeHandle shape2);
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extern DECLSPEC DT_ShapeHandle DT_NewHull(DT_ShapeHandle shape1, DT_ShapeHandle shape2);
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extern DECLSPEC DT_VertexBaseHandle DT_NewVertexBase(const void *pointer, DT_Size stride);
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extern DECLSPEC void DT_DeleteVertexBase(DT_VertexBaseHandle vertexBase);
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extern DECLSPEC void DT_ChangeVertexBase(DT_VertexBaseHandle vertexBase, const void *pointer);
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extern DECLSPEC DT_ShapeHandle DT_NewComplexShape(DT_VertexBaseHandle vertexBase);
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extern DECLSPEC void DT_EndComplexShape();
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extern DECLSPEC DT_ShapeHandle DT_NewPolytope(DT_VertexBaseHandle vertexBase);
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extern DECLSPEC void DT_EndPolytope();
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extern DECLSPEC void DT_Begin();
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extern DECLSPEC void DT_End();
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extern DECLSPEC void DT_Vertex(const DT_Vector3 vertex);
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extern DECLSPEC void DT_VertexIndex(DT_Index index);
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extern DECLSPEC void DT_VertexIndices(DT_Count count, const DT_Index *indices);
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extern DECLSPEC void DT_VertexRange(DT_Index first, DT_Count count);
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extern DECLSPEC void DT_DeleteShape(DT_ShapeHandle shape);
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/* Object */
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extern DECLSPEC DT_ObjectHandle DT_CreateObject(
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void *client_object, /* pointer to object in client memory */
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DT_ShapeHandle shape /* the shape or geometry of the object */
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);
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extern DECLSPEC void DT_DestroyObject(DT_ObjectHandle object);
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extern DECLSPEC void DT_SetPosition(DT_ObjectHandle object, const DT_Vector3 position);
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extern DECLSPEC void DT_SetOrientation(DT_ObjectHandle object, const DT_Quaternion orientation);
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extern DECLSPEC void DT_SetScaling(DT_ObjectHandle object, const DT_Vector3 scaling);
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/* The margin is an offset from the actual shape. The actual geometry of an
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object is the set of points whose distance to the transformed shape is at
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most the margin. During the lifetime of an object the margin can be
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modified.
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*/
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extern DECLSPEC void DT_SetMargin(DT_ObjectHandle object, DT_Scalar margin);
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/* These commands assume a column-major 4x4 OpenGL matrix representation */
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extern DECLSPEC void DT_SetMatrixf(DT_ObjectHandle object, const float *m);
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extern DECLSPEC void DT_GetMatrixf(DT_ObjectHandle object, float *m);
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extern DECLSPEC void DT_SetMatrixd(DT_ObjectHandle object, const double *m);
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extern DECLSPEC void DT_GetMatrixd(DT_ObjectHandle object, double *m);
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extern DECLSPEC void DT_GetBBox(DT_ObjectHandle object, DT_Vector3 min, DT_Vector3 max);
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extern DECLSPEC DT_Bool DT_GetIntersect(DT_ObjectHandle object1, DT_ObjectHandle object2,
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DT_Vector3 v);
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/* This next command returns the distance between the objects. De returned
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closest points are given in world coordinates.
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*/
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extern DECLSPEC DT_Scalar DT_GetClosestPair(DT_ObjectHandle object1, DT_ObjectHandle object2,
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DT_Vector3 point1, DT_Vector3 point2);
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extern DECLSPEC DT_Bool DT_GetCommonPoint(DT_ObjectHandle object1, DT_ObjectHandle object2,
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DT_Vector3 point);
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extern DECLSPEC DT_Bool DT_GetPenDepth(DT_ObjectHandle object1, DT_ObjectHandle object2,
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DT_Vector3 point1, DT_Vector3 point2);
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/* Scene */
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extern DECLSPEC DT_SceneHandle DT_CreateScene();
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extern DECLSPEC void DT_DestroyScene(DT_SceneHandle scene);
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extern DECLSPEC void DT_AddObject(DT_SceneHandle scene, DT_ObjectHandle object);
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extern DECLSPEC void DT_RemoveObject(DT_SceneHandle scene, DT_ObjectHandle object);
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/* Note that objects can be assigned to multiple scenes! */
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/* Response */
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/* Response tables are defined independent of the scenes in which they are used.
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Multiple response tables can be used in one scene, and a response table
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can be shared among scenes.
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*/
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extern DECLSPEC DT_RespTableHandle DT_CreateRespTable();
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extern DECLSPEC void DT_DestroyRespTable(DT_RespTableHandle respTable);
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/* Responses are defined on (pairs of) response classes. Each response table
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maintains its set of response classes.
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*/
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extern DECLSPEC DT_ResponseClass DT_GenResponseClass(DT_RespTableHandle respTable);
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/* To each object for which a response is defined in the response table a
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response class needs to be assigned.
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*/
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extern DECLSPEC void DT_SetResponseClass(DT_RespTableHandle respTable,
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DT_ObjectHandle object,
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DT_ResponseClass responseClass);
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extern DECLSPEC void DT_ClearResponseClass(DT_RespTableHandle respTable,
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DT_ObjectHandle object);
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extern DECLSPEC void DT_CallResponse(DT_RespTableHandle respTable,
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DT_ObjectHandle object1,
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DT_ObjectHandle object2,
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const DT_CollData *coll_data);
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/* For each pair of objects multiple responses can be defined. A response is a callback
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together with its response type and client data. */
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/* Responses can be defined for all pairs of response classes... */
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extern DECLSPEC void DT_AddDefaultResponse(DT_RespTableHandle respTable,
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DT_ResponseCallback response,
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DT_ResponseType type, void *client_data);
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extern DECLSPEC void DT_RemoveDefaultResponse(DT_RespTableHandle respTable,
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DT_ResponseCallback response);
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/* ...per response class... */
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extern DECLSPEC void DT_AddClassResponse(DT_RespTableHandle respTable,
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DT_ResponseClass responseClass,
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DT_ResponseCallback response,
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DT_ResponseType type, void *client_data);
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extern DECLSPEC void DT_RemoveClassResponse(DT_RespTableHandle respTable,
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DT_ResponseClass responseClass,
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DT_ResponseCallback response);
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/* ... and per pair of response classes...*/
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extern DECLSPEC void DT_AddPairResponse(DT_RespTableHandle respTable,
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DT_ResponseClass responseClass1,
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DT_ResponseClass responseClass2,
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DT_ResponseCallback response,
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DT_ResponseType type, void *client_data);
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extern DECLSPEC void DT_RemovePairResponse(DT_RespTableHandle respTable,
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DT_ResponseClass responseClass1,
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DT_ResponseClass responseClass2,
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DT_ResponseCallback response);
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/* The next command calls the response callbacks for all intersecting pairs of objects in a scene.
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'DT_Test' returns the number of pairs of objects for which callbacks have been called.
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*/
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extern DECLSPEC DT_Count DT_Test(DT_SceneHandle scene, DT_RespTableHandle respTable);
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/* Set the maximum relative error in the closest points and penetration depth
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computation. The default for `max_error' is 1.0e-3. Larger errors result
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in better performance. Non-positive error tolerances are ignored.
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*/
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extern DECLSPEC void DT_SetAccuracy(DT_Scalar max_error);
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/* Set the maximum tolerance on relative errors due to rounding. The default for `tol_error'
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is the machine epsilon. Very large tolerances result in false collisions. Setting tol_error too small
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results in missed collisions. Non-positive error tolerances are ignored.
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*/
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extern DECLSPEC void DT_SetTolerance(DT_Scalar tol_error);
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/* This function returns the client pointer to the first object in a scene hit by the ray
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(actually a line segment) defined by the points 'from' en 'to'. The spot is the hit point
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on the object in local coordinates. 'normal' is the normal to the surface of the object in
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world coordinates. The ignore_client pointer is used to make one of the objects transparent.
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NB: Currently ray tests are implemented for spheres, boxes, and meshes only!!
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*/
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extern DECLSPEC void *DT_RayCast(DT_SceneHandle scene, void *ignore_client,
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const DT_Vector3 source, const DT_Vector3 target,
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DT_Scalar max_param, DT_Scalar *param, DT_Vector3 normal);
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/* Similar, only here a single object is tested and a boolean is returned */
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extern DECLSPEC DT_Bool DT_ObjectRayCast(DT_ObjectHandle object,
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const DT_Vector3 source, const DT_Vector3 target,
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DT_Scalar max_param, DT_Scalar *param, DT_Vector3 normal);
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#ifdef __cplusplus
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}
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#endif
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#endif
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