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ODE: Added ODE_API from ODE 0.6
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@Xottab-DUTY
Xottab-DUTY committed May 30, 2018
1 parent c79e4ed commit f94da38
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Showing 16 changed files with 386 additions and 365 deletions.
124 changes: 63 additions & 61 deletions Externals/ode/include/ode/collision.h
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Original file line number Diff line number Diff line change
Expand Up @@ -62,7 +62,7 @@ extern "C" {
* @param geom the geom to be destroyed.
* @ingroup collide
*/
void dGeomDestroy (dGeomID geom);
ODE_API void dGeomDestroy (dGeomID geom);


/**
Expand All @@ -72,7 +72,7 @@ void dGeomDestroy (dGeomID geom);
* @param data the data pointer to be stored
* @ingroup collide
*/
void dGeomSetData (dGeomID geom, void* data);
ODE_API void dGeomSetData (dGeomID geom, void* data);


/**
Expand All @@ -81,7 +81,7 @@ void dGeomSetData (dGeomID geom, void* data);
* @param geom the geom containing the data
* @ingroup collide
*/
void *dGeomGetData (dGeomID geom);
ODE_API void *dGeomGetData (dGeomID geom);


/**
Expand All @@ -102,7 +102,7 @@ void *dGeomGetData (dGeomID geom);
* @param body the body to attach to the geom
* @ingroup collide
*/
void dGeomSetBody (dGeomID geom, dBodyID body);
ODE_API void dGeomSetBody (dGeomID geom, dBodyID body);


/**
Expand All @@ -111,7 +111,7 @@ void dGeomSetBody (dGeomID geom, dBodyID body);
* @sa dGeomSetBody
* @ingroup collide
*/
dBodyID dGeomGetBody (dGeomID geom);
ODE_API dBodyID dGeomGetBody (dGeomID geom);


/**
Expand All @@ -128,7 +128,7 @@ dBodyID dGeomGetBody (dGeomID geom);
* @sa dBodySetPosition
* @ingroup collide
*/
void dGeomSetPosition (dGeomID geom, dReal x, dReal y, dReal z);
ODE_API void dGeomSetPosition (dGeomID geom, dReal x, dReal y, dReal z);


/**
Expand All @@ -143,7 +143,7 @@ void dGeomSetPosition (dGeomID geom, dReal x, dReal y, dReal z);
* @sa dBodySetRotation
* @ingroup collide
*/
void dGeomSetRotation (dGeomID geom, const dMatrix3 R);
ODE_API void dGeomSetRotation (dGeomID geom, const dMatrix3 R);


/**
Expand All @@ -159,7 +159,7 @@ void dGeomSetRotation (dGeomID geom, const dMatrix3 R);
* @sa dBodySetQuaternion
* @ingroup collide
*/
void dGeomSetQuaternion (dGeomID geom, const dQuaternion Q);
ODE_API void dGeomSetQuaternion (dGeomID geom, const dQuaternion Q);


/**
Expand All @@ -178,7 +178,7 @@ void dGeomSetQuaternion (dGeomID geom, const dQuaternion Q);
* @sa dBodyGetPosition
* @ingroup collide
*/
const dReal * dGeomGetPosition (dGeomID geom);
ODE_API const dReal * dGeomGetPosition (dGeomID geom);


/**
Expand All @@ -197,7 +197,7 @@ const dReal * dGeomGetPosition (dGeomID geom);
* @sa dBodyGetRotation
* @ingroup collide
*/
const dReal * dGeomGetRotation (dGeomID geom);
ODE_API const dReal * dGeomGetRotation (dGeomID geom);


/**
Expand All @@ -213,7 +213,7 @@ const dReal * dGeomGetRotation (dGeomID geom);
* @sa dBodyGetQuaternion
* @ingroup collide
*/
void dGeomGetQuaternion (dGeomID geom, dQuaternion result);
ODE_API void dGeomGetQuaternion (dGeomID geom, dQuaternion result);


/**
Expand All @@ -232,7 +232,7 @@ void dGeomGetQuaternion (dGeomID geom, dQuaternion result);
* @param aabb the returned bounding box
* @ingroup collide
*/
void dGeomGetAABB (dGeomID geom, dReal aabb[6]);
ODE_API void dGeomGetAABB (dGeomID geom, dReal aabb[6]);


/**
Expand All @@ -241,7 +241,7 @@ void dGeomGetAABB (dGeomID geom, dReal aabb[6]);
* @returns Non-zero if the geom is a space, zero otherwise.
* @ingroup collide
*/
int dGeomIsSpace (dGeomID geom);
ODE_API int dGeomIsSpace (dGeomID geom);


/**
Expand All @@ -251,7 +251,7 @@ int dGeomIsSpace (dGeomID geom);
* not contained by a space.
* @ingroup collide
*/
dSpaceID dGeomGetSpace (dGeomID);
ODE_API dSpaceID dGeomGetSpace (dGeomID);


/**
Expand All @@ -278,7 +278,7 @@ dSpaceID dGeomGetSpace (dGeomID);
* @returns The geom class ID.
* @ingroup collide
*/
int dGeomGetClass (dGeomID geom);
ODE_API int dGeomGetClass (dGeomID geom);


/**
Expand All @@ -293,7 +293,7 @@ int dGeomGetClass (dGeomID geom);
* @param bits the new bitfield value
* @ingroup collide
*/
void dGeomSetCategoryBits (dGeomID geom, unsigned long bits);
ODE_API void dGeomSetCategoryBits (dGeomID geom, unsigned long bits);


/**
Expand All @@ -308,7 +308,7 @@ void dGeomSetCategoryBits (dGeomID geom, unsigned long bits);
* @param bits the new bitfield value
* @ingroup collide
*/
void dGeomSetCollideBits (dGeomID geom, unsigned long bits);
ODE_API void dGeomSetCollideBits (dGeomID geom, unsigned long bits);


/**
Expand All @@ -319,7 +319,7 @@ void dGeomSetCollideBits (dGeomID geom, unsigned long bits);
* @sa dGeomSetCategoryBits
* @ingroup collide
*/
unsigned long dGeomGetCategoryBits (dGeomID);
ODE_API unsigned long dGeomGetCategoryBits (dGeomID);


/**
Expand All @@ -330,7 +330,7 @@ unsigned long dGeomGetCategoryBits (dGeomID);
* @sa dGeomSetCollideBits
* @ingroup collide
*/
unsigned long dGeomGetCollideBits (dGeomID);
ODE_API unsigned long dGeomGetCollideBits (dGeomID);


/**
Expand All @@ -345,7 +345,7 @@ unsigned long dGeomGetCollideBits (dGeomID);
* @sa dGeomIsEnabled
* @ingroup collide
*/
void dGeomEnable (dGeomID geom);
ODE_API void dGeomEnable (dGeomID geom);


/**
Expand All @@ -360,7 +360,7 @@ void dGeomEnable (dGeomID geom);
* @sa dGeomIsEnabled
* @ingroup collide
*/
void dGeomDisable (dGeomID geom);
ODE_API void dGeomDisable (dGeomID geom);


/**
Expand All @@ -376,17 +376,17 @@ void dGeomDisable (dGeomID geom);
* @sa dGeomIsEnabled
* @ingroup collide
*/
int dGeomIsEnabled (dGeomID geom);
ODE_API int dGeomIsEnabled (dGeomID geom);



/* ************************************************************************ */
/* collision detection */

int dCollide (dGeomID o1, dGeomID o2, int flags, dContactGeom *contact,
ODE_API int dCollide (dGeomID o1, dGeomID o2, int flags, dContactGeom *contact,
int skip);
void dSpaceCollide (dSpaceID space, void *data, dNearCallback *callback);
void dSpaceCollide2 (dGeomID o1, dGeomID o2, void *data,
ODE_API void dSpaceCollide (dSpaceID space, void *data, dNearCallback *callback);
ODE_API void dSpaceCollide2 (dGeomID o1, dGeomID o2, void *data,
dNearCallback *callback);

/* ************************************************************************ */
Expand All @@ -401,7 +401,7 @@ enum {
enum {
dSphereClass = 0,
dBoxClass,
dCCylinderClass,
dCCylinderClass, // XXX: Cylinder was renamed to Capsule
dCylinderClass,
dPlaneClass,
dRayClass,
Expand All @@ -420,66 +420,68 @@ enum {
};


dGeomID dCreateSphere (dSpaceID space, dReal radius);
void dGeomSphereSetRadius (dGeomID sphere, dReal radius);
dReal dGeomSphereGetRadius (dGeomID sphere);
dReal dGeomSpherePointDepth (dGeomID sphere, dReal x, dReal y, dReal z);
ODE_API dGeomID dCreateSphere (dSpaceID space, dReal radius);
ODE_API void dGeomSphereSetRadius (dGeomID sphere, dReal radius);
ODE_API dReal dGeomSphereGetRadius (dGeomID sphere);
ODE_API dReal dGeomSpherePointDepth (dGeomID sphere, dReal x, dReal y, dReal z);

dGeomID dCreateBox (dSpaceID space, dReal lx, dReal ly, dReal lz);
void dGeomBoxSetLengths (dGeomID box, dReal lx, dReal ly, dReal lz);
void dGeomBoxGetLengths (dGeomID box, dVector3 result);
dReal dGeomBoxPointDepth (dGeomID box, dReal x, dReal y, dReal z);
ODE_API dGeomID dCreateBox (dSpaceID space, dReal lx, dReal ly, dReal lz);
ODE_API void dGeomBoxSetLengths (dGeomID box, dReal lx, dReal ly, dReal lz);
ODE_API void dGeomBoxGetLengths (dGeomID box, dVector3 result);
ODE_API dReal dGeomBoxPointDepth (dGeomID box, dReal x, dReal y, dReal z);

dGeomID dCreatePlane (dSpaceID space, dReal a, dReal b, dReal c, dReal d);
void dGeomPlaneSetParams (dGeomID plane, dReal a, dReal b, dReal c, dReal d);
void dGeomPlaneGetParams (dGeomID plane, dVector4 result);
dReal dGeomPlanePointDepth (dGeomID plane, dReal x, dReal y, dReal z);
ODE_API dGeomID dCreatePlane (dSpaceID space, dReal a, dReal b, dReal c, dReal d);
ODE_API void dGeomPlaneSetParams (dGeomID plane, dReal a, dReal b, dReal c, dReal d);
ODE_API void dGeomPlaneGetParams (dGeomID plane, dVector4 result);
ODE_API dReal dGeomPlanePointDepth (dGeomID plane, dReal x, dReal y, dReal z);

// XXX: Cylinder was renamed to Capsule
dGeomID dCreateCCylinder (dSpaceID space, dReal radius, dReal length);
void dGeomCCylinderSetParams (dGeomID ccylinder, dReal radius, dReal length);
void dGeomCCylinderGetParams (dGeomID ccylinder, dReal *radius, dReal *length);

dReal dGeomCCylinderPointDepth (dGeomID ccylinder, dReal x, dReal y, dReal z);

dGeomID dCreateRay (dSpaceID space, dReal length);
void dGeomRaySetLength (dGeomID ray, dReal length);
dReal dGeomRayGetLength (dGeomID ray);
void dGeomRaySet (dGeomID ray, dReal px, dReal py, dReal pz,
ODE_API dGeomID dCreateRay (dSpaceID space, dReal length);
ODE_API void dGeomRaySetLength (dGeomID ray, dReal length);
ODE_API dReal dGeomRayGetLength (dGeomID ray);
ODE_API void dGeomRaySet (dGeomID ray, dReal px, dReal py, dReal pz,
dReal dx, dReal dy, dReal dz);
void dGeomRayGet (dGeomID ray, dVector3 start, dVector3 dir);
ODE_API void dGeomRayGet (dGeomID ray, dVector3 start, dVector3 dir);

/*
* Set/get ray flags that influence ray collision detection.
* These flags are currently only noticed by the trimesh collider, because
* they can make a major differences there.
*/
void dGeomRaySetParams (dGeomID g, int FirstContact, int BackfaceCull);
void dGeomRayGetParams (dGeomID g, int *FirstContact, int *BackfaceCull);
void dGeomRaySetClosestHit (dGeomID g, int closestHit);
int dGeomRayGetClosestHit (dGeomID g);
ODE_API void dGeomRaySetParams (dGeomID g, int FirstContact, int BackfaceCull);
ODE_API void dGeomRayGetParams (dGeomID g, int *FirstContact, int *BackfaceCull);
ODE_API void dGeomRaySetClosestHit (dGeomID g, int closestHit);
ODE_API int dGeomRayGetClosestHit (dGeomID g);

#include "collision_trimesh.h"

dGeomID dCreateGeomTransform (dSpaceID space);
void dGeomTransformSetGeom (dGeomID g, dGeomID obj);
dGeomID dGeomTransformGetGeom (dGeomID g);
void dGeomTransformSetCleanup (dGeomID g, int mode);
int dGeomTransformGetCleanup (dGeomID g);
void dGeomTransformSetInfo (dGeomID g, int mode);
int dGeomTransformGetInfo (dGeomID g);
ODE_API dGeomID dCreateGeomTransform (dSpaceID space);
ODE_API void dGeomTransformSetGeom (dGeomID g, dGeomID obj);
ODE_API dGeomID dGeomTransformGetGeom (dGeomID g);
ODE_API void dGeomTransformSetCleanup (dGeomID g, int mode);
ODE_API int dGeomTransformGetCleanup (dGeomID g);
ODE_API void dGeomTransformSetInfo (dGeomID g, int mode);
ODE_API int dGeomTransformGetInfo (dGeomID g);

/* ************************************************************************ */
/* utility functions */

void dClosestLineSegmentPoints (const dVector3 a1, const dVector3 a2,
ODE_API void dClosestLineSegmentPoints (const dVector3 a1, const dVector3 a2,
const dVector3 b1, const dVector3 b2,
dVector3 cp1, dVector3 cp2);

int dBoxTouchesBox (const dVector3 _p1, const dMatrix3 R1,
ODE_API int dBoxTouchesBox (const dVector3 _p1, const dMatrix3 R1,
const dVector3 side1, const dVector3 _p2,
const dMatrix3 R2, const dVector3 side2);

void dInfiniteAABB (dGeomID geom, dReal aabb[6]);
void dCloseODE(void);
ODE_API void dInfiniteAABB (dGeomID geom, dReal aabb[6]);
ODE_API void dCloseODE(void);

/* ************************************************************************ */
/* custom classes */
Expand All @@ -499,9 +501,9 @@ typedef struct dGeomClass {
dGeomDtorFn *dtor;
} dGeomClass;

int dCreateGeomClass (const dGeomClass *classptr);
void * dGeomGetClassData (dGeomID);
dGeomID dCreateGeom (int classnum);
ODE_API int dCreateGeomClass (const dGeomClass *classptr);
ODE_API void * dGeomGetClassData (dGeomID);
ODE_API dGeomID dCreateGeom (int classnum);

/* ************************************************************************ */

Expand Down
28 changes: 14 additions & 14 deletions Externals/ode/include/ode/collision_space.h
View file
Original file line number Diff line number Diff line change
Expand Up @@ -34,24 +34,24 @@ struct dContactGeom;
typedef void dNearCallback (void *data, dGeomID o1, dGeomID o2);


dSpaceID dSimpleSpaceCreate (dSpaceID space);
dSpaceID dHashSpaceCreate (dSpaceID space);
dSpaceID dQuadTreeSpaceCreate (dSpaceID space, dVector3 Center, dVector3 Extents, int Depth);
ODE_API dSpaceID dSimpleSpaceCreate (dSpaceID space);
ODE_API dSpaceID dHashSpaceCreate (dSpaceID space);
ODE_API dSpaceID dQuadTreeSpaceCreate (dSpaceID space, dVector3 Center, dVector3 Extents, int Depth);

void dSpaceDestroy (dSpaceID);
ODE_API void dSpaceDestroy (dSpaceID);

void dHashSpaceSetLevels (dSpaceID space, int minlevel, int maxlevel);
void dHashSpaceGetLevels (dSpaceID space, int *minlevel, int *maxlevel);
ODE_API void dHashSpaceSetLevels (dSpaceID space, int minlevel, int maxlevel);
ODE_API void dHashSpaceGetLevels (dSpaceID space, int *minlevel, int *maxlevel);

void dSpaceSetCleanup (dSpaceID space, int mode);
int dSpaceGetCleanup (dSpaceID space);
ODE_API void dSpaceSetCleanup (dSpaceID space, int mode);
ODE_API int dSpaceGetCleanup (dSpaceID space);

void dSpaceAdd (dSpaceID, dGeomID);
void dSpaceRemove (dSpaceID, dGeomID);
int dSpaceQuery (dSpaceID, dGeomID);
void dSpaceClean (dSpaceID);
int dSpaceGetNumGeoms (dSpaceID);
dGeomID dSpaceGetGeom (dSpaceID, int i);
ODE_API void dSpaceAdd (dSpaceID, dGeomID);
ODE_API void dSpaceRemove (dSpaceID, dGeomID);
ODE_API int dSpaceQuery (dSpaceID, dGeomID);
ODE_API void dSpaceClean (dSpaceID);
ODE_API int dSpaceGetNumGeoms (dSpaceID);
ODE_API dGeomID dSpaceGetGeom (dSpaceID, int i);


#ifdef __cplusplus
Expand Down
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