/******************************************************************************\ Copyright 1995 The University of North Carolina at Chapel Hill. All Rights Reserved. Permission to use, copy, modify and distribute this software and its documentation for educational, research and non-profit purposes, without fee, and without a written agreement is hereby granted, provided that the above copyright notice and the following three paragraphs appear in all copies. IN NO EVENT SHALL THE UNIVERSITY OF NORTH CAROLINA AT CHAPEL HILL BE LIABLE TO ANY PARTY FOR DIRECT, INDIRECT, SPECIAL, INCIDENTAL, OR CONSEQUENTIAL DAMAGES, INCLUDING LOST PROFITS, ARISING OUT OF THE USE OF THIS SOFTWARE AND ITS DOCUMENTATION, EVEN IF THE UNIVERSITY OF NORTH CAROLINA HAVE BEEN ADVISED OF THE POSSIBILITY OF SUCH DAMAGES. Permission to use, copy, modify and distribute this software and its documentation for educational, research and non-profit purposes, without fee, and without a written agreement is hereby granted, provided that the above copyright notice and the following three paragraphs appear in all copies. THE UNIVERSITY OF NORTH CAROLINA SPECIFICALLY DISCLAIM ANY WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE. THE SOFTWARE PROVIDED HEREUNDER IS ON AN "AS IS" BASIS, AND THE UNIVERSITY OF NORTH CAROLINA HAS NO OBLIGATION S TO PROVIDE MAINTENANCE, SUPPORT, UPDATES, ENHANCEMENTS, OR MODIFICATIONS. The authors may be contacted via: US Mail: J. Cohen/M. Lin/D. Manocha/K. Ponamgi Department of Computer Science Sitterson Hall, CB #3175 University of N. Carolina Chapel Hill, NC 27599-3175 Phone: (919)962-1749 EMail: {cohenj,lin,manocha,ponamgi}@cs.unc.edu \*****************************************************************************/ /*****************************************************************************\ collision.h -- Description : Main header file for the collision detection library \*****************************************************************************/ /* Protection from multiple includes. */ #ifndef INCLUDED_COLLISION_H #define INCLUDED_COLLISION_H /*------------------ Includes Needed for Definitions Below ------------------*/ #include /*-------------------------------- Constants --------------------------------*/ #define COL_NOT_COLLIDING 2 #define COL_COLLIDING 1 #define COL_OK 0 #define COL_TRUE 1 #define COL_FALSE 0 #define COL_ERROR -1 #define COL_UNKNOWN -2 /*--------------------------------- Macros ----------------------------------*/ /*---------------------------------- Types ----------------------------------*/ /*---------------------------- Function Prototypes --------------------------*/ /* ========================================================================== ========================================================================== INITIALIZE THE COLLISION LIBRARY ========================================================================== ========================================================================== */ __col_Polytope *col_get_polytope(int id); /*****************************************************************************\ @ col_open() ----------------------------------------------------------------------------- description : Call to activate collision detection library input : Maximum number of polytopes to be instanced, name of polytope data file, scale factor (1.0 to use the polytopes' original scale), and an (int *) to get the number of polytopes loaded output : COL_OK or COL_ERROR is returned, and num_polytopes indicates the number of polytopes loaded from the polytope file notes : passing in -1 for max_polytopes uses the number of objects in the library as max_polytopes, indicating that the user plans to instance each polytope no more than once. \*****************************************************************************/ int col_open(int max_polytopes, char *filename, double scale, int *num_polytopes); /* ========================================================================== ========================================================================== ROUTINES TO INSTANCE OBJECTS ========================================================================== ========================================================================== */ /*****************************************************************************\ @ col_instance_polytope() ----------------------------------------------------------------------------- description : Instance a polyhedron from the library. input : name of library object to instance output : id number to use when referencing the polytope notes : \*****************************************************************************/ int col_instance_polytope(char *lib_object, int *id); /*****************************************************************************\ @ col_instance_polytope_by_num() ----------------------------------------------------------------------------- description : Instance a polytope by index within the library rather than by the object's name input : output : notes : \*****************************************************************************/ int col_instance_polytope_by_num(int poly_num, int *id); /* ========================================================================== ========================================================================== ROUTINES THAT SET SOME MODES ========================================================================== ========================================================================== */ /*****************************************************************************\ @ col_enable_nbody() ----------------------------------------------------------------------------- description : Enable the nbody algorithm - only track the distance of polytope pairs whose bounding boxes overlap. input : output : notes : The nbody algorithm is enabled by default \*****************************************************************************/ int col_enable_nbody(); /*****************************************************************************\ @ col_disable_nbody() ----------------------------------------------------------------------------- description : Disable the nbody algorithm - track the distance of all active pairs. input : output : notes : The nbody algorithm is enabled by default \*****************************************************************************/ int col_disable_nbody(); /*****************************************************************************\ @ col_use_cuboid() ----------------------------------------------------------------------------- description : Use a fixed bounding cube for a polytope rather than a dynamically resized bounding box input : Polytope ID output : notes : The default setting is dynamically resized bounding boxes \*****************************************************************************/ int col_use_cuboid(int id); /*****************************************************************************\ @ col_use_dynamic_bounding_box() ----------------------------------------------------------------------------- description : Use dynamic bounding boxes that change shape to fit the object as it moves around. input : Polytope id number. output : notes : These is the default setting for each instanced polytope \*****************************************************************************/ int col_use_dynamic_bounding_box(int id); /* ========================================================================== ========================================================================== CHOOSE WHICH PAIRS OF OBJECTS SHOULD BE TRACKED ========================================================================== ========================================================================== */ /*****************************************************************************\ @ col_activate_pair() ----------------------------------------------------------------------------- description : Activate a pair of polytopes for collision detection input : IDs of the polytopes to be activated output : notes : \*****************************************************************************/ int col_activate_pair(int id1, int id2); /*****************************************************************************\ @ col_activate_full() ----------------------------------------------------------------------------- description : Activate collision detection for one polytope with all the other polytopes input : ID of polytope to activate with all others output : notes : \*****************************************************************************/ int col_activate_full(int id); /*****************************************************************************\ @ col_activate_all() ----------------------------------------------------------------------------- description : Activate all pairs of polytopes for collision detection input : output : notes : \*****************************************************************************/ int col_activate_all(); /*****************************************************************************\ @ col_deactivate_pair() ----------------------------------------------------------------------------- description : Deactivate collision detection for a pair of polytopes. input : output : notes : \*****************************************************************************/ int col_deactivate_pair(int id1, int id2); /*****************************************************************************\ @ col_deactivate_full() ----------------------------------------------------------------------------- description : Deactivate collision detection for one polytope with all the other polytopes input : ID of polytope to deactivate with all others output : notes : \*****************************************************************************/ int col_deactivate_full(int id); /*****************************************************************************\ @ col_deactivate_all() ----------------------------------------------------------------------------- description : Dectivate all pairs of polytopes for collision detection input : output : notes : \*****************************************************************************/ int col_deactivate_all(); /* ========================================================================== ========================================================================== CHANGE AN OBJECT'S POSITION/ORIENTATION ========================================================================== ========================================================================== */ /*****************************************************************************\ @ col_set_transform ----------------------------------------------------------------------------- description : Set the current transformation for a polytope input : Polytope id, 4x4 transformation matrix output : notes : The matrix should be a 4x4 used to premultiply a column vector. \*****************************************************************************/ int col_set_transform(int id, col_Mat4 matrix); /* ========================================================================== ========================================================================== THE MAIN COLLISION TEST ROUTINE ========================================================================== ========================================================================== */ /*****************************************************************************\ @ col_test() ----------------------------------------------------------------------------- description : Do the main collision test for the current set of object positions and active pairs input : output : notes : \*****************************************************************************/ int col_test(); /* ========================================================================== ========================================================================== ROUTINES TO REPORT COLLISIONS ========================================================================== ========================================================================== */ /*****************************************************************************\ @ col_report_collision_pair() ----------------------------------------------------------------------------- description : Checks to see if a pair was colliding in the last collision test. input : Two ids and the address of a col_Report to be filled in output : return valud will be COL_COLLIDING if colliding, COL_NOT_COLLIDING if not colliding, or COL_UNKNOWN if the pair isn't active. If the return value is COL_COLLIDING, the report will be filled in for that pair notes : \*****************************************************************************/ int col_report_collision_pair(int id1, int id2, col_Report *report); /*****************************************************************************\ @ col_report_collision_full() ----------------------------------------------------------------------------- description : Report all collisions from the previous test which involve one particular polytope input : ID of the polytope to be tested, an array of col_Reports, and the number of elements in the array output : The return value indicates the number of collisions found and the first report_size collisions are report in the report array. notes : \*****************************************************************************/ int col_report_collision_full(int id, col_Report *report, int report_size); /*****************************************************************************\ @ col_report_collision_all() ----------------------------------------------------------------------------- description : Report all collisions from the most recent test input : Array of col_Reports and the number of elements in the array output : The return value indicates the number of collisions, and the first report_size collisions are reported in the report array notes : \*****************************************************************************/ int col_report_collision_all(col_Report *report, int report_size); /* ========================================================================== ========================================================================== ROUTINES TO REPORT CLOSEST DISTANCES ========================================================================== ========================================================================== */ /*****************************************************************************\ @ col_report_distance_pair() ----------------------------------------------------------------------------- description : Return the distance between a pair of polytopes and their closest features, if known input : The ids of the polytopes in question and a pointer to a col_DistReport to be filled in. output : The return value is COL_UNKNOWN if the pair is inactive or non-overlapping. Otherwise, the return value is COL_OK and the report structure is filled in. notes : \*****************************************************************************/ int col_report_distance_pair(int id1, int id2, col_DistReport *report); /*****************************************************************************\ @ col_report_distance_full() ----------------------------------------------------------------------------- description : Report known distances from one particular polytope with all other polytopes input : Id of polytope in question, array of col_DistReports, and number of elements in the array output : The return value is the number of distances known, and the first report_size of these are reported in the report array. notes : \*****************************************************************************/ int col_report_distance_full(int id, col_DistReport *report, int report_size); /*****************************************************************************\ @ col_report_distance_all() ----------------------------------------------------------------------------- description : Report all known distances and closest features between pairs of polytopes. input : Array of col_DistReports and number of elements in the array output : The return value is the number of distances known, and the first report_size of these are returned in the report array. notes : \*****************************************************************************/ int col_report_distance_all(col_DistReport *report, int report_size); /* ========================================================================== ========================================================================== A HANDY UTILITY ROUTINE ========================================================================== ========================================================================== */ /*****************************************************************************\ @ col_calc_cuboid() ----------------------------------------------------------------------------- description : Calculates the center of the instantiated polytopes. This is used for determining a collision reaction (for example with a boundry box). input : output : A point inside the polytope and the maximum distance from this point to any vertex. notes : It currently computes a point inside the polytope -- the unweighted average of the vertices. This isn't the center of mass. \*****************************************************************************/ int col_calc_cuboid(int poly_id, double *box_center, double *box_radius); /*---------------------------- Globals (externed) --------------------------*/ /* Protection from multiple includes. */ #endif /* INCLUDED_COLLISION_H */ /*****************************************************************************\ \*****************************************************************************/