cd.h

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#ifndef CDH
#define CDH

#include "htransform.h"
#include "mechanism.h"
#include "environment.h"

#ifdef _HAVE_SOLID
  #include <SOLID/SOLID.h>
#endif

#ifdef _HAVE_VCOLLIDE
  #include "cd_vcollide.h"
#endif

#ifdef _HAVE_PQP
  #include "cd_pqp.h"
#endif

#ifdef _HAVE_FCL
  #include "cd_fcl.h"
#endif

#ifdef _HAVE_BULLET
  #include "cd_bullet.h"
#endif

#ifdef _HAVE_RIGIDCLL
  #include "cd_rigidCLL.h"
#endif

typedef struct {
  boolean isLink1;        
  unsigned int id1;       
  boolean isLink2;        
  unsigned int id2;       
  double point[3];        
  double normal[3];       
  THTransform t1;         
  THTransform t2;         
} TCollisionInfo;

#ifdef _HAVE_SOLID

  typedef struct {
    unsigned int id;              
    unsigned int linkID;          
    unsigned int bodyID;          
    DT_ShapeHandle shape;         
    DT_ObjectHandle handler;      
    DT_ResponseClass respClass;   
    THTransform t;                
    THTransform tc;               
    boolean correction;           
  } TsolidObj;

  typedef struct {
    DT_SceneHandle scene;         
    DT_RespTableHandle respTable; 
    unsigned int np;              
    TsolidObj *object;            
    boolean simple;               
    unsigned int nc;              
    unsigned int mc;              
    TCollisionInfo *collision;   
  } TsolidCD;
#endif


#ifdef _HAVE_VCOLLIDE

  typedef struct {
    Tvcollide *vc;                
    unsigned int np;              
    unsigned int *linkID;         
    unsigned int *bodyID;         
    unsigned int *vcID;           
  } TvcollideCD;
#endif


#ifdef _HAVE_PQP

  typedef struct {
    unsigned int np;              
    unsigned int *linkID;         
    unsigned int *bodyID;         
    Tpqp **model;                 
    unsigned int nPairs;          
    unsigned int *p1;             
    unsigned int *p2;             
  } TpqpCD;
#endif

#if _HAVE_FCL

  typedef struct {
    unsigned int linkID;         
    unsigned int bodyID;         
    unsigned int type;           
    void *model;                 
    THTransform t;               
    THTransform tc;              
  } TFCLObject;

  typedef struct {
    unsigned int np;              
    TFCLObject *object;           
    unsigned int nPairs;          
    unsigned int *p1;             
    unsigned int *p2;             
    unsigned int nc;              
    unsigned int mc;              
    TCollisionInfo *collision;    
  } TfclCD;
#endif


#if _HAVE_BULLET

  typedef struct {
    void *bulletWorld;           
    unsigned int linkID;         
    unsigned int bodyID;         
    unsigned int type;           
    void *model;                 
    THTransform t;               
    THTransform tc;              
  } TBulletObject;

  typedef struct {
    unsigned int np;              
    void * bulletWorld;           
    TBulletObject *object;        
    unsigned int nPairs;          
    unsigned int *p1;             
    unsigned int *p2;             
    unsigned int nc;              
    unsigned int mc;              
    TCollisionInfo *collision;    
  } TBulletCD;
#endif

#ifdef _HAVE_RIGIDCLL

  typedef struct {
    TrigidCLL *r;                 
    unsigned int nl;              
    unsigned int *objID;          
    THTransform *t;               
  } TrigidCLLCD;
#endif


typedef struct {

  unsigned int engine;         
  #ifdef _HAVE_SOLID
    TsolidCD *solid;            
  #else
    void *solid;              
  #endif

  #ifdef _HAVE_VCOLLIDE
    TvcollideCD *vcollide;    
  #else
    void *vcollide;           
  #endif

  #ifdef _HAVE_PQP
    TpqpCD *pqp;              
  #else
    void *pqp;                
  #endif

  #ifdef _HAVE_FCL
    TfclCD *fcl;              
  #else
    void *fcl;                
  #endif

  #ifdef _HAVE_BULLET
    TBulletCD *bullet;        
  #else
    void *bullet;             
  #endif

  #ifdef _HAVE_RIGIDCLL
    TrigidCLLCD *rigidCLL;    
  #else
    void *rigidCLL;           
  #endif

} TworldCD;



void InitCD(unsigned int engine,boolean parallel,
            Tmechanism *m,Tenvironment *e,
            boolean **checkCollisionsLL,boolean **checkCollisionsLO,
            TworldCD *cd);

boolean LinkCanCollide(unsigned int l,unsigned int nl,unsigned int no,
                       boolean **checkCollisionsLL,boolean **checkCollisionsLO);

boolean ObstacleCanCollide(unsigned int o,unsigned int nl,boolean **checkCollisionsLO);

unsigned int GetCDEngine(TworldCD *cd);

boolean CheckCollision(boolean all,
                       THTransform *tl,TLinkConf *def,
                       THTransform *tlPrev,TLinkConf *defPrev,
                       TworldCD *cd);

void StoreCollisionInfo(FILE *f,char *fname,unsigned int objectID,Tmechanism *m,TworldCD *cd);

void PrintCollisionInfo(THTransform *tl,Tmechanism *m,Tenvironment *e,TworldCD *cd);

void DeleteCD(TworldCD *cd);

#endif