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Scene.h
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1 //
2 // Copyright (c) 2009, Markus Rickert
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29 
30 #ifndef _RL_SG_ODE_SCENE_H_
31 #define _RL_SG_ODE_SCENE_H_
32 
33 #include <ode/ode.h>
34 
35 #include "../RaycastScene.h"
36 #include "../SimpleScene.h"
37 
38 namespace rl
39 {
40  namespace sg
41  {
42  namespace ode
43  {
45  {
46  public:
47  Scene();
48 
49  virtual ~Scene();
50 
51  bool areColliding(::rl::sg::Body* first, ::rl::sg::Body* second);
52 
53  bool areColliding(::rl::sg::Model* first, ::rl::sg::Model* second);
54 
55  bool areColliding(::rl::sg::Shape* first, ::rl::sg::Shape* second);
56 
58 
59  bool isColliding();
60 
62 
63  bool raycast(::rl::sg::Shape* shape, const ::rl::math::Vector3& source, const ::rl::math::Vector3& target, ::rl::math::Real& distance);
64 
65  dSpaceID space;
66 
67  dWorldID world;
68 
69  protected:
70 
71  private:
72  static void bodyNearCallback(void* data, dGeomID o1, dGeomID o2);
73 
74  static void modelNearCallback(void* data, dGeomID o1, dGeomID o2);
75 
76  static void rayNearCallback(void* data, dGeomID o1, dGeomID o2);
77 
78  static void shapeNearCallback(void* data, dGeomID o1, dGeomID o2);
79  };
80  }
81  }
82 }
83 
84 #endif // _RL_SG_ODE_SCENE_H_