Collision detection

Data Structures
struct	SCALResult
	Structure to receive collision info. More...

Functions
int	CAL_CheckGroupCollision (int group0, int group1, bool multiple, int *nrCols)
int	CAL_CheckLineCollision (int groupID, CAL_scalar x0, CAL_scalar y0, CAL_scalar z0, CAL_scalar x1, CAL_scalar y1, CAL_scalar z1, bool multiple, int *nrCols)
int	CAL_CheckPointCollision (int groupID, CAL_scalar x, CAL_scalar y, CAL_scalar z, bool multiple, int *nrCols)
int	CAL_GetClosestPairs (int groupID0, int groupID1, int *nrPairs)
int	CAL_GetPenetrationDepths (int groupID0, int groupID1, int *nrPairs)
int	CAL_GetResults (void *userResults)

Detailed Description

Function Documentation

int CAL_CheckGroupCollision	(	int	group0,
		int	group1,
		bool	multiple,
		int *	nrCols
	)

Check whether two groups collide. Groups cannot be each others subgroups.

Parameters

group0	The ID of the first group.
group1	The ID of the second group.
multiple	Flag whether to find all results, or just the first (faster).
*nrCols	The number of collisions.

Returns

The function returns CAL_SUCCESS on success, and an errorcode on failure.

int CAL_CheckLineCollision	(	int	groupID,
		CAL_scalar	x0,
		CAL_scalar	y0,
		CAL_scalar	z0,
		CAL_scalar	x1,
		CAL_scalar	y1,
		CAL_scalar	z1,
		bool	multiple,
		int *	nrCols
	)

Check whether a line collides with a group.

Parameters

groupID	The group ID to check with.
x0	The x coordinate of the first point to check.
y0	The y coordinate of the first point to check.
z0	The z coordinate of the first point to check.
x1	The x coordinate of the second point to check.
y1	The y coordinate of the second point to check.
z1	The z coordinate of the second point to check.
multiple	Flag whether to find all results, or just the first (faster).
*nrCols	The number of collisions.

Returns

The function returns CAL_SUCCESS on success, and an errorcode on failure.

int CAL_CheckPointCollision	(	int	groupID,
		CAL_scalar	x,
		CAL_scalar	y,
		CAL_scalar	z,
		bool	multiple,
		int *	nrCols
	)

Check whether a point collides with a group.

Parameters

groupID	The group ID to check with.
x	The x coordinate of the point to check.
y	The y coordinate of the point to check.
z	The z coordinate of the point to check.
multiple	Flag whether to find all results, or just the first (faster).
*nrCols	The number of collisions.

Returns

The function returns CAL_SUCCESS on success, and an errorcode on failure.

int CAL_GetClosestPairs	(	int	groupID0,
		int	groupID1,
		int *	nrPairs
	)

Get the two positions where the distance between two groups is smallest.

Parameters

groupID0	The ID of the first group.
groupID1	The ID of the second group.
nrPairs	The number of results.

Returns

The function returns CAL_SUCCESS on success, and an errorcode on failure.

int CAL_GetPenetrationDepths	(	int	groupID0,
		int	groupID1,
		int *	nrPairs
	)

Get the two positions where the penetration of two groups is largest.

Parameters

groupID0	The ID of the first group.
groupID1	The ID of the second group.
nrPairs	The number of results.

Returns

The function returns CAL_SUCCESS on success, and an errorcode on failure.

int CAL_GetResults

(

void *

userResults

)

Get the results of the objects involved in the last collision check/penetration depth/closest pair.

Parameters

userResults

A list of type SCALResult which contains the results. The client is reponsible of creating the list with the right size (size == count). The results for closest pairs and penetration depths are sorted on distance.

Returns

The function returns CAL_SUCCESS on success, and an errorcode on failure.