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//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
// You may obtain a copy of the License at
//
// http://www.apache.org/licenses/LICENSE-2.0
//
// Unless required by applicable law or agreed to in writing, software
// distributed under the License is distributed on an "AS IS" BASIS,
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
// See the License for the specific language governing permissions and
// limitations under the License.
#ifndef MUJOCO_SRC_ENGINE_ENGINE_COLLISION_PRIMITIVE_H_
#define MUJOCO_SRC_ENGINE_ENGINE_COLLISION_PRIMITIVE_H_
#include <mujoco/mjdata.h>
#include <mujoco/mjexport.h>
#include <mujoco/mjmodel.h>
// define and extract geom info
#define mjGETINFO \
const mjtNum* pos1 = d->geom_xpos + 3*g1; \
const mjtNum* mat1 = d->geom_xmat + 9*g1; \
const mjtNum* size1 = m->geom_size + 3*g1; \
const mjtNum* pos2 = d->geom_xpos + 3*g2; \
const mjtNum* mat2 = d->geom_xmat + 9*g2; \
const mjtNum* size2 = m->geom_size + 3*g2; \
(void) size1; (void) size2; // size1 and size2 are sometimes unused
#ifdef __cplusplus
extern "C" {
#endif
// raw collision functions (called by mjc_XXX)
int mjraw_SphereCapsule (mjContact* con, mjtNum margin,
const mjtNum* pos1, const mjtNum* mat1, const mjtNum* size1,
const mjtNum* pos2, const mjtNum* mat2, const mjtNum* size2);
int mjraw_CapsuleCapsule(mjContact* con, mjtNum margin,
const mjtNum* pos1, const mjtNum* mat1, const mjtNum* size1,
const mjtNum* pos2, const mjtNum* mat2, const mjtNum* size2);
int mjraw_CapsuleBox (mjContact* con, mjtNum margin,
const mjtNum* pos1, const mjtNum* mat1, const mjtNum* size1,
const mjtNum* pos2, const mjtNum* mat2, const mjtNum* size2);
int mjraw_SphereTriangle(mjContact* con, mjtNum margin,
const mjtNum* s, mjtNum rs,
const mjtNum* t1, const mjtNum* t2, const mjtNum* t3, mjtNum rt);
// plane collisions
MJAPI int mjc_PlaneSphere (const mjModel* m, const mjData* d,
mjContact* con, int g1, int g2, mjtNum margin);
MJAPI int mjc_PlaneCapsule (const mjModel* m, const mjData* d,
mjContact* con, int g1, int g2, mjtNum margin);
MJAPI int mjc_PlaneCylinder (const mjModel* m, const mjData* d,
mjContact* con, int g1, int g2, mjtNum margin);
MJAPI int mjc_PlaneBox (const mjModel* m, const mjData* d,
mjContact* con, int g1, int g2, mjtNum margin);
// sphere and capsule collisions
MJAPI int mjc_SphereSphere (const mjModel* m, const mjData* d,
mjContact* con, int g1, int g2, mjtNum margin);
MJAPI int mjc_SphereCapsule (const mjModel* m, const mjData* d,
mjContact* con, int g1, int g2, mjtNum margin);
MJAPI int mjc_SphereCylinder (const mjModel* m, const mjData* d,
mjContact* con, int g1, int g2, mjtNum margin);
MJAPI int mjc_CapsuleCapsule (const mjModel* m, const mjData* d,
mjContact* con, int g1, int g2, mjtNum margin);
// box collisions: from engine_collision_box.c
MJAPI int mjc_CapsuleBox (const mjModel* m, const mjData* d,
mjContact* con, int g1, int g2, mjtNum margin);
MJAPI int mjc_SphereBox (const mjModel* m, const mjData* d,
mjContact* con, int g1, int g2, mjtNum margin);
MJAPI int mjc_BoxBox (const mjModel* m, const mjData* d,
mjContact* con, int g1, int g2, mjtNum margin);
#ifdef __cplusplus
}
#endif
#endif // MUJOCO_SRC_ENGINE_ENGINE_COLLISION_PRIMITIVE_H_
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