| 122 | |
| 123 | |
| 124 | static void initColliders() |
| 125 | { |
| 126 | int i,j; |
| 127 | |
| 128 | if (colliders_initialized) return; |
| 129 | colliders_initialized = 1; |
| 130 | |
| 131 | memset (colliders,0,sizeof(colliders)); |
| 132 | |
| 133 | // setup space colliders |
| 134 | for (i=dFirstSpaceClass; i <= dLastSpaceClass; i++) { |
| 135 | for (j=0; j < dGeomNumClasses; j++) { |
| 136 | setCollider (i,j,&dCollideSpaceGeom); |
| 137 | } |
| 138 | } |
| 139 | |
| 140 | setCollider (dSphereClass,dSphereClass,&dCollideSphereSphere); |
| 141 | setCollider (dSphereClass,dBoxClass,&dCollideSphereBox); |
| 142 | setCollider (dSphereClass,dPlaneClass,&dCollideSpherePlane); |
| 143 | setCollider (dBoxClass,dBoxClass,&dCollideBoxBox); |
| 144 | setCollider (dBoxClass,dPlaneClass,&dCollideBoxPlane); |
| 145 | setCollider (dCCylinderClass,dSphereClass,&dCollideCCylinderSphere); |
| 146 | setCollider (dCCylinderClass,dBoxClass,&dCollideCCylinderBox); |
| 147 | setCollider (dCCylinderClass,dCCylinderClass,&dCollideCCylinderCCylinder); |
| 148 | setCollider (dCCylinderClass,dPlaneClass,&dCollideCCylinderPlane); |
| 149 | setCollider (dRayClass,dSphereClass,&dCollideRaySphere); |
| 150 | setCollider (dRayClass,dBoxClass,&dCollideRayBox); |
| 151 | setCollider (dRayClass,dCCylinderClass,&dCollideRayCCylinder); |
| 152 | setCollider (dRayClass,dPlaneClass,&dCollideRayPlane); |
| 153 | #ifdef dTRIMESH_ENABLED |
| 154 | setCollider (dTriMeshClass,dSphereClass,&dCollideSTL); |
| 155 | setCollider (dTriMeshClass,dBoxClass,&dCollideBTL); |
| 156 | setCollider (dTriMeshClass,dRayClass,&dCollideRTL); |
| 157 | setCollider (dTriMeshClass,dTriMeshClass,&dCollideTTL); |
| 158 | setCollider (dTriMeshClass,dCCylinderClass,&dCollideCCTL); |
| 159 | #endif |
| 160 | setAllColliders (dGeomTransformClass,&dCollideTransform); |
| 161 | } |
| 162 | |
| 163 | |
| 164 | int dCollide (dxGeom *o1, dxGeom *o2, int flags, dContactGeom *contact, |
no test coverage detected