add ode

1 files changed, 113 insertions, 0 deletions

diff --git a/libs/ode-0.16.1/OPCODE/Ice/IcePlane.h b/libs/ode-0.16.1/OPCODE/Ice/IcePlane.h
new file mode 100644
index 0000000..4d47081
--- /dev/null
+++ b/libs/ode-0.16.1/OPCODE/Ice/IcePlane.h
@@ -0,0 +1,113 @@
+///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+/**
+ *	Contains code for planes.
+ *	\file		IcePlane.h
+ *	\author		Pierre Terdiman
+ *	\date		April, 4, 2000
+ */
+///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+
+///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+// Include Guard
+#ifndef __ICEPLANE_H__
+#define __ICEPLANE_H__
+
+	#define PLANE_EPSILON		(1.0e-7f)
+
+	class ICEMATHS_API Plane
+	{
+		public:
+		//! Constructor
+		inline_			Plane()															{												}
+		//! Constructor from a normal and a distance
+		inline_			Plane(float nx, float ny, float nz, float d)					{ Set(nx, ny, nz, d);							}
+		//! Constructor from a point on the plane and a normal
+		inline_			Plane(const Point& p, const Point& n)							{ Set(p, n);									}
+		//! Constructor from three points
+		inline_			Plane(const Point& p0, const Point& p1, const Point& p2)		{ Set(p0, p1, p2);								}
+		//! Constructor from a normal and a distance
+		inline_			Plane(const Point& _n, float _d)								{ n = _n; d = _d;								}
+		//! Copy constructor
+		inline_			Plane(const Plane& plane) : n(plane.n), d(plane.d)				{												}
+		//! Destructor
+		inline_			~Plane()														{												}
+
+		inline_	Plane&	Zero()															{ n.Zero(); d = 0.0f;			return *this;	}
+		inline_	Plane&	Set(float nx, float ny, float nz, float _d)						{ n.Set(nx, ny, nz); d = _d;	return *this;	}
+		inline_	Plane&	Set(const Point& p, const Point& _n)							{ n = _n; d = - p | _n;			return *this;	}
+				Plane&	Set(const Point& p0, const Point& p1, const Point& p2);
+
+		inline_	float	Distance(const Point& p)			const						{ return (p | n) + d;							}
+		inline_	bool	Belongs(const Point& p)				const						{ return fabsf(Distance(p)) < PLANE_EPSILON;	}
+
+		inline_	void	Normalize()
+						{
+							float Denom = 1.0f / n.Magnitude();
+							n.x	*= Denom;
+							n.y	*= Denom;
+							n.z	*= Denom;
+							d	*= Denom;
+						}
+		public:
+		// Members
+				Point	n;		//!< The normal to the plane
+				float	d;		//!< The distance from the origin
+
+		// Cast operators
+		inline_			operator Point()					const						{ return n;										}
+		inline_			operator HPoint()					const						{ return HPoint(n, d);							}
+
+		// Arithmetic operators
+		inline_	Plane	operator*(const Matrix4x4& m)		const
+						{
+							// Old code from Irion. Kept for reference.
+							Plane Ret(*this);
+							return Ret *= m;
+						}
+
+		inline_	Plane&	operator*=(const Matrix4x4& m)
+						{
+							// Old code from Irion. Kept for reference.
+							Point n2 = HPoint(n, 0.0f) * m;
+							d = -((Point) (HPoint( -d*n, 1.0f ) * m) | n2);
+							n = n2;
+							return *this;
+						}
+	};
+
+	///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+	/**
+	 *	Transforms a plane by a 4x4 matrix. Same as Plane * Matrix4x4 operator, but faster.
+	 *	\param		transformed	[out] transformed plane
+	 *	\param		plane		[in] source plane
+	 *	\param		transform	[in] transform matrix
+	 *	\warning	the plane normal must be unit-length
+	 */
+	///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+	inline_	void TransformPlane(Plane& transformed, const Plane& plane, const Matrix4x4& transform)
+	{
+		// Rotate the normal using the rotation part of the 4x4 matrix
+		transformed.n = plane.n * Matrix3x3(transform);
+
+		// Compute new d
+		transformed.d = plane.d - (Point(transform.GetTrans())|transformed.n);
+	}
+
+	///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+	/**
+	 *	Transforms a plane by a 4x4 matrix. Same as Plane * Matrix4x4 operator, but faster.
+	 *	\param		plane		[in/out] source plane (transformed on return)
+	 *	\param		transform	[in] transform matrix
+	 *	\warning	the plane normal must be unit-length
+	 */
+	///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+	inline_	void TransformPlane(Plane& plane, const Matrix4x4& transform)
+	{
+		// Rotate the normal using the rotation part of the 4x4 matrix
+		plane.n *= Matrix3x3(transform);
+
+		// Compute new d
+		plane.d -= Point(transform.GetTrans())|plane.n;
+	}
+
+#endif // __ICEPLANE_H__