add ode

1 files changed, 97 insertions, 0 deletions

diff --git a/libs/ode-0.16.1/OPCODE/OPC_AABBCollider.h b/libs/ode-0.16.1/OPCODE/OPC_AABBCollider.h
new file mode 100644
index 0000000..315d2d3
--- /dev/null
+++ b/libs/ode-0.16.1/OPCODE/OPC_AABBCollider.h
@@ -0,0 +1,97 @@
+///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+/*
+ *	OPCODE - Optimized Collision Detection
+ *	Copyright (C) 2001 Pierre Terdiman
+ *	Homepage: http://www.codercorner.com/Opcode.htm
+ */
+///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+
+///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+/**
+ *	Contains code for an AABB collider.
+ *	\file		OPC_AABBCollider.h
+ *	\author		Pierre Terdiman
+ *	\date		January, 1st, 2002
+ */
+///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+
+///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+// Include Guard
+#ifndef __OPC_AABBCOLLIDER_H__
+#define __OPC_AABBCOLLIDER_H__
+
+	struct OPCODE_API AABBCache : VolumeCache
+	{
+						AABBCache() : FatCoeff(1.1f)
+						{
+							FatBox.mCenter.Zero();
+							FatBox.mExtents.Zero();
+						}
+
+		// Cached faces signature
+		CollisionAABB	FatBox;		//!< Box used when performing the query resulting in cached faces
+		// User settings
+		float			FatCoeff;	//!< mRadius2 multiplier used to create a fat sphere
+	};
+
+	class OPCODE_API AABBCollider : public VolumeCollider
+	{
+		public:
+		// Constructor / Destructor
+											AABBCollider();
+		virtual								~AABBCollider();
+
+		///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+		/**
+		 *	Generic collision query for generic OPCODE models. After the call, access the results:
+		 *	- with GetContactStatus()
+		 *	- with GetNbTouchedPrimitives()
+		 *	- with GetTouchedPrimitives()
+		 *
+		 *	\param		cache			[in/out] a box cache
+		 *	\param		box				[in] collision AABB in world space
+		 *	\param		model			[in] Opcode model to collide with
+		 *	\return		true if success
+		 *	\warning	SCALE NOT SUPPORTED. The matrices must contain rotation & translation parts only.
+		 */
+		///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+							bool			Collide(AABBCache& cache, const CollisionAABB& box, const Model& model);
+		//
+							bool			Collide(AABBCache& cache, const CollisionAABB& box, const AABBTree* tree);
+		protected:
+							CollisionAABB	mBox;			//!< Query box in (center, extents) form
+							Point			mMin;			//!< Query box min point
+							Point			mMax;			//!< Query box max point
+		// Leaf description
+							Point			mLeafVerts[3];	//!< Triangle vertices
+		// Internal methods
+							void			_Collide(const AABBCollisionNode* node);
+							void			_Collide(const AABBNoLeafNode* node);
+							void			_Collide(const AABBQuantizedNode* node);
+							void			_Collide(const AABBQuantizedNoLeafNode* node);
+							void			_Collide(const AABBTreeNode* node);
+							void			_CollideNoPrimitiveTest(const AABBCollisionNode* node);
+							void			_CollideNoPrimitiveTest(const AABBNoLeafNode* node);
+							void			_CollideNoPrimitiveTest(const AABBQuantizedNode* node);
+							void			_CollideNoPrimitiveTest(const AABBQuantizedNoLeafNode* node);
+			// Overlap tests
+		inline_				BOOL			AABBContainsBox(const Point& bc, const Point& be);
+		inline_				BOOL			AABBAABBOverlap(const Point& b, const Point& Pb);
+		inline_				BOOL			TriBoxOverlap();
+			// Init methods
+							BOOL			InitQuery(AABBCache& cache, const CollisionAABB& box);
+	};
+
+	class OPCODE_API HybridAABBCollider : public AABBCollider
+	{
+		public:
+		// Constructor / Destructor
+											HybridAABBCollider();
+		virtual								~HybridAABBCollider();
+
+							bool			Collide(AABBCache& cache, const CollisionAABB& box, const HybridModel& model);
+		protected:
+							Container		mTouchedBoxes;
+	};
+
+#endif // __OPC_AABBCOLLIDER_H__