add ode

1 files changed, 137 insertions, 0 deletions

diff --git a/libs/ode-0.16.1/OPCODE/OPC_AABBTree.h b/libs/ode-0.16.1/OPCODE/OPC_AABBTree.h
new file mode 100644
index 0000000..681be9d
--- /dev/null
+++ b/libs/ode-0.16.1/OPCODE/OPC_AABBTree.h
@@ -0,0 +1,137 @@
+///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+/*
+ *	OPCODE - Optimized Collision Detection
+ *	Copyright (C) 2001 Pierre Terdiman
+ *	Homepage: http://www.codercorner.com/Opcode.htm
+ */
+///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+
+///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+/**
+ *	Contains code for a versatile AABB tree.
+ *	\file		OPC_AABBTree.h
+ *	\author		Pierre Terdiman
+ *	\date		March, 20, 2001
+ */
+///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+
+///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+// Include Guard
+#ifndef __OPC_AABBTREE_H__
+#define __OPC_AABBTREE_H__
+
+#ifdef OPC_NO_NEG_VANILLA_TREE
+	//! TO BE DOCUMENTED
+	#define IMPLEMENT_TREE(base_class, volume)																			\
+		public:																											\
+		/* Constructor / Destructor */																					\
+									base_class();																		\
+									~base_class();																		\
+		/* Data access */																								\
+		inline_	const volume*		Get##volume()	const	{ return &mBV;							}					\
+		/* Clear the last bit */																						\
+		inline_	const base_class*	GetPos()		const	{ return (const base_class*)(mPos&~1);	}					\
+		inline_	const base_class*	GetNeg()		const	{ const base_class* P = GetPos(); return P ? P+1 : null;}	\
+																														\
+		/* We don't need to test both nodes since we can't have one without the other	*/								\
+		inline_	bool				IsLeaf()		const	{ return !GetPos();						}					\
+																														\
+		/* Stats */																										\
+		inline_	udword				GetNodeSize()	const	{ return SIZEOFOBJECT;					}					\
+		protected:																										\
+		/* Tree-independent data */																						\
+		/* Following data always belong to the BV-tree, regardless of what the tree actually contains.*/				\
+		/* Whatever happens we need the two children and the enclosing volume.*/										\
+				volume				mBV;		/* Global bounding-volume enclosing all the node-related primitives */	\
+				size_t				mPos;		/* "Positive" & "Negative" children */
+#else
+	//! TO BE DOCUMENTED
+	#define IMPLEMENT_TREE(base_class, volume)																			\
+		public:																											\
+		/* Constructor / Destructor */																					\
+									base_class();																		\
+									~base_class();																		\
+		/* Data access */																								\
+		inline_	const volume*		Get##volume()	const	{ return &mBV;							}					\
+		/* Clear the last bit */																						\
+		inline_	const base_class*	GetPos()		const	{ return (const base_class*)(mPos&~1);	}					\
+		inline_	const base_class*	GetNeg()		const	{ return (const base_class*)(mNeg&~1);	}					\
+																														\
+/*		inline_	bool				IsLeaf()		const	{ return (!GetPos() && !GetNeg());	}	*/					\
+		/* We don't need to test both nodes since we can't have one without the other	*/								\
+		inline_	bool				IsLeaf()		const	{ return !GetPos();						}					\
+																														\
+		/* Stats */																										\
+		inline_	udword				GetNodeSize()	const	{ return SIZEOFOBJECT;					}					\
+		protected:																										\
+		/* Tree-independent data */																						\
+		/* Following data always belong to the BV-tree, regardless of what the tree actually contains.*/				\
+		/* Whatever happens we need the two children and the enclosing volume.*/										\
+				volume				mBV;		/* Global bounding-volume enclosing all the node-related primitives */	\
+				size_t				mPos;		/* "Positive" child */													\
+				size_t				mNeg;		/* "Negative" child */
+#endif
+
+	typedef		void				(*CullingCallback)		(udword nb_primitives, udword* node_primitives, BOOL need_clipping, void* user_data);
+
+	class OPCODE_API AABBTreeNode
+	{
+									IMPLEMENT_TREE(AABBTreeNode, AABB)
+		public:
+		// Data access
+		inline_	const dTriIndex*		GetPrimitives()		const	{ return mNodePrimitives;	}
+		inline_	udword				GetNbPrimitives()	const	{ return mNbPrimitives;		}
+
+		protected:
+		// Tree-dependent data
+				dTriIndex*	mNodePrimitives;	//!< Node-related primitives (shortcut to a position in mIndices below)
+				udword				mNbPrimitives;		//!< Number of primitives for this node
+		// Internal methods
+				udword				Split(udword axis, AABBTreeBuilder* builder);
+				bool				Subdivide(AABBTreeBuilder* builder);
+				void				_BuildHierarchy(AABBTreeBuilder* builder);
+				void				_Refit(AABBTreeBuilder* builder);
+	};
+
+	///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+	/**
+	 *	User-callback, called for each node by the walking code.
+	 *	\param		current		[in] current node
+	 *	\param		depth		[in] current node's depth
+	 *	\param		user_data	[in] user-defined data
+	 *	\return		true to recurse through children, else false to bypass them
+	 */
+	///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+	typedef		bool				(*WalkingCallback)	(const AABBTreeNode* current, udword depth, void* user_data);
+
+	class OPCODE_API AABBTree : public AABBTreeNode
+	{
+		public:
+		// Constructor / Destructor
+									AABBTree();
+									~AABBTree();
+		// Build
+				bool				Build(AABBTreeBuilder* builder);
+				void				Release();
+
+		// Data access
+		inline_	const dTriIndex*		GetIndices()		const	{ return mIndices;		}	//!< Catch the indices
+		inline_	udword				GetNbNodes()		const	{ return mTotalNbNodes;	}	//!< Catch the number of nodes
+
+		// Infos
+				bool				IsComplete()		const;
+		// Stats
+				udword				ComputeDepth()		const;
+				udword				GetUsedBytes()		const;
+				udword				Walk(WalkingCallback callback, void* user_data) const;
+
+				bool				Refit(AABBTreeBuilder* builder);
+				bool				Refit2(AABBTreeBuilder* builder);
+		private:
+				dTriIndex*				mIndices;			//!< Indices in the app list. Indices are reorganized during build (permutation).
+				AABBTreeNode*		mPool;				//!< Linear pool of nodes for complete trees. Null otherwise. [Opcode 1.3]
+		// Stats
+				udword				mTotalNbNodes;		//!< Number of nodes in the tree.
+	};
+
+#endif // __OPC_AABBTREE_H__