add ode

1 files changed, 525 insertions, 0 deletions

diff --git a/libs/ode-0.16.1/OPCODE/OPC_LSSAABBOverlap.h b/libs/ode-0.16.1/OPCODE/OPC_LSSAABBOverlap.h
new file mode 100644
index 0000000..c6ba9d3
--- /dev/null
+++ b/libs/ode-0.16.1/OPCODE/OPC_LSSAABBOverlap.h
@@ -0,0 +1,525 @@
+
+// Following code from Magic-Software (http://www.magic-software.com/)
+// A bit modified for Opcode
+
+inline_ float OPC_PointAABBSqrDist(const Point& point, const Point& center, const Point& extents)
+{
+	// Compute coordinates of point in box coordinate system
+	Point Closest = point - center;
+
+	float SqrDistance = 0.0f;
+
+	if(Closest.x < -extents.x)
+	{
+		float Delta = Closest.x + extents.x;
+		SqrDistance += Delta*Delta;
+	}
+	else if(Closest.x > extents.x)
+	{
+		float Delta = Closest.x - extents.x;
+		SqrDistance += Delta*Delta;
+	}
+
+	if(Closest.y < -extents.y)
+	{
+		float Delta = Closest.y + extents.y;
+		SqrDistance += Delta*Delta;
+	}
+	else if(Closest.y > extents.y)
+	{
+		float Delta = Closest.y - extents.y;
+		SqrDistance += Delta*Delta;
+	}
+
+	if(Closest.z < -extents.z)
+	{
+		float Delta = Closest.z + extents.z;
+		SqrDistance += Delta*Delta;
+	}
+	else if(Closest.z > extents.z)
+	{
+		float Delta = Closest.z - extents.z;
+		SqrDistance += Delta*Delta;
+	}
+	return SqrDistance;
+}
+
+static void Face(int i0, int i1, int i2, Point& rkPnt, const Point& rkDir, const Point& extents, const Point& rkPmE, float* pfLParam, float& rfSqrDistance)
+{
+    Point kPpE;
+    float fLSqr, fInv, fTmp, fParam, fT, fDelta;
+
+    kPpE[i1] = rkPnt[i1] + extents[i1];
+    kPpE[i2] = rkPnt[i2] + extents[i2];
+    if(rkDir[i0]*kPpE[i1] >= rkDir[i1]*rkPmE[i0])
+    {
+        if(rkDir[i0]*kPpE[i2] >= rkDir[i2]*rkPmE[i0])
+        {
+            // v[i1] >= -e[i1], v[i2] >= -e[i2] (distance = 0)
+            if(pfLParam)
+            {
+                rkPnt[i0] = extents[i0];
+                fInv = 1.0f/rkDir[i0];
+                rkPnt[i1] -= rkDir[i1]*rkPmE[i0]*fInv;
+                rkPnt[i2] -= rkDir[i2]*rkPmE[i0]*fInv;
+                *pfLParam = -rkPmE[i0]*fInv;
+            }
+        }
+        else
+        {
+            // v[i1] >= -e[i1], v[i2] < -e[i2]
+            fLSqr = rkDir[i0]*rkDir[i0] + rkDir[i2]*rkDir[i2];
+            fTmp = fLSqr*kPpE[i1] - rkDir[i1]*(rkDir[i0]*rkPmE[i0] + rkDir[i2]*kPpE[i2]);
+            if(fTmp <= 2.0f*fLSqr*extents[i1])
+            {
+                fT = fTmp/fLSqr;
+                fLSqr += rkDir[i1]*rkDir[i1];
+                fTmp = kPpE[i1] - fT;
+                fDelta = rkDir[i0]*rkPmE[i0] + rkDir[i1]*fTmp + rkDir[i2]*kPpE[i2];
+                fParam = -fDelta/fLSqr;
+                rfSqrDistance += rkPmE[i0]*rkPmE[i0] + fTmp*fTmp + kPpE[i2]*kPpE[i2] + fDelta*fParam;
+
+                if(pfLParam)
+                {
+                    *pfLParam = fParam;
+                    rkPnt[i0] = extents[i0];
+                    rkPnt[i1] = fT - extents[i1];
+                    rkPnt[i2] = -extents[i2];
+                }
+            }
+            else
+            {
+                fLSqr += rkDir[i1]*rkDir[i1];
+                fDelta = rkDir[i0]*rkPmE[i0] + rkDir[i1]*rkPmE[i1] + rkDir[i2]*kPpE[i2];
+                fParam = -fDelta/fLSqr;
+                rfSqrDistance += rkPmE[i0]*rkPmE[i0] + rkPmE[i1]*rkPmE[i1] + kPpE[i2]*kPpE[i2] + fDelta*fParam;
+
+                if(pfLParam)
+                {
+                    *pfLParam = fParam;
+                    rkPnt[i0] = extents[i0];
+                    rkPnt[i1] = extents[i1];
+                    rkPnt[i2] = -extents[i2];
+                }
+            }
+        }
+    }
+    else
+    {
+        if ( rkDir[i0]*kPpE[i2] >= rkDir[i2]*rkPmE[i0] )
+        {
+            // v[i1] < -e[i1], v[i2] >= -e[i2]
+            fLSqr = rkDir[i0]*rkDir[i0] + rkDir[i1]*rkDir[i1];
+            fTmp = fLSqr*kPpE[i2] - rkDir[i2]*(rkDir[i0]*rkPmE[i0] + rkDir[i1]*kPpE[i1]);
+            if(fTmp <= 2.0f*fLSqr*extents[i2])
+            {
+                fT = fTmp/fLSqr;
+                fLSqr += rkDir[i2]*rkDir[i2];
+                fTmp = kPpE[i2] - fT;
+                fDelta = rkDir[i0]*rkPmE[i0] + rkDir[i1]*kPpE[i1] + rkDir[i2]*fTmp;
+                fParam = -fDelta/fLSqr;
+                rfSqrDistance += rkPmE[i0]*rkPmE[i0] + kPpE[i1]*kPpE[i1] + fTmp*fTmp + fDelta*fParam;
+
+                if(pfLParam)
+                {
+                    *pfLParam = fParam;
+                    rkPnt[i0] = extents[i0];
+                    rkPnt[i1] = -extents[i1];
+                    rkPnt[i2] = fT - extents[i2];
+                }
+            }
+            else
+            {
+                fLSqr += rkDir[i2]*rkDir[i2];
+                fDelta = rkDir[i0]*rkPmE[i0] + rkDir[i1]*kPpE[i1] + rkDir[i2]*rkPmE[i2];
+                fParam = -fDelta/fLSqr;
+                rfSqrDistance += rkPmE[i0]*rkPmE[i0] + kPpE[i1]*kPpE[i1] + rkPmE[i2]*rkPmE[i2] + fDelta*fParam;
+
+                if(pfLParam)
+                {
+                    *pfLParam = fParam;
+                    rkPnt[i0] = extents[i0];
+                    rkPnt[i1] = -extents[i1];
+                    rkPnt[i2] = extents[i2];
+                }
+            }
+        }
+        else
+        {
+            // v[i1] < -e[i1], v[i2] < -e[i2]
+            fLSqr = rkDir[i0]*rkDir[i0]+rkDir[i2]*rkDir[i2];
+            fTmp = fLSqr*kPpE[i1] - rkDir[i1]*(rkDir[i0]*rkPmE[i0] + rkDir[i2]*kPpE[i2]);
+            if(fTmp >= 0.0f)
+            {
+                // v[i1]-edge is closest
+                if ( fTmp <= 2.0f*fLSqr*extents[i1] )
+                {
+                    fT = fTmp/fLSqr;
+                    fLSqr += rkDir[i1]*rkDir[i1];
+                    fTmp = kPpE[i1] - fT;
+                    fDelta = rkDir[i0]*rkPmE[i0] + rkDir[i1]*fTmp + rkDir[i2]*kPpE[i2];
+                    fParam = -fDelta/fLSqr;
+                    rfSqrDistance += rkPmE[i0]*rkPmE[i0] + fTmp*fTmp + kPpE[i2]*kPpE[i2] + fDelta*fParam;
+
+                    if(pfLParam)
+                    {
+                        *pfLParam = fParam;
+                        rkPnt[i0] = extents[i0];
+                        rkPnt[i1] = fT - extents[i1];
+                        rkPnt[i2] = -extents[i2];
+                    }
+                }
+                else
+                {
+                    fLSqr += rkDir[i1]*rkDir[i1];
+                    fDelta = rkDir[i0]*rkPmE[i0] + rkDir[i1]*rkPmE[i1] + rkDir[i2]*kPpE[i2];
+                    fParam = -fDelta/fLSqr;
+                    rfSqrDistance += rkPmE[i0]*rkPmE[i0] + rkPmE[i1]*rkPmE[i1] + kPpE[i2]*kPpE[i2] + fDelta*fParam;
+
+                    if(pfLParam)
+                    {
+                        *pfLParam = fParam;
+                        rkPnt[i0] = extents[i0];
+                        rkPnt[i1] = extents[i1];
+                        rkPnt[i2] = -extents[i2];
+                    }
+                }
+                return;
+            }
+
+            fLSqr = rkDir[i0]*rkDir[i0] + rkDir[i1]*rkDir[i1];
+            fTmp = fLSqr*kPpE[i2] - rkDir[i2]*(rkDir[i0]*rkPmE[i0] + rkDir[i1]*kPpE[i1]);
+            if(fTmp >= 0.0f)
+            {
+                // v[i2]-edge is closest
+                if(fTmp <= 2.0f*fLSqr*extents[i2])
+                {
+                    fT = fTmp/fLSqr;
+                    fLSqr += rkDir[i2]*rkDir[i2];
+                    fTmp = kPpE[i2] - fT;
+                    fDelta = rkDir[i0]*rkPmE[i0] + rkDir[i1]*kPpE[i1] + rkDir[i2]*fTmp;
+                    fParam = -fDelta/fLSqr;
+                    rfSqrDistance += rkPmE[i0]*rkPmE[i0] + kPpE[i1]*kPpE[i1] + fTmp*fTmp + fDelta*fParam;
+
+                    if(pfLParam)
+                    {
+                        *pfLParam = fParam;
+                        rkPnt[i0] = extents[i0];
+                        rkPnt[i1] = -extents[i1];
+                        rkPnt[i2] = fT - extents[i2];
+                    }
+                }
+                else
+                {
+                    fLSqr += rkDir[i2]*rkDir[i2];
+                    fDelta = rkDir[i0]*rkPmE[i0] + rkDir[i1]*kPpE[i1] + rkDir[i2]*rkPmE[i2];
+                    fParam = -fDelta/fLSqr;
+                    rfSqrDistance += rkPmE[i0]*rkPmE[i0] + kPpE[i1]*kPpE[i1] + rkPmE[i2]*rkPmE[i2] + fDelta*fParam;
+
+                    if(pfLParam)
+                    {
+                        *pfLParam = fParam;
+                        rkPnt[i0] = extents[i0];
+                        rkPnt[i1] = -extents[i1];
+                        rkPnt[i2] = extents[i2];
+                    }
+                }
+                return;
+            }
+
+            // (v[i1],v[i2])-corner is closest
+            fLSqr += rkDir[i2]*rkDir[i2];
+            fDelta = rkDir[i0]*rkPmE[i0] + rkDir[i1]*kPpE[i1] + rkDir[i2]*kPpE[i2];
+            fParam = -fDelta/fLSqr;
+            rfSqrDistance += rkPmE[i0]*rkPmE[i0] + kPpE[i1]*kPpE[i1] + kPpE[i2]*kPpE[i2] + fDelta*fParam;
+
+            if(pfLParam)
+            {
+                *pfLParam = fParam;
+                rkPnt[i0] = extents[i0];
+                rkPnt[i1] = -extents[i1];
+                rkPnt[i2] = -extents[i2];
+            }
+        }
+    }
+}
+
+static void CaseNoZeros(Point& rkPnt, const Point& rkDir, const Point& extents, float* pfLParam, float& rfSqrDistance)
+{
+    Point kPmE(rkPnt.x - extents.x, rkPnt.y - extents.y, rkPnt.z - extents.z);
+
+    float fProdDxPy, fProdDyPx, fProdDzPx, fProdDxPz, fProdDzPy, fProdDyPz;
+
+    fProdDxPy = rkDir.x*kPmE.y;
+    fProdDyPx = rkDir.y*kPmE.x;
+    if(fProdDyPx >= fProdDxPy)
+    {
+        fProdDzPx = rkDir.z*kPmE.x;
+        fProdDxPz = rkDir.x*kPmE.z;
+        if(fProdDzPx >= fProdDxPz)
+        {
+            // line intersects x = e0
+            Face(0, 1, 2, rkPnt, rkDir, extents, kPmE, pfLParam, rfSqrDistance);
+        }
+        else
+        {
+            // line intersects z = e2
+            Face(2, 0, 1, rkPnt, rkDir, extents, kPmE, pfLParam, rfSqrDistance);
+        }
+    }
+    else
+    {
+        fProdDzPy = rkDir.z*kPmE.y;
+        fProdDyPz = rkDir.y*kPmE.z;
+        if(fProdDzPy >= fProdDyPz)
+        {
+            // line intersects y = e1
+            Face(1, 2, 0, rkPnt, rkDir, extents, kPmE, pfLParam, rfSqrDistance);
+        }
+        else
+        {
+            // line intersects z = e2
+            Face(2, 0, 1, rkPnt, rkDir, extents, kPmE, pfLParam, rfSqrDistance);
+        }
+    }
+}
+
+static void Case0(int i0, int i1, int i2, Point& rkPnt, const Point& rkDir, const Point& extents, float* pfLParam, float& rfSqrDistance)
+{
+    float fPmE0 = rkPnt[i0] - extents[i0];
+    float fPmE1 = rkPnt[i1] - extents[i1];
+    float fProd0 = rkDir[i1]*fPmE0;
+    float fProd1 = rkDir[i0]*fPmE1;
+    float fDelta, fInvLSqr, fInv;
+
+    if(fProd0 >= fProd1)
+    {
+        // line intersects P[i0] = e[i0]
+        rkPnt[i0] = extents[i0];
+
+        float fPpE1 = rkPnt[i1] + extents[i1];
+        fDelta = fProd0 - rkDir[i0]*fPpE1;
+        if(fDelta >= 0.0f)
+        {
+            fInvLSqr = 1.0f/(rkDir[i0]*rkDir[i0] + rkDir[i1]*rkDir[i1]);
+            rfSqrDistance += fDelta*fDelta*fInvLSqr;
+            if(pfLParam)
+            {
+                rkPnt[i1] = -extents[i1];
+                *pfLParam = -(rkDir[i0]*fPmE0+rkDir[i1]*fPpE1)*fInvLSqr;
+            }
+        }
+        else
+        {
+            if(pfLParam)
+            {
+                fInv = 1.0f/rkDir[i0];
+                rkPnt[i1] -= fProd0*fInv;
+                *pfLParam = -fPmE0*fInv;
+            }
+        }
+    }
+    else
+    {
+        // line intersects P[i1] = e[i1]
+        rkPnt[i1] = extents[i1];
+
+        float fPpE0 = rkPnt[i0] + extents[i0];
+        fDelta = fProd1 - rkDir[i1]*fPpE0;
+        if(fDelta >= 0.0f)
+        {
+            fInvLSqr = 1.0f/(rkDir[i0]*rkDir[i0] + rkDir[i1]*rkDir[i1]);
+            rfSqrDistance += fDelta*fDelta*fInvLSqr;
+            if(pfLParam)
+            {
+                rkPnt[i0] = -extents[i0];
+                *pfLParam = -(rkDir[i0]*fPpE0+rkDir[i1]*fPmE1)*fInvLSqr;
+            }
+        }
+        else
+        {
+            if(pfLParam)
+            {
+                fInv = 1.0f/rkDir[i1];
+                rkPnt[i0] -= fProd1*fInv;
+                *pfLParam = -fPmE1*fInv;
+            }
+        }
+    }
+
+    if(rkPnt[i2] < -extents[i2])
+    {
+        fDelta = rkPnt[i2] + extents[i2];
+        rfSqrDistance += fDelta*fDelta;
+        rkPnt[i2] = -extents[i2];
+    }
+    else if ( rkPnt[i2] > extents[i2] )
+    {
+        fDelta = rkPnt[i2] - extents[i2];
+        rfSqrDistance += fDelta*fDelta;
+        rkPnt[i2] = extents[i2];
+    }
+}
+
+static void Case00(int i0, int i1, int i2, Point& rkPnt, const Point& rkDir, const Point& extents, float* pfLParam, float& rfSqrDistance)
+{
+    float fDelta;
+
+    if(pfLParam)
+        *pfLParam = (extents[i0] - rkPnt[i0])/rkDir[i0];
+
+    rkPnt[i0] = extents[i0];
+
+    if(rkPnt[i1] < -extents[i1])
+    {
+        fDelta = rkPnt[i1] + extents[i1];
+        rfSqrDistance += fDelta*fDelta;
+        rkPnt[i1] = -extents[i1];
+    }
+    else if(rkPnt[i1] > extents[i1])
+    {
+        fDelta = rkPnt[i1] - extents[i1];
+        rfSqrDistance += fDelta*fDelta;
+        rkPnt[i1] = extents[i1];
+    }
+
+    if(rkPnt[i2] < -extents[i2])
+    {
+        fDelta = rkPnt[i2] + extents[i2];
+        rfSqrDistance += fDelta*fDelta;
+        rkPnt[i1] = -extents[i2];
+    }
+    else if(rkPnt[i2] > extents[i2])
+    {
+        fDelta = rkPnt[i2] - extents[i2];
+        rfSqrDistance += fDelta*fDelta;
+        rkPnt[i2] = extents[i2];
+    }
+}
+
+static void Case000(Point& rkPnt, const Point& extents, float& rfSqrDistance)
+{
+    float fDelta;
+
+    if(rkPnt.x < -extents.x)
+    {
+        fDelta = rkPnt.x + extents.x;
+        rfSqrDistance += fDelta*fDelta;
+        rkPnt.x = -extents.x;
+    }
+    else if(rkPnt.x > extents.x)
+    {
+        fDelta = rkPnt.x - extents.x;
+        rfSqrDistance += fDelta*fDelta;
+        rkPnt.x = extents.x;
+    }
+
+    if(rkPnt.y < -extents.y)
+    {
+        fDelta = rkPnt.y + extents.y;
+        rfSqrDistance += fDelta*fDelta;
+        rkPnt.y = -extents.y;
+    }
+    else if(rkPnt.y > extents.y)
+    {
+        fDelta = rkPnt.y - extents.y;
+        rfSqrDistance += fDelta*fDelta;
+        rkPnt.y = extents.y;
+    }
+
+    if(rkPnt.z < -extents.z)
+    {
+        fDelta = rkPnt.z + extents.z;
+        rfSqrDistance += fDelta*fDelta;
+        rkPnt.z = -extents.z;
+    }
+    else if(rkPnt.z > extents.z)
+    {
+        fDelta = rkPnt.z - extents.z;
+        rfSqrDistance += fDelta*fDelta;
+        rkPnt.z = extents.z;
+    }
+}
+
+static float SqrDistance(const Ray& rkLine, const Point& center, const Point& extents, float* pfLParam)
+{
+    // compute coordinates of line in box coordinate system
+    Point kDiff = rkLine.mOrig - center;
+    Point kPnt = kDiff;
+    Point kDir = rkLine.mDir;
+
+#if 0
+    // Apply reflections so that direction vector has nonnegative components.
+    bool bReflect[3];
+    for(int i=0;i<3;i++)
+    {
+        if(kDir[i]<0.0f)
+        {
+            kPnt[i] = -kPnt[i];
+            kDir[i] = -kDir[i];
+            bReflect[i] = true;
+        }
+        else
+        {
+            bReflect[i] = false;
+        }
+    }
+#endif
+
+    float fSqrDistance = 0.0f;
+
+    if(kDir.x>0.0f)
+    {
+        if(kDir.y>0.0f)
+        {
+            if(kDir.z>0.0f)	CaseNoZeros(kPnt, kDir, extents, pfLParam, fSqrDistance);		// (+,+,+)
+            else			Case0(0, 1, 2, kPnt, kDir, extents, pfLParam, fSqrDistance);	// (+,+,0)
+        }
+        else
+        {
+            if(kDir.z>0.0f)	Case0(0, 2, 1, kPnt, kDir, extents, pfLParam, fSqrDistance);	// (+,0,+)
+            else			Case00(0, 1, 2, kPnt, kDir, extents, pfLParam, fSqrDistance);	// (+,0,0)
+        }
+    }
+    else
+    {
+        if(kDir.y>0.0f)
+        {
+            if(kDir.z>0.0f)	Case0(1, 2, 0, kPnt, kDir, extents, pfLParam, fSqrDistance);	// (0,+,+)
+            else			Case00(1, 0, 2, kPnt, kDir, extents, pfLParam, fSqrDistance);	// (0,+,0)
+        }
+        else
+        {
+            if(kDir.z>0.0f)	Case00(2, 0, 1, kPnt, kDir, extents, pfLParam, fSqrDistance);	// (0,0,+)
+            else
+            {
+							Case000(kPnt, extents, fSqrDistance);							// (0,0,0)
+							if(pfLParam)	*pfLParam = 0.0f;
+            }
+        }
+    }
+    return fSqrDistance;
+}
+
+inline_ float OPC_SegmentOBBSqrDist(const Segment& segment, const Point& c0, const Point& e0)
+{
+	float fLP;
+	float fSqrDistance = SqrDistance(Ray(segment.GetOrigin(), segment.ComputeDirection()), c0, e0, &fLP);
+	if(fLP>=0.0f)
+	{
+		if(fLP<=1.0f)	return fSqrDistance;
+		else			return OPC_PointAABBSqrDist(segment.mP1, c0, e0);
+	}
+	else				return OPC_PointAABBSqrDist(segment.mP0, c0, e0);
+}
+
+inline_ BOOL LSSCollider::LSSAABBOverlap(const Point& center, const Point& extents)
+{
+	// Stats
+	mNbVolumeBVTests++;
+
+	float s2 = OPC_SegmentOBBSqrDist(mSeg, center, extents);
+	if(s2<mRadius2)	return TRUE;
+
+	return FALSE;
+}