add ode

1 files changed, 280 insertions, 0 deletions

diff --git a/libs/ode-0.16.1/OPCODE/OPC_MeshInterface.h b/libs/ode-0.16.1/OPCODE/OPC_MeshInterface.h
new file mode 100644
index 0000000..c404948
--- /dev/null
+++ b/libs/ode-0.16.1/OPCODE/OPC_MeshInterface.h
@@ -0,0 +1,280 @@
+///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+/*
+ *	OPCODE - Optimized Collision Detection
+ *	Copyright (C) 2001 Pierre Terdiman
+ *	Homepage: http://www.codercorner.com/Opcode.htm
+ */
+///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+
+///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+/**
+ *	Contains a mesh interface.
+ *	\file		OPC_MeshInterface.h
+ *	\author		Pierre Terdiman
+ *	\date		November, 27, 2002
+ */
+///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+
+///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+// Include Guard
+#ifndef __OPC_MESHINTERFACE_H__
+#define __OPC_MESHINTERFACE_H__
+
+	struct VertexPointers
+	{
+		const Point*	Vertex[3];
+		
+		bool BackfaceCulling(const Point& source)
+		{
+			const Point& p0 = *Vertex[0];
+			const Point& p1 = *Vertex[1];
+			const Point& p2 = *Vertex[2];
+
+			// Compute normal direction
+			Point Normal = (p2 - p1)^(p0 - p1);
+
+			// Backface culling
+			return (Normal | (source - p0)) >= 0.0f;
+		}
+	};
+
+	struct VertexPointersEx
+	{
+		VertexPointers	vp;
+		dTriIndex	Index[3];
+	};
+
+	typedef			Point				ConversionArea[3];
+
+#ifdef OPC_USE_CALLBACKS
+	///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+	/**
+	 *	User-callback, called by OPCODE to request vertices from the app.
+	 *	\param		triangle_index	[in] face index for which the system is requesting the vertices
+	 *	\param		triangle		[out] triangle's vertices (must be provided by the user)
+	 *	\param		user_data		[in] user-defined data from SetCallback()
+	 */
+	///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+	typedef void	(*RequestCallback)	(udword triangle_index, VertexPointers& triangle, void* user_data);
+
+	///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+	/**
+	*	User-callback, called by OPCODE to request vertex indices from the app.
+	*	\param		triangle_index	[in] face index for which the system is requesting the vertices
+	*	\param		triangle		[out] triangle's vertices with indices (must be provided by the user)
+	*	\param		user_data		[in] user-defined data from SetExCallback()
+	*/
+	///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+	typedef void	(*RequestExCallback)	(udword triangle_index, VertexPointersEx& triangle, void* user_data);
+#endif
+
+	class OPCODE_API MeshInterface
+	{
+		public:
+		// Constructor / Destructor
+											MeshInterface();
+											~MeshInterface();
+		// Common settings
+		inline_			udword				GetNbTriangles()	const	{ return mNbTris;	}
+		inline_			udword				GetNbVertices()		const	{ return mNbVerts;	}
+		inline_			void				SetNbTriangles(udword nb)	{ mNbTris = nb;		}
+		inline_			void				SetNbVertices(udword nb)	{ mNbVerts = nb;	}
+
+#ifdef OPC_USE_CALLBACKS
+		// Callback settings
+
+		///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+		/**
+		 *	Callback control: setups object callback. Must provide triangle-vertices for a given triangle index.
+		 *	\param		callback	[in] user-defined callback
+		 *	\param		user_data	[in] user-defined data
+		 *	\return		true if success
+		 */
+		///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+						bool				SetCallback(RequestCallback callback, void* user_data);
+		inline_			void*				GetUserData()		const	{ return mUserData;		}
+		inline_			RequestCallback		GetCallback()		const	{ return mObjCallback;	}
+
+		///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+		/**
+		*	Callback control: setups object callback. Must provide triangle-vertices for a given triangle index.
+		*	\param		callback	[in] user-defined callback
+		*	\param		user_data	[in] user-defined data
+		*	\return		true if success
+		*/
+		///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+		bool				SetExCallback(RequestExCallback callback, void* user_data);
+		inline_			void*				GetExUserData()		const	{ return mExUserData;		}
+		inline_			RequestExCallback	GetExCallback()		const	{ return mObjExCallback;	}
+#else
+		// Pointers settings
+
+		///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+		/**
+		 *	Pointers control: setups object pointers. Must provide access to faces and vertices for a given object.
+		 *	\param		tris	[in] pointer to triangles
+		 *	\param		verts	[in] pointer to vertices
+		 *	\return		true if success
+		 */
+		///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+						bool				SetPointers(const IndexedTriangle* tris, const Point* verts);
+		inline_	const	IndexedTriangle*	GetTris()			const	{ return mTris;			}
+		inline_	const	Point*				GetVerts()			const	{ return mVerts;		}
+
+	#ifdef OPC_USE_STRIDE
+		// Strides settings
+
+		///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+		/**
+		 *	Strides control
+		 *	\param		tri_stride		[in] size of a triangle in bytes. The first sizeof(IndexedTriangle) bytes are used to get vertex indices.
+		 *	\param		vertex_stride	[in] size of a vertex in bytes. The first sizeof(Point) bytes are used to get vertex position.
+		 *	\return		true if success
+		 */
+		///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+						bool				SetStrides(udword tri_stride=sizeof(IndexedTriangle), udword vertex_stride=sizeof(Point));
+		inline_			udword				GetTriStride()		const	{ return mTriStride;	}
+		inline_			udword				GetVertexStride()	const	{ return mVertexStride;	}
+
+		///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+		/**
+		*	Single/Double control
+		*	\param		value		[in] Indicates if mesh data is provided as array of \c single values. If \c false, data is expected to contain \c double elements.
+		*/
+		///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+		inline_			void				SetSingle(bool value)
+											{
+												mFetchTriangle = (value ? &MeshInterface::FetchTriangleFromSingles : &MeshInterface::FetchTriangleFromDoubles);
+												mFetchExTriangle = (value ? &MeshInterface::FetchExTriangleFromSingles : &MeshInterface::FetchExTriangleFromDoubles);
+											}
+
+	#else
+		inline_			bool				SetStrides(udword tri_stride=sizeof(IndexedTriangle), udword vertex_stride=sizeof(Point)) { return true; }
+		inline_			void				SetSingle(bool value) {}
+		inline_			udword				GetTriStride()		const	{ return sizeof(IndexedTriangle);	}
+		inline_			udword				GetVertexStride()	const	{ return sizeof(Point);	}
+	#endif
+#endif
+
+		///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+		/**
+		 *	Fetches a triangle given a triangle index.
+		 *	\param		vp		[out] required triangle's vertex pointers
+		 *	\param		index	[in] triangle index
+		 *	\param		vc      [in,out] storage required for data conversion (pass local variable with same scope as \a vp, as \a vp may point to this memory on return)
+		 */
+		///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+		inline_			void				GetTriangle(VertexPointers& vp, udword index, ConversionArea vc)	const
+											{
+#ifdef OPC_USE_CALLBACKS
+												(mObjCallback)(index, vp, mUserData);
+#else
+	#ifdef OPC_USE_STRIDE
+												// Since there was conditional statement "if (Single)" which was unpredictable for compiler 
+												// and required both branches to be always generated what made inlining a questionable 
+												// benefit, I consider it better to introduce a forced call
+												// but get rig of branching and dead code injection.
+												((*this).*mFetchTriangle)(vp, index, vc);
+	#else
+												const Point* Verts = GetVerts();
+												const IndexedTriangle* T = &mTris[index];
+												vp.Vertex[0] = &Verts[T->mVRef[0]];
+												vp.Vertex[1] = &Verts[T->mVRef[1]];
+												vp.Vertex[2] = &Verts[T->mVRef[2]];
+	#endif
+#endif
+											}
+
+		inline_			bool				GetExTriangle(VertexPointersEx& vpe, udword index, ConversionArea vc)	const
+											{
+#ifdef OPC_USE_CALLBACKS
+												if (mObjExCallback) { (mObjExCallback)(index, vpe, mUserData); return true; }
+												else { (mObjCallback)(index, vpe.vp, mUserData); return false; }
+#else
+	#ifdef OPC_USE_STRIDE
+												// Since there was conditional statement "if (Single)" which was unpredictable for compiler 
+												// and required both branches to be always generated what made inlining a questionable 
+												// benefit, I consider it better to introduce a forced call
+												// but get rig of branching and dead code injection.
+												((*this).*mFetchExTriangle)(vpe, index, vc);
+												return true;
+	#else
+												const Point* Verts = GetVerts();
+												const IndexedTriangle* T = &mTris[index];
+												dTriIndex VertIndex0 = T->mVRef[0];
+												vpe.Index[0] = VertIndex0;
+												vpe.vp.Vertex[0] = &Verts[VertIndex0];
+												dTriIndex VertIndex1 = T->mVRef[1];
+												vpe.Index[1] = VertIndex1;
+												vpe.vp.Vertex[1] = &Verts[VertIndex1];
+												dTriIndex VertIndex2 = T->mVRef[2];
+												vpe.Index[2] = VertIndex2;
+												vpe.vp.Vertex[2] = &Verts[VertIndex2];
+												return true;
+	#endif
+#endif
+											}
+
+		private:
+#ifndef OPC_USE_CALLBACKS
+	#ifdef OPC_USE_STRIDE
+		void				FetchTriangleFromSingles(VertexPointers& vp, udword index, ConversionArea vc) const;
+		void				FetchTriangleFromDoubles(VertexPointers& vp, udword index, ConversionArea vc) const;
+		void				FetchExTriangleFromSingles(VertexPointersEx& vpe, udword index, ConversionArea vc) const;
+		void				FetchExTriangleFromDoubles(VertexPointersEx& vpe, udword index, ConversionArea vc) const;
+	#endif
+#endif
+
+		public:
+		///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+		/**
+		 *	Remaps client's mesh according to a permutation.
+		 *	\param		nb_indices	[in] number of indices in the permutation (will be checked against number of triangles)
+		 *	\param		permutation	[in] list of triangle indices
+		 *	\return		true if success
+		 */
+		///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+		bool				RemapClient(udword nb_indices, const dTriIndex* permutation)	const;
+
+		///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+		/**
+		 *	Checks the mesh interface is valid, i.e. things have been setup correctly.
+		 *	\return		true if valid
+		 */
+		///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+						bool				IsValid()		const;
+
+		///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+		/**
+		 *	Checks the mesh itself is valid.
+		 *	Currently we only look for degenerate faces.
+		 *	\return		number of degenerate faces
+		 */
+		///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+						udword				CheckTopology()	const;
+		private:
+
+						udword				mNbTris;			//!< Number of triangles in the input model
+						udword				mNbVerts;			//!< Number of vertices in the input model
+#ifdef OPC_USE_CALLBACKS
+		// User callback
+						void*				mUserData;			//!< User-defined data sent to callback
+						RequestCallback		mObjCallback;		//!< Object callback
+						void*				mExUserData;		//!< User-defined data sent to ex-callback
+						RequestExCallback	mObjExCallback;		//!< Object ex-callback
+#else
+		// User pointers
+	#ifdef OPC_USE_STRIDE
+						udword				mTriStride;			//!< Possible triangle stride in bytes [Opcode 1.3]
+						udword				mVertexStride;		//!< Possible vertex stride in bytes [Opcode 1.3]
+				typedef	void (MeshInterface:: *TriangleFetchProc)(VertexPointers& vp, udword index, ConversionArea vc) const;
+						TriangleFetchProc	mFetchTriangle;
+				typedef	void (MeshInterface:: *ExTriangleFetchProc)(VertexPointersEx& vpe, udword index, ConversionArea vc) const;
+						ExTriangleFetchProc	mFetchExTriangle;
+	#endif
+						const	IndexedTriangle*	mTris;				//!< Array of indexed triangles
+						const	Point*				mVerts;				//!< Array of vertices
+#endif
+	};
+
+#endif //__OPC_MESHINTERFACE_H__