add ode

1 files changed, 128 insertions, 0 deletions

diff --git a/libs/ode-0.16.1/OPCODE/OPC_SphereAABBOverlap.h b/libs/ode-0.16.1/OPCODE/OPC_SphereAABBOverlap.h
new file mode 100644
index 0000000..2278bc0
--- /dev/null
+++ b/libs/ode-0.16.1/OPCODE/OPC_SphereAABBOverlap.h
@@ -0,0 +1,128 @@
+///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+/**
+ *	Sphere-AABB overlap test, based on Jim Arvo's code.
+ *	\param		center		[in] box center
+ *	\param		extents		[in] box extents
+ *	\return		TRUE on overlap
+ */
+///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+inline_ BOOL SphereCollider::SphereAABBOverlap(const Point& center, const Point& extents)
+{ 
+	// Stats
+	mNbVolumeBVTests++;
+
+	float d = 0.0f;
+
+	//find the square of the distance
+	//from the sphere to the box
+#ifdef OLDIES
+	for(udword i=0;i<3;i++)
+	{
+		float tmp = mCenter[i] - center[i];
+		float s = tmp + extents[i];
+
+		if(s<0.0f)	d += s*s;
+		else
+		{
+			s = tmp - extents[i];
+			if(s>0.0f)	d += s*s;
+		}
+	}
+#endif
+
+//#ifdef NEW_TEST
+
+//	float tmp = mCenter.x - center.x;
+//	float s = tmp + extents.x;
+
+	float tmp,s;
+
+	tmp = mCenter.x - center.x;
+	s = tmp + extents.x;
+
+	if(s<0.0f)
+	{
+		d += s*s;
+		if(d>mRadius2)	return FALSE;
+	}
+	else
+	{
+		s = tmp - extents.x;
+		if(s>0.0f)
+		{
+			d += s*s;
+			if(d>mRadius2)	return FALSE;
+		}
+	}
+
+	tmp = mCenter.y - center.y;
+	s = tmp + extents.y;
+
+	if(s<0.0f)
+	{
+		d += s*s;
+		if(d>mRadius2)	return FALSE;
+	}
+	else
+	{
+		s = tmp - extents.y;
+		if(s>0.0f)
+		{
+			d += s*s;
+			if(d>mRadius2)	return FALSE;
+		}
+	}
+
+	tmp = mCenter.z - center.z;
+	s = tmp + extents.z;
+
+	if(s<0.0f)
+	{
+		d += s*s;
+		if(d>mRadius2)	return FALSE;
+	}
+	else
+	{
+		s = tmp - extents.z;
+		if(s>0.0f)
+		{
+			d += s*s;
+			if(d>mRadius2)	return FALSE;
+		}
+	}
+//#endif
+
+#ifdef OLDIES
+//	Point Min = center - extents;
+//	Point Max = center + extents;
+
+	float d = 0.0f;
+
+	//find the square of the distance
+	//from the sphere to the box
+	for(udword i=0;i<3;i++)
+	{
+float Min = center[i] - extents[i];
+
+//		if(mCenter[i]<Min[i])
+		if(mCenter[i]<Min)
+		{
+//			float s = mCenter[i] - Min[i];
+			float s = mCenter[i] - Min;
+			d += s*s;
+		}
+		else
+		{
+float Max = center[i] + extents[i];
+
+//			if(mCenter[i]>Max[i])
+			if(mCenter[i]>Max)
+			{
+				float s = mCenter[i] - Max;
+				d += s*s;
+			}
+		}
+	}
+#endif
+	return d <= mRadius2;
+}