add ode

1 files changed, 96 insertions, 0 deletions

diff --git a/libs/ode-0.16.1/OPCODE/OPC_SphereCollider.h b/libs/ode-0.16.1/OPCODE/OPC_SphereCollider.h
new file mode 100644
index 0000000..ac6495e
--- /dev/null
+++ b/libs/ode-0.16.1/OPCODE/OPC_SphereCollider.h
@@ -0,0 +1,96 @@
+///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+/*
+ *	OPCODE - Optimized Collision Detection
+ *	Copyright (C) 2001 Pierre Terdiman
+ *	Homepage: http://www.codercorner.com/Opcode.htm
+ */
+///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+
+///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+/**
+ *	Contains code for a sphere collider.
+ *	\file		OPC_SphereCollider.h
+ *	\author		Pierre Terdiman
+ *	\date		June, 2, 2001
+ */
+///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+
+///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+// Include Guard
+#ifndef __OPC_SPHERECOLLIDER_H__
+#define __OPC_SPHERECOLLIDER_H__
+
+	struct OPCODE_API SphereCache : VolumeCache
+	{
+					SphereCache() : Center(0.0f,0.0f,0.0f), FatRadius2(0.0f), FatCoeff(1.1f)	{}
+					~SphereCache()																{}
+
+		// Cached faces signature
+		Point		Center;		//!< Sphere used when performing the query resulting in cached faces
+		float		FatRadius2;	//!< Sphere used when performing the query resulting in cached faces
+		// User settings
+		float		FatCoeff;	//!< mRadius2 multiplier used to create a fat sphere
+	};
+
+	class OPCODE_API SphereCollider : public VolumeCollider
+	{
+		public:
+		// Constructor / Destructor
+											SphereCollider();
+		virtual								~SphereCollider();
+
+		///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+		/**
+		 *	Generic collision query for generic OPCODE models. After the call, access the results:
+		 *	- with GetContactStatus()
+		 *	- with GetNbTouchedPrimitives()
+		 *	- with GetTouchedPrimitives()
+		 *
+		 *	\param		cache			[in/out] a sphere cache
+		 *	\param		sphere			[in] collision sphere in local space
+		 *	\param		model			[in] Opcode model to collide with
+		 *	\param		worlds			[in] sphere's world matrix, or null
+		 *	\param		worldm			[in] model's world matrix, or null
+		 *	\return		true if success
+		 *	\warning	SCALE NOT SUPPORTED. The matrices must contain rotation & translation parts only.
+		 */
+		///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+							bool			Collide(SphereCache& cache, const Sphere& sphere, const Model& model, const Matrix4x4* worlds=null, const Matrix4x4* worldm=null);
+
+		// 
+							bool			Collide(SphereCache& cache, const Sphere& sphere, const AABBTree* tree);
+		protected:
+		// Sphere in model space
+							Point			mCenter;			//!< Sphere center
+							float			mRadius2;			//!< Sphere radius squared
+		// 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			SphereContainsBox(const Point& bc, const Point& be);
+		inline_				BOOL			SphereAABBOverlap(const Point& center, const Point& extents);
+							BOOL			SphereTriOverlap(const Point& vert0, const Point& vert1, const Point& vert2);
+			// Init methods
+							BOOL			InitQuery(SphereCache& cache, const Sphere& sphere, const Matrix4x4* worlds=null, const Matrix4x4* worldm=null);
+	};
+
+	class OPCODE_API HybridSphereCollider : public SphereCollider
+	{
+		public:
+		// Constructor / Destructor
+											HybridSphereCollider();
+		virtual								~HybridSphereCollider();
+
+							bool			Collide(SphereCache& cache, const Sphere& sphere, const HybridModel& model, const Matrix4x4* worlds=null, const Matrix4x4* worldm=null);
+		protected:
+							Container		mTouchedBoxes;
+	};
+
+#endif // __OPC_SPHERECOLLIDER_H__