add ode

1 files changed, 178 insertions, 0 deletions

diff --git a/libs/ode-0.16.1/OPCODE/OPC_TreeBuilders.h b/libs/ode-0.16.1/OPCODE/OPC_TreeBuilders.h
new file mode 100644
index 0000000..66e9480
--- /dev/null
+++ b/libs/ode-0.16.1/OPCODE/OPC_TreeBuilders.h
@@ -0,0 +1,178 @@
+///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+/*
+ *	OPCODE - Optimized Collision Detection
+ *	Copyright (C) 2001 Pierre Terdiman
+ *	Homepage: http://www.codercorner.com/Opcode.htm
+ */
+///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+
+///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+/**
+ *	Contains code for tree builders.
+ *	\file		OPC_TreeBuilders.h
+ *	\author		Pierre Terdiman
+ *	\date		March, 20, 2001
+ */
+///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+
+///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+// Include Guard
+#ifndef __OPC_TREEBUILDERS_H__
+#define __OPC_TREEBUILDERS_H__
+
+	//! Tree splitting rules
+	enum SplittingRules
+	{
+		// Primitive split
+		SPLIT_LARGEST_AXIS		= (1<<0),		//!< Split along the largest axis
+		SPLIT_SPLATTER_POINTS	= (1<<1),		//!< Splatter primitive centers (QuickCD-style)
+		SPLIT_BEST_AXIS			= (1<<2),		//!< Try largest axis, then second, then last
+		SPLIT_BALANCED			= (1<<3),		//!< Try to keep a well-balanced tree
+		SPLIT_FIFTY				= (1<<4),		//!< Arbitrary 50-50 split
+		// Node split
+		SPLIT_GEOM_CENTER		= (1<<5),		//!< Split at geometric center (else split in the middle)
+		//
+		SPLIT_FORCE_DWORD		= 0x7fffffff
+	};
+
+	//! Simple wrapper around build-related settings [Opcode 1.3]
+	struct OPCODE_API BuildSettings
+	{
+		inline_	BuildSettings() : mLimit(1), mRules(SPLIT_FORCE_DWORD)	{}
+        inline_ explicit BuildSettings(udword Rules) : mLimit(1), mRules(Rules)	{}
+
+		udword	mLimit;		//!< Limit number of primitives / node. If limit is 1, build a complete tree (2*N-1 nodes)
+		udword	mRules;		//!< Building/Splitting rules (a combination of SplittingRules flags)
+	};
+
+	class OPCODE_API AABBTreeBuilder
+	{
+		public:
+		//! Constructor
+													AABBTreeBuilder() :
+														mNbPrimitives(0),
+														mNodeBase(null),
+														mCount(0),
+														mNbInvalidSplits(0)		{}
+		//! Destructor
+		virtual										~AABBTreeBuilder()			{}
+
+		///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+		/**
+		 *	Computes the AABB of a set of primitives.
+		 *	\param		primitives		[in] list of indices of primitives
+		 *	\param		nb_prims		[in] number of indices
+		 *	\param		global_box		[out] global AABB enclosing the set of input primitives
+		 *	\return		true if success
+		 */
+		///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+		virtual						bool			ComputeGlobalBox(const dTriIndex* primitives, udword nb_prims, AABB& global_box)	const	= 0;
+
+		///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+		/**
+		 *	Computes the splitting value along a given axis for a given primitive.
+		 *	\param		index			[in] index of the primitive to split
+		 *	\param		axis			[in] axis index (0,1,2)
+		 *	\return		splitting value
+		 */
+		///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+		virtual						float			GetSplittingValue(udword index, udword axis)	const	= 0;
+		virtual						Point			GetSplittingValues(udword index)		const	= 0;
+
+		///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+		/**
+		 *	Computes the splitting value along a given axis for a given node.
+		 *	\param		primitives		[in] list of indices of primitives
+		 *	\param		nb_prims		[in] number of indices
+		 *	\param		global_box		[in] global AABB enclosing the set of input primitives
+		 *	\param		axis			[in] axis index (0,1,2)
+		 *	\return		splitting value
+		 */
+		///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+		virtual						float			GetSplittingValue(const dTriIndex* /*primitives*/, udword /*nb_prims*/, const AABB& global_box, udword axis)	const
+													{
+														// Default split value = middle of the axis (using only the box)
+														return global_box.GetCenter(axis);
+													}
+
+		///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+		/**
+		 *	Validates node subdivision. This is called each time a node is considered for subdivision, during tree building.
+		 *	\param		primitives		[in] list of indices of primitives
+		 *	\param		nb_prims		[in] number of indices
+		 *	\param		global_box		[in] global AABB enclosing the set of input primitives
+		 *	\return		TRUE if the node should be subdivised
+		 */
+		///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+		virtual						BOOL			ValidateSubdivision(const dTriIndex* /*primitives*/, udword nb_prims, const AABB& /*global_box*/)
+													{
+														// Check the user-defined limit
+														if(nb_prims<=mSettings.mLimit)	return FALSE;
+
+														return TRUE;
+													}
+
+									BuildSettings	mSettings;			//!< Splitting rules & split limit [Opcode 1.3]
+									udword			mNbPrimitives;		//!< Total number of primitives.
+									void*			mNodeBase;			//!< Address of node pool [Opcode 1.3]
+		// Stats
+		inline_						void			SetCount(udword nb)				{ mCount=nb;				}
+		inline_						void			IncreaseCount(udword nb)		{ mCount+=nb;				}
+		inline_						udword			GetCount()				const	{ return mCount;			}
+		inline_						void			SetNbInvalidSplits(udword nb)	{ mNbInvalidSplits=nb;		}
+		inline_						void			IncreaseNbInvalidSplits()		{ mNbInvalidSplits++;		}
+		inline_						udword			GetNbInvalidSplits()	const	{ return mNbInvalidSplits;	}
+
+		private:
+									udword			mCount;				//!< Stats: number of nodes created
+									udword			mNbInvalidSplits;	//!< Stats: number of invalid splits
+	};
+
+	class OPCODE_API AABBTreeOfVerticesBuilder : public AABBTreeBuilder
+	{
+		public:
+		//! Constructor
+													AABBTreeOfVerticesBuilder() : mVertexArray(null)	{}
+		//! Destructor
+		virtual										~AABBTreeOfVerticesBuilder()						{}
+
+		override(AABBTreeBuilder)	bool			ComputeGlobalBox(const dTriIndex* primitives, udword nb_prims, AABB& global_box)	const;
+		override(AABBTreeBuilder)	float			GetSplittingValue(udword index, udword axis)									const;
+		override(AABBTreeBuilder)	Point			GetSplittingValues(udword index) const;
+		override(AABBTreeBuilder)	float			GetSplittingValue(const dTriIndex* primitives, udword nb_prims, const AABB& global_box, udword axis)	const;
+
+		const						Point*			mVertexArray;		//!< Shortcut to an app-controlled array of vertices.
+	};
+
+	class OPCODE_API AABBTreeOfAABBsBuilder : public AABBTreeBuilder
+	{
+		public:
+		//! Constructor
+													AABBTreeOfAABBsBuilder() : mAABBArray(null)	{}
+		//! Destructor
+		virtual										~AABBTreeOfAABBsBuilder()					{}
+
+		override(AABBTreeBuilder)	bool			ComputeGlobalBox(const dTriIndex* primitives, udword nb_prims, AABB& global_box)	const;
+		override(AABBTreeBuilder)	float			GetSplittingValue(udword index, udword axis)									const;
+		override(AABBTreeBuilder)	Point			GetSplittingValues(udword index) const;
+
+		const						AABB*			mAABBArray;			//!< Shortcut to an app-controlled array of AABBs.
+	};
+
+	class OPCODE_API AABBTreeOfTrianglesBuilder : public AABBTreeBuilder
+	{
+		public:
+		//! Constructor
+													AABBTreeOfTrianglesBuilder() : mIMesh(null)										{}
+		//! Destructor
+		virtual										~AABBTreeOfTrianglesBuilder()													{}
+
+		override(AABBTreeBuilder)	bool			ComputeGlobalBox(const dTriIndex* primitives, udword nb_prims, AABB& global_box)	const;
+		override(AABBTreeBuilder)	float			GetSplittingValue(udword index, udword axis)									const;
+		override(AABBTreeBuilder)	float			GetSplittingValue(const dTriIndex* primitives, udword nb_prims, const AABB& global_box, udword axis)	const;
+		override(AABBTreeBuilder)	Point			GetSplittingValues(udword index) const;
+
+		const				MeshInterface*			mIMesh;			//!< Shortcut to an app-controlled mesh interface
+	};
+
+#endif // __OPC_TREEBUILDERS_H__