add ode

1 files changed, 148 insertions, 0 deletions

diff --git a/libs/ode-0.16.1/libccd/src/ccd/ccd.h b/libs/ode-0.16.1/libccd/src/ccd/ccd.h
new file mode 100644
index 0000000..3aaba8a
--- /dev/null
+++ b/libs/ode-0.16.1/libccd/src/ccd/ccd.h
@@ -0,0 +1,148 @@
+/***
+ * libccd
+ * ---------------------------------
+ * Copyright (c)2010,2011 Daniel Fiser <danfis@danfis.cz>
+ *
+ *
+ *  This file is part of libccd.
+ *
+ *  Distributed under the OSI-approved BSD License (the "License");
+ *  see accompanying file BDS-LICENSE for details or see
+ *  <http://www.opensource.org/licenses/bsd-license.php>.
+ *
+ *  This software is distributed WITHOUT ANY WARRANTY; without even the
+ *  implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
+ *  See the License for more information.
+ */
+
+#ifndef __CCD_H__
+#define __CCD_H__
+
+#include <ccd/precision.h>
+
+#include <ccd/vec3.h>
+
+#ifdef __cplusplus
+extern "C" {
+#endif /* __cplusplus */
+
+/**
+ * Type of *support* function that takes pointer to 3D object and direction
+ * and returns (via vec argument) furthest point from object in specified
+ * direction.
+ */
+typedef void (*ccd_support_fn)(const void *obj, const ccd_vec3_t *dir,
+                               ccd_vec3_t *vec);
+
+/**
+ * Returns (via dir argument) first direction vector that will be used in
+ * initialization of algorithm.
+ */
+typedef void (*ccd_first_dir_fn)(const void *obj1, const void *obj2,
+                                 ccd_vec3_t *dir);
+
+
+/**
+ * Returns (via center argument) geometric center (some point near center)
+ * of given object.
+ */
+typedef void (*ccd_center_fn)(const void *obj1, ccd_vec3_t *center);
+
+/**
+ * Main structure of CCD algorithm.
+ */
+struct _ccd_t {
+    ccd_first_dir_fn first_dir; /*!< Returns initial direction where first
+                                  !< support point will be searched*/
+    ccd_support_fn support1; /*!< Function that returns support point of
+                               !< first object*/
+    ccd_support_fn support2; /*!< Function that returns support point of
+                               !< second object*/
+
+    ccd_center_fn center1; /*!< Function that returns geometric center of
+                             !< first object*/
+    ccd_center_fn center2; /*!< Function that returns geometric center of
+                             !< second object*/
+
+    unsigned long max_iterations; /*!< Maximal number of iterations*/
+    ccd_real_t epa_tolerance;
+    ccd_real_t mpr_tolerance; /*!< Boundary tolerance for MPR algorithm*/
+};
+typedef struct _ccd_t ccd_t;
+
+/**
+ * Default first direction.
+ */
+void ccdFirstDirDefault(const void *o1, const void *o2, ccd_vec3_t *dir);
+
+#define CCD_INIT(ccd) \
+    do { \
+        (ccd)->first_dir = ccdFirstDirDefault; \
+        (ccd)->support1 = NULL; \
+        (ccd)->support2 = NULL; \
+        (ccd)->center1  = NULL; \
+        (ccd)->center2  = NULL; \
+        \
+        (ccd)->max_iterations = (unsigned long)-1; \
+        (ccd)->epa_tolerance = CCD_REAL(0.0001); \
+        (ccd)->mpr_tolerance = CCD_REAL(0.0001); \
+    } while(0)
+
+
+/**
+ * Returns true if two given objects interest.
+ */
+int ccdGJKIntersect(const void *obj1, const void *obj2, const ccd_t *ccd);
+
+/**
+ * This function computes separation vector of two objects. Separation
+ * vector is minimal translation of obj2 to get obj1 and obj2 speparated
+ * (without intersection).
+ * Returns 0 if obj1 and obj2 intersect and sep is filled with translation
+ * vector. If obj1 and obj2 don't intersect -1 is returned.
+ */
+int ccdGJKSeparate(const void *obj1, const void *obj2, const ccd_t *ccd,
+                   ccd_vec3_t *sep);
+
+/**
+ * Computes penetration of obj2 into obj1.
+ * Depth of penetration, direction and position is returned. It means that
+ * if obj2 is translated by distance depth in direction dir objects will
+ * have touching contact, pos should be position in global coordinates
+ * where force should take a place.
+ *
+ * CCD+EPA algorithm is used.
+ *
+ * Returns 0 if obj1 and obj2 intersect and depth, dir and pos are filled
+ * if given non-NULL pointers.
+ * If obj1 and obj2 don't intersect -1 is returned.
+ */
+int ccdGJKPenetration(const void *obj1, const void *obj2, const ccd_t *ccd,
+                      ccd_real_t *depth, ccd_vec3_t *dir, ccd_vec3_t *pos);
+
+
+/**
+ * Returns true if two given objects intersect - MPR algorithm is used.
+ */
+int ccdMPRIntersect(const void *obj1, const void *obj2, const ccd_t *ccd);
+
+/**
+ * Computes penetration of obj2 into obj1.
+ * Depth of penetration, direction and position is returned, i.e. if obj2
+ * is translated by computed depth in resulting direction obj1 and obj2
+ * would have touching contact. Position is point in global coordinates
+ * where force should be take a place.
+ *
+ * Minkowski Portal Refinement algorithm is used (MPR, a.k.a. XenoCollide,
+ * see Game Programming Gem 7).
+ *
+ * Returns 0 if obj1 and obj2 intersect, otherwise -1 is returned.
+ */
+int ccdMPRPenetration(const void *obj1, const void *obj2, const ccd_t *ccd,
+                      ccd_real_t *depth, ccd_vec3_t *dir, ccd_vec3_t *pos);
+
+#ifdef __cplusplus
+} /* extern "C" */
+#endif /* __cplusplus */
+
+#endif /* __CCD_H__ */