add ode

1 files changed, 69 insertions, 0 deletions

diff --git a/libs/ode-0.16.1/libccd/src/custom/ccdcustom/quat.h b/libs/ode-0.16.1/libccd/src/custom/ccdcustom/quat.h
new file mode 100644
index 0000000..157dd85
--- /dev/null
+++ b/libs/ode-0.16.1/libccd/src/custom/ccdcustom/quat.h
@@ -0,0 +1,69 @@
+/***
+ * libccd
+ * ---------------------------------
+ * Copyright (c)2010 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_CUSTOM_QUAT_H__
+#define __CCD_CUSTOM_QUAT_H__
+
+#include <ccd/quat.h>
+
+#ifdef __cplusplus
+extern "C" {
+#endif /* __cplusplus */
+
+/**
+ * Rotate vector s by quaternion q and put result into d.
+ */
+_ccd_inline void ccdQuatRotVec2(ccd_vec3_t *d, const ccd_vec3_t *s, const ccd_quat_t *q);
+
+
+_ccd_inline void ccdQuatRotVec2(ccd_vec3_t *d, const ccd_vec3_t *s, const ccd_quat_t *q)
+{
+#ifndef dLIBCCD_USE_SYSTEM
+    // original version: 31 mul + 21 add
+    // optimized version: 18 mul + 12 add
+    // formula: d = s + 2 * cross(q.xyz, cross(q.xyz, v) + q.w * s)
+    ccd_real_t cross1_x, cross1_y, cross1_z, cross2_x, cross2_y, cross2_z;
+    ccd_real_t x, y, z, w;
+    ccd_real_t vx, vy, vz;
+
+    vx = ccdVec3X(s);
+    vy = ccdVec3Y(s);
+    vz = ccdVec3Z(s);
+
+    w = q->q[3];
+    x = q->q[0];
+    y = q->q[1];
+    z = q->q[2];
+
+    cross1_x = y * vz - z * vy + w * vx;
+    cross1_y = z * vx - x * vz + w * vy;
+    cross1_z = x * vy - y * vx + w * vz;
+    cross2_x = y * cross1_z - z * cross1_y;
+    cross2_y = z * cross1_x - x * cross1_z;
+    cross2_z = x * cross1_y - y * cross1_x;
+    ccdVec3Set(d, vx + 2 * cross2_x, vy + 2 * cross2_y, vz + 2 * cross2_z);
+#else
+    ccdVec3Copy(d, s);
+    ccdQuatRotVec(d, q);
+#endif
+}
+
+#ifdef __cplusplus
+} /* extern "C" */
+#endif /* __cplusplus */
+
+#endif /* __CCD_QUAT_H__ */