add ode

1 files changed, 215 insertions, 0 deletions

diff --git a/libs/ode-0.16.1/libccd/src/vec3.c b/libs/ode-0.16.1/libccd/src/vec3.c
new file mode 100644
index 0000000..f1a0804
--- /dev/null
+++ b/libs/ode-0.16.1/libccd/src/vec3.c
@@ -0,0 +1,215 @@
+/***
+ * 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.
+ */
+
+#include <stdio.h>
+#include <ccd/vec3.h>
+#include <ccd/dbg.h>
+
+#ifdef HAVE_CONFIG_H
+#include "config.h"
+#endif
+
+static CCD_VEC3(__ccd_vec3_origin, CCD_ZERO, CCD_ZERO, CCD_ZERO);
+ccd_vec3_t *ccd_vec3_origin = &__ccd_vec3_origin;
+
+static ccd_vec3_t points_on_sphere[] = {
+	CCD_VEC3_STATIC(CCD_REAL( 0.000000), CCD_REAL(-0.000000), CCD_REAL(-1.000000)),
+	CCD_VEC3_STATIC(CCD_REAL( 0.723608), CCD_REAL(-0.525725), CCD_REAL(-0.447219)),
+	CCD_VEC3_STATIC(CCD_REAL(-0.276388), CCD_REAL(-0.850649), CCD_REAL(-0.447219)),
+	CCD_VEC3_STATIC(CCD_REAL(-0.894426), CCD_REAL(-0.000000), CCD_REAL(-0.447216)),
+	CCD_VEC3_STATIC(CCD_REAL(-0.276388), CCD_REAL( 0.850649), CCD_REAL(-0.447220)),
+	CCD_VEC3_STATIC(CCD_REAL( 0.723608), CCD_REAL( 0.525725), CCD_REAL(-0.447219)),
+	CCD_VEC3_STATIC(CCD_REAL( 0.276388), CCD_REAL(-0.850649), CCD_REAL( 0.447220)),
+	CCD_VEC3_STATIC(CCD_REAL(-0.723608), CCD_REAL(-0.525725), CCD_REAL( 0.447219)),
+	CCD_VEC3_STATIC(CCD_REAL(-0.723608), CCD_REAL( 0.525725), CCD_REAL( 0.447219)),
+	CCD_VEC3_STATIC(CCD_REAL( 0.276388), CCD_REAL( 0.850649), CCD_REAL( 0.447219)),
+	CCD_VEC3_STATIC(CCD_REAL( 0.894426), CCD_REAL( 0.000000), CCD_REAL( 0.447216)),
+	CCD_VEC3_STATIC(CCD_REAL(-0.000000), CCD_REAL( 0.000000), CCD_REAL( 1.000000)), 
+	CCD_VEC3_STATIC(CCD_REAL( 0.425323), CCD_REAL(-0.309011), CCD_REAL(-0.850654)),
+	CCD_VEC3_STATIC(CCD_REAL(-0.162456), CCD_REAL(-0.499995), CCD_REAL(-0.850654)),
+	CCD_VEC3_STATIC(CCD_REAL( 0.262869), CCD_REAL(-0.809012), CCD_REAL(-0.525738)),
+	CCD_VEC3_STATIC(CCD_REAL( 0.425323), CCD_REAL( 0.309011), CCD_REAL(-0.850654)),
+	CCD_VEC3_STATIC(CCD_REAL( 0.850648), CCD_REAL(-0.000000), CCD_REAL(-0.525736)),
+	CCD_VEC3_STATIC(CCD_REAL(-0.525730), CCD_REAL(-0.000000), CCD_REAL(-0.850652)),
+	CCD_VEC3_STATIC(CCD_REAL(-0.688190), CCD_REAL(-0.499997), CCD_REAL(-0.525736)),
+	CCD_VEC3_STATIC(CCD_REAL(-0.162456), CCD_REAL( 0.499995), CCD_REAL(-0.850654)),
+	CCD_VEC3_STATIC(CCD_REAL(-0.688190), CCD_REAL( 0.499997), CCD_REAL(-0.525736)),
+	CCD_VEC3_STATIC(CCD_REAL( 0.262869), CCD_REAL( 0.809012), CCD_REAL(-0.525738)),
+	CCD_VEC3_STATIC(CCD_REAL( 0.951058), CCD_REAL( 0.309013), CCD_REAL( 0.000000)),
+	CCD_VEC3_STATIC(CCD_REAL( 0.951058), CCD_REAL(-0.309013), CCD_REAL( 0.000000)),
+	CCD_VEC3_STATIC(CCD_REAL( 0.587786), CCD_REAL(-0.809017), CCD_REAL( 0.000000)),
+	CCD_VEC3_STATIC(CCD_REAL( 0.000000), CCD_REAL(-1.000000), CCD_REAL( 0.000000)),
+	CCD_VEC3_STATIC(CCD_REAL(-0.587786), CCD_REAL(-0.809017), CCD_REAL( 0.000000)),
+	CCD_VEC3_STATIC(CCD_REAL(-0.951058), CCD_REAL(-0.309013), CCD_REAL(-0.000000)),
+	CCD_VEC3_STATIC(CCD_REAL(-0.951058), CCD_REAL( 0.309013), CCD_REAL(-0.000000)),
+	CCD_VEC3_STATIC(CCD_REAL(-0.587786), CCD_REAL( 0.809017), CCD_REAL(-0.000000)),
+	CCD_VEC3_STATIC(CCD_REAL(-0.000000), CCD_REAL( 1.000000), CCD_REAL(-0.000000)),
+	CCD_VEC3_STATIC(CCD_REAL( 0.587786), CCD_REAL( 0.809017), CCD_REAL(-0.000000)),
+	CCD_VEC3_STATIC(CCD_REAL( 0.688190), CCD_REAL(-0.499997), CCD_REAL( 0.525736)),
+	CCD_VEC3_STATIC(CCD_REAL(-0.262869), CCD_REAL(-0.809012), CCD_REAL( 0.525738)),
+	CCD_VEC3_STATIC(CCD_REAL(-0.850648), CCD_REAL( 0.000000), CCD_REAL( 0.525736)),
+	CCD_VEC3_STATIC(CCD_REAL(-0.262869), CCD_REAL( 0.809012), CCD_REAL( 0.525738)),
+	CCD_VEC3_STATIC(CCD_REAL( 0.688190), CCD_REAL( 0.499997), CCD_REAL( 0.525736)),
+	CCD_VEC3_STATIC(CCD_REAL( 0.525730), CCD_REAL( 0.000000), CCD_REAL( 0.850652)),
+	CCD_VEC3_STATIC(CCD_REAL( 0.162456), CCD_REAL(-0.499995), CCD_REAL( 0.850654)),
+	CCD_VEC3_STATIC(CCD_REAL(-0.425323), CCD_REAL(-0.309011), CCD_REAL( 0.850654)),
+	CCD_VEC3_STATIC(CCD_REAL(-0.425323), CCD_REAL( 0.309011), CCD_REAL( 0.850654)),
+	CCD_VEC3_STATIC(CCD_REAL( 0.162456), CCD_REAL( 0.499995), CCD_REAL( 0.850654))
+};
+ccd_vec3_t *ccd_points_on_sphere = points_on_sphere;
+size_t ccd_points_on_sphere_len = sizeof(points_on_sphere) / sizeof(ccd_vec3_t);
+
+
+_ccd_inline ccd_real_t __ccdVec3PointSegmentDist2(const ccd_vec3_t *P,
+                                                  const ccd_vec3_t *x0,
+                                                  const ccd_vec3_t *b,
+                                                  ccd_vec3_t *witness)
+{
+    // The computation comes from solving equation of segment:
+    //      S(t) = x0 + t.d
+    //          where - x0 is initial point of segment
+    //                - d is direction of segment from x0 (|d| > 0)
+    //                - t belongs to <0, 1> interval
+    // 
+    // Than, distance from a segment to some point P can be expressed:
+    //      D(t) = |x0 + t.d - P|^2
+    //          which is distance from any point on segment. Minimization
+    //          of this function brings distance from P to segment.
+    // Minimization of D(t) leads to simple quadratic equation that's
+    // solving is straightforward.
+    //
+    // Bonus of this method is witness point for free.
+
+    ccd_real_t dist, t;
+    ccd_vec3_t d, a;
+
+    // direction of segment
+    ccdVec3Sub2(&d, b, x0);
+
+    // precompute vector from P to x0
+    ccdVec3Sub2(&a, x0, P);
+
+    t  = -CCD_REAL(1.) * ccdVec3Dot(&a, &d);
+    t /= ccdVec3Len2(&d);
+
+    if (t < CCD_ZERO || ccdIsZero(t)){
+        dist = ccdVec3Dist2(x0, P);
+        if (witness)
+            ccdVec3Copy(witness, x0);
+    }else if (t > CCD_ONE || ccdEq(t, CCD_ONE)){
+        dist = ccdVec3Dist2(b, P);
+        if (witness)
+            ccdVec3Copy(witness, b);
+    }else{
+        if (witness){
+            ccdVec3Copy(witness, &d);
+            ccdVec3Scale(witness, t);
+            ccdVec3Add(witness, x0);
+            dist = ccdVec3Dist2(witness, P);
+        }else{
+            // recycling variables
+            ccdVec3Scale(&d, t);
+            ccdVec3Add(&d, &a);
+            dist = ccdVec3Len2(&d);
+        }
+    }
+
+    return dist;
+}
+
+ccd_real_t ccdVec3PointSegmentDist2(const ccd_vec3_t *P,
+                                    const ccd_vec3_t *x0, const ccd_vec3_t *b,
+                                    ccd_vec3_t *witness)
+{
+    return __ccdVec3PointSegmentDist2(P, x0, b, witness);
+}
+
+ccd_real_t ccdVec3PointTriDist2(const ccd_vec3_t *P,
+                                const ccd_vec3_t *x0, const ccd_vec3_t *B,
+                                const ccd_vec3_t *C,
+                                ccd_vec3_t *witness)
+{
+    // Computation comes from analytic expression for triangle (x0, B, C)
+    //      T(s, t) = x0 + s.d1 + t.d2, where d1 = B - x0 and d2 = C - x0 and
+    // Then equation for distance is:
+    //      D(s, t) = | T(s, t) - P |^2
+    // This leads to minimization of quadratic function of two variables.
+    // The solution from is taken only if s is between 0 and 1, t is
+    // between 0 and 1 and t + s < 1, otherwise distance from segment is
+    // computed.
+
+    ccd_vec3_t d1, d2, a;
+    ccd_real_t u, v, w, p, q, r;
+    ccd_real_t s, t, dist, dist2;
+    ccd_vec3_t witness2;
+
+    ccdVec3Sub2(&d1, B, x0);
+    ccdVec3Sub2(&d2, C, x0);
+    ccdVec3Sub2(&a, x0, P);
+
+    u = ccdVec3Dot(&a, &a);
+    v = ccdVec3Dot(&d1, &d1);
+    w = ccdVec3Dot(&d2, &d2);
+    p = ccdVec3Dot(&a, &d1);
+    q = ccdVec3Dot(&a, &d2);
+    r = ccdVec3Dot(&d1, &d2);
+
+    s = (q * r - w * p) / (w * v - r * r);
+    t = (-s * r - q) / w;
+
+    if ((ccdIsZero(s) || s > CCD_ZERO)
+            && (ccdEq(s, CCD_ONE) || s < CCD_ONE)
+            && (ccdIsZero(t) || t > CCD_ZERO)
+            && (ccdEq(t, CCD_ONE) || t < CCD_ONE)
+            && (ccdEq(t + s, CCD_ONE) || t + s < CCD_ONE)){
+
+        if (witness){
+            ccdVec3Scale(&d1, s);
+            ccdVec3Scale(&d2, t);
+            ccdVec3Copy(witness, x0);
+            ccdVec3Add(witness, &d1);
+            ccdVec3Add(witness, &d2);
+
+            dist = ccdVec3Dist2(witness, P);
+        }else{
+            dist  = s * s * v;
+            dist += t * t * w;
+            dist += CCD_REAL(2.) * s * t * r;
+            dist += CCD_REAL(2.) * s * p;
+            dist += CCD_REAL(2.) * t * q;
+            dist += u;
+        }
+    }else{
+        dist = __ccdVec3PointSegmentDist2(P, x0, B, witness);
+
+        dist2 = __ccdVec3PointSegmentDist2(P, x0, C, &witness2);
+        if (dist2 < dist){
+            dist = dist2;
+            if (witness)
+                ccdVec3Copy(witness, &witness2);
+        }
+
+        dist2 = __ccdVec3PointSegmentDist2(P, B, C, &witness2);
+        if (dist2 < dist){
+            dist = dist2;
+            if (witness)
+                ccdVec3Copy(witness, &witness2);
+        }
+    }
+
+    return dist;
+}