add ode

1 files changed, 302 insertions, 0 deletions

diff --git a/libs/ode-0.16.1/ode/src/collision_trimesh_disabled.cpp b/libs/ode-0.16.1/ode/src/collision_trimesh_disabled.cpp
new file mode 100644
index 0000000..69203a0
--- /dev/null
+++ b/libs/ode-0.16.1/ode/src/collision_trimesh_disabled.cpp
@@ -0,0 +1,302 @@
+/*************************************************************************
+ *                                                                       *
+ * Open Dynamics Engine, Copyright (C) 2001-2003 Russell L. Smith.       *
+ * All rights reserved.  Email: russ@q12.org   Web: www.q12.org          *
+ *                                                                       *
+ * This library is free software; you can redistribute it and/or         *
+ * modify it under the terms of EITHER:                                  *
+ *   (1) The GNU Lesser General Public License as published by the Free  *
+ *       Software Foundation; either version 2.1 of the License, or (at  *
+ *       your option) any later version. The text of the GNU Lesser      *
+ *       General Public License is included with this library in the     *
+ *       file LICENSE.TXT.                                               *
+ *   (2) The BSD-style license that is included with this library in     *
+ *       the file LICENSE-BSD.TXT.                                       *
+ *                                                                       *
+ * This library is distributed in the hope that it will be useful,       *
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of        *
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the files    *
+ * LICENSE.TXT and LICENSE-BSD.TXT for more details.                     *
+ *                                                                       *
+ *************************************************************************/
+
+#include <ode/collision.h>
+#include "config.h"
+#include "matrix.h"
+
+
+#if !dTRIMESH_ENABLED
+
+#include "collision_util.h"
+#include "collision_trimesh_internal.h"
+
+
+static const dMatrix4 identity = 
+{
+    REAL( 0.0 ), REAL( 0.0 ), REAL( 0.0 ), REAL( 0.0 ),
+    REAL( 0.0 ), REAL( 0.0 ), REAL( 0.0 ), REAL( 0.0 ),
+    REAL( 0.0 ), REAL( 0.0 ), REAL( 0.0 ), REAL( 0.0 ),
+    REAL( 0.0 ), REAL( 0.0 ), REAL( 0.0 ), REAL( 0.0 ) 
+};
+
+
+typedef dxMeshBase dxDisabledTriMesh_Parent;
+struct dxDisabledTriMesh: 
+    public dxDisabledTriMesh_Parent
+{
+public:
+    // Functions
+    dxDisabledTriMesh(dxSpace *Space, 
+        dTriCallback *Callback, dTriArrayCallback *ArrayCallback, dTriRayCallback *RayCallback):
+        dxDisabledTriMesh_Parent(Space, NULL, Callback, ArrayCallback, RayCallback, false)
+    {
+    }
+
+    virtual void computeAABB(); // This is an abstract method in the base class
+};
+
+/*virtual */
+void dxDisabledTriMesh::computeAABB()
+{
+    // Do nothing
+}
+
+
+//////////////////////////////////////////////////////////////////////////
+// Stub functions for trimesh calls
+
+/*extern */
+dTriMeshDataID dGeomTriMeshDataCreate(void)
+{
+    return NULL;
+}
+
+/*extern */
+void dGeomTriMeshDataDestroy(dTriMeshDataID g)
+{
+    // Do nothing
+}
+
+
+/*extern */
+void dGeomTriMeshDataSet(dTriMeshDataID g, int data_id, void* in_data)
+{
+    // Do nothing
+}
+
+/*extern */
+void *dGeomTriMeshDataGet(dTriMeshDataID g, int data_id)
+{
+    return NULL;
+}
+
+/*extern */
+void *dGeomTriMeshDataGet2(dTriMeshDataID g, int data_id, sizeint *pout_size/*=NULL*/)
+{
+    if (pout_size != NULL)
+    {
+        *pout_size = 0;
+    }
+
+    return NULL;
+}
+
+
+/*extern */
+void dGeomTriMeshSetLastTransform( dGeomID g, const dMatrix4 last_trans )
+{
+    // Do nothing
+}
+
+/*extern */
+const dReal *dGeomTriMeshGetLastTransform( dGeomID g )
+{
+    return identity;
+}
+
+
+/*extern */
+dGeomID dCreateTriMesh(dSpaceID space, 
+    dTriMeshDataID Data,
+    dTriCallback* Callback,
+    dTriArrayCallback* ArrayCallback,
+    dTriRayCallback* RayCallback)
+{
+    return new dxDisabledTriMesh(space, Callback, ArrayCallback, RayCallback); // Oleh_Derevenko: I'm not sure if a NULL can be returned here -- keep on returning an object for backward compatibility
+}
+
+
+/*extern */
+void dGeomTriMeshSetData(dGeomID g, dTriMeshDataID Data)
+{
+    // Do nothing
+}
+
+/*extern */
+dTriMeshDataID dGeomTriMeshGetData(dGeomID g)
+{
+    return NULL;
+}
+
+
+/*extern */
+void dGeomTriMeshDataBuildSingle(dTriMeshDataID g,
+    const void* Vertices, int VertexStride, int VertexCount, 
+    const void* Indices, int IndexCount, int TriStride)
+{
+    // Do nothing
+}
+
+/*extern */
+void dGeomTriMeshDataBuildSingle1(dTriMeshDataID g,
+    const void* Vertices, int VertexStride, int VertexCount, 
+    const void* Indices, int IndexCount, int TriStride,
+    const void* Normals)
+{
+    // Do nothing
+}
+
+/*extern */
+void dGeomTriMeshDataBuildDouble(dTriMeshDataID g, 
+    const void* Vertices,  int VertexStride, int VertexCount, 
+    const void* Indices, int IndexCount, int TriStride)
+{
+    // Do nothing
+}
+
+/*extern */
+void dGeomTriMeshDataBuildDouble1(dTriMeshDataID g, 
+    const void* Vertices,  int VertexStride, int VertexCount, 
+    const void* Indices, int IndexCount, int TriStride,
+    const void* Normals)
+{
+    // Do nothing
+}
+
+/*extern */
+void dGeomTriMeshDataBuildSimple(dTriMeshDataID g,
+    const dReal* Vertices, int VertexCount,
+    const dTriIndex* Indices, int IndexCount)
+{
+    // Do nothing
+}
+
+/*extern */
+void dGeomTriMeshDataBuildSimple1(dTriMeshDataID g,
+    const dReal* Vertices, int VertexCount,
+    const dTriIndex* Indices, int IndexCount,
+    const int* Normals)
+{
+    // Do nothing
+}
+
+
+/*extern ODE_API */
+int dGeomTriMeshDataPreprocess(dTriMeshDataID g)
+{
+    // Do nothing
+    return 1;
+}
+
+/*extern ODE_API */
+int dGeomTriMeshDataPreprocess2(dTriMeshDataID g, unsigned int buildRequestFlags, const intptr *requestExtraData/*=NULL | const intptr (*)[dTRIDATAPREPROCESS_BUILD__MAX]*/)
+{
+    // Do nothing
+    return 1;
+}
+
+/*extern */
+void dGeomTriMeshSetCallback(dGeomID g, dTriCallback* Callback)
+{
+    // Do nothing
+}
+
+/*extern */
+dTriCallback* dGeomTriMeshGetCallback(dGeomID g)
+{
+    return NULL;
+}
+
+
+/*extern */
+void dGeomTriMeshSetArrayCallback(dGeomID g, dTriArrayCallback* ArrayCallback)
+{
+    // Do nothing
+}
+
+/*extern */
+dTriArrayCallback* dGeomTriMeshGetArrayCallback(dGeomID g)
+{
+    return NULL;
+}
+
+
+/*extern */
+void dGeomTriMeshSetRayCallback(dGeomID g, dTriRayCallback* Callback)
+{
+    // Do nothing
+}
+
+/*extern */
+dTriRayCallback* dGeomTriMeshGetRayCallback(dGeomID g)
+{
+    return NULL;
+}
+
+
+/*extern */
+void dGeomTriMeshSetTriMergeCallback(dGeomID g, dTriTriMergeCallback* Callback)
+{
+    // Do nothing
+}
+
+/*extern */
+dTriTriMergeCallback* dGeomTriMeshGetTriMergeCallback(dGeomID g)
+{
+    return NULL;
+}
+
+
+/*extern */
+void dGeomTriMeshEnableTC(dGeomID g, int geomClass, int enable)
+{
+    // Do nothing
+}
+
+/*extern */
+int dGeomTriMeshIsTCEnabled(dGeomID g, int geomClass)
+{
+    return 0;
+}
+
+
+/*extern */
+void dGeomTriMeshClearTCCache(dGeomID g)
+{
+    // Do nothing
+}
+
+
+/*extern */
+dTriMeshDataID dGeomTriMeshGetTriMeshDataID(dGeomID g)
+{
+    return NULL;
+}
+
+
+/*extern */
+int dGeomTriMeshGetTriangleCount (dGeomID g)
+{
+    return 0;
+}
+
+/*extern */
+void dGeomTriMeshDataUpdate(dTriMeshDataID g)
+{
+    // Do nothing
+}
+
+
+#endif // !dTRIMESH_ENABLED
+
+