add ode

1 files changed, 207 insertions, 0 deletions

diff --git a/libs/ode-0.16.1/ode/src/collision_trimesh_ray.cpp b/libs/ode-0.16.1/ode/src/collision_trimesh_ray.cpp
new file mode 100644
index 0000000..866758a
--- /dev/null
+++ b/libs/ode-0.16.1/ode/src/collision_trimesh_ray.cpp
@@ -0,0 +1,207 @@
+/*************************************************************************
+ *                                                                       *
+ * 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.                     *
+ *                                                                       *
+ *************************************************************************/
+
+// TriMesh code by Erwin de Vries.
+
+#include <ode/collision.h>
+#include <ode/rotation.h>
+#include "config.h"
+#include "matrix.h"
+#include "odemath.h"
+
+#if dTRIMESH_ENABLED
+
+#include "collision_util.h"
+#include "collision_trimesh_internal.h"
+
+#if dTRIMESH_OPCODE
+int dCollideRTL(dxGeom* g1, dxGeom* RayGeom, int Flags, dContactGeom* Contacts, int Stride){
+    dIASSERT (Stride >= (int)sizeof(dContactGeom));
+    dIASSERT (g1->type == dTriMeshClass);
+    dIASSERT (RayGeom->type == dRayClass);
+    dIASSERT ((Flags & NUMC_MASK) >= 1);
+
+    dxTriMesh* TriMesh = (dxTriMesh*)g1;
+
+    const unsigned uiTLSKind = TriMesh->getParentSpaceTLSKind();
+    dIASSERT(uiTLSKind == RayGeom->getParentSpaceTLSKind()); // The colliding spaces must use matching cleanup method
+    TrimeshCollidersCache *pccColliderCache = GetTrimeshCollidersCache(uiTLSKind);
+    RayCollider& Collider = pccColliderCache->m_RayCollider;
+
+    dReal Length = dGeomRayGetLength(RayGeom);
+
+    int FirstContact = dGeomRayGetFirstContact(RayGeom);
+    int BackfaceCull = dGeomRayGetBackfaceCull(RayGeom);
+    int ClosestHit = dGeomRayGetClosestHit(RayGeom);
+
+    Collider.SetFirstContact(FirstContact != 0);
+    Collider.SetClosestHit(ClosestHit != 0);
+    Collider.SetCulling(BackfaceCull != 0);
+    Collider.SetMaxDist(Length);
+
+    const dVector3& TLPosition = *(const dVector3*)dGeomGetPosition(TriMesh);
+    const dMatrix3& TLRotation = *(const dMatrix3*)dGeomGetRotation(TriMesh);
+
+    Matrix4x4 MeshMatrix;
+    const dVector3 ZeroVector3 = { REAL(0.0), };
+    MakeMatrix(ZeroVector3, TLRotation, MeshMatrix);
+
+    dVector3 Origin, Direction;
+    dGeomRayGet(RayGeom, Origin, Direction);
+
+    dVector3 OffsetOrigin;
+    dSubtractVectors3(OffsetOrigin, Origin, TLPosition);
+
+    /* Make Ray */
+    Ray WorldRay;
+    WorldRay.mOrig.Set(OffsetOrigin[0], OffsetOrigin[1], OffsetOrigin[2]);
+    WorldRay.mDir.Set(Direction[0], Direction[1], Direction[2]);
+
+    /* Intersect */
+    int TriCount = 0;
+    if (Collider.Collide(WorldRay, TriMesh->retrieveMeshBVTreeRef(), &MeshMatrix)) {
+        TriCount = pccColliderCache->m_Faces.GetNbFaces();
+    }
+
+    if (TriCount == 0) {
+        return 0;
+    }
+
+    const CollisionFace* Faces = pccColliderCache->m_Faces.GetFaces();
+
+    int OutTriCount = 0;
+    for (int i = 0; i < TriCount; i++) {
+        if (TriMesh->m_RayCallback == null ||
+            TriMesh->m_RayCallback(TriMesh, RayGeom, Faces[i].mFaceID,
+            Faces[i].mU, Faces[i].mV)) {
+                const int& TriIndex = Faces[i].mFaceID;
+                if (!TriMesh->invokeCallback(RayGeom, TriIndex)) {
+                    continue;
+                }
+
+                dContactGeom* Contact = SAFECONTACT(Flags, Contacts, OutTriCount, Stride);
+
+                dVector3 dv[3];
+                TriMesh->fetchMeshTriangle(dv, TriIndex, TLPosition, TLRotation);
+
+                dVector3 vu;
+                vu[0] = dv[1][0] - dv[0][0];
+                vu[1] = dv[1][1] - dv[0][1];
+                vu[2] = dv[1][2] - dv[0][2];
+                vu[3] = REAL(0.0);
+
+                dVector3 vv;
+                vv[0] = dv[2][0] - dv[0][0];
+                vv[1] = dv[2][1] - dv[0][1];
+                vv[2] = dv[2][2] - dv[0][2];
+                vv[3] = REAL(0.0);
+
+                dCalcVectorCross3(Contact->normal, vv, vu);	// Reversed
+
+                // Even though all triangles might be initially valid, 
+                // a triangle may degenerate into a segment after applying 
+                // space transformation.
+                if (dSafeNormalize3(Contact->normal))
+                {
+                    // No sense to save on single type conversion in algorithm of this size.
+                    // If there would be a custom typedef for distance type it could be used 
+                    // instead of dReal. However using float directly is the loss of abstraction 
+                    // and possible loss of precision in future.
+                    /*float*/ dReal T = Faces[i].mDistance;
+                    Contact->pos[0] = Origin[0] + (Direction[0] * T);
+                    Contact->pos[1] = Origin[1] + (Direction[1] * T);
+                    Contact->pos[2] = Origin[2] + (Direction[2] * T);
+                    Contact->pos[3] = REAL(0.0);
+
+                    Contact->depth = T;
+                    Contact->g1 = TriMesh;
+                    Contact->g2 = RayGeom;
+                    Contact->side1 = TriIndex;
+                    Contact->side2 = -1;
+
+                    OutTriCount++;
+
+                    // Putting "break" at the end of loop prevents unnecessary checks on first pass and "continue"
+                    if (OutTriCount >= (Flags & NUMC_MASK)) {
+                        break;
+                    }
+                }
+        }
+    }
+    return OutTriCount;
+}
+#endif // dTRIMESH_OPCODE
+
+#if dTRIMESH_GIMPACT
+int dCollideRTL(dxGeom* g1, dxGeom* RayGeom, int Flags, dContactGeom* Contacts, int Stride)
+{
+    dIASSERT (Stride >= (int)sizeof(dContactGeom));
+    dIASSERT (g1->type == dTriMeshClass);
+    dIASSERT (RayGeom->type == dRayClass);
+    dIASSERT ((Flags & NUMC_MASK) >= 1);
+
+    dxTriMesh* TriMesh = (dxTriMesh*)g1;
+
+    dReal Length = dGeomRayGetLength(RayGeom);
+    int FirstContact = dGeomRayGetFirstContact(RayGeom);
+    int BackfaceCull = dGeomRayGetBackfaceCull(RayGeom);
+    int ClosestHit = dGeomRayGetClosestHit(RayGeom);
+    dVector3 Origin, Direction;
+    dGeomRayGet(RayGeom, Origin, Direction);
+
+    char intersect=0;
+    GIM_TRIANGLE_RAY_CONTACT_DATA contact_data;
+
+    if(ClosestHit)
+    {
+        intersect = gim_trimesh_ray_closest_collisionODE(&TriMesh->m_collision_trimesh,Origin,Direction,Length,&contact_data);
+    }
+    else
+    {
+        intersect = gim_trimesh_ray_collisionODE(&TriMesh->m_collision_trimesh,Origin,Direction,Length,&contact_data);
+    }
+
+    if(intersect == 0)
+    {
+        return 0;
+    }
+
+
+    if(!TriMesh->m_RayCallback || 
+        TriMesh->m_RayCallback(TriMesh, RayGeom, contact_data.m_face_id, contact_data.u , contact_data.v))
+    {
+        dContactGeom* Contact = &( Contacts[ 0 ] );
+        VEC_COPY(Contact->pos,contact_data.m_point);
+        VEC_COPY(Contact->normal,contact_data.m_normal);
+        Contact->depth = contact_data.tparam;
+        Contact->g1 = TriMesh;
+        Contact->g2 = RayGeom;
+        Contact->side1 = contact_data.m_face_id;
+        Contact->side2 = -1;
+        return 1;
+    }
+
+    return 0;
+}
+#endif  // dTRIMESH_GIMPACT
+
+#endif // dTRIMESH_ENABLED