add ode

1 files changed, 108 insertions, 0 deletions

diff --git a/libs/ode-0.16.1/ode/src/cylinder.cpp b/libs/ode-0.16.1/ode/src/cylinder.cpp
new file mode 100644
index 0000000..cf5cc64
--- /dev/null
+++ b/libs/ode-0.16.1/ode/src/cylinder.cpp
@@ -0,0 +1,108 @@
+/*************************************************************************
+ *                                                                       *
+ * 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.                     *
+ *                                                                       *
+ *************************************************************************/
+
+/*
+
+standard ODE geometry primitives: public API and pairwise collision functions.
+
+the rule is that only the low level primitive collision functions should set
+dContactGeom::g1 and dContactGeom::g2.
+
+*/
+
+#include <ode/common.h>
+#include <ode/collision.h>
+#include <ode/rotation.h>
+#include "config.h"
+#include "matrix.h"
+#include "odemath.h"
+#include "collision_kernel.h"
+#include "collision_std.h"
+#include "collision_util.h"
+
+#ifdef _MSC_VER
+#pragma warning(disable:4291)  // for VC++, no complaints about "no matching operator delete found"
+#endif
+
+
+#define dMAX(A,B)  ((A)>(B) ? (A) : (B))
+
+
+// flat cylinder public API
+
+dxCylinder::dxCylinder (dSpaceID space, dReal _radius, dReal _length) :
+dxGeom (space,1)
+{
+    dAASSERT (_radius >= 0 && _length >= 0);
+    type = dCylinderClass;
+    radius = _radius;
+    lz = _length;
+    updateZeroSizedFlag(!_radius || !_length);
+}
+
+
+void dxCylinder::computeAABB()
+{
+    const dMatrix3& R = final_posr->R;
+    const dVector3& pos = final_posr->pos;
+
+    dReal dOneMinusR2Square = (dReal)(REAL(1.0) - R[2]*R[2]);
+    dReal xrange = dFabs(R[2]*lz*REAL(0.5)) + radius * dSqrt(dMAX(REAL(0.0), dOneMinusR2Square));
+    dReal dOneMinusR6Square = (dReal)(REAL(1.0) - R[6]*R[6]);
+    dReal yrange = dFabs(R[6]*lz*REAL(0.5)) + radius * dSqrt(dMAX(REAL(0.0), dOneMinusR6Square));
+    dReal dOneMinusR10Square = (dReal)(REAL(1.0) - R[10]*R[10]);
+    dReal zrange = dFabs(R[10]*lz*REAL(0.5)) + radius * dSqrt(dMAX(REAL(0.0), dOneMinusR10Square));
+
+    aabb[0] = pos[0] - xrange;
+    aabb[1] = pos[0] + xrange;
+    aabb[2] = pos[1] - yrange;
+    aabb[3] = pos[1] + yrange;
+    aabb[4] = pos[2] - zrange;
+    aabb[5] = pos[2] + zrange;
+}
+
+
+dGeomID dCreateCylinder (dSpaceID space, dReal radius, dReal length)
+{
+    return new dxCylinder (space,radius,length);
+}
+
+void dGeomCylinderSetParams (dGeomID cylinder, dReal radius, dReal length)
+{
+    dUASSERT (cylinder && cylinder->type == dCylinderClass,"argument not a ccylinder");
+    dAASSERT (radius >= 0 && length >= 0);
+    dxCylinder *c = (dxCylinder*) cylinder;
+    c->radius = radius;
+    c->lz = length;
+    c->updateZeroSizedFlag(!radius || !length);
+    dGeomMoved (cylinder);
+}
+
+void dGeomCylinderGetParams (dGeomID cylinder, dReal *radius, dReal *length)
+{
+    dUASSERT (cylinder && cylinder->type == dCylinderClass,"argument not a ccylinder");
+    dxCylinder *c = (dxCylinder*) cylinder;
+    *radius = c->radius;
+    *length = c->lz;
+}
+
+