diff options
| author | sanine <sanine.not@pm.me> | 2022-10-01 20:59:36 -0500 |
|---|---|---|
| committer | sanine <sanine.not@pm.me> | 2022-10-01 20:59:36 -0500 |
| commit | c5fc66ee58f2c60f2d226868bb1cf5b91badaf53 (patch) | |
| tree | 277dd280daf10bf77013236b8edfa5f88708c7e0 /libs/ode-0.16.1/ode/src/gimpact_gim_contact_accessor.h | |
| parent | 1cf9cc3408af7008451f9133fb95af66a9697d15 (diff) | |
add ode
Diffstat (limited to 'libs/ode-0.16.1/ode/src/gimpact_gim_contact_accessor.h')
| -rw-r--r-- | libs/ode-0.16.1/ode/src/gimpact_gim_contact_accessor.h | 62 |
1 files changed, 62 insertions, 0 deletions
diff --git a/libs/ode-0.16.1/ode/src/gimpact_gim_contact_accessor.h b/libs/ode-0.16.1/ode/src/gimpact_gim_contact_accessor.h new file mode 100644 index 0000000..2b252b4 --- /dev/null +++ b/libs/ode-0.16.1/ode/src/gimpact_gim_contact_accessor.h @@ -0,0 +1,62 @@ +/************************************************************************* + * * + * 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. * + * * + *************************************************************************/ + + +#ifndef _ODE_GIMPACT_GIM_CONTACT_ACCESSOR_H_ +#define _ODE_GIMPACT_GIM_CONTACT_ACCESSOR_H_ + + +struct dxGIMCContactAccessor +{ + dxGIMCContactAccessor(GIM_CONTACT *ptrimeshcontacts, dGeomID g1, dGeomID g2) : m_ptrimeshcontacts(ptrimeshcontacts), m_g1(g1), m_g2(g2), m_gotside2ovr(false), m_side2ovr() {} + dxGIMCContactAccessor(GIM_CONTACT *ptrimeshcontacts, dGeomID g1, dGeomID g2, int side2ovr) : m_ptrimeshcontacts(ptrimeshcontacts), m_g1(g1), m_g2(g2), m_gotside2ovr(true), m_side2ovr(side2ovr) {} + + dReal RetrieveDepthByIndex(unsigned index) const { return m_ptrimeshcontacts[index].m_depth; } + + void ExportContactGeomByIndex(dContactGeom *pcontact, unsigned index) const + { + const GIM_CONTACT *ptrimeshcontact = m_ptrimeshcontacts + index; + pcontact->pos[0] = ptrimeshcontact->m_point[0]; + pcontact->pos[1] = ptrimeshcontact->m_point[1]; + pcontact->pos[2] = ptrimeshcontact->m_point[2]; + pcontact->pos[3] = REAL(1.0); + + pcontact->normal[0] = ptrimeshcontact->m_normal[0]; + pcontact->normal[1] = ptrimeshcontact->m_normal[1]; + pcontact->normal[2] = ptrimeshcontact->m_normal[2]; + pcontact->normal[3] = 0; + + pcontact->depth = ptrimeshcontact->m_depth; + pcontact->g1 = m_g1; + pcontact->g2 = m_g2; + pcontact->side1 = ptrimeshcontact->m_feature1; + pcontact->side2 = !m_gotside2ovr ? ptrimeshcontact->m_feature2 : m_side2ovr; + } + + const GIM_CONTACT *m_ptrimeshcontacts; + dGeomID m_g1, m_g2; + bool m_gotside2ovr; + int m_side2ovr; +}; + + +#endif //_ODE_GIMPACT_GIM_CONTACT_ACCESSOR_H_ |