add ode

1 files changed, 62 insertions, 0 deletions

diff --git a/libs/ode-0.16.1/ode/src/gimpact_plane_contact_accessor.h b/libs/ode-0.16.1/ode/src/gimpact_plane_contact_accessor.h
new file mode 100644
index 0000000..035dcfd
--- /dev/null
+++ b/libs/ode-0.16.1/ode/src/gimpact_plane_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_PLANE_CONTACT_ACCESSOR_H_
+#define _ODE_GIMPACT_PLANE_CONTACT_ACCESSOR_H_
+
+
+struct dxPlaneContactAccessor
+{
+    dxPlaneContactAccessor(const vec4f *planecontact_results, const dReal *plane, dGeomID g1, dGeomID g2) : m_planecontact_results(planecontact_results), m_plane(plane), m_g1(g1), m_g2(g2) {}
+
+    dReal RetrieveDepthByIndex(unsigned index) const { return m_planecontact_results[index][3]; }
+
+    void ExportContactGeomByIndex(dContactGeom *pcontact, unsigned index) const
+    {
+        const vec4f *planecontact = m_planecontact_results + index;
+
+        pcontact->pos[0] = (*planecontact)[0];
+        pcontact->pos[1] = (*planecontact)[1];
+        pcontact->pos[2] = (*planecontact)[2];
+        pcontact->pos[3] = REAL(1.0);
+
+        const dReal *plane = m_plane;
+        pcontact->normal[0] = plane[0];
+        pcontact->normal[1] = plane[1];
+        pcontact->normal[2] = plane[2];
+        pcontact->normal[3] = 0;
+
+        pcontact->depth = (*planecontact)[3];
+        pcontact->g1 = m_g1; // trimesh geom
+        pcontact->g2 = m_g2; // plane geom
+        pcontact->side1 = -1; // note: don't have the triangle index, but OPCODE *does* do this properly
+        pcontact->side2 = -1;
+    }
+
+    const vec4f     *m_planecontact_results;
+    const dReal     *m_plane;
+    dGeomID         m_g1, m_g2;
+};
+
+
+#endif	//_ODE_GIMPACT_PLANE_CONTACT_ACCESSOR_H_