add ode

1 files changed, 146 insertions, 0 deletions

diff --git a/libs/ode-0.16.1/ode/src/plane.cpp b/libs/ode-0.16.1/ode/src/plane.cpp
new file mode 100644
index 0000000..b54e894
--- /dev/null
+++ b/libs/ode-0.16.1/ode/src/plane.cpp
@@ -0,0 +1,146 @@
+/*************************************************************************
+ *                                                                       *
+ * 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
+
+//****************************************************************************
+// plane public API
+
+static void make_sure_plane_normal_has_unit_length (dxPlane *g)
+{
+    dReal l = g->p[0]*g->p[0] + g->p[1]*g->p[1] + g->p[2]*g->p[2];
+    if (l > 0) {
+        l = dRecipSqrt(l);
+        g->p[0] *= l;
+        g->p[1] *= l;
+        g->p[2] *= l;
+        g->p[3] *= l;
+    }
+    else {
+        g->p[0] = 1;
+        g->p[1] = 0;
+        g->p[2] = 0;
+        g->p[3] = 0;
+    }
+}
+
+
+dxPlane::dxPlane (dSpaceID space, dReal a, dReal b, dReal c, dReal d) :
+dxGeom (space,0)
+{
+    type = dPlaneClass;
+    p[0] = a;
+    p[1] = b;
+    p[2] = c;
+    p[3] = d;
+    make_sure_plane_normal_has_unit_length (this);
+}
+
+
+void dxPlane::computeAABB()
+{
+    aabb[0] = -dInfinity;
+    aabb[1] = dInfinity;
+    aabb[2] = -dInfinity;
+    aabb[3] = dInfinity;
+    aabb[4] = -dInfinity;
+    aabb[5] = dInfinity;
+
+    // Planes that have normal vectors aligned along an axis can use a
+    // less comprehensive (half space) bounding box.
+
+    if ( p[1] == 0.0f && p[2] == 0.0f ) {
+        // normal aligned with x-axis
+        aabb[0] = (p[0] > 0) ? -dInfinity : -p[3];
+        aabb[1] = (p[0] > 0) ? p[3] : dInfinity;
+    } else
+        if ( p[0] == 0.0f && p[2] == 0.0f ) {
+            // normal aligned with y-axis
+            aabb[2] = (p[1] > 0) ? -dInfinity : -p[3];
+            aabb[3] = (p[1] > 0) ? p[3] : dInfinity;
+        } else
+            if ( p[0] == 0.0f && p[1] == 0.0f ) {
+                // normal aligned with z-axis
+                aabb[4] = (p[2] > 0) ? -dInfinity : -p[3];
+                aabb[5] = (p[2] > 0) ? p[3] : dInfinity;
+            }
+}
+
+
+dGeomID dCreatePlane (dSpaceID space,
+                      dReal a, dReal b, dReal c, dReal d)
+{
+    return new dxPlane (space,a,b,c,d);
+}
+
+
+void dGeomPlaneSetParams (dGeomID g, dReal a, dReal b, dReal c, dReal d)
+{
+    dUASSERT (g && g->type == dPlaneClass,"argument not a plane");
+    dxPlane *p = (dxPlane*) g;
+    p->p[0] = a;
+    p->p[1] = b;
+    p->p[2] = c;
+    p->p[3] = d;
+    make_sure_plane_normal_has_unit_length (p);
+    dGeomMoved (g);
+}
+
+
+void dGeomPlaneGetParams (dGeomID g, dVector4 result)
+{
+    dUASSERT (g && g->type == dPlaneClass,"argument not a plane");
+    dxPlane *p = (dxPlane*) g;
+    result[0] = p->p[0];
+    result[1] = p->p[1];
+    result[2] = p->p[2];
+    result[3] = p->p[3];
+}
+
+
+dReal dGeomPlanePointDepth (dGeomID g, dReal x, dReal y, dReal z)
+{
+    dUASSERT (g && g->type == dPlaneClass,"argument not a plane");
+    dxPlane *p = (dxPlane*) g;
+    return p->p[3] - p->p[0]*x - p->p[1]*y - p->p[2]*z;
+}