diff options
Diffstat (limited to 'libs/ode-0.16.1/GIMPACT/src')
| -rw-r--r-- | libs/ode-0.16.1/GIMPACT/src/Makefile.am | 19 | ||||
| -rw-r--r-- | libs/ode-0.16.1/GIMPACT/src/Makefile.in | 638 | ||||
| -rw-r--r-- | libs/ode-0.16.1/GIMPACT/src/gim_boxpruning.cpp | 519 | ||||
| -rw-r--r-- | libs/ode-0.16.1/GIMPACT/src/gim_contact.cpp | 132 | ||||
| -rw-r--r-- | libs/ode-0.16.1/GIMPACT/src/gim_math.cpp | 60 | ||||
| -rw-r--r-- | libs/ode-0.16.1/GIMPACT/src/gim_memory.cpp | 878 | ||||
| -rw-r--r-- | libs/ode-0.16.1/GIMPACT/src/gim_tri_tri_overlap.cpp | 251 | ||||
| -rw-r--r-- | libs/ode-0.16.1/GIMPACT/src/gim_trimesh.cpp | 391 | ||||
| -rw-r--r-- | libs/ode-0.16.1/GIMPACT/src/gim_trimesh_capsule_collision.cpp | 285 | ||||
| -rw-r--r-- | libs/ode-0.16.1/GIMPACT/src/gim_trimesh_ray_collision.cpp | 149 | ||||
| -rw-r--r-- | libs/ode-0.16.1/GIMPACT/src/gim_trimesh_sphere_collision.cpp | 196 | ||||
| -rw-r--r-- | libs/ode-0.16.1/GIMPACT/src/gim_trimesh_trimesh_collision.cpp | 348 | ||||
| -rw-r--r-- | libs/ode-0.16.1/GIMPACT/src/gimpact.cpp | 40 |
13 files changed, 3906 insertions, 0 deletions
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+/*
+-----------------------------------------------------------------------------
+This source file is part of GIMPACT Library.
+
+For the latest info, see http://gimpact.sourceforge.net/
+
+Copyright (c) 2006 Francisco Leon. C.C. 80087371.
+email: projectileman@yahoo.com
+
+ 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 GIMPACT-LICENSE-LGPL.TXT.
+ (2) The BSD-style license that is included with this library in
+ the file GIMPACT-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
+ GIMPACT-LICENSE-LGPL.TXT and GIMPACT-LICENSE-BSD.TXT for more details.
+
+-----------------------------------------------------------------------------
+*/
+
+
+#include "GIMPACT/gim_boxpruning.h"
+
+
+
+//! Allocate memory for all aabb set.
+void gim_aabbset_alloc(GIM_AABB_SET * aabbset, GUINT32 count)
+{
+ aabbset->m_count = count;
+ aabbset->m_boxes = (aabb3f *)gim_alloc(sizeof(aabb3f)*count);
+
+ if(count<GIM_MIN_SORTED_BIPARTITE_PRUNING_BOXES)
+ {
+ aabbset->m_maxcoords = 0;
+ aabbset->m_sorted_mincoords = 0;
+ }
+ else
+ {
+ aabbset->m_maxcoords = (GUINT32 *)gim_alloc(sizeof(GUINT32)*aabbset->m_count );
+ aabbset->m_sorted_mincoords = (GIM_RSORT_TOKEN *)gim_alloc(sizeof(GIM_RSORT_TOKEN)*aabbset->m_count);
+ }
+ aabbset->m_shared = 0;
+ INVALIDATE_AABB(aabbset->m_global_bound);
+}
+
+//! Destroys the aabb set.
+void gim_aabbset_destroy(GIM_AABB_SET * aabbset)
+{
+ aabbset->m_count = 0;
+ if(aabbset->m_shared==0)
+ {
+ gim_free(aabbset->m_boxes,0);
+ gim_free(aabbset->m_maxcoords,0);
+ gim_free(aabbset->m_sorted_mincoords,0);
+ }
+ aabbset->m_boxes = 0;
+ aabbset->m_sorted_mincoords = 0;
+ aabbset->m_maxcoords = 0;
+}
+
+void gim_aabbset_calc_global_bound(GIM_AABB_SET * aabbset)
+{
+ aabb3f * paabb = aabbset->m_boxes;
+ aabb3f * globalbox = &aabbset->m_global_bound;
+ AABB_COPY((*globalbox),(*paabb));
+
+ GUINT32 count = aabbset->m_count-1;
+ paabb++;
+ while(count)
+ {
+ MERGEBOXES(*globalbox,*paabb)
+ paabb++;
+ count--;
+ }
+}
+
+
+//! Sorts the boxes for box prunning.
+/*!
+1) find the integer representation of the aabb coords
+2) Sorts the min coords
+3) Calcs the global bound
+\pre aabbset must be allocated. And the boxes must be already set.
+\param aabbset
+\param calc_global_bound If 1 , calcs the global bound
+\post If aabbset->m_sorted_mincoords == 0, then it allocs the sorted coordinates
+*/
+void gim_aabbset_sort(GIM_AABB_SET * aabbset, char calc_global_bound)
+{
+ if(aabbset->m_sorted_mincoords == 0)
+ {//allocate
+ aabbset->m_maxcoords = (GUINT32 *)gim_alloc(sizeof(GUINT32)*aabbset->m_count );
+ aabbset->m_sorted_mincoords = (GIM_RSORT_TOKEN *)gim_alloc(sizeof(GIM_RSORT_TOKEN)*aabbset->m_count);
+ }
+
+ GUINT32 i, count = aabbset->m_count;
+ aabb3f * paabb = aabbset->m_boxes;
+ GUINT32 * maxcoords = aabbset->m_maxcoords;
+ GIM_RSORT_TOKEN * sorted_tokens = aabbset->m_sorted_mincoords;
+
+ if(count<860)//Calibrated on a Pentium IV
+ {
+ //Sort by quick sort
+ //Calculate keys
+ for(i=0;i<count;i++)
+ {
+ GIM_CONVERT_VEC3F_GUINT_XZ_UPPER(paabb[i].maxX,paabb[i].maxZ,maxcoords[i]);
+ GIM_CONVERT_VEC3F_GUINT_XZ(paabb[i].minX,paabb[i].minZ,sorted_tokens[i].m_key);
+ sorted_tokens[i].m_value = i;
+ }
+ GIM_QUICK_SORT_ARRAY(GIM_RSORT_TOKEN , sorted_tokens, count, RSORT_TOKEN_COMPARATOR,GIM_DEF_EXCHANGE_MACRO);
+ }
+ else
+ {
+ //Sort by radix sort
+ GIM_RSORT_TOKEN * unsorted = (GIM_RSORT_TOKEN *)gim_alloc(sizeof(GIM_RSORT_TOKEN )*count);
+ //Calculate keys
+ for(i=0;i<count;i++)
+ {
+ GIM_CONVERT_VEC3F_GUINT_XZ_UPPER(paabb[i].maxX,paabb[i].maxZ,maxcoords[i]);
+ GIM_CONVERT_VEC3F_GUINT_XZ(paabb[i].minX,paabb[i].minZ,unsorted[i].m_key);
+ unsorted[i].m_value = i;
+ }
+ GIM_RADIX_SORT_RTOKENS(unsorted,sorted_tokens,count);
+ gim_free(unsorted,0);
+ }
+
+ if(calc_global_bound) gim_aabbset_calc_global_bound(aabbset);
+}
+
+//utility macros
+
+/*#define PUSH_PAIR(i,j,pairset)\
+{\
+ GIM_PAIR _pair={i,j};\
+ GIM_DYNARRAY_PUSH_ITEM(GIM_PAIR,pairset,_pair);\
+}*/
+
+#define PUSH_PAIR(i,j,pairset)\
+{\
+ GIM_DYNARRAY_PUSH_EMPTY(GIM_PAIR,pairset);\
+ GIM_PAIR * _pair = GIM_DYNARRAY_POINTER(GIM_PAIR,pairset) + (pairset).m_size - 1;\
+ _pair->m_index1 = i;\
+ _pair->m_index2 = j;\
+}
+
+#define PUSH_PAIR_INV(i,j,pairset)\
+{\
+ GIM_DYNARRAY_PUSH_EMPTY(GIM_PAIR,pairset);\
+ GIM_PAIR * _pair = GIM_DYNARRAY_POINTER(GIM_PAIR,pairset) + (pairset).m_size - 1;\
+ _pair->m_index1 = j;\
+ _pair->m_index2 = i;\
+}
+
+#define FIND_OVERLAPPING_FOWARD(\
+ curr_index,\
+ test_count,\
+ test_aabb,\
+ max_coord_uint,\
+ sorted_tokens,\
+ aabbarray,\
+ pairset,\
+ push_pair_macro)\
+{\
+ GUINT32 _i = test_count;\
+ char _intersected;\
+ GIM_RSORT_TOKEN * _psorted_tokens = sorted_tokens;\
+ while(_i>0 && max_coord_uint >= _psorted_tokens->m_key)\
+ {\
+ AABBCOLLISION(_intersected,test_aabb,aabbarray[_psorted_tokens->m_value]);\
+ if(_intersected)\
+ {\
+ push_pair_macro(curr_index, _psorted_tokens->m_value,pairset);\
+ }\
+ _psorted_tokens++;\
+ _i--;\
+ }\
+}
+
+//! log(N) Complete box pruning. Returns a list of overlapping pairs of boxes, each box of the pair belongs to the same set.
+/*!
+\pre aabbset must be allocated and sorted, the boxes must be already set.
+\param aabbset Must be sorted. Global bound isn't required
+\param collision_pairs Array of GIM_PAIR elements. Must be initialized before (Reserve size ~ 100)
+*/
+void gim_aabbset_self_intersections_sorted(GIM_AABB_SET * aabbset, GDYNAMIC_ARRAY * collision_pairs)
+{
+ collision_pairs->m_size = 0;
+ GUINT32 count = aabbset->m_count;
+ aabb3f * paabb = aabbset->m_boxes;
+ GUINT32 * maxcoords = aabbset->m_maxcoords;
+ GIM_RSORT_TOKEN * sorted_tokens = aabbset->m_sorted_mincoords;
+ aabb3f test_aabb;
+ while(count>1)
+ {
+ ///current cache variables
+ GUINT32 curr_index = sorted_tokens->m_value;
+ GUINT32 max_coord_uint = maxcoords[curr_index];
+ AABB_COPY(test_aabb,paabb[curr_index]);
+
+ ///next pairs
+ sorted_tokens++;
+ count--;
+ FIND_OVERLAPPING_FOWARD( curr_index, count, test_aabb, max_coord_uint, sorted_tokens , paabb, (*collision_pairs),PUSH_PAIR);
+ }
+}
+
+//! NxN Complete box pruning. Returns a list of overlapping pairs of boxes, each box of the pair belongs to the same set.
+/*!
+\pre aabbset must be allocated, the boxes must be already set.
+\param aabbset Global bound isn't required. Doen't need to be sorted.
+\param collision_pairs Array of GIM_PAIR elements. Must be initialized before (Reserve size ~ 100)
+*/
+void gim_aabbset_self_intersections_brute_force(GIM_AABB_SET * aabbset, GDYNAMIC_ARRAY * collision_pairs)
+{
+ collision_pairs->m_size = 0;
+ GUINT32 i,j;
+ GUINT32 count = aabbset->m_count;
+ aabb3f * paabb = aabbset->m_boxes;
+ char intersected;
+ for (i=0;i< count-1 ;i++ )
+ {
+ for (j=i+1;j<count ;j++ )
+ {
+ AABBCOLLISION(intersected,paabb[i],paabb[j]);
+ if(intersected)
+ {
+ PUSH_PAIR(i,j,(*collision_pairs));
+ }
+ }
+ }
+}
+
+//! log(N) Bipartite box pruning. Returns a list of overlapping pairs of boxes, each box of the pair belongs to a different set.
+/*!
+\pre aabbset1 and aabbset2 must be allocated and sorted, the boxes must be already set.
+\param aabbset1 Must be sorted, Global bound is required.
+\param aabbset2 Must be sorted, Global bound is required.
+\param collision_pairs Array of GIM_PAIR elements. Must be initialized before (Reserve size ~ 100)
+*/
+void gim_aabbset_bipartite_intersections_sorted(GIM_AABB_SET * aabbset1, GIM_AABB_SET * aabbset2, GDYNAMIC_ARRAY * collision_pairs)
+{
+ char intersected;
+ collision_pairs->m_size = 0;
+
+ AABBCOLLISION(intersected,aabbset1->m_global_bound,aabbset2->m_global_bound);
+ if(intersected == 0) return;
+
+ GUINT32 count1 = aabbset1->m_count;
+ aabb3f * paabb1 = aabbset1->m_boxes;
+ GUINT32 * maxcoords1 = aabbset1->m_maxcoords;
+ GIM_RSORT_TOKEN * sorted_tokens1 = aabbset1->m_sorted_mincoords;
+
+ GUINT32 count2 = aabbset2->m_count;
+ aabb3f * paabb2 = aabbset2->m_boxes;
+ GUINT32 * maxcoords2 = aabbset2->m_maxcoords;
+ GIM_RSORT_TOKEN * sorted_tokens2 = aabbset2->m_sorted_mincoords;
+
+ GUINT32 curr_index;
+
+ GUINT32 max_coord_uint;
+ aabb3f test_aabb;
+
+ //Classify boxes
+ //Find Set intersection
+ aabb3f int_abbb;
+ BOXINTERSECTION(aabbset1->m_global_bound,aabbset2->m_global_bound, int_abbb);
+
+ //Clasify set 1
+ GIM_RSORT_TOKEN * classified_tokens1 = (GIM_RSORT_TOKEN *) gim_alloc(sizeof(GIM_RSORT_TOKEN)*count1);
+ GUINT32 i,classified_count1 = 0,classified_count2 = 0;
+
+
+ for (i=0;i<count1;i++ )
+ {
+ curr_index = sorted_tokens1[i].m_value;
+ AABBCOLLISION(intersected,paabb1[curr_index],int_abbb);
+ if(intersected)
+ {
+ classified_tokens1[classified_count1] = sorted_tokens1[i];
+ classified_count1++;
+ }
+ }
+
+ if(classified_count1==0)
+ {
+ gim_free(classified_tokens1 ,0);
+ return; // no pairs
+ }
+
+ //Clasify set 2
+ GIM_RSORT_TOKEN * classified_tokens2 = (GIM_RSORT_TOKEN *) gim_alloc(sizeof(GIM_RSORT_TOKEN)*count2);
+
+ for (i=0;i<count2;i++ )
+ {
+ curr_index = sorted_tokens2[i].m_value;
+ AABBCOLLISION(intersected,paabb2[curr_index],int_abbb);
+ if(intersected)
+ {
+ classified_tokens2[classified_count2] = sorted_tokens2[i];
+ classified_count2++;
+ }
+ }
+
+ if(classified_count2==0)
+ {
+ gim_free(classified_tokens1 ,0);
+ gim_free(classified_tokens2 ,0);
+ return; // no pairs
+ }
+
+ sorted_tokens1 = classified_tokens1;
+ sorted_tokens2 = classified_tokens2;
+
+ while(classified_count1>0&&classified_count2>0)
+ {
+ if(sorted_tokens1->m_key <= sorted_tokens2->m_key)
+ {
+ ///current cache variables
+ curr_index = sorted_tokens1->m_value;
+ max_coord_uint = maxcoords1[curr_index];
+ AABB_COPY(test_aabb,paabb1[curr_index]);
+ ///next pairs
+ sorted_tokens1++;
+ classified_count1--;
+ FIND_OVERLAPPING_FOWARD( curr_index, classified_count2, test_aabb, max_coord_uint, sorted_tokens2 , paabb2, (*collision_pairs), PUSH_PAIR);
+ }
+ else ///Switch test
+ {
+ ///current cache variables
+ curr_index = sorted_tokens2->m_value;
+ max_coord_uint = maxcoords2[curr_index];
+ AABB_COPY(test_aabb,paabb2[curr_index]);
+ ///next pairs
+ sorted_tokens2++;
+ classified_count2--;
+ FIND_OVERLAPPING_FOWARD( curr_index, classified_count1, test_aabb, max_coord_uint, sorted_tokens1 , paabb1, (*collision_pairs), PUSH_PAIR_INV );
+ }
+ }
+ gim_free(classified_tokens1 ,0);
+ gim_free(classified_tokens2 ,0);
+}
+
+//! NxM Bipartite box pruning. Returns a list of overlapping pairs of boxes, each box of the pair belongs to a different set.
+/*!
+\pre aabbset1 and aabbset2 must be allocated and sorted, the boxes must be already set.
+\param aabbset1 Must be sorted, Global bound is required.
+\param aabbset2 Must be sorted, Global bound is required.
+\param collision_pairs Array of GIM_PAIR elements. Must be initialized before (Reserve size ~ 100)
+*/
+void gim_aabbset_bipartite_intersections_brute_force(GIM_AABB_SET * aabbset1,GIM_AABB_SET * aabbset2, GDYNAMIC_ARRAY * collision_pairs)
+{
+ char intersected;
+ collision_pairs->m_size = 0;
+ AABBCOLLISION(intersected,aabbset1->m_global_bound,aabbset2->m_global_bound);
+ if(intersected == 0) return;
+
+ aabb3f int_abbb;
+ //Find Set intersection
+ BOXINTERSECTION(aabbset1->m_global_bound,aabbset2->m_global_bound, int_abbb);
+ //Clasify set 1
+ GUINT32 i,j;
+ GUINT32 classified_count = 0;
+
+ GUINT32 count = aabbset1->m_count;
+ aabb3f * paabb1 = aabbset1->m_boxes;
+ aabb3f * paabb2 = aabbset2->m_boxes;
+
+ GUINT32 * classified = (GUINT32 *) gim_alloc(sizeof(GUINT32)*count);
+
+ for (i=0;i<count;i++ )
+ {
+ AABBCOLLISION(intersected,paabb1[i],int_abbb);
+ if(intersected)
+ {
+ classified[classified_count] = i;
+ classified_count++;
+ }
+ }
+
+ if(classified_count==0)
+ {
+ gim_free(classified,0);
+ return; // no pairs
+ }
+
+ //intesect set2
+ count = aabbset2->m_count;
+ for (i=0;i<count;i++)
+ {
+ AABBCOLLISION(intersected,paabb2[i],int_abbb);
+ if(intersected)
+ {
+ for (j=0;j<classified_count;j++)
+ {
+ AABBCOLLISION(intersected,paabb2[i],paabb1[classified[j]]);
+ if(intersected)
+ {
+ PUSH_PAIR(classified[j],i,(*collision_pairs));
+ }
+ }
+ }
+ }
+ gim_free(classified,0);
+}
+
+
+//! Initalizes the set. Sort Boxes if needed.
+/*!
+\pre aabbset must be allocated. And the boxes must be already set.
+\post If the set has less of GIM_MIN_SORTED_BIPARTITE_PRUNING_BOXES boxes, only calcs the global box,
+ else it Sorts the entire set( Only applicable for large sets)
+*/
+void gim_aabbset_update(GIM_AABB_SET * aabbset)
+{
+ if(aabbset->m_count < GIM_MIN_SORTED_BIPARTITE_PRUNING_BOXES)
+ {//Brute force approach
+ gim_aabbset_calc_global_bound(aabbset);
+ }
+ else
+ {//Sorted force approach
+ gim_aabbset_sort(aabbset,1);
+ }
+}
+
+//! Complete box pruning. Returns a list of overlapping pairs of boxes, each box of the pair belongs to the same set.
+/*!
+This function sorts the set and then it calls to gim_aabbset_self_intersections_brute_force or gim_aabbset_self_intersections_sorted.
+
+\param aabbset Set of boxes. Sorting isn't required.
+\param collision_pairs Array of GIM_PAIR elements. Must be initialized before (Reserve size ~ 100)
+\pre aabbset must be allocated and initialized.
+\post If aabbset->m_count >= GIM_MIN_SORTED_PRUNING_BOXES, then it calls to gim_aabbset_sort and then to gim_aabbset_self_intersections_sorted.
+*/
+void gim_aabbset_self_intersections(GIM_AABB_SET * aabbset, GDYNAMIC_ARRAY * collision_pairs)
+{
+ if(aabbset->m_count < GIM_MIN_SORTED_PRUNING_BOXES)
+ {//Brute force approach
+ gim_aabbset_self_intersections_brute_force(aabbset,collision_pairs);
+ }
+ else
+ {//Sorted force approach
+ gim_aabbset_sort(aabbset,0);
+ gim_aabbset_self_intersections_sorted(aabbset,collision_pairs);
+ }
+}
+
+//! Collides two sets. Returns a list of overlapping pairs of boxes, each box of the pair belongs to a different set.
+/*!
+\pre aabbset1 and aabbset2 must be allocated and updated. See .
+\param aabbset1 Must be sorted, Global bound is required.
+\param aabbset2 Must be sorted, Global bound is required.
+\param collision_pairs Array of GIM_PAIR elements. Must be initialized before (Reserve size ~ 100)
+*/
+void gim_aabbset_bipartite_intersections(GIM_AABB_SET * aabbset1, GIM_AABB_SET * aabbset2, GDYNAMIC_ARRAY * collision_pairs)
+{
+ if(aabbset1->m_sorted_mincoords == 0||aabbset2->m_sorted_mincoords == 0)
+ {//Brute force approach
+ gim_aabbset_bipartite_intersections_brute_force(aabbset1,aabbset2,collision_pairs);
+ }
+ else
+ {//Sorted force approach
+ gim_aabbset_bipartite_intersections_sorted(aabbset1,aabbset2,collision_pairs);
+ }
+}
+
+void gim_aabbset_box_collision(aabb3f *test_aabb, GIM_AABB_SET * aabbset, GDYNAMIC_ARRAY * collided)
+{
+ collided->m_size = 0;
+ char intersected;
+ AABBCOLLISION(intersected,aabbset->m_global_bound,(*test_aabb));
+ if(intersected == 0) return;
+
+ GUINT32 i;
+ GUINT32 count = aabbset->m_count;
+ aabb3f * paabb = aabbset->m_boxes;
+ aabb3f _testaabb;
+ AABB_COPY(_testaabb,*test_aabb);
+
+ for (i=0;i< count;i++ )
+ {
+ AABBCOLLISION(intersected,paabb[i],_testaabb);
+ if(intersected)
+ {
+ GIM_DYNARRAY_PUSH_ITEM(GUINT32,(*collided),i);
+ }
+ }
+}
+
+void gim_aabbset_ray_collision(vec3f vorigin,vec3f vdir, GREAL tmax, GIM_AABB_SET * aabbset, GDYNAMIC_ARRAY * collided)
+{
+ collided->m_size = 0;
+ char intersected;
+ GREAL tparam = 0;
+ BOX_INTERSECTS_RAY(aabbset->m_global_bound, vorigin, vdir, tparam, tmax,intersected);
+ if(intersected==0) return;
+
+ GUINT32 i;
+ GUINT32 count = aabbset->m_count;
+ aabb3f * paabb = aabbset->m_boxes;
+
+ for (i=0;i< count;i++ )
+ {
+ BOX_INTERSECTS_RAY(paabb[i], vorigin, vdir, tparam, tmax,intersected);
+ if(intersected)
+ {
+ GIM_DYNARRAY_PUSH_ITEM(GUINT32,(*collided),i);
+ }
+ }
+ (void)tparam;
+}
diff --git a/libs/ode-0.16.1/GIMPACT/src/gim_contact.cpp b/libs/ode-0.16.1/GIMPACT/src/gim_contact.cpp new file mode 100644 index 0000000..4b61298 --- /dev/null +++ b/libs/ode-0.16.1/GIMPACT/src/gim_contact.cpp @@ -0,0 +1,132 @@ +
+/*
+-----------------------------------------------------------------------------
+This source file is part of GIMPACT Library.
+
+For the latest info, see http://gimpact.sourceforge.net/
+
+Copyright (c) 2006 Francisco Leon. C.C. 80087371.
+email: projectileman@yahoo.com
+
+ 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 GIMPACT-LICENSE-LGPL.TXT.
+ (2) The BSD-style license that is included with this library in
+ the file GIMPACT-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
+ GIMPACT-LICENSE-LGPL.TXT and GIMPACT-LICENSE-BSD.TXT for more details.
+
+-----------------------------------------------------------------------------
+*/
+
+#include "GIMPACT/gim_contact.h"
+
+void gim_merge_contacts(GDYNAMIC_ARRAY * source_contacts,
+ GDYNAMIC_ARRAY * dest_contacts)
+{
+ dest_contacts->m_size = 0;
+
+ GUINT32 source_count = source_contacts->m_size;
+ GIM_CONTACT * psource_contacts = GIM_DYNARRAY_POINTER(GIM_CONTACT,(*source_contacts));
+ //create keys
+ GIM_RSORT_TOKEN * keycontacts = (GIM_RSORT_TOKEN * )gim_alloc(sizeof(GIM_RSORT_TOKEN)*source_count);
+
+ GUINT32 i;
+ for(i=0;i<source_count;i++)
+ {
+ keycontacts[i].m_value = i;
+ GIM_CALC_KEY_CONTACT(psource_contacts[i].m_point,keycontacts[i].m_key);
+ }
+
+ //sort keys
+ GIM_QUICK_SORT_ARRAY(GIM_RSORT_TOKEN , keycontacts, source_count, RSORT_TOKEN_COMPARATOR,GIM_DEF_EXCHANGE_MACRO);
+
+ // Merge contacts
+ GIM_CONTACT * pcontact = 0;
+ GIM_CONTACT * scontact = 0;
+ GUINT32 key,last_key=0;
+
+ for(i=0;i<source_contacts->m_size;i++)
+ {
+ key = keycontacts[i].m_key;
+ scontact = &psource_contacts[keycontacts[i].m_value];
+
+ if(i>0 && last_key == key)
+ {
+ //merge contact
+ if(pcontact->m_depth > scontact->m_depth + CONTACT_DIFF_EPSILON)
+ {
+ GIM_COPY_CONTACTS(pcontact, scontact);
+ }
+ }
+ else
+ {//add new contact
+ GIM_DYNARRAY_PUSH_EMPTY(GIM_CONTACT,(*dest_contacts));
+ pcontact = GIM_DYNARRAY_POINTER_LAST(GIM_CONTACT,(*dest_contacts));
+ GIM_COPY_CONTACTS(pcontact, scontact);
+ }
+ last_key = key;
+ }
+ gim_free(keycontacts,0);
+}
+
+void gim_merge_contacts_unique(GDYNAMIC_ARRAY * source_contacts,
+ GDYNAMIC_ARRAY * dest_contacts)
+{
+ dest_contacts->m_size = 0;
+ //Traverse the source contacts
+ GUINT32 source_count = source_contacts->m_size;
+ if(source_count==0) return;
+
+ GIM_CONTACT * psource_contacts = GIM_DYNARRAY_POINTER(GIM_CONTACT,(*source_contacts));
+
+ //add the unique contact
+ GIM_CONTACT * pcontact = 0;
+ GIM_DYNARRAY_PUSH_EMPTY(GIM_CONTACT,(*dest_contacts));
+ pcontact = GIM_DYNARRAY_POINTER_LAST(GIM_CONTACT,(*dest_contacts));
+ //set the first contact
+ GIM_COPY_CONTACTS(pcontact, psource_contacts);
+
+ if(source_count==1) return;
+ //scale the first contact
+ VEC_SCALE(pcontact->m_normal,pcontact->m_depth,pcontact->m_normal);
+
+ psource_contacts++;
+
+ //Average the contacts
+ GUINT32 i;
+ for(i=1;i<source_count;i++)
+ {
+ VEC_SUM(pcontact->m_point,pcontact->m_point,psource_contacts->m_point);
+ VEC_ACCUM(pcontact->m_normal,psource_contacts->m_depth,psource_contacts->m_normal);
+ psource_contacts++;
+ }
+
+ GREAL divide_average = 1.0f/((GREAL)source_count);
+
+ VEC_SCALE(pcontact->m_point,divide_average,pcontact->m_point);
+
+ pcontact->m_depth = VEC_DOT(pcontact->m_normal,pcontact->m_normal)*divide_average;
+ GIM_SQRT(pcontact->m_depth,pcontact->m_depth);
+
+ VEC_NORMALIZE(pcontact->m_normal);
+
+ /*GREAL normal_len;
+ VEC_INV_LENGTH(pcontact->m_normal,normal_len);
+ VEC_SCALE(pcontact->m_normal,normal_len,pcontact->m_normal);
+
+ //Deep = LEN(normal)/SQRT(source_count)
+ GIM_SQRT(divide_average,divide_average);
+ pcontact->m_depth = divide_average/normal_len;
+ */
+}
+
+
+
diff --git a/libs/ode-0.16.1/GIMPACT/src/gim_math.cpp b/libs/ode-0.16.1/GIMPACT/src/gim_math.cpp new file mode 100644 index 0000000..18efb2c --- /dev/null +++ b/libs/ode-0.16.1/GIMPACT/src/gim_math.cpp @@ -0,0 +1,60 @@ +/*
+-----------------------------------------------------------------------------
+This source file is part of GIMPACT Library.
+
+For the latest info, see http://gimpact.sourceforge.net/
+
+Copyright (c) 2006 Francisco Leon. C.C. 80087371.
+email: projectileman@yahoo.com
+
+ 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 GIMPACT-LICENSE-LGPL.TXT.
+ (2) The BSD-style license that is included with this library in
+ the file GIMPACT-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
+ GIMPACT-LICENSE-LGPL.TXT and GIMPACT-LICENSE-BSD.TXT for more details.
+
+-----------------------------------------------------------------------------
+*/
+
+
+#include "GIMPACT/gim_math.h"
+#include "stdlib.h"
+#include "time.h"
+
+
+GREAL gim_inv_sqrt(GREAL f)
+{
+ GREAL r;
+ GIM_INV_SQRT(f,r);
+ return r;
+}
+
+GREAL gim_sqrt(GREAL f)
+{
+ GREAL r;
+ GIM_SQRT(f,r);
+ return r;
+}
+
+//!Initializes mathematical functions
+void gim_init_math()
+{
+ srand( static_cast< unsigned int >( time( 0 ) ) );
+}
+
+//! Generates an unit random
+GREAL gim_unit_random()
+{
+ GREAL rn = static_cast< GREAL >( rand() );
+ rn/=(GREAL)RAND_MAX;
+ return rn;
+}
diff --git a/libs/ode-0.16.1/GIMPACT/src/gim_memory.cpp b/libs/ode-0.16.1/GIMPACT/src/gim_memory.cpp new file mode 100644 index 0000000..cc5188d --- /dev/null +++ b/libs/ode-0.16.1/GIMPACT/src/gim_memory.cpp @@ -0,0 +1,878 @@ +
+/*
+-----------------------------------------------------------------------------
+This source file is part of GIMPACT Library.
+
+For the latest info, see http://gimpact.sourceforge.net/
+
+Copyright (c) 2006 Francisco Leon. C.C. 80087371.
+email: projectileman@yahoo.com
+
+ 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 GIMPACT-LICENSE-LGPL.TXT.
+ (2) The BSD-style license that is included with this library in
+ the file GIMPACT-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
+ GIMPACT-LICENSE-LGPL.TXT and GIMPACT-LICENSE-BSD.TXT for more details.
+
+-----------------------------------------------------------------------------
+*/
+
+
+#include <assert.h>
+#include <stdlib.h>
+#include "GIMPACT/gim_memory.h"
+#include <ode/odeconfig.h>
+#include "config.h"
+//#include "malloc.h"
+//#include "mm_malloc.h"
+
+static gim_alloc_function *g_allocfn = 0;
+// static gim_alloca_function *g_allocafn = 0; -- a nonsense
+static gim_realloc_function *g_reallocfn = 0;
+static gim_free_function *g_freefn = 0;
+
+
+#define VALIDATE_BUFFER_MANAGER(buffer_managers,buffer_manager_id)\
+ if(buffer_manager_id>=G_BUFFER_MANAGER__MAX) return G_BUFFER_OP_INVALID;\
+ GBUFFER_MANAGER_DATA * bm_data;\
+ gim_get_buffer_manager_data(buffer_managers,buffer_manager_id,&bm_data);\
+ if(bm_data == 0) return G_BUFFER_OP_INVALID;\
+
+#define VALIDATE_BUFFER_ID_PT(buffer_id)\
+ GBUFFER_MANAGER_DATA * bm_data = buffer_id->m_bm_data;\
+ if(bm_data == 0) return G_BUFFER_OP_INVALID;\
+ if(buffer_id->m_buffer_id>=bm_data->m_buffer_array.m_size) return G_BUFFER_OP_INVALID;\
+ GBUFFER_DATA * pbuffer = GIM_DYNARRAY_POINTER(GBUFFER_DATA,bm_data->m_buffer_array);\
+ pbuffer += buffer_id->m_buffer_id;\
+ if(pbuffer->m_buffer_handle==0) return G_BUFFER_OP_INVALID;\
+
+
+void GIM_BUFFER_ARRAY_DESTROY(GBUFFER_ARRAY & array_data)
+{
+ gim_buffer_array_unlock(&array_data);
+ gim_buffer_free(&(array_data).m_buffer_id);
+}
+
+void GIM_DYNARRAY_DESTROY(GDYNAMIC_ARRAY & array_data)
+{
+ if(array_data.m_pdata != 0)
+ {
+ gim_free(array_data.m_pdata,0);
+ array_data.m_reserve_size = 0;
+ array_data.m_size = 0;
+ array_data.m_pdata = 0;
+ }
+}
+
+void gim_set_alloc_handler (gim_alloc_function *fn)
+{
+ g_allocfn = fn;
+}
+
+/* -- a nonsense
+void gim_set_alloca_handler (gim_alloca_function *fn)
+{
+ g_allocafn = fn;
+}
+*/
+
+void gim_set_realloc_handler (gim_realloc_function *fn)
+{
+ g_reallocfn = fn;
+}
+
+void gim_set_free_handler (gim_free_function *fn)
+{
+ g_freefn = fn;
+}
+
+gim_alloc_function *gim_get_alloc_handler()
+{
+ return g_allocfn;
+}
+
+/* -- a nonsense
+gim_alloca_function *gim_get_alloca_handler()
+{
+ return g_allocafn;
+}
+*/
+
+gim_realloc_function *gim_get_realloc_handler ()
+{
+ return g_reallocfn;
+}
+
+
+gim_free_function *gim_get_free_handler ()
+{
+ return g_freefn;
+}
+
+
+void * gim_alloc(size_t size)
+{
+ void * ptr;
+/*
+ if (g_allocfn)
+ {
+ ptr = g_allocfn(size);
+ }
+ else
+*/
+ {
+ ptr = malloc(size);//_mm_malloc(size,0);*/
+ }
+ assert(ptr);
+ return ptr;
+}
+
+/* -- a nonsense
+void * gim_alloca(size_t size)
+{
+ if (g_allocafn) return g_allocafn(size); else return alloca(size);
+}
+*/
+
+void * gim_realloc(void *ptr, size_t oldsize, size_t newsize)
+{
+ /*if (g_reallocfn) return g_reallocfn(ptr,oldsize,newsize);
+ else return realloc(ptr,newsize);*/
+ //return realloc(ptr,newsize);
+ void * newptr = gim_alloc(newsize);
+ size_t copysize = newsize> oldsize? oldsize: newsize;
+ memcpy(newptr,ptr,copysize);
+ gim_free(ptr,oldsize);
+ return newptr;
+}
+
+void gim_free(void *ptr, size_t size)
+{
+ if (!ptr) return;
+/* -- if custom allocation function is not used, custom free must not be used too
+ if (g_freefn)
+ {
+ g_freefn(ptr,size);
+ }
+ else
+*/
+ {
+ free(ptr);//_mm_free(ptr);
+ }
+}
+
+///******************************* BUFFER MANAGERS ******************************///
+
+//!** Basic buffer prototype functions
+
+static GPTR _system_buffer_alloc_function(GUINT32 size,int usage)
+{
+ void * newdata = gim_alloc(size);
+ memset(newdata,0,size);
+ return (GPTR)newdata;
+}
+
+static GPTR _system_buffer_alloc_data_function(const void * pdata,GUINT32 size,int usage)
+{
+ void * newdata = gim_alloc(size);
+ memcpy(newdata,pdata,size);
+ return (GPTR)(newdata);
+}
+
+static GPTR _system_buffer_realloc_function(GPTR buffer_handle,GUINT32 oldsize,int old_usage,GUINT32 newsize,int new_usage)
+{
+ void * newdata = gim_realloc(buffer_handle,oldsize,newsize);
+ return (GPTR)(newdata);
+}
+
+static void _system_buffer_free_function(GPTR buffer_handle,GUINT32 size)
+{
+ gim_free(buffer_handle,size);
+}
+
+static char * _system_lock_buffer_function(GPTR buffer_handle,int access)
+{
+ return (char * )(buffer_handle);
+}
+
+
+static void _system_unlock_buffer_function(GPTR buffer_handle)
+{
+}
+
+static void _system_download_from_buffer_function(
+ GPTR source_buffer_handle,
+ GUINT32 source_pos,
+ void * destdata,
+ GUINT32 copysize)
+{
+ char * pdata;
+ pdata = (char *)source_buffer_handle;
+ memcpy(destdata,pdata+source_pos,copysize);
+}
+
+static void _system_upload_to_buffer_function(
+ GPTR dest_buffer_handle,
+ GUINT32 dest_pos,
+ void * sourcedata,
+ GUINT32 copysize)
+{
+ char * pdata;
+ pdata = (char * )dest_buffer_handle;
+ memcpy(pdata+dest_pos,sourcedata,copysize);
+}
+
+static void _system_copy_buffers_function(
+ GPTR source_buffer_handle,
+ GUINT32 source_pos,
+ GPTR dest_buffer_handle,
+ GUINT32 dest_pos,
+ GUINT32 copysize)
+{
+ char * pdata1,*pdata2;
+ pdata1 = (char *)source_buffer_handle;
+ pdata2 = (char *)dest_buffer_handle;
+ memcpy(pdata2+dest_pos,pdata1+source_pos,copysize);
+}
+
+static GPTR _shared_buffer_alloc_function(GUINT32 size,int usage)
+{
+ return 0;
+}
+
+static GPTR _shared_buffer_alloc_data_function(const void * pdata,GUINT32 size,int usage)
+{
+ return (GPTR)pdata;
+}
+
+#if 0
+static GPTR _shared_buffer_realloc_function(GPTR buffer_handle,GUINT32 oldsize,int old_usage,GUINT32 newsize,int new_usage)
+{
+ return 0;
+}
+#endif
+
+static void _shared_buffer_free_function(GPTR buffer_handle,GUINT32 size)
+{
+}
+
+static inline int _is_buffer_manager_data_active(GBUFFER_MANAGER_DATA * bm_data)
+{
+ return bm_data->m_buffer_array.m_pdata != 0;
+}
+
+static inline void _init_buffer_manager_data(GBUFFER_MANAGER_DATA * bm_data)
+{
+ bm_data->m_buffer_array.m_pdata = 0;
+}
+
+static const GBUFFER_MANAGER_PROTOTYPE g_bm_prototypes[G_BUFFER_MANAGER__MAX] =
+{
+ {
+ &_system_buffer_alloc_function, // alloc_fn;
+ &_system_buffer_alloc_data_function, // alloc_data_fn;
+ &_system_buffer_realloc_function, // realloc_fn;
+ &_system_buffer_free_function, // free_fn;
+ &_system_lock_buffer_function, // lock_buffer_fn;
+ &_system_unlock_buffer_function, // unlock_buffer_fn;
+ &_system_download_from_buffer_function, // download_from_buffer_fn;
+ &_system_upload_to_buffer_function, // upload_to_buffer_fn;
+ &_system_copy_buffers_function, // copy_buffers_fn;
+ }, // G_BUFFER_MANAGER_SYSTEM
+
+ {
+ &_shared_buffer_alloc_function, // alloc_fn;
+ &_shared_buffer_alloc_data_function, // alloc_data_fn;
+ &_system_buffer_realloc_function, // realloc_fn;
+ &_shared_buffer_free_function, // free_fn;
+ &_system_lock_buffer_function, // lock_buffer_fn;
+ &_system_unlock_buffer_function, // unlock_buffer_fn;
+ &_system_download_from_buffer_function, // download_from_buffer_fn;
+ &_system_upload_to_buffer_function, // upload_to_buffer_fn;
+ &_system_copy_buffers_function, // copy_buffers_fn;
+ }, // G_BUFFER_MANAGER_SHARED
+};
+
+int gim_is_buffer_manager_active(GBUFFER_MANAGER_DATA buffer_managers[],
+ GUINT32 buffer_manager_id)
+{
+ GBUFFER_MANAGER_DATA * bm_data;
+ bm_data = &buffer_managers[buffer_manager_id];
+ return _is_buffer_manager_data_active(bm_data);
+}
+
+//!** Buffer manager operations
+void gim_create_buffer_manager(GBUFFER_MANAGER_DATA buffer_managers[],
+ GUINT32 buffer_manager_id)
+{
+ GBUFFER_MANAGER_DATA * bm_data;
+ bm_data = &buffer_managers[buffer_manager_id];
+
+ if (_is_buffer_manager_data_active(bm_data))
+ {
+ gim_destroy_buffer_manager(buffer_managers, buffer_manager_id);
+ }
+
+ //CREATE ARRAYS
+ GIM_DYNARRAY_CREATE(GBUFFER_DATA,bm_data->m_buffer_array,G_ARRAY_BUFFERMANAGER_INIT_SIZE);
+ GIM_DYNARRAY_CREATE(GUINT32,bm_data->m_free_positions,G_ARRAY_BUFFERMANAGER_INIT_SIZE);
+ bm_data->m_prototype = g_bm_prototypes + buffer_manager_id;
+ bm_data->m_buffer_manager_id = buffer_manager_id;
+}
+
+void gim_destroy_buffer_manager(GBUFFER_MANAGER_DATA buffer_managers[], GUINT32 buffer_manager_id)
+{
+ GBUFFER_MANAGER_DATA * bm_data;
+ gim_get_buffer_manager_data(buffer_managers,buffer_manager_id,&bm_data);
+ if(bm_data == 0) return;
+ //Destroy all buffers
+
+ GBUFFER_DATA * buffers = GIM_DYNARRAY_POINTER(GBUFFER_DATA,bm_data->m_buffer_array);
+ GUINT32 i, buffer_count = bm_data->m_buffer_array.m_size;
+ for (i=0;i<buffer_count ;i++ )
+ {
+ GBUFFER_DATA * current_buffer = buffers + i;
+ if(current_buffer->m_buffer_handle!=0) //Is active
+ {
+ // free handle
+ bm_data->m_prototype->free_fn(current_buffer->m_buffer_handle,current_buffer->m_size);
+ }
+ }
+
+ //destroy buffer array
+ GIM_DYNARRAY_DESTROY(bm_data->m_buffer_array);
+ //destroy free positions
+ GIM_DYNARRAY_DESTROY(bm_data->m_free_positions);
+}
+void gim_get_buffer_manager_data(GBUFFER_MANAGER_DATA buffer_managers[],
+ GUINT32 buffer_manager_id,GBUFFER_MANAGER_DATA ** pbm_data)
+{
+ GBUFFER_MANAGER_DATA * bm_data;
+ bm_data = &buffer_managers[buffer_manager_id];
+
+ if (_is_buffer_manager_data_active(bm_data))
+ {
+ *pbm_data = bm_data;
+ }
+ else
+ {
+ *pbm_data = 0;
+ }
+}
+
+void gim_init_buffer_managers(GBUFFER_MANAGER_DATA buffer_managers[])
+{
+ GUINT32 i;
+ for (i=0;i<G_BUFFER_MANAGER__MAX;i++)
+ {
+ _init_buffer_manager_data(buffer_managers + i);
+ }
+
+ // Add the two most important buffer managers
+
+ //add system buffer manager
+ gim_create_buffer_manager(buffer_managers,G_BUFFER_MANAGER_SYSTEM );
+
+ //add shared buffer manager
+ gim_create_buffer_manager(buffer_managers,G_BUFFER_MANAGER_SHARED);
+}
+
+void gim_terminate_buffer_managers(GBUFFER_MANAGER_DATA buffer_managers[])
+{
+ GUINT32 i;
+ for (i=0;i<G_BUFFER_MANAGER__MAX;i++)
+ {
+ gim_destroy_buffer_manager(buffer_managers,i);
+ }
+}
+
+//!** Buffer operations
+
+void GET_AVALIABLE_BUFFER_ID(GBUFFER_MANAGER_DATA * buffer_manager, GUINT32 & buffer_id)
+{
+ if(buffer_manager->m_free_positions.m_size>0)\
+ {
+ GUINT32 * _pointer = GIM_DYNARRAY_POINTER(GUINT32,buffer_manager->m_free_positions);
+ buffer_id = _pointer[buffer_manager->m_free_positions.m_size-1];
+ GIM_DYNARRAY_POP_ITEM(buffer_manager->m_free_positions);
+ }
+ else
+ {
+ buffer_id = buffer_manager->m_buffer_array.m_size;
+ GIM_DYNARRAY_PUSH_EMPTY(GBUFFER_DATA,buffer_manager->m_buffer_array);
+ }
+}
+
+GINT32 _validate_buffer_id(GBUFFER_ID * buffer_id,GBUFFER_DATA ** ppbuffer,GBUFFER_MANAGER_DATA ** pbm_data)
+{
+ VALIDATE_BUFFER_ID_PT(buffer_id)
+ *ppbuffer = pbuffer;
+ *pbm_data = bm_data;
+ return G_BUFFER_OP_SUCCESS;
+}
+
+GUINT32 gim_create_buffer(
+ GBUFFER_MANAGER_DATA buffer_managers[],
+ GUINT32 buffer_manager_id,
+ GUINT32 buffer_size,
+ int usage,
+ GBUFFER_ID * buffer_id)
+{
+ VALIDATE_BUFFER_MANAGER(buffer_managers,buffer_manager_id)
+
+ GPTR newbufferhandle = bm_data->m_prototype->alloc_fn(buffer_size,usage);
+ if(newbufferhandle==0) return G_BUFFER_OP_INVALID;
+
+ GET_AVALIABLE_BUFFER_ID(bm_data,buffer_id->m_buffer_id);
+ buffer_id->m_bm_data = bm_data;
+
+ GBUFFER_DATA * pbuffer = GIM_DYNARRAY_POINTER(GBUFFER_DATA,bm_data->m_buffer_array);
+ pbuffer += buffer_id->m_buffer_id ;
+ pbuffer->m_buffer_handle = newbufferhandle;
+ pbuffer->m_size = buffer_size;
+ pbuffer->m_usage = usage;
+ pbuffer->m_lock_count = 0;
+ pbuffer->m_refcount = 0;
+ pbuffer->m_mapped_pointer = 0;
+
+ //set shadow buffer if needed
+
+ if(usage == G_MU_STATIC_READ ||
+ usage == G_MU_STATIC_READ_DYNAMIC_WRITE||
+ usage == G_MU_STATIC_READ_DYNAMIC_WRITE_COPY)
+ {
+ gim_create_common_buffer(buffer_managers,buffer_size,&pbuffer->m_shadow_buffer);
+ }
+ else
+ {
+ pbuffer->m_shadow_buffer.m_bm_data = 0;
+ pbuffer->m_shadow_buffer.m_buffer_id = G_UINT_INFINITY;
+ }
+ return G_BUFFER_OP_SUCCESS;
+}
+
+
+GUINT32 gim_create_buffer_from_data(
+ GBUFFER_MANAGER_DATA buffer_managers[],
+ GUINT32 buffer_manager_id,
+ const void * pdata,
+ GUINT32 buffer_size,
+ int usage,
+ GBUFFER_ID * buffer_id)
+{
+ VALIDATE_BUFFER_MANAGER(buffer_managers,buffer_manager_id)
+
+ GPTR newbufferhandle = bm_data->m_prototype->alloc_data_fn(pdata,buffer_size,usage);
+ if(newbufferhandle==0) return G_BUFFER_OP_INVALID;
+
+ GET_AVALIABLE_BUFFER_ID(bm_data,buffer_id->m_buffer_id);
+ buffer_id->m_bm_data = bm_data;
+
+ GBUFFER_DATA * pbuffer = GIM_DYNARRAY_POINTER(GBUFFER_DATA,bm_data->m_buffer_array);
+ pbuffer += buffer_id->m_buffer_id ;
+ pbuffer->m_buffer_handle = newbufferhandle;
+ pbuffer->m_size = buffer_size;
+ pbuffer->m_usage = usage;
+ pbuffer->m_lock_count = 0;
+ pbuffer->m_mapped_pointer = 0;
+ pbuffer->m_refcount = 0;
+
+ //set shadow buffer if needed
+
+ if(usage == G_MU_STATIC_READ ||
+ usage == G_MU_STATIC_READ_DYNAMIC_WRITE||
+ usage == G_MU_STATIC_READ_DYNAMIC_WRITE_COPY)
+ {
+ gim_create_common_buffer_from_data(buffer_managers,pdata,buffer_size,&pbuffer->m_shadow_buffer);
+ }
+ else
+ {
+ pbuffer->m_shadow_buffer.m_bm_data = 0;
+ pbuffer->m_shadow_buffer.m_buffer_id = G_UINT_INFINITY;
+ }
+ return G_BUFFER_OP_SUCCESS;
+}
+
+GUINT32 gim_create_common_buffer(GBUFFER_MANAGER_DATA buffer_managers[],
+ GUINT32 buffer_size, GBUFFER_ID * buffer_id)
+{
+ return gim_create_buffer(buffer_managers,G_BUFFER_MANAGER_SYSTEM,buffer_size,G_MU_DYNAMIC_READ_WRITE,buffer_id);
+}
+
+GUINT32 gim_create_common_buffer_from_data(GBUFFER_MANAGER_DATA buffer_managers[],
+ const void * pdata, GUINT32 buffer_size, GBUFFER_ID * buffer_id)
+{
+ return gim_create_buffer_from_data(buffer_managers,G_BUFFER_MANAGER_SYSTEM,pdata,buffer_size,G_MU_DYNAMIC_READ_WRITE,buffer_id);
+}
+
+GUINT32 gim_create_shared_buffer_from_data(GBUFFER_MANAGER_DATA buffer_managers[],
+ const void * pdata, GUINT32 buffer_size, GBUFFER_ID * buffer_id)
+{
+ return gim_create_buffer_from_data(buffer_managers,G_BUFFER_MANAGER_SHARED,pdata,buffer_size,G_MU_DYNAMIC_READ_WRITE,buffer_id);
+}
+
+GINT32 gim_buffer_realloc(GBUFFER_ID * buffer_id,GUINT32 newsize)
+{
+ VALIDATE_BUFFER_ID_PT(buffer_id)
+ if(pbuffer->m_lock_count>0) return G_BUFFER_OP_INVALID;
+ GPTR newhandle = buffer_id->m_bm_data->m_prototype->realloc_fn(
+ pbuffer->m_buffer_handle,pbuffer->m_size,pbuffer->m_usage,newsize,pbuffer->m_usage);
+ if(newhandle==0) return G_BUFFER_OP_INVALID;
+ pbuffer->m_buffer_handle = newhandle;
+ //realloc shadow buffer if any
+ gim_buffer_realloc(&pbuffer->m_shadow_buffer,newsize);
+ return G_BUFFER_OP_SUCCESS;
+}
+
+GINT32 gim_buffer_add_ref(GBUFFER_ID * buffer_id)
+{
+ VALIDATE_BUFFER_ID_PT(buffer_id)
+ pbuffer->m_refcount++;
+ return G_BUFFER_OP_SUCCESS;
+}
+
+GINT32 gim_buffer_free(GBUFFER_ID * buffer_id)
+{
+ VALIDATE_BUFFER_ID_PT(buffer_id)
+ if(pbuffer->m_lock_count>0) return G_BUFFER_OP_INVALID;
+ if(pbuffer->m_refcount>0) pbuffer->m_refcount--;
+ if(pbuffer->m_refcount>0) return G_BUFFER_OP_STILLREFCOUNTED;
+
+ buffer_id->m_bm_data->m_prototype->free_fn(
+ pbuffer->m_buffer_handle,pbuffer->m_size);
+ //destroy shadow buffer if needed
+ gim_buffer_free(&pbuffer->m_shadow_buffer);
+ // Obtain a free slot index for a new buffer
+ GIM_DYNARRAY_PUSH_ITEM(GUINT32,bm_data->m_free_positions,buffer_id->m_buffer_id);
+ pbuffer->m_buffer_handle = 0;
+ pbuffer->m_size = 0;
+ pbuffer->m_shadow_buffer.m_bm_data = 0;
+ pbuffer->m_shadow_buffer.m_buffer_id = G_UINT_INFINITY;
+ return G_BUFFER_OP_SUCCESS;
+}
+
+GINT32 gim_lock_buffer(GBUFFER_ID * buffer_id,int access,char ** map_pointer)
+{
+ VALIDATE_BUFFER_ID_PT(buffer_id)
+ if(pbuffer->m_lock_count>0)
+ {
+ if(pbuffer->m_access!=access) return G_BUFFER_OP_INVALID;
+ pbuffer->m_lock_count++;
+ *map_pointer = pbuffer->m_mapped_pointer;
+ return G_BUFFER_OP_SUCCESS;
+ }
+
+ pbuffer->m_access = access;
+
+ GUINT32 result;
+ if(pbuffer->m_usage==G_MU_STATIC_WRITE)
+ {
+ *map_pointer = 0;///no access
+ return G_BUFFER_OP_INVALID;
+ }
+ else if(pbuffer->m_usage==G_MU_STATIC_READ)
+ {
+ if(pbuffer->m_access == G_MA_READ_ONLY)
+ {
+ result = gim_lock_buffer(&pbuffer->m_shadow_buffer,access,map_pointer);
+ if(result!= G_BUFFER_OP_SUCCESS) return G_BUFFER_OP_INVALID;
+ pbuffer->m_mapped_pointer = *map_pointer;
+ pbuffer->m_lock_count++;
+ }
+ else
+ {
+ *map_pointer = 0;
+ return G_BUFFER_OP_INVALID;
+ }
+ }
+ else if(pbuffer->m_usage==G_MU_STATIC_READ_DYNAMIC_WRITE)
+ {
+ if(pbuffer->m_access == G_MA_READ_ONLY)
+ {
+ result = gim_lock_buffer(&pbuffer->m_shadow_buffer,access,map_pointer);
+ if(result!= G_BUFFER_OP_SUCCESS) return G_BUFFER_OP_INVALID;
+ pbuffer->m_mapped_pointer = *map_pointer;
+ pbuffer->m_lock_count++;
+ }
+ else if(pbuffer->m_access == G_MA_WRITE_ONLY)
+ {
+ pbuffer->m_mapped_pointer = buffer_id->m_bm_data->m_prototype->lock_buffer_fn(
+ pbuffer->m_buffer_handle,access);
+ *map_pointer = pbuffer->m_mapped_pointer;
+ pbuffer->m_lock_count++;
+ }
+ else if(pbuffer->m_access == G_MA_READ_WRITE)
+ {
+ *map_pointer = 0;
+ return G_BUFFER_OP_INVALID;
+ }
+ }
+ else if(pbuffer->m_usage==G_MU_STATIC_READ_DYNAMIC_WRITE_COPY)
+ {
+ result = gim_lock_buffer(&pbuffer->m_shadow_buffer,access,map_pointer);
+ if(result!= G_BUFFER_OP_SUCCESS) return G_BUFFER_OP_INVALID;
+ pbuffer->m_mapped_pointer = *map_pointer;
+ pbuffer->m_lock_count++;
+ }
+ else if(pbuffer->m_usage==G_MU_STATIC_WRITE_DYNAMIC_READ)
+ {
+ if(pbuffer->m_access == G_MA_READ_ONLY)
+ {
+ pbuffer->m_mapped_pointer = buffer_id->m_bm_data->m_prototype->lock_buffer_fn(
+ pbuffer->m_buffer_handle,access);
+ *map_pointer = pbuffer->m_mapped_pointer;
+ pbuffer->m_lock_count++;
+ }
+ else
+ {
+ *map_pointer = 0;
+ return G_BUFFER_OP_INVALID;
+ }
+ }
+ else if(pbuffer->m_usage==G_MU_DYNAMIC_READ_WRITE)
+ {
+ pbuffer->m_mapped_pointer = buffer_id->m_bm_data->m_prototype->lock_buffer_fn(
+ pbuffer->m_buffer_handle,access);
+ *map_pointer = pbuffer->m_mapped_pointer;
+ pbuffer->m_lock_count++;
+ }
+ return G_BUFFER_OP_SUCCESS;
+}
+
+GINT32 gim_unlock_buffer(GBUFFER_ID * buffer_id)
+{
+ VALIDATE_BUFFER_ID_PT(buffer_id)
+ if(pbuffer->m_lock_count==0) return G_BUFFER_OP_INVALID;
+
+ if(pbuffer->m_lock_count>1)
+ {
+ pbuffer->m_lock_count--;
+ return G_BUFFER_OP_SUCCESS;
+ }
+
+
+ GUINT32 result;
+ if(pbuffer->m_usage==G_MU_STATIC_WRITE)
+ {
+ pbuffer->m_mapped_pointer = 0;
+ pbuffer->m_lock_count=0;
+ return G_BUFFER_OP_INVALID;
+ }
+ else if(pbuffer->m_usage==G_MU_STATIC_READ)
+ {
+ if(pbuffer->m_access == G_MA_READ_ONLY)
+ {
+ result = gim_unlock_buffer(&pbuffer->m_shadow_buffer);
+ if(result!= G_BUFFER_OP_SUCCESS) return G_BUFFER_OP_INVALID;
+ pbuffer->m_mapped_pointer = 0;
+ pbuffer->m_lock_count=0;
+ }
+ else
+ {
+ pbuffer->m_mapped_pointer = 0;
+ pbuffer->m_lock_count=0;
+ return G_BUFFER_OP_INVALID;
+ }
+ }
+ else if(pbuffer->m_usage==G_MU_STATIC_READ_DYNAMIC_WRITE)
+ {
+ if(pbuffer->m_access == G_MA_READ_ONLY)
+ {
+ result = gim_unlock_buffer(&pbuffer->m_shadow_buffer);
+ if(result!= G_BUFFER_OP_SUCCESS) return G_BUFFER_OP_INVALID;
+ pbuffer->m_mapped_pointer = 0;
+ pbuffer->m_lock_count=0;
+ }
+ else if(pbuffer->m_access == G_MA_WRITE_ONLY)
+ {
+ buffer_id->m_bm_data->m_prototype->unlock_buffer_fn(
+ pbuffer->m_buffer_handle);
+ pbuffer->m_mapped_pointer = 0;
+ pbuffer->m_lock_count=0;
+ }
+ else if(pbuffer->m_access == G_MA_READ_WRITE)
+ {
+ pbuffer->m_mapped_pointer = 0;
+ pbuffer->m_lock_count=0;
+ return G_BUFFER_OP_INVALID;
+ }
+ }
+ else if(pbuffer->m_usage==G_MU_STATIC_READ_DYNAMIC_WRITE_COPY)
+ {
+ result = gim_unlock_buffer(&pbuffer->m_shadow_buffer);
+ if(result!= G_BUFFER_OP_SUCCESS) return G_BUFFER_OP_INVALID;
+ pbuffer->m_mapped_pointer = 0;
+ pbuffer->m_lock_count=0;
+ if(pbuffer->m_access == G_MA_WRITE_ONLY||pbuffer->m_access == G_MA_READ_WRITE)
+ {
+ gim_copy_buffers(&pbuffer->m_shadow_buffer,0,buffer_id,0,pbuffer->m_size);
+ }
+ }
+ else if(pbuffer->m_usage==G_MU_STATIC_WRITE_DYNAMIC_READ)
+ {
+ if(pbuffer->m_access == G_MA_READ_ONLY)
+ {
+ buffer_id->m_bm_data->m_prototype->unlock_buffer_fn(
+ pbuffer->m_buffer_handle);
+ pbuffer->m_mapped_pointer = 0;
+ pbuffer->m_lock_count=0;
+ }
+ else
+ {
+ pbuffer->m_mapped_pointer = 0;
+ pbuffer->m_lock_count=0;
+ return G_BUFFER_OP_INVALID;
+ }
+ }
+ else if(pbuffer->m_usage==G_MU_DYNAMIC_READ_WRITE)
+ {
+ buffer_id->m_bm_data->m_prototype->unlock_buffer_fn(
+ pbuffer->m_buffer_handle);
+ pbuffer->m_mapped_pointer = 0;
+ pbuffer->m_lock_count=0;
+ }
+ return G_BUFFER_OP_SUCCESS;
+}
+
+GINT32 gim_get_buffer_size(GBUFFER_ID * buffer_id,GUINT32 * buffer_size)
+{
+ VALIDATE_BUFFER_ID_PT(buffer_id)
+ *buffer_size = pbuffer->m_size;
+ return G_BUFFER_OP_SUCCESS;
+}
+
+GINT32 gim_get_buffer_is_locked(GBUFFER_ID * buffer_id,GUINT32 * lock_count)
+{
+ VALIDATE_BUFFER_ID_PT(buffer_id)
+ *lock_count = pbuffer->m_lock_count;
+ return G_BUFFER_OP_SUCCESS;
+}
+
+
+GINT32 gim_download_from_buffer(
+ GBUFFER_ID * buffer_id,
+ GUINT32 source_pos,
+ void * destdata,
+ GUINT32 copysize)
+{
+ VALIDATE_BUFFER_ID_PT(buffer_id)
+ buffer_id->m_bm_data->m_prototype->download_from_buffer_fn(
+ pbuffer->m_buffer_handle,source_pos,destdata,copysize);
+ return G_BUFFER_OP_SUCCESS;
+}
+
+GINT32 gim_upload_to_buffer(
+ GBUFFER_ID * buffer_id,
+ GUINT32 dest_pos,
+ void * sourcedata,
+ GUINT32 copysize)
+{
+ VALIDATE_BUFFER_ID_PT(buffer_id)
+ buffer_id->m_bm_data->m_prototype->upload_to_buffer_fn(
+ pbuffer->m_buffer_handle,dest_pos,sourcedata,copysize);
+ return G_BUFFER_OP_SUCCESS;
+}
+
+GINT32 gim_copy_buffers(
+ GBUFFER_ID * source_buffer_id,
+ GUINT32 source_pos,
+ GBUFFER_ID * dest_buffer_id,
+ GUINT32 dest_pos,
+ GUINT32 copysize)
+{
+ GBUFFER_MANAGER_DATA * bm_data1,* bm_data2;
+ GBUFFER_DATA * pbuffer1, * pbuffer2;
+ void * tempdata;
+ if(_validate_buffer_id(source_buffer_id,&pbuffer1,&bm_data1)!= G_BUFFER_OP_SUCCESS) return G_BUFFER_OP_INVALID;
+
+ if(_validate_buffer_id(dest_buffer_id,&pbuffer2,&bm_data2)!= G_BUFFER_OP_SUCCESS) return G_BUFFER_OP_INVALID;
+
+ if((bm_data1->m_buffer_manager_id == bm_data2->m_buffer_manager_id)||
+ (bm_data1->m_buffer_manager_id == G_BUFFER_MANAGER_SYSTEM && bm_data2->m_buffer_manager_id == G_BUFFER_MANAGER_SHARED)||
+ (bm_data1->m_buffer_manager_id == G_BUFFER_MANAGER_SHARED && bm_data2->m_buffer_manager_id == G_BUFFER_MANAGER_SYSTEM)
+ )
+ {//smooth copy
+ bm_data1->m_prototype->copy_buffers_fn(
+ pbuffer1->m_buffer_handle,source_pos,pbuffer2->m_buffer_handle,dest_pos,copysize);
+ }
+ else if(bm_data1->m_buffer_manager_id == G_BUFFER_MANAGER_SYSTEM ||
+ bm_data1->m_buffer_manager_id == G_BUFFER_MANAGER_SHARED)
+ {
+ //hard copy
+ tempdata = (void *)pbuffer1->m_buffer_handle;
+ //upload data
+ bm_data2->m_prototype->upload_to_buffer_fn(
+ pbuffer2->m_buffer_handle,dest_pos,tempdata,copysize);
+ }
+ else
+ {
+ //very hard copy
+ void * tempdata = gim_alloc(copysize);
+ //download data
+ bm_data1->m_prototype->download_from_buffer_fn(
+ pbuffer1->m_buffer_handle,source_pos,tempdata,copysize);
+
+ //upload data
+ bm_data2->m_prototype->upload_to_buffer_fn(
+ pbuffer2->m_buffer_handle,dest_pos,tempdata,copysize);
+ //delete temp buffer
+ gim_free(tempdata,copysize);
+ }
+ return G_BUFFER_OP_SUCCESS;
+}
+
+GINT32 gim_buffer_array_lock(GBUFFER_ARRAY * array_data, int access)
+{
+ if(array_data->m_buffer_data != 0) return G_BUFFER_OP_SUCCESS;
+ GINT32 result = gim_lock_buffer(&array_data->m_buffer_id,access,&array_data->m_buffer_data);
+ if(result!= G_BUFFER_OP_SUCCESS) return result;
+ array_data->m_buffer_data += array_data->m_byte_offset;
+ return result;
+}
+
+GINT32 gim_buffer_array_unlock(GBUFFER_ARRAY * array_data)
+{
+ if(array_data->m_buffer_data == 0) return G_BUFFER_OP_SUCCESS;
+ GINT32 result = gim_unlock_buffer(&array_data->m_buffer_id);
+ if(result!= G_BUFFER_OP_SUCCESS) return result;
+ array_data->m_buffer_data = 0;
+ return result;
+}
+
+void gim_buffer_array_copy_ref(GBUFFER_ARRAY * source_data,GBUFFER_ARRAY * dest_data)
+{
+ dest_data->m_buffer_id.m_buffer_id = source_data->m_buffer_id.m_buffer_id;
+ dest_data->m_buffer_id.m_bm_data = source_data->m_buffer_id.m_bm_data;
+ dest_data->m_buffer_data = 0;
+ dest_data->m_byte_stride = source_data->m_byte_stride;
+ dest_data->m_byte_offset = source_data->m_byte_offset;
+ dest_data->m_element_count = source_data->m_element_count;
+ gim_buffer_add_ref(&dest_data->m_buffer_id);
+}
+
+void gim_buffer_array_copy_value(GBUFFER_ARRAY * source_data,
+ GBUFFER_MANAGER_DATA dest_buffer_managers[],GBUFFER_ARRAY * dest_data,
+ GUINT32 buffer_manager_id,int usage)
+{
+ //Create new buffer
+ GUINT32 buffsize = source_data->m_element_count*source_data->m_byte_stride;
+ gim_create_buffer(dest_buffer_managers,buffer_manager_id,buffsize,usage,&dest_data->m_buffer_id);
+
+ //copy ref data
+ dest_data->m_buffer_data = 0;
+ dest_data->m_byte_stride = source_data->m_byte_stride;
+ dest_data->m_byte_offset = 0;
+ dest_data->m_element_count = source_data->m_element_count;
+ gim_buffer_add_ref(&dest_data->m_buffer_id);
+ //copy buffers
+ gim_copy_buffers(&source_data->m_buffer_id,source_data->m_byte_offset,&dest_data->m_buffer_id,0,buffsize);
+}
diff --git a/libs/ode-0.16.1/GIMPACT/src/gim_tri_tri_overlap.cpp b/libs/ode-0.16.1/GIMPACT/src/gim_tri_tri_overlap.cpp new file mode 100644 index 0000000..5b4e08d --- /dev/null +++ b/libs/ode-0.16.1/GIMPACT/src/gim_tri_tri_overlap.cpp @@ -0,0 +1,251 @@ +
+/*
+-----------------------------------------------------------------------------
+This source file is part of GIMPACT Library.
+
+For the latest info, see http://gimpact.sourceforge.net/
+
+Copyright (c) 2006 Francisco Leon. C.C. 80087371.
+email: projectileman@yahoo.com
+
+ 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 GIMPACT-LICENSE-LGPL.TXT.
+ (2) The BSD-style license that is included with this library in
+ the file GIMPACT-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
+ GIMPACT-LICENSE-LGPL.TXT and GIMPACT-LICENSE-BSD.TXT for more details.
+
+-----------------------------------------------------------------------------
+*/
+
+#include "GIMPACT/gim_trimesh.h"
+
+
+#define FABS(x) (float(fabs(x))) /* implement as is fastest on your machine */
+
+/* some macros */
+
+#define CLASSIFY_TRIPOINTS_BY_FACE(v1,v2,v3,faceplane,out_of_face)\
+{ \
+ _distances[0] = DISTANCE_PLANE_POINT(faceplane,v1);\
+ _distances[1] = _distances[0] * DISTANCE_PLANE_POINT(faceplane,v2);\
+ _distances[2] = _distances[0] * DISTANCE_PLANE_POINT(faceplane,v3); \
+ if(_distances[1]>0.0f && _distances[2]>0.0f)\
+ {\
+ out_of_face = 1;\
+ }\
+ else\
+ {\
+ out_of_face = 0;\
+ }\
+}\
+
+/* sort so that a<=b */
+#define SORT(a,b) \
+ if(a>b) \
+ { \
+ float c; \
+ c=a; \
+ a=b; \
+ b=c; \
+ }
+
+
+/* this edge to edge test is based on Franlin Antonio's gem:
+ "Faster Line Segment Intersection", in Graphics Gems III,
+ pp. 199-202 */
+#define EDGE_EDGE_TEST(V0,U0,U1) \
+ Bx=U0[i0]-U1[i0]; \
+ By=U0[i1]-U1[i1]; \
+ Cx=V0[i0]-U0[i0]; \
+ Cy=V0[i1]-U0[i1]; \
+ f=Ay*Bx-Ax*By; \
+ d=By*Cx-Bx*Cy; \
+ if((f>0 && d>=0 && d<=f) || (f<0 && d<=0 && d>=f)) \
+ { \
+ e=Ax*Cy-Ay*Cx; \
+ if(f>0) \
+ { \
+ if(e>=0 && e<=f) return 1; \
+ } \
+ else \
+ { \
+ if(e<=0 && e>=f) return 1; \
+ } \
+ }
+
+#define EDGE_AGAINST_TRI_EDGES(V0,V1,U0,U1,U2) \
+{ \
+ float Ax,Ay,Bx,By,Cx,Cy,e,d,f; \
+ Ax=V1[i0]-V0[i0]; \
+ Ay=V1[i1]-V0[i1]; \
+ /* test edge U0,U1 against V0,V1 */ \
+ EDGE_EDGE_TEST(V0,U0,U1); \
+ /* test edge U1,U2 against V0,V1 */ \
+ EDGE_EDGE_TEST(V0,U1,U2); \
+ /* test edge U2,U1 against V0,V1 */ \
+ EDGE_EDGE_TEST(V0,U2,U0); \
+}
+
+#define POINT_IN_TRI(V0,U0,U1,U2) \
+{ \
+ float a,b,c,d0,d1,d2; \
+ /* is T1 completly inside T2? */ \
+ /* check if V0 is inside tri(U0,U1,U2) */ \
+ a=U1[i1]-U0[i1]; \
+ b=-(U1[i0]-U0[i0]); \
+ c=-a*U0[i0]-b*U0[i1]; \
+ d0=a*V0[i0]+b*V0[i1]+c; \
+ \
+ a=U2[i1]-U1[i1]; \
+ b=-(U2[i0]-U1[i0]); \
+ c=-a*U1[i0]-b*U1[i1]; \
+ d1=a*V0[i0]+b*V0[i1]+c; \
+ \
+ a=U0[i1]-U2[i1]; \
+ b=-(U0[i0]-U2[i0]); \
+ c=-a*U2[i0]-b*U2[i1]; \
+ d2=a*V0[i0]+b*V0[i1]+c; \
+ if(d0*d1>0.0) \
+ { \
+ if(d0*d2>0.0) return 1; \
+ } \
+}
+
+int coplanar_tri_tri(GIM_TRIANGLE_DATA *tri1,
+ GIM_TRIANGLE_DATA *tri2)
+{
+ short i0,i1;
+ /* first project onto an axis-aligned plane, that maximizes the area */
+ /* of the triangles, compute indices: i0,i1. */
+ PLANE_MINOR_AXES(tri1->m_planes.m_planes[0], i0, i1);
+
+ /* test all edges of triangle 1 against the edges of triangle 2 */
+ EDGE_AGAINST_TRI_EDGES(tri1->m_vertices[0],tri1->m_vertices[1],tri2->m_vertices[0],tri2->m_vertices[1],tri2->m_vertices[2]);
+ EDGE_AGAINST_TRI_EDGES(tri1->m_vertices[1],tri1->m_vertices[2],tri2->m_vertices[0],tri2->m_vertices[1],tri2->m_vertices[2]);
+ EDGE_AGAINST_TRI_EDGES(tri1->m_vertices[2],tri1->m_vertices[0],tri2->m_vertices[0],tri2->m_vertices[1],tri2->m_vertices[2]);
+
+ /* finally, test if tri1 is totally contained in tri2 or vice versa */
+ POINT_IN_HULL(tri1->m_vertices[0],(&tri2->m_planes.m_planes[1]),3,i0);
+ if(i0==0) return 1;
+
+ POINT_IN_HULL(tri2->m_vertices[0],(&tri1->m_planes.m_planes[1]),3,i0);
+ if(i0==0) return 1;
+
+ return 0;
+}
+
+
+
+#define NEWCOMPUTE_INTERVALS(VV0,VV1,VV2,D0,D1,D2,D0D1,D0D2,A,B,C,X0,X1) \
+{ \
+ if(D0D1>0.0f) \
+ { \
+ /* here we know that D0D2<=0.0 */ \
+ /* that is D0, D1 are on the same side, D2 on the other or on the plane */ \
+ A=VV2; B=(VV0-VV2)*D2; C=(VV1-VV2)*D2; X0=D2-D0; X1=D2-D1; \
+ } \
+ else if(D0D2>0.0f)\
+ { \
+ /* here we know that d0d1<=0.0 */ \
+ A=VV1; B=(VV0-VV1)*D1; C=(VV2-VV1)*D1; X0=D1-D0; X1=D1-D2; \
+ } \
+ else if(D1*D2>0.0f || D0!=0.0f) \
+ { \
+ /* here we know that d0d1<=0.0 or that D0!=0.0 */ \
+ A=VV0; B=(VV1-VV0)*D0; C=(VV2-VV0)*D0; X0=D0-D1; X1=D0-D2; \
+ } \
+ else if(D1!=0.0f) \
+ { \
+ A=VV1; B=(VV0-VV1)*D1; C=(VV2-VV1)*D1; X0=D1-D0; X1=D1-D2; \
+ } \
+ else if(D2!=0.0f) \
+ { \
+ A=VV2; B=(VV0-VV2)*D2; C=(VV1-VV2)*D2; X0=D2-D0; X1=D2-D1; \
+ } \
+ else \
+ { \
+ /* triangles are coplanar */ \
+ return coplanar_tri_tri(tri1,tri2); \
+ } \
+}\
+
+
+
+int gim_triangle_triangle_overlap(
+ GIM_TRIANGLE_DATA *tri1,
+ GIM_TRIANGLE_DATA *tri2)
+{
+ vec3f _distances;
+ char out_of_face;
+ CLASSIFY_TRIPOINTS_BY_FACE(tri1->m_vertices[0],tri1->m_vertices[1],tri1->m_vertices[2],tri2->m_planes.m_planes[0],out_of_face);
+ if(out_of_face==1) return 0;
+
+ CLASSIFY_TRIPOINTS_BY_FACE(tri2->m_vertices[0],tri2->m_vertices[1],tri2->m_vertices[2],tri1->m_planes.m_planes[0],out_of_face);
+ if(out_of_face==1) return 0;
+
+
+ float du0=0,du1=0,du2=0,dv0=0,dv1=0,dv2=0;
+ float D[3];
+ float isect1[2], isect2[2];
+ float du0du1=0,du0du2=0,dv0dv1=0,dv0dv2=0;
+ short index;
+ float vp0,vp1,vp2;
+ float up0,up1,up2;
+ float bb,cc,max;
+
+ /* compute direction of intersection line */
+ VEC_CROSS(D,tri1->m_planes.m_planes[0],tri2->m_planes.m_planes[0]);
+
+ /* compute and index to the largest component of D */
+ max=(float)FABS(D[0]);
+ index=0;
+ bb=(float)FABS(D[1]);
+ cc=(float)FABS(D[2]);
+ if(bb>max) max=bb,index=1;
+ if(cc>max) max=cc,index=2;
+
+ /* this is the simplified projection onto L*/
+ vp0= tri1->m_vertices[0][index];
+ vp1= tri1->m_vertices[1][index];
+ vp2= tri1->m_vertices[2][index];
+
+ up0= tri2->m_vertices[0][index];
+ up1= tri2->m_vertices[1][index];
+ up2= tri2->m_vertices[2][index];
+
+ /* compute interval for triangle 1 */
+ float a,b,c,x0,x1;
+ NEWCOMPUTE_INTERVALS(vp0,vp1,vp2,dv0,dv1,dv2,dv0dv1,dv0dv2,a,b,c,x0,x1);
+
+ /* compute interval for triangle 2 */
+ float d,e,f,y0,y1;
+ NEWCOMPUTE_INTERVALS(up0,up1,up2,du0,du1,du2,du0du1,du0du2,d,e,f,y0,y1);
+
+ float xx,yy,xxyy,tmp;
+ xx=x0*x1;
+ yy=y0*y1;
+ xxyy=xx*yy;
+
+ tmp=a*xxyy;
+ isect1[0]=tmp+b*x1*yy;
+ isect1[1]=tmp+c*x0*yy;
+
+ tmp=d*xxyy;
+ isect2[0]=tmp+e*xx*y1;
+ isect2[1]=tmp+f*xx*y0;
+
+ SORT(isect1[0],isect1[1]);
+ SORT(isect2[0],isect2[1]);
+
+ if(isect1[1]<isect2[0] || isect2[1]<isect1[0]) return 0;
+ return 1;
+}
diff --git a/libs/ode-0.16.1/GIMPACT/src/gim_trimesh.cpp b/libs/ode-0.16.1/GIMPACT/src/gim_trimesh.cpp new file mode 100644 index 0000000..7be639b --- /dev/null +++ b/libs/ode-0.16.1/GIMPACT/src/gim_trimesh.cpp @@ -0,0 +1,391 @@ +
+/*
+-----------------------------------------------------------------------------
+This source file is part of GIMPACT Library.
+
+For the latest info, see http://gimpact.sourceforge.net/
+
+Copyright (c) 2006 Francisco Leon. C.C. 80087371.
+email: projectileman@yahoo.com
+
+ 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 GIMPACT-LICENSE-LGPL.TXT.
+ (2) The BSD-style license that is included with this library in
+ the file GIMPACT-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
+ GIMPACT-LICENSE-LGPL.TXT and GIMPACT-LICENSE-BSD.TXT for more details.
+
+-----------------------------------------------------------------------------
+*/
+
+
+#include <assert.h>
+#include "GIMPACT/gim_trimesh.h"
+
+GUINT32 gim_trimesh_get_triangle_count(GIM_TRIMESH * trimesh)
+{
+ return trimesh->m_tri_index_buffer.m_element_count/3;
+}
+
+//! Creates the aabb set and the triangles cache
+/*!
+
+\param trimesh
+\param vertex_array
+\param triindex_array
+\param transformed_reply If 1, then the m_transformed_vertices is a reply of the source vertices. Else it just be a reference to the original array.
+\post it copies the arrays by reference, and creates the auxiliary data (m_aabbset,m_planes_cache_buffer)
+*/
+void gim_trimesh_create_from_arrays(GBUFFER_MANAGER_DATA buffer_managers[],
+ GIM_TRIMESH * trimesh, GBUFFER_ARRAY * vertex_array, GBUFFER_ARRAY * triindex_array,char transformed_reply)
+{
+ assert(trimesh);
+ assert(vertex_array);
+ assert(triindex_array);
+ gim_buffer_array_copy_ref(vertex_array,&trimesh->m_source_vertex_buffer);
+ gim_buffer_array_copy_ref(triindex_array,&trimesh->m_tri_index_buffer);
+
+ trimesh->m_mask = GIM_TRIMESH_NEED_UPDATE;//needs update
+ //Create the transformed vertices
+ if(transformed_reply==1)
+ {
+ trimesh->m_mask |= GIM_TRIMESH_TRANSFORMED_REPLY;
+ gim_buffer_array_copy_value(vertex_array,
+ buffer_managers,&trimesh->m_transformed_vertex_buffer,G_BUFFER_MANAGER_SYSTEM,G_MU_DYNAMIC_READ_WRITE);
+ }
+ else
+ {
+ gim_buffer_array_copy_ref(vertex_array,&trimesh->m_transformed_vertex_buffer);
+ }
+ //create the box set
+ GUINT32 facecount = gim_trimesh_get_triangle_count(trimesh);
+
+ gim_aabbset_alloc(&trimesh->m_aabbset,facecount);
+ //create the planes cache
+ GIM_DYNARRAY_CREATE_SIZED(GIM_TRIPLANES_CACHE,trimesh->m_planes_cache_buffer,facecount);
+ //Create the bitset
+ GIM_BITSET_CREATE_SIZED(trimesh->m_planes_cache_bitset,facecount);
+ //Callback is 0
+ trimesh->m_update_callback = 0;
+ //set to identity
+ IDENTIFY_MATRIX_4X4(trimesh->m_transform);
+}
+
+
+
+//! Create a trimesh from vertex array and an index array
+/*!
+
+\param trimesh An uninitialized GIM_TRIMESH structure
+\param vertex_array A buffer to a vec3f array
+\param vertex_count
+\param triindex_array
+\param index_count
+\param copy_vertices If 1, it copies the source vertices in another buffer. Else (0) it constructs a reference to the data.
+\param copy_indices If 1, it copies the source vertices in another buffer. Else (0) it constructs a reference to the data.
+\param transformed_reply If , then the m_transformed_vertices is a reply of the source vertices. Else it just be a reference to the original array.
+*/
+void gim_trimesh_create_from_data(GBUFFER_MANAGER_DATA buffer_managers[],
+ GIM_TRIMESH * trimesh, vec3f * vertex_array, GUINT32 vertex_count,char copy_vertices,
+ GUINT32 * triindex_array, GUINT32 index_count,char copy_indices,char transformed_reply)
+{
+ GBUFFER_ARRAY buffer_vertex_array;
+ GBUFFER_ARRAY buffer_triindex_array;
+
+ //Create vertices
+ if(copy_vertices == 1)
+ {
+ gim_create_common_buffer_from_data(buffer_managers,
+ vertex_array, vertex_count*sizeof(vec3f), &buffer_vertex_array.m_buffer_id);
+ }
+ else//Create a shared buffer
+ {
+ gim_create_shared_buffer_from_data(buffer_managers,
+ vertex_array, vertex_count*sizeof(vec3f), &buffer_vertex_array.m_buffer_id);
+ }
+ GIM_BUFFER_ARRAY_INIT_TYPE(vec3f,buffer_vertex_array,buffer_vertex_array.m_buffer_id,vertex_count);
+
+
+ //Create vertices
+ if(copy_indices == 1)
+ {
+ gim_create_common_buffer_from_data(buffer_managers,
+ triindex_array, index_count*sizeof(GUINT32), &buffer_triindex_array.m_buffer_id);
+ }
+ else//Create a shared buffer
+ {
+ gim_create_shared_buffer_from_data(buffer_managers,
+ triindex_array, index_count*sizeof(GUINT32), &buffer_triindex_array.m_buffer_id);
+ }
+ GIM_BUFFER_ARRAY_INIT_TYPE(GUINT32,buffer_triindex_array,buffer_triindex_array.m_buffer_id,index_count);
+
+ gim_trimesh_create_from_arrays(buffer_managers, trimesh,
+ &buffer_vertex_array, &buffer_triindex_array,transformed_reply);
+
+ ///always call this after create a buffer_array
+ GIM_BUFFER_ARRAY_DESTROY(buffer_vertex_array);
+ GIM_BUFFER_ARRAY_DESTROY(buffer_triindex_array);
+}
+
+//! Clears auxiliary data and releases buffer arrays
+void gim_trimesh_destroy(GIM_TRIMESH * trimesh)
+{
+ gim_aabbset_destroy(&trimesh->m_aabbset);
+
+ GIM_DYNARRAY_DESTROY(trimesh->m_planes_cache_buffer);
+ GIM_DYNARRAY_DESTROY(trimesh->m_planes_cache_bitset);
+
+ GIM_BUFFER_ARRAY_DESTROY(trimesh->m_transformed_vertex_buffer);
+ GIM_BUFFER_ARRAY_DESTROY(trimesh->m_source_vertex_buffer);
+ GIM_BUFFER_ARRAY_DESTROY(trimesh->m_tri_index_buffer);
+}
+
+//! Copies two meshes
+/*!
+\pre dest_trimesh shouldn't be created
+\post dest_trimesh will be created
+\param source_trimesh
+\param dest_trimesh
+\param copy_by_reference If 1, it attach a reference to the source vertices, else it copies the vertices
+\param transformed_reply IF 1, then it forces the m_trasnformed_vertices to be a reply of the source vertices
+*/
+void gim_trimesh_copy(GIM_TRIMESH * source_trimesh,
+ GBUFFER_MANAGER_DATA dest_buffer_managers[], GIM_TRIMESH * dest_trimesh,
+ char copy_by_reference, char transformed_reply)
+{
+/* -- trimesh can not be copied by reference until GBUFFER_MANAGER_DATA is rewritten
+ to be thread safe and until it is moved back to global variables.
+ if(copy_by_reference==1)
+ {
+ gim_trimesh_create_from_arrays(dest_trimesh, &source_trimesh->m_source_vertex_buffer, &source_trimesh->m_tri_index_buffer,transformed_reply);
+ }
+ else
+*/
+ {
+ GBUFFER_ARRAY buffer_vertex_array;
+ GBUFFER_ARRAY buffer_triindex_array;
+
+ gim_buffer_array_copy_value(&source_trimesh->m_source_vertex_buffer,
+ dest_buffer_managers,&buffer_vertex_array,G_BUFFER_MANAGER_SYSTEM,G_MU_DYNAMIC_READ_WRITE);
+
+ gim_buffer_array_copy_value(&source_trimesh->m_tri_index_buffer,
+ dest_buffer_managers,&buffer_triindex_array,G_BUFFER_MANAGER_SYSTEM,G_MU_DYNAMIC_READ_WRITE);
+
+ gim_trimesh_create_from_arrays(dest_buffer_managers, dest_trimesh,
+ &buffer_vertex_array, &buffer_triindex_array,transformed_reply);
+
+ ///always call this after create a buffer_array
+ GIM_BUFFER_ARRAY_DESTROY(buffer_vertex_array);
+ GIM_BUFFER_ARRAY_DESTROY(buffer_triindex_array);
+ }
+}
+//! Locks the trimesh for working with it
+/*!
+\post locks m_tri_index_buffer and m_transformed_vertex_buffer.
+\param trimesh
+*/
+void gim_trimesh_locks_work_data(GIM_TRIMESH * trimesh)
+{
+ GINT32 res;
+ res=gim_buffer_array_lock(&trimesh->m_tri_index_buffer,G_MA_READ_ONLY);
+ assert(res==G_BUFFER_OP_SUCCESS);
+ res=gim_buffer_array_lock(&trimesh->m_transformed_vertex_buffer,G_MA_READ_ONLY);
+ assert(res==G_BUFFER_OP_SUCCESS);
+}
+
+//! unlocks the trimesh
+/*!
+\post unlocks m_tri_index_buffer and m_transformed_vertex_buffer.
+\param trimesh
+*/
+void gim_trimesh_unlocks_work_data(GIM_TRIMESH * trimesh)
+{
+ gim_buffer_array_unlock(&trimesh->m_tri_index_buffer);
+ gim_buffer_array_unlock(&trimesh->m_transformed_vertex_buffer);
+}
+
+
+//! Returns 1 if the m_transformed_vertex_buffer is a reply of m_source_vertex_buffer
+char gim_trimesh_has_tranformed_reply(GIM_TRIMESH * trimesh)
+{
+ if(trimesh->m_mask&GIM_TRIMESH_TRANSFORMED_REPLY) return 1;
+ return 0;
+}
+
+//! Returns 1 if the trimesh needs to update their aabbset and the planes cache.
+char gim_trimesh_needs_update(GIM_TRIMESH * trimesh)
+{
+ if(trimesh->m_mask&GIM_TRIMESH_NEED_UPDATE) return 1;
+ return 0;
+}
+
+//! Change the state of the trimesh for force it to update
+/*!
+Call it after made changes to the trimesh.
+\post gim_trimesh_need_update(trimesh) will return 1
+*/
+void gim_trimesh_post_update(GIM_TRIMESH * trimesh)
+{
+ trimesh->m_mask |= GIM_TRIMESH_NEED_UPDATE;
+}
+
+//kernel
+#define MULT_MAT_VEC4_KERNEL(_mat,_src,_dst) MAT_DOT_VEC_3X4((_dst),(_mat),(_src))
+
+//! Updates m_transformed_vertex_buffer
+/*!
+\pre m_transformed_vertex_buffer must be unlocked
+*/
+void gim_trimesh_update_vertices(GIM_TRIMESH * trimesh)
+{
+ if(gim_trimesh_has_tranformed_reply(trimesh) == 0) return; //Don't perform transformation
+
+ //Vertices
+ GBUFFER_ARRAY * psource_vertex_buffer = &trimesh->m_source_vertex_buffer;
+ GBUFFER_ARRAY * ptransformed_vertex_buffer = &trimesh->m_transformed_vertex_buffer;
+ //Temp transform
+ mat4f transform;
+ COPY_MATRIX_4X4(transform,trimesh->m_transform);
+
+ GIM_PROCESS_BUFFER_ARRAY(transform,(*psource_vertex_buffer),(*ptransformed_vertex_buffer),MULT_MAT_VEC4_KERNEL,vec3f,vec3f);
+}
+
+//! Updates m_aabbset and m_planes_cache_bitset
+/*!
+\pre gim_trimesh_locks_work_data must be called before
+*/
+void gim_trimesh_update_aabbset(GIM_TRIMESH * trimesh)
+{
+ vec3f * transformed_vertices = GIM_BUFFER_ARRAY_POINTER(vec3f,trimesh->m_transformed_vertex_buffer,0);
+ assert(transformed_vertices);
+
+ GUINT32 * triangle_indices = GIM_BUFFER_ARRAY_POINTER(GUINT32,trimesh->m_tri_index_buffer,0);
+ assert(triangle_indices);
+ // box set
+ aabb3f * paabb = trimesh->m_aabbset.m_boxes;
+ GUINT32 triangle_count = gim_trimesh_get_triangle_count(trimesh);
+ float * v1,*v2,*v3;
+ GUINT32 i;
+ for (i=0; i<triangle_count;i++)
+ {
+ v1 = &transformed_vertices[triangle_indices[0]][0];
+ v2 = &transformed_vertices[triangle_indices[1]][0];
+ v3 = &transformed_vertices[triangle_indices[2]][0];
+ COMPUTEAABB_FOR_TRIANGLE((*paabb),v1,v2,v3);
+ triangle_indices+=3;
+ paabb++;
+ }
+ //Clear planes cache
+ GIM_BITSET_CLEAR_ALL(trimesh->m_planes_cache_bitset);
+ //Sorts set
+ gim_aabbset_update(&trimesh->m_aabbset);
+}
+
+//! Updates the trimesh if needed
+/*!
+\post If gim_trimesh_needs_update returns 1, then it calls gim_trimesh_update_vertices and gim_trimesh_update_aabbset
+*/
+void gim_trimesh_update(GIM_TRIMESH * trimesh)
+{
+ if(gim_trimesh_needs_update(trimesh)==0) return;
+ gim_trimesh_update_vertices(trimesh);
+ gim_trimesh_locks_work_data(trimesh);
+ gim_trimesh_update_aabbset(trimesh);
+ gim_trimesh_unlocks_work_data(trimesh);
+
+ //Clear update flag
+ trimesh->m_mask &= ~GIM_TRIMESH_NEED_UPDATE;
+}
+
+void gim_trimesh_set_tranform(GIM_TRIMESH * trimesh, mat4f transform)
+{
+ GREAL diff = 0.0f;
+ float * originaltrans = &trimesh->m_transform[0][0];
+ float * newtrans = &transform[0][0];
+ GUINT32 i;
+ for (i=0;i<16;i++)
+ {
+ diff += fabs(originaltrans[i]-newtrans[i]);
+ }
+
+// if(IS_ZERO(diff)) return ;///don't need to update
+ if(diff< 0.00001f) return ;///don't need to update
+
+ COPY_MATRIX_4X4(trimesh->m_transform,transform);
+
+ gim_trimesh_post_update(trimesh);
+}
+
+void gim_trimesh_get_triangle_data(GIM_TRIMESH * trimesh, GUINT32 triangle_index, GIM_TRIANGLE_DATA * tri_data)
+{
+ vec3f * transformed_vertices = GIM_BUFFER_ARRAY_POINTER(vec3f,trimesh->m_transformed_vertex_buffer,0);
+
+ GUINT32 * triangle_indices = GIM_BUFFER_ARRAY_POINTER(GUINT32,trimesh->m_tri_index_buffer,triangle_index*3);
+
+
+ //Copy the vertices
+ VEC_COPY(tri_data->m_vertices[0],transformed_vertices[triangle_indices[0]]);
+ VEC_COPY(tri_data->m_vertices[1],transformed_vertices[triangle_indices[1]]);
+ VEC_COPY(tri_data->m_vertices[2],transformed_vertices[triangle_indices[2]]);
+
+ //Get the planes
+ GIM_TRIPLANES_CACHE * planes = GIM_DYNARRAY_POINTER(GIM_TRIPLANES_CACHE,trimesh->m_planes_cache_buffer);
+ planes += triangle_index;
+
+ //verify planes cache
+ GUINT32 bit_eval;
+ GIM_BITSET_GET(trimesh->m_planes_cache_bitset,triangle_index,bit_eval);
+ if(bit_eval == 0)// Needs to calc the planes
+ {
+ //Calc the face plane
+ TRIANGLE_PLANE(tri_data->m_vertices[0],tri_data->m_vertices[1],tri_data->m_vertices[2],planes->m_planes[0]);
+ //Calc the edge 1
+ EDGE_PLANE(tri_data->m_vertices[0],tri_data->m_vertices[1],(planes->m_planes[0]),(planes->m_planes[1]));
+
+ //Calc the edge 2
+ EDGE_PLANE(tri_data->m_vertices[1],tri_data->m_vertices[2],(planes->m_planes[0]),(planes->m_planes[2]));
+
+ //Calc the edge 3
+ EDGE_PLANE(tri_data->m_vertices[2],tri_data->m_vertices[0],(planes->m_planes[0]), (planes->m_planes[3]));
+
+ //mark
+ GIM_BITSET_SET(trimesh->m_planes_cache_bitset,triangle_index);
+ }
+
+
+ VEC_COPY_4((tri_data->m_planes.m_planes[0]),(planes->m_planes[0]));//face plane
+ VEC_COPY_4((tri_data->m_planes.m_planes[1]),(planes->m_planes[1]));//edge1
+ VEC_COPY_4((tri_data->m_planes.m_planes[2]),(planes->m_planes[2]));//edge2
+ VEC_COPY_4((tri_data->m_planes.m_planes[3]),(planes->m_planes[3]));//edge3
+}
+
+void gim_trimesh_get_triangle_vertices(GIM_TRIMESH * trimesh, GUINT32 triangle_index, vec3f v1, vec3f v2, vec3f v3)
+{
+ vec3f * transformed_vertices = GIM_BUFFER_ARRAY_POINTER(vec3f,trimesh->m_transformed_vertex_buffer,0);
+
+ GUINT32 * triangle_indices = GIM_BUFFER_ARRAY_POINTER(GUINT32,trimesh->m_tri_index_buffer,triangle_index*3);
+
+ //Copy the vertices
+ if (v1 != NULL)
+ {
+ VEC_COPY(v1,transformed_vertices[triangle_indices[0]]);
+ }
+
+ if (v2 != NULL)
+ {
+ VEC_COPY(v2,transformed_vertices[triangle_indices[1]]);
+ }
+
+ if (v3 != NULL)
+ {
+ VEC_COPY(v3,transformed_vertices[triangle_indices[2]]);
+ }
+}
diff --git a/libs/ode-0.16.1/GIMPACT/src/gim_trimesh_capsule_collision.cpp b/libs/ode-0.16.1/GIMPACT/src/gim_trimesh_capsule_collision.cpp new file mode 100644 index 0000000..bc48aa5 --- /dev/null +++ b/libs/ode-0.16.1/GIMPACT/src/gim_trimesh_capsule_collision.cpp @@ -0,0 +1,285 @@ + +/* +----------------------------------------------------------------------------- +This source file is part of GIMPACT Library. + +For the latest info, see http://gimpact.sourceforge.net/ + +Copyright (c) 2006 Francisco Leon. C.C. 80087371. +email: projectileman@yahoo.com + + 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 GIMPACT-LICENSE-LGPL.TXT. + (2) The BSD-style license that is included with this library in + the file GIMPACT-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 + GIMPACT-LICENSE-LGPL.TXT and GIMPACT-LICENSE-BSD.TXT for more details. + +----------------------------------------------------------------------------- +*/ + +#include "GIMPACT/gim_trimesh.h" + +//! Utility function for find the closest point between a segment and a triangle +/*! + +\param triangle +\param s1 +\param s2 +\param contacts Contains the closest points on the segment (1,2), and the normal points to segment, and m_depth contains the distance + +\post The contacts array is not set to 0. It adds aditional contacts +*/ +void gim_closest_point_triangle_segment(GIM_TRIANGLE_DATA * triangle, vec3f s1,vec3f s2, GDYNAMIC_ARRAY * contacts) +{ + vec3f segment_points[4] = {{0}}; + vec3f closest_points[2] = {{0}}; + GUINT32 intersection_type, out_edge= 10; + GREAL dis, dis_temp,perpend; + vec4f sdiff; + + dis = DISTANCE_PLANE_POINT(triangle->m_planes.m_planes[0],s1); + dis_temp = DISTANCE_PLANE_POINT(triangle->m_planes.m_planes[0],s2); + + if(dis<=0.0f && dis_temp<=0.0f) return; + + VEC_DIFF(sdiff,s2,s1); + perpend = VEC_DOT(sdiff,triangle->m_planes.m_planes[0]); + + if(!IS_ZERO(perpend)) // Not perpendicular + { + if(dis<dis_temp) + { + VEC_COPY(closest_points[0],s1); + } + else + { + dis = dis_temp; + VEC_COPY(closest_points[0],s2); + } + + //Testing segment vertices over triangle + if(dis>=0.0f && dis_temp>=0.0f) + { + POINT_IN_HULL(closest_points[0],(&triangle->m_planes.m_planes[1]),3,out_edge); + + if(out_edge==0)//Point over face + { + GIM_PUSH_CONTACT((*contacts),closest_points[0] ,triangle->m_planes.m_planes[0] ,dis,0, 0, 0,0); + return; + } + } + else + { + + PLANE_CLIP_SEGMENT(s1,s2,triangle->m_planes.m_planes[0],closest_points[1]); + + POINT_IN_HULL(closest_points[1],(&triangle->m_planes.m_planes[1]),3,out_edge); + + if(out_edge==0)//Point over face + { + GIM_PUSH_CONTACT((*contacts),closest_points[0] ,triangle->m_planes.m_planes[0] ,dis,0, 0, 0,0); + return; + } + } + + } + else // Perpendicular Face + { + //out_edge=10 + //Clip segment by triangle + // Edge1 + PLANE_CLIP_SEGMENT_CLOSEST(s1,s2,triangle->m_planes.m_planes[1],segment_points[0],segment_points[1],intersection_type); + if(intersection_type==0||intersection_type==1) + { + out_edge = 0; + VEC_COPY(closest_points[0],segment_points[0]); + } + else + { + //Edge2 + PLANE_CLIP_SEGMENT_CLOSEST(segment_points[0],segment_points[1],triangle->m_planes.m_planes[2],segment_points[2],segment_points[3],intersection_type); + if(intersection_type==0||intersection_type==1) + { + out_edge = 1; + VEC_COPY(closest_points[0],segment_points[3]); + } + else + { + //Edge3 + PLANE_CLIP_SEGMENT_CLOSEST(segment_points[2],segment_points[3],triangle->m_planes.m_planes[3],closest_points[0],closest_points[1],intersection_type); + if(intersection_type==0||intersection_type==1) + { + out_edge = 2; + } + } + } + //POST closest_points[0] and closest_points[1] are inside the triangle, if out_edge>2 + if(out_edge>2) // Over triangle + { + dis = DISTANCE_PLANE_POINT(triangle->m_planes.m_planes[0],closest_points[0]); + GIM_PUSH_CONTACT((*contacts),closest_points[0] ,triangle->m_planes.m_planes[0] ,dis,0, 0, 0,0); + GIM_PUSH_CONTACT((*contacts),closest_points[1] ,triangle->m_planes.m_planes[0] ,dis,0, 0, 0,0); + return; + } + } + + //Find closest edges + out_edge = 10; + dis = G_REAL_INFINITY; + GUINT32 i; + for(i=0;i<3;i++) + { + SEGMENT_COLLISION(s1,s2,triangle->m_vertices[i],triangle->m_vertices[(i+1)%3],segment_points[0],segment_points[1]); + VEC_DIFF(sdiff,segment_points[0],segment_points[1]); + dis_temp = VEC_DOT(sdiff,sdiff); + if(dis_temp< dis) + { + dis = dis_temp; + out_edge = i; + VEC_COPY(closest_points[0],segment_points[0]); + VEC_COPY(closest_points[1],sdiff);//normal + } + } + if(out_edge>2) return ;// ???? ASSERT this please + + if(IS_ZERO(dis)) + { + //Set face plane + GIM_PUSH_CONTACT((*contacts),closest_points[0] ,triangle->m_planes.m_planes[0] ,0.0f,0, 0, 0,0); + + } + else + { + GIM_SQRT(dis,dis); + VEC_SCALE(closest_points[1],(1.0f/dis),closest_points[1]);//normal + GIM_PUSH_CONTACT((*contacts),closest_points[0] ,closest_points[1],dis,0, 0, 0,0); + } +} + + +//! Utility function for find the closest point between a capsule and a triangle +/*! + +\param triangle +\param capsule +\param contacts Contains the closest points on the capsule, and the normal points to triangle + +\post The contacts array is not set to 0. It adds aditional contacts +*/ +int gim_triangle_capsule_collision(GIM_TRIANGLE_DATA * triangle, GIM_CAPSULE_DATA * capsule, GDYNAMIC_ARRAY * contacts) +{ + GUINT32 old_contact_size = contacts->m_size; + gim_closest_point_triangle_segment(triangle,capsule->m_point1,capsule->m_point2,contacts); + + if (contacts->m_size == old_contact_size) + { + return 0; + } + + GIM_CONTACT * pcontact = GIM_DYNARRAY_POINTER(GIM_CONTACT ,(*contacts)); + pcontact+= old_contact_size; + + if(pcontact->m_depth > capsule->m_radius) + { + contacts->m_size = old_contact_size; + return 0; + } + + vec3f vec; + while(old_contact_size<contacts->m_size) + { + //Scale the normal for pointing to triangle + VEC_SCALE(pcontact->m_normal,-1.0f,pcontact->m_normal); + //Fix the contact point + VEC_SCALE(vec,capsule->m_radius,pcontact->m_normal); + VEC_SUM(pcontact->m_point,vec,pcontact->m_point); + //Fix the depth + pcontact->m_depth = capsule->m_radius - pcontact->m_depth; + + pcontact++; + old_contact_size++; + } + + return 1; +} + + +//! Trimesh Capsule collision +/*! +Find the closest primitive collided by the ray +\param trimesh +\param capsule +\param contact +\param contacts A GIM_CONTACT array. Must be initialized +*/ +void gim_trimesh_capsule_collision(GIM_TRIMESH * trimesh, GIM_CAPSULE_DATA * capsule, GDYNAMIC_ARRAY * contacts) +{ + contacts->m_size = 0; + + aabb3f test_aabb; + CALC_CAPSULE_AABB((*capsule),test_aabb); + + GDYNAMIC_ARRAY collision_result; + GIM_CREATE_BOXQUERY_LIST(collision_result); + + gim_aabbset_box_collision(&test_aabb, &trimesh->m_aabbset , &collision_result); + + if(collision_result.m_size==0) + { + GIM_DYNARRAY_DESTROY(collision_result); + } + + //collide triangles + //Locks trimesh + gim_trimesh_locks_work_data(trimesh); + //dummy contacts + GDYNAMIC_ARRAY dummycontacts; + GIM_CREATE_CONTACT_LIST(dummycontacts); + + int cresult; + unsigned int i; + GUINT32 * boxesresult = GIM_DYNARRAY_POINTER(GUINT32,collision_result); + GIM_TRIANGLE_DATA tri_data; + GUINT32 old_contact_size; + GIM_CONTACT * pcontact; + + for(i=0;i<collision_result.m_size;i++) + { + old_contact_size = dummycontacts.m_size; + gim_trimesh_get_triangle_data(trimesh,boxesresult[i],&tri_data); + cresult = gim_triangle_capsule_collision(&tri_data, capsule, &dummycontacts); + if(cresult!=0) + { + pcontact = GIM_DYNARRAY_POINTER(GIM_CONTACT ,dummycontacts); + pcontact+= old_contact_size; + while(old_contact_size<dummycontacts.m_size) + { + pcontact->m_handle1 = trimesh; + pcontact->m_handle2 = capsule; + pcontact->m_feature1 = boxesresult[i]; + pcontact->m_feature2 = 0; + pcontact++; + old_contact_size++; + } + } + } + ///unlocks + gim_trimesh_unlocks_work_data(trimesh); + ///Destroy box result + GIM_DYNARRAY_DESTROY(collision_result); + + //merge contacts + gim_merge_contacts(&dummycontacts,contacts); + + //Destroy dummy + GIM_DYNARRAY_DESTROY(dummycontacts); +} diff --git a/libs/ode-0.16.1/GIMPACT/src/gim_trimesh_ray_collision.cpp b/libs/ode-0.16.1/GIMPACT/src/gim_trimesh_ray_collision.cpp new file mode 100644 index 0000000..e83993e --- /dev/null +++ b/libs/ode-0.16.1/GIMPACT/src/gim_trimesh_ray_collision.cpp @@ -0,0 +1,149 @@ +
+/*
+-----------------------------------------------------------------------------
+This source file is part of GIMPACT Library.
+
+For the latest info, see http://gimpact.sourceforge.net/
+
+Copyright (c) 2006 Francisco Leon. C.C. 80087371.
+email: projectileman@yahoo.com
+
+ 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 GIMPACT-LICENSE-LGPL.TXT.
+ (2) The BSD-style license that is included with this library in
+ the file GIMPACT-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
+ GIMPACT-LICENSE-LGPL.TXT and GIMPACT-LICENSE-BSD.TXT for more details.
+
+-----------------------------------------------------------------------------
+*/
+
+#include "GIMPACT/gim_trimesh.h"
+
+
+//! Trimesh Ray Collisions
+/*!
+
+\param trimesh
+\param contact
+\return 1 if the ray collides, else 0
+*/
+int gim_trimesh_ray_collision(GIM_TRIMESH * trimesh,vec3f origin,vec3f dir, GREAL tmax, GIM_TRIANGLE_RAY_CONTACT_DATA * contact)
+{
+ GDYNAMIC_ARRAY collision_result;
+ GIM_CREATE_BOXQUERY_LIST(collision_result);
+
+ gim_aabbset_ray_collision(origin,dir,tmax,&trimesh->m_aabbset,&collision_result);
+
+ if(collision_result.m_size==0)
+ {
+ GIM_DYNARRAY_DESTROY(collision_result);
+ return 0;
+ }
+
+ //collide triangles
+
+ GUINT32 * boxesresult = GIM_DYNARRAY_POINTER(GUINT32,collision_result);
+ GIM_TRIANGLE_DATA tridata;
+ vec3f pout;
+ GREAL tparam,u,v;
+ char does_intersect;
+
+ gim_trimesh_locks_work_data(trimesh);
+
+ for(unsigned int i=0;i<collision_result.m_size;i++)
+ {
+ gim_trimesh_get_triangle_data(trimesh,boxesresult[i],&tridata);
+
+ // flip plane for correct result in ODE
+ // for more info: martijn@bytehazard.com
+ vec4f flippedPlane;
+ VEC_SCALE_4(flippedPlane, -1.0f, tridata.m_planes.m_planes[0]);
+
+ RAY_TRIANGLE_INTERSECTION(origin,dir,tridata.m_vertices[0],tridata.m_vertices[1],tridata.m_vertices[2],flippedPlane,pout,u,v,tparam,tmax,does_intersect);
+ if(does_intersect)
+ {
+ contact->tparam = tparam;
+ contact->u = u;
+ contact->v = v;
+ contact->m_face_id = boxesresult[i];
+ VEC_COPY(contact->m_point,pout);
+ VEC_COPY(contact->m_normal,flippedPlane);
+
+ gim_trimesh_unlocks_work_data(trimesh);
+ GIM_DYNARRAY_DESTROY(collision_result);
+ return 1;
+ }
+ }
+
+ gim_trimesh_unlocks_work_data(trimesh);
+ GIM_DYNARRAY_DESTROY(collision_result);
+ return 0;//no collisiion
+}
+
+
+//! Trimesh Ray Collisions closest
+/*!
+Find the closest primitive collided by the ray
+\param trimesh
+\param contact
+\return 1 if the ray collides, else 0
+*/
+int gim_trimesh_ray_closest_collision(GIM_TRIMESH * trimesh,vec3f origin,vec3f dir, GREAL tmax, GIM_TRIANGLE_RAY_CONTACT_DATA * contact)
+{
+ GDYNAMIC_ARRAY collision_result;
+ GIM_CREATE_BOXQUERY_LIST(collision_result);
+
+ gim_aabbset_ray_collision(origin,dir,tmax,&trimesh->m_aabbset,&collision_result);
+
+ if(collision_result.m_size==0)
+ {
+ GIM_DYNARRAY_DESTROY(collision_result);
+ return 0;
+ }
+
+ //collide triangles
+
+ GUINT32 * boxesresult = GIM_DYNARRAY_POINTER(GUINT32,collision_result);
+ GIM_TRIANGLE_DATA tridata;
+ vec3f pout;
+ GREAL tparam,u,v;
+ char does_intersect;
+ contact->tparam = tmax + 0.1f;
+
+ gim_trimesh_locks_work_data(trimesh);
+
+ for(unsigned int i=0;i<collision_result.m_size;i++)
+ {
+ gim_trimesh_get_triangle_data(trimesh,boxesresult[i],&tridata);
+
+ // flip plane for correct result in ODE
+ // for more info: martijn@bytehazard.com
+ vec4f flippedPlane;
+ VEC_SCALE_4(flippedPlane, -1.0f, tridata.m_planes.m_planes[0]);
+
+ RAY_TRIANGLE_INTERSECTION(origin,dir,tridata.m_vertices[0],tridata.m_vertices[1],tridata.m_vertices[2],flippedPlane,pout,u,v,tparam,tmax,does_intersect);
+ if(does_intersect && (tparam < contact->tparam))
+ {
+ contact->tparam = tparam;
+ contact->u = u;
+ contact->v = v;
+ contact->m_face_id = boxesresult[i];
+ VEC_COPY(contact->m_point,pout);
+ VEC_COPY(contact->m_normal,flippedPlane);
+ }
+ }
+
+ gim_trimesh_unlocks_work_data(trimesh);
+ GIM_DYNARRAY_DESTROY(collision_result);
+ if(contact->tparam > tmax) return 0;
+ return 1;
+}
diff --git a/libs/ode-0.16.1/GIMPACT/src/gim_trimesh_sphere_collision.cpp b/libs/ode-0.16.1/GIMPACT/src/gim_trimesh_sphere_collision.cpp new file mode 100644 index 0000000..0d61715 --- /dev/null +++ b/libs/ode-0.16.1/GIMPACT/src/gim_trimesh_sphere_collision.cpp @@ -0,0 +1,196 @@ +
+/*
+-----------------------------------------------------------------------------
+This source file is part of GIMPACT Library.
+
+For the latest info, see http://gimpact.sourceforge.net/
+
+Copyright (c) 2006 Francisco Leon. C.C. 80087371.
+email: projectileman@yahoo.com
+
+ 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 GIMPACT-LICENSE-LGPL.TXT.
+ (2) The BSD-style license that is included with this library in
+ the file GIMPACT-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
+ GIMPACT-LICENSE-LGPL.TXT and GIMPACT-LICENSE-BSD.TXT for more details.
+
+-----------------------------------------------------------------------------
+*/
+
+#include "GIMPACT/gim_trimesh.h"
+
+int gim_triangle_sphere_collision(
+ GIM_TRIANGLE_DATA *tri,
+ vec3f center, GREAL radius,
+ GIM_TRIANGLE_CONTACT_DATA * contact_data)
+{
+ contact_data->m_point_count = 0;
+
+ //Find Face plane distance
+ GREAL dis = DISTANCE_PLANE_POINT(tri->m_planes.m_planes[0],center);
+ if(dis>radius) return 0; //out
+ if(dis<-radius) return 0;//Out of triangle
+ contact_data->m_penetration_depth = dis;
+
+ //Find the most edge
+ GUINT32 most_edge = 4;//no edge
+ GREAL max_dis = 0.0f;
+ dis = DISTANCE_PLANE_POINT(tri->m_planes.m_planes[1],center);
+ if(dis>radius) return 0;//Out of triangle
+ if(dis>0.0f)
+ {
+ max_dis = dis;
+ most_edge = 0;
+ }
+
+ dis = DISTANCE_PLANE_POINT(tri->m_planes.m_planes[2],center);
+ if(dis>radius) return 0;//Out of triangle
+ if(dis>max_dis)// && dis>0.0f)
+ {
+ max_dis = dis;
+ most_edge = 1;
+ }
+
+ dis = DISTANCE_PLANE_POINT(tri->m_planes.m_planes[3],center);
+ if(dis>radius) return 0;//Out of triangle
+ if(dis>max_dis)// && dis>0.0f)
+ {
+ max_dis = dis;
+ most_edge = 2;
+ }
+
+ if(most_edge == 4) //Box is into triangle
+ {
+ //contact_data->m_penetration_depth = dis is set above
+ //Find Face plane point
+ VEC_COPY(contact_data->m_separating_normal,tri->m_planes.m_planes[0]);
+ //Find point projection on plane
+ if(contact_data->m_penetration_depth>=0.0f)
+ {
+ VEC_SCALE(contact_data->m_points[0],-radius,contact_data->m_separating_normal);
+ }
+ else
+ {
+ VEC_SCALE(contact_data->m_points[0],radius,contact_data->m_separating_normal);
+ }
+ contact_data->m_penetration_depth = radius - contact_data->m_penetration_depth;
+
+ VEC_SUM(contact_data->m_points[0],contact_data->m_points[0],center);
+ //Scale normal for pointing to triangle
+ VEC_SCALE(contact_data->m_separating_normal,-1.0f,contact_data->m_separating_normal);
+ contact_data->m_point_count = 1;
+ return 1;
+ }
+ //find the edge
+ vec3f e1,e2;
+ VEC_COPY(e1,tri->m_vertices[most_edge]);
+ VEC_COPY(e2,tri->m_vertices[(most_edge+1)%3]);
+
+ CLOSEST_POINT_ON_SEGMENT(contact_data->m_points[0],center,e1,e2);
+ //find distance
+ VEC_DIFF(e1,center,contact_data->m_points[0]);
+ VEC_LENGTH(e1,dis);
+ if(dis>radius) return 0;
+
+ contact_data->m_penetration_depth = radius - dis;
+
+ if(IS_ZERO(dis))
+ {
+ VEC_COPY(contact_data->m_separating_normal,tri->m_planes.m_planes[most_edge+1]);
+ VEC_SCALE(contact_data->m_points[0],-radius,contact_data->m_separating_normal);
+ VEC_SUM(contact_data->m_points[0],contact_data->m_points[0],center);
+ }
+ else
+ {
+ VEC_SCALE(contact_data->m_separating_normal,1.0f/dis,e1);
+ VEC_SCALE(contact_data->m_points[0],-radius,contact_data->m_separating_normal);
+ VEC_SUM(contact_data->m_points[0],contact_data->m_points[0],center);
+ }
+
+ //Scale normal for pointing to triangle
+ VEC_SCALE(contact_data->m_separating_normal,-1.0f,contact_data->m_separating_normal);
+
+ contact_data->m_point_count = 1;
+ return 1;
+
+}
+
+//! Trimesh Sphere Collisions
+/*!
+In each contact
+<ul>
+<li> m_handle1 points to trimesh.
+<li> m_handle2 points to NULL.
+<li> m_feature1 Is a triangle index of trimesh.
+</ul>
+
+\param trimesh
+\param center
+\param radius
+\param contacts A GIM_CONTACT array. Must be initialized
+*/
+void gim_trimesh_sphere_collision(GIM_TRIMESH * trimesh,vec3f center,GREAL radius, GDYNAMIC_ARRAY * contacts)
+{
+ contacts->m_size = 0;
+
+ aabb3f test_aabb;
+ test_aabb.minX = center[0]-radius;
+ test_aabb.maxX = center[0]+radius;
+ test_aabb.minY = center[1]-radius;
+ test_aabb.maxY = center[1]+radius;
+ test_aabb.minZ = center[2]-radius;
+ test_aabb.maxZ = center[2]+radius;
+
+ GDYNAMIC_ARRAY collision_result;
+ GIM_CREATE_BOXQUERY_LIST(collision_result);
+
+ gim_aabbset_box_collision(&test_aabb, &trimesh->m_aabbset , &collision_result);
+
+ if(collision_result.m_size==0)
+ {
+ GIM_DYNARRAY_DESTROY(collision_result);
+ }
+
+ //collide triangles
+ //Locks trimesh
+ gim_trimesh_locks_work_data(trimesh);
+ //dummy contacts
+ GDYNAMIC_ARRAY dummycontacts;
+ GIM_CREATE_CONTACT_LIST(dummycontacts);
+
+ int cresult;
+ unsigned int i;
+ GUINT32 * boxesresult = GIM_DYNARRAY_POINTER(GUINT32,collision_result);
+ GIM_TRIANGLE_CONTACT_DATA tri_contact_data;
+ GIM_TRIANGLE_DATA tri_data;
+
+ for(i=0;i<collision_result.m_size;i++)
+ {
+ gim_trimesh_get_triangle_data(trimesh,boxesresult[i],&tri_data);
+ cresult = gim_triangle_sphere_collision(&tri_data,center,radius,&tri_contact_data);
+ if(cresult!=0)
+ {
+ GIM_PUSH_CONTACT(dummycontacts, tri_contact_data.m_points[0],tri_contact_data.m_separating_normal ,tri_contact_data.m_penetration_depth,trimesh, 0, boxesresult[i],0);
+ }
+ }
+ ///unlocks
+ gim_trimesh_unlocks_work_data(trimesh);
+ ///Destroy box result
+ GIM_DYNARRAY_DESTROY(collision_result);
+
+ //merge contacts
+ gim_merge_contacts(&dummycontacts,contacts);
+
+ //Destroy dummy
+ GIM_DYNARRAY_DESTROY(dummycontacts);
+}
+
diff --git a/libs/ode-0.16.1/GIMPACT/src/gim_trimesh_trimesh_collision.cpp b/libs/ode-0.16.1/GIMPACT/src/gim_trimesh_trimesh_collision.cpp new file mode 100644 index 0000000..e5e3c06 --- /dev/null +++ b/libs/ode-0.16.1/GIMPACT/src/gim_trimesh_trimesh_collision.cpp @@ -0,0 +1,348 @@ +
+/*
+-----------------------------------------------------------------------------
+This source file is part of GIMPACT Library.
+
+For the latest info, see http://gimpact.sourceforge.net/
+
+Copyright (c) 2006 Francisco Leon. C.C. 80087371.
+email: projectileman@yahoo.com
+
+ 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 GIMPACT-LICENSE-LGPL.TXT.
+ (2) The BSD-style license that is included with this library in
+ the file GIMPACT-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
+ GIMPACT-LICENSE-LGPL.TXT and GIMPACT-LICENSE-BSD.TXT for more details.
+
+-----------------------------------------------------------------------------
+*/
+
+#include "GIMPACT/gim_trimesh.h"
+
+#define CLASSIFY_TRI_BY_FACE(v1,v2,v3,faceplane,out_of_face)\
+{ \
+ _distances[0] = DISTANCE_PLANE_POINT(faceplane,v1);\
+ _distances[1] = _distances[0] * DISTANCE_PLANE_POINT(faceplane,v2);\
+ _distances[2] = _distances[0] * DISTANCE_PLANE_POINT(faceplane,v3); \
+ if(_distances[1]>0.0f && _distances[2]>0.0f)\
+ {\
+ out_of_face = 1;\
+ }\
+ else\
+ {\
+ out_of_face = 0;\
+ }\
+}\
+
+
+//! Receives the 3 edge planes
+#define MOST_DEEP_POINTS(plane,points,point_count,deep_points,deep_points_count,maxdeep)\
+{\
+ maxdeep=-1000.0f;\
+ GUINT32 _k;\
+ GREAL _dist;\
+ deep_points_count = 0;\
+ for(_k=0;_k<point_count;_k++)\
+ {\
+ _dist = -DISTANCE_PLANE_POINT(plane,points[_k]);\
+ if(_dist>maxdeep)\
+ {\
+ maxdeep = _dist;\
+ _max_candidates[0] = _k;\
+ deep_points_count=1;\
+ }\
+ else if((_dist+G_EPSILON)>=maxdeep)\
+ {\
+ _max_candidates[deep_points_count] = _k;\
+ deep_points_count++;\
+ }\
+ }\
+ if(maxdeep<0.0f)\
+ {\
+ deep_points_count = 0;\
+ }\
+ else\
+ {\
+ for(_k=0;_k<deep_points_count;_k++)\
+ {\
+ VEC_COPY(deep_points[_k],points[_max_candidates[_k]]);\
+ }\
+ }\
+}\
+
+//! Receives the 3 edge planes
+#define CLIP_TRI_POINTS_BY_TRI_EDGE_PLANES(tri_points,tri_edge_planes, clipped_points, clipped_point_count)\
+{\
+ clipped_point_count = 0; \
+ _temp_clip_count = 0;\
+ PLANE_CLIP_POLYGON(tri_edge_planes[0],tri_points,3,_temp_clip,_temp_clip_count,MAX_TRI_CLIPPING);\
+ if(_temp_clip_count>0)\
+ {\
+ _temp_clip_count2 = 0;\
+ PLANE_CLIP_POLYGON(tri_edge_planes[1],_temp_clip,_temp_clip_count,_temp_clip2,_temp_clip_count2,MAX_TRI_CLIPPING);\
+ if(_temp_clip_count2>0)\
+ {\
+ PLANE_CLIP_POLYGON(tri_edge_planes[2],_temp_clip2,_temp_clip_count2,clipped_points,clipped_point_count,MAX_TRI_CLIPPING);\
+ }\
+ }\
+}\
+
+
+
+int _gim_triangle_triangle_collision(
+ GIM_TRIANGLE_DATA *tri1,
+ GIM_TRIANGLE_DATA *tri2,
+ GIM_TRIANGLE_CONTACT_DATA * contact_data)
+{
+ //Cache variables for triangle intersection
+ GUINT32 _max_candidates[MAX_TRI_CLIPPING];
+ vec3f _temp_clip[MAX_TRI_CLIPPING];
+ GUINT32 _temp_clip_count = 0;
+ vec3f _temp_clip2[MAX_TRI_CLIPPING];
+ GUINT32 _temp_clip_count2 = 0;
+ vec3f clipped_points2[MAX_TRI_CLIPPING];
+ vec3f deep_points2[MAX_TRI_CLIPPING];
+ vec3f clipped_points1[MAX_TRI_CLIPPING];
+ vec3f deep_points1[MAX_TRI_CLIPPING];
+
+
+
+ //State variabnles
+ GUINT32 mostdir=0;
+ GUINT32 clipped2_count=0;
+
+ //Clip tri2 by tri1 edges
+
+ CLIP_TRI_POINTS_BY_TRI_EDGE_PLANES(tri2->m_vertices,(&tri1->m_planes.m_planes[1]), clipped_points2, clipped2_count);
+
+ if(clipped2_count == 0 )
+ {
+ return 0;//Reject
+ }
+
+ //find most deep interval face1
+ GUINT32 deep2_count=0;
+
+ GREAL maxdeep;
+
+ MOST_DEEP_POINTS((tri1->m_planes.m_planes[0]), clipped_points2, clipped2_count, deep_points2, deep2_count, maxdeep);
+ if(deep2_count==0)
+ {
+// *perror = 0.0f;
+ return 0;//Reject
+ }
+
+ //Normal pointing to triangle1
+ VEC_SCALE(contact_data->m_separating_normal,-1.0f,(tri1->m_planes.m_planes[0]));
+
+
+ //Clip tri1 by tri2 edges
+
+ GUINT32 clipped1_count=0;
+
+ CLIP_TRI_POINTS_BY_TRI_EDGE_PLANES(tri1->m_vertices,(&tri2->m_planes.m_planes[1]), clipped_points1, clipped1_count);
+
+ if(clipped2_count == 0 )
+ {
+// *perror = 0.0f;
+ return 0;//Reject
+ }
+
+
+ //find interval face2
+ GUINT32 deep1_count=0;
+
+ GREAL dist;
+
+ MOST_DEEP_POINTS((tri2->m_planes.m_planes[0]), clipped_points1, clipped1_count, deep_points1, deep1_count, dist);
+
+ if(deep1_count==0)
+ {
+// *perror = 0.0f;
+ return 0;
+ }
+
+ if(dist<maxdeep)
+ {
+ maxdeep = dist;
+ mostdir = 1;
+ VEC_COPY(contact_data->m_separating_normal,(tri2->m_planes.m_planes[0]));
+ }
+ //set deep
+ contact_data->m_penetration_depth = maxdeep;
+
+ ////check most dir for contacts
+ if(mostdir==0)
+ {
+ contact_data->m_point_count = deep2_count;
+ for(mostdir=0;mostdir<deep2_count;mostdir++)
+ {
+ VEC_COPY(contact_data->m_points[mostdir] ,deep_points2[mostdir]);
+ }
+ }
+ else
+ {
+ contact_data->m_point_count = deep1_count;
+ for(mostdir=0;mostdir<deep1_count;mostdir++)
+ {
+ VEC_COPY(contact_data->m_points[mostdir] ,deep_points1[mostdir]);
+ }
+ }
+ return 1;
+}
+
+
+
+//! Finds the contact points from a collision of two triangles
+/*!
+Returns the contact points, the penetration depth and the separating normal of the collision
+between two triangles. The normal is pointing toward triangle 1 from triangle 2
+*/
+int gim_triangle_triangle_collision(
+ GIM_TRIANGLE_DATA *tri1,
+ GIM_TRIANGLE_DATA *tri2,
+ GIM_TRIANGLE_CONTACT_DATA * contact_data)
+{
+ vec3f _distances;
+ char out_of_face=0;
+
+ CLASSIFY_TRI_BY_FACE(tri1->m_vertices[0],tri1->m_vertices[1],tri1->m_vertices[2],tri2->m_planes.m_planes[0],out_of_face);
+ if(out_of_face==1) return 0;
+
+ CLASSIFY_TRI_BY_FACE(tri2->m_vertices[0],tri2->m_vertices[1],tri2->m_vertices[2],tri1->m_planes.m_planes[0],out_of_face);
+ if(out_of_face==1) return 0;
+
+ return _gim_triangle_triangle_collision(tri1,tri2,contact_data);
+}
+
+//! Trimesh Trimesh Collisions
+/*!
+
+In each contact
+<ul>
+<li> m_handle1 points to trimesh1.
+<li> m_handle2 points to trimesh2.
+<li> m_feature1 Is a triangle index of trimesh1.
+<li> m_feature2 Is a triangle index of trimesh2.
+</ul>
+
+\param trimesh1 Collider
+\param trimesh2 Collidee
+\param contacts A GIM_CONTACT array. Must be initialized
+*/
+void gim_trimesh_trimesh_collision(GIM_TRIMESH * trimesh1, GIM_TRIMESH * trimesh2, GDYNAMIC_ARRAY * contacts)
+{
+ contacts->m_size = 0;
+ GDYNAMIC_ARRAY collision_pairs;
+ GIM_CREATE_PAIR_SET(collision_pairs)
+
+ gim_aabbset_bipartite_intersections(&trimesh1->m_aabbset,&trimesh2->m_aabbset,&collision_pairs);
+
+ if(collision_pairs.m_size==0)
+ {
+ GIM_DYNARRAY_DESTROY(collision_pairs);
+ return; //no collisioin
+ }
+
+ //Locks meshes
+ gim_trimesh_locks_work_data(trimesh1);
+ gim_trimesh_locks_work_data(trimesh2);
+
+
+ //pair pointer
+ GIM_PAIR *pairs = GIM_DYNARRAY_POINTER(GIM_PAIR,collision_pairs);
+ //dummy contacts
+ GDYNAMIC_ARRAY dummycontacts;
+ GIM_CREATE_CONTACT_LIST(dummycontacts);
+
+ //Auxiliary triangle data
+ GIM_TRIANGLE_CONTACT_DATA tri_contact_data;
+ GIM_TRIANGLE_DATA tri1data,tri2data;
+
+
+ GUINT32 i, ti1,ti2,ci;
+ int colresult;
+ for (i=0;i<collision_pairs.m_size; i++)
+ {
+ ti1 = pairs[i].m_index1;
+ ti2 = pairs[i].m_index2;
+ //Get triangles data
+ gim_trimesh_get_triangle_data(trimesh1,ti1,&tri1data);
+ gim_trimesh_get_triangle_data(trimesh2,ti2,&tri2data);
+
+ //collide triangles
+ colresult = gim_triangle_triangle_collision(&tri1data,&tri2data,&tri_contact_data);
+ if(colresult == 1)
+ {
+ //Add contacts
+ for (ci=0;ci<tri_contact_data.m_point_count ;ci++ )
+ {
+ GIM_PUSH_CONTACT(dummycontacts, tri_contact_data.m_points[ci],tri_contact_data.m_separating_normal ,tri_contact_data.m_penetration_depth,trimesh1, trimesh2, ti1, ti2);
+ }
+ }
+ }
+
+ if(dummycontacts.m_size == 0) //reject
+ {
+ GIM_DYNARRAY_DESTROY(dummycontacts);
+ GIM_DYNARRAY_DESTROY(collision_pairs);
+ return;
+ }
+ //merge contacts
+ gim_merge_contacts(&dummycontacts,contacts);
+
+ //Terminate
+ GIM_DYNARRAY_DESTROY(dummycontacts);
+ GIM_DYNARRAY_DESTROY(collision_pairs);
+
+ //Unlocks meshes
+ gim_trimesh_unlocks_work_data(trimesh1);
+ gim_trimesh_unlocks_work_data(trimesh2);
+}
+
+
+//! Trimesh Plane Collisions
+/*!
+
+\param trimesh
+\param plane vec4f plane
+\param contacts A vec4f array. Must be initialized (~100). Each element have the coordinate point in the first 3 elements, and vec4f[3] has the penetration depth.
+*/
+void gim_trimesh_plane_collision(GIM_TRIMESH * trimesh,vec4f plane, GDYNAMIC_ARRAY * contacts)
+{
+ contacts->m_size = 0;
+ char classify;
+ PLANE_CLASSIFY_BOX(plane,trimesh->m_aabbset.m_global_bound,classify);
+ if(classify>1) return; // in front of plane
+
+ //Locks mesh
+ gim_trimesh_locks_work_data(trimesh);
+ //Get vertices
+ GUINT32 i, vertcount = trimesh->m_transformed_vertex_buffer.m_element_count;
+ vec3f * vertices = GIM_BUFFER_ARRAY_POINTER(vec3f,trimesh->m_transformed_vertex_buffer,0);
+
+ GREAL dist;
+ vec4f * result_contact;
+
+ for (i=0;i<vertcount;i++)
+ {
+ dist = DISTANCE_PLANE_POINT(plane,vertices[i]);
+ if(dist<=0.0f)
+ {
+ GIM_DYNARRAY_PUSH_EMPTY(vec4f,(*contacts));
+ result_contact = GIM_DYNARRAY_POINTER_LAST(vec4f,(*contacts));
+ VEC_COPY((*result_contact),vertices[i]);
+ (*result_contact)[3] = -dist;
+ }
+ }
+ gim_trimesh_unlocks_work_data(trimesh);
+}
diff --git a/libs/ode-0.16.1/GIMPACT/src/gimpact.cpp b/libs/ode-0.16.1/GIMPACT/src/gimpact.cpp new file mode 100644 index 0000000..b7fdf42 --- /dev/null +++ b/libs/ode-0.16.1/GIMPACT/src/gimpact.cpp @@ -0,0 +1,40 @@ +
+/*
+-----------------------------------------------------------------------------
+This source file is part of GIMPACT Library.
+
+For the latest info, see http://gimpact.sourceforge.net/
+
+Copyright (c) 2006 Francisco Leon. C.C. 80087371.
+email: projectileman@yahoo.com
+
+ 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 GIMPACT-LICENSE-LGPL.TXT.
+ (2) The BSD-style license that is included with this library in
+ the file GIMPACT-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
+ GIMPACT-LICENSE-LGPL.TXT and GIMPACT-LICENSE-BSD.TXT for more details.
+
+-----------------------------------------------------------------------------
+*/
+
+#include "GIMPACT/gimpact.h"
+
+
+
+void gimpact_init()
+{
+ gim_init_math();
+}
+
+void gimpact_terminate()
+{
+}
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