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diff --git a/libs/ode-0.16.1/OPCODE/Ice/IceBoundingSphere.h b/libs/ode-0.16.1/OPCODE/Ice/IceBoundingSphere.h
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+///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+/**
+ * Contains code to compute the minimal bounding sphere.
+ * \file IceBoundingSphere.h
+ * \author Pierre Terdiman
+ * \date January, 29, 2000
+ */
+///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+
+///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+// Include Guard
+#ifndef __ICEBOUNDINGSPHERE_H__
+#define __ICEBOUNDINGSPHERE_H__
+
+ enum BSphereMethod
+ {
+ BS_NONE,
+ BS_GEMS,
+ BS_MINIBALL,
+
+ BS_FORCE_DWORD = 0x7fffffff
+ };
+
+ class ICEMATHS_API Sphere
+ {
+ public:
+ //! Constructor
+ inline_ Sphere() {}
+ //! Constructor
+ inline_ Sphere(const Point& center, float radius) : mCenter(center), mRadius(radius) {}
+ //! Constructor
+ Sphere(udword nb_verts, const Point* verts);
+ //! Copy constructor
+ inline_ Sphere(const Sphere& sphere) : mCenter(sphere.mCenter), mRadius(sphere.mRadius) {}
+ //! Destructor
+ inline_ ~Sphere() {}
+
+ BSphereMethod Compute(udword nb_verts, const Point* verts);
+ bool FastCompute(udword nb_verts, const Point* verts);
+
+ // Access methods
+ inline_ const Point& GetCenter() const { return mCenter; }
+ inline_ float GetRadius() const { return mRadius; }
+
+ inline_ const Point& Center() const { return mCenter; }
+ inline_ float Radius() const { return mRadius; }
+
+ inline_ Sphere& Set(const Point& center, float radius) { mCenter = center; mRadius = radius; return *this; }
+ inline_ Sphere& SetCenter(const Point& center) { mCenter = center; return *this; }
+ inline_ Sphere& SetRadius(float radius) { mRadius = radius; return *this; }
+
+ ///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+ /**
+ * Tests if a point is contained within the sphere.
+ * \param p [in] the point to test
+ * \return true if inside the sphere
+ */
+ ///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+ inline_ bool Contains(const Point& p) const
+ {
+ return mCenter.SquareDistance(p) <= mRadius*mRadius;
+ }
+
+ ///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+ /**
+ * Tests if a sphere is contained within the sphere.
+ * \param sphere [in] the sphere to test
+ * \return true if inside the sphere
+ */
+ ///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+ inline_ bool Contains(const Sphere& sphere) const
+ {
+ // If our radius is the smallest, we can't possibly contain the other sphere
+ if(mRadius < sphere.mRadius) return false;
+ // So r is always positive or null now
+ float r = mRadius - sphere.mRadius;
+ return mCenter.SquareDistance(sphere.mCenter) <= r*r;
+ }
+
+ ///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+ /**
+ * Tests if a box is contained within the sphere.
+ * \param aabb [in] the box to test
+ * \return true if inside the sphere
+ */
+ ///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+ inline_ BOOL Contains(const AABB& aabb) const
+ {
+ // I assume if all 8 box vertices are inside the sphere, so does the whole box.
+ // Sounds ok but maybe there's a better way?
+ float R2 = mRadius * mRadius;
+#ifdef USE_MIN_MAX
+ const Point& Max = ((ShadowAABB&)&aabb).mMax;
+ const Point& Min = ((ShadowAABB&)&aabb).mMin;
+#else
+ Point Max; aabb.GetMax(Max);
+ Point Min; aabb.GetMin(Min);
+#endif
+ Point p;
+ p.x=Max.x; p.y=Max.y; p.z=Max.z; if(mCenter.SquareDistance(p)>=R2) return FALSE;
+ p.x=Min.x; if(mCenter.SquareDistance(p)>=R2) return FALSE;
+ p.x=Max.x; p.y=Min.y; if(mCenter.SquareDistance(p)>=R2) return FALSE;
+ p.x=Min.x; if(mCenter.SquareDistance(p)>=R2) return FALSE;
+ p.x=Max.x; p.y=Max.y; p.z=Min.z; if(mCenter.SquareDistance(p)>=R2) return FALSE;
+ p.x=Min.x; if(mCenter.SquareDistance(p)>=R2) return FALSE;
+ p.x=Max.x; p.y=Min.y; if(mCenter.SquareDistance(p)>=R2) return FALSE;
+ p.x=Min.x; if(mCenter.SquareDistance(p)>=R2) return FALSE;
+
+ return TRUE;
+ }
+
+ ///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+ /**
+ * Tests if the sphere intersects another sphere
+ * \param sphere [in] the other sphere
+ * \return true if spheres overlap
+ */
+ ///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+ inline_ bool Intersect(const Sphere& sphere) const
+ {
+ float r = mRadius + sphere.mRadius;
+ return mCenter.SquareDistance(sphere.mCenter) <= r*r;
+ }
+
+ ///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+ /**
+ * Checks the sphere is valid.
+ * \return true if the box is valid
+ */
+ ///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+ inline_ BOOL IsValid() const
+ {
+ // Consistency condition for spheres: Radius >= 0.0f
+ if(mRadius < 0.0f) return FALSE;
+ return TRUE;
+ }
+ public:
+ Point mCenter; //!< Sphere center
+ float mRadius; //!< Sphere radius
+ };
+
+#endif // __ICEBOUNDINGSPHERE_H__