1 files changed, 222 insertions, 0 deletions
diff --git a/libs/ode-0.16.1/OPCODE/OPC_Model.cpp b/libs/ode-0.16.1/OPCODE/OPC_Model.cpp
new file mode 100644
index 0000000..418dd7e
--- /dev/null
+++ b/libs/ode-0.16.1/OPCODE/OPC_Model.cpp
@@ -0,0 +1,222 @@
+///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+/*
+ *	OPCODE - Optimized Collision Detection
+ *	Copyright (C) 2001 Pierre Terdiman
+ *	Homepage: http://www.codercorner.com/Opcode.htm
+ */
+///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+
+///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+/**
+ *	Contains code for OPCODE models.
+ *	\file		OPC_Model.cpp
+ *	\author		Pierre Terdiman
+ *	\date		March, 20, 2001
+ */
+///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+
+///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+/**
+ *	The main collision wrapper, for all trees. Supported trees are:
+ *	- Normal trees (2*N-1 nodes, full size)
+ *	- No-leaf trees (N-1 nodes, full size)
+ *	- Quantized trees (2*N-1 nodes, half size)
+ *	- Quantized no-leaf trees (N-1 nodes, half size)
+ *
+ *	Usage:
+ *
+ *	1) Create a static mesh interface using callbacks or pointers. (see OPC_MeshInterface.cpp).
+ *	Keep it around in your app, since a pointer to this interface is saved internally and
+ *	used until you release the collision structures.
+ *
+ *	2) Build a Model using a creation structure:
+ *
+ *	\code
+ *		Model Sample;
+ *
+ *		OPCODECREATE OPCC;
+ *		OPCC.IMesh			= ...;
+ *		OPCC.Rules			= ...;
+ *		OPCC.NoLeaf			= ...;
+ *		OPCC.Quantized		= ...;
+ *		OPCC.KeepOriginal	= ...;
+ *		bool Status = Sample.Build(OPCC);
+ *	\endcode
+ *
+ *	3) Create a tree collider and set it up:
+ *
+ *	\code
+ *		AABBTreeCollider TC;
+ *		TC.SetFirstContact(...);
+ *		TC.SetFullBoxBoxTest(...);
+ *		TC.SetFullPrimBoxTest(...);
+ *		TC.SetTemporalCoherence(...);
+ *	\endcode
+ *
+ *	4) Perform a collision query
+ *
+ *	\code
+ *		// Setup cache
+ *		static BVTCache ColCache;
+ *		ColCache.Model0 = &Model0;
+ *		ColCache.Model1 = &Model1;
+ *
+ *		// Collision query
+ *		bool IsOk = TC.Collide(ColCache, World0, World1);
+ *
+ *		// Get collision status => if true, objects overlap
+ *		BOOL Status = TC.GetContactStatus();
+ *
+ *		// Number of colliding pairs and list of pairs
+ *		udword NbPairs = TC.GetNbPairs();
+ *		const Pair* p = TC.GetPairs()
+ *	\endcode
+ *
+ *	5) Stats
+ *
+ *	\code
+ *		Model0.GetUsedBytes()	= number of bytes used for this collision tree
+ *		TC.GetNbBVBVTests()		= number of BV-BV overlap tests performed during last query
+ *		TC.GetNbPrimPrimTests()	= number of Triangle-Triangle overlap tests performed during last query
+ *		TC.GetNbBVPrimTests()	= number of Triangle-BV overlap tests performed during last query
+ *	\endcode
+ *
+ *	\class		Model
+ *	\author		Pierre Terdiman
+ *	\version	1.3
+ *	\date		March, 20, 2001
+*/
+///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+
+///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+// Precompiled Header
+#include "Stdafx.h"
+
+using namespace Opcode;
+
+///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+/**
+ *	Constructor.
+ */
+///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+Model::Model()
+{
+#ifdef __MESHMERIZER_H__	// Collision hulls only supported within ICE !
+	mHull	= null;
+#endif // __MESHMERIZER_H__
+}
+
+///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+/**
+ *	Destructor.
+ */
+///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+Model::~Model()
+{
+	Release();
+}
+
+///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+/**
+ *	Releases the model.
+ */
+///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+void Model::Release()
+{
+	ReleaseBase();
+#ifdef __MESHMERIZER_H__	// Collision hulls only supported within ICE !
+	DELETESINGLE(mHull);
+#endif // __MESHMERIZER_H__
+}
+
+///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+/**
+ *	Builds a collision model.
+ *	\param		create		[in] model creation structure
+ *	\return		true if success
+ */
+///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+bool Model::Build(const OPCODECREATE& create)
+{
+	// 1) Checkings
+	if(!create.mIMesh || !create.mIMesh->IsValid())	return false;
+
+	// For this model, we only support complete trees
+	if(create.mSettings.mLimit!=1)	return SetIceError("OPCODE WARNING: supports complete trees only! Use mLimit = 1.\n", null);
+
+	// Look for degenerate faces.
+	//udword NbDegenerate = create.mIMesh->CheckTopology();
+	//if(NbDegenerate)	Log("OPCODE WARNING: found %d degenerate faces in model! Collision might report wrong results!\n", NbDegenerate);
+	// We continue nonetheless.... 
+
+	Release();	// Make sure previous tree has been discarded [Opcode 1.3, thanks Adam]
+
+	// 1-1) Setup mesh interface automatically [Opcode 1.3]
+	SetMeshInterface(create.mIMesh);
+
+	// Special case for 1-triangle meshes [Opcode 1.3]
+	udword NbTris = create.mIMesh->GetNbTriangles();
+	if(NbTris==1)
+	{
+		// We don't need to actually create a tree here, since we'll only have a single triangle to deal with anyway.
+		// It's a waste to use a "model" for this but at least it will work.
+		mModelCode |= OPC_SINGLE_NODE;
+		return true;
+	}
+
+	// 2) Build a generic AABB Tree.
+	mSource = new AABBTree;
+	CHECKALLOC(mSource);
+
+	// 2-1) Setup a builder. Our primitives here are triangles from input mesh,
+	// so we use an AABBTreeOfTrianglesBuilder.....
+	{
+		AABBTreeOfTrianglesBuilder TB;
+		TB.mIMesh			= create.mIMesh;
+		TB.mSettings		= create.mSettings;
+		TB.mNbPrimitives	= NbTris;
+		if(!mSource->Build(&TB))	return false;
+	}
+
+	// 3) Create an optimized tree according to user-settings
+	if(!CreateTree(create.mNoLeaf, create.mQuantized))	return false;
+
+	// 3-2) Create optimized tree
+	if(!mTree->Build(mSource))	return false;
+
+	// 3-3) Delete generic tree if needed
+	if(!create.mKeepOriginal)	DELETESINGLE(mSource);
+
+#ifdef __MESHMERIZER_H__
+	// 4) Convex hull
+	if(create.mCollisionHull)
+	{
+		// Create hull
+		mHull = new CollisionHull;
+		CHECKALLOC(mHull);
+
+		CONVEXHULLCREATE CHC;
+		// ### doesn't work with strides
+		CHC.NbVerts			= create.mIMesh->GetNbVertices();
+		CHC.Vertices		= create.mIMesh->GetVerts();
+		CHC.UnifyNormals	= true;
+		CHC.ReduceVertices	= true;
+		CHC.WordFaces		= false;
+		mHull->Compute(CHC);
+	}
+#endif // __MESHMERIZER_H__
+
+	return true;
+}
+
+///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+/**
+ *	Gets the number of bytes used by the tree.
+ *	\return		amount of bytes used
+ */
+///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+udword Model::GetUsedBytes() const
+{
+	if(!mTree)	return 0;
+	return mTree->GetUsedBytes();
+}