1 files changed, 102 insertions, 0 deletions
diff --git a/libs/ode-0.16.1/libccd/src/testsuites/support.h b/libs/ode-0.16.1/libccd/src/testsuites/support.h
new file mode 100644
index 0000000..e444296
--- /dev/null
+++ b/libs/ode-0.16.1/libccd/src/testsuites/support.h
@@ -0,0 +1,102 @@
+/***
+ * libccd
+ * ---------------------------------
+ * Copyright (c)2010 Daniel Fiser <danfis@danfis.cz>
+ *
+ *
+ *  This file is part of libccd.
+ *
+ *  Distributed under the OSI-approved BSD License (the "License");
+ *  see accompanying file BDS-LICENSE for details or see
+ *  <http://www.opensource.org/licenses/bsd-license.php>.
+ *
+ *  This software is distributed WITHOUT ANY WARRANTY; without even the
+ *  implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
+ *  See the License for more information.
+ */
+
+/***
+ * Some support() functions for some convex shapes.
+ */
+
+#ifndef __CCD_SUPPORT_H__
+#define __CCD_SUPPORT_H__
+
+#include <ccd/quat.h>
+
+#ifdef __cplusplus
+extern "C" {
+#endif /* __cplusplus */
+
+#define CCD_OBJ_BOX 1
+#define CCD_OBJ_SPHERE 2
+#define CCD_OBJ_CYL 3
+
+#define __CCD_OBJ__ \
+    int type; \
+    ccd_vec3_t pos; \
+    ccd_quat_t quat;
+
+struct _ccd_obj_t {
+    __CCD_OBJ__
+};
+typedef struct _ccd_obj_t ccd_obj_t;
+
+struct _ccd_box_t {
+    __CCD_OBJ__
+    ccd_real_t x, y, z; //!< Lengths of box's edges
+};
+typedef struct _ccd_box_t ccd_box_t;
+
+struct _ccd_sphere_t {
+    __CCD_OBJ__
+    ccd_real_t radius;
+};
+typedef struct _ccd_sphere_t ccd_sphere_t;
+
+struct _ccd_cyl_t {
+    __CCD_OBJ__
+    ccd_real_t radius;
+    ccd_real_t height;
+};
+typedef struct _ccd_cyl_t ccd_cyl_t;
+
+
+#define CCD_BOX(name) \
+    ccd_box_t name = { .type = CCD_OBJ_BOX, \
+                       .pos  = { .v = { 0., 0., 0. } }, \
+                       .quat = { .q = { 0., 0., 0., 1. } }, \
+                       .x = 0., \
+                       .y = 0., \
+                       .z = 0. }
+
+#define CCD_SPHERE(name) \
+    ccd_sphere_t name = { .type = CCD_OBJ_SPHERE, \
+                          .pos  = { .v = { 0., 0., 0. } }, \
+                          .quat = { .q = { 0., 0., 0., 1. } }, \
+                          .radius = 0. }
+
+#define CCD_CYL(name) \
+    ccd_cyl_t name = { .type = CCD_OBJ_CYL, \
+                       .pos  = { .v = { 0., 0., 0. } }, \
+                       .quat = { .q = { 0., 0., 0., 1. } }, \
+                       .radius = 0., \
+                       .height = 0. }
+
+/**
+ * Returns supporting vertex via v.
+ * Supporting vertex is fathest vertex from object in direction dir.
+ */
+void ccdSupport(const void *obj, const ccd_vec3_t *dir,
+                ccd_vec3_t *v);
+
+/**
+ * Returns center of object.
+ */
+void ccdObjCenter(const void *obj, ccd_vec3_t *center);
+
+#ifdef __cplusplus
+} /* extern "C" */
+#endif /* __cplusplus */
+
+#endif /* __CCD_SUPPORT_H__ */