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/*************************************************************************
* *
* Open Dynamics Engine, Copyright (C) 2001-2003 Russell L. Smith. *
* All rights reserved. Email: russ@q12.org Web: www.q12.org *
* *
* This library is free software; you can redistribute it and/or *
* modify it under the terms of EITHER: *
* (1) The GNU Lesser General Public License as published by the Free *
* Software Foundation; either version 2.1 of the License, or (at *
* your option) any later version. The text of the GNU Lesser *
* General Public License is included with this library in the *
* file LICENSE.TXT. *
* (2) The BSD-style license that is included with this library in *
* the file LICENSE-BSD.TXT. *
* *
* This library is distributed in the hope that it will be useful, *
* but WITHOUT ANY WARRANTY; without even the implied warranty of *
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the files *
* LICENSE.TXT and LICENSE-BSD.TXT for more details. *
* *
*************************************************************************/
#ifndef _ODE_GIMPACT_PLANE_CONTACT_ACCESSOR_H_
#define _ODE_GIMPACT_PLANE_CONTACT_ACCESSOR_H_
struct dxPlaneContactAccessor
{
dxPlaneContactAccessor(const vec4f *planecontact_results, const dReal *plane, dGeomID g1, dGeomID g2) : m_planecontact_results(planecontact_results), m_plane(plane), m_g1(g1), m_g2(g2) {}
dReal RetrieveDepthByIndex(unsigned index) const { return m_planecontact_results[index][3]; }
void ExportContactGeomByIndex(dContactGeom *pcontact, unsigned index) const
{
const vec4f *planecontact = m_planecontact_results + index;
pcontact->pos[0] = (*planecontact)[0];
pcontact->pos[1] = (*planecontact)[1];
pcontact->pos[2] = (*planecontact)[2];
pcontact->pos[3] = REAL(1.0);
const dReal *plane = m_plane;
pcontact->normal[0] = plane[0];
pcontact->normal[1] = plane[1];
pcontact->normal[2] = plane[2];
pcontact->normal[3] = 0;
pcontact->depth = (*planecontact)[3];
pcontact->g1 = m_g1; // trimesh geom
pcontact->g2 = m_g2; // plane geom
pcontact->side1 = -1; // note: don't have the triangle index, but OPCODE *does* do this properly
pcontact->side2 = -1;
}
const vec4f *m_planecontact_results;
const dReal *m_plane;
dGeomID m_g1, m_g2;
};
#endif //_ODE_GIMPACT_PLANE_CONTACT_ACCESSOR_H_
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