adding ode source to /libraries

1 files changed, 339 insertions, 0 deletions

diff --git a/libraries/ode-0.9\/OPCODE/OPC_TriBoxOverlap.h b/libraries/ode-0.9\/OPCODE/OPC_TriBoxOverlap.h
new file mode 100755
index 0000000..b3a9bde
--- /dev/null
+++ b/libraries/ode-0.9\/OPCODE/OPC_TriBoxOverlap.h
@@ -0,0 +1,339 @@
+
+//! This macro quickly finds the min & max values among 3 variables
+#define FINDMINMAX(x0, x1, x2, min, max)        \
+        min = max = x0;                                                 \
+        if(x1<min) min=x1;                                              \
+        if(x1>max) max=x1;                                              \
+        if(x2<min) min=x2;                                              \
+        if(x2>max) max=x2;
+
+//! TO BE DOCUMENTED
+inline_ BOOL planeBoxOverlap(const Point& normal, const float d, const Point& maxbox)
+{
+        Point vmin, vmax;
+        for(udword q=0;q<=2;q++)
+        {
+                if(normal[q]>0.0f)      { vmin[q]=-maxbox[q]; vmax[q]=maxbox[q]; }
+                else                            { vmin[q]=maxbox[q]; vmax[q]=-maxbox[q]; }
+        }
+        if((normal|vmin)+d>0.0f) return FALSE;
+        if((normal|vmax)+d>=0.0f) return TRUE;
+
+        return FALSE;
+}
+
+//! TO BE DOCUMENTED
+#define AXISTEST_X01(a, b, fa, fb)                                                      \
+        min = a*v0.y - b*v0.z;                                                                  \
+        max = a*v2.y - b*v2.z;                                                                  \
+        if(min>max) {const float tmp=max; max=min; min=tmp;     }       \
+        rad = fa * extents.y + fb * extents.z;                                  \
+        if(min>rad || max<-rad) return FALSE;
+
+//! TO BE DOCUMENTED
+#define AXISTEST_X2(a, b, fa, fb)                                                       \
+        min = a*v0.y - b*v0.z;                                                                  \
+        max = a*v1.y - b*v1.z;                                                                  \
+        if(min>max) {const float tmp=max; max=min; min=tmp;     }       \
+        rad = fa * extents.y + fb * extents.z;                                  \
+        if(min>rad || max<-rad) return FALSE;
+
+//! TO BE DOCUMENTED
+#define AXISTEST_Y02(a, b, fa, fb)                                                      \
+        min = b*v0.z - a*v0.x;                                                                  \
+        max = b*v2.z - a*v2.x;                                                                  \
+        if(min>max) {const float tmp=max; max=min; min=tmp;     }       \
+        rad = fa * extents.x + fb * extents.z;                                  \
+        if(min>rad || max<-rad) return FALSE;
+
+//! TO BE DOCUMENTED
+#define AXISTEST_Y1(a, b, fa, fb)                                                       \
+        min = b*v0.z - a*v0.x;                                                                  \
+        max = b*v1.z - a*v1.x;                                                                  \
+        if(min>max) {const float tmp=max; max=min; min=tmp;     }       \
+        rad = fa * extents.x + fb * extents.z;                                  \
+        if(min>rad || max<-rad) return FALSE;
+
+//! TO BE DOCUMENTED
+#define AXISTEST_Z12(a, b, fa, fb)                                                      \
+        min = a*v1.x - b*v1.y;                                                                  \
+        max = a*v2.x - b*v2.y;                                                                  \
+        if(min>max) {const float tmp=max; max=min; min=tmp;     }       \
+        rad = fa * extents.x + fb * extents.y;                                  \
+        if(min>rad || max<-rad) return FALSE;
+
+//! TO BE DOCUMENTED
+#define AXISTEST_Z0(a, b, fa, fb)                                                       \
+        min = a*v0.x - b*v0.y;                                                                  \
+        max = a*v1.x - b*v1.y;                                                                  \
+        if(min>max) {const float tmp=max; max=min; min=tmp;     }       \
+        rad = fa * extents.x + fb * extents.y;                                  \
+        if(min>rad || max<-rad) return FALSE;
+
+// compute triangle edges
+// - edges lazy evaluated to take advantage of early exits
+// - fabs precomputed (half less work, possible since extents are always >0)
+// - customized macros to take advantage of the null component
+// - axis vector discarded, possibly saves useless movs
+#define IMPLEMENT_CLASS3_TESTS                                          \
+        float rad;                                                                              \
+        float min, max;                                                                 \
+                                                                                                        \
+        const float fey0 = fabsf(e0.y);                                 \
+        const float fez0 = fabsf(e0.z);                                 \
+        AXISTEST_X01(e0.z, e0.y, fez0, fey0);                   \
+        const float fex0 = fabsf(e0.x);                                 \
+        AXISTEST_Y02(e0.z, e0.x, fez0, fex0);                   \
+        AXISTEST_Z12(e0.y, e0.x, fey0, fex0);                   \
+                                                                                                        \
+        const float fey1 = fabsf(e1.y);                                 \
+        const float fez1 = fabsf(e1.z);                                 \
+        AXISTEST_X01(e1.z, e1.y, fez1, fey1);                   \
+        const float fex1 = fabsf(e1.x);                                 \
+        AXISTEST_Y02(e1.z, e1.x, fez1, fex1);                   \
+        AXISTEST_Z0(e1.y, e1.x, fey1, fex1);                    \
+                                                                                                        \
+        const Point e2 = mLeafVerts[0] - mLeafVerts[2]; \
+        const float fey2 = fabsf(e2.y);                                 \
+        const float fez2 = fabsf(e2.z);                                 \
+        AXISTEST_X2(e2.z, e2.y, fez2, fey2);                    \
+        const float fex2 = fabsf(e2.x);                                 \
+        AXISTEST_Y1(e2.z, e2.x, fez2, fex2);                    \
+        AXISTEST_Z12(e2.y, e2.x, fey2, fex2);
+
+///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+/**
+ *      Triangle-Box overlap test using the separating axis theorem.
+ *      This is the code from Tomas Möller, a bit optimized:
+ *      - with some more lazy evaluation (faster path on PC)
+ *      - with a tiny bit of assembly
+ *      - with "SAT-lite" applied if needed
+ *      - and perhaps with some more minor modifs...
+ *
+ *      \param          center          [in] box center
+ *      \param          extents         [in] box extents
+ *      \return         true if triangle & box overlap
+ */
+///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+inline_ BOOL AABBTreeCollider::TriBoxOverlap(const Point& center, const Point& extents)
+{
+        // Stats
+        mNbBVPrimTests++;
+
+        // use separating axis theorem to test overlap between triangle and box 
+        // need to test for overlap in these directions: 
+        // 1) the {x,y,z}-directions (actually, since we use the AABB of the triangle 
+        //    we do not even need to test these) 
+        // 2) normal of the triangle 
+        // 3) crossproduct(edge from tri, {x,y,z}-directin) 
+        //    this gives 3x3=9 more tests 
+
+        // move everything so that the boxcenter is in (0,0,0) 
+        Point v0, v1, v2;
+        v0.x = mLeafVerts[0].x - center.x;
+        v1.x = mLeafVerts[1].x - center.x;
+        v2.x = mLeafVerts[2].x - center.x;
+
+        // First, test overlap in the {x,y,z}-directions
+#ifdef OPC_USE_FCOMI
+        // find min, max of the triangle in x-direction, and test for overlap in X
+        if(FCMin3(v0.x, v1.x, v2.x)>extents.x)  return FALSE;
+        if(FCMax3(v0.x, v1.x, v2.x)<-extents.x) return FALSE;
+
+        // same for Y
+        v0.y = mLeafVerts[0].y - center.y;
+        v1.y = mLeafVerts[1].y - center.y;
+        v2.y = mLeafVerts[2].y - center.y;
+
+        if(FCMin3(v0.y, v1.y, v2.y)>extents.y)  return FALSE;
+        if(FCMax3(v0.y, v1.y, v2.y)<-extents.y) return FALSE;
+
+        // same for Z
+        v0.z = mLeafVerts[0].z - center.z;
+        v1.z = mLeafVerts[1].z - center.z;
+        v2.z = mLeafVerts[2].z - center.z;
+
+        if(FCMin3(v0.z, v1.z, v2.z)>extents.z)  return FALSE;
+        if(FCMax3(v0.z, v1.z, v2.z)<-extents.z) return FALSE;
+#else
+        float min,max;
+        // Find min, max of the triangle in x-direction, and test for overlap in X
+        FINDMINMAX(v0.x, v1.x, v2.x, min, max);
+        if(min>extents.x || max<-extents.x) return FALSE;
+
+        // Same for Y
+        v0.y = mLeafVerts[0].y - center.y;
+        v1.y = mLeafVerts[1].y - center.y;
+        v2.y = mLeafVerts[2].y - center.y;
+
+        FINDMINMAX(v0.y, v1.y, v2.y, min, max);
+        if(min>extents.y || max<-extents.y) return FALSE;
+
+        // Same for Z
+        v0.z = mLeafVerts[0].z - center.z;
+        v1.z = mLeafVerts[1].z - center.z;
+        v2.z = mLeafVerts[2].z - center.z;
+
+        FINDMINMAX(v0.z, v1.z, v2.z, min, max);
+        if(min>extents.z || max<-extents.z) return FALSE;
+#endif
+        // 2) Test if the box intersects the plane of the triangle
+        // compute plane equation of triangle: normal*x+d=0
+        // ### could be precomputed since we use the same leaf triangle several times
+        const Point e0 = v1 - v0;
+        const Point e1 = v2 - v1;
+        const Point normal = e0 ^ e1;
+        const float d = -normal|v0;
+        if(!planeBoxOverlap(normal, d, extents)) return FALSE;
+
+        // 3) "Class III" tests
+        if(mFullPrimBoxTest)
+        {
+                IMPLEMENT_CLASS3_TESTS
+        }
+        return TRUE;
+}
+
+//! A dedicated version where the box is constant
+inline_ BOOL OBBCollider::TriBoxOverlap()
+{
+        // Stats
+        mNbVolumePrimTests++;
+
+        // Hook
+        const Point& extents = mBoxExtents;
+        const Point& v0 = mLeafVerts[0];
+        const Point& v1 = mLeafVerts[1];
+        const Point& v2 = mLeafVerts[2];
+
+        // use separating axis theorem to test overlap between triangle and box 
+        // need to test for overlap in these directions: 
+        // 1) the {x,y,z}-directions (actually, since we use the AABB of the triangle 
+        //    we do not even need to test these) 
+        // 2) normal of the triangle 
+        // 3) crossproduct(edge from tri, {x,y,z}-directin) 
+        //    this gives 3x3=9 more tests 
+
+        // Box center is already in (0,0,0)
+
+        // First, test overlap in the {x,y,z}-directions
+#ifdef OPC_USE_FCOMI
+        // find min, max of the triangle in x-direction, and test for overlap in X
+        if(FCMin3(v0.x, v1.x, v2.x)>mBoxExtents.x)      return FALSE;
+        if(FCMax3(v0.x, v1.x, v2.x)<-mBoxExtents.x)     return FALSE;
+
+        if(FCMin3(v0.y, v1.y, v2.y)>mBoxExtents.y)      return FALSE;
+        if(FCMax3(v0.y, v1.y, v2.y)<-mBoxExtents.y)     return FALSE;
+
+        if(FCMin3(v0.z, v1.z, v2.z)>mBoxExtents.z)      return FALSE;
+        if(FCMax3(v0.z, v1.z, v2.z)<-mBoxExtents.z)     return FALSE;
+#else
+        float min,max;
+        // Find min, max of the triangle in x-direction, and test for overlap in X
+        FINDMINMAX(v0.x, v1.x, v2.x, min, max);
+        if(min>mBoxExtents.x || max<-mBoxExtents.x) return FALSE;
+
+        FINDMINMAX(v0.y, v1.y, v2.y, min, max);
+        if(min>mBoxExtents.y || max<-mBoxExtents.y) return FALSE;
+
+        FINDMINMAX(v0.z, v1.z, v2.z, min, max);
+        if(min>mBoxExtents.z || max<-mBoxExtents.z) return FALSE;
+#endif
+        // 2) Test if the box intersects the plane of the triangle
+        // compute plane equation of triangle: normal*x+d=0
+        // ### could be precomputed since we use the same leaf triangle several times
+        const Point e0 = v1 - v0;
+        const Point e1 = v2 - v1;
+        const Point normal = e0 ^ e1;
+        const float d = -normal|v0;
+        if(!planeBoxOverlap(normal, d, mBoxExtents)) return FALSE;
+
+        // 3) "Class III" tests - here we always do full tests since the box is a primitive (not a BV)
+        {
+                IMPLEMENT_CLASS3_TESTS
+        }
+        return TRUE;
+}
+
+//! ...and another one, jeez
+inline_ BOOL AABBCollider::TriBoxOverlap()
+{
+        // Stats
+        mNbVolumePrimTests++;
+
+        // Hook
+        const Point& center             = mBox.mCenter;
+        const Point& extents    = mBox.mExtents;
+
+        // use separating axis theorem to test overlap between triangle and box 
+        // need to test for overlap in these directions: 
+        // 1) the {x,y,z}-directions (actually, since we use the AABB of the triangle 
+        //    we do not even need to test these) 
+        // 2) normal of the triangle 
+        // 3) crossproduct(edge from tri, {x,y,z}-directin) 
+        //    this gives 3x3=9 more tests 
+
+        // move everything so that the boxcenter is in (0,0,0) 
+        Point v0, v1, v2;
+        v0.x = mLeafVerts[0].x - center.x;
+        v1.x = mLeafVerts[1].x - center.x;
+        v2.x = mLeafVerts[2].x - center.x;
+
+        // First, test overlap in the {x,y,z}-directions
+#ifdef OPC_USE_FCOMI
+        // find min, max of the triangle in x-direction, and test for overlap in X
+        if(FCMin3(v0.x, v1.x, v2.x)>extents.x)  return FALSE;
+        if(FCMax3(v0.x, v1.x, v2.x)<-extents.x) return FALSE;
+
+        // same for Y
+        v0.y = mLeafVerts[0].y - center.y;
+        v1.y = mLeafVerts[1].y - center.y;
+        v2.y = mLeafVerts[2].y - center.y;
+
+        if(FCMin3(v0.y, v1.y, v2.y)>extents.y)  return FALSE;
+        if(FCMax3(v0.y, v1.y, v2.y)<-extents.y) return FALSE;
+
+        // same for Z
+        v0.z = mLeafVerts[0].z - center.z;
+        v1.z = mLeafVerts[1].z - center.z;
+        v2.z = mLeafVerts[2].z - center.z;
+
+        if(FCMin3(v0.z, v1.z, v2.z)>extents.z)  return FALSE;
+        if(FCMax3(v0.z, v1.z, v2.z)<-extents.z) return FALSE;
+#else
+        float min,max;
+        // Find min, max of the triangle in x-direction, and test for overlap in X
+        FINDMINMAX(v0.x, v1.x, v2.x, min, max);
+        if(min>extents.x || max<-extents.x) return FALSE;
+
+        // Same for Y
+        v0.y = mLeafVerts[0].y - center.y;
+        v1.y = mLeafVerts[1].y - center.y;
+        v2.y = mLeafVerts[2].y - center.y;
+
+        FINDMINMAX(v0.y, v1.y, v2.y, min, max);
+        if(min>extents.y || max<-extents.y) return FALSE;
+
+        // Same for Z
+        v0.z = mLeafVerts[0].z - center.z;
+        v1.z = mLeafVerts[1].z - center.z;
+        v2.z = mLeafVerts[2].z - center.z;
+
+        FINDMINMAX(v0.z, v1.z, v2.z, min, max);
+        if(min>extents.z || max<-extents.z) return FALSE;
+#endif
+        // 2) Test if the box intersects the plane of the triangle
+        // compute plane equation of triangle: normal*x+d=0
+        // ### could be precomputed since we use the same leaf triangle several times
+        const Point e0 = v1 - v0;
+        const Point e1 = v2 - v1;
+        const Point normal = e0 ^ e1;
+        const float d = -normal|v0;
+        if(!planeBoxOverlap(normal, d, extents)) return FALSE;
+
+        // 3) "Class III" tests - here we always do full tests since the box is a primitive (not a BV)
+        {
+                IMPLEMENT_CLASS3_TESTS
+        }
+        return TRUE;
+}