resubmitting ode

1 files changed, 97 insertions, 0 deletions

diff --git a/libraries/ode-0.9/OPCODE/OPC_AABBCollider.h b/libraries/ode-0.9/OPCODE/OPC_AABBCollider.h
new file mode 100644
index 0000000..315d2d3
--- /dev/null
+++ b/libraries/ode-0.9/OPCODE/OPC_AABBCollider.h
@@ -0,0 +1,97 @@
+///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+/*
+ *      OPCODE - Optimized Collision Detection
+ *      Copyright (C) 2001 Pierre Terdiman
+ *      Homepage: http://www.codercorner.com/Opcode.htm
+ */
+///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+
+///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+/**
+ *      Contains code for an AABB collider.
+ *      \file           OPC_AABBCollider.h
+ *      \author         Pierre Terdiman
+ *      \date           January, 1st, 2002
+ */
+///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+
+///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+// Include Guard
+#ifndef __OPC_AABBCOLLIDER_H__
+#define __OPC_AABBCOLLIDER_H__
+
+        struct OPCODE_API AABBCache : VolumeCache
+        {
+                                                AABBCache() : FatCoeff(1.1f)
+                                                {
+                                                        FatBox.mCenter.Zero();
+                                                        FatBox.mExtents.Zero();
+                                                }
+
+                // Cached faces signature
+                CollisionAABB   FatBox;         //!< Box used when performing the query resulting in cached faces
+                // User settings
+                float                   FatCoeff;       //!< mRadius2 multiplier used to create a fat sphere
+        };
+
+        class OPCODE_API AABBCollider : public VolumeCollider
+        {
+                public:
+                // Constructor / Destructor
+                                                                                        AABBCollider();
+                virtual                                                         ~AABBCollider();
+
+                ///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+                /**
+                 *      Generic collision query for generic OPCODE models. After the call, access the results:
+                 *      - with GetContactStatus()
+                 *      - with GetNbTouchedPrimitives()
+                 *      - with GetTouchedPrimitives()
+                 *
+                 *      \param          cache                   [in/out] a box cache
+                 *      \param          box                             [in] collision AABB in world space
+                 *      \param          model                   [in] Opcode model to collide with
+                 *      \return         true if success
+                 *      \warning        SCALE NOT SUPPORTED. The matrices must contain rotation & translation parts only.
+                 */
+                ///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+                                                        bool                    Collide(AABBCache& cache, const CollisionAABB& box, const Model& model);
+                //
+                                                        bool                    Collide(AABBCache& cache, const CollisionAABB& box, const AABBTree* tree);
+                protected:
+                                                        CollisionAABB   mBox;                   //!< Query box in (center, extents) form
+                                                        Point                   mMin;                   //!< Query box min point
+                                                        Point                   mMax;                   //!< Query box max point
+                // Leaf description
+                                                        Point                   mLeafVerts[3];  //!< Triangle vertices
+                // Internal methods
+                                                        void                    _Collide(const AABBCollisionNode* node);
+                                                        void                    _Collide(const AABBNoLeafNode* node);
+                                                        void                    _Collide(const AABBQuantizedNode* node);
+                                                        void                    _Collide(const AABBQuantizedNoLeafNode* node);
+                                                        void                    _Collide(const AABBTreeNode* node);
+                                                        void                    _CollideNoPrimitiveTest(const AABBCollisionNode* node);
+                                                        void                    _CollideNoPrimitiveTest(const AABBNoLeafNode* node);
+                                                        void                    _CollideNoPrimitiveTest(const AABBQuantizedNode* node);
+                                                        void                    _CollideNoPrimitiveTest(const AABBQuantizedNoLeafNode* node);
+                        // Overlap tests
+                inline_                         BOOL                    AABBContainsBox(const Point& bc, const Point& be);
+                inline_                         BOOL                    AABBAABBOverlap(const Point& b, const Point& Pb);
+                inline_                         BOOL                    TriBoxOverlap();
+                        // Init methods
+                                                        BOOL                    InitQuery(AABBCache& cache, const CollisionAABB& box);
+        };
+
+        class OPCODE_API HybridAABBCollider : public AABBCollider
+        {
+                public:
+                // Constructor / Destructor
+                                                                                        HybridAABBCollider();
+                virtual                                                         ~HybridAABBCollider();
+
+                                                        bool                    Collide(AABBCache& cache, const CollisionAABB& box, const HybridModel& model);
+                protected:
+                                                        Container               mTouchedBoxes;
+        };
+
+#endif // __OPC_AABBCOLLIDER_H__