resubmitting ode

1 files changed, 171 insertions, 0 deletions

diff --git a/libraries/ode-0.9/OPCODE/ReadMe.txt b/libraries/ode-0.9/OPCODE/ReadMe.txt
new file mode 100644
index 0000000..8a39eff
--- /dev/null
+++ b/libraries/ode-0.9/OPCODE/ReadMe.txt
@@ -0,0 +1,171 @@
+
+ OPCODE distribution 1.3 (june 2003)
+ -----------------------
+
+    New in Opcode 1.3:
+    - fixed the divide by 0 bug that was happening when all centers where located on a coordinate axis (thanks to Jorrit T)
+    - linearized "complete" vanilla AABB trees
+    - ANSI-compliant "for" loops (for the ones porting it to Linux...)
+    - callbacks & pointers moved to mesh interface
+    - support for triangle & vertex strides
+    - optimized the sphere-triangle overlap code a bit
+    - dynamic trees (refit)
+    - more builders
+    - ValidateSubdivision in builders
+    - LSS collider
+    - primitive-bv tests can now be skipped in most volume queries
+    - temporal coherence now also works for airborne objects
+    - temporal coherence completed for boxes / all contacts, LSS, etc
+    - ray-collider now uses a callback
+    - some common "usages" have been introduced (only picking for now)
+    - SPLIT_COMPLETE removed (now implicitely using mLimit = 1)
+    - hybrid collision models
+    - sweep-and-prune code added, moved from my old Z-Collide lib
+    - it now works with meshes made of only 1 triangle (except in mesh-mesh case!)
+
+    Disclaimer:
+
+    - I forced myself to actually *do* the release today no matter what. Else it would never have been done. That's
+      why the code may not be very polished. I also removed a *lot* of things (more usages, distance queries, etc...)
+      that weren't ready for prime-time (or that were linked to too many of my supporting libs)
+
+    - Some comments may also be obsolete here and there. The old User Manual for Opcode 1.2 may not fit version 1.3
+      either, since there's a new "mesh interface" to support strides, etc.
+
+    - Everything in the "Ice" directory has been hacked out of my engine and edited until everything compiled. Don't
+      expect anything out there to be cute or something. In particular, some CPP files are not even included when not
+      needed, so you can expect some linker errors if you try messing around with them...
+
+    Otherwise, it should be just like previous version, only better. In particular, hybrid models can be very
+    memory-friendly (sometimes using like 10 times less ram than the best trees from version 1.2). The possible
+    speed hit is often invisible (if it even exists), especially using temporal coherence in "all contacts" mode.
+    (Admittedly, this depends on your particular usage pattern / what you do on collided triangles).
+
+    The sweep-and-prune code is similar to the "vanilla" version found in V-Collide (but that one's better IMHO...)
+    The simple "radix" version is often just as good, see for yourself.
+
+ OPCODE distribution 1.2 (august 2002)
+ -----------------------
+
+    New in Opcode 1.2:
+    - new VolumeCollider base class
+    - simplified callback setup
+    - you can now use callbacks or pointers (setup at compile time)
+    - destination array not needed anymore in the RayCollider (faster in-out tests)
+    - renamed classes: AABBRayCollider => RayCollider, AABBSphereCollider => SphereCollider
+    - the sphere query now only returns a list of faces (extra info discarded). On the other hand it's a lot faster.
+    - OBB, AABB and planes queries. Original OBB and AABB queries contributed by Erwin de Vries.
+    - cosmetic changes in OPC_BoxBoxOverlap.h contributed by Gottfried Chen
+    - some inlining problems fixed
+    - faster ray-mesh tests using the separating axis theorem
+    - new split value in AABB tree construction (contributed by Igor Kravtchenko). Provides faster queries most of the time.
+    - improved temporal coherence for sphere & AABB queries (works in "All contacts" mode)
+
+    Notes:
+
+    - Everything in the "Ice code" directory (in VC++) is basically copy-pasted from my engine, with a lot
+      of code removed until there was no link error anymore. Don't expect those files to be cute or anything,
+      they've never been meant to be released and they're often updated/modified/messy.
+    - Some experimental features have been removed as well. Else I would never have released the 1.2...
+    - Not as polished/optimal as I would like it to be, but that's life. I promised myself to release it
+      before october 2002 (one YEAR later ?!).... That's the only reason why it's there.
+    - Some people reported ColDet was faster. Uh, come on. They were using Opcode in
+      "All contacts" mode whereas ColDet was doing "first contact"...
+
+ OPCODE distribution 1.1 (october 2001)
+ -----------------------
+
+    New in Opcode 1.1:
+    - stabbing queries
+    - sphere queries
+    - abtract base class for colliders
+    - settings validation methods
+    - compilation flags now grouped in OPC_Settings.h
+    - smaller files, new VC++ virtual dirs (cleaner)
+
+    Notes:
+
+    - "override(baseclass)" is a personal cosmetic thing. It's the same as "virtual", but provides more info.
+    - I code in 1600*1200, so some lines may look a bit long..
+    - This version is not as polished as the previous one due to lack of time. The stabbing & sphere queries
+      can still be optimized: for example by trying other atomic overlap tests. I'm using my first ray-AABB
+      code, but the newer one seems better. Tim Schröder's one is good as well. See: www.codercorner.com/RayAABB.cpp
+    - The trees can easily be compressed even more, I save this for later (lack of time, lack of time!)
+    - I removed various tests before releasing this one:
+        - a separation line, a.k.a. "front" in QuickCD, because gains were unclear
+        - distance queries in a PQP style, because it was way too slow
+        - support for deformable models, too slow as well
+    - You can easily use Opcode to do your player-vs-world collision detection, in a Nettle/Telemachos way.
+      If someone out there wants to donate some art / level for the cause, I'd be glad to release a demo. (current
+      demo uses copyrighted art I'm not allowed to spread)
+    - Sorry for the lack of real docs and/or solid examples. I just don't have enough time.
+
+ OPCODE distribution 1.0 (march 2001)
+ -----------------------
+
+    - First release
+
+ ===============================================================================
+
+ WHAT ?
+
+    OPCODE means OPtimized COllision DEtection.
+    So this is a collision detection package similar to RAPID. Here's a
+    quick list of features:
+
+    - C++ interface, developed for Windows systems using VC++ 6.0
+    - Works on arbitrary meshes (convex or non-convex), even polygon soups
+    - Current implementation uses AABB-trees
+    - Introduces Primitive-BV overlap tests during recursive collision queries (whereas
+      standard libraries only rely on Primitive-Primitive and BV-BV tests)
+    - Introduces no-leaf trees, i.e. collision trees whose leaf nodes have been removed
+    - Supports collision queries on quantized trees (decompressed on-the-fly)
+    - Supports "first contact" or "all contacts" modes (ā la RAPID)
+    - Uses temporal coherence for "first contact" mode (~10 to 20 times faster, useful
+      in rigid body simulation during bisection)
+    - Memory footprint is 7.2 times smaller than RAPID's one, which is ideal for console
+      games with limited ram (actually, if you use the unmodified RAPID code using double
+      precision, it's more like 13 times smaller...)
+    - And yet it often runs faster than RAPID (according to RDTSC, sometimes more than 5
+      times faster when objects are deeply overlapping)
+    - Performance is usually close to RAPID's one in close-proximity situations
+    - Stabbing, planes & volume queries (sphere, AABB, OBB, LSS)
+    - Sweep-and-prune
+    - Now works with deformable meshes
+    - Hybrid trees
+
+
+    What it can be used for:
+    - standard mesh-mesh collision detection (similar to RAPID, SOLID, QuickCD, PQP, ColDet...)
+    - N-body collisions (similar to V-Collide)
+    - camera-vs-world collisions (similar to Telemachos/Paul Nettle/Stan Melax articles)
+    - shadow feelers to speed up lightmap computations
+    - in-out tests to speed up voxelization processes
+    - picking
+    - rigid body simulation
+    - view frustum culling
+    - etc
+
+ WHY ?
+
+    - Because RAPID uses too many bytes.
+    - Because the idea was nice...
+
+ WHEN ?
+
+    It's been coded in march 2001 following a thread on the GD-Algorithms list.
+
+      GDAlgorithms-list mailing list
+      GDAlgorithms-list@lists.sourceforge.net
+      http://lists.sourceforge.net/lists/listinfo/gdalgorithms-list
+
+ WHO ?
+
+    Pierre Terdiman
+    June, 1, 2003
+
+    p.terdiman@wanadoo.fr
+    p.terdiman@codercorner.com
+ 
+    http://www.codercorner.com
+    http://www.codercorner.com/Opcode.htm