resubmitting ode

1 files changed, 103 insertions, 0 deletions

diff --git a/libraries/ode-0.9/include/ode/contact.h b/libraries/ode-0.9/include/ode/contact.h
new file mode 100644
index 0000000..fc634e7
--- /dev/null
+++ b/libraries/ode-0.9/include/ode/contact.h
@@ -0,0 +1,103 @@
+/*************************************************************************
+ *                                                                       *
+ * Open Dynamics Engine, Copyright (C) 2001,2002 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_CONTACT_H_
+#define _ODE_CONTACT_H_
+
+#include <ode/common.h>
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+
+enum {
+  dContactMu2           = 0x001,
+  dContactFDir1         = 0x002,
+  dContactBounce        = 0x004,
+  dContactSoftERP       = 0x008,
+  dContactSoftCFM       = 0x010,
+  dContactMotion1       = 0x020,
+  dContactMotion2       = 0x040,
+  dContactSlip1         = 0x080,
+  dContactSlip2         = 0x100,
+
+  dContactApprox0       = 0x0000,
+  dContactApprox1_1     = 0x1000,
+  dContactApprox1_2     = 0x2000,
+  dContactApprox1       = 0x3000
+};
+
+
+typedef struct dSurfaceParameters {
+  /* must always be defined */
+  int mode;
+  dReal mu;
+
+  /* only defined if the corresponding flag is set in mode */
+  dReal mu2;
+  dReal bounce;
+  dReal bounce_vel;
+  dReal soft_erp;
+  dReal soft_cfm;
+  dReal motion1,motion2;
+  dReal slip1,slip2;
+} dSurfaceParameters;
+
+
+/**
+ * @brief Describe the contact point between two geoms.
+ *
+ * If two bodies touch, or if a body touches a static feature in its 
+ * environment, the contact is represented by one or more "contact 
+ * points", described by dContactGeom.
+ *
+ * The convention is that if body 1 is moved along the normal vector by 
+ * a distance depth (or equivalently if body 2 is moved the same distance 
+ * in the opposite direction) then the contact depth will be reduced to 
+ * zero. This means that the normal vector points "in" to body 1.
+ *
+ * @ingroup collide
+ */
+typedef struct dContactGeom {
+  dVector3 pos;          ///< contact position
+  dVector3 normal;       ///< normal vector
+  dReal depth;           ///< penetration depth
+  dGeomID g1,g2;         ///< the colliding geoms
+  int side1,side2;       ///< (to be documented)
+} dContactGeom;
+
+
+/* contact info used by contact joint */
+
+typedef struct dContact {
+  dSurfaceParameters surface;
+  dContactGeom geom;
+  dVector3 fdir1;
+} dContact;
+
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif