one more for the gipper

1 files changed, 264 insertions, 0 deletions

diff --git a/libraries/ode-0.9/ode/src/collision_cylinder_sphere.cpp b/libraries/ode-0.9/ode/src/collision_cylinder_sphere.cpp
new file mode 100644
index 0000000..964c531
--- /dev/null
+++ b/libraries/ode-0.9/ode/src/collision_cylinder_sphere.cpp
@@ -0,0 +1,264 @@
+/*************************************************************************
+*                                                                       *
+* 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.                     *
+*                                                                       *
+*************************************************************************/
+
+
+/*******************************************************************
+ *                                                                 *
+ * cylinder-sphere collider by Christoph Beyer (boernerb@web.de)   *
+ *                                                                 *
+ * In Cylinder/Sphere-collisions, there are three possibilies:     *
+ * 1. collision with the cylinder's nappe                          *
+ * 2. collision with one of the cylinder's disc                    *
+ * 3. collision with one of the disc's border                      *
+ *                                                                 *
+ * This collider computes two distances (s, t) and based on them,  *
+ * it decides, which collision we have.                            *
+ * This collider always generates 1 (or 0, if we have no collison) *
+ * contacts.                                                       *
+ * It is able to "separate" cylinder and sphere in all             *
+ * configurations, but it never pays attention to velocity.        *
+ * So, in extrem situations, "tunneling-effect" is possible.       *
+ *                                                                 *
+ *******************************************************************/
+
+#include <ode/collision.h>
+#include <ode/matrix.h>
+#include <ode/rotation.h>
+#include <ode/odemath.h>
+#include <ode/objects.h>
+#include "collision_kernel.h"   // for dxGeom
+#include "collision_util.h"
+
+int dCollideCylinderSphere(dxGeom* Cylinder, dxGeom* Sphere, 
+                           int flags, dContactGeom *contact, int skip)
+{
+        dIASSERT (skip >= (int)sizeof(dContactGeom));
+        dIASSERT (Cylinder->type == dCylinderClass);
+        dIASSERT (Sphere->type == dSphereClass);
+        dIASSERT ((flags & NUMC_MASK) >= 1);
+
+        unsigned char* pContactData = (unsigned char*)contact;
+        int GeomCount = 0; // count of used contacts
+
+#ifdef dSINGLE
+        const dReal toleranz = REAL(0.0001);
+#endif
+#ifdef dDOUBLE
+        const dReal toleranz = REAL(0.0000001);
+#endif
+
+        // get the data from the geoms
+        dReal radius, length;
+        dGeomCylinderGetParams(Cylinder, &radius, &length);
+    dVector3 &cylpos = Cylinder->final_posr->pos;
+        const dReal* pfRot1 = dGeomGetRotation(Cylinder);
+
+        dReal radius2;
+        radius2 = dGeomSphereGetRadius(Sphere);
+        const dReal* SpherePos = dGeomGetPosition(Sphere);
+
+        // G1Pos1 is the middle of the first disc
+        // G1Pos2 is the middle of the second disc
+        // vDir1 is the unit direction of the cylinderaxis
+        dVector3 G1Pos1, G1Pos2, vDir1;
+        vDir1[0] = Cylinder->final_posr->R[2];
+        vDir1[1] = Cylinder->final_posr->R[6];
+        vDir1[2] = Cylinder->final_posr->R[10];
+
+        dReal s;
+        s = length * REAL(0.5); // just a precomputed factor
+        G1Pos2[0] = vDir1[0] * s + cylpos[0];
+        G1Pos2[1] = vDir1[1] * s + cylpos[1];
+        G1Pos2[2] = vDir1[2] * s + cylpos[2];
+
+        G1Pos1[0] = vDir1[0] * -s + cylpos[0];
+        G1Pos1[1] = vDir1[1] * -s + cylpos[1];
+        G1Pos1[2] = vDir1[2] * -s + cylpos[2];
+
+        dVector3 C;
+        dReal t;
+        // Step 1: compute the two distances 's' and 't'
+        // 's' is the distance from the first disc (in vDir1-/Zylinderaxis-direction), the disc with G1Pos1 in the middle
+        s = (SpherePos[0] - G1Pos1[0]) * vDir1[0] - (G1Pos1[1] - SpherePos[1]) * vDir1[1] - (G1Pos1[2] - SpherePos[2]) * vDir1[2];
+        if(s < (-radius2) || s > (length + radius2) )
+        {
+                // Sphere is too far away from the discs
+                // no collision
+                return 0;
+        }
+
+        // C is the direction from Sphere-middle to the cylinder-axis (vDir1); C is orthogonal to the cylinder-axis
+        C[0] = s * vDir1[0] + G1Pos1[0] - SpherePos[0];
+        C[1] = s * vDir1[1] + G1Pos1[1] - SpherePos[1];
+        C[2] = s * vDir1[2] + G1Pos1[2] - SpherePos[2];
+        // t is the distance from the Sphere-middle to the cylinder-axis!
+        t = dVector3Length(C);
+        if(t > (radius + radius2) )
+        {
+                // Sphere is too far away from the cylinder axis!
+                // no collision
+                return 0;
+        }
+
+        // decide which kind of collision we have:
+        if(t > radius && (s < 0 || s > length) )
+        {
+                // 3. collision
+                if(s <= 0)
+                {
+                        contact->depth = radius2 - dSqrt( (s) * (s) + (t - radius) * (t - radius) );
+                        if(contact->depth < 0)
+                        {
+                                // no collision!
+                                return 0;
+                        }
+                        contact->pos[0] = C[0] / t * -radius + G1Pos1[0];
+                        contact->pos[1] = C[1] / t * -radius + G1Pos1[1];
+                        contact->pos[2] = C[2] / t * -radius + G1Pos1[2];
+                        contact->normal[0] = (contact->pos[0] - SpherePos[0]) / (radius2 - contact->depth);
+                        contact->normal[1] = (contact->pos[1] - SpherePos[1]) / (radius2 - contact->depth);
+                        contact->normal[2] = (contact->pos[2] - SpherePos[2]) / (radius2 - contact->depth);
+                        contact->g1 = Cylinder;
+                        contact->g2 = Sphere;
+                        GeomCount++;
+                        return GeomCount;
+                }
+                else
+                {
+                        // now s is bigger than length here!
+                        contact->depth = radius2 - dSqrt( (s - length) * (s - length) + (t - radius) * (t - radius) );
+                        if(contact->depth < 0)
+                        {
+                                // no collision!
+                                return 0;
+                        }
+                        contact->pos[0] = C[0] / t * -radius + G1Pos2[0];
+                        contact->pos[1] = C[1] / t * -radius + G1Pos2[1];
+                        contact->pos[2] = C[2] / t * -radius + G1Pos2[2];
+                        contact->normal[0] = (contact->pos[0] - SpherePos[0]) / (radius2 - contact->depth);
+                        contact->normal[1] = (contact->pos[1] - SpherePos[1]) / (radius2 - contact->depth);
+                        contact->normal[2] = (contact->pos[2] - SpherePos[2]) / (radius2 - contact->depth);
+                        contact->g1 = Cylinder;
+                        contact->g2 = Sphere;
+                        GeomCount++;
+                        return GeomCount;
+                }
+        }
+        else if( (radius - t) <= s && (radius - t) <= (length - s) )
+        {
+                // 1. collsision
+                if(t > (radius2 + toleranz))
+                {
+                        // cylinder-axis is outside the sphere
+                        contact->depth = (radius2 + radius) - t;
+                        if(contact->depth < 0)
+                        {
+                                // should never happen, but just for safeness
+                                return 0;
+                        }
+                        else
+                        {
+                                C[0] /= t;
+                                C[1] /= t;
+                                C[2] /= t;
+                                contact->pos[0] = C[0] * radius2 + SpherePos[0];
+                                contact->pos[1] = C[1] * radius2 + SpherePos[1];
+                                contact->pos[2] = C[2] * radius2 + SpherePos[2];
+                                contact->normal[0] = C[0];
+                                contact->normal[1] = C[1];
+                                contact->normal[2] = C[2];
+                                contact->g1 = Cylinder;
+                                contact->g2 = Sphere;
+                                GeomCount++;
+                                return GeomCount;
+                        }
+                }
+                else
+                {
+                        // cylinder-axis is outside of the sphere
+                        contact->depth = (radius2 + radius) - t;
+                        if(contact->depth < 0)
+                        {
+                                // should never happen, but just for safeness
+                                return 0;
+                        }
+                        else
+                        {
+                                contact->pos[0] = C[0] + SpherePos[0];
+                                contact->pos[1] = C[1] + SpherePos[1];
+                                contact->pos[2] = C[2] + SpherePos[2];
+                                contact->normal[0] = C[0] / t;
+                                contact->normal[1] = C[1] / t;
+                                contact->normal[2] = C[2] / t;
+                                contact->g1 = Cylinder;
+                                contact->g2 = Sphere;
+                                GeomCount++;
+                                return GeomCount;
+                        }
+                }
+        }
+        else
+        {
+                // 2. collision
+                if(s <= (length * REAL(0.5)) )
+                {
+                        // collsision with the first disc
+                        contact->depth = s + radius2;
+                        if(contact->depth < 0)
+                        {
+                                // should never happen, but just for safeness
+                                return 0;
+                        }
+                        contact->pos[0] = radius2 * vDir1[0] + SpherePos[0];
+                        contact->pos[1] = radius2 * vDir1[1] + SpherePos[1];
+                        contact->pos[2] = radius2 * vDir1[2] + SpherePos[2];
+                        contact->normal[0] = vDir1[0];
+                        contact->normal[1] = vDir1[1];
+                        contact->normal[2] = vDir1[2];
+                        contact->g1 = Cylinder;
+                        contact->g2 = Sphere;
+                        GeomCount++;
+                        return GeomCount;
+                }
+                else
+                {
+                        // collsision with the second disc
+                        contact->depth = (radius2 + length - s);
+                        if(contact->depth < 0)
+                        {
+                                // should never happen, but just for safeness
+                                return 0;
+                        }
+                        contact->pos[0] = radius2 * -vDir1[0] + SpherePos[0];
+                        contact->pos[1] = radius2 * -vDir1[1] + SpherePos[1];
+                        contact->pos[2] = radius2 * -vDir1[2] + SpherePos[2];
+                        contact->normal[0] = -vDir1[0];
+                        contact->normal[1] = -vDir1[1];
+                        contact->normal[2] = -vDir1[2];
+                        contact->g1 = Cylinder;
+                        contact->g2 = Sphere;
+                        GeomCount++;
+                        return GeomCount;
+                }
+        }
+        return GeomCount;
+}