one more for the gipper

1 files changed, 584 insertions, 0 deletions

diff --git a/libraries/ode-0.9/ode/src/collision_quadtreespace.cpp b/libraries/ode-0.9/ode/src/collision_quadtreespace.cpp
new file mode 100644
index 0000000..86a1833
--- /dev/null
+++ b/libraries/ode-0.9/ode/src/collision_quadtreespace.cpp
@@ -0,0 +1,584 @@
+/*************************************************************************
+ *                                                                       *
+ * 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.                     *
+ *                                                                       *
+ *************************************************************************/
+
+// QuadTreeSpace by Erwin de Vries.
+
+#include <ode/common.h>
+#include <ode/matrix.h>
+#include <ode/collision_space.h>
+#include <ode/collision.h>
+#include "collision_kernel.h"
+
+#include "collision_space_internal.h"
+
+
+#define AXIS0 0
+#define AXIS1 1
+#define UP 2
+
+//#define DRAWBLOCKS
+
+const int SPLITAXIS = 2;
+const int SPLITS = SPLITAXIS * SPLITAXIS;
+
+#define GEOM_ENABLED(g) (g)->gflags & GEOM_ENABLED
+
+class Block{
+public:
+        dReal MinX, MaxX;
+        dReal MinZ, MaxZ;
+
+        dGeomID First;
+        int GeomCount;
+
+        Block* Parent;
+        Block* Children;
+
+        void Create(const dVector3 Center, const dVector3 Extents, Block* Parent, int Depth, Block*& Blocks);
+
+        void Collide(void* UserData, dNearCallback* Callback);
+        void Collide(dGeomID Object, dGeomID g, void* UserData, dNearCallback* Callback);
+
+        void CollideLocal(dGeomID Object, void* UserData, dNearCallback* Callback);
+        
+        void AddObject(dGeomID Object);
+        void DelObject(dGeomID Object);
+        void Traverse(dGeomID Object);
+
+        bool Inside(const dReal* AABB);
+        
+        Block* GetBlock(const dReal* AABB);
+        Block* GetBlockChild(const dReal* AABB);
+};
+
+
+#ifdef DRAWBLOCKS
+#include "..\..\Include\drawstuff\\drawstuff.h"
+
+static void DrawBlock(Block* Block){
+        dVector3 v[8];
+        v[0][AXIS0] = Block->MinX;
+        v[0][UP] = REAL(-1.0);
+        v[0][AXIS1] = Block->MinZ;
+        
+        v[1][AXIS0] = Block->MinX;
+        v[1][UP] = REAL(-1.0);
+        v[1][AXIS1] = Block->MaxZ;
+        
+        v[2][AXIS0] = Block->MaxX;
+        v[2][UP] = REAL(-1.0);
+        v[2][AXIS1] = Block->MinZ;
+        
+        v[3][AXIS0] = Block->MaxX;
+        v[3][UP] = REAL(-1.0);
+        v[3][AXIS1] = Block->MaxZ;
+        
+        v[4][AXIS0] = Block->MinX;
+        v[4][UP] = REAL(1.0);
+        v[4][AXIS1] = Block->MinZ;
+        
+        v[5][AXIS0] = Block->MinX;
+        v[5][UP] = REAL(1.0);
+        v[5][AXIS1] = Block->MaxZ;
+        
+        v[6][AXIS0] = Block->MaxX;
+        v[6][UP] = REAL(1.0);
+        v[6][AXIS1] = Block->MinZ;
+        
+        v[7][AXIS0] = Block->MaxX;
+        v[7][UP] = REAL(1.0);
+        v[7][AXIS1] = Block->MaxZ;
+        
+        // Bottom
+        dsDrawLine(v[0], v[1]);
+        dsDrawLine(v[1], v[3]);
+        dsDrawLine(v[3], v[2]);
+        dsDrawLine(v[2], v[0]);
+        
+        // Top
+        dsDrawLine(v[4], v[5]);
+        dsDrawLine(v[5], v[7]);
+        dsDrawLine(v[7], v[6]);
+        dsDrawLine(v[6], v[4]);
+        
+        // Sides
+        dsDrawLine(v[0], v[4]);
+        dsDrawLine(v[1], v[5]);
+        dsDrawLine(v[2], v[6]);
+        dsDrawLine(v[3], v[7]);
+}
+#endif  //DRAWBLOCKS
+
+
+void Block::Create(const dVector3 Center, const dVector3 Extents, Block* Parent, int Depth, Block*& Blocks){
+        GeomCount = 0;
+        First = 0;
+
+        MinX = Center[AXIS0] - Extents[AXIS0];
+        MaxX = Center[AXIS0] + Extents[AXIS0];
+
+        MinZ = Center[AXIS1] - Extents[AXIS1];
+        MaxZ = Center[AXIS1] + Extents[AXIS1];
+
+        this->Parent = Parent;
+        if (Depth > 0){
+                Children = Blocks;
+                Blocks += SPLITS;
+
+                dVector3 ChildExtents;
+                ChildExtents[AXIS0] = Extents[AXIS0] / SPLITAXIS;
+                ChildExtents[AXIS1] = Extents[AXIS1] / SPLITAXIS;
+                ChildExtents[UP] = Extents[UP];
+
+                for (int i = 0; i < SPLITAXIS; i++){
+                        for (int j = 0; j < SPLITAXIS; j++){
+                                int Index = i * SPLITAXIS + j;
+
+                                dVector3 ChildCenter;
+                                ChildCenter[AXIS0] = Center[AXIS0] - Extents[AXIS0] + ChildExtents[AXIS0] + i * (ChildExtents[AXIS0] * 2);
+                                ChildCenter[AXIS1] = Center[AXIS1] - Extents[AXIS1] + ChildExtents[AXIS1] + j * (ChildExtents[AXIS1] * 2);
+                                ChildCenter[UP] = Center[UP];
+                                
+                                Children[Index].Create(ChildCenter, ChildExtents, this, Depth - 1, Blocks);
+                        }
+                }
+        }
+        else Children = 0;
+}
+
+void Block::Collide(void* UserData, dNearCallback* Callback){
+#ifdef DRAWBLOCKS
+        DrawBlock(this);
+#endif
+        // Collide the local list
+        dxGeom* g = First;
+        while (g){
+                if (GEOM_ENABLED(g)){
+                        Collide(g, g->next, UserData, Callback);
+                }
+                g = g->next;
+        }
+
+        // Recurse for children
+        if (Children){
+                for (int i = 0; i < SPLITS; i++){
+                        if (Children[i].GeomCount <= 1){        // Early out
+                                continue;
+                        }
+                        Children[i].Collide(UserData, Callback);
+                }
+        }
+}
+
+void Block::Collide(dxGeom* g1, dxGeom* g2, void* UserData, dNearCallback* Callback){
+#ifdef DRAWBLOCKS
+        DrawBlock(this);
+#endif
+        // Collide against local list
+        while (g2){
+                if (GEOM_ENABLED(g2)){
+                        collideAABBs (g1, g2, UserData, Callback);
+                }
+                g2 = g2->next;
+        }
+
+        // Collide against children
+        if (Children){
+                for (int i = 0; i < SPLITS; i++){
+                        // Early out for empty blocks
+                        if (Children[i].GeomCount == 0){
+                                continue;
+                        }
+
+                        // Does the geom's AABB collide with the block?
+                        // Dont do AABB tests for single geom blocks.
+                        if (Children[i].GeomCount == 1 && Children[i].First){
+                                //
+                        }
+                        else if (true){
+                                if (g1->aabb[AXIS0 * 2 + 0] > Children[i].MaxX ||
+                                        g1->aabb[AXIS0 * 2 + 1] < Children[i].MinX ||
+                                        g1->aabb[AXIS1 * 2 + 0] > Children[i].MaxZ ||
+                                        g1->aabb[AXIS1 * 2 + 1] < Children[i].MinZ) continue;
+                        }
+                        Children[i].Collide(g1, Children[i].First, UserData, Callback);
+                }
+        }
+}
+
+void Block::CollideLocal(dxGeom* g1, void* UserData, dNearCallback* Callback){
+        // Collide against local list
+        dxGeom* g2 = First;
+        while (g2){
+                if (GEOM_ENABLED(g2)){
+                        collideAABBs (g1, g2, UserData, Callback);
+                }
+                g2 = g2->next;
+        }
+}
+
+void Block::AddObject(dGeomID Object){
+        // Add the geom
+        Object->next = First;
+        First = Object;
+        Object->tome = (dxGeom**)this;
+
+        // Now traverse upwards to tell that we have a geom
+        Block* Block = this;
+        do{
+                Block->GeomCount++;
+                Block = Block->Parent;
+        }
+        while (Block);
+}
+
+void Block::DelObject(dGeomID Object){
+        // Del the geom
+        dxGeom* g = First;
+        dxGeom* Last = 0;
+        while (g){
+                if (g == Object){
+                        if (Last){
+                                Last->next = g->next;
+                        }
+                        else First = g->next;
+
+                        break;
+                }
+                Last = g;
+                g = g->next;
+        }
+
+        Object->tome = 0;
+
+        // Now traverse upwards to tell that we have lost a geom
+        Block* Block = this;
+        do{
+                Block->GeomCount--;
+                Block = Block->Parent;
+        }
+        while (Block);
+}
+
+void Block::Traverse(dGeomID Object){
+        Block* NewBlock = GetBlock(Object->aabb);
+
+        if (NewBlock != this){
+                // Remove the geom from the old block and add it to the new block.
+                // This could be more optimal, but the loss should be very small.
+                DelObject(Object);
+                NewBlock->AddObject(Object);
+        }
+}
+
+bool Block::Inside(const dReal* AABB){
+        return AABB[AXIS0 * 2 + 0] >= MinX && AABB[AXIS0 * 2 + 1] <= MaxX && AABB[AXIS1 * 2 + 0] >= MinZ && AABB[AXIS1 * 2 + 1] <= MaxZ;
+}
+
+Block* Block::GetBlock(const dReal* AABB){
+        if (Inside(AABB)){
+                return GetBlockChild(AABB);     // Child or this will have a good block
+        }
+        else if (Parent){
+                return Parent->GetBlock(AABB);  // Parent has a good block
+        }
+        else return this;       // We are at the root, so we have little choice
+}
+
+Block* Block::GetBlockChild(const dReal* AABB){
+        if (Children){
+                for (int i = 0; i < SPLITS; i++){
+                        if (Children[i].Inside(AABB)){
+                                return Children[i].GetBlockChild(AABB); // Child will have good block
+                        }
+                }
+        }
+        return this;    // This is the best block
+}
+
+//****************************************************************************
+// quadtree space
+
+struct dxQuadTreeSpace : public dxSpace{
+        Block* Blocks;  // Blocks[0] is the root
+
+        dArray<dxGeom*> DirtyList;
+
+        dxQuadTreeSpace(dSpaceID _space, dVector3 Center, dVector3 Extents, int Depth);
+        ~dxQuadTreeSpace();
+
+        dxGeom* getGeom(int i);
+        
+        void add(dxGeom* g);
+        void remove(dxGeom* g);
+        void dirty(dxGeom* g);
+
+        void computeAABB();
+        
+        void cleanGeoms();
+        void collide(void* UserData, dNearCallback* Callback);
+        void collide2(void* UserData, dxGeom* g1, dNearCallback* Callback);
+
+        // Temp data
+        Block* CurrentBlock;    // Only used while enumerating
+        int* CurrentChild;      // Only used while enumerating
+        int CurrentLevel;       // Only used while enumerating
+        dxGeom* CurrentObject;  // Only used while enumerating
+        int CurrentIndex;
+};
+
+dxQuadTreeSpace::dxQuadTreeSpace(dSpaceID _space, dVector3 Center, dVector3 Extents, int Depth) : dxSpace(_space){
+        type = dQuadTreeSpaceClass;
+
+        int BlockCount = 0;
+        for (int i = 0; i <= Depth; i++){
+                BlockCount += (int)pow((dReal)SPLITS, i);
+        }
+
+        Blocks = (Block*)dAlloc(BlockCount * sizeof(Block));
+        Block* Blocks = this->Blocks + 1;       // This pointer gets modified!
+
+        this->Blocks[0].Create(Center, Extents, 0, Depth, Blocks);
+
+        CurrentBlock = 0;
+        CurrentChild = (int*)dAlloc((Depth + 1) * sizeof(int));
+        CurrentLevel = 0;
+        CurrentObject = 0;
+        CurrentIndex = -1;
+
+        // Init AABB. We initialize to infinity because it is not illegal for an object to be outside of the tree. Its simply inserted in the root block
+        aabb[0] = -dInfinity;
+        aabb[1] = dInfinity;
+        aabb[2] = -dInfinity;
+        aabb[3] = dInfinity;
+        aabb[4] = -dInfinity;
+        aabb[5] = dInfinity;
+}
+
+dxQuadTreeSpace::~dxQuadTreeSpace(){
+        int Depth = 0;
+        Block* Current = &Blocks[0];
+        while (Current){
+                Depth++;
+                Current = Current->Children;
+        }
+
+        int BlockCount = 0;
+        for (int i = 0; i < Depth; i++){
+                BlockCount += (int)pow((dReal)SPLITS, i);
+        }
+
+        dFree(Blocks, BlockCount * sizeof(Block));
+        dFree(CurrentChild, (Depth + 1) * sizeof(int));
+}
+
+dxGeom* dxQuadTreeSpace::getGeom(int Index){
+        dUASSERT(Index >= 0 && Index < count, "index out of range");
+
+        //@@@
+        dDebug (0,"dxQuadTreeSpace::getGeom() not yet implemented");
+
+        return 0;
+
+        // This doesnt work
+
+        /*if (CurrentIndex == Index){
+                // Loop through all objects in the local list
+CHILDRECURSE:
+                if (CurrentObject){
+                        dGeomID g = CurrentObject;
+                        CurrentObject = CurrentObject->next;
+                        CurrentIndex++;
+                
+#ifdef DRAWBLOCKS
+                        DrawBlock(CurrentBlock);
+#endif  //DRAWBLOCKS
+                        return g;
+                }
+                else{
+                        // Now lets loop through our children. Starting at index 0.
+                        if (CurrentBlock->Children){
+                                CurrentChild[CurrentLevel] = 0;
+PARENTRECURSE:
+                                for (int& i = CurrentChild[CurrentLevel]; i < SPLITS; i++){
+                                        if (CurrentBlock->Children[i].GeomCount == 0){
+                                                continue;
+                                        }
+                                        CurrentBlock = &CurrentBlock->Children[i];
+                                        CurrentObject = CurrentBlock->First;
+                                
+                                        i++;
+                                
+                                        CurrentLevel++;
+                                        goto CHILDRECURSE;
+                                }
+                        }
+                }
+                
+                // Now lets go back to the parent so it can continue processing its other children.
+                if (CurrentBlock->Parent){
+                        CurrentBlock = CurrentBlock->Parent;
+                        CurrentLevel--;
+                        goto PARENTRECURSE;
+                }
+        }
+        else{
+                CurrentBlock = &Blocks[0];
+                CurrentLevel = 0;
+                CurrentObject = CurrentObject;
+                CurrentIndex = 0;
+
+                // Other states are already set
+                CurrentObject = CurrentBlock->First;
+        }
+
+
+        if (current_geom && current_index == Index - 1){
+                //current_geom = current_geom->next; // next
+                current_index = Index;
+                return current_geom;
+        }
+        else for (int i = 0; i < Index; i++){   // this will be verrrrrrry slow
+                getGeom(i);
+        }*/
+
+        return 0;
+}
+
+void dxQuadTreeSpace::add(dxGeom* g){
+        CHECK_NOT_LOCKED (this);
+        dAASSERT(g);
+        dUASSERT(g->parent_space == 0 && g->next == 0, "geom is already in a space");
+
+        g->gflags |= GEOM_DIRTY | GEOM_AABB_BAD;
+        DirtyList.push(g);
+
+        // add
+        g->parent_space = this;
+        Blocks[0].GetBlock(g->aabb)->AddObject(g);      // Add to best block
+        count++;
+        
+        // enumerator has been invalidated
+        current_geom = 0;
+        
+        dGeomMoved(this);
+}
+
+void dxQuadTreeSpace::remove(dxGeom* g){
+        CHECK_NOT_LOCKED(this);
+        dAASSERT(g);
+        dUASSERT(g->parent_space == this,"object is not in this space");
+        
+        // remove
+        ((Block*)g->tome)->DelObject(g);
+        count--;
+
+        for (int i = 0; i < DirtyList.size(); i++){
+                if (DirtyList[i] == g){
+                        DirtyList.remove(i);
+                        // (mg) there can be multiple instances of a dirty object on stack  be sure to remove ALL and not just first, for this we decrement i
+                        --i;
+                }
+        }
+        
+        // safeguard
+        g->next = 0;
+        g->tome = 0;
+        g->parent_space = 0;
+        
+        // enumerator has been invalidated
+        current_geom = 0;
+        
+        // the bounding box of this space (and that of all the parents) may have
+        // changed as a consequence of the removal.
+        dGeomMoved(this);
+}
+
+void dxQuadTreeSpace::dirty(dxGeom* g){
+        DirtyList.push(g);
+}
+
+void dxQuadTreeSpace::computeAABB(){
+        //
+}
+
+void dxQuadTreeSpace::cleanGeoms(){
+        // compute the AABBs of all dirty geoms, and clear the dirty flags
+        lock_count++;
+        
+        for (int i = 0; i < DirtyList.size(); i++){
+                dxGeom* g = DirtyList[i];
+                if (IS_SPACE(g)){
+                        ((dxSpace*)g)->cleanGeoms();
+                }
+                g->recomputeAABB();
+                g->gflags &= (~(GEOM_DIRTY|GEOM_AABB_BAD));
+
+                ((Block*)g->tome)->Traverse(g);
+        }
+        DirtyList.setSize(0);
+
+        lock_count--;
+}
+
+void dxQuadTreeSpace::collide(void* UserData, dNearCallback* Callback){
+  dAASSERT(Callback);
+
+  lock_count++;
+  cleanGeoms();
+
+  Blocks[0].Collide(UserData, Callback);
+
+  lock_count--;
+}
+
+void dxQuadTreeSpace::collide2(void* UserData, dxGeom* g1, dNearCallback* Callback){
+  dAASSERT(g1 && Callback);
+
+  lock_count++;
+  cleanGeoms();
+  g1->recomputeAABB();
+
+  if (g1->parent_space == this){
+          // The block the geom is in
+          Block* CurrentBlock = (Block*)g1->tome;
+          
+          // Collide against block and its children
+          CurrentBlock->Collide(g1, CurrentBlock->First, UserData, Callback);
+          
+          // Collide against parents
+          while (true){
+                  CurrentBlock = CurrentBlock->Parent;
+                  if (!CurrentBlock){
+                          break;
+                  }
+                  CurrentBlock->CollideLocal(g1, UserData, Callback);
+          }
+  }
+  else Blocks[0].Collide(g1, Blocks[0].First, UserData, Callback);
+
+  lock_count--;
+}
+
+dSpaceID dQuadTreeSpaceCreate(dxSpace* space, dVector3 Center, dVector3 Extents, int Depth){
+        return new dxQuadTreeSpace(space, Center, Extents, Depth);
+}