resubmitting ode

1 files changed, 172 insertions, 0 deletions

diff --git a/libraries/ode-0.9/ode/src/collision_std.h b/libraries/ode-0.9/ode/src/collision_std.h
new file mode 100644
index 0000000..d203ad0
--- /dev/null
+++ b/libraries/ode-0.9/ode/src/collision_std.h
@@ -0,0 +1,172 @@
+/*************************************************************************
+ *                                                                       *
+ * 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.                     *
+ *                                                                       *
+ *************************************************************************/
+
+/*
+
+the standard ODE geometry primitives.
+
+*/
+
+#ifndef _ODE_COLLISION_STD_H_
+#define _ODE_COLLISION_STD_H_
+
+#include <set>
+#include <ode/common.h>
+#include "collision_kernel.h"
+
+
+// primitive collision functions - these have the dColliderFn interface, i.e.
+// the same interface as dCollide(). the first and second geom arguments must
+// have the specified types.
+
+int dCollideSphereSphere (dxGeom *o1, dxGeom *o2, int flags,
+                          dContactGeom *contact, int skip);
+int dCollideSphereBox (dxGeom *o1, dxGeom *o2, int flags,
+                       dContactGeom *contact, int skip);
+int dCollideSpherePlane (dxGeom *o1, dxGeom *o2, int flags,
+                         dContactGeom *contact, int skip);
+int dCollideBoxBox (dxGeom *o1, dxGeom *o2, int flags,
+                    dContactGeom *contact, int skip);
+int dCollideBoxPlane (dxGeom *o1, dxGeom *o2,
+                      int flags, dContactGeom *contact, int skip);
+int dCollideCapsuleSphere (dxGeom *o1, dxGeom *o2, int flags,
+                             dContactGeom *contact, int skip);
+int dCollideCapsuleBox (dxGeom *o1, dxGeom *o2, int flags,
+                          dContactGeom *contact, int skip);
+int dCollideCapsuleCapsule (dxGeom *o1, dxGeom *o2,
+                                int flags, dContactGeom *contact, int skip);
+int dCollideCapsulePlane (dxGeom *o1, dxGeom *o2, int flags,
+                            dContactGeom *contact, int skip);
+int dCollideRaySphere (dxGeom *o1, dxGeom *o2, int flags,
+                       dContactGeom *contact, int skip);
+int dCollideRayBox (dxGeom *o1, dxGeom *o2, int flags,
+                    dContactGeom *contact, int skip);
+int dCollideRayCapsule (dxGeom *o1, dxGeom *o2,
+                          int flags, dContactGeom *contact, int skip);
+int dCollideRayPlane (dxGeom *o1, dxGeom *o2, int flags,
+                      dContactGeom *contact, int skip);
+int dCollideRayCylinder (dxGeom *o1, dxGeom *o2, int flags,
+                      dContactGeom *contact, int skip);
+
+// Cylinder - Box/Sphere by (C) CroTeam
+// Ported by Nguyen Binh
+int dCollideCylinderBox(dxGeom *o1, dxGeom *o2, 
+                        int flags, dContactGeom *contact, int skip);
+int dCollideCylinderSphere(dxGeom *gCylinder, dxGeom *gSphere, 
+                           int flags, dContactGeom *contact, int skip); 
+int dCollideCylinderPlane(dxGeom *gCylinder, dxGeom *gPlane, 
+                           int flags, dContactGeom *contact, int skip); 
+
+//--> Convex Collision
+int dCollideConvexPlane (dxGeom *o1, dxGeom *o2, int flags,
+                         dContactGeom *contact, int skip);
+int dCollideSphereConvex (dxGeom *o1, dxGeom *o2, int flags,
+                          dContactGeom *contact, int skip);
+int dCollideConvexBox (dxGeom *o1, dxGeom *o2, int flags,
+                       dContactGeom *contact, int skip);
+int dCollideConvexCapsule (dxGeom *o1, dxGeom *o2,
+                           int flags, dContactGeom *contact, int skip);
+int dCollideConvexConvex (dxGeom *o1, dxGeom *o2, int flags, 
+                          dContactGeom *contact, int skip);
+int dCollideRayConvex (dxGeom *o1, dxGeom *o2, int flags, 
+                       dContactGeom *contact, int skip);
+//<-- Convex Collision
+
+// dHeightfield
+int dCollideHeightfield( dxGeom *o1, dxGeom *o2, 
+                                                 int flags, dContactGeom *contact, int skip );
+
+//****************************************************************************
+// the basic geometry objects
+
+struct dxSphere : public dxGeom {
+  dReal radius;         // sphere radius
+  dxSphere (dSpaceID space, dReal _radius);
+  void computeAABB();
+};
+
+
+struct dxBox : public dxGeom {
+  dVector3 side;        // side lengths (x,y,z)
+  dxBox (dSpaceID space, dReal lx, dReal ly, dReal lz);
+  void computeAABB();
+};
+
+
+struct dxCapsule : public dxGeom {
+  dReal radius,lz;      // radius, length along z axis
+  dxCapsule (dSpaceID space, dReal _radius, dReal _length);
+  void computeAABB();
+};
+
+
+struct dxCylinder : public dxGeom {
+        dReal radius,lz;        // radius, length along z axis
+        dxCylinder (dSpaceID space, dReal _radius, dReal _length);
+        void computeAABB();
+};
+
+
+struct dxPlane : public dxGeom {
+  dReal p[4];
+  dxPlane (dSpaceID space, dReal a, dReal b, dReal c, dReal d);
+  void computeAABB();
+};
+
+
+struct dxRay : public dxGeom {
+  dReal length;
+  dxRay (dSpaceID space, dReal _length);
+  void computeAABB();
+};
+
+typedef std::pair<unsigned int,unsigned int> edge; /*!< Used to descrive a convex hull edge, an edge is a pair or indices into the hull's points */
+struct dxConvex : public dxGeom 
+{
+  
+  dReal *planes; /*!< An array of planes in the form:
+                   normal X, normal Y, normal Z,Distance
+                 */
+  dReal *points; /*!< An array of points X,Y,Z */  
+  unsigned int *polygons; /*! An array of indices to the points of each polygon, it should be the number of vertices followed by that amount of indices to "points" in counter clockwise order*/
+  unsigned int planecount; /*!< Amount of planes in planes */
+  unsigned int pointcount;/*!< Amount of points in points */
+  dReal saabb[6];/*!< Static AABB */
+  std::set<edge> edges;
+  dxConvex(dSpaceID space,
+           dReal *planes,
+           unsigned int planecount,
+           dReal *points,
+           unsigned int pointcount,
+           unsigned int *polygons);
+  ~dxConvex()
+  {
+    //fprintf(stdout,"dxConvex Destroy\n");
+  }
+  void computeAABB();
+  private:
+  // For Internal Use Only
+  void FillEdges();
+};
+
+
+#endif