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Diffstat (limited to 'libraries/ode-0.9/ode/src/collision_space_internal.h')
-rw-r--r-- | libraries/ode-0.9/ode/src/collision_space_internal.h | 84 |
1 files changed, 84 insertions, 0 deletions
diff --git a/libraries/ode-0.9/ode/src/collision_space_internal.h b/libraries/ode-0.9/ode/src/collision_space_internal.h new file mode 100644 index 0000000..004276a --- /dev/null +++ b/libraries/ode-0.9/ode/src/collision_space_internal.h | |||
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1 | /************************************************************************* | ||
2 | * * | ||
3 | * Open Dynamics Engine, Copyright (C) 2001-2003 Russell L. Smith. * | ||
4 | * All rights reserved. Email: russ@q12.org Web: www.q12.org * | ||
5 | * * | ||
6 | * This library is free software; you can redistribute it and/or * | ||
7 | * modify it under the terms of EITHER: * | ||
8 | * (1) The GNU Lesser General Public License as published by the Free * | ||
9 | * Software Foundation; either version 2.1 of the License, or (at * | ||
10 | * your option) any later version. The text of the GNU Lesser * | ||
11 | * General Public License is included with this library in the * | ||
12 | * file LICENSE.TXT. * | ||
13 | * (2) The BSD-style license that is included with this library in * | ||
14 | * the file LICENSE-BSD.TXT. * | ||
15 | * * | ||
16 | * This library is distributed in the hope that it will be useful, * | ||
17 | * but WITHOUT ANY WARRANTY; without even the implied warranty of * | ||
18 | * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the files * | ||
19 | * LICENSE.TXT and LICENSE-BSD.TXT for more details. * | ||
20 | * * | ||
21 | *************************************************************************/ | ||
22 | |||
23 | /* | ||
24 | |||
25 | stuff common to all spaces | ||
26 | |||
27 | */ | ||
28 | |||
29 | #ifndef _ODE_COLLISION_SPACE_INTERNAL_H_ | ||
30 | #define _ODE_COLLISION_SPACE_INTERNAL_H_ | ||
31 | |||
32 | #define ALLOCA(x) dALLOCA16(x) | ||
33 | |||
34 | #define CHECK_NOT_LOCKED(space) \ | ||
35 | dUASSERT ((space)==0 || (space)->lock_count==0, \ | ||
36 | "invalid operation for locked space"); | ||
37 | |||
38 | |||
39 | // collide two geoms together. for the hash table space, this is | ||
40 | // called if the two AABBs inhabit the same hash table cells. | ||
41 | // this only calls the callback function if the AABBs actually | ||
42 | // intersect. if a geom has an AABB test function, that is called to | ||
43 | // provide a further refinement of the intersection. | ||
44 | // | ||
45 | // NOTE: this assumes that the geom AABBs are valid on entry | ||
46 | // and that both geoms are enabled. | ||
47 | |||
48 | static void collideAABBs (dxGeom *g1, dxGeom *g2, | ||
49 | void *data, dNearCallback *callback) | ||
50 | { | ||
51 | dIASSERT((g1->gflags & GEOM_AABB_BAD)==0); | ||
52 | dIASSERT((g2->gflags & GEOM_AABB_BAD)==0); | ||
53 | |||
54 | // no contacts if both geoms on the same body, and the body is not 0 | ||
55 | if (g1->body == g2->body && g1->body) return; | ||
56 | |||
57 | // test if the category and collide bitfields match | ||
58 | if ( ((g1->category_bits & g2->collide_bits) || | ||
59 | (g2->category_bits & g1->collide_bits)) == 0) { | ||
60 | return; | ||
61 | } | ||
62 | |||
63 | // if the bounding boxes are disjoint then don't do anything | ||
64 | dReal *bounds1 = g1->aabb; | ||
65 | dReal *bounds2 = g2->aabb; | ||
66 | if (bounds1[0] > bounds2[1] || | ||
67 | bounds1[1] < bounds2[0] || | ||
68 | bounds1[2] > bounds2[3] || | ||
69 | bounds1[3] < bounds2[2] || | ||
70 | bounds1[4] > bounds2[5] || | ||
71 | bounds1[5] < bounds2[4]) { | ||
72 | return; | ||
73 | } | ||
74 | |||
75 | // check if either object is able to prove that it doesn't intersect the | ||
76 | // AABB of the other | ||
77 | if (g1->AABBTest (g2,bounds2) == 0) return; | ||
78 | if (g2->AABBTest (g1,bounds1) == 0) return; | ||
79 | |||
80 | // the objects might actually intersect - call the space callback function | ||
81 | callback (data,g1,g2); | ||
82 | } | ||
83 | |||
84 | #endif | ||