1 files changed, 198 insertions, 0 deletions

diff --git a/libraries/ode-0.9/ode/src/collision_trimesh_ray.cpp b/libraries/ode-0.9/ode/src/collision_trimesh_ray.cpp
new file mode 100644
index 0000000..c0b97ca
--- /dev/null
+++ b/libraries/ode-0.9/ode/src/collision_trimesh_ray.cpp
@@ -0,0 +1,198 @@
+/*************************************************************************
+ *                                                                       *
+ * 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.                     *
+ *                                                                       *
+ *************************************************************************/
+
+// TriMesh code by Erwin de Vries.
+
+#include <ode/collision.h>
+#include <ode/matrix.h>
+#include <ode/rotation.h>
+#include <ode/odemath.h>
+
+#if dTRIMESH_ENABLED
+
+#include "collision_util.h"
+
+#define TRIMESH_INTERNAL
+#include "collision_trimesh_internal.h"
+
+#if dTRIMESH_OPCODE
+int dCollideRTL(dxGeom* g1, dxGeom* RayGeom, int Flags, dContactGeom* Contacts, int Stride){
+        dIASSERT (Stride >= (int)sizeof(dContactGeom));
+        dIASSERT (g1->type == dTriMeshClass);
+        dIASSERT (RayGeom->type == dRayClass);
+        dIASSERT ((Flags & NUMC_MASK) >= 1);
+
+        dxTriMesh* TriMesh = (dxTriMesh*)g1;
+
+        const dVector3& TLPosition = *(const dVector3*)dGeomGetPosition(TriMesh);
+        const dMatrix3& TLRotation = *(const dMatrix3*)dGeomGetRotation(TriMesh);
+
+        RayCollider& Collider = TriMesh->_RayCollider;
+
+        dReal Length = dGeomRayGetLength(RayGeom);
+
+        int FirstContact, BackfaceCull;
+        dGeomRayGetParams(RayGeom, &FirstContact, &BackfaceCull);
+        int ClosestHit = dGeomRayGetClosestHit(RayGeom);
+
+        Collider.SetFirstContact(FirstContact != 0);
+        Collider.SetClosestHit(ClosestHit != 0);
+        Collider.SetCulling(BackfaceCull != 0);
+        Collider.SetMaxDist(Length);
+
+        dVector3 Origin, Direction;
+        dGeomRayGet(RayGeom, Origin, Direction);
+
+        /* Make Ray */
+        Ray WorldRay;
+        WorldRay.mOrig.x = Origin[0];
+        WorldRay.mOrig.y = Origin[1];
+        WorldRay.mOrig.z = Origin[2];
+        WorldRay.mDir.x = Direction[0];
+        WorldRay.mDir.y = Direction[1];
+        WorldRay.mDir.z = Direction[2];
+
+        /* Intersect */
+        Matrix4x4 amatrix;
+        int TriCount = 0;
+        if (Collider.Collide(WorldRay, TriMesh->Data->BVTree, &MakeMatrix(TLPosition, TLRotation, amatrix))) {
+                TriCount = TriMesh->Faces.GetNbFaces();
+        }
+
+        if (TriCount == 0) {
+                return 0;
+        }
+        
+        const CollisionFace* Faces = TriMesh->Faces.GetFaces();
+
+        int OutTriCount = 0;
+        for (int i = 0; i < TriCount; i++) {
+                if (TriMesh->RayCallback == null ||
+                    TriMesh->RayCallback(TriMesh, RayGeom, Faces[i].mFaceID,
+                                         Faces[i].mU, Faces[i].mV)) {
+                        const int& TriIndex = Faces[i].mFaceID;
+                        if (!Callback(TriMesh, RayGeom, TriIndex)) {
+                                continue;
+                        }
+
+                        dContactGeom* Contact = SAFECONTACT(Flags, Contacts, OutTriCount, Stride);
+
+                        dVector3 dv[3];
+                        FetchTriangle(TriMesh, TriIndex, TLPosition, TLRotation, dv);
+
+                        // No sense to save on single type conversion in algorithm of this size.
+                        // If there would be a custom typedef for distance type it could be used 
+                        // instead of dReal. However using float directly is the loss of abstraction 
+                        // and possible loss of precision in future.
+                        /*float*/ dReal T = Faces[i].mDistance;
+                        Contact->pos[0] = Origin[0] + (Direction[0] * T);
+                        Contact->pos[1] = Origin[1] + (Direction[1] * T);
+                        Contact->pos[2] = Origin[2] + (Direction[2] * T);
+                        Contact->pos[3] = REAL(0.0);
+                                
+                        dVector3 vu;
+                        vu[0] = dv[1][0] - dv[0][0];
+                        vu[1] = dv[1][1] - dv[0][1];
+                        vu[2] = dv[1][2] - dv[0][2];
+                        vu[3] = REAL(0.0);
+                                
+                        dVector3 vv;
+                        vv[0] = dv[2][0] - dv[0][0];
+                        vv[1] = dv[2][1] - dv[0][1];
+                        vv[2] = dv[2][2] - dv[0][2];
+                        vv[3] = REAL(0.0);
+
+                        dCROSS(Contact->normal, =, vv, vu);     // Reversed
+
+                        dNormalize3(Contact->normal);
+
+                        Contact->depth = T;
+                        Contact->g1 = TriMesh;
+                        Contact->g2 = RayGeom;
+                                
+                        OutTriCount++;
+
+                        // Putting "break" at the end of loop prevents unnecessary checks on first pass and "continue"
+                        if (OutTriCount >= (Flags & NUMC_MASK)) {
+                                break;
+                        }
+                }
+        }
+        return OutTriCount;
+}
+#endif // dTRIMESH_OPCODE
+
+#if dTRIMESH_GIMPACT
+int dCollideRTL(dxGeom* g1, dxGeom* RayGeom, int Flags, dContactGeom* Contacts, int Stride)
+{
+        dIASSERT (Stride >= (int)sizeof(dContactGeom));
+        dIASSERT (g1->type == dTriMeshClass);
+        dIASSERT (RayGeom->type == dRayClass);
+        dIASSERT ((Flags & NUMC_MASK) >= 1);
+        
+        dxTriMesh* TriMesh = (dxTriMesh*)g1;
+
+    dReal Length = dGeomRayGetLength(RayGeom);
+        int FirstContact, BackfaceCull;
+        dGeomRayGetParams(RayGeom, &FirstContact, &BackfaceCull);
+        int ClosestHit = dGeomRayGetClosestHit(RayGeom);
+        dVector3 Origin, Direction;
+        dGeomRayGet(RayGeom, Origin, Direction);
+
+    char intersect=0;
+    GIM_TRIANGLE_RAY_CONTACT_DATA contact_data;
+
+        if(ClosestHit)
+        {
+                intersect = gim_trimesh_ray_closest_collision(&TriMesh->m_collision_trimesh,Origin,Direction,Length,&contact_data);
+        }
+        else
+        {
+            intersect = gim_trimesh_ray_collision(&TriMesh->m_collision_trimesh,Origin,Direction,Length,&contact_data);
+        }
+
+    if(intersect == 0)
+        {
+        return 0;
+    }
+
+        int OutTriCount = 0;
+
+        if(!TriMesh->RayCallback || 
+                TriMesh->RayCallback(TriMesh, RayGeom, contact_data.m_face_id, contact_data.u , contact_data.v))
+        {
+                dContactGeom* Contact = SAFECONTACT(Flags, Contacts, (OutTriCount-1), Stride);
+        VEC_COPY(Contact->pos,contact_data.m_point);
+        VEC_COPY(Contact->normal,contact_data.m_normal);
+        Contact->depth = contact_data.tparam;
+        Contact->g1 = TriMesh;
+        Contact->g2 = RayGeom;
+                
+                OutTriCount = 1;
+        }
+
+        return OutTriCount;
+}
+#endif  // dTRIMESH_GIMPACT
+
+#endif // dTRIMESH_ENABLED
+