From 0fc46fc9590912bf6925c899edd02d7a2cdf5f79 Mon Sep 17 00:00:00 2001
From: dan miller
Date: Fri, 19 Oct 2007 04:28:53 +0000
Subject: adding ode source to /libraries

---
 "libraries/ode-0.9\\/ode/src/cylinder.cpp" | 100 +++++++++++++++++++++++++++++
 1 file changed, 100 insertions(+)
 create mode 100755 "libraries/ode-0.9\\/ode/src/cylinder.cpp"

(limited to 'libraries/ode-0.9\/ode/src/cylinder.cpp')

diff --git "a/libraries/ode-0.9\\/ode/src/cylinder.cpp" "b/libraries/ode-0.9\\/ode/src/cylinder.cpp"
new file mode 100755
index 0000000..39a6cf3
--- /dev/null
+++ "b/libraries/ode-0.9\\/ode/src/cylinder.cpp"
@@ -0,0 +1,100 @@
+/*************************************************************************
+ *                                                                       *
+ * 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.                     *
+ *                                                                       *
+ *************************************************************************/
+
+/*
+
+standard ODE geometry primitives: public API and pairwise collision functions.
+
+the rule is that only the low level primitive collision functions should set
+dContactGeom::g1 and dContactGeom::g2.
+
+*/
+
+#include <ode/common.h>
+#include <ode/collision.h>
+#include <ode/matrix.h>
+#include <ode/rotation.h>
+#include <ode/odemath.h>
+#include "collision_kernel.h"
+#include "collision_std.h"
+#include "collision_util.h"
+
+#ifdef _MSC_VER
+#pragma warning(disable:4291)  // for VC++, no complaints about "no matching operator delete found"
+#endif
+
+// flat cylinder public API
+
+dxCylinder::dxCylinder (dSpaceID space, dReal _radius, dReal _length) :
+dxGeom (space,1)
+{
+	dAASSERT (_radius > 0 && _length > 0);
+	type = dCylinderClass;
+	radius = _radius;
+	lz = _length;
+}
+
+
+void dxCylinder::computeAABB()
+{
+    const dMatrix3& R = final_posr->R;
+    const dVector3& pos = final_posr->pos;
+
+	dReal xrange = dFabs (R[0] * radius) +	 dFabs (R[1] * radius) + REAL(0.5)* dFabs (R[2] * 
+		lz);
+	dReal yrange = dFabs (R[4] * radius) +   dFabs (R[5] * radius) + REAL(0.5)* dFabs (R[6] * 
+		lz);
+	dReal zrange = dFabs (R[8] * radius) +	 dFabs (R[9] * radius) + REAL(0.5)* dFabs (R[10] * 
+		lz);
+	aabb[0] = pos[0] - xrange;
+	aabb[1] = pos[0] + xrange;
+	aabb[2] = pos[1] - yrange;
+	aabb[3] = pos[1] + yrange;
+	aabb[4] = pos[2] - zrange;
+	aabb[5] = pos[2] + zrange;
+}
+
+
+dGeomID dCreateCylinder (dSpaceID space, dReal radius, dReal length)
+{
+	return new dxCylinder (space,radius,length);
+}
+
+void dGeomCylinderSetParams (dGeomID cylinder, dReal radius, dReal length)
+{
+	dUASSERT (cylinder && cylinder->type == dCylinderClass,"argument not a ccylinder");
+	dAASSERT (radius > 0 && length > 0);
+	dxCylinder *c = (dxCylinder*) cylinder;
+	c->radius = radius;
+	c->lz = length;
+	dGeomMoved (cylinder);
+}
+
+void dGeomCylinderGetParams (dGeomID cylinder, dReal *radius, dReal *length)
+{
+	dUASSERT (cylinder && cylinder->type == dCylinderClass,"argument not a ccylinder");
+	dxCylinder *c = (dxCylinder*) cylinder;
+	*radius = c->radius;
+	*length = c->lz;
+}
+
+
-- 
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