From 2f8d7092bc2c9609fa98d6888106b96f38b22828 Mon Sep 17 00:00:00 2001 From: dan miller Date: Sun, 21 Oct 2007 08:36:32 +0000 Subject: libraries moved to opensim-libs, a new repository --- .../GeomTransformGroup/GeomTransformGroup.cpp | 218 --------------------- 1 file changed, 218 deletions(-) delete mode 100644 libraries/ode-0.9/contrib/GeomTransformGroup/GeomTransformGroup.cpp (limited to 'libraries/ode-0.9/contrib/GeomTransformGroup/GeomTransformGroup.cpp') diff --git a/libraries/ode-0.9/contrib/GeomTransformGroup/GeomTransformGroup.cpp b/libraries/ode-0.9/contrib/GeomTransformGroup/GeomTransformGroup.cpp deleted file mode 100644 index 26b77b0..0000000 --- a/libraries/ode-0.9/contrib/GeomTransformGroup/GeomTransformGroup.cpp +++ /dev/null @@ -1,218 +0,0 @@ - -/* ************************************************************************ */ -/* - grouped and transformed geometry functions - author: Tim Schmidt tisch@uni-paderborn.de -*/ - - -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include "objects.h" -#include "array.h" -#include "geom_internal.h" - -// given a pointer `p' to a dContactGeom, return the dContactGeom at -// p + skip bytes. - -#define CONTACT(p,skip) ((dContactGeom*) (((char*)p) + (skip))) - - -// ############################################################################ - -int dGeomTransformGroupClass = -1; -// ############################################################################ - -struct dxGeomTransformGroup { - dArray parts; // all the geoms that make up the group - dVector3 relativePosition; - dMatrix3 relativeRotation; -}; -// ############################################################################ - -void dGeomTransformGroupSetRelativePosition (dxGeom *g, dReal x, dReal y, dReal z) -{ - dAASSERT (g); - dxGeomTransformGroup *transformGroup = (dxGeomTransformGroup*) CLASSDATA(g); - transformGroup->relativePosition[0] = x; - transformGroup->relativePosition[1] = y; - transformGroup->relativePosition[2] = z; -} -// ############################################################################ - -void dGeomTransformGroupSetRelativeRotation (dxGeom *g, const dMatrix3 R) -{ - dAASSERT (g); - dxGeomTransformGroup *transformGroup = (dxGeomTransformGroup*) CLASSDATA(g); - memcpy (transformGroup->relativeRotation,R,sizeof(dMatrix3)); -} -// ############################################################################ - -const dReal * dGeomTransformGroupGetRelativePosition (dxGeom *g) -{ - dAASSERT (g); - dxGeomTransformGroup *transformGroup = (dxGeomTransformGroup*) CLASSDATA(g); - return transformGroup->relativePosition; -} -// ############################################################################ - -const dReal * dGeomTransformGroupGetRelativeRotation (dxGeom *g) -{ - dAASSERT (g); - dxGeomTransformGroup *transformGroup = (dxGeomTransformGroup*) CLASSDATA(g); - return transformGroup->relativeRotation; -} -// ############################################################################ - -static void computeFinalTransformation (const dxGeom *tg, const dxGeom *part) -{ - dxGeomTransformGroup *transformGroup = (dxGeomTransformGroup*) CLASSDATA(tg); - dMULTIPLY0_331 (part->pos,tg->R,transformGroup->relativePosition); - part->pos[0] += tg->pos[0]; - part->pos[1] += tg->pos[1]; - part->pos[2] += tg->pos[2]; - dMULTIPLY0_333 (part->R,tg->R,transformGroup->relativeRotation); -} -// ############################################################################ - -int dCollideTransformGroup (const dxGeom *o1, const dxGeom *o2, int flags, - dContactGeom *contact, int skip) -{ - dxGeomTransformGroup *transformGroup = (dxGeomTransformGroup*) CLASSDATA(o1); - if (transformGroup->parts.size() == 0) - { - return 0; - } - int numleft = flags & NUMC_MASK; - if (numleft == 0) numleft = 1; - flags &= ~NUMC_MASK; - int num=0, i=0; - while (i < transformGroup->parts.size() && numleft > 0) - { - dUASSERT (transformGroup->parts[i]->spaceid==0, - "GeomTransformGroup encapsulated object must not be in a space"); - dUASSERT (transformGroup->parts[i]->body==0, - "GeomTransformGroup encapsulated object must not be attached to a body"); - if (!o1->space_aabb) - { - computeFinalTransformation (o1, transformGroup->parts[i]); - } - dxBody *bodyBackup = transformGroup->parts[i]->body; - transformGroup->parts[i]->body = o1->body; - int n = dCollide (transformGroup->parts[i],const_cast(o2), - flags | numleft,contact,skip); - transformGroup->parts[i]->body = bodyBackup; - contact = CONTACT (contact,skip*n); - numleft -= n; - num += n; - i++; - } - return num; -} -// ############################################################################ - -static dColliderFn * dGeomTransformGroupColliderFn (int num) -{ - return (dColliderFn *) &dCollideTransformGroup; -} -// ############################################################################ - -static void dGeomTransformGroupAABB (dxGeom *geom, dReal aabb[6]) -{ - dxGeomTransformGroup *transformGroup = (dxGeomTransformGroup*) CLASSDATA(geom); - aabb[0] = dInfinity; - aabb[1] = -dInfinity; - aabb[2] = dInfinity; - aabb[3] = -dInfinity; - aabb[4] = dInfinity; - aabb[5] = -dInfinity; - int i,j; - for (i=0; i < transformGroup->parts.size(); i++) - { - computeFinalTransformation (geom, transformGroup->parts[i]); - dReal aabb2[6]; - transformGroup->parts[i]->_class->aabb (transformGroup->parts[i],aabb2); - for (j=0; j<6; j += 2) if (aabb2[j] < aabb[j]) aabb[j] = aabb2[j]; - for (j=1; j<6; j += 2) if (aabb2[j] > aabb[j]) aabb[j] = aabb2[j]; - } -} -// ############################################################################ - -static void dGeomTransformGroupDtor (dxGeom *geom) -{ - dxGeomTransformGroup *transformGroup = (dxGeomTransformGroup*) CLASSDATA(geom); - transformGroup->parts.~dArray(); -} -// ############################################################################ - -dxGeom *dCreateGeomTransformGroup (dSpaceID space) -{ - if (dGeomTransformGroupClass == -1) { - dGeomClass c; - c.bytes = sizeof (dxGeomTransformGroup); - c.collider = &dGeomTransformGroupColliderFn; - c.aabb = &dGeomTransformGroupAABB; - c.aabb_test = 0; - c.dtor = dGeomTransformGroupDtor; - dGeomTransformGroupClass = dCreateGeomClass (&c); - } - dxGeom *g = dCreateGeom (dGeomTransformGroupClass); - if (space) - { - dSpaceAdd (space,g); - } - dxGeomTransformGroup *transformGroup = (dxGeomTransformGroup*) CLASSDATA(g); - transformGroup->parts.constructor(); - dSetZero (transformGroup->relativePosition,4); - dRSetIdentity (transformGroup->relativeRotation); - return g; -} -// ############################################################################ - -void dGeomTransformGroupAddGeom (dxGeom *g, dxGeom *obj) -{ - dUASSERT (g && g->_class->num == dGeomTransformGroupClass, - "argument not a geom TransformGroup"); - dxGeomTransformGroup *transformGroup = (dxGeomTransformGroup*) CLASSDATA(g); - transformGroup->parts.push (obj); -} -// ############################################################################ - -void dGeomTransformGroupRemoveGeom (dxGeom *g, dxGeom *obj) -{ - dUASSERT (g && g->_class->num == dGeomTransformGroupClass, - "argument not a geom TransformGroup"); - dxGeomTransformGroup *transformGroup = (dxGeomTransformGroup*) CLASSDATA(g); - for (int i=0; i < transformGroup->parts.size(); i++) { - if (transformGroup->parts[i] == obj) { - transformGroup->parts.remove (i); - return; - } - } -} -// ############################################################################ - -dxGeom * dGeomTransformGroupGetGeom (dxGeom *g, int i) -{ - dUASSERT (g && g->_class->num == dGeomTransformGroupClass, - "argument not a geom TransformGroup"); - dxGeomTransformGroup *transformGroup = (dxGeomTransformGroup*) CLASSDATA(g); - dAASSERT (i >= 0 && i < transformGroup->parts.size()); - return transformGroup->parts[i]; -} -// ############################################################################ - -int dGeomTransformGroupGetNumGeoms (dxGeom *g) -{ - dUASSERT (g && g->_class->num == dGeomTransformGroupClass, - "argument not a geom TransformGroup"); - dxGeomTransformGroup *transformGroup = (dxGeomTransformGroup*) CLASSDATA(g); - return transformGroup->parts.size(); -} -- cgit v1.1