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 --- libraries/ode-0.9/ode/src/plane.cpp | 145 ------------------------------------ 1 file changed, 145 deletions(-) delete mode 100644 libraries/ode-0.9/ode/src/plane.cpp (limited to 'libraries/ode-0.9/ode/src/plane.cpp') diff --git a/libraries/ode-0.9/ode/src/plane.cpp b/libraries/ode-0.9/ode/src/plane.cpp deleted file mode 100644 index e3afb49..0000000 --- a/libraries/ode-0.9/ode/src/plane.cpp +++ /dev/null @@ -1,145 +0,0 @@ -/************************************************************************* - * * - * 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 -#include -#include -#include -#include -#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 - -//**************************************************************************** -// plane public API - -static void make_sure_plane_normal_has_unit_length (dxPlane *g) -{ - dReal l = g->p[0]*g->p[0] + g->p[1]*g->p[1] + g->p[2]*g->p[2]; - if (l > 0) { - l = dRecipSqrt(l); - g->p[0] *= l; - g->p[1] *= l; - g->p[2] *= l; - g->p[3] *= l; - } - else { - g->p[0] = 1; - g->p[1] = 0; - g->p[2] = 0; - g->p[3] = 0; - } -} - - -dxPlane::dxPlane (dSpaceID space, dReal a, dReal b, dReal c, dReal d) : - dxGeom (space,0) -{ - type = dPlaneClass; - p[0] = a; - p[1] = b; - p[2] = c; - p[3] = d; - make_sure_plane_normal_has_unit_length (this); -} - - -void dxPlane::computeAABB() -{ - aabb[0] = -dInfinity; - aabb[1] = dInfinity; - aabb[2] = -dInfinity; - aabb[3] = dInfinity; - aabb[4] = -dInfinity; - aabb[5] = dInfinity; - - // Planes that have normal vectors aligned along an axis can use a - // less comprehensive (half space) bounding box. - - if ( p[1] == 0.0f && p[2] == 0.0f ) { - // normal aligned with x-axis - aabb[0] = (p[0] > 0) ? -dInfinity : -p[3]; - aabb[1] = (p[0] > 0) ? p[3] : dInfinity; - } else - if ( p[0] == 0.0f && p[2] == 0.0f ) { - // normal aligned with y-axis - aabb[2] = (p[1] > 0) ? -dInfinity : -p[3]; - aabb[3] = (p[1] > 0) ? p[3] : dInfinity; - } else - if ( p[0] == 0.0f && p[1] == 0.0f ) { - // normal aligned with z-axis - aabb[4] = (p[2] > 0) ? -dInfinity : -p[3]; - aabb[5] = (p[2] > 0) ? p[3] : dInfinity; - } -} - - -dGeomID dCreatePlane (dSpaceID space, - dReal a, dReal b, dReal c, dReal d) -{ - return new dxPlane (space,a,b,c,d); -} - - -void dGeomPlaneSetParams (dGeomID g, dReal a, dReal b, dReal c, dReal d) -{ - dUASSERT (g && g->type == dPlaneClass,"argument not a plane"); - dxPlane *p = (dxPlane*) g; - p->p[0] = a; - p->p[1] = b; - p->p[2] = c; - p->p[3] = d; - make_sure_plane_normal_has_unit_length (p); - dGeomMoved (g); -} - - -void dGeomPlaneGetParams (dGeomID g, dVector4 result) -{ - dUASSERT (g && g->type == dPlaneClass,"argument not a plane"); - dxPlane *p = (dxPlane*) g; - result[0] = p->p[0]; - result[1] = p->p[1]; - result[2] = p->p[2]; - result[3] = p->p[3]; -} - - -dReal dGeomPlanePointDepth (dGeomID g, dReal x, dReal y, dReal z) -{ - dUASSERT (g && g->type == dPlaneClass,"argument not a plane"); - dxPlane *p = (dxPlane*) g; - return p->p[3] - p->p[0]*x - p->p[1]*y - p->p[2]*z; -} -- cgit v1.1