trying to fix my screwup, please hold on

24 files changed, 0 insertions, 8456 deletions

diff --git a/libraries/ode-0.9/GIMPACT/GIMPACT-LICENSE-BSD.TXT b/libraries/ode-0.9/GIMPACT/GIMPACT-LICENSE-BSD.TXT
deleted file mode 100644
index 95545aa..0000000
--- a/libraries/ode-0.9/GIMPACT/GIMPACT-LICENSE-BSD.TXT
+++ /dev/null
@@ -1,29 +0,0 @@
-GIMPACT : Geometric tools for VR.

-

-Copyright  (c) 2006 , Francisco León.

-All rights reserved.

-

-Redistribution and use in source and binary forms, with or without modification,

- are permitted provided that the following conditions are met:

-

-    * Redistributions of source code must retain the above copyright notice, this list of

-      conditions and the following disclaimer.

-      

-    * Redistributions in binary form must reproduce the above copyright notice, this list 

-      of conditions and the following disclaimer in the documentation and/or other materials 

-      provided with the distribution.

-      

-    * Neither the name of the GIMPACT nor the names of its contributors may be used

-      to endorse or promote products derived from this software without specific prior

-      written permission.

-

-THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND ANY EXPRESS

-OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF 

-MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. 

-IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT,

-INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES 

-(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE,

- DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY,

- WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING

- IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH 

- DAMAGE.
\ No newline at end of file
diff --git a/libraries/ode-0.9/GIMPACT/GIMPACT-LICENSE-LGPL.TXT b/libraries/ode-0.9/GIMPACT/GIMPACT-LICENSE-LGPL.TXT
deleted file mode 100644
index 60b8156..0000000
--- a/libraries/ode-0.9/GIMPACT/GIMPACT-LICENSE-LGPL.TXT
+++ /dev/null
@@ -1,502 +0,0 @@
-                  GNU LESSER GENERAL PUBLIC LICENSE
-                       Version 2.1, February 1999
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-
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diff --git a/libraries/ode-0.9/GIMPACT/include/GIMPACT/gim_boxpruning.h b/libraries/ode-0.9/GIMPACT/include/GIMPACT/gim_boxpruning.h
deleted file mode 100644
index 68b68d0..0000000
--- a/libraries/ode-0.9/GIMPACT/include/GIMPACT/gim_boxpruning.h
+++ /dev/null
@@ -1,323 +0,0 @@
-#ifndef GIM_BOXPRUNING_H_INCLUDED

-#define GIM_BOXPRUNING_H_INCLUDED

-

-/*! \file gim_boxpruning.h

-\author Francisco León

-*/

-/*

------------------------------------------------------------------------------

-This source file is part of GIMPACT Library.

-

-For the latest info, see http://gimpact.sourceforge.net/

-

-Copyright (c) 2006 Francisco Leon. C.C. 80087371.

-email: projectileman@yahoo.com

-

- 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 GIMPACT-LICENSE-LGPL.TXT.

-   (2) The BSD-style license that is included with this library in

-       the file GIMPACT-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

- GIMPACT-LICENSE-LGPL.TXT and GIMPACT-LICENSE-BSD.TXT for more details.

-

------------------------------------------------------------------------------

-*/

-

-

-#include "GIMPACT/gim_radixsort.h"

-#include "GIMPACT/gim_geometry.h"

-

-/*! \defgroup BOX_PRUNNING

-

-\brief

-Tools for find overlapping objects on a scenary. These functions sort boxes for faster collisioin queries, using radix sort or quick sort as convenience. See \ref SORTING .

-<ul>

-<li> For using these collision routines, you must create a \ref GIM_AABB_SET by using this function : \ref gim_aabbset_alloc.

-<li> The  GIM_AABB_SET objects must be updated on their boxes on each query, and they must be update by calling \ref gim_aabbset_update

-<li> Before calling collision functions, you must create a pair set with \ref GIM_CREATE_PAIR_SET

-<li> For finding collision pairs on a scene (common space for objects), call \ref gim_aabbset_self_intersections

-<li> For finding collision pairs between two box sets , call \ref gim_aabbset_box_collision

-<li> After using collision routines, you must destroy the pairset with \ref GIM_DESTROY_PAIR_SET

-<li> When the box set is no longer used, you must destroy it by calling \ref gim_aabbset_destroy

-</ul>

-*/

-//! @{

-//! Overlapping pair

-struct GIM_PAIR

-{

-    GUINT m_index1;

-    GUINT m_index2;

-};

-//typedef struct _GIM_PAIR GIM_PAIR;

-

-//! Box container

-struct GIM_AABB_SET

-{

-    GUINT m_count;

-    aabb3f m_global_bound;//!< Global calculated bound of all boxes

-    aabb3f * m_boxes;

-    GUINT * m_maxcoords;//!<Upper corners of the boxes, in integer representation

-    GIM_RSORT_TOKEN * m_sorted_mincoords;//!< sorted min coords (lower corners), with their coord value as the m_key and m_value as the box index

-    char m_shared;//!< if m_shared == 0 then the memory is allocated and the set must be destroyed, else the pointers are shared and the set should't be destroyed

-};

-//typedef  struct _GIM_AABB_SET GIM_AABB_SET;

-

-//! Function for creating  an overlapping pair set

-#define GIM_CREATE_PAIR_SET(dynarray) GIM_DYNARRAY_CREATE(GIM_PAIR,dynarray,G_ARRAY_GROW_SIZE)

-//! Function for destroying an overlapping pair set

-#define GIM_DESTROY_PAIR_SET(dynarray) GIM_DYNARRAY_DESTROY(dynarray)

-

-//! Allocate memory for all aabb set.

-void gim_aabbset_alloc(GIM_AABB_SET * aabbset, GUINT count);

-

-//! Destroys the aabb set.

-void gim_aabbset_destroy(GIM_AABB_SET * aabbset);

-

-//! Calcs the global bound only

-/*!

-\pre aabbset must be allocated. And the boxes must be already set.

-*/

-void gim_aabbset_calc_global_bound(GIM_AABB_SET * aabbset);

-

-//! Sorts the boxes for box prunning.

-/*!

-1) find the integer representation of the aabb coords

-2) Sorts the min coords

-3) Calcs the global bound

-\pre aabbset must be allocated. And the boxes must be already set.

-\param aabbset

-\param calc_global_bound If 1 , calcs the global bound

-\post If aabbset->m_sorted_mincoords == 0, then it allocs the sorted coordinates

-*/

-void gim_aabbset_sort(GIM_AABB_SET * aabbset, char calc_global_bound);

-

-//! log(N) Complete box pruning. Returns a list of overlapping pairs of boxes, each box of the pair belongs to the same set.

-/*!

-\pre aabbset must be allocated and sorted, the boxes must be already set.

-\param aabbset Must be sorted. Global bound isn't required

-\param collision_pairs Array of GIM_PAIR elements. Must be initialized before (Reserve size ~ 100)

-*/

-void gim_aabbset_self_intersections_sorted(GIM_AABB_SET * aabbset, GDYNAMIC_ARRAY * collision_pairs);

-

-//! NxN Complete box pruning. Returns a list of overlapping pairs of boxes, each box of the pair belongs to the same set.

-/*!

-\pre aabbset must be allocated, the boxes must be already set.

-\param aabbset Global bound isn't required. Doen't need to be sorted.

-\param collision_pairs Array of GIM_PAIR elements. Must be initialized before (Reserve size ~ 100)

-*/

-void gim_aabbset_self_intersections_brute_force(GIM_AABB_SET * aabbset, GDYNAMIC_ARRAY * collision_pairs);

-

-//! log(N) Bipartite box pruning. Returns a list of overlapping pairs of boxes, each box of the pair belongs to a different set.

-/*!

-\pre aabbset1 and aabbset2 must be allocated and sorted, the boxes must be already set.

-\param aabbset1 Must be sorted, Global bound is required.

-\param aabbset2 Must be sorted, Global bound is required.

-\param collision_pairs Array of GIM_PAIR elements. Must be initialized before (Reserve size ~ 100)

-*/

-void gim_aabbset_bipartite_intersections_sorted(GIM_AABB_SET * aabbset1, GIM_AABB_SET * aabbset2, GDYNAMIC_ARRAY * collision_pairs);

-

-//! NxM Bipartite box pruning. Returns a list of overlapping pairs of boxes, each box of the pair belongs to a different set.

-/*!

-\pre aabbset1 and aabbset2 must be allocated and sorted, the boxes must be already set.

-\param aabbset1 Must be sorted, Global bound is required.

-\param aabbset2 Must be sorted, Global bound is required.

-\param collision_pairs Array of GIM_PAIR elements. Must be initialized before (Reserve size ~ 100)

-*/

-void gim_aabbset_bipartite_intersections_brute_force(GIM_AABB_SET * aabbset1,GIM_AABB_SET * aabbset2, GDYNAMIC_ARRAY * collision_pairs);

-

-

-/*

-                Brute-Force Vs Sorted pruning

-Different approaches must be applied when colliding sets with different number of

-elements. When sets have less of 100 boxes, is often better to apply force brute

-approach instead of sorted methods, because at lowlevel bruteforce routines gives

-better perormance and consumes less resources, due of their simplicity.

-But when sets are larger, the complexiity of bruteforce increases exponencially.

-In the case of large sets, sorted approach is applied. So GIMPACT has the following

-strategies:

-

-On Sorting sets:

-!) When sets have more of 140 boxes, the boxes are sorted by its coded min coord

-and the global box is calculated. But when sets are smaller (less of 140 boxes),

-Is convenient to apply brute force approach.

-

-*******************************************************************************/

-

-//! Constant for apply approaches between brute force and sorted pruning on bipartite queries

-#define GIM_MIN_SORTED_BIPARTITE_PRUNING_BOXES 600

-//! Constant for apply approaches between brute force and sorted pruning for box collision

-#define GIM_MIN_SORTED_PRUNING_BOXES 140

-

-

-//Use these functions for general initialization

-

-//! Initalizes the set. Sort Boxes if needed.

-/*!

-\pre aabbset must be allocated. And the boxes must be already set.

-\post If the set has less of GIM_MIN_SORTED_BIPARTITE_PRUNING_BOXES boxes, only calcs the global box,

- else it Sorts the entire set( Only applicable for large sets)

-*/

-void gim_aabbset_update(GIM_AABB_SET * aabbset);

-

-///Use these functions for general collision

-

-//! Complete box pruning. Returns a list of overlapping pairs of boxes, each box of the pair belongs to the same set.

-/*!

-This function sorts the set and then it calls to gim_aabbset_self_intersections_brute_force or gim_aabbset_self_intersections_sorted. This is an example of how to use this function:

-\code

-//Create contact list

-GDYNAMIC_ARRAY collision_pairs;

-GIM_CREATE_PAIR_SET(collision_pairs);

-//Do collision

-gim_aabbset_self_intersections(&aabbset,&collision_pairs);

-if(collision_pairs.m_size==0)

-{

-    GIM_DYNARRAY_DESTROY(collision_pairs);//

-    return; //no collisioin

-}

-

-//pair pointer

-GIM_PAIR *pairs = GIM_DYNARRAY_POINTER(GIM_PAIR,collision_pairs);

-GUINT i, ti1,ti2;

-for (i=0;i<collision_pairs.m_size; i++)

-{

-    ti1 = pairs[i].m_index1;

-    ti2 = pairs[i].m_index2;

-    //Do something with the pairs

-    ....

-    ....

-    ...

-

-}

-//Terminate

-GIM_DYNARRAY_DESTROY(dummycontacts);

-GIM_DYNARRAY_DESTROY(collision_pairs);

-\endcode

-\param aabbset Set of boxes. Sorting isn't required.

-\param collision_pairs Array of GIM_PAIR elements. Must be initialized before (Reserve size ~ 100)

-\pre aabbset must be allocated and initialized.

-\post If aabbset->m_count >= GIM_MIN_SORTED_PRUNING_BOXES, then it calls to gim_aabbset_sort and then to gim_aabbset_self_intersections_sorted. Global box won't be calculated.

-*/

-void gim_aabbset_self_intersections(GIM_AABB_SET * aabbset, GDYNAMIC_ARRAY * collision_pairs);

-

-//! Collides two sets. Returns a list of overlapping pairs of boxes, each box of the pair belongs to a different set.

-/*!

-\pre aabbset1 and aabbset2 must be allocated and updated. See gim_aabbset_update.

-\param aabbset1 Must be updated.

-\param aabbset2 Must be updated.

-\param collision_pairs Array of GIM_PAIR elements. Must be initialized before (Reserve size ~ 100)

-*/

-void gim_aabbset_bipartite_intersections(GIM_AABB_SET * aabbset1, GIM_AABB_SET * aabbset2, GDYNAMIC_ARRAY * collision_pairs);

-

-///Function for create Box collision result set

-

-#define GIM_CREATE_BOXQUERY_LIST(dynarray) GIM_DYNARRAY_CREATE(GUINT,dynarray,G_ARRAY_GROW_SIZE)

-

-//! Finds intersections between a box and a set. Return the colliding boxes of the set

-/*!

-\pre aabbset must be allocated and initialized.

-\param test_aabb Box for collision query

-\param aabbset Set of boxes .Global bound is required.

-\param collided Array of GUINT elements, indices of boxes. Must be initialized before (Reserve size ~ 100)

-*/

-void gim_aabbset_box_collision(aabb3f *test_aabb, GIM_AABB_SET * aabbset, GDYNAMIC_ARRAY * collided);

-

-//! Finds intersections between a box and a set. Return the colliding boxes of the set

-/*!

-\pre aabbset must be allocated and initialized.

-\param vorigin Origin point of ray.

-\param vdir Direction vector of ray.

-\param tmax Max distance param for ray.

-\param aabbset Set of boxes .Global bound is required.

-\param collided Array of GUINT elements, indices of boxes. Must be initialized before (Reserve size ~ 100)

-*/

-void gim_aabbset_ray_collision(vec3f vorigin,vec3f vdir, GREAL tmax, GIM_AABB_SET * aabbset, GDYNAMIC_ARRAY * collided);

-

-

-/*

-For sorting, each box corner must be discretized to a 32 bit integer.

-For this, we take the x and z coordinates from the box corner (a vector vec3f)

-Then convert the (x,z) pair to an integer. For convenience, we choose an error

-constant for converting the coordinates (0.05).

-*******************************************************************************/

-

-/**

- For fitting the coordinate to an integer, we need to constraint the range of its values. So each coord component (x, z) must lie between 0 and 65536.

- 20 give us a 0.05 floating point error

-*/

-#define ERROR_AABB 20.0f

-

-/**

-An error of 0.05 allows to make coordinates up to 1638.0f and no less of -1638.0f.

-So the maximum size of a room should be about 3276x3276 . Its dimensions must lie between  [-1638,1638.0f]

-*/

-#define MAX_AABB_SIZE 1638.0f

-

-//! Converts a vector coordinate to an integer for box sorting

-/*!

-\param vx X component

-\param vz Z component

-\param uint_key a GUINT

-*/

-#define GIM_CONVERT_VEC3F_GUINT_XZ(vx,vz,uint_key)\

-{\

-    GUINT _z = ((GUINT)(vz*ERROR_AABB))+32768;\

-    uint_key = ((GUINT)(vx*ERROR_AABB))+32768;\

-    uint_key = (uint_key<<16) + _z;\

-}\

-

-//! Converts a vector coordinate to an integer for box sorting,rounding to the upper int

-/*!

-\param vx X component

-\param vz Z component

-\param uint_key a GUINT

-*/

-#define GIM_CONVERT_VEC3F_GUINT_XZ_UPPER(vx,vz,uint_key)\

-{\

-    GUINT _z = ((GUINT)ceilf(vz*ERROR_AABB))+32768;\

-    uint_key = ((GUINT)ceilf(vx*ERROR_AABB))+32768;\

-    uint_key = (uint_key<<16) + _z;\

-}\

-

-

-//! Converts a vector coordinate to an integer for box sorting. Secure clamped

-/*!

-\param vx X component

-\param vz Z component

-\param uint_key a GUINT

-*/

-#define GIM_CONVERT_VEC3F_GUINT_XZ_CLAMPED(vx,vz,uint_key)\

-{\

-    GREAL _cx = CLAMP(vx,-MAX_AABB_SIZE,MAX_AABB_SIZE);\

-    GREAL _cz = CLAMP(vz,-MAX_AABB_SIZE,MAX_AABB_SIZE);\

-    GUINT _z = ((GUINT)(_cz*ERROR_AABB))+32768;\

-    uint_key = ((GUINT)(_cx*ERROR_AABB))+32768;\

-    uint_key = (uint_key<<16) + _z;\

-}\

-

-//! Converts a vector coordinate to an integer for box sorting. Secure clamped, rounded

-/*!

-\param vx X component

-\param vz Z component

-\param uint_key a GUINT

-*/

-#define GIM_CONVERT_VEC3F_GUINT_XZ_UPPER_CLAMPED(vx,vz,uint_key)\

-{\

-    GREAL _cx = CLAMP(vx,-MAX_AABB_SIZE,MAX_AABB_SIZE);\

-    GREAL _cz = CLAMP(vz,-MAX_AABB_SIZE,MAX_AABB_SIZE);\

-    GUINT _z = ((GUINT)ceilf(_cz*ERROR_AABB))+32768;\

-    uint_key = ((GUINT)ceilf(_cx*ERROR_AABB))+32768;\

-    uint_key = (uint_key<<16) + _z;\

-}\

-

-//! @}

-

-#endif // GIM_BOXPRUNING_H_INCLUDED

diff --git a/libraries/ode-0.9/GIMPACT/include/GIMPACT/gim_contact.h b/libraries/ode-0.9/GIMPACT/include/GIMPACT/gim_contact.h
deleted file mode 100644
index bad8f0f..0000000
--- a/libraries/ode-0.9/GIMPACT/include/GIMPACT/gim_contact.h
+++ /dev/null
@@ -1,115 +0,0 @@
-#ifndef GIM_CONTACT_H_INCLUDED

-#define GIM_CONTACT_H_INCLUDED

-

-/*! \file gim_contact.h

-\author Francisco León

-*/

-/*

------------------------------------------------------------------------------

-This source file is part of GIMPACT Library.

-

-For the latest info, see http://gimpact.sourceforge.net/

-

-Copyright (c) 2006 Francisco Leon. C.C. 80087371.

-email: projectileman@yahoo.com

-

- 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 GIMPACT-LICENSE-LGPL.TXT.

-   (2) The BSD-style license that is included with this library in

-       the file GIMPACT-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

- GIMPACT-LICENSE-LGPL.TXT and GIMPACT-LICENSE-BSD.TXT for more details.

-

------------------------------------------------------------------------------

-*/

-

-

-#include "GIMPACT/gim_geometry.h"

-#include "GIMPACT/gim_radixsort.h"

-

-/*! \defgroup CONTACTS

-\brief

-Functions for managing and sorting contacts resulting from a collision query.

-<ul>

-<li> Contact lists must be create by calling \ref GIM_CREATE_CONTACT_LIST

-<li> After querys, contact lists must be destroy by calling \ref GIM_DYNARRAY_DESTROY

-<li> Contacts can be merge for avoid duplicate results by calling \ref gim_merge_contacts

-</ul>

-

-*/

-//! @{

-/// Structure for collision results

-struct GIM_CONTACT

-{

-    vec3f m_point;

-    vec3f m_normal;

-    GREAL m_depth;//Positive value indicates interpenetration

-    void * m_handle1;

-    void * m_handle2;

-    GUINT m_feature1;//Face number

-    GUINT m_feature2;//Face number

-};

-//typedef struct _GIM_CONTACT GIM_CONTACT;

-

-#define CONTACT_DIFF_EPSILON 0.00001f

-

-#define GIM_CALC_KEY_CONTACT(pos,hash)\

-{\

-        GINT _coords[] = {(GINT)(pos[0]*1000.0f+1.0f),(GINT)(pos[1]*1333.0f),(GINT)(pos[2]*2133.0f+3.0f)};\

-        GUINT _hash=0;\

-        GUINT *_uitmp = (GUINT *)(&_coords[0]);\

-        _hash = *_uitmp;\

-        _uitmp++;\

-        _hash += (*_uitmp)<<4;\

-        _uitmp++;\

-        _hash += (*_uitmp)<<8;\

-        hash = _hash;\

-}\

-

-///Creates a contact list for queries

-#define GIM_CREATE_CONTACT_LIST(contact_array) GIM_DYNARRAY_CREATE(GIM_CONTACT,contact_array,100)

-

-#define GIM_PUSH_CONTACT(contact_array, point, normal, deep,handle1, handle2, feat1, feat2)\

-{\

-    GIM_DYNARRAY_PUSH_EMPTY(GIM_CONTACT,contact_array);\

-    GIM_CONTACT * _last = GIM_DYNARRAY_POINTER_LAST(GIM_CONTACT,contact_array);\

-    VEC_COPY(_last->m_point,point);\

-    VEC_COPY(_last->m_normal,normal);\

-    _last->m_depth = deep;\

-    _last->m_handle1 = handle1;\

-    _last->m_handle2 = handle2;\

-    _last->m_feature1 = feat1;\

-    _last->m_feature2 = feat2;\

-}\

-

-///Receive pointer to contacts

-#define GIM_COPY_CONTACTS(dest_contact, source_contact)\

-{\

-    VEC_COPY(dest_contact->m_point,source_contact->m_point);\

-    VEC_COPY(dest_contact->m_normal,source_contact->m_normal);\

-    dest_contact->m_depth = source_contact->m_depth;\

-    dest_contact->m_handle1 = source_contact->m_handle1;\

-    dest_contact->m_handle2 = source_contact->m_handle2;\

-    dest_contact->m_feature1 = source_contact->m_feature1;\

-    dest_contact->m_feature2 = source_contact->m_feature2;\

-}\

-

-//! Merges duplicate contacts with minimum depth criterion

-void gim_merge_contacts(GDYNAMIC_ARRAY * source_contacts,

-                                        GDYNAMIC_ARRAY * dest_contacts);

-

-

-//! Merges to an unique contact

-void gim_merge_contacts_unique(GDYNAMIC_ARRAY * source_contacts,

-                                        GDYNAMIC_ARRAY * dest_contacts);

-

-//! @}

-#endif // GIM_CONTACT_H_INCLUDED

diff --git a/libraries/ode-0.9/GIMPACT/include/GIMPACT/gim_geometry.h b/libraries/ode-0.9/GIMPACT/include/GIMPACT/gim_geometry.h
deleted file mode 100644
index 6d89a94..0000000
--- a/libraries/ode-0.9/GIMPACT/include/GIMPACT/gim_geometry.h
+++ /dev/null
@@ -1,1872 +0,0 @@
-#ifndef GIM_VECTOR_H_INCLUDED

-#define GIM_VECTOR_H_INCLUDED

-

-/*! \file gim_geometry.h

-\author Francisco León

-*/

-/*

------------------------------------------------------------------------------

-This source file is part of GIMPACT Library.

-

-For the latest info, see http://gimpact.sourceforge.net/

-

-Copyright (c) 2006 Francisco Leon. C.C. 80087371.

-email: projectileman@yahoo.com

-

- 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 GIMPACT-LICENSE-LGPL.TXT.

-   (2) The BSD-style license that is included with this library in

-       the file GIMPACT-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

- GIMPACT-LICENSE-LGPL.TXT and GIMPACT-LICENSE-BSD.TXT for more details.

-

------------------------------------------------------------------------------

-*/

-

-

-#include "GIMPACT/gim_math.h"

-

-/*! \defgroup GEOMETRIC_TYPES

-\brief

-Basic types and constants for geometry

-*/

-//! @{

-

-//! Integer vector 2D

-typedef GINT vec2i[2];

-//! Integer vector 3D

-typedef GINT vec3i[3];

-//! Integer vector 4D

-typedef GINT vec4i[4];

-

-//! Float vector 2D

-typedef GREAL vec2f[2];

-//! Float vector 3D

-typedef GREAL vec3f[3];

-//! Float vector 4D

-typedef GREAL vec4f[4];

-

-//! Matrix 2D, row ordered

-typedef GREAL mat2f[2][2];

-//! Matrix 3D, row ordered

-typedef GREAL mat3f[3][3];

-//! Matrix 4D, row ordered

-typedef GREAL mat4f[4][4];

-

-//! Quaternion

-typedef GREAL quatf[4];

-

-//! Axis aligned box

-struct aabb3f{

-    GREAL minX;

-    GREAL maxX;

-    GREAL minY;

-    GREAL maxY;

-    GREAL minZ;

-    GREAL maxZ;

-};

-//typedef struct _aabb3f aabb3f;

-//! @}

-

-

-/*! \defgroup VECTOR_OPERATIONS

-Operations for vectors : vec2f,vec3f and vec4f

-*/

-//! @{

-

-//! Zero out a 2D vector

-#define VEC_ZERO_2(a)                           \

-{                                               \

-   (a)[0] = (a)[1] = 0.0f;                      \

-}\

-

-

-//! Zero out a 3D vector

-#define VEC_ZERO(a)                             \

-{                                               \

-   (a)[0] = (a)[1] = (a)[2] = 0.0f;             \

-}\

-

-

-/// Zero out a 4D vector

-#define VEC_ZERO_4(a)                           \

-{                                               \

-   (a)[0] = (a)[1] = (a)[2] = (a)[3] = 0.0f;    \

-}\

-

-

-/// Vector copy

-#define VEC_COPY_2(b,a)                         \

-{                                               \

-   (b)[0] = (a)[0];                             \

-   (b)[1] = (a)[1];                             \

-}\

-

-

-/// Copy 3D vector

-#define VEC_COPY(b,a)                           \

-{                                               \

-   (b)[0] = (a)[0];                             \

-   (b)[1] = (a)[1];                             \

-   (b)[2] = (a)[2];                             \

-}\

-

-

-/// Copy 4D vector

-#define VEC_COPY_4(b,a)                         \

-{                                               \

-   (b)[0] = (a)[0];                             \

-   (b)[1] = (a)[1];                             \

-   (b)[2] = (a)[2];                             \

-   (b)[3] = (a)[3];                             \

-}\

-

-

-/// Vector difference

-#define VEC_DIFF_2(v21,v2,v1)                   \

-{                                               \

-   (v21)[0] = (v2)[0] - (v1)[0];                \

-   (v21)[1] = (v2)[1] - (v1)[1];                \

-}\

-

-

-/// Vector difference

-#define VEC_DIFF(v21,v2,v1)                     \

-{                                               \

-   (v21)[0] = (v2)[0] - (v1)[0];                \

-   (v21)[1] = (v2)[1] - (v1)[1];                \

-   (v21)[2] = (v2)[2] - (v1)[2];                \

-}\

-

-

-/// Vector difference

-#define VEC_DIFF_4(v21,v2,v1)                   \

-{                                               \

-   (v21)[0] = (v2)[0] - (v1)[0];                \

-   (v21)[1] = (v2)[1] - (v1)[1];                \

-   (v21)[2] = (v2)[2] - (v1)[2];                \

-   (v21)[3] = (v2)[3] - (v1)[3];                \

-}\

-

-

-/// Vector sum

-#define VEC_SUM_2(v21,v2,v1)                    \

-{                                               \

-   (v21)[0] = (v2)[0] + (v1)[0];                \

-   (v21)[1] = (v2)[1] + (v1)[1];                \

-}\

-

-

-/// Vector sum

-#define VEC_SUM(v21,v2,v1)                      \

-{                                               \

-   (v21)[0] = (v2)[0] + (v1)[0];                \

-   (v21)[1] = (v2)[1] + (v1)[1];                \

-   (v21)[2] = (v2)[2] + (v1)[2];                \

-}\

-

-

-/// Vector sum

-#define VEC_SUM_4(v21,v2,v1)                    \

-{                                               \

-   (v21)[0] = (v2)[0] + (v1)[0];                \

-   (v21)[1] = (v2)[1] + (v1)[1];                \

-   (v21)[2] = (v2)[2] + (v1)[2];                \

-   (v21)[3] = (v2)[3] + (v1)[3];                \

-}\

-

-

-/// scalar times vector

-#define VEC_SCALE_2(c,a,b)                      \

-{                                               \

-   (c)[0] = (a)*(b)[0];                         \

-   (c)[1] = (a)*(b)[1];                         \

-}\

-

-

-/// scalar times vector

-#define VEC_SCALE(c,a,b)                        \

-{                                               \

-   (c)[0] = (a)*(b)[0];                         \

-   (c)[1] = (a)*(b)[1];                         \

-   (c)[2] = (a)*(b)[2];                         \

-}\

-

-

-/// scalar times vector

-#define VEC_SCALE_4(c,a,b)                      \

-{                                               \

-   (c)[0] = (a)*(b)[0];                         \

-   (c)[1] = (a)*(b)[1];                         \

-   (c)[2] = (a)*(b)[2];                         \

-   (c)[3] = (a)*(b)[3];                         \

-}\

-

-

-/// accumulate scaled vector

-#define VEC_ACCUM_2(c,a,b)                      \

-{                                               \

-   (c)[0] += (a)*(b)[0];                        \

-   (c)[1] += (a)*(b)[1];                        \

-}\

-

-

-/// accumulate scaled vector

-#define VEC_ACCUM(c,a,b)                        \

-{                                               \

-   (c)[0] += (a)*(b)[0];                        \

-   (c)[1] += (a)*(b)[1];                        \

-   (c)[2] += (a)*(b)[2];                        \

-}\

-

-

-/// accumulate scaled vector

-#define VEC_ACCUM_4(c,a,b)                      \

-{                                               \

-   (c)[0] += (a)*(b)[0];                        \

-   (c)[1] += (a)*(b)[1];                        \

-   (c)[2] += (a)*(b)[2];                        \

-   (c)[3] += (a)*(b)[3];                        \

-}\

-

-

-/// Vector dot product

-#define VEC_DOT_2(a,b) ((a)[0]*(b)[0] + (a)[1]*(b)[1])

-

-

-/// Vector dot product

-#define VEC_DOT(a,b) ((a)[0]*(b)[0] + (a)[1]*(b)[1] + (a)[2]*(b)[2])

-

-/// Vector dot product

-#define VEC_DOT_4(a,b)  ((a)[0]*(b)[0] + (a)[1]*(b)[1] + (a)[2]*(b)[2] + (a)[3]*(b)[3])

-

-/// vector impact parameter (squared)

-#define VEC_IMPACT_SQ(bsq,direction,position) {\

-   GREAL _llel_ = VEC_DOT(direction, position);\

-   bsq = VEC_DOT(position, position) - _llel_*_llel_;\

-}\

-

-

-/// vector impact parameter

-#define VEC_IMPACT(bsq,direction,position)      {\

-   VEC_IMPACT_SQ(bsq,direction,position);               \

-   GIM_SQRT(bsq,bsq);                                   \

-}\

-

-/// Vector length

-#define VEC_LENGTH_2(a,l)\

-{\

-    GREAL _pp = VEC_DOT_2(a,a);\

-    GIM_SQRT(_pp,l);\

-}\

-

-

-/// Vector length

-#define VEC_LENGTH(a,l)\

-{\

-    GREAL _pp = VEC_DOT(a,a);\

-    GIM_SQRT(_pp,l);\

-}\

-

-

-/// Vector length

-#define VEC_LENGTH_4(a,l)\

-{\

-    GREAL _pp = VEC_DOT_4(a,a);\

-    GIM_SQRT(_pp,l);\

-}\

-

-/// Vector inv length

-#define VEC_INV_LENGTH_2(a,l)\

-{\

-    GREAL _pp = VEC_DOT_2(a,a);\

-    GIM_INV_SQRT(_pp,l);\

-}\

-

-

-/// Vector inv length

-#define VEC_INV_LENGTH(a,l)\

-{\

-    GREAL _pp = VEC_DOT(a,a);\

-    GIM_INV_SQRT(_pp,l);\

-}\

-

-

-/// Vector inv length

-#define VEC_INV_LENGTH_4(a,l)\

-{\

-    GREAL _pp = VEC_DOT_4(a,a);\

-    GIM_INV_SQRT(_pp,l);\

-}\

-

-

-

-/// distance between two points

-#define VEC_DISTANCE(_len,_va,_vb) {\

-    vec3f _tmp_;                                \

-    VEC_DIFF(_tmp_, _vb, _va);                  \

-    VEC_LENGTH(_tmp_,_len);                     \

-}\

-

-

-/// Vector length

-#define VEC_CONJUGATE_LENGTH(a,l)\

-{\

-    GREAL _pp = 1.0 - a[0]*a[0] - a[1]*a[1] - a[2]*a[2];\

-    GIM_SQRT(_pp,l);\

-}\

-

-

-/// Vector length

-#define VEC_NORMALIZE(a) {      \

-    GREAL len;\

-    VEC_INV_LENGTH(a,len); \

-    if(len<G_REAL_INFINITY)\

-    {\

-        a[0] *= len;                            \

-        a[1] *= len;                            \

-        a[2] *= len;                            \

-    }                                           \

-}\

-

-/// Set Vector size

-#define VEC_RENORMALIZE(a,newlen) {     \

-    GREAL len;\

-    VEC_INV_LENGTH(a,len); \

-    if(len<G_REAL_INFINITY)\

-    {\

-        len *= newlen;\

-        a[0] *= len;                            \

-        a[1] *= len;                            \

-        a[2] *= len;                            \

-    }                                           \

-}\

-

-/// Vector cross

-#define VEC_CROSS(c,a,b)                \

-{                                               \

-   c[0] = (a)[1] * (b)[2] - (a)[2] * (b)[1];    \

-   c[1] = (a)[2] * (b)[0] - (a)[0] * (b)[2];    \

-   c[2] = (a)[0] * (b)[1] - (a)[1] * (b)[0];    \

-}\

-

-

-/*! Vector perp -- assumes that n is of unit length

- * accepts vector v, subtracts out any component parallel to n */

-#define VEC_PERPENDICULAR(vp,v,n)                       \

-{                                               \

-   GREAL dot = VEC_DOT(v, n);                   \

-   vp[0] = (v)[0] - dot*(n)[0];         \

-   vp[1] = (v)[1] - dot*(n)[1];         \

-   vp[2] = (v)[2] - dot*(n)[2];         \

-}\

-

-

-/*! Vector parallel -- assumes that n is of unit length */

-#define VEC_PARALLEL(vp,v,n)                    \

-{                                               \

-   GREAL dot = VEC_DOT(v, n);                   \

-   vp[0] = (dot) * (n)[0];                      \

-   vp[1] = (dot) * (n)[1];                      \

-   vp[2] = (dot) * (n)[2];                      \

-}\

-

-/*! Same as Vector parallel --  n can have any length

- * accepts vector v, subtracts out any component perpendicular to n */

-#define VEC_PROJECT(vp,v,n)                     \

-{ \

-        GREAL scalar = VEC_DOT(v, n);                   \

-        scalar/= VEC_DOT(n, n); \

-        vp[0] = (scalar) * (n)[0];                      \

-    vp[1] = (scalar) * (n)[1];                  \

-    vp[2] = (scalar) * (n)[2];                  \

-}\

-

-

-/*! accepts vector v*/

-#define VEC_UNPROJECT(vp,v,n)                   \

-{ \

-        GREAL scalar = VEC_DOT(v, n);                   \

-        scalar = VEC_DOT(n, n)/scalar; \

-        vp[0] = (scalar) * (n)[0];                      \

-    vp[1] = (scalar) * (n)[1];                  \

-    vp[2] = (scalar) * (n)[2];                  \

-}\

-

-

-/*! Vector reflection -- assumes n is of unit length

- Takes vector v, reflects it against reflector n, and returns vr */

-#define VEC_REFLECT(vr,v,n)                     \

-{                                               \

-   GREAL dot = VEC_DOT(v, n);                   \

-   vr[0] = (v)[0] - 2.0 * (dot) * (n)[0];       \

-   vr[1] = (v)[1] - 2.0 * (dot) * (n)[1];       \

-   vr[2] = (v)[2] - 2.0 * (dot) * (n)[2];       \

-}\

-

-

-/*! Vector blending

-Takes two vectors a, b, blends them together with two scalars */

-#define VEC_BLEND_AB(vr,sa,a,sb,b)                      \

-{                                               \

-   vr[0] = (sa) * (a)[0] + (sb) * (b)[0];       \

-   vr[1] = (sa) * (a)[1] + (sb) * (b)[1];       \

-   vr[2] = (sa) * (a)[2] + (sb) * (b)[2];       \

-}\

-

-/*! Vector blending

-Takes two vectors a, b, blends them together with s <=1 */

-#define VEC_BLEND(vr,a,b,s)     VEC_BLEND_AB(vr,1-s,a,sb,s)

-

-#define VEC_SET3(a,b,op,c) a[0]=b[0] op c[0]; a[1]=b[1] op c[1]; a[2]=b[2] op c[2];

-//! @}

-

-

-/*! \defgroup MATRIX_OPERATIONS

-Operations for matrices : mat2f, mat3f and mat4f

-*/

-//! @{

-

-/// initialize matrix

-#define IDENTIFY_MATRIX_3X3(m)                  \

-{                                               \

-   m[0][0] = 1.0;                               \

-   m[0][1] = 0.0;                               \

-   m[0][2] = 0.0;                               \

-                                                \

-   m[1][0] = 0.0;                               \

-   m[1][1] = 1.0;                               \

-   m[1][2] = 0.0;                               \

-                                                \

-   m[2][0] = 0.0;                               \

-   m[2][1] = 0.0;                               \

-   m[2][2] = 1.0;                               \

-}\

-

-/*! initialize matrix */

-#define IDENTIFY_MATRIX_4X4(m)                  \

-{                                               \

-   m[0][0] = 1.0;                               \

-   m[0][1] = 0.0;                               \

-   m[0][2] = 0.0;                               \

-   m[0][3] = 0.0;                               \

-                                                \

-   m[1][0] = 0.0;                               \

-   m[1][1] = 1.0;                               \

-   m[1][2] = 0.0;                               \

-   m[1][3] = 0.0;                               \

-                                                \

-   m[2][0] = 0.0;                               \

-   m[2][1] = 0.0;                               \

-   m[2][2] = 1.0;                               \

-   m[2][3] = 0.0;                               \

-                                                \

-   m[3][0] = 0.0;                               \

-   m[3][1] = 0.0;                               \

-   m[3][2] = 0.0;                               \

-   m[3][3] = 1.0;                               \

-}\

-

-/*! initialize matrix */

-#define ZERO_MATRIX_4X4(m)                      \

-{                                               \

-   m[0][0] = 0.0;                               \

-   m[0][1] = 0.0;                               \

-   m[0][2] = 0.0;                               \

-   m[0][3] = 0.0;                               \

-                                                \

-   m[1][0] = 0.0;                               \

-   m[1][1] = 0.0;                               \

-   m[1][2] = 0.0;                               \

-   m[1][3] = 0.0;                               \

-                                                \

-   m[2][0] = 0.0;                               \

-   m[2][1] = 0.0;                               \

-   m[2][2] = 0.0;                               \

-   m[2][3] = 0.0;                               \

-                                                \

-   m[3][0] = 0.0;                               \

-   m[3][1] = 0.0;                               \

-   m[3][2] = 0.0;                               \

-   m[3][3] = 0.0;                               \

-}\

-

-/*! matrix rotation  X */

-#define ROTX_CS(m,cosine,sine)          \

-{                                       \

-   /* rotation about the x-axis */      \

-                                        \

-   m[0][0] = 1.0;                       \

-   m[0][1] = 0.0;                       \

-   m[0][2] = 0.0;                       \

-   m[0][3] = 0.0;                       \

-                                        \

-   m[1][0] = 0.0;                       \

-   m[1][1] = (cosine);                  \

-   m[1][2] = (sine);                    \

-   m[1][3] = 0.0;                       \

-                                        \

-   m[2][0] = 0.0;                       \

-   m[2][1] = -(sine);                   \

-   m[2][2] = (cosine);                  \

-   m[2][3] = 0.0;                       \

-                                        \

-   m[3][0] = 0.0;                       \

-   m[3][1] = 0.0;                       \

-   m[3][2] = 0.0;                       \

-   m[3][3] = 1.0;                       \

-}\

-

-/*! matrix rotation  Y */

-#define ROTY_CS(m,cosine,sine)          \

-{                                       \

-   /* rotation about the y-axis */      \

-                                        \

-   m[0][0] = (cosine);                  \

-   m[0][1] = 0.0;                       \

-   m[0][2] = -(sine);                   \

-   m[0][3] = 0.0;                       \

-                                        \

-   m[1][0] = 0.0;                       \

-   m[1][1] = 1.0;                       \

-   m[1][2] = 0.0;                       \

-   m[1][3] = 0.0;                       \

-                                        \

-   m[2][0] = (sine);                    \

-   m[2][1] = 0.0;                       \

-   m[2][2] = (cosine);                  \

-   m[2][3] = 0.0;                       \

-                                        \

-   m[3][0] = 0.0;                       \

-   m[3][1] = 0.0;                       \

-   m[3][2] = 0.0;                       \

-   m[3][3] = 1.0;                       \

-}\

-

-/*! matrix rotation  Z */

-#define ROTZ_CS(m,cosine,sine)          \

-{                                       \

-   /* rotation about the z-axis */      \

-                                        \

-   m[0][0] = (cosine);                  \

-   m[0][1] = (sine);                    \

-   m[0][2] = 0.0;                       \

-   m[0][3] = 0.0;                       \

-                                        \

-   m[1][0] = -(sine);                   \

-   m[1][1] = (cosine);                  \

-   m[1][2] = 0.0;                       \

-   m[1][3] = 0.0;                       \

-                                        \

-   m[2][0] = 0.0;                       \

-   m[2][1] = 0.0;                       \

-   m[2][2] = 1.0;                       \

-   m[2][3] = 0.0;                       \

-                                        \

-   m[3][0] = 0.0;                       \

-   m[3][1] = 0.0;                       \

-   m[3][2] = 0.0;                       \

-   m[3][3] = 1.0;                       \

-}\

-

-/*! matrix copy */

-#define COPY_MATRIX_2X2(b,a)    \

-{                               \

-   b[0][0] = a[0][0];           \

-   b[0][1] = a[0][1];           \

-                                \

-   b[1][0] = a[1][0];           \

-   b[1][1] = a[1][1];           \

-                                \

-}\

-

-

-/*! matrix copy */

-#define COPY_MATRIX_2X3(b,a)    \

-{                               \

-   b[0][0] = a[0][0];           \

-   b[0][1] = a[0][1];           \

-   b[0][2] = a[0][2];           \

-                                \

-   b[1][0] = a[1][0];           \

-   b[1][1] = a[1][1];           \

-   b[1][2] = a[1][2];           \

-}\

-

-

-/*! matrix copy */

-#define COPY_MATRIX_3X3(b,a)    \

-{                               \

-   b[0][0] = a[0][0];           \

-   b[0][1] = a[0][1];           \

-   b[0][2] = a[0][2];           \

-                                \

-   b[1][0] = a[1][0];           \

-   b[1][1] = a[1][1];           \

-   b[1][2] = a[1][2];           \

-                                \

-   b[2][0] = a[2][0];           \

-   b[2][1] = a[2][1];           \

-   b[2][2] = a[2][2];           \

-}\

-

-

-/*! matrix copy */

-#define COPY_MATRIX_4X4(b,a)    \

-{                               \

-   b[0][0] = a[0][0];           \

-   b[0][1] = a[0][1];           \

-   b[0][2] = a[0][2];           \

-   b[0][3] = a[0][3];           \

-                                \

-   b[1][0] = a[1][0];           \

-   b[1][1] = a[1][1];           \

-   b[1][2] = a[1][2];           \

-   b[1][3] = a[1][3];           \

-                                \

-   b[2][0] = a[2][0];           \

-   b[2][1] = a[2][1];           \

-   b[2][2] = a[2][2];           \

-   b[2][3] = a[2][3];           \

-                                \

-   b[3][0] = a[3][0];           \

-   b[3][1] = a[3][1];           \

-   b[3][2] = a[3][2];           \

-   b[3][3] = a[3][3];           \

-}\

-

-

-/*! matrix transpose */

-#define TRANSPOSE_MATRIX_2X2(b,a)       \

-{                               \

-   b[0][0] = a[0][0];           \

-   b[0][1] = a[1][0];           \

-                                \

-   b[1][0] = a[0][1];           \

-   b[1][1] = a[1][1];           \

-}\

-

-

-/*! matrix transpose */

-#define TRANSPOSE_MATRIX_3X3(b,a)       \

-{                               \

-   b[0][0] = a[0][0];           \

-   b[0][1] = a[1][0];           \

-   b[0][2] = a[2][0];           \

-                                \

-   b[1][0] = a[0][1];           \

-   b[1][1] = a[1][1];           \

-   b[1][2] = a[2][1];           \

-                                \

-   b[2][0] = a[0][2];           \

-   b[2][1] = a[1][2];           \

-   b[2][2] = a[2][2];           \

-}\

-

-

-/*! matrix transpose */

-#define TRANSPOSE_MATRIX_4X4(b,a)       \

-{                               \

-   b[0][0] = a[0][0];           \

-   b[0][1] = a[1][0];           \

-   b[0][2] = a[2][0];           \

-   b[0][3] = a[3][0];           \

-                                \

-   b[1][0] = a[0][1];           \

-   b[1][1] = a[1][1];           \

-   b[1][2] = a[2][1];           \

-   b[1][3] = a[3][1];           \

-                                \

-   b[2][0] = a[0][2];           \

-   b[2][1] = a[1][2];           \

-   b[2][2] = a[2][2];           \

-   b[2][3] = a[3][2];           \

-                                \

-   b[3][0] = a[0][3];           \

-   b[3][1] = a[1][3];           \

-   b[3][2] = a[2][3];           \

-   b[3][3] = a[3][3];           \

-}\

-

-

-/*! multiply matrix by scalar */

-#define SCALE_MATRIX_2X2(b,s,a)         \

-{                                       \

-   b[0][0] = (s) * a[0][0];             \

-   b[0][1] = (s) * a[0][1];             \

-                                        \

-   b[1][0] = (s) * a[1][0];             \

-   b[1][1] = (s) * a[1][1];             \

-}\

-

-

-/*! multiply matrix by scalar */

-#define SCALE_MATRIX_3X3(b,s,a)         \

-{                                       \

-   b[0][0] = (s) * a[0][0];             \

-   b[0][1] = (s) * a[0][1];             \

-   b[0][2] = (s) * a[0][2];             \

-                                        \

-   b[1][0] = (s) * a[1][0];             \

-   b[1][1] = (s) * a[1][1];             \

-   b[1][2] = (s) * a[1][2];             \

-                                        \

-   b[2][0] = (s) * a[2][0];             \

-   b[2][1] = (s) * a[2][1];             \

-   b[2][2] = (s) * a[2][2];             \

-}\

-

-

-/*! multiply matrix by scalar */

-#define SCALE_MATRIX_4X4(b,s,a)         \

-{                                       \

-   b[0][0] = (s) * a[0][0];             \

-   b[0][1] = (s) * a[0][1];             \

-   b[0][2] = (s) * a[0][2];             \

-   b[0][3] = (s) * a[0][3];             \

-                                        \

-   b[1][0] = (s) * a[1][0];             \

-   b[1][1] = (s) * a[1][1];             \

-   b[1][2] = (s) * a[1][2];             \

-   b[1][3] = (s) * a[1][3];             \

-                                        \

-   b[2][0] = (s) * a[2][0];             \

-   b[2][1] = (s) * a[2][1];             \

-   b[2][2] = (s) * a[2][2];             \

-   b[2][3] = (s) * a[2][3];             \

-                                        \

-   b[3][0] = s * a[3][0];               \

-   b[3][1] = s * a[3][1];               \

-   b[3][2] = s * a[3][2];               \

-   b[3][3] = s * a[3][3];               \

-}\

-

-

-/*! multiply matrix by scalar */

-#define ACCUM_SCALE_MATRIX_2X2(b,s,a)           \

-{                                       \

-   b[0][0] += (s) * a[0][0];            \

-   b[0][1] += (s) * a[0][1];            \

-                                        \

-   b[1][0] += (s) * a[1][0];            \

-   b[1][1] += (s) * a[1][1];            \

-}\

-

-

-/*! multiply matrix by scalar */

-#define ACCUM_SCALE_MATRIX_3X3(b,s,a)           \

-{                                       \

-   b[0][0] += (s) * a[0][0];            \

-   b[0][1] += (s) * a[0][1];            \

-   b[0][2] += (s) * a[0][2];            \

-                                        \

-   b[1][0] += (s) * a[1][0];            \

-   b[1][1] += (s) * a[1][1];            \

-   b[1][2] += (s) * a[1][2];            \

-                                        \

-   b[2][0] += (s) * a[2][0];            \

-   b[2][1] += (s) * a[2][1];            \

-   b[2][2] += (s) * a[2][2];            \

-}\

-

-

-/*! multiply matrix by scalar */

-#define ACCUM_SCALE_MATRIX_4X4(b,s,a)           \

-{                                       \

-   b[0][0] += (s) * a[0][0];            \

-   b[0][1] += (s) * a[0][1];            \

-   b[0][2] += (s) * a[0][2];            \

-   b[0][3] += (s) * a[0][3];            \

-                                        \

-   b[1][0] += (s) * a[1][0];            \

-   b[1][1] += (s) * a[1][1];            \

-   b[1][2] += (s) * a[1][2];            \

-   b[1][3] += (s) * a[1][3];            \

-                                        \

-   b[2][0] += (s) * a[2][0];            \

-   b[2][1] += (s) * a[2][1];            \

-   b[2][2] += (s) * a[2][2];            \

-   b[2][3] += (s) * a[2][3];            \

-                                        \

-   b[3][0] += (s) * a[3][0];            \

-   b[3][1] += (s) * a[3][1];            \

-   b[3][2] += (s) * a[3][2];            \

-   b[3][3] += (s) * a[3][3];            \

-}\

-

-/*! matrix product */

-/*! c[x][y] = a[x][0]*b[0][y]+a[x][1]*b[1][y]+a[x][2]*b[2][y]+a[x][3]*b[3][y];*/

-#define MATRIX_PRODUCT_2X2(c,a,b)               \

-{                                               \

-   c[0][0] = a[0][0]*b[0][0]+a[0][1]*b[1][0];   \

-   c[0][1] = a[0][0]*b[0][1]+a[0][1]*b[1][1];   \

-                                                \

-   c[1][0] = a[1][0]*b[0][0]+a[1][1]*b[1][0];   \

-   c[1][1] = a[1][0]*b[0][1]+a[1][1]*b[1][1];   \

-                                                \

-}\

-

-/*! matrix product */

-/*! c[x][y] = a[x][0]*b[0][y]+a[x][1]*b[1][y]+a[x][2]*b[2][y]+a[x][3]*b[3][y];*/

-#define MATRIX_PRODUCT_3X3(c,a,b)                               \

-{                                                               \

-   c[0][0] = a[0][0]*b[0][0]+a[0][1]*b[1][0]+a[0][2]*b[2][0];   \

-   c[0][1] = a[0][0]*b[0][1]+a[0][1]*b[1][1]+a[0][2]*b[2][1];   \

-   c[0][2] = a[0][0]*b[0][2]+a[0][1]*b[1][2]+a[0][2]*b[2][2];   \

-                                                                \

-   c[1][0] = a[1][0]*b[0][0]+a[1][1]*b[1][0]+a[1][2]*b[2][0];   \

-   c[1][1] = a[1][0]*b[0][1]+a[1][1]*b[1][1]+a[1][2]*b[2][1];   \

-   c[1][2] = a[1][0]*b[0][2]+a[1][1]*b[1][2]+a[1][2]*b[2][2];   \

-                                                                \

-   c[2][0] = a[2][0]*b[0][0]+a[2][1]*b[1][0]+a[2][2]*b[2][0];   \

-   c[2][1] = a[2][0]*b[0][1]+a[2][1]*b[1][1]+a[2][2]*b[2][1];   \

-   c[2][2] = a[2][0]*b[0][2]+a[2][1]*b[1][2]+a[2][2]*b[2][2];   \

-}\

-

-

-/*! matrix product */

-/*! c[x][y] = a[x][0]*b[0][y]+a[x][1]*b[1][y]+a[x][2]*b[2][y]+a[x][3]*b[3][y];*/

-#define MATRIX_PRODUCT_4X4(c,a,b)               \

-{                                               \

-   c[0][0] = a[0][0]*b[0][0]+a[0][1]*b[1][0]+a[0][2]*b[2][0]+a[0][3]*b[3][0];\

-   c[0][1] = a[0][0]*b[0][1]+a[0][1]*b[1][1]+a[0][2]*b[2][1]+a[0][3]*b[3][1];\

-   c[0][2] = a[0][0]*b[0][2]+a[0][1]*b[1][2]+a[0][2]*b[2][2]+a[0][3]*b[3][2];\

-   c[0][3] = a[0][0]*b[0][3]+a[0][1]*b[1][3]+a[0][2]*b[2][3]+a[0][3]*b[3][3];\

-                                                \

-   c[1][0] = a[1][0]*b[0][0]+a[1][1]*b[1][0]+a[1][2]*b[2][0]+a[1][3]*b[3][0];\

-   c[1][1] = a[1][0]*b[0][1]+a[1][1]*b[1][1]+a[1][2]*b[2][1]+a[1][3]*b[3][1];\

-   c[1][2] = a[1][0]*b[0][2]+a[1][1]*b[1][2]+a[1][2]*b[2][2]+a[1][3]*b[3][2];\

-   c[1][3] = a[1][0]*b[0][3]+a[1][1]*b[1][3]+a[1][2]*b[2][3]+a[1][3]*b[3][3];\

-                                                \

-   c[2][0] = a[2][0]*b[0][0]+a[2][1]*b[1][0]+a[2][2]*b[2][0]+a[2][3]*b[3][0];\

-   c[2][1] = a[2][0]*b[0][1]+a[2][1]*b[1][1]+a[2][2]*b[2][1]+a[2][3]*b[3][1];\

-   c[2][2] = a[2][0]*b[0][2]+a[2][1]*b[1][2]+a[2][2]*b[2][2]+a[2][3]*b[3][2];\

-   c[2][3] = a[2][0]*b[0][3]+a[2][1]*b[1][3]+a[2][2]*b[2][3]+a[2][3]*b[3][3];\

-                                                \

-   c[3][0] = a[3][0]*b[0][0]+a[3][1]*b[1][0]+a[3][2]*b[2][0]+a[3][3]*b[3][0];\

-   c[3][1] = a[3][0]*b[0][1]+a[3][1]*b[1][1]+a[3][2]*b[2][1]+a[3][3]*b[3][1];\

-   c[3][2] = a[3][0]*b[0][2]+a[3][1]*b[1][2]+a[3][2]*b[2][2]+a[3][3]*b[3][2];\

-   c[3][3] = a[3][0]*b[0][3]+a[3][1]*b[1][3]+a[3][2]*b[2][3]+a[3][3]*b[3][3];\

-}\

-

-

-/*! matrix times vector */

-#define MAT_DOT_VEC_2X2(p,m,v)                                  \

-{                                                               \

-   p[0] = m[0][0]*v[0] + m[0][1]*v[1];                          \

-   p[1] = m[1][0]*v[0] + m[1][1]*v[1];                          \

-}\

-

-

-/*! matrix times vector */

-#define MAT_DOT_VEC_3X3(p,m,v)                                  \

-{                                                               \

-   p[0] = m[0][0]*v[0] + m[0][1]*v[1] + m[0][2]*v[2];           \

-   p[1] = m[1][0]*v[0] + m[1][1]*v[1] + m[1][2]*v[2];           \

-   p[2] = m[2][0]*v[0] + m[2][1]*v[1] + m[2][2]*v[2];           \

-}\

-

-

-/*! matrix times vector

-v is a vec4f

-*/

-#define MAT_DOT_VEC_4X4(p,m,v)                                  \

-{                                                               \

-   p[0] = m[0][0]*v[0] + m[0][1]*v[1] + m[0][2]*v[2] + m[0][3]*v[3];    \

-   p[1] = m[1][0]*v[0] + m[1][1]*v[1] + m[1][2]*v[2] + m[1][3]*v[3];    \

-   p[2] = m[2][0]*v[0] + m[2][1]*v[1] + m[2][2]*v[2] + m[2][3]*v[3];    \

-   p[3] = m[3][0]*v[0] + m[3][1]*v[1] + m[3][2]*v[2] + m[3][3]*v[3];    \

-}\

-

-/*! matrix times vector

-v is a vec3f

-and m is a mat4f<br>

-Last column is added as the position

-*/

-#define MAT_DOT_VEC_3X4(p,m,v)                                  \

-{                                                               \

-   p[0] = m[0][0]*v[0] + m[0][1]*v[1] + m[0][2]*v[2] + m[0][3]; \

-   p[1] = m[1][0]*v[0] + m[1][1]*v[1] + m[1][2]*v[2] + m[1][3]; \

-   p[2] = m[2][0]*v[0] + m[2][1]*v[1] + m[2][2]*v[2] + m[2][3]; \

-}\

-

-/*! vector transpose times matrix */

-/*! p[j] = v[0]*m[0][j] + v[1]*m[1][j] + v[2]*m[2][j]; */

-#define VEC_DOT_MAT_3X3(p,v,m)                                  \

-{                                                               \

-   p[0] = v[0]*m[0][0] + v[1]*m[1][0] + v[2]*m[2][0];           \

-   p[1] = v[0]*m[0][1] + v[1]*m[1][1] + v[2]*m[2][1];           \

-   p[2] = v[0]*m[0][2] + v[1]*m[1][2] + v[2]*m[2][2];           \

-}\

-

-

-/*! affine matrix times vector */

-/** The matrix is assumed to be an affine matrix, with last two

- * entries representing a translation */

-#define MAT_DOT_VEC_2X3(p,m,v)                                  \

-{                                                               \

-   p[0] = m[0][0]*v[0] + m[0][1]*v[1] + m[0][2];                \

-   p[1] = m[1][0]*v[0] + m[1][1]*v[1] + m[1][2];                \

-}\

-

-

-/** inverse transpose of matrix times vector

- *

- * This macro computes inverse transpose of matrix m,

- * and multiplies vector v into it, to yeild vector p

- *

- * DANGER !!! Do Not use this on normal vectors!!!

- * It will leave normals the wrong length !!!

- * See macro below for use on normals.

- */

-#define INV_TRANSP_MAT_DOT_VEC_2X2(p,m,v)                       \

-{                                                               \

-   GREAL det;                                           \

-                                                                \

-   det = m[0][0]*m[1][1] - m[0][1]*m[1][0];                     \

-   p[0] = m[1][1]*v[0] - m[1][0]*v[1];                          \

-   p[1] = - m[0][1]*v[0] + m[0][0]*v[1];                        \

-                                                                \

-   /* if matrix not singular, and not orthonormal, then renormalize */ \

-   if ((det!=1.0f) && (det != 0.0f)) {                          \

-      det = 1.0f / det;                                         \

-      p[0] *= det;                                              \

-      p[1] *= det;                                              \

-   }                                                            \

-}\

-

-

-/** transform normal vector by inverse transpose of matrix

- * and then renormalize the vector

- *

- * This macro computes inverse transpose of matrix m,

- * and multiplies vector v into it, to yeild vector p

- * Vector p is then normalized.

- */

-#define NORM_XFORM_2X2(p,m,v)                                   \

-{                                                               \

-   double len;                                                  \

-                                                                \

-   /* do nothing if off-diagonals are zero and diagonals are    \

-    * equal */                                                  \

-   if ((m[0][1] != 0.0) || (m[1][0] != 0.0) || (m[0][0] != m[1][1])) { \

-      p[0] = m[1][1]*v[0] - m[1][0]*v[1];                       \

-      p[1] = - m[0][1]*v[0] + m[0][0]*v[1];                     \

-                                                                \

-      len = p[0]*p[0] + p[1]*p[1];                              \

-      GIM_INV_SQRT(len,len);                                    \

-      p[0] *= len;                                              \

-      p[1] *= len;                                              \

-   } else {                                                     \

-      VEC_COPY_2 (p, v);                                        \

-   }                                                            \

-}\

-

-

-/** outer product of vector times vector transpose

- *

- * The outer product of vector v and vector transpose t yeilds

- * dyadic matrix m.

- */

-#define OUTER_PRODUCT_2X2(m,v,t)                                \

-{                                                               \

-   m[0][0] = v[0] * t[0];                                       \

-   m[0][1] = v[0] * t[1];                                       \

-                                                                \

-   m[1][0] = v[1] * t[0];                                       \

-   m[1][1] = v[1] * t[1];                                       \

-}\

-

-

-/** outer product of vector times vector transpose

- *

- * The outer product of vector v and vector transpose t yeilds

- * dyadic matrix m.

- */

-#define OUTER_PRODUCT_3X3(m,v,t)                                \

-{                                                               \

-   m[0][0] = v[0] * t[0];                                       \

-   m[0][1] = v[0] * t[1];                                       \

-   m[0][2] = v[0] * t[2];                                       \

-                                                                \

-   m[1][0] = v[1] * t[0];                                       \

-   m[1][1] = v[1] * t[1];                                       \

-   m[1][2] = v[1] * t[2];                                       \

-                                                                \

-   m[2][0] = v[2] * t[0];                                       \

-   m[2][1] = v[2] * t[1];                                       \

-   m[2][2] = v[2] * t[2];                                       \

-}\

-

-

-/** outer product of vector times vector transpose

- *

- * The outer product of vector v and vector transpose t yeilds

- * dyadic matrix m.

- */

-#define OUTER_PRODUCT_4X4(m,v,t)                                \

-{                                                               \

-   m[0][0] = v[0] * t[0];                                       \

-   m[0][1] = v[0] * t[1];                                       \

-   m[0][2] = v[0] * t[2];                                       \

-   m[0][3] = v[0] * t[3];                                       \

-                                                                \

-   m[1][0] = v[1] * t[0];                                       \

-   m[1][1] = v[1] * t[1];                                       \

-   m[1][2] = v[1] * t[2];                                       \

-   m[1][3] = v[1] * t[3];                                       \

-                                                                \

-   m[2][0] = v[2] * t[0];                                       \

-   m[2][1] = v[2] * t[1];                                       \

-   m[2][2] = v[2] * t[2];                                       \

-   m[2][3] = v[2] * t[3];                                       \

-                                                                \

-   m[3][0] = v[3] * t[0];                                       \

-   m[3][1] = v[3] * t[1];                                       \

-   m[3][2] = v[3] * t[2];                                       \

-   m[3][3] = v[3] * t[3];                                       \

-}\

-

-

-/** outer product of vector times vector transpose

- *

- * The outer product of vector v and vector transpose t yeilds

- * dyadic matrix m.

- */

-#define ACCUM_OUTER_PRODUCT_2X2(m,v,t)                          \

-{                                                               \

-   m[0][0] += v[0] * t[0];                                      \

-   m[0][1] += v[0] * t[1];                                      \

-                                                                \

-   m[1][0] += v[1] * t[0];                                      \

-   m[1][1] += v[1] * t[1];                                      \

-}\

-

-

-/** outer product of vector times vector transpose

- *

- * The outer product of vector v and vector transpose t yeilds

- * dyadic matrix m.

- */

-#define ACCUM_OUTER_PRODUCT_3X3(m,v,t)                          \

-{                                                               \

-   m[0][0] += v[0] * t[0];                                      \

-   m[0][1] += v[0] * t[1];                                      \

-   m[0][2] += v[0] * t[2];                                      \

-                                                                \

-   m[1][0] += v[1] * t[0];                                      \

-   m[1][1] += v[1] * t[1];                                      \

-   m[1][2] += v[1] * t[2];                                      \

-                                                                \

-   m[2][0] += v[2] * t[0];                                      \

-   m[2][1] += v[2] * t[1];                                      \

-   m[2][2] += v[2] * t[2];                                      \

-}\

-

-

-/** outer product of vector times vector transpose

- *

- * The outer product of vector v and vector transpose t yeilds

- * dyadic matrix m.

- */

-#define ACCUM_OUTER_PRODUCT_4X4(m,v,t)                          \

-{                                                               \

-   m[0][0] += v[0] * t[0];                                      \

-   m[0][1] += v[0] * t[1];                                      \

-   m[0][2] += v[0] * t[2];                                      \

-   m[0][3] += v[0] * t[3];                                      \

-                                                                \

-   m[1][0] += v[1] * t[0];                                      \

-   m[1][1] += v[1] * t[1];                                      \

-   m[1][2] += v[1] * t[2];                                      \

-   m[1][3] += v[1] * t[3];                                      \

-                                                                \

-   m[2][0] += v[2] * t[0];                                      \

-   m[2][1] += v[2] * t[1];                                      \

-   m[2][2] += v[2] * t[2];                                      \

-   m[2][3] += v[2] * t[3];                                      \

-                                                                \

-   m[3][0] += v[3] * t[0];                                      \

-   m[3][1] += v[3] * t[1];                                      \

-   m[3][2] += v[3] * t[2];                                      \

-   m[3][3] += v[3] * t[3];                                      \

-}\

-

-

-/** determinant of matrix

- *

- * Computes determinant of matrix m, returning d

- */

-#define DETERMINANT_2X2(d,m)                                    \

-{                                                               \

-   d = m[0][0] * m[1][1] - m[0][1] * m[1][0];                   \

-}\

-

-

-/** determinant of matrix

- *

- * Computes determinant of matrix m, returning d

- */

-#define DETERMINANT_3X3(d,m)                                    \

-{                                                               \

-   d = m[0][0] * (m[1][1]*m[2][2] - m[1][2] * m[2][1]);         \

-   d -= m[0][1] * (m[1][0]*m[2][2] - m[1][2] * m[2][0]);        \

-   d += m[0][2] * (m[1][0]*m[2][1] - m[1][1] * m[2][0]);        \

-}\

-

-

-/** i,j,th cofactor of a 4x4 matrix

- *

- */

-#define COFACTOR_4X4_IJ(fac,m,i,j)                              \

-{                                                               \

-   int __ii[4], __jj[4], __k;                                           \

-                                                                \

-   for (__k=0; __k<i; __k++) __ii[__k] = __k;                           \

-   for (__k=i; __k<3; __k++) __ii[__k] = __k+1;                         \

-   for (__k=0; __k<j; __k++) __jj[__k] = __k;                           \

-   for (__k=j; __k<3; __k++) __jj[__k] = __k+1;                         \

-                                                                \

-   (fac) = m[__ii[0]][__jj[0]] * (m[__ii[1]][__jj[1]]*m[__ii[2]][__jj[2]]       \

-                            - m[__ii[1]][__jj[2]]*m[__ii[2]][__jj[1]]); \

-   (fac) -= m[__ii[0]][__jj[1]] * (m[__ii[1]][__jj[0]]*m[__ii[2]][__jj[2]]      \

-                             - m[__ii[1]][__jj[2]]*m[__ii[2]][__jj[0]]);\

-   (fac) += m[__ii[0]][__jj[2]] * (m[__ii[1]][__jj[0]]*m[__ii[2]][__jj[1]]      \

-                             - m[__ii[1]][__jj[1]]*m[__ii[2]][__jj[0]]);\

-                                                                \

-   __k = i+j;                                                   \

-   if ( __k != (__k/2)*2) {                                             \

-      (fac) = -(fac);                                           \

-   }                                                            \

-}\

-

-

-/** determinant of matrix

- *

- * Computes determinant of matrix m, returning d

- */

-#define DETERMINANT_4X4(d,m)                                    \

-{                                                               \

-   double cofac;                                                \

-   COFACTOR_4X4_IJ (cofac, m, 0, 0);                            \

-   d = m[0][0] * cofac;                                         \

-   COFACTOR_4X4_IJ (cofac, m, 0, 1);                            \

-   d += m[0][1] * cofac;                                        \

-   COFACTOR_4X4_IJ (cofac, m, 0, 2);                            \

-   d += m[0][2] * cofac;                                        \

-   COFACTOR_4X4_IJ (cofac, m, 0, 3);                            \

-   d += m[0][3] * cofac;                                        \

-}\

-

-

-/** cofactor of matrix

- *

- * Computes cofactor of matrix m, returning a

- */

-#define COFACTOR_2X2(a,m)                                       \

-{                                                               \

-   a[0][0] = (m)[1][1];                                         \

-   a[0][1] = - (m)[1][0];                                               \

-   a[1][0] = - (m)[0][1];                                               \

-   a[1][1] = (m)[0][0];                                         \

-}\

-

-

-/** cofactor of matrix

- *

- * Computes cofactor of matrix m, returning a

- */

-#define COFACTOR_3X3(a,m)                                       \

-{                                                               \

-   a[0][0] = m[1][1]*m[2][2] - m[1][2]*m[2][1];                 \

-   a[0][1] = - (m[1][0]*m[2][2] - m[2][0]*m[1][2]);             \

-   a[0][2] = m[1][0]*m[2][1] - m[1][1]*m[2][0];                 \

-   a[1][0] = - (m[0][1]*m[2][2] - m[0][2]*m[2][1]);             \

-   a[1][1] = m[0][0]*m[2][2] - m[0][2]*m[2][0];                 \

-   a[1][2] = - (m[0][0]*m[2][1] - m[0][1]*m[2][0]);             \

-   a[2][0] = m[0][1]*m[1][2] - m[0][2]*m[1][1];                 \

-   a[2][1] = - (m[0][0]*m[1][2] - m[0][2]*m[1][0]);             \

-   a[2][2] = m[0][0]*m[1][1] - m[0][1]*m[1][0]);                \

-}\

-

-

-/** cofactor of matrix

- *

- * Computes cofactor of matrix m, returning a

- */

-#define COFACTOR_4X4(a,m)                                       \

-{                                                               \

-   int i,j;                                                     \

-                                                                \

-   for (i=0; i<4; i++) {                                        \

-      for (j=0; j<4; j++) {                                     \

-         COFACTOR_4X4_IJ (a[i][j], m, i, j);                    \

-      }                                                         \

-   }                                                            \

-}\

-

-

-/** adjoint of matrix

- *

- * Computes adjoint of matrix m, returning a

- * (Note that adjoint is just the transpose of the cofactor matrix)

- */

-#define ADJOINT_2X2(a,m)                                        \

-{                                                               \

-   a[0][0] = (m)[1][1];                                         \

-   a[1][0] = - (m)[1][0];                                               \

-   a[0][1] = - (m)[0][1];                                               \

-   a[1][1] = (m)[0][0];                                         \

-}\

-

-

-/** adjoint of matrix

- *

- * Computes adjoint of matrix m, returning a

- * (Note that adjoint is just the transpose of the cofactor matrix)

- */

-#define ADJOINT_3X3(a,m)                                        \

-{                                                               \

-   a[0][0] = m[1][1]*m[2][2] - m[1][2]*m[2][1];                 \

-   a[1][0] = - (m[1][0]*m[2][2] - m[2][0]*m[1][2]);             \

-   a[2][0] = m[1][0]*m[2][1] - m[1][1]*m[2][0];                 \

-   a[0][1] = - (m[0][1]*m[2][2] - m[0][2]*m[2][1]);             \

-   a[1][1] = m[0][0]*m[2][2] - m[0][2]*m[2][0];                 \

-   a[2][1] = - (m[0][0]*m[2][1] - m[0][1]*m[2][0]);             \

-   a[0][2] = m[0][1]*m[1][2] - m[0][2]*m[1][1];                 \

-   a[1][2] = - (m[0][0]*m[1][2] - m[0][2]*m[1][0]);             \

-   a[2][2] = m[0][0]*m[1][1] - m[0][1]*m[1][0]);                \

-}\

-

-

-/** adjoint of matrix

- *

- * Computes adjoint of matrix m, returning a

- * (Note that adjoint is just the transpose of the cofactor matrix)

- */

-#define ADJOINT_4X4(a,m)                                        \

-{                                                               \

-   char _i_,_j_;                                                        \

-                                                                \

-   for (_i_=0; _i_<4; _i_++) {                                  \

-      for (_j_=0; _j_<4; _j_++) {                                       \

-         COFACTOR_4X4_IJ (a[_j_][_i_], m, _i_, _j_);                    \

-      }                                                         \

-   }                                                            \

-}\

-

-

-/** compute adjoint of matrix and scale

- *

- * Computes adjoint of matrix m, scales it by s, returning a

- */

-#define SCALE_ADJOINT_2X2(a,s,m)                                \

-{                                                               \

-   a[0][0] = (s) * m[1][1];                                     \

-   a[1][0] = - (s) * m[1][0];                                   \

-   a[0][1] = - (s) * m[0][1];                                   \

-   a[1][1] = (s) * m[0][0];                                     \

-}\

-

-

-/** compute adjoint of matrix and scale

- *

- * Computes adjoint of matrix m, scales it by s, returning a

- */

-#define SCALE_ADJOINT_3X3(a,s,m)                                \

-{                                                               \

-   a[0][0] = (s) * (m[1][1] * m[2][2] - m[1][2] * m[2][1]);     \

-   a[1][0] = (s) * (m[1][2] * m[2][0] - m[1][0] * m[2][2]);     \

-   a[2][0] = (s) * (m[1][0] * m[2][1] - m[1][1] * m[2][0]);     \

-                                                                \

-   a[0][1] = (s) * (m[0][2] * m[2][1] - m[0][1] * m[2][2]);     \

-   a[1][1] = (s) * (m[0][0] * m[2][2] - m[0][2] * m[2][0]);     \

-   a[2][1] = (s) * (m[0][1] * m[2][0] - m[0][0] * m[2][1]);     \

-                                                                \

-   a[0][2] = (s) * (m[0][1] * m[1][2] - m[0][2] * m[1][1]);     \

-   a[1][2] = (s) * (m[0][2] * m[1][0] - m[0][0] * m[1][2]);     \

-   a[2][2] = (s) * (m[0][0] * m[1][1] - m[0][1] * m[1][0]);     \

-}\

-

-

-/** compute adjoint of matrix and scale

- *

- * Computes adjoint of matrix m, scales it by s, returning a

- */

-#define SCALE_ADJOINT_4X4(a,s,m)                                \

-{                                                               \

-   char _i_,_j_; \

-   for (_i_=0; _i_<4; _i_++) {                                  \

-      for (_j_=0; _j_<4; _j_++) {                                       \

-         COFACTOR_4X4_IJ (a[_j_][_i_], m, _i_, _j_);                    \

-         a[_j_][_i_] *= s;                                              \

-      }                                                         \

-   }                                                            \

-}\

-

-/** inverse of matrix

- *

- * Compute inverse of matrix a, returning determinant m and

- * inverse b

- */

-#define INVERT_2X2(b,det,a)                     \

-{                                               \

-   GREAL _tmp_;                                 \

-   DETERMINANT_2X2 (det, a);                    \

-   _tmp_ = 1.0 / (det);                         \

-   SCALE_ADJOINT_2X2 (b, _tmp_, a);             \

-}\

-

-

-/** inverse of matrix

- *

- * Compute inverse of matrix a, returning determinant m and

- * inverse b

- */

-#define INVERT_3X3(b,det,a)                     \

-{                                               \

-   GREAL _tmp_;                                 \

-   DETERMINANT_3X3 (det, a);                    \

-   _tmp_ = 1.0 / (det);                         \

-   SCALE_ADJOINT_3X3 (b, _tmp_, a);             \

-}\

-

-

-/** inverse of matrix

- *

- * Compute inverse of matrix a, returning determinant m and

- * inverse b

- */

-#define INVERT_4X4(b,det,a)                     \

-{                                               \

-   GREAL _tmp_;                                 \

-   DETERMINANT_4X4 (det, a);                    \

-   _tmp_ = 1.0 / (det);                         \

-   SCALE_ADJOINT_4X4 (b, _tmp_, a);             \

-}\

-

-//! @}

-

-/*! \defgroup BOUND_AABB_OPERATIONS

-*/

-//! @{

-

-//!Initializes an AABB

-#define INVALIDATE_AABB(aabb) {\

-    (aabb).minX = G_REAL_INFINITY;\

-    (aabb).maxX = -G_REAL_INFINITY;\

-    (aabb).minY = G_REAL_INFINITY;\

-    (aabb).maxY = -G_REAL_INFINITY;\

-    (aabb).minZ = G_REAL_INFINITY;\

-    (aabb).maxZ = -G_REAL_INFINITY;\

-}\

-

-#define AABB_GET_MIN(aabb,vmin) {\

-    vmin[0] = (aabb).minX;\

-    vmin[1] = (aabb).minY;\

-    vmin[2] = (aabb).minZ;\

-}\

-

-#define AABB_GET_MAX(aabb,vmax) {\

-    vmax[0] = (aabb).maxX;\

-    vmax[1] = (aabb).maxY;\

-    vmax[2] = (aabb).maxZ;\

-}\

-

-//!Copy boxes

-#define AABB_COPY(dest_aabb,src_aabb)\

-{\

-    (dest_aabb).minX = (src_aabb).minX;\

-    (dest_aabb).maxX = (src_aabb).maxX;\

-    (dest_aabb).minY = (src_aabb).minY;\

-    (dest_aabb).maxY = (src_aabb).maxY;\

-    (dest_aabb).minZ = (src_aabb).minZ;\

-    (dest_aabb).maxZ = (src_aabb).maxZ;\

-}\

-

-//! Computes an Axis aligned box from  a triangle

-#define COMPUTEAABB_FOR_TRIANGLE(aabb,V1,V2,V3) {\

-    (aabb).minX = MIN3(V1[0],V2[0],V3[0]);\

-    (aabb).maxX = MAX3(V1[0],V2[0],V3[0]);\

-    (aabb).minY = MIN3(V1[1],V2[1],V3[1]);\

-    (aabb).maxY = MAX3(V1[1],V2[1],V3[1]);\

-    (aabb).minZ = MIN3(V1[2],V2[2],V3[2]);\

-    (aabb).maxZ = MAX3(V1[2],V2[2],V3[2]);\

-}\

-

-//! Merge two boxes to destaabb

-#define MERGEBOXES(destaabb,aabb) {\

-    (destaabb).minX = MIN((aabb).minX,(destaabb).minX);\

-    (destaabb).minY = MIN((aabb).minY,(destaabb).minY);\

-    (destaabb).minZ = MIN((aabb).minZ,(destaabb).minZ);\

-    (destaabb).maxX = MAX((aabb).maxX,(destaabb).maxX);\

-    (destaabb).maxY = MAX((aabb).maxY,(destaabb).maxY);\

-    (destaabb).maxZ = MAX((aabb).maxZ,(destaabb).maxZ);\

-}\

-

-//! Extends the box

-#define AABB_POINT_EXTEND(destaabb,p) {\

-    (destaabb).minX = MIN(p[0],(destaabb).minX);\

-    (destaabb).maxX = MAX(p[0],(destaabb).maxX);\

-    (destaabb).minY = MIN(p[1],(destaabb).minY);\

-    (destaabb).maxY = MAX(p[1],(destaabb).maxY);\

-    (destaabb).minZ = MIN(p[2],(destaabb).minZ);\

-    (destaabb).maxZ = MAX(p[2],(destaabb).maxZ);\

-}\

-

-//! Finds the intersection box of two boxes

-#define BOXINTERSECTION(aabb1, aabb2, iaabb) {\

-    (iaabb).minX = MAX((aabb1).minX,(aabb2).minX);\

-    (iaabb).minY = MAX((aabb1).minY,(aabb2).minY);\

-    (iaabb).minZ = MAX((aabb1).minZ,(aabb2).minZ);\

-    (iaabb).maxX = MIN((aabb1).maxX,(aabb2).maxX);\

-    (iaabb).maxY = MIN((aabb1).maxY,(aabb2).maxY);\

-    (iaabb).maxZ = MIN((aabb1).maxZ,(aabb2).maxZ);\

-}\

-

-//! Determines if two aligned boxes do intersect

-#define AABBCOLLISION(intersected,aabb1,aabb2) {\

-        intersected = 1;\

-        if ((aabb1).minX > (aabb2).maxX ||\

-        (aabb1).maxX < (aabb2).minX ||\

-        (aabb1).minY > (aabb2).maxY ||\

-        (aabb1).maxY < (aabb2).minY ||\

-        (aabb1).minZ > (aabb2).maxZ ||\

-        (aabb1).maxZ < (aabb2).minZ )\

-        {\

-                intersected = 0;\

-        }\

-}\

-

-#define AXIS_INTERSECT(min,max, a, d,tfirst, tlast,is_intersected) {\

-        if(IS_ZERO(d))\

-        {\

-        is_intersected = !(a < min || a > max);\

-        }\

-        else\

-        {\

-        GREAL a0, a1;\

-        a0 = (min - a) / (d);\

-        a1 = (max - a) / (d);\

-        if(a0 > a1)   SWAP_NUMBERS(a0, a1);\

-        tfirst = MAX(a0, tfirst);\

-        tlast = MIN(a1, tlast);\

-        if (tlast < tfirst)\

-        {\

-             is_intersected = 0;\

-        }\

-        else\

-        {\

-            is_intersected = 1;\

-        }\

-        }\

-}\

-

-/*! \brief Finds the Ray intersection parameter.

-

-\param aabb Aligned box

-\param vorigin A vec3f with the origin of the ray

-\param vdir A vec3f with the direction of the ray

-\param tparam Output parameter

-\param tmax Max lenght of the ray

-\param is_intersected 1 if the ray collides the box, else false

-

-*/

-#define BOX_INTERSECTS_RAY(aabb, vorigin, vdir, tparam, tmax,is_intersected) { \

-        GREAL _tfirst = 0.0f, _tlast = tmax;\

-        AXIS_INTERSECT(aabb.minX,aabb.maxX,vorigin[0], vdir[0], _tfirst, _tlast,is_intersected);\

-        if(is_intersected)\

-        {\

-        AXIS_INTERSECT(aabb.minY,aabb.maxY,vorigin[1], vdir[1], _tfirst, _tlast,is_intersected);\

-        }\

-        if(is_intersected)\

-        {\

-        AXIS_INTERSECT(aabb.minZ,aabb.maxZ,vorigin[2], vdir[2], _tfirst, _tlast,is_intersected);\

-        }\

-        tparam = _tfirst;\

-}\

-

-#define AABB_PROJECTION_INTERVAL(aabb,direction, vmin, vmax)\

-{\

-    GREAL _center[] = {(aabb.minX + aabb.maxX)*0.5f, (aabb.minY + aabb.maxY)*0.5f, (aabb.minZ + aabb.maxZ)*0.5f};\

-    \

-    GREAL _extend[] = {aabb.maxX-_center[0],aabb.maxY-_center[1],aabb.maxZ-_center[2]};\

-    GREAL _fOrigin =  VEC_DOT(direction,_center);\

-        GREAL _fMaximumExtent = _extend[0]*fabsf(direction[0]) + \

-                            _extend[1]*fabsf(direction[1]) + \

-                            _extend[2]*fabsf(direction[2]); \

-\

-    vmin = _fOrigin - _fMaximumExtent; \

-    vmax = _fOrigin + _fMaximumExtent; \

-}\

-

-/*!

-classify values:

-<ol>

-<li> 0 : In back of plane

-<li> 1 : Spanning

-<li> 2 : In front of

-</ol>

-*/

-#define PLANE_CLASSIFY_BOX(plane,aabb,classify)\

-{\

-        GREAL _fmin,_fmax; \

-        AABB_PROJECTION_INTERVAL(aabb,plane, _fmin, _fmax); \

-        if(plane[3] >= _fmax) \

-        { \

-                classify = 0;/*In back of*/ \

-        } \

-        else \

-        { \

-                if(plane[3]+0.000001f>=_fmin) \

-                { \

-                        classify = 1;/*Spanning*/ \

-                } \

-                else \

-                { \

-                        classify = 2;/*In front of*/ \

-                } \

-        } \

-}\

-//! @}

-

-/*! \defgroup GEOMETRIC_OPERATIONS

-*/

-//! @{

-

-

-#define PLANEDIREPSILON 0.0000001f

-#define PARALELENORMALS 0.000001f

-

-#define TRIANGLE_NORMAL(v1,v2,v3,n){\

-    vec3f _dif1,_dif2; \

-    VEC_DIFF(_dif1,v2,v1); \

-    VEC_DIFF(_dif2,v3,v1); \

-    VEC_CROSS(n,_dif1,_dif2); \

-    VEC_NORMALIZE(n); \

-}\

-

-/// plane is a vec4f

-#define TRIANGLE_PLANE(v1,v2,v3,plane) {\

-    TRIANGLE_NORMAL(v1,v2,v3,plane);\

-    plane[3] = VEC_DOT(v1,plane);\

-}\

-

-/// Calc a plane from an edge an a normal. plane is a vec4f

-#define EDGE_PLANE(e1,e2,n,plane) {\

-    vec3f _dif; \

-    VEC_DIFF(_dif,e2,e1); \

-    VEC_CROSS(plane,_dif,n); \

-    VEC_NORMALIZE(plane); \

-    plane[3] = VEC_DOT(e1,plane);\

-}\

-

-#define DISTANCE_PLANE_POINT(plane,point) (VEC_DOT(plane,point) - plane[3])

-

-#define PROJECT_POINT_PLANE(point,plane,projected) {\

-        GREAL _dis;\

-        _dis = DISTANCE_PLANE_POINT(plane,point);\

-        VEC_SCALE(projected,-_dis,plane);\

-        VEC_SUM(projected,projected,point);     \

-}\

-

-#define POINT_IN_HULL(point,planes,plane_count,outside)\

-{\

-        GREAL _dis;\

-        outside = 0;\

-        GUINT _i = 0;\

-        do\

-        {\

-            _dis = DISTANCE_PLANE_POINT(planes[_i],point);\

-            if(_dis>0.0f) outside = 1;\

-            _i++;\

-        }while(_i<plane_count&&outside==0);\

-}\

-

-

-#define PLANE_CLIP_SEGMENT(s1,s2,plane,clipped) {\

-        GREAL _dis1,_dis2;\

-        _dis1 = DISTANCE_PLANE_POINT(plane,s1);\

-        VEC_DIFF(clipped,s2,s1);\

-        _dis2 = VEC_DOT(clipped,plane);\

-        VEC_SCALE(clipped,-_dis1/_dis2,clipped);\

-        VEC_SUM(clipped,clipped,s1);    \

-}\

-

-//! Confirms if the plane intersect the edge or nor

-/*!

-intersection type must have the following values

-<ul>

-<li> 0 : Segment in front of plane, s1 closest

-<li> 1 : Segment in front of plane, s2 closest

-<li> 2 : Segment in back of plane, s1 closest

-<li> 3 : Segment in back of plane, s2 closest

-<li> 4 : Segment collides plane, s1 in back

-<li> 5 : Segment collides plane, s2 in back

-</ul>

-*/

-#define PLANE_CLIP_SEGMENT2(s1,s2,plane,clipped,intersection_type) \

-{\

-        GREAL _dis1,_dis2;\

-        _dis1 = DISTANCE_PLANE_POINT(plane,s1);\

-        _dis2 = DISTANCE_PLANE_POINT(plane,s2);\

-        if(_dis1 >-G_EPSILON && _dis2 >-G_EPSILON)\

-        {\

-            if(_dis1<_dis2) intersection_type = 0;\

-            else  intersection_type = 1;\

-        }\

-        else if(_dis1 <G_EPSILON && _dis2 <G_EPSILON)\

-        {\

-            if(_dis1>_dis2) intersection_type = 2;\

-            else  intersection_type = 3;            \

-        }\

-        else\

-        {\

-            if(_dis1<_dis2) intersection_type = 4;\

-            else  intersection_type = 5;\

-        VEC_DIFF(clipped,s2,s1);\

-        _dis2 = VEC_DOT(clipped,plane);\

-        VEC_SCALE(clipped,-_dis1/_dis2,clipped);\

-        VEC_SUM(clipped,clipped,s1);    \

-        }\

-}\

-

-//! Confirms if the plane intersect the edge or not

-/*!

-clipped1 and clipped2 are the vertices behind the plane.

-clipped1 is the closest

-

-intersection_type must have the following values

-<ul>

-<li> 0 : Segment in front of plane, s1 closest

-<li> 1 : Segment in front of plane, s2 closest

-<li> 2 : Segment in back of plane, s1 closest

-<li> 3 : Segment in back of plane, s2 closest

-<li> 4 : Segment collides plane, s1 in back

-<li> 5 : Segment collides plane, s2 in back

-</ul>

-*/

-#define PLANE_CLIP_SEGMENT_CLOSEST(s1,s2,plane,clipped1,clipped2,intersection_type)\

-{\

-        PLANE_CLIP_SEGMENT2(s1,s2,plane,clipped1,intersection_type);\

-        if(intersection_type == 0)\

-        {\

-            VEC_COPY(clipped1,s1);\

-            VEC_COPY(clipped2,s2);\

-        }\

-        else if(intersection_type == 1)\

-        {\

-            VEC_COPY(clipped1,s2);\

-            VEC_COPY(clipped2,s1);\

-        }\

-        else if(intersection_type == 2)\

-        {\

-            VEC_COPY(clipped1,s1);\

-            VEC_COPY(clipped2,s2);\

-        }\

-        else if(intersection_type == 3)\

-        {\

-            VEC_COPY(clipped1,s2);\

-            VEC_COPY(clipped2,s1);\

-        }\

-        else if(intersection_type == 4)\

-        {           \

-            VEC_COPY(clipped2,s1);\

-        }\

-        else if(intersection_type == 5)\

-        {           \

-            VEC_COPY(clipped2,s2);\

-        }\

-}\

-

-

-//! Finds the 2 smallest cartesian coordinates of a plane normal

-#define PLANE_MINOR_AXES(plane, i0, i1)\

-{\

-    GREAL A[] = {fabs(plane[0]),fabs(plane[1]),fabs(plane[2])};\

-    if(A[0]>A[1])\

-        {\

-                if(A[0]>A[2])\

-                {\

-                        i0=1;  /* A[0] is greatest */ \

-                        i1=2;\

-                }\

-                else \

-                {\

-                        i0=0;      /* A[2] is greatest */ \

-                        i1=1; \

-                }\

-        }\

-        else   /* A[0]<=A[1] */ \

-        {\

-                if(A[2]>A[1]) \

-                { \

-                        i0=0;      /* A[2] is greatest */ \

-                        i1=1; \

-                }\

-                else \

-                {\

-                        i0=0;      /* A[1] is greatest */ \

-                        i1=2; \

-                }\

-        } \

-}\

-

-//! Ray plane collision

-#define RAY_PLANE_COLLISION(plane,vDir,vPoint,pout,tparam,does_intersect)\

-{\

-        GREAL _dis,_dotdir;     \

-        _dotdir = VEC_DOT(plane,vDir);\

-        if(_dotdir<PLANEDIREPSILON)\

-        {\

-            does_intersect = 0;\

-        }\

-        else\

-        {\

-        _dis = DISTANCE_PLANE_POINT(plane,vPoint);      \

-        tparam = -_dis/_dotdir;\

-        VEC_SCALE(pout,tparam,vDir);\

-        VEC_SUM(pout,vPoint,pout);      \

-        does_intersect = 1;\

-        }\

-}\

-

-//! Bidireccional ray

-#define LINE_PLANE_COLLISION(plane,vDir,vPoint,pout,tparam, tmin, tmax)\

-{\

-    tparam = -DISTANCE_PLANE_POINT(plane,vPoint);\

-        tparam /= VEC_DOT(plane,vDir);\

-    tparam = CLAMP(tparam,tmin,tmax);\

-    VEC_SCALE(pout,tparam,vDir);\

-    VEC_SUM(pout,vPoint,pout);  \

-}\

-

-/*! \brief Returns the Ray on which 2 planes intersect if they do.

-    Written by Rodrigo Hernandez on ODE convex collision

-

-  \param p1 Plane 1

-  \param p2 Plane 2

-  \param p Contains the origin of the ray upon returning if planes intersect

-  \param d Contains the direction of the ray upon returning if planes intersect

-  \param dointersect 1 if the planes intersect, 0 if paralell.

-

-*/

-#define INTERSECT_PLANES(p1,p2,p,d,dointersect) \

-{ \

-  VEC_CROSS(d,p1,p2); \

-  GREAL denom = VEC_DOT(d, d);\

-  if (IS_ZERO(denom)) \

-  { \

-      dointersect = 0; \

-  } \

-  else \

-  { \

-      vec3f _n;\

-      _n[0]=p1[3]*p2[0] - p2[3]*p1[0]; \

-      _n[1]=p1[3]*p2[1] - p2[3]*p1[1]; \

-      _n[2]=p1[3]*p2[2] - p2[3]*p1[2]; \

-      VEC_CROSS(p,_n,d); \

-      p[0]/=denom; \

-      p[1]/=denom; \

-      p[2]/=denom; \

-      dointersect = 1; \

-  }\

-}\

-

-//***************** SEGMENT and LINE FUNCTIONS **********************************///

-

-/*! Finds the closest point(cp) to (v) on a segment (e1,e2)

- */

-#define CLOSEST_POINT_ON_SEGMENT(cp,v,e1,e2)                    \

-{ \

-    vec3f _n;\

-    VEC_DIFF(_n,e2,e1);\

-    VEC_DIFF(cp,v,e1);\

-        GREAL _scalar = VEC_DOT(cp, _n);                        \

-        _scalar/= VEC_DOT(_n, _n); \

-        if(_scalar <0.0f)\

-        {\

-            VEC_COPY(cp,e1);\

-        }\

-        else if(_scalar >1.0f)\

-        {\

-            VEC_COPY(cp,e2);\

-        }\

-        else \

-        {\

-        VEC_SCALE(cp,_scalar,_n);\

-        VEC_SUM(cp,cp,e1);\

-        }       \

-}\

-

-

-/*! \brief Finds the line params where these lines intersect.

-

-\param dir1 Direction of line 1

-\param point1 Point of line 1

-\param dir2 Direction of line 2

-\param point2 Point of line 2

-\param t1 Result Parameter for line 1

-\param t2 Result Parameter for line 2

-\param dointersect  0  if the lines won't intersect, else 1

-

-*/

-#define LINE_INTERSECTION_PARAMS(dir1,point1, dir2, point2,t1,t2,dointersect) {\

-    GREAL det;\

-        GREAL e1e1 = VEC_DOT(dir1,dir1);\

-        GREAL e1e2 = VEC_DOT(dir1,dir2);\

-        GREAL e2e2 = VEC_DOT(dir2,dir2);\

-        vec3f p1p2;\

-    VEC_DIFF(p1p2,point1,point2);\

-    GREAL p1p2e1 = VEC_DOT(p1p2,dir1);\

-        GREAL p1p2e2 = VEC_DOT(p1p2,dir2);\

-        det = e1e2*e1e2 - e1e1*e2e2;\

-        if(IS_ZERO(det))\

-        {\

-             dointersect = 0;\

-        }\

-        else\

-        {\

-        t1 = (e1e2*p1p2e2 - e2e2*p1p2e1)/det;\

-        t2 = (e1e1*p1p2e2 - e1e2*p1p2e1)/det;\

-        dointersect = 1;\

-        }\

-}\

-

-//! Find closest points on segments

-#define SEGMENT_COLLISION(vA1,vA2,vB1,vB2,vPointA,vPointB)\

-{\

-    vec3f _AD,_BD,_N;\

-    vec4f _M;\

-    VEC_DIFF(_AD,vA2,vA1);\

-    VEC_DIFF(_BD,vB2,vB1);\

-    VEC_CROSS(_N,_AD,_BD);\

-    VEC_CROSS(_M,_N,_BD);\

-    _M[3] = VEC_DOT(_M,vB1);\

-    float _tp; \

-    LINE_PLANE_COLLISION(_M,_AD,vA1,vPointA,_tp,0.0f, 1.0f);\

-    /*Closest point on segment*/ \

-    VEC_DIFF(vPointB,vPointA,vB1);\

-        _tp = VEC_DOT(vPointB, _BD);                    \

-        _tp/= VEC_DOT(_BD, _BD); \

-        _tp = CLAMP(_tp,0.0f,1.0f);     \

-    VEC_SCALE(vPointB,_tp,_BD);\

-    VEC_SUM(vPointB,vPointB,vB1);\

-}\

-

-//! @}

-

-///Additional Headers for Collision

-#include "GIMPACT/gim_tri_collision.h"

-#include "GIMPACT/gim_tri_sphere_collision.h"

-#include "GIMPACT/gim_tri_capsule_collision.h"

-

-#endif // GIM_VECTOR_H_INCLUDED

diff --git a/libraries/ode-0.9/GIMPACT/include/GIMPACT/gim_math.h b/libraries/ode-0.9/GIMPACT/include/GIMPACT/gim_math.h
deleted file mode 100644
index 68f226e..0000000
--- a/libraries/ode-0.9/GIMPACT/include/GIMPACT/gim_math.h
+++ /dev/null
@@ -1,147 +0,0 @@
-#ifndef GIM_MATH_H_INCLUDED

-#define GIM_MATH_H_INCLUDED

-

-/*! \file gim_math.h

-\author Francisco León

-*/

-/*

------------------------------------------------------------------------------

-This source file is part of GIMPACT Library.

-

-For the latest info, see http://gimpact.sourceforge.net/

-

-Copyright (c) 2006 Francisco Leon. C.C. 80087371.

-email: projectileman@yahoo.com

-

- 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 GIMPACT-LICENSE-LGPL.TXT.

-   (2) The BSD-style license that is included with this library in

-       the file GIMPACT-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

- GIMPACT-LICENSE-LGPL.TXT and GIMPACT-LICENSE-BSD.TXT for more details.

-

------------------------------------------------------------------------------

-*/

-

-

-#include <math.h>

-#include <float.h>

-

-

-/*! \defgroup BASIC_TYPES

-Basic types and constants

-Conventions:

-Types starting with G

-Constants starting with G_

-*/

-//! @{

-/*! Types */

-#define GREAL float

-#define GINT long

-#define GUINT unsigned long

-/*! Constants for integers*/

-#define GUINT_BIT_COUNT 32

-#define GUINT_EXPONENT 5

-

-#define G_FASTMATH 1

-#define G_PI 3.14159265358979f

-#define G_HALF_PI 1.5707963f

-//267948966

-#define G_TWO_PI 6.28318530f

-//71795864

-#define G_ROOT3 1.73205f

-#define G_ROOT2 1.41421f

-#define G_UINT_INFINITY 65534

-#define G_REAL_INFINITY FLT_MAX

-#define G_SIGN_BITMASK                  0x80000000

-#define G_USE_EPSILON_TEST

-#define G_EPSILON 0.0000001f

-//! @}

-

-/*! \defgroup MATH_FUNCTIONS

-mathematical functions

-*/

-//! @{

-#define G_DEGTORAD(X) ((X)*3.1415926f/180.0f)

-#define G_RADTODEG(X) ((X)*180.0f/3.1415926f)

-

-//! Integer representation of a floating-point value.

-#define IR(x)                                   ((GUINT&)(x))

-

-//! Signed integer representation of a floating-point value.

-#define SIR(x)                                  ((GINT&)(x))

-

-//! Absolute integer representation of a floating-point value

-#define AIR(x)                                  (IR(x)&0x7fffffff)

-

-//! Floating-point representation of an integer value.

-#define FR(x)                                   ((GREAL&)(x))

-

-#define MAX(a,b) (a<b?b:a)

-#define MIN(a,b) (a>b?b:a)

-

-#define MAX3(a,b,c) MAX(a,MAX(b,c))

-#define MIN3(a,b,c) MIN(a,MIN(b,c))

-

-#define IS_ZERO(value) (value < G_EPSILON &&  value > -G_EPSILON)

-

-#define IS_NEGATIVE(value) (value <= -G_EPSILON)

-

-#define IS_POSISITVE(value) (value >= G_EPSILON)

-

-///returns a clamped number

-#define CLAMP(number,minval,maxval) (number<minval?minval:(number>maxval?maxval:number))

-

-///Swap numbers

-#define SWAP_NUMBERS(a,b){ \

-    a = a+b; \

-    b = a-b; \

-    a = a-b; \

-}\

-

-#define GIM_INV_SQRT(va,isva)\

-{\

-    if(va<=0.0000001f)\

-    {\

-        isva = G_REAL_INFINITY;\

-    }\

-    else\

-    {\

-        GREAL _x = va * 0.5f;\

-        GUINT _y = 0x5f3759df - ( IR(va) >> 1);\

-        isva = FR(_y);\

-        isva  = isva * ( 1.5f - ( _x * isva * isva ) );\

-    }\

-}\

-

-#define GIM_SQRT(va,sva)\

-{\

-    GIM_INV_SQRT(va,sva);\

-    sva = 1.0f/sva;\

-}\

-

-//! Computes 1.0f / sqrtf(x). Comes from Quake3. See http://www.magic-software.com/3DGEDInvSqrt.html

-GREAL gim_inv_sqrt(GREAL f);

-

-//! Computes sqrtf(x) faster.

-/*!

-\sa gim_inv_sqrt

-*/

-GREAL gim_sqrt(GREAL f);

-

-//!Initializes mathematical functions

-void gim_init_math();

-

-//! Generates an unit random

-GREAL gim_unit_random();

-//! @}

-

-#endif // GIM_MATH_H_INCLUDED

diff --git a/libraries/ode-0.9/GIMPACT/include/GIMPACT/gim_memory.h b/libraries/ode-0.9/GIMPACT/include/GIMPACT/gim_memory.h
deleted file mode 100644
index 58661f1..0000000
--- a/libraries/ode-0.9/GIMPACT/include/GIMPACT/gim_memory.h
+++ /dev/null
@@ -1,1040 +0,0 @@
-#ifndef GIM_MEMORY_H_INCLUDED

-#define GIM_MEMORY_H_INCLUDED

-/*! \file gim_memory.h

-\author Francisco León

-*/

-/*

------------------------------------------------------------------------------

-This source file is part of GIMPACT Library.

-

-For the latest info, see http://gimpact.sourceforge.net/

-

-Copyright (c) 2006 Francisco Leon. C.C. 80087371.

-email: projectileman@yahoo.com

-

- 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 GIMPACT-LICENSE-LGPL.TXT.

-   (2) The BSD-style license that is included with this library in

-       the file GIMPACT-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

- GIMPACT-LICENSE-LGPL.TXT and GIMPACT-LICENSE-BSD.TXT for more details.

-

------------------------------------------------------------------------------

-*/

-

-

-#include "GIMPACT/gim_math.h"

-#include <memory.h>

-

-//#define PREFETCH 1

-//! \defgroup PREFETCH

-//! @{

-#ifdef PREFETCH

-#include <xmmintrin.h>  // for prefetch

-#define pfval   64

-#define pfval2  128

-//! Prefetch 64

-#define pf(_x,_i)       _mm_prefetch((void *)(_x + _i + pfval), 0)

-//! Prefetch 128

-#define pf2(_x,_i)      _mm_prefetch((void *)(_x + _i + pfval2), 0)

-#else

-//! Prefetch 64

-#define pf(_x,_i)

-//! Prefetch 128

-#define pf2(_x,_i)

-#endif

-//! @}

-

-/*! \defgroup ARRAY_UTILITIES

-\brief

-Functions for manip packed arrays of numbers

-*/

-//! @{

-#define GIM_COPY_ARRAYS(dest_array,source_array,element_count)\

-{\

-    GUINT _i_;\

-    for (_i_=0;_i_<element_count ;_i_++)\

-    {\

-        dest_array[_i_] = source_array[_i_];\

-    }\

-}\

-

-#define GIM_COPY_ARRAYS_1(dest_array,source_array,element_count,copy_macro)\

-{\

-    GUINT _i_;\

-    for (_i_=0;_i_<element_count ;_i_++)\

-    {\

-        copy_macro(dest_array[_i_],source_array[_i_]);\

-    }\

-}\

-

-

-#define GIM_ZERO_ARRAY(array,element_count)\

-{\

-    GUINT _i_;\

-    for (_i_=0;_i_<element_count ;_i_++)\

-    {\

-        array[_i_] = 0;\

-    }\

-}\

-

-#define GIM_CONSTANT_ARRAY(array,element_count,constant)\

-{\

-    GUINT _i_;\

-    for (_i_=0;_i_<element_count ;_i_++)\

-    {\

-        array[_i_] = constant;\

-    }\

-}\

-//! @}

-

-/*! \defgroup MEMORY_FUNCTION_PROTOTYPES

-Function prototypes to allocate and free memory.

-*/

-//! @{

-typedef void * gim_alloc_function (size_t size);

-typedef void * gim_alloca_function (size_t size);//Allocs on the heap

-typedef void * gim_realloc_function (void *ptr, size_t oldsize, size_t newsize);

-typedef void gim_free_function (void *ptr, size_t size);

-//! @}

-

-/*! \defgroup MEMORY_FUNCTION_HANDLERS

-\brief

-Memory Function Handlers

- set new memory management functions. if fn is 0, the default handlers are

-  used. */

-//! @{

-void gim_set_alloc_handler (gim_alloc_function *fn);

-void gim_set_alloca_handler (gim_alloca_function *fn);

-void gim_set_realloc_handler (gim_realloc_function *fn);

-void gim_set_free_handler (gim_free_function *fn);

-//! @}

-

-/*! \defgroup MEMORY_FUNCTION_GET_HANDLERS

-\brief

-get current memory management functions.

-*/

-//! @{

-gim_alloc_function *gim_get_alloc_handler (void);

-gim_alloca_function *gim_get_alloca_handler(void);

-gim_realloc_function *gim_get_realloc_handler (void);

-gim_free_function  *gim_get_free_handler (void);

-//! @}

-

-/*! \defgroup MEMORY_FUNCTIONS

-Standar Memory functions

-*/

-//! @{

-void * gim_alloc(size_t size);

-void * gim_alloca(size_t size);

-void * gim_realloc(void *ptr, size_t oldsize, size_t newsize);

-void gim_free(void *ptr, size_t size);

-//! @}

-

-/*! \defgroup DYNAMIC_ARRAYS

-\brief

-Dynamic Arrays. Allocated from system memory.

-<ul>

-<li> For initializes a dynamic array, use GIM_DYNARRAY_CREATE or GIM_DYNARRAY_CREATE_SIZED.

-<li> When an array is no longer used, must be terminated with the macro GIM_DYNARRAY_DESTROY.

-</ul>

-*/

-//! @{

-#define G_ARRAY_GROW_SIZE 100

-

-//! Dynamic array handle.

-struct GDYNAMIC_ARRAY

-{

-    char * m_pdata;

-    GUINT m_size;

-    GUINT m_reserve_size;

-};

-//typedef  struct _GDYNAMIC_ARRAY GDYNAMIC_ARRAY;

-

-//! Creates a dynamic array zero sized

-#define GIM_DYNARRAY_CREATE(type,array_data,reserve_size) \

-{ \

-    array_data.m_pdata = (char *)gim_alloc(reserve_size*sizeof(type)); \

-    array_data.m_size = 0; \

-    array_data.m_reserve_size = reserve_size; \

-}\

-

-//! Creates a dynamic array with n = size elements

-#define GIM_DYNARRAY_CREATE_SIZED(type,array_data,size) \

-{ \

-    array_data.m_pdata = (char *)gim_alloc(size*sizeof(type)); \

-    array_data.m_size = size; \

-    array_data.m_reserve_size = size; \

-}\

-

-//! Reserves memory for a dynamic array.

-#define GIM_DYNARRAY_RESERVE_SIZE(type,array_data,reserve_size) \

-{ \

-    if(reserve_size>array_data.m_reserve_size )\

-    { \

-        array_data.m_pdata = (char *) gim_realloc(array_data.m_pdata,array_data.m_size*sizeof(type),reserve_size*sizeof(type));\

-        array_data.m_reserve_size = reserve_size; \

-    }\

-}\

-

-//! Set the size of the array

-#define GIM_DYNARRAY_SET_SIZE(type,array_data,size) \

-{ \

-    GIM_DYNARRAY_RESERVE_SIZE(type,array_data,size);\

-    array_data.m_size = size;\

-}\

-

-//! Gets a pointer from the beginning of the array

-#define GIM_DYNARRAY_POINTER(type,array_data) (type *)(array_data.m_pdata)

-

-//! Gets a pointer from the last elemento of the array

-#define GIM_DYNARRAY_POINTER_LAST(type,array_data) (((type *)array_data.m_pdata)+array_data.m_size-1)

-

-//! Inserts an element at the last position

-#define GIM_DYNARRAY_PUSH_ITEM(type,array_data,item)\

-{\

-    if(array_data.m_reserve_size<=array_data.m_size)\

-    {\

-        GIM_DYNARRAY_RESERVE_SIZE(type,array_data,(array_data.m_size+G_ARRAY_GROW_SIZE));\

-    }\

-    type * _pt = GIM_DYNARRAY_POINTER(type,array_data);\

-    memcpy(&_pt[array_data.m_size],&item,sizeof(type));\

-    array_data.m_size++;    \

-}\

-

-//! Inserts an element at the last position

-#define GIM_DYNARRAY_PUSH_EMPTY(type,array_data)\

-{\

-    if(array_data.m_reserve_size<=array_data.m_size)\

-    {\

-        GIM_DYNARRAY_RESERVE_SIZE(type,array_data,(array_data.m_size+G_ARRAY_GROW_SIZE));\

-    }\

-    array_data.m_size++;    \

-}\

-

-//! Inserts an element

-#define GIM_DYNARRAY_INSERT_ITEM(type,array_data,item,index) \

-{ \

-    if(array_data.m_reserve_size<=array_data.m_size)\

-    {\

-        GIM_DYNARRAY_RESERVE_SIZE(type,array_data,(array_data.m_size+G_ARRAY_GROW_SIZE));\

-    }\

-    type * _pt = GIM_DYNARRAY_POINTER(type,array_data);\

-    if(index<array_data.m_size-1) \

-    { \

-        memcpy(&_pt[index+1],&_pt[index],(array_data.m_size-index)*sizeof(type));\

-    } \

-    memcpy(&_pt[index],&item,sizeof(type));\

-    array_data.m_size++;    \

-}\

-

-//! Removes an element

-#define GIM_DYNARRAY_DELETE_ITEM(type,array_data,index) \

-{ \

-    if(index<array_data.m_size-1) \

-    { \

-        type * _pt = GIM_DYNARRAY_POINTER(type,array_data);\

-        memcpy(&_pt[index],&_pt[index+1],(array_data.m_size-index-1)*sizeof(type));\

-    } \

-    array_data.m_size--;    \

-}\

-

-//! Removes an element at the last position

-#define GIM_DYNARRAY_POP_ITEM(array_data) \

-{ \

-    if(array_data.m_size>0) \

-    { \

-        array_data.m_size--;    \

-    } \

-}\

-

-//! Destroys the array

-void GIM_DYNARRAY_DESTROY(GDYNAMIC_ARRAY & array_data);

-//! @}

-

-/*! \defgroup BITSET

-\brief

-Bitsets , based on \ref DYNAMIC_ARRAYS .

-<ul>

-<li> For initializes a bitset array, use \ref GIM_BITSET_CREATE or \ref GIM_BITSET_CREATE_SIZED.

-<li> When the bitset is no longer used, must be terminated with the macro \ref GIM_DYNARRAY_DESTROY.

-<li> For putting a mark on the bitset, call \ref GIM_BITSET_SET

-<li> For clearing a mark on the bitset, call \ref GIM_BITSET_CLEAR

-<li> For retrieving a bit value from a bitset, call \ref GIM_BITSET_GET-

-</ul>

-*/

-//! @{

-

-//! Creates a bitset

-#define GIM_BITSET_CREATE(array_data) GIM_DYNARRAY_CREATE(GUINT,array_data,G_ARRAY_GROW_SIZE)

-

-//! Creates a bitset, with their bits set to 0.

-#define GIM_BITSET_CREATE_SIZED(array_data,bits_count)\

-{\

-    array_data.m_size = bits_count/GUINT_BIT_COUNT + 1;\

-    GIM_DYNARRAY_CREATE(GUINT,array_data,array_data.m_size);\

-    GUINT * _pt = GIM_DYNARRAY_POINTER(GUINT,array_data);\

-    memset(_pt,0,sizeof(GUINT)*(array_data.m_size));\

-}\

-

-//! Gets the bitset bit count.

-#define GIM_BITSET_SIZE(array_data) (array_data.m_size*GUINT_BIT_COUNT)

-

-//! Resizes a bitset, with their bits set to 0.

-#define GIM_BITSET_RESIZE(array_data,new_bits_count)\

-{    \

-    GUINT _oldsize = array_data.m_size;\

-    array_data.m_size = new_bits_count/GUINT_BIT_COUNT + 1;    \

-    if(_oldsize<array_data.m_size)\

-    {\

-        if(array_data.m_size > array_data.m_reserve_size)\

-        {\

-            GIM_DYNARRAY_RESERVE_SIZE(GUINT,array_data,array_data.m_size+G_ARRAY_GROW_SIZE);\

-        }\

-        GUINT * _pt = GIM_DYNARRAY_POINTER(GUINT,array_data);\

-        memset(&_pt[_oldsize],0,sizeof(GUINT)*(array_data.m_size-_oldsize));\

-    }\

-}\

-

-//! Sets all bitset bit to 0.

-#define GIM_BITSET_CLEAR_ALL(array_data)\

-{\

-    memset(array_data.m_pdata,0,sizeof(GUINT)*array_data.m_size);\

-}\

-

-//! Sets all bitset bit to 1.

-#define GIM_BITSET_SET_ALL(array_data)\

-{\

-    memset(array_data.m_pdata,0xFF,sizeof(GUINT)*array_data.m_size);\

-}\

-

-///Sets the desired bit to 1

-#define GIM_BITSET_SET(array_data,bit_index)\

-{\

-    if(bit_index>=GIM_BITSET_SIZE(array_data))\

-        {\

-            GIM_BITSET_RESIZE(array_data,bit_index);\

-        }\

-        GUINT * _pt = GIM_DYNARRAY_POINTER(GUINT,array_data);\

-        _pt[bit_index >> GUINT_EXPONENT] |= (1 << (bit_index & (GUINT_BIT_COUNT-1)));\

-}\

-

-///Return 0 or 1

-#define GIM_BITSET_GET(array_data,bit_index,get_value) \

-{\

-    if(bit_index>=GIM_BITSET_SIZE(array_data))\

-        {\

-            get_value = 0;\

-        }\

-        else\

-        {\

-        GUINT * _pt = GIM_DYNARRAY_POINTER(GUINT,array_data);\

-        get_value = _pt[bit_index >> GUINT_EXPONENT] & (1 << (bit_index & (GUINT_BIT_COUNT-1)));\

-        }\

-}\

-

-///Sets the desired bit to 0

-#define GIM_BITSET_CLEAR(array_data,bit_index) \

-{\

-    if(bit_index<GIM_BITSET_SIZE(array_data))\

-        {\

-        GUINT * _pt = GIM_DYNARRAY_POINTER(GUINT,array_data);\

-        _pt[bit_index >> GUINT_EXPONENT] &= ~(1 << (bit_index & (GUINT_BIT_COUNT-1)));\

-        }\

-}\

-//! @}

-

-/*! \defgroup MEMORY_ACCESS_CONSTANTS

-\brief

-Memory Access constants.

-\sa BUFFERS

-*/

-//! @{

-#define G_MA_READ_ONLY 1

-#define G_MA_WRITE_ONLY 2

-#define G_MA_READ_WRITE 3

-//! @}

-

-/*! \defgroup MEMORY_USAGE_CONSTANTS

-\brief

-Memory usage constants.

-\sa BUFFERS

-*/

-//! @{

-/// Don't care how memory is used

-#define G_MU_EITHER 0

-/// specified once, doesn't allow read information

-#define G_MU_STATIC_WRITE 1

-/// specified once, allows to read information from a shadow buffer

-#define G_MU_STATIC_READ 2

-/// write directly on buffer, allows to read information from a shadow buffer

-#define G_MU_STATIC_READ_DYNAMIC_WRITE 3

-/// upload data to buffer from the shadow buffer, allows to read information from a shadow buffer

-#define G_MU_STATIC_READ_DYNAMIC_WRITE_COPY 4

-/// specified once, allows to read information directly from memory

-#define G_MU_STATIC_WRITE_DYNAMIC_READ 5

-/// write directly on buffer, allows to read information directly from memory

-#define G_MU_DYNAMIC_READ_WRITE 6

-//! @}

-

-/*! \defgroup BUFFER_ERRORS

-\brief

-Buffer operation errors

-\sa BUFFERS

-*/

-//! @{

-#define G_BUFFER_OP_SUCCESS 0

-#define G_BUFFER_OP_INVALID 1

-#define G_BUFFER_OP_STILLREFCOUNTED 2

-//! @}

-

-/*! \defgroup BUFFER_MANAGER_IDS

-\brief

-Buffer manager identifiers

-\sa BUFFERS, BUFFER_MANAGERS

-*/

-//! @{

-#define G_BUFFER_MANAGER_SYSTEM 0

-#define G_BUFFER_MANAGER_SHARED 1

-#define G_BUFFER_MANAGER_USER 2

-//! @}

-

-/*! \defgroup BUFFERS

-\brief

-Buffer operations and structs.

-<ul>

-<li> Before using buffers you must initializes GIMPACT buffer managers by calling \ref gimpact_init.

-<li> For initializes a buffer, use  \ref gim_create_buffer, \ref gim_create_buffer_from_data , \ref gim_create_common_buffer, \ref gim_create_common_buffer_from_data or \ref gim_create_shared_buffer_from_data.

-<li> For accessing to the buffer memory, you must call \ref gim_lock_buffer, and then \ref gim_unlock_buffer for finish the access.

-<li> When a buffer is no longer needed, you must free it by calling \ref gim_buffer_free.

-<li> You must call \ref gimpact_terminate when finish your application.

-<li> For a safe manipulation of buffers, use \ref BUFFER_ARRAYS

-</ul>

-\sa BUFFER_MANAGERS, BUFFER_ARRAYS

-*/

-//! @{

-

-//! Buffer handle.

-struct GBUFFER_ID

-{

-    GUINT m_buffer_id;

-    GUINT m_buffer_manager_id;

-};

-//typedef  struct _GBUFFER_ID GBUFFER_ID;

-

-//! Buffer internal data

-struct GBUFFER_DATA

-{

-    GUINT m_buffer_handle;//!< if 0, buffer doesn't exists

-    GUINT m_size;

-    GUINT m_usage;

-    GINT m_access;

-    GUINT m_lock_count;

-    char * m_mapped_pointer;

-    GBUFFER_ID m_shadow_buffer;

-    GUINT m_refcount;//! Reference counting for safe garbage collection

-};

-//typedef  struct _GBUFFER_DATA GBUFFER_DATA;

-//! @}

-

-/*! \defgroup BUFFERS_MANAGER_PROTOTYPES

-\brief

-Function prototypes to allocate and free memory for buffers

-\sa BUFFER_MANAGERS, BUFFERS

-*/

-//! @{

-

-//! Returns a Buffer handle

-typedef GUINT gim_buffer_alloc_function(GUINT size,int usage);

-

-//! Returns a Buffer handle, and copies the pdata to the buffer

-typedef GUINT gim_buffer_alloc_data_function(const void * pdata,GUINT size,int usage);

-

-//! Changes the size of the buffer preserving the content, and returns the new buffer id

-typedef GUINT gim_buffer_realloc_function(GUINT buffer_handle,GUINT oldsize,int old_usage,GUINT newsize,int new_usage);

-

-//! It changes the m_buffer_handle member to 0/0

-typedef void gim_buffer_free_function(GUINT buffer_handle,GUINT size);

-

-//! It maps the m_mapped_pointer. Returns a pointer

-typedef char * gim_lock_buffer_function(GUINT buffer_handle,int access);

-

-//! It sets the m_mapped_pointer to 0

-typedef void gim_unlock_buffer_function(GUINT buffer_handle);

-

-typedef void gim_download_from_buffer_function(

-        GUINT source_buffer_handle,

-                GUINT source_pos,

-                void * destdata,

-                GUINT copysize);

-

-typedef void  gim_upload_to_buffer_function(

-        GUINT dest_buffer_handle,

-                GUINT dest_pos,

-                void * sourcedata,

-                GUINT copysize);

-

-typedef void gim_copy_buffers_function(

-                GUINT source_buffer_handle,

-                GUINT source_pos,

-                GUINT dest_buffer_handle,

-                GUINT dest_pos,

-                GUINT copysize);

-//! @}

-

-

-/*! \defgroup BUFFER_MANAGERS

-\brief

-Buffer Manager operations

-*/

-//! @{

-//! Buffer manager prototype

-struct GBUFFER_MANAGER_PROTOTYPE

-{

-    gim_buffer_alloc_function * alloc_fn;

-    gim_buffer_alloc_data_function *alloc_data_fn;

-    gim_buffer_realloc_function * realloc_fn;

-    gim_buffer_free_function * free_fn;

-    gim_lock_buffer_function * lock_buffer_fn;

-    gim_unlock_buffer_function * unlock_buffer_fn;

-    gim_download_from_buffer_function * download_from_buffer_fn;

-    gim_upload_to_buffer_function * upload_to_buffer_fn;

-    gim_copy_buffers_function * copy_buffers_fn;

-};

-//typedef  struct _GBUFFER_MANAGER_PROTOTYPE GBUFFER_MANAGER_PROTOTYPE;

-

-//! Buffer manager

-struct GBUFFER_MANAGER_DATA

-{

-    GDYNAMIC_ARRAY m_buffer_array;//!< Array of GBUFFER_DATA objects

-    GDYNAMIC_ARRAY m_free_positions;//!< Array of GUINT elements. Free positions

-    GBUFFER_MANAGER_PROTOTYPE m_prototype;//! Prototype of functions

-    GUINT m_active; //!< 0 or 1

-};

-//typedef  struct _GBUFFER_MANAGER_DATA GBUFFER_MANAGER_DATA;

-

-//! Adds a buffer Manager to the Memory Singleton

-void gim_create_buffer_manager(GBUFFER_MANAGER_PROTOTYPE * prototype,GUINT buffer_manager_id);

-//! Gets buffer manager

-GUINT gim_get_buffer_manager_count();

-//! Destroys a buffer manager

-void gim_destroy_buffer_manager(GUINT buffer_manager_id);

-void gim_get_buffer_manager_data(GUINT buffer_manager_id,GBUFFER_MANAGER_DATA ** pbm_data);

-void gim_init_buffer_managers();

-void gim_terminate_buffer_managers();

-

-//! @}

-

-

-/*! \addtogroup BUFFERS

-*/

-//! @{

-

-//!Creates a buffer on the buffer manager specified by buffer_manager_id

-/*!

-\param buffer_manager_id

-\param buffer_size

-\param usage An usage constant. Use G_MU_DYNAMIC_READ_WRITE as default.

-\param buffer_id a pointer for receive the new buffer id

-\return An error code. 0 if success.

-\post m_refcount = 0

-*/

-GUINT gim_create_buffer(

-    GUINT buffer_manager_id,

-    GUINT buffer_size,

-    int usage,

-    GBUFFER_ID * buffer_id);

-

-//!Creates a buffer on the buffer manager specified by buffer_manager_id

-/*!

-\param buffer_manager_id

-\param pdata Data for allocating

-\param buffer_size Size of the data buffer

-\param usage An usage constant. Use G_MU_DYNAMIC_READ_WRITE as default.

-\param buffer_id a pointer for receive the new buffer id

-\return An error code. 0 if success.

-\post m_refcount = 0

-*/

-GUINT gim_create_buffer_from_data(

-    GUINT buffer_manager_id,

-    const void * pdata,

-    GUINT buffer_size,

-    int usage,

-    GBUFFER_ID * buffer_id);

-

-//!Allocates on the G_BUFFER_MANAGER_SYSTEM

-GUINT gim_create_common_buffer(GUINT buffer_size, GBUFFER_ID * buffer_id);

-//!Allocates on the G_BUFFER_MANAGER_SYSTEM, and copies the data

-GUINT gim_create_common_buffer_from_data(

-    const void * pdata, GUINT buffer_size, GBUFFER_ID * buffer_id);

-//!Creates a buffer with shared data

-GUINT gim_create_shared_buffer_from_data(

-    const void * pdata, GUINT buffer_size, GBUFFER_ID * buffer_id);

-

-

-//! Add reference counting to buffer.

-GINT gim_buffer_add_ref(GBUFFER_ID * buffer_id);

-

-//! Function for resize buffer, preserving the content

-/*!

-\param buffer_id

-\param newsize

-\return An error code. 0 if success.

-\post If m_refcount>0 then it decrements it.

-*/

-GINT gim_buffer_realloc(GBUFFER_ID * buffer_id,GUINT newsize);

-

-//! Eliminates the buffer.

-/*!

-If the buffer reference counting is <= 1 and is unlocked, then it eliminates the buffer.

-*/

-GINT gim_buffer_free(GBUFFER_ID * buffer_id);

-

-//! Locks the buffer for memory access.

-/*!

-\param buffer_id Id from buffer.

-\param access Must have the following values: G_MA_READ_ONLY,G_MA_WRITE_ONLY or G_MA_READ_WRITE.

-\param map_pointer Dest Pointer of the memory address from buffer.

-\post m_lock_count increases.

-*/

-GINT gim_lock_buffer(GBUFFER_ID * buffer_id,int access,char ** map_pointer);

-

-//! Unlocks the buffer for memory access.

-GINT gim_unlock_buffer(GBUFFER_ID * buffer_id);

-

-//! Gets the buffer size in bytes

-GINT gim_get_buffer_size(GBUFFER_ID * buffer_id,GUINT * buffer_size);

-

-//! Determines if the buffer is locked

-GINT gim_get_buffer_is_locked(GBUFFER_ID * buffer_id,GUINT * lock_count);

-

-//! Copies the content of the buffer to a dest pointer

-GINT gim_download_from_buffer(

-        GBUFFER_ID * buffer_id,

-                GUINT source_pos,

-                void * destdata,

-                GUINT copysize);

-

-//! Copies the content of a memory pointer to the buffer

-GINT  gim_upload_to_buffer(

-                GBUFFER_ID * buffer_id,

-                GUINT dest_pos,

-                void * sourcedata,

-                GUINT copysize);

-

-//! Copies two buffers.

-GINT  gim_copy_buffers(

-                GBUFFER_ID * source_buffer_id,

-                GUINT source_pos,

-                GBUFFER_ID * dest_buffer_id,

-                GUINT dest_pos,

-                GUINT copysize);

-//! @}

-

-

-/*! \defgroup BUFFER_ARRAYS

-

-\brief

-Buffered Arrays, for manip elements on a buffer and treat it as an array.

-<ul>

-<li> Before using buffer arrays you must initializes GIMPACT buffer managers by calling gimpact_init.

-<li> Before creating buffer arrays, you must create a buffer. see \ref BUFFERS.

-<li> Create a buffer narray by calling \ref GIM_BUFFER_ARRAY_INIT_TYPE, \ref GIM_BUFFER_ARRAY_INIT_TYPE_OFFSET or \ref GIM_BUFFER_ARRAY_INIT_OFFSET_STRIDE.

-<li> For accessing to the array elements, you must call \ref gim_buffer_array_lock, and then \ref gim_buffer_array_unlock for finish the access.

-<li> When a buffer array is no longer needed, you must free it by calling \ref GIM_BUFFER_ARRAY_DESTROY.

-</ul>

-The following example shows how Buffer arrays can be used:

-

-\code

-int main()

-{

-    //init gimpact

-    gimpact_init();

-

-    //Buffer handle to use

-    GBUFFER_ID bufferhandle;

-

-    //Create a memory buffer of 100 float numbers

-    gim_create_common_buffer(100*sizeof(float), &bufferhandle);

-

-    //Create a buffer array from the bufferhandle

-    GBUFFER_ARRAY buffer_float_array;

-    GIM_BUFFER_ARRAY_INIT_TYPE(float,buffer_float_array,bufferhandle,100);

-

-    ////Access to the buffer data, set all elements of the array

-

-    int i, count;

-    count = buffer_float_array.m_element_count;

-    //Locks the array

-    gim_buffer_array_lock(&buffer_float_array,G_MA_READ_WRITE);

-    float  * pelements = GIM_BUFFER_ARRAY_POINTER(float, buffer_float_array, 0); // A pointer to the buffer memory

-

-    //fill the array with random numbers

-    for (i = 0;i < count;i++ )

-    {

-        pelements[i] = gim_unit_random();

-    }

-    //unlock buffer

-    gim_buffer_array_unlock(&buffer_float_array);

-

-    //Program code

-        ....

-        ....

-

-    //Destroy array

-    GIM_BUFFER_ARRAY_DESTROY(buffer_float_array);

-

-    //terminate gimpact

-    gimpact_terminate();

-}

-\endcode

-

-\sa BUFFERS

-*/

-//! @{

-

-//! Buffer managed array struct.

-struct GBUFFER_ARRAY

-{

-  GBUFFER_ID m_buffer_id;

-  char * m_buffer_data;

-  char m_byte_stride;

-  GUINT m_byte_offset;

-  GUINT m_element_count;

-};

-//typedef  struct _GBUFFER_ARRAY GBUFFER_ARRAY;

-

-//! Sets offset for a buffered array.

-#define GIM_BUFFER_ARRAY_SET_OFFSET(_array_data,_offset) (_array_data).m_byte_offset = _offset*(_array_data).m_byte_stride;

-

-//! Sets offset for a buffered array.

-#define GIM_BUFFER_ARRAY_GET_OFFSET(_array_data,_offset) _offset = (_array_data).m_byte_offset/(_array_data).m_byte_stride;

-

-//!Return a pointer of the element at the _index

-#define GIM_BUFFER_ARRAY_POINTER(_type,_array_data,_index) (_type *)((_array_data).m_buffer_data + _index*(_array_data).m_byte_stride)

-

-//! Sets stride for a buffered array.

-#define GIM_BUFFER_ARRAY_SET_STRIDE(_type,_array_data) (_array_data).m_byte_stride = sizeof(_type);

-

-//! Is array stride equal to the size of the type ?

-#define GIM_BUFFER_ARRAY_IS_ALIGNED(_type,_array_data) ((_array_data).m_byte_stride == sizeof(_type))

-

-///Verify if two arrays have the same data

-#define GIM_BUFFER_ARRAY_ARE_SAME(_array_data1,_array_data2,aresame)\

-{\

-    aresame = 1;\

-    if((_array_data1).m_buffer_id.m_buffer_id != (_array_data2).m_buffer_id.m_buffer_id || (_array_data1).m_buffer_id.m_buffer_manager_id != (_array_data2).m_buffer_id.m_buffer_manager_id || (_array_data1).m_byte_offset != (_array_data2).m_byte_offset)\

-    {\

-        aresame = 0;\

-    }\

-}\

-

-//! Reserve size for a buffered array.

-/*!

-\pre array_data must be unlocked, and must be the aligned (GIM_BUFFER_ARRAY_IS_ALIGNED )

-*/

-#define GIM_BUFFER_ARRAY_RESERVE_SIZE(type,array_data,reserve_size)\

-{ \

-    if(reserve_size>(array_data).m_element_count)\

-    {\

-        GUINT _buffer_size,_newarray_size;\

-        gim_get_buffer_size(&(array_data).m_buffer_id,_buffer_size);\

-        _newarray_size = reserve_size*(array_data).m_byte_stride;\

-        if(_newarray_size>_buffer_size)\

-        { \

-            _newarray_size += G_ARRAY_GROW_SIZE*(array_data).m_byte_stride;\

-            gim_buffer_realloc(&(array_data).m_buffer_id,_newarray_size);\

-        }\

-    }\

-}\

-

-//! Pushes an element at last position

-/*!

-\pre array_data must be unlocked, and must be the aligned (GIM_BUFFER_ARRAY_IS_ALIGNED )

-*/

-#define GIM_BUFFER_ARRAY_PUSH_ITEM(type,array_data,item)\

-{\

-    GIM_BUFFER_ARRAY_RESERVE_SIZE(type,array_data,(array_data).m_element_count+1);\

-    gim_buffer_array_lock(&array_data,G_MA_WRITE_ONLY);\

-    type * _pt = GIM_BUFFER_ARRAY_POINTER(type,array_data,(array_data).m_element_count);\

-    memcpy(_pt,&item,sizeof(type));\

-    gim_buffer_array_unlock(&array_data);\

-    (array_data)->m_element_count++; \

-}\

-

-//! Pushes a new element at last position

-/*!

-\pre array_data must be unlocked, and must be the aligned (GIM_BUFFER_ARRAY_IS_ALIGNED )

-*/

-#define GIM_BUFFER_ARRAY_PUSH_EMPTY(type,array_data)\

-{\

-    GIM_BUFFER_ARRAY_RESERVE_SIZE(type,array_data,(array_data).m_element_count+1);\

-    array_data->m_element_count++; \

-}\

-

-//! Inserts an element

-/*!

-\pre array_data must be unlocked, and must be the aligned (GIM_BUFFER_ARRAY_IS_ALIGNED )

-*/

-#define GIM_BUFFER_ARRAY_INSERT_ITEM(type,array_data,item,index) \

-{ \

-    GIM_BUFFER_ARRAY_RESERVE_SIZE(type,array_data,(array_data).m_element_count+1);\

-    gim_buffer_array_lock(&array_data,G_MA_WRITE_ONLY);\

-    type * _pt = GIM_BUFFER_ARRAY_POINTER(type,array_data,0);\

-    if(index<(array_data)->m_element_count-1) \

-    { \

-        memcpy(&_pt[index+1],&_pt[index],((array_data).m_element_count-index)*sizeof(type));\

-    } \

-    memcpy(&_pt[index],&item,sizeof(type));\

-    gim_buffer_array_unlock(&array_data);\

-    (array_data).m_element_count++; \

-}\

-

-//! Deletes an element

-/*!

-\pre array_data must be unlocked, and must be the aligned (GIM_BUFFER_ARRAY_IS_ALIGNED )

-*/

-#define GIM_BUFFER_ARRAY_DELETE_ITEM(type,array_data,index) \

-{ \

-    if(index<(array_data).m_element_count-1) \

-    { \

-        gim_buffer_array_lock(&array_data,G_MA_WRITE_ONLY);\

-        type * _pt = GIM_BUFFER_ARRAY_POINTER(type,array_data,0);\

-        memcpy(&_pt[index],&_pt[index+1],((array_data).m_element_count-index-1)*sizeof(type));\

-        gim_buffer_array_unlock(&array_data);\

-    } \

-    (array_data).m_element_count--;    \

-}\

-

-//! Deletes an element at last position

-/*!

-\pre array_data must be unlocked, and must be the aligned (GIM_BUFFER_ARRAY_IS_ALIGNED )

-*/

-#define GIM_BUFFER_ARRAY_POP_ITEM(array_data) \

-{ \

-    if((array_data).m_element_count>0) \

-    { \

-        (array_data).m_element_count--;    \

-    } \

-}\

-

-

-//! Initializes an GBUFFER_ARRAY object from a buffer ID

-/*!

-m_buffer_data will be 0, for acces to the elements, you'd need to call lock_array

-\param array_data Array structure to be filled

-\param buffer_id A GBUFFER_ID structure which this array_daya will refer to

-\param element_count Number of elements

-\param offset element offset, it isn't byte offset. 0 is recomended

-\param byte_stride size of each element.  0 is recomended.

-\post Adds reference to the buffer

-\sa gim_buffer_add_ref

-*/

-#define GIM_BUFFER_ARRAY_INIT_OFFSET_STRIDE(array_data,buffer_id,element_count,offset,byte_stride)\

-{\

-    (array_data).m_buffer_id.m_buffer_id = (buffer_id).m_buffer_id;\

-    (array_data).m_buffer_id.m_buffer_manager_id = (buffer_id).m_buffer_manager_id;\

-    (array_data).m_buffer_data = 0;\

-    (array_data).m_element_count = element_count;\

-    (array_data).m_byte_stride = byte_stride;\

-    GIM_BUFFER_ARRAY_SET_OFFSET(array_data,offset);\

-    gim_buffer_add_ref(&(buffer_id));\

-}\

-

-//! Initializes an GBUFFER_ARRAY object from a buffer ID and a Given type

-/*!

-m_buffer_data will be 0, for acces to the elements, you'd need to call lock_array

-\param type Type of the Array. It determines the stride.

-\param array_data Array structure to be filled

-\param buffer_id A GBUFFER_ID structure which this array_daya will refer to

-\param element_count Number of elements

-\param offset element offset, it isn't byte offset. 0 is recomended

-\post Adds reference to the buffer

-\sa gim_buffer_add_ref

-*/

-#define GIM_BUFFER_ARRAY_INIT_TYPE_OFFSET(type,array_data,buffer_id,element_count,offset)\

-{\

-    (array_data).m_buffer_id.m_buffer_id = (buffer_id).m_buffer_id;\

-    (array_data).m_buffer_id.m_buffer_manager_id = (buffer_id).m_buffer_manager_id;\

-    (array_data).m_buffer_data = 0;\

-    (array_data).m_element_count = element_count;\

-    GIM_BUFFER_ARRAY_SET_STRIDE(type,array_data);\

-    GIM_BUFFER_ARRAY_SET_OFFSET(array_data,offset);\

-    gim_buffer_add_ref(&(buffer_id));\

-}\

-

-//! Initializes a buffer array giving a data type and a buffer id

-/*!

-m_buffer_data will be 0, for acces to the elements, you'd need to call lock_array.

-\param type Type of the Array. It determines the stride.

-\param array_data Array structure to be filled

-\param buffer_id A GBUFFER_ID structure which this array_daya will refer to

-\param element_count Number of elements

-\post Adds reference to the buffer

-\sa gim_buffer_add_ref

-*/

-#define GIM_BUFFER_ARRAY_INIT_TYPE(type,array_data,buffer_id,element_count) GIM_BUFFER_ARRAY_INIT_TYPE_OFFSET(type,array_data,buffer_id,element_count,0)

-

-//! Gain access to the array buffer through the m_buffer_data element

-/*!

-m_buffer_data pointer will be located at the m_byte_offset position of the buffer m_buffer

-Then, You'd need to call unlock_array when finish to using the array access.

-

-\pre if m_buffer_data != 0, the function returns

-\param array_data Array structure to be locked

-\param access A constant for access to the buffer. can be G_MA_READ_ONLY,G_MA_WRITE_ONLY or G_MA_READ_WRITE

-\return an Buffer error code

-*/

-GINT gim_buffer_array_lock(GBUFFER_ARRAY * array_data, int access);

-

-//! close the access to the array buffer through the m_buffer_data element

-/*!

-\param array_data Array structure to be locked

-\return an Buffer error code

-*/

-GINT gim_buffer_array_unlock(GBUFFER_ARRAY * array_data);

-

-//! Copy an array by reference

-/*!

-\post A reference to the m_buffer_id is increased.

-*/

-void gim_buffer_array_copy_ref(GBUFFER_ARRAY * source_data,GBUFFER_ARRAY  * dest_data);

-

-

-//! Copy an array by value

-/*!

-\post A new buffer is created

-*/

-void gim_buffer_array_copy_value(GBUFFER_ARRAY * source_data,GBUFFER_ARRAY  * dest_data, GUINT buffer_manager_id,int usage);

-

-//! Destroys an GBUFFER_ARRAY object

-/*!

-\post Attemps to destroy the buffer, decreases reference counting

-*/

-void GIM_BUFFER_ARRAY_DESTROY(GBUFFER_ARRAY & array_data);

-

-//! Copy the content of the array to a pointer

-/*!

-\pre dest_data must have the same size as the array_data

-\param type

-\param array_data A GBUFFERED_ARRAY structure

-\param dest_data A type pointer

-*/

-#define GIM_BUFFER_ARRAY_DOWNLOAD(type,array_data,dest_data)\

-{\

-    if(GIM_BUFFER_ARRAY_IS_ALIGNED(type,array_data))\

-    {\

-        gim_download_from_buffer(&(array_data).m_buffer_id, (array_data).m_byte_offset,(void *) dest_data, (array_data).m_element_count*(array_data).m_byte_stride);\

-    }\

-    else\

-    {\

-        GUINT _k_, _ecount_= (array_data).m_element_count;\

-        type * _source_vert_;\

-        type * _dest_vert_ = dest_data;\

-        gim_buffer_array_lock(&(array_data),G_MA_READ_ONLY);\

-        for (_k_ = 0;_k_< _ecount_; _k_++)\

-        {\

-            _source_vert_ = GIM_BUFFER_ARRAY_POINTER(type,array_data,_k_);\

-            memcpy(_dest_vert_,_source_vert_,sizeof(type));\

-            _dest_vert_++;\

-        }\

-        gim_buffer_array_unlock(&(array_data));\

-    }\

-}\

-

-//! Upload the content of a a pointer to a buffered array

-/*!

-\pre source_data must have the same size as the array_data

-\param type

-\param array_data A GBUFFERED_ARRAY structure

-\param source_data A void pointer

-*/

-#define GIM_BUFFER_ARRAY_UPLOAD(type,array_data,source_data)\

-{\

-    if(GIM_BUFFER_ARRAY_IS_ALIGNED(type,array_data))\

-    {\

-        gim_upload_to_buffer(&(array_data).m_buffer_id, (array_data).m_byte_offset,(void *) source_data, (array_data).m_element_count*(array_data).m_byte_stride);\

-    }\

-    else\

-    {\

-        GUINT _k_, _ecount_= (array_data).m_element_count;\

-        type * _source_vert_ = source_data;\

-        type * _dest_vert_;\

-        gim_buffer_array_lock(&(array_data),G_MA_WRITE_ONLY);\

-        for (_k_ = 0;_k_< _ecount_; _k_++)\

-        {\

-            _dest_vert_ = GIM_BUFFER_ARRAY_POINTER(type,array_data,_k_);\

-            memcpy(_dest_vert_,_source_vert_,sizeof(type));\

-            _source_vert_++;\

-        }\

-        gim_buffer_array_unlock(&(array_data));\

-    }\

-}\

-

-

-//!Kernel function prototype for process streams, given a buffered array as source and

-/*!

-\param 1 the uniform arguments

-\param 2 the source stream

-\param 3 the destination stream

-*/

-typedef void (* gim_kernel_func)(void *,GBUFFER_ARRAY *,GBUFFER_ARRAY *);

-

-//! Generic Stream Processingp loop

-/*!

-

-This macro executes a kernel macro or function for each element of the streams

-\pre _src_array->m_count <= _dst_array->m_count

-

-\param _uniform_data An argument to be passed to the Kernel function

-\param _src_array An GBUFFER_ARRAY structure passed as the source stream

-\param _dst_array An GBUFFER_ARRAY  structure passed as the source stream

-\param _kernel Macro or function of the kernel

-\param _src_type Required. Type of all elements of the source stream

-\param _dst_type Required. Type of all elements of the dest stream

-*/

-#define GIM_PROCESS_BUFFER_ARRAY(_uniform_data,_src_array,_dst_array,_kernel,_src_type,_dst_type) {\

-\

-    gim_buffer_array_lock(&_src_array,G_MA_READ_ONLY);\

-    gim_buffer_array_lock(&_dst_array,G_MA_WRITE_ONLY);\

-\

-    GUINT _i_, _count_=(_src_array).m_element_count;\

-\

-    _src_type * _source_vert_;\

-    _dst_type * _dest_vert_;\

-    if(GIM_BUFFER_ARRAY_IS_ALIGNED(_src_type,_src_array) && GIM_BUFFER_ARRAY_IS_ALIGNED(_dst_type,_dst_array))\

-    {\

-\

-        _source_vert_ = GIM_BUFFER_ARRAY_POINTER(_src_type,_src_array,0);\

-        _dest_vert_ = GIM_BUFFER_ARRAY_POINTER(_dst_type,_dst_array,0);\

-        for (_i_ = 0;_i_< _count_; _i_++)\

-        {\

-            _kernel(_uniform_data,(*_source_vert_),(*_dest_vert_));\

-            _source_vert_++;\

-            _dest_vert_++;\

-        }\

-    }\

-    else\

-    {\

-        for (_i_ = 0;_i_< _count_; _i_++)\

-        {\

-            _source_vert_ = GIM_BUFFER_ARRAY_POINTER(_src_type,_src_array,_i_);\

-            _dest_vert_ = GIM_BUFFER_ARRAY_POINTER(_dst_type,_dst_array,_i_);\

-            _kernel(_uniform_data,(*_source_vert_),(*_dest_vert_));\

-        }\

-    }\

-    gim_buffer_array_unlock(&_src_array);\

-    gim_buffer_array_unlock(&_dst_array);\

-}\

-

-//! @}

-

-#endif // GIM_MEMORY_H_INCLUDED

diff --git a/libraries/ode-0.9/GIMPACT/include/GIMPACT/gim_radixsort.h b/libraries/ode-0.9/GIMPACT/include/GIMPACT/gim_radixsort.h
deleted file mode 100644
index a5f8e12..0000000
--- a/libraries/ode-0.9/GIMPACT/include/GIMPACT/gim_radixsort.h
+++ /dev/null
@@ -1,258 +0,0 @@
-#ifndef GIM_RADIXSORT_H_INCLUDED

-#define GIM_RADIXSORT_H_INCLUDED

-/*! \file gim_radixsort.h

-\author Francisco León.

-Based on the work of Michael Herf : "fast floating-point radix sort"

-Avaliable on http://www.stereopsis.com/radix.html

-*/

-/*

------------------------------------------------------------------------------

-This source file is part of GIMPACT Library.

-

-For the latest info, see http://gimpact.sourceforge.net/

-

-Copyright (c) 2006 Francisco Leon. C.C. 80087371.

-email: projectileman@yahoo.com

-

- 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 GIMPACT-LICENSE-LGPL.TXT.

-   (2) The BSD-style license that is included with this library in

-       the file GIMPACT-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

- GIMPACT-LICENSE-LGPL.TXT and GIMPACT-LICENSE-BSD.TXT for more details.

-

------------------------------------------------------------------------------

-*/

-

-#include "GIMPACT/gim_memory.h"

-

-/*! \defgroup SORTING

-\brief

-Macros for sorting.

-*/

-//! @{

-struct GIM_RSORT_TOKEN

-{

-    GUINT m_key;

-    GUINT m_value;

-};

-//typedef struct _GIM_RSORT_TOKEN GIM_RSORT_TOKEN;

-

-//comparator for sorting

-#define RSORT_TOKEN_COMPARATOR(x, y) ((int)((x.m_key) - (y.m_key)))

-

-// ---- utils for accessing 11-bit quantities

-#define D11_0(x)        (x & 0x7FF)

-#define D11_1(x)        (x >> 11 & 0x7FF)

-#define D11_2(x)        (x >> 22 )

-

-

-//COMMON FUNCTIONS FOR ACCESSING THE KEY OF AN ELEMENT

-

-

-//For the type of your array, you need to declare a macro for obtaining the key, like these:

-#define SIMPLE_GET_FLOAT32KEY(e,key) {key =(GREAL)(e);}

-

-#define SIMPLE_GET_INTKEY(e,key) {key =(GINT)(e);}

-

-#define SIMPLE_GET_UINTKEY(e,key) {key =(GUINT)(e);}

-

-//For the type of your array, you need to declare a macro for copy elements, like this:

-

-#define SIMPLE_COPY_ELEMENTS(dest,src) {dest = src;}

-

-#define kHist 2048

-

-///Radix sort for unsigned integer keys

-

-#define GIM_RADIX_SORT_RTOKENS(array,sorted,element_count)\

-{\

-        GUINT i;\

-        GUINT b0[kHist * 3];\

-        GUINT *b1 = b0 + kHist;\

-        GUINT *b2 = b1 + kHist;\

-        for (i = 0; i < kHist * 3; i++)\

-        {\

-                b0[i] = 0;\

-        }\

-        GUINT fi;\

-        GUINT pos;\

-        for (i = 0; i < element_count; i++)\

-        {\

-            fi = array[i].m_key;\

-                b0[D11_0(fi)] ++;\

-                b1[D11_1(fi)] ++;\

-                b2[D11_2(fi)] ++;\

-        }\

-        {\

-                GUINT sum0 = 0, sum1 = 0, sum2 = 0;\

-                GUINT tsum;\

-                for (i = 0; i < kHist; i++)\

-                {\

-                        tsum = b0[i] + sum0;\

-                        b0[i] = sum0 - 1;\

-                        sum0 = tsum;\

-                        tsum = b1[i] + sum1;\

-                        b1[i] = sum1 - 1;\

-                        sum1 = tsum;\

-                        tsum = b2[i] + sum2;\

-                        b2[i] = sum2 - 1;\

-                        sum2 = tsum;\

-                }\

-        }\

-        for (i = 0; i < element_count; i++)\

-        {\

-        fi = array[i].m_key;\

-                pos = D11_0(fi);\

-                pos = ++b0[pos];\

-                sorted[pos].m_key = array[i].m_key;\

-                sorted[pos].m_value = array[i].m_value;\

-        }\

-        for (i = 0; i < element_count; i++)\

-        {\

-        fi = sorted[i].m_key;\

-                pos = D11_1(fi);\

-                pos = ++b1[pos];\

-                array[pos].m_key = sorted[i].m_key;\

-                array[pos].m_value = sorted[i].m_value;\

-        }\

-        for (i = 0; i < element_count; i++)\

-        {\

-        fi = array[i].m_key;\

-                pos = D11_2(fi);\

-                pos = ++b2[pos];\

-                sorted[pos].m_key = array[i].m_key;\

-                sorted[pos].m_value = array[i].m_value;\

-        }\

-}\

-

-/// Get the sorted tokens from an array. For generic use. Tokens are GIM_RSORT_TOKEN

-#define GIM_RADIX_SORT_ARRAY_TOKENS(array, sorted_tokens, element_count, get_uintkey_macro)\

-{\

-    GIM_RSORT_TOKEN * _unsorted = (GIM_RSORT_TOKEN *) gim_alloc(sizeof(GIM_RSORT_TOKEN )*element_count);\

-    GUINT _i;\

-    for (_i=0;_i<element_count;_i++)\

-    {\

-        get_uintkey_macro(array[_i],_unsorted[_i].m_key);\

-        _unsorted[_i].m_value = _i;\

-    }\

-    GIM_RADIX_SORT_RTOKENS(_unsorted,sorted_tokens,element_count);\

-    gim_free(_unsorted,sizeof(GIM_RSORT_TOKEN )*element_count);\

-}\

-

-/// Sorts array in place. For generic use

-#define GIM_RADIX_SORT(type,array,element_count,get_uintkey_macro,copy_elements_macro)\

-{\

-    GIM_RSORT_TOKEN * _sorted = (GIM_RSORT_TOKEN *) gim_alloc(sizeof(GIM_RSORT_TOKEN )*element_count);\

-    GIM_RADIX_SORT_ARRAY_TOKENS(array,_sorted,element_count,get_uintkey_macro);\

-    type * _original_array = (type *) gim_alloc(sizeof(type)*element_count); \

-    memcpy(_original_array,array,sizeof(type)*element_count);\

-    GUINT _i;\

-    for (_i=0;_i<element_count;_i++)\

-    {\

-        copy_elements_macro(array[_i],_original_array[_sorted[_i].m_value]);\

-    }\

-    gim_free(_original_array,sizeof(type)*element_count);\

-    gim_free(_sorted,sizeof(GIM_RSORT_TOKEN )*element_count);\

-}\

-

-/// Sorts array in place using quick sort

-#define GIM_QUICK_SORT_ARRAY(type, array, array_count, comp_macro, exchange_macro) \

-{\

-  GINT   _i_, _j_, _p_, _stack_index_, _start_, _end_;\

-  GINT   _start_stack_[64]; \

-  GINT   _end_stack_[64];\

-  _start_stack_[0] = 0;\

-  _end_stack_[0] = (array_count);\

-  _stack_index_ = 1;\

-  while (_stack_index_ > 0)\

-  {\

-    _stack_index_ --;\

-    _start_ = _start_stack_[_stack_index_];\

-    _end_ = _end_stack_[_stack_index_];\

-    while (_end_ - _start_ > 2)\

-    {\

-      _p_ = _start_;\

-      _i_ = _start_ + 1;\

-      _j_ = _end_ - 1;\

-      while (_i_<_j_) \

-      {\

-        for(; _i_<=_j_ && comp_macro(((array)[_i_]),((array)[_p_]))<=0; _i_++) ;\

-        if (_i_ > _j_) \

-        {\

-          exchange_macro(type, array, _j_, _p_);\

-          _i_ = _j_;\

-        }\

-        else\

-        {\

-          for(; _i_<=_j_ && comp_macro(((array)[_j_]),((array)[_p_]))>=0; _j_--) ;\

-          if (_i_ > _j_) \

-          {\

-            exchange_macro(type, array, _j_, _p_);\

-            _i_ = _j_;\

-          }\

-          else if (_i_ < _j_)\

-          {\

-            exchange_macro(type, array, _i_, _j_);\

-            if (_i_+2 < _j_) {_i_++; _j_--;}\

-            else if (_i_+1 < _j_) _i_++;\

-          }\

-        }\

-      }\

-      if (_i_-_start_ > 1 && _end_-_j_ > 1) \

-      {\

-        if (_i_-_start_ < _end_-_j_-1) \

-        {\

-          _start_stack_[_stack_index_] = _j_+1;\

-          _end_stack_[_stack_index_] = _end_;\

-          _stack_index_ ++;\

-          _end_ = _i_;\

-        }\

-        else\

-        {\

-          _start_stack_[_stack_index_] = _start_;\

-          _end_stack_[_stack_index_] = _i_;\

-          _stack_index_ ++;\

-          _start_ = _j_+1;\

-        }\

-      }\

-      else\

-      {\

-        if (_i_-_start_ > 1)\

-        {\

-          _end_ = _i_;\

-        }\

-        else \

-        {\

-          _start_ = _j_+1;\

-        }\

-      }\

-    }\

-    if (_end_ - _start_ == 2) \

-    {\

-      if (comp_macro(((array)[_start_]),((array)[_end_-1])) > 0) \

-      {\

-        exchange_macro(type, array, _start_, _end_-1);\

-      }\

-    }\

-  }\

-}\

-

-#define GIM_DEF_EXCHANGE_MACRO(type, _array, _i, _j)\

-{\

-    type _e_tmp_ =(_array)[(_i)];\

-    (_array)[(_i)]=(_array)[(_j)];\

-    (_array)[(_j)]= _e_tmp_;\

-}\

-

-#define GIM_COMP_MACRO(x, y) ((GINT)((x) - (y)))

-//! @}

-#endif // GIM_RADIXSORT_H_INCLUDED

diff --git a/libraries/ode-0.9/GIMPACT/include/GIMPACT/gim_tri_capsule_collision.h b/libraries/ode-0.9/GIMPACT/include/GIMPACT/gim_tri_capsule_collision.h
deleted file mode 100644
index 2b31604..0000000
--- a/libraries/ode-0.9/GIMPACT/include/GIMPACT/gim_tri_capsule_collision.h
+++ /dev/null
@@ -1,111 +0,0 @@
-#ifndef GIM_TRI_CAPSULE_COLLISION_H_INCLUDED

-#define GIM_TRI_CAPSULE_COLLISION_H_INCLUDED

-

-/*! \file gim_tri_capsule_collision.h

-\author Francisco León

-*/

-/*

------------------------------------------------------------------------------

-This source file is part of GIMPACT Library.

-

-For the latest info, see http://gimpact.sourceforge.net/

-

-Copyright (c) 2006 Francisco Leon. C.C. 80087371.

-email: projectileman@yahoo.com

-

- 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 GIMPACT-LICENSE-LGPL.TXT.

-   (2) The BSD-style license that is included with this library in

-       the file GIMPACT-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

- GIMPACT-LICENSE-LGPL.TXT and GIMPACT-LICENSE-BSD.TXT for more details.

-

------------------------------------------------------------------------------

-*/

-

-#include "GIMPACT/gim_memory.h"

-

-/*! \addtogroup GEOMETRIC_OPERATIONS

-*/

-//! @{

-

-//! Capsule struct

-struct GIM_CAPSULE_DATA

-{

-    GREAL m_radius;

-    vec3f m_point1;

-    vec3f m_point2;

-};

-//typedef struct _GIM_CAPSULE_DATA GIM_CAPSULE_DATA;

-

-#define CALC_CAPSULE_AABB(capsule,aabb)\

-{\

-    if(capsule.m_point1[0]<capsule.m_point2[0])\

-    {\

-        aabb.minX = capsule.m_point1[0] - capsule.m_radius;\

-        aabb.maxX = capsule.m_point2[0] + capsule.m_radius;\

-    }\

-    else\

-    {\

-        aabb.minX = capsule.m_point2[0] - capsule.m_radius;\

-        aabb.maxX = capsule.m_point1[0] + capsule.m_radius;\

-    }\

-    if(capsule.m_point1[1]<capsule.m_point2[1])\

-    {\

-        aabb.minY = capsule.m_point1[1] - capsule.m_radius;\

-        aabb.maxY = capsule.m_point2[1] + capsule.m_radius;\

-    }\

-    else\

-    {\

-        aabb.minY = capsule.m_point2[1] - capsule.m_radius;\

-        aabb.maxY = capsule.m_point1[1] + capsule.m_radius;\

-    }\

-    if(capsule.m_point1[2]<capsule.m_point2[2])\

-    {\

-        aabb.minZ = capsule.m_point1[2] - capsule.m_radius;\

-        aabb.maxZ = capsule.m_point2[2] + capsule.m_radius;\

-    }\

-    else\

-    {\

-        aabb.minZ = capsule.m_point2[2] - capsule.m_radius;\

-        aabb.maxZ = capsule.m_point1[2] + capsule.m_radius;\

-    }\

-}\

-

-//! Utility function for find the closest point between a segment and a triangle

-/*!

-

-\param triangle

-\param s1

-\param s2

-\param contacts Contains the closest points on the segment (1,2), and the normal points to segment, and m_depth contains the distance

-

-\post The contacts array is not set to 0. It adds aditional contacts

-*/

-void gim_closest_point_triangle_segment(GIM_TRIANGLE_DATA * triangle, vec3f s1,vec3f s2, GDYNAMIC_ARRAY * contacts);

-

-

-

-

-

-//! Utility function for find the closest point between a capsule and a triangle

-/*!

-

-\param triangle

-\param capsule

-\param contacts Contains the closest points on the capsule, and the normal points to triangle

-\return 1 if the triangle collides the capsule

-\post The contacts array is not set to 0. It adds aditional contacts

-*/

-int gim_triangle_capsule_collision(GIM_TRIANGLE_DATA * triangle, GIM_CAPSULE_DATA * capsule, GDYNAMIC_ARRAY * contacts);

-//! @}

-

-#endif // GIM_TRI_CAPSULE_COLLISION_H_INCLUDED

diff --git a/libraries/ode-0.9/GIMPACT/include/GIMPACT/gim_tri_collision.h b/libraries/ode-0.9/GIMPACT/include/GIMPACT/gim_tri_collision.h
deleted file mode 100644
index 80b34eb..0000000
--- a/libraries/ode-0.9/GIMPACT/include/GIMPACT/gim_tri_collision.h
+++ /dev/null
@@ -1,253 +0,0 @@
-#ifndef GIM_TRI_COLLISION_H_INCLUDED

-#define GIM_TRI_COLLISION_H_INCLUDED

-

-/*! \file gim_tri_collision.h

-\author Francisco León Nájera

-*/

-/*

------------------------------------------------------------------------------

-This source file is part of GIMPACT Library.

-

-For the latest info, see http://gimpact.sourceforge.net/

-

-Copyright (c) 2006 Francisco Leon Najera. C.C. 80087371.

-email: projectileman@yahoo.com

-

- 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 GIMPACT-LICENSE-LGPL.TXT.

-   (2) The BSD-style license that is included with this library in

-       the file GIMPACT-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

- GIMPACT-LICENSE-LGPL.TXT and GIMPACT-LICENSE-BSD.TXT for more details.

-

------------------------------------------------------------------------------

-*/

-

-/*! \addtogroup GEOMETRIC_OPERATIONS

-*/

-//! @{

-

-

-#define MAX_TRI_CLIPPING 8

-

-//! Clips a polygon by a plane

-#define PLANE_CLIP_POLYGON(plane,polygon_points,polygon_point_count,clipped,clipped_count,max_clipped) \

-{ \

-    clipped_count = 0; \

-    GUINT  _i, _vi, _prevclassif=32000, _classif; \

-        GREAL _d; \

-        for(_i=0;_i<=polygon_point_count;_i++) \

-        { \

-                _vi = _i%polygon_point_count; \

-                _d = DISTANCE_PLANE_POINT(plane,polygon_points[_vi]); \

-                _classif = _d>G_EPSILON ?1:0; \

-                if(_classif == 0) \

-                { \

-                        if(_prevclassif==1) \

-                        {\

-                                if(clipped_count<max_clipped) \

-                                {\

-                    PLANE_CLIP_SEGMENT(polygon_points[_i-1],polygon_points[_vi],plane,clipped[clipped_count]); \

-                    clipped_count++; \

-                } \

-            } \

-                        if(clipped_count<max_clipped&&_i<polygon_point_count) \

-                        { \

-                            VEC_COPY(clipped[clipped_count],polygon_points[_vi]); \

-                                clipped_count++; \

-                        } \

-                } \

-                else \

-                { \

-            if(_prevclassif==0) \

-            { \

-                if(clipped_count<max_clipped) \

-                { \

-                    PLANE_CLIP_SEGMENT(polygon_points[_i-1],polygon_points[_vi],plane,clipped[clipped_count]); \

-                    clipped_count++; \

-                } \

-            } \

-                } \

-                _prevclassif = _classif; \

-        } \

-}\

-

-

-struct GIM_TRIPLANES_CACHE

-{

-    /*!

-    Planes are:

-    0 : Face normal plane (0,3)

-    1 : Edge 1 plane (4,7)

-    2 : Edge 2 plane (8,11)

-    3 : Edge 3 plane (12,15)

-    */

-    vec4f m_planes[4];

-};

-//typedef struct _GIM_TRIPLANES_CACHE GIM_TRIPLANES_CACHE;

-

-

-struct GIM_TRIANGLE_DATA

-{

-    vec3f m_vertices[3];

-    GIM_TRIPLANES_CACHE m_planes;

-};

-//typedef struct _GIM_TRIANGLE_DATA GIM_TRIANGLE_DATA;

-

-//! tri_data is a GIM_TRIANGLE_DATA

-#define GIM_CALC_TRIANGLE_DATA_PLANES(tri_data)\

-{\

-        TRIANGLE_PLANE((tri_data).m_vertices[0],(tri_data).m_vertices[1],(tri_data).m_vertices[2],(tri_data).m_planes.m_planes[0]);\

-        EDGE_PLANE((tri_data).m_vertices[0],(tri_data).m_vertices[1],((tri_data).m_planes.m_planes[0]),((tri_data).m_planes.m_planes[1]));\

-        EDGE_PLANE((tri_data).m_vertices[1],(tri_data).m_vertices[2],((tri_data).m_planes.m_planes[0]),((tri_data).m_planes.m_planes[2]));\

-        EDGE_PLANE((tri_data).m_vertices[2],(tri_data).m_vertices[0],((tri_data).m_planes.m_planes[0]), ((tri_data).m_planes.m_planes[3]));\

-}\

-

-//Structure for collision

-

-struct GIM_TRIANGLE_CONTACT_DATA

-{

-    GREAL m_penetration_depth;

-    GUINT m_point_count;

-    vec3f m_separating_normal;

-    vec3f m_points[MAX_TRI_CLIPPING];

-};

-//typedef struct _GIM_TRIANGLE_CONTACT_DATA GIM_TRIANGLE_CONTACT_DATA;

-

-struct GIM_TRIANGLE_RAY_CONTACT_DATA

-{

-    GREAL u;

-    GREAL v;

-    GREAL tparam;

-    GUINT m_face_id;

-    vec3f m_point;

-    vec3f m_normal;

-};

-//typedef struct _GIM_TRIANGLE_RAY_CONTACT_DATA GIM_TRIANGLE_RAY_CONTACT_DATA;

-

-//! Fast Triangle Triangle overlapping test

-int gim_triangle_triangle_overlap(

-                                                        GIM_TRIANGLE_DATA *tri1,

-                                                        GIM_TRIANGLE_DATA *tri2);

-

-

-//! Fast but inacurate conservative Triangle Triangle overlapping test

-int gim_triangle_triangle_overlap_fast(

-                                                        GIM_TRIANGLE_DATA *tri1,

-                                                        GIM_TRIANGLE_DATA *tri2);

-

-

-//! Finds the contact points from a collision of two triangles

-/*!

-Returns the contact points, the penetration depth and the separating normal of the collision

-between two triangles. The normal is pointing toward triangle 1 from triangle 2

-*/

-int gim_triangle_triangle_collision(

-                                                        GIM_TRIANGLE_DATA *tri1,

-                                                        GIM_TRIANGLE_DATA *tri2,

-                                                        GIM_TRIANGLE_CONTACT_DATA * contact_data);

-

-//Ray triangle

-

-

-/*!

-        Solve the System for u,v parameters:

-

-        u*axe1[i1] + v*axe2[i1] = vecproj[i1]

-        u*axe1[i2] + v*axe2[i2] = vecproj[i2]

-

-        sustitute:

-        v = (vecproj[i2] - u*axe1[i2])/axe2[i2]

-

-        then the first equation in terms of 'u':

-

-        --> u*axe1[i1] + ((vecproj[i2] - u*axe1[i2])/axe2[i2])*axe2[i1] = vecproj[i1]

-

-        --> u*axe1[i1] + vecproj[i2]*axe2[i1]/axe2[i2] - u*axe1[i2]*axe2[i1]/axe2[i2] = vecproj[i1]

-

-        --> u*(axe1[i1]  - axe1[i2]*axe2[i1]/axe2[i2]) = vecproj[i1] - vecproj[i2]*axe2[i1]/axe2[i2]

-

-        --> u*((axe1[i1]*axe2[i2]  - axe1[i2]*axe2[i1])/axe2[i2]) = (vecproj[i1]*axe2[i2] - vecproj[i2]*axe2[i1])/axe2[i2]

-

-        --> u*(axe1[i1]*axe2[i2]  - axe1[i2]*axe2[i1]) = vecproj[i1]*axe2[i2] - vecproj[i2]*axe2[i1]

-

-        --> u = (vecproj[i1]*axe2[i2] - vecproj[i2]*axe2[i1]) /(axe1[i1]*axe2[i2]  - axe1[i2]*axe2[i1])

-

-if 0.0<= u+v <=1.0 then they are inside of triangle

-

-        */

-#define TRIANGLE_GET_UVPARAMETERS(point,vec1,vec2,vec3,tri_plane,u,v,outside)\

-{\

-        vec3f _axe1, _axe2, _vecproj;\

-        VEC_DIFF(_axe1,vec2,vec1);\

-        VEC_DIFF(_axe2,vec3,vec1);\

-        VEC_DIFF(_vecproj,point,vec1);\

-        GUINT _i1,_i2;\

-        PLANE_MINOR_AXES(tri_plane, _i1, _i2);\

-        if(fabsf(_axe2[_i2])<G_EPSILON)\

-        {\

-                u = (_vecproj[_i2]*_axe2[_i1] - _vecproj[_i1]*_axe2[_i2]) /(_axe1[_i2]*_axe2[_i1]  - _axe1[_i1]*_axe2[_i2]);\

-                v = (_vecproj[_i1] - u*_axe1[_i1])/_axe2[_i1];\

-        }\

-        else\

-        {\

-                u = (_vecproj[_i1]*_axe2[_i2] - _vecproj[_i2]*_axe2[_i1]) /(_axe1[_i1]*_axe2[_i2]  - _axe1[_i2]*_axe2[_i1]);\

-                v = (_vecproj[_i2] - u*_axe1[_i2])/_axe2[_i2];\

-        }\

-        if(u<-G_EPSILON)\

-        {\

-                outside = 1;\

-        }\

-        else if(v<-G_EPSILON)\

-        {\

-                outside = 1;\

-        }\

-        else\

-        {\

-                float sumuv;\

-                sumuv = u+v;\

-                if(sumuv<-G_EPSILON)\

-                {\

-                        outside = 1;\

-                }\

-                else if(sumuv-1.0f>G_EPSILON)\

-                {\

-                        outside = 1;\

-                }\

-                else\

-                {\

-                        outside = 0;\

-                }\

-        }\

-}\

-

-//! Finds the collision of a ray and a triangle.

-#define RAY_TRIANGLE_INTERSECTION(vOrigin,vDir,vec1,vec2,vec3,tri_plane,pout,u,v,tparam,tmax,does_intersect)\

-{\

-        RAY_PLANE_COLLISION(tri_plane,vDir,vOrigin,pout,tparam,does_intersect);\

-        if(does_intersect != 0)\

-        {\

-        if(tparam<-G_EPSILON||tparam>tmax+G_EPSILON)\

-        {\

-            does_intersect = 0;\

-        }\

-        else\

-        {\

-            TRIANGLE_GET_UVPARAMETERS(pout,vec1,vec2,vec3,tri_plane,u,v,does_intersect);\

-            does_intersect = !does_intersect;\

-        }\

-        }\

-}\

-

-

-//! @}

-

-#endif // GIM_TRI_COLLISION_H_INCLUDED

diff --git a/libraries/ode-0.9/GIMPACT/include/GIMPACT/gim_tri_sphere_collision.h b/libraries/ode-0.9/GIMPACT/include/GIMPACT/gim_tri_sphere_collision.h
deleted file mode 100644
index a2a81d6..0000000
--- a/libraries/ode-0.9/GIMPACT/include/GIMPACT/gim_tri_sphere_collision.h
+++ /dev/null
@@ -1,51 +0,0 @@
-#ifndef GIM_TRI_SPHERE_COLLISION_H_INCLUDED

-#define GIM_TRI_SPHERE_COLLISION_H_INCLUDED

-

-/*! \file gim_tri_sphere_collision.h

-\author Francisco León

-*/

-/*

------------------------------------------------------------------------------

-This source file is part of GIMPACT Library.

-

-For the latest info, see http://gimpact.sourceforge.net/

-

-Copyright (c) 2006 Francisco Leon. C.C. 80087371.

-email: projectileman@yahoo.com

-

- 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 GIMPACT-LICENSE-LGPL.TXT.

-   (2) The BSD-style license that is included with this library in

-       the file GIMPACT-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

- GIMPACT-LICENSE-LGPL.TXT and GIMPACT-LICENSE-BSD.TXT for more details.

-

------------------------------------------------------------------------------

-*/

-

-/*! \addtogroup GEOMETRIC_OPERATIONS

-*/

-//! @{

-

-//! Finds the contact points from a collision of a triangle and a sphere

-/*!

-\param tri

-\param center

-\param radius

-\param contact_data Contains the closest points on the Sphere, and the normal is pointing to triangle

-*/

-int gim_triangle_sphere_collision(

-                                                        GIM_TRIANGLE_DATA *tri,

-                                                        vec3f center, GREAL radius,

-                                                        GIM_TRIANGLE_CONTACT_DATA * contact_data);

-

-//! @}

-#endif // GIM_TRI_SPHERE_COLLISION_H_INCLUDED

diff --git a/libraries/ode-0.9/GIMPACT/include/GIMPACT/gim_trimesh.h b/libraries/ode-0.9/GIMPACT/include/GIMPACT/gim_trimesh.h
deleted file mode 100644
index b1cdf7f..0000000
--- a/libraries/ode-0.9/GIMPACT/include/GIMPACT/gim_trimesh.h
+++ /dev/null
@@ -1,539 +0,0 @@
-#ifndef GIM_TRIMESH_H_INCLUDED

-#define GIM_TRIMESH_H_INCLUDED

-/*! \file gim_trimesh.h

-\author Francisco León

-*/

-/*

------------------------------------------------------------------------------

-This source file is part of GIMPACT Library.

-

-For the latest info, see http://gimpact.sourceforge.net/

-

-Copyright (c) 2006 Francisco Leon. C.C. 80087371.

-email: projectileman@yahoo.com

-

- 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 GIMPACT-LICENSE-LGPL.TXT.

-   (2) The BSD-style license that is included with this library in

-       the file GIMPACT-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

- GIMPACT-LICENSE-LGPL.TXT and GIMPACT-LICENSE-BSD.TXT for more details.

-

------------------------------------------------------------------------------

-*/

-

-#include "GIMPACT/gim_boxpruning.h"

-#include "GIMPACT/gim_contact.h"

-

-

-///MAsk defines

-#define GIM_TRIMESH_TRANSFORMED_REPLY 1

-#define GIM_TRIMESH_NEED_UPDATE 2

-

-/*! \addtogroup TRIMESH

-\brief

-A Trimesh is the basic geometric structure for representing solid objects.

-<p><strong>CREATING TRIMESHES</strong></p>

-<ul>

-<li> For creating trimeshes, you must initialize Buffer managers by calling \ref gimpact_init

-<li> Then you must define the vertex and index sources by creating them with \ref BUFFER_ARRAYS routines, and then call  \ref gim_trimesh_create_from_arrays.

-<li> An alternative way for creaing trimesh objects is calling  \ref gim_trimesh_create_from_data.

-<li> For access to the trimesh data (vertices, triangle indices), you must call  \ref gim_trimesh_locks_work_data , and  \ref gim_trimesh_unlocks_work_data for finish the access.

-<li> Each time when the trimesh data is modified, you must call  \ref gim_trimesh_update after.

-<li> When a trimesh is no longer needed, you must call \ref gim_trimesh_destroy.

-</ul>

-

-<p>This is an example of how to create a deformable trimesh that shares vertices with the user application:</p>

-\code

-//Declaration of vertices

-vec3f trimeshvertices[200];

-//Declaration of indices

-GUINT trimeshindices[100];

-

-... Initializing vertices and triangle indices at beginning

-

-//Then create trimesh

-GIM_TRIMESH mytrimesh;

-

-//Calling trimesh create function

-

-gim_trimesh_create_from_data(

-&mytrimesh,

-trimeshvertices,200,

-0 ,//copy_vertices is 0

-trimeshindices,

-100,

-0, //copy_indices is 0

-0 //transformed_reply is 0

-);

-\endcode

-<p>Note that parameter transformed_reply is 0, that means that m_transformed_vertex_buffer is a reference to m_source_vertex on the trimesh, and transformations are not avaliable. Use that configuration if you have to simulate a deformable trimesh like cloth or elastic bodies.</p>

-<p>When the trimesh is no longer needed, destroy it safely with gim_trimesh_destroy()</p>

-<p><strong>UPDATING TRIMESHES</strong></p>

-<p>On simulation loops, is needed to update trimeshes every time for update vertices althought updating triangle boxes and planes cache. There is two ways for update trimeshes: </p>

-<ul>

-<li> Updating vertices directly. You need to access to the \ref GIM_TRIMESH.m_source_vertex_buffer member; a vertex buffer which has access to the source vertices.

-\code

-// Access to the source vertices

-gim_buffer_array_lock(&mytrimesh.m_source_vertex_buffer, G_MA_READ_WRITE);

-

-//Get a pointer to the vertex buffer

-vec3f * vertexpointer = GIM_BUFFER_ARRAY_POINTER(vec3f,mytrimesh.m_source_vertex_buffer,0);

-

-//Get the amount of vertices

-int veccount = mytrimesh.m_source_vertex_buffer.m_element_count;

-

-//Modify vertices

-for (int i=0;i<veccount ;i++ )
-{

-    .....

-    .....

-    processing vertices

-    .....
-        .....
-}

-

-// Don't forget to unlock the source vertex array

-gim_buffer_array_unlock(&mytrimesh.m_source_vertex_buffer);

-

-// Notify that the state of the trimesh is changed

-gim_trimesh_post_update(&mytrimesh.m_source_vertex_buffer);

-

-\endcode

-For making trimeshes that allow to update their vertices, use \ref gim_trimesh_create_from_data with parameter <strong>transformed_reply</strong> = 0.

-</ul>

-<ul>

-<li> Aplying a transformation. Simply use \ref gim_trimesh_set_tranform . Remember that with this method trimeshes must be created with \ref gim_trimesh_create_from_data with parameter <strong>transformed_reply</strong> = 1.

-</ul>

-<p> After updating vertices, you must call \ref gim_trimesh_update()</p>

-<p><strong>TRIMESHES COLLISION</strong></p>

-<p>Before collide trimeshes, you need to update them first.</p>

-<p>Then you must use \ref gim_trimesh_trimesh_collision().</p>

-

-*/

-//! @{

-

-//! Prototype for updating vertices

-typedef void * gim_update_trimesh_function(struct _GIM_TRIMESH *);

-

-//! Trimesh

-struct GIM_TRIMESH

-{

-    ///Original

-    //@{

-    GBUFFER_ARRAY m_source_vertex_buffer;//!< Buffer of vec3f coordinates

-

-    //! (GUINT) Indices of triangles,groups of three elements.

-    /*!

-    Array of GUINT. Triangle indices. Each triple contains indices of the vertices for each triangle.

-    \invariant must be aligned

-    */

-    GBUFFER_ARRAY m_tri_index_buffer;

-    //@}

-    ///Allocated

-    //@{

-    char m_mask;//!< Don't use directly

-

-    //! Allocated transformed vertices vec3f

-    /*!

-    Array of vec3f.If gim_trimesh_has_tranformed_reply(this) == 1 then it refers to the m_source_vertex_buffer

-    \invariant must be aligned

-    */

-    GBUFFER_ARRAY m_transformed_vertex_buffer;

-    //@}

-    ///Auxiliary data

-    //@{

-    GIM_AABB_SET m_aabbset;

-    GDYNAMIC_ARRAY m_planes_cache_buffer;//! Allocated GIM_TRIPLANES_CACHE

-    GDYNAMIC_ARRAY m_planes_cache_bitset;

-    gim_update_trimesh_function * m_update_callback;//! If null, then m_transform is applied.

-    mat4f m_transform;

-    //@}

-};

-//typedef struct _GIM_TRIMESH GIM_TRIMESH;

-

-/// Info about mesh

-//! Return the trimesh triangle count

-GUINT gim_trimesh_get_triangle_count(GIM_TRIMESH * trimesh);

-

-//! Returns 1 if the m_transformed_vertex_buffer is a reply of m_source_vertex_buffer

-char gim_trimesh_has_tranformed_reply(GIM_TRIMESH * trimesh);

-

-//! Returns 1 if the trimesh needs to update their aabbset and the planes cache.

-char gim_trimesh_needs_update(GIM_TRIMESH * trimesh);

-

-//! Change the state of the trimesh for force it to update

-/*!

-Call it after made changes to the trimesh.

-\post gim_trimesh_need_update(trimesh) will return 1

-\sa gim_trimesh_needs_update,gim_trimesh_has_tranformed_reply

-*/

-void gim_trimesh_post_update(GIM_TRIMESH * trimesh);

-

-//! Creates the aabb set and the triangles cache

-/*!

-

-\param trimesh

-\param vertex_array

-\param triindex_array

-\param transformed_reply If 1, then the m_transformed_vertices is a reply of the source vertices. Else it just be a reference to the original array.

-\post it copies the arrays by reference, and creates the auxiliary data (m_aabbset,m_planes_cache_buffer)

-*/

-void gim_trimesh_create_from_arrays(GIM_TRIMESH * trimesh, GBUFFER_ARRAY * vertex_array, GBUFFER_ARRAY * triindex_array,char transformed_reply);

-

-

-

-//! Create a trimesh from vertex array and an index array

-/*!

-\param trimesh An uninitialized GIM_TRIMESH  structure

-\param vertex_array A buffer to a vec3f array

-\param vertex_count

-\param triindex_array

-\param index_count

-\param copy_vertices If 1, it copies the source vertices in another buffer. Else (0) it constructs a reference to the data.

-\param copy_indices If 1, it copies the source vertices in another buffer. Else (0) it constructs a reference to the data.

-\param transformed_reply If 1, then the m_transformed_vertices is a reply of the source vertices. Else it just be a reference to the original array. Use 1 if you will apply transformations to the trimesh. See \ref gim_trimesh_set_tranform().

-*/

-void gim_trimesh_create_from_data(GIM_TRIMESH * trimesh, vec3f * vertex_array, GUINT vertex_count,char copy_vertices, GUINT * triindex_array, GUINT index_count,char copy_indices,char transformed_reply);

-

-//! Clears auxiliary data and releases buffer arrays

-void gim_trimesh_destroy(GIM_TRIMESH * trimesh);

-

-//! Copies two meshes

-/*!

-\param source_trimesh

-\param dest_trimesh

-\param copy_by_reference If 1, it attach a reference to the source vertices, else it copies the vertices

-\param transformed_reply If 1, transformed vertices are reply of source vertives. 1 Is recommended

-*/

-void gim_trimesh_copy(GIM_TRIMESH * source_trimesh,GIM_TRIMESH * dest_trimesh, char copy_by_reference, char transformed_reply);

-

-

-//! Locks the trimesh for working with it

-/*!

-\post locks m_tri_index_buffer and m_transformed_vertex_buffer.

-\param trimesh

-*/

-void gim_trimesh_locks_work_data(GIM_TRIMESH * trimesh);

-

-

-//! unlocks the trimesh

-/*!

-\post unlocks m_tri_index_buffer and m_transformed_vertex_buffer.

-\param trimesh

-*/

-void gim_trimesh_unlocks_work_data(GIM_TRIMESH * trimesh);

-

-//! Updates m_transformed_vertex_buffer

-/*!

-\pre m_transformed_vertex_buffer must be unlocked

-*/

-void gim_trimesh_update_vertices(GIM_TRIMESH * trimesh);

-

-//! Updates m_aabbset and m_planes_cache_bitset

-/*!

-\pre gim_trimesh_locks_work_data must be called before

-*/

-void gim_trimesh_update_aabbset(GIM_TRIMESH * trimesh);

-

-//! Calls before perfom collisions. Updates the trimesh if needed

-/*!

-\post If gim_trimesh_needs_update returns 1, then it calls  gim_trimesh_update_vertices and gim_trimesh_update_aabbset

-*/

-void gim_trimesh_update(GIM_TRIMESH * trimesh);

-

-//! Set the transform of a trimesh

-/*!

-\post This function calls to gim_trimesh_post_update

-*/

-void gim_trimesh_set_tranform(GIM_TRIMESH * trimesh, mat4f transform);

-

-//! Fetch triangle data

-/*!

-\pre gim_trimesh_locks_work_data must be called before

-*/

-void gim_trimesh_get_triangle_data(GIM_TRIMESH * trimesh, GUINT triangle_index, GIM_TRIANGLE_DATA * tri_data);

-

-//! Fetch triangle vertices

-/*!

-\pre gim_trimesh_locks_work_data must be called before

-*/

-void gim_trimesh_get_triangle_vertices(GIM_TRIMESH * trimesh, GUINT triangle_index, vec3f v1,vec3f v2,vec3f v3);

-

-//! Trimesh Trimesh Collisions

-/*!

-Before use this function you must update each trimesh:

-\code

-gim_trimesh_update(TriMesh1);

-gim_trimesh_update(TriMesh2);

-\endcode

-Then you must use the trimesh collision in this way:

-\code

-int collide_trimeshes(GIM_TRIMESH * TriMesh1, GIM_TRIMESH * TriMesh2)

-{

-    //Create contact list

-    GDYNAMIC_ARRAY trimeshcontacts;

-    GIM_CREATE_CONTACT_LIST(trimeshcontacts);

-

-    //Collide trimeshes

-    gim_trimesh_trimesh_collision(TriMesh1,TriMesh2,&trimeshcontacts);

-

-    if(trimeshcontacts.m_size == 0) //do  nothing

-    {

-        GIM_DYNARRAY_DESTROY(trimeshcontacts);//clean contact array

-        return 0;

-    }

-

-    //Getting a pointer to the contact array

-    GIM_CONTACT * ptrimeshcontacts = GIM_DYNARRAY_POINTER(GIM_CONTACT,trimeshcontacts);

-

-    int contactcount = trimeshcontacts.m_size;

-    int i;

-    //Process contacts

-    for (i=0;i<contactcount ;i++)

-    {

-        //Do something with the contact (ptrimeshcontacts)

-        ......

-        ......

-        // Like creating joints or anything else

-        ......

-        ......

-        ptrimeshcontacts++;

-    }

-    GIM_DYNARRAY_DESTROY(trimeshcontacts);

-    return contactcount;

-}

-\endcode

-In each contact

-<ul>

-<li> m_handle1 points to trimesh1.

-<li> m_handle2 points to trimesh2.

-<li> m_feature1 Is a triangle index of trimesh1.

-<li> m_feature2 Is a triangle index of trimesh2.

-</ul>

-

-\param trimesh1 Collider

-\param trimesh2 Collidee

-\param contacts A GIM_CONTACT array. Must be initialized

-*/

-void gim_trimesh_trimesh_collision(GIM_TRIMESH * trimesh1, GIM_TRIMESH * trimesh2, GDYNAMIC_ARRAY * contacts);

-

-

-//! Trimesh Sphere Collisions

-/*!

-Before use this function you must update the trimesh:

-\code

-gim_trimesh_update(trimesh);

-\endcode

-Then you must use this function in this way:

-\code

-int collide_trimesh_sphere(GIM_TRIMESH * trimesh, vec3f center,GREAL radius)

-{

-    //Create contact list

-    GDYNAMIC_ARRAY trimeshcontacts;

-    GIM_CREATE_CONTACT_LIST(trimeshcontacts);

-

-    //Collide trimeshes

-    gim_trimesh_sphere_collision(trimesh,center,radius,&trimeshcontacts);

-

-    if(trimeshcontacts.m_size == 0) //do  nothing

-    {

-        GIM_DYNARRAY_DESTROY(trimeshcontacts);//clean contact array

-        return 0;

-    }

-

-    //Getting a pointer to the contact array

-    GIM_CONTACT * ptrimeshcontacts = GIM_DYNARRAY_POINTER(GIM_CONTACT,trimeshcontacts);

-

-    int contactcount = trimeshcontacts.m_size;

-    int i;

-    //Process contacts

-    for (i=0;i<contactcount ;i++)

-    {

-        //Do something with the contact (ptrimeshcontacts)

-        ......

-        ......

-        // Like creating joints or anything else

-        ......

-        ......

-        ptrimeshcontacts++;

-    }

-    GIM_DYNARRAY_DESTROY(trimeshcontacts);

-    return contactcount;

-}

-\endcode

-

-In each contact

-<ul>

-<li> m_handle1 points to trimesh.

-<li> m_handle2 points to NULL.

-<li> m_feature1 Is a triangle index of trimesh.

-</ul>

-

-\param trimesh

-\param center

-\param radius

-\param contacts A GIM_CONTACT array. Must be initialized

-*/

-void gim_trimesh_sphere_collision(GIM_TRIMESH * trimesh,vec3f center,GREAL radius, GDYNAMIC_ARRAY * contacts);

-

-

-//! Trimesh Capsule collision

-/*!

-Find the closest primitive collided by the ray.

-

-Before use this function you must update the trimesh:

-\code

-gim_trimesh_update(trimesh);

-\endcode

-Then you must use this function in this way:

-\code

-int collide_trimesh_capsule(GIM_TRIMESH * trimesh, GIM_CAPSULE_DATA * capsule)

-{

-    //Create contact list

-    GDYNAMIC_ARRAY trimeshcontacts;

-    GIM_CREATE_CONTACT_LIST(trimeshcontacts);

-

-    //Collide trimeshes

-    gim_trimesh_capsule_collision(trimesh,capsule,&trimeshcontacts);

-

-    if(trimeshcontacts.m_size == 0) //do  nothing

-    {

-        GIM_DYNARRAY_DESTROY(trimeshcontacts);//clean contact array

-        return 0;

-    }

-

-    //Getting a pointer to the contact array

-    GIM_CONTACT * ptrimeshcontacts = GIM_DYNARRAY_POINTER(GIM_CONTACT,trimeshcontacts);

-

-    int contactcount = trimeshcontacts.m_size;

-    int i;

-    //Process contacts

-    for (i=0;i<contactcount ;i++)

-    {

-        //Do something with the contact (ptrimeshcontacts)

-        ......

-        ......

-        // Like creating joints or anything else

-        ......

-        ......

-        ptrimeshcontacts++;

-    }

-    GIM_DYNARRAY_DESTROY(trimeshcontacts);

-    return contactcount;

-}

-\endcode

-

-In each contact

-<ul>

-<li> m_handle1 points to trimesh.

-<li> m_handle2 points to NULL.

-<li> m_feature1 Is a triangle index of trimesh.

-</ul>

-

-\param trimesh

-\param capsule

-\param contacts A GIM_CONTACT array. Must be initialized

-*/

-void gim_trimesh_capsule_collision(GIM_TRIMESH * trimesh, GIM_CAPSULE_DATA * capsule, GDYNAMIC_ARRAY * contacts);

-

-

-///Function for create Trimesh Plane  collision result

-#define GIM_CREATE_TRIMESHPLANE_CONTACTS(dynarray) GIM_DYNARRAY_CREATE(vec4f,dynarray,G_ARRAY_GROW_SIZE)

-

-//! Trimesh Plane Collisions

-/*!

-

-Before use this function you must update the trimesh:

-\code

-gim_trimesh_update(trimesh);

-\endcode

-Then you must use this function in this way:

-\code

-int collide_trimesh_plane(GIM_TRIMESH * trimesh, vec4f plane)

-{

-    //Create contact list

-    GDYNAMIC_ARRAY tri_plane_contacts;

-    GIM_CREATE_TRIMESHPLANE_CONTACTS(tri_plane_contacts);

-

-    //Collide trimeshes

-    gim_trimesh_plane_collision(trimesh,plane,&tri_plane_contacts);

-

-    if(tri_plane_contacts.m_size == 0) //do  nothing

-    {

-        GIM_DYNARRAY_DESTROY(tri_plane_contacts);//clean contact array

-        return 0;

-    }

-

-    //Getting a pointer to the contact array

-    vec4f * planecontacts = GIM_DYNARRAY_POINTER(vec4f,tri_plane_contacts);

-

-    int contactcount = tri_plane_contacts.m_size;

-    int i;

-    //Process contacts

-    for (i=0;i<contactcount ;i++)

-    {

-        vec3f contactpoint;

-        GREAL contactdis;

-

-        VEC_COPY(contactpoint,planecontacts[i]); //Get contact point

-        contactdis = planecontacts[i][3]; // Get distance depth

-

-        //Do something with the contact

-        ......

-        ......

-        // Like creating joints or anything else

-        ......

-        ......

-    }

-    GIM_DYNARRAY_DESTROY(tri_plane_contacts);

-    return contactcount;

-}

-\endcode

-

-In each contact the 3 first coordinates refers to the contact point, the fourth refers to the distance depth and the normal is the normal of the plane.

-

-\param trimesh

-\param plane vec4f plane

-\param contacts A vec4f array. Must be initialized (~100). Each element have the coordinate point in the first 3 elements, and vec4f[3] has the penetration depth.

-*/

-void gim_trimesh_plane_collision(GIM_TRIMESH * trimesh,vec4f plane, GDYNAMIC_ARRAY * contacts);

-

-

-//! Trimesh Ray Collisions

-/*!

-\param trimesh

-\param origin

-\param dir

-\param tmax

-\param contact

-\return 1 if the ray collides, else 0

-*/

-int gim_trimesh_ray_collision(GIM_TRIMESH * trimesh,vec3f origin,vec3f dir, GREAL tmax, GIM_TRIANGLE_RAY_CONTACT_DATA * contact);

-

-

-//! Trimesh Ray Collisions closest

-/*!

-Find the closest primitive collided by the ray

-\param trimesh

-\param origin

-\param dir

-\param tmax

-\param contact

-\return 1 if the ray collides, else 0

-*/

-int gim_trimesh_ray_closest_collision(GIM_TRIMESH * trimesh,vec3f origin,vec3f dir, GREAL tmax, GIM_TRIANGLE_RAY_CONTACT_DATA * contact);

-

-//! @}

-

-

-

-#endif // GIM_TRIMESH_H_INCLUDED

diff --git a/libraries/ode-0.9/GIMPACT/include/GIMPACT/gimpact.h b/libraries/ode-0.9/GIMPACT/include/GIMPACT/gimpact.h
deleted file mode 100644
index bcd22a1..0000000
--- a/libraries/ode-0.9/GIMPACT/include/GIMPACT/gimpact.h
+++ /dev/null
@@ -1,45 +0,0 @@
-#ifndef GIMPACT_H_INCLUDED

-#define GIMPACT_H_INCLUDED

-

-/*! \file gimpact.h

-\author Francisco León

-*/

-/*

------------------------------------------------------------------------------

-This source file is part of GIMPACT Library.

-

-For the latest info, see http://gimpact.sourceforge.net/

-

-Copyright (c) 2006 Francisco Leon. C.C. 80087371.

-email: projectileman@yahoo.com

-

- 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 GIMPACT-LICENSE-LGPL.TXT.

-   (2) The BSD-style license that is included with this library in

-       the file GIMPACT-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

- GIMPACT-LICENSE-LGPL.TXT and GIMPACT-LICENSE-BSD.TXT for more details.

-

------------------------------------------------------------------------------

-*/

-

-

-#include "GIMPACT/gim_trimesh.h"

-

-/*! \defgroup GIMPACT_INIT

-*/

-//! @{

-//! Call this for initialize GIMPACT system structures.

-void gimpact_init();

-//! Call this for clean GIMPACT system structures.

-void gimpact_terminate();

-//! @}

-#endif // GIMPACT_H_INCLUDED

diff --git a/libraries/ode-0.9/GIMPACT/src/gim_boxpruning.cpp b/libraries/ode-0.9/GIMPACT/src/gim_boxpruning.cpp
deleted file mode 100644
index 91e1d37..0000000
--- a/libraries/ode-0.9/GIMPACT/src/gim_boxpruning.cpp
+++ /dev/null
@@ -1,514 +0,0 @@
-

-/*

------------------------------------------------------------------------------

-This source file is part of GIMPACT Library.

-

-For the latest info, see http://gimpact.sourceforge.net/

-

-Copyright (c) 2006 Francisco Leon. C.C. 80087371.

-email: projectileman@yahoo.com

-

- 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 GIMPACT-LICENSE-LGPL.TXT.

-   (2) The BSD-style license that is included with this library in

-       the file GIMPACT-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

- GIMPACT-LICENSE-LGPL.TXT and GIMPACT-LICENSE-BSD.TXT for more details.

-

------------------------------------------------------------------------------

-*/

-

-

-#include "GIMPACT/gim_boxpruning.h"

-

-

-

-//! Allocate memory for all aabb set.

-void gim_aabbset_alloc(GIM_AABB_SET * aabbset, GUINT count)

-{

-    aabbset->m_count = count;

-    aabbset->m_boxes = (aabb3f *)gim_alloc(sizeof(aabb3f)*count);

-

-    if(count<GIM_MIN_SORTED_BIPARTITE_PRUNING_BOXES)

-    {

-        aabbset->m_maxcoords = 0;

-        aabbset->m_sorted_mincoords = 0;

-    }

-    else

-    {

-        aabbset->m_maxcoords = (GUINT *)gim_alloc(sizeof(GUINT)*aabbset->m_count );

-        aabbset->m_sorted_mincoords = (GIM_RSORT_TOKEN *)gim_alloc(sizeof(GIM_RSORT_TOKEN)*aabbset->m_count);

-    }

-    aabbset->m_shared = 0;

-    INVALIDATE_AABB(aabbset->m_global_bound);

-}

-

-//! Destroys the aabb set.

-void gim_aabbset_destroy(GIM_AABB_SET * aabbset)

-{

-    aabbset->m_count = 0;

-    if(aabbset->m_shared==0)

-    {

-        gim_free(aabbset->m_boxes,0);

-        gim_free(aabbset->m_maxcoords,0);

-        gim_free(aabbset->m_sorted_mincoords,0);

-    }

-    aabbset->m_boxes = 0;

-    aabbset->m_sorted_mincoords = 0;

-    aabbset->m_maxcoords = 0;

-}

-

-void gim_aabbset_calc_global_bound(GIM_AABB_SET * aabbset)

-{

-    aabb3f * paabb = aabbset->m_boxes;

-    aabb3f * globalbox = &aabbset->m_global_bound;

-    AABB_COPY((*globalbox),(*paabb));

-

-    GUINT count = aabbset->m_count-1;

-    paabb++;

-    while(count)

-    {

-        MERGEBOXES(*globalbox,*paabb)

-        paabb++;

-        count--;

-    }

-}

-

-

-//! Sorts the boxes for box prunning.

-/*!

-1) find the integer representation of the aabb coords

-2) Sorts the min coords

-3) Calcs the global bound

-\pre aabbset must be allocated. And the boxes must be already set.

-\param aabbset

-\param calc_global_bound If 1 , calcs the global bound

-\post If aabbset->m_sorted_mincoords == 0, then it allocs the sorted coordinates

-*/

-void gim_aabbset_sort(GIM_AABB_SET * aabbset, char calc_global_bound)

-{

-    if(aabbset->m_sorted_mincoords == 0)

-    {//allocate

-        aabbset->m_maxcoords = (GUINT *)gim_alloc(sizeof(GUINT)*aabbset->m_count );

-        aabbset->m_sorted_mincoords = (GIM_RSORT_TOKEN *)gim_alloc(sizeof(GIM_RSORT_TOKEN)*aabbset->m_count);

-    }

-

-    GUINT i, count = aabbset->m_count;

-    aabb3f * paabb = aabbset->m_boxes;

-    GUINT * maxcoords = aabbset->m_maxcoords;

-    GIM_RSORT_TOKEN * sorted_tokens = aabbset->m_sorted_mincoords;

-

-    if(count<860)//Calibrated on a Pentium IV

-    {

-        //Sort by quick sort

-            //Calculate keys

-        for(i=0;i<count;i++)

-        {

-            GIM_CONVERT_VEC3F_GUINT_XZ_UPPER(paabb[i].maxX,paabb[i].maxZ,maxcoords[i]);

-            GIM_CONVERT_VEC3F_GUINT_XZ(paabb[i].minX,paabb[i].minZ,sorted_tokens[i].m_key);

-            sorted_tokens[i].m_value = i;

-        }

-        GIM_QUICK_SORT_ARRAY(GIM_RSORT_TOKEN , sorted_tokens, count, RSORT_TOKEN_COMPARATOR,GIM_DEF_EXCHANGE_MACRO);

-    }

-    else

-    {

-        //Sort by radix sort

-        GIM_RSORT_TOKEN * unsorted = (GIM_RSORT_TOKEN *)gim_alloc(sizeof(GIM_RSORT_TOKEN )*count);

-        //Calculate keys

-        for(i=0;i<count;i++)

-        {

-            GIM_CONVERT_VEC3F_GUINT_XZ_UPPER(paabb[i].maxX,paabb[i].maxZ,maxcoords[i]);

-            GIM_CONVERT_VEC3F_GUINT_XZ(paabb[i].minX,paabb[i].minZ,unsorted[i].m_key);

-            unsorted[i].m_value = i;

-        }

-        GIM_RADIX_SORT_RTOKENS(unsorted,sorted_tokens,count);

-        gim_free(unsorted,0);

-    }

-

-    if(calc_global_bound) gim_aabbset_calc_global_bound(aabbset);

-}

-

-//utility macros

-

-/*#define PUSH_PAIR(i,j,pairset)\

-{\

-    GIM_PAIR _pair={i,j};\

-    GIM_DYNARRAY_PUSH_ITEM(GIM_PAIR,pairset,_pair);\

-}*/

-

-#define PUSH_PAIR(i,j,pairset)\

-{\

-    GIM_DYNARRAY_PUSH_EMPTY(GIM_PAIR,pairset);\

-    GIM_PAIR * _pair = GIM_DYNARRAY_POINTER(GIM_PAIR,pairset) + (pairset).m_size - 1;\

-    _pair->m_index1 = i;\

-    _pair->m_index2 = j;\

-}

-

-#define PUSH_PAIR_INV(i,j,pairset)\

-{\

-    GIM_DYNARRAY_PUSH_EMPTY(GIM_PAIR,pairset);\

-    GIM_PAIR * _pair = GIM_DYNARRAY_POINTER(GIM_PAIR,pairset) + (pairset).m_size - 1;\

-    _pair->m_index1 = j;\

-    _pair->m_index2 = i;\

-}

-

-#define FIND_OVERLAPPING_FOWARD(\

- curr_index,\

- test_count,\

- test_aabb,\

- max_coord_uint,\

- sorted_tokens,\

- aabbarray,\

- pairset,\

- push_pair_macro)\

-{\

-    GUINT _i = test_count;\

-    char _intersected;\

-    GIM_RSORT_TOKEN * _psorted_tokens = sorted_tokens;\

-    while(max_coord_uint >= _psorted_tokens->m_key && _i>0)\

-    {\

-        AABBCOLLISION(_intersected,test_aabb,aabbarray[_psorted_tokens->m_value]);\

-        if(_intersected)\

-        {\

-            push_pair_macro(curr_index, _psorted_tokens->m_value,pairset);\

-        }\

-        _psorted_tokens++;\

-        _i--;\

-    }\

-}

-

-//! log(N) Complete box pruning. Returns a list of overlapping pairs of boxes, each box of the pair belongs to the same set.

-/*!

-\pre aabbset must be allocated and sorted, the boxes must be already set.

-\param aabbset Must be sorted. Global bound isn't required

-\param collision_pairs Array of GIM_PAIR elements. Must be initialized before (Reserve size ~ 100)

-*/

-void gim_aabbset_self_intersections_sorted(GIM_AABB_SET * aabbset, GDYNAMIC_ARRAY * collision_pairs)

-{

-    collision_pairs->m_size = 0;

-    GUINT count = aabbset->m_count;

-    aabb3f * paabb = aabbset->m_boxes;

-    GUINT * maxcoords = aabbset->m_maxcoords;

-    GIM_RSORT_TOKEN * sorted_tokens = aabbset->m_sorted_mincoords;

-    aabb3f test_aabb;

-    while(count>1)

-    {

-        ///current cache variables

-        GUINT  curr_index = sorted_tokens->m_value;

-        GUINT max_coord_uint = maxcoords[curr_index];

-        AABB_COPY(test_aabb,paabb[curr_index]);

-

-        ///next pairs

-        sorted_tokens++;

-        count--;

-        FIND_OVERLAPPING_FOWARD( curr_index, count, test_aabb, max_coord_uint, sorted_tokens , paabb, (*collision_pairs),PUSH_PAIR);

-    }

-}

-

-//! NxN Complete box pruning. Returns a list of overlapping pairs of boxes, each box of the pair belongs to the same set.

-/*!

-\pre aabbset must be allocated, the boxes must be already set.

-\param aabbset Global bound isn't required. Doen't need to be sorted.

-\param collision_pairs Array of GIM_PAIR elements. Must be initialized before (Reserve size ~ 100)

-*/

-void gim_aabbset_self_intersections_brute_force(GIM_AABB_SET * aabbset, GDYNAMIC_ARRAY * collision_pairs)

-{

-    collision_pairs->m_size = 0;

-    GUINT i,j;

-    GUINT count = aabbset->m_count;

-    aabb3f * paabb = aabbset->m_boxes;

-    char intersected;

-    for (i=0;i< count-1 ;i++ )

-    {

-        for (j=i+1;j<count ;j++ )

-        {

-            AABBCOLLISION(intersected,paabb[i],paabb[j]);

-            if(intersected)

-            {

-                PUSH_PAIR(i,j,(*collision_pairs));

-            }

-        }

-    }

-}

-

-//! log(N) Bipartite box pruning. Returns a list of overlapping pairs of boxes, each box of the pair belongs to a different set.

-/*!

-\pre aabbset1 and aabbset2 must be allocated and sorted, the boxes must be already set.

-\param aabbset1 Must be sorted, Global bound is required.

-\param aabbset2 Must be sorted, Global bound is required.

-\param collision_pairs Array of GIM_PAIR elements. Must be initialized before (Reserve size ~ 100)

-*/

-void gim_aabbset_bipartite_intersections_sorted(GIM_AABB_SET * aabbset1, GIM_AABB_SET * aabbset2, GDYNAMIC_ARRAY * collision_pairs)

-{

-    char intersected;

-    collision_pairs->m_size = 0;

-

-    AABBCOLLISION(intersected,aabbset1->m_global_bound,aabbset2->m_global_bound);

-    if(intersected == 0) return;

-

-    GUINT count1 = aabbset1->m_count;

-    aabb3f * paabb1 = aabbset1->m_boxes;

-    GUINT * maxcoords1 = aabbset1->m_maxcoords;

-    GIM_RSORT_TOKEN * sorted_tokens1 = aabbset1->m_sorted_mincoords;

-

-    GUINT count2 = aabbset2->m_count;

-    aabb3f * paabb2 = aabbset2->m_boxes;

-    GUINT * maxcoords2 = aabbset2->m_maxcoords;

-    GIM_RSORT_TOKEN * sorted_tokens2 = aabbset2->m_sorted_mincoords;

-

-    GUINT  curr_index;

-

-    GUINT max_coord_uint;

-    aabb3f test_aabb;

-

-    //Classify boxes

-    //Find  Set intersection

-    aabb3f int_abbb;

-    BOXINTERSECTION(aabbset1->m_global_bound,aabbset2->m_global_bound, int_abbb);

-

-    //Clasify set 1

-    GIM_RSORT_TOKEN * classified_tokens1 = (GIM_RSORT_TOKEN *) gim_alloc(sizeof(GIM_RSORT_TOKEN)*count1);

-    GUINT i,classified_count1 = 0,classified_count2 = 0;

-

-

-    for (i=0;i<count1;i++ )

-    {

-        curr_index = sorted_tokens1[i].m_value;

-        AABBCOLLISION(intersected,paabb1[curr_index],int_abbb);

-        if(intersected)

-        {

-            classified_tokens1[classified_count1] = sorted_tokens1[i];

-            classified_count1++;

-        }

-    }

-

-    if(classified_count1==0)

-    {

-        gim_free(classified_tokens1 ,0);

-        return; // no pairs

-    }

-

-    //Clasify set 2

-    GIM_RSORT_TOKEN * classified_tokens2 = (GIM_RSORT_TOKEN *) gim_alloc(sizeof(GIM_RSORT_TOKEN)*count2);

-

-    for (i=0;i<count2;i++ )

-    {

-        curr_index = sorted_tokens2[i].m_value;

-        AABBCOLLISION(intersected,paabb2[curr_index],int_abbb);

-        if(intersected)

-        {

-            classified_tokens2[classified_count2] = sorted_tokens2[i];

-            classified_count2++;

-        }

-    }

-

-    if(classified_count2==0)

-    {

-        gim_free(classified_tokens1 ,0);

-        gim_free(classified_tokens2 ,0);

-        return; // no pairs

-    }

-

-    sorted_tokens1 = classified_tokens1;

-    sorted_tokens2 = classified_tokens2;

-

-    while(classified_count1>0&&classified_count2>0)

-    {

-        if(sorted_tokens1->m_key <= sorted_tokens2->m_key)

-        {

-            ///current cache variables

-            curr_index = sorted_tokens1->m_value;

-            max_coord_uint = maxcoords1[curr_index];

-            AABB_COPY(test_aabb,paabb1[curr_index]);

-            ///next pairs

-            sorted_tokens1++;

-            classified_count1--;

-            FIND_OVERLAPPING_FOWARD( curr_index, classified_count2, test_aabb, max_coord_uint, sorted_tokens2 , paabb2, (*collision_pairs), PUSH_PAIR);

-        }

-        else ///Switch test

-        {

-            ///current cache variables

-            curr_index = sorted_tokens2->m_value;

-            max_coord_uint = maxcoords2[curr_index];

-            AABB_COPY(test_aabb,paabb2[curr_index]);

-            ///next pairs

-            sorted_tokens2++;

-            classified_count2--;

-            FIND_OVERLAPPING_FOWARD( curr_index, classified_count1, test_aabb, max_coord_uint, sorted_tokens1 , paabb1, (*collision_pairs), PUSH_PAIR_INV );

-        }

-    }

-    gim_free(classified_tokens1 ,0);

-    gim_free(classified_tokens2 ,0);

-}

-

-//! NxM Bipartite box pruning. Returns a list of overlapping pairs of boxes, each box of the pair belongs to a different set.

-/*!

-\pre aabbset1 and aabbset2 must be allocated and sorted, the boxes must be already set.

-\param aabbset1 Must be sorted, Global bound is required.

-\param aabbset2 Must be sorted, Global bound is required.

-\param collision_pairs Array of GIM_PAIR elements. Must be initialized before (Reserve size ~ 100)

-*/

-void gim_aabbset_bipartite_intersections_brute_force(GIM_AABB_SET * aabbset1,GIM_AABB_SET * aabbset2, GDYNAMIC_ARRAY * collision_pairs)

-{

-    char intersected;

-    collision_pairs->m_size = 0;

-    AABBCOLLISION(intersected,aabbset1->m_global_bound,aabbset2->m_global_bound);

-    if(intersected == 0) return;

-

-    aabb3f int_abbb;

-    //Find  Set intersection

-    BOXINTERSECTION(aabbset1->m_global_bound,aabbset2->m_global_bound, int_abbb);

-    //Clasify set 1

-    GUINT i,j;

-    GUINT classified_count = 0;

-

-    GUINT count = aabbset1->m_count;

-    aabb3f * paabb1 = aabbset1->m_boxes;

-    aabb3f * paabb2 = aabbset2->m_boxes;

-

-    GUINT * classified = (GUINT *) gim_alloc(sizeof(GUINT)*count);

-

-    for (i=0;i<count;i++ )

-    {

-        AABBCOLLISION(intersected,paabb1[i],int_abbb);

-        if(intersected)

-        {

-            classified[classified_count] = i;

-            classified_count++;

-        }

-    }

-

-    if(classified_count==0) return; // no pairs

-

-    //intesect set2

-    count = aabbset2->m_count;

-    for (i=0;i<count;i++)

-    {

-        AABBCOLLISION(intersected,paabb2[i],int_abbb);

-        if(intersected)

-        {

-            for (j=0;j<classified_count;j++)

-            {

-                AABBCOLLISION(intersected,paabb2[i],paabb1[classified[j]]);

-                if(intersected)

-                {

-                    PUSH_PAIR(classified[j],i,(*collision_pairs));

-                }

-            }

-        }

-    }

-    gim_free(classified,0);

-}

-

-

-//! Initalizes the set. Sort Boxes if needed.

-/*!

-\pre aabbset must be allocated. And the boxes must be already set.

-\post If the set has less of GIM_MIN_SORTED_BIPARTITE_PRUNING_BOXES boxes, only calcs the global box,

- else it Sorts the entire set( Only applicable for large sets)

-*/

-void gim_aabbset_update(GIM_AABB_SET * aabbset)

-{

-    if(aabbset->m_count < GIM_MIN_SORTED_BIPARTITE_PRUNING_BOXES)

-    {//Brute force approach

-        gim_aabbset_calc_global_bound(aabbset);

-    }

-    else

-    {//Sorted force approach

-        gim_aabbset_sort(aabbset,1);

-    }

-}

-

-//! Complete box pruning. Returns a list of overlapping pairs of boxes, each box of the pair belongs to the same set.

-/*!

-This function sorts the set and then it calls to gim_aabbset_self_intersections_brute_force or gim_aabbset_self_intersections_sorted.

-

-\param aabbset Set of boxes. Sorting isn't required.

-\param collision_pairs Array of GIM_PAIR elements. Must be initialized before (Reserve size ~ 100)

-\pre aabbset must be allocated and initialized.

-\post If aabbset->m_count >= GIM_MIN_SORTED_PRUNING_BOXES, then it calls to gim_aabbset_sort and then to gim_aabbset_self_intersections_sorted.

-*/

-void gim_aabbset_self_intersections(GIM_AABB_SET * aabbset, GDYNAMIC_ARRAY * collision_pairs)

-{

-    if(aabbset->m_count < GIM_MIN_SORTED_PRUNING_BOXES)

-    {//Brute force approach

-        gim_aabbset_self_intersections_brute_force(aabbset,collision_pairs);

-    }

-    else

-    {//Sorted force approach

-        gim_aabbset_sort(aabbset,0);

-        gim_aabbset_self_intersections_sorted(aabbset,collision_pairs);

-    }

-}

-

-//! Collides two sets. Returns a list of overlapping pairs of boxes, each box of the pair belongs to a different set.

-/*!

-\pre aabbset1 and aabbset2 must be allocated and updated. See .

-\param aabbset1 Must be sorted, Global bound is required.

-\param aabbset2 Must be sorted, Global bound is required.

-\param collision_pairs Array of GIM_PAIR elements. Must be initialized before (Reserve size ~ 100)

-*/

-void gim_aabbset_bipartite_intersections(GIM_AABB_SET * aabbset1, GIM_AABB_SET * aabbset2, GDYNAMIC_ARRAY * collision_pairs)

-{

-    if(aabbset1->m_sorted_mincoords == 0||aabbset2->m_sorted_mincoords == 0)

-    {//Brute force approach

-        gim_aabbset_bipartite_intersections_brute_force(aabbset1,aabbset2,collision_pairs);

-    }

-    else

-    {//Sorted force approach

-        gim_aabbset_bipartite_intersections_sorted(aabbset1,aabbset2,collision_pairs);

-    }

-}

-

-void gim_aabbset_box_collision(aabb3f *test_aabb, GIM_AABB_SET * aabbset, GDYNAMIC_ARRAY * collided)

-{

-    collided->m_size = 0;

-    char intersected;

-    AABBCOLLISION(intersected,aabbset->m_global_bound,(*test_aabb));

-    if(intersected == 0) return;

-

-    GUINT i;

-    GUINT count = aabbset->m_count;

-    aabb3f * paabb = aabbset->m_boxes;

-    aabb3f _testaabb;

-    AABB_COPY(_testaabb,*test_aabb);

-

-    for (i=0;i< count;i++ )

-    {

-        AABBCOLLISION(intersected,paabb[i],_testaabb);

-        if(intersected)

-        {

-            GIM_DYNARRAY_PUSH_ITEM(GUINT,(*collided),i);

-        }

-    }

-}

-

-void gim_aabbset_ray_collision(vec3f vorigin,vec3f vdir, GREAL tmax, GIM_AABB_SET * aabbset, GDYNAMIC_ARRAY * collided)

-{

-    collided->m_size = 0;

-    char intersected;

-    GREAL tparam = 0;

-    BOX_INTERSECTS_RAY(aabbset->m_global_bound, vorigin, vdir, tparam, tmax,intersected);

-    if(intersected==0) return;

-

-    GUINT i;

-    GUINT count = aabbset->m_count;

-    aabb3f * paabb = aabbset->m_boxes;

-

-    for (i=0;i< count;i++ )

-    {

-        BOX_INTERSECTS_RAY(paabb[i], vorigin, vdir, tparam, tmax,intersected);

-        if(intersected)

-        {

-            GIM_DYNARRAY_PUSH_ITEM(GUINT,(*collided),i);

-        }

-    }

-}

diff --git a/libraries/ode-0.9/GIMPACT/src/gim_contact.cpp b/libraries/ode-0.9/GIMPACT/src/gim_contact.cpp
deleted file mode 100644
index 762af06..0000000
--- a/libraries/ode-0.9/GIMPACT/src/gim_contact.cpp
+++ /dev/null
@@ -1,132 +0,0 @@
-

-/*

------------------------------------------------------------------------------

-This source file is part of GIMPACT Library.

-

-For the latest info, see http://gimpact.sourceforge.net/

-

-Copyright (c) 2006 Francisco Leon. C.C. 80087371.

-email: projectileman@yahoo.com

-

- 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 GIMPACT-LICENSE-LGPL.TXT.

-   (2) The BSD-style license that is included with this library in

-       the file GIMPACT-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

- GIMPACT-LICENSE-LGPL.TXT and GIMPACT-LICENSE-BSD.TXT for more details.

-

------------------------------------------------------------------------------

-*/

-

-#include "GIMPACT/gim_contact.h"

-

-void gim_merge_contacts(GDYNAMIC_ARRAY * source_contacts,

-                                        GDYNAMIC_ARRAY * dest_contacts)

-{

-    dest_contacts->m_size = 0;

-

-        GUINT source_count = source_contacts->m_size;

-        GIM_CONTACT * psource_contacts  = GIM_DYNARRAY_POINTER(GIM_CONTACT,(*source_contacts));

-        //create keys

-        GIM_RSORT_TOKEN * keycontacts = (GIM_RSORT_TOKEN * )gim_alloc(sizeof(GIM_RSORT_TOKEN)*source_count);

-

-    GUINT i;

-        for(i=0;i<source_count;i++)

-        {

-                keycontacts[i].m_value = i;

-                GIM_CALC_KEY_CONTACT(psource_contacts[i].m_point,keycontacts[i].m_key);

-        }

-

-        //sort keys

-        GIM_QUICK_SORT_ARRAY(GIM_RSORT_TOKEN , keycontacts, source_count, RSORT_TOKEN_COMPARATOR,GIM_DEF_EXCHANGE_MACRO);

-

-        // Merge contacts

-        GIM_CONTACT * pcontact = 0;

-        GIM_CONTACT * scontact = 0;

-        GUINT key,last_key=0;

-

-        for(i=0;i<source_contacts->m_size;i++)

-        {

-            key = keycontacts[i].m_key;

-                scontact = &psource_contacts[keycontacts[i].m_value];

-

-                if(i>0 && last_key ==  key)

-                {

-                        //merge contact

-                        if(pcontact->m_depth > scontact->m_depth + CONTACT_DIFF_EPSILON)

-                        {

-                            GIM_COPY_CONTACTS(pcontact, scontact);

-                        }

-                }

-                else

-                {//add new contact

-                    GIM_DYNARRAY_PUSH_EMPTY(GIM_CONTACT,(*dest_contacts));

-            pcontact = GIM_DYNARRAY_POINTER_LAST(GIM_CONTACT,(*dest_contacts));

-                    GIM_COPY_CONTACTS(pcontact, scontact);

-        }

-                last_key = key;

-        }

-        gim_free(keycontacts,0);

-}

-

-void gim_merge_contacts_unique(GDYNAMIC_ARRAY * source_contacts,

-                                        GDYNAMIC_ARRAY * dest_contacts)

-{

-    dest_contacts->m_size = 0;

-    //Traverse the source contacts

-        GUINT source_count = source_contacts->m_size;

-        if(source_count==0) return;

-

-        GIM_CONTACT * psource_contacts  = GIM_DYNARRAY_POINTER(GIM_CONTACT,(*source_contacts));

-

-        //add the unique contact

-        GIM_CONTACT * pcontact = 0;

-    GIM_DYNARRAY_PUSH_EMPTY(GIM_CONTACT,(*dest_contacts));

-    pcontact = GIM_DYNARRAY_POINTER_LAST(GIM_CONTACT,(*dest_contacts));

-    //set the first contact

-    GIM_COPY_CONTACTS(pcontact, psource_contacts);

-

-    if(source_count==1) return;

-    //scale the first contact

-    VEC_SCALE(pcontact->m_normal,pcontact->m_depth,pcontact->m_normal);

-

-    psource_contacts++;

-

-        //Average the contacts

-    GUINT i;

-        for(i=1;i<source_count;i++)

-        {

-            VEC_SUM(pcontact->m_point,pcontact->m_point,psource_contacts->m_point);

-            VEC_ACCUM(pcontact->m_normal,psource_contacts->m_depth,psource_contacts->m_normal);

-            psource_contacts++;

-        }

-

-        GREAL divide_average = 1.0f/((GREAL)source_count);

-

-        VEC_SCALE(pcontact->m_point,divide_average,pcontact->m_point);

-

-        pcontact->m_depth = VEC_DOT(pcontact->m_normal,pcontact->m_normal)*divide_average;

-        GIM_SQRT(pcontact->m_depth,pcontact->m_depth);

-

-        VEC_NORMALIZE(pcontact->m_normal);

-

-        /*GREAL normal_len;

-    VEC_INV_LENGTH(pcontact->m_normal,normal_len);

-        VEC_SCALE(pcontact->m_normal,normal_len,pcontact->m_normal);

-

-    //Deep = LEN(normal)/SQRT(source_count)

-    GIM_SQRT(divide_average,divide_average);

-        pcontact->m_depth = divide_average/normal_len;

-        */

-}

-

-

-

diff --git a/libraries/ode-0.9/GIMPACT/src/gim_math.cpp b/libraries/ode-0.9/GIMPACT/src/gim_math.cpp
deleted file mode 100644
index 18efb2c..0000000
--- a/libraries/ode-0.9/GIMPACT/src/gim_math.cpp
+++ /dev/null
@@ -1,60 +0,0 @@
-/*

------------------------------------------------------------------------------

-This source file is part of GIMPACT Library.

-

-For the latest info, see http://gimpact.sourceforge.net/

-

-Copyright (c) 2006 Francisco Leon. C.C. 80087371.

-email: projectileman@yahoo.com

-

- 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 GIMPACT-LICENSE-LGPL.TXT.

-   (2) The BSD-style license that is included with this library in

-       the file GIMPACT-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

- GIMPACT-LICENSE-LGPL.TXT and GIMPACT-LICENSE-BSD.TXT for more details.

-

------------------------------------------------------------------------------

-*/

-

-

-#include "GIMPACT/gim_math.h"

-#include "stdlib.h"

-#include "time.h"

-

-

-GREAL gim_inv_sqrt(GREAL f)

-{

-    GREAL r;

-    GIM_INV_SQRT(f,r);

-    return r;

-}

-

-GREAL gim_sqrt(GREAL f)

-{

-    GREAL r;

-    GIM_SQRT(f,r);

-    return r;

-}

-

-//!Initializes mathematical functions

-void gim_init_math()

-{

-    srand( static_cast< unsigned int >( time( 0 ) ) );

-}

-

-//! Generates an unit random

-GREAL gim_unit_random()

-{

-    GREAL rn = static_cast< GREAL >( rand() );

-    rn/=(GREAL)RAND_MAX;

-    return rn;

-}

diff --git a/libraries/ode-0.9/GIMPACT/src/gim_memory.cpp b/libraries/ode-0.9/GIMPACT/src/gim_memory.cpp
deleted file mode 100644
index 247565a..0000000
--- a/libraries/ode-0.9/GIMPACT/src/gim_memory.cpp
+++ /dev/null
@@ -1,848 +0,0 @@
-

-/*

------------------------------------------------------------------------------

-This source file is part of GIMPACT Library.

-

-For the latest info, see http://gimpact.sourceforge.net/

-

-Copyright (c) 2006 Francisco Leon. C.C. 80087371.

-email: projectileman@yahoo.com

-

- 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 GIMPACT-LICENSE-LGPL.TXT.

-   (2) The BSD-style license that is included with this library in

-       the file GIMPACT-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

- GIMPACT-LICENSE-LGPL.TXT and GIMPACT-LICENSE-BSD.TXT for more details.

-

------------------------------------------------------------------------------

-*/

-

-

-#include "GIMPACT/gim_memory.h"

-#include "stdlib.h"

-#include "malloc.h"

-//#include "mm_malloc.h"

-

-static gim_alloc_function *g_allocfn = 0;

-static gim_alloca_function *g_allocafn = 0;

-static gim_realloc_function *g_reallocfn = 0;

-static gim_free_function *g_freefn = 0;

-

-// buffer managers

-#define MAX_BUFFER_MANAGERS 16

-static GBUFFER_MANAGER_DATA g_buffer_managers[MAX_BUFFER_MANAGERS];

-static GUINT g_buffer_managers_count = 0;

-

-#define VALIDATE_BUFFER_MANAGER(buffer_manager_id)\

-    if(buffer_manager_id>=MAX_BUFFER_MANAGERS) return G_BUFFER_OP_INVALID;\

-    GBUFFER_MANAGER_DATA * bm_data;\

-    gim_get_buffer_manager_data(buffer_manager_id,&bm_data);\

-    if(bm_data == 0) return G_BUFFER_OP_INVALID;\

-

-#define VALIDATE_BUFFER_ID_PT(buffer_id)\

-    VALIDATE_BUFFER_MANAGER(buffer_id->m_buffer_manager_id)\

-    if(buffer_id->m_buffer_id>=bm_data->m_buffer_array.m_size) return G_BUFFER_OP_INVALID;\

-    GBUFFER_DATA * pbuffer = GIM_DYNARRAY_POINTER(GBUFFER_DATA,bm_data->m_buffer_array);\

-    pbuffer += buffer_id->m_buffer_id;\

-    if(pbuffer->m_buffer_handle==0) return G_BUFFER_OP_INVALID;\

-

-

-void GIM_BUFFER_ARRAY_DESTROY(GBUFFER_ARRAY & array_data)

-{

-    gim_buffer_array_unlock(&array_data);

-    gim_buffer_free(&(array_data).m_buffer_id);

-}

-

-void GIM_DYNARRAY_DESTROY(GDYNAMIC_ARRAY & array_data)

-{

-    if(array_data.m_pdata != 0)

-    {

-        gim_free(array_data.m_pdata,0);

-        array_data.m_reserve_size = 0;

-        array_data.m_size = 0;

-        array_data.m_pdata = 0;

-    }

-}

-

-void gim_set_alloc_handler (gim_alloc_function *fn)

-{

-  g_allocfn = fn;

-}

-

-void gim_set_alloca_handler (gim_alloca_function *fn)

-{

-  g_allocafn = fn;

-}

-

-void gim_set_realloc_handler (gim_realloc_function *fn)

-{

-  g_reallocfn = fn;

-}

-

-void gim_set_free_handler (gim_free_function *fn)

-{

-  g_freefn = fn;

-}

-

-gim_alloc_function *gim_get_alloc_handler()

-{

-  return g_allocfn;

-}

-

-gim_alloca_function *gim_get_alloca_handler()

-{

-  return g_allocafn;

-}

-

-

-gim_realloc_function *gim_get_realloc_handler ()

-{

-  return g_reallocfn;

-}

-

-

-gim_free_function  *gim_get_free_handler ()

-{

-  return g_freefn;

-}

-

-

-void * gim_alloc(size_t size)

-{

-   void * ptr = 0;

-   ptr = malloc(size);

-  /*if (g_allocfn) ptr = g_allocfn(size); else ptr = malloc(size);//_mm_malloc(size,0);*/

-  if(ptr==0)

-  {

-      float * fp = 0;

-      *fp = 0.0f;

-  }

-  return ptr;

-}

-

-void * gim_alloca(size_t size)

-{

-  if (g_allocafn) return g_allocafn(size); else return alloca(size);

-}

-

-

-void * gim_realloc(void *ptr, size_t oldsize, size_t newsize)

-{

-  /*if (g_reallocfn) return g_reallocfn(ptr,oldsize,newsize);

-  else return realloc(ptr,newsize);*/

-  //return realloc(ptr,newsize);

-        void * newptr = gim_alloc(newsize);

-        size_t copysize = newsize> oldsize? oldsize: newsize;

-        memcpy(newptr,ptr,copysize);

-        gim_free(ptr,oldsize);

-        return newptr;

-}

-

-void gim_free(void *ptr, size_t size)

-{

-  if (!ptr) return;

-  if (g_freefn)

-  {

-       g_freefn(ptr,size);

-  }

-  else

-  {

-      free(ptr);//_mm_free(ptr);

-  }

-}

-

-///******************************* BUFFER MANAGERS ******************************///

-

-//!** Basic buffer prototyoe functions

-

-GUINT _system_buffer_alloc_function(GUINT size,int usage)

-{

-    void * newdata = gim_alloc(size);

-    memset(newdata,0,size);

-    return (GUINT)(newdata);

-}

-

-GUINT _system_buffer_alloc_data_function(const void * pdata,GUINT size,int usage)

-{

-    void * newdata = gim_alloc(size);

-    memcpy(newdata,pdata,size);

-    return (GUINT)(newdata);

-}

-

-GUINT _system_buffer_realloc_function(GUINT buffer_handle,GUINT oldsize,int old_usage,GUINT newsize,int new_usage)

-{

-    void * newdata = gim_realloc((void *)buffer_handle,oldsize,newsize);

-    return (GUINT)(newdata);

-}

-

-void _system_buffer_free_function(GUINT buffer_handle,GUINT size)

-{

-    gim_free((void*)buffer_handle,size);

-}

-

-char * _system_lock_buffer_function(GUINT buffer_handle,int access)

-{

-    return (char * )(buffer_handle);

-}

-

-

-void _system_unlock_buffer_function(GUINT buffer_handle)

-{

-}

-

-void _system_download_from_buffer_function(

-        GUINT source_buffer_handle,

-                GUINT source_pos,

-                void * destdata,

-                GUINT copysize)

-{

-    char * pdata;

-        pdata = (char *)source_buffer_handle;

-        memcpy(destdata,pdata+source_pos,copysize);

-}

-

-void  _system_upload_to_buffer_function(

-        GUINT dest_buffer_handle,

-                GUINT dest_pos,

-                void * sourcedata,

-                GUINT copysize)

-{

-    char * pdata;

-        pdata = (char * )dest_buffer_handle;

-        memcpy(pdata+dest_pos,sourcedata,copysize);

-}

-

-void  _system_copy_buffers_function(

-                GUINT source_buffer_handle,

-                GUINT source_pos,

-                GUINT dest_buffer_handle,

-                GUINT dest_pos,

-                GUINT copysize)

-{

-    char * pdata1,*pdata2;

-        pdata1 = (char *)source_buffer_handle;

-        pdata2 = (char *)dest_buffer_handle;

-        memcpy(pdata2+dest_pos,pdata1+source_pos,copysize);

-}

-

-GUINT _shared_buffer_alloc_function(GUINT size,int usage)

-{

-    return 0;

-}

-

-GUINT _shared_buffer_alloc_data_function(const void * pdata,GUINT size,int usage)

-{

-    return (GUINT)pdata;

-}

-

-GUINT _shared_buffer_realloc_function(GUINT buffer_handle,GUINT oldsize,int old_usage,GUINT newsize,int new_usage)

-{

-    return 0;

-}

-

-void _shared_buffer_free_function(GUINT buffer_handle,GUINT size)

-{

-}

-

-//!** Buffer manager operations

-void gim_create_buffer_manager(GBUFFER_MANAGER_PROTOTYPE * prototype,GUINT buffer_manager_id)

-{

-    GBUFFER_MANAGER_DATA * bm_data;

-    bm_data = &g_buffer_managers[buffer_manager_id];

-

-    if(bm_data->m_active==0)

-    {

-        if(g_buffer_managers_count<=buffer_manager_id)

-        {

-            g_buffer_managers_count = buffer_manager_id+1;

-        }

-    }

-    else

-    {

-        gim_destroy_buffer_manager(buffer_manager_id);

-    }

-    bm_data->m_active = 1;

-    //CREATE ARRAYS

-    GIM_DYNARRAY_CREATE(GBUFFER_DATA,bm_data->m_buffer_array,G_ARRAY_GROW_SIZE);

-    GIM_DYNARRAY_CREATE(GUINT,bm_data->m_free_positions,G_ARRAY_GROW_SIZE);

-    //INIT PROTOTYPE

-    bm_data->m_prototype.alloc_data_fn = prototype->alloc_data_fn;

-    bm_data->m_prototype.alloc_fn = prototype->alloc_fn;

-    bm_data->m_prototype.copy_buffers_fn = prototype->copy_buffers_fn;

-    bm_data->m_prototype.download_from_buffer_fn = prototype->download_from_buffer_fn;

-    bm_data->m_prototype.free_fn = prototype->free_fn;

-    bm_data->m_prototype.lock_buffer_fn = prototype->lock_buffer_fn;

-    bm_data->m_prototype.realloc_fn = prototype->realloc_fn;

-    bm_data->m_prototype.unlock_buffer_fn = prototype->unlock_buffer_fn;

-    bm_data->m_prototype.upload_to_buffer_fn = prototype->upload_to_buffer_fn;

-}

-

-GUINT gim_get_buffer_manager_count()

-{

-    return g_buffer_managers_count;

-}

-void gim_destroy_buffer_manager(GUINT buffer_manager_id)

-{

-    GBUFFER_MANAGER_DATA * bm_data;

-    gim_get_buffer_manager_data(buffer_manager_id,&bm_data);

-    if(bm_data == 0) return;

-    //Destroy all buffers

-

-    GBUFFER_DATA * buffers = GIM_DYNARRAY_POINTER(GBUFFER_DATA,bm_data->m_buffer_array);

-    GUINT i, buffer_count = bm_data->m_buffer_array.m_size;

-    for (i=0;i<buffer_count ;i++ )
-    {
-        if(buffers[i].m_buffer_handle!=0) //Is active

-        {

-            // free handle

-            bm_data->m_prototype.free_fn(buffers[i].m_buffer_handle,buffers[i].m_size);

-        }
-    }

-

-    //destroy buffer array

-    GIM_DYNARRAY_DESTROY(bm_data->m_buffer_array);

-    //destroy free positions

-    GIM_DYNARRAY_DESTROY(bm_data->m_free_positions);

-    //Mark as innactive

-    bm_data->m_active = 0;

-}

-void gim_get_buffer_manager_data(GUINT buffer_manager_id,GBUFFER_MANAGER_DATA ** pbm_data)

-{

-    GBUFFER_MANAGER_DATA * bm_data;

-    bm_data = &g_buffer_managers[buffer_manager_id];

-

-    if(bm_data->m_active==0)

-    {

-        *pbm_data = 0;

-    }

-    else

-    {

-        *pbm_data = bm_data;

-    }

-}

-

-void gim_init_buffer_managers()

-{

-    GUINT i;

-    for (i=0;i<MAX_BUFFER_MANAGERS;i++)
-    {

-        g_buffer_managers[i].m_active = 0;

-        g_buffer_managers[i].m_buffer_array.m_pdata = 0;

-        g_buffer_managers[i].m_buffer_array.m_reserve_size = 0;

-        g_buffer_managers[i].m_buffer_array.m_size = 0;

-        g_buffer_managers[i].m_free_positions.m_pdata = 0;

-        g_buffer_managers[i].m_free_positions.m_reserve_size = 0;

-        g_buffer_managers[i].m_free_positions.m_size = 0;
-    }

-    g_buffer_managers_count = 0;

-    // Add the two most important buffer managers

-    GBUFFER_MANAGER_PROTOTYPE prototype;

-

-    //add system buffer manager

-    prototype.alloc_data_fn = _system_buffer_alloc_data_function;

-    prototype.alloc_fn = _system_buffer_alloc_function;

-    prototype.copy_buffers_fn = _system_copy_buffers_function;

-    prototype.download_from_buffer_fn = _system_download_from_buffer_function;

-    prototype.free_fn = _system_buffer_free_function;

-    prototype.lock_buffer_fn = _system_lock_buffer_function;

-    prototype.realloc_fn = _system_buffer_realloc_function;

-    prototype.unlock_buffer_fn = _system_unlock_buffer_function;

-    prototype.upload_to_buffer_fn = _system_upload_to_buffer_function;

-

-    gim_create_buffer_manager(&prototype,G_BUFFER_MANAGER_SYSTEM );

-

-    //add zhared buffer manager

-    prototype.alloc_data_fn = _shared_buffer_alloc_data_function;

-    prototype.alloc_fn = _shared_buffer_alloc_function;

-    prototype.free_fn = _shared_buffer_free_function;

-    gim_create_buffer_manager(&prototype,G_BUFFER_MANAGER_SHARED);

-}

-

-void gim_terminate_buffer_managers()

-{

-    GUINT i;

-    for (i=0;i<g_buffer_managers_count;i++)

-    {

-        gim_destroy_buffer_manager(i);

-    }

-    g_buffer_managers_count = 0;

-}

-

-//!** Nuffer operations

-

-void GET_AVALIABLE_BUFFER_ID(GBUFFER_MANAGER_DATA * buffer_manager, GUINT & buffer_id)

-{

-    if(buffer_manager->m_free_positions.m_size>0)\

-    {

-        GUINT * _pointer = GIM_DYNARRAY_POINTER(GUINT,buffer_manager->m_free_positions);

-        buffer_id = _pointer[buffer_manager->m_free_positions.m_size-1];

-        GIM_DYNARRAY_POP_ITEM(buffer_manager->m_free_positions);

-    }

-    else

-    {

-        buffer_id = buffer_manager->m_buffer_array.m_size;

-        GIM_DYNARRAY_PUSH_EMPTY(GBUFFER_DATA,buffer_manager->m_buffer_array);

-    }

-}

-

-GINT _validate_buffer_id(GBUFFER_ID * buffer_id,GBUFFER_DATA ** ppbuffer,GBUFFER_MANAGER_DATA ** pbm_data)

-{

-    VALIDATE_BUFFER_ID_PT(buffer_id)

-    *ppbuffer = pbuffer;

-    *pbm_data = bm_data;

-    return G_BUFFER_OP_SUCCESS;

-}

-

-GUINT gim_create_buffer(

-    GUINT buffer_manager_id,

-    GUINT buffer_size,

-    int usage,

-    GBUFFER_ID * buffer_id)

-{

-    VALIDATE_BUFFER_MANAGER(buffer_manager_id)

-

-    GUINT newbufferhandle = bm_data->m_prototype.alloc_fn(buffer_size,usage);

-    if(newbufferhandle==0) return G_BUFFER_OP_INVALID;

-

-    GET_AVALIABLE_BUFFER_ID(bm_data,buffer_id->m_buffer_id);

-    buffer_id->m_buffer_manager_id = buffer_manager_id;

-

-    GBUFFER_DATA * pbuffer = GIM_DYNARRAY_POINTER(GBUFFER_DATA,bm_data->m_buffer_array);

-    pbuffer += buffer_id->m_buffer_id ;

-    pbuffer->m_buffer_handle = newbufferhandle;

-    pbuffer->m_size = buffer_size;

-    pbuffer->m_usage = usage;

-    pbuffer->m_lock_count = 0;

-    pbuffer->m_refcount = 0;

-    pbuffer->m_mapped_pointer = 0;

-

-    //set shadow buffer if needed

-

-    if(usage == G_MU_STATIC_READ ||

-                        usage == G_MU_STATIC_READ_DYNAMIC_WRITE||

-                        usage == G_MU_STATIC_READ_DYNAMIC_WRITE_COPY)

-    {

-        gim_create_common_buffer(buffer_size,&pbuffer->m_shadow_buffer);

-    }

-    else

-    {

-        pbuffer->m_shadow_buffer.m_buffer_id = G_UINT_INFINITY;

-        pbuffer->m_shadow_buffer.m_buffer_manager_id = G_UINT_INFINITY;

-    }

-    return G_BUFFER_OP_SUCCESS;

-}

-

-

-GUINT gim_create_buffer_from_data(

-    GUINT buffer_manager_id,

-    const void * pdata,

-    GUINT buffer_size,

-    int usage,

-    GBUFFER_ID * buffer_id)

-{

-    VALIDATE_BUFFER_MANAGER(buffer_manager_id)

-

-    GUINT newbufferhandle = bm_data->m_prototype.alloc_data_fn(pdata,buffer_size,usage);

-    if(newbufferhandle==0) return G_BUFFER_OP_INVALID;

-

-    GET_AVALIABLE_BUFFER_ID(bm_data,buffer_id->m_buffer_id);

-    buffer_id->m_buffer_manager_id = buffer_manager_id;

-

-    GBUFFER_DATA * pbuffer = GIM_DYNARRAY_POINTER(GBUFFER_DATA,bm_data->m_buffer_array);

-    pbuffer += buffer_id->m_buffer_id ;

-    pbuffer->m_buffer_handle = newbufferhandle;

-    pbuffer->m_size = buffer_size;

-    pbuffer->m_usage = usage;

-    pbuffer->m_lock_count = 0;

-    pbuffer->m_mapped_pointer = 0;

-    pbuffer->m_refcount = 0;

-

-    //set shadow buffer if needed

-

-    if(usage == G_MU_STATIC_READ ||

-                        usage == G_MU_STATIC_READ_DYNAMIC_WRITE||

-                        usage == G_MU_STATIC_READ_DYNAMIC_WRITE_COPY)

-    {

-        gim_create_common_buffer_from_data(pdata,buffer_size,&pbuffer->m_shadow_buffer);

-    }

-    else

-    {

-        pbuffer->m_shadow_buffer.m_buffer_id = G_UINT_INFINITY;

-        pbuffer->m_shadow_buffer.m_buffer_manager_id = G_UINT_INFINITY;

-    }

-    return G_BUFFER_OP_SUCCESS;

-}

-

-GUINT gim_create_common_buffer(GUINT buffer_size, GBUFFER_ID * buffer_id)

-{

-    return gim_create_buffer(G_BUFFER_MANAGER_SYSTEM,buffer_size,G_MU_DYNAMIC_READ_WRITE,buffer_id);

-}

-

-GUINT gim_create_common_buffer_from_data(

-    const void * pdata, GUINT buffer_size, GBUFFER_ID * buffer_id)

-{

-    return gim_create_buffer_from_data(G_BUFFER_MANAGER_SYSTEM,pdata,buffer_size,G_MU_DYNAMIC_READ_WRITE,buffer_id);

-}

-

-GUINT gim_create_shared_buffer_from_data(

-    const void * pdata, GUINT buffer_size, GBUFFER_ID * buffer_id)

-{

-    return gim_create_buffer_from_data(G_BUFFER_MANAGER_SHARED,pdata,buffer_size,G_MU_DYNAMIC_READ_WRITE,buffer_id);

-}

-

-GINT gim_buffer_realloc(GBUFFER_ID * buffer_id,GUINT newsize)

-{

-    VALIDATE_BUFFER_ID_PT(buffer_id)

-    if(pbuffer->m_lock_count>0) return G_BUFFER_OP_INVALID;

-    GUINT newhandle = bm_data->m_prototype.realloc_fn(pbuffer->m_buffer_handle,pbuffer->m_size,pbuffer->m_usage,newsize,pbuffer->m_usage);

-    if(newhandle==0) return G_BUFFER_OP_INVALID;

-    pbuffer->m_buffer_handle = newhandle;

-    //realloc shadow buffer if any

-    gim_buffer_realloc(&pbuffer->m_shadow_buffer,newsize);

-    return G_BUFFER_OP_SUCCESS;

-}

-

-GINT gim_buffer_add_ref(GBUFFER_ID * buffer_id)

-{

-    VALIDATE_BUFFER_ID_PT(buffer_id)

-    pbuffer->m_refcount++;

-    return G_BUFFER_OP_SUCCESS;

-}

-

-GINT gim_buffer_free(GBUFFER_ID * buffer_id)

-{

-    VALIDATE_BUFFER_ID_PT(buffer_id)

-    if(pbuffer->m_lock_count>0) return G_BUFFER_OP_INVALID;

-    if(pbuffer->m_refcount>0) pbuffer->m_refcount--;

-    if(pbuffer->m_refcount>0) return G_BUFFER_OP_STILLREFCOUNTED;

-

-    bm_data->m_prototype.free_fn(pbuffer->m_buffer_handle,pbuffer->m_size);

-    //destroy shadow buffer if needed

-    gim_buffer_free(&pbuffer->m_shadow_buffer);

-    // Obtain a free slot index for a new buffer

-    GIM_DYNARRAY_PUSH_ITEM(GUINT,bm_data->m_free_positions,buffer_id->m_buffer_id);

-        pbuffer->m_buffer_handle = 0;

-        pbuffer->m_size = 0;

-        pbuffer->m_shadow_buffer.m_buffer_id = G_UINT_INFINITY;

-    pbuffer->m_shadow_buffer.m_buffer_manager_id = G_UINT_INFINITY;

-    return G_BUFFER_OP_SUCCESS;

-}

-

-GINT gim_lock_buffer(GBUFFER_ID * buffer_id,int access,char ** map_pointer)

-{

-    VALIDATE_BUFFER_ID_PT(buffer_id)

-    if(pbuffer->m_lock_count>0)

-    {

-        if(pbuffer->m_access!=access) return G_BUFFER_OP_INVALID;

-        pbuffer->m_lock_count++;

-        *map_pointer = pbuffer->m_mapped_pointer;

-        return G_BUFFER_OP_SUCCESS;

-    }

-

-    pbuffer->m_access = access;

-

-    GUINT result;

-    if(pbuffer->m_usage==G_MU_STATIC_WRITE)

-        {

-                *map_pointer = 0;///no access

-                return G_BUFFER_OP_INVALID;

-        }

-        else if(pbuffer->m_usage==G_MU_STATIC_READ)

-        {

-                if(pbuffer->m_access == G_MA_READ_ONLY)

-                {

-                        result = gim_lock_buffer(&pbuffer->m_shadow_buffer,access,map_pointer);

-                        if(result!= G_BUFFER_OP_SUCCESS) return G_BUFFER_OP_INVALID;

-                        pbuffer->m_mapped_pointer = *map_pointer;

-                        pbuffer->m_lock_count++;

-                }

-                else

-                {

-                        *map_pointer = 0;

-                        return G_BUFFER_OP_INVALID;

-                }

-        }

-        else if(pbuffer->m_usage==G_MU_STATIC_READ_DYNAMIC_WRITE)

-        {

-                if(pbuffer->m_access == G_MA_READ_ONLY)

-                {

-                        result = gim_lock_buffer(&pbuffer->m_shadow_buffer,access,map_pointer);

-                        if(result!= G_BUFFER_OP_SUCCESS) return G_BUFFER_OP_INVALID;

-                        pbuffer->m_mapped_pointer = *map_pointer;

-                        pbuffer->m_lock_count++;

-                }

-                else if(pbuffer->m_access == G_MA_WRITE_ONLY)

-                {

-                    pbuffer->m_mapped_pointer = bm_data->m_prototype.lock_buffer_fn(pbuffer->m_buffer_handle,access);

-            *map_pointer = pbuffer->m_mapped_pointer;

-                        pbuffer->m_lock_count++;

-                }

-                else if(pbuffer->m_access == G_MA_READ_WRITE)

-                {

-                        *map_pointer = 0;

-                        return G_BUFFER_OP_INVALID;

-                }

-        }

-        else if(pbuffer->m_usage==G_MU_STATIC_READ_DYNAMIC_WRITE_COPY)

-        {

-                result = gim_lock_buffer(&pbuffer->m_shadow_buffer,access,map_pointer);

-        if(result!= G_BUFFER_OP_SUCCESS) return G_BUFFER_OP_INVALID;

-        pbuffer->m_mapped_pointer = *map_pointer;

-        pbuffer->m_lock_count++;

-        }

-        else if(pbuffer->m_usage==G_MU_STATIC_WRITE_DYNAMIC_READ)

-        {

-                if(pbuffer->m_access == G_MA_READ_ONLY)

-                {

-                        pbuffer->m_mapped_pointer = bm_data->m_prototype.lock_buffer_fn(pbuffer->m_buffer_handle,access);

-            *map_pointer = pbuffer->m_mapped_pointer;

-                        pbuffer->m_lock_count++;

-                }

-                else

-                {

-                        *map_pointer = 0;

-                        return G_BUFFER_OP_INVALID;

-                }

-        }

-        else if(pbuffer->m_usage==G_MU_DYNAMIC_READ_WRITE)

-        {

-                pbuffer->m_mapped_pointer = bm_data->m_prototype.lock_buffer_fn(pbuffer->m_buffer_handle,access);

-        *map_pointer = pbuffer->m_mapped_pointer;

-        pbuffer->m_lock_count++;

-        }

-    return G_BUFFER_OP_SUCCESS;

-}

-

-GINT gim_unlock_buffer(GBUFFER_ID * buffer_id)

-{

-    VALIDATE_BUFFER_ID_PT(buffer_id)

-    if(pbuffer->m_lock_count==0) return G_BUFFER_OP_INVALID;

-

-    if(pbuffer->m_lock_count>1)

-    {

-        pbuffer->m_lock_count--;

-        return G_BUFFER_OP_SUCCESS;

-    }

-

-

-    GUINT result;

-    if(pbuffer->m_usage==G_MU_STATIC_WRITE)

-        {

-                pbuffer->m_mapped_pointer = 0;

-        pbuffer->m_lock_count=0;

-        return G_BUFFER_OP_INVALID;

-        }

-        else if(pbuffer->m_usage==G_MU_STATIC_READ)

-        {

-                if(pbuffer->m_access == G_MA_READ_ONLY)

-                {

-                        result = gim_unlock_buffer(&pbuffer->m_shadow_buffer);

-                        if(result!= G_BUFFER_OP_SUCCESS) return G_BUFFER_OP_INVALID;

-                        pbuffer->m_mapped_pointer = 0;

-                        pbuffer->m_lock_count=0;

-                }

-                else

-                {

-                        pbuffer->m_mapped_pointer = 0;

-                        pbuffer->m_lock_count=0;

-                        return G_BUFFER_OP_INVALID;

-                }

-        }

-        else if(pbuffer->m_usage==G_MU_STATIC_READ_DYNAMIC_WRITE)

-        {

-                if(pbuffer->m_access == G_MA_READ_ONLY)

-                {

-                        result = gim_unlock_buffer(&pbuffer->m_shadow_buffer);

-                        if(result!= G_BUFFER_OP_SUCCESS) return G_BUFFER_OP_INVALID;

-                        pbuffer->m_mapped_pointer = 0;

-                        pbuffer->m_lock_count=0;

-                }

-                else if(pbuffer->m_access == G_MA_WRITE_ONLY)

-                {

-                    bm_data->m_prototype.unlock_buffer_fn(pbuffer->m_buffer_handle);

-            pbuffer->m_mapped_pointer = 0;

-                        pbuffer->m_lock_count=0;

-                }

-                else if(pbuffer->m_access == G_MA_READ_WRITE)

-                {

-                        pbuffer->m_mapped_pointer = 0;

-                        pbuffer->m_lock_count=0;

-                        return G_BUFFER_OP_INVALID;

-                }

-        }

-        else if(pbuffer->m_usage==G_MU_STATIC_READ_DYNAMIC_WRITE_COPY)

-        {

-            result = gim_unlock_buffer(&pbuffer->m_shadow_buffer);

-        if(result!= G_BUFFER_OP_SUCCESS) return G_BUFFER_OP_INVALID;

-        pbuffer->m_mapped_pointer = 0;

-        pbuffer->m_lock_count=0;

-            if(pbuffer->m_access == G_MA_WRITE_ONLY||pbuffer->m_access == G_MA_READ_WRITE)

-                {

-                    gim_copy_buffers(&pbuffer->m_shadow_buffer,0,buffer_id,0,pbuffer->m_size);

-                }

-        }

-        else if(pbuffer->m_usage==G_MU_STATIC_WRITE_DYNAMIC_READ)

-        {

-                if(pbuffer->m_access == G_MA_READ_ONLY)

-                {

-                        bm_data->m_prototype.unlock_buffer_fn(pbuffer->m_buffer_handle);

-            pbuffer->m_mapped_pointer = 0;

-                        pbuffer->m_lock_count=0;

-                }

-                else

-                {

-                        pbuffer->m_mapped_pointer = 0;

-                        pbuffer->m_lock_count=0;

-                        return G_BUFFER_OP_INVALID;

-                }

-        }

-        else if(pbuffer->m_usage==G_MU_DYNAMIC_READ_WRITE)

-        {

-                bm_data->m_prototype.unlock_buffer_fn(pbuffer->m_buffer_handle);

-        pbuffer->m_mapped_pointer = 0;

-        pbuffer->m_lock_count=0;

-        }

-        return G_BUFFER_OP_SUCCESS;

-}

-

-GINT gim_get_buffer_size(GBUFFER_ID * buffer_id,GUINT * buffer_size)

-{

-    VALIDATE_BUFFER_ID_PT(buffer_id)

-    *buffer_size =  pbuffer->m_size;

-    return G_BUFFER_OP_SUCCESS;

-}

-

-GINT gim_get_buffer_is_locked(GBUFFER_ID * buffer_id,GUINT * lock_count)

-{

-    VALIDATE_BUFFER_ID_PT(buffer_id)

-    *lock_count =  pbuffer->m_lock_count;

-    return G_BUFFER_OP_SUCCESS;

-}

-

-

-GINT gim_download_from_buffer(

-        GBUFFER_ID * buffer_id,

-                GUINT source_pos,

-                void * destdata,

-                GUINT copysize)

-{

-    VALIDATE_BUFFER_ID_PT(buffer_id)

-    bm_data->m_prototype.download_from_buffer_fn(

-        pbuffer->m_buffer_handle,source_pos,destdata,copysize);

-    return G_BUFFER_OP_SUCCESS;

-}

-

-GINT  gim_upload_to_buffer(

-                GBUFFER_ID * buffer_id,

-                GUINT dest_pos,

-                void * sourcedata,

-                GUINT copysize)

-{

-    VALIDATE_BUFFER_ID_PT(buffer_id)

-    bm_data->m_prototype.upload_to_buffer_fn(

-        pbuffer->m_buffer_handle,dest_pos,sourcedata,copysize);

-    return G_BUFFER_OP_SUCCESS;

-}

-

-GINT  gim_copy_buffers(

-                GBUFFER_ID * source_buffer_id,

-                GUINT source_pos,

-                GBUFFER_ID * dest_buffer_id,

-                GUINT dest_pos,

-                GUINT copysize)

-{

-    GBUFFER_MANAGER_DATA * bm_data1,* bm_data2;

-    GBUFFER_DATA * pbuffer1, * pbuffer2;

-    void * tempdata;

-    if(_validate_buffer_id(source_buffer_id,&pbuffer1,&bm_data1)!= G_BUFFER_OP_SUCCESS) return G_BUFFER_OP_INVALID;

-

-    if(_validate_buffer_id(dest_buffer_id,&pbuffer2,&bm_data2)!= G_BUFFER_OP_SUCCESS) return G_BUFFER_OP_INVALID;

-

-    if((source_buffer_id->m_buffer_manager_id == dest_buffer_id->m_buffer_manager_id)||

-        (source_buffer_id->m_buffer_manager_id == G_BUFFER_MANAGER_SYSTEM && dest_buffer_id->m_buffer_manager_id == G_BUFFER_MANAGER_SHARED)||

-        (source_buffer_id->m_buffer_manager_id == G_BUFFER_MANAGER_SHARED && dest_buffer_id->m_buffer_manager_id == G_BUFFER_MANAGER_SYSTEM)

-    )

-    {//smooth copy

-        bm_data1->m_prototype.copy_buffers_fn(pbuffer1->m_buffer_handle,source_pos,pbuffer2->m_buffer_handle,dest_pos,copysize);

-    }

-    else if(source_buffer_id->m_buffer_manager_id == G_BUFFER_MANAGER_SYSTEM || source_buffer_id->m_buffer_manager_id == G_BUFFER_MANAGER_SHARED)

-    {

-        //hard copy

-        tempdata = (void *)pbuffer1->m_buffer_handle;

-        //upload data

-        bm_data2->m_prototype.upload_to_buffer_fn(pbuffer2->m_buffer_handle,dest_pos,

-            tempdata,

-            copysize);

-    }

-    else

-    {

-        //very hard copy

-        void * tempdata = gim_alloc(copysize);

-        //download data

-        bm_data1->m_prototype.download_from_buffer_fn(pbuffer1->m_buffer_handle,source_pos,

-            tempdata,

-            copysize);

-

-        //upload data

-        bm_data2->m_prototype.upload_to_buffer_fn(pbuffer2->m_buffer_handle,dest_pos,

-            tempdata,

-            copysize);

-        //delete temp buffer

-        gim_free(tempdata,copysize);

-    }

-    return G_BUFFER_OP_SUCCESS;

-}

-

-GINT gim_buffer_array_lock(GBUFFER_ARRAY * array_data, int access)

-{

-    if(array_data->m_buffer_data != 0) return G_BUFFER_OP_SUCCESS;

-    GINT result = gim_lock_buffer(&array_data->m_buffer_id,access,&array_data->m_buffer_data);

-    if(result!= G_BUFFER_OP_SUCCESS) return result;

-    array_data->m_buffer_data += array_data->m_byte_offset;

-    return result;

-}

-

-GINT gim_buffer_array_unlock(GBUFFER_ARRAY * array_data)

-{

-    if(array_data->m_buffer_data == 0) return G_BUFFER_OP_SUCCESS;

-    GINT result = gim_unlock_buffer(&array_data->m_buffer_id);

-    if(result!= G_BUFFER_OP_SUCCESS) return result;

-    array_data->m_buffer_data = 0;

-    return result;

-}

-

-void gim_buffer_array_copy_ref(GBUFFER_ARRAY * source_data,GBUFFER_ARRAY  * dest_data)

-{

-    dest_data->m_buffer_id.m_buffer_id = source_data->m_buffer_id.m_buffer_id;

-    dest_data->m_buffer_id.m_buffer_manager_id = source_data->m_buffer_id.m_buffer_manager_id;

-    dest_data->m_buffer_data = 0;

-    dest_data->m_byte_stride = source_data->m_byte_stride;

-    dest_data->m_byte_offset = source_data->m_byte_offset;

-    dest_data->m_element_count = source_data->m_element_count;

-    gim_buffer_add_ref(&dest_data->m_buffer_id);

-}

-

-void gim_buffer_array_copy_value(GBUFFER_ARRAY * source_data,GBUFFER_ARRAY  * dest_data, GUINT buffer_manager_id,int usage)

-{

-    //Create new buffer

-    GUINT buffsize = source_data->m_element_count*source_data->m_byte_stride;

-    gim_create_buffer(buffer_manager_id,buffsize,usage,&dest_data->m_buffer_id);

-

-    //copy ref data

-    dest_data->m_buffer_data = 0;

-    dest_data->m_byte_stride = source_data->m_byte_stride;

-    dest_data->m_byte_offset = 0;

-    dest_data->m_element_count = source_data->m_element_count;

-    gim_buffer_add_ref(&dest_data->m_buffer_id);

-    //copy buffers

-    gim_copy_buffers(&source_data->m_buffer_id,source_data->m_byte_offset,&dest_data->m_buffer_id,0,buffsize);

-}

diff --git a/libraries/ode-0.9/GIMPACT/src/gim_tri_tri_overlap.cpp b/libraries/ode-0.9/GIMPACT/src/gim_tri_tri_overlap.cpp
deleted file mode 100644
index 5b4e08d..0000000
--- a/libraries/ode-0.9/GIMPACT/src/gim_tri_tri_overlap.cpp
+++ /dev/null
@@ -1,251 +0,0 @@
-

-/*

------------------------------------------------------------------------------

-This source file is part of GIMPACT Library.

-

-For the latest info, see http://gimpact.sourceforge.net/

-

-Copyright (c) 2006 Francisco Leon. C.C. 80087371.

-email: projectileman@yahoo.com

-

- 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 GIMPACT-LICENSE-LGPL.TXT.

-   (2) The BSD-style license that is included with this library in

-       the file GIMPACT-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

- GIMPACT-LICENSE-LGPL.TXT and GIMPACT-LICENSE-BSD.TXT for more details.

-

------------------------------------------------------------------------------

-*/

-

-#include "GIMPACT/gim_trimesh.h"

-

-

-#define FABS(x) (float(fabs(x)))        /* implement as is fastest on your machine */

-

-/* some macros */

-

-#define CLASSIFY_TRIPOINTS_BY_FACE(v1,v2,v3,faceplane,out_of_face)\

-{   \

-    _distances[0] = DISTANCE_PLANE_POINT(faceplane,v1);\

-    _distances[1] =  _distances[0] * DISTANCE_PLANE_POINT(faceplane,v2);\

-    _distances[2] =  _distances[0] * DISTANCE_PLANE_POINT(faceplane,v3); \

-        if(_distances[1]>0.0f && _distances[2]>0.0f)\

-        {\

-            out_of_face = 1;\

-        }\

-        else\

-        {\

-            out_of_face = 0;\

-        }\

-}\

-

-/* sort so that a<=b */

-#define SORT(a,b)       \

-             if(a>b)    \

-             {          \

-               float c; \

-               c=a;     \

-               a=b;     \

-               b=c;     \

-             }

-

-

-/* this edge to edge test is based on Franlin Antonio's gem:

-   "Faster Line Segment Intersection", in Graphics Gems III,

-   pp. 199-202 */

-#define EDGE_EDGE_TEST(V0,U0,U1)                      \

-  Bx=U0[i0]-U1[i0];                                   \

-  By=U0[i1]-U1[i1];                                   \

-  Cx=V0[i0]-U0[i0];                                   \

-  Cy=V0[i1]-U0[i1];                                   \

-  f=Ay*Bx-Ax*By;                                      \

-  d=By*Cx-Bx*Cy;                                      \

-  if((f>0 && d>=0 && d<=f) || (f<0 && d<=0 && d>=f))  \

-  {                                                   \

-    e=Ax*Cy-Ay*Cx;                                    \

-    if(f>0)                                           \

-    {                                                 \

-      if(e>=0 && e<=f) return 1;                      \

-    }                                                 \

-    else                                              \

-    {                                                 \

-      if(e<=0 && e>=f) return 1;                      \

-    }                                                 \

-  }

-

-#define EDGE_AGAINST_TRI_EDGES(V0,V1,U0,U1,U2) \

-{                                              \

-  float Ax,Ay,Bx,By,Cx,Cy,e,d,f;               \

-  Ax=V1[i0]-V0[i0];                            \

-  Ay=V1[i1]-V0[i1];                            \

-  /* test edge U0,U1 against V0,V1 */          \

-  EDGE_EDGE_TEST(V0,U0,U1);                    \

-  /* test edge U1,U2 against V0,V1 */          \

-  EDGE_EDGE_TEST(V0,U1,U2);                    \

-  /* test edge U2,U1 against V0,V1 */          \

-  EDGE_EDGE_TEST(V0,U2,U0);                    \

-}

-

-#define POINT_IN_TRI(V0,U0,U1,U2)           \

-{                                           \

-  float a,b,c,d0,d1,d2;                     \

-  /* is T1 completly inside T2? */          \

-  /* check if V0 is inside tri(U0,U1,U2) */ \

-  a=U1[i1]-U0[i1];                          \

-  b=-(U1[i0]-U0[i0]);                       \

-  c=-a*U0[i0]-b*U0[i1];                     \

-  d0=a*V0[i0]+b*V0[i1]+c;                   \

-                                            \

-  a=U2[i1]-U1[i1];                          \

-  b=-(U2[i0]-U1[i0]);                       \

-  c=-a*U1[i0]-b*U1[i1];                     \

-  d1=a*V0[i0]+b*V0[i1]+c;                   \

-                                            \

-  a=U0[i1]-U2[i1];                          \

-  b=-(U0[i0]-U2[i0]);                       \

-  c=-a*U2[i0]-b*U2[i1];                     \

-  d2=a*V0[i0]+b*V0[i1]+c;                   \

-  if(d0*d1>0.0)                             \

-  {                                         \

-    if(d0*d2>0.0) return 1;                 \

-  }                                         \

-}

-

-int coplanar_tri_tri(GIM_TRIANGLE_DATA *tri1,

-                    GIM_TRIANGLE_DATA *tri2)

-{

-   short i0,i1;

-   /* first project onto an axis-aligned plane, that maximizes the area */

-   /* of the triangles, compute indices: i0,i1. */

-   PLANE_MINOR_AXES(tri1->m_planes.m_planes[0], i0, i1);

-

-    /* test all edges of triangle 1 against the edges of triangle 2 */

-    EDGE_AGAINST_TRI_EDGES(tri1->m_vertices[0],tri1->m_vertices[1],tri2->m_vertices[0],tri2->m_vertices[1],tri2->m_vertices[2]);

-    EDGE_AGAINST_TRI_EDGES(tri1->m_vertices[1],tri1->m_vertices[2],tri2->m_vertices[0],tri2->m_vertices[1],tri2->m_vertices[2]);

-    EDGE_AGAINST_TRI_EDGES(tri1->m_vertices[2],tri1->m_vertices[0],tri2->m_vertices[0],tri2->m_vertices[1],tri2->m_vertices[2]);

-

-    /* finally, test if tri1 is totally contained in tri2 or vice versa */

-    POINT_IN_HULL(tri1->m_vertices[0],(&tri2->m_planes.m_planes[1]),3,i0);

-    if(i0==0) return 1;

-

-    POINT_IN_HULL(tri2->m_vertices[0],(&tri1->m_planes.m_planes[1]),3,i0);

-    if(i0==0) return 1;

-

-    return 0;

-}

-

-

-

-#define NEWCOMPUTE_INTERVALS(VV0,VV1,VV2,D0,D1,D2,D0D1,D0D2,A,B,C,X0,X1) \

-{ \

-        if(D0D1>0.0f) \

-        { \

-                /* here we know that D0D2<=0.0 */ \

-            /* that is D0, D1 are on the same side, D2 on the other or on the plane */ \

-                A=VV2; B=(VV0-VV2)*D2; C=(VV1-VV2)*D2; X0=D2-D0; X1=D2-D1; \

-        } \

-        else if(D0D2>0.0f)\

-        { \

-                /* here we know that d0d1<=0.0 */ \

-            A=VV1; B=(VV0-VV1)*D1; C=(VV2-VV1)*D1; X0=D1-D0; X1=D1-D2; \

-        } \

-        else if(D1*D2>0.0f || D0!=0.0f) \

-        { \

-                /* here we know that d0d1<=0.0 or that D0!=0.0 */ \

-                A=VV0; B=(VV1-VV0)*D0; C=(VV2-VV0)*D0; X0=D0-D1; X1=D0-D2; \

-        } \

-        else if(D1!=0.0f) \

-        { \

-                A=VV1; B=(VV0-VV1)*D1; C=(VV2-VV1)*D1; X0=D1-D0; X1=D1-D2; \

-        } \

-        else if(D2!=0.0f) \

-        { \

-                A=VV2; B=(VV0-VV2)*D2; C=(VV1-VV2)*D2; X0=D2-D0; X1=D2-D1; \

-        } \

-        else \

-        { \

-                /* triangles are coplanar */ \

-                return coplanar_tri_tri(tri1,tri2); \

-        } \

-}\

-

-

-

-int gim_triangle_triangle_overlap(

-                                                        GIM_TRIANGLE_DATA *tri1,

-                                                        GIM_TRIANGLE_DATA *tri2)

-{

-    vec3f _distances;

-    char out_of_face;

-    CLASSIFY_TRIPOINTS_BY_FACE(tri1->m_vertices[0],tri1->m_vertices[1],tri1->m_vertices[2],tri2->m_planes.m_planes[0],out_of_face);

-    if(out_of_face==1) return 0;

-

-    CLASSIFY_TRIPOINTS_BY_FACE(tri2->m_vertices[0],tri2->m_vertices[1],tri2->m_vertices[2],tri1->m_planes.m_planes[0],out_of_face);

-    if(out_of_face==1) return 0;

-

-

-    float du0=0,du1=0,du2=0,dv0=0,dv1=0,dv2=0;

-    float D[3];

-    float isect1[2], isect2[2];

-    float du0du1=0,du0du2=0,dv0dv1=0,dv0dv2=0;

-    short index;

-    float vp0,vp1,vp2;

-    float up0,up1,up2;

-    float bb,cc,max;

-

-    /* compute direction of intersection line */

-    VEC_CROSS(D,tri1->m_planes.m_planes[0],tri2->m_planes.m_planes[0]);

-

-    /* compute and index to the largest component of D */

-    max=(float)FABS(D[0]);

-    index=0;

-    bb=(float)FABS(D[1]);

-    cc=(float)FABS(D[2]);

-    if(bb>max) max=bb,index=1;

-    if(cc>max) max=cc,index=2;

-

-     /* this is the simplified projection onto L*/

-     vp0= tri1->m_vertices[0][index];

-     vp1= tri1->m_vertices[1][index];

-     vp2= tri1->m_vertices[2][index];

-

-     up0= tri2->m_vertices[0][index];

-     up1= tri2->m_vertices[1][index];

-     up2= tri2->m_vertices[2][index];

-

-    /* compute interval for triangle 1 */

-    float a,b,c,x0,x1;

-    NEWCOMPUTE_INTERVALS(vp0,vp1,vp2,dv0,dv1,dv2,dv0dv1,dv0dv2,a,b,c,x0,x1);

-

-    /* compute interval for triangle 2 */

-    float d,e,f,y0,y1;

-    NEWCOMPUTE_INTERVALS(up0,up1,up2,du0,du1,du2,du0du1,du0du2,d,e,f,y0,y1);

-

-    float xx,yy,xxyy,tmp;

-    xx=x0*x1;

-    yy=y0*y1;

-    xxyy=xx*yy;

-

-    tmp=a*xxyy;

-    isect1[0]=tmp+b*x1*yy;

-    isect1[1]=tmp+c*x0*yy;

-

-    tmp=d*xxyy;

-    isect2[0]=tmp+e*xx*y1;

-    isect2[1]=tmp+f*xx*y0;

-

-    SORT(isect1[0],isect1[1]);

-    SORT(isect2[0],isect2[1]);

-

-    if(isect1[1]<isect2[0] || isect2[1]<isect1[0]) return 0;

-    return 1;

-}

diff --git a/libraries/ode-0.9/GIMPACT/src/gim_trimesh.cpp b/libraries/ode-0.9/GIMPACT/src/gim_trimesh.cpp
deleted file mode 100644
index 1872592..0000000
--- a/libraries/ode-0.9/GIMPACT/src/gim_trimesh.cpp
+++ /dev/null
@@ -1,364 +0,0 @@
-

-/*

------------------------------------------------------------------------------

-This source file is part of GIMPACT Library.

-

-For the latest info, see http://gimpact.sourceforge.net/

-

-Copyright (c) 2006 Francisco Leon. C.C. 80087371.

-email: projectileman@yahoo.com

-

- 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 GIMPACT-LICENSE-LGPL.TXT.

-   (2) The BSD-style license that is included with this library in

-       the file GIMPACT-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

- GIMPACT-LICENSE-LGPL.TXT and GIMPACT-LICENSE-BSD.TXT for more details.

-

------------------------------------------------------------------------------

-*/

-

-

-#include <assert.h>

-#include "GIMPACT/gim_trimesh.h"

-

-GUINT gim_trimesh_get_triangle_count(GIM_TRIMESH * trimesh)

-{

-    return trimesh->m_tri_index_buffer.m_element_count/3;

-}

-

-//! Creates the aabb set and the triangles cache

-/*!

-

-\param trimesh

-\param vertex_array

-\param triindex_array

-\param transformed_reply If 1, then the m_transformed_vertices is a reply of the source vertices. Else it just be a reference to the original array.

-\post it copies the arrays by reference, and creates the auxiliary data (m_aabbset,m_planes_cache_buffer)

-*/

-void gim_trimesh_create_from_arrays(GIM_TRIMESH * trimesh, GBUFFER_ARRAY * vertex_array, GBUFFER_ARRAY * triindex_array,char transformed_reply)

-{

-    assert(trimesh);

-    assert(vertex_array);

-    assert(triindex_array);

-    gim_buffer_array_copy_ref(vertex_array,&trimesh->m_source_vertex_buffer);

-    gim_buffer_array_copy_ref(triindex_array,&trimesh->m_tri_index_buffer);

-

-    trimesh->m_mask = GIM_TRIMESH_NEED_UPDATE;//needs update

-    //Create the transformed vertices

-    if(transformed_reply==1)

-    {

-        trimesh->m_mask |= GIM_TRIMESH_TRANSFORMED_REPLY;

-        gim_buffer_array_copy_value(vertex_array,&trimesh->m_transformed_vertex_buffer,G_BUFFER_MANAGER_SYSTEM,G_MU_DYNAMIC_READ_WRITE);

-    }

-    else

-    {

-        gim_buffer_array_copy_ref(vertex_array,&trimesh->m_transformed_vertex_buffer);

-    }

-    //create the box set

-    GUINT facecount = gim_trimesh_get_triangle_count(trimesh);

-

-    gim_aabbset_alloc(&trimesh->m_aabbset,facecount);

-    //create the planes cache

-    GIM_DYNARRAY_CREATE_SIZED(GIM_TRIPLANES_CACHE,trimesh->m_planes_cache_buffer,facecount);

-    //Create the bitset

-    GIM_BITSET_CREATE_SIZED(trimesh->m_planes_cache_bitset,facecount);

-    //Callback is 0

-    trimesh->m_update_callback = 0;

-    //set to identity

-    IDENTIFY_MATRIX_4X4(trimesh->m_transform);

-}

-

-

-

-//! Create a trimesh from vertex array and an index array

-/*!

-

-\param trimesh An uninitialized GIM_TRIMESH  structure

-\param vertex_array A buffer to a vec3f array

-\param vertex_count

-\param triindex_array

-\param index_count

-\param copy_vertices If 1, it copies the source vertices in another buffer. Else (0) it constructs a reference to the data.

-\param copy_indices If 1, it copies the source vertices in another buffer. Else (0) it constructs a reference to the data.

-\param transformed_reply If , then the m_transformed_vertices is a reply of the source vertices. Else it just be a reference to the original array.

-*/

-void gim_trimesh_create_from_data(GIM_TRIMESH * trimesh, vec3f * vertex_array, GUINT vertex_count,char copy_vertices, GUINT * triindex_array, GUINT index_count,char copy_indices,char transformed_reply)

-{

-    GBUFFER_ARRAY buffer_vertex_array;

-    GBUFFER_ARRAY buffer_triindex_array;

-

-    //Create vertices

-    if(copy_vertices == 1)

-    {

-        gim_create_common_buffer_from_data(vertex_array, vertex_count*sizeof(vec3f), &buffer_vertex_array.m_buffer_id);

-    }

-    else//Create a shared buffer

-    {

-        gim_create_shared_buffer_from_data(vertex_array, vertex_count*sizeof(vec3f), &buffer_vertex_array.m_buffer_id);

-    }

-    GIM_BUFFER_ARRAY_INIT_TYPE(vec3f,buffer_vertex_array,buffer_vertex_array.m_buffer_id,vertex_count);

-

-

-    //Create vertices

-    if(copy_indices == 1)

-    {

-        gim_create_common_buffer_from_data(triindex_array, index_count*sizeof(GUINT), &buffer_triindex_array.m_buffer_id);

-    }

-    else//Create a shared buffer

-    {

-        gim_create_shared_buffer_from_data(triindex_array, index_count*sizeof(GUINT), &buffer_triindex_array.m_buffer_id);

-    }

-    GIM_BUFFER_ARRAY_INIT_TYPE(GUINT,buffer_triindex_array,buffer_triindex_array.m_buffer_id,index_count);

-

-    gim_trimesh_create_from_arrays(trimesh, &buffer_vertex_array, &buffer_triindex_array,transformed_reply);

-

-    ///always call this after create a buffer_array

-    GIM_BUFFER_ARRAY_DESTROY(buffer_vertex_array);

-    GIM_BUFFER_ARRAY_DESTROY(buffer_triindex_array);

-}

-

-//! Clears auxiliary data and releases buffer arrays

-void gim_trimesh_destroy(GIM_TRIMESH * trimesh)

-{

-    gim_aabbset_destroy(&trimesh->m_aabbset);

-

-    GIM_DYNARRAY_DESTROY(trimesh->m_planes_cache_buffer);

-    GIM_DYNARRAY_DESTROY(trimesh->m_planes_cache_bitset);

-

-    GIM_BUFFER_ARRAY_DESTROY(trimesh->m_transformed_vertex_buffer);

-    GIM_BUFFER_ARRAY_DESTROY(trimesh->m_source_vertex_buffer);

-    GIM_BUFFER_ARRAY_DESTROY(trimesh->m_tri_index_buffer);

-}

-

-//! Copies two meshes

-/*!

-\pre dest_trimesh shouldn't be created

-\post dest_trimesh will be created

-\param source_trimesh

-\param dest_trimesh

-\param copy_by_reference If 1, it attach a reference to the source vertices, else it copies the vertices

-\param transformed_reply IF 1, then it forces the m_trasnformed_vertices to be  a reply of the source vertices

-*/

-void gim_trimesh_copy(GIM_TRIMESH * source_trimesh,GIM_TRIMESH * dest_trimesh, char copy_by_reference, char transformed_reply)

-{

-    if(copy_by_reference==1)

-    {

-        gim_trimesh_create_from_arrays(dest_trimesh, &source_trimesh->m_source_vertex_buffer, &source_trimesh->m_tri_index_buffer,transformed_reply);

-    }

-    else

-    {

-        GBUFFER_ARRAY buffer_vertex_array;

-        GBUFFER_ARRAY buffer_triindex_array;

-

-        gim_buffer_array_copy_value(&source_trimesh->m_source_vertex_buffer,&buffer_vertex_array,G_BUFFER_MANAGER_SYSTEM,G_MU_DYNAMIC_READ_WRITE);

-

-        gim_buffer_array_copy_value(&source_trimesh->m_tri_index_buffer,&buffer_triindex_array,G_BUFFER_MANAGER_SYSTEM,G_MU_DYNAMIC_READ_WRITE);

-

-        gim_trimesh_create_from_arrays(dest_trimesh, &buffer_vertex_array, &buffer_triindex_array,transformed_reply);

-

-        ///always call this after create a buffer_array

-        GIM_BUFFER_ARRAY_DESTROY(buffer_vertex_array);

-        GIM_BUFFER_ARRAY_DESTROY(buffer_triindex_array);

-    }

-}

-

-//! Locks the trimesh for working with it

-/*!

-\post locks m_tri_index_buffer and m_transformed_vertex_buffer.

-\param trimesh

-*/

-void gim_trimesh_locks_work_data(GIM_TRIMESH * trimesh)

-{

-    GINT res;

-    res=gim_buffer_array_lock(&trimesh->m_tri_index_buffer,G_MA_READ_ONLY);

-    assert(res==G_BUFFER_OP_SUCCESS);

-    res=gim_buffer_array_lock(&trimesh->m_transformed_vertex_buffer,G_MA_READ_ONLY);

-    assert(res==G_BUFFER_OP_SUCCESS);

-}

-

-//! unlocks the trimesh

-/*!

-\post unlocks m_tri_index_buffer and m_transformed_vertex_buffer.

-\param trimesh

-*/

-void gim_trimesh_unlocks_work_data(GIM_TRIMESH * trimesh)

-{

-    gim_buffer_array_unlock(&trimesh->m_tri_index_buffer);

-    gim_buffer_array_unlock(&trimesh->m_transformed_vertex_buffer);

-}

-

-

-//! Returns 1 if the m_transformed_vertex_buffer is a reply of m_source_vertex_buffer

-char gim_trimesh_has_tranformed_reply(GIM_TRIMESH * trimesh)

-{

-    if(trimesh->m_mask&GIM_TRIMESH_TRANSFORMED_REPLY) return 1;

-    return 0;

-}

-

-//! Returns 1 if the trimesh needs to update their aabbset and the planes cache.

-char gim_trimesh_needs_update(GIM_TRIMESH * trimesh)

-{

-    if(trimesh->m_mask&GIM_TRIMESH_NEED_UPDATE) return 1;

-    return 0;

-}

-

-//! Change the state of the trimesh for force it to update

-/*!

-Call it after made changes to the trimesh.

-\post gim_trimesh_need_update(trimesh) will return 1

-*/

-void gim_trimesh_post_update(GIM_TRIMESH * trimesh)

-{

-    trimesh->m_mask |= GIM_TRIMESH_NEED_UPDATE;

-}

-

-//kernel

-#define MULT_MAT_VEC4_KERNEL(_mat,_src,_dst) MAT_DOT_VEC_3X4((_dst),(_mat),(_src))

-

-//! Updates m_transformed_vertex_buffer

-/*!

-\pre m_transformed_vertex_buffer must be unlocked

-*/

-void gim_trimesh_update_vertices(GIM_TRIMESH * trimesh)

-{

-    if(gim_trimesh_has_tranformed_reply(trimesh) == 0) return; //Don't perform transformation

-

-    //Vertices

-    GBUFFER_ARRAY * psource_vertex_buffer = &trimesh->m_source_vertex_buffer;

-    GBUFFER_ARRAY * ptransformed_vertex_buffer = &trimesh->m_transformed_vertex_buffer;

-    //Temp transform

-    mat4f transform;

-    COPY_MATRIX_4X4(transform,trimesh->m_transform);

-

-    GIM_PROCESS_BUFFER_ARRAY(transform,(*psource_vertex_buffer),(*ptransformed_vertex_buffer),MULT_MAT_VEC4_KERNEL,vec3f,vec3f);

-}

-

-//! Updates m_aabbset and m_planes_cache_bitset

-/*!

-\pre gim_trimesh_locks_work_data must be called before

-*/

-void gim_trimesh_update_aabbset(GIM_TRIMESH * trimesh)

-{

-    vec3f * transformed_vertices = GIM_BUFFER_ARRAY_POINTER(vec3f,trimesh->m_transformed_vertex_buffer,0);

-    assert(transformed_vertices);

-

-    GUINT * triangle_indices = GIM_BUFFER_ARRAY_POINTER(GUINT,trimesh->m_tri_index_buffer,0);

-    assert(triangle_indices);
-    // box set

-    aabb3f * paabb = trimesh->m_aabbset.m_boxes;

-    GUINT triangle_count = gim_trimesh_get_triangle_count(trimesh);

-    float * v1,*v2,*v3;

-    GUINT i;

-    for (i=0; i<triangle_count;i++)
-    {

-        v1 = &transformed_vertices[triangle_indices[0]][0];

-        v2 = &transformed_vertices[triangle_indices[1]][0];

-        v3 = &transformed_vertices[triangle_indices[2]][0];

-        COMPUTEAABB_FOR_TRIANGLE((*paabb),v1,v2,v3);

-        triangle_indices+=3;
-        paabb++;
-    }

-    //Clear planes cache

-    GIM_BITSET_CLEAR_ALL(trimesh->m_planes_cache_bitset);

-    //Sorts set

-    gim_aabbset_update(&trimesh->m_aabbset);

-}

-

-//! Updates the trimesh if needed

-/*!

-\post If gim_trimesh_needs_update returns 1, then it calls  gim_trimesh_update_vertices and gim_trimesh_update_aabbset

-*/

-void gim_trimesh_update(GIM_TRIMESH * trimesh)

-{

-    if(gim_trimesh_needs_update(trimesh)==0) return;

-    gim_trimesh_update_vertices(trimesh);

-    gim_trimesh_locks_work_data(trimesh);

-    gim_trimesh_update_aabbset(trimesh);

-    gim_trimesh_unlocks_work_data(trimesh);

-

-    //Clear update flag

-     trimesh->m_mask &= ~GIM_TRIMESH_NEED_UPDATE;

-}

-

-void gim_trimesh_set_tranform(GIM_TRIMESH * trimesh, mat4f transform)

-{

-    GREAL diff = 0.0f;

-    float * originaltrans = &trimesh->m_transform[0][0];

-    float * newtrans = &transform[0][0];

-    GUINT i;

-    for (i=0;i<16;i++)
-    {
-        diff += fabs(originaltrans[i]-newtrans[i]);
-    }

-

-//    if(IS_ZERO(diff)) return ;///don't need to update

-    if(diff< 0.00001f) return ;///don't need to update

-

-    COPY_MATRIX_4X4(trimesh->m_transform,transform);

-

-    gim_trimesh_post_update(trimesh);

-}

-

-void gim_trimesh_get_triangle_data(GIM_TRIMESH * trimesh, GUINT triangle_index, GIM_TRIANGLE_DATA * tri_data)

-{

-    vec3f * transformed_vertices = GIM_BUFFER_ARRAY_POINTER(vec3f,trimesh->m_transformed_vertex_buffer,0);

-

-    GUINT * triangle_indices = GIM_BUFFER_ARRAY_POINTER(GUINT,trimesh->m_tri_index_buffer,triangle_index*3);

-

-

-    //Copy the vertices

-    VEC_COPY(tri_data->m_vertices[0],transformed_vertices[triangle_indices[0]]);

-    VEC_COPY(tri_data->m_vertices[1],transformed_vertices[triangle_indices[1]]);

-    VEC_COPY(tri_data->m_vertices[2],transformed_vertices[triangle_indices[2]]);

-

-    //Get the planes

-    GIM_TRIPLANES_CACHE * planes = GIM_DYNARRAY_POINTER(GIM_TRIPLANES_CACHE,trimesh->m_planes_cache_buffer);

-    planes += triangle_index;

-

-    //verify planes cache

-    GUINT bit_eval;

-    GIM_BITSET_GET(trimesh->m_planes_cache_bitset,triangle_index,bit_eval);

-    if(bit_eval == 0)// Needs to calc the planes

-    {

-        //Calc the face plane

-        TRIANGLE_PLANE(tri_data->m_vertices[0],tri_data->m_vertices[1],tri_data->m_vertices[2],planes->m_planes[0]);

-        //Calc the edge 1

-        EDGE_PLANE(tri_data->m_vertices[0],tri_data->m_vertices[1],(planes->m_planes[0]),(planes->m_planes[1]));

-

-        //Calc the edge 2

-        EDGE_PLANE(tri_data->m_vertices[1],tri_data->m_vertices[2],(planes->m_planes[0]),(planes->m_planes[2]));

-

-        //Calc the edge 3

-        EDGE_PLANE(tri_data->m_vertices[2],tri_data->m_vertices[0],(planes->m_planes[0]), (planes->m_planes[3]));

-

-        //mark

-        GIM_BITSET_SET(trimesh->m_planes_cache_bitset,triangle_index);

-    }

-

-

-    VEC_COPY_4((tri_data->m_planes.m_planes[0]),(planes->m_planes[0]));//face plane

-    VEC_COPY_4((tri_data->m_planes.m_planes[1]),(planes->m_planes[1]));//edge1

-    VEC_COPY_4((tri_data->m_planes.m_planes[2]),(planes->m_planes[2]));//edge2

-    VEC_COPY_4((tri_data->m_planes.m_planes[3]),(planes->m_planes[3]));//edge3

-}

-

-void gim_trimesh_get_triangle_vertices(GIM_TRIMESH * trimesh, GUINT triangle_index, vec3f v1,vec3f v2,vec3f v3)

-{

-    vec3f * transformed_vertices = GIM_BUFFER_ARRAY_POINTER(vec3f,trimesh->m_transformed_vertex_buffer,0);

-

-    GUINT * triangle_indices = GIM_BUFFER_ARRAY_POINTER(GUINT,trimesh->m_tri_index_buffer,triangle_index*3);

-

-    //Copy the vertices

-    VEC_COPY(v1,transformed_vertices[triangle_indices[0]]);

-    VEC_COPY(v2,transformed_vertices[triangle_indices[1]]);

-    VEC_COPY(v3,transformed_vertices[triangle_indices[2]]);

-}

diff --git a/libraries/ode-0.9/GIMPACT/src/gim_trimesh_capsule_collision.cpp b/libraries/ode-0.9/GIMPACT/src/gim_trimesh_capsule_collision.cpp
deleted file mode 100644
index d1f7ca3..0000000
--- a/libraries/ode-0.9/GIMPACT/src/gim_trimesh_capsule_collision.cpp
+++ /dev/null
@@ -1,279 +0,0 @@
-

-/*

------------------------------------------------------------------------------

-This source file is part of GIMPACT Library.

-

-For the latest info, see http://gimpact.sourceforge.net/

-

-Copyright (c) 2006 Francisco Leon. C.C. 80087371.

-email: projectileman@yahoo.com

-

- 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 GIMPACT-LICENSE-LGPL.TXT.

-   (2) The BSD-style license that is included with this library in

-       the file GIMPACT-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

- GIMPACT-LICENSE-LGPL.TXT and GIMPACT-LICENSE-BSD.TXT for more details.

-

------------------------------------------------------------------------------

-*/

-

-#include "GIMPACT/gim_trimesh.h"

-

-//! Utility function for find the closest point between a segment and a triangle

-/*!

-

-\param triangle

-\param s1

-\param s2

-\param contacts Contains the closest points on the segment (1,2), and the normal points to segment, and m_depth contains the distance

-

-\post The contacts array is not set to 0. It adds aditional contacts

-*/

-void gim_closest_point_triangle_segment(GIM_TRIANGLE_DATA * triangle, vec3f s1,vec3f s2, GDYNAMIC_ARRAY * contacts)

-{

-    vec3f segment_points[4];

-    vec3f closest_points[2];

-    GUINT intersection_type, out_edge= 10;

-    GREAL dis, dis_temp,perpend;

-    vec4f sdiff;

-

-    dis = DISTANCE_PLANE_POINT(triangle->m_planes.m_planes[0],s1);

-    dis_temp = DISTANCE_PLANE_POINT(triangle->m_planes.m_planes[0],s2);

-

-    if(dis<=0.0f && dis_temp<=0.0f) return;

-

-    VEC_DIFF(sdiff,s2,s1);

-    perpend = VEC_DOT(sdiff,triangle->m_planes.m_planes[0]);

-

-    if(!IS_ZERO(perpend)) // Not perpendicular

-    {

-        if(dis<dis_temp)

-        {

-            VEC_COPY(closest_points[0],s1);

-        }

-        else

-        {

-            dis = dis_temp;

-            VEC_COPY(closest_points[0],s2);

-        }

-

-        //Testing segment vertices over triangle

-        if(dis>=0.0f && dis_temp>=0.0f)

-        {

-            POINT_IN_HULL(closest_points[0],(&triangle->m_planes.m_planes[1]),3,out_edge);

-

-            if(out_edge==0)//Point over face

-            {

-                GIM_PUSH_CONTACT((*contacts),closest_points[0] ,triangle->m_planes.m_planes[0] ,dis,0, 0, 0,0);

-                return;

-            }

-        }

-        else

-        {

-

-            PLANE_CLIP_SEGMENT(s1,s2,triangle->m_planes.m_planes[0],closest_points[1]);

-

-            POINT_IN_HULL(closest_points[1],(&triangle->m_planes.m_planes[1]),3,out_edge);

-

-            if(out_edge==0)//Point over face

-            {

-                GIM_PUSH_CONTACT((*contacts),closest_points[0] ,triangle->m_planes.m_planes[0] ,dis,0, 0, 0,0);

-                return;

-            }

-        }

-

-    }

-    else // Perpendicular Face

-    {

-        //out_edge=10

-        //Clip segment by triangle

-    //    Edge1

-        PLANE_CLIP_SEGMENT_CLOSEST(s1,s2,triangle->m_planes.m_planes[1],segment_points[0],segment_points[1],intersection_type);

-        if(intersection_type==0||intersection_type==1)

-        {

-            out_edge = 0;

-            VEC_COPY(closest_points[0],segment_points[0]);

-        }

-        else

-        {

-            //Edge2

-            PLANE_CLIP_SEGMENT_CLOSEST(segment_points[0],segment_points[1],triangle->m_planes.m_planes[2],segment_points[2],segment_points[3],intersection_type);

-            if(intersection_type==0||intersection_type==1)

-            {

-                out_edge = 1;

-                VEC_COPY(closest_points[0],segment_points[3]);

-            }

-            else

-            {

-                //Edge3

-                PLANE_CLIP_SEGMENT_CLOSEST(segment_points[2],segment_points[3],triangle->m_planes.m_planes[3],closest_points[0],closest_points[1],intersection_type);

-                if(intersection_type==0||intersection_type==1)

-                {

-                    out_edge = 2;

-                }

-            }

-        }

-        //POST closest_points[0] and closest_points[1] are inside the triangle, if out_edge>2

-        if(out_edge>2) // Over triangle

-        {

-            dis = VEC_DOT(closest_points[0],triangle->m_planes.m_planes[0]);

-            GIM_PUSH_CONTACT((*contacts),closest_points[0] ,triangle->m_planes.m_planes[0] ,dis,0, 0, 0,0);

-            GIM_PUSH_CONTACT((*contacts),closest_points[1] ,triangle->m_planes.m_planes[0] ,dis,0, 0, 0,0);

-            return;

-        }

-    }

-

-    //Find closest edges

-    out_edge = 10;

-    dis = G_REAL_INFINITY;

-    GUINT i;

-    for(i=0;i<3;i++)

-    {

-        SEGMENT_COLLISION(s1,s2,triangle->m_vertices[i],triangle->m_vertices[(i+1)%3],segment_points[0],segment_points[1]);

-        VEC_DIFF(sdiff,segment_points[0],segment_points[1]);

-        dis_temp = VEC_DOT(sdiff,sdiff);

-        if(dis_temp< dis)

-        {

-            dis = dis_temp;

-            out_edge = i;

-            VEC_COPY(closest_points[0],segment_points[0]);

-            VEC_COPY(closest_points[1],sdiff);//normal

-        }

-    }

-    if(out_edge>2) return ;// ???? ASSERT this please

-

-    if(IS_ZERO(dis))

-    {

-        //Set face plane

-        GIM_PUSH_CONTACT((*contacts),closest_points[0] ,triangle->m_planes.m_planes[0] ,0.0f,0, 0, 0,0);

-

-    }

-    else

-    {

-        GIM_SQRT(dis,dis);

-        VEC_SCALE(closest_points[1],(1.0f/dis),closest_points[1]);//normal

-        GIM_PUSH_CONTACT((*contacts),closest_points[0] ,closest_points[1],dis,0, 0, 0,0);

-    }

-}

-

-

-//! Utility function for find the closest point between a capsule and a triangle

-/*!

-

-\param triangle

-\param capsule

-\param contacts Contains the closest points on the capsule, and the normal points to triangle

-

-\post The contacts array is not set to 0. It adds aditional contacts

-*/

-int gim_triangle_capsule_collision(GIM_TRIANGLE_DATA * triangle, GIM_CAPSULE_DATA * capsule, GDYNAMIC_ARRAY * contacts)

-{

-    GUINT old_contact_size = contacts->m_size;

-    gim_closest_point_triangle_segment(triangle,capsule->m_point1,capsule->m_point2,contacts);

-    GIM_CONTACT * pcontact = GIM_DYNARRAY_POINTER(GIM_CONTACT ,(*contacts));

-    pcontact+= old_contact_size;

-

-    if(pcontact->m_depth > capsule->m_radius)

-    {

-        contacts->m_size = old_contact_size;

-        return 0;

-    }

-

-    vec3f vec;

-    while(old_contact_size<contacts->m_size)
-    {

-        //Scale the normal for pointing to triangle

-        VEC_SCALE(pcontact->m_normal,-1.0f,pcontact->m_normal);

-        //Fix the contact point

-        VEC_SCALE(vec,capsule->m_radius,pcontact->m_normal);

-        VEC_SUM(pcontact->m_point,vec,pcontact->m_point);

-        //Fix the depth

-        pcontact->m_depth = capsule->m_radius - pcontact->m_depth;

-

-        pcontact++;

-        old_contact_size++;
-    }

-

-    return 1;

-}

-

-

-//! Trimesh Capsule collision

-/*!

-Find the closest primitive collided by the ray

-\param trimesh

-\param capsule

-\param contact

-\param contacts A GIM_CONTACT array. Must be initialized

-*/

-void gim_trimesh_capsule_collision(GIM_TRIMESH * trimesh, GIM_CAPSULE_DATA * capsule, GDYNAMIC_ARRAY * contacts)

-{

-    contacts->m_size = 0;

-

-    aabb3f test_aabb;

-    CALC_CAPSULE_AABB((*capsule),test_aabb);

-

-        GDYNAMIC_ARRAY collision_result;

-        GIM_CREATE_BOXQUERY_LIST(collision_result);

-

-        gim_aabbset_box_collision(&test_aabb, &trimesh->m_aabbset , &collision_result);

-

-        if(collision_result.m_size==0)

-        {

-            GIM_DYNARRAY_DESTROY(collision_result);

-        }

-

-        //collide triangles

-        //Locks trimesh

-        gim_trimesh_locks_work_data(trimesh);

-         //dummy contacts

-    GDYNAMIC_ARRAY dummycontacts;

-    GIM_CREATE_CONTACT_LIST(dummycontacts);

-

-        int cresult;

-        unsigned int i;

-        GUINT * boxesresult = GIM_DYNARRAY_POINTER(GUINT,collision_result);

-        GIM_TRIANGLE_DATA tri_data;

-        GUINT old_contact_size;

-        GIM_CONTACT * pcontact;

-

-        for(i=0;i<collision_result.m_size;i++)

-        {

-            old_contact_size = dummycontacts.m_size;

-                gim_trimesh_get_triangle_data(trimesh,boxesresult[i],&tri_data);

-                cresult = gim_triangle_capsule_collision(&tri_data, capsule, &dummycontacts);

-                if(cresult!=0)

-                {

-                    pcontact = GIM_DYNARRAY_POINTER(GIM_CONTACT ,dummycontacts);

-            pcontact+= old_contact_size;

-                    while(old_contact_size<dummycontacts.m_size)

-            {

-                pcontact->m_handle1 = trimesh;

-                pcontact->m_handle2 = capsule;

-                pcontact->m_feature1 = boxesresult[i];

-                pcontact->m_feature2 = 0;

-                pcontact++;

-                old_contact_size++;

-            }

-                }

-        }

-        ///unlocks

-        gim_trimesh_unlocks_work_data(trimesh);

-        ///Destroy box result

-        GIM_DYNARRAY_DESTROY(collision_result);

-

-         //merge contacts

-    gim_merge_contacts(&dummycontacts,contacts);

-

-    //Destroy dummy

-    GIM_DYNARRAY_DESTROY(dummycontacts);

-}

diff --git a/libraries/ode-0.9/GIMPACT/src/gim_trimesh_ray_collision.cpp b/libraries/ode-0.9/GIMPACT/src/gim_trimesh_ray_collision.cpp
deleted file mode 100644
index 0c10fe1..0000000
--- a/libraries/ode-0.9/GIMPACT/src/gim_trimesh_ray_collision.cpp
+++ /dev/null
@@ -1,140 +0,0 @@
-

-/*

------------------------------------------------------------------------------

-This source file is part of GIMPACT Library.

-

-For the latest info, see http://gimpact.sourceforge.net/

-

-Copyright (c) 2006 Francisco Leon. C.C. 80087371.

-email: projectileman@yahoo.com

-

- 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 GIMPACT-LICENSE-LGPL.TXT.

-   (2) The BSD-style license that is included with this library in

-       the file GIMPACT-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

- GIMPACT-LICENSE-LGPL.TXT and GIMPACT-LICENSE-BSD.TXT for more details.

-

------------------------------------------------------------------------------

-*/

-

-#include "GIMPACT/gim_trimesh.h"

-

-

-//! Trimesh Ray Collisions

-/*!

-

-\param trimesh

-\param contact

-\return 1 if the ray collides, else 0

-*/

-int gim_trimesh_ray_collision(GIM_TRIMESH * trimesh,vec3f origin,vec3f dir, GREAL tmax, GIM_TRIANGLE_RAY_CONTACT_DATA * contact)

-{

-    GDYNAMIC_ARRAY collision_result;

-        GIM_CREATE_BOXQUERY_LIST(collision_result);

-

-        gim_aabbset_ray_collision(origin,dir,tmax,&trimesh->m_aabbset,&collision_result);

-

-        if(collision_result.m_size==0)

-        {

-            GIM_DYNARRAY_DESTROY(collision_result);

-            return 0;

-        }

-

-        //collide triangles

-

-        GUINT * boxesresult = GIM_DYNARRAY_POINTER(GUINT,collision_result);

-        GIM_TRIANGLE_DATA  tridata;

-        vec3f pout;

-        GREAL tparam,u,v;

-        char does_intersect;

-

-        gim_trimesh_locks_work_data(trimesh);

-

-        for(unsigned int i=0;i<collision_result.m_size;i++)

-        {

-                gim_trimesh_get_triangle_data(trimesh,boxesresult[i],&tridata);

-

-                RAY_TRIANGLE_INTERSECTION(origin,dir,tridata.m_vertices[0],tridata.m_vertices[1],tridata.m_vertices[2],tridata.m_planes.m_planes[0],pout,u,v,tparam,tmax,does_intersect);

-                if(does_intersect)

-                {

-                    contact->tparam = tparam;

-                    contact->u = u;

-                    contact->v = v;

-                    contact->m_face_id = boxesresult[i];

-                    VEC_COPY(contact->m_point,pout);

-                    VEC_COPY(contact->m_normal,tridata.m_planes.m_planes[0]);

-

-                    gim_trimesh_unlocks_work_data(trimesh);

-            GIM_DYNARRAY_DESTROY(collision_result);

-                    return 1;

-                }

-        }

-

-        gim_trimesh_unlocks_work_data(trimesh);

-        GIM_DYNARRAY_DESTROY(collision_result);

-        return 0;//no collisiion

-}

-

-

-//! Trimesh Ray Collisions closest

-/*!

-Find the closest primitive collided by the ray

-\param trimesh

-\param contact

-\return 1 if the ray collides, else 0

-*/

-int gim_trimesh_ray_closest_collision(GIM_TRIMESH * trimesh,vec3f origin,vec3f dir, GREAL tmax, GIM_TRIANGLE_RAY_CONTACT_DATA * contact)

-{

-    GDYNAMIC_ARRAY collision_result;

-        GIM_CREATE_BOXQUERY_LIST(collision_result);

-

-        gim_aabbset_ray_collision(origin,dir,tmax,&trimesh->m_aabbset,&collision_result);

-

-        if(collision_result.m_size==0)

-        {

-            GIM_DYNARRAY_DESTROY(collision_result);

-            return 0;

-        }

-

-        //collide triangles

-

-        GUINT * boxesresult = GIM_DYNARRAY_POINTER(GUINT,collision_result);

-        GIM_TRIANGLE_DATA  tridata;

-        vec3f pout;

-        GREAL tparam,u,v;

-        char does_intersect;

-        contact->tparam = tmax + 0.1f;

-

-

-        gim_trimesh_locks_work_data(trimesh);

-

-        for(unsigned int i=0;i<collision_result.m_size;i++)

-        {

-                gim_trimesh_get_triangle_data(trimesh,boxesresult[i],&tridata);

-

-                RAY_TRIANGLE_INTERSECTION(origin,dir,tridata.m_vertices[0],tridata.m_vertices[1],tridata.m_vertices[2],tridata.m_planes.m_planes[0],pout,u,v,tparam,tmax,does_intersect);

-                if(does_intersect && (tparam < contact->tparam))

-                {

-            contact->tparam = tparam;

-                    contact->u = u;

-                    contact->v = v;

-                    contact->m_face_id = boxesresult[i];

-                    VEC_COPY(contact->m_point,pout);

-                    VEC_COPY(contact->m_normal,tridata.m_planes.m_planes[0]);

-                }

-        }

-

-        gim_trimesh_unlocks_work_data(trimesh);

-        GIM_DYNARRAY_DESTROY(collision_result);

-        if(contact->tparam > tmax) return 0;

-        return 1;

-}

diff --git a/libraries/ode-0.9/GIMPACT/src/gim_trimesh_sphere_collision.cpp b/libraries/ode-0.9/GIMPACT/src/gim_trimesh_sphere_collision.cpp
deleted file mode 100644
index 60444fb..0000000
--- a/libraries/ode-0.9/GIMPACT/src/gim_trimesh_sphere_collision.cpp
+++ /dev/null
@@ -1,196 +0,0 @@
-

-/*

------------------------------------------------------------------------------

-This source file is part of GIMPACT Library.

-

-For the latest info, see http://gimpact.sourceforge.net/

-

-Copyright (c) 2006 Francisco Leon. C.C. 80087371.

-email: projectileman@yahoo.com

-

- 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 GIMPACT-LICENSE-LGPL.TXT.

-   (2) The BSD-style license that is included with this library in

-       the file GIMPACT-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

- GIMPACT-LICENSE-LGPL.TXT and GIMPACT-LICENSE-BSD.TXT for more details.

-

------------------------------------------------------------------------------

-*/

-

-#include "GIMPACT/gim_trimesh.h"

-

-int gim_triangle_sphere_collision(

-                                                        GIM_TRIANGLE_DATA *tri,

-                                                        vec3f center, GREAL radius,

-                                                        GIM_TRIANGLE_CONTACT_DATA * contact_data)

-{

-    contact_data->m_point_count = 0;

-

-    //Find Face plane distance

-    GREAL  dis = DISTANCE_PLANE_POINT(tri->m_planes.m_planes[0],center);

-    if(dis>radius) return 0; //out

-    if(dis<-radius) return 0;//Out of triangle

-    contact_data->m_penetration_depth = dis;

-

-    //Find the most edge

-    GUINT most_edge = 4;//no edge

-    GREAL max_dis = 0.0f;

-    dis = DISTANCE_PLANE_POINT(tri->m_planes.m_planes[1],center);

-    if(dis>radius) return 0;//Out of triangle

-    if(dis>0.0f)

-    {

-        max_dis = dis;

-        most_edge = 0;

-    }

-

-    dis = DISTANCE_PLANE_POINT(tri->m_planes.m_planes[2],center);

-    if(dis>radius) return 0;//Out of triangle

-    if(dis>max_dis)// && dis>0.0f)

-    {

-        max_dis = dis;

-        most_edge = 1;

-    }

-

-    dis = DISTANCE_PLANE_POINT(tri->m_planes.m_planes[3],center);

-    if(dis>radius) return 0;//Out of triangle

-    if(dis>max_dis)// && dis>0.0f)

-    {

-        max_dis = dis;

-        most_edge = 2;

-    }

-

-    if(most_edge == 4) //Box is into triangle

-    {

-        //contact_data->m_penetration_depth = dis is set above

-        //Find Face plane point

-        VEC_COPY(contact_data->m_separating_normal,tri->m_planes.m_planes[0]);

-        //Find point projection on plane

-        if(contact_data->m_penetration_depth>=0.0f)

-        {

-            VEC_SCALE(contact_data->m_points[0],-radius,contact_data->m_separating_normal);

-        }

-        else

-        {

-            VEC_SCALE(contact_data->m_points[0],radius,contact_data->m_separating_normal);

-        }

-        contact_data->m_penetration_depth = radius - contact_data->m_penetration_depth;

-

-        VEC_SUM(contact_data->m_points[0],contact_data->m_points[0],center);

-        //Scale normal for pointing to triangle

-        VEC_SCALE(contact_data->m_separating_normal,-1.0f,contact_data->m_separating_normal);

-        contact_data->m_point_count = 1;

-        return 1;

-    }

-    //find the edge

-    vec3f e1,e2;

-    VEC_COPY(e1,tri->m_vertices[most_edge]);

-    VEC_COPY(e2,tri->m_vertices[(most_edge+1)%3]);

-

-    CLOSEST_POINT_ON_SEGMENT(contact_data->m_points[0],center,e1,e2);

-    //find distance

-    VEC_DIFF(e1,center,contact_data->m_points[0]);

-    VEC_LENGTH(e1,dis);

-    if(dis>radius) return 0;

-

-    contact_data->m_penetration_depth = radius - dis;

-

-    if(IS_ZERO(dis))

-    {

-        VEC_COPY(contact_data->m_separating_normal,tri->m_planes.m_planes[most_edge+1]);

-        VEC_SCALE(contact_data->m_points[0],-radius,contact_data->m_separating_normal);

-        VEC_SUM(contact_data->m_points[0],contact_data->m_points[0],center);

-    }

-    else

-    {

-        VEC_SCALE(contact_data->m_separating_normal,1.0f/dis,e1);

-        VEC_SCALE(contact_data->m_points[0],-radius,contact_data->m_separating_normal);

-        VEC_SUM(contact_data->m_points[0],contact_data->m_points[0],center);

-    }

-

-    //Scale normal for pointing to triangle

-    VEC_SCALE(contact_data->m_separating_normal,-1.0f,contact_data->m_separating_normal);

-

-    contact_data->m_point_count = 1;

-    return 1;

-

-}

-

-//! Trimesh Sphere Collisions

-/*!

-In each contact

-<ul>

-<li> m_handle1 points to trimesh.

-<li> m_handle2 points to NULL.

-<li> m_feature1 Is a triangle index of trimesh.

-</ul>

-

-\param trimesh

-\param center

-\param radius

-\param contacts A GIM_CONTACT array. Must be initialized

-*/

-void gim_trimesh_sphere_collision(GIM_TRIMESH * trimesh,vec3f center,GREAL radius, GDYNAMIC_ARRAY * contacts)

-{

-    contacts->m_size = 0;

-

-    aabb3f test_aabb;

-        test_aabb.minX = center[0]-radius;

-        test_aabb.maxX = center[0]+radius;

-        test_aabb.minY = center[1]-radius;

-        test_aabb.maxY = center[1]+radius;

-        test_aabb.minZ = center[2]-radius;

-        test_aabb.maxZ = center[2]+radius;

-

-        GDYNAMIC_ARRAY collision_result;

-        GIM_CREATE_BOXQUERY_LIST(collision_result);

-

-        gim_aabbset_box_collision(&test_aabb, &trimesh->m_aabbset , &collision_result);

-

-        if(collision_result.m_size==0)

-        {

-            GIM_DYNARRAY_DESTROY(collision_result);

-        }

-

-        //collide triangles

-        //Locks trimesh

-        gim_trimesh_locks_work_data(trimesh);

-         //dummy contacts

-    GDYNAMIC_ARRAY dummycontacts;

-    GIM_CREATE_CONTACT_LIST(dummycontacts);

-

-        int cresult;

-        unsigned int i;

-        GUINT * boxesresult = GIM_DYNARRAY_POINTER(GUINT,collision_result);

-        GIM_TRIANGLE_CONTACT_DATA tri_contact_data;

-        GIM_TRIANGLE_DATA tri_data;

-

-        for(i=0;i<collision_result.m_size;i++)

-        {

-                gim_trimesh_get_triangle_data(trimesh,boxesresult[i],&tri_data);

-                cresult = gim_triangle_sphere_collision(&tri_data,center,radius,&tri_contact_data);

-                if(cresult!=0)

-                {

-                    GIM_PUSH_CONTACT(dummycontacts, tri_contact_data.m_points[0],tri_contact_data.m_separating_normal ,tri_contact_data.m_penetration_depth,trimesh, 0, boxesresult[i],0);

-                }

-        }

-        ///unlocks

-        gim_trimesh_unlocks_work_data(trimesh);

-        ///Destroy box result

-        GIM_DYNARRAY_DESTROY(collision_result);

-

-         //merge contacts

-    gim_merge_contacts(&dummycontacts,contacts);

-

-    //Destroy dummy

-    GIM_DYNARRAY_DESTROY(dummycontacts);

-}

-

diff --git a/libraries/ode-0.9/GIMPACT/src/gim_trimesh_trimesh_collision.cpp b/libraries/ode-0.9/GIMPACT/src/gim_trimesh_trimesh_collision.cpp
deleted file mode 100644
index c9c5305..0000000
--- a/libraries/ode-0.9/GIMPACT/src/gim_trimesh_trimesh_collision.cpp
+++ /dev/null
@@ -1,348 +0,0 @@
-

-/*

------------------------------------------------------------------------------

-This source file is part of GIMPACT Library.

-

-For the latest info, see http://gimpact.sourceforge.net/

-

-Copyright (c) 2006 Francisco Leon. C.C. 80087371.

-email: projectileman@yahoo.com

-

- 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 GIMPACT-LICENSE-LGPL.TXT.

-   (2) The BSD-style license that is included with this library in

-       the file GIMPACT-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

- GIMPACT-LICENSE-LGPL.TXT and GIMPACT-LICENSE-BSD.TXT for more details.

-

------------------------------------------------------------------------------

-*/

-

-#include "GIMPACT/gim_trimesh.h"

-

-#define CLASSIFY_TRI_BY_FACE(v1,v2,v3,faceplane,out_of_face)\

-{   \

-    _distances[0] = DISTANCE_PLANE_POINT(faceplane,v1);\

-    _distances[1] =  _distances[0] * DISTANCE_PLANE_POINT(faceplane,v2);\

-    _distances[2] =  _distances[0] * DISTANCE_PLANE_POINT(faceplane,v3); \

-        if(_distances[1]>0.0f && _distances[2]>0.0f)\

-        {\

-            out_of_face = 1;\

-        }\

-        else\

-        {\

-            out_of_face = 0;\

-        }\

-}\

-

-

-//! Receives the 3 edge planes

-#define MOST_DEEP_POINTS(plane,points,point_count,deep_points,deep_points_count,maxdeep)\

-{\

-    maxdeep=-1000.0f;\

-    GUINT _k;\

-        GREAL _dist;\

-        deep_points_count = 0;\

-        for(_k=0;_k<point_count;_k++)\

-        {\

-            _dist = -DISTANCE_PLANE_POINT(plane,points[_k]);\

-                if(_dist>maxdeep)\

-                {\

-                        maxdeep = _dist;\

-                        _max_candidates[0] = _k;\

-                        deep_points_count=1;\

-                }\

-                else if((_dist+G_EPSILON)>=maxdeep)\

-                {\

-                    _max_candidates[deep_points_count] = _k;\

-                        deep_points_count++;\

-                }\

-        }\

-        if(maxdeep<0.0f)\

-    {\

-        deep_points_count = 0;\

-    }\

-    else\

-    {\

-        for(_k=0;_k<deep_points_count;_k++)\

-        {\

-            VEC_COPY(deep_points[_k],points[_max_candidates[_k]]);\

-        }\

-    }\

-}\

-

-//! Receives the 3 edge planes

-#define CLIP_TRI_POINTS_BY_TRI_EDGE_PLANES(tri_points,tri_edge_planes, clipped_points, clipped_point_count)\

-{\

-    clipped_point_count = 0;    \

-    _temp_clip_count = 0;\

-    PLANE_CLIP_POLYGON(tri_edge_planes[0],tri_points,3,_temp_clip,_temp_clip_count,MAX_TRI_CLIPPING);\

-    if(_temp_clip_count>0)\

-    {\

-        _temp_clip_count2 = 0;\

-        PLANE_CLIP_POLYGON(tri_edge_planes[1],_temp_clip,_temp_clip_count,_temp_clip2,_temp_clip_count2,MAX_TRI_CLIPPING);\

-        if(_temp_clip_count2>0)\

-        {\

-            PLANE_CLIP_POLYGON(tri_edge_planes[2],_temp_clip2,_temp_clip_count2,clipped_points,clipped_point_count,MAX_TRI_CLIPPING);\

-        }\

-    }\

-}\

-

-

-

-int _gim_triangle_triangle_collision(

-                                                        GIM_TRIANGLE_DATA *tri1,

-                                                        GIM_TRIANGLE_DATA *tri2,

-                                                        GIM_TRIANGLE_CONTACT_DATA * contact_data)

-{

-    //Cache variables for triangle intersection

-    GUINT _max_candidates[MAX_TRI_CLIPPING];

-    vec3f _temp_clip[MAX_TRI_CLIPPING];

-    GUINT _temp_clip_count = 0;

-    vec3f _temp_clip2[MAX_TRI_CLIPPING];

-    GUINT _temp_clip_count2 = 0;

-    vec3f clipped_points2[MAX_TRI_CLIPPING];

-    vec3f deep_points2[MAX_TRI_CLIPPING];

-    vec3f clipped_points1[MAX_TRI_CLIPPING];

-    vec3f deep_points1[MAX_TRI_CLIPPING];

-

-

-

-    //State variabnles

-        GUINT mostdir=0;

-        GUINT clipped2_count=0;

-

-        //Clip tri2 by tri1 edges

-

-        CLIP_TRI_POINTS_BY_TRI_EDGE_PLANES(tri2->m_vertices,(&tri1->m_planes.m_planes[1]), clipped_points2, clipped2_count);

-

-        if(clipped2_count == 0 )

-        {

-             return 0;//Reject

-        }

-

-        //find most deep interval face1

-        GUINT deep2_count=0;

-

-        GREAL maxdeep;

-

-        MOST_DEEP_POINTS((tri1->m_planes.m_planes[0]), clipped_points2, clipped2_count, deep_points2, deep2_count, maxdeep);

-        if(deep2_count==0)

-        {

-//          *perror = 0.0f;

-             return 0;//Reject

-        }

-

-        //Normal pointing to triangle1

-        VEC_SCALE(contact_data->m_separating_normal,-1.0f,(tri1->m_planes.m_planes[0]));

-

-

-        //Clip tri1 by tri2 edges

-

-        GUINT clipped1_count=0;

-

-        CLIP_TRI_POINTS_BY_TRI_EDGE_PLANES(tri1->m_vertices,(&tri2->m_planes.m_planes[1]), clipped_points1, clipped1_count);

-

-        if(clipped2_count == 0 )

-        {

-//          *perror = 0.0f;

-             return 0;//Reject

-        }

-

-

-        //find interval face2

-        GUINT deep1_count=0;

-

-        GREAL dist;

-

-        MOST_DEEP_POINTS((tri2->m_planes.m_planes[0]), clipped_points1, clipped1_count, deep_points1, deep1_count, dist);

-

-        if(deep1_count==0)

-        {

-//          *perror = 0.0f;

-            return 0;

-        }

-

-        if(dist<maxdeep)

-        {

-                maxdeep = dist;

-                mostdir = 1;

-                VEC_COPY(contact_data->m_separating_normal,(tri2->m_planes.m_planes[0]));

-        }

-        //set deep

-        contact_data->m_penetration_depth = maxdeep;

-

-        ////check most dir for contacts

-        if(mostdir==0)

-        {

-            contact_data->m_point_count = deep2_count;

-            for(mostdir=0;mostdir<deep2_count;mostdir++)

-            {

-                VEC_COPY(contact_data->m_points[mostdir] ,deep_points2[mostdir]);

-            }

-        }

-        else

-        {

-                contact_data->m_point_count = deep1_count;

-            for(mostdir=0;mostdir<deep1_count;mostdir++)

-            {

-                VEC_COPY(contact_data->m_points[mostdir] ,deep_points1[mostdir]);

-            }

-        }

-        return 1;

-}

-

-

-

-//! Finds the contact points from a collision of two triangles

-/*!

-Returns the contact points, the penetration depth and the separating normal of the collision

-between two triangles. The normal is pointing toward triangle 1 from triangle 2

-*/

-int gim_triangle_triangle_collision(

-                                                        GIM_TRIANGLE_DATA *tri1,

-                                                        GIM_TRIANGLE_DATA *tri2,

-                                                        GIM_TRIANGLE_CONTACT_DATA * contact_data)

-{

-    vec3f _distances;

-    char out_of_face=0;

-

-    CLASSIFY_TRI_BY_FACE(tri1->m_vertices[0],tri1->m_vertices[1],tri1->m_vertices[2],tri2->m_planes.m_planes[0],out_of_face);

-    if(out_of_face==1) return 0;

-

-    CLASSIFY_TRI_BY_FACE(tri2->m_vertices[0],tri2->m_vertices[1],tri2->m_vertices[2],tri1->m_planes.m_planes[0],out_of_face);

-    if(out_of_face==1) return 0;

-

-    return _gim_triangle_triangle_collision(tri1,tri2,contact_data);

-}

-

-//! Trimesh Trimesh Collisions

-/*!

-

-In each contact

-<ul>

-<li> m_handle1 points to trimesh1.

-<li> m_handle2 points to trimesh2.

-<li> m_feature1 Is a triangle index of trimesh1.

-<li> m_feature2 Is a triangle index of trimesh2.

-</ul>

-

-\param trimesh1 Collider

-\param trimesh2 Collidee

-\param contacts A GIM_CONTACT array. Must be initialized

-*/

-void gim_trimesh_trimesh_collision(GIM_TRIMESH * trimesh1, GIM_TRIMESH * trimesh2, GDYNAMIC_ARRAY * contacts)

-{

-    contacts->m_size = 0;

-    GDYNAMIC_ARRAY collision_pairs;

-    GIM_CREATE_PAIR_SET(collision_pairs)

-

-    gim_aabbset_bipartite_intersections(&trimesh1->m_aabbset,&trimesh2->m_aabbset,&collision_pairs);

-

-    if(collision_pairs.m_size==0)

-    {

-        GIM_DYNARRAY_DESTROY(collision_pairs);

-         return; //no collisioin

-    }

-

-    //Locks meshes

-    gim_trimesh_locks_work_data(trimesh1);

-    gim_trimesh_locks_work_data(trimesh2);

-

-

-    //pair pointer

-    GIM_PAIR *pairs = GIM_DYNARRAY_POINTER(GIM_PAIR,collision_pairs);

-    //dummy contacts

-    GDYNAMIC_ARRAY dummycontacts;

-    GIM_CREATE_CONTACT_LIST(dummycontacts);

-

-    //Auxiliary triangle data

-    GIM_TRIANGLE_CONTACT_DATA tri_contact_data;

-    GIM_TRIANGLE_DATA tri1data,tri2data;

-

-

-    GUINT i, ti1,ti2,ci;

-    int colresult;

-    for (i=0;i<collision_pairs.m_size; i++)
-    {

-        ti1 = pairs[i].m_index1;

-        ti2 = pairs[i].m_index2;

-        //Get triangles data

-        gim_trimesh_get_triangle_data(trimesh1,ti1,&tri1data);

-        gim_trimesh_get_triangle_data(trimesh2,ti2,&tri2data);

-

-        //collide triangles

-        colresult = gim_triangle_triangle_collision(&tri1data,&tri2data,&tri_contact_data);

-        if(colresult == 1)

-        {

-            //Add contacts

-            for (ci=0;ci<tri_contact_data.m_point_count ;ci++ )
-            {

-                GIM_PUSH_CONTACT(dummycontacts, tri_contact_data.m_points[ci],tri_contact_data.m_separating_normal ,tri_contact_data.m_penetration_depth,trimesh1, trimesh2, ti1, ti2);
-            }

-        }
-    }

-

-    if(dummycontacts.m_size == 0) //reject

-    {

-        GIM_DYNARRAY_DESTROY(dummycontacts);

-        GIM_DYNARRAY_DESTROY(collision_pairs);

-        return;

-    }

-    //merge contacts

-    gim_merge_contacts(&dummycontacts,contacts);

-

-    //Terminate

-    GIM_DYNARRAY_DESTROY(dummycontacts);

-    GIM_DYNARRAY_DESTROY(collision_pairs);

-

-    //Unlocks meshes

-    gim_trimesh_unlocks_work_data(trimesh1);

-    gim_trimesh_unlocks_work_data(trimesh2);

-}

-

-

-//! Trimesh Plane Collisions

-/*!

-

-\param trimesh

-\param plane vec4f plane

-\param contacts A vec4f array. Must be initialized (~100). Each element have the coordinate point in the first 3 elements, and vec4f[3] has the penetration depth.

-*/

-void gim_trimesh_plane_collision(GIM_TRIMESH * trimesh,vec4f plane, GDYNAMIC_ARRAY * contacts)

-{

-    contacts->m_size = 0;

-    char classify;

-    PLANE_CLASSIFY_BOX(plane,trimesh->m_aabbset.m_global_bound,classify);

-    if(classify>1) return; // in front of plane

-

-    //Locks mesh

-    gim_trimesh_locks_work_data(trimesh);

-    //Get vertices

-    GUINT i, vertcount = trimesh->m_transformed_vertex_buffer.m_element_count;

-    vec3f * vertices = GIM_BUFFER_ARRAY_POINTER(vec3f,trimesh->m_transformed_vertex_buffer,0);

-

-    GREAL dist;

-    vec4f * result_contact;

-

-    for (i=0;i<vertcount;i++)
-    {

-        dist = DISTANCE_PLANE_POINT(plane,vertices[i]);

-        if(dist<=0.0f)

-        {

-             GIM_DYNARRAY_PUSH_EMPTY(vec4f,(*contacts));

-             result_contact = GIM_DYNARRAY_POINTER_LAST(vec4f,(*contacts));

-             VEC_COPY((*result_contact),vertices[i]);

-             (*result_contact)[3] = -dist;

-        }
-    }

-    gim_trimesh_unlocks_work_data(trimesh);

-}

diff --git a/libraries/ode-0.9/GIMPACT/src/gimpact.cpp b/libraries/ode-0.9/GIMPACT/src/gimpact.cpp
deleted file mode 100644
index 18f1fc8..0000000
--- a/libraries/ode-0.9/GIMPACT/src/gimpact.cpp
+++ /dev/null
@@ -1,39 +0,0 @@
-

-/*

------------------------------------------------------------------------------

-This source file is part of GIMPACT Library.

-

-For the latest info, see http://gimpact.sourceforge.net/

-

-Copyright (c) 2006 Francisco Leon. C.C. 80087371.

-email: projectileman@yahoo.com

-

- 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 GIMPACT-LICENSE-LGPL.TXT.

-   (2) The BSD-style license that is included with this library in

-       the file GIMPACT-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

- GIMPACT-LICENSE-LGPL.TXT and GIMPACT-LICENSE-BSD.TXT for more details.

-

------------------------------------------------------------------------------

-*/

-

-#include "GIMPACT/gimpact.h"

-

-void gimpact_init()

-{

-    gim_init_math();

-    gim_init_buffer_managers();

-}

-void gimpact_terminate()

-{

-    gim_terminate_buffer_managers();

-}