from the start... checking in ode-0.9

24 files changed, 8456 insertions, 0 deletions

diff --git a/libraries/ode-0.9/GIMPACT/GIMPACT-LICENSE-BSD.TXT b/libraries/ode-0.9/GIMPACT/GIMPACT-LICENSE-BSD.TXT
new file mode 100644
index 0000000..95545aa
--- /dev/null
+++ b/libraries/ode-0.9/GIMPACT/GIMPACT-LICENSE-BSD.TXT
@@ -0,0 +1,29 @@
+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
new file mode 100644
index 0000000..60b8156
--- /dev/null
+++ b/libraries/ode-0.9/GIMPACT/GIMPACT-LICENSE-LGPL.TXT
@@ -0,0 +1,502 @@
+                  GNU LESSER GENERAL PUBLIC LICENSE
+                       Version 2.1, February 1999
+
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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
new file mode 100644
index 0000000..68b68d0
--- /dev/null
+++ b/libraries/ode-0.9/GIMPACT/include/GIMPACT/gim_boxpruning.h
@@ -0,0 +1,323 @@
+#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
new file mode 100644
index 0000000..bad8f0f
--- /dev/null
+++ b/libraries/ode-0.9/GIMPACT/include/GIMPACT/gim_contact.h
@@ -0,0 +1,115 @@
+#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
new file mode 100644
index 0000000..6d89a94
--- /dev/null
+++ b/libraries/ode-0.9/GIMPACT/include/GIMPACT/gim_geometry.h
@@ -0,0 +1,1872 @@
+#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
new file mode 100644
index 0000000..68f226e
--- /dev/null
+++ b/libraries/ode-0.9/GIMPACT/include/GIMPACT/gim_math.h
@@ -0,0 +1,147 @@
+#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
new file mode 100644
index 0000000..58661f1
--- /dev/null
+++ b/libraries/ode-0.9/GIMPACT/include/GIMPACT/gim_memory.h
@@ -0,0 +1,1040 @@
+#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
new file mode 100644
index 0000000..a5f8e12
--- /dev/null
+++ b/libraries/ode-0.9/GIMPACT/include/GIMPACT/gim_radixsort.h
@@ -0,0 +1,258 @@
+#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
new file mode 100644
index 0000000..2b31604
--- /dev/null
+++ b/libraries/ode-0.9/GIMPACT/include/GIMPACT/gim_tri_capsule_collision.h
@@ -0,0 +1,111 @@
+#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
new file mode 100644
index 0000000..80b34eb
--- /dev/null
+++ b/libraries/ode-0.9/GIMPACT/include/GIMPACT/gim_tri_collision.h
@@ -0,0 +1,253 @@
+#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
new file mode 100644
index 0000000..a2a81d6
--- /dev/null
+++ b/libraries/ode-0.9/GIMPACT/include/GIMPACT/gim_tri_sphere_collision.h
@@ -0,0 +1,51 @@
+#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
new file mode 100644
index 0000000..b1cdf7f
--- /dev/null
+++ b/libraries/ode-0.9/GIMPACT/include/GIMPACT/gim_trimesh.h
@@ -0,0 +1,539 @@
+#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
new file mode 100644
index 0000000..bcd22a1
--- /dev/null
+++ b/libraries/ode-0.9/GIMPACT/include/GIMPACT/gimpact.h
@@ -0,0 +1,45 @@
+#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
new file mode 100644
index 0000000..91e1d37
--- /dev/null
+++ b/libraries/ode-0.9/GIMPACT/src/gim_boxpruning.cpp
@@ -0,0 +1,514 @@
+

+/*

+-----------------------------------------------------------------------------

+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
new file mode 100644
index 0000000..762af06
--- /dev/null
+++ b/libraries/ode-0.9/GIMPACT/src/gim_contact.cpp
@@ -0,0 +1,132 @@
+

+/*

+-----------------------------------------------------------------------------

+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
new file mode 100644
index 0000000..18efb2c
--- /dev/null
+++ b/libraries/ode-0.9/GIMPACT/src/gim_math.cpp
@@ -0,0 +1,60 @@
+/*

+-----------------------------------------------------------------------------

+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
new file mode 100644
index 0000000..247565a
--- /dev/null
+++ b/libraries/ode-0.9/GIMPACT/src/gim_memory.cpp
@@ -0,0 +1,848 @@
+

+/*

+-----------------------------------------------------------------------------

+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
new file mode 100644
index 0000000..5b4e08d
--- /dev/null
+++ b/libraries/ode-0.9/GIMPACT/src/gim_tri_tri_overlap.cpp
@@ -0,0 +1,251 @@
+

+/*

+-----------------------------------------------------------------------------

+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
new file mode 100644
index 0000000..1872592
--- /dev/null
+++ b/libraries/ode-0.9/GIMPACT/src/gim_trimesh.cpp
@@ -0,0 +1,364 @@
+

+/*

+-----------------------------------------------------------------------------

+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
new file mode 100644
index 0000000..d1f7ca3
--- /dev/null
+++ b/libraries/ode-0.9/GIMPACT/src/gim_trimesh_capsule_collision.cpp
@@ -0,0 +1,279 @@
+

+/*

+-----------------------------------------------------------------------------

+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
new file mode 100644
index 0000000..0c10fe1
--- /dev/null
+++ b/libraries/ode-0.9/GIMPACT/src/gim_trimesh_ray_collision.cpp
@@ -0,0 +1,140 @@
+

+/*

+-----------------------------------------------------------------------------

+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
new file mode 100644
index 0000000..60444fb
--- /dev/null
+++ b/libraries/ode-0.9/GIMPACT/src/gim_trimesh_sphere_collision.cpp
@@ -0,0 +1,196 @@
+

+/*

+-----------------------------------------------------------------------------

+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
new file mode 100644
index 0000000..c9c5305
--- /dev/null
+++ b/libraries/ode-0.9/GIMPACT/src/gim_trimesh_trimesh_collision.cpp
@@ -0,0 +1,348 @@
+

+/*

+-----------------------------------------------------------------------------

+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
new file mode 100644
index 0000000..18f1fc8
--- /dev/null
+++ b/libraries/ode-0.9/GIMPACT/src/gimpact.cpp
@@ -0,0 +1,39 @@
+

+/*

+-----------------------------------------------------------------------------

+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();

+}