one more for the gipper

1 files changed, 122 insertions, 0 deletions

diff --git a/libraries/ode-0.9/OPCODE/OPC_BoxBoxOverlap.h b/libraries/ode-0.9/OPCODE/OPC_BoxBoxOverlap.h
new file mode 100644
index 0000000..757a17d
--- /dev/null
+++ b/libraries/ode-0.9/OPCODE/OPC_BoxBoxOverlap.h
@@ -0,0 +1,122 @@
+///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+/**
+ *      OBB-OBB overlap test using the separating axis theorem.
+ *      - original code by Gomez / Gamasutra (similar to Gottschalk's one in RAPID)
+ *      - optimized for AABB trees by computing the rotation matrix once (SOLID-fashion)
+ *      - the fabs matrix is precomputed as well and epsilon-tweaked (RAPID-style, we found this almost mandatory)
+ *      - Class III axes can be disabled... (SOLID & Intel fashion)
+ *      - ...or enabled to perform some profiling
+ *      - CPU comparisons used when appropriate
+ *      - lazy evaluation sometimes saves some work in case of early exits (unlike SOLID)
+ *
+ *      \param          ea      [in] extents from box A
+ *      \param          ca      [in] center from box A
+ *      \param          eb      [in] extents from box B
+ *      \param          cb      [in] center from box B
+ *      \return         true if boxes overlap
+ */
+///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+inline_ BOOL AABBTreeCollider::BoxBoxOverlap(const Point& ea, const Point& ca, const Point& eb, const Point& cb)
+{
+        // Stats
+        mNbBVBVTests++;
+
+        float t,t2;
+
+        // Class I : A's basis vectors
+        float Tx = (mR1to0.m[0][0]*cb.x + mR1to0.m[1][0]*cb.y + mR1to0.m[2][0]*cb.z) + mT1to0.x - ca.x;
+        t = ea.x + eb.x*mAR.m[0][0] + eb.y*mAR.m[1][0] + eb.z*mAR.m[2][0];
+        if(GREATER(Tx, t))      return FALSE;
+
+        float Ty = (mR1to0.m[0][1]*cb.x + mR1to0.m[1][1]*cb.y + mR1to0.m[2][1]*cb.z) + mT1to0.y - ca.y;
+        t = ea.y + eb.x*mAR.m[0][1] + eb.y*mAR.m[1][1] + eb.z*mAR.m[2][1];
+        if(GREATER(Ty, t))      return FALSE;
+
+        float Tz = (mR1to0.m[0][2]*cb.x + mR1to0.m[1][2]*cb.y + mR1to0.m[2][2]*cb.z) + mT1to0.z - ca.z;
+        t = ea.z + eb.x*mAR.m[0][2] + eb.y*mAR.m[1][2] + eb.z*mAR.m[2][2];
+        if(GREATER(Tz, t))      return FALSE;
+
+        // Class II : B's basis vectors
+        t = Tx*mR1to0.m[0][0] + Ty*mR1to0.m[0][1] + Tz*mR1to0.m[0][2];  t2 = ea.x*mAR.m[0][0] + ea.y*mAR.m[0][1] + ea.z*mAR.m[0][2] + eb.x;
+        if(GREATER(t, t2))      return FALSE;
+
+        t = Tx*mR1to0.m[1][0] + Ty*mR1to0.m[1][1] + Tz*mR1to0.m[1][2];  t2 = ea.x*mAR.m[1][0] + ea.y*mAR.m[1][1] + ea.z*mAR.m[1][2] + eb.y;
+        if(GREATER(t, t2))      return FALSE;
+
+        t = Tx*mR1to0.m[2][0] + Ty*mR1to0.m[2][1] + Tz*mR1to0.m[2][2];  t2 = ea.x*mAR.m[2][0] + ea.y*mAR.m[2][1] + ea.z*mAR.m[2][2] + eb.z;
+        if(GREATER(t, t2))      return FALSE;
+
+        // Class III : 9 cross products
+        // Cool trick: always perform the full test for first level, regardless of settings.
+        // That way pathological cases (such as the pencils scene) are quickly rejected anyway !
+        if(mFullBoxBoxTest || mNbBVBVTests==1)
+        {
+                t = Tz*mR1to0.m[0][1] - Ty*mR1to0.m[0][2];      t2 = ea.y*mAR.m[0][2] + ea.z*mAR.m[0][1] + eb.y*mAR.m[2][0] + eb.z*mAR.m[1][0]; if(GREATER(t, t2))      return FALSE;   // L = A0 x B0
+                t = Tz*mR1to0.m[1][1] - Ty*mR1to0.m[1][2];      t2 = ea.y*mAR.m[1][2] + ea.z*mAR.m[1][1] + eb.x*mAR.m[2][0] + eb.z*mAR.m[0][0]; if(GREATER(t, t2))      return FALSE;   // L = A0 x B1
+                t = Tz*mR1to0.m[2][1] - Ty*mR1to0.m[2][2];      t2 = ea.y*mAR.m[2][2] + ea.z*mAR.m[2][1] + eb.x*mAR.m[1][0] + eb.y*mAR.m[0][0]; if(GREATER(t, t2))      return FALSE;   // L = A0 x B2
+                t = Tx*mR1to0.m[0][2] - Tz*mR1to0.m[0][0];      t2 = ea.x*mAR.m[0][2] + ea.z*mAR.m[0][0] + eb.y*mAR.m[2][1] + eb.z*mAR.m[1][1]; if(GREATER(t, t2))      return FALSE;   // L = A1 x B0
+                t = Tx*mR1to0.m[1][2] - Tz*mR1to0.m[1][0];      t2 = ea.x*mAR.m[1][2] + ea.z*mAR.m[1][0] + eb.x*mAR.m[2][1] + eb.z*mAR.m[0][1]; if(GREATER(t, t2))      return FALSE;   // L = A1 x B1
+                t = Tx*mR1to0.m[2][2] - Tz*mR1to0.m[2][0];      t2 = ea.x*mAR.m[2][2] + ea.z*mAR.m[2][0] + eb.x*mAR.m[1][1] + eb.y*mAR.m[0][1]; if(GREATER(t, t2))      return FALSE;   // L = A1 x B2
+                t = Ty*mR1to0.m[0][0] - Tx*mR1to0.m[0][1];      t2 = ea.x*mAR.m[0][1] + ea.y*mAR.m[0][0] + eb.y*mAR.m[2][2] + eb.z*mAR.m[1][2]; if(GREATER(t, t2))      return FALSE;   // L = A2 x B0
+                t = Ty*mR1to0.m[1][0] - Tx*mR1to0.m[1][1];      t2 = ea.x*mAR.m[1][1] + ea.y*mAR.m[1][0] + eb.x*mAR.m[2][2] + eb.z*mAR.m[0][2]; if(GREATER(t, t2))      return FALSE;   // L = A2 x B1
+                t = Ty*mR1to0.m[2][0] - Tx*mR1to0.m[2][1];      t2 = ea.x*mAR.m[2][1] + ea.y*mAR.m[2][0] + eb.x*mAR.m[1][2] + eb.y*mAR.m[0][2]; if(GREATER(t, t2))      return FALSE;   // L = A2 x B2
+        }
+        return TRUE;
+}
+
+//! A dedicated version when one box is constant
+inline_ BOOL OBBCollider::BoxBoxOverlap(const Point& extents, const Point& center)
+{
+        // Stats
+        mNbVolumeBVTests++;
+
+        float t,t2;
+
+        // Class I : A's basis vectors
+        float Tx = mTBoxToModel.x - center.x;   t = extents.x + mBBx1;  if(GREATER(Tx, t))      return FALSE;
+        float Ty = mTBoxToModel.y - center.y;   t = extents.y + mBBy1;  if(GREATER(Ty, t))      return FALSE;
+        float Tz = mTBoxToModel.z - center.z;   t = extents.z + mBBz1;  if(GREATER(Tz, t))      return FALSE;
+
+        // Class II : B's basis vectors
+        t = Tx*mRBoxToModel.m[0][0] + Ty*mRBoxToModel.m[0][1] + Tz*mRBoxToModel.m[0][2];
+        t2 = extents.x*mAR.m[0][0] + extents.y*mAR.m[0][1] + extents.z*mAR.m[0][2] + mBoxExtents.x;
+        if(GREATER(t, t2))      return FALSE;
+
+        t = Tx*mRBoxToModel.m[1][0] + Ty*mRBoxToModel.m[1][1] + Tz*mRBoxToModel.m[1][2];
+        t2 = extents.x*mAR.m[1][0] + extents.y*mAR.m[1][1] + extents.z*mAR.m[1][2] + mBoxExtents.y;
+        if(GREATER(t, t2))      return FALSE;
+
+        t = Tx*mRBoxToModel.m[2][0] + Ty*mRBoxToModel.m[2][1] + Tz*mRBoxToModel.m[2][2];
+        t2 = extents.x*mAR.m[2][0] + extents.y*mAR.m[2][1] + extents.z*mAR.m[2][2] + mBoxExtents.z;
+        if(GREATER(t, t2))      return FALSE;
+
+        // Class III : 9 cross products
+        // Cool trick: always perform the full test for first level, regardless of settings.
+        // That way pathological cases (such as the pencils scene) are quickly rejected anyway !
+        if(mFullBoxBoxTest || mNbVolumeBVTests==1)
+        {
+                t = Tz*mRBoxToModel.m[0][1] - Ty*mRBoxToModel.m[0][2];  t2 = extents.y*mAR.m[0][2] + extents.z*mAR.m[0][1] + mBB_1;     if(GREATER(t, t2))      return FALSE;   // L = A0 x B0
+                t = Tz*mRBoxToModel.m[1][1] - Ty*mRBoxToModel.m[1][2];  t2 = extents.y*mAR.m[1][2] + extents.z*mAR.m[1][1] + mBB_2;     if(GREATER(t, t2))      return FALSE;   // L = A0 x B1
+                t = Tz*mRBoxToModel.m[2][1] - Ty*mRBoxToModel.m[2][2];  t2 = extents.y*mAR.m[2][2] + extents.z*mAR.m[2][1] + mBB_3;     if(GREATER(t, t2))      return FALSE;   // L = A0 x B2
+                t = Tx*mRBoxToModel.m[0][2] - Tz*mRBoxToModel.m[0][0];  t2 = extents.x*mAR.m[0][2] + extents.z*mAR.m[0][0] + mBB_4;     if(GREATER(t, t2))      return FALSE;   // L = A1 x B0
+                t = Tx*mRBoxToModel.m[1][2] - Tz*mRBoxToModel.m[1][0];  t2 = extents.x*mAR.m[1][2] + extents.z*mAR.m[1][0] + mBB_5;     if(GREATER(t, t2))      return FALSE;   // L = A1 x B1
+                t = Tx*mRBoxToModel.m[2][2] - Tz*mRBoxToModel.m[2][0];  t2 = extents.x*mAR.m[2][2] + extents.z*mAR.m[2][0] + mBB_6;     if(GREATER(t, t2))      return FALSE;   // L = A1 x B2
+                t = Ty*mRBoxToModel.m[0][0] - Tx*mRBoxToModel.m[0][1];  t2 = extents.x*mAR.m[0][1] + extents.y*mAR.m[0][0] + mBB_7;     if(GREATER(t, t2))      return FALSE;   // L = A2 x B0
+                t = Ty*mRBoxToModel.m[1][0] - Tx*mRBoxToModel.m[1][1];  t2 = extents.x*mAR.m[1][1] + extents.y*mAR.m[1][0] + mBB_8;     if(GREATER(t, t2))      return FALSE;   // L = A2 x B1
+                t = Ty*mRBoxToModel.m[2][0] - Tx*mRBoxToModel.m[2][1];  t2 = extents.x*mAR.m[2][1] + extents.y*mAR.m[2][0] + mBB_9;     if(GREATER(t, t2))      return FALSE;   // L = A2 x B2
+        }
+        return TRUE;
+}
+
+//! A special version for 2 axis-aligned boxes
+inline_ BOOL AABBCollider::AABBAABBOverlap(const Point& extents, const Point& center)
+{
+        // Stats
+        mNbVolumeBVTests++;
+
+        float tx = mBox.mCenter.x - center.x;   float ex = extents.x + mBox.mExtents.x; if(GREATER(tx, ex))     return FALSE;
+        float ty = mBox.mCenter.y - center.y;   float ey = extents.y + mBox.mExtents.y; if(GREATER(ty, ey))     return FALSE;
+        float tz = mBox.mCenter.z - center.z;   float ez = extents.z + mBox.mExtents.z; if(GREATER(tz, ez))     return FALSE;
+
+        return TRUE;
+}