resubmitting ode

1 files changed, 303 insertions, 0 deletions

diff --git a/libraries/ode-0.9/OPCODE/OPC_MeshInterface.cpp b/libraries/ode-0.9/OPCODE/OPC_MeshInterface.cpp
new file mode 100644
index 0000000..b962764
--- /dev/null
+++ b/libraries/ode-0.9/OPCODE/OPC_MeshInterface.cpp
@@ -0,0 +1,303 @@
+///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+/*
+ *      OPCODE - Optimized Collision Detection
+ *      Copyright (C) 2001 Pierre Terdiman
+ *      Homepage: http://www.codercorner.com/Opcode.htm
+ */
+///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+
+///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+/**
+ *      Contains a mesh interface.
+ *      \file           OPC_MeshInterface.cpp
+ *      \author         Pierre Terdiman
+ *      \date           November, 27, 2002
+ */
+///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+
+///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+/**
+ *      This structure holds 3 vertex-pointers. It's mainly used by collision callbacks so that the app doesn't have
+ *      to return 3 vertices to OPCODE (36 bytes) but only 3 pointers (12 bytes). It seems better but I never profiled
+ *      the alternative.
+ *
+ *      \class          VertexPointers
+ *      \author         Pierre Terdiman
+ *      \version        1.3
+ *      \date           March, 20, 2001
+*/
+///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+
+///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+/**
+ *      This class is an interface between us and user-defined meshes. Meshes can be defined in a lot of ways, and here we
+ *      try to support most of them.
+ *
+ *      Basically you have two options:
+ *      - callbacks, if OPC_USE_CALLBACKS is defined in OPC_Settings.h.
+ *      - else pointers.
+ *
+ *      If using pointers, you can also use strides or not. Strides are used when OPC_USE_STRIDE is defined.
+ *
+ *
+ *      CALLBACKS:
+ *
+ *      Using callbacks is the most generic way to feed OPCODE with your meshes. Indeed, you just have to give
+ *      access to three vertices at the end of the day. It's up to you to fetch them from your database, using
+ *      whatever method you want. Hence your meshes can lie in system memory or AGP, be indexed or not, use 16
+ *      or 32-bits indices, you can decompress them on-the-fly if needed, etc. On the other hand, a callback is
+ *      called each time OPCODE needs access to a particular triangle, so there might be a slight overhead.
+ *
+ *      To make things clear: geometry & topology are NOT stored in the collision system,
+ *      in order to save some ram. So, when the system needs them to perform accurate intersection
+ *      tests, you're requested to provide the triangle-vertices corresponding to a given face index.
+ *
+ *      Ex:
+ *
+ *      \code
+ *              static void ColCallback(udword triangle_index, VertexPointers& triangle, udword user_data)
+ *              {
+ *                      // Get back Mesh0 or Mesh1 (you also can use 2 different callbacks)
+ *                      Mesh* MyMesh = (Mesh*)user_data;
+ *                      // Get correct triangle in the app-controlled database
+ *                      const Triangle* Tri = MyMesh->GetTriangle(triangle_index);
+ *                      // Setup pointers to vertices for the collision system
+ *                      triangle.Vertex[0] = MyMesh->GetVertex(Tri->mVRef[0]);
+ *                      triangle.Vertex[1] = MyMesh->GetVertex(Tri->mVRef[1]);
+ *                      triangle.Vertex[2] = MyMesh->GetVertex(Tri->mVRef[2]);
+ *              }
+ *
+ *              // Setup callbacks
+ *              MeshInterface0->SetCallback(ColCallback, udword(Mesh0));
+ *              MeshInterface1->SetCallback(ColCallback, udword(Mesh1));
+ *      \endcode
+ *
+ *      Of course, you should make this callback as fast as possible. And you're also not supposed
+ *      to modify the geometry *after* the collision trees have been built. The alternative was to
+ *      store the geometry & topology in the collision system as well (as in RAPID) but we have found
+ *      this approach to waste a lot of ram in many cases.
+ *
+ *
+ *      POINTERS:
+ *
+ *      If you're internally using the following canonical structures:
+ *      - a vertex made of three 32-bits floating point values
+ *      - a triangle made of three 32-bits integer vertex references
+ *      ...then you may want to use pointers instead of callbacks. This is the same, except OPCODE will directly
+ *      use provided pointers to access the topology and geometry, without using a callback. It might be faster,
+ *      but probably not as safe. Pointers have been introduced in OPCODE 1.2.
+ *
+ *      Ex:
+ *
+ *      \code
+ *              // Setup pointers
+ *              MeshInterface0->SetPointers(Mesh0->GetFaces(), Mesh0->GetVerts());
+ *              MeshInterface1->SetPointers(Mesh1->GetFaces(), Mesh1->GetVerts());
+ *      \endcode
+ *
+ *
+ *      STRIDES:
+ *
+ *      If your vertices are D3D-like entities interleaving a position, a normal and/or texture coordinates
+ *      (i.e. if your vertices are FVFs), you might want to use a vertex stride to skip extra data OPCODE
+ *      doesn't need. Using a stride shouldn't be notably slower than not using it, but it might increase
+ *      cache misses. Please also note that you *shouldn't* read from AGP or video-memory buffers !
+ *
+ *
+ *      In any case, compilation flags are here to select callbacks/pointers/strides at compile time, so
+ *      choose what's best for your application. All of this has been wrapped into this MeshInterface.
+ *
+ *      \class          MeshInterface
+ *      \author         Pierre Terdiman
+ *      \version        1.3
+ *      \date           November, 27, 2002
+*/
+///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+
+///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+// Precompiled Header
+#include "Stdafx.h"
+
+using namespace Opcode;
+
+Point MeshInterface::VertexCache[3];
+
+///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+/**
+ *      Constructor.
+ */
+///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+MeshInterface::MeshInterface() :
+#ifdef OPC_USE_CALLBACKS
+        mUserData               (null),
+        mObjCallback    (null),
+#else
+        mTris                   (null),
+        mVerts                  (null),
+        #ifdef OPC_USE_STRIDE
+        mTriStride              (sizeof(IndexedTriangle)),
+        mVertexStride   (sizeof(Point)),
+        #endif
+#endif
+        mNbTris                 (0),
+        mNbVerts                (0),
+
+        Single(true)
+{
+}
+
+///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+/**
+ *      Destructor.
+ */
+///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+MeshInterface::~MeshInterface()
+{
+}
+
+///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+/**
+ *      Checks the mesh interface is valid, i.e. things have been setup correctly.
+ *      \return         true if valid
+ */
+///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+bool MeshInterface::IsValid() const
+{
+        if(!mNbTris || !mNbVerts)       return false;
+#ifdef OPC_USE_CALLBACKS
+        if(!mObjCallback)                       return false;
+#else
+        if(!mTris || !mVerts)           return false;
+#endif
+        return true;
+}
+
+///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+/**
+ *      Checks the mesh itself is valid.
+ *      Currently we only look for degenerate faces.
+ *      \return         number of degenerate faces
+ */
+///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+udword MeshInterface::CheckTopology()   const
+{
+        // Check topology. If the model contains degenerate faces, collision report can be wrong in some cases.
+        // e.g. it happens with the standard MAX teapot. So clean your meshes first... If you don't have a mesh cleaner
+        // you can try this: www.codercorner.com/Consolidation.zip
+
+        udword NbDegenerate = 0;
+
+        VertexPointers VP;
+
+        // Using callbacks, we don't have access to vertex indices. Nevertheless we still can check for
+        // redundant vertex pointers, which cover all possibilities (callbacks/pointers/strides).
+        for(udword i=0;i<mNbTris;i++)
+        {
+                GetTriangle(VP, i);
+
+                if(             (VP.Vertex[0]==VP.Vertex[1])
+                        ||      (VP.Vertex[1]==VP.Vertex[2])
+                        ||      (VP.Vertex[2]==VP.Vertex[0]))   NbDegenerate++;
+        }
+
+        return NbDegenerate;
+}
+
+#ifdef OPC_USE_CALLBACKS
+///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+/**
+ *      Callback control: setups object callback. Must provide triangle-vertices for a given triangle index.
+ *      \param          callback        [in] user-defined callback
+ *      \param          user_data       [in] user-defined data
+ *      \return         true if success
+ */
+///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+bool MeshInterface::SetCallback(RequestCallback callback, void* user_data)
+{
+        if(!callback)   return SetIceError("MeshInterface::SetCallback: callback pointer is null");
+
+        mObjCallback    = callback;
+        mUserData               = user_data;
+        return true;
+}
+#else
+///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+/**
+ *      Pointers control: setups object pointers. Must provide access to faces and vertices for a given object.
+ *      \param          tris    [in] pointer to triangles
+ *      \param          verts   [in] pointer to vertices
+ *      \return         true if success
+ */
+///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+bool MeshInterface::SetPointers(const IndexedTriangle* tris, const Point* verts)
+{
+        if(!tris || !verts)     return SetIceError("MeshInterface::SetPointers: pointer is null", null);
+
+        mTris   = tris;
+        mVerts  = verts;
+        return true;
+}
+#ifdef OPC_USE_STRIDE
+///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+/**
+ *      Strides control
+ *      \param          tri_stride              [in] size of a triangle in bytes. The first sizeof(IndexedTriangle) bytes are used to get vertex indices.
+ *      \param          vertex_stride   [in] size of a vertex in bytes. The first sizeof(Point) bytes are used to get vertex position.
+ *      \return         true if success
+ */
+///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+bool MeshInterface::SetStrides(udword tri_stride, udword vertex_stride)
+{
+        if(tri_stride<sizeof(IndexedTriangle))  return SetIceError("MeshInterface::SetStrides: invalid triangle stride", null);
+        if(vertex_stride<sizeof(Point))                 return SetIceError("MeshInterface::SetStrides: invalid vertex stride", null);
+
+        mTriStride              = tri_stride;
+        mVertexStride   = vertex_stride;
+        return true;
+}
+#endif
+#endif
+
+///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+/**
+ *      Remaps client's mesh according to a permutation.
+ *      \param          nb_indices      [in] number of indices in the permutation (will be checked against number of triangles)
+ *      \param          permutation     [in] list of triangle indices
+ *      \return         true if success
+ */
+///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+bool MeshInterface::RemapClient(udword nb_indices, const udword* permutation) const
+{
+        // Checkings
+        if(!nb_indices || !permutation) return false;
+        if(nb_indices!=mNbTris)                 return false;
+
+#ifdef OPC_USE_CALLBACKS
+        // We can't really do that using callbacks
+        return false;
+#else
+        IndexedTriangle* Tmp = new IndexedTriangle[mNbTris];
+        CHECKALLOC(Tmp);
+
+        #ifdef OPC_USE_STRIDE
+        udword Stride = mTriStride;
+        #else
+        udword Stride = sizeof(IndexedTriangle);
+        #endif
+
+        for(udword i=0;i<mNbTris;i++)
+        {
+                const IndexedTriangle* T = (const IndexedTriangle*)(((ubyte*)mTris) + i * Stride);
+                Tmp[i] = *T;
+        }
+
+        for(udword i=0;i<mNbTris;i++)
+        {
+                IndexedTriangle* T = (IndexedTriangle*)(((ubyte*)mTris) + i * Stride);
+                *T = Tmp[permutation[i]];
+        }
+
+        DELETEARRAY(Tmp);
+#endif
+        return true;
+}