resubmitting ode

1 files changed, 222 insertions, 0 deletions

diff --git a/libraries/ode-0.9/OPCODE/OPC_Model.cpp b/libraries/ode-0.9/OPCODE/OPC_Model.cpp
new file mode 100644
index 0000000..8b71fb1
--- /dev/null
+++ b/libraries/ode-0.9/OPCODE/OPC_Model.cpp
@@ -0,0 +1,222 @@
+///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+/*
+ *      OPCODE - Optimized Collision Detection
+ *      Copyright (C) 2001 Pierre Terdiman
+ *      Homepage: http://www.codercorner.com/Opcode.htm
+ */
+///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+
+///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+/**
+ *      Contains code for OPCODE models.
+ *      \file           OPC_Model.cpp
+ *      \author         Pierre Terdiman
+ *      \date           March, 20, 2001
+ */
+///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+
+///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+/**
+ *      The main collision wrapper, for all trees. Supported trees are:
+ *      - Normal trees (2*N-1 nodes, full size)
+ *      - No-leaf trees (N-1 nodes, full size)
+ *      - Quantized trees (2*N-1 nodes, half size)
+ *      - Quantized no-leaf trees (N-1 nodes, half size)
+ *
+ *      Usage:
+ *
+ *      1) Create a static mesh interface using callbacks or pointers. (see OPC_MeshInterface.cpp).
+ *      Keep it around in your app, since a pointer to this interface is saved internally and
+ *      used until you release the collision structures.
+ *
+ *      2) Build a Model using a creation structure:
+ *
+ *      \code
+ *              Model Sample;
+ *
+ *              OPCODECREATE OPCC;
+ *              OPCC.IMesh                      = ...;
+ *              OPCC.Rules                      = ...;
+ *              OPCC.NoLeaf                     = ...;
+ *              OPCC.Quantized          = ...;
+ *              OPCC.KeepOriginal       = ...;
+ *              bool Status = Sample.Build(OPCC);
+ *      \endcode
+ *
+ *      3) Create a tree collider and set it up:
+ *
+ *      \code
+ *              AABBTreeCollider TC;
+ *              TC.SetFirstContact(...);
+ *              TC.SetFullBoxBoxTest(...);
+ *              TC.SetFullPrimBoxTest(...);
+ *              TC.SetTemporalCoherence(...);
+ *      \endcode
+ *
+ *      4) Perform a collision query
+ *
+ *      \code
+ *              // Setup cache
+ *              static BVTCache ColCache;
+ *              ColCache.Model0 = &Model0;
+ *              ColCache.Model1 = &Model1;
+ *
+ *              // Collision query
+ *              bool IsOk = TC.Collide(ColCache, World0, World1);
+ *
+ *              // Get collision status => if true, objects overlap
+ *              BOOL Status = TC.GetContactStatus();
+ *
+ *              // Number of colliding pairs and list of pairs
+ *              udword NbPairs = TC.GetNbPairs();
+ *              const Pair* p = TC.GetPairs()
+ *      \endcode
+ *
+ *      5) Stats
+ *
+ *      \code
+ *              Model0.GetUsedBytes()   = number of bytes used for this collision tree
+ *              TC.GetNbBVBVTests()             = number of BV-BV overlap tests performed during last query
+ *              TC.GetNbPrimPrimTests() = number of Triangle-Triangle overlap tests performed during last query
+ *              TC.GetNbBVPrimTests()   = number of Triangle-BV overlap tests performed during last query
+ *      \endcode
+ *
+ *      \class          Model
+ *      \author         Pierre Terdiman
+ *      \version        1.3
+ *      \date           March, 20, 2001
+*/
+///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+
+///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+// Precompiled Header
+#include "Stdafx.h"
+
+using namespace Opcode;
+
+///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+/**
+ *      Constructor.
+ */
+///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+Model::Model()
+{
+#ifdef __MESHMERIZER_H__        // Collision hulls only supported within ICE !
+        mHull   = null;
+#endif // __MESHMERIZER_H__
+}
+
+///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+/**
+ *      Destructor.
+ */
+///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+Model::~Model()
+{
+        Release();
+}
+
+///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+/**
+ *      Releases the model.
+ */
+///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+void Model::Release()
+{
+        ReleaseBase();
+#ifdef __MESHMERIZER_H__        // Collision hulls only supported within ICE !
+        DELETESINGLE(mHull);
+#endif // __MESHMERIZER_H__
+}
+
+///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+/**
+ *      Builds a collision model.
+ *      \param          create          [in] model creation structure
+ *      \return         true if success
+ */
+///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+bool Model::Build(const OPCODECREATE& create)
+{
+        // 1) Checkings
+        if(!create.mIMesh || !create.mIMesh->IsValid()) return false;
+
+        // For this model, we only support complete trees
+        if(create.mSettings.mLimit!=1)  return SetIceError("OPCODE WARNING: supports complete trees only! Use mLimit = 1.\n", null);
+
+        // Look for degenerate faces.
+        udword NbDegenerate = create.mIMesh->CheckTopology();
+        if(NbDegenerate)        Log("OPCODE WARNING: found %d degenerate faces in model! Collision might report wrong results!\n", NbDegenerate);
+        // We continue nonetheless.... 
+
+        Release();      // Make sure previous tree has been discarded [Opcode 1.3, thanks Adam]
+
+        // 1-1) Setup mesh interface automatically [Opcode 1.3]
+        SetMeshInterface(create.mIMesh);
+
+        // Special case for 1-triangle meshes [Opcode 1.3]
+        udword NbTris = create.mIMesh->GetNbTriangles();
+        if(NbTris==1)
+        {
+                // We don't need to actually create a tree here, since we'll only have a single triangle to deal with anyway.
+                // It's a waste to use a "model" for this but at least it will work.
+                mModelCode |= OPC_SINGLE_NODE;
+                return true;
+        }
+
+        // 2) Build a generic AABB Tree.
+        mSource = new AABBTree;
+        CHECKALLOC(mSource);
+
+        // 2-1) Setup a builder. Our primitives here are triangles from input mesh,
+        // so we use an AABBTreeOfTrianglesBuilder.....
+        {
+                AABBTreeOfTrianglesBuilder TB;
+                TB.mIMesh                       = create.mIMesh;
+                TB.mSettings            = create.mSettings;
+                TB.mNbPrimitives        = NbTris;
+                if(!mSource->Build(&TB))        return false;
+        }
+
+        // 3) Create an optimized tree according to user-settings
+        if(!CreateTree(create.mNoLeaf, create.mQuantized))      return false;
+
+        // 3-2) Create optimized tree
+        if(!mTree->Build(mSource))      return false;
+
+        // 3-3) Delete generic tree if needed
+        if(!create.mKeepOriginal)       DELETESINGLE(mSource);
+
+#ifdef __MESHMERIZER_H__
+        // 4) Convex hull
+        if(create.mCollisionHull)
+        {
+                // Create hull
+                mHull = new CollisionHull;
+                CHECKALLOC(mHull);
+
+                CONVEXHULLCREATE CHC;
+                // ### doesn't work with strides
+                CHC.NbVerts                     = create.mIMesh->GetNbVertices();
+                CHC.Vertices            = create.mIMesh->GetVerts();
+                CHC.UnifyNormals        = true;
+                CHC.ReduceVertices      = true;
+                CHC.WordFaces           = false;
+                mHull->Compute(CHC);
+        }
+#endif // __MESHMERIZER_H__
+
+        return true;
+}
+
+///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+/**
+ *      Gets the number of bytes used by the tree.
+ *      \return         amount of bytes used
+ */
+///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+udword Model::GetUsedBytes() const
+{
+        if(!mTree)      return 0;
+        return mTree->GetUsedBytes();
+}