from the start... checking in ode-0.9

1 files changed, 182 insertions, 0 deletions

diff --git a/libraries/ode-0.9/OPCODE/OPC_Picking.cpp b/libraries/ode-0.9/OPCODE/OPC_Picking.cpp
new file mode 100644
index 0000000..3b53774
--- /dev/null
+++ b/libraries/ode-0.9/OPCODE/OPC_Picking.cpp
@@ -0,0 +1,182 @@
+///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+/*
+ *      OPCODE - Optimized Collision Detection
+ *      Copyright (C) 2001 Pierre Terdiman
+ *      Homepage: http://www.codercorner.com/Opcode.htm
+ */
+///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+
+///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+/**
+ *      Contains code to perform "picking".
+ *      \file           OPC_Picking.cpp
+ *      \author         Pierre Terdiman
+ *      \date           March, 20, 2001
+ */
+///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+
+///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+// Precompiled Header
+#include "Stdafx.h"
+
+using namespace Opcode;
+
+#ifdef OPC_RAYHIT_CALLBACK
+
+/*
+        Possible RayCollider usages:
+        - boolean query (shadow feeler)
+        - closest hit
+        - all hits
+        - number of intersection (boolean)
+
+*/
+
+bool Opcode::SetupAllHits(RayCollider& collider, CollisionFaces& contacts)
+{
+        struct Local
+        {
+                static void AllContacts(const CollisionFace& hit, void* user_data)
+                {
+                        CollisionFaces* CF = (CollisionFaces*)user_data;
+                        CF->AddFace(hit);
+                }
+        };
+
+        collider.SetFirstContact(false);
+        collider.SetHitCallback(Local::AllContacts);
+        collider.SetUserData(&contacts);
+        return true;
+}
+
+bool Opcode::SetupClosestHit(RayCollider& collider, CollisionFace& closest_contact)
+{
+        struct Local
+        {
+                static void ClosestContact(const CollisionFace& hit, void* user_data)
+                {
+                        CollisionFace* CF = (CollisionFace*)user_data;
+                        if(hit.mDistance<CF->mDistance) *CF = hit;
+                }
+        };
+
+        collider.SetFirstContact(false);
+        collider.SetHitCallback(Local::ClosestContact);
+        collider.SetUserData(&closest_contact);
+        closest_contact.mDistance = MAX_FLOAT;
+        return true;
+}
+
+bool Opcode::SetupShadowFeeler(RayCollider& collider)
+{
+        collider.SetFirstContact(true);
+        collider.SetHitCallback(null);
+        return true;
+}
+
+bool Opcode::SetupInOutTest(RayCollider& collider)
+{
+        collider.SetFirstContact(false);
+        collider.SetHitCallback(null);
+        // Results with collider.GetNbIntersections()
+        return true;
+}
+
+bool Opcode::Picking(
+CollisionFace& picked_face,
+const Ray& world_ray, const Model& model, const Matrix4x4* world,
+float min_dist, float max_dist, const Point& view_point, CullModeCallback callback, void* user_data)
+{
+        struct Local
+        {
+                struct CullData
+                {
+                        CollisionFace*                  Closest;
+                        float                                   MinLimit;
+                        CullModeCallback                Callback;
+                        void*                                   UserData;
+                        Point                                   ViewPoint;
+                        const MeshInterface*    IMesh;
+                };
+
+                // Called for each stabbed face
+                static void RenderCullingCallback(const CollisionFace& hit, void* user_data)
+                {
+                        CullData* Data = (CullData*)user_data;
+
+                        // Discard face if we already have a closer hit
+                        if(hit.mDistance>=Data->Closest->mDistance)     return;
+
+                        // Discard face if hit point is smaller than min limit. This mainly happens when the face is in front
+                        // of the near clip plane (or straddles it). If we keep the face nonetheless, the user can select an
+                        // object that he may not even be able to see, which is very annoying.
+                        if(hit.mDistance<=Data->MinLimit)       return;
+
+                        // This is the index of currently stabbed triangle.
+                        udword StabbedFaceIndex = hit.mFaceID;
+
+                        // We may keep it or not, depending on backface culling
+                        bool KeepIt = true;
+
+                        // Catch *render* cull mode for this face
+                        CullMode CM = (Data->Callback)(StabbedFaceIndex, Data->UserData);
+
+                        if(CM!=CULLMODE_NONE)   // Don't even compute culling for double-sided triangles
+                        {
+                                // Compute backface culling for current face
+
+                                VertexPointers VP;
+                                Data->IMesh->GetTriangle(VP, StabbedFaceIndex);
+                                if(VP.BackfaceCulling(Data->ViewPoint))
+                                {
+                                        if(CM==CULLMODE_CW)             KeepIt = false;
+                                }
+                                else
+                                {
+                                        if(CM==CULLMODE_CCW)    KeepIt = false;
+                                }
+                        }
+
+                        if(KeepIt)      *Data->Closest = hit;
+                }
+        };
+
+        RayCollider RC;
+        RC.SetMaxDist(max_dist);
+        RC.SetTemporalCoherence(false);
+        RC.SetCulling(false);           // We need all faces since some of them can be double-sided
+        RC.SetFirstContact(false);
+        RC.SetHitCallback(Local::RenderCullingCallback);
+
+        picked_face.mFaceID             = INVALID_ID;
+        picked_face.mDistance   = MAX_FLOAT;
+        picked_face.mU                  = 0.0f;
+        picked_face.mV                  = 0.0f;
+
+        Local::CullData Data;
+        Data.Closest                    = &picked_face;
+        Data.MinLimit                   = min_dist;
+        Data.Callback                   = callback;
+        Data.UserData                   = user_data;
+        Data.ViewPoint                  = view_point;
+        Data.IMesh                              = model.GetMeshInterface();
+
+        if(world)
+        {
+                // Get matrices
+                Matrix4x4 InvWorld;
+                InvertPRMatrix(InvWorld, *world);
+
+                // Compute camera position in mesh space
+                Data.ViewPoint *= InvWorld;
+        }
+
+        RC.SetUserData(&Data);
+        if(RC.Collide(world_ray, model, world))
+        {
+                return picked_face.mFaceID!=INVALID_ID;
+        }
+        return false;
+}
+
+#endif