one more for the gipper

1 files changed, 63 insertions, 0 deletions

diff --git a/libraries/ode-0.9/OPCODE/OPC_RayAABBOverlap.h b/libraries/ode-0.9/OPCODE/OPC_RayAABBOverlap.h
new file mode 100644
index 0000000..a8162bf
--- /dev/null
+++ b/libraries/ode-0.9/OPCODE/OPC_RayAABBOverlap.h
@@ -0,0 +1,63 @@
+// Opcode 1.1: ray-AABB overlap tests based on Woo's code
+// Opcode 1.2: ray-AABB overlap tests based on the separating axis theorem
+//
+// The point of intersection is not computed anymore. The distance to impact is not needed anymore
+// since we now have two different queries for segments or rays.
+
+///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+/**
+ *      Computes a segment-AABB overlap test using the separating axis theorem. Segment is cached within the class.
+ *      \param          center  [in] AABB center
+ *      \param          extents [in] AABB extents
+ *      \return         true on overlap
+ */
+///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+inline_ BOOL RayCollider::SegmentAABBOverlap(const Point& center, const Point& extents)
+{
+        // Stats
+        mNbRayBVTests++;
+
+        float Dx = mData2.x - center.x;         if(fabsf(Dx) > extents.x + mFDir.x)     return FALSE;
+        float Dy = mData2.y - center.y;         if(fabsf(Dy) > extents.y + mFDir.y)     return FALSE;
+        float Dz = mData2.z - center.z;         if(fabsf(Dz) > extents.z + mFDir.z)     return FALSE;
+
+        float f;
+        f = mData.y * Dz - mData.z * Dy;        if(fabsf(f) > extents.y*mFDir.z + extents.z*mFDir.y)    return FALSE;
+        f = mData.z * Dx - mData.x * Dz;        if(fabsf(f) > extents.x*mFDir.z + extents.z*mFDir.x)    return FALSE;
+        f = mData.x * Dy - mData.y * Dx;        if(fabsf(f) > extents.x*mFDir.y + extents.y*mFDir.x)    return FALSE;
+
+        return TRUE;
+}
+
+///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+/**
+ *      Computes a ray-AABB overlap test using the separating axis theorem. Ray is cached within the class.
+ *      \param          center  [in] AABB center
+ *      \param          extents [in] AABB extents
+ *      \return         true on overlap
+ */
+///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+inline_ BOOL RayCollider::RayAABBOverlap(const Point& center, const Point& extents)
+{
+        // Stats
+        mNbRayBVTests++;
+
+//      float Dx = mOrigin.x - center.x;        if(fabsf(Dx) > extents.x && Dx*mDir.x>=0.0f)    return FALSE;
+//      float Dy = mOrigin.y - center.y;        if(fabsf(Dy) > extents.y && Dy*mDir.y>=0.0f)    return FALSE;
+//      float Dz = mOrigin.z - center.z;        if(fabsf(Dz) > extents.z && Dz*mDir.z>=0.0f)    return FALSE;
+
+        float Dx = mOrigin.x - center.x;        if(GREATER(Dx, extents.x) && Dx*mDir.x>=0.0f)   return FALSE;
+        float Dy = mOrigin.y - center.y;        if(GREATER(Dy, extents.y) && Dy*mDir.y>=0.0f)   return FALSE;
+        float Dz = mOrigin.z - center.z;        if(GREATER(Dz, extents.z) && Dz*mDir.z>=0.0f)   return FALSE;
+
+//      float Dx = mOrigin.x - center.x;        if(GREATER(Dx, extents.x) && ((SIR(Dx)-1)^SIR(mDir.x))>=0.0f)   return FALSE;
+//      float Dy = mOrigin.y - center.y;        if(GREATER(Dy, extents.y) && ((SIR(Dy)-1)^SIR(mDir.y))>=0.0f)   return FALSE;
+//      float Dz = mOrigin.z - center.z;        if(GREATER(Dz, extents.z) && ((SIR(Dz)-1)^SIR(mDir.z))>=0.0f)   return FALSE;
+
+        float f;
+        f = mDir.y * Dz - mDir.z * Dy;          if(fabsf(f) > extents.y*mFDir.z + extents.z*mFDir.y)    return FALSE;
+        f = mDir.z * Dx - mDir.x * Dz;          if(fabsf(f) > extents.x*mFDir.z + extents.z*mFDir.x)    return FALSE;
+        f = mDir.x * Dy - mDir.y * Dx;          if(fabsf(f) > extents.x*mFDir.y + extents.y*mFDir.x)    return FALSE;
+
+        return TRUE;
+}