resubmitting ode

1 files changed, 89 insertions, 0 deletions

diff --git a/libraries/ode-0.9/OPCODE/OPC_RayTriOverlap.h b/libraries/ode-0.9/OPCODE/OPC_RayTriOverlap.h
new file mode 100644
index 0000000..7fe37c9
--- /dev/null
+++ b/libraries/ode-0.9/OPCODE/OPC_RayTriOverlap.h
@@ -0,0 +1,89 @@
+#define LOCAL_EPSILON 0.000001f
+
+///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+/**
+ *      Computes a ray-triangle intersection test.
+ *      Original code from Tomas Möller's "Fast Minimum Storage Ray-Triangle Intersection".
+ *      It's been optimized a bit with integer code, and modified to return a non-intersection if distance from
+ *      ray origin to triangle is negative.
+ *
+ *      \param          vert0   [in] triangle vertex
+ *      \param          vert1   [in] triangle vertex
+ *      \param          vert2   [in] triangle vertex
+ *      \return         true on overlap. mStabbedFace is filled with relevant info.
+ */
+///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+inline_ BOOL RayCollider::RayTriOverlap(const Point& vert0, const Point& vert1, const Point& vert2)
+{
+        // Stats
+        mNbRayPrimTests++;
+
+        // Find vectors for two edges sharing vert0
+        Point edge1 = vert1 - vert0;
+        Point edge2 = vert2 - vert0;
+
+        // Begin calculating determinant - also used to calculate U parameter
+        Point pvec = mDir^edge2;
+
+        // If determinant is near zero, ray lies in plane of triangle
+        float det = edge1|pvec;
+
+        if(mCulling)
+        {
+                if(det<LOCAL_EPSILON)                                                                                                           return FALSE;
+                // From here, det is > 0. So we can use integer cmp.
+
+                // Calculate distance from vert0 to ray origin
+                Point tvec = mOrigin - vert0;
+
+                // Calculate U parameter and test bounds
+                mStabbedFace.mU = tvec|pvec;
+//              if(IR(u)&0x80000000 || u>det)                                   return FALSE;
+                if(IS_NEGATIVE_FLOAT(mStabbedFace.mU) || IR(mStabbedFace.mU)>IR(det))           return FALSE;
+
+                // Prepare to test V parameter
+                Point qvec = tvec^edge1;
+
+                // Calculate V parameter and test bounds
+                mStabbedFace.mV = mDir|qvec;
+                if(IS_NEGATIVE_FLOAT(mStabbedFace.mV) || mStabbedFace.mU+mStabbedFace.mV>det)   return FALSE;
+
+                // Calculate t, scale parameters, ray intersects triangle
+                mStabbedFace.mDistance = edge2|qvec;
+                // Det > 0 so we can early exit here
+                // Intersection point is valid if distance is positive (else it can just be a face behind the orig point)
+                if(IS_NEGATIVE_FLOAT(mStabbedFace.mDistance))                                                           return FALSE;
+                // Else go on
+                float OneOverDet = 1.0f / det;
+                mStabbedFace.mDistance *= OneOverDet;
+                mStabbedFace.mU *= OneOverDet;
+                mStabbedFace.mV *= OneOverDet;
+        }
+        else
+        {
+                // the non-culling branch
+                if(det>-LOCAL_EPSILON && det<LOCAL_EPSILON)                                                                     return FALSE;
+                float OneOverDet = 1.0f / det;
+
+                // Calculate distance from vert0 to ray origin
+                Point tvec = mOrigin - vert0;
+
+                // Calculate U parameter and test bounds
+                mStabbedFace.mU = (tvec|pvec) * OneOverDet;
+//              if(IR(u)&0x80000000 || u>1.0f)                                  return FALSE;
+                if(IS_NEGATIVE_FLOAT(mStabbedFace.mU) || IR(mStabbedFace.mU)>IEEE_1_0)          return FALSE;
+
+                // prepare to test V parameter
+                Point qvec = tvec^edge1;
+
+                // Calculate V parameter and test bounds
+                mStabbedFace.mV = (mDir|qvec) * OneOverDet;
+                if(IS_NEGATIVE_FLOAT(mStabbedFace.mV) || mStabbedFace.mU+mStabbedFace.mV>1.0f)  return FALSE;
+
+                // Calculate t, ray intersects triangle
+                mStabbedFace.mDistance = (edge2|qvec) * OneOverDet;
+                // Intersection point is valid if distance is positive (else it can just be a face behind the orig point)
+                if(IS_NEGATIVE_FLOAT(mStabbedFace.mDistance))                                                           return FALSE;
+        }
+        return TRUE;
+}