resubmitting ode

1 files changed, 100 insertions, 0 deletions

diff --git a/libraries/ode-0.9/contrib/TerrainAndCone/collision_std_internal.h b/libraries/ode-0.9/contrib/TerrainAndCone/collision_std_internal.h
new file mode 100644
index 0000000..b445353
--- /dev/null
+++ b/libraries/ode-0.9/contrib/TerrainAndCone/collision_std_internal.h
@@ -0,0 +1,100 @@
+//Benoit CHAPEROT 2003-2004 www.jstarlab.com
+#ifndef _ODE_COLLISION_STD_INTERNAL_H_
+#define _ODE_COLLISION_STD_INTERNAL_H_
+
+#include <ode/common.h>
+#include "collision_kernel.h"
+
+struct dxSphere : public dxGeom {
+  dReal radius;         // sphere radius
+  dxSphere (dSpaceID space, dReal _radius);
+  void computeAABB();
+};
+
+
+struct dxBox : public dxGeom {
+  dVector3 side;        // side lengths (x,y,z)
+  dxBox (dSpaceID space, dReal lx, dReal ly, dReal lz);
+  void computeAABB();
+};
+
+
+struct dxCCylinder : public dxGeom {
+  dReal radius,lz;      // radius, length along z axis
+  dxCCylinder (dSpaceID space, dReal _radius, dReal _length);
+  void computeAABB();
+};
+
+
+struct dxPlane : public dxGeom {
+  dReal p[4];
+  dxPlane (dSpaceID space, dReal a, dReal b, dReal c, dReal d);
+  void computeAABB();
+};
+
+struct dxCylinder : public dxGeom {
+  dReal radius,lz;      // radius, length along z axis
+  dxCylinder (dSpaceID space, dReal _radius, dReal _length);
+  void computeAABB();
+};
+
+struct dxCone : public dxGeom {
+  dReal radius,lz;
+  dxCone(dSpaceID space, dReal _radius,dReal _length);
+  ~dxCone();
+  void computeAABB();
+};
+
+struct dxRay : public dxGeom {
+  dReal length;
+  dxRay (dSpaceID space, dReal _length);
+  void computeAABB();
+};
+
+struct dxTerrainY : public dxGeom {
+  dReal m_vLength;
+  dReal *m_pHeights;
+  dReal m_vMinHeight;
+  dReal m_vMaxHeight;
+  dReal m_vNodeLength;
+  int   m_nNumNodesPerSide;
+  int   m_nNumNodesPerSideShift;
+  int   m_nNumNodesPerSideMask;
+  int   m_bFinite;
+  dxTerrainY(dSpaceID space, dReal *pHeights,dReal vLength,int nNumNodesPerSide, int bFinite, int bPlaceable);
+  ~dxTerrainY();
+  void computeAABB();
+  dReal GetHeight(dReal x,dReal z);
+  dReal GetHeight(int x,int z);
+  int dCollideTerrainUnit(int x,int z,dxGeom *o2,int numMaxContacts,int flags,dContactGeom *contact, int skip);
+  bool IsOnTerrain(int nx,int nz,int w,dReal *pos);
+};
+
+struct dxTerrainZ : public dxGeom {
+  dReal m_vLength;
+  dReal *m_pHeights;
+  dReal m_vMinHeight;
+  dReal m_vMaxHeight;
+  dReal m_vNodeLength;
+  int   m_nNumNodesPerSide;
+  int   m_nNumNodesPerSideShift;
+  int   m_nNumNodesPerSideMask;
+  int   m_bFinite;
+  dxTerrainZ(dSpaceID space, dReal *pHeights,dReal vLength,int nNumNodesPerSide, int bFinite, int bPlaceable);
+  ~dxTerrainZ();
+  void computeAABB();
+  dReal GetHeight(dReal x,dReal y);
+  dReal GetHeight(int x,int y);
+  int dCollideTerrainUnit(int x,int y,dxGeom *o2,int numMaxContacts,int flags,dContactGeom *contact, int skip);
+  bool IsOnTerrain(int nx,int ny,int w,dReal *pos);
+};
+
+#ifndef MIN
+#define MIN(a,b)        ((a<b)?a:b)
+#endif
+
+#ifndef MAX
+#define MAX(a,b)        ((a>b)?a:b)
+#endif
+
+#endif //_ODE_COLLISION_STD_INTERNAL_H_
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