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author | dan miller | 2007-10-19 05:22:23 +0000 |
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committer | dan miller | 2007-10-19 05:22:23 +0000 |
commit | 1ec410ecd725f5a3ccb2d2fc16f48730d9d9fe43 (patch) | |
tree | 51bcae7a1b8381a6bf6fd8025a7de1e30fe0045d /libraries/ode-0.9/ode/src/plane.cpp | |
parent | one more for the gipper (diff) | |
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trying to fix my screwup, please hold on
Diffstat (limited to 'libraries/ode-0.9/ode/src/plane.cpp')
-rw-r--r-- | libraries/ode-0.9/ode/src/plane.cpp | 145 |
1 files changed, 0 insertions, 145 deletions
diff --git a/libraries/ode-0.9/ode/src/plane.cpp b/libraries/ode-0.9/ode/src/plane.cpp deleted file mode 100644 index e3afb49..0000000 --- a/libraries/ode-0.9/ode/src/plane.cpp +++ /dev/null | |||
@@ -1,145 +0,0 @@ | |||
1 | /************************************************************************* | ||
2 | * * | ||
3 | * Open Dynamics Engine, Copyright (C) 2001-2003 Russell L. Smith. * | ||
4 | * All rights reserved. Email: russ@q12.org Web: www.q12.org * | ||
5 | * * | ||
6 | * This library is free software; you can redistribute it and/or * | ||
7 | * modify it under the terms of EITHER: * | ||
8 | * (1) The GNU Lesser General Public License as published by the Free * | ||
9 | * Software Foundation; either version 2.1 of the License, or (at * | ||
10 | * your option) any later version. The text of the GNU Lesser * | ||
11 | * General Public License is included with this library in the * | ||
12 | * file LICENSE.TXT. * | ||
13 | * (2) The BSD-style license that is included with this library in * | ||
14 | * the file LICENSE-BSD.TXT. * | ||
15 | * * | ||
16 | * This library is distributed in the hope that it will be useful, * | ||
17 | * but WITHOUT ANY WARRANTY; without even the implied warranty of * | ||
18 | * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the files * | ||
19 | * LICENSE.TXT and LICENSE-BSD.TXT for more details. * | ||
20 | * * | ||
21 | *************************************************************************/ | ||
22 | |||
23 | /* | ||
24 | |||
25 | standard ODE geometry primitives: public API and pairwise collision functions. | ||
26 | |||
27 | the rule is that only the low level primitive collision functions should set | ||
28 | dContactGeom::g1 and dContactGeom::g2. | ||
29 | |||
30 | */ | ||
31 | |||
32 | #include <ode/common.h> | ||
33 | #include <ode/collision.h> | ||
34 | #include <ode/matrix.h> | ||
35 | #include <ode/rotation.h> | ||
36 | #include <ode/odemath.h> | ||
37 | #include "collision_kernel.h" | ||
38 | #include "collision_std.h" | ||
39 | #include "collision_util.h" | ||
40 | |||
41 | #ifdef _MSC_VER | ||
42 | #pragma warning(disable:4291) // for VC++, no complaints about "no matching operator delete found" | ||
43 | #endif | ||
44 | |||
45 | //**************************************************************************** | ||
46 | // plane public API | ||
47 | |||
48 | static void make_sure_plane_normal_has_unit_length (dxPlane *g) | ||
49 | { | ||
50 | dReal l = g->p[0]*g->p[0] + g->p[1]*g->p[1] + g->p[2]*g->p[2]; | ||
51 | if (l > 0) { | ||
52 | l = dRecipSqrt(l); | ||
53 | g->p[0] *= l; | ||
54 | g->p[1] *= l; | ||
55 | g->p[2] *= l; | ||
56 | g->p[3] *= l; | ||
57 | } | ||
58 | else { | ||
59 | g->p[0] = 1; | ||
60 | g->p[1] = 0; | ||
61 | g->p[2] = 0; | ||
62 | g->p[3] = 0; | ||
63 | } | ||
64 | } | ||
65 | |||
66 | |||
67 | dxPlane::dxPlane (dSpaceID space, dReal a, dReal b, dReal c, dReal d) : | ||
68 | dxGeom (space,0) | ||
69 | { | ||
70 | type = dPlaneClass; | ||
71 | p[0] = a; | ||
72 | p[1] = b; | ||
73 | p[2] = c; | ||
74 | p[3] = d; | ||
75 | make_sure_plane_normal_has_unit_length (this); | ||
76 | } | ||
77 | |||
78 | |||
79 | void dxPlane::computeAABB() | ||
80 | { | ||
81 | aabb[0] = -dInfinity; | ||
82 | aabb[1] = dInfinity; | ||
83 | aabb[2] = -dInfinity; | ||
84 | aabb[3] = dInfinity; | ||
85 | aabb[4] = -dInfinity; | ||
86 | aabb[5] = dInfinity; | ||
87 | |||
88 | // Planes that have normal vectors aligned along an axis can use a | ||
89 | // less comprehensive (half space) bounding box. | ||
90 | |||
91 | if ( p[1] == 0.0f && p[2] == 0.0f ) { | ||
92 | // normal aligned with x-axis | ||
93 | aabb[0] = (p[0] > 0) ? -dInfinity : -p[3]; | ||
94 | aabb[1] = (p[0] > 0) ? p[3] : dInfinity; | ||
95 | } else | ||
96 | if ( p[0] == 0.0f && p[2] == 0.0f ) { | ||
97 | // normal aligned with y-axis | ||
98 | aabb[2] = (p[1] > 0) ? -dInfinity : -p[3]; | ||
99 | aabb[3] = (p[1] > 0) ? p[3] : dInfinity; | ||
100 | } else | ||
101 | if ( p[0] == 0.0f && p[1] == 0.0f ) { | ||
102 | // normal aligned with z-axis | ||
103 | aabb[4] = (p[2] > 0) ? -dInfinity : -p[3]; | ||
104 | aabb[5] = (p[2] > 0) ? p[3] : dInfinity; | ||
105 | } | ||
106 | } | ||
107 | |||
108 | |||
109 | dGeomID dCreatePlane (dSpaceID space, | ||
110 | dReal a, dReal b, dReal c, dReal d) | ||
111 | { | ||
112 | return new dxPlane (space,a,b,c,d); | ||
113 | } | ||
114 | |||
115 | |||
116 | void dGeomPlaneSetParams (dGeomID g, dReal a, dReal b, dReal c, dReal d) | ||
117 | { | ||
118 | dUASSERT (g && g->type == dPlaneClass,"argument not a plane"); | ||
119 | dxPlane *p = (dxPlane*) g; | ||
120 | p->p[0] = a; | ||
121 | p->p[1] = b; | ||
122 | p->p[2] = c; | ||
123 | p->p[3] = d; | ||
124 | make_sure_plane_normal_has_unit_length (p); | ||
125 | dGeomMoved (g); | ||
126 | } | ||
127 | |||
128 | |||
129 | void dGeomPlaneGetParams (dGeomID g, dVector4 result) | ||
130 | { | ||
131 | dUASSERT (g && g->type == dPlaneClass,"argument not a plane"); | ||
132 | dxPlane *p = (dxPlane*) g; | ||
133 | result[0] = p->p[0]; | ||
134 | result[1] = p->p[1]; | ||
135 | result[2] = p->p[2]; | ||
136 | result[3] = p->p[3]; | ||
137 | } | ||
138 | |||
139 | |||
140 | dReal dGeomPlanePointDepth (dGeomID g, dReal x, dReal y, dReal z) | ||
141 | { | ||
142 | dUASSERT (g && g->type == dPlaneClass,"argument not a plane"); | ||
143 | dxPlane *p = (dxPlane*) g; | ||
144 | return p->p[3] - p->p[0]*x - p->p[1]*y - p->p[2]*z; | ||
145 | } | ||