one more for the gipper

1 files changed, 241 insertions, 0 deletions

diff --git a/libraries/ode-0.9/ode/src/sphere.cpp b/libraries/ode-0.9/ode/src/sphere.cpp
new file mode 100644
index 0000000..fa25aac
--- /dev/null
+++ b/libraries/ode-0.9/ode/src/sphere.cpp
@@ -0,0 +1,241 @@
+/*************************************************************************
+ *                                                                       *
+ * Open Dynamics Engine, Copyright (C) 2001-2003 Russell L. Smith.       *
+ * All rights reserved.  Email: russ@q12.org   Web: www.q12.org          *
+ *                                                                       *
+ * This library is free software; you can redistribute it and/or         *
+ * modify it under the terms of EITHER:                                  *
+ *   (1) The GNU Lesser General Public License as published by the Free  *
+ *       Software Foundation; either version 2.1 of the License, or (at  *
+ *       your option) any later version. The text of the GNU Lesser      *
+ *       General Public License is included with this library in the     *
+ *       file LICENSE.TXT.                                               *
+ *   (2) The BSD-style license that is included with this library in     *
+ *       the file LICENSE-BSD.TXT.                                       *
+ *                                                                       *
+ * This library is distributed in the hope that it will be useful,       *
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of        *
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the files    *
+ * LICENSE.TXT and LICENSE-BSD.TXT for more details.                     *
+ *                                                                       *
+ *************************************************************************/
+
+/*
+
+standard ODE geometry primitives: public API and pairwise collision functions.
+
+the rule is that only the low level primitive collision functions should set
+dContactGeom::g1 and dContactGeom::g2.
+
+*/
+
+#include <ode/common.h>
+#include <ode/collision.h>
+#include <ode/matrix.h>
+#include <ode/rotation.h>
+#include <ode/odemath.h>
+#include "collision_kernel.h"
+#include "collision_std.h"
+#include "collision_util.h"
+
+#ifdef _MSC_VER
+#pragma warning(disable:4291)  // for VC++, no complaints about "no matching operator delete found"
+#endif
+
+
+//****************************************************************************
+// sphere public API
+
+dxSphere::dxSphere (dSpaceID space, dReal _radius) : dxGeom (space,1)
+{
+  dAASSERT (_radius > 0);
+  type = dSphereClass;
+  radius = _radius;
+}
+
+
+void dxSphere::computeAABB()
+{
+  aabb[0] = final_posr->pos[0] - radius;
+  aabb[1] = final_posr->pos[0] + radius;
+  aabb[2] = final_posr->pos[1] - radius;
+  aabb[3] = final_posr->pos[1] + radius;
+  aabb[4] = final_posr->pos[2] - radius;
+  aabb[5] = final_posr->pos[2] + radius;
+}
+
+
+dGeomID dCreateSphere (dSpaceID space, dReal radius)
+{
+  return new dxSphere (space,radius);
+}
+
+
+void dGeomSphereSetRadius (dGeomID g, dReal radius)
+{
+  dUASSERT (g && g->type == dSphereClass,"argument not a sphere");
+  dAASSERT (radius > 0);
+  dxSphere *s = (dxSphere*) g;
+  s->radius = radius;
+  dGeomMoved (g);
+}
+
+
+dReal dGeomSphereGetRadius (dGeomID g)
+{
+  dUASSERT (g && g->type == dSphereClass,"argument not a sphere");
+  dxSphere *s = (dxSphere*) g;
+  return s->radius;
+}
+
+
+dReal dGeomSpherePointDepth (dGeomID g, dReal x, dReal y, dReal z)
+{
+  dUASSERT (g && g->type == dSphereClass,"argument not a sphere");
+  g->recomputePosr();
+  
+  dxSphere *s = (dxSphere*) g;
+  dReal * pos = s->final_posr->pos;
+  return s->radius - dSqrt ((x-pos[0])*(x-pos[0]) +
+                            (y-pos[1])*(y-pos[1]) +
+                            (z-pos[2])*(z-pos[2]));
+}
+
+//****************************************************************************
+// pairwise collision functions for standard geom types
+
+int dCollideSphereSphere (dxGeom *o1, dxGeom *o2, int flags,
+                          dContactGeom *contact, int skip)
+{
+  dIASSERT (skip >= (int)sizeof(dContactGeom));
+  dIASSERT (o1->type == dSphereClass);
+  dIASSERT (o2->type == dSphereClass);

+  dIASSERT ((flags & NUMC_MASK) >= 1);

+  
+  dxSphere *sphere1 = (dxSphere*) o1;
+  dxSphere *sphere2 = (dxSphere*) o2;
+
+  contact->g1 = o1;
+  contact->g2 = o2;
+
+  return dCollideSpheres (o1->final_posr->pos,sphere1->radius,
+                          o2->final_posr->pos,sphere2->radius,contact);
+}
+
+
+int dCollideSphereBox (dxGeom *o1, dxGeom *o2, int flags,
+                       dContactGeom *contact, int skip)
+{

+  dIASSERT (skip >= (int)sizeof(dContactGeom));

+  dIASSERT (o1->type == dSphereClass);

+  dIASSERT (o2->type == dBoxClass);

+  dIASSERT ((flags & NUMC_MASK) >= 1);

+  
+  // this is easy. get the sphere center `p' relative to the box, and then clip
+  // that to the boundary of the box (call that point `q'). if q is on the
+  // boundary of the box and |p-q| is <= sphere radius, they touch.
+  // if q is inside the box, the sphere is inside the box, so set a contact
+  // normal to push the sphere to the closest box face.
+
+  dVector3 l,t,p,q,r;
+  dReal depth;
+  int onborder = 0;
+
+  dxSphere *sphere = (dxSphere*) o1;
+  dxBox *box = (dxBox*) o2;
+
+  contact->g1 = o1;
+  contact->g2 = o2;
+
+  p[0] = o1->final_posr->pos[0] - o2->final_posr->pos[0];
+  p[1] = o1->final_posr->pos[1] - o2->final_posr->pos[1];
+  p[2] = o1->final_posr->pos[2] - o2->final_posr->pos[2];
+
+  l[0] = box->side[0]*REAL(0.5);
+  t[0] = dDOT14(p,o2->final_posr->R);
+  if (t[0] < -l[0]) { t[0] = -l[0]; onborder = 1; }
+  if (t[0] >  l[0]) { t[0] =  l[0]; onborder = 1; }
+
+  l[1] = box->side[1]*REAL(0.5);
+  t[1] = dDOT14(p,o2->final_posr->R+1);
+  if (t[1] < -l[1]) { t[1] = -l[1]; onborder = 1; }
+  if (t[1] >  l[1]) { t[1] =  l[1]; onborder = 1; }
+
+  t[2] = dDOT14(p,o2->final_posr->R+2);
+  l[2] = box->side[2]*REAL(0.5);
+  if (t[2] < -l[2]) { t[2] = -l[2]; onborder = 1; }
+  if (t[2] >  l[2]) { t[2] =  l[2]; onborder = 1; }
+
+  if (!onborder) {
+    // sphere center inside box. find closest face to `t'
+    dReal min_distance = l[0] - dFabs(t[0]);
+    int mini = 0;
+    for (int i=1; i<3; i++) {
+      dReal face_distance = l[i] - dFabs(t[i]);
+      if (face_distance < min_distance) {
+        min_distance = face_distance;
+        mini = i;
+      }
+    }
+    // contact position = sphere center
+    contact->pos[0] = o1->final_posr->pos[0];
+    contact->pos[1] = o1->final_posr->pos[1];
+    contact->pos[2] = o1->final_posr->pos[2];
+    // contact normal points to closest face
+    dVector3 tmp;
+    tmp[0] = 0;
+    tmp[1] = 0;
+    tmp[2] = 0;
+    tmp[mini] = (t[mini] > 0) ? REAL(1.0) : REAL(-1.0);
+    dMULTIPLY0_331 (contact->normal,o2->final_posr->R,tmp);
+    // contact depth = distance to wall along normal plus radius
+    contact->depth = min_distance + sphere->radius;
+    return 1;
+  }
+
+  t[3] = 0;                     //@@@ hmmm
+  dMULTIPLY0_331 (q,o2->final_posr->R,t);
+  r[0] = p[0] - q[0];
+  r[1] = p[1] - q[1];
+  r[2] = p[2] - q[2];
+  depth = sphere->radius - dSqrt(dDOT(r,r));
+  if (depth < 0) return 0;
+  contact->pos[0] = q[0] + o2->final_posr->pos[0];
+  contact->pos[1] = q[1] + o2->final_posr->pos[1];
+  contact->pos[2] = q[2] + o2->final_posr->pos[2];
+  contact->normal[0] = r[0];
+  contact->normal[1] = r[1];
+  contact->normal[2] = r[2];
+  dNormalize3 (contact->normal);
+  contact->depth = depth;
+  return 1;
+}
+
+
+int dCollideSpherePlane (dxGeom *o1, dxGeom *o2, int flags,
+                         dContactGeom *contact, int skip)
+{
+  dIASSERT (skip >= (int)sizeof(dContactGeom));
+  dIASSERT (o1->type == dSphereClass);
+  dIASSERT (o2->type == dPlaneClass);

+  dIASSERT ((flags & NUMC_MASK) >= 1);

+
+  dxSphere *sphere = (dxSphere*) o1;
+  dxPlane *plane = (dxPlane*) o2;
+
+  contact->g1 = o1;
+  contact->g2 = o2;
+  dReal k = dDOT (o1->final_posr->pos,plane->p);
+  dReal depth = plane->p[3] - k + sphere->radius;
+  if (depth >= 0) {
+    contact->normal[0] = plane->p[0];
+    contact->normal[1] = plane->p[1];
+    contact->normal[2] = plane->p[2];
+    contact->pos[0] = o1->final_posr->pos[0] - plane->p[0] * sphere->radius;
+    contact->pos[1] = o1->final_posr->pos[1] - plane->p[1] * sphere->radius;
+    contact->pos[2] = o1->final_posr->pos[2] - plane->p[2] * sphere->radius;
+    contact->depth = depth;
+    return 1;
+  }
+  else return 0;
+}