1 files changed, 97 insertions, 0 deletions
diff --git a/libraries/ode-0.9/OPCODE/OPC_AABBCollider.h b/libraries/ode-0.9/OPCODE/OPC_AABBCollider.h
new file mode 100644
index 0000000..315d2d3
--- /dev/null
+++ b/libraries/ode-0.9/OPCODE/OPC_AABBCollider.h
@@ -0,0 +1,97 @@
+///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+/*
+ *      OPCODE - Optimized Collision Detection
+ *      Copyright (C) 2001 Pierre Terdiman
+ *      Homepage: http://www.codercorner.com/Opcode.htm
+ */
+///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+/**
+ *      Contains code for an AABB collider.
+ *      \file           OPC_AABBCollider.h
+ *      \author         Pierre Terdiman
+ *      \date           January, 1st, 2002
+ */
+///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+// Include Guard
+#ifndef __OPC_AABBCOLLIDER_H__
+#define __OPC_AABBCOLLIDER_H__
+        struct OPCODE_API AABBCache : VolumeCache
+        {
+                                                AABBCache() : FatCoeff(1.1f)
+                                                {
+                                                        FatBox.mCenter.Zero();
+                                                        FatBox.mExtents.Zero();
+                                                }
+                // Cached faces signature
+                CollisionAABB   FatBox;         //!< Box used when performing the query resulting in cached faces
+                // User settings
+                float                   FatCoeff;       //!< mRadius2 multiplier used to create a fat sphere
+        };
+        class OPCODE_API AABBCollider : public VolumeCollider
+        {
+                public:
+                // Constructor / Destructor
+                                                                                        AABBCollider();
+                virtual                                                         ~AABBCollider();
+                ///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+                /**
+                 *      Generic collision query for generic OPCODE models. After the call, access the results:
+                 *      - with GetContactStatus()
+                 *      - with GetNbTouchedPrimitives()
+                 *      - with GetTouchedPrimitives()
+                 *
+                 *      \param          cache                   [in/out] a box cache
+                 *      \param          box                             [in] collision AABB in world space
+                 *      \param          model                   [in] Opcode model to collide with
+                 *      \return         true if success
+                 *      \warning        SCALE NOT SUPPORTED. The matrices must contain rotation & translation parts only.
+                 */
+                ///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+                                                        bool                    Collide(AABBCache& cache, const CollisionAABB& box, const Model& model);
+                //
+                                                        bool                    Collide(AABBCache& cache, const CollisionAABB& box, const AABBTree* tree);
+                protected:
+                                                        CollisionAABB   mBox;                   //!< Query box in (center, extents) form
+                                                        Point                   mMin;                   //!< Query box min point
+                                                        Point                   mMax;                   //!< Query box max point
+                // Leaf description
+                                                        Point                   mLeafVerts[3];  //!< Triangle vertices
+                // Internal methods
+                                                        void                    _Collide(const AABBCollisionNode* node);
+                                                        void                    _Collide(const AABBNoLeafNode* node);
+                                                        void                    _Collide(const AABBQuantizedNode* node);
+                                                        void                    _Collide(const AABBQuantizedNoLeafNode* node);
+                                                        void                    _Collide(const AABBTreeNode* node);
+                                                        void                    _CollideNoPrimitiveTest(const AABBCollisionNode* node);
+                                                        void                    _CollideNoPrimitiveTest(const AABBNoLeafNode* node);
+                                                        void                    _CollideNoPrimitiveTest(const AABBQuantizedNode* node);
+                                                        void                    _CollideNoPrimitiveTest(const AABBQuantizedNoLeafNode* node);
+                        // Overlap tests
+                inline_                         BOOL                    AABBContainsBox(const Point& bc, const Point& be);
+                inline_                         BOOL                    AABBAABBOverlap(const Point& b, const Point& Pb);
+                inline_                         BOOL                    TriBoxOverlap();
+                        // Init methods
+                                                        BOOL                    InitQuery(AABBCache& cache, const CollisionAABB& box);
+        };
+        class OPCODE_API HybridAABBCollider : public AABBCollider
+        {
+                public:
+                // Constructor / Destructor
+                                                                                        HybridAABBCollider();
+                virtual                                                         ~HybridAABBCollider();
+                                                        bool                    Collide(AABBCache& cache, const CollisionAABB& box, const HybridModel& model);
+                protected:
+                                                        Container               mTouchedBoxes;
+        };
+#endif // __OPC_AABBCOLLIDER_H__

diff --git a/libraries/ode-0.9/OPCODE/OPC_AABBCollider.h b/libraries/ode-0.9/OPCODE/OPC_AABBCollider.h new file mode 100644 index 0000000..315d2d3 --- /dev/null +++ b/libraries/ode-0.9/OPCODE/OPC_AABBCollider.h
@@ -0,0 +1,97 @@
	1	///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
	2	/*
	3	* OPCODE - Optimized Collision Detection
	4	* Copyright (C) 2001 Pierre Terdiman
	5	* Homepage: http://www.codercorner.com/Opcode.htm
	6	*/
	7	///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
	8
	9	///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
	10	/**
	11	* Contains code for an AABB collider.
	12	* \file OPC_AABBCollider.h
	13	* \author Pierre Terdiman
	14	* \date January, 1st, 2002
	15	*/
	16	///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
	17
	18	///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
	19	// Include Guard
	20	#ifndef __OPC_AABBCOLLIDER_H__
	21	#define __OPC_AABBCOLLIDER_H__
	22
	23	struct OPCODE_API AABBCache : VolumeCache
	24	{
	25	AABBCache() : FatCoeff(1.1f)
	26	{
	27	FatBox.mCenter.Zero();
	28	FatBox.mExtents.Zero();
	29	}
	30
	31	// Cached faces signature
	32	CollisionAABB FatBox; //!< Box used when performing the query resulting in cached faces
	33	// User settings
	34	float FatCoeff; //!< mRadius2 multiplier used to create a fat sphere
	35	};
	36
	37	class OPCODE_API AABBCollider : public VolumeCollider
	38	{
	39	public:
	40	// Constructor / Destructor
	41	AABBCollider();
	42	virtual ~AABBCollider();
	43
	44	///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
	45	/**
	46	* Generic collision query for generic OPCODE models. After the call, access the results:
	47	* - with GetContactStatus()
	48	* - with GetNbTouchedPrimitives()
	49	* - with GetTouchedPrimitives()
	50	*
	51	* \param cache [in/out] a box cache
	52	* \param box [in] collision AABB in world space
	53	* \param model [in] Opcode model to collide with
	54	* \return true if success
	55	* \warning SCALE NOT SUPPORTED. The matrices must contain rotation & translation parts only.
	56	*/
	57	///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
	58	bool Collide(AABBCache& cache, const CollisionAABB& box, const Model& model);
	59	//
	60	bool Collide(AABBCache& cache, const CollisionAABB& box, const AABBTree* tree);
	61	protected:
	62	CollisionAABB mBox; //!< Query box in (center, extents) form
	63	Point mMin; //!< Query box min point
	64	Point mMax; //!< Query box max point
	65	// Leaf description
	66	Point mLeafVerts[3]; //!< Triangle vertices
	67	// Internal methods
	68	void _Collide(const AABBCollisionNode* node);
	69	void _Collide(const AABBNoLeafNode* node);
	70	void _Collide(const AABBQuantizedNode* node);
	71	void _Collide(const AABBQuantizedNoLeafNode* node);
	72	void _Collide(const AABBTreeNode* node);
	73	void _CollideNoPrimitiveTest(const AABBCollisionNode* node);
	74	void _CollideNoPrimitiveTest(const AABBNoLeafNode* node);
	75	void _CollideNoPrimitiveTest(const AABBQuantizedNode* node);
	76	void _CollideNoPrimitiveTest(const AABBQuantizedNoLeafNode* node);
	77	// Overlap tests
	78	inline_ BOOL AABBContainsBox(const Point& bc, const Point& be);
	79	inline_ BOOL AABBAABBOverlap(const Point& b, const Point& Pb);
	80	inline_ BOOL TriBoxOverlap();
	81	// Init methods
	82	BOOL InitQuery(AABBCache& cache, const CollisionAABB& box);
	83	};
	84
	85	class OPCODE_API HybridAABBCollider : public AABBCollider
	86	{
	87	public:
	88	// Constructor / Destructor
	89	HybridAABBCollider();
	90	virtual ~HybridAABBCollider();
	91
	92	bool Collide(AABBCache& cache, const CollisionAABB& box, const HybridModel& model);
	93	protected:
	94	Container mTouchedBoxes;
	95	};
	96
	97	#endif // __OPC_AABBCOLLIDER_H__