1 files changed, 128 insertions, 0 deletions

diff --git a/libraries/ode-0.9/OPCODE/OPC_SphereAABBOverlap.h b/libraries/ode-0.9/OPCODE/OPC_SphereAABBOverlap.h
new file mode 100644
index 0000000..2278bc0
--- /dev/null
+++ b/libraries/ode-0.9/OPCODE/OPC_SphereAABBOverlap.h
@@ -0,0 +1,128 @@
+///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+/**
+ *      Sphere-AABB overlap test, based on Jim Arvo's code.
+ *      \param          center          [in] box center
+ *      \param          extents         [in] box extents
+ *      \return         TRUE on overlap
+ */
+///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+inline_ BOOL SphereCollider::SphereAABBOverlap(const Point& center, const Point& extents)
+{ 
+        // Stats
+        mNbVolumeBVTests++;
+
+        float d = 0.0f;
+
+        //find the square of the distance
+        //from the sphere to the box
+#ifdef OLDIES
+        for(udword i=0;i<3;i++)
+        {
+                float tmp = mCenter[i] - center[i];
+                float s = tmp + extents[i];
+
+                if(s<0.0f)      d += s*s;
+                else
+                {
+                        s = tmp - extents[i];
+                        if(s>0.0f)      d += s*s;
+                }
+        }
+#endif
+
+//#ifdef NEW_TEST
+
+//      float tmp = mCenter.x - center.x;
+//      float s = tmp + extents.x;
+
+        float tmp,s;
+
+        tmp = mCenter.x - center.x;
+        s = tmp + extents.x;
+
+        if(s<0.0f)
+        {
+                d += s*s;
+                if(d>mRadius2)  return FALSE;
+        }
+        else
+        {
+                s = tmp - extents.x;
+                if(s>0.0f)
+                {
+                        d += s*s;
+                        if(d>mRadius2)  return FALSE;
+                }
+        }
+
+        tmp = mCenter.y - center.y;
+        s = tmp + extents.y;
+
+        if(s<0.0f)
+        {
+                d += s*s;
+                if(d>mRadius2)  return FALSE;
+        }
+        else
+        {
+                s = tmp - extents.y;
+                if(s>0.0f)
+                {
+                        d += s*s;
+                        if(d>mRadius2)  return FALSE;
+                }
+        }
+
+        tmp = mCenter.z - center.z;
+        s = tmp + extents.z;
+
+        if(s<0.0f)
+        {
+                d += s*s;
+                if(d>mRadius2)  return FALSE;
+        }
+        else
+        {
+                s = tmp - extents.z;
+                if(s>0.0f)
+                {
+                        d += s*s;
+                        if(d>mRadius2)  return FALSE;
+                }
+        }
+//#endif
+
+#ifdef OLDIES
+//      Point Min = center - extents;
+//      Point Max = center + extents;
+
+        float d = 0.0f;
+
+        //find the square of the distance
+        //from the sphere to the box
+        for(udword i=0;i<3;i++)
+        {
+float Min = center[i] - extents[i];
+
+//              if(mCenter[i]<Min[i])
+                if(mCenter[i]<Min)
+                {
+//                      float s = mCenter[i] - Min[i];
+                        float s = mCenter[i] - Min;
+                        d += s*s;
+                }
+                else
+                {
+float Max = center[i] + extents[i];
+
+//                      if(mCenter[i]>Max[i])
+                        if(mCenter[i]>Max)
+                        {
+                                float s = mCenter[i] - Max;
+                                d += s*s;
+                        }
+                }
+        }
+#endif
+        return d <= mRadius2;
+}