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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
25standard ODE geometry primitives: public API and pairwise collision functions.
26
27the rule is that only the low level primitive collision functions should set
28dContactGeom::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// flat cylinder public API
46
47dxCylinder::dxCylinder (dSpaceID space, dReal _radius, dReal _length) :
48dxGeom (space,1)
49{
50 dAASSERT (_radius > 0 && _length > 0);
51 type = dCylinderClass;
52 radius = _radius;
53 lz = _length;
54}
55
56
57void dxCylinder::computeAABB()
58{
59 const dMatrix3& R = final_posr->R;
60 const dVector3& pos = final_posr->pos;
61
62 dReal xrange = dFabs (R[0] * radius) + dFabs (R[1] * radius) + REAL(0.5)* dFabs (R[2] *
63 lz);
64 dReal yrange = dFabs (R[4] * radius) + dFabs (R[5] * radius) + REAL(0.5)* dFabs (R[6] *
65 lz);
66 dReal zrange = dFabs (R[8] * radius) + dFabs (R[9] * radius) + REAL(0.5)* dFabs (R[10] *
67 lz);
68 aabb[0] = pos[0] - xrange;
69 aabb[1] = pos[0] + xrange;
70 aabb[2] = pos[1] - yrange;
71 aabb[3] = pos[1] + yrange;
72 aabb[4] = pos[2] - zrange;
73 aabb[5] = pos[2] + zrange;
74}
75
76
77dGeomID dCreateCylinder (dSpaceID space, dReal radius, dReal length)
78{
79 return new dxCylinder (space,radius,length);
80}
81
82void dGeomCylinderSetParams (dGeomID cylinder, dReal radius, dReal length)
83{
84 dUASSERT (cylinder && cylinder->type == dCylinderClass,"argument not a ccylinder");
85 dAASSERT (radius > 0 && length > 0);
86 dxCylinder *c = (dxCylinder*) cylinder;
87 c->radius = radius;
88 c->lz = length;
89 dGeomMoved (cylinder);
90}
91
92void dGeomCylinderGetParams (dGeomID cylinder, dReal *radius, dReal *length)
93{
94 dUASSERT (cylinder && cylinder->type == dCylinderClass,"argument not a ccylinder");
95 dxCylinder *c = (dxCylinder*) cylinder;
96 *radius = c->radius;
97 *length = c->lz;
98}
99
100