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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//****************************************************************************
46// plane public API
47
48static 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
67dxPlane::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
79void 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
109dGeomID 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
116void 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
129void 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
140dReal 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}