From 0d2e078eebb2827e0ed49e55dd10df406c4e3af1 Mon Sep 17 00:00:00 2001 From: dan miller Date: Fri, 19 Oct 2007 05:22:50 +0000 Subject: trying to fix my screwup part deux --- "libraries/ode-0.9\\/ode/src/collision_kernel.h" | 214 ----------------------- 1 file changed, 214 deletions(-) delete mode 100755 "libraries/ode-0.9\\/ode/src/collision_kernel.h" (limited to 'libraries/ode-0.9\/ode/src/collision_kernel.h') diff --git "a/libraries/ode-0.9\\/ode/src/collision_kernel.h" "b/libraries/ode-0.9\\/ode/src/collision_kernel.h" deleted file mode 100755 index d5a2bc4..0000000 --- "a/libraries/ode-0.9\\/ode/src/collision_kernel.h" +++ /dev/null @@ -1,214 +0,0 @@ -/************************************************************************* - * * - * 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. * - * * - *************************************************************************/ - -/* - -internal data structures and functions for collision detection. - -*/ - -#ifndef _ODE_COLLISION_KERNEL_H_ -#define _ODE_COLLISION_KERNEL_H_ - -#include -#include -#include -#include "objects.h" - -//**************************************************************************** -// constants and macros - -// mask for the number-of-contacts field in the dCollide() flags parameter -#define NUMC_MASK (0xffff) - -#define IS_SPACE(geom) \ - ((geom)->type >= dFirstSpaceClass && (geom)->type <= dLastSpaceClass) - -//**************************************************************************** -// geometry object base class - - -// geom flags. -// -// GEOM_DIRTY means that the space data structures for this geom are -// potentially not up to date. NOTE THAT all space parents of a dirty geom -// are themselves dirty. this is an invariant that must be enforced. -// -// GEOM_AABB_BAD means that the cached AABB for this geom is not up to date. -// note that GEOM_DIRTY does not imply GEOM_AABB_BAD, as the geom might -// recalculate its own AABB but does not know how to update the space data -// structures for the space it is in. but GEOM_AABB_BAD implies GEOM_DIRTY. -// the valid combinations are: -// 0 -// GEOM_DIRTY -// GEOM_DIRTY|GEOM_AABB_BAD -// GEOM_DIRTY|GEOM_AABB_BAD|GEOM_POSR_BAD - -enum { - GEOM_DIRTY = 1, // geom is 'dirty', i.e. position unknown - GEOM_POSR_BAD = 2, // geom's final posr is not valid - GEOM_AABB_BAD = 4, // geom's AABB is not valid - GEOM_PLACEABLE = 8, // geom is placeable - GEOM_ENABLED = 16, // geom is enabled - - // Ray specific - RAY_FIRSTCONTACT = 0x10000, - RAY_BACKFACECULL = 0x20000, - RAY_CLOSEST_HIT = 0x40000 -}; - - -// geometry object base class. pos and R will either point to a separately -// allocated buffer (if body is 0 - pos points to the dxPosR object) or to -// the pos and R of the body (if body nonzero). -// a dGeomID is a pointer to this object. - -struct dxGeom : public dBase { - int type; // geom type number, set by subclass constructor - int gflags; // flags used by geom and space - void *data; // user-defined data pointer - dBodyID body; // dynamics body associated with this object (if any) - dxGeom *body_next; // next geom in body's linked list of associated geoms - dxPosR *final_posr; // final position of the geom in world coordinates - dxPosR *offset_posr; // offset from body in local coordinates - - // information used by spaces - dxGeom *next; // next geom in linked list of geoms - dxGeom **tome; // linked list backpointer - dxSpace *parent_space;// the space this geom is contained in, 0 if none - dReal aabb[6]; // cached AABB for this space - unsigned long category_bits,collide_bits; - - dxGeom (dSpaceID _space, int is_placeable); - virtual ~dxGeom(); - - - // calculate our new final position from our offset and body - void computePosr(); - - // recalculate our new final position if needed - void recomputePosr() - { - if (gflags & GEOM_POSR_BAD) { - computePosr(); - gflags &= ~GEOM_POSR_BAD; - } - } - - virtual void computeAABB()=0; - // compute the AABB for this object and put it in aabb. this function - // always performs a fresh computation, it does not inspect the - // GEOM_AABB_BAD flag. - - virtual int AABBTest (dxGeom *o, dReal aabb[6]); - // test whether the given AABB object intersects with this object, return - // 1=yes, 0=no. this is used as an early-exit test in the space collision - // functions. the default implementation returns 1, which is the correct - // behavior if no more detailed implementation can be provided. - - // utility functions - - // compute the AABB only if it is not current. this function manipulates - // the GEOM_AABB_BAD flag. - - void recomputeAABB() { - if (gflags & GEOM_AABB_BAD) { - // our aabb functions assume final_posr is up to date - recomputePosr(); - computeAABB(); - gflags &= ~GEOM_AABB_BAD; - } - } - - // add and remove this geom from a linked list maintained by a space. - - void spaceAdd (dxGeom **first_ptr) { - next = *first_ptr; - tome = first_ptr; - if (*first_ptr) (*first_ptr)->tome = &next; - *first_ptr = this; - } - void spaceRemove() { - if (next) next->tome = tome; - *tome = next; - } - - // add and remove this geom from a linked list maintained by a body. - - void bodyAdd (dxBody *b) { - body = b; - body_next = b->geom; - b->geom = this; - } - void bodyRemove(); -}; - -//**************************************************************************** -// the base space class -// -// the contained geoms are divided into two kinds: clean and dirty. -// the clean geoms have not moved since they were put in the list, -// and their AABBs are valid. the dirty geoms have changed position, and -// their AABBs are may not be valid. the two types are distinguished by the -// GEOM_DIRTY flag. all dirty geoms come *before* all clean geoms in the list. - -struct dxSpace : public dxGeom { - int count; // number of geoms in this space - dxGeom *first; // first geom in list - int cleanup; // cleanup mode, 1=destroy geoms on exit - - // cached state for getGeom() - int current_index; // only valid if current_geom != 0 - dxGeom *current_geom; // if 0 then there is no information - - // locking stuff. the space is locked when it is currently traversing its - // internal data structures, e.g. in collide() and collide2(). operations - // that modify the contents of the space are not permitted when the space - // is locked. - int lock_count; - - dxSpace (dSpaceID _space); - ~dxSpace(); - - void computeAABB(); - - void setCleanup (int mode); - int getCleanup(); - int query (dxGeom *geom); - int getNumGeoms(); - virtual dxGeom *getGeom (int i); - - virtual void add (dxGeom *); - virtual void remove (dxGeom *); - virtual void dirty (dxGeom *); - - virtual void cleanGeoms()=0; - // turn all dirty geoms into clean geoms by computing their AABBs and any - // other space data structures that are required. this should clear the - // GEOM_DIRTY and GEOM_AABB_BAD flags of all geoms. - - virtual void collide (void *data, dNearCallback *callback)=0; - virtual void collide2 (void *data, dxGeom *geom, dNearCallback *callback)=0; -}; - - -#endif -- cgit v1.1