G_EPSILON)\
+ {\
+ outside = 1;\
+ }\
+ else\
+ {\
+ outside = 0;\
+ }\
+ }\
+}\
+
+//! Finds the collision of a ray and a triangle.
+#define RAY_TRIANGLE_INTERSECTION(vOrigin,vDir,vec1,vec2,vec3,tri_plane,pout,u,v,tparam,tmax,does_intersect)\
+{\
+ RAY_PLANE_COLLISION(tri_plane,vDir,vOrigin,pout,tparam,does_intersect);\
+ if(does_intersect != 0)\
+ {\
+ if(tparam<-G_EPSILON||tparam>tmax+G_EPSILON)\
+ {\
+ does_intersect = 0;\
+ }\
+ else\
+ {\
+ TRIANGLE_GET_UVPARAMETERS(pout,vec1,vec2,vec3,tri_plane,u,v,does_intersect);\
+ does_intersect = !does_intersect;\
+ }\
+ }\
+}\
+
+
+//! @}
+
+#endif // GIM_TRI_COLLISION_H_INCLUDED
diff --git a/libraries/ode-0.9/GIMPACT/include/GIMPACT/gim_tri_sphere_collision.h b/libraries/ode-0.9/GIMPACT/include/GIMPACT/gim_tri_sphere_collision.h
new file mode 100644
index 0000000..a2a81d6
--- /dev/null
+++ b/libraries/ode-0.9/GIMPACT/include/GIMPACT/gim_tri_sphere_collision.h
@@ -0,0 +1,51 @@
+#ifndef GIM_TRI_SPHERE_COLLISION_H_INCLUDED
+#define GIM_TRI_SPHERE_COLLISION_H_INCLUDED
+
+/*! \file gim_tri_sphere_collision.h
+\author Francisco León
+*/
+/*
+-----------------------------------------------------------------------------
+This source file is part of GIMPACT Library.
+
+For the latest info, see http://gimpact.sourceforge.net/
+
+Copyright (c) 2006 Francisco Leon. C.C. 80087371.
+email: projectileman@yahoo.com
+
+ 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 GIMPACT-LICENSE-LGPL.TXT.
+ (2) The BSD-style license that is included with this library in
+ the file GIMPACT-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
+ GIMPACT-LICENSE-LGPL.TXT and GIMPACT-LICENSE-BSD.TXT for more details.
+
+-----------------------------------------------------------------------------
+*/
+
+/*! \addtogroup GEOMETRIC_OPERATIONS
+*/
+//! @{
+
+//! Finds the contact points from a collision of a triangle and a sphere
+/*!
+\param tri
+\param center
+\param radius
+\param contact_data Contains the closest points on the Sphere, and the normal is pointing to triangle
+*/
+int gim_triangle_sphere_collision(
+ GIM_TRIANGLE_DATA *tri,
+ vec3f center, GREAL radius,
+ GIM_TRIANGLE_CONTACT_DATA * contact_data);
+
+//! @}
+#endif // GIM_TRI_SPHERE_COLLISION_H_INCLUDED
diff --git a/libraries/ode-0.9/GIMPACT/include/GIMPACT/gim_trimesh.h b/libraries/ode-0.9/GIMPACT/include/GIMPACT/gim_trimesh.h
new file mode 100644
index 0000000..b1cdf7f
--- /dev/null
+++ b/libraries/ode-0.9/GIMPACT/include/GIMPACT/gim_trimesh.h
@@ -0,0 +1,539 @@
+#ifndef GIM_TRIMESH_H_INCLUDED
+#define GIM_TRIMESH_H_INCLUDED
+/*! \file gim_trimesh.h
+\author Francisco León
+*/
+/*
+-----------------------------------------------------------------------------
+This source file is part of GIMPACT Library.
+
+For the latest info, see http://gimpact.sourceforge.net/
+
+Copyright (c) 2006 Francisco Leon. C.C. 80087371.
+email: projectileman@yahoo.com
+
+ 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 GIMPACT-LICENSE-LGPL.TXT.
+ (2) The BSD-style license that is included with this library in
+ the file GIMPACT-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
+ GIMPACT-LICENSE-LGPL.TXT and GIMPACT-LICENSE-BSD.TXT for more details.
+
+-----------------------------------------------------------------------------
+*/
+
+#include "GIMPACT/gim_boxpruning.h"
+#include "GIMPACT/gim_contact.h"
+
+
+///MAsk defines
+#define GIM_TRIMESH_TRANSFORMED_REPLY 1
+#define GIM_TRIMESH_NEED_UPDATE 2
+
+/*! \addtogroup TRIMESH
+\brief
+A Trimesh is the basic geometric structure for representing solid objects.
+CREATING TRIMESHES
+
+- For creating trimeshes, you must initialize Buffer managers by calling \ref gimpact_init
+
- Then you must define the vertex and index sources by creating them with \ref BUFFER_ARRAYS routines, and then call \ref gim_trimesh_create_from_arrays.
+
- An alternative way for creaing trimesh objects is calling \ref gim_trimesh_create_from_data.
+
- For access to the trimesh data (vertices, triangle indices), you must call \ref gim_trimesh_locks_work_data , and \ref gim_trimesh_unlocks_work_data for finish the access.
+
- Each time when the trimesh data is modified, you must call \ref gim_trimesh_update after.
+
- When a trimesh is no longer needed, you must call \ref gim_trimesh_destroy.
+
+
+This is an example of how to create a deformable trimesh that shares vertices with the user application:
+\code
+//Declaration of vertices
+vec3f trimeshvertices[200];
+//Declaration of indices
+GUINT trimeshindices[100];
+
+... Initializing vertices and triangle indices at beginning
+
+//Then create trimesh
+GIM_TRIMESH mytrimesh;
+
+//Calling trimesh create function
+
+gim_trimesh_create_from_data(
+&mytrimesh,
+trimeshvertices,200,
+0 ,//copy_vertices is 0
+trimeshindices,
+100,
+0, //copy_indices is 0
+0 //transformed_reply is 0
+);
+\endcode
+Note that parameter transformed_reply is 0, that means that m_transformed_vertex_buffer is a reference to m_source_vertex on the trimesh, and transformations are not avaliable. Use that configuration if you have to simulate a deformable trimesh like cloth or elastic bodies.
+When the trimesh is no longer needed, destroy it safely with gim_trimesh_destroy()
+UPDATING TRIMESHES
+On simulation loops, is needed to update trimeshes every time for update vertices althought updating triangle boxes and planes cache. There is two ways for update trimeshes:
+
+- Updating vertices directly. You need to access to the \ref GIM_TRIMESH.m_source_vertex_buffer member; a vertex buffer which has access to the source vertices.
+\code
+// Access to the source vertices
+gim_buffer_array_lock(&mytrimesh.m_source_vertex_buffer, G_MA_READ_WRITE);
+
+//Get a pointer to the vertex buffer
+vec3f * vertexpointer = GIM_BUFFER_ARRAY_POINTER(vec3f,mytrimesh.m_source_vertex_buffer,0);
+
+//Get the amount of vertices
+int veccount = mytrimesh.m_source_vertex_buffer.m_element_count;
+
+//Modify vertices
+for (int i=0;itransformed_reply = 0.
+
+
+- Aplying a transformation. Simply use \ref gim_trimesh_set_tranform . Remember that with this method trimeshes must be created with \ref gim_trimesh_create_from_data with parameter transformed_reply = 1.
+
+ After updating vertices, you must call \ref gim_trimesh_update()
+TRIMESHES COLLISION
+Before collide trimeshes, you need to update them first.
+Then you must use \ref gim_trimesh_trimesh_collision().
+
+*/
+//! @{
+
+//! Prototype for updating vertices
+typedef void * gim_update_trimesh_function(struct _GIM_TRIMESH *);
+
+//! Trimesh
+struct GIM_TRIMESH
+{
+ ///Original
+ //@{
+ GBUFFER_ARRAY m_source_vertex_buffer;//!< Buffer of vec3f coordinates
+
+ //! (GUINT) Indices of triangles,groups of three elements.
+ /*!
+ Array of GUINT. Triangle indices. Each triple contains indices of the vertices for each triangle.
+ \invariant must be aligned
+ */
+ GBUFFER_ARRAY m_tri_index_buffer;
+ //@}
+ ///Allocated
+ //@{
+ char m_mask;//!< Don't use directly
+
+ //! Allocated transformed vertices vec3f
+ /*!
+ Array of vec3f.If gim_trimesh_has_tranformed_reply(this) == 1 then it refers to the m_source_vertex_buffer
+ \invariant must be aligned
+ */
+ GBUFFER_ARRAY m_transformed_vertex_buffer;
+ //@}
+ ///Auxiliary data
+ //@{
+ GIM_AABB_SET m_aabbset;
+ GDYNAMIC_ARRAY m_planes_cache_buffer;//! Allocated GIM_TRIPLANES_CACHE
+ GDYNAMIC_ARRAY m_planes_cache_bitset;
+ gim_update_trimesh_function * m_update_callback;//! If null, then m_transform is applied.
+ mat4f m_transform;
+ //@}
+};
+//typedef struct _GIM_TRIMESH GIM_TRIMESH;
+
+/// Info about mesh
+//! Return the trimesh triangle count
+GUINT gim_trimesh_get_triangle_count(GIM_TRIMESH * trimesh);
+
+//! Returns 1 if the m_transformed_vertex_buffer is a reply of m_source_vertex_buffer
+char gim_trimesh_has_tranformed_reply(GIM_TRIMESH * trimesh);
+
+//! Returns 1 if the trimesh needs to update their aabbset and the planes cache.
+char gim_trimesh_needs_update(GIM_TRIMESH * trimesh);
+
+//! Change the state of the trimesh for force it to update
+/*!
+Call it after made changes to the trimesh.
+\post gim_trimesh_need_update(trimesh) will return 1
+\sa gim_trimesh_needs_update,gim_trimesh_has_tranformed_reply
+*/
+void gim_trimesh_post_update(GIM_TRIMESH * trimesh);
+
+//! Creates the aabb set and the triangles cache
+/*!
+
+\param trimesh
+\param vertex_array
+\param triindex_array
+\param transformed_reply If 1, then the m_transformed_vertices is a reply of the source vertices. Else it just be a reference to the original array.
+\post it copies the arrays by reference, and creates the auxiliary data (m_aabbset,m_planes_cache_buffer)
+*/
+void gim_trimesh_create_from_arrays(GIM_TRIMESH * trimesh, GBUFFER_ARRAY * vertex_array, GBUFFER_ARRAY * triindex_array,char transformed_reply);
+
+
+
+//! Create a trimesh from vertex array and an index array
+/*!
+\param trimesh An uninitialized GIM_TRIMESH structure
+\param vertex_array A buffer to a vec3f array
+\param vertex_count
+\param triindex_array
+\param index_count
+\param copy_vertices If 1, it copies the source vertices in another buffer. Else (0) it constructs a reference to the data.
+\param copy_indices If 1, it copies the source vertices in another buffer. Else (0) it constructs a reference to the data.
+\param transformed_reply If 1, then the m_transformed_vertices is a reply of the source vertices. Else it just be a reference to the original array. Use 1 if you will apply transformations to the trimesh. See \ref gim_trimesh_set_tranform().
+*/
+void gim_trimesh_create_from_data(GIM_TRIMESH * trimesh, vec3f * vertex_array, GUINT vertex_count,char copy_vertices, GUINT * triindex_array, GUINT index_count,char copy_indices,char transformed_reply);
+
+//! Clears auxiliary data and releases buffer arrays
+void gim_trimesh_destroy(GIM_TRIMESH * trimesh);
+
+//! Copies two meshes
+/*!
+\param source_trimesh
+\param dest_trimesh
+\param copy_by_reference If 1, it attach a reference to the source vertices, else it copies the vertices
+\param transformed_reply If 1, transformed vertices are reply of source vertives. 1 Is recommended
+*/
+void gim_trimesh_copy(GIM_TRIMESH * source_trimesh,GIM_TRIMESH * dest_trimesh, char copy_by_reference, char transformed_reply);
+
+
+//! Locks the trimesh for working with it
+/*!
+\post locks m_tri_index_buffer and m_transformed_vertex_buffer.
+\param trimesh
+*/
+void gim_trimesh_locks_work_data(GIM_TRIMESH * trimesh);
+
+
+//! unlocks the trimesh
+/*!
+\post unlocks m_tri_index_buffer and m_transformed_vertex_buffer.
+\param trimesh
+*/
+void gim_trimesh_unlocks_work_data(GIM_TRIMESH * trimesh);
+
+//! Updates m_transformed_vertex_buffer
+/*!
+\pre m_transformed_vertex_buffer must be unlocked
+*/
+void gim_trimesh_update_vertices(GIM_TRIMESH * trimesh);
+
+//! Updates m_aabbset and m_planes_cache_bitset
+/*!
+\pre gim_trimesh_locks_work_data must be called before
+*/
+void gim_trimesh_update_aabbset(GIM_TRIMESH * trimesh);
+
+//! Calls before perfom collisions. Updates the trimesh if needed
+/*!
+\post If gim_trimesh_needs_update returns 1, then it calls gim_trimesh_update_vertices and gim_trimesh_update_aabbset
+*/
+void gim_trimesh_update(GIM_TRIMESH * trimesh);
+
+//! Set the transform of a trimesh
+/*!
+\post This function calls to gim_trimesh_post_update
+*/
+void gim_trimesh_set_tranform(GIM_TRIMESH * trimesh, mat4f transform);
+
+//! Fetch triangle data
+/*!
+\pre gim_trimesh_locks_work_data must be called before
+*/
+void gim_trimesh_get_triangle_data(GIM_TRIMESH * trimesh, GUINT triangle_index, GIM_TRIANGLE_DATA * tri_data);
+
+//! Fetch triangle vertices
+/*!
+\pre gim_trimesh_locks_work_data must be called before
+*/
+void gim_trimesh_get_triangle_vertices(GIM_TRIMESH * trimesh, GUINT triangle_index, vec3f v1,vec3f v2,vec3f v3);
+
+//! Trimesh Trimesh Collisions
+/*!
+Before use this function you must update each trimesh:
+\code
+gim_trimesh_update(TriMesh1);
+gim_trimesh_update(TriMesh2);
+\endcode
+Then you must use the trimesh collision in this way:
+\code
+int collide_trimeshes(GIM_TRIMESH * TriMesh1, GIM_TRIMESH * TriMesh2)
+{
+ //Create contact list
+ GDYNAMIC_ARRAY trimeshcontacts;
+ GIM_CREATE_CONTACT_LIST(trimeshcontacts);
+
+ //Collide trimeshes
+ gim_trimesh_trimesh_collision(TriMesh1,TriMesh2,&trimeshcontacts);
+
+ if(trimeshcontacts.m_size == 0) //do nothing
+ {
+ GIM_DYNARRAY_DESTROY(trimeshcontacts);//clean contact array
+ return 0;
+ }
+
+ //Getting a pointer to the contact array
+ GIM_CONTACT * ptrimeshcontacts = GIM_DYNARRAY_POINTER(GIM_CONTACT,trimeshcontacts);
+
+ int contactcount = trimeshcontacts.m_size;
+ int i;
+ //Process contacts
+ for (i=0;i
+ m_handle1 points to trimesh1.
+ m_handle2 points to trimesh2.
+ m_feature1 Is a triangle index of trimesh1.
+ m_feature2 Is a triangle index of trimesh2.
+
+
+\param trimesh1 Collider
+\param trimesh2 Collidee
+\param contacts A GIM_CONTACT array. Must be initialized
+*/
+void gim_trimesh_trimesh_collision(GIM_TRIMESH * trimesh1, GIM_TRIMESH * trimesh2, GDYNAMIC_ARRAY * contacts);
+
+
+//! Trimesh Sphere Collisions
+/*!
+Before use this function you must update the trimesh:
+\code
+gim_trimesh_update(trimesh);
+\endcode
+Then you must use this function in this way:
+\code
+int collide_trimesh_sphere(GIM_TRIMESH * trimesh, vec3f center,GREAL radius)
+{
+ //Create contact list
+ GDYNAMIC_ARRAY trimeshcontacts;
+ GIM_CREATE_CONTACT_LIST(trimeshcontacts);
+
+ //Collide trimeshes
+ gim_trimesh_sphere_collision(trimesh,center,radius,&trimeshcontacts);
+
+ if(trimeshcontacts.m_size == 0) //do nothing
+ {
+ GIM_DYNARRAY_DESTROY(trimeshcontacts);//clean contact array
+ return 0;
+ }
+
+ //Getting a pointer to the contact array
+ GIM_CONTACT * ptrimeshcontacts = GIM_DYNARRAY_POINTER(GIM_CONTACT,trimeshcontacts);
+
+ int contactcount = trimeshcontacts.m_size;
+ int i;
+ //Process contacts
+ for (i=0;i
+ m_handle1 points to trimesh.
+ m_handle2 points to NULL.
+ m_feature1 Is a triangle index of trimesh.
+
+
+\param trimesh
+\param center
+\param radius
+\param contacts A GIM_CONTACT array. Must be initialized
+*/
+void gim_trimesh_sphere_collision(GIM_TRIMESH * trimesh,vec3f center,GREAL radius, GDYNAMIC_ARRAY * contacts);
+
+
+//! Trimesh Capsule collision
+/*!
+Find the closest primitive collided by the ray.
+
+Before use this function you must update the trimesh:
+\code
+gim_trimesh_update(trimesh);
+\endcode
+Then you must use this function in this way:
+\code
+int collide_trimesh_capsule(GIM_TRIMESH * trimesh, GIM_CAPSULE_DATA * capsule)
+{
+ //Create contact list
+ GDYNAMIC_ARRAY trimeshcontacts;
+ GIM_CREATE_CONTACT_LIST(trimeshcontacts);
+
+ //Collide trimeshes
+ gim_trimesh_capsule_collision(trimesh,capsule,&trimeshcontacts);
+
+ if(trimeshcontacts.m_size == 0) //do nothing
+ {
+ GIM_DYNARRAY_DESTROY(trimeshcontacts);//clean contact array
+ return 0;
+ }
+
+ //Getting a pointer to the contact array
+ GIM_CONTACT * ptrimeshcontacts = GIM_DYNARRAY_POINTER(GIM_CONTACT,trimeshcontacts);
+
+ int contactcount = trimeshcontacts.m_size;
+ int i;
+ //Process contacts
+ for (i=0;i
+ m_handle1 points to trimesh.
+ m_handle2 points to NULL.
+ m_feature1 Is a triangle index of trimesh.
+
+
+\param trimesh
+\param capsule
+\param contacts A GIM_CONTACT array. Must be initialized
+*/
+void gim_trimesh_capsule_collision(GIM_TRIMESH * trimesh, GIM_CAPSULE_DATA * capsule, GDYNAMIC_ARRAY * contacts);
+
+
+///Function for create Trimesh Plane collision result
+#define GIM_CREATE_TRIMESHPLANE_CONTACTS(dynarray) GIM_DYNARRAY_CREATE(vec4f,dynarray,G_ARRAY_GROW_SIZE)
+
+//! Trimesh Plane Collisions
+/*!
+
+Before use this function you must update the trimesh:
+\code
+gim_trimesh_update(trimesh);
+\endcode
+Then you must use this function in this way:
+\code
+int collide_trimesh_plane(GIM_TRIMESH * trimesh, vec4f plane)
+{
+ //Create contact list
+ GDYNAMIC_ARRAY tri_plane_contacts;
+ GIM_CREATE_TRIMESHPLANE_CONTACTS(tri_plane_contacts);
+
+ //Collide trimeshes
+ gim_trimesh_plane_collision(trimesh,plane,&tri_plane_contacts);
+
+ if(tri_plane_contacts.m_size == 0) //do nothing
+ {
+ GIM_DYNARRAY_DESTROY(tri_plane_contacts);//clean contact array
+ return 0;
+ }
+
+ //Getting a pointer to the contact array
+ vec4f * planecontacts = GIM_DYNARRAY_POINTER(vec4f,tri_plane_contacts);
+
+ int contactcount = tri_plane_contacts.m_size;
+ int i;
+ //Process contacts
+ for (i=0;i