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
deleted file mode 100644
index a2a81d6..0000000
--- a/libraries/ode-0.9/GIMPACT/include/GIMPACT/gim_tri_sphere_collision.h
+++ /dev/null
@@ -1,51 +0,0 @@
-#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
deleted file mode 100644
index b1cdf7f..0000000
--- a/libraries/ode-0.9/GIMPACT/include/GIMPACT/gim_trimesh.h
+++ /dev/null
@@ -1,539 +0,0 @@
-#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