From f205de7847da7ae1c10212d82e7042d0100b4ce0 Mon Sep 17 00:00:00 2001
From: dan miller
Date: Fri, 19 Oct 2007 05:24:38 +0000
Subject: from the start... checking in ode-0.9

---
 libraries/ode-0.9/contrib/dRay/dRay_Box.cpp | 134 ++++++++++++++++++++++++++++
 1 file changed, 134 insertions(+)
 create mode 100644 libraries/ode-0.9/contrib/dRay/dRay_Box.cpp

(limited to 'libraries/ode-0.9/contrib/dRay/dRay_Box.cpp')

diff --git a/libraries/ode-0.9/contrib/dRay/dRay_Box.cpp b/libraries/ode-0.9/contrib/dRay/dRay_Box.cpp
new file mode 100644
index 0000000..d2a0d9c
--- /dev/null
+++ b/libraries/ode-0.9/contrib/dRay/dRay_Box.cpp
@@ -0,0 +1,134 @@
+// Ripped from Magic Software
+
+#include "Include\dRay.h"
+#include "dxRay.h"
+
+bool Clip(dReal Denom, dReal Numer, dReal& T0, dReal& T1){
+    // Return value is 'true' if line segment intersects the current test
+    // plane.  Otherwise 'false' is returned in which case the line segment
+    // is entirely clipped.
+	
+    if (Denom > REAL(0.0)){
+		if (Numer > Denom * T1){
+            return false;
+		}
+
+        if (Numer > Denom * T0){
+            T0 = Numer / Denom;
+		}
+        return true;
+    }
+    else if (Denom < REAL(0.0)){
+        if (Numer > Denom * T0){
+            return false;
+		}
+
+        if (Numer > Denom * T1){
+            T1 = Numer / Denom;
+		}
+        return true;
+    }
+    else return Numer <= REAL(0.0);
+}
+
+bool FindIntersection(const dVector3 Origin, const dVector3 Direction, const dVector3 Extents, dReal& T0, dReal& T1){
+    dReal SaveT0 = T0;
+	dReal SaveT1 = T1;
+
+    bool NotEntirelyClipped =
+        Clip(+Direction[0], -Origin[0] - Extents[0], T0, T1) &&
+        Clip(-Direction[0], +Origin[0] - Extents[0], T0, T1) &&
+        Clip(+Direction[1], -Origin[1] - Extents[1], T0, T1) &&
+        Clip(-Direction[1], +Origin[1] - Extents[1], T0, T1) &&
+        Clip(+Direction[2], -Origin[2] - Extents[2], T0, T1) &&
+        Clip(-Direction[2], +Origin[2] - Extents[2], T0, T1);
+
+    return NotEntirelyClipped && (T0 != SaveT0 || T1 != SaveT1);
+}
+
+int dCollideBR(dxGeom* RayGeom, dxGeom* BoxGeom, int Flags, dContactGeom* Contacts, int Stride){
+	const dVector3& Position = *(const dVector3*)dGeomGetPosition(BoxGeom);
+	const dMatrix3& Rotation = *(const dMatrix3*)dGeomGetRotation(BoxGeom);
+	dVector3 Extents;
+	dGeomBoxGetLengths(BoxGeom, Extents);
+	Extents[0] /= 2;
+	Extents[1] /= 2;
+	Extents[2] /= 2;
+	Extents[3] /= 2;
+
+	dVector3 Origin, Direction;
+	dGeomRayGet(RayGeom, Origin, Direction);
+	dReal Length = dGeomRayGetLength(RayGeom);
+
+	dVector3 Diff;
+	Diff[0] = Origin[0] - Position[0];
+	Diff[1] = Origin[1] - Position[1];
+	Diff[2] = Origin[2] - Position[2];
+	Diff[3] = Origin[3] - Position[3];
+
+	Direction[0] *= Length;
+	Direction[1] *= Length;
+	Direction[2] *= Length;
+	Direction[3] *= Length;
+
+	dVector3 Rot[3];
+	Decompose(Rotation, Rot);
+
+	dVector3 TransOrigin;
+	TransOrigin[0] = dDOT(Diff, Rot[0]);
+	TransOrigin[1] = dDOT(Diff, Rot[1]);
+	TransOrigin[2] = dDOT(Diff, Rot[2]);
+	TransOrigin[3] = REAL(0.0);
+
+	dVector3 TransDirection;
+	TransDirection[0] = dDOT(Direction, Rot[0]);
+	TransDirection[1] = dDOT(Direction, Rot[1]);
+	TransDirection[2] = dDOT(Direction, Rot[2]);
+	TransDirection[3] = REAL(0.0);
+
+	dReal T[2];
+	T[0] = 0.0f;
+	T[1] = dInfinity;
+
+	bool Intersect = FindIntersection(TransOrigin, TransDirection, Extents, T[0], T[1]);
+
+	if (Intersect){
+		if (T[0] > REAL(0.0)){
+			dContactGeom* Contact0 = CONTACT(Flags, Contacts, 0, Stride);
+			Contact0->pos[0] = Origin[0] + T[0] * Direction[0];
+			Contact0->pos[1] = Origin[1] + T[0] * Direction[1];
+			Contact0->pos[2] = Origin[2] + T[0] * Direction[2];
+			Contact0->pos[3] = Origin[3] + T[0] * Direction[3];
+			//Contact0->normal = 0;
+			Contact0->depth = 0.0f;
+			Contact0->g1 = RayGeom;
+			Contact0->g2 = BoxGeom;
+
+			dContactGeom* Contact1 = CONTACT(Flags, Contacts, 1, Stride);
+			Contact1->pos[0] = Origin[0] + T[1] * Direction[0];
+			Contact1->pos[1] = Origin[1] + T[1] * Direction[1];
+			Contact1->pos[2] = Origin[2] + T[1] * Direction[2];
+			Contact1->pos[3] = Origin[3] + T[1] * Direction[3];
+			//Contact1->normal = 0;
+			Contact1->depth = 0.0f;
+			Contact1->g1 = RayGeom;
+			Contact1->g2 = BoxGeom;
+
+			return 2;
+		}
+		else{
+			dContactGeom* Contact = CONTACT(Flags, Contacts, 0, Stride);
+			Contact->pos[0] = Origin[0] + T[1] * Direction[0];
+			Contact->pos[1] = Origin[1] + T[1] * Direction[1];
+			Contact->pos[2] = Origin[2] + T[1] * Direction[2];
+			Contact->pos[3] = Origin[3] + T[1] * Direction[3];
+			//Contact->normal = 0;
+			Contact->depth = 0.0f;
+			Contact->g1 = RayGeom;
+			Contact->g2 = BoxGeom;
+
+			return 1;
+		}
+	}
+	else return 0;
+}
\ No newline at end of file
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