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/*************************************************************************
* *
* 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. *
* *
*************************************************************************/
/*
standard ODE geometry primitives: public API and pairwise collision functions.
the rule is that only the low level primitive collision functions should set
dContactGeom::g1 and dContactGeom::g2.
*/
#include <ode/common.h>
#include <ode/collision.h>
#include <ode/matrix.h>
#include <ode/rotation.h>
#include <ode/odemath.h>
#include "collision_kernel.h"
#include "collision_std.h"
#include "collision_util.h"
#ifdef _MSC_VER
#pragma warning(disable:4291) // for VC++, no complaints about "no matching operator delete found"
#endif
//****************************************************************************
// plane public API
static void make_sure_plane_normal_has_unit_length (dxPlane *g)
{
dReal l = g->p[0]*g->p[0] + g->p[1]*g->p[1] + g->p[2]*g->p[2];
if (l > 0) {
l = dRecipSqrt(l);
g->p[0] *= l;
g->p[1] *= l;
g->p[2] *= l;
g->p[3] *= l;
}
else {
g->p[0] = 1;
g->p[1] = 0;
g->p[2] = 0;
g->p[3] = 0;
}
}
dxPlane::dxPlane (dSpaceID space, dReal a, dReal b, dReal c, dReal d) :
dxGeom (space,0)
{
type = dPlaneClass;
p[0] = a;
p[1] = b;
p[2] = c;
p[3] = d;
make_sure_plane_normal_has_unit_length (this);
}
void dxPlane::computeAABB()
{
aabb[0] = -dInfinity;
aabb[1] = dInfinity;
aabb[2] = -dInfinity;
aabb[3] = dInfinity;
aabb[4] = -dInfinity;
aabb[5] = dInfinity;
// Planes that have normal vectors aligned along an axis can use a
// less comprehensive (half space) bounding box.
if ( p[1] == 0.0f && p[2] == 0.0f ) {
// normal aligned with x-axis
aabb[0] = (p[0] > 0) ? -dInfinity : -p[3];
aabb[1] = (p[0] > 0) ? p[3] : dInfinity;
} else
if ( p[0] == 0.0f && p[2] == 0.0f ) {
// normal aligned with y-axis
aabb[2] = (p[1] > 0) ? -dInfinity : -p[3];
aabb[3] = (p[1] > 0) ? p[3] : dInfinity;
} else
if ( p[0] == 0.0f && p[1] == 0.0f ) {
// normal aligned with z-axis
aabb[4] = (p[2] > 0) ? -dInfinity : -p[3];
aabb[5] = (p[2] > 0) ? p[3] : dInfinity;
}
}
dGeomID dCreatePlane (dSpaceID space,
dReal a, dReal b, dReal c, dReal d)
{
return new dxPlane (space,a,b,c,d);
}
void dGeomPlaneSetParams (dGeomID g, dReal a, dReal b, dReal c, dReal d)
{
dUASSERT (g && g->type == dPlaneClass,"argument not a plane");
dxPlane *p = (dxPlane*) g;
p->p[0] = a;
p->p[1] = b;
p->p[2] = c;
p->p[3] = d;
make_sure_plane_normal_has_unit_length (p);
dGeomMoved (g);
}
void dGeomPlaneGetParams (dGeomID g, dVector4 result)
{
dUASSERT (g && g->type == dPlaneClass,"argument not a plane");
dxPlane *p = (dxPlane*) g;
result[0] = p->p[0];
result[1] = p->p[1];
result[2] = p->p[2];
result[3] = p->p[3];
}
dReal dGeomPlanePointDepth (dGeomID g, dReal x, dReal y, dReal z)
{
dUASSERT (g && g->type == dPlaneClass,"argument not a plane");
dxPlane *p = (dxPlane*) g;
return p->p[3] - p->p[0]*x - p->p[1]*y - p->p[2]*z;
}
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