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34
Extras/ode/LICENSE-BSD.TXT
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34
Extras/ode/LICENSE-BSD.TXT
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|
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|
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This is the BSD-style license for the Open Dynamics Engine
|
||||
----------------------------------------------------------
|
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|
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Open Dynamics Engine
|
||||
Copyright (c) 2001-2004, Russell L. Smith.
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All rights reserved.
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Redistribution and use in source and binary forms, with or without
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modification, are permitted provided that the following conditions
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are met:
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Redistributions of source code must retain the above copyright notice,
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this list of conditions and the following disclaimer.
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Redistributions in binary form must reproduce the above copyright notice,
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this list of conditions and the following disclaimer in the documentation
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and/or other materials provided with the distribution.
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Neither the names of ODE's copyright owner nor the names of its
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contributors may be used to endorse or promote products derived from
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this software without specific prior written permission.
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THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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"AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT
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OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
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SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED
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LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING
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NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
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SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
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502
Extras/ode/LICENSE.TXT
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502
Extras/ode/LICENSE.TXT
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GNU LESSER GENERAL PUBLIC LICENSE
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Version 2.1, February 1999
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Copyright (C) 1991, 1999 Free Software Foundation, Inc.
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59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
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Everyone is permitted to copy and distribute verbatim copies
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[This is the first released version of the Lesser GPL. It also counts
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the version number 2.1.]
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Preamble
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|
||||
such claims; this section has the sole purpose of protecting the
|
||||
integrity of the free software distribution system which is
|
||||
implemented by public license practices. Many people have made
|
||||
generous contributions to the wide range of software distributed
|
||||
through that system in reliance on consistent application of that
|
||||
system; it is up to the author/donor to decide if he or she is willing
|
||||
to distribute software through any other system and a licensee cannot
|
||||
impose that choice.
|
||||
|
||||
This section is intended to make thoroughly clear what is believed to
|
||||
be a consequence of the rest of this License.
|
||||
|
||||
12. If the distribution and/or use of the Library is restricted in
|
||||
certain countries either by patents or by copyrighted interfaces, the
|
||||
original copyright holder who places the Library under this License may add
|
||||
an explicit geographical distribution limitation excluding those countries,
|
||||
so that distribution is permitted only in or among countries not thus
|
||||
excluded. In such case, this License incorporates the limitation as if
|
||||
written in the body of this License.
|
||||
|
||||
13. The Free Software Foundation may publish revised and/or new
|
||||
versions of the Lesser General Public License from time to time.
|
||||
Such new versions will be similar in spirit to the present version,
|
||||
but may differ in detail to address new problems or concerns.
|
||||
|
||||
Each version is given a distinguishing version number. If the Library
|
||||
specifies a version number of this License which applies to it and
|
||||
"any later version", you have the option of following the terms and
|
||||
conditions either of that version or of any later version published by
|
||||
the Free Software Foundation. If the Library does not specify a
|
||||
license version number, you may choose any version ever published by
|
||||
the Free Software Foundation.
|
||||
|
||||
14. If you wish to incorporate parts of the Library into other free
|
||||
programs whose distribution conditions are incompatible with these,
|
||||
write to the author to ask for permission. For software which is
|
||||
copyrighted by the Free Software Foundation, write to the Free
|
||||
Software Foundation; we sometimes make exceptions for this. Our
|
||||
decision will be guided by the two goals of preserving the free status
|
||||
of all derivatives of our free software and of promoting the sharing
|
||||
and reuse of software generally.
|
||||
|
||||
NO WARRANTY
|
||||
|
||||
15. BECAUSE THE LIBRARY IS LICENSED FREE OF CHARGE, THERE IS NO
|
||||
WARRANTY FOR THE LIBRARY, TO THE EXTENT PERMITTED BY APPLICABLE LAW.
|
||||
EXCEPT WHEN OTHERWISE STATED IN WRITING THE COPYRIGHT HOLDERS AND/OR
|
||||
OTHER PARTIES PROVIDE THE LIBRARY "AS IS" WITHOUT WARRANTY OF ANY
|
||||
KIND, EITHER EXPRESSED OR IMPLIED, INCLUDING, BUT NOT LIMITED TO, THE
|
||||
IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR
|
||||
PURPOSE. THE ENTIRE RISK AS TO THE QUALITY AND PERFORMANCE OF THE
|
||||
LIBRARY IS WITH YOU. SHOULD THE LIBRARY PROVE DEFECTIVE, YOU ASSUME
|
||||
THE COST OF ALL NECESSARY SERVICING, REPAIR OR CORRECTION.
|
||||
|
||||
16. IN NO EVENT UNLESS REQUIRED BY APPLICABLE LAW OR AGREED TO IN
|
||||
WRITING WILL ANY COPYRIGHT HOLDER, OR ANY OTHER PARTY WHO MAY MODIFY
|
||||
AND/OR REDISTRIBUTE THE LIBRARY AS PERMITTED ABOVE, BE LIABLE TO YOU
|
||||
FOR DAMAGES, INCLUDING ANY GENERAL, SPECIAL, INCIDENTAL OR
|
||||
CONSEQUENTIAL DAMAGES ARISING OUT OF THE USE OR INABILITY TO USE THE
|
||||
LIBRARY (INCLUDING BUT NOT LIMITED TO LOSS OF DATA OR DATA BEING
|
||||
RENDERED INACCURATE OR LOSSES SUSTAINED BY YOU OR THIRD PARTIES OR A
|
||||
FAILURE OF THE LIBRARY TO OPERATE WITH ANY OTHER SOFTWARE), EVEN IF
|
||||
SUCH HOLDER OR OTHER PARTY HAS BEEN ADVISED OF THE POSSIBILITY OF SUCH
|
||||
DAMAGES.
|
||||
|
||||
END OF TERMS AND CONDITIONS
|
||||
|
||||
How to Apply These Terms to Your New Libraries
|
||||
|
||||
If you develop a new library, and you want it to be of the greatest
|
||||
possible use to the public, we recommend making it free software that
|
||||
everyone can redistribute and change. You can do so by permitting
|
||||
redistribution under these terms (or, alternatively, under the terms of the
|
||||
ordinary General Public License).
|
||||
|
||||
To apply these terms, attach the following notices to the library. It is
|
||||
safest to attach them to the start of each source file to most effectively
|
||||
convey the exclusion of warranty; and each file should have at least the
|
||||
"copyright" line and a pointer to where the full notice is found.
|
||||
|
||||
<one line to give the library's name and a brief idea of what it does.>
|
||||
Copyright (C) <year> <name of author>
|
||||
|
||||
This library is free software; you can redistribute it and/or
|
||||
modify it under the terms of 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.
|
||||
|
||||
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 GNU
|
||||
Lesser General Public License for more details.
|
||||
|
||||
You should have received a copy of the GNU Lesser General Public
|
||||
License along with this library; if not, write to the Free Software
|
||||
Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
|
||||
|
||||
Also add information on how to contact you by electronic and paper mail.
|
||||
|
||||
You should also get your employer (if you work as a programmer) or your
|
||||
school, if any, to sign a "copyright disclaimer" for the library, if
|
||||
necessary. Here is a sample; alter the names:
|
||||
|
||||
Yoyodyne, Inc., hereby disclaims all copyright interest in the
|
||||
library `Frob' (a library for tweaking knobs) written by James Random Hacker.
|
||||
|
||||
<signature of Ty Coon>, 1 April 1990
|
||||
Ty Coon, President of Vice
|
||||
|
||||
That's all there is to it!
|
||||
204
Extras/ode/VC6/Samples/DrawStuff.dsp
Normal file
204
Extras/ode/VC6/Samples/DrawStuff.dsp
Normal file
@@ -0,0 +1,204 @@
|
||||
# Microsoft Developer Studio Project File - Name="DrawStuff" - Package Owner=<4>
|
||||
|
||||
# Microsoft Developer Studio Generated Build File, Format Version 6.00
|
||||
|
||||
# ** DO NOT EDIT **
|
||||
|
||||
|
||||
|
||||
# TARGTYPE "Win32 (x86) Static Library" 0x0104
|
||||
|
||||
|
||||
|
||||
CFG=DrawStuff - Win32 Debug
|
||||
|
||||
!MESSAGE This is not a valid makefile. To build this project using NMAKE,
|
||||
|
||||
!MESSAGE use the Export Makefile command and run
|
||||
|
||||
!MESSAGE
|
||||
|
||||
!MESSAGE NMAKE /f "DrawStuff.mak".
|
||||
|
||||
!MESSAGE
|
||||
|
||||
!MESSAGE You can specify a configuration when running NMAKE
|
||||
|
||||
!MESSAGE by defining the macro CFG on the command line. For example:
|
||||
|
||||
!MESSAGE
|
||||
|
||||
!MESSAGE NMAKE /f "DrawStuff.mak" CFG="DrawStuff - Win32 Debug"
|
||||
|
||||
!MESSAGE
|
||||
|
||||
!MESSAGE Possible choices for configuration are:
|
||||
|
||||
!MESSAGE
|
||||
|
||||
!MESSAGE "DrawStuff - Win32 Release" (based on "Win32 (x86) Static Library")
|
||||
|
||||
!MESSAGE "DrawStuff - Win32 Debug" (based on "Win32 (x86) Static Library")
|
||||
|
||||
!MESSAGE
|
||||
|
||||
|
||||
|
||||
# Begin Project
|
||||
|
||||
# PROP AllowPerConfigDependencies 0
|
||||
|
||||
# PROP Scc_ProjName ""
|
||||
|
||||
# PROP Scc_LocalPath ""
|
||||
|
||||
CPP=cl.exe
|
||||
|
||||
RSC=rc.exe
|
||||
|
||||
|
||||
|
||||
!IF "$(CFG)" == "DrawStuff - Win32 Release"
|
||||
|
||||
|
||||
|
||||
# PROP BASE Use_MFC 0
|
||||
|
||||
# PROP BASE Use_Debug_Libraries 0
|
||||
|
||||
# PROP Use_MFC 0
|
||||
|
||||
# PROP Use_Debug_Libraries 0
|
||||
|
||||
# PROP Output_Dir "DrawStuff_Release"
|
||||
|
||||
# PROP Intermediate_Dir "DrawStuff_Release\Int"
|
||||
|
||||
# PROP Target_Dir ""
|
||||
|
||||
# ADD BASE CPP /nologo /W3 /GX /O2 /D "WIN32" /D "NDEBUG" /D "_MBCS" /D "_LIB" /YX /FD /c
|
||||
|
||||
# ADD CPP /nologo /MD /W2 /GX /O2 /I "..\..\include" /D "WIN32" /D "NDEBUG" /D "_MBCS" /D "_LIB" /YX /FD /c
|
||||
|
||||
# ADD BASE RSC /l 0x409 /d "NDEBUG"
|
||||
|
||||
# ADD RSC /l 0x409 /d "NDEBUG"
|
||||
|
||||
BSC32=bscmake.exe
|
||||
|
||||
# ADD BASE BSC32 /nologo
|
||||
|
||||
# ADD BSC32 /nologo
|
||||
|
||||
LIB32=link.exe -lib
|
||||
|
||||
# ADD BASE LIB32 /nologo
|
||||
|
||||
# ADD LIB32 /nologo /out:"..\..\..\..\lib\DrawStuff.lib"
|
||||
|
||||
|
||||
|
||||
!ELSEIF "$(CFG)" == "DrawStuff - Win32 Debug"
|
||||
|
||||
|
||||
|
||||
# PROP BASE Use_MFC 0
|
||||
|
||||
# PROP BASE Use_Debug_Libraries 1
|
||||
|
||||
# PROP Use_MFC 0
|
||||
|
||||
# PROP Use_Debug_Libraries 1
|
||||
|
||||
# PROP Output_Dir "DrawStuff_Debug"
|
||||
|
||||
# PROP Intermediate_Dir "DrawStuff_Debug\Int"
|
||||
|
||||
# PROP Target_Dir ""
|
||||
|
||||
# ADD BASE CPP /nologo /W3 /Gm /GX /ZI /Od /D "WIN32" /D "_DEBUG" /D "_MBCS" /D "_LIB" /YX /FD /GZ /c
|
||||
|
||||
# ADD CPP /nologo /MDd /W2 /Gm /GX /ZI /Od /I "..\..\include" /D "WIN32" /D "_DEBUG" /D "_MBCS" /D "_LIB" /FR /YX /FD /GZ /c
|
||||
|
||||
# ADD BASE RSC /l 0x409 /d "_DEBUG"
|
||||
|
||||
# ADD RSC /l 0x409 /d "_DEBUG"
|
||||
|
||||
BSC32=bscmake.exe
|
||||
|
||||
# ADD BASE BSC32 /nologo
|
||||
|
||||
# ADD BSC32 /nologo
|
||||
|
||||
LIB32=link.exe -lib
|
||||
|
||||
# ADD BASE LIB32 /nologo
|
||||
|
||||
# ADD LIB32 /nologo /out:"..\..\..\..\lib\DrawStuffd.lib"
|
||||
|
||||
|
||||
|
||||
!ENDIF
|
||||
|
||||
|
||||
|
||||
# Begin Target
|
||||
|
||||
|
||||
|
||||
# Name "DrawStuff - Win32 Release"
|
||||
|
||||
# Name "DrawStuff - Win32 Debug"
|
||||
|
||||
# Begin Group "Source Files"
|
||||
|
||||
|
||||
|
||||
# PROP Default_Filter "cpp;c;cxx;rc;def;r;odl;idl;hpj;bat"
|
||||
|
||||
# Begin Source File
|
||||
|
||||
|
||||
|
||||
SOURCE=..\..\drawstuff\src\drawstuff.cpp
|
||||
|
||||
# End Source File
|
||||
|
||||
# Begin Source File
|
||||
|
||||
|
||||
|
||||
SOURCE=..\..\drawstuff\src\resources.rc
|
||||
|
||||
# End Source File
|
||||
|
||||
# Begin Source File
|
||||
|
||||
|
||||
|
||||
SOURCE=..\..\drawstuff\src\windows.cpp
|
||||
|
||||
# End Source File
|
||||
|
||||
# End Group
|
||||
|
||||
# Begin Group "Header Files"
|
||||
|
||||
|
||||
|
||||
# PROP Default_Filter "h"
|
||||
|
||||
# Begin Source File
|
||||
|
||||
|
||||
|
||||
SOURCE=..\..\drawstuff\src\internal.h
|
||||
|
||||
# End Source File
|
||||
|
||||
# End Group
|
||||
|
||||
# End Target
|
||||
|
||||
# End Project
|
||||
|
||||
194
Extras/ode/VC6/Samples/DrawStuff.vcproj
Normal file
194
Extras/ode/VC6/Samples/DrawStuff.vcproj
Normal file
@@ -0,0 +1,194 @@
|
||||
<?xml version="1.0" encoding="shift_jis"?>
|
||||
<VisualStudioProject
|
||||
ProjectType="Visual C++"
|
||||
Version="7.10"
|
||||
Name="DrawStuff"
|
||||
SccProjectName=""
|
||||
SccLocalPath="">
|
||||
<Platforms>
|
||||
<Platform
|
||||
Name="Win32"/>
|
||||
</Platforms>
|
||||
<Configurations>
|
||||
<Configuration
|
||||
Name="Release|Win32"
|
||||
OutputDirectory=".\DrawStuff_Release"
|
||||
IntermediateDirectory=".\DrawStuff_Release\Int"
|
||||
ConfigurationType="4"
|
||||
UseOfMFC="0"
|
||||
ATLMinimizesCRunTimeLibraryUsage="FALSE"
|
||||
CharacterSet="2">
|
||||
<Tool
|
||||
Name="VCCLCompilerTool"
|
||||
Optimization="2"
|
||||
InlineFunctionExpansion="1"
|
||||
AdditionalIncludeDirectories="..\..\include"
|
||||
PreprocessorDefinitions="WIN32;NDEBUG;_LIB"
|
||||
StringPooling="TRUE"
|
||||
RuntimeLibrary="2"
|
||||
EnableFunctionLevelLinking="TRUE"
|
||||
UsePrecompiledHeader="2"
|
||||
PrecompiledHeaderFile=".\DrawStuff_Release\Int/DrawStuff.pch"
|
||||
AssemblerListingLocation=".\DrawStuff_Release\Int/"
|
||||
ObjectFile=".\DrawStuff_Release\Int/"
|
||||
ProgramDataBaseFileName=".\DrawStuff_Release\Int/"
|
||||
WarningLevel="2"
|
||||
SuppressStartupBanner="TRUE"
|
||||
CompileAs="0"/>
|
||||
<Tool
|
||||
Name="VCCustomBuildTool"/>
|
||||
<Tool
|
||||
Name="VCLibrarianTool"
|
||||
OutputFile="..\..\..\..\lib\DrawStuff.lib"
|
||||
SuppressStartupBanner="TRUE"/>
|
||||
<Tool
|
||||
Name="VCMIDLTool"/>
|
||||
<Tool
|
||||
Name="VCPostBuildEventTool"/>
|
||||
<Tool
|
||||
Name="VCPreBuildEventTool"/>
|
||||
<Tool
|
||||
Name="VCPreLinkEventTool"/>
|
||||
<Tool
|
||||
Name="VCResourceCompilerTool"
|
||||
PreprocessorDefinitions="NDEBUG"
|
||||
Culture="1033"/>
|
||||
<Tool
|
||||
Name="VCWebServiceProxyGeneratorTool"/>
|
||||
<Tool
|
||||
Name="VCXMLDataGeneratorTool"/>
|
||||
<Tool
|
||||
Name="VCManagedWrapperGeneratorTool"/>
|
||||
<Tool
|
||||
Name="VCAuxiliaryManagedWrapperGeneratorTool"/>
|
||||
</Configuration>
|
||||
<Configuration
|
||||
Name="Debug|Win32"
|
||||
OutputDirectory=".\DrawStuff_Debug"
|
||||
IntermediateDirectory=".\DrawStuff_Debug\Int"
|
||||
ConfigurationType="4"
|
||||
UseOfMFC="0"
|
||||
ATLMinimizesCRunTimeLibraryUsage="FALSE"
|
||||
CharacterSet="2">
|
||||
<Tool
|
||||
Name="VCCLCompilerTool"
|
||||
Optimization="0"
|
||||
AdditionalIncludeDirectories="..\..\include"
|
||||
PreprocessorDefinitions="WIN32;_DEBUG;_LIB"
|
||||
BasicRuntimeChecks="3"
|
||||
RuntimeLibrary="3"
|
||||
UsePrecompiledHeader="2"
|
||||
PrecompiledHeaderFile=".\DrawStuff_Debug\Int/DrawStuff.pch"
|
||||
AssemblerListingLocation=".\DrawStuff_Debug\Int/"
|
||||
ObjectFile=".\DrawStuff_Debug\Int/"
|
||||
ProgramDataBaseFileName=".\DrawStuff_Debug\Int/"
|
||||
BrowseInformation="1"
|
||||
WarningLevel="2"
|
||||
SuppressStartupBanner="TRUE"
|
||||
DebugInformationFormat="4"
|
||||
CompileAs="0"/>
|
||||
<Tool
|
||||
Name="VCCustomBuildTool"/>
|
||||
<Tool
|
||||
Name="VCLibrarianTool"
|
||||
OutputFile="..\..\..\..\lib\DrawStuffd.lib"
|
||||
SuppressStartupBanner="TRUE"/>
|
||||
<Tool
|
||||
Name="VCMIDLTool"/>
|
||||
<Tool
|
||||
Name="VCPostBuildEventTool"/>
|
||||
<Tool
|
||||
Name="VCPreBuildEventTool"/>
|
||||
<Tool
|
||||
Name="VCPreLinkEventTool"/>
|
||||
<Tool
|
||||
Name="VCResourceCompilerTool"
|
||||
PreprocessorDefinitions="_DEBUG"
|
||||
Culture="1033"/>
|
||||
<Tool
|
||||
Name="VCWebServiceProxyGeneratorTool"/>
|
||||
<Tool
|
||||
Name="VCXMLDataGeneratorTool"/>
|
||||
<Tool
|
||||
Name="VCManagedWrapperGeneratorTool"/>
|
||||
<Tool
|
||||
Name="VCAuxiliaryManagedWrapperGeneratorTool"/>
|
||||
</Configuration>
|
||||
</Configurations>
|
||||
<References>
|
||||
</References>
|
||||
<Files>
|
||||
<Filter
|
||||
Name="Source Files"
|
||||
Filter="cpp;c;cxx;rc;def;r;odl;idl;hpj;bat">
|
||||
<File
|
||||
RelativePath="..\..\drawstuff\src\drawstuff.cpp">
|
||||
<FileConfiguration
|
||||
Name="Release|Win32">
|
||||
<Tool
|
||||
Name="VCCLCompilerTool"
|
||||
Optimization="2"
|
||||
AdditionalIncludeDirectories=""
|
||||
PreprocessorDefinitions=""/>
|
||||
</FileConfiguration>
|
||||
<FileConfiguration
|
||||
Name="Debug|Win32">
|
||||
<Tool
|
||||
Name="VCCLCompilerTool"
|
||||
Optimization="0"
|
||||
AdditionalIncludeDirectories=""
|
||||
PreprocessorDefinitions=""
|
||||
BasicRuntimeChecks="3"
|
||||
BrowseInformation="1"/>
|
||||
</FileConfiguration>
|
||||
</File>
|
||||
<File
|
||||
RelativePath="..\..\drawstuff\src\resources.rc">
|
||||
<FileConfiguration
|
||||
Name="Release|Win32">
|
||||
<Tool
|
||||
Name="VCResourceCompilerTool"
|
||||
PreprocessorDefinitions=""
|
||||
AdditionalIncludeDirectories="\develop\bullet\Extras\ode\drawstuff\src"/>
|
||||
</FileConfiguration>
|
||||
<FileConfiguration
|
||||
Name="Debug|Win32">
|
||||
<Tool
|
||||
Name="VCResourceCompilerTool"
|
||||
PreprocessorDefinitions=""
|
||||
AdditionalIncludeDirectories="\develop\bullet\Extras\ode\drawstuff\src"/>
|
||||
</FileConfiguration>
|
||||
</File>
|
||||
<File
|
||||
RelativePath="..\..\drawstuff\src\windows.cpp">
|
||||
<FileConfiguration
|
||||
Name="Release|Win32">
|
||||
<Tool
|
||||
Name="VCCLCompilerTool"
|
||||
Optimization="2"
|
||||
AdditionalIncludeDirectories=""
|
||||
PreprocessorDefinitions=""/>
|
||||
</FileConfiguration>
|
||||
<FileConfiguration
|
||||
Name="Debug|Win32">
|
||||
<Tool
|
||||
Name="VCCLCompilerTool"
|
||||
Optimization="0"
|
||||
AdditionalIncludeDirectories=""
|
||||
PreprocessorDefinitions=""
|
||||
BasicRuntimeChecks="3"
|
||||
BrowseInformation="1"/>
|
||||
</FileConfiguration>
|
||||
</File>
|
||||
</Filter>
|
||||
<Filter
|
||||
Name="Header Files"
|
||||
Filter="h">
|
||||
<File
|
||||
RelativePath="..\..\drawstuff\src\internal.h">
|
||||
</File>
|
||||
</Filter>
|
||||
</Files>
|
||||
<Globals>
|
||||
</Globals>
|
||||
</VisualStudioProject>
|
||||
65
Extras/ode/VC6/Samples/MakeAllTests.sln
Normal file
65
Extras/ode/VC6/Samples/MakeAllTests.sln
Normal file
@@ -0,0 +1,65 @@
|
||||
Microsoft Visual Studio Solution File, Format Version 8.00
|
||||
Project("{8BC9CEB8-8B4A-11D0-8D11-00A0C91BC942}") = "DrawStuff", "DrawStuff.vcproj", "{72D5B37B-FB7B-48A0-B4CA-EC019DEF577B}"
|
||||
ProjectSection(ProjectDependencies) = postProject
|
||||
EndProjectSection
|
||||
EndProject
|
||||
Project("{8BC9CEB8-8B4A-11D0-8D11-00A0C91BC942}") = "ode", "..\ode.vcproj", "{153C9883-E788-4FD5-A5B1-D09FEEAADFBF}"
|
||||
ProjectSection(ProjectDependencies) = postProject
|
||||
EndProjectSection
|
||||
EndProject
|
||||
Project("{8BC9CEB8-8B4A-11D0-8D11-00A0C91BC942}") = "Test_BulletBoxStack", "Test_BoxStack.vcproj", "{B1689C8C-9E82-48DE-B896-DE8DB08541B4}"
|
||||
ProjectSection(ProjectDependencies) = postProject
|
||||
{44672927-0084-4B70-8CDA-8697BF848C7F} = {44672927-0084-4B70-8CDA-8697BF848C7F}
|
||||
{90F5975E-550B-EEC8-9A8A-B8581D3FCF97} = {90F5975E-550B-EEC8-9A8A-B8581D3FCF97}
|
||||
{72D5B37B-FB7B-48A0-B4CA-EC019DEF577B} = {72D5B37B-FB7B-48A0-B4CA-EC019DEF577B}
|
||||
{153C9883-E788-4FD5-A5B1-D09FEEAADFBF} = {153C9883-E788-4FD5-A5B1-D09FEEAADFBF}
|
||||
EndProjectSection
|
||||
EndProject
|
||||
Project("{8BC9CEB8-8B4A-11D0-8D11-00A0C91BC942}") = "BulletOdeCollide", "..\..\..\BulletOdeCollide\BulletOdeCollide_vc7.vcproj", "{44672927-0084-4B70-8CDA-8697BF848C7F}"
|
||||
ProjectSection(ProjectDependencies) = postProject
|
||||
EndProjectSection
|
||||
EndProject
|
||||
Project("{8BC9CEB8-8B4A-11D0-8D11-00A0C91BC942}") = "libbullet", "..\..\..\..\msvc\71\libbullet.vcproj", "{90F5975E-550B-EEC8-9A8A-B8581D3FCF97}"
|
||||
ProjectSection(ProjectDependencies) = postProject
|
||||
EndProjectSection
|
||||
EndProject
|
||||
Global
|
||||
GlobalSection(SourceCodeControl) = preSolution
|
||||
SccNumberOfProjects = 1
|
||||
SccProjectUniqueName0 = ..\\ode.vcproj
|
||||
SccProjectName0 = \u0022$/TR4/ODE\u0022,\u0020BHKAAAAA
|
||||
SccLocalPath0 = ..\\..
|
||||
SccProvider0 = MSSCCI:ClearCase
|
||||
SccProjectFilePathRelativizedFromConnection0 = VC6\\
|
||||
EndGlobalSection
|
||||
GlobalSection(SolutionConfiguration) = preSolution
|
||||
Debug = Debug
|
||||
Release = Release
|
||||
EndGlobalSection
|
||||
GlobalSection(ProjectConfiguration) = postSolution
|
||||
{72D5B37B-FB7B-48A0-B4CA-EC019DEF577B}.Debug.ActiveCfg = Debug|Win32
|
||||
{72D5B37B-FB7B-48A0-B4CA-EC019DEF577B}.Debug.Build.0 = Debug|Win32
|
||||
{72D5B37B-FB7B-48A0-B4CA-EC019DEF577B}.Release.ActiveCfg = Release|Win32
|
||||
{72D5B37B-FB7B-48A0-B4CA-EC019DEF577B}.Release.Build.0 = Release|Win32
|
||||
{153C9883-E788-4FD5-A5B1-D09FEEAADFBF}.Debug.ActiveCfg = Debug|Win32
|
||||
{153C9883-E788-4FD5-A5B1-D09FEEAADFBF}.Debug.Build.0 = Debug|Win32
|
||||
{153C9883-E788-4FD5-A5B1-D09FEEAADFBF}.Release.ActiveCfg = Release|Win32
|
||||
{153C9883-E788-4FD5-A5B1-D09FEEAADFBF}.Release.Build.0 = Release|Win32
|
||||
{B1689C8C-9E82-48DE-B896-DE8DB08541B4}.Debug.ActiveCfg = Debug|Win32
|
||||
{B1689C8C-9E82-48DE-B896-DE8DB08541B4}.Debug.Build.0 = Debug|Win32
|
||||
{B1689C8C-9E82-48DE-B896-DE8DB08541B4}.Release.ActiveCfg = Release|Win32
|
||||
{B1689C8C-9E82-48DE-B896-DE8DB08541B4}.Release.Build.0 = Release|Win32
|
||||
{44672927-0084-4B70-8CDA-8697BF848C7F}.Debug.ActiveCfg = Debug|Win32
|
||||
{44672927-0084-4B70-8CDA-8697BF848C7F}.Debug.Build.0 = Debug|Win32
|
||||
{44672927-0084-4B70-8CDA-8697BF848C7F}.Release.ActiveCfg = Release|Win32
|
||||
{44672927-0084-4B70-8CDA-8697BF848C7F}.Release.Build.0 = Release|Win32
|
||||
{90F5975E-550B-EEC8-9A8A-B8581D3FCF97}.Debug.ActiveCfg = Debug|Win32
|
||||
{90F5975E-550B-EEC8-9A8A-B8581D3FCF97}.Debug.Build.0 = Debug|Win32
|
||||
{90F5975E-550B-EEC8-9A8A-B8581D3FCF97}.Release.ActiveCfg = Release|Win32
|
||||
{90F5975E-550B-EEC8-9A8A-B8581D3FCF97}.Release.Build.0 = Release|Win32
|
||||
EndGlobalSection
|
||||
GlobalSection(ExtensibilityGlobals) = postSolution
|
||||
EndGlobalSection
|
||||
GlobalSection(ExtensibilityAddIns) = postSolution
|
||||
EndGlobalSection
|
||||
EndGlobal
|
||||
197
Extras/ode/VC6/Samples/Test_BoxStack.vcproj
Normal file
197
Extras/ode/VC6/Samples/Test_BoxStack.vcproj
Normal file
@@ -0,0 +1,197 @@
|
||||
<?xml version="1.0" encoding="shift_jis"?>
|
||||
<VisualStudioProject
|
||||
ProjectType="Visual C++"
|
||||
Version="7.10"
|
||||
Name="Test_BulletBoxStack"
|
||||
ProjectGUID="{B1689C8C-9E82-48DE-B896-DE8DB08541B4}"
|
||||
SccProjectName=""
|
||||
SccLocalPath="">
|
||||
<Platforms>
|
||||
<Platform
|
||||
Name="Win32"/>
|
||||
</Platforms>
|
||||
<Configurations>
|
||||
<Configuration
|
||||
Name="Debug|Win32"
|
||||
OutputDirectory=".\Test_BoxStack_Debug"
|
||||
IntermediateDirectory=".\Test_BoxStack_Debug\Int"
|
||||
ConfigurationType="1"
|
||||
UseOfMFC="0"
|
||||
ATLMinimizesCRunTimeLibraryUsage="FALSE"
|
||||
CharacterSet="2">
|
||||
<Tool
|
||||
Name="VCCLCompilerTool"
|
||||
Optimization="0"
|
||||
AdditionalIncludeDirectories="..\..\include;..\..\Include;..\..\OPCODE;../../../BulletOdeCollide;../../../../Bullet;../../../../BulletDynamics;../../../../LinearMath"
|
||||
PreprocessorDefinitions="WIN32;_DEBUG;_WINDOWS;BULLET_CONVEX_SUPPORT"
|
||||
BasicRuntimeChecks="3"
|
||||
RuntimeLibrary="3"
|
||||
UsePrecompiledHeader="2"
|
||||
PrecompiledHeaderFile=".\Test_BoxStack_Debug\Int/Test_BoxStack.pch"
|
||||
AssemblerListingLocation=".\Test_BoxStack_Debug\Int/"
|
||||
ObjectFile=".\Test_BoxStack_Debug\Int/"
|
||||
ProgramDataBaseFileName=".\Test_BoxStack_Debug\Int/"
|
||||
BrowseInformation="1"
|
||||
SuppressStartupBanner="TRUE"
|
||||
DebugInformationFormat="4"
|
||||
CompileAs="0"/>
|
||||
<Tool
|
||||
Name="VCCustomBuildTool"/>
|
||||
<Tool
|
||||
Name="VCLinkerTool"
|
||||
AdditionalDependencies="oded.lib odbc32.lib odbccp32.lib opengl32.lib glu32.lib"
|
||||
OutputFile=".\Test_BoxStack_Debug/Test_BoxStack.exe"
|
||||
LinkIncremental="1"
|
||||
SuppressStartupBanner="TRUE"
|
||||
AdditionalLibraryDirectories="..\..\lib"
|
||||
GenerateDebugInformation="TRUE"
|
||||
ProgramDatabaseFile=".\Test_BoxStack_Debug/Test_BoxStack.pdb"
|
||||
SubSystem="2"
|
||||
TargetMachine="1"/>
|
||||
<Tool
|
||||
Name="VCMIDLTool"
|
||||
PreprocessorDefinitions="_DEBUG"
|
||||
MkTypLibCompatible="TRUE"
|
||||
SuppressStartupBanner="TRUE"
|
||||
TargetEnvironment="1"
|
||||
TypeLibraryName=".\Test_BoxStack_Debug/Test_BoxStack.tlb"
|
||||
HeaderFileName=""/>
|
||||
<Tool
|
||||
Name="VCPostBuildEventTool"
|
||||
Description="- Copying .exe to test dir -"
|
||||
CommandLine="copy "$(TargetPath)" ..\..\ode\test\"/>
|
||||
<Tool
|
||||
Name="VCPreBuildEventTool"/>
|
||||
<Tool
|
||||
Name="VCPreLinkEventTool"/>
|
||||
<Tool
|
||||
Name="VCResourceCompilerTool"
|
||||
PreprocessorDefinitions="_DEBUG"
|
||||
Culture="1033"/>
|
||||
<Tool
|
||||
Name="VCWebServiceProxyGeneratorTool"/>
|
||||
<Tool
|
||||
Name="VCXMLDataGeneratorTool"/>
|
||||
<Tool
|
||||
Name="VCWebDeploymentTool"/>
|
||||
<Tool
|
||||
Name="VCManagedWrapperGeneratorTool"/>
|
||||
<Tool
|
||||
Name="VCAuxiliaryManagedWrapperGeneratorTool"/>
|
||||
</Configuration>
|
||||
<Configuration
|
||||
Name="Release|Win32"
|
||||
OutputDirectory=".\Test_BoxStack_Release"
|
||||
IntermediateDirectory=".\Test_BoxStack_Release\Int"
|
||||
ConfigurationType="1"
|
||||
UseOfMFC="0"
|
||||
ATLMinimizesCRunTimeLibraryUsage="FALSE"
|
||||
CharacterSet="2">
|
||||
<Tool
|
||||
Name="VCCLCompilerTool"
|
||||
Optimization="2"
|
||||
InlineFunctionExpansion="1"
|
||||
AdditionalIncludeDirectories="..\..\include;..\..\Include;..\..\OPCODE;../../../BulletOdeCollide;../../../../Bullet;../../../../BulletDynamics;../../../../LinearMath"
|
||||
PreprocessorDefinitions="WIN32;NDEBUG;_WINDOWS;BULLET_CONVEX_SUPPORT"
|
||||
StringPooling="TRUE"
|
||||
RuntimeLibrary="2"
|
||||
EnableFunctionLevelLinking="TRUE"
|
||||
UsePrecompiledHeader="2"
|
||||
PrecompiledHeaderFile=".\Test_BoxStack_Release\Int/Test_BoxStack.pch"
|
||||
AssemblerListingLocation=".\Test_BoxStack_Release\Int/"
|
||||
ObjectFile=".\Test_BoxStack_Release\Int/"
|
||||
ProgramDataBaseFileName=".\Test_BoxStack_Release\Int/"
|
||||
SuppressStartupBanner="TRUE"
|
||||
DebugInformationFormat="3"
|
||||
CompileAs="0"/>
|
||||
<Tool
|
||||
Name="VCCustomBuildTool"/>
|
||||
<Tool
|
||||
Name="VCLinkerTool"
|
||||
AdditionalOptions="/fixed:no"
|
||||
AdditionalDependencies="odbc32.lib odbccp32.lib opengl32.lib glu32.lib"
|
||||
OutputFile=".\Test_BoxStack_Release/Test_BoxStack.exe"
|
||||
LinkIncremental="1"
|
||||
SuppressStartupBanner="TRUE"
|
||||
AdditionalLibraryDirectories="..\..\lib"
|
||||
GenerateDebugInformation="TRUE"
|
||||
ProgramDatabaseFile=".\Test_BoxStack_Release/Test_BoxStack.pdb"
|
||||
SubSystem="2"
|
||||
TargetMachine="1"/>
|
||||
<Tool
|
||||
Name="VCMIDLTool"
|
||||
PreprocessorDefinitions="NDEBUG"
|
||||
MkTypLibCompatible="TRUE"
|
||||
SuppressStartupBanner="TRUE"
|
||||
TargetEnvironment="1"
|
||||
TypeLibraryName=".\Test_BoxStack_Release/Test_BoxStack.tlb"
|
||||
HeaderFileName=""/>
|
||||
<Tool
|
||||
Name="VCPostBuildEventTool"
|
||||
Description="- Copying .exe to test dir -"
|
||||
CommandLine="copy "$(TargetPath)" ..\..\ode\test\"/>
|
||||
<Tool
|
||||
Name="VCPreBuildEventTool"/>
|
||||
<Tool
|
||||
Name="VCPreLinkEventTool"/>
|
||||
<Tool
|
||||
Name="VCResourceCompilerTool"
|
||||
PreprocessorDefinitions="NDEBUG"
|
||||
Culture="1033"/>
|
||||
<Tool
|
||||
Name="VCWebServiceProxyGeneratorTool"/>
|
||||
<Tool
|
||||
Name="VCXMLDataGeneratorTool"/>
|
||||
<Tool
|
||||
Name="VCWebDeploymentTool"/>
|
||||
<Tool
|
||||
Name="VCManagedWrapperGeneratorTool"/>
|
||||
<Tool
|
||||
Name="VCAuxiliaryManagedWrapperGeneratorTool"/>
|
||||
</Configuration>
|
||||
</Configurations>
|
||||
<References>
|
||||
</References>
|
||||
<Files>
|
||||
<Filter
|
||||
Name="Source Files"
|
||||
Filter="cpp;c;cxx;rc;def;r;odl;idl;hpj;bat">
|
||||
<File
|
||||
RelativePath="..\..\ode\test\test_convex_stack.cpp">
|
||||
</File>
|
||||
</Filter>
|
||||
<Filter
|
||||
Name="Resource Files"
|
||||
Filter="ico;cur;bmp;dlg;rc2;rct;bin;rgs;gif;jpg;jpeg;jpe">
|
||||
<File
|
||||
RelativePath="..\..\drawstuff\src\resources.rc">
|
||||
<FileConfiguration
|
||||
Name="Debug|Win32">
|
||||
<Tool
|
||||
Name="VCResourceCompilerTool"
|
||||
PreprocessorDefinitions=""
|
||||
AdditionalIncludeDirectories="\release\bullet\Extras\ode\drawstuff\src"/>
|
||||
</FileConfiguration>
|
||||
<FileConfiguration
|
||||
Name="Release|Win32">
|
||||
<Tool
|
||||
Name="VCResourceCompilerTool"
|
||||
PreprocessorDefinitions=""
|
||||
AdditionalIncludeDirectories="\release\bullet\Extras\ode\drawstuff\src"/>
|
||||
</FileConfiguration>
|
||||
</File>
|
||||
</Filter>
|
||||
<Filter
|
||||
Name="DrawStuff headers"
|
||||
Filter="">
|
||||
<File
|
||||
RelativePath="..\..\..\..\include\drawstuff\drawstuff.h">
|
||||
</File>
|
||||
</Filter>
|
||||
<File
|
||||
RelativePath=".\VTune\Test_BulletBoxStack.vpj">
|
||||
</File>
|
||||
</Files>
|
||||
<Globals>
|
||||
</Globals>
|
||||
</VisualStudioProject>
|
||||
119
Extras/ode/VC6/Samples/Test_BulletGjk.dsp
Normal file
119
Extras/ode/VC6/Samples/Test_BulletGjk.dsp
Normal file
@@ -0,0 +1,119 @@
|
||||
# Microsoft Developer Studio Project File - Name="Test_BulletGjk" - Package Owner=<4>
|
||||
# Microsoft Developer Studio Generated Build File, Format Version 6.00
|
||||
# ** DO NOT EDIT **
|
||||
|
||||
# TARGTYPE "Win32 (x86) Application" 0x0101
|
||||
|
||||
CFG=Test_BulletGjk - Win32 Debug
|
||||
!MESSAGE This is not a valid makefile. To build this project using NMAKE,
|
||||
!MESSAGE use the Export Makefile command and run
|
||||
!MESSAGE
|
||||
!MESSAGE NMAKE /f "Test_BulletGjk.mak".
|
||||
!MESSAGE
|
||||
!MESSAGE You can specify a configuration when running NMAKE
|
||||
!MESSAGE by defining the macro CFG on the command line. For example:
|
||||
!MESSAGE
|
||||
!MESSAGE NMAKE /f "Test_BulletGjk.mak" CFG="Test_BulletGjk - Win32 Debug"
|
||||
!MESSAGE
|
||||
!MESSAGE Possible choices for configuration are:
|
||||
!MESSAGE
|
||||
!MESSAGE "Test_BulletGjk - Win32 Release" (based on "Win32 (x86) Application")
|
||||
!MESSAGE "Test_BulletGjk - Win32 Debug" (based on "Win32 (x86) Application")
|
||||
!MESSAGE
|
||||
|
||||
# Begin Project
|
||||
# PROP AllowPerConfigDependencies 0
|
||||
# PROP Scc_ProjName ""
|
||||
# PROP Scc_LocalPath ""
|
||||
CPP=cl.exe
|
||||
MTL=midl.exe
|
||||
RSC=rc.exe
|
||||
|
||||
!IF "$(CFG)" == "Test_BulletGjk - Win32 Release"
|
||||
|
||||
# PROP BASE Use_MFC 0
|
||||
# PROP BASE Use_Debug_Libraries 0
|
||||
# PROP Use_MFC 0
|
||||
# PROP Use_Debug_Libraries 0
|
||||
# PROP Output_Dir "Test_BulletGjk_Release"
|
||||
# PROP Intermediate_Dir "Test_BulletGjk_Release\Int"
|
||||
# PROP Ignore_Export_Lib 0
|
||||
# ADD BASE CPP /nologo /W3 /GX /O2 /D "WIN32" /D "NDEBUG" /D "_WINDOWS" /D "_MBCS" /YX /FD /c
|
||||
# ADD CPP /nologo /MD /GX /O2 /I "..\..\include" /I "..\..\Include" /I "..\..\OPCODE" /D "WIN32" /D "NDEBUG" /D "_WINDOWS" /D "_MBCS" /YX /FD /c
|
||||
# ADD BASE MTL /nologo /D "NDEBUG" /mktyplib203 /win32
|
||||
# ADD MTL /nologo /D "NDEBUG" /mktyplib203 /win32
|
||||
# ADD BASE RSC /l 0x409 /d "NDEBUG"
|
||||
# ADD RSC /l 0x409 /d "NDEBUG"
|
||||
BSC32=bscmake.exe
|
||||
# ADD BASE BSC32 /nologo
|
||||
# ADD BSC32 /nologo
|
||||
LINK32=link.exe
|
||||
# ADD BASE LINK32 kernel32.lib user32.lib gdi32.lib winspool.lib comdlg32.lib advapi32.lib shell32.lib ole32.lib oleaut32.lib uuid.lib odbc32.lib odbccp32.lib /nologo /subsystem:windows /machine:I386
|
||||
# ADD LINK32 kernel32.lib user32.lib gdi32.lib winspool.lib comdlg32.lib advapi32.lib shell32.lib ole32.lib oleaut32.lib uuid.lib odbc32.lib odbccp32.lib opengl32.lib glu32.lib /nologo /subsystem:windows /machine:I386 /libpath:"..\..\lib"
|
||||
# Begin Special Build Tool
|
||||
TargetPath=.\Test_BulletGjk_Release\Test_BulletGjk.exe
|
||||
SOURCE="$(InputPath)"
|
||||
PostBuild_Desc=- Copying .exe to test dir -
|
||||
PostBuild_Cmds=copy $(TargetPath) ..\..\ode\test\
|
||||
# End Special Build Tool
|
||||
|
||||
!ELSEIF "$(CFG)" == "Test_BulletGjk - Win32 Debug"
|
||||
|
||||
# PROP BASE Use_MFC 0
|
||||
# PROP BASE Use_Debug_Libraries 1
|
||||
# PROP Use_MFC 0
|
||||
# PROP Use_Debug_Libraries 1
|
||||
# PROP Output_Dir "Test_BulletGjk_Debug"
|
||||
# PROP Intermediate_Dir "Test_BulletGjk_Debug\Int"
|
||||
# PROP Ignore_Export_Lib 0
|
||||
# ADD BASE CPP /nologo /W3 /Gm /GX /ZI /Od /D "WIN32" /D "_DEBUG" /D "_WINDOWS" /D "_MBCS" /YX /FD /GZ /c
|
||||
# ADD CPP /nologo /MDd /Gm /GX /ZI /Od /I "..\..\include" /I "..\..\Include" /I "..\..\OPCODE" /D "WIN32" /D "_DEBUG" /D "_WINDOWS" /D "_MBCS" /FR /YX /FD /GZ /c
|
||||
# ADD BASE MTL /nologo /D "_DEBUG" /mktyplib203 /win32
|
||||
# ADD MTL /nologo /D "_DEBUG" /mktyplib203 /win32
|
||||
# ADD BASE RSC /l 0x409 /d "_DEBUG"
|
||||
# ADD RSC /l 0x409 /d "_DEBUG"
|
||||
BSC32=bscmake.exe
|
||||
# ADD BASE BSC32 /nologo
|
||||
# ADD BSC32 /nologo
|
||||
LINK32=link.exe
|
||||
# ADD BASE LINK32 kernel32.lib user32.lib gdi32.lib winspool.lib comdlg32.lib advapi32.lib shell32.lib ole32.lib oleaut32.lib uuid.lib odbc32.lib odbccp32.lib /nologo /subsystem:windows /debug /machine:I386 /pdbtype:sept
|
||||
# ADD LINK32 oded.lib kernel32.lib user32.lib gdi32.lib winspool.lib comdlg32.lib advapi32.lib shell32.lib ole32.lib oleaut32.lib uuid.lib odbc32.lib odbccp32.lib opengl32.lib glu32.lib /nologo /subsystem:windows /debug /machine:I386 /pdbtype:sept /libpath:"..\..\lib"
|
||||
# Begin Special Build Tool
|
||||
TargetPath=.\Test_BulletGjk_Debug\Test_BulletGjk.exe
|
||||
SOURCE="$(InputPath)"
|
||||
PostBuild_Desc=- Copying .exe to test dir -
|
||||
PostBuild_Cmds=copy $(TargetPath) ..\..\ode\test\
|
||||
# End Special Build Tool
|
||||
|
||||
!ENDIF
|
||||
|
||||
# Begin Target
|
||||
|
||||
# Name "Test_BulletGjk - Win32 Release"
|
||||
# Name "Test_BulletGjk - Win32 Debug"
|
||||
# Begin Group "Source Files"
|
||||
|
||||
# PROP Default_Filter "cpp;c;cxx;rc;def;r;odl;idl;hpj;bat"
|
||||
# Begin Source File
|
||||
|
||||
SOURCE=..\..\ode\test\test_BulletGjk.cpp
|
||||
# End Source File
|
||||
# End Group
|
||||
# Begin Group "Resource Files"
|
||||
|
||||
# PROP Default_Filter "ico;cur;bmp;dlg;rc2;rct;bin;rgs;gif;jpg;jpeg;jpe"
|
||||
# Begin Source File
|
||||
|
||||
SOURCE=..\..\drawstuff\src\resources.rc
|
||||
# End Source File
|
||||
# End Group
|
||||
# Begin Group "DrawStuff headers"
|
||||
|
||||
# PROP Default_Filter ""
|
||||
# Begin Source File
|
||||
|
||||
SOURCE=..\..\..\..\include\drawstuff\drawstuff.h
|
||||
# End Source File
|
||||
# End Group
|
||||
# End Target
|
||||
# End Project
|
||||
209
Extras/ode/VC6/Samples/Test_BulletGjk.vcproj
Normal file
209
Extras/ode/VC6/Samples/Test_BulletGjk.vcproj
Normal file
@@ -0,0 +1,209 @@
|
||||
<?xml version="1.0" encoding="shift_jis"?>
|
||||
<VisualStudioProject
|
||||
ProjectType="Visual C++"
|
||||
Version="7.10"
|
||||
Name="Test_BulletGjk"
|
||||
ProjectGUID="{58C3DE5C-5E87-49C7-8A59-1B833050AF92}"
|
||||
SccProjectName=""
|
||||
SccLocalPath="">
|
||||
<Platforms>
|
||||
<Platform
|
||||
Name="Win32"/>
|
||||
</Platforms>
|
||||
<Configurations>
|
||||
<Configuration
|
||||
Name="Debug|Win32"
|
||||
OutputDirectory=".\Test_BulletGjk_Debug"
|
||||
IntermediateDirectory=".\Test_BulletGjk_Debug\Int"
|
||||
ConfigurationType="1"
|
||||
UseOfMFC="0"
|
||||
ATLMinimizesCRunTimeLibraryUsage="FALSE"
|
||||
CharacterSet="2">
|
||||
<Tool
|
||||
Name="VCCLCompilerTool"
|
||||
Optimization="0"
|
||||
AdditionalIncludeDirectories="..\..\include;..\..\..\..\Bullet;..\..\..\..\LinearMath"
|
||||
PreprocessorDefinitions="WIN32;_DEBUG;_WINDOWS"
|
||||
BasicRuntimeChecks="3"
|
||||
RuntimeLibrary="3"
|
||||
UsePrecompiledHeader="2"
|
||||
PrecompiledHeaderFile=".\Test_BulletGjk_Debug\Int/Test_BulletGjk.pch"
|
||||
AssemblerListingLocation=".\Test_BulletGjk_Debug\Int/"
|
||||
ObjectFile=".\Test_BulletGjk_Debug\Int/"
|
||||
ProgramDataBaseFileName=".\Test_BulletGjk_Debug\Int/"
|
||||
BrowseInformation="1"
|
||||
SuppressStartupBanner="TRUE"
|
||||
DebugInformationFormat="4"
|
||||
CompileAs="0"/>
|
||||
<Tool
|
||||
Name="VCCustomBuildTool"/>
|
||||
<Tool
|
||||
Name="VCLinkerTool"
|
||||
AdditionalDependencies="oded.lib odbc32.lib odbccp32.lib opengl32.lib glu32.lib"
|
||||
OutputFile=".\Test_BulletGjk_Debug/Test_BulletGjk.exe"
|
||||
LinkIncremental="1"
|
||||
SuppressStartupBanner="TRUE"
|
||||
AdditionalLibraryDirectories="..\..\lib"
|
||||
GenerateDebugInformation="TRUE"
|
||||
ProgramDatabaseFile=".\Test_BulletGjk_Debug/Test_BulletGjk.pdb"
|
||||
SubSystem="2"
|
||||
TargetMachine="1"/>
|
||||
<Tool
|
||||
Name="VCMIDLTool"
|
||||
PreprocessorDefinitions="_DEBUG"
|
||||
MkTypLibCompatible="TRUE"
|
||||
SuppressStartupBanner="TRUE"
|
||||
TargetEnvironment="1"
|
||||
TypeLibraryName=".\Test_BulletGjk_Debug/Test_BulletGjk.tlb"
|
||||
HeaderFileName=""/>
|
||||
<Tool
|
||||
Name="VCPostBuildEventTool"
|
||||
Description="- Copying .exe to test dir -"
|
||||
CommandLine="copy "$(TargetPath)" ..\..\ode\test\"/>
|
||||
<Tool
|
||||
Name="VCPreBuildEventTool"/>
|
||||
<Tool
|
||||
Name="VCPreLinkEventTool"/>
|
||||
<Tool
|
||||
Name="VCResourceCompilerTool"
|
||||
PreprocessorDefinitions="_DEBUG"
|
||||
Culture="1033"/>
|
||||
<Tool
|
||||
Name="VCWebServiceProxyGeneratorTool"/>
|
||||
<Tool
|
||||
Name="VCXMLDataGeneratorTool"/>
|
||||
<Tool
|
||||
Name="VCWebDeploymentTool"/>
|
||||
<Tool
|
||||
Name="VCManagedWrapperGeneratorTool"/>
|
||||
<Tool
|
||||
Name="VCAuxiliaryManagedWrapperGeneratorTool"/>
|
||||
</Configuration>
|
||||
<Configuration
|
||||
Name="Release|Win32"
|
||||
OutputDirectory=".\Test_BulletGjk_Release"
|
||||
IntermediateDirectory=".\Test_BulletGjk_Release\Int"
|
||||
ConfigurationType="1"
|
||||
UseOfMFC="0"
|
||||
ATLMinimizesCRunTimeLibraryUsage="FALSE"
|
||||
CharacterSet="2">
|
||||
<Tool
|
||||
Name="VCCLCompilerTool"
|
||||
Optimization="2"
|
||||
InlineFunctionExpansion="1"
|
||||
AdditionalIncludeDirectories="..\..\include;..\..\..\..\Bullet;..\..\..\..\LinearMath"
|
||||
PreprocessorDefinitions="WIN32;NDEBUG;_WINDOWS"
|
||||
StringPooling="TRUE"
|
||||
RuntimeLibrary="4"
|
||||
EnableFunctionLevelLinking="TRUE"
|
||||
UsePrecompiledHeader="2"
|
||||
PrecompiledHeaderFile=".\Test_BulletGjk_Release\Int/Test_BulletGjk.pch"
|
||||
AssemblerListingLocation=".\Test_BulletGjk_Release\Int/"
|
||||
ObjectFile=".\Test_BulletGjk_Release\Int/"
|
||||
ProgramDataBaseFileName=".\Test_BulletGjk_Release\Int/"
|
||||
SuppressStartupBanner="TRUE"
|
||||
CompileAs="0"/>
|
||||
<Tool
|
||||
Name="VCCustomBuildTool"/>
|
||||
<Tool
|
||||
Name="VCLinkerTool"
|
||||
AdditionalDependencies="odbc32.lib odbccp32.lib opengl32.lib glu32.lib"
|
||||
OutputFile=".\Test_BulletGjk_Release/Test_BulletGjk.exe"
|
||||
LinkIncremental="1"
|
||||
SuppressStartupBanner="TRUE"
|
||||
AdditionalLibraryDirectories="..\..\lib"
|
||||
ProgramDatabaseFile=".\Test_BulletGjk_Release/Test_BulletGjk.pdb"
|
||||
SubSystem="2"
|
||||
TargetMachine="1"/>
|
||||
<Tool
|
||||
Name="VCMIDLTool"
|
||||
PreprocessorDefinitions="NDEBUG"
|
||||
MkTypLibCompatible="TRUE"
|
||||
SuppressStartupBanner="TRUE"
|
||||
TargetEnvironment="1"
|
||||
TypeLibraryName=".\Test_BulletGjk_Release/Test_BulletGjk.tlb"
|
||||
HeaderFileName=""/>
|
||||
<Tool
|
||||
Name="VCPostBuildEventTool"
|
||||
Description="- Copying .exe to test dir -"
|
||||
CommandLine="copy "$(TargetPath)" ..\..\ode\test\"/>
|
||||
<Tool
|
||||
Name="VCPreBuildEventTool"/>
|
||||
<Tool
|
||||
Name="VCPreLinkEventTool"/>
|
||||
<Tool
|
||||
Name="VCResourceCompilerTool"
|
||||
PreprocessorDefinitions="NDEBUG"
|
||||
Culture="1033"/>
|
||||
<Tool
|
||||
Name="VCWebServiceProxyGeneratorTool"/>
|
||||
<Tool
|
||||
Name="VCXMLDataGeneratorTool"/>
|
||||
<Tool
|
||||
Name="VCWebDeploymentTool"/>
|
||||
<Tool
|
||||
Name="VCManagedWrapperGeneratorTool"/>
|
||||
<Tool
|
||||
Name="VCAuxiliaryManagedWrapperGeneratorTool"/>
|
||||
</Configuration>
|
||||
</Configurations>
|
||||
<References>
|
||||
</References>
|
||||
<Files>
|
||||
<Filter
|
||||
Name="Source Files"
|
||||
Filter="cpp;c;cxx;rc;def;r;odl;idl;hpj;bat">
|
||||
<File
|
||||
RelativePath="..\..\ode\test\test_BulletGjk.cpp">
|
||||
<FileConfiguration
|
||||
Name="Debug|Win32">
|
||||
<Tool
|
||||
Name="VCCLCompilerTool"
|
||||
Optimization="0"
|
||||
AdditionalIncludeDirectories=""
|
||||
PreprocessorDefinitions=""
|
||||
BasicRuntimeChecks="3"
|
||||
BrowseInformation="1"/>
|
||||
</FileConfiguration>
|
||||
<FileConfiguration
|
||||
Name="Release|Win32">
|
||||
<Tool
|
||||
Name="VCCLCompilerTool"
|
||||
Optimization="2"
|
||||
AdditionalIncludeDirectories=""
|
||||
PreprocessorDefinitions=""/>
|
||||
</FileConfiguration>
|
||||
</File>
|
||||
</Filter>
|
||||
<Filter
|
||||
Name="Resource Files"
|
||||
Filter="ico;cur;bmp;dlg;rc2;rct;bin;rgs;gif;jpg;jpeg;jpe">
|
||||
<File
|
||||
RelativePath="..\..\drawstuff\src\resources.rc">
|
||||
<FileConfiguration
|
||||
Name="Debug|Win32">
|
||||
<Tool
|
||||
Name="VCResourceCompilerTool"
|
||||
PreprocessorDefinitions=""
|
||||
AdditionalIncludeDirectories="\develop\bullet\Extras\ode\drawstuff\src"/>
|
||||
</FileConfiguration>
|
||||
<FileConfiguration
|
||||
Name="Release|Win32">
|
||||
<Tool
|
||||
Name="VCResourceCompilerTool"
|
||||
PreprocessorDefinitions=""
|
||||
AdditionalIncludeDirectories="\develop\bullet\Extras\ode\drawstuff\src"/>
|
||||
</FileConfiguration>
|
||||
</File>
|
||||
</Filter>
|
||||
<Filter
|
||||
Name="DrawStuff headers"
|
||||
Filter="">
|
||||
<File
|
||||
RelativePath="..\..\..\..\include\drawstuff\drawstuff.h">
|
||||
</File>
|
||||
</Filter>
|
||||
</Files>
|
||||
<Globals>
|
||||
</Globals>
|
||||
</VisualStudioProject>
|
||||
192
Extras/ode/VC6/Samples/Test_Trimesh.vcproj
Normal file
192
Extras/ode/VC6/Samples/Test_Trimesh.vcproj
Normal file
@@ -0,0 +1,192 @@
|
||||
<?xml version="1.0" encoding="shift_jis"?>
|
||||
<VisualStudioProject
|
||||
ProjectType="Visual C++"
|
||||
Version="7.10"
|
||||
Name="Test_BulletTrimesh"
|
||||
ProjectGUID="{AA67E9DC-C632-4694-8638-D0F689EA0A1A}"
|
||||
SccProjectName=""
|
||||
SccLocalPath="">
|
||||
<Platforms>
|
||||
<Platform
|
||||
Name="Win32"/>
|
||||
</Platforms>
|
||||
<Configurations>
|
||||
<Configuration
|
||||
Name="Release|Win32"
|
||||
OutputDirectory=".\Test_Trimesh_Release"
|
||||
IntermediateDirectory=".\Test_Trimesh_Release/Int"
|
||||
ConfigurationType="1"
|
||||
UseOfMFC="0"
|
||||
ATLMinimizesCRunTimeLibraryUsage="FALSE"
|
||||
CharacterSet="2">
|
||||
<Tool
|
||||
Name="VCCLCompilerTool"
|
||||
Optimization="2"
|
||||
InlineFunctionExpansion="1"
|
||||
AdditionalIncludeDirectories="..\..\Include;..\..\OPCODE;../../../BulletOdeCollide;../../../../Bullet;../../../../LinearMath"
|
||||
PreprocessorDefinitions="WIN32;NDEBUG;_WINDOWS;BULLET_CONVEX_SUPPORT"
|
||||
StringPooling="TRUE"
|
||||
RuntimeLibrary="2"
|
||||
EnableFunctionLevelLinking="TRUE"
|
||||
UsePrecompiledHeader="2"
|
||||
PrecompiledHeaderFile=".\Test_Trimesh_Release/Int/Test_Trimesh.pch"
|
||||
AssemblerListingLocation=".\Test_Trimesh_Release/Int/"
|
||||
ObjectFile=".\Test_Trimesh_Release/Int/"
|
||||
ProgramDataBaseFileName=".\Test_Trimesh_Release/Int/"
|
||||
WarningLevel="3"
|
||||
SuppressStartupBanner="TRUE"
|
||||
CompileAs="0"/>
|
||||
<Tool
|
||||
Name="VCCustomBuildTool"/>
|
||||
<Tool
|
||||
Name="VCLinkerTool"
|
||||
AdditionalDependencies="odbc32.lib odbccp32.lib opengl32.lib glu32.lib"
|
||||
OutputFile=".\Test_Trimesh_Release/Test_Trimesh.exe"
|
||||
LinkIncremental="1"
|
||||
SuppressStartupBanner="TRUE"
|
||||
AdditionalLibraryDirectories="..\..\lib"
|
||||
ProgramDatabaseFile=".\Test_Trimesh_Release/Test_Trimesh.pdb"
|
||||
SubSystem="2"
|
||||
TargetMachine="1"/>
|
||||
<Tool
|
||||
Name="VCMIDLTool"
|
||||
PreprocessorDefinitions="NDEBUG"
|
||||
MkTypLibCompatible="TRUE"
|
||||
SuppressStartupBanner="TRUE"
|
||||
TargetEnvironment="1"
|
||||
TypeLibraryName=".\Test_Trimesh_Release/Test_Trimesh.tlb"
|
||||
HeaderFileName=""/>
|
||||
<Tool
|
||||
Name="VCPostBuildEventTool"
|
||||
Description="- Copying .exe to test dir -"
|
||||
CommandLine="copy "$(TargetPath)" ..\..\ode\test\"/>
|
||||
<Tool
|
||||
Name="VCPreBuildEventTool"/>
|
||||
<Tool
|
||||
Name="VCPreLinkEventTool"/>
|
||||
<Tool
|
||||
Name="VCResourceCompilerTool"
|
||||
PreprocessorDefinitions="NDEBUG"
|
||||
Culture="2057"/>
|
||||
<Tool
|
||||
Name="VCWebServiceProxyGeneratorTool"/>
|
||||
<Tool
|
||||
Name="VCXMLDataGeneratorTool"/>
|
||||
<Tool
|
||||
Name="VCWebDeploymentTool"/>
|
||||
<Tool
|
||||
Name="VCManagedWrapperGeneratorTool"/>
|
||||
<Tool
|
||||
Name="VCAuxiliaryManagedWrapperGeneratorTool"/>
|
||||
</Configuration>
|
||||
<Configuration
|
||||
Name="Debug|Win32"
|
||||
OutputDirectory=".\Test_Trimesh_Debug"
|
||||
IntermediateDirectory=".\Test_Trimesh_Debug/Int"
|
||||
ConfigurationType="1"
|
||||
UseOfMFC="0"
|
||||
ATLMinimizesCRunTimeLibraryUsage="FALSE"
|
||||
CharacterSet="2">
|
||||
<Tool
|
||||
Name="VCCLCompilerTool"
|
||||
Optimization="0"
|
||||
AdditionalIncludeDirectories="..\..\Include;..\..\OPCODE;../../../BulletOdeCollide;../../../../Bullet;../../../../LinearMath"
|
||||
PreprocessorDefinitions="WIN32;_DEBUG;_WINDOWS"
|
||||
BasicRuntimeChecks="3"
|
||||
RuntimeLibrary="3"
|
||||
UsePrecompiledHeader="2"
|
||||
PrecompiledHeaderFile=".\Test_Trimesh_Debug/Int/Test_Trimesh.pch"
|
||||
AssemblerListingLocation=".\Test_Trimesh_Debug/Int/"
|
||||
ObjectFile=".\Test_Trimesh_Debug/Int/"
|
||||
ProgramDataBaseFileName=".\Test_Trimesh_Debug/Int/"
|
||||
WarningLevel="3"
|
||||
SuppressStartupBanner="TRUE"
|
||||
DebugInformationFormat="4"
|
||||
CompileAs="0"/>
|
||||
<Tool
|
||||
Name="VCCustomBuildTool"/>
|
||||
<Tool
|
||||
Name="VCLinkerTool"
|
||||
AdditionalDependencies="odbc32.lib odbccp32.lib opengl32.lib glu32.lib"
|
||||
OutputFile=".\Test_Trimesh_Debug/Test_Trimesh.exe"
|
||||
LinkIncremental="1"
|
||||
SuppressStartupBanner="TRUE"
|
||||
AdditionalLibraryDirectories="..\..\lib"
|
||||
GenerateDebugInformation="TRUE"
|
||||
ProgramDatabaseFile=".\Test_Trimesh_Debug/Test_Trimesh.pdb"
|
||||
SubSystem="2"
|
||||
TargetMachine="1"/>
|
||||
<Tool
|
||||
Name="VCMIDLTool"
|
||||
PreprocessorDefinitions="_DEBUG"
|
||||
MkTypLibCompatible="TRUE"
|
||||
SuppressStartupBanner="TRUE"
|
||||
TargetEnvironment="1"
|
||||
TypeLibraryName=".\Test_Trimesh_Debug/Test_Trimesh.tlb"
|
||||
HeaderFileName=""/>
|
||||
<Tool
|
||||
Name="VCPostBuildEventTool"
|
||||
Description="- Copying .exe to test dir -"
|
||||
CommandLine="copy "$(TargetPath)" ..\..\ode\test\"/>
|
||||
<Tool
|
||||
Name="VCPreBuildEventTool"/>
|
||||
<Tool
|
||||
Name="VCPreLinkEventTool"/>
|
||||
<Tool
|
||||
Name="VCResourceCompilerTool"
|
||||
PreprocessorDefinitions="_DEBUG"
|
||||
Culture="2057"/>
|
||||
<Tool
|
||||
Name="VCWebServiceProxyGeneratorTool"/>
|
||||
<Tool
|
||||
Name="VCXMLDataGeneratorTool"/>
|
||||
<Tool
|
||||
Name="VCWebDeploymentTool"/>
|
||||
<Tool
|
||||
Name="VCManagedWrapperGeneratorTool"/>
|
||||
<Tool
|
||||
Name="VCAuxiliaryManagedWrapperGeneratorTool"/>
|
||||
</Configuration>
|
||||
</Configurations>
|
||||
<References>
|
||||
</References>
|
||||
<Files>
|
||||
<Filter
|
||||
Name="Source Files"
|
||||
Filter="cpp;c;cxx;rc;def;r;odl;idl;hpj;bat">
|
||||
<File
|
||||
RelativePath="..\..\ode\test\test_convex_trimesh.cpp">
|
||||
</File>
|
||||
</Filter>
|
||||
<Filter
|
||||
Name="Header Files"
|
||||
Filter="h;hpp;hxx;hm;inl">
|
||||
<File
|
||||
RelativePath="..\..\..\..\include\drawstuff\drawstuff.h">
|
||||
</File>
|
||||
</Filter>
|
||||
<Filter
|
||||
Name="Resource Files"
|
||||
Filter="ico;cur;bmp;dlg;rc2;rct;bin;rgs;gif;jpg;jpeg;jpe">
|
||||
<File
|
||||
RelativePath="..\..\drawstuff\src\resources.rc">
|
||||
<FileConfiguration
|
||||
Name="Release|Win32">
|
||||
<Tool
|
||||
Name="VCResourceCompilerTool"
|
||||
PreprocessorDefinitions=""
|
||||
AdditionalIncludeDirectories="\release\bullet\Extras\ode\drawstuff\src"/>
|
||||
</FileConfiguration>
|
||||
<FileConfiguration
|
||||
Name="Debug|Win32">
|
||||
<Tool
|
||||
Name="VCResourceCompilerTool"
|
||||
PreprocessorDefinitions=""
|
||||
AdditionalIncludeDirectories="\release\bullet\Extras\ode\drawstuff\src"/>
|
||||
</FileConfiguration>
|
||||
</File>
|
||||
</Filter>
|
||||
</Files>
|
||||
<Globals>
|
||||
</Globals>
|
||||
</VisualStudioProject>
|
||||
304
Extras/ode/VC6/ode.dsp
Normal file
304
Extras/ode/VC6/ode.dsp
Normal file
@@ -0,0 +1,304 @@
|
||||
# Microsoft Developer Studio Project File - Name="ode" - Package Owner=<4>
|
||||
# Microsoft Developer Studio Generated Build File, Format Version 6.00
|
||||
# ** DO NOT EDIT **
|
||||
|
||||
# TARGTYPE "Win32 (x86) Static Library" 0x0104
|
||||
|
||||
CFG=ode - Win32 Debug
|
||||
!MESSAGE This is not a valid makefile. To build this project using NMAKE,
|
||||
!MESSAGE use the Export Makefile command and run
|
||||
!MESSAGE
|
||||
!MESSAGE NMAKE /f "ode.mak".
|
||||
!MESSAGE
|
||||
!MESSAGE You can specify a configuration when running NMAKE
|
||||
!MESSAGE by defining the macro CFG on the command line. For example:
|
||||
!MESSAGE
|
||||
!MESSAGE NMAKE /f "ode.mak" CFG="ode - Win32 Debug"
|
||||
!MESSAGE
|
||||
!MESSAGE Possible choices for configuration are:
|
||||
!MESSAGE
|
||||
!MESSAGE "ode - Win32 Release" (based on "Win32 (x86) Static Library")
|
||||
!MESSAGE "ode - Win32 Debug" (based on "Win32 (x86) Static Library")
|
||||
!MESSAGE
|
||||
|
||||
# Begin Project
|
||||
# PROP AllowPerConfigDependencies 0
|
||||
# PROP Scc_ProjName ""$/TR4/ODE", BHKAAAAA"
|
||||
# PROP Scc_LocalPath ".."
|
||||
CPP=cl.exe
|
||||
RSC=rc.exe
|
||||
|
||||
!IF "$(CFG)" == "ode - Win32 Release"
|
||||
|
||||
# PROP BASE Use_MFC 0
|
||||
# PROP BASE Use_Debug_Libraries 0
|
||||
# PROP BASE Output_Dir "Release"
|
||||
# PROP BASE Intermediate_Dir "Release"
|
||||
# PROP BASE Target_Dir ""
|
||||
# PROP Use_MFC 0
|
||||
# PROP Use_Debug_Libraries 0
|
||||
# PROP Output_Dir "Release"
|
||||
# PROP Intermediate_Dir "Release"
|
||||
# PROP Target_Dir ""
|
||||
# ADD BASE CPP /nologo /W3 /GX /O2 /D "WIN32" /D "NDEBUG" /D "_MBCS" /D "_LIB" /YX /FD /c
|
||||
# ADD CPP /nologo /MD /W2 /GX /O2 /I "..\Include" /I "..\OPCODE" /D "WIN32" /D "NDEBUG" /D "_MBCS" /D "_LIB" /YX /FD /c
|
||||
# ADD BASE RSC /l 0x809 /d "NDEBUG"
|
||||
# ADD RSC /l 0x809 /d "NDEBUG"
|
||||
BSC32=bscmake.exe
|
||||
# ADD BASE BSC32 /nologo
|
||||
# ADD BSC32 /nologo
|
||||
LIB32=link.exe -lib
|
||||
# ADD BASE LIB32 /nologo
|
||||
# ADD LIB32 /nologo /out:"..\lib\ode.lib"
|
||||
|
||||
!ELSEIF "$(CFG)" == "ode - Win32 Debug"
|
||||
|
||||
# PROP BASE Use_MFC 0
|
||||
# PROP BASE Use_Debug_Libraries 1
|
||||
# PROP BASE Output_Dir "Debug"
|
||||
# PROP BASE Intermediate_Dir "Debug"
|
||||
# PROP BASE Target_Dir ""
|
||||
# PROP Use_MFC 0
|
||||
# PROP Use_Debug_Libraries 1
|
||||
# PROP Output_Dir "Debug"
|
||||
# PROP Intermediate_Dir "Debug"
|
||||
# PROP Target_Dir ""
|
||||
# ADD BASE CPP /nologo /W3 /Gm /GX /ZI /Od /D "WIN32" /D "_DEBUG" /D "_MBCS" /D "_LIB" /YX /FD /GZ /c
|
||||
# ADD CPP /nologo /MDd /W2 /Gm /GX /ZI /Od /I "..\Include" /I "..\OPCODE" /D "WIN32" /D "_DEBUG" /D "_MBCS" /D "_LIB" /FR /YX /FD /GZ /c
|
||||
# ADD BASE RSC /l 0x809 /d "_DEBUG"
|
||||
# ADD RSC /l 0x809 /d "_DEBUG"
|
||||
BSC32=bscmake.exe
|
||||
# ADD BASE BSC32 /nologo
|
||||
# ADD BSC32 /nologo
|
||||
LIB32=link.exe -lib
|
||||
# ADD BASE LIB32 /nologo
|
||||
# ADD LIB32 /nologo /out:"..\lib\oded.lib"
|
||||
|
||||
!ENDIF
|
||||
|
||||
# Begin Target
|
||||
|
||||
# Name "ode - Win32 Release"
|
||||
# Name "ode - Win32 Debug"
|
||||
# Begin Group "Source Files"
|
||||
|
||||
# PROP Default_Filter "cpp;c;cxx;rc;def;r;odl;idl;hpj;bat"
|
||||
# Begin Source File
|
||||
|
||||
SOURCE=..\ode\src\array.cpp
|
||||
# End Source File
|
||||
# Begin Source File
|
||||
|
||||
SOURCE=..\ode\src\collision_kernel.cpp
|
||||
# End Source File
|
||||
# Begin Source File
|
||||
|
||||
SOURCE=..\ode\src\collision_quadtreespace.cpp
|
||||
# End Source File
|
||||
# Begin Source File
|
||||
|
||||
SOURCE=..\ode\src\collision_space.cpp
|
||||
# End Source File
|
||||
# Begin Source File
|
||||
|
||||
SOURCE=..\ode\src\collision_std.cpp
|
||||
# End Source File
|
||||
# Begin Source File
|
||||
|
||||
SOURCE=..\ode\src\collision_transform.cpp
|
||||
# End Source File
|
||||
# Begin Source File
|
||||
|
||||
SOURCE=..\ode\src\collision_trimesh.cpp
|
||||
# End Source File
|
||||
# Begin Source File
|
||||
|
||||
SOURCE=..\ode\src\collision_trimesh_box.cpp
|
||||
# End Source File
|
||||
# Begin Source File
|
||||
|
||||
SOURCE=..\ode\src\collision_trimesh_ccylinder.cpp
|
||||
# End Source File
|
||||
# Begin Source File
|
||||
|
||||
SOURCE=..\ode\src\collision_trimesh_distance.cpp
|
||||
# End Source File
|
||||
# Begin Source File
|
||||
|
||||
SOURCE=..\ode\src\collision_trimesh_ray.cpp
|
||||
# End Source File
|
||||
# Begin Source File
|
||||
|
||||
SOURCE=..\ode\src\collision_trimesh_sphere.cpp
|
||||
# End Source File
|
||||
# Begin Source File
|
||||
|
||||
SOURCE=..\ode\src\collision_trimesh_trimesh.cpp
|
||||
# End Source File
|
||||
# Begin Source File
|
||||
|
||||
SOURCE=..\ode\src\collision_util.cpp
|
||||
# End Source File
|
||||
# Begin Source File
|
||||
|
||||
SOURCE=..\ode\src\error.cpp
|
||||
# End Source File
|
||||
# Begin Source File
|
||||
|
||||
SOURCE="..\ode\src\export-dif.cpp"
|
||||
# End Source File
|
||||
# Begin Source File
|
||||
|
||||
SOURCE=..\ode\src\fastdot.c
|
||||
# End Source File
|
||||
# Begin Source File
|
||||
|
||||
SOURCE=..\ode\src\fastldlt.c
|
||||
# End Source File
|
||||
# Begin Source File
|
||||
|
||||
SOURCE=..\ode\src\fastlsolve.c
|
||||
# End Source File
|
||||
# Begin Source File
|
||||
|
||||
SOURCE=..\ode\src\fastltsolve.c
|
||||
# End Source File
|
||||
# Begin Source File
|
||||
|
||||
SOURCE=..\ode\src\joint.cpp
|
||||
# End Source File
|
||||
# Begin Source File
|
||||
|
||||
SOURCE=..\ode\src\lcp.cpp
|
||||
# End Source File
|
||||
# Begin Source File
|
||||
|
||||
SOURCE=..\ode\src\mass.cpp
|
||||
# End Source File
|
||||
# Begin Source File
|
||||
|
||||
SOURCE=..\ode\src\mat.cpp
|
||||
# End Source File
|
||||
# Begin Source File
|
||||
|
||||
SOURCE=..\ode\src\matrix.cpp
|
||||
# End Source File
|
||||
# Begin Source File
|
||||
|
||||
SOURCE=..\ode\src\memory.cpp
|
||||
# End Source File
|
||||
# Begin Source File
|
||||
|
||||
SOURCE=..\ode\src\misc.cpp
|
||||
# End Source File
|
||||
# Begin Source File
|
||||
|
||||
SOURCE=..\ode\src\obstack.cpp
|
||||
# End Source File
|
||||
# Begin Source File
|
||||
|
||||
SOURCE=..\ode\src\ode.cpp
|
||||
# End Source File
|
||||
# Begin Source File
|
||||
|
||||
SOURCE=..\ode\src\odemath.cpp
|
||||
# End Source File
|
||||
# Begin Source File
|
||||
|
||||
SOURCE=..\ode\src\quickstep.cpp
|
||||
# End Source File
|
||||
# Begin Source File
|
||||
|
||||
SOURCE=..\ode\src\rotation.cpp
|
||||
# End Source File
|
||||
# Begin Source File
|
||||
|
||||
SOURCE=..\ode\src\step.cpp
|
||||
# End Source File
|
||||
# Begin Source File
|
||||
|
||||
SOURCE=..\ode\src\stepfast.cpp
|
||||
# End Source File
|
||||
# Begin Source File
|
||||
|
||||
SOURCE=..\ode\src\testing.cpp
|
||||
# End Source File
|
||||
# Begin Source File
|
||||
|
||||
SOURCE=..\ode\src\timer.cpp
|
||||
# End Source File
|
||||
# Begin Source File
|
||||
|
||||
SOURCE=..\ode\src\util.cpp
|
||||
# End Source File
|
||||
# End Group
|
||||
# Begin Group "Header Files"
|
||||
|
||||
# PROP Default_Filter "h;hpp;hxx;hm;inl"
|
||||
# Begin Source File
|
||||
|
||||
SOURCE=..\ode\src\array.h
|
||||
# End Source File
|
||||
# Begin Source File
|
||||
|
||||
SOURCE=..\ode\src\collision_kernel.h
|
||||
# End Source File
|
||||
# Begin Source File
|
||||
|
||||
SOURCE=..\ode\src\collision_space_internal.h
|
||||
# End Source File
|
||||
# Begin Source File
|
||||
|
||||
SOURCE=..\ode\src\collision_std.h
|
||||
# End Source File
|
||||
# Begin Source File
|
||||
|
||||
SOURCE=..\ode\src\collision_transform.h
|
||||
# End Source File
|
||||
# Begin Source File
|
||||
|
||||
SOURCE=..\ode\src\collision_trimesh_internal.h
|
||||
# End Source File
|
||||
# Begin Source File
|
||||
|
||||
SOURCE=..\ode\src\collision_util.h
|
||||
# End Source File
|
||||
# Begin Source File
|
||||
|
||||
SOURCE=..\ode\src\joint.h
|
||||
# End Source File
|
||||
# Begin Source File
|
||||
|
||||
SOURCE=..\ode\src\lcp.h
|
||||
# End Source File
|
||||
# Begin Source File
|
||||
|
||||
SOURCE=..\ode\src\mat.h
|
||||
# End Source File
|
||||
# Begin Source File
|
||||
|
||||
SOURCE=..\ode\src\objects.h
|
||||
# End Source File
|
||||
# Begin Source File
|
||||
|
||||
SOURCE=..\ode\src\obstack.h
|
||||
# End Source File
|
||||
# Begin Source File
|
||||
|
||||
SOURCE=..\ode\src\quickstep.h
|
||||
# End Source File
|
||||
# Begin Source File
|
||||
|
||||
SOURCE=..\ode\src\step.h
|
||||
# End Source File
|
||||
# Begin Source File
|
||||
|
||||
SOURCE=..\ode\src\testing.h
|
||||
# End Source File
|
||||
# Begin Source File
|
||||
|
||||
SOURCE=..\ode\src\util.h
|
||||
# End Source File
|
||||
# End Group
|
||||
# End Target
|
||||
# End Project
|
||||
53
Extras/ode/VC6/ode.dsw
Normal file
53
Extras/ode/VC6/ode.dsw
Normal file
@@ -0,0 +1,53 @@
|
||||
Microsoft Developer Studio Workspace File, Format Version 6.00
|
||||
# WARNING: DO NOT EDIT OR DELETE THIS WORKSPACE FILE!
|
||||
|
||||
###############################################################################
|
||||
|
||||
Project: "OPCODE"=..\OPCODE\Opcode.dsp - Package Owner=<4>
|
||||
|
||||
Package=<5>
|
||||
{{{
|
||||
begin source code control
|
||||
"$/TR4/ODE/VC6", WNKAAAAA
|
||||
.
|
||||
end source code control
|
||||
}}}
|
||||
|
||||
Package=<4>
|
||||
{{{
|
||||
}}}
|
||||
|
||||
###############################################################################
|
||||
|
||||
Project: "ode"=.\ode.dsp - Package Owner=<4>
|
||||
|
||||
Package=<5>
|
||||
{{{
|
||||
begin source code control
|
||||
"$/TR4/ODE/VC6", WNKAAAAA
|
||||
.
|
||||
end source code control
|
||||
}}}
|
||||
|
||||
Package=<4>
|
||||
{{{
|
||||
Begin Project Dependency
|
||||
Project_Dep_Name OPCODE
|
||||
End Project Dependency
|
||||
}}}
|
||||
|
||||
###############################################################################
|
||||
|
||||
Global:
|
||||
|
||||
Package=<5>
|
||||
{{{
|
||||
}}}
|
||||
|
||||
Package=<3>
|
||||
{{{
|
||||
}}}
|
||||
|
||||
###############################################################################
|
||||
|
||||
|
||||
813
Extras/ode/VC6/ode.vcproj
Normal file
813
Extras/ode/VC6/ode.vcproj
Normal file
@@ -0,0 +1,813 @@
|
||||
<?xml version="1.0" encoding="shift_jis"?>
|
||||
<VisualStudioProject
|
||||
ProjectType="Visual C++"
|
||||
Version="7.10"
|
||||
Name="ode"
|
||||
SccProjectName=""$/TR4/ODE", BHKAAAAA"
|
||||
SccLocalPath="..">
|
||||
<Platforms>
|
||||
<Platform
|
||||
Name="Win32"/>
|
||||
</Platforms>
|
||||
<Configurations>
|
||||
<Configuration
|
||||
Name="Debug|Win32"
|
||||
OutputDirectory=".\Debug"
|
||||
IntermediateDirectory=".\Debug"
|
||||
ConfigurationType="4"
|
||||
UseOfMFC="0"
|
||||
ATLMinimizesCRunTimeLibraryUsage="FALSE"
|
||||
CharacterSet="2">
|
||||
<Tool
|
||||
Name="VCCLCompilerTool"
|
||||
Optimization="0"
|
||||
AdditionalIncludeDirectories="..\Include;..\..\..\Bullet;..\..\..\LinearMath;..\..\BulletOdeCollide"
|
||||
PreprocessorDefinitions="BULLET_CONVEX_SUPPORT,WIN32;_DEBUG;_LIB"
|
||||
BasicRuntimeChecks="3"
|
||||
RuntimeLibrary="3"
|
||||
UsePrecompiledHeader="2"
|
||||
PrecompiledHeaderFile=".\Debug/ode.pch"
|
||||
AssemblerListingLocation=".\Debug/"
|
||||
ObjectFile=".\Debug/"
|
||||
ProgramDataBaseFileName=".\Debug/"
|
||||
BrowseInformation="1"
|
||||
WarningLevel="2"
|
||||
SuppressStartupBanner="TRUE"
|
||||
DebugInformationFormat="4"
|
||||
CompileAs="0"/>
|
||||
<Tool
|
||||
Name="VCCustomBuildTool"/>
|
||||
<Tool
|
||||
Name="VCLibrarianTool"
|
||||
OutputFile="..\lib\oded.lib"
|
||||
SuppressStartupBanner="TRUE"/>
|
||||
<Tool
|
||||
Name="VCMIDLTool"/>
|
||||
<Tool
|
||||
Name="VCPostBuildEventTool"/>
|
||||
<Tool
|
||||
Name="VCPreBuildEventTool"/>
|
||||
<Tool
|
||||
Name="VCPreLinkEventTool"/>
|
||||
<Tool
|
||||
Name="VCResourceCompilerTool"
|
||||
PreprocessorDefinitions="_DEBUG"
|
||||
Culture="2057"/>
|
||||
<Tool
|
||||
Name="VCWebServiceProxyGeneratorTool"/>
|
||||
<Tool
|
||||
Name="VCXMLDataGeneratorTool"/>
|
||||
<Tool
|
||||
Name="VCManagedWrapperGeneratorTool"/>
|
||||
<Tool
|
||||
Name="VCAuxiliaryManagedWrapperGeneratorTool"/>
|
||||
</Configuration>
|
||||
<Configuration
|
||||
Name="Release|Win32"
|
||||
OutputDirectory=".\Release"
|
||||
IntermediateDirectory=".\Release"
|
||||
ConfigurationType="4"
|
||||
UseOfMFC="0"
|
||||
ATLMinimizesCRunTimeLibraryUsage="FALSE"
|
||||
CharacterSet="2">
|
||||
<Tool
|
||||
Name="VCCLCompilerTool"
|
||||
Optimization="2"
|
||||
InlineFunctionExpansion="1"
|
||||
AdditionalIncludeDirectories="..\Include;..\..\..\Bullet;..\..\..\LinearMath;..\..\BulletOdeCollide"
|
||||
PreprocessorDefinitions="BULLET_CONVEX_SUPPORT,WIN32;NDEBUG;_LIB"
|
||||
StringPooling="TRUE"
|
||||
RuntimeLibrary="4"
|
||||
EnableFunctionLevelLinking="TRUE"
|
||||
UsePrecompiledHeader="2"
|
||||
PrecompiledHeaderFile=".\Release/ode.pch"
|
||||
AssemblerListingLocation=".\Release/"
|
||||
ObjectFile=".\Release/"
|
||||
ProgramDataBaseFileName=".\Release/"
|
||||
WarningLevel="2"
|
||||
SuppressStartupBanner="TRUE"
|
||||
CompileAs="0"/>
|
||||
<Tool
|
||||
Name="VCCustomBuildTool"/>
|
||||
<Tool
|
||||
Name="VCLibrarianTool"
|
||||
OutputFile="..\lib\ode.lib"
|
||||
SuppressStartupBanner="TRUE"/>
|
||||
<Tool
|
||||
Name="VCMIDLTool"/>
|
||||
<Tool
|
||||
Name="VCPostBuildEventTool"/>
|
||||
<Tool
|
||||
Name="VCPreBuildEventTool"/>
|
||||
<Tool
|
||||
Name="VCPreLinkEventTool"/>
|
||||
<Tool
|
||||
Name="VCResourceCompilerTool"
|
||||
PreprocessorDefinitions="NDEBUG"
|
||||
Culture="2057"/>
|
||||
<Tool
|
||||
Name="VCWebServiceProxyGeneratorTool"/>
|
||||
<Tool
|
||||
Name="VCXMLDataGeneratorTool"/>
|
||||
<Tool
|
||||
Name="VCManagedWrapperGeneratorTool"/>
|
||||
<Tool
|
||||
Name="VCAuxiliaryManagedWrapperGeneratorTool"/>
|
||||
</Configuration>
|
||||
</Configurations>
|
||||
<References>
|
||||
</References>
|
||||
<Files>
|
||||
<Filter
|
||||
Name="Source Files"
|
||||
Filter="cpp;c;cxx;rc;def;r;odl;idl;hpj;bat">
|
||||
<File
|
||||
RelativePath="..\ode\src\array.cpp">
|
||||
<FileConfiguration
|
||||
Name="Debug|Win32">
|
||||
<Tool
|
||||
Name="VCCLCompilerTool"
|
||||
Optimization="0"
|
||||
AdditionalIncludeDirectories=""
|
||||
PreprocessorDefinitions=""
|
||||
BasicRuntimeChecks="3"
|
||||
BrowseInformation="1"/>
|
||||
</FileConfiguration>
|
||||
<FileConfiguration
|
||||
Name="Release|Win32">
|
||||
<Tool
|
||||
Name="VCCLCompilerTool"
|
||||
Optimization="2"
|
||||
AdditionalIncludeDirectories=""
|
||||
PreprocessorDefinitions=""/>
|
||||
</FileConfiguration>
|
||||
</File>
|
||||
<File
|
||||
RelativePath="..\ode\src\collision_kernel.cpp">
|
||||
<FileConfiguration
|
||||
Name="Debug|Win32">
|
||||
<Tool
|
||||
Name="VCCLCompilerTool"
|
||||
Optimization="0"
|
||||
AdditionalIncludeDirectories=""
|
||||
PreprocessorDefinitions=""
|
||||
BasicRuntimeChecks="3"
|
||||
BrowseInformation="1"/>
|
||||
</FileConfiguration>
|
||||
<FileConfiguration
|
||||
Name="Release|Win32">
|
||||
<Tool
|
||||
Name="VCCLCompilerTool"
|
||||
Optimization="2"
|
||||
AdditionalIncludeDirectories=""
|
||||
PreprocessorDefinitions=""/>
|
||||
</FileConfiguration>
|
||||
</File>
|
||||
<File
|
||||
RelativePath="..\ode\src\collision_quadtreespace.cpp">
|
||||
<FileConfiguration
|
||||
Name="Debug|Win32">
|
||||
<Tool
|
||||
Name="VCCLCompilerTool"
|
||||
Optimization="0"
|
||||
AdditionalIncludeDirectories=""
|
||||
PreprocessorDefinitions=""
|
||||
BasicRuntimeChecks="3"
|
||||
BrowseInformation="1"/>
|
||||
</FileConfiguration>
|
||||
<FileConfiguration
|
||||
Name="Release|Win32">
|
||||
<Tool
|
||||
Name="VCCLCompilerTool"
|
||||
Optimization="2"
|
||||
AdditionalIncludeDirectories=""
|
||||
PreprocessorDefinitions=""/>
|
||||
</FileConfiguration>
|
||||
</File>
|
||||
<File
|
||||
RelativePath="..\ode\src\collision_space.cpp">
|
||||
<FileConfiguration
|
||||
Name="Debug|Win32">
|
||||
<Tool
|
||||
Name="VCCLCompilerTool"
|
||||
Optimization="0"
|
||||
AdditionalIncludeDirectories=""
|
||||
PreprocessorDefinitions=""
|
||||
BasicRuntimeChecks="3"
|
||||
BrowseInformation="1"/>
|
||||
</FileConfiguration>
|
||||
<FileConfiguration
|
||||
Name="Release|Win32">
|
||||
<Tool
|
||||
Name="VCCLCompilerTool"
|
||||
Optimization="2"
|
||||
AdditionalIncludeDirectories=""
|
||||
PreprocessorDefinitions=""/>
|
||||
</FileConfiguration>
|
||||
</File>
|
||||
<File
|
||||
RelativePath="..\ode\src\collision_std.cpp">
|
||||
<FileConfiguration
|
||||
Name="Debug|Win32">
|
||||
<Tool
|
||||
Name="VCCLCompilerTool"
|
||||
Optimization="0"
|
||||
AdditionalIncludeDirectories=""
|
||||
PreprocessorDefinitions=""
|
||||
BasicRuntimeChecks="3"
|
||||
BrowseInformation="1"/>
|
||||
</FileConfiguration>
|
||||
<FileConfiguration
|
||||
Name="Release|Win32">
|
||||
<Tool
|
||||
Name="VCCLCompilerTool"
|
||||
Optimization="2"
|
||||
AdditionalIncludeDirectories=""
|
||||
PreprocessorDefinitions=""/>
|
||||
</FileConfiguration>
|
||||
</File>
|
||||
<File
|
||||
RelativePath="..\ode\src\collision_transform.cpp">
|
||||
<FileConfiguration
|
||||
Name="Debug|Win32">
|
||||
<Tool
|
||||
Name="VCCLCompilerTool"
|
||||
Optimization="0"
|
||||
AdditionalIncludeDirectories=""
|
||||
PreprocessorDefinitions=""
|
||||
BasicRuntimeChecks="3"
|
||||
BrowseInformation="1"/>
|
||||
</FileConfiguration>
|
||||
<FileConfiguration
|
||||
Name="Release|Win32">
|
||||
<Tool
|
||||
Name="VCCLCompilerTool"
|
||||
Optimization="2"
|
||||
AdditionalIncludeDirectories=""
|
||||
PreprocessorDefinitions=""/>
|
||||
</FileConfiguration>
|
||||
</File>
|
||||
<File
|
||||
RelativePath="..\ode\src\collision_util.cpp">
|
||||
<FileConfiguration
|
||||
Name="Debug|Win32">
|
||||
<Tool
|
||||
Name="VCCLCompilerTool"
|
||||
Optimization="0"
|
||||
AdditionalIncludeDirectories=""
|
||||
PreprocessorDefinitions=""
|
||||
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|
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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|
||||
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|
||||
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||||
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|
||||
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||||
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||||
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||||
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||||
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||||
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||||
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|
||||
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|
||||
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||||
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||||
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|
||||
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||||
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|
||||
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||||
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||||
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||||
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||||
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|
||||
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|
||||
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||||
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||||
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||||
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||||
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|
||||
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|
||||
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|
||||
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|
||||
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||||
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|
||||
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||||
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||||
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||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
<FileConfiguration
|
||||
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|
||||
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|
||||
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|
||||
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||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
<FileConfiguration
|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
</File>
|
||||
<File
|
||||
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|
||||
<FileConfiguration
|
||||
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|
||||
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|
||||
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|
||||
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||||
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||||
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||||
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|
||||
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|
||||
<FileConfiguration
|
||||
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|
||||
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|
||||
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||||
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||||
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|
||||
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|
||||
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||||
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||||
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||||
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|
||||
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|
||||
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|
||||
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||||
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|
||||
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|
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||||
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||||
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||||
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||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
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|
||||
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||||
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|
||||
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|
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|
||||
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|
||||
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||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
</FileConfiguration>
|
||||
</File>
|
||||
</Filter>
|
||||
<Filter
|
||||
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|
||||
Filter="h;hpp;hxx;hm;inl">
|
||||
<File
|
||||
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|
||||
</File>
|
||||
<File
|
||||
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|
||||
</File>
|
||||
<File
|
||||
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|
||||
</File>
|
||||
<File
|
||||
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|
||||
</File>
|
||||
<File
|
||||
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|
||||
</File>
|
||||
<File
|
||||
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|
||||
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|
||||
<File
|
||||
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|
||||
</File>
|
||||
<File
|
||||
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|
||||
</File>
|
||||
<File
|
||||
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|
||||
</File>
|
||||
<File
|
||||
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|
||||
</File>
|
||||
<File
|
||||
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|
||||
</File>
|
||||
<File
|
||||
RelativePath="..\ode\src\objects.h">
|
||||
</File>
|
||||
<File
|
||||
RelativePath="..\ode\src\obstack.h">
|
||||
</File>
|
||||
<File
|
||||
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|
||||
</File>
|
||||
<File
|
||||
RelativePath="..\ode\src\step.h">
|
||||
</File>
|
||||
<File
|
||||
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|
||||
</File>
|
||||
<File
|
||||
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|
||||
</File>
|
||||
</Filter>
|
||||
</Files>
|
||||
<Globals>
|
||||
</Globals>
|
||||
</VisualStudioProject>
|
||||
83
Extras/ode/config/README
Normal file
83
Extras/ode/config/README
Normal file
@@ -0,0 +1,83 @@
|
||||
|
||||
|
||||
variable names used in the per-platform makefile configuration files:
|
||||
|
||||
|
||||
|
||||
platform stuff
|
||||
|
||||
--------------
|
||||
|
||||
|
||||
|
||||
WINDOWS set to 1 if this is a microsoft windows based platform
|
||||
|
||||
|
||||
|
||||
filesystem stuff and commands
|
||||
|
||||
-----------------------------
|
||||
|
||||
|
||||
|
||||
THIS_DIR1 prefix to run a command from the current directory (from within make)
|
||||
THIS_DIR2 prefix to run a command from the current directory (from command line)
|
||||
|
||||
DEL_CMD the name of the delete command
|
||||
|
||||
|
||||
|
||||
compiler stuff
|
||||
|
||||
--------------
|
||||
|
||||
|
||||
|
||||
CC the C/C++ compiler to use
|
||||
|
||||
OBJ the object file extension
|
||||
|
||||
C_FLAGS the standard set of compiler flags
|
||||
|
||||
C_INC flag to add an include path
|
||||
|
||||
C_OUT flag to specify the object file output
|
||||
|
||||
C_EXEOUT flag to specify the executable file output
|
||||
|
||||
C_DEF flag to add a define
|
||||
|
||||
C_OPT flag to set the optimization level
|
||||
|
||||
OPT the optimization level to use
|
||||
|
||||
|
||||
|
||||
library archiver
|
||||
|
||||
----------------
|
||||
|
||||
|
||||
|
||||
AR library archiver command
|
||||
|
||||
RANLIB ranlib command, if necessary
|
||||
|
||||
LIB_PREFIX library file prefix
|
||||
|
||||
LIB_SUFFIX library file suffix
|
||||
|
||||
LINK_OPENGL link flags to link in windowing stuff and opengl
|
||||
|
||||
LINK_MATH link flags to link in the system math library
|
||||
|
||||
|
||||
|
||||
windows specific stuff
|
||||
|
||||
----------------------
|
||||
|
||||
|
||||
|
||||
RC_RULE makefile rule to use for the resource compiler
|
||||
|
||||
33
Extras/ode/config/makefile.cygwin
Normal file
33
Extras/ode/config/makefile.cygwin
Normal file
@@ -0,0 +1,33 @@
|
||||
WINDOWS=1
|
||||
THIS_DIR1=./
|
||||
THIS_DIR2=./
|
||||
DEL_CMD=rm -f
|
||||
CC=gcc
|
||||
OBJ=.o
|
||||
C_FLAGS=-c -Wall -fno-exceptions -fno-rtti -DWIN32 -DCYGWIN
|
||||
C_INC=-I
|
||||
C_OUT=-o
|
||||
C_EXEOUT=-o
|
||||
C_DEF=-D
|
||||
C_OPT=-O
|
||||
AR=ar rc
|
||||
RANLIB=
|
||||
LIB_PREFIX=lib
|
||||
LIB_SUFFIX=.a
|
||||
LINK_OPENGL=-lstdc++ -lComctl32 -lkernel32 -luser32 -lgdi32 -lOpenGL32 -lGlu32
|
||||
LINK_MATH=-lm
|
||||
RC_RULE=windres -I rc -O coff $< $@
|
||||
|
||||
ifeq ($(BUILD),release)
|
||||
OPT=2
|
||||
C_FLAGS+=-fomit-frame-pointer -ffast-math
|
||||
endif
|
||||
|
||||
ifeq ($(BUILD),debug)
|
||||
OPT=0
|
||||
C_FLAGS+=-g
|
||||
endif
|
||||
|
||||
I_AM_GCC=yes
|
||||
|
||||
|
||||
34
Extras/ode/config/makefile.mingw
Normal file
34
Extras/ode/config/makefile.mingw
Normal file
@@ -0,0 +1,34 @@
|
||||
WINDOWS=1
|
||||
THIS_DIR1=
|
||||
THIS_DIR2=
|
||||
DEL_CMD=tools/rm.exe
|
||||
CC=gcc
|
||||
OBJ=.o
|
||||
C_FLAGS=-c -Wall -fno-exceptions -fno-rtti -DWIN32
|
||||
C_INC=-I
|
||||
C_OUT=-o
|
||||
C_EXEOUT=-o
|
||||
C_DEF=-D
|
||||
C_OPT=-O
|
||||
AR=ar rc
|
||||
RANLIB=
|
||||
LIB_PREFIX=lib
|
||||
LIB_SUFFIX=.a
|
||||
LINK_OPENGL=-lstdc++ -lComctl32 -lkernel32 -luser32 -lgdi32 -lOpenGL32 -lGlu32
|
||||
LINK_MATH=-lm
|
||||
RC_RULE=windres -I rc -O coff $< $@
|
||||
|
||||
ifeq ($(BUILD),release)
|
||||
OPT=2
|
||||
C_FLAGS+=-fomit-frame-pointer -ffast-math
|
||||
endif
|
||||
|
||||
ifeq ($(BUILD),debug)
|
||||
OPT=0
|
||||
C_FLAGS+=-g
|
||||
endif
|
||||
|
||||
I_AM_GCC=yes
|
||||
|
||||
|
||||
|
||||
28
Extras/ode/config/makefile.msvc
Normal file
28
Extras/ode/config/makefile.msvc
Normal file
@@ -0,0 +1,28 @@
|
||||
WINDOWS=1
|
||||
THIS_DIR1=
|
||||
THIS_DIR2=
|
||||
DEL_CMD=tools\\rm
|
||||
CC=cl /nologo /DWIN32
|
||||
OBJ=.obj
|
||||
C_FLAGS=/c /GR- /GX- /W3 /GF
|
||||
C_INC=/I
|
||||
C_OUT=/Fo
|
||||
C_EXEOUT=/Fe
|
||||
C_DEF=/D
|
||||
C_OPT=/O
|
||||
AR=lib /nologo /OUT:
|
||||
RANLIB=
|
||||
LIB_PREFIX=
|
||||
LIB_SUFFIX=.lib
|
||||
LINK_OPENGL=Comctl32.lib kernel32.lib user32.lib gdi32.lib OpenGL32.lib Glu32.lib
|
||||
LINK_MATH=
|
||||
RC_RULE=rc /r /fo$@ $<
|
||||
|
||||
ifeq ($(BUILD),release)
|
||||
OPT=2
|
||||
C_FLAGS+=/Oy
|
||||
endif
|
||||
|
||||
ifeq ($(BUILD),debug)
|
||||
OPT=d
|
||||
endif
|
||||
30
Extras/ode/config/makefile.msvc-cygwin
Normal file
30
Extras/ode/config/makefile.msvc-cygwin
Normal file
@@ -0,0 +1,30 @@
|
||||
# To build ODE using VC++ from the cygwin make environment
|
||||
|
||||
WINDOWS=1
|
||||
THIS_DIR1=./
|
||||
THIS_DIR2=
|
||||
DEL_CMD=rm -f
|
||||
CC=cl /nologo /DWIN32
|
||||
OBJ=.obj
|
||||
C_FLAGS=/c /GR- /GX- /W3 /GF
|
||||
C_INC=/I
|
||||
C_OUT=/Fo
|
||||
C_EXEOUT=/Fe
|
||||
C_DEF=/D
|
||||
C_OPT=/O
|
||||
AR=lib /nologo /OUT:
|
||||
RANLIB=
|
||||
LIB_PREFIX=
|
||||
LIB_SUFFIX=.lib
|
||||
LINK_OPENGL=Comctl32.lib kernel32.lib user32.lib gdi32.lib OpenGL32.lib Glu32.lib
|
||||
LINK_MATH=
|
||||
RC_RULE=rc /r /fo$@ $<
|
||||
|
||||
ifeq ($(BUILD),release)
|
||||
OPT=2
|
||||
C_FLAGS+=/Oy
|
||||
endif
|
||||
|
||||
ifeq ($(BUILD),debug)
|
||||
OPT=d
|
||||
endif
|
||||
36
Extras/ode/config/makefile.msvc-dll
Normal file
36
Extras/ode/config/makefile.msvc-dll
Normal file
@@ -0,0 +1,36 @@
|
||||
WINDOWS=1
|
||||
THIS_DIR1=
|
||||
THIS_DIR2=
|
||||
DEL_CMD=tools\rm
|
||||
CC=cl /nologo /DWIN32
|
||||
OBJ=.obj
|
||||
C_FLAGS=/c /GR- /GX- /W3 /GF
|
||||
C_INC=/I
|
||||
C_OUT=/Fo
|
||||
C_EXEOUT=/Fe
|
||||
C_DEF=/D
|
||||
C_OPT=/O
|
||||
AR=lib /nologo /OUT:
|
||||
RANLIB=
|
||||
LIB_PREFIX=
|
||||
LIB_SUFFIX=.lib
|
||||
LINK_OPENGL=Comctl32.lib kernel32.lib user32.lib gdi32.lib OpenGL32.lib Glu32.lib
|
||||
LINK_MATH=
|
||||
RC_RULE=rc /r /fo$@ $<
|
||||
|
||||
ifeq ($(BUILD),release)
|
||||
OPT=2
|
||||
C_FLAGS+=/Oy
|
||||
endif
|
||||
|
||||
ifeq ($(BUILD),debug)
|
||||
OPT=d
|
||||
endif
|
||||
|
||||
ifdef OPCODE_DIRECTORY
|
||||
DEFS_FILE=msvcdefs-trimesh.def
|
||||
else
|
||||
DEFS_FILE=msvcdefs.def
|
||||
endif
|
||||
|
||||
ODE_LIB_AR_RULE=link /dll /nologo /SUBSYSTEM:WINDOWS /LIBPATH:"C:\Programme\Micros~2\VC98\Lib" /def:config/$(DEFS_FILE) $(LINK_OPENGL) /OUT:$(patsubst %.lib,%.dll,$@)
|
||||
38
Extras/ode/config/makefile.msvc-dll-cygwin
Normal file
38
Extras/ode/config/makefile.msvc-dll-cygwin
Normal file
@@ -0,0 +1,38 @@
|
||||
# To build ODE.dll using VC++ from the cygwin make environment
|
||||
|
||||
WINDOWS=1
|
||||
THIS_DIR1=./
|
||||
THIS_DIR2=
|
||||
DEL_CMD=rm -f
|
||||
CC=cl /nologo /DWIN32
|
||||
OBJ=.obj
|
||||
C_FLAGS=/c /GR- /GX- /W3 /GF
|
||||
C_INC=/I
|
||||
C_OUT=/Fo
|
||||
C_EXEOUT=/Fe
|
||||
C_DEF=/D
|
||||
C_OPT=/O
|
||||
AR=lib /nologo /OUT:
|
||||
RANLIB=
|
||||
LIB_PREFIX=
|
||||
LIB_SUFFIX=.lib
|
||||
LINK_OPENGL=Comctl32.lib kernel32.lib user32.lib gdi32.lib OpenGL32.lib Glu32.lib
|
||||
LINK_MATH=
|
||||
RC_RULE=rc /r /fo$@ $<
|
||||
|
||||
ifeq ($(BUILD),release)
|
||||
OPT=2
|
||||
C_FLAGS+=/Oy
|
||||
endif
|
||||
|
||||
ifeq ($(BUILD),debug)
|
||||
OPT=d
|
||||
endif
|
||||
|
||||
ifdef OPCODE_DIRECTORY
|
||||
DEFS_FILE=msvcdefs-trimesh.def
|
||||
else
|
||||
DEFS_FILE=msvcdefs.def
|
||||
endif
|
||||
|
||||
ODE_LIB_AR_RULE=link /dll /nologo /SUBSYSTEM:WINDOWS /LIBPATH:"C:\Programme\Micros~2\VC98\Lib" /def:config/$(DEFS_FILE) $(LINK_OPENGL) /OUT:$(patsubst %.lib,%.dll,$@)
|
||||
31
Extras/ode/config/makefile.osx
Normal file
31
Extras/ode/config/makefile.osx
Normal file
@@ -0,0 +1,31 @@
|
||||
THIS_DIR1=./
|
||||
THIS_DIR2=./
|
||||
DEL_CMD=rm -f
|
||||
CC=g++
|
||||
OBJ=.o
|
||||
C_FLAGS=-c -Wall -fno-rtti -fno-exceptions -Wall -I/usr/X11R6/include
|
||||
C_INC=-I
|
||||
C_OUT=-o
|
||||
C_EXEOUT=-o
|
||||
C_DEF=-D
|
||||
C_OPT=-O
|
||||
AR=ar rc
|
||||
RANLIB=ranlib -s
|
||||
LIB_PREFIX=lib
|
||||
LIB_SUFFIX=.a
|
||||
LINK_OPENGL=-L/usr/X11R6/lib -lX11 -lGL -lGLU
|
||||
LINK_MATH=-lm
|
||||
|
||||
ifeq ($(BUILD),release)
|
||||
OPT=2
|
||||
C_FLAGS+=-fomit-frame-pointer -ffast-math
|
||||
endif
|
||||
|
||||
ifeq ($(BUILD),debug)
|
||||
OPT=0
|
||||
C_FLAGS+=-g
|
||||
endif
|
||||
|
||||
I_AM_GCC=yes
|
||||
|
||||
|
||||
33
Extras/ode/config/makefile.unix-gcc
Normal file
33
Extras/ode/config/makefile.unix-gcc
Normal file
@@ -0,0 +1,33 @@
|
||||
THIS_DIR1=./
|
||||
THIS_DIR2=./
|
||||
DEL_CMD=rm -f
|
||||
CC=g++
|
||||
OBJ=.o
|
||||
C_FLAGS=-c -Wall -fno-rtti -fno-exceptions -Wall
|
||||
C_INC=-I
|
||||
C_OUT=-o
|
||||
C_EXEOUT=-o
|
||||
C_DEF=-D
|
||||
C_OPT=-O
|
||||
AR=ar rc
|
||||
RANLIB=
|
||||
LIB_PREFIX=lib
|
||||
LIB_SUFFIX=.a
|
||||
LINK_OPENGL=-L/usr/X11R6/lib -L/usr/X11/lib -L/usr/lib/X11R6 -L/usr/lib/X11 -lX11 -lGL -lGLU
|
||||
LINK_MATH=-lm
|
||||
|
||||
ifeq ($(BUILD),release)
|
||||
OPT=2
|
||||
C_FLAGS+=-fomit-frame-pointer -ffast-math
|
||||
endif
|
||||
|
||||
ifeq ($(BUILD),debug)
|
||||
OPT=0
|
||||
C_FLAGS+=-g
|
||||
endif
|
||||
|
||||
# some other possible flags:
|
||||
# -malign-double -mpentiumpro -march=pentiumpro
|
||||
|
||||
I_AM_GCC=yes
|
||||
|
||||
25
Extras/ode/config/makefile.unix-generic
Normal file
25
Extras/ode/config/makefile.unix-generic
Normal file
@@ -0,0 +1,25 @@
|
||||
THIS_DIR1=./
|
||||
THIS_DIR2=./
|
||||
DEL_CMD=rm -f
|
||||
CC=CC
|
||||
OBJ=.o
|
||||
C_FLAGS=-c
|
||||
C_INC=-I
|
||||
C_OUT=-o
|
||||
C_EXEOUT=-o
|
||||
C_DEF=-D
|
||||
C_OPT=-O
|
||||
AR=ar rc
|
||||
RANLIB=
|
||||
LIB_PREFIX=lib
|
||||
LIB_SUFFIX=.a
|
||||
LINK_OPENGL=-L/usr/X11R6/lib -L/usr/X11/lib -L/usr/lib/X11R6 -L/usr/lib/X11 -lX11 -lGL -lGLU
|
||||
LINK_MATH=-lm
|
||||
|
||||
ifeq ($(BUILD),release)
|
||||
OPT=2
|
||||
endif
|
||||
|
||||
ifeq ($(BUILD),debug)
|
||||
OPT=0
|
||||
endif
|
||||
660
Extras/ode/config/msvcdefs-trimesh.def
Normal file
660
Extras/ode/config/msvcdefs-trimesh.def
Normal file
@@ -0,0 +1,660 @@
|
||||
EXPORTS
|
||||
|
||||
dAreConnected
|
||||
|
||||
dAreConnectedExcluding
|
||||
|
||||
dBodyAddForce
|
||||
|
||||
dBodyAddForceAtPos
|
||||
|
||||
dBodyAddForceAtRelPos
|
||||
|
||||
dBodyAddRelForce
|
||||
|
||||
dBodyAddRelForceAtPos
|
||||
|
||||
dBodyAddRelForceAtRelPos
|
||||
|
||||
dBodyAddRelTorque
|
||||
|
||||
dBodyAddTorque
|
||||
|
||||
dBodyCreate
|
||||
|
||||
dBodyDestroy
|
||||
|
||||
dBodyDisable
|
||||
|
||||
dBodyEnable
|
||||
|
||||
dBodyGetAngularVel
|
||||
|
||||
dBodyGetAutoDisableAngularThreshold
|
||||
|
||||
dBodyGetAutoDisableFlag
|
||||
|
||||
dBodyGetAutoDisableLinearThreshold
|
||||
|
||||
dBodyGetAutoDisableSteps
|
||||
|
||||
dBodyGetAutoDisableTime
|
||||
|
||||
dBodyGetData
|
||||
|
||||
dBodyGetFiniteRotationAxis
|
||||
|
||||
dBodyGetFiniteRotationMode
|
||||
|
||||
dBodyGetForce
|
||||
|
||||
dBodyGetGravityMode
|
||||
|
||||
dBodyGetJoint
|
||||
|
||||
dBodyGetLinearVel
|
||||
|
||||
dBodyGetMass
|
||||
|
||||
dBodyGetNumJoints
|
||||
|
||||
dBodyGetPointVel
|
||||
|
||||
dBodyGetPosition
|
||||
|
||||
dBodyGetPosRelPoint
|
||||
|
||||
dBodyGetQuaternion
|
||||
|
||||
dBodyGetRelPointPos
|
||||
|
||||
dBodyGetRelPointVel
|
||||
|
||||
dBodyGetRotation
|
||||
|
||||
dBodyGetTorque
|
||||
|
||||
dBodyIsEnabled
|
||||
|
||||
dBodySetAngularVel
|
||||
|
||||
dBodySetAutoDisableAngularThreshold
|
||||
|
||||
dBodySetAutoDisableDefaults
|
||||
|
||||
dBodySetAutoDisableFlag
|
||||
|
||||
dBodySetAutoDisableLinearThreshold
|
||||
|
||||
dBodySetAutoDisableSteps
|
||||
|
||||
dBodySetAutoDisableTime
|
||||
|
||||
dBodySetData
|
||||
|
||||
dBodySetFiniteRotationAxis
|
||||
|
||||
dBodySetFiniteRotationMode
|
||||
|
||||
dBodySetForce
|
||||
|
||||
dBodySetGravityMode
|
||||
|
||||
dBodySetLinearVel
|
||||
|
||||
dBodySetMass
|
||||
|
||||
dBodySetPosition
|
||||
|
||||
dBodySetQuaternion
|
||||
|
||||
dBodySetRotation
|
||||
|
||||
dBodySetTorque
|
||||
|
||||
dBodyVectorFromWorld
|
||||
|
||||
dBodyVectorToWorld
|
||||
|
||||
dBoxBox
|
||||
|
||||
dBoxTouchesBox
|
||||
|
||||
dClearUpperTriangle
|
||||
|
||||
dCloseODE
|
||||
|
||||
dClosestLineSegmentPoints
|
||||
|
||||
dCollide
|
||||
|
||||
dCreateBox
|
||||
|
||||
dCreateCCylinder
|
||||
|
||||
dCreateGeom
|
||||
|
||||
dCreateGeomClass
|
||||
|
||||
dCreateGeomTransform
|
||||
|
||||
dCreatePlane
|
||||
|
||||
dCreateRay
|
||||
|
||||
dCreateSphere
|
||||
|
||||
dCreateTriMesh
|
||||
|
||||
dDebug
|
||||
|
||||
dDQfromW
|
||||
|
||||
dError
|
||||
|
||||
dFactorCholesky
|
||||
|
||||
dFactorLDLT
|
||||
|
||||
dGeomBoxGetLengths
|
||||
|
||||
dGeomBoxPointDepth
|
||||
|
||||
dGeomBoxSetLengths
|
||||
|
||||
dGeomCCylinderGetParams
|
||||
|
||||
dGeomCCylinderPointDepth
|
||||
|
||||
dGeomCCylinderSetParams
|
||||
|
||||
dGeomDestroy
|
||||
|
||||
dGeomDisable
|
||||
|
||||
dGeomEnable
|
||||
|
||||
dGeomGetAABB
|
||||
|
||||
dGeomGetBody
|
||||
|
||||
dGeomGetCategoryBits
|
||||
|
||||
dGeomGetClass
|
||||
|
||||
dGeomGetClassData
|
||||
|
||||
dGeomGetCollideBits
|
||||
|
||||
dGeomGetData
|
||||
|
||||
dGeomGetPosition
|
||||
|
||||
dGeomGetQuaternion
|
||||
|
||||
dGeomGetRotation
|
||||
|
||||
dGeomGetSpace
|
||||
|
||||
dGeomIsEnabled
|
||||
|
||||
dGeomIsSpace
|
||||
|
||||
dGeomPlaneGetParams
|
||||
|
||||
dGeomPlanePointDepth
|
||||
|
||||
dGeomPlaneSetParams
|
||||
|
||||
dGeomRayGet
|
||||
|
||||
dGeomRayGetClosestHit
|
||||
|
||||
dGeomRayGetLength
|
||||
|
||||
dGeomRaySet
|
||||
|
||||
dGeomRaySetClosestHit
|
||||
|
||||
dGeomRaySetLength
|
||||
|
||||
dGeomRaySetParams
|
||||
|
||||
dGeomSetBody
|
||||
|
||||
dGeomSetCategoryBits
|
||||
|
||||
dGeomSetCollideBits
|
||||
|
||||
dGeomSetData
|
||||
|
||||
dGeomSetPosition
|
||||
|
||||
dGeomSetQuaternion
|
||||
|
||||
dGeomSetRotation
|
||||
|
||||
dGeomSphereGetRadius
|
||||
|
||||
dGeomSpherePointDepth
|
||||
|
||||
dGeomSphereSetRadius
|
||||
|
||||
dGeomTransformGetCleanup
|
||||
|
||||
dGeomTransformGetGeom
|
||||
|
||||
dGeomTransformGetInfo
|
||||
|
||||
dGeomTransformSetCleanup
|
||||
|
||||
dGeomTransformSetGeom
|
||||
|
||||
dGeomTransformSetInfo
|
||||
|
||||
dGeomTriMeshClearTCCache
|
||||
|
||||
dGeomTriMeshDataBuildDouble
|
||||
|
||||
dGeomTriMeshDataBuildSimple
|
||||
|
||||
dGeomTriMeshDataBuildSingle
|
||||
|
||||
dGeomTriMeshDataCreate
|
||||
|
||||
dGeomTriMeshDataDestroy
|
||||
|
||||
dGeomTriMeshEnableTC
|
||||
|
||||
dGeomTriMeshGetArrayCallback
|
||||
|
||||
dGeomTriMeshGetCallback
|
||||
|
||||
dGeomTriMeshGetPoint
|
||||
|
||||
dGeomTriMeshGetRayCallback
|
||||
|
||||
dGeomTriMeshGetTriangle
|
||||
|
||||
dGeomTriMeshGetTriangleCount
|
||||
|
||||
dGeomTriMeshIsTCEnabled
|
||||
|
||||
dGeomTriMeshSetArrayCallback
|
||||
|
||||
dGeomTriMeshSetCallback
|
||||
|
||||
dGeomTriMeshSetData
|
||||
|
||||
dGeomTriMeshSetRayCallback
|
||||
|
||||
dHashSpaceCreate
|
||||
|
||||
dHashSpaceGetLevels
|
||||
|
||||
dHashSpaceSetLevels
|
||||
|
||||
dInfiniteAABB
|
||||
|
||||
dInvertPDMatrix
|
||||
|
||||
dIsPositiveDefinite
|
||||
|
||||
dJointAddAMotorTorques
|
||||
|
||||
dJointAddHinge2Torques
|
||||
|
||||
dJointAddHingeTorque
|
||||
|
||||
dJointAddSliderForce
|
||||
|
||||
dJointAddUniversalTorques
|
||||
|
||||
dJointAttach
|
||||
|
||||
dJointCreateAMotor
|
||||
|
||||
dJointCreateBall
|
||||
|
||||
dJointCreateContact
|
||||
|
||||
dJointCreateFixed
|
||||
|
||||
dJointCreateHinge
|
||||
|
||||
dJointCreateHinge2
|
||||
|
||||
dJointCreateSlider
|
||||
|
||||
dJointCreateUniversal
|
||||
|
||||
dJointDestroy
|
||||
|
||||
dJointGetAMotorAngle
|
||||
|
||||
dJointGetAMotorAngleRate
|
||||
|
||||
dJointGetAMotorAxis
|
||||
|
||||
dJointGetAMotorAxisRel
|
||||
|
||||
dJointGetAMotorMode
|
||||
|
||||
dJointGetAMotorNumAxes
|
||||
|
||||
dJointGetAMotorParam
|
||||
|
||||
dJointGetBallAnchor
|
||||
|
||||
dJointGetBallAnchor2
|
||||
|
||||
dJointGetBody
|
||||
|
||||
dJointGetData
|
||||
|
||||
dJointGetFeedback
|
||||
|
||||
dJointGetHinge2Anchor
|
||||
|
||||
dJointGetHinge2Anchor2
|
||||
|
||||
dJointGetHinge2Angle1
|
||||
|
||||
dJointGetHinge2Angle1Rate
|
||||
|
||||
dJointGetHinge2Angle2Rate
|
||||
|
||||
dJointGetHinge2Axis1
|
||||
|
||||
dJointGetHinge2Axis2
|
||||
|
||||
dJointGetHinge2Param
|
||||
|
||||
dJointGetHingeAnchor
|
||||
|
||||
dJointGetHingeAnchor2
|
||||
|
||||
dJointGetHingeAngle
|
||||
|
||||
dJointGetHingeAngleRate
|
||||
|
||||
dJointGetHingeAxis
|
||||
|
||||
dJointGetHingeParam
|
||||
|
||||
dJointGetSliderAxis
|
||||
|
||||
dJointGetSliderParam
|
||||
|
||||
dJointGetSliderPosition
|
||||
|
||||
dJointGetSliderPositionRate
|
||||
|
||||
dJointGetType
|
||||
|
||||
dJointGetUniversalAnchor
|
||||
|
||||
dJointGetUniversalAnchor2
|
||||
|
||||
dJointGetUniversalAngle1
|
||||
|
||||
dJointGetUniversalAngle1Rate
|
||||
|
||||
dJointGetUniversalAngle2
|
||||
|
||||
dJointGetUniversalAngle2Rate
|
||||
|
||||
dJointGetUniversalAxis1
|
||||
|
||||
dJointGetUniversalAxis2
|
||||
|
||||
dJointGetUniversalParam
|
||||
|
||||
dJointGroupCreate
|
||||
|
||||
dJointGroupDestroy
|
||||
|
||||
dJointGroupEmpty
|
||||
|
||||
dJointSetAMotorAngle
|
||||
|
||||
dJointSetAMotorAxis
|
||||
|
||||
dJointSetAMotorMode
|
||||
|
||||
dJointSetAMotorNumAxes
|
||||
|
||||
dJointSetAMotorParam
|
||||
|
||||
dJointSetBallAnchor
|
||||
|
||||
dJointSetData
|
||||
|
||||
dJointSetFeedback
|
||||
|
||||
dJointSetFixed
|
||||
|
||||
dJointSetHinge2Anchor
|
||||
|
||||
dJointSetHinge2Axis1
|
||||
|
||||
dJointSetHinge2Axis2
|
||||
|
||||
dJointSetHinge2Param
|
||||
|
||||
dJointSetHingeAnchor
|
||||
|
||||
dJointSetHingeAxis
|
||||
|
||||
dJointSetHingeParam
|
||||
|
||||
dJointSetSliderAxis
|
||||
|
||||
dJointSetSliderParam
|
||||
|
||||
dJointSetUniversalAnchor
|
||||
|
||||
dJointSetUniversalAxis1
|
||||
|
||||
dJointSetUniversalAxis2
|
||||
|
||||
dJointSetUniversalParam
|
||||
|
||||
dLDLTAddTL
|
||||
|
||||
dLDLTRemove
|
||||
|
||||
dMakeRandomMatrix
|
||||
|
||||
dMakeRandomVector
|
||||
|
||||
dMassAdd
|
||||
|
||||
dMassAdjust
|
||||
|
||||
dMassRotate
|
||||
|
||||
dMassSetBox
|
||||
|
||||
dMassSetBoxTotal
|
||||
|
||||
dMassSetCappedCylinder
|
||||
|
||||
dMassSetCappedCylinderTotal
|
||||
|
||||
dMassSetCylinder
|
||||
|
||||
dMassSetCylinderTotal
|
||||
|
||||
dMassSetParameters
|
||||
|
||||
dMassSetSphere
|
||||
|
||||
dMassSetSphereTotal
|
||||
|
||||
dMassSetZero
|
||||
|
||||
dMassTranslate
|
||||
|
||||
dMaxDifference
|
||||
|
||||
dMessage
|
||||
|
||||
dMultiply0
|
||||
|
||||
dMultiply1
|
||||
|
||||
dMultiply2
|
||||
|
||||
dNormalize3
|
||||
|
||||
dNormalize4
|
||||
|
||||
dPlaneSpace
|
||||
|
||||
dQFromAxisAndAngle
|
||||
|
||||
dQfromR
|
||||
|
||||
dQMultiply0
|
||||
|
||||
dQMultiply1
|
||||
|
||||
dQMultiply2
|
||||
|
||||
dQMultiply3
|
||||
|
||||
dQSetIdentity
|
||||
|
||||
dQuadTreeSpaceCreate
|
||||
|
||||
dRandGetSeed
|
||||
|
||||
dRandInt
|
||||
|
||||
dRandReal
|
||||
|
||||
dRandSetSeed
|
||||
|
||||
dRemoveRowCol
|
||||
|
||||
dRFrom2Axes
|
||||
|
||||
dRFromAxisAndAngle
|
||||
|
||||
dRFromEulerAngles
|
||||
|
||||
dRfromQ
|
||||
|
||||
dRFromZAxis
|
||||
|
||||
dRSetIdentity
|
||||
|
||||
dSetDebugHandler
|
||||
|
||||
dSetErrorHandler
|
||||
|
||||
dSetMessageHandler
|
||||
|
||||
dSetZero
|
||||
|
||||
dSimpleSpaceCreate
|
||||
|
||||
dSolveCholesky
|
||||
|
||||
dSolveLDLT
|
||||
|
||||
dSpaceAdd
|
||||
|
||||
dSpaceClean
|
||||
|
||||
dSpaceCollide
|
||||
|
||||
dSpaceCollide2
|
||||
|
||||
dSpaceDestroy
|
||||
|
||||
dSpaceGetCleanup
|
||||
|
||||
dSpaceGetGeom
|
||||
|
||||
dSpaceGetNumGeoms
|
||||
|
||||
dSpaceQuery
|
||||
|
||||
dSpaceRemove
|
||||
|
||||
dSpaceSetCleanup
|
||||
|
||||
dTestMatrixComparison
|
||||
|
||||
dTestRand
|
||||
|
||||
dTestSolveLCP
|
||||
|
||||
dWorldCreate
|
||||
|
||||
dWorldDestroy
|
||||
|
||||
dWorldExportDIF
|
||||
|
||||
dWorldGetAutoDisableAngularThreshold
|
||||
|
||||
dWorldGetAutoDisableFlag
|
||||
|
||||
dWorldGetAutoDisableLinearThreshold
|
||||
|
||||
dWorldGetAutoDisableSteps
|
||||
|
||||
dWorldGetAutoDisableTime
|
||||
|
||||
dWorldGetAutoEnableDepthSF1
|
||||
|
||||
dWorldGetCFM
|
||||
|
||||
dWorldGetERP
|
||||
|
||||
dWorldGetGravity
|
||||
|
||||
dWorldImpulseToForce
|
||||
|
||||
dWorldSetAutoDisableAngularThreshold
|
||||
|
||||
dWorldSetAutoDisableFlag
|
||||
|
||||
dWorldSetAutoDisableLinearThreshold
|
||||
|
||||
dWorldSetAutoDisableSteps
|
||||
|
||||
dWorldSetAutoDisableTime
|
||||
|
||||
dWorldSetAutoEnableDepthSF1
|
||||
|
||||
dWorldSetCFM
|
||||
|
||||
dWorldSetERP
|
||||
|
||||
dWorldSetGravity
|
||||
|
||||
dWorldStep
|
||||
|
||||
dWorldStepFast1
|
||||
|
||||
dWorldQuickStep
|
||||
|
||||
dWorldSetQuickStepNumIterations
|
||||
|
||||
dWorldGetQuickStepNumIterations
|
||||
|
||||
dWorldSetQuickStepW
|
||||
|
||||
dWorldGetQuickStepW
|
||||
|
||||
dWorldSetContactMaxCorrectingVel
|
||||
|
||||
dWorldGetContactMaxCorrectingVel
|
||||
|
||||
dWorldSetContactSurfaceLayer
|
||||
|
||||
dWorldGetContactSurfaceLayer
|
||||
|
||||
622
Extras/ode/config/msvcdefs.def
Normal file
622
Extras/ode/config/msvcdefs.def
Normal file
@@ -0,0 +1,622 @@
|
||||
EXPORTS
|
||||
|
||||
dAreConnected
|
||||
|
||||
dAreConnectedExcluding
|
||||
|
||||
dBodyAddForce
|
||||
|
||||
dBodyAddForceAtPos
|
||||
|
||||
dBodyAddForceAtRelPos
|
||||
|
||||
dBodyAddRelForce
|
||||
|
||||
dBodyAddRelForceAtPos
|
||||
|
||||
dBodyAddRelForceAtRelPos
|
||||
|
||||
dBodyAddRelTorque
|
||||
|
||||
dBodyAddTorque
|
||||
|
||||
dBodyCreate
|
||||
|
||||
dBodyDestroy
|
||||
|
||||
dBodyDisable
|
||||
|
||||
dBodyEnable
|
||||
|
||||
dBodyGetAngularVel
|
||||
|
||||
dBodyGetAutoDisableAngularThreshold
|
||||
|
||||
dBodyGetAutoDisableFlag
|
||||
|
||||
dBodyGetAutoDisableLinearThreshold
|
||||
|
||||
dBodyGetAutoDisableSteps
|
||||
|
||||
dBodyGetAutoDisableTime
|
||||
|
||||
dBodyGetData
|
||||
|
||||
dBodyGetFiniteRotationAxis
|
||||
|
||||
dBodyGetFiniteRotationMode
|
||||
|
||||
dBodyGetForce
|
||||
|
||||
dBodyGetGravityMode
|
||||
|
||||
dBodyGetJoint
|
||||
|
||||
dBodyGetLinearVel
|
||||
|
||||
dBodyGetMass
|
||||
|
||||
dBodyGetNumJoints
|
||||
|
||||
dBodyGetPointVel
|
||||
|
||||
dBodyGetPosition
|
||||
|
||||
dBodyGetPosRelPoint
|
||||
|
||||
dBodyGetQuaternion
|
||||
|
||||
dBodyGetRelPointPos
|
||||
|
||||
dBodyGetRelPointVel
|
||||
|
||||
dBodyGetRotation
|
||||
|
||||
dBodyGetTorque
|
||||
|
||||
dBodyIsEnabled
|
||||
|
||||
dBodySetAngularVel
|
||||
|
||||
dBodySetAutoDisableAngularThreshold
|
||||
|
||||
dBodySetAutoDisableDefaults
|
||||
|
||||
dBodySetAutoDisableFlag
|
||||
|
||||
dBodySetAutoDisableLinearThreshold
|
||||
|
||||
dBodySetAutoDisableSteps
|
||||
|
||||
dBodySetAutoDisableTime
|
||||
|
||||
dBodySetData
|
||||
|
||||
dBodySetFiniteRotationAxis
|
||||
|
||||
dBodySetFiniteRotationMode
|
||||
|
||||
dBodySetForce
|
||||
|
||||
dBodySetGravityMode
|
||||
|
||||
dBodySetLinearVel
|
||||
|
||||
dBodySetMass
|
||||
|
||||
dBodySetPosition
|
||||
|
||||
dBodySetQuaternion
|
||||
|
||||
dBodySetRotation
|
||||
|
||||
dBodySetTorque
|
||||
|
||||
dBodyVectorFromWorld
|
||||
|
||||
dBodyVectorToWorld
|
||||
|
||||
dBoxBox
|
||||
|
||||
dBoxTouchesBox
|
||||
|
||||
dClearUpperTriangle
|
||||
|
||||
dCloseODE
|
||||
|
||||
dClosestLineSegmentPoints
|
||||
|
||||
dCollide
|
||||
|
||||
dCreateBox
|
||||
|
||||
dCreateCCylinder
|
||||
|
||||
dCreateGeom
|
||||
|
||||
dCreateGeomClass
|
||||
|
||||
dCreateGeomTransform
|
||||
|
||||
dCreatePlane
|
||||
|
||||
dCreateRay
|
||||
|
||||
dCreateSphere
|
||||
|
||||
dDebug
|
||||
|
||||
dDQfromW
|
||||
|
||||
dError
|
||||
|
||||
dFactorCholesky
|
||||
|
||||
dFactorLDLT
|
||||
|
||||
dGeomBoxGetLengths
|
||||
|
||||
dGeomBoxPointDepth
|
||||
|
||||
dGeomBoxSetLengths
|
||||
|
||||
dGeomCCylinderGetParams
|
||||
|
||||
dGeomCCylinderPointDepth
|
||||
|
||||
dGeomCCylinderSetParams
|
||||
|
||||
dGeomDestroy
|
||||
|
||||
dGeomDisable
|
||||
|
||||
dGeomEnable
|
||||
|
||||
dGeomGetAABB
|
||||
|
||||
dGeomGetBody
|
||||
|
||||
dGeomGetCategoryBits
|
||||
|
||||
dGeomGetClass
|
||||
|
||||
dGeomGetClassData
|
||||
|
||||
dGeomGetCollideBits
|
||||
|
||||
dGeomGetData
|
||||
|
||||
dGeomGetPosition
|
||||
|
||||
dGeomGetQuaternion
|
||||
|
||||
dGeomGetRotation
|
||||
|
||||
dGeomGetSpace
|
||||
|
||||
dGeomIsEnabled
|
||||
|
||||
dGeomIsSpace
|
||||
|
||||
dGeomPlaneGetParams
|
||||
|
||||
dGeomPlanePointDepth
|
||||
|
||||
dGeomPlaneSetParams
|
||||
|
||||
dGeomRayGet
|
||||
|
||||
dGeomRayGetClosestHit
|
||||
|
||||
dGeomRayGetLength
|
||||
|
||||
dGeomRaySet
|
||||
|
||||
dGeomRaySetClosestHit
|
||||
|
||||
dGeomRaySetLength
|
||||
|
||||
dGeomRaySetParams
|
||||
|
||||
dGeomSetBody
|
||||
|
||||
dGeomSetCategoryBits
|
||||
|
||||
dGeomSetCollideBits
|
||||
|
||||
dGeomSetData
|
||||
|
||||
dGeomSetPosition
|
||||
|
||||
dGeomSetQuaternion
|
||||
|
||||
dGeomSetRotation
|
||||
|
||||
dGeomSphereGetRadius
|
||||
|
||||
dGeomSpherePointDepth
|
||||
|
||||
dGeomSphereSetRadius
|
||||
|
||||
dGeomTransformGetCleanup
|
||||
|
||||
dGeomTransformGetGeom
|
||||
|
||||
dGeomTransformGetInfo
|
||||
|
||||
dGeomTransformSetCleanup
|
||||
|
||||
dGeomTransformSetGeom
|
||||
|
||||
dGeomTransformSetInfo
|
||||
|
||||
dHashSpaceCreate
|
||||
|
||||
dHashSpaceGetLevels
|
||||
|
||||
dHashSpaceSetLevels
|
||||
|
||||
dInfiniteAABB
|
||||
|
||||
dInvertPDMatrix
|
||||
|
||||
dIsPositiveDefinite
|
||||
|
||||
dJointAddAMotorTorques
|
||||
|
||||
dJointAddHinge2Torques
|
||||
|
||||
dJointAddHingeTorque
|
||||
|
||||
dJointAddSliderForce
|
||||
|
||||
dJointAddUniversalTorques
|
||||
|
||||
dJointAttach
|
||||
|
||||
dJointCreateAMotor
|
||||
|
||||
dJointCreateBall
|
||||
|
||||
dJointCreateContact
|
||||
|
||||
dJointCreateFixed
|
||||
|
||||
dJointCreateHinge
|
||||
|
||||
dJointCreateHinge2
|
||||
|
||||
dJointCreateSlider
|
||||
|
||||
dJointCreateUniversal
|
||||
|
||||
dJointDestroy
|
||||
|
||||
dJointGetAMotorAngle
|
||||
|
||||
dJointGetAMotorAngleRate
|
||||
|
||||
dJointGetAMotorAxis
|
||||
|
||||
dJointGetAMotorAxisRel
|
||||
|
||||
dJointGetAMotorMode
|
||||
|
||||
dJointGetAMotorNumAxes
|
||||
|
||||
dJointGetAMotorParam
|
||||
|
||||
dJointGetBallAnchor
|
||||
|
||||
dJointGetBallAnchor2
|
||||
|
||||
dJointGetBody
|
||||
|
||||
dJointGetData
|
||||
|
||||
dJointGetFeedback
|
||||
|
||||
dJointGetHinge2Anchor
|
||||
|
||||
dJointGetHinge2Anchor2
|
||||
|
||||
dJointGetHinge2Angle1
|
||||
|
||||
dJointGetHinge2Angle1Rate
|
||||
|
||||
dJointGetHinge2Angle2Rate
|
||||
|
||||
dJointGetHinge2Axis1
|
||||
|
||||
dJointGetHinge2Axis2
|
||||
|
||||
dJointGetHinge2Param
|
||||
|
||||
dJointGetHingeAnchor
|
||||
|
||||
dJointGetHingeAnchor2
|
||||
|
||||
dJointGetHingeAngle
|
||||
|
||||
dJointGetHingeAngleRate
|
||||
|
||||
dJointGetHingeAxis
|
||||
|
||||
dJointGetHingeParam
|
||||
|
||||
dJointGetSliderAxis
|
||||
|
||||
dJointGetSliderParam
|
||||
|
||||
dJointGetSliderPosition
|
||||
|
||||
dJointGetSliderPositionRate
|
||||
|
||||
dJointGetType
|
||||
|
||||
dJointGetUniversalAnchor
|
||||
|
||||
dJointGetUniversalAnchor2
|
||||
|
||||
dJointGetUniversalAngle1
|
||||
|
||||
dJointGetUniversalAngle1Rate
|
||||
|
||||
dJointGetUniversalAngle2
|
||||
|
||||
dJointGetUniversalAngle2Rate
|
||||
|
||||
dJointGetUniversalAxis1
|
||||
|
||||
dJointGetUniversalAxis2
|
||||
|
||||
dJointGetUniversalParam
|
||||
|
||||
dJointGroupCreate
|
||||
|
||||
dJointGroupDestroy
|
||||
|
||||
dJointGroupEmpty
|
||||
|
||||
dJointSetAMotorAngle
|
||||
|
||||
dJointSetAMotorAxis
|
||||
|
||||
dJointSetAMotorMode
|
||||
|
||||
dJointSetAMotorNumAxes
|
||||
|
||||
dJointSetAMotorParam
|
||||
|
||||
dJointSetBallAnchor
|
||||
|
||||
dJointSetData
|
||||
|
||||
dJointSetFeedback
|
||||
|
||||
dJointSetFixed
|
||||
|
||||
dJointSetHinge2Anchor
|
||||
|
||||
dJointSetHinge2Axis1
|
||||
|
||||
dJointSetHinge2Axis2
|
||||
|
||||
dJointSetHinge2Param
|
||||
|
||||
dJointSetHingeAnchor
|
||||
|
||||
dJointSetHingeAxis
|
||||
|
||||
dJointSetHingeParam
|
||||
|
||||
dJointSetSliderAxis
|
||||
|
||||
dJointSetSliderParam
|
||||
|
||||
dJointSetUniversalAnchor
|
||||
|
||||
dJointSetUniversalAxis1
|
||||
|
||||
dJointSetUniversalAxis2
|
||||
|
||||
dJointSetUniversalParam
|
||||
|
||||
dLDLTAddTL
|
||||
|
||||
dLDLTRemove
|
||||
|
||||
dMakeRandomMatrix
|
||||
|
||||
dMakeRandomVector
|
||||
|
||||
dMassAdd
|
||||
|
||||
dMassAdjust
|
||||
|
||||
dMassRotate
|
||||
|
||||
dMassSetBox
|
||||
|
||||
dMassSetBoxTotal
|
||||
|
||||
dMassSetCappedCylinder
|
||||
|
||||
dMassSetCappedCylinderTotal
|
||||
|
||||
dMassSetCylinder
|
||||
|
||||
dMassSetCylinderTotal
|
||||
|
||||
dMassSetParameters
|
||||
|
||||
dMassSetSphere
|
||||
|
||||
dMassSetSphereTotal
|
||||
|
||||
dMassSetZero
|
||||
|
||||
dMassTranslate
|
||||
|
||||
dMaxDifference
|
||||
|
||||
dMessage
|
||||
|
||||
dMultiply0
|
||||
|
||||
dMultiply1
|
||||
|
||||
dMultiply2
|
||||
|
||||
dNormalize3
|
||||
|
||||
dNormalize4
|
||||
|
||||
dPlaneSpace
|
||||
|
||||
dQFromAxisAndAngle
|
||||
|
||||
dQfromR
|
||||
|
||||
dQMultiply0
|
||||
|
||||
dQMultiply1
|
||||
|
||||
dQMultiply2
|
||||
|
||||
dQMultiply3
|
||||
|
||||
dQSetIdentity
|
||||
|
||||
dQuadTreeSpaceCreate
|
||||
|
||||
dRandGetSeed
|
||||
|
||||
dRandInt
|
||||
|
||||
dRandReal
|
||||
|
||||
dRandSetSeed
|
||||
|
||||
dRemoveRowCol
|
||||
|
||||
dRFrom2Axes
|
||||
|
||||
dRFromAxisAndAngle
|
||||
|
||||
dRFromEulerAngles
|
||||
|
||||
dRfromQ
|
||||
|
||||
dRFromZAxis
|
||||
|
||||
dRSetIdentity
|
||||
|
||||
dSetDebugHandler
|
||||
|
||||
dSetErrorHandler
|
||||
|
||||
dSetMessageHandler
|
||||
|
||||
dSetZero
|
||||
|
||||
dSimpleSpaceCreate
|
||||
|
||||
dSolveCholesky
|
||||
|
||||
dSolveLDLT
|
||||
|
||||
dSpaceAdd
|
||||
|
||||
dSpaceClean
|
||||
|
||||
dSpaceCollide
|
||||
|
||||
dSpaceCollide2
|
||||
|
||||
dSpaceDestroy
|
||||
|
||||
dSpaceGetCleanup
|
||||
|
||||
dSpaceGetGeom
|
||||
|
||||
dSpaceGetNumGeoms
|
||||
|
||||
dSpaceQuery
|
||||
|
||||
dSpaceRemove
|
||||
|
||||
dSpaceSetCleanup
|
||||
|
||||
dTestMatrixComparison
|
||||
|
||||
dTestRand
|
||||
|
||||
dTestSolveLCP
|
||||
|
||||
dWorldCreate
|
||||
|
||||
dWorldDestroy
|
||||
|
||||
dWorldExportDIF
|
||||
|
||||
dWorldGetAutoDisableAngularThreshold
|
||||
|
||||
dWorldGetAutoDisableFlag
|
||||
|
||||
dWorldGetAutoDisableLinearThreshold
|
||||
|
||||
dWorldGetAutoDisableSteps
|
||||
|
||||
dWorldGetAutoDisableTime
|
||||
|
||||
dWorldGetAutoEnableDepthSF1
|
||||
|
||||
dWorldGetCFM
|
||||
|
||||
dWorldGetERP
|
||||
|
||||
dWorldGetGravity
|
||||
|
||||
dWorldImpulseToForce
|
||||
|
||||
dWorldSetAutoDisableAngularThreshold
|
||||
|
||||
dWorldSetAutoDisableFlag
|
||||
|
||||
dWorldSetAutoDisableLinearThreshold
|
||||
|
||||
dWorldSetAutoDisableSteps
|
||||
|
||||
dWorldSetAutoDisableTime
|
||||
|
||||
dWorldSetAutoEnableDepthSF1
|
||||
|
||||
dWorldSetCFM
|
||||
|
||||
dWorldSetERP
|
||||
|
||||
dWorldSetGravity
|
||||
|
||||
dWorldStep
|
||||
|
||||
dWorldStepFast1
|
||||
|
||||
dWorldQuickStep
|
||||
|
||||
dWorldSetQuickStepNumIterations
|
||||
|
||||
dWorldGetQuickStepNumIterations
|
||||
|
||||
dWorldSetQuickStepW
|
||||
|
||||
dWorldGetQuickStepW
|
||||
|
||||
dWorldSetContactMaxCorrectingVel
|
||||
|
||||
dWorldGetContactMaxCorrectingVel
|
||||
|
||||
dWorldSetContactSurfaceLayer
|
||||
|
||||
dWorldGetContactSurfaceLayer
|
||||
|
||||
44
Extras/ode/config/user-settings.example
Normal file
44
Extras/ode/config/user-settings.example
Normal file
@@ -0,0 +1,44 @@
|
||||
# ODE user settings: the following variables must be set by the user
|
||||
|
||||
# (1) the platform to use. this name should have a corresponding
|
||||
# makefile.PLATFORM file. currently supported platforms are:
|
||||
# msvc microsoft visual C/C++
|
||||
# msvc-dll microsoft visual C/C++, create a DLL
|
||||
# mingw minimalist GNU for windows
|
||||
# cygwin cygnus GNU for windows
|
||||
# unix-gcc GNU gcc on unix
|
||||
# unix-generic generic unix compiler. you may need to edit the CC
|
||||
# variable in makefile.unix-generic
|
||||
# osx Mac OS-X, with the gnu compiler.
|
||||
|
||||
PLATFORM=unix-gcc
|
||||
|
||||
# (2) the floating point precision to use (either "SINGLE" or "DOUBLE")
|
||||
|
||||
#PRECISION=SINGLE
|
||||
PRECISION=DOUBLE
|
||||
|
||||
# (3) the library type to build (either "debug" if you are doing development,
|
||||
# or "release" for the optimized library)
|
||||
|
||||
#BUILD=debug
|
||||
BUILD=release
|
||||
|
||||
# (4) if you are using an old version of MS-Windows that has command line
|
||||
# length limitations then you will need to set this to "1". otherwise,
|
||||
# leave it at "0".
|
||||
|
||||
WINDOWS16=0
|
||||
|
||||
# (5) If you want to use the TriList (triangle mesh) geometry class, you must
|
||||
# have the OPCODE library installed somewhere. If this is the case then
|
||||
# uncomment the following variable and set it to point to the directory
|
||||
# where OPCODE is installed (note that you must have already compiled
|
||||
# OPCODE, ODE's build system will not do that for you).
|
||||
# See http://www.codercorner.com/Opcode.htm for more information about
|
||||
# OPCODE. A recent version of OPCODE is provided in the ODE distribution
|
||||
# in the OPCODE subdirectory. This code was originally written for and
|
||||
# compiled on windows, but it has been ported so that it should compile
|
||||
# under unix/gcc too. Your mileage may vary.
|
||||
|
||||
#OPCODE_DIRECTORY=OPCODE
|
||||
125
Extras/ode/drawstuff/dstest/dstest.cpp
Normal file
125
Extras/ode/drawstuff/dstest/dstest.cpp
Normal file
@@ -0,0 +1,125 @@
|
||||
/*************************************************************************
|
||||
* *
|
||||
* Open Dynamics Engine, Copyright (C) 2001,2002 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. *
|
||||
* *
|
||||
*************************************************************************/
|
||||
|
||||
#include <stdio.h>
|
||||
#include <math.h>
|
||||
#include <drawstuff/drawstuff.h>
|
||||
|
||||
|
||||
#ifndef M_PI
|
||||
#define M_PI (3.14159265358979323846)
|
||||
#endif
|
||||
|
||||
|
||||
void start()
|
||||
{
|
||||
// adjust the starting viewpoint a bit
|
||||
float xyz[3],hpr[3];
|
||||
dsGetViewpoint (xyz,hpr);
|
||||
hpr[0] += 7;
|
||||
dsSetViewpoint (xyz,hpr);
|
||||
}
|
||||
|
||||
|
||||
void simLoop (int pause)
|
||||
{
|
||||
float pos[3];
|
||||
float R[12];
|
||||
static float a = 0;
|
||||
|
||||
if (!pause) a += 0.02f;
|
||||
if (a > (2*M_PI)) a -= (float) (2*M_PI);
|
||||
float ca = (float) cos(a);
|
||||
float sa = (float) sin(a);
|
||||
|
||||
dsSetTexture (DS_WOOD);
|
||||
|
||||
float b = (a > M_PI) ? (2*(a-(float)M_PI)) : a*2;
|
||||
pos[0] = -0.3f;
|
||||
pos[1] = 0;
|
||||
pos[2] = (float) (0.1f*(2*M_PI*b - b*b) + 0.65f);
|
||||
R[0] = ca; R[1] = 0; R[2] = -sa;
|
||||
R[4] = 0; R[5] = 1; R[6] = 0;
|
||||
R[8] = sa; R[9] = 0; R[10] = ca;
|
||||
dsSetColor (1,0.8f,0.6f);
|
||||
dsDrawSphere (pos,R,0.3f);
|
||||
|
||||
dsSetTexture (DS_NONE);
|
||||
|
||||
pos[0] = -0.2f;
|
||||
pos[1] = 0.8f;
|
||||
pos[2] = 0.4f;
|
||||
R[0] = ca; R[1] = -sa; R[2] = 0;
|
||||
R[4] = sa; R[5] = ca; R[6] = 0;
|
||||
R[8] = 0; R[9] = 0; R[10] = 1;
|
||||
float sides[3] = {0.1f,0.4f,0.8f};
|
||||
dsSetColor (0.6f,0.6f,1);
|
||||
dsDrawBox (pos,R,sides);
|
||||
|
||||
dsSetTexture (DS_WOOD);
|
||||
|
||||
float r = 0.3f; // cylinder radius
|
||||
float d = (float)cos(a*2) * 0.4f;
|
||||
float cd = (float)cos(-d/r);
|
||||
float sd = (float)sin(-d/r);
|
||||
pos[0] = -0.2f;
|
||||
pos[1] = -1 + d;
|
||||
pos[2] = 0.3f;
|
||||
R[0] = 0; R[1] = 0; R[2] = -1;
|
||||
R[4] = -sd; R[5] = cd; R[6] = 0;
|
||||
R[8] = cd; R[9] = sd; R[10] = 0;
|
||||
dsSetColor (0.4f,1,1);
|
||||
dsDrawCylinder (pos,R,0.8f,r);
|
||||
|
||||
pos[0] = 0;
|
||||
pos[1] = 0;
|
||||
pos[2] = 0.2f;
|
||||
R[0] = 0; R[1] = sa; R[2] = -ca;
|
||||
R[4] = 0; R[5] = ca; R[6] = sa;
|
||||
R[8] = 1; R[9] = 0; R[10] = 0;
|
||||
dsSetColor (1,0.9f,0.2f);
|
||||
dsDrawCappedCylinder (pos,R,0.8f,0.2f);
|
||||
}
|
||||
|
||||
|
||||
void command (int cmd)
|
||||
{
|
||||
dsPrint ("received command %d (`%c')\n",cmd,cmd);
|
||||
}
|
||||
|
||||
|
||||
int main (int argc, char **argv)
|
||||
{
|
||||
// setup pointers to callback functions
|
||||
dsFunctions fn;
|
||||
fn.version = DS_VERSION;
|
||||
fn.start = &start;
|
||||
fn.step = &simLoop;
|
||||
fn.command = command;
|
||||
fn.stop = 0;
|
||||
fn.path_to_textures = 0; // uses default
|
||||
|
||||
// run simulation
|
||||
dsSimulationLoop (argc,argv,400,400,&fn);
|
||||
|
||||
return 0;
|
||||
}
|
||||
1534
Extras/ode/drawstuff/src/drawstuff.cpp
Normal file
1534
Extras/ode/drawstuff/src/drawstuff.cpp
Normal file
File diff suppressed because it is too large
Load Diff
50
Extras/ode/drawstuff/src/internal.h
Normal file
50
Extras/ode/drawstuff/src/internal.h
Normal file
@@ -0,0 +1,50 @@
|
||||
/*************************************************************************
|
||||
* *
|
||||
* Open Dynamics Engine, Copyright (C) 2001,2002 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. *
|
||||
* *
|
||||
*************************************************************************/
|
||||
|
||||
/* functions supplied and used by the platform specific code */
|
||||
|
||||
#ifndef __DS_INTERNAL_H
|
||||
#define __DS_INTERNAL_H
|
||||
|
||||
#include "drawstuff/drawstuff.h"
|
||||
|
||||
|
||||
// supplied by platform specific code
|
||||
|
||||
void dsPlatformSimLoop (int window_width, int window_height,
|
||||
dsFunctions *fn, int initial_pause);
|
||||
|
||||
|
||||
// used by platform specific code
|
||||
|
||||
void dsStartGraphics (int width, int height, dsFunctions *fn);
|
||||
void dsDrawFrame (int width, int height, dsFunctions *fn, int pause);
|
||||
void dsStopGraphics();
|
||||
void dsMotion (int mode, int deltax, int deltay);
|
||||
|
||||
int dsGetShadows();
|
||||
void dsSetShadows (int a);
|
||||
|
||||
int dsGetTextures();
|
||||
void dsSetTextures (int a);
|
||||
|
||||
#endif
|
||||
28
Extras/ode/drawstuff/src/resource.h
Normal file
28
Extras/ode/drawstuff/src/resource.h
Normal file
@@ -0,0 +1,28 @@
|
||||
//{{NO_DEPENDENCIES}}
|
||||
// Microsoft Developer Studio generated include file.
|
||||
// Used by resources.rc
|
||||
//
|
||||
#define IDD_MSGDLG 101
|
||||
#define IDR_MENU1 102
|
||||
#define IDD_ABOUT 103
|
||||
#define IDR_ACCELERATOR1 104
|
||||
#define IDC_LIST1 1000
|
||||
#define IDM_EXIT 40001
|
||||
#define IDM_ABOUT 40002
|
||||
#define IDM_PAUSE 40003
|
||||
#define IDM_PERF_MONITOR 40004
|
||||
#define IDM_SHADOWS 40005
|
||||
#define IDM_TEXTURES 40006
|
||||
#define IDM_SAVE_SETTINGS 40007
|
||||
#define IDM_SINGLE_STEP 40008
|
||||
|
||||
// Next default values for new objects
|
||||
//
|
||||
#ifdef APSTUDIO_INVOKED
|
||||
#ifndef APSTUDIO_READONLY_SYMBOLS
|
||||
#define _APS_NEXT_RESOURCE_VALUE 108
|
||||
#define _APS_NEXT_COMMAND_VALUE 40009
|
||||
#define _APS_NEXT_CONTROL_VALUE 1001
|
||||
#define _APS_NEXT_SYMED_VALUE 101
|
||||
#endif
|
||||
#endif
|
||||
153
Extras/ode/drawstuff/src/resources.rc
Normal file
153
Extras/ode/drawstuff/src/resources.rc
Normal file
@@ -0,0 +1,153 @@
|
||||
//Microsoft Developer Studio generated resource script.
|
||||
//
|
||||
#include "resource.h"
|
||||
|
||||
#define APSTUDIO_READONLY_SYMBOLS
|
||||
/////////////////////////////////////////////////////////////////////////////
|
||||
//
|
||||
// Generated from the TEXTINCLUDE 2 resource.
|
||||
//
|
||||
//#include "afxres.h"
|
||||
|
||||
// added by RLS to make this work with windres
|
||||
#include "winresrc.h"
|
||||
#define IDC_STATIC (-1)
|
||||
|
||||
/////////////////////////////////////////////////////////////////////////////
|
||||
#undef APSTUDIO_READONLY_SYMBOLS
|
||||
|
||||
/////////////////////////////////////////////////////////////////////////////
|
||||
// English (U.S.) resources
|
||||
|
||||
#if !defined(AFX_RESOURCE_DLL) || defined(AFX_TARG_ENU)
|
||||
#ifdef _WIN32
|
||||
LANGUAGE LANG_ENGLISH, SUBLANG_ENGLISH_US
|
||||
#pragma code_page(1252)
|
||||
#endif //_WIN32
|
||||
|
||||
/////////////////////////////////////////////////////////////////////////////
|
||||
//
|
||||
// Dialog
|
||||
//
|
||||
|
||||
IDD_ABOUT DIALOG DISCARDABLE 0, 0, 257, 105
|
||||
STYLE DS_MODALFRAME | WS_POPUP | WS_VISIBLE | WS_CAPTION | WS_SYSMENU
|
||||
CAPTION "About"
|
||||
FONT 8, "MS Sans Serif"
|
||||
BEGIN
|
||||
DEFPUSHBUTTON "OK",IDOK,200,84,50,14
|
||||
LTEXT "Simulation test environment",IDC_STATIC,7,7,243,8
|
||||
LTEXT "Change the camera position by clicking + dragging in the main window.",
|
||||
IDC_STATIC,7,24,243,8
|
||||
LTEXT "Left button - pan and tilt.",IDC_STATIC,25,37,225,8
|
||||
LTEXT "Right button - forward and sideways.",IDC_STATIC,25,48,
|
||||
225,8
|
||||
LTEXT "Left + Right button (or middle button) - sideways and up.",
|
||||
IDC_STATIC,25,59,225,8
|
||||
END
|
||||
|
||||
|
||||
#ifdef APSTUDIO_INVOKED
|
||||
/////////////////////////////////////////////////////////////////////////////
|
||||
//
|
||||
// TEXTINCLUDE
|
||||
//
|
||||
|
||||
1 TEXTINCLUDE DISCARDABLE
|
||||
BEGIN
|
||||
"resource.h\0"
|
||||
END
|
||||
|
||||
2 TEXTINCLUDE DISCARDABLE
|
||||
BEGIN
|
||||
//"#include ""afxres.h""\r\n"
|
||||
"\0"
|
||||
END
|
||||
|
||||
3 TEXTINCLUDE DISCARDABLE
|
||||
BEGIN
|
||||
"\r\n"
|
||||
"\0"
|
||||
END
|
||||
|
||||
#endif // APSTUDIO_INVOKED
|
||||
|
||||
|
||||
/////////////////////////////////////////////////////////////////////////////
|
||||
//
|
||||
// Menu
|
||||
//
|
||||
|
||||
IDR_MENU1 MENU DISCARDABLE
|
||||
BEGIN
|
||||
POPUP "&File"
|
||||
BEGIN
|
||||
MENUITEM "&Exit\tCtrl+X", IDM_EXIT
|
||||
END
|
||||
POPUP "&Simulation"
|
||||
BEGIN
|
||||
MENUITEM "&Pause\tCtrl+P", IDM_PAUSE
|
||||
MENUITEM "Single Step\tCtrl+O", IDM_SINGLE_STEP
|
||||
MENUITEM "Performance &Monitor", IDM_PERF_MONITOR
|
||||
MENUITEM SEPARATOR
|
||||
MENUITEM "&Shadows\tCtrl+S", IDM_SHADOWS, CHECKED
|
||||
MENUITEM "&Textures\tCtrl+T", IDM_TEXTURES, CHECKED
|
||||
MENUITEM SEPARATOR
|
||||
MENUITEM "S&ave Settings", IDM_SAVE_SETTINGS
|
||||
END
|
||||
POPUP "&Help"
|
||||
BEGIN
|
||||
MENUITEM "&About", IDM_ABOUT
|
||||
END
|
||||
END
|
||||
|
||||
|
||||
/////////////////////////////////////////////////////////////////////////////
|
||||
//
|
||||
// DESIGNINFO
|
||||
//
|
||||
|
||||
#ifdef APSTUDIO_INVOKED
|
||||
GUIDELINES DESIGNINFO DISCARDABLE
|
||||
BEGIN
|
||||
IDD_ABOUT, DIALOG
|
||||
BEGIN
|
||||
LEFTMARGIN, 7
|
||||
RIGHTMARGIN, 250
|
||||
VERTGUIDE, 25
|
||||
TOPMARGIN, 7
|
||||
BOTTOMMARGIN, 98
|
||||
END
|
||||
END
|
||||
#endif // APSTUDIO_INVOKED
|
||||
|
||||
|
||||
/////////////////////////////////////////////////////////////////////////////
|
||||
//
|
||||
// Accelerator
|
||||
//
|
||||
|
||||
IDR_ACCELERATOR1 ACCELERATORS DISCARDABLE
|
||||
BEGIN
|
||||
"O", IDM_SINGLE_STEP, VIRTKEY, CONTROL, NOINVERT
|
||||
"P", IDM_PAUSE, VIRTKEY, CONTROL, NOINVERT
|
||||
"S", IDM_SHADOWS, VIRTKEY, CONTROL, NOINVERT
|
||||
"T", IDM_TEXTURES, VIRTKEY, CONTROL, NOINVERT
|
||||
"X", IDM_EXIT, VIRTKEY, CONTROL, NOINVERT
|
||||
END
|
||||
|
||||
#endif // English (U.S.) resources
|
||||
/////////////////////////////////////////////////////////////////////////////
|
||||
|
||||
|
||||
|
||||
#ifndef APSTUDIO_INVOKED
|
||||
/////////////////////////////////////////////////////////////////////////////
|
||||
//
|
||||
// Generated from the TEXTINCLUDE 3 resource.
|
||||
//
|
||||
|
||||
|
||||
/////////////////////////////////////////////////////////////////////////////
|
||||
#endif // not APSTUDIO_INVOKED
|
||||
|
||||
486
Extras/ode/drawstuff/src/windows.cpp
Normal file
486
Extras/ode/drawstuff/src/windows.cpp
Normal file
@@ -0,0 +1,486 @@
|
||||
/*************************************************************************
|
||||
* *
|
||||
* Open Dynamics Engine, Copyright (C) 2001,2002 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. *
|
||||
* *
|
||||
*************************************************************************/
|
||||
|
||||
#ifdef WIN32 // this prevents warnings when dependencies built
|
||||
#include <windows.h>
|
||||
#endif
|
||||
#include <ode/config.h>
|
||||
#include <GL/gl.h>
|
||||
|
||||
#include "resource.h"
|
||||
#include "internal.h"
|
||||
|
||||
//***************************************************************************
|
||||
// application globals
|
||||
|
||||
static HINSTANCE ghInstance = 0;
|
||||
static int gnCmdShow = 0;
|
||||
static HACCEL accelerators = 0;
|
||||
static HWND main_window = 0;
|
||||
|
||||
//***************************************************************************
|
||||
// error and message handling
|
||||
|
||||
static void errorBox (char *title, char *msg, va_list ap)
|
||||
{
|
||||
char s[1000];
|
||||
vsprintf (s,msg,ap);
|
||||
MessageBox (0,s,title,MB_OK | MB_APPLMODAL | MB_ICONEXCLAMATION);
|
||||
}
|
||||
|
||||
|
||||
static void dsWarning (char *msg, ...)
|
||||
{
|
||||
va_list ap;
|
||||
va_start (ap,msg);
|
||||
errorBox ("Warning",msg,ap);
|
||||
}
|
||||
|
||||
|
||||
extern "C" void dsError (char *msg, ...)
|
||||
{
|
||||
va_list ap;
|
||||
va_start (ap,msg);
|
||||
errorBox ("Error",msg,ap);
|
||||
exit (1);
|
||||
}
|
||||
|
||||
|
||||
extern "C" void dsDebug (char *msg, ...)
|
||||
{
|
||||
va_list ap;
|
||||
va_start (ap,msg);
|
||||
errorBox ("INTERNAL ERROR",msg,ap);
|
||||
// *((char *)0) = 0; ... commit SEGVicide ?
|
||||
abort();
|
||||
exit (1); // should never get here, but just in case...
|
||||
}
|
||||
|
||||
|
||||
extern "C" void dsPrint (char *msg, ...)
|
||||
{
|
||||
va_list ap;
|
||||
va_start (ap,msg);
|
||||
vprintf (msg,ap);
|
||||
}
|
||||
|
||||
//***************************************************************************
|
||||
// rendering thread
|
||||
|
||||
// globals used to communicate with rendering thread
|
||||
|
||||
static volatile int renderer_run = 1;
|
||||
static volatile int renderer_pause = 0; // 0=run, 1=pause
|
||||
static volatile int renderer_ss = 0; // single step command
|
||||
static volatile int renderer_width = 1;
|
||||
static volatile int renderer_height = 1;
|
||||
static dsFunctions *renderer_fn = 0;
|
||||
static volatile HDC renderer_dc = 0;
|
||||
static volatile int keybuffer[16]; // fifo ring buffer for keypresses
|
||||
static volatile int keybuffer_head = 0; // index of next key to put in (modified by GUI)
|
||||
static volatile int keybuffer_tail = 0; // index of next key to take out (modified by renderer)
|
||||
|
||||
|
||||
static void setupRendererGlobals()
|
||||
{
|
||||
renderer_run = 1;
|
||||
renderer_pause = 0;
|
||||
renderer_ss = 0;
|
||||
renderer_width = 1;
|
||||
renderer_height = 1;
|
||||
renderer_fn = 0;
|
||||
renderer_dc = 0;
|
||||
keybuffer[16];
|
||||
keybuffer_head = 0;
|
||||
keybuffer_tail = 0;
|
||||
}
|
||||
|
||||
|
||||
static DWORD WINAPI renderingThread (LPVOID lpParam)
|
||||
{
|
||||
// create openGL context and make it current
|
||||
HGLRC glc = wglCreateContext (renderer_dc);
|
||||
if (glc==NULL) dsError ("could not create OpenGL context");
|
||||
if (wglMakeCurrent (renderer_dc,glc) != TRUE)
|
||||
dsError ("could not make OpenGL context current");
|
||||
|
||||
// test openGL capabilities
|
||||
int maxtsize=0;
|
||||
glGetIntegerv (GL_MAX_TEXTURE_SIZE,&maxtsize);
|
||||
if (maxtsize < 128) dsWarning ("max texture size too small (%dx%d)",
|
||||
maxtsize,maxtsize);
|
||||
|
||||
dsStartGraphics (renderer_width,renderer_height,renderer_fn);
|
||||
if (renderer_fn->start) renderer_fn->start();
|
||||
|
||||
while (renderer_run) {
|
||||
// need to make local copy of renderer_ss to help prevent races
|
||||
int ss = renderer_ss;
|
||||
dsDrawFrame (renderer_width,renderer_height,renderer_fn,
|
||||
renderer_pause && !ss);
|
||||
if (ss) renderer_ss = 0;
|
||||
|
||||
// read keys out of ring buffer and feed them to the command function
|
||||
while (keybuffer_head != keybuffer_tail) {
|
||||
if (renderer_fn->command) renderer_fn->command (keybuffer[keybuffer_tail]);
|
||||
keybuffer_tail = (keybuffer_tail+1) & 15;
|
||||
}
|
||||
|
||||
// swap buffers
|
||||
SwapBuffers (renderer_dc);
|
||||
}
|
||||
|
||||
if (renderer_fn->stop) renderer_fn->stop();
|
||||
dsStopGraphics();
|
||||
|
||||
// delete openGL context
|
||||
wglMakeCurrent (NULL,NULL);
|
||||
wglDeleteContext (glc);
|
||||
|
||||
return 123; // magic value used to test for thread termination
|
||||
}
|
||||
|
||||
//***************************************************************************
|
||||
// window handling
|
||||
|
||||
// callback function for "about" dialog box
|
||||
|
||||
static LRESULT CALLBACK AboutDlgProc (HWND hDlg, UINT uMsg, WPARAM wParam,
|
||||
LPARAM lParam)
|
||||
{
|
||||
switch (uMsg) {
|
||||
case WM_INITDIALOG:
|
||||
return TRUE;
|
||||
case WM_COMMAND:
|
||||
switch (wParam) {
|
||||
case IDOK:
|
||||
EndDialog (hDlg, TRUE);
|
||||
return TRUE;
|
||||
}
|
||||
break;
|
||||
}
|
||||
return FALSE;
|
||||
}
|
||||
|
||||
|
||||
// callback function for the main window
|
||||
|
||||
static LRESULT CALLBACK mainWndProc (HWND hWnd, UINT msg, WPARAM wParam,
|
||||
LPARAM lParam)
|
||||
{
|
||||
static int button=0,lastx=0,lasty=0;
|
||||
int ctrl = wParam & MK_CONTROL;
|
||||
|
||||
switch (msg) {
|
||||
case WM_LBUTTONDOWN:
|
||||
case WM_MBUTTONDOWN:
|
||||
case WM_RBUTTONDOWN:
|
||||
if (msg==WM_LBUTTONDOWN) button |= 1;
|
||||
else if (msg==WM_MBUTTONDOWN) button |= 2;
|
||||
else button |= 4;
|
||||
lastx = SHORT(LOWORD(lParam));
|
||||
lasty = SHORT(HIWORD(lParam));
|
||||
SetCapture (hWnd);
|
||||
break;
|
||||
|
||||
case WM_LBUTTONUP:
|
||||
case WM_MBUTTONUP:
|
||||
case WM_RBUTTONUP:
|
||||
if (msg==WM_LBUTTONUP) button &= ~1;
|
||||
else if (msg==WM_MBUTTONUP) button &= ~2;
|
||||
else button &= ~4;
|
||||
if (button==0) ReleaseCapture();
|
||||
break;
|
||||
|
||||
case WM_MOUSEMOVE: {
|
||||
int x = SHORT(LOWORD(lParam));
|
||||
int y = SHORT(HIWORD(lParam));
|
||||
if (button) dsMotion (button,x-lastx,y-lasty);
|
||||
lastx = x;
|
||||
lasty = y;
|
||||
break;
|
||||
}
|
||||
|
||||
case WM_CHAR: {
|
||||
if (wParam >= ' ' && wParam <= 126) {
|
||||
int nexth = (keybuffer_head+1) & 15;
|
||||
if (nexth != keybuffer_tail) {
|
||||
keybuffer[keybuffer_head] = wParam;
|
||||
keybuffer_head = nexth;
|
||||
}
|
||||
}
|
||||
break;
|
||||
}
|
||||
|
||||
case WM_SIZE:
|
||||
// lParam will contain the size of the *client* area!
|
||||
renderer_width = LOWORD(lParam);
|
||||
renderer_height = HIWORD(lParam);
|
||||
break;
|
||||
|
||||
case WM_COMMAND:
|
||||
switch (wParam & 0xffff) {
|
||||
case IDM_ABOUT:
|
||||
DialogBox (ghInstance,MAKEINTRESOURCE(IDD_ABOUT),hWnd,
|
||||
(DLGPROC) AboutDlgProc);
|
||||
break;
|
||||
case IDM_PAUSE: {
|
||||
renderer_pause ^= 1;
|
||||
CheckMenuItem (GetMenu(hWnd),IDM_PAUSE,
|
||||
renderer_pause ? MF_CHECKED : MF_UNCHECKED);
|
||||
if (renderer_pause) renderer_ss = 0;
|
||||
break;
|
||||
}
|
||||
case IDM_SINGLE_STEP: {
|
||||
renderer_ss = 1;
|
||||
break;
|
||||
}
|
||||
case IDM_PERF_MONITOR: {
|
||||
dsWarning ("Performance monitor not yet implemented.");
|
||||
break;
|
||||
}
|
||||
case IDM_TEXTURES: {
|
||||
static int tex = 1;
|
||||
tex ^= 1;
|
||||
CheckMenuItem (GetMenu(hWnd),IDM_TEXTURES,
|
||||
tex ? MF_CHECKED : MF_UNCHECKED);
|
||||
dsSetTextures (tex);
|
||||
break;
|
||||
}
|
||||
case IDM_SHADOWS: {
|
||||
static int shadows = 1;
|
||||
shadows ^= 1;
|
||||
CheckMenuItem (GetMenu(hWnd),IDM_SHADOWS,
|
||||
shadows ? MF_CHECKED : MF_UNCHECKED);
|
||||
dsSetShadows (shadows);
|
||||
break;
|
||||
}
|
||||
case IDM_SAVE_SETTINGS: {
|
||||
dsWarning ("\"Save Settings\" not yet implemented.");
|
||||
break;
|
||||
}
|
||||
case IDM_EXIT:
|
||||
PostQuitMessage (0);
|
||||
break;
|
||||
}
|
||||
break;
|
||||
|
||||
case WM_CLOSE:
|
||||
PostQuitMessage (0);
|
||||
break;
|
||||
|
||||
default:
|
||||
return (DefWindowProc (hWnd, msg, wParam, lParam));
|
||||
}
|
||||
|
||||
return 0;
|
||||
}
|
||||
|
||||
|
||||
// this comes from an MSDN example. believe it or not, this is the recommended
|
||||
// way to get the console window handle.
|
||||
|
||||
static HWND GetConsoleHwnd()
|
||||
{
|
||||
// the console window title to a "unique" value, then find the window
|
||||
// that has this title.
|
||||
char title[1024];
|
||||
wsprintf (title,"DrawStuff:%d/%d",GetTickCount(),GetCurrentProcessId());
|
||||
SetConsoleTitle (title);
|
||||
Sleep(40); // ensure window title has been updated
|
||||
return FindWindow (NULL,title);
|
||||
}
|
||||
|
||||
|
||||
static void drawStuffStartup()
|
||||
{
|
||||
static int startup_called = 0;
|
||||
if (startup_called) return;
|
||||
startup_called = 1;
|
||||
ghInstance = GetModuleHandleA (NULL);
|
||||
gnCmdShow = SW_SHOWNORMAL; // @@@ fix this later
|
||||
|
||||
// redirect standard I/O to a new console (except on cygwin)
|
||||
#ifndef CYGWIN
|
||||
FreeConsole();
|
||||
if (AllocConsole()==0) dsError ("AllocConsole() failed");
|
||||
if (freopen ("CONIN$","rt",stdin)==0) dsError ("could not open stdin");
|
||||
if (freopen ("CONOUT$","wt",stdout)==0) dsError ("could not open stdout");
|
||||
if (freopen ("CONOUT$","wt",stderr)==0) dsError ("could not open stderr");
|
||||
BringWindowToTop (GetConsoleHwnd());
|
||||
SetConsoleTitle ("DrawStuff Messages");
|
||||
#endif
|
||||
|
||||
// register the window class
|
||||
WNDCLASS wc;
|
||||
wc.style = CS_OWNDC | CS_VREDRAW | CS_HREDRAW;
|
||||
wc.lpfnWndProc = mainWndProc;
|
||||
wc.cbClsExtra = 0;
|
||||
wc.cbWndExtra = 0;
|
||||
wc.hInstance = ghInstance;
|
||||
wc.hIcon = LoadIcon (NULL,IDI_APPLICATION);
|
||||
wc.hCursor = LoadCursor (NULL,IDC_ARROW);
|
||||
wc.hbrBackground = (HBRUSH) (COLOR_WINDOW+1);
|
||||
wc.lpszMenuName = MAKEINTRESOURCE(IDR_MENU1);
|
||||
wc.lpszClassName = "SimAppClass";
|
||||
if (RegisterClass (&wc)==0) dsError ("could not register window class");
|
||||
|
||||
// load accelerators
|
||||
accelerators = LoadAccelerators (ghInstance,
|
||||
MAKEINTRESOURCE(IDR_ACCELERATOR1));
|
||||
if (accelerators==NULL) dsError ("could not load accelerators");
|
||||
}
|
||||
|
||||
|
||||
void dsPlatformSimLoop (int window_width, int window_height,
|
||||
dsFunctions *fn, int initial_pause)
|
||||
{
|
||||
drawStuffStartup();
|
||||
setupRendererGlobals();
|
||||
renderer_pause = initial_pause;
|
||||
|
||||
// create window - but first get window size for desired size of client area.
|
||||
// if this adjustment isn't made then the openGL area will be shifted into
|
||||
// the nonclient area and determining the frame buffer coordinate from the
|
||||
// client area coordinate will be hard.
|
||||
RECT winrect;
|
||||
winrect.left = 50;
|
||||
winrect.top = 80;
|
||||
winrect.right = winrect.left + window_width;
|
||||
winrect.bottom = winrect.top + window_height;
|
||||
DWORD style = WS_OVERLAPPEDWINDOW | WS_CLIPCHILDREN | WS_CLIPSIBLINGS;
|
||||
AdjustWindowRect (&winrect,style,1);
|
||||
char title[100];
|
||||
sprintf (title,"Simulation test environment v%d.%02d",
|
||||
DS_VERSION >> 8,DS_VERSION & 0xff);
|
||||
main_window = CreateWindow ("SimAppClass",title,style,
|
||||
winrect.left,winrect.top,winrect.right-winrect.left,winrect.bottom-winrect.top,
|
||||
NULL,NULL,ghInstance,NULL);
|
||||
if (main_window==NULL) dsError ("could not create main window");
|
||||
ShowWindow (main_window, gnCmdShow);
|
||||
|
||||
HDC dc = GetDC (main_window); // get DC for this window
|
||||
if (dc==NULL) dsError ("could not get window DC");
|
||||
|
||||
// set pixel format for DC
|
||||
|
||||
PIXELFORMATDESCRIPTOR pfd = {
|
||||
sizeof(PIXELFORMATDESCRIPTOR), // size of this pfd
|
||||
1, // version number
|
||||
PFD_DRAW_TO_WINDOW | // support window
|
||||
PFD_SUPPORT_OPENGL | // support OpenGL
|
||||
PFD_DOUBLEBUFFER, // double buffered
|
||||
PFD_TYPE_RGBA, // RGBA type
|
||||
24, // 24-bit color depth
|
||||
0, 0, 0, 0, 0, 0, // color bits ignored
|
||||
0, // no alpha buffer
|
||||
0, // shift bit ignored
|
||||
0, // no accumulation buffer
|
||||
0, 0, 0, 0, // accum bits ignored
|
||||
32, // 32-bit z-buffer
|
||||
0, // no stencil buffer
|
||||
0, // no auxiliary buffer
|
||||
PFD_MAIN_PLANE, // main layer
|
||||
0, // reserved
|
||||
0, 0, 0 // layer masks ignored
|
||||
};
|
||||
// get the best available match of pixel format for the device context
|
||||
int iPixelFormat = ChoosePixelFormat (dc,&pfd);
|
||||
if (iPixelFormat==0)
|
||||
dsError ("could not find a good OpenGL pixel format");
|
||||
// set the pixel format of the device context
|
||||
if (SetPixelFormat (dc,iPixelFormat,&pfd)==FALSE)
|
||||
dsError ("could not set DC pixel format for OpenGL");
|
||||
|
||||
// **********
|
||||
// start the rendering thread
|
||||
|
||||
// set renderer globals
|
||||
renderer_dc = dc;
|
||||
renderer_width = window_width;
|
||||
renderer_height = window_height;
|
||||
renderer_fn = fn;
|
||||
|
||||
DWORD threadId, thirdParam = 0;
|
||||
HANDLE hThread;
|
||||
|
||||
hThread = CreateThread(
|
||||
NULL, // no security attributes
|
||||
0, // use default stack size
|
||||
renderingThread, // thread function
|
||||
&thirdParam, // argument to thread function
|
||||
0, // use default creation flags
|
||||
&threadId); // returns the thread identifier
|
||||
|
||||
if (hThread==NULL) dsError ("Could not create rendering thread");
|
||||
|
||||
// **********
|
||||
// start GUI message processing
|
||||
|
||||
MSG msg;
|
||||
while (GetMessage (&msg,main_window,0,0)) {
|
||||
if (!TranslateAccelerator (main_window,accelerators,&msg)) {
|
||||
TranslateMessage (&msg);
|
||||
DispatchMessage (&msg);
|
||||
}
|
||||
}
|
||||
|
||||
// terminate rendering thread
|
||||
renderer_run = 0;
|
||||
DWORD ret = WaitForSingleObject (hThread,2000);
|
||||
if (ret==WAIT_TIMEOUT) dsWarning ("Could not kill rendering thread (1)");
|
||||
DWORD exitcode=0;
|
||||
if (!(GetExitCodeThread (hThread,&exitcode) && exitcode == 123))
|
||||
dsWarning ("Could not kill rendering thread (2)");
|
||||
CloseHandle (hThread); // dont need thread handle anymore
|
||||
|
||||
// destroy window
|
||||
DestroyWindow (main_window);
|
||||
}
|
||||
|
||||
|
||||
extern "C" void dsStop()
|
||||
{
|
||||
// just calling PostQuitMessage() here wont work, as this function is
|
||||
// typically called from the rendering thread, not the GUI thread.
|
||||
// instead we must post the message to the GUI window explicitly.
|
||||
|
||||
if (main_window) PostMessage (main_window,WM_QUIT,0,0);
|
||||
}
|
||||
|
||||
//***************************************************************************
|
||||
// windows entry point
|
||||
//
|
||||
// NOTE: WinMain is not guaranteed to be called with MinGW, because MinGW
|
||||
// always calls main if it is defined and most users of this library will
|
||||
// define their own main. So the startup functionality is kept in
|
||||
// zDriverStartup(), which is also called when dsSimulationLoop() is called.
|
||||
|
||||
extern "C" int main (int argc, char **argv);
|
||||
|
||||
|
||||
int WINAPI WinMain(HINSTANCE hInstance, HINSTANCE hPrevInstance,
|
||||
LPSTR lpCmdLine, int nCmdShow)
|
||||
{
|
||||
drawStuffStartup();
|
||||
return main (0,0); // @@@ should really pass cmd line arguments
|
||||
}
|
||||
383
Extras/ode/drawstuff/src/x11.cpp
Normal file
383
Extras/ode/drawstuff/src/x11.cpp
Normal file
@@ -0,0 +1,383 @@
|
||||
/*************************************************************************
|
||||
* *
|
||||
* Open Dynamics Engine, Copyright (C) 2001,2002 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. *
|
||||
* *
|
||||
*************************************************************************/
|
||||
|
||||
// main window and event handling for X11
|
||||
|
||||
#include <ode/config.h>
|
||||
#include <stdlib.h>
|
||||
#include <string.h>
|
||||
#include <stdarg.h>
|
||||
#include <X11/Xlib.h>
|
||||
#include <X11/Xatom.h>
|
||||
#include <X11/keysym.h>
|
||||
#include <GL/glx.h>
|
||||
|
||||
#include <drawstuff/drawstuff.h>
|
||||
#include <drawstuff/version.h>
|
||||
#include "internal.h"
|
||||
|
||||
//***************************************************************************
|
||||
// error handling for unix
|
||||
|
||||
static void printMessage (char *msg1, char *msg2, va_list ap)
|
||||
{
|
||||
fflush (stderr);
|
||||
fflush (stdout);
|
||||
fprintf (stderr,"\n%s: ",msg1);
|
||||
vfprintf (stderr,msg2,ap);
|
||||
fprintf (stderr,"\n");
|
||||
fflush (stderr);
|
||||
}
|
||||
|
||||
|
||||
extern "C" void dsError (char *msg, ...)
|
||||
{
|
||||
va_list ap;
|
||||
va_start (ap,msg);
|
||||
printMessage ("Error",msg,ap);
|
||||
exit (1);
|
||||
}
|
||||
|
||||
|
||||
extern "C" void dsDebug (char *msg, ...)
|
||||
{
|
||||
va_list ap;
|
||||
va_start (ap,msg);
|
||||
printMessage ("INTERNAL ERROR",msg,ap);
|
||||
// *((char *)0) = 0; ... commit SEGVicide ?
|
||||
abort();
|
||||
}
|
||||
|
||||
|
||||
extern "C" void dsPrint (char *msg, ...)
|
||||
{
|
||||
va_list ap;
|
||||
va_start (ap,msg);
|
||||
vprintf (msg,ap);
|
||||
}
|
||||
|
||||
//***************************************************************************
|
||||
// openGL window
|
||||
|
||||
// X11 display info
|
||||
static Display *display=0;
|
||||
static int screen=0;
|
||||
static XVisualInfo *visual=0; // best visual for openGL
|
||||
static Colormap colormap=0; // window's colormap
|
||||
static Atom wm_protocols_atom = 0;
|
||||
static Atom wm_delete_window_atom = 0;
|
||||
|
||||
// window and openGL
|
||||
static Window win=0; // X11 window, 0 if not initialized
|
||||
static int width=0,height=0; // window size
|
||||
static GLXContext glx_context=0; // openGL rendering context
|
||||
static int last_key_pressed=0; // last key pressed in the window
|
||||
static int run=1; // 1 if simulation running
|
||||
static int pause=0; // 1 if in `pause' mode
|
||||
static int singlestep=0; // 1 if single step key pressed
|
||||
static int writeframes=0; // 1 if frame files to be written
|
||||
|
||||
|
||||
static void createMainWindow (int _width, int _height)
|
||||
{
|
||||
// create X11 display connection
|
||||
display = XOpenDisplay (NULL);
|
||||
if (!display) dsError ("can not open X11 display");
|
||||
screen = DefaultScreen(display);
|
||||
|
||||
// get GL visual
|
||||
static int attribList[] = {GLX_RGBA, GLX_DOUBLEBUFFER, GLX_DEPTH_SIZE,16,
|
||||
GLX_RED_SIZE,4, GLX_GREEN_SIZE,4,
|
||||
GLX_BLUE_SIZE,4, None};
|
||||
visual = glXChooseVisual (display,screen,attribList);
|
||||
if (!visual) dsError ("no good X11 visual found for OpenGL");
|
||||
|
||||
// create colormap
|
||||
colormap = XCreateColormap (display,RootWindow(display,screen),
|
||||
visual->visual,AllocNone);
|
||||
|
||||
// initialize variables
|
||||
win = 0;
|
||||
width = _width;
|
||||
height = _height;
|
||||
glx_context = 0;
|
||||
last_key_pressed = 0;
|
||||
|
||||
if (width < 1 || height < 1) dsDebug (0,"bad window width or height");
|
||||
|
||||
// create the window
|
||||
XSetWindowAttributes attributes;
|
||||
attributes.background_pixel = BlackPixel(display,screen);
|
||||
attributes.colormap = colormap;
|
||||
attributes.event_mask = ButtonPressMask | ButtonReleaseMask |
|
||||
KeyPressMask | KeyReleaseMask | ButtonMotionMask | PointerMotionHintMask |
|
||||
StructureNotifyMask;
|
||||
win = XCreateWindow (display,RootWindow(display,screen),50,50,width,height,
|
||||
0,visual->depth, InputOutput,visual->visual,
|
||||
CWBackPixel | CWColormap | CWEventMask,&attributes);
|
||||
|
||||
// associate a GLX context with the window
|
||||
glx_context = glXCreateContext (display,visual,0,GL_TRUE);
|
||||
if (!glx_context) dsError ("can't make an OpenGL context");
|
||||
|
||||
// set the window title
|
||||
XTextProperty window_name;
|
||||
window_name.value = (unsigned char *) "Simulation";
|
||||
window_name.encoding = XA_STRING;
|
||||
window_name.format = 8;
|
||||
window_name.nitems = strlen((char *) window_name.value);
|
||||
XSetWMName (display,win,&window_name);
|
||||
|
||||
// participate in the window manager 'delete yourself' protocol
|
||||
wm_protocols_atom = XInternAtom (display,"WM_PROTOCOLS",False);
|
||||
wm_delete_window_atom = XInternAtom (display,"WM_DELETE_WINDOW",False);
|
||||
if (XSetWMProtocols (display,win,&wm_delete_window_atom,1)==0)
|
||||
dsError ("XSetWMProtocols() call failed");
|
||||
|
||||
// pop up the window
|
||||
XMapWindow (display,win);
|
||||
XSync (display,win);
|
||||
}
|
||||
|
||||
|
||||
static void destroyMainWindow()
|
||||
{
|
||||
glXDestroyContext (display,glx_context);
|
||||
XDestroyWindow (display,win);
|
||||
XSync (display,0);
|
||||
display = 0;
|
||||
win = 0;
|
||||
glx_context = 0;
|
||||
}
|
||||
|
||||
|
||||
static void handleEvent (XEvent &event, dsFunctions *fn)
|
||||
{
|
||||
static int mx=0,my=0; // mouse position
|
||||
static int mode = 0; // mouse button bits
|
||||
|
||||
switch (event.type) {
|
||||
|
||||
case ButtonPress: {
|
||||
if (event.xbutton.button == Button1) mode |= 1;
|
||||
if (event.xbutton.button == Button2) mode |= 2;
|
||||
if (event.xbutton.button == Button3) mode |= 4;
|
||||
mx = event.xbutton.x;
|
||||
my = event.xbutton.y;
|
||||
}
|
||||
return;
|
||||
|
||||
case ButtonRelease: {
|
||||
if (event.xbutton.button == Button1) mode &= (~1);
|
||||
if (event.xbutton.button == Button2) mode &= (~2);
|
||||
if (event.xbutton.button == Button3) mode &= (~4);
|
||||
mx = event.xbutton.x;
|
||||
my = event.xbutton.x;
|
||||
}
|
||||
return;
|
||||
|
||||
case MotionNotify: {
|
||||
if (event.xmotion.is_hint) {
|
||||
Window root,child;
|
||||
unsigned int mask;
|
||||
XQueryPointer (display,win,&root,&child,&event.xbutton.x_root,
|
||||
&event.xbutton.y_root,&event.xbutton.x,&event.xbutton.y,
|
||||
&mask);
|
||||
}
|
||||
dsMotion (mode, event.xmotion.x - mx, event.xmotion.y - my);
|
||||
mx = event.xmotion.x;
|
||||
my = event.xmotion.y;
|
||||
}
|
||||
return;
|
||||
|
||||
case KeyPress: {
|
||||
KeySym key;
|
||||
XLookupString (&event.xkey,NULL,0,&key,0);
|
||||
if ((event.xkey.state & ControlMask) == 0) {
|
||||
if (key >= ' ' && key <= 126 && fn->command) fn->command (key);
|
||||
}
|
||||
else if (event.xkey.state & ControlMask) {
|
||||
switch (key) {
|
||||
case 't': case 'T':
|
||||
dsSetTextures (dsGetTextures() ^ 1);
|
||||
break;
|
||||
case 's': case 'S':
|
||||
dsSetShadows (dsGetShadows() ^ 1);
|
||||
break;
|
||||
case 'x': case 'X':
|
||||
run = 0;
|
||||
break;
|
||||
case 'p': case 'P':
|
||||
pause ^= 1;
|
||||
singlestep = 0;
|
||||
break;
|
||||
case 'o': case 'O':
|
||||
if (pause) singlestep = 1;
|
||||
break;
|
||||
case 'v': case 'V': {
|
||||
float xyz[3],hpr[3];
|
||||
dsGetViewpoint (xyz,hpr);
|
||||
printf ("Viewpoint = (%.4f,%.4f,%.4f,%.4f,%.4f,%.4f)\n",
|
||||
xyz[0],xyz[1],xyz[2],hpr[0],hpr[1],hpr[2]);
|
||||
break;
|
||||
}
|
||||
case 'w': case 'W':
|
||||
writeframes ^= 1;
|
||||
if (writeframes) printf ("Now writing frames to PPM files\n");
|
||||
break;
|
||||
}
|
||||
}
|
||||
last_key_pressed = key; // a kludgy place to put this...
|
||||
}
|
||||
return;
|
||||
|
||||
case KeyRelease: {
|
||||
// hmmmm...
|
||||
}
|
||||
return;
|
||||
|
||||
case ClientMessage:
|
||||
if (event.xclient.message_type == wm_protocols_atom &&
|
||||
event.xclient.format == 32 &&
|
||||
Atom(event.xclient.data.l[0]) == wm_delete_window_atom) {
|
||||
run = 0;
|
||||
return;
|
||||
}
|
||||
return;
|
||||
|
||||
case ConfigureNotify:
|
||||
width = event.xconfigure.width;
|
||||
height = event.xconfigure.height;
|
||||
return;
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
// return the index of the highest bit
|
||||
static int getHighBitIndex (unsigned int x)
|
||||
{
|
||||
int i = 0;
|
||||
while (x) {
|
||||
i++;
|
||||
x >>= 1;
|
||||
}
|
||||
return i-1;
|
||||
}
|
||||
|
||||
|
||||
// shift x left by i, where i can be positive or negative
|
||||
#define SHIFTL(x,i) (((i) >= 0) ? ((x) << (i)) : ((x) >> (-i)))
|
||||
|
||||
|
||||
static void captureFrame (int num)
|
||||
{
|
||||
fprintf (stderr,"capturing frame %04d\n",num);
|
||||
|
||||
char s[100];
|
||||
sprintf (s,"frame/frame%04d.ppm",num);
|
||||
FILE *f = fopen (s,"wb");
|
||||
if (!f) dsError ("can't open \"%s\" for writing",s);
|
||||
fprintf (f,"P6\n%d %d\n255\n",width,height);
|
||||
XImage *image = XGetImage (display,win,0,0,width,height,~0,ZPixmap);
|
||||
|
||||
int rshift = 7 - getHighBitIndex (image->red_mask);
|
||||
int gshift = 7 - getHighBitIndex (image->green_mask);
|
||||
int bshift = 7 - getHighBitIndex (image->blue_mask);
|
||||
|
||||
for (int y=0; y<height; y++) {
|
||||
for (int x=0; x<width; x++) {
|
||||
unsigned long pixel = XGetPixel (image,x,y);
|
||||
unsigned char b[3];
|
||||
b[0] = SHIFTL(pixel & image->red_mask,rshift);
|
||||
b[1] = SHIFTL(pixel & image->green_mask,gshift);
|
||||
b[2] = SHIFTL(pixel & image->blue_mask,bshift);
|
||||
fwrite (b,3,1,f);
|
||||
}
|
||||
}
|
||||
fclose (f);
|
||||
XDestroyImage (image);
|
||||
}
|
||||
|
||||
|
||||
void dsPlatformSimLoop (int window_width, int window_height, dsFunctions *fn,
|
||||
int initial_pause)
|
||||
{
|
||||
pause = initial_pause;
|
||||
createMainWindow (window_width, window_height);
|
||||
glXMakeCurrent (display,win,glx_context);
|
||||
|
||||
dsStartGraphics (window_width,window_height,fn);
|
||||
|
||||
fprintf (stderr,
|
||||
"\n"
|
||||
"Simulation test environment v%d.%02d\n"
|
||||
" Ctrl-P : pause / unpause (or say `-pause' on command line).\n"
|
||||
" Ctrl-O : single step when paused.\n"
|
||||
" Ctrl-T : toggle textures (or say `-notex' on command line).\n"
|
||||
" Ctrl-S : toggle shadows (or say `-noshadow' on command line).\n"
|
||||
" Ctrl-V : print current viewpoint coordinates (x,y,z,h,p,r).\n"
|
||||
" Ctrl-W : write frames to ppm files: frame/frameNNN.ppm\n"
|
||||
" Ctrl-X : exit.\n"
|
||||
"\n"
|
||||
"Change the camera position by clicking + dragging in the window.\n"
|
||||
" Left button - pan and tilt.\n"
|
||||
" Right button - forward and sideways.\n"
|
||||
" Left + Right button (or middle button) - sideways and up.\n"
|
||||
"\n",DS_VERSION >> 8,DS_VERSION & 0xff);
|
||||
|
||||
if (fn->start) fn->start();
|
||||
|
||||
int frame = 1;
|
||||
run = 1;
|
||||
while (run) {
|
||||
// read in and process all pending events for the main window
|
||||
XEvent event;
|
||||
while (run && XPending (display)) {
|
||||
XNextEvent (display,&event);
|
||||
handleEvent (event,fn);
|
||||
}
|
||||
|
||||
dsDrawFrame (width,height,fn,pause && !singlestep);
|
||||
singlestep = 0;
|
||||
|
||||
glFlush();
|
||||
glXSwapBuffers (display,win);
|
||||
XSync (display,0);
|
||||
|
||||
// capture frames if necessary
|
||||
if (pause==0 && writeframes) {
|
||||
captureFrame (frame);
|
||||
frame++;
|
||||
}
|
||||
};
|
||||
|
||||
if (fn->stop) fn->stop();
|
||||
dsStopGraphics();
|
||||
|
||||
destroyMainWindow();
|
||||
}
|
||||
|
||||
|
||||
extern "C" void dsStop()
|
||||
{
|
||||
run = 0;
|
||||
}
|
||||
5
Extras/ode/drawstuff/textures/ground.ppm
Normal file
5
Extras/ode/drawstuff/textures/ground.ppm
Normal file
File diff suppressed because one or more lines are too long
5
Extras/ode/drawstuff/textures/sky.ppm
Normal file
5
Extras/ode/drawstuff/textures/sky.ppm
Normal file
File diff suppressed because one or more lines are too long
5
Extras/ode/drawstuff/textures/wood.ppm
Normal file
5
Extras/ode/drawstuff/textures/wood.ppm
Normal file
File diff suppressed because one or more lines are too long
172
Extras/ode/include/drawstuff/drawstuff.h
Normal file
172
Extras/ode/include/drawstuff/drawstuff.h
Normal file
@@ -0,0 +1,172 @@
|
||||
/*************************************************************************
|
||||
* *
|
||||
* 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. *
|
||||
* *
|
||||
*************************************************************************/
|
||||
|
||||
/*
|
||||
|
||||
Draw Stuff
|
||||
----------
|
||||
|
||||
this is a library for rendering simple 3D objects in a virtual environment.
|
||||
|
||||
NOTES
|
||||
-----
|
||||
|
||||
in the virtual world, the z axis is "up" and z=0 is the floor.
|
||||
|
||||
the user is able to click+drag in the main window to move the camera:
|
||||
* left button - pan and tilt.
|
||||
* right button - forward and sideways.
|
||||
* left + right button (or middle button) - sideways and up.
|
||||
|
||||
*/
|
||||
|
||||
|
||||
#ifndef __DRAWSTUFF_H__
|
||||
#define __DRAWSTUFF_H__
|
||||
|
||||
#ifdef __cplusplus
|
||||
extern "C" {
|
||||
#endif
|
||||
|
||||
|
||||
#include <drawstuff/version.h>
|
||||
|
||||
|
||||
/* texture numbers */
|
||||
#define DS_NONE 0 /* uses the current color instead of a texture */
|
||||
#define DS_WOOD 1
|
||||
|
||||
|
||||
typedef struct dsFunctions {
|
||||
int version; /* put DS_VERSION here */
|
||||
/* version 1 data */
|
||||
void (*start)(); /* called before sim loop starts */
|
||||
void (*step) (int pause); /* called before every frame */
|
||||
void (*command) (int cmd); /* called if a command key is pressed */
|
||||
void (*stop)(); /* called after sim loop exits */
|
||||
/* version 2 data */
|
||||
char *path_to_textures; /* if nonzero, path to texture files */
|
||||
} dsFunctions;
|
||||
|
||||
|
||||
/* the main() function should fill in the dsFunctions structure then
|
||||
* call this.
|
||||
*/
|
||||
void dsSimulationLoop (int argc, char **argv,
|
||||
int window_width, int window_height,
|
||||
struct dsFunctions *fn);
|
||||
|
||||
/* these functions display an error message then exit. they take arguments
|
||||
* in the same way as printf(), except you do not have to add a terminating
|
||||
* '\n'. Debug() tries to dump core or start the debugger.
|
||||
*/
|
||||
void dsError (char *msg, ...);
|
||||
void dsDebug (char *msg, ...);
|
||||
|
||||
/* dsPrint() prints out a message. it takes arguments in the same way as
|
||||
* printf() (i.e. you must add a '\n' at the end of every line).
|
||||
*/
|
||||
void dsPrint (char *msg, ...);
|
||||
|
||||
/* set and get the camera position. xyz is the cameria position (x,y,z).
|
||||
* hpr contains heading, pitch and roll numbers in degrees. heading=0
|
||||
* points along the x axis, pitch=0 is looking towards the horizon, and
|
||||
* roll 0 is "unrotated".
|
||||
*/
|
||||
void dsSetViewpoint (float xyz[3], float hpr[3]);
|
||||
void dsGetViewpoint (float xyz[3], float hpr[3]);
|
||||
|
||||
/* stop the simulation loop. calling this from within dsSimulationLoop()
|
||||
* will cause it to exit and return to the caller. it is the same as if the
|
||||
* user used the exit command. using this outside the loop will have no
|
||||
* effect.
|
||||
*/
|
||||
void dsStop();
|
||||
|
||||
/* change the way objects are drawn. these changes will apply to all further
|
||||
* dsDrawXXX() functions. the texture number must be a DS_xxx texture
|
||||
* constant. the red, green, and blue number are between 0 and 1.
|
||||
* alpha is between 0 and 1 - if alpha is not specified it's assubed to be 1.
|
||||
* the current texture is colored according to the current color.
|
||||
* at the start of each frame, the texture is reset to none and the color is
|
||||
* reset to white.
|
||||
*/
|
||||
void dsSetTexture (int texture_number);
|
||||
void dsSetColor (float red, float green, float blue);
|
||||
void dsSetColorAlpha (float red, float green, float blue, float alpha);
|
||||
|
||||
/* draw objects.
|
||||
* - pos[] is the x,y,z of the center of the object.
|
||||
* - R[] is a 3x3 rotation matrix for the object, stored by row like this:
|
||||
* [ R11 R12 R13 0 ]
|
||||
* [ R21 R22 R23 0 ]
|
||||
* [ R31 R32 R33 0 ]
|
||||
* - sides[] is an array of x,y,z side lengths.
|
||||
* - all cylinders are aligned along the z axis.
|
||||
*/
|
||||
void dsDrawBox (const float pos[3], const float R[12], const float sides[3]);
|
||||
void dsDrawSphere (const float pos[3], const float R[12], float radius);
|
||||
void dsDrawTriangle (const float pos[3], const float R[12],
|
||||
const float *v0, const float *v1, const float *v2, int solid);
|
||||
void dsDrawCylinder (const float pos[3], const float R[12],
|
||||
float length, float radius);
|
||||
void dsDrawCone(const float pos[3], const float R[12],
|
||||
float length, float radius);
|
||||
|
||||
void dsDrawCylinder2 (const float pos[3], const float R[12],
|
||||
float length, float radius,float radius2);
|
||||
|
||||
|
||||
|
||||
void dsDrawCappedCylinder (const float pos[3], const float R[12],
|
||||
float length, float radius);
|
||||
void dsDrawLine (const float pos1[3], const float pos2[3]);
|
||||
|
||||
/* these drawing functions are identical to the ones above, except they take
|
||||
* double arrays for `pos' and `R'.
|
||||
*/
|
||||
void dsDrawBoxD (const double pos[3], const double R[12],
|
||||
const double sides[3]);
|
||||
void dsDrawSphereD (const double pos[3], const double R[12],
|
||||
const float radius);
|
||||
void dsDrawTriangleD (const double pos[3], const double R[12],
|
||||
const double *v0, const double *v1, const double *v2, int solid);
|
||||
void dsDrawCylinderD (const double pos[3], const double R[12],
|
||||
float length, float radius);
|
||||
void dsDrawCappedCylinderD (const double pos[3], const double R[12],
|
||||
float length, float radius);
|
||||
void dsDrawLineD (const double pos1[3], const double pos2[3]);
|
||||
|
||||
/* Set the drawn quality of the objects. Higher numbers are higher quality,
|
||||
* but slower to draw. This must be set before the first objects are drawn to
|
||||
* be effective.
|
||||
*/
|
||||
void dsSetSphereQuality (int n); /* default = 1 */
|
||||
void dsSetCappedCylinderQuality (int n); /* default = 3 */
|
||||
|
||||
|
||||
/* closing bracket for extern "C" */
|
||||
#ifdef __cplusplus
|
||||
}
|
||||
#endif
|
||||
|
||||
#endif
|
||||
29
Extras/ode/include/drawstuff/version.h
Normal file
29
Extras/ode/include/drawstuff/version.h
Normal file
@@ -0,0 +1,29 @@
|
||||
/*************************************************************************
|
||||
* *
|
||||
* Open Dynamics Engine, Copyright (C) 2001,2002 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. *
|
||||
* *
|
||||
*************************************************************************/
|
||||
|
||||
#ifndef __VERSION_H
|
||||
#define __VERSION_H
|
||||
|
||||
/* high byte is major version, low byte is minor version */
|
||||
#define DS_VERSION 0x0002
|
||||
|
||||
#endif
|
||||
18
Extras/ode/include/ode/README
Normal file
18
Extras/ode/include/ode/README
Normal file
@@ -0,0 +1,18 @@
|
||||
|
||||
this is the public C interface to the ODE library.
|
||||
|
||||
all these files should be includable from C, i.e. they should not use any
|
||||
C++ features. everything should be protected with
|
||||
|
||||
#ifdef __cplusplus
|
||||
extern "C" {
|
||||
#endif
|
||||
|
||||
...
|
||||
|
||||
#ifdef __cplusplus
|
||||
}
|
||||
#endif
|
||||
|
||||
the only exceptions are the odecpp.h and odecpp_collisioh.h files, which define a C++ wrapper for
|
||||
the C interface. remember to keep this in sync!
|
||||
190
Extras/ode/include/ode/collision.h
Normal file
190
Extras/ode/include/ode/collision.h
Normal file
@@ -0,0 +1,190 @@
|
||||
/*************************************************************************
|
||||
* *
|
||||
* 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. *
|
||||
* *
|
||||
*************************************************************************/
|
||||
|
||||
#ifndef _ODE_COLLISION_H_
|
||||
#define _ODE_COLLISION_H_
|
||||
|
||||
#include <ode/common.h>
|
||||
#include <ode/collision_space.h>
|
||||
#include <ode/contact.h>
|
||||
|
||||
#ifdef __cplusplus
|
||||
extern "C" {
|
||||
#endif
|
||||
|
||||
/* ************************************************************************ */
|
||||
/* general functions */
|
||||
|
||||
void dGeomDestroy (dGeomID);
|
||||
void dGeomSetData (dGeomID, void *);
|
||||
void *dGeomGetData (dGeomID);
|
||||
void dGeomSetBody (dGeomID, dBodyID);
|
||||
dBodyID dGeomGetBody (dGeomID);
|
||||
void dGeomSetPosition (dGeomID, dReal x, dReal y, dReal z);
|
||||
void dGeomSetRotation (dGeomID, const dMatrix3 R);
|
||||
void dGeomSetQuaternion (dGeomID, const dQuaternion);
|
||||
const dReal * dGeomGetPosition (dGeomID);
|
||||
const dReal * dGeomGetRotation (dGeomID);
|
||||
void dGeomGetQuaternion (dGeomID, dQuaternion result);
|
||||
void dGeomGetAABB (dGeomID, dReal aabb[6]);
|
||||
int dGeomIsSpace (dGeomID);
|
||||
dSpaceID dGeomGetSpace (dGeomID);
|
||||
int dGeomGetClass (dGeomID);
|
||||
void dGeomSetCategoryBits (dGeomID, unsigned long bits);
|
||||
void dGeomSetCollideBits (dGeomID, unsigned long bits);
|
||||
unsigned long dGeomGetCategoryBits (dGeomID);
|
||||
unsigned long dGeomGetCollideBits (dGeomID);
|
||||
void dGeomEnable (dGeomID);
|
||||
void dGeomDisable (dGeomID);
|
||||
int dGeomIsEnabled (dGeomID);
|
||||
|
||||
/* ************************************************************************ */
|
||||
/* collision detection */
|
||||
|
||||
int dCollide (dGeomID o1, dGeomID o2, int flags, dContactGeom *contact,
|
||||
int skip);
|
||||
void dSpaceCollide (dSpaceID space, void *data, dNearCallback *callback);
|
||||
void dSpaceCollide2 (dGeomID o1, dGeomID o2, void *data,
|
||||
dNearCallback *callback);
|
||||
|
||||
/* ************************************************************************ */
|
||||
/* standard classes */
|
||||
|
||||
/* the maximum number of user classes that are supported */
|
||||
enum {
|
||||
dMaxUserClasses = 4
|
||||
};
|
||||
|
||||
/* class numbers - each geometry object needs a unique number */
|
||||
enum {
|
||||
dSphereClass = 0,
|
||||
dBoxClass,
|
||||
dCCylinderClass,
|
||||
dCylinderClass,
|
||||
dPlaneClass,
|
||||
dRayClass,
|
||||
dGeomTransformClass,
|
||||
dTriMeshClass,
|
||||
dConvexClass,
|
||||
|
||||
dFirstSpaceClass,
|
||||
dSimpleSpaceClass = dFirstSpaceClass,
|
||||
dHashSpaceClass,
|
||||
dQuadTreeSpaceClass,
|
||||
dLastSpaceClass = dQuadTreeSpaceClass,
|
||||
|
||||
dFirstUserClass,
|
||||
dLastUserClass = dFirstUserClass + dMaxUserClasses - 1,
|
||||
dGeomNumClasses
|
||||
};
|
||||
|
||||
|
||||
dGeomID dCreateSphere (dSpaceID space, dReal radius);
|
||||
void dGeomSphereSetRadius (dGeomID sphere, dReal radius);
|
||||
dReal dGeomSphereGetRadius (dGeomID sphere);
|
||||
dReal dGeomSpherePointDepth (dGeomID sphere, dReal x, dReal y, dReal z);
|
||||
|
||||
dGeomID dCreateBox (dSpaceID space, dReal lx, dReal ly, dReal lz);
|
||||
void dGeomBoxSetLengths (dGeomID box, dReal lx, dReal ly, dReal lz);
|
||||
void dGeomBoxGetLengths (dGeomID box, dVector3 result);
|
||||
dReal dGeomBoxPointDepth (dGeomID box, dReal x, dReal y, dReal z);
|
||||
|
||||
dGeomID dCreatePlane (dSpaceID space, dReal a, dReal b, dReal c, dReal d);
|
||||
void dGeomPlaneSetParams (dGeomID plane, dReal a, dReal b, dReal c, dReal d);
|
||||
void dGeomPlaneGetParams (dGeomID plane, dVector4 result);
|
||||
dReal dGeomPlanePointDepth (dGeomID plane, dReal x, dReal y, dReal z);
|
||||
|
||||
dGeomID dCreateCCylinder (dSpaceID space, dReal radius, dReal length);
|
||||
void dGeomCCylinderSetParams (dGeomID ccylinder, dReal radius, dReal length);
|
||||
void dGeomCCylinderGetParams (dGeomID ccylinder, dReal *radius, dReal *length);
|
||||
dReal dGeomCCylinderPointDepth (dGeomID ccylinder, dReal x, dReal y, dReal z);
|
||||
|
||||
dGeomID dCreateRay (dSpaceID space, dReal length);
|
||||
void dGeomRaySetLength (dGeomID ray, dReal length);
|
||||
dReal dGeomRayGetLength (dGeomID ray);
|
||||
void dGeomRaySet (dGeomID ray, dReal px, dReal py, dReal pz,
|
||||
dReal dx, dReal dy, dReal dz);
|
||||
void dGeomRayGet (dGeomID ray, dVector3 start, dVector3 dir);
|
||||
|
||||
/*
|
||||
* Set/get ray flags that influence ray collision detection.
|
||||
* These flags are currently only noticed by the trimesh collider, because
|
||||
* they can make a major differences there.
|
||||
*/
|
||||
void dGeomRaySetParams (dGeomID g, int FirstContact, int BackfaceCull);
|
||||
void dGeomRayGetParams (dGeomID g, int *FirstContact, int *BackfaceCull);
|
||||
void dGeomRaySetClosestHit (dGeomID g, int closestHit);
|
||||
int dGeomRayGetClosestHit (dGeomID g);
|
||||
|
||||
#include "collision_trimesh.h"
|
||||
|
||||
dGeomID dCreateGeomTransform (dSpaceID space);
|
||||
void dGeomTransformSetGeom (dGeomID g, dGeomID obj);
|
||||
dGeomID dGeomTransformGetGeom (dGeomID g);
|
||||
void dGeomTransformSetCleanup (dGeomID g, int mode);
|
||||
int dGeomTransformGetCleanup (dGeomID g);
|
||||
void dGeomTransformSetInfo (dGeomID g, int mode);
|
||||
int dGeomTransformGetInfo (dGeomID g);
|
||||
|
||||
/* ************************************************************************ */
|
||||
/* utility functions */
|
||||
|
||||
void dClosestLineSegmentPoints (const dVector3 a1, const dVector3 a2,
|
||||
const dVector3 b1, const dVector3 b2,
|
||||
dVector3 cp1, dVector3 cp2);
|
||||
|
||||
int dBoxTouchesBox (const dVector3 _p1, const dMatrix3 R1,
|
||||
const dVector3 side1, const dVector3 _p2,
|
||||
const dMatrix3 R2, const dVector3 side2);
|
||||
|
||||
void dInfiniteAABB (dGeomID geom, dReal aabb[6]);
|
||||
void dCloseODE(void);
|
||||
|
||||
/* ************************************************************************ */
|
||||
/* custom classes */
|
||||
|
||||
typedef void dGetAABBFn (dGeomID, dReal aabb[6]);
|
||||
typedef int dColliderFn (dGeomID o1, dGeomID o2,
|
||||
int flags, dContactGeom *contact, int skip);
|
||||
typedef dColliderFn * dGetColliderFnFn (int num);
|
||||
typedef void dGeomDtorFn (dGeomID o);
|
||||
typedef int dAABBTestFn (dGeomID o1, dGeomID o2, dReal aabb[6]);
|
||||
|
||||
typedef struct dGeomClass {
|
||||
int bytes;
|
||||
dGetColliderFnFn *collider;
|
||||
dGetAABBFn *aabb;
|
||||
dAABBTestFn *aabb_test;
|
||||
dGeomDtorFn *dtor;
|
||||
} dGeomClass;
|
||||
|
||||
int dCreateGeomClass (const dGeomClass *classptr);
|
||||
void * dGeomGetClassData (dGeomID);
|
||||
dGeomID dCreateGeom (int classnum);
|
||||
|
||||
/* ************************************************************************ */
|
||||
|
||||
#ifdef __cplusplus
|
||||
}
|
||||
#endif
|
||||
|
||||
#endif
|
||||
61
Extras/ode/include/ode/collision_space.h
Normal file
61
Extras/ode/include/ode/collision_space.h
Normal file
@@ -0,0 +1,61 @@
|
||||
/*************************************************************************
|
||||
* *
|
||||
* 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. *
|
||||
* *
|
||||
*************************************************************************/
|
||||
|
||||
#ifndef _ODE_COLLISION_SPACE_H_
|
||||
#define _ODE_COLLISION_SPACE_H_
|
||||
|
||||
#include <ode/common.h>
|
||||
|
||||
#ifdef __cplusplus
|
||||
extern "C" {
|
||||
#endif
|
||||
|
||||
struct dContactGeom;
|
||||
|
||||
typedef void dNearCallback (void *data, dGeomID o1, dGeomID o2);
|
||||
|
||||
|
||||
dSpaceID dSimpleSpaceCreate (dSpaceID space);
|
||||
dSpaceID dHashSpaceCreate (dSpaceID space);
|
||||
dSpaceID dQuadTreeSpaceCreate (dSpaceID space, dVector3 Center, dVector3 Extents, int Depth);
|
||||
|
||||
void dSpaceDestroy (dSpaceID);
|
||||
|
||||
void dHashSpaceSetLevels (dSpaceID space, int minlevel, int maxlevel);
|
||||
void dHashSpaceGetLevels (dSpaceID space, int *minlevel, int *maxlevel);
|
||||
|
||||
void dSpaceSetCleanup (dSpaceID space, int mode);
|
||||
int dSpaceGetCleanup (dSpaceID space);
|
||||
|
||||
void dSpaceAdd (dSpaceID, dGeomID);
|
||||
void dSpaceRemove (dSpaceID, dGeomID);
|
||||
int dSpaceQuery (dSpaceID, dGeomID);
|
||||
void dSpaceClean (dSpaceID);
|
||||
int dSpaceGetNumGeoms (dSpaceID);
|
||||
dGeomID dSpaceGetGeom (dSpaceID, int i);
|
||||
|
||||
|
||||
#ifdef __cplusplus
|
||||
}
|
||||
#endif
|
||||
|
||||
#endif
|
||||
184
Extras/ode/include/ode/collision_trimesh.h
Normal file
184
Extras/ode/include/ode/collision_trimesh.h
Normal file
@@ -0,0 +1,184 @@
|
||||
/*************************************************************************
|
||||
* *
|
||||
* 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. *
|
||||
* *
|
||||
*************************************************************************/
|
||||
|
||||
/*
|
||||
* TriMesh code by Erwin de Vries.
|
||||
*
|
||||
* Trimesh data.
|
||||
* This is where the actual vertexdata (pointers), and BV tree is stored.
|
||||
* Vertices should be single precision!
|
||||
* This should be more sophisticated, so that the user can easyly implement
|
||||
* another collision library, but this is a lot of work, and also costs some
|
||||
* performance because some data has to be copied.
|
||||
*/
|
||||
|
||||
#ifndef _ODE_COLLISION_TRIMESH_H_
|
||||
#define _ODE_COLLISION_TRIMESH_H_
|
||||
|
||||
#ifdef __cplusplus
|
||||
extern "C" {
|
||||
#endif
|
||||
|
||||
/*
|
||||
* Data storage for triangle meshes.
|
||||
*/
|
||||
struct dxTriMeshData;
|
||||
typedef struct dxTriMeshData* dTriMeshDataID;
|
||||
|
||||
/*
|
||||
* These dont make much sense now, but they will later when we add more
|
||||
* features.
|
||||
*/
|
||||
dTriMeshDataID dGeomTriMeshDataCreate(void);
|
||||
void dGeomTriMeshDataDestroy(dTriMeshDataID g);
|
||||
|
||||
enum { TRIMESH_FACE_NORMALS, TRIMESH_LAST_TRANSFORMATION };
|
||||
void dGeomTriMeshDataSet(dTriMeshDataID g, int data_id, void* in_data);
|
||||
void* dGeomTriMeshDataGet(dTriMeshDataID g, int data_id);
|
||||
|
||||
/*
|
||||
* Build TriMesh data with single pricision used in vertex data .
|
||||
*/
|
||||
void dGeomTriMeshDataBuildSingle(dTriMeshDataID g,
|
||||
const void* Vertices, int VertexStride, int VertexCount,
|
||||
const void* Indices, int IndexCount, int TriStride);
|
||||
/* same again with a normals array (used as trimesh-trimesh optimization) */
|
||||
void dGeomTriMeshDataBuildSingle1(dTriMeshDataID g,
|
||||
const void* Vertices, int VertexStride, int VertexCount,
|
||||
const void* Indices, int IndexCount, int TriStride,
|
||||
const void* Normals);
|
||||
/*
|
||||
* Build TriMesh data with double pricision used in vertex data .
|
||||
*/
|
||||
void dGeomTriMeshDataBuildDouble(dTriMeshDataID g,
|
||||
const void* Vertices, int VertexStride, int VertexCount,
|
||||
const void* Indices, int IndexCount, int TriStride);
|
||||
/* same again with a normals array (used as trimesh-trimesh optimization) */
|
||||
void dGeomTriMeshDataBuildDouble1(dTriMeshDataID g,
|
||||
const void* Vertices, int VertexStride, int VertexCount,
|
||||
const void* Indices, int IndexCount, int TriStride,
|
||||
const void* Normals);
|
||||
|
||||
/*
|
||||
* Simple build. Single/double precision based on dSINGLE/dDOUBLE!
|
||||
*/
|
||||
void dGeomTriMeshDataBuildSimple(dTriMeshDataID g,
|
||||
const dReal* Vertices, int VertexCount,
|
||||
const int* Indices, int IndexCount);
|
||||
/* same again with a normals array (used as trimesh-trimesh optimization) */
|
||||
void dGeomTriMeshDataBuildSimple1(dTriMeshDataID g,
|
||||
const dReal* Vertices, int VertexCount,
|
||||
const int* Indices, int IndexCount,
|
||||
const int* Normals);
|
||||
/*
|
||||
* Per triangle callback. Allows the user to say if he wants a collision with
|
||||
* a particular triangle.
|
||||
*/
|
||||
typedef int dTriCallback(dGeomID TriMesh, dGeomID RefObject, int TriangleIndex);
|
||||
void dGeomTriMeshSetCallback(dGeomID g, dTriCallback* Callback);
|
||||
dTriCallback* dGeomTriMeshGetCallback(dGeomID g);
|
||||
|
||||
/*
|
||||
* Per object callback. Allows the user to get the list of triangles in 1
|
||||
* shot. Maybe we should remove this one.
|
||||
*/
|
||||
typedef void dTriArrayCallback(dGeomID TriMesh, dGeomID RefObject, const int* TriIndices, int TriCount);
|
||||
void dGeomTriMeshSetArrayCallback(dGeomID g, dTriArrayCallback* ArrayCallback);
|
||||
dTriArrayCallback* dGeomTriMeshGetArrayCallback(dGeomID g);
|
||||
|
||||
/*
|
||||
* Ray callback.
|
||||
* Allows the user to say if a ray collides with a triangle on barycentric
|
||||
* coords. The user can for example sample a texture with alpha transparency
|
||||
* to determine if a collision should occur.
|
||||
*/
|
||||
typedef int dTriRayCallback(dGeomID TriMesh, dGeomID Ray, int TriangleIndex, dReal u, dReal v);
|
||||
void dGeomTriMeshSetRayCallback(dGeomID g, dTriRayCallback* Callback);
|
||||
dTriRayCallback* dGeomTriMeshGetRayCallback(dGeomID g);
|
||||
|
||||
/*
|
||||
* Trimesh class
|
||||
* Construction. Callbacks are optional.
|
||||
*/
|
||||
dGeomID dCreateTriMesh(dSpaceID space, dTriMeshDataID Data, dTriCallback* Callback, dTriArrayCallback* ArrayCallback, dTriRayCallback* RayCallback);
|
||||
|
||||
void dGeomTriMeshSetData(dGeomID g, dTriMeshDataID Data);
|
||||
dTriMeshDataID dGeomTriMeshGetData(dGeomID g);
|
||||
|
||||
|
||||
// enable/disable/check temporal coherence
|
||||
void dGeomTriMeshEnableTC(dGeomID g, int geomClass, int enable);
|
||||
int dGeomTriMeshIsTCEnabled(dGeomID g, int geomClass);
|
||||
|
||||
/*
|
||||
* Clears the internal temporal coherence caches. When a geom has its
|
||||
* collision checked with a trimesh once, data is stored inside the trimesh.
|
||||
* With large worlds with lots of seperate objects this list could get huge.
|
||||
* We should be able to do this automagically.
|
||||
*/
|
||||
void dGeomTriMeshClearTCCache(dGeomID g);
|
||||
|
||||
|
||||
/*
|
||||
* returns the TriMeshDataID
|
||||
*/
|
||||
dTriMeshDataID dGeomTriMeshGetTriMeshDataID(dGeomID g);
|
||||
|
||||
/*
|
||||
* Gets a triangle.
|
||||
*/
|
||||
void dGeomTriMeshGetTriangle(dGeomID g, int Index, dVector3* v0, dVector3* v1, dVector3* v2);
|
||||
|
||||
/*
|
||||
* Gets the point on the requested triangle and the given barycentric
|
||||
* coordinates.
|
||||
*/
|
||||
void dGeomTriMeshGetPoint(dGeomID g, int Index, dReal u, dReal v, dVector3 Out);
|
||||
|
||||
/*
|
||||
|
||||
This is how the strided data works:
|
||||
|
||||
struct StridedVertex{
|
||||
dVector3 Vertex;
|
||||
// Userdata
|
||||
};
|
||||
int VertexStride = sizeof(StridedVertex);
|
||||
|
||||
struct StridedTri{
|
||||
int Indices[3];
|
||||
// Userdata
|
||||
};
|
||||
int TriStride = sizeof(StridedTri);
|
||||
|
||||
*/
|
||||
|
||||
|
||||
int dGeomTriMeshGetTriangleCount (dGeomID g);
|
||||
|
||||
|
||||
#ifdef __cplusplus
|
||||
}
|
||||
#endif
|
||||
|
||||
#endif /* _ODE_COLLISION_TRIMESH_H_ */
|
||||
|
||||
338
Extras/ode/include/ode/common.h
Normal file
338
Extras/ode/include/ode/common.h
Normal file
@@ -0,0 +1,338 @@
|
||||
/*************************************************************************
|
||||
* *
|
||||
* Open Dynamics Engine, Copyright (C) 2001,2002 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. *
|
||||
* *
|
||||
*************************************************************************/
|
||||
|
||||
#ifndef _ODE_COMMON_H_
|
||||
#define _ODE_COMMON_H_
|
||||
|
||||
#include <ode/config.h>
|
||||
#include <ode/error.h>
|
||||
|
||||
#ifdef __cplusplus
|
||||
extern "C" {
|
||||
#endif
|
||||
|
||||
|
||||
/* configuration stuff */
|
||||
|
||||
/* the efficient alignment. most platforms align data structures to some
|
||||
* number of bytes, but this is not always the most efficient alignment.
|
||||
* for example, many x86 compilers align to 4 bytes, but on a pentium it
|
||||
* is important to align doubles to 8 byte boundaries (for speed), and
|
||||
* the 4 floats in a SIMD register to 16 byte boundaries. many other
|
||||
* platforms have similar behavior. setting a larger alignment can waste
|
||||
* a (very) small amount of memory. NOTE: this number must be a power of
|
||||
* two. this is set to 16 by default.
|
||||
*/
|
||||
#define EFFICIENT_ALIGNMENT 16
|
||||
|
||||
|
||||
/* constants */
|
||||
|
||||
/* pi and 1/sqrt(2) are defined here if necessary because they don't get
|
||||
* defined in <math.h> on some platforms (like MS-Windows)
|
||||
*/
|
||||
|
||||
#ifndef M_PI
|
||||
#define M_PI REAL(3.1415926535897932384626433832795029)
|
||||
#endif
|
||||
#ifndef M_SQRT1_2
|
||||
#define M_SQRT1_2 REAL(0.7071067811865475244008443621048490)
|
||||
#endif
|
||||
|
||||
|
||||
/* debugging:
|
||||
* IASSERT is an internal assertion, i.e. a consistency check. if it fails
|
||||
* we want to know where.
|
||||
* UASSERT is a user assertion, i.e. if it fails a nice error message
|
||||
* should be printed for the user.
|
||||
* AASSERT is an arguments assertion, i.e. if it fails "bad argument(s)"
|
||||
* is printed.
|
||||
* DEBUGMSG just prints out a message
|
||||
*/
|
||||
|
||||
#ifndef dNODEBUG
|
||||
#ifdef __GNUC__
|
||||
#define dIASSERT(a) if (!(a)) dDebug (d_ERR_IASSERT, \
|
||||
"assertion \"" #a "\" failed in %s() [%s]",__FUNCTION__,__FILE__);
|
||||
#define dUASSERT(a,msg) if (!(a)) dDebug (d_ERR_UASSERT, \
|
||||
msg " in %s()", __FUNCTION__);
|
||||
#define dDEBUGMSG(msg) dMessage (d_ERR_UASSERT, \
|
||||
msg " in %s()", __FUNCTION__);
|
||||
#else
|
||||
#define dIASSERT(a) if (!(a)) dDebug (d_ERR_IASSERT, \
|
||||
"assertion \"" #a "\" failed in %s:%d",__FILE__,__LINE__);
|
||||
#define dUASSERT(a,msg) if (!(a)) dDebug (d_ERR_UASSERT, \
|
||||
msg " (%s:%d)", __FILE__,__LINE__);
|
||||
#define dDEBUGMSG(msg) dMessage (d_ERR_UASSERT, \
|
||||
msg " (%s:%d)", __FILE__,__LINE__);
|
||||
#endif
|
||||
#else
|
||||
#define dIASSERT(a) ;
|
||||
#define dUASSERT(a,msg) ;
|
||||
#define dDEBUGMSG(msg) ;
|
||||
#endif
|
||||
#define dAASSERT(a) dUASSERT(a,"Bad argument(s)")
|
||||
|
||||
/* floating point data type, vector, matrix and quaternion types */
|
||||
|
||||
#if defined(dSINGLE)
|
||||
typedef float dReal;
|
||||
#elif defined(dDOUBLE)
|
||||
typedef double dReal;
|
||||
#else
|
||||
#error You must #define dSINGLE or dDOUBLE
|
||||
#endif
|
||||
|
||||
|
||||
/* round an integer up to a multiple of 4, except that 0 and 1 are unmodified
|
||||
* (used to compute matrix leading dimensions)
|
||||
*/
|
||||
#define dPAD(a) (((a) > 1) ? ((((a)-1)|3)+1) : (a))
|
||||
|
||||
/* these types are mainly just used in headers */
|
||||
typedef dReal dVector3[4];
|
||||
typedef dReal dVector4[4];
|
||||
typedef dReal dMatrix3[4*3];
|
||||
typedef dReal dMatrix4[4*4];
|
||||
typedef dReal dMatrix6[8*6];
|
||||
typedef dReal dQuaternion[4];
|
||||
|
||||
|
||||
/* precision dependent scalar math functions */
|
||||
|
||||
#if defined(dSINGLE)
|
||||
|
||||
#define REAL(x) (x ## f) /* form a constant */
|
||||
#define dRecip(x) ((float)(1.0f/(x))) /* reciprocal */
|
||||
#define dSqrt(x) ((float)sqrtf(float(x))) /* square root */
|
||||
#define dRecipSqrt(x) ((float)(1.0f/sqrtf(float(x)))) /* reciprocal square root */
|
||||
#define dSin(x) ((float)sinf(float(x))) /* sine */
|
||||
#define dCos(x) ((float)cosf(float(x))) /* cosine */
|
||||
#define dFabs(x) ((float)fabsf(float(x))) /* absolute value */
|
||||
#define dAtan2(y,x) ((float)atan2f(float(y),float(x))) /* arc tangent with 2 args */
|
||||
#define dFMod(a,b) ((float)fmodf(float(a),float(b))) /* modulo */
|
||||
#define dCopySign(a,b) ((float)copysignf(float(a),float(b)))
|
||||
|
||||
#elif defined(dDOUBLE)
|
||||
|
||||
#define REAL(x) (x)
|
||||
#define dRecip(x) (1.0/(x))
|
||||
#define dSqrt(x) sqrt(x)
|
||||
#define dRecipSqrt(x) (1.0/sqrt(x))
|
||||
#define dSin(x) sin(x)
|
||||
#define dCos(x) cos(x)
|
||||
#define dFabs(x) fabs(x)
|
||||
#define dAtan2(y,x) atan2((y),(x))
|
||||
#define dFMod(a,b) (fmod((a),(b)))
|
||||
#define dCopySign(a,b) (copysign((a),(b)))
|
||||
|
||||
#else
|
||||
#error You must #define dSINGLE or dDOUBLE
|
||||
#endif
|
||||
|
||||
|
||||
/* utility */
|
||||
|
||||
|
||||
/* round something up to be a multiple of the EFFICIENT_ALIGNMENT */
|
||||
|
||||
#define dEFFICIENT_SIZE(x) ((((x)-1)|(EFFICIENT_ALIGNMENT-1))+1)
|
||||
|
||||
|
||||
/* alloca aligned to the EFFICIENT_ALIGNMENT. note that this can waste
|
||||
* up to 15 bytes per allocation, depending on what alloca() returns.
|
||||
*/
|
||||
|
||||
#define dALLOCA16(n) \
|
||||
((char*)dEFFICIENT_SIZE(((size_t)(alloca((n)+(EFFICIENT_ALIGNMENT-1))))))
|
||||
|
||||
|
||||
// Use the error-checking memory allocation system. Becuase this system uses heap
|
||||
// (malloc) instead of stack (alloca), it is slower. However, it allows you to
|
||||
// simulate larger scenes, as well as handle out-of-memory errors in a somewhat
|
||||
// graceful manner
|
||||
|
||||
// #define dUSE_MALLOC_FOR_ALLOCA
|
||||
|
||||
#ifdef dUSE_MALLOC_FOR_ALLOCA
|
||||
enum {
|
||||
d_MEMORY_OK = 0, /* no memory errors */
|
||||
d_MEMORY_OUT_OF_MEMORY /* malloc failed due to out of memory error */
|
||||
};
|
||||
|
||||
#endif
|
||||
|
||||
|
||||
|
||||
/* internal object types (all prefixed with `dx') */
|
||||
|
||||
struct dxWorld; /* dynamics world */
|
||||
struct dxSpace; /* collision space */
|
||||
struct dxBody; /* rigid body (dynamics object) */
|
||||
struct dxGeom; /* geometry (collision object) */
|
||||
struct dxJoint;
|
||||
struct dxJointNode;
|
||||
struct dxJointGroup;
|
||||
|
||||
typedef struct dxWorld *dWorldID;
|
||||
typedef struct dxSpace *dSpaceID;
|
||||
typedef struct dxBody *dBodyID;
|
||||
typedef struct dxGeom *dGeomID;
|
||||
typedef struct dxJoint *dJointID;
|
||||
typedef struct dxJointGroup *dJointGroupID;
|
||||
|
||||
|
||||
/* error numbers */
|
||||
|
||||
enum {
|
||||
d_ERR_UNKNOWN = 0, /* unknown error */
|
||||
d_ERR_IASSERT, /* internal assertion failed */
|
||||
d_ERR_UASSERT, /* user assertion failed */
|
||||
d_ERR_LCP /* user assertion failed */
|
||||
};
|
||||
|
||||
|
||||
/* joint type numbers */
|
||||
|
||||
enum {
|
||||
dJointTypeNone = 0, /* or "unknown" */
|
||||
dJointTypeBall,
|
||||
dJointTypeHinge,
|
||||
dJointTypeSlider,
|
||||
dJointTypeContact,
|
||||
dJointTypeUniversal,
|
||||
dJointTypeHinge2,
|
||||
dJointTypeFixed,
|
||||
dJointTypeNull,
|
||||
dJointTypeAMotor
|
||||
};
|
||||
|
||||
|
||||
/* an alternative way of setting joint parameters, using joint parameter
|
||||
* structures and member constants. we don't actually do this yet.
|
||||
*/
|
||||
|
||||
/*
|
||||
typedef struct dLimot {
|
||||
int mode;
|
||||
dReal lostop, histop;
|
||||
dReal vel, fmax;
|
||||
dReal fudge_factor;
|
||||
dReal bounce, soft;
|
||||
dReal suspension_erp, suspension_cfm;
|
||||
} dLimot;
|
||||
|
||||
enum {
|
||||
dLimotLoStop = 0x0001,
|
||||
dLimotHiStop = 0x0002,
|
||||
dLimotVel = 0x0004,
|
||||
dLimotFMax = 0x0008,
|
||||
dLimotFudgeFactor = 0x0010,
|
||||
dLimotBounce = 0x0020,
|
||||
dLimotSoft = 0x0040
|
||||
};
|
||||
*/
|
||||
|
||||
|
||||
/* standard joint parameter names. why are these here? - because we don't want
|
||||
* to include all the joint function definitions in joint.cpp. hmmmm.
|
||||
* MSVC complains if we call D_ALL_PARAM_NAMES_X with a blank second argument,
|
||||
* which is why we have the D_ALL_PARAM_NAMES macro as well. please copy and
|
||||
* paste between these two.
|
||||
*/
|
||||
|
||||
#define D_ALL_PARAM_NAMES(start) \
|
||||
/* parameters for limits and motors */ \
|
||||
dParamLoStop = start, \
|
||||
dParamHiStop, \
|
||||
dParamVel, \
|
||||
dParamFMax, \
|
||||
dParamFudgeFactor, \
|
||||
dParamBounce, \
|
||||
dParamCFM, \
|
||||
dParamStopERP, \
|
||||
dParamStopCFM, \
|
||||
/* parameters for suspension */ \
|
||||
dParamSuspensionERP, \
|
||||
dParamSuspensionCFM,
|
||||
|
||||
#define D_ALL_PARAM_NAMES_X(start,x) \
|
||||
/* parameters for limits and motors */ \
|
||||
dParamLoStop ## x = start, \
|
||||
dParamHiStop ## x, \
|
||||
dParamVel ## x, \
|
||||
dParamFMax ## x, \
|
||||
dParamFudgeFactor ## x, \
|
||||
dParamBounce ## x, \
|
||||
dParamCFM ## x, \
|
||||
dParamStopERP ## x, \
|
||||
dParamStopCFM ## x, \
|
||||
/* parameters for suspension */ \
|
||||
dParamSuspensionERP ## x, \
|
||||
dParamSuspensionCFM ## x,
|
||||
|
||||
enum {
|
||||
D_ALL_PARAM_NAMES(0)
|
||||
D_ALL_PARAM_NAMES_X(0x100,2)
|
||||
D_ALL_PARAM_NAMES_X(0x200,3)
|
||||
|
||||
/* add a multiple of this constant to the basic parameter numbers to get
|
||||
* the parameters for the second, third etc axes.
|
||||
*/
|
||||
dParamGroup=0x100
|
||||
};
|
||||
|
||||
|
||||
/* angular motor mode numbers */
|
||||
|
||||
enum{
|
||||
dAMotorUser = 0,
|
||||
dAMotorEuler = 1
|
||||
};
|
||||
|
||||
|
||||
/* joint force feedback information */
|
||||
|
||||
typedef struct dJointFeedback {
|
||||
dVector3 f1; /* force applied to body 1 */
|
||||
dVector3 t1; /* torque applied to body 1 */
|
||||
dVector3 f2; /* force applied to body 2 */
|
||||
dVector3 t2; /* torque applied to body 2 */
|
||||
} dJointFeedback;
|
||||
|
||||
|
||||
/* private functions that must be implemented by the collision library:
|
||||
* (1) indicate that a geom has moved, (2) get the next geom in a body list.
|
||||
* these functions are called whenever the position of geoms connected to a
|
||||
* body have changed, e.g. with dBodySetPosition(), dBodySetRotation(), or
|
||||
* when the ODE step function updates the body state.
|
||||
*/
|
||||
|
||||
void dGeomMoved (dGeomID);
|
||||
dGeomID dGeomGetBodyNext (dGeomID);
|
||||
|
||||
|
||||
#ifdef __cplusplus
|
||||
}
|
||||
#endif
|
||||
|
||||
#endif
|
||||
40
Extras/ode/include/ode/compatibility.h
Normal file
40
Extras/ode/include/ode/compatibility.h
Normal file
@@ -0,0 +1,40 @@
|
||||
/*************************************************************************
|
||||
* *
|
||||
* Open Dynamics Engine, Copyright (C) 2001,2002 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. *
|
||||
* *
|
||||
*************************************************************************/
|
||||
|
||||
#ifndef _ODE_COMPATIBILITY_H_
|
||||
#define _ODE_COMPATIBILITY_H_
|
||||
|
||||
/*
|
||||
* ODE's backward compatibility system ensures that as ODE's API
|
||||
* evolves, user code will not break.
|
||||
*/
|
||||
|
||||
/*
|
||||
* These new rotation function names are more consistent with the
|
||||
* rest of the API.
|
||||
*/
|
||||
#define dQtoR(q,R) dRfromQ((R),(q))
|
||||
#define dRtoQ(R,q) dQfromR((q),(R))
|
||||
#define dWtoDQ(w,q,dq) dDQfromW((dq),(w),(q))
|
||||
|
||||
|
||||
#endif
|
||||
53
Extras/ode/include/ode/config.h
Normal file
53
Extras/ode/include/ode/config.h
Normal file
@@ -0,0 +1,53 @@
|
||||
/* per-machine configuration. this file is automatically generated. */
|
||||
|
||||
#ifndef _ODE_CONFIG_H_
|
||||
#define _ODE_CONFIG_H_
|
||||
|
||||
/* standard system headers */
|
||||
#include <stdio.h>
|
||||
#include <stdlib.h>
|
||||
#include <math.h>
|
||||
#include <string.h>
|
||||
#include <stdarg.h>
|
||||
#include <malloc.h>
|
||||
#include <float.h>
|
||||
|
||||
#ifdef __cplusplus
|
||||
extern "C" {
|
||||
#endif
|
||||
|
||||
/* is this a pentium on a gcc-based platform? */
|
||||
/* #define PENTIUM 1 -- not a pentium */
|
||||
|
||||
/* integer types (we assume int >= 32 bits) */
|
||||
typedef char int8;
|
||||
typedef unsigned char uint8;
|
||||
typedef short int16;
|
||||
typedef unsigned short uint16;
|
||||
typedef int int32;
|
||||
typedef unsigned int uint32;
|
||||
|
||||
/* an integer type that we can safely cast a pointer to and
|
||||
* from without loss of bits.
|
||||
*/
|
||||
typedef unsigned int intP;
|
||||
|
||||
/* select the base floating point type */
|
||||
#define dSINGLE 1
|
||||
|
||||
/* the floating point infinity */
|
||||
#define dInfinity FLT_MAX
|
||||
|
||||
|
||||
|
||||
|
||||
/* available functions */
|
||||
#define copysignf _copysign
|
||||
#define copysign _copysign
|
||||
#define snprintf _snprintf
|
||||
#define vsnprintf _vsnprintf
|
||||
|
||||
#ifdef __cplusplus
|
||||
}
|
||||
#endif
|
||||
#endif
|
||||
90
Extras/ode/include/ode/contact.h
Normal file
90
Extras/ode/include/ode/contact.h
Normal file
@@ -0,0 +1,90 @@
|
||||
/*************************************************************************
|
||||
* *
|
||||
* Open Dynamics Engine, Copyright (C) 2001,2002 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. *
|
||||
* *
|
||||
*************************************************************************/
|
||||
|
||||
#ifndef _ODE_CONTACT_H_
|
||||
#define _ODE_CONTACT_H_
|
||||
|
||||
#include <ode/common.h>
|
||||
|
||||
#ifdef __cplusplus
|
||||
extern "C" {
|
||||
#endif
|
||||
|
||||
|
||||
enum {
|
||||
dContactMu2 = 0x001,
|
||||
dContactFDir1 = 0x002,
|
||||
dContactBounce = 0x004,
|
||||
dContactSoftERP = 0x008,
|
||||
dContactSoftCFM = 0x010,
|
||||
dContactMotion1 = 0x020,
|
||||
dContactMotion2 = 0x040,
|
||||
dContactSlip1 = 0x080,
|
||||
dContactSlip2 = 0x100,
|
||||
|
||||
dContactApprox0 = 0x0000,
|
||||
dContactApprox1_1 = 0x1000,
|
||||
dContactApprox1_2 = 0x2000,
|
||||
dContactApprox1 = 0x3000
|
||||
};
|
||||
|
||||
|
||||
typedef struct dSurfaceParameters {
|
||||
/* must always be defined */
|
||||
int mode;
|
||||
dReal mu;
|
||||
|
||||
/* only defined if the corresponding flag is set in mode */
|
||||
dReal mu2;
|
||||
dReal bounce;
|
||||
dReal bounce_vel;
|
||||
dReal soft_erp;
|
||||
dReal soft_cfm;
|
||||
dReal motion1,motion2;
|
||||
dReal slip1,slip2;
|
||||
} dSurfaceParameters;
|
||||
|
||||
|
||||
/* contact info set by collision functions */
|
||||
|
||||
typedef struct dContactGeom {
|
||||
dVector3 pos;
|
||||
dVector3 normal;
|
||||
dReal depth;
|
||||
dGeomID g1,g2;
|
||||
} dContactGeom;
|
||||
|
||||
|
||||
/* contact info used by contact joint */
|
||||
|
||||
typedef struct dContact {
|
||||
dSurfaceParameters surface;
|
||||
dContactGeom geom;
|
||||
dVector3 fdir1;
|
||||
} dContact;
|
||||
|
||||
|
||||
#ifdef __cplusplus
|
||||
}
|
||||
#endif
|
||||
|
||||
#endif
|
||||
63
Extras/ode/include/ode/error.h
Normal file
63
Extras/ode/include/ode/error.h
Normal file
@@ -0,0 +1,63 @@
|
||||
/*************************************************************************
|
||||
* *
|
||||
* Open Dynamics Engine, Copyright (C) 2001,2002 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. *
|
||||
* *
|
||||
*************************************************************************/
|
||||
|
||||
/* this comes from the `reuse' library. copy any changes back to the source */
|
||||
|
||||
#ifndef _ODE_ERROR_H_
|
||||
#define _ODE_ERROR_H_
|
||||
|
||||
#include <ode/config.h>
|
||||
|
||||
#ifdef __cplusplus
|
||||
extern "C" {
|
||||
#endif
|
||||
|
||||
/* all user defined error functions have this type. error and debug functions
|
||||
* should not return.
|
||||
*/
|
||||
typedef void dMessageFunction (int errnum, const char *msg, va_list ap);
|
||||
|
||||
/* set a new error, debug or warning handler. if fn is 0, the default handlers
|
||||
* are used.
|
||||
*/
|
||||
void dSetErrorHandler (dMessageFunction *fn);
|
||||
void dSetDebugHandler (dMessageFunction *fn);
|
||||
void dSetMessageHandler (dMessageFunction *fn);
|
||||
|
||||
/* return the current error, debug or warning handler. if the return value is
|
||||
* 0, the default handlers are in place.
|
||||
*/
|
||||
dMessageFunction *dGetErrorHandler(void);
|
||||
dMessageFunction *dGetDebugHandler(void);
|
||||
dMessageFunction *dGetMessageHandler(void);
|
||||
|
||||
/* generate a fatal error, debug trap or a message. */
|
||||
void dError (int num, const char *msg, ...);
|
||||
void dDebug (int num, const char *msg, ...);
|
||||
void dMessage (int num, const char *msg, ...);
|
||||
|
||||
|
||||
#ifdef __cplusplus
|
||||
}
|
||||
#endif
|
||||
|
||||
#endif
|
||||
32
Extras/ode/include/ode/export-dif.h
Normal file
32
Extras/ode/include/ode/export-dif.h
Normal file
@@ -0,0 +1,32 @@
|
||||
/*************************************************************************
|
||||
* *
|
||||
* Open Dynamics Engine, Copyright (C) 2001,2002 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. *
|
||||
* *
|
||||
*************************************************************************/
|
||||
|
||||
#ifndef _ODE_EXPORT_DIF_
|
||||
#define _ODE_EXPORT_DIF_
|
||||
|
||||
#include <ode/common.h>
|
||||
|
||||
|
||||
void dWorldExportDIF (dWorldID w, FILE *file, const char *world_name);
|
||||
|
||||
|
||||
#endif
|
||||
107
Extras/ode/include/ode/mass.h
Normal file
107
Extras/ode/include/ode/mass.h
Normal file
@@ -0,0 +1,107 @@
|
||||
/*************************************************************************
|
||||
* *
|
||||
* Open Dynamics Engine, Copyright (C) 2001,2002 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. *
|
||||
* *
|
||||
*************************************************************************/
|
||||
|
||||
#ifndef _ODE_MASS_H_
|
||||
#define _ODE_MASS_H_
|
||||
|
||||
#include <ode/common.h>
|
||||
|
||||
#ifdef __cplusplus
|
||||
extern "C" {
|
||||
#endif
|
||||
|
||||
struct dMass;
|
||||
typedef struct dMass dMass;
|
||||
|
||||
|
||||
void dMassSetZero (dMass *);
|
||||
|
||||
void dMassSetParameters (dMass *, dReal themass,
|
||||
dReal cgx, dReal cgy, dReal cgz,
|
||||
dReal I11, dReal I22, dReal I33,
|
||||
dReal I12, dReal I13, dReal I23);
|
||||
|
||||
void dMassSetSphere (dMass *, dReal density, dReal radius);
|
||||
void dMassSetSphereTotal (dMass *, dReal total_mass, dReal radius);
|
||||
|
||||
void dMassSetCappedCylinder (dMass *, dReal density, int direction,
|
||||
dReal radius, dReal length);
|
||||
void dMassSetCappedCylinderTotal (dMass *, dReal total_mass, int direction,
|
||||
dReal radius, dReal length);
|
||||
|
||||
void dMassSetCylinder (dMass *, dReal density, int direction,
|
||||
dReal radius, dReal length);
|
||||
void dMassSetCylinderTotal (dMass *, dReal total_mass, int direction,
|
||||
dReal radius, dReal length);
|
||||
|
||||
void dMassSetBox (dMass *, dReal density,
|
||||
dReal lx, dReal ly, dReal lz);
|
||||
void dMassSetBoxTotal (dMass *, dReal total_mass,
|
||||
dReal lx, dReal ly, dReal lz);
|
||||
|
||||
void dMassAdjust (dMass *, dReal newmass);
|
||||
|
||||
void dMassTranslate (dMass *, dReal x, dReal y, dReal z);
|
||||
|
||||
void dMassRotate (dMass *, const dMatrix3 R);
|
||||
|
||||
void dMassAdd (dMass *a, const dMass *b);
|
||||
|
||||
|
||||
|
||||
struct dMass {
|
||||
dReal mass;
|
||||
dVector4 c;
|
||||
dMatrix3 I;
|
||||
|
||||
#ifdef __cplusplus
|
||||
dMass()
|
||||
{ dMassSetZero (this); }
|
||||
void setZero()
|
||||
{ dMassSetZero (this); }
|
||||
void setParameters (dReal themass, dReal cgx, dReal cgy, dReal cgz,
|
||||
dReal I11, dReal I22, dReal I33,
|
||||
dReal I12, dReal I13, dReal I23)
|
||||
{ dMassSetParameters (this,themass,cgx,cgy,cgz,I11,I22,I33,I12,I13,I23); }
|
||||
void setSphere (dReal density, dReal radius)
|
||||
{ dMassSetSphere (this,density,radius); }
|
||||
void setCappedCylinder (dReal density, int direction, dReal a, dReal b)
|
||||
{ dMassSetCappedCylinder (this,density,direction,a,b); }
|
||||
void setBox (dReal density, dReal lx, dReal ly, dReal lz)
|
||||
{ dMassSetBox (this,density,lx,ly,lz); }
|
||||
void adjust (dReal newmass)
|
||||
{ dMassAdjust (this,newmass); }
|
||||
void translate (dReal x, dReal y, dReal z)
|
||||
{ dMassTranslate (this,x,y,z); }
|
||||
void rotate (const dMatrix3 R)
|
||||
{ dMassRotate (this,R); }
|
||||
void add (const dMass *b)
|
||||
{ dMassAdd (this,b); }
|
||||
#endif
|
||||
};
|
||||
|
||||
|
||||
#ifdef __cplusplus
|
||||
}
|
||||
#endif
|
||||
|
||||
#endif
|
||||
194
Extras/ode/include/ode/matrix.h
Normal file
194
Extras/ode/include/ode/matrix.h
Normal file
@@ -0,0 +1,194 @@
|
||||
/*************************************************************************
|
||||
* *
|
||||
* Open Dynamics Engine, Copyright (C) 2001,2002 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. *
|
||||
* *
|
||||
*************************************************************************/
|
||||
|
||||
/* optimized and unoptimized vector and matrix functions */
|
||||
|
||||
#ifndef _ODE_MATRIX_H_
|
||||
#define _ODE_MATRIX_H_
|
||||
|
||||
#include <ode/common.h>
|
||||
|
||||
|
||||
#ifdef __cplusplus
|
||||
extern "C" {
|
||||
#endif
|
||||
|
||||
|
||||
/* set a vector/matrix of size n to all zeros, or to a specific value. */
|
||||
|
||||
void dSetZero (dReal *a, int n);
|
||||
void dSetValue (dReal *a, int n, dReal value);
|
||||
|
||||
|
||||
/* get the dot product of two n*1 vectors. if n <= 0 then
|
||||
* zero will be returned (in which case a and b need not be valid).
|
||||
*/
|
||||
|
||||
dReal dDot (const dReal *a, const dReal *b, int n);
|
||||
|
||||
|
||||
/* get the dot products of (a0,b), (a1,b), etc and return them in outsum.
|
||||
* all vectors are n*1. if n <= 0 then zeroes will be returned (in which case
|
||||
* the input vectors need not be valid). this function is somewhat faster
|
||||
* than calling dDot() for all of the combinations separately.
|
||||
*/
|
||||
|
||||
/* NOT INCLUDED in the library for now.
|
||||
void dMultidot2 (const dReal *a0, const dReal *a1,
|
||||
const dReal *b, dReal *outsum, int n);
|
||||
*/
|
||||
|
||||
|
||||
/* matrix multiplication. all matrices are stored in standard row format.
|
||||
* the digit refers to the argument that is transposed:
|
||||
* 0: A = B * C (sizes: A:p*r B:p*q C:q*r)
|
||||
* 1: A = B' * C (sizes: A:p*r B:q*p C:q*r)
|
||||
* 2: A = B * C' (sizes: A:p*r B:p*q C:r*q)
|
||||
* case 1,2 are equivalent to saying that the operation is A=B*C but
|
||||
* B or C are stored in standard column format.
|
||||
*/
|
||||
|
||||
void dMultiply0 (dReal *A, const dReal *B, const dReal *C, int p,int q,int r);
|
||||
void dMultiply1 (dReal *A, const dReal *B, const dReal *C, int p,int q,int r);
|
||||
void dMultiply2 (dReal *A, const dReal *B, const dReal *C, int p,int q,int r);
|
||||
|
||||
|
||||
/* do an in-place cholesky decomposition on the lower triangle of the n*n
|
||||
* symmetric matrix A (which is stored by rows). the resulting lower triangle
|
||||
* will be such that L*L'=A. return 1 on success and 0 on failure (on failure
|
||||
* the matrix is not positive definite).
|
||||
*/
|
||||
|
||||
int dFactorCholesky (dReal *A, int n);
|
||||
|
||||
|
||||
/* solve for x: L*L'*x = b, and put the result back into x.
|
||||
* L is size n*n, b is size n*1. only the lower triangle of L is considered.
|
||||
*/
|
||||
|
||||
void dSolveCholesky (const dReal *L, dReal *b, int n);
|
||||
|
||||
|
||||
/* compute the inverse of the n*n positive definite matrix A and put it in
|
||||
* Ainv. this is not especially fast. this returns 1 on success (A was
|
||||
* positive definite) or 0 on failure (not PD).
|
||||
*/
|
||||
|
||||
int dInvertPDMatrix (const dReal *A, dReal *Ainv, int n);
|
||||
|
||||
|
||||
/* check whether an n*n matrix A is positive definite, return 1/0 (yes/no).
|
||||
* positive definite means that x'*A*x > 0 for any x. this performs a
|
||||
* cholesky decomposition of A. if the decomposition fails then the matrix
|
||||
* is not positive definite. A is stored by rows. A is not altered.
|
||||
*/
|
||||
|
||||
int dIsPositiveDefinite (const dReal *A, int n);
|
||||
|
||||
|
||||
/* factorize a matrix A into L*D*L', where L is lower triangular with ones on
|
||||
* the diagonal, and D is diagonal.
|
||||
* A is an n*n matrix stored by rows, with a leading dimension of n rounded
|
||||
* up to 4. L is written into the strict lower triangle of A (the ones are not
|
||||
* written) and the reciprocal of the diagonal elements of D are written into
|
||||
* d.
|
||||
*/
|
||||
void dFactorLDLT (dReal *A, dReal *d, int n, int nskip);
|
||||
|
||||
|
||||
/* solve L*x=b, where L is n*n lower triangular with ones on the diagonal,
|
||||
* and x,b are n*1. b is overwritten with x.
|
||||
* the leading dimension of L is `nskip'.
|
||||
*/
|
||||
void dSolveL1 (const dReal *L, dReal *b, int n, int nskip);
|
||||
|
||||
|
||||
/* solve L'*x=b, where L is n*n lower triangular with ones on the diagonal,
|
||||
* and x,b are n*1. b is overwritten with x.
|
||||
* the leading dimension of L is `nskip'.
|
||||
*/
|
||||
void dSolveL1T (const dReal *L, dReal *b, int n, int nskip);
|
||||
|
||||
|
||||
/* in matlab syntax: a(1:n) = a(1:n) .* d(1:n) */
|
||||
|
||||
void dVectorScale (dReal *a, const dReal *d, int n);
|
||||
|
||||
|
||||
/* given `L', a n*n lower triangular matrix with ones on the diagonal,
|
||||
* and `d', a n*1 vector of the reciprocal diagonal elements of an n*n matrix
|
||||
* D, solve L*D*L'*x=b where x,b are n*1. x overwrites b.
|
||||
* the leading dimension of L is `nskip'.
|
||||
*/
|
||||
|
||||
void dSolveLDLT (const dReal *L, const dReal *d, dReal *b, int n, int nskip);
|
||||
|
||||
|
||||
/* given an L*D*L' factorization of an n*n matrix A, return the updated
|
||||
* factorization L2*D2*L2' of A plus the following "top left" matrix:
|
||||
*
|
||||
* [ b a' ] <-- b is a[0]
|
||||
* [ a 0 ] <-- a is a[1..n-1]
|
||||
*
|
||||
* - L has size n*n, its leading dimension is nskip. L is lower triangular
|
||||
* with ones on the diagonal. only the lower triangle of L is referenced.
|
||||
* - d has size n. d contains the reciprocal diagonal elements of D.
|
||||
* - a has size n.
|
||||
* the result is written into L, except that the left column of L and d[0]
|
||||
* are not actually modified. see ldltaddTL.m for further comments.
|
||||
*/
|
||||
void dLDLTAddTL (dReal *L, dReal *d, const dReal *a, int n, int nskip);
|
||||
|
||||
|
||||
/* given an L*D*L' factorization of a permuted matrix A, produce a new
|
||||
* factorization for row and column `r' removed.
|
||||
* - A has size n1*n1, its leading dimension in nskip. A is symmetric and
|
||||
* positive definite. only the lower triangle of A is referenced.
|
||||
* A itself may actually be an array of row pointers.
|
||||
* - L has size n2*n2, its leading dimension in nskip. L is lower triangular
|
||||
* with ones on the diagonal. only the lower triangle of L is referenced.
|
||||
* - d has size n2. d contains the reciprocal diagonal elements of D.
|
||||
* - p is a permutation vector. it contains n2 indexes into A. each index
|
||||
* must be in the range 0..n1-1.
|
||||
* - r is the row/column of L to remove.
|
||||
* the new L will be written within the old L, i.e. will have the same leading
|
||||
* dimension. the last row and column of L, and the last element of d, are
|
||||
* undefined on exit.
|
||||
*
|
||||
* a fast O(n^2) algorithm is used. see ldltremove.m for further comments.
|
||||
*/
|
||||
void dLDLTRemove (dReal **A, const int *p, dReal *L, dReal *d,
|
||||
int n1, int n2, int r, int nskip);
|
||||
|
||||
|
||||
/* given an n*n matrix A (with leading dimension nskip), remove the r'th row
|
||||
* and column by moving elements. the new matrix will have the same leading
|
||||
* dimension. the last row and column of A are untouched on exit.
|
||||
*/
|
||||
void dRemoveRowCol (dReal *A, int n, int nskip, int r);
|
||||
|
||||
|
||||
#ifdef __cplusplus
|
||||
}
|
||||
#endif
|
||||
|
||||
#endif
|
||||
59
Extras/ode/include/ode/memory.h
Normal file
59
Extras/ode/include/ode/memory.h
Normal file
@@ -0,0 +1,59 @@
|
||||
/*************************************************************************
|
||||
* *
|
||||
* Open Dynamics Engine, Copyright (C) 2001,2002 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. *
|
||||
* *
|
||||
*************************************************************************/
|
||||
|
||||
/* this comes from the `reuse' library. copy any changes back to the source */
|
||||
|
||||
#ifndef _ODE_MEMORY_H_
|
||||
#define _ODE_MEMORY_H_
|
||||
|
||||
#include "ode/config.h"
|
||||
|
||||
#ifdef __cplusplus
|
||||
extern "C" {
|
||||
#endif
|
||||
|
||||
/* function types to allocate and free memory */
|
||||
typedef void * dAllocFunction (size_t size);
|
||||
typedef void * dReallocFunction (void *ptr, size_t oldsize, size_t newsize);
|
||||
typedef void dFreeFunction (void *ptr, size_t size);
|
||||
|
||||
/* set new memory management functions. if fn is 0, the default handlers are
|
||||
* used. */
|
||||
void dSetAllocHandler (dAllocFunction *fn);
|
||||
void dSetReallocHandler (dReallocFunction *fn);
|
||||
void dSetFreeHandler (dFreeFunction *fn);
|
||||
|
||||
/* get current memory management functions */
|
||||
dAllocFunction *dGetAllocHandler (void);
|
||||
dReallocFunction *dGetReallocHandler (void);
|
||||
dFreeFunction *dGetFreeHandler (void);
|
||||
|
||||
/* allocate and free memory. */
|
||||
void * dAlloc (size_t size);
|
||||
void * dRealloc (void *ptr, size_t oldsize, size_t newsize);
|
||||
void dFree (void *ptr, size_t size);
|
||||
|
||||
#ifdef __cplusplus
|
||||
}
|
||||
#endif
|
||||
|
||||
#endif
|
||||
85
Extras/ode/include/ode/misc.h
Normal file
85
Extras/ode/include/ode/misc.h
Normal file
@@ -0,0 +1,85 @@
|
||||
/*************************************************************************
|
||||
* *
|
||||
* Open Dynamics Engine, Copyright (C) 2001,2002 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. *
|
||||
* *
|
||||
*************************************************************************/
|
||||
|
||||
/* miscellaneous math functions. these are mostly useful for testing */
|
||||
|
||||
#ifndef _ODE_MISC_H_
|
||||
#define _ODE_MISC_H_
|
||||
|
||||
#include <ode/common.h>
|
||||
|
||||
|
||||
#ifdef __cplusplus
|
||||
extern "C" {
|
||||
#endif
|
||||
|
||||
|
||||
/* return 1 if the random number generator is working. */
|
||||
int dTestRand(void);
|
||||
|
||||
/* return next 32 bit random number. this uses a not-very-random linear
|
||||
* congruential method.
|
||||
*/
|
||||
unsigned long dRand(void);
|
||||
|
||||
/* get and set the current random number seed. */
|
||||
unsigned long dRandGetSeed(void);
|
||||
void dRandSetSeed (unsigned long s);
|
||||
|
||||
/* return a random integer between 0..n-1. the distribution will get worse
|
||||
* as n approaches 2^32.
|
||||
*/
|
||||
int dRandInt (int n);
|
||||
|
||||
/* return a random real number between 0..1 */
|
||||
dReal dRandReal(void);
|
||||
|
||||
/* print out a matrix */
|
||||
#ifdef __cplusplus
|
||||
void dPrintMatrix (const dReal *A, int n, int m, char *fmt = "%10.4f ",
|
||||
FILE *f=stdout);
|
||||
#else
|
||||
void dPrintMatrix (const dReal *A, int n, int m, char *fmt, FILE *f);
|
||||
#endif
|
||||
|
||||
/* make a random vector with entries between +/- range. A has n elements. */
|
||||
void dMakeRandomVector (dReal *A, int n, dReal range);
|
||||
|
||||
/* make a random matrix with entries between +/- range. A has size n*m. */
|
||||
void dMakeRandomMatrix (dReal *A, int n, int m, dReal range);
|
||||
|
||||
/* clear the upper triangle of a square matrix */
|
||||
void dClearUpperTriangle (dReal *A, int n);
|
||||
|
||||
/* return the maximum element difference between the two n*m matrices */
|
||||
dReal dMaxDifference (const dReal *A, const dReal *B, int n, int m);
|
||||
|
||||
/* return the maximum element difference between the lower triangle of two
|
||||
* n*n matrices */
|
||||
dReal dMaxDifferenceLowerTriangle (const dReal *A, const dReal *B, int n);
|
||||
|
||||
|
||||
#ifdef __cplusplus
|
||||
}
|
||||
#endif
|
||||
|
||||
#endif
|
||||
269
Extras/ode/include/ode/objects.h
Normal file
269
Extras/ode/include/ode/objects.h
Normal file
@@ -0,0 +1,269 @@
|
||||
/*************************************************************************
|
||||
* *
|
||||
* Open Dynamics Engine, Copyright (C) 2001,2002 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. *
|
||||
* *
|
||||
*************************************************************************/
|
||||
|
||||
#ifndef _ODE_OBJECTS_H_
|
||||
#define _ODE_OBJECTS_H_
|
||||
|
||||
#include <ode/common.h>
|
||||
#include <ode/mass.h>
|
||||
#include <ode/contact.h>
|
||||
|
||||
#ifdef __cplusplus
|
||||
extern "C" {
|
||||
#endif
|
||||
|
||||
/* world */
|
||||
|
||||
dWorldID dWorldCreate(void);
|
||||
void dWorldDestroy (dWorldID);
|
||||
|
||||
void dWorldSetGravity (dWorldID, dReal x, dReal y, dReal z);
|
||||
void dWorldGetGravity (dWorldID, dVector3 gravity);
|
||||
void dWorldSetERP (dWorldID, dReal erp);
|
||||
dReal dWorldGetERP (dWorldID);
|
||||
void dWorldSetCFM (dWorldID, dReal cfm);
|
||||
dReal dWorldGetCFM (dWorldID);
|
||||
void dWorldStep (dWorldID, dReal stepsize);
|
||||
void dWorldImpulseToForce (dWorldID, dReal stepsize,
|
||||
dReal ix, dReal iy, dReal iz, dVector3 force);
|
||||
|
||||
/* World QuickStep functions */
|
||||
|
||||
void dWorldQuickStep (dWorldID w, dReal stepsize);
|
||||
void dWorldSetQuickStepNumIterations (dWorldID, int num);
|
||||
int dWorldGetQuickStepNumIterations (dWorldID);
|
||||
void dWorldSetQuickStepW (dWorldID, dReal param);
|
||||
dReal dWorldGetQuickStepW (dWorldID);
|
||||
|
||||
/* World contact parameter functions */
|
||||
|
||||
void dWorldSetContactMaxCorrectingVel (dWorldID, dReal vel);
|
||||
dReal dWorldGetContactMaxCorrectingVel (dWorldID);
|
||||
void dWorldSetContactSurfaceLayer (dWorldID, dReal depth);
|
||||
dReal dWorldGetContactSurfaceLayer (dWorldID);
|
||||
|
||||
/* StepFast1 functions */
|
||||
|
||||
void dWorldStepFast1(dWorldID, dReal stepsize, int maxiterations);
|
||||
void dWorldSetAutoEnableDepthSF1(dWorldID, int autoEnableDepth);
|
||||
int dWorldGetAutoEnableDepthSF1(dWorldID);
|
||||
|
||||
/* Auto-disable functions */
|
||||
|
||||
dReal dWorldGetAutoDisableLinearThreshold (dWorldID);
|
||||
void dWorldSetAutoDisableLinearThreshold (dWorldID, dReal linear_threshold);
|
||||
dReal dWorldGetAutoDisableAngularThreshold (dWorldID);
|
||||
void dWorldSetAutoDisableAngularThreshold (dWorldID, dReal angular_threshold);
|
||||
int dWorldGetAutoDisableSteps (dWorldID);
|
||||
void dWorldSetAutoDisableSteps (dWorldID, int steps);
|
||||
dReal dWorldGetAutoDisableTime (dWorldID);
|
||||
void dWorldSetAutoDisableTime (dWorldID, dReal time);
|
||||
int dWorldGetAutoDisableFlag (dWorldID);
|
||||
void dWorldSetAutoDisableFlag (dWorldID, int do_auto_disable);
|
||||
|
||||
dReal dBodyGetAutoDisableLinearThreshold (dBodyID);
|
||||
void dBodySetAutoDisableLinearThreshold (dBodyID, dReal linear_threshold);
|
||||
dReal dBodyGetAutoDisableAngularThreshold (dBodyID);
|
||||
void dBodySetAutoDisableAngularThreshold (dBodyID, dReal angular_threshold);
|
||||
int dBodyGetAutoDisableSteps (dBodyID);
|
||||
void dBodySetAutoDisableSteps (dBodyID, int steps);
|
||||
dReal dBodyGetAutoDisableTime (dBodyID);
|
||||
void dBodySetAutoDisableTime (dBodyID, dReal time);
|
||||
int dBodyGetAutoDisableFlag (dBodyID);
|
||||
void dBodySetAutoDisableFlag (dBodyID, int do_auto_disable);
|
||||
void dBodySetAutoDisableDefaults (dBodyID);
|
||||
|
||||
/* bodies */
|
||||
|
||||
dBodyID dBodyCreate (dWorldID);
|
||||
void dBodyDestroy (dBodyID);
|
||||
|
||||
void dBodySetData (dBodyID, void *data);
|
||||
void *dBodyGetData (dBodyID);
|
||||
|
||||
void dBodySetPosition (dBodyID, dReal x, dReal y, dReal z);
|
||||
void dBodySetRotation (dBodyID, const dMatrix3 R);
|
||||
void dBodySetQuaternion (dBodyID, const dQuaternion q);
|
||||
void dBodySetLinearVel (dBodyID, dReal x, dReal y, dReal z);
|
||||
void dBodySetAngularVel (dBodyID, dReal x, dReal y, dReal z);
|
||||
const dReal * dBodyGetPosition (dBodyID);
|
||||
const dReal * dBodyGetRotation (dBodyID); /* ptr to 4x3 rot matrix */
|
||||
const dReal * dBodyGetQuaternion (dBodyID);
|
||||
const dReal * dBodyGetLinearVel (dBodyID);
|
||||
const dReal * dBodyGetAngularVel (dBodyID);
|
||||
|
||||
void dBodySetMass (dBodyID, const dMass *mass);
|
||||
void dBodyGetMass (dBodyID, dMass *mass);
|
||||
|
||||
void dBodyAddForce (dBodyID, dReal fx, dReal fy, dReal fz);
|
||||
void dBodyAddTorque (dBodyID, dReal fx, dReal fy, dReal fz);
|
||||
void dBodyAddRelForce (dBodyID, dReal fx, dReal fy, dReal fz);
|
||||
void dBodyAddRelTorque (dBodyID, dReal fx, dReal fy, dReal fz);
|
||||
void dBodyAddForceAtPos (dBodyID, dReal fx, dReal fy, dReal fz,
|
||||
dReal px, dReal py, dReal pz);
|
||||
void dBodyAddForceAtRelPos (dBodyID, dReal fx, dReal fy, dReal fz,
|
||||
dReal px, dReal py, dReal pz);
|
||||
void dBodyAddRelForceAtPos (dBodyID, dReal fx, dReal fy, dReal fz,
|
||||
dReal px, dReal py, dReal pz);
|
||||
void dBodyAddRelForceAtRelPos (dBodyID, dReal fx, dReal fy, dReal fz,
|
||||
dReal px, dReal py, dReal pz);
|
||||
|
||||
const dReal * dBodyGetForce (dBodyID);
|
||||
const dReal * dBodyGetTorque (dBodyID);
|
||||
void dBodySetForce (dBodyID b, dReal x, dReal y, dReal z);
|
||||
void dBodySetTorque (dBodyID b, dReal x, dReal y, dReal z);
|
||||
|
||||
void dBodyGetRelPointPos (dBodyID, dReal px, dReal py, dReal pz,
|
||||
dVector3 result);
|
||||
void dBodyGetRelPointVel (dBodyID, dReal px, dReal py, dReal pz,
|
||||
dVector3 result);
|
||||
void dBodyGetPointVel (dBodyID, dReal px, dReal py, dReal pz,
|
||||
dVector3 result);
|
||||
void dBodyGetPosRelPoint (dBodyID, dReal px, dReal py, dReal pz,
|
||||
dVector3 result);
|
||||
void dBodyVectorToWorld (dBodyID, dReal px, dReal py, dReal pz,
|
||||
dVector3 result);
|
||||
void dBodyVectorFromWorld (dBodyID, dReal px, dReal py, dReal pz,
|
||||
dVector3 result);
|
||||
|
||||
void dBodySetFiniteRotationMode (dBodyID, int mode);
|
||||
void dBodySetFiniteRotationAxis (dBodyID, dReal x, dReal y, dReal z);
|
||||
|
||||
int dBodyGetFiniteRotationMode (dBodyID);
|
||||
void dBodyGetFiniteRotationAxis (dBodyID, dVector3 result);
|
||||
|
||||
int dBodyGetNumJoints (dBodyID b);
|
||||
dJointID dBodyGetJoint (dBodyID, int index);
|
||||
|
||||
void dBodyEnable (dBodyID);
|
||||
void dBodyDisable (dBodyID);
|
||||
int dBodyIsEnabled (dBodyID);
|
||||
|
||||
void dBodySetGravityMode (dBodyID b, int mode);
|
||||
int dBodyGetGravityMode (dBodyID b);
|
||||
|
||||
|
||||
/* joints */
|
||||
|
||||
dJointID dJointCreateBall (dWorldID, dJointGroupID);
|
||||
dJointID dJointCreateHinge (dWorldID, dJointGroupID);
|
||||
dJointID dJointCreateSlider (dWorldID, dJointGroupID);
|
||||
dJointID dJointCreateContact (dWorldID, dJointGroupID, const dContact *);
|
||||
dJointID dJointCreateHinge2 (dWorldID, dJointGroupID);
|
||||
dJointID dJointCreateUniversal (dWorldID, dJointGroupID);
|
||||
dJointID dJointCreateFixed (dWorldID, dJointGroupID);
|
||||
dJointID dJointCreateNull (dWorldID, dJointGroupID);
|
||||
dJointID dJointCreateAMotor (dWorldID, dJointGroupID);
|
||||
|
||||
void dJointDestroy (dJointID);
|
||||
|
||||
dJointGroupID dJointGroupCreate (int max_size);
|
||||
void dJointGroupDestroy (dJointGroupID);
|
||||
void dJointGroupEmpty (dJointGroupID);
|
||||
|
||||
void dJointAttach (dJointID, dBodyID body1, dBodyID body2);
|
||||
void dJointSetData (dJointID, void *data);
|
||||
void *dJointGetData (dJointID);
|
||||
int dJointGetType (dJointID);
|
||||
dBodyID dJointGetBody (dJointID, int index);
|
||||
|
||||
void dJointSetFeedback (dJointID, dJointFeedback *);
|
||||
dJointFeedback *dJointGetFeedback (dJointID);
|
||||
|
||||
void dJointSetBallAnchor (dJointID, dReal x, dReal y, dReal z);
|
||||
void dJointSetBallAnchor2 (dJointID, dReal x, dReal y, dReal z);
|
||||
void dJointSetHingeAnchor (dJointID, dReal x, dReal y, dReal z);
|
||||
void dJointSetHingeAnchorDelta (dJointID, dReal x, dReal y, dReal z, dReal ax, dReal ay, dReal az);
|
||||
void dJointSetHingeAxis (dJointID, dReal x, dReal y, dReal z);
|
||||
void dJointSetHingeParam (dJointID, int parameter, dReal value);
|
||||
void dJointAddHingeTorque(dJointID joint, dReal torque);
|
||||
void dJointSetSliderAxis (dJointID, dReal x, dReal y, dReal z);
|
||||
void dJointSetSliderAxisDelta (dJointID, dReal x, dReal y, dReal z, dReal ax, dReal ay, dReal az);
|
||||
void dJointSetSliderParam (dJointID, int parameter, dReal value);
|
||||
void dJointAddSliderForce(dJointID joint, dReal force);
|
||||
void dJointSetHinge2Anchor (dJointID, dReal x, dReal y, dReal z);
|
||||
void dJointSetHinge2Axis1 (dJointID, dReal x, dReal y, dReal z);
|
||||
void dJointSetHinge2Axis2 (dJointID, dReal x, dReal y, dReal z);
|
||||
void dJointSetHinge2Param (dJointID, int parameter, dReal value);
|
||||
void dJointAddHinge2Torques(dJointID joint, dReal torque1, dReal torque2);
|
||||
void dJointSetUniversalAnchor (dJointID, dReal x, dReal y, dReal z);
|
||||
void dJointSetUniversalAxis1 (dJointID, dReal x, dReal y, dReal z);
|
||||
void dJointSetUniversalAxis2 (dJointID, dReal x, dReal y, dReal z);
|
||||
void dJointSetUniversalParam (dJointID, int parameter, dReal value);
|
||||
void dJointAddUniversalTorques(dJointID joint, dReal torque1, dReal torque2);
|
||||
void dJointSetFixed (dJointID);
|
||||
void dJointSetAMotorNumAxes (dJointID, int num);
|
||||
void dJointSetAMotorAxis (dJointID, int anum, int rel,
|
||||
dReal x, dReal y, dReal z);
|
||||
void dJointSetAMotorAngle (dJointID, int anum, dReal angle);
|
||||
void dJointSetAMotorParam (dJointID, int parameter, dReal value);
|
||||
void dJointSetAMotorMode (dJointID, int mode);
|
||||
void dJointAddAMotorTorques (dJointID, dReal torque1, dReal torque2, dReal torque3);
|
||||
|
||||
void dJointGetBallAnchor (dJointID, dVector3 result);
|
||||
void dJointGetBallAnchor2 (dJointID, dVector3 result);
|
||||
void dJointGetHingeAnchor (dJointID, dVector3 result);
|
||||
void dJointGetHingeAnchor2 (dJointID, dVector3 result);
|
||||
void dJointGetHingeAxis (dJointID, dVector3 result);
|
||||
dReal dJointGetHingeParam (dJointID, int parameter);
|
||||
dReal dJointGetHingeAngle (dJointID);
|
||||
dReal dJointGetHingeAngleRate (dJointID);
|
||||
dReal dJointGetSliderPosition (dJointID);
|
||||
dReal dJointGetSliderPositionRate (dJointID);
|
||||
void dJointGetSliderAxis (dJointID, dVector3 result);
|
||||
dReal dJointGetSliderParam (dJointID, int parameter);
|
||||
void dJointGetHinge2Anchor (dJointID, dVector3 result);
|
||||
void dJointGetHinge2Anchor2 (dJointID, dVector3 result);
|
||||
void dJointGetHinge2Axis1 (dJointID, dVector3 result);
|
||||
void dJointGetHinge2Axis2 (dJointID, dVector3 result);
|
||||
dReal dJointGetHinge2Param (dJointID, int parameter);
|
||||
dReal dJointGetHinge2Angle1 (dJointID);
|
||||
dReal dJointGetHinge2Angle1Rate (dJointID);
|
||||
dReal dJointGetHinge2Angle2Rate (dJointID);
|
||||
void dJointGetUniversalAnchor (dJointID, dVector3 result);
|
||||
void dJointGetUniversalAnchor2 (dJointID, dVector3 result);
|
||||
void dJointGetUniversalAxis1 (dJointID, dVector3 result);
|
||||
void dJointGetUniversalAxis2 (dJointID, dVector3 result);
|
||||
dReal dJointGetUniversalParam (dJointID, int parameter);
|
||||
dReal dJointGetUniversalAngle1 (dJointID);
|
||||
dReal dJointGetUniversalAngle2 (dJointID);
|
||||
dReal dJointGetUniversalAngle1Rate (dJointID);
|
||||
dReal dJointGetUniversalAngle2Rate (dJointID);
|
||||
int dJointGetAMotorNumAxes (dJointID);
|
||||
void dJointGetAMotorAxis (dJointID, int anum, dVector3 result);
|
||||
int dJointGetAMotorAxisRel (dJointID, int anum);
|
||||
dReal dJointGetAMotorAngle (dJointID, int anum);
|
||||
dReal dJointGetAMotorAngleRate (dJointID, int anum);
|
||||
dReal dJointGetAMotorParam (dJointID, int parameter);
|
||||
int dJointGetAMotorMode (dJointID);
|
||||
|
||||
dJointID dConnectingJoint (dBodyID, dBodyID);
|
||||
int dConnectingJointList (dBodyID, dBodyID, dJointID*);
|
||||
int dAreConnected (dBodyID, dBodyID);
|
||||
int dAreConnectedExcluding (dBodyID, dBodyID, int joint_type);
|
||||
|
||||
|
||||
#ifdef __cplusplus
|
||||
}
|
||||
#endif
|
||||
|
||||
#endif
|
||||
47
Extras/ode/include/ode/ode.h
Normal file
47
Extras/ode/include/ode/ode.h
Normal file
@@ -0,0 +1,47 @@
|
||||
/*************************************************************************
|
||||
* *
|
||||
* Open Dynamics Engine, Copyright (C) 2001,2002 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. *
|
||||
* *
|
||||
*************************************************************************/
|
||||
|
||||
#ifndef _ODE_ODE_H_
|
||||
#define _ODE_ODE_H_
|
||||
|
||||
/* include *everything* here */
|
||||
|
||||
#include <ode/config.h>
|
||||
#include <ode/compatibility.h>
|
||||
#include <ode/common.h>
|
||||
#include <ode/contact.h>
|
||||
#include <ode/error.h>
|
||||
#include <ode/memory.h>
|
||||
#include <ode/odemath.h>
|
||||
#include <ode/matrix.h>
|
||||
#include <ode/timer.h>
|
||||
#include <ode/rotation.h>
|
||||
#include <ode/mass.h>
|
||||
#include <ode/misc.h>
|
||||
#include <ode/objects.h>
|
||||
#include <ode/odecpp.h>
|
||||
#include <ode/collision_space.h>
|
||||
#include <ode/collision.h>
|
||||
#include <ode/odecpp_collision.h>
|
||||
#include <ode/export-dif.h>
|
||||
|
||||
#endif
|
||||
621
Extras/ode/include/ode/odecpp.h
Normal file
621
Extras/ode/include/ode/odecpp.h
Normal file
@@ -0,0 +1,621 @@
|
||||
/*************************************************************************
|
||||
* *
|
||||
* Open Dynamics Engine, Copyright (C) 2001,2002 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. *
|
||||
* *
|
||||
*************************************************************************/
|
||||
|
||||
/* C++ interface for non-collision stuff */
|
||||
|
||||
|
||||
#ifndef _ODE_ODECPP_H_
|
||||
#define _ODE_ODECPP_H_
|
||||
#ifdef __cplusplus
|
||||
|
||||
#include <ode/error.h>
|
||||
|
||||
|
||||
class dWorld {
|
||||
dWorldID _id;
|
||||
|
||||
// intentionally undefined, don't use these
|
||||
dWorld (const dWorld &);
|
||||
void operator= (const dWorld &);
|
||||
|
||||
public:
|
||||
dWorld()
|
||||
{ _id = dWorldCreate(); }
|
||||
~dWorld()
|
||||
{ dWorldDestroy (_id); }
|
||||
|
||||
dWorldID id() const
|
||||
{ return _id; }
|
||||
operator dWorldID() const
|
||||
{ return _id; }
|
||||
|
||||
void setGravity (dReal x, dReal y, dReal z)
|
||||
{ dWorldSetGravity (_id,x,y,z); }
|
||||
void getGravity (dVector3 g) const
|
||||
{ dWorldGetGravity (_id,g); }
|
||||
|
||||
void setERP (dReal erp)
|
||||
{ dWorldSetERP(_id, erp); }
|
||||
dReal getERP() const
|
||||
{ return dWorldGetERP(_id); }
|
||||
|
||||
void setCFM (dReal cfm)
|
||||
{ dWorldSetCFM(_id, cfm); }
|
||||
dReal getCFM() const
|
||||
{ return dWorldGetCFM(_id); }
|
||||
|
||||
void step (dReal stepsize)
|
||||
{ dWorldStep (_id,stepsize); }
|
||||
|
||||
void stepFast1 (dReal stepsize, int maxiterations)
|
||||
{ dWorldStepFast1 (_id,stepsize,maxiterations); }
|
||||
void setAutoEnableDepthSF1(dWorldID, int depth)
|
||||
{ dWorldSetAutoEnableDepthSF1 (_id, depth); }
|
||||
int getAutoEnableDepthSF1(dWorldID)
|
||||
{ return dWorldGetAutoEnableDepthSF1 (_id); }
|
||||
|
||||
void setAutoDisableLinearThreshold (dReal threshold)
|
||||
{ dWorldSetAutoDisableLinearThreshold (_id,threshold); }
|
||||
dReal getAutoDisableLinearThreshold()
|
||||
{ return dWorldGetAutoDisableLinearThreshold (_id); }
|
||||
void setAutoDisableAngularThreshold (dReal threshold)
|
||||
{ dWorldSetAutoDisableAngularThreshold (_id,threshold); }
|
||||
dReal getAutoDisableAngularThreshold()
|
||||
{ return dWorldGetAutoDisableAngularThreshold (_id); }
|
||||
void setAutoDisableSteps (int steps)
|
||||
{ dWorldSetAutoDisableSteps (_id,steps); }
|
||||
int getAutoDisableSteps()
|
||||
{ return dWorldGetAutoDisableSteps (_id); }
|
||||
void setAutoDisableTime (dReal time)
|
||||
{ dWorldSetAutoDisableTime (_id,time); }
|
||||
dReal getAutoDisableTime()
|
||||
{ return dWorldGetAutoDisableTime (_id); }
|
||||
void setAutoDisableFlag (int do_auto_disable)
|
||||
{ dWorldSetAutoDisableFlag (_id,do_auto_disable); }
|
||||
int getAutoDisableFlag()
|
||||
{ return dWorldGetAutoDisableFlag (_id); }
|
||||
|
||||
void impulseToForce (dReal stepsize, dReal ix, dReal iy, dReal iz,
|
||||
dVector3 force)
|
||||
{ dWorldImpulseToForce (_id,stepsize,ix,iy,iz,force); }
|
||||
};
|
||||
|
||||
|
||||
class dBody {
|
||||
dBodyID _id;
|
||||
|
||||
// intentionally undefined, don't use these
|
||||
dBody (const dBody &);
|
||||
void operator= (const dBody &);
|
||||
|
||||
public:
|
||||
dBody()
|
||||
{ _id = 0; }
|
||||
dBody (dWorldID world)
|
||||
{ _id = dBodyCreate (world); }
|
||||
~dBody()
|
||||
{ if (_id) dBodyDestroy (_id); }
|
||||
|
||||
void create (dWorldID world) {
|
||||
if (_id) dBodyDestroy (_id);
|
||||
_id = dBodyCreate (world);
|
||||
}
|
||||
|
||||
dBodyID id() const
|
||||
{ return _id; }
|
||||
operator dBodyID() const
|
||||
{ return _id; }
|
||||
|
||||
void setData (void *data)
|
||||
{ dBodySetData (_id,data); }
|
||||
void *getData() const
|
||||
{ return dBodyGetData (_id); }
|
||||
|
||||
void setPosition (dReal x, dReal y, dReal z)
|
||||
{ dBodySetPosition (_id,x,y,z); }
|
||||
void setRotation (const dMatrix3 R)
|
||||
{ dBodySetRotation (_id,R); }
|
||||
void setQuaternion (const dQuaternion q)
|
||||
{ dBodySetQuaternion (_id,q); }
|
||||
void setLinearVel (dReal x, dReal y, dReal z)
|
||||
{ dBodySetLinearVel (_id,x,y,z); }
|
||||
void setAngularVel (dReal x, dReal y, dReal z)
|
||||
{ dBodySetAngularVel (_id,x,y,z); }
|
||||
|
||||
const dReal * getPosition() const
|
||||
{ return dBodyGetPosition (_id); }
|
||||
const dReal * getRotation() const
|
||||
{ return dBodyGetRotation (_id); }
|
||||
const dReal * getQuaternion() const
|
||||
{ return dBodyGetQuaternion (_id); }
|
||||
const dReal * getLinearVel() const
|
||||
{ return dBodyGetLinearVel (_id); }
|
||||
const dReal * getAngularVel() const
|
||||
{ return dBodyGetAngularVel (_id); }
|
||||
|
||||
void setMass (const dMass *mass)
|
||||
{ dBodySetMass (_id,mass); }
|
||||
void getMass (dMass *mass) const
|
||||
{ dBodyGetMass (_id,mass); }
|
||||
|
||||
void addForce (dReal fx, dReal fy, dReal fz)
|
||||
{ dBodyAddForce (_id, fx, fy, fz); }
|
||||
void addTorque (dReal fx, dReal fy, dReal fz)
|
||||
{ dBodyAddTorque (_id, fx, fy, fz); }
|
||||
void addRelForce (dReal fx, dReal fy, dReal fz)
|
||||
{ dBodyAddRelForce (_id, fx, fy, fz); }
|
||||
void addRelTorque (dReal fx, dReal fy, dReal fz)
|
||||
{ dBodyAddRelTorque (_id, fx, fy, fz); }
|
||||
void addForceAtPos (dReal fx, dReal fy, dReal fz,
|
||||
dReal px, dReal py, dReal pz)
|
||||
{ dBodyAddForceAtPos (_id, fx, fy, fz, px, py, pz); }
|
||||
void addForceAtRelPos (dReal fx, dReal fy, dReal fz,
|
||||
dReal px, dReal py, dReal pz)
|
||||
{ dBodyAddForceAtRelPos (_id, fx, fy, fz, px, py, pz); }
|
||||
void addRelForceAtPos (dReal fx, dReal fy, dReal fz,
|
||||
dReal px, dReal py, dReal pz)
|
||||
{ dBodyAddRelForceAtPos (_id, fx, fy, fz, px, py, pz); }
|
||||
void addRelForceAtRelPos (dReal fx, dReal fy, dReal fz,
|
||||
dReal px, dReal py, dReal pz)
|
||||
{ dBodyAddRelForceAtRelPos (_id, fx, fy, fz, px, py, pz); }
|
||||
|
||||
const dReal * getForce() const
|
||||
{ return dBodyGetForce(_id); }
|
||||
const dReal * getTorque() const
|
||||
{ return dBodyGetTorque(_id); }
|
||||
void setForce (dReal x, dReal y, dReal z)
|
||||
{ dBodySetForce (_id,x,y,z); }
|
||||
void setTorque (dReal x, dReal y, dReal z)
|
||||
{ dBodySetTorque (_id,x,y,z); }
|
||||
|
||||
void enable()
|
||||
{ dBodyEnable (_id); }
|
||||
void disable()
|
||||
{ dBodyDisable (_id); }
|
||||
int isEnabled() const
|
||||
{ return dBodyIsEnabled (_id); }
|
||||
|
||||
void getRelPointPos (dReal px, dReal py, dReal pz, dVector3 result) const
|
||||
{ dBodyGetRelPointPos (_id, px, py, pz, result); }
|
||||
void getRelPointVel (dReal px, dReal py, dReal pz, dVector3 result) const
|
||||
{ dBodyGetRelPointVel (_id, px, py, pz, result); }
|
||||
void getPointVel (dReal px, dReal py, dReal pz, dVector3 result) const
|
||||
{ dBodyGetPointVel (_id,px,py,pz,result); }
|
||||
void getPosRelPoint (dReal px, dReal py, dReal pz, dVector3 result) const
|
||||
{ dBodyGetPosRelPoint (_id,px,py,pz,result); }
|
||||
void vectorToWorld (dReal px, dReal py, dReal pz, dVector3 result) const
|
||||
{ dBodyVectorToWorld (_id,px,py,pz,result); }
|
||||
void vectorFromWorld (dReal px, dReal py, dReal pz, dVector3 result) const
|
||||
{ dBodyVectorFromWorld (_id,px,py,pz,result); }
|
||||
|
||||
void setFiniteRotationMode (int mode)
|
||||
{ dBodySetFiniteRotationMode (_id, mode); }
|
||||
void setFiniteRotationAxis (dReal x, dReal y, dReal z)
|
||||
{ dBodySetFiniteRotationAxis (_id, x, y, z); }
|
||||
|
||||
int getFiniteRotationMode() const
|
||||
{ return dBodyGetFiniteRotationMode (_id); }
|
||||
void getFiniteRotationAxis (dVector3 result) const
|
||||
{ dBodyGetFiniteRotationAxis (_id, result); }
|
||||
|
||||
int getNumJoints() const
|
||||
{ return dBodyGetNumJoints (_id); }
|
||||
dJointID getJoint (int index) const
|
||||
{ return dBodyGetJoint (_id, index); }
|
||||
|
||||
void setGravityMode (int mode)
|
||||
{ dBodySetGravityMode (_id,mode); }
|
||||
int getGravityMode() const
|
||||
{ return dBodyGetGravityMode (_id); }
|
||||
|
||||
int isConnectedTo (dBodyID body) const
|
||||
{ return dAreConnected (_id, body); }
|
||||
|
||||
void setAutoDisableLinearThreshold (dReal threshold)
|
||||
{ dBodySetAutoDisableLinearThreshold (_id,threshold); }
|
||||
dReal getAutoDisableLinearThreshold()
|
||||
{ return dBodyGetAutoDisableLinearThreshold (_id); }
|
||||
void setAutoDisableAngularThreshold (dReal threshold)
|
||||
{ dBodySetAutoDisableAngularThreshold (_id,threshold); }
|
||||
dReal getAutoDisableAngularThreshold()
|
||||
{ return dBodyGetAutoDisableAngularThreshold (_id); }
|
||||
void setAutoDisableSteps (int steps)
|
||||
{ dBodySetAutoDisableSteps (_id,steps); }
|
||||
int getAutoDisableSteps()
|
||||
{ return dBodyGetAutoDisableSteps (_id); }
|
||||
void setAutoDisableTime (dReal time)
|
||||
{ dBodySetAutoDisableTime (_id,time); }
|
||||
dReal getAutoDisableTime()
|
||||
{ return dBodyGetAutoDisableTime (_id); }
|
||||
void setAutoDisableFlag (int do_auto_disable)
|
||||
{ dBodySetAutoDisableFlag (_id,do_auto_disable); }
|
||||
int getAutoDisableFlag()
|
||||
{ return dBodyGetAutoDisableFlag (_id); }
|
||||
};
|
||||
|
||||
|
||||
class dJointGroup {
|
||||
dJointGroupID _id;
|
||||
|
||||
// intentionally undefined, don't use these
|
||||
dJointGroup (const dJointGroup &);
|
||||
void operator= (const dJointGroup &);
|
||||
|
||||
public:
|
||||
dJointGroup (int dummy_arg=0)
|
||||
{ _id = dJointGroupCreate (0); }
|
||||
~dJointGroup()
|
||||
{ dJointGroupDestroy (_id); }
|
||||
void create (int dummy_arg=0) {
|
||||
if (_id) dJointGroupDestroy (_id);
|
||||
_id = dJointGroupCreate (0);
|
||||
}
|
||||
|
||||
dJointGroupID id() const
|
||||
{ return _id; }
|
||||
operator dJointGroupID() const
|
||||
{ return _id; }
|
||||
|
||||
void empty()
|
||||
{ dJointGroupEmpty (_id); }
|
||||
};
|
||||
|
||||
|
||||
class dJoint {
|
||||
private:
|
||||
// intentionally undefined, don't use these
|
||||
dJoint (const dJoint &) ;
|
||||
void operator= (const dJoint &);
|
||||
|
||||
protected:
|
||||
dJointID _id;
|
||||
|
||||
public:
|
||||
dJoint()
|
||||
{ _id = 0; }
|
||||
~dJoint()
|
||||
{ if (_id) dJointDestroy (_id); }
|
||||
|
||||
dJointID id() const
|
||||
{ return _id; }
|
||||
operator dJointID() const
|
||||
{ return _id; }
|
||||
|
||||
void attach (dBodyID body1, dBodyID body2)
|
||||
{ dJointAttach (_id, body1, body2); }
|
||||
|
||||
void setData (void *data)
|
||||
{ dJointSetData (_id, data); }
|
||||
void *getData() const
|
||||
{ return dJointGetData (_id); }
|
||||
|
||||
int getType() const
|
||||
{ return dJointGetType (_id); }
|
||||
|
||||
dBodyID getBody (int index) const
|
||||
{ return dJointGetBody (_id, index); }
|
||||
};
|
||||
|
||||
|
||||
class dBallJoint : public dJoint {
|
||||
private:
|
||||
// intentionally undefined, don't use these
|
||||
dBallJoint (const dBallJoint &);
|
||||
void operator= (const dBallJoint &);
|
||||
|
||||
public:
|
||||
dBallJoint() { }
|
||||
dBallJoint (dWorldID world, dJointGroupID group=0)
|
||||
{ _id = dJointCreateBall (world, group); }
|
||||
|
||||
void create (dWorldID world, dJointGroupID group=0) {
|
||||
if (_id) dJointDestroy (_id);
|
||||
_id = dJointCreateBall (world, group);
|
||||
}
|
||||
|
||||
void setAnchor (dReal x, dReal y, dReal z)
|
||||
{ dJointSetBallAnchor (_id, x, y, z); }
|
||||
void getAnchor (dVector3 result) const
|
||||
{ dJointGetBallAnchor (_id, result); }
|
||||
void getAnchor2 (dVector3 result) const
|
||||
{ dJointGetBallAnchor2 (_id, result); }
|
||||
} ;
|
||||
|
||||
|
||||
class dHingeJoint : public dJoint {
|
||||
// intentionally undefined, don't use these
|
||||
dHingeJoint (const dHingeJoint &);
|
||||
void operator = (const dHingeJoint &);
|
||||
|
||||
public:
|
||||
dHingeJoint() { }
|
||||
dHingeJoint (dWorldID world, dJointGroupID group=0)
|
||||
{ _id = dJointCreateHinge (world, group); }
|
||||
|
||||
void create (dWorldID world, dJointGroupID group=0) {
|
||||
if (_id) dJointDestroy (_id);
|
||||
_id = dJointCreateHinge (world, group);
|
||||
}
|
||||
|
||||
void setAnchor (dReal x, dReal y, dReal z)
|
||||
{ dJointSetHingeAnchor (_id, x, y, z); }
|
||||
void getAnchor (dVector3 result) const
|
||||
{ dJointGetHingeAnchor (_id, result); }
|
||||
void getAnchor2 (dVector3 result) const
|
||||
{ dJointGetHingeAnchor2 (_id, result); }
|
||||
|
||||
void setAxis (dReal x, dReal y, dReal z)
|
||||
{ dJointSetHingeAxis (_id, x, y, z); }
|
||||
void getAxis (dVector3 result) const
|
||||
{ dJointGetHingeAxis (_id, result); }
|
||||
|
||||
dReal getAngle() const
|
||||
{ return dJointGetHingeAngle (_id); }
|
||||
dReal getAngleRate() const
|
||||
{ return dJointGetHingeAngleRate (_id); }
|
||||
|
||||
void setParam (int parameter, dReal value)
|
||||
{ dJointSetHingeParam (_id, parameter, value); }
|
||||
dReal getParam (int parameter) const
|
||||
{ return dJointGetHingeParam (_id, parameter); }
|
||||
|
||||
void addTorque (dReal torque)
|
||||
{ dJointAddHingeTorque(_id, torque); }
|
||||
};
|
||||
|
||||
|
||||
class dSliderJoint : public dJoint {
|
||||
// intentionally undefined, don't use these
|
||||
dSliderJoint (const dSliderJoint &);
|
||||
void operator = (const dSliderJoint &);
|
||||
|
||||
public:
|
||||
dSliderJoint() { }
|
||||
dSliderJoint (dWorldID world, dJointGroupID group=0)
|
||||
{ _id = dJointCreateSlider (world, group); }
|
||||
|
||||
void create (dWorldID world, dJointGroupID group=0) {
|
||||
if (_id) dJointDestroy (_id);
|
||||
_id = dJointCreateSlider (world, group);
|
||||
}
|
||||
|
||||
void setAxis (dReal x, dReal y, dReal z)
|
||||
{ dJointSetSliderAxis (_id, x, y, z); }
|
||||
void getAxis (dVector3 result) const
|
||||
{ dJointGetSliderAxis (_id, result); }
|
||||
|
||||
dReal getPosition() const
|
||||
{ return dJointGetSliderPosition (_id); }
|
||||
dReal getPositionRate() const
|
||||
{ return dJointGetSliderPositionRate (_id); }
|
||||
|
||||
void setParam (int parameter, dReal value)
|
||||
{ dJointSetSliderParam (_id, parameter, value); }
|
||||
dReal getParam (int parameter) const
|
||||
{ return dJointGetSliderParam (_id, parameter); }
|
||||
|
||||
void addForce (dReal force)
|
||||
{ dJointAddSliderForce(_id, force); }
|
||||
};
|
||||
|
||||
|
||||
class dUniversalJoint : public dJoint {
|
||||
// intentionally undefined, don't use these
|
||||
dUniversalJoint (const dUniversalJoint &);
|
||||
void operator = (const dUniversalJoint &);
|
||||
|
||||
public:
|
||||
dUniversalJoint() { }
|
||||
dUniversalJoint (dWorldID world, dJointGroupID group=0)
|
||||
{ _id = dJointCreateUniversal (world, group); }
|
||||
|
||||
void create (dWorldID world, dJointGroupID group=0) {
|
||||
if (_id) dJointDestroy (_id);
|
||||
_id = dJointCreateUniversal (world, group);
|
||||
}
|
||||
|
||||
void setAnchor (dReal x, dReal y, dReal z)
|
||||
{ dJointSetUniversalAnchor (_id, x, y, z); }
|
||||
void setAxis1 (dReal x, dReal y, dReal z)
|
||||
{ dJointSetUniversalAxis1 (_id, x, y, z); }
|
||||
void setAxis2 (dReal x, dReal y, dReal z)
|
||||
{ dJointSetUniversalAxis2 (_id, x, y, z); }
|
||||
void setParam (int parameter, dReal value)
|
||||
{ dJointSetUniversalParam (_id, parameter, value); }
|
||||
|
||||
void getAnchor (dVector3 result) const
|
||||
{ dJointGetUniversalAnchor (_id, result); }
|
||||
void getAnchor2 (dVector3 result) const
|
||||
{ dJointGetUniversalAnchor2 (_id, result); }
|
||||
void getAxis1 (dVector3 result) const
|
||||
{ dJointGetUniversalAxis1 (_id, result); }
|
||||
void getAxis2 (dVector3 result) const
|
||||
{ dJointGetUniversalAxis2 (_id, result); }
|
||||
dReal getParam (int parameter) const
|
||||
{ return dJointGetUniversalParam (_id, parameter); }
|
||||
dReal getAngle1() const
|
||||
{ return dJointGetUniversalAngle1 (_id); }
|
||||
dReal getAngle1Rate() const
|
||||
{ return dJointGetUniversalAngle1Rate (_id); }
|
||||
dReal getAngle2() const
|
||||
{ return dJointGetUniversalAngle2 (_id); }
|
||||
dReal getAngle2Rate() const
|
||||
{ return dJointGetUniversalAngle2Rate (_id); }
|
||||
|
||||
void addTorques (dReal torque1, dReal torque2)
|
||||
{ dJointAddUniversalTorques(_id, torque1, torque2); }
|
||||
};
|
||||
|
||||
|
||||
class dHinge2Joint : public dJoint {
|
||||
// intentionally undefined, don't use these
|
||||
dHinge2Joint (const dHinge2Joint &);
|
||||
void operator = (const dHinge2Joint &);
|
||||
|
||||
public:
|
||||
dHinge2Joint() { }
|
||||
dHinge2Joint (dWorldID world, dJointGroupID group=0)
|
||||
{ _id = dJointCreateHinge2 (world, group); }
|
||||
|
||||
void create (dWorldID world, dJointGroupID group=0) {
|
||||
if (_id) dJointDestroy (_id);
|
||||
_id = dJointCreateHinge2 (world, group);
|
||||
}
|
||||
|
||||
void setAnchor (dReal x, dReal y, dReal z)
|
||||
{ dJointSetHinge2Anchor (_id, x, y, z); }
|
||||
void setAxis1 (dReal x, dReal y, dReal z)
|
||||
{ dJointSetHinge2Axis1 (_id, x, y, z); }
|
||||
void setAxis2 (dReal x, dReal y, dReal z)
|
||||
{ dJointSetHinge2Axis2 (_id, x, y, z); }
|
||||
|
||||
void getAnchor (dVector3 result) const
|
||||
{ dJointGetHinge2Anchor (_id, result); }
|
||||
void getAnchor2 (dVector3 result) const
|
||||
{ dJointGetHinge2Anchor2 (_id, result); }
|
||||
void getAxis1 (dVector3 result) const
|
||||
{ dJointGetHinge2Axis1 (_id, result); }
|
||||
void getAxis2 (dVector3 result) const
|
||||
{ dJointGetHinge2Axis2 (_id, result); }
|
||||
|
||||
dReal getAngle1() const
|
||||
{ return dJointGetHinge2Angle1 (_id); }
|
||||
dReal getAngle1Rate() const
|
||||
{ return dJointGetHinge2Angle1Rate (_id); }
|
||||
dReal getAngle2Rate() const
|
||||
{ return dJointGetHinge2Angle2Rate (_id); }
|
||||
|
||||
void setParam (int parameter, dReal value)
|
||||
{ dJointSetHinge2Param (_id, parameter, value); }
|
||||
dReal getParam (int parameter) const
|
||||
{ return dJointGetHinge2Param (_id, parameter); }
|
||||
|
||||
void addTorques(dReal torque1, dReal torque2)
|
||||
{ dJointAddHinge2Torques(_id, torque1, torque2); }
|
||||
};
|
||||
|
||||
|
||||
class dFixedJoint : public dJoint {
|
||||
// intentionally undefined, don't use these
|
||||
dFixedJoint (const dFixedJoint &);
|
||||
void operator = (const dFixedJoint &);
|
||||
|
||||
public:
|
||||
dFixedJoint() { }
|
||||
dFixedJoint (dWorldID world, dJointGroupID group=0)
|
||||
{ _id = dJointCreateFixed (world, group); }
|
||||
|
||||
void create (dWorldID world, dJointGroupID group=0) {
|
||||
if (_id) dJointDestroy (_id);
|
||||
_id = dJointCreateFixed (world, group);
|
||||
}
|
||||
|
||||
void set()
|
||||
{ dJointSetFixed (_id); }
|
||||
};
|
||||
|
||||
|
||||
class dContactJoint : public dJoint {
|
||||
// intentionally undefined, don't use these
|
||||
dContactJoint (const dContactJoint &);
|
||||
void operator = (const dContactJoint &);
|
||||
|
||||
public:
|
||||
dContactJoint() { }
|
||||
dContactJoint (dWorldID world, dJointGroupID group, dContact *contact)
|
||||
{ _id = dJointCreateContact (world, group, contact); }
|
||||
|
||||
void create (dWorldID world, dJointGroupID group, dContact *contact) {
|
||||
if (_id) dJointDestroy (_id);
|
||||
_id = dJointCreateContact (world, group, contact);
|
||||
}
|
||||
};
|
||||
|
||||
|
||||
class dNullJoint : public dJoint {
|
||||
// intentionally undefined, don't use these
|
||||
dNullJoint (const dNullJoint &);
|
||||
void operator = (const dNullJoint &);
|
||||
|
||||
public:
|
||||
dNullJoint() { }
|
||||
dNullJoint (dWorldID world, dJointGroupID group=0)
|
||||
{ _id = dJointCreateNull (world, group); }
|
||||
|
||||
void create (dWorldID world, dJointGroupID group=0) {
|
||||
if (_id) dJointDestroy (_id);
|
||||
_id = dJointCreateNull (world, group);
|
||||
}
|
||||
};
|
||||
|
||||
|
||||
class dAMotorJoint : public dJoint {
|
||||
// intentionally undefined, don't use these
|
||||
dAMotorJoint (const dAMotorJoint &);
|
||||
void operator = (const dAMotorJoint &);
|
||||
|
||||
public:
|
||||
dAMotorJoint() { }
|
||||
dAMotorJoint (dWorldID world, dJointGroupID group=0)
|
||||
{ _id = dJointCreateAMotor (world, group); }
|
||||
|
||||
void create (dWorldID world, dJointGroupID group=0) {
|
||||
if (_id) dJointDestroy (_id);
|
||||
_id = dJointCreateAMotor (world, group);
|
||||
}
|
||||
|
||||
void setMode (int mode)
|
||||
{ dJointSetAMotorMode (_id, mode); }
|
||||
int getMode() const
|
||||
{ return dJointGetAMotorMode (_id); }
|
||||
|
||||
void setNumAxes (int num)
|
||||
{ dJointSetAMotorNumAxes (_id, num); }
|
||||
int getNumAxes() const
|
||||
{ return dJointGetAMotorNumAxes (_id); }
|
||||
|
||||
void setAxis (int anum, int rel, dReal x, dReal y, dReal z)
|
||||
{ dJointSetAMotorAxis (_id, anum, rel, x, y, z); }
|
||||
void getAxis (int anum, dVector3 result) const
|
||||
{ dJointGetAMotorAxis (_id, anum, result); }
|
||||
int getAxisRel (int anum) const
|
||||
{ return dJointGetAMotorAxisRel (_id, anum); }
|
||||
|
||||
void setAngle (int anum, dReal angle)
|
||||
{ dJointSetAMotorAngle (_id, anum, angle); }
|
||||
dReal getAngle (int anum) const
|
||||
{ return dJointGetAMotorAngle (_id, anum); }
|
||||
dReal getAngleRate (int anum)
|
||||
{ return dJointGetAMotorAngleRate (_id,anum); }
|
||||
|
||||
void setParam (int parameter, dReal value)
|
||||
{ dJointSetAMotorParam (_id, parameter, value); }
|
||||
dReal getParam (int parameter) const
|
||||
{ return dJointGetAMotorParam (_id, parameter); }
|
||||
|
||||
void addTorques(dReal torque1, dReal torque2, dReal torque3)
|
||||
{ dJointAddAMotorTorques(_id, torque1, torque2, torque3); }
|
||||
};
|
||||
|
||||
|
||||
#endif
|
||||
#endif
|
||||
346
Extras/ode/include/ode/odecpp_collision.h
Normal file
346
Extras/ode/include/ode/odecpp_collision.h
Normal file
@@ -0,0 +1,346 @@
|
||||
/*************************************************************************
|
||||
* *
|
||||
* Open Dynamics Engine, Copyright (C) 2001,2002 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. *
|
||||
* *
|
||||
*************************************************************************/
|
||||
|
||||
/* C++ interface for new collision API */
|
||||
|
||||
|
||||
#ifndef _ODE_ODECPP_COLLISION_H_
|
||||
#define _ODE_ODECPP_COLLISION_H_
|
||||
#ifdef __cplusplus
|
||||
|
||||
#include <ode/error.h>
|
||||
|
||||
|
||||
class dGeom {
|
||||
// intentionally undefined, don't use these
|
||||
dGeom (dGeom &);
|
||||
void operator= (dGeom &);
|
||||
|
||||
protected:
|
||||
dGeomID _id;
|
||||
|
||||
public:
|
||||
dGeom()
|
||||
{ _id = 0; }
|
||||
~dGeom()
|
||||
{ if (_id) dGeomDestroy (_id); }
|
||||
|
||||
dGeomID id() const
|
||||
{ return _id; }
|
||||
operator dGeomID() const
|
||||
{ return _id; }
|
||||
|
||||
void destroy() {
|
||||
if (_id) dGeomDestroy (_id);
|
||||
_id = 0;
|
||||
}
|
||||
|
||||
int getClass() const
|
||||
{ return dGeomGetClass (_id); }
|
||||
|
||||
dSpaceID getSpace() const
|
||||
{ return dGeomGetSpace (_id); }
|
||||
|
||||
void setData (void *data)
|
||||
{ dGeomSetData (_id,data); }
|
||||
void *getData() const
|
||||
{ return dGeomGetData (_id); }
|
||||
|
||||
void setBody (dBodyID b)
|
||||
{ dGeomSetBody (_id,b); }
|
||||
dBodyID getBody() const
|
||||
{ return dGeomGetBody (_id); }
|
||||
|
||||
void setPosition (dReal x, dReal y, dReal z)
|
||||
{ dGeomSetPosition (_id,x,y,z); }
|
||||
const dReal * getPosition() const
|
||||
{ return dGeomGetPosition (_id); }
|
||||
|
||||
void setRotation (const dMatrix3 R)
|
||||
{ dGeomSetRotation (_id,R); }
|
||||
const dReal * getRotation() const
|
||||
{ return dGeomGetRotation (_id); }
|
||||
|
||||
void setQuaternion (const dQuaternion quat)
|
||||
{ dGeomSetQuaternion (_id,quat); }
|
||||
void getQuaternion (dQuaternion quat) const
|
||||
{ dGeomGetQuaternion (_id,quat); }
|
||||
|
||||
void getAABB (dReal aabb[6]) const
|
||||
{ dGeomGetAABB (_id, aabb); }
|
||||
|
||||
int isSpace()
|
||||
{ return dGeomIsSpace (_id); }
|
||||
|
||||
void setCategoryBits (unsigned long bits)
|
||||
{ dGeomSetCategoryBits (_id, bits); }
|
||||
void setCollideBits (unsigned long bits)
|
||||
{ dGeomSetCollideBits (_id, bits); }
|
||||
unsigned long getCategoryBits()
|
||||
{ return dGeomGetCategoryBits (_id); }
|
||||
unsigned long getCollideBits()
|
||||
{ return dGeomGetCollideBits (_id); }
|
||||
|
||||
void enable()
|
||||
{ dGeomEnable (_id); }
|
||||
void disable()
|
||||
{ dGeomDisable (_id); }
|
||||
int isEnabled()
|
||||
{ return dGeomIsEnabled (_id); }
|
||||
|
||||
void collide2 (dGeomID g, void *data, dNearCallback *callback)
|
||||
{ dSpaceCollide2 (_id,g,data,callback); }
|
||||
};
|
||||
|
||||
|
||||
class dSpace : public dGeom {
|
||||
// intentionally undefined, don't use these
|
||||
dSpace (dSpace &);
|
||||
void operator= (dSpace &);
|
||||
|
||||
protected:
|
||||
// the default constructor is protected so that you
|
||||
// can't instance this class. you must instance one
|
||||
// of its subclasses instead.
|
||||
dSpace () { _id = 0; }
|
||||
|
||||
public:
|
||||
dSpaceID id() const
|
||||
{ return (dSpaceID) _id; }
|
||||
operator dSpaceID() const
|
||||
{ return (dSpaceID) _id; }
|
||||
|
||||
void setCleanup (int mode)
|
||||
{ dSpaceSetCleanup (id(), mode); }
|
||||
int getCleanup()
|
||||
{ return dSpaceGetCleanup (id()); }
|
||||
|
||||
void add (dGeomID x)
|
||||
{ dSpaceAdd (id(), x); }
|
||||
void remove (dGeomID x)
|
||||
{ dSpaceRemove (id(), x); }
|
||||
int query (dGeomID x)
|
||||
{ return dSpaceQuery (id(),x); }
|
||||
|
||||
int getNumGeoms()
|
||||
{ return dSpaceGetNumGeoms (id()); }
|
||||
dGeomID getGeom (int i)
|
||||
{ return dSpaceGetGeom (id(),i); }
|
||||
|
||||
void collide (void *data, dNearCallback *callback)
|
||||
{ dSpaceCollide (id(),data,callback); }
|
||||
};
|
||||
|
||||
|
||||
class dSimpleSpace : public dSpace {
|
||||
// intentionally undefined, don't use these
|
||||
dSimpleSpace (dSimpleSpace &);
|
||||
void operator= (dSimpleSpace &);
|
||||
|
||||
public:
|
||||
dSimpleSpace (dSpaceID space)
|
||||
{ _id = (dGeomID) dSimpleSpaceCreate (space); }
|
||||
};
|
||||
|
||||
|
||||
class dHashSpace : public dSpace {
|
||||
// intentionally undefined, don't use these
|
||||
dHashSpace (dHashSpace &);
|
||||
void operator= (dHashSpace &);
|
||||
|
||||
public:
|
||||
dHashSpace (dSpaceID space)
|
||||
{ _id = (dGeomID) dHashSpaceCreate (space); }
|
||||
void setLevels (int minlevel, int maxlevel)
|
||||
{ dHashSpaceSetLevels (id(),minlevel,maxlevel); }
|
||||
};
|
||||
|
||||
|
||||
class dQuadTreeSpace : public dSpace {
|
||||
// intentionally undefined, don't use these
|
||||
dQuadTreeSpace (dQuadTreeSpace &);
|
||||
void operator= (dQuadTreeSpace &);
|
||||
|
||||
public:
|
||||
dQuadTreeSpace (dSpaceID space, dVector3 center, dVector3 extents, int depth)
|
||||
{ _id = (dGeomID) dQuadTreeSpaceCreate (space,center,extents,depth); }
|
||||
};
|
||||
|
||||
|
||||
class dSphere : public dGeom {
|
||||
// intentionally undefined, don't use these
|
||||
dSphere (dSphere &);
|
||||
void operator= (dSphere &);
|
||||
|
||||
public:
|
||||
dSphere () { }
|
||||
dSphere (dSpaceID space, dReal radius)
|
||||
{ _id = dCreateSphere (space, radius); }
|
||||
|
||||
void create (dSpaceID space, dReal radius) {
|
||||
if (_id) dGeomDestroy (_id);
|
||||
_id = dCreateSphere (space, radius);
|
||||
}
|
||||
|
||||
void setRadius (dReal radius)
|
||||
{ dGeomSphereSetRadius (_id, radius); }
|
||||
dReal getRadius() const
|
||||
{ return dGeomSphereGetRadius (_id); }
|
||||
};
|
||||
|
||||
|
||||
class dBox : public dGeom {
|
||||
// intentionally undefined, don't use these
|
||||
dBox (dBox &);
|
||||
void operator= (dBox &);
|
||||
|
||||
public:
|
||||
dBox () { }
|
||||
dBox (dSpaceID space, dReal lx, dReal ly, dReal lz)
|
||||
{ _id = dCreateBox (space,lx,ly,lz); }
|
||||
|
||||
void create (dSpaceID space, dReal lx, dReal ly, dReal lz) {
|
||||
if (_id) dGeomDestroy (_id);
|
||||
_id = dCreateBox (space,lx,ly,lz);
|
||||
}
|
||||
|
||||
void setLengths (dReal lx, dReal ly, dReal lz)
|
||||
{ dGeomBoxSetLengths (_id, lx, ly, lz); }
|
||||
void getLengths (dVector3 result) const
|
||||
{ dGeomBoxGetLengths (_id,result); }
|
||||
};
|
||||
|
||||
|
||||
class dPlane : public dGeom {
|
||||
// intentionally undefined, don't use these
|
||||
dPlane (dPlane &);
|
||||
void operator= (dPlane &);
|
||||
|
||||
public:
|
||||
dPlane() { }
|
||||
dPlane (dSpaceID space, dReal a, dReal b, dReal c, dReal d)
|
||||
{ _id = dCreatePlane (space,a,b,c,d); }
|
||||
|
||||
void create (dSpaceID space, dReal a, dReal b, dReal c, dReal d) {
|
||||
if (_id) dGeomDestroy (_id);
|
||||
_id = dCreatePlane (space,a,b,c,d);
|
||||
}
|
||||
|
||||
void setParams (dReal a, dReal b, dReal c, dReal d)
|
||||
{ dGeomPlaneSetParams (_id, a, b, c, d); }
|
||||
void getParams (dVector4 result) const
|
||||
{ dGeomPlaneGetParams (_id,result); }
|
||||
};
|
||||
|
||||
|
||||
class dCCylinder : public dGeom {
|
||||
// intentionally undefined, don't use these
|
||||
dCCylinder (dCCylinder &);
|
||||
void operator= (dCCylinder &);
|
||||
|
||||
public:
|
||||
dCCylinder() { }
|
||||
dCCylinder (dSpaceID space, dReal radius, dReal length)
|
||||
{ _id = dCreateCCylinder (space,radius,length); }
|
||||
|
||||
void create (dSpaceID space, dReal radius, dReal length) {
|
||||
if (_id) dGeomDestroy (_id);
|
||||
_id = dCreateCCylinder (space,radius,length);
|
||||
}
|
||||
|
||||
void setParams (dReal radius, dReal length)
|
||||
{ dGeomCCylinderSetParams (_id, radius, length); }
|
||||
void getParams (dReal *radius, dReal *length) const
|
||||
{ dGeomCCylinderGetParams (_id,radius,length); }
|
||||
};
|
||||
|
||||
|
||||
class dRay : public dGeom {
|
||||
// intentionally undefined, don't use these
|
||||
dRay (dRay &);
|
||||
void operator= (dRay &);
|
||||
|
||||
public:
|
||||
dRay() { }
|
||||
dRay (dSpaceID space, dReal length)
|
||||
{ _id = dCreateRay (space,length); }
|
||||
|
||||
void create (dSpaceID space, dReal length) {
|
||||
if (_id) dGeomDestroy (_id);
|
||||
_id = dCreateRay (space,length);
|
||||
}
|
||||
|
||||
void setLength (dReal length)
|
||||
{ dGeomRaySetLength (_id, length); }
|
||||
dReal getLength()
|
||||
{ return dGeomRayGetLength (_id); }
|
||||
|
||||
void set (dReal px, dReal py, dReal pz, dReal dx, dReal dy, dReal dz)
|
||||
{ dGeomRaySet (_id, px, py, pz, dx, dy, dz); }
|
||||
void get (dVector3 start, dVector3 dir)
|
||||
{ dGeomRayGet (_id, start, dir); }
|
||||
|
||||
void setParams (int firstContact, int backfaceCull)
|
||||
{ dGeomRaySetParams (_id, firstContact, backfaceCull); }
|
||||
void getParams (int *firstContact, int *backfaceCull)
|
||||
{ dGeomRayGetParams (_id, firstContact, backfaceCull); }
|
||||
void setClosestHit (int closestHit)
|
||||
{ dGeomRaySetClosestHit (_id, closestHit); }
|
||||
int getClosestHit()
|
||||
{ return dGeomRayGetClosestHit (_id); }
|
||||
};
|
||||
|
||||
|
||||
class dGeomTransform : public dGeom {
|
||||
// intentionally undefined, don't use these
|
||||
dGeomTransform (dGeomTransform &);
|
||||
void operator= (dGeomTransform &);
|
||||
|
||||
public:
|
||||
dGeomTransform() { }
|
||||
dGeomTransform (dSpaceID space)
|
||||
{ _id = dCreateGeomTransform (space); }
|
||||
|
||||
void create (dSpaceID space=0) {
|
||||
if (_id) dGeomDestroy (_id);
|
||||
_id = dCreateGeomTransform (space);
|
||||
}
|
||||
|
||||
void setGeom (dGeomID geom)
|
||||
{ dGeomTransformSetGeom (_id, geom); }
|
||||
dGeomID getGeom() const
|
||||
{ return dGeomTransformGetGeom (_id); }
|
||||
|
||||
void setCleanup (int mode)
|
||||
{ dGeomTransformSetCleanup (_id,mode); }
|
||||
int getCleanup ()
|
||||
{ return dGeomTransformGetCleanup (_id); }
|
||||
|
||||
void setInfo (int mode)
|
||||
{ dGeomTransformSetInfo (_id,mode); }
|
||||
int getInfo()
|
||||
{ return dGeomTransformGetInfo (_id); }
|
||||
};
|
||||
|
||||
|
||||
#endif
|
||||
#endif
|
||||
316
Extras/ode/include/ode/odecpp_old.h
Normal file
316
Extras/ode/include/ode/odecpp_old.h
Normal file
@@ -0,0 +1,316 @@
|
||||
/*************************************************************************
|
||||
* *
|
||||
* Open Dynamics Engine, Copyright (C) 2001,2002 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. *
|
||||
* *
|
||||
*************************************************************************/
|
||||
|
||||
/* this is the old C++ interface, the new C++ interface is not quite
|
||||
* compatible with this. but this file is kept around in case you were
|
||||
* using the old interface.
|
||||
*/
|
||||
|
||||
#ifndef _ODE_ODECPP_H_
|
||||
#define _ODE_ODECPP_H_
|
||||
#ifdef __cplusplus
|
||||
|
||||
#include <ode/error.h>
|
||||
|
||||
|
||||
class dWorld {
|
||||
dWorldID _id;
|
||||
|
||||
dWorld (dWorld &) { dDebug (0,"bad"); }
|
||||
void operator= (dWorld &) { dDebug (0,"bad"); }
|
||||
|
||||
public:
|
||||
dWorld()
|
||||
{ _id = dWorldCreate(); }
|
||||
~dWorld()
|
||||
{ dWorldDestroy (_id); }
|
||||
dWorldID id()
|
||||
{ return _id; }
|
||||
|
||||
void setGravity (dReal x, dReal y, dReal z)
|
||||
{ dWorldSetGravity (_id,x,y,z); }
|
||||
void getGravity (dVector3 g)
|
||||
{ dWorldGetGravity (_id,g); }
|
||||
void step (dReal stepsize)
|
||||
{ dWorldStep (_id,stepsize); }
|
||||
};
|
||||
|
||||
|
||||
class dBody {
|
||||
dBodyID _id;
|
||||
|
||||
dBody (dBody &) { dDebug (0,"bad"); }
|
||||
void operator= (dBody &) { dDebug (0,"bad"); }
|
||||
|
||||
public:
|
||||
dBody()
|
||||
{ _id = 0; }
|
||||
dBody (dWorld &world)
|
||||
{ _id = dBodyCreate (world.id()); }
|
||||
~dBody()
|
||||
{ dBodyDestroy (_id); }
|
||||
void create (dWorld &world)
|
||||
{ if (_id) dBodyDestroy (_id); _id = dBodyCreate (world.id()); }
|
||||
dBodyID id()
|
||||
{ return _id; }
|
||||
|
||||
void setData (void *data)
|
||||
{ dBodySetData (_id,data); }
|
||||
void *getData()
|
||||
{ return dBodyGetData (_id); }
|
||||
|
||||
void setPosition (dReal x, dReal y, dReal z)
|
||||
{ dBodySetPosition (_id,x,y,z); }
|
||||
void setRotation (const dMatrix3 R)
|
||||
{ dBodySetRotation (_id,R); }
|
||||
void setQuaternion (const dQuaternion q)
|
||||
{ dBodySetQuaternion (_id,q); }
|
||||
void setLinearVel (dReal x, dReal y, dReal z)
|
||||
{ dBodySetLinearVel (_id,x,y,z); }
|
||||
void setAngularVel (dReal x, dReal y, dReal z)
|
||||
{ dBodySetAngularVel (_id,x,y,z); }
|
||||
|
||||
const dReal * getPosition()
|
||||
{ return dBodyGetPosition (_id); }
|
||||
const dReal * getRotation()
|
||||
{ return dBodyGetRotation (_id); }
|
||||
const dReal * getQuaternion()
|
||||
{ return dBodyGetQuaternion (_id); }
|
||||
const dReal * getLinearVel()
|
||||
{ return dBodyGetLinearVel (_id); }
|
||||
const dReal * getAngularVel()
|
||||
{ return dBodyGetAngularVel (_id); }
|
||||
|
||||
void setMass (const dMass *mass)
|
||||
{ dBodySetMass (_id,mass); }
|
||||
void getMass (dMass *mass)
|
||||
{ dBodyGetMass (_id,mass); }
|
||||
|
||||
void addForce (dReal fx, dReal fy, dReal fz)
|
||||
{ dBodyAddForce (_id, fx, fy, fz); }
|
||||
void addTorque (dReal fx, dReal fy, dReal fz)
|
||||
{ dBodyAddTorque (_id, fx, fy, fz); }
|
||||
void addRelForce (dReal fx, dReal fy, dReal fz)
|
||||
{ dBodyAddRelForce (_id, fx, fy, fz); }
|
||||
void addRelTorque (dReal fx, dReal fy, dReal fz)
|
||||
{ dBodyAddRelTorque (_id, fx, fy, fz); }
|
||||
void addForceAtPos (dReal fx, dReal fy, dReal fz,
|
||||
dReal px, dReal py, dReal pz)
|
||||
{ dBodyAddForceAtPos (_id, fx, fy, fz, px, py, pz); }
|
||||
void addRelForceAtPos (dReal fx, dReal fy, dReal fz,
|
||||
dReal px, dReal py, dReal pz)
|
||||
{ dBodyAddRelForceAtPos (_id, fx, fy, fz, px, py, pz); }
|
||||
void addRelForceAtRelPos (dReal fx, dReal fy, dReal fz,
|
||||
dReal px, dReal py, dReal pz)
|
||||
{ dBodyAddRelForceAtRelPos (_id, fx, fy, fz, px, py, pz); }
|
||||
|
||||
void getRelPointPos (dReal px, dReal py, dReal pz, dVector3 result)
|
||||
{ dBodyGetRelPointPos (_id, px, py, pz, result); }
|
||||
void getRelPointVel (dReal px, dReal py, dReal pz, dVector3 result)
|
||||
{ dBodyGetRelPointVel (_id, px, py, pz, result); }
|
||||
|
||||
int isConnectedTo (const dBody &b)
|
||||
{ return dAreConnected (_id,b._id); }
|
||||
};
|
||||
|
||||
|
||||
class dJointGroup {
|
||||
dJointGroupID _id;
|
||||
|
||||
dJointGroup (dJointGroup &) { dDebug (0,"bad"); }
|
||||
void operator= (dJointGroup &) { dDebug (0,"bad"); }
|
||||
|
||||
public:
|
||||
dJointGroup()
|
||||
{ _id = 0; }
|
||||
dJointGroup (int max_size)
|
||||
{ _id = dJointGroupCreate (max_size); }
|
||||
~dJointGroup()
|
||||
{ dJointGroupDestroy (_id); }
|
||||
void create (int max_size)
|
||||
{ if (_id) dJointGroupDestroy (_id); _id = dJointGroupCreate (max_size); }
|
||||
dJointGroupID id()
|
||||
{ return _id; }
|
||||
|
||||
void empty()
|
||||
{ dJointGroupEmpty (_id); }
|
||||
};
|
||||
|
||||
|
||||
class dJoint {
|
||||
dJointID _id;
|
||||
|
||||
dJoint (dJoint &) { dDebug (0,"bad"); }
|
||||
void operator= (dJoint &) { dDebug (0,"bad"); }
|
||||
|
||||
public:
|
||||
dJoint()
|
||||
{ _id = 0; }
|
||||
~dJoint()
|
||||
{ dJointDestroy (_id); }
|
||||
dJointID id()
|
||||
{ return _id; }
|
||||
|
||||
void createBall (dWorld &world, dJointGroup *group=0) {
|
||||
if (_id) dJointDestroy (_id);
|
||||
_id = dJointCreateBall (world.id(), group ? group->id() : 0);
|
||||
}
|
||||
void createHinge (dWorld &world, dJointGroup *group=0) {
|
||||
if (_id) dJointDestroy (_id);
|
||||
_id = dJointCreateHinge (world.id(), group ? group->id() : 0);
|
||||
}
|
||||
void createSlider (dWorld &world, dJointGroup *group=0) {
|
||||
if (_id) dJointDestroy (_id);
|
||||
_id = dJointCreateSlider (world.id(), group ? group->id() : 0);
|
||||
}
|
||||
void createContact (dWorld &world, dJointGroup *group, dContact *contact) {
|
||||
if (_id) dJointDestroy (_id);
|
||||
_id = dJointCreateContact (world.id(), group ? group->id() : 0, contact);
|
||||
}
|
||||
|
||||
void attach (dBody &body1, dBody &body2)
|
||||
{ dJointAttach (_id, body1.id(), body2.id()); }
|
||||
|
||||
void setBallAnchor (dReal x, dReal y, dReal z)
|
||||
{ dJointSetBallAnchor (_id, x, y, z); }
|
||||
void setHingeAnchor (dReal x, dReal y, dReal z)
|
||||
{ dJointSetHingeAnchor (_id, x, y, z); }
|
||||
|
||||
void setHingeAxis (dReal x, dReal y, dReal z)
|
||||
{ dJointSetHingeAxis (_id, x, y, z); }
|
||||
void setSliderAxis (dReal x, dReal y, dReal z)
|
||||
{ dJointSetSliderAxis (_id, x, y, z); }
|
||||
|
||||
void getBallAnchor (dVector3 result)
|
||||
{ dJointGetBallAnchor (_id, result); }
|
||||
void getHingeAnchor (dVector3 result)
|
||||
{ dJointGetHingeAnchor (_id, result); }
|
||||
|
||||
void getHingeAxis (dVector3 result)
|
||||
{ dJointGetHingeAxis (_id, result); }
|
||||
void getSliderAxis (dVector3 result)
|
||||
{ dJointGetSliderAxis (_id, result); }
|
||||
};
|
||||
|
||||
|
||||
class dSpace {
|
||||
dSpaceID _id;
|
||||
|
||||
dSpace (dSpace &) { dDebug (0,"bad"); }
|
||||
void operator= (dSpace &) { dDebug (0,"bad"); }
|
||||
|
||||
public:
|
||||
dSpace ()
|
||||
{ _id = dHashSpaceCreate(); }
|
||||
~dSpace()
|
||||
{ dSpaceDestroy (_id); }
|
||||
dSpaceID id()
|
||||
{ return _id; }
|
||||
void collide (void *data, dNearCallback *callback)
|
||||
{ dSpaceCollide (_id,data,callback); }
|
||||
};
|
||||
|
||||
|
||||
class dGeom {
|
||||
dGeomID _id;
|
||||
|
||||
dGeom (dGeom &) { dDebug (0,"bad"); }
|
||||
void operator= (dGeom &) { dDebug (0,"bad"); }
|
||||
|
||||
public:
|
||||
dGeom()
|
||||
{ _id = 0; }
|
||||
~dGeom()
|
||||
{ dGeomDestroy (_id); }
|
||||
dGeomID id()
|
||||
{ return _id; }
|
||||
|
||||
void createSphere (dSpace &space, dReal radius) {
|
||||
if (_id) dGeomDestroy (_id);
|
||||
_id = dCreateSphere (space.id(),radius);
|
||||
}
|
||||
|
||||
void createBox (dSpace &space, dReal lx, dReal ly, dReal lz) {
|
||||
if (_id) dGeomDestroy (_id);
|
||||
_id = dCreateBox (space.id(),lx,ly,lz);
|
||||
}
|
||||
|
||||
void createPlane (dSpace &space, dReal a, dReal b, dReal c, dReal d) {
|
||||
if (_id) dGeomDestroy (_id);
|
||||
_id = dCreatePlane (space.id(),a,b,c,d);
|
||||
}
|
||||
|
||||
void createCCylinder (dSpace &space, dReal radius, dReal length) {
|
||||
if (_id) dGeomDestroy (_id);
|
||||
_id = dCreateCCylinder (space.id(),radius,length);
|
||||
}
|
||||
|
||||
void destroy() {
|
||||
if (_id) dGeomDestroy (_id);
|
||||
_id = 0;
|
||||
}
|
||||
|
||||
int getClass()
|
||||
{ return dGeomGetClass (_id); }
|
||||
|
||||
dReal sphereGetRadius()
|
||||
{ return dGeomSphereGetRadius (_id); }
|
||||
|
||||
void boxGetLengths (dVector3 result)
|
||||
{ dGeomBoxGetLengths (_id,result); }
|
||||
|
||||
void planeGetParams (dVector4 result)
|
||||
{ dGeomPlaneGetParams (_id,result); }
|
||||
|
||||
void CCylinderGetParams (dReal *radius, dReal *length)
|
||||
{ dGeomCCylinderGetParams (_id,radius,length); }
|
||||
|
||||
void setData (void *data)
|
||||
{ dGeomSetData (_id,data); }
|
||||
|
||||
void *getData()
|
||||
{ return dGeomGetData (_id); }
|
||||
|
||||
void setBody (dBody &b)
|
||||
{ dGeomSetBody (_id,b.id()); }
|
||||
void setBody (dBodyID b)
|
||||
{ dGeomSetBody (_id,b); }
|
||||
|
||||
dBodyID getBody()
|
||||
{ return dGeomGetBody (_id); }
|
||||
|
||||
void setPosition (dReal x, dReal y, dReal z)
|
||||
{ dGeomSetPosition (_id,x,y,z); }
|
||||
|
||||
void setRotation (const dMatrix3 R)
|
||||
{ dGeomSetRotation (_id,R); }
|
||||
|
||||
const dReal * getPosition()
|
||||
{ return dGeomGetPosition (_id); }
|
||||
|
||||
const dReal * getRotation()
|
||||
{ return dGeomGetRotation (_id); }
|
||||
};
|
||||
|
||||
|
||||
#endif
|
||||
#endif
|
||||
258
Extras/ode/include/ode/odemath.h
Normal file
258
Extras/ode/include/ode/odemath.h
Normal file
@@ -0,0 +1,258 @@
|
||||
/*************************************************************************
|
||||
* *
|
||||
* Open Dynamics Engine, Copyright (C) 2001,2002 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. *
|
||||
* *
|
||||
*************************************************************************/
|
||||
|
||||
#ifndef _ODE_ODEMATH_H_
|
||||
#define _ODE_ODEMATH_H_
|
||||
|
||||
#include <ode/common.h>
|
||||
|
||||
#ifdef __GNUC__
|
||||
#define PURE_INLINE extern inline
|
||||
#else
|
||||
#define PURE_INLINE inline
|
||||
#endif
|
||||
|
||||
/*
|
||||
* macro to access elements i,j in an NxM matrix A, independent of the
|
||||
* matrix storage convention.
|
||||
*/
|
||||
#define dACCESS33(A,i,j) ((A)[(i)*4+(j)])
|
||||
|
||||
|
||||
/*
|
||||
* 3-way dot product. dDOTpq means that elements of `a' and `b' are spaced
|
||||
* p and q indexes apart respectively. dDOT() means dDOT11.
|
||||
* in C++ we could use function templates to get all the versions of these
|
||||
* functions - but on some compilers this will result in sub-optimal code.
|
||||
*/
|
||||
|
||||
#define dDOTpq(a,b,p,q) ((a)[0]*(b)[0] + (a)[p]*(b)[q] + (a)[2*(p)]*(b)[2*(q)])
|
||||
|
||||
#ifdef __cplusplus
|
||||
|
||||
PURE_INLINE dReal dDOT (const dReal *a, const dReal *b) { return dDOTpq(a,b,1,1); }
|
||||
PURE_INLINE dReal dDOT13 (const dReal *a, const dReal *b) { return dDOTpq(a,b,1,3); }
|
||||
PURE_INLINE dReal dDOT31 (const dReal *a, const dReal *b) { return dDOTpq(a,b,3,1); }
|
||||
PURE_INLINE dReal dDOT33 (const dReal *a, const dReal *b) { return dDOTpq(a,b,3,3); }
|
||||
PURE_INLINE dReal dDOT14 (const dReal *a, const dReal *b) { return dDOTpq(a,b,1,4); }
|
||||
PURE_INLINE dReal dDOT41 (const dReal *a, const dReal *b) { return dDOTpq(a,b,4,1); }
|
||||
PURE_INLINE dReal dDOT44 (const dReal *a, const dReal *b) { return dDOTpq(a,b,4,4); }
|
||||
|
||||
#else
|
||||
|
||||
#define dDOT(a,b) dDOTpq(a,b,1,1)
|
||||
#define dDOT13(a,b) dDOTpq(a,b,1,3)
|
||||
#define dDOT31(a,b) dDOTpq(a,b,3,1)
|
||||
#define dDOT33(a,b) dDOTpq(a,b,3,3)
|
||||
#define dDOT14(a,b) dDOTpq(a,b,1,4)
|
||||
#define dDOT41(a,b) dDOTpq(a,b,4,1)
|
||||
#define dDOT44(a,b) dDOTpq(a,b,4,4)
|
||||
|
||||
#endif /* __cplusplus */
|
||||
|
||||
|
||||
/*
|
||||
* cross product, set a = b x c. dCROSSpqr means that elements of `a', `b'
|
||||
* and `c' are spaced p, q and r indexes apart respectively.
|
||||
* dCROSS() means dCROSS111. `op' is normally `=', but you can set it to
|
||||
* +=, -= etc to get other effects.
|
||||
*/
|
||||
|
||||
#define dCROSS(a,op,b,c) \
|
||||
do { \
|
||||
(a)[0] op ((b)[1]*(c)[2] - (b)[2]*(c)[1]); \
|
||||
(a)[1] op ((b)[2]*(c)[0] - (b)[0]*(c)[2]); \
|
||||
(a)[2] op ((b)[0]*(c)[1] - (b)[1]*(c)[0]); \
|
||||
} while(0)
|
||||
#define dCROSSpqr(a,op,b,c,p,q,r) \
|
||||
do { \
|
||||
(a)[ 0] op ((b)[ q]*(c)[2*r] - (b)[2*q]*(c)[ r]); \
|
||||
(a)[ p] op ((b)[2*q]*(c)[ 0] - (b)[ 0]*(c)[2*r]); \
|
||||
(a)[2*p] op ((b)[ 0]*(c)[ r] - (b)[ q]*(c)[ 0]); \
|
||||
} while(0)
|
||||
#define dCROSS114(a,op,b,c) dCROSSpqr(a,op,b,c,1,1,4)
|
||||
#define dCROSS141(a,op,b,c) dCROSSpqr(a,op,b,c,1,4,1)
|
||||
#define dCROSS144(a,op,b,c) dCROSSpqr(a,op,b,c,1,4,4)
|
||||
#define dCROSS411(a,op,b,c) dCROSSpqr(a,op,b,c,4,1,1)
|
||||
#define dCROSS414(a,op,b,c) dCROSSpqr(a,op,b,c,4,1,4)
|
||||
#define dCROSS441(a,op,b,c) dCROSSpqr(a,op,b,c,4,4,1)
|
||||
#define dCROSS444(a,op,b,c) dCROSSpqr(a,op,b,c,4,4,4)
|
||||
|
||||
|
||||
/*
|
||||
* set a 3x3 submatrix of A to a matrix such that submatrix(A)*b = a x b.
|
||||
* A is stored by rows, and has `skip' elements per row. the matrix is
|
||||
* assumed to be already zero, so this does not write zero elements!
|
||||
* if (plus,minus) is (+,-) then a positive version will be written.
|
||||
* if (plus,minus) is (-,+) then a negative version will be written.
|
||||
*/
|
||||
|
||||
#define dCROSSMAT(A,a,skip,plus,minus) \
|
||||
do { \
|
||||
(A)[1] = minus (a)[2]; \
|
||||
(A)[2] = plus (a)[1]; \
|
||||
(A)[(skip)+0] = plus (a)[2]; \
|
||||
(A)[(skip)+2] = minus (a)[0]; \
|
||||
(A)[2*(skip)+0] = minus (a)[1]; \
|
||||
(A)[2*(skip)+1] = plus (a)[0]; \
|
||||
} while(0)
|
||||
|
||||
|
||||
/*
|
||||
* compute the distance between two 3-vectors
|
||||
*/
|
||||
|
||||
#ifdef __cplusplus
|
||||
PURE_INLINE float dDISTANCE (const float a[3], const float b[3])
|
||||
{ return (float) dSqrt( (a[0]-b[0])*(a[0]-b[0]) + (a[1]-b[1])*(a[1]-b[1]) + (a[2]-b[2])*(a[2]-b[2]) ); }
|
||||
PURE_INLINE double dDISTANCE (const double a[3], const double b[3])
|
||||
{ return dSqrt( (a[0]-b[0])*(a[0]-b[0]) + (a[1]-b[1])*(a[1]-b[1]) + (a[2]-b[2])*(a[2]-b[2]) ); }
|
||||
#else
|
||||
#define dDISTANCE(a,b) \
|
||||
(dSqrt( ((a)[0]-(b)[0])*((a)[0]-(b)[0]) + ((a)[1]-(b)[1])*((a)[1]-(b)[1]) + ((a)[2]-(b)[2])*((a)[2]-(b)[2]) ))
|
||||
#endif
|
||||
|
||||
|
||||
/*
|
||||
* special case matrix multipication, with operator selection
|
||||
*/
|
||||
|
||||
#define dMULTIPLYOP0_331(A,op,B,C) \
|
||||
do { \
|
||||
(A)[0] op dDOT((B),(C)); \
|
||||
(A)[1] op dDOT((B+4),(C)); \
|
||||
(A)[2] op dDOT((B+8),(C)); \
|
||||
} while(0)
|
||||
#define dMULTIPLYOP1_331(A,op,B,C) \
|
||||
do { \
|
||||
(A)[0] op dDOT41((B),(C)); \
|
||||
(A)[1] op dDOT41((B+1),(C)); \
|
||||
(A)[2] op dDOT41((B+2),(C)); \
|
||||
} while(0)
|
||||
#define dMULTIPLYOP0_133(A,op,B,C) \
|
||||
do { \
|
||||
(A)[0] op dDOT14((B),(C)); \
|
||||
(A)[1] op dDOT14((B),(C+1)); \
|
||||
(A)[2] op dDOT14((B),(C+2)); \
|
||||
} while(0)
|
||||
#define dMULTIPLYOP0_333(A,op,B,C) \
|
||||
do { \
|
||||
(A)[0] op dDOT14((B),(C)); \
|
||||
(A)[1] op dDOT14((B),(C+1)); \
|
||||
(A)[2] op dDOT14((B),(C+2)); \
|
||||
(A)[4] op dDOT14((B+4),(C)); \
|
||||
(A)[5] op dDOT14((B+4),(C+1)); \
|
||||
(A)[6] op dDOT14((B+4),(C+2)); \
|
||||
(A)[8] op dDOT14((B+8),(C)); \
|
||||
(A)[9] op dDOT14((B+8),(C+1)); \
|
||||
(A)[10] op dDOT14((B+8),(C+2)); \
|
||||
} while(0)
|
||||
#define dMULTIPLYOP1_333(A,op,B,C) \
|
||||
do { \
|
||||
(A)[0] op dDOT44((B),(C)); \
|
||||
(A)[1] op dDOT44((B),(C+1)); \
|
||||
(A)[2] op dDOT44((B),(C+2)); \
|
||||
(A)[4] op dDOT44((B+1),(C)); \
|
||||
(A)[5] op dDOT44((B+1),(C+1)); \
|
||||
(A)[6] op dDOT44((B+1),(C+2)); \
|
||||
(A)[8] op dDOT44((B+2),(C)); \
|
||||
(A)[9] op dDOT44((B+2),(C+1)); \
|
||||
(A)[10] op dDOT44((B+2),(C+2)); \
|
||||
} while(0)
|
||||
#define dMULTIPLYOP2_333(A,op,B,C) \
|
||||
do { \
|
||||
(A)[0] op dDOT((B),(C)); \
|
||||
(A)[1] op dDOT((B),(C+4)); \
|
||||
(A)[2] op dDOT((B),(C+8)); \
|
||||
(A)[4] op dDOT((B+4),(C)); \
|
||||
(A)[5] op dDOT((B+4),(C+4)); \
|
||||
(A)[6] op dDOT((B+4),(C+8)); \
|
||||
(A)[8] op dDOT((B+8),(C)); \
|
||||
(A)[9] op dDOT((B+8),(C+4)); \
|
||||
(A)[10] op dDOT((B+8),(C+8)); \
|
||||
} while(0)
|
||||
|
||||
#ifdef __cplusplus
|
||||
|
||||
#define DECL template <class TA, class TB, class TC> PURE_INLINE void
|
||||
|
||||
DECL dMULTIPLY0_331(TA *A, const TB *B, const TC *C) { dMULTIPLYOP0_331(A,=,B,C); }
|
||||
DECL dMULTIPLY1_331(TA *A, const TB *B, const TC *C) { dMULTIPLYOP1_331(A,=,B,C); }
|
||||
DECL dMULTIPLY0_133(TA *A, const TB *B, const TC *C) { dMULTIPLYOP0_133(A,=,B,C); }
|
||||
DECL dMULTIPLY0_333(TA *A, const TB *B, const TC *C) { dMULTIPLYOP0_333(A,=,B,C); }
|
||||
DECL dMULTIPLY1_333(TA *A, const TB *B, const TC *C) { dMULTIPLYOP1_333(A,=,B,C); }
|
||||
DECL dMULTIPLY2_333(TA *A, const TB *B, const TC *C) { dMULTIPLYOP2_333(A,=,B,C); }
|
||||
|
||||
DECL dMULTIPLYADD0_331(TA *A, const TB *B, const TC *C) { dMULTIPLYOP0_331(A,+=,B,C); }
|
||||
DECL dMULTIPLYADD1_331(TA *A, const TB *B, const TC *C) { dMULTIPLYOP1_331(A,+=,B,C); }
|
||||
DECL dMULTIPLYADD0_133(TA *A, const TB *B, const TC *C) { dMULTIPLYOP0_133(A,+=,B,C); }
|
||||
DECL dMULTIPLYADD0_333(TA *A, const TB *B, const TC *C) { dMULTIPLYOP0_333(A,+=,B,C); }
|
||||
DECL dMULTIPLYADD1_333(TA *A, const TB *B, const TC *C) { dMULTIPLYOP1_333(A,+=,B,C); }
|
||||
DECL dMULTIPLYADD2_333(TA *A, const TB *B, const TC *C) { dMULTIPLYOP2_333(A,+=,B,C); }
|
||||
|
||||
#undef DECL
|
||||
|
||||
#else
|
||||
|
||||
#define dMULTIPLY0_331(A,B,C) dMULTIPLYOP0_331(A,=,B,C)
|
||||
#define dMULTIPLY1_331(A,B,C) dMULTIPLYOP1_331(A,=,B,C)
|
||||
#define dMULTIPLY0_133(A,B,C) dMULTIPLYOP0_133(A,=,B,C)
|
||||
#define dMULTIPLY0_333(A,B,C) dMULTIPLYOP0_333(A,=,B,C)
|
||||
#define dMULTIPLY1_333(A,B,C) dMULTIPLYOP1_333(A,=,B,C)
|
||||
#define dMULTIPLY2_333(A,B,C) dMULTIPLYOP2_333(A,=,B,C)
|
||||
|
||||
#define dMULTIPLYADD0_331(A,B,C) dMULTIPLYOP0_331(A,+=,B,C)
|
||||
#define dMULTIPLYADD1_331(A,B,C) dMULTIPLYOP1_331(A,+=,B,C)
|
||||
#define dMULTIPLYADD0_133(A,B,C) dMULTIPLYOP0_133(A,+=,B,C)
|
||||
#define dMULTIPLYADD0_333(A,B,C) dMULTIPLYOP0_333(A,+=,B,C)
|
||||
#define dMULTIPLYADD1_333(A,B,C) dMULTIPLYOP1_333(A,+=,B,C)
|
||||
#define dMULTIPLYADD2_333(A,B,C) dMULTIPLYOP2_333(A,+=,B,C)
|
||||
|
||||
#endif
|
||||
|
||||
|
||||
#ifdef __cplusplus
|
||||
extern "C" {
|
||||
#endif
|
||||
|
||||
/*
|
||||
* normalize 3x1 and 4x1 vectors (i.e. scale them to unit length)
|
||||
*/
|
||||
void dNormalize3 (dVector3 a);
|
||||
void dNormalize4 (dVector4 a);
|
||||
|
||||
|
||||
/*
|
||||
* given a unit length "normal" vector n, generate vectors p and q vectors
|
||||
* that are an orthonormal basis for the plane space perpendicular to n.
|
||||
* i.e. this makes p,q such that n,p,q are all perpendicular to each other.
|
||||
* q will equal n x p. if n is not unit length then p will be unit length but
|
||||
* q wont be.
|
||||
*/
|
||||
|
||||
void dPlaneSpace (const dVector3 n, dVector3 p, dVector3 q);
|
||||
|
||||
#ifdef __cplusplus
|
||||
}
|
||||
#endif
|
||||
|
||||
#endif
|
||||
70
Extras/ode/include/ode/rotation.h
Normal file
70
Extras/ode/include/ode/rotation.h
Normal file
@@ -0,0 +1,70 @@
|
||||
/*************************************************************************
|
||||
* *
|
||||
* Open Dynamics Engine, Copyright (C) 2001,2002 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. *
|
||||
* *
|
||||
*************************************************************************/
|
||||
|
||||
#ifndef _ODE_ROTATION_H_
|
||||
#define _ODE_ROTATION_H_
|
||||
|
||||
#include <ode/common.h>
|
||||
#include <ode/compatibility.h>
|
||||
|
||||
#ifdef __cplusplus
|
||||
extern "C" {
|
||||
#endif
|
||||
|
||||
|
||||
void dRSetIdentity (dMatrix3 R);
|
||||
|
||||
void dRFromAxisAndAngle (dMatrix3 R, dReal ax, dReal ay, dReal az,
|
||||
dReal angle);
|
||||
|
||||
void dRFromEulerAngles (dMatrix3 R, dReal phi, dReal theta, dReal psi);
|
||||
|
||||
void dRFrom2Axes (dMatrix3 R, dReal ax, dReal ay, dReal az,
|
||||
dReal bx, dReal by, dReal bz);
|
||||
|
||||
void dRFromZAxis (dMatrix3 R, dReal ax, dReal ay, dReal az);
|
||||
|
||||
void dQSetIdentity (dQuaternion q);
|
||||
|
||||
void dQFromAxisAndAngle (dQuaternion q, dReal ax, dReal ay, dReal az,
|
||||
dReal angle);
|
||||
|
||||
/* Quaternion multiplication, analogous to the matrix multiplication routines. */
|
||||
/* qa = rotate by qc, then qb */
|
||||
void dQMultiply0 (dQuaternion qa, const dQuaternion qb, const dQuaternion qc);
|
||||
/* qa = rotate by qc, then by inverse of qb */
|
||||
void dQMultiply1 (dQuaternion qa, const dQuaternion qb, const dQuaternion qc);
|
||||
/* qa = rotate by inverse of qc, then by qb */
|
||||
void dQMultiply2 (dQuaternion qa, const dQuaternion qb, const dQuaternion qc);
|
||||
/* qa = rotate by inverse of qc, then by inverse of qb */
|
||||
void dQMultiply3 (dQuaternion qa, const dQuaternion qb, const dQuaternion qc);
|
||||
|
||||
void dRfromQ (dMatrix3 R, const dQuaternion q);
|
||||
void dQfromR (dQuaternion q, const dMatrix3 R);
|
||||
void dDQfromW (dReal dq[4], const dVector3 w, const dQuaternion q);
|
||||
|
||||
|
||||
#ifdef __cplusplus
|
||||
}
|
||||
#endif
|
||||
|
||||
#endif
|
||||
76
Extras/ode/include/ode/timer.h
Normal file
76
Extras/ode/include/ode/timer.h
Normal file
@@ -0,0 +1,76 @@
|
||||
/*************************************************************************
|
||||
* *
|
||||
* Open Dynamics Engine, Copyright (C) 2001,2002 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. *
|
||||
* *
|
||||
*************************************************************************/
|
||||
|
||||
#ifndef _ODE_TIMER_H_
|
||||
#define _ODE_TIMER_H_
|
||||
|
||||
#include <ode/config.h>
|
||||
|
||||
#ifdef __cplusplus
|
||||
extern "C" {
|
||||
#endif
|
||||
|
||||
|
||||
/* stop watch objects */
|
||||
|
||||
typedef struct dStopwatch {
|
||||
double time; /* total clock count */
|
||||
unsigned long cc[2]; /* clock count since last `start' */
|
||||
} dStopwatch;
|
||||
|
||||
void dStopwatchReset (dStopwatch *);
|
||||
void dStopwatchStart (dStopwatch *);
|
||||
void dStopwatchStop (dStopwatch *);
|
||||
double dStopwatchTime (dStopwatch *); /* returns total time in secs */
|
||||
|
||||
|
||||
/* code timers */
|
||||
|
||||
void dTimerStart (const char *description); /* pass a static string here */
|
||||
void dTimerNow (const char *description); /* pass a static string here */
|
||||
void dTimerEnd(void);
|
||||
|
||||
/* print out a timer report. if `average' is nonzero, print out the average
|
||||
* time for each slot (this is only meaningful if the same start-now-end
|
||||
* calls are being made repeatedly.
|
||||
*/
|
||||
void dTimerReport (FILE *fout, int average);
|
||||
|
||||
|
||||
/* resolution */
|
||||
|
||||
/* returns the timer ticks per second implied by the timing hardware or API.
|
||||
* the actual timer resolution may not be this great.
|
||||
*/
|
||||
double dTimerTicksPerSecond(void);
|
||||
|
||||
/* returns an estimate of the actual timer resolution, in seconds. this may
|
||||
* be greater than 1/ticks_per_second.
|
||||
*/
|
||||
double dTimerResolution(void);
|
||||
|
||||
|
||||
#ifdef __cplusplus
|
||||
}
|
||||
#endif
|
||||
|
||||
#endif
|
||||
80
Extras/ode/ode/src/array.cpp
Normal file
80
Extras/ode/ode/src/array.cpp
Normal file
@@ -0,0 +1,80 @@
|
||||
/*************************************************************************
|
||||
* *
|
||||
* Open Dynamics Engine, Copyright (C) 2001,2002 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. *
|
||||
* *
|
||||
*************************************************************************/
|
||||
|
||||
#include <ode/config.h>
|
||||
#include <ode/memory.h>
|
||||
#include <ode/error.h>
|
||||
#include "array.h"
|
||||
|
||||
|
||||
static inline int roundUpToPowerOfTwo (int x)
|
||||
{
|
||||
int i = 1;
|
||||
while (i < x) i <<= 1;
|
||||
return i;
|
||||
}
|
||||
|
||||
|
||||
void dArrayBase::_freeAll (int sizeofT)
|
||||
{
|
||||
if (_data) {
|
||||
if (_data == this+1) return; // if constructLocalArray() was called
|
||||
dFree (_data,_anum * sizeofT);
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
void dArrayBase::_setSize (int newsize, int sizeofT)
|
||||
{
|
||||
if (newsize < 0) return;
|
||||
if (newsize > _anum) {
|
||||
if (_data == this+1) {
|
||||
// this is a no-no, because constructLocalArray() was called
|
||||
dDebug (0,"setSize() out of space in LOCAL array");
|
||||
}
|
||||
int newanum = roundUpToPowerOfTwo (newsize);
|
||||
if (_data) _data = dRealloc (_data, _anum*sizeofT, newanum*sizeofT);
|
||||
else _data = dAlloc (newanum*sizeofT);
|
||||
_anum = newanum;
|
||||
}
|
||||
_size = newsize;
|
||||
}
|
||||
|
||||
|
||||
void * dArrayBase::operator new (size_t size)
|
||||
{
|
||||
return dAlloc (size);
|
||||
}
|
||||
|
||||
|
||||
void dArrayBase::operator delete (void *ptr, size_t size)
|
||||
{
|
||||
dFree (ptr,size);
|
||||
}
|
||||
|
||||
|
||||
void dArrayBase::constructLocalArray (int __anum)
|
||||
{
|
||||
_size = 0;
|
||||
_anum = __anum;
|
||||
_data = this+1;
|
||||
}
|
||||
135
Extras/ode/ode/src/array.h
Normal file
135
Extras/ode/ode/src/array.h
Normal file
@@ -0,0 +1,135 @@
|
||||
/*************************************************************************
|
||||
* *
|
||||
* Open Dynamics Engine, Copyright (C) 2001,2002 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. *
|
||||
* *
|
||||
*************************************************************************/
|
||||
|
||||
/* this comes from the `reuse' library. copy any changes back to the source.
|
||||
*
|
||||
* Variable sized array template. The array is always stored in a contiguous
|
||||
* chunk. The array can be resized. A size increase will cause more memory
|
||||
* to be allocated, and may result in relocation of the array memory.
|
||||
* A size decrease has no effect on the memory allocation.
|
||||
*
|
||||
* Array elements with constructors or destructors are not supported!
|
||||
* But if you must have such elements, here's what to know/do:
|
||||
* - Bitwise copy is used when copying whole arrays.
|
||||
* - When copying individual items (via push(), insert() etc) the `='
|
||||
* (equals) operator is used. Thus you should define this operator to do
|
||||
* a bitwise copy. You should probably also define the copy constructor.
|
||||
*/
|
||||
|
||||
|
||||
#ifndef _ODE_ARRAY_H_
|
||||
#define _ODE_ARRAY_H_
|
||||
|
||||
#include <ode/config.h>
|
||||
|
||||
|
||||
// this base class has no constructors or destructor, for your convenience.
|
||||
|
||||
class dArrayBase {
|
||||
protected:
|
||||
int _size; // number of elements in `data'
|
||||
int _anum; // allocated number of elements in `data'
|
||||
void *_data; // array data
|
||||
|
||||
void _freeAll (int sizeofT);
|
||||
void _setSize (int newsize, int sizeofT);
|
||||
// set the array size to `newsize', allocating more memory if necessary.
|
||||
// if newsize>_anum and is a power of two then this is guaranteed to
|
||||
// set _size and _anum to newsize.
|
||||
|
||||
public:
|
||||
// not: dArrayBase () { _size=0; _anum=0; _data=0; }
|
||||
|
||||
int size() const { return _size; }
|
||||
int allocatedSize() const { return _anum; }
|
||||
void * operator new (size_t size);
|
||||
void operator delete (void *ptr, size_t size);
|
||||
|
||||
void constructor() { _size=0; _anum=0; _data=0; }
|
||||
// if this structure is allocated with malloc() instead of new, you can
|
||||
// call this to set it up.
|
||||
|
||||
void constructLocalArray (int __anum);
|
||||
// this helper function allows non-reallocating arrays to be constructed
|
||||
// on the stack (or in the heap if necessary). this is something of a
|
||||
// kludge and should be used with extreme care. this function acts like
|
||||
// a constructor - it is called on uninitialized memory that will hold the
|
||||
// Array structure and the data. __anum is the number of elements that
|
||||
// are allocated. the memory MUST be allocated with size:
|
||||
// sizeof(ArrayBase) + __anum*sizeof(T)
|
||||
// arrays allocated this way will never try to reallocate or free the
|
||||
// memory - that's your job.
|
||||
};
|
||||
|
||||
|
||||
template <class T> class dArray : public dArrayBase {
|
||||
public:
|
||||
void equals (const dArray<T> &x) {
|
||||
setSize (x.size());
|
||||
memcpy (_data,x._data,x._size * sizeof(T));
|
||||
}
|
||||
|
||||
dArray () { constructor(); }
|
||||
dArray (const dArray<T> &x) { constructor(); equals (x); }
|
||||
~dArray () { _freeAll(sizeof(T)); }
|
||||
void setSize (int newsize) { _setSize (newsize,sizeof(T)); }
|
||||
T *data() const { return (T*) _data; }
|
||||
T & operator[] (int i) const { return ((T*)_data)[i]; }
|
||||
void operator = (const dArray<T> &x) { equals (x); }
|
||||
|
||||
void push (const T item) {
|
||||
if (_size < _anum) _size++; else _setSize (_size+1,sizeof(T));
|
||||
memcpy (&(((T*)_data)[_size-1]), &item, sizeof(T));
|
||||
}
|
||||
|
||||
void swap (dArray<T> &x) {
|
||||
int tmp1;
|
||||
void *tmp2;
|
||||
tmp1=_size; _size=x._size; x._size=tmp1;
|
||||
tmp1=_anum; _anum=x._anum; x._anum=tmp1;
|
||||
tmp2=_data; _data=x._data; x._data=tmp2;
|
||||
}
|
||||
|
||||
// insert the item at the position `i'. if i<0 then add the item to the
|
||||
// start, if i >= size then add the item to the end of the array.
|
||||
void insert (int i, const T item) {
|
||||
if (_size < _anum) _size++; else _setSize (_size+1,sizeof(T));
|
||||
if (i >= (_size-1)) i = _size-1; // add to end
|
||||
else {
|
||||
if (i < 0) i=0; // add to start
|
||||
int n = _size-1-i;
|
||||
if (n>0) memmove (((T*)_data) + i+1, ((T*)_data) + i, n*sizeof(T));
|
||||
}
|
||||
((T*)_data)[i] = item;
|
||||
}
|
||||
|
||||
void remove (int i) {
|
||||
if (i >= 0 && i < _size) { // passing this test guarantees size>0
|
||||
int n = _size-1-i;
|
||||
if (n>0) memmove (((T*)_data) + i, ((T*)_data) + i+1, n*sizeof(T));
|
||||
_size--;
|
||||
}
|
||||
}
|
||||
};
|
||||
|
||||
|
||||
#endif
|
||||
122
Extras/ode/ode/src/collision_convex.cpp
Normal file
122
Extras/ode/ode/src/collision_convex.cpp
Normal file
@@ -0,0 +1,122 @@
|
||||
/*************************************************************************
|
||||
* *
|
||||
* 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. *
|
||||
* *
|
||||
*************************************************************************/
|
||||
|
||||
// Convex collision detection (Bullet GJK) by Erwin Coumans, http://www.continuousphysics.com/Bullet/
|
||||
//
|
||||
// Convex Integration is work in progress, so most users can ignore this file!
|
||||
// Report suggestions/bugs in Bullet forum:
|
||||
// http://www.continuousphysics.com/Bullet/phpBB2/
|
||||
//
|
||||
|
||||
#ifdef BULLET_CONVEX_SUPPORT
|
||||
|
||||
#include "collision_convex_internal.h"
|
||||
#include <CollisionShapes/CollisionShape.h>
|
||||
#include "BulletOdeTransformConvert.h"
|
||||
#include "BulletOdeCollide.h"
|
||||
|
||||
//****************************************************************************
|
||||
// convex object public API
|
||||
|
||||
int dCollideConvexConvex(dxGeom *o1, dxGeom *o2, int flags,
|
||||
dContactGeom *contact, int skip)
|
||||
{
|
||||
dIASSERT (skip >= (int)sizeof(dContactGeom));
|
||||
|
||||
contact->g1 = o1;
|
||||
contact->g2 = o2;
|
||||
|
||||
return BulletOdeCollide(o1,o2,contact,flags & NUMC_MASK,skip);
|
||||
}
|
||||
|
||||
dxConvex::dxConvex (dSpaceID space, class CollisionShape* shape) : dxGeom (space,1)
|
||||
{
|
||||
type = dConvexClass;
|
||||
m_bulletCollisionShape = shape;
|
||||
}
|
||||
|
||||
|
||||
void GetAabbFromConvex(dGeomID geom,dVector3 halfExtents,dVector3 aabbCenter)
|
||||
{
|
||||
|
||||
CollisionShape* shape = GetCollisionShapeFromConvex(geom);
|
||||
SimdVector3 aabbMin,aabbMax;
|
||||
|
||||
SimdTransform tr;
|
||||
tr.setIdentity();
|
||||
|
||||
shape->GetAabb(tr,aabbMin,aabbMax);
|
||||
SimdVector3 aabbHalfExtents = (aabbMax-aabbMin)*0.5f;
|
||||
SimdVector3 center = (aabbMax+aabbMin)*0.5f;
|
||||
|
||||
halfExtents[0] = aabbHalfExtents[0];
|
||||
halfExtents[1] = aabbHalfExtents[1];
|
||||
halfExtents[2] = aabbHalfExtents[2];
|
||||
|
||||
aabbCenter[0] = center [0];
|
||||
aabbCenter[1] = center [1];
|
||||
aabbCenter[2] = center [2];
|
||||
|
||||
}
|
||||
|
||||
|
||||
void dxConvex::computeAABB()
|
||||
{
|
||||
dReal xrange = 1e30;
|
||||
dReal yrange = 1e30f;
|
||||
dReal zrange = 1e30f;
|
||||
CollisionShape* shape = GetCollisionShapeFromConvex(this);
|
||||
|
||||
SimdVector3 aabbMin,aabbMax;
|
||||
SimdTransform tr = GetTransformFromGeom(this);
|
||||
shape->GetAabb(tr,aabbMin,aabbMax);
|
||||
|
||||
aabb[0] = aabbMin[0];
|
||||
aabb[1] = aabbMax[0];
|
||||
aabb[2] = aabbMin[1];
|
||||
aabb[3] = aabbMax[1];
|
||||
aabb[4] = aabbMin[2];
|
||||
aabb[5] = aabbMax[2];
|
||||
}
|
||||
|
||||
void dGeomConvexGetLengths(dGeomID convex, dVector3 result)
|
||||
{
|
||||
dUASSERT (convex && convex->type == dConvexClass,"argument not a convex");
|
||||
dxConvex* cnvx = (dxConvex*) convex;
|
||||
|
||||
dVector3 center;
|
||||
GetAabbFromConvex(convex,result,center);
|
||||
result[0]*=2.f;
|
||||
result[1]*=2.f;
|
||||
result[2]*=2.f;
|
||||
|
||||
}
|
||||
|
||||
|
||||
|
||||
dGeomID dCreateConvex(dSpaceID space, class CollisionShape* shape)
|
||||
{
|
||||
return new dxConvex(space,shape);
|
||||
}
|
||||
|
||||
|
||||
#endif //BULLET_CONVEX_SUPPORT
|
||||
48
Extras/ode/ode/src/collision_convex_internal.h
Normal file
48
Extras/ode/ode/src/collision_convex_internal.h
Normal file
@@ -0,0 +1,48 @@
|
||||
/*************************************************************************
|
||||
* *
|
||||
* 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. *
|
||||
* *
|
||||
*************************************************************************/
|
||||
|
||||
// Convex (Bullet) GJK code by Erwin Coumans, http://www.continuousphysics.com/Bullet/
|
||||
|
||||
#ifndef COLLISION_CONVEX_INTERNAL_H
|
||||
#define COLLISION_CONVEX_INTERNAL_H
|
||||
|
||||
|
||||
#include <ode/collision.h>
|
||||
#include <ode/matrix.h>
|
||||
#include <ode/rotation.h>
|
||||
#include <ode/odemath.h>
|
||||
#include "collision_util.h"
|
||||
#include "collision_kernel.h"
|
||||
|
||||
//Bullet class
|
||||
class CollisionShape;
|
||||
|
||||
/// General Convex shape support using Bullet GJK
|
||||
struct dxConvex : public dxGeom {
|
||||
class CollisionShape* m_bulletCollisionShape;
|
||||
dxConvex (dSpaceID space, class CollisionShape* shape);
|
||||
void computeAABB();
|
||||
};
|
||||
|
||||
void GetAabbFromConvex(dGeomID geom,dVector3 halfExtents,dVector3 aabbCenter);
|
||||
|
||||
#endif //COLLISION_CONVEX_INTERNAL_H
|
||||
628
Extras/ode/ode/src/collision_kernel.cpp
Normal file
628
Extras/ode/ode/src/collision_kernel.cpp
Normal file
@@ -0,0 +1,628 @@
|
||||
/*************************************************************************
|
||||
* *
|
||||
* 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. *
|
||||
* *
|
||||
*************************************************************************/
|
||||
|
||||
/*
|
||||
|
||||
core collision functions and data structures, plus part of the public API
|
||||
for geometry objects
|
||||
|
||||
*/
|
||||
|
||||
#include <ode/common.h>
|
||||
#include <ode/matrix.h>
|
||||
#include <ode/rotation.h>
|
||||
#include <ode/objects.h>
|
||||
#include "collision_kernel.h"
|
||||
#include "collision_util.h"
|
||||
#include "collision_std.h"
|
||||
#include "collision_transform.h"
|
||||
#include "collision_trimesh_internal.h"
|
||||
|
||||
#ifdef _MSC_VER
|
||||
#pragma warning(disable:4291) // for VC++, no complaints about "no matching operator delete found"
|
||||
#endif
|
||||
|
||||
//****************************************************************************
|
||||
// helper functions for dCollide()ing a space with another geom
|
||||
|
||||
// this struct records the parameters passed to dCollideSpaceGeom()
|
||||
|
||||
struct SpaceGeomColliderData {
|
||||
int flags; // space left in contacts array
|
||||
dContactGeom *contact;
|
||||
int skip;
|
||||
};
|
||||
|
||||
|
||||
static void space_geom_collider (void *data, dxGeom *o1, dxGeom *o2)
|
||||
{
|
||||
SpaceGeomColliderData *d = (SpaceGeomColliderData*) data;
|
||||
if (d->flags & NUMC_MASK) {
|
||||
int n = dCollide (o1,o2,d->flags,d->contact,d->skip);
|
||||
d->contact = CONTACT (d->contact,d->skip*n);
|
||||
d->flags -= n;
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
static int dCollideSpaceGeom (dxGeom *o1, dxGeom *o2, int flags,
|
||||
dContactGeom *contact, int skip)
|
||||
{
|
||||
SpaceGeomColliderData data;
|
||||
data.flags = flags;
|
||||
data.contact = contact;
|
||||
data.skip = skip;
|
||||
dSpaceCollide2 (o1,o2,&data,&space_geom_collider);
|
||||
return (flags & NUMC_MASK) - (data.flags & NUMC_MASK);
|
||||
}
|
||||
|
||||
//****************************************************************************
|
||||
// dispatcher for the N^2 collider functions
|
||||
|
||||
// function pointers and modes for n^2 class collider functions
|
||||
|
||||
struct dColliderEntry {
|
||||
dColliderFn *fn; // collider function, 0 = no function available
|
||||
int reverse; // 1 = reverse o1 and o2
|
||||
};
|
||||
static dColliderEntry colliders[dGeomNumClasses][dGeomNumClasses];
|
||||
static int colliders_initialized = 0;
|
||||
|
||||
|
||||
// setCollider() will refuse to write over a collider entry once it has
|
||||
// been written.
|
||||
|
||||
void setCollider (int i, int j, dColliderFn *fn)
|
||||
{
|
||||
if (colliders[i][j].fn == 0) {
|
||||
colliders[i][j].fn = fn;
|
||||
colliders[i][j].reverse = 0;
|
||||
}
|
||||
if (colliders[j][i].fn == 0) {
|
||||
colliders[j][i].fn = fn;
|
||||
colliders[j][i].reverse = 1;
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
static void setAllColliders (int i, dColliderFn *fn)
|
||||
{
|
||||
for (int j=0; j<dGeomNumClasses; j++) setCollider (i,j,fn);
|
||||
}
|
||||
|
||||
|
||||
static void initColliders()
|
||||
{
|
||||
int i,j;
|
||||
|
||||
if (colliders_initialized) return;
|
||||
colliders_initialized = 1;
|
||||
|
||||
memset (colliders,0,sizeof(colliders));
|
||||
|
||||
// setup space colliders
|
||||
for (i=dFirstSpaceClass; i <= dLastSpaceClass; i++) {
|
||||
for (j=0; j < dGeomNumClasses; j++) {
|
||||
setCollider (i,j,&dCollideSpaceGeom);
|
||||
}
|
||||
}
|
||||
|
||||
setCollider (dSphereClass,dSphereClass,&dCollideSphereSphere);
|
||||
setCollider (dSphereClass,dBoxClass,&dCollideSphereBox);
|
||||
setCollider (dSphereClass,dPlaneClass,&dCollideSpherePlane);
|
||||
setCollider (dBoxClass,dBoxClass,&dCollideBoxBox);
|
||||
setCollider (dBoxClass,dPlaneClass,&dCollideBoxPlane);
|
||||
setCollider (dCCylinderClass,dSphereClass,&dCollideCCylinderSphere);
|
||||
setCollider (dCCylinderClass,dBoxClass,&dCollideCCylinderBox);
|
||||
setCollider (dCCylinderClass,dCCylinderClass,&dCollideCCylinderCCylinder);
|
||||
setCollider (dCCylinderClass,dPlaneClass,&dCollideCCylinderPlane);
|
||||
setCollider (dRayClass,dSphereClass,&dCollideRaySphere);
|
||||
setCollider (dRayClass,dBoxClass,&dCollideRayBox);
|
||||
setCollider (dRayClass,dCCylinderClass,&dCollideRayCCylinder);
|
||||
setCollider (dRayClass,dPlaneClass,&dCollideRayPlane);
|
||||
#ifdef dTRIMESH_ENABLED
|
||||
setCollider (dTriMeshClass,dSphereClass,&dCollideSTL);
|
||||
setCollider (dTriMeshClass,dBoxClass,&dCollideBTL);
|
||||
setCollider (dTriMeshClass,dRayClass,&dCollideRTL);
|
||||
setCollider (dTriMeshClass,dTriMeshClass,&dCollideTTL);
|
||||
setCollider (dTriMeshClass,dCCylinderClass,&dCollideCCTL);
|
||||
#endif
|
||||
|
||||
|
||||
|
||||
setAllColliders (dGeomTransformClass,&dCollideTransform);
|
||||
}
|
||||
|
||||
|
||||
int dCollide (dxGeom *o1, dxGeom *o2, int flags, dContactGeom *contact,
|
||||
int skip)
|
||||
{
|
||||
dAASSERT(o1 && o2 && contact);
|
||||
dUASSERT(colliders_initialized,"colliders array not initialized");
|
||||
dUASSERT(o1->type >= 0 && o1->type < dGeomNumClasses,"bad o1 class number");
|
||||
dUASSERT(o2->type >= 0 && o2->type < dGeomNumClasses,"bad o2 class number");
|
||||
|
||||
// no contacts if both geoms are the same
|
||||
if (o1 == o2) return 0;
|
||||
|
||||
// no contacts if both geoms on the same body, and the body is not 0
|
||||
if (o1->body == o2->body && o1->body) return 0;
|
||||
|
||||
dColliderEntry *ce = &colliders[o1->type][o2->type];
|
||||
int count = 0;
|
||||
if (ce->fn) {
|
||||
if (ce->reverse) {
|
||||
count = (*ce->fn) (o2,o1,flags,contact,skip);
|
||||
for (int i=0; i<count; i++) {
|
||||
dContactGeom *c = CONTACT(contact,skip*i);
|
||||
c->normal[0] = -c->normal[0];
|
||||
c->normal[1] = -c->normal[1];
|
||||
c->normal[2] = -c->normal[2];
|
||||
dxGeom *tmp = c->g1;
|
||||
c->g1 = c->g2;
|
||||
c->g2 = tmp;
|
||||
}
|
||||
}
|
||||
else {
|
||||
count = (*ce->fn) (o1,o2,flags,contact,skip);
|
||||
}
|
||||
}
|
||||
return count;
|
||||
}
|
||||
|
||||
//****************************************************************************
|
||||
// dxGeom
|
||||
|
||||
dxGeom::dxGeom (dSpaceID _space, int is_placeable)
|
||||
{
|
||||
initColliders();
|
||||
|
||||
// setup body vars. invalid type of -1 must be changed by the constructor.
|
||||
type = -1;
|
||||
gflags = GEOM_DIRTY | GEOM_AABB_BAD | GEOM_ENABLED;
|
||||
if (is_placeable) gflags |= GEOM_PLACEABLE;
|
||||
data = 0;
|
||||
body = 0;
|
||||
body_next = 0;
|
||||
if (is_placeable) {
|
||||
dxPosR *pr = (dxPosR*) dAlloc (sizeof(dxPosR));
|
||||
pos = pr->pos;
|
||||
R = pr->R;
|
||||
dSetZero (pos,4);
|
||||
dRSetIdentity (R);
|
||||
}
|
||||
else {
|
||||
pos = 0;
|
||||
R = 0;
|
||||
}
|
||||
|
||||
// setup space vars
|
||||
next = 0;
|
||||
tome = 0;
|
||||
parent_space = 0;
|
||||
dSetZero (aabb,6);
|
||||
category_bits = ~0;
|
||||
collide_bits = ~0;
|
||||
|
||||
// put this geom in a space if required
|
||||
if (_space) dSpaceAdd (_space,this);
|
||||
}
|
||||
|
||||
|
||||
dxGeom::~dxGeom()
|
||||
{
|
||||
if (parent_space) dSpaceRemove (parent_space,this);
|
||||
if ((gflags & GEOM_PLACEABLE) && !body) dFree (pos,sizeof(dxPosR));
|
||||
bodyRemove();
|
||||
}
|
||||
|
||||
|
||||
int dxGeom::AABBTest (dxGeom *o, dReal aabb[6])
|
||||
{
|
||||
return 1;
|
||||
}
|
||||
|
||||
|
||||
void dxGeom::bodyRemove()
|
||||
{
|
||||
if (body) {
|
||||
// delete this geom from body list
|
||||
dxGeom **last = &body->geom, *g = body->geom;
|
||||
while (g) {
|
||||
if (g == this) {
|
||||
*last = g->body_next;
|
||||
break;
|
||||
}
|
||||
last = &g->body_next;
|
||||
g = g->body_next;
|
||||
}
|
||||
body = 0;
|
||||
body_next = 0;
|
||||
}
|
||||
}
|
||||
|
||||
//****************************************************************************
|
||||
// misc
|
||||
|
||||
dxGeom *dGeomGetBodyNext (dxGeom *geom)
|
||||
{
|
||||
return geom->body_next;
|
||||
}
|
||||
|
||||
//****************************************************************************
|
||||
// public API for geometry objects
|
||||
|
||||
#define CHECK_NOT_LOCKED(space) \
|
||||
dUASSERT (!(space && space->lock_count), \
|
||||
"invalid operation for geom in locked space");
|
||||
|
||||
|
||||
void dGeomDestroy (dxGeom *g)
|
||||
{
|
||||
dAASSERT (g);
|
||||
delete g;
|
||||
}
|
||||
|
||||
|
||||
void dGeomSetData (dxGeom *g, void *data)
|
||||
{
|
||||
dAASSERT (g);
|
||||
g->data = data;
|
||||
}
|
||||
|
||||
|
||||
void *dGeomGetData (dxGeom *g)
|
||||
{
|
||||
dAASSERT (g);
|
||||
return g->data;
|
||||
}
|
||||
|
||||
|
||||
void dGeomSetBody (dxGeom *g, dxBody *b)
|
||||
{
|
||||
dAASSERT (g);
|
||||
dUASSERT (g->gflags & GEOM_PLACEABLE,"geom must be placeable");
|
||||
CHECK_NOT_LOCKED (g->parent_space);
|
||||
|
||||
if (b) {
|
||||
if (!g->body) dFree (g->pos,sizeof(dxPosR));
|
||||
g->pos = b->pos;
|
||||
g->R = b->R;
|
||||
dGeomMoved (g);
|
||||
if (g->body != b) {
|
||||
g->bodyRemove();
|
||||
g->bodyAdd (b);
|
||||
}
|
||||
}
|
||||
else {
|
||||
if (g->body) {
|
||||
dxPosR *pr = (dxPosR*) dAlloc (sizeof(dxPosR));
|
||||
g->pos = pr->pos;
|
||||
g->R = pr->R;
|
||||
memcpy (g->pos,g->body->pos,sizeof(dVector3));
|
||||
memcpy (g->R,g->body->R,sizeof(dMatrix3));
|
||||
g->bodyRemove();
|
||||
}
|
||||
// dGeomMoved() should not be called if the body is being set to 0, as the
|
||||
// new position of the geom is set to the old position of the body, so the
|
||||
// effective position of the geom remains unchanged.
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
dBodyID dGeomGetBody (dxGeom *g)
|
||||
{
|
||||
dAASSERT (g);
|
||||
return g->body;
|
||||
}
|
||||
|
||||
|
||||
void dGeomSetPosition (dxGeom *g, dReal x, dReal y, dReal z)
|
||||
{
|
||||
dAASSERT (g);
|
||||
dUASSERT (g->gflags & GEOM_PLACEABLE,"geom must be placeable");
|
||||
CHECK_NOT_LOCKED (g->parent_space);
|
||||
if (g->body) {
|
||||
// this will call dGeomMoved (g), so we don't have to
|
||||
dBodySetPosition (g->body,x,y,z);
|
||||
}
|
||||
else {
|
||||
g->pos[0] = x;
|
||||
g->pos[1] = y;
|
||||
g->pos[2] = z;
|
||||
dGeomMoved (g);
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
void dGeomSetRotation (dxGeom *g, const dMatrix3 R)
|
||||
{
|
||||
dAASSERT (g && R);
|
||||
dUASSERT (g->gflags & GEOM_PLACEABLE,"geom must be placeable");
|
||||
CHECK_NOT_LOCKED (g->parent_space);
|
||||
if (g->body) {
|
||||
// this will call dGeomMoved (g), so we don't have to
|
||||
dBodySetRotation (g->body,R);
|
||||
}
|
||||
else {
|
||||
memcpy (g->R,R,sizeof(dMatrix3));
|
||||
dGeomMoved (g);
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
void dGeomSetQuaternion (dxGeom *g, const dQuaternion quat)
|
||||
{
|
||||
dAASSERT (g && quat);
|
||||
dUASSERT (g->gflags & GEOM_PLACEABLE,"geom must be placeable");
|
||||
CHECK_NOT_LOCKED (g->parent_space);
|
||||
if (g->body) {
|
||||
// this will call dGeomMoved (g), so we don't have to
|
||||
dBodySetQuaternion (g->body,quat);
|
||||
}
|
||||
else {
|
||||
dQtoR (quat, g->R);
|
||||
dGeomMoved (g);
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
const dReal * dGeomGetPosition (dxGeom *g)
|
||||
{
|
||||
dAASSERT (g);
|
||||
dUASSERT (g->gflags & GEOM_PLACEABLE,"geom must be placeable");
|
||||
return g->pos;
|
||||
}
|
||||
|
||||
|
||||
const dReal * dGeomGetRotation (dxGeom *g)
|
||||
{
|
||||
dAASSERT (g);
|
||||
dUASSERT (g->gflags & GEOM_PLACEABLE,"geom must be placeable");
|
||||
return g->R;
|
||||
}
|
||||
|
||||
|
||||
void dGeomGetQuaternion (dxGeom *g, dQuaternion quat)
|
||||
{
|
||||
dAASSERT (g);
|
||||
dUASSERT (g->gflags & GEOM_PLACEABLE,"geom must be placeable");
|
||||
if (g->body) {
|
||||
const dReal * body_quat = dBodyGetQuaternion (g->body);
|
||||
quat[0] = body_quat[0];
|
||||
quat[1] = body_quat[1];
|
||||
quat[2] = body_quat[2];
|
||||
quat[3] = body_quat[3];
|
||||
}
|
||||
else {
|
||||
dRtoQ (g->R, quat);
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
void dGeomGetAABB (dxGeom *g, dReal aabb[6])
|
||||
{
|
||||
dAASSERT (g);
|
||||
dAASSERT (aabb);
|
||||
g->recomputeAABB();
|
||||
memcpy (aabb,g->aabb,6 * sizeof(dReal));
|
||||
}
|
||||
|
||||
|
||||
int dGeomIsSpace (dxGeom *g)
|
||||
{
|
||||
dAASSERT (g);
|
||||
return IS_SPACE(g);
|
||||
}
|
||||
|
||||
|
||||
dSpaceID dGeomGetSpace (dxGeom *g)
|
||||
{
|
||||
dAASSERT (g);
|
||||
return g->parent_space;
|
||||
}
|
||||
|
||||
|
||||
int dGeomGetClass (dxGeom *g)
|
||||
{
|
||||
dAASSERT (g);
|
||||
return g->type;
|
||||
}
|
||||
|
||||
|
||||
void dGeomSetCategoryBits (dxGeom *g, unsigned long bits)
|
||||
{
|
||||
dAASSERT (g);
|
||||
CHECK_NOT_LOCKED (g->parent_space);
|
||||
g->category_bits = bits;
|
||||
}
|
||||
|
||||
|
||||
void dGeomSetCollideBits (dxGeom *g, unsigned long bits)
|
||||
{
|
||||
dAASSERT (g);
|
||||
CHECK_NOT_LOCKED (g->parent_space);
|
||||
g->collide_bits = bits;
|
||||
}
|
||||
|
||||
|
||||
unsigned long dGeomGetCategoryBits (dxGeom *g)
|
||||
{
|
||||
dAASSERT (g);
|
||||
return g->category_bits;
|
||||
}
|
||||
|
||||
|
||||
unsigned long dGeomGetCollideBits (dxGeom *g)
|
||||
{
|
||||
dAASSERT (g);
|
||||
return g->collide_bits;
|
||||
}
|
||||
|
||||
|
||||
void dGeomEnable (dxGeom *g)
|
||||
{
|
||||
dAASSERT (g);
|
||||
g->gflags |= GEOM_ENABLED;
|
||||
}
|
||||
|
||||
void dGeomDisable (dxGeom *g)
|
||||
{
|
||||
dAASSERT (g);
|
||||
g->gflags &= ~GEOM_ENABLED;
|
||||
}
|
||||
|
||||
int dGeomIsEnabled (dxGeom *g)
|
||||
{
|
||||
dAASSERT (g);
|
||||
return (g->gflags & GEOM_ENABLED) != 0;
|
||||
}
|
||||
|
||||
|
||||
//****************************************************************************
|
||||
// C interface that lets the user make new classes. this interface is a lot
|
||||
// more cumbersome than C++ subclassing, which is what is used internally
|
||||
// in ODE. this API is mainly to support legacy code.
|
||||
|
||||
static int num_user_classes = 0;
|
||||
static dGeomClass user_classes [dMaxUserClasses];
|
||||
|
||||
|
||||
struct dxUserGeom : public dxGeom {
|
||||
void *user_data;
|
||||
|
||||
dxUserGeom (int class_num);
|
||||
~dxUserGeom();
|
||||
void computeAABB();
|
||||
int AABBTest (dxGeom *o, dReal aabb[6]);
|
||||
};
|
||||
|
||||
|
||||
dxUserGeom::dxUserGeom (int class_num) : dxGeom (0,1)
|
||||
{
|
||||
type = class_num;
|
||||
int size = user_classes[type-dFirstUserClass].bytes;
|
||||
user_data = dAlloc (size);
|
||||
memset (user_data,0,size);
|
||||
}
|
||||
|
||||
|
||||
dxUserGeom::~dxUserGeom()
|
||||
{
|
||||
dGeomClass *c = &user_classes[type-dFirstUserClass];
|
||||
if (c->dtor) c->dtor (this);
|
||||
dFree (user_data,c->bytes);
|
||||
}
|
||||
|
||||
|
||||
void dxUserGeom::computeAABB()
|
||||
{
|
||||
user_classes[type-dFirstUserClass].aabb (this,aabb);
|
||||
}
|
||||
|
||||
|
||||
int dxUserGeom::AABBTest (dxGeom *o, dReal aabb[6])
|
||||
{
|
||||
dGeomClass *c = &user_classes[type-dFirstUserClass];
|
||||
if (c->aabb_test) return c->aabb_test (this,o,aabb);
|
||||
else return 1;
|
||||
}
|
||||
|
||||
|
||||
static int dCollideUserGeomWithGeom (dxGeom *o1, dxGeom *o2, int flags,
|
||||
dContactGeom *contact, int skip)
|
||||
{
|
||||
// this generic collider function is called the first time that a user class
|
||||
// tries to collide against something. it will find out the correct collider
|
||||
// function and then set the colliders array so that the correct function is
|
||||
// called directly the next time around.
|
||||
|
||||
int t1 = o1->type; // note that o1 is a user geom
|
||||
int t2 = o2->type; // o2 *may* be a user geom
|
||||
|
||||
// find the collider function to use. if o1 does not know how to collide with
|
||||
// o2, then o2 might know how to collide with o1 (provided that it is a user
|
||||
// geom).
|
||||
dColliderFn *fn = user_classes[t1-dFirstUserClass].collider (t2);
|
||||
int reverse = 0;
|
||||
if (!fn && t2 >= dFirstUserClass && t2 <= dLastUserClass) {
|
||||
fn = user_classes[t2-dFirstUserClass].collider (t1);
|
||||
reverse = 1;
|
||||
}
|
||||
|
||||
// set the colliders array so that the correct function is called directly
|
||||
// the next time around. note that fn can be 0 here if no collider was found,
|
||||
// which means that dCollide() will always return 0 for this case.
|
||||
colliders[t1][t2].fn = fn;
|
||||
colliders[t1][t2].reverse = reverse;
|
||||
colliders[t2][t1].fn = fn;
|
||||
colliders[t2][t1].reverse = !reverse;
|
||||
|
||||
// now call the collider function indirectly through dCollide(), so that
|
||||
// contact reversing is properly handled.
|
||||
return dCollide (o1,o2,flags,contact,skip);
|
||||
}
|
||||
|
||||
|
||||
int dCreateGeomClass (const dGeomClass *c)
|
||||
{
|
||||
dUASSERT(c && c->bytes >= 0 && c->collider && c->aabb,"bad geom class");
|
||||
|
||||
if (num_user_classes >= dMaxUserClasses) {
|
||||
dDebug (0,"too many user classes, you must increase the limit and "
|
||||
"recompile ODE");
|
||||
}
|
||||
user_classes[num_user_classes] = *c;
|
||||
int class_number = num_user_classes + dFirstUserClass;
|
||||
initColliders();
|
||||
setAllColliders (class_number,&dCollideUserGeomWithGeom);
|
||||
|
||||
num_user_classes++;
|
||||
return class_number;
|
||||
}
|
||||
|
||||
|
||||
void * dGeomGetClassData (dxGeom *g)
|
||||
{
|
||||
dUASSERT (g && g->type >= dFirstUserClass &&
|
||||
g->type <= dLastUserClass,"not a custom class");
|
||||
dxUserGeom *user = (dxUserGeom*) g;
|
||||
return user->user_data;
|
||||
}
|
||||
|
||||
|
||||
dGeomID dCreateGeom (int classnum)
|
||||
{
|
||||
dUASSERT (classnum >= dFirstUserClass &&
|
||||
classnum <= dLastUserClass,"not a custom class");
|
||||
return new dxUserGeom (classnum);
|
||||
}
|
||||
|
||||
//****************************************************************************
|
||||
// here is where we deallocate any memory that has been globally
|
||||
// allocated, or free other global resources.
|
||||
|
||||
void dCloseODE()
|
||||
{
|
||||
colliders_initialized = 0;
|
||||
num_user_classes = 0;
|
||||
}
|
||||
203
Extras/ode/ode/src/collision_kernel.h
Normal file
203
Extras/ode/ode/src/collision_kernel.h
Normal file
@@ -0,0 +1,203 @@
|
||||
/*************************************************************************
|
||||
* *
|
||||
* 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 <ode/common.h>
|
||||
#include <ode/contact.h>
|
||||
#include <ode/collision.h>
|
||||
#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
|
||||
|
||||
// position vector and rotation matrix for geometry objects that are not
|
||||
// connected to bodies.
|
||||
|
||||
struct dxPosR {
|
||||
dVector3 pos;
|
||||
dMatrix3 R;
|
||||
};
|
||||
|
||||
void setCollider (int i, int j, dColliderFn *fn);
|
||||
|
||||
// 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.
|
||||
|
||||
enum {
|
||||
GEOM_DIRTY = 1, // geom is 'dirty', i.e. position unknown
|
||||
GEOM_AABB_BAD = 2, // geom's AABB is not valid
|
||||
GEOM_PLACEABLE = 4, // geom is placeable
|
||||
GEOM_ENABLED = 8, // 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
|
||||
dReal *pos; // pointer to object's position vector
|
||||
dReal *R; // pointer to object's rotation matrix
|
||||
|
||||
// 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();
|
||||
|
||||
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) {
|
||||
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
|
||||
583
Extras/ode/ode/src/collision_quadtreespace.cpp
Normal file
583
Extras/ode/ode/src/collision_quadtreespace.cpp
Normal file
@@ -0,0 +1,583 @@
|
||||
/*************************************************************************
|
||||
* *
|
||||
* 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. *
|
||||
* *
|
||||
*************************************************************************/
|
||||
|
||||
// QuadTreeSpace by Erwin de Vries.
|
||||
|
||||
#include <ode/common.h>
|
||||
#include <ode/matrix.h>
|
||||
#include <ode/collision_space.h>
|
||||
#include <ode/collision.h>
|
||||
#include "collision_kernel.h"
|
||||
|
||||
#include "collision_space_internal.h"
|
||||
|
||||
|
||||
#define AXIS0 0
|
||||
#define AXIS1 1
|
||||
#define UP 2
|
||||
|
||||
//#define DRAWBLOCKS
|
||||
|
||||
const int SPLITAXIS = 2;
|
||||
const int SPLITS = SPLITAXIS * SPLITAXIS;
|
||||
|
||||
#define GEOM_ENABLED(g) (g)->gflags & GEOM_ENABLED
|
||||
|
||||
class Block{
|
||||
public:
|
||||
dReal MinX, MaxX;
|
||||
dReal MinZ, MaxZ;
|
||||
|
||||
dGeomID First;
|
||||
int GeomCount;
|
||||
|
||||
Block* Parent;
|
||||
Block* Children;
|
||||
|
||||
void Create(const dVector3 Center, const dVector3 Extents, Block* Parent, int Depth, Block*& Blocks);
|
||||
|
||||
void Collide(void* UserData, dNearCallback* Callback);
|
||||
void Collide(dGeomID Object, dGeomID g, void* UserData, dNearCallback* Callback);
|
||||
|
||||
void CollideLocal(dGeomID Object, void* UserData, dNearCallback* Callback);
|
||||
|
||||
void AddObject(dGeomID Object);
|
||||
void DelObject(dGeomID Object);
|
||||
void Traverse(dGeomID Object);
|
||||
|
||||
bool Inside(const dReal* AABB);
|
||||
|
||||
Block* GetBlock(const dReal* AABB);
|
||||
Block* GetBlockChild(const dReal* AABB);
|
||||
};
|
||||
|
||||
|
||||
#ifdef DRAWBLOCKS
|
||||
#include "..\..\Include\drawstuff\\drawstuff.h"
|
||||
|
||||
static void DrawBlock(Block* Block){
|
||||
dVector3 v[8];
|
||||
v[0][AXIS0] = Block->MinX;
|
||||
v[0][UP] = REAL(-1.0);
|
||||
v[0][AXIS1] = Block->MinZ;
|
||||
|
||||
v[1][AXIS0] = Block->MinX;
|
||||
v[1][UP] = REAL(-1.0);
|
||||
v[1][AXIS1] = Block->MaxZ;
|
||||
|
||||
v[2][AXIS0] = Block->MaxX;
|
||||
v[2][UP] = REAL(-1.0);
|
||||
v[2][AXIS1] = Block->MinZ;
|
||||
|
||||
v[3][AXIS0] = Block->MaxX;
|
||||
v[3][UP] = REAL(-1.0);
|
||||
v[3][AXIS1] = Block->MaxZ;
|
||||
|
||||
v[4][AXIS0] = Block->MinX;
|
||||
v[4][UP] = REAL(1.0);
|
||||
v[4][AXIS1] = Block->MinZ;
|
||||
|
||||
v[5][AXIS0] = Block->MinX;
|
||||
v[5][UP] = REAL(1.0);
|
||||
v[5][AXIS1] = Block->MaxZ;
|
||||
|
||||
v[6][AXIS0] = Block->MaxX;
|
||||
v[6][UP] = REAL(1.0);
|
||||
v[6][AXIS1] = Block->MinZ;
|
||||
|
||||
v[7][AXIS0] = Block->MaxX;
|
||||
v[7][UP] = REAL(1.0);
|
||||
v[7][AXIS1] = Block->MaxZ;
|
||||
|
||||
// Bottom
|
||||
dsDrawLine(v[0], v[1]);
|
||||
dsDrawLine(v[1], v[3]);
|
||||
dsDrawLine(v[3], v[2]);
|
||||
dsDrawLine(v[2], v[0]);
|
||||
|
||||
// Top
|
||||
dsDrawLine(v[4], v[5]);
|
||||
dsDrawLine(v[5], v[7]);
|
||||
dsDrawLine(v[7], v[6]);
|
||||
dsDrawLine(v[6], v[4]);
|
||||
|
||||
// Sides
|
||||
dsDrawLine(v[0], v[4]);
|
||||
dsDrawLine(v[1], v[5]);
|
||||
dsDrawLine(v[2], v[6]);
|
||||
dsDrawLine(v[3], v[7]);
|
||||
}
|
||||
#endif //DRAWBLOCKS
|
||||
|
||||
|
||||
void Block::Create(const dVector3 Center, const dVector3 Extents, Block* Parent, int Depth, Block*& Blocks){
|
||||
GeomCount = 0;
|
||||
First = 0;
|
||||
|
||||
MinX = Center[AXIS0] - Extents[AXIS0];
|
||||
MaxX = Center[AXIS0] + Extents[AXIS0];
|
||||
|
||||
MinZ = Center[AXIS1] - Extents[AXIS1];
|
||||
MaxZ = Center[AXIS1] + Extents[AXIS1];
|
||||
|
||||
this->Parent = Parent;
|
||||
if (Depth > 0){
|
||||
Children = Blocks;
|
||||
Blocks += SPLITS;
|
||||
|
||||
dVector3 ChildExtents;
|
||||
ChildExtents[AXIS0] = Extents[AXIS0] / SPLITAXIS;
|
||||
ChildExtents[AXIS1] = Extents[AXIS1] / SPLITAXIS;
|
||||
ChildExtents[UP] = Extents[UP];
|
||||
|
||||
for (int i = 0; i < SPLITAXIS; i++){
|
||||
for (int j = 0; j < SPLITAXIS; j++){
|
||||
int Index = i * SPLITAXIS + j;
|
||||
|
||||
dVector3 ChildCenter;
|
||||
ChildCenter[AXIS0] = Center[AXIS0] - Extents[AXIS0] + ChildExtents[AXIS0] + i * (ChildExtents[AXIS0] * 2);
|
||||
ChildCenter[AXIS1] = Center[AXIS1] - Extents[AXIS1] + ChildExtents[AXIS1] + j * (ChildExtents[AXIS1] * 2);
|
||||
ChildCenter[UP] = Center[UP];
|
||||
|
||||
Children[Index].Create(ChildCenter, ChildExtents, this, Depth - 1, Blocks);
|
||||
}
|
||||
}
|
||||
}
|
||||
else Children = 0;
|
||||
}
|
||||
|
||||
void Block::Collide(void* UserData, dNearCallback* Callback){
|
||||
#ifdef DRAWBLOCKS
|
||||
DrawBlock(this);
|
||||
#endif
|
||||
// Collide the local list
|
||||
dxGeom* g = First;
|
||||
while (g){
|
||||
if (GEOM_ENABLED(g)){
|
||||
Collide(g, g->next, UserData, Callback);
|
||||
}
|
||||
g = g->next;
|
||||
}
|
||||
|
||||
// Recurse for children
|
||||
if (Children){
|
||||
for (int i = 0; i < SPLITS; i++){
|
||||
if (Children[i].GeomCount <= 1){ // Early out
|
||||
continue;
|
||||
}
|
||||
Children[i].Collide(UserData, Callback);
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
void Block::Collide(dxGeom* g1, dxGeom* g2, void* UserData, dNearCallback* Callback){
|
||||
#ifdef DRAWBLOCKS
|
||||
DrawBlock(this);
|
||||
#endif
|
||||
// Collide against local list
|
||||
while (g2){
|
||||
if (GEOM_ENABLED(g2)){
|
||||
collideAABBs (g1, g2, UserData, Callback);
|
||||
}
|
||||
g2 = g2->next;
|
||||
}
|
||||
|
||||
// Collide against children
|
||||
if (Children){
|
||||
for (int i = 0; i < SPLITS; i++){
|
||||
// Early out for empty blocks
|
||||
if (Children[i].GeomCount == 0){
|
||||
continue;
|
||||
}
|
||||
|
||||
// Does the geom's AABB collide with the block?
|
||||
// Dont do AABB tests for single geom blocks.
|
||||
if (Children[i].GeomCount == 1 && Children[i].First){
|
||||
//
|
||||
}
|
||||
else if (true){
|
||||
if (g1->aabb[AXIS0 * 2 + 0] > Children[i].MaxX ||
|
||||
g1->aabb[AXIS0 * 2 + 1] < Children[i].MinX ||
|
||||
g1->aabb[AXIS1 * 2 + 0] > Children[i].MaxZ ||
|
||||
g1->aabb[AXIS1 * 2 + 1] < Children[i].MinZ) continue;
|
||||
}
|
||||
Children[i].Collide(g1, Children[i].First, UserData, Callback);
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
void Block::CollideLocal(dxGeom* g1, void* UserData, dNearCallback* Callback){
|
||||
// Collide against local list
|
||||
dxGeom* g2 = First;
|
||||
while (g2){
|
||||
if (GEOM_ENABLED(g2)){
|
||||
collideAABBs (g1, g2, UserData, Callback);
|
||||
}
|
||||
g2 = g2->next;
|
||||
}
|
||||
}
|
||||
|
||||
void Block::AddObject(dGeomID Object){
|
||||
// Add the geom
|
||||
Object->next = First;
|
||||
First = Object;
|
||||
Object->tome = (dxGeom**)this;
|
||||
|
||||
// Now traverse upwards to tell that we have a geom
|
||||
Block* Block = this;
|
||||
do{
|
||||
Block->GeomCount++;
|
||||
Block = Block->Parent;
|
||||
}
|
||||
while (Block);
|
||||
}
|
||||
|
||||
void Block::DelObject(dGeomID Object){
|
||||
// Del the geom
|
||||
dxGeom* g = First;
|
||||
dxGeom* Last = 0;
|
||||
while (g){
|
||||
if (g == Object){
|
||||
if (Last){
|
||||
Last->next = g->next;
|
||||
}
|
||||
else First = g->next;
|
||||
|
||||
break;
|
||||
}
|
||||
Last = g;
|
||||
g = g->next;
|
||||
}
|
||||
|
||||
Object->tome = 0;
|
||||
|
||||
// Now traverse upwards to tell that we have lost a geom
|
||||
Block* Block = this;
|
||||
do{
|
||||
Block->GeomCount--;
|
||||
Block = Block->Parent;
|
||||
}
|
||||
while (Block);
|
||||
}
|
||||
|
||||
void Block::Traverse(dGeomID Object){
|
||||
Block* NewBlock = GetBlock(Object->aabb);
|
||||
|
||||
if (NewBlock != this){
|
||||
// Remove the geom from the old block and add it to the new block.
|
||||
// This could be more optimal, but the loss should be very small.
|
||||
DelObject(Object);
|
||||
NewBlock->AddObject(Object);
|
||||
}
|
||||
}
|
||||
|
||||
bool Block::Inside(const dReal* AABB){
|
||||
return AABB[AXIS0 * 2 + 0] >= MinX && AABB[AXIS0 * 2 + 1] <= MaxX && AABB[AXIS1 * 2 + 0] >= MinZ && AABB[AXIS1 * 2 + 1] <= MaxZ;
|
||||
}
|
||||
|
||||
Block* Block::GetBlock(const dReal* AABB){
|
||||
if (Inside(AABB)){
|
||||
return GetBlockChild(AABB); // Child or this will have a good block
|
||||
}
|
||||
else if (Parent){
|
||||
return Parent->GetBlock(AABB); // Parent has a good block
|
||||
}
|
||||
else return this; // We are at the root, so we have little choice
|
||||
}
|
||||
|
||||
Block* Block::GetBlockChild(const dReal* AABB){
|
||||
if (Children){
|
||||
for (int i = 0; i < SPLITS; i++){
|
||||
if (Children[i].Inside(AABB)){
|
||||
return Children[i].GetBlockChild(AABB); // Child will have good block
|
||||
}
|
||||
}
|
||||
}
|
||||
return this; // This is the best block
|
||||
}
|
||||
|
||||
//****************************************************************************
|
||||
// quadtree space
|
||||
|
||||
struct dxQuadTreeSpace : public dxSpace{
|
||||
Block* Blocks; // Blocks[0] is the root
|
||||
|
||||
dArray<dxGeom*> DirtyList;
|
||||
|
||||
dxQuadTreeSpace(dSpaceID _space, dVector3 Center, dVector3 Extents, int Depth);
|
||||
~dxQuadTreeSpace();
|
||||
|
||||
dxGeom* getGeom(int i);
|
||||
|
||||
void add(dxGeom* g);
|
||||
void remove(dxGeom* g);
|
||||
void dirty(dxGeom* g);
|
||||
|
||||
void computeAABB();
|
||||
|
||||
void cleanGeoms();
|
||||
void collide(void* UserData, dNearCallback* Callback);
|
||||
void collide2(void* UserData, dxGeom* g1, dNearCallback* Callback);
|
||||
|
||||
// Temp data
|
||||
Block* CurrentBlock; // Only used while enumerating
|
||||
int* CurrentChild; // Only used while enumerating
|
||||
int CurrentLevel; // Only used while enumerating
|
||||
dxGeom* CurrentObject; // Only used while enumerating
|
||||
int CurrentIndex;
|
||||
};
|
||||
|
||||
dxQuadTreeSpace::dxQuadTreeSpace(dSpaceID _space, dVector3 Center, dVector3 Extents, int Depth) : dxSpace(_space){
|
||||
type = dQuadTreeSpaceClass;
|
||||
|
||||
int BlockCount = 0;
|
||||
for (int i = 0; i <= Depth; i++){
|
||||
BlockCount += (int)powf(SPLITS, i);
|
||||
}
|
||||
|
||||
Blocks = (Block*)dAlloc(BlockCount * sizeof(Block));
|
||||
Block* Blocks = this->Blocks + 1; // This pointer gets modified!
|
||||
|
||||
this->Blocks[0].Create(Center, Extents, 0, Depth, Blocks);
|
||||
|
||||
CurrentBlock = 0;
|
||||
CurrentChild = (int*)dAlloc((Depth + 1) * sizeof(int));
|
||||
CurrentLevel = 0;
|
||||
CurrentObject = 0;
|
||||
CurrentIndex = -1;
|
||||
|
||||
// Init AABB. We initialize to infinity because it is not illegal for an object to be outside of the tree. Its simply inserted in the root block
|
||||
aabb[0] = -dInfinity;
|
||||
aabb[1] = dInfinity;
|
||||
aabb[2] = -dInfinity;
|
||||
aabb[3] = dInfinity;
|
||||
aabb[4] = -dInfinity;
|
||||
aabb[5] = dInfinity;
|
||||
}
|
||||
|
||||
dxQuadTreeSpace::~dxQuadTreeSpace(){
|
||||
int Depth = 0;
|
||||
Block* Current = &Blocks[0];
|
||||
while (Current){
|
||||
Depth++;
|
||||
Current = Current->Children;
|
||||
}
|
||||
|
||||
int BlockCount = 0;
|
||||
for (int i = 0; i < Depth; i++){
|
||||
BlockCount += (int)powf(SPLITS, i);
|
||||
}
|
||||
|
||||
dFree(Blocks, BlockCount * sizeof(Block));
|
||||
dFree(CurrentChild, (Depth + 1) * sizeof(int));
|
||||
}
|
||||
|
||||
dxGeom* dxQuadTreeSpace::getGeom(int Index){
|
||||
dUASSERT(Index >= 0 && Index < count, "index out of range");
|
||||
|
||||
//@@@
|
||||
dDebug (0,"dxQuadTreeSpace::getGeom() not yet implemented");
|
||||
|
||||
return 0;
|
||||
|
||||
// This doesnt work
|
||||
|
||||
/*if (CurrentIndex == Index){
|
||||
// Loop through all objects in the local list
|
||||
CHILDRECURSE:
|
||||
if (CurrentObject){
|
||||
dGeomID g = CurrentObject;
|
||||
CurrentObject = CurrentObject->next;
|
||||
CurrentIndex++;
|
||||
|
||||
#ifdef DRAWBLOCKS
|
||||
DrawBlock(CurrentBlock);
|
||||
#endif //DRAWBLOCKS
|
||||
return g;
|
||||
}
|
||||
else{
|
||||
// Now lets loop through our children. Starting at index 0.
|
||||
if (CurrentBlock->Children){
|
||||
CurrentChild[CurrentLevel] = 0;
|
||||
PARENTRECURSE:
|
||||
for (int& i = CurrentChild[CurrentLevel]; i < SPLITS; i++){
|
||||
if (CurrentBlock->Children[i].GeomCount == 0){
|
||||
continue;
|
||||
}
|
||||
CurrentBlock = &CurrentBlock->Children[i];
|
||||
CurrentObject = CurrentBlock->First;
|
||||
|
||||
i++;
|
||||
|
||||
CurrentLevel++;
|
||||
goto CHILDRECURSE;
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
// Now lets go back to the parent so it can continue processing its other children.
|
||||
if (CurrentBlock->Parent){
|
||||
CurrentBlock = CurrentBlock->Parent;
|
||||
CurrentLevel--;
|
||||
goto PARENTRECURSE;
|
||||
}
|
||||
}
|
||||
else{
|
||||
CurrentBlock = &Blocks[0];
|
||||
CurrentLevel = 0;
|
||||
CurrentObject = CurrentObject;
|
||||
CurrentIndex = 0;
|
||||
|
||||
// Other states are already set
|
||||
CurrentObject = CurrentBlock->First;
|
||||
}
|
||||
|
||||
|
||||
if (current_geom && current_index == Index - 1){
|
||||
//current_geom = current_geom->next; // next
|
||||
current_index = Index;
|
||||
return current_geom;
|
||||
}
|
||||
else for (int i = 0; i < Index; i++){ // this will be verrrrrrry slow
|
||||
getGeom(i);
|
||||
}*/
|
||||
|
||||
return 0;
|
||||
}
|
||||
|
||||
void dxQuadTreeSpace::add(dxGeom* g){
|
||||
CHECK_NOT_LOCKED (this);
|
||||
dAASSERT(g);
|
||||
dUASSERT(g->parent_space == 0 && g->next == 0, "geom is already in a space");
|
||||
|
||||
g->gflags |= GEOM_DIRTY | GEOM_AABB_BAD;
|
||||
DirtyList.push(g);
|
||||
|
||||
// add
|
||||
g->parent_space = this;
|
||||
Blocks[0].GetBlock(g->aabb)->AddObject(g); // Add to best block
|
||||
count++;
|
||||
|
||||
// enumerator has been invalidated
|
||||
current_geom = 0;
|
||||
|
||||
dGeomMoved(this);
|
||||
}
|
||||
|
||||
void dxQuadTreeSpace::remove(dxGeom* g){
|
||||
CHECK_NOT_LOCKED(this);
|
||||
dAASSERT(g);
|
||||
dUASSERT(g->parent_space == this,"object is not in this space");
|
||||
|
||||
// remove
|
||||
((Block*)g->tome)->DelObject(g);
|
||||
count--;
|
||||
|
||||
for (int i = 0; i < DirtyList.size(); i++){
|
||||
if (DirtyList[i] == g){
|
||||
DirtyList.remove(i);
|
||||
break;
|
||||
}
|
||||
}
|
||||
|
||||
// safeguard
|
||||
g->next = 0;
|
||||
g->tome = 0;
|
||||
g->parent_space = 0;
|
||||
|
||||
// enumerator has been invalidated
|
||||
current_geom = 0;
|
||||
|
||||
// the bounding box of this space (and that of all the parents) may have
|
||||
// changed as a consequence of the removal.
|
||||
dGeomMoved(this);
|
||||
}
|
||||
|
||||
void dxQuadTreeSpace::dirty(dxGeom* g){
|
||||
DirtyList.push(g);
|
||||
}
|
||||
|
||||
void dxQuadTreeSpace::computeAABB(){
|
||||
//
|
||||
}
|
||||
|
||||
void dxQuadTreeSpace::cleanGeoms(){
|
||||
// compute the AABBs of all dirty geoms, and clear the dirty flags
|
||||
lock_count++;
|
||||
|
||||
for (int i = 0; i < DirtyList.size(); i++){
|
||||
dxGeom* g = DirtyList[i];
|
||||
if (IS_SPACE(g)){
|
||||
((dxSpace*)g)->cleanGeoms();
|
||||
}
|
||||
g->recomputeAABB();
|
||||
g->gflags &= (~(GEOM_DIRTY|GEOM_AABB_BAD));
|
||||
|
||||
((Block*)g->tome)->Traverse(g);
|
||||
}
|
||||
DirtyList.setSize(0);
|
||||
|
||||
lock_count--;
|
||||
}
|
||||
|
||||
void dxQuadTreeSpace::collide(void* UserData, dNearCallback* Callback){
|
||||
dAASSERT(Callback);
|
||||
|
||||
lock_count++;
|
||||
cleanGeoms();
|
||||
|
||||
Blocks[0].Collide(UserData, Callback);
|
||||
|
||||
lock_count--;
|
||||
}
|
||||
|
||||
void dxQuadTreeSpace::collide2(void* UserData, dxGeom* g1, dNearCallback* Callback){
|
||||
dAASSERT(g1 && Callback);
|
||||
|
||||
lock_count++;
|
||||
cleanGeoms();
|
||||
g1->recomputeAABB();
|
||||
|
||||
if (g1->parent_space == this){
|
||||
// The block the geom is in
|
||||
Block* CurrentBlock = (Block*)g1->tome;
|
||||
|
||||
// Collide against block and its children
|
||||
CurrentBlock->Collide(g1, CurrentBlock->First, UserData, Callback);
|
||||
|
||||
// Collide against parents
|
||||
while (true){
|
||||
CurrentBlock = CurrentBlock->Parent;
|
||||
if (!CurrentBlock){
|
||||
break;
|
||||
}
|
||||
CurrentBlock->CollideLocal(g1, UserData, Callback);
|
||||
}
|
||||
}
|
||||
else Blocks[0].Collide(g1, Blocks[0].First, UserData, Callback);
|
||||
|
||||
lock_count--;
|
||||
}
|
||||
|
||||
dSpaceID dQuadTreeSpaceCreate(dxSpace* space, dVector3 Center, dVector3 Extents, int Depth){
|
||||
return new dxQuadTreeSpace(space, Center, Extents, Depth);
|
||||
}
|
||||
785
Extras/ode/ode/src/collision_space.cpp
Normal file
785
Extras/ode/ode/src/collision_space.cpp
Normal file
@@ -0,0 +1,785 @@
|
||||
/*************************************************************************
|
||||
* *
|
||||
* 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. *
|
||||
* *
|
||||
*************************************************************************/
|
||||
|
||||
/*
|
||||
|
||||
spaces
|
||||
|
||||
*/
|
||||
|
||||
#include <ode/common.h>
|
||||
#include <ode/matrix.h>
|
||||
#include <ode/collision_space.h>
|
||||
#include <ode/collision.h>
|
||||
#include "collision_kernel.h"
|
||||
|
||||
#include "collision_space_internal.h"
|
||||
|
||||
#ifdef _MSC_VER
|
||||
#pragma warning(disable:4291) // for VC++, no complaints about "no matching operator delete found"
|
||||
#endif
|
||||
|
||||
//****************************************************************************
|
||||
// make the geom dirty by setting the GEOM_DIRTY and GEOM_BAD_AABB flags
|
||||
// and moving it to the front of the space's list. all the parents of a
|
||||
// dirty geom also become dirty.
|
||||
|
||||
void dGeomMoved (dxGeom *geom)
|
||||
{
|
||||
dAASSERT (geom);
|
||||
|
||||
// from the bottom of the space heirarchy up, process all clean geoms
|
||||
// turning them into dirty geoms.
|
||||
dxSpace *parent = geom->parent_space;
|
||||
|
||||
while (parent && (geom->gflags & GEOM_DIRTY)==0) {
|
||||
CHECK_NOT_LOCKED (parent);
|
||||
geom->gflags |= GEOM_DIRTY | GEOM_AABB_BAD;
|
||||
parent->dirty (geom);
|
||||
geom = parent;
|
||||
parent = parent->parent_space;
|
||||
}
|
||||
|
||||
// all the remaining dirty geoms must have their AABB_BAD flags set, to
|
||||
// ensure that their AABBs get recomputed
|
||||
while (geom) {
|
||||
geom->gflags |= GEOM_DIRTY | GEOM_AABB_BAD;
|
||||
CHECK_NOT_LOCKED (geom->parent_space);
|
||||
geom = geom->parent_space;
|
||||
}
|
||||
}
|
||||
|
||||
#define GEOM_ENABLED(g) ((g)->gflags & GEOM_ENABLED)
|
||||
|
||||
//****************************************************************************
|
||||
// dxSpace
|
||||
|
||||
dxSpace::dxSpace (dSpaceID _space) : dxGeom (_space,0)
|
||||
{
|
||||
count = 0;
|
||||
first = 0;
|
||||
cleanup = 1;
|
||||
current_index = 0;
|
||||
current_geom = 0;
|
||||
lock_count = 0;
|
||||
}
|
||||
|
||||
|
||||
dxSpace::~dxSpace()
|
||||
{
|
||||
CHECK_NOT_LOCKED (this);
|
||||
if (cleanup) {
|
||||
// note that destroying each geom will call remove()
|
||||
dxGeom *g,*n;
|
||||
for (g = first; g; g=n) {
|
||||
n = g->next;
|
||||
dGeomDestroy (g);
|
||||
}
|
||||
}
|
||||
else {
|
||||
dxGeom *g,*n;
|
||||
for (g = first; g; g=n) {
|
||||
n = g->next;
|
||||
remove (g);
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
void dxSpace::computeAABB()
|
||||
{
|
||||
if (first) {
|
||||
int i;
|
||||
dReal a[6];
|
||||
a[0] = dInfinity;
|
||||
a[1] = -dInfinity;
|
||||
a[2] = dInfinity;
|
||||
a[3] = -dInfinity;
|
||||
a[4] = dInfinity;
|
||||
a[5] = -dInfinity;
|
||||
for (dxGeom *g=first; g; g=g->next) {
|
||||
g->recomputeAABB();
|
||||
for (i=0; i<6; i += 2) if (g->aabb[i] < a[i]) a[i] = g->aabb[i];
|
||||
for (i=1; i<6; i += 2) if (g->aabb[i] > a[i]) a[i] = g->aabb[i];
|
||||
}
|
||||
memcpy(aabb,a,6*sizeof(dReal));
|
||||
}
|
||||
else {
|
||||
dSetZero (aabb,6);
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
void dxSpace::setCleanup (int mode)
|
||||
{
|
||||
cleanup = (mode != 0);
|
||||
}
|
||||
|
||||
|
||||
int dxSpace::getCleanup()
|
||||
{
|
||||
return cleanup;
|
||||
}
|
||||
|
||||
|
||||
int dxSpace::query (dxGeom *geom)
|
||||
{
|
||||
dAASSERT (geom);
|
||||
return (geom->parent_space == this);
|
||||
}
|
||||
|
||||
|
||||
int dxSpace::getNumGeoms()
|
||||
{
|
||||
return count;
|
||||
}
|
||||
|
||||
|
||||
// the dirty geoms are numbered 0..k, the clean geoms are numbered k+1..count-1
|
||||
|
||||
dxGeom *dxSpace::getGeom (int i)
|
||||
{
|
||||
dUASSERT (i >= 0 && i < count,"index out of range");
|
||||
if (current_geom && current_index == i-1) {
|
||||
current_geom = current_geom->next;
|
||||
current_index = i;
|
||||
return current_geom;
|
||||
}
|
||||
else {
|
||||
dxGeom *g=first;
|
||||
for (int j=0; j<i; j++) {
|
||||
if (g) g = g->next; else return 0;
|
||||
}
|
||||
current_geom = g;
|
||||
current_index = i;
|
||||
return g;
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
void dxSpace::add (dxGeom *geom)
|
||||
{
|
||||
CHECK_NOT_LOCKED (this);
|
||||
dAASSERT (geom);
|
||||
dUASSERT (geom->parent_space == 0 && geom->next == 0,
|
||||
"geom is already in a space");
|
||||
|
||||
// add
|
||||
geom->parent_space = this;
|
||||
geom->spaceAdd (&first);
|
||||
count++;
|
||||
|
||||
// enumerator has been invalidated
|
||||
current_geom = 0;
|
||||
|
||||
// new geoms are added to the front of the list and are always
|
||||
// considered to be dirty. as a consequence, this space and all its
|
||||
// parents are dirty too.
|
||||
geom->gflags |= GEOM_DIRTY | GEOM_AABB_BAD;
|
||||
dGeomMoved (this);
|
||||
}
|
||||
|
||||
|
||||
void dxSpace::remove (dxGeom *geom)
|
||||
{
|
||||
CHECK_NOT_LOCKED (this);
|
||||
dAASSERT (geom);
|
||||
dUASSERT (geom->parent_space == this,"object is not in this space");
|
||||
|
||||
// remove
|
||||
geom->spaceRemove();
|
||||
count--;
|
||||
|
||||
// safeguard
|
||||
geom->next = 0;
|
||||
geom->tome = 0;
|
||||
geom->parent_space = 0;
|
||||
|
||||
// enumerator has been invalidated
|
||||
current_geom = 0;
|
||||
|
||||
// the bounding box of this space (and that of all the parents) may have
|
||||
// changed as a consequence of the removal.
|
||||
dGeomMoved (this);
|
||||
}
|
||||
|
||||
|
||||
void dxSpace::dirty (dxGeom *geom)
|
||||
{
|
||||
geom->spaceRemove();
|
||||
geom->spaceAdd (&first);
|
||||
}
|
||||
|
||||
//****************************************************************************
|
||||
// simple space - reports all n^2 object intersections
|
||||
|
||||
struct dxSimpleSpace : public dxSpace {
|
||||
dxSimpleSpace (dSpaceID _space);
|
||||
void cleanGeoms();
|
||||
void collide (void *data, dNearCallback *callback);
|
||||
void collide2 (void *data, dxGeom *geom, dNearCallback *callback);
|
||||
};
|
||||
|
||||
|
||||
dxSimpleSpace::dxSimpleSpace (dSpaceID _space) : dxSpace (_space)
|
||||
{
|
||||
type = dSimpleSpaceClass;
|
||||
}
|
||||
|
||||
|
||||
void dxSimpleSpace::cleanGeoms()
|
||||
{
|
||||
// compute the AABBs of all dirty geoms, and clear the dirty flags
|
||||
lock_count++;
|
||||
for (dxGeom *g=first; g && (g->gflags & GEOM_DIRTY); g=g->next) {
|
||||
if (IS_SPACE(g)) {
|
||||
((dxSpace*)g)->cleanGeoms();
|
||||
}
|
||||
g->recomputeAABB();
|
||||
g->gflags &= (~(GEOM_DIRTY|GEOM_AABB_BAD));
|
||||
}
|
||||
lock_count--;
|
||||
}
|
||||
|
||||
|
||||
void dxSimpleSpace::collide (void *data, dNearCallback *callback)
|
||||
{
|
||||
dAASSERT (callback);
|
||||
|
||||
lock_count++;
|
||||
cleanGeoms();
|
||||
|
||||
// intersect all bounding boxes
|
||||
for (dxGeom *g1=first; g1; g1=g1->next) {
|
||||
if (GEOM_ENABLED(g1)){
|
||||
for (dxGeom *g2=g1->next; g2; g2=g2->next) {
|
||||
if (GEOM_ENABLED(g2)){
|
||||
collideAABBs (g1,g2,data,callback);
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
lock_count--;
|
||||
}
|
||||
|
||||
|
||||
void dxSimpleSpace::collide2 (void *data, dxGeom *geom,
|
||||
dNearCallback *callback)
|
||||
{
|
||||
dAASSERT (geom && callback);
|
||||
|
||||
lock_count++;
|
||||
cleanGeoms();
|
||||
geom->recomputeAABB();
|
||||
|
||||
// intersect bounding boxes
|
||||
for (dxGeom *g=first; g; g=g->next) {
|
||||
if (GEOM_ENABLED(g)){
|
||||
collideAABBs (g,geom,data,callback);
|
||||
}
|
||||
}
|
||||
|
||||
lock_count--;
|
||||
}
|
||||
|
||||
//****************************************************************************
|
||||
// utility stuff for hash table space
|
||||
|
||||
// kind of silly, but oh well...
|
||||
#ifndef MAXINT
|
||||
#define MAXINT ((int)((((unsigned int)(-1)) << 1) >> 1))
|
||||
#endif
|
||||
|
||||
|
||||
// prime[i] is the largest prime smaller than 2^i
|
||||
#define NUM_PRIMES 31
|
||||
static long int prime[NUM_PRIMES] = {1L,2L,3L,7L,13L,31L,61L,127L,251L,509L,
|
||||
1021L,2039L,4093L,8191L,16381L,32749L,65521L,131071L,262139L,
|
||||
524287L,1048573L,2097143L,4194301L,8388593L,16777213L,33554393L,
|
||||
67108859L,134217689L,268435399L,536870909L,1073741789L};
|
||||
|
||||
|
||||
// an axis aligned bounding box in the hash table
|
||||
struct dxAABB {
|
||||
dxAABB *next; // next in the list of all AABBs
|
||||
int level; // the level this is stored in (cell size = 2^level)
|
||||
int dbounds[6]; // AABB bounds, discretized to cell size
|
||||
dxGeom *geom; // corresponding geometry object (AABB stored here)
|
||||
int index; // index of this AABB, starting from 0
|
||||
};
|
||||
|
||||
|
||||
// a hash table node that represents an AABB that intersects a particular cell
|
||||
// at a particular level
|
||||
struct Node {
|
||||
Node *next; // next node in hash table collision list, 0 if none
|
||||
int x,y,z; // cell position in space, discretized to cell size
|
||||
dxAABB *aabb; // axis aligned bounding box that intersects this cell
|
||||
};
|
||||
|
||||
|
||||
// return the `level' of an AABB. the AABB will be put into cells at this
|
||||
// level - the cell size will be 2^level. the level is chosen to be the
|
||||
// smallest value such that the AABB occupies no more than 8 cells, regardless
|
||||
// of its placement. this means that:
|
||||
// size/2 < q <= size
|
||||
// where q is the maximum AABB dimension.
|
||||
|
||||
static int findLevel (dReal bounds[6])
|
||||
{
|
||||
if (bounds[0] <= -dInfinity || bounds[1] >= dInfinity ||
|
||||
bounds[2] <= -dInfinity || bounds[3] >= dInfinity ||
|
||||
bounds[4] <= -dInfinity || bounds[5] >= dInfinity) {
|
||||
return MAXINT;
|
||||
}
|
||||
|
||||
// compute q
|
||||
dReal q,q2;
|
||||
q = bounds[1] - bounds[0]; // x bounds
|
||||
q2 = bounds[3] - bounds[2]; // y bounds
|
||||
if (q2 > q) q = q2;
|
||||
q2 = bounds[5] - bounds[4]; // z bounds
|
||||
if (q2 > q) q = q2;
|
||||
|
||||
// find level such that 0.5 * 2^level < q <= 2^level
|
||||
int level;
|
||||
frexp (q,&level); // q = (0.5 .. 1.0) * 2^level (definition of frexp)
|
||||
return level;
|
||||
}
|
||||
|
||||
|
||||
// find a virtual memory address for a cell at the given level and x,y,z
|
||||
// position.
|
||||
// @@@ currently this is not very sophisticated, e.g. the scaling
|
||||
// factors could be better designed to avoid collisions, and they should
|
||||
// probably depend on the hash table physical size.
|
||||
|
||||
static unsigned long getVirtualAddress (int level, int x, int y, int z)
|
||||
{
|
||||
return level*1000 + x*100 + y*10 + z;
|
||||
}
|
||||
|
||||
//****************************************************************************
|
||||
// hash space
|
||||
|
||||
struct dxHashSpace : public dxSpace {
|
||||
int global_minlevel; // smallest hash table level to put AABBs in
|
||||
int global_maxlevel; // objects that need a level larger than this will be
|
||||
// put in a "big objects" list instead of a hash table
|
||||
|
||||
dxHashSpace (dSpaceID _space);
|
||||
void setLevels (int minlevel, int maxlevel);
|
||||
void getLevels (int *minlevel, int *maxlevel);
|
||||
void cleanGeoms();
|
||||
void collide (void *data, dNearCallback *callback);
|
||||
void collide2 (void *data, dxGeom *geom, dNearCallback *callback);
|
||||
};
|
||||
|
||||
|
||||
dxHashSpace::dxHashSpace (dSpaceID _space) : dxSpace (_space)
|
||||
{
|
||||
type = dHashSpaceClass;
|
||||
global_minlevel = -3;
|
||||
global_maxlevel = 10;
|
||||
}
|
||||
|
||||
|
||||
void dxHashSpace::setLevels (int minlevel, int maxlevel)
|
||||
{
|
||||
dAASSERT (minlevel <= maxlevel);
|
||||
global_minlevel = minlevel;
|
||||
global_maxlevel = maxlevel;
|
||||
}
|
||||
|
||||
|
||||
void dxHashSpace::getLevels (int *minlevel, int *maxlevel)
|
||||
{
|
||||
if (minlevel) *minlevel = global_minlevel;
|
||||
if (maxlevel) *maxlevel = global_maxlevel;
|
||||
}
|
||||
|
||||
|
||||
void dxHashSpace::cleanGeoms()
|
||||
{
|
||||
// compute the AABBs of all dirty geoms, and clear the dirty flags
|
||||
lock_count++;
|
||||
for (dxGeom *g=first; g && (g->gflags & GEOM_DIRTY); g=g->next) {
|
||||
if (IS_SPACE(g)) {
|
||||
((dxSpace*)g)->cleanGeoms();
|
||||
}
|
||||
g->recomputeAABB();
|
||||
g->gflags &= (~(GEOM_DIRTY|GEOM_AABB_BAD));
|
||||
}
|
||||
lock_count--;
|
||||
}
|
||||
|
||||
|
||||
void dxHashSpace::collide (void *data, dNearCallback *callback)
|
||||
{
|
||||
dAASSERT(this && callback);
|
||||
dxGeom *geom;
|
||||
dxAABB *aabb;
|
||||
int i,maxlevel;
|
||||
|
||||
// 0 or 1 geoms can't collide with anything
|
||||
if (count < 2) return;
|
||||
|
||||
lock_count++;
|
||||
cleanGeoms();
|
||||
|
||||
// create a list of auxiliary information for all geom axis aligned bounding
|
||||
// boxes. set the level for all AABBs. put AABBs larger than the space's
|
||||
// global_maxlevel in the big_boxes list, check everything else against
|
||||
// that list at the end. for AABBs that are not too big, record the maximum
|
||||
// level that we need.
|
||||
|
||||
int n = 0; // number of AABBs in main list
|
||||
dxAABB *first_aabb = 0; // list of AABBs in hash table
|
||||
dxAABB *big_boxes = 0; // list of AABBs too big for hash table
|
||||
maxlevel = global_minlevel - 1;
|
||||
for (geom = first; geom; geom=geom->next) {
|
||||
if (!GEOM_ENABLED(geom)){
|
||||
continue;
|
||||
}
|
||||
dxAABB *aabb = (dxAABB*) ALLOCA (sizeof(dxAABB));
|
||||
aabb->geom = geom;
|
||||
// compute level, but prevent cells from getting too small
|
||||
int level = findLevel (geom->aabb);
|
||||
if (level < global_minlevel) level = global_minlevel;
|
||||
if (level <= global_maxlevel) {
|
||||
// aabb goes in main list
|
||||
aabb->next = first_aabb;
|
||||
first_aabb = aabb;
|
||||
aabb->level = level;
|
||||
if (level > maxlevel) maxlevel = level;
|
||||
// cellsize = 2^level
|
||||
dReal cellsize = (dReal) ldexp (1.0,level);
|
||||
// discretize AABB position to cell size
|
||||
for (i=0; i < 6; i++) aabb->dbounds[i] = (int)
|
||||
floor (geom->aabb[i]/cellsize);
|
||||
// set AABB index
|
||||
aabb->index = n;
|
||||
n++;
|
||||
}
|
||||
else {
|
||||
// aabb is too big, put it in the big_boxes list. we don't care about
|
||||
// setting level, dbounds, index, or the maxlevel
|
||||
aabb->next = big_boxes;
|
||||
big_boxes = aabb;
|
||||
}
|
||||
}
|
||||
|
||||
// for `n' objects, an n*n array of bits is used to record if those objects
|
||||
// have been intersection-tested against each other yet. this array can
|
||||
// grow large with high n, but oh well...
|
||||
int tested_rowsize = (n+7) >> 3; // number of bytes needed for n bits
|
||||
unsigned char *tested = (unsigned char *) alloca (n * tested_rowsize);
|
||||
memset (tested,0,n * tested_rowsize);
|
||||
|
||||
// create a hash table to store all AABBs. each AABB may take up to 8 cells.
|
||||
// we use chaining to resolve collisions, but we use a relatively large table
|
||||
// to reduce the chance of collisions.
|
||||
|
||||
// compute hash table size sz to be a prime > 8*n
|
||||
for (i=0; i<NUM_PRIMES; i++) {
|
||||
if (prime[i] >= (8*n)) break;
|
||||
}
|
||||
if (i >= NUM_PRIMES) i = NUM_PRIMES-1; // probably pointless
|
||||
int sz = prime[i];
|
||||
|
||||
// allocate and initialize hash table node pointers
|
||||
Node **table = (Node **) ALLOCA (sizeof(Node*) * sz);
|
||||
for (i=0; i<sz; i++) table[i] = 0;
|
||||
|
||||
// add each AABB to the hash table (may need to add it to up to 8 cells)
|
||||
for (aabb=first_aabb; aabb; aabb=aabb->next) {
|
||||
int *dbounds = aabb->dbounds;
|
||||
for (int xi = dbounds[0]; xi <= dbounds[1]; xi++) {
|
||||
for (int yi = dbounds[2]; yi <= dbounds[3]; yi++) {
|
||||
for (int zi = dbounds[4]; zi <= dbounds[5]; zi++) {
|
||||
// get the hash index
|
||||
unsigned long hi = getVirtualAddress (aabb->level,xi,yi,zi) % sz;
|
||||
// add a new node to the hash table
|
||||
Node *node = (Node*) alloca (sizeof (Node));
|
||||
node->x = xi;
|
||||
node->y = yi;
|
||||
node->z = zi;
|
||||
node->aabb = aabb;
|
||||
node->next = table[hi];
|
||||
table[hi] = node;
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
// now that all AABBs are loaded into the hash table, we do the actual
|
||||
// collision detection. for all AABBs, check for other AABBs in the
|
||||
// same cells for collisions, and then check for other AABBs in all
|
||||
// intersecting higher level cells.
|
||||
|
||||
int db[6]; // discrete bounds at current level
|
||||
for (aabb=first_aabb; aabb; aabb=aabb->next) {
|
||||
// we are searching for collisions with aabb
|
||||
for (i=0; i<6; i++) db[i] = aabb->dbounds[i];
|
||||
for (int level = aabb->level; level <= maxlevel; level++) {
|
||||
for (int xi = db[0]; xi <= db[1]; xi++) {
|
||||
for (int yi = db[2]; yi <= db[3]; yi++) {
|
||||
for (int zi = db[4]; zi <= db[5]; zi++) {
|
||||
// get the hash index
|
||||
unsigned long hi = getVirtualAddress (level,xi,yi,zi) % sz;
|
||||
// search all nodes at this index
|
||||
Node *node;
|
||||
for (node = table[hi]; node; node=node->next) {
|
||||
// node points to an AABB that may intersect aabb
|
||||
if (node->aabb == aabb) continue;
|
||||
if (node->aabb->level == level &&
|
||||
node->x == xi && node->y == yi && node->z == zi) {
|
||||
// see if aabb and node->aabb have already been tested
|
||||
// against each other
|
||||
unsigned char mask;
|
||||
if (aabb->index <= node->aabb->index) {
|
||||
i = (aabb->index * tested_rowsize)+(node->aabb->index >> 3);
|
||||
mask = 1 << (node->aabb->index & 7);
|
||||
}
|
||||
else {
|
||||
i = (node->aabb->index * tested_rowsize)+(aabb->index >> 3);
|
||||
mask = 1 << (aabb->index & 7);
|
||||
}
|
||||
dIASSERT (i >= 0 && i < (tested_rowsize*n));
|
||||
if ((tested[i] & mask)==0) {
|
||||
collideAABBs (aabb->geom,node->aabb->geom,data,callback);
|
||||
}
|
||||
tested[i] |= mask;
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
// get the discrete bounds for the next level up
|
||||
for (i=0; i<6; i++) db[i] >>= 1;
|
||||
}
|
||||
}
|
||||
|
||||
// every AABB in the normal list must now be intersected against every
|
||||
// AABB in the big_boxes list. so let's hope there are not too many objects
|
||||
// in the big_boxes list.
|
||||
for (aabb=first_aabb; aabb; aabb=aabb->next) {
|
||||
for (dxAABB *aabb2=big_boxes; aabb2; aabb2=aabb2->next) {
|
||||
collideAABBs (aabb->geom,aabb2->geom,data,callback);
|
||||
}
|
||||
}
|
||||
|
||||
// intersected all AABBs in the big_boxes list together
|
||||
for (aabb=big_boxes; aabb; aabb=aabb->next) {
|
||||
for (dxAABB *aabb2=aabb->next; aabb2; aabb2=aabb2->next) {
|
||||
collideAABBs (aabb->geom,aabb2->geom,data,callback);
|
||||
}
|
||||
}
|
||||
|
||||
lock_count--;
|
||||
}
|
||||
|
||||
|
||||
void dxHashSpace::collide2 (void *data, dxGeom *geom,
|
||||
dNearCallback *callback)
|
||||
{
|
||||
dAASSERT (geom && callback);
|
||||
|
||||
// this could take advantage of the hash structure to avoid
|
||||
// O(n2) complexity, but it does not yet.
|
||||
|
||||
lock_count++;
|
||||
cleanGeoms();
|
||||
geom->recomputeAABB();
|
||||
|
||||
// intersect bounding boxes
|
||||
for (dxGeom *g=first; g; g=g->next) {
|
||||
collideAABBs (g,geom,data,callback);
|
||||
}
|
||||
|
||||
lock_count--;
|
||||
}
|
||||
|
||||
//****************************************************************************
|
||||
// space functions
|
||||
|
||||
dxSpace *dSimpleSpaceCreate (dxSpace *space)
|
||||
{
|
||||
return new dxSimpleSpace (space);
|
||||
}
|
||||
|
||||
|
||||
dxSpace *dHashSpaceCreate (dxSpace *space)
|
||||
{
|
||||
return new dxHashSpace (space);
|
||||
}
|
||||
|
||||
|
||||
void dHashSpaceSetLevels (dxSpace *space, int minlevel, int maxlevel)
|
||||
{
|
||||
dAASSERT (space);
|
||||
dUASSERT (minlevel <= maxlevel,"must have minlevel <= maxlevel");
|
||||
dUASSERT (space->type == dHashSpaceClass,"argument must be a hash space");
|
||||
dxHashSpace *hspace = (dxHashSpace*) space;
|
||||
hspace->setLevels (minlevel,maxlevel);
|
||||
}
|
||||
|
||||
|
||||
void dHashSpaceGetLevels (dxSpace *space, int *minlevel, int *maxlevel)
|
||||
{
|
||||
dAASSERT (space);
|
||||
dUASSERT (space->type == dHashSpaceClass,"argument must be a hash space");
|
||||
dxHashSpace *hspace = (dxHashSpace*) space;
|
||||
hspace->getLevels (minlevel,maxlevel);
|
||||
}
|
||||
|
||||
|
||||
void dSpaceDestroy (dxSpace *space)
|
||||
{
|
||||
dAASSERT (space);
|
||||
dUASSERT (dGeomIsSpace(space),"argument not a space");
|
||||
dGeomDestroy (space);
|
||||
}
|
||||
|
||||
|
||||
void dSpaceSetCleanup (dxSpace *space, int mode)
|
||||
{
|
||||
dAASSERT (space);
|
||||
dUASSERT (dGeomIsSpace(space),"argument not a space");
|
||||
space->setCleanup (mode);
|
||||
}
|
||||
|
||||
|
||||
int dSpaceGetCleanup (dxSpace *space)
|
||||
{
|
||||
dAASSERT (space);
|
||||
dUASSERT (dGeomIsSpace(space),"argument not a space");
|
||||
return space->getCleanup();
|
||||
}
|
||||
|
||||
|
||||
void dSpaceAdd (dxSpace *space, dxGeom *g)
|
||||
{
|
||||
dAASSERT (space);
|
||||
dUASSERT (dGeomIsSpace(space),"argument not a space");
|
||||
CHECK_NOT_LOCKED (space);
|
||||
space->add (g);
|
||||
}
|
||||
|
||||
|
||||
void dSpaceRemove (dxSpace *space, dxGeom *g)
|
||||
{
|
||||
dAASSERT (space);
|
||||
dUASSERT (dGeomIsSpace(space),"argument not a space");
|
||||
CHECK_NOT_LOCKED (space);
|
||||
space->remove (g);
|
||||
}
|
||||
|
||||
|
||||
int dSpaceQuery (dxSpace *space, dxGeom *g)
|
||||
{
|
||||
dAASSERT (space);
|
||||
dUASSERT (dGeomIsSpace(space),"argument not a space");
|
||||
return space->query (g);
|
||||
}
|
||||
|
||||
void dSpaceClean (dxSpace *space){
|
||||
dAASSERT (space);
|
||||
dUASSERT (dGeomIsSpace(space),"argument not a space");
|
||||
|
||||
space->cleanGeoms();
|
||||
}
|
||||
|
||||
int dSpaceGetNumGeoms (dxSpace *space)
|
||||
{
|
||||
dAASSERT (space);
|
||||
dUASSERT (dGeomIsSpace(space),"argument not a space");
|
||||
return space->getNumGeoms();
|
||||
}
|
||||
|
||||
|
||||
dGeomID dSpaceGetGeom (dxSpace *space, int i)
|
||||
{
|
||||
dAASSERT (space);
|
||||
dUASSERT (dGeomIsSpace(space),"argument not a space");
|
||||
return space->getGeom (i);
|
||||
}
|
||||
|
||||
|
||||
void dSpaceCollide (dxSpace *space, void *data, dNearCallback *callback)
|
||||
{
|
||||
dAASSERT (space && callback);
|
||||
dUASSERT (dGeomIsSpace(space),"argument not a space");
|
||||
space->collide (data,callback);
|
||||
}
|
||||
|
||||
|
||||
void dSpaceCollide2 (dxGeom *g1, dxGeom *g2, void *data,
|
||||
dNearCallback *callback)
|
||||
{
|
||||
dAASSERT (g1 && g2 && callback);
|
||||
dxSpace *s1,*s2;
|
||||
|
||||
// see if either geom is a space
|
||||
if (IS_SPACE(g1)) s1 = (dxSpace*) g1; else s1 = 0;
|
||||
if (IS_SPACE(g2)) s2 = (dxSpace*) g2; else s2 = 0;
|
||||
|
||||
// handle the four space/geom cases
|
||||
if (s1) {
|
||||
if (s2) {
|
||||
// g1 and g2 are spaces.
|
||||
if (s1==s2) {
|
||||
// collide a space with itself --> interior collision
|
||||
s1->collide (data,callback);
|
||||
}
|
||||
else {
|
||||
// iterate through the space that has the fewest geoms, calling
|
||||
// collide2 in the other space for each one.
|
||||
if (s1->count < s2->count) {
|
||||
for (dxGeom *g = s1->first; g; g=g->next) {
|
||||
s2->collide2 (data,g,callback);
|
||||
}
|
||||
}
|
||||
else {
|
||||
for (dxGeom *g = s2->first; g; g=g->next) {
|
||||
s1->collide2 (data,g,callback);
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
else {
|
||||
// g1 is a space, g2 is a geom
|
||||
s1->collide2 (data,g2,callback);
|
||||
}
|
||||
}
|
||||
else {
|
||||
if (s2) {
|
||||
// g1 is a geom, g2 is a space
|
||||
s2->collide2 (data,g1,callback);
|
||||
}
|
||||
else {
|
||||
// g1 and g2 are geoms, call the callback directly
|
||||
callback (data,g1,g2);
|
||||
}
|
||||
}
|
||||
}
|
||||
84
Extras/ode/ode/src/collision_space_internal.h
Normal file
84
Extras/ode/ode/src/collision_space_internal.h
Normal file
@@ -0,0 +1,84 @@
|
||||
/*************************************************************************
|
||||
* *
|
||||
* 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. *
|
||||
* *
|
||||
*************************************************************************/
|
||||
|
||||
/*
|
||||
|
||||
stuff common to all spaces
|
||||
|
||||
*/
|
||||
|
||||
#ifndef _ODE_COLLISION_SPACE_INTERNAL_H_
|
||||
#define _ODE_COLLISION_SPACE_INTERNAL_H_
|
||||
|
||||
#define ALLOCA(x) dALLOCA16(x)
|
||||
|
||||
#define CHECK_NOT_LOCKED(space) \
|
||||
dUASSERT ((space)==0 || (space)->lock_count==0, \
|
||||
"invalid operation for locked space");
|
||||
|
||||
|
||||
// collide two geoms together. for the hash table space, this is
|
||||
// called if the two AABBs inhabit the same hash table cells.
|
||||
// this only calls the callback function if the AABBs actually
|
||||
// intersect. if a geom has an AABB test function, that is called to
|
||||
// provide a further refinement of the intersection.
|
||||
//
|
||||
// NOTE: this assumes that the geom AABBs are valid on entry
|
||||
// and that both geoms are enabled.
|
||||
|
||||
static void collideAABBs (dxGeom *g1, dxGeom *g2,
|
||||
void *data, dNearCallback *callback)
|
||||
{
|
||||
dIASSERT((g1->gflags & GEOM_AABB_BAD)==0);
|
||||
dIASSERT((g2->gflags & GEOM_AABB_BAD)==0);
|
||||
|
||||
// no contacts if both geoms on the same body, and the body is not 0
|
||||
if (g1->body == g2->body && g1->body) return;
|
||||
|
||||
// test if the category and collide bitfields match
|
||||
if ( ((g1->category_bits & g2->collide_bits) ||
|
||||
(g2->category_bits & g1->collide_bits)) == 0) {
|
||||
return;
|
||||
}
|
||||
|
||||
// if the bounding boxes are disjoint then don't do anything
|
||||
dReal *bounds1 = g1->aabb;
|
||||
dReal *bounds2 = g2->aabb;
|
||||
if (bounds1[0] > bounds2[1] ||
|
||||
bounds1[1] < bounds2[0] ||
|
||||
bounds1[2] > bounds2[3] ||
|
||||
bounds1[3] < bounds2[2] ||
|
||||
bounds1[4] > bounds2[5] ||
|
||||
bounds1[5] < bounds2[4]) {
|
||||
return;
|
||||
}
|
||||
|
||||
// check if either object is able to prove that it doesn't intersect the
|
||||
// AABB of the other
|
||||
if (g1->AABBTest (g2,bounds2) == 0) return;
|
||||
if (g2->AABBTest (g1,bounds1) == 0) return;
|
||||
|
||||
// the objects might actually intersect - call the space callback function
|
||||
callback (data,g1,g2);
|
||||
}
|
||||
|
||||
#endif
|
||||
1876
Extras/ode/ode/src/collision_std.cpp
Normal file
1876
Extras/ode/ode/src/collision_std.cpp
Normal file
File diff suppressed because it is too large
Load Diff
72
Extras/ode/ode/src/collision_std.h
Normal file
72
Extras/ode/ode/src/collision_std.h
Normal file
@@ -0,0 +1,72 @@
|
||||
/*************************************************************************
|
||||
* *
|
||||
* Open Dynamics Engine, Copyright (C) 2001,2002 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. *
|
||||
* *
|
||||
*************************************************************************/
|
||||
|
||||
/*
|
||||
|
||||
the standard ODE geometry primitives.
|
||||
|
||||
*/
|
||||
|
||||
#ifndef _ODE_COLLISION_STD_H_
|
||||
#define _ODE_COLLISION_STD_H_
|
||||
|
||||
#include <ode/common.h>
|
||||
#include "collision_kernel.h"
|
||||
|
||||
|
||||
// primitive collision functions - these have the dColliderFn interface, i.e.
|
||||
// the same interface as dCollide(). the first and second geom arguments must
|
||||
// have the specified types.
|
||||
|
||||
|
||||
int dCollideSphereSphere (dxGeom *o1, dxGeom *o2, int flags,
|
||||
dContactGeom *contact, int skip);
|
||||
int dCollideSphereBox (dxGeom *o1, dxGeom *o2, int flags,
|
||||
dContactGeom *contact, int skip);
|
||||
int dCollideSpherePlane (dxGeom *o1, dxGeom *o2, int flags,
|
||||
dContactGeom *contact, int skip);
|
||||
int dCollideBoxBox (dxGeom *o1, dxGeom *o2, int flags,
|
||||
dContactGeom *contact, int skip);
|
||||
int dCollideBoxPlane (dxGeom *o1, dxGeom *o2,
|
||||
int flags, dContactGeom *contact, int skip);
|
||||
int dCollideCCylinderSphere (dxGeom *o1, dxGeom *o2, int flags,
|
||||
dContactGeom *contact, int skip);
|
||||
int dCollideCCylinderBox (dxGeom *o1, dxGeom *o2, int flags,
|
||||
dContactGeom *contact, int skip);
|
||||
int dCollideCCylinderCCylinder (dxGeom *o1, dxGeom *o2,
|
||||
int flags, dContactGeom *contact, int skip);
|
||||
int dCollideCCylinderPlane (dxGeom *o1, dxGeom *o2, int flags,
|
||||
dContactGeom *contact, int skip);
|
||||
int dCollideRaySphere (dxGeom *o1, dxGeom *o2, int flags,
|
||||
dContactGeom *contact, int skip);
|
||||
int dCollideRayBox (dxGeom *o1, dxGeom *o2, int flags,
|
||||
dContactGeom *contact, int skip);
|
||||
int dCollideRayCCylinder (dxGeom *o1, dxGeom *o2,
|
||||
int flags, dContactGeom *contact, int skip);
|
||||
int dCollideRayPlane (dxGeom *o1, dxGeom *o2, int flags,
|
||||
dContactGeom *contact, int skip);
|
||||
///dCollideConvexConvex: see collision_convex.cpp for details
|
||||
int dCollideConvexConvex(dxGeom *o1, dxGeom *o2, int flags,
|
||||
dContactGeom *contact, int skip);
|
||||
|
||||
|
||||
#endif
|
||||
231
Extras/ode/ode/src/collision_transform.cpp
Normal file
231
Extras/ode/ode/src/collision_transform.cpp
Normal file
@@ -0,0 +1,231 @@
|
||||
/*************************************************************************
|
||||
* *
|
||||
* Open Dynamics Engine, Copyright (C) 2001,2002 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. *
|
||||
* *
|
||||
*************************************************************************/
|
||||
|
||||
/*
|
||||
|
||||
geom transform
|
||||
|
||||
*/
|
||||
|
||||
#include <ode/collision.h>
|
||||
#include <ode/matrix.h>
|
||||
#include <ode/rotation.h>
|
||||
#include <ode/odemath.h>
|
||||
#include "collision_transform.h"
|
||||
#include "collision_util.h"
|
||||
|
||||
#ifdef _MSC_VER
|
||||
#pragma warning(disable:4291) // for VC++, no complaints about "no matching operator delete found"
|
||||
#endif
|
||||
|
||||
//****************************************************************************
|
||||
// dxGeomTransform class
|
||||
|
||||
struct dxGeomTransform : public dxGeom {
|
||||
dxGeom *obj; // object that is being transformed
|
||||
int cleanup; // 1 to destroy obj when destroyed
|
||||
int infomode; // 1 to put Tx geom in dContactGeom g1
|
||||
|
||||
// cached final object transform (body tx + relative tx). this is set by
|
||||
// computeAABB(), and it is valid while the AABB is valid.
|
||||
dVector3 final_pos;
|
||||
dMatrix3 final_R;
|
||||
|
||||
dxGeomTransform (dSpaceID space);
|
||||
~dxGeomTransform();
|
||||
void computeAABB();
|
||||
void computeFinalTx();
|
||||
};
|
||||
|
||||
|
||||
dxGeomTransform::dxGeomTransform (dSpaceID space) : dxGeom (space,1)
|
||||
{
|
||||
type = dGeomTransformClass;
|
||||
obj = 0;
|
||||
cleanup = 0;
|
||||
infomode = 0;
|
||||
dSetZero (final_pos,4);
|
||||
dRSetIdentity (final_R);
|
||||
}
|
||||
|
||||
|
||||
dxGeomTransform::~dxGeomTransform()
|
||||
{
|
||||
if (obj && cleanup) delete obj;
|
||||
}
|
||||
|
||||
|
||||
void dxGeomTransform::computeAABB()
|
||||
{
|
||||
if (!obj) {
|
||||
dSetZero (aabb,6);
|
||||
return;
|
||||
}
|
||||
|
||||
// backup the relative pos and R pointers of the encapsulated geom object
|
||||
dReal *posbak = obj->pos;
|
||||
dReal *Rbak = obj->R;
|
||||
|
||||
// compute temporary pos and R for the encapsulated geom object
|
||||
computeFinalTx();
|
||||
obj->pos = final_pos;
|
||||
obj->R = final_R;
|
||||
|
||||
// compute the AABB
|
||||
obj->computeAABB();
|
||||
memcpy (aabb,obj->aabb,6*sizeof(dReal));
|
||||
|
||||
// restore the pos and R
|
||||
obj->pos = posbak;
|
||||
obj->R = Rbak;
|
||||
}
|
||||
|
||||
|
||||
// utility function for dCollideTransform() : compute final pos and R
|
||||
// for the encapsulated geom object
|
||||
|
||||
void dxGeomTransform::computeFinalTx()
|
||||
{
|
||||
dMULTIPLY0_331 (final_pos,R,obj->pos);
|
||||
final_pos[0] += pos[0];
|
||||
final_pos[1] += pos[1];
|
||||
final_pos[2] += pos[2];
|
||||
dMULTIPLY0_333 (final_R,R,obj->R);
|
||||
}
|
||||
|
||||
//****************************************************************************
|
||||
// collider function:
|
||||
// this collides a transformed geom with another geom. the other geom can
|
||||
// also be a transformed geom, but this case is not handled specially.
|
||||
|
||||
int dCollideTransform (dxGeom *o1, dxGeom *o2, int flags,
|
||||
dContactGeom *contact, int skip)
|
||||
{
|
||||
dIASSERT (skip >= (int)sizeof(dContactGeom));
|
||||
dIASSERT (o1->type == dGeomTransformClass);
|
||||
|
||||
dxGeomTransform *tr = (dxGeomTransform*) o1;
|
||||
if (!tr->obj) return 0;
|
||||
dUASSERT (tr->obj->parent_space==0,
|
||||
"GeomTransform encapsulated object must not be in a space");
|
||||
dUASSERT (tr->obj->body==0,
|
||||
"GeomTransform encapsulated object must not be attached "
|
||||
"to a body");
|
||||
|
||||
// backup the relative pos and R pointers of the encapsulated geom object,
|
||||
// and the body pointer
|
||||
dReal *posbak = tr->obj->pos;
|
||||
dReal *Rbak = tr->obj->R;
|
||||
dxBody *bodybak = tr->obj->body;
|
||||
|
||||
// compute temporary pos and R for the encapsulated geom object.
|
||||
// note that final_pos and final_R are valid if no GEOM_AABB_BAD flag,
|
||||
// because computeFinalTx() will have already been called in
|
||||
// dxGeomTransform::computeAABB()
|
||||
|
||||
if (tr->gflags & GEOM_AABB_BAD) tr->computeFinalTx();
|
||||
tr->obj->pos = tr->final_pos;
|
||||
tr->obj->R = tr->final_R;
|
||||
tr->obj->body = o1->body;
|
||||
|
||||
// do the collision
|
||||
int n = dCollide (tr->obj,o2,flags,contact,skip);
|
||||
|
||||
// if required, adjust the 'g1' values in the generated contacts so that
|
||||
// thay indicated the GeomTransform object instead of the encapsulated
|
||||
// object.
|
||||
if (tr->infomode) {
|
||||
for (int i=0; i<n; i++) {
|
||||
dContactGeom *c = CONTACT(contact,skip*i);
|
||||
c->g1 = o1;
|
||||
}
|
||||
}
|
||||
|
||||
// restore the pos, R and body
|
||||
tr->obj->pos = posbak;
|
||||
tr->obj->R = Rbak;
|
||||
tr->obj->body = bodybak;
|
||||
return n;
|
||||
}
|
||||
|
||||
//****************************************************************************
|
||||
// public API
|
||||
|
||||
dGeomID dCreateGeomTransform (dSpaceID space)
|
||||
{
|
||||
return new dxGeomTransform (space);
|
||||
}
|
||||
|
||||
|
||||
void dGeomTransformSetGeom (dGeomID g, dGeomID obj)
|
||||
{
|
||||
dUASSERT (g && g->type == dGeomTransformClass,
|
||||
"argument not a geom transform");
|
||||
dxGeomTransform *tr = (dxGeomTransform*) g;
|
||||
if (tr->obj && tr->cleanup) delete tr->obj;
|
||||
tr->obj = obj;
|
||||
}
|
||||
|
||||
|
||||
dGeomID dGeomTransformGetGeom (dGeomID g)
|
||||
{
|
||||
dUASSERT (g && g->type == dGeomTransformClass,
|
||||
"argument not a geom transform");
|
||||
dxGeomTransform *tr = (dxGeomTransform*) g;
|
||||
return tr->obj;
|
||||
}
|
||||
|
||||
|
||||
void dGeomTransformSetCleanup (dGeomID g, int mode)
|
||||
{
|
||||
dUASSERT (g && g->type == dGeomTransformClass,
|
||||
"argument not a geom transform");
|
||||
dxGeomTransform *tr = (dxGeomTransform*) g;
|
||||
tr->cleanup = mode;
|
||||
}
|
||||
|
||||
|
||||
int dGeomTransformGetCleanup (dGeomID g)
|
||||
{
|
||||
dUASSERT (g && g->type == dGeomTransformClass,
|
||||
"argument not a geom transform");
|
||||
dxGeomTransform *tr = (dxGeomTransform*) g;
|
||||
return tr->cleanup;
|
||||
}
|
||||
|
||||
|
||||
void dGeomTransformSetInfo (dGeomID g, int mode)
|
||||
{
|
||||
dUASSERT (g && g->type == dGeomTransformClass,
|
||||
"argument not a geom transform");
|
||||
dxGeomTransform *tr = (dxGeomTransform*) g;
|
||||
tr->infomode = mode;
|
||||
}
|
||||
|
||||
|
||||
int dGeomTransformGetInfo (dGeomID g)
|
||||
{
|
||||
dUASSERT (g && g->type == dGeomTransformClass,
|
||||
"argument not a geom transform");
|
||||
dxGeomTransform *tr = (dxGeomTransform*) g;
|
||||
return tr->infomode;
|
||||
}
|
||||
40
Extras/ode/ode/src/collision_transform.h
Normal file
40
Extras/ode/ode/src/collision_transform.h
Normal file
@@ -0,0 +1,40 @@
|
||||
/*************************************************************************
|
||||
* *
|
||||
* Open Dynamics Engine, Copyright (C) 2001,2002 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. *
|
||||
* *
|
||||
*************************************************************************/
|
||||
|
||||
/*
|
||||
|
||||
geom transform
|
||||
|
||||
*/
|
||||
|
||||
#ifndef _ODE_COLLISION_TRANSFORM_H_
|
||||
#define _ODE_COLLISION_TRANSFORM_H_
|
||||
|
||||
#include <ode/common.h>
|
||||
#include "collision_kernel.h"
|
||||
|
||||
|
||||
int dCollideTransform (dxGeom *o1, dxGeom *o2, int flags,
|
||||
dContactGeom *contact, int skip);
|
||||
|
||||
|
||||
#endif
|
||||
530
Extras/ode/ode/src/collision_trimesh.cpp
Normal file
530
Extras/ode/ode/src/collision_trimesh.cpp
Normal file
@@ -0,0 +1,530 @@
|
||||
/*************************************************************************
|
||||
* *
|
||||
* 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. *
|
||||
* *
|
||||
*************************************************************************/
|
||||
|
||||
// TriMesh code by Erwin de Vries.
|
||||
|
||||
#include <ode/collision.h>
|
||||
#include <ode/matrix.h>
|
||||
#include <ode/rotation.h>
|
||||
#include <ode/odemath.h>
|
||||
#include "collision_util.h"
|
||||
#define TRIMESH_INTERNAL
|
||||
#include "collision_trimesh_internal.h"
|
||||
|
||||
// Trimesh data
|
||||
dxTriMeshData::dxTriMeshData(){
|
||||
#ifndef dTRIMESH_ENABLED
|
||||
dUASSERT(g, "dTRIMESH_ENABLED is not defined. Trimesh geoms will not work");
|
||||
#endif
|
||||
}
|
||||
|
||||
dxTriMeshData::~dxTriMeshData(){
|
||||
//
|
||||
}
|
||||
|
||||
void
|
||||
dxTriMeshData::Build(const void* Vertices, int VertexStide, int VertexCount,
|
||||
const void* Indices, int IndexCount, int TriStride,
|
||||
const void* in_Normals,
|
||||
bool Single){
|
||||
Mesh.SetNbTriangles(IndexCount / 3);
|
||||
Mesh.SetNbVertices(VertexCount);
|
||||
Mesh.SetPointers((IndexedTriangle*)Indices, (Point*)Vertices);
|
||||
Mesh.SetStrides(TriStride, VertexStide);
|
||||
Mesh.Single = Single;
|
||||
|
||||
// Build tree
|
||||
BuildSettings Settings;
|
||||
// recommended in Opcode User Manual
|
||||
//Settings.mRules = SPLIT_COMPLETE | SPLIT_SPLATTERPOINTS | SPLIT_GEOMCENTER;
|
||||
// used in ODE, why?
|
||||
//Settings.mRules = SPLIT_BEST_AXIS;
|
||||
|
||||
// best compromise?
|
||||
Settings.mRules = SPLIT_BEST_AXIS | SPLIT_SPLATTER_POINTS | SPLIT_GEOM_CENTER;
|
||||
|
||||
|
||||
OPCODECREATE TreeBuilder;
|
||||
TreeBuilder.mIMesh = &Mesh;
|
||||
|
||||
TreeBuilder.mSettings = Settings;
|
||||
TreeBuilder.mNoLeaf = true;
|
||||
TreeBuilder.mQuantized = false;
|
||||
|
||||
TreeBuilder.mKeepOriginal = false;
|
||||
TreeBuilder.mCanRemap = false;
|
||||
|
||||
|
||||
|
||||
BVTree.Build(TreeBuilder);
|
||||
|
||||
// compute model space AABB
|
||||
dVector3 AABBMax, AABBMin;
|
||||
AABBMax[0] = AABBMax[1] = AABBMax[2] = (dReal) -dInfinity;
|
||||
AABBMin[0] = AABBMin[1] = AABBMin[2] = (dReal) dInfinity;
|
||||
if( Single ) {
|
||||
const char* verts = (const char*)Vertices;
|
||||
for( int i = 0; i < VertexCount; ++i ) {
|
||||
const float* v = (const float*)verts;
|
||||
if( v[0] > AABBMax[0] ) AABBMax[0] = v[0];
|
||||
if( v[1] > AABBMax[1] ) AABBMax[1] = v[1];
|
||||
if( v[2] > AABBMax[2] ) AABBMax[2] = v[2];
|
||||
if( v[0] < AABBMin[0] ) AABBMin[0] = v[0];
|
||||
if( v[1] < AABBMin[1] ) AABBMin[1] = v[1];
|
||||
if( v[2] < AABBMin[2] ) AABBMin[2] = v[2];
|
||||
verts += VertexStide;
|
||||
}
|
||||
} else {
|
||||
const char* verts = (const char*)Vertices;
|
||||
for( int i = 0; i < VertexCount; ++i ) {
|
||||
const double* v = (const double*)verts;
|
||||
if( v[0] > AABBMax[0] ) AABBMax[0] = (dReal) v[0];
|
||||
if( v[1] > AABBMax[1] ) AABBMax[1] = (dReal) v[1];
|
||||
if( v[2] > AABBMax[2] ) AABBMax[2] = (dReal) v[2];
|
||||
if( v[0] < AABBMin[0] ) AABBMin[0] = (dReal) v[0];
|
||||
if( v[1] < AABBMin[1] ) AABBMin[1] = (dReal) v[1];
|
||||
if( v[2] < AABBMin[2] ) AABBMin[2] = (dReal) v[2];
|
||||
verts += VertexStide;
|
||||
}
|
||||
}
|
||||
AABBCenter[0] = (AABBMin[0] + AABBMax[0]) * REAL(0.5);
|
||||
AABBCenter[1] = (AABBMin[1] + AABBMax[1]) * REAL(0.5);
|
||||
AABBCenter[2] = (AABBMin[2] + AABBMax[2]) * REAL(0.5);
|
||||
AABBExtents[0] = AABBMax[0] - AABBCenter[0];
|
||||
AABBExtents[1] = AABBMax[1] - AABBCenter[1];
|
||||
AABBExtents[2] = AABBMax[2] - AABBCenter[2];
|
||||
|
||||
// user data (not used by OPCODE)
|
||||
for (int i=0; i<16; i++)
|
||||
last_trans[i] = 0.0;
|
||||
|
||||
Normals = (dReal *) in_Normals;
|
||||
}
|
||||
|
||||
dTriMeshDataID dGeomTriMeshDataCreate(){
|
||||
return new dxTriMeshData();
|
||||
}
|
||||
|
||||
void dGeomTriMeshDataDestroy(dTriMeshDataID g){
|
||||
delete g;
|
||||
}
|
||||
|
||||
void dGeomTriMeshDataSet(dTriMeshDataID g, int data_id, void* in_data)
|
||||
{
|
||||
dUASSERT(g, "argument not trimesh data");
|
||||
|
||||
double *elem;
|
||||
|
||||
switch (data_id) {
|
||||
case TRIMESH_FACE_NORMALS:
|
||||
g->Normals = (dReal *) in_data;
|
||||
break;
|
||||
|
||||
case TRIMESH_LAST_TRANSFORMATION:
|
||||
elem = (double *) in_data;
|
||||
for (int i=0; i<16; i++)
|
||||
g->last_trans[i] = (dReal) elem[i];
|
||||
|
||||
break;
|
||||
default:
|
||||
dUASSERT(data_id, "invalid data type");
|
||||
break;
|
||||
}
|
||||
|
||||
return;
|
||||
}
|
||||
|
||||
|
||||
|
||||
void* dGeomTriMeshDataGet(dTriMeshDataID g, int data_id)
|
||||
{
|
||||
dUASSERT(g, "argument not trimesh data");
|
||||
|
||||
switch (data_id) {
|
||||
case TRIMESH_FACE_NORMALS:
|
||||
return (void *) g->Normals;
|
||||
break;
|
||||
|
||||
case TRIMESH_LAST_TRANSFORMATION:
|
||||
return (void *) g->last_trans;
|
||||
break;
|
||||
default:
|
||||
dUASSERT(data_id, "invalid data type");
|
||||
break;
|
||||
}
|
||||
|
||||
return NULL;
|
||||
}
|
||||
|
||||
|
||||
void dGeomTriMeshDataBuildSingle1(dTriMeshDataID g,
|
||||
const void* Vertices, int VertexStride, int VertexCount,
|
||||
const void* Indices, int IndexCount, int TriStride,
|
||||
const void* Normals)
|
||||
{
|
||||
dUASSERT(g, "argument not trimesh data");
|
||||
|
||||
g->Build(Vertices, VertexStride, VertexCount,
|
||||
Indices, IndexCount, TriStride,
|
||||
Normals,
|
||||
true);
|
||||
}
|
||||
|
||||
|
||||
void dGeomTriMeshDataBuildSingle(dTriMeshDataID g,
|
||||
const void* Vertices, int VertexStride, int VertexCount,
|
||||
const void* Indices, int IndexCount, int TriStride)
|
||||
{
|
||||
dGeomTriMeshDataBuildSingle1(g, Vertices, VertexStride, VertexCount,
|
||||
Indices, IndexCount, TriStride, (void*)NULL);
|
||||
}
|
||||
|
||||
|
||||
void dGeomTriMeshDataBuildDouble1(dTriMeshDataID g,
|
||||
const void* Vertices, int VertexStride, int VertexCount,
|
||||
const void* Indices, int IndexCount, int TriStride,
|
||||
const void* Normals)
|
||||
{
|
||||
dUASSERT(g, "argument not trimesh data");
|
||||
|
||||
g->Build(Vertices, VertexStride, VertexCount,
|
||||
Indices, IndexCount, TriStride,
|
||||
Normals,
|
||||
false);
|
||||
}
|
||||
|
||||
|
||||
void dGeomTriMeshDataBuildDouble(dTriMeshDataID g,
|
||||
const void* Vertices, int VertexStride, int VertexCount,
|
||||
const void* Indices, int IndexCount, int TriStride) {
|
||||
dGeomTriMeshDataBuildDouble1(g, Vertices, VertexStride, VertexCount,
|
||||
Indices, IndexCount, TriStride, NULL);
|
||||
}
|
||||
|
||||
|
||||
void dGeomTriMeshDataBuildSimple1(dTriMeshDataID g,
|
||||
const dReal* Vertices, int VertexCount,
|
||||
const int* Indices, int IndexCount,
|
||||
const int* Normals){
|
||||
#ifdef dSINGLE
|
||||
dGeomTriMeshDataBuildSingle1(g,
|
||||
Vertices, 4 * sizeof(dReal), VertexCount,
|
||||
Indices, IndexCount, 3 * sizeof(unsigned int),
|
||||
Normals);
|
||||
#else
|
||||
dGeomTriMeshDataBuildDouble1(g, Vertices, 4 * sizeof(dReal), VertexCount,
|
||||
Indices, IndexCount, 3 * sizeof(unsigned int),
|
||||
Normals);
|
||||
#endif
|
||||
}
|
||||
|
||||
|
||||
void dGeomTriMeshDataBuildSimple(dTriMeshDataID g,
|
||||
const dReal* Vertices, int VertexCount,
|
||||
const int* Indices, int IndexCount) {
|
||||
dGeomTriMeshDataBuildSimple1(g,
|
||||
Vertices, VertexCount, Indices, IndexCount,
|
||||
(const int*)NULL);
|
||||
}
|
||||
|
||||
|
||||
// Trimesh
|
||||
PlanesCollider dxTriMesh::_PlanesCollider;
|
||||
SphereCollider dxTriMesh::_SphereCollider;
|
||||
OBBCollider dxTriMesh::_OBBCollider;
|
||||
RayCollider dxTriMesh::_RayCollider;
|
||||
AABBTreeCollider dxTriMesh::_AABBTreeCollider;
|
||||
LSSCollider dxTriMesh::_LSSCollider;
|
||||
|
||||
SphereCache dxTriMesh::defaultSphereCache;
|
||||
OBBCache dxTriMesh::defaultBoxCache;
|
||||
LSSCache dxTriMesh::defaultCCylinderCache;
|
||||
|
||||
CollisionFaces dxTriMesh::Faces;
|
||||
|
||||
dxTriMesh::dxTriMesh(dSpaceID Space, dTriMeshDataID Data) : dxGeom(Space, 1){
|
||||
type = dTriMeshClass;
|
||||
|
||||
this->Data = Data;
|
||||
|
||||
_RayCollider.SetDestination(&Faces);
|
||||
|
||||
_PlanesCollider.SetTemporalCoherence(true);
|
||||
|
||||
_SphereCollider.SetTemporalCoherence(true);
|
||||
_SphereCollider.SetPrimitiveTests(false);
|
||||
|
||||
|
||||
_OBBCollider.SetTemporalCoherence(true);
|
||||
|
||||
// no first-contact test (i.e. return full contact info)
|
||||
_AABBTreeCollider.SetFirstContact( false );
|
||||
// temporal coherence only works with "first conact" tests
|
||||
_AABBTreeCollider.SetTemporalCoherence(false);
|
||||
// Perform full BV-BV tests (true) or SAT-lite tests (false)
|
||||
_AABBTreeCollider.SetFullBoxBoxTest( true );
|
||||
// Perform full Primitive-BV tests (true) or SAT-lite tests (false)
|
||||
_AABBTreeCollider.SetFullPrimBoxTest( true );
|
||||
_LSSCollider.SetTemporalCoherence(false);
|
||||
|
||||
/* TC has speed/space 'issues' that don't make it a clear
|
||||
win by default on spheres/boxes. */
|
||||
this->doSphereTC = false;
|
||||
this->doBoxTC = false;
|
||||
this->doCCylinderTC = false;
|
||||
|
||||
const char* msg;
|
||||
if ((msg =_AABBTreeCollider.ValidateSettings()))
|
||||
dDebug (d_ERR_UASSERT, msg, " (%s:%d)", __FILE__,__LINE__);
|
||||
_LSSCollider.SetPrimitiveTests(false);
|
||||
_LSSCollider.SetFirstContact(false);
|
||||
}
|
||||
|
||||
dxTriMesh::~dxTriMesh(){
|
||||
//
|
||||
}
|
||||
|
||||
|
||||
void dxTriMesh::ClearTCCache(){
|
||||
/* dxTriMesh::ClearTCCache uses dArray's setSize(0) to clear the caches -
|
||||
but the destructor isn't called when doing this, so we would leak.
|
||||
So, call the previous caches' containers' destructors by hand first. */
|
||||
int i, n;
|
||||
n = SphereTCCache.size();
|
||||
for( i = 0; i < n; ++i ) {
|
||||
SphereTCCache[i].~SphereTC();
|
||||
}
|
||||
SphereTCCache.setSize(0);
|
||||
n = BoxTCCache.size();
|
||||
for( i = 0; i < n; ++i ) {
|
||||
BoxTCCache[i].~BoxTC();
|
||||
}
|
||||
BoxTCCache.setSize(0);
|
||||
n = CCylinderTCCache.size();
|
||||
for( i = 0; i < n; ++i ) {
|
||||
CCylinderTCCache[i].~CCylinderTC();
|
||||
}
|
||||
CCylinderTCCache.setSize(0);
|
||||
}
|
||||
|
||||
|
||||
int dxTriMesh::AABBTest(dxGeom* g, dReal aabb[6]){
|
||||
return 1;
|
||||
}
|
||||
|
||||
|
||||
void dxTriMesh::computeAABB() {
|
||||
const dxTriMeshData* d = Data;
|
||||
dVector3 c;
|
||||
|
||||
dMULTIPLY0_331( c, R, d->AABBCenter );
|
||||
|
||||
dReal xrange = dFabs(R[0] * Data->AABBExtents[0]) +
|
||||
dFabs(R[1] * Data->AABBExtents[1]) +
|
||||
dFabs(R[2] * Data->AABBExtents[2]);
|
||||
dReal yrange = dFabs(R[4] * Data->AABBExtents[0]) +
|
||||
dFabs(R[5] * Data->AABBExtents[1]) +
|
||||
dFabs(R[6] * Data->AABBExtents[2]);
|
||||
dReal zrange = dFabs(R[8] * Data->AABBExtents[0]) +
|
||||
dFabs(R[9] * Data->AABBExtents[1]) +
|
||||
dFabs(R[10] * Data->AABBExtents[2]);
|
||||
|
||||
aabb[0] = c[0] + pos[0] - xrange;
|
||||
aabb[1] = c[0] + pos[0] + xrange;
|
||||
aabb[2] = c[1] + pos[1] - yrange;
|
||||
aabb[3] = c[1] + pos[1] + yrange;
|
||||
aabb[4] = c[2] + pos[2] - zrange;
|
||||
aabb[5] = c[2] + pos[2] + zrange;
|
||||
}
|
||||
|
||||
dGeomID dCreateTriMesh(dSpaceID space,
|
||||
dTriMeshDataID Data,
|
||||
dTriCallback* Callback,
|
||||
dTriArrayCallback* ArrayCallback,
|
||||
dTriRayCallback* RayCallback)
|
||||
{
|
||||
dxTriMesh* Geom = new dxTriMesh(space, Data);
|
||||
Geom->Callback = Callback;
|
||||
Geom->ArrayCallback = ArrayCallback;
|
||||
Geom->RayCallback = RayCallback;
|
||||
|
||||
return Geom;
|
||||
}
|
||||
|
||||
void dGeomTriMeshSetCallback(dGeomID g, dTriCallback* Callback)
|
||||
{
|
||||
dUASSERT(g && g->type == dTriMeshClass, "argument not a trimesh");
|
||||
((dxTriMesh*)g)->Callback = Callback;
|
||||
}
|
||||
|
||||
dTriCallback* dGeomTriMeshGetCallback(dGeomID g)
|
||||
{
|
||||
dUASSERT(g && g->type == dTriMeshClass, "argument not a trimesh");
|
||||
return ((dxTriMesh*)g)->Callback;
|
||||
}
|
||||
|
||||
void dGeomTriMeshSetArrayCallback(dGeomID g, dTriArrayCallback* ArrayCallback)
|
||||
{
|
||||
dUASSERT(g && g->type == dTriMeshClass, "argument not a trimesh");
|
||||
((dxTriMesh*)g)->ArrayCallback = ArrayCallback;
|
||||
}
|
||||
|
||||
dTriArrayCallback* dGeomTriMeshGetArrayCallback(dGeomID g)
|
||||
{
|
||||
dUASSERT(g && g->type == dTriMeshClass, "argument not a trimesh");
|
||||
return ((dxTriMesh*)g)->ArrayCallback;
|
||||
}
|
||||
|
||||
void dGeomTriMeshSetRayCallback(dGeomID g, dTriRayCallback* Callback)
|
||||
{
|
||||
dUASSERT(g && g->type == dTriMeshClass, "argument not a trimesh");
|
||||
((dxTriMesh*)g)->RayCallback = Callback;
|
||||
}
|
||||
|
||||
dTriRayCallback* dGeomTriMeshGetRayCallback(dGeomID g)
|
||||
{
|
||||
dUASSERT(g && g->type == dTriMeshClass, "argument not a trimesh");
|
||||
return ((dxTriMesh*)g)->RayCallback;
|
||||
}
|
||||
|
||||
void dGeomTriMeshSetData(dGeomID g, dTriMeshDataID Data)
|
||||
{
|
||||
dUASSERT(g && g->type == dTriMeshClass, "argument not a trimesh");
|
||||
((dxTriMesh*)g)->Data = Data;
|
||||
}
|
||||
|
||||
dTriMeshDataID dGeomTriMeshGetData(dGeomID g)
|
||||
{
|
||||
dUASSERT(g && g->type == dTriMeshClass, "argument not a trimesh");
|
||||
return ((dxTriMesh*)g)->Data;
|
||||
}
|
||||
|
||||
|
||||
|
||||
void dGeomTriMeshEnableTC(dGeomID g, int geomClass, int enable)
|
||||
{
|
||||
dUASSERT(g && g->type == dTriMeshClass, "argument not a trimesh");
|
||||
|
||||
switch (geomClass)
|
||||
{
|
||||
case dSphereClass:
|
||||
((dxTriMesh*)g)->doSphereTC = (1 == enable);
|
||||
break;
|
||||
case dBoxClass:
|
||||
((dxTriMesh*)g)->doBoxTC = (1 == enable);
|
||||
break;
|
||||
case dCCylinderClass:
|
||||
((dxTriMesh*)g)->doCCylinderTC = (1 == enable);
|
||||
break;
|
||||
}
|
||||
}
|
||||
|
||||
int dGeomTriMeshIsTCEnabled(dGeomID g, int geomClass)
|
||||
{
|
||||
dUASSERT(g && g->type == dTriMeshClass, "argument not a trimesh");
|
||||
|
||||
switch (geomClass)
|
||||
{
|
||||
case dSphereClass:
|
||||
if (((dxTriMesh*)g)->doSphereTC)
|
||||
return 1;
|
||||
break;
|
||||
case dBoxClass:
|
||||
if (((dxTriMesh*)g)->doBoxTC)
|
||||
return 1;
|
||||
break;
|
||||
case dCCylinderClass:
|
||||
if (((dxTriMesh*)g)->doCCylinderTC)
|
||||
return 1;
|
||||
break;
|
||||
}
|
||||
return 0;
|
||||
}
|
||||
|
||||
void dGeomTriMeshClearTCCache(dGeomID g){
|
||||
dUASSERT(g && g->type == dTriMeshClass, "argument not a trimesh");
|
||||
|
||||
dxTriMesh* Geom = (dxTriMesh*)g;
|
||||
Geom->ClearTCCache();
|
||||
}
|
||||
|
||||
/*
|
||||
* returns the TriMeshDataID
|
||||
*/
|
||||
dTriMeshDataID
|
||||
dGeomTriMeshGetTriMeshDataID(dGeomID g)
|
||||
{
|
||||
dxTriMesh* Geom = (dxTriMesh*) g;
|
||||
return Geom->Data;
|
||||
}
|
||||
|
||||
// Getting data
|
||||
void dGeomTriMeshGetTriangle(dGeomID g, int Index, dVector3* v0, dVector3* v1, dVector3* v2){
|
||||
dUASSERT(g && g->type == dTriMeshClass, "argument not a trimesh");
|
||||
|
||||
dxTriMesh* Geom = (dxTriMesh*)g;
|
||||
|
||||
const dVector3& Position = *(const dVector3*)dGeomGetPosition(g);
|
||||
const dMatrix3& Rotation = *(const dMatrix3*)dGeomGetRotation(g);
|
||||
|
||||
dVector3 v[3];
|
||||
FetchTriangle(Geom, Index, Position, Rotation, v);
|
||||
|
||||
if (v0){
|
||||
(*v0)[0] = v[0][0];
|
||||
(*v0)[1] = v[0][1];
|
||||
(*v0)[2] = v[0][2];
|
||||
(*v0)[3] = v[0][3];
|
||||
}
|
||||
if (v1){
|
||||
(*v1)[0] = v[1][0];
|
||||
(*v1)[1] = v[1][1];
|
||||
(*v1)[2] = v[1][2];
|
||||
(*v1)[3] = v[1][3];
|
||||
}
|
||||
if (v2){
|
||||
(*v2)[0] = v[2][0];
|
||||
(*v2)[1] = v[2][1];
|
||||
(*v2)[2] = v[2][2];
|
||||
(*v2)[3] = v[2][3];
|
||||
}
|
||||
}
|
||||
|
||||
void dGeomTriMeshGetPoint(dGeomID g, int Index, dReal u, dReal v, dVector3 Out){
|
||||
dUASSERT(g && g->type == dTriMeshClass, "argument not a trimesh");
|
||||
|
||||
dxTriMesh* Geom = (dxTriMesh*)g;
|
||||
|
||||
const dVector3& Position = *(const dVector3*)dGeomGetPosition(g);
|
||||
const dMatrix3& Rotation = *(const dMatrix3*)dGeomGetRotation(g);
|
||||
|
||||
dVector3 dv[3];
|
||||
FetchTriangle(Geom, Index, Position, Rotation, dv);
|
||||
|
||||
GetPointFromBarycentric(dv, u, v, Out);
|
||||
}
|
||||
|
||||
int dGeomTriMeshGetTriangleCount (dGeomID g)
|
||||
{
|
||||
dxTriMesh* Geom = (dxTriMesh*)g;
|
||||
return Geom->Data->Mesh.GetNbTriangles();
|
||||
}
|
||||
1309
Extras/ode/ode/src/collision_trimesh_box.cpp
Normal file
1309
Extras/ode/ode/src/collision_trimesh_box.cpp
Normal file
File diff suppressed because it is too large
Load Diff
1002
Extras/ode/ode/src/collision_trimesh_ccylinder.cpp
Normal file
1002
Extras/ode/ode/src/collision_trimesh_ccylinder.cpp
Normal file
File diff suppressed because it is too large
Load Diff
2510
Extras/ode/ode/src/collision_trimesh_distance.cpp
Normal file
2510
Extras/ode/ode/src/collision_trimesh_distance.cpp
Normal file
File diff suppressed because it is too large
Load Diff
347
Extras/ode/ode/src/collision_trimesh_internal.h
Normal file
347
Extras/ode/ode/src/collision_trimesh_internal.h
Normal file
@@ -0,0 +1,347 @@
|
||||
/*************************************************************************
|
||||
* *
|
||||
* 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. *
|
||||
* *
|
||||
*************************************************************************/
|
||||
|
||||
// TriMesh code by Erwin de Vries.
|
||||
|
||||
#ifndef _ODE_COLLISION_TRIMESH_INTERNAL_H_
|
||||
#define _ODE_COLLISION_TRIMESH_INTERNAL_H_
|
||||
|
||||
int dCollideTrimeshConvex(dxGeom* g1, dxGeom* cnvx, int Flags, dContactGeom* Contacts, int Stride);
|
||||
int dCollideSTL(dxGeom *o1, dxGeom *o2, int flags, dContactGeom *contact, int skip);
|
||||
int dCollideBTL(dxGeom *o1, dxGeom *o2, int flags, dContactGeom *contact, int skip);
|
||||
int dCollideRTL(dxGeom *o1, dxGeom *o2, int flags, dContactGeom *contact, int skip);
|
||||
int dCollideTTL(dxGeom *o1, dxGeom *o2, int flags, dContactGeom *contact, int skip);
|
||||
int dCollideCCTL(dxGeom *o1, dxGeom *o2, int flags, dContactGeom *contact, int skip);
|
||||
|
||||
//****************************************************************************
|
||||
// dxTriMesh class
|
||||
|
||||
#ifdef TRIMESH_INTERNAL
|
||||
|
||||
#include "collision_kernel.h"
|
||||
#include <ode/collision_trimesh.h>
|
||||
|
||||
#define BAN_OPCODE_AUTOLINK
|
||||
#include "Opcode.h"
|
||||
using namespace Opcode;
|
||||
|
||||
struct dxTriMeshData : public dBase {
|
||||
Model BVTree;
|
||||
MeshInterface Mesh;
|
||||
|
||||
dxTriMeshData();
|
||||
~dxTriMeshData();
|
||||
|
||||
void Build(const void* Vertices, int VertexStide, int VertexCount,
|
||||
const void* Indices, int IndexCount, int TriStride,
|
||||
const void* Normals,
|
||||
bool Single);
|
||||
|
||||
/* aabb in model space */
|
||||
dVector3 AABBCenter;
|
||||
dVector3 AABBExtents;
|
||||
|
||||
/* data for use in collison resolution */
|
||||
const void* Normals;
|
||||
//Matrix4x4 last_trans;
|
||||
dMatrix4 last_trans;
|
||||
};
|
||||
|
||||
|
||||
struct dxTriMesh : public dxGeom{
|
||||
// Callbacks
|
||||
dTriCallback* Callback;
|
||||
dTriArrayCallback* ArrayCallback;
|
||||
dTriRayCallback* RayCallback;
|
||||
|
||||
// Data types
|
||||
dxTriMeshData* Data;
|
||||
|
||||
|
||||
// Colliders
|
||||
static PlanesCollider _PlanesCollider;
|
||||
static SphereCollider _SphereCollider;
|
||||
static OBBCollider _OBBCollider;
|
||||
static RayCollider _RayCollider;
|
||||
static AABBTreeCollider _AABBTreeCollider;
|
||||
static LSSCollider _LSSCollider;
|
||||
|
||||
// Some constants
|
||||
static CollisionFaces Faces;
|
||||
|
||||
// Temporal coherence
|
||||
struct SphereTC : public SphereCache{
|
||||
dxGeom* Geom;
|
||||
};
|
||||
dArray<SphereTC> SphereTCCache;
|
||||
static SphereCache defaultSphereCache;
|
||||
|
||||
struct BoxTC : public OBBCache{
|
||||
dxGeom* Geom;
|
||||
};
|
||||
dArray<BoxTC> BoxTCCache;
|
||||
static OBBCache defaultBoxCache;
|
||||
|
||||
struct CCylinderTC : public LSSCache{
|
||||
dxGeom* Geom;
|
||||
};
|
||||
dArray<CCylinderTC> CCylinderTCCache;
|
||||
static LSSCache defaultCCylinderCache;
|
||||
|
||||
bool doSphereTC;
|
||||
bool doBoxTC;
|
||||
bool doCCylinderTC;
|
||||
|
||||
// Functions
|
||||
dxTriMesh(dSpaceID Space, dTriMeshDataID Data);
|
||||
~dxTriMesh();
|
||||
|
||||
void ClearTCCache();
|
||||
|
||||
int AABBTest(dxGeom* g, dReal aabb[6]);
|
||||
void computeAABB();
|
||||
};
|
||||
|
||||
// Fetches a contact
|
||||
inline dContactGeom* SAFECONTACT(int Flags, dContactGeom* Contacts, int Index, int Stride){
|
||||
dIASSERT(Index >= 0 && Index < (Flags & 0x0ffff));
|
||||
return ((dContactGeom*)(((char*)Contacts) + (Index * Stride)));
|
||||
}
|
||||
|
||||
// Fetches a triangle
|
||||
inline void FetchTriangle(dxTriMesh* TriMesh, int Index, dVector3 Out[3]){
|
||||
VertexPointers VP;
|
||||
TriMesh->Data->Mesh.GetTriangle(VP, Index);
|
||||
for (int i = 0; i < 3; i++){
|
||||
Out[i][0] = VP.Vertex[i]->x;
|
||||
Out[i][1] = VP.Vertex[i]->y;
|
||||
Out[i][2] = VP.Vertex[i]->z;
|
||||
Out[i][3] = 0;
|
||||
}
|
||||
}
|
||||
|
||||
// Fetches a triangle
|
||||
inline void FetchTriangle(dxTriMesh* TriMesh, int Index, const dVector3 Position, const dMatrix3 Rotation, dVector3 Out[3]){
|
||||
VertexPointers VP;
|
||||
TriMesh->Data->Mesh.GetTriangle(VP, Index);
|
||||
for (int i = 0; i < 3; i++){
|
||||
dVector3 v;
|
||||
v[0] = VP.Vertex[i]->x;
|
||||
v[1] = VP.Vertex[i]->y;
|
||||
v[2] = VP.Vertex[i]->z;
|
||||
v[3] = 0;
|
||||
|
||||
dMULTIPLY0_331(Out[i], Rotation, v);
|
||||
Out[i][0] += Position[0];
|
||||
Out[i][1] += Position[1];
|
||||
Out[i][2] += Position[2];
|
||||
Out[i][3] = 0;
|
||||
}
|
||||
}
|
||||
|
||||
// Creates an OPCODE matrix from an ODE matrix
|
||||
inline Matrix4x4& MakeMatrix(const dVector3 Position, const dMatrix3 Rotation, Matrix4x4& Out){
|
||||
Out.m[0][0] = (float) Rotation[0];
|
||||
Out.m[1][0] = (float) Rotation[1];
|
||||
Out.m[2][0] = (float) Rotation[2];
|
||||
|
||||
Out.m[0][1] = (float) Rotation[4];
|
||||
Out.m[1][1] = (float) Rotation[5];
|
||||
Out.m[2][1] = (float) Rotation[6];
|
||||
|
||||
Out.m[0][2] = (float) Rotation[8];
|
||||
Out.m[1][2] = (float) Rotation[9];
|
||||
Out.m[2][2] = (float) Rotation[10];
|
||||
|
||||
Out.m[3][0] = (float) Position[0];
|
||||
Out.m[3][1] = (float) Position[1];
|
||||
Out.m[3][2] = (float) Position[2];
|
||||
|
||||
Out.m[0][3] = 0.0f;
|
||||
Out.m[1][3] = 0.0f;
|
||||
Out.m[2][3] = 0.0f;
|
||||
Out.m[3][3] = 1.0f;
|
||||
|
||||
return Out;
|
||||
}
|
||||
|
||||
// Outputs a matrix to 3 vectors
|
||||
inline void Decompose(const dMatrix3 Matrix, dVector3 Right, dVector3 Up, dVector3 Direction){
|
||||
Right[0] = Matrix[0 * 4 + 0];
|
||||
Right[1] = Matrix[1 * 4 + 0];
|
||||
Right[2] = Matrix[2 * 4 + 0];
|
||||
Right[3] = REAL(0.0);
|
||||
Up[0] = Matrix[0 * 4 + 1];
|
||||
Up[1] = Matrix[1 * 4 + 1];
|
||||
Up[2] = Matrix[2 * 4 + 1];
|
||||
Up[3] = REAL(0.0);
|
||||
Direction[0] = Matrix[0 * 4 + 2];
|
||||
Direction[1] = Matrix[1 * 4 + 2];
|
||||
Direction[2] = Matrix[2 * 4 + 2];
|
||||
Direction[3] = REAL(0.0);
|
||||
}
|
||||
|
||||
// Outputs a matrix to 3 vectors
|
||||
inline void Decompose(const dMatrix3 Matrix, dVector3 Vectors[3]){
|
||||
Decompose(Matrix, Vectors[0], Vectors[1], Vectors[2]);
|
||||
}
|
||||
|
||||
// Creates an OPCODE matrix from an ODE matrix
|
||||
inline Matrix4x4& MakeMatrix(dxGeom* g, Matrix4x4& Out){
|
||||
const dVector3& Position = *(const dVector3*)dGeomGetPosition(g);
|
||||
const dMatrix3& Rotation = *(const dMatrix3*)dGeomGetRotation(g);
|
||||
return MakeMatrix(Position, Rotation, Out);
|
||||
}
|
||||
|
||||
// Finds barycentric
|
||||
inline void GetPointFromBarycentric(const dVector3 dv[3], dReal u, dReal v, dVector3 Out){
|
||||
dReal w = REAL(1.0) - u - v;
|
||||
|
||||
Out[0] = (dv[0][0] * w) + (dv[1][0] * u) + (dv[2][0] * v);
|
||||
Out[1] = (dv[0][1] * w) + (dv[1][1] * u) + (dv[2][1] * v);
|
||||
Out[2] = (dv[0][2] * w) + (dv[1][2] * u) + (dv[2][2] * v);
|
||||
Out[3] = (dv[0][3] * w) + (dv[1][3] * u) + (dv[2][3] * v);
|
||||
}
|
||||
|
||||
// Performs a callback
|
||||
inline bool Callback(dxTriMesh* TriMesh, dxGeom* Object, int TriIndex){
|
||||
if (TriMesh->Callback != null){
|
||||
return TriMesh->Callback(TriMesh, Object, TriIndex);
|
||||
}
|
||||
else return true;
|
||||
}
|
||||
|
||||
// Some utilities
|
||||
template<class T> const T& dcMAX(const T& x, const T& y){
|
||||
return x > y ? x : y;
|
||||
}
|
||||
|
||||
template<class T> const T& dcMIN(const T& x, const T& y){
|
||||
return x < y ? x : y;
|
||||
}
|
||||
|
||||
dReal SqrDistancePointTri( const dVector3 p, const dVector3 triOrigin,
|
||||
const dVector3 triEdge1, const dVector3 triEdge2,
|
||||
dReal* pfSParam = 0, dReal* pfTParam = 0 );
|
||||
|
||||
dReal SqrDistanceSegments( const dVector3 seg1Origin, const dVector3 seg1Direction,
|
||||
const dVector3 seg2Origin, const dVector3 seg2Direction,
|
||||
dReal* pfSegP0 = 0, dReal* pfSegP1 = 0 );
|
||||
|
||||
dReal SqrDistanceSegTri( const dVector3 segOrigin, const dVector3 segEnd,
|
||||
const dVector3 triOrigin,
|
||||
const dVector3 triEdge1, const dVector3 triEdge2,
|
||||
dReal* t = 0, dReal* u = 0, dReal* v = 0 );
|
||||
|
||||
inline
|
||||
void Vector3Subtract( const dVector3 left, const dVector3 right, dVector3 result )
|
||||
{
|
||||
result[0] = left[0] - right[0];
|
||||
result[1] = left[1] - right[1];
|
||||
result[2] = left[2] - right[2];
|
||||
result[3] = REAL(0.0);
|
||||
}
|
||||
|
||||
inline
|
||||
void Vector3Add( const dVector3 left, const dVector3 right, dVector3 result )
|
||||
{
|
||||
result[0] = left[0] + right[0];
|
||||
result[1] = left[1] + right[1];
|
||||
result[2] = left[2] + right[2];
|
||||
result[3] = REAL(0.0);
|
||||
}
|
||||
|
||||
inline
|
||||
void Vector3Negate( const dVector3 in, dVector3 out )
|
||||
{
|
||||
out[0] = -in[0];
|
||||
out[1] = -in[1];
|
||||
out[2] = -in[2];
|
||||
out[3] = REAL(0.0);
|
||||
}
|
||||
|
||||
inline
|
||||
void Vector3Copy( const dVector3 in, dVector3 out )
|
||||
{
|
||||
out[0] = in[0];
|
||||
out[1] = in[1];
|
||||
out[2] = in[2];
|
||||
out[3] = REAL(0.0);
|
||||
}
|
||||
|
||||
inline
|
||||
void Vector3Multiply( const dVector3 in, dReal scalar, dVector3 out )
|
||||
{
|
||||
out[0] = in[0] * scalar;
|
||||
out[1] = in[1] * scalar;
|
||||
out[2] = in[2] * scalar;
|
||||
out[3] = REAL(0.0);
|
||||
}
|
||||
|
||||
inline
|
||||
void TransformVector3( const dVector3 in,
|
||||
const dMatrix3 orientation, const dVector3 position,
|
||||
dVector3 out )
|
||||
{
|
||||
dMULTIPLY0_331( out, orientation, in );
|
||||
out[0] += position[0];
|
||||
out[1] += position[1];
|
||||
out[2] += position[2];
|
||||
}
|
||||
|
||||
//------------------------------------------------------------------------------
|
||||
/**
|
||||
@brief Check for intersection between triangle and capsule.
|
||||
|
||||
@param dist [out] Shortest distance squared between the triangle and
|
||||
the capsule segment (central axis).
|
||||
@param t [out] t value of point on segment that's the shortest distance
|
||||
away from the triangle, the coordinates of this point
|
||||
can be found by (cap.seg.end - cap.seg.start) * t,
|
||||
or cap.seg.ipol(t).
|
||||
@param u [out] Barycentric coord on triangle.
|
||||
@param v [out] Barycentric coord on triangle.
|
||||
@return True if intersection exists.
|
||||
|
||||
The third Barycentric coord is implicit, ie. w = 1.0 - u - v
|
||||
The Barycentric coords give the location of the point on the triangle
|
||||
closest to the capsule (where the distance between the two shapes
|
||||
is the shortest).
|
||||
*/
|
||||
inline
|
||||
bool IntersectCapsuleTri( const dVector3 segOrigin, const dVector3 segEnd,
|
||||
const dReal radius, const dVector3 triOrigin,
|
||||
const dVector3 triEdge0, const dVector3 triEdge1,
|
||||
dReal* dist, dReal* t, dReal* u, dReal* v )
|
||||
{
|
||||
dReal sqrDist = SqrDistanceSegTri( segOrigin, segEnd, triOrigin, triEdge0, triEdge1,
|
||||
t, u, v );
|
||||
|
||||
if ( dist )
|
||||
*dist = sqrDist;
|
||||
|
||||
return ( sqrDist <= (radius * radius) );
|
||||
}
|
||||
|
||||
#endif //TRIMESH_INTERNAL
|
||||
|
||||
#endif //_ODE_COLLISION_TRIMESH_INTERNAL_H_
|
||||
126
Extras/ode/ode/src/collision_trimesh_ray.cpp
Normal file
126
Extras/ode/ode/src/collision_trimesh_ray.cpp
Normal file
@@ -0,0 +1,126 @@
|
||||
/*************************************************************************
|
||||
* *
|
||||
* 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. *
|
||||
* *
|
||||
*************************************************************************/
|
||||
|
||||
// TriMesh code by Erwin de Vries.
|
||||
|
||||
#include <ode/collision.h>
|
||||
#include <ode/matrix.h>
|
||||
#include <ode/rotation.h>
|
||||
#include <ode/odemath.h>
|
||||
#include "collision_util.h"
|
||||
|
||||
#define TRIMESH_INTERNAL
|
||||
#include "collision_trimesh_internal.h"
|
||||
|
||||
int dCollideRTL(dxGeom* g1, dxGeom* RayGeom, int Flags, dContactGeom* Contacts, int Stride){
|
||||
dxTriMesh* TriMesh = (dxTriMesh*)g1;
|
||||
|
||||
const dVector3& TLPosition = *(const dVector3*)dGeomGetPosition(TriMesh);
|
||||
const dMatrix3& TLRotation = *(const dMatrix3*)dGeomGetRotation(TriMesh);
|
||||
|
||||
RayCollider& Collider = TriMesh->_RayCollider;
|
||||
|
||||
dReal Length = dGeomRayGetLength(RayGeom);
|
||||
|
||||
int FirstContact, BackfaceCull;
|
||||
dGeomRayGetParams(RayGeom, &FirstContact, &BackfaceCull);
|
||||
int ClosestHit = dGeomRayGetClosestHit(RayGeom);
|
||||
|
||||
Collider.SetFirstContact(FirstContact != 0);
|
||||
Collider.SetClosestHit(ClosestHit != 0);
|
||||
Collider.SetCulling(BackfaceCull != 0);
|
||||
Collider.SetMaxDist(Length);
|
||||
|
||||
dVector3 Origin, Direction;
|
||||
dGeomRayGet(RayGeom, Origin, Direction);
|
||||
|
||||
/* Make Ray */
|
||||
Ray WorldRay;
|
||||
WorldRay.mOrig.x = Origin[0];
|
||||
WorldRay.mOrig.y = Origin[1];
|
||||
WorldRay.mOrig.z = Origin[2];
|
||||
WorldRay.mDir.x = Direction[0];
|
||||
WorldRay.mDir.y = Direction[1];
|
||||
WorldRay.mDir.z = Direction[2];
|
||||
|
||||
/* Intersect */
|
||||
Matrix4x4 amatrix;
|
||||
int TriCount = 0;
|
||||
if (Collider.Collide(WorldRay, TriMesh->Data->BVTree, &MakeMatrix(TLPosition, TLRotation, amatrix))) {
|
||||
TriCount = TriMesh->Faces.GetNbFaces();
|
||||
}
|
||||
|
||||
if (TriCount == 0) {
|
||||
return 0;
|
||||
}
|
||||
|
||||
const CollisionFace* Faces = TriMesh->Faces.GetFaces();
|
||||
|
||||
int OutTriCount = 0;
|
||||
for (int i = 0; i < TriCount; i++) {
|
||||
if (OutTriCount == (Flags & 0xffff)) {
|
||||
break;
|
||||
}
|
||||
if (TriMesh->RayCallback == null ||
|
||||
TriMesh->RayCallback(TriMesh, RayGeom, Faces[i].mFaceID,
|
||||
Faces[i].mU, Faces[i].mV)) {
|
||||
const int& TriIndex = Faces[i].mFaceID;
|
||||
if (!Callback(TriMesh, RayGeom, TriIndex)) {
|
||||
continue;
|
||||
}
|
||||
|
||||
dContactGeom* Contact = SAFECONTACT(Flags, Contacts, OutTriCount, Stride);
|
||||
|
||||
dVector3 dv[3];
|
||||
FetchTriangle(TriMesh, TriIndex, TLPosition, TLRotation, dv);
|
||||
|
||||
float T = Faces[i].mDistance;
|
||||
Contact->pos[0] = Origin[0] + (Direction[0] * T);
|
||||
Contact->pos[1] = Origin[1] + (Direction[1] * T);
|
||||
Contact->pos[2] = Origin[2] + (Direction[2] * T);
|
||||
Contact->pos[3] = REAL(0.0);
|
||||
|
||||
dVector3 vu;
|
||||
vu[0] = dv[1][0] - dv[0][0];
|
||||
vu[1] = dv[1][1] - dv[0][1];
|
||||
vu[2] = dv[1][2] - dv[0][2];
|
||||
vu[3] = REAL(0.0);
|
||||
|
||||
dVector3 vv;
|
||||
vv[0] = dv[2][0] - dv[0][0];
|
||||
vv[1] = dv[2][1] - dv[0][1];
|
||||
vv[2] = dv[2][2] - dv[0][2];
|
||||
vv[3] = REAL(0.0);
|
||||
|
||||
dCROSS(Contact->normal, =, vv, vu); // Reversed
|
||||
|
||||
dNormalize3(Contact->normal);
|
||||
|
||||
Contact->depth = T;
|
||||
Contact->g1 = TriMesh;
|
||||
Contact->g2 = RayGeom;
|
||||
|
||||
OutTriCount++;
|
||||
}
|
||||
}
|
||||
return OutTriCount;
|
||||
}
|
||||
488
Extras/ode/ode/src/collision_trimesh_sphere.cpp
Normal file
488
Extras/ode/ode/src/collision_trimesh_sphere.cpp
Normal file
@@ -0,0 +1,488 @@
|
||||
/*************************************************************************
|
||||
* *
|
||||
* 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. *
|
||||
* *
|
||||
*************************************************************************/
|
||||
|
||||
// TriMesh code by Erwin de Vries.
|
||||
|
||||
#include <ode/collision.h>
|
||||
#include <ode/matrix.h>
|
||||
#include <ode/rotation.h>
|
||||
#include <ode/odemath.h>
|
||||
#include "collision_util.h"
|
||||
|
||||
#define TRIMESH_INTERNAL
|
||||
#include "collision_trimesh_internal.h"
|
||||
|
||||
#define MERGECONTACTS
|
||||
|
||||
// Ripped from Opcode 1.1.
|
||||
static bool GetContactData(const dVector3& Center, dReal Radius, const dVector3 Origin, const dVector3 Edge0, const dVector3 Edge1, dReal& Dist, float& u, float& v){
|
||||
//calculate plane of triangle
|
||||
dVector4 Plane;
|
||||
dCROSS(Plane, =, Edge0, Edge1);
|
||||
Plane[3] = dDOT(Plane, Origin);
|
||||
|
||||
//normalize
|
||||
dNormalize4(Plane);
|
||||
|
||||
/* If the center of the sphere is within the positive halfspace of the
|
||||
* triangle's plane, allow a contact to be generated.
|
||||
* If the center of the sphere made it into the positive halfspace of a
|
||||
* back-facing triangle, then the physics update and/or velocity needs
|
||||
* to be adjusted (penetration has occured anyway).
|
||||
*/
|
||||
|
||||
float side = dDOT(Plane,Center) - Plane[3];
|
||||
|
||||
if(side < 0.0f) {
|
||||
return false;
|
||||
}
|
||||
|
||||
// now onto the bulk of the collision...
|
||||
|
||||
dVector3 Diff;
|
||||
Diff[0] = Origin[0] - Center[0];
|
||||
Diff[1] = Origin[1] - Center[1];
|
||||
Diff[2] = Origin[2] - Center[2];
|
||||
Diff[3] = Origin[3] - Center[3];
|
||||
|
||||
float A00 = dDOT(Edge0, Edge0);
|
||||
float A01 = dDOT(Edge0, Edge1);
|
||||
float A11 = dDOT(Edge1, Edge1);
|
||||
|
||||
float B0 = dDOT(Diff, Edge0);
|
||||
float B1 = dDOT(Diff, Edge1);
|
||||
|
||||
float C = dDOT(Diff, Diff);
|
||||
|
||||
float Det = dFabs(A00 * A11 - A01 * A01);
|
||||
u = A01 * B1 - A11 * B0;
|
||||
v = A01 * B0 - A00 * B1;
|
||||
|
||||
float DistSq;
|
||||
|
||||
if (u + v <= Det){
|
||||
if(u < REAL(0.0)){
|
||||
if(v < REAL(0.0)){ // region 4
|
||||
if(B0 < REAL(0.0)){
|
||||
v = REAL(0.0);
|
||||
if (-B0 >= A00){
|
||||
u = REAL(1.0);
|
||||
DistSq = A00 + REAL(2.0) * B0 + C;
|
||||
}
|
||||
else{
|
||||
u = -B0 / A00;
|
||||
DistSq = B0 * u + C;
|
||||
}
|
||||
}
|
||||
else{
|
||||
u = REAL(0.0);
|
||||
if(B1 >= REAL(0.0)){
|
||||
v = REAL(0.0);
|
||||
DistSq = C;
|
||||
}
|
||||
else if(-B1 >= A11){
|
||||
v = REAL(1.0);
|
||||
DistSq = A11 + REAL(2.0) * B1 + C;
|
||||
}
|
||||
else{
|
||||
v = -B1 / A11;
|
||||
DistSq = B1 * v + C;
|
||||
}
|
||||
}
|
||||
}
|
||||
else{ // region 3
|
||||
u = REAL(0.0);
|
||||
if(B1 >= REAL(0.0)){
|
||||
v = REAL(0.0);
|
||||
DistSq = C;
|
||||
}
|
||||
else if(-B1 >= A11){
|
||||
v = REAL(1.0);
|
||||
DistSq = A11 + REAL(2.0) * B1 + C;
|
||||
}
|
||||
else{
|
||||
v = -B1 / A11;
|
||||
DistSq = B1 * v + C;
|
||||
}
|
||||
}
|
||||
}
|
||||
else if(v < REAL(0.0)){ // region 5
|
||||
v = REAL(0.0);
|
||||
if (B0 >= REAL(0.0)){
|
||||
u = REAL(0.0);
|
||||
DistSq = C;
|
||||
}
|
||||
else if (-B0 >= A00){
|
||||
u = REAL(1.0);
|
||||
DistSq = A00 + REAL(2.0) * B0 + C;
|
||||
}
|
||||
else{
|
||||
u = -B0 / A00;
|
||||
DistSq = B0 * u + C;
|
||||
}
|
||||
}
|
||||
else{ // region 0
|
||||
// minimum at interior point
|
||||
if (Det == REAL(0.0)){
|
||||
u = REAL(0.0);
|
||||
v = REAL(0.0);
|
||||
DistSq = FLT_MAX;
|
||||
}
|
||||
else{
|
||||
float InvDet = REAL(1.0) / Det;
|
||||
u *= InvDet;
|
||||
v *= InvDet;
|
||||
DistSq = u * (A00 * u + A01 * v + REAL(2.0) * B0) + v * (A01 * u + A11 * v + REAL(2.0) * B1) + C;
|
||||
}
|
||||
}
|
||||
}
|
||||
else{
|
||||
float Tmp0, Tmp1, Numer, Denom;
|
||||
|
||||
if(u < REAL(0.0)){ // region 2
|
||||
Tmp0 = A01 + B0;
|
||||
Tmp1 = A11 + B1;
|
||||
if (Tmp1 > Tmp0){
|
||||
Numer = Tmp1 - Tmp0;
|
||||
Denom = A00 - REAL(2.0) * A01 + A11;
|
||||
if (Numer >= Denom){
|
||||
u = REAL(1.0);
|
||||
v = REAL(0.0);
|
||||
DistSq = A00 + REAL(2.0) * B0 + C;
|
||||
}
|
||||
else{
|
||||
u = Numer / Denom;
|
||||
v = REAL(1.0) - u;
|
||||
DistSq = u * (A00 * u + A01 * v + REAL(2.0) * B0) + v * (A01 * u + A11 * v + REAL(2.0) * B1) + C;
|
||||
}
|
||||
}
|
||||
else{
|
||||
u = REAL(0.0);
|
||||
if(Tmp1 <= REAL(0.0)){
|
||||
v = REAL(1.0);
|
||||
DistSq = A11 + REAL(2.0) * B1 + C;
|
||||
}
|
||||
else if(B1 >= REAL(0.0)){
|
||||
v = REAL(0.0);
|
||||
DistSq = C;
|
||||
}
|
||||
else{
|
||||
v = -B1 / A11;
|
||||
DistSq = B1 * v + C;
|
||||
}
|
||||
}
|
||||
}
|
||||
else if(v < REAL(0.0)){ // region 6
|
||||
Tmp0 = A01 + B1;
|
||||
Tmp1 = A00 + B0;
|
||||
if (Tmp1 > Tmp0){
|
||||
Numer = Tmp1 - Tmp0;
|
||||
Denom = A00 - REAL(2.0) * A01 + A11;
|
||||
if (Numer >= Denom){
|
||||
v = REAL(1.0);
|
||||
u = REAL(0.0);
|
||||
DistSq = A11 + REAL(2.0) * B1 + C;
|
||||
}
|
||||
else{
|
||||
v = Numer / Denom;
|
||||
u = REAL(1.0) - v;
|
||||
DistSq = u * (A00 * u + A01 * v + REAL(2.0) * B0) + v * (A01 * u + A11 * v + REAL(2.0) * B1) + C;
|
||||
}
|
||||
}
|
||||
else{
|
||||
v = REAL(0.0);
|
||||
if (Tmp1 <= REAL(0.0)){
|
||||
u = REAL(1.0);
|
||||
DistSq = A00 + REAL(2.0) * B0 + C;
|
||||
}
|
||||
else if(B0 >= REAL(0.0)){
|
||||
u = REAL(0.0);
|
||||
DistSq = C;
|
||||
}
|
||||
else{
|
||||
u = -B0 / A00;
|
||||
DistSq = B0 * u + C;
|
||||
}
|
||||
}
|
||||
}
|
||||
else{ // region 1
|
||||
Numer = A11 + B1 - A01 - B0;
|
||||
if (Numer <= REAL(0.0)){
|
||||
u = REAL(0.0);
|
||||
v = REAL(1.0);
|
||||
DistSq = A11 + REAL(2.0) * B1 + C;
|
||||
}
|
||||
else{
|
||||
Denom = A00 - REAL(2.0) * A01 + A11;
|
||||
if (Numer >= Denom){
|
||||
u = REAL(1.0);
|
||||
v = REAL(0.0);
|
||||
DistSq = A00 + REAL(2.0) * B0 + C;
|
||||
}
|
||||
else{
|
||||
u = Numer / Denom;
|
||||
v = REAL(1.0) - u;
|
||||
DistSq = u * (A00 * u + A01 * v + REAL(2.0) * B0) + v * (A01 * u + A11 * v + REAL(2.0) * B1) + C;
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
Dist = dSqrt(dFabs(DistSq));
|
||||
|
||||
if (Dist <= Radius){
|
||||
Dist = Radius - Dist;
|
||||
return true;
|
||||
}
|
||||
else return false;
|
||||
}
|
||||
|
||||
int dCollideSTL(dxGeom* g1, dxGeom* SphereGeom, int Flags, dContactGeom* Contacts, int Stride){
|
||||
dxTriMesh* TriMesh = (dxTriMesh*)g1;
|
||||
|
||||
// Init
|
||||
const dVector3& TLPosition = *(const dVector3*)dGeomGetPosition(TriMesh);
|
||||
const dMatrix3& TLRotation = *(const dMatrix3*)dGeomGetRotation(TriMesh);
|
||||
|
||||
SphereCollider& Collider = TriMesh->_SphereCollider;
|
||||
|
||||
const dVector3& Position = *(const dVector3*)dGeomGetPosition(SphereGeom);
|
||||
dReal Radius = dGeomSphereGetRadius(SphereGeom);
|
||||
|
||||
// Sphere
|
||||
Sphere Sphere;
|
||||
Sphere.mCenter.x = Position[0];
|
||||
Sphere.mCenter.y = Position[1];
|
||||
Sphere.mCenter.z = Position[2];
|
||||
Sphere.mRadius = Radius;
|
||||
|
||||
Matrix4x4 amatrix;
|
||||
|
||||
// TC results
|
||||
if (TriMesh->doSphereTC) {
|
||||
dxTriMesh::SphereTC* sphereTC = 0;
|
||||
for (int i = 0; i < TriMesh->SphereTCCache.size(); i++){
|
||||
if (TriMesh->SphereTCCache[i].Geom == SphereGeom){
|
||||
sphereTC = &TriMesh->SphereTCCache[i];
|
||||
break;
|
||||
}
|
||||
}
|
||||
|
||||
if (!sphereTC){
|
||||
TriMesh->SphereTCCache.push(dxTriMesh::SphereTC());
|
||||
|
||||
sphereTC = &TriMesh->SphereTCCache[TriMesh->SphereTCCache.size() - 1];
|
||||
sphereTC->Geom = SphereGeom;
|
||||
}
|
||||
|
||||
// Intersect
|
||||
Collider.SetTemporalCoherence(true);
|
||||
Collider.Collide(*sphereTC, Sphere, TriMesh->Data->BVTree, null,
|
||||
&MakeMatrix(TLPosition, TLRotation, amatrix));
|
||||
}
|
||||
else {
|
||||
Collider.SetTemporalCoherence(false);
|
||||
Collider.Collide(dxTriMesh::defaultSphereCache, Sphere, TriMesh->Data->BVTree, null,
|
||||
&MakeMatrix(TLPosition, TLRotation, amatrix));
|
||||
}
|
||||
|
||||
if (!Collider.GetContactStatus()) {
|
||||
/* no collision occurred */
|
||||
return 0;
|
||||
}
|
||||
|
||||
// get results
|
||||
int TriCount = Collider.GetNbTouchedPrimitives();
|
||||
const int* Triangles = (const int*)Collider.GetTouchedPrimitives();
|
||||
|
||||
if (TriCount != 0){
|
||||
if (TriMesh->ArrayCallback != null){
|
||||
TriMesh->ArrayCallback(TriMesh, SphereGeom, Triangles, TriCount);
|
||||
}
|
||||
|
||||
int OutTriCount = 0;
|
||||
for (int i = 0; i < TriCount; i++){
|
||||
if (OutTriCount == (Flags & 0xffff)){
|
||||
break;
|
||||
}
|
||||
|
||||
const int& TriIndex = Triangles[i];
|
||||
|
||||
dVector3 dv[3];
|
||||
FetchTriangle(TriMesh, TriIndex, TLPosition, TLRotation, dv);
|
||||
|
||||
dVector3& v0 = dv[0];
|
||||
dVector3& v1 = dv[1];
|
||||
dVector3& v2 = dv[2];
|
||||
|
||||
dVector3 vu;
|
||||
vu[0] = v1[0] - v0[0];
|
||||
vu[1] = v1[1] - v0[1];
|
||||
vu[2] = v1[2] - v0[2];
|
||||
vu[3] = REAL(0.0);
|
||||
|
||||
dVector3 vv;
|
||||
vv[0] = v2[0] - v0[0];
|
||||
vv[1] = v2[1] - v0[1];
|
||||
vv[2] = v2[2] - v0[2];
|
||||
vv[3] = REAL(0.0);
|
||||
|
||||
dReal Depth;
|
||||
float u, v;
|
||||
if (!GetContactData(Position, Radius, v0, vu, vv, Depth, u, v)){
|
||||
continue; // Sphere doesnt hit triangle
|
||||
}
|
||||
dReal w = REAL(1.0) - u - v;
|
||||
|
||||
if (Depth < REAL(0.0)){
|
||||
Depth = REAL(0.0);
|
||||
}
|
||||
|
||||
dContactGeom* Contact = SAFECONTACT(Flags, Contacts, OutTriCount, Stride);
|
||||
|
||||
Contact->pos[0] = (v0[0] * w) + (v1[0] * u) + (v2[0] * v);
|
||||
Contact->pos[1] = (v0[1] * w) + (v1[1] * u) + (v2[1] * v);
|
||||
Contact->pos[2] = (v0[2] * w) + (v1[2] * u) + (v2[2] * v);
|
||||
Contact->pos[3] = REAL(0.0);
|
||||
|
||||
dVector4 Plane;
|
||||
dCROSS(Plane, =, vv, vu); // Reversed
|
||||
Plane[3] = dDOT(Plane, v0); // Using normal as plane.
|
||||
|
||||
dReal Area = dSqrt(dDOT(Plane, Plane)); // We can use this later
|
||||
Plane[0] /= Area;
|
||||
Plane[1] /= Area;
|
||||
Plane[2] /= Area;
|
||||
Plane[3] /= Area;
|
||||
|
||||
Contact->normal[0] = Plane[0];
|
||||
Contact->normal[1] = Plane[1];
|
||||
Contact->normal[2] = Plane[2];
|
||||
Contact->normal[3] = REAL(0.0);
|
||||
|
||||
Contact->depth = Depth;
|
||||
|
||||
//Contact->g1 = TriMesh;
|
||||
//Contact->g2 = SphereGeom;
|
||||
|
||||
OutTriCount++;
|
||||
}
|
||||
#ifdef MERGECONTACTS // Merge all contacts into 1
|
||||
if (OutTriCount != 0){
|
||||
dContactGeom* Contact = SAFECONTACT(Flags, Contacts, 0, Stride);
|
||||
|
||||
if (OutTriCount != 1){
|
||||
Contact->normal[0] *= Contact->depth;
|
||||
Contact->normal[1] *= Contact->depth;
|
||||
Contact->normal[2] *= Contact->depth;
|
||||
Contact->normal[3] *= Contact->depth;
|
||||
|
||||
for (int i = 1; i < OutTriCount; i++){
|
||||
dContactGeom* TempContact = SAFECONTACT(Flags, Contacts, i, Stride);
|
||||
|
||||
Contact->pos[0] += TempContact->pos[0];
|
||||
Contact->pos[1] += TempContact->pos[1];
|
||||
Contact->pos[2] += TempContact->pos[2];
|
||||
Contact->pos[3] += TempContact->pos[3];
|
||||
|
||||
Contact->normal[0] += TempContact->normal[0] * TempContact->depth;
|
||||
Contact->normal[1] += TempContact->normal[1] * TempContact->depth;
|
||||
Contact->normal[2] += TempContact->normal[2] * TempContact->depth;
|
||||
Contact->normal[3] += TempContact->normal[3] * TempContact->depth;
|
||||
}
|
||||
|
||||
Contact->pos[0] /= OutTriCount;
|
||||
Contact->pos[1] /= OutTriCount;
|
||||
Contact->pos[2] /= OutTriCount;
|
||||
Contact->pos[3] /= OutTriCount;
|
||||
|
||||
// Remember to divide in square space.
|
||||
Contact->depth = dSqrt(dDOT(Contact->normal, Contact->normal) / OutTriCount);
|
||||
|
||||
dNormalize3(Contact->normal);
|
||||
}
|
||||
|
||||
Contact->g1 = TriMesh;
|
||||
Contact->g2 = SphereGeom;
|
||||
|
||||
return 1;
|
||||
}
|
||||
else return 0;
|
||||
#elif defined MERGECONTACTNORMALS // Merge all normals, and distribute between all contacts
|
||||
if (OutTriCount != 0){
|
||||
if (OutTriCount != 1){
|
||||
dVector3& Normal = SAFECONTACT(Flags, Contacts, 0, Stride)->normal;
|
||||
Normal[0] *= SAFECONTACT(Flags, Contacts, 0, Stride)->depth;
|
||||
Normal[1] *= SAFECONTACT(Flags, Contacts, 0, Stride)->depth;
|
||||
Normal[2] *= SAFECONTACT(Flags, Contacts, 0, Stride)->depth;
|
||||
Normal[3] *= SAFECONTACT(Flags, Contacts, 0, Stride)->depth;
|
||||
|
||||
for (int i = 1; i < OutTriCount; i++){
|
||||
dContactGeom* Contact = SAFECONTACT(Flags, Contacts, i, Stride);
|
||||
|
||||
Normal[0] += Contact->normal[0] * Contact->depth;
|
||||
Normal[1] += Contact->normal[1] * Contact->depth;
|
||||
Normal[2] += Contact->normal[2] * Contact->depth;
|
||||
Normal[3] += Contact->normal[3] * Contact->depth;
|
||||
}
|
||||
dNormalize3(Normal);
|
||||
|
||||
for (int i = 1; i < OutTriCount; i++){
|
||||
dContactGeom* Contact = SAFECONTACT(Flags, Contacts, i, Stride);
|
||||
|
||||
Contact->normal[0] = Normal[0];
|
||||
Contact->normal[1] = Normal[1];
|
||||
Contact->normal[2] = Normal[2];
|
||||
Contact->normal[3] = Normal[3];
|
||||
|
||||
Contact->g1 = TriMesh;
|
||||
Contact->g2 = SphereGeom;
|
||||
}
|
||||
}
|
||||
else{
|
||||
SAFECONTACT(Flags, Contacts, 0, Stride)->g1 = TriMesh;
|
||||
SAFECONTACT(Flags, Contacts, 0, Stride)->g2 = SphereGeom;
|
||||
}
|
||||
|
||||
return OutTriCount;
|
||||
}
|
||||
else return 0;
|
||||
#else //MERGECONTACTNORMALS // Just gather penetration depths and return
|
||||
for (int i = 0; i < OutTriCount; i++){
|
||||
dContactGeom* Contact = SAFECONTACT(Flags, Contacts, i, Stride);
|
||||
|
||||
//Contact->depth = dSqrt(dDOT(Contact->normal, Contact->normal));
|
||||
|
||||
/*Contact->normal[0] /= Contact->depth;
|
||||
Contact->normal[1] /= Contact->depth;
|
||||
Contact->normal[2] /= Contact->depth;
|
||||
Contact->normal[3] /= Contact->depth;*/
|
||||
|
||||
Contact->g1 = TriMesh;
|
||||
Contact->g2 = SphereGeom;
|
||||
}
|
||||
|
||||
return OutTriCount;
|
||||
#endif // MERGECONTACTS
|
||||
}
|
||||
else return 0;
|
||||
}
|
||||
1957
Extras/ode/ode/src/collision_trimesh_trimesh.cpp
Normal file
1957
Extras/ode/ode/src/collision_trimesh_trimesh.cpp
Normal file
File diff suppressed because it is too large
Load Diff
447
Extras/ode/ode/src/collision_util.cpp
Normal file
447
Extras/ode/ode/src/collision_util.cpp
Normal file
@@ -0,0 +1,447 @@
|
||||
/*************************************************************************
|
||||
* *
|
||||
* Open Dynamics Engine, Copyright (C) 2001,2002 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. *
|
||||
* *
|
||||
*************************************************************************/
|
||||
|
||||
/*
|
||||
|
||||
some useful collision utility stuff. this includes some API utility
|
||||
functions that are defined in the public header files.
|
||||
|
||||
*/
|
||||
|
||||
#include <ode/common.h>
|
||||
#include <ode/collision.h>
|
||||
#include <ode/odemath.h>
|
||||
#include "collision_util.h"
|
||||
|
||||
//****************************************************************************
|
||||
|
||||
int dCollideSpheres (dVector3 p1, dReal r1,
|
||||
dVector3 p2, dReal r2, dContactGeom *c)
|
||||
{
|
||||
// printf ("d=%.2f (%.2f %.2f %.2f) (%.2f %.2f %.2f) r1=%.2f r2=%.2f\n",
|
||||
// d,p1[0],p1[1],p1[2],p2[0],p2[1],p2[2],r1,r2);
|
||||
|
||||
dReal d = dDISTANCE (p1,p2);
|
||||
if (d > (r1 + r2)) return 0;
|
||||
if (d <= 0) {
|
||||
c->pos[0] = p1[0];
|
||||
c->pos[1] = p1[1];
|
||||
c->pos[2] = p1[2];
|
||||
c->normal[0] = 1;
|
||||
c->normal[1] = 0;
|
||||
c->normal[2] = 0;
|
||||
c->depth = r1 + r2;
|
||||
}
|
||||
else {
|
||||
dReal d1 = dRecip (d);
|
||||
c->normal[0] = (p1[0]-p2[0])*d1;
|
||||
c->normal[1] = (p1[1]-p2[1])*d1;
|
||||
c->normal[2] = (p1[2]-p2[2])*d1;
|
||||
dReal k = REAL(0.5) * (r2 - r1 - d);
|
||||
c->pos[0] = p1[0] + c->normal[0]*k;
|
||||
c->pos[1] = p1[1] + c->normal[1]*k;
|
||||
c->pos[2] = p1[2] + c->normal[2]*k;
|
||||
c->depth = r1 + r2 - d;
|
||||
}
|
||||
return 1;
|
||||
}
|
||||
|
||||
|
||||
void dLineClosestApproach (const dVector3 pa, const dVector3 ua,
|
||||
const dVector3 pb, const dVector3 ub,
|
||||
dReal *alpha, dReal *beta)
|
||||
{
|
||||
dVector3 p;
|
||||
p[0] = pb[0] - pa[0];
|
||||
p[1] = pb[1] - pa[1];
|
||||
p[2] = pb[2] - pa[2];
|
||||
dReal uaub = dDOT(ua,ub);
|
||||
dReal q1 = dDOT(ua,p);
|
||||
dReal q2 = -dDOT(ub,p);
|
||||
dReal d = 1-uaub*uaub;
|
||||
if (d <= REAL(0.0001)) {
|
||||
// @@@ this needs to be made more robust
|
||||
*alpha = 0;
|
||||
*beta = 0;
|
||||
}
|
||||
else {
|
||||
d = dRecip(d);
|
||||
*alpha = (q1 + uaub*q2)*d;
|
||||
*beta = (uaub*q1 + q2)*d;
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
// given two line segments A and B with endpoints a1-a2 and b1-b2, return the
|
||||
// points on A and B that are closest to each other (in cp1 and cp2).
|
||||
// in the case of parallel lines where there are multiple solutions, a
|
||||
// solution involving the endpoint of at least one line will be returned.
|
||||
// this will work correctly for zero length lines, e.g. if a1==a2 and/or
|
||||
// b1==b2.
|
||||
//
|
||||
// the algorithm works by applying the voronoi clipping rule to the features
|
||||
// of the line segments. the three features of each line segment are the two
|
||||
// endpoints and the line between them. the voronoi clipping rule states that,
|
||||
// for feature X on line A and feature Y on line B, the closest points PA and
|
||||
// PB between X and Y are globally the closest points if PA is in V(Y) and
|
||||
// PB is in V(X), where V(X) is the voronoi region of X.
|
||||
|
||||
void dClosestLineSegmentPoints (const dVector3 a1, const dVector3 a2,
|
||||
const dVector3 b1, const dVector3 b2,
|
||||
dVector3 cp1, dVector3 cp2)
|
||||
{
|
||||
dVector3 a1a2,b1b2,a1b1,a1b2,a2b1,a2b2,n;
|
||||
dReal la,lb,k,da1,da2,da3,da4,db1,db2,db3,db4,det;
|
||||
|
||||
#define SET2(a,b) a[0]=b[0]; a[1]=b[1]; a[2]=b[2];
|
||||
#define SET3(a,b,op,c) a[0]=b[0] op c[0]; a[1]=b[1] op c[1]; a[2]=b[2] op c[2];
|
||||
|
||||
// check vertex-vertex features
|
||||
|
||||
SET3 (a1a2,a2,-,a1);
|
||||
SET3 (b1b2,b2,-,b1);
|
||||
SET3 (a1b1,b1,-,a1);
|
||||
da1 = dDOT(a1a2,a1b1);
|
||||
db1 = dDOT(b1b2,a1b1);
|
||||
if (da1 <= 0 && db1 >= 0) {
|
||||
SET2 (cp1,a1);
|
||||
SET2 (cp2,b1);
|
||||
return;
|
||||
}
|
||||
|
||||
SET3 (a1b2,b2,-,a1);
|
||||
da2 = dDOT(a1a2,a1b2);
|
||||
db2 = dDOT(b1b2,a1b2);
|
||||
if (da2 <= 0 && db2 <= 0) {
|
||||
SET2 (cp1,a1);
|
||||
SET2 (cp2,b2);
|
||||
return;
|
||||
}
|
||||
|
||||
SET3 (a2b1,b1,-,a2);
|
||||
da3 = dDOT(a1a2,a2b1);
|
||||
db3 = dDOT(b1b2,a2b1);
|
||||
if (da3 >= 0 && db3 >= 0) {
|
||||
SET2 (cp1,a2);
|
||||
SET2 (cp2,b1);
|
||||
return;
|
||||
}
|
||||
|
||||
SET3 (a2b2,b2,-,a2);
|
||||
da4 = dDOT(a1a2,a2b2);
|
||||
db4 = dDOT(b1b2,a2b2);
|
||||
if (da4 >= 0 && db4 <= 0) {
|
||||
SET2 (cp1,a2);
|
||||
SET2 (cp2,b2);
|
||||
return;
|
||||
}
|
||||
|
||||
// check edge-vertex features.
|
||||
// if one or both of the lines has zero length, we will never get to here,
|
||||
// so we do not have to worry about the following divisions by zero.
|
||||
|
||||
la = dDOT(a1a2,a1a2);
|
||||
if (da1 >= 0 && da3 <= 0) {
|
||||
k = da1 / la;
|
||||
SET3 (n,a1b1,-,k*a1a2);
|
||||
if (dDOT(b1b2,n) >= 0) {
|
||||
SET3 (cp1,a1,+,k*a1a2);
|
||||
SET2 (cp2,b1);
|
||||
return;
|
||||
}
|
||||
}
|
||||
|
||||
if (da2 >= 0 && da4 <= 0) {
|
||||
k = da2 / la;
|
||||
SET3 (n,a1b2,-,k*a1a2);
|
||||
if (dDOT(b1b2,n) <= 0) {
|
||||
SET3 (cp1,a1,+,k*a1a2);
|
||||
SET2 (cp2,b2);
|
||||
return;
|
||||
}
|
||||
}
|
||||
|
||||
lb = dDOT(b1b2,b1b2);
|
||||
if (db1 <= 0 && db2 >= 0) {
|
||||
k = -db1 / lb;
|
||||
SET3 (n,-a1b1,-,k*b1b2);
|
||||
if (dDOT(a1a2,n) >= 0) {
|
||||
SET2 (cp1,a1);
|
||||
SET3 (cp2,b1,+,k*b1b2);
|
||||
return;
|
||||
}
|
||||
}
|
||||
|
||||
if (db3 <= 0 && db4 >= 0) {
|
||||
k = -db3 / lb;
|
||||
SET3 (n,-a2b1,-,k*b1b2);
|
||||
if (dDOT(a1a2,n) <= 0) {
|
||||
SET2 (cp1,a2);
|
||||
SET3 (cp2,b1,+,k*b1b2);
|
||||
return;
|
||||
}
|
||||
}
|
||||
|
||||
// it must be edge-edge
|
||||
|
||||
k = dDOT(a1a2,b1b2);
|
||||
det = la*lb - k*k;
|
||||
if (det <= 0) {
|
||||
// this should never happen, but just in case...
|
||||
SET2(cp1,a1);
|
||||
SET2(cp2,b1);
|
||||
return;
|
||||
}
|
||||
det = dRecip (det);
|
||||
dReal alpha = (lb*da1 - k*db1) * det;
|
||||
dReal beta = ( k*da1 - la*db1) * det;
|
||||
SET3 (cp1,a1,+,alpha*a1a2);
|
||||
SET3 (cp2,b1,+,beta*b1b2);
|
||||
|
||||
# undef SET2
|
||||
# undef SET3
|
||||
}
|
||||
|
||||
|
||||
// a simple root finding algorithm is used to find the value of 't' that
|
||||
// satisfies:
|
||||
// d|D(t)|^2/dt = 0
|
||||
// where:
|
||||
// |D(t)| = |p(t)-b(t)|
|
||||
// where p(t) is a point on the line parameterized by t:
|
||||
// p(t) = p1 + t*(p2-p1)
|
||||
// and b(t) is that same point clipped to the boundary of the box. in box-
|
||||
// relative coordinates d|D(t)|^2/dt is the sum of three x,y,z components
|
||||
// each of which looks like this:
|
||||
//
|
||||
// t_lo /
|
||||
// ______/ -->t
|
||||
// / t_hi
|
||||
// /
|
||||
//
|
||||
// t_lo and t_hi are the t values where the line passes through the planes
|
||||
// corresponding to the sides of the box. the algorithm computes d|D(t)|^2/dt
|
||||
// in a piecewise fashion from t=0 to t=1, stopping at the point where
|
||||
// d|D(t)|^2/dt crosses from negative to positive.
|
||||
|
||||
void dClosestLineBoxPoints (const dVector3 p1, const dVector3 p2,
|
||||
const dVector3 c, const dMatrix3 R,
|
||||
const dVector3 side,
|
||||
dVector3 lret, dVector3 bret)
|
||||
{
|
||||
int i;
|
||||
|
||||
// compute the start and delta of the line p1-p2 relative to the box.
|
||||
// we will do all subsequent computations in this box-relative coordinate
|
||||
// system. we have to do a translation and rotation for each point.
|
||||
dVector3 tmp,s,v;
|
||||
tmp[0] = p1[0] - c[0];
|
||||
tmp[1] = p1[1] - c[1];
|
||||
tmp[2] = p1[2] - c[2];
|
||||
dMULTIPLY1_331 (s,R,tmp);
|
||||
tmp[0] = p2[0] - p1[0];
|
||||
tmp[1] = p2[1] - p1[1];
|
||||
tmp[2] = p2[2] - p1[2];
|
||||
dMULTIPLY1_331 (v,R,tmp);
|
||||
|
||||
// mirror the line so that v has all components >= 0
|
||||
dVector3 sign;
|
||||
for (i=0; i<3; i++) {
|
||||
if (v[i] < 0) {
|
||||
s[i] = -s[i];
|
||||
v[i] = -v[i];
|
||||
sign[i] = -1;
|
||||
}
|
||||
else sign[i] = 1;
|
||||
}
|
||||
|
||||
// compute v^2
|
||||
dVector3 v2;
|
||||
v2[0] = v[0]*v[0];
|
||||
v2[1] = v[1]*v[1];
|
||||
v2[2] = v[2]*v[2];
|
||||
|
||||
// compute the half-sides of the box
|
||||
dReal h[3];
|
||||
h[0] = REAL(0.5) * side[0];
|
||||
h[1] = REAL(0.5) * side[1];
|
||||
h[2] = REAL(0.5) * side[2];
|
||||
|
||||
// region is -1,0,+1 depending on which side of the box planes each
|
||||
// coordinate is on. tanchor is the next t value at which there is a
|
||||
// transition, or the last one if there are no more.
|
||||
int region[3];
|
||||
dReal tanchor[3];
|
||||
|
||||
// find the region and tanchor values for p1
|
||||
for (i=0; i<3; i++) {
|
||||
if (v[i] > 0) {
|
||||
if (s[i] < -h[i]) {
|
||||
region[i] = -1;
|
||||
tanchor[i] = (-h[i]-s[i])/v[i];
|
||||
}
|
||||
else {
|
||||
region[i] = (s[i] > h[i]);
|
||||
tanchor[i] = (h[i]-s[i])/v[i];
|
||||
}
|
||||
}
|
||||
else {
|
||||
region[i] = 0;
|
||||
tanchor[i] = 2; // this will never be a valid tanchor
|
||||
}
|
||||
}
|
||||
|
||||
// compute d|d|^2/dt for t=0. if it's >= 0 then p1 is the closest point
|
||||
dReal t=0;
|
||||
dReal dd2dt = 0;
|
||||
for (i=0; i<3; i++) dd2dt -= (region[i] ? v2[i] : 0) * tanchor[i];
|
||||
if (dd2dt >= 0) goto got_answer;
|
||||
|
||||
do {
|
||||
// find the point on the line that is at the next clip plane boundary
|
||||
dReal next_t = 1;
|
||||
for (i=0; i<3; i++) {
|
||||
if (tanchor[i] > t && tanchor[i] < 1 && tanchor[i] < next_t)
|
||||
next_t = tanchor[i];
|
||||
}
|
||||
|
||||
// compute d|d|^2/dt for the next t
|
||||
dReal next_dd2dt = 0;
|
||||
for (i=0; i<3; i++) {
|
||||
next_dd2dt += (region[i] ? v2[i] : 0) * (next_t - tanchor[i]);
|
||||
}
|
||||
|
||||
// if the sign of d|d|^2/dt has changed, solution = the crossover point
|
||||
if (next_dd2dt >= 0) {
|
||||
dReal m = (next_dd2dt-dd2dt)/(next_t - t);
|
||||
t -= dd2dt/m;
|
||||
goto got_answer;
|
||||
}
|
||||
|
||||
// advance to the next anchor point / region
|
||||
for (i=0; i<3; i++) {
|
||||
if (tanchor[i] == next_t) {
|
||||
tanchor[i] = (h[i]-s[i])/v[i];
|
||||
region[i]++;
|
||||
}
|
||||
}
|
||||
t = next_t;
|
||||
dd2dt = next_dd2dt;
|
||||
}
|
||||
while (t < 1);
|
||||
t = 1;
|
||||
|
||||
got_answer:
|
||||
|
||||
// compute closest point on the line
|
||||
for (i=0; i<3; i++) lret[i] = p1[i] + t*tmp[i]; // note: tmp=p2-p1
|
||||
|
||||
// compute closest point on the box
|
||||
for (i=0; i<3; i++) {
|
||||
tmp[i] = sign[i] * (s[i] + t*v[i]);
|
||||
if (tmp[i] < -h[i]) tmp[i] = -h[i];
|
||||
else if (tmp[i] > h[i]) tmp[i] = h[i];
|
||||
}
|
||||
dMULTIPLY0_331 (s,R,tmp);
|
||||
for (i=0; i<3; i++) bret[i] = s[i] + c[i];
|
||||
}
|
||||
|
||||
|
||||
// given boxes (p1,R1,side1) and (p1,R1,side1), return 1 if they intersect
|
||||
// or 0 if not.
|
||||
|
||||
int dBoxTouchesBox (const dVector3 p1, const dMatrix3 R1,
|
||||
const dVector3 side1, const dVector3 p2,
|
||||
const dMatrix3 R2, const dVector3 side2)
|
||||
{
|
||||
// two boxes are disjoint if (and only if) there is a separating axis
|
||||
// perpendicular to a face from one box or perpendicular to an edge from
|
||||
// either box. the following tests are derived from:
|
||||
// "OBB Tree: A Hierarchical Structure for Rapid Interference Detection",
|
||||
// S.Gottschalk, M.C.Lin, D.Manocha., Proc of ACM Siggraph 1996.
|
||||
|
||||
// Rij is R1'*R2, i.e. the relative rotation between R1 and R2.
|
||||
// Qij is abs(Rij)
|
||||
dVector3 p,pp;
|
||||
dReal A1,A2,A3,B1,B2,B3,R11,R12,R13,R21,R22,R23,R31,R32,R33,
|
||||
Q11,Q12,Q13,Q21,Q22,Q23,Q31,Q32,Q33;
|
||||
|
||||
// get vector from centers of box 1 to box 2, relative to box 1
|
||||
p[0] = p2[0] - p1[0];
|
||||
p[1] = p2[1] - p1[1];
|
||||
p[2] = p2[2] - p1[2];
|
||||
dMULTIPLY1_331 (pp,R1,p); // get pp = p relative to body 1
|
||||
|
||||
// get side lengths / 2
|
||||
A1 = side1[0]*REAL(0.5); A2 = side1[1]*REAL(0.5); A3 = side1[2]*REAL(0.5);
|
||||
B1 = side2[0]*REAL(0.5); B2 = side2[1]*REAL(0.5); B3 = side2[2]*REAL(0.5);
|
||||
|
||||
// for the following tests, excluding computation of Rij, in the worst case,
|
||||
// 15 compares, 60 adds, 81 multiplies, and 24 absolutes.
|
||||
// notation: R1=[u1 u2 u3], R2=[v1 v2 v3]
|
||||
|
||||
// separating axis = u1,u2,u3
|
||||
R11 = dDOT44(R1+0,R2+0); R12 = dDOT44(R1+0,R2+1); R13 = dDOT44(R1+0,R2+2);
|
||||
Q11 = dFabs(R11); Q12 = dFabs(R12); Q13 = dFabs(R13);
|
||||
if (dFabs(pp[0]) > (A1 + B1*Q11 + B2*Q12 + B3*Q13)) return 0;
|
||||
R21 = dDOT44(R1+1,R2+0); R22 = dDOT44(R1+1,R2+1); R23 = dDOT44(R1+1,R2+2);
|
||||
Q21 = dFabs(R21); Q22 = dFabs(R22); Q23 = dFabs(R23);
|
||||
if (dFabs(pp[1]) > (A2 + B1*Q21 + B2*Q22 + B3*Q23)) return 0;
|
||||
R31 = dDOT44(R1+2,R2+0); R32 = dDOT44(R1+2,R2+1); R33 = dDOT44(R1+2,R2+2);
|
||||
Q31 = dFabs(R31); Q32 = dFabs(R32); Q33 = dFabs(R33);
|
||||
if (dFabs(pp[2]) > (A3 + B1*Q31 + B2*Q32 + B3*Q33)) return 0;
|
||||
|
||||
// separating axis = v1,v2,v3
|
||||
if (dFabs(dDOT41(R2+0,p)) > (A1*Q11 + A2*Q21 + A3*Q31 + B1)) return 0;
|
||||
if (dFabs(dDOT41(R2+1,p)) > (A1*Q12 + A2*Q22 + A3*Q32 + B2)) return 0;
|
||||
if (dFabs(dDOT41(R2+2,p)) > (A1*Q13 + A2*Q23 + A3*Q33 + B3)) return 0;
|
||||
|
||||
// separating axis = u1 x (v1,v2,v3)
|
||||
if (dFabs(pp[2]*R21-pp[1]*R31) > A2*Q31 + A3*Q21 + B2*Q13 + B3*Q12) return 0;
|
||||
if (dFabs(pp[2]*R22-pp[1]*R32) > A2*Q32 + A3*Q22 + B1*Q13 + B3*Q11) return 0;
|
||||
if (dFabs(pp[2]*R23-pp[1]*R33) > A2*Q33 + A3*Q23 + B1*Q12 + B2*Q11) return 0;
|
||||
|
||||
// separating axis = u2 x (v1,v2,v3)
|
||||
if (dFabs(pp[0]*R31-pp[2]*R11) > A1*Q31 + A3*Q11 + B2*Q23 + B3*Q22) return 0;
|
||||
if (dFabs(pp[0]*R32-pp[2]*R12) > A1*Q32 + A3*Q12 + B1*Q23 + B3*Q21) return 0;
|
||||
if (dFabs(pp[0]*R33-pp[2]*R13) > A1*Q33 + A3*Q13 + B1*Q22 + B2*Q21) return 0;
|
||||
|
||||
// separating axis = u3 x (v1,v2,v3)
|
||||
if (dFabs(pp[1]*R11-pp[0]*R21) > A1*Q21 + A2*Q11 + B2*Q33 + B3*Q32) return 0;
|
||||
if (dFabs(pp[1]*R12-pp[0]*R22) > A1*Q22 + A2*Q12 + B1*Q33 + B3*Q31) return 0;
|
||||
if (dFabs(pp[1]*R13-pp[0]*R23) > A1*Q23 + A2*Q13 + B1*Q32 + B2*Q31) return 0;
|
||||
|
||||
return 1;
|
||||
}
|
||||
|
||||
//****************************************************************************
|
||||
// other utility functions
|
||||
|
||||
void dInfiniteAABB (dxGeom *geom, dReal aabb[6])
|
||||
{
|
||||
aabb[0] = -dInfinity;
|
||||
aabb[1] = dInfinity;
|
||||
aabb[2] = -dInfinity;
|
||||
aabb[3] = dInfinity;
|
||||
aabb[4] = -dInfinity;
|
||||
aabb[5] = dInfinity;
|
||||
}
|
||||
72
Extras/ode/ode/src/collision_util.h
Normal file
72
Extras/ode/ode/src/collision_util.h
Normal file
@@ -0,0 +1,72 @@
|
||||
/*************************************************************************
|
||||
* *
|
||||
* Open Dynamics Engine, Copyright (C) 2001,2002 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. *
|
||||
* *
|
||||
*************************************************************************/
|
||||
|
||||
/*
|
||||
|
||||
some useful collision utility stuff.
|
||||
|
||||
*/
|
||||
|
||||
#ifndef _ODE_COLLISION_UTIL_H_
|
||||
#define _ODE_COLLISION_UTIL_H_
|
||||
|
||||
#include <ode/common.h>
|
||||
#include <ode/contact.h>
|
||||
|
||||
|
||||
// given a pointer `p' to a dContactGeom, return the dContactGeom at
|
||||
// p + skip bytes.
|
||||
#define CONTACT(p,skip) ((dContactGeom*) (((char*)p) + (skip)))
|
||||
|
||||
|
||||
// if the spheres (p1,r1) and (p2,r2) collide, set the contact `c' and
|
||||
// return 1, else return 0.
|
||||
|
||||
int dCollideSpheres (dVector3 p1, dReal r1,
|
||||
dVector3 p2, dReal r2, dContactGeom *c);
|
||||
|
||||
|
||||
// given two lines
|
||||
// qa = pa + alpha* ua
|
||||
// qb = pb + beta * ub
|
||||
// where pa,pb are two points, ua,ub are two unit length vectors, and alpha,
|
||||
// beta go from [-inf,inf], return alpha and beta such that qa and qb are
|
||||
// as close as possible
|
||||
|
||||
void dLineClosestApproach (const dVector3 pa, const dVector3 ua,
|
||||
const dVector3 pb, const dVector3 ub,
|
||||
dReal *alpha, dReal *beta);
|
||||
|
||||
|
||||
// given a line segment p1-p2 and a box (center 'c', rotation 'R', side length
|
||||
// vector 'side'), compute the points of closest approach between the box
|
||||
// and the line. return these points in 'lret' (the point on the line) and
|
||||
// 'bret' (the point on the box). if the line actually penetrates the box
|
||||
// then the solution is not unique, but only one solution will be returned.
|
||||
// in this case the solution points will coincide.
|
||||
|
||||
void dClosestLineBoxPoints (const dVector3 p1, const dVector3 p2,
|
||||
const dVector3 c, const dMatrix3 R,
|
||||
const dVector3 side,
|
||||
dVector3 lret, dVector3 bret);
|
||||
|
||||
#endif
|
||||
172
Extras/ode/ode/src/error.cpp
Normal file
172
Extras/ode/ode/src/error.cpp
Normal file
@@ -0,0 +1,172 @@
|
||||
/*************************************************************************
|
||||
* *
|
||||
* Open Dynamics Engine, Copyright (C) 2001,2002 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. *
|
||||
* *
|
||||
*************************************************************************/
|
||||
|
||||
#include <ode/config.h>
|
||||
#include <ode/error.h>
|
||||
|
||||
|
||||
static dMessageFunction *error_function = 0;
|
||||
static dMessageFunction *debug_function = 0;
|
||||
static dMessageFunction *message_function = 0;
|
||||
|
||||
|
||||
extern "C" void dSetErrorHandler (dMessageFunction *fn)
|
||||
{
|
||||
error_function = fn;
|
||||
}
|
||||
|
||||
|
||||
extern "C" void dSetDebugHandler (dMessageFunction *fn)
|
||||
{
|
||||
debug_function = fn;
|
||||
}
|
||||
|
||||
|
||||
extern "C" void dSetMessageHandler (dMessageFunction *fn)
|
||||
{
|
||||
message_function = fn;
|
||||
}
|
||||
|
||||
|
||||
extern "C" dMessageFunction *dGetErrorHandler()
|
||||
{
|
||||
return error_function;
|
||||
}
|
||||
|
||||
|
||||
extern "C" dMessageFunction *dGetDebugHandler()
|
||||
{
|
||||
return debug_function;
|
||||
}
|
||||
|
||||
|
||||
extern "C" dMessageFunction *dGetMessageHandler()
|
||||
{
|
||||
return message_function;
|
||||
}
|
||||
|
||||
|
||||
static void printMessage (int num, const char *msg1, const char *msg2,
|
||||
va_list ap)
|
||||
{
|
||||
fflush (stderr);
|
||||
fflush (stdout);
|
||||
if (num) fprintf (stderr,"\n%s %d: ",msg1,num);
|
||||
else fprintf (stderr,"\n%s: ",msg1);
|
||||
vfprintf (stderr,msg2,ap);
|
||||
fprintf (stderr,"\n");
|
||||
fflush (stderr);
|
||||
}
|
||||
|
||||
//****************************************************************************
|
||||
// unix
|
||||
|
||||
#ifndef WIN32
|
||||
|
||||
extern "C" void dError (int num, const char *msg, ...)
|
||||
{
|
||||
va_list ap;
|
||||
va_start (ap,msg);
|
||||
if (error_function) error_function (num,msg,ap);
|
||||
else printMessage (num,"ODE Error",msg,ap);
|
||||
exit (1);
|
||||
}
|
||||
|
||||
|
||||
extern "C" void dDebug (int num, const char *msg, ...)
|
||||
{
|
||||
va_list ap;
|
||||
va_start (ap,msg);
|
||||
if (debug_function) debug_function (num,msg,ap);
|
||||
else printMessage (num,"ODE INTERNAL ERROR",msg,ap);
|
||||
// *((char *)0) = 0; ... commit SEGVicide
|
||||
abort();
|
||||
}
|
||||
|
||||
|
||||
extern "C" void dMessage (int num, const char *msg, ...)
|
||||
{
|
||||
va_list ap;
|
||||
va_start (ap,msg);
|
||||
if (message_function) message_function (num,msg,ap);
|
||||
else printMessage (num,"ODE Message",msg,ap);
|
||||
}
|
||||
|
||||
#endif
|
||||
|
||||
//****************************************************************************
|
||||
// windows
|
||||
|
||||
#ifdef WIN32
|
||||
|
||||
// isn't cygwin annoying!
|
||||
#ifdef CYGWIN
|
||||
#define _snprintf snprintf
|
||||
#define _vsnprintf vsnprintf
|
||||
#endif
|
||||
|
||||
|
||||
#include "windows.h"
|
||||
|
||||
|
||||
extern "C" void dError (int num, const char *msg, ...)
|
||||
{
|
||||
va_list ap;
|
||||
va_start (ap,msg);
|
||||
if (error_function) error_function (num,msg,ap);
|
||||
else {
|
||||
char s[1000],title[100];
|
||||
_snprintf (title,sizeof(title),"ODE Error %d",num);
|
||||
_vsnprintf (s,sizeof(s),msg,ap);
|
||||
s[sizeof(s)-1] = 0;
|
||||
MessageBox(0,s,title,MB_OK | MB_ICONWARNING);
|
||||
}
|
||||
exit (1);
|
||||
}
|
||||
|
||||
|
||||
extern "C" void dDebug (int num, const char *msg, ...)
|
||||
{
|
||||
va_list ap;
|
||||
va_start (ap,msg);
|
||||
if (debug_function) debug_function (num,msg,ap);
|
||||
else {
|
||||
char s[1000],title[100];
|
||||
_snprintf (title,sizeof(title),"ODE INTERNAL ERROR %d",num);
|
||||
_vsnprintf (s,sizeof(s),msg,ap);
|
||||
s[sizeof(s)-1] = 0;
|
||||
MessageBox(0,s,title,MB_OK | MB_ICONSTOP);
|
||||
}
|
||||
abort();
|
||||
}
|
||||
|
||||
|
||||
extern "C" void dMessage (int num, const char *msg, ...)
|
||||
{
|
||||
va_list ap;
|
||||
va_start (ap,msg);
|
||||
if (message_function) message_function (num,msg,ap);
|
||||
else printMessage (num,"ODE Message",msg,ap);
|
||||
}
|
||||
|
||||
|
||||
#endif
|
||||
533
Extras/ode/ode/src/export-dif.cpp
Normal file
533
Extras/ode/ode/src/export-dif.cpp
Normal file
@@ -0,0 +1,533 @@
|
||||
/*************************************************************************
|
||||
* *
|
||||
* Open Dynamics Engine, Copyright (C) 2001,2002 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. *
|
||||
* *
|
||||
*************************************************************************/
|
||||
|
||||
/*
|
||||
* Export a DIF (Dynamics Interchange Format) file.
|
||||
*/
|
||||
|
||||
|
||||
// @@@ TODO:
|
||||
// * export all spaces, and geoms in spaces, not just ones attached to bodies
|
||||
// (separate export function?)
|
||||
// * say the space each geom is in, so reader can construct space heirarchy
|
||||
// * limot --> separate out into limits and motors?
|
||||
// * make sure ODE-specific parameters divided out
|
||||
|
||||
|
||||
#include "ode/ode.h"
|
||||
#include "objects.h"
|
||||
#include "joint.h"
|
||||
#include "collision_kernel.h"
|
||||
|
||||
//***************************************************************************
|
||||
// utility
|
||||
|
||||
struct PrintingContext {
|
||||
FILE *file; // file to write to
|
||||
int precision; // digits of precision to print
|
||||
int indent; // number of levels of indent
|
||||
|
||||
void printIndent();
|
||||
void printReal (dReal x);
|
||||
void print (const char *name, int x);
|
||||
void print (const char *name, dReal x);
|
||||
void print (const char *name, const dReal *x, int n=3);
|
||||
void print (const char *name, const char *x=0);
|
||||
void printNonzero (const char *name, dReal x);
|
||||
void printNonzero (const char *name, const dReal x[3]);
|
||||
};
|
||||
|
||||
|
||||
void PrintingContext::printIndent()
|
||||
{
|
||||
for (int i=0; i<indent; i++) fputc ('\t',file);
|
||||
}
|
||||
|
||||
|
||||
void PrintingContext::print (const char *name, int x)
|
||||
{
|
||||
printIndent();
|
||||
fprintf (file,"%s = %d,\n",name,x);
|
||||
}
|
||||
|
||||
|
||||
void PrintingContext::printReal (dReal x)
|
||||
{
|
||||
if (x==dInfinity) {
|
||||
fprintf (file,"inf");
|
||||
}
|
||||
else if (x==-dInfinity) {
|
||||
fprintf (file,"-inf");
|
||||
}
|
||||
else {
|
||||
fprintf (file,"%.*g",precision,x);
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
void PrintingContext::print (const char *name, dReal x)
|
||||
{
|
||||
printIndent();
|
||||
fprintf (file,"%s = ",name);
|
||||
printReal (x);
|
||||
fprintf (file,",\n");
|
||||
}
|
||||
|
||||
|
||||
void PrintingContext::print (const char *name, const dReal *x, int n)
|
||||
{
|
||||
printIndent();
|
||||
fprintf (file,"%s = {",name);
|
||||
for (int i=0; i<n; i++) {
|
||||
printReal (x[i]);
|
||||
if (i < n-1) fputc (',',file);
|
||||
}
|
||||
fprintf (file,"},\n");
|
||||
}
|
||||
|
||||
|
||||
void PrintingContext::print (const char *name, const char *x)
|
||||
{
|
||||
printIndent();
|
||||
if (x) {
|
||||
fprintf (file,"%s = \"%s\",\n",name,x);
|
||||
}
|
||||
else {
|
||||
fprintf (file,"%s\n",name);
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
void PrintingContext::printNonzero (const char *name, dReal x)
|
||||
{
|
||||
if (x != 0) print (name,x);
|
||||
}
|
||||
|
||||
|
||||
void PrintingContext::printNonzero (const char *name, const dReal x[3])
|
||||
{
|
||||
if (x[0] != 0 && x[1] != 0 && x[2] != 0) print (name,x);
|
||||
}
|
||||
|
||||
//***************************************************************************
|
||||
// joints
|
||||
|
||||
|
||||
static void printLimot (PrintingContext &c, dxJointLimitMotor &limot, int num)
|
||||
{
|
||||
if (num >= 0) {
|
||||
c.printIndent();
|
||||
fprintf (c.file,"limit%d = {\n",num);
|
||||
}
|
||||
else {
|
||||
c.print ("limit = {");
|
||||
}
|
||||
c.indent++;
|
||||
c.print ("low_stop",limot.lostop);
|
||||
c.print ("high_stop",limot.histop);
|
||||
c.printNonzero ("bounce",limot.bounce);
|
||||
c.print ("ODE = {");
|
||||
c.indent++;
|
||||
c.printNonzero ("stop_erp",limot.stop_erp);
|
||||
c.printNonzero ("stop_cfm",limot.stop_cfm);
|
||||
c.indent--;
|
||||
c.print ("},");
|
||||
c.indent--;
|
||||
c.print ("},");
|
||||
|
||||
if (num >= 0) {
|
||||
c.printIndent();
|
||||
fprintf (c.file,"motor%d = {\n",num);
|
||||
}
|
||||
else {
|
||||
c.print ("motor = {");
|
||||
}
|
||||
c.indent++;
|
||||
c.printNonzero ("vel",limot.vel);
|
||||
c.printNonzero ("fmax",limot.fmax);
|
||||
c.print ("ODE = {");
|
||||
c.indent++;
|
||||
c.printNonzero ("fudge_factor",limot.fudge_factor);
|
||||
c.printNonzero ("normal_cfm",limot.normal_cfm);
|
||||
c.indent--;
|
||||
c.print ("},");
|
||||
c.indent--;
|
||||
c.print ("},");
|
||||
}
|
||||
|
||||
|
||||
static const char *getJointName (dxJoint *j)
|
||||
{
|
||||
switch (j->vtable->typenum) {
|
||||
case dJointTypeBall: return "ball";
|
||||
case dJointTypeHinge: return "hinge";
|
||||
case dJointTypeSlider: return "slider";
|
||||
case dJointTypeContact: return "contact";
|
||||
case dJointTypeUniversal: return "universal";
|
||||
case dJointTypeHinge2: return "ODE_hinge2";
|
||||
case dJointTypeFixed: return "fixed";
|
||||
case dJointTypeNull: return "null";
|
||||
case dJointTypeAMotor: return "ODE_angular_motor";
|
||||
}
|
||||
return "unknown";
|
||||
}
|
||||
|
||||
|
||||
static void printBall (PrintingContext &c, dxJoint *j)
|
||||
{
|
||||
dxJointBall *b = (dxJointBall*) j;
|
||||
c.print ("anchor1",b->anchor1);
|
||||
c.print ("anchor2",b->anchor2);
|
||||
}
|
||||
|
||||
|
||||
static void printHinge (PrintingContext &c, dxJoint *j)
|
||||
{
|
||||
dxJointHinge *h = (dxJointHinge*) j;
|
||||
c.print ("anchor1",h->anchor1);
|
||||
c.print ("anchor2",h->anchor2);
|
||||
c.print ("axis1",h->axis1);
|
||||
c.print ("axis2",h->axis2);
|
||||
c.print ("qrel",h->qrel,4);
|
||||
printLimot (c,h->limot,-1);
|
||||
}
|
||||
|
||||
|
||||
static void printSlider (PrintingContext &c, dxJoint *j)
|
||||
{
|
||||
dxJointSlider *s = (dxJointSlider*) j;
|
||||
c.print ("axis1",s->axis1);
|
||||
c.print ("qrel",s->qrel,4);
|
||||
c.print ("offset",s->offset);
|
||||
printLimot (c,s->limot,-1);
|
||||
}
|
||||
|
||||
|
||||
static void printContact (PrintingContext &c, dxJoint *j)
|
||||
{
|
||||
dxJointContact *ct = (dxJointContact*) j;
|
||||
int mode = ct->contact.surface.mode;
|
||||
c.print ("pos",ct->contact.geom.pos);
|
||||
c.print ("normal",ct->contact.geom.normal);
|
||||
c.print ("depth",ct->contact.geom.depth);
|
||||
//@@@ may want to write the geoms g1 and g2 that are involved, for debugging.
|
||||
// to do this we must have written out all geoms in all spaces, not just
|
||||
// geoms that are attached to bodies.
|
||||
c.print ("mu",ct->contact.surface.mu);
|
||||
if (mode & dContactMu2) c.print ("mu2",ct->contact.surface.mu2);
|
||||
if (mode & dContactBounce) c.print ("bounce",ct->contact.surface.bounce);
|
||||
if (mode & dContactBounce) c.print ("bounce_vel",ct->contact.surface.bounce_vel);
|
||||
if (mode & dContactSoftERP) c.print ("soft_ERP",ct->contact.surface.soft_erp);
|
||||
if (mode & dContactSoftCFM) c.print ("soft_CFM",ct->contact.surface.soft_cfm);
|
||||
if (mode & dContactMotion1) c.print ("motion1",ct->contact.surface.motion1);
|
||||
if (mode & dContactMotion2) c.print ("motion2",ct->contact.surface.motion2);
|
||||
if (mode & dContactSlip1) c.print ("slip1",ct->contact.surface.slip1);
|
||||
if (mode & dContactSlip2) c.print ("slip2",ct->contact.surface.slip2);
|
||||
int fa = 0; // friction approximation code
|
||||
if (mode & dContactApprox1_1) fa |= 1;
|
||||
if (mode & dContactApprox1_2) fa |= 2;
|
||||
if (fa) c.print ("friction_approximation",fa);
|
||||
if (mode & dContactFDir1) c.print ("fdir1",ct->contact.fdir1);
|
||||
}
|
||||
|
||||
|
||||
static void printUniversal (PrintingContext &c, dxJoint *j)
|
||||
{
|
||||
dxJointUniversal *u = (dxJointUniversal*) j;
|
||||
c.print ("anchor1",u->anchor1);
|
||||
c.print ("anchor2",u->anchor2);
|
||||
c.print ("axis1",u->axis1);
|
||||
c.print ("axis2",u->axis2);
|
||||
c.print ("qrel1",u->qrel1,4);
|
||||
c.print ("qrel2",u->qrel2,4);
|
||||
printLimot (c,u->limot1,1);
|
||||
printLimot (c,u->limot2,2);
|
||||
}
|
||||
|
||||
|
||||
static void printHinge2 (PrintingContext &c, dxJoint *j)
|
||||
{
|
||||
dxJointHinge2 *h = (dxJointHinge2*) j;
|
||||
c.print ("anchor1",h->anchor1);
|
||||
c.print ("anchor2",h->anchor2);
|
||||
c.print ("axis1",h->axis1);
|
||||
c.print ("axis2",h->axis2);
|
||||
c.print ("v1",h->v1); //@@@ much better to write out 'qrel' here, if it's available
|
||||
c.print ("v2",h->v2);
|
||||
c.print ("susp_erp",h->susp_erp);
|
||||
c.print ("susp_cfm",h->susp_cfm);
|
||||
printLimot (c,h->limot1,1);
|
||||
printLimot (c,h->limot2,2);
|
||||
}
|
||||
|
||||
|
||||
static void printFixed (PrintingContext &c, dxJoint *j)
|
||||
{
|
||||
dxJointFixed *f = (dxJointFixed*) j;
|
||||
c.print ("qrel",f->qrel);
|
||||
c.print ("offset",f->offset);
|
||||
}
|
||||
|
||||
|
||||
static void printAMotor (PrintingContext &c, dxJoint *j)
|
||||
{
|
||||
dxJointAMotor *a = (dxJointAMotor*) j;
|
||||
c.print ("num",a->num);
|
||||
c.print ("mode",a->mode);
|
||||
c.printIndent();
|
||||
fprintf (c.file,"rel = {%d,%d,%d},\n",a->rel[0],a->rel[1],a->rel[2]);
|
||||
c.print ("axis1",a->axis[0]);
|
||||
c.print ("axis2",a->axis[1]);
|
||||
c.print ("axis3",a->axis[2]);
|
||||
for (int i=0; i<3; i++) printLimot (c,a->limot[i],i+1);
|
||||
c.print ("angle1",a->angle[0]);
|
||||
c.print ("angle2",a->angle[1]);
|
||||
c.print ("angle3",a->angle[2]);
|
||||
}
|
||||
|
||||
//***************************************************************************
|
||||
// geometry
|
||||
|
||||
static void printGeom (PrintingContext &c, dxGeom *g);
|
||||
|
||||
static void printSphere (PrintingContext &c, dxGeom *g)
|
||||
{
|
||||
c.print ("type","sphere");
|
||||
c.print ("radius",dGeomSphereGetRadius (g));
|
||||
}
|
||||
|
||||
|
||||
static void printBox (PrintingContext &c, dxGeom *g)
|
||||
{
|
||||
dVector3 sides;
|
||||
dGeomBoxGetLengths (g,sides);
|
||||
c.print ("type","box");
|
||||
c.print ("sides",sides);
|
||||
}
|
||||
|
||||
|
||||
|
||||
static void printCCylinder (PrintingContext &c, dxGeom *g)
|
||||
{
|
||||
dReal radius,length;
|
||||
dGeomCCylinderGetParams (g,&radius,&length);
|
||||
c.print ("type","capsule");
|
||||
c.print ("radius",radius);
|
||||
c.print ("length",length);
|
||||
}
|
||||
|
||||
|
||||
static void printPlane (PrintingContext &c, dxGeom *g)
|
||||
{
|
||||
dVector4 e;
|
||||
dGeomPlaneGetParams (g,e);
|
||||
c.print ("type","plane");
|
||||
c.print ("normal",e);
|
||||
c.print ("d",e[3]);
|
||||
}
|
||||
|
||||
|
||||
|
||||
static void printRay (PrintingContext &c, dxGeom *g)
|
||||
{
|
||||
dReal length = dGeomRayGetLength (g);
|
||||
c.print ("type","ray");
|
||||
c.print ("length",length);
|
||||
}
|
||||
|
||||
|
||||
|
||||
static void printGeomTransform (PrintingContext &c, dxGeom *g)
|
||||
{
|
||||
dxGeom *g2 = dGeomTransformGetGeom (g);
|
||||
const dReal *pos = dGeomGetPosition (g2);
|
||||
dQuaternion q;
|
||||
dGeomGetQuaternion (g2,q);
|
||||
c.print ("type","transform");
|
||||
c.print ("pos",pos);
|
||||
c.print ("q",q,4);
|
||||
c.print ("geometry = {");
|
||||
c.indent++;
|
||||
printGeom (c,g2);
|
||||
c.indent--;
|
||||
c.print ("}");
|
||||
}
|
||||
|
||||
|
||||
|
||||
static void printTriMesh (PrintingContext &c, dxGeom *g)
|
||||
{
|
||||
c.print ("type","trimesh");
|
||||
//@@@ i don't think that the trimesh accessor functions are really
|
||||
// sufficient to read out all the triangle data, and anyway we
|
||||
// should have a method of not duplicating trimesh data that is
|
||||
// shared.
|
||||
}
|
||||
|
||||
|
||||
static void printGeom (PrintingContext &c, dxGeom *g)
|
||||
{
|
||||
unsigned long category = dGeomGetCategoryBits (g);
|
||||
if (category != (unsigned long)(~0)) {
|
||||
c.printIndent();
|
||||
fprintf (c.file,"category_bits = %lu\n",category);
|
||||
}
|
||||
unsigned long collide = dGeomGetCollideBits (g);
|
||||
if (collide != (unsigned long)(~0)) {
|
||||
c.printIndent();
|
||||
fprintf (c.file,"collide_bits = %lu\n",collide);
|
||||
}
|
||||
if (!dGeomIsEnabled (g)) {
|
||||
c.print ("disabled",1);
|
||||
}
|
||||
switch (g->type) {
|
||||
case dSphereClass: printSphere (c,g); break;
|
||||
case dBoxClass: printBox (c,g); break;
|
||||
case dCCylinderClass: printCCylinder (c,g); break;
|
||||
case dPlaneClass: printPlane (c,g); break;
|
||||
case dRayClass: printRay (c,g); break;
|
||||
case dGeomTransformClass: printGeomTransform (c,g); break;
|
||||
case dTriMeshClass: printTriMesh (c,g); break;
|
||||
}
|
||||
}
|
||||
|
||||
//***************************************************************************
|
||||
// world
|
||||
|
||||
void dWorldExportDIF (dWorldID w, FILE *file, const char *prefix)
|
||||
{
|
||||
PrintingContext c;
|
||||
c.file = file;
|
||||
#if defined(dSINGLE)
|
||||
c.precision = 7;
|
||||
#else
|
||||
c.precision = 15;
|
||||
#endif
|
||||
c.indent = 1;
|
||||
|
||||
fprintf (file,"-- Dynamics Interchange Format v0.1\n\n%sworld = dynamics.world {\n",prefix);
|
||||
c.print ("gravity",w->gravity);
|
||||
c.print ("ODE = {");
|
||||
c.indent++;
|
||||
c.print ("ERP",w->global_erp);
|
||||
c.print ("CFM",w->global_cfm);
|
||||
c.print ("auto_disable = {");
|
||||
c.indent++;
|
||||
c.print ("linear_threshold",w->adis.linear_threshold);
|
||||
c.print ("angular_threshold",w->adis.angular_threshold);
|
||||
c.print ("idle_time",w->adis.idle_time);
|
||||
c.print ("idle_steps",w->adis.idle_steps);
|
||||
fprintf (file,"\t\t},\n\t},\n}\n");
|
||||
c.indent -= 3;
|
||||
|
||||
// bodies
|
||||
int num = 0;
|
||||
fprintf (file,"%sbody = {}\n",prefix);
|
||||
for (dxBody *b=w->firstbody; b; b=(dxBody*)b->next) {
|
||||
b->tag = num;
|
||||
fprintf (file,"%sbody[%d] = dynamics.body {\n\tworld = %sworld,\n",prefix,num,prefix);
|
||||
c.indent++;
|
||||
c.print ("pos",b->pos);
|
||||
c.print ("q",b->q,4);
|
||||
c.print ("lvel",b->lvel);
|
||||
c.print ("avel",b->avel);
|
||||
c.print ("mass",b->mass.mass);
|
||||
fprintf (file,"\tI = {{");
|
||||
for (int i=0; i<3; i++) {
|
||||
for (int j=0; j<3; j++) {
|
||||
c.printReal (b->mass.I[i*4+j]);
|
||||
if (j < 2) fputc (',',file);
|
||||
}
|
||||
if (i < 2) fprintf (file,"},{");
|
||||
}
|
||||
fprintf (file,"}},\n");
|
||||
c.printNonzero ("com",b->mass.c);
|
||||
c.print ("ODE = {");
|
||||
c.indent++;
|
||||
if (b->flags & dxBodyFlagFiniteRotation) c.print ("finite_rotation",1);
|
||||
if (b->flags & dxBodyDisabled) c.print ("disabled",1);
|
||||
if (b->flags & dxBodyNoGravity) c.print ("no_gravity",1);
|
||||
if (b->flags & dxBodyAutoDisable) {
|
||||
c.print ("auto_disable = {");
|
||||
c.indent++;
|
||||
c.print ("linear_threshold",b->adis.linear_threshold);
|
||||
c.print ("angular_threshold",b->adis.angular_threshold);
|
||||
c.print ("idle_time",b->adis.idle_time);
|
||||
c.print ("idle_steps",b->adis.idle_steps);
|
||||
c.print ("time_left",b->adis_timeleft);
|
||||
c.print ("steps_left",b->adis_stepsleft);
|
||||
c.indent--;
|
||||
c.print ("},");
|
||||
}
|
||||
c.printNonzero ("facc",b->facc);
|
||||
c.printNonzero ("tacc",b->tacc);
|
||||
if (b->flags & dxBodyFlagFiniteRotationAxis) {
|
||||
c.print ("finite_rotation_axis",b->finite_rot_axis);
|
||||
}
|
||||
c.indent--;
|
||||
c.print ("},");
|
||||
if (b->geom) {
|
||||
c.print ("geometry = {");
|
||||
c.indent++;
|
||||
for (dxGeom *g=b->geom; g; g=g->body_next) {
|
||||
c.print ("{");
|
||||
c.indent++;
|
||||
printGeom (c,g);
|
||||
c.indent--;
|
||||
c.print ("},");
|
||||
}
|
||||
c.indent--;
|
||||
c.print ("},");
|
||||
}
|
||||
c.indent--;
|
||||
c.print ("}");
|
||||
num++;
|
||||
}
|
||||
|
||||
// joints
|
||||
num = 0;
|
||||
fprintf (file,"%sjoint = {}\n",prefix);
|
||||
for (dxJoint *j=w->firstjoint; j; j=(dxJoint*)j->next) {
|
||||
c.indent++;
|
||||
const char *name = getJointName (j);
|
||||
fprintf (file,
|
||||
"%sjoint[%d] = dynamics.%s_joint {\n"
|
||||
"\tworld = %sworld,\n"
|
||||
"\tbody = {%sbody[%d]"
|
||||
,prefix,num,name,prefix,prefix,j->node[0].body->tag);
|
||||
if (j->node[1].body) fprintf (file,",%sbody[%d]",prefix,j->node[1].body->tag);
|
||||
fprintf (file,"},\n");
|
||||
switch (j->vtable->typenum) {
|
||||
case dJointTypeBall: printBall (c,j); break;
|
||||
case dJointTypeHinge: printHinge (c,j); break;
|
||||
case dJointTypeSlider: printSlider (c,j); break;
|
||||
case dJointTypeContact: printContact (c,j); break;
|
||||
case dJointTypeUniversal: printUniversal (c,j); break;
|
||||
case dJointTypeHinge2: printHinge2 (c,j); break;
|
||||
case dJointTypeFixed: printFixed (c,j); break;
|
||||
case dJointTypeAMotor: printAMotor (c,j); break;
|
||||
}
|
||||
c.indent--;
|
||||
c.print ("}");
|
||||
num++;
|
||||
}
|
||||
}
|
||||
30
Extras/ode/ode/src/fastdot.c
Normal file
30
Extras/ode/ode/src/fastdot.c
Normal file
@@ -0,0 +1,30 @@
|
||||
/* generated code, do not edit. */
|
||||
|
||||
#include "ode/matrix.h"
|
||||
|
||||
|
||||
dReal dDot (const dReal *a, const dReal *b, int n)
|
||||
{
|
||||
dReal p0,q0,m0,p1,q1,m1,sum;
|
||||
sum = 0;
|
||||
n -= 2;
|
||||
while (n >= 0) {
|
||||
p0 = a[0]; q0 = b[0];
|
||||
m0 = p0 * q0;
|
||||
p1 = a[1]; q1 = b[1];
|
||||
m1 = p1 * q1;
|
||||
sum += m0;
|
||||
sum += m1;
|
||||
a += 2;
|
||||
b += 2;
|
||||
n -= 2;
|
||||
}
|
||||
n += 2;
|
||||
while (n > 0) {
|
||||
sum += (*a) * (*b);
|
||||
a++;
|
||||
b++;
|
||||
n--;
|
||||
}
|
||||
return sum;
|
||||
}
|
||||
381
Extras/ode/ode/src/fastldlt.c
Normal file
381
Extras/ode/ode/src/fastldlt.c
Normal file
@@ -0,0 +1,381 @@
|
||||
/* generated code, do not edit. */
|
||||
|
||||
#include "ode/matrix.h"
|
||||
|
||||
/* solve L*X=B, with B containing 1 right hand sides.
|
||||
* L is an n*n lower triangular matrix with ones on the diagonal.
|
||||
* L is stored by rows and its leading dimension is lskip.
|
||||
* B is an n*1 matrix that contains the right hand sides.
|
||||
* B is stored by columns and its leading dimension is also lskip.
|
||||
* B is overwritten with X.
|
||||
* this processes blocks of 2*2.
|
||||
* if this is in the factorizer source file, n must be a multiple of 2.
|
||||
*/
|
||||
|
||||
static void dSolveL1_1 (const dReal *L, dReal *B, int n, int lskip1)
|
||||
{
|
||||
/* declare variables - Z matrix, p and q vectors, etc */
|
||||
dReal Z11,m11,Z21,m21,p1,q1,p2,*ex;
|
||||
const dReal *ell;
|
||||
int i,j;
|
||||
/* compute all 2 x 1 blocks of X */
|
||||
for (i=0; i < n; i+=2) {
|
||||
/* compute all 2 x 1 block of X, from rows i..i+2-1 */
|
||||
/* set the Z matrix to 0 */
|
||||
Z11=0;
|
||||
Z21=0;
|
||||
ell = L + i*lskip1;
|
||||
ex = B;
|
||||
/* the inner loop that computes outer products and adds them to Z */
|
||||
for (j=i-2; j >= 0; j -= 2) {
|
||||
/* compute outer product and add it to the Z matrix */
|
||||
p1=ell[0];
|
||||
q1=ex[0];
|
||||
m11 = p1 * q1;
|
||||
p2=ell[lskip1];
|
||||
m21 = p2 * q1;
|
||||
Z11 += m11;
|
||||
Z21 += m21;
|
||||
/* compute outer product and add it to the Z matrix */
|
||||
p1=ell[1];
|
||||
q1=ex[1];
|
||||
m11 = p1 * q1;
|
||||
p2=ell[1+lskip1];
|
||||
m21 = p2 * q1;
|
||||
/* advance pointers */
|
||||
ell += 2;
|
||||
ex += 2;
|
||||
Z11 += m11;
|
||||
Z21 += m21;
|
||||
/* end of inner loop */
|
||||
}
|
||||
/* compute left-over iterations */
|
||||
j += 2;
|
||||
for (; j > 0; j--) {
|
||||
/* compute outer product and add it to the Z matrix */
|
||||
p1=ell[0];
|
||||
q1=ex[0];
|
||||
m11 = p1 * q1;
|
||||
p2=ell[lskip1];
|
||||
m21 = p2 * q1;
|
||||
/* advance pointers */
|
||||
ell += 1;
|
||||
ex += 1;
|
||||
Z11 += m11;
|
||||
Z21 += m21;
|
||||
}
|
||||
/* finish computing the X(i) block */
|
||||
Z11 = ex[0] - Z11;
|
||||
ex[0] = Z11;
|
||||
p1 = ell[lskip1];
|
||||
Z21 = ex[1] - Z21 - p1*Z11;
|
||||
ex[1] = Z21;
|
||||
/* end of outer loop */
|
||||
}
|
||||
}
|
||||
|
||||
/* solve L*X=B, with B containing 2 right hand sides.
|
||||
* L is an n*n lower triangular matrix with ones on the diagonal.
|
||||
* L is stored by rows and its leading dimension is lskip.
|
||||
* B is an n*2 matrix that contains the right hand sides.
|
||||
* B is stored by columns and its leading dimension is also lskip.
|
||||
* B is overwritten with X.
|
||||
* this processes blocks of 2*2.
|
||||
* if this is in the factorizer source file, n must be a multiple of 2.
|
||||
*/
|
||||
|
||||
static void dSolveL1_2 (const dReal *L, dReal *B, int n, int lskip1)
|
||||
{
|
||||
/* declare variables - Z matrix, p and q vectors, etc */
|
||||
dReal Z11,m11,Z12,m12,Z21,m21,Z22,m22,p1,q1,p2,q2,*ex;
|
||||
const dReal *ell;
|
||||
int i,j;
|
||||
/* compute all 2 x 2 blocks of X */
|
||||
for (i=0; i < n; i+=2) {
|
||||
/* compute all 2 x 2 block of X, from rows i..i+2-1 */
|
||||
/* set the Z matrix to 0 */
|
||||
Z11=0;
|
||||
Z12=0;
|
||||
Z21=0;
|
||||
Z22=0;
|
||||
ell = L + i*lskip1;
|
||||
ex = B;
|
||||
/* the inner loop that computes outer products and adds them to Z */
|
||||
for (j=i-2; j >= 0; j -= 2) {
|
||||
/* compute outer product and add it to the Z matrix */
|
||||
p1=ell[0];
|
||||
q1=ex[0];
|
||||
m11 = p1 * q1;
|
||||
q2=ex[lskip1];
|
||||
m12 = p1 * q2;
|
||||
p2=ell[lskip1];
|
||||
m21 = p2 * q1;
|
||||
m22 = p2 * q2;
|
||||
Z11 += m11;
|
||||
Z12 += m12;
|
||||
Z21 += m21;
|
||||
Z22 += m22;
|
||||
/* compute outer product and add it to the Z matrix */
|
||||
p1=ell[1];
|
||||
q1=ex[1];
|
||||
m11 = p1 * q1;
|
||||
q2=ex[1+lskip1];
|
||||
m12 = p1 * q2;
|
||||
p2=ell[1+lskip1];
|
||||
m21 = p2 * q1;
|
||||
m22 = p2 * q2;
|
||||
/* advance pointers */
|
||||
ell += 2;
|
||||
ex += 2;
|
||||
Z11 += m11;
|
||||
Z12 += m12;
|
||||
Z21 += m21;
|
||||
Z22 += m22;
|
||||
/* end of inner loop */
|
||||
}
|
||||
/* compute left-over iterations */
|
||||
j += 2;
|
||||
for (; j > 0; j--) {
|
||||
/* compute outer product and add it to the Z matrix */
|
||||
p1=ell[0];
|
||||
q1=ex[0];
|
||||
m11 = p1 * q1;
|
||||
q2=ex[lskip1];
|
||||
m12 = p1 * q2;
|
||||
p2=ell[lskip1];
|
||||
m21 = p2 * q1;
|
||||
m22 = p2 * q2;
|
||||
/* advance pointers */
|
||||
ell += 1;
|
||||
ex += 1;
|
||||
Z11 += m11;
|
||||
Z12 += m12;
|
||||
Z21 += m21;
|
||||
Z22 += m22;
|
||||
}
|
||||
/* finish computing the X(i) block */
|
||||
Z11 = ex[0] - Z11;
|
||||
ex[0] = Z11;
|
||||
Z12 = ex[lskip1] - Z12;
|
||||
ex[lskip1] = Z12;
|
||||
p1 = ell[lskip1];
|
||||
Z21 = ex[1] - Z21 - p1*Z11;
|
||||
ex[1] = Z21;
|
||||
Z22 = ex[1+lskip1] - Z22 - p1*Z12;
|
||||
ex[1+lskip1] = Z22;
|
||||
/* end of outer loop */
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
void dFactorLDLT (dReal *A, dReal *d, int n, int nskip1)
|
||||
{
|
||||
int i,j;
|
||||
dReal sum,*ell,*dee,dd,p1,p2,q1,q2,Z11,m11,Z21,m21,Z22,m22;
|
||||
if (n < 1) return;
|
||||
|
||||
for (i=0; i<=n-2; i += 2) {
|
||||
/* solve L*(D*l)=a, l is scaled elements in 2 x i block at A(i,0) */
|
||||
dSolveL1_2 (A,A+i*nskip1,i,nskip1);
|
||||
/* scale the elements in a 2 x i block at A(i,0), and also */
|
||||
/* compute Z = the outer product matrix that we'll need. */
|
||||
Z11 = 0;
|
||||
Z21 = 0;
|
||||
Z22 = 0;
|
||||
ell = A+i*nskip1;
|
||||
dee = d;
|
||||
for (j=i-6; j >= 0; j -= 6) {
|
||||
p1 = ell[0];
|
||||
p2 = ell[nskip1];
|
||||
dd = dee[0];
|
||||
q1 = p1*dd;
|
||||
q2 = p2*dd;
|
||||
ell[0] = q1;
|
||||
ell[nskip1] = q2;
|
||||
m11 = p1*q1;
|
||||
m21 = p2*q1;
|
||||
m22 = p2*q2;
|
||||
Z11 += m11;
|
||||
Z21 += m21;
|
||||
Z22 += m22;
|
||||
p1 = ell[1];
|
||||
p2 = ell[1+nskip1];
|
||||
dd = dee[1];
|
||||
q1 = p1*dd;
|
||||
q2 = p2*dd;
|
||||
ell[1] = q1;
|
||||
ell[1+nskip1] = q2;
|
||||
m11 = p1*q1;
|
||||
m21 = p2*q1;
|
||||
m22 = p2*q2;
|
||||
Z11 += m11;
|
||||
Z21 += m21;
|
||||
Z22 += m22;
|
||||
p1 = ell[2];
|
||||
p2 = ell[2+nskip1];
|
||||
dd = dee[2];
|
||||
q1 = p1*dd;
|
||||
q2 = p2*dd;
|
||||
ell[2] = q1;
|
||||
ell[2+nskip1] = q2;
|
||||
m11 = p1*q1;
|
||||
m21 = p2*q1;
|
||||
m22 = p2*q2;
|
||||
Z11 += m11;
|
||||
Z21 += m21;
|
||||
Z22 += m22;
|
||||
p1 = ell[3];
|
||||
p2 = ell[3+nskip1];
|
||||
dd = dee[3];
|
||||
q1 = p1*dd;
|
||||
q2 = p2*dd;
|
||||
ell[3] = q1;
|
||||
ell[3+nskip1] = q2;
|
||||
m11 = p1*q1;
|
||||
m21 = p2*q1;
|
||||
m22 = p2*q2;
|
||||
Z11 += m11;
|
||||
Z21 += m21;
|
||||
Z22 += m22;
|
||||
p1 = ell[4];
|
||||
p2 = ell[4+nskip1];
|
||||
dd = dee[4];
|
||||
q1 = p1*dd;
|
||||
q2 = p2*dd;
|
||||
ell[4] = q1;
|
||||
ell[4+nskip1] = q2;
|
||||
m11 = p1*q1;
|
||||
m21 = p2*q1;
|
||||
m22 = p2*q2;
|
||||
Z11 += m11;
|
||||
Z21 += m21;
|
||||
Z22 += m22;
|
||||
p1 = ell[5];
|
||||
p2 = ell[5+nskip1];
|
||||
dd = dee[5];
|
||||
q1 = p1*dd;
|
||||
q2 = p2*dd;
|
||||
ell[5] = q1;
|
||||
ell[5+nskip1] = q2;
|
||||
m11 = p1*q1;
|
||||
m21 = p2*q1;
|
||||
m22 = p2*q2;
|
||||
Z11 += m11;
|
||||
Z21 += m21;
|
||||
Z22 += m22;
|
||||
ell += 6;
|
||||
dee += 6;
|
||||
}
|
||||
/* compute left-over iterations */
|
||||
j += 6;
|
||||
for (; j > 0; j--) {
|
||||
p1 = ell[0];
|
||||
p2 = ell[nskip1];
|
||||
dd = dee[0];
|
||||
q1 = p1*dd;
|
||||
q2 = p2*dd;
|
||||
ell[0] = q1;
|
||||
ell[nskip1] = q2;
|
||||
m11 = p1*q1;
|
||||
m21 = p2*q1;
|
||||
m22 = p2*q2;
|
||||
Z11 += m11;
|
||||
Z21 += m21;
|
||||
Z22 += m22;
|
||||
ell++;
|
||||
dee++;
|
||||
}
|
||||
/* solve for diagonal 2 x 2 block at A(i,i) */
|
||||
Z11 = ell[0] - Z11;
|
||||
Z21 = ell[nskip1] - Z21;
|
||||
Z22 = ell[1+nskip1] - Z22;
|
||||
dee = d + i;
|
||||
/* factorize 2 x 2 block Z,dee */
|
||||
/* factorize row 1 */
|
||||
dee[0] = dRecip(Z11);
|
||||
/* factorize row 2 */
|
||||
sum = 0;
|
||||
q1 = Z21;
|
||||
q2 = q1 * dee[0];
|
||||
Z21 = q2;
|
||||
sum += q1*q2;
|
||||
dee[1] = dRecip(Z22 - sum);
|
||||
/* done factorizing 2 x 2 block */
|
||||
ell[nskip1] = Z21;
|
||||
}
|
||||
/* compute the (less than 2) rows at the bottom */
|
||||
switch (n-i) {
|
||||
case 0:
|
||||
break;
|
||||
|
||||
case 1:
|
||||
dSolveL1_1 (A,A+i*nskip1,i,nskip1);
|
||||
/* scale the elements in a 1 x i block at A(i,0), and also */
|
||||
/* compute Z = the outer product matrix that we'll need. */
|
||||
Z11 = 0;
|
||||
ell = A+i*nskip1;
|
||||
dee = d;
|
||||
for (j=i-6; j >= 0; j -= 6) {
|
||||
p1 = ell[0];
|
||||
dd = dee[0];
|
||||
q1 = p1*dd;
|
||||
ell[0] = q1;
|
||||
m11 = p1*q1;
|
||||
Z11 += m11;
|
||||
p1 = ell[1];
|
||||
dd = dee[1];
|
||||
q1 = p1*dd;
|
||||
ell[1] = q1;
|
||||
m11 = p1*q1;
|
||||
Z11 += m11;
|
||||
p1 = ell[2];
|
||||
dd = dee[2];
|
||||
q1 = p1*dd;
|
||||
ell[2] = q1;
|
||||
m11 = p1*q1;
|
||||
Z11 += m11;
|
||||
p1 = ell[3];
|
||||
dd = dee[3];
|
||||
q1 = p1*dd;
|
||||
ell[3] = q1;
|
||||
m11 = p1*q1;
|
||||
Z11 += m11;
|
||||
p1 = ell[4];
|
||||
dd = dee[4];
|
||||
q1 = p1*dd;
|
||||
ell[4] = q1;
|
||||
m11 = p1*q1;
|
||||
Z11 += m11;
|
||||
p1 = ell[5];
|
||||
dd = dee[5];
|
||||
q1 = p1*dd;
|
||||
ell[5] = q1;
|
||||
m11 = p1*q1;
|
||||
Z11 += m11;
|
||||
ell += 6;
|
||||
dee += 6;
|
||||
}
|
||||
/* compute left-over iterations */
|
||||
j += 6;
|
||||
for (; j > 0; j--) {
|
||||
p1 = ell[0];
|
||||
dd = dee[0];
|
||||
q1 = p1*dd;
|
||||
ell[0] = q1;
|
||||
m11 = p1*q1;
|
||||
Z11 += m11;
|
||||
ell++;
|
||||
dee++;
|
||||
}
|
||||
/* solve for diagonal 1 x 1 block at A(i,i) */
|
||||
Z11 = ell[0] - Z11;
|
||||
dee = d + i;
|
||||
/* factorize 1 x 1 block Z,dee */
|
||||
/* factorize row 1 */
|
||||
dee[0] = dRecip(Z11);
|
||||
/* done factorizing 1 x 1 block */
|
||||
break;
|
||||
|
||||
default: *((char*)0)=0; /* this should never happen! */
|
||||
}
|
||||
}
|
||||
298
Extras/ode/ode/src/fastlsolve.c
Normal file
298
Extras/ode/ode/src/fastlsolve.c
Normal file
@@ -0,0 +1,298 @@
|
||||
/* generated code, do not edit. */
|
||||
|
||||
#include "ode/matrix.h"
|
||||
|
||||
/* solve L*X=B, with B containing 1 right hand sides.
|
||||
* L is an n*n lower triangular matrix with ones on the diagonal.
|
||||
* L is stored by rows and its leading dimension is lskip.
|
||||
* B is an n*1 matrix that contains the right hand sides.
|
||||
* B is stored by columns and its leading dimension is also lskip.
|
||||
* B is overwritten with X.
|
||||
* this processes blocks of 4*4.
|
||||
* if this is in the factorizer source file, n must be a multiple of 4.
|
||||
*/
|
||||
|
||||
void dSolveL1 (const dReal *L, dReal *B, int n, int lskip1)
|
||||
{
|
||||
/* declare variables - Z matrix, p and q vectors, etc */
|
||||
dReal Z11,Z21,Z31,Z41,p1,q1,p2,p3,p4,*ex;
|
||||
const dReal *ell;
|
||||
int lskip2,lskip3,i,j;
|
||||
/* compute lskip values */
|
||||
lskip2 = 2*lskip1;
|
||||
lskip3 = 3*lskip1;
|
||||
/* compute all 4 x 1 blocks of X */
|
||||
for (i=0; i <= n-4; i+=4) {
|
||||
/* compute all 4 x 1 block of X, from rows i..i+4-1 */
|
||||
/* set the Z matrix to 0 */
|
||||
Z11=0;
|
||||
Z21=0;
|
||||
Z31=0;
|
||||
Z41=0;
|
||||
ell = L + i*lskip1;
|
||||
ex = B;
|
||||
/* the inner loop that computes outer products and adds them to Z */
|
||||
for (j=i-12; j >= 0; j -= 12) {
|
||||
/* load p and q values */
|
||||
p1=ell[0];
|
||||
q1=ex[0];
|
||||
p2=ell[lskip1];
|
||||
p3=ell[lskip2];
|
||||
p4=ell[lskip3];
|
||||
/* compute outer product and add it to the Z matrix */
|
||||
Z11 += p1 * q1;
|
||||
Z21 += p2 * q1;
|
||||
Z31 += p3 * q1;
|
||||
Z41 += p4 * q1;
|
||||
/* load p and q values */
|
||||
p1=ell[1];
|
||||
q1=ex[1];
|
||||
p2=ell[1+lskip1];
|
||||
p3=ell[1+lskip2];
|
||||
p4=ell[1+lskip3];
|
||||
/* compute outer product and add it to the Z matrix */
|
||||
Z11 += p1 * q1;
|
||||
Z21 += p2 * q1;
|
||||
Z31 += p3 * q1;
|
||||
Z41 += p4 * q1;
|
||||
/* load p and q values */
|
||||
p1=ell[2];
|
||||
q1=ex[2];
|
||||
p2=ell[2+lskip1];
|
||||
p3=ell[2+lskip2];
|
||||
p4=ell[2+lskip3];
|
||||
/* compute outer product and add it to the Z matrix */
|
||||
Z11 += p1 * q1;
|
||||
Z21 += p2 * q1;
|
||||
Z31 += p3 * q1;
|
||||
Z41 += p4 * q1;
|
||||
/* load p and q values */
|
||||
p1=ell[3];
|
||||
q1=ex[3];
|
||||
p2=ell[3+lskip1];
|
||||
p3=ell[3+lskip2];
|
||||
p4=ell[3+lskip3];
|
||||
/* compute outer product and add it to the Z matrix */
|
||||
Z11 += p1 * q1;
|
||||
Z21 += p2 * q1;
|
||||
Z31 += p3 * q1;
|
||||
Z41 += p4 * q1;
|
||||
/* load p and q values */
|
||||
p1=ell[4];
|
||||
q1=ex[4];
|
||||
p2=ell[4+lskip1];
|
||||
p3=ell[4+lskip2];
|
||||
p4=ell[4+lskip3];
|
||||
/* compute outer product and add it to the Z matrix */
|
||||
Z11 += p1 * q1;
|
||||
Z21 += p2 * q1;
|
||||
Z31 += p3 * q1;
|
||||
Z41 += p4 * q1;
|
||||
/* load p and q values */
|
||||
p1=ell[5];
|
||||
q1=ex[5];
|
||||
p2=ell[5+lskip1];
|
||||
p3=ell[5+lskip2];
|
||||
p4=ell[5+lskip3];
|
||||
/* compute outer product and add it to the Z matrix */
|
||||
Z11 += p1 * q1;
|
||||
Z21 += p2 * q1;
|
||||
Z31 += p3 * q1;
|
||||
Z41 += p4 * q1;
|
||||
/* load p and q values */
|
||||
p1=ell[6];
|
||||
q1=ex[6];
|
||||
p2=ell[6+lskip1];
|
||||
p3=ell[6+lskip2];
|
||||
p4=ell[6+lskip3];
|
||||
/* compute outer product and add it to the Z matrix */
|
||||
Z11 += p1 * q1;
|
||||
Z21 += p2 * q1;
|
||||
Z31 += p3 * q1;
|
||||
Z41 += p4 * q1;
|
||||
/* load p and q values */
|
||||
p1=ell[7];
|
||||
q1=ex[7];
|
||||
p2=ell[7+lskip1];
|
||||
p3=ell[7+lskip2];
|
||||
p4=ell[7+lskip3];
|
||||
/* compute outer product and add it to the Z matrix */
|
||||
Z11 += p1 * q1;
|
||||
Z21 += p2 * q1;
|
||||
Z31 += p3 * q1;
|
||||
Z41 += p4 * q1;
|
||||
/* load p and q values */
|
||||
p1=ell[8];
|
||||
q1=ex[8];
|
||||
p2=ell[8+lskip1];
|
||||
p3=ell[8+lskip2];
|
||||
p4=ell[8+lskip3];
|
||||
/* compute outer product and add it to the Z matrix */
|
||||
Z11 += p1 * q1;
|
||||
Z21 += p2 * q1;
|
||||
Z31 += p3 * q1;
|
||||
Z41 += p4 * q1;
|
||||
/* load p and q values */
|
||||
p1=ell[9];
|
||||
q1=ex[9];
|
||||
p2=ell[9+lskip1];
|
||||
p3=ell[9+lskip2];
|
||||
p4=ell[9+lskip3];
|
||||
/* compute outer product and add it to the Z matrix */
|
||||
Z11 += p1 * q1;
|
||||
Z21 += p2 * q1;
|
||||
Z31 += p3 * q1;
|
||||
Z41 += p4 * q1;
|
||||
/* load p and q values */
|
||||
p1=ell[10];
|
||||
q1=ex[10];
|
||||
p2=ell[10+lskip1];
|
||||
p3=ell[10+lskip2];
|
||||
p4=ell[10+lskip3];
|
||||
/* compute outer product and add it to the Z matrix */
|
||||
Z11 += p1 * q1;
|
||||
Z21 += p2 * q1;
|
||||
Z31 += p3 * q1;
|
||||
Z41 += p4 * q1;
|
||||
/* load p and q values */
|
||||
p1=ell[11];
|
||||
q1=ex[11];
|
||||
p2=ell[11+lskip1];
|
||||
p3=ell[11+lskip2];
|
||||
p4=ell[11+lskip3];
|
||||
/* compute outer product and add it to the Z matrix */
|
||||
Z11 += p1 * q1;
|
||||
Z21 += p2 * q1;
|
||||
Z31 += p3 * q1;
|
||||
Z41 += p4 * q1;
|
||||
/* advance pointers */
|
||||
ell += 12;
|
||||
ex += 12;
|
||||
/* end of inner loop */
|
||||
}
|
||||
/* compute left-over iterations */
|
||||
j += 12;
|
||||
for (; j > 0; j--) {
|
||||
/* load p and q values */
|
||||
p1=ell[0];
|
||||
q1=ex[0];
|
||||
p2=ell[lskip1];
|
||||
p3=ell[lskip2];
|
||||
p4=ell[lskip3];
|
||||
/* compute outer product and add it to the Z matrix */
|
||||
Z11 += p1 * q1;
|
||||
Z21 += p2 * q1;
|
||||
Z31 += p3 * q1;
|
||||
Z41 += p4 * q1;
|
||||
/* advance pointers */
|
||||
ell += 1;
|
||||
ex += 1;
|
||||
}
|
||||
/* finish computing the X(i) block */
|
||||
Z11 = ex[0] - Z11;
|
||||
ex[0] = Z11;
|
||||
p1 = ell[lskip1];
|
||||
Z21 = ex[1] - Z21 - p1*Z11;
|
||||
ex[1] = Z21;
|
||||
p1 = ell[lskip2];
|
||||
p2 = ell[1+lskip2];
|
||||
Z31 = ex[2] - Z31 - p1*Z11 - p2*Z21;
|
||||
ex[2] = Z31;
|
||||
p1 = ell[lskip3];
|
||||
p2 = ell[1+lskip3];
|
||||
p3 = ell[2+lskip3];
|
||||
Z41 = ex[3] - Z41 - p1*Z11 - p2*Z21 - p3*Z31;
|
||||
ex[3] = Z41;
|
||||
/* end of outer loop */
|
||||
}
|
||||
/* compute rows at end that are not a multiple of block size */
|
||||
for (; i < n; i++) {
|
||||
/* compute all 1 x 1 block of X, from rows i..i+1-1 */
|
||||
/* set the Z matrix to 0 */
|
||||
Z11=0;
|
||||
ell = L + i*lskip1;
|
||||
ex = B;
|
||||
/* the inner loop that computes outer products and adds them to Z */
|
||||
for (j=i-12; j >= 0; j -= 12) {
|
||||
/* load p and q values */
|
||||
p1=ell[0];
|
||||
q1=ex[0];
|
||||
/* compute outer product and add it to the Z matrix */
|
||||
Z11 += p1 * q1;
|
||||
/* load p and q values */
|
||||
p1=ell[1];
|
||||
q1=ex[1];
|
||||
/* compute outer product and add it to the Z matrix */
|
||||
Z11 += p1 * q1;
|
||||
/* load p and q values */
|
||||
p1=ell[2];
|
||||
q1=ex[2];
|
||||
/* compute outer product and add it to the Z matrix */
|
||||
Z11 += p1 * q1;
|
||||
/* load p and q values */
|
||||
p1=ell[3];
|
||||
q1=ex[3];
|
||||
/* compute outer product and add it to the Z matrix */
|
||||
Z11 += p1 * q1;
|
||||
/* load p and q values */
|
||||
p1=ell[4];
|
||||
q1=ex[4];
|
||||
/* compute outer product and add it to the Z matrix */
|
||||
Z11 += p1 * q1;
|
||||
/* load p and q values */
|
||||
p1=ell[5];
|
||||
q1=ex[5];
|
||||
/* compute outer product and add it to the Z matrix */
|
||||
Z11 += p1 * q1;
|
||||
/* load p and q values */
|
||||
p1=ell[6];
|
||||
q1=ex[6];
|
||||
/* compute outer product and add it to the Z matrix */
|
||||
Z11 += p1 * q1;
|
||||
/* load p and q values */
|
||||
p1=ell[7];
|
||||
q1=ex[7];
|
||||
/* compute outer product and add it to the Z matrix */
|
||||
Z11 += p1 * q1;
|
||||
/* load p and q values */
|
||||
p1=ell[8];
|
||||
q1=ex[8];
|
||||
/* compute outer product and add it to the Z matrix */
|
||||
Z11 += p1 * q1;
|
||||
/* load p and q values */
|
||||
p1=ell[9];
|
||||
q1=ex[9];
|
||||
/* compute outer product and add it to the Z matrix */
|
||||
Z11 += p1 * q1;
|
||||
/* load p and q values */
|
||||
p1=ell[10];
|
||||
q1=ex[10];
|
||||
/* compute outer product and add it to the Z matrix */
|
||||
Z11 += p1 * q1;
|
||||
/* load p and q values */
|
||||
p1=ell[11];
|
||||
q1=ex[11];
|
||||
/* compute outer product and add it to the Z matrix */
|
||||
Z11 += p1 * q1;
|
||||
/* advance pointers */
|
||||
ell += 12;
|
||||
ex += 12;
|
||||
/* end of inner loop */
|
||||
}
|
||||
/* compute left-over iterations */
|
||||
j += 12;
|
||||
for (; j > 0; j--) {
|
||||
/* load p and q values */
|
||||
p1=ell[0];
|
||||
q1=ex[0];
|
||||
/* compute outer product and add it to the Z matrix */
|
||||
Z11 += p1 * q1;
|
||||
/* advance pointers */
|
||||
ell += 1;
|
||||
ex += 1;
|
||||
}
|
||||
/* finish computing the X(i) block */
|
||||
Z11 = ex[0] - Z11;
|
||||
ex[0] = Z11;
|
||||
}
|
||||
}
|
||||
199
Extras/ode/ode/src/fastltsolve.c
Normal file
199
Extras/ode/ode/src/fastltsolve.c
Normal file
@@ -0,0 +1,199 @@
|
||||
/* generated code, do not edit. */
|
||||
|
||||
#include "ode/matrix.h"
|
||||
|
||||
/* solve L^T * x=b, with b containing 1 right hand side.
|
||||
* L is an n*n lower triangular matrix with ones on the diagonal.
|
||||
* L is stored by rows and its leading dimension is lskip.
|
||||
* b is an n*1 matrix that contains the right hand side.
|
||||
* b is overwritten with x.
|
||||
* this processes blocks of 4.
|
||||
*/
|
||||
|
||||
void dSolveL1T (const dReal *L, dReal *B, int n, int lskip1)
|
||||
{
|
||||
/* declare variables - Z matrix, p and q vectors, etc */
|
||||
dReal Z11,m11,Z21,m21,Z31,m31,Z41,m41,p1,q1,p2,p3,p4,*ex;
|
||||
const dReal *ell;
|
||||
int lskip2,lskip3,i,j;
|
||||
/* special handling for L and B because we're solving L1 *transpose* */
|
||||
L = L + (n-1)*(lskip1+1);
|
||||
B = B + n-1;
|
||||
lskip1 = -lskip1;
|
||||
/* compute lskip values */
|
||||
lskip2 = 2*lskip1;
|
||||
lskip3 = 3*lskip1;
|
||||
/* compute all 4 x 1 blocks of X */
|
||||
for (i=0; i <= n-4; i+=4) {
|
||||
/* compute all 4 x 1 block of X, from rows i..i+4-1 */
|
||||
/* set the Z matrix to 0 */
|
||||
Z11=0;
|
||||
Z21=0;
|
||||
Z31=0;
|
||||
Z41=0;
|
||||
ell = L - i;
|
||||
ex = B;
|
||||
/* the inner loop that computes outer products and adds them to Z */
|
||||
for (j=i-4; j >= 0; j -= 4) {
|
||||
/* load p and q values */
|
||||
p1=ell[0];
|
||||
q1=ex[0];
|
||||
p2=ell[-1];
|
||||
p3=ell[-2];
|
||||
p4=ell[-3];
|
||||
/* compute outer product and add it to the Z matrix */
|
||||
m11 = p1 * q1;
|
||||
m21 = p2 * q1;
|
||||
m31 = p3 * q1;
|
||||
m41 = p4 * q1;
|
||||
ell += lskip1;
|
||||
Z11 += m11;
|
||||
Z21 += m21;
|
||||
Z31 += m31;
|
||||
Z41 += m41;
|
||||
/* load p and q values */
|
||||
p1=ell[0];
|
||||
q1=ex[-1];
|
||||
p2=ell[-1];
|
||||
p3=ell[-2];
|
||||
p4=ell[-3];
|
||||
/* compute outer product and add it to the Z matrix */
|
||||
m11 = p1 * q1;
|
||||
m21 = p2 * q1;
|
||||
m31 = p3 * q1;
|
||||
m41 = p4 * q1;
|
||||
ell += lskip1;
|
||||
Z11 += m11;
|
||||
Z21 += m21;
|
||||
Z31 += m31;
|
||||
Z41 += m41;
|
||||
/* load p and q values */
|
||||
p1=ell[0];
|
||||
q1=ex[-2];
|
||||
p2=ell[-1];
|
||||
p3=ell[-2];
|
||||
p4=ell[-3];
|
||||
/* compute outer product and add it to the Z matrix */
|
||||
m11 = p1 * q1;
|
||||
m21 = p2 * q1;
|
||||
m31 = p3 * q1;
|
||||
m41 = p4 * q1;
|
||||
ell += lskip1;
|
||||
Z11 += m11;
|
||||
Z21 += m21;
|
||||
Z31 += m31;
|
||||
Z41 += m41;
|
||||
/* load p and q values */
|
||||
p1=ell[0];
|
||||
q1=ex[-3];
|
||||
p2=ell[-1];
|
||||
p3=ell[-2];
|
||||
p4=ell[-3];
|
||||
/* compute outer product and add it to the Z matrix */
|
||||
m11 = p1 * q1;
|
||||
m21 = p2 * q1;
|
||||
m31 = p3 * q1;
|
||||
m41 = p4 * q1;
|
||||
ell += lskip1;
|
||||
ex -= 4;
|
||||
Z11 += m11;
|
||||
Z21 += m21;
|
||||
Z31 += m31;
|
||||
Z41 += m41;
|
||||
/* end of inner loop */
|
||||
}
|
||||
/* compute left-over iterations */
|
||||
j += 4;
|
||||
for (; j > 0; j--) {
|
||||
/* load p and q values */
|
||||
p1=ell[0];
|
||||
q1=ex[0];
|
||||
p2=ell[-1];
|
||||
p3=ell[-2];
|
||||
p4=ell[-3];
|
||||
/* compute outer product and add it to the Z matrix */
|
||||
m11 = p1 * q1;
|
||||
m21 = p2 * q1;
|
||||
m31 = p3 * q1;
|
||||
m41 = p4 * q1;
|
||||
ell += lskip1;
|
||||
ex -= 1;
|
||||
Z11 += m11;
|
||||
Z21 += m21;
|
||||
Z31 += m31;
|
||||
Z41 += m41;
|
||||
}
|
||||
/* finish computing the X(i) block */
|
||||
Z11 = ex[0] - Z11;
|
||||
ex[0] = Z11;
|
||||
p1 = ell[-1];
|
||||
Z21 = ex[-1] - Z21 - p1*Z11;
|
||||
ex[-1] = Z21;
|
||||
p1 = ell[-2];
|
||||
p2 = ell[-2+lskip1];
|
||||
Z31 = ex[-2] - Z31 - p1*Z11 - p2*Z21;
|
||||
ex[-2] = Z31;
|
||||
p1 = ell[-3];
|
||||
p2 = ell[-3+lskip1];
|
||||
p3 = ell[-3+lskip2];
|
||||
Z41 = ex[-3] - Z41 - p1*Z11 - p2*Z21 - p3*Z31;
|
||||
ex[-3] = Z41;
|
||||
/* end of outer loop */
|
||||
}
|
||||
/* compute rows at end that are not a multiple of block size */
|
||||
for (; i < n; i++) {
|
||||
/* compute all 1 x 1 block of X, from rows i..i+1-1 */
|
||||
/* set the Z matrix to 0 */
|
||||
Z11=0;
|
||||
ell = L - i;
|
||||
ex = B;
|
||||
/* the inner loop that computes outer products and adds them to Z */
|
||||
for (j=i-4; j >= 0; j -= 4) {
|
||||
/* load p and q values */
|
||||
p1=ell[0];
|
||||
q1=ex[0];
|
||||
/* compute outer product and add it to the Z matrix */
|
||||
m11 = p1 * q1;
|
||||
ell += lskip1;
|
||||
Z11 += m11;
|
||||
/* load p and q values */
|
||||
p1=ell[0];
|
||||
q1=ex[-1];
|
||||
/* compute outer product and add it to the Z matrix */
|
||||
m11 = p1 * q1;
|
||||
ell += lskip1;
|
||||
Z11 += m11;
|
||||
/* load p and q values */
|
||||
p1=ell[0];
|
||||
q1=ex[-2];
|
||||
/* compute outer product and add it to the Z matrix */
|
||||
m11 = p1 * q1;
|
||||
ell += lskip1;
|
||||
Z11 += m11;
|
||||
/* load p and q values */
|
||||
p1=ell[0];
|
||||
q1=ex[-3];
|
||||
/* compute outer product and add it to the Z matrix */
|
||||
m11 = p1 * q1;
|
||||
ell += lskip1;
|
||||
ex -= 4;
|
||||
Z11 += m11;
|
||||
/* end of inner loop */
|
||||
}
|
||||
/* compute left-over iterations */
|
||||
j += 4;
|
||||
for (; j > 0; j--) {
|
||||
/* load p and q values */
|
||||
p1=ell[0];
|
||||
q1=ex[0];
|
||||
/* compute outer product and add it to the Z matrix */
|
||||
m11 = p1 * q1;
|
||||
ell += lskip1;
|
||||
ex -= 1;
|
||||
Z11 += m11;
|
||||
}
|
||||
/* finish computing the X(i) block */
|
||||
Z11 = ex[0] - Z11;
|
||||
ex[0] = Z11;
|
||||
}
|
||||
}
|
||||
2791
Extras/ode/ode/src/joint.cpp
Normal file
2791
Extras/ode/ode/src/joint.cpp
Normal file
File diff suppressed because it is too large
Load Diff
267
Extras/ode/ode/src/joint.h
Normal file
267
Extras/ode/ode/src/joint.h
Normal file
@@ -0,0 +1,267 @@
|
||||
/*************************************************************************
|
||||
* *
|
||||
* Open Dynamics Engine, Copyright (C) 2001,2002 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. *
|
||||
* *
|
||||
*************************************************************************/
|
||||
|
||||
#ifndef _ODE_JOINT_H_
|
||||
#define _ODE_JOINT_H_
|
||||
|
||||
|
||||
#include "objects.h"
|
||||
#include <ode/contact.h>
|
||||
#include "obstack.h"
|
||||
|
||||
|
||||
// joint flags
|
||||
enum {
|
||||
// if this flag is set, the joint was allocated in a joint group
|
||||
dJOINT_INGROUP = 1,
|
||||
|
||||
// if this flag is set, the joint was attached with arguments (0,body).
|
||||
// our convention is to treat all attaches as (body,0), i.e. so node[0].body
|
||||
// is always nonzero, so this flag records the fact that the arguments were
|
||||
// swapped.
|
||||
dJOINT_REVERSE = 2,
|
||||
|
||||
// if this flag is set, the joint can not have just one body attached to it,
|
||||
// it must have either zero or two bodies attached.
|
||||
dJOINT_TWOBODIES = 4
|
||||
};
|
||||
|
||||
|
||||
// there are two of these nodes in the joint, one for each connection to a
|
||||
// body. these are node of a linked list kept by each body of it's connecting
|
||||
// joints. but note that the body pointer in each node points to the body that
|
||||
// makes use of the *other* node, not this node. this trick makes it a bit
|
||||
// easier to traverse the body/joint graph.
|
||||
|
||||
struct dxJointNode {
|
||||
dxJoint *joint; // pointer to enclosing dxJoint object
|
||||
dxBody *body; // *other* body this joint is connected to
|
||||
dxJointNode *next; // next node in body's list of connected joints
|
||||
};
|
||||
|
||||
|
||||
struct dxJoint : public dObject {
|
||||
// naming convention: the "first" body this is connected to is node[0].body,
|
||||
// and the "second" body is node[1].body. if this joint is only connected
|
||||
// to one body then the second body is 0.
|
||||
|
||||
// info returned by getInfo1 function. the constraint dimension is m (<=6).
|
||||
// i.e. that is the total number of rows in the jacobian. `nub' is the
|
||||
// number of unbounded variables (which have lo,hi = -/+ infinity).
|
||||
|
||||
struct Info1 {
|
||||
int m,nub;
|
||||
};
|
||||
|
||||
// info returned by getInfo2 function
|
||||
|
||||
struct Info2 {
|
||||
// integrator parameters: frames per second (1/stepsize), default error
|
||||
// reduction parameter (0..1).
|
||||
dReal fps,erp;
|
||||
|
||||
// for the first and second body, pointers to two (linear and angular)
|
||||
// n*3 jacobian sub matrices, stored by rows. these matrices will have
|
||||
// been initialized to 0 on entry. if the second body is zero then the
|
||||
// J2xx pointers may be 0.
|
||||
dReal *J1l,*J1a,*J2l,*J2a;
|
||||
|
||||
// elements to jump from one row to the next in J's
|
||||
int rowskip;
|
||||
|
||||
// right hand sides of the equation J*v = c + cfm * lambda. cfm is the
|
||||
// "constraint force mixing" vector. c is set to zero on entry, cfm is
|
||||
// set to a constant value (typically very small or zero) value on entry.
|
||||
dReal *c,*cfm;
|
||||
|
||||
// lo and hi limits for variables (set to -/+ infinity on entry).
|
||||
dReal *lo,*hi;
|
||||
|
||||
// findex vector for variables. see the LCP solver interface for a
|
||||
// description of what this does. this is set to -1 on entry.
|
||||
// note that the returned indexes are relative to the first index of
|
||||
// the constraint.
|
||||
int *findex;
|
||||
};
|
||||
|
||||
// virtual function table: size of the joint structure, function pointers.
|
||||
// we do it this way instead of using C++ virtual functions because
|
||||
// sometimes we need to allocate joints ourself within a memory pool.
|
||||
|
||||
typedef void init_fn (dxJoint *joint);
|
||||
typedef void getInfo1_fn (dxJoint *joint, Info1 *info);
|
||||
typedef void getInfo2_fn (dxJoint *joint, Info2 *info);
|
||||
struct Vtable {
|
||||
int size;
|
||||
init_fn *init;
|
||||
getInfo1_fn *getInfo1;
|
||||
getInfo2_fn *getInfo2;
|
||||
int typenum; // a dJointTypeXXX type number
|
||||
};
|
||||
|
||||
Vtable *vtable; // virtual function table
|
||||
int flags; // dJOINT_xxx flags
|
||||
dxJointNode node[2]; // connections to bodies. node[1].body can be 0
|
||||
dJointFeedback *feedback; // optional feedback structure
|
||||
dReal lambda[6]; // lambda generated by last step
|
||||
};
|
||||
|
||||
|
||||
// joint group. NOTE: any joints in the group that have their world destroyed
|
||||
// will have their world pointer set to 0.
|
||||
|
||||
struct dxJointGroup : public dBase {
|
||||
int num; // number of joints on the stack
|
||||
dObStack stack; // a stack of (possibly differently sized) dxJoint
|
||||
}; // objects.
|
||||
|
||||
|
||||
// common limit and motor information for a single joint axis of movement
|
||||
struct dxJointLimitMotor {
|
||||
dReal vel,fmax; // powered joint: velocity, max force
|
||||
dReal lostop,histop; // joint limits, relative to initial position
|
||||
dReal fudge_factor; // when powering away from joint limits
|
||||
dReal normal_cfm; // cfm to use when not at a stop
|
||||
dReal stop_erp,stop_cfm; // erp and cfm for when at joint limit
|
||||
dReal bounce; // restitution factor
|
||||
// variables used between getInfo1() and getInfo2()
|
||||
int limit; // 0=free, 1=at lo limit, 2=at hi limit
|
||||
dReal limit_err; // if at limit, amount over limit
|
||||
|
||||
void init (dxWorld *);
|
||||
void set (int num, dReal value);
|
||||
dReal get (int num);
|
||||
int testRotationalLimit (dReal angle);
|
||||
int addLimot (dxJoint *joint, dxJoint::Info2 *info, int row,
|
||||
dVector3 ax1, int rotational);
|
||||
};
|
||||
|
||||
|
||||
// ball and socket
|
||||
|
||||
struct dxJointBall : public dxJoint {
|
||||
dVector3 anchor1; // anchor w.r.t first body
|
||||
dVector3 anchor2; // anchor w.r.t second body
|
||||
};
|
||||
extern struct dxJoint::Vtable __dball_vtable;
|
||||
|
||||
|
||||
// hinge
|
||||
|
||||
struct dxJointHinge : public dxJoint {
|
||||
dVector3 anchor1; // anchor w.r.t first body
|
||||
dVector3 anchor2; // anchor w.r.t second body
|
||||
dVector3 axis1; // axis w.r.t first body
|
||||
dVector3 axis2; // axis w.r.t second body
|
||||
dQuaternion qrel; // initial relative rotation body1 -> body2
|
||||
dxJointLimitMotor limot; // limit and motor information
|
||||
};
|
||||
extern struct dxJoint::Vtable __dhinge_vtable;
|
||||
|
||||
|
||||
// universal
|
||||
|
||||
struct dxJointUniversal : public dxJoint {
|
||||
dVector3 anchor1; // anchor w.r.t first body
|
||||
dVector3 anchor2; // anchor w.r.t second body
|
||||
dVector3 axis1; // axis w.r.t first body
|
||||
dVector3 axis2; // axis w.r.t second body
|
||||
dQuaternion qrel1; // initial relative rotation body1 -> virtual cross piece
|
||||
dQuaternion qrel2; // initial relative rotation virtual cross piece -> body2
|
||||
dxJointLimitMotor limot1; // limit and motor information for axis1
|
||||
dxJointLimitMotor limot2; // limit and motor information for axis2
|
||||
};
|
||||
extern struct dxJoint::Vtable __duniversal_vtable;
|
||||
|
||||
|
||||
// slider. if body2 is 0 then qrel is the absolute rotation of body1 and
|
||||
// offset is the position of body1 center along axis1.
|
||||
|
||||
struct dxJointSlider : public dxJoint {
|
||||
dVector3 axis1; // axis w.r.t first body
|
||||
dQuaternion qrel; // initial relative rotation body1 -> body2
|
||||
dVector3 offset; // point relative to body2 that should be
|
||||
// aligned with body1 center along axis1
|
||||
dxJointLimitMotor limot; // limit and motor information
|
||||
};
|
||||
extern struct dxJoint::Vtable __dslider_vtable;
|
||||
|
||||
|
||||
// contact
|
||||
|
||||
struct dxJointContact : public dxJoint {
|
||||
int the_m; // number of rows computed by getInfo1
|
||||
dContact contact;
|
||||
};
|
||||
extern struct dxJoint::Vtable __dcontact_vtable;
|
||||
|
||||
|
||||
// hinge 2
|
||||
|
||||
struct dxJointHinge2 : public dxJoint {
|
||||
dVector3 anchor1; // anchor w.r.t first body
|
||||
dVector3 anchor2; // anchor w.r.t second body
|
||||
dVector3 axis1; // axis 1 w.r.t first body
|
||||
dVector3 axis2; // axis 2 w.r.t second body
|
||||
dReal c0,s0; // cos,sin of desired angle between axis 1,2
|
||||
dVector3 v1,v2; // angle ref vectors embedded in first body
|
||||
dxJointLimitMotor limot1; // limit+motor info for axis 1
|
||||
dxJointLimitMotor limot2; // limit+motor info for axis 2
|
||||
dReal susp_erp,susp_cfm; // suspension parameters (erp,cfm)
|
||||
};
|
||||
extern struct dxJoint::Vtable __dhinge2_vtable;
|
||||
|
||||
|
||||
// angular motor
|
||||
|
||||
struct dxJointAMotor : public dxJoint {
|
||||
int num; // number of axes (0..3)
|
||||
int mode; // a dAMotorXXX constant
|
||||
int rel[3]; // what the axes are relative to (global,b1,b2)
|
||||
dVector3 axis[3]; // three axes
|
||||
dxJointLimitMotor limot[3]; // limit+motor info for axes
|
||||
dReal angle[3]; // user-supplied angles for axes
|
||||
// these vectors are used for calculating euler angles
|
||||
dVector3 reference1; // original axis[2], relative to body 1
|
||||
dVector3 reference2; // original axis[0], relative to body 2
|
||||
};
|
||||
extern struct dxJoint::Vtable __damotor_vtable;
|
||||
|
||||
|
||||
// fixed
|
||||
|
||||
struct dxJointFixed : public dxJoint {
|
||||
dQuaternion qrel; // initial relative rotation body1 -> body2
|
||||
dVector3 offset; // relative offset between the bodies
|
||||
};
|
||||
extern struct dxJoint::Vtable __dfixed_vtable;
|
||||
|
||||
|
||||
// null joint, for testing only
|
||||
|
||||
struct dxJointNull : public dxJoint {
|
||||
};
|
||||
extern struct dxJoint::Vtable __dnull_vtable;
|
||||
|
||||
|
||||
|
||||
#endif
|
||||
2018
Extras/ode/ode/src/lcp.cpp
Normal file
2018
Extras/ode/ode/src/lcp.cpp
Normal file
File diff suppressed because it is too large
Load Diff
58
Extras/ode/ode/src/lcp.h
Normal file
58
Extras/ode/ode/src/lcp.h
Normal file
@@ -0,0 +1,58 @@
|
||||
/*************************************************************************
|
||||
* *
|
||||
* Open Dynamics Engine, Copyright (C) 2001,2002 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. *
|
||||
* *
|
||||
*************************************************************************/
|
||||
|
||||
/*
|
||||
|
||||
given (A,b,lo,hi), solve the LCP problem: A*x = b+w, where each x(i),w(i)
|
||||
satisfies one of
|
||||
(1) x = lo, w >= 0
|
||||
(2) x = hi, w <= 0
|
||||
(3) lo < x < hi, w = 0
|
||||
A is a matrix of dimension n*n, everything else is a vector of size n*1.
|
||||
lo and hi can be +/- dInfinity as needed. the first `nub' variables are
|
||||
unbounded, i.e. hi and lo are assumed to be +/- dInfinity.
|
||||
|
||||
we restrict lo(i) <= 0 and hi(i) >= 0.
|
||||
|
||||
the original data (A,b) may be modified by this function.
|
||||
|
||||
if the `findex' (friction index) parameter is nonzero, it points to an array
|
||||
of index values. in this case constraints that have findex[i] >= 0 are
|
||||
special. all non-special constraints are solved for, then the lo and hi values
|
||||
for the special constraints are set:
|
||||
hi[i] = abs( hi[i] * x[findex[i]] )
|
||||
lo[i] = -hi[i]
|
||||
and the solution continues. this mechanism allows a friction approximation
|
||||
to be implemented. the first `nub' variables are assumed to have findex < 0.
|
||||
|
||||
*/
|
||||
|
||||
|
||||
#ifndef _ODE_LCP_H_
|
||||
#define _ODE_LCP_H_
|
||||
|
||||
|
||||
void dSolveLCP (int n, dReal *A, dReal *x, dReal *b, dReal *w,
|
||||
int nub, dReal *lo, dReal *hi, int *findex);
|
||||
|
||||
|
||||
#endif
|
||||
313
Extras/ode/ode/src/mass.cpp
Normal file
313
Extras/ode/ode/src/mass.cpp
Normal file
@@ -0,0 +1,313 @@
|
||||
/*************************************************************************
|
||||
* *
|
||||
* Open Dynamics Engine, Copyright (C) 2001,2002 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. *
|
||||
* *
|
||||
*************************************************************************/
|
||||
|
||||
#include <ode/config.h>
|
||||
#include <ode/mass.h>
|
||||
#include <ode/odemath.h>
|
||||
#include <ode/matrix.h>
|
||||
|
||||
|
||||
#define _I(i,j) I[(i)*4+(j)]
|
||||
|
||||
|
||||
// return 1 if ok, 0 if bad
|
||||
|
||||
static int checkMass (dMass *m)
|
||||
{
|
||||
int i;
|
||||
|
||||
if (m->mass <= 0) {
|
||||
dDEBUGMSG ("mass must be > 0");
|
||||
return 0;
|
||||
}
|
||||
if (!dIsPositiveDefinite (m->I,3)) {
|
||||
dDEBUGMSG ("inertia must be positive definite");
|
||||
return 0;
|
||||
}
|
||||
|
||||
// verify that the center of mass position is consistent with the mass
|
||||
// and inertia matrix. this is done by checking that the inertia around
|
||||
// the center of mass is also positive definite. from the comment in
|
||||
// dMassTranslate(), if the body is translated so that its center of mass
|
||||
// is at the point of reference, then the new inertia is:
|
||||
// I + mass*crossmat(c)^2
|
||||
// note that requiring this to be positive definite is exactly equivalent
|
||||
// to requiring that the spatial inertia matrix
|
||||
// [ mass*eye(3,3) M*crossmat(c)^T ]
|
||||
// [ M*crossmat(c) I ]
|
||||
// is positive definite, given that I is PD and mass>0. see the theorem
|
||||
// about partitioned PD matrices for proof.
|
||||
|
||||
dMatrix3 I2,chat;
|
||||
dSetZero (chat,12);
|
||||
dCROSSMAT (chat,m->c,4,+,-);
|
||||
dMULTIPLY0_333 (I2,chat,chat);
|
||||
for (i=0; i<3; i++) I2[i] = m->I[i] + m->mass*I2[i];
|
||||
for (i=4; i<7; i++) I2[i] = m->I[i] + m->mass*I2[i];
|
||||
for (i=8; i<11; i++) I2[i] = m->I[i] + m->mass*I2[i];
|
||||
if (!dIsPositiveDefinite (I2,3)) {
|
||||
dDEBUGMSG ("center of mass inconsistent with mass parameters");
|
||||
return 0;
|
||||
}
|
||||
return 1;
|
||||
}
|
||||
|
||||
|
||||
void dMassSetZero (dMass *m)
|
||||
{
|
||||
dAASSERT (m);
|
||||
m->mass = REAL(0.0);
|
||||
dSetZero (m->c,sizeof(m->c) / sizeof(dReal));
|
||||
dSetZero (m->I,sizeof(m->I) / sizeof(dReal));
|
||||
}
|
||||
|
||||
|
||||
void dMassSetParameters (dMass *m, dReal themass,
|
||||
dReal cgx, dReal cgy, dReal cgz,
|
||||
dReal I11, dReal I22, dReal I33,
|
||||
dReal I12, dReal I13, dReal I23)
|
||||
{
|
||||
dAASSERT (m);
|
||||
dMassSetZero (m);
|
||||
m->mass = themass;
|
||||
m->c[0] = cgx;
|
||||
m->c[1] = cgy;
|
||||
m->c[2] = cgz;
|
||||
m->_I(0,0) = I11;
|
||||
m->_I(1,1) = I22;
|
||||
m->_I(2,2) = I33;
|
||||
m->_I(0,1) = I12;
|
||||
m->_I(0,2) = I13;
|
||||
m->_I(1,2) = I23;
|
||||
m->_I(1,0) = I12;
|
||||
m->_I(2,0) = I13;
|
||||
m->_I(2,1) = I23;
|
||||
checkMass (m);
|
||||
}
|
||||
|
||||
|
||||
void dMassSetSphere (dMass *m, dReal density, dReal radius)
|
||||
{
|
||||
dMassSetSphereTotal (m, (REAL(4.0)/REAL(3.0)) * M_PI *
|
||||
radius*radius*radius * density, radius);
|
||||
}
|
||||
|
||||
|
||||
void dMassSetSphereTotal (dMass *m, dReal total_mass, dReal radius)
|
||||
{
|
||||
dAASSERT (m);
|
||||
dMassSetZero (m);
|
||||
m->mass = total_mass;
|
||||
dReal II = REAL(0.4) * total_mass * radius*radius;
|
||||
m->_I(0,0) = II;
|
||||
m->_I(1,1) = II;
|
||||
m->_I(2,2) = II;
|
||||
|
||||
# ifndef dNODEBUG
|
||||
checkMass (m);
|
||||
# endif
|
||||
}
|
||||
|
||||
|
||||
void dMassSetCappedCylinder (dMass *m, dReal density, int direction,
|
||||
dReal radius, dReal length)
|
||||
{
|
||||
dReal M1,M2,Ia,Ib;
|
||||
dAASSERT (m);
|
||||
dUASSERT (direction >= 1 && direction <= 3,"bad direction number");
|
||||
dMassSetZero (m);
|
||||
M1 = M_PI*radius*radius*length*density; // cylinder mass
|
||||
M2 = (REAL(4.0)/REAL(3.0))*M_PI*radius*radius*radius*density; // total cap mass
|
||||
m->mass = M1+M2;
|
||||
Ia = M1*(REAL(0.25)*radius*radius + (REAL(1.0)/REAL(12.0))*length*length) +
|
||||
M2*(REAL(0.4)*radius*radius + REAL(0.375)*radius*length + REAL(0.25)*length*length);
|
||||
Ib = (M1*REAL(0.5) + M2*REAL(0.4))*radius*radius;
|
||||
m->_I(0,0) = Ia;
|
||||
m->_I(1,1) = Ia;
|
||||
m->_I(2,2) = Ia;
|
||||
m->_I(direction-1,direction-1) = Ib;
|
||||
|
||||
# ifndef dNODEBUG
|
||||
checkMass (m);
|
||||
# endif
|
||||
}
|
||||
|
||||
|
||||
void dMassSetCappedCylinderTotal (dMass *m, dReal total_mass, int direction,
|
||||
dReal a, dReal b)
|
||||
{
|
||||
dMassSetCappedCylinder (m, 1.0, direction, a, b);
|
||||
dMassAdjust (m, total_mass);
|
||||
}
|
||||
|
||||
|
||||
void dMassSetCylinder (dMass *m, dReal density, int direction,
|
||||
dReal radius, dReal length)
|
||||
{
|
||||
dMassSetCylinderTotal (m, M_PI*radius*radius*length*density,
|
||||
direction, radius, length);
|
||||
}
|
||||
|
||||
void dMassSetCylinderTotal (dMass *m, dReal total_mass, int direction,
|
||||
dReal radius, dReal length)
|
||||
{
|
||||
dReal r2,I;
|
||||
dAASSERT (m);
|
||||
dMassSetZero (m);
|
||||
r2 = radius*radius;
|
||||
m->mass = total_mass;
|
||||
I = total_mass*(REAL(0.25)*r2 + (REAL(1.0)/REAL(12.0))*length*length);
|
||||
m->_I(0,0) = I;
|
||||
m->_I(1,1) = I;
|
||||
m->_I(2,2) = I;
|
||||
m->_I(direction-1,direction-1) = total_mass*REAL(0.5)*r2;
|
||||
|
||||
# ifndef dNODEBUG
|
||||
checkMass (m);
|
||||
# endif
|
||||
}
|
||||
|
||||
|
||||
void dMassSetBox (dMass *m, dReal density,
|
||||
dReal lx, dReal ly, dReal lz)
|
||||
{
|
||||
dMassSetBoxTotal (m, lx*ly*lz*density, lx, ly, lz);
|
||||
}
|
||||
|
||||
|
||||
void dMassSetBoxTotal (dMass *m, dReal total_mass,
|
||||
dReal lx, dReal ly, dReal lz)
|
||||
{
|
||||
dAASSERT (m);
|
||||
dMassSetZero (m);
|
||||
m->mass = total_mass;
|
||||
m->_I(0,0) = total_mass/REAL(12.0) * (ly*ly + lz*lz);
|
||||
m->_I(1,1) = total_mass/REAL(12.0) * (lx*lx + lz*lz);
|
||||
m->_I(2,2) = total_mass/REAL(12.0) * (lx*lx + ly*ly);
|
||||
|
||||
# ifndef dNODEBUG
|
||||
checkMass (m);
|
||||
# endif
|
||||
}
|
||||
|
||||
|
||||
void dMassAdjust (dMass *m, dReal newmass)
|
||||
{
|
||||
dAASSERT (m);
|
||||
dReal scale = newmass / m->mass;
|
||||
m->mass = newmass;
|
||||
for (int i=0; i<3; i++) for (int j=0; j<3; j++) m->_I(i,j) *= scale;
|
||||
|
||||
# ifndef dNODEBUG
|
||||
checkMass (m);
|
||||
# endif
|
||||
}
|
||||
|
||||
|
||||
void dMassTranslate (dMass *m, dReal x, dReal y, dReal z)
|
||||
{
|
||||
// if the body is translated by `a' relative to its point of reference,
|
||||
// the new inertia about the point of reference is:
|
||||
//
|
||||
// I + mass*(crossmat(c)^2 - crossmat(c+a)^2)
|
||||
//
|
||||
// where c is the existing center of mass and I is the old inertia.
|
||||
|
||||
int i,j;
|
||||
dMatrix3 ahat,chat,t1,t2;
|
||||
dReal a[3];
|
||||
|
||||
dAASSERT (m);
|
||||
|
||||
// adjust inertia matrix
|
||||
dSetZero (chat,12);
|
||||
dCROSSMAT (chat,m->c,4,+,-);
|
||||
a[0] = x + m->c[0];
|
||||
a[1] = y + m->c[1];
|
||||
a[2] = z + m->c[2];
|
||||
dSetZero (ahat,12);
|
||||
dCROSSMAT (ahat,a,4,+,-);
|
||||
dMULTIPLY0_333 (t1,ahat,ahat);
|
||||
dMULTIPLY0_333 (t2,chat,chat);
|
||||
for (i=0; i<3; i++) for (j=0; j<3; j++)
|
||||
m->_I(i,j) += m->mass * (t2[i*4+j]-t1[i*4+j]);
|
||||
|
||||
// ensure perfect symmetry
|
||||
m->_I(1,0) = m->_I(0,1);
|
||||
m->_I(2,0) = m->_I(0,2);
|
||||
m->_I(2,1) = m->_I(1,2);
|
||||
|
||||
// adjust center of mass
|
||||
m->c[0] += x;
|
||||
m->c[1] += y;
|
||||
m->c[2] += z;
|
||||
|
||||
# ifndef dNODEBUG
|
||||
checkMass (m);
|
||||
# endif
|
||||
}
|
||||
|
||||
|
||||
void dMassRotate (dMass *m, const dMatrix3 R)
|
||||
{
|
||||
// if the body is rotated by `R' relative to its point of reference,
|
||||
// the new inertia about the point of reference is:
|
||||
//
|
||||
// R * I * R'
|
||||
//
|
||||
// where I is the old inertia.
|
||||
|
||||
dMatrix3 t1;
|
||||
dReal t2[3];
|
||||
|
||||
dAASSERT (m);
|
||||
|
||||
// rotate inertia matrix
|
||||
dMULTIPLY2_333 (t1,m->I,R);
|
||||
dMULTIPLY0_333 (m->I,R,t1);
|
||||
|
||||
// ensure perfect symmetry
|
||||
m->_I(1,0) = m->_I(0,1);
|
||||
m->_I(2,0) = m->_I(0,2);
|
||||
m->_I(2,1) = m->_I(1,2);
|
||||
|
||||
// rotate center of mass
|
||||
dMULTIPLY0_331 (t2,R,m->c);
|
||||
m->c[0] = t2[0];
|
||||
m->c[1] = t2[1];
|
||||
m->c[2] = t2[2];
|
||||
|
||||
# ifndef dNODEBUG
|
||||
checkMass (m);
|
||||
# endif
|
||||
}
|
||||
|
||||
|
||||
void dMassAdd (dMass *a, const dMass *b)
|
||||
{
|
||||
int i;
|
||||
dAASSERT (a && b);
|
||||
dReal denom = dRecip (a->mass + b->mass);
|
||||
for (i=0; i<3; i++) a->c[i] = (a->c[i]*a->mass + b->c[i]*b->mass)*denom;
|
||||
a->mass += b->mass;
|
||||
for (i=0; i<12; i++) a->I[i] += b->I[i];
|
||||
}
|
||||
230
Extras/ode/ode/src/mat.cpp
Normal file
230
Extras/ode/ode/src/mat.cpp
Normal file
@@ -0,0 +1,230 @@
|
||||
/*************************************************************************
|
||||
* *
|
||||
* Open Dynamics Engine, Copyright (C) 2001,2002 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. *
|
||||
* *
|
||||
*************************************************************************/
|
||||
|
||||
#include <ode/config.h>
|
||||
#include <ode/misc.h>
|
||||
#include <ode/matrix.h>
|
||||
#include <ode/error.h>
|
||||
#include <ode/memory.h>
|
||||
#include "mat.h"
|
||||
|
||||
|
||||
dMatrix::dMatrix()
|
||||
{
|
||||
n = 0;
|
||||
m = 0;
|
||||
data = 0;
|
||||
}
|
||||
|
||||
|
||||
dMatrix::dMatrix (int rows, int cols)
|
||||
{
|
||||
if (rows < 1 || cols < 1) dDebug (0,"bad matrix size");
|
||||
n = rows;
|
||||
m = cols;
|
||||
data = (dReal*) dAlloc (n*m*sizeof(dReal));
|
||||
dSetZero (data,n*m);
|
||||
}
|
||||
|
||||
|
||||
dMatrix::dMatrix (const dMatrix &a)
|
||||
{
|
||||
n = a.n;
|
||||
m = a.m;
|
||||
data = (dReal*) dAlloc (n*m*sizeof(dReal));
|
||||
memcpy (data,a.data,n*m*sizeof(dReal));
|
||||
}
|
||||
|
||||
|
||||
dMatrix::dMatrix (int rows, int cols,
|
||||
dReal *_data, int rowskip, int colskip)
|
||||
{
|
||||
if (rows < 1 || cols < 1) dDebug (0,"bad matrix size");
|
||||
n = rows;
|
||||
m = cols;
|
||||
data = (dReal*) dAlloc (n*m*sizeof(dReal));
|
||||
for (int i=0; i<n; i++) {
|
||||
for (int j=0; j<m; j++) data[i*m+j] = _data[i*rowskip + j*colskip];
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
dMatrix::~dMatrix()
|
||||
{
|
||||
if (data) dFree (data,n*m*sizeof(dReal));
|
||||
}
|
||||
|
||||
|
||||
dReal & dMatrix::operator () (int i, int j)
|
||||
{
|
||||
if (i < 0 || i >= n || j < 0 || j >= m) dDebug (0,"bad matrix (i,j)");
|
||||
return data [i*m+j];
|
||||
}
|
||||
|
||||
|
||||
void dMatrix::operator= (const dMatrix &a)
|
||||
{
|
||||
if (data) dFree (data,n*m*sizeof(dReal));
|
||||
n = a.n;
|
||||
m = a.m;
|
||||
if (n > 0 && m > 0) {
|
||||
data = (dReal*) dAlloc (n*m*sizeof(dReal));
|
||||
memcpy (data,a.data,n*m*sizeof(dReal));
|
||||
}
|
||||
else data = 0;
|
||||
}
|
||||
|
||||
|
||||
void dMatrix::operator= (dReal a)
|
||||
{
|
||||
for (int i=0; i<n*m; i++) data[i] = a;
|
||||
}
|
||||
|
||||
|
||||
dMatrix dMatrix::transpose()
|
||||
{
|
||||
dMatrix r (m,n);
|
||||
for (int i=0; i<n; i++) {
|
||||
for (int j=0; j<m; j++) r.data[j*n+i] = data[i*m+j];
|
||||
}
|
||||
return r;
|
||||
}
|
||||
|
||||
|
||||
dMatrix dMatrix::select (int np, int *p, int nq, int *q)
|
||||
{
|
||||
if (np < 1 || nq < 1) dDebug (0,"Matrix select, bad index array sizes");
|
||||
dMatrix r (np,nq);
|
||||
for (int i=0; i<np; i++) {
|
||||
for (int j=0; j<nq; j++) {
|
||||
if (p[i] < 0 || p[i] >= n || q[i] < 0 || q[i] >= m)
|
||||
dDebug (0,"Matrix select, bad index arrays");
|
||||
r.data[i*nq+j] = data[p[i]*m+q[j]];
|
||||
}
|
||||
}
|
||||
return r;
|
||||
}
|
||||
|
||||
|
||||
dMatrix dMatrix::operator + (const dMatrix &a)
|
||||
{
|
||||
if (n != a.n || m != a.m) dDebug (0,"matrix +, mismatched sizes");
|
||||
dMatrix r (n,m);
|
||||
for (int i=0; i<n*m; i++) r.data[i] = data[i] + a.data[i];
|
||||
return r;
|
||||
}
|
||||
|
||||
|
||||
dMatrix dMatrix::operator - (const dMatrix &a)
|
||||
{
|
||||
if (n != a.n || m != a.m) dDebug (0,"matrix -, mismatched sizes");
|
||||
dMatrix r (n,m);
|
||||
for (int i=0; i<n*m; i++) r.data[i] = data[i] - a.data[i];
|
||||
return r;
|
||||
}
|
||||
|
||||
|
||||
dMatrix dMatrix::operator - ()
|
||||
{
|
||||
dMatrix r (n,m);
|
||||
for (int i=0; i<n*m; i++) r.data[i] = -data[i];
|
||||
return r;
|
||||
}
|
||||
|
||||
|
||||
dMatrix dMatrix::operator * (const dMatrix &a)
|
||||
{
|
||||
if (m != a.n) dDebug (0,"matrix *, mismatched sizes");
|
||||
dMatrix r (n,a.m);
|
||||
for (int i=0; i<n; i++) {
|
||||
for (int j=0; j<a.m; j++) {
|
||||
dReal sum = 0;
|
||||
for (int k=0; k<m; k++) sum += data[i*m+k] * a.data[k*a.m+j];
|
||||
r.data [i*a.m+j] = sum;
|
||||
}
|
||||
}
|
||||
return r;
|
||||
}
|
||||
|
||||
|
||||
void dMatrix::operator += (const dMatrix &a)
|
||||
{
|
||||
if (n != a.n || m != a.m) dDebug (0,"matrix +=, mismatched sizes");
|
||||
for (int i=0; i<n*m; i++) data[i] += a.data[i];
|
||||
}
|
||||
|
||||
|
||||
void dMatrix::operator -= (const dMatrix &a)
|
||||
{
|
||||
if (n != a.n || m != a.m) dDebug (0,"matrix -=, mismatched sizes");
|
||||
for (int i=0; i<n*m; i++) data[i] -= a.data[i];
|
||||
}
|
||||
|
||||
|
||||
void dMatrix::clearUpperTriangle()
|
||||
{
|
||||
if (n != m) dDebug (0,"clearUpperTriangle() only works on square matrices");
|
||||
for (int i=0; i<n; i++) {
|
||||
for (int j=i+1; j<m; j++) data[i*m+j] = 0;
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
void dMatrix::clearLowerTriangle()
|
||||
{
|
||||
if (n != m) dDebug (0,"clearLowerTriangle() only works on square matrices");
|
||||
for (int i=0; i<n; i++) {
|
||||
for (int j=0; j<i; j++) data[i*m+j] = 0;
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
void dMatrix::makeRandom (dReal range)
|
||||
{
|
||||
for (int i=0; i<n; i++) {
|
||||
for (int j=0; j<m; j++)
|
||||
data[i*m+j] = (dRandReal()*REAL(2.0)-REAL(1.0))*range;
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
void dMatrix::print (char *fmt, FILE *f)
|
||||
{
|
||||
for (int i=0; i<n; i++) {
|
||||
for (int j=0; j<m; j++) fprintf (f,fmt,data[i*m+j]);
|
||||
fprintf (f,"\n");
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
dReal dMatrix::maxDifference (const dMatrix &a)
|
||||
{
|
||||
if (n != a.n || m != a.m) dDebug (0,"maxDifference(), mismatched sizes");
|
||||
dReal max = 0;
|
||||
for (int i=0; i<n; i++) {
|
||||
for (int j=0; j<m; j++) {
|
||||
dReal diff = dFabs(data[i*m+j] - a.data[i*m+j]);
|
||||
if (diff > max) max = diff;
|
||||
}
|
||||
}
|
||||
return max;
|
||||
}
|
||||
71
Extras/ode/ode/src/mat.h
Normal file
71
Extras/ode/ode/src/mat.h
Normal file
@@ -0,0 +1,71 @@
|
||||
/*************************************************************************
|
||||
* *
|
||||
* Open Dynamics Engine, Copyright (C) 2001,2002 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. *
|
||||
* *
|
||||
*************************************************************************/
|
||||
|
||||
// matrix class. this is mostly for convenience in the testing code, it is
|
||||
// not optimized at all. correctness is much more importance here.
|
||||
|
||||
#ifndef _ODE_MAT_H_
|
||||
#define _ODE_MAT_H_
|
||||
|
||||
#include <ode/common.h>
|
||||
|
||||
|
||||
class dMatrix {
|
||||
int n,m; // matrix dimension, n,m >= 0
|
||||
dReal *data; // if nonzero, n*m elements allocated on the heap
|
||||
|
||||
public:
|
||||
// constructors, destructors
|
||||
dMatrix(); // make default 0x0 matrix
|
||||
dMatrix (int rows, int cols); // construct zero matrix of given size
|
||||
dMatrix (const dMatrix &); // construct copy of given matrix
|
||||
// create copy of given data - element (i,j) is data[i*rowskip+j*colskip]
|
||||
dMatrix (int rows, int cols, dReal *_data, int rowskip, int colskip);
|
||||
~dMatrix(); // destructor
|
||||
|
||||
// data movement
|
||||
dReal & operator () (int i, int j); // reference an element
|
||||
void operator= (const dMatrix &); // matrix = matrix
|
||||
void operator= (dReal); // matrix = scalar
|
||||
dMatrix transpose(); // return transposed matrix
|
||||
// return a permuted submatrix of this matrix, made up of the rows in p
|
||||
// and the columns in q. p has np elements, q has nq elements.
|
||||
dMatrix select (int np, int *p, int nq, int *q);
|
||||
|
||||
// operators
|
||||
dMatrix operator + (const dMatrix &);
|
||||
dMatrix operator - (const dMatrix &);
|
||||
dMatrix operator - ();
|
||||
dMatrix operator * (const dMatrix &);
|
||||
void operator += (const dMatrix &);
|
||||
void operator -= (const dMatrix &);
|
||||
|
||||
// utility
|
||||
void clearUpperTriangle();
|
||||
void clearLowerTriangle();
|
||||
void makeRandom (dReal range);
|
||||
void print (char *fmt = "%10.4f ", FILE *f=stdout);
|
||||
dReal maxDifference (const dMatrix &);
|
||||
};
|
||||
|
||||
|
||||
#endif
|
||||
358
Extras/ode/ode/src/matrix.cpp
Normal file
358
Extras/ode/ode/src/matrix.cpp
Normal file
@@ -0,0 +1,358 @@
|
||||
/*************************************************************************
|
||||
* *
|
||||
* Open Dynamics Engine, Copyright (C) 2001,2002 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. *
|
||||
* *
|
||||
*************************************************************************/
|
||||
|
||||
#include <ode/common.h>
|
||||
#include <ode/matrix.h>
|
||||
|
||||
// misc defines
|
||||
#define ALLOCA dALLOCA16
|
||||
|
||||
|
||||
void dSetZero (dReal *a, int n)
|
||||
{
|
||||
dAASSERT (a && n >= 0);
|
||||
while (n > 0) {
|
||||
*(a++) = 0;
|
||||
n--;
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
void dSetValue (dReal *a, int n, dReal value)
|
||||
{
|
||||
dAASSERT (a && n >= 0);
|
||||
while (n > 0) {
|
||||
*(a++) = value;
|
||||
n--;
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
void dMultiply0 (dReal *A, const dReal *B, const dReal *C, int p, int q, int r)
|
||||
{
|
||||
int i,j,k,qskip,rskip,rpad;
|
||||
dAASSERT (A && B && C && p>0 && q>0 && r>0);
|
||||
qskip = dPAD(q);
|
||||
rskip = dPAD(r);
|
||||
rpad = rskip - r;
|
||||
dReal sum;
|
||||
const dReal *b,*c,*bb;
|
||||
bb = B;
|
||||
for (i=p; i; i--) {
|
||||
for (j=0 ; j<r; j++) {
|
||||
c = C + j;
|
||||
b = bb;
|
||||
sum = 0;
|
||||
for (k=q; k; k--, c+=rskip) sum += (*(b++))*(*c);
|
||||
*(A++) = sum;
|
||||
}
|
||||
A += rpad;
|
||||
bb += qskip;
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
void dMultiply1 (dReal *A, const dReal *B, const dReal *C, int p, int q, int r)
|
||||
{
|
||||
int i,j,k,pskip,rskip;
|
||||
dReal sum;
|
||||
dAASSERT (A && B && C && p>0 && q>0 && r>0);
|
||||
pskip = dPAD(p);
|
||||
rskip = dPAD(r);
|
||||
for (i=0; i<p; i++) {
|
||||
for (j=0; j<r; j++) {
|
||||
sum = 0;
|
||||
for (k=0; k<q; k++) sum += B[i+k*pskip] * C[j+k*rskip];
|
||||
A[i*rskip+j] = sum;
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
void dMultiply2 (dReal *A, const dReal *B, const dReal *C, int p, int q, int r)
|
||||
{
|
||||
int i,j,k,z,rpad,qskip;
|
||||
dReal sum;
|
||||
const dReal *bb,*cc;
|
||||
dAASSERT (A && B && C && p>0 && q>0 && r>0);
|
||||
rpad = dPAD(r) - r;
|
||||
qskip = dPAD(q);
|
||||
bb = B;
|
||||
for (i=p; i; i--) {
|
||||
cc = C;
|
||||
for (j=r; j; j--) {
|
||||
z = 0;
|
||||
sum = 0;
|
||||
for (k=q; k; k--,z++) sum += bb[z] * cc[z];
|
||||
*(A++) = sum;
|
||||
cc += qskip;
|
||||
}
|
||||
A += rpad;
|
||||
bb += qskip;
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
int dFactorCholesky (dReal *A, int n)
|
||||
{
|
||||
int i,j,k,nskip;
|
||||
dReal sum,*a,*b,*aa,*bb,*cc,*recip;
|
||||
dAASSERT (n > 0 && A);
|
||||
nskip = dPAD (n);
|
||||
recip = (dReal*) ALLOCA (n * sizeof(dReal));
|
||||
aa = A;
|
||||
for (i=0; i<n; i++) {
|
||||
bb = A;
|
||||
cc = A + i*nskip;
|
||||
for (j=0; j<i; j++) {
|
||||
sum = *cc;
|
||||
a = aa;
|
||||
b = bb;
|
||||
for (k=j; k; k--) sum -= (*(a++))*(*(b++));
|
||||
*cc = sum * recip[j];
|
||||
bb += nskip;
|
||||
cc++;
|
||||
}
|
||||
sum = *cc;
|
||||
a = aa;
|
||||
for (k=i; k; k--, a++) sum -= (*a)*(*a);
|
||||
if (sum <= REAL(0.0)) return 0;
|
||||
*cc = dSqrt(sum);
|
||||
recip[i] = dRecip (*cc);
|
||||
aa += nskip;
|
||||
}
|
||||
return 1;
|
||||
}
|
||||
|
||||
|
||||
void dSolveCholesky (const dReal *L, dReal *b, int n)
|
||||
{
|
||||
int i,k,nskip;
|
||||
dReal sum,*y;
|
||||
dAASSERT (n > 0 && L && b);
|
||||
nskip = dPAD (n);
|
||||
y = (dReal*) ALLOCA (n*sizeof(dReal));
|
||||
for (i=0; i<n; i++) {
|
||||
sum = 0;
|
||||
for (k=0; k < i; k++) sum += L[i*nskip+k]*y[k];
|
||||
y[i] = (b[i]-sum)/L[i*nskip+i];
|
||||
}
|
||||
for (i=n-1; i >= 0; i--) {
|
||||
sum = 0;
|
||||
for (k=i+1; k < n; k++) sum += L[k*nskip+i]*b[k];
|
||||
b[i] = (y[i]-sum)/L[i*nskip+i];
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
int dInvertPDMatrix (const dReal *A, dReal *Ainv, int n)
|
||||
{
|
||||
int i,j,nskip;
|
||||
dReal *L,*x;
|
||||
dAASSERT (n > 0 && A && Ainv);
|
||||
nskip = dPAD (n);
|
||||
L = (dReal*) ALLOCA (nskip*n*sizeof(dReal));
|
||||
memcpy (L,A,nskip*n*sizeof(dReal));
|
||||
x = (dReal*) ALLOCA (n*sizeof(dReal));
|
||||
if (dFactorCholesky (L,n)==0) return 0;
|
||||
dSetZero (Ainv,n*nskip); // make sure all padding elements set to 0
|
||||
for (i=0; i<n; i++) {
|
||||
for (j=0; j<n; j++) x[j] = 0;
|
||||
x[i] = 1;
|
||||
dSolveCholesky (L,x,n);
|
||||
for (j=0; j<n; j++) Ainv[j*nskip+i] = x[j];
|
||||
}
|
||||
return 1;
|
||||
}
|
||||
|
||||
|
||||
int dIsPositiveDefinite (const dReal *A, int n)
|
||||
{
|
||||
dReal *Acopy;
|
||||
dAASSERT (n > 0 && A);
|
||||
int nskip = dPAD (n);
|
||||
Acopy = (dReal*) ALLOCA (nskip*n * sizeof(dReal));
|
||||
memcpy (Acopy,A,nskip*n * sizeof(dReal));
|
||||
return dFactorCholesky (Acopy,n);
|
||||
}
|
||||
|
||||
|
||||
/***** this has been replaced by a faster version
|
||||
void dSolveL1T (const dReal *L, dReal *b, int n, int nskip)
|
||||
{
|
||||
int i,j;
|
||||
dAASSERT (L && b && n >= 0 && nskip >= n);
|
||||
dReal sum;
|
||||
for (i=n-2; i>=0; i--) {
|
||||
sum = 0;
|
||||
for (j=i+1; j<n; j++) sum += L[j*nskip+i]*b[j];
|
||||
b[i] -= sum;
|
||||
}
|
||||
}
|
||||
*/
|
||||
|
||||
|
||||
void dVectorScale (dReal *a, const dReal *d, int n)
|
||||
{
|
||||
dAASSERT (a && d && n >= 0);
|
||||
for (int i=0; i<n; i++) a[i] *= d[i];
|
||||
}
|
||||
|
||||
|
||||
void dSolveLDLT (const dReal *L, const dReal *d, dReal *b, int n, int nskip)
|
||||
{
|
||||
dAASSERT (L && d && b && n > 0 && nskip >= n);
|
||||
dSolveL1 (L,b,n,nskip);
|
||||
dVectorScale (b,d,n);
|
||||
dSolveL1T (L,b,n,nskip);
|
||||
}
|
||||
|
||||
|
||||
void dLDLTAddTL (dReal *L, dReal *d, const dReal *a, int n, int nskip)
|
||||
{
|
||||
int j,p;
|
||||
dReal *W1,*W2,W11,W21,alpha1,alpha2,alphanew,gamma1,gamma2,k1,k2,Wp,ell,dee;
|
||||
dAASSERT (L && d && a && n > 0 && nskip >= n);
|
||||
|
||||
if (n < 2) return;
|
||||
W1 = (dReal*) ALLOCA (n*sizeof(dReal));
|
||||
W2 = (dReal*) ALLOCA (n*sizeof(dReal));
|
||||
|
||||
W1[0] = 0;
|
||||
W2[0] = 0;
|
||||
for (j=1; j<n; j++) W1[j] = W2[j] = a[j] * M_SQRT1_2;
|
||||
W11 = (REAL(0.5)*a[0]+1)*M_SQRT1_2;
|
||||
W21 = (REAL(0.5)*a[0]-1)*M_SQRT1_2;
|
||||
|
||||
alpha1=1;
|
||||
alpha2=1;
|
||||
|
||||
dee = d[0];
|
||||
alphanew = alpha1 + (W11*W11)*dee;
|
||||
dee /= alphanew;
|
||||
gamma1 = W11 * dee;
|
||||
dee *= alpha1;
|
||||
alpha1 = alphanew;
|
||||
alphanew = alpha2 - (W21*W21)*dee;
|
||||
dee /= alphanew;
|
||||
gamma2 = W21 * dee;
|
||||
alpha2 = alphanew;
|
||||
k1 = REAL(1.0) - W21*gamma1;
|
||||
k2 = W21*gamma1*W11 - W21;
|
||||
for (p=1; p<n; p++) {
|
||||
Wp = W1[p];
|
||||
ell = L[p*nskip];
|
||||
W1[p] = Wp - W11*ell;
|
||||
W2[p] = k1*Wp + k2*ell;
|
||||
}
|
||||
|
||||
for (j=1; j<n; j++) {
|
||||
dee = d[j];
|
||||
alphanew = alpha1 + (W1[j]*W1[j])*dee;
|
||||
dee /= alphanew;
|
||||
gamma1 = W1[j] * dee;
|
||||
dee *= alpha1;
|
||||
alpha1 = alphanew;
|
||||
alphanew = alpha2 - (W2[j]*W2[j])*dee;
|
||||
dee /= alphanew;
|
||||
gamma2 = W2[j] * dee;
|
||||
dee *= alpha2;
|
||||
d[j] = dee;
|
||||
alpha2 = alphanew;
|
||||
|
||||
k1 = W1[j];
|
||||
k2 = W2[j];
|
||||
for (p=j+1; p<n; p++) {
|
||||
ell = L[p*nskip+j];
|
||||
Wp = W1[p] - k1 * ell;
|
||||
ell += gamma1 * Wp;
|
||||
W1[p] = Wp;
|
||||
Wp = W2[p] - k2 * ell;
|
||||
ell -= gamma2 * Wp;
|
||||
W2[p] = Wp;
|
||||
L[p*nskip+j] = ell;
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
// macros for dLDLTRemove() for accessing A - either access the matrix
|
||||
// directly or access it via row pointers. we are only supposed to reference
|
||||
// the lower triangle of A (it is symmetric), but indexes i and j come from
|
||||
// permutation vectors so they are not predictable. so do a test on the
|
||||
// indexes - this should not slow things down too much, as we don't do this
|
||||
// in an inner loop.
|
||||
|
||||
#define _GETA(i,j) (A[i][j])
|
||||
//#define _GETA(i,j) (A[(i)*nskip+(j)])
|
||||
#define GETA(i,j) ((i > j) ? _GETA(i,j) : _GETA(j,i))
|
||||
|
||||
|
||||
void dLDLTRemove (dReal **A, const int *p, dReal *L, dReal *d,
|
||||
int n1, int n2, int r, int nskip)
|
||||
{
|
||||
int i;
|
||||
dAASSERT(A && p && L && d && n1 > 0 && n2 > 0 && r >= 0 && r < n2 &&
|
||||
n1 >= n2 && nskip >= n1);
|
||||
#ifndef dNODEBUG
|
||||
for (i=0; i<n2; i++) dIASSERT(p[i] >= 0 && p[i] < n1);
|
||||
#endif
|
||||
|
||||
if (r==n2-1) {
|
||||
return; // deleting last row/col is easy
|
||||
}
|
||||
else if (r==0) {
|
||||
dReal *a = (dReal*) ALLOCA (n2 * sizeof(dReal));
|
||||
for (i=0; i<n2; i++) a[i] = -GETA(p[i],p[0]);
|
||||
a[0] += REAL(1.0);
|
||||
dLDLTAddTL (L,d,a,n2,nskip);
|
||||
}
|
||||
else {
|
||||
dReal *t = (dReal*) ALLOCA (r * sizeof(dReal));
|
||||
dReal *a = (dReal*) ALLOCA ((n2-r) * sizeof(dReal));
|
||||
for (i=0; i<r; i++) t[i] = L[r*nskip+i] / d[i];
|
||||
for (i=0; i<(n2-r); i++)
|
||||
a[i] = dDot(L+(r+i)*nskip,t,r) - GETA(p[r+i],p[r]);
|
||||
a[0] += REAL(1.0);
|
||||
dLDLTAddTL (L + r*nskip+r, d+r, a, n2-r, nskip);
|
||||
}
|
||||
|
||||
// snip out row/column r from L and d
|
||||
dRemoveRowCol (L,n2,nskip,r);
|
||||
if (r < (n2-1)) memmove (d+r,d+r+1,(n2-r-1)*sizeof(dReal));
|
||||
}
|
||||
|
||||
|
||||
void dRemoveRowCol (dReal *A, int n, int nskip, int r)
|
||||
{
|
||||
int i;
|
||||
dAASSERT(A && n > 0 && nskip >= n && r >= 0 && r < n);
|
||||
if (r >= n-1) return;
|
||||
if (r > 0) {
|
||||
for (i=0; i<r; i++)
|
||||
memmove (A+i*nskip+r,A+i*nskip+r+1,(n-r-1)*sizeof(dReal));
|
||||
for (i=r; i<(n-1); i++)
|
||||
memcpy (A+i*nskip,A+i*nskip+nskip,r*sizeof(dReal));
|
||||
}
|
||||
for (i=r; i<(n-1); i++)
|
||||
memcpy (A+i*nskip+r,A+i*nskip+nskip+r+1,(n-r-1)*sizeof(dReal));
|
||||
}
|
||||
87
Extras/ode/ode/src/memory.cpp
Normal file
87
Extras/ode/ode/src/memory.cpp
Normal file
@@ -0,0 +1,87 @@
|
||||
/*************************************************************************
|
||||
* *
|
||||
* Open Dynamics Engine, Copyright (C) 2001,2002 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. *
|
||||
* *
|
||||
*************************************************************************/
|
||||
|
||||
#include <ode/config.h>
|
||||
#include <ode/memory.h>
|
||||
#include <ode/error.h>
|
||||
|
||||
|
||||
static dAllocFunction *allocfn = 0;
|
||||
static dReallocFunction *reallocfn = 0;
|
||||
static dFreeFunction *freefn = 0;
|
||||
|
||||
|
||||
|
||||
void dSetAllocHandler (dAllocFunction *fn)
|
||||
{
|
||||
allocfn = fn;
|
||||
}
|
||||
|
||||
|
||||
void dSetReallocHandler (dReallocFunction *fn)
|
||||
{
|
||||
reallocfn = fn;
|
||||
}
|
||||
|
||||
|
||||
void dSetFreeHandler (dFreeFunction *fn)
|
||||
{
|
||||
freefn = fn;
|
||||
}
|
||||
|
||||
|
||||
dAllocFunction *dGetAllocHandler()
|
||||
{
|
||||
return allocfn;
|
||||
}
|
||||
|
||||
|
||||
dReallocFunction *dGetReallocHandler()
|
||||
{
|
||||
return reallocfn;
|
||||
}
|
||||
|
||||
|
||||
dFreeFunction *dGetFreeHandler()
|
||||
{
|
||||
return freefn;
|
||||
}
|
||||
|
||||
|
||||
void * dAlloc (size_t size)
|
||||
{
|
||||
if (allocfn) return allocfn (size); else return malloc (size);
|
||||
}
|
||||
|
||||
|
||||
void * dRealloc (void *ptr, size_t oldsize, size_t newsize)
|
||||
{
|
||||
if (reallocfn) return reallocfn (ptr,oldsize,newsize);
|
||||
else return realloc (ptr,newsize);
|
||||
}
|
||||
|
||||
|
||||
void dFree (void *ptr, size_t size)
|
||||
{
|
||||
if (!ptr) return;
|
||||
if (freefn) freefn (ptr,size); else free (ptr);
|
||||
}
|
||||
169
Extras/ode/ode/src/misc.cpp
Normal file
169
Extras/ode/ode/src/misc.cpp
Normal file
@@ -0,0 +1,169 @@
|
||||
/*************************************************************************
|
||||
* *
|
||||
* Open Dynamics Engine, Copyright (C) 2001,2002 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. *
|
||||
* *
|
||||
*************************************************************************/
|
||||
|
||||
#include <ode/config.h>
|
||||
#include <ode/misc.h>
|
||||
#include <ode/matrix.h>
|
||||
|
||||
//****************************************************************************
|
||||
// random numbers
|
||||
|
||||
static unsigned long seed = 0;
|
||||
|
||||
unsigned long dRand()
|
||||
{
|
||||
seed = (1664525L*seed + 1013904223L) & 0xffffffff;
|
||||
return seed;
|
||||
}
|
||||
|
||||
|
||||
unsigned long dRandGetSeed()
|
||||
{
|
||||
return seed;
|
||||
}
|
||||
|
||||
|
||||
void dRandSetSeed (unsigned long s)
|
||||
{
|
||||
seed = s;
|
||||
}
|
||||
|
||||
|
||||
int dTestRand()
|
||||
{
|
||||
unsigned long oldseed = seed;
|
||||
int ret = 1;
|
||||
seed = 0;
|
||||
if (dRand() != 0x3c6ef35f || dRand() != 0x47502932 ||
|
||||
dRand() != 0xd1ccf6e9 || dRand() != 0xaaf95334 ||
|
||||
dRand() != 0x6252e503) ret = 0;
|
||||
seed = oldseed;
|
||||
return ret;
|
||||
}
|
||||
|
||||
|
||||
/* adam's all-int straightforward(?) dRandInt (0..n-1) */
|
||||
int dRandInt (int n)
|
||||
{
|
||||
/* seems good; xor-fold and modulus */
|
||||
const unsigned long un = n;
|
||||
unsigned long r = dRand();
|
||||
|
||||
/* note: probably more aggressive than it needs to be -- might be
|
||||
able to get away without one or two of the innermost branches. */
|
||||
if (un <= 0x00010000UL) {
|
||||
r ^= (r >> 16);
|
||||
if (un <= 0x00000100UL) {
|
||||
r ^= (r >> 8);
|
||||
if (un <= 0x00000010UL) {
|
||||
r ^= (r >> 4);
|
||||
if (un <= 0x00000004UL) {
|
||||
r ^= (r >> 2);
|
||||
if (un <= 0x00000002UL) {
|
||||
r ^= (r >> 1);
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
return (int) (r % un);
|
||||
}
|
||||
|
||||
|
||||
dReal dRandReal()
|
||||
{
|
||||
return ((dReal) dRand()) / ((dReal) 0xffffffff);
|
||||
}
|
||||
|
||||
//****************************************************************************
|
||||
// matrix utility stuff
|
||||
|
||||
void dPrintMatrix (const dReal *A, int n, int m, char *fmt, FILE *f)
|
||||
{
|
||||
int i,j;
|
||||
int skip = dPAD(m);
|
||||
for (i=0; i<n; i++) {
|
||||
for (j=0; j<m; j++) fprintf (f,fmt,A[i*skip+j]);
|
||||
fprintf (f,"\n");
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
void dMakeRandomVector (dReal *A, int n, dReal range)
|
||||
{
|
||||
int i;
|
||||
for (i=0; i<n; i++) A[i] = (dRandReal()*REAL(2.0)-REAL(1.0))*range;
|
||||
}
|
||||
|
||||
|
||||
void dMakeRandomMatrix (dReal *A, int n, int m, dReal range)
|
||||
{
|
||||
int i,j;
|
||||
int skip = dPAD(m);
|
||||
dSetZero (A,n*skip);
|
||||
for (i=0; i<n; i++) {
|
||||
for (j=0; j<m; j++) A[i*skip+j] = (dRandReal()*REAL(2.0)-REAL(1.0))*range;
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
void dClearUpperTriangle (dReal *A, int n)
|
||||
{
|
||||
int i,j;
|
||||
int skip = dPAD(n);
|
||||
for (i=0; i<n; i++) {
|
||||
for (j=i+1; j<n; j++) A[i*skip+j] = 0;
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
dReal dMaxDifference (const dReal *A, const dReal *B, int n, int m)
|
||||
{
|
||||
int i,j;
|
||||
int skip = dPAD(m);
|
||||
dReal diff,max;
|
||||
max = 0;
|
||||
for (i=0; i<n; i++) {
|
||||
for (j=0; j<m; j++) {
|
||||
diff = dFabs(A[i*skip+j] - B[i*skip+j]);
|
||||
if (diff > max) max = diff;
|
||||
}
|
||||
}
|
||||
return max;
|
||||
}
|
||||
|
||||
|
||||
dReal dMaxDifferenceLowerTriangle (const dReal *A, const dReal *B, int n)
|
||||
{
|
||||
int i,j;
|
||||
int skip = dPAD(n);
|
||||
dReal diff,max;
|
||||
max = 0;
|
||||
for (i=0; i<n; i++) {
|
||||
for (j=0; j<=i; j++) {
|
||||
diff = dFabs(A[i*skip+j] - B[i*skip+j]);
|
||||
if (diff > max) max = diff;
|
||||
}
|
||||
}
|
||||
return max;
|
||||
}
|
||||
125
Extras/ode/ode/src/objects.h
Normal file
125
Extras/ode/ode/src/objects.h
Normal file
@@ -0,0 +1,125 @@
|
||||
/*************************************************************************
|
||||
* *
|
||||
* Open Dynamics Engine, Copyright (C) 2001,2002 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. *
|
||||
* *
|
||||
*************************************************************************/
|
||||
|
||||
// object, body, and world structs.
|
||||
|
||||
|
||||
#ifndef _ODE_OBJECT_H_
|
||||
#define _ODE_OBJECT_H_
|
||||
|
||||
#include <ode/common.h>
|
||||
#include <ode/memory.h>
|
||||
#include <ode/mass.h>
|
||||
#include "array.h"
|
||||
|
||||
|
||||
// some body flags
|
||||
|
||||
enum {
|
||||
dxBodyFlagFiniteRotation = 1, // use finite rotations
|
||||
dxBodyFlagFiniteRotationAxis = 2, // use finite rotations only along axis
|
||||
dxBodyDisabled = 4, // body is disabled
|
||||
dxBodyNoGravity = 8, // body is not influenced by gravity
|
||||
dxBodyAutoDisable = 16 // enable auto-disable on body
|
||||
};
|
||||
|
||||
|
||||
// base class that does correct object allocation / deallocation
|
||||
|
||||
struct dBase {
|
||||
void *operator new (size_t size) { return dAlloc (size); }
|
||||
void operator delete (void *ptr, size_t size) { dFree (ptr,size); }
|
||||
void *operator new[] (size_t size) { return dAlloc (size); }
|
||||
void operator delete[] (void *ptr, size_t size) { dFree (ptr,size); }
|
||||
};
|
||||
|
||||
|
||||
// base class for bodies and joints
|
||||
|
||||
struct dObject : public dBase {
|
||||
dxWorld *world; // world this object is in
|
||||
dObject *next; // next object of this type in list
|
||||
dObject **tome; // pointer to previous object's next ptr
|
||||
void *userdata; // user settable data
|
||||
int tag; // used by dynamics algorithms
|
||||
};
|
||||
|
||||
|
||||
// auto disable parameters
|
||||
struct dxAutoDisable {
|
||||
dReal linear_threshold; // linear (squared) velocity treshold
|
||||
dReal angular_threshold; // angular (squared) velocity treshold
|
||||
dReal idle_time; // time the body needs to be idle to auto-disable it
|
||||
int idle_steps; // steps the body needs to be idle to auto-disable it
|
||||
};
|
||||
|
||||
|
||||
// quick-step parameters
|
||||
struct dxQuickStepParameters {
|
||||
int num_iterations; // number of SOR iterations to perform
|
||||
dReal w; // the SOR over-relaxation parameter
|
||||
};
|
||||
|
||||
|
||||
// contact generation parameters
|
||||
struct dxContactParameters {
|
||||
dReal max_vel; // maximum correcting velocity
|
||||
dReal min_depth; // thickness of 'surface layer'
|
||||
};
|
||||
|
||||
|
||||
struct dxBody : public dObject {
|
||||
dxJointNode *firstjoint; // list of attached joints
|
||||
int flags; // some dxBodyFlagXXX flags
|
||||
dGeomID geom; // first collision geom associated with body
|
||||
dMass mass; // mass parameters about POR
|
||||
dMatrix3 invI; // inverse of mass.I
|
||||
dReal invMass; // 1 / mass.mass
|
||||
dVector3 pos; // position of POR (point of reference)
|
||||
dQuaternion q; // orientation quaternion
|
||||
dMatrix3 R; // rotation matrix, always corresponds to q
|
||||
dVector3 lvel,avel; // linear and angular velocity of POR
|
||||
dVector3 facc,tacc; // force and torque accumulators
|
||||
dVector3 finite_rot_axis; // finite rotation axis, unit length or 0=none
|
||||
|
||||
// auto-disable information
|
||||
dxAutoDisable adis; // auto-disable parameters
|
||||
dReal adis_timeleft; // time left to be idle
|
||||
int adis_stepsleft; // steps left to be idle
|
||||
};
|
||||
|
||||
|
||||
struct dxWorld : public dBase {
|
||||
dxBody *firstbody; // body linked list
|
||||
dxJoint *firstjoint; // joint linked list
|
||||
int nb,nj; // number of bodies and joints in lists
|
||||
dVector3 gravity; // gravity vector (m/s/s)
|
||||
dReal global_erp; // global error reduction parameter
|
||||
dReal global_cfm; // global costraint force mixing parameter
|
||||
dxAutoDisable adis; // auto-disable parameters
|
||||
int adis_flag; // auto-disable flag for new bodies
|
||||
dxQuickStepParameters qs;
|
||||
dxContactParameters contactp;
|
||||
};
|
||||
|
||||
|
||||
#endif
|
||||
130
Extras/ode/ode/src/obstack.cpp
Normal file
130
Extras/ode/ode/src/obstack.cpp
Normal file
@@ -0,0 +1,130 @@
|
||||
/*************************************************************************
|
||||
* *
|
||||
* Open Dynamics Engine, Copyright (C) 2001,2002 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. *
|
||||
* *
|
||||
*************************************************************************/
|
||||
|
||||
#include <ode/common.h>
|
||||
#include <ode/error.h>
|
||||
#include <ode/memory.h>
|
||||
#include "obstack.h"
|
||||
|
||||
//****************************************************************************
|
||||
// macros and constants
|
||||
|
||||
#define ROUND_UP_OFFSET_TO_EFFICIENT_SIZE(arena,ofs) \
|
||||
ofs = (size_t) (dEFFICIENT_SIZE( ((intP)(arena)) + ofs ) - ((intP)(arena)) );
|
||||
|
||||
#define MAX_ALLOC_SIZE \
|
||||
((size_t)(dOBSTACK_ARENA_SIZE - sizeof (Arena) - EFFICIENT_ALIGNMENT + 1))
|
||||
|
||||
//****************************************************************************
|
||||
// dObStack
|
||||
|
||||
dObStack::dObStack()
|
||||
{
|
||||
first = 0;
|
||||
last = 0;
|
||||
current_arena = 0;
|
||||
current_ofs = 0;
|
||||
}
|
||||
|
||||
|
||||
dObStack::~dObStack()
|
||||
{
|
||||
// free all arenas
|
||||
Arena *a,*nexta;
|
||||
a = first;
|
||||
while (a) {
|
||||
nexta = a->next;
|
||||
dFree (a,dOBSTACK_ARENA_SIZE);
|
||||
a = nexta;
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
void *dObStack::alloc (int num_bytes)
|
||||
{
|
||||
if ((size_t)num_bytes > MAX_ALLOC_SIZE) dDebug (0,"num_bytes too large");
|
||||
|
||||
// allocate or move to a new arena if necessary
|
||||
if (!first) {
|
||||
// allocate the first arena if necessary
|
||||
first = last = (Arena *) dAlloc (dOBSTACK_ARENA_SIZE);
|
||||
first->next = 0;
|
||||
first->used = sizeof (Arena);
|
||||
ROUND_UP_OFFSET_TO_EFFICIENT_SIZE (first,first->used);
|
||||
}
|
||||
else {
|
||||
// we already have one or more arenas, see if a new arena must be used
|
||||
if ((last->used + num_bytes) > dOBSTACK_ARENA_SIZE) {
|
||||
if (!last->next) {
|
||||
last->next = (Arena *) dAlloc (dOBSTACK_ARENA_SIZE);
|
||||
last->next->next = 0;
|
||||
}
|
||||
last = last->next;
|
||||
last->used = sizeof (Arena);
|
||||
ROUND_UP_OFFSET_TO_EFFICIENT_SIZE (last,last->used);
|
||||
}
|
||||
}
|
||||
|
||||
// allocate an area in the arena
|
||||
char *c = ((char*) last) + last->used;
|
||||
last->used += num_bytes;
|
||||
ROUND_UP_OFFSET_TO_EFFICIENT_SIZE (last,last->used);
|
||||
return c;
|
||||
}
|
||||
|
||||
|
||||
void dObStack::freeAll()
|
||||
{
|
||||
last = first;
|
||||
if (first) {
|
||||
first->used = sizeof(Arena);
|
||||
ROUND_UP_OFFSET_TO_EFFICIENT_SIZE (first,first->used);
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
void *dObStack::rewind()
|
||||
{
|
||||
current_arena = first;
|
||||
current_ofs = sizeof (Arena);
|
||||
if (current_arena) {
|
||||
ROUND_UP_OFFSET_TO_EFFICIENT_SIZE (current_arena,current_ofs)
|
||||
return ((char*) current_arena) + current_ofs;
|
||||
}
|
||||
else return 0;
|
||||
}
|
||||
|
||||
|
||||
void *dObStack::next (int num_bytes)
|
||||
{
|
||||
// this functions like alloc, except that no new storage is ever allocated
|
||||
if (!current_arena) return 0;
|
||||
current_ofs += num_bytes;
|
||||
ROUND_UP_OFFSET_TO_EFFICIENT_SIZE (current_arena,current_ofs);
|
||||
if (current_ofs >= current_arena->used) {
|
||||
current_arena = current_arena->next;
|
||||
if (!current_arena) return 0;
|
||||
current_ofs = sizeof (Arena);
|
||||
ROUND_UP_OFFSET_TO_EFFICIENT_SIZE (current_arena,current_ofs);
|
||||
}
|
||||
return ((char*) current_arena) + current_ofs;
|
||||
}
|
||||
Some files were not shown because too many files have changed in this diff Show More
Reference in New Issue
Block a user