a few more changes to ubode

trunk/unmanaged/ubODE-OpenSim/OPCODE/OPC_TriBoxOverlap.h

@@ -274,24 +274,25 @@ inline_ BOOL AABBCollider::TriBoxOverlap()
 	// First, test overlap in the {x,y,z}-directions
 
 	// find min, max of the triangle in x-direction, and test for overlap in X
-	if(FCMin3(v0.x, v1.x, v2.x)>extents.x)	return FALSE;
-	if(FCMax3(v0.x, v1.x, v2.x)<-extents.x)	return FALSE;
+    if (!inExtent(v0.x, v1.x, v2.x, extents.x))
+        return FALSE;
 
 	// same for Y
 	v0.y = mLeafVerts[0].y - center.y;
 	v1.y = mLeafVerts[1].y - center.y;
 	v2.y = mLeafVerts[2].y - center.y;
 
-	if(FCMin3(v0.y, v1.y, v2.y)>extents.y)	return FALSE;
-	if(FCMax3(v0.y, v1.y, v2.y)<-extents.y)	return FALSE;
+    if (!inExtent(v0.y, v1.y, v2.y, extents.y))
+        return FALSE;
 
 	// same for Z
 	v0.z = mLeafVerts[0].z - center.z;
 	v1.z = mLeafVerts[1].z - center.z;
 	v2.z = mLeafVerts[2].z - center.z;
 
-	if(FCMin3(v0.z, v1.z, v2.z)>extents.z)	return FALSE;
-	if(FCMax3(v0.z, v1.z, v2.z)<-extents.z)	return FALSE;
+    if (!inExtent(v0.z, v1.z, v2.z, extents.z))
+        return FALSE;
+
 	// 2) Test if the box intersects the plane of the triangle
 	// compute plane equation of triangle: normal*x+d=0
 	// ### could be precomputed since we use the same leaf triangle several times

trunk/unmanaged/ubODE-OpenSim/configure.ac

@@ -1,5 +1,5 @@
 dnl AC_INIT does not take a macro as a version nr: set it separately! - Bram
-AC_INIT([UBODE],[0.13.4],[ubode@opensimulator.org])
+AC_INIT([UBODE],[0.13.4],[opensim-dev@opensimulator.org])
 ODE_VERSION=OS0.13.4
 AC_SUBST(ODE_VERSION)
 

trunk/unmanaged/ubODE-OpenSim/ode/src/config.h

@@ -34,9 +34,16 @@
 
 #define dTRIMESH_16BIT_INDICES 0
 
+/*
 #define dOU_ENABLED 1
 #define dATOMICS_ENABLED 1
 #define dTLS_ENABLED 1
+*/
+
+
+#define dOU_ENABLED 0
+#define dATOMICS_ENABLED 0
+#define dTLS_ENABLED 0
 
 #define dTHREADING_INTF_DISABLED 1
 /* #define dBUILTIN_THREADING_IMPL_ENABLED 1 */

trunk/unmanaged/ubODE-OpenSim/ode/src/plane.cpp

@@ -48,7 +48,19 @@ dContactGeom::g1 and dContactGeom::g2.
 
 static void make_sure_plane_normal_has_unit_length (dxPlane *g)
 {
-    dSafeNormalize3(g->p);
+    dReal *p = g->p;
+    dReal l = dCalcVectorLengthSquare3(p);
+    if (l > dEpsilon)
+    {
+        dScaleVector4(p, dRecipSqrt(l));
+    }
+    else
+    {
+        p[0] = 1;
+        p[1] = 0;
+        p[2] = 0;
+        p[3] = 0;
+    }
 }
 
 
@@ -59,7 +71,19 @@ dxGeom (space,0)
     p[0] = a;
     p[1] = b;
     p[2] = c;
-    p[3] = dSafeNormalize3(p) ? d : 0;
+    p[3] = d;
+    dReal l = dCalcVectorLengthSquare3(p);
+    if (l > dEpsilon)
+    {
+        dScaleVector4(p, dRecipSqrt(l));
+    }
+    else
+    {
+        p[0] = 1;
+        p[1] = 0;
+        p[2] = 0;
+        p[3] = 0;
+    }
 }
 
 void dxPlane::computeAABB()
@@ -144,10 +168,25 @@ dGeomID dCreatePlane (dSpaceID space, dReal a, dReal b, dReal c, dReal d)
 void dGeomPlaneSetParams (dGeomID g, dReal a, dReal b, dReal c, dReal d)
 {
     dUASSERT (g && g->type == dPlaneClass,"argument not a plane");
-    ((dxPlane*)g)->p[0] = a;
-    ((dxPlane*)g)->p[1] = b;
-    ((dxPlane*)g)->p[2] = c;
-    ((dxPlane*)g)->p[3] = dSafeNormalize3(((dxPlane*)g)->p) ? d : 0;
+    dReal* p = ((dxPlane*)g)->p;
+    p[0] = a;
+    p[1] = b;
+    p[2] = c;
+    p[3] = d;
+
+    dReal l = dCalcVectorLengthSquare3(p);
+    if (l > dEpsilon)
+    {
+        dScaleVector4(p, dRecipSqrt(l));
+    }
+    else
+    {
+        p[0] = 1;
+        p[1] = 0;
+        p[2] = 0;
+        p[3] = 0;
+    }
+
     dGeomMoved (g);
 }
 

trunk/unmanaged/ubODE-OpenSim/ode/src/ray.cpp

@@ -120,24 +120,27 @@ void dGeomRaySet (dGeomID g, dReal px, dReal py, dReal pz,
 {
     dUASSERT (g && g->type == dRayClass,"argument not a ray");
 
+    dxPosR *rayPosR = g->GetRecomputePosR();
+
+    dReal* pos = rayPosR->pos;
+    pos[0] = px;
+    pos[1] = py;
+    pos[2] = pz;
+
     dVector3 n;
     n[0] = dx;
     n[1] = dy;
     n[2] = dz;
     dNormalize3(n);
-    dReal* R = g->final_posr->R;
+
+    dReal* R = rayPosR->R;
     R[2] = n[0];
     R[6] = n[1];
     R[10] = n[2];
 
-    dReal* pos = g->final_posr->pos;
-    pos[0] = px;
-    pos[1] = py;
-    pos[2] = pz;
     dGeomMoved (g);
 }
 
-
 void dGeomRayGet (dGeomID g, dVector3 start, dVector3 dir)
 {
     dUASSERT (g && g->type == dRayClass,"argument not a ray");